+ python -m lidar_slam --no-model /working/dd21d219-3608-42a3-beee-c46ef2a66c24 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/dd21d219-3608-42a3-beee-c46ef2a66c24 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 0.010385723 Adjusted end_distance from 9.223372036854776e+18 to 867.350385723 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010385723 meters 0.15663040933223904 Centerline is valid? [0, False] SLAMing on 0.040385723 meters 0.15969756815334538 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999874e-01 5.00881952e-04 -3.83245003e-05 4.77326974e-04] [-5.00846759e-04 9.99999458e-01 9.12837186e-04 -2.44393789e-03] [ 3.87817032e-05 -9.12817876e-04 9.99999583e-01 -6.43551020e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070385723 meters 0.16358303065672627 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999548e-01 9.28474039e-04 -2.04269325e-04 1.42396623e-03] [-9.28167284e-04 9.99998449e-01 1.49672256e-03 -3.38438881e-03] [ 2.05658676e-04 -1.49653229e-03 9.99998859e-01 -1.60114325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100385723 meters 0.16593032625311768 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999134e-01 1.31211050e-03 -1.04818948e-04 2.31789117e-03] [-1.31190892e-03 9.99997333e-01 1.90058804e-03 -3.97809334e-03] [ 1.07312450e-04 -1.90044888e-03 9.99998188e-01 -3.09642472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130385723 meters 0.16990208795060985 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99998398e-01 1.78927938e-03 -4.38178425e-05 2.92933036e-03] [-1.78914823e-03 9.99994396e-01 2.82967914e-03 -5.86976985e-03] [ 4.88806834e-05 -2.82959621e-03 9.99995995e-01 -4.32847885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16038572299999998 meters 0.17311890487071538 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99996772e-01 2.53331442e-03 1.95322506e-04 3.51089460e-03] [-2.53414269e-03 9.99987268e-01 4.36374610e-03 -9.55408386e-03] [-1.84265278e-04 -4.36422699e-03 9.99990460e-01 -6.12100974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.190385723 meters 0.18177427583385652 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99999164e-01 -1.29193676e-03 -6.15811303e-05 4.54521580e-03] [ 1.29196724e-03 9.99999042e-01 4.97513445e-04 -9.74864546e-03] [ 6.09383154e-05 -4.97592590e-04 9.99999874e-01 -6.85323325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22038572299999998 meters 0.1824509459513223 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.01 [[ 9.99999593e-01 -8.97612292e-04 -8.63714863e-05 4.96651076e-03] [ 8.97711491e-04 9.99998930e-01 1.15540853e-03 -1.14670582e-02] [ 8.53342850e-05 -1.15548559e-03 9.99999329e-01 -7.48248185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250385723 meters 0.18858450882883235 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999982e-01 1.91543529e-05 -1.86143649e-04 6.50486776e-03] [-1.87195739e-05 9.99997273e-01 2.33543836e-03 -1.40616336e-02] [ 1.86187875e-04 -2.33543483e-03 9.99997256e-01 -9.34056710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28038572300000003 meters 0.1914441471711688 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999855e-01 4.57724505e-04 -2.85248128e-04 7.39610961e-03] [-4.56898431e-04 9.99995721e-01 2.88935012e-03 -1.52068782e-02] [ 2.86569434e-04 -2.88921937e-03 9.99995785e-01 -1.03677682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.310385723 meters 0.19508892018119134 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99995559e-01 -2.91573076e-03 -6.16130669e-04 9.69502024e-03] [ 2.91520715e-03 9.99995390e-01 -8.49034351e-04 -1.48087990e-02] [ 6.18603384e-04 8.47234432e-04 9.99999450e-01 -1.26411944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.340385723 meters 0.19870078197518462 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99997133e-01 -2.30301049e-03 -6.55490135e-04 1.09323185e-02] [ 2.30308199e-03 9.99997342e-01 1.08343983e-04 -1.61783995e-02] [ 6.55238876e-04 -1.09853320e-04 9.99999779e-01 -1.44568244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.370385723 meters 0.2033161125349773 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.02 [[ 9.99998912e-01 -1.29579419e-03 -7.05589525e-04 1.32883843e-02] [ 1.29691611e-03 9.99997892e-01 1.59191974e-03 -1.78954750e-02] [ 7.03525238e-04 -1.59283310e-03 9.99998484e-01 -1.79375514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.400385723 meters 0.20824224244154974 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 9.99999699e-01 -2.16554097e-04 -7.45088784e-04 1.58085269e-02] [ 2.18955292e-04 9.99994779e-01 3.22412565e-03 -2.01407695e-02] [ 7.44386696e-04 -3.22428782e-03 9.99994525e-01 -2.16577797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430385723 meters 0.21239252627407176 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 9.99999625e-01 5.06328106e-04 -7.02044440e-04 1.72903638e-02] [-5.03246365e-04 9.99990268e-01 4.38291539e-03 -2.21169671e-02] [ 7.04256801e-04 -4.38256045e-03 9.99990149e-01 -2.40228124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46038572299999997 meters 0.2172378386794144 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.03 [[ 9.99997271e-01 -2.27766900e-03 -5.20657504e-04 1.96110305e-02] [ 2.27917616e-03 9.99993161e-01 2.91269581e-03 -2.84221513e-02] [ 5.14019786e-04 -2.91387453e-03 9.99995623e-01 -2.84537847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.490385723 meters 0.21832834099029602 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.03 [[ 9.99999067e-01 -1.34984038e-03 -2.11743127e-04 2.08084010e-02] [ 1.35086000e-03 9.99987124e-01 4.89150603e-03 -3.30464966e-02] [ 2.05137648e-04 -4.89178750e-03 9.99988014e-01 -3.14147623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.520385723 meters 0.2215561065537108 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.04 [[ 9.99989751e-01 -4.52713349e-03 -4.48207489e-05 2.29811685e-02] [ 4.52723636e-03 9.99986241e-01 2.64975888e-03 -3.64416670e-02] [ 3.28243201e-05 -2.64993464e-03 9.99996488e-01 -3.54613346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.550385723 meters 0.22498895381915607 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.04 [[ 9.99993552e-01 -3.59029161e-03 -7.31656856e-05 2.43523209e-02] [ 3.59057766e-03 9.99983960e-01 4.38036834e-03 -4.04689892e-02] [ 5.74377123e-05 -4.38060280e-03 9.99990403e-01 -3.75994525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5803857229999999 meters 0.2257445922475419 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.04 [[ 9.99977852e-01 -6.65172146e-03 2.23427251e-04 2.60655950e-02] [ 6.65114375e-03 9.99974771e-01 2.49391610e-03 -4.51260185e-02] [-2.40010449e-04 -2.49237482e-03 9.99996865e-01 -4.14101690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6103857229999999 meters 0.22500944474896215 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.05 [[ 0.99998329 -0.00568912 0.0010233 0.02667564] [ 0.00568412 0.99997221 0.00482325 -0.05054854] [-0.00105071 -0.00481736 0.99998784 -0.04515895] [ 0. 0. 0. 1. ]] SLAMing on 0.640385723 meters 0.22666993016647877 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.05 [[ 9.99988586e-01 -4.68898794e-03 9.17294073e-04 2.85278925e-02] [ 4.68291178e-03 9.99967795e-01 6.51764273e-03 -5.40732542e-02] [-9.47825679e-04 -6.51327273e-03 9.99978339e-01 -4.77183070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6703857229999999 meters 0.2305909963575991 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.05 [[ 9.99973532e-01 -7.27179842e-03 2.37980629e-04 3.29774308e-02] [ 7.27075972e-03 9.99965130e-01 4.10780834e-03 -5.73393697e-02] [-2.67843485e-04 -4.10596932e-03 9.99991535e-01 -5.17993573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7003857229999999 meters 0.23001536265982278 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.05 [[ 9.99979421e-01 -6.40998879e-03 2.64230929e-04 3.40587141e-02] [ 6.40837807e-03 9.99963207e-01 5.70241706e-03 -6.10675821e-02] [-3.00773636e-04 -5.70060642e-03 9.99983706e-01 -5.37138818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7303857229999999 meters 0.22942106049902514 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.06 [[ 9.99954861e-01 -9.49856928e-03 2.29969252e-04 3.63127147e-02] [ 9.49765166e-03 9.99948023e-01 3.70755320e-03 -6.53475799e-02] [-2.65173750e-04 -3.70520168e-03 9.99993101e-01 -5.73582439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.760385723 meters 0.22879297682953434 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.06 [[ 9.99961950e-01 -8.72100611e-03 2.04882852e-04 3.79924534e-02] [ 8.71981653e-03 9.99948326e-01 5.22598040e-03 -6.79575888e-02] [-2.50448072e-04 -5.22399501e-03 9.99986323e-01 -6.00948953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.790385723 meters 0.22879297682953434 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.06 [[ 9.99961950e-01 -8.72100611e-03 2.04882852e-04 3.79924534e-02] [ 8.71981653e-03 9.99948326e-01 5.22598040e-03 -6.79575888e-02] [-2.50448072e-04 -5.22399501e-03 9.99986323e-01 -6.00948953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8203857229999999 meters 0.2382906410081442 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.07 [[ 9.99973432e-01 -7.28825814e-03 -1.25480024e-04 4.16261599e-02] [ 7.28903391e-03 9.99940817e-01 8.07662519e-03 -7.25131979e-02] [ 6.66080688e-05 -8.07732524e-03 9.99967376e-01 -6.55777013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8503857229999999 meters 0.22960958000271356 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.07 [[ 9.99980366e-01 -6.23380402e-03 -6.38850276e-04 4.46087673e-02] [ 6.23960796e-03 9.99935160e-01 9.52590444e-03 -7.45283854e-02] [ 5.79426232e-04 -9.52970357e-03 9.99954423e-01 -6.85929932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.880385723 meters 0.2312263785218768 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.07 [[ 9.99996873e-01 -7.70262390e-04 -2.37922174e-03 4.82171720e-02] [ 7.66426133e-04 9.99998406e-01 -1.61289116e-03 -7.93098569e-02] [ 2.38046030e-03 1.61106262e-03 9.99995869e-01 -7.37702636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9103857229999999 meters 0.23061435163136018 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.08 [[ 9.99996574e-01 2.91256582e-04 -2.60129663e-03 5.02235197e-02] [-2.91266484e-04 9.99999958e-01 -3.42770261e-06 -8.31576477e-02] [ 2.60129552e-03 4.18536139e-06 9.99996617e-01 -7.61394496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9403857229999999 meters 0.22645914398642578 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.08 [[ 0.99999405 0.0020173 -0.00279839 0.05288673] [-0.00200994 0.99999452 0.00263096 -0.09011748] [ 0.00280368 -0.00262532 0.99999262 -0.07948282] [ 0. 0. 0. 1. ]] SLAMing on 0.9703857229999999 meters 0.2275958104210305 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.08 [[ 0.99999384 0.00273129 -0.00220342 0.05293298] [-0.00272135 0.99998616 0.00450158 -0.0943952 ] [ 0.00221568 -0.00449556 0.99998744 -0.08177553] [ 0. 0. 0. 1. ]] SLAMing on 1.000385723 meters 0.2234371199752244 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.10, Z:-0.08 [[ 0.99999232 0.00340708 -0.001938 0.05294712] [-0.00339501 0.99997504 0.00619641 -0.09892009] [ 0.00195907 -0.00618979 0.99997892 -0.08294201] [ 0. 0. 0. 1. ]] SLAMing on 1.030385723 meters 0.22107462810709158 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:-0.09 [[ 9.99997597e-01 7.42737977e-04 -2.06252140e-03 5.56657419e-02] [-7.31841655e-04 9.99985800e-01 5.27874879e-03 -1.04852199e-01] [ 2.06641284e-03 -5.27722667e-03 9.99983940e-01 -8.76086786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.060385723 meters 0.2158162639335727 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:-0.09 [[ 0.99999563 -0.00204527 -0.00213264 0.05895806] [ 0.00205639 0.99998424 0.005225 -0.11223199] [ 0.00212192 -0.00522936 0.99998408 -0.09445777] [ 0. 0. 0. 1. ]] SLAMing on 1.090385723 meters 0.20961936510175946 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:-0.10 [[ 0.99998226 -0.00550642 -0.00226953 0.06088581] [ 0.00551217 0.9999816 0.00253279 -0.1154276 ] [ 0.00225554 -0.00254526 0.99999422 -0.09712565] [ 0. 0. 0. 1. ]] SLAMing on 1.1203857229999998 meters 0.20560112691400176 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:-0.11 [[ 9.99926209e-01 -1.15513735e-02 -3.76069926e-03 6.77076754e-02] [ 1.15486420e-02 9.99933033e-01 -7.47229897e-04 -1.22501731e-01] [ 3.76907895e-03 7.03743788e-04 9.99992649e-01 -1.05766091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1503857229999999 meters 0.2020537822935772 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.11 [[ 0.99993618 -0.01067066 -0.00371097 0.06922273] [ 0.01067569 0.99994212 0.00133889 -0.12752497] [ 0.00369647 -0.00137843 0.99999222 -0.10857203] [ 0. 0. 0. 1. ]] SLAMing on 1.1803857229999999 meters 0.1998127901311547 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.11 [[ 0.99994384 -0.01010608 -0.00319144 0.06994847] [ 0.01011682 0.99994315 0.00336822 -0.13336319] [ 0.00315722 -0.00340032 0.99998923 -0.11167984] [ 0. 0. 0. 1. ]] SLAMing on 1.210385723 meters 0.1901667513550903 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:-0.11 [[ 0.99994621 -0.00998068 -0.00282242 0.06935577] [ 0.00999286 0.99994068 0.004334 -0.13596831] [ 0.002779 -0.00436198 0.99998663 -0.11214298] [ 0. 0. 0. 1. ]] SLAMing on 1.240385723 meters 0.18290393132483576 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:-0.11 [[ 0.99994812 -0.00978145 -0.00284115 0.06952346] [ 0.00979551 0.99993963 0.00497899 -0.13762709] [ 0.00279228 -0.00500656 0.99998357 -0.11245876] [ 0. 0. 0. 1. ]] SLAMing on 1.270385723 meters 0.18196702423600714 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:-0.11 [[ 0.9999517 -0.00951013 -0.00247927 0.0699651 ] [ 0.00952584 0.99993412 0.00640445 -0.14221957] [ 0.0024182 -0.00642776 0.99997642 -0.11441524] [ 0. 0. 0. 1. ]] SLAMing on 1.300385723 meters 0.18049713538013487 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:-0.12 [[ 9.99988260e-01 -4.81214681e-03 5.68233207e-04 6.52343110e-02] [ 4.81260135e-03 9.99988098e-01 -8.01286777e-04 -1.42119294e-01] [-5.64370535e-04 8.04012050e-04 9.99999518e-01 -1.19918728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3303857229999998 meters 0.17855466179217871 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:-0.12 [[ 9.99991994e-01 -3.96951155e-03 5.04569873e-04 6.74936391e-02] [ 3.96907844e-03 9.99991756e-01 8.56497411e-04 -1.46413737e-01] [-5.07965590e-04 -8.54487877e-04 9.99999506e-01 -1.23427634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3603857229999998 meters 0.18113253108409846 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:-0.13 [[ 9.99993450e-01 -3.60648941e-03 3.06639222e-04 6.88478273e-02] [ 3.60605671e-03 9.99992518e-01 1.40011671e-03 -1.47229346e-01] [-3.11686434e-04 -1.39900178e-03 9.99998973e-01 -1.25028427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3903857229999999 meters 0.17270894327751002 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.14, Z:-0.13 [[ 9.99996050e-01 -2.78658265e-03 -3.67686542e-04 7.21919375e-02] [ 2.78739339e-03 9.99993644e-01 2.22319666e-03 -1.44317445e-01] [ 3.61489084e-04 -2.22421276e-03 9.99997461e-01 -1.28258006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4203857229999999 meters 0.16534962838433728 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:-0.13 [[ 0.99999455 -0.00313512 -0.00103869 0.07444535] [ 0.00313835 0.99999022 0.00311601 -0.14697489] [ 0.00102891 -0.00311925 0.99999461 -0.13054308] [ 0. 0. 0. 1. ]] SLAMing on 1.450385723 meters 0.16629408680122515 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.15, Z:-0.13 [[ 9.99995581e-01 -2.82740906e-03 -9.19066253e-04 7.52098996e-02] [ 2.83155001e-03 9.99985704e-01 4.53597590e-03 -1.50928416e-01] [ 9.06228055e-04 -4.53855824e-03 9.99989290e-01 -1.32348936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.480385723 meters 0.16583000867696499 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:-0.14 [[ 0.99997968 -0.00621974 -0.0014012 0.07770633] [ 0.0062231 0.99997775 0.00240461 -0.15544985] [ 0.00138621 -0.00241328 0.99999613 -0.13534019] [ 0. 0. 0. 1. ]] SLAMing on 1.510385723 meters 0.1632485217862339 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:-0.14 [[ 0.99998314 -0.00562566 -0.00144071 0.07877137] [ 0.00563118 0.99997671 0.00385572 -0.15951301] [ 0.00141898 -0.00386376 0.99999153 -0.13699129] [ 0. 0. 0. 1. ]] SLAMing on 1.540385723 meters 0.16167541679438832 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.17, Z:-0.14 [[ 0.99998769 -0.00466639 -0.00168696 0.08088559] [ 0.00467625 0.99997171 0.00589111 -0.16575767] [ 0.00165942 -0.00589893 0.99998122 -0.13953307] [ 0. 0. 0. 1. ]] SLAMing on 1.570385723 meters 0.159482572616621 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.17, Z:-0.14 [[ 0.99998936 -0.00420242 -0.00190146 0.08174299] [ 0.0042152 0.99996823 0.00676545 -0.16822654] [ 0.00187297 -0.00677339 0.99997531 -0.14036261] [ 0. 0. 0. 1. ]] SLAMing on 1.6003857229999998 meters 0.16453631555104367 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.17, Z:-0.14 [[ 9.99990354e-01 -5.39653357e-05 4.39184476e-03 9.18530854e-02] [ 4.14820025e-05 9.99995959e-01 2.84243090e-03 -1.66237333e-01] [-4.39198041e-03 -2.84222130e-03 9.99986316e-01 -1.43376443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6303857229999998 meters 0.1775615067303048 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.16, Z:-0.14 [[ 9.99942038e-01 1.60416760e-03 1.06464628e-02 1.23601554e-01] [-1.61334290e-03 9.99998335e-01 8.53284361e-04 -1.64608180e-01] [-1.06450763e-02 -8.70411298e-04 9.99942961e-01 -1.44845690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6603857229999999 meters 0.18178745404906174 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.16, Z:-0.14 [[ 9.99850582e-01 -3.80304381e-03 1.68626894e-02 1.36535860e-01] [ 3.78805029e-03 9.99992401e-01 9.21005589e-04 -1.63602029e-01] [-1.68660639e-02 -8.56991259e-04 9.99857391e-01 -1.43160158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.690385723 meters 0.17825803683472197 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.16, Z:-0.13 [[ 0.99987347 -0.01312787 0.00898341 0.14534664] [ 0.01317779 0.99989793 -0.00552093 -0.16302641] [-0.00891001 0.00563861 0.99994441 -0.13268338] [ 0. 0. 0. 1. ]] SLAMing on 1.720385723 meters 0.15983627423846528 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.13 [[ 0.99966861 -0.02478526 0.00695395 0.10673446] [ 0.02485462 0.99964033 -0.01007246 -0.16799404] [-0.0067018 0.01024196 0.99992509 -0.12863502] [ 0. 0. 0. 1. ]] SLAMing on 1.750385723 meters 0.15377134289157932 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.13 [[ 0.99954983 -0.02917325 0.0070036 0.10659398] [ 0.02927138 0.99946859 -0.01434291 -0.16821362] [-0.00658145 0.01454146 0.99987261 -0.12823641] [ 0. 0. 0. 1. ]] SLAMing on 1.780385723 meters 0.15335605677780095 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.13 [[ 0.99964657 -0.02574007 0.00664666 0.10757905] [ 0.02580063 0.99962485 -0.00919214 -0.17222485] [-0.00640756 0.00936038 0.99993566 -0.12968128] [ 0. 0. 0. 1. ]] SLAMing on 1.8103857229999998 meters 0.14893948870978876 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.13 [[ 0.99964455 -0.02583543 0.00658127 0.10801165] [ 0.02589439 0.99962383 -0.00903726 -0.17237335] [-0.00634531 0.00920446 0.99993751 -0.13015881] [ 0. 0. 0. 1. ]] SLAMing on 1.8403857229999998 meters 0.14596064215621626 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.13 [[ 0.99973112 -0.02232705 0.00625981 0.10795028] [ 0.02235623 0.99973934 -0.00463248 -0.17448813] [-0.00615474 0.00477118 0.99996968 -0.12955262] [ 0. 0. 0. 1. ]] SLAMing on 1.8703857229999998 meters 0.14510691569568687 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.17, Z:-0.13 [[ 0.99972403 -0.02263657 0.00628066 0.10742759] [ 0.02266854 0.9997302 -0.00506633 -0.17386118] [-0.00616429 0.0052073 0.99996744 -0.12875768] [ 0. 0. 0. 1. ]] SLAMing on 1.9003857229999999 meters 0.14211625588475058 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.17, Z:-0.13 [[ 0.99989063 -0.01256793 0.00779572 0.09778973] [ 0.01263012 0.99988839 -0.0079802 -0.17498884] [-0.00769456 0.00807779 0.99993777 -0.12789275] [ 0. 0. 0. 1. ]] SLAMing on 1.9303857229999999 meters 0.13716056928728945 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 0.99993258 -0.00838043 0.00803731 0.09683067] [ 0.00840725 0.99995919 -0.00330791 -0.17750166] [-0.00800926 0.00337526 0.99996223 -0.12734449] [ 0. 0. 0. 1. ]] SLAMing on 1.960385723 meters 0.13990199445522267 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 0.99996616 -0.00340596 0.00748801 0.09838005] [ 0.00339427 0.999993 0.00157286 -0.17969443] [-0.00749332 -0.00154739 0.99997073 -0.12813123] [ 0. 0. 0. 1. ]] SLAMing on 1.990385723 meters 0.13667937599405802 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 0.99997086 -0.00283582 0.00708805 0.0991668 ] [ 0.00282639 0.99999511 0.00134012 -0.17833928] [-0.00709182 -0.00132005 0.99997398 -0.128372 ] [ 0. 0. 0. 1. ]] SLAMing on 2.020385723 meters 0.13129965227217028 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 9.99973976e-01 -2.77158777e-03 6.66077608e-03 9.99366259e-02] [ 2.76570734e-03 9.99995778e-01 8.91893787e-04 -1.76999905e-01] [-6.66321992e-03 -8.73448819e-04 9.99977419e-01 -1.28414051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.050385723 meters 0.13325491851001128 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 9.99979708e-01 -2.28386517e-03 5.94705731e-03 1.01030423e-01] [ 2.28025068e-03 9.99997211e-01 6.14488432e-04 -1.75125569e-01] [-5.94844414e-03 -6.00915181e-04 9.99982127e-01 -1.28274766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.080385723 meters 0.1315239006011594 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 9.99980193e-01 -2.26807094e-03 5.87099803e-03 1.00979557e-01] [ 2.26436910e-03 9.99997233e-01 6.37100858e-04 -1.75450752e-01] [-5.87242678e-03 -6.23794133e-04 9.99982563e-01 -1.28006869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1103857230000003 meters 0.1307547042302831 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 0.99998029 -0.00201778 0.00594574 0.10057322] [ 0.00200708 0.99999636 0.00180505 -0.17966558] [-0.00594936 -0.00179308 0.99998069 -0.12754347] [ 0. 0. 0. 1. ]] SLAMing on 2.140385723 meters 0.12982435307819762 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.13 [[ 0.99997912 -0.00199493 0.00614725 0.09992928] [ 0.00197988 0.99999503 0.00245351 -0.18224073] [-0.00615212 -0.00244128 0.9999781 -0.12714853] [ 0. 0. 0. 1. ]] SLAMing on 2.1703857230000003 meters 0.12703247888709435 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.13 [[ 9.99965461e-01 -4.81063586e-03 6.77751730e-03 9.74535510e-02] [ 4.80549296e-03 9.99988153e-01 7.74897581e-04 -1.87113681e-01] [-6.78116476e-03 -7.42301505e-04 9.99976732e-01 -1.25173906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.200385723 meters 0.12653641515232322 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.12 [[ 0.99995993 -0.0054055 0.00713599 0.0966305 ] [ 0.00539601 0.99998453 0.00134829 -0.19156552] [-0.00714316 -0.00130973 0.99997363 -0.1248385 ] [ 0. 0. 0. 1. ]] SLAMing on 2.230385723 meters 0.1232070315757061 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.13 [[ 0.99996513 -0.00480285 0.0068322 0.09787223] [ 0.00478426 0.99998482 0.00273494 -0.19486805] [-0.00684524 -0.00270216 0.99997292 -0.125895 ] [ 0. 0. 0. 1. ]] SLAMing on 2.260385723 meters 0.12049331380870508 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.13 [[ 9.99945386e-01 -8.12044647e-03 6.57896223e-03 9.93877552e-02] [ 8.11645393e-03 9.99966860e-01 6.33338137e-04 -2.00517682e-01] [-6.58388719e-03 -5.79905705e-04 9.99978158e-01 -1.27358785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.290385723 meters 0.11941841247673406 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.13 [[ 0.99994967 -0.00767265 0.00646384 0.10003691] [ 0.0076605 0.99996885 0.00190247 -0.20360926] [-0.00647823 -0.00185286 0.9999773 -0.12798466] [ 0. 0. 0. 1. ]] SLAMing on 2.3203857230000002 meters 0.11781337572103634 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.13 [[ 0.99995212 -0.00747416 0.00631649 0.10043828] [ 0.00745426 0.9999672 0.00316748 -0.2068725 ] [-0.00633996 -0.00312025 0.99997503 -0.12807324] [ 0. 0. 0. 1. ]] SLAMing on 2.350385723 meters 0.11634051289685285 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.13 [[ 0.9999549 -0.0070878 0.00632191 0.10082224] [ 0.0070582 0.99996408 0.00469273 -0.21147853] [-0.00635494 -0.00464789 0.99996901 -0.12847348] [ 0. 0. 0. 1. ]] SLAMing on 2.3803857230000003 meters 0.11303618944496203 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.13 [[ 9.99975837e-01 -2.99234446e-04 6.94518942e-03 9.23700128e-02] [ 3.08601892e-04 9.99999044e-01 -1.34773513e-03 -2.14293836e-01] [-6.94477949e-03 1.34984587e-03 9.99974974e-01 -1.29254398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.410385723 meters 0.1137246204537507 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.13 [[ 9.99977298e-01 3.62167080e-04 6.72846489e-03 9.35635490e-02] [-3.61044984e-04 9.99999921e-01 -1.67982351e-04 -2.17655713e-01] [-6.72852520e-03 1.65549259e-04 9.99977350e-01 -1.30328078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.440385723 meters 0.11030343246545973 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.13 [[ 9.99978073e-01 4.02002748e-04 6.60992425e-03 9.39869765e-02] [-3.99204570e-04 9.99999830e-01 -4.24643793e-04 -2.17100486e-01] [-6.61009384e-03 4.21995770e-04 9.99978064e-01 -1.30746252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.470385723 meters 0.10976367320723814 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.13 [[ 9.99979997e-01 4.84047420e-04 6.30644121e-03 9.47249877e-02] [-4.80422464e-04 9.99999719e-01 -5.76304236e-04 -2.16347642e-01] [-6.30671839e-03 5.73262952e-04 9.99979948e-01 -1.31040995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.500385723 meters 0.10583939938692892 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.13 [[ 9.99982386e-01 7.04459602e-04 5.89328532e-03 9.49998666e-02] [-6.96569251e-04 9.99998859e-01 -1.34081683e-03 -2.12652626e-01] [-5.89422315e-03 1.33668813e-03 9.99981736e-01 -1.30523155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530385723 meters 0.10731498407038939 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.13 [[ 9.99985098e-01 5.79628173e-04 5.42845608e-03 9.58272848e-02] [-5.67559720e-04 9.99997365e-01 -2.22445995e-03 -2.09761159e-01] [-5.42973113e-03 2.22134583e-03 9.99982792e-01 -1.30505013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.560385723 meters 0.10412110030017087 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:-0.13 [[ 0.99998614 0.00226561 0.00475221 0.09802907] [-0.00225931 0.99999656 -0.00132976 -0.2059244 ] [-0.00475521 0.00131901 0.99998782 -0.13193094] [ 0. 0. 0. 1. ]] SLAMing on 2.5903857230000003 meters 0.10337281017616663 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.13 [[ 0.99998795 0.00246994 0.0042436 0.10008427] [-0.00246173 0.99999509 -0.00193832 -0.20285632] [-0.00424837 0.00192785 0.99998912 -0.13365852] [ 0. 0. 0. 1. ]] SLAMing on 2.620385723 meters 0.10078563608636078 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.13 [[ 0.99999007 0.00219557 0.00387701 0.10095903] [-0.00218436 0.99999343 -0.00289238 -0.19982631] [-0.00388334 0.00288388 0.9999883 -0.13395935] [ 0. 0. 0. 1. ]] SLAMing on 2.650385723 meters 0.10017941539043203 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.14 [[ 0.99998749 0.00432694 0.00250801 0.10587393] [-0.0043228 0.99998929 -0.00165254 -0.19503756] [-0.00251513 0.00164168 0.99999549 -0.1377795 ] [ 0. 0. 0. 1. ]] SLAMing on 2.680385723 meters 0.10171920682342843 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.14 [[ 0.99999231 0.00345302 0.00185881 0.10940692] [-0.00344737 0.99998945 -0.00303444 -0.19233761] [-0.00186927 0.00302801 0.99999367 -0.14088617] [ 0. 0. 0. 1. ]] SLAMing on 2.710385723 meters 0.10171920682342843 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.19, Z:-0.14 [[ 0.99999231 0.00345302 0.00185881 0.10940692] [-0.00344737 0.99998945 -0.00303444 -0.19233761] [-0.00186927 0.00302801 0.99999367 -0.14088617] [ 0. 0. 0. 1. ]] SLAMing on 2.740385723 meters 0.098938369701806 Centerline is valid? [False, True] Translation: X:0.11, Y:-0.19, Z:-0.14 [[ 0.99999355 0.00330599 0.00140592 0.11133599] [-0.00330032 0.99998649 -0.00401662 -0.18826818] [-0.00141918 0.00401195 0.99999095 -0.14261999] [ 0. 0. 0. 1. ]] SLAMing on 2.770385723 meters 0.09622956203633337 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.18, Z:-0.14 [[ 9.99996778e-01 -1.88953521e-03 1.69501214e-03 1.41615116e-01] [ 1.88940712e-03 9.99998212e-01 7.71645628e-05 -1.82863932e-01] [-1.69515492e-03 -7.39617462e-05 9.99998560e-01 -1.38094817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.800385723 meters 0.09519240391344283 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.18, Z:-0.14 [[ 9.99991657e-01 -3.98359026e-03 9.03870676e-04 1.73586291e-01] [ 3.98354541e-03 9.99992064e-01 5.14145498e-05 -1.76511896e-01] [-9.04068318e-04 -4.78135110e-05 9.99999590e-01 -1.37506926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.830385723 meters 0.09485024540965387 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.17, Z:-0.14 [[ 9.99958807e-01 -7.37615096e-03 -5.28923194e-03 2.04508797e-01] [ 7.37499324e-03 9.99972776e-01 -2.38352907e-04 -1.65393549e-01] [ 5.29084608e-03 1.99335039e-04 9.99985984e-01 -1.37809049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8603857230000003 meters 0.09221135818524726 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.17, Z:-0.14 [[ 9.99796199e-01 -1.98909182e-02 -3.45136428e-03 2.34496540e-01] [ 1.98904945e-02 9.99802152e-01 -1.57053643e-04 -1.68404411e-01] [ 3.45380537e-03 8.83722932e-05 9.99994032e-01 -1.41273808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.890385723 meters 0.09014540052551114 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.17, Z:-0.14 [[ 9.99591491e-01 -2.85631448e-02 9.99273557e-04 2.65809095e-01] [ 2.85631131e-02 9.99591990e-01 4.59705951e-05 -1.72710619e-01] [-1.00017891e-03 -1.74094520e-05 9.99999500e-01 -1.38888347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.920385723 meters 0.08938111656419506 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.17, Z:-0.14 [[ 9.99394107e-01 -3.48006665e-02 5.77279647e-04 2.96957019e-01] [ 3.48006518e-02 9.99394273e-01 3.55310915e-05 -1.73628158e-01] [-5.78166479e-04 -1.54198555e-05 9.99999833e-01 -1.39566143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.950385723 meters 0.08721674820910688 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.18, Z:-0.13 [[ 9.98994621e-01 -4.43550689e-02 6.50962719e-03 3.28316412e-01] [ 4.43540924e-02 9.99015830e-01 2.94378537e-04 -1.76029403e-01] [-6.51627779e-03 -5.35396928e-06 9.99978769e-01 -1.34984534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.980385723 meters 0.08519390329532546 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.17, Z:-0.13 [[ 9.98903346e-01 -4.60211524e-02 8.61157487e-03 3.60589058e-01] [ 4.60194430e-02 9.98940465e-01 3.96650722e-04 -1.74562385e-01] [-8.62070493e-03 8.41456964e-08 9.99962841e-01 -1.32496825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.010385723 meters 0.08373306902351618 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.17, Z:-0.13 [[ 9.99056115e-01 -4.16284898e-02 1.24076039e-02 3.92543393e-01] [ 4.16247640e-02 9.99133158e-01 5.58488580e-04 -1.69039461e-01] [-1.24200975e-02 -4.14978478e-05 9.99922867e-01 -1.30412019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.040385723 meters 0.08258588802908243 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.17, Z:-0.13 [[ 9.99166019e-01 -3.85045581e-02 1.35891889e-02 4.23449605e-01] [ 3.84997780e-02 9.99258421e-01 6.13279100e-04 -1.65816626e-01] [-1.36027254e-02 -8.95868817e-05 9.99907475e-01 -1.31496479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0703857230000002 meters 0.0810647158663537 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.16, Z:-0.13 [[ 9.99332570e-01 -3.28545136e-02 1.59685586e-02 4.55875715e-01] [ 3.28471969e-02 9.99460126e-01 7.20324436e-04 -1.59161666e-01] [-1.59836035e-02 -1.95321280e-04 9.99872235e-01 -1.30751389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.100385723 meters 0.08035632670361827 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.16, Z:-0.13 [[ 9.99406944e-01 -3.09498576e-02 1.50952221e-02 4.87451767e-01] [ 3.09431522e-02 9.99520916e-01 6.77625005e-04 -1.55855295e-01] [-1.51089626e-02 -2.10129381e-04 9.99885831e-01 -1.31807387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1303857230000003 meters 0.07899889226206008 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.16, Z:-0.14 [[ 9.99486936e-01 -2.83120021e-02 1.49765208e-02 5.18038220e-01] [ 2.83051931e-02 9.99599106e-01 6.66457241e-04 -1.55590049e-01] [-1.49893855e-02 -2.42201993e-04 9.99887624e-01 -1.35628146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.160385723 meters 0.0784786101811946 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.15, Z:-0.14 [[ 9.99597686e-01 -2.57785960e-02 1.18292094e-02 5.48919347e-01] [ 2.57742108e-02 9.99667653e-01 5.23032747e-04 -1.54043920e-01] [-1.18387611e-02 -2.17933786e-04 9.99929896e-01 -1.40139367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.190385723 meters 0.07752418857440384 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.15, Z:-0.14 [[ 9.99703206e-01 -2.14718375e-02 1.15090966e-02 5.79430115e-01] [ 2.14673973e-02 9.99769419e-01 5.09218103e-04 -1.52913500e-01] [-1.15173766e-02 -2.61996623e-04 9.99933638e-01 -1.43477173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.220385723 meters 0.076030346893495 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.15, Z:-0.14 [[ 9.99776624e-01 -1.75752027e-02 1.17394416e-02 6.11331804e-01] [ 1.75703070e-02 9.99845495e-01 5.20043214e-04 -1.49454652e-01] [-1.17467676e-02 -3.13661456e-04 9.99930955e-01 -1.43276103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.250385723 meters 0.07670433573145483 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 9.99847799e-01 -1.23671935e-02 1.23057702e-02 6.42105554e-01] [ 1.23614494e-02 9.99923447e-01 5.42737711e-04 -1.44460334e-01] [-1.23115403e-02 -3.90537950e-04 9.99924134e-01 -1.43811925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.280385723 meters 0.07561748348896499 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 9.99906543e-01 -4.75205110e-03 1.28188492e-02 6.71865945e-01] [ 4.74519798e-03 9.99988582e-01 5.64975088e-04 -1.37613227e-01] [-1.28213876e-02 -5.04094310e-04 9.99917676e-01 -1.44076123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.310385723 meters 0.07609616187427677 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.13, Z:-0.15 [[ 9.99930619e-01 -8.54330829e-04 1.17484963e-02 7.03023892e-01] [ 8.48299829e-04 9.99999506e-01 5.18316067e-04 -1.33515566e-01] [-1.17489333e-02 -5.08313859e-04 9.99930850e-01 -1.45828302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3403857230000003 meters 0.07635711085521894 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.13, Z:-0.15 [[ 9.99912210e-01 5.67523264e-03 1.19734689e-02 7.33152903e-01] [-5.68195131e-03 9.99983719e-01 5.27186746e-04 -1.27575309e-01] [-1.19702821e-02 -5.95173131e-04 9.99928176e-01 -1.45801958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.370385723 meters 0.07596312596775351 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.12, Z:-0.14 [[ 9.99809404e-01 1.02806808e-02 1.65970640e-02 7.63718045e-01] [-1.02942236e-02 9.99946746e-01 7.30747256e-04 -1.22173732e-01] [-1.65886676e-02 -9.01461866e-04 9.99861992e-01 -1.42127446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.400385723 meters 0.07608861322627797 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.12, Z:-0.14 [[ 9.99737958e-01 1.17209105e-02 1.96630349e-02 7.96325011e-01] [-1.17402835e-02 9.99930702e-01 8.70097401e-04 -1.19220848e-01] [-1.96514739e-02 -1.10071900e-03 9.99806285e-01 -1.40758310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.430385723 meters 0.074537070215542 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.12, Z:-0.14 [[ 9.99742424e-01 9.41587760e-03 2.06500913e-02 8.26579123e-01] [-9.43655567e-03 9.99955066e-01 9.04137971e-04 -1.18813109e-01] [-2.06406501e-02 -1.09877082e-03 9.99786355e-01 -1.39924982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.460385723 meters 0.07258122017544003 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.12, Z:-0.14 [[ 9.99749478e-01 7.24956408e-03 2.11760370e-02 8.58011109e-01] [-7.27083902e-03 9.99973137e-01 9.27850172e-04 -1.19271065e-01] [-2.11687417e-02 -1.08158528e-03 9.99775332e-01 -1.41629076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.490385723 meters 0.06950199440950157 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.12, Z:-0.14 [[ 9.99757008e-01 5.77909766e-04 2.20361120e-02 8.89339046e-01] [-5.99308354e-04 9.99999355e-01 9.64477511e-04 -1.22865629e-01] [-2.20355404e-02 -9.77449577e-04 9.99756710e-01 -1.42966152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.520385723 meters 0.0664757527810009 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.13, Z:-0.14 [[ 9.99725637e-01 -5.42694593e-03 2.27859284e-02 9.20541765e-01] [ 5.40563550e-03 9.99984893e-01 9.96735965e-04 -1.25488184e-01] [-2.27909934e-02 -8.73290074e-04 9.99739870e-01 -1.44062631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.550385723 meters 0.06514959205146523 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.13, Z:-0.14 [[ 9.99667671e-01 -8.84072791e-03 2.42154610e-02 9.51052909e-01] [ 8.81766112e-03 9.99960563e-01 1.05917863e-03 -1.26706840e-01] [-2.42238699e-02 -8.45302903e-04 9.99706202e-01 -1.44679389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.580385723 meters 0.06384572004118388 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.13, Z:-0.15 [[ 9.99660494e-01 -1.11207466e-02 2.35632429e-02 9.83171928e-01] [ 1.10994395e-02 9.99937864e-01 1.03485023e-03 -1.27124332e-01] [-2.35732870e-02 -7.72960105e-04 9.99721813e-01 -1.46433994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.610385723 meters 0.0595203641868173 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.13, Z:-0.14 [[ 9.99625499e-01 -1.47404992e-02 2.30559960e-02 1.01548410e+00] [ 1.47212380e-02 9.99891132e-01 1.00492721e-03 -1.33800054e-01] [-2.30682991e-02 -6.65138060e-04 9.99733670e-01 -1.41541040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.640385723 meters 0.05806519855283528 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.13, Z:-0.14 [[ 9.99608460e-01 -1.61440202e-02 2.28538232e-02 1.04742759e+00] [ 1.61253973e-02 9.99869478e-01 9.98934802e-04 -1.29972244e-01] [-2.28669671e-02 -6.30016700e-04 9.99738318e-01 -1.40808338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.670385723 meters 0.056211762536257294 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.13, Z:-0.14 [[ 9.99484029e-01 -1.79050425e-02 2.66661992e-02 1.07882825e+00] [ 1.78806114e-02 9.99839463e-01 1.15436437e-03 -1.30946536e-01] [-2.66825873e-02 -6.76960807e-04 9.99643727e-01 -1.40285094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.700385723 meters 0.05544504349785891 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.13, Z:-0.14 [[ 9.99369990e-01 -2.17388203e-02 2.80543373e-02 1.10943337e+00] [ 2.17133161e-02 9.99763502e-01 1.21345407e-03 -1.30139572e-01] [-2.80740816e-02 -6.03536890e-04 9.99605663e-01 -1.43792942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.730385723 meters 0.05364981327404599 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.13, Z:-0.15 [[ 9.99296149e-01 -2.26872697e-02 2.98746310e-02 1.14109183e+00] [ 2.26587229e-02 9.99742421e-01 1.29378685e-03 -1.30100365e-01] [-2.98962884e-02 -6.15955230e-04 9.99552816e-01 -1.45288769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.760385723 meters 0.052563094444867016 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.13, Z:-0.14 [[ 9.99290470e-01 -2.21736336e-02 3.04447991e-02 1.17416610e+00] [ 2.21439311e-02 9.99753932e-01 1.31247503e-03 -1.31804582e-01] [-3.04664099e-02 -6.37376262e-04 9.99535588e-01 -1.44801675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.790385723 meters 0.051181922419499426 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.13, Z:-0.15 [[ 9.99299666e-01 -2.12584992e-02 3.07937195e-02 1.20586579e+00] [ 2.12279328e-02 9.99773792e-01 1.31923714e-03 -1.29893382e-01] [-3.08147988e-02 -6.64626227e-04 9.99524890e-01 -1.45744931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8203857230000002 meters 0.05096462168477588 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.13, Z:-0.15 [[ 9.99344146e-01 -1.97558505e-02 3.03477148e-02 1.23835666e+00] [ 1.97256937e-02 9.99804594e-01 1.29280060e-03 -1.26263246e-01] [-3.03673250e-02 -6.93322989e-04 9.99538566e-01 -1.47152676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.850385723 meters 0.050376793879305264 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.12, Z:-0.15 [[ 9.99372402e-01 -1.71688386e-02 3.09844060e-02 1.26969376e+00] [ 1.71363855e-02 9.99852300e-01 1.31266084e-03 -1.23283066e-01] [-3.10023665e-02 -7.80876289e-04 9.99519006e-01 -1.47808747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.880385723 meters 0.049807459615619776 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.12, Z:-0.15 [[ 9.99393935e-01 -1.49078024e-02 3.14566468e-02 1.30137241e+00] [ 1.48734390e-02 9.99888505e-01 1.32612797e-03 -1.20454147e-01] [-3.14729092e-02 -8.57455737e-04 9.99504237e-01 -1.49017271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.910385723 meters 0.049770622123506525 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.12, Z:-0.15 [[ 9.99443719e-01 -9.58533993e-03 3.19432763e-02 1.33082951e+00] [ 9.54748222e-03 9.99953527e-01 1.33747490e-03 -1.15187476e-01] [-3.19546119e-02 -1.03175303e-03 9.99488788e-01 -1.48904415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.940385723 meters 0.05078249733186707 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.11, Z:-0.15 [[ 9.99424242e-01 4.08432186e-04 3.39266591e-02 1.36090810e+00] [-4.56900352e-04 9.99998886e-01 1.42087543e-03 -1.07369652e-01] [-3.39260410e-02 -1.43555845e-03 9.99423315e-01 -1.49678474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.970385723 meters 0.05137917549050404 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.10, Z:-0.15 [[ 0.99937486 0.00515439 0.03497595 1.39146695] [-0.00520876 0.99998536 0.00146337 -0.10356636] [-0.0349679 -0.00164464 0.99938708 -0.15083967] [ 0. 0. 0. 1. ]] SLAMing on 4.000385723 meters 0.05277196352644957 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.10, Z:-0.15 [[ 0.99911988 0.01441662 0.03939056 1.42238917] [-0.01449275 0.99989362 0.00164773 -0.09883975] [-0.03936262 -0.00221716 0.99922253 -0.1490247 ] [ 0. 0. 0. 1. ]] SLAMing on 4.030385722999999 meters 0.05382105311760057 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.09, Z:-0.15 [[ 0.99894442 0.01869246 0.04195989 1.4532406 ] [-0.0187826 0.99982205 0.0017551 -0.09397008] [-0.04191961 -0.00254136 0.99911775 -0.14760824] [ 0. 0. 0. 1. ]] SLAMing on 4.060385723 meters 0.055670466067156074 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.09, Z:-0.15 [[ 0.9986067 0.02635345 0.04571814 1.48261205] [-0.02646847 0.99964782 0.00191214 -0.08732107] [-0.04565165 -0.00311957 0.99895255 -0.14514519] [ 0. 0. 0. 1. ]] SLAMing on 4.090385723 meters 0.05781255969112304 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.08, Z:-0.15 [[ 0.99845153 0.03181421 0.04563322 1.51211861] [-0.03193449 0.99948814 0.00190909 -0.08270811] [-0.04554913 -0.00336341 0.99895644 -0.14577132] [ 0. 0. 0. 1. ]] SLAMing on 4.120385722999999 meters 0.05869261675696161 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.08, Z:-0.15 [[ 0.99838479 0.03410593 0.04543791 1.54294838] [-0.03422748 0.99941226 0.00189968 -0.08072601] [-0.04534641 -0.00345184 0.99896536 -0.14738454] [ 0. 0. 0. 1. ]] SLAMing on 4.150385722999999 meters 0.05910100846395553 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.08, Z:-0.15 [[ 0.99830715 0.03592346 0.04574205 1.57360272] [-0.03604851 0.99934821 0.00191172 -0.08104061] [-0.04564356 -0.00355741 0.99895146 -0.14920239] [ 0. 0. 0. 1. ]] SLAMing on 4.180385723 meters 0.059279038005026256 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.08, Z:-0.15 [[ 0.99824196 0.03651152 0.04668939 1.60563989] [-0.0366424 0.99932654 0.00195024 -0.08165176] [-0.04658674 -0.00365762 0.99890755 -0.15086022] [ 0. 0. 0. 1. ]] SLAMing on 4.210385723 meters 0.05767636607845145 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.08, Z:-0.15 [[ 0.99830238 0.0337464 0.04747145 1.63539495] [-0.03387817 0.99942402 0.00197364 -0.08465927] [-0.0473775 -0.00357853 0.99887065 -0.15108754] [ 0. 0. 0. 1. ]] SLAMing on 4.240385722999999 meters 0.05615567335079917 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.09, Z:-0.15 [[ 0.99835162 0.02995032 0.04895944 1.6655637 ] [-0.03008597 0.99954524 0.00203594 -0.08652219] [-0.04887619 -0.00350558 0.99879869 -0.15099935] [ 0. 0. 0. 1. ]] SLAMing on 4.2703857229999995 meters 0.055470954225372106 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.09, Z:-0.15 [[ 0.99845409 0.02755244 0.04827318 1.69645778] [-0.02768152 0.99961478 0.00200735 -0.08797408] [-0.04819928 -0.00334052 0.99883215 -0.15251788] [ 0. 0. 0. 1. ]] SLAMing on 4.300385723 meters 0.052440696176853395 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.09, Z:-0.15 [[ 0.99851662 0.02166868 0.04995032 1.72663218] [-0.02179952 0.99976021 0.00207615 -0.09320834] [-0.04989335 -0.00316197 0.99874955 -0.1508149 ] [ 0. 0. 0. 1. ]] SLAMing on 4.330385723 meters 0.05027182460768519 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.10, Z:-0.15 [[ 0.99852885 0.01729127 0.05139216 1.75694001] [-0.01742399 0.99984591 0.00213557 -0.09510526] [-0.05134732 -0.00302789 0.99867627 -0.14990872] [ 0. 0. 0. 1. ]] SLAMing on 4.360385722999999 meters 0.045891946012346314 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.10, Z:-0.15 [[ 0.99851096 0.00855971 0.05387564 1.78666782] [-0.00869294 0.99995971 0.00223891 -0.10071845] [-0.0538543 -0.00270391 0.99854514 -0.14777483] [ 0. 0. 0. 1. ]] SLAMing on 4.390385723 meters 0.040830415217102026 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.11, Z:-0.15 [[ 9.98433939e-01 -6.34453935e-04 5.59398436e-02 1.81774148e+00] [ 5.05169283e-04 9.99997169e-01 2.32524750e-03 -1.05103237e-01] [-5.59411605e-02 -2.29334693e-03 9.98431433e-01 -1.45388606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.420385723 meters 0.038656579906073414 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.11, Z:-0.14 [[ 0.99835396 -0.00427707 0.05719326 1.84737032] [ 0.00414789 0.99998857 0.0023772 -0.10568527] [-0.05720277 -0.00213605 0.9983603 -0.14488406] [ 0. 0. 0. 1. ]] SLAMing on 4.450385722999999 meters 0.03615809385257404 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.11, Z:-0.15 [[ 9.98343787e-01 -9.56815696e-03 5.67285951e-02 1.87783866e+00] [ 9.44956597e-03 9.99952571e-01 2.35838152e-03 -1.06488034e-01] [-5.67484699e-02 -1.81841494e-03 9.98386851e-01 -1.47567802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4803857229999995 meters 0.03494892884835311 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.11, Z:-0.15 [[ 9.98431104e-01 -1.19856265e-02 5.46962028e-02 1.90896637e+00] [ 1.18790513e-02 9.99926858e-01 2.27320284e-03 -1.05136335e-01] [-5.47194479e-02 -1.61989742e-03 9.98500455e-01 -1.51334924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510385723 meters 0.03364121925436773 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.10, Z:-0.16 [[ 9.98488831e-01 -1.45973774e-02 5.29808496e-02 1.94002770e+00] [ 1.45011369e-02 9.99892432e-01 2.20049337e-03 -1.02061542e-01] [-5.30072720e-02 -1.42888550e-03 9.98593104e-01 -1.55716717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.540385723 meters 0.033830886456951516 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.10, Z:-0.16 [[ 9.98442383e-01 -1.43412630e-02 5.39178546e-02 1.97151820e+00] [ 1.42413656e-02 9.99896085e-01 2.23654443e-03 -9.75581454e-02] [-5.39443266e-02 -1.46519687e-03 9.98542870e-01 -1.56189729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570385722999999 meters 0.03321177158712822 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.09, Z:-0.16 [[ 9.98395127e-01 -1.58696041e-02 5.43629165e-02 2.00341083e+00] [ 1.57708427e-02 9.99873112e-01 2.24524290e-03 -9.07933649e-02] [-5.43916496e-02 -1.38429057e-03 9.98518719e-01 -1.56467233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.600385723 meters 0.03321177158712822 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.09, Z:-0.16 [[ 9.98398500e-01 -1.56544134e-02 5.43633480e-02 2.03598346e+00] [ 1.55559043e-02 9.99876502e-01 2.23475210e-03 -8.95908851e-02] [-5.43916180e-02 -1.38550210e-03 9.98518719e-01 -1.57924336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630385723 meters 0.03220800830697753 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:-0.16 [[ 9.98428721e-01 -1.75820789e-02 5.32067679e-02 2.06669085e+00] [ 1.74910373e-02 9.99844652e-01 2.17629264e-03 -8.48108311e-02] [-5.32367661e-02 -1.24223151e-03 9.98581145e-01 -1.60701803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.660385722999999 meters 0.03172919258307589 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.08, Z:-0.16 [[ 9.98450605e-01 -1.85256803e-02 5.24708440e-02 2.09868840e+00] [ 1.84389237e-02 9.99827705e-01 2.13707025e-03 -8.29722211e-02] [-5.25013942e-02 -1.16625320e-03 9.98620170e-01 -1.64196872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6903857229999995 meters 0.028476851512860276 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.09, Z:-0.17 [[ 9.98260436e-01 -2.53640585e-02 5.32237346e-02 2.13053856e+00] [ 2.52849691e-02 9.99677953e-01 2.15891994e-03 -8.90819928e-02] [-5.32613530e-02 -8.09403879e-04 9.98580279e-01 -1.65190062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.720385723 meters 0.027470164823219588 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.09, Z:-0.17 [[ 9.98231635e-01 -2.79494200e-02 5.24636293e-02 2.16287330e+00] [ 2.78763111e-02 9.99609122e-01 2.12489310e-03 -8.95930453e-02] [-5.25025119e-02 -6.58643066e-04 9.98620575e-01 -1.66974201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750385723 meters 0.025143591153732426 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.10, Z:-0.17 [[ 9.98102085e-01 -3.30233736e-02 5.19777423e-02 2.19553933e+00] [ 3.29590080e-02 9.99454508e-01 2.09522578e-03 -9.82502860e-02] [-5.20185803e-02 -3.78114393e-04 9.98646046e-01 -1.72542014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.780385722999999 meters 0.025053918138339223 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.10, Z:-0.17 [[ 9.98119095e-01 -3.41343928e-02 5.09226346e-02 2.22804473e+00] [ 3.40746574e-02 9.99417206e-01 2.04100331e-03 -9.72433141e-02] [-5.09626256e-02 -3.01993053e-04 9.98700515e-01 -1.74167224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810385723 meters 0.02496055357982543 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.10, Z:-0.18 [[ 9.98183662e-01 -3.35271026e-02 5.00530772e-02 2.26019807e+00] [ 3.34691865e-02 9.99437759e-01 1.99502423e-03 -9.53041239e-02] [-5.00918227e-02 -3.16164817e-04 9.98744567e-01 -1.75674779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.840385723 meters 0.024950679756540393 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.09, Z:-0.18 [[ 9.98370535e-01 -3.17433474e-02 4.74197751e-02 2.29240796e+00] [ 3.16897239e-02 9.99495982e-01 1.88237020e-03 -9.29502542e-02] [-4.74556274e-02 -3.76583366e-04 9.98873276e-01 -1.78341100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870385722999999 meters 0.024759760900444135 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.09, Z:-0.18 [[ 9.98455226e-01 -3.06124701e-02 4.63685034e-02 2.32531745e+00] [ 3.05605019e-02 9.99531245e-01 1.82942090e-03 -9.31158348e-02] [-4.64027710e-02 -4.09550121e-04 9.98922727e-01 -1.81276002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.900385722999999 meters 0.02532469240489012 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.09, Z:-0.18 [[ 9.98593719e-01 -2.64063682e-02 4.59705114e-02 2.35729809e+00] [ 2.63513855e-02 9.99651118e-01 1.80175031e-03 -9.04197745e-02] [-4.60020508e-02 -5.87829875e-04 9.98941172e-01 -1.82588879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930385723 meters 0.026052048653810517 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.08, Z:-0.18 [[ 9.98759020e-01 -1.91028145e-02 4.59945886e-02 2.38865386e+00] [ 1.90405069e-02 9.99817106e-01 1.79244389e-03 -8.40521315e-02] [-4.60204172e-02 -9.14459219e-04 9.98940081e-01 -1.81329274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.960385723 meters 0.026714220544867454 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.08, Z:-0.18 [[ 9.98797897e-01 -1.57020190e-02 4.64349805e-02 2.41959324e+00] [ 1.56349270e-02 9.99876133e-01 1.80772873e-03 -8.07009264e-02] [-4.64576138e-02 -1.07954812e-03 9.98919679e-01 -1.82219716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990385722999999 meters 0.026605847664190576 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.08, Z:-0.19 [[ 9.98867520e-01 -1.05960354e-02 4.63831939e-02 2.45027267e+00] [ 1.05240425e-02 9.99943008e-01 1.79606727e-03 -8.35565738e-02] [-4.63995816e-02 -1.30589456e-03 9.98922106e-01 -1.85160824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0203857229999995 meters 0.02781868880777672 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.08, Z:-0.19 [[ 9.98898817e-01 -7.70254988e-03 4.62798547e-02 2.48124411e+00] [ 7.62782747e-03 9.99969304e-01 1.79096509e-03 -8.05731529e-02] [-4.62922291e-02 -1.43597816e-03 9.98926908e-01 -1.87179023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050385723 meters 0.02856036287275034 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.08, Z:-0.19 [[ 9.98946297e-01 -1.54335301e-03 4.58684334e-02 2.51235081e+00] [ 1.46392242e-03 9.99997370e-01 1.76524607e-03 -7.64862153e-02] [-4.58710372e-02 -1.69623820e-03 9.98945930e-01 -1.87411075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.080385722999999 meters 0.030786218244577942 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.07, Z:-0.19 [[ 9.98820332e-01 6.07011483e-03 4.81777813e-02 2.54156064e+00] [-6.16655436e-03 9.99979269e-01 1.85336227e-03 -6.97915927e-02] [-4.81655324e-02 -2.14826682e-03 9.98837057e-01 -1.86948206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110385722999999 meters 0.03116179678086735 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.07, Z:-0.19 [[ 9.98723360e-01 9.94755866e-03 4.95247001e-02 2.57260061e+00] [-1.00542411e-02 9.99947639e-01 1.90546709e-03 -7.01739115e-02] [-4.95031522e-02 -2.40096777e-03 9.98771082e-01 -1.88731160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140385723 meters 0.035459024575036815 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.06, Z:-0.19 [[ 9.98632002e-01 1.86086567e-02 4.88655475e-02 2.60243731e+00] [-1.87228086e-02 9.99822947e-01 1.87931736e-03 -6.30158901e-02] [-4.88219241e-02 -2.79164675e-03 9.98803598e-01 -1.90850515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170385723 meters 0.035000628441322665 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.06, Z:-0.19 [[ 9.98627836e-01 2.17807796e-02 4.76239804e-02 2.63354174e+00] [-2.18927610e-02 9.99758648e-01 1.83096230e-03 -6.12507215e-02] [-4.75726065e-02 -2.87107034e-03 9.98863656e-01 -1.92880189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.200385722999999 meters 0.03436282889269622 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.06, Z:-0.19 [[ 9.98666384e-01 2.17833920e-02 4.68074517e-02 2.66621840e+00] [-2.18914689e-02 9.99758737e-01 1.79752555e-03 -5.78763354e-02] [-4.67570026e-02 -2.81981221e-03 9.98902313e-01 -1.91316272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2303857229999995 meters 0.03523439857085533 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.06, Z:-0.19 [[ 9.98708416e-01 1.93382861e-02 4.69843555e-02 2.69629194e+00] [-1.94439959e-02 9.99809338e-01 1.79385976e-03 -5.67318009e-02] [-4.69407073e-02 -2.70510646e-03 9.98894015e-01 -1.93545018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.260385723 meters 0.034742007508325304 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.06, Z:-0.20 [[ 9.98687251e-01 1.84615046e-02 4.77801958e-02 2.72883756e+00] [-1.85697617e-02 9.99825906e-01 1.82279894e-03 -5.95263716e-02] [-4.77382259e-02 -2.70767291e-03 9.98856211e-01 -1.96343169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.290385722999999 meters 0.034154745651710984 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:-0.20 [[ 9.98633945e-01 1.85429177e-02 4.88508383e-02 2.76175251e+00] [-1.86556234e-02 9.99824253e-01 1.85216827e-03 -6.37696113e-02] [-4.88079083e-02 -2.76098095e-03 9.98804368e-01 -1.97403028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.320385722999999 meters 0.034982880466120005 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.06, Z:-0.20 [[ 9.98663111e-01 1.99599228e-02 4.76821914e-02 2.79268255e+00] [-2.00683273e-02 9.99796998e-01 1.79579330e-03 -5.96158893e-02] [-4.76366680e-02 -2.75029435e-03 9.98860943e-01 -1.99090696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350385723 meters 0.03539690988970362 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.06, Z:-0.20 [[ 9.98681666e-01 2.10859809e-02 4.68007655e-02 2.82488411e+00] [-2.11911861e-02 9.99773905e-01 1.75286805e-03 -5.80167760e-02] [-4.67532231e-02 -2.74232092e-03 9.98902706e-01 -2.01972630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.380385723 meters 0.036574698781032436 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.06, Z:-0.20 [[ 9.98666666e-01 2.18336350e-02 4.67780115e-02 2.85644532e+00] [-2.19390602e-02 9.99757793e-01 1.74144542e-03 -5.52904771e-02] [-4.67286595e-02 -2.76538910e-03 9.98903792e-01 -2.03677577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.410385722999999 meters 0.036459441157098045 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.05, Z:-0.20 [[ 9.98632595e-01 2.15101370e-02 4.76471805e-02 2.88903349e+00] [-2.16186691e-02 9.99764734e-01 1.76361319e-03 -5.35702688e-02] [-4.75980352e-02 -2.79127024e-03 9.98862671e-01 -2.03444716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4403857229999995 meters 0.03654615802790982 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.05, Z:-0.20 [[ 9.98667039e-01 1.97411381e-02 4.76910024e-02 2.91943096e+00] [-1.98473817e-02 9.99801481e-01 1.75518977e-03 -5.08023528e-02] [-4.76468853e-02 -2.69939170e-03 9.98860595e-01 -2.02344188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470385723 meters 0.036845055657724876 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.05, Z:-0.20 [[ 9.98625305e-01 1.91892710e-02 4.87777918e-02 2.95047964e+00] [-1.92997019e-02 9.99812134e-01 1.79394581e-03 -4.92881789e-02] [-4.87342036e-02 -2.73287652e-03 9.98808044e-01 -2.03354111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.500385723 meters 0.0367315596393879 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.05, Z:-0.21 [[ 9.98668552e-01 1.81222283e-02 4.82981108e-02 2.98271376e+00] [-1.82289445e-02 9.99832272e-01 1.76994416e-03 -4.98837107e-02] [-4.82579345e-02 -2.64801115e-03 9.98831397e-01 -2.07555707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530385722999999 meters 0.03485244880557196 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.05, Z:-0.21 [[ 9.98708778e-01 1.76713582e-02 4.76287780e-02 3.01522869e+00] [-1.77741325e-02 9.99840522e-01 1.73512962e-03 -5.32701026e-02] [-4.75905202e-02 -2.57944939e-03 9.98863599e-01 -2.11597171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.560385723 meters 0.0352928749508438 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.05, Z:-0.22 [[ 9.98782776e-01 1.55590712e-02 4.68068473e-02 3.04599614e+00] [-1.56555495e-02 9.99876007e-01 1.69529038e-03 -5.17558795e-02] [-4.67746665e-02 -2.42601375e-03 9.98902520e-01 -2.15452319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590385723 meters 0.035077663586329765 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:-0.22 [[ 9.98764257e-01 1.48731935e-02 4.74209561e-02 3.07794132e+00] [-1.49713560e-02 9.99886451e-01 1.71549933e-03 -4.92304889e-02] [-4.73900565e-02 -2.42333543e-03 9.98873521e-01 -2.15596987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.620385722999999 meters 0.03516423811442682 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.04, Z:-0.21 [[ 9.98639265e-01 1.37900396e-02 5.02936655e-02 3.10916243e+00] [-1.38985210e-02 9.99901777e-01 1.80785477e-03 -4.38620754e-02] [-5.02637951e-02 -2.50440233e-03 9.98732837e-01 -2.12920959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650385722999999 meters 0.03413161303213764 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.04, Z:-0.21 [[ 9.98604714e-01 1.16076933e-02 5.15158856e-02 3.14027195e+00] [-1.17181331e-02 9.99929643e-01 1.84227324e-03 -4.33778721e-02] [-5.14908766e-02 -2.44337275e-03 9.98670476e-01 -2.13558531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680385723 meters 0.034053181892947676 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.04, Z:-0.22 [[ 9.98635693e-01 1.04440914e-02 5.11632065e-02 3.17172654e+00] [-1.05513617e-02 9.99942664e-01 1.82697262e-03 -4.28390481e-02] [-5.11411920e-02 -2.36432157e-03 9.98688634e-01 -2.15166263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710385723 meters 0.033046352578926255 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.04, Z:-0.22 [[ 9.98745071e-01 6.56589527e-03 4.96504946e-02 3.20149880e+00] [-6.66169265e-03 9.99976254e-01 1.76419892e-03 -4.38228167e-02] [-4.96377321e-02 -2.09274131e-03 9.98765095e-01 -2.17989441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.740385722999999 meters 0.03209125254970423 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.05, Z:-0.22 [[ 9.98947860e-01 2.37645933e-03 4.57987528e-02 3.23148455e+00] [-2.45356055e-03 9.99995666e-01 1.62733747e-03 -4.60497150e-02] [-4.57946870e-02 -1.73799530e-03 9.98949361e-01 -2.24787130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7703857229999995 meters 0.027093009214633153 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.06, Z:-0.23 [[ 9.98989180e-01 6.30521200e-04 4.49468559e-02 3.26432602e+00] [-7.03012854e-04 9.99998478e-01 1.59704152e-03 -5.58721173e-02] [-4.49457805e-02 -1.62702542e-03 9.98988103e-01 -2.27906312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.800385723 meters 0.027298246395909713 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.05, Z:-0.23 [[ 9.99016931e-01 -1.09422410e-03 4.43167511e-02 3.29526400e+00] [ 1.02569799e-03 9.99998243e-01 1.56898957e-03 -5.46682663e-02] [-4.43183900e-02 -1.52199154e-03 9.99016298e-01 -2.29493395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830385722999999 meters 0.02664088376009712 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:-0.23 [[ 9.99020386e-01 -1.36062092e-03 4.42313930e-02 3.32733933e+00] [ 1.29305110e-03 9.99997953e-01 1.55621884e-03 -5.58156900e-02] [-4.42334199e-02 -1.49750089e-03 9.99020101e-01 -2.31348690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.860385722999999 meters 0.027600567113671984 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.05, Z:-0.23 [[ 9.98973733e-01 -2.57760611e-04 4.52925466e-02 3.35803013e+00] [ 1.86274449e-04 9.99998730e-01 1.58253416e-03 -5.36070614e-02] [-4.52928970e-02 -1.57247321e-03 9.98972513e-01 -2.31573105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890385723 meters 0.02773304428185778 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:-0.23 [[ 9.98898443e-01 1.76261837e-03 4.68912917e-02 3.39040725e+00] [-1.84105461e-03 9.99996977e-01 1.62958917e-03 -5.16070745e-02] [-4.68882776e-02 -1.71412352e-03 9.98898669e-01 -2.30439235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920385723 meters 0.02900714415772057 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.05, Z:-0.23 [[ 9.98771061e-01 6.00888135e-03 4.91961468e-02 3.42050648e+00] [-6.10021214e-03 9.99979937e-01 1.70652710e-03 -4.59225116e-02] [-4.91849055e-02 -2.00453682e-03 9.98787679e-01 -2.28195721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950385722999999 meters 0.03014298419768405 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.04, Z:-0.23 [[ 9.98622520e-01 1.00417688e-02 5.14997591e-02 3.45188016e+00] [-1.01472028e-02 9.99946920e-01 1.78621149e-03 -4.35620419e-02] [-5.14790888e-02 -2.30632952e-03 9.98671410e-01 -2.28700283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9803857229999995 meters 0.03127974773570834 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.04, Z:-0.23 [[ 9.98571067e-01 1.17292454e-02 5.21368204e-02 3.48257180e+00] [-1.18395104e-02 9.99928279e-01 1.80656104e-03 -4.07857309e-02] [-5.21118915e-02 -2.42125401e-03 9.98638317e-01 -2.30061046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010385723 meters 0.03274914609022518 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.04, Z:-0.23 [[ 9.98606663e-01 1.55023505e-02 5.04421367e-02 3.51387782e+00] [-1.56102715e-02 9.99876627e-01 1.74622210e-03 -3.66557267e-02] [-5.04088430e-02 -2.53120447e-03 9.98725459e-01 -2.32158685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.040385722999999 meters 0.033315217400543086 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.03, Z:-0.23 [[ 9.98613466e-01 1.77271027e-02 4.95670884e-02 3.54601313e+00] [-1.78339521e-02 9.99839493e-01 1.71418872e-03 -3.46012310e-02] [-4.95287449e-02 -2.59578902e-03 9.98769325e-01 -2.34194825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070385722999999 meters 0.029754279699768498 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.04, Z:-0.24 [[ 9.98560583e-01 2.30730128e-02 4.84189950e-02 3.57651162e+00] [-2.31810877e-02 9.99729885e-01 1.67165639e-03 -4.11345553e-02] [-4.83673461e-02 -2.79165515e-03 9.98825714e-01 -2.37975148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.100385723 meters 0.036841015789915964 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.03, Z:-0.24 [[ 9.98484280e-01 2.62111787e-02 4.83954305e-02 3.60638558e+00] [-2.63228096e-02 9.99652099e-01 1.67064930e-03 -2.79336096e-02] [-4.83348040e-02 -2.94202076e-03 9.98826857e-01 -2.39366511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130385723 meters 0.03941141530366582 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.02, Z:-0.24 [[ 9.98431927e-01 3.09325872e-02 4.66568602e-02 3.63598690e+00] [-3.10414275e-02 9.99516802e-01 1.60987266e-03 -2.34288372e-02] [-4.65845182e-02 -3.05564381e-03 9.98909678e-01 -2.41582374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.160385722999999 meters 0.04063675702519113 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.02, Z:-0.24 [[ 9.98495013e-01 3.17561390e-02 4.47130490e-02 3.66709280e+00] [-3.18569016e-02 9.99491250e-01 1.54259868e-03 -2.14805643e-02] [-4.46413143e-02 -2.96469629e-03 9.98998680e-01 -2.43121130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1903857229999995 meters 0.04035888413824122 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.02, Z:-0.24 [[ 9.98516353e-01 2.94217022e-02 4.58198262e-02 3.69651971e+00] [-2.95246472e-02 9.99562817e-01 1.57144778e-03 -2.10546766e-02] [-4.57535599e-02 -2.92193051e-03 9.98948484e-01 -2.41447835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220385723 meters 0.0406198074600109 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.02, Z:-0.24 [[ 9.98483860e-01 2.85218648e-02 4.70795646e-02 3.72808101e+00] [-2.86295798e-02 9.99588785e-01 1.61507765e-03 -2.01691313e-02] [-4.70141398e-02 -2.96049712e-03 9.98889837e-01 -2.41342698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250385723 meters 0.04059398421905522 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.02, Z:-0.24 [[ 9.98429675e-01 2.74652967e-02 4.88245957e-02 3.76055637e+00] [-2.75795755e-02 9.99618219e-01 1.66833103e-03 -2.16827343e-02] [-4.87601342e-02 -3.01227283e-03 9.98805975e-01 -2.42606095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.280385722999999 meters 0.04068676992298931 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.02, Z:-0.24 [[ 9.98466619e-01 2.69599550e-02 4.83484482e-02 3.79309039e+00] [-2.70709269e-02 9.99632167e-01 1.64180258e-03 -2.15265063e-02] [-4.82864011e-02 -2.94812237e-03 9.98829181e-01 -2.44992727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310385723 meters 0.04044192285402564 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.02, Z:-0.25 [[ 9.98590934e-01 2.48027835e-02 4.69144889e-02 3.82315793e+00] [-2.49044558e-02 9.99688581e-01 1.58382412e-03 -2.10263023e-02] [-4.68605956e-02 -2.74997223e-03 9.98897654e-01 -2.46632201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340385723 meters 0.031000330316663497 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.03, Z:-0.25 [[ 9.98674693e-01 2.32992910e-02 4.58911813e-02 3.85546710e+00] [-2.33949579e-02 9.99725101e-01 1.54858448e-03 -3.45687237e-02] [-4.58424849e-02 -2.62015439e-03 9.98945244e-01 -2.47394369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.370385722999999 meters 0.0396192162420535 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.02, Z:-0.25 [[ 9.98827152e-01 1.93464180e-02 4.43851007e-02 3.88511444e+00] [-1.94319135e-02 9.99810064e-01 1.49553143e-03 -1.84827775e-02] [-4.43477372e-02 -2.35626483e-03 9.99013376e-01 -2.47502730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.400385722999999 meters 0.03875084073925562 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.02, Z:-0.25 [[ 9.98867828e-01 1.76310859e-02 4.41837908e-02 3.91675967e+00] [-1.77141351e-02 9.99841984e-01 1.48877366e-03 -1.89988485e-02] [-4.41505604e-02 -2.26976575e-03 9.99022310e-01 -2.48684668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430385723 meters 0.030102047656919886 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.03, Z:-0.25 [[ 9.98842474e-01 1.57848550e-02 4.54373224e-02 3.94928238e+00] [-1.58706895e-02 9.99872884e-01 1.52892448e-03 -3.40044169e-02] [-4.54074127e-02 -2.24827634e-03 9.98966022e-01 -2.49137220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.460385723 meters 0.030674012243223622 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.03, Z:-0.25 [[ 9.98806816e-01 1.51325315e-02 4.64322263e-02 3.98103014e+00] [-1.52213416e-02 9.99882932e-01 1.55968890e-03 -3.11788336e-02] [-4.64031885e-02 -2.26458868e-03 9.98920225e-01 -2.48050293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490385722999999 meters 0.030906207458872872 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.03, Z:-0.25 [[ 9.98812287e-01 1.46022214e-02 4.64843131e-02 4.01348633e+00] [-1.46901523e-02 9.99890892e-01 1.55055478e-03 -2.81470680e-02] [-4.64565997e-02 -2.23157480e-03 9.98917817e-01 -2.47762325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5203857229999995 meters 0.030906207458872872 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.03, Z:-0.25 [[ 9.98808371e-01 1.48665429e-02 4.64846704e-02 4.04611049e+00] [-1.49542586e-02 9.99886993e-01 1.53977017e-03 -2.71315575e-02] [-4.64565262e-02 -2.23307911e-03 9.98917817e-01 -2.49220686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550385723 meters 0.03058923370749047 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.02, Z:-0.25 [[ 9.98788914e-01 1.35514018e-02 4.72976285e-02 4.07808837e+00] [-1.36401474e-02 9.99905761e-01 1.55405868e-03 -2.40221741e-02] [-4.72721115e-02 -2.19732321e-03 9.98879632e-01 -2.47871379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.580385722999999 meters 0.03070149265612213 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.02, Z:-0.25 [[ 9.98849735e-01 1.07428027e-02 4.67311410e-02 4.10896381e+00] [-1.08258870e-02 9.99940235e-01 1.52518629e-03 -2.20141629e-02] [-4.67119633e-02 -2.02933797e-03 9.98906339e-01 -2.49039095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610385722999999 meters 0.0304286276375304 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.02, Z:-0.25 [[ 9.98881478e-01 9.35979351e-03 4.63485411e-02 4.14161098e+00] [-9.43996239e-03 9.99954301e-01 1.51111135e-03 -2.14302883e-02] [-4.63322793e-02 -1.94694963e-03 9.98924186e-01 -2.50961065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.640385723 meters 0.029940718566278394 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.02, Z:-0.25 [[ 9.98977901e-01 5.83716494e-03 4.48227688e-02 4.17199922e+00] [-5.90844138e-03 9.99981482e-01 1.45786433e-03 -2.11269576e-02] [-4.48134290e-02 -1.72120695e-03 9.98993891e-01 -2.54462961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670385723 meters 0.029586653629867565 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.02, Z:-0.26 [[ 9.98994751e-01 4.38790216e-03 4.46120341e-02 4.20405278e+00] [-4.45700589e-03 9.99989017e-01 1.44964291e-03 -2.05153372e-02] [-4.46051833e-02 -1.64702176e-03 9.99003336e-01 -2.57001842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700385722999999 meters 0.029132771724691604 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.02, Z:-0.26 [[ 9.99087865e-01 1.70009898e-03 4.26678805e-02 4.23484695e+00] [-1.76045484e-03 9.99997502e-01 1.37701544e-03 -1.83428716e-02] [-4.26654329e-02 -1.45087429e-03 9.99088362e-01 -2.60430354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7303857229999995 meters 0.028996385093383727 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.01, Z:-0.26 [[ 9.99054662e-01 2.92639789e-04 4.34706318e-02 4.26743435e+00] [-3.53903639e-04 9.99998955e-01 1.40162668e-03 -1.28300790e-02] [-4.34701762e-02 -1.41568608e-03 9.99053722e-01 -2.58591155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760385723 meters 0.02915436542090558 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.01, Z:-0.26 [[ 9.99013924e-01 4.89660407e-04 4.43952642e-02 4.30033787e+00] [-5.53517600e-04 9.99998830e-01 1.42609706e-03 -8.57308879e-03] [-4.43945139e-02 -1.44926438e-03 9.99013026e-01 -2.57194776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790385722999999 meters 0.028954245706562406 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.01, Z:-0.26 [[ 9.98970035e-01 6.91552432e-04 4.53694984e-02 4.33313731e+00] [-7.57929935e-04 9.99998668e-01 1.44585646e-03 -5.92484901e-03] [-4.53684380e-02 -1.47875418e-03 9.98969228e-01 -2.56716099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820385722999999 meters 0.028130713110357548 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.01, Z:-0.26 [[ 9.98930220e-01 2.00434876e-03 4.61995426e-02 4.36500430e+00] [-2.07403858e-03 9.99996783e-01 1.46056656e-03 -6.19809290e-03] [-4.61964665e-02 -1.55482371e-03 9.98931163e-01 -2.60360963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850385723 meters 0.03106039298817538 Centerline is valid? [True, True] Translation: X:4.40, Y:0.00, Z:-0.27 [[ 9.98982684e-01 4.73568604e-03 4.48460752e-02 4.39568027e+00] [-4.80365278e-03 9.99987471e-01 1.40790997e-03 4.44553160e-05] [-4.48388459e-02 -1.62190266e-03 9.98992917e-01 -2.65553477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880385723 meters 0.032116073643249816 Centerline is valid? [True, True] Translation: X:4.43, Y:0.00, Z:-0.27 [[ 9.98983961e-01 6.80214733e-03 4.45508287e-02 4.42773871e+00] [-6.87085776e-03 9.99975430e-01 1.38934573e-03 4.09526043e-03] [-4.45402836e-02 -1.69403651e-03 9.99006153e-01 -2.67826950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910385722999999 meters 0.031622179552151526 Centerline is valid? [True, True] Translation: X:4.46, Y:0.01, Z:-0.27 [[ 9.98938313e-01 1.18966999e-02 4.45052241e-02 4.45874158e+00] [-1.19701936e-02 9.99927395e-01 1.38520472e-03 6.48731452e-03] [-4.44855134e-02 -1.91647021e-03 9.99008191e-01 -2.68695411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9403857229999995 meters 0.0287372301138384 Centerline is valid? [True, True] Translation: X:4.49, Y:0.00, Z:-0.27 [[ 9.98879776e-01 1.29852069e-02 4.55035912e-02 4.49084876e+00] [-1.30631371e-02 9.99913671e-01 1.41565975e-03 1.88545053e-03] [-4.54812804e-02 -2.00849354e-03 9.98963172e-01 -2.68852811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970385723 meters 0.027521827919032953 Centerline is valid? [True, True] Translation: X:4.52, Y:0.00, Z:-0.27 [[ 9.98774941e-01 1.57021317e-02 4.69261218e-02 4.52290171e+00] [-1.57874688e-02 9.99874321e-01 1.44844547e-03 2.23461788e-03] [-4.68974805e-02 -2.18751572e-03 9.98897313e-01 -2.65969133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000385722999999 meters 0.027533019309035484 Centerline is valid? [True, True] Translation: X:4.55, Y:0.00, Z:-0.27 [[ 9.98765501e-01 1.67317714e-02 4.67709443e-02 4.55480108e+00] [-1.68171661e-02 9.99857555e-01 1.43288384e-03 3.06923242e-03] [-4.67403073e-02 -2.21766968e-03 9.98904613e-01 -2.68064059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030385722999999 meters 0.02831492517608605 Centerline is valid? [True, True] Translation: X:4.59, Y:0.00, Z:-0.27 [[ 9.98795080e-01 1.63705379e-02 4.62643932e-02 4.58605677e+00] [-1.64531859e-02 9.99863648e-01 1.40616516e-03 3.67699248e-03] [-4.62350653e-02 -2.16566750e-03 9.98928240e-01 -2.71333473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060385723 meters 0.027865836427886814 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.00, Z:-0.27 [[ 9.98789049e-01 1.52060518e-02 4.67890215e-02 4.61857209e+00] [-1.52889910e-02 9.99882115e-01 1.41523574e-03 -8.12690413e-04] [-4.67619856e-02 -2.12887889e-03 9.98903791e-01 -2.74867051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090385723 meters 0.02770911974147765 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.00, Z:-0.28 [[ 9.98788678e-01 1.46991187e-02 4.69586263e-02 4.65061139e+00] [-1.47815624e-02 9.99889754e-01 1.40887690e-03 -1.39296022e-03] [-4.69327401e-02 -2.10129216e-03 9.98895842e-01 -2.76262729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.120385722999999 meters 0.028757003131454364 Centerline is valid? [True, True] Translation: X:4.68, Y:0.00, Z:-0.28 [[ 9.98754799e-01 1.39035528e-02 4.79118290e-02 4.68235143e+00] [-1.39878966e-02 9.99901148e-01 1.42554448e-03 7.16259369e-04] [-4.78872727e-02 -2.09395510e-03 9.98850552e-01 -2.75312445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150385722999999 meters 0.028924937010141448 Centerline is valid? [True, True] Translation: X:4.71, Y:0.00, Z:-0.27 [[ 9.98715530e-01 1.26741403e-02 4.90576810e-02 4.71399804e+00] [-1.27604997e-02 9.99917534e-01 1.44756444e-03 1.86250844e-03] [-4.90352887e-02 -2.07170561e-03 9.98794898e-01 -2.72514405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.180385723 meters 0.028525334927342435 Centerline is valid? [True, True] Translation: X:4.75, Y:0.00, Z:-0.27 [[ 9.98696398e-01 1.16794533e-02 4.96899926e-02 4.74663057e+00] [-1.17662774e-02 9.99929716e-01 1.45515177e-03 9.69981723e-04] [-4.96695048e-02 -2.03792107e-03 9.98763629e-01 -2.73240114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210385722999999 meters 0.02834655410999861 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.00, Z:-0.28 [[ 9.98757142e-01 8.16712105e-03 4.91677599e-02 4.77677913e+00] [-8.24736738e-03 9.99964968e-01 1.42943533e-03 -2.68435132e-03] [-4.91543631e-02 -1.83316333e-03 9.98789511e-01 -2.75932566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240385722999999 meters 0.027498391248298455 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.01, Z:-0.28 [[ 9.98768813e-01 6.33835713e-03 4.92004376e-02 4.80901168e+00] [-6.41640761e-03 9.99978394e-01 1.42859774e-03 -5.19933974e-03] [-4.91903197e-02 -1.74252893e-03 9.98787903e-01 -2.78262136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2703857229999995 meters 0.027467194531989553 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.01, Z:-0.28 [[ 9.98777740e-01 3.06347559e-03 4.93319550e-02 4.83934948e+00] [-3.13743661e-03 9.99994067e-01 1.42188637e-03 -6.33363592e-03] [-4.93273064e-02 -1.57492434e-03 9.98781426e-01 -2.79974026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.300385723 meters 0.02702521778950732 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.01, Z:-0.28 [[ 9.98761653e-01 2.85281104e-03 4.96691245e-02 4.87152161e+00] [-2.92743395e-03 9.99994693e-01 1.42971872e-03 -7.67280619e-03] [-4.96647822e-02 -1.57335131e-03 9.98764704e-01 -2.81258385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330385722999999 meters 0.027541990514438466 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.01, Z:-0.28 [[ 9.98721673e-01 3.72586860e-03 5.04097031e-02 4.90309189e+00] [-3.80325802e-03 9.99991732e-01 1.43937407e-03 -7.39733030e-03] [-5.04039233e-02 -1.62925519e-03 9.98727586e-01 -2.83250294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360385722999999 meters 0.02814398247517997 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.00, Z:-0.28 [[ 9.98770069e-01 5.07158998e-03 4.93216726e-02 4.93374054e+00] [-5.14682392e-03 9.99985777e-01 1.39848942e-03 -3.74310558e-03] [-4.93138786e-02 -1.65061934e-03 9.98781967e-01 -2.83680001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390385723 meters 0.02836389745010803 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.00, Z:-0.28 [[ 9.98791702e-01 5.49078822e-03 4.88363245e-02 4.96719172e+00] [-5.56474998e-03 9.99983566e-01 1.37864843e-03 -1.00799117e-03] [-4.88279521e-02 -1.64874455e-03 9.98805843e-01 -2.84925676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420385723 meters 0.028354570888314903 Centerline is valid? [True, True] Translation: X:5.00, Y:0.00, Z:-0.29 [[ 9.98813736e-01 4.70906896e-03 4.84659229e-02 4.99911767e+00] [-4.78039789e-03 9.99987655e-01 1.35592698e-03 1.06754657e-03] [-4.84589394e-02 -1.58600489e-03 9.98823916e-01 -2.86843408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450385722999999 meters 0.02841526684226594 Centerline is valid? [True, True] Translation: X:5.03, Y:0.00, Z:-0.29 [[ 9.98801211e-01 4.04535812e-03 4.87829558e-02 5.03176713e+00] [-4.11631914e-03 9.99990611e-01 1.35425162e-03 1.74863073e-03] [-4.87770193e-02 -1.55343437e-03 9.98808485e-01 -2.88733461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4803857229999995 meters 0.028136232001876944 Centerline is valid? [True, True] Translation: X:5.06, Y:0.00, Z:-0.29 [[ 9.98810246e-01 2.63859411e-03 4.86942449e-02 5.06342766e+00] [-2.70732375e-03 9.99995430e-01 1.34555220e-03 1.14630993e-03] [-4.86904720e-02 -1.47578241e-03 9.98812825e-01 -2.91769001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510385723 meters 0.028035549880384307 Centerline is valid? [True, True] Translation: X:5.10, Y:0.00, Z:-0.30 [[ 9.98924047e-01 2.15257288e-03 4.63261851e-02 5.09565012e+00] [-2.21379770e-03 9.99996743e-01 1.27033736e-03 1.82737736e-03] [-4.63232998e-02 -1.37152734e-03 9.98925558e-01 -2.95541496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.540385722999999 meters 0.02825141239867936 Centerline is valid? [True, True] Translation: X:5.13, Y:0.00, Z:-0.30 [[ 9.98943610e-01 2.28391902e-03 4.58960450e-02 5.12759636e+00] [-2.34368809e-03 9.99996474e-01 1.24850135e-03 4.11380644e-03] [-4.58930317e-02 -1.35474846e-03 9.98945441e-01 -2.97609329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570385722999999 meters 0.02737782322486114 Centerline is valid? [True, True] Translation: X:5.16, Y:0.00, Z:-0.30 [[ 9.98970315e-01 2.99274097e-03 4.52697927e-02 5.15987149e+00] [-3.05114125e-03 9.99994600e-01 1.22100686e-03 3.77147475e-03] [-4.52658940e-02 -1.35787414e-03 9.98974051e-01 -3.00740602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600385723 meters 0.028452716312308834 Centerline is valid? [True, True] Translation: X:5.19, Y:0.01, Z:-0.30 [[ 9.98904848e-01 5.24570309e-03 4.64928719e-02 5.19140064e+00] [-5.30924020e-03 9.99985133e-01 1.24321581e-03 8.39494842e-03] [-4.64856592e-02 -1.48869613e-03 9.98917848e-01 -2.99666006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630385723 meters 0.026854116050981792 Centerline is valid? [True, True] Translation: X:5.22, Y:0.01, Z:-0.30 [[ 9.98846986e-01 7.17261559e-03 4.74684397e-02 5.22385821e+00] [-7.24053896e-03 9.99972994e-01 1.25912354e-03 7.29292809e-03] [-4.74581266e-02 -1.60136884e-03 9.98871945e-01 -2.99417803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660385722999999 meters 0.028342232492360453 Centerline is valid? [True, True] Translation: X:5.25, Y:0.01, Z:-0.30 [[ 9.98823904e-01 1.09687960e-02 4.72281183e-02 5.25347973e+00] [-1.10397636e-02 9.99938289e-01 1.24207187e-03 1.46857411e-02] [-4.72115798e-02 -1.76199834e-03 9.98883358e-01 -2.99820087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6903857229999995 meters 0.02847648119176773 Centerline is valid? [True, True] Translation: X:5.29, Y:0.02, Z:-0.30 [[ 9.98835011e-01 1.28587766e-02 4.65110006e-02 5.28549030e+00] [-1.29296286e-02 9.99915661e-01 1.22279930e-03 1.55436986e-02] [-4.64913543e-02 -1.82274471e-03 9.98917029e-01 -3.02297419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720385723 meters 0.02918418823947892 Centerline is valid? [True, True] Translation: X:5.32, Y:0.02, Z:-0.30 [[ 9.98757217e-01 1.53974625e-02 4.74018860e-02 5.31610826e+00] [-1.54733967e-02 9.99879517e-01 1.23537782e-03 1.64524548e-02] [-4.73771532e-02 -1.96731070e-03 9.98875135e-01 -3.04156542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750385722999999 meters 0.02974987739752572 Centerline is valid? [True, True] Translation: X:5.35, Y:0.02, Z:-0.30 [[ 9.98674053e-01 1.69099157e-02 4.86229375e-02 5.34804969e+00] [-1.69914870e-02 9.99854834e-01 1.26475684e-03 1.88837529e-02] [-4.85944922e-02 -2.08925585e-03 9.98816405e-01 -3.04103170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780385722999999 meters 0.03094323926821617 Centerline is valid? [True, True] Translation: X:5.38, Y:0.02, Z:-0.30 [[ 9.98547609e-01 1.96390773e-02 5.01695106e-02 5.37784017e+00] [-1.97288258e-02 9.99804530e-01 1.29427898e-03 2.35142309e-02] [-5.01342855e-02 -2.28218472e-03 9.98739879e-01 -3.03611560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810385723 meters 0.03175484753167586 Centerline is valid? [True, True] Translation: X:5.41, Y:0.03, Z:-0.31 [[ 9.98518558e-01 2.13137835e-02 5.00640817e-02 5.40899591e+00] [-2.14051975e-02 9.99770050e-01 1.29043643e-03 2.57666818e-02] [-5.00250654e-02 -2.36015628e-03 9.98745174e-01 -3.05309386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.840385723 meters 0.03283534188702534 Centerline is valid? [True, True] Translation: X:5.44, Y:0.03, Z:-0.31 [[ 9.98459597e-01 2.41990066e-02 4.99283697e-02 5.43996163e+00] [-2.42930451e-02 9.99704064e-01 1.27740637e-03 2.70365398e-02] [-4.98826821e-02 -2.48835078e-03 9.98751984e-01 -3.07520167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870385722999999 meters 0.03377136171681655 Centerline is valid? [True, True] Translation: X:5.47, Y:0.03, Z:-0.31 [[ 9.98507099e-01 2.57144985e-02 4.81906353e-02 5.47223473e+00] [-2.58037850e-02 9.99666268e-01 1.23147871e-03 2.88665059e-02] [-4.81428857e-02 -2.47314102e-03 9.98837397e-01 -3.08991802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900385722999999 meters 0.033963981945303666 Centerline is valid? [True, True] Translation: X:5.51, Y:0.03, Z:-0.31 [[ 9.98526994e-01 2.62218999e-02 4.75000514e-02 5.50530833e+00] [-2.63087111e-02 9.99653142e-01 1.20323096e-03 2.96528501e-02] [-4.74520246e-02 -2.45112372e-03 9.98870511e-01 -3.10986534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930385723 meters 0.03156668229571736 Centerline is valid? [True, True] Translation: X:5.54, Y:0.03, Z:-0.31 [[ 9.98659005e-01 2.53899633e-02 4.51169787e-02 5.53749734e+00] [-2.54669306e-02 9.99675024e-01 1.13188958e-03 2.57975091e-02] [-4.50735781e-02 -2.27936269e-03 9.98981069e-01 -3.13141736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960385722999999 meters 0.03167095013413552 Centerline is valid? [True, True] Translation: X:5.57, Y:0.03, Z:-0.32 [[ 9.98715240e-01 2.45327432e-02 4.43397626e-02 5.56831077e+00] [-2.46057881e-02 9.99696624e-01 1.10228305e-03 2.56694040e-02] [-4.42992690e-02 -2.19188168e-03 9.99015901e-01 -3.15768279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990385722999999 meters 0.03138214420295875 Centerline is valid? [True, True] Translation: X:5.60, Y:0.02, Z:-0.32 [[ 9.98744855e-01 2.26909047e-02 4.46524104e-02 5.59980685e+00] [-2.27628841e-02 9.99740282e-01 1.10412572e-03 2.20601933e-02] [-4.46157597e-02 -2.11915752e-03 9.99001974e-01 -3.17690199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020385723 meters 0.031563029176297566 Centerline is valid? [True, True] Translation: X:5.63, Y:0.02, Z:-0.32 [[ 9.98692560e-01 2.18219798e-02 4.62273900e-02 5.63133895e+00] [-2.18981201e-02 9.99759556e-01 1.14124427e-03 2.11882978e-02] [-4.61913707e-02 -2.15204510e-03 9.98930291e-01 -3.18176223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050385723 meters 0.03064412850257174 Centerline is valid? [True, True] Translation: X:5.66, Y:0.02, Z:-0.32 [[ 9.98681660e-01 1.80357147e-02 4.80588710e-02 5.66214274e+00] [-1.81131703e-02 9.99835251e-01 1.17663159e-03 1.81975036e-02] [-4.80297320e-02 -2.04557890e-03 9.98843812e-01 -3.17493145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080385723000001 meters 0.029529530510271844 Centerline is valid? [True, True] Translation: X:5.69, Y:0.02, Z:-0.32 [[ 9.98690514e-01 1.28626979e-02 4.95157441e-02 5.69173769e+00] [-1.29385496e-02 9.99915559e-01 1.21163518e-03 1.55744977e-02] [-4.94959781e-02 -1.85071047e-03 9.98772608e-01 -3.16894273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110385723 meters 0.028121990916892558 Centerline is valid? [True, True] Translation: X:5.72, Y:0.01, Z:-0.32 [[ 9.98716977e-01 6.87090573e-03 5.01716104e-02 5.72129167e+00] [-6.94127637e-03 9.99975154e-01 1.22849407e-03 1.29775338e-02] [-5.01619230e-02 -1.57517289e-03 9.98739856e-01 -3.17599316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140385723 meters 0.026331947499873748 Centerline is valid? [True, True] Translation: X:5.75, Y:0.01, Z:-0.32 [[ 9.98763614e-01 3.56563608e-03 4.95835583e-02 5.75309096e+00] [-3.63031554e-03 9.99992673e-01 1.21445739e-03 8.96522873e-03] [-4.95788647e-02 -1.39295981e-03 9.98769241e-01 -3.19809452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170385723 meters 0.025665888058509466 Centerline is valid? [True, True] Translation: X:5.78, Y:0.01, Z:-0.32 [[ 9.98801500e-01 1.31053554e-04 4.89443191e-02 5.78439446e+00] [-1.89796393e-04 9.99999267e-01 1.19555170e-03 6.95958382e-03] [-4.89441266e-02 -1.20340829e-03 9.98800793e-01 -3.22353838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200385723 meters 0.024120425653389822 Centerline is valid? [True, True] Translation: X:5.82, Y:0.00, Z:-0.33 [[ 9.98830186e-01 -6.10767476e-03 4.79682898e-02 5.81644052e+00] [ 6.05851807e-03 9.99980962e-01 1.17010132e-03 1.62661025e-03] [-4.79745232e-02 -8.78115767e-04 9.98848174e-01 -3.25430291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230385723 meters 0.02343896751029093 Centerline is valid? [True, True] Translation: X:5.85, Y:0.00, Z:-0.33 [[ 9.98822598e-01 -9.85067956e-03 4.75013843e-02 5.84894682e+00] [ 9.80684423e-03 9.99951244e-01 1.15579042e-03 6.29777133e-04] [-4.75104537e-02 -6.88590910e-04 9.98870503e-01 -3.27465765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260385723 meters 0.023443797125091773 Centerline is valid? [True, True] Translation: X:5.88, Y:0.00, Z:-0.33 [[ 9.98845839e-01 -1.06679161e-02 4.68314505e-02 5.88081464e+00] [ 1.06267322e-02 9.99942898e-01 1.12829685e-03 1.90645165e-03] [-4.68408129e-02 -6.29329335e-04 9.98902168e-01 -3.29303712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290385723 meters 0.023412150408128038 Centerline is valid? [True, True] Translation: X:5.91, Y:0.01, Z:-0.33 [[ 9.98984675e-01 -1.15049650e-02 4.35574943e-02 5.91195121e+00] [ 1.14705663e-02 9.99933670e-01 1.03959062e-03 5.86753894e-03] [-4.35665656e-02 -5.38905973e-04 9.99050381e-01 -3.32481939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320385723000001 meters 0.02360050529177746 Centerline is valid? [True, True] Translation: X:5.95, Y:0.01, Z:-0.34 [[ 9.99030487e-01 -1.12907914e-02 4.25511995e-02 5.94540126e+00] [ 1.12581613e-02 9.99936118e-01 1.00640687e-03 8.00253034e-03] [-4.25598444e-02 -5.26382875e-04 9.99093781e-01 -3.35401923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350385723 meters 0.023171563058863913 Centerline is valid? [True, True] Translation: X:5.98, Y:0.01, Z:-0.34 [[ 9.98947332e-01 -1.23013134e-02 4.41916950e-02 5.97786614e+00] [ 1.22676610e-02 9.99924216e-01 1.03263463e-03 1.08337979e-02] [-4.42010488e-02 -4.89418870e-04 9.99022536e-01 -3.35502898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380385723 meters 0.023094667466283858 Centerline is valid? [True, True] Translation: X:6.01, Y:0.01, Z:-0.34 [[ 9.98804440e-01 -1.44252187e-02 4.67076384e-02 6.00935669e+00] [ 1.43904896e-02 9.99895869e-01 1.07973123e-03 1.20102569e-02] [-4.67183500e-02 -4.06294566e-04 9.98908019e-01 -3.35989121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410385723000001 meters 0.023010615165409472 Centerline is valid? [True, True] Translation: X:6.04, Y:0.01, Z:-0.34 [[ 9.98801979e-01 -1.58426334e-02 4.62992144e-02 6.04202911e+00] [ 1.58105013e-02 9.99874444e-01 1.06015294e-03 1.39453651e-02] [-4.63101968e-02 -3.26869069e-04 9.98927054e-01 -3.36992207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440385723 meters 0.023010615165409472 Centerline is valid? [True, True] Translation: X:6.07, Y:0.01, Z:-0.34 [[ 9.98806185e-01 -1.55744710e-02 4.62994611e-02 6.07462411e+00] [ 1.55425555e-02 9.99878657e-01 1.04926912e-03 1.46167396e-02] [-4.63101847e-02 -3.28404542e-04 9.98927054e-01 -3.38448924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470385723 meters 0.022746996089463678 Centerline is valid? [True, True] Translation: X:6.11, Y:0.02, Z:-0.34 [[ 9.98821807e-01 -1.80530016e-02 4.50453800e-02 6.10651954e+00] [ 1.80258421e-02 9.99837012e-01 1.00909222e-03 1.86197794e-02] [-4.50562553e-02 -1.95922402e-04 9.98984432e-01 -3.39686527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.500385723 meters 0.022668004759321857 Centerline is valid? [True, True] Translation: X:6.14, Y:0.02, Z:-0.34 [[ 9.98837104e-01 -1.86911751e-02 4.44418638e-02 6.13914174e+00] [ 1.86658337e-02 9.99825293e-01 9.85159336e-04 2.08182709e-02] [-4.44525132e-02 -1.54469259e-04 9.99011487e-01 -3.41840990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530385723 meters 0.02252730145579751 Centerline is valid? [True, True] Translation: X:6.17, Y:0.02, Z:-0.35 [[ 9.98893750e-01 -2.03947575e-02 4.23713360e-02 6.17114468e+00] [ 2.03737283e-02 9.99792003e-01 9.28118936e-04 2.28004106e-02] [-4.23814516e-02 -6.38301191e-05 9.99101501e-01 -3.46384538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.560385723 meters 0.02245966805933308 Centerline is valid? [True, True] Translation: X:6.20, Y:0.02, Z:-0.35 [[ 9.98931073e-01 -2.07035230e-02 4.13288815e-02 6.20282510e+00] [ 2.06842075e-02 9.99785658e-01 8.94961611e-04 2.34429975e-02] [-4.13385518e-02 -3.91498003e-05 9.99145196e-01 -3.49515692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590385723 meters 0.022556254283864742 Centerline is valid? [True, True] Translation: X:6.23, Y:0.03, Z:-0.35 [[ 9.99031666e-01 -1.95236700e-02 3.94278542e-02 6.23462584e+00] [ 1.95055472e-02 9.99809392e-01 8.44309301e-04 2.81645778e-02] [-3.94368230e-02 -7.44298559e-05 9.99222063e-01 -3.51881304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620385723 meters 0.022629111473361444 Centerline is valid? [True, True] Translation: X:6.27, Y:0.03, Z:-0.35 [[ 9.99076590e-01 -1.77702429e-02 3.91175901e-02 6.26759490e+00] [ 1.77514252e-02 9.99842088e-01 8.28358720e-04 3.23479965e-02] [-3.91261331e-02 -1.33200831e-04 9.99234271e-01 -3.51914992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650385723000001 meters 0.022550410871255394 Centerline is valid? [True, True] Translation: X:6.30, Y:0.03, Z:-0.35 [[ 9.99001482e-01 -1.67436149e-02 4.14208876e-02 6.29940385e+00] [ 1.67221367e-02 9.99859801e-01 8.64976536e-04 3.46294467e-02] [-4.14295633e-02 -1.71467095e-04 9.99141412e-01 -3.49840299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680385723 meters 0.02287633864469729 Centerline is valid? [True, True] Translation: X:6.33, Y:0.04, Z:-0.35 [[ 9.98992292e-01 -1.12858966e-02 4.34399402e-02 6.33172665e+00] [ 1.12576229e-02 9.99936230e-01 8.95451038e-04 4.10179243e-02] [-4.34472760e-02 -4.05518218e-04 9.99055639e-01 -3.47614272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710385723 meters 0.023114628728645684 Centerline is valid? [True, True] Translation: X:6.36, Y:0.04, Z:-0.35 [[ 9.98985170e-01 -7.70667337e-03 4.43761003e-02 6.36417443e+00] [ 7.67411243e-03 9.99970145e-01 9.04062635e-04 4.43996534e-02] [-4.43817428e-02 -5.62597982e-04 9.99014487e-01 -3.47707456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740385723000001 meters 0.023682681839174304 Centerline is valid? [True, True] Translation: X:6.39, Y:0.05, Z:-0.35 [[ 9.98914396e-01 -2.50281062e-03 4.65162842e-02 6.39486166e+00] [ 2.46191787e-03 9.99996531e-01 9.36375919e-04 4.70524264e-02] [-4.65184664e-02 -8.20840114e-04 9.98917093e-01 -3.47169149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770385723 meters 0.024007775451673062 Centerline is valid? [True, True] Translation: X:6.43, Y:0.05, Z:-0.35 [[ 9.98916930e-01 4.03754380e-04 4.65274604e-02 6.42727766e+00] [-4.47553642e-04 9.99999467e-01 9.30950143e-04 4.82258500e-02] [-4.65270597e-02 -9.50765392e-04 9.98916577e-01 -3.48726526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800385723 meters 0.02516217639079662 Centerline is valid? [True, True] Translation: X:6.46, Y:0.05, Z:-0.35 [[ 9.98924958e-01 5.49132376e-03 4.60301339e-02 6.45707938e+00] [-5.53910678e-03 9.99984244e-01 9.10593941e-04 4.98026958e-02] [-4.60244083e-02 -1.16458084e-03 9.98939637e-01 -3.51694839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830385723000001 meters 0.025994404491531665 Centerline is valid? [True, True] Translation: X:6.49, Y:0.05, Z:-0.35 [[ 9.98929187e-01 9.02361801e-03 4.53768028e-02 6.48867185e+00] [-9.07352127e-03 9.99958435e-01 8.93899015e-04 5.12382455e-02] [-4.53668505e-02 -1.30466920e-03 9.98969542e-01 -3.53945852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.860385723 meters 0.028114568942158424 Centerline is valid? [True, True] Translation: X:6.52, Y:0.06, Z:-0.36 [[ 9.98907222e-01 1.61833117e-02 4.38458947e-02 6.51846155e+00] [-1.62363842e-02 9.99867816e-01 8.54558707e-04 5.55875390e-02] [-4.38262694e-02 -1.56552365e-03 9.99037941e-01 -3.56061151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890385723 meters 0.029238287911501085 Centerline is valid? [True, True] Translation: X:6.55, Y:0.06, Z:-0.36 [[ 9.98790164e-01 2.21288207e-02 4.39149543e-02 6.54938857e+00] [-2.21878202e-02 9.99753453e-01 8.56466917e-04 5.86594458e-02] [-4.38851746e-02 -1.82980784e-03 9.99034906e-01 -3.56768932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920385723 meters 0.03048417381071313 Centerline is valid? [True, True] Translation: X:6.58, Y:0.06, Z:-0.36 [[ 9.98771307e-01 2.42217283e-02 4.32340630e-02 6.58050244e+00] [-2.42808580e-02 9.99704821e-01 8.42985288e-04 6.13573957e-02] [-4.32008827e-02 -1.89170966e-03 9.99064615e-01 -3.57778411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950385723 meters 0.031074126966090677 Centerline is valid? [True, True] Translation: X:6.61, Y:0.06, Z:-0.36 [[ 9.98739371e-01 2.69675440e-02 4.23369768e-02 6.61120553e+00] [-2.70265046e-02 9.99634380e-01 8.20798792e-04 6.07346102e-02] [-4.22993626e-02 -1.96398457e-03 9.99103051e-01 -3.60728597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.980385723 meters 0.03153556516580095 Centerline is valid? [True, True] Translation: X:6.64, Y:0.06, Z:-0.36 [[ 9.98752876e-01 2.71681754e-02 4.18877341e-02 6.64467913e+00] [-2.72260127e-02 9.99628975e-01 8.10816420e-04 5.98937166e-02] [-4.18501643e-02 -1.95024122e-03 9.99121995e-01 -3.64101703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010385723 meters 0.03158143700641062 Centerline is valid? [True, True] Translation: X:6.68, Y:0.06, Z:-0.37 [[ 9.98834041e-01 2.60130219e-02 4.06679505e-02 6.67621758e+00] [-2.60661628e-02 9.99659918e-01 7.76910317e-04 5.64226683e-02] [-4.06339103e-02 -1.83606189e-03 9.99172415e-01 -3.67982089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040385723 meters 0.031249414141595877 Centerline is valid? [True, True] Translation: X:6.71, Y:0.06, Z:-0.37 [[ 9.98841143e-01 2.49078794e-02 4.11821306e-02 6.70881561e+00] [-2.49610624e-02 9.99688122e-01 7.77639942e-04 5.64864051e-02] [-4.11499174e-02 -1.80468850e-03 9.99151354e-01 -3.68842682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070385723000001 meters 0.030612870844183716 Centerline is valid? [True, True] Translation: X:6.74, Y:0.06, Z:-0.37 [[ 9.98860929e-01 2.13516095e-02 4.26726400e-02 6.73856224e+00] [-2.14053208e-02 9.99770558e-01 8.02106110e-04 5.80849827e-02] [-4.26457229e-02 -1.71461400e-03 9.99088786e-01 -3.66973590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.100385723 meters 0.030092507496431227 Centerline is valid? [True, True] Translation: X:6.77, Y:0.06, Z:-0.37 [[ 9.98835062e-01 1.94096540e-02 4.41789937e-02 6.77012536e+00] [-1.94653337e-02 9.99810188e-01 8.30439078e-04 5.76259425e-02] [-4.41544894e-02 -1.68943052e-03 9.99023286e-01 -3.66804623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130385723 meters 0.02852720282827346 Centerline is valid? [True, True] Translation: X:6.80, Y:0.05, Z:-0.37 [[ 9.98791467e-01 1.37426517e-02 4.71883975e-02 6.79997008e+00] [-1.37998009e-02 9.99904386e-01 8.85508812e-04 5.20652492e-02] [-4.71717164e-02 -1.53562914e-03 9.98885615e-01 -3.67185953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160385723000001 meters 0.025604158331228994 Centerline is valid? [True, True] Translation: X:6.83, Y:0.04, Z:-0.37 [[ 9.98859941e-01 4.87328600e-03 4.74875723e-02 6.83061981e+00] [-4.92115251e-03 9.99987494e-01 8.91118390e-04 4.43476693e-02] [-4.74826358e-02 -1.12379605e-03 9.98871431e-01 -3.69138873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190385723 meters 0.024433596013869553 Centerline is valid? [True, True] Translation: X:6.86, Y:0.04, Z:-0.37 [[ 9.98911458e-01 -4.24185797e-05 4.66465167e-02 6.86160459e+00] [ 1.59508511e-06 9.99999617e-01 8.75203928e-04 4.18823131e-02] [-4.66465360e-02 -8.74176827e-04 9.98911075e-01 -3.71434019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220385723 meters 0.022619825301850784 Centerline is valid? [True, True] Translation: X:6.89, Y:0.04, Z:-0.38 [[ 9.98947109e-01 -9.49809036e-03 4.48827235e-02 6.89344086e+00] [ 9.46989574e-03 9.99954806e-01 8.40771741e-04 3.59881508e-02] [-4.48886808e-02 -4.14851788e-04 9.98991909e-01 -3.75047049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250385723 meters 0.02201713095328496 Centerline is valid? [True, True] Translation: X:6.93, Y:0.03, Z:-0.38 [[ 9.98929107e-01 -1.24974732e-02 4.45472017e-02 6.92535265e+00] [ 1.24727683e-02 9.99921865e-01 8.32497297e-04 3.29453153e-02] [-4.45541251e-02 -2.75978856e-04 9.99006934e-01 -3.77065760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280385723 meters 0.021852611865153585 Centerline is valid? [True, True] Translation: X:6.96, Y:0.03, Z:-0.38 [[ 9.98877263e-01 -1.63174033e-02 4.44742128e-02 6.95675245e+00] [ 1.62970149e-02 9.99866858e-01 8.20996107e-04 3.01561609e-02] [-4.44816879e-02 -9.52774385e-05 9.99010195e-01 -3.79995476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310385723 meters 0.021689055920830185 Centerline is valid? [True, True] Translation: X:6.99, Y:0.03, Z:-0.38 [[ 9.98912246e-01 -1.69574821e-02 4.34369520e-02 6.98940123e+00] [ 1.69390249e-02 9.99856210e-01 7.92974420e-04 3.05069944e-02] [-4.34441530e-02 -5.63322458e-05 9.99055855e-01 -3.81360932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340385723 meters 0.02178553554251347 Centerline is valid? [True, True] Translation: X:7.02, Y:0.04, Z:-0.38 [[ 9.98964124e-01 -1.72538416e-02 4.21068215e-02 7.02111517e+00] [ 1.72372154e-02 9.99851141e-01 7.57915593e-04 3.50455946e-02] [-4.21136305e-02 -3.13261347e-05 9.99112827e-01 -3.81866612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370385723 meters 0.021864091981664335 Centerline is valid? [True, True] Translation: X:7.05, Y:0.04, Z:-0.38 [[ 9.98975343e-01 -1.68984406e-02 4.19845987e-02 7.05448079e+00] [ 1.68818685e-02 9.99857210e-01 7.49259689e-04 3.76106578e-02] [-4.19912651e-02 -3.97134822e-05 9.99117977e-01 -3.82803483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400385723 meters 0.021855740663337318 Centerline is valid? [True, True] Translation: X:7.09, Y:0.04, Z:-0.39 [[ 9.99020014e-01 -1.55208491e-02 4.14501552e-02 7.08634797e+00] [ 1.55039501e-02 9.99879541e-01 7.29142317e-04 3.99451421e-02] [-4.14564790e-02 -8.57866323e-05 9.99140307e-01 -3.86316793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430385723 meters 0.022003640532714974 Centerline is valid? [True, True] Translation: X:7.12, Y:0.04, Z:-0.39 [[ 9.99073423e-01 -1.28027062e-02 4.10899719e-02 7.11939240e+00] [ 1.27842010e-02 9.99918024e-01 7.13099490e-04 4.27379849e-02] [-4.10957331e-02 -1.87136291e-04 9.99155196e-01 -3.89215062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.460385723 meters 0.022152057838547835 Centerline is valid? [True, True] Translation: X:7.15, Y:0.05, Z:-0.39 [[ 9.99102153e-01 -1.05528559e-02 4.10307784e-02 7.15159150e+00] [ 1.05329374e-02 9.99944281e-01 7.01606922e-04 4.55602949e-02] [-4.10358962e-02 -2.68802368e-04 9.99157637e-01 -3.90638723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490385723000001 meters 0.02285867879299748 Centerline is valid? [True, True] Translation: X:7.18, Y:0.05, Z:-0.39 [[ 9.99160573e-01 -5.34700950e-03 4.06147564e-02 7.18256976e+00] [ 5.32355547e-03 9.99985595e-01 6.85606495e-04 5.31740265e-02] [-4.06178372e-02 -4.68816070e-04 9.99174645e-01 -3.91379192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520385723 meters 0.02343829764753729 Centerline is valid? [True, True] Translation: X:7.22, Y:0.06, Z:-0.39 [[ 9.99184625e-01 -2.05378812e-03 4.03220408e-02 7.21517558e+00] [ 2.02831534e-03 9.99997717e-01 6.72632873e-04 5.82102427e-02] [-4.03233302e-02 -5.90298611e-04 9.99186509e-01 -3.92092594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550385723 meters 0.024067177680818497 Centerline is valid? [True, True] Translation: X:7.25, Y:0.06, Z:-0.39 [[ 9.99075020e-01 1.23607347e-03 4.29834339e-02 7.24727108e+00] [-1.26764006e-03 9.99998947e-01 7.07140990e-04 6.11673924e-02] [-4.29825145e-02 -7.60974421e-04 9.99075535e-01 -3.91161951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580385723000001 meters 0.024798710176059086 Centerline is valid? [True, True] Translation: X:7.28, Y:0.06, Z:-0.39 [[ 9.99077819e-01 3.60238084e-03 4.27847554e-02 7.27836877e+00] [-3.63543246e-03 9.99993150e-01 6.94727952e-04 6.33501462e-02] [-4.27819597e-02 -8.49628375e-04 9.99084072e-01 -3.92281799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610385723 meters 0.024338058716742016 Centerline is valid? [True, True] Translation: X:7.31, Y:0.06, Z:-0.39 [[ 9.99118720e-01 8.16685383e-03 4.11714301e-02 7.31050571e+00] [-8.20098938e-03 9.99966153e-01 6.60278226e-04 6.33432533e-02] [-4.11646442e-02 -9.97342797e-04 9.99151879e-01 -3.94698134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640385723 meters 0.023917250262299572 Centerline is valid? [True, True] Translation: X:7.34, Y:0.06, Z:-0.40 [[ 9.99043234e-01 1.10619852e-02 4.23113354e-02 7.34269143e+00] [-1.11005286e-02 9.99938159e-01 6.76105115e-04 6.20564742e-02] [-4.23012397e-02 -1.14513643e-03 9.99104246e-01 -3.95584008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670385723 meters 0.02426602994917044 Centerline is valid? [True, True] Translation: X:7.38, Y:0.06, Z:-0.40 [[ 9.98984121e-01 1.31865498e-02 4.30910828e-02 7.37538201e+00] [-1.32280446e-02 9.99912276e-01 6.77947813e-04 6.28675504e-02] [-4.30783628e-02 -1.24726987e-03 9.99070918e-01 -3.96525282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700385723 meters 0.025133306663665134 Centerline is valid? [True, True] Translation: X:7.41, Y:0.06, Z:-0.40 [[ 9.98884479e-01 1.76300252e-02 4.38061511e-02 7.40604612e+00] [-1.76766955e-02 9.99843525e-01 6.78218924e-04 6.45312404e-02] [-4.37873395e-02 -1.45181035e-03 9.99039820e-01 -3.98373489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730385723 meters 0.025564687342605086 Centerline is valid? [True, True] Translation: X:7.44, Y:0.07, Z:-0.40 [[ 9.98815546e-01 1.98843646e-02 4.44085345e-02 7.43808962e+00] [-1.99345196e-02 9.99801052e-01 6.86791068e-04 6.60736800e-02] [-4.43860431e-02 -1.57124040e-03 9.99013218e-01 -3.99437241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.760385723 meters 0.026065119305113564 Centerline is valid? [True, True] Translation: X:7.47, Y:0.07, Z:-0.40 [[ 9.98722860e-01 2.33304701e-02 4.48144881e-02 7.46897468e+00] [-2.33848705e-02 9.99726298e-01 6.89959966e-04 7.01209365e-02] [-4.47861252e-02 -1.73705979e-03 9.98995088e-01 -3.97131154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790385723 meters 0.026651913088003996 Centerline is valid? [True, True] Translation: X:7.50, Y:0.07, Z:-0.40 [[ 9.98714394e-01 2.52047637e-02 4.39804308e-02 7.49996407e+00] [-2.52589436e-02 9.99680713e-01 6.76538379e-04 7.25442127e-02] [-4.39493364e-02 -1.78656784e-03 9.99032164e-01 -3.98672557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820385723000001 meters 0.02694681845607521 Centerline is valid? [True, True] Translation: X:7.53, Y:0.07, Z:-0.40 [[ 9.98700833e-01 2.59006603e-02 4.38839522e-02 7.53171274e+00] [-2.59548479e-02 9.99662895e-01 6.65371831e-04 7.09643701e-02] [-4.38519251e-02 -1.80350871e-03 9.99036414e-01 -4.01406159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850385723 meters 0.027009563980974392 Centerline is valid? [True, True] Translation: X:7.56, Y:0.07, Z:-0.40 [[ 9.98623537e-01 2.55519171e-02 4.58053695e-02 7.56402148e+00] [-2.56101129e-02 9.99671773e-01 6.84007127e-04 6.65207394e-02] [-4.57728573e-02 -1.85614630e-03 9.98950149e-01 -4.03980776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880385723 meters 0.02727020817524741 Centerline is valid? [True, True] Translation: X:7.59, Y:0.07, Z:-0.40 [[ 9.98638925e-01 2.48472903e-02 4.58574881e-02 7.59494225e+00] [-2.49043877e-02 9.99689610e-01 6.74109871e-04 6.64769806e-02] [-4.58265046e-02 -1.81524502e-03 9.98947765e-01 -4.04295825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910385723000001 meters 0.02703216459748466 Centerline is valid? [True, True] Translation: X:7.63, Y:0.06, Z:-0.41 [[ 9.98716146e-01 2.24856792e-02 4.53922233e-02 7.62642161e+00] [-2.25389177e-02 9.99745748e-01 6.61322337e-04 6.43123870e-02] [-4.53658119e-02 -1.68356488e-03 9.98969023e-01 -4.05133403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940385723 meters 0.026594534955365172 Centerline is valid? [True, True] Translation: X:7.66, Y:0.06, Z:-0.41 [[ 9.98806015e-01 1.95584961e-02 4.47661771e-02 7.65726056e+00] [-1.96072740e-02 9.99807547e-01 6.50740178e-04 6.17255341e-02] [-4.47448342e-02 -1.52770590e-03 9.98997280e-01 -4.06110102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970385723 meters 0.026316796771064205 Centerline is valid? [True, True] Translation: X:7.69, Y:0.06, Z:-0.41 [[ 9.98842640e-01 1.79829886e-02 4.46093326e-02 7.68981884e+00] [-1.80297921e-02 9.99837241e-01 6.47027095e-04 6.07116830e-02] [-4.45904366e-02 -1.45057524e-03 9.99004299e-01 -4.08028727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000385723 meters 0.025496185828777388 Centerline is valid? [True, True] Translation: X:7.72, Y:0.05, Z:-0.41 [[ 9.98899568e-01 1.37167781e-02 4.48497859e-02 7.72184862e+00] [-1.37593347e-02 9.99905131e-01 6.40285632e-04 5.49338087e-02] [-4.48367484e-02 -1.25668425e-03 9.98993537e-01 -4.11530308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030385723 meters 0.02495828990880797 Centerline is valid? [True, True] Translation: X:7.75, Y:0.05, Z:-0.41 [[ 9.98921268e-01 1.14895164e-02 4.49921275e-02 7.75441690e+00] [-1.15299433e-02 9.99933324e-01 6.39115592e-04 5.16410266e-02] [-4.49817845e-02 -1.15718284e-03 9.98987137e-01 -4.12930578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060385723 meters 0.023608807962803936 Centerline is valid? [True, True] Translation: X:7.78, Y:0.05, Z:-0.41 [[ 9.98984272e-01 4.90294111e-03 4.47926847e-02 7.78489692e+00] [-4.93594780e-03 9.99987622e-01 6.26303047e-04 4.51766295e-02] [-4.47890595e-02 -8.46761247e-04 9.98996108e-01 -4.14284584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090385723 meters 0.02307553523545117 Centerline is valid? [True, True] Translation: X:7.82, Y:0.04, Z:-0.42 [[ 9.99039964e-01 1.99295147e-03 4.37627483e-02 7.81734573e+00] [-2.02167624e-03 9.99997769e-01 6.12126411e-04 4.22719668e-02] [-4.37614307e-02 -7.00012856e-04 9.99041764e-01 -4.16993553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120385723 meters 0.022297269543729174 Centerline is valid? [True, True] Translation: X:7.85, Y:0.04, Z:-0.42 [[ 9.99165546e-01 -2.56004274e-03 4.07634481e-02 7.84935888e+00] [ 2.53925054e-03 9.99996618e-01 5.61837330e-04 3.89299989e-02] [-4.07647486e-02 -4.57859895e-04 9.99168667e-01 -4.18031495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150385723 meters 0.02220848617827598 Centerline is valid? [True, True] Translation: X:7.88, Y:0.04, Z:-0.42 [[ 9.99156417e-01 -4.28650294e-03 4.08421306e-02 7.88187358e+00] [ 4.26746281e-03 9.99990741e-01 5.53359936e-04 3.95950903e-02] [-4.08441245e-02 -3.78600858e-04 9.99165459e-01 -4.18538270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180385723 meters 0.02227989948978044 Centerline is valid? [True, True] Translation: X:7.92, Y:0.04, Z:-0.42 [[ 9.99134545e-01 -3.91775864e-03 4.14102945e-02 7.91518468e+00] [ 3.89826979e-03 9.99992250e-01 5.51366954e-04 3.85315121e-02] [-4.14121337e-02 -3.89461270e-04 9.99142074e-01 -4.20889825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210385723 meters 0.0226151291961529 Centerline is valid? [True, True] Translation: X:7.95, Y:0.04, Z:-0.42 [[ 9.99061417e-01 -1.75779042e-03 4.32804350e-02 7.94618288e+00] [ 1.73499858e-03 9.99998336e-01 5.64166312e-04 3.73818704e-02] [-4.32813546e-02 -4.88545301e-04 9.99062804e-01 -4.23465903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240385723000001 meters 0.023089821801784448 Centerline is valid? [True, True] Translation: X:7.98, Y:0.04, Z:-0.42 [[ 9.99039962e-01 -5.48595497e-04 4.38047201e-02 7.97846828e+00] [ 5.24499559e-04 9.99999705e-01 5.61567676e-04 4.09424670e-02] [-4.38050152e-02 -5.38052993e-04 9.99039955e-01 -4.23836648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270385723 meters 0.02308829716408186 Centerline is valid? [True, True] Translation: X:8.01, Y:0.05, Z:-0.42 [[ 9.99078129e-01 5.66048940e-04 4.29251794e-02 8.01051643e+00] [-5.89771913e-04 9.99999680e-01 5.39996825e-04 4.54948789e-02] [-4.29248600e-02 -5.64815083e-04 9.99078144e-01 -4.23517203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300385723 meters 0.02314474624323772 Centerline is valid? [True, True] Translation: X:8.04, Y:0.05, Z:-0.42 [[ 9.99084264e-01 1.01819427e-03 4.27737863e-02 8.04334463e+00] [-1.04175758e-03 9.99999318e-01 5.28595522e-04 4.71511006e-02] [-4.27732189e-02 -5.72671384e-04 9.99084643e-01 -4.24736824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330385723000001 meters 0.02294305421603957 Centerline is valid? [True, True] Translation: X:8.08, Y:0.05, Z:-0.43 [[ 9.99073190e-01 2.00865699e-03 4.29968176e-02 8.07591008e+00] [-2.03290289e-03 9.99997798e-01 5.20182802e-04 4.55069668e-02] [-4.29956781e-02 -6.07109046e-04 9.99075074e-01 -4.27332052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360385723 meters 0.02294305421603957 Centerline is valid? [True, True] Translation: X:8.11, Y:0.05, Z:-0.43 [[ 9.99072602e-01 2.28007668e-03 4.29969468e-02 8.10851382e+00] [-2.30410417e-03 9.99997216e-01 5.09269035e-04 4.58332492e-02] [-4.29956659e-02 -6.07866184e-04 9.99075074e-01 -4.28788533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390385723 meters 0.023293152461641355 Centerline is valid? [True, True] Translation: X:8.14, Y:0.04, Z:-0.43 [[ 9.99120631e-01 2.92644871e-03 4.18258259e-02 8.13982794e+00] [-2.94927107e-03 9.99995534e-01 4.83957829e-04 4.46780377e-02] [-4.18242228e-02 -6.06887950e-04 9.99124800e-01 -4.32936133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420385723 meters 0.023225818529742596 Centerline is valid? [True, True] Translation: X:8.17, Y:0.05, Z:-0.43 [[ 9.99130400e-01 3.35291693e-03 4.15596165e-02 8.17336692e+00] [-3.37561258e-03 9.99994189e-01 4.75935714e-04 4.50281837e-02] [-4.15577793e-02 -6.15811005e-04 9.99135913e-01 -4.34620948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450385723 meters 0.023316226766852608 Centerline is valid? [True, True] Translation: X:8.21, Y:0.05, Z:-0.44 [[ 9.99228868e-01 4.51125563e-03 3.90040641e-02 8.20507280e+00] [-4.53173628e-03 9.99989636e-01 4.36694054e-04 5.04476378e-02] [-3.90016899e-02 -6.13113438e-04 9.99238957e-01 -4.35067696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480385723 meters 0.02337538375749964 Centerline is valid? [True, True] Translation: X:8.24, Y:0.05, Z:-0.44 [[ 9.99261449e-01 5.31043534e-03 3.80572830e-02 8.23713706e+00] [-5.33021263e-03 9.99985707e-01 4.18226488e-04 5.22381748e-02] [-3.80545181e-02 -6.20771017e-04 9.99275472e-01 -4.36616087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510385723 meters 0.023488439667008604 Centerline is valid? [True, True] Translation: X:8.27, Y:0.05, Z:-0.44 [[ 9.99184495e-01 6.60591429e-03 3.98334932e-02 8.26851922e+00] [-6.62820547e-03 9.99977942e-01 4.27568835e-04 5.18778792e-02] [-3.98297901e-02 -6.91244728e-04 9.99206240e-01 -4.37321163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540385723 meters 0.023460600804723612 Centerline is valid? [True, True] Translation: X:8.30, Y:0.05, Z:-0.44 [[ 9.99131329e-01 7.29810441e-03 4.10283530e-02 8.30143531e+00] [-7.32213749e-03 9.99973098e-01 4.35525443e-04 5.04114255e-02] [-4.10240707e-02 -7.35562356e-04 9.99157888e-01 -4.38372522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570385723 meters 0.02350848588711032 Centerline is valid? [True, True] Translation: X:8.33, Y:0.05, Z:-0.44 [[ 9.99154891e-01 7.50175138e-03 4.04132205e-02 8.33447719e+00] [-7.52481575e-03 9.99971601e-01 4.18628454e-04 5.14849375e-02] [-4.04089323e-02 -7.22376706e-04 9.99182964e-01 -4.39557248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600385723 meters 0.023191040466827042 Centerline is valid? [True, True] Translation: X:8.37, Y:0.05, Z:-0.44 [[ 9.99180841e-01 7.51274651e-03 3.97643696e-02 8.36717786e+00] [-7.53468359e-03 9.99971533e-01 4.01838409e-04 5.48566238e-02] [-3.97602187e-02 -7.01121183e-04 9.99209004e-01 -4.39430489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630385723 meters 0.023117967173454046 Centerline is valid? [True, True] Translation: X:8.40, Y:0.06, Z:-0.44 [[ 9.99179423e-01 8.03733649e-03 3.96973809e-02 8.40012956e+00] [-8.05920012e-03 9.99967448e-01 3.90758057e-04 5.64177377e-02] [-3.96929480e-02 -7.10366547e-04 9.99211672e-01 -4.40075556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660385723000001 meters 0.022908505835326016 Centerline is valid? [True, True] Translation: X:8.43, Y:0.06, Z:-0.44 [[ 9.99220643e-01 7.10336843e-03 3.88284632e-02 8.43136450e+00] [-7.12317920e-03 9.99974561e-01 3.71891400e-04 5.57311270e-02] [-3.88248337e-02 -6.48183665e-04 9.99245822e-01 -4.44181274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690385723 meters 0.02204386384312492 Centerline is valid? [True, True] Translation: X:8.46, Y:0.05, Z:-0.45 [[ 9.99261346e-01 4.48443133e-03 3.81661037e-02 8.46324173e+00] [-4.50136573e-03 9.99989805e-01 3.57782807e-04 4.92828721e-02] [-3.81641101e-02 -5.29318121e-04 9.99271345e-01 -4.47857482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720385723 meters 0.022232466490647928 Centerline is valid? [True, True] Translation: X:8.49, Y:0.05, Z:-0.45 [[ 9.99281077e-01 2.52271199e-03 3.78280899e-02 8.49444283e+00] [-2.53758649e-03 9.99996721e-01 3.45204752e-04 5.09636651e-02] [-3.78270950e-02 -4.40948626e-04 9.99284202e-01 -4.50028697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750385723 meters 0.021824857095612847 Centerline is valid? [True, True] Translation: X:8.53, Y:0.05, Z:-0.45 [[ 9.99268729e-01 8.43931709e-04 3.82268835e-02 8.52660248e+00] [-8.57558076e-04 9.99999574e-01 3.40064837e-04 5.01111605e-02] [-3.82265803e-02 -3.72597930e-04 9.99269028e-01 -4.50014838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780385723 meters 0.021484092937887014 Centerline is valid? [True, True] Translation: X:8.56, Y:0.05, Z:-0.45 [[ 9.99232825e-01 -3.10001570e-03 3.90403721e-02 8.55760116e+00] [ 3.08918492e-03 9.99995171e-01 3.37746698e-04 5.11373249e-02] [-3.90412306e-02 -2.16884658e-04 9.99237577e-01 -4.49463693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810385723 meters 0.02133817230687319 Centerline is valid? [True, True] Translation: X:8.59, Y:0.05, Z:-0.45 [[ 9.99233284e-01 -6.84176480e-03 3.85491246e-02 8.58952613e+00] [ 6.83430373e-03 9.99976593e-01 3.25322395e-04 4.91060261e-02] [-3.85504480e-02 -6.16165393e-05 9.99256653e-01 -4.50129221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840385723 meters 0.021295625856824617 Centerline is valid? [True, True] Translation: X:8.62, Y:0.05, Z:-0.45 [[ 9.99227651e-01 -8.21455910e-03 3.84268334e-02 8.62227394e+00] [ 8.20849191e-03 9.99966260e-01 3.15660848e-04 4.79625487e-02] [-3.84281299e-02 9.30322938e-09 9.99261367e-01 -4.51688540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870385723 meters 0.02126641156095571 Centerline is valid? [True, True] Translation: X:8.65, Y:0.05, Z:-0.45 [[ 9.99167939e-01 -1.13964929e-02 3.91605499e-02 8.65415572e+00] [ 1.13930997e-02 9.99935049e-01 3.09818945e-04 4.67398816e-02] [-3.91615372e-02 1.36598893e-04 9.99232883e-01 -4.52662995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900385723 meters 0.021301027641695808 Centerline is valid? [True, True] Translation: X:8.69, Y:0.05, Z:-0.45 [[ 9.99141311e-01 -1.22837783e-02 3.95695419e-02 8.68657618e+00] [ 1.22812716e-02 9.99924535e-01 3.06435567e-04 4.76341228e-02] [-3.95703199e-02 1.79791855e-04 9.99216772e-01 -4.52737159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930385723 meters 0.021271884339276466 Centerline is valid? [True, True] Translation: X:8.72, Y:0.05, Z:-0.45 [[ 9.99113599e-01 -1.35332662e-02 3.98606055e-02 8.71981151e+00] [ 1.35321151e-02 9.99908392e-01 2.98695191e-04 5.17622669e-02] [-3.98609962e-02 2.40967876e-04 9.99205206e-01 -4.51703480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960385723 meters 0.021151850956913923 Centerline is valid? [True, True] Translation: X:8.75, Y:0.05, Z:-0.45 [[ 9.99118163e-01 -1.36385660e-02 3.97100241e-02 8.75160837e+00] [ 1.36379599e-02 9.99906958e-01 2.86165734e-04 5.10349421e-02] [-3.97102322e-02 2.55650332e-04 9.99211205e-01 -4.54890245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990385723000001 meters 0.021105025694850628 Centerline is valid? [True, True] Translation: X:8.78, Y:0.05, Z:-0.46 [[ 9.99160899e-01 -1.30359512e-02 3.88273413e-02 8.78495887e+00] [ 1.30351452e-02 9.99915001e-01 2.73925043e-04 5.08403272e-02] [-3.88276119e-02 2.32424839e-04 9.99245897e-01 -4.57933368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020385723 meters 0.021013804554889264 Centerline is valid? [True, True] Translation: X:8.82, Y:0.05, Z:-0.46 [[ 9.99212305e-01 -1.19002794e-02 3.78570091e-02 8.81720667e+00] [ 1.18990804e-02 9.99929170e-01 2.56990986e-04 5.40026858e-02] [-3.78573860e-02 1.93675040e-04 9.99283133e-01 -4.60198314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050385723 meters 0.021051359001984224 Centerline is valid? [True, True] Translation: X:8.85, Y:0.06, Z:-0.46 [[ 9.99218107e-01 -1.10918231e-02 3.79492661e-02 8.85019083e+00] [ 1.10903960e-02 9.99938469e-01 2.48123873e-04 5.79224629e-02] [-3.79496832e-02 1.72942522e-04 9.99279636e-01 -4.60024013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080385723000001 meters 0.020869813028850166 Centerline is valid? [True, True] Translation: X:8.88, Y:0.07, Z:-0.46 [[ 9.99181953e-01 -8.89148953e-03 3.94508127e-02 8.88164759e+00] [ 8.88867925e-03 9.99960464e-01 2.46639209e-04 6.50847844e-02] [-3.94514460e-02 1.04228173e-04 9.99221483e-01 -4.56957572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110385723 meters 0.020819706132737724 Centerline is valid? [True, True] Translation: X:8.91, Y:0.07, Z:-0.46 [[ 9.99183547e-01 -8.16957090e-03 3.95663575e-02 8.91448819e+00] [ 8.16650803e-03 9.99966625e-01 2.39035839e-04 6.66230889e-02] [-3.95669898e-02 8.42782985e-05 9.99216916e-01 -4.58635614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140385723 meters 0.02072290172791251 Centerline is valid? [True, True] Translation: X:8.95, Y:0.07, Z:-0.46 [[ 9.99242142e-01 -7.45838382e-03 3.82035986e-02 8.94765804e+00] [ 7.45537847e-03 9.99972184e-01 2.21131017e-04 6.56716223e-02] [-3.82041852e-02 6.38588555e-05 9.99269952e-01 -4.64341576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170385723 meters 0.021064068990960222 Centerline is valid? [True, True] Translation: X:8.98, Y:0.07, Z:-0.47 [[ 9.99288915e-01 -7.55677090e-03 3.69399556e-02 8.98007491e+00] [ 7.55438055e-03 9.99971444e-01 2.04287651e-04 6.51587731e-02] [-3.69404445e-02 7.49160972e-05 9.99317466e-01 -4.69459100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200385723 meters 0.020976691562125758 Centerline is valid? [True, True] Translation: X:9.01, Y:0.06, Z:-0.47 [[ 9.99282175e-01 -1.26650343e-02 3.57033702e-02 9.01257141e+00] [ 1.26663647e-02 9.99919761e-01 1.88935522e-04 6.06915456e-02] [-3.57028982e-02 2.63432007e-04 9.99362414e-01 -4.72400398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230385723 meters 0.02133738869272142 Centerline is valid? [True, True] Translation: X:9.04, Y:0.06, Z:-0.47 [[ 9.99226850e-01 -1.71859832e-02 3.53601947e-02 9.04475180e+00] [ 1.71903959e-02 9.99852218e-01 1.79250465e-04 5.81893938e-02] [-3.53580497e-02 4.28743868e-04 9.99374617e-01 -4.72779721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260385723 meters 0.02151865612980436 Centerline is valid? [True, True] Translation: X:9.08, Y:0.06, Z:-0.47 [[ 9.99220612e-01 -1.84021485e-02 3.49217669e-02 9.07740213e+00] [ 1.84074695e-02 9.99830554e-01 1.69160855e-04 5.76594375e-02] [-3.49189624e-02 4.73792344e-04 9.99390035e-01 -4.74480447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290385723 meters 0.0214611690963456 Centerline is valid? [True, True] Translation: X:9.11, Y:0.06, Z:-0.47 [[ 9.99223053e-01 -1.85577809e-02 3.47692327e-02 9.11047960e+00] [ 1.85634114e-02 9.99827672e-01 1.60897465e-04 5.79548908e-02] [-3.47662268e-02 4.84663113e-04 9.99395354e-01 -4.74388415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320385723 meters 0.021309175246222393 Centerline is valid? [True, True] Translation: X:9.14, Y:0.06, Z:-0.47 [[ 9.99233281e-01 -1.82375011e-02 3.46445421e-02 9.14350993e+00] [ 1.82432113e-02 9.99833567e-01 1.51306476e-04 6.01817628e-02] [-3.46415356e-02 4.80837235e-04 9.99399686e-01 -4.73522286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350385723 meters 0.02153554492429704 Centerline is valid? [True, True] Translation: X:9.18, Y:0.06, Z:-0.48 [[ 9.99297673e-01 -1.74724981e-02 3.31492511e-02 9.17549629e+00] [ 1.74775959e-02 9.99847246e-01 1.35994850e-04 6.03514720e-02] [-3.31465636e-02 4.43469880e-04 9.99450403e-01 -4.76509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380385723 meters 0.02105495813743549 Centerline is valid? [True, True] Translation: X:9.21, Y:0.06, Z:-0.48 [[ 9.99286069e-01 -1.70793937e-02 3.36993640e-02 9.20896423e+00] [ 1.70847317e-02 9.99854037e-01 1.29567567e-04 5.73245610e-02] [-3.36966581e-02 4.46269528e-04 9.99432007e-01 -4.80455506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410385723000001 meters 0.021031113700968353 Centerline is valid? [True, True] Translation: X:9.24, Y:0.06, Z:-0.48 [[ 9.99290071e-01 -1.64101834e-02 3.39125426e-02 9.24196790e+00] [ 1.64155157e-02 9.99865249e-01 1.21200960e-04 5.55439131e-02] [-3.39099618e-02 4.35576959e-04 9.99424797e-01 -4.83226957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440385723 meters 0.020989788198978798 Centerline is valid? [True, True] Translation: X:9.27, Y:0.06, Z:-0.48 [[ 9.99327467e-01 -1.45791308e-02 3.36461484e-02 9.27331433e+00] [ 1.45836621e-02 9.99893647e-01 1.10745686e-04 5.62833585e-02] [-3.36441846e-02 3.80012854e-04 9.99433802e-01 -4.84529700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470385723 meters 0.02058985199532785 Centerline is valid? [True, True] Translation: X:9.31, Y:0.06, Z:-0.48 [[ 9.99335414e-01 -1.27900321e-02 3.41342272e-02 9.30579561e+00] [ 1.27939009e-02 9.99918149e-01 1.05083837e-04 6.01325419e-02] [-3.41327773e-02 3.31695921e-04 9.99417252e-01 -4.82752340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500385723 meters 0.020352403450882777 Centerline is valid? [True, True] Translation: X:9.34, Y:0.07, Z:-0.48 [[ 9.99313058e-01 -7.15127433e-03 3.63630620e-02 9.33708781e+00] [ 7.15228681e-03 9.99974417e-01 1.02240450e-04 6.64297265e-02] [-3.63628629e-02 1.57908832e-04 9.99338640e-01 -4.79247201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530385723 meters 0.020243400393513054 Centerline is valid? [True, True] Translation: X:9.37, Y:0.07, Z:-0.48 [[ 9.99212084e-01 -1.61277284e-03 3.96561384e-02 9.36921179e+00] [ 1.61000259e-03 9.99998699e-01 1.01792471e-04 7.11926375e-02] [-3.96562510e-02 -3.78657822e-05 9.99213381e-01 -4.76198531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560385723 meters 0.020296682119849647 Centerline is valid? [True, True] Translation: X:9.40, Y:0.07, Z:-0.48 [[ 9.99176805e-01 2.67764172e-04 4.05664869e-02 9.40247831e+00] [-2.71817192e-04 9.99999959e-01 9.43949936e-05 7.11683867e-02] [-4.05664600e-02 -1.05343957e-04 9.99176837e-01 -4.77383149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590385723 meters 0.020355260672642074 Centerline is valid? [True, True] Translation: X:9.43, Y:0.07, Z:-0.48 [[ 9.99203325e-01 2.20755673e-03 3.98477428e-02 9.43454305e+00] [-2.21257994e-03 9.99997549e-01 8.19596555e-05 6.92244472e-02] [-3.98474642e-02 -1.70060677e-04 9.99205760e-01 -4.81393115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620385723 meters 0.02037673220757269 Centerline is valid? [True, True] Translation: X:9.47, Y:0.07, Z:-0.48 [[ 9.99241072e-01 2.46261056e-03 3.88743638e-02 9.46665458e+00] [-2.46721037e-03 9.99996954e-01 7.03515150e-05 6.92977910e-02] [-3.88740721e-02 -1.66209357e-04 9.99244104e-01 -4.84361152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650385723 meters 0.020235576537699557 Centerline is valid? [True, True] Translation: X:9.50, Y:0.07, Z:-0.49 [[ 9.99320218e-01 1.91153743e-03 3.68163973e-02 9.50002553e+00] [-1.91497430e-03 9.99998165e-01 5.80885773e-05 6.73173660e-02] [-3.68162187e-02 -1.28551544e-04 9.99322045e-01 -4.88708034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680385723 meters 0.020277568347946036 Centerline is valid? [True, True] Translation: X:9.53, Y:0.07, Z:-0.49 [[ 9.99395017e-01 2.90178513e-03 3.46580317e-02 9.53193074e+00] [-2.90511475e-03 9.99995779e-01 4.57130375e-05 6.80086605e-02] [-3.46577527e-02 -1.46370941e-04 9.99399229e-01 -4.92122043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710385723 meters 0.020639705092965442 Centerline is valid? [True, True] Translation: X:9.56, Y:0.07, Z:-0.50 [[ 9.99440280e-01 6.69645110e-03 3.27762607e-02 9.56331859e+00] [-6.70122940e-03 9.99977546e-01 3.59364218e-05 6.91871559e-02] [-3.27752841e-02 -2.55557549e-04 9.99462713e-01 -4.97079442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740385723000001 meters 0.020784620057570292 Centerline is valid? [True, True] Translation: X:9.60, Y:0.07, Z:-0.50 [[ 9.99384819e-01 8.81156117e-03 3.39461416e-02 9.59690918e+00] [-8.81766446e-03 9.99961123e-01 3.00887213e-05 6.93273388e-02] [-3.39445567e-02 -3.29395897e-04 9.99423663e-01 -4.97521354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770385723 meters 0.02125950620372951 Centerline is valid? [True, True] Translation: X:9.63, Y:0.07, Z:-0.49 [[ 9.99217139e-01 1.20748764e-02 3.76736728e-02 9.62882149e+00] [-1.20842645e-02 9.99926982e-01 2.14862731e-05 7.33416591e-02] [-3.76706625e-02 -4.76728078e-04 9.99290095e-01 -4.92167127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800385723 meters 0.021502553793883744 Centerline is valid? [True, True] Translation: X:9.66, Y:0.08, Z:-0.49 [[ 9.99125413e-01 1.37027412e-02 3.95049881e-02 9.66008594e+00] [-1.37140589e-02 9.99905958e-01 1.54966577e-05 7.69795933e-02] [-3.95010606e-02 -5.57256837e-04 9.99219373e-01 -4.90139172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830385723000001 meters 0.02128949375024887 Centerline is valid? [True, True] Translation: X:9.69, Y:0.08, Z:-0.49 [[ 9.99118939e-01 1.41429382e-02 3.95135780e-02 9.69295277e+00] [-1.41544395e-02 9.99899821e-01 1.13188914e-05 7.54642021e-02] [-3.95094595e-02 -5.70601469e-04 9.99219034e-01 -4.91332142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860385723 meters 0.02139111375730234 Centerline is valid? [True, True] Translation: X:9.73, Y:0.07, Z:-0.50 [[ 9.99113127e-01 1.49967466e-02 3.93453530e-02 9.72623181e+00] [-1.50083974e-02 9.99887368e-01 7.45640780e-07 7.39396439e-02] [-3.93409102e-02 -5.91255672e-04 9.99225672e-01 -4.95845573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890385723 meters 0.02149515567882648 Centerline is valid? [True, True] Translation: X:9.76, Y:0.07, Z:-0.50 [[ 9.99116485e-01 1.50706488e-02 3.92316879e-02 9.75899422e+00] [-1.50818788e-02 9.99886262e-01 -9.71055397e-06 7.27951005e-02] [-3.92273721e-02 -5.81985586e-04 9.99230141e-01 -4.98905714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920385723 meters 0.02143417097261371 Centerline is valid? [True, True] Translation: X:9.79, Y:0.07, Z:-0.50 [[ 9.99075138e-01 1.48013795e-02 4.03706284e-02 9.79158674e+00] [-1.48125981e-02 9.99890287e-01 -2.12305157e-05 7.16612756e-02] [-4.03665134e-02 -5.76783014e-04 9.99184774e-01 -5.02154095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950385723 meters 0.02165538000657443 Centerline is valid? [True, True] Translation: X:9.82, Y:0.07, Z:-0.50 [[ 9.99067320e-01 1.46160898e-02 4.06307685e-02 9.82403022e+00] [-1.46269196e-02 9.99893020e-01 -3.07347187e-05 7.34979960e-02] [-4.06268711e-02 -5.63596933e-04 9.99174229e-01 -5.01520324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980385723 meters 0.021433622464522628 Centerline is valid? [True, True] Translation: X:9.86, Y:0.08, Z:-0.50 [[ 9.99097737e-01 1.37924404e-02 4.01681440e-02 9.85516884e+00] [-1.38019605e-02 9.99904748e-01 -4.03077719e-05 7.88168268e-02] [-4.01648739e-02 -5.14127735e-04 9.99192934e-01 -4.98800237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010385723 meters 0.02122030612872533 Centerline is valid? [True, True] Translation: X:9.89, Y:0.08, Z:-0.50 [[ 9.99134974e-01 1.27312160e-02 3.95881298e-02 9.88622711e+00] [-1.27393045e-02 9.99918851e-01 -4.79487818e-05 7.89057245e-02] [-3.95855277e-02 -4.56417934e-04 9.99216082e-01 -5.00818405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040385723 meters 0.021261502712269807 Centerline is valid? [True, True] Translation: X:9.92, Y:0.08, Z:-0.50 [[ 9.99114258e-01 1.21724522e-02 4.02806422e-02 9.91826063e+00] [-1.21800285e-02 9.99925819e-01 -5.73250213e-05 7.75450038e-02] [-4.02783520e-02 -4.33345124e-04 9.99188404e-01 -5.03104209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070385723 meters 0.02100898046920893 Centerline is valid? [True, True] Translation: X:9.95, Y:0.08, Z:-0.51 [[ 9.99083253e-01 1.16898597e-02 4.11825413e-02 9.95080341e+00] [-1.16969827e-02 9.99931586e-01 -6.79981876e-05 7.60696770e-02] [-4.11805187e-02 -4.13775625e-04 9.99151637e-01 -5.05005149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100385723 meters 0.020978824536108196 Centerline is valid? [True, True] Translation: X:9.98, Y:0.08, Z:-0.51 [[ 9.99082427e-01 1.19672213e-02 4.11228560e-02 9.98370165e+00] [-1.19741681e-02 9.99928304e-01 -7.73873652e-05 7.64925589e-02] [-4.11208338e-02 -4.15095634e-04 9.99154095e-01 -5.07180699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130385723 meters 0.020840524996713593 Centerline is valid? [True, True] Translation: X:10.02, Y:0.08, Z:-0.51 [[ 9.99157855e-01 9.73863052e-03 3.98590014e-02 1.00160111e+01] [-9.74296563e-03 9.99952533e-01 -8.54915956e-05 7.52055664e-02] [-3.98579419e-02 -3.02925281e-04 9.99205311e-01 -5.08898956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160385723000001 meters 0.020708086737376667 Centerline is valid? [True, True] Translation: X:10.05, Y:0.07, Z:-0.51 [[ 9.99209048e-01 9.02845813e-03 3.87267992e-02 1.00492771e+01] [-9.03168776e-03 9.99959209e-01 -9.15572343e-05 7.48606011e-02] [-3.87260461e-02 -2.58283542e-04 9.99249832e-01 -5.10759976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190385723 meters 0.020681573395739866 Centerline is valid? [True, True] Translation: X:10.08, Y:0.08, Z:-0.51 [[ 9.99206671e-01 8.11601744e-03 3.89892102e-02 1.00809712e+01] [-8.11817577e-03 9.99967042e-01 -1.02965799e-04 7.51114593e-02] [-3.89887608e-02 -2.13637148e-04 9.99239626e-01 -5.12171402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220385723 meters 0.020681573395739866 Centerline is valid? [True, True] Translation: X:10.11, Y:0.07, Z:-0.51 [[ 9.99204501e-01 8.37906312e-03 3.89891870e-02 1.01135769e+01] [-8.38110564e-03 9.99964872e-01 -1.11064082e-04 7.49393826e-02] [-3.89887480e-02 -2.15796764e-04 9.99239626e-01 -5.13628445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250385723 meters 0.02081291525384938 Centerline is valid? [True, True] Translation: X:10.14, Y:0.08, Z:-0.51 [[ 9.99082368e-01 8.60171348e-03 4.19575118e-02 1.01449801e+01] [-8.60376844e-03 9.99962978e-01 -1.31601870e-04 7.58126810e-02] [-4.19570905e-02 -2.29511608e-04 9.99119387e-01 -5.10896668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280385723 meters 0.020711490656846264 Centerline is valid? [True, True] Translation: X:10.18, Y:0.08, Z:-0.51 [[ 9.99023436e-01 9.15655014e-03 4.32241960e-02 1.01779358e+01] [-9.15884562e-03 9.99958046e-01 -1.44932019e-04 7.58958829e-02] [-4.32237096e-02 -2.51093254e-04 9.99065387e-01 -5.10702451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310385723 meters 0.020786860000549995 Centerline is valid? [True, True] Translation: X:10.21, Y:0.08, Z:-0.51 [[ 9.98976777e-01 1.09148679e-02 4.38892292e-02 1.02098917e+01] [-1.09183967e-02 9.99940380e-01 -1.59318171e-04 7.50064418e-02] [-4.38883515e-02 -3.20044864e-04 9.99036391e-01 -5.14422174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340385723 meters 0.02073047756412796 Centerline is valid? [True, True] Translation: X:10.24, Y:0.07, Z:-0.52 [[ 9.99010617e-01 1.15696835e-02 4.29409906e-02 1.02430611e+01] [-1.15732100e-02 9.99933014e-01 -1.66481948e-04 7.27282279e-02] [-4.29400403e-02 -3.30647866e-04 9.99077596e-01 -5.16777562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370385723 meters 0.020815961639779928 Centerline is valid? [True, True] Translation: X:10.28, Y:0.07, Z:-0.52 [[ 9.99126379e-01 1.22731996e-02 3.99480619e-02 1.02755302e+01] [-1.22764055e-02 9.99924628e-01 -1.65064120e-04 7.44980020e-02] [-3.99470768e-02 -3.25498688e-04 9.99201744e-01 -5.17880149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400385723 meters 0.02089198160933711 Centerline is valid? [True, True] Translation: X:10.31, Y:0.08, Z:-0.52 [[ 9.99139778e-01 1.32051047e-02 3.93106723e-02 1.03077631e+01] [-1.32085738e-02 9.99912748e-01 -1.71480457e-04 7.66451426e-02] [-3.93095068e-02 -3.47904972e-04 9.99227022e-01 -5.18963513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430385723 meters 0.021019274716529368 Centerline is valid? [True, True] Translation: X:10.34, Y:0.08, Z:-0.52 [[ 9.99106395e-01 1.48811705e-02 3.95595936e-02 1.03404428e+01] [-1.48855937e-02 9.99889187e-01 -1.82751128e-04 7.75350477e-02] [-3.95579294e-02 -4.06280217e-04 9.99217196e-01 -5.20453050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460385723 meters 0.021097768007762 Centerline is valid? [True, True] Translation: X:10.37, Y:0.08, Z:-0.52 [[ 9.99032732e-01 1.60040336e-02 4.09569334e-02 1.03724628e+01] [-1.60093103e-02 9.99871823e-01 -1.99167194e-04 7.67331230e-02] [-4.09548711e-02 -4.56717709e-04 9.99160893e-01 -5.21460284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490385723000001 meters 0.021442574168786695 Centerline is valid? [True, True] Translation: X:10.40, Y:0.08, Z:-0.52 [[ 9.98875992e-01 1.83785981e-02 4.36918612e-02 1.04035683e+01] [-1.83863657e-02 9.99830931e-01 -2.24105054e-04 7.60169665e-02] [-4.36885931e-02 -5.79481382e-04 9.99045030e-01 -5.20938617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520385723 meters 0.021766696971827926 Centerline is valid? [True, True] Translation: X:10.44, Y:0.08, Z:-0.52 [[ 9.98862432e-01 1.99663053e-02 4.33034549e-02 1.04361605e+01] [-1.99750323e-02 9.99800452e-01 -2.31199821e-04 7.75141530e-02] [-4.32994300e-02 -6.34051094e-04 9.99061939e-01 -5.21764345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550385723 meters 0.021741884453241492 Centerline is valid? [True, True] Translation: X:10.47, Y:0.08, Z:-0.52 [[ 9.98902088e-01 2.03663631e-02 4.21880323e-02 1.04692708e+01] [-2.03746132e-02 9.99792389e-01 -2.34453241e-04 7.82069038e-02] [-4.21840485e-02 -6.25369009e-04 9.99109661e-01 -5.24035225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580385723000001 meters 0.021585658105048658 Centerline is valid? [True, True] Translation: X:10.50, Y:0.08, Z:-0.53 [[ 9.98959453e-01 1.98339083e-02 4.10685719e-02 1.05022784e+01] [-1.98408485e-02 9.99803123e-01 -2.38630548e-04 7.69314098e-02] [-4.10652194e-02 -5.76453072e-04 9.99156302e-01 -5.28529203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610385723 meters 0.021612934790237986 Centerline is valid? [True, True] Translation: X:10.53, Y:0.08, Z:-0.53 [[ 9.98893678e-01 1.98942592e-02 4.26103062e-02 1.05349803e+01] [-1.99012909e-02 9.99801916e-01 -2.59205252e-04 7.52818275e-02] [-4.26070224e-02 -5.89081609e-04 9.99091735e-01 -5.30075151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640385723 meters 0.021508979102052697 Centerline is valid? [True, True] Translation: X:10.57, Y:0.08, Z:-0.53 [[ 9.98838868e-01 1.98209919e-02 4.39095043e-02 1.05680743e+01] [-1.98278690e-02 9.99803370e-01 -2.78943491e-04 7.51904287e-02] [-4.39063993e-02 -5.92012298e-04 9.99035474e-01 -5.29832967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670385723 meters 0.02151916083028419 Centerline is valid? [True, True] Translation: X:10.60, Y:0.08, Z:-0.53 [[ 9.98769402e-01 1.88603590e-02 4.58690453e-02 1.05996653e+01] [-1.88662814e-02 9.99821970e-01 -3.03837544e-04 7.51426569e-02] [-4.58666097e-02 -5.61914674e-04 9.98947415e-01 -5.28383160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700385723 meters 0.021052957628016348 Centerline is valid? [True, True] Translation: X:10.63, Y:0.07, Z:-0.53 [[ 9.98813068e-01 1.79196265e-02 4.52917558e-02 1.06316252e+01] [-1.79240090e-02 9.99839304e-01 -3.09381895e-04 7.18438266e-02] [-4.52900217e-02 -5.02795162e-04 9.98973754e-01 -5.31205129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730385723 meters 0.020832440843484464 Centerline is valid? [True, True] Translation: X:10.66, Y:0.07, Z:-0.54 [[ 9.98946283e-01 1.67921075e-02 4.27123958e-02 1.06638107e+01] [-1.67945652e-02 9.99858916e-01 -3.01316354e-04 7.00685485e-02] [-4.27114295e-02 -4.16337266e-04 9.99087364e-01 -5.35272329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760385723 meters 0.020826059844543734 Centerline is valid? [True, True] Translation: X:10.69, Y:0.07, Z:-0.54 [[ 9.99012931e-01 1.54991677e-02 4.16286003e-02 1.06948883e+01] [-1.54999755e-02 9.99879822e-01 -3.03376869e-04 7.19640472e-02] [-4.16282996e-02 -3.42164868e-04 9.99133108e-01 -5.36375020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790385723 meters 0.020793968307598856 Centerline is valid? [True, True] Translation: X:10.73, Y:0.07, Z:-0.54 [[ 9.99026730e-01 1.53320206e-02 4.13584554e-02 1.07279743e+01] [-1.53323095e-02 9.99882405e-01 -3.10229784e-04 7.09415001e-02] [-4.13583484e-02 -3.24192792e-04 9.99144325e-01 -5.38983700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820385723 meters 0.02064734842228178 Centerline is valid? [True, True] Translation: X:10.76, Y:0.07, Z:-0.54 [[ 9.98980910e-01 1.61674331e-02 4.21397186e-02 1.07609616e+01] [-1.61679907e-02 9.99869236e-01 -3.27599507e-04 6.52235034e-02] [-4.21395046e-02 -3.54048925e-04 9.99111674e-01 -5.44307322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850385723 meters 0.020832251376262975 Centerline is valid? [True, True] Translation: X:10.79, Y:0.06, Z:-0.54 [[ 9.98922491e-01 1.69335580e-02 4.32100767e-02 1.07930745e+01] [-1.69343441e-02 9.99856543e-01 -3.47870133e-04 6.49179152e-02] [-4.32097686e-02 -3.84239009e-04 9.99065948e-01 -5.44907020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880385723 meters 0.02093904861300358 Centerline is valid? [True, True] Translation: X:10.83, Y:0.07, Z:-0.54 [[ 9.98885236e-01 1.80020537e-02 4.36372606e-02 1.08250602e+01] [-1.80033879e-02 9.99837860e-01 -3.62453946e-04 7.13206350e-02] [-4.36367102e-02 -4.23568633e-04 9.99047375e-01 -5.41117732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910385723000001 meters 0.02092984227407806 Centerline is valid? [True, True] Translation: X:10.86, Y:0.07, Z:-0.54 [[ 9.98875146e-01 1.88246637e-02 4.35209678e-02 1.08582849e+01] [-1.88265363e-02 9.99822698e-01 -3.66875238e-04 7.34358842e-02] [-4.35201577e-02 -4.52886525e-04 9.99052446e-01 -5.41378381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940385723 meters 0.020927212614070753 Centerline is valid? [True, True] Translation: X:10.89, Y:0.07, Z:-0.54 [[ 9.98762658e-01 1.87260617e-02 4.60704685e-02 1.08907224e+01] [-1.87274670e-02 9.99824545e-01 -4.01155511e-04 7.20674915e-02] [-4.60698973e-02 -4.62124032e-04 9.98938112e-01 -5.42604530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970385723 meters 0.020776727379474554 Centerline is valid? [True, True] Translation: X:10.92, Y:0.07, Z:-0.54 [[ 9.98710453e-01 1.86165539e-02 4.72319339e-02 1.09236003e+01] [-1.86173455e-02 9.99826593e-01 -4.23191819e-04 6.84577403e-02] [-4.72316219e-02 -4.56687138e-04 9.98883860e-01 -5.44033357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000385723 meters 0.02057137180437282 Centerline is valid? [True, True] Translation: X:10.96, Y:0.06, Z:-0.55 [[ 9.98747660e-01 1.63887047e-02 4.72707353e-02 1.09550860e+01] [-1.63863970e-02 9.99865639e-01 -4.36360468e-04 6.41544549e-02] [-4.72715353e-02 -3.38783038e-04 9.98882019e-01 -5.47404402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030385723 meters 0.020367330723782173 Centerline is valid? [True, True] Translation: X:10.99, Y:0.06, Z:-0.55 [[ 9.98849213e-01 1.40225725e-02 4.58652048e-02 1.09872748e+01] [-1.40174547e-02 9.99901657e-01 -4.33222386e-04 6.27373746e-02] [-4.58667692e-02 -2.10189593e-04 9.98947544e-01 -5.49275366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060385723 meters 0.020441401860238417 Centerline is valid? [True, True] Translation: X:11.02, Y:0.06, Z:-0.55 [[ 9.98889435e-01 1.36109236e-02 4.51069825e-02 1.10203684e+01] [-1.36050807e-02 9.99907351e-01 -4.36545079e-04 6.37429770e-02] [-4.51087452e-02 -1.77623868e-04 9.98982067e-01 -5.50368300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090385723 meters 0.020345892441454246 Centerline is valid? [True, True] Translation: X:11.05, Y:0.07, Z:-0.55 [[ 9.98941842e-01 1.33220963e-02 4.40195228e-02 1.10531588e+01] [-1.33157421e-02 9.99911246e-01 -4.37578522e-04 6.55523260e-02] [-4.40214454e-02 -1.49037118e-04 9.99030575e-01 -5.51921064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120385723 meters 0.02030829814997602 Centerline is valid? [True, True] Translation: X:11.09, Y:0.06, Z:-0.55 [[ 9.98931246e-01 1.32740565e-02 4.42737420e-02 1.10850609e+01] [-1.32670458e-02 9.99911887e-01 -4.52193085e-04 6.47751348e-02] [-4.42758433e-02 -1.35671961e-04 9.99019335e-01 -5.53833609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150385723 meters 0.020372388036560215 Centerline is valid? [True, True] Translation: X:11.12, Y:0.06, Z:-0.55 [[ 9.98801338e-01 1.47419846e-02 4.66750587e-02 1.11184268e+01] [-1.47352130e-02 9.99891311e-01 -4.89166779e-04 6.41730902e-02] [-4.66771969e-02 -1.99186498e-04 9.98910006e-01 -5.54609897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180385723 meters 0.02030839239002615 Centerline is valid? [True, True] Translation: X:11.15, Y:0.07, Z:-0.55 [[ 9.98745734e-01 1.52197304e-02 4.77003034e-02 1.11510973e+01] [-1.52125752e-02 9.99884150e-01 -5.13050005e-04 6.51211618e-02] [-4.77025858e-02 -2.13237947e-04 9.98861561e-01 -5.54821054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210385723 meters 0.020327894202237656 Centerline is valid? [True, True] Translation: X:11.18, Y:0.07, Z:-0.56 [[ 9.98648256e-01 1.55720649e-02 4.95900269e-02 1.11822994e+01] [-1.55641438e-02 9.99878722e-01 -5.45900923e-04 6.63785935e-02] [-4.95925136e-02 -2.26663307e-04 9.98769509e-01 -5.55376315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240385723 meters 0.02017221729372435 Centerline is valid? [True, True] Translation: X:11.22, Y:0.07, Z:-0.56 [[ 9.98681399e-01 1.55350716e-02 4.89297952e-02 1.12154327e+01] [-1.55269798e-02 9.99879300e-01 -5.45487499e-04 6.57593622e-02] [-4.89323636e-02 -2.14963722e-04 9.98802071e-01 -5.57824220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270385723 meters 0.01994959654797619 Centerline is valid? [True, True] Translation: X:11.25, Y:0.07, Z:-0.56 [[ 9.98861759e-01 1.32721405e-02 4.58152452e-02 1.12469355e+01] [-1.32621538e-02 9.99911918e-01 -5.21947451e-04 6.63744279e-02] [-4.58181371e-02 -8.62554794e-05 9.98949794e-01 -5.61004504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300385723 meters 0.020030919737978842 Centerline is valid? [True, True] Translation: X:11.28, Y:0.06, Z:-0.56 [[ 9.98872425e-01 8.99802446e-03 4.66145231e-02 1.12797538e+01] [-8.98273698e-03 9.99959510e-01 -5.37425996e-04 6.27638187e-02] [-4.66174715e-02 1.18094008e-04 9.98912808e-01 -5.61554513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330385723000001 meters 0.02015075221785344 Centerline is valid? [True, True] Translation: X:11.31, Y:0.06, Z:-0.56 [[ 9.98832210e-01 7.32579586e-03 4.77550908e-02 1.13126662e+01] [-7.30723381e-03 9.99973143e-01 -5.63261856e-04 6.08972246e-02] [-4.77579346e-02 2.13646470e-04 9.98858916e-01 -5.62800304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360385723 meters 0.020231687345546385 Centerline is valid? [True, True] Translation: X:11.34, Y:0.06, Z:-0.56 [[ 9.98843997e-01 5.25354573e-03 4.77814890e-02 1.13446669e+01] [-5.23200337e-03 9.99986147e-01 -5.75909177e-04 6.05836295e-02] [-4.77838527e-02 3.25250512e-04 9.98857646e-01 -5.63855467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390385723 meters 0.020927979039662252 Centerline is valid? [True, True] Translation: X:11.38, Y:0.06, Z:-0.56 [[ 9.98816140e-01 -1.54739816e-04 4.86445694e-02 1.13768699e+01] [ 1.84025085e-04 9.99999805e-01 -5.97547474e-04 5.68669011e-02] [-4.86444674e-02 6.05791883e-04 9.98815973e-01 -5.64528887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420385723 meters 0.02078040477429705 Centerline is valid? [True, True] Translation: X:11.41, Y:0.06, Z:-0.57 [[ 9.98778397e-01 -1.47539770e-03 4.93916601e-02 1.14088887e+01] [ 1.50777729e-03 9.99998672e-01 -6.18315714e-04 5.65138460e-02] [-4.93906822e-02 6.92032001e-04 9.98779296e-01 -5.66138643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450385723 meters 0.02291966360144779 Centerline is valid? [True, True] Translation: X:11.44, Y:0.05, Z:-0.57 [[ 9.98678442e-01 -4.89611374e-03 5.11605174e-02 1.14399870e+01] [ 4.93599024e-03 9.99987605e-01 -6.53120541e-04 4.90759900e-02] [-5.11566855e-02 9.04785218e-04 9.98690230e-01 -5.65826445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480385723 meters 0.023642193338269956 Centerline is valid? [True, True] Translation: X:11.47, Y:0.05, Z:-0.57 [[ 9.98693068e-01 -7.13727324e-03 5.06084526e-02 1.14709496e+01] [ 7.17972675e-03 9.99974010e-01 -6.57115513e-04 4.66395812e-02] [-5.06024472e-02 1.01961157e-03 9.98718355e-01 -5.67607540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510385723 meters 0.022513201933955812 Centerline is valid? [True, True] Translation: X:11.50, Y:0.05, Z:-0.57 [[ 9.98773023e-01 -1.05785268e-02 4.83791526e-02 1.15030761e+01] [ 1.06218092e-02 9.99943384e-01 -6.37643521e-04 4.96401288e-02] [-4.83696682e-02 1.15073528e-03 9.98828840e-01 -5.72187537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540385723 meters 0.024565752008571154 Centerline is valid? [True, True] Translation: X:11.53, Y:0.04, Z:-0.58 [[ 9.98907344e-01 -9.47544331e-03 4.57638958e-02 1.15344651e+01] [ 9.51348102e-03 9.99954558e-01 -6.13438518e-04 4.47698967e-02] [-4.57560036e-02 1.04814220e-03 9.98952096e-01 -5.76135491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570385723 meters 0.02174938209419604 Centerline is valid? [True, True] Translation: X:11.57, Y:0.05, Z:-0.58 [[ 9.98955825e-01 -7.32521064e-03 4.50954606e-02 1.15670711e+01] [ 7.36023308e-03 9.99972727e-01 -6.10634595e-04 5.04527379e-02] [-4.50897577e-02 9.41910086e-04 9.98982496e-01 -5.79613076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600385723 meters 0.021785764281516535 Centerline is valid? [True, True] Translation: X:11.60, Y:0.05, Z:-0.58 [[ 9.98917305e-01 -3.31082777e-03 4.64031854e-02 1.15988047e+01] [ 3.34411162e-03 9.99994204e-01 -6.39662685e-04 4.81728076e-02] [-4.64007986e-02 7.94147557e-04 9.98922587e-01 -5.81560809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630385723 meters 0.021072575466363066 Centerline is valid? [True, True] Translation: X:11.63, Y:0.05, Z:-0.58 [[ 9.98879053e-01 -1.12387311e-03 4.73220299e-02 1.16311975e+01] [ 1.15657319e-03 9.99999111e-01 -6.63636383e-04 5.11722920e-02] [-4.73212420e-02 7.17623873e-04 9.98879465e-01 -5.80793575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660385723000001 meters 0.020697808158851607 Centerline is valid? [True, True] Translation: X:11.66, Y:0.06, Z:-0.58 [[ 9.98814650e-01 1.35105664e-03 4.86566555e-02 1.16624083e+01] [-1.31886776e-03 9.99998890e-01 -6.93650340e-04 5.53211331e-02] [-4.86575387e-02 6.28656427e-04 9.98815323e-01 -5.77797856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690385723 meters 0.02036250336655353 Centerline is valid? [True, True] Translation: X:11.70, Y:0.06, Z:-0.58 [[ 9.98764070e-01 3.79892535e-03 4.95570543e-02 1.16951675e+01] [-3.76818476e-03 9.99992646e-01 -7.13719970e-04 5.66243652e-02] [-4.95594012e-02 5.26097724e-04 9.98771039e-01 -5.78101712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720385723 meters 0.01979455248518058 Centerline is valid? [True, True] Translation: X:11.73, Y:0.06, Z:-0.58 [[ 9.98671578e-01 8.60507515e-03 5.08038584e-02 1.17259863e+01] [-8.57837283e-03 9.99962929e-01 -7.43624901e-04 5.59584140e-02] [-5.08083739e-02 3.06822615e-04 9.98708373e-01 -5.81229244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750385723 meters 0.01970769630431093 Centerline is valid? [True, True] Translation: X:11.76, Y:0.05, Z:-0.59 [[ 9.98674410e-01 1.04536259e-02 5.03998505e-02 1.17582453e+01] [-1.04291536e-02 9.99945335e-01 -7.48526815e-04 5.40952639e-02] [-5.04049202e-02 2.21906796e-04 9.98728839e-01 -5.85163348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780385723 meters 0.019270147039925727 Centerline is valid? [True, True] Translation: X:11.79, Y:0.05, Z:-0.59 [[ 9.98761137e-01 1.46288068e-02 4.75624825e-02 1.17892813e+01] [-1.46112605e-02 9.99892993e-01 -7.16578181e-04 5.41124686e-02] [-4.75678757e-02 2.07426148e-05 9.98868008e-01 -5.90660970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810385723 meters 0.019436022624874417 Centerline is valid? [True, True] Translation: X:11.82, Y:0.06, Z:-0.59 [[ 9.98686601e-01 1.96233288e-02 4.73286244e-02 1.18223860e+01] [-1.96110878e-02 9.99807423e-01 -7.23013172e-04 5.90475804e-02] [-4.73336979e-02 -2.06102239e-04 9.98879111e-01 -5.89547802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840385723 meters 0.019718437684201107 Centerline is valid? [True, True] Translation: X:11.85, Y:0.06, Z:-0.59 [[ 9.98599076e-01 2.27938572e-02 4.77527510e-02 1.18545298e+01] [-2.27844350e-02 9.99740126e-01 -7.41694612e-04 6.26008581e-02] [-4.77572474e-02 -3.47363897e-04 9.98858911e-01 -5.88130071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870385723 meters 0.020569574616948597 Centerline is valid? [True, True] Translation: X:11.89, Y:0.07, Z:-0.59 [[ 9.98402077e-01 2.94248544e-02 4.82438710e-02 1.18871519e+01] [-2.94224760e-02 9.99566777e-01 -7.59593324e-04 6.74570901e-02] [-4.82453216e-02 -6.61074586e-04 9.98835298e-01 -5.87683580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900385723 meters 0.0216908927621686 Centerline is valid? [True, True] Translation: X:11.92, Y:0.07, Z:-0.59 [[ 9.98276594e-01 3.41353157e-02 4.77349146e-02 1.19180832e+01] [-3.41382045e-02 9.99416836e-01 -7.54975378e-04 6.67952004e-02] [-4.77328487e-02 -8.75910031e-04 9.98859754e-01 -5.91946506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930385723 meters 0.020754589316185828 Centerline is valid? [True, True] Translation: X:11.95, Y:0.06, Z:-0.60 [[ 9.98298124e-01 3.51744966e-02 4.65146286e-02 1.19515062e+01] [-3.51779312e-02 9.99380787e-01 -7.44999771e-04 6.26421652e-02] [-4.65120311e-02 -8.92556530e-04 9.98917331e-01 -5.95766442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960385723 meters 0.021206922167200267 Centerline is valid? [True, True] Translation: X:11.98, Y:0.06, Z:-0.60 [[ 9.98305868e-01 3.63775866e-02 4.54099705e-02 1.19830873e+01] [-3.63815593e-02 9.99337699e-01 -7.39255917e-04 6.14956182e-02] [-4.54067877e-02 -9.14082013e-04 9.98968162e-01 -5.99545689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990385723 meters 0.021108376826346177 Centerline is valid? [True, True] Translation: X:12.02, Y:0.06, Z:-0.60 [[ 9.98299037e-01 3.73977370e-02 4.47263086e-02 1.20152235e+01] [-3.74021831e-02 9.99300021e-01 -7.37732472e-04 6.00317113e-02] [-4.47225907e-02 -9.36383967e-04 9.98999006e-01 -6.01193086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020385723 meters 0.022240763624229085 Centerline is valid? [True, True] Translation: X:12.05, Y:0.06, Z:-0.60 [[ 9.98203634e-01 3.99701673e-02 4.46305947e-02 1.20468190e+01] [-3.99766946e-02 9.99200333e-01 -7.46633108e-04 6.31467626e-02] [-4.46247481e-02 -1.03889177e-03 9.99003280e-01 -6.00396857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050385723 meters 0.025001753746825804 Centerline is valid? [True, True] Translation: X:12.08, Y:0.07, Z:-0.60 [[ 9.98003550e-01 4.23943383e-02 4.68148900e-02 1.20773383e+01] [-4.24037074e-02 9.99100243e-01 -7.93405620e-04 6.89445841e-02] [-4.68064039e-02 -1.19330327e-03 9.98903267e-01 -5.97495770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080385723000001 meters 0.022767534088417873 Centerline is valid? [True, True] Translation: X:12.11, Y:0.06, Z:-0.60 [[ 9.97876533e-01 4.31144224e-02 4.88218384e-02 1.21076220e+01] [-4.31254394e-02 9.99069322e-01 -8.28170958e-04 6.22998792e-02] [-4.88121071e-02 -1.27905087e-03 9.98807160e-01 -5.98165426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110385723 meters 0.025299374422777864 Centerline is valid? [True, True] Translation: X:12.14, Y:0.06, Z:-0.60 [[ 9.97748151e-01 4.21159806e-02 5.22002920e-02 1.21378736e+01] [-4.21272113e-02 9.99111862e-01 -8.85600124e-04 6.18916800e-02] [-5.21912289e-02 -1.31544685e-03 9.98636243e-01 -5.97528676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140385723 meters 0.025299374422777864 Centerline is valid? [True, True] Translation: X:12.17, Y:0.06, Z:-0.60 [[ 9.97739514e-01 4.23201553e-02 5.22002538e-02 1.21696241e+01] [-4.23315478e-02 9.99103224e-01 -8.87844624e-04 6.12725123e-02] [-5.21910155e-02 -1.32387987e-03 9.98636243e-01 -5.98951673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170385723 meters 0.02492369462564551 Centerline is valid? [True, True] Translation: X:12.20, Y:0.06, Z:-0.60 [[ 9.97758602e-01 4.14212566e-02 5.25552160e-02 1.22020363e+01] [-4.14309908e-02 9.99140958e-01 -9.04697414e-04 5.69845221e-02] [-5.25475426e-02 -1.27474504e-03 9.98617610e-01 -6.01088545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200385723 meters 0.024383897412706235 Centerline is valid? [True, True] Translation: X:12.23, Y:0.05, Z:-0.61 [[ 9.97932885e-01 3.98918972e-02 5.03844497e-02 1.22336462e+01] [-3.98983950e-02 9.99203357e-01 -8.77198042e-04 5.17546842e-02] [-5.03793044e-02 -1.13487390e-03 9.98729512e-01 -6.05590004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230385723 meters 0.023924145141152417 Centerline is valid? [True, True] Translation: X:12.27, Y:0.05, Z:-0.61 [[ 9.98148028e-01 3.86797920e-02 4.69509059e-02 1.22650141e+01] [-3.86836749e-02 9.99251165e-01 -8.26252708e-04 4.85660640e-02] [-4.69477067e-02 -9.91511072e-04 9.98896856e-01 -6.09589527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260385723 meters 0.023662580294015547 Centerline is valid? [True, True] Translation: X:12.30, Y:0.05, Z:-0.61 [[ 9.98208126e-01 3.78674356e-02 4.63313462e-02 1.22973758e+01] [-3.78699452e-02 9.99282337e-01 -8.23900750e-04 4.59581461e-02] [-4.63292949e-02 -9.32141119e-04 9.98925787e-01 -6.11243098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290385723 meters 0.021242159657599284 Centerline is valid? [True, True] Translation: X:12.33, Y:0.03, Z:-0.61 [[ 9.98202620e-01 3.56055109e-02 4.82055760e-02 1.23296587e+01] [-3.56051078e-02 9.99365561e-01 -8.67316225e-04 3.45435338e-02] [-4.82058737e-02 -8.50607403e-04 9.98837059e-01 -6.12521334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320385723 meters 0.020101158669797246 Centerline is valid? [True, True] Translation: X:12.36, Y:0.03, Z:-0.62 [[ 9.98225930e-01 3.42849069e-02 4.86779007e-02 1.23613634e+01] [-3.42824010e-02 9.99411792e-01 -8.86616035e-04 2.74113496e-02] [-4.86796655e-02 -7.83752196e-04 9.98814135e-01 -6.15106567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350385723 meters 0.019651497713272792 Centerline is valid? [True, True] Translation: X:12.39, Y:0.02, Z:-0.62 [[ 9.98354757e-01 3.11291856e-02 4.81534315e-02 1.23923270e+01] [-3.11225302e-02 9.99515182e-01 -8.88151728e-04 2.16485705e-02] [-4.81577333e-02 -6.11966126e-04 9.98839556e-01 -6.17390108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380385723 meters 0.020033715856434143 Centerline is valid? [True, True] Translation: X:12.42, Y:0.02, Z:-0.62 [[ 9.98407274e-01 2.99689368e-02 4.77993513e-02 1.24234081e+01] [-2.99605699e-02 9.99550684e-01 -8.91649709e-04 2.21204188e-02] [-4.78045960e-02 -5.41866250e-04 9.98856560e-01 -6.17683841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410385723 meters 0.019416342775617164 Centerline is valid? [True, True] Translation: X:12.46, Y:0.02, Z:-0.62 [[ 9.98548449e-01 2.86959119e-02 4.55800462e-02 1.24552268e+01] [-2.86867132e-02 9.99588085e-01 -8.56046829e-04 1.81498805e-02] [-4.55858361e-02 -4.52737479e-04 9.98960323e-01 -6.20665118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440385723 meters 0.019312590970564553 Centerline is valid? [True, True] Translation: X:12.49, Y:0.01, Z:-0.62 [[ 9.98583008e-01 2.74185216e-02 4.56092202e-02 1.24869060e+01] [-2.74075020e-02 9.99623968e-01 -8.67052684e-04 1.36393970e-02] [-4.56158429e-02 -3.84210717e-04 9.98958982e-01 -6.22344057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470385723 meters 0.01927513399177292 Centerline is valid? [True, True] Translation: X:12.52, Y:0.01, Z:-0.62 [[ 9.98565110e-01 2.69082734e-02 4.62997383e-02 1.25202861e+01] [-2.68958682e-02 9.99637844e-01 -8.90994148e-04 1.16176117e-02] [-4.63069457e-02 -3.55555991e-04 9.98927195e-01 -6.22672007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500385723 meters 0.01908135862268542 Centerline is valid? [True, True] Translation: X:12.55, Y:0.01, Z:-0.62 [[ 9.98567913e-01 2.55958620e-02 4.69784610e-02 1.25518677e+01] [-2.55810617e-02 9.99672331e-01 -9.16327228e-04 9.78175771e-03] [-4.69865218e-02 -2.86743941e-04 9.98895482e-01 -6.22699706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530385723 meters 0.019039617593662957 Centerline is valid? [True, True] Translation: X:12.59, Y:0.01, Z:-0.62 [[ 9.98554884e-01 2.49241832e-02 4.76122804e-02 1.25852001e+01] [-2.49077308e-02 9.99689313e-01 -9.38903994e-04 7.46065573e-03] [-4.76208893e-02 -2.48366695e-04 9.98865451e-01 -6.24106379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560385723 meters 0.018806986155206037 Centerline is valid? [True, True] Translation: X:12.62, Y:0.00, Z:-0.63 [[ 9.98539089e-01 2.24518681e-02 4.91487609e-02 1.26178739e+01] [-2.24307013e-02 9.99747918e-01 -9.82249986e-04 1.82639850e-03] [-4.91584247e-02 -1.21626168e-04 9.98790986e-01 -6.26274626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590385723 meters 0.018738863404512335 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.00, Z:-0.63 [[ 9.98591804e-01 2.12191164e-02 4.86226005e-02 1.26494976e+01] [-2.11963296e-02 9.99774848e-01 -9.84271795e-04 -9.66252221e-04] [-4.86325384e-02 -4.77349181e-05 9.98816737e-01 -6.27668310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620385723 meters 0.018759919812463274 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.01, Z:-0.63 [[ 9.98733651e-01 1.66916625e-02 4.74603336e-02 1.26825643e+01] [-1.66644616e-02 9.99860669e-01 -9.68773103e-04 -6.26778356e-03] [-4.74698914e-02 1.76645390e-04 9.98872654e-01 -6.30096853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650385723 meters 0.01889977744295096 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.01, Z:-0.63 [[ 9.98746253e-01 1.52555864e-02 4.76779727e-02 1.27145956e+01] [-1.52258906e-02 9.99883593e-01 -9.85975873e-04 -9.23982233e-03] [-4.76874643e-02 2.58800112e-04 9.98862272e-01 -6.31107127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680385723 meters 0.019240033443659977 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.01, Z:-0.63 [[ 9.98798839e-01 1.17921403e-02 4.75586371e-02 1.27460001e+01] [-1.17581097e-02 9.99930376e-01 -9.95255787e-04 -1.36742866e-02] [-4.75670620e-02 4.34860655e-04 9.98867952e-01 -6.31405343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710385723 meters 0.019359165518100668 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.02, Z:-0.63 [[ 9.98844123e-01 9.39566357e-03 4.71395686e-02 1.27776506e+01] [-9.35909343e-03 9.99955706e-01 -9.96443685e-04 -1.66636449e-02] [-4.71468429e-02 5.54108292e-04 9.98887816e-01 -6.34320756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740385723 meters 0.019504112996049996 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.02, Z:-0.64 [[ 9.98852856e-01 9.08078279e-03 4.70160773e-02 1.28101110e+01] [-9.04356765e-03 9.99958602e-01 -1.00419877e-03 -1.85952826e-02] [-4.70232499e-02 5.77853735e-04 9.98893628e-01 -6.36217857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770385723 meters 0.019734266913990172 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.02, Z:-0.64 [[ 9.98851086e-01 8.96750203e-03 4.70753887e-02 1.28419347e+01] [-8.92950892e-03 9.99959614e-01 -1.01730834e-03 -2.12525786e-02] [-4.70826102e-02 5.95779433e-04 9.98890821e-01 -6.37604303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800385723 meters 0.019524662970833415 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.02, Z:-0.64 [[ 9.98841106e-01 9.38571349e-03 4.72054291e-02 1.28752125e+01] [-9.34742036e-03 9.99955779e-01 -1.03188864e-03 -2.12728930e-02] [-4.72130267e-02 5.89443799e-04 9.98884669e-01 -6.40124823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830385723000001 meters 0.019404056486344502 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.02, Z:-0.64 [[ 9.98821024e-01 1.08669740e-02 4.73124908e-02 1.29078081e+01] [-1.08295783e-02 9.99940811e-01 -1.04666384e-03 -2.04211231e-02] [-4.73210644e-02 5.33055528e-04 9.98879589e-01 -6.41690351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860385723 meters 0.019330219069720447 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.02, Z:-0.64 [[ 9.98789463e-01 1.19623608e-02 4.77127852e-02 1.29402930e+01] [-1.19250484e-02 9.99928325e-01 -1.06660475e-03 -1.92261857e-02] [-4.77221245e-02 4.96336319e-04 9.98860527e-01 -6.41933219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890385723 meters 0.01903909864404631 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.01, Z:-0.64 [[ 9.98776571e-01 1.42115271e-02 4.73644694e-02 1.29731972e+01] [-1.41767708e-02 9.99898932e-01 -1.06966831e-03 -1.39563829e-02] [-4.73748840e-02 3.96884425e-04 9.98877101e-01 -6.41264515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920385723 meters 0.01889299188789727 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.01, Z:-0.64 [[ 9.98722586e-01 1.74765607e-02 4.74106058e-02 1.30045518e+01] [-1.74448791e-02 9.99847241e-01 -1.08195554e-03 -1.29201012e-02] [-4.74222723e-02 2.53501151e-04 9.98874899e-01 -6.43741714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950385723 meters 0.018733198434402777 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.01, Z:-0.65 [[ 9.98702177e-01 1.96210614e-02 4.69997400e-02 1.30364897e+01] [-1.95918167e-02 9.99807476e-01 -1.08285348e-03 -1.22667366e-02] [-4.70119381e-02 1.60637840e-04 9.98894315e-01 -6.47158606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980385723 meters 0.01872754450632587 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.01, Z:-0.65 [[ 9.98652754e-01 2.45748217e-02 4.57028972e-02 1.30673276e+01] [-2.45518689e-02 9.99697992e-01 -1.06357279e-03 -8.10992261e-03] [-4.57152317e-02 -5.99516466e-05 9.98954510e-01 -6.50767895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010385723 meters 0.018752951345170896 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.01, Z:-0.65 [[ 9.98579526e-01 2.70185529e-02 4.59230672e-02 1.31008018e+01] [-2.69974920e-02 9.99634919e-01 -1.07889528e-03 -6.28121222e-03] [-4.59354518e-02 -1.62444900e-04 9.98944397e-01 -6.52713400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040385723 meters 0.019056732519563902 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.00, Z:-0.65 [[ 9.98441847e-01 3.05343536e-02 4.67068710e-02 1.31326666e+01] [-3.05158173e-02 9.99533668e-01 -1.11001833e-03 -2.10344228e-03] [-4.67189838e-02 -3.17009593e-04 9.98908022e-01 -6.52714562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070385723 meters 0.01929021222916682 Centerline is valid? [True, True] Translation: X:13.16, Y:0.00, Z:-0.65 [[ 9.98353315e-01 3.30085748e-02 4.69157953e-02 1.31646964e+01] [-3.29921202e-02 9.99454978e-01 -1.12524784e-03 2.41058732e-04] [-4.69273680e-02 -4.24456642e-04 9.98898214e-01 -6.52602984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100385723 meters 0.019916987825079925 Centerline is valid? [True, True] Translation: X:13.20, Y:0.01, Z:-0.65 [[ 9.98154482e-01 3.73122940e-02 4.79105636e-02 1.31968804e+01] [-3.72995603e-02 9.99303456e-01 -1.16009972e-03 5.25824202e-03] [-4.79204777e-02 -6.29084221e-04 9.98850956e-01 -6.51832130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130385723 meters 0.01966665464386148 Centerline is valid? [True, True] Translation: X:13.23, Y:0.01, Z:-0.65 [[ 9.98018028e-01 4.08014336e-02 4.79088622e-02 1.32286887e+01] [-4.07922024e-02 9.99166966e-01 -1.17079133e-03 6.72884832e-03] [-4.79167224e-02 -7.85837149e-04 9.98851025e-01 -6.53216371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160385723 meters 0.021058929082511477 Centerline is valid? [True, True] Translation: X:13.26, Y:0.01, Z:-0.65 [[ 9.97931205e-01 4.25421801e-02 4.82024271e-02 1.32599474e+01] [-4.25343299e-02 9.99094298e-01 -1.18903819e-03 1.20720260e-02] [-4.82093544e-02 -8.63679620e-04 9.98836880e-01 -6.54400246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190385723 meters 0.020213823424055127 Centerline is valid? [True, True] Translation: X:13.29, Y:0.01, Z:-0.66 [[ 9.97846547e-01 4.52849942e-02 4.74503781e-02 1.32921347e+01] [-4.52799814e-02 9.98973637e-01 -1.18107189e-03 8.63921262e-03] [-4.74551616e-02 -9.70023723e-04 9.98872898e-01 -6.59937407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220385723 meters 0.020924493655504087 Centerline is valid? [True, True] Translation: X:13.32, Y:0.01, Z:-0.66 [[ 9.97804506e-01 4.68225369e-02 4.68382085e-02 1.33230534e+01] [-4.68188182e-02 9.98902704e-01 -1.17705233e-03 9.31831775e-03] [-4.68419257e-02 -1.01844144e-03 9.98901795e-01 -6.63109637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250385723 meters 0.020867809957496417 Centerline is valid? [True, True] Translation: X:13.35, Y:0.01, Z:-0.66 [[ 9.97798082e-01 4.84213275e-02 4.53250708e-02 1.33539578e+01] [-4.84190527e-02 9.98826449e-01 -1.14869554e-03 1.04520976e-02] [-4.53275009e-02 -1.04843079e-03 9.98971630e-01 -6.64203102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280385723 meters 0.021145764599744245 Centerline is valid? [True, True] Translation: X:13.38, Y:0.01, Z:-0.66 [[ 9.97764914e-01 4.92212759e-02 4.51933939e-02 1.33834962e+01] [-4.92198345e-02 9.98787313e-01 -1.14534368e-03 1.28598434e-02] [-4.51949637e-02 -1.08162763e-03 9.98977600e-01 -6.63576404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310385723 meters 0.021808035169260994 Centerline is valid? [True, True] Translation: X:13.41, Y:0.02, Z:-0.66 [[ 9.97617290e-01 5.12653943e-02 4.61692768e-02 1.34120280e+01] [-5.12661525e-02 9.98684343e-01 -1.16845018e-03 1.65618570e-02] [-4.61684349e-02 -1.20125509e-03 9.98932947e-01 -6.62646612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340385723 meters 0.022306467038435095 Centerline is valid? [True, True] Translation: X:13.44, Y:0.02, Z:-0.67 [[ 9.97430327e-01 5.34046672e-02 4.77565204e-02 1.34413026e+01] [-5.34080459e-02 9.98572043e-01 -1.20618208e-03 1.58776957e-02] [-4.77527419e-02 -1.34749984e-03 9.98858278e-01 -6.65037814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370385723 meters 0.02266419003825854 Centerline is valid? [True, True] Translation: X:13.47, Y:0.01, Z:-0.67 [[ 9.97395442e-01 5.38915250e-02 4.79378362e-02 1.34699449e+01] [-5.38955736e-02 9.98545845e-01 -1.20904502e-03 1.49356410e-02] [-4.79332844e-02 -1.37774119e-03 9.98849589e-01 -6.66694422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400385723 meters 0.022993090592553923 Centerline is valid? [True, True] Translation: X:13.50, Y:0.01, Z:-0.67 [[ 9.97455093e-01 5.39412434e-02 4.66227288e-02 1.34974943e+01] [-5.39452671e-02 9.98543205e-01 -1.17283338e-03 1.35760698e-02] [-4.66180731e-02 -1.34522692e-03 9.98911881e-01 -6.70654176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430385723 meters 0.023190192099026754 Centerline is valid? [True, True] Translation: X:13.53, Y:0.01, Z:-0.67 [[ 9.97570764e-01 5.30715582e-02 4.51218367e-02 1.35264314e+01] [-5.30745985e-02 9.98589909e-01 -1.13148619e-03 1.32802535e-02] [-4.51182606e-02 -1.26608583e-03 9.98980850e-01 -6.72453962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460385723 meters 0.0227939317173329 Centerline is valid? [True, True] Translation: X:13.56, Y:0.01, Z:-0.67 [[ 9.97571170e-01 5.23891955e-02 4.59035149e-02 1.35557350e+01] [-5.23917265e-02 9.98625950e-01 -1.14880500e-03 1.16602961e-02] [-4.59006261e-02 -1.25894965e-03 9.98945218e-01 -6.72937406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490385723 meters 0.022839457280038784 Centerline is valid? [True, True] Translation: X:13.58, Y:0.01, Z:-0.67 [[ 9.97647045e-01 5.07488390e-02 4.60969541e-02 1.35846337e+01] [-5.07497478e-02 9.98710738e-01 -1.15136774e-03 1.07727877e-02] [-4.60959536e-02 -1.19075017e-03 9.98936307e-01 -6.73505001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520385723 meters 0.02269139099450036 Centerline is valid? [True, True] Translation: X:13.61, Y:0.01, Z:-0.68 [[ 9.97696934e-01 4.97092528e-02 4.61499512e-02 1.36146278e+01] [-4.97091571e-02 9.98763073e-01 -1.15043280e-03 8.92939839e-03] [-4.61500542e-02 -1.14629190e-03 9.98933861e-01 -6.75720913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550385723 meters 0.02231756479246614 Centerline is valid? [True, True] Translation: X:13.64, Y:0.01, Z:-0.68 [[ 9.97757251e-01 4.77953764e-02 4.68622355e-02 1.36446279e+01] [-4.77932808e-02 9.98856568e-01 -1.16582552e-03 6.36496921e-03] [-4.68643728e-02 -1.07648911e-03 9.98900682e-01 -6.77746718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580385723000001 meters 0.02225210941794611 Centerline is valid? [True, True] Translation: X:13.67, Y:0.01, Z:-0.68 [[ 9.97798313e-01 4.64893804e-02 4.72997345e-02 1.36739430e+01] [-4.64858806e-02 9.98918257e-01 -1.17458420e-03 5.83048591e-03] [-4.73031740e-02 -1.02677168e-03 9.98880051e-01 -6.77964054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610385723 meters 0.02137696502015137 Centerline is valid? [True, True] Translation: X:13.70, Y:0.00, Z:-0.68 [[ 9.97925794e-01 4.29044886e-02 4.79928678e-02 1.37045207e+01] [-4.28967644e-02 9.99078800e-01 -1.19137124e-03 2.70532073e-03] [-4.79997720e-02 -8.69838648e-04 9.98846968e-01 -6.79881274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640385723 meters 0.020087894322585155 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.00, Z:-0.68 [[ 9.98021717e-01 4.07906807e-02 4.78411238e-02 1.37365828e+01] [-4.07803466e-02 9.99167424e-01 -1.19244291e-03 -2.99520545e-03] [-4.78499329e-02 -7.60893683e-04 9.98854246e-01 -6.82126805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670385723 meters 0.019531327763879343 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.01, Z:-0.68 [[ 9.98249263e-01 3.52979269e-02 4.74601488e-02 1.37686361e+01] [-3.52810115e-02 9.99376718e-01 -1.19431872e-03 -6.12479602e-03] [-4.74727247e-02 -4.82214280e-04 9.98872418e-01 -6.83018779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700385723 meters 0.019192346860717836 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.01, Z:-0.69 [[ 9.98484387e-01 2.91094250e-02 4.67072933e-02 1.37997051e+01] [-2.90857623e-02 9.99576216e-01 -1.18631206e-03 -1.06843248e-02] [-4.67220323e-02 -1.74003164e-04 9.98907914e-01 -6.85672515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730385723 meters 0.01914754383315959 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.02, Z:-0.69 [[ 9.98563340e-01 2.61401323e-02 4.67755262e-02 1.38330670e+01] [-2.61128286e-02 9.99658288e-01 -1.19478161e-03 -1.52346940e-02] [-4.67907742e-02 -2.83761840e-05 9.98904711e-01 -6.89116508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760385723 meters 0.019389779913811096 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.02, Z:-0.69 [[ 9.98694523e-01 1.99817231e-02 4.70104208e-02 1.38641090e+01] [-1.99467245e-02 9.99800308e-01 -1.21352745e-03 -2.08633422e-02] [-4.70252816e-02 2.74239310e-04 9.98893662e-01 -6.90922374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790385723 meters 0.019644421506974326 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.02, Z:-0.69 [[ 9.98721070e-01 1.70171466e-02 4.76092512e-02 1.38967428e+01] [-1.69773761e-02 9.99855106e-01 -1.23962581e-03 -2.32282199e-02] [-4.76234477e-02 4.29760255e-04 9.98865267e-01 -6.92000865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820385723 meters 0.02040416019463517 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.03, Z:-0.69 [[ 9.98751977e-01 1.21859968e-02 4.84354301e-02 1.39290379e+01] [-1.21385911e-02 9.99925515e-01 -1.27277148e-03 -2.71780381e-02] [-4.84473324e-02 6.83245147e-04 9.98825505e-01 -6.92279596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850385723 meters 0.021157632347126688 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.03, Z:-0.69 [[ 9.98830722e-01 7.51976488e-03 4.77560720e-02 1.39611456e+01] [-7.46784593e-03 9.99971314e-01 -1.26549829e-03 -3.17322463e-02] [-4.77642183e-02 9.07383581e-04 9.98858226e-01 -6.94458402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880385723 meters 0.021926152639568174 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.04, Z:-0.70 [[ 9.98860182e-01 5.77813526e-03 4.73808938e-02 1.39924255e+01] [-5.72490197e-03 9.99982820e-01 -1.25914397e-03 -3.53418910e-02] [-4.73873553e-02 9.86457808e-04 9.98876101e-01 -6.96319202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910385723 meters 0.02253072252521486 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.04, Z:-0.70 [[ 9.98882639e-01 4.18254003e-03 4.70741883e-02 1.40245896e+01] [-4.12774191e-03 9.99990685e-01 -1.26122916e-03 -3.73815213e-02] [-4.70790250e-02 1.06550981e-03 9.98890600e-01 -6.97554106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940385723 meters 0.023367453702303996 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.04, Z:-0.70 [[ 9.98928408e-01 2.04265383e-03 4.62370374e-02 1.40568702e+01] [-1.98701276e-03 9.99997245e-01 -1.24931693e-03 -3.70312443e-02] [-4.62394620e-02 1.15610459e-03 9.98929715e-01 -7.01658382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970385723 meters 0.022783686180565126 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.04, Z:-0.70 [[ 9.98915823e-01 2.33324250e-03 4.64944555e-02 1.40889628e+01] [-2.27678005e-03 9.99996605e-01 -1.26731164e-03 -3.87141539e-02] [-4.64972546e-02 1.16008000e-03 9.98917744e-01 -7.02935200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000385723 meters 0.022995386865071125 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.04, Z:-0.71 [[ 9.98951556e-01 2.44818671e-03 4.57142835e-02 1.41215639e+01] [-2.39320910e-03 9.99996346e-01 -1.25732727e-03 -4.00770481e-02] [-4.57171946e-02 1.14660520e-03 9.98953764e-01 -7.05311854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030385723 meters 0.022995386865071125 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.04, Z:-0.71 [[ 9.98950881e-01 2.71514460e-03 4.57139455e-02 1.41541549e+01] [-2.65988959e-03 9.99995657e-01 -1.26949796e-03 -4.10565013e-02] [-4.57171938e-02 1.14657206e-03 9.98953764e-01 -7.06768342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060385723 meters 0.02340190556284251 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.04, Z:-0.71 [[ 9.99030897e-01 2.30152639e-03 4.39541735e-02 1.41860494e+01] [-2.24955004e-03 9.99996711e-01 -1.23193817e-03 -4.08495146e-02] [-4.39568643e-02 1.13186719e-03 9.99032789e-01 -7.10104688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090385722999997 meters 0.0221359915591088 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.03, Z:-0.71 [[ 9.99049036e-01 4.41997931e-03 4.33761187e-02 1.42187850e+01] [-4.37092330e-03 9.99989696e-01 -1.22572188e-03 -3.45554931e-02] [-4.33810894e-02 1.03496258e-03 9.99058061e-01 -7.07436142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120385723 meters 0.022260883057399997 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.03, Z:-0.71 [[ 9.99021962e-01 6.26601594e-03 4.37705049e-02 1.42500423e+01] [-6.21736762e-03 9.99979894e-01 -1.24748768e-03 -3.27114041e-02] [-4.37774416e-02 9.74130266e-04 9.99040833e-01 -7.06856929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150385723 meters 0.021070081863718254 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.03, Z:-0.71 [[ 9.98909404e-01 1.03759341e-02 4.55230006e-02 1.42828133e+01] [-1.03270991e-02 9.99945819e-01 -1.30781238e-03 -2.90523478e-02] [-4.55341039e-02 8.36265543e-04 9.98962435e-01 -7.08388546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180385722999997 meters 0.020736729396373697 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.03, Z:-0.71 [[ 9.98896505e-01 1.22879212e-02 4.53296625e-02 1.43145517e+01] [-1.22411918e-02 9.99924218e-01 -1.30833094e-03 -3.05816768e-02] [-4.53423040e-02 7.51998113e-04 9.98971226e-01 -7.12293920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210385722999998 meters 0.02011029037318736 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.03, Z:-0.72 [[ 9.98892570e-01 1.62876348e-02 4.41400790e-02 1.43471137e+01] [-1.62467591e-02 9.99867187e-01 -1.28465137e-03 -2.92560801e-02] [-4.41551405e-02 5.66095481e-04 9.99024526e-01 -7.16026241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240385723 meters 0.019935400675835893 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.03, Z:-0.71 [[ 9.98774841e-01 1.99747925e-02 4.52749854e-02 1.43782427e+01] [-1.99353846e-02 9.99800397e-01 -1.32181097e-03 -2.53298290e-02] [-4.52923513e-02 4.17617299e-04 9.98973688e-01 -7.14114813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270385722999997 meters 0.019797864200887784 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.03, Z:-0.71 [[ 9.98666456e-01 2.22197476e-02 4.66003400e-02 1.44101342e+01] [-2.21801171e-02 9.99753056e-01 -1.36740708e-03 -2.50068892e-02] [-4.66192157e-02 3.31982583e-04 9.98912678e-01 -7.13956313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300385722999998 meters 0.019408724312837012 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.02, Z:-0.72 [[ 9.98572247e-01 2.69179146e-02 4.61399398e-02 1.44427737e+01] [-2.68835696e-02 9.99637640e-01 -1.36485245e-03 -2.42250588e-02] [-4.61599595e-02 1.22497497e-04 9.98934053e-01 -7.16473336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330385723 meters 0.019271348336977225 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.03, Z:-0.72 [[ 9.98497686e-01 3.17584216e-02 4.46516869e-02 1.44761160e+01] [-3.17308426e-02 9.99495570e-01 -1.32646240e-03 -2.62393716e-02] [-4.46712896e-02 -9.23660140e-05 9.99001735e-01 -7.21107466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360385722999997 meters 0.01938678810717711 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.03, Z:-0.72 [[ 9.98433921e-01 3.46000009e-02 4.39607338e-02 1.45076652e+01] [-3.45754900e-02 9.99401220e-01 -1.31801875e-03 -2.61558517e-02] [-4.39800145e-02 -2.04009282e-04 9.99032390e-01 -7.22038960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390385722999998 meters 0.019648622659147696 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.02, Z:-0.72 [[ 9.98229719e-01 4.00550594e-02 4.39661200e-02 1.45403896e+01] [-4.00355788e-02 9.99197378e-01 -1.32387716e-03 -2.21633826e-02] [-4.39838598e-02 -4.38675538e-04 9.99032145e-01 -7.21715954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420385723 meters 0.019806347020476317 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.02, Z:-0.72 [[ 9.98101030e-01 4.27570590e-02 4.43414834e-02 1.45721787e+01] [-4.27394335e-02 9.99085346e-01 -1.34588419e-03 -2.38666457e-02] [-4.43584724e-02 -5.51801489e-04 9.99015526e-01 -7.23069765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450385722999997 meters 0.020653436689332526 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.03, Z:-0.73 [[ 9.97792600e-01 4.91400220e-02 4.46675009e-02 1.46026143e+01] [-4.91280438e-02 9.98791554e-01 -1.36654990e-03 -2.79466912e-02] [-4.46806749e-02 -8.30893560e-04 9.99000974e-01 -7.26532260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480385722999998 meters 0.022086803997147034 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.03, Z:-0.73 [[ 9.97487671e-01 5.49651445e-02 4.46898148e-02 1.46312846e+01] [-5.49589592e-02 9.98487677e-01 -1.36799060e-03 -2.83313218e-02] [-4.46974211e-02 -1.09155195e-03 9.98999975e-01 -7.26911198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510385723 meters 0.022412640814015793 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.03, Z:-0.73 [[ 9.97385604e-01 5.70094874e-02 4.44057983e-02 1.46602488e+01] [-5.70055069e-02 9.98372942e-01 -1.35697832e-03 -2.72710048e-02] [-4.44109081e-02 -1.17794440e-03 9.99012654e-01 -7.26284723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540385723 meters 0.023299496056624003 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.02, Z:-0.72 [[ 9.97280268e-01 5.94556953e-02 4.35555721e-02 1.46882483e+01] [-5.94543161e-02 9.98230144e-01 -1.32821130e-03 -2.40140890e-02] [-4.35574547e-02 -1.26496783e-03 9.99050123e-01 -7.24459773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570385722999998 meters 0.023435280295784545 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.03, Z:-0.73 [[ 9.97250306e-01 6.01129000e-02 4.33389674e-02 1.47171905e+01] [-6.01123074e-02 9.98190750e-01 -1.31807084e-03 -2.68894894e-02] [-4.33397894e-02 -1.29075878e-03 9.99059556e-01 -7.27232251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600385723 meters 0.024016596764402275 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.04, Z:-0.74 [[ 9.97272225e-01 6.03831239e-02 4.24498208e-02 1.47440614e+01] [-6.03829117e-02 9.98174456e-01 -1.28837015e-03 -3.83305474e-02] [-4.24501226e-02 -1.27838801e-03 9.99097769e-01 -7.35462324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630385723 meters 0.02354543595068814 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.04, Z:-0.74 [[ 9.97397132e-01 5.93372190e-02 4.09640684e-02 1.47720844e+01] [-5.93362715e-02 9.98237281e-01 -1.24004127e-03 -4.46412996e-02] [-4.09654408e-02 -1.19384147e-03 9.99159851e-01 -7.39347581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660385722999997 meters 0.021812430623558695 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.05, Z:-0.74 [[ 9.97630713e-01 5.68738309e-02 3.87082373e-02 1.48006678e+01] [-5.68712199e-02 9.98380838e-01 -1.16944714e-03 -4.82786142e-02] [-3.87120733e-02 -1.03470829e-03 9.99249871e-01 -7.37624628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690385723 meters 0.02166590489345336 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.05, Z:-0.73 [[ 9.97645510e-01 5.62758827e-02 3.91977336e-02 1.48295610e+01] [-5.62728498e-02 9.98414729e-01 -1.18155405e-03 -4.58257652e-02] [-3.92020875e-02 -1.02699608e-03 9.99230775e-01 -7.34401491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720385723 meters 0.02235335820223184 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.04, Z:-0.73 [[ 9.97512879e-01 5.62776765e-02 4.24367745e-02 1.48571848e+01] [-5.62742574e-02 9.98414533e-01 -1.27610166e-03 -4.44277259e-02] [-4.24413085e-02 -1.11517013e-03 9.99098339e-01 -7.31761268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750385722999997 meters 0.022203456532219768 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.06, Z:-0.74 [[ 9.97508268e-01 5.60284206e-02 4.28727300e-02 1.48851913e+01] [-5.60248593e-02 9.98428547e-01 -1.28553013e-03 -5.66085320e-02] [-4.28773838e-02 -1.11961174e-03 9.99079715e-01 -7.37381654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.780385723 meters 0.021795105027746974 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.06, Z:-0.74 [[ 9.97607059e-01 5.51439839e-02 4.17048741e-02 1.49141566e+01] [-5.51399512e-02 9.98477856e-01 -1.24786960e-03 -6.22475856e-02] [-4.17102058e-02 -1.05472120e-03 9.99129194e-01 -7.40790257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810385723 meters 0.02155108541156865 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.06, Z:-0.74 [[ 9.97867564e-01 5.21691926e-02 3.92262676e-02 1.49426436e+01] [-5.21634213e-02 9.98637875e-01 -1.17129523e-03 -6.00072587e-02] [-3.92339421e-02 -8.77378809e-04 9.99229667e-01 -7.40782137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840385722999997 meters 0.020327406018362863 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.06, Z:-0.74 [[ 9.97981188e-01 4.90118435e-02 4.03904320e-02 1.49717487e+01] [-4.90032511e-02 9.98797894e-01 -1.20333555e-03 -6.02770808e-02] [-4.04008561e-02 -7.78356242e-04 9.99183249e-01 -7.37533407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870385723 meters 0.01999120430021976 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.06, Z:-0.74 [[ 9.98034251e-01 4.77919445e-02 4.05408912e-02 1.50010559e+01] [-4.77823996e-02 9.98857042e-01 -1.20492844e-03 -6.43759562e-02] [-4.05521406e-02 -7.34581212e-04 9.99177154e-01 -7.40022563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900385723 meters 0.01994826581539073 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.07, Z:-0.75 [[ 9.98189867e-01 4.62668684e-02 3.84235239e-02 1.50288280e+01] [-4.62572075e-02 9.98928911e-01 -1.14088114e-03 -7.37479200e-02] [-3.84351539e-02 -6.38548928e-04 9.99260892e-01 -7.47139359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930385722999997 meters 0.02033661853417366 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.07, Z:-0.75 [[ 9.98219422e-01 4.63075237e-02 3.75978559e-02 1.50571709e+01] [-4.62983715e-02 9.98927034e-01 -1.11452276e-03 -7.47789924e-02] [-3.76091254e-02 -6.28181234e-04 9.99292329e-01 -7.49634674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960385722999998 meters 0.020303872439467577 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.07, Z:-0.75 [[ 9.98206125e-01 4.63660192e-02 3.78777429e-02 1.50868189e+01] [-4.63568486e-02 9.98924315e-01 -1.12080783e-03 -7.02844409e-02] [-3.78889658e-02 -6.37095551e-04 9.99281752e-01 -7.45042138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990385723 meters 0.02037757266043676 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.07, Z:-0.74 [[ 9.98185919e-01 4.66338881e-02 3.80808587e-02 1.51154944e+01] [-4.66248533e-02 9.98911836e-01 -1.12578074e-03 -6.63835229e-02] [-3.80919200e-02 -6.51775973e-04 9.99274027e-01 -7.43854234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020385722999997 meters 0.020130403468866364 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.07, Z:-0.75 [[ 9.98081258e-01 4.89448014e-02 3.79237318e-02 1.51453337e+01] [-4.89376093e-02 9.98801211e-01 -1.11846326e-03 -6.76264412e-02] [-3.79330122e-02 -7.39579550e-04 9.99280011e-01 -7.45794985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050385722999998 meters 0.021092248525174388 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.07, Z:-0.75 [[ 9.98052474e-01 4.98552797e-02 3.74928094e-02 1.51724400e+01] [-4.98489257e-02 9.98756158e-01 -1.10485432e-03 -6.99495175e-02] [-3.75012571e-02 -7.66273686e-04 9.99296287e-01 -7.51185795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080385723 meters 0.02057449103675891 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.08, Z:-0.76 [[ 9.98032962e-01 5.06356672e-02 3.69626167e-02 1.52011911e+01] [-5.06301453e-02 9.98716881e-01 -1.08600946e-03 -8.02842542e-02] [-3.69701801e-02 -7.87549415e-04 9.99316059e-01 -7.55532248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110385722999997 meters 0.02090449573960834 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.08, Z:-0.75 [[ 9.97981812e-01 5.07368318e-02 3.81847653e-02 1.52291478e+01] [-5.07311115e-02 9.98711721e-01 -1.11934485e-03 -7.69261455e-02] [-3.81923647e-02 -8.20069787e-04 9.99270069e-01 -7.52318264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140385722999998 meters 0.02122366121274516 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.07, Z:-0.75 [[ 9.97889936e-01 5.17032495e-02 3.92740198e-02 1.52572621e+01] [-5.16980778e-02 9.98662101e-01 -1.14793766e-03 -7.35407204e-02] [-3.92808272e-02 -8.84875895e-04 9.99227819e-01 -7.49935809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170385723 meters 0.02137246004223329 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.08, Z:-0.75 [[ 9.97862742e-01 5.20467340e-02 3.95105861e-02 1.52855936e+01] [-5.20419248e-02 9.98644238e-01 -1.15091226e-03 -7.57310952e-02] [-3.95169204e-02 -9.07754483e-04 9.99218489e-01 -7.51641830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200385722999997 meters 0.021591847903153508 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.08, Z:-0.75 [[ 9.97897397e-01 5.21116786e-02 3.85377510e-02 1.53129552e+01] [-5.21072423e-02 9.98640867e-01 -1.12021007e-03 -8.24139621e-02] [-3.85437490e-02 -8.90241214e-04 9.99256517e-01 -7.54897070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230385722999998 meters 0.02166415592987718 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.09, Z:-0.76 [[ 9.97909912e-01 5.20446058e-02 3.83036170e-02 1.53416723e+01] [-5.20402973e-02 9.98644369e-01 -1.11018415e-03 -8.55147801e-02] [-3.83094705e-02 -8.85467847e-04 9.99265530e-01 -7.56380543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260385723 meters 0.02149163817484627 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.09, Z:-0.76 [[ 9.97878272e-01 5.19278920e-02 3.92740194e-02 1.53705060e+01] [-5.19233754e-02 9.98650426e-01 -1.13569500e-03 -8.76038137e-02] [-3.92799904e-02 -9.05954282e-04 9.99227833e-01 -7.55509954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290385723 meters 0.020714772787914584 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.09, Z:-0.76 [[ 9.97790381e-01 5.33051535e-02 3.96600079e-02 1.53992903e+01] [-5.33017378e-02 9.98577796e-01 -1.14426209e-03 -9.04357193e-02] [-3.96645983e-02 -9.72213640e-04 9.99212577e-01 -7.55058497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320385722999998 meters 0.02084327137683064 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.09, Z:-0.76 [[ 9.97782171e-01 5.39396104e-02 3.90033049e-02 1.54282398e+01] [-5.39368941e-02 9.98543715e-01 -1.12266715e-03 -9.17391358e-02] [-3.90070612e-02 -9.83539857e-04 9.99238451e-01 -7.57157306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350385723 meters 0.02108053499506274 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.10, Z:-0.76 [[ 9.97865124e-01 5.41962684e-02 3.64411813e-02 1.54554475e+01] [-5.41941414e-02 9.98529869e-01 -1.04686807e-03 -9.58814521e-02] [-3.64443443e-02 -9.30265395e-04 9.99335251e-01 -7.61529494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380385723 meters 0.021144704771655434 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.10, Z:-0.76 [[ 9.97883578e-01 5.38124784e-02 3.65045357e-02 1.54833855e+01] [-5.38102269e-02 9.98550634e-01 -1.04487363e-03 -9.94203061e-02] [-3.65078545e-02 -9.21655114e-04 9.99332941e-01 -7.63741835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410385722999997 meters 0.02122405235369089 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.10, Z:-0.76 [[ 9.97864074e-01 5.33995878e-02 3.76267646e-02 1.55123272e+01] [-5.33970325e-02 9.98572784e-01 -1.07356154e-03 -9.98300272e-02] [-3.76303909e-02 -9.37889083e-04 9.99291286e-01 -7.63601872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440385723 meters 0.02105524937800677 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.10, Z:-0.76 [[ 9.97910610e-01 5.17293633e-02 3.87103090e-02 1.55401838e+01] [-5.17255045e-02 9.98660732e-01 -1.10187831e-03 -9.95308504e-02] [-3.87154650e-02 -9.02734210e-04 9.99249868e-01 -7.62136792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470385723 meters 0.020821192102158482 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.10, Z:-0.76 [[ 9.97969251e-01 5.06565009e-02 3.86172550e-02 1.55697830e+01] [-5.06519943e-02 9.98715763e-01 -1.09570449e-03 -1.01880537e-01] [-3.86231659e-02 -8.62561596e-04 9.99253475e-01 -7.64006930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500385722999997 meters 0.02041374755381942 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.11, Z:-0.77 [[ 9.98080860e-01 4.85415166e-02 3.84489049e-02 1.55992021e+01] [-4.85355298e-02 9.98820862e-01 -1.08965634e-03 -1.08705243e-01] [-3.84564619e-02 -7.78572834e-04 9.99259973e-01 -7.67613100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530385723 meters 0.0205084004836005 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.11, Z:-0.77 [[ 9.98105308e-01 4.80559024e-02 3.84242604e-02 1.56282074e+01] [-4.80496126e-02 9.98844358e-01 -1.08768642e-03 -1.10833634e-01] [-3.84321255e-02 -7.60645235e-04 9.99260923e-01 -7.69464245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560385723 meters 0.020629511436792765 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.11, Z:-0.77 [[ 9.98132754e-01 4.77588946e-02 3.80800907e-02 1.56571736e+01] [-4.77525457e-02 9.98858616e-01 -1.07676799e-03 -1.12291594e-01] [-3.80880520e-02 -7.43663869e-04 9.99274110e-01 -7.71244041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590385722999997 meters 0.0208259992199789 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.11, Z:-0.77 [[ 9.98103006e-01 4.84804906e-02 3.79477363e-02 1.56870690e+01] [-4.84747810e-02 9.98823833e-01 -1.07107117e-03 -1.12117380e-01] [-3.79550295e-02 -7.70468857e-04 9.99279151e-01 -7.71736341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620385723 meters 0.020244919796907696 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.12, Z:-0.77 [[ 9.97962919e-01 5.04914800e-02 3.89951697e-02 1.57162433e+01] [-5.04870315e-02 9.98724111e-01 -1.09944840e-03 -1.15029431e-01] [-3.90009290e-02 -8.71541624e-04 9.99238794e-01 -7.70254177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650385723 meters 0.02035245088970102 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.12, Z:-0.77 [[ 9.97934925e-01 5.11449646e-02 3.88597271e-02 1.57453346e+01] [-5.11411233e-02 9.98690838e-01 -1.09353581e-03 -1.19257071e-01] [-3.88647823e-02 -8.96052515e-04 9.99244077e-01 -7.72843354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680385722999997 meters 0.020020910479719104 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.12, Z:-0.78 [[ 9.98055278e-01 4.92428043e-02 3.82205224e-02 1.57747314e+01] [-4.92377430e-02 9.98786509e-01 -1.07427432e-03 -1.23749549e-01] [-3.82270424e-02 -8.09707103e-04 9.99268751e-01 -7.75957802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710385722999998 meters 0.019831553286200496 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.13, Z:-0.78 [[ 9.98160943e-01 4.71970357e-02 3.80417075e-02 1.58041566e+01] [-4.71905903e-02 9.98885333e-01 -1.06784423e-03 -1.25087783e-01] [-3.80497027e-02 -7.29330230e-04 9.99275582e-01 -7.77441334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740385723 meters 0.01924969241200348 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.13, Z:-0.78 [[ 9.98354515e-01 4.30536644e-02 3.78766869e-02 1.58335192e+01] [-4.30443183e-02 9.99072599e-01 -1.06257397e-03 -1.26562104e-01] [-3.78873078e-02 -5.69550647e-04 9.99281856e-01 -7.77635032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770385722999997 meters 0.018970833030454687 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.13, Z:-0.78 [[ 9.98447815e-01 4.10761148e-02 3.76126663e-02 1.58644556e+01] [-4.10655285e-02 9.99155899e-01 -1.05430232e-03 -1.28741417e-01] [-3.76242240e-02 -4.91918167e-04 9.99291837e-01 -7.79272421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800385722999998 meters 0.01865587851645275 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.13, Z:-0.78 [[ 9.98575102e-01 3.83869846e-02 3.70702787e-02 1.58967419e+01] [-3.83748881e-02 9.99262874e-01 -1.03804873e-03 -1.34557030e-01] [-3.70828008e-02 -3.85998182e-04 9.99312122e-01 -7.82894084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830385723 meters 0.018344118696854202 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.14, Z:-0.78 [[ 9.98628252e-01 3.66163667e-02 3.74280049e-02 1.59285392e+01] [-3.66024658e-02 9.99329346e-01 -1.05678346e-03 -1.38338253e-01] [-3.74415992e-02 -3.14623454e-04 9.99298768e-01 -7.84072962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860385722999997 meters 0.018152149343540532 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.14, Z:-0.78 [[ 9.98755968e-01 3.25714749e-02 3.77573263e-02 1.59596915e+01] [-3.25540857e-02 9.99469397e-01 -1.07542010e-03 -1.39562865e-01] [-3.77723201e-02 -1.55072995e-04 9.99286359e-01 -7.83725816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890385722999998 meters 0.01812505219218634 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.14, Z:-0.79 [[ 9.98832533e-01 3.00842702e-02 3.77956084e-02 1.59921008e+01] [-3.00647553e-02 9.99547365e-01 -1.08471022e-03 -1.40075204e-01] [-3.78111335e-02 -5.28718598e-05 9.99284902e-01 -7.85859161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920385723 meters 0.01805357531917242 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.15, Z:-0.79 [[ 9.98965087e-01 2.53757104e-02 3.77468848e-02 1.60248270e+01] [-2.53525292e-02 9.99677976e-01 -1.09273384e-03 -1.45197913e-01] [-3.77624583e-02 1.34623957e-04 9.99286735e-01 -7.87723656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950385722999997 meters 0.01805357531917242 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.15, Z:-0.79 [[ 9.98958118e-01 2.56490696e-02 3.77465835e-02 1.60573965e+01] [-2.56256942e-02 9.99670999e-01 -1.10303674e-03 -1.46211749e-01] [-3.77624567e-02 1.34605103e-04 9.99286735e-01 -7.89179725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980385722999998 meters 0.018288057948831926 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.15, Z:-0.79 [[ 9.98961173e-01 2.19152062e-02 3.99536932e-02 1.60892085e+01] [-2.18855608e-02 9.99759787e-01 -1.17927507e-03 -1.53843294e-01] [-3.99699399e-02 3.03641028e-04 9.99200837e-01 -7.91517915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010385723 meters 0.01831233398681582 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.15, Z:-0.79 [[ 9.98967248e-01 2.09871110e-02 4.02986071e-02 1.61226274e+01] [-2.09557822e-02 9.99779684e-01 -1.19972180e-03 -1.54768728e-01] [-4.03149073e-02 3.53993954e-04 9.99186961e-01 -7.91345744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040385722999996 meters 0.019489637935829845 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.15, Z:-0.79 [[ 9.99040368e-01 1.92075132e-02 3.93626066e-02 1.61537691e+01] [-1.91758133e-02 9.99815428e-01 -1.18275605e-03 -1.54695811e-01] [-3.93780591e-02 4.26811045e-04 9.99224292e-01 -7.91380091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070385722999998 meters 0.0184755889941974 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.15, Z:-0.79 [[ 9.99038112e-01 1.85085100e-02 3.97528126e-02 1.61868236e+01] [-1.84752807e-02 9.99828594e-01 -1.20313404e-03 -1.49134256e-01] [-3.97682669e-02 4.67532384e-04 9.99208820e-01 -7.89713997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100385723 meters 0.019142063405888005 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.15, Z:-0.79 [[ 9.99038202e-01 1.70228456e-02 4.04090810e-02 1.62175978e+01] [-1.69867973e-02 9.99854951e-01 -1.23529301e-03 -1.53353265e-01] [-4.04242479e-02 5.47684037e-04 9.99182456e-01 -7.93795778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130385723 meters 0.019207936257210748 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.16, Z:-0.80 [[ 9.99041843e-01 1.68213863e-02 4.04034151e-02 1.62499543e+01] [-1.67849854e-02 9.99858353e-01 -1.24001392e-03 -1.57688263e-01] [-4.04185508e-02 5.60655060e-04 9.99182679e-01 -7.98335907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160385722999997 meters 0.01879722785225655 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.16, Z:-0.80 [[ 9.99071453e-01 1.60358058e-02 3.99885571e-02 1.62819751e+01] [-1.59991034e-02 9.99871240e-01 -1.23769478e-03 -1.59101338e-01] [-4.00032556e-02 5.96764466e-04 9.99199371e-01 -8.02269969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190385723 meters 0.01889764570615862 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.16, Z:-0.80 [[ 9.99060982e-01 1.66585101e-02 3.99955931e-02 1.63150718e+01] [-1.66219114e-02 9.99861068e-01 -1.24745014e-03 -1.56992386e-01] [-4.00108171e-02 5.81475553e-04 9.99199077e-01 -8.02292899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220385723 meters 0.018446870898818957 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.15, Z:-0.80 [[ 9.98982140e-01 2.04428494e-02 4.02091352e-02 1.63480567e+01] [-2.04084665e-02 9.99790925e-01 -1.26543006e-03 -1.46106123e-01] [-4.02265975e-02 4.43535242e-04 9.99190484e-01 -7.98846586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250385722999997 meters 0.01813880571807236 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.14, Z:-0.80 [[ 9.98890289e-01 2.32239310e-02 4.09736369e-02 1.63800314e+01] [-2.31901524e-02 9.99730228e-01 -1.29956352e-03 -1.42864437e-01] [-4.09927644e-02 3.47936496e-04 9.99159383e-01 -7.98885010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280385723 meters 0.017690009995154323 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.14, Z:-0.80 [[ 9.98746496e-01 2.89483671e-02 4.08341623e-02 1.64125361e+01] [-2.89191930e-02 9.99580901e-01 -1.30508596e-03 -1.41675670e-01] [-4.08548288e-02 1.22559010e-04 9.99165085e-01 -8.02470196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310385723 meters 0.017660405802621078 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.14, Z:-0.81 [[ 9.98709261e-01 3.16222345e-02 3.97472893e-02 1.64452333e+01] [-3.15963447e-02 9.99499892e-01 -1.27953102e-03 -1.40864464e-01] [-3.97678730e-02 2.20104271e-05 9.99208945e-01 -8.05458987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340385722999997 meters 0.017595906674994236 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.13, Z:-0.81 [[ 9.98621121e-01 3.54983152e-02 3.86746320e-02 1.64779475e+01] [-3.54763066e-02 9.99369729e-01 -1.25541166e-03 -1.33679133e-01] [-3.86948215e-02 -1.18352506e-04 9.99251068e-01 -8.07447614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370385723 meters 0.017611852188510912 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.13, Z:-0.81 [[ 9.98544401e-01 3.72957440e-02 3.89628875e-02 1.65108044e+01] [-3.72743849e-02 9.99304256e-01 -1.27473313e-03 -1.30668027e-01] [-3.89833214e-02 -1.79440036e-04 9.99239845e-01 -8.07882017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400385723 meters 0.01773294026963745 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.13, Z:-0.81 [[ 9.98333272e-01 4.06668182e-02 4.09498327e-02 1.65438661e+01] [-4.06455701e-02 9.99172713e-01 -1.35165615e-03 -1.26830163e-01] [-4.09709230e-02 -3.15025995e-04 9.99160290e-01 -8.09065086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430385722999997 meters 0.018075312009642342 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.12, Z:-0.81 [[ 9.98137781e-01 4.57335176e-02 4.03660157e-02 1.65751634e+01] [-4.57165432e-02 9.98953548e-01 -1.34396953e-03 -1.23518065e-01] [-4.03852391e-02 -5.03927937e-04 9.99184056e-01 -8.12811784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460385722999998 meters 0.01826890456357375 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.12, Z:-0.81 [[ 9.98053498e-01 4.81390998e-02 3.96464577e-02 1.66060013e+01] [-4.81244019e-02 9.98840470e-01 -1.32555055e-03 -1.21904132e-01] [-3.96642972e-02 -5.84991697e-04 9.99212891e-01 -8.14981308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490385723 meters 0.01887358578991751 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.11, Z:-0.82 [[ 9.97974696e-01 5.12461951e-02 3.76873151e-02 1.66349172e+01] [-5.12351138e-02 9.98685824e-01 -1.26040953e-03 -1.13416401e-01] [-3.77023785e-02 -6.73057056e-04 9.99288786e-01 -8.16705949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520385722999997 meters 0.018987203614627968 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.11, Z:-0.82 [[ 9.97950403e-01 5.20046421e-02 3.72895539e-02 1.66636631e+01] [-5.19943883e-02 9.98646601e-01 -1.24534505e-03 -1.09336211e-01] [-3.73038499e-02 -6.96054947e-04 9.99303727e-01 -8.16878216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550385722999998 meters 0.018778517137412912 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.10, Z:-0.82 [[ 9.97977208e-01 5.07450147e-02 3.82940707e-02 1.66926329e+01] [-5.07333770e-02 9.98711418e-01 -1.27621901e-03 -1.03741343e-01] [-3.83094874e-02 -6.69150042e-04 9.99265698e-01 -8.16452422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580385723 meters 0.0186197955714261 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.10, Z:-0.82 [[ 9.98005512e-01 4.95539226e-02 3.91076270e-02 1.67219465e+01] [-4.95409811e-02 9.98771245e-01 -1.30053119e-03 -1.03390670e-01] [-3.91240197e-02 -6.39492914e-04 9.99234158e-01 -8.17447042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610385722999997 meters 0.018008029430257092 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.11, Z:-0.82 [[ 9.98106978e-01 4.66399476e-02 4.00896089e-02 1.67502119e+01] [-4.66240787e-02 9.98911619e-01 -1.33119913e-03 -1.06266083e-01] [-4.01080632e-02 -5.40461942e-04 9.99195202e-01 -8.21179508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640385722999998 meters 0.018028591023745922 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.11, Z:-0.82 [[ 9.98194103e-01 4.46240878e-02 4.02147216e-02 1.67791115e+01] [-4.46066006e-02 9.99003742e-01 -1.33247021e-03 -1.06252749e-01] [-4.02341176e-02 -4.63778122e-04 9.99190172e-01 -8.23901628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670385723 meters 0.017633734078873857 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.10, Z:-0.83 [[ 9.98391541e-01 4.01952799e-02 3.99833635e-02 1.68092385e+01] [-4.01745351e-02 9.99191802e-01 -1.32250293e-03 -1.02810926e-01] [-4.00042074e-02 -2.85937299e-04 9.99199470e-01 -8.25343690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700385722999997 meters 0.017353945403840148 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.10, Z:-0.83 [[ 9.98519650e-01 3.77612638e-02 3.91483835e-02 1.68405567e+01] [-3.77395141e-02 9.99286772e-01 -1.29469059e-03 -1.01622153e-01] [-3.91693510e-02 -1.84666975e-04 9.99232569e-01 -8.25151565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730385722999998 meters 0.01736192687111525 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.10, Z:-0.82 [[ 9.98736193e-01 3.26521732e-02 3.82080037e-02 1.68715756e+01] [-3.26276940e-02 9.99466776e-01 -1.26422110e-03 -9.83103421e-02] [-3.82289098e-02 1.59843141e-05 9.99269008e-01 -8.24979510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760385723 meters 0.017423633688657368 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.10, Z:-0.83 [[ 9.98821199e-01 2.96223933e-02 3.84542197e-02 1.69043541e+01] [-2.95951845e-02 9.99561151e-01 -1.27673643e-03 -9.96125983e-02] [-3.84751641e-02 1.37171682e-04 9.99259547e-01 -8.26585742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790385722999996 meters 0.018021103342008397 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.10, Z:-0.83 [[ 9.98912641e-01 2.30130984e-02 4.05454523e-02 1.69355466e+01] [-2.29769034e-02 9.99735073e-01 -1.35853263e-03 -1.03573629e-01] [-4.05659747e-02 4.25446472e-04 9.99176771e-01 -8.26820581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820385722999998 meters 0.018264324396993537 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.11, Z:-0.83 [[ 9.98930753e-01 1.95423349e-02 4.18980739e-02 1.69675434e+01] [-1.95004140e-02 9.99808856e-01 -1.40904664e-03 -1.05565191e-01] [-4.19176014e-02 5.90510238e-04 9.99120897e-01 -8.27847010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850385723 meters 0.020165091749746244 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.11, Z:-0.83 [[ 9.98966691e-01 1.26644847e-02 4.36481542e-02 1.69973761e+01] [-1.26119306e-02 9.99919372e-01 -1.47921486e-03 -1.12617832e-01] [-4.36633684e-02 9.27198883e-04 9.99045870e-01 -8.30047788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880385723 meters 0.020651452537963848 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.11, Z:-0.83 [[ 9.98996971e-01 1.00657884e-02 4.36317697e-02 1.70294660e+01] [-1.00106395e-02 9.99948794e-01 -1.48227813e-03 -1.14764817e-01] [-4.36444558e-02 1.04400944e-03 9.99046581e-01 -8.31852798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910385722999997 meters 0.02194255194376413 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.12, Z:-0.83 [[ 9.99110466e-01 4.67701849e-03 4.19094576e-02 1.70609630e+01] [-4.62098085e-03 9.99988295e-01 -1.43388669e-03 -1.17266966e-01] [-4.19156734e-02 1.23894839e-03 9.99120384e-01 -8.33363660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940385723 meters 0.022490446024514995 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.12, Z:-0.83 [[ 9.99158804e-01 3.26869871e-03 4.08778732e-02 1.70923140e+01] [-3.21416967e-03 9.99993855e-01 -1.39960088e-03 -1.19223487e-01] [-4.08821969e-02 1.26703512e-03 9.99163170e-01 -8.34610078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970385723 meters 0.02137990844572616 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.12, Z:-0.84 [[ 9.99185340e-01 3.91836678e-03 4.01659462e-02 1.71255533e+01] [-3.86607757e-03 9.99991575e-01 -1.37942090e-03 -1.18206915e-01] [-4.01710129e-02 1.22301248e-03 9.99192071e-01 -8.36043296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000385722999997 meters 0.022207651433352318 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.12, Z:-0.84 [[ 9.99182625e-01 5.43449369e-03 4.00568241e-02 1.71566991e+01] [-5.38324395e-03 9.99984548e-01 -1.38717682e-03 -1.21646406e-01] [-4.00637437e-02 1.17040732e-03 9.99196440e-01 -8.38690136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030385723 meters 0.020440783356586324 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.12, Z:-0.84 [[ 9.99206699e-01 9.06431620e-03 3.87789872e-02 1.71883609e+01] [-9.01864752e-03 9.99958417e-01 -1.35243994e-03 -1.20525439e-01] [-3.87896336e-02 1.00163303e-03 9.99246897e-01 -8.42861676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060385723 meters 0.02001563814087771 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.12, Z:-0.85 [[ 9.99214166e-01 1.09118187e-02 3.81049033e-02 1.72203360e+01] [-1.08690411e-02 9.99940046e-01 -1.32961174e-03 -1.20930767e-01] [-3.81171272e-02 9.14403126e-04 9.99272860e-01 -8.45681727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090385722999997 meters 0.019563643955228808 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.12, Z:-0.85 [[ 9.99212547e-01 1.40125552e-02 3.71205429e-02 1.72512791e+01] [-1.39737631e-02 9.99901512e-01 -1.30428359e-03 -1.20899660e-01] [-3.71351633e-02 7.84542851e-04 9.99309944e-01 -8.48112578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120385723 meters 0.019010504024931606 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.12, Z:-0.85 [[ 9.99140163e-01 1.77713245e-02 3.74581630e-02 1.72834641e+01] [-1.77341420e-02 9.99841860e-01 -1.32469305e-03 -1.18524199e-01] [-3.74757810e-02 6.59265650e-04 9.99297319e-01 -8.47039701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150385723 meters 0.018687541038178965 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.12, Z:-0.85 [[ 9.99062052e-01 2.02537803e-02 3.82727105e-02 1.73160905e+01] [-2.02164208e-02 9.99794698e-01 -1.36293682e-03 -1.18752321e-01] [-3.82924577e-02 5.87921233e-04 9.99266402e-01 -8.47489710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180385722999997 meters 0.018277161839041333 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.12, Z:-0.85 [[ 9.98934835e-01 2.34174080e-02 3.97595375e-02 1.73480183e+01] [-2.33791951e-02 9.99725652e-01 -1.42584848e-03 -1.19638183e-01] [-3.97820193e-02 4.94783729e-04 9.99208260e-01 -8.48587498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210385722999998 meters 0.017521262806897166 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.12, Z:-0.85 [[ 9.98696793e-01 3.02662523e-02 4.10934251e-02 1.73790946e+01] [-3.02308015e-02 9.99541843e-01 -1.48396104e-03 -1.21632646e-01] [-4.11195118e-02 2.39739950e-04 9.99154206e-01 -8.52187817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240385723 meters 0.017257575094541042 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.12, Z:-0.85 [[ 9.98597295e-01 3.37826000e-02 4.07698129e-02 1.74112659e+01] [-3.37502759e-02 9.99429200e-01 -1.48106371e-03 -1.22233122e-01] [-4.07965756e-02 1.02993784e-04 9.99167468e-01 -8.53976671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270385722999997 meters 0.017269286818011445 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.12, Z:-0.85 [[ 9.98393476e-01 4.09359813e-02 3.91754190e-02 1.74429569e+01] [-4.09112761e-02 9.99161756e-01 -1.43242328e-03 -1.16892734e-01] [-3.92012181e-02 -1.72594325e-04 9.99231322e-01 -8.53882809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300385722999998 meters 0.01748382217642725 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.11, Z:-0.85 [[ 9.98277594e-01 4.41706359e-02 3.86108941e-02 1.74724470e+01] [-4.41486759e-02 9.99023960e-01 -1.42161004e-03 -1.13171663e-01] [-3.86360018e-02 -2.85458403e-04 9.99253310e-01 -8.54046629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330385723 meters 0.017999982462752202 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.11, Z:-0.85 [[ 9.97986182e-01 4.97477120e-02 3.93540970e-02 1.75025909e+01] [-4.97292024e-02 9.98761686e-01 -1.44970424e-03 -1.11370421e-01] [-3.93774837e-02 -5.10263052e-04 9.99224276e-01 -8.53924729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360385722999997 meters 0.018429115125289636 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.11, Z:-0.86 [[ 9.97827813e-01 5.24566684e-02 3.98491382e-02 1.75305788e+01] [-5.24398923e-02 9.98623005e-01 -1.46685197e-03 -1.13635296e-01] [-3.98712123e-02 -6.26018827e-04 9.99204631e-01 -8.57017475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390385722999998 meters 0.018399723449504357 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.12, Z:-0.86 [[ 9.97659060e-01 5.56361788e-02 3.97619928e-02 1.75584954e+01] [-5.56221268e-02 9.98450823e-01 -1.46043465e-03 -1.21895016e-01] [-3.97816474e-02 -7.54630747e-04 9.99208112e-01 -8.62028466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420385723 meters 0.018578502354184543 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.12, Z:-0.86 [[ 9.97652202e-01 5.63412163e-02 3.89326601e-02 1.75875467e+01] [-5.63284115e-02 9.98411275e-01 -1.42661367e-03 -1.22937669e-01] [-3.89511839e-02 -7.69750625e-04 9.99240818e-01 -8.63470024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450385722999997 meters 0.018821053186924352 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.12, Z:-0.86 [[ 9.97620039e-01 5.65441686e-02 3.94590286e-02 1.76158560e+01] [-5.65312782e-02 9.98399785e-01 -1.44326520e-03 -1.18298935e-01] [-3.94774939e-02 -7.90839037e-04 9.99220147e-01 -8.60332215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480385722999998 meters 0.018978647893551137 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.12, Z:-0.86 [[ 9.97579586e-01 5.65686797e-02 4.04345647e-02 1.76440866e+01] [-5.65553054e-02 9.98398378e-01 -1.47546523e-03 -1.16672834e-01] [-4.04532689e-02 -8.14895161e-04 9.99181099e-01 -8.58803067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510385723 meters 0.01844651038765152 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.12, Z:-0.86 [[ 9.97549459e-01 5.57822745e-02 4.22304941e-02 1.76731377e+01] [-5.57671492e-02 9.98442619e-01 -1.53705924e-03 -1.22008085e-01] [-4.22504658e-02 -8.21781655e-04 9.99106712e-01 -8.58845883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540385722999996 meters 0.018138141409354772 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.13, Z:-0.86 [[ 9.97703294e-01 5.15003520e-02 4.39983109e-02 1.77005633e+01] [-5.14799104e-02 9.98672751e-01 -1.59829015e-03 -1.33301811e-01] [-4.40222268e-02 -6.70409759e-04 9.99030327e-01 -8.63415523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570385722999998 meters 0.017699861844132362 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.14, Z:-0.87 [[ 9.97868673e-01 4.81625870e-02 4.40281263e-02 1.77297681e+01] [-4.81390365e-02 9.98839370e-01 -1.59560723e-03 -1.37991063e-01] [-4.40538745e-02 -5.27265106e-04 9.99029018e-01 -8.65150283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600385723 meters 0.01711995635444957 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.14, Z:-0.86 [[ 9.98330212e-01 4.04976625e-02 4.11913560e-02 1.77597133e+01] [-4.04705823e-02 9.99179617e-01 -1.49142680e-03 -1.38994380e-01] [-4.12179626e-02 -1.78101726e-04 9.99150163e-01 -8.64241450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630385723 meters 0.01702638904143638 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.14, Z:-0.86 [[ 9.98534276e-01 3.63876764e-02 4.00654077e-02 1.77910898e+01] [-3.63587557e-02 9.99337749e-01 -1.45049982e-03 -1.40013383e-01] [-4.00916547e-02 -8.35458804e-06 9.99196006e-01 -8.64201977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660385722999997 meters 0.01724392341867799 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.15, Z:-0.87 [[ 9.98739957e-01 3.04000872e-02 3.99291036e-02 1.78219646e+01] [-3.03665432e-02 9.99537784e-01 -1.44645843e-03 -1.47236008e-01] [-3.99546202e-02 2.32126977e-04 9.99201468e-01 -8.66767612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690385723 meters 0.017400706720030124 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.15, Z:-0.87 [[ 9.98772827e-01 2.82727721e-02 4.06631274e-02 1.78529085e+01] [-2.82360147e-02 9.99600191e-01 -1.47810095e-03 -1.54150456e-01] [-4.06886600e-02 3.28122408e-04 9.99171820e-01 -8.70005579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720385723 meters 0.017709111034029622 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.16, Z:-0.87 [[ 9.98779692e-01 2.62002867e-02 4.18649316e-02 1.78847550e+01] [-2.61591180e-02 9.99656619e-01 -1.53097552e-03 -1.60381045e-01] [-4.18906680e-02 4.33957571e-04 9.99122106e-01 -8.71989236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750385722999997 meters 0.018894912219554742 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.16, Z:-0.87 [[ 9.98802991e-01 2.13350615e-02 4.40159036e-02 1.79173342e+01] [-2.12843593e-02 9.99772149e-01 -1.62028866e-03 -1.63862660e-01] [-4.40404435e-02 6.81498848e-04 9.99029517e-01 -8.69989999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780385723 meters 0.019064905664410974 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.16, Z:-0.87 [[ 9.98984871e-01 1.58659139e-02 4.21604187e-02 1.79497179e+01] [-1.58141261e-02 9.99873729e-01 -1.56160049e-03 -1.59910706e-01] [-4.21798713e-02 8.93285089e-04 9.99109634e-01 -8.68641685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810385723 meters 0.019654853339757698 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.16, Z:-0.87 [[ 9.99074612e-01 1.30079352e-02 4.09964980e-02 1.79819623e+01] [-1.29564765e-02 9.99914905e-01 -1.52065526e-03 -1.62755895e-01] [-4.10127899e-02 9.88077899e-04 9.99158133e-01 -8.71262428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840385722999997 meters 0.019654853339757698 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.16, Z:-0.87 [[ 9.99070950e-01 1.32873381e-02 4.09961422e-02 1.80145480e+01] [-1.32357236e-02 9.99911233e-01 -1.53018329e-03 -1.64028303e-01] [-4.10128352e-02 9.86148069e-04 9.99158133e-01 -8.72719687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870385723 meters 0.020952426465195816 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.17, Z:-0.88 [[ 9.99166124e-01 7.56593302e-03 4.01224833e-02 1.80453185e+01] [-7.51140289e-03 9.99970649e-01 -1.50966861e-03 -1.73349686e-01] [-4.01327277e-02 1.20703360e-03 9.99193628e-01 -8.77871049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900385723 meters 0.021213746077766684 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.18, Z:-0.88 [[ 9.99169885e-01 6.54094368e-03 4.02089150e-02 1.80778238e+01] [-6.48533116e-03 9.99977825e-01 -1.51337194e-03 -1.77496693e-01] [-4.02179222e-02 1.25134753e-03 9.99190149e-01 -8.79678552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930385722999997 meters 0.022119951309719853 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.18, Z:-0.88 [[ 9.99166225e-01 5.45458323e-03 4.04611325e-02 1.81094401e+01] [-5.39696778e-03 9.99984261e-01 -1.53306286e-03 -1.76649557e-01] [-4.04688579e-02 1.31341720e-03 9.99179937e-01 -8.77925410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960385722999998 meters 0.022595573734982177 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.17, Z:-0.88 [[ 9.99145745e-01 5.43218578e-03 4.09667111e-02 1.81414159e+01] [-5.37270457e-03 9.99984347e-01 -1.56189828e-03 -1.74855706e-01] [-4.09745544e-02 1.34046198e-03 9.99159291e-01 -8.77172412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990385723 meters 0.02235589017342507 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.17, Z:-0.88 [[ 9.99147981e-01 6.84890899e-03 4.06989588e-02 1.81734327e+01] [-6.79110179e-03 9.99975726e-01 -1.55844529e-03 -1.72361927e-01] [-4.07086445e-02 1.28072669e-03 9.99170239e-01 -8.78931355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020385722999997 meters 0.022349831614568952 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.17, Z:-0.88 [[ 9.99148146e-01 7.81216291e-03 4.05210004e-02 1.82055683e+01] [-7.75523603e-03 9.99968708e-01 -1.56187526e-03 -1.73989101e-01] [-4.05319341e-02 1.24629485e-03 9.99177466e-01 -8.82662975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050385722999998 meters 0.021535925383426982 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.17, Z:-0.89 [[ 9.99110741e-01 1.00926904e-02 4.09373339e-02 1.82381046e+01] [-1.00363535e-02 9.99948384e-01 -1.58146302e-03 -1.74710886e-01] [-4.09511821e-02 1.16919513e-03 9.99160464e-01 -8.85782983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080385723 meters 0.020769933761803163 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.17, Z:-0.89 [[ 9.99087707e-01 1.15988017e-02 4.11001402e-02 1.82700905e+01] [-1.15431658e-02 9.99932110e-01 -1.59072822e-03 -1.73135561e-01] [-4.11158004e-02 1.11485128e-03 9.99153766e-01 -8.86438031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110385722999997 meters 0.02100369783647544 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.17, Z:-0.89 [[ 9.99077461e-01 1.33525212e-02 4.08158998e-02 1.83014766e+01] [-1.32987107e-02 9.99910305e-01 -1.58961129e-03 -1.72470517e-01] [-4.08334641e-02 1.04534597e-03 9.99165419e-01 -8.87686246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140385722999998 meters 0.019412568495303678 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.16, Z:-0.89 [[ 9.99120404e-01 1.89128490e-02 3.74262259e-02 1.83334047e+01] [-1.88711744e-02 9.99820848e-01 -1.46649489e-03 -1.63368602e-01] [-3.74472565e-02 7.58928134e-04 9.99298317e-01 -8.88300356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170385723 meters 0.018803327961761224 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.16, Z:-0.89 [[ 9.99035034e-01 2.52939763e-02 3.59056552e-02 1.83637231e+01] [-2.52596910e-02 9.99679931e-01 -1.40825499e-03 -1.57091539e-01] [-3.59297833e-02 4.99930318e-04 9.99354192e-01 -8.90284362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200385722999997 meters 0.018146463961650417 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.15, Z:-0.89 [[ 9.98951800e-01 2.85566315e-02 3.57745623e-02 1.83965710e+01] [-2.85246873e-02 9.99592104e-01 -1.40310832e-03 -1.53803021e-01] [-3.58000380e-02 3.81179379e-04 9.99358900e-01 -8.91027995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230385722999998 meters 0.017907436228266706 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.15, Z:-0.89 [[ 9.98728110e-01 3.45727859e-02 3.66999305e-02 1.84283096e+01] [-3.45431471e-02 9.99402168e-01 -1.44156101e-03 -1.49595599e-01] [-3.67278289e-02 1.71996402e-04 9.99325291e-01 -8.92360627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260385723 meters 0.017703915866421973 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.15, Z:-0.89 [[ 9.98541644e-01 3.77237502e-02 3.86199841e-02 1.84600925e+01] [-3.76928887e-02 9.99288204e-01 -1.52717398e-03 -1.47751000e-01] [-3.86501052e-02 6.92480571e-05 9.99252803e-01 -8.92155832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290385722999996 meters 0.01773149116537536 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.15, Z:-0.89 [[ 9.98275949e-01 4.15917901e-02 4.14155970e-02 1.84905703e+01] [-4.15595686e-02 9.99134684e-01 -1.63904827e-03 -1.46517991e-01] [-4.14479304e-02 -8.49918797e-05 9.99140662e-01 -8.92356436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320385722999998 meters 0.017726866834592323 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.15, Z:-0.89 [[ 9.98221968e-01 4.24271326e-02 4.18669398e-02 1.85205984e+01] [-4.23947724e-02 9.99099557e-01 -1.66088527e-03 -1.47182880e-01] [-4.18997076e-02 -1.17007223e-04 9.99121815e-01 -8.92685613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350385723 meters 0.017806021088792656 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.14, Z:-0.89 [[ 9.98144420e-01 4.42915120e-02 4.17849207e-02 1.85500776e+01] [-4.42609093e-02 9.99018630e-01 -1.65768149e-03 -1.44579013e-01] [-4.18173355e-02 -1.94833053e-04 9.99125254e-01 -8.90872920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380385723 meters 0.017881010715735078 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.15, Z:-0.89 [[ 9.98179658e-01 4.38091691e-02 4.14502875e-02 1.85793634e+01] [-4.37786655e-02 9.99039902e-01 -1.64376588e-03 -1.46102203e-01] [-4.14825032e-02 -1.73864613e-04 9.99139215e-01 -8.92052380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410385722999997 meters 0.017971217197811085 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.15, Z:-0.90 [[ 9.98256316e-01 4.43666933e-02 3.89348628e-02 1.86082551e+01] [-4.43402482e-02 9.99015296e-01 -1.54289493e-03 -1.49006242e-01] [-3.89649766e-02 -1.86176871e-04 9.99240560e-01 -8.96344190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440385723 meters 0.0180722856651192 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.15, Z:-0.90 [[ 9.98283989e-01 4.48842164e-02 3.76096266e-02 1.86373131e+01] [-4.48599719e-02 9.98992175e-01 -1.48869553e-03 -1.51080665e-01] [-3.76385416e-02 -2.01025878e-04 9.99291399e-01 -8.98661350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470385723 meters 0.018180907415857886 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.15, Z:-0.90 [[ 9.98232278e-01 4.60578796e-02 3.75631500e-02 1.86665407e+01] [-4.60346223e-02 9.98938742e-01 -1.48428521e-03 -1.52219896e-01] [-3.75916488e-02 -2.47544015e-04 9.99293154e-01 -8.99767822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500385722999997 meters 0.018474922268471937 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.15, Z:-0.90 [[ 9.98174597e-01 4.73426345e-02 3.74986430e-02 1.86954913e+01] [-4.73204590e-02 9.98878664e-01 -1.47918501e-03 -1.52575755e-01] [-3.75266229e-02 -2.97968091e-04 9.99295584e-01 -8.99709152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530385723 meters 0.01877538026074807 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.15, Z:-0.90 [[ 9.98061880e-01 4.91812396e-02 3.81272766e-02 1.87235075e+01] [-4.91597526e-02 9.98789800e-01 -1.50142821e-03 -1.52275235e-01] [-3.81549771e-02 -3.75809226e-04 9.99271763e-01 -9.00286101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560385723 meters 0.019511811849140005 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.15, Z:-0.90 [[ 9.97813565e-01 5.38169887e-02 3.83643337e-02 1.87516068e+01] [-5.37987837e-02 9.98550659e-01 -1.50747781e-03 -1.52222034e-01] [-3.83898586e-02 -5.59772688e-04 9.99262681e-01 -9.01086818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590385722999997 meters 0.020182549138887798 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.15, Z:-0.90 [[ 9.97546822e-01 5.89685257e-02 3.77233360e-02 1.87806614e+01] [-5.89547299e-02 9.98259562e-01 -1.47895529e-03 -1.53683398e-01] [-3.77448927e-02 -7.48641940e-04 9.99287127e-01 -9.04005555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620385723 meters 0.021293399151182654 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.15, Z:-0.91 [[ 9.97435880e-01 6.11939801e-02 3.71074510e-02 1.88081592e+01] [-6.11822295e-02 9.98125555e-01 -1.45319864e-03 -1.51638083e-01] [-3.71268221e-02 -8.20844115e-04 9.99310225e-01 -9.05273888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650385723 meters 0.022244446043471793 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.15, Z:-0.90 [[ 9.97252257e-01 6.36594524e-02 3.78867945e-02 1.88358653e+01] [-6.36491065e-02 9.97971242e-01 -1.48039969e-03 -1.49704832e-01] [-3.79041728e-02 -9.35128685e-04 9.99280941e-01 -9.04272789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680385722999997 meters 0.022608396070150766 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.15, Z:-0.90 [[ 9.97194676e-01 6.40612995e-02 3.87159866e-02 1.88638861e+01] [-6.40509246e-02 9.97945490e-01 -1.50955556e-03 -1.50899248e-01] [-3.87331483e-02 -9.74473971e-04 9.99249115e-01 -9.04306416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710385722999998 meters 0.02262913896324618 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.16, Z:-0.90 [[ 9.97146242e-01 6.33416462e-02 4.10756333e-02 1.88918156e+01] [-6.33295000e-02 9.97991393e-01 -1.59814461e-03 -1.56273403e-01] [-4.10943576e-02 -1.00771543e-03 9.99154762e-01 -9.04203368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740385723 meters 0.021525755229898316 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.17, Z:-0.91 [[ 9.97258063e-01 6.06503259e-02 4.24015724e-02 1.89199370e+01] [-6.06351698e-02 9.98158640e-01 -1.64462766e-03 -1.65212208e-01] [-4.24232430e-02 -9.30908349e-04 9.99099295e-01 -9.05217016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770385722999997 meters 0.020622998275094905 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.17, Z:-0.91 [[ 9.97408564e-01 5.85580199e-02 4.17984926e-02 1.89490045e+01] [-5.85415624e-02 9.98283660e-01 -1.61868649e-03 -1.70547711e-01] [-4.18215393e-02 -8.32457302e-04 9.99124750e-01 -9.07024387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800385722999998 meters 0.020012170027529197 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.18, Z:-0.91 [[ 9.97787885e-01 5.30668391e-02 4.00405726e-02 1.89768881e+01] [-5.30475032e-02 9.98590793e-01 -1.54595670e-03 -1.76385595e-01] [-4.00661862e-02 -5.81515541e-04 9.99196859e-01 -9.09113532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830385723 meters 0.01969881685065905 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.18, Z:-0.91 [[ 9.97938446e-01 5.04733098e-02 3.96396592e-02 1.90055374e+01] [-5.04524198e-02 9.98725297e-01 -1.52781256e-03 -1.80968560e-01] [-3.96662441e-02 -4.75253832e-04 9.99212872e-01 -9.10525506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860385722999997 meters 0.01930887723450984 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.19, Z:-0.91 [[ 9.98149146e-01 4.60801646e-02 3.96850205e-02 1.90327286e+01] [-4.60558609e-02 9.98937699e-01 -1.52690804e-03 -1.88856493e-01] [-3.97132232e-02 -3.03645833e-04 9.99211073e-01 -9.11979017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890385722999998 meters 0.019210410980622553 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.19, Z:-0.91 [[ 9.98251250e-01 4.39190021e-02 3.95671987e-02 1.90623879e+01] [-4.38932895e-02 9.99035071e-01 -1.51874046e-03 -1.93620387e-01] [-3.95957207e-02 -2.20649942e-04 9.99215758e-01 -9.13590837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920385723 meters 0.018979941852284653 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.20, Z:-0.92 [[ 9.98541039e-01 3.86212731e-02 3.77384614e-02 1.90911526e+01] [-3.85941504e-02 9.99253920e-01 -1.44721259e-03 -1.99974711e-01] [-3.77661987e-02 -1.13826932e-05 9.99286603e-01 -9.15464768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950385722999997 meters 0.018992885708503583 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.20, Z:-0.92 [[ 9.98717533e-01 3.54686053e-02 3.61284798e-02 1.91210917e+01] [-3.54417171e-02 9.99370786e-01 -1.38460371e-03 -2.03125557e-01] [-3.61548572e-02 1.02372642e-04 9.99346194e-01 -9.17029840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980385722999998 meters 0.019192013532870443 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.21, Z:-0.92 [[ 9.98887949e-01 3.00351178e-02 3.63422230e-02 1.91523666e+01] [-3.00042978e-02 9.99548799e-01 -1.39326741e-03 -2.08546537e-01] [-3.63676723e-02 3.01295145e-04 9.99338432e-01 -9.17699337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010385723 meters 0.019454784426529925 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.21, Z:-0.92 [[ 9.98843834e-01 2.87771634e-02 3.85080626e-02 1.91845960e+01] [-2.87416228e-02 9.99585784e-01 -1.47633136e-03 -2.12830199e-01] [-3.85345966e-02 3.67840268e-04 9.99257199e-01 -9.18297371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040385722999996 meters 0.019393075933242084 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.22, Z:-0.92 [[ 9.98669360e-01 2.89239842e-02 4.26955789e-02 1.92172155e+01] [-2.88799128e-02 9.99581528e-01 -1.64879580e-03 -2.17441649e-01] [-4.27254017e-02 4.13557250e-04 9.99086768e-01 -9.17652667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070385722999998 meters 0.0193085570174047 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.22, Z:-0.92 [[ 9.98640800e-01 2.95602973e-02 4.29271671e-02 1.92500980e+01] [-2.95158878e-02 9.99562919e-01 -1.66811087e-03 -2.19432112e-01] [-4.29577144e-02 3.98810129e-04 9.99076812e-01 -9.18989748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100385723 meters 0.019256867860019494 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.22, Z:-0.92 [[ 9.98706043e-01 3.10934323e-02 4.02422381e-02 1.92821940e+01] [-3.10552317e-02 9.99516430e-01 -1.57418774e-03 -2.16761662e-01] [-4.02717251e-02 3.22418774e-04 9.99188713e-01 -9.19928117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130385722999996 meters 0.01922799297599674 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.22, Z:-0.92 [[ 9.98697656e-01 3.20800550e-02 3.96719294e-02 1.93155051e+01] [-3.20433120e-02 9.99485261e-01 -1.56184832e-03 -2.15233569e-01] [-3.97016129e-02 2.88594244e-04 9.99211538e-01 -9.20285434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160385722999997 meters 0.019088192380092708 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.22, Z:-0.92 [[ 9.98570758e-01 3.40641347e-02 4.11834318e-02 1.93472806e+01] [-3.40257385e-02 9.99419623e-01 -1.63311074e-03 -2.15657454e-01] [-4.12151603e-02 2.29479946e-04 9.99150268e-01 -9.20946204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190385723 meters 0.018977613723536537 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.22, Z:-0.92 [[ 9.98494649e-01 3.51405738e-02 4.21138367e-02 1.93806783e+01] [-3.51009554e-02 9.99382359e-01 -1.68005125e-03 -2.18887194e-01] [-4.21468635e-02 1.99286280e-04 9.99111406e-01 -9.23279474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220385723 meters 0.01898664364463678 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.22, Z:-0.93 [[ 9.98426402e-01 3.67701530e-02 4.23400087e-02 1.94137327e+01] [-3.67310874e-02 9.99323739e-01 -1.70050566e-03 -2.23118396e-01] [-4.23739037e-02 1.42635189e-04 9.99101813e-01 -9.27014482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250385722999997 meters 0.018956476490464093 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.22, Z:-0.93 [[ 9.98434997e-01 3.76247958e-02 4.13755044e-02 1.94465548e+01] [-3.75877645e-02 9.99291930e-01 -1.67285520e-03 -2.23301818e-01] [-4.14091485e-02 1.15024460e-04 9.99142267e-01 -9.28065476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280385723 meters 0.01895622919336422 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.22, Z:-0.93 [[ 9.98434125e-01 3.92273285e-02 3.98812621e-02 1.94788622e+01] [-3.91937624e-02 9.99230310e-01 -1.62346378e-03 -2.18748495e-01] [-3.99142500e-02 5.78249305e-05 9.99203107e-01 -9.27819092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310385723 meters 0.018926975526381964 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.22, Z:-0.93 [[ 9.98425187e-01 3.97313573e-02 3.96051217e-02 1.95104520e+01] [-3.96981889e-02 9.99210397e-01 -1.62387108e-03 -2.17774786e-01] [-3.96383680e-02 4.90621804e-05 9.99214090e-01 -9.28666680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340385722999997 meters 0.018923628068201956 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.22, Z:-0.93 [[ 9.98374089e-01 4.10703242e-02 3.95272889e-02 1.95418756e+01] [-4.10382807e-02 9.99156258e-01 -1.62205398e-03 -2.20668478e-01] [-3.95605564e-02 -2.71530849e-06 9.99217175e-01 -9.31981298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370385723 meters 0.018923105552399448 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.22, Z:-0.93 [[ 9.98204120e-01 4.37168622e-02 4.09557269e-02 1.95716016e+01] [-4.36846328e-02 9.99043955e-01 -1.68197405e-03 -2.23614918e-01] [-4.09901020e-02 -1.10182464e-04 9.99159547e-01 -9.34363973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400385723 meters 0.019085589082261926 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.22, Z:-0.93 [[ 9.98102348e-01 4.47166545e-02 4.23334774e-02 1.96017647e+01] [-4.46829596e-02 9.98999698e-01 -1.74229484e-03 -2.23921819e-01] [-4.23690407e-02 -1.52596491e-04 9.99102017e-01 -9.34250645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430385722999997 meters 0.019054794836422667 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.22, Z:-0.93 [[ 9.98014621e-01 4.47830540e-02 4.42865039e-02 1.96319058e+01] [-4.47462422e-02 9.98996723e-01 -1.82268213e-03 -2.22138309e-01] [-4.43236975e-02 -1.62591210e-04 9.99017209e-01 -9.32193999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460385722999998 meters 0.019088285673313405 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.22, Z:-0.93 [[ 9.98031163e-01 4.41454247e-02 4.45531037e-02 1.96625873e+01] [-4.41075675e-02 9.99025106e-01 -1.83288607e-03 -2.22683665e-01] [-4.45905827e-02 -1.35851610e-04 9.99005336e-01 -9.32768164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490385723 meters 0.019008629490390977 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.23, Z:-0.94 [[ 9.98127180e-01 4.21146687e-02 4.43676360e-02 1.96940988e+01] [-4.20751213e-02 9.99112783e-01 -1.82524338e-03 -2.27270651e-01] [-4.44051418e-02 -4.49486393e-05 9.99013604e-01 -9.35481643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520385722999997 meters 0.0190081323787867 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.23, Z:-0.94 [[ 9.98179517e-01 4.10223549e-02 4.42133263e-02 1.97259098e+01] [-4.09819491e-02 9.99158229e-01 -1.82029512e-03 -2.31804452e-01] [-4.42507816e-02 5.03301303e-06 9.99020454e-01 -9.38134323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550385722999998 meters 0.019075439832060982 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.24, Z:-0.94 [[ 9.98299727e-01 3.89418814e-02 4.33726200e-02 1.97580689e+01] [-3.89005839e-02 9.99241472e-01 -1.79607722e-03 -2.35696935e-01] [-4.34096633e-02 1.05803154e-04 9.99057351e-01 -9.40735419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580385723 meters 0.019090494352584624 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.24, Z:-0.94 [[ 9.98316118e-01 3.82063863e-02 4.36486135e-02 1.97907930e+01] [-3.81633583e-02 9.99269858e-01 -1.81894698e-03 -2.35530596e-01] [-4.36862392e-02 1.50106406e-04 9.99045289e-01 -9.41344083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610385722999997 meters 0.019133346576822176 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.24, Z:-0.94 [[ 9.98316690e-01 3.66853562e-02 4.49218322e-02 1.98231886e+01] [-3.66376685e-02 9.99326838e-01 -1.88472045e-03 -2.35899591e-01] [-4.49607341e-02 2.35716685e-04 9.98988727e-01 -9.42088992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640385722999998 meters 0.019207505773579374 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.24, Z:-0.94 [[ 9.98253397e-01 3.63754753e-02 4.65508398e-02 1.98565239e+01] [-3.63233490e-02 9.99338157e-01 -1.96546345e-03 -2.39388001e-01] [-4.65915251e-02 2.71148167e-04 9.98913988e-01 -9.44925324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670385723 meters 0.019317416087748892 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.24, Z:-0.95 [[ 9.98354777e-01 3.43871651e-02 4.58831379e-02 1.98886477e+01] [-3.43338403e-02 9.99408518e-01 -1.95000348e-03 -2.44851227e-01] [-4.59230539e-02 3.71450960e-04 9.98944911e-01 -9.47478194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700385722999997 meters 0.01943814303243342 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.25, Z:-0.95 [[ 9.98391904e-01 3.30696328e-02 4.60435120e-02 1.99210118e+01] [-3.30140104e-02 9.99452951e-01 -1.96816783e-03 -2.46365271e-01] [-4.60834105e-02 4.44921847e-04 9.98937496e-01 -9.48025778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730385722999998 meters 0.019720691387899364 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.25, Z:-0.95 [[ 9.98430478e-01 3.01575925e-02 4.71921612e-02 1.99538921e+01] [-3.00953505e-02 9.99544973e-01 -2.02904153e-03 -2.45805930e-01] [-4.72318785e-02 6.05592271e-04 9.98883768e-01 -9.45761449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760385723 meters 0.019720691387899364 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.25, Z:-0.95 [[ 9.98422056e-01 3.04359286e-02 4.71916620e-02 1.99864610e+01] [-3.03734516e-02 9.99536537e-01 -2.04058807e-03 -2.47270360e-01] [-4.72318976e-02 6.03994472e-04 9.98883769e-01 -9.47218240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790385722999996 meters 0.02003621863759621 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.25, Z:-0.95 [[ 9.98489104e-01 2.69497962e-02 4.78875464e-02 2.00183698e+01] [-2.68808096e-02 9.99636473e-01 -2.08412755e-03 -2.49667699e-01] [-4.79263048e-02 7.93722633e-04 9.98850559e-01 -9.49371454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820385722999998 meters 0.020346696930291994 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.25, Z:-0.95 [[ 9.98541660e-01 2.56097271e-02 4.75257309e-02 2.00495863e+01] [-2.55397216e-02 9.99671645e-01 -2.07975807e-03 -2.53877589e-01] [-4.75633876e-02 8.62931140e-04 9.98867849e-01 -9.53431636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850385723 meters 0.020683866287932326 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.26, Z:-0.96 [[ 9.98582272e-01 2.52139869e-02 4.68796515e-02 2.00812064e+01] [-2.51451328e-02 9.99681693e-01 -2.05797702e-03 -2.58305485e-01] [-4.69166192e-02 8.76264304e-04 9.98898425e-01 -9.56480216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880385722999996 meters 0.02072067804876979 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.26, Z:-0.96 [[ 9.98598754e-01 2.37192389e-02 4.73067218e-02 2.01135984e+01] [-2.36468619e-02 9.99718191e-01 -2.08908545e-03 -2.59411238e-01] [-4.73429418e-02 9.67502609e-04 9.98878226e-01 -9.58151267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910385722999997 meters 0.020850245556443683 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.26, Z:-0.96 [[ 9.98682256e-01 2.26847801e-02 4.60342596e-02 2.01456705e+01] [-2.26146489e-02 9.99742167e-01 -2.04375267e-03 -2.56824935e-01] [-4.60687526e-02 1.00001091e-03 9.98937771e-01 -9.57949308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940385723 meters 0.021066923331751246 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.26, Z:-0.96 [[ 9.98731198e-01 2.26740175e-02 4.49653545e-02 2.01776705e+01] [-2.26066133e-02 9.99742423e-01 -2.00704060e-03 -2.56726617e-01] [-4.49992801e-02 9.87979679e-04 9.98986531e-01 -9.58739697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970385723 meters 0.02071874177360681 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.26, Z:-0.96 [[ 9.98713635e-01 2.35593411e-02 4.49002534e-02 2.02100695e+01] [-2.34924979e-02 9.99721981e-01 -2.01587060e-03 -2.55418956e-01] [-4.49352629e-02 9.58458343e-04 9.98989441e-01 -9.61203972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000385722999997 meters 0.020841137159427075 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.26, Z:-0.96 [[ 9.98677255e-01 2.44604757e-02 4.52263780e-02 2.02411952e+01] [-2.43930771e-02 9.99700360e-01 -2.04162038e-03 -2.56583889e-01] [-4.52627654e-02 9.35709317e-04 9.98974678e-01 -9.63883339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030385723 meters 0.020577596036288105 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.25, Z:-0.97 [[ 9.98539378e-01 2.72431488e-02 4.66574854e-02 2.02721620e+01] [-2.71739426e-02 9.99628478e-01 -2.11703645e-03 -2.54949582e-01] [-4.66978259e-02 8.46076433e-04 9.98908703e-01 -9.65915703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060385723 meters 0.020122183610111224 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.25, Z:-0.97 [[ 9.98398708e-01 3.05084360e-02 4.76366994e-02 2.03050695e+01] [-3.04395099e-02 9.99534251e-01 -2.17184224e-03 -2.50846465e-01] [-4.76807722e-02 7.18326704e-04 9.98862367e-01 -9.66419346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090385722999997 meters 0.019756954452756194 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.25, Z:-0.97 [[ 9.98352178e-01 3.27339581e-02 4.71319156e-02 2.03371805e+01] [-3.26687601e-02 9.99463914e-01 -2.15315041e-03 -2.48406670e-01] [-4.71771299e-02 6.09861162e-04 9.98886353e-01 -9.67540167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120385723 meters 0.019400828935118516 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.24, Z:-0.97 [[ 9.98317624e-01 3.70233585e-02 4.46227778e-02 2.03687578e+01] [-3.69687509e-02 9.99314322e-01 -2.04865706e-03 -2.44214294e-01] [-4.46680292e-02 3.95562086e-04 9.99001807e-01 -9.71099605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150385723 meters 0.019120382674110464 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.24, Z:-0.97 [[ 9.98285087e-01 3.91080290e-02 4.35597063e-02 2.04006477e+01] [-3.90575681e-02 9.99234942e-01 -2.00922719e-03 -2.42515937e-01] [-4.36049576e-02 3.04445345e-04 9.99048805e-01 -9.73400700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180385722999997 meters 0.01907775694264634 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.24, Z:-0.97 [[ 9.98056031e-01 4.34435413e-02 4.46857654e-02 2.04336458e+01] [-4.33942810e-02 9.99055875e-01 -2.07227838e-03 -2.37326065e-01] [-4.47336036e-02 1.29143273e-04 9.98998943e-01 -9.72660487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210385722999998 meters 0.01912951464042709 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.24, Z:-0.97 [[ 9.97906371e-01 4.57397685e-02 4.57247021e-02 2.04646436e+01] [-4.56900892e-02 9.98953388e-01 -2.13157327e-03 -2.35835602e-01] [-4.57743438e-02 3.79448292e-05 9.98951805e-01 -9.72612007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240385723 meters 0.019274622666285643 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.23, Z:-0.97 [[ 9.97624935e-01 5.05164208e-02 4.68250053e-02 2.04946517e+01] [-5.04695766e-02 9.98723213e-01 -2.18289438e-03 -2.32757234e-01] [-4.68754918e-02 -1.85528327e-04 9.98900723e-01 -9.74765644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270385722999997 meters 0.01939125860247907 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.23, Z:-0.98 [[ 9.97509895e-01 5.28954394e-02 4.66484843e-02 2.05236462e+01] [-5.28515238e-02 9.98600013e-01 -2.17517255e-03 -2.31493917e-01] [-4.66982337e-02 -2.95687333e-04 9.98908999e-01 -9.76845542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300385722999998 meters 0.019823781707470685 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.23, Z:-0.98 [[ 9.97298862e-01 5.62772670e-02 4.72000885e-02 2.05520174e+01] [-5.62361902e-02 9.98415072e-01 -2.19879054e-03 -2.28222553e-01] [-4.72490217e-02 -4.61501846e-04 9.98883035e-01 -9.78896705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330385723 meters 0.019959241587249828 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.23, Z:-0.98 [[ 9.97207408e-01 5.76985458e-02 4.74158618e-02 2.05809609e+01] [-5.76588871e-02 9.98333908e-01 -2.20485919e-03 -2.27435664e-01] [-4.74640797e-02 -5.35243901e-04 9.98872802e-01 -9.80153031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360385722999997 meters 0.02000951464999821 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.23, Z:-0.98 [[ 9.97178615e-01 5.82484162e-02 4.73490445e-02 2.06102552e+01] [-5.82096405e-02 9.98301960e-01 -2.19855413e-03 -2.26685746e-01] [-4.73967063e-02 -5.63819690e-04 9.98875985e-01 -9.79977440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390385722999998 meters 0.020086605553926305 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.23, Z:-0.98 [[ 9.97265470e-01 5.74221931e-02 4.65217570e-02 2.06379254e+01] [-5.73840106e-02 9.98349850e-01 -2.15695935e-03 -2.27174237e-01] [-4.65688464e-02 -5.18543916e-04 9.98914948e-01 -9.81664021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420385723 meters 0.019786044987663984 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.23, Z:-0.99 [[ 9.97427630e-01 5.57919018e-02 4.50042898e-02 2.06660358e+01] [-5.57546796e-02 9.98442325e-01 -2.08287353e-03 -2.32766035e-01] [-4.50503953e-02 -4.31684150e-04 9.98984622e-01 -9.86646751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450385722999997 meters 0.019724225697325414 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.24, Z:-0.99 [[ 9.97474534e-01 5.52196489e-02 4.46692693e-02 2.06947938e+01] [-5.51825437e-02 9.98474149e-01 -2.06428011e-03 -2.35198572e-01] [-4.47150994e-02 -4.05897060e-04 9.98999697e-01 -9.88462054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480385722999998 meters 0.01969086765911959 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.23, Z:-0.99 [[ 9.97537009e-01 5.40610246e-02 4.46913948e-02 2.07228874e+01] [-5.40228583e-02 9.98537570e-01 -2.06222156e-03 -2.34047330e-01] [-4.47375226e-02 -3.57214559e-04 9.98998712e-01 -9.87706783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510385723 meters 0.019695500598426206 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.23, Z:-0.99 [[ 9.97586865e-01 5.34468168e-02 4.43157365e-02 2.07518538e+01] [-5.34088513e-02 9.98570643e-01 -2.04111751e-03 -2.34549720e-01] [-4.43614848e-02 -3.30660567e-04 9.99015490e-01 -9.88883382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540385722999996 meters 0.01957162177101035 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.24, Z:-0.99 [[ 9.97531087e-01 5.30641636e-02 4.59991880e-02 2.07800455e+01] [-5.30230003e-02 9.98591051e-01 -2.11542420e-03 -2.39316993e-01] [-4.60466307e-02 -3.28813554e-04 9.98939237e-01 -9.91740831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570385722999998 meters 0.019450747095447113 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.24, Z:-0.99 [[ 9.97519057e-01 5.22917823e-02 4.71306662e-02 2.08087113e+01] [-5.22478605e-02 9.98631803e-01 -2.16420042e-03 -2.43515759e-01] [-4.71793521e-02 -3.03645314e-04 9.98886388e-01 -9.93307566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600385723 meters 0.01931773640564488 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.25, Z:-0.99 [[ 9.97650904e-01 4.92783133e-02 4.75848976e-02 2.08368487e+01] [-4.92302657e-02 9.98785072e-01 -2.18188166e-03 -2.47493238e-01] [-4.76346048e-02 -1.65860943e-04 9.98864814e-01 -9.93718015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630385722999996 meters 0.019189974616187974 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.25, Z:-0.99 [[ 9.97799407e-01 4.71347698e-02 4.66332265e-02 2.08675029e+01] [-4.70863551e-02 9.98888537e-01 -2.13676062e-03 -2.48927220e-01] [-4.66821111e-02 -6.37301844e-05 9.98909794e-01 -9.94777994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660385722999997 meters 0.019164492070969378 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.25, Z:-1.00 [[ 9.98042934e-01 4.32608134e-02 4.51531218e-02 2.08966238e+01] [-4.32114611e-02 9.99063806e-01 -2.06894803e-03 -2.50923496e-01] [-4.52003542e-02 1.13766587e-04 9.98977935e-01 -9.95857292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690385723 meters 0.019193562588241866 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.25, Z:-1.00 [[ 9.98048862e-01 4.16142208e-02 4.65480984e-02 2.09273377e+01] [-4.15599466e-02 9.99133734e-01 -2.13358636e-03 -2.53045146e-01] [-4.65965629e-02 1.94886955e-04 9.98913771e-01 -9.95856576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720385723 meters 0.019260380062423702 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.26, Z:-1.00 [[ 9.97974655e-01 4.19001046e-02 4.78640658e-02 2.09591808e+01] [-4.18430095e-02 9.99121787e-01 -2.19463984e-03 -2.56351831e-01] [-4.79139866e-02 1.87418380e-04 9.98851448e-01 -9.98334147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750385722999997 meters 0.019191640240647234 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.26, Z:-1.00 [[ 9.97942147e-01 4.22119491e-02 4.82661545e-02 2.09910999e+01] [-4.21537148e-02 9.99108661e-01 -2.22423375e-03 -2.61863769e-01] [-4.83170223e-02 1.85058897e-04 9.98832033e-01 -1.00220464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780385723 meters 0.019310826321811064 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.26, Z:-1.00 [[ 9.97911709e-01 4.28343027e-02 4.83471154e-02 2.10236236e+01] [-4.27761965e-02 9.99082177e-01 -2.23634874e-03 -2.62207190e-01] [-4.83985337e-02 1.63572884e-04 9.98828091e-01 -1.00215951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810385723 meters 0.019133752722880277 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.26, Z:-1.00 [[ 9.97833901e-01 4.48857689e-02 4.80913118e-02 2.10566409e+01] [-4.48300985e-02 9.98992123e-01 -2.23611247e-03 -2.56595120e-01] [-4.81432113e-02 7.53305831e-05 9.98840440e-01 -1.00044328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840385722999997 meters 0.01907121991513956 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.26, Z:-1.00 [[ 9.97779013e-01 4.60498939e-02 4.81294879e-02 2.10879021e+01] [-4.59949650e-02 9.98939140e-01 -2.24874007e-03 -2.56516367e-01] [-4.81819836e-02 3.00315379e-05 9.98838573e-01 -1.00210134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870385723 meters 0.019136975405298462 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.26, Z:-1.01 [[ 9.97655853e-01 4.83358612e-02 4.84400942e-02 2.11185531e+01] [-4.82828224e-02 9.98831136e-01 -2.26512294e-03 -2.59069930e-01] [-4.84929610e-02 -7.90113093e-05 9.98823521e-01 -1.00537223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900385723 meters 0.019190218858076712 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.26, Z:-1.01 [[ 9.97548058e-01 5.00865016e-02 4.88795887e-02 2.11484162e+01] [-5.00344244e-02 9.98744870e-01 -2.28916841e-03 -2.60676504e-01] [-4.89328950e-02 -1.62106583e-04 9.98802055e-01 -1.00826002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930385722999997 meters 0.019408739872320054 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.26, Z:-1.01 [[ 9.97359452e-01 5.41424819e-02 4.84015988e-02 2.11768732e+01] [-5.40962744e-02 9.98533155e-01 -2.26506381e-03 -2.56579157e-01] [-4.84532373e-02 -3.59263368e-04 9.98825388e-01 -1.00821128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960385722999998 meters 0.019794640710165876 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.25, Z:-1.01 [[ 9.97160499e-01 5.80768496e-02 4.79376581e-02 2.12061850e+01] [-5.80361861e-02 9.98311965e-01 -2.24085937e-03 -2.50449825e-01] [-4.79868797e-02 -5.47622400e-04 9.98847816e-01 -1.00778663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990385723 meters 0.019949214409542348 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.25, Z:-1.01 [[ 9.97114095e-01 5.92715959e-02 4.74379537e-02 2.12345071e+01] [-5.92332774e-02 9.98241712e-01 -2.21433481e-03 -2.51012247e-01] [-4.74857913e-02 -6.01961020e-04 9.98871732e-01 -1.01114855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020385722999997 meters 0.019832598107119726 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.25, Z:-1.02 [[ 9.97092393e-01 6.01500694e-02 4.67838613e-02 2.12629934e+01] [-6.01139128e-02 9.98189141e-01 -2.18068721e-03 -2.54123580e-01] [-4.68303108e-02 -6.38014327e-04 9.98902655e-01 -1.01595714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050385722999998 meters 0.02002542262776464 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.26, Z:-1.02 [[ 9.97118287e-01 6.03932712e-02 4.59105031e-02 2.12908420e+01] [-6.03588510e-02 9.98174455e-01 -2.13690601e-03 -2.59327457e-01] [-4.59557462e-02 -6.40357162e-04 9.98943271e-01 -1.02179683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080385723 meters 0.020105222279887383 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.26, Z:-1.02 [[ 9.97169797e-01 5.96303787e-02 4.57887917e-02 2.13190959e+01] [-5.95955130e-02 9.98220341e-01 -2.12740706e-03 -2.59868091e-01] [-4.58341613e-02 -6.07420460e-04 9.98948878e-01 -1.02199340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110385722999997 meters 0.019727386278876054 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.26, Z:-1.02 [[ 9.97269503e-01 5.78670641e-02 4.58796365e-02 2.13478215e+01] [-5.78303708e-02 9.98324156e-01 -2.12780316e-03 -2.58662561e-01] [-4.59258792e-02 -5.31243191e-04 9.98944709e-01 -1.02012601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140385722999998 meters 0.01956240210307347 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.26, Z:-1.02 [[ 9.97336718e-01 5.69114285e-02 4.56131601e-02 2.13766181e+01] [-5.68742991e-02 9.98379112e-01 -2.11243099e-03 -2.59299230e-01] [-4.56594477e-02 -4.87411520e-04 9.98956945e-01 -1.02064832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170385723 meters 0.01936619788500445 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.26, Z:-1.02 [[ 9.97390375e-01 5.48998216e-02 4.68876332e-02 2.14039473e+01] [-5.48585175e-02 9.98491784e-01 -2.16823680e-03 -2.63645726e-01] [-4.69359523e-02 -4.09607532e-04 9.98897817e-01 -1.02213227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200385722999997 meters 0.018933357916777218 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.27, Z:-1.03 [[ 9.97615465e-01 5.06239301e-02 4.69105758e-02 2.14322629e+01] [-5.05780384e-02 9.98717764e-01 -2.16550312e-03 -2.70905945e-01] [-4.69600517e-02 -2.12305508e-04 9.98896746e-01 -1.02545861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230385722999998 meters 0.018717863527917118 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.28, Z:-1.03 [[ 9.97830372e-01 4.75493871e-02 4.55368437e-02 2.14616916e+01] [-4.75030737e-02 9.98868886e-01 -2.09925708e-03 -2.75107341e-01] [-4.55851547e-02 -6.84375666e-05 9.98960454e-01 -1.02774870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260385723 meters 0.018830049865456437 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.28, Z:-1.03 [[ 9.98105646e-01 4.10361293e-02 4.58383558e-02 2.14921677e+01] [-4.09824050e-02 9.99157637e-01 -2.11159802e-03 -2.79721513e-01] [-4.58863951e-02 2.29031842e-04 9.98946638e-01 -1.03097359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290385722999996 meters 0.01924442070201312 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.28, Z:-1.03 [[ 9.98191122e-01 3.81372623e-02 4.64761538e-02 2.15234554e+01] [-3.80788726e-02 9.99272442e-01 -2.14137042e-03 -2.84217735e-01] [-4.65240057e-02 3.67737402e-04 9.98917104e-01 -1.03153314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320385722999998 meters 0.019805532872453235 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.29, Z:-1.03 [[ 9.98274273e-01 3.20707434e-02 4.91929223e-02 2.15554346e+01] [-3.19974229e-02 9.99485357e-01 -2.27744795e-03 -2.87629005e-01] [-4.92406449e-02 6.99470962e-04 9.98786699e-01 -1.03031033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350385723 meters 0.022202559975881095 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.29, Z:-1.03 [[ 9.98324296e-01 2.68180216e-02 5.12776071e-02 2.15858837e+01] [-2.67312510e-02 9.99639829e-01 -2.37735892e-03 -2.94058073e-01] [-5.13228945e-02 1.00266059e-03 9.98681609e-01 -1.02670358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380385722999996 meters 0.023083713475625343 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.30, Z:-1.03 [[ 9.98385681e-01 2.44586490e-02 5.12621405e-02 2.16180071e+01] [-2.43686727e-02 9.99700208e-01 -2.37958504e-03 -2.97322557e-01] [-5.13049739e-02 1.12655331e-03 9.98682397e-01 -1.02765662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410385722999997 meters 0.024285287266251288 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.30, Z:-1.03 [[ 9.98491386e-01 2.17560635e-02 5.04145303e-02 2.16503912e+01] [-2.16650948e-02 9.99762522e-01 -2.35024209e-03 -3.01083989e-01] [-5.04536900e-02 1.25446090e-03 9.98725614e-01 -1.02949511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440385723 meters 0.02344679874834457 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.30, Z:-1.04 [[ 9.98762868e-01 1.64051042e-02 4.69425769e-02 2.16816472e+01] [-1.63201867e-02 9.99864415e-01 -2.19168738e-03 -3.01519637e-01] [-4.69721670e-02 1.42286435e-03 9.98895185e-01 -1.03692268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470385723 meters 0.027366576041186197 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.31, Z:-1.04 [[ 9.98856699e-01 1.49263601e-02 4.54147350e-02 2.17126276e+01] [-1.48452855e-02 9.99887551e-01 -2.12196991e-03 -3.10897207e-01] [-4.54413014e-02 1.44534915e-03 9.98965965e-01 -1.04077424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500385722999997 meters 0.02763146238631258 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.31, Z:-1.04 [[ 9.98891251e-01 1.52135594e-02 4.45512830e-02 2.17449363e+01] [-1.51354010e-02 9.99883267e-01 -2.09115955e-03 -3.13684373e-01] [-4.45778964e-02 1.41453944e-03 9.99004910e-01 -1.04422567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530385723 meters 0.0240879205707255 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.31, Z:-1.04 [[ 9.98840945e-01 1.65036880e-02 4.52149848e-02 2.17774169e+01] [-1.64241806e-02 9.99862847e-01 -2.12939241e-03 -3.08363414e-01] [-4.52439263e-02 1.38430525e-03 9.98975010e-01 -1.04439010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560385723 meters 0.026605838878590842 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.31, Z:-1.04 [[ 9.98784667e-01 1.91742898e-02 4.54041319e-02 2.18083759e+01] [-1.90963900e-02 9.99815338e-01 -2.14886979e-03 -3.11960923e-01] [-4.54369505e-02 1.27920319e-03 9.98966389e-01 -1.04352006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590385722999997 meters 0.022005522995939615 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.30, Z:-1.04 [[ 9.98745171e-01 2.04222813e-02 4.57276054e-02 2.18408507e+01] [-2.03442861e-02 9.99790678e-01 -2.17043873e-03 -3.02816897e-01] [-4.57623589e-02 1.23741972e-03 9.98951588e-01 -1.04396038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620385723 meters 0.022283001723651358 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.30, Z:-1.04 [[ 9.98684549e-01 2.25934140e-02 4.60294382e-02 2.18721131e+01] [-2.25161710e-02 9.99744067e-01 -2.19597564e-03 -3.01388165e-01] [-4.60672723e-02 1.15668024e-03 9.98937670e-01 -1.04310759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650385723 meters 0.022283001723651358 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.30, Z:-1.04 [[ 9.98678449e-01 2.28620993e-02 4.60291246e-02 2.19046861e+01] [-2.27848395e-02 9.99737966e-01 -2.20252908e-03 -3.03023148e-01] [-4.60674178e-02 1.15085210e-03 9.98937670e-01 -1.04456662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680385722999997 meters 0.0213856065505113 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.30, Z:-1.05 [[ 9.98639806e-01 2.39762652e-02 4.62998638e-02 2.19369073e+01] [-2.38987087e-02 9.99711902e-01 -2.22799624e-03 -3.02066598e-01] [-4.63399440e-02 1.11845877e-03 9.98925102e-01 -1.04648577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710385722999998 meters 0.021284676691998756 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.31, Z:-1.05 [[ 9.98594685e-01 2.53623511e-02 4.65339243e-02 2.19674425e+01] [-2.52849844e-02 9.99677750e-01 -2.25055358e-03 -3.05173597e-01] [-4.65760080e-02 1.07078130e-03 9.98914175e-01 -1.05134976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740385723 meters 0.021122931919151614 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.31, Z:-1.05 [[ 9.98550901e-01 2.63454367e-02 4.69256423e-02 2.19991630e+01] [-2.62673491e-02 9.99652353e-01 -2.28004680e-03 -3.07579553e-01] [-4.69693976e-02 1.04413056e-03 9.98895783e-01 -1.05340810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770385722999997 meters 0.020803801089473616 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.31, Z:-1.06 [[ 9.98537661e-01 2.85047758e-02 4.59349143e-02 2.20303097e+01] [-2.84317428e-02 9.99593221e-01 -2.24262162e-03 -3.09112985e-01] [-4.59801544e-02 9.33332481e-04 9.98941917e-01 -1.05601959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800385722999998 meters 0.020909761746393966 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.31, Z:-1.06 [[ 9.98563656e-01 2.86685480e-02 4.52630056e-02 2.20634853e+01] [-2.85973585e-02 9.99588547e-01 -2.21968003e-03 -3.09853562e-01] [-4.53080171e-02 9.22089407e-04 9.98972639e-01 -1.05618209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830385723 meters 0.020859095777190285 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.31, Z:-1.05 [[ 9.98478534e-01 3.05843666e-02 4.58826038e-02 2.20954438e+01] [-3.05126594e-02 9.99531820e-01 -2.26255875e-03 -3.06463559e-01] [-4.59303214e-02 8.59116083e-04 9.98944276e-01 -1.05235540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860385722999997 meters 0.02060416818445204 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.31, Z:-1.05 [[ 9.98433269e-01 3.20060766e-02 4.58979021e-02 2.21281332e+01] [-3.19353696e-02 9.99487351e-01 -2.27316040e-03 -3.07091571e-01] [-4.59471276e-02 8.03832500e-04 9.98943550e-01 -1.05335867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890385722999998 meters 0.02026224415838423 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.31, Z:-1.06 [[ 9.98342352e-01 3.44340480e-02 4.61177281e-02 2.21590967e+01] [-3.43650651e-02 9.99406728e-01 -2.28804225e-03 -3.14229126e-01] [-4.61691543e-02 6.99410750e-04 9.98933391e-01 -1.06070928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920385723 meters 0.020142364673694166 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.32, Z:-1.06 [[ 9.98298644e-01 3.53100057e-02 4.64006625e-02 2.21907716e+01] [-3.52406572e-02 9.99376181e-01 -2.31200077e-03 -3.17611970e-01] [-4.64533536e-02 6.72877388e-04 9.98920234e-01 -1.06369021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950385722999997 meters 0.019891061092216056 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.32, Z:-1.06 [[ 9.98352377e-01 3.71545464e-02 4.37272414e-02 2.22227763e+01] [-3.70943223e-02 9.99309373e-01 -2.18814673e-03 -3.16132803e-01] [-4.37783418e-02 5.62509106e-04 9.99041110e-01 -1.06489387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980385722999998 meters 0.01950984436992117 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.31, Z:-1.07 [[ 9.98392897e-01 3.80105114e-02 4.20336064e-02 2.22559978e+01] [-3.79552422e-02 9.99277207e-01 -2.11244019e-03 -3.14339564e-01] [-4.20835197e-02 5.13649569e-04 9.99113964e-01 -1.06644807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010385723 meters 0.019517748759000534 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.31, Z:-1.07 [[ 9.98323098e-01 3.96640177e-02 4.21634646e-02 2.22876732e+01] [-3.96093831e-02 9.99212969e-01 -2.13072567e-03 -3.14123775e-01] [-4.22147938e-02 4.57083823e-04 9.99108454e-01 -1.06627974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040385722999996 meters 0.019512556113027196 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.32, Z:-1.07 [[ 9.98199773e-01 4.09001340e-02 4.38678844e-02 2.23176718e+01] [-4.08417296e-02 9.99163146e-01 -2.22717272e-03 -3.15422175e-01] [-4.39222651e-02 4.31523033e-04 9.99034858e-01 -1.06582180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070385722999998 meters 0.019414310584164117 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.32, Z:-1.07 [[ 9.97932938e-01 4.26630011e-02 4.80595324e-02 2.23483745e+01] [-4.25948921e-02 9.99089444e-01 -2.44089254e-03 -3.19951253e-01] [-4.81199073e-02 3.88756470e-04 9.98841491e-01 -1.06725489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100385723 meters 0.019666585267966552 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.33, Z:-1.07 [[ 9.97947608e-01 4.13254955e-02 4.89160003e-02 2.23802128e+01] [-4.12532113e-02 9.99145629e-01 -2.48680644e-03 -3.28034840e-01] [-4.89769764e-02 4.63760443e-04 9.98799800e-01 -1.07129859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130385722999996 meters 0.019533611331816993 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.33, Z:-1.07 [[ 9.98011100e-01 4.05890179e-02 4.82325258e-02 2.24135692e+01] [-4.05173538e-02 9.99175799e-01 -2.46297801e-03 -3.28281172e-01] [-4.82927424e-02 5.03825080e-04 9.98833098e-01 -1.07211358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160385722999997 meters 0.020183435439677887 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.33, Z:-1.07 [[ 9.98098088e-01 3.95370191e-02 4.72972538e-02 2.24447039e+01] [-3.94663384e-02 9.99217951e-01 -2.42767544e-03 -3.30140124e-01] [-4.73562481e-02 5.56408796e-04 9.98877909e-01 -1.07167098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190385723 meters 0.01980534454807612 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.33, Z:-1.07 [[ 9.98247689e-01 3.71711801e-02 4.60418912e-02 2.24772591e+01] [-3.71012377e-02 9.99308695e-01 -2.37302680e-03 -3.28932436e-01] [-4.60982704e-02 6.60657373e-04 9.98936691e-01 -1.07237404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220385723 meters 0.01949873047155271 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.33, Z:-1.08 [[ 9.98281671e-01 3.66311689e-02 4.57368794e-02 2.25095951e+01] [-3.65610913e-02 9.99328614e-01 -2.36806629e-03 -3.32513573e-01] [-4.57929174e-02 6.91806949e-04 9.98950715e-01 -1.07619509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250385722999997 meters 0.019808335260866165 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.34, Z:-1.08 [[ 9.98392438e-01 3.44368346e-02 4.50182553e-02 2.25408380e+01] [-3.43661872e-02 9.99406563e-01 -2.34254137e-03 -3.41322678e-01] [-4.50722095e-02 7.91669797e-04 9.98983418e-01 -1.08129629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280385723 meters 0.020039753636994482 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.34, Z:-1.08 [[ 9.98420526e-01 3.40990742e-02 4.46509355e-02 2.25726388e+01] [-3.40287899e-02 9.99418129e-01 -2.33344779e-03 -3.44761266e-01] [-4.47045228e-02 8.10344869e-04 9.98999924e-01 -1.08290045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310385723 meters 0.02004135658682546 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.35, Z:-1.08 [[ 9.98429289e-01 3.46126314e-02 4.40558797e-02 2.26055859e+01] [-3.45442104e-02 9.99400493e-01 -2.31364025e-03 -3.45402247e-01] [-4.41095490e-02 7.88130611e-04 9.99026389e-01 -1.08405964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340385722999997 meters 0.019850483503354256 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.35, Z:-1.09 [[ 9.98398405e-01 3.53267941e-02 4.41887049e-02 2.26379291e+01] [-3.52581196e-02 9.99375517e-01 -2.33278448e-03 -3.46132667e-01] [-4.42435196e-02 7.71037661e-04 9.99020479e-01 -1.08595073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370385723 meters 0.01969829728984589 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.35, Z:-1.09 [[ 9.98204347e-01 3.77981941e-02 4.64691169e-02 2.26693054e+01] [-3.77243735e-02 9.99285143e-01 -2.46486576e-03 -3.45918385e-01] [-4.65290656e-02 7.07421396e-04 9.98916686e-01 -1.08536335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400385723 meters 0.019413846659462813 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.35, Z:-1.09 [[ 9.98048664e-01 3.97437823e-02 4.81590629e-02 2.27012543e+01] [-3.96662160e-02 9.99209692e-01 -2.56563525e-03 -3.46383541e-01] [-4.82229705e-02 6.50341044e-04 9.98836384e-01 -1.08550848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430385722999997 meters 0.018948147613658043 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.35, Z:-1.09 [[ 9.97815065e-01 4.30737930e-02 5.00973442e-02 2.27336465e+01] [-4.29934188e-02 9.99071757e-01 -2.68136195e-03 -3.46727507e-01] [-5.01663382e-02 5.21647254e-04 9.98740740e-01 -1.08535357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460385722999998 meters 0.018914657398624374 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.35, Z:-1.09 [[ 9.97825326e-01 4.39638494e-02 4.91100708e-02 2.27652720e+01] [-4.38871168e-02 9.99033008e-01 -2.64019218e-03 -3.48571194e-01] [-4.91786547e-02 4.79151213e-04 9.98789883e-01 -1.08688597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490385723 meters 0.01874053476414772 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.35, Z:-1.09 [[ 9.97942568e-01 4.37701182e-02 4.68487810e-02 2.27977476e+01] [-4.36996028e-02 9.99041516e-01 -2.52880447e-03 -3.50775827e-01] [-4.69145633e-02 4.76328504e-04 9.98898792e-01 -1.09146442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520385722999997 meters 0.018943021802894505 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.35, Z:-1.10 [[ 9.98089035e-01 4.24379000e-02 4.49143946e-02 2.28288681e+01] [-4.23712120e-02 9.99098967e-01 -2.43619086e-03 -3.54993161e-01] [-4.49773121e-02 5.28458055e-04 9.98987869e-01 -1.09709693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550385722999998 meters 0.018846777847422547 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.36, Z:-1.10 [[ 9.98137764e-01 4.20444754e-02 4.41957646e-02 2.28612011e+01] [-4.19790946e-02 9.99115590e-01 -2.40682067e-03 -3.56746018e-01] [-4.42578710e-02 5.47040425e-04 9.99019991e-01 -1.09927288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580385723 meters 0.01886725786604811 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.36, Z:-1.10 [[ 9.98149797e-01 4.20772300e-02 4.38917975e-02 2.28938217e+01] [-4.20123167e-02 9.99114209e-01 -2.40074442e-03 -3.58135725e-01] [-4.39539352e-02 5.52306454e-04 9.99033406e-01 -1.09999388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610385722999997 meters 0.01903594590480765 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.36, Z:-1.10 [[ 9.98167347e-01 4.13189587e-02 4.42118852e-02 2.29249483e+01] [-4.12518758e-02 9.99145827e-01 -2.42898038e-03 -3.59230062e-01] [-4.42744835e-02 6.00705703e-04 9.99019224e-01 -1.09985987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640385722999998 meters 0.018944787775992716 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.36, Z:-1.10 [[ 9.98153648e-01 4.13450513e-02 4.44958643e-02 2.29574394e+01] [-4.12770634e-02 9.99144745e-01 -2.44605396e-03 -3.60398973e-01] [-4.45589412e-02 6.04879071e-04 9.99006574e-01 -1.10053850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670385723 meters 0.01923355913962529 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.36, Z:-1.10 [[ 9.98183277e-01 4.01364644e-02 4.49356250e-02 2.29884172e+01] [-4.00654050e-02 9.99193979e-01 -2.48124459e-03 -3.63147316e-01] [-4.49989943e-02 6.76372841e-04 9.98986803e-01 -1.10101366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700385722999997 meters 0.019289935244011593 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.36, Z:-1.10 [[ 9.98328794e-01 3.79243616e-02 4.36046194e-02 2.30208573e+01] [-3.78549312e-02 9.99280322e-01 -2.41718524e-03 -3.64661860e-01] [-4.36649083e-02 7.62495757e-04 9.99045942e-01 -1.10293198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730385722999998 meters 0.01922378262170985 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.37, Z:-1.10 [[ 9.98394968e-01 3.70901827e-02 4.27995994e-02 2.30533161e+01] [-3.70220849e-02 9.99311607e-01 -2.38289128e-03 -3.65830162e-01] [-4.28585183e-02 7.94536258e-04 9.99080836e-01 -1.10492858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760385723 meters 0.019445636920323466 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.37, Z:-1.11 [[ 9.98433278e-01 3.64010783e-02 4.24964839e-02 2.30849214e+01] [-3.63328664e-02 9.99336917e-01 -2.37663298e-03 -3.67993649e-01] [-4.25548172e-02 8.28890392e-04 9.99093790e-01 -1.10667977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790385722999996 meters 0.01936378276456136 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.37, Z:-1.11 [[ 9.98405964e-01 3.55329521e-02 4.38513362e-02 2.31167347e+01] [-3.54590244e-02 9.99368096e-01 -2.46280594e-03 -3.70727429e-01] [-4.39111371e-02 9.03954538e-04 9.99035032e-01 -1.10777155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820385722999998 meters 0.019688485026272608 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.37, Z:-1.11 [[ 9.98335799e-01 3.58679874e-02 4.51566230e-02 2.31485436e+01] [-3.57894075e-02 9.99356106e-01 -2.54769839e-03 -3.74518858e-01] [-4.52189278e-02 9.27329728e-04 9.98976671e-01 -1.10886631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850385723 meters 0.01922019148623587 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.37, Z:-1.11 [[ 9.98186786e-01 3.79962934e-02 4.66842877e-02 2.31812769e+01] [-3.79140298e-02 9.99277500e-01 -2.64666237e-03 -3.73570032e-01] [-4.67511216e-02 8.71873931e-04 9.98906188e-01 -1.10716447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880385722999996 meters 0.018984663185327263 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.37, Z:-1.11 [[ 9.98106657e-01 3.99298399e-02 4.67836348e-02 2.32139962e+01] [-3.98488086e-02 9.99202170e-01 -2.66378464e-03 -3.71832296e-01] [-4.68526739e-02 7.94469074e-04 9.98901495e-01 -1.10596452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910385722999997 meters 0.018712403768822734 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.37, Z:-1.11 [[ 9.97961070e-01 4.28923482e-02 4.72646782e-02 2.32458316e+01] [-4.28124140e-02 9.99079473e-01 -2.70269747e-03 -3.68903487e-01] [-4.73370948e-02 6.73671887e-04 9.98878744e-01 -1.10603468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940385723 meters 0.018494753867493625 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.37, Z:-1.11 [[ 9.97898857e-01 4.42007084e-02 4.73726503e-02 2.32773395e+01] [-4.41213782e-02 9.99022476e-01 -2.71946469e-03 -3.71099826e-01] [-4.74465447e-02 6.23604089e-04 9.98873584e-01 -1.10910114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970385723 meters 0.0183447630366254 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.38, Z:-1.11 [[ 9.97830146e-01 4.49705431e-02 4.80900237e-02 2.33091973e+01] [-4.48891593e-02 9.98988129e-01 -2.77151772e-03 -3.77109731e-01] [-4.81659994e-02 6.06783203e-04 9.98839160e-01 -1.11486411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000385722999997 meters 0.01842241625310763 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.38, Z:-1.12 [[ 9.97848178e-01 4.47418330e-02 4.79289332e-02 2.33409815e+01] [-4.46601769e-02 9.98998386e-01 -2.77374837e-03 -3.80880049e-01] [-4.80050295e-02 6.27265125e-04 9.98846897e-01 -1.11696302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030385723 meters 0.01866831742566245 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.38, Z:-1.12 [[ 9.98046701e-01 4.33662209e-02 4.49683685e-02 2.33722152e+01] [-4.32924933e-02 9.99059024e-01 -2.61259780e-03 -3.84183669e-01] [-4.50393528e-02 6.60701828e-04 9.98984995e-01 -1.11816906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060385723 meters 0.018761242947556888 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.39, Z:-1.12 [[ 9.98169865e-01 4.24865619e-02 4.30326875e-02 2.34033687e+01] [-4.24178236e-02 9.99096807e-01 -2.50960745e-03 -3.86086959e-01] [-4.31004453e-02 6.79661578e-04 9.99070513e-01 -1.11992778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090385722999997 meters 0.0189061887322124 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.39, Z:-1.12 [[ 9.98334130e-01 4.18567465e-02 3.97111884e-02 2.34332800e+01] [-4.17976652e-02 9.99123409e-01 -2.31721817e-03 -3.88995723e-01] [-3.97733691e-02 6.53523028e-04 9.99208513e-01 -1.12262723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120385723 meters 0.01880638536210311 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.39, Z:-1.12 [[ 9.98334178e-01 4.21427098e-02 3.94063552e-02 2.34634309e+01] [-4.20847258e-02 9.99111398e-01 -2.30017712e-03 -3.91287598e-01] [-3.94682744e-02 6.37939779e-04 9.99220620e-01 -1.12443193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150385723 meters 0.0187514503993683 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.39, Z:-1.13 [[ 9.98241110e-01 4.33707561e-02 4.04185998e-02 2.34924162e+01] [-4.33107632e-02 9.99058863e-01 -2.35916122e-03 -3.93029650e-01] [-4.04828790e-02 6.04451316e-04 9.99180049e-01 -1.12573215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180385722999997 meters 0.018545629830978048 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.39, Z:-1.13 [[ 9.98164771e-01 4.47698186e-02 4.07768702e-02 2.35225118e+01] [-4.47098771e-02 9.98997176e-01 -2.38120509e-03 -3.94408168e-01] [-4.08425843e-02 5.53706183e-04 9.99165440e-01 -1.12701669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210385722999998 meters 0.01809651587185281 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.39, Z:-1.13 [[ 9.97905927e-01 4.84909750e-02 4.28063728e-02 2.35508826e+01] [-4.84283646e-02 9.98823532e-01 -2.49903964e-03 -3.94323980e-01] [-4.28771934e-02 4.20763836e-04 9.99080262e-01 -1.12619714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240385723 meters 0.017890804786334785 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.39, Z:-1.13 [[ 9.97756486e-01 5.04925361e-02 4.39601901e-02 2.35793531e+01] [-5.04285414e-02 9.98724380e-01 -2.56419568e-03 -3.94187850e-01] [-4.40335863e-02 3.41594605e-04 9.99029993e-01 -1.12592518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270385722999997 meters 0.017583397987859732 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.39, Z:-1.13 [[ 9.97732529e-01 5.17559755e-02 4.30246463e-02 2.36081689e+01] [-5.16959686e-02 9.98659723e-01 -2.50690421e-03 -3.93855155e-01] [-4.30967287e-02 2.77019113e-04 9.99070866e-01 -1.12705532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300385722999998 meters 0.017638713336785024 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.40, Z:-1.13 [[ 9.97791746e-01 5.14938894e-02 4.19524771e-02 2.36356841e+01] [-5.14367185e-02 9.98673271e-01 -2.44175783e-03 -3.96517668e-01] [-4.20225532e-02 2.78468051e-04 9.99116624e-01 -1.12932211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330385723 meters 0.017714675462330645 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.40, Z:-1.13 [[ 9.97844252e-01 5.07309700e-02 4.16319249e-02 2.36648670e+01] [-5.06741514e-02 9.98712309e-01 -2.41962054e-03 -3.97851438e-01] [-4.17010655e-02 3.04741977e-04 9.99130086e-01 -1.13007580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360385722999997 meters 0.01748909212145398 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.40, Z:-1.13 [[ 9.97825564e-01 5.06327692e-02 4.21955830e-02 2.36936952e+01] [-5.05744274e-02 9.98717291e-01 -2.44967578e-03 -3.97696700e-01] [-4.22654922e-02 3.10331663e-04 9.99106367e-01 -1.13000082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390385722999998 meters 0.01748179649718039 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.40, Z:-1.13 [[ 9.97815728e-01 4.95695090e-02 4.36650613e-02 2.37219430e+01] [-4.95061505e-02 9.98770610e-01 -2.53184544e-03 -4.02319791e-01] [-4.37368822e-02 3.64626111e-04 9.99043018e-01 -1.13214232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420385723 meters 0.017496708695725737 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.41, Z:-1.13 [[ 9.97820414e-01 4.90424427e-02 4.41504223e-02 2.37512827e+01] [-4.89772890e-02 9.98796620e-01 -2.55687649e-03 -4.06124122e-01] [-4.42226880e-02 3.88935567e-04 9.99021623e-01 -1.13368455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450385722999997 meters 0.01776125100204073 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.41, Z:-1.13 [[ 9.97975424e-01 4.63469543e-02 4.35547224e-02 2.37807659e+01] [-4.62810477e-02 9.98925277e-01 -2.52087547e-03 -4.10490310e-01] [-4.36247481e-02 5.00013583e-04 9.99047862e-01 -1.13428869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480385722999998 meters 0.0176602143802401 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.41, Z:-1.14 [[ 9.98059033e-01 4.48574749e-02 4.31969051e-02 2.38107855e+01] [-4.47912837e-02 9.98993240e-01 -2.49945863e-03 -4.12151131e-01] [-4.32655356e-02 5.59762428e-04 9.99063451e-01 -1.13535350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510385723 meters 0.01812919914055881 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.42, Z:-1.14 [[ 9.98195842e-01 4.21126214e-02 4.27970513e-02 2.38411457e+01] [-4.20451975e-02 9.99112645e-01 -2.47473202e-03 -4.16965267e-01] [-4.28632926e-02 6.70856739e-04 9.99080722e-01 -1.13743494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540385722999996 meters 0.018409839329413494 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.42, Z:-1.14 [[ 9.98251031e-01 4.10881787e-02 4.25046028e-02 2.38716725e+01] [-4.10207143e-02 9.99155271e-01 -2.45855655e-03 -4.19570937e-01] [-4.25697156e-02 7.10687438e-04 9.99093246e-01 -1.13831617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570385722999998 meters 0.018409839329413494 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.42, Z:-1.14 [[ 9.98249631e-01 4.11222175e-02 4.25045627e-02 2.39024428e+01] [-4.10547545e-02 9.99153872e-01 -2.45924973e-03 -4.21380252e-01] [-4.25697282e-02 7.09930749e-04 9.99093246e-01 -1.13969735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600385723 meters 0.01856906703325437 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.42, Z:-1.14 [[ 9.98289709e-01 3.95768951e-02 4.30270417e-02 2.39335091e+01] [-3.95062636e-02 9.99216218e-01 -2.49096946e-03 -4.22205543e-01] [-4.30919027e-02 7.86871526e-04 9.99070803e-01 -1.13894093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630385722999996 meters 0.018571554255574427 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.42, Z:-1.14 [[ 9.98298972e-01 3.96227229e-02 4.27691704e-02 2.39657081e+01] [-3.95529320e-02 9.99214406e-01 -2.47711669e-03 -4.24221293e-01] [-4.28337213e-02 7.81256965e-04 9.99081910e-01 -1.14008830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660385722999997 meters 0.018437386962848936 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.43, Z:-1.14 [[ 9.98296197e-01 3.92067427e-02 4.32149766e-02 2.39974298e+01] [-3.91346345e-02 9.99230785e-01 -2.51365373e-03 -4.28291325e-01] [-4.32802871e-02 8.18168648e-04 9.99062634e-01 -1.14326321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690385723 meters 0.018706164107948925 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.43, Z:-1.15 [[ 9.98319771e-01 3.86384918e-02 4.31821996e-02 2.40298587e+01] [-3.85654988e-02 9.99252891e-01 -2.52244411e-03 -4.32250994e-01] [-4.32474012e-02 8.52862763e-04 9.99064029e-01 -1.14589056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720385722999996 meters 0.01882504844184297 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.43, Z:-1.15 [[ 9.98346568e-01 3.77423823e-02 4.33548561e-02 2.40625141e+01] [-3.76674972e-02 9.99287092e-01 -2.54317383e-03 -4.34672168e-01] [-4.34199335e-02 9.05899942e-04 9.99056499e-01 -1.14675489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750385722999997 meters 0.01931652255651612 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.44, Z:-1.15 [[ 9.98394981e-01 3.70045195e-02 4.28733964e-02 2.40940468e+01] [-3.69301592e-02 9.99314658e-01 -2.52541525e-03 -4.36475701e-01] [-4.29374653e-02 9.38040558e-04 9.99077321e-01 -1.14755732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780385723 meters 0.019686444050048282 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.44, Z:-1.15 [[ 9.98503138e-01 3.57061771e-02 4.14313075e-02 2.41257987e+01] [-3.56352474e-02 9.99361861e-01 -2.44948256e-03 -4.38671308e-01] [-4.14923303e-02 9.69401123e-04 9.99138352e-01 -1.15008307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810385723 meters 0.019645000689664 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.44, Z:-1.15 [[ 9.98510654e-01 3.55811488e-02 4.13576444e-02 2.41592044e+01] [-3.55099588e-02 9.99366307e-01 -2.45490502e-03 -4.41721471e-01] [-4.14187847e-02 9.82640572e-04 9.99141391e-01 -1.15275045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840385722999997 meters 0.020089257351401664 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.45, Z:-1.15 [[ 9.98484869e-01 3.57701643e-02 4.18146087e-02 2.41913893e+01] [-3.56970637e-02 9.99359545e-01 -2.49379702e-03 -4.46063827e-01] [-4.18770318e-02 9.97359845e-04 9.99122275e-01 -1.15498128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870385723 meters 0.019977548167050822 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.45, Z:-1.16 [[ 9.98431962e-01 3.62706475e-02 4.26386958e-02 2.42248507e+01] [-3.61946134e-02 9.99341496e-01 -2.55411859e-03 -4.48707356e-01] [-4.27032576e-02 1.00682252e-03 9.99087293e-01 -1.15564124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900385723 meters 0.01979480651660024 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.45, Z:-1.16 [[ 9.98343165e-01 3.79614041e-02 4.32418464e-02 2.42573749e+01] [-3.78842667e-02 9.99278745e-01 -2.60223674e-03 -4.49025900e-01] [-4.33094426e-02 9.59739624e-04 9.99061245e-01 -1.15598986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930385722999997 meters 0.01923591140788681 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.45, Z:-1.16 [[ 9.98316761e-01 3.86161460e-02 4.32716805e-02 2.42896479e+01] [-3.85390720e-02 9.99253674e-01 -2.61428059e-03 -4.48265704e-01] [-4.33403392e-02 9.42229718e-04 9.99059922e-01 -1.15676203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960385722999998 meters 0.019157597334735547 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.45, Z:-1.16 [[ 9.98298624e-01 3.92943149e-02 4.30791538e-02 2.43224888e+01] [-3.92181045e-02 9.99227257e-01 -2.61311354e-03 -4.47599412e-01] [-4.31485452e-02 9.19184897e-04 9.99068245e-01 -1.15790607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990385723 meters 0.01950739600722432 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.45, Z:-1.16 [[ 9.98303419e-01 3.94391883e-02 4.28349740e-02 2.43537473e+01] [-3.93635275e-02 9.99221551e-01 -2.60868345e-03 -4.50031901e-01] [-4.29045135e-02 9.18121926e-04 9.99078756e-01 -1.15926630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020385722999997 meters 0.019334941048820154 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.45, Z:-1.16 [[ 9.98317143e-01 3.92395478e-02 4.26982434e-02 2.43858900e+01] [-3.91637471e-02 9.99229396e-01 -2.61063613e-03 -4.51259574e-01] [-4.27677801e-02 9.34019600e-04 9.99084603e-01 -1.16060710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050385722999998 meters 0.01959196712209183 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.45, Z:-1.16 [[ 9.98325833e-01 3.89529502e-02 4.27574403e-02 2.44177953e+01] [-3.88762271e-02 9.99240587e-01 -2.62473609e-03 -4.53397096e-01] [-4.28272109e-02 9.58093886e-04 9.99082035e-01 -1.16163540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080385723 meters 0.019724104446884293 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.46, Z:-1.16 [[ 9.98359702e-01 3.86547975e-02 4.22340131e-02 2.44501624e+01] [-3.85792510e-02 9.99252154e-01 -2.60264635e-03 -4.56076440e-01] [-4.23030333e-02 9.69020648e-04 9.99104356e-01 -1.16352204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110385722999997 meters 0.020013209887993433 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.46, Z:-1.17 [[ 9.98396616e-01 3.87759875e-02 4.12385717e-02 2.44821738e+01] [-3.87036699e-02 9.99247476e-01 -2.55087814e-03 -4.59852051e-01] [-4.13064515e-02 9.50704040e-04 9.99146072e-01 -1.16663170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140385722999998 meters 0.019896611238701473 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.46, Z:-1.17 [[ 9.98435177e-01 3.91198474e-02 3.99604150e-02 2.45144433e+01] [-3.90518236e-02 9.99234105e-01 -2.48173681e-03 -4.62583062e-01] [-4.00268946e-02 9.17326254e-04 9.99198182e-01 -1.16914371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170385723 meters 0.01951083587572961 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.46, Z:-1.17 [[ 9.98417378e-01 3.96341247e-02 3.98983199e-02 2.45462293e+01] [-3.95663021e-02 9.99213849e-01 -2.48839245e-03 -4.62306363e-01] [-3.99655791e-02 9.05825281e-04 9.99200647e-01 -1.16884226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200385722999997 meters 0.019754443728188197 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.46, Z:-1.17 [[ 9.98358676e-01 4.03980543e-02 4.05949671e-02 2.45764768e+01] [-4.03284107e-02 9.99183267e-01 -2.53334739e-03 -4.63341884e-01] [-4.06641541e-02 8.92058844e-04 9.99172473e-01 -1.16925157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230385722999998 meters 0.01991208043916817 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.47, Z:-1.17 [[ 9.98334551e-01 4.06890590e-02 4.08965239e-02 2.46061349e+01] [-4.06185938e-02 9.99171463e-01 -2.55281182e-03 -4.67470248e-01] [-4.09665112e-02 8.87400952e-04 9.99160126e-01 -1.17148117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260385723 meters 0.019719493947798764 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.47, Z:-1.17 [[ 9.98232264e-01 4.19832914e-02 4.20684082e-02 2.46370137e+01] [-4.19098133e-02 9.99117943e-01 -2.62743225e-03 -4.70783278e-01] [-4.21416098e-02 8.59708507e-04 9.99111278e-01 -1.17274400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290385722999996 meters 0.01972959110112444 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.47, Z:-1.17 [[ 9.98155768e-01 4.27535588e-02 4.30951996e-02 2.46681270e+01] [-4.26771000e-02 9.99085288e-01 -2.69306483e-03 -4.72717284e-01] [-4.31709180e-02 8.48920047e-04 9.99067341e-01 -1.17327201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320385722999998 meters 0.01943402181999512 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.47, Z:-1.17 [[ 9.98024089e-01 4.44594460e-02 4.43990587e-02 2.46999095e+01] [-4.43799052e-02 9.99010870e-01 -2.77608143e-03 -4.74083626e-01] [-4.44785653e-02 8.00170126e-04 9.99010018e-01 -1.17312872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350385723 meters 0.01932020105844353 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.48, Z:-1.17 [[ 9.98021458e-01 4.49709062e-02 4.39407191e-02 2.47298314e+01] [-4.48934302e-02 9.98988000e-01 -2.74890548e-03 -4.75852431e-01] [-4.40198719e-02 7.70817044e-04 9.99030358e-01 -1.17483707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380385722999996 meters 0.019366150797139978 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.48, Z:-1.18 [[ 9.98073087e-01 4.56600347e-02 4.20151619e-02 2.47602506e+01] [-4.55898165e-02 9.98956786e-01 -2.62839980e-03 -4.77847860e-01] [-4.20913439e-02 7.07871588e-04 9.99113516e-01 -1.17736433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410385722999997 meters 0.019462902078214484 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.48, Z:-1.18 [[ 9.98089185e-01 4.59559891e-02 4.13040583e-02 2.47896539e+01] [-4.58883478e-02 9.98943231e-01 -2.58474733e-03 -4.79725485e-01] [-4.13791941e-02 6.84433367e-04 9.99143280e-01 -1.17966958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440385723 meters 0.0192785426093618 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.48, Z:-1.18 [[ 9.98074590e-01 4.65139945e-02 4.10312232e-02 2.48183169e+01] [-4.64477680e-02 9.98917423e-01 -2.56640191e-03 -4.80617133e-01] [-4.11061774e-02 6.55651802e-04 9.99154569e-01 -1.18071870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470385722999996 meters 0.01870401870645364 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.48, Z:-1.18 [[ 9.98048499e-01 4.66800631e-02 4.14748795e-02 2.48477215e+01] [-4.66126263e-02 9.98909678e-01 -2.59205392e-03 -4.79245448e-01] [-4.15506557e-02 6.53742467e-04 9.99136185e-01 -1.18089304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500385722999997 meters 0.01858204774962551 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.48, Z:-1.18 [[ 9.97997161e-01 4.75415307e-02 4.17309190e-02 2.48773160e+01] [-4.74740714e-02 9.98869070e-01 -2.60660580e-03 -4.80548855e-01] [-4.18076463e-02 6.20248561e-04 9.99125486e-01 -1.18293991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530385723 meters 0.01928324010455728 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.49, Z:-1.19 [[ 9.97987812e-01 4.74678682e-02 4.20372286e-02 2.49054454e+01] [-4.73994086e-02 9.98872569e-01 -2.62432641e-03 -4.86234031e-01] [-4.21144057e-02 6.26505998e-04 9.99112598e-01 -1.18657122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560385723 meters 0.01901609338032662 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.49, Z:-1.19 [[ 9.98055259e-01 4.59458068e-02 4.21269798e-02 2.49353515e+01] [-4.58757924e-02 9.98943695e-01 -2.62772411e-03 -4.87560990e-01] [-4.22032138e-02 6.90005285e-04 9.99108809e-01 -1.18814493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590385722999997 meters 0.019426870709582808 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.49, Z:-1.19 [[ 9.98130100e-01 4.41901246e-02 4.22319337e-02 2.49659251e+01] [-4.41182542e-02 9.99022847e-01 -2.63276001e-03 -4.86498756e-01] [-4.23070087e-02 7.64637823e-04 9.99104365e-01 -1.18607026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620385723 meters 0.021040620221450593 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.49, Z:-1.19 [[ 9.98193080e-01 4.26865285e-02 4.22898862e-02 2.49947343e+01] [-4.26131105e-02 9.99088170e-01 -2.63641297e-03 -4.92223286e-01] [-4.23638643e-02 8.29545592e-04 9.99101904e-01 -1.18780685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650385723 meters 0.019756645233761683 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.50, Z:-1.19 [[ 9.98327407e-01 3.88426007e-02 4.28210431e-02 2.50254951e+01] [-3.87638277e-02 9.99244837e-01 -2.66870220e-03 -4.95491828e-01] [-4.28923655e-02 1.00433101e-03 9.99079194e-01 -1.19172694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680385722999997 meters 0.020234720752259593 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.50, Z:-1.19 [[ 9.98424835e-01 3.72795762e-02 4.19294939e-02 2.50574927e+01] [-3.72026380e-02 9.99304323e-01 -2.61400635e-03 -4.99855358e-01] [-4.19977736e-02 1.05000107e-03 9.99117153e-01 -1.19335232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710385722999998 meters 0.02051512369552177 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.50, Z:-1.19 [[ 9.98502000e-01 3.58633935e-02 4.13227899e-02 2.50897040e+01] [-3.57870441e-02 9.99356092e-01 -2.58612018e-03 -5.01621706e-01] [-4.13889289e-02 1.10342566e-03 9.99142502e-01 -1.19384015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740385723 meters 0.02084304182836529 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.50, Z:-1.19 [[ 9.98497810e-01 3.56585242e-02 4.16004027e-02 2.51214097e+01] [-3.55805410e-02 9.99363394e-01 -2.61371353e-03 -5.02197025e-01] [-4.16671208e-02 1.12962241e-03 9.99130910e-01 -1.19428141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770385722999997 meters 0.020770082872034787 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.51, Z:-1.20 [[ 9.98364573e-01 3.71930048e-02 4.34149752e-02 2.51537796e+01] [-3.71090005e-02 9.99307469e-01 -2.73951488e-03 -5.06443071e-01] [-4.34867998e-02 1.12394827e-03 9.99053369e-01 -1.19698856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800385722999998 meters 0.020337256139909776 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.51, Z:-1.20 [[ 9.98296345e-01 3.77581660e-02 4.44828997e-02 2.51856111e+01] [-3.76700488e-02 9.99286259e-01 -2.81781087e-03 -5.08220826e-01] [-4.45575458e-02 1.13733729e-03 9.99006172e-01 -1.19842391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830385723 meters 0.020663870133921267 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.51, Z:-1.20 [[ 9.98215661e-01 3.81885458e-02 4.59034733e-02 2.52169736e+01] [-3.80946354e-02 9.99269872e-01 -2.91920393e-03 -5.09851652e-01] [-4.59814380e-02 1.16531900e-03 9.98941615e-01 -1.19748634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860385722999997 meters 0.020726264919649653 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.51, Z:-1.20 [[ 9.98184976e-01 3.82293176e-02 4.65324857e-02 2.52500026e+01] [-3.81325460e-02 9.99268289e-01 -2.96589016e-03 -5.11136230e-01] [-4.66118213e-02 1.18610485e-03 9.98912374e-01 -1.19753183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890385722999998 meters 0.02040573351682708 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.51, Z:-1.20 [[ 9.98232575e-01 3.89921522e-02 4.48479456e-02 2.52825097e+01] [-3.89025010e-02 9.99238888e-01 -2.87039073e-03 -5.13134056e-01] [-4.49257340e-02 1.12062028e-03 9.98989701e-01 -1.20000737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920385723 meters 0.021209969272399674 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.52, Z:-1.20 [[ 9.98332387e-01 3.84170361e-02 4.30880177e-02 2.53132931e+01] [-3.83333145e-02 9.99261175e-01 -2.76789844e-03 -5.17937121e-01] [-4.31625177e-02 1.11157612e-03 9.99067446e-01 -1.20420833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950385722999997 meters 0.021226521557497376 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.52, Z:-1.21 [[ 9.98449090e-01 3.76251873e-02 4.10336432e-02 2.53449345e+01] [-3.75484021e-02 9.99291321e-01 -2.64064274e-03 -5.21832172e-01] [-4.11039182e-02 1.09579961e-03 9.99154276e-01 -1.20924125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980385722999998 meters 0.02128374112670437 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.52, Z:-1.21 [[ 9.98439544e-01 3.82485467e-02 4.06881589e-02 2.53784018e+01] [-3.81731808e-02 9.99267683e-01 -2.62787660e-03 -5.24019493e-01] [-4.07588748e-02 1.07057947e-03 9.99168438e-01 -1.21106539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010385723 meters 0.020006914598773417 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.52, Z:-1.21 [[ 9.98299906e-01 4.00414101e-02 4.23554313e-02 2.54107253e+01] [-3.99608342e-02 9.99197469e-01 -2.74766591e-03 -5.24761868e-01] [-4.24314602e-02 1.05043625e-03 9.99098828e-01 -1.21262619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040385722999996 meters 0.021141200255967402 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.53, Z:-1.21 [[ 9.98255118e-01 4.07964698e-02 4.26892062e-02 2.54413067e+01] [-4.07148492e-02 9.99166939e-01 -2.78002932e-03 -5.30766899e-01] [-4.27670589e-02 1.03709390e-03 9.99084533e-01 -1.21449936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070385722999998 meters 0.021171114705222156 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.53, Z:-1.22 [[ 9.98244068e-01 4.22497889e-02 4.15179034e-02 2.54727124e+01] [-4.21734306e-02 9.99106620e-01 -2.71369445e-03 -5.31856927e-01] [-4.15954651e-02 9.57976968e-04 9.99134075e-01 -1.21537244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100385723 meters 0.02023938250887879 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.53, Z:-1.22 [[ 9.98283141e-01 4.26324423e-02 4.01652236e-02 2.55045072e+01] [-4.25608860e-02 9.99090399e-01 -2.63533599e-03 -5.29335924e-01] [-4.02410401e-02 9.21343984e-04 9.99189577e-01 -1.21544514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130385722999996 meters 0.019717168084038925 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.53, Z:-1.22 [[ 9.98270692e-01 4.31570579e-02 3.99135853e-02 2.55347614e+01] [-4.30867518e-02 9.99067898e-01 -2.62040217e-03 -5.28771195e-01] [-3.99894706e-02 8.96123941e-04 9.99199699e-01 -1.21714016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160385722999997 meters 0.01991615024028406 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.53, Z:-1.22 [[ 9.98190075e-01 4.32580897e-02 4.17769380e-02 2.55644040e+01] [-4.31811478e-02 9.99063494e-01 -2.74278443e-03 -5.33319619e-01] [-4.18564612e-02 9.33844067e-04 9.99123198e-01 -1.21947538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190385723 meters 0.020013142603208394 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.54, Z:-1.22 [[ 9.97940369e-01 4.45831588e-02 4.61233286e-02 2.55941341e+01] [-4.44908135e-02 9.99005207e-01 -3.02729432e-03 -5.39210558e-01] [-4.62124118e-02 9.68994799e-04 9.98931166e-01 -1.21872811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220385722999996 meters 0.019331554855896674 Centerline is valid? [True, True] Translation: X:25.63, Y:-0.54, Z:-1.22 [[ 9.97815742e-01 4.55874053e-02 4.78072622e-02 2.56266172e+01] [-4.54893028e-02 9.98959895e-01 -3.13858662e-03 -5.40224294e-01] [-4.79006177e-02 9.57012108e-04 9.98851648e-01 -1.21821381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250385722999997 meters 0.019555309833744712 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.54, Z:-1.22 [[ 9.97758013e-01 4.76286654e-02 4.70155056e-02 2.56578689e+01] [-4.75355186e-02 9.98864744e-01 -3.09791580e-03 -5.43016345e-01] [-4.71096806e-02 8.56063869e-04 9.98889356e-01 -1.21883604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280385723 meters 0.019068237514086088 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.54, Z:-1.22 [[ 9.97754119e-01 4.86788686e-02 4.60117968e-02 2.56891055e+01] [-4.85903180e-02 9.98814161e-01 -3.04168578e-03 -5.43524748e-01] [-4.61053001e-02 7.99126673e-04 9.98936266e-01 -1.22118556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310385723 meters 0.01913041626771853 Centerline is valid? [True, True] Translation: X:25.72, Y:-0.54, Z:-1.22 [[ 9.97750354e-01 4.94523798e-02 4.52624993e-02 2.57185021e+01] [-4.93674174e-02 9.98776199e-01 -2.99368776e-03 -5.44557438e-01] [-4.53551520e-02 7.52460322e-04 9.98970642e-01 -1.22303473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340385722999997 meters 0.01921596622250583 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.55, Z:-1.22 [[ 9.97713738e-01 4.94298091e-02 4.60867764e-02 2.57482370e+01] [-4.93417363e-02 9.98777306e-01 -3.04736821e-03 -5.46253189e-01] [-4.61810572e-02 7.66399554e-04 9.98932792e-01 -1.22402786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370385723 meters 0.019219923498300522 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.55, Z:-1.23 [[ 9.97604031e-01 4.95834050e-02 4.82460608e-02 2.57780869e+01] [-4.94871357e-02 9.98769671e-01 -3.18855317e-03 -5.51061192e-01] [-4.83448016e-02 7.93354137e-04 9.98830391e-01 -1.22658991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400385723 meters 0.019304720533639873 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.55, Z:-1.23 [[ 9.97563750e-01 5.00839355e-02 4.85609393e-02 2.58093194e+01] [-4.99869905e-02 9.98744712e-01 -3.20949580e-03 -5.54669857e-01] [-4.86607255e-02 7.74261454e-04 9.98815065e-01 -1.22725854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430385722999997 meters 0.019434050602637216 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.56, Z:-1.23 [[ 9.97567424e-01 5.02684499e-02 4.82940720e-02 2.58393945e+01] [-5.01727079e-02 9.98735451e-01 -3.19343526e-03 -5.56357315e-01] [-4.83935308e-02 7.62622620e-04 9.98828056e-01 -1.22774027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460385722999998 meters 0.019434050602637216 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.56, Z:-1.23 [[ 9.97567425e-01 5.02684837e-02 4.82940220e-02 2.58693030e+01] [-5.01727052e-02 9.98735449e-01 -3.19419035e-03 -5.58335125e-01] [-4.83935189e-02 7.63378515e-04 9.98828056e-01 -1.22908338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490385723 meters 0.019420737289192528 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.56, Z:-1.23 [[ 9.97610156e-01 5.03884535e-02 4.72755813e-02 2.58993324e+01] [-5.02968098e-02 9.98729420e-01 -3.12683019e-03 -5.59469353e-01] [-4.73730701e-02 7.41546627e-04 9.98876991e-01 -1.23026228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520385722999997 meters 0.01955944368876823 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.56, Z:-1.23 [[ 9.97734581e-01 4.95969204e-02 4.54516364e-02 2.59284646e+01] [-4.95113955e-02 9.98769035e-01 -3.00620321e-03 -5.61711072e-01] [-4.55447855e-02 7.49018950e-04 9.98962017e-01 -1.23390105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550385722999998 meters 0.01938681267882221 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.56, Z:-1.24 [[ 9.97779798e-01 4.93822903e-02 4.46862888e-02 2.59589542e+01] [-4.92993838e-02 9.98779671e-01 -2.95612913e-03 -5.63341972e-01] [-4.47777373e-02 7.46559421e-04 9.98996695e-01 -1.23680456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580385723 meters 0.01955247994090026 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.57, Z:-1.24 [[ 9.97855760e-01 4.89708995e-02 4.34250342e-02 2.59882913e+01] [-4.88922199e-02 9.98799929e-01 -2.87271503e-03 -5.66342030e-01] [-4.35136005e-02 7.43408920e-04 9.99052558e-01 -1.24071030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610385722999997 meters 0.01930747204433283 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.57, Z:-1.24 [[ 9.97848373e-01 4.96284729e-02 4.28443680e-02 2.60176614e+01] [-4.95525203e-02 9.98767500e-01 -2.83360509e-03 -5.67533982e-01] [-4.29321898e-02 7.04461813e-04 9.99077740e-01 -1.24265905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640385722999998 meters 0.019232437823750774 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.57, Z:-1.24 [[ 9.97772728e-01 5.06206833e-02 4.34410970e-02 2.60467339e+01] [-5.05436039e-02 9.98717727e-01 -2.87157080e-03 -5.69153513e-01] [-4.35307545e-02 6.69505436e-04 9.99051863e-01 -1.24300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670385723 meters 0.019370339005484065 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.57, Z:-1.24 [[ 9.97729758e-01 5.07874484e-02 4.42262948e-02 2.60756227e+01] [-5.07078222e-02 9.98709259e-01 -2.92115248e-03 -5.71274352e-01] [-4.43175680e-02 6.71901665e-04 9.99017268e-01 -1.24276551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700385722999997 meters 0.019414774055365337 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.57, Z:-1.24 [[ 9.97619893e-01 5.03999577e-02 4.70573323e-02 2.61057220e+01] [-5.03094560e-02 9.98728847e-01 -3.10636922e-03 -5.73102082e-01] [-4.71540761e-02 7.31546943e-04 9.98887360e-01 -1.24129101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730385722999998 meters 0.019436067498717444 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.58, Z:-1.24 [[ 9.97566758e-01 5.03713476e-02 4.82005345e-02 2.61365056e+01] [-5.02764336e-02 9.98730277e-01 -3.18027887e-03 -5.75513395e-01] [-4.82995281e-02 7.49189511e-04 9.98832616e-01 -1.24179192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760385723 meters 0.01922597473410146 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.58, Z:-1.24 [[ 9.97506964e-01 5.09496107e-02 4.88261559e-02 2.61666303e+01] [-5.08529069e-02 9.98700958e-01 -3.22155747e-03 -5.77527938e-01] [-4.89268658e-02 7.30574052e-04 9.98802097e-01 -1.24215136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790385722999996 meters 0.01924168082124542 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.58, Z:-1.24 [[ 9.97536561e-01 5.11195430e-02 4.80375138e-02 2.61970503e+01] [-5.10261372e-02 9.98692289e-01 -3.16952274e-03 -5.79280952e-01] [-4.81367192e-02 7.10546043e-04 9.98840503e-01 -1.24382243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820385722999998 meters 0.019066906780906077 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.58, Z:-1.25 [[ 9.97653611e-01 5.13078787e-02 4.53296208e-02 2.62266692e+01] [-5.12249087e-02 9.98682664e-01 -2.99084438e-03 -5.79960933e-01] [-4.54233604e-02 6.61821009e-04 9.98967607e-01 -1.24659321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850385723 meters 0.019000793134079687 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.58, Z:-1.25 [[ 9.97675936e-01 5.15614121e-02 4.45437783e-02 2.62564634e+01] [-5.14815818e-02 9.98669622e-01 -2.93824796e-03 -5.82747747e-01] [-4.46360184e-02 6.38235120e-04 9.99003112e-01 -1.24937937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880385722999996 meters 0.01914338400410833 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.59, Z:-1.25 [[ 9.97666114e-01 5.15872156e-02 4.47334724e-02 2.62845779e+01] [-5.15067983e-02 9.98668289e-01 -2.94922332e-03 -5.89346464e-01] [-4.48260426e-02 6.38262231e-04 9.98994604e-01 -1.25412341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910385722999997 meters 0.01915160747932877 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.59, Z:-1.26 [[ 9.97670615e-01 5.11791520e-02 4.51003162e-02 2.63137879e+01] [-5.10970972e-02 9.98689271e-01 -2.97110133e-03 -5.93253237e-01] [-4.51932603e-02 6.59685249e-04 9.98978045e-01 -1.25607556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940385723 meters 0.01952472367219896 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.60, Z:-1.25 [[ 9.97661715e-01 5.03178753e-02 4.62516321e-02 2.63427206e+01] [-5.02307252e-02 9.98732997e-01 -3.04531927e-03 -5.95327162e-01] [-4.63462651e-02 7.14945431e-04 9.98925179e-01 -1.25365892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970385722999996 meters 0.0196099360877863 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.59, Z:-1.25 [[ 9.97601253e-01 5.07624898e-02 4.70628211e-02 2.63722865e+01] [-5.06728574e-02 9.98710505e-01 -3.09640845e-03 -5.93420548e-01] [-4.71593152e-02 7.04173324e-04 9.98887132e-01 -1.24989763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000385722999997 meters 0.019617075441718257 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.59, Z:-1.25 [[ 9.97617113e-01 5.11266360e-02 4.63267081e-02 2.64014321e+01] [-5.10402150e-02 9.98691950e-01 -3.04722487e-03 -5.94859705e-01] [-4.64219048e-02 6.75438536e-04 9.98921694e-01 -1.25207054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030385723 meters 0.018897002130469295 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.60, Z:-1.26 [[ 9.97643100e-01 5.17015175e-02 4.51131773e-02 2.64309020e+01] [-5.16201881e-02 9.98662383e-01 -2.96667606e-03 -5.96363223e-01] [-4.52062148e-02 6.30933202e-04 9.98977477e-01 -1.25654803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060385723 meters 0.01935644109498598 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.61, Z:-1.27 [[ 9.97732925e-01 5.21683197e-02 4.25144377e-02 2.64599612e+01] [-5.20965838e-02 9.98638142e-01 -2.79427245e-03 -6.05500948e-01] [-4.26023115e-02 5.73080660e-04 9.99091945e-01 -1.26511655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090385722999997 meters 0.019428975396876248 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.61, Z:-1.27 [[ 9.97789486e-01 5.21260076e-02 4.12191833e-02 2.64896494e+01] [-5.20585018e-02 9.98640359e-01 -2.71012790e-03 -6.08148219e-01] [-4.13044081e-02 5.58328198e-04 9.99146453e-01 -1.26770135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120385723 meters 0.01869938372565 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.60, Z:-1.27 [[ 9.97774992e-01 5.27897506e-02 4.07223215e-02 2.65184254e+01] [-5.27244622e-02 9.98605512e-01 -2.67632168e-03 -6.03632421e-01] [-4.08068171e-02 5.23304339e-04 9.99166918e-01 -1.26640927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150385723 meters 0.018751018610426357 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.60, Z:-1.27 [[ 9.97725864e-01 5.34602215e-02 4.10500302e-02 2.65464572e+01] [-5.33945625e-02 9.98569856e-01 -2.69499858e-03 -6.04552032e-01] [-4.11353980e-02 4.97021384e-04 9.99153458e-01 -1.26681537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180385722999997 meters 0.018635203866347063 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.61, Z:-1.27 [[ 9.97636339e-01 5.45508101e-02 4.17844929e-02 2.65750796e+01] [-5.44838930e-02 9.98510892e-01 -2.73945026e-03 -6.07658902e-01] [-4.18717105e-02 4.56393291e-04 9.99122891e-01 -1.26758096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210385722999998 meters 0.018604730407493802 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.61, Z:-1.27 [[ 9.97643460e-01 5.45745951e-02 4.15829301e-02 2.66030021e+01] [-5.45084609e-02 9.98509595e-01 -2.72340938e-03 -6.10302915e-01] [-4.16695836e-02 4.50370044e-04 9.99131344e-01 -1.26847396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240385723 meters 0.018587073128205435 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.61, Z:-1.27 [[ 9.97670211e-01 5.40408720e-02 4.16381375e-02 2.66321699e+01] [-5.39742499e-02 9.98538614e-01 -2.72337107e-03 -6.10966334e-01] [-4.17244615e-02 4.69638948e-04 9.99129045e-01 -1.26876202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270385722999997 meters 0.018786380882549518 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.61, Z:-1.27 [[ 9.97731401e-01 5.22053128e-02 4.25047801e-02 2.66613675e+01] [-5.21343523e-02 9.98636219e-01 -2.77700123e-03 -6.12763987e-01] [-4.25917871e-02 5.54742147e-04 9.99092404e-01 -1.26892695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300385722999998 meters 0.018920511163473288 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.62, Z:-1.27 [[ 9.97746278e-01 5.15343127e-02 4.29718452e-02 2.66900568e+01] [-5.14612928e-02 9.98671052e-01 -2.80446108e-03 -6.15500085e-01] [-4.30592638e-02 5.86753899e-04 9.99072347e-01 -1.27079588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330385723 meters 0.018990800379657582 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.62, Z:-1.27 [[ 9.97775928e-01 5.08628815e-02 4.30832318e-02 2.67181141e+01] [-5.07889892e-02 9.98705457e-01 -2.80866933e-03 -6.18832114e-01] [-4.31703158e-02 6.14268854e-04 9.99067539e-01 -1.27318859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360385722999997 meters 0.019126000975596483 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.62, Z:-1.28 [[ 9.97822662e-01 5.09132806e-02 4.19257934e-02 2.67467833e+01] [-5.08434432e-02 9.98702902e-01 -2.73104327e-03 -6.22572231e-01] [-4.20104578e-02 5.93445172e-04 9.99116995e-01 -1.27622247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390385722999998 meters 0.019069580486508645 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.62, Z:-1.28 [[ 9.97860976e-01 5.15957664e-02 4.01416266e-02 2.67754599e+01] [-5.15323562e-02 9.98667906e-01 -2.61346699e-03 -6.20767255e-01] [-4.02229980e-02 5.39284127e-04 9.99190582e-01 -1.27624213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420385723 meters 0.018895277842137664 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.62, Z:-1.28 [[ 9.97855099e-01 5.19729939e-02 3.97996028e-02 2.68042055e+01] [-5.19110372e-02 9.98648356e-01 -2.58926694e-03 -6.19060783e-01] [-3.98803799e-02 5.17674555e-04 9.99204327e-01 -1.27584902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450385722999997 meters 0.018890340736256006 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.62, Z:-1.28 [[ 9.97794634e-01 5.26627491e-02 4.04042544e-02 2.68319229e+01] [-5.25995722e-02 9.98612232e-01 -2.62582519e-03 -6.17473250e-01] [-4.04864658e-02 4.94787791e-04 9.99179964e-01 -1.27551253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480385722999998 meters 0.018751586882640177 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.62, Z:-1.28 [[ 9.97765476e-01 5.28599854e-02 4.08641236e-02 2.68604231e+01] [-5.27956758e-02 9.98601814e-01 -2.65207549e-03 -6.19103858e-01] [-4.09471766e-02 4.88700346e-04 9.99161193e-01 -1.27726761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510385723 meters 0.01874023328044993 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.63, Z:-1.28 [[ 9.97717398e-01 5.29720379e-02 4.18802618e-02 2.68878294e+01] [-5.29047080e-02 9.98595874e-01 -2.71514115e-03 -6.26156102e-01] [-4.19652832e-02 4.93280541e-04 9.99118948e-01 -1.28289641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540385722999996 meters 0.01871362124915665 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.63, Z:-1.28 [[ 9.97748320e-01 5.25635072e-02 4.16577428e-02 2.69160665e+01] [-5.24966832e-02 9.98617456e-01 -2.69717668e-03 -6.29308219e-01] [-4.17419222e-02 5.04210168e-04 9.99128299e-01 -1.28455503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570385722999998 meters 0.01860287073968859 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.63, Z:-1.28 [[ 9.97790996e-01 5.21552247e-02 4.11455949e-02 2.69447500e+01] [-5.20898013e-02 9.98638859e-01 -2.66126511e-03 -6.29527452e-01] [-4.12283888e-02 5.12120506e-04 9.99149617e-01 -1.28444782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600385723 meters 0.01865314830611121 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.62, Z:-1.28 [[ 9.97856907e-01 5.21554339e-02 3.95146024e-02 2.69729240e+01] [-5.20951972e-02 9.98638859e-01 -2.55325084e-03 -6.23602031e-01] [-3.95939834e-02 4.89257980e-04 9.99215731e-01 -1.28146455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630385722999996 meters 0.018491720445450662 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.62, Z:-1.28 [[ 9.97825389e-01 5.28988701e-02 3.93217811e-02 2.70015363e+01] [-5.28399329e-02 9.98599771e-01 -2.53734615e-03 -6.22082369e-01] [-3.94009444e-02 4.54068130e-04 9.99223378e-01 -1.28126049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660385722999997 meters 0.01831149485659378 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.62, Z:-1.28 [[ 9.97613080e-01 5.53020492e-02 4.13500386e-02 2.70288587e+01] [-5.52390566e-02 9.98469600e-01 -2.66528189e-03 -6.23880602e-01] [-4.14341521e-02 3.74782954e-04 9.99141166e-01 -1.28376541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690385723 meters 0.018142008984243476 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.63, Z:-1.29 [[ 9.97517935e-01 5.62422375e-02 4.23648448e-02 2.70575001e+01] [-5.61771194e-02 9.98417095e-01 -2.72695970e-03 -6.26770411e-01] [-4.24511555e-02 3.40256271e-04 9.99098485e-01 -1.28680868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720385722999996 meters 0.018062049069881392 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.63, Z:-1.29 [[ 9.97446779e-01 5.72378565e-02 4.27053995e-02 2.70861699e+01] [-5.71727266e-02 9.98360526e-01 -2.74589308e-03 -6.29951249e-01] [-4.27925541e-02 2.97298078e-04 9.99083935e-01 -1.28883297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750385722999997 meters 0.018175686120143572 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.63, Z:-1.29 [[ 9.97399147e-01 5.74890550e-02 4.34735674e-02 2.71143334e+01] [-5.74219305e-02 9.98346095e-01 -2.79224999e-03 -6.31524351e-01] [-4.35621901e-02 2.88651591e-04 9.99050676e-01 -1.28887848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780385723 meters 0.018171943655715252 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.63, Z:-1.29 [[ 9.97408776e-01 5.72908482e-02 4.35142851e-02 2.71434177e+01] [-5.72235724e-02 9.98357487e-01 -2.79113023e-03 -6.31734036e-01] [-4.36027186e-02 2.93854945e-04 9.99048906e-01 -1.28937946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810385722999996 meters 0.018341826058372708 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.63, Z:-1.29 [[ 9.97598578e-01 5.57576562e-02 4.10872316e-02 2.71712606e+01] [-5.56964867e-02 9.98444275e-01 -2.63285486e-03 -6.33858896e-01] [-4.11701130e-02 3.38117814e-04 9.99152094e-01 -1.29283156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840385722999997 meters 0.018470438923384288 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.64, Z:-1.30 [[ 9.97719848e-01 5.47253340e-02 3.94999007e-02 2.71985884e+01] [-5.46681216e-02 9.98501380e-01 -2.52789209e-03 -6.37874477e-01] [-3.95790451e-02 3.62742741e-04 9.99216377e-01 -1.29628452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870385723 meters 0.018680079298902093 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.64, Z:-1.30 [[ 9.97774822e-01 5.33197583e-02 4.00300992e-02 2.72270250e+01] [-5.32600086e-02 9.98577401e-01 -2.55832614e-03 -6.42647026e-01] [-4.01095618e-02 4.20629976e-04 9.99195199e-01 -1.29751873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900385723 meters 0.018872862988485232 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.64, Z:-1.30 [[ 9.97764130e-01 5.30060186e-02 4.07075259e-02 2.72555093e+01] [-5.29440826e-02 9.98594097e-01 -2.59879925e-03 -6.44375677e-01] [-4.07880470e-02 4.37766059e-04 9.99167725e-01 -1.29680539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930385722999997 meters 0.018725490878477694 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.65, Z:-1.30 [[ 9.97775253e-01 5.26606130e-02 4.08828129e-02 2.72845389e+01] [-5.25979666e-02 9.98612365e-01 -2.60720451e-03 -6.46077274e-01] [-4.09633795e-02 4.51051313e-04 9.99160547e-01 -1.29813977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960385722999998 meters 0.018712143063574826 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.65, Z:-1.30 [[ 9.97823420e-01 5.22426326e-02 4.02384165e-02 2.73134790e+01] [-5.21817182e-02 9.98634316e-01 -2.56335075e-03 -6.49719029e-01] [-4.03173797e-02 4.58061703e-04 9.99186819e-01 -1.30112284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990385723 meters 0.01925433024055466 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.66, Z:-1.30 [[ 9.97878328e-01 5.09825773e-02 4.04922031e-02 2.73408368e+01] [-5.09199688e-02 9.98699413e-01 -2.57670885e-03 -6.56735042e-01] [-4.05709068e-02 5.09380202e-04 9.99176532e-01 -1.30452247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020385722999997 meters 0.019139836580722443 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.66, Z:-1.30 [[ 9.97894289e-01 5.01903996e-02 4.10842063e-02 2.73694639e+01] [-5.01254282e-02 9.98739519e-01 -2.61066347e-03 -6.57660551e-01] [-4.11634506e-02 5.45802734e-04 9.99152277e-01 -1.30407305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050385722999998 meters 0.01935613923607943 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.66, Z:-1.30 [[ 9.97940767e-01 4.83001598e-02 4.22056979e-02 2.73994584e+01] [-4.82300315e-02 9.98832663e-01 -2.67884740e-03 -6.59764898e-01] [-4.22858183e-02 6.37748892e-04 9.99105351e-01 -1.30159313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080385723 meters 0.019488419404455087 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.66, Z:-1.30 [[ 9.97921748e-01 4.80342232e-02 4.29522729e-02 2.74293191e+01] [-4.79614087e-02 9.98845473e-01 -2.72473540e-03 -6.61980129e-01] [-4.30335639e-02 6.59021197e-04 9.99073410e-01 -1.30111617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110385722999997 meters 0.019537218711222333 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.67, Z:-1.30 [[ 9.97866912e-01 4.76481370e-02 4.46237722e-02 2.74583378e+01] [-4.75692258e-02 9.98863937e-01 -2.82919358e-03 -6.66744728e-01] [-4.47078826e-02 7.00440360e-04 9.98999857e-01 -1.30172567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140385722999998 meters 0.019548019947649257 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.67, Z:-1.30 [[ 9.97877484e-01 4.71153763e-02 4.49518363e-02 2.74884143e+01] [-4.70348282e-02 9.98889189e-01 -2.84846991e-03 -6.72250618e-01] [-4.50361100e-02 7.28122089e-04 9.98985094e-01 -1.30457453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170385723 meters 0.019982448498368808 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.68, Z:-1.31 [[ 9.98030403e-01 4.56124039e-02 4.30676553e-02 2.75193566e+01] [-4.55370879e-02 9.98958922e-01 -2.72872152e-03 -6.80034964e-01] [-4.31472820e-02 7.62171435e-04 9.99068432e-01 -1.30910915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200385722999997 meters 0.0197932935048047 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.68, Z:-1.31 [[ 9.98083021e-01 4.50008654e-02 4.24877140e-02 2.75512072e+01] [-4.49266228e-02 9.98986638e-01 -2.70110555e-03 -6.80221171e-01] [-4.25662107e-02 7.87098084e-04 9.99093338e-01 -1.30982171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230385722999998 meters 0.020029877527769285 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.68, Z:-1.31 [[ 9.98107795e-01 4.39651209e-02 4.29871808e-02 2.75828211e+01] [-4.38877233e-02 9.99032704e-01 -2.74302363e-03 -6.81166475e-01] [-4.30661968e-02 8.51223769e-04 9.99071858e-01 -1.30866254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260385723 meters 0.020225905652589127 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.69, Z:-1.31 [[ 9.98061214e-01 4.41349545e-02 4.38853010e-02 2.76134722e+01] [-4.40543890e-02 9.99025205e-01 -2.80173688e-03 -6.86936575e-01] [-4.39661764e-02 8.62964793e-04 9.99032647e-01 -1.31093629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290385722999996 meters 0.02016691869054127 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.69, Z:-1.31 [[ 9.97999728e-01 4.44360356e-02 4.49664591e-02 2.76453077e+01] [-4.43512870e-02 9.99011843e-01 -2.88111240e-03 -6.93798554e-01] [-4.50500504e-02 8.81029053e-04 9.98984343e-01 -1.31399362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320385722999998 meters 0.020158733156589982 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.70, Z:-1.31 [[ 9.97914712e-01 4.58312523e-02 4.54502253e-02 2.76765354e+01] [-4.57456147e-02 9.98948845e-01 -2.92307888e-03 -6.98451958e-01] [-4.55364184e-02 8.37834920e-04 9.98962328e-01 -1.31287311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350385723 meters 0.01996519302551169 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.70, Z:-1.31 [[ 9.97880836e-01 4.71355634e-02 4.48561709e-02 2.77093802e+01] [-4.70530308e-02 9.98888199e-01 -2.89459303e-03 -6.97476438e-01] [-4.49427381e-02 7.77840125e-04 9.98989262e-01 -1.31166595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380385722999996 meters 0.01996519302551169 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.70, Z:-1.31 [[ 9.97879271e-01 4.71693199e-02 4.48554940e-02 2.77401367e+01] [-4.70863517e-02 9.98886598e-01 -2.90504474e-03 -6.99493878e-01] [-4.49425808e-02 7.86802361e-04 9.98989262e-01 -1.31304325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410385722999997 meters 0.01973390576460243 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.70, Z:-1.32 [[ 9.97883357e-01 4.91938093e-02 4.25297033e-02 2.77703374e+01] [-4.91210055e-02 9.98789033e-01 -2.75580080e-03 -6.99100598e-01] [-4.26137696e-02 6.60865961e-04 9.99091402e-01 -1.31584213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440385723 meters 0.019214656887133506 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.70, Z:-1.32 [[ 9.97807529e-01 5.16246452e-02 4.14129241e-02 2.77993346e+01] [-5.15576744e-02 9.98666411e-01 -2.68426821e-03 -7.04029843e-01] [-4.14962707e-02 5.43228971e-04 9.99138511e-01 -1.32271237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470385722999996 meters 0.018658135139171365 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.71, Z:-1.33 [[ 9.97788784e-01 5.25874718e-02 4.06460338e-02 2.78293669e+01] [-5.25238139e-02 9.98616200e-01 -2.63319490e-03 -7.05661670e-01] [-4.07282609e-02 4.92487621e-04 9.99170139e-01 -1.32543240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500385722999997 meters 0.018845076768823132 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.71, Z:-1.33 [[ 9.97777644e-01 5.35516181e-02 3.96484238e-02 2.78573736e+01] [-5.34918289e-02 9.98564985e-01 -2.56806499e-03 -7.10011540e-01] [-3.97290518e-02 4.41491130e-04 9.99210392e-01 -1.32881167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530385723 meters 0.018381812660530912 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.71, Z:-1.33 [[ 9.97681825e-01 5.55777163e-02 3.92694906e-02 2.78864183e+01] [-5.55207100e-02 9.98454301e-01 -2.54158241e-03 -7.07595335e-01] [-3.93500471e-02 3.55420578e-04 9.99225424e-01 -1.32735206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560385722999996 meters 0.01820351819782038 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.71, Z:-1.33 [[ 9.97553514e-01 5.70581591e-02 4.03900116e-02 2.79157049e+01] [-5.69991801e-02 9.98370810e-01 -2.61124261e-03 -7.06088501e-01] [-4.04732013e-02 3.02656692e-04 9.99180578e-01 -1.32577887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590385722999997 meters 0.018160284232978014 Centerline is valid? [True, True] Translation: X:27.94, Y:-0.71, Z:-1.32 [[ 9.97420514e-01 5.82963043e-02 4.18791048e-02 2.79439380e+01] [-5.82341085e-02 9.98299291e-01 -2.70456572e-03 -7.05278541e-01] [-4.19655468e-02 2.58797003e-04 9.99119025e-01 -1.32393665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620385723 meters 0.018119497301641946 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.71, Z:-1.33 [[ 9.97422243e-01 5.83917442e-02 4.17045926e-02 2.79721949e+01] [-5.83302995e-02 9.98293715e-01 -2.68970588e-03 -7.07997992e-01] [-4.17904893e-02 2.50131092e-04 9.99126365e-01 -1.32603099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650385723 meters 0.018139603952645494 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.71, Z:-1.33 [[ 9.97496871e-01 5.68818452e-02 4.20053238e-02 2.80000295e+01] [-5.68182960e-02 9.98380868e-01 -2.70616745e-03 -7.14689009e-01] [-4.20912434e-02 3.12722645e-04 9.99113722e-01 -1.32995880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680385722999997 meters 0.01830122804173945 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.72, Z:-1.33 [[ 9.97601516e-01 5.53275374e-02 4.15942085e-02 2.80283934e+01] [-5.52639949e-02 9.98468189e-01 -2.67683969e-03 -7.18252910e-01] [-4.16785970e-02 3.71757209e-04 9.99131001e-01 -1.33211237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710385722999998 meters 0.018471596320395675 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.72, Z:-1.33 [[ 9.97694130e-01 5.35917395e-02 4.16455089e-02 2.80583275e+01] [-5.35266526e-02 9.98562832e-01 -2.67716993e-03 -7.20459853e-01] [-4.17291315e-02 4.41852035e-04 9.99128863e-01 -1.33263061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740385723 meters 0.01846990482051044 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.72, Z:-1.33 [[ 9.97671992e-01 5.38965727e-02 4.17822421e-02 2.80870201e+01] [-5.38313831e-02 9.98546431e-01 -2.68456548e-03 -7.21761239e-01] [-4.18661976e-02 4.29119910e-04 9.99123134e-01 -1.33327715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770385722999997 meters 0.01818870930265706 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.72, Z:-1.33 [[ 9.97538656e-01 5.59614616e-02 4.22486159e-02 2.81158397e+01] [-5.58967496e-02 9.98432870e-01 -2.71237872e-03 -7.23689088e-01] [-4.23341955e-02 3.44142316e-04 9.99103447e-01 -1.33486492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800385722999998 meters 0.018003816960644726 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.73, Z:-1.34 [[ 9.97505141e-01 5.68854446e-02 4.18035839e-02 2.81445754e+01] [-5.68230189e-02 9.98380667e-01 -2.68098245e-03 -7.26258214e-01] [-4.18883989e-02 2.98887939e-04 9.99122251e-01 -1.33676071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830385723 meters 0.01793866362591125 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.73, Z:-1.34 [[ 9.97425660e-01 5.77079501e-02 4.25657746e-02 2.81730674e+01] [-5.76441051e-02 9.98333472e-01 -2.72680535e-03 -7.28821103e-01] [-4.26521959e-02 2.66119637e-04 9.99089946e-01 -1.33790229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860385722999997 meters 0.018017817592372448 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.73, Z:-1.34 [[ 9.97359347e-01 5.80742421e-02 4.36086503e-02 2.82014468e+01] [-5.80077156e-02 9.98312235e-01 -2.79047815e-03 -7.28078959e-01] [-4.36971040e-02 2.53471283e-04 9.99044793e-01 -1.33570068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890385722999998 meters 0.017904656723491872 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.73, Z:-1.34 [[ 9.97380797e-01 5.80868739e-02 4.30982779e-02 2.82299647e+01] [-5.80220706e-02 9.98311502e-01 -2.75406286e-03 -7.26945049e-01] [-4.31854815e-02 2.46198081e-04 9.99067042e-01 -1.33575738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920385723 meters 0.017740426896818862 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.73, Z:-1.34 [[ 9.97432663e-01 5.81046225e-02 4.18561276e-02 2.82586935e+01] [-5.80436374e-02 9.98310471e-01 -2.67184829e-03 -7.28320751e-01] [-4.19406572e-02 2.35506863e-04 9.99120076e-01 -1.33889851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950385722999997 meters 0.017790575650658506 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.73, Z:-1.34 [[ 9.97443157e-01 5.79617043e-02 4.18041860e-02 2.82870305e+01] [-5.79008674e-02 9.98318779e-01 -2.66561732e-03 -7.33121454e-01] [-4.18884076e-02 2.38303123e-04 9.99122267e-01 -1.34238279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980385722999998 meters 0.01783103910902119 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.74, Z:-1.35 [[ 9.97612376e-01 5.60958553e-02 4.02840188e-02 2.83147887e+01] [-5.60379523e-02 9.98425342e-01 -2.56599778e-03 -7.40867102e-01] [-4.03645271e-02 3.02437214e-04 9.99184975e-01 -1.34729903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010385723 meters 0.018021479086668183 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.74, Z:-1.35 [[ 9.97715072e-01 5.45843141e-02 3.98144255e-02 2.83432712e+01] [-5.45266609e-02 9.98509101e-01 -2.53332923e-03 -7.43071487e-01] [-3.98933463e-02 3.56593076e-04 9.99203880e-01 -1.34824122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040385722999996 meters 0.018191639868912285 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.74, Z:-1.35 [[ 9.97756597e-01 5.34732129e-02 4.02788782e-02 2.83724505e+01] [-5.34134166e-02 9.98569203e-01 -2.56002077e-03 -7.40799209e-01] [-4.03581398e-02 4.02845110e-04 9.99185197e-01 -1.34539619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070385722999998 meters 0.018169392368763467 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.74, Z:-1.35 [[ 9.97714232e-01 5.38382371e-02 4.08381511e-02 2.84002425e+01] [-5.37771899e-02 9.98549594e-01 -2.59272516e-03 -7.41376110e-01] [-4.09185069e-02 3.90637790e-04 9.99162411e-01 -1.34525104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100385723 meters 0.018117749042926908 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.74, Z:-1.35 [[ 9.97680018e-01 5.42286658e-02 4.11562127e-02 2.84288736e+01] [-5.41671475e-02 9.98528473e-01 -2.60923414e-03 -7.43891235e-01] [-4.12371455e-02 3.73866123e-04 9.99149317e-01 -1.34718791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130385722999996 meters 0.01799124783014332 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.75, Z:-1.35 [[ 9.97576355e-01 5.52646321e-02 4.22757114e-02 2.84574109e+01] [-5.52007767e-02 9.98471686e-01 -2.67720602e-03 -7.49970575e-01] [-4.23590557e-02 3.37065322e-04 9.99102396e-01 -1.35001648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160385722999997 meters 0.017990260249763607 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.75, Z:-1.35 [[ 9.97518574e-01 5.56810745e-02 4.30849506e-02 2.84861932e+01] [-5.56152737e-02 9.98448554e-01 -2.72530980e-03 -7.51803710e-01] [-4.31698548e-02 3.22365829e-04 9.99067695e-01 -1.34964180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190385723 meters 0.01813337511585034 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.75, Z:-1.35 [[ 9.97565290e-01 5.49415239e-02 4.29525508e-02 2.85151767e+01] [-5.48755384e-02 9.98489512e-01 -2.71469560e-03 -7.52410241e-01] [-4.30368210e-02 3.51041752e-04 9.99073425e-01 -1.35029678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220385722999996 meters 0.018185132553275793 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.75, Z:-1.35 [[ 9.97633877e-01 5.42327337e-02 4.22546702e-02 2.85435081e+01] [-5.41683627e-02 9.98528253e-01 -2.66770904e-03 -7.54054410e-01] [-4.23371592e-02 3.72530606e-04 9.99103311e-01 -1.35132762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250385722999997 meters 0.018464377500903316 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.76, Z:-1.35 [[ 9.97816832e-01 5.19411644e-02 4.07882947e-02 2.85720388e+01] [-5.18793875e-02 9.98650045e-01 -2.57230872e-03 -7.58743827e-01] [-4.08668411e-02 4.50621192e-04 9.99164500e-01 -1.35428414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280385723 meters 0.01874892930999097 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.76, Z:-1.36 [[ 9.98022915e-01 4.91083656e-02 3.92253673e-02 2.86015378e+01] [-4.90491092e-02 9.98793309e-01 -2.47217664e-03 -7.63732357e-01] [-3.92994389e-02 5.43319610e-04 9.99227331e-01 -1.35809831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310385722999996 meters 0.01910131346043556 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.77, Z:-1.36 [[ 9.98101104e-01 4.77182790e-02 3.89506296e-02 2.86316879e+01] [-4.76588514e-02 9.98860658e-01 -2.45334555e-03 -7.66301127e-01] [-3.90233209e-02 5.92344640e-04 9.99238125e-01 -1.35938168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340385722999997 meters 0.01909417130134749 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.77, Z:-1.36 [[ 9.98109603e-01 4.65411298e-02 4.01390640e-02 2.86613435e+01] [-4.64770608e-02 9.98916158e-01 -2.52835762e-03 -7.67761727e-01] [-4.02132322e-02 6.58032302e-04 9.99190904e-01 -1.36029617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370385723 meters 0.01960319355853871 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.77, Z:-1.36 [[ 9.98143057e-01 4.39900163e-02 4.21344946e-02 2.86921215e+01] [-4.39172117e-02 9.99031653e-01 -2.65242694e-03 -7.70171743e-01] [-4.22103741e-02 7.97072015e-04 9.99108427e-01 -1.36017775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400385723 meters 0.019850156380393235 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.77, Z:-1.36 [[ 9.98166788e-01 4.31329034e-02 4.24572324e-02 2.87242901e+01] [-4.30582267e-02 9.99068991e-01 -2.67220637e-03 -7.72586043e-01] [-4.25329643e-02 8.39174510e-04 9.99094712e-01 -1.36153934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430385722999997 meters 0.020174429826014202 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.77, Z:-1.36 [[ 9.98287016e-01 4.08473918e-02 4.18870320e-02 2.87564057e+01] [-4.07722807e-02 9.99164961e-01 -2.64626591e-03 -7.73448525e-01] [-4.19601477e-02 9.33903075e-04 9.99118849e-01 -1.36305550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460385722999998 meters 0.02106327396654966 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.77, Z:-1.36 [[ 9.98309357e-01 3.97864257e-02 4.23729752e-02 2.87877403e+01] [-3.97081607e-02 9.99207706e-01 -2.68743857e-03 -7.73738389e-01] [-4.24463269e-02 1.00034216e-03 9.99098248e-01 -1.36330624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490385723 meters 0.02080612263197609 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.77, Z:-1.36 [[ 9.98300772e-01 3.93136695e-02 4.30116727e-02 2.88198194e+01] [-3.92321661e-02 9.99226372e-01 -2.73771136e-03 -7.72758169e-01] [-4.30860271e-02 1.04561828e-03 9.99070819e-01 -1.36330381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520385722999997 meters 0.02083151502150136 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.77, Z:-1.36 [[ 9.98258157e-01 3.91965958e-02 4.40939713e-02 2.88531577e+01] [-3.91103376e-02 9.99230926e-01 -2.81755458e-03 -7.73159582e-01] [-4.41704983e-02 1.08811674e-03 9.99023415e-01 -1.36370395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550385722999998 meters 0.02117775522622611 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.77, Z:-1.37 [[ 9.98265983e-01 3.83565630e-02 4.46520092e-02 2.88853469e+01] [-3.82667012e-02 9.99263452e-01 -2.86584039e-03 -7.73570924e-01] [-4.47290446e-02 1.15218588e-03 9.98998491e-01 -1.36613255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580385723 meters 0.021247328050235926 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.77, Z:-1.37 [[ 9.98300510e-01 3.82238828e-02 4.39889384e-02 2.89180855e+01] [-3.81360792e-02 9.99268537e-01 -2.83380646e-03 -7.74839337e-01] [-4.40650812e-02 1.15142479e-03 9.99027999e-01 -1.36933434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610385722999997 meters 0.02206177034438544 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.78, Z:-1.37 [[ 9.98428060e-01 3.69091470e-02 4.21796673e-02 2.89495663e+01] [-3.68267699e-02 9.99317939e-01 -2.72862057e-03 -7.76084680e-01] [-4.22516093e-02 1.17099044e-03 9.99106316e-01 -1.37332917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640385722999998 meters 0.022163442551852444 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.78, Z:-1.38 [[ 9.98504630e-01 3.58187672e-02 4.12979402e-02 2.89821599e+01] [-3.57384964e-02 9.99357581e-01 -2.68058033e-03 -7.76669186e-01] [-4.13674247e-02 1.20064558e-03 9.99143280e-01 -1.37591180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670385723 meters 0.023213461975319448 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.78, Z:-1.38 [[ 9.98590643e-01 3.45876489e-02 4.02544808e-02 2.90137427e+01] [-3.45100036e-02 9.99400912e-01 -2.62234531e-03 -7.77091519e-01] [-4.03210656e-02 1.22946721e-03 9.99186019e-01 -1.37783249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700385722999997 meters 0.023333865636742945 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.78, Z:-1.38 [[ 9.98552997e-01 3.46385253e-02 4.11349618e-02 2.90464985e+01] [-3.45571085e-02 9.99399108e-01 -2.68888054e-03 -7.77360998e-01] [-4.12033830e-02 1.26348439e-03 9.99149981e-01 -1.37837758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730385722999998 meters 0.021711180431278863 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.77, Z:-1.38 [[ 9.98390436e-01 3.69195387e-02 4.30521105e-02 2.90798321e+01] [-3.68319331e-02 9.99317477e-01 -2.82658601e-03 -7.70589472e-01] [-4.31270827e-02 1.23634399e-03 9.99068830e-01 -1.37582123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760385723 meters 0.022199210949761128 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.77, Z:-1.38 [[ 9.98296318e-01 3.87112385e-02 4.36566216e-02 2.91111585e+01] [-3.86225933e-02 9.99249741e-01 -2.87246974e-03 -7.70306593e-01] [-4.37350647e-02 1.18144402e-03 9.99042466e-01 -1.37553719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790385722999996 meters 0.020706463643649895 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.77, Z:-1.38 [[ 9.98109819e-01 4.29331648e-02 4.39719594e-02 2.91430661e+01] [-4.28468745e-02 9.99077432e-01 -2.90343995e-03 -7.66391695e-01] [-4.40560462e-02 1.01389089e-03 9.99028547e-01 -1.37790075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820385722999998 meters 0.02023871344739816 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.77, Z:-1.38 [[ 9.98072101e-01 4.52238794e-02 4.25074279e-02 2.91755652e+01] [-4.51452465e-02 9.98976486e-01 -2.80847584e-03 -7.68377335e-01] [-4.25909311e-02 8.84053080e-04 9.99092203e-01 -1.38115235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850385723 meters 0.0197645441161168 Centerline is valid? [True, True] Translation: X:29.21, Y:-0.77, Z:-1.39 [[ 9.98039084e-01 4.80414673e-02 4.01248677e-02 2.92059384e+01] [-4.79732893e-02 9.98845075e-01 -2.66082812e-03 -7.69750450e-01] [-4.02063565e-02 7.30688577e-04 9.99191130e-01 -1.38599927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880385722999996 meters 0.019715231711672797 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.77, Z:-1.39 [[ 9.98072381e-01 4.78852952e-02 3.94781120e-02 2.92358367e+01] [-4.78190037e-02 9.98852575e-01 -2.62230125e-03 -7.71869750e-01] [-3.95583835e-02 7.29442470e-04 9.99216995e-01 -1.38735641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910385722999997 meters 0.019519132579529558 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.77, Z:-1.39 [[ 9.97999749e-01 4.90977905e-02 3.98234647e-02 2.92647187e+01] [-4.90313465e-02 9.98793741e-01 -2.64402747e-03 -7.70562294e-01] [-3.99052432e-02 6.86140649e-04 9.99203233e-01 -1.38510742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940385723 meters 0.019395615618787058 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.77, Z:-1.39 [[ 9.97924923e-01 4.99799375e-02 4.05937683e-02 2.92931510e+01] [-4.99117414e-02 9.98750003e-01 -2.69233529e-03 -7.71643762e-01] [-4.06775889e-02 6.60642826e-04 9.99172106e-01 -1.38529666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970385722999996 meters 0.018780319434232452 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.77, Z:-1.39 [[ 9.97747301e-01 5.32235224e-02 4.08360086e-02 2.93217453e+01] [-5.31573394e-02 9.98582484e-01 -2.70558348e-03 -7.74414066e-01] [-4.09221236e-02 5.28755046e-04 9.99162199e-01 -1.38819994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000385722999997 meters 0.01852473284697025 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.78, Z:-1.39 [[ 9.97613943e-01 5.51913301e-02 4.14769499e-02 2.93506742e+01] [-5.51248727e-02 9.98475695e-01 -2.74514002e-03 -7.76501408e-01] [-4.15652343e-02 4.52178377e-04 9.99135690e-01 -1.38983781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030385723 meters 0.018223216618087554 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.78, Z:-1.39 [[ 9.97378862e-01 5.90119163e-02 4.18688334e-02 2.93791594e+01] [-5.89476827e-02 9.98257235e-01 -2.76816448e-03 -7.75670823e-01] [-4.19592206e-02 2.92838031e-04 9.99119281e-01 -1.38973456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060385722999996 meters 0.01807051917599749 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.78, Z:-1.39 [[ 9.97360437e-01 5.98889716e-02 4.10544726e-02 2.94076833e+01] [-5.98280685e-02 9.98205014e-01 -2.71159724e-03 -7.75316351e-01] [-4.11431751e-02 2.48230013e-04 9.99153230e-01 -1.39059791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090385722999997 meters 0.018032478695824458 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.78, Z:-1.39 [[ 9.97364228e-01 6.02360371e-02 4.04501657e-02 2.94353917e+01] [-6.01773061e-02 9.98184135e-01 -2.66906595e-03 -7.77887961e-01] [-4.05374877e-02 2.27848900e-04 9.99177992e-01 -1.39259240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120385723 meters 0.018009177715495893 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.78, Z:-1.39 [[ 9.97342340e-01 6.06862476e-02 4.03167102e-02 2.94629907e+01] [-6.06284035e-02 9.98156870e-01 -2.65699045e-03 -7.79933220e-01] [-4.04036441e-02 2.05591297e-04 9.99183418e-01 -1.39431907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150385723 meters 0.017998679882575846 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.78, Z:-1.40 [[ 9.97334092e-01 6.08638102e-02 4.02530210e-02 2.94905032e+01] [-6.08064676e-02 9.98146061e-01 -2.64847835e-03 -7.84104744e-01] [-4.03395908e-02 1.93773729e-04 9.99186009e-01 -1.39766614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180385722999997 meters 0.01801552361685718 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.79, Z:-1.40 [[ 9.97413213e-01 5.97762302e-02 3.99209858e-02 2.95184554e+01] [-5.97191005e-02 9.98211775e-01 -2.62310624e-03 -7.89392560e-01] [-4.00063976e-02 2.32275460e-04 9.99199397e-01 -1.40049784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210385722999998 meters 0.01827309871586097 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.79, Z:-1.40 [[ 9.97629492e-01 5.55229222e-02 4.06522060e-02 2.95470049e+01] [-5.54602671e-02 9.98457330e-01 -2.66825681e-03 -7.93415016e-01] [-4.07376424e-02 4.07349485e-04 9.99169795e-01 -1.39959435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240385723 meters 0.018655105582712234 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.80, Z:-1.40 [[ 9.97729136e-01 5.30456828e-02 4.15057463e-02 2.95748558e+01] [-5.29783461e-02 9.98591953e-01 -2.72137072e-03 -7.95780926e-01] [-4.15916612e-02 5.16285065e-04 9.99134559e-01 -1.39915261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270385722999997 meters 0.018655105582712234 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.80, Z:-1.40 [[ 9.97732761e-01 5.29772681e-02 4.15059841e-02 2.96030737e+01] [-5.29100233e-02 9.98595585e-01 -2.71773866e-03 -7.97571807e-01] [-4.15916709e-02 5.15494307e-04 9.99134559e-01 -1.40042149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300385722999998 meters 0.01885780063184508 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.80, Z:-1.40 [[ 9.97867000e-01 5.05178084e-02 4.13449059e-02 2.96320163e+01] [-5.04490922e-02 9.98722972e-01 -2.70435993e-03 -7.99787951e-01] [-4.14287256e-02 6.12778565e-04 9.99141274e-01 -1.40065908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330385723 meters 0.01969881756989567 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.81, Z:-1.40 [[ 9.98121628e-01 4.58566204e-02 4.06249336e-02 2.96610530e+01] [-4.57865361e-02 9.98947720e-01 -2.65439009e-03 -8.05485345e-01] [-4.07039062e-02 7.89329167e-04 9.99170941e-01 -1.40267812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360385722999997 meters 0.020172431494870465 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.81, Z:-1.41 [[ 9.98203077e-01 4.39009842e-02 4.07838377e-02 2.96904153e+01] [-4.38287791e-02 9.99035507e-01 -2.66330748e-03 -8.10606698e-01] [-4.08614238e-02 8.71015905e-04 9.99164444e-01 -1.40506349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390385722999998 meters 0.021175184766918542 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.82, Z:-1.41 [[ 9.98356757e-01 4.03883689e-02 4.06517656e-02 2.97216763e+01] [-4.03137577e-02 9.99183546e-01 -2.65379059e-03 -8.16463575e-01] [-4.07257576e-02 1.01060434e-03 9.99169851e-01 -1.40781513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420385723 meters 0.022182559205869683 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.82, Z:-1.41 [[ 9.98384100e-01 3.95400241e-02 4.08139110e-02 2.97526008e+01] [-3.94640807e-02 9.99217436e-01 -2.66504261e-03 -8.18957240e-01] [-4.08873474e-02 1.05005269e-03 9.99163211e-01 -1.40827369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450385722999997 meters 0.020913810475976315 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.81, Z:-1.41 [[ 9.98295822e-01 3.92563212e-02 4.31786141e-02 2.97855449e+01] [-3.91706212e-02 9.99228531e-01 -2.82938108e-03 -8.14029073e-01] [-4.32563742e-02 1.13322617e-03 9.99063362e-01 -1.40519056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480385722999998 meters 0.020494662374767648 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.81, Z:-1.41 [[ 9.98235431e-01 3.99112691e-02 4.39671994e-02 2.98178663e+01] [-3.98225615e-02 9.99202582e-01 -2.89195883e-03 -8.14153389e-01] [-4.40475609e-02 1.13596927e-03 9.99028789e-01 -1.40532145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510385723 meters 0.020411541912606423 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.82, Z:-1.41 [[ 9.98191008e-01 4.16146449e-02 4.33927766e-02 2.98491717e+01] [-4.15293876e-02 9.99133176e-01 -2.86478781e-03 -8.15796130e-01] [-4.34743798e-02 1.05752999e-03 9.99053982e-01 -1.40855597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540385722999996 meters 0.020126871969595048 Centerline is valid? [True, True] Translation: X:29.88, Y:-0.82, Z:-1.41 [[ 9.98240925e-01 4.22945753e-02 4.15478663e-02 2.98810660e+01] [-4.22166321e-02 9.99104691e-01 -2.75197498e-03 -8.16986674e-01] [-4.16270617e-02 9.93123057e-04 9.99132725e-01 -1.41167837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570385722999998 meters 0.021661784507301593 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.82, Z:-1.42 [[ 9.98301135e-01 4.37462149e-02 3.84852279e-02 2.99118642e+01] [-4.36800859e-02 9.99042295e-01 -2.55785620e-03 -8.19010557e-01] [-3.85602669e-02 8.72472684e-04 9.99255895e-01 -1.41541430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600385723 meters 0.021753545256936055 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.82, Z:-1.42 [[ 9.98336702e-01 4.37684138e-02 3.75253962e-02 2.99407845e+01] [-4.37051799e-02 9.99041334e-01 -2.50415484e-03 -8.18606237e-01] [-3.75990248e-02 8.59935491e-04 9.99292537e-01 -1.41679843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630385722999996 meters 0.020460200887973873 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.82, Z:-1.42 [[ 9.98391811e-01 4.20939892e-02 3.79722084e-02 2.99708885e+01] [-4.20280811e-02 9.99113220e-01 -2.53261875e-03 -8.17802339e-01] [-3.80451434e-02 9.32646767e-04 9.99275586e-01 -1.41626607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660385722999997 meters 0.02066656523303403 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.82, Z:-1.42 [[ 9.98415052e-01 4.12486514e-02 3.82875118e-02 3.00014012e+01] [-4.11810821e-02 9.99148440e-01 -2.55209875e-03 -8.22459198e-01] [-3.83601784e-02 9.71332638e-04 9.99263505e-01 -1.41894515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690385723 meters 0.020378307291009493 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.83, Z:-1.42 [[ 9.98417127e-01 4.17388208e-02 3.76976284e-02 3.00316515e+01] [-4.16736676e-02 9.99128116e-01 -2.51277938e-03 -8.25792124e-01] [-3.77696409e-02 9.37803536e-04 9.99286033e-01 -1.42138381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720385722999996 meters 0.020233069189151166 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.83, Z:-1.42 [[ 9.98380960e-01 4.25764247e-02 3.77187831e-02 3.00609045e+01] [-4.25117910e-02 9.99092801e-01 -2.51430929e-03 -8.26988595e-01] [-3.77916150e-02 9.06745500e-04 9.99285230e-01 -1.42164939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750385722999997 meters 0.020182120567667078 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.83, Z:-1.42 [[ 9.98332831e-01 4.35846966e-02 3.78408840e-02 3.00904419e+01] [-4.35203876e-02 9.99049356e-01 -2.52191060e-03 -8.27158312e-01] [-3.79148275e-02 8.70856208e-04 9.99280595e-01 -1.42168183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780385723 meters 0.0203084394454142 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.83, Z:-1.42 [[ 9.98248771e-01 4.46576916e-02 3.87953931e-02 3.01194907e+01] [-4.45909544e-02 9.99001986e-01 -2.58425529e-03 -8.27956240e-01] [-3.88720816e-02 8.49806067e-04 9.99243834e-01 -1.42223090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810385722999996 meters 0.019667872058401693 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.83, Z:-1.42 [[ 9.98224205e-01 4.54296982e-02 3.85302383e-02 3.01489804e+01] [-4.53645247e-02 9.98967208e-01 -2.56453568e-03 -8.27016973e-01] [-3.86069506e-02 8.12075644e-04 9.99254144e-01 -1.42336817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840385722999997 meters 0.019736324030764585 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.83, Z:-1.43 [[ 9.98243190e-01 4.57571926e-02 3.76405704e-02 3.01788009e+01] [-4.56952761e-02 9.98952287e-01 -2.50405448e-03 -8.29207209e-01] [-3.77157124e-02 7.79659082e-04 9.99288205e-01 -1.42575805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870385723 meters 0.02003495315416105 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.83, Z:-1.43 [[ 9.98379552e-01 4.40467773e-02 3.60298616e-02 3.02068501e+01] [-4.39889727e-02 9.99029144e-01 -2.39588323e-03 -8.32752357e-01] [-3.61004127e-02 8.07084227e-04 9.99347842e-01 -1.42924715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900385723 meters 0.020424949787430265 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.84, Z:-1.43 [[ 9.98438304e-01 4.32215216e-02 3.53956680e-02 3.02357972e+01] [-4.31652853e-02 9.99065177e-01 -2.35178052e-03 -8.35904206e-01] [-3.54642268e-02 8.20243650e-04 9.99370610e-01 -1.43095197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930385722999997 meters 0.020422410569934314 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.84, Z:-1.43 [[ 9.98458259e-01 4.28805316e-02 3.52472108e-02 3.02656964e+01] [-4.28245958e-02 9.99079864e-01 -2.34073348e-03 -8.37837490e-01] [-3.53151505e-02 8.27677115e-04 9.99375883e-01 -1.43228476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960385722999998 meters 0.020445735403128582 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.84, Z:-1.43 [[ 9.98493151e-01 4.25686969e-02 3.46313993e-02 3.02948967e+01] [-4.25145522e-02 9.99093203e-01 -2.29868246e-03 -8.40233792e-01] [-3.46978476e-02 8.22880262e-04 9.99397510e-01 -1.43373354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990385723 meters 0.020530653798810555 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.84, Z:-1.44 [[ 9.98509768e-01 4.23801686e-02 3.43826270e-02 3.03247404e+01] [-4.23267274e-02 9.99101219e-01 -2.28101666e-03 -8.42822384e-01] [-3.44483944e-02 8.22313330e-04 9.99406140e-01 -1.43515459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020385723 meters 0.01949730734552676 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.84, Z:-1.44 [[ 9.98495277e-01 4.23745905e-02 3.48076980e-02 3.03549385e+01] [-4.23198565e-02 9.99101448e-01 -2.30804890e-03 -8.42632308e-01] [-3.48742241e-02 8.31519142e-04 9.99391363e-01 -1.43514334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050385723 meters 0.019670141326433726 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.85, Z:-1.44 [[ 9.98497554e-01 4.11816893e-02 3.61483488e-02 3.03845765e+01] [-4.11219234e-02 9.99151264e-01 -2.39559926e-03 -8.45437376e-01] [-3.62163232e-02 9.05510369e-04 9.99343564e-01 -1.43504902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080385723 meters 0.01988237776980966 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.85, Z:-1.44 [[ 9.98487267e-01 4.09115388e-02 3.67345057e-02 3.04138327e+01] [-4.08496844e-02 9.99162341e-01 -2.43310929e-03 -8.47808949e-01] [-3.68032769e-02 9.28835679e-04 9.99322098e-01 -1.43536884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110385723 meters 0.019895314623030184 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.85, Z:-1.43 [[ 9.98447806e-01 4.08767272e-02 3.78295220e-02 3.04431910e+01] [-4.08111557e-02 9.99163739e-01 -2.50425434e-03 -8.48312956e-01] [-3.79002523e-02 9.56500741e-04 9.99281070e-01 -1.43348057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140385722999994 meters 0.019877981949022863 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.85, Z:-1.43 [[ 9.98422881e-01 4.15739868e-02 3.77273626e-02 3.04727812e+01] [-4.15093318e-02 9.99134999e-01 -2.49576426e-03 -8.49790464e-01] [-3.77984873e-02 9.25790524e-04 9.99284953e-01 -1.43420453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170385722999995 meters 0.019814028211004867 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.85, Z:-1.44 [[ 9.98388780e-01 4.23983586e-02 3.77123821e-02 3.05028338e+01] [-4.23342960e-02 9.99100384e-01 -2.49600212e-03 -8.50807577e-01] [-3.77842818e-02 8.95453368e-04 9.99285518e-01 -1.43591264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200385723 meters 0.01967055792253748 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.85, Z:-1.44 [[ 9.98359100e-01 4.27010229e-02 3.81540292e-02 3.05319405e+01] [-4.26357225e-02 9.99087496e-01 -2.52388969e-03 -8.52915201e-01] [-3.82269862e-02 8.93023638e-04 9.99268683e-01 -1.43765508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230385723 meters 0.019814717901680646 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.86, Z:-1.44 [[ 9.98305871e-01 4.26681533e-02 3.95577728e-02 3.05615559e+01] [-4.25979875e-02 9.99088871e-01 -2.61531759e-03 -8.55304514e-01] [-3.96333213e-02 9.25805399e-04 9.99213862e-01 -1.43890489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260385723 meters 0.01942317657340731 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.86, Z:-1.44 [[ 9.98262137e-01 4.28235547e-02 4.04827119e-02 3.05920091e+01] [-4.27502587e-02 9.99082209e-01 -2.67489609e-03 -8.56690833e-01] [-4.05601058e-02 9.39601084e-04 9.99176659e-01 -1.43916585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290385723 meters 0.02001466827172516 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.86, Z:-1.44 [[ 9.98225217e-01 4.27959290e-02 4.14116402e-02 3.06213906e+01] [-4.27192023e-02 9.99083371e-01 -2.73633160e-03 -8.59359273e-01] [-4.14907850e-02 9.62402967e-04 9.99138423e-01 -1.43955069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320385723 meters 0.01969996732119072 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.86, Z:-1.44 [[ 9.98268004e-01 4.23141714e-02 4.08717840e-02 3.06524207e+01] [-4.22390613e-02 9.99103885e-01 -2.69989637e-03 -8.57922877e-01] [-4.09494021e-02 9.68834367e-04 9.99160752e-01 -1.44026948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350385722999995 meters 0.02064681907756352 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.86, Z:-1.44 [[ 9.98348214e-01 4.14370304e-02 3.97971832e-02 3.06823974e+01] [-4.13651274e-02 9.99140639e-01 -2.62882700e-03 -8.60969482e-01] [-3.98719139e-02 9.78269183e-04 9.99204320e-01 -1.44231647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380385722999996 meters 0.0199648168893617 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.86, Z:-1.44 [[ 9.98457011e-01 3.96014261e-02 3.89271597e-02 3.07132843e+01] [-3.95312154e-02 9.99215026e-01 -2.57200447e-03 -8.60694979e-01] [-3.89984579e-02 1.02919796e-03 9.99238741e-01 -1.44434713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410385723 meters 0.0201659918989012 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.86, Z:-1.45 [[ 9.98515342e-01 3.86837473e-02 3.83494343e-02 3.07433939e+01] [-3.86149002e-02 9.99250952e-01 -2.53461531e-03 -8.62090702e-01] [-3.84187571e-02 1.04999270e-03 9.99261175e-01 -1.44512669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440385723 meters 0.02045466002047206 Centerline is valid? [True, True] Translation: X:30.78, Y:-0.87, Z:-1.45 [[ 9.98563275e-01 3.73211336e-02 3.84515194e-02 3.07750132e+01] [-3.72509186e-02 9.99302713e-01 -2.54114269e-03 -8.65314628e-01] [-3.85195460e-02 1.10513735e-03 9.99257236e-01 -1.44643998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470385723 meters 0.02022251852011133 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.87, Z:-1.45 [[ 9.98540944e-01 3.90025211e-02 3.73468435e-02 3.08064507e+01] [-3.89374648e-02 9.99238602e-01 -2.46799600e-03 -8.68423135e-01] [-3.74146658e-02 1.01020365e-03 9.99299316e-01 -1.44854783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500385723 meters 0.020003520560536267 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.87, Z:-1.45 [[ 9.98481154e-01 4.01056893e-02 3.77745676e-02 3.08366052e+01] [-4.00395312e-02 9.99194952e-01 -2.50657919e-03 -8.70214624e-01] [-3.78446854e-02 9.90296102e-04 9.99283143e-01 -1.45004012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530385722999995 meters 0.020092250589362936 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.87, Z:-1.45 [[ 9.98389928e-01 4.13498852e-02 3.88296006e-02 3.08664281e+01] [-4.12809177e-02 9.99144257e-01 -2.57658724e-03 -8.72869135e-01] [-3.89029141e-02 9.69517197e-04 9.99242525e-01 -1.45108564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560385722999996 meters 0.01985483622547786 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.87, Z:-1.45 [[ 9.98199138e-01 4.36808380e-02 4.11152672e-02 3.08961917e+01] [-4.36054793e-02 9.99045103e-01 -2.72831647e-03 -8.72675229e-01] [-4.11951815e-02 9.30552216e-04 9.99150685e-01 -1.44927487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590385723 meters 0.01933444263463305 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.87, Z:-1.45 [[ 9.98110994e-01 4.47560693e-02 4.20872713e-02 3.09258293e+01] [-4.46780872e-02 9.98997534e-01 -2.79212362e-03 -8.72339440e-01] [-4.21700448e-02 9.06470501e-04 9.99110037e-01 -1.44926008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620385723 meters 0.019070927176489488 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.87, Z:-1.45 [[ 9.98054065e-01 4.62783680e-02 4.17899089e-02 3.09554891e+01] [-4.62028780e-02 9.98928234e-01 -2.77095935e-03 -8.72112913e-01] [-4.18733554e-02 8.34753173e-04 9.99122578e-01 -1.45041147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650385723 meters 0.01898826293350162 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.87, Z:-1.45 [[ 9.98083358e-01 4.66208359e-02 4.06953090e-02 3.09851341e+01] [-4.65495919e-02 9.98912339e-01 -2.69700138e-03 -8.73220069e-01] [-4.07767828e-02 7.97482172e-04 9.99167963e-01 -1.45202769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680385723 meters 0.019171441406870847 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.87, Z:-1.45 [[ 9.98130330e-01 4.65477808e-02 3.96124674e-02 3.10140137e+01] [-4.64802744e-02 9.98915762e-01 -2.62392758e-03 -8.74442429e-01] [-3.96916561e-02 7.77823348e-04 9.99211673e-01 -1.45334078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710385722999995 meters 0.019137449624039 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.88, Z:-1.46 [[ 9.98176215e-01 4.61146668e-02 3.89574231e-02 3.10430846e+01] [-4.60490977e-02 9.98935848e-01 -2.57921912e-03 -8.76999818e-01] [-3.90349063e-02 7.80561000e-04 9.99237543e-01 -1.45538739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740385722999996 meters 0.019013170498299686 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.88, Z:-1.46 [[ 9.98186116e-01 4.59946173e-02 3.88455096e-02 3.10716879e+01] [-4.59294370e-02 9.98941383e-01 -2.56915738e-03 -8.79520365e-01] [-3.89225545e-02 7.80344834e-04 9.99241926e-01 -1.45746231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770385723 meters 0.01930177522454676 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.88, Z:-1.46 [[ 9.98218383e-01 4.60246693e-02 3.79709108e-02 3.11002488e+01] [-4.59625172e-02 9.98940015e-01 -2.50861219e-03 -8.83282570e-01] [-3.80461203e-02 7.58904162e-04 9.99275696e-01 -1.45905736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800385723 meters 0.01873086378388674 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.88, Z:-1.46 [[ 9.98136016e-01 4.72884134e-02 3.85784764e-02 3.11289984e+01] [-4.72252736e-02 9.98881018e-01 -2.54680784e-03 -8.83573340e-01] [-3.86557422e-02 7.20181525e-04 9.99252328e-01 -1.45801720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830385723 meters 0.01872705202680109 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.88, Z:-1.46 [[ 9.98108489e-01 4.76716566e-02 3.88182588e-02 3.11572316e+01] [-4.76081212e-02 9.98862810e-01 -2.56000662e-03 -8.84429699e-01] [-3.88961549e-02 7.07099963e-04 9.99243008e-01 -1.45866294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860385723 meters 0.018667326216935166 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.89, Z:-1.46 [[ 9.98107169e-01 4.83294071e-02 3.80308898e-02 3.11856887e+01] [-4.82690292e-02 9.98831231e-01 -2.50472900e-03 -8.86738961e-01] [-3.81074925e-02 6.64273839e-04 9.99273425e-01 -1.46034895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890385722999994 meters 0.0184803901285865 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.89, Z:-1.46 [[ 9.98088342e-01 4.85967598e-02 3.81839816e-02 3.12147111e+01] [-4.85361910e-02 9.98818265e-01 -2.51217562e-03 -8.89130196e-01] [-3.82609418e-02 6.54068172e-04 9.99267568e-01 -1.46192751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920385722999995 meters 0.018590918189822562 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.89, Z:-1.46 [[ 9.98052050e-01 4.87078937e-02 3.89826510e-02 3.12423830e+01] [-4.86449525e-02 9.98812848e-01 -2.56204874e-03 -8.91483773e-01] [-3.90611647e-02 6.60748792e-04 9.99236603e-01 -1.46293528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950385723 meters 0.018465996213243796 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.89, Z:-1.46 [[ 9.97987111e-01 4.93440791e-02 3.98357670e-02 3.12708931e+01] [-4.92790011e-02 9.98781630e-01 -2.61453000e-03 -8.91242560e-01] [-3.99162439e-02 6.46200439e-04 9.99202820e-01 -1.46204854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980385723 meters 0.01836320720600478 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.89, Z:-1.46 [[ 9.97957728e-01 4.92392320e-02 4.06924024e-02 3.13002136e+01] [-4.91713531e-02 9.98786794e-01 -2.66788974e-03 -8.91284384e-01] [-4.07743990e-02 6.61540700e-04 9.99168159e-01 -1.46146746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010385723 meters 0.018437815630226406 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.89, Z:-1.46 [[ 9.97890930e-01 4.93595594e-02 4.21583297e-02 3.13291310e+01] [-4.92869361e-02 9.98780844e-01 -2.76092321e-03 -8.92320302e-01] [-4.22432101e-02 6.77245328e-04 9.99107128e-01 -1.46101548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040385723 meters 0.018621096815599026 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.90, Z:-1.46 [[ 9.97812237e-01 4.83445371e-02 4.50948566e-02 3.13582399e+01] [-4.82605535e-02 9.98830425e-01 -2.94986231e-03 -8.95367765e-01] [-4.51847245e-02 7.67105972e-04 9.98978354e-01 -1.46113569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070385723 meters 0.01894203960267319 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.90, Z:-1.46 [[ 9.97826042e-01 4.66794551e-02 4.65211576e-02 3.13864456e+01] [-4.65884166e-02 9.98909545e-01 -3.03986062e-03 -9.00595515e-01] [-4.66123274e-02 8.65905021e-04 9.98912679e-01 -1.46322900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100385722999995 meters 0.020121468435833345 Centerline is valid? [True, True] Translation: X:31.42, Y:-0.91, Z:-1.47 [[ 9.98028336e-01 4.19216978e-02 4.67120163e-02 3.14159227e+01] [-4.18248100e-02 9.99120304e-01 -3.05004791e-03 -9.09097022e-01] [-4.67987871e-02 1.09031304e-03 9.98903741e-01 -1.46649955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130385722999996 meters 0.020500880675946045 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.91, Z:-1.47 [[ 9.98171596e-01 3.92977711e-02 4.59254835e-02 3.14474877e+01] [-3.92012993e-02 9.99226831e-01 -2.99972427e-03 -9.12275164e-01] [-4.60078578e-02 1.19390093e-03 9.98940364e-01 -1.46830145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160385723 meters 0.021304832578158545 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.92, Z:-1.47 [[ 9.98311781e-01 3.72488780e-02 4.45657918e-02 3.14786926e+01] [-3.71555618e-02 9.99305226e-01 -2.92070154e-03 -9.16181937e-01] [-4.46436215e-02 1.25990372e-03 9.99002182e-01 -1.46970737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190385723 meters 0.021304832578158545 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.92, Z:-1.47 [[ 9.98301491e-01 3.75244176e-02 4.45651350e-02 3.15112337e+01] [-3.74309300e-02 9.99294920e-01 -2.93068939e-03 -9.18386128e-01] [-4.46436854e-02 1.25759713e-03 9.99002182e-01 -1.47116495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220385723 meters 0.021804725199178424 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.92, Z:-1.47 [[ 9.98430742e-01 3.63925671e-02 4.25632910e-02 3.15436899e+01] [-3.63057720e-02 9.99336776e-01 -2.81068079e-03 -9.19672067e-01] [-4.26373499e-02 1.26097697e-03 9.99089819e-01 -1.47133735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250385723 meters 0.02143798865982451 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.92, Z:-1.47 [[ 9.98408038e-01 3.70237842e-02 4.25514919e-02 3.15756216e+01] [-3.69374654e-02 9.99313619e-01 -2.81328275e-03 -9.21366734e-01] [-4.26264438e-02 1.23705985e-03 9.99090314e-01 -1.47300494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280385722999995 meters 0.021384045072289273 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.93, Z:-1.48 [[ 9.98338239e-01 3.79706743e-02 4.33472991e-02 3.16062017e+01] [-3.78815097e-02 9.99278097e-01 -2.87684478e-03 -9.25440996e-01] [-4.34252423e-02 1.23000302e-03 9.99055922e-01 -1.47587648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310385722999996 meters 0.021235645159557677 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.93, Z:-1.48 [[ 9.98202744e-01 3.89503962e-02 4.55428217e-02 3.16385359e+01] [-3.88524861e-02 9.99240353e-01 -3.03339561e-03 -9.30447847e-01] [-4.56263772e-02 1.25849198e-03 9.98957782e-01 -1.47811743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340385723 meters 0.021450673137537284 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.93, Z:-1.48 [[ 9.98173008e-01 3.92194105e-02 4.59617653e-02 3.16714005e+01] [-3.91194567e-02 9.99229817e-01 -3.07252322e-03 -9.32676928e-01] [-4.60468689e-02 1.26891046e-03 9.98938474e-01 -1.47905903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370385723 meters 0.02217552330038855 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.93, Z:-1.48 [[ 9.98132021e-01 4.01692637e-02 4.60314912e-02 3.17026992e+01] [-4.00694359e-02 9.99192121e-01 -3.08972567e-03 -9.32802131e-01] [-4.61184153e-02 1.23949824e-03 9.98935211e-01 -1.47855238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400385723 meters 0.021502644782659997 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.93, Z:-1.48 [[ 9.98064625e-01 4.14332133e-02 4.63712642e-02 3.17346628e+01] [-4.13327872e-02 9.99140555e-01 -3.12286166e-03 -9.32308154e-01] [-4.64608008e-02 1.20016416e-03 9.98919393e-01 -1.47940878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430385723 meters 0.021252296424809844 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.93, Z:-1.48 [[ 9.97976439e-01 4.29168313e-02 4.69166515e-02 3.17666735e+01] [-4.28151368e-02 9.99077980e-01 -3.17079953e-03 -9.32899669e-01] [-4.70094740e-02 1.15564038e-03 9.98893775e-01 -1.48033278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460385722999995 meters 0.02124622241739014 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.93, Z:-1.48 [[ 9.97910185e-01 4.39136920e-02 4.74009603e-02 3.17977298e+01] [-4.38104753e-02 9.99034688e-01 -3.21474571e-03 -9.34252939e-01] [-4.74963749e-02 1.13136888e-03 9.98870770e-01 -1.48145399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490385722999996 meters 0.020896752862236315 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.93, Z:-1.48 [[ 9.97777740e-01 4.56000724e-02 4.85820407e-02 3.18294834e+01] [-4.54931492e-02 9.98959184e-01 -3.30491326e-03 -9.34618144e-01] [-4.86821800e-02 1.08741885e-03 9.98813728e-01 -1.48226867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520385723 meters 0.020662329222744545 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.94, Z:-1.48 [[ 9.97695063e-01 4.70210451e-02 4.89242556e-02 3.18602956e+01] [-4.69142135e-02 9.98893371e-01 -3.33027044e-03 -9.36033914e-01] [-4.90267073e-02 1.02735141e-03 9.98796940e-01 -1.48387364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550385723 meters 0.020560297750190755 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.94, Z:-1.49 [[ 9.97563206e-01 4.87790855e-02 4.98823721e-02 3.18916431e+01] [-4.86699061e-02 9.98809125e-01 -3.40176468e-03 -9.39606330e-01] [-4.99889034e-02 9.65704910e-04 9.98749306e-01 -1.48616379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580385723 meters 0.020339314842787438 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.94, Z:-1.49 [[ 9.97509541e-01 4.95887458e-02 5.01564730e-02 3.19215905e+01] [-4.94793101e-02 9.98769287e-01 -3.42193891e-03 -9.41614938e-01] [-5.02644345e-02 9.31709031e-04 9.98735510e-01 -1.48840379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610385723 meters 0.020170734518912534 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.94, Z:-1.49 [[ 9.97402858e-01 5.12359564e-02 5.06203134e-02 3.19515877e+01] [-5.11265996e-02 9.98686208e-01 -3.45368243e-03 -9.43573651e-01] [-5.07307616e-02 8.56668229e-04 9.98711999e-01 -1.48974082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640385722999994 meters 0.019758824570452943 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.94, Z:-1.49 [[ 9.97138209e-01 5.47703236e-02 5.21114568e-02 3.19816026e+01] [-5.46592110e-02 9.98498736e-01 -3.55605446e-03 -9.41277721e-01] [-5.22279900e-02 6.97506667e-04 9.98634944e-01 -1.48748037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670385722999995 meters 0.019000567752647135 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.94, Z:-1.49 [[ 9.96999278e-01 5.66680260e-02 5.27368493e-02 3.20117311e+01] [-5.65569337e-02 9.98392893e-01 -3.59771969e-03 -9.39154219e-01] [-5.28559712e-02 6.04289439e-04 9.98601963e-01 -1.48760064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700385723 meters 0.018974960272017012 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.94, Z:-1.49 [[ 9.96833565e-01 5.85647634e-02 5.37867297e-02 3.20406883e+01] [-5.84520593e-02 9.98283480e-01 -3.66747004e-03 -9.38964109e-01] [-5.39091882e-02 5.11912122e-04 9.98545711e-01 -1.48814575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730385723 meters 0.018823448941680858 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.94, Z:-1.49 [[ 9.96665157e-01 6.06000322e-02 5.46461446e-02 3.20683896e+01] [-6.04868822e-02 9.98162047e-01 -3.72367197e-03 -9.39665786e-01] [-5.47713621e-02 4.05879204e-04 9.98498840e-01 -1.48949907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760385723 meters 0.018703838000264202 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.94, Z:-1.49 [[ 9.96361439e-01 6.42044380e-02 5.60506297e-02 3.20966644e+01] [-6.40913473e-02 9.97936745e-01 -3.81478124e-03 -9.41155071e-01] [-5.61799089e-02 2.08540554e-04 9.98420640e-01 -1.49092234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790385723 meters 0.018794474956591808 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.94, Z:-1.49 [[ 9.96250190e-01 6.51214161e-02 5.69628027e-02 3.21258360e+01] [-6.50063288e-02 9.97877336e-01 -3.87301447e-03 -9.43042364e-01] [-5.70941060e-02 1.55548713e-04 9.98368789e-01 -1.49186625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820385723 meters 0.01892436469771141 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.94, Z:-1.49 [[ 9.95926954e-01 6.77609331e-02 5.94807437e-02 3.21538498e+01] [-6.76403955e-02 9.97701587e-01 -4.03991997e-03 -9.44380762e-01] [-5.96177811e-02 1.64153384e-07 9.98221278e-01 -1.49160673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850385722999995 meters 0.01917881087559477 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.94, Z:-1.49 [[ 9.95731550e-01 6.93945753e-02 6.08528772e-02 3.21815678e+01] [-6.92717639e-02 9.97589285e-01 -4.12805305e-03 -9.44545614e-01] [-6.09926427e-02 -1.04953478e-04 9.98138210e-01 -1.49070737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880385722999996 meters 0.01935806938245608 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.94, Z:-1.49 [[ 9.95557649e-01 7.09495619e-02 6.18961060e-02 3.22105273e+01] [-7.08258013e-02 9.97479883e-01 -4.19400361e-03 -9.44726101e-01] [-6.20376833e-02 -2.08468936e-04 9.98073786e-01 -1.49059437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910385723 meters 0.019101886105754792 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.95, Z:-1.49 [[ 9.95214053e-01 7.33728639e-02 6.45400070e-02 3.22386276e+01] [-7.32436938e-02 9.97304506e-01 -4.36836838e-03 -9.46974637e-01] [-6.46865595e-02 -3.79686910e-04 9.97905559e-01 -1.49394094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940385723 meters 0.019423290309252748 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.95, Z:-1.49 [[ 9.95054506e-01 7.38895291e-02 6.63842492e-02 3.22663378e+01] [-7.37544117e-02 9.97266339e-01 -4.48721679e-03 -9.48999842e-01] [-6.65343355e-02 -4.31105956e-04 9.97784043e-01 -1.49428213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970385723 meters 0.01953779514685855 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.95, Z:-1.49 [[ 9.94975432e-01 7.34647034e-02 6.80207814e-02 3.22950837e+01] [-7.33222302e-02 9.97297730e-01 -4.59218761e-03 -9.50934415e-01] [-6.81743346e-02 -4.18321549e-04 9.97673336e-01 -1.49408054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000385723 meters 0.019502790655679073 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.95, Z:-1.50 [[ 9.95033557e-01 7.25489158e-02 6.81533187e-02 3.23239954e+01] [-7.24040667e-02 9.97364790e-01 -4.59637440e-03 -9.53435402e-01] [-6.83071824e-02 -3.61030664e-04 9.97664271e-01 -1.49566971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030385722999995 meters 0.019596949994514272 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.96, Z:-1.50 [[ 9.95082906e-01 7.18691990e-02 6.81529801e-02 3.23512943e+01] [-7.17231229e-02 9.97414014e-01 -4.59103493e-03 -9.55982567e-01] [-6.83066914e-02 -3.19684190e-04 9.97664319e-01 -1.49687084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060385722999996 meters 0.019731853980176035 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.96, Z:-1.50 [[ 9.95076728e-01 7.12423171e-02 6.88972987e-02 3.23797337e+01] [-7.10919363e-02 9.97458997e-01 -4.63528684e-03 -9.59526415e-01] [-6.90524590e-02 -2.85576310e-04 9.97612989e-01 -1.49899350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090385723 meters 0.02001702731427358 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.97, Z:-1.50 [[ 9.94975018e-01 7.03227400e-02 7.12700958e-02 3.24087136e+01] [-7.01597491e-02 9.97524264e-01 -4.79081544e-03 -9.66862873e-01] [-7.14305532e-02 -2.33550367e-04 9.97445548e-01 -1.50155095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120385723 meters 0.020290777161771717 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.97, Z:-1.50 [[ 9.94934989e-01 6.97993534e-02 7.23354558e-02 3.24378072e+01] [-6.96302135e-02 9.97561031e-01 -4.86039969e-03 -9.69515972e-01] [-7.24982846e-02 -2.00951520e-04 9.97368517e-01 -1.50197196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150385723 meters 0.020470344844572417 Centerline is valid? [True, True] Translation: X:32.47, Y:-0.97, Z:-1.50 [[ 9.94949178e-01 6.94552763e-02 7.24713604e-02 3.24682519e+01] [-6.92846435e-02 9.97585051e-01 -4.86876880e-03 -9.71485091e-01] [-7.26345074e-02 -1.76974857e-04 9.97358610e-01 -1.50186752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180385723 meters 0.020335705873356452 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.97, Z:-1.50 [[ 9.95041253e-01 6.82599970e-02 7.23427724e-02 3.24986328e+01] [-6.80868118e-02 9.97667562e-01 -4.86017214e-03 -9.74124433e-01] [-7.25057928e-02 -8.95169545e-05 9.97367987e-01 -1.50396232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210385722999995 meters 0.019907672769119124 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.98, Z:-1.51 [[ 9.95311930e-01 6.43820866e-02 7.21741575e-02 3.25293006e+01] [-6.41994458e-02 9.97925303e-01 -4.84991973e-03 -9.80195579e-01] [-7.23366659e-02 1.93642059e-04 9.97380253e-01 -1.50959904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240385722999996 meters 0.020190358240563862 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.98, Z:-1.51 [[ 9.95425121e-01 6.31303493e-02 7.17174133e-02 3.25611292e+01] [-6.29461342e-02 9.98005247e-01 -4.82806892e-03 -9.84901474e-01] [-7.18791525e-02 2.91647166e-04 9.97413306e-01 -1.51056496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270385723 meters 0.020259753038767342 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.99, Z:-1.51 [[ 9.95609601e-01 6.18962079e-02 7.02166736e-02 3.25928193e+01] [-6.17153031e-02 9.98082515e-01 -4.74494844e-03 -9.91866243e-01] [-7.03757285e-02 3.90672937e-04 9.97520478e-01 -1.51391216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300385723 meters 0.020183153582792976 Centerline is valid? [True, True] Translation: X:32.62, Y:-1.00, Z:-1.52 [[ 9.95734527e-01 6.07806315e-02 6.94151709e-02 3.26245456e+01] [-6.05999482e-02 9.98151032e-01 -4.70775045e-03 -9.95454077e-01] [-6.95729645e-02 4.81113910e-04 9.97576749e-01 -1.51641439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330385723 meters 0.020455812455565422 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.00, Z:-1.52 [[ 9.95900235e-01 5.94438707e-02 6.81846559e-02 3.26557166e+01] [-5.92652965e-02 9.98231481e-01 -4.64063900e-03 -9.99878201e-01] [-6.83399276e-02 5.80629629e-04 9.97661925e-01 -1.51778870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360385723 meters 0.020388514429082558 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.01, Z:-1.52 [[ 9.96199814e-01 5.75664625e-02 6.53607871e-02 3.26872136e+01] [-5.73973756e-02 9.98341434e-01 -4.46337741e-03 -1.00648462e+00] [-6.55093228e-02 6.94878100e-04 9.97851715e-01 -1.52433871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390385722999994 meters 0.020355753424515555 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.01, Z:-1.53 [[ 9.96352057e-01 5.65579218e-02 6.39044627e-02 3.27192409e+01] [-5.63932312e-02 9.98399031e-01 -4.37938729e-03 -1.01015756e+00] [-6.40498427e-02 7.59632393e-04 9.97946412e-01 -1.52850245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420385722999995 meters 0.020709774631043204 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.01, Z:-1.53 [[ 9.96447255e-01 5.59726616e-02 6.29279641e-02 3.27500332e+01] [-5.58108572e-02 9.98431981e-01 -4.32748614e-03 -1.01442577e+00] [-6.30715127e-02 8.00048072e-04 9.98008689e-01 -1.53083462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450385723 meters 0.02051818721342551 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.02, Z:-1.54 [[ 9.96654214e-01 5.44418215e-02 6.09628168e-02 3.27818095e+01] [-5.42862672e-02 9.98516554e-01 -4.20622063e-03 -1.01969797e+00] [-6.11013761e-02 8.82703757e-04 9.98131175e-01 -1.53645524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480385723 meters 0.02036113221280615 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.02, Z:-1.54 [[ 9.96776326e-01 5.36892779e-02 5.96189337e-02 3.28149790e+01] [-5.35382693e-02 9.98557264e-01 -4.12853867e-03 -1.02282186e+00] [-5.97545776e-02 9.23335079e-04 9.98212672e-01 -1.53983951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510385723 meters 0.02059637482542145 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.03, Z:-1.54 [[ 9.96908985e-01 5.29635307e-02 5.80287861e-02 3.28466037e+01] [-5.28183218e-02 9.98595989e-01 -4.03437327e-03 -1.02678013e+00] [-5.81609877e-02 9.56919868e-04 9.98306758e-01 -1.54196435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540385723 meters 0.02051228785500078 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.03, Z:-1.55 [[ 9.97212130e-01 5.08321356e-02 5.46265706e-02 3.28793586e+01] [-5.06995088e-02 9.98706678e-01 -3.81184631e-03 -1.03217720e+00] [-5.47496851e-02 1.03167908e-03 9.98499578e-01 -1.54693188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570385723 meters 0.020938430352131474 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.04, Z:-1.55 [[ 9.97373062e-01 4.98807075e-02 5.25251363e-02 3.29115019e+01] [-4.97560253e-02 9.98754624e-01 -3.67953275e-03 -1.03771714e+00] [-5.26432605e-02 1.05642484e-03 9.98612823e-01 -1.55027632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600385722999995 meters 0.021318834033310474 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.04, Z:-1.55 [[ 9.97565593e-01 4.84244161e-02 5.01793153e-02 3.29422486e+01] [-4.83081599e-02 9.98826250e-01 -3.52774162e-03 -1.04282254e+00] [-5.02912461e-02 1.09508328e-03 9.98733994e-01 -1.55436823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630385722999996 meters 0.021786326782796732 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.05, Z:-1.56 [[ 9.97966742e-01 4.50566602e-02 4.50808182e-02 3.29739746e+01] [-4.49590011e-02 9.98983777e-01 -3.17839593e-03 -1.04995354e+00] [-4.51782139e-02 1.14514488e-03 9.98978287e-01 -1.56192776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660385723 meters 0.021779366987139274 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.05, Z:-1.57 [[ 9.98159951e-01 4.31282917e-02 4.26223204e-02 3.30060116e+01] [-4.30388382e-02 9.99068852e-01 -3.01457685e-03 -1.05397756e+00] [-4.27126463e-02 1.17461473e-03 9.99086708e-01 -1.56629046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690385723 meters 0.02250284360549322 Centerline is valid? [True, True] Translation: X:33.04, Y:-1.06, Z:-1.57 [[ 9.98401683e-01 4.08020953e-02 3.91058684e-02 3.30369454e+01] [-4.07246750e-02 9.99166554e-01 -2.77464501e-03 -1.05928544e+00] [-3.91864870e-02 1.17763646e-03 9.99231221e-01 -1.57002769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720385723 meters 0.022228246601863372 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.06, Z:-1.57 [[ 9.98438259e-01 4.05816227e-02 3.83949881e-02 3.30687014e+01] [-4.05065091e-02 9.99175538e-01 -2.73255082e-03 -1.06139421e+00] [-3.84742242e-02 1.17303634e-03 9.99258904e-01 -1.57189374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750385723 meters 0.022944751564627643 Centerline is valid? [True, True] Translation: X:33.10, Y:-1.07, Z:-1.57 [[ 9.98408640e-01 4.11275709e-02 3.85838132e-02 3.31002399e+01] [-4.10517538e-02 9.99153222e-01 -2.75554222e-03 -1.06564592e+00] [-3.86644700e-02 1.16722397e-03 9.99251568e-01 -1.57287019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780385722999995 meters 0.022519404214752226 Centerline is valid? [True, True] Translation: X:33.13, Y:-1.07, Z:-1.57 [[ 9.98347943e-01 4.24372784e-02 3.87357916e-02 3.31325359e+01] [-4.23614773e-02 9.99098493e-01 -2.77591297e-03 -1.06789049e+00] [-3.88186732e-02 1.13042165e-03 9.99245632e-01 -1.57358268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810385722999996 meters 0.022081797373326568 Centerline is valid? [True, True] Translation: X:33.16, Y:-1.07, Z:-1.58 [[ 9.98295495e-01 4.45332311e-02 3.77212820e-02 3.31642831e+01] [-4.44625121e-02 9.99007372e-01 -2.71201394e-03 -1.07118266e+00] [-3.78046136e-02 1.03020834e-03 9.99284619e-01 -1.57700692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840385723 meters 0.021895350491399065 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.07, Z:-1.58 [[ 9.98334551e-01 4.50302481e-02 3.60610839e-02 3.31956478e+01] [-4.49655846e-02 9.98985146e-01 -2.60259227e-03 -1.07446011e+00] [-3.61416825e-02 9.76750062e-04 9.99346199e-01 -1.58064105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870385723 meters 0.022160759984074754 Centerline is valid? [True, True] Translation: X:33.22, Y:-1.08, Z:-1.58 [[ 9.98370001e-01 4.53677765e-02 3.46280962e-02 3.32249187e+01] [-4.53083104e-02 9.98969922e-01 -2.50046014e-03 -1.07904096e+00] [-3.47058668e-02 9.27443861e-04 9.99397140e-01 -1.58470049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900385723 meters 0.02210248566882897 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.08, Z:-1.59 [[ 9.98422022e-01 4.53722324e-02 3.30881511e-02 3.32542501e+01] [-4.53179037e-02 9.98969756e-01 -2.39042631e-03 -1.08241810e+00] [-3.31625212e-02 8.87168625e-04 9.99449579e-01 -1.58822765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930385723 meters 0.02157126393547593 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.08, Z:-1.59 [[ 9.98557262e-01 4.50292838e-02 2.92533414e-02 3.32836847e+01] [-4.49866987e-02 9.98985352e-01 -2.11258829e-03 -1.08164069e+00] [-2.93187879e-02 7.93529124e-04 9.99569797e-01 -1.59102688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960385722999995 meters 0.022174802082793932 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.08, Z:-1.59 [[ 9.98620148e-01 4.47568075e-02 2.74705026e-02 3.33120508e+01] [-4.47191689e-02 9.98997629e-01 -1.98327225e-03 -1.08312754e+00] [-2.75317319e-02 7.52077581e-04 9.99620647e-01 -1.59318168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990385722999996 meters 0.02162476170983065 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.08, Z:-1.59 [[ 9.98658876e-01 4.46682780e-02 2.61762100e-02 3.33404212e+01] [-4.46340887e-02 9.99001616e-01 -1.88923604e-03 -1.08303088e+00] [-2.62344650e-02 7.18351065e-04 9.99655559e-01 -1.59457827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020385723 meters 0.02256252756612464 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.09, Z:-1.60 [[ 9.98707244e-01 4.43595171e-02 2.48208320e-02 3.33679609e+01] [-4.43287311e-02 9.99015396e-01 -1.78945271e-03 -1.08910394e+00] [-2.48757726e-02 6.86863400e-04 9.99690314e-01 -1.60104575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050385723 meters 0.02217346264188131 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.09, Z:-1.60 [[ 9.98722666e-01 4.41317948e-02 2.46053255e-02 3.33961427e+01] [-4.41015319e-02 9.99025484e-01 -1.77149127e-03 -1.09224802e+00] [-2.46595263e-02 6.84095930e-04 9.99695674e-01 -1.60366655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080385723 meters 0.02217346264188131 Centerline is valid? [True, True] Translation: X:33.42, Y:-1.09, Z:-1.60 [[ 9.98725645e-01 4.40642476e-02 2.46054452e-02 3.34243663e+01] [-4.40340052e-02 9.99028465e-01 -1.76982762e-03 -1.09421710e+00] [-2.46595262e-02 6.84095928e-04 9.99695674e-01 -1.60493575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110385723 meters 0.022756290737938206 Centerline is valid? [True, True] Translation: X:33.45, Y:-1.10, Z:-1.61 [[ 9.98833604e-01 4.22700071e-02 2.33383299e-02 3.34533687e+01] [-4.22423611e-02 9.99105986e-01 -1.67652841e-03 -1.10077040e+00] [-2.33883320e-02 6.88706755e-04 9.99726218e-01 -1.60814703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140385722999994 meters 0.022809019331164377 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.10, Z:-1.61 [[ 9.98898127e-01 4.08495331e-02 2.31051263e-02 3.34822306e+01] [-4.08220579e-02 9.99165054e-01 -1.65974971e-03 -1.10331179e+00] [-2.31536348e-02 7.14722067e-04 9.99731663e-01 -1.60903955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170385722999995 meters 0.025659172489159835 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.11, Z:-1.61 [[ 9.99042048e-01 3.76018110e-02 2.23850213e-02 3.35106055e+01] [-3.75752484e-02 9.99292510e-01 -1.60620447e-03 -1.10838354e+00] [-2.24295803e-02 7.63543070e-04 9.99748134e-01 -1.60974691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200385723 meters 0.024133320019784944 Centerline is valid? [True, True] Translation: X:33.54, Y:-1.11, Z:-1.61 [[ 9.99078795e-01 3.66168047e-02 2.23779317e-02 3.35394283e+01] [-3.65900291e-02 9.99329072e-01 -1.60494138e-03 -1.10749738e+00] [-2.24216856e-02 7.84653721e-04 9.99748294e-01 -1.60741241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230385723 meters 0.024525982599928907 Centerline is valid? [True, True] Translation: X:33.57, Y:-1.11, Z:-1.61 [[ 9.99098009e-01 3.59221683e-02 2.26443459e-02 3.35677973e+01] [-3.58946175e-02 9.99354264e-01 -1.62209347e-03 -1.11110433e+00] [-2.26879928e-02 8.07820220e-04 9.99742268e-01 -1.60874888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260385723 meters 0.02472808088175154 Centerline is valid? [True, True] Translation: X:33.60, Y:-1.12, Z:-1.61 [[ 9.99114496e-01 3.51985651e-02 2.30496193e-02 3.35966980e+01] [-3.51698546e-02 9.99379987e-01 -1.64991682e-03 -1.11519910e+00] [-2.30934029e-02 8.37804052e-04 9.99732961e-01 -1.60986328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290385723 meters 0.023574744918351268 Centerline is valid? [True, True] Translation: X:33.63, Y:-1.12, Z:-1.61 [[ 9.99084409e-01 3.51380410e-02 2.44061724e-02 3.36264332e+01] [-3.51058740e-02 9.99382075e-01 -1.74533182e-03 -1.11986045e+00] [-2.44524187e-02 8.86933799e-04 9.99700601e-01 -1.60990196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320385722999994 meters 0.02569660016667676 Centerline is valid? [True, True] Translation: X:33.66, Y:-1.13, Z:-1.61 [[ 9.99081049e-01 3.49942130e-02 2.47479909e-02 3.36550314e+01] [-3.49611251e-02 9.99387108e-01 -1.76854152e-03 -1.12699517e+00] [-2.47947118e-02 9.01698712e-04 9.99692157e-01 -1.61274415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350385722999995 meters 0.02490766722015034 Centerline is valid? [True, True] Translation: X:33.69, Y:-1.13, Z:-1.61 [[ 9.99157274e-01 3.39352387e-02 2.30898353e-02 3.36854490e+01] [-3.39061714e-02 9.99423660e-01 -1.64932611e-03 -1.12637144e+00] [-2.31324979e-02 8.65048266e-04 9.99732034e-01 -1.61155458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380385722999996 meters 0.02508841500418879 Centerline is valid? [True, True] Translation: X:33.72, Y:-1.13, Z:-1.61 [[ 9.99196781e-01 3.31444933e-02 2.25218909e-02 3.37150223e+01] [-3.31166211e-02 9.99450198e-01 -1.60950923e-03 -1.12774024e+00] [-2.25628547e-02 8.62367516e-04 9.99745054e-01 -1.61214586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410385723 meters 0.02423001989206799 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.13, Z:-1.61 [[ 9.99238116e-01 3.26677216e-02 2.13543194e-02 3.37449500e+01] [-3.26425696e-02 9.99465925e-01 -1.52544340e-03 -1.12805372e+00] [-2.13927474e-02 8.27221335e-04 9.99770807e-01 -1.61228278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440385723 meters 0.02441964952684924 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.13, Z:-1.62 [[ 9.99314569e-01 3.15598790e-02 1.93485518e-02 3.37745101e+01] [-3.15390337e-02 9.99501566e-01 -1.38163541e-03 -1.13242460e+00] [-1.93825121e-02 7.70453764e-04 9.99811845e-01 -1.61552098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470385723 meters 0.02684994002281804 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.14, Z:-1.62 [[ 9.99351937e-01 3.07311511e-02 1.87430689e-02 3.38026776e+01] [-3.07114478e-02 9.99527396e-01 -1.33823380e-03 -1.13984470e+00] [-1.87753364e-02 7.61739753e-04 9.99823438e-01 -1.61969107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500385723 meters 0.024676729644483947 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.14, Z:-1.62 [[ 9.99356775e-01 3.01602152e-02 1.94009598e-02 3.38328947e+01] [-3.01390263e-02 9.99544759e-01 -1.38368851e-03 -1.13972289e+00] [-1.94338601e-02 7.98072451e-04 9.99810826e-01 -1.61789912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530385722999995 meters 0.024844810043408584 Centerline is valid? [True, True] Translation: X:33.86, Y:-1.14, Z:-1.62 [[ 9.99359627e-01 2.94785502e-02 2.02817905e-02 3.38622131e+01] [-2.94552690e-02 9.99565054e-01 -1.44572886e-03 -1.14198114e+00] [-2.03155870e-02 8.47397461e-04 9.99793258e-01 -1.61696654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560385722999996 meters 0.02518174627426985 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.14, Z:-1.61 [[ 9.99307795e-01 2.93352150e-02 2.28774135e-02 3.38924580e+01] [-2.93055863e-02 9.99569171e-01 -1.62936584e-03 -1.14288746e+00] [-2.29153550e-02 9.57801969e-04 9.99736950e-01 -1.61413819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590385723 meters 0.025022437628556583 Centerline is valid? [True, True] Translation: X:33.92, Y:-1.15, Z:-1.61 [[ 9.99305875e-01 2.91416887e-02 2.32062364e-02 3.39231737e+01] [-2.91111682e-02 9.99574815e-01 -1.65199648e-03 -1.14501091e+00] [-2.32445114e-02 9.75289136e-04 9.99729334e-01 -1.61461241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620385723 meters 0.024936154825759393 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.15, Z:-1.62 [[ 9.99342483e-01 2.75519624e-02 2.35688466e-02 3.39538336e+01] [-2.75200568e-02 9.99619845e-01 -1.67706555e-03 -1.15078386e+00] [-2.36060933e-02 1.02734685e-03 9.99720809e-01 -1.61619266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650385723 meters 0.025570062787650453 Centerline is valid? [True, True] Translation: X:33.98, Y:-1.16, Z:-1.62 [[ 9.99369068e-01 2.64930264e-02 2.36555609e-02 3.39846437e+01] [-2.64605694e-02 9.99648439e-01 -1.68408095e-03 -1.15511280e+00] [-2.36918609e-02 1.05707880e-03 9.99718750e-01 -1.61728972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680385723 meters 0.0252879264464263 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.16, Z:-1.62 [[ 9.99418603e-01 2.49409355e-02 2.32466354e-02 3.40168988e+01] [-2.49091720e-02 9.99688349e-01 -1.65497911e-03 -1.15656824e+00] [-2.32806673e-02 1.07496247e-03 9.99728391e-01 -1.61709050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710385722999995 meters 0.02744419548236491 Centerline is valid? [True, True] Translation: X:34.05, Y:-1.16, Z:-1.62 [[ 9.99485163e-01 2.15953966e-02 2.37286318e-02 3.40467764e+01] [-2.15613247e-02 9.99766098e-01 -1.69083681e-03 -1.16113517e+00] [-2.37595959e-02 1.17834557e-03 9.99717007e-01 -1.61769213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740385722999996 meters 0.029118083253646402 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.17, Z:-1.62 [[ 9.99523445e-01 2.02142361e-02 2.33295562e-02 3.40769849e+01] [-2.01809024e-02 9.99794961e-01 -1.66339707e-03 -1.16678874e+00] [-2.33583970e-02 1.19179288e-03 9.99726445e-01 -1.61992664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770385723 meters 0.028550147627213487 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.17, Z:-1.62 [[ 9.99561662e-01 1.90103769e-02 2.26955636e-02 3.41090347e+01] [-1.89784358e-02 9.99818578e-01 -1.62195179e-03 -1.16826181e+00] [-2.27222801e-02 1.19051453e-03 9.99741107e-01 -1.62021407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800385723 meters 0.0320467746688769 Centerline is valid? [True, True] Translation: X:34.14, Y:-1.17, Z:-1.62 [[ 9.99603309e-01 1.77743265e-02 2.18471595e-02 3.41393154e+01] [-1.77443866e-02 9.99841333e-01 -1.56353483e-03 -1.17385679e+00] [-2.18714839e-02 1.17525015e-03 9.99760100e-01 -1.62243191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830385723 meters 0.02934037419455434 Centerline is valid? [True, True] Translation: X:34.17, Y:-1.17, Z:-1.62 [[ 9.99621245e-01 1.72052101e-02 2.14789764e-02 3.41713701e+01] [-1.71761718e-02 9.99851299e-01 -1.53571009e-03 -1.17166323e+00] [-2.15022047e-02 1.16620185e-03 9.99768121e-01 -1.62127344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860385723 meters 0.029075257093640207 Centerline is valid? [True, True] Translation: X:34.20, Y:-1.17, Z:-1.62 [[ 9.99591040e-01 1.72771767e-02 2.27870861e-02 3.42031162e+01] [-1.72444936e-02 9.99849974e-01 -1.63001888e-03 -1.17444605e+00] [-2.28118295e-02 1.23640050e-03 9.99739012e-01 -1.62179331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890385722999994 meters 0.02818583489449326 Centerline is valid? [True, True] Translation: X:34.23, Y:-1.18, Z:-1.62 [[ 9.99505402e-01 1.81088640e-02 2.57103246e-02 3.42348172e+01] [-1.80672366e-02 9.99835062e-01 -1.85048537e-03 -1.17716418e+00] [-2.57395941e-02 1.38505561e-03 9.99667722e-01 -1.62041265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920385722999995 meters 0.027640601401572016 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.18, Z:-1.62 [[ 9.99475642e-01 1.89442621e-02 2.62593881e-02 3.42675264e+01] [-1.89011810e-02 9.99819574e-01 -1.88785832e-03 -1.17780010e+00] [-2.62904143e-02 1.39053495e-03 9.99653380e-01 -1.61972447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950385723 meters 0.02763380215725827 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.17, Z:-1.62 [[ 9.99434860e-01 2.22250463e-02 2.52192105e-02 3.42987965e+01] [-2.21861010e-02 9.99752196e-01 -1.82305764e-03 -1.17460733e+00] [-2.52534786e-02 1.26251141e-03 9.99680283e-01 -1.61869348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980385723 meters 0.02627039034565731 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.17, Z:-1.62 [[ 9.99385144e-01 2.47553000e-02 2.48295925e-02 3.43305224e+01] [-2.47183067e-02 9.99692843e-01 -1.79574961e-03 -1.17170273e+00] [-2.48664202e-02 1.18090000e-03 9.99690085e-01 -1.61941119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010385723 meters 0.02572768991109336 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.17, Z:-1.62 [[ 9.99332715e-01 2.74496407e-02 2.40965086e-02 3.43618111e+01] [-2.74155621e-02 9.99622602e-01 -1.74353882e-03 -1.17071103e+00] [-2.41352742e-02 1.08175605e-03 9.99708117e-01 -1.62019602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040385723 meters 0.024469512741390552 Centerline is valid? [True, True] Translation: X:34.39, Y:-1.17, Z:-1.62 [[ 9.99107696e-01 3.37096638e-02 2.54454501e-02 3.43913596e+01] [-3.36736372e-02 9.99431183e-01 -1.84312515e-03 -1.16847310e+00] [-2.54931075e-02 9.84639664e-04 9.99674513e-01 -1.62071393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070385722999994 meters 0.023417508518223922 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.17, Z:-1.62 [[ 9.98948177e-01 3.73399135e-02 2.66133653e-02 3.44218623e+01] [-3.73018013e-02 9.99302187e-01 -1.92725881e-03 -1.16740632e+00] [-2.66667579e-02 9.32505206e-04 9.99643944e-01 -1.62124436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100385722999995 meters 0.022106076682435416 Centerline is valid? [True, True] Translation: X:34.45, Y:-1.17, Z:-1.62 [[ 9.98783452e-01 4.14552174e-02 2.67035842e-02 3.44519966e+01] [-4.14183273e-02 9.99140022e-01 -1.93333247e-03 -1.16529207e+00] [-2.67607664e-02 8.24962685e-04 9.99641526e-01 -1.62200022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130385722999996 meters 0.02091146903647213 Centerline is valid? [True, True] Translation: X:34.48, Y:-1.16, Z:-1.62 [[ 9.98595753e-01 4.55072983e-02 2.71220836e-02 3.44819519e+01] [-4.54707400e-02 9.98963741e-01 -1.96346115e-03 -1.16276181e+00] [-2.71833299e-02 7.27442752e-04 9.99630200e-01 -1.62265409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160385723 meters 0.019966287449622713 Centerline is valid? [True, True] Translation: X:34.51, Y:-1.16, Z:-1.62 [[ 9.98162314e-01 5.36993570e-02 2.80779867e-02 3.45114555e+01] [-5.36634422e-02 9.98557013e-01 -2.03161922e-03 -1.15671009e+00] [-2.81465672e-02 5.21124330e-04 9.99603671e-01 -1.62343701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190385723 meters 0.019299605275060625 Centerline is valid? [True, True] Translation: X:34.54, Y:-1.15, Z:-1.62 [[ 9.97916324e-01 5.77139738e-02 2.88462631e-02 3.45410172e+01] [-5.76777565e-02 9.98333072e-01 -2.08671637e-03 -1.15245777e+00] [-2.89186111e-02 4.18580587e-04 9.99581682e-01 -1.62249497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220385723 meters 0.019002843517405863 Centerline is valid? [True, True] Translation: X:34.57, Y:-1.15, Z:-1.62 [[ 9.97616183e-01 6.30046074e-02 2.81490924e-02 3.45688939e+01] [-6.29722701e-02 9.98013203e-01 -2.03467897e-03 -1.14628432e+00] [-2.82213600e-02 2.57216423e-04 9.99601665e-01 -1.62443706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250385723 meters 0.018856240845154488 Centerline is valid? [True, True] Translation: X:34.60, Y:-1.15, Z:-1.63 [[ 9.97506038e-01 6.46817248e-02 2.82484984e-02 3.45973105e+01] [-6.46499082e-02 9.97905923e-01 -2.03913354e-03 -1.14634434e+00] [-2.83212386e-02 2.07785190e-04 9.99598852e-01 -1.62655966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280385722999995 meters 0.018797301640937913 Centerline is valid? [True, True] Translation: X:34.63, Y:-1.15, Z:-1.63 [[ 9.97458754e-01 6.56943497e-02 2.75732967e-02 3.46259341e+01] [-6.56644742e-02 9.97839778e-01 -1.98854423e-03 -1.14778512e+00] [-2.76443683e-02 1.72904823e-04 9.99617806e-01 -1.62831478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310385722999996 meters 0.018682722546000268 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.15, Z:-1.63 [[ 9.97385593e-01 6.58907695e-02 2.96712750e-02 3.46546403e+01] [-6.58563289e-02 9.97826826e-01 -2.13754739e-03 -1.14589943e+00] [-2.97476388e-02 1.77917732e-04 9.99557425e-01 -1.62713895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340385723 meters 0.018688064391751684 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.14, Z:-1.63 [[ 9.97326134e-01 6.61145191e-02 3.11360326e-02 3.46831001e+01] [-6.60767667e-02 9.97812026e-01 -2.24100375e-03 -1.14478163e+00] [-3.12160706e-02 1.77643249e-04 9.99512644e-01 -1.62620748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370385723 meters 0.018699166964859463 Centerline is valid? [True, True] Translation: X:34.71, Y:-1.14, Z:-1.63 [[ 9.97319927e-01 6.59422681e-02 3.16951313e-02 3.47123561e+01] [-6.59031556e-02 9.97823423e-01 -2.27824636e-03 -1.14376675e+00] [-3.17763771e-02 1.83331330e-04 9.99494987e-01 -1.62616107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400385723 meters 0.018640769960989206 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.14, Z:-1.63 [[ 9.97350292e-01 6.54293886e-02 3.18023688e-02 3.47405488e+01] [-6.53898038e-02 9.97857182e-01 -2.28427683e-03 -1.14362590e+00] [-3.18836809e-02 1.98673508e-04 9.99491566e-01 -1.62712118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430385723 meters 0.018769062094262618 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.15, Z:-1.63 [[ 9.97466811e-01 6.37534420e-02 3.15509140e-02 3.47679346e+01] [-6.37137534e-02 9.97965650e-01 -2.26271706e-03 -1.14744646e+00] [-3.16309844e-02 2.46758013e-04 9.99499585e-01 -1.63295363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460385722999995 meters 0.01866255352010305 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.15, Z:-1.63 [[ 9.97545357e-01 6.21099206e-02 3.23360159e-02 3.47963405e+01] [-6.20674694e-02 9.98069269e-01 -2.31590262e-03 -1.14950258e+00] [-3.24174243e-02 3.03203230e-04 9.99474371e-01 -1.63377182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490385722999996 meters 0.018717718512580566 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.15, Z:-1.63 [[ 9.97665012e-01 5.98055802e-02 3.29820696e-02 3.48256680e+01] [-5.97602318e-02 9.98209971e-01 -2.35989017e-03 -1.14979052e+00] [-3.30641653e-02 3.83363732e-04 9.99453157e-01 -1.63249070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520385723 meters 0.019254634807924356 Centerline is valid? [True, True] Translation: X:34.85, Y:-1.15, Z:-1.63 [[ 9.97908524e-01 5.47051888e-02 3.44371848e-02 3.48533056e+01] [-5.46527907e-02 9.98502385e-01 -2.46175152e-03 -1.14823755e+00] [-3.45202818e-02 5.74514570e-04 9.99403832e-01 -1.62930654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550385723 meters 0.019610030259720027 Centerline is valid? [True, True] Translation: X:34.88, Y:-1.15, Z:-1.63 [[ 9.98070389e-01 5.19109161e-02 3.40698600e-02 3.48819450e+01] [-5.18581317e-02 9.98651501e-01 -2.43172772e-03 -1.15040584e+00] [-3.41501501e-02 6.60236147e-04 9.99416495e-01 -1.63052816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580385723 meters 0.02065135976591135 Centerline is valid? [True, True] Translation: X:34.91, Y:-1.16, Z:-1.63 [[ 9.98334160e-01 4.61935841e-02 3.45696210e-02 3.49108193e+01] [-4.61359105e-02 9.98932132e-01 -2.46459210e-03 -1.15826104e+00] [-3.46465535e-02 8.65585548e-04 9.99399253e-01 -1.63464283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610385723 meters 0.02126745160869626 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.16, Z:-1.64 [[ 9.98415503e-01 4.37156644e-02 3.54319696e-02 3.49391861e+01] [-4.36535511e-02 9.99043538e-01 -2.52511712e-03 -1.16356306e+00] [-3.55084675e-02 9.74384779e-04 9.99368901e-01 -1.63682819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640385722999994 meters 0.022830117637437336 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.17, Z:-1.64 [[ 9.98565778e-01 3.94881437e-02 3.61534844e-02 3.49680107e+01] [-3.94208293e-02 9.99219384e-01 -2.57312837e-03 -1.16922296e+00] [-3.62268705e-02 1.14423759e-03 9.99342936e-01 -1.63726731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670385722999995 meters 0.02309914517592183 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.17, Z:-1.64 [[ 9.98623146e-01 3.80928223e-02 3.60659080e-02 3.49981384e+01] [-3.80248762e-02 9.99273493e-01 -2.56824438e-03 -1.17124165e+00] [-3.61375375e-02 1.19330660e-03 9.99346113e-01 -1.63767446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700385723 meters 0.02304999523191767 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.17, Z:-1.64 [[ 9.98653005e-01 3.71275878e-02 3.62452569e-02 3.50289668e+01] [-3.70583291e-02 9.99309771e-01 -2.58101578e-03 -1.17279134e+00] [-3.63160663e-02 1.23435050e-03 9.99339592e-01 -1.63840882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730385723 meters 0.023993124912840207 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.18, Z:-1.64 [[ 9.98698193e-01 3.66781988e-02 3.54489534e-02 3.50592793e+01] [-3.66116932e-02 9.99326381e-01 -2.52362346e-03 -1.17561733e+00] [-3.55176363e-02 1.22249198e-03 9.99368302e-01 -1.63951248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760385723 meters 0.02388888896263811 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.18, Z:-1.64 [[ 9.98702973e-01 3.74817399e-02 3.44599835e-02 3.50899892e+01] [-3.74192667e-02 9.99296635e-01 -2.45628876e-03 -1.17626110e+00] [-3.45278116e-02 1.16363558e-03 9.99403060e-01 -1.64111559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790385723 meters 0.024045030409267785 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.18, Z:-1.64 [[ 9.98670205e-01 3.80556766e-02 3.47791240e-02 3.51192565e+01] [-3.79923557e-02 9.99274953e-01 -2.47995746e-03 -1.17843952e+00] [-3.48482839e-02 1.15531878e-03 9.99391946e-01 -1.64306490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820385722999994 meters 0.0218951004792034 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.18, Z:-1.64 [[ 9.98635534e-01 3.90483353e-02 3.46741514e-02 3.51499780e+01] [-3.89860195e-02 9.99236699e-01 -2.47173200e-03 -1.17685818e+00] [-3.47442017e-02 1.11655226e-03 9.99395614e-01 -1.64350206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850385722999995 meters 0.023287921589263513 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.18, Z:-1.65 [[ 9.98527044e-01 4.14273772e-02 3.50359079e-02 3.51789137e+01] [-4.13652103e-02 9.99140972e-01 -2.49768795e-03 -1.18305819e+00] [-3.51092837e-02 1.04474127e-03 9.99382933e-01 -1.64705015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880385722999996 meters 0.020929873068427644 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.18, Z:-1.65 [[ 9.98470265e-01 4.27333680e-02 3.50854474e-02 3.52088854e+01] [-4.26718460e-02 9.99086012e-01 -2.50077438e-03 -1.18095038e+00] [-3.51602462e-02 9.99788053e-04 9.99381187e-01 -1.64769443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910385723 meters 0.02054057348354019 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.18, Z:-1.65 [[ 9.98359227e-01 4.58793406e-02 3.42628194e-02 3.52373366e+01] [-4.58225557e-02 9.98946612e-01 -2.44114925e-03 -1.18192239e+00] [-3.43387257e-02 8.67133926e-04 9.99409876e-01 -1.64901329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940385723 meters 0.0202229451107602 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.18, Z:-1.65 [[ 9.98318815e-01 4.75100836e-02 3.32014540e-02 3.52655947e+01] [-4.74577071e-02 9.98870450e-01 -2.36425523e-03 -1.18121140e+00] [-3.32762773e-02 7.84615603e-04 9.99445883e-01 -1.64919395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970385723 meters 0.019806880944739237 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.18, Z:-1.65 [[ 9.98243360e-01 4.96078447e-02 3.23922226e-02 3.52946899e+01] [-4.95591895e-02 9.98768532e-01 -2.30371274e-03 -1.18002281e+00] [-3.24666149e-02 6.94333645e-04 9.99472579e-01 -1.64961312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000385723 meters 0.01913537878465547 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.18, Z:-1.65 [[ 9.98122890e-01 5.19293932e-02 3.24658857e-02 3.53237663e+01] [-5.18818161e-02 9.98650568e-01 -2.30672025e-03 -1.17917379e+00] [-3.25418618e-02 6.18001176e-04 9.99470182e-01 -1.65014656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030385722999995 meters 0.01913537878465547 Centerline is valid? [True, True] Translation: X:35.35, Y:-1.18, Z:-1.65 [[ 9.98128263e-01 5.18259461e-02 3.24660153e-02 3.53511332e+01] [-5.17783737e-02 9.98655940e-01 -2.30489534e-03 -1.18103055e+00] [-3.25418324e-02 6.19543709e-04 9.99470182e-01 -1.65137728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060385722999996 meters 0.018460590833031837 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.18, Z:-1.65 [[ 9.97874850e-01 5.63626130e-02 3.26961839e-02 3.53787222e+01] [-5.63169166e-02 9.98410253e-01 -2.31758140e-03 -1.18259089e+00] [-3.27748302e-02 4.71307925e-04 9.99462650e-01 -1.65485712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090385723 meters 0.018178579839279438 Centerline is valid? [True, True] Translation: X:35.41, Y:-1.19, Z:-1.66 [[ 9.97739664e-01 5.83340109e-02 3.33572528e-02 3.54071511e+01] [-5.82876540e-02 9.98297037e-01 -2.36128383e-03 -1.18540682e+00] [-3.34381898e-02 4.11630527e-04 9.99440703e-01 -1.65702461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120385723 meters 0.01774421153770479 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.19, Z:-1.66 [[ 9.97573933e-01 6.08710679e-02 3.37781268e-02 3.54359490e+01] [-6.08250654e-02 9.98145583e-01 -2.38876132e-03 -1.18609310e+00] [-3.38608945e-02 3.28409257e-04 9.99426502e-01 -1.65591752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150385723 meters 0.01770419681371514 Centerline is valid? [True, True] Translation: X:35.46, Y:-1.19, Z:-1.66 [[ 9.97517465e-01 6.17689513e-02 3.38157193e-02 3.54638408e+01] [-6.17234367e-02 9.98090431e-01 -2.38921745e-03 -1.18686148e+00] [-3.38987253e-02 2.96063731e-04 9.99425229e-01 -1.65721353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180385723 meters 0.01760574855760929 Centerline is valid? [True, True] Translation: X:35.49, Y:-1.19, Z:-1.66 [[ 9.97484130e-01 6.27027985e-02 3.30721954e-02 3.54914870e+01] [-6.26598635e-02 9.98032211e-01 -2.33408065e-03 -1.18660202e+00] [-3.31534697e-02 2.55909153e-04 9.99450240e-01 -1.65699283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210385722999995 meters 0.01745501045073467 Centerline is valid? [True, True] Translation: X:35.52, Y:-1.19, Z:-1.66 [[ 9.97363125e-01 6.43696781e-02 3.35162920e-02 3.55197499e+01] [-6.43266505e-02 9.97926102e-01 -2.36162018e-03 -1.18739222e+00] [-3.35987994e-02 1.99402077e-04 9.99435381e-01 -1.65716968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240385722999996 meters 0.01736704119393517 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.19, Z:-1.66 [[ 9.97257694e-01 6.51506019e-02 3.51068349e-02 3.55485497e+01] [-6.51039953e-02 9.97875427e-01 -2.47029983e-03 -1.18975601e+00] [-3.51931894e-02 1.77930295e-04 9.99380512e-01 -1.65726329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270385723 meters 0.01726997514887926 Centerline is valid? [True, True] Translation: X:35.58, Y:-1.19, Z:-1.66 [[ 9.97109605e-01 6.62385554e-02 3.72140897e-02 3.55762609e+01] [-6.61870415e-02 9.97803805e-01 -2.61588498e-03 -1.19339011e+00] [-3.73056328e-02 1.45233542e-04 9.99303892e-01 -1.65745912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300385723 meters 0.017240188852514146 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.20, Z:-1.66 [[ 9.97102587e-01 6.61749133e-02 3.75141586e-02 3.56043946e+01] [-6.61226409e-02 9.97808027e-01 -2.63376249e-03 -1.19534850e+00] [-3.76062176e-02 1.45596151e-04 9.99292625e-01 -1.65694391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330385723 meters 0.017263270562905334 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.20, Z:-1.66 [[ 9.97125679e-01 6.57623332e-02 3.76257217e-02 3.56321992e+01] [-6.57096007e-02 9.97835302e-01 -2.63775456e-03 -1.19722731e+00] [-3.77177382e-02 1.57801662e-04 9.99288420e-01 -1.65715732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360385723 meters 0.01723127152556473 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.20, Z:-1.66 [[ 9.97265347e-01 6.39403476e-02 3.70602055e-02 3.56601814e+01] [-6.38880657e-02 9.97953698e-01 -2.59448985e-03 -1.20082790e+00] [-3.71502618e-02 2.19689974e-04 9.99309667e-01 -1.65907247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390385722999994 meters 0.017219012575616144 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.20, Z:-1.66 [[ 9.97321457e-01 6.31252997e-02 3.69473677e-02 3.56884858e+01] [-6.30729632e-02 9.98005580e-01 -2.58155839e-03 -1.20359778e+00] [-3.70366408e-02 2.44263608e-04 9.99313878e-01 -1.65998740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420385722999995 meters 0.017206413205188554 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.21, Z:-1.66 [[ 9.97351341e-01 6.23587252e-02 3.74391645e-02 3.57159229e+01] [-6.23045351e-02 9.98053763e-01 -2.61353904e-03 -1.20658817e+00] [-3.75292760e-02 2.73986922e-04 9.99295491e-01 -1.66115936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450385723 meters 0.017318247770767924 Centerline is valid? [True, True] Translation: X:35.74, Y:-1.21, Z:-1.66 [[ 9.97427624e-01 6.12400503e-02 3.72530757e-02 3.57429433e+01] [-6.11857717e-02 9.98123018e-01 -2.59643144e-03 -1.21199427e+00] [-3.73421579e-02 3.10394262e-04 9.99302490e-01 -1.66377397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480385723 meters 0.01721069315911732 Centerline is valid? [True, True] Translation: X:35.77, Y:-1.22, Z:-1.67 [[ 9.97504223e-01 6.01553356e-02 3.69683718e-02 3.57716385e+01] [-6.01012646e-02 9.98188968e-01 -2.57320311e-03 -1.21528684e+00] [-3.70562128e-02 3.44935077e-04 9.99313123e-01 -1.66548681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510385723 meters 0.017553018005954126 Centerline is valid? [True, True] Translation: X:35.80, Y:-1.22, Z:-1.67 [[ 9.97615567e-01 5.83077255e-02 3.69241112e-02 3.57996146e+01] [-5.82526034e-02 9.98298573e-01 -2.56783895e-03 -1.21907909e+00] [-3.70110123e-02 4.10790502e-04 9.99314773e-01 -1.66531453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540385723 meters 0.017685212540100036 Centerline is valid? [True, True] Translation: X:35.83, Y:-1.22, Z:-1.66 [[ 9.97647952e-01 5.71875544e-02 3.77908277e-02 3.58278475e+01] [-5.71291816e-02 9.98363347e-01 -2.62357776e-03 -1.22126683e+00] [-3.78790133e-02 4.58447922e-04 9.99282227e-01 -1.66471167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570385722999994 meters 0.017804020299304005 Centerline is valid? [True, True] Translation: X:35.86, Y:-1.22, Z:-1.67 [[ 9.97680280e-01 5.63679607e-02 3.81669003e-02 3.58554897e+01] [-5.63079581e-02 9.98409942e-01 -2.64608764e-03 -1.22380441e+00] [-3.82553673e-02 4.90849231e-04 9.99267875e-01 -1.66502959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600385722999995 meters 0.018138295200651938 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.23, Z:-1.67 [[ 9.97804745e-01 5.47280077e-02 3.72898813e-02 3.58833562e+01] [-5.46697010e-02 9.98501155e-01 -2.58224838e-03 -1.22881224e+00] [-3.73753109e-02 5.37953026e-04 9.99301154e-01 -1.66666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630385722999996 meters 0.017935258822320027 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.23, Z:-1.67 [[ 9.97853652e-01 5.39421087e-02 3.71259804e-02 3.59121624e+01] [-5.38839117e-02 9.98543907e-01 -2.56709348e-03 -1.23200499e+00] [-3.72103959e-02 5.61090556e-04 9.99307296e-01 -1.66860528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660385723 meters 0.01835713201576298 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.24, Z:-1.67 [[ 9.97867774e-01 5.35584342e-02 3.73014788e-02 3.59392880e+01] [-5.34995114e-02 9.98564551e-01 -2.57671976e-03 -1.23750156e+00] [-3.73859396e-02 5.75614723e-04 9.99300736e-01 -1.67163694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690385723 meters 0.01822339254900442 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.24, Z:-1.67 [[ 9.97833278e-01 5.41592783e-02 3.73566770e-02 3.59679291e+01] [-5.41007294e-02 9.98532157e-01 -2.57712478e-03 -1.24216378e+00] [-3.74414185e-02 5.50517397e-04 9.99298673e-01 -1.67422315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720385723 meters 0.0180721115672181 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.24, Z:-1.67 [[ 9.97807807e-01 5.45219187e-02 3.75091965e-02 3.59964476e+01] [-5.44632417e-02 9.98512430e-01 -2.58511947e-03 -1.24337782e+00] [-3.75943446e-02 5.36579958e-04 9.99292939e-01 -1.67448210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750385723 meters 0.017837425499366837 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.24, Z:-1.67 [[ 9.97707501e-01 5.58411164e-02 3.82297241e-02 3.60257215e+01] [-5.57812325e-02 9.98439546e-01 -2.63210998e-03 -1.24406403e+00] [-3.83170483e-02 4.93574744e-04 9.99265510e-01 -1.67366479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780385722999995 meters 0.0175555286308428 Centerline is valid? [True, True] Translation: X:36.05, Y:-1.25, Z:-1.67 [[ 9.97668018e-01 5.62165021e-02 3.87069744e-02 3.60547947e+01] [-5.61554991e-02 9.98418485e-01 -2.66229589e-03 -1.24583735e+00] [-3.87954237e-02 4.82478003e-04 9.99247058e-01 -1.67427676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810385722999996 meters 0.017765522079003348 Centerline is valid? [True, True] Translation: X:36.08, Y:-1.25, Z:-1.68 [[ 9.97640077e-01 5.61252347e-02 3.95504160e-02 3.60822175e+01] [-5.60615812e-02 9.98423615e-01 -2.71753058e-03 -1.24998516e+00] [-3.96405913e-02 4.93858561e-04 9.99213881e-01 -1.67570270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840385723 meters 0.01788083037608209 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.25, Z:-1.68 [[ 9.97603147e-01 5.56237079e-02 4.11577947e-02 3.61106742e+01] [-5.55545103e-02 9.98451662e-01 -2.82399101e-03 -1.25428554e+00] [-4.12511493e-02 5.30721187e-04 9.99148668e-01 -1.67570235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870385723 meters 0.017793078459963023 Centerline is valid? [True, True] Translation: X:36.14, Y:-1.26, Z:-1.68 [[ 9.97650206e-01 5.49543858e-02 4.09155496e-02 3.61389540e+01] [-5.48855529e-02 9.98488713e-01 -2.80457713e-03 -1.25751039e+00] [-4.10078383e-02 5.52314383e-04 9.99158672e-01 -1.67701335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900385723 meters 0.0178680041321826 Centerline is valid? [True, True] Translation: X:36.17, Y:-1.26, Z:-1.68 [[ 9.97707105e-01 5.41370491e-02 4.06166614e-02 3.61672342e+01] [-5.40686572e-02 9.98533347e-01 -2.78125905e-03 -1.26105061e+00] [-4.07076600e-02 5.78793574e-04 9.99170932e-01 -1.67949043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930385723 meters 0.01818978317955198 Centerline is valid? [True, True] Translation: X:36.20, Y:-1.26, Z:-1.68 [[ 9.97853987e-01 5.24360702e-02 3.92158018e-02 3.61959922e+01] [-5.23711082e-02 9.98624089e-01 -2.68268682e-03 -1.26477452e+00] [-3.93025139e-02 6.23154743e-04 9.99227163e-01 -1.68181314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960385722999995 meters 0.018515537986599738 Centerline is valid? [True, True] Translation: X:36.22, Y:-1.27, Z:-1.68 [[ 9.97957273e-01 5.12601446e-02 3.81271417e-02 3.62233347e+01] [-5.11979784e-02 9.98685124e-01 -2.60572785e-03 -1.26832893e+00] [-3.82105792e-02 6.48372476e-04 9.99269499e-01 -1.68402417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990385722999996 meters 0.018949509608678403 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.27, Z:-1.69 [[ 9.98132500e-01 4.85906555e-02 3.70197388e-02 3.62530919e+01] [-4.85303462e-02 9.98818513e-01 -2.52650339e-03 -1.27186255e+00] [-3.70987649e-02 7.25204403e-04 9.99311341e-01 -1.68542255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020385723 meters 0.018929744042734824 Centerline is valid? [True, True] Translation: X:36.28, Y:-1.27, Z:-1.69 [[ 9.98205035e-01 4.70730653e-02 3.70247909e-02 3.62822786e+01] [-4.70117434e-02 9.98891144e-01 -2.52558117e-03 -1.27404873e+00] [-3.71026226e-02 7.80447872e-04 9.99311156e-01 -1.68665690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050385723 meters 0.019099001083217913 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.28, Z:-1.69 [[ 9.98243674e-01 4.61782568e-02 3.71097749e-02 3.63105324e+01] [-4.61160740e-02 9.98932883e-01 -2.53033165e-03 -1.27732094e+00] [-3.71870207e-02 8.14530438e-04 9.99307992e-01 -1.68743185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080385723 meters 0.019585286330299823 Centerline is valid? [True, True] Translation: X:36.34, Y:-1.28, Z:-1.69 [[ 9.98221087e-01 4.51816760e-02 3.89008630e-02 3.63391830e+01] [-4.51127033e-02 9.98978390e-01 -2.64946031e-03 -1.28165253e+00] [-3.89808286e-02 8.89824063e-04 9.99239562e-01 -1.68777810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110385723 meters 0.01965373108741794 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.28, Z:-1.69 [[ 9.98214843e-01 4.50828392e-02 3.91748034e-02 3.63685338e+01] [-4.50129001e-02 9.98982848e-01 -2.66595151e-03 -1.28396671e+00] [-3.92551454e-02 8.97820858e-04 9.99228816e-01 -1.68932161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140385722999994 meters 0.01969493714155455 Centerline is valid? [True, True] Translation: X:36.40, Y:-1.29, Z:-1.69 [[ 9.98231350e-01 4.50426164e-02 3.87986407e-02 3.63980446e+01] [-4.49740358e-02 9.98984670e-01 -2.63903026e-03 -1.28588113e+00] [-3.88781162e-02 8.89431283e-04 9.99243564e-01 -1.69065491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170385722999995 meters 0.01961202864000128 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.29, Z:-1.69 [[ 9.98209090e-01 4.51975912e-02 3.91891497e-02 3.64272906e+01] [-4.51277951e-02 9.98977669e-01 -2.66423133e-03 -1.28750166e+00] [-3.92695023e-02 8.90940018e-04 9.99228258e-01 -1.69123418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200385723 meters 0.019350063496047985 Centerline is valid? [True, True] Translation: X:36.46, Y:-1.29, Z:-1.69 [[ 9.98177451e-01 4.54988495e-02 3.96438043e-02 3.64564871e+01] [-4.54277163e-02 9.98963996e-01 -2.69375157e-03 -1.28902143e+00] [-3.97252958e-02 8.87914584e-04 9.99210244e-01 -1.69213007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230385723 meters 0.01908569177928247 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.29, Z:-1.69 [[ 9.98044651e-01 4.77538275e-02 4.03292285e-02 3.64866281e+01] [-4.76821062e-02 9.98858806e-01 -2.73895635e-03 -1.29021933e+00] [-4.04140007e-02 8.10618177e-04 9.99182692e-01 -1.69169712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260385723 meters 0.018657983831997186 Centerline is valid? [True, True] Translation: X:36.52, Y:-1.29, Z:-1.69 [[ 9.97945399e-01 4.95329407e-02 4.06382529e-02 3.65158457e+01] [-4.94616726e-02 9.98772215e-01 -2.75790061e-03 -1.29211130e+00] [-4.07249647e-02 7.42198262e-04 9.99170119e-01 -1.69312757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290385723 meters 0.018318843332197677 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.29, Z:-1.69 [[ 9.97836055e-01 5.19595349e-02 4.02916203e-02 3.65451383e+01] [-5.18915103e-02 9.98648988e-01 -2.73300083e-03 -1.29411730e+00] [-4.03791913e-02 6.36293729e-04 9.99184225e-01 -1.69493992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320385722999994 meters 0.01792024870611492 Centerline is valid? [True, True] Translation: X:36.57, Y:-1.30, Z:-1.70 [[ 9.97760197e-01 5.40992348e-02 3.93428677e-02 3.65742122e+01] [-5.40360846e-02 9.98535420e-01 -2.66751561e-03 -1.29532105e+00] [-3.94295575e-02 5.35606379e-04 9.99222209e-01 -1.69643870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350385722999995 meters 0.017364566363339214 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.29, Z:-1.70 [[ 9.97527217e-01 5.85604867e-02 3.88602599e-02 3.66024210e+01] [-5.85023580e-02 9.98283800e-01 -2.63227250e-03 -1.29430596e+00] [-3.89477151e-02 3.52346632e-04 9.99241188e-01 -1.69820174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380385722999996 meters 0.017123201579498083 Centerline is valid? [True, True] Translation: X:36.63, Y:-1.29, Z:-1.70 [[ 9.97378819e-01 6.08403653e-02 3.91655686e-02 3.66314603e+01] [-6.07832112e-02 9.98147475e-01 -2.64950969e-03 -1.29489272e+00] [-3.92542105e-02 2.61955816e-04 9.99229222e-01 -1.69912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410385723 meters 0.01682229359165145 Centerline is valid? [True, True] Translation: X:36.66, Y:-1.30, Z:-1.70 [[ 9.97089773e-01 6.55151717e-02 3.89839208e-02 3.66598091e+01] [-6.54622201e-02 9.97851570e-01 -2.63459352e-03 -1.29617086e+00] [-3.90727724e-02 7.49522566e-05 9.99236365e-01 -1.70155037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440385723 meters 0.01671528749029702 Centerline is valid? [True, True] Translation: X:36.69, Y:-1.30, Z:-1.70 [[ 9.97006706e-01 6.71803139e-02 3.82679073e-02 3.66887713e+01] [-6.71306127e-02 9.97740851e-01 -2.58369179e-03 -1.29876486e+00] [-3.83550276e-02 7.00998182e-06 9.99264175e-01 -1.70355383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470385723 meters 0.0167303574434235 Centerline is valid? [True, True] Translation: X:36.72, Y:-1.30, Z:-1.71 [[ 9.96969701e-01 6.81519146e-02 3.75064221e-02 3.67162275e+01] [-6.81049508e-02 9.97674955e-01 -2.52985740e-03 -1.30153844e+00] [-3.75916326e-02 -3.21818586e-05 9.99293184e-01 -1.70654093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500385723 meters 0.0167302105863696 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.30, Z:-1.70 [[ 9.96843540e-01 7.00323701e-02 3.73955065e-02 3.67449102e+01] [-6.99871316e-02 9.97544714e-01 -2.51903386e-03 -1.30341590e+00] [-3.74801037e-02 -1.06121601e-04 9.99297368e-01 -1.70487726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530385722999995 meters 0.01670941130955614 Centerline is valid? [True, True] Translation: X:36.77, Y:-1.30, Z:-1.70 [[ 9.96754150e-01 7.07298294e-02 3.84506900e-02 3.67740520e+01] [-7.06826241e-02 9.97495500e-01 -2.58740931e-03 -1.30386540e+00] [-3.85373972e-02 -1.38784698e-04 9.99257149e-01 -1.70286452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560385722999996 meters 0.01670193010258063 Centerline is valid? [True, True] Translation: X:36.80, Y:-1.30, Z:-1.70 [[ 9.96684445e-01 7.12924100e-02 3.92110981e-02 3.68020629e+01] [-7.12438541e-02 9.97455445e-01 -2.63602457e-03 -1.30490024e+00] [-3.92992519e-02 -1.66265075e-04 9.99227472e-01 -1.70206196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590385723 meters 0.016649997196196573 Centerline is valid? [True, True] Translation: X:36.83, Y:-1.31, Z:-1.71 [[ 9.96711956e-01 7.11964624e-02 3.86825566e-02 3.68288481e+01] [-7.11492936e-02 9.97462298e-01 -2.59640097e-03 -1.31199021e+00] [-3.87692464e-02 -1.64372683e-04 9.99248177e-01 -1.70680105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620385723 meters 0.01656976887168241 Centerline is valid? [True, True] Translation: X:36.86, Y:-1.32, Z:-1.71 [[ 9.96779989e-01 7.04263871e-02 3.83376826e-02 3.68552154e+01] [-7.03796048e-02 9.97516970e-01 -2.57017545e-03 -1.31766487e+00] [-3.84234971e-02 -1.36291490e-04 9.99261535e-01 -1.71037223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650385723 meters 0.016532502753185286 Centerline is valid? [True, True] Translation: X:36.88, Y:-1.32, Z:-1.71 [[ 9.96960152e-01 6.79856068e-02 3.80580128e-02 3.68834747e+01] [-6.79379095e-02 9.97686301e-01 -2.54663998e-03 -1.32326627e+00] [-3.81430928e-02 -4.66832387e-05 9.99272286e-01 -1.71086187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680385723 meters 0.016593292135105554 Centerline is valid? [True, True] Translation: X:36.91, Y:-1.33, Z:-1.71 [[ 9.97087069e-01 6.63088145e-02 3.76897656e-02 3.69113591e+01] [-6.62609262e-02 9.97799149e-01 -2.51967664e-03 -1.32570049e+00] [-3.77738928e-02 1.49782131e-05 9.99286312e-01 -1.71097146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710385722999995 meters 0.016625203926598456 Centerline is valid? [True, True] Translation: X:36.94, Y:-1.33, Z:-1.71 [[ 9.97237681e-01 6.44321832e-02 3.69526830e-02 3.69399449e+01] [-6.43850149e-02 9.97922085e-01 -2.46627781e-03 -1.32895140e+00] [-3.70348061e-02 8.02661229e-05 9.99313973e-01 -1.71201039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740385722999996 meters 0.016780632486349988 Centerline is valid? [True, True] Translation: X:36.97, Y:-1.34, Z:-1.71 [[ 9.97532271e-01 5.96746359e-02 3.69906218e-02 3.69680898e+01] [-5.96241974e-02 9.98217848e-01 -2.46618311e-03 -1.33773453e+00] [-3.70718675e-02 2.54561104e-04 9.99312570e-01 -1.71394904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770385723 meters 0.01703302354757567 Centerline is valid? [True, True] Translation: X:37.00, Y:-1.34, Z:-1.72 [[ 9.97746699e-01 5.61626544e-02 3.67053197e-02 3.69961853e+01] [-5.61107092e-02 9.98421560e-01 -2.44460686e-03 -1.34473986e+00] [-3.67846781e-02 3.79536906e-04 9.99323143e-01 -1.71638325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800385723 meters 0.017451430535817804 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.35, Z:-1.72 [[ 9.97962861e-01 5.23863862e-02 3.64114595e-02 3.70249136e+01] [-5.23328495e-02 9.98626759e-01 -2.42250237e-03 -1.35182415e+00] [-3.64883640e-02 5.12051964e-04 9.99333947e-01 -1.71869751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830385723 meters 0.019028767747394676 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.36, Z:-1.72 [[ 9.98328494e-01 4.43859036e-02 3.70149833e-02 3.70533498e+01] [-4.43251867e-02 9.99014128e-01 -2.45975593e-03 -1.36196275e+00] [-3.70876698e-02 8.14948381e-04 9.99311683e-01 -1.71989149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860385723 meters 0.019677826369191166 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.37, Z:-1.72 [[ 9.98489198e-01 4.04309601e-02 3.72110124e-02 3.70838885e+01] [-4.03669166e-02 9.99181868e-01 -2.47109740e-03 -1.36668176e+00] [-3.72804777e-02 9.65270228e-04 9.99304375e-01 -1.72061000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890385722999994 meters 0.019677826369191166 Centerline is valid? [True, True] Translation: X:37.12, Y:-1.37, Z:-1.72 [[ 9.98479356e-01 4.06732295e-02 3.72110815e-02 3.71155656e+01] [-4.06093927e-02 9.99172045e-01 -2.47005934e-03 -1.36881968e+00] [-3.72807377e-02 9.55183832e-04 9.99304375e-01 -1.72203272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920385722999995 meters 0.021528662649695378 Centerline is valid? [True, True] Translation: X:37.15, Y:-1.38, Z:-1.72 [[ 9.98683336e-01 3.52832193e-02 3.72382628e-02 3.71454712e+01] [-3.52151434e-02 9.99376671e-01 -2.48264359e-03 -1.37730590e+00] [-3.73026468e-02 1.16802402e-03 9.99303331e-01 -1.72449311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950385723 meters 0.021807439350216902 Centerline is valid? [True, True] Translation: X:37.18, Y:-1.38, Z:-1.73 [[ 9.98742023e-01 3.38446485e-02 3.69987960e-02 3.71774277e+01] [-3.37765003e-02 9.99426370e-01 -2.46559237e-03 -1.38147389e+00] [-3.70610195e-02 1.21280087e-03 9.99312268e-01 -1.72724514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980385723 meters 0.022220253681433516 Centerline is valid? [True, True] Translation: X:37.21, Y:-1.39, Z:-1.73 [[ 9.98797431e-01 3.28398274e-02 3.64038110e-02 3.72096999e+01] [-3.27728738e-02 9.99459860e-01 -2.43455559e-03 -1.38546301e+00] [-3.64640982e-02 1.23857037e-03 9.99334196e-01 -1.72904052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010385723 meters 0.022556108377496092 Centerline is valid? [True, True] Translation: X:37.24, Y:-1.39, Z:-1.73 [[ 9.98826572e-01 3.22138640e-02 3.61627772e-02 3.72418358e+01] [-3.21470701e-02 9.99480202e-01 -2.42712341e-03 -1.38825092e+00] [-3.62221669e-02 1.26174802e-03 9.99342965e-01 -1.73036958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040385723 meters 0.02268064704321147 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.39, Z:-1.73 [[ 9.98828819e-01 3.10352611e-02 3.71187620e-02 3.72744298e+01] [-3.09637302e-02 9.99517381e-01 -2.50053511e-03 -1.38944453e+00] [-3.71784525e-02 1.34827119e-03 9.99307733e-01 -1.72917204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070385722999994 meters 0.021926606068144987 Centerline is valid? [True, True] Translation: X:37.31, Y:-1.39, Z:-1.73 [[ 9.98804232e-01 3.02843967e-02 3.83791912e-02 3.73070501e+01] [-3.02069964e-02 9.99540296e-01 -2.59513220e-03 -1.39037423e+00] [-3.84401402e-02 1.43270893e-03 9.99259878e-01 -1.72983198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100385722999995 meters 0.02352066968607419 Centerline is valid? [True, True] Translation: X:37.34, Y:-1.40, Z:-1.73 [[ 9.98837844e-01 2.91697775e-02 3.83677541e-02 3.73378660e+01] [-2.90912282e-02 9.99573369e-01 -2.60409235e-03 -1.39709268e+00] [-3.84273460e-02 1.48490090e-03 9.99260293e-01 -1.73270660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130385722999996 meters 0.02364444671075868 Centerline is valid? [True, True] Translation: X:37.37, Y:-1.40, Z:-1.74 [[ 9.98881087e-01 2.88322081e-02 3.74870228e-02 3.73702248e+01] [-2.87566754e-02 9.99583182e-01 -2.55264614e-03 -1.39978318e+00] [-3.75449960e-02 1.47178780e-03 9.99293854e-01 -1.73590558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160385723 meters 0.02282515714315481 Centerline is valid? [True, True] Translation: X:37.40, Y:-1.40, Z:-1.74 [[ 9.98963485e-01 2.86595759e-02 3.53635894e-02 3.74026684e+01] [-2.85919722e-02 9.99588246e-01 -2.41601813e-03 -1.39725156e+00] [-3.54182704e-02 1.40239913e-03 9.99371592e-01 -1.73707580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190385723 meters 0.027054277492951865 Centerline is valid? [True, True] Translation: X:37.43, Y:-1.40, Z:-1.74 [[ 9.98930345e-01 2.89361433e-02 3.60675177e-02 3.74343812e+01] [-2.88656726e-02 9.99580240e-01 -2.47316184e-03 -1.40411138e+00] [-3.61239418e-02 1.42940326e-03 9.99346295e-01 -1.73892175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220385723 meters 0.023165205148140678 Centerline is valid? [True, True] Translation: X:37.47, Y:-1.40, Z:-1.74 [[ 9.98876946e-01 2.96367574e-02 3.69663329e-02 3.74674360e+01] [-2.95628280e-02 9.99559684e-01 -2.54503211e-03 -1.39893716e+00] [-3.70254825e-02 1.44934456e-03 9.99313271e-01 -1.73759426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250385723 meters 0.02232130830824774 Centerline is valid? [True, True] Translation: X:37.50, Y:-1.40, Z:-1.74 [[ 9.98767151e-01 3.17948394e-02 3.81217368e-02 3.74993001e+01] [-3.17174109e-02 9.99493405e-01 -2.63430049e-03 -1.40105037e+00] [-3.81861817e-02 1.42193001e-03 9.99269630e-01 -1.73949603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280385722999995 meters 0.02266541669113835 Centerline is valid? [True, True] Translation: X:37.53, Y:-1.40, Z:-1.74 [[ 9.98727456e-01 3.33657639e-02 3.78179034e-02 3.75300078e+01] [-3.32903103e-02 9.99442281e-01 -2.62331342e-03 -1.40334359e+00] [-3.78843405e-02 1.36100540e-03 9.99281204e-01 -1.74106240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310385722999996 meters 0.021632929700506655 Centerline is valid? [True, True] Translation: X:37.56, Y:-1.40, Z:-1.74 [[ 9.98696468e-01 3.49372765e-02 3.72122585e-02 3.75629147e+01] [-3.48651481e-02 9.99388681e-01 -2.58566451e-03 -1.40097788e+00] [-3.72798460e-02 1.28488311e-03 9.99304039e-01 -1.74092829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340385723 meters 0.020762690058008494 Centerline is valid? [True, True] Translation: X:37.60, Y:-1.39, Z:-1.74 [[ 9.98610492e-01 3.78734595e-02 3.66426755e-02 3.75956924e+01] [-3.78051704e-02 9.99281863e-01 -2.55497914e-03 -1.39437563e+00] [-3.67131269e-02 1.16614639e-03 9.99325166e-01 -1.73922008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370385723 meters 0.020407986072910275 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.39, Z:-1.74 [[ 9.98531636e-01 3.98852712e-02 3.66570298e-02 3.76276713e+01] [-3.98179481e-02 9.99203659e-01 -2.56507798e-03 -1.39424657e+00] [-3.67301472e-02 1.10170380e-03 9.99324613e-01 -1.74098846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400385723 meters 0.019344345966455016 Centerline is valid? [True, True] Translation: X:37.66, Y:-1.40, Z:-1.75 [[ 9.98329094e-01 4.45488727e-02 3.68024149e-02 3.76590421e+01] [-4.44837804e-02 9.99006760e-01 -2.58604741e-03 -1.39506034e+00] [-3.68810668e-02 9.44615829e-04 9.99319216e-01 -1.74567875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430385723 meters 0.01886197752594327 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.40, Z:-1.75 [[ 9.98217748e-01 4.71551820e-02 3.65747958e-02 3.76890195e+01] [-4.70925778e-02 9.98887218e-01 -2.57176002e-03 -1.39688973e+00] [-3.66553678e-02 8.44775083e-04 9.99327609e-01 -1.74848862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460385722999995 meters 0.018177916315219807 Centerline is valid? [True, True] Translation: X:37.72, Y:-1.40, Z:-1.75 [[ 9.98099434e-01 4.93917311e-02 3.68507343e-02 3.77192092e+01] [-4.93297250e-02 9.98779189e-01 -2.59051738e-03 -1.39644770e+00] [-3.69336967e-02 7.67757336e-04 9.99317423e-01 -1.74989690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490385722999996 meters 0.017565062625509702 Centerline is valid? [True, True] Translation: X:37.75, Y:-1.39, Z:-1.75 [[ 9.97923182e-01 5.25290090e-02 3.72830475e-02 3.77493090e+01] [-5.24677416e-02 9.98619181e-01 -2.62050093e-03 -1.38919848e+00] [-3.73692187e-02 6.58901325e-04 9.99301310e-01 -1.74709836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520385723 meters 0.017448392491741634 Centerline is valid? [True, True] Translation: X:37.78, Y:-1.39, Z:-1.74 [[ 9.97822982e-01 5.39488668e-02 3.79317199e-02 3.77783966e+01] [-5.38865465e-02 9.98543510e-01 -2.66416440e-03 -1.38603721e+00] [-3.80202014e-02 6.14355080e-04 9.99276782e-01 -1.74487607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550385723 meters 0.017029418214610757 Centerline is valid? [True, True] Translation: X:37.81, Y:-1.38, Z:-1.75 [[ 9.97630825e-01 5.61793964e-02 3.97065688e-02 3.78070343e+01] [-5.61129862e-02 9.98420538e-01 -2.78589890e-03 -1.38390944e+00] [-3.98003639e-02 5.51244477e-04 9.99207500e-01 -1.74516106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580385723 meters 0.017141601453441926 Centerline is valid? [True, True] Translation: X:37.83, Y:-1.39, Z:-1.75 [[ 9.97587037e-01 5.65481948e-02 4.02790803e-02 3.78346062e+01] [-5.64802671e-02 9.98399724e-01 -2.82329521e-03 -1.38789816e+00] [-4.03742749e-02 5.41509490e-04 9.99184480e-01 -1.74868407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610385723 meters 0.01692344734238071 Centerline is valid? [True, True] Translation: X:37.86, Y:-1.39, Z:-1.75 [[ 9.97558166e-01 5.70243522e-02 4.03228173e-02 3.78629466e+01] [-5.69568095e-02 9.98372653e-01 -2.82280290e-03 -1.39139910e+00] [-4.04181666e-02 5.19251055e-04 9.99182717e-01 -1.75276030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640385722999994 meters 0.017085846422424885 Centerline is valid? [True, True] Translation: X:37.89, Y:-1.39, Z:-1.75 [[ 9.97576386e-01 5.66527019e-02 4.03958634e-02 3.78903143e+01] [-5.65847199e-02 9.98393804e-01 -2.82519474e-03 -1.39348835e+00] [-4.04910346e-02 5.32558943e-04 9.99179760e-01 -1.75457981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670385722999995 meters 0.01714416089935669 Centerline is valid? [True, True] Translation: X:37.92, Y:-1.39, Z:-1.75 [[ 9.97614105e-01 5.63274006e-02 3.99164325e-02 3.79201232e+01] [-5.62609015e-02 9.98412208e-01 -2.78821185e-03 -1.38818342e+00] [-4.00101062e-02 5.35824994e-04 9.99199131e-01 -1.75272135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700385723 meters 0.017037191532995728 Centerline is valid? [True, True] Translation: X:37.95, Y:-1.39, Z:-1.75 [[ 9.97633446e-01 5.60502178e-02 3.98231276e-02 3.79491925e+01] [-5.59839156e-02 9.98427803e-01 -2.77901908e-03 -1.38540544e+00] [-3.99162824e-02 5.42987769e-04 9.99202880e-01 -1.75169461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730385723 meters 0.01768127378923149 Centerline is valid? [True, True] Translation: X:37.98, Y:-1.39, Z:-1.75 [[ 9.97792888e-01 5.35758264e-02 3.92298738e-02 3.79766634e+01] [-5.35096756e-02 9.98563585e-01 -2.73504775e-03 -1.38590954e+00] [-3.93200559e-02 6.29833377e-04 9.99226469e-01 -1.75343518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760385723 meters 0.017914903010348034 Centerline is valid? [True, True] Translation: X:38.01, Y:-1.39, Z:-1.76 [[ 9.97950281e-01 5.12903058e-02 3.82693335e-02 3.80052008e+01] [-5.12258035e-02 9.98683541e-01 -2.66477751e-03 -1.38940961e+00] [-3.83556307e-02 6.98938111e-04 9.99263908e-01 -1.75691788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790385723 meters 0.01822940084780873 Centerline is valid? [True, True] Translation: X:38.03, Y:-1.39, Z:-1.76 [[ 9.98139551e-01 4.83389428e-02 3.71588992e-02 3.80347159e+01] [-4.82761875e-02 9.98830681e-01 -2.58476481e-03 -1.39300536e+00] [-3.72403933e-02 7.86066000e-04 9.99306027e-01 -1.75992454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820385722999994 meters 0.019498638335093195 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.40, Z:-1.76 [[ 9.98480224e-01 4.12013009e-02 3.66018550e-02 3.80652810e+01] [-4.11356769e-02 9.99150330e-01 -2.54450217e-03 -1.39512434e+00] [-3.66755923e-02 1.03499301e-03 9.99326688e-01 -1.76185724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850385722999995 meters 0.021086910879867513 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.40, Z:-1.76 [[ 9.98618089e-01 3.76422574e-02 3.66738769e-02 3.80950501e+01] [-3.75739774e-02 9.99290596e-01 -2.54950901e-03 -1.39826587e+00] [-3.67438296e-02 1.16800240e-03 9.99324035e-01 -1.76274994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880385722999996 meters 0.02182403663126227 Centerline is valid? [True, True] Translation: X:38.13, Y:-1.40, Z:-1.76 [[ 9.98707803e-01 3.45846119e-02 3.72374729e-02 3.81261258e+01] [-3.45121030e-02 9.99400928e-01 -2.58843172e-03 -1.40011615e+00] [-3.73046849e-02 1.29994345e-03 9.99303092e-01 -1.76354313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910385723 meters 0.0245842653950903 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.40, Z:-1.76 [[ 9.98755313e-01 3.17681982e-02 3.84526604e-02 3.81564889e+01] [-3.16887393e-02 9.99494208e-01 -2.67428490e-03 -1.40412761e+00] [-3.85181686e-02 1.45243992e-03 9.99256844e-01 -1.76371052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940385723 meters 0.02211150645869814 Centerline is valid? [True, True] Translation: X:38.19, Y:-1.40, Z:-1.77 [[ 9.98700894e-01 3.38339032e-02 3.81023710e-02 3.81892371e+01] [-3.37573893e-02 9.99426544e-01 -2.64986074e-03 -1.40128545e+00] [-3.81701761e-02 1.36018172e-03 9.99270328e-01 -1.76527660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970385723 meters 0.020963328505596648 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.40, Z:-1.77 [[ 9.98523208e-01 3.73941165e-02 3.94091843e-02 3.82211368e+01] [-3.73146002e-02 9.99299780e-01 -2.75159330e-03 -1.39978889e+00] [-3.94844826e-02 1.27699181e-03 9.99219368e-01 -1.76629181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000385723 meters 0.020758550656760136 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.40, Z:-1.77 [[ 9.98387350e-01 3.94003752e-02 4.08694337e-02 3.82531321e+01] [-3.93164237e-02 9.99222728e-01 -2.85617794e-03 -1.40020321e+00] [-4.09502015e-02 1.24473195e-03 9.99160413e-01 -1.76645240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030385722999995 meters 0.020373481432495587 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.40, Z:-1.77 [[ 9.98258507e-01 4.18749693e-02 4.15504448e-02 3.82841202e+01] [-4.17898936e-02 9.99122170e-01 -2.91437155e-03 -1.39974210e+00] [-4.16360099e-02 1.17290753e-03 9.99132157e-01 -1.76678191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060385722999996 meters 0.01909977086957639 Centerline is valid? [True, True] Translation: X:38.32, Y:-1.40, Z:-1.77 [[ 9.98118201e-01 4.56004378e-02 4.09958169e-02 3.83153558e+01] [-4.55205101e-02 9.98959248e-01 -2.88149904e-03 -1.39598934e+00] [-4.10845481e-02 1.00992614e-03 9.99155163e-01 -1.76826459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090385723 meters 0.01857003819573668 Centerline is valid? [True, True] Translation: X:38.35, Y:-1.40, Z:-1.77 [[ 9.98080986e-01 4.66354966e-02 4.07366546e-02 3.83451119e+01] [-4.65574009e-02 9.98911510e-01 -2.86419342e-03 -1.39671944e+00] [-4.08258862e-02 9.62104235e-04 9.99165813e-01 -1.77102951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120385723 meters 0.019087236264233726 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.40, Z:-1.77 [[ 9.98087260e-01 4.62423884e-02 4.10300370e-02 3.83732521e+01] [-4.61628887e-02 9.98929764e-01 -2.88342597e-03 -1.40174202e+00] [-4.11194617e-02 9.83845690e-04 9.99153753e-01 -1.77426479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150385723 meters 0.01892287489462927 Centerline is valid? [True, True] Translation: X:38.40, Y:-1.40, Z:-1.78 [[ 9.98117583e-01 4.59592458e-02 4.06083484e-02 3.84026849e+01] [-4.58812273e-02 9.98942832e-01 -2.85161800e-03 -1.40309515e+00] [-4.06964768e-02 9.83089200e-04 9.99171072e-01 -1.77518286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180385723 meters 0.019025269520284112 Centerline is valid? [True, True] Translation: X:38.43, Y:-1.40, Z:-1.78 [[ 9.98156150e-01 4.57520765e-02 3.98879430e-02 3.84320758e+01] [-4.56766927e-02 9.98952352e-01 -2.79965920e-03 -1.40379212e+00] [-3.99742447e-02 9.72547736e-04 9.99200237e-01 -1.77619967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210385722999995 meters 0.019163314681381886 Centerline is valid? [True, True] Translation: X:38.46, Y:-1.40, Z:-1.78 [[ 9.98241658e-01 4.64485381e-02 3.68256018e-02 3.84603405e+01] [-4.63848025e-02 9.98920304e-01 -2.58368176e-03 -1.40441762e+00] [-3.69058496e-02 8.70990495e-04 9.99318368e-01 -1.77973708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240385722999996 meters 0.019020401289037543 Centerline is valid? [True, True] Translation: X:38.49, Y:-1.41, Z:-1.78 [[ 9.98279606e-01 4.64087158e-02 3.58337744e-02 3.84893358e+01] [-4.63484023e-02 9.98922176e-01 -2.51244945e-03 -1.40697837e+00] [-3.59117515e-02 8.47288851e-04 9.99354606e-01 -1.78255554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270385723 meters 0.019113665176504053 Centerline is valid? [True, True] Translation: X:38.52, Y:-1.41, Z:-1.79 [[ 9.98309666e-01 4.66555922e-02 3.46564017e-02 3.85167718e+01] [-4.65994010e-02 9.98910708e-01 -2.42778054e-03 -1.41077768e+00] [-3.47319203e-02 8.08709222e-04 9.99396338e-01 -1.78614445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300385723 meters 0.019257592394905942 Centerline is valid? [True, True] Translation: X:38.54, Y:-1.41, Z:-1.79 [[ 9.98306223e-01 4.69533250e-02 3.43521544e-02 3.85444686e+01] [-4.68983925e-02 9.98896773e-01 -2.40357042e-03 -1.41198484e+00] [-3.44271118e-02 7.88438483e-04 9.99406900e-01 -1.78746580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330385723 meters 0.019241545394555522 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.41, Z:-1.79 [[ 9.98289684e-01 4.74201704e-02 3.41911314e-02 3.85728765e+01] [-4.73661299e-02 9.98874737e-01 -2.38925910e-03 -1.41221158e+00] [-3.42659565e-02 7.65671149e-04 9.99412456e-01 -1.78806488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360385723 meters 0.01932329736069049 Centerline is valid? [True, True] Translation: X:38.60, Y:-1.41, Z:-1.79 [[ 9.98190892e-01 4.85955484e-02 3.54036019e-02 3.86004036e+01] [-4.85384265e-02 9.98818258e-01 -2.47166166e-03 -1.41210970e+00] [-3.54818757e-02 7.48755028e-04 9.99370040e-01 -1.78710268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390385722999994 meters 0.0192977706501414 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.41, Z:-1.79 [[ 9.98169264e-01 4.87150150e-02 3.58464508e-02 3.86294716e+01] [-4.86566455e-02 9.98812437e-01 -2.49940347e-03 -1.41412361e+00] [-3.59256394e-02 7.50659669e-04 9.99354184e-01 -1.78822632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420385722999995 meters 0.018663872858675983 Centerline is valid? [True, True] Translation: X:38.66, Y:-1.42, Z:-1.79 [[ 9.98159426e-01 4.85104846e-02 3.63935764e-02 3.86582262e+01] [-4.84502715e-02 9.98822379e-01 -2.53513052e-03 -1.41615113e+00] [-3.64736989e-02 7.67185772e-04 9.99334319e-01 -1.78905477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450385723 meters 0.018413107162676887 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.42, Z:-1.79 [[ 9.98145505e-01 4.83498200e-02 3.69844040e-02 3.86867714e+01] [-4.82876195e-02 9.98830157e-01 -2.57373051e-03 -1.41788314e+00] [-3.70655774e-02 7.83068708e-04 9.99312529e-01 -1.78992440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480385723 meters 0.018547909469032706 Centerline is valid? [True, True] Translation: X:38.72, Y:-1.42, Z:-1.79 [[ 9.98112382e-01 4.79808658e-02 3.83341680e-02 3.87153447e+01] [-4.79138750e-02 9.98847916e-01 -2.66487963e-03 -1.42073729e+00] [-3.84178670e-02 8.23110825e-04 9.99261422e-01 -1.78999688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510385723 meters 0.018423860902829946 Centerline is valid? [True, True] Translation: X:38.74, Y:-1.42, Z:-1.79 [[ 9.98104949e-01 4.74452063e-02 3.91849749e-02 3.87441918e+01] [-4.73749039e-02 9.98873472e-01 -2.72124298e-03 -1.42116935e+00] [-3.92699419e-02 8.59701661e-04 9.99228269e-01 -1.78900056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540385723 meters 0.018443408207024694 Centerline is valid? [True, True] Translation: X:38.77, Y:-1.42, Z:-1.79 [[ 9.98114153e-01 4.67301229e-02 3.98049491e-02 3.87728736e+01] [-4.66571232e-02 9.98907147e-01 -2.76143332e-03 -1.42267030e+00] [-3.98904902e-02 8.99041264e-04 9.99203653e-01 -1.78858169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570385722999994 meters 0.018686494481709174 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.43, Z:-1.79 [[ 9.98166976e-01 4.49448021e-02 4.05296467e-02 3.88020996e+01] [-4.48677739e-02 9.98988986e-01 -2.80861470e-03 -1.42789745e+00] [-4.06149033e-02 9.84991427e-04 9.99174389e-01 -1.79024811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600385722999995 meters 0.01907552602516411 Centerline is valid? [True, True] Translation: X:38.83, Y:-1.43, Z:-1.79 [[ 9.98209709e-01 4.37304994e-02 4.08046668e-02 3.88318760e+01] [-4.36514682e-02 9.99042823e-01 -2.82620015e-03 -1.43259284e+00] [-4.08892007e-02 1.03995681e-03 9.99163146e-01 -1.79245185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630385722999996 meters 0.020039054682335335 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.44, Z:-1.79 [[ 9.98309081e-01 4.16553138e-02 4.05439769e-02 3.88606527e+01] [-4.15756413e-02 9.99131417e-01 -2.80664187e-03 -1.43823967e+00] [-4.06256726e-02 1.11625422e-03 9.99173813e-01 -1.79406228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660385723 meters 0.020140576790444256 Centerline is valid? [True, True] Translation: X:38.89, Y:-1.44, Z:-1.80 [[ 9.98366164e-01 4.09712404e-02 3.98291373e-02 3.88905567e+01] [-4.08938416e-02 9.99159695e-01 -2.75638133e-03 -1.44095811e+00] [-3.99086010e-02 1.12311142e-03 9.99202703e-01 -1.79587942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690385723 meters 0.020508561279738616 Centerline is valid? [True, True] Translation: X:38.92, Y:-1.44, Z:-1.80 [[ 9.98436469e-01 4.00076542e-02 3.90385087e-02 3.89204833e+01] [-3.99325638e-02 9.99198725e-01 -2.70166576e-03 -1.44375266e+00] [-3.91153154e-02 1.13853388e-03 9.99234055e-01 -1.79776314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720385723 meters 0.020870818321726055 Centerline is valid? [True, True] Translation: X:38.95, Y:-1.45, Z:-1.80 [[ 9.98486621e-01 3.85084635e-02 3.92627916e-02 3.89514800e+01] [-3.84313570e-02 9.99257549e-01 -2.71700022e-03 -1.44777019e+00] [-3.93382684e-02 1.20396600e-03 9.99225225e-01 -1.79966473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750385723 meters 0.02099827212935092 Centerline is valid? [True, True] Translation: X:38.98, Y:-1.45, Z:-1.80 [[ 9.98482921e-01 3.81576106e-02 3.96970225e-02 3.89826502e+01] [-3.80784558e-02 9.99270973e-01 -2.74844037e-03 -1.45074794e+00] [-3.97729562e-02 1.23266946e-03 9.99207983e-01 -1.80026076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780385722999995 meters 0.02074719316566845 Centerline is valid? [True, True] Translation: X:39.02, Y:-1.45, Z:-1.80 [[ 9.98444987e-01 3.87370759e-02 4.00879913e-02 3.90152829e+01] [-3.86568018e-02 9.99248691e-01 -2.77595371e-03 -1.45320197e+00] [-4.01654051e-02 1.22196354e-03 9.99192297e-01 -1.80074531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810385722999996 meters 0.02074719316566845 Centerline is valid? [True, True] Translation: X:39.05, Y:-1.46, Z:-1.80 [[ 9.98435577e-01 3.89795450e-02 4.00873150e-02 3.90469685e+01] [-3.88990758e-02 9.99239262e-01 -2.78568337e-03 -1.45543465e+00] [-4.01654037e-02 1.22196588e-03 9.99192297e-01 -1.80216457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840385723 meters 0.021284557155171538 Centerline is valid? [True, True] Translation: X:39.08, Y:-1.46, Z:-1.80 [[ 9.98458405e-01 3.91562578e-02 3.93395616e-02 3.90782481e+01] [-3.90785271e-02 9.99232377e-01 -2.74321250e-03 -1.45902153e+00] [-3.94167776e-02 1.20165145e-03 9.99222134e-01 -1.80410593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870385723 meters 0.02069885078754036 Centerline is valid? [True, True] Translation: X:39.11, Y:-1.46, Z:-1.81 [[ 9.98500469e-01 3.92735471e-02 3.81366172e-02 3.91092699e+01] [-3.92002222e-02 9.99227812e-01 -2.66883337e-03 -1.46077530e+00] [-3.82119831e-02 1.16986750e-03 9.99268971e-01 -1.80609490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900385723 meters 0.020824605332539253 Centerline is valid? [True, True] Translation: X:39.14, Y:-1.46, Z:-1.81 [[ 9.98542569e-01 3.87782507e-02 3.75364624e-02 3.91403043e+01] [-3.87068189e-02 9.99247154e-01 -2.62811886e-03 -1.46413714e+00] [-3.76101171e-02 1.17137151e-03 9.99291803e-01 -1.80804218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930385723 meters 0.02113802367742876 Centerline is valid? [True, True] Translation: X:39.17, Y:-1.47, Z:-1.81 [[ 9.98512651e-01 3.87965955e-02 3.83054805e-02 3.91715277e+01] [-3.87221662e-02 9.99246413e-01 -2.68332663e-03 -1.46626580e+00] [-3.83807179e-02 1.19606440e-03 9.99262473e-01 -1.80910555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960385722999995 meters 0.021045837839979455 Centerline is valid? [True, True] Translation: X:39.20, Y:-1.47, Z:-1.81 [[ 9.98488638e-01 3.92902668e-02 3.84280429e-02 3.92029529e+01] [-3.92156740e-02 9.99227140e-01 -2.69324241e-03 -1.46767868e+00] [-3.85041617e-02 1.18219034e-03 9.99257741e-01 -1.81023171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990385722999996 meters 0.020513591977596744 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.47, Z:-1.81 [[ 9.98481842e-01 3.93255359e-02 3.85682855e-02 3.92344366e+01] [-3.92503722e-02 9.99225748e-01 -2.70440077e-03 -1.46952316e+00] [-3.86447760e-02 1.18647550e-03 9.99252307e-01 -1.81205177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020385723 meters 0.0212661240214876 Centerline is valid? [True, True] Translation: X:39.26, Y:-1.47, Z:-1.81 [[ 9.98469648e-01 3.91755423e-02 3.90338302e-02 3.92643789e+01] [-3.90983792e-02 9.99231613e-01 -2.73853482e-03 -1.47397052e+00] [-3.91111207e-02 1.20818440e-03 9.99234137e-01 -1.81403676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050385723 meters 0.02125792325686816 Centerline is valid? [True, True] Translation: X:39.30, Y:-1.48, Z:-1.81 [[ 9.98469415e-01 3.89760727e-02 3.92389218e-02 3.92951768e+01] [-3.88979188e-02 9.99239396e-01 -2.75352006e-03 -1.47671720e+00] [-3.93163979e-02 1.22299317e-03 9.99226063e-01 -1.81469076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080385723 meters 0.02127755491070581 Centerline is valid? [True, True] Translation: X:39.33, Y:-1.48, Z:-1.82 [[ 9.98507388e-01 3.87236071e-02 3.85159502e-02 3.93269370e+01] [-3.86480706e-02 9.99249225e-01 -2.70408401e-03 -1.47783809e+00] [-3.85917453e-02 1.21148069e-03 9.99254327e-01 -1.81582326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110385723 meters 0.01998688858138297 Centerline is valid? [True, True] Translation: X:39.36, Y:-1.48, Z:-1.82 [[ 9.98571393e-01 4.01567107e-02 3.52506884e-02 3.93585331e+01] [-4.00942988e-02 9.99192833e-01 -2.47591388e-03 -1.47504907e+00] [-3.53216598e-02 1.05902514e-03 9.99375434e-01 -1.81781591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140385722999994 meters 0.02060899426656143 Centerline is valid? [True, True] Translation: X:39.39, Y:-1.48, Z:-1.82 [[ 9.98568999e-01 4.00661506e-02 3.54211358e-02 3.93876832e+01] [-4.00030257e-02 9.99196458e-01 -2.48931701e-03 -1.47869128e+00] [-3.54924108e-02 1.06880219e-03 9.99369374e-01 -1.82050639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170385722999995 meters 0.022263394321230475 Centerline is valid? [True, True] Translation: X:39.42, Y:-1.49, Z:-1.82 [[ 9.98563120e-01 4.02569506e-02 3.53705168e-02 3.94168123e+01] [-4.01940913e-02 9.99188797e-01 -2.48672642e-03 -1.48503333e+00] [-3.54419321e-02 1.06146751e-03 9.99371174e-01 -1.82388278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200385723 meters 0.02029016581666721 Centerline is valid? [True, True] Translation: X:39.45, Y:-1.48, Z:-1.82 [[ 9.98513147e-01 4.07092222e-02 3.62526605e-02 3.94462023e+01] [-4.06435023e-02 9.99170462e-01 -2.54825206e-03 -1.48499715e+00] [-3.63263249e-02 1.07102810e-03 9.99339407e-01 -1.82399164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230385723 meters 0.019778741722933948 Centerline is valid? [True, True] Translation: X:39.48, Y:-1.49, Z:-1.82 [[ 9.98445777e-01 4.10727004e-02 3.76704527e-02 3.94761770e+01] [-4.10020473e-02 9.99155557e-01 -2.64652616e-03 -1.48621254e+00] [-3.77473421e-02 1.09784718e-03 9.99286712e-01 -1.82420557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260385723 meters 0.02050451135473624 Centerline is valid? [True, True] Translation: X:39.51, Y:-1.49, Z:-1.82 [[ 9.98303102e-01 4.22692930e-02 4.00527539e-02 3.95055425e+01] [-4.21904421e-02 9.99105629e-01 -2.81227412e-03 -1.48977146e+00] [-4.01358047e-02 1.11765859e-03 9.99193609e-01 -1.82323497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290385723 meters 0.0200220098508366 Centerline is valid? [True, True] Translation: X:39.54, Y:-1.49, Z:-1.82 [[ 9.98243474e-01 4.31396690e-02 4.06070982e-02 3.95360570e+01] [-4.30593710e-02 9.99068449e-01 -2.85039139e-03 -1.49047223e+00] [-4.06922356e-02 1.09686849e-03 9.99171126e-01 -1.82345023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320385722999994 meters 0.019942538650438484 Centerline is valid? [True, True] Translation: X:39.57, Y:-1.49, Z:-1.82 [[ 9.98216186e-01 4.37457546e-02 4.06294805e-02 3.95666626e+01] [-4.36658695e-02 9.99042120e-01 -2.85196250e-03 -1.49145324e+00] [-4.07153236e-02 1.07275354e-03 9.99170212e-01 -1.82419326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350385722999995 meters 0.019498349476788183 Centerline is valid? [True, True] Translation: X:39.60, Y:-1.49, Z:-1.83 [[ 9.98225888e-01 4.39701008e-02 4.01460667e-02 3.95971753e+01] [-4.38922877e-02 9.99032295e-01 -2.81802955e-03 -1.49224786e+00] [-4.02311262e-02 1.05092734e-03 9.99189848e-01 -1.82555741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380385722999996 meters 0.019953618615781352 Centerline is valid? [True, True] Translation: X:39.63, Y:-1.50, Z:-1.83 [[ 9.98257905e-01 4.34045808e-02 3.99649649e-02 3.96267866e+01] [-4.33270125e-02 9.99057005e-01 -2.80540067e-03 -1.49583098e+00] [-4.00490454e-02 1.06895087e-03 9.99197143e-01 -1.82760948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410385723 meters 0.021047671466919445 Centerline is valid? [True, True] Translation: X:39.66, Y:-1.50, Z:-1.83 [[ 9.98367370e-01 4.20411776e-02 3.86669571e-02 3.96557848e+01] [-4.19675733e-02 9.99115288e-01 -2.71362134e-03 -1.50080432e+00] [-3.87468318e-02 1.08643264e-03 9.99248469e-01 -1.83028301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440385723 meters 0.020736222472328387 Centerline is valid? [True, True] Translation: X:39.69, Y:-1.50, Z:-1.83 [[ 9.98386044e-01 4.16200197e-02 3.86404047e-02 3.96858315e+01] [-4.15462314e-02 9.99132905e-01 -2.71098608e-03 -1.50293478e+00] [-3.87197311e-02 1.10124747e-03 9.99249503e-01 -1.83212733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470385723 meters 0.02087504213117398 Centerline is valid? [True, True] Translation: X:39.72, Y:-1.51, Z:-1.83 [[ 9.98388409e-01 4.16871917e-02 3.85066527e-02 3.97162688e+01] [-4.16139635e-02 9.99130111e-01 -2.70160212e-03 -1.50628221e+00] [-3.85857784e-02 1.09483380e-03 9.99254692e-01 -1.83388941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500385723 meters 0.02025149547773544 Centerline is valid? [True, True] Translation: X:39.75, Y:-1.51, Z:-1.83 [[ 9.98240989e-01 4.34929103e-02 4.02901184e-02 3.97469440e+01] [-4.34142063e-02 9.99053160e-01 -2.82672893e-03 -1.50887585e+00] [-4.03749128e-02 1.07259317e-03 9.99184025e-01 -1.83474054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530385722999995 meters 0.019387329178440747 Centerline is valid? [True, True] Translation: X:39.78, Y:-1.51, Z:-1.83 [[ 9.98001113e-01 4.67782842e-02 4.24919993e-02 3.97774076e+01] [-4.66937090e-02 9.98904805e-01 -2.98124957e-03 -1.50829076e+00] [-4.25849200e-02 9.91181338e-04 9.99092359e-01 -1.83375568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560385722999996 meters 0.019371584985033816 Centerline is valid? [True, True] Translation: X:39.81, Y:-1.51, Z:-1.83 [[ 9.97891150e-01 4.87415747e-02 4.28662159e-02 3.98066490e+01] [-4.86573430e-02 9.98811004e-01 -3.00677762e-03 -1.50868372e+00] [-4.29618032e-02 9.14680608e-04 9.99076297e-01 -1.83347762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590385723 meters 0.01889281145134973 Centerline is valid? [True, True] Translation: X:39.84, Y:-1.51, Z:-1.83 [[ 9.97783881e-01 5.08421456e-02 4.29232157e-02 3.98363919e+01] [-5.07596958e-02 9.98706362e-01 -3.00928021e-03 -1.50770797e+00] [-4.30206868e-02 8.23841922e-04 9.99073842e-01 -1.83436837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620385723 meters 0.01798007047580608 Centerline is valid? [True, True] Translation: X:39.87, Y:-1.51, Z:-1.83 [[ 9.97600575e-01 5.45287825e-02 4.26579872e-02 3.98657475e+01] [-5.44507764e-02 9.98511981e-01 -2.98928271e-03 -1.50516135e+00] [-4.27575133e-02 6.59349629e-04 9.99085262e-01 -1.83488171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650385723 meters 0.017946827866114477 Centerline is valid? [True, True] Translation: X:39.89, Y:-1.51, Z:-1.84 [[ 9.97551247e-01 5.55585655e-02 4.24824195e-02 3.98937812e+01] [-5.54822614e-02 9.98455244e-01 -2.97398405e-03 -1.50734868e+00] [-4.25820249e-02 6.09680791e-04 9.99092788e-01 -1.83719704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680385723 meters 0.017803358946974084 Centerline is valid? [True, True] Translation: X:39.92, Y:-1.51, Z:-1.84 [[ 9.97458880e-01 5.69042441e-02 4.28682831e-02 3.99224259e+01] [-5.68279544e-02 9.98379487e-01 -2.99714294e-03 -1.51259075e+00] [-4.29693647e-02 5.53410001e-04 9.99076237e-01 -1.84010565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710385722999995 meters 0.017972399105824984 Centerline is valid? [True, True] Translation: X:39.95, Y:-1.52, Z:-1.84 [[ 9.97397473e-01 5.74750388e-02 4.35304591e-02 3.99497696e+01] [-5.73970497e-02 9.98346801e-01 -3.04037126e-03 -1.51617200e+00] [-4.36332401e-02 5.33938684e-04 9.99047474e-01 -1.84122041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740385722999996 meters 0.017809499600522704 Centerline is valid? [True, True] Translation: X:39.98, Y:-1.52, Z:-1.84 [[ 9.97339059e-01 5.78172410e-02 4.44068565e-02 3.99786737e+01] [-5.77365925e-02 9.98327046e-01 -3.09764419e-03 -1.51754997e+00] [-4.45116631e-02 5.25500966e-04 9.99008727e-01 -1.84105989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770385723 meters 0.01774755361107217 Centerline is valid? [True, True] Translation: X:40.01, Y:-1.52, Z:-1.84 [[ 9.97304736e-01 5.77909127e-02 4.52048028e-02 4.00071336e+01] [-5.77074562e-02 9.98328566e-01 -3.15010162e-03 -1.51771226e+00] [-4.53112932e-02 5.32957084e-04 9.98972774e-01 -1.83955478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800385723 meters 0.01782005166546695 Centerline is valid? [True, True] Translation: X:40.03, Y:-1.52, Z:-1.84 [[ 9.97375766e-01 5.70970316e-02 4.45141664e-02 4.00348607e+01] [-5.70155555e-02 9.98368481e-01 -3.09886356e-03 -1.51998638e+00] [-4.46184766e-02 5.52731488e-04 9.99003947e-01 -1.84105270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830385723 meters 0.018078359617088268 Centerline is valid? [True, True] Translation: X:40.06, Y:-1.52, Z:-1.84 [[ 9.97457633e-01 5.57365420e-02 4.44039157e-02 4.00621064e+01] [-5.56542957e-02 9.98445326e-01 -3.08728922e-03 -1.52435851e+00] [-4.45069568e-02 6.08171544e-04 9.99008889e-01 -1.84362148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860385723 meters 0.01826762933174838 Centerline is valid? [True, True] Translation: X:40.09, Y:-1.53, Z:-1.85 [[ 9.97502376e-01 5.45135276e-02 4.49141911e-02 4.00907592e+01] [-5.44283358e-02 9.98512810e-01 -3.11842113e-03 -1.52763961e+00] [-4.50173913e-02 6.66027813e-04 9.98985981e-01 -1.84501727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890385722999994 meters 0.018617408989893447 Centerline is valid? [True, True] Translation: X:40.12, Y:-1.53, Z:-1.85 [[ 9.97559093e-01 5.30381764e-02 4.54181514e-02 4.01194716e+01] [-5.29496763e-02 9.98592213e-01 -3.15025857e-03 -1.53114014e+00] [-4.55212963e-02 7.37692668e-04 9.98963096e-01 -1.84633836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920385722999995 meters 0.019328946870273613 Centerline is valid? [True, True] Translation: X:40.15, Y:-1.54, Z:-1.85 [[ 9.97802223e-01 4.91558100e-02 4.44345633e-02 4.01486698e+01] [-4.90673351e-02 9.98790723e-01 -3.08028245e-03 -1.53558853e+00] [-4.45322433e-02 8.93227075e-04 9.99007548e-01 -1.84872071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950385723 meters 0.01970035396257208 Centerline is valid? [True, True] Translation: X:40.18, Y:-1.54, Z:-1.85 [[ 9.97940033e-01 4.67669067e-02 4.39152199e-02 4.01786938e+01] [-4.66782446e-02 9.98905342e-01 -3.04277065e-03 -1.53916747e+00] [-4.40094487e-02 9.86617271e-04 9.99030628e-01 -1.85102534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980385723 meters 0.020339557049797553 Centerline is valid? [True, True] Translation: X:40.21, Y:-1.54, Z:-1.85 [[ 9.98171126e-01 4.19574204e-02 4.35198590e-02 4.02087298e+01] [-4.18657815e-02 9.99118694e-01 -3.01537714e-03 -1.54465584e+00] [-4.36080222e-02 1.18786948e-03 9.99048012e-01 -1.85417972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010385723 meters 0.021837343619881436 Centerline is valid? [True, True] Translation: X:40.24, Y:-1.55, Z:-1.86 [[ 9.98278671e-01 3.98099197e-02 4.30681490e-02 4.02390265e+01] [-3.97181809e-02 9.99206466e-01 -2.98402307e-03 -1.55012530e+00] [-4.31527667e-02 1.26829805e-03 9.99067680e-01 -1.85615605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040385723 meters 0.021602086586509264 Centerline is valid? [True, True] Translation: X:40.27, Y:-1.55, Z:-1.86 [[ 9.98362872e-01 3.82332076e-02 4.25417107e-02 4.02710051e+01] [-3.81422258e-02 9.99267970e-01 -2.94857966e-03 -1.55135034e+00] [-4.26233025e-02 1.32111692e-03 9.99090341e-01 -1.85749649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070385722999994 meters 0.022480551485302303 Centerline is valid? [True, True] Translation: X:40.30, Y:-1.55, Z:-1.86 [[ 9.98413814e-01 3.59778810e-02 4.33064480e-02 4.03017750e+01] [-3.58810016e-02 9.99351529e-01 -3.01254889e-03 -1.55253975e+00] [-4.33867502e-02 1.45389170e-03 9.99057294e-01 -1.85760980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100385722999995 meters 0.023628546641040603 Centerline is valid? [True, True] Translation: X:40.33, Y:-1.56, Z:-1.86 [[ 9.98413608e-01 3.31099475e-02 4.55411663e-02 4.03338985e+01] [-3.29995599e-02 9.99450327e-01 -3.17379141e-03 -1.55580823e+00] [-4.56212176e-02 1.66591809e-03 9.98957421e-01 -1.85792782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130385722999996 meters 0.02374973320422765 Centerline is valid? [True, True] Translation: X:40.37, Y:-1.56, Z:-1.86 [[ 9.98374951e-01 3.18883864e-02 4.72291107e-02 4.03660761e+01] [-3.17681104e-02 9.99489834e-01 -3.29526477e-03 -1.55895615e+00] [-4.73100967e-02 1.78953020e-03 9.98878647e-01 -1.85955586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160385723 meters 0.024347194465849344 Centerline is valid? [True, True] Translation: X:40.40, Y:-1.56, Z:-1.86 [[ 9.98364850e-01 3.11535981e-02 4.79278643e-02 4.03973067e+01] [-3.10283175e-02 9.99512872e-01 -3.35589389e-03 -1.56303123e+00] [-4.80090655e-02 1.86328551e-03 9.98845162e-01 -1.86096966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190385723 meters 0.023788982412620008 Centerline is valid? [True, True] Translation: X:40.43, Y:-1.57, Z:-1.86 [[ 9.98305917e-01 3.21921904e-02 4.84660680e-02 4.04295676e+01] [-3.20647539e-02 9.99479994e-01 -3.40478927e-03 -1.56522793e+00] [-4.85504730e-02 1.84496873e-03 9.98819026e-01 -1.86276489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220385723 meters 0.023624076712216596 Centerline is valid? [True, True] Translation: X:40.46, Y:-1.57, Z:-1.86 [[ 9.98261850e-01 3.29337050e-02 4.88738221e-02 4.04618474e+01] [-3.28044072e-02 9.99455852e-01 -3.44552360e-03 -1.56635263e+00] [-4.89607013e-02 1.83625800e-03 9.98799018e-01 -1.86398452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250385722999994 meters 0.022848672156210878 Centerline is valid? [True, True] Translation: X:40.50, Y:-1.57, Z:-1.86 [[ 9.98256203e-01 3.33773485e-02 4.86878309e-02 4.04951589e+01] [-3.32489713e-02 9.99441165e-01 -3.44447740e-03 -1.56600003e+00] [-4.87755899e-02 1.81965063e-03 9.98808105e-01 -1.86458877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280385722999995 meters 0.02369494793296715 Centerline is valid? [True, True] Translation: X:40.53, Y:-1.57, Z:-1.87 [[ 9.98360250e-01 3.27375036e-02 4.69581495e-02 4.05265009e+01] [-3.26167831e-02 9.99462367e-01 -3.33495076e-03 -1.56870366e+00] [-4.70420812e-02 1.79785850e-03 9.98891291e-01 -1.86673884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310385722999996 meters 0.02406611968725216 Centerline is valid? [True, True] Translation: X:40.56, Y:-1.57, Z:-1.87 [[ 9.98434701e-01 3.22185338e-02 4.57177736e-02 4.05585112e+01] [-3.21030995e-02 9.99479256e-01 -3.25710612e-03 -1.57295325e+00] [-4.57989055e-02 1.78432554e-03 9.98949086e-01 -1.87011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340385723 meters 0.024169956205257727 Centerline is valid? [True, True] Translation: X:40.59, Y:-1.58, Z:-1.87 [[ 9.98511323e-01 3.17932395e-02 4.43207314e-02 4.05907124e+01] [-3.16838737e-02 9.99492919e-01 -3.16806815e-03 -1.57701161e+00] [-4.43989804e-02 1.75909947e-03 9.99012330e-01 -1.87372178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370385723 meters 0.024741319777417302 Centerline is valid? [True, True] Translation: X:40.62, Y:-1.58, Z:-1.88 [[ 9.98658434e-01 3.12743551e-02 4.12704079e-02 4.06220050e+01] [-3.11787038e-02 9.99509445e-01 -2.95945219e-03 -1.58067383e+00] [-4.13427174e-02 1.66872407e-03 9.99143631e-01 -1.87730024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400385723 meters 0.024413481854010557 Centerline is valid? [True, True] Translation: X:40.65, Y:-1.58, Z:-1.88 [[ 9.98687873e-01 3.19668230e-02 4.00081699e-02 4.06541070e+01] [-3.18771448e-02 9.99487652e-01 -2.87758478e-03 -1.58033985e+00] [-4.00796590e-02 1.59846280e-03 9.99195209e-01 -1.87832348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430385723 meters 0.023975209787250165 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.58, Z:-1.88 [[ 9.98592755e-01 3.50554760e-02 3.97947603e-02 4.06852295e+01] [-3.49687774e-02 9.99384276e-01 -2.87283552e-03 -1.57684603e+00] [-3.98709664e-02 1.47721862e-03 9.99203745e-01 -1.87822553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460385722999995 meters 0.023380526477100545 Centerline is valid? [True, True] Translation: X:40.72, Y:-1.58, Z:-1.88 [[ 9.98506322e-01 3.74581834e-02 3.97744887e-02 4.07177580e+01] [-3.73734613e-02 9.99297242e-01 -2.87174159e-03 -1.57742835e+00] [-3.98541071e-02 1.38094182e-03 9.99204555e-01 -1.88051934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490385722999996 meters 0.021850418812752015 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.58, Z:-1.88 [[ 9.98399157e-01 3.99769100e-02 4.00121225e-02 4.07498286e+01] [-3.98928039e-02 9.99199761e-01 -2.89854960e-03 -1.57723003e+00] [-4.00959783e-02 1.29771372e-03 9.99194990e-01 -1.88293183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520385723 meters 0.01995901450102316 Centerline is valid? [True, True] Translation: X:40.78, Y:-1.58, Z:-1.89 [[ 9.98138810e-01 4.51457591e-02 4.09972829e-02 4.07811415e+01] [-4.50613540e-02 9.98979774e-01 -2.98102556e-03 -1.57506993e+00] [-4.10900370e-02 1.12808423e-03 9.99154811e-01 -1.88524604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550385723 meters 0.02066408426993854 Centerline is valid? [True, True] Translation: X:40.81, Y:-1.58, Z:-1.89 [[ 9.97975478e-01 4.79328721e-02 4.18017425e-02 4.08102498e+01] [-4.78474923e-02 9.98850023e-01 -3.04117698e-03 -1.57776661e+00] [-4.18994438e-02 1.03491150e-03 9.99121297e-01 -1.88609219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580385723 meters 0.018825671946881586 Centerline is valid? [True, True] Translation: X:40.84, Y:-1.57, Z:-1.88 [[ 9.97614579e-01 5.20772348e-02 4.53112844e-02 4.08409632e+01] [-5.19812139e-02 9.98642625e-01 -3.29563885e-03 -1.57313190e+00] [-4.54214078e-02 9.32441801e-04 9.98967480e-01 -1.88250214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610385723 meters 0.018737696373091174 Centerline is valid? [True, True] Translation: X:40.87, Y:-1.57, Z:-1.88 [[ 9.97431850e-01 5.41041648e-02 4.69302107e-02 4.08697885e+01] [-5.40034395e-02 9.98534919e-01 -3.41245536e-03 -1.57397531e+00] [-4.70460821e-02 8.69298866e-04 9.98892342e-01 -1.88158153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640385722999994 meters 0.01806099313126094 Centerline is valid? [True, True] Translation: X:40.90, Y:-1.57, Z:-1.88 [[ 9.97178513e-01 5.82104662e-02 4.73978296e-02 4.08997371e+01] [-5.81124727e-02 9.98304102e-01 -3.44399760e-03 -1.57473306e+00] [-4.75179244e-02 6.79875333e-04 9.98870154e-01 -1.88242404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670385722999995 meters 0.017794995024086744 Centerline is valid? [True, True] Translation: X:40.93, Y:-1.58, Z:-1.88 [[ 9.97113005e-01 5.99334070e-02 4.66223369e-02 4.09282212e+01] [-5.98405560e-02 9.98202205e-01 -3.38598304e-03 -1.57623940e+00] [-4.67414530e-02 5.86301162e-04 9.98906849e-01 -1.88427350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700385723 meters 0.017794995024086744 Centerline is valid? [True, True] Translation: X:40.96, Y:-1.58, Z:-1.89 [[ 9.97117154e-01 5.98641562e-02 4.66225716e-02 4.09564255e+01] [-5.97713808e-02 9.98206361e-01 -3.38274828e-03 -1.57823047e+00] [-4.67414529e-02 5.86300857e-04 9.98906849e-01 -1.88554205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730385723 meters 0.017441359005554317 Centerline is valid? [True, True] Translation: X:40.98, Y:-1.58, Z:-1.89 [[ 9.97021584e-01 6.25741232e-02 4.50825881e-02 4.09841949e+01] [-6.24902856e-02 9.98040222e-01 -3.26796490e-03 -1.57848550e+00] [-4.51987263e-02 4.41007732e-04 9.98977918e-01 -1.88813769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760385723 meters 0.01733567402790606 Centerline is valid? [True, True] Translation: X:41.01, Y:-1.58, Z:-1.89 [[ 9.97006836e-01 6.35127423e-02 4.40851418e-02 4.10133168e+01] [-6.34336580e-02 9.97980953e-01 -3.19192255e-03 -1.57975169e+00] [-4.41988596e-02 3.85886799e-04 9.99022678e-01 -1.88985562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790385723 meters 0.01722778696237387 Centerline is valid? [True, True] Translation: X:41.04, Y:-1.58, Z:-1.89 [[ 9.96994950e-01 6.41062038e-02 4.34909735e-02 4.10404873e+01] [-6.40299311e-02 9.97943020e-01 -3.14595451e-03 -1.58207758e+00] [-4.36031887e-02 3.51776719e-04 9.99048867e-01 -1.89186915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820385722999994 meters 0.017164872287100303 Centerline is valid? [True, True] Translation: X:41.07, Y:-1.59, Z:-1.90 [[ 9.97034670e-01 6.47426802e-02 4.15962939e-02 4.10685208e+01] [-6.46736051e-02 9.97901945e-01 -3.00555343e-03 -1.58690353e+00] [-4.17036101e-02 3.06458683e-04 9.99129979e-01 -1.89557234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850385722999995 meters 0.01718271593318207 Centerline is valid? [True, True] Translation: X:41.10, Y:-1.59, Z:-1.90 [[ 9.97054408e-01 6.47905157e-02 4.10450538e-02 4.10952582e+01] [-6.47234692e-02 9.97898843e-01 -2.96163288e-03 -1.58998205e+00] [-4.11506975e-02 2.96330842e-04 9.99152907e-01 -1.89748222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880385722999996 meters 0.01716003548210874 Centerline is valid? [True, True] Translation: X:41.12, Y:-1.59, Z:-1.90 [[ 9.97053918e-01 6.49835424e-02 4.07507567e-02 4.11229887e+01] [-6.49178156e-02 9.97886296e-01 -2.93550557e-03 -1.59274889e+00] [-4.08553812e-02 2.81407222e-04 9.99165031e-01 -1.89877306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910385723 meters 0.017411155698403593 Centerline is valid? [True, True] Translation: X:41.15, Y:-1.60, Z:-1.90 [[ 9.97056550e-01 6.38291830e-02 4.24743687e-02 4.11509444e+01] [-6.37569218e-02 9.97960781e-01 -3.05513293e-03 -1.59829766e+00] [-4.25827608e-02 3.38105294e-04 9.99092886e-01 -1.89870441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940385723 meters 0.017372473889588368 Centerline is valid? [True, True] Translation: X:41.18, Y:-1.60, Z:-1.90 [[ 9.97114770e-01 6.25661818e-02 4.29838061e-02 4.11791214e+01] [-6.24912067e-02 9.98040740e-01 -3.08705024e-03 -1.60148128e+00] [-4.30927346e-02 3.92033477e-04 9.99071000e-01 -1.89924869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970385723 meters 0.01757321402030728 Centerline is valid? [True, True] Translation: X:41.21, Y:-1.61, Z:-1.90 [[ 9.97255456e-01 5.98582074e-02 4.35723617e-02 4.12072018e+01] [-5.97787144e-02 9.98206758e-01 -3.12624898e-03 -1.60724699e+00] [-4.36813576e-02 5.12969086e-04 9.99045382e-01 -1.90022585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000385722999994 meters 0.017964472669981767 Centerline is valid? [True, True] Translation: X:41.23, Y:-1.61, Z:-1.90 [[ 9.97368035e-01 5.80699729e-02 4.34152270e-02 4.12344541e+01] [-5.79894910e-02 9.98312343e-01 -3.11195020e-03 -1.61163573e+00] [-4.35226679e-02 5.86132736e-04 9.99052268e-01 -1.90132722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030385722999995 meters 0.01832443155639911 Centerline is valid? [True, True] Translation: X:41.26, Y:-1.62, Z:-1.90 [[ 9.97489618e-01 5.56733024e-02 4.37600907e-02 4.12634673e+01] [-5.55894014e-02 9.98448799e-01 -3.13278999e-03 -1.61563616e+00] [-4.38666228e-02 6.92328245e-04 9.99037157e-01 -1.90166894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060385722999996 meters 0.019100158922655153 Centerline is valid? [True, True] Translation: X:41.29, Y:-1.62, Z:-1.90 [[ 9.97734159e-01 5.09448583e-02 4.39450821e-02 4.12929022e+01] [-5.08557972e-02 9.98701061e-01 -3.14296918e-03 -1.62150064e+00] [-4.40481183e-02 9.00985525e-04 9.99029004e-01 -1.90179172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090385723 meters 0.0199030518443584 Centerline is valid? [True, True] Translation: X:41.32, Y:-1.63, Z:-1.90 [[ 9.97875642e-01 4.85944984e-02 4.33909964e-02 4.13218053e+01] [-4.85055163e-02 9.98818098e-01 -3.10182674e-03 -1.62781245e+00] [-4.34904442e-02 9.90534668e-04 9.99053352e-01 -1.90464646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120385723 meters 0.020863708560917297 Centerline is valid? [True, True] Translation: X:41.35, Y:-1.64, Z:-1.91 [[ 9.98132745e-01 4.38350429e-02 4.25383526e-02 4.13518532e+01] [-4.37452412e-02 9.99038093e-01 -3.04008036e-03 -1.63687639e+00] [-4.26306968e-02 1.17355326e-03 9.99090209e-01 -1.90968028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150385723 meters 0.020862460929409313 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.64, Z:-1.91 [[ 9.98209186e-01 4.21694885e-02 4.24282263e-02 4.13843355e+01] [-4.20786394e-02 9.99109700e-01 -3.03242920e-03 -1.63958421e+00] [-4.25183285e-02 1.24167665e-03 9.99094915e-01 -1.91131614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180385723 meters 0.023322475615302644 Centerline is valid? [True, True] Translation: X:41.41, Y:-1.64, Z:-1.91 [[ 9.98390350e-01 3.85496528e-02 4.16008755e-02 4.14141867e+01] [-3.84587353e-02 9.99255734e-01 -2.98386425e-03 -1.64362803e+00] [-4.16849404e-02 1.37914421e-03 9.99129853e-01 -1.91010373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210385722999995 meters 0.023886681063317674 Centerline is valid? [True, True] Translation: X:41.45, Y:-1.65, Z:-1.91 [[ 9.98446979e-01 3.72207132e-02 4.14517512e-02 4.14464684e+01] [-3.71291727e-02 9.99306042e-01 -2.97630994e-03 -1.64641374e+00] [-4.15337658e-02 1.43261844e-03 9.99136074e-01 -1.91140888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240385722999996 meters 0.024644475331447053 Centerline is valid? [True, True] Translation: X:41.48, Y:-1.65, Z:-1.91 [[ 9.98486745e-01 3.58301222e-02 4.17183603e-02 4.14784518e+01] [-3.57357725e-02 9.99356754e-01 -3.00537735e-03 -1.65111743e+00] [-4.17992082e-02 1.50999161e-03 9.99124890e-01 -1.91329790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270385723 meters 0.026644286224518657 Centerline is valid? [True, True] Translation: X:41.51, Y:-1.66, Z:-1.92 [[ 9.98556401e-01 3.24238270e-02 4.28230007e-02 4.15073949e+01] [-3.23208273e-02 9.99472752e-01 -3.09559460e-03 -1.66112712e+00] [-4.29007934e-02 1.70705099e-03 9.99077879e-01 -1.91617078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300385723 meters 0.027276055151978434 Centerline is valid? [True, True] Translation: X:41.54, Y:-1.67, Z:-1.92 [[ 9.98559691e-01 3.13079061e-02 4.35701595e-02 4.15390693e+01] [-3.12000662e-02 9.99508186e-01 -3.15307531e-03 -1.66530897e+00] [-4.36474473e-02 1.78914205e-03 9.99045394e-01 -1.91659457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330385723 meters 0.027239072232773182 Centerline is valid? [True, True] Translation: X:41.57, Y:-1.66, Z:-1.92 [[ 9.98622243e-01 2.93645234e-02 4.34895552e-02 4.15715356e+01] [-2.92548282e-02 9.99567001e-01 -3.15676893e-03 -1.66455916e+00] [-4.35634212e-02 1.88014021e-03 9.99048894e-01 -1.91513856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360385723 meters 0.029177468774887094 Centerline is valid? [True, True] Translation: X:41.60, Y:-1.67, Z:-1.92 [[ 9.98678795e-01 2.90144533e-02 4.24125786e-02 4.16023576e+01] [-2.89097085e-02 9.99577279e-01 -3.08105424e-03 -1.66850904e+00] [-4.24840450e-02 1.85084825e-03 9.99095431e-01 -1.91701551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390385722999994 meters 0.0270038069166299 Centerline is valid? [True, True] Translation: X:41.63, Y:-1.67, Z:-1.92 [[ 9.98800872e-01 2.86159851e-02 3.97233481e-02 4.16347517e+01] [-2.85234798e-02 9.99588934e-01 -2.89365242e-03 -1.66800093e+00] [-3.97898239e-02 1.75713444e-03 9.99206526e-01 -1.92192955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420385722999995 meters 0.026349022418415375 Centerline is valid? [True, True] Translation: X:41.67, Y:-1.67, Z:-1.93 [[ 9.98834257e-01 2.88971473e-02 3.86662828e-02 4.16676665e+01] [-2.88093757e-02 9.99580931e-01 -2.82535758e-03 -1.67017008e+00] [-3.87317237e-02 1.70811247e-03 9.99248185e-01 -1.92505993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450385723 meters 0.02578176551002705 Centerline is valid? [True, True] Translation: X:41.70, Y:-1.67, Z:-1.93 [[ 9.98850876e-01 2.94633267e-02 3.77999866e-02 4.16998905e+01] [-2.93794583e-02 9.99564486e-01 -2.77241743e-03 -1.67203801e+00] [-3.78652088e-02 1.65868845e-03 9.99281479e-01 -1.92799987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480385723 meters 0.025028011866564715 Centerline is valid? [True, True] Translation: X:41.73, Y:-1.67, Z:-1.93 [[ 9.98854789e-01 3.04847901e-02 3.68753116e-02 4.17321173e+01] [-3.04053508e-02 9.99533968e-01 -2.71327655e-03 -1.67268164e+00] [-3.69408402e-02 1.58896249e-03 9.99316191e-01 -1.93002183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510385723 meters 0.02458882998187553 Centerline is valid? [True, True] Translation: X:41.76, Y:-1.67, Z:-1.93 [[ 9.98813922e-01 3.28817036e-02 3.59101949e-02 4.17631378e+01] [-3.28075422e-02 9.99458168e-01 -2.65265542e-03 -1.67126540e+00] [-3.59779614e-02 1.47138393e-03 9.99351500e-01 -1.93045269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540385723 meters 0.022626875134021215 Centerline is valid? [True, True] Translation: X:41.79, Y:-1.67, Z:-1.93 [[ 9.98576233e-01 3.75999909e-02 3.78384329e-02 4.17946300e+01] [-3.75209700e-02 9.99291927e-01 -2.79658709e-03 -1.66763309e+00] [-3.79167921e-02 1.37287069e-03 9.99279957e-01 -1.92950633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570385722999994 meters 0.022643675881686413 Centerline is valid? [True, True] Translation: X:41.82, Y:-1.67, Z:-1.93 [[ 9.98392806e-01 4.09024493e-02 3.92274705e-02 4.18248227e+01] [-4.08200233e-02 9.99162306e-01 -2.90021026e-03 -1.67010544e+00] [-3.93132356e-02 1.29428280e-03 9.99226098e-01 -1.93085853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600385722999995 meters 0.020782461601239907 Centerline is valid? [True, True] Translation: X:41.86, Y:-1.67, Z:-1.93 [[ 9.98185329e-01 4.45420817e-02 4.05222371e-02 4.18558233e+01] [-4.44570853e-02 9.99006801e-01 -2.99668195e-03 -1.66905998e+00] [-4.06154688e-02 1.18974341e-03 9.99174143e-01 -1.93190710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630385722999996 meters 0.01993773864858036 Centerline is valid? [True, True] Translation: X:41.89, Y:-1.67, Z:-1.93 [[ 9.98013224e-01 4.78420609e-02 4.09968474e-02 4.18863337e+01] [-4.77578082e-02 9.98854341e-01 -3.03257597e-03 -1.66830737e+00] [-4.10949637e-02 1.06863134e-03 9.99154674e-01 -1.93222333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660385723 meters 0.01861009100506938 Centerline is valid? [True, True] Translation: X:41.92, Y:-1.66, Z:-1.93 [[ 9.97686048e-01 5.43061522e-02 4.09071114e-02 4.19164520e+01] [-5.42276893e-02 9.98524011e-01 -3.02607169e-03 -1.66130599e+00] [-4.10110673e-02 8.00771373e-04 9.99158371e-01 -1.92981036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690385723 meters 0.01799534233173651 Centerline is valid? [True, True] Translation: X:41.95, Y:-1.66, Z:-1.93 [[ 9.97554854e-01 5.69956824e-02 4.04451019e-02 4.19450153e+01] [-5.69212431e-02 9.98374193e-01 -2.99062284e-03 -1.65991377e+00] [-4.05497985e-02 6.81124856e-04 9.99177287e-01 -1.93047182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720385723 meters 0.017428524232322377 Centerline is valid? [True, True] Translation: X:41.97, Y:-1.66, Z:-1.93 [[ 9.97288214e-01 6.15030734e-02 4.04176931e-02 4.19730146e+01] [-6.14325481e-02 9.98106771e-01 -2.98576719e-03 -1.66070702e+00] [-4.05248070e-02 4.94708557e-04 9.99178410e-01 -1.93480792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750385722999994 meters 0.01721554682356783 Centerline is valid? [True, True] Translation: X:42.00, Y:-1.66, Z:-1.94 [[ 9.97178716e-01 6.33656939e-02 4.02417369e-02 4.20020353e+01] [-6.32974453e-02 9.97990289e-01 -2.96910563e-03 -1.66268301e+00] [-4.03490021e-02 4.13529795e-04 9.99185562e-01 -1.93740403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780385722999995 meters 0.017102501448260077 Centerline is valid? [True, True] Translation: X:42.03, Y:-1.66, Z:-1.94 [[ 9.97068739e-01 6.49565777e-02 4.04298579e-02 4.20313251e+01] [-6.48891159e-02 9.97888031e-01 -2.98003699e-03 -1.66364130e+00] [-4.05380443e-02 3.47843987e-04 9.99177935e-01 -1.93907247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810385722999996 meters 0.01694407729275342 Centerline is valid? [True, True] Translation: X:42.06, Y:-1.66, Z:-1.94 [[ 9.96931362e-01 6.67127903e-02 4.09543984e-02 4.20595725e+01] [-6.66451317e-02 9.97772182e-01 -3.01663498e-03 -1.66130307e+00] [-4.10644076e-02 2.77966741e-04 9.99156463e-01 -1.93811594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840385723 meters 0.016971863278523878 Centerline is valid? [True, True] Translation: X:42.09, Y:-1.66, Z:-1.94 [[ 9.96915824e-01 6.66308081e-02 4.14629445e-02 4.20875346e+01] [-6.65615373e-02 9.97777659e-01 -3.05048083e-03 -1.66102691e+00] [-4.15740557e-02 2.81235282e-04 9.99135386e-01 -1.93794988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870385723 meters 0.017044211786215905 Centerline is valid? [True, True] Translation: X:42.12, Y:-1.66, Z:-1.94 [[ 9.97034106e-01 6.46755995e-02 4.17140164e-02 4.21165615e+01] [-6.46039638e-02 9.97906277e-01 -3.06447207e-03 -1.66142735e+00] [-4.18248754e-02 3.60492368e-04 9.99124892e-01 -1.93806698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900385723 meters 0.017158831756379427 Centerline is valid? [True, True] Translation: X:42.14, Y:-1.66, Z:-1.94 [[ 9.97163412e-01 6.30750433e-02 4.10690711e-02 4.21448386e+01] [-6.30043651e-02 9.98008699e-01 -3.01429365e-03 -1.66445380e+00] [-4.11774169e-02 4.18212594e-04 9.99151763e-01 -1.94039362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930385723 meters 0.017441978785563583 Centerline is valid? [True, True] Translation: X:42.17, Y:-1.67, Z:-1.94 [[ 9.97306470e-01 6.09015227e-02 4.08755323e-02 4.21726130e+01] [-6.08297975e-02 9.98143653e-01 -2.99733595e-03 -1.66821383e+00] [-4.09821955e-02 5.02812186e-04 9.99159750e-01 -1.94309469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960385722999995 meters 0.01830265499019439 Centerline is valid? [True, True] Translation: X:42.20, Y:-1.67, Z:-1.95 [[ 9.97617287e-01 5.57050847e-02 4.07024740e-02 4.22008734e+01] [-5.56297876e-02 9.98447014e-01 -2.98108819e-03 -1.67204144e+00] [-4.08053254e-02 7.09715127e-04 9.99166864e-01 -1.94502954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990385722999996 meters 0.01888370998154299 Centerline is valid? [True, True] Translation: X:42.23, Y:-1.67, Z:-1.95 [[ 9.97774617e-01 5.26138083e-02 4.09585159e-02 4.22290708e+01] [-5.25350715e-02 9.98614582e-01 -2.99706498e-03 -1.67383145e+00] [-4.10594582e-02 8.38636802e-04 9.99156353e-01 -1.94526988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020385723 meters 0.01982402082930587 Centerline is valid? [True, True] Translation: X:42.26, Y:-1.68, Z:-1.95 [[ 9.97908457e-01 4.96304486e-02 4.14189536e-02 4.22570398e+01] [-4.95475223e-02 9.98767180e-01 -3.02691442e-03 -1.67643010e+00] [-4.15181186e-02 9.68376968e-04 9.99137282e-01 -1.94615695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050385723 meters 0.021258523537422733 Centerline is valid? [True, True] Translation: X:42.29, Y:-1.68, Z:-1.95 [[ 9.98099492e-01 4.45521929e-02 4.25735346e-02 4.22864422e+01] [-4.44599826e-02 9.99006323e-01 -3.11076741e-03 -1.68067953e+00] [-4.26698217e-02 1.21203677e-03 9.99088493e-01 -1.94785141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080385723 meters 0.021893762811301 Centerline is valid? [True, True] Translation: X:42.32, Y:-1.68, Z:-1.95 [[ 9.98202878e-01 4.24070665e-02 4.23397630e-02 4.23170226e+01] [-4.23140036e-02 9.99099576e-01 -3.09217611e-03 -1.68376647e+00] [-4.24327694e-02 1.29505421e-03 9.99098485e-01 -1.94922666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110385723 meters 0.021902763703029706 Centerline is valid? [True, True] Translation: X:42.35, Y:-1.68, Z:-1.95 [[ 9.98301362e-01 3.95390724e-02 4.27908062e-02 4.23485395e+01] [-3.94413864e-02 9.99216999e-01 -3.12505182e-03 -1.68368686e+00] [-4.28808626e-02 1.43201477e-03 9.99079167e-01 -1.94922276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140385722999994 meters 0.022674480811604062 Centerline is valid? [True, True] Translation: X:42.38, Y:-1.69, Z:-1.95 [[ 9.98354973e-01 3.86994007e-02 4.23048981e-02 4.23796702e+01] [-3.86031267e-02 9.99249842e-01 -3.09057583e-03 -1.68657597e+00] [-4.23927662e-02 1.45239040e-03 9.99099967e-01 -1.95004892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170385722999995 meters 0.02264239604065678 Centerline is valid? [True, True] Translation: X:42.41, Y:-1.69, Z:-1.95 [[ 9.98374574e-01 3.88809183e-02 4.16711520e-02 4.24113925e+01] [-3.87872827e-02 9.99242825e-01 -3.05347428e-03 -1.68940021e+00] [-4.17583215e-02 1.43220033e-03 9.99126714e-01 -1.95317575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200385723 meters 0.023709218293718415 Centerline is valid? [True, True] Translation: X:42.44, Y:-1.69, Z:-1.96 [[ 9.98414249e-01 3.80157187e-02 4.15185910e-02 4.24417934e+01] [-3.79215975e-02 9.99276055e-01 -3.05246828e-03 -1.69488687e+00] [-4.16045756e-02 1.47317653e-03 9.99133069e-01 -1.95520503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230385723 meters 0.02385451842783973 Centerline is valid? [True, True] Translation: X:42.47, Y:-1.70, Z:-1.96 [[ 9.98456909e-01 3.73311452e-02 4.11118671e-02 4.24742629e+01] [-3.72379695e-02 9.99301832e-01 -3.03011948e-03 -1.69802802e+00] [-4.11962819e-02 1.49452128e-03 9.99149955e-01 -1.95728588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260385723 meters 0.023093768755877812 Centerline is valid? [True, True] Translation: X:42.51, Y:-1.70, Z:-1.96 [[ 9.98507547e-01 3.65457432e-02 4.05843261e-02 4.25060059e+01] [-3.64539062e-02 9.99330830e-01 -3.00084865e-03 -1.69932504e+00] [-4.06668365e-02 1.51691281e-03 9.99171611e-01 -1.95911877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290385723 meters 0.023108170046407996 Centerline is valid? [True, True] Translation: X:42.54, Y:-1.70, Z:-1.96 [[ 9.98463813e-01 3.69244635e-02 4.13109822e-02 4.25388938e+01] [-3.68292402e-02 9.99316876e-01 -3.06397658e-03 -1.70148838e+00] [-4.13958973e-02 1.53781766e-03 9.99141639e-01 -1.96020229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320385722999994 meters 0.023384287085947583 Centerline is valid? [True, True] Translation: X:42.57, Y:-1.70, Z:-1.96 [[ 9.98400853e-01 3.80467425e-02 4.18112612e-02 4.25702500e+01] [-3.79496651e-02 9.99274802e-01 -3.11334849e-03 -1.70303495e+00] [-4.18993926e-02 1.52164643e-03 9.99120676e-01 -1.96068064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350385722999995 meters 0.023337658029468425 Centerline is valid? [True, True] Translation: X:42.60, Y:-1.71, Z:-1.96 [[ 9.98381069e-01 3.84853931e-02 4.18821659e-02 4.26027769e+01] [-3.83881369e-02 9.99258020e-01 -3.12420650e-03 -1.70531002e+00] [-4.19713265e-02 1.51137030e-03 9.99117673e-01 -1.96291745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380385722999996 meters 0.02346598541045807 Centerline is valid? [True, True] Translation: X:42.63, Y:-1.71, Z:-1.97 [[ 9.98412768e-01 3.84889275e-02 4.11162596e-02 4.26348493e+01] [-3.83948007e-02 9.99257911e-01 -3.07678700e-03 -1.70844380e+00] [-4.12041700e-02 1.49325283e-03 9.99149632e-01 -1.96520809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410385723 meters 0.023803088370752883 Centerline is valid? [True, True] Translation: X:42.67, Y:-1.71, Z:-1.97 [[ 9.98491576e-01 3.78173051e-02 3.98048271e-02 4.26669789e+01] [-3.77281898e-02 9.99283572e-01 -2.98787856e-03 -1.71128936e+00] [-3.98893033e-02 1.48160750e-03 9.99203007e-01 -1.96784481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440385723 meters 0.024416282222753456 Centerline is valid? [True, True] Translation: X:42.70, Y:-1.71, Z:-1.97 [[ 9.98548097e-01 3.73535580e-02 3.88124908e-02 4.26980468e+01] [-3.72681261e-02 9.99301028e-01 -2.92257569e-03 -1.71397313e+00] [-3.88945305e-02 1.47186360e-03 9.99242237e-01 -1.96924707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470385723 meters 0.024689981519104676 Centerline is valid? [True, True] Translation: X:42.73, Y:-1.72, Z:-1.97 [[ 9.98595313e-01 3.69991556e-02 3.79270711e-02 4.27299155e+01] [-3.69170162e-02 9.99314231e-01 -2.86400594e-03 -1.71608561e+00] [-3.80070276e-02 1.45982861e-03 9.99276406e-01 -1.97084853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500385722999994 meters 0.0252262502694062 Centerline is valid? [True, True] Translation: X:42.76, Y:-1.72, Z:-1.97 [[ 9.98633319e-01 3.66678047e-02 3.72419982e-02 4.27605348e+01] [-3.65880481e-02 9.99326451e-01 -2.82109411e-03 -1.72081859e+00] [-3.73203572e-02 1.45462655e-03 9.99302294e-01 -1.97441148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530385722999995 meters 0.024800639278331864 Centerline is valid? [True, True] Translation: X:42.79, Y:-1.72, Z:-1.98 [[ 9.98627719e-01 3.68805899e-02 3.71820100e-02 4.27913195e+01] [-3.68008826e-02 9.99318622e-01 -2.82606705e-03 -1.72366309e+00] [-3.72609020e-02 1.45385810e-03 9.99304514e-01 -1.97663441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560385722999996 meters 0.02538306334859293 Centerline is valid? [True, True] Translation: X:42.82, Y:-1.73, Z:-1.98 [[ 9.98593809e-01 3.72297209e-02 3.77405970e-02 4.28219799e+01] [-3.71477988e-02 9.99305662e-01 -2.86982791e-03 -1.72688027e+00] [-3.78212351e-02 1.46381228e-03 9.99283449e-01 -1.97740347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590385723 meters 0.025246018161669388 Centerline is valid? [True, True] Translation: X:42.85, Y:-1.73, Z:-1.97 [[ 9.98490793e-01 3.83965381e-02 3.92662882e-02 4.28538259e+01] [-3.83087002e-02 9.99261487e-01 -2.98722617e-03 -1.72596575e+00] [-3.93519887e-02 1.47847736e-03 9.99224317e-01 -1.97457117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620385723 meters 0.025246018161669388 Centerline is valid? [True, True] Translation: X:42.88, Y:-1.73, Z:-1.98 [[ 9.98489524e-01 3.84296273e-02 3.92661891e-02 4.28845749e+01] [-3.83417639e-02 9.99260215e-01 -2.98852886e-03 -1.72833669e+00] [-3.93519886e-02 1.47847981e-03 9.99224317e-01 -1.97595281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650385723 meters 0.02457655877274827 Centerline is valid? [True, True] Translation: X:42.92, Y:-1.73, Z:-1.97 [[ 9.98434824e-01 3.95924184e-02 3.95011693e-02 4.29158965e+01] [-3.95043554e-02 9.99214871e-01 -3.00773630e-03 -1.72794748e+00] [-3.95892394e-02 1.44256043e-03 9.99214997e-01 -1.97480098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680385723 meters 0.024126541501967223 Centerline is valid? [True, True] Translation: X:42.95, Y:-1.73, Z:-1.98 [[ 9.98314115e-01 4.16456649e-02 4.04297724e-02 4.29460785e+01] [-4.15550315e-02 9.99131470e-01 -3.07990611e-03 -1.72904523e+00] [-4.05229226e-02 1.39465328e-03 9.99177636e-01 -1.97614499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710385722999995 meters 0.02393583632772961 Centerline is valid? [True, True] Translation: X:42.98, Y:-1.73, Z:-1.98 [[ 9.98265795e-01 4.21449160e-02 4.10999748e-02 4.29759375e+01] [-4.20516421e-02 9.99110530e-01 -3.13171689e-03 -1.73200108e+00] [-4.11954036e-02 1.39796442e-03 9.99150131e-01 -1.97811297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740385722999996 meters 0.021988208150877823 Centerline is valid? [True, True] Translation: X:43.01, Y:-1.73, Z:-1.98 [[ 9.98235408e-01 4.24972289e-02 4.14735634e-02 4.30068761e+01] [-4.24025539e-02 9.99095609e-01 -3.16018342e-03 -1.73255557e+00] [-4.15703541e-02 1.39602197e-03 9.99134604e-01 -1.97993934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770385723 meters 0.02436285046619408 Centerline is valid? [True, True] Translation: X:43.04, Y:-1.74, Z:-1.98 [[ 9.98239527e-01 4.31608985e-02 4.06814915e-02 4.30365881e+01] [-4.30703608e-02 9.99067233e-01 -3.09976027e-03 -1.74105959e+00] [-4.07773336e-02 1.34213671e-03 9.99167357e-01 -1.98368124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800385723 meters 0.02189622813663002 Centerline is valid? [True, True] Translation: X:43.07, Y:-1.74, Z:-1.98 [[ 9.98232582e-01 4.38192205e-02 4.01446025e-02 4.30672219e+01] [-4.37315588e-02 9.99038633e-01 -3.05962102e-03 -1.73778487e+00] [-4.02400790e-02 1.29862734e-03 9.99189196e-01 -1.98400320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830385723 meters 0.022217856987132262 Centerline is valid? [True, True] Translation: X:43.10, Y:-1.74, Z:-1.98 [[ 9.98228190e-01 4.43262690e-02 3.96946245e-02 4.30966331e+01] [-4.42409596e-02 9.99016308e-01 -3.02541181e-03 -1.73864498e+00] [-3.97896825e-02 1.26392307e-03 9.99207278e-01 -1.98371196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860385723 meters 0.022211784011275507 Centerline is valid? [True, True] Translation: X:43.13, Y:-1.74, Z:-1.98 [[ 9.98163423e-01 4.44983528e-02 4.11056811e-02 4.31270287e+01] [-4.44070400e-02 9.99008610e-01 -3.13227969e-03 -1.73809426e+00] [-4.12043106e-02 1.30114539e-03 9.99149895e-01 -1.98096155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890385722999994 meters 0.02189068312385417 Centerline is valid? [True, True] Translation: X:43.16, Y:-1.74, Z:-1.98 [[ 9.98161693e-01 4.43428757e-02 4.13151829e-02 4.31569268e+01] [-4.42505560e-02 9.99015508e-01 -3.14680045e-03 -1.73982242e+00] [-4.14140466e-02 1.31279585e-03 9.99141208e-01 -1.98175779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920385722999995 meters 0.021996868083989263 Centerline is valid? [True, True] Translation: X:43.19, Y:-1.74, Z:-1.98 [[ 9.98177766e-01 4.39611042e-02 4.13348483e-02 4.31867744e+01] [-4.38684300e-02 9.99032361e-01 -3.14684083e-03 -1.74303226e+00] [-4.14331897e-02 1.32781164e-03 9.99140394e-01 -1.98393298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950385723 meters 0.022498700970163613 Centerline is valid? [True, True] Translation: X:43.22, Y:-1.75, Z:-1.99 [[ 9.98253742e-01 4.32737381e-02 4.02100847e-02 4.32161638e+01] [-4.31855405e-02 9.99062384e-01 -3.05984358e-03 -1.74754856e+00] [-4.03047939e-02 1.31800607e-03 9.99186562e-01 -1.98751011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980385723 meters 0.02235188656011697 Centerline is valid? [True, True] Translation: X:43.25, Y:-1.75, Z:-1.99 [[ 9.98283541e-01 4.28574270e-02 3.99150783e-02 4.32456239e+01] [-4.27702424e-02 9.99080322e-01 -3.03602048e-03 -1.74884141e+00] [-4.00084853e-02 1.32363170e-03 9.99198463e-01 -1.98899987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010385723 meters 0.022511414475763287 Centerline is valid? [True, True] Translation: X:43.28, Y:-1.75, Z:-1.99 [[ 9.98246837e-01 4.28413072e-02 4.08396194e-02 4.32750451e+01] [-4.27500809e-02 9.99080973e-01 -3.10487325e-03 -1.74861099e+00] [-4.09351036e-02 1.35353286e-03 9.99160891e-01 -1.98938428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040385723 meters 0.02263444733861106 Centerline is valid? [True, True] Translation: X:43.30, Y:-1.75, Z:-1.99 [[ 9.98249706e-01 4.27941972e-02 4.08188884e-02 4.33048338e+01] [-4.27030826e-02 9.99082992e-01 -3.10187047e-03 -1.75004764e+00] [-4.09141992e-02 1.35334892e-03 9.99161747e-01 -1.99043379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070385722999994 meters 0.022266786728953852 Centerline is valid? [True, True] Translation: X:43.34, Y:-1.75, Z:-1.99 [[ 9.98291147e-01 4.24056585e-02 4.02062823e-02 4.33355845e+01] [-4.23170074e-02 9.99099567e-01 -3.05378310e-03 -1.75139405e+00] [-4.02995769e-02 1.34715509e-03 9.99186734e-01 -1.99189220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100385722999995 meters 0.022937142358613567 Centerline is valid? [True, True] Translation: X:43.37, Y:-1.75, Z:-1.99 [[ 9.98362830e-01 4.14649388e-02 3.93994639e-02 4.33652070e+01] [-4.13790769e-02 9.99139038e-01 -2.99259521e-03 -1.75493937e+00] [-3.94896302e-02 1.35738237e-03 9.99219058e-01 -1.99405729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130385722999996 meters 0.023549009946756353 Centerline is valid? [True, True] Translation: X:43.40, Y:-1.76, Z:-2.00 [[ 9.98513456e-01 3.92769975e-02 3.77914758e-02 4.33951643e+01] [-3.91964644e-02 9.99227402e-01 -2.86982654e-03 -1.75851248e+00] [-3.78749964e-02 1.38426818e-03 9.99281526e-01 -1.99540600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160385723 meters 0.023079244976087345 Centerline is valid? [True, True] Translation: X:43.43, Y:-1.76, Z:-2.00 [[ 9.98514526e-01 3.91048187e-02 3.79414719e-02 4.34252960e+01] [-3.90235504e-02 9.99234140e-01 -2.88043375e-03 -1.75948382e+00] [-3.80250528e-02 1.39554400e-03 9.99275812e-01 -1.99553676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190385723 meters 0.024010990078073162 Centerline is valid? [True, True] Translation: X:43.45, Y:-1.76, Z:-2.00 [[ 9.98429114e-01 4.00817119e-02 3.91504754e-02 4.34545472e+01] [-3.99959342e-02 9.99195422e-01 -2.97206797e-03 -1.76416026e+00] [-3.92381014e-02 1.40153935e-03 9.99228906e-01 -1.99656535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220385723 meters 0.023292333598625703 Centerline is valid? [True, True] Translation: X:43.48, Y:-1.77, Z:-2.00 [[ 9.98333662e-01 4.07574738e-02 4.08500662e-02 4.34845699e+01] [-4.06645941e-02 9.99168037e-01 -3.10236809e-03 -1.76658052e+00] [-4.09425252e-02 1.43604713e-03 9.99160471e-01 -1.99810925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250385722999994 meters 0.02326468932908883 Centerline is valid? [True, True] Translation: X:43.52, Y:-1.77, Z:-2.00 [[ 9.98246838e-01 4.16311906e-02 4.20724919e-02 4.35150394e+01] [-4.15334396e-02 9.99132005e-01 -3.19520550e-03 -1.77012829e+00] [-4.21689934e-02 1.44218849e-03 9.99109452e-01 -1.99890429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280385722999995 meters 0.023347444106316357 Centerline is valid? [True, True] Translation: X:43.55, Y:-1.77, Z:-2.00 [[ 9.98177983e-01 4.25722942e-02 4.27587971e-02 4.35453815e+01] [-4.24721891e-02 9.99092372e-01 -3.24729460e-03 -1.77144431e+00] [-4.28582329e-02 1.42531826e-03 9.99080147e-01 -1.99879360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310385722999996 meters 0.02353420921248322 Centerline is valid? [True, True] Translation: X:43.58, Y:-1.77, Z:-2.00 [[ 9.98212639e-01 4.27388579e-02 4.17722124e-02 4.35756517e+01] [-4.26434383e-02 9.99085316e-01 -3.17307135e-03 -1.77273718e+00] [-4.18696174e-02 1.38608916e-03 9.99122122e-01 -1.99982541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340385723 meters 0.02320874659964129 Centerline is valid? [True, True] Translation: X:43.61, Y:-1.77, Z:-2.00 [[ 9.98277171e-01 4.32126618e-02 3.96907512e-02 4.36065346e+01] [-4.31268656e-02 9.99065052e-01 -3.01568513e-03 -1.77359165e+00] [-3.97839582e-02 1.29875192e-03 9.99207461e-01 -2.00192770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370385723 meters 0.021937659897931953 Centerline is valid? [True, True] Translation: X:43.64, Y:-1.77, Z:-2.00 [[ 9.98283752e-01 4.34186106e-02 3.92985444e-02 4.36364527e+01] [-4.33346546e-02 9.99056150e-01 -2.98607577e-03 -1.77349155e+00] [-3.93911037e-02 1.27796207e-03 9.99223052e-01 -2.00354268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400385723 meters 0.022726053872871018 Centerline is valid? [True, True] Translation: X:43.66, Y:-1.78, Z:-2.01 [[ 9.98281835e-01 4.37465819e-02 3.89822326e-02 4.36647423e+01] [-4.36642723e-02 9.99041874e-01 -2.96076505e-03 -1.77782931e+00] [-3.90744060e-02 1.25354715e-03 9.99235517e-01 -2.00572141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430385723 meters 0.021810479821915887 Centerline is valid? [True, True] Translation: X:43.69, Y:-1.78, Z:-2.01 [[ 9.98249345e-01 4.51118323e-02 3.82513855e-02 4.36940786e+01] [-4.50336634e-02 9.98981251e-01 -2.90315609e-03 -1.77941859e+00] [-3.83433837e-02 1.17547365e-03 9.99263931e-01 -2.00873216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460385722999995 meters 0.021417807240897146 Centerline is valid? [True, True] Translation: X:43.72, Y:-1.78, Z:-2.01 [[ 9.98234519e-01 4.61315204e-02 3.74129504e-02 4.37227621e+01] [-4.60574962e-02 9.98934758e-01 -2.83849717e-03 -1.78084230e+00] [-3.75040407e-02 1.11033904e-03 9.99295859e-01 -2.01052151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490385722999996 meters 0.021167776894623205 Centerline is valid? [True, True] Translation: X:43.75, Y:-1.78, Z:-2.01 [[ 9.98192335e-01 4.73332273e-02 3.70354866e-02 4.37511050e+01] [-4.72616117e-02 9.98878601e-01 -2.80728738e-03 -1.78146350e+00] [-3.71268330e-02 1.05185596e-03 9.99310008e-01 -2.01243940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520385723 meters 0.020603127768532337 Centerline is valid? [True, True] Translation: X:43.78, Y:-1.78, Z:-2.01 [[ 9.98024908e-01 5.05435649e-02 3.73045694e-02 4.37805460e+01] [-5.04732483e-02 9.98721418e-01 -2.82490447e-03 -1.78021031e+00] [-3.73996532e-02 9.36442234e-04 9.99299949e-01 -2.01232258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550385723 meters 0.020463415804035004 Centerline is valid? [True, True] Translation: X:43.81, Y:-1.78, Z:-2.01 [[ 9.97937605e-01 5.18615696e-02 3.78274141e-02 4.38098113e+01] [-5.17902892e-02 9.98653880e-01 -2.86248568e-03 -1.78159481e+00] [-3.79249469e-02 8.97489389e-04 9.99280187e-01 -2.01336399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580385723 meters 0.019989116671531346 Centerline is valid? [True, True] Translation: X:43.84, Y:-1.78, Z:-2.01 [[ 9.97763789e-01 5.47234567e-02 3.83766162e-02 4.38385238e+01] [-5.46522790e-02 9.98501230e-01 -2.90212902e-03 -1.78286942e+00] [-3.84779130e-02 7.98269706e-04 9.99259132e-01 -2.01487492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610385723 meters 0.019622769407065206 Centerline is valid? [True, True] Translation: X:43.87, Y:-1.78, Z:-2.02 [[ 9.97655989e-01 5.62583765e-02 3.89553926e-02 4.38678098e+01] [-5.61863136e-02 9.98415964e-01 -2.94308180e-03 -1.78365267e+00] [-3.90592588e-02 7.47423280e-04 9.99236616e-01 -2.01607355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640385722999994 meters 0.019399150225217564 Centerline is valid? [True, True] Translation: X:43.90, Y:-1.78, Z:-2.02 [[ 9.97593238e-01 5.74764455e-02 3.87838972e-02 4.38965632e+01] [-5.74060096e-02 9.98346621e-01 -2.92823184e-03 -1.78442148e+00] [-3.88880771e-02 6.94755509e-04 9.99243331e-01 -2.01631918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670385722999995 meters 0.019310268068398025 Centerline is valid? [True, True] Translation: X:43.92, Y:-1.79, Z:-2.02 [[ 9.97521883e-01 5.86461757e-02 3.88679590e-02 4.39239622e+01] [-5.85764221e-02 9.98278622e-01 -2.93198967e-03 -1.78566021e+00] [-3.89730025e-02 6.47977885e-04 9.99240054e-01 -2.01755833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700385723 meters 0.0192623480837583 Centerline is valid? [True, True] Translation: X:43.95, Y:-1.79, Z:-2.02 [[ 9.97488068e-01 5.90789509e-02 3.90798010e-02 4.39514034e+01] [-5.90088983e-02 9.98253114e-01 -2.94460909e-03 -1.78777915e+00] [-3.91854975e-02 6.31156430e-04 9.99231754e-01 -2.01778577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730385723 meters 0.019422902031844737 Centerline is valid? [True, True] Translation: X:43.98, Y:-1.79, Z:-2.02 [[ 9.97456493e-01 5.92719781e-02 3.95901088e-02 4.39789111e+01] [-5.92003709e-02 9.98241673e-01 -2.97963882e-03 -1.79085781e+00] [-3.96971055e-02 6.28310963e-04 9.99211562e-01 -2.01959641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760385723 meters 0.01903417001495275 Centerline is valid? [True, True] Translation: X:44.01, Y:-1.79, Z:-2.02 [[ 9.97386801e-01 5.99950473e-02 4.02512495e-02 4.40078384e+01] [-5.99217464e-02 9.98198491e-01 -3.02616105e-03 -1.79487034e+00] [-4.03602911e-02 6.06327927e-04 9.99185008e-01 -2.02221595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790385723 meters 0.01917876895878277 Centerline is valid? [True, True] Translation: X:44.03, Y:-1.80, Z:-2.02 [[ 9.97382396e-01 5.96580754e-02 4.08566992e-02 4.40347483e+01] [-5.95824856e-02 9.98218676e-01 -3.06639527e-03 -1.79808606e+00] [-4.09668554e-02 6.24024970e-04 9.99160311e-01 -2.02369681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820385722999994 meters 0.01965901617142866 Centerline is valid? [True, True] Translation: X:44.06, Y:-1.80, Z:-2.02 [[ 9.97421123e-01 5.81939770e-02 4.20067242e-02 4.40632369e+01] [-5.81130305e-02 9.98305051e-01 -3.14656842e-03 -1.80167904e+00] [-4.21186363e-02 6.97315767e-04 9.99112373e-01 -2.02343862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850385722999995 meters 0.0200328266246043 Centerline is valid? [True, True] Translation: X:44.09, Y:-1.80, Z:-2.02 [[ 9.97508915e-01 5.66546456e-02 4.20263597e-02 4.40922580e+01] [-5.65723745e-02 9.98393546e-01 -3.14528001e-03 -1.80481697e+00] [-4.21370410e-02 7.59913892e-04 9.99111551e-01 -2.02423606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880385722999996 meters 0.02058450108590862 Centerline is valid? [True, True] Translation: X:44.12, Y:-1.81, Z:-2.02 [[ 9.97627056e-01 5.48717517e-02 4.15854350e-02 4.41201417e+01] [-5.47897615e-02 9.98493071e-01 -3.10963197e-03 -1.80843217e+00] [-4.16933996e-02 8.23796927e-04 9.99130113e-01 -2.02480873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910385723 meters 0.020263458707820113 Centerline is valid? [True, True] Translation: X:44.15, Y:-1.81, Z:-2.02 [[ 9.97849195e-01 5.03145174e-02 4.20170665e-02 4.41498750e+01] [-5.02269289e-02 9.98732900e-01 -3.13832896e-03 -1.81003791e+00] [-4.21217302e-02 1.02119082e-03 9.99111964e-01 -2.02491565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940385723 meters 0.020729287613773725 Centerline is valid? [True, True] Translation: X:44.18, Y:-1.81, Z:-2.03 [[ 9.97934560e-01 4.79132777e-02 4.27893838e-02 4.41789781e+01] [-4.78202982e-02 9.98850847e-01 -3.19447880e-03 -1.81384096e+00] [-4.28932702e-02 1.14167971e-03 9.99079008e-01 -2.02651832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970385723 meters 0.021476197933128875 Centerline is valid? [True, True] Translation: X:44.21, Y:-1.82, Z:-2.03 [[ 9.98019091e-01 4.56896954e-02 4.32474833e-02 4.42085482e+01] [-4.55926945e-02 9.98954900e-01 -3.22713688e-03 -1.81850186e+00] [-4.33497323e-02 1.24897493e-03 9.99059178e-01 -2.02826556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000385722999994 meters 0.023037238372926722 Centerline is valid? [True, True] Translation: X:44.24, Y:-1.83, Z:-2.03 [[ 9.98202254e-01 4.15492529e-02 4.31962907e-02 4.42377656e+01] [-4.14486774e-02 9.99135440e-01 -3.22175434e-03 -1.82577291e+00] [-4.32928064e-02 1.42553333e-03 9.99061410e-01 -2.03172337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030385722999995 meters 0.023552009485469518 Centerline is valid? [True, True] Translation: X:44.27, Y:-1.83, Z:-2.03 [[ 9.98300649e-01 3.96349490e-02 4.27186639e-02 4.42690503e+01] [-3.95348400e-02 9.99213113e-01 -3.18606445e-03 -1.82982948e+00] [-4.28113286e-02 1.49177468e-03 9.99082061e-01 -2.03411391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060385722999996 meters 0.02399631399762945 Centerline is valid? [True, True] Translation: X:44.30, Y:-1.83, Z:-2.04 [[ 9.98484710e-01 3.61450610e-02 4.14948034e-02 4.43000875e+01] [-3.60475436e-02 9.99345280e-01 -3.09616936e-03 -1.83287397e+00] [-4.15795472e-02 1.59569203e-03 9.99133922e-01 -2.03605736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090385723 meters 0.024650390867975398 Centerline is valid? [True, True] Translation: X:44.33, Y:-1.84, Z:-2.04 [[ 9.98539576e-01 3.50407685e-02 4.11200625e-02 4.43318359e+01] [-3.49440262e-02 9.99384558e-01 -3.06929856e-03 -1.83516082e+00] [-4.12023060e-02 1.62791554e-03 9.99149498e-01 -2.03637448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120385723 meters 0.024279189164980612 Centerline is valid? [True, True] Translation: X:44.37, Y:-1.84, Z:-2.04 [[ 9.98525951e-01 3.50861731e-02 4.14111770e-02 4.43650455e+01] [-3.49878905e-02 9.99382941e-01 -3.09593278e-03 -1.83531063e+00] [-4.14942483e-02 1.64247949e-03 9.99137393e-01 -2.03597922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150385723 meters 0.02431353309756192 Centerline is valid? [True, True] Translation: X:44.40, Y:-1.84, Z:-2.04 [[ 9.98458569e-01 3.56579813e-02 4.25322710e-02 4.43969031e+01] [-3.55542887e-02 9.99362648e-01 -3.19217336e-03 -1.83653142e+00] [-4.26189895e-02 1.67504820e-03 9.99089994e-01 -2.03596074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180385723 meters 0.023913525825629722 Centerline is valid? [True, True] Translation: X:44.43, Y:-1.84, Z:-2.04 [[ 9.98317106e-01 3.77913593e-02 4.39860105e-02 4.44290316e+01] [-3.76820231e-02 9.99284290e-01 -3.31249399e-03 -1.83981434e+00] [-4.40797129e-02 1.64943756e-03 9.99026655e-01 -2.03862253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210385722999995 meters 0.023997522768246463 Centerline is valid? [True, True] Translation: X:44.46, Y:-1.84, Z:-2.04 [[ 9.98290359e-01 3.84573033e-02 4.40158413e-02 4.44601960e+01] [-3.83479845e-02 9.99258912e-01 -3.32561575e-03 -1.84451589e+00] [-4.41111158e-02 1.63201135e-03 9.99025298e-01 -2.04238473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240385722999996 meters 0.023712651330918252 Centerline is valid? [True, True] Translation: X:44.49, Y:-1.85, Z:-2.05 [[ 9.98255527e-01 3.96229290e-02 4.37713053e-02 4.44924323e+01] [-3.95156780e-02 9.99213458e-01 -3.31312733e-03 -1.84858696e+00] [-4.38681531e-02 1.57769486e-03 9.99036083e-01 -2.04598304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270385723 meters 0.023101515814536504 Centerline is valid? [True, True] Translation: X:44.53, Y:-1.85, Z:-2.05 [[ 9.98197605e-01 4.14977133e-02 4.33529754e-02 4.45250041e+01] [-4.13938057e-02 9.99137485e-01 -3.29211833e-03 -1.85016879e+00] [-4.34521982e-02 1.49163999e-03 9.99054394e-01 -2.04805760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300385723 meters 0.02393242006978639 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.85, Z:-2.05 [[ 9.98195938e-01 4.21652111e-02 4.27430047e-02 4.45559870e+01] [-4.20646664e-02 9.99109606e-01 -3.24937970e-03 -1.85202043e+00] [-4.28419574e-02 1.44554738e-03 9.99080816e-01 -2.04842915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330385723 meters 0.02351347203638285 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.85, Z:-2.05 [[ 9.98201076e-01 4.27904407e-02 4.19951089e-02 4.45873087e+01] [-4.26936861e-02 9.99083089e-01 -3.19851976e-03 -1.85140264e+00] [-4.20934692e-02 1.39983987e-03 9.99112696e-01 -2.04937668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360385723 meters 0.02258257390839228 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.85, Z:-2.05 [[ 9.98241593e-01 4.31688907e-02 4.06222747e-02 4.46178986e+01] [-4.30786158e-02 9.99066890e-01 -3.09542695e-03 -1.84861165e+00] [-4.07179958e-02 1.34003257e-03 9.99169780e-01 -2.05098903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390385722999994 meters 0.021806221244945388 Centerline is valid? [True, True] Translation: X:44.65, Y:-1.85, Z:-2.05 [[ 9.98239802e-01 4.32554968e-02 4.05741320e-02 4.46479306e+01] [-4.31655015e-02 9.99063151e-01 -3.09190279e-03 -1.84970525e+00] [-4.06698620e-02 1.33505767e-03 9.99171747e-01 -2.05320668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420385722999995 meters 0.0219779027682416 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.86, Z:-2.06 [[ 9.98254866e-01 4.23349575e-02 4.11700520e-02 4.46774366e+01] [-4.22415794e-02 9.99102505e-01 -3.13577001e-03 -1.85546077e+00] [-4.12658548e-02 1.39120965e-03 9.99147233e-01 -2.05696701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450385723 meters 0.021912145289396782 Centerline is valid? [True, True] Translation: X:44.71, Y:-1.86, Z:-2.06 [[ 9.98264034e-01 4.20514782e-02 4.12382382e-02 4.47080705e+01] [-4.19575818e-02 9.99114458e-01 -3.14016822e-03 -1.85959211e+00] [-4.13337687e-02 1.40446025e-03 9.99144408e-01 -2.05970188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480385723 meters 0.022455814795931308 Centerline is valid? [True, True] Translation: X:44.74, Y:-1.86, Z:-2.06 [[ 9.98297775e-01 4.17516958e-02 4.07228125e-02 4.47384679e+01] [-4.16598873e-02 9.99127038e-01 -3.10085027e-03 -1.86408781e+00] [-4.08167288e-02 1.39906415e-03 9.99165671e-01 -2.06173648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510385723 meters 0.022455814795931308 Centerline is valid? [True, True] Translation: X:44.77, Y:-1.87, Z:-2.06 [[ 9.98297776e-01 4.17517311e-02 4.07227523e-02 4.47683691e+01] [-4.16598905e-02 9.99127036e-01 -3.10164050e-03 -1.86636487e+00] [-4.08167016e-02 1.39985541e-03 9.99165671e-01 -2.06308020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540385723 meters 0.02234445863103366 Centerline is valid? [True, True] Translation: X:44.80, Y:-1.87, Z:-2.06 [[ 9.98283707e-01 4.28102798e-02 3.99614963e-02 4.47988787e+01] [-4.27227075e-02 9.99082333e-01 -3.04321602e-03 -1.86634218e+00] [-4.00551059e-02 1.33072965e-03 9.99196586e-01 -2.06251373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570385722999994 meters 0.022022935654872153 Centerline is valid? [True, True] Translation: X:44.83, Y:-1.87, Z:-2.06 [[ 9.98235269e-01 4.39406158e-02 3.99445978e-02 4.48291503e+01] [-4.38538452e-02 9.99033313e-01 -3.04632068e-03 -1.86527976e+00] [-4.00398411e-02 1.28922053e-03 9.99197252e-01 -2.06216517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600385722999995 meters 0.021586472092277976 Centerline is valid? [True, True] Translation: X:44.86, Y:-1.86, Z:-2.06 [[ 9.98152513e-01 4.57566120e-02 3.99736680e-02 4.48586336e+01] [-4.56712254e-02 9.98951878e-01 -3.04713236e-03 -1.86314715e+00] [-4.00711972e-02 1.21585642e-03 9.99196087e-01 -2.06292242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630385722999996 meters 0.02147082840424751 Centerline is valid? [True, True] Translation: X:44.89, Y:-1.87, Z:-2.07 [[ 9.98132943e-01 4.60136483e-02 4.01668041e-02 4.48876988e+01] [-4.59276991e-02 9.98940078e-01 -3.06043769e-03 -1.86616184e+00] [-4.02650523e-02 1.20995478e-03 9.99188301e-01 -2.06562897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660385723 meters 0.02121505602049275 Centerline is valid? [True, True] Translation: X:44.92, Y:-1.87, Z:-2.07 [[ 9.98128823e-01 4.58437858e-02 4.04623315e-02 4.49166716e+01] [-4.57564850e-02 9.98947871e-01 -3.08152586e-03 -1.86995956e+00] [-4.05610287e-02 1.22434572e-03 9.99176313e-01 -2.06912609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690385723 meters 0.02164682659914951 Centerline is valid? [True, True] Translation: X:44.94, Y:-1.88, Z:-2.07 [[ 9.98049817e-01 4.53113459e-02 4.29353649e-02 4.49444349e+01] [-4.52126159e-02 9.98972041e-01 -3.26827697e-03 -1.87686206e+00] [-4.30393191e-02 1.32068307e-03 9.99072506e-01 -2.07086544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720385723 meters 0.022197765522717343 Centerline is valid? [True, True] Translation: X:44.97, Y:-1.88, Z:-2.07 [[ 9.97968261e-01 4.54101212e-02 4.46908274e-02 4.49738564e+01] [-4.53033553e-02 9.98967492e-01 -3.39944768e-03 -1.88015990e+00] [-4.47990531e-02 1.36789646e-03 9.98995082e-01 -2.06962375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750385722999994 meters 0.021401866561130946 Centerline is valid? [True, True] Translation: X:45.00, Y:-1.88, Z:-2.06 [[ 9.97776463e-01 4.66850048e-02 4.75672188e-02 4.50046453e+01] [-4.65655292e-02 9.98908688e-01 -3.61736146e-03 -1.87689000e+00] [-4.76841847e-02 1.39432541e-03 9.98861489e-01 -2.06442818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780385722999995 meters 0.021667779650316632 Centerline is valid? [True, True] Translation: X:45.04, Y:-1.88, Z:-2.06 [[ 9.97720086e-01 4.74347382e-02 4.80059960e-02 4.50353010e+01] [-4.73139486e-02 9.98873399e-01 -3.64998974e-03 -1.87874613e+00] [-4.81250487e-02 1.37031486e-03 9.98840379e-01 -2.06384381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810385722999996 meters 0.020863793550920412 Centerline is valid? [True, True] Translation: X:45.07, Y:-1.88, Z:-2.07 [[ 9.97696171e-01 4.76158662e-02 4.83226532e-02 4.50653864e+01] [-4.74936503e-02 9.98864780e-01 -3.67485310e-03 -1.87920000e+00] [-4.84427776e-02 1.37136768e-03 9.98825018e-01 -2.06583809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840385723 meters 0.021120548361361163 Centerline is valid? [True, True] Translation: X:45.10, Y:-1.88, Z:-2.07 [[ 9.97753549e-01 4.71755344e-02 4.75639055e-02 4.50952542e+01] [-4.70566276e-02 9.98885674e-01 -3.61720367e-03 -1.88368827e+00] [-4.76815473e-02 1.37088081e-03 9.98861647e-01 -2.06907362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870385723 meters 0.02222697696220366 Centerline is valid? [True, True] Translation: X:45.12, Y:-1.89, Z:-2.07 [[ 9.97971488e-01 4.43542231e-02 4.56684907e-02 4.51245896e+01] [-4.42416258e-02 9.99014820e-01 -3.47384051e-03 -1.89167865e+00] [-4.57775785e-02 1.44634551e-03 9.98950610e-01 -2.07421433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900385723 meters 0.022426080316709673 Centerline is valid? [True, True] Translation: X:45.16, Y:-1.90, Z:-2.08 [[ 9.98073119e-01 4.27028358e-02 4.50168526e-02 4.51554934e+01] [-4.25917185e-02 9.99086690e-01 -3.42506191e-03 -1.89510409e+00] [-4.51219981e-02 1.50111711e-03 9.98980356e-01 -2.07673076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930385723 meters 0.023064485096093428 Centerline is valid? [True, True] Translation: X:45.19, Y:-1.90, Z:-2.08 [[ 9.98145266e-01 4.15723843e-02 4.44720734e-02 4.51858894e+01] [-4.14627537e-02 9.99134316e-01 -3.38514578e-03 -1.89942391e+00] [-4.45743032e-02 1.53493261e-03 9.99004893e-01 -2.07879745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960385722999995 meters 0.02300953985507229 Centerline is valid? [True, True] Translation: X:45.22, Y:-1.90, Z:-2.08 [[ 9.98089596e-01 4.26016856e-02 4.47465509e-02 4.52181568e+01] [-4.24914822e-02 9.99091005e-01 -3.41153813e-03 -1.90245172e+00] [-4.48512137e-02 1.50367345e-03 9.98992546e-01 -2.08046274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990385722999996 meters 0.022253459472821077 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.90, Z:-2.08 [[ 9.97997141e-01 4.40200916e-02 4.54305803e-02 4.52499941e+01] [-4.39074545e-02 9.99029560e-01 -3.47472127e-03 -1.90348729e+00] [-4.55394502e-02 1.47302075e-03 9.98961455e-01 -2.08171292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020385723 meters 0.021497126248789643 Centerline is valid? [True, True] Translation: X:45.28, Y:-1.90, Z:-2.08 [[ 9.97844466e-01 4.68625849e-02 4.59382123e-02 4.52819689e+01] [-4.67503100e-02 9.98900419e-01 -3.51597432e-03 -1.90004223e+00] [-4.60524671e-02 1.36076985e-03 9.98938095e-01 -2.07990475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050385723 meters 0.021050012466846763 Centerline is valid? [True, True] Translation: X:45.31, Y:-1.90, Z:-2.08 [[ 9.97774534e-01 4.78610343e-02 4.64252236e-02 4.53124601e+01] [-4.77473690e-02 9.98853118e-01 -3.55484671e-03 -1.89829871e+00] [-4.65421180e-02 1.33025323e-03 9.98915443e-01 -2.07939323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080385723 meters 0.021986423114630706 Centerline is valid? [True, True] Translation: X:45.34, Y:-1.90, Z:-2.08 [[ 9.97731592e-01 4.80740097e-02 4.71228150e-02 4.53416229e+01] [-4.79571391e-02 9.98842877e-01 -3.60821874e-03 -1.90102449e+00] [-4.72417496e-02 1.34015843e-03 9.98882586e-01 -2.08121256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110385723 meters 0.021043171158589436 Centerline is valid? [True, True] Translation: X:45.37, Y:-1.90, Z:-2.08 [[ 9.97722704e-01 4.73713979e-02 4.80141352e-02 4.53719380e+01] [-4.72492864e-02 9.98876366e-01 -3.67566838e-03 -1.90345291e+00] [-4.81343064e-02 1.39866417e-03 9.98839893e-01 -2.08467078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140385722999994 meters 0.02123073936597494 Centerline is valid? [True, True] Translation: X:45.40, Y:-1.91, Z:-2.09 [[ 9.97744773e-01 4.66359128e-02 4.82748398e-02 4.54031948e+01] [-4.65116044e-02 9.98910913e-01 -3.69575554e-03 -1.90821749e+00] [-4.83946192e-02 1.44208052e-03 9.98827253e-01 -2.08806380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170385722999995 meters 0.022074549565781944 Centerline is valid? [True, True] Translation: X:45.43, Y:-1.91, Z:-2.09 [[ 9.97828804e-01 4.60323739e-02 4.71030600e-02 4.54340427e+01] [-4.59132608e-02 9.98938914e-01 -3.60816279e-03 -1.91102874e+00] [-4.72191719e-02 1.43767369e-03 9.98883518e-01 -2.08952845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200385723 meters 0.02201148844595972 Centerline is valid? [True, True] Translation: X:45.47, Y:-1.91, Z:-2.09 [[ 9.97839422e-01 4.66703351e-02 4.62424782e-02 4.54650350e+01] [-4.65557528e-02 9.98909377e-01 -3.55235681e-03 -1.91099435e+00] [-4.63578347e-02 1.39182828e-03 9.98923928e-01 -2.09018310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230385723 meters 0.02149722268471926 Centerline is valid? [True, True] Translation: X:45.50, Y:-1.91, Z:-2.09 [[ 9.97796063e-01 4.76790693e-02 4.61489171e-02 4.54954104e+01] [-4.75659578e-02 9.98861803e-01 -3.54668424e-03 -1.90990830e+00] [-4.62654932e-02 1.34375012e-03 9.98928275e-01 -2.09054557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260385723 meters 0.021297412710243654 Centerline is valid? [True, True] Translation: X:45.53, Y:-1.91, Z:-2.09 [[ 9.97642501e-01 4.94252166e-02 4.76087055e-02 4.55254500e+01] [-4.93068583e-02 9.98776979e-01 -3.65796644e-03 -1.90915377e+00] [-4.77312748e-02 1.30190709e-03 9.98859365e-01 -2.08966248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290385723 meters 0.021222407782824727 Centerline is valid? [True, True] Translation: X:45.55, Y:-1.91, Z:-2.09 [[ 9.97534822e-01 5.01947873e-02 4.90383793e-02 4.55548645e+01] [-5.00702218e-02 9.98738599e-01 -3.76606519e-03 -1.91146252e+00] [-4.91655591e-02 1.30141864e-03 9.98789795e-01 -2.09030955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320385722999994 meters 0.02124467770741802 Centerline is valid? [True, True] Translation: X:45.58, Y:-1.91, Z:-2.09 [[ 9.97477659e-01 5.06487443e-02 4.97295057e-02 4.55840376e+01] [-5.05212900e-02 9.98715689e-01 -3.81739910e-03 -1.91460569e+00] [-4.98589840e-02 1.29537153e-03 9.98755427e-01 -2.09202312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350385722999995 meters 0.02131567998582929 Centerline is valid? [True, True] Translation: X:45.61, Y:-1.92, Z:-2.10 [[ 9.97607324e-01 4.95893443e-02 4.81718255e-02 4.56143888e+01] [-4.94685953e-02 9.98768840e-01 -3.69632879e-03 -1.91874357e+00] [-4.82958168e-02 1.30449213e-03 9.98832224e-01 -2.09599818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380385722999996 meters 0.021163859267701125 Centerline is valid? [True, True] Translation: X:45.64, Y:-1.92, Z:-2.10 [[ 9.97693049e-01 4.91993003e-02 4.67761637e-02 4.56443033e+01] [-4.90850244e-02 9.98788155e-01 -3.58923663e-03 -1.92113112e+00] [-4.68960661e-02 1.28494730e-03 9.98898948e-01 -2.09885729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410385723 meters 0.021214054575630997 Centerline is valid? [True, True] Translation: X:45.67, Y:-1.92, Z:-2.10 [[ 9.97759698e-01 4.87264158e-02 4.58401626e-02 4.56742276e+01] [-4.86161747e-02 9.98811341e-01 -3.51737328e-03 -1.92295096e+00] [-4.59570633e-02 1.28091995e-03 9.98942595e-01 -2.10104341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440385723 meters 0.02097578945270522 Centerline is valid? [True, True] Translation: X:45.70, Y:-1.92, Z:-2.10 [[ 9.97791053e-01 4.89597336e-02 4.48994390e-02 4.57039240e+01] [-4.88542796e-02 9.98799980e-01 -3.44364819e-03 -1.92286780e+00] [-4.50141589e-02 1.24251160e-03 9.98985576e-01 -2.10210731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470385723 meters 0.02138805879902606 Centerline is valid? [True, True] Translation: X:45.73, Y:-1.93, Z:-2.10 [[ 9.97769868e-01 4.90580053e-02 4.52615027e-02 4.57324131e+01] [-4.89510170e-02 9.98795153e-01 -3.46979562e-03 -1.92551723e+00] [-4.53771908e-02 1.24646093e-03 9.98969147e-01 -2.10394855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500385722999994 meters 0.020683022218995973 Centerline is valid? [True, True] Translation: X:45.76, Y:-1.93, Z:-2.11 [[ 9.97760308e-01 4.97609998e-02 4.47013538e-02 4.57615001e+01] [-4.96574540e-02 9.98760437e-01 -3.42453505e-03 -1.92734072e+00] [-4.48163519e-02 1.19710973e-03 9.98994525e-01 -2.10653686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530385722999995 meters 0.020821693181859096 Centerline is valid? [True, True] Translation: X:45.79, Y:-1.93, Z:-2.11 [[ 9.97711234e-01 5.07910163e-02 4.46381714e-02 4.57903261e+01] [-5.06888638e-02 9.98708644e-01 -3.41810997e-03 -1.93201066e+00] [-4.47541369e-02 1.14762853e-03 9.98997372e-01 -2.10881133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560385722999996 meters 0.02078745509236941 Centerline is valid? [True, True] Translation: X:45.82, Y:-1.93, Z:-2.11 [[ 9.97706984e-01 5.08799638e-02 4.46318625e-02 4.58195373e+01] [-5.07779996e-02 9.98704123e-01 -3.41605325e-03 -1.93343375e+00] [-4.47478337e-02 1.14190349e-03 9.98997661e-01 -2.10922138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590385723 meters 0.021194538765810223 Centerline is valid? [True, True] Translation: X:45.85, Y:-1.93, Z:-2.11 [[ 9.97696283e-01 5.06192180e-02 4.51643959e-02 4.58485989e+01] [-5.05146106e-02 9.98717345e-01 -3.45519619e-03 -1.93375206e+00] [-4.52813649e-02 1.16577453e-03 9.98973593e-01 -2.10676409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620385723 meters 0.02128411416202196 Centerline is valid? [True, True] Translation: X:45.88, Y:-1.94, Z:-2.11 [[ 9.97735355e-01 5.02745561e-02 4.46836767e-02 4.58771149e+01] [-5.01719244e-02 9.98734754e-01 -3.41609316e-03 -1.93567434e+00] [-4.47988834e-02 1.16649087e-03 9.98995345e-01 -2.10743449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650385723 meters 0.021258535161514266 Centerline is valid? [True, True] Translation: X:45.91, Y:-1.94, Z:-2.11 [[ 9.97728715e-01 5.03707296e-02 4.47235975e-02 4.59057387e+01] [-5.02681496e-02 9.98729915e-01 -3.41605271e-03 -1.93813044e+00] [-4.48388639e-02 1.16012139e-03 9.98993559e-01 -2.10957872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680385723 meters 0.02145312228860098 Centerline is valid? [True, True] Translation: X:45.93, Y:-1.94, Z:-2.11 [[ 9.97644927e-01 5.12539740e-02 4.55810308e-02 4.59337753e+01] [-5.11484859e-02 9.98685002e-01 -3.47836805e-03 -1.94259596e+00] [-4.56993720e-02 1.13877553e-03 9.98954589e-01 -2.11202970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710385722999995 meters 0.02057757144996182 Centerline is valid? [True, True] Translation: X:45.96, Y:-1.94, Z:-2.11 [[ 9.97554803e-01 5.20521881e-02 4.66367420e-02 4.59630131e+01] [-5.19426978e-02 9.98643731e-01 -3.55735912e-03 -1.94398919e+00] [-4.67586584e-02 1.12622247e-03 9.98905581e-01 -2.11365567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740385722999996 meters 0.020715393675131723 Centerline is valid? [True, True] Translation: X:45.99, Y:-1.95, Z:-2.11 [[ 9.97462643e-01 5.30388202e-02 4.74885186e-02 4.59911473e+01] [-5.29264914e-02 9.98591848e-01 -3.62056946e-03 -1.94674610e+00] [-4.76136783e-02 1.09798211e-03 9.98865222e-01 -2.11445126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770385723 meters 0.02057742044097737 Centerline is valid? [True, True] Translation: X:46.02, Y:-1.95, Z:-2.11 [[ 9.97293381e-01 5.44922038e-02 4.93610327e-02 4.60200579e+01] [-5.43727495e-02 9.98513627e-01 -3.76055561e-03 -1.94541406e+00] [-4.94925847e-02 1.06648216e-03 9.98773922e-01 -2.11158160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800385723 meters 0.020314597988701315 Centerline is valid? [True, True] Translation: X:46.05, Y:-1.94, Z:-2.11 [[ 9.97190110e-01 5.50362702e-02 5.08221677e-02 4.60486356e+01] [-5.49105249e-02 9.98483786e-01 -3.86821494e-03 -1.94437731e+00] [-5.09580026e-02 1.06667377e-03 9.98700227e-01 -2.11072194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830385723 meters 0.020562644566111926 Centerline is valid? [True, True] Translation: X:46.08, Y:-1.95, Z:-2.11 [[ 9.97126353e-01 5.53469964e-02 5.17276189e-02 4.60771323e+01] [-5.52173260e-02 9.98466611e-01 -3.93362473e-03 -1.94582728e+00] [-5.18660147e-02 1.06606008e-03 9.98653483e-01 -2.11046691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860385723 meters 0.02046624505113396 Centerline is valid? [True, True] Translation: X:46.11, Y:-1.95, Z:-2.12 [[ 9.97238630e-01 5.49368158e-02 4.99706079e-02 4.61067167e+01] [-5.48153888e-02 9.98489282e-01 -3.79820495e-03 -1.95069356e+00] [-5.01037777e-02 1.04855840e-03 9.98743467e-01 -2.11578549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890385722999994 meters 0.02102277406529627 Centerline is valid? [True, True] Translation: X:46.13, Y:-1.96, Z:-2.12 [[ 9.97540888e-01 5.27867036e-02 4.61057585e-02 4.61349082e+01] [-5.26811235e-02 9.98605242e-01 -3.50290754e-03 -1.95551781e+00] [-4.62263590e-02 1.06539034e-03 9.98930422e-01 -2.12105453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920385722999995 meters 0.021422464900856024 Centerline is valid? [True, True] Translation: X:46.16, Y:-1.96, Z:-2.12 [[ 9.97644775e-01 5.15804027e-02 4.52146531e-02 4.61645533e+01] [-5.14777349e-02 9.98668242e-01 -3.43288728e-03 -1.95735080e+00] [-4.53315078e-02 1.09725413e-03 9.98971396e-01 -2.12226661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950385723 meters 0.021689111046956075 Centerline is valid? [True, True] Translation: X:46.19, Y:-1.96, Z:-2.12 [[ 9.97725751e-01 5.05789871e-02 4.45543679e-02 4.61935613e+01] [-5.04783688e-02 9.98719431e-01 -3.38123515e-03 -1.95854475e+00] [-4.46683324e-02 1.12451357e-03 9.99001239e-01 -2.12265532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980385723 meters 0.02223872164580508 Centerline is valid? [True, True] Translation: X:46.22, Y:-1.96, Z:-2.12 [[ 9.97734422e-01 4.95170560e-02 4.55421170e-02 4.62231435e+01] [-4.94109641e-02 9.98772563e-01 -3.45300856e-03 -1.96075199e+00] [-4.56571998e-02 1.19490559e-03 9.98956452e-01 -2.12359165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010385723 meters 0.02212611025540376 Centerline is valid? [True, True] Translation: X:46.25, Y:-1.96, Z:-2.13 [[ 9.97819143e-01 4.81439102e-02 4.51566302e-02 4.62528136e+01] [-4.80382730e-02 9.98839633e-01 -3.42224624e-03 -1.96487212e+00] [-4.52689922e-02 1.24553628e-03 9.98974057e-01 -2.12726015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040385723 meters 0.022376115484090485 Centerline is valid? [True, True] Translation: X:46.28, Y:-1.97, Z:-2.13 [[ 9.97871295e-01 4.70999440e-02 4.51051440e-02 4.62823227e+01] [-4.69935539e-02 9.98889349e-01 -3.41677057e-03 -1.96928877e+00] [-4.52159776e-02 1.28984626e-03 9.98976402e-01 -2.12978185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070385722999994 meters 0.02259484740382506 Centerline is valid? [True, True] Translation: X:46.31, Y:-1.97, Z:-2.13 [[ 9.97929045e-01 4.60622486e-02 4.48986755e-02 4.63116863e+01] [-4.59558521e-02 9.98937687e-01 -3.39957719e-03 -1.97230537e+00] [-4.50075712e-02 1.32917993e-03 9.98985762e-01 -2.13118396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100385722999995 meters 0.02371572254558921 Centerline is valid? [True, True] Translation: X:46.34, Y:-1.97, Z:-2.13 [[ 9.98040487e-01 4.44502855e-02 4.40381494e-02 4.63412333e+01] [-4.43464308e-02 9.99010653e-01 -3.33291254e-03 -1.97358248e+00] [-4.41427294e-02 1.37344690e-03 9.99024291e-01 -2.12934642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130385722999996 meters 0.023014020507007106 Centerline is valid? [True, True] Translation: X:46.37, Y:-1.97, Z:-2.13 [[ 9.98093052e-01 4.36826062e-02 4.36129579e-02 4.63722358e+01] [-4.35800503e-02 9.99044488e-01 -3.29997180e-03 -1.97310381e+00] [-4.37154366e-02 1.39302402e-03 9.99043052e-01 -2.13002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160385723 meters 0.022697773594812887 Centerline is valid? [True, True] Translation: X:46.40, Y:-1.97, Z:-2.13 [[ 9.98087106e-01 4.30903240e-02 4.43322921e-02 4.64024108e+01] [-4.29837712e-02 9.99070139e-01 -3.35440018e-03 -1.97397584e+00] [-4.44356115e-02 1.44241447e-03 9.99011209e-01 -2.13096136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190385723 meters 0.023081639496440577 Centerline is valid? [True, True] Translation: X:46.43, Y:-1.98, Z:-2.13 [[ 9.98070207e-01 4.24364139e-02 4.53322565e-02 4.64331719e+01] [-4.23243215e-02 9.99098036e-01 -3.43008667e-03 -1.97898486e+00] [-4.54369290e-02 1.50481032e-03 9.98966076e-01 -2.13337514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220385723 meters 0.02360751279015289 Centerline is valid? [True, True] Translation: X:46.46, Y:-1.98, Z:-2.14 [[ 9.98098443e-01 4.17678871e-02 4.53314673e-02 4.64641146e+01] [-4.16550371e-02 9.99126159e-01 -3.43163154e-03 -1.98330172e+00] [-4.54351868e-02 1.53682215e-03 9.98966107e-01 -2.13505739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250385722999994 meters 0.02375535833249246 Centerline is valid? [True, True] Translation: X:46.50, Y:-1.99, Z:-2.14 [[ 9.98147367e-01 4.12573433e-02 4.47176113e-02 4.64959628e+01] [-4.11469499e-02 9.99147366e-01 -3.38672285e-03 -1.98669248e+00] [-4.48192108e-02 1.54045518e-03 9.98993927e-01 -2.13710433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280385722999995 meters 0.02384768887764444 Centerline is valid? [True, True] Translation: X:46.53, Y:-1.99, Z:-2.14 [[ 9.98233656e-01 4.10774702e-02 4.29209791e-02 4.65282528e+01] [-4.09751761e-02 9.99154844e-01 -3.26072413e-03 -1.98969296e+00] [-4.30186465e-02 1.49626989e-03 9.99073149e-01 -2.14011403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310385722999996 meters 0.024313809698668296 Centerline is valid? [True, True] Translation: X:46.56, Y:-1.99, Z:-2.14 [[ 9.98226371e-01 4.16306502e-02 4.25558658e-02 4.65589601e+01] [-4.15301352e-02 9.99131986e-01 -3.24369169e-03 -1.99285528e+00] [-4.26539637e-02 1.47058772e-03 9.99088823e-01 -2.14116018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340385723 meters 0.02349094890338114 Centerline is valid? [True, True] Translation: X:46.59, Y:-1.99, Z:-2.14 [[ 9.98098178e-01 4.28541408e-02 4.43119514e-02 4.65903864e+01] [-4.27462852e-02 9.99080245e-01 -3.37913469e-03 -1.99400427e+00] [-4.44160052e-02 1.47853686e-03 9.99012028e-01 -2.14098145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370385723 meters 0.022949260556163423 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.00, Z:-2.14 [[ 9.98009773e-01 4.35709179e-02 4.55858275e-02 4.66218083e+01] [-4.34574382e-02 9.99049226e-01 -3.47791702e-03 -1.99549778e+00] [-4.56940217e-02 1.48995190e-03 9.98954372e-01 -2.14133623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400385723 meters 0.023600314990539627 Centerline is valid? [True, True] Translation: X:46.65, Y:-2.00, Z:-2.14 [[ 9.98008660e-01 4.34103971e-02 4.57630049e-02 4.66524509e+01] [-4.32957801e-02 9.99056191e-01 -3.49327064e-03 -1.99979961e+00] [-4.58714577e-02 1.50496935e-03 9.98946217e-01 -2.14238076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430385723 meters 0.024994516178037135 Centerline is valid? [True, True] Translation: X:46.68, Y:-2.01, Z:-2.15 [[ 9.98130980e-01 4.20918898e-02 4.43037130e-02 4.66827413e+01] [-4.19827419e-02 9.99112579e-01 -3.39161892e-03 -2.00741522e+00] [-4.44071567e-02 1.52528857e-03 9.99012351e-01 -2.14563375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460385722999995 meters 0.024994516178037135 Centerline is valid? [True, True] Translation: X:46.71, Y:-2.01, Z:-2.15 [[ 9.98129587e-01 4.21257136e-02 4.43029551e-02 4.67134857e+01] [-4.20161613e-02 9.99111141e-01 -3.40149066e-03 -2.00980218e+00] [-4.44068663e-02 1.53368836e-03 9.99012351e-01 -2.14701172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490385722999996 meters 0.023815385508125723 Centerline is valid? [True, True] Translation: X:46.75, Y:-2.01, Z:-2.15 [[ 9.98205176e-01 4.08139049e-02 4.38252454e-02 4.67460150e+01] [-4.07053855e-02 9.99165522e-01 -3.36609868e-03 -2.01130367e+00] [-4.39260578e-02 1.57613362e-03 9.99033542e-01 -2.14920937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520385723 meters 0.024251495723005743 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.02, Z:-2.15 [[ 9.98296722e-01 3.94854692e-02 4.29482646e-02 4.67774482e+01] [-3.93795778e-02 9.99218844e-01 -3.30913335e-03 -2.01731059e+00] [-4.30453780e-02 1.61221245e-03 9.99071817e-01 -2.15208909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550385723 meters 0.024507546636554165 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.02, Z:-2.15 [[ 9.98335200e-01 3.93340362e-02 4.21860413e-02 4.68085897e+01] [-3.92313367e-02 9.99224837e-01 -3.25988422e-03 -2.02053406e+00] [-4.22815646e-02 1.59944237e-03 9.99104455e-01 -2.15396921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580385723 meters 0.02400286999252457 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.02, Z:-2.15 [[ 9.98357191e-01 3.97071497e-02 4.13069242e-02 4.68404613e+01] [-3.96086021e-02 9.99210142e-01 -3.20173969e-03 -2.02164946e+00] [-4.14014296e-02 1.56037032e-03 9.99141375e-01 -2.15478925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610385723 meters 0.02501337744201477 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.03, Z:-2.16 [[ 9.98314613e-01 4.06343367e-02 4.14341055e-02 4.68717857e+01] [-4.05359102e-02 9.99172916e-01 -3.21322839e-03 -2.02524708e+00] [-4.15304034e-02 1.52824368e-03 9.99136072e-01 -2.15601993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640385722999994 meters 0.023265068070529013 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.02, Z:-2.15 [[ 9.98122686e-01 4.35174446e-02 4.30968294e-02 4.69031112e+01] [-4.34131827e-02 9.99051578e-01 -3.35266282e-03 -2.02269129e+00] [-4.32018548e-02 1.47539829e-03 9.99065275e-01 -2.15393451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670385722999995 meters 0.025527677098467743 Centerline is valid? [True, True] Translation: X:46.93, Y:-2.03, Z:-2.15 [[ 9.97951417e-01 4.59432763e-02 4.45217313e-02 4.69327084e+01] [-4.58343744e-02 9.98943046e-01 -3.46431914e-03 -2.02886462e+00] [-4.46338360e-02 1.41659650e-03 9.99002409e-01 -2.15427288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700385723 meters 0.02164150488977015 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.02, Z:-2.16 [[ 9.97683157e-01 5.08305912e-02 4.52169166e-02 4.69636420e+01] [-5.07232704e-02 9.98706549e-01 -3.51841281e-03 -2.02450103e+00] [-4.53372737e-02 1.21671131e-03 9.98970996e-01 -2.15700792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730385723 meters 0.02130947490952482 Centerline is valid? [True, True] Translation: X:46.99, Y:-2.03, Z:-2.16 [[ 9.97533586e-01 5.33065469e-02 4.56635271e-02 4.69927092e+01] [-5.31996863e-02 9.98577573e-01 -3.55312924e-03 -2.02688223e+00] [-4.57879791e-02 1.11508043e-03 9.98950558e-01 -2.15947211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760385723 meters 0.02040663390822629 Centerline is valid? [True, True] Translation: X:47.02, Y:-2.03, Z:-2.16 [[ 9.97200264e-01 5.86563458e-02 4.63795865e-02 4.70213577e+01] [-5.85519601e-02 9.98277845e-01 -3.60720018e-03 -2.02600547e+00] [-4.65112988e-02 8.81485273e-04 9.98917375e-01 -2.15998480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790385723 meters 0.019843548459430333 Centerline is valid? [True, True] Translation: X:47.05, Y:-2.02, Z:-2.16 [[ 9.97028153e-01 6.14927946e-02 4.64057910e-02 4.70508889e+01] [-6.13914705e-02 9.98107248e-01 -3.60686725e-03 -2.02484793e+00] [-4.65397527e-02 7.47228441e-04 9.98916159e-01 -2.15990874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820385722999994 meters 0.01931331797200481 Centerline is valid? [True, True] Translation: X:47.08, Y:-2.02, Z:-2.16 [[ 9.96828574e-01 6.46392452e-02 4.64172598e-02 4.70793931e+01] [-6.45413908e-02 9.97908518e-01 -3.60535751e-03 -2.02455201e+00] [-4.65532265e-02 5.98088884e-04 9.98915632e-01 -2.16105724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850385722999995 meters 0.018917753245590953 Centerline is valid? [True, True] Translation: X:47.11, Y:-2.02, Z:-2.16 [[ 9.96663964e-01 6.76118098e-02 4.57119844e-02 4.71077591e+01] [-6.75201712e-02 9.97711602e-01 -3.54755027e-03 -2.02490008e+00] [-4.58472335e-02 4.49234501e-04 9.98948362e-01 -2.16291938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880385722999996 meters 0.018481580931755625 Centerline is valid? [True, True] Translation: X:47.14, Y:-2.02, Z:-2.16 [[ 9.96326871e-01 7.22909514e-02 4.58997269e-02 4.71367226e+01] [-7.22036610e-02 9.97383559e-01 -3.55903656e-03 -2.02489824e+00] [-4.60369192e-02 2.31835433e-04 9.98939712e-01 -2.16476974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910385723 meters 0.018398202350389473 Centerline is valid? [True, True] Translation: X:47.17, Y:-2.03, Z:-2.17 [[ 9.96196981e-01 7.41972392e-02 4.56765217e-02 4.71660217e+01] [-7.41129374e-02 9.97243576e-01 -3.53870416e-03 -2.02527192e+00] [-4.58131799e-02 1.40025209e-04 9.98950015e-01 -2.16546210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940385723 meters 0.018101577710735995 Centerline is valid? [True, True] Translation: X:47.19, Y:-2.03, Z:-2.17 [[ 9.96066964e-01 7.64677281e-02 4.47581264e-02 4.71927947e+01] [-7.63892126e-02 9.97072056e-01 -3.46448584e-03 -2.02564428e+00] [-4.48919985e-02 3.18218668e-05 9.98991846e-01 -2.16774788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970385723 meters 0.018119439785672913 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.03, Z:-2.17 [[ 9.96086474e-01 7.66028905e-02 4.40877818e-02 4.72203356e+01] [-7.65271889e-02 9.97061682e-01 -3.40477560e-03 -2.02879153e+00] [-4.42190535e-02 1.75369175e-05 9.99021859e-01 -2.17093272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000385722999994 meters 0.018068942200604 Centerline is valid? [True, True] Translation: X:47.25, Y:-2.03, Z:-2.17 [[ 9.96177312e-01 7.57393555e-02 4.35237060e-02 4.72469993e+01] [-7.56649496e-02 9.97127649e-01 -3.35677655e-03 -2.03329137e+00] [-4.36529307e-02 5.07256170e-05 9.99046755e-01 -2.17417348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030385722999995 meters 0.01801433748661596 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.04, Z:-2.18 [[ 9.96427258e-01 7.30302883e-02 4.24181091e-02 4.72755739e+01] [-7.29573788e-02 9.97329710e-01 -3.26642028e-03 -2.03945482e+00] [-4.25433881e-02 1.60036158e-04 9.99094607e-01 -2.17662398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060385722999996 meters 0.018174612769499523 Centerline is valid? [True, True] Translation: X:47.30, Y:-2.04, Z:-2.18 [[ 9.96564604e-01 7.09973627e-02 4.26422803e-02 4.73042937e+01] [-7.09219442e-02 9.97476473e-01 -3.28077344e-03 -2.04172580e+00] [-4.27675976e-02 2.45229266e-04 9.99085018e-01 -2.17615018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090385723 meters 0.018454245216385706 Centerline is valid? [True, True] Translation: X:47.33, Y:-2.05, Z:-2.18 [[ 9.96692153e-01 6.90898548e-02 4.27942090e-02 4.73322911e+01] [-6.90122663e-02 9.97610388e-01 -3.28952474e-03 -2.04523436e+00] [-4.29192202e-02 3.25318154e-04 9.99078493e-01 -2.17609380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120385723 meters 0.018551131034349116 Centerline is valid? [True, True] Translation: X:47.36, Y:-2.05, Z:-2.18 [[ 9.96898734e-01 6.50134374e-02 4.43414801e-02 4.73608312e+01] [-6.49262784e-02 9.97884256e-01 -3.40450615e-03 -2.04902730e+00] [-4.44690035e-02 5.15020592e-04 9.99010632e-01 -2.17507649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150385723 meters 0.018648372983428557 Centerline is valid? [True, True] Translation: X:47.39, Y:-2.05, Z:-2.18 [[ 9.97044989e-01 6.25410885e-02 4.46083087e-02 4.73895177e+01] [-6.24505426e-02 9.98042194e-01 -3.42188611e-03 -2.05412221e+00] [-4.47349827e-02 6.25961319e-04 9.98998693e-01 -2.17685743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180385723 meters 0.01993970754868645 Centerline is valid? [True, True] Translation: X:47.42, Y:-2.07, Z:-2.18 [[ 9.97455032e-01 5.63719821e-02 4.36538512e-02 4.74172311e+01] [-5.62794991e-02 9.98409447e-01 -3.34563520e-03 -2.06613531e+00] [-4.37730175e-02 8.80303788e-04 9.99041114e-01 -2.18091405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210385722999995 meters 0.020418635049035055 Centerline is valid? [True, True] Translation: X:47.45, Y:-2.07, Z:-2.18 [[ 9.97706114e-01 5.26526627e-02 4.25465347e-02 4.74460354e+01] [-5.25615285e-02 9.98612371e-01 -3.25859653e-03 -2.07144427e+00] [-4.26590697e-02 1.01481079e-03 9.99089172e-01 -2.18339044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240385722999996 meters 0.020553044643634548 Centerline is valid? [True, True] Translation: X:47.48, Y:-2.07, Z:-2.18 [[ 9.97889612e-01 4.95762412e-02 4.19346927e-02 4.74753594e+01] [-4.94850881e-02 9.98769706e-01 -3.20957225e-03 -2.07444440e+00] [-4.20422192e-02 1.12765684e-03 9.99115199e-01 -2.18450284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270385723 meters 0.022133449297321393 Centerline is valid? [True, True] Translation: X:47.50, Y:-2.08, Z:-2.18 [[ 9.98119336e-01 4.48527017e-02 4.17854825e-02 4.75047512e+01] [-4.47581271e-02 9.98992739e-01 -3.19659535e-03 -2.07945628e+00] [-4.18867696e-02 1.32034370e-03 9.99121492e-01 -2.18418228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300385723 meters 0.022545329754401978 Centerline is valid? [True, True] Translation: X:47.53, Y:-2.08, Z:-2.18 [[ 9.98151223e-01 4.30337956e-02 4.29211971e-02 4.75346274e+01] [-4.29323321e-02 9.99072587e-01 -3.28336009e-03 -2.08300733e+00] [-4.30226869e-02 1.43458280e-03 9.99073066e-01 -2.18445837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330385723 meters 0.022850620894525046 Centerline is valid? [True, True] Translation: X:47.57, Y:-2.09, Z:-2.18 [[ 9.98126409e-01 4.13501324e-02 4.50980871e-02 4.75653437e+01] [-4.12364273e-02 9.99143464e-01 -3.44909114e-03 -2.08890618e+00] [-4.52020793e-02 1.58294496e-03 9.98976609e-01 -2.18403952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360385723 meters 0.022973287273312368 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.09, Z:-2.19 [[ 9.98085239e-01 4.14772911e-02 4.58856178e-02 4.75978869e+01] [-4.13596220e-02 9.99138155e-01 -3.51124990e-03 -2.09313870e+00] [-4.59917087e-02 1.60671489e-03 9.98940529e-01 -2.18574239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390385722999994 meters 0.023357615662973896 Centerline is valid? [True, True] Translation: X:47.63, Y:-2.10, Z:-2.19 [[ 9.98091839e-01 4.13129156e-02 4.58903537e-02 4.76288803e+01] [-4.11944632e-02 9.99144932e-01 -3.52432935e-03 -2.09674313e+00] [-4.59967147e-02 1.62717587e-03 9.98940266e-01 -2.18670305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420385722999995 meters 0.02320837513645082 Centerline is valid? [True, True] Translation: X:47.66, Y:-2.10, Z:-2.19 [[ 9.98203019e-01 4.04275991e-02 4.42305547e-02 4.76611395e+01] [-4.03162754e-02 9.99181162e-01 -3.40641371e-03 -2.09890137e+00] [-4.43320501e-02 1.61708123e-03 9.99015543e-01 -2.18812729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450385723 meters 0.02380214780063957 Centerline is valid? [True, True] Translation: X:47.69, Y:-2.10, Z:-2.19 [[ 9.98265037e-01 4.00450892e-02 4.31660341e-02 4.76930179e+01] [-3.99382633e-02 9.99196585e-01 -3.33467053e-03 -2.10300069e+00] [-4.32648910e-02 1.60490857e-03 9.99062347e-01 -2.19034235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480385723 meters 0.022994671604012803 Centerline is valid? [True, True] Translation: X:47.72, Y:-2.11, Z:-2.20 [[ 9.98380251e-01 3.90803887e-02 4.13472756e-02 4.77248147e+01] [-3.89811608e-02 9.99234810e-01 -3.20368512e-03 -2.10859844e+00] [-4.14408383e-02 1.58673115e-03 9.99139700e-01 -2.19626342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510385723 meters 0.023081378244339937 Centerline is valid? [True, True] Translation: X:47.76, Y:-2.11, Z:-2.20 [[ 9.98410001e-01 3.93135068e-02 4.03970051e-02 4.77578811e+01] [-3.92185918e-02 9.99225723e-01 -3.13966115e-03 -2.11400292e+00] [-4.04891577e-02 1.55035544e-03 9.99178775e-01 -2.19952573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540385723 meters 0.023130707329107842 Centerline is valid? [True, True] Translation: X:47.79, Y:-2.12, Z:-2.20 [[ 9.98441465e-01 3.95935143e-02 3.93318487e-02 4.77902522e+01] [-3.95033264e-02 9.99214729e-01 -3.06783356e-03 -2.11808636e+00] [-3.94224289e-02 1.50931338e-03 9.99221494e-01 -2.20158332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570385722999994 meters 0.023232096227248148 Centerline is valid? [True, True] Translation: X:47.82, Y:-2.12, Z:-2.20 [[ 9.98438866e-01 4.11271885e-02 3.77939953e-02 4.78219083e+01] [-4.10446760e-02 9.99152937e-01 -2.95685670e-03 -2.11800207e+00] [-3.78835886e-02 1.40099835e-03 9.99281177e-01 -2.20007676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600385722999995 meters 0.021599806143093103 Centerline is valid? [True, True] Translation: X:47.85, Y:-2.12, Z:-2.20 [[ 9.98369481e-01 4.28719395e-02 3.76878705e-02 4.78523267e+01] [-4.27907465e-02 9.99079675e-01 -2.95872243e-03 -2.11550104e+00] [-3.77800316e-02 1.34120607e-03 9.99285180e-01 -2.19915338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630385722999996 meters 0.022121654773512543 Centerline is valid? [True, True] Translation: X:47.88, Y:-2.12, Z:-2.20 [[ 9.98241459e-01 4.50508774e-02 3.85280240e-02 4.78817967e+01] [-4.49676824e-02 9.98983866e-01 -3.02363846e-03 -2.11806472e+00] [-3.86250919e-02 1.28580532e-03 9.99252945e-01 -2.19988662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660385723 meters 0.020347842859471818 Centerline is valid? [True, True] Translation: X:47.91, Y:-2.12, Z:-2.20 [[ 9.98002825e-01 4.86561669e-02 4.02857076e-02 4.79113240e+01] [-4.85680581e-02 9.98814866e-01 -3.16349503e-03 -2.11926602e+00] [-4.03918872e-02 1.20057839e-03 9.99183193e-01 -2.20121784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690385723 meters 0.019973634515809087 Centerline is valid? [True, True] Translation: X:47.94, Y:-2.12, Z:-2.20 [[ 9.97894954e-01 5.00058320e-02 4.12925925e-02 4.79405082e+01] [-4.99144667e-02 9.98748237e-01 -3.24130997e-03 -2.12207583e+00] [-4.14029884e-02 1.17338913e-03 9.99141840e-01 -2.20215398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720385723 meters 0.019624270510718498 Centerline is valid? [True, True] Translation: X:47.97, Y:-2.12, Z:-2.20 [[ 9.97819217e-01 5.24062834e-02 4.01296943e-02 4.79687627e+01] [-5.23221128e-02 9.98625306e-01 -3.14558014e-03 -2.12339264e+00] [-4.02393765e-02 1.03904992e-03 9.99189528e-01 -2.20355373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750385722999994 meters 0.020857330249106413 Centerline is valid? [True, True] Translation: X:48.00, Y:-2.13, Z:-2.21 [[ 9.97855429e-01 5.33767547e-02 3.78875226e-02 4.79960275e+01] [-5.33024924e-02 9.98574000e-01 -2.96820746e-03 -2.12824513e+00] [-3.79919283e-02 9.42342543e-04 9.99277602e-01 -2.20703210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780385722999995 meters 0.01913275564193741 Centerline is valid? [True, True] Translation: X:48.03, Y:-2.13, Z:-2.21 [[ 9.97908368e-01 5.37373602e-02 3.59330581e-02 4.80253975e+01] [-5.36709091e-02 9.98554719e-01 -2.81204196e-03 -2.12722346e+00] [-3.60322365e-02 8.77600310e-04 9.99350243e-01 -2.20926676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810385722999996 meters 0.019003284095968246 Centerline is valid? [True, True] Translation: X:48.05, Y:-2.13, Z:-2.21 [[ 9.97843823e-01 5.51233464e-02 3.56247456e-02 4.80530299e+01] [-5.50589949e-02 9.98479217e-01 -2.78564126e-03 -2.13009519e+00] [-3.57241219e-02 8.18172239e-04 9.99361355e-01 -2.21138554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840385723 meters 0.018679957967306756 Centerline is valid? [True, True] Translation: X:48.08, Y:-2.13, Z:-2.21 [[ 9.97789657e-01 5.58417756e-02 3.60207776e-02 4.80818450e+01] [-5.57765702e-02 9.98439312e-01 -2.81335441e-03 -2.13106205e+00] [-3.61216631e-02 7.98020504e-04 9.99347081e-01 -2.21052076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870385723 meters 0.01861499545979715 Centerline is valid? [True, True] Translation: X:48.11, Y:-2.13, Z:-2.21 [[ 9.97721615e-01 5.63282993e-02 3.71308777e-02 4.81102899e+01] [-5.62594462e-02 9.98411979e-01 -2.89740844e-03 -2.13235916e+00] [-3.72351192e-02 8.01844416e-04 9.99306211e-01 -2.21036600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900385723 meters 0.01829327628391261 Centerline is valid? [True, True] Translation: X:48.14, Y:-2.13, Z:-2.21 [[ 9.97686184e-01 5.64114711e-02 3.79476452e-02 4.81392441e+01] [-5.63397150e-02 9.98407274e-01 -2.95849060e-03 -2.13396933e+00] [-3.80540978e-02 8.13685687e-04 9.99275349e-01 -2.21084505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930385723 meters 0.01923730177202271 Centerline is valid? [True, True] Translation: X:48.17, Y:-2.14, Z:-2.21 [[ 9.97715276e-01 5.58119567e-02 3.80690547e-02 4.81664857e+01] [-5.57394028e-02 9.98440947e-01 -2.96538271e-03 -2.13956823e+00] [-3.81752068e-02 8.36661257e-04 9.99270711e-01 -2.21286192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960385722999995 meters 0.018501441900738873 Centerline is valid? [True, True] Translation: X:48.19, Y:-2.14, Z:-2.21 [[ 9.97780387e-01 5.41500141e-02 3.87566190e-02 4.81949632e+01] [-5.40736999e-02 9.98532394e-01 -3.01538349e-03 -2.14126426e+00] [-3.88630226e-02 9.12976724e-04 9.99244130e-01 -2.21299582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990385722999996 meters 0.018983709555953625 Centerline is valid? [True, True] Translation: X:48.22, Y:-2.14, Z:-2.21 [[ 9.97831785e-01 5.31928230e-02 3.87588941e-02 4.82222261e+01] [-5.31158817e-02 9.98583810e-01 -3.01290177e-03 -2.14452862e+00] [-3.88642689e-02 9.47656316e-04 9.99244050e-01 -2.21448047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020385723 meters 0.01872579668002469 Centerline is valid? [True, True] Translation: X:48.25, Y:-2.15, Z:-2.21 [[ 9.97907381e-01 5.20340326e-02 3.83838215e-02 4.82509388e+01] [-5.19578505e-02 9.98644832e-01 -2.98029735e-03 -2.14642838e+00] [-3.84868818e-02 9.79719867e-04 9.99258625e-01 -2.21482142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050385723 meters 0.019959387799442042 Centerline is valid? [True, True] Translation: X:48.28, Y:-2.15, Z:-2.22 [[ 9.98058630e-01 4.92805622e-02 3.80840762e-02 4.82788749e+01] [-4.92036726e-02 9.98784397e-01 -2.95416115e-03 -2.15421290e+00] [-3.81833638e-02 1.07454962e-03 9.99270172e-01 -2.21752760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080385723 meters 0.0202566330498197 Centerline is valid? [True, True] Translation: X:48.31, Y:-2.16, Z:-2.22 [[ 9.98147215e-01 4.79143860e-02 3.75013165e-02 4.83085876e+01] [-4.78389454e-02 9.98850832e-01 -2.90694351e-03 -2.15852572e+00] [-3.75975056e-02 1.10753414e-03 9.99292350e-01 -2.21898612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110385723 meters 0.019647713552102354 Centerline is valid? [True, True] Translation: X:48.34, Y:-2.16, Z:-2.22 [[ 9.98218619e-01 4.66420265e-02 3.72036391e-02 4.83380750e+01] [-4.65669445e-02 9.98911012e-01 -2.88259084e-03 -2.16006211e+00] [-3.72975746e-02 1.14499605e-03 9.99303547e-01 -2.21938612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140385722999994 meters 0.020579285057548413 Centerline is valid? [True, True] Translation: X:48.37, Y:-2.16, Z:-2.22 [[ 9.98305579e-01 4.53509355e-02 3.64590595e-02 4.83668196e+01] [-4.52780121e-02 9.98970434e-01 -2.82375934e-03 -2.16395163e+00] [-3.65495827e-02 1.16818096e-03 9.99331158e-01 -2.21918269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170385722999995 meters 0.02060645627981437 Centerline is valid? [True, True] Translation: X:48.40, Y:-2.17, Z:-2.22 [[ 9.98271569e-01 4.57824018e-02 3.68489535e-02 4.83964170e+01] [-4.57082828e-02 9.98950760e-01 -2.85180015e-03 -2.16640413e+00] [-3.69408523e-02 1.16256863e-03 9.99316778e-01 -2.21994605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200385723 meters 0.0199853553311786 Centerline is valid? [True, True] Translation: X:48.43, Y:-2.17, Z:-2.22 [[ 9.98146892e-01 4.70244253e-02 3.86197542e-02 4.84256687e+01] [-4.69439910e-02 9.98893056e-01 -2.98741524e-03 -2.16848525e+00] [-3.87174858e-02 1.16891384e-03 9.99249513e-01 -2.21935379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230385723 meters 0.019767922590348385 Centerline is valid? [True, True] Translation: X:48.45, Y:-2.17, Z:-2.22 [[ 9.98039300e-01 4.78304724e-02 4.03708087e-02 4.84549400e+01] [-4.77432935e-02 9.98854762e-01 -3.12136422e-03 -2.17095736e+00] [-4.04738708e-02 1.18780880e-03 9.99179891e-01 -2.21965974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260385723 meters 0.020015070941524323 Centerline is valid? [True, True] Translation: X:48.48, Y:-2.17, Z:-2.22 [[ 9.97962116e-01 4.85739385e-02 4.13785839e-02 4.84839174e+01] [-4.84830507e-02 9.98818887e-01 -3.19777307e-03 -2.17453563e+00] [-4.14850395e-02 1.18509640e-03 9.99138422e-01 -2.22007626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290385723 meters 0.019274884382781365 Centerline is valid? [True, True] Translation: X:48.51, Y:-2.18, Z:-2.22 [[ 9.97990114e-01 4.85268695e-02 4.07538368e-02 4.85138304e+01] [-4.84387257e-02 9.98821195e-01 -3.14808179e-03 -2.17663954e+00] [-4.08585626e-02 1.16769058e-03 9.99164258e-01 -2.22150557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320385722999994 meters 0.019274884382781365 Centerline is valid? [True, True] Translation: X:48.54, Y:-2.18, Z:-2.22 [[ 9.97991840e-01 4.84912634e-02 4.07539492e-02 4.85428796e+01] [-4.84031493e-02 9.98822924e-01 -3.14662615e-03 -2.17885560e+00] [-4.08585626e-02 1.16768774e-03 9.99164258e-01 -2.22281195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350385722999995 meters 0.019421324975592163 Centerline is valid? [True, True] Translation: X:48.57, Y:-2.18, Z:-2.23 [[ 9.98088462e-01 4.77472525e-02 3.92380097e-02 4.85726572e+01] [-4.76650544e-02 9.98858785e-01 -3.02823196e-03 -2.18277047e+00] [-3.93378205e-02 1.15216151e-03 9.99225304e-01 -2.22551125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380385722999996 meters 0.020126564118665223 Centerline is valid? [True, True] Translation: X:48.60, Y:-2.19, Z:-2.23 [[ 9.98206407e-01 4.69651117e-02 3.71247526e-02 4.86008819e+01] [-4.68910368e-02 9.98895905e-01 -2.86397317e-03 -2.18880414e+00] [-3.72182702e-02 1.11801823e-03 9.99306535e-01 -2.22869787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410385723 meters 0.020016348912302088 Centerline is valid? [True, True] Translation: X:48.63, Y:-2.19, Z:-2.23 [[ 9.98225725e-01 4.69722157e-02 3.65925352e-02 4.86299849e+01] [-4.69003191e-02 9.98895591e-01 -2.82117827e-03 -2.19107378e+00] [-3.66846391e-02 1.09997114e-03 9.99326287e-01 -2.22949861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440385723 meters 0.019986084907005323 Centerline is valid? [True, True] Translation: X:48.66, Y:-2.19, Z:-2.23 [[ 9.98175505e-01 4.78103148e-02 3.68759281e-02 4.86583969e+01] [-4.77379143e-02 9.98855853e-01 -2.84185486e-03 -2.19322759e+00] [-3.69696066e-02 1.07629002e-03 9.99315811e-01 -2.22971948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470385723 meters 0.019544533684575375 Centerline is valid? [True, True] Translation: X:48.69, Y:-2.19, Z:-2.23 [[ 9.98022581e-01 5.00377348e-02 3.80414744e-02 4.86881055e+01] [-4.99623825e-02 9.98746804e-01 -2.92948213e-03 -2.19489235e+00] [-3.81403856e-02 1.02304662e-03 9.99271867e-01 -2.23050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500385722999994 meters 0.01885425967274539 Centerline is valid? [True, True] Translation: X:48.72, Y:-2.20, Z:-2.23 [[ 9.97951335e-01 5.13099051e-02 3.82155409e-02 4.87173606e+01] [-5.12348394e-02 9.98682301e-01 -2.94167531e-03 -2.19636649e+00] [-3.83161214e-02 9.77681702e-04 9.99265190e-01 -2.23162532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530385722999995 meters 0.019012201567493617 Centerline is valid? [True, True] Translation: X:48.75, Y:-2.20, Z:-2.23 [[ 9.97872467e-01 5.30090928e-02 3.79549194e-02 4.87452458e+01] [-5.29363430e-02 9.98593620e-01 -2.91985127e-03 -2.19991117e+00] [-3.80563191e-02 9.04444556e-04 9.99275187e-01 -2.23442584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560385722999996 meters 0.018655010751187872 Centerline is valid? [True, True] Translation: X:48.77, Y:-2.20, Z:-2.24 [[ 9.97876162e-01 5.32901294e-02 3.74610199e-02 4.87744010e+01] [-5.32195861e-02 9.98578685e-01 -2.87848672e-03 -2.20095997e+00] [-3.75611709e-02 8.78713305e-04 9.99293944e-01 -2.23589906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590385723 meters 0.01869910863157754 Centerline is valid? [True, True] Translation: X:48.80, Y:-2.20, Z:-2.24 [[ 9.97915319e-01 5.33803504e-02 3.62705585e-02 4.88035535e+01] [-5.33143692e-02 9.98573895e-01 -2.78458969e-03 -2.20229832e+00] [-3.63674752e-02 8.45042765e-04 9.99338127e-01 -2.23793141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620385723 meters 0.018890715969352052 Centerline is valid? [True, True] Translation: X:48.83, Y:-2.20, Z:-2.24 [[ 9.97965512e-01 5.26053878e-02 3.60209604e-02 4.88325818e+01] [-5.25398970e-02 9.98615004e-01 -2.76295420e-03 -2.20431047e+00] [-3.61164178e-02 8.64795451e-04 9.99347215e-01 -2.23988202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650385723 meters 0.018945291446832314 Centerline is valid? [True, True] Translation: X:48.86, Y:-2.21, Z:-2.24 [[ 9.98048589e-01 5.05971826e-02 3.65915103e-02 4.88613386e+01] [-5.05283449e-02 9.98718691e-01 -2.80416279e-03 -2.20594025e+00] [-3.66865080e-02 9.49782260e-04 9.99326372e-01 -2.24019742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68038572299999 meters 0.019289876017106102 Centerline is valid? [True, True] Translation: X:48.89, Y:-2.21, Z:-2.24 [[ 9.98162348e-01 4.74850946e-02 3.76442838e-02 4.88908431e+01] [-4.74101387e-02 9.98871350e-01 -2.88184864e-03 -2.20650238e+00] [-3.77386415e-02 1.09183209e-03 9.99287047e-01 -2.23958568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710385722999995 meters 0.020625694793427334 Centerline is valid? [True, True] Translation: X:48.92, Y:-2.21, Z:-2.24 [[ 9.98183760e-01 4.59809500e-02 3.89221457e-02 4.89189601e+01] [-4.58997265e-02 9.98941612e-01 -2.97832472e-03 -2.21029727e+00] [-3.90178972e-02 1.18639952e-03 9.99237808e-01 -2.24056925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740385722999996 meters 0.02122834607980515 Centerline is valid? [True, True] Translation: X:48.95, Y:-2.21, Z:-2.24 [[ 9.98232249e-01 4.44110222e-02 3.94973077e-02 4.89493546e+01] [-4.43262477e-02 9.99012544e-01 -3.01991048e-03 -2.21360721e+00] [-3.95924232e-02 1.26380458e-03 9.99215113e-01 -2.24201390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770385723 meters 0.021820828868814143 Centerline is valid? [True, True] Translation: X:48.98, Y:-2.22, Z:-2.24 [[ 9.98272202e-01 4.28328957e-02 4.02237983e-02 4.89794928e+01] [-4.27436926e-02 9.99081337e-01 -3.07545696e-03 -2.21732679e+00] [-4.03185769e-02 1.35082952e-03 9.99185962e-01 -2.24440292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800385723 meters 0.022816071684333143 Centerline is valid? [True, True] Translation: X:49.01, Y:-2.22, Z:-2.25 [[ 9.98491963e-01 3.90495638e-02 3.85866708e-02 4.90104124e+01] [-3.89646658e-02 9.99236234e-01 -2.95007372e-03 -2.22051322e+00] [-3.86723987e-02 1.44210817e-03 9.99250902e-01 -2.24810679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830385723 meters 0.024690944560910578 Centerline is valid? [True, True] Translation: X:49.04, Y:-2.22, Z:-2.25 [[ 9.98573179e-01 3.74129384e-02 3.81035251e-02 4.90416944e+01] [-3.73289627e-02 9.99298785e-01 -2.91319565e-03 -2.22354495e+00] [-3.81857976e-02 1.48667398e-03 9.99269551e-01 -2.24927382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860385723 meters 0.023500117695433437 Centerline is valid? [True, True] Translation: X:49.07, Y:-2.22, Z:-2.25 [[ 9.98628187e-01 3.47697842e-02 3.91510653e-02 4.90740055e+01] [-3.46787415e-02 9.99394002e-01 -3.00234665e-03 -2.21738132e+00] [-3.92317308e-02 1.64051832e-03 9.99228793e-01 -2.24707567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890385722999994 meters 0.02434319226042484 Centerline is valid? [True, True] Translation: X:49.10, Y:-2.22, Z:-2.25 [[ 9.98608532e-01 3.39456145e-02 4.03570948e-02 4.91046801e+01] [-3.38478027e-02 9.99422177e-01 -3.10466851e-03 -2.21981667e+00] [-4.04391654e-02 1.73434949e-03 9.99180497e-01 -2.24823331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920385722999995 meters 0.02532229646826614 Centerline is valid? [True, True] Translation: X:49.14, Y:-2.22, Z:-2.25 [[ 9.98630115e-01 3.15380002e-02 4.17522105e-02 4.91359857e+01] [-3.14308415e-02 9.99500740e-01 -3.22066134e-03 -2.22427136e+00] [-4.18329385e-02 1.90394230e-03 9.99122805e-01 -2.25211210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950385723 meters 0.025337653801213597 Centerline is valid? [True, True] Translation: X:49.17, Y:-2.23, Z:-2.25 [[ 9.98684215e-01 2.99747261e-02 4.16095585e-02 4.91683459e+01] [-2.98667247e-02 9.99548720e-01 -3.21494959e-03 -2.22693359e+00] [-4.16871482e-02 1.96797817e-03 9.99128775e-01 -2.25476306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980385723 meters 0.026520274914704184 Centerline is valid? [True, True] Translation: X:49.20, Y:-2.23, Z:-2.26 [[ 9.98773620e-01 2.85634838e-02 4.04398828e-02 4.91994956e+01] [-2.84602329e-02 9.99590035e-01 -3.12671185e-03 -2.22991628e+00] [-4.05126136e-02 1.97194883e-03 9.99177081e-01 -2.25662987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010385723 meters 0.026957580939252903 Centerline is valid? [True, True] Translation: X:49.23, Y:-2.23, Z:-2.26 [[ 9.98909477e-01 2.56608073e-02 3.90048757e-02 4.92307186e+01] [-2.55621682e-02 9.99668656e-01 -3.02558632e-03 -2.22681963e+00] [-3.90695906e-02 2.02523765e-03 9.99234440e-01 -2.25724207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040385723 meters 0.02898226571628299 Centerline is valid? [True, True] Translation: X:49.26, Y:-2.23, Z:-2.26 [[ 9.98894411e-01 2.55063882e-02 3.94889771e-02 4.92618576e+01] [-2.54051787e-02 9.99672545e-01 -3.06275138e-03 -2.22986678e+00] [-3.95541660e-02 2.05614071e-03 9.99215312e-01 -2.25851857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070385722999994 meters 0.026917558681201992 Centerline is valid? [True, True] Translation: X:49.29, Y:-2.23, Z:-2.26 [[ 9.98735701e-01 2.88234140e-02 4.11850723e-02 4.92927802e+01] [-2.87156849e-02 9.99582481e-01 -3.20504590e-03 -2.22779607e+00] [-4.12602571e-02 2.01833621e-03 9.99146394e-01 -2.26040058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100385722999995 meters 0.02595473502500999 Centerline is valid? [True, True] Translation: X:49.32, Y:-2.23, Z:-2.26 [[ 9.98637325e-01 3.07994523e-02 4.21294113e-02 4.93247497e+01] [-3.06884681e-02 9.99523621e-01 -3.27871752e-03 -2.22813380e+00] [-4.22103244e-02 1.98136260e-03 9.99106782e-01 -2.26134453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130385722999996 meters 0.024988086475773646 Centerline is valid? [True, True] Translation: X:49.36, Y:-2.23, Z:-2.26 [[ 9.98538471e-01 3.26588749e-02 4.30618197e-02 4.93571454e+01] [-3.25441746e-02 9.99464643e-01 -3.36215363e-03 -2.22749094e+00] [-4.31485704e-02 1.95582837e-03 9.99066752e-01 -2.26257682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160385723 meters 0.025904851755889014 Centerline is valid? [True, True] Translation: X:49.39, Y:-2.23, Z:-2.26 [[ 9.98522677e-01 3.38927767e-02 4.24704951e-02 4.93885313e+01] [-3.37818724e-02 9.99423694e-01 -3.32650709e-03 -2.22940117e+00] [-4.25587637e-02 1.88685992e-03 9.99092184e-01 -2.26379776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190385723 meters 0.025812138161644883 Centerline is valid? [True, True] Translation: X:49.42, Y:-2.23, Z:-2.27 [[ 9.98563237e-01 3.58169282e-02 3.98573747e-02 4.94204364e+01] [-3.57204197e-02 9.99356917e-01 -3.13109079e-03 -2.22840585e+00] [-3.99438892e-02 1.70287000e-03 9.99200473e-01 -2.26740151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220385723 meters 0.023377052757506362 Centerline is valid? [True, True] Translation: X:49.45, Y:-2.22, Z:-2.27 [[ 9.98569821e-01 3.85119232e-02 3.70829417e-02 4.94529437e+01] [-3.84301813e-02 9.99257036e-01 -2.91484334e-03 -2.22343255e+00] [-3.71676466e-02 1.48557043e-03 9.99307940e-01 -2.27038305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250385722999994 meters 0.022815298269544395 Centerline is valid? [True, True] Translation: X:49.48, Y:-2.22, Z:-2.27 [[ 9.98533448e-01 3.98875817e-02 3.66051230e-02 4.94832608e+01] [-3.98084480e-02 9.99203155e-01 -2.88841088e-03 -2.22283194e+00] [-3.66911661e-02 1.42698174e-03 9.99325634e-01 -2.27249016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280385722999995 meters 0.02408349186175227 Centerline is valid? [True, True] Translation: X:49.51, Y:-2.23, Z:-2.27 [[ 9.98499292e-01 4.11509783e-02 3.61353069e-02 4.95122325e+01] [-4.10746789e-02 9.99152010e-01 -2.85164092e-03 -2.22571472e+00] [-3.62220124e-02 1.36311531e-03 9.99342838e-01 -2.27432373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310385722999996 meters 0.024078115080527665 Centerline is valid? [True, True] Translation: X:49.54, Y:-2.23, Z:-2.28 [[ 9.98428588e-01 4.30927360e-02 3.58241608e-02 4.95405767e+01] [-4.30190336e-02 9.99070256e-01 -2.82596470e-03 -2.22715187e+00] [-3.59126321e-02 1.28040316e-03 9.99354113e-01 -2.27618578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340385723 meters 0.021581627033418493 Centerline is valid? [True, True] Translation: X:49.57, Y:-2.22, Z:-2.28 [[ 9.98185870e-01 4.73445307e-02 3.71949447e-02 4.95706975e+01] [-4.72681072e-02 9.98877936e-01 -2.93186045e-03 -2.22467367e+00] [-3.72920172e-02 1.16840705e-03 9.99303728e-01 -2.27753251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370385723 meters 0.02044383870794784 Centerline is valid? [True, True] Translation: X:49.60, Y:-2.22, Z:-2.28 [[ 9.98071270e-01 4.85910568e-02 3.86348106e-02 4.95995164e+01] [-4.85095455e-02 9.98818078e-01 -3.04497923e-03 -2.22458888e+00] [-3.87371060e-02 1.16494919e-03 9.99248758e-01 -2.27749897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400385723 meters 0.02092973920753473 Centerline is valid? [True, True] Translation: X:49.63, Y:-2.23, Z:-2.28 [[ 9.97936075e-01 5.04951663e-02 3.96715000e-02 4.96268769e+01] [-5.04108363e-02 9.98723680e-01 -3.12380920e-03 -2.22742842e+00] [-3.97786037e-02 1.11748840e-03 9.99207893e-01 -2.27695491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43038572299999 meters 0.0204849320779824 Centerline is valid? [True, True] Translation: X:49.66, Y:-2.23, Z:-2.28 [[ 9.97881656e-01 5.13072213e-02 3.99971097e-02 4.96558007e+01] [-5.12223015e-02 9.98682322e-01 -3.14572444e-03 -2.22769792e+00] [-4.01058048e-02 1.09031670e-03 9.99194844e-01 -2.27689079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460385722999995 meters 0.020488746580725845 Centerline is valid? [True, True] Translation: X:49.68, Y:-2.23, Z:-2.28 [[ 9.97845829e-01 5.21434754e-02 3.98090267e-02 4.96844655e+01] [-5.20601289e-02 9.98639053e-01 -3.12814353e-03 -2.22880064e+00] [-3.99179610e-02 1.04894191e-03 9.99202410e-01 -2.27710579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490385722999996 meters 0.019954574959679002 Centerline is valid? [True, True] Translation: X:49.71, Y:-2.23, Z:-2.28 [[ 9.97719959e-01 5.41393625e-02 4.02965655e-02 4.97129343e+01] [-5.40557023e-02 9.98532910e-01 -3.16359762e-03 -2.22902716e+00] [-4.04087219e-02 9.78125339e-04 9.99182755e-01 -2.27824976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520385723 meters 0.01966037485976146 Centerline is valid? [True, True] Translation: X:49.74, Y:-2.23, Z:-2.28 [[ 9.97643079e-01 5.53750778e-02 4.05202194e-02 4.97412022e+01] [-5.52916210e-02 9.98465190e-01 -3.17828048e-03 -2.23060387e+00] [-4.06340260e-02 9.30360915e-04 9.99173664e-01 -2.28018956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550385723 meters 0.01920520930645475 Centerline is valid? [True, True] Translation: X:49.77, Y:-2.23, Z:-2.28 [[ 9.97494648e-01 5.79654718e-02 4.05515979e-02 4.97703322e+01] [-5.78841407e-02 9.98318250e-01 -3.17787339e-03 -2.23145548e+00] [-4.06676072e-02 8.22617298e-04 9.99172392e-01 -2.28215329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580385723 meters 0.019207321274360967 Centerline is valid? [True, True] Translation: X:49.80, Y:-2.23, Z:-2.28 [[ 9.97411176e-01 5.90196239e-02 4.10807817e-02 4.97979705e+01] [-5.89371668e-02 9.98256512e-01 -3.21646942e-03 -2.23321943e+00] [-4.11989927e-02 7.86957666e-04 9.99150651e-01 -2.28276648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610385723 meters 0.019170466506689115 Centerline is valid? [True, True] Translation: X:49.83, Y:-2.24, Z:-2.28 [[ 9.97350835e-01 5.95137276e-02 4.18261640e-02 4.98263590e+01] [-5.94288418e-02 9.98227185e-01 -3.27105673e-03 -2.23522648e+00] [-4.19466868e-02 7.76710674e-04 9.99119548e-01 -2.28341955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640385722999994 meters 0.019280039379565347 Centerline is valid? [True, True] Translation: X:49.85, Y:-2.24, Z:-2.28 [[ 9.97288588e-01 5.94917225e-02 4.33152180e-02 4.98538683e+01] [-5.94007943e-02 9.98228476e-01 -3.38442858e-03 -2.23835579e+00] [-4.34398296e-02 8.02293638e-04 9.99055723e-01 -2.28261871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670385722999995 meters 0.019137851895700168 Centerline is valid? [True, True] Translation: X:49.88, Y:-2.24, Z:-2.28 [[ 9.97281579e-01 5.91449568e-02 4.39468506e-02 4.98822789e+01] [-5.90511882e-02 9.98249063e-01 -3.42995101e-03 -2.24152050e+00] [-4.40727667e-02 8.25513214e-04 9.99027982e-01 -2.28351772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700385723 meters 0.01896025274840771 Centerline is valid? [True, True] Translation: X:49.91, Y:-2.24, Z:-2.29 [[ 9.97295142e-01 5.86020224e-02 4.43644329e-02 4.99112171e+01] [-5.85060641e-02 9.98281059e-01 -3.45942613e-03 -2.24499408e+00] [-4.44909024e-02 8.54480513e-04 9.99009424e-01 -2.28530463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730385723 meters 0.019307483149490507 Centerline is valid? [True, True] Translation: X:49.94, Y:-2.25, Z:-2.29 [[ 9.97407001e-01 5.74258000e-02 4.33768531e-02 4.99388400e+01] [-5.73330876e-02 9.98349386e-01 -3.37943267e-03 -2.25058397e+00] [-4.34993213e-02 8.83740880e-04 9.99053066e-01 -2.28704649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760385723 meters 0.019443171587293355 Centerline is valid? [True, True] Translation: X:49.97, Y:-2.25, Z:-2.29 [[ 9.97462584e-01 5.72103784e-02 4.23717517e-02 4.99662110e+01] [-5.71218760e-02 9.98361767e-01 -3.29749060e-03 -2.25333434e+00] [-4.24909876e-02 8.68769555e-04 9.99096472e-01 -2.28905290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790385723 meters 0.01932439139051027 Centerline is valid? [True, True] Translation: X:50.00, Y:-2.25, Z:-2.29 [[ 9.97434199e-01 5.79286143e-02 4.20629791e-02 4.99952768e+01] [-5.78421913e-02 9.98320384e-01 -3.26978060e-03 -2.25481576e+00] [-4.21817434e-02 8.28376108e-04 9.99109611e-01 -2.29030729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820385722999994 meters 0.019423499143807706 Centerline is valid? [True, True] Translation: X:50.02, Y:-2.26, Z:-2.29 [[ 9.97406996e-01 5.87770941e-02 4.15275520e-02 5.00233816e+01] [-5.86937123e-02 9.98270828e-01 -3.22530663e-03 -2.25742261e+00] [-4.16453178e-02 7.79537208e-04 9.99132153e-01 -2.29201567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850385722999995 meters 0.01907291550782552 Centerline is valid? [True, True] Translation: X:50.05, Y:-2.26, Z:-2.29 [[ 9.97365904e-01 5.95258711e-02 4.14478373e-02 5.00517811e+01] [-5.94435738e-02 9.98226486e-01 -3.21626867e-03 -2.25919191e+00] [-4.15657801e-02 7.43989140e-04 9.99135493e-01 -2.29412090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880385722999996 meters 0.018558818010480014 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.26, Z:-2.30 [[ 9.97251341e-01 6.07285037e-02 4.24477467e-02 5.00802215e+01] [-6.06434013e-02 9.98154070e-01 -3.29086763e-03 -2.26201150e+00] [-4.25692407e-02 7.07646414e-04 9.99093268e-01 -2.29564920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910385723 meters 0.018782559498471053 Centerline is valid? [True, True] Translation: X:50.11, Y:-2.26, Z:-2.30 [[ 9.97203649e-01 6.10681411e-02 4.30762559e-02 5.01083017e+01] [-6.09809463e-02 9.98133354e-01 -3.33655312e-03 -2.26484560e+00] [-4.31996049e-02 7.00392098e-04 9.99066216e-01 -2.29618125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940385723 meters 0.0184481628020329 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.26, Z:-2.30 [[ 9.97117781e-01 6.23091990e-02 4.32861847e-02 5.01378143e+01] [-6.22225001e-02 9.98056685e-01 -3.34867494e-03 -2.26375170e+00] [-4.34107192e-02 6.45648696e-04 9.99057102e-01 -2.29500971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970385723 meters 0.019150838550493803 Centerline is valid? [True, True] Translation: X:50.17, Y:-2.27, Z:-2.30 [[ 9.97145045e-01 6.21890704e-02 4.28284895e-02 5.01652653e+01] [-6.21043185e-02 9.98064182e-01 -3.30785200e-03 -2.26684415e+00] [-4.29512936e-02 6.38574076e-04 9.99076963e-01 -2.29606068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000385722999994 meters 0.018954305700318988 Centerline is valid? [True, True] Translation: X:50.19, Y:-2.27, Z:-2.30 [[ 9.97150474e-01 6.21415047e-02 4.27710952e-02 5.01931043e+01] [-6.20570960e-02 9.98067146e-01 -3.29969487e-03 -2.26810750e+00] [-4.28934729e-02 6.36042344e-04 9.99079449e-01 -2.29793592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030385722999995 meters 0.01894251508620446 Centerline is valid? [True, True] Translation: X:50.22, Y:-2.27, Z:-2.30 [[ 9.97296186e-01 6.04874851e-02 4.17322570e-02 5.02216750e+01] [-6.04058548e-02 9.98168720e-01 -3.21542402e-03 -2.27170363e+00] [-4.18503265e-02 6.85857448e-04 9.99123656e-01 -2.30185887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060385722999996 meters 0.01917379154771252 Centerline is valid? [True, True] Translation: X:50.25, Y:-2.28, Z:-2.30 [[ 9.97436448e-01 5.83994331e-02 4.13526090e-02 5.02502601e+01] [-5.83176055e-02 9.98293005e-01 -3.18335999e-03 -2.27547526e+00] [-4.14679267e-02 7.63614143e-04 9.99139544e-01 -2.30397542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090385723 meters 0.020286010162406023 Centerline is valid? [True, True] Translation: X:50.28, Y:-2.28, Z:-2.31 [[ 9.97758233e-01 5.34893801e-02 4.02168534e-02 5.02779965e+01] [-5.34081137e-02 9.98567978e-01 -3.09315504e-03 -2.28122464e+00] [-4.03247129e-02 9.38314624e-04 9.99186187e-01 -2.30613428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120385723 meters 0.021061518847007524 Centerline is valid? [True, True] Translation: X:50.31, Y:-2.29, Z:-2.31 [[ 9.97938406e-01 5.06750574e-02 3.93824273e-02 5.03063265e+01] [-5.05950172e-02 9.98714665e-01 -3.02703993e-03 -2.28513437e+00] [-3.94852031e-02 1.02824482e-03 9.99219626e-01 -2.30773878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150385723 meters 0.02192289196713887 Centerline is valid? [True, True] Translation: X:50.34, Y:-2.29, Z:-2.31 [[ 9.98078420e-01 4.79023638e-02 3.93043296e-02 5.03350988e+01] [-4.78206022e-02 9.98851380e-01 -3.01827049e-03 -2.28959616e+00] [-3.94037661e-02 1.13291393e-03 9.99222728e-01 -2.30962063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18038572299999 meters 0.02317855273097307 Centerline is valid? [True, True] Translation: X:50.37, Y:-2.29, Z:-2.31 [[ 9.98269174e-01 4.25385880e-02 4.06094169e-02 5.03651505e+01] [-4.24469628e-02 9.99093862e-01 -3.11621552e-03 -2.29424782e+00] [-4.07051786e-02 1.38707549e-03 9.99170238e-01 -2.30874260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210385722999995 meters 0.025208999346172083 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.30, Z:-2.31 [[ 9.98327519e-01 4.04362570e-02 4.13167522e-02 5.03941323e+01] [-4.03396449e-02 9.99180998e-01 -3.16970862e-03 -2.30015711e+00] [-4.14110848e-02 1.49770423e-03 9.99141071e-01 -2.30920783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240385722999996 meters 0.025208999346172083 Centerline is valid? [True, True] Translation: X:50.42, Y:-2.30, Z:-2.31 [[ 9.98326176e-01 4.04693898e-02 4.13167558e-02 5.04248779e+01] [-4.03728078e-02 9.99179658e-01 -3.16966238e-03 -2.30254718e+00] [-4.14111362e-02 1.49628348e-03 9.99141071e-01 -2.31058997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270385723 meters 0.027126121706807525 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.31, Z:-2.31 [[ 9.98511812e-01 3.64622190e-02 4.05545080e-02 5.04549692e+01] [-3.63658141e-02 9.99333698e-01 -3.11258224e-03 -2.30851264e+00] [-4.06409781e-02 1.63315243e-03 9.99172479e-01 -2.31236302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300385723 meters 0.02783550993544025 Centerline is valid? [True, True] Translation: X:50.49, Y:-2.31, Z:-2.31 [[ 9.98576186e-01 3.50096733e-02 4.02482635e-02 5.04863527e+01] [-3.49135508e-02 9.99385563e-01 -3.08886854e-03 -2.31246974e+00] [-4.03316738e-02 1.67926078e-03 9.99184936e-01 -2.31452018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330385723 meters 0.029012547334029914 Centerline is valid? [True, True] Translation: X:50.52, Y:-2.32, Z:-2.32 [[ 9.98636005e-01 3.34355354e-02 4.01023010e-02 5.05179497e+01] [-3.33384704e-02 9.99439351e-01 -3.08692767e-03 -2.31691365e+00] [-4.01830307e-02 1.74576774e-03 9.99190811e-01 -2.31621631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360385723 meters 0.027849684028426774 Centerline is valid? [True, True] Translation: X:50.55, Y:-2.32, Z:-2.32 [[ 9.98712274e-01 3.20719506e-02 3.93088226e-02 5.05496029e+01] [-3.19775706e-02 9.99484001e-01 -3.02754573e-03 -2.31740578e+00] [-3.93856386e-02 1.76664643e-03 9.99222523e-01 -2.31848609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390385722999994 meters 0.03053605062858783 Centerline is valid? [True, True] Translation: X:50.58, Y:-2.32, Z:-2.32 [[ 9.98752774e-01 3.23362199e-02 3.80429335e-02 5.05815590e+01] [-3.22477154e-02 9.99475589e-01 -2.93792233e-03 -2.32373234e+00] [-3.81179847e-02 1.70746039e-03 9.99271787e-01 -2.32165100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420385722999995 meters 0.03081667253445291 Centerline is valid? [True, True] Translation: X:50.61, Y:-2.33, Z:-2.32 [[ 9.98807616e-01 3.28923736e-02 3.60754367e-02 5.06138633e+01] [-3.28128402e-02 9.99457607e-01 -2.79465121e-03 -2.32541024e+00] [-3.61477924e-02 1.60758137e-03 9.99345162e-01 -2.32489836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450385723 meters 0.02658890942937112 Centerline is valid? [True, True] Translation: X:50.65, Y:-2.32, Z:-2.33 [[ 9.98803709e-01 3.35631979e-02 3.55620826e-02 5.06465580e+01] [-3.34860363e-02 9.99435365e-01 -2.76332625e-03 -2.32088648e+00] [-3.56347490e-02 1.56918732e-03 9.99363649e-01 -2.32515328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480385723 meters 0.02581047216502188 Centerline is valid? [True, True] Translation: X:50.68, Y:-2.32, Z:-2.33 [[ 9.98728118e-01 3.48434707e-02 3.64428271e-02 5.06790934e+01] [-3.47629571e-02 9.99391548e-01 -2.84081693e-03 -2.32221225e+00] [-3.65196373e-02 1.57034331e-03 9.99331702e-01 -2.32574651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510385723 meters 0.02483126943179656 Centerline is valid? [True, True] Translation: X:50.71, Y:-2.32, Z:-2.32 [[ 9.98539628e-01 3.78705093e-02 3.85283655e-02 5.07114169e+01] [-3.77823318e-02 9.99281446e-01 -3.01444713e-03 -2.32174213e+00] [-3.86148394e-02 1.55435343e-03 9.99252960e-01 -2.32407723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540385723 meters 0.02529140388060382 Centerline is valid? [True, True] Translation: X:50.74, Y:-2.32, Z:-2.32 [[ 9.98438911e-01 3.96745006e-02 3.93150790e-02 5.07422594e+01] [-3.95839473e-02 9.99211504e-01 -3.07933075e-03 -2.32360829e+00] [-3.94062501e-02 1.51827763e-03 9.99222119e-01 -2.32384841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570385722999994 meters 0.02391838602343491 Centerline is valid? [True, True] Translation: X:50.77, Y:-2.32, Z:-2.32 [[ 9.98302843e-01 4.34559563e-02 3.87687306e-02 5.07729228e+01] [-4.33706937e-02 9.99054430e-01 -3.03798560e-03 -2.32122739e+00] [-3.88640907e-02 1.35140292e-03 9.99243592e-01 -2.32334057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600385722999995 meters 0.022992138426512165 Centerline is valid? [True, True] Translation: X:50.80, Y:-2.32, Z:-2.33 [[ 9.98243163e-01 4.53163908e-02 3.81708255e-02 5.08031174e+01] [-4.52350639e-02 9.98971890e-01 -2.99200672e-03 -2.32089527e+00] [-3.82671686e-02 1.26009052e-03 9.99266749e-01 -2.32595009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630385722999996 meters 0.022323820455905072 Centerline is valid? [True, True] Translation: X:50.83, Y:-2.32, Z:-2.33 [[ 9.98220867e-01 4.66229555e-02 3.71672120e-02 5.08324415e+01] [-4.65467692e-02 9.98911864e-01 -2.91297247e-03 -2.32094242e+00] [-3.72625804e-02 1.17777626e-03 9.99304815e-01 -2.32809101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660385723 meters 0.021876570066432996 Centerline is valid? [True, True] Translation: X:50.86, Y:-2.32, Z:-2.33 [[ 9.98191403e-01 4.90250261e-02 3.47917941e-02 5.08599087e+01] [-4.89597756e-02 9.98797033e-01 -2.72545412e-03 -2.32361568e+00] [-3.48835562e-02 1.01712643e-03 9.99390866e-01 -2.33404313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690385723 meters 0.021487330501108834 Centerline is valid? [True, True] Translation: X:50.89, Y:-2.33, Z:-2.34 [[ 9.98138471e-01 5.03912225e-02 3.43557349e-02 5.08883560e+01] [-5.03285142e-02 9.98729100e-01 -2.68816965e-03 -2.32603918e+00] [-3.44475323e-02 9.54092453e-04 9.99406052e-01 -2.33702317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720385723 meters 0.020624049749287998 Centerline is valid? [True, True] Translation: X:50.92, Y:-2.33, Z:-2.34 [[ 9.97858148e-01 5.49358691e-02 3.55129113e-02 5.09188448e+01] [-5.48718364e-02 9.98489547e-01 -2.77594983e-03 -2.32602937e+00] [-3.56117700e-02 8.21345497e-04 9.99365362e-01 -2.33585584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750385722999994 meters 0.02022220225928466 Centerline is valid? [True, True] Translation: X:50.95, Y:-2.33, Z:-2.33 [[ 9.97636215e-01 5.78193491e-02 3.71336235e-02 5.09482317e+01] [-5.77513986e-02 9.98326781e-01 -2.90082010e-03 -2.32529545e+00] [-3.72392143e-02 7.49444491e-04 9.99306099e-01 -2.33364583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780385722999995 meters 0.019699365692899228 Centerline is valid? [True, True] Translation: X:50.98, Y:-2.32, Z:-2.33 [[ 9.97393686e-01 6.11223354e-02 3.83392149e-02 5.09771357e+01] [-6.10524434e-02 9.98130075e-01 -2.99222680e-03 -2.32407321e+00] [-3.84504154e-02 6.43725363e-04 9.99260302e-01 -2.33143941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810385722999996 meters 0.019394846229731626 Centerline is valid? [True, True] Translation: X:51.01, Y:-2.32, Z:-2.33 [[ 9.97207626e-01 6.38674727e-02 3.87026814e-02 5.10057660e+01] [-6.37984201e-02 9.97958243e-01 -3.01787413e-03 -2.32346728e+00] [-3.88164039e-02 5.40277167e-04 9.99246213e-01 -2.33088536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840385723 meters 0.018846000860389147 Centerline is valid? [True, True] Translation: X:51.03, Y:-2.32, Z:-2.33 [[ 9.96895200e-01 6.85071849e-02 3.88165556e-02 5.10348939e+01] [-6.84413480e-02 9.97650559e-01 -3.02396675e-03 -2.32471934e+00] [-3.89325219e-02 3.57920545e-04 9.99241778e-01 -2.33331536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870385723 meters 0.018599122677109198 Centerline is valid? [True, True] Translation: X:51.06, Y:-2.33, Z:-2.34 [[ 9.96823864e-01 7.01618715e-02 3.76762053e-02 5.10635087e+01] [-7.01010946e-02 9.97535579e-01 -2.93339355e-03 -2.32961283e+00] [-3.77891677e-02 2.82933456e-04 9.99285694e-01 -2.33795947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900385723 meters 0.018648096127507726 Centerline is valid? [True, True] Translation: X:51.09, Y:-2.33, Z:-2.34 [[ 9.96808429e-01 7.04907362e-02 3.74701559e-02 5.10899884e+01] [-7.04309231e-02 9.97512398e-01 -2.91553333e-03 -2.33323199e+00] [-3.75824632e-02 2.67170529e-04 9.99293494e-01 -2.34051748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93038572299999 meters 0.018605691643648427 Centerline is valid? [True, True] Translation: X:51.12, Y:-2.34, Z:-2.34 [[ 9.96768480e-01 7.11659145e-02 3.72559921e-02 5.11164612e+01] [-7.11075213e-02 9.97464465e-01 -2.89174665e-03 -2.33593062e+00] [-3.73673221e-02 2.33220658e-04 9.99301571e-01 -2.34219909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960385722999995 meters 0.0185615945800579 Centerline is valid? [True, True] Translation: X:51.15, Y:-2.34, Z:-2.34 [[ 9.96599879e-01 7.31642784e-02 3.78902218e-02 5.11450583e+01] [-7.31055083e-02 9.97319891e-01 -2.93609550e-03 -2.33666252e+00] [-3.80034891e-02 1.56128497e-04 9.99277594e-01 -2.34183755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990385722999996 meters 0.018538565453523396 Centerline is valid? [True, True] Translation: X:51.17, Y:-2.34, Z:-2.34 [[ 9.96513129e-01 7.38926991e-02 3.87485911e-02 5.11742522e+01] [-7.38318885e-02 9.97266189e-01 -2.99995902e-03 -2.33795399e+00] [-3.88643349e-02 1.28616888e-04 9.99244488e-01 -2.34208038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020385723 meters 0.01852936890435178 Centerline is valid? [True, True] Translation: X:51.20, Y:-2.34, Z:-2.34 [[ 9.96456982e-01 7.43086283e-02 3.93917498e-02 5.12013976e+01] [-7.42461886e-02 9.97235286e-01 -3.04767099e-03 -2.33976378e+00] [-3.95093112e-02 1.12185748e-04 9.99219196e-01 -2.34156115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050385723 meters 0.01859921121920082 Centerline is valid? [True, True] Translation: X:51.23, Y:-2.34, Z:-2.34 [[ 9.96366016e-01 7.41949636e-02 4.18314445e-02 5.12300457e+01] [-7.41247953e-02 9.97243749e-01 -3.22811237e-03 -2.34288952e+00] [-4.19556562e-02 1.15634201e-04 9.99119467e-01 -2.33959537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080385723 meters 0.018661776588515665 Centerline is valid? [True, True] Translation: X:51.26, Y:-2.35, Z:-2.34 [[ 9.96410891e-01 7.30696675e-02 4.27335919e-02 5.12581962e+01] [-7.29955336e-02 9.97326826e-01 -3.29471157e-03 -2.34631564e+00] [-4.28601010e-02 1.63525148e-04 9.99081070e-01 -2.33983213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110385723 meters 0.01880226278302232 Centerline is valid? [True, True] Translation: X:51.29, Y:-2.35, Z:-2.34 [[ 9.96542630e-01 7.04128541e-02 4.41000651e-02 5.12856163e+01] [-7.03315124e-02 9.97517895e-01 -3.39526976e-03 -2.35327740e+00] [-4.42296747e-02 2.81906788e-04 9.99021349e-01 -2.34211539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140385722999994 meters 0.01885088630572334 Centerline is valid? [True, True] Translation: X:51.31, Y:-2.36, Z:-2.35 [[ 9.96676173e-01 6.88310095e-02 4.35763500e-02 5.13124420e+01] [-6.87502410e-02 9.97628274e-01 -3.35122460e-03 -2.35872301e+00] [-4.37036670e-02 3.44201150e-04 9.99044479e-01 -2.34537703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170385722999995 meters 0.019041353061042755 Centerline is valid? [True, True] Translation: X:51.34, Y:-2.37, Z:-2.35 [[ 9.96998727e-01 6.55833844e-02 4.11382847e-02 5.13400342e+01] [-6.55088099e-02 9.97846988e-01 -3.15965061e-03 -2.36602339e+00] [-4.12569341e-02 4.55247560e-04 9.99148467e-01 -2.35095125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200385723 meters 0.019307859531550807 Centerline is valid? [True, True] Translation: X:51.37, Y:-2.37, Z:-2.35 [[ 9.97151460e-01 6.38954756e-02 4.00790998e-02 5.13678768e+01] [-6.38234659e-02 9.97956467e-01 -3.07494249e-03 -2.36972662e+00] [-4.01936718e-02 5.08196327e-04 9.99191779e-01 -2.35255135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230385723 meters 0.01947555929000684 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.37, Z:-2.35 [[ 9.97244846e-01 6.25759895e-02 3.98366921e-02 5.13953266e+01] [-6.25039321e-02 9.98040048e-01 -3.05295054e-03 -2.37271218e+00] [-3.99496555e-02 5.54589298e-04 9.99201540e-01 -2.35366417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260385723 meters 0.02003618670551712 Centerline is valid? [True, True] Translation: X:51.42, Y:-2.38, Z:-2.35 [[ 9.97353613e-01 6.01955527e-02 4.07709092e-02 5.14230585e+01] [-6.01182322e-02 9.98186384e-01 -3.12097594e-03 -2.37827513e+00] [-4.08848353e-02 6.61641641e-04 9.99163646e-01 -2.35361384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290385723 meters 0.02042247665306541 Centerline is valid? [True, True] Translation: X:51.45, Y:-2.38, Z:-2.36 [[ 9.97405122e-01 5.82780943e-02 4.22692184e-02 5.14510902e+01] [-5.81934193e-02 9.98300095e-01 -3.23196614e-03 -2.38286981e+00] [-4.23857176e-02 7.63789236e-04 9.99101030e-01 -2.35504999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320385722999994 meters 0.020138982405086832 Centerline is valid? [True, True] Translation: X:51.48, Y:-2.39, Z:-2.35 [[ 9.97480933e-01 5.62069438e-02 4.32731871e-02 5.14797683e+01] [-5.61164106e-02 9.98418763e-01 -3.30499528e-03 -2.38549348e+00] [-4.33905256e-02 8.68333838e-04 9.99057810e-01 -2.35479216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350385722999995 meters 0.021259300275741088 Centerline is valid? [True, True] Translation: X:51.51, Y:-2.39, Z:-2.35 [[ 9.97655649e-01 5.14990605e-02 4.50672047e-02 5.15081228e+01] [-5.13962100e-02 9.98672421e-01 -3.43869144e-03 -2.39234691e+00] [-4.51844638e-02 1.11434642e-03 9.98978039e-01 -2.35492162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380385722999996 meters 0.02130845167018187 Centerline is valid? [True, True] Translation: X:51.54, Y:-2.40, Z:-2.36 [[ 9.97783564e-01 4.93294592e-02 4.46605379e-02 5.15373509e+01] [-4.92263915e-02 9.98781841e-01 -3.40532643e-03 -2.39509174e+00] [-4.47741171e-02 1.19930162e-03 9.98996416e-01 -2.35591410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410385723 meters 0.02211990987875426 Centerline is valid? [True, True] Translation: X:51.57, Y:-2.40, Z:-2.36 [[ 9.98032905e-01 4.52570738e-02 4.33833874e-02 5.15672785e+01] [-4.51560452e-02 9.98974474e-01 -3.30639262e-03 -2.40123104e+00] [-4.34885342e-02 1.34086642e-03 9.99053026e-01 -2.35969710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440385723 meters 0.02309504838551027 Centerline is valid? [True, True] Translation: X:51.60, Y:-2.41, Z:-2.36 [[ 9.98116559e-01 4.34397658e-02 4.33165192e-02 5.15968660e+01] [-4.33373438e-02 9.99055042e-01 -3.30120211e-03 -2.40703745e+00] [-4.34189903e-02 1.41776161e-03 9.99055945e-01 -2.36208004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470385723 meters 0.022810568535141844 Centerline is valid? [True, True] Translation: X:51.63, Y:-2.41, Z:-2.36 [[ 9.98195893e-01 4.16872327e-02 4.32103506e-02 5.16278504e+01] [-4.15835382e-02 9.99129593e-01 -3.29621871e-03 -2.41084299e+00] [-4.33101503e-02 1.49343272e-03 9.99060559e-01 -2.36422861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500385722999994 meters 0.023904580711673312 Centerline is valid? [True, True] Translation: X:51.66, Y:-2.42, Z:-2.37 [[ 9.98354770e-01 3.81994919e-02 4.27615826e-02 5.16579517e+01] [-3.80946813e-02 9.99268805e-01 -3.26353255e-03 -2.41818037e+00] [-4.28549808e-02 1.62917442e-03 9.99079975e-01 -2.36617271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530385722999995 meters 0.024836287537221675 Centerline is valid? [True, True] Translation: X:51.69, Y:-2.42, Z:-2.37 [[ 9.98425687e-01 3.72961295e-02 4.18944669e-02 5.16893459e+01] [-3.71947296e-02 9.99302921e-01 -3.19750404e-03 -2.42219470e+00] [-4.19845177e-02 1.63421680e-03 9.99116925e-01 -2.36696955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560385722999996 meters 0.025435319854639194 Centerline is valid? [True, True] Translation: X:51.72, Y:-2.42, Z:-2.37 [[ 9.98481843e-01 3.66569120e-02 4.11130256e-02 5.17219847e+01] [-3.65583434e-02 9.99326565e-01 -3.14702977e-03 -2.42287507e+00] [-4.12006990e-02 1.63922798e-03 9.99149546e-01 -2.36594287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590385723 meters 0.02514817425571029 Centerline is valid? [True, True] Translation: X:51.76, Y:-2.42, Z:-2.37 [[ 9.98478584e-01 3.69650850e-02 4.09157550e-02 5.17551693e+01] [-3.68673168e-02 9.99315231e-01 -3.14172830e-03 -2.42472682e+00] [-4.10038714e-02 1.62849432e-03 9.99157661e-01 -2.36779961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620385723 meters 0.024221981815062677 Centerline is valid? [True, True] Translation: X:51.79, Y:-2.43, Z:-2.37 [[ 9.98479827e-01 3.75849757e-02 4.03163024e-02 5.17876570e+01] [-3.74901011e-02 9.99292169e-01 -3.10698681e-03 -2.42702068e+00] [-4.04045413e-02 1.59080140e-03 9.99182137e-01 -2.37067856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650385723 meters 0.024271958161504712 Centerline is valid? [True, True] Translation: X:51.82, Y:-2.43, Z:-2.38 [[ 9.98478931e-01 3.80123298e-02 3.99360432e-02 5.18200557e+01] [-3.79191902e-02 9.99276039e-01 -3.08738376e-03 -2.43364462e+00] [-4.00244897e-02 1.56834522e-03 9.99197468e-01 -2.37553804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68038572299999 meters 0.02478243179514111 Centerline is valid? [True, True] Translation: X:51.85, Y:-2.44, Z:-2.38 [[ 9.98448442e-01 3.87488482e-02 3.99904328e-02 5.18510863e+01] [-3.86555744e-02 9.99247775e-01 -3.10329972e-03 -2.43744173e+00] [-4.00806003e-02 1.55263162e-03 9.99195244e-01 -2.37746178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710385722999995 meters 0.02395896167123743 Centerline is valid? [True, True] Translation: X:51.88, Y:-2.44, Z:-2.38 [[ 9.98328925e-01 4.11001746e-02 4.06218393e-02 5.18828244e+01] [-4.10054511e-02 9.99153917e-01 -3.16264572e-03 -2.43695836e+00] [-4.07174552e-02 1.49164385e-03 9.99169587e-01 -2.37645193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740385722999996 meters 0.02392748834869185 Centerline is valid? [True, True] Translation: X:51.91, Y:-2.44, Z:-2.38 [[ 9.98226107e-01 4.30758882e-02 4.10987381e-02 5.19141386e+01] [-4.29805649e-02 9.99070782e-01 -3.20057024e-03 -2.43812431e+00] [-4.11984158e-02 1.42844579e-03 9.99149964e-01 -2.37636832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770385723 meters 0.023215394734554147 Centerline is valid? [True, True] Translation: X:51.95, Y:-2.44, Z:-2.38 [[ 9.98101251e-01 4.55370121e-02 4.14761678e-02 5.19456272e+01] [-4.54416300e-02 9.98961741e-01 -3.24005600e-03 -2.43849985e+00] [-4.15806473e-02 1.34915928e-03 9.99134240e-01 -2.37668769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800385723 meters 0.02176236659477959 Centerline is valid? [True, True] Translation: X:51.98, Y:-2.44, Z:-2.38 [[ 9.97797001e-01 5.08629195e-02 4.25923598e-02 5.19757660e+01] [-5.07671040e-02 9.98704971e-01 -3.32891552e-03 -2.43618750e+00] [-4.27065198e-02 1.15929116e-03 9.99086988e-01 -2.37620851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830385723 meters 0.02087452933447479 Centerline is valid? [True, True] Translation: X:52.00, Y:-2.44, Z:-2.38 [[ 9.97412104e-01 5.65958922e-02 4.43395877e-02 5.20042780e+01] [-5.64977656e-02 9.98396716e-01 -3.46411949e-03 -2.43680615e+00] [-4.44645536e-02 9.50067082e-04 9.99010511e-01 -2.37750816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860385723 meters 0.020129165147291878 Centerline is valid? [True, True] Translation: X:52.03, Y:-2.44, Z:-2.38 [[ 9.97242654e-01 5.92476234e-02 4.46856567e-02 5.20334978e+01] [-5.91507230e-02 9.98242967e-01 -3.48880018e-03 -2.43736520e+00] [-4.48138456e-02 8.35991456e-04 9.98995005e-01 -2.37957640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890385722999994 meters 0.020109728320835542 Centerline is valid? [True, True] Translation: X:52.06, Y:-2.44, Z:-2.38 [[ 9.97114886e-01 6.17659115e-02 4.41234161e-02 5.20613713e+01] [-6.16740008e-02 9.98090410e-01 -3.44260968e-03 -2.43833978e+00] [-4.42517944e-02 7.11409765e-04 9.99020156e-01 -2.38082587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920385722999995 meters 0.01969196894490213 Centerline is valid? [True, True] Translation: X:52.09, Y:-2.44, Z:-2.38 [[ 9.97000918e-01 6.39870041e-02 4.35296688e-02 5.20900375e+01] [-6.38998325e-02 9.97950551e-01 -3.39249673e-03 -2.43695924e+00] [-4.36575327e-02 6.00783803e-04 9.99046375e-01 -2.38199132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950385723 meters 0.0192119681359962 Centerline is valid? [True, True] Translation: X:52.12, Y:-2.43, Z:-2.38 [[ 9.96768094e-01 6.75727777e-02 4.34429118e-02 5.21191742e+01] [-6.74894876e-02 9.97714251e-01 -3.38272393e-03 -2.43481697e+00] [-4.35721922e-02 4.39851424e-04 9.99050184e-01 -2.38261203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980385723 meters 0.018964728347085322 Centerline is valid? [True, True] Translation: X:52.15, Y:-2.44, Z:-2.38 [[ 9.96680527e-01 6.85096403e-02 4.39813181e-02 5.21482789e+01] [-6.84253200e-02 9.97650374e-01 -3.42155042e-03 -2.43629236e+00] [-4.41123876e-02 4.00756919e-04 9.99026494e-01 -2.38483597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010385723 meters 0.018870034678276762 Centerline is valid? [True, True] Translation: X:52.18, Y:-2.44, Z:-2.39 [[ 9.96712831e-01 6.87119498e-02 4.29208680e-02 5.21763388e+01] [-6.86319641e-02 9.97636469e-01 -3.33608742e-03 -2.44053747e+00] [-4.30486522e-02 3.79377665e-04 9.99072905e-01 -2.38772040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040385723 meters 0.01895702334366352 Centerline is valid? [True, True] Translation: X:52.20, Y:-2.44, Z:-2.39 [[ 9.96837136e-01 6.72580024e-02 4.23330377e-02 5.22040441e+01] [-6.71790732e-02 9.97735523e-01 -3.28592781e-03 -2.44401802e+00] [-4.24581805e-02 4.31640619e-04 9.99098152e-01 -2.38932980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070385722999994 meters 0.019170379555624135 Centerline is valid? [True, True] Translation: X:52.23, Y:-2.45, Z:-2.39 [[ 9.96995644e-01 6.55773524e-02 4.12225326e-02 5.22318655e+01] [-6.55012890e-02 9.97847371e-01 -3.19458433e-03 -2.44788404e+00] [-4.13432882e-02 4.84857638e-04 9.99144883e-01 -2.39165190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100385722999995 meters 0.019500922383728 Centerline is valid? [True, True] Translation: X:52.26, Y:-2.45, Z:-2.39 [[ 9.97322897e-01 6.16597440e-02 3.93079421e-02 5.22604116e+01] [-6.15876778e-02 9.98097039e-01 -3.04281256e-03 -2.45043795e+00] [-3.94207596e-02 6.13781768e-04 9.99222511e-01 -2.39366996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130385722999996 meters 0.019500922383728 Centerline is valid? [True, True] Translation: X:52.29, Y:-2.45, Z:-2.39 [[ 9.97327219e-01 6.15896656e-02 3.93081556e-02 5.22886084e+01] [-6.15176538e-02 9.98101366e-01 -3.04005136e-03 -2.45256385e+00] [-3.94207595e-02 6.13780468e-04 9.99222511e-01 -2.39493858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160385723 meters 0.01985982795692479 Centerline is valid? [True, True] Translation: X:52.32, Y:-2.45, Z:-2.40 [[ 9.97491928e-01 5.93962617e-02 3.84959336e-02 5.23174878e+01] [-5.93256666e-02 9.98234250e-01 -2.97457826e-03 -2.45477909e+00] [-3.86046382e-02 6.83320879e-04 9.99254329e-01 -2.39639396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190385723 meters 0.020721721303146014 Centerline is valid? [True, True] Translation: X:52.35, Y:-2.46, Z:-2.40 [[ 9.97678139e-01 5.57392376e-02 3.91339805e-02 5.23453046e+01] [-5.56635761e-02 9.98445010e-01 -3.02117568e-03 -2.45959239e+00] [-3.92415256e-02 8.35823625e-04 9.99229405e-01 -2.39722904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220385723 meters 0.02109056875321243 Centerline is valid? [True, True] Translation: X:52.37, Y:-2.46, Z:-2.40 [[ 9.97731576e-01 5.37785725e-02 4.04915776e-02 5.23736018e+01] [-5.36961057e-02 9.98552442e-01 -3.12224884e-03 -2.46304383e+00] [-4.06008738e-02 9.40926223e-04 9.99175002e-01 -2.39741794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250385722999994 meters 0.02237157262106332 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.47, Z:-2.40 [[ 9.97791944e-01 4.97506368e-02 4.40012626e-02 5.24015707e+01] [-4.96494791e-02 9.98760953e-01 -3.38951950e-03 -2.46949913e+00] [-4.41153737e-02 1.19739549e-03 9.99025725e-01 -2.39741829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280385722999995 meters 0.022390065442843554 Centerline is valid? [True, True] Translation: X:52.43, Y:-2.47, Z:-2.40 [[ 9.97850971e-01 4.77732490e-02 4.48459174e-02 5.24316456e+01] [-4.76662760e-02 9.98857351e-01 -3.45229011e-03 -2.47204049e+00] [-4.49596014e-02 1.30723316e-03 9.98987951e-01 -2.39812850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310385722999996 meters 0.02322847488808277 Centerline is valid? [True, True] Translation: X:52.46, Y:-2.48, Z:-2.40 [[ 9.98018817e-01 4.39209380e-02 4.50487811e-02 5.24622616e+01] [-4.38090746e-02 9.99033903e-01 -3.46791395e-03 -2.47509881e+00] [-4.51575737e-02 1.48749797e-03 9.98978769e-01 -2.40032018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340385723 meters 0.023691968454558864 Centerline is valid? [True, True] Translation: X:52.49, Y:-2.48, Z:-2.40 [[ 9.98136415e-01 4.24578898e-02 4.38294860e-02 5.24940682e+01] [-4.23505713e-02 9.99097113e-01 -3.37461613e-03 -2.47736263e+00] [-4.39331920e-02 1.51212348e-03 9.99033327e-01 -2.40225633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370385723 meters 0.024054489874737326 Centerline is valid? [True, True] Translation: X:52.53, Y:-2.48, Z:-2.40 [[ 9.98235636e-01 4.09511580e-02 4.29955435e-02 5.25265403e+01] [-4.08460437e-02 9.99159934e-01 -3.32080748e-03 -2.47948978e+00] [-4.30954153e-02 1.55875052e-03 9.99069745e-01 -2.40437197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400385723 meters 0.02410824698955169 Centerline is valid? [True, True] Translation: X:52.56, Y:-2.48, Z:-2.40 [[ 9.98328478e-01 3.86869103e-02 4.29368417e-02 5.25586485e+01] [-3.85795210e-02 9.99249994e-01 -3.32722027e-03 -2.48076633e+00] [-4.30333587e-02 1.66517596e-03 9.99072248e-01 -2.40497597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43038572299999 meters 0.02552108780363685 Centerline is valid? [True, True] Translation: X:52.59, Y:-2.49, Z:-2.41 [[ 9.98352655e-01 3.73591417e-02 4.35461915e-02 5.25895441e+01] [-3.72472874e-02 9.99300371e-01 -3.37746904e-03 -2.48501793e+00] [-4.36419047e-02 1.74992768e-03 9.99045706e-01 -2.40501548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460385722999995 meters 0.025764449715169065 Centerline is valid? [True, True] Translation: X:52.62, Y:-2.49, Z:-2.41 [[ 9.98361586e-01 3.69247633e-02 4.37116084e-02 5.26214955e+01] [-3.68111924e-02 9.99316453e-01 -3.40053766e-03 -2.48744018e+00] [-4.38072935e-02 1.78588975e-03 9.99038403e-01 -2.40696483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490385722999996 meters 0.02540426378821105 Centerline is valid? [True, True] Translation: X:52.65, Y:-2.49, Z:-2.41 [[ 9.98398446e-01 3.67667682e-02 4.29970571e-02 5.26540121e+01] [-3.66562876e-02 9.99322299e-01 -3.35536303e-03 -2.48923134e+00] [-4.30912839e-02 1.77387675e-03 9.99069564e-01 -2.40887168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520385723 meters 0.02650693654873295 Centerline is valid? [True, True] Translation: X:52.68, Y:-2.49, Z:-2.41 [[ 9.98453650e-01 3.66386692e-02 4.18080824e-02 5.26846776e+01] [-3.65336787e-02 9.99327063e-01 -3.27278403e-03 -2.49320707e+00] [-4.18998587e-02 1.74032011e-03 9.99120300e-01 -2.41241174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550385723 meters 0.026360845104870464 Centerline is valid? [True, True] Translation: X:52.72, Y:-2.49, Z:-2.41 [[ 9.98455999e-01 3.71922852e-02 4.12595698e-02 5.27166499e+01] [-3.70901179e-02 9.99306675e-01 -3.23920366e-03 -2.49446598e+00] [-4.13514368e-02 1.70388002e-03 9.99143211e-01 -2.41456515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580385723 meters 0.025440148767395983 Centerline is valid? [True, True] Translation: X:52.75, Y:-2.49, Z:-2.42 [[ 9.98414663e-01 3.87148571e-02 4.08573213e-02 5.27495806e+01] [-3.86155357e-02 9.99248962e-01 -3.21762927e-03 -2.49228015e+00] [-4.09512059e-02 1.63480090e-03 9.99159810e-01 -2.41549721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610385723 meters 0.025522804818029647 Centerline is valid? [True, True] Translation: X:52.78, Y:-2.49, Z:-2.42 [[ 9.98361663e-01 3.95151690e-02 4.13828618e-02 5.27823193e+01] [-3.94135093e-02 9.99217636e-01 -3.26988078e-03 -2.49412996e+00] [-4.14796952e-02 1.63347981e-03 9.99138012e-01 -2.41586321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640385722999994 meters 0.02541906675532279 Centerline is valid? [True, True] Translation: X:52.81, Y:-2.50, Z:-2.42 [[ 9.98318306e-01 4.00629919e-02 4.18988865e-02 5.28144755e+01] [-3.99590401e-02 9.99195817e-01 -3.31590524e-03 -2.49556263e+00] [-4.19980372e-02 1.63608962e-03 9.99116354e-01 -2.41616610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670385722999995 meters 0.025778043816213052 Centerline is valid? [True, True] Translation: X:52.85, Y:-2.50, Z:-2.42 [[ 9.98318705e-01 4.05734156e-02 4.13951944e-02 5.28454825e+01] [-4.04719672e-02 9.99175270e-01 -3.28616981e-03 -2.49680539e+00] [-4.14943857e-02 1.60529983e-03 9.99137447e-01 -2.41649788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700385723 meters 0.02563275841552354 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.50, Z:-2.42 [[ 9.98344130e-01 4.05480829e-02 4.08025876e-02 5.28764969e+01] [-4.04490965e-02 9.99176318e-01 -3.24896354e-03 -2.49837654e+00] [-4.09007185e-02 1.59315588e-03 9.99161945e-01 -2.41850269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730385723 meters 0.026377165831874903 Centerline is valid? [True, True] Translation: X:52.91, Y:-2.50, Z:-2.42 [[ 9.98374174e-01 4.05633583e-02 4.00452625e-02 5.29079919e+01] [-4.04680071e-02 9.99175745e-01 -3.18915541e-03 -2.50106935e+00] [-4.01416178e-02 1.56341843e-03 9.99192777e-01 -2.42185388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760385723 meters 0.026341868092893968 Centerline is valid? [True, True] Translation: X:52.94, Y:-2.50, Z:-2.42 [[ 9.98377761e-01 4.16743661e-02 3.87955365e-02 5.29395693e+01] [-4.15853429e-02 9.99130149e-01 -3.09917395e-03 -2.50249047e+00] [-3.88909463e-02 1.48082067e-03 9.99242364e-01 -2.42379952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790385723 meters 0.024551101413564997 Centerline is valid? [True, True] Translation: X:52.97, Y:-2.50, Z:-2.43 [[ 9.98349031e-01 4.25973624e-02 3.85315069e-02 5.29700221e+01] [-4.25101713e-02 9.99091288e-01 -3.07969556e-03 -2.49969683e+00] [-3.86276798e-02 1.43663012e-03 9.99252640e-01 -2.42536857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820385722999994 meters 0.023947426796472323 Centerline is valid? [True, True] Translation: X:53.00, Y:-2.50, Z:-2.43 [[ 9.98232588e-01 4.56646622e-02 3.80320805e-02 5.29987413e+01] [-4.55819568e-02 9.98955979e-01 -3.03934561e-03 -2.49703517e+00] [-3.81311649e-02 1.30039719e-03 9.99271897e-01 -2.42540816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850385722999995 meters 0.02347829640962321 Centerline is valid? [True, True] Translation: X:53.03, Y:-2.50, Z:-2.43 [[ 9.98120328e-01 4.76990478e-02 3.84787280e-02 5.30281350e+01] [-4.76159759e-02 9.98860989e-01 -3.07298800e-03 -2.49704428e+00] [-3.85814789e-02 1.23500961e-03 9.99254694e-01 -2.42612090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880385722999996 meters 0.023180169864096566 Centerline is valid? [True, True] Translation: X:53.06, Y:-2.50, Z:-2.43 [[ 9.97981964e-01 5.06022238e-02 3.83590336e-02 5.30558884e+01] [-5.05218783e-02 9.98718262e-01 -3.06164217e-03 -2.49622223e+00] [-3.84647933e-02 1.11749323e-03 9.99259331e-01 -2.42628048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910385723 meters 0.023032410878494305 Centerline is valid? [True, True] Translation: X:53.08, Y:-2.50, Z:-2.43 [[ 9.97930958e-01 5.17202299e-02 3.81945160e-02 5.30849480e+01] [-5.16415214e-02 9.98661044e-01 -3.04509399e-03 -2.49667749e+00] [-3.83008682e-02 1.06637064e-03 9.99265684e-01 -2.42738507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940385723 meters 0.02203590513861001 Centerline is valid? [True, True] Translation: X:53.11, Y:-2.49, Z:-2.43 [[ 9.97770372e-01 5.38426320e-02 3.94367225e-02 5.31144490e+01] [-5.37604842e-02 9.98548918e-01 -3.14132615e-03 -2.49396544e+00] [-3.95486338e-02 1.01418487e-03 9.99217132e-01 -2.42652457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970385723 meters 0.021494264208100324 Centerline is valid? [True, True] Translation: X:53.14, Y:-2.49, Z:-2.43 [[ 9.97639689e-01 5.52240618e-02 4.08087449e-02 5.31438780e+01] [-5.51373738e-02 9.98473497e-01 -3.24757814e-03 -2.49417317e+00] [-4.09257947e-02 9.89825823e-04 9.99161698e-01 -2.42662370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000385722999994 meters 0.021731151940557095 Centerline is valid? [True, True] Translation: X:53.17, Y:-2.50, Z:-2.43 [[ 9.97534151e-01 5.63518680e-02 4.18340197e-02 5.31713722e+01] [-5.62618501e-02 9.98410505e-01 -3.32695846e-03 -2.49714876e+00] [-4.19550050e-02 9.65095335e-04 9.99119035e-01 -2.42751831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030385722999995 meters 0.021208089172057746 Centerline is valid? [True, True] Translation: X:53.20, Y:-2.50, Z:-2.43 [[ 9.97363633e-01 5.82213121e-02 4.33135350e-02 5.32001406e+01] [-5.81267457e-02 9.98303282e-01 -3.44060254e-03 -2.50045812e+00] [-4.34403606e-02 9.13857013e-04 9.99055604e-01 -2.42933176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060385722999996 meters 0.021501592721524427 Centerline is valid? [True, True] Translation: X:53.23, Y:-2.50, Z:-2.43 [[ 9.97385557e-01 5.79317731e-02 4.31967607e-02 5.32279685e+01] [-5.78375757e-02 9.98320120e-01 -3.42831155e-03 -2.50446552e+00] [-4.33228035e-02 9.20952508e-04 9.99060702e-01 -2.43122753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090385723 meters 0.02124395841226935 Centerline is valid? [True, True] Translation: X:53.26, Y:-2.51, Z:-2.43 [[ 9.97429827e-01 5.74526613e-02 4.28127448e-02 5.32566476e+01] [-5.73598523e-02 9.98347799e-01 -3.39409133e-03 -2.50711073e+00] [-4.29370091e-02 9.29635215e-04 9.99077349e-01 -2.43258403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120385723 meters 0.021841102414284302 Centerline is valid? [True, True] Translation: X:53.28, Y:-2.51, Z:-2.43 [[ 9.97443007e-01 5.70872815e-02 4.29940672e-02 5.32839618e+01] [-5.69934765e-02 9.98368743e-01 -3.40542007e-03 -2.51085013e+00] [-4.31183390e-02 9.46331075e-04 9.99069524e-01 -2.43316589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150385723 meters 0.021258691803614494 Centerline is valid? [True, True] Translation: X:53.31, Y:-2.51, Z:-2.43 [[ 9.97461433e-01 5.67638679e-02 4.29947966e-02 5.33130748e+01] [-5.66699250e-02 9.98387174e-01 -3.40164642e-03 -2.51170845e+00] [-4.31185440e-02 9.56499221e-04 9.99069505e-01 -2.43343184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18038572299999 meters 0.021898511756088094 Centerline is valid? [True, True] Translation: X:53.34, Y:-2.52, Z:-2.43 [[ 9.97488894e-01 5.56812612e-02 4.37664707e-02 5.33399877e+01] [-5.55830115e-02 9.98448076e-01 -3.45952970e-03 -2.51690698e+00] [-4.38911795e-02 1.01817021e-03 9.99035799e-01 -2.43443991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210385722999995 meters 0.021816341732551536 Centerline is valid? [True, True] Translation: X:53.37, Y:-2.52, Z:-2.44 [[ 9.97657000e-01 5.42627225e-02 4.16661512e-02 5.33682866e+01] [-5.41726274e-02 9.98526168e-01 -3.28918026e-03 -2.52236690e+00] [-4.17832222e-02 1.02430882e-03 9.99126175e-01 -2.43852021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240385722999996 meters 0.022018272338575822 Centerline is valid? [True, True] Translation: X:53.40, Y:-2.53, Z:-2.44 [[ 9.97776313e-01 5.32409866e-02 4.00977104e-02 5.33971911e+01] [-5.31568353e-02 9.98581168e-01 -3.16265801e-03 -2.52660498e+00] [-4.02092015e-02 1.02415786e-03 9.99190758e-01 -2.44127729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270385723 meters 0.02240969804110732 Centerline is valid? [True, True] Translation: X:53.43, Y:-2.53, Z:-2.44 [[ 9.97841592e-01 5.29379708e-02 3.88552248e-02 5.34250648e+01] [-5.28588258e-02 9.98597300e-01 -3.06213079e-03 -2.53020592e+00] [-3.89628255e-02 1.00167990e-03 9.99240159e-01 -2.44390362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300385723 meters 0.021703709146636753 Centerline is valid? [True, True] Translation: X:53.45, Y:-2.53, Z:-2.45 [[ 9.97855536e-01 5.37070991e-02 3.74149209e-02 5.34541085e+01] [-5.36343772e-02 9.98556297e-01 -2.94539749e-03 -2.53054826e+00] [-3.75190936e-02 9.32355212e-04 9.99295476e-01 -2.44531719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330385723 meters 0.021539571245067172 Centerline is valid? [True, True] Translation: X:53.48, Y:-2.53, Z:-2.45 [[ 9.97795319e-01 5.44511501e-02 3.79417132e-02 5.34825470e+01] [-5.43770061e-02 9.98516017e-01 -2.98413780e-03 -2.53196777e+00] [-3.80478981e-02 9.14401954e-04 9.99275498e-01 -2.44584232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360385723 meters 0.021566037163802815 Centerline is valid? [True, True] Translation: X:53.51, Y:-2.53, Z:-2.45 [[ 9.97644289e-01 5.63419597e-02 3.91338184e-02 5.35104674e+01] [-5.62646430e-02 9.98411155e-01 -3.07512267e-03 -2.53404600e+00] [-3.92448992e-02 8.66028255e-04 9.99229247e-01 -2.44618799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390385722999994 meters 0.021334536113039548 Centerline is valid? [True, True] Translation: X:53.54, Y:-2.54, Z:-2.45 [[ 9.97584767e-01 5.70176225e-02 3.96689169e-02 5.35389211e+01] [-5.69388534e-02 9.98372813e-01 -3.11355176e-03 -2.53558370e+00] [-3.97818955e-02 8.47329165e-04 9.99208028e-01 -2.44663942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420385722999995 meters 0.021244963892505325 Centerline is valid? [True, True] Translation: X:53.57, Y:-2.54, Z:-2.45 [[ 9.97505508e-01 5.76940878e-02 4.06713009e-02 5.35676841e+01] [-5.76119651e-02 9.98333957e-01 -3.18933646e-03 -2.53749407e+00] [-4.07875466e-02 8.38227120e-04 9.99167490e-01 -2.44695551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450385723 meters 0.020705871018945242 Centerline is valid? [True, True] Translation: X:53.60, Y:-2.54, Z:-2.45 [[ 9.97368381e-01 5.86074440e-02 4.26788043e-02 5.35962234e+01] [-5.85179772e-02 9.98280755e-01 -3.34365908e-03 -2.53845195e+00] [-4.28013923e-02 8.37382551e-04 9.99083250e-01 -2.44756929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480385723 meters 0.021094109748654277 Centerline is valid? [True, True] Translation: X:53.62, Y:-2.54, Z:-2.45 [[ 9.97331414e-01 5.90770601e-02 4.28946491e-02 5.36241581e+01] [-5.89872498e-02 9.98253090e-01 -3.35754222e-03 -2.54187788e+00] [-4.30180698e-02 8.18344953e-04 9.99073959e-01 -2.44814399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510385723 meters 0.020445345920120248 Centerline is valid? [True, True] Translation: X:53.65, Y:-2.54, Z:-2.45 [[ 9.97327654e-01 5.84800925e-02 4.37907442e-02 5.36534574e+01] [-5.83860898e-02 9.98288206e-01 -3.42366084e-03 -2.54206761e+00] [-4.39159995e-02 8.57741308e-04 9.99034859e-01 -2.44918703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540385723 meters 0.0210636529330157 Centerline is valid? [True, True] Translation: X:53.68, Y:-2.55, Z:-2.45 [[ 9.97383410e-01 5.77887207e-02 4.34372871e-02 5.36807282e+01] [-5.76957089e-02 9.98328449e-01 -3.39296296e-03 -2.54648125e+00] [-4.35607544e-02 8.77939899e-04 9.99050394e-01 -2.45128389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570385722999994 meters 0.02095286753534464 Centerline is valid? [True, True] Translation: X:53.71, Y:-2.55, Z:-2.45 [[ 9.97542730e-01 5.55650066e-02 4.26735592e-02 5.37087883e+01] [-5.54733649e-02 9.98454616e-01 -3.32959159e-03 -2.54988240e+00] [-4.27926209e-02 9.54163959e-04 9.99083521e-01 -2.45378386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600385722999995 meters 0.021374219310688787 Centerline is valid? [True, True] Translation: X:53.74, Y:-2.55, Z:-2.45 [[ 9.97628869e-01 5.42890447e-02 4.23005808e-02 5.37370125e+01] [-5.41980114e-02 9.98524765e-01 -3.29675985e-03 -2.55333025e+00] [-4.24171554e-02 9.96335439e-04 9.99099491e-01 -2.45480515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630385722999996 meters 0.021490503543831363 Centerline is valid? [True, True] Translation: X:53.77, Y:-2.56, Z:-2.46 [[ 9.97718659e-01 5.31887492e-02 4.15744485e-02 5.37654624e+01] [-5.30999810e-02 9.98583953e-01 -3.23731387e-03 -2.55608647e+00] [-4.16877658e-02 1.02232602e-03 9.99130164e-01 -2.45708028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660385723 meters 0.021946284550135496 Centerline is valid? [True, True] Translation: X:53.79, Y:-2.56, Z:-2.46 [[ 9.97918998e-01 5.16913359e-02 3.85445129e-02 5.37932299e+01] [-5.16140356e-02 9.98662606e-01 -2.99854675e-03 -2.56053971e+00] [-3.86479626e-02 1.00286891e-03 9.99252385e-01 -2.46170719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690385723 meters 0.02214811881106922 Centerline is valid? [True, True] Translation: X:53.82, Y:-2.56, Z:-2.47 [[ 9.98059684e-01 5.07858677e-02 3.60230783e-02 5.38212073e+01] [-5.07177531e-02 9.98709094e-01 -2.80273867e-03 -2.56317234e+00] [-3.61189154e-02 9.70290884e-04 9.99347028e-01 -2.46564668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720385723 meters 0.022379583560347246 Centerline is valid? [True, True] Translation: X:53.85, Y:-2.56, Z:-2.47 [[ 9.98101433e-01 5.05555128e-02 3.51805406e-02 5.38492507e+01] [-5.04905055e-02 9.98720798e-01 -2.73435733e-03 -2.56463233e+00] [-3.52737744e-02 9.52882689e-04 9.99377233e-01 -2.46675605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750385722999994 meters 0.022296642247791626 Centerline is valid? [True, True] Translation: X:53.88, Y:-2.57, Z:-2.47 [[ 9.98092102e-01 5.05146156e-02 3.55025202e-02 5.38777090e+01] [-5.04485193e-02 9.98722861e-01 -2.75565599e-03 -2.56524232e+00] [-3.55963795e-02 9.59348903e-04 9.99365788e-01 -2.46757871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780385722999995 meters 0.02242875278589081 Centerline is valid? [True, True] Translation: X:53.91, Y:-2.57, Z:-2.47 [[ 9.98058449e-01 5.08130867e-02 3.60189148e-02 5.39061962e+01] [-5.07453369e-02 9.98707719e-01 -2.79324632e-03 -2.56647916e+00] [-3.61143017e-02 9.60031120e-04 9.99347205e-01 -2.46798434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810385722999996 meters 0.02139891020359857 Centerline is valid? [True, True] Translation: X:53.94, Y:-2.57, Z:-2.47 [[ 9.97988587e-01 5.10803315e-02 3.75443755e-02 5.39355020e+01] [-5.10070065e-02 9.98694059e-01 -2.90891102e-03 -2.56503797e+00] [-3.76439329e-02 9.88033794e-04 9.99290728e-01 -2.46705793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840385723 meters 0.021530670591821982 Centerline is valid? [True, True] Translation: X:53.96, Y:-2.57, Z:-2.47 [[ 9.97916878e-01 5.16843805e-02 3.86086816e-02 5.39627029e+01] [-5.16073929e-02 9.98662979e-01 -2.98867753e-03 -2.56759849e+00] [-3.87115289e-02 9.89958342e-04 9.99249937e-01 -2.46826048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870385723 meters 0.02111310071937341 Centerline is valid? [True, True] Translation: X:53.99, Y:-2.57, Z:-2.47 [[ 9.97889690e-01 5.19476812e-02 3.89564418e-02 5.39911071e+01] [-5.18696373e-02 9.98649322e-01 -3.01208890e-03 -2.56868902e+00] [-3.90602953e-02 9.85075949e-04 9.99236370e-01 -2.46980345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900385723 meters 0.022438612923314186 Centerline is valid? [True, True] Translation: X:54.02, Y:-2.57, Z:-2.47 [[ 9.97850422e-01 5.25961377e-02 3.90919543e-02 5.40186317e+01] [-5.25181507e-02 9.98615403e-01 -3.01991513e-03 -2.57321520e+00] [-3.91966636e-02 9.60386438e-04 9.99231054e-01 -2.47192531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93038572299999 meters 0.020487201549101688 Centerline is valid? [True, True] Translation: X:54.05, Y:-2.57, Z:-2.47 [[ 9.97831835e-01 5.28363242e-02 3.92422136e-02 5.40480048e+01] [-5.27580591e-02 9.98602733e-01 -3.02803613e-03 -2.56976228e+00] [-3.93473720e-02 9.51127828e-04 9.99225140e-01 -2.47244037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960385722999995 meters 0.02100087246608598 Centerline is valid? [True, True] Translation: X:54.08, Y:-2.57, Z:-2.47 [[ 9.97891588e-01 5.23678158e-02 3.83404645e-02 5.40759507e+01] [-5.22928605e-02 9.98627418e-01 -2.95591242e-03 -2.57076732e+00] [-3.84426338e-02 9.44747573e-04 9.99260362e-01 -2.47432482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990385722999996 meters 0.021026542462259948 Centerline is valid? [True, True] Translation: X:54.10, Y:-2.57, Z:-2.48 [[ 9.98070930e-01 5.02587263e-02 3.64483076e-02 5.41047780e+01] [-5.01897009e-02 9.98735759e-01 -2.80687202e-03 -2.57146292e+00] [-3.65432979e-02 9.72127709e-04 9.99331598e-01 -2.47603412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020385723 meters 0.02236011944203317 Centerline is valid? [True, True] Translation: X:54.13, Y:-2.58, Z:-2.48 [[ 9.98158835e-01 4.92460269e-02 3.54086115e-02 5.41317988e+01] [-4.91803228e-02 9.98786199e-01 -2.72471415e-03 -2.57610067e+00] [-3.54998138e-02 9.78290559e-04 9.99369204e-01 -2.47819030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050385723 meters 0.02236011944203317 Centerline is valid? [True, True] Translation: X:54.16, Y:-2.58, Z:-2.48 [[ 9.98162090e-01 4.91797829e-02 3.54089164e-02 5.41600052e+01] [-4.91141778e-02 9.98789465e-01 -2.72074523e-03 -2.57820760e+00] [-3.54998583e-02 9.76664928e-04 9.99369204e-01 -2.47945996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080385723 meters 0.021572409271925802 Centerline is valid? [True, True] Translation: X:54.19, Y:-2.58, Z:-2.48 [[ 9.98237065e-01 4.78222089e-02 3.51539240e-02 5.41889091e+01] [-4.77567857e-02 9.98855348e-01 -2.69885978e-03 -2.57838102e+00] [-3.52427504e-02 1.01526345e-03 9.99378266e-01 -2.47967960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110385723 meters 0.021943280688401092 Centerline is valid? [True, True] Translation: X:54.22, Y:-2.58, Z:-2.48 [[ 9.98340961e-01 4.52051657e-02 3.56625652e-02 5.42170475e+01] [-4.51362572e-02 9.98977095e-01 -2.73538221e-03 -2.58373817e+00] [-3.57497391e-02 1.12116940e-03 9.99360145e-01 -2.48165529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140385722999994 meters 0.022394967059529734 Centerline is valid? [True, True] Translation: X:54.25, Y:-2.59, Z:-2.48 [[ 9.98442744e-01 4.27705967e-02 3.58156750e-02 5.42456061e+01] [-4.26996266e-02 9.99084186e-01 -2.74445251e-03 -2.59182728e+00] [-3.59002564e-02 1.21086274e-03 9.99354644e-01 -2.48475743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170385722999995 meters 0.022723487714073832 Centerline is valid? [True, True] Translation: X:54.27, Y:-2.60, Z:-2.49 [[ 9.98482778e-01 4.17894392e-02 3.58578327e-02 5.42749358e+01] [-4.17177439e-02 9.99125663e-01 -2.74563018e-03 -2.59686259e+00] [-3.59412192e-02 1.24555657e-03 9.99353129e-01 -2.48709074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200385723 meters 0.022817787680281684 Centerline is valid? [True, True] Translation: X:54.30, Y:-2.60, Z:-2.49 [[ 9.98520859e-01 4.10442511e-02 3.56575939e-02 5.43038758e+01] [-4.09729190e-02 9.99156530e-01 -2.72921384e-03 -2.60031532e+00] [-3.57395363e-02 1.26418124e-03 9.99360339e-01 -2.48858913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230385723 meters 0.022249502158608127 Centerline is valid? [True, True] Translation: X:54.33, Y:-2.60, Z:-2.49 [[ 9.98526160e-01 4.13628352e-02 3.51372069e-02 5.43339878e+01] [-4.12938379e-02 9.99143432e-01 -2.68739937e-03 -2.59895502e+00] [-3.52182680e-02 1.23248844e-03 9.99378884e-01 -2.48724428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260385723 meters 0.02342576622681872 Centerline is valid? [True, True] Translation: X:54.36, Y:-2.60, Z:-2.49 [[ 9.98531649e-01 4.17548654e-02 3.45119832e-02 5.43629180e+01] [-4.16885788e-02 9.99127170e-01 -2.63836160e-03 -2.60111000e+00] [-3.45920246e-02 1.19573202e-03 9.99400802e-01 -2.48744976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290385723 meters 0.02200083101211943 Centerline is valid? [True, True] Translation: X:54.39, Y:-2.60, Z:-2.49 [[ 9.98457185e-01 4.31530256e-02 3.49437545e-02 5.43923656e+01] [-4.30859540e-02 9.99067800e-01 -2.67052128e-03 -2.59866749e+00] [-3.50264210e-02 1.16081617e-03 9.99385712e-01 -2.48758757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320385722999994 meters 0.02165560303018322 Centerline is valid? [True, True] Translation: X:54.42, Y:-2.60, Z:-2.49 [[ 9.98418111e-01 4.39653338e-02 3.50474603e-02 5.44206584e+01] [-4.38984501e-02 9.99032415e-01 -2.67596809e-03 -2.60125595e+00] [-3.51311987e-02 1.13320582e-03 9.99382066e-01 -2.48961189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350385722999995 meters 0.021734147055658792 Centerline is valid? [True, True] Translation: X:54.45, Y:-2.61, Z:-2.49 [[ 9.98388423e-01 4.44737078e-02 3.52511863e-02 5.44481474e+01] [-4.44064438e-02 9.99009928e-01 -2.68916382e-03 -2.60684386e+00] [-3.53358822e-02 1.11945020e-03 9.99374866e-01 -2.49385308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380385722999996 meters 0.021755031075174878 Centerline is valid? [True, True] Translation: X:54.48, Y:-2.61, Z:-2.50 [[ 9.98387560e-01 4.47523064e-02 3.49215075e-02 5.44765423e+01] [-4.46865779e-02 9.98997512e-01 -2.66080308e-03 -2.60892759e+00] [-3.50055762e-02 1.09599003e-03 9.99386516e-01 -2.49505287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410385723 meters 0.021781683154563396 Centerline is valid? [True, True] Translation: X:54.51, Y:-2.61, Z:-2.50 [[ 9.98364779e-01 4.50713633e-02 3.51616445e-02 5.45054816e+01] [-4.50050125e-02 9.98983175e-01 -2.67661806e-03 -2.61017151e+00] [-3.52465301e-02 1.08979094e-03 9.99378054e-01 -2.49571226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440385723 meters 0.021127513284979294 Centerline is valid? [True, True] Translation: X:54.53, Y:-2.61, Z:-2.50 [[ 9.98283258e-01 4.57662217e-02 3.65511913e-02 5.45341198e+01] [-4.56950827e-02 9.98951567e-01 -2.77974258e-03 -2.60940831e+00] [-3.66400882e-02 1.10476077e-03 9.99327916e-01 -2.49557695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470385723 meters 0.021627055718562854 Centerline is valid? [True, True] Translation: X:54.56, Y:-2.61, Z:-2.50 [[ 9.98264581e-01 4.58660122e-02 3.69342008e-02 5.45616963e+01] [-4.57935351e-02 9.98946984e-01 -2.80635171e-03 -2.61299069e+00] [-3.70240246e-02 1.11013389e-03 9.99313759e-01 -2.49753771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500385722999994 meters 0.021450860833462253 Centerline is valid? [True, True] Translation: X:54.59, Y:-2.61, Z:-2.50 [[ 9.98293166e-01 4.54038432e-02 3.67320798e-02 5.45906297e+01] [-4.53319681e-02 9.98968088e-01 -2.78765743e-03 -2.61482646e+00] [-3.68207459e-02 1.11776189e-03 9.99321261e-01 -2.49905624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530385722999995 meters 0.021104608889034187 Centerline is valid? [True, True] Translation: X:54.62, Y:-2.62, Z:-2.50 [[ 9.98322050e-01 4.48765694e-02 3.65947860e-02 5.46198075e+01] [-4.48049703e-02 9.98991900e-01 -2.77469986e-03 -2.61629161e+00] [-3.66824138e-02 1.13041575e-03 9.99326334e-01 -2.49985785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560385722999996 meters 0.021621439449867524 Centerline is valid? [True, True] Translation: X:54.65, Y:-2.62, Z:-2.50 [[ 9.98359224e-01 4.36973116e-02 3.70054617e-02 5.46475037e+01] [-4.36233795e-02 9.99044114e-01 -2.80333336e-03 -2.61949169e+00] [-3.70925868e-02 1.18443042e-03 9.99311131e-01 -2.50081925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590385723 meters 0.022310573955258674 Centerline is valid? [True, True] Translation: X:54.68, Y:-2.62, Z:-2.50 [[ 9.98361176e-01 4.33508329e-02 3.73586437e-02 5.46760255e+01] [-4.32753832e-02 9.99059184e-01 -2.82626147e-03 -2.62324527e+00] [-3.74460169e-02 1.20492010e-03 9.99297926e-01 -2.50214404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620385723 meters 0.021599203348993387 Centerline is valid? [True, True] Translation: X:54.71, Y:-2.62, Z:-2.50 [[ 9.98386598e-01 4.18650947e-02 3.83603278e-02 5.47057330e+01] [-4.17845309e-02 9.99122437e-01 -2.89986689e-03 -2.62403244e+00] [-3.84480674e-02 1.29231994e-03 9.99259764e-01 -2.50229235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650385723 meters 0.02227522536592916 Centerline is valid? [True, True] Translation: X:54.74, Y:-2.63, Z:-2.50 [[ 9.98423033e-01 4.12942389e-02 3.80293783e-02 5.47352644e+01] [-4.12147020e-02 9.99146181e-01 -2.87339536e-03 -2.62783937e+00] [-3.81155628e-02 1.30149462e-03 9.99272490e-01 -2.50350019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68038572299999 meters 0.022460335847039586 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.63, Z:-2.51 [[ 9.98518226e-01 3.98118371e-02 3.70994626e-02 5.47648547e+01] [-3.97351415e-02 9.99206317e-01 -2.80263142e-03 -2.63117885e+00] [-3.71815952e-02 1.32432616e-03 9.99307648e-01 -2.50597675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710385722999995 meters 0.022857854484489442 Centerline is valid? [True, True] Translation: X:54.80, Y:-2.63, Z:-2.51 [[ 9.98570863e-01 3.90341487e-02 3.65043275e-02 5.47953109e+01] [-3.89594330e-02 9.99236992e-01 -2.75613131e-03 -2.63460793e+00] [-3.65840577e-02 1.33000452e-03 9.99329694e-01 -2.50843077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740385722999996 meters 0.023277231526217856 Centerline is valid? [True, True] Translation: X:54.83, Y:-2.64, Z:-2.51 [[ 9.98611681e-01 3.85567502e-02 3.58899337e-02 5.48259189e+01] [-3.84842218e-02 9.99255534e-01 -2.70974366e-03 -2.63792122e+00] [-3.59676938e-02 1.32478550e-03 9.99352075e-01 -2.51053926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770385723 meters 0.022374129935387423 Centerline is valid? [True, True] Translation: X:54.86, Y:-2.64, Z:-2.51 [[ 9.98575062e-01 3.89600776e-02 3.64685952e-02 5.48561020e+01] [-3.88854536e-02 9.99239881e-01 -2.75357785e-03 -2.63839077e+00] [-3.65481543e-02 1.33155631e-03 9.99331006e-01 -2.51208115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800385723 meters 0.022422218468515335 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.64, Z:-2.51 [[ 9.98549903e-01 3.93689572e-02 3.67175162e-02 5.48862831e+01] [-3.92936156e-02 9.99223864e-01 -2.77157907e-03 -2.64010988e+00] [-3.67981326e-02 1.32479604e-03 9.99321841e-01 -2.51269183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830385723 meters 0.022575986129521136 Centerline is valid? [True, True] Translation: X:54.92, Y:-2.64, Z:-2.51 [[ 9.98478789e-01 4.03390571e-02 3.75881370e-02 5.49156833e+01] [-4.02607797e-02 9.99185177e-01 -2.83742064e-03 -2.64026314e+00] [-3.76719682e-02 1.31977663e-03 9.99289288e-01 -2.51179491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860385723 meters 0.022278180592829315 Centerline is valid? [True, True] Translation: X:54.95, Y:-2.64, Z:-2.51 [[ 9.98433228e-01 4.09753783e-02 3.81065166e-02 5.49450878e+01] [-4.08954099e-02 9.99159294e-01 -2.87598708e-03 -2.64069046e+00] [-3.81923249e-02 1.31309945e-03 9.99269544e-01 -2.51206428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890385722999994 meters 0.021941350160251036 Centerline is valid? [True, True] Translation: X:54.97, Y:-2.64, Z:-2.51 [[ 9.98396399e-01 4.17023795e-02 3.82824061e-02 5.49748369e+01] [-4.16222562e-02 9.99129245e-01 -2.88791330e-03 -2.64187749e+00] [-3.83695043e-02 1.28988212e-03 9.99262787e-01 -2.51275002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920385722999995 meters 0.02220023042898692 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.65, Z:-2.51 [[ 9.98281584e-01 4.31028570e-02 3.96991584e-02 5.50036415e+01] [-4.30178532e-02 9.99069820e-01 -2.99333798e-03 -2.64522180e+00] [-3.97912525e-02 1.28042161e-03 9.99207194e-01 -2.51477922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950385723 meters 0.02226772460779513 Centerline is valid? [True, True] Translation: X:55.03, Y:-2.65, Z:-2.52 [[ 9.98222847e-01 4.38236353e-02 4.03811348e-02 5.50330649e+01] [-4.37363309e-02 9.99038473e-01 -3.04332650e-03 -2.64787320e+00] [-4.04756769e-02 1.27179538e-03 9.99179715e-01 -2.51633987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980385723 meters 0.0211833724551222 Centerline is valid? [True, True] Translation: X:55.06, Y:-2.65, Z:-2.52 [[ 9.98085914e-01 4.58680524e-02 4.14804686e-02 5.50627712e+01] [-4.57777501e-02 9.98946762e-01 -3.12472019e-03 -2.64806892e+00] [-4.15801046e-02 1.21985668e-03 9.99134429e-01 -2.51763900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010385723 meters 0.021609429433786593 Centerline is valid? [True, True] Translation: X:55.09, Y:-2.65, Z:-2.52 [[ 9.98018049e-01 4.67390874e-02 4.21358773e-02 5.50912402e+01] [-4.66467435e-02 9.98906410e-01 -3.17264195e-03 -2.65119867e+00] [-4.22380843e-02 1.20085247e-03 9.99106852e-01 -2.51877880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040385723 meters 0.020966386042004837 Centerline is valid? [True, True] Translation: X:55.12, Y:-2.65, Z:-2.52 [[ 9.97995220e-01 4.72733546e-02 4.20805268e-02 5.51209022e+01] [-4.71818218e-02 9.98881300e-01 -3.16624424e-03 -2.65219099e+00] [-4.21831303e-02 1.17446070e-03 9.99109205e-01 -2.51963945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070385722999994 meters 0.02085941772421992 Centerline is valid? [True, True] Translation: X:55.15, Y:-2.65, Z:-2.52 [[ 9.97993911e-01 4.76498590e-02 4.16850752e-02 5.51502987e+01] [-4.75604274e-02 9.98863443e-01 -3.13506203e-03 -2.65295493e+00] [-4.17870829e-02 1.14621282e-03 9.99125881e-01 -2.52013591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100385722999995 meters 0.0219285398388721 Centerline is valid? [True, True] Translation: X:55.18, Y:-2.66, Z:-2.52 [[ 9.97993067e-01 4.75365505e-02 4.18343703e-02 5.51786915e+01] [-4.74464363e-02 9.98868833e-01 -3.14488363e-03 -2.65759934e+00] [-4.19365456e-02 1.15368028e-03 9.99119610e-01 -2.52163454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130385722999996 meters 0.021511460607574102 Centerline is valid? [True, True] Translation: X:55.21, Y:-2.66, Z:-2.52 [[ 9.98015703e-01 4.65878161e-02 4.23583743e-02 5.52083751e+01] [-4.64946707e-02 9.98913470e-01 -3.18202866e-03 -2.66132624e+00] [-4.24605944e-02 1.20627590e-03 9.99097414e-01 -2.52421401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160385723 meters 0.022126353809464608 Centerline is valid? [True, True] Translation: X:55.24, Y:-2.67, Z:-2.53 [[ 9.98046987e-01 4.55264530e-02 4.27732726e-02 5.52375185e+01] [-4.54305635e-02 9.98962336e-01 -3.21169530e-03 -2.66595430e+00] [-4.28751054e-02 1.26220894e-03 9.99079643e-01 -2.52624341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190385723 meters 0.021354721289235157 Centerline is valid? [True, True] Translation: X:55.27, Y:-2.67, Z:-2.53 [[ 9.98116382e-01 4.45150818e-02 4.22148713e-02 5.52668818e+01] [-4.44208060e-02 9.99007882e-01 -3.16910730e-03 -2.66756275e+00] [-4.23140622e-02 1.28791931e-03 9.99103529e-01 -2.52795515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220385723 meters 0.022388726596748006 Centerline is valid? [True, True] Translation: X:55.30, Y:-2.67, Z:-2.53 [[ 9.98301415e-01 4.19778099e-02 4.03998488e-02 5.52965591e+01] [-4.18894572e-02 9.99117653e-01 -3.03135878e-03 -2.67205494e+00] [-4.04914519e-02 1.33388202e-03 9.99178995e-01 -2.52969732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250385722999994 meters 0.025106407554148454 Centerline is valid? [True, True] Translation: X:55.33, Y:-2.68, Z:-2.53 [[ 9.98410495e-01 3.97282427e-02 3.99768739e-02 5.53268247e+01] [-3.96399420e-02 9.99209527e-01 -2.99934510e-03 -2.67853204e+00] [-4.00644320e-02 1.40989666e-03 9.99196104e-01 -2.53170238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280385722999995 meters 0.02287728655573404 Centerline is valid? [True, True] Translation: X:55.36, Y:-2.68, Z:-2.53 [[ 9.98468668e-01 3.84752456e-02 3.97488883e-02 5.53581379e+01] [-3.83868609e-02 9.99258495e-01 -2.98469270e-03 -2.67722969e+00] [-3.98342511e-02 1.45428710e-03 9.99205243e-01 -2.53257868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310385722999996 meters 0.026587612162181067 Centerline is valid? [True, True] Translation: X:55.39, Y:-2.69, Z:-2.53 [[ 9.98486266e-01 3.74633353e-02 4.02700235e-02 5.53890084e+01] [-3.73717544e-02 9.99296854e-01 -3.02481883e-03 -2.68662561e+00] [-4.03550276e-02 1.51527863e-03 9.99184255e-01 -2.53471592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340385723 meters 0.024396624265572566 Centerline is valid? [True, True] Translation: X:55.42, Y:-2.69, Z:-2.53 [[ 9.98547926e-01 3.55964245e-02 4.04343109e-02 5.54211197e+01] [-3.55023319e-02 9.99364961e-01 -3.04294654e-03 -2.68578881e+00] [-4.05169515e-02 1.60301563e-03 9.99177565e-01 -2.53492219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370385723 meters 0.028184278177005334 Centerline is valid? [True, True] Translation: X:55.45, Y:-2.69, Z:-2.54 [[ 9.98540659e-01 3.55450356e-02 4.06583768e-02 5.54531167e+01] [-3.54497688e-02 9.99366769e-01 -3.06190022e-03 -2.69426947e+00] [-4.07414660e-02 1.61610180e-03 9.99168415e-01 -2.53651750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400385723 meters 0.02427383031592832 Centerline is valid? [True, True] Translation: X:55.49, Y:-2.69, Z:-2.54 [[ 9.98479015e-01 3.56854586e-02 4.20262388e-02 5.54861455e+01] [-3.55833220e-02 9.99361666e-01 -3.17608866e-03 -2.69109477e+00] [-4.21127522e-02 1.67582469e-03 9.99111459e-01 -2.53675903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43038572299999 meters 0.023890814810435656 Centerline is valid? [True, True] Translation: X:55.52, Y:-2.69, Z:-2.54 [[ 9.98433596e-01 3.64806343e-02 4.24207223e-02 5.55184255e+01] [-3.63767728e-02 9.99332965e-01 -3.21796445e-03 -2.69365502e+00] [-4.25098196e-02 1.66979484e-03 9.99094654e-01 -2.53830925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460385722999995 meters 0.024454127521773446 Centerline is valid? [True, True] Translation: X:55.55, Y:-2.70, Z:-2.54 [[ 9.98416736e-01 3.70889690e-02 4.22898342e-02 5.55498359e+01] [-3.69858505e-02 9.99310607e-01 -3.21845549e-03 -2.69757736e+00] [-4.23800491e-02 1.64923434e-03 9.99100201e-01 -2.54020625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490385722999996 meters 0.024524503048673377 Centerline is valid? [True, True] Translation: X:55.58, Y:-2.70, Z:-2.54 [[ 9.98414122e-01 3.74971317e-02 4.19905378e-02 5.55830028e+01] [-3.73954366e-02 9.99295406e-01 -3.20499661e-03 -2.69987978e+00] [-4.20811297e-02 1.62965939e-03 9.99112868e-01 -2.54133414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520385723 meters 0.023262993764995327 Centerline is valid? [True, True] Translation: X:55.62, Y:-2.70, Z:-2.54 [[ 9.98383173e-01 3.79348249e-02 4.23318956e-02 5.56158848e+01] [-3.78313600e-02 9.99278876e-01 -3.24285152e-03 -2.69963992e+00] [-4.24243861e-02 1.63613521e-03 9.99098341e-01 -2.54181662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550385723 meters 0.022583147927168253 Centerline is valid? [True, True] Translation: X:55.65, Y:-2.70, Z:-2.54 [[ 9.98284743e-01 3.80933174e-02 4.44575122e-02 5.56486879e+01] [-3.79787568e-02 9.99272698e-01 -3.41896257e-03 -2.70132432e+00] [-4.45554178e-02 1.72465712e-03 9.99005426e-01 -2.54234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580385723 meters 0.023179211974342997 Centerline is valid? [True, True] Translation: X:55.68, Y:-2.71, Z:-2.54 [[ 9.98250677e-01 3.81692551e-02 4.51518919e-02 5.56800568e+01] [-3.80505612e-02 9.99269736e-01 -3.48563470e-03 -2.70613731e+00] [-4.52519632e-02 1.76148237e-03 9.98974052e-01 -2.54390344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61038572299999 meters 0.02489211399935643 Centerline is valid? [True, True] Translation: X:55.71, Y:-2.71, Z:-2.55 [[ 9.98274074e-01 3.82099982e-02 4.45967360e-02 5.57119582e+01] [-3.80937154e-02 9.99268199e-01 -3.45468332e-03 -2.71295532e+00] [-4.46961035e-02 1.74986543e-03 9.98999097e-01 -2.54642890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640385722999994 meters 0.023459597544228883 Centerline is valid? [True, True] Translation: X:55.74, Y:-2.71, Z:-2.55 [[ 9.98433130e-01 3.74137804e-02 4.16112217e-02 5.57438254e+01] [-3.73114362e-02 9.99298454e-01 -3.23371703e-03 -2.71457832e+00] [-4.17030151e-02 1.67607578e-03 9.99128645e-01 -2.55104321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670385722999995 meters 0.025304437244254855 Centerline is valid? [True, True] Translation: X:55.77, Y:-2.72, Z:-2.55 [[ 9.98489883e-01 3.69787125e-02 4.06267008e-02 5.57740692e+01] [-3.68803608e-02 9.99314667e-01 -3.16793207e-03 -2.72023757e+00] [-4.07160040e-02 1.66482074e-03 9.99169373e-01 -2.55357699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700385723 meters 0.024000363114547833 Centerline is valid? [True, True] Translation: X:55.81, Y:-2.72, Z:-2.55 [[ 9.98480194e-01 3.71352268e-02 4.07219526e-02 5.58074123e+01] [-3.70365231e-02 9.99308866e-01 -3.17584333e-03 -2.71950148e+00] [-4.08117440e-02 1.66281712e-03 9.99165470e-01 -2.55410114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730385723 meters 0.023636979441283 Centerline is valid? [True, True] Translation: X:55.84, Y:-2.72, Z:-2.55 [[ 9.98423808e-01 3.77692884e-02 4.15136230e-02 5.58394306e+01] [-3.76667504e-02 9.99285072e-01 -3.24967248e-03 -2.72067035e+00] [-4.16066816e-02 1.68086709e-03 9.99132653e-01 -2.55410795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760385723 meters 0.023480492423002815 Centerline is valid? [True, True] Translation: X:55.87, Y:-2.72, Z:-2.56 [[ 9.98377939e-01 3.85718952e-02 4.18771911e-02 5.58712416e+01] [-3.84678144e-02 9.99254428e-01 -3.28865967e-03 -2.72280455e+00] [-4.19728185e-02 1.67240125e-03 9.99117353e-01 -2.55529912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790385723 meters 0.023655913318911367 Centerline is valid? [True, True] Translation: X:55.90, Y:-2.73, Z:-2.56 [[ 9.98319218e-01 3.97108376e-02 4.22112268e-02 5.59022426e+01] [-3.96056541e-02 9.99209854e-01 -3.32552666e-03 -2.72613819e+00] [-4.23099332e-02 1.64813392e-03 9.99103174e-01 -2.55657707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820385722999994 meters 0.02339924840028928 Centerline is valid? [True, True] Translation: X:55.93, Y:-2.73, Z:-2.56 [[ 9.98331182e-01 4.03128807e-02 4.13488039e-02 5.59340601e+01] [-4.02120642e-02 9.99185826e-01 -3.26736041e-03 -2.72776340e+00] [-4.14468555e-02 1.59918702e-03 9.99139430e-01 -2.55801053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850385722999995 meters 0.02317065510233307 Centerline is valid? [True, True] Translation: X:55.97, Y:-2.73, Z:-2.56 [[ 9.98319018e-01 4.12953352e-02 4.06673570e-02 5.59657471e+01] [-4.11985088e-02 9.99145804e-01 -3.21648841e-03 -2.72914848e+00] [-4.07654450e-02 1.53564709e-03 9.99167564e-01 -2.55973983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880385722999996 meters 0.02210442414824461 Centerline is valid? [True, True] Translation: X:56.00, Y:-2.73, Z:-2.56 [[ 9.98262717e-01 4.33408204e-02 3.99139170e-02 5.59968822e+01] [-4.32491249e-02 9.99059327e-01 -3.15834586e-03 -2.72772996e+00] [-4.00132564e-02 1.42661694e-03 9.99198131e-01 -2.56142985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910385723 meters 0.02320590107883474 Centerline is valid? [True, True] Translation: X:56.03, Y:-2.73, Z:-2.56 [[ 9.98199951e-01 4.44748544e-02 4.02348637e-02 5.60264771e+01] [-4.43825616e-02 9.99009533e-01 -3.18461759e-03 -2.73201331e+00] [-4.03366478e-02 1.39315881e-03 9.99185175e-01 -2.56334208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940385723 meters 0.02320590107883474 Centerline is valid? [True, True] Translation: X:56.06, Y:-2.73, Z:-2.56 [[ 9.98201468e-01 4.44407638e-02 4.02349138e-02 5.60555278e+01] [-4.43484688e-02 9.99011049e-01 -3.18398542e-03 -2.73428189e+00] [-4.03366221e-02 1.39390210e-03 9.99185175e-01 -2.56464840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970385723 meters 0.021745449457305988 Centerline is valid? [True, True] Translation: X:56.09, Y:-2.73, Z:-2.56 [[ 9.98069689e-01 4.57040165e-02 4.20480467e-02 5.60851704e+01] [-4.56043928e-02 9.98954042e-01 -3.32595563e-03 -2.73360730e+00] [-4.21560758e-02 1.40195986e-03 9.99110054e-01 -2.56461833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000385722999994 meters 0.020972357485810156 Centerline is valid? [True, True] Translation: X:56.11, Y:-2.73, Z:-2.56 [[ 9.98031968e-01 4.62135453e-02 4.23851232e-02 5.61147225e+01] [-4.61128397e-02 9.98930616e-01 -3.35110849e-03 -2.73420554e+00] [-4.24946638e-02 1.39001501e-03 9.99095727e-01 -2.56442739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030385722999995 meters 0.02090896648057434 Centerline is valid? [True, True] Translation: X:56.14, Y:-2.73, Z:-2.56 [[ 9.97913089e-01 4.75223597e-02 4.37160485e-02 5.61441082e+01] [-4.74165501e-02 9.98869229e-01 -3.45472231e-03 -2.73449453e+00] [-4.38307922e-02 1.37464841e-03 9.99038023e-01 -2.56291245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060385722999996 meters 0.021511772913340672 Centerline is valid? [True, True] Translation: X:56.17, Y:-2.74, Z:-2.56 [[ 9.97896627e-01 4.79487518e-02 4.36261262e-02 5.61730567e+01] [-4.78438512e-02 9.98848883e-01 -3.44608731e-03 -2.73655241e+00] [-4.37411430e-02 1.35159701e-03 9.99041984e-01 -2.56407087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090385723 meters 0.02025070358052839 Centerline is valid? [True, True] Translation: X:56.20, Y:-2.74, Z:-2.57 [[ 9.97859518e-01 4.89245868e-02 4.33908731e-02 5.62033668e+01] [-4.88218376e-02 9.98801630e-01 -3.42518240e-03 -2.73554174e+00] [-4.35064504e-02 1.29942870e-03 9.99052301e-01 -2.56591209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120385723 meters 0.020605529863153723 Centerline is valid? [True, True] Translation: X:56.23, Y:-2.74, Z:-2.57 [[ 9.97763482e-01 4.96132657e-02 4.47946235e-02 5.62323836e+01] [-4.95044861e-02 9.98767645e-01 -3.53516035e-03 -2.73758578e+00] [-4.49148115e-02 1.30971908e-03 9.98989962e-01 -2.56790186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150385723 meters 0.020646976910965942 Centerline is valid? [True, True] Translation: X:56.26, Y:-2.74, Z:-2.57 [[ 9.97743749e-01 4.95813975e-02 4.52669461e-02 5.62622925e+01] [-4.94703512e-02 9.98769209e-01 -3.57080792e-03 -2.73974143e+00] [-4.53882776e-02 1.32337956e-03 9.98968545e-01 -2.56884072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18038572299999 meters 0.020727552319046102 Centerline is valid? [True, True] Translation: X:56.29, Y:-2.74, Z:-2.57 [[ 9.97729488e-01 4.94325355e-02 4.57415983e-02 5.62921046e+01] [-4.93190649e-02 9.98776563e-01 -3.60661985e-03 -2.74207535e+00] [-4.58639207e-02 1.34249812e-03 9.98946795e-01 -2.57058152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210385722999995 meters 0.020845709263859365 Centerline is valid? [True, True] Translation: X:56.32, Y:-2.75, Z:-2.57 [[ 9.97777821e-01 4.90483267e-02 4.50963515e-02 5.63214275e+01] [-4.89377164e-02 9.98795508e-01 -3.55417513e-03 -2.74503921e+00] [-4.52163597e-02 1.33936466e-03 9.98976319e-01 -2.57308626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240385722999996 meters 0.021044512773725862 Centerline is valid? [True, True] Translation: X:56.35, Y:-2.75, Z:-2.58 [[ 9.97847228e-01 4.89388762e-02 4.36565738e-02 5.63509516e+01] [-4.88351815e-02 9.98800930e-01 -3.43921941e-03 -2.74848026e+00] [-4.37725380e-02 1.29983885e-03 9.99040678e-01 -2.57600442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270385723 meters 0.021293536949183914 Centerline is valid? [True, True] Translation: X:56.38, Y:-2.75, Z:-2.58 [[ 9.98006186e-01 4.84202558e-02 4.04861981e-02 5.63798461e+01] [-4.83307099e-02 9.98826300e-01 -3.18818661e-03 -2.75140536e+00] [-4.05930522e-02 1.22510326e-03 9.99175011e-01 -2.58012220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300385723 meters 0.021363948900178172 Centerline is valid? [True, True] Translation: X:56.41, Y:-2.75, Z:-2.58 [[ 9.98030663e-01 4.86213148e-02 3.96328458e-02 5.64090046e+01] [-4.85357216e-02 9.98816576e-01 -3.11955366e-03 -2.75326074e+00] [-3.97376201e-02 1.18980144e-03 9.99209440e-01 -2.58167143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330385723 meters 0.02010118719512044 Centerline is valid? [True, True] Translation: X:56.44, Y:-2.75, Z:-2.58 [[ 9.97956067e-01 4.98742403e-02 3.99530837e-02 5.64383843e+01] [-4.97883716e-02 9.98754848e-01 -3.14197959e-03 -2.75128813e+00] [-4.00600398e-02 1.14635862e-03 9.99196617e-01 -2.58136004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36038572299999 meters 0.020111280853572996 Centerline is valid? [True, True] Translation: X:56.47, Y:-2.75, Z:-2.58 [[ 9.97916872e-01 5.01581303e-02 4.05718895e-02 5.64673646e+01] [-5.00699344e-02 9.98740627e-01 -3.18767871e-03 -2.75337648e+00] [-4.06806823e-02 1.14960653e-03 9.99171537e-01 -2.58280489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390385722999994 meters 0.020523132720542424 Centerline is valid? [True, True] Translation: X:56.49, Y:-2.76, Z:-2.58 [[ 9.97901258e-01 5.01607841e-02 4.09508890e-02 5.64946320e+01] [-5.00710519e-02 9.98740485e-01 -3.21458494e-03 -2.75699069e+00] [-4.10605569e-02 1.15738427e-03 9.99155989e-01 -2.58410998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420385722999995 meters 0.020244058426394138 Centerline is valid? [True, True] Translation: X:56.52, Y:-2.76, Z:-2.59 [[ 9.97789757e-01 5.09715114e-02 4.26322047e-02 5.65236743e+01] [-5.08751640e-02 9.98699427e-01 -3.34258234e-03 -2.76111375e+00] [-4.27471348e-02 1.16627402e-03 9.99085243e-01 -2.58543554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450385723 meters 0.020113232440569635 Centerline is valid? [True, True] Translation: X:56.55, Y:-2.76, Z:-2.59 [[ 9.97757940e-01 5.14739188e-02 4.27729847e-02 5.65525105e+01] [-5.13774907e-02 9.98673681e-01 -3.35138325e-03 -2.76376850e+00] [-4.28887629e-02 1.14630063e-03 9.99079196e-01 -2.58672579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480385723 meters 0.02032152876508121 Centerline is valid? [True, True] Translation: X:56.58, Y:-2.77, Z:-2.59 [[ 9.97674129e-01 5.32411042e-02 4.25642788e-02 5.65798858e+01] [-5.31473478e-02 9.98581122e-01 -3.33208222e-03 -2.76586426e+00] [-4.26812891e-02 1.06215370e-03 9.99088174e-01 -2.58761535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510385723 meters 0.019559660383484542 Centerline is valid? [True, True] Translation: X:56.61, Y:-2.77, Z:-2.59 [[ 9.97634299e-01 5.42408970e-02 4.22342430e-02 5.66085831e+01] [-5.41496420e-02 9.98527370e-01 -3.30253831e-03 -2.76571374e+00] [-4.23511802e-02 1.00775635e-03 9.99102278e-01 -2.58822916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540385723 meters 0.019521580683621455 Centerline is valid? [True, True] Translation: X:56.64, Y:-2.77, Z:-2.59 [[ 9.97595631e-01 5.49387830e-02 4.22455613e-02 5.66373795e+01] [-5.48482304e-02 9.98489248e-01 -3.30044398e-03 -2.76718530e+00] [-4.23630611e-02 9.75414215e-04 9.99101806e-01 -2.58915861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570385722999994 meters 0.019557184447139105 Centerline is valid? [True, True] Translation: X:56.67, Y:-2.77, Z:-2.59 [[ 9.97558653e-01 5.56061525e-02 4.22455767e-02 5.66651438e+01] [-5.55163215e-02 9.98452335e-01 -3.29752642e-03 -2.76958760e+00] [-4.23635575e-02 9.44157000e-04 9.99101815e-01 -2.58949556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600385722999995 meters 0.01926822809597587 Centerline is valid? [True, True] Translation: X:56.69, Y:-2.77, Z:-2.59 [[ 9.97533882e-01 5.60771642e-02 4.22078863e-02 5.66938736e+01] [-5.59880718e-02 9.98426014e-01 -3.29087684e-03 -2.77208463e+00] [-4.23259947e-02 9.19622986e-04 9.99103430e-01 -2.59088518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630385722999996 meters 0.019613585952090524 Centerline is valid? [True, True] Translation: X:56.72, Y:-2.78, Z:-2.59 [[ 9.97474772e-01 5.64651553e-02 4.30785882e-02 5.67218299e+01] [-5.63728412e-02 9.98404148e-01 -3.35568672e-03 -2.77689371e+00] [-4.31993205e-02 9.18750428e-04 9.99066051e-01 -2.59224018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660385723 meters 0.01935550359181455 Centerline is valid? [True, True] Translation: X:56.75, Y:-2.78, Z:-2.59 [[ 9.97458969e-01 5.64491864e-02 4.34637135e-02 5.67501050e+01] [-5.63553307e-02 9.98405045e-01 -3.38264709e-03 -2.77905895e+00] [-4.35853385e-02 9.24639734e-04 9.99049280e-01 -2.59293061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690385723 meters 0.01948507399717165 Centerline is valid? [True, True] Translation: X:56.78, Y:-2.78, Z:-2.59 [[ 9.97474934e-01 5.62109362e-02 4.34060638e-02 5.67786653e+01] [-5.61172357e-02 9.98418482e-01 -3.37514117e-03 -2.78199694e+00] [-4.35271362e-02 9.30790406e-04 9.99051811e-01 -2.59418139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720385723 meters 0.02025034392598922 Centerline is valid? [True, True] Translation: X:56.81, Y:-2.79, Z:-2.60 [[ 9.97519975e-01 5.56093469e-02 4.31450954e-02 5.68062746e+01] [-5.55163350e-02 9.98452153e-01 -3.35192292e-03 -2.78687600e+00] [-4.32647116e-02 9.48352505e-04 9.99063194e-01 -2.59635857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750385722999994 meters 0.019951250110602316 Centerline is valid? [True, True] Translation: X:56.83, Y:-2.79, Z:-2.60 [[ 9.97657039e-01 5.44174112e-02 4.14629712e-02 5.68342672e+01] [-5.43306437e-02 9.98517816e-01 -3.21746038e-03 -2.79045462e+00] [-4.15766014e-02 9.57212079e-04 9.99134861e-01 -2.59939372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780385722999995 meters 0.020437069664319848 Centerline is valid? [True, True] Translation: X:56.86, Y:-2.79, Z:-2.60 [[ 9.97731152e-01 5.35574111e-02 4.07940245e-02 5.68615958e+01] [-5.34728633e-02 9.98564298e-01 -3.16166636e-03 -2.79405688e+00] [-4.09047871e-02 9.73119720e-04 9.99162575e-01 -2.60108237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810385722999996 meters 0.02093003249621533 Centerline is valid? [True, True] Translation: X:56.89, Y:-2.80, Z:-2.60 [[ 9.97918840e-01 5.10994709e-02 3.93297920e-02 5.68902596e+01] [-5.10191279e-02 9.98693036e-01 -3.04443056e-03 -2.79697483e+00] [-3.94339582e-02 1.03152293e-03 9.99221647e-01 -2.60183081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840385723 meters 0.022185547387403547 Centerline is valid? [True, True] Translation: X:56.92, Y:-2.80, Z:-2.61 [[ 9.97974923e-01 4.99996766e-02 3.93203048e-02 5.69180864e+01] [-4.99186401e-02 9.98748659e-01 -3.04064262e-03 -2.80157469e+00] [-3.94231328e-02 1.07166894e-03 9.99222031e-01 -2.60504213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870385723 meters 0.02157944749615316 Centerline is valid? [True, True] Translation: X:56.95, Y:-2.81, Z:-2.60 [[ 9.98076881e-01 4.83251973e-02 3.88228664e-02 5.69465686e+01] [-4.82449099e-02 9.98831023e-01 -3.00279325e-03 -2.80546061e+00] [-3.89225939e-02 1.12401282e-03 9.99241597e-01 -2.60442967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900385723 meters 0.021652986731106095 Centerline is valid? [True, True] Translation: X:56.98, Y:-2.81, Z:-2.61 [[ 9.98110999e-01 4.77528067e-02 3.86536287e-02 5.69750854e+01] [-4.76728911e-02 9.98858535e-01 -2.98708250e-03 -2.80873334e+00] [-3.87521485e-02 1.13870967e-03 9.99248205e-01 -2.60571500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93038572299999 meters 0.02107115574404661 Centerline is valid? [True, True] Translation: X:57.00, Y:-2.81, Z:-2.61 [[ 9.98074487e-01 4.78932185e-02 3.94152037e-02 5.70042908e+01] [-4.78103296e-02 9.98851796e-01 -3.04342440e-03 -2.81039715e+00] [-3.95157064e-02 1.15311037e-03 9.99218284e-01 -2.60661114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960385722999995 meters 0.02091560749367722 Centerline is valid? [True, True] Translation: X:57.03, Y:-2.81, Z:-2.61 [[ 9.97991380e-01 4.87328434e-02 4.04761096e-02 5.70332391e+01] [-4.86463199e-02 9.98811193e-01 -3.12039504e-03 -2.81258831e+00] [-4.05800570e-02 1.14511358e-03 9.99175634e-01 -2.60581595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990385722999996 meters 0.02092517695593598 Centerline is valid? [True, True] Translation: X:57.06, Y:-2.81, Z:-2.61 [[ 9.97963166e-01 4.91276238e-02 4.06939359e-02 5.70615409e+01] [-4.90406100e-02 9.98791867e-01 -3.13434151e-03 -2.81497194e+00] [-4.07987549e-02 1.13230194e-03 9.99166743e-01 -2.60690045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020385723 meters 0.02061950692818309 Centerline is valid? [True, True] Translation: X:57.09, Y:-2.82, Z:-2.61 [[ 9.97924105e-01 4.96963102e-02 4.09604473e-02 5.70903871e+01] [-4.96087476e-02 9.98763754e-01 -3.15202486e-03 -2.81804388e+00] [-4.10664541e-02 1.11348510e-03 9.99155797e-01 -2.60916531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050385723 meters 0.021098369409751336 Centerline is valid? [True, True] Translation: X:57.12, Y:-2.82, Z:-2.61 [[ 9.97884181e-01 5.00094831e-02 4.15477067e-02 5.71183743e+01] [-4.99197852e-02 9.98748122e-01 -3.19424047e-03 -2.82274564e+00] [-4.16554363e-02 1.11342944e-03 9.99131415e-01 -2.61118625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080385723 meters 0.020206916601222164 Centerline is valid? [True, True] Translation: X:57.15, Y:-2.82, Z:-2.61 [[ 9.97846234e-01 4.98693830e-02 4.26138130e-02 5.71470691e+01] [-4.97749867e-02 9.98755091e-01 -3.27398795e-03 -2.82411116e+00] [-4.27240344e-02 1.14583458e-03 9.99086255e-01 -2.61192796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11038572299999 meters 0.020274141802768184 Centerline is valid? [True, True] Translation: X:57.18, Y:-2.83, Z:-2.61 [[ 9.97828449e-01 4.99060482e-02 4.29857193e-02 5.71761087e+01] [-4.98101642e-02 9.98753253e-01 -3.29944566e-03 -2.82728359e+00] [-4.30967893e-02 1.15115501e-03 9.99070239e-01 -2.61251071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140385722999994 meters 0.020096014567757895 Centerline is valid? [True, True] Translation: X:57.21, Y:-2.83, Z:-2.61 [[ 9.97842732e-01 4.94398896e-02 4.31923628e-02 5.72053583e+01] [-4.93427106e-02 9.98776409e-01 -3.31378833e-03 -2.82906242e+00] [-4.33033464e-02 1.17541134e-03 9.99061279e-01 -2.61170027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170385722999995 meters 0.02089833846864697 Centerline is valid? [True, True] Translation: X:57.23, Y:-2.83, Z:-2.61 [[ 9.97847087e-01 4.89548387e-02 4.36418867e-02 5.72338274e+01] [-4.88552290e-02 9.98800263e-01 -3.34673495e-03 -2.83323567e+00] [-4.37533668e-02 1.20739536e-03 9.99041633e-01 -2.61295624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200385723 meters 0.020730404407695715 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.84, Z:-2.62 [[ 9.98002757e-01 4.71079618e-02 4.20872453e-02 5.72638673e+01] [-4.70137825e-02 9.98889034e-01 -3.22524987e-03 -2.83985042e+00] [-4.21924227e-02 1.24012767e-03 9.99108734e-01 -2.61737226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230385723 meters 0.020871575155744206 Centerline is valid? [True, True] Translation: X:57.29, Y:-2.85, Z:-2.62 [[ 9.98083768e-01 4.61814524e-02 4.11833187e-02 5.72935107e+01] [-4.60904901e-02 9.98932283e-01 -3.15597973e-03 -2.84506081e+00] [-4.12850943e-02 1.25177280e-03 9.99146623e-01 -2.62111627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260385723 meters 0.021389231578144388 Centerline is valid? [True, True] Translation: X:57.32, Y:-2.85, Z:-2.62 [[ 9.98191663e-01 4.52708829e-02 3.95468212e-02 5.73228496e+01] [-4.51862932e-02 9.98973981e-01 -3.03065971e-03 -2.84944811e+00] [-3.96434460e-02 1.23820500e-03 9.99213122e-01 -2.62314155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290385723 meters 0.021145759859969075 Centerline is valid? [True, True] Translation: X:57.35, Y:-2.85, Z:-2.63 [[ 9.98232473e-01 4.55488484e-02 3.81737042e-02 5.73528097e+01] [-4.54702572e-02 9.98961411e-01 -2.92490776e-03 -2.84864670e+00] [-3.82672836e-02 1.18396977e-03 9.99266838e-01 -2.62624993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320385722999994 meters 0.020817239589392793 Centerline is valid? [True, True] Translation: X:57.38, Y:-2.85, Z:-2.62 [[ 9.98266421e-01 4.58024226e-02 3.69633799e-02 5.73821000e+01] [-4.57289586e-02 9.98949873e-01 -2.83091991e-03 -2.84963805e+00] [-3.70542266e-02 1.13571542e-03 9.99312611e-01 -2.62441169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350385722999995 meters 0.020207466963764617 Centerline is valid? [True, True] Translation: X:57.41, Y:-2.85, Z:-2.63 [[ 9.98234228e-01 4.81276308e-02 3.48160624e-02 5.74111110e+01] [-4.80639044e-02 9.98840706e-01 -2.66550146e-03 -2.85205743e+00] [-3.49039846e-02 9.87398902e-04 9.99390183e-01 -2.62831894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380385722999996 meters 0.020067562085196947 Centerline is valid? [True, True] Translation: X:57.44, Y:-2.86, Z:-2.63 [[ 9.98176034e-01 4.92265168e-02 3.49478992e-02 5.74401990e+01] [-4.91630439e-02 9.98787188e-01 -2.67375481e-03 -2.85523928e+00] [-3.50371336e-02 9.50732868e-04 9.99385559e-01 -2.62970813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410385723 meters 0.019965099066783416 Centerline is valid? [True, True] Translation: X:57.47, Y:-2.86, Z:-2.63 [[ 9.98123214e-01 5.04132930e-02 3.47641945e-02 5.74682233e+01] [-5.03512559e-02 9.98728033e-01 -2.65824203e-03 -2.85754240e+00] [-3.48539863e-02 9.02832227e-04 9.99392007e-01 -2.63016816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440385723 meters 0.019703526154682252 Centerline is valid? [True, True] Translation: X:57.50, Y:-2.86, Z:-2.63 [[ 9.97984195e-01 5.23216199e-02 3.59165074e-02 5.74975789e+01] [-5.22567561e-02 9.98629915e-01 -2.74297759e-03 -2.85696097e+00] [-3.60108158e-02 8.60568113e-04 9.99351030e-01 -2.62735690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470385723 meters 0.019208040235039733 Centerline is valid? [True, True] Translation: X:57.53, Y:-2.86, Z:-2.63 [[ 9.97888937e-01 5.35810803e-02 3.66979241e-02 5.75263636e+01] [-5.35143072e-02 9.98563157e-01 -2.80009202e-03 -2.85704950e+00] [-3.67952269e-02 8.30316867e-04 9.99322481e-01 -2.62697898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500385722999994 meters 0.018652111637851368 Centerline is valid? [True, True] Translation: X:57.56, Y:-2.86, Z:-2.63 [[ 9.97761744e-01 5.51022527e-02 3.78846230e-02 5.75552323e+01] [-5.50322870e-02 9.98480399e-01 -2.88794326e-03 -2.85725428e+00] [-3.79861856e-02 7.96601858e-04 9.99277947e-01 -2.62736162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530385722999995 meters 0.018330296645238175 Centerline is valid? [True, True] Translation: X:57.58, Y:-2.86, Z:-2.63 [[ 9.97585917e-01 5.72795091e-02 3.92606268e-02 5.75831728e+01] [-5.72061593e-02 9.98357909e-01 -2.99007123e-03 -2.85976269e+00] [-3.93674271e-02 7.36903280e-04 9.99224531e-01 -2.62879745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560385722999996 meters 0.018375563972296848 Centerline is valid? [True, True] Translation: X:57.61, Y:-2.86, Z:-2.63 [[ 9.97544988e-01 5.77057224e-02 3.96742658e-02 5.76108112e+01] [-5.76312898e-02 9.98333374e-01 -3.01818352e-03 -2.86335033e+00] [-3.97823101e-02 7.24294726e-04 9.99208108e-01 -2.63065623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590385723 meters 0.017933627988428805 Centerline is valid? [True, True] Translation: X:57.64, Y:-2.87, Z:-2.63 [[ 9.97548252e-01 5.78975120e-02 3.93111179e-02 5.76398840e+01] [-5.78247192e-02 9.98322282e-01 -2.98716502e-03 -2.86561663e+00] [-3.94181143e-02 7.06686890e-04 9.99222554e-01 -2.63240084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620385723 meters 0.017873668687629508 Centerline is valid? [True, True] Translation: X:57.67, Y:-2.87, Z:-2.63 [[ 9.97580578e-01 5.76593221e-02 3.88380342e-02 5.76689886e+01] [-5.75881947e-02 9.98336069e-01 -2.94856360e-03 -2.86661493e+00] [-3.89434226e-02 7.04817504e-04 9.99241169e-01 -2.63325655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650385723 meters 0.018024058117104287 Centerline is valid? [True, True] Translation: X:57.70, Y:-2.87, Z:-2.63 [[ 9.97632942e-01 5.73332168e-02 3.79659672e-02 5.76970664e+01] [-5.72651078e-02 9.98354854e-01 -2.87987664e-03 -2.86792469e+00] [-3.80686202e-02 6.98934604e-04 9.99274883e-01 -2.63461164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68038572299999 meters 0.01820816879623715 Centerline is valid? [True, True] Translation: X:57.72, Y:-2.87, Z:-2.64 [[ 9.97687451e-01 5.65973420e-02 3.76363055e-02 5.77249677e+01] [-5.65300108e-02 9.98396828e-01 -2.85161975e-03 -2.86972333e+00] [-3.77373622e-02 7.17444483e-04 9.99287435e-01 -2.63591976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710385722999995 meters 0.018631617357286176 Centerline is valid? [True, True] Translation: X:57.75, Y:-2.87, Z:-2.64 [[ 9.97758368e-01 5.51082321e-02 3.79647505e-02 5.77534748e+01] [-5.50387725e-02 9.98480084e-01 -2.87309844e-03 -2.87463298e+00] [-3.80653787e-02 7.77124740e-04 9.99274949e-01 -2.63752862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740385722999996 meters 0.01889623951243888 Centerline is valid? [True, True] Translation: X:57.78, Y:-2.88, Z:-2.64 [[ 9.97824488e-01 5.39856881e-02 3.78396077e-02 5.77819859e+01] [-5.39159767e-02 9.98541377e-01 -2.86106063e-03 -2.87867560e+00] [-3.79388703e-02 8.14676946e-04 9.99279730e-01 -2.63943659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770385723 meters 0.019521645670145606 Centerline is valid? [True, True] Translation: X:57.81, Y:-2.88, Z:-2.64 [[ 9.98004817e-01 5.19129395e-02 3.59364921e-02 5.78097865e+01] [-5.18488242e-02 9.98651256e-01 -2.71439761e-03 -2.88352098e+00] [-3.60289354e-02 8.45717032e-04 9.99350389e-01 -2.64282450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800385723 meters 0.019900480834424115 Centerline is valid? [True, True] Translation: X:57.84, Y:-2.89, Z:-2.64 [[ 9.98076341e-01 5.09606852e-02 3.53076020e-02 5.78377515e+01] [-5.08981917e-02 9.98700286e-01 -2.66712772e-03 -2.88633412e+00] [-3.53976308e-02 8.64903985e-04 9.99372933e-01 -2.64455246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830385723 meters 0.019165859659778482 Centerline is valid? [True, True] Translation: X:57.87, Y:-2.89, Z:-2.65 [[ 9.98180039e-01 4.96302389e-02 3.42556421e-02 5.78669149e+01] [-4.95707313e-02 9.98767271e-01 -2.58479391e-03 -2.88719075e+00] [-3.43416982e-02 8.82012457e-04 9.99409761e-01 -2.64564481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86038572299999 meters 0.019165859659778482 Centerline is valid? [True, True] Translation: X:57.90, Y:-2.89, Z:-2.65 [[ 9.98183485e-01 4.95607585e-02 3.42558212e-02 5.78951235e+01] [-4.95012915e-02 9.98770721e-01 -2.58241812e-03 -2.88926007e+00] [-3.43416979e-02 8.82019726e-04 9.99409761e-01 -2.64691373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890385722999994 meters 0.02055741813182902 Centerline is valid? [True, True] Translation: X:57.92, Y:-2.89, Z:-2.65 [[ 9.98204630e-01 4.95826397e-02 3.36017670e-02 5.79228192e+01] [-4.95255061e-02 9.98769652e-01 -2.53100622e-03 -2.89497496e+00] [-3.36859192e-02 8.62317605e-04 9.99432096e-01 -2.64980888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920385722999995 meters 0.019207163495888833 Centerline is valid? [True, True] Translation: X:57.95, Y:-2.89, Z:-2.65 [[ 9.98188953e-01 4.99037603e-02 3.35920884e-02 5.79516885e+01] [-4.98469461e-02 9.98753671e-01 -2.52716783e-03 -2.89457054e+00] [-3.36763368e-02 8.48127989e-04 9.99432431e-01 -2.65037849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950385723 meters 0.018578306272246235 Centerline is valid? [True, True] Translation: X:57.98, Y:-2.90, Z:-2.65 [[ 9.98072316e-01 5.10098826e-02 3.53502915e-02 5.79808876e+01] [-5.09477479e-02 9.98697786e-01 -2.65684149e-03 -2.89534127e+00] [-3.54397831e-02 8.50702198e-04 9.99371452e-01 -2.64912314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980385723 meters 0.018173719244777214 Centerline is valid? [True, True] Translation: X:58.01, Y:-2.90, Z:-2.65 [[ 9.97991597e-01 5.15309249e-02 3.68420451e-02 5.80098533e+01] [-5.14638876e-02 9.98671025e-01 -2.76624901e-03 -2.89644326e+00] [-3.69356303e-02 8.64658399e-04 9.99317273e-01 -2.64859039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010385723 meters 0.018358530393337253 Centerline is valid? [True, True] Translation: X:58.04, Y:-2.90, Z:-2.65 [[ 9.97916820e-01 5.15712211e-02 3.87611772e-02 5.80370824e+01] [-5.14971546e-02 9.98668909e-01 -2.90750514e-03 -2.89954299e+00] [-3.88595261e-02 9.05357956e-04 9.99244273e-01 -2.64840960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040385723 meters 0.018458418653215382 Centerline is valid? [True, True] Translation: X:58.07, Y:-2.90, Z:-2.65 [[ 9.97882723e-01 5.03544343e-02 4.11643295e-02 5.80661017e+01] [-5.02700225e-02 9.98730902e-01 -3.08380123e-03 -2.90458327e+00] [-4.12673711e-02 1.00794020e-03 9.99147631e-01 -2.64755424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070385722999994 meters 0.01956132249801489 Centerline is valid? [True, True] Translation: X:58.09, Y:-2.91, Z:-2.65 [[ 9.97948001e-01 4.91732177e-02 4.10095393e-02 5.80939711e+01] [-4.90885754e-02 9.98789714e-01 -3.06900233e-03 -2.91017521e+00] [-4.11108188e-02 1.04960488e-03 9.99154042e-01 -2.64830268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100385722999995 meters 0.02021782683982183 Centerline is valid? [True, True] Translation: X:58.12, Y:-2.91, Z:-2.65 [[ 9.98168093e-01 4.72212933e-02 3.78233666e-02 5.81225921e+01] [-4.71478822e-02 9.98883908e-01 -2.83101145e-03 -2.91493606e+00] [-3.79148363e-02 1.04253367e-03 9.99280430e-01 -2.65161123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130385722999996 meters 0.020596805365051197 Centerline is valid? [True, True] Translation: X:58.15, Y:-2.92, Z:-2.65 [[ 9.98275912e-01 4.66167781e-02 3.56662255e-02 5.81508934e+01] [-4.65511554e-02 9.98912343e-01 -2.66857343e-03 -2.91868039e+00] [-3.57518331e-02 1.00366857e-03 9.99360195e-01 -2.65478682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160385723 meters 0.01954350974739407 Centerline is valid? [True, True] Translation: X:58.18, Y:-2.92, Z:-2.66 [[ 9.98319428e-01 4.63414504e-02 3.47963987e-02 5.81792174e+01] [-4.62788765e-02 9.98925170e-01 -2.60198562e-03 -2.91968133e+00] [-3.48795783e-02 9.87274557e-04 9.99391035e-01 -2.65685635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190385723 meters 0.01866839971435746 Centerline is valid? [True, True] Translation: X:58.21, Y:-2.92, Z:-2.66 [[ 9.98203915e-01 4.77705049e-02 3.61513982e-02 5.82076592e+01] [-4.77039919e-02 9.98857866e-01 -2.70067246e-03 -2.92324859e+00] [-3.62391210e-02 9.71255810e-04 9.99342675e-01 -2.65810461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220385723 meters 0.018794150289040402 Centerline is valid? [True, True] Translation: X:58.24, Y:-2.93, Z:-2.66 [[ 9.98116828e-01 4.88451767e-02 3.71072219e-02 5.82355728e+01] [-4.87759372e-02 9.98805906e-01 -2.76946580e-03 -2.92700763e+00] [-3.71981874e-02 9.54310892e-04 9.99307452e-01 -2.65903499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250385722999994 meters 0.017659443110678782 Centerline is valid? [True, True] Translation: X:58.26, Y:-2.93, Z:-2.66 [[ 9.98017100e-01 5.04797729e-02 3.75986845e-02 5.82649481e+01] [-5.04099816e-02 9.98724677e-01 -2.80252286e-03 -2.92681990e+00] [-3.76922047e-02 9.01616740e-04 9.99288990e-01 -2.65828130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280385722999995 meters 0.018099094597704368 Centerline is valid? [True, True] Translation: X:58.29, Y:-2.93, Z:-2.66 [[ 9.98029769e-01 5.06570276e-02 3.70195240e-02 5.82929918e+01] [-5.05895568e-02 9.98715721e-01 -2.75762952e-03 -2.92963842e+00] [-3.71116740e-02 8.79395042e-04 9.99310738e-01 -2.65952561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310385722999996 meters 0.018007407952942044 Centerline is valid? [True, True] Translation: X:58.32, Y:-2.93, Z:-2.66 [[ 9.98059579e-01 5.07522419e-02 3.60733655e-02 5.83213523e+01] [-5.06883609e-02 9.98710913e-01 -2.68380182e-03 -2.93164406e+00] [-3.61630727e-02 8.50094344e-04 9.99345541e-01 -2.66039371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340385723 meters 0.017811589747587606 Centerline is valid? [True, True] Translation: X:58.35, Y:-2.94, Z:-2.66 [[ 9.98148093e-01 5.01874660e-02 3.43744627e-02 5.83502500e+01] [-5.01292074e-02 9.98739473e-01 -2.55511287e-03 -2.93501893e+00] [-3.44593673e-02 8.27216471e-04 9.99405757e-01 -2.66204706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370385723 meters 0.017869164715906438 Centerline is valid? [True, True] Translation: X:58.38, Y:-2.94, Z:-2.66 [[ 9.98192470e-01 4.95137425e-02 3.40614546e-02 5.83784881e+01] [-4.94562313e-02 9.98773089e-01 -2.52942380e-03 -2.93773685e+00] [-3.41449055e-02 8.40300613e-04 9.99416539e-01 -2.66327012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400385723 meters 0.017988144954420374 Centerline is valid? [True, True] Translation: X:58.41, Y:-2.94, Z:-2.66 [[ 9.98297772e-01 4.80136989e-02 3.31095558e-02 5.84075463e+01] [-4.79586107e-02 9.98846303e-01 -2.45643648e-03 -2.94050847e+00] [-3.31893000e-02 8.64366771e-04 9.99448710e-01 -2.66384092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43038572299999 meters 0.018422112322943086 Centerline is valid? [True, True] Translation: X:58.44, Y:-2.94, Z:-2.67 [[ 9.98339385e-01 4.69717053e-02 3.33486469e-02 5.84353375e+01] [-4.69153101e-02 9.98895812e-01 -2.47199865e-03 -2.94385502e+00] [-3.34279377e-02 9.03331496e-04 9.99440722e-01 -2.66577576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460385722999995 meters 0.018680231749121836 Centerline is valid? [True, True] Translation: X:58.46, Y:-2.95, Z:-2.67 [[ 9.98373564e-01 4.59859671e-02 3.36974505e-02 5.84634164e+01] [-4.59279363e-02 9.98941641e-01 -2.49455255e-03 -2.94702252e+00] [-3.37765009e-02 9.42840965e-04 9.99428966e-01 -2.66780710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490385722999996 meters 0.020164874510683026 Centerline is valid? [True, True] Translation: X:58.49, Y:-2.95, Z:-2.67 [[ 9.98487640e-01 4.38029165e-02 3.32225347e-02 5.84927024e+01] [-4.37454275e-02 9.99039693e-01 -2.45566865e-03 -2.95207740e+00] [-3.32981963e-02 9.98620816e-04 9.99444962e-01 -2.67479991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520385723 meters 0.020637575250228645 Centerline is valid? [True, True] Translation: X:58.52, Y:-2.96, Z:-2.68 [[ 9.98552436e-01 4.22831610e-02 3.32440477e-02 5.85211372e+01] [-4.22247891e-02 9.99105117e-01 -2.45627314e-03 -2.95602265e+00] [-3.33181571e-02 1.04899463e-03 9.99444246e-01 -2.67552671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550385723 meters 0.02085481108602203 Centerline is valid? [True, True] Translation: X:58.55, Y:-2.96, Z:-2.67 [[ 9.98662693e-01 3.89873990e-02 3.39530175e-02 5.85509225e+01] [-3.89246773e-02 9.99239004e-01 -2.50660128e-03 -2.95924572e+00] [-3.40249052e-02 1.18163894e-03 9.99420287e-01 -2.67262680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580385723 meters 0.02207787846554613 Centerline is valid? [True, True] Translation: X:58.58, Y:-2.96, Z:-2.67 [[ 9.98690323e-01 3.74092782e-02 3.49025059e-02 5.85806961e+01] [-3.73420981e-02 9.99299223e-01 -2.57490480e-03 -2.96361456e+00] [-3.49743724e-02 1.26819971e-03 9.99387405e-01 -2.67258200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61038572299999 meters 0.022421103338947337 Centerline is valid? [True, True] Translation: X:58.61, Y:-2.97, Z:-2.67 [[ 9.98717866e-01 3.58947284e-02 3.56958321e-02 5.86122142e+01] [-3.58234749e-02 9.99354662e-01 -2.63391528e-03 -2.96541755e+00] [-3.57673400e-02 1.35178951e-03 9.99359230e-01 -2.67422214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640385722999994 meters 0.02325363529391936 Centerline is valid? [True, True] Translation: X:58.64, Y:-2.97, Z:-2.67 [[ 9.98804485e-01 3.26597369e-02 3.63722816e-02 5.86432509e+01] [-3.25835670e-02 9.99465408e-01 -2.68513373e-03 -2.96954649e+00] [-3.64405330e-02 1.49678494e-03 9.99334702e-01 -2.67242297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670385722999995 meters 0.022944526639064437 Centerline is valid? [True, True] Translation: X:58.68, Y:-2.97, Z:-2.68 [[ 9.98875695e-01 3.12965188e-02 3.56072180e-02 5.86757245e+01] [-3.12226841e-02 9.99508999e-01 -2.62789202e-03 -2.97035801e+00] [-3.56719787e-02 1.51318455e-03 9.99362407e-01 -2.67639600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700385723 meters 0.02427219530490909 Centerline is valid? [True, True] Translation: X:58.71, Y:-2.98, Z:-2.68 [[ 9.98929026e-01 3.00845590e-02 3.51528094e-02 5.87065879e+01] [-3.00115348e-02 9.99546162e-01 -2.60326920e-03 -2.97539908e+00] [-3.52151740e-02 1.54549140e-03 9.99378558e-01 -2.67936509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730385723 meters 0.02380554169243674 Centerline is valid? [True, True] Translation: X:58.74, Y:-2.98, Z:-2.68 [[ 9.98986712e-01 2.76197461e-02 3.55344707e-02 5.87381674e+01] [-2.75432724e-02 9.99617126e-01 -2.63991690e-03 -2.97928798e+00] [-3.55937793e-02 1.65850630e-03 9.99364964e-01 -2.67965239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760385723 meters 0.023969705918884015 Centerline is valid? [True, True] Translation: X:58.77, Y:-2.98, Z:-2.68 [[ 9.98981420e-01 2.71699410e-02 3.60266125e-02 5.87701459e+01] [-2.70907399e-02 9.99629373e-01 -2.68482693e-03 -2.98195533e+00] [-3.60862067e-02 1.70610463e-03 9.99347224e-01 -2.68100396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790385723 meters 0.024516826486904304 Centerline is valid? [True, True] Translation: X:58.80, Y:-2.98, Z:-2.68 [[ 9.98965336e-01 2.72960173e-02 3.63756141e-02 5.88033322e+01] [-2.72150308e-02 9.99625902e-01 -2.71977499e-03 -2.98480636e+00] [-3.64362451e-02 1.72699748e-03 9.99334487e-01 -2.68184761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820385722999994 meters 0.024610117097625183 Centerline is valid? [True, True] Translation: X:58.84, Y:-2.99, Z:-2.68 [[ 9.98925236e-01 2.80353988e-02 3.69105692e-02 5.88352588e+01] [-2.79521081e-02 9.99605423e-01 -2.77076662e-03 -2.98710338e+00] [-3.69736847e-02 1.73606048e-03 9.99314732e-01 -2.68316784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850385722999995 meters 0.023687776209586495 Centerline is valid? [True, True] Translation: X:58.87, Y:-2.99, Z:-2.68 [[ 9.98928713e-01 2.86348369e-02 3.63520717e-02 5.88672776e+01] [-2.85541242e-02 9.99588499e-01 -2.73764588e-03 -2.98830891e+00] [-3.64155048e-02 1.69671151e-03 9.99335295e-01 -2.68461458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880385722999996 meters 0.025377130266142564 Centerline is valid? [True, True] Translation: X:58.90, Y:-2.99, Z:-2.69 [[ 9.98940705e-01 2.89613829e-02 3.57589926e-02 5.88986602e+01] [-2.88831819e-02 9.99579143e-01 -2.70164804e-03 -2.99331901e+00] [-3.58221866e-02 1.66595271e-03 9.99356791e-01 -2.68686688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910385723 meters 0.025561904439918348 Centerline is valid? [True, True] Translation: X:58.93, Y:-2.99, Z:-2.69 [[ 9.99013548e-01 2.91971264e-02 3.34583273e-02 5.89304017e+01] [-2.91285095e-02 9.99572457e-01 -2.53652065e-03 -2.99421916e+00] [-3.35180815e-02 1.55942728e-03 9.99436895e-01 -2.68820710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940385723 meters 0.023660425158893137 Centerline is valid? [True, True] Translation: X:58.96, Y:-2.99, Z:-2.69 [[ 9.99002129e-01 3.00848101e-02 3.30098521e-02 5.89625943e+01] [-3.00182726e-02 9.99546200e-01 -2.50953255e-03 -2.99286502e+00] [-3.30703711e-02 1.51612962e-03 9.99451876e-01 -2.68892500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970385723 meters 0.02457079965328929 Centerline is valid? [True, True] Translation: X:58.99, Y:-3.00, Z:-2.69 [[ 9.98966102e-01 3.11319311e-02 3.31289958e-02 5.89933683e+01] [-3.10652028e-02 9.99514165e-01 -2.52714013e-03 -2.99554392e+00] [-3.31915754e-02 1.49536836e-03 9.99447889e-01 -2.69222946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000385722999994 meters 0.0222599120728353 Centerline is valid? [True, True] Translation: X:59.03, Y:-3.00, Z:-2.69 [[ 9.98858349e-01 3.37786545e-02 3.37787163e-02 5.90251995e+01] [-3.37104650e-02 9.99428294e-01 -2.58635282e-03 -2.99560300e+00] [-3.38467683e-02 1.44470388e-03 9.99425990e-01 -2.69116371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030385722999995 meters 0.022971922277740947 Centerline is valid? [True, True] Translation: X:59.06, Y:-3.00, Z:-2.69 [[ 9.98794167e-01 3.53275335e-02 3.40907287e-02 5.90564279e+01] [-3.52589089e-02 9.99374797e-01 -2.61226822e-03 -2.99979305e+00] [-3.41617001e-02 1.40711636e-03 9.99415328e-01 -2.69372655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060385722999996 meters 0.023641032465416725 Centerline is valid? [True, True] Translation: X:59.09, Y:-3.00, Z:-2.70 [[ 9.98696902e-01 3.84998767e-02 3.35001153e-02 5.90876645e+01] [-3.84351934e-02 9.99257783e-01 -2.57291380e-03 -3.00102656e+00] [-3.35743078e-02 1.28197764e-03 9.99435402e-01 -2.69958323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090385723 meters 0.02311353603485117 Centerline is valid? [True, True] Translation: X:59.12, Y:-3.00, Z:-2.70 [[ 9.98609721e-01 4.03625444e-02 3.39041303e-02 5.91188603e+01] [-4.02973147e-02 9.99184337e-01 -2.60534418e-03 -3.00122710e+00] [-3.39816342e-02 1.23547662e-03 9.99421694e-01 -2.69963415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120385723 meters 0.022168808224442556 Centerline is valid? [True, True] Translation: X:59.15, Y:-3.00, Z:-2.70 [[ 9.98491616e-01 4.25150940e-02 3.47413179e-02 5.91488086e+01] [-4.24478621e-02 9.99095113e-01 -2.67083046e-03 -2.99994005e+00] [-3.48234315e-02 1.19210716e-03 9.99392769e-01 -2.69915297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150385723 meters 0.01992157667793312 Centerline is valid? [True, True] Translation: X:59.18, Y:-3.00, Z:-2.69 [[ 9.98228420e-01 4.64573100e-02 3.71717596e-02 5.91780793e+01] [-4.63831191e-02 9.98919640e-01 -2.85624404e-03 -2.99899404e+00] [-3.72642941e-02 1.12704182e-03 9.99304809e-01 -2.69453162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18038572299999 meters 0.01953851639356038 Centerline is valid? [True, True] Translation: X:59.21, Y:-3.00, Z:-2.69 [[ 9.98166063e-01 4.73454772e-02 3.77215588e-02 5.92076893e+01] [-4.72697587e-02 9.98877959e-01 -2.89713999e-03 -3.00066664e+00] [-3.78164001e-02 1.10873783e-03 9.99284089e-01 -2.69482108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210385722999995 meters 0.019791236632518937 Centerline is valid? [True, True] Translation: X:59.24, Y:-3.00, Z:-2.69 [[ 9.98084914e-01 4.69588859e-02 4.02662009e-02 5.92368481e+01] [-4.68723479e-02 9.98896105e-01 -3.09105129e-03 -3.00424616e+00] [-4.03669035e-02 1.19776029e-03 9.99184206e-01 -2.69406695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240385722999996 meters 0.020774252364013406 Centerline is valid? [True, True] Translation: X:59.26, Y:-3.01, Z:-2.70 [[ 9.98109868e-01 4.59849456e-02 4.07685712e-02 5.92648058e+01] [-4.58954785e-02 9.98941349e-01 -3.12823469e-03 -3.00771413e+00] [-4.08692632e-02 1.25122883e-03 9.99163719e-01 -2.69606390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270385723 meters 0.02013505876720137 Centerline is valid? [True, True] Translation: X:59.30, Y:-3.01, Z:-2.70 [[ 9.98161292e-01 4.53297347e-02 4.02399085e-02 5.92955661e+01] [-4.52421354e-02 9.98971286e-01 -3.08537147e-03 -3.01008342e+00] [-4.03383722e-02 1.25915898e-03 9.99185283e-01 -2.69645853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300385723 meters 0.02042670790829788 Centerline is valid? [True, True] Translation: X:59.33, Y:-3.01, Z:-2.70 [[ 9.98351714e-01 4.35934731e-02 3.73291395e-02 5.93260061e+01] [-4.35168831e-02 9.99048592e-01 -2.86218996e-03 -3.01284699e+00] [-3.74183971e-02 1.23302445e-03 9.99298926e-01 -2.70093675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330385723 meters 0.019826419963197475 Centerline is valid? [True, True] Translation: X:59.36, Y:-3.01, Z:-2.70 [[ 9.98403769e-01 4.30443042e-02 3.65664036e-02 5.93557356e+01] [-4.29704353e-02 9.99072409e-01 -2.80399864e-03 -3.01342157e+00] [-3.66531811e-02 1.22824852e-03 9.99327292e-01 -2.70364427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36038572299999 meters 0.02069263387608491 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.02, Z:-2.71 [[ 9.98439279e-01 4.14521998e-02 3.74262000e-02 5.93847171e+01] [-4.13737543e-02 9.99139622e-01 -2.86841234e-03 -3.01703691e+00] [-3.75129013e-02 1.31547315e-03 9.99295278e-01 -2.70500452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390385722999994 meters 0.021133676525288202 Centerline is valid? [True, True] Translation: X:59.42, Y:-3.02, Z:-2.70 [[ 9.98435551e-01 4.04402155e-02 3.86139703e-02 5.94152796e+01] [-4.03559851e-02 9.99180985e-01 -2.95862204e-03 -3.02022639e+00] [-3.87019922e-02 1.39568861e-03 9.99249823e-01 -2.70498580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420385722999995 meters 0.02262790990062292 Centerline is valid? [True, True] Translation: X:59.45, Y:-3.02, Z:-2.71 [[ 9.98446269e-01 3.88651548e-02 3.99317865e-02 5.94467592e+01] [-3.87738223e-02 9.99243329e-01 -3.05942777e-03 -3.02309661e+00] [-4.00204764e-02 1.50636625e-03 9.99197724e-01 -2.70760261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450385723 meters 0.023333224402925103 Centerline is valid? [True, True] Translation: X:59.48, Y:-3.02, Z:-2.71 [[ 9.98509029e-01 3.62241548e-02 4.08354066e-02 5.94793206e+01] [-3.61263799e-02 9.99342328e-01 -3.12999535e-03 -3.02383271e+00] [-4.09219317e-02 1.65009321e-03 9.99160984e-01 -2.70738631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480385723 meters 0.022962295474057582 Centerline is valid? [True, True] Translation: X:59.51, Y:-3.03, Z:-2.71 [[ 9.98554865e-01 3.52738994e-02 4.05454413e-02 5.95107185e+01] [-3.51766365e-02 9.99376272e-01 -3.11000424e-03 -3.02775705e+00] [-4.06298539e-02 1.67925761e-03 9.99172855e-01 -2.70571245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510385723 meters 0.02321047665940635 Centerline is valid? [True, True] Translation: X:59.54, Y:-3.03, Z:-2.71 [[ 9.98653191e-01 3.38922539e-02 3.92825652e-02 5.95426855e+01] [-3.37995512e-02 9.99424064e-01 -3.02181242e-03 -3.03045973e+00] [-3.93623570e-02 1.69000955e-03 9.99223573e-01 -2.70887685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540385723 meters 0.024395885513647273 Centerline is valid? [True, True] Translation: X:59.57, Y:-3.03, Z:-2.71 [[ 9.98843331e-01 2.94331606e-02 3.80222093e-02 5.95735513e+01] [-2.93426957e-02 9.99565101e-01 -2.93523739e-03 -3.03416046e+00] [-3.80920668e-02 1.81616818e-03 9.99272583e-01 -2.71357987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570385722999994 meters 0.02652281253643257 Centerline is valid? [True, True] Translation: X:59.60, Y:-3.04, Z:-2.72 [[ 9.98946191e-01 2.49823392e-02 3.85018206e-02 5.96040310e+01] [-2.48862525e-02 9.99685869e-01 -2.97296084e-03 -3.03752992e+00] [-3.85639975e-02 2.01166188e-03 9.99254107e-01 -2.71907844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600385722999995 meters 0.027811049963697897 Centerline is valid? [True, True] Translation: X:59.63, Y:-3.04, Z:-2.72 [[ 9.98939058e-01 2.31760948e-02 3.97948170e-02 5.96347972e+01] [-2.30720031e-02 9.99729083e-01 -3.07303720e-03 -3.04303509e+00] [-3.98552569e-02 2.15163074e-03 9.99203147e-01 -2.71815936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630385722999996 meters 0.028713326300869167 Centerline is valid? [True, True] Translation: X:59.67, Y:-3.04, Z:-2.72 [[ 9.99003452e-01 2.16403325e-02 3.90358715e-02 5.96662910e+01] [-2.15388522e-02 9.99763456e-01 -3.01840047e-03 -3.04434930e+00] [-3.90919570e-02 2.17460462e-03 9.99233251e-01 -2.72294288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660385723 meters 0.0290205705275062 Centerline is valid? [True, True] Translation: X:59.70, Y:-3.05, Z:-2.72 [[ 9.98970951e-01 2.09415349e-02 4.02304774e-02 5.96977949e+01] [-2.08327720e-02 9.99778103e-01 -3.12086679e-03 -3.04905307e+00] [-4.02869061e-02 2.27954290e-03 9.99185553e-01 -2.71870110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690385723 meters 0.029204791395258466 Centerline is valid? [True, True] Translation: X:59.73, Y:-3.05, Z:-2.72 [[ 9.99058477e-01 2.04413953e-02 3.82662924e-02 5.97302939e+01] [-2.03424800e-02 9.99788651e-01 -2.97253609e-03 -3.04872653e+00] [-3.83189677e-02 2.19130609e-03 9.99263156e-01 -2.72126943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720385723 meters 0.02841675481442836 Centerline is valid? [True, True] Translation: X:59.76, Y:-3.05, Z:-2.73 [[ 9.99117733e-01 2.09437796e-02 3.64021043e-02 5.97634939e+01] [-2.08543079e-02 9.99778503e-01 -2.83587388e-03 -3.04766604e+00] [-3.64534353e-02 2.07423119e-03 9.99333200e-01 -2.72548179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750385722999994 meters 0.02841675481442836 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.05, Z:-2.73 [[ 9.99111757e-01 2.12283755e-02 3.64012875e-02 5.97960371e+01] [-2.11387128e-02 9.99772501e-01 -2.84631616e-03 -3.05026758e+00] [-3.64534289e-02 2.07431157e-03 9.99333200e-01 -2.72694019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780385722999995 meters 0.028828329417083673 Centerline is valid? [True, True] Translation: X:59.83, Y:-3.05, Z:-2.73 [[ 9.99124792e-01 2.40937273e-02 3.41927215e-02 5.98274546e+01] [-2.40158938e-02 9.99707970e-01 -2.68525758e-03 -3.05006057e+00] [-3.42474341e-02 1.86173865e-03 9.99411651e-01 -2.73198248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810385722999996 meters 0.028436087116130573 Centerline is valid? [True, True] Translation: X:59.86, Y:-3.05, Z:-2.73 [[ 9.99046152e-01 2.64648253e-02 3.47332603e-02 5.98581714e+01] [-2.63858944e-02 9.99648107e-01 -2.72897660e-03 -3.05202593e+00] [-3.47932598e-02 1.80990543e-03 9.99392892e-01 -2.73268064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840385723 meters 0.025727026151957984 Centerline is valid? [True, True] Translation: X:59.89, Y:-3.05, Z:-2.73 [[ 9.98914070e-01 2.93789618e-02 3.61601725e-02 5.98900926e+01] [-2.92952684e-02 9.99566760e-01 -2.84229550e-03 -3.05087895e+00] [-3.62280102e-02 1.77988700e-03 9.99341965e-01 -2.73020874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870385723 meters 0.024025619251181927 Centerline is valid? [True, True] Translation: X:59.92, Y:-3.05, Z:-2.73 [[ 9.98651322e-01 3.53350718e-02 3.80390612e-02 5.99204699e+01] [-3.52466646e-02 9.99374163e-01 -2.99244116e-03 -3.04844194e+00] [-3.81209931e-02 1.64765529e-03 9.99271772e-01 -2.73070129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900385723 meters 0.023163930973939623 Centerline is valid? [True, True] Translation: X:59.95, Y:-3.05, Z:-2.73 [[ 9.98542504e-01 3.83351896e-02 3.79905363e-02 5.99519148e+01] [-3.82491813e-02 9.99263764e-01 -2.98844179e-03 -3.04802416e+00] [-3.80771288e-02 1.53097923e-03 9.99273630e-01 -2.73236904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93038572299999 meters 0.021318682628476658 Centerline is valid? [True, True] Translation: X:59.98, Y:-3.04, Z:-2.73 [[ 9.98334486e-01 4.40756343e-02 3.72235584e-02 5.99828577e+01] [-4.39969908e-02 9.99027368e-01 -2.92964362e-03 -3.04248721e+00] [-3.73164795e-02 1.28703970e-03 9.99302669e-01 -2.73172935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960385722999995 meters 0.021234075103078797 Centerline is valid? [True, True] Translation: X:60.01, Y:-3.04, Z:-2.73 [[ 9.98266306e-01 4.68026925e-02 3.56915897e-02 6.00120814e+01] [-4.67321217e-02 9.98903507e-01 -2.80937880e-03 -3.04076753e+00] [-3.57839406e-02 1.13656448e-03 9.99358903e-01 -2.73476473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990385722999996 meters 0.019780801834999914 Centerline is valid? [True, True] Translation: X:60.04, Y:-3.04, Z:-2.73 [[ 9.98167388e-01 4.92112396e-02 3.52153247e-02 6.00414264e+01] [-4.91440678e-02 9.98787856e-01 -2.77103080e-03 -3.03923782e+00] [-3.53090045e-02 1.03532827e-03 9.99375906e-01 -2.73471237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020385723 meters 0.01815526001840878 Centerline is valid? [True, True] Translation: X:60.07, Y:-3.04, Z:-2.74 [[ 9.97955454e-01 5.35440313e-02 3.48991187e-02 6.00707812e+01] [-5.34807815e-02 9.98565109e-01 -2.74401786e-03 -3.03680840e+00] [-3.49959681e-02 8.71975443e-04 9.99387073e-01 -2.73722954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050385723 meters 0.017849166825767964 Centerline is valid? [True, True] Translation: X:60.10, Y:-3.04, Z:-2.74 [[ 9.97857018e-01 5.53204755e-02 3.49430589e-02 6.00994199e+01] [-5.52582814e-02 9.98468324e-01 -2.74385110e-03 -3.03803939e+00] [-3.50413286e-02 8.07077692e-04 9.99385538e-01 -2.74008101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080385723 meters 0.017755849898561857 Centerline is valid? [True, True] Translation: X:60.13, Y:-3.04, Z:-2.74 [[ 9.97784057e-01 5.67438340e-02 3.47435240e-02 6.01269532e+01] [-5.66832886e-02 9.98388489e-01 -2.72594555e-03 -3.03887100e+00] [-3.48422150e-02 7.50527811e-04 9.99392544e-01 -2.74223044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11038572299999 meters 0.01701286020428537 Centerline is valid? [True, True] Translation: X:60.16, Y:-3.03, Z:-2.74 [[ 9.97698285e-01 5.89281165e-02 3.35500886e-02 6.01559464e+01] [-5.88729943e-02 9.98262018e-01 -2.62935226e-03 -3.03470768e+00] [-3.36467220e-02 6.48106063e-04 9.99433579e-01 -2.74299336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140385722999994 meters 0.01800954052078584 Centerline is valid? [True, True] Translation: X:60.19, Y:-3.03, Z:-2.75 [[ 9.97665057e-01 5.98645094e-02 3.28736137e-02 6.01852429e+01] [-5.98121700e-02 9.98206331e-01 -2.57410984e-03 -3.03268783e+00] [-3.29687471e-02 6.01857270e-04 9.99456202e-01 -2.74588980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170385722999995 meters 0.01663885721801348 Centerline is valid? [True, True] Translation: X:60.21, Y:-3.03, Z:-2.74 [[ 9.97599837e-01 6.03370773e-02 3.39706071e-02 6.02141296e+01] [-6.02815441e-02 9.98177876e-01 -2.65750531e-03 -3.03184959e+00] [-3.40690545e-02 6.03326217e-04 9.99419299e-01 -2.74367523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200385723 meters 0.016866499483675412 Centerline is valid? [True, True] Translation: X:60.24, Y:-3.03, Z:-2.75 [[ 9.97558109e-01 6.03544405e-02 3.51448473e-02 6.02419056e+01] [-6.02950979e-02 9.98176816e-01 -2.74690049e-03 -3.03288293e+00] [-3.52465594e-02 6.21130849e-04 9.99378454e-01 -2.74533615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230385723 meters 0.01656356614982251 Centerline is valid? [True, True] Translation: X:60.27, Y:-3.04, Z:-2.75 [[ 9.97621480e-01 5.89159709e-02 3.57811564e-02 6.02700182e+01] [-5.88536516e-02 9.98262713e-01 -2.79336816e-03 -3.03604278e+00] [-3.58835683e-02 6.80872360e-04 9.99355745e-01 -2.74621162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260385723 meters 0.017475903674116156 Centerline is valid? [True, True] Translation: X:60.30, Y:-3.04, Z:-2.75 [[ 9.97872103e-01 5.42780059e-02 3.61270584e-02 6.02990966e+01] [-5.42115659e-02 9.98525499e-01 -2.81682795e-03 -3.03939932e+00] [-3.62266808e-02 8.52329619e-04 9.99343235e-01 -2.74714204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290385723 meters 0.01795378376210341 Centerline is valid? [True, True] Translation: X:60.33, Y:-3.04, Z:-2.75 [[ 9.98017921e-01 5.16144585e-02 3.60024464e-02 6.03277415e+01] [-5.15468075e-02 9.98666639e-01 -2.80536905e-03 -3.04121613e+00] [-3.60992398e-02 9.43997408e-04 9.99347764e-01 -2.74785294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320385722999994 meters 0.018935084346299542 Centerline is valid? [True, True] Translation: X:60.35, Y:-3.04, Z:-2.75 [[ 9.98144133e-01 4.93946908e-02 3.56153582e-02 6.03548777e+01] [-4.93271597e-02 9.98778826e-01 -2.77285323e-03 -3.04407416e+00] [-3.57088299e-02 1.01090272e-03 9.99361725e-01 -2.74967287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350385722999995 meters 0.019686699689174414 Centerline is valid? [True, True] Translation: X:60.38, Y:-3.05, Z:-2.75 [[ 9.98295970e-01 4.61375033e-02 3.57279652e-02 6.03835972e+01] [-4.60675872e-02 9.98934462e-01 -2.77808617e-03 -3.04740843e+00] [-3.58180697e-02 1.12745108e-03 9.99357691e-01 -2.75201442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380385722999996 meters 0.019929749782231176 Centerline is valid? [True, True] Translation: X:60.41, Y:-3.05, Z:-2.75 [[ 9.98302197e-01 4.45716866e-02 3.74978457e-02 6.04127236e+01] [-4.44936449e-02 9.99005419e-01 -2.91357912e-03 -3.05042647e+00] [-3.75904142e-02 1.24021661e-03 9.99292461e-01 -2.75225681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410385723 meters 0.022120003622287995 Centerline is valid? [True, True] Translation: X:60.44, Y:-3.05, Z:-2.75 [[ 9.98304429e-01 4.36450220e-02 3.85146500e-02 6.04412887e+01] [-4.35620773e-02 9.99046246e-01 -2.99056644e-03 -3.05314573e+00] [-3.86084398e-02 1.30771756e-03 9.99253561e-01 -2.75394536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440385723 meters 0.020407755749694532 Centerline is valid? [True, True] Translation: X:60.47, Y:-3.06, Z:-2.75 [[ 9.98273216e-01 4.32148413e-02 3.97877340e-02 6.04702017e+01] [-4.31260969e-02 9.99064870e-01 -3.08643664e-03 -3.05542000e+00] [-3.98839071e-02 1.36521736e-03 9.99203388e-01 -2.75018498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470385723 meters 0.021888797831246733 Centerline is valid? [True, True] Translation: X:60.50, Y:-3.06, Z:-2.75 [[ 9.98310760e-01 4.26515033e-02 3.94522079e-02 6.04988779e+01] [-4.25639297e-02 9.99089067e-01 -3.05741388e-03 -3.05867298e+00] [-3.95466729e-02 1.37300817e-03 9.99216781e-01 -2.75141811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500385722999994 meters 0.02155596775590025 Centerline is valid? [True, True] Translation: X:60.53, Y:-3.06, Z:-2.76 [[ 9.98451801e-01 4.09604876e-02 3.76329456e-02 6.05285216e+01] [-4.08796570e-02 9.99159825e-01 -2.91517133e-03 -3.05975085e+00] [-3.77207342e-02 1.37223616e-03 9.99287378e-01 -2.75542814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530385722999995 meters 0.021604776796102263 Centerline is valid? [True, True] Translation: X:60.56, Y:-3.07, Z:-2.76 [[ 9.98494233e-01 3.99649680e-02 3.75774911e-02 6.05576442e+01] [-3.98837276e-02 9.99200092e-01 -2.90939545e-03 -3.06599701e+00] [-3.76637064e-02 1.40628416e-03 9.99289481e-01 -2.75722809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560385722999996 meters 0.021373975164994823 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.07, Z:-2.76 [[ 9.98556315e-01 3.85949304e-02 3.73593010e-02 6.05870177e+01] [-3.85136940e-02 9.99253888e-01 -2.89196769e-03 -3.06970101e+00] [-3.74430420e-02 1.44894792e-03 9.99297713e-01 -2.75973495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590385723 meters 0.022751272356778814 Centerline is valid? [True, True] Translation: X:60.62, Y:-3.08, Z:-2.76 [[ 9.98663433e-01 3.69039637e-02 3.61862638e-02 6.06163042e+01] [-3.68266946e-02 9.99317745e-01 -2.79975118e-03 -3.07593127e+00] [-3.62648975e-02 1.46338863e-03 9.99341141e-01 -2.76274972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620385723 meters 0.023082198263269498 Centerline is valid? [True, True] Translation: X:60.65, Y:-3.08, Z:-2.76 [[ 9.98704517e-01 3.64907207e-02 3.54642829e-02 6.06462736e+01] [-3.64162731e-02 9.99332943e-01 -2.74312339e-03 -3.07946092e+00] [-3.55407248e-02 1.44809271e-03 9.99367180e-01 -2.76387549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650385723 meters 0.023819095969834603 Centerline is valid? [True, True] Translation: X:60.68, Y:-3.08, Z:-2.77 [[ 9.98769643e-01 3.64124523e-02 3.36650058e-02 6.06768823e+01] [-3.63453264e-02 9.99335898e-01 -2.60395127e-03 -3.07908281e+00] [-3.37374650e-02 1.37718186e-03 9.99429781e-01 -2.76596971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68038572299999 meters 0.023306883845216012 Centerline is valid? [True, True] Translation: X:60.71, Y:-3.08, Z:-2.76 [[ 9.98713169e-01 3.66768529e-02 3.50259010e-02 6.07055301e+01] [-3.66043393e-02 9.99326163e-01 -2.70950728e-03 -3.08036098e+00] [-3.51016754e-02 1.42392064e-03 9.99382732e-01 -2.76284521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710385722999995 meters 0.022558365675520588 Centerline is valid? [True, True] Translation: X:60.73, Y:-3.08, Z:-2.76 [[ 9.98660375e-01 3.68857429e-02 3.62890928e-02 6.07349141e+01] [-3.68080798e-02 9.99318413e-01 -2.80611137e-03 -3.08108951e+00] [-3.63678641e-02 1.46662041e-03 9.99337394e-01 -2.76129066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740385722999996 meters 0.02265544614063932 Centerline is valid? [True, True] Translation: X:60.76, Y:-3.09, Z:-2.76 [[ 9.98622251e-01 3.74019337e-02 3.68061816e-02 6.07644128e+01] [-3.73224439e-02 9.99299226e-01 -2.84464341e-03 -3.08603323e+00] [-3.68867839e-02 1.46702755e-03 9.99318374e-01 -2.76452673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770385723 meters 0.023250646748631188 Centerline is valid? [True, True] Translation: X:60.79, Y:-3.09, Z:-2.77 [[ 9.98597936e-01 3.75779425e-02 3.72835233e-02 6.07940668e+01] [-3.74965329e-02 9.99292606e-01 -2.88062183e-03 -3.09160177e+00] [-3.73653970e-02 1.47858015e-03 9.99300576e-01 -2.76738888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800385723 meters 0.024572880894233252 Centerline is valid? [True, True] Translation: X:60.82, Y:-3.10, Z:-2.77 [[ 9.98606382e-01 3.80763513e-02 3.65442912e-02 6.08240345e+01] [-3.79984452e-02 9.99273807e-01 -2.82426048e-03 -3.09514130e+00] [-3.66252905e-02 1.43169830e-03 9.99328043e-01 -2.77134294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830385723 meters 0.022629964545293795 Centerline is valid? [True, True] Translation: X:60.85, Y:-3.09, Z:-2.77 [[ 9.98604174e-01 3.87259475e-02 3.59166389e-02 6.08548631e+01] [-3.86511153e-02 9.99248911e-01 -2.77575349e-03 -3.09202481e+00] [-3.59971560e-02 1.38366087e-03 9.99350934e-01 -2.77112463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86038572299999 meters 0.024414500972465565 Centerline is valid? [True, True] Translation: X:60.88, Y:-3.10, Z:-2.77 [[ 9.98578670e-01 3.94555933e-02 3.58314859e-02 6.08838538e+01] [-3.93815790e-02 9.99220407e-01 -2.76932969e-03 -3.09727625e+00] [-3.59128175e-02 1.35429307e-03 9.99354009e-01 -2.77138112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890385722999994 meters 0.02087356035315895 Centerline is valid? [True, True] Translation: X:60.91, Y:-3.09, Z:-2.77 [[ 9.98510264e-01 4.17337964e-02 3.51502965e-02 6.09142591e+01] [-4.16639955e-02 9.99127987e-01 -2.71624489e-03 -3.09284395e+00] [-3.52330042e-02 1.24769661e-03 9.99378346e-01 -2.77035411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920385722999995 meters 0.020597722109336834 Centerline is valid? [True, True] Translation: X:60.94, Y:-3.10, Z:-2.77 [[ 9.98455382e-01 4.26129115e-02 3.56509470e-02 6.09427303e+01] [-4.25417158e-02 9.99090897e-01 -2.75355614e-03 -3.09711581e+00] [-3.57358736e-02 1.23265049e-03 9.99360509e-01 -2.77130366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950385723 meters 0.020381983364462865 Centerline is valid? [True, True] Translation: X:60.97, Y:-3.10, Z:-2.77 [[ 9.98421588e-01 4.32089092e-02 3.58792731e-02 6.09714563e+01] [-4.31372075e-02 9.99065316e-01 -2.77049211e-03 -3.10078677e+00] [-3.59654473e-02 1.21838749e-03 9.99352291e-01 -2.77233605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980385723 meters 0.019929295732111007 Centerline is valid? [True, True] Translation: X:61.00, Y:-3.10, Z:-2.77 [[ 9.98354538e-01 4.42541534e-02 3.64662478e-02 6.10002861e+01] [-4.41808768e-02 9.99019587e-01 -2.81321139e-03 -3.10254886e+00] [-3.65549921e-02 1.19747155e-03 9.99330925e-01 -2.77341036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010385723 meters 0.020282102083500095 Centerline is valid? [True, True] Translation: X:61.03, Y:-3.10, Z:-2.78 [[ 9.98343673e-01 4.46863930e-02 3.62358371e-02 6.10286627e+01] [-4.46144184e-02 9.99000377e-01 -2.79284674e-03 -3.10417411e+00] [-3.63244172e-02 1.17158007e-03 9.99339364e-01 -2.77521222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040385723 meters 0.020357389410156634 Centerline is valid? [True, True] Translation: X:61.06, Y:-3.11, Z:-2.78 [[ 9.98415953e-01 4.43753629e-02 3.45891742e-02 6.10559602e+01] [-4.43096737e-02 9.99014293e-01 -2.66374319e-03 -3.10874127e+00] [-3.46732840e-02 1.12688868e-03 9.99398066e-01 -2.77773100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070385722999994 meters 0.020919243429451808 Centerline is valid? [True, True] Translation: X:61.08, Y:-3.11, Z:-2.78 [[ 9.98515747e-01 4.38838524e-02 3.22569306e-02 6.10848230e+01] [-4.38265625e-02 9.99036073e-01 -2.48128803e-03 -3.11114866e+00] [-3.23347257e-02 1.06389479e-03 9.99476530e-01 -2.78123466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100385722999995 meters 0.02137520598098289 Centerline is valid? [True, True] Translation: X:61.11, Y:-3.12, Z:-2.78 [[ 9.98588038e-01 4.30016347e-02 3.11895755e-02 6.11122642e+01] [-4.29477040e-02 9.99074446e-01 -2.39730145e-03 -3.11519239e+00] [-3.12637957e-02 1.05439590e-03 9.99510612e-01 -2.78330117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130385722999996 meters 0.021076868353209606 Centerline is valid? [True, True] Translation: X:61.14, Y:-3.12, Z:-2.78 [[ 9.98605370e-01 4.15097508e-02 3.26229398e-02 6.11412790e+01] [-4.14500588e-02 9.99137439e-01 -2.50421233e-03 -3.11842143e+00] [-3.26987498e-02 1.14849710e-03 9.99464593e-01 -2.78197480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160385723 meters 0.021308295220753146 Centerline is valid? [True, True] Translation: X:61.17, Y:-3.12, Z:-2.78 [[ 9.98580558e-01 4.05083058e-02 3.45824439e-02 6.11698866e+01] [-4.04407162e-02 9.99178420e-01 -2.65198121e-03 -3.12366818e+00] [-3.46614589e-02 1.24967808e-03 9.99398330e-01 -2.78156958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190385723 meters 0.027701117733047422 Centerline is valid? [True, True] Translation: X:61.20, Y:-3.14, Z:-2.79 [[ 9.98624908e-01 4.01446607e-02 3.37149789e-02 6.11974682e+01] [-4.00802986e-02 9.99193123e-01 -2.58296027e-03 -3.13646430e+00] [-3.37914672e-02 1.22810204e-03 9.99428151e-01 -2.78664861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220385723 meters 0.02318188735611471 Centerline is valid? [True, True] Translation: X:61.23, Y:-3.13, Z:-2.79 [[ 9.98651307e-01 3.93272606e-02 3.38959375e-02 6.12277588e+01] [-3.92618028e-02 9.99225589e-01 -2.59483849e-03 -3.13231730e+00] [-3.39717360e-02 1.26052324e-03 9.99421999e-01 -2.78551118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250385722999994 meters 0.022864052004294977 Centerline is valid? [True, True] Translation: X:61.26, Y:-3.13, Z:-2.79 [[ 9.98673491e-01 3.86690698e-02 3.39994413e-02 6.12574623e+01] [-3.86028706e-02 9.99251245e-01 -2.60158832e-03 -3.13444744e+00] [-3.40745850e-02 1.28566126e-03 9.99418466e-01 -2.78638054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280385722999995 meters 0.022307955918741306 Centerline is valid? [True, True] Translation: X:61.29, Y:-3.14, Z:-2.79 [[ 9.98670439e-01 3.77155701e-02 3.51410037e-02 6.12862052e+01] [-3.76443015e-02 9.99287588e-01 -2.68774233e-03 -3.13958186e+00] [-3.52173386e-02 1.36131027e-03 9.99378750e-01 -2.78538275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310385722999996 meters 0.023807011351927122 Centerline is valid? [True, True] Translation: X:61.32, Y:-3.14, Z:-2.79 [[ 9.98729613e-01 3.78848891e-02 3.32249187e-02 6.13163531e+01] [-3.78213397e-02 9.99281291e-01 -2.53932717e-03 -3.14250528e+00] [-3.32972418e-02 1.27949030e-03 9.99444674e-01 -2.78991269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340385723 meters 0.023912225919551278 Centerline is valid? [True, True] Translation: X:61.34, Y:-3.15, Z:-2.79 [[ 9.98663663e-01 3.74129453e-02 3.56533392e-02 6.13444065e+01] [-3.73394447e-02 9.99298923e-01 -2.72539117e-03 -3.14863642e+00] [-3.57303084e-02 1.39047324e-03 9.99360501e-01 -2.78941634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370385723 meters 0.023443887570355888 Centerline is valid? [True, True] Translation: X:61.38, Y:-3.15, Z:-2.79 [[ 9.98583051e-01 3.78681798e-02 3.73883908e-02 6.13751805e+01] [-3.77877562e-02 9.99281708e-01 -2.85560592e-03 -3.15146304e+00] [-3.74696716e-02 1.43873628e-03 9.99296730e-01 -2.78931235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400385723 meters 0.02477316812551324 Centerline is valid? [True, True] Translation: X:61.41, Y:-3.16, Z:-2.79 [[ 9.98566274e-01 3.86107571e-02 3.70756646e-02 6.14054817e+01] [-3.85321896e-02 9.99253347e-01 -2.83159301e-03 -3.15508433e+00] [-3.71573119e-02 1.39892674e-03 9.99308449e-01 -2.79118494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43038572299999 meters 0.022808735208523726 Centerline is valid? [True, True] Translation: X:61.44, Y:-3.15, Z:-2.79 [[ 9.98542681e-01 3.93217139e-02 3.69637161e-02 6.14359291e+01] [-3.92440789e-02 9.99225664e-01 -2.82379528e-03 -3.15374505e+00] [-3.70461303e-02 1.36907312e-03 9.99312619e-01 -2.79143224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460385722999995 meters 0.021581255709051988 Centerline is valid? [True, True] Translation: X:61.47, Y:-3.16, Z:-2.79 [[ 9.98541947e-01 4.00250820e-02 3.62211698e-02 6.14666059e+01] [-3.99509984e-02 9.99197809e-01 -2.76706941e-03 -3.15757330e+00] [-3.63028657e-02 1.31596298e-03 9.99339967e-01 -2.79326614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490385722999996 meters 0.022395452309319355 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.16, Z:-2.80 [[ 9.98547390e-01 4.09180816e-02 3.50545293e-02 6.14952866e+01] [-4.08492393e-02 9.99161732e-01 -2.67811412e-03 -3.16275903e+00] [-3.51347275e-02 1.24227301e-03 9.99381813e-01 -2.79634180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520385723 meters 0.022086318459203655 Centerline is valid? [True, True] Translation: X:61.53, Y:-3.17, Z:-2.80 [[ 9.98510072e-01 4.16680471e-02 3.52336470e-02 6.15250678e+01] [-4.15989815e-02 9.99130763e-01 -2.69133858e-03 -3.16599032e+00] [-3.53151634e-02 1.22164485e-03 9.99375478e-01 -2.79807826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550385723 meters 0.022074416921037707 Centerline is valid? [True, True] Translation: X:61.55, Y:-3.17, Z:-2.80 [[ 9.98459815e-01 4.32904414e-02 3.46977623e-02 6.15543820e+01] [-4.32244814e-02 9.99061873e-01 -2.64921072e-03 -3.16885235e+00] [-3.47798969e-02 1.14533767e-03 9.99394340e-01 -2.80063128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580385723 meters 0.021487257013385185 Centerline is valid? [True, True] Translation: X:61.58, Y:-3.17, Z:-2.80 [[ 9.98399479e-01 4.52481122e-02 3.39277001e-02 6.15826565e+01] [-4.51862104e-02 9.98975225e-01 -2.58945214e-03 -3.17132277e+00] [-3.40100997e-02 1.05224347e-03 9.99420935e-01 -2.80316654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61038572299999 meters 0.019970029761222474 Centerline is valid? [True, True] Translation: X:61.61, Y:-3.17, Z:-2.80 [[ 9.98122207e-01 5.09568361e-02 3.39920592e-02 6.16116185e+01] [-5.08980718e-02 9.98700488e-01 -2.59241011e-03 -3.17203612e+00] [-3.40799872e-02 8.57411833e-04 9.99418741e-01 -2.80425967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640385722999994 meters 0.0190897385490507 Centerline is valid? [True, True] Translation: X:61.64, Y:-3.17, Z:-2.80 [[ 9.97940182e-01 5.40304813e-02 3.45846955e-02 6.16412640e+01] [-5.39715102e-02 9.98538994e-01 -2.63711365e-03 -3.17067268e+00] [-3.46766516e-02 7.65093426e-04 9.99398291e-01 -2.80366219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670385722999995 meters 0.0190897385490507 Centerline is valid? [True, True] Translation: X:61.67, Y:-3.17, Z:-2.80 [[ 9.97945855e-01 5.39254110e-02 3.45849710e-02 6.16686246e+01] [-5.38665022e-02 9.98544673e-01 -2.63349519e-03 -3.17267244e+00] [-3.46766509e-02 7.65114188e-04 9.99398291e-01 -2.80489361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700385723 meters 0.017469987986359643 Centerline is valid? [True, True] Translation: X:61.70, Y:-3.17, Z:-2.80 [[ 9.97568739e-01 5.99648562e-02 3.55081282e-02 6.16980710e+01] [-5.99067425e-02 9.98200329e-01 -2.69925842e-03 -3.17147668e+00] [-3.56060858e-02 5.65519531e-04 9.99365742e-01 -2.80415273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730385723 meters 0.017920162149307722 Centerline is valid? [True, True] Translation: X:61.73, Y:-3.17, Z:-2.81 [[ 9.97399679e-01 6.29600780e-02 3.50700686e-02 6.17266872e+01] [-6.29052709e-02 9.98015944e-01 -2.66508420e-03 -3.17281522e+00] [-3.51682815e-02 4.52061955e-04 9.99381302e-01 -2.80699548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760385723 meters 0.01753709912436933 Centerline is valid? [True, True] Translation: X:61.75, Y:-3.18, Z:-2.81 [[ 9.97102561e-01 6.73609724e-02 3.53409405e-02 6.17542621e+01] [-6.73081603e-02 9.97728626e-01 -2.68333052e-03 -3.17587091e+00] [-3.54414198e-02 2.96822041e-04 9.99371711e-01 -2.81016981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790385723 meters 0.016996472416419044 Centerline is valid? [True, True] Translation: X:61.78, Y:-3.18, Z:-2.81 [[ 9.96940875e-01 6.93748535e-02 3.60002844e-02 6.17830202e+01] [-6.93214851e-02 9.97590637e-01 -2.73003943e-03 -3.17694422e+00] [-3.61029427e-02 2.26094722e-04 9.99348051e-01 -2.81014661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820385722999994 meters 0.016911439444651125 Centerline is valid? [True, True] Translation: X:61.81, Y:-3.18, Z:-2.81 [[ 9.96810197e-01 7.13707191e-02 3.57162623e-02 6.18122361e+01] [-7.13195567e-02 9.97449847e-01 -2.70609194e-03 -3.17801490e+00] [-3.58183161e-02 1.50192043e-04 9.99358307e-01 -2.81119662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850385722999995 meters 0.016913169142480575 Centerline is valid? [True, True] Translation: X:61.84, Y:-3.18, Z:-2.81 [[ 9.96715136e-01 7.36732230e-02 3.36332240e-02 6.18407589e+01] [-7.36292377e-02 9.97282434e-01 -2.54615660e-03 -3.17902477e+00] [-3.37294070e-02 6.14041778e-05 9.99431000e-01 -2.81319480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880385722999996 meters 0.017046222298133778 Centerline is valid? [True, True] Translation: X:61.87, Y:-3.18, Z:-2.81 [[ 9.96704109e-01 7.41335623e-02 3.29413617e-02 6.18695084e+01] [-7.40916924e-02 9.97248321e-01 -2.49158476e-03 -3.18182736e+00] [-3.30354277e-02 4.26915330e-05 9.99454180e-01 -2.81470183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910385723 meters 0.01776868768108312 Centerline is valid? [True, True] Translation: X:61.90, Y:-3.19, Z:-2.82 [[ 9.96757728e-01 7.38853054e-02 3.18589472e-02 6.18978670e+01] [-7.38460845e-02 9.97266744e-01 -2.40756802e-03 -3.18735159e+00] [-3.19497524e-02 4.71035301e-05 9.99489475e-01 -2.81764853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940385723 meters 0.01576671744317019 Centerline is valid? [True, True] Translation: X:61.93, Y:-3.19, Z:-2.82 [[ 9.96789820e-01 7.30696755e-02 3.27242530e-02 6.19264540e+01] [-7.30279329e-02 9.97326836e-01 -2.47058543e-03 -3.19087112e+00] [-3.28173005e-02 7.28698525e-05 9.99461365e-01 -2.81759594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970385723 meters 0.016612681098050332 Centerline is valid? [True, True] Translation: X:61.96, Y:-3.19, Z:-2.82 [[ 9.96820027e-01 7.28221933e-02 3.23536986e-02 6.19554514e+01] [-7.27813328e-02 9.97344936e-01 -2.44038724e-03 -3.19372201e+00] [-3.24455118e-02 7.78815648e-05 9.99473503e-01 -2.81901566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000385723 meters 0.016891298148430912 Centerline is valid? [True, True] Translation: X:61.98, Y:-3.20, Z:-2.82 [[ 9.96814981e-01 7.26562232e-02 3.28780657e-02 6.19845587e+01] [-7.26140137e-02 9.97357041e-01 -2.47760926e-03 -3.19645195e+00] [-3.29711840e-02 8.23097117e-05 9.99456299e-01 -2.81964490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030385723 meters 0.01762131240795585 Centerline is valid? [True, True] Translation: X:62.01, Y:-3.20, Z:-2.82 [[ 9.96901695e-01 7.10955373e-02 3.36516686e-02 6.20128373e+01] [-7.10505092e-02 9.97469502e-01 -2.53351897e-03 -3.20125127e+00] [-3.37466350e-02 1.34701162e-04 9.99430411e-01 -2.81992638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060385723 meters 0.0169008181453214 Centerline is valid? [True, True] Translation: X:62.04, Y:-3.21, Z:-2.82 [[ 9.97144064e-01 6.72288739e-02 3.44092024e-02 6.20401911e+01] [-6.71795750e-02 9.97737544e-01 -2.58817616e-03 -3.20889565e+00] [-3.45053533e-02 2.69188904e-04 9.99404477e-01 -2.82246543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090385723 meters 0.017036932679899322 Centerline is valid? [True, True] Translation: X:62.07, Y:-3.21, Z:-2.82 [[ 9.97293101e-01 6.50782938e-02 3.42240538e-02 6.20690724e+01] [-6.50283692e-02 9.97880104e-01 -2.57101543e-03 -3.21256042e+00] [-3.43188196e-02 3.38521544e-04 9.99410878e-01 -2.82353018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120385723 meters 0.018645119667481634 Centerline is valid? [True, True] Translation: X:62.10, Y:-3.22, Z:-2.83 [[ 9.97482430e-01 6.29730318e-02 3.26067334e-02 6.20966019e+01] [-6.29266554e-02 9.98015153e-01 -2.44755688e-03 -3.21669339e+00] [-3.26961441e-02 3.89562308e-04 9.99465262e-01 -2.82648687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150385723 meters 0.01832556911423971 Centerline is valid? [True, True] Translation: X:62.13, Y:-3.22, Z:-2.83 [[ 9.97760607e-01 5.85321687e-02 3.23690639e-02 6.21253711e+01] [-5.84842281e-02 9.98285383e-01 -2.42668400e-03 -3.22109290e+00] [-3.24556024e-02 5.28169982e-04 9.99473039e-01 -2.82681549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180385723 meters 0.018334174003329186 Centerline is valid? [True, True] Translation: X:62.15, Y:-3.23, Z:-2.83 [[ 9.97905323e-01 5.60571634e-02 3.22887142e-02 6.21538525e+01] [-5.60082396e-02 9.98427378e-01 -2.41837669e-03 -3.22534105e+00] [-3.23735036e-02 6.04876935e-04 9.99475658e-01 -2.82836459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210385723 meters 0.01899280502267806 Centerline is valid? [True, True] Translation: X:62.18, Y:-3.23, Z:-2.83 [[ 9.98040098e-01 5.37063909e-02 3.21183098e-02 6.21816513e+01] [-5.36568315e-02 9.98556542e-01 -2.40357168e-03 -3.23035641e+00] [-3.22010356e-02 6.75494179e-04 9.99481184e-01 -2.83095544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240385723 meters 0.02050508781584338 Centerline is valid? [True, True] Translation: X:62.21, Y:-3.24, Z:-2.83 [[ 9.98276509e-01 4.88138172e-02 3.25764149e-02 6.22096392e+01] [-4.87603394e-02 9.98807540e-01 -2.43449938e-03 -3.23713563e+00] [-3.26564060e-02 8.41866498e-04 9.99466283e-01 -2.83254461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27038572299999 meters 0.0218434796181302 Centerline is valid? [True, True] Translation: X:62.24, Y:-3.24, Z:-2.83 [[ 9.98363304e-01 4.65788638e-02 3.31831737e-02 6.22378169e+01] [-4.65221876e-02 9.98914182e-01 -2.47844671e-03 -3.24052847e+00] [-3.32625860e-02 9.30636419e-04 9.99446214e-01 -2.83362530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30038572299999 meters 0.023060471051396483 Centerline is valid? [True, True] Translation: X:62.27, Y:-3.24, Z:-2.83 [[ 9.98529977e-01 4.22621474e-02 3.39381148e-02 6.22672753e+01] [-4.22004926e-02 9.99105956e-01 -2.53126281e-03 -3.24458587e+00] [-3.40147492e-02 1.09533664e-03 9.99420731e-01 -2.83406184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33038572299999 meters 0.023376792220103092 Centerline is valid? [True, True] Translation: X:62.30, Y:-3.25, Z:-2.84 [[ 9.98608395e-01 4.06591561e-02 3.35872992e-02 6.22974015e+01] [-4.05979164e-02 9.99172428e-01 -2.50355554e-03 -3.24836091e+00] [-3.36612958e-02 1.13649721e-03 9.99432652e-01 -2.83614372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360385723 meters 0.023616916575754467 Centerline is valid? [True, True] Translation: X:62.33, Y:-3.25, Z:-2.84 [[ 9.98695284e-01 3.91014216e-02 3.28452108e-02 6.23265592e+01] [-3.90420042e-02 9.99234570e-01 -2.44865631e-03 -3.25092449e+00] [-3.29158160e-02 1.16311865e-03 9.99457451e-01 -2.83813180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390385723 meters 0.0247776193800639 Centerline is valid? [True, True] Translation: X:62.36, Y:-3.25, Z:-2.84 [[ 9.98765064e-01 3.78128767e-02 3.22262804e-02 6.23557868e+01] [-3.77550515e-02 9.99284139e-01 -2.40119015e-03 -3.25450241e+00] [-3.22940068e-02 1.18151996e-03 9.99477714e-01 -2.84069236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420385723 meters 0.023483453760123653 Centerline is valid? [True, True] Translation: X:62.39, Y:-3.25, Z:-2.84 [[ 9.98810494e-01 3.55382818e-02 3.33860325e-02 6.23862022e+01] [-3.54749762e-02 9.99367471e-01 -2.48679651e-03 -3.25410628e+00] [-3.34532913e-02 1.29946975e-03 9.99439437e-01 -2.84051641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450385723 meters 0.0238665486031457 Centerline is valid? [True, True] Translation: X:62.42, Y:-3.26, Z:-2.84 [[ 9.98767725e-01 3.46598257e-02 3.55208041e-02 6.24171956e+01] [-3.45876182e-02 9.99398168e-01 -2.64547897e-03 -3.25587136e+00] [-3.55911184e-02 1.41363900e-03 9.99365436e-01 -2.84113425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480385723 meters 0.022758934959191356 Centerline is valid? [True, True] Translation: X:62.45, Y:-3.26, Z:-2.84 [[ 9.98611733e-01 3.35184159e-02 4.06340034e-02 6.24496751e+01] [-3.34229317e-02 9.99436713e-01 -3.02711226e-03 -3.25884120e+00] [-4.07125788e-02 1.66480230e-03 9.99169512e-01 -2.83906126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510385723 meters 0.024715096602891402 Centerline is valid? [True, True] Translation: X:62.48, Y:-3.26, Z:-2.84 [[ 9.98609264e-01 3.35298738e-02 4.06851963e-02 6.24811801e+01] [-3.34337388e-02 9.99436309e-01 -3.04120484e-03 -3.26264988e+00] [-4.07642337e-02 1.67671710e-03 9.99167386e-01 -2.84107315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540385723 meters 0.025961231280188884 Centerline is valid? [True, True] Translation: X:62.51, Y:-3.26, Z:-2.84 [[ 9.98684356e-01 3.32898177e-02 3.90044329e-02 6.25131786e+01] [-3.32008869e-02 9.99444416e-01 -2.92572105e-03 -3.26395582e+00] [-3.90801594e-02 1.62689007e-03 9.99234754e-01 -2.84361632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570385723 meters 0.025561221530833327 Centerline is valid? [True, True] Translation: X:62.55, Y:-3.26, Z:-2.85 [[ 9.98847787e-01 3.16471941e-02 3.60770432e-02 6.25451869e+01] [-3.15697006e-02 9.99497863e-01 -2.71578040e-03 -3.26301047e+00] [-3.61448744e-02 1.57370980e-03 9.99345321e-01 -2.84624722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600385723 meters 0.027313230166720957 Centerline is valid? [True, True] Translation: X:62.58, Y:-3.27, Z:-2.85 [[ 9.98889538e-01 3.04759096e-02 3.59292335e-02 6.25754652e+01] [-3.03981903e-02 9.99534201e-01 -2.70753602e-03 -3.26734463e+00] [-3.59950124e-02 1.61234573e-03 9.99350669e-01 -2.84927367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630385723 meters 0.02808377316752136 Centerline is valid? [True, True] Translation: X:62.61, Y:-3.27, Z:-2.85 [[ 9.98936908e-01 2.82552258e-02 3.64238433e-02 6.26070975e+01] [-2.81738876e-02 9.99599269e-01 -2.74454757e-03 -3.27106643e+00] [-3.64867950e-02 1.71542859e-03 9.99332663e-01 -2.85116638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66038572299999 meters 0.03114217418455089 Centerline is valid? [True, True] Translation: X:62.64, Y:-3.28, Z:-2.85 [[ 9.98967511e-01 2.73377413e-02 3.62844185e-02 6.26375614e+01] [-2.72561200e-02 9.99624721e-01 -2.74232358e-03 -3.27913083e+00] [-3.63457707e-02 1.75051970e-03 9.99337741e-01 -2.85294865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69038572299999 meters 0.027526137080432545 Centerline is valid? [True, True] Translation: X:62.67, Y:-3.27, Z:-2.85 [[ 9.98998817e-01 2.71170345e-02 3.55813058e-02 6.26706050e+01] [-2.70381338e-02 9.99630765e-01 -2.69687117e-03 -3.27476666e+00] [-3.56412991e-02 1.73211901e-03 9.99363146e-01 -2.85362927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72038572299999 meters 0.030327828987759712 Centerline is valid? [True, True] Translation: X:62.70, Y:-3.28, Z:-2.86 [[ 9.99055956e-01 2.60340646e-02 3.47767884e-02 6.27012525e+01] [-2.59577386e-02 9.99659543e-01 -2.64451618e-03 -3.28045047e+00] [-3.48337959e-02 1.73929285e-03 9.99391606e-01 -2.85686599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750385723 meters 0.028093045908519618 Centerline is valid? [True, True] Translation: X:62.73, Y:-3.28, Z:-2.86 [[ 9.99049721e-01 2.57789102e-02 3.51440396e-02 6.27335808e+01] [-2.57005223e-02 9.99666093e-01 -2.68047537e-03 -3.28013496e+00] [-3.52014045e-02 1.77470800e-03 9.99378663e-01 -2.85709858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780385723 meters 0.0287985205836452 Centerline is valid? [True, True] Translation: X:62.77, Y:-3.28, Z:-2.86 [[ 9.98985429e-01 2.67935066e-02 3.61969589e-02 6.27661329e+01] [-2.67106268e-02 9.99639366e-01 -2.77141912e-03 -3.28115980e+00] [-3.62581611e-02 1.80176386e-03 9.99340832e-01 -2.85901530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810385723 meters 0.027152734685298188 Centerline is valid? [True, True] Translation: X:62.80, Y:-3.28, Z:-2.86 [[ 9.98895976e-01 2.84298748e-02 3.73974913e-02 6.27983188e+01] [-2.83424597e-02 9.99594164e-01 -2.86564770e-03 -3.28204149e+00] [-3.74637840e-02 1.80254707e-03 9.99296360e-01 -2.85748732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840385723 meters 0.028106091009193816 Centerline is valid? [True, True] Translation: X:62.83, Y:-3.28, Z:-2.86 [[ 9.98810252e-01 3.08330236e-02 3.77810251e-02 6.28283905e+01] [-3.07451011e-02 9.99523033e-01 -2.90609296e-03 -3.28288415e+00] [-3.78526084e-02 1.74105401e-03 9.99281816e-01 -2.85939174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870385723 meters 0.02737827595352669 Centerline is valid? [True, True] Translation: X:62.86, Y:-3.28, Z:-2.86 [[ 9.98667224e-01 3.35596912e-02 3.92112465e-02 6.28599263e+01] [-3.34670530e-02 9.99435268e-01 -3.01673731e-03 -3.28257161e+00] [-3.92903435e-02 1.70043181e-03 9.99226389e-01 -2.85856381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900385723 meters 0.0266353914749205 Centerline is valid? [True, True] Translation: X:62.89, Y:-3.28, Z:-2.86 [[ 9.98488937e-01 3.63140827e-02 4.12447608e-02 6.28914677e+01] [-3.62138607e-02 9.99339020e-01 -3.17471852e-03 -3.28230309e+00] [-4.13327858e-02 1.67628930e-03 9.99144029e-01 -2.85680266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930385723 meters 0.024852517510007187 Centerline is valid? [True, True] Translation: X:62.92, Y:-3.28, Z:-2.85 [[ 9.98161346e-01 4.16761513e-02 4.40116644e-02 6.29224986e+01] [-4.15671487e-02 9.99129964e-01 -3.38933830e-03 -3.27939050e+00] [-4.41146273e-02 1.55366707e-03 9.99025268e-01 -2.85400325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960385723 meters 0.02365777782300522 Centerline is valid? [True, True] Translation: X:62.95, Y:-3.28, Z:-2.86 [[ 9.97945498e-01 4.59799893e-02 4.46164072e-02 6.29539268e+01] [-4.58722271e-02 9.98941404e-01 -3.43668384e-03 -3.27908352e+00] [-4.47271951e-02 1.38296921e-03 9.98998281e-01 -2.85723714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990385723 meters 0.023502796130011005 Centerline is valid? [True, True] Translation: X:62.98, Y:-3.28, Z:-2.86 [[ 9.97839783e-01 4.80037118e-02 4.48487540e-02 6.29845693e+01] [-4.78967933e-02 9.98846311e-01 -3.45616339e-03 -3.28117739e+00] [-4.49629211e-02 1.30058583e-03 9.98987810e-01 -2.85997949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02038572299999 meters 0.024455124315984858 Centerline is valid? [True, True] Translation: X:63.01, Y:-3.29, Z:-2.86 [[ 9.97764965e-01 4.99235079e-02 4.44152813e-02 6.30136461e+01] [-4.98205470e-02 9.98752321e-01 -3.42276277e-03 -3.28517185e+00] [-4.45307416e-02 1.20231917e-03 9.99007291e-01 -2.86266448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05038572299999 meters 0.022429001477353567 Centerline is valid? [True, True] Translation: X:63.04, Y:-3.28, Z:-2.86 [[ 9.97619373e-01 5.27285941e-02 4.44441378e-02 6.30441430e+01] [-5.26283137e-02 9.98608299e-01 -3.42421639e-03 -3.28217719e+00] [-4.45628390e-02 1.07704458e-03 9.99006003e-01 -2.86400287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08038572299999 meters 0.02146490410184211 Centerline is valid? [True, True] Translation: X:63.07, Y:-3.28, Z:-2.86 [[ 9.97593885e-01 5.26627325e-02 4.50896536e-02 6.30724672e+01] [-5.25594858e-02 9.98611755e-01 -3.47312622e-03 -3.28492604e+00] [-4.52099625e-02 1.09488047e-03 9.98976907e-01 -2.86267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110385723 meters 0.02095043808647826 Centerline is valid? [True, True] Translation: X:63.10, Y:-3.29, Z:-2.86 [[ 9.97499629e-01 5.42182481e-02 4.53306889e-02 6.31016690e+01] [-5.41156069e-02 9.98528580e-01 -3.48930276e-03 -3.28575091e+00] [-4.54531723e-02 1.02748047e-03 9.98965942e-01 -2.86409545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140385723 meters 0.021565390846911944 Centerline is valid? [True, True] Translation: X:63.13, Y:-3.29, Z:-2.87 [[ 9.97402448e-01 5.66354047e-02 4.45060391e-02 6.31304250e+01] [-5.65389380e-02 9.98394523e-01 -3.42431204e-03 -3.28617128e+00] [-4.46285229e-02 8.99093027e-04 9.99003247e-01 -2.86685254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170385723 meters 0.022471353332632935 Centerline is valid? [True, True] Translation: X:63.16, Y:-3.29, Z:-2.87 [[ 9.97406847e-01 5.70565973e-02 4.38648563e-02 6.31577863e+01] [-5.69634325e-02 9.98370571e-01 -3.37194772e-03 -3.28933161e+00] [-4.39857735e-02 8.64510961e-04 9.99031783e-01 -2.86845927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200385723 meters 0.0222038262033727 Centerline is valid? [True, True] Translation: X:63.19, Y:-3.29, Z:-2.87 [[ 9.97439304e-01 5.76950440e-02 4.22624758e-02 6.31864594e+01] [-5.76092910e-02 9.98333931e-01 -3.24517129e-03 -3.28952159e+00] [-4.23792939e-02 8.02150125e-04 9.99101272e-01 -2.86995492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230385723 meters 0.020683739367544935 Centerline is valid? [True, True] Translation: X:63.22, Y:-3.29, Z:-2.87 [[ 9.97451833e-01 5.74856149e-02 4.22521649e-02 6.32156060e+01] [-5.73998398e-02 9.98346008e-01 -3.24146054e-03 -3.29060622e+00] [-4.23686175e-02 8.07933261e-04 9.99101720e-01 -2.87024045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260385723 meters 0.021509889868172503 Centerline is valid? [True, True] Translation: X:63.24, Y:-3.29, Z:-2.87 [[ 9.97409210e-01 5.82741521e-02 4.21780951e-02 6.32440907e+01] [-5.81895086e-02 9.98300321e-01 -3.23279044e-03 -3.29271083e+00] [-4.22947939e-02 7.70092335e-04 9.99104878e-01 -2.87358476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290385723 meters 0.021078500525699033 Centerline is valid? [True, True] Translation: X:63.27, Y:-3.30, Z:-2.87 [[ 9.97411105e-01 5.82631665e-02 4.21484301e-02 6.32713944e+01] [-5.81787572e-02 9.98300964e-01 -3.22756432e-03 -3.29590556e+00] [-4.22648666e-02 7.67065213e-04 9.99106147e-01 -2.87491172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320385723 meters 0.020976964115475078 Centerline is valid? [True, True] Translation: X:63.30, Y:-3.30, Z:-2.88 [[ 9.97449951e-01 5.80730561e-02 4.14863331e-02 6.33001790e+01] [-5.79912891e-02 9.98312048e-01 -3.17268476e-03 -3.29734321e+00] [-4.16005536e-02 7.58748324e-04 9.99134034e-01 -2.87672329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350385723 meters 0.0203717135318579 Centerline is valid? [True, True] Translation: X:63.33, Y:-3.30, Z:-2.88 [[ 9.97510269e-01 5.71999310e-02 4.12484184e-02 6.33288484e+01] [-5.71184746e-02 9.98362433e-01 -3.15157185e-03 -3.29872378e+00] [-4.13611411e-02 7.87678548e-04 9.99143951e-01 -2.87636120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380385723 meters 0.02051338223782202 Centerline is valid? [True, True] Translation: X:63.36, Y:-3.30, Z:-2.88 [[ 9.97606593e-01 5.56890547e-02 4.09855427e-02 6.33563537e+01] [-5.56074763e-02 9.98447805e-01 -3.12865122e-03 -3.29899803e+00] [-4.10961568e-02 8.42060486e-04 9.99154841e-01 -2.87547358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41038572299999 meters 0.020531948529519607 Centerline is valid? [True, True] Translation: X:63.39, Y:-3.30, Z:-2.88 [[ 9.97632284e-01 5.54490982e-02 4.06844253e-02 6.33855466e+01] [-5.53686640e-02 9.98461160e-01 -3.10202670e-03 -3.30038064e+00] [-4.07938231e-02 8.42039710e-04 9.99167231e-01 -2.87771045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44038572299999 meters 0.02099510880760022 Centerline is valid? [True, True] Translation: X:63.41, Y:-3.30, Z:-2.88 [[ 9.97691309e-01 5.43872536e-02 4.06703646e-02 6.34127734e+01] [-5.43061082e-02 9.98519528e-01 -3.09814122e-03 -3.30389102e+00] [-4.07786527e-02 8.82339348e-04 9.99167815e-01 -2.87929169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47038572299999 meters 0.021136368093494038 Centerline is valid? [True, True] Translation: X:63.44, Y:-3.31, Z:-2.88 [[ 9.97809144e-01 5.15669418e-02 4.14459037e-02 6.34419707e+01] [-5.14804265e-02 9.98669027e-01 -3.15271818e-03 -3.30589274e+00] [-4.15533164e-02 1.01215823e-03 9.99135775e-01 -2.87746235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500385723 meters 0.021351912398341027 Centerline is valid? [True, True] Translation: X:63.47, Y:-3.31, Z:-2.88 [[ 9.97917077e-01 4.96182061e-02 4.12254792e-02 6.34711214e+01] [-4.95310719e-02 9.98767669e-01 -3.13295343e-03 -3.30702580e+00] [-4.13301273e-02 1.08448556e-03 9.99144957e-01 -2.87636352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530385723 meters 0.021821910927816032 Centerline is valid? [True, True] Translation: X:63.50, Y:-3.31, Z:-2.88 [[ 9.98064395e-01 4.69483102e-02 4.07838206e-02 6.35009592e+01] [-4.68608869e-02 9.98896623e-01 -3.09744827e-03 -3.30882505e+00] [-4.08842406e-02 1.18028684e-03 9.99163193e-01 -2.87623519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560385723 meters 0.021821910927816032 Centerline is valid? [True, True] Translation: X:63.53, Y:-3.31, Z:-2.88 [[ 9.98066063e-01 4.69127349e-02 4.07839308e-02 6.35300112e+01] [-4.68253413e-02 9.98898294e-01 -3.09599644e-03 -3.31100351e+00] [-4.08842405e-02 1.18028750e-03 9.99163193e-01 -2.87754158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590385723 meters 0.023131984330216293 Centerline is valid? [True, True] Translation: X:63.56, Y:-3.32, Z:-2.88 [[ 9.98353812e-01 4.20014475e-02 3.90582133e-02 6.35588287e+01] [-4.19175955e-02 9.99116676e-01 -2.96366066e-03 -3.31559516e+00] [-3.91481903e-02 1.32155553e-03 9.99232542e-01 -2.87966064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620385723 meters 0.024883344176415446 Centerline is valid? [True, True] Translation: X:63.59, Y:-3.32, Z:-2.89 [[ 9.98479886e-01 4.00934859e-02 3.78210327e-02 6.35880353e+01] [-4.00135520e-02 9.99195020e-01 -2.86836837e-03 -3.31986317e+00] [-3.79055904e-02 1.35065426e-03 9.99280412e-01 -2.88515046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650385723 meters 0.024651301226640658 Centerline is valid? [True, True] Translation: X:63.62, Y:-3.32, Z:-2.89 [[ 9.98668819e-01 3.67516445e-02 3.61926181e-02 6.36189044e+01] [-3.66763010e-02 9.99323432e-01 -2.74368982e-03 -3.32369193e+00] [-3.62689664e-02 1.41262612e-03 9.99341066e-01 -2.88694899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680385723 meters 0.027474114550177398 Centerline is valid? [True, True] Translation: X:63.65, Y:-3.33, Z:-2.89 [[ 9.98888412e-01 3.20649091e-02 3.45511552e-02 6.36496688e+01] [-3.19933872e-02 9.99484644e-01 -2.62105678e-03 -3.32957935e+00] [-3.46173930e-02 1.51273475e-03 9.99399494e-01 -2.89372131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710385723 meters 0.02765483239495998 Centerline is valid? [True, True] Translation: X:63.68, Y:-3.33, Z:-2.89 [[ 9.98977916e-01 2.85955448e-02 3.50059824e-02 6.36810641e+01] [-2.85199575e-02 9.99589693e-01 -2.65680914e-03 -3.33292243e+00] [-3.50675921e-02 1.65572453e-03 9.99383571e-01 -2.89120644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740385723 meters 0.030680084012590453 Centerline is valid? [True, True] Translation: X:63.71, Y:-3.34, Z:-2.89 [[ 9.99004094e-01 2.67493562e-02 3.57112212e-02 6.37117926e+01] [-2.66694685e-02 9.99640629e-01 -2.71161248e-03 -3.33527692e+00] [-3.57709215e-02 1.75651269e-03 9.99358472e-01 -2.89164724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77038572299999 meters 0.029934740402018635 Centerline is valid? [True, True] Translation: X:63.74, Y:-3.34, Z:-2.89 [[ 9.99022730e-01 2.67927021e-02 3.51530263e-02 6.37438357e+01] [-2.67153472e-02 9.99639520e-01 -2.66846863e-03 -3.33630658e+00] [-3.52118498e-02 1.72673552e-03 9.99378379e-01 -2.89054304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80038572299999 meters 0.03083900700173279 Centerline is valid? [True, True] Translation: X:63.78, Y:-3.34, Z:-2.89 [[ 9.99031375e-01 2.72825687e-02 3.45249754e-02 6.37759609e+01] [-2.72079700e-02 9.99626338e-01 -2.62877988e-03 -3.33953074e+00] [-3.45837946e-02 1.68687908e-03 9.99400378e-01 -2.89070399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83038572299999 meters 0.030491807921224565 Centerline is valid? [True, True] Translation: X:63.81, Y:-3.34, Z:-2.90 [[ 9.99039984e-01 2.83433486e-02 3.34030652e-02 6.38086567e+01] [-2.82737710e-02 9.99596955e-01 -2.55357513e-03 -3.33912189e+00] [-3.34619791e-02 1.60669304e-03 9.99438700e-01 -2.89523569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860385723 meters 0.030819181581902635 Centerline is valid? [True, True] Translation: X:63.84, Y:-3.34, Z:-2.90 [[ 9.99066467e-01 2.85054936e-02 3.24596852e-02 6.38408930e+01] [-2.84398502e-02 9.99592423e-01 -2.48230361e-03 -3.34215558e+00] [-3.25172147e-02 1.55683771e-03 9.99469963e-01 -2.89865162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890385723 meters 0.03190017977225116 Centerline is valid? [True, True] Translation: X:63.87, Y:-3.35, Z:-2.90 [[ 9.99112959e-01 2.81000677e-02 3.13636952e-02 6.38720499e+01] [-2.80383545e-02 9.99603953e-01 -2.40581940e-03 -3.34624421e+00] [-3.14188774e-02 1.52429893e-03 9.99505143e-01 -2.90158026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920385723 meters 0.03245772954612351 Centerline is valid? [True, True] Translation: X:63.90, Y:-3.35, Z:-2.90 [[ 9.99140620e-01 2.81486140e-02 3.04249451e-02 6.39041720e+01] [-2.80903751e-02 9.99602649e-01 -2.33999820e-03 -3.34982882e+00] [-3.04787234e-02 1.48333913e-03 9.99534315e-01 -2.90463119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950385723 meters 0.032315802961671185 Centerline is valid? [True, True] Translation: X:63.94, Y:-3.35, Z:-2.91 [[ 9.99127064e-01 2.82686085e-02 3.07570315e-02 6.39361077e+01] [-2.82089225e-02 9.99599233e-01 -2.37283983e-03 -3.35270212e+00] [-3.08117819e-02 1.50314578e-03 9.99524074e-01 -2.90513332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980385723 meters 0.03199280435090045 Centerline is valid? [True, True] Translation: X:63.97, Y:-3.35, Z:-2.90 [[ 9.99092440e-01 2.90097392e-02 3.11886307e-02 6.39679344e+01] [-2.89484940e-02 9.99577991e-01 -2.41354982e-03 -3.35491731e+00] [-3.12454853e-02 1.50849549e-03 9.99510602e-01 -2.90454081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010385723 meters 0.032614249239619204 Centerline is valid? [True, True] Translation: X:64.00, Y:-3.36, Z:-2.91 [[ 9.99066152e-01 3.00757699e-02 3.10204974e-02 6.39988493e+01] [-3.00154670e-02 9.99546534e-01 -2.40790641e-03 -3.35678010e+00] [-3.10788503e-02 1.47456308e-03 9.99515848e-01 -2.90565624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040385723 meters 0.03201747878464091 Centerline is valid? [True, True] Translation: X:64.03, Y:-3.36, Z:-2.91 [[ 9.99037124e-01 3.10993807e-02 3.09459746e-02 6.40301939e+01] [-3.10395771e-02 9.99515248e-01 -2.41115123e-03 -3.35685699e+00] [-3.10059588e-02 1.44827962e-03 9.99518150e-01 -2.90513748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070385723 meters 0.027292059555293412 Centerline is valid? [True, True] Translation: X:64.06, Y:-3.35, Z:-2.90 [[ 9.99006105e-01 3.22394429e-02 3.07802101e-02 6.40621761e+01] [-3.21807810e-02 9.99479184e-01 -2.39944378e-03 -3.34940937e+00] [-3.08415360e-02 1.40652779e-03 9.99523297e-01 -2.90029135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100385723 meters 0.028468933124841545 Centerline is valid? [True, True] Translation: X:64.09, Y:-3.35, Z:-2.91 [[ 9.98957295e-01 3.39924093e-02 3.04768448e-02 6.40920587e+01] [-3.39356816e-02 9.99421193e-01 -2.37680548e-03 -3.35059356e+00] [-3.05399980e-02 1.34007467e-03 9.99532647e-01 -2.90642003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130385723 meters 0.028212292493296858 Centerline is valid? [True, True] Translation: X:64.12, Y:-3.35, Z:-2.91 [[ 9.98885394e-01 3.55194606e-02 3.10859657e-02 6.41209720e+01] [-3.54611970e-02 9.99368115e-01 -2.42375388e-03 -3.35422633e+00] [-3.11524134e-02 1.31870679e-03 9.99513776e-01 -2.91064841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16038572299999 meters 0.02612120079372779 Centerline is valid? [True, True] Translation: X:64.15, Y:-3.35, Z:-2.91 [[ 9.98847410e-01 3.60448116e-02 3.16957765e-02 6.41512748e+01] [-3.59845202e-02 9.99349293e-01 -2.47074644e-03 -3.35439256e+00] [-3.17642095e-02 1.32734137e-03 9.99494509e-01 -2.91092695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19038572299999 meters 0.028018320180930527 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.36, Z:-2.91 [[ 9.98817460e-01 3.67475912e-02 3.18322979e-02 6.41797011e+01] [-3.66871390e-02 9.99323720e-01 -2.48126990e-03 -3.35946622e+00] [-3.19019511e-02 1.31049976e-03 9.99490144e-01 -2.91323303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22038572299999 meters 0.02793615034676978 Centerline is valid? [True, True] Translation: X:64.21, Y:-3.36, Z:-2.91 [[ 9.98788847e-01 3.73406668e-02 3.20392652e-02 6.42088998e+01] [-3.72797925e-02 9.99301751e-01 -2.49546109e-03 -3.36067780e+00] [-3.21100760e-02 1.29802154e-03 9.99483496e-01 -2.91326584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250385723 meters 0.025413603028557614 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.35, Z:-2.91 [[ 9.98789586e-01 3.79622821e-02 3.12766318e-02 6.42392910e+01] [-3.79046076e-02 9.99278395e-01 -2.43507525e-03 -3.35436116e+00] [-3.13465034e-02 1.24659935e-03 9.99507800e-01 -2.91113036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280385723 meters 0.027453719187456642 Centerline is valid? [True, True] Translation: X:64.27, Y:-3.36, Z:-2.91 [[ 9.98805086e-01 3.78955709e-02 3.08597675e-02 6.42678453e+01] [-3.78394185e-02 9.99280946e-01 -2.40178019e-03 -3.35844993e+00] [-3.09285945e-02 1.23119461e-03 9.99520838e-01 -2.91407432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310385723 meters 0.027089020909026047 Centerline is valid? [True, True] Translation: X:64.30, Y:-3.36, Z:-2.92 [[ 9.98813972e-01 3.80457960e-02 3.03836722e-02 6.42968347e+01] [-3.79914744e-02 9.99275269e-01 -2.36336088e-03 -3.36018946e+00] [-3.04515681e-02 1.20623736e-03 9.99535516e-01 -2.91516230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340385723 meters 0.025320489085408484 Centerline is valid? [True, True] Translation: X:64.33, Y:-3.36, Z:-2.92 [[ 9.98818695e-01 3.83082341e-02 2.98947023e-02 6.43260427e+01] [-3.82558234e-02 9.99265277e-01 -2.32337318e-03 -3.36045019e+00] [-2.99617423e-02 1.17698211e-03 9.99550353e-01 -2.91729946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370385723 meters 0.02530318849041647 Centerline is valid? [True, True] Translation: X:64.35, Y:-3.36, Z:-2.92 [[ 9.98811165e-01 3.84968580e-02 2.99039836e-02 6.43541792e+01] [-3.84445615e-02 9.99258037e-01 -2.32201436e-03 -3.36346147e+00] [-2.99711862e-02 1.16960834e-03 9.99550079e-01 -2.92030925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400385723 meters 0.025201389537896267 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.37, Z:-2.92 [[ 9.98786294e-01 3.84574837e-02 3.07727326e-02 6.43828858e+01] [-3.84021537e-02 9.99259514e-01 -2.38723368e-03 -3.36725114e+00] [-3.08417528e-02 1.20259707e-03 9.99523557e-01 -2.92222383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430385723 meters 0.026313304524251967 Centerline is valid? [True, True] Translation: X:64.41, Y:-3.37, Z:-2.93 [[ 9.98775556e-01 3.87166947e-02 3.07962132e-02 6.44117428e+01] [-3.86614696e-02 9.99249515e-01 -2.38690489e-03 -3.36924660e+00] [-3.08655141e-02 1.19335540e-03 9.99522834e-01 -2.92519214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460385723 meters 0.02528893067287094 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.37, Z:-2.92 [[ 9.98780109e-01 3.84545586e-02 3.09764650e-02 6.44401695e+01] [-3.83986269e-02 9.99259622e-01 -2.39869235e-03 -3.37124291e+00] [-3.10457714e-02 1.20631249e-03 9.99517236e-01 -2.92407317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490385723 meters 0.024353140141185295 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.37, Z:-2.92 [[ 9.98780517e-01 3.78995404e-02 3.16402357e-02 6.44693436e+01] [-3.78409786e-02 9.99280776e-01 -2.44783101e-03 -3.37290991e+00] [-3.17102509e-02 1.24754844e-03 9.99496325e-01 -2.92388237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52038572299999 meters 0.025646321545294132 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.38, Z:-2.93 [[ 9.98799407e-01 3.68008415e-02 3.23332902e-02 6.44969724e+01] [-3.67391875e-02 9.99321763e-01 -2.49906806e-03 -3.38033458e+00] [-3.24033284e-02 1.30816888e-03 9.99474018e-01 -2.92558654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55038572299999 meters 0.024945254792897345 Centerline is valid? [True, True] Translation: X:64.53, Y:-3.38, Z:-2.93 [[ 9.98809135e-01 3.61094956e-02 3.28087718e-02 6.45263200e+01] [-3.60457331e-02 9.99346931e-01 -2.53304459e-03 -3.38175288e+00] [-3.28788124e-02 1.34741184e-03 9.99458437e-01 -2.92636039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58038572299999 meters 0.026100198760293077 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.39, Z:-2.93 [[ 9.98766944e-01 3.53082092e-02 3.48987327e-02 6.45556184e+01] [-3.52356187e-02 9.99375404e-01 -2.69306716e-03 -3.38654979e+00] [-3.49720224e-02 1.46006802e-03 9.99387225e-01 -2.92868562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610385723 meters 0.025813118191958983 Centerline is valid? [True, True] Translation: X:64.59, Y:-3.39, Z:-2.93 [[ 9.98752558e-01 3.47366107e-02 3.58705341e-02 6.45861355e+01] [-3.46596092e-02 9.99395346e-01 -2.76644091e-03 -3.39050745e+00] [-3.59449416e-02 1.51973125e-03 9.99352616e-01 -2.92937501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640385723 meters 0.026014221728325963 Centerline is valid? [True, True] Translation: X:64.62, Y:-3.39, Z:-2.93 [[ 9.98772216e-01 3.47339112e-02 3.53216205e-02 6.46168276e+01] [-3.46592595e-02 9.99395476e-01 -2.72378159e-03 -3.39362863e+00] [-3.53948753e-02 1.49621616e-03 9.99372285e-01 -2.93205795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670385723 meters 0.02699451108760981 Centerline is valid? [True, True] Translation: X:64.65, Y:-3.40, Z:-2.94 [[ 9.98827085e-01 3.46589082e-02 3.38114607e-02 6.46480541e+01] [-3.45904258e-02 9.99398168e-01 -2.60844148e-03 -3.39548428e+00] [-3.38815176e-02 1.43582918e-03 9.99424825e-01 -2.93680916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700385723 meters 0.02628794898647933 Centerline is valid? [True, True] Translation: X:64.68, Y:-3.40, Z:-2.94 [[ 9.98861733e-01 3.42098226e-02 3.32404396e-02 6.46782025e+01] [-3.41433356e-02 9.99413652e-01 -2.56592393e-03 -3.39696692e+00] [-3.33087290e-02 1.42806374e-03 9.99444090e-01 -2.93784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730385723 meters 0.025562873838522644 Centerline is valid? [True, True] Translation: X:64.71, Y:-3.40, Z:-2.94 [[ 9.98852651e-01 3.42748355e-02 3.34457363e-02 6.47088672e+01] [-3.42075606e-02 9.99411415e-01 -2.58177136e-03 -3.39996133e+00] [-3.35145404e-02 1.43471212e-03 9.99437200e-01 -2.94071057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760385723 meters 0.026012127142998533 Centerline is valid? [True, True] Translation: X:64.74, Y:-3.40, Z:-2.94 [[ 9.98854326e-01 3.43645023e-02 3.33034142e-02 6.47388392e+01] [-3.42978800e-02 9.99408351e-01 -2.56984775e-03 -3.40484525e+00] [-3.33720218e-02 1.42466703e-03 9.99441984e-01 -2.94317632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790385723 meters 0.026383684408149356 Centerline is valid? [True, True] Translation: X:64.77, Y:-3.41, Z:-2.95 [[ 9.98844675e-01 3.47827471e-02 3.31583336e-02 6.47695370e+01] [-3.47168122e-02 9.99393905e-01 -2.56232790e-03 -3.40774106e+00] [-3.32273613e-02 1.40821594e-03 9.99446827e-01 -2.94587668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820385723 meters 0.026068837466456756 Centerline is valid? [True, True] Translation: X:64.80, Y:-3.41, Z:-2.95 [[ 9.98831953e-01 3.54718079e-02 3.28097719e-02 6.48003073e+01] [-3.54076234e-02 9.99369737e-01 -2.53539261e-03 -3.40897800e+00] [-3.28790281e-02 1.37071510e-03 9.99458399e-01 -2.94696291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850385723 meters 0.025945227570723855 Centerline is valid? [True, True] Translation: X:64.83, Y:-3.41, Z:-2.95 [[ 9.98741618e-01 3.72768893e-02 3.35501685e-02 6.48306905e+01] [-3.72107736e-02 9.99304075e-01 -2.59310560e-03 -3.40777123e+00] [-3.36234830e-02 1.34141476e-03 9.99433671e-01 -2.94723545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880385723 meters 0.02849089255155947 Centerline is valid? [True, True] Translation: X:64.86, Y:-3.42, Z:-2.95 [[ 9.98670769e-01 3.82796418e-02 3.45161325e-02 6.48593992e+01] [-3.82103254e-02 9.99266163e-01 -2.66587700e-03 -3.41613026e+00] [-3.45928521e-02 1.34346078e-03 9.99400585e-01 -2.94860191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91038572299999 meters 0.024095010244109774 Centerline is valid? [True, True] Translation: X:64.89, Y:-3.41, Z:-2.95 [[ 9.98520345e-01 4.06947100e-02 3.60702339e-02 6.48897230e+01] [-4.06206043e-02 9.99170761e-01 -2.78524672e-03 -3.41270778e+00] [-3.61536679e-02 1.31593081e-03 9.99345376e-01 -2.94878403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94038572299999 meters 0.02472780959558815 Centerline is valid? [True, True] Translation: X:64.92, Y:-3.42, Z:-2.95 [[ 9.98427360e-01 4.20541807e-02 3.70709069e-02 6.49189908e+01] [-4.19768593e-02 9.99114484e-01 -2.86198061e-03 -3.41502753e+00] [-3.71584382e-02 1.30135951e-03 9.99308539e-01 -2.95154254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97038572299999 meters 0.0240110134667953 Centerline is valid? [True, True] Translation: X:64.95, Y:-3.42, Z:-2.95 [[ 9.98375876e-01 4.23382546e-02 3.81193157e-02 6.49488161e+01] [-4.22567539e-02 9.99102454e-01 -2.94156286e-03 -3.41667936e+00] [-3.82096425e-02 1.32598686e-03 9.99268865e-01 -2.95102697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000385723 meters 0.022678966800504265 Centerline is valid? [True, True] Translation: X:64.98, Y:-3.42, Z:-2.95 [[ 9.98425099e-01 4.23668147e-02 3.67746590e-02 6.49790583e+01] [-4.22910297e-02 9.99101307e-01 -2.83658584e-03 -3.41709580e+00] [-3.68617870e-02 1.27688030e-03 9.99319558e-01 -2.94927719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030385723 meters 0.024250011451708946 Centerline is valid? [True, True] Translation: X:65.01, Y:-3.42, Z:-2.96 [[ 9.98447867e-01 4.26557889e-02 3.58097792e-02 6.50085999e+01] [-4.25841590e-02 9.99089068e-01 -2.76096700e-03 -3.41833135e+00] [-3.58949301e-02 1.23175228e-03 9.99354810e-01 -2.95558574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060385723 meters 0.025507284400084228 Centerline is valid? [True, True] Translation: X:65.04, Y:-3.42, Z:-2.96 [[ 9.98477708e-01 4.22338275e-02 3.54763329e-02 6.50370080e+01] [-4.21633015e-02 9.99106992e-01 -2.73409632e-03 -3.42477518e+00] [-3.55601236e-02 1.23413490e-03 9.99366777e-01 -2.95746601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090385723 meters 0.023805692685429453 Centerline is valid? [True, True] Translation: X:65.07, Y:-3.42, Z:-2.96 [[ 9.98487348e-01 4.20833418e-02 3.53837335e-02 6.50669233e+01] [-4.20131428e-02 9.99113341e-01 -2.72545059e-03 -3.42393598e+00] [-3.54670563e-02 1.23474608e-03 9.99370083e-01 -2.95932956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120385723 meters 0.024460223334808146 Centerline is valid? [True, True] Translation: X:65.09, Y:-3.43, Z:-2.96 [[ 9.98481580e-01 4.18668989e-02 3.58008036e-02 6.50947455e+01] [-4.17949358e-02 9.99122408e-01 -2.75645511e-03 -3.42822906e+00] [-3.58847893e-02 1.25597736e-03 9.99355144e-01 -2.96234040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150385723 meters 0.024066079807821824 Centerline is valid? [True, True] Translation: X:65.12, Y:-3.43, Z:-2.96 [[ 9.98464398e-01 4.21980803e-02 3.58910488e-02 6.51239315e+01] [-4.21260404e-02 9.99108488e-01 -2.76137504e-03 -3.43040367e+00] [-3.59755763e-02 1.24518690e-03 9.99351894e-01 -2.96394240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180385723 meters 0.02624169439858078 Centerline is valid? [True, True] Translation: X:65.15, Y:-3.44, Z:-2.97 [[ 9.98454619e-01 4.29674689e-02 3.52444519e-02 6.51525959e+01] [-4.28985239e-02 9.99075758e-01 -2.71042191e-03 -3.43678962e+00] [-3.53283375e-02 1.19429832e-03 9.99375046e-01 -2.96629184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210385723 meters 0.023965758336590762 Centerline is valid? [True, True] Translation: X:65.18, Y:-3.43, Z:-2.97 [[ 9.98451727e-01 4.33690315e-02 3.48321197e-02 6.51820539e+01] [-4.33019650e-02 9.99058441e-01 -2.67785169e-03 -3.43380080e+00] [-3.49154591e-02 1.16540642e-03 9.99389590e-01 -2.96628729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240385723 meters 0.02183868510955434 Centerline is valid? [True, True] Translation: X:65.21, Y:-3.43, Z:-2.96 [[ 9.98418099e-01 4.39249263e-02 3.50984503e-02 6.52110375e+01] [-4.38572578e-02 9.99034170e-01 -2.69591273e-03 -3.43201053e+00] [-3.51829689e-02 1.15232628e-03 9.99380223e-01 -2.96467712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27038572299999 meters 0.02232087201364056 Centerline is valid? [True, True] Translation: X:65.24, Y:-3.43, Z:-2.97 [[ 9.98368558e-01 4.43107950e-02 3.60107806e-02 6.52381703e+01] [-4.42399000e-02 9.99017114e-01 -2.76354256e-03 -3.43480343e+00] [-3.60978408e-02 1.16592067e-03 9.99347580e-01 -2.96729761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30038572299999 meters 0.022439051245741644 Centerline is valid? [True, True] Translation: X:65.27, Y:-3.44, Z:-2.97 [[ 9.98347143e-01 4.44178249e-02 3.64696896e-02 6.52670798e+01] [-4.43453041e-02 9.99012352e-01 -2.79541840e-03 -3.43815837e+00] [-3.65578368e-02 1.17353850e-03 9.99330850e-01 -2.96962826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33038572299999 meters 0.023215162815309883 Centerline is valid? [True, True] Translation: X:65.30, Y:-3.44, Z:-2.97 [[ 9.98288472e-01 4.46652086e-02 3.77510980e-02 6.52956322e+01] [-4.45877877e-02 9.99001288e-01 -2.89068324e-03 -3.44186512e+00] [-3.78425085e-02 1.20249781e-03 9.99282992e-01 -2.97267897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360385723 meters 0.0223561980387788 Centerline is valid? [True, True] Translation: X:65.33, Y:-3.44, Z:-2.97 [[ 9.98200150e-01 4.63393017e-02 3.80674286e-02 6.53251522e+01] [-4.62618430e-02 9.98925099e-01 -2.91359078e-03 -3.44353911e+00] [-3.81615237e-02 1.14727735e-03 9.99270925e-01 -2.97289162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390385723 meters 0.023454888039671083 Centerline is valid? [True, True] Translation: X:65.35, Y:-3.44, Z:-2.98 [[ 9.98165531e-01 4.74304597e-02 3.76287705e-02 6.53543246e+01] [-4.73555944e-02 9.98873946e-01 -2.87887037e-03 -3.44430547e+00] [-3.77229446e-02 1.09165638e-03 9.99287640e-01 -2.97587480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420385723 meters 0.022189023101442072 Centerline is valid? [True, True] Translation: X:65.38, Y:-3.44, Z:-2.97 [[ 9.98072990e-01 4.91962536e-02 3.78158119e-02 6.53832609e+01] [-4.91219808e-02 9.98788602e-01 -2.89125166e-03 -3.44371959e+00] [-3.79122407e-02 1.02809260e-03 9.99280544e-01 -2.97498356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450385723 meters 0.022060145239276935 Centerline is valid? [True, True] Translation: X:65.41, Y:-3.44, Z:-2.98 [[ 9.98045346e-01 4.96661083e-02 3.79310498e-02 6.54120580e+01] [-4.95917898e-02 9.98765365e-01 -2.89825235e-03 -3.44485873e+00] [-3.80281638e-02 1.01151862e-03 9.99276156e-01 -2.97572913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480385723 meters 0.022060145239276935 Centerline is valid? [True, True] Translation: X:65.44, Y:-3.45, Z:-2.98 [[ 9.98048613e-01 4.96002773e-02 3.79312407e-02 6.54402654e+01] [-4.95260063e-02 9.98768637e-01 -2.89575194e-03 -3.44695076e+00] [-3.80281637e-02 1.01151834e-03 9.99276156e-01 -2.97699805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510385723 meters 0.022088744857993333 Centerline is valid? [True, True] Translation: X:65.47, Y:-3.45, Z:-2.98 [[ 9.98009099e-01 4.95486193e-02 3.90227086e-02 6.54679457e+01] [-4.94700704e-02 9.98771171e-01 -2.97652546e-03 -3.44970291e+00] [-3.91222391e-02 1.04014335e-03 9.99233891e-01 -2.97747190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540385723 meters 0.02251634948515001 Centerline is valid? [True, True] Translation: X:65.50, Y:-3.46, Z:-2.98 [[ 9.98022197e-01 4.85466271e-02 3.99364462e-02 6.54962831e+01] [-4.84637015e-02 9.98820311e-01 -3.04251823e-03 -3.45532048e+00] [-4.00370376e-02 1.10103272e-03 9.99197590e-01 -2.98002723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570385723 meters 0.023879526580681463 Centerline is valid? [True, True] Translation: X:65.53, Y:-3.46, Z:-2.98 [[ 9.98081262e-01 4.72815108e-02 3.99781633e-02 6.55252405e+01] [-4.71975084e-02 9.98880942e-01 -3.04294407e-03 -3.46010146e+00] [-4.00773004e-02 1.15023576e-03 9.99195920e-01 -2.98369709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600385723 meters 0.02382218781504127 Centerline is valid? [True, True] Translation: X:65.56, Y:-3.46, Z:-2.98 [[ 9.98105946e-01 4.60861596e-02 4.07502886e-02 6.55550547e+01] [-4.59979389e-02 9.98936723e-01 -3.10036848e-03 -3.46460329e+00] [-4.08498438e-02 1.22006693e-03 9.99164552e-01 -2.98438431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630385723 meters 0.024933087176854232 Centerline is valid? [True, True] Translation: X:65.58, Y:-3.47, Z:-2.99 [[ 9.98163901e-01 4.47780417e-02 4.07891334e-02 6.55841104e+01] [-4.46886157e-02 9.98996149e-01 -3.10200774e-03 -3.46827972e+00] [-4.08870890e-02 1.27350224e-03 9.99162962e-01 -2.98665006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66038572299999 meters 0.02256518940556922 Centerline is valid? [True, True] Translation: X:65.61, Y:-3.46, Z:-2.99 [[ 9.98216968e-01 4.41152371e-02 4.02085958e-02 6.56139094e+01] [-4.40278539e-02 9.99025628e-01 -3.05660193e-03 -3.46498250e+00] [-4.03042604e-02 1.28085373e-03 9.99186632e-01 -2.98708454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69038572299999 meters 0.026397442712691205 Centerline is valid? [True, True] Translation: X:65.64, Y:-3.47, Z:-2.99 [[ 9.98331343e-01 4.26769386e-02 3.88999922e-02 6.56425869e+01] [-4.25941178e-02 9.99088087e-01 -2.95573642e-03 -3.47192473e+00] [-3.89906606e-02 1.29389346e-03 9.99238737e-01 -2.98947828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72038572299999 meters 0.023309141244034663 Centerline is valid? [True, True] Translation: X:65.67, Y:-3.47, Z:-2.99 [[ 9.98379993e-01 4.16346773e-02 3.87807078e-02 6.56723338e+01] [-4.15516005e-02 9.99132016e-01 -2.94611533e-03 -3.46950126e+00] [-3.88697073e-02 1.32994212e-03 9.99243402e-01 -2.98953482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750385723 meters 0.026856714679358774 Centerline is valid? [True, True] Translation: X:65.70, Y:-3.48, Z:-2.99 [[ 9.98471398e-01 3.94911462e-02 3.86693361e-02 6.57012255e+01] [-3.94069964e-02 9.99218929e-01 -2.93622950e-03 -3.48124205e+00] [-3.87550876e-02 1.40789878e-03 9.99247748e-01 -2.99061974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780385723 meters 0.028923394545424905 Centerline is valid? [True, True] Translation: X:65.73, Y:-3.49, Z:-3.00 [[ 9.98538062e-01 3.87702855e-02 3.76643673e-02 6.57311159e+01] [-3.86899756e-02 9.99247172e-01 -2.85906730e-03 -3.48559085e+00] [-3.77468594e-02 1.39765407e-03 9.99286356e-01 -2.99664018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810385723 meters 0.022234911559205622 Centerline is valid? [True, True] Translation: X:65.76, Y:-3.48, Z:-2.99 [[ 9.98567484e-01 3.78956598e-02 3.77743112e-02 6.57625748e+01] [-3.78142292e-02 9.99280670e-01 -2.86810408e-03 -3.48025587e+00] [-3.78558278e-02 1.43558901e-03 9.99282180e-01 -2.99288777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840385723 meters 0.022206866054121675 Centerline is valid? [True, True] Translation: X:65.79, Y:-3.48, Z:-3.00 [[ 9.98586770e-01 3.72517202e-02 3.79047813e-02 6.57942603e+01] [-3.71692718e-02 9.99304840e-01 -2.87776986e-03 -3.48125022e+00] [-3.79856333e-02 1.46480979e-03 9.99277212e-01 -2.99626541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870385723 meters 0.031043479287022852 Centerline is valid? [True, True] Translation: X:65.82, Y:-3.49, Z:-3.00 [[ 9.98593474e-01 3.72733711e-02 3.77063514e-02 6.58247257e+01] [-3.71918001e-02 9.99304045e-01 -2.86269000e-03 -3.49464206e+00] [-3.77868116e-02 1.45629647e-03 9.99284762e-01 -3.00012477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900385723 meters 0.02275700020459717 Centerline is valid? [True, True] Translation: X:65.86, Y:-3.48, Z:-3.00 [[ 9.98589072e-01 3.71827529e-02 3.79118382e-02 6.58569606e+01] [-3.70998405e-02 9.99307390e-01 -2.88839573e-03 -3.48346703e+00] [-3.79929786e-02 1.47779726e-03 9.99276913e-01 -2.99758068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930385723 meters 0.022863280503886897 Centerline is valid? [True, True] Translation: X:65.89, Y:-3.49, Z:-3.00 [[ 9.98517429e-01 3.77886647e-02 3.91785633e-02 6.58882312e+01] [-3.77005467e-02 9.99284621e-01 -2.98577870e-03 -3.48740328e+00] [-3.92633644e-02 1.50429881e-03 9.99227764e-01 -2.99818087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960385723 meters 0.023690675285915015 Centerline is valid? [True, True] Translation: X:65.92, Y:-3.49, Z:-3.00 [[ 9.98519149e-01 3.82312752e-02 3.87024438e-02 6.59194208e+01] [-3.81453828e-02 9.99267829e-01 -2.95558067e-03 -3.48908962e+00] [-3.87871026e-02 1.47488436e-03 9.99246409e-01 -3.00102966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990385723 meters 0.02350824974362277 Centerline is valid? [True, True] Translation: X:65.95, Y:-3.49, Z:-3.00 [[ 9.98484742e-01 3.83226314e-02 3.94917078e-02 6.59503410e+01] [-3.82332125e-02 9.99264288e-01 -3.01728217e-03 -3.49150542e+00] [-3.95782834e-02 1.50281535e-03 9.99215343e-01 -3.00192541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02038572299999 meters 0.02412057115532124 Centerline is valid? [True, True] Translation: X:65.98, Y:-3.50, Z:-3.00 [[ 9.98495819e-01 3.81628770e-02 3.93661563e-02 6.59816141e+01] [-3.80738876e-02 9.99270399e-01 -3.00805913e-03 -3.49613144e+00] [-3.94522309e-02 1.50471185e-03 9.99220325e-01 -3.00379464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05038572299999 meters 0.02332228616218486 Centerline is valid? [True, True] Translation: X:66.01, Y:-3.50, Z:-3.00 [[ 9.98508413e-01 3.74564834e-02 3.97235479e-02 6.60125114e+01] [-3.73649094e-02 9.99297047e-01 -3.04546924e-03 -3.49894561e+00] [-3.98096967e-02 1.55665989e-03 9.99206067e-01 -3.00432620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08038572299999 meters 0.023300400675110924 Centerline is valid? [True, True] Translation: X:66.04, Y:-3.50, Z:-3.01 [[ 9.98520802e-01 3.73471818e-02 3.95145013e-02 6.60446108e+01] [-3.72564729e-02 9.99301144e-01 -3.02973153e-03 -3.50127090e+00] [-3.96000382e-02 1.55307901e-03 9.99214404e-01 -3.00568844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110385723 meters 0.02355558908257285 Centerline is valid? [True, True] Translation: X:66.08, Y:-3.50, Z:-3.01 [[ 9.98497145e-01 3.77436131e-02 3.97350011e-02 6.60763901e+01] [-3.76518066e-02 9.99286245e-01 -3.05654955e-03 -3.50437552e+00] [-3.98220052e-02 1.55586143e-03 9.99205578e-01 -3.00753412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140385723 meters 0.024040769130864004 Centerline is valid? [True, True] Translation: X:66.11, Y:-3.51, Z:-3.01 [[ 9.98483478e-01 3.85174305e-02 3.93338453e-02 6.61087469e+01] [-3.84276895e-02 9.99256774e-01 -3.03530622e-03 -3.50744415e+00] [-3.94215235e-02 1.51919432e-03 9.99221515e-01 -3.01022876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170385723 meters 0.02362289819638638 Centerline is valid? [True, True] Translation: X:66.14, Y:-3.51, Z:-3.01 [[ 9.98529044e-01 3.84995369e-02 3.81776519e-02 6.61403107e+01] [-3.84145844e-02 9.99257514e-01 -2.95652753e-03 -3.51092904e+00] [-3.82631305e-02 1.48559998e-03 9.99266594e-01 -3.01202082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200385723 meters 0.023988843390784127 Centerline is valid? [True, True] Translation: X:66.17, Y:-3.51, Z:-3.02 [[ 9.98592253e-01 3.81352528e-02 3.68675175e-02 6.61715663e+01] [-3.80557406e-02 9.99271536e-01 -2.85630346e-03 -3.51348229e+00] [-3.69495867e-02 1.44926182e-03 9.99316080e-01 -3.01521459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230385723 meters 0.024141864514914235 Centerline is valid? [True, True] Translation: X:66.20, Y:-3.52, Z:-3.02 [[ 9.98620396e-01 3.72668452e-02 3.69930574e-02 6.62013502e+01] [-3.71861418e-02 9.99304242e-01 -2.86747837e-03 -3.51800860e+00] [-3.70741811e-02 1.48789331e-03 9.99311409e-01 -3.01670271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260385723 meters 0.02415524266624277 Centerline is valid? [True, True] Translation: X:66.23, Y:-3.52, Z:-3.02 [[ 9.98687425e-01 3.65877564e-02 3.58435920e-02 6.62330156e+01] [-3.65116020e-02 9.99329370e-01 -2.77711566e-03 -3.52082293e+00] [-3.59211627e-02 1.46476352e-03 9.99353553e-01 -3.01907355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290385723 meters 0.02371182906857778 Centerline is valid? [True, True] Translation: X:66.26, Y:-3.52, Z:-3.02 [[ 9.98742305e-01 3.52850338e-02 3.56198584e-02 6.62643184e+01] [-3.52086482e-02 9.99376145e-01 -2.76965146e-03 -3.52405222e+00] [-3.56953641e-02 1.51204102e-03 9.99361574e-01 -3.02020124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320385723 meters 0.02524372701612793 Centerline is valid? [True, True] Translation: X:66.30, Y:-3.53, Z:-3.02 [[ 9.98743644e-01 3.53173904e-02 3.55501759e-02 6.62951916e+01] [-3.52413420e-02 9.99375010e-01 -2.76372867e-03 -3.52875192e+00] [-3.56255650e-02 1.50742054e-03 9.99364071e-01 -3.02137051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350385723 meters 0.02473843046689486 Centerline is valid? [True, True] Translation: X:66.33, Y:-3.53, Z:-3.02 [[ 9.98746353e-01 3.57577682e-02 3.50300604e-02 6.63265513e+01] [-3.56838548e-02 9.99359391e-01 -2.73312565e-03 -3.52796630e+00] [-3.51053503e-02 1.47969168e-03 9.99382522e-01 -3.02161376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380385723 meters 0.023331468586852238 Centerline is valid? [True, True] Translation: X:66.36, Y:-3.53, Z:-3.02 [[ 9.98695162e-01 3.59195707e-02 3.63009336e-02 6.63576376e+01] [-3.58402523e-02 9.99353515e-01 -2.83360975e-03 -3.52972536e+00] [-3.63792476e-02 1.52887773e-03 9.99336887e-01 -3.02015053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41038572299999 meters 0.02497729973884147 Centerline is valid? [True, True] Translation: X:66.39, Y:-3.53, Z:-3.02 [[ 9.98652544e-01 3.66458930e-02 3.67447365e-02 6.63885507e+01] [-3.65651205e-02 9.99327157e-01 -2.86804315e-03 -3.53360126e+00] [-3.68251150e-02 1.52060287e-03 9.99320569e-01 -3.02425318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44038572299999 meters 0.024049188548227043 Centerline is valid? [True, True] Translation: X:66.42, Y:-3.54, Z:-3.02 [[ 9.98551192e-01 3.66042146e-02 3.94417053e-02 6.64196146e+01] [-3.65106828e-02 9.99328488e-01 -3.08933450e-03 -3.53579588e+00] [-3.95283023e-02 1.64481505e-03 9.99217097e-01 -3.02354739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47038572299999 meters 0.025459743978254526 Centerline is valid? [True, True] Translation: X:66.45, Y:-3.54, Z:-3.02 [[ 9.98509144e-01 3.66343514e-02 4.04649621e-02 6.64515291e+01] [-3.65359035e-02 9.99327313e-01 -3.17000588e-03 -3.54112861e+00] [-4.05538730e-02 1.68685591e-03 9.99175929e-01 -3.02386838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500385723 meters 0.02575206382446979 Centerline is valid? [True, True] Translation: X:66.48, Y:-3.54, Z:-3.03 [[ 9.98549312e-01 3.61285303e-02 3.99249274e-02 6.64832968e+01] [-3.60318503e-02 9.99345713e-01 -3.13870406e-03 -3.54114544e+00] [-4.00122018e-02 1.69558178e-03 9.99197753e-01 -3.02631558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530385723 meters 0.025122727486991025 Centerline is valid? [True, True] Translation: X:66.52, Y:-3.54, Z:-3.03 [[ 9.98570524e-01 3.56215455e-02 3.98498830e-02 6.65154510e+01] [-3.55246219e-02 9.99363875e-01 -3.13791338e-03 -3.54430828e+00] [-3.99363108e-02 1.71777579e-03 9.99200751e-01 -3.02660230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560385723 meters 0.025649772899870398 Centerline is valid? [True, True] Translation: X:66.55, Y:-3.55, Z:-3.03 [[ 9.98582050e-01 3.57699006e-02 3.94259357e-02 6.65480995e+01] [-3.56747731e-02 9.99358601e-01 -3.11393399e-03 -3.54764218e+00] [-3.95120331e-02 1.70300728e-03 9.99217643e-01 -3.02924033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590385723 meters 0.026620720286115843 Centerline is valid? [True, True] Translation: X:66.58, Y:-3.55, Z:-3.03 [[ 9.98595342e-01 3.53881070e-02 3.94338075e-02 6.65787597e+01] [-3.52921945e-02 9.99372148e-01 -3.12593303e-03 -3.55166321e+00] [-3.95196698e-02 1.72983655e-03 9.99217295e-01 -3.03003013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620385723 meters 0.026058782904451506 Centerline is valid? [True, True] Translation: X:66.61, Y:-3.55, Z:-3.03 [[ 9.98576456e-01 3.52850576e-02 4.00003156e-02 6.66114447e+01] [-3.51859188e-02 9.99375725e-01 -3.17997343e-03 -3.55330878e+00] [-4.00875500e-02 1.76799875e-03 9.99194607e-01 -3.03070643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650385723 meters 0.02525818318545668 Centerline is valid? [True, True] Translation: X:66.64, Y:-3.56, Z:-3.03 [[ 9.98607076e-01 3.44082450e-02 3.99997520e-02 6.66433845e+01] [-3.43080148e-02 9.99406217e-01 -3.18970920e-03 -3.55531598e+00] [-4.00857532e-02 1.81295409e-03 9.99194598e-01 -3.03317280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680385723 meters 0.025176154832663018 Centerline is valid? [True, True] Translation: X:66.67, Y:-3.56, Z:-3.03 [[ 9.98611373e-01 3.37257524e-02 4.04709674e-02 6.66738544e+01] [-3.36221595e-02 9.99429371e-01 -3.23779389e-03 -3.56060429e+00] [-4.05570705e-02 1.87257648e-03 9.99175469e-01 -3.03344728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710385723 meters 0.027998319530093123 Centerline is valid? [True, True] Translation: X:66.70, Y:-3.57, Z:-3.04 [[ 9.98644527e-01 3.36751713e-02 3.96874215e-02 6.67044513e+01] [-3.35752167e-02 9.99431126e-01 -3.18256938e-03 -3.56748071e+00] [-3.97720179e-02 1.84574172e-03 9.99207076e-01 -3.03730513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740385723 meters 0.025508348485759523 Centerline is valid? [True, True] Translation: X:66.74, Y:-3.57, Z:-3.04 [[ 9.98651667e-01 3.35701007e-02 3.95966612e-02 6.67367042e+01] [-3.34701672e-02 9.99434645e-01 -3.18419269e-03 -3.56713412e+00] [-3.96811687e-02 1.85459247e-03 9.99210671e-01 -3.03815974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77038572299999 meters 0.028150042189252517 Centerline is valid? [True, True] Translation: X:66.77, Y:-3.57, Z:-3.04 [[ 9.98645218e-01 3.51223657e-02 3.83946283e-02 6.67676664e+01] [-3.50291984e-02 9.99381491e-01 -3.09680680e-03 -3.57424623e+00] [-3.84796481e-02 1.74767825e-03 9.99257856e-01 -3.04152880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80038572299999 meters 0.027614110896710634 Centerline is valid? [True, True] Translation: X:66.80, Y:-3.57, Z:-3.04 [[ 9.98612142e-01 3.67502755e-02 3.77254266e-02 6.67999868e+01] [-3.66611718e-02 9.99323095e-01 -3.05119807e-03 -3.57470593e+00] [-3.78120224e-02 1.66390510e-03 9.99283484e-01 -3.04431331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83038572299999 meters 0.027486888532922815 Centerline is valid? [True, True] Translation: X:66.83, Y:-3.57, Z:-3.04 [[ 9.98484047e-01 4.00899384e-02 3.77147789e-02 6.68304721e+01] [-4.00028701e-02 9.99194877e-01 -3.06069477e-03 -3.57435520e+00] [-3.78071170e-02 1.54735550e-03 9.99283857e-01 -3.04490090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860385723 meters 0.02343228530931881 Centerline is valid? [True, True] Translation: X:66.86, Y:-3.57, Z:-3.04 [[ 9.98356906e-01 4.23578957e-02 3.85914087e-02 6.68619073e+01] [-4.22683955e-02 9.99101381e-01 -3.13249835e-03 -3.56858297e+00] [-3.86894158e-02 1.49615443e-03 9.99250164e-01 -3.04485117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890385723 meters 0.022000211703571314 Centerline is valid? [True, True] Translation: X:66.89, Y:-3.57, Z:-3.05 [[ 9.98220302e-01 4.44277027e-02 3.97794977e-02 6.68920631e+01] [-4.43342073e-02 9.99011535e-01 -3.22984650e-03 -3.57062399e+00] [-3.98836717e-02 1.46050585e-03 9.99203262e-01 -3.04504033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920385723 meters 0.02029452320862727 Centerline is valid? [True, True] Translation: X:66.92, Y:-3.57, Z:-3.04 [[ 9.98023042e-01 4.76753876e-02 4.09519756e-02 6.69218218e+01] [-4.75790559e-02 9.98861944e-01 -3.32428943e-03 -3.57454202e+00] [-4.10638567e-02 1.36926112e-03 9.99155586e-01 -3.04413700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950385723 meters 0.021390251729498225 Centerline is valid? [True, True] Translation: X:66.95, Y:-3.58, Z:-3.05 [[ 9.97982576e-01 4.94511315e-02 3.98166358e-02 6.69505329e+01] [-4.93615020e-02 9.98775750e-01 -3.23161554e-03 -3.57603315e+00] [-3.99276973e-02 1.25968706e-03 9.99201778e-01 -3.04941641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980385723 meters 0.02073428078007036 Centerline is valid? [True, True] Translation: X:66.98, Y:-3.58, Z:-3.05 [[ 9.97923336e-01 5.08131824e-02 3.95857965e-02 6.69795555e+01] [-5.07257393e-02 9.98707459e-01 -3.21088021e-03 -3.57702575e+00] [-3.96977853e-02 1.19619350e-03 9.99211016e-01 -3.04979962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010385723 meters 0.020064586631720508 Centerline is valid? [True, True] Translation: X:67.01, Y:-3.58, Z:-3.05 [[ 9.97734284e-01 5.47181864e-02 3.91435634e-02 6.70089519e+01] [-5.46357986e-02 9.98501310e-01 -3.17220606e-03 -3.57613828e+00] [-3.92584767e-02 1.02637890e-03 9.99228562e-01 -3.05082089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040385723 meters 0.019658893791743733 Centerline is valid? [True, True] Translation: X:67.04, Y:-3.58, Z:-3.05 [[ 9.97600349e-01 5.68495492e-02 3.95179940e-02 6.70366485e+01] [-5.67673228e-02 9.98382305e-01 -3.20064154e-03 -3.57859284e+00] [-3.96360209e-02 9.49630396e-04 9.99213733e-01 -3.05175045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070385723 meters 0.01877322450807839 Centerline is valid? [True, True] Translation: X:67.07, Y:-3.58, Z:-3.05 [[ 9.97349151e-01 6.10544951e-02 3.95855912e-02 6.70658407e+01] [-6.09754385e-02 9.98134129e-01 -3.20251670e-03 -3.58000544e+00] [-3.97072577e-02 7.80278531e-04 9.99211051e-01 -3.05281093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100385723 meters 0.018776461271687986 Centerline is valid? [True, True] Translation: X:67.10, Y:-3.58, Z:-3.05 [[ 9.97276949e-01 6.27058130e-02 3.88158219e-02 6.70950404e+01] [-6.26311281e-02 9.98031810e-01 -3.13829724e-03 -3.58137141e+00] [-3.89362145e-02 6.98672780e-04 9.99241454e-01 -3.05438176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130385723 meters 0.018628180613238413 Centerline is valid? [True, True] Translation: X:67.12, Y:-3.58, Z:-3.06 [[ 9.97228399e-01 6.38717386e-02 3.81565290e-02 6.71225702e+01] [-6.38004891e-02 9.97957910e-01 -3.08327698e-03 -3.58317740e+00] [-3.82755442e-02 6.40326154e-04 9.99267018e-01 -3.05570289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16038572299999 meters 0.017984874668596062 Centerline is valid? [True, True] Translation: X:67.15, Y:-3.58, Z:-3.06 [[ 9.97111971e-01 6.60443466e-02 3.74948289e-02 6.71509580e+01] [-6.59772054e-02 9.97816540e-01 -3.02655472e-03 -3.58380270e+00] [-3.76128473e-02 5.44009915e-04 9.99292238e-01 -3.05643608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19038572299999 meters 0.01843264103347998 Centerline is valid? [True, True] Translation: X:67.18, Y:-3.59, Z:-3.06 [[ 9.97033052e-01 6.71039737e-02 3.77114152e-02 6.71796929e+01] [-6.70369136e-02 9.97745861e-01 -3.04134671e-03 -3.58658707e+00] [-3.78304949e-02 5.04266311e-04 9.99284043e-01 -3.05833700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22038572299999 meters 0.01824753679703682 Centerline is valid? [True, True] Translation: X:67.21, Y:-3.59, Z:-3.06 [[ 9.96902074e-01 6.84815988e-02 3.86849593e-02 6.72075267e+01] [-6.84121722e-02 9.97652273e-01 -3.11713956e-03 -3.59147266e+00] [-3.88076043e-02 4.60960793e-04 9.99246595e-01 -3.05973660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250385723 meters 0.017605857313297363 Centerline is valid? [True, True] Translation: X:67.24, Y:-3.59, Z:-3.06 [[ 9.96839307e-01 6.90340554e-02 3.93153413e-02 6.72366154e+01] [-6.89629187e-02 9.97614205e-01 -3.16431927e-03 -3.59469829e+00] [-3.94399888e-02 4.43017141e-04 9.99221843e-01 -3.06027641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280385723 meters 0.01746994457329868 Centerline is valid? [True, True] Translation: X:67.27, Y:-3.60, Z:-3.06 [[ 9.96777115e-01 6.95378949e-02 3.99982925e-02 6.72655209e+01] [-6.94647848e-02 9.97579219e-01 -3.21641395e-03 -3.59740429e+00] [-4.01251281e-02 4.27575040e-04 9.99194571e-01 -3.06092815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310385723 meters 0.017287534514805955 Centerline is valid? [True, True] Translation: X:67.29, Y:-3.60, Z:-3.06 [[ 9.96775414e-01 6.90883058e-02 4.08115194e-02 6.72934660e+01] [-6.90119286e-02 9.97610446e-01 -3.27902268e-03 -3.59946272e+00] [-4.09405401e-02 4.51967535e-04 9.99161482e-01 -3.05918974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340385723 meters 0.01693523246410421 Centerline is valid? [True, True] Translation: X:67.32, Y:-3.60, Z:-3.06 [[ 9.96898801e-01 6.74939544e-02 4.04641388e-02 6.73219000e+01] [-6.74177359e-02 9.97719553e-01 -3.24677424e-03 -3.60215631e+00] [-4.05910001e-02 5.08704720e-04 9.99175716e-01 -3.05919733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370385723 meters 0.01693523246410421 Centerline is valid? [True, True] Translation: X:67.35, Y:-3.60, Z:-3.06 [[ 9.96905813e-01 6.73901832e-02 4.04643524e-02 6.73492464e+01] [-6.73139874e-02 9.97726567e-01 -3.24411003e-03 -3.60426370e+00] [-4.05909806e-02 5.10255240e-04 9.99175716e-01 -3.06042787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400385723 meters 0.018362654969714055 Centerline is valid? [True, True] Translation: X:67.38, Y:-3.61, Z:-3.06 [[ 9.97203838e-01 6.38870367e-02 3.87679357e-02 6.73778407e+01] [-6.38146107e-02 9.97956943e-01 -3.10403856e-03 -3.61069793e+00] [-3.88870384e-02 6.21398440e-04 9.99243420e-01 -3.06424445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430385723 meters 0.01881593052056959 Centerline is valid? [True, True] Translation: X:67.41, Y:-3.62, Z:-3.07 [[ 9.97379632e-01 6.13670023e-02 3.83139838e-02 6.74065306e+01] [-6.12945069e-02 9.98115018e-01 -3.06504087e-03 -3.61542344e+00] [-3.84298550e-02 7.08572597e-04 9.99261049e-01 -3.06628468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460385723 meters 0.019448385598777183 Centerline is valid? [True, True] Translation: X:67.43, Y:-3.62, Z:-3.07 [[ 9.97531012e-01 5.86654753e-02 3.86036564e-02 6.74338305e+01] [-5.85899614e-02 9.98277364e-01 -3.08552447e-03 -3.62101823e+00] [-3.87181701e-02 8.16119606e-04 9.99249837e-01 -3.06817180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490385723 meters 0.020322907939585105 Centerline is valid? [True, True] Translation: X:67.46, Y:-3.63, Z:-3.07 [[ 9.97797187e-01 5.36611300e-02 3.90032807e-02 6.74629408e+01] [-5.35803722e-02 9.98558686e-01 -3.11365446e-03 -3.62770560e+00] [-3.91141469e-02 1.01698536e-03 9.99234231e-01 -3.07004255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52038572299999 meters 0.020940680313660705 Centerline is valid? [True, True] Translation: X:67.49, Y:-3.63, Z:-3.07 [[ 9.97936589e-01 5.09581468e-02 3.90618999e-02 6.74918114e+01] [-5.08751295e-02 9.98700158e-01 -3.11700146e-03 -3.63239765e+00] [-3.91699622e-02 1.12329059e-03 9.99231931e-01 -3.07157319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55038572299999 meters 0.021045586483541337 Centerline is valid? [True, True] Translation: X:67.52, Y:-3.64, Z:-3.07 [[ 9.98054499e-01 4.81686522e-02 3.95853154e-02 6.75195681e+01] [-4.80812811e-02 9.98838438e-01 -3.15678585e-03 -3.63755417e+00] [-3.96913927e-02 1.24733165e-03 9.99211208e-01 -3.07177848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58038572299999 meters 0.02230873861407726 Centerline is valid? [True, True] Translation: X:67.55, Y:-3.64, Z:-3.07 [[ 9.98219241e-01 4.40526230e-02 4.02208060e-02 6.75493733e+01] [-4.39592135e-02 9.99028188e-01 -3.20429597e-03 -3.64266828e+00] [-4.03228766e-02 1.43051490e-03 9.99185678e-01 -3.07255501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610385723 meters 0.022974060408381958 Centerline is valid? [True, True] Translation: X:67.58, Y:-3.65, Z:-3.07 [[ 9.98244384e-01 4.28095690e-02 4.09327498e-02 6.75797978e+01] [-4.27118111e-02 9.99082115e-01 -3.26020443e-03 -3.64669005e+00] [-4.10347462e-02 1.50616889e-03 9.99156585e-01 -3.07291246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640385723 meters 0.023264165899254334 Centerline is valid? [True, True] Translation: X:67.61, Y:-3.65, Z:-3.07 [[ 9.98215558e-01 4.10142410e-02 4.33996659e-02 6.76104859e+01] [-4.09026426e-02 9.99157157e-01 -3.45666690e-03 -3.65098374e+00] [-4.35048594e-02 1.67533766e-03 9.99051811e-01 -3.07194247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670385723 meters 0.023797344901433093 Centerline is valid? [True, True] Translation: X:67.64, Y:-3.66, Z:-3.07 [[ 9.98197491e-01 4.01715822e-02 4.45871349e-02 6.76416917e+01] [-4.00529129e-02 9.99191246e-01 -3.55205817e-03 -3.65645879e+00] [-4.46937667e-02 1.75981092e-03 9.98999184e-01 -3.07214883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700385723 meters 0.02337920059095526 Centerline is valid? [True, True] Translation: X:67.67, Y:-3.66, Z:-3.07 [[ 9.98193965e-01 3.98708842e-02 4.49346361e-02 6.76739639e+01] [-3.97497800e-02 9.99203231e-01 -3.58578213e-03 -3.65902214e+00] [-4.50418019e-02 1.79316418e-03 9.98983494e-01 -3.07489070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730385723 meters 0.025028164632446677 Centerline is valid? [True, True] Translation: X:67.70, Y:-3.67, Z:-3.08 [[ 9.98348163e-01 3.56401543e-02 4.50635678e-02 6.77033424e+01] [-3.55135461e-02 9.99362685e-01 -3.60727573e-03 -3.66792579e+00] [-4.51634119e-02 2.00095001e-03 9.98977609e-01 -3.07702737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760385723 meters 0.024757753109773288 Centerline is valid? [True, True] Translation: X:67.73, Y:-3.67, Z:-3.08 [[ 9.98486668e-01 3.42430418e-02 4.30324079e-02 6.77349327e+01] [-3.41263205e-02 9.99411592e-01 -3.44430929e-03 -3.66948672e+00] [-4.31250309e-02 1.97055916e-03 9.99067740e-01 -3.08083803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790385723 meters 0.02821448853478766 Centerline is valid? [True, True] Translation: X:67.77, Y:-3.68, Z:-3.08 [[ 9.98607566e-01 3.27128415e-02 4.13859875e-02 6.77655451e+01] [-3.26031902e-02 9.99462854e-01 -3.32183809e-03 -3.67635307e+00] [-4.14724240e-02 1.96789743e-03 9.99137711e-01 -3.08356687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820385723 meters 0.02628209263636698 Centerline is valid? [True, True] Translation: X:67.80, Y:-3.67, Z:-3.08 [[ 9.98754180e-01 3.06125745e-02 3.94075938e-02 6.77978723e+01] [-3.05111565e-02 9.99529391e-01 -3.17255738e-03 -3.67450984e+00] [-3.94861684e-02 1.96623368e-03 9.99218183e-01 -3.08406861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850385723 meters 0.027261175570614544 Centerline is valid? [True, True] Translation: X:67.83, Y:-3.68, Z:-3.09 [[ 9.98767863e-01 3.15199030e-02 3.83308251e-02 6.78303506e+01] [-3.14245648e-02 9.99501358e-01 -3.08734619e-03 -3.67661219e+00] [-3.84090246e-02 1.87901267e-03 9.99260335e-01 -3.08867515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88038572299999 meters 0.027467885660693202 Centerline is valid? [True, True] Translation: X:67.86, Y:-3.68, Z:-3.09 [[ 9.98726326e-01 3.17741673e-02 3.91934765e-02 6.78627454e+01] [-3.16742518e-02 9.99493225e-01 -3.16776711e-03 -3.68081930e+00] [-3.92742674e-02 1.92230836e-03 9.99226619e-01 -3.09109045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91038572299999 meters 0.02556824007236123 Centerline is valid? [True, True] Translation: X:67.89, Y:-3.68, Z:-3.09 [[ 9.98661664e-01 3.21545916e-02 4.05088142e-02 6.78949187e+01] [-3.20480391e-02 9.99480957e-01 -3.27716190e-03 -3.68164010e+00] [-4.05931642e-02 1.97454789e-03 9.99173807e-01 -3.08990109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94038572299999 meters 0.02820668614484772 Centerline is valid? [True, True] Translation: X:67.93, Y:-3.69, Z:-3.09 [[ 9.98655881e-01 3.38755046e-02 3.92285847e-02 6.79255490e+01] [-3.37765296e-02 9.99424341e-01 -3.18323857e-03 -3.68540670e+00] [-3.93138362e-02 1.85395447e-03 9.99225192e-01 -3.09166469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97038572299999 meters 0.025807957941365204 Centerline is valid? [True, True] Translation: X:67.96, Y:-3.68, Z:-3.09 [[ 9.98482021e-01 3.84445925e-02 3.94419484e-02 6.79567098e+01] [-3.83476793e-02 9.99259298e-01 -3.21100136e-03 -3.67924577e+00] [-3.95361793e-02 1.69361993e-03 9.99216704e-01 -3.09145062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000385723 meters 0.024037007383374442 Centerline is valid? [True, True] Translation: X:67.99, Y:-3.68, Z:-3.09 [[ 9.98335805e-01 4.18168694e-02 3.97110681e-02 6.79882886e+01] [-4.17212972e-02 9.99124058e-01 -3.23273537e-03 -3.67806035e+00] [-3.98114663e-02 1.57055820e-03 9.99205975e-01 -3.09256271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030385723 meters 0.021726299544128663 Centerline is valid? [True, True] Translation: X:68.02, Y:-3.68, Z:-3.09 [[ 9.97979860e-01 4.87678890e-02 4.07172103e-02 6.80178767e+01] [-4.86731141e-02 9.98809256e-01 -3.31632077e-03 -3.67651550e+00] [-4.08304565e-02 1.32778791e-03 9.99165207e-01 -3.09463975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060385723 meters 0.019992538336014776 Centerline is valid? [True, True] Translation: X:68.05, Y:-3.68, Z:-3.09 [[ 9.97817809e-01 5.15460310e-02 4.12628890e-02 6.80479266e+01] [-5.14510868e-02 9.98669862e-01 -3.36033125e-03 -3.67631423e+00] [-4.13812154e-02 1.22997789e-03 9.99142674e-01 -3.09403765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090385723 meters 0.02027316230326542 Centerline is valid? [True, True] Translation: X:68.08, Y:-3.68, Z:-3.10 [[ 9.97589979e-01 5.46815731e-02 4.27101758e-02 6.80779336e+01] [-5.45827829e-02 9.98503196e-01 -3.47664818e-03 -3.67598977e+00] [-4.28363556e-02 1.13702914e-03 9.99081455e-01 -3.09554411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120385723 meters 0.01945494700638433 Centerline is valid? [True, True] Translation: X:68.11, Y:-3.67, Z:-3.09 [[ 9.97174742e-01 5.95026419e-02 4.58472434e-02 6.81071753e+01] [-5.93939620e-02 9.98227650e-01 -3.73029422e-03 -3.67312085e+00] [-4.59879484e-02 9.96705749e-04 9.98941497e-01 -3.09160817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150385723 meters 0.018867846195137164 Centerline is valid? [True, True] Translation: X:68.14, Y:-3.67, Z:-3.09 [[ 9.97006976e-01 6.17628086e-02 4.65020912e-02 6.81366629e+01] [-6.16535282e-02 9.98090446e-01 -3.78201151e-03 -3.67037637e+00] [-4.66468806e-02 9.03673870e-04 9.98911033e-01 -3.09290058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180385723 meters 0.01853384117231569 Centerline is valid? [True, True] Translation: X:68.16, Y:-3.67, Z:-3.10 [[ 9.96988685e-01 6.34182555e-02 4.46283290e-02 6.81640869e+01] [-6.33194064e-02 9.97986724e-01 -3.62651673e-03 -3.67213114e+00] [-4.47684672e-02 7.89756847e-04 9.98997077e-01 -3.09517777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210385723 meters 0.018840565766120004 Centerline is valid? [True, True] Translation: X:68.19, Y:-3.67, Z:-3.10 [[ 9.97053107e-01 6.34112178e-02 4.31754475e-02 6.81927622e+01] [-6.33188609e-02 9.97987194e-01 -3.50468424e-03 -3.67414875e+00] [-4.33107800e-02 7.60536155e-04 9.99061358e-01 -3.09958932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240385723 meters 0.018865152517679062 Centerline is valid? [True, True] Translation: X:68.22, Y:-3.68, Z:-3.10 [[ 9.97138469e-01 6.23940875e-02 4.26831455e-02 6.82197511e+01] [-6.23030253e-02 9.98051276e-01 -3.46167956e-03 -3.67799229e+00] [-4.28159561e-02 7.92484762e-04 9.99082662e-01 -3.10189602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27038572299999 meters 0.019874504961299812 Centerline is valid? [True, True] Translation: X:68.25, Y:-3.68, Z:-3.10 [[ 9.97343491e-01 5.94954212e-02 4.20268464e-02 6.82481485e+01] [-5.94046843e-02 9.98228173e-01 -3.40568977e-03 -3.68159279e+00] [-4.21550050e-02 9.00050990e-04 9.99110677e-01 -3.10444189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30038572299999 meters 0.020479126809739758 Centerline is valid? [True, True] Translation: X:68.28, Y:-3.68, Z:-3.11 [[ 9.97466569e-01 5.79935285e-02 4.11970271e-02 6.82765590e+01] [-5.79051780e-02 9.98316515e-01 -3.33563000e-03 -3.68338457e+00] [-4.13211175e-02 9.41658221e-04 9.99145474e-01 -3.10591075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33038572299999 meters 0.01891324832211564 Centerline is valid? [True, True] Translation: X:68.30, Y:-3.69, Z:-3.10 [[ 9.97576105e-01 5.62275102e-02 4.09924582e-02 6.83047078e+01] [-5.61386614e-02 9.98417474e-01 -3.31625706e-03 -3.68567770e+00] [-4.11140515e-02 1.00695707e-03 9.99153953e-01 -3.10398888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360385723 meters 0.02064336827252924 Centerline is valid? [True, True] Translation: X:68.33, Y:-3.69, Z:-3.11 [[ 9.97602037e-01 5.64145925e-02 4.00945006e-02 6.83330237e+01] [-5.63298876e-02 9.98406954e-01 -3.24011607e-03 -3.68699930e+00] [-4.02134180e-02 9.73827682e-04 9.99190639e-01 -3.10880774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390385723 meters 0.021055934959396966 Centerline is valid? [True, True] Translation: X:68.36, Y:-3.69, Z:-3.11 [[ 9.97561881e-01 5.69536305e-02 4.03308405e-02 6.83610718e+01] [-5.68684749e-02 9.98376368e-01 -3.25646318e-03 -3.68936815e+00] [-4.04508254e-02 9.54970148e-04 9.99181074e-01 -3.11058536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420385723 meters 0.020259287029368914 Centerline is valid? [True, True] Translation: X:68.39, Y:-3.69, Z:-3.11 [[ 9.97516346e-01 5.73312596e-02 4.09177924e-02 6.83897906e+01] [-5.72440730e-02 9.98354759e-01 -3.30020966e-03 -3.69015203e+00] [-4.10396779e-02 9.49711985e-04 9.99157066e-01 -3.11092053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450385723 meters 0.018355393553617934 Centerline is valid? [True, True] Translation: X:68.42, Y:-3.69, Z:-3.11 [[ 9.97485471e-01 5.73457456e-02 4.16437302e-02 6.84192628e+01] [-5.72555717e-02 9.98353914e-01 -3.35581478e-03 -3.68986892e+00] [-4.17676227e-02 9.63040911e-04 9.99126888e-01 -3.10827109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480385723 meters 0.019823884733617996 Centerline is valid? [True, True] Translation: X:68.45, Y:-3.69, Z:-3.11 [[ 9.97456217e-01 5.76808484e-02 4.18809620e-02 6.84481256e+01] [-5.75900648e-02 9.98334621e-01 -3.37193221e-03 -3.69131355e+00] [-4.20057102e-02 9.51427432e-04 9.99116918e-01 -3.11233909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510385723 meters 0.01843942667526879 Centerline is valid? [True, True] Translation: X:68.48, Y:-3.69, Z:-3.11 [[ 9.97464328e-01 5.72681243e-02 4.22525247e-02 6.84760772e+01] [-5.71754793e-02 9.98358359e-01 -3.39883925e-03 -3.69327205e+00] [-4.23778064e-02 9.74412555e-04 9.99101182e-01 -3.11084721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540385723 meters 0.020529470634204648 Centerline is valid? [True, True] Translation: X:68.50, Y:-3.70, Z:-3.12 [[ 9.97459242e-01 5.77850712e-02 4.16646755e-02 6.85038499e+01] [-5.76955907e-02 9.98328608e-01 -3.34790771e-03 -3.69502848e+00] [-4.17884966e-02 9.35533425e-04 9.99126041e-01 -3.11625057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570385723 meters 0.020055525795162205 Centerline is valid? [True, True] Translation: X:68.53, Y:-3.70, Z:-3.12 [[ 9.97426908e-01 5.76325644e-02 4.26386004e-02 6.85327078e+01] [-5.75388757e-02 9.98337401e-01 -3.42228949e-03 -3.69732528e+00] [-4.27649448e-02 9.60106500e-04 9.99084700e-01 -3.11689851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600385723 meters 0.02074212677630031 Centerline is valid? [True, True] Translation: X:68.56, Y:-3.70, Z:-3.12 [[ 9.97401567e-01 5.77659611e-02 4.30489071e-02 6.85612137e+01] [-5.76707142e-02 9.98329691e-01 -3.45219643e-03 -3.69918233e+00] [-4.31764216e-02 9.60564903e-04 9.99067002e-01 -3.11859892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63038572299999 meters 0.021018345126254164 Centerline is valid? [True, True] Translation: X:68.59, Y:-3.70, Z:-3.12 [[ 9.97424858e-01 5.63967130e-02 4.43064727e-02 6.85889744e+01] [-5.62946072e-02 9.98407890e-01 -3.54988001e-03 -3.70147785e+00] [-4.44361335e-02 1.04652308e-03 9.99011679e-01 -3.11903484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66038572299999 meters 0.02003628349547535 Centerline is valid? [True, True] Translation: X:68.62, Y:-3.70, Z:-3.12 [[ 9.97464727e-01 5.50987299e-02 4.50360762e-02 6.86174503e+01] [-5.49920873e-02 9.98480285e-01 -3.60440356e-03 -3.70239708e+00] [-4.51662322e-02 1.11863758e-03 9.98978859e-01 -3.11922874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69038572299999 meters 0.019358122950486178 Centerline is valid? [True, True] Translation: X:68.65, Y:-3.70, Z:-3.12 [[ 9.97488659e-01 5.39521037e-02 4.58862290e-02 6.86460098e+01] [-5.38403342e-02 9.98542816e-01 -3.66913619e-03 -3.70475156e+00] [-4.60173220e-02 1.18939183e-03 9.98939934e-01 -3.11849674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72038572299999 meters 0.021197712886926238 Centerline is valid? [True, True] Translation: X:68.68, Y:-3.71, Z:-3.12 [[ 9.97592896e-01 5.24117304e-02 4.54029055e-02 6.86752590e+01] [-5.23008555e-02 9.98624786e-01 -3.62732703e-03 -3.70757731e+00] [-4.55305812e-02 1.24398488e-03 9.98962171e-01 -3.12307517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750385723 meters 0.020128003144383833 Centerline is valid? [True, True] Translation: X:68.71, Y:-3.71, Z:-3.12 [[ 9.97653101e-01 5.15955778e-02 4.50131754e-02 6.87053151e+01] [-5.14858417e-02 9.98667255e-01 -3.59460126e-03 -3.70999870e+00] [-4.51386498e-02 1.26862387e-03 9.98979926e-01 -3.12269250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780385723 meters 0.019988092398211265 Centerline is valid? [True, True] Translation: X:68.73, Y:-3.71, Z:-3.13 [[ 9.97729073e-01 5.20342312e-02 4.27683860e-02 6.87349936e+01] [-5.19356391e-02 9.98644599e-01 -3.41389730e-03 -3.71073673e+00] [-4.28880572e-02 1.18494113e-03 9.99079181e-01 -3.12638434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810385723 meters 0.02136643726878085 Centerline is valid? [True, True] Translation: X:68.76, Y:-3.71, Z:-3.13 [[ 9.97729634e-01 5.32057275e-02 4.12883539e-02 6.87623176e+01] [-5.31148986e-02 9.98582973e-01 -3.29451699e-03 -3.71150499e+00] [-4.14051344e-02 1.09401050e-03 9.99141841e-01 -3.13084980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840385723 meters 0.020010281872366645 Centerline is valid? [True, True] Translation: X:68.79, Y:-3.71, Z:-3.13 [[ 9.97711291e-01 5.40156057e-02 4.06754675e-02 6.87911685e+01] [-5.39282746e-02 9.98539549e-01 -3.24200471e-03 -3.71105132e+00] [-4.07911818e-02 1.04102692e-03 9.99167151e-01 -3.12984671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870385723 meters 0.020499999932544213 Centerline is valid? [True, True] Translation: X:68.82, Y:-3.71, Z:-3.13 [[ 9.97636560e-01 5.58183911e-02 4.00699565e-02 6.88199035e+01] [-5.57352057e-02 9.98440486e-01 -3.19098412e-03 -3.71013789e+00] [-4.01855825e-02 9.50135149e-04 9.99191781e-01 -3.13287984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900385723 meters 0.019163737716403062 Centerline is valid? [True, True] Translation: X:68.85, Y:-3.71, Z:-3.13 [[ 9.97451667e-01 5.87629253e-02 4.04609878e-02 6.88488569e+01] [-5.86806441e-02 9.98271616e-01 -3.21925129e-03 -3.70801702e+00] [-4.05802283e-02 8.36770734e-04 9.99175933e-01 -3.13216791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930385723 meters 0.020631004615363612 Centerline is valid? [True, True] Translation: X:68.88, Y:-3.71, Z:-3.14 [[ 9.97304862e-01 6.05813381e-02 4.13873628e-02 6.88771151e+01] [-6.04969319e-02 9.98162961e-01 -3.28997845e-03 -3.70917055e+00] [-4.15106439e-02 7.77303041e-04 9.99137759e-01 -3.13603949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960385723 meters 0.019793871601209392 Centerline is valid? [True, True] Translation: X:68.91, Y:-3.71, Z:-3.14 [[ 9.97089659e-01 6.31343490e-02 4.27348365e-02 6.89056669e+01] [-6.30468312e-02 9.98004799e-01 -3.39394952e-03 -3.70841300e+00] [-4.28638466e-02 6.89775945e-04 9.99080685e-01 -3.13687393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990385723 meters 0.02037951858273869 Centerline is valid? [True, True] Translation: X:68.93, Y:-3.71, Z:-3.14 [[ 9.97037486e-01 6.40096923e-02 4.26498708e-02 6.89330297e+01] [-6.39234524e-02 9.97949067e-01 -3.38416999e-03 -3.70928046e+00] [-4.27790185e-02 6.47817352e-04 9.99084349e-01 -3.13839615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02038572299999 meters 0.020375837589761966 Centerline is valid? [True, True] Translation: X:68.96, Y:-3.71, Z:-3.14 [[ 9.97019132e-01 6.42298852e-02 4.27477700e-02 6.89603986e+01] [-6.41436153e-02 9.97934926e-01 -3.38810922e-03 -3.70973686e+00] [-4.28771106e-02 6.36013195e-04 9.99080151e-01 -3.13889126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05038572299999 meters 0.018545758287066845 Centerline is valid? [True, True] Translation: X:68.99, Y:-3.71, Z:-3.14 [[ 9.97063862e-01 6.33283741e-02 4.30484944e-02 6.89898600e+01] [-6.32402109e-02 9.97992515e-01 -3.40812070e-03 -3.70899916e+00] [-4.31779059e-02 6.75718123e-04 9.99067171e-01 -3.13604210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08038572299999 meters 0.02042206328768285 Centerline is valid? [True, True] Translation: X:69.02, Y:-3.71, Z:-3.14 [[ 9.97067073e-01 6.33876578e-02 4.28865617e-02 6.90159567e+01] [-6.33003392e-02 9.97988757e-01 -3.39234147e-03 -3.71269238e+00] [-4.30153390e-02 6.67658078e-04 9.99074189e-01 -3.14105062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110385723 meters 0.020084884246833426 Centerline is valid? [True, True] Translation: X:69.04, Y:-3.72, Z:-3.14 [[ 9.97099162e-01 6.25468200e-02 4.33722904e-02 6.90440641e+01] [-6.24569551e-02 9.98041781e-01 -3.42527446e-03 -3.71555629e+00] [-4.35015980e-02 7.06437099e-04 9.99053108e-01 -3.14240812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140385723 meters 0.020068789006079203 Centerline is valid? [True, True] Translation: X:69.07, Y:-3.72, Z:-3.14 [[ 9.97141412e-01 6.08420074e-02 4.48024050e-02 6.90724418e+01] [-6.07445772e-02 9.98147086e-01 -3.53416247e-03 -3.71879916e+00] [-4.49344156e-02 8.02556603e-04 9.98989617e-01 -3.14314047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170385723 meters 0.019816409327260705 Centerline is valid? [True, True] Translation: X:69.10, Y:-3.72, Z:-3.14 [[ 9.97245153e-01 5.90828301e-02 4.48477958e-02 6.91003902e+01] [-5.89835690e-02 9.98252696e-01 -3.53453778e-03 -3.72153159e+00] [-4.49782636e-02 8.79517604e-04 9.98987579e-01 -3.14160816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200385723 meters 0.02101111537491176 Centerline is valid? [True, True] Translation: X:69.13, Y:-3.72, Z:-3.14 [[ 9.97436245e-01 5.63311716e-02 4.41331709e-02 6.91291636e+01] [-5.62325301e-02 9.98411654e-01 -3.47436241e-03 -3.72330617e+00] [-4.42587871e-02 9.83735136e-04 9.99019615e-01 -3.14429698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230385723 meters 0.020183232223774945 Centerline is valid? [True, True] Translation: X:69.16, Y:-3.73, Z:-3.14 [[ 9.97546432e-01 5.48988176e-02 4.34423315e-02 6.91575285e+01] [-5.48020156e-02 9.98491394e-01 -3.41698447e-03 -3.72544465e+00] [-4.35643825e-02 1.02787334e-03 9.99050093e-01 -3.14355783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260385723 meters 0.020539160777255493 Centerline is valid? [True, True] Translation: X:69.19, Y:-3.73, Z:-3.15 [[ 9.97604484e-01 5.39666107e-02 4.32769967e-02 6.91862226e+01] [-5.38698009e-02 9.98542176e-01 -3.40092877e-03 -3.72907301e+00] [-4.33974431e-02 1.06145860e-03 9.99057323e-01 -3.14651222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290385723 meters 0.020539160777255493 Centerline is valid? [True, True] Translation: X:69.21, Y:-3.73, Z:-3.15 [[ 9.97608247e-01 5.38968104e-02 4.32772345e-02 6.92144202e+01] [-5.38000663e-02 9.98545946e-01 -3.39790104e-03 -3.73123164e+00] [-4.33974431e-02 1.06145602e-03 9.99057323e-01 -3.14778104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320385723 meters 0.02085041528223131 Centerline is valid? [True, True] Translation: X:69.24, Y:-3.74, Z:-3.15 [[ 9.97675126e-01 5.32421766e-02 4.25395582e-02 6.92417911e+01] [-5.31482341e-02 9.98581058e-01 -3.33707970e-03 -3.73552275e+00] [-4.26568704e-02 1.06841901e-03 9.99089210e-01 -3.15121477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350385723 meters 0.022395811949678046 Centerline is valid? [True, True] Translation: X:69.27, Y:-3.74, Z:-3.16 [[ 9.97690870e-01 5.38357110e-02 4.14082707e-02 6.92707446e+01] [-5.37473547e-02 9.98549294e-01 -3.24491016e-03 -3.73770724e+00] [-4.15228915e-02 1.01183222e-03 9.99137040e-01 -3.15679011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38038572299999 meters 0.02221540602337456 Centerline is valid? [True, True] Translation: X:69.30, Y:-3.74, Z:-3.16 [[ 9.97739070e-01 5.45258225e-02 3.92897378e-02 6.92990081e+01] [-5.44469909e-02 9.98511929e-01 -3.07444562e-03 -3.73841534e+00] [-3.93989086e-02 9.28286515e-04 9.99223130e-01 -3.15852984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41038572299999 meters 0.022133240318200867 Centerline is valid? [True, True] Translation: X:69.33, Y:-3.74, Z:-3.16 [[ 9.97713587e-01 5.52262127e-02 3.89572131e-02 6.93283080e+01] [-5.51493482e-02 9.98473471e-01 -3.04575962e-03 -3.73797707e+00] [-3.90659495e-02 8.90330848e-04 9.99236238e-01 -3.15977022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44038572299999 meters 0.021672027252064702 Centerline is valid? [True, True] Translation: X:69.36, Y:-3.74, Z:-3.16 [[ 9.97651904e-01 5.60517792e-02 3.93557629e-02 6.93564768e+01] [-5.59740829e-02 9.98427489e-01 -3.07418281e-03 -3.73968846e+00] [-3.94661889e-02 8.64061602e-04 9.99220533e-01 -3.15940663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47038572299999 meters 0.021337197248692204 Centerline is valid? [True, True] Translation: X:69.39, Y:-3.74, Z:-3.16 [[ 9.97373937e-01 5.97665068e-02 4.09046971e-02 6.93857672e+01] [-5.96858483e-02 9.98212109e-01 -3.19135049e-03 -3.73790917e+00] [-4.10222998e-02 7.41538258e-04 9.99157956e-01 -3.15928498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500385723 meters 0.019270748026755515 Centerline is valid? [True, True] Translation: X:69.41, Y:-3.74, Z:-3.16 [[ 9.97240440e-01 6.12839824e-02 4.19020193e-02 6.94137563e+01] [-6.12008032e-02 9.98120130e-01 -3.26620564e-03 -3.73892866e+00] [-4.20234150e-02 6.92755117e-04 9.99116386e-01 -3.15590399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530385723 meters 0.019845848082328147 Centerline is valid? [True, True] Translation: X:69.44, Y:-3.74, Z:-3.16 [[ 9.96808413e-01 6.66045566e-02 4.40093189e-02 6.94426901e+01] [-6.65181526e-02 9.97779332e-01 -3.42645349e-03 -3.74043037e+00] [-4.41398062e-02 4.88099074e-04 9.99025245e-01 -3.15950529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560385723 meters 0.019600230001437947 Centerline is valid? [True, True] Translation: X:69.47, Y:-3.74, Z:-3.16 [[ 9.96691828e-01 6.82381064e-02 4.41470397e-02 6.94703017e+01] [-6.81528969e-02 9.97668978e-01 -3.43412525e-03 -3.74201963e+00] [-4.42784702e-02 4.14015934e-04 9.99019142e-01 -3.16027826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590385723 meters 0.01904574924610731 Centerline is valid? [True, True] Translation: X:69.50, Y:-3.74, Z:-3.16 [[ 9.96509627e-01 7.08367924e-02 4.41668633e-02 6.94994411e+01] [-7.07542247e-02 9.97487876e-01 -3.43188192e-03 -3.74055428e+00] [-4.42990141e-02 2.94911206e-04 9.99018273e-01 -3.15963098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620385723 meters 0.01932113906770728 Centerline is valid? [True, True] Translation: X:69.53, Y:-3.74, Z:-3.16 [[ 9.96416658e-01 7.21476129e-02 4.41425698e-02 6.95279355e+01] [-7.20665533e-02 9.97393938e-01 -3.42702190e-03 -3.74217882e+00] [-4.42747830e-02 2.33538847e-04 9.99019364e-01 -3.16195968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650385723 meters 0.018529410132358 Centerline is valid? [True, True] Translation: X:69.56, Y:-3.74, Z:-3.16 [[ 9.96409587e-01 7.23976234e-02 4.38921282e-02 6.95553364e+01] [-7.23178544e-02 9.97375825e-01 -3.40461821e-03 -3.74492447e+00] [-4.40234338e-02 2.18209690e-04 9.99030475e-01 -3.16241770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680385723 meters 0.019680490452254843 Centerline is valid? [True, True] Translation: X:69.58, Y:-3.75, Z:-3.17 [[ 9.96350050e-01 7.34066536e-02 4.35665100e-02 6.95831891e+01] [-7.33292277e-02 9.97302078e-01 -3.37480468e-03 -3.74928272e+00] [-4.36967041e-02 1.67788277e-04 9.99044829e-01 -3.16680397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710385723 meters 0.019467857680627636 Centerline is valid? [True, True] Translation: X:69.61, Y:-3.75, Z:-3.17 [[ 9.96408486e-01 7.33743987e-02 4.22649681e-02 6.96107623e+01] [-7.33016521e-02 9.97304453e-01 -3.27047102e-03 -3.75396190e+00] [-4.23910098e-02 1.60633079e-04 9.99101084e-01 -3.16832617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740385723 meters 0.018898760691851795 Centerline is valid? [True, True] Translation: X:69.64, Y:-3.76, Z:-3.17 [[ 9.96444601e-01 7.30218478e-02 4.20233988e-02 6.96377696e+01] [-7.29497985e-02 9.97330327e-01 -3.24748833e-03 -3.75641428e+00] [-4.21483477e-02 1.70343743e-04 9.99111349e-01 -3.16855562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77038572299999 meters 0.019715135788055057 Centerline is valid? [True, True] Translation: X:69.66, Y:-3.76, Z:-3.17 [[ 9.96434559e-01 7.30624001e-02 4.21907133e-02 6.96645003e+01] [-7.29900276e-02 9.97327358e-01 -3.25532566e-03 -3.75929315e+00] [-4.23157946e-02 1.64217658e-04 9.99104272e-01 -3.17008559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80038572299999 meters 0.01935118704962169 Centerline is valid? [True, True] Translation: X:69.69, Y:-3.76, Z:-3.17 [[ 9.96427144e-01 7.30260122e-02 4.24281619e-02 6.96909673e+01] [-7.29530061e-02 9.97330023e-01 -3.26855878e-03 -3.76235918e+00] [-4.25535695e-02 1.61618732e-04 9.99094174e-01 -3.17049813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83038572299999 meters 0.019769259411951044 Centerline is valid? [True, True] Translation: X:69.72, Y:-3.77, Z:-3.17 [[ 9.96419633e-01 7.32549600e-02 4.22093184e-02 6.97181942e+01] [-7.31831223e-02 9.97313235e-01 -3.24670880e-03 -3.76608112e+00] [-4.23337494e-02 1.46074679e-04 9.99103514e-01 -3.17313837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860385723 meters 0.020265998747877146 Centerline is valid? [True, True] Translation: X:69.75, Y:-3.77, Z:-3.18 [[ 9.96485115e-01 7.32001498e-02 4.07327141e-02 6.97454195e+01] [-7.31333704e-02 9.97317261e-01 -3.12912829e-03 -3.77153084e+00] [-4.08524915e-02 1.39209095e-04 9.99165179e-01 -3.17629270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890385723 meters 0.019864156613404207 Centerline is valid? [True, True] Translation: X:69.77, Y:-3.77, Z:-3.18 [[ 9.96565404e-01 7.23621218e-02 4.02631192e-02 6.97737955e+01] [-7.22963264e-02 9.97378411e-01 -3.08968446e-03 -3.77476214e+00] [-4.03811420e-02 1.68197038e-04 9.99184335e-01 -3.17667369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920385723 meters 0.018919413937787885 Centerline is valid? [True, True] Translation: X:69.80, Y:-3.78, Z:-3.18 [[ 9.96623229e-01 7.14871824e-02 4.03945923e-02 6.98028154e+01] [-7.14203515e-02 9.97441498e-01 -3.09697623e-03 -3.77820431e+00] [-4.05126367e-02 2.01522477e-04 9.99179006e-01 -3.17550439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950385723 meters 0.01911795020030535 Centerline is valid? [True, True] Translation: X:69.83, Y:-3.78, Z:-3.17 [[ 9.96693949e-01 6.95541690e-02 4.19927380e-02 6.98311190e+01] [-6.94803547e-02 9.97578135e-01 -3.21648573e-03 -3.78288741e+00] [-4.21147572e-02 2.88181531e-04 9.99112738e-01 -3.17482932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980385723 meters 0.018483901681226884 Centerline is valid? [True, True] Translation: X:69.86, Y:-3.79, Z:-3.17 [[ 9.96747538e-01 6.86221666e-02 4.22533324e-02 6.98586840e+01] [-6.85467199e-02 9.97642667e-01 -3.23352200e-03 -3.78649752e+00] [-4.23756185e-02 3.26677757e-04 9.99101697e-01 -3.17378916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010385723 meters 0.020031125162006728 Centerline is valid? [True, True] Translation: X:69.89, Y:-3.79, Z:-3.18 [[ 9.96775183e-01 6.78429433e-02 4.28552271e-02 6.98874088e+01] [-6.77647736e-02 9.97695948e-01 -3.27579686e-03 -3.79221861e+00] [-4.29787261e-02 3.61158250e-04 9.99075922e-01 -3.17795250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040385723 meters 0.01998463824930064 Centerline is valid? [True, True] Translation: X:69.92, Y:-3.80, Z:-3.18 [[ 9.96812018e-01 6.73196447e-02 4.28236591e-02 6.99162846e+01] [-6.72412367e-02 9.97731387e-01 -3.27037845e-03 -3.79602082e+00] [-4.29466695e-02 3.80436748e-04 9.99077294e-01 -3.17971884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070385723 meters 0.02061337685403103 Centerline is valid? [True, True] Translation: X:69.94, Y:-3.80, Z:-3.18 [[ 9.96818203e-01 6.72561627e-02 4.27794173e-02 6.99432322e+01] [-6.71779838e-02 9.97735669e-01 -3.26407729e-03 -3.80033786e+00] [-4.29020798e-02 3.79856660e-04 9.99079210e-01 -3.18221468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100385723 meters 0.019911470633564424 Centerline is valid? [True, True] Translation: X:69.97, Y:-3.80, Z:-3.18 [[ 9.96770194e-01 6.75914021e-02 4.33656939e-02 6.99716609e+01] [-6.75116192e-02 9.97713019e-01 -3.30335150e-03 -3.80254337e+00] [-4.34897956e-02 3.64994105e-04 9.99053805e-01 -3.18186657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13038572299999 meters 0.020212453666479523 Centerline is valid? [True, True] Translation: X:70.00, Y:-3.81, Z:-3.18 [[ 9.96734882e-01 6.80452572e-02 4.34674423e-02 6.99996930e+01] [-6.79656638e-02 9.97682177e-01 -3.30804879e-03 -3.80546934e+00] [-4.35917895e-02 3.42954044e-04 9.99049367e-01 -3.18326296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16038572299999 meters 0.020429119642283552 Centerline is valid? [True, True] Translation: X:70.03, Y:-3.81, Z:-3.18 [[ 9.96701646e-01 6.85791536e-02 4.33904224e-02 7.00280746e+01] [-6.85005136e-02 9.97645629e-01 -3.29838044e-03 -3.80841360e+00] [-4.35144653e-02 3.15234998e-04 9.99052747e-01 -3.18456454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19038572299999 meters 0.01989631719213652 Centerline is valid? [True, True] Translation: X:70.06, Y:-3.81, Z:-3.19 [[ 9.96680898e-01 6.93764089e-02 4.25922653e-02 7.00555170e+01] [-6.93014879e-02 9.97590517e-01 -3.23482318e-03 -3.81341524e+00] [-4.27140603e-02 2.72379119e-04 9.99087301e-01 -3.18514116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22038572299999 meters 0.020999067285537645 Centerline is valid? [True, True] Translation: X:70.08, Y:-3.82, Z:-3.19 [[ 9.96687521e-01 6.99813108e-02 4.14318974e-02 7.00815016e+01] [-6.99110812e-02 9.97548275e-01 -3.14331833e-03 -3.81885830e+00] [-4.15502913e-02 2.36357412e-04 9.99136386e-01 -3.18893680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250385723 meters 0.020301293198956873 Centerline is valid? [True, True] Translation: X:70.11, Y:-3.82, Z:-3.19 [[ 9.96659420e-01 7.07464502e-02 4.08036821e-02 7.01092317e+01] [-7.06791768e-02 9.97494311e-01 -3.09075757e-03 -3.82152119e+00] [-4.09201009e-02 1.96461988e-04 9.99162403e-01 -3.18919318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280385723 meters 0.02005262315483921 Centerline is valid? [True, True] Translation: X:70.14, Y:-3.82, Z:-3.19 [[ 9.96642057e-01 7.15523652e-02 3.98104231e-02 7.01374141e+01] [-7.14891275e-02 9.97436833e-01 -3.01160999e-03 -3.82364005e+00] [-3.99238702e-02 1.55484759e-04 9.99202712e-01 -3.18972051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310385723 meters 0.019824993314897794 Centerline is valid? [True, True] Translation: X:70.17, Y:-3.83, Z:-3.19 [[ 9.96552764e-01 7.28180573e-02 3.97507080e-02 7.01658857e+01] [-7.27561908e-02 9.97345236e-01 -3.00270269e-03 -3.82620735e+00] [-3.98638302e-02 1.00241574e-04 9.99205117e-01 -3.19081119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340385723 meters 0.020160234426507773 Centerline is valid? [True, True] Translation: X:70.19, Y:-3.83, Z:-3.19 [[ 9.96281452e-01 7.59314057e-02 4.07147381e-02 7.01945770e+01] [-7.58692191e-02 9.97113043e-01 -3.07257970e-03 -3.83077871e+00] [-4.08305017e-02 -2.78412152e-05 9.99166087e-01 -3.19291218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370385723 meters 0.01975764660885958 Centerline is valid? [True, True] Translation: X:70.22, Y:-3.83, Z:-3.19 [[ 9.96162443e-01 7.74776673e-02 4.07136001e-02 7.02231528e+01] [-7.74168918e-02 9.96994083e-01 -3.06963259e-03 -3.83425253e+00] [-4.08290464e-02 -9.40676811e-05 9.99166142e-01 -3.19360764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400385723 meters 0.019871429054835132 Centerline is valid? [True, True] Translation: X:70.25, Y:-3.84, Z:-3.19 [[ 9.95917832e-01 8.01828363e-02 4.14534047e-02 7.02503168e+01] [-8.01222880e-02 9.96780150e-01 -3.12264541e-03 -3.83757600e+00] [-4.15703136e-02 -2.11443388e-04 9.99135559e-01 -3.19326572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430385723 meters 0.02005481243960895 Centerline is valid? [True, True] Translation: X:70.28, Y:-3.84, Z:-3.19 [[ 9.95852844e-01 8.10052167e-02 4.14158047e-02 7.02785811e+01] [-8.09457154e-02 9.96713646e-01 -3.11436753e-03 -3.83996983e+00] [-4.15319778e-02 -2.50980189e-04 9.99137144e-01 -3.19374767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460385723 meters 0.019895747509169934 Centerline is valid? [True, True] Translation: X:70.31, Y:-3.84, Z:-3.19 [[ 9.95844305e-01 8.14457829e-02 4.07517371e-02 7.03061286e+01] [-8.13886495e-02 9.96677738e-01 -3.06184519e-03 -3.84167420e+00] [-4.08657235e-02 -2.67607752e-04 9.99164612e-01 -3.19443840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490385723 meters 0.019517996441119036 Centerline is valid? [True, True] Translation: X:70.33, Y:-3.85, Z:-3.20 [[ 9.95865096e-01 8.09816066e-02 4.11666102e-02 7.03343338e+01] [-8.09231447e-02 9.96715563e-01 -3.08726792e-03 -3.84920323e+00] [-4.12814130e-02 -2.56829189e-04 9.99147526e-01 -3.19623731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52038572299999 meters 0.02094253259815635 Centerline is valid? [True, True] Translation: X:70.36, Y:-3.86, Z:-3.20 [[ 9.95880190e-01 8.05510137e-02 4.16434983e-02 7.03623293e+01] [-8.04909350e-02 9.96750457e-01 -3.12010469e-03 -3.85572313e+00] [-4.17595036e-02 -2.44673660e-04 9.99127662e-01 -3.20087703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55038572299999 meters 0.020015869143841073 Centerline is valid? [True, True] Translation: X:70.39, Y:-3.87, Z:-3.20 [[ 9.95858588e-01 7.98386952e-02 4.34908619e-02 7.03906735e+01] [-7.97726244e-02 9.96807770e-01 -3.25536500e-03 -3.86557886e+00] [-4.36119331e-02 -2.27496993e-04 9.99048521e-01 -3.20057816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58038572299999 meters 0.020598211570367845 Centerline is valid? [True, True] Translation: X:70.42, Y:-3.87, Z:-3.20 [[ 9.95783002e-01 8.02142572e-02 4.45183853e-02 7.04180656e+01] [-8.01455465e-02 9.96777613e-01 -3.32902595e-03 -3.86977388e+00] [-4.46419652e-02 -2.52962870e-04 9.99003018e-01 -3.20182655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610385723 meters 0.019415107985955336 Centerline is valid? [True, True] Translation: X:70.45, Y:-3.87, Z:-3.20 [[ 9.95705151e-01 8.13065449e-02 4.42775090e-02 7.04460219e+01] [-8.12398646e-02 9.96689095e-01 -3.30630457e-03 -3.87269024e+00] [-4.43997346e-02 -3.04994349e-04 9.99013799e-01 -3.19957293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640385723 meters 0.018631967104162685 Centerline is valid? [True, True] Translation: X:70.47, Y:-3.88, Z:-3.20 [[ 9.95540482e-01 8.34739210e-02 4.39460162e-02 7.04742617e+01] [-8.34105163e-02 9.96509881e-01 -3.27768913e-03 -3.87844916e+00] [-4.40662409e-02 -4.02487688e-04 9.99028530e-01 -3.19705635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670385723 meters 0.019509016570223726 Centerline is valid? [True, True] Translation: X:70.50, Y:-3.88, Z:-3.20 [[ 9.95440392e-01 8.45462992e-02 4.41627640e-02 7.05011089e+01] [-8.44834632e-02 9.96419448e-01 -3.29066878e-03 -3.88306843e+00] [-4.42828508e-02 -4.55358627e-04 9.99018930e-01 -3.20120620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700385723 meters 0.02060143332484244 Centerline is valid? [True, True] Translation: X:70.53, Y:-3.89, Z:-3.21 [[ 9.95352551e-01 8.56094781e-02 4.40944054e-02 7.05281826e+01] [-8.55480876e-02 9.96328641e-01 -3.28086232e-03 -3.89389450e+00] [-4.42133919e-02 -5.06577374e-04 9.99021981e-01 -3.20645503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730385723 meters 0.020966057106586427 Centerline is valid? [True, True] Translation: X:70.56, Y:-3.90, Z:-3.21 [[ 9.95341596e-01 8.56771019e-02 4.42102047e-02 7.05552732e+01] [-8.56157067e-02 9.96322823e-01 -3.28380937e-03 -3.90046529e+00] [-4.43289832e-02 -5.16575868e-04 9.99016854e-01 -3.20915114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760385723 meters 0.020567490762553507 Centerline is valid? [True, True] Translation: X:70.58, Y:-3.91, Z:-3.21 [[ 9.95340916e-01 8.55566204e-02 4.44581379e-02 7.05823523e+01] [-8.54946226e-02 9.96333175e-01 -3.29755922e-03 -3.90722444e+00] [-4.45772457e-02 -5.18736109e-04 9.99005806e-01 -3.20975141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790385723 meters 0.018794027624508457 Centerline is valid? [True, True] Translation: X:70.61, Y:-3.92, Z:-3.21 [[ 9.95400297e-01 8.49311975e-02 4.43276556e-02 7.06094398e+01] [-8.48691537e-02 9.96386696e-01 -3.28315471e-03 -3.91510663e+00] [-4.44463285e-02 -4.93997441e-04 9.99011652e-01 -3.20561307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820385723 meters 0.020034248275143125 Centerline is valid? [True, True] Translation: X:70.64, Y:-3.92, Z:-3.21 [[ 9.95446994e-01 8.41162529e-02 4.48300926e-02 7.06376247e+01] [-8.40521480e-02 9.96455839e-01 -3.31637196e-03 -3.92133134e+00] [-4.49501683e-02 -4.66793075e-04 9.98989121e-01 -3.21110980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850385723 meters 0.01898700395939201 Centerline is valid? [True, True] Translation: X:70.66, Y:-3.93, Z:-3.21 [[ 9.95734396e-01 8.14062211e-02 4.34285637e-02 7.06648595e+01] [-8.13436130e-02 9.96680949e-01 -3.20978427e-03 -3.93484121e+00] [-4.35457185e-02 -3.36543684e-04 9.99051379e-01 -3.21236918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88038572299999 meters 0.019875016405082543 Centerline is valid? [True, True] Translation: X:70.69, Y:-3.94, Z:-3.22 [[ 9.95810667e-01 7.99842570e-02 4.43129016e-02 7.06922302e+01] [-7.99178388e-02 9.96796087e-01 -3.27123595e-03 -3.94323119e+00] [-4.44325743e-02 -2.83859670e-04 9.99012345e-01 -3.21607796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91038572299999 meters 0.02003967235293445 Centerline is valid? [True, True] Translation: X:70.72, Y:-3.96, Z:-3.22 [[ 9.95917729e-01 7.78232843e-02 4.57319740e-02 7.07186880e+01] [-7.77504503e-02 9.96967150e-01 -3.37195341e-03 -3.95606470e+00] [-4.58556923e-02 -1.97493388e-04 9.98948055e-01 -3.21654412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94038572299999 meters 0.018241625882569286 Centerline is valid? [True, True] Translation: X:70.75, Y:-3.96, Z:-3.21 [[ 9.96044284e-01 7.67281669e-02 4.48171054e-02 7.07470027e+01] [-7.66572786e-02 9.97052038e-01 -3.30077211e-03 -3.96268460e+00] [-4.49382484e-02 -1.47842139e-04 9.98989756e-01 -3.21216842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97038572299999 meters 0.019412462361012094 Centerline is valid? [True, True] Translation: X:70.78, Y:-3.97, Z:-3.22 [[ 9.95985274e-01 7.66690972e-02 4.62080413e-02 7.07755221e+01] [-7.65938280e-02 9.97056581e-01 -3.39990868e-03 -3.96842147e+00] [-4.63326996e-02 -1.52991793e-04 9.98926052e-01 -3.21660219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000385723 meters 0.018938157266479752 Centerline is valid? [True, True] Translation: X:70.80, Y:-3.98, Z:-3.21 [[ 9.95712740e-01 7.90948331e-02 4.79598493e-02 7.08033061e+01] [-7.90167306e-02 9.96867057e-01 -3.52520361e-03 -3.97623309e+00] [-4.80884192e-02 -2.79540347e-04 9.98843044e-01 -3.21445275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030385723 meters 0.019337642010817717 Centerline is valid? [True, True] Translation: X:70.83, Y:-3.98, Z:-3.22 [[ 9.95455361e-01 8.16254650e-02 4.90500554e-02 7.08303704e+01] [-8.15470589e-02 9.96662988e-01 -3.60087047e-03 -3.98118501e+00] [-4.91802974e-02 -4.15381945e-04 9.98789831e-01 -3.21575951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060385723 meters 0.019458710097381104 Centerline is valid? [True, True] Translation: X:70.86, Y:-3.99, Z:-3.22 [[ 9.94944197e-01 8.81722123e-02 4.80802012e-02 7.08580630e+01] [-8.81047182e-02 9.96104980e-01 -3.52539346e-03 -3.98868668e+00] [-4.82037696e-02 -7.28522817e-04 9.98837257e-01 -3.21502294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090385723 meters 0.01938458123047247 Centerline is valid? [True, True] Translation: X:70.89, Y:-4.00, Z:-3.22 [[ 9.94629522e-01 9.16568421e-02 4.80742931e-02 7.08863824e+01] [-9.15934752e-02 9.95790247e-01 -3.52402444e-03 -3.99618516e+00] [-4.81949132e-02 -8.98192831e-04 9.98837546e-01 -3.21771411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120385723 meters 0.020649386430424903 Centerline is valid? [True, True] Translation: X:70.91, Y:-4.00, Z:-3.22 [[ 9.94320668e-01 9.48633657e-02 4.82426305e-02 7.09140750e+01] [-9.48034870e-02 9.95489737e-01 -3.53298547e-03 -3.99923601e+00] [-4.83601945e-02 -1.06064913e-03 9.98829398e-01 -3.21843222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150385723 meters 0.020719082480414593 Centerline is valid? [True, True] Translation: X:70.94, Y:-4.01, Z:-3.22 [[ 9.94001254e-01 9.77105113e-02 4.91341401e-02 7.09426023e+01] [-9.76520776e-02 9.95214125e-01 -3.59410771e-03 -4.00593254e+00] [-4.92501723e-02 -1.22550329e-03 9.98785722e-01 -3.21838515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180385723 meters 0.020719082480414593 Centerline is valid? [True, True] Translation: X:70.97, Y:-4.01, Z:-3.22 [[ 9.94011034e-01 9.76108372e-02 4.91343912e-02 7.09699840e+01] [-9.75524516e-02 9.95223908e-01 -3.59067156e-03 -4.00784729e+00] [-4.92502093e-02 -1.22401317e-03 9.98785722e-01 -3.21961620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210385723 meters 0.020556549342060377 Centerline is valid? [True, True] Translation: X:71.00, Y:-4.02, Z:-3.22 [[ 9.93376888e-01 1.01605079e-01 5.36541449e-02 7.09984006e+01] [-1.01541572e-01 9.94823592e-01 -3.91543339e-03 -4.02189105e+00] [-5.37742371e-02 -1.55862517e-03 9.98551903e-01 -3.21883754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240385723 meters 0.020954990865111572 Centerline is valid? [True, True] Translation: X:71.03, Y:-4.03, Z:-3.22 [[ 9.93231881e-01 1.02809508e-01 5.40429069e-02 7.10252000e+01] [-1.02747067e-01 9.94699712e-01 -3.93992891e-03 -4.02998693e+00] [-5.41615261e-02 -1.63948719e-03 9.98530841e-01 -3.21975108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27038572299999 meters 0.020842386575727602 Centerline is valid? [True, True] Translation: X:71.05, Y:-4.04, Z:-3.22 [[ 9.93192472e-01 1.03186978e-01 5.40477672e-02 7.10530639e+01] [-1.03125317e-01 9.94660584e-01 -3.93598809e-03 -4.04013824e+00] [-5.41653264e-02 -1.66449940e-03 9.98530594e-01 -3.22146297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30038572299999 meters 0.021269057366475008 Centerline is valid? [True, True] Translation: X:71.08, Y:-4.06, Z:-3.22 [[ 9.93342698e-01 1.02597703e-01 5.23831700e-02 7.10804823e+01] [-1.02539143e-01 9.94721669e-01 -3.81133097e-03 -4.05739582e+00] [-5.24977081e-02 -1.58536758e-03 9.98619786e-01 -3.22346569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33038572299999 meters 0.020981709656362865 Centerline is valid? [True, True] Translation: X:71.11, Y:-4.07, Z:-3.23 [[ 9.93472771e-01 1.01857220e-01 5.13513387e-02 7.11086590e+01] [-1.01800097e-01 9.94797869e-01 -3.73351085e-03 -4.06767682e+00] [-5.14644874e-02 -1.51842989e-03 9.98673671e-01 -3.22554729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360385723 meters 0.0207630802157369 Centerline is valid? [True, True] Translation: X:71.14, Y:-4.08, Z:-3.23 [[ 9.93679327e-01 1.00210427e-01 5.05891727e-02 7.11361632e+01] [-1.00153025e-01 9.94965260e-01 -3.67476650e-03 -4.08490186e+00] [-5.07027193e-02 -1.41511917e-03 9.98712787e-01 -3.22753737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390385723 meters 0.020526318391195474 Centerline is valid? [True, True] Translation: X:71.17, Y:-4.09, Z:-3.23 [[ 9.93733884e-01 9.93491071e-02 5.12125342e-02 7.11655334e+01] [-9.92892699e-02 9.95051668e-01 -3.71750646e-03 -4.09473899e+00] [-5.13284485e-02 -1.39064300e-03 9.98680858e-01 -3.22880504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420385723 meters 0.020893778967157682 Centerline is valid? [True, True] Translation: X:71.19, Y:-4.10, Z:-3.23 [[ 9.93739758e-01 9.91246208e-02 5.15325419e-02 7.11949705e+01] [-9.90637802e-02 9.95074058e-01 -3.73980533e-03 -4.10369189e+00] [-5.16494024e-02 -1.38861516e-03 9.98664313e-01 -3.22939730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450385723 meters 0.020701344926249157 Centerline is valid? [True, True] Translation: X:71.23, Y:-4.11, Z:-3.23 [[ 9.93678927e-01 9.89461168e-02 5.30269274e-02 7.12252439e+01] [-9.88812133e-02 9.95091786e-01 -3.85257339e-03 -4.11376079e+00] [-5.31478571e-02 -1.41514593e-03 9.98585651e-01 -3.23027391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480385723 meters 0.02072936558171859 Centerline is valid? [True, True] Translation: X:71.26, Y:-4.13, Z:-3.23 [[ 9.93704547e-01 9.84982164e-02 5.33795309e-02 7.12552770e+01] [-9.84316187e-02 9.95136247e-01 -3.88160548e-03 -4.13201926e+00] [-5.35022372e-02 -1.39706462e-03 9.98566752e-01 -3.23079271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510385723 meters 0.02081710602296405 Centerline is valid? [True, True] Translation: X:71.29, Y:-4.14, Z:-3.23 [[ 9.93672765e-01 9.89053624e-02 5.32181013e-02 7.12872060e+01] [-9.88391103e-02 9.95095855e-01 -3.88184194e-03 -4.14210934e+00] [-5.33410470e-02 -1.40274917e-03 9.98575368e-01 -3.23181844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540385723 meters 0.02053120171066284 Centerline is valid? [True, True] Translation: X:71.32, Y:-4.16, Z:-3.23 [[ 9.93438879e-01 1.00394888e-01 5.47728006e-02 7.13183527e+01] [-1.00326162e-01 9.94946522e-01 -4.00992314e-03 -4.15975390e+00] [-5.48985832e-02 -1.51153134e-03 9.98490792e-01 -3.23147255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570385723 meters 0.021856583151198174 Centerline is valid? [True, True] Translation: X:71.35, Y:-4.17, Z:-3.23 [[ 9.93234833e-01 1.01821351e-01 5.58299062e-02 7.13494499e+01] [-1.01751450e-01 9.94801401e-01 -4.10063476e-03 -4.16681577e+00] [-5.59572011e-02 -1.60788061e-03 9.98431874e-01 -3.23092693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600385723 meters 0.022492533218545344 Centerline is valid? [True, True] Translation: X:71.38, Y:-4.18, Z:-3.23 [[ 9.93020043e-01 1.03784078e-01 5.60362329e-02 7.13808001e+01] [-1.03716078e-01 9.94598378e-01 -4.12824758e-03 -4.17625132e+00] [-5.61619927e-02 -1.71242573e-03 9.98420201e-01 -3.23155282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63038572299999 meters 0.02410038437928646 Centerline is valid? [True, True] Translation: X:71.41, Y:-4.19, Z:-3.23 [[ 9.92723558e-01 1.07071002e-01 5.50975223e-02 7.14105179e+01] [-1.07009741e-01 9.94249644e-01 -4.06941770e-03 -4.19241970e+00] [-5.52164086e-02 -1.85616477e-03 9.98472685e-01 -3.23213112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66038572299999 meters 0.025168584140656258 Centerline is valid? [True, True] Translation: X:71.44, Y:-4.20, Z:-3.23 [[ 9.92512503e-01 1.09096051e-01 5.49270640e-02 7.14404859e+01] [-1.09038165e-01 9.94029278e-01 -4.05860283e-03 -4.20182084e+00] [-5.50418873e-02 -1.96093220e-03 9.98482121e-01 -3.23335674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69038572299999 meters 0.021493584408034287 Centerline is valid? [True, True] Translation: X:71.47, Y:-4.23, Z:-3.24 [[ 9.92078930e-01 1.12192757e-01 5.64994044e-02 7.14695773e+01] [-1.12136425e-01 9.93684044e-01 -4.17646720e-03 -4.22902455e+00] [-5.66111260e-02 -2.19225609e-03 9.98393897e-01 -3.23595554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72038572299999 meters 0.021890348800258187 Centerline is valid? [True, True] Translation: X:71.50, Y:-4.24, Z:-3.24 [[ 9.91840610e-01 1.13808132e-01 5.74448670e-02 7.15012459e+01] [-1.13752374e-01 9.93500041e-01 -4.25033766e-03 -4.23980232e+00] [-5.75552007e-02 -2.31883248e-03 9.98339633e-01 -3.23618264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750385723 meters 0.022536097791174988 Centerline is valid? [True, True] Translation: X:71.53, Y:-4.25, Z:-3.24 [[ 9.91685667e-01 1.15119544e-01 5.75067744e-02 7.15313787e+01] [-1.15065129e-01 9.93348782e-01 -4.26766356e-03 -4.25035992e+00] [-5.76155758e-02 -2.38484365e-03 9.98335995e-01 -3.23679031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780385723 meters 0.023274227407088042 Centerline is valid? [True, True] Translation: X:71.56, Y:-4.27, Z:-3.24 [[ 9.91642445e-01 1.16262396e-01 5.59313551e-02 7.15609282e+01] [-1.16212274e-01 9.93215692e-01 -4.15889391e-03 -4.27052950e+00] [-5.60354225e-02 -2.37577421e-03 9.98425955e-01 -3.23812120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810385723 meters 0.023431249316450374 Centerline is valid? [True, True] Translation: X:71.59, Y:-4.28, Z:-3.24 [[ 9.91714063e-01 1.15968571e-01 5.52675949e-02 7.15925907e+01] [-1.15918482e-01 9.93250177e-01 -4.12202831e-03 -4.28255307e+00] [-5.53725742e-02 -2.31866229e-03 9.98463070e-01 -3.24015065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840385723 meters 0.023125595137672823 Centerline is valid? [True, True] Translation: X:71.62, Y:-4.31, Z:-3.24 [[ 9.92232279e-01 1.12207119e-01 5.37090989e-02 7.16207199e+01] [-1.12153750e-01 9.93682749e-01 -4.01621932e-03 -4.30504636e+00] [-5.38204534e-02 -2.03865438e-03 9.98548548e-01 -3.24104712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870385723 meters 0.022285204692321182 Centerline is valid? [True, True] Translation: X:71.65, Y:-4.32, Z:-3.24 [[ 9.92572389e-01 1.08899116e-01 5.42313145e-02 7.16511240e+01] [-1.08839758e-01 9.94051035e-01 -4.05559660e-03 -4.31850311e+00] [-5.43503451e-02 -1.87704991e-03 9.98520163e-01 -3.24163594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900385723 meters 0.021374763639984706 Centerline is valid? [True, True] Translation: X:71.68, Y:-4.33, Z:-3.24 [[ 9.92960127e-01 1.05197255e-01 5.44400996e-02 7.16818961e+01] [-1.05131773e-01 9.94449958e-01 -4.07324131e-03 -4.33217006e+00] [-5.45664485e-02 -1.67881796e-03 9.98508730e-01 -3.24235377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930385723 meters 0.019437643348106253 Centerline is valid? [True, True] Translation: X:71.71, Y:-4.35, Z:-3.24 [[ 9.93355478e-01 1.01213876e-01 5.47781478e-02 7.17120694e+01] [-1.01141382e-01 9.94863609e-01 -4.10118858e-03 -4.34754152e+00] [-5.49118830e-02 -1.46639945e-03 9.98490128e-01 -3.24429135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960385723 meters 0.018779345918577075 Centerline is valid? [True, True] Translation: X:71.74, Y:-4.37, Z:-3.25 [[ 9.94135020e-01 9.32515678e-02 5.47695861e-02 7.17407700e+01] [-9.31669320e-02 9.95642052e-01 -4.10214046e-03 -4.36643347e+00] [-5.49134341e-02 -1.02463282e-03 9.98490593e-01 -3.24523547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990385723 meters 0.01851042080578902 Centerline is valid? [True, True] Translation: X:71.77, Y:-4.38, Z:-3.25 [[ 9.94402409e-01 9.01749368e-02 5.50666007e-02 7.17712653e+01] [-9.00845866e-02 9.95925572e-01 -4.12583175e-03 -4.37652374e+00] [-5.52142824e-02 -8.57914931e-04 9.98474159e-01 -3.24656631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02038572299999 meters 0.018139529288451486 Centerline is valid? [True, True] Translation: X:71.80, Y:-4.39, Z:-3.25 [[ 9.94845825e-01 8.46643645e-02 5.58007970e-02 7.18013950e+01] [-8.45624336e-02 9.96409375e-01 -4.18958991e-03 -4.39465025e+00] [-5.59551462e-02 -5.50655154e-04 9.98433132e-01 -3.24788540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05038572299999 meters 0.0178099316458838 Centerline is valid? [True, True] Translation: X:71.83, Y:-4.41, Z:-3.25 [[ 9.94983269e-01 8.29632880e-02 5.59051546e-02 7.18332141e+01] [-8.28575800e-02 9.96552506e-01 -4.21010796e-03 -4.40547950e+00] [-5.60617063e-02 -4.43178830e-04 9.98427208e-01 -3.25002620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08038572299999 meters 0.01783509065747267 Centerline is valid? [True, True] Translation: X:71.86, Y:-4.41, Z:-3.25 [[ 9.95097602e-01 8.13855211e-02 5.61886044e-02 7.18636563e+01] [-8.12755121e-02 9.96682637e-01 -4.24407431e-03 -4.41369808e+00] [-5.63476126e-02 -3.43489429e-04 9.98411152e-01 -3.25109618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110385723 meters 0.017823440062707974 Centerline is valid? [True, True] Translation: X:71.89, Y:-4.42, Z:-3.25 [[ 9.95171827e-01 8.08993258e-02 5.55727823e-02 7.18936202e+01] [-8.07904816e-02 9.96722231e-01 -4.20611190e-03 -4.42483332e+00] [-5.57308992e-02 -3.03947783e-04 9.98445779e-01 -3.25213053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140385723 meters 0.01792069590597595 Centerline is valid? [True, True] Translation: X:71.93, Y:-4.43, Z:-3.25 [[ 9.95133032e-01 8.18141740e-02 5.49243907e-02 7.19253723e+01] [-8.17086039e-02 9.96647543e-01 -4.16872671e-03 -4.43131118e+00] [-5.50813199e-02 -3.39357630e-04 9.98481814e-01 -3.25410123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170385723 meters 0.018024459313580817 Centerline is valid? [True, True] Translation: X:71.96, Y:-4.44, Z:-3.26 [[ 9.95069471e-01 8.31190743e-02 5.41106955e-02 7.19580992e+01] [-8.30179899e-02 9.96539544e-01 -4.11706206e-03 -4.43825990e+00] [-5.42656542e-02 -3.95398407e-04 9.98526456e-01 -3.25697121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200385723 meters 0.01810642304722112 Centerline is valid? [True, True] Translation: X:71.99, Y:-4.45, Z:-3.26 [[ 9.94806698e-01 8.57830660e-02 5.47804633e-02 7.19892780e+01] [-8.56826743e-02 9.96313697e-01 -4.18297463e-03 -4.44964269e+00] [-5.49373543e-02 -5.32485423e-04 9.98489661e-01 -3.25898803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230385723 meters 0.018363387213760917 Centerline is valid? [True, True] Translation: X:72.02, Y:-4.46, Z:-3.26 [[ 9.94590190e-01 8.72055644e-02 5.64406220e-02 7.20207245e+01] [-8.71004652e-02 9.96190148e-01 -4.32411776e-03 -4.45586935e+00] [-5.66026787e-02 -6.15279326e-04 9.98396594e-01 -3.25868671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260385723 meters 0.018661600553570912 Centerline is valid? [True, True] Translation: X:72.05, Y:-4.47, Z:-3.26 [[ 9.94281447e-01 8.90942022e-02 5.88780682e-02 7.20525210e+01] [-8.89822431e-02 9.96022930e-01 -4.52587713e-03 -4.46584255e+00] [-5.90471355e-02 -7.39106921e-04 9.98254922e-01 -3.25674466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290385723 meters 0.01875976447808753 Centerline is valid? [True, True] Translation: X:72.08, Y:-4.47, Z:-3.26 [[ 9.94068272e-01 9.01435188e-02 6.08474926e-02 7.20843587e+01] [-9.00249645e-02 9.95928454e-01 -4.69262528e-03 -4.47208755e+00] [-6.10227590e-02 -8.13003455e-04 9.98136044e-01 -3.25706358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320385723 meters 0.019140740104793094 Centerline is valid? [True, True] Translation: X:72.12, Y:-4.48, Z:-3.26 [[ 9.93917408e-01 9.05389217e-02 6.26968119e-02 7.21165327e+01] [-9.04128289e-02 9.95892558e-01 -4.85118400e-03 -4.47754048e+00] [-6.28785093e-02 -8.46919896e-04 9.98020829e-01 -3.25712719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350385723 meters 0.019532013154498293 Centerline is valid? [True, True] Translation: X:72.15, Y:-4.48, Z:-3.26 [[ 9.93825431e-01 9.08842162e-02 6.36480302e-02 7.21475755e+01] [-9.07539736e-02 9.95861089e-01 -4.94041475e-03 -4.48275782e+00] [-6.38336024e-02 -8.66401837e-04 9.97960180e-01 -3.25732152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38038572299999 meters 0.019840829876788906 Centerline is valid? [True, True] Translation: X:72.18, Y:-4.49, Z:-3.26 [[ 9.93740729e-01 9.08695082e-02 6.49776547e-02 7.21792398e+01] [-9.07327288e-02 9.95862430e-01 -5.05898752e-03 -4.49306415e+00] [-6.51685128e-02 -8.68277977e-04 9.97873895e-01 -3.25826565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41038572299999 meters 0.019944625710252382 Centerline is valid? [True, True] Translation: X:72.21, Y:-4.50, Z:-3.26 [[ 9.93712394e-01 9.06869867e-02 6.56623886e-02 7.22119463e+01] [-9.05458006e-02 9.95879084e-01 -5.12910099e-03 -4.50317805e+00] [-6.58569421e-02 -8.48602320e-04 9.97828714e-01 -3.25968704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44038572299999 meters 0.01980718312188397 Centerline is valid? [True, True] Translation: X:72.24, Y:-4.51, Z:-3.26 [[ 9.93667337e-01 9.04942710e-02 6.66033783e-02 7.22432348e+01] [-9.03473862e-02 9.95896630e-01 -5.22034890e-03 -4.50848051e+00] [-6.68024917e-02 -8.30150955e-04 9.97765873e-01 -3.26177138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47038572299999 meters 0.020425616202182407 Centerline is valid? [True, True] Translation: X:72.27, Y:-4.51, Z:-3.26 [[ 9.93559388e-01 9.07725469e-02 6.78239397e-02 7.22739705e+01] [-9.06197957e-02 9.95871289e-01 -5.33181100e-03 -4.51266864e+00] [-6.80278963e-02 -8.48720684e-04 9.97683058e-01 -3.26042720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500385723 meters 0.02045655358302944 Centerline is valid? [True, True] Translation: X:72.30, Y:-4.52, Z:-3.26 [[ 9.93127860e-01 9.13238791e-02 7.31915445e-02 7.23045514e+01] [-9.11466199e-02 9.95820795e-01 -5.76528706e-03 -4.52190872e+00] [-7.34121704e-02 -9.45494686e-04 9.97301238e-01 -3.25893938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530385723 meters 0.020800467038410313 Centerline is valid? [True, True] Translation: X:72.34, Y:-4.53, Z:-3.26 [[ 9.92814879e-01 9.21609701e-02 7.63215034e-02 7.23360744e+01] [-9.19700654e-02 9.95743576e-01 -6.01985733e-03 -4.52757461e+00] [-7.65514426e-02 -1.04268973e-03 9.97065088e-01 -3.25785281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560385723 meters 0.02107012671870852 Centerline is valid? [True, True] Translation: X:72.37, Y:-4.53, Z:-3.26 [[ 9.92570063e-01 9.26823739e-02 7.88330300e-02 7.23678439e+01] [-9.24793058e-02 9.95695111e-01 -6.23084247e-03 -4.53308621e+00] [-7.90711519e-02 -1.10587619e-03 9.96868361e-01 -3.25752430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590385723 meters 0.021629480452494996 Centerline is valid? [True, True] Translation: X:72.40, Y:-4.54, Z:-3.26 [[ 9.92028246e-01 9.47520051e-02 8.30783710e-02 7.23981525e+01] [-9.45333628e-02 9.95500012e-01 -6.57037531e-03 -4.54196479e+00] [-8.33270756e-02 -1.33567989e-03 9.96521357e-01 -3.25658722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620385723 meters 0.022246162717333814 Centerline is valid? [True, True] Translation: X:72.43, Y:-4.55, Z:-3.26 [[ 9.91631455e-01 9.62748421e-02 8.60128663e-02 7.24288396e+01] [-9.60459451e-02 9.95353639e-01 -6.80519238e-03 -4.54862779e+00] [-8.62683883e-02 -1.51294422e-03 9.96270785e-01 -3.25599096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650385723 meters 0.02496183986969482 Centerline is valid? [True, True] Translation: X:72.46, Y:-4.56, Z:-3.25 [[ 9.90798256e-01 9.92821732e-02 9.19883990e-02 7.24586815e+01] [-9.90330369e-02 9.95057513e-01 -7.28039712e-03 -4.55851123e+00] [-9.22565612e-02 -1.89648574e-03 9.95733463e-01 -3.25031659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680385723 meters 0.02492830988133372 Centerline is valid? [True, True] Translation: X:72.49, Y:-4.57, Z:-3.25 [[ 9.90456379e-01 1.00084969e-01 9.47584335e-02 7.24895559e+01] [-9.98240727e-02 9.94976824e-01 -7.50155166e-03 -4.56587296e+00] [-9.50332378e-02 -2.02921307e-03 9.95472032e-01 -3.25285339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710385723 meters 0.02496302925885767 Centerline is valid? [True, True] Translation: X:72.52, Y:-4.57, Z:-3.25 [[ 9.90122200e-01 1.00472036e-01 9.77926367e-02 7.25202332e+01] [-1.00195700e-01 9.94937603e-01 -7.74516487e-03 -4.57330167e+00] [-9.80757441e-02 -2.12974199e-03 9.95176674e-01 -3.25473281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740385723 meters 0.025921966290665614 Centerline is valid? [True, True] Translation: X:72.55, Y:-4.59, Z:-3.25 [[ 9.89523213e-01 1.00041457e-01 1.04093789e-01 7.25499478e+01] [-9.97255491e-02 9.94980795e-01 -8.24816225e-03 -4.58726037e+00] [-1.04396480e-01 -2.21906230e-03 9.94533283e-01 -3.25266846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77038572299999 meters 0.026880012119605407 Centerline is valid? [True, True] Translation: X:72.58, Y:-4.60, Z:-3.25 [[ 9.89262676e-01 1.00053652e-01 1.06529924e-01 7.25792698e+01] [-9.97221221e-02 9.94979463e-01 -8.44791253e-03 -4.59545738e+00] [-1.06840331e-01 -2.26618554e-03 9.94273608e-01 -3.25095068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80038572299999 meters 0.02737607587958623 Centerline is valid? [True, True] Translation: X:72.61, Y:-4.61, Z:-3.25 [[ 9.88910584e-01 9.95933153e-02 1.10168183e-01 7.26090548e+01] [-9.92353746e-02 9.95025595e-01 -8.74105020e-03 -4.61092897e+00] [-1.10490712e-01 -2.28846381e-03 9.93874522e-01 -3.25041507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83038572299999 meters 0.026721741229508923 Centerline is valid? [True, True] Translation: X:72.64, Y:-4.62, Z:-3.25 [[ 9.88725142e-01 9.94718900e-02 1.11928270e-01 7.26397698e+01] [-9.91012985e-02 9.95037694e-01 -8.88367806e-03 -4.62013425e+00] [-1.12256524e-01 -2.30872100e-03 9.93676579e-01 -3.25303061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860385723 meters 0.025202861408604522 Centerline is valid? [True, True] Translation: X:72.67, Y:-4.63, Z:-3.26 [[ 9.88438375e-01 9.96195405e-02 1.14304532e-01 7.26695997e+01] [-9.92336879e-02 9.95022772e-01 -9.07510988e-03 -4.62970673e+00] [-1.14639671e-01 -2.37267340e-03 9.93404307e-01 -3.25850699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890385723 meters 0.026246800368807468 Centerline is valid? [True, True] Translation: X:72.70, Y:-4.64, Z:-3.26 [[ 9.88028341e-01 1.00512811e-01 1.17034922e-01 7.26991918e+01] [-1.00114121e-01 9.94932540e-01 -9.29531926e-03 -4.64092940e+00] [-1.17376151e-01 -2.53280948e-03 9.93084299e-01 -3.25837529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920385723 meters 0.027144158606606163 Centerline is valid? [True, True] Translation: X:72.73, Y:-4.65, Z:-3.26 [[ 9.87799864e-01 1.01127316e-01 1.18425904e-01 7.27299388e+01] [-1.00721249e-01 9.94870046e-01 -9.42447588e-03 -4.64727525e+00] [-1.18771456e-01 -2.61850889e-03 9.92918166e-01 -3.25896475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950385723 meters 0.026975140593733876 Centerline is valid? [True, True] Translation: X:72.76, Y:-4.66, Z:-3.26 [[ 9.87635737e-01 1.01686507e-01 1.19312635e-01 7.27608832e+01] [-1.01274957e-01 9.94812889e-01 -9.52356487e-03 -4.66005250e+00] [-1.19662165e-01 -2.67756896e-03 9.92811058e-01 -3.26373561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980385723 meters 0.028608122447460544 Centerline is valid? [True, True] Translation: X:72.79, Y:-4.67, Z:-3.26 [[ 9.87549641e-01 1.02113889e-01 1.19659768e-01 7.27914610e+01] [-1.01699665e-01 9.94769025e-01 -9.57937686e-03 -4.66620593e+00] [-1.20012019e-01 -2.70924824e-03 9.92768742e-01 -3.26218073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010385723 meters 0.027404732767605796 Centerline is valid? [True, True] Translation: X:72.82, Y:-4.67, Z:-3.27 [[ 9.87450031e-01 1.02272710e-01 1.20344208e-01 7.28229973e+01] [-1.01851361e-01 9.94752693e-01 -9.66331651e-03 -4.67442186e+00] [-1.20701018e-01 -2.71517911e-03 9.92685193e-01 -3.26840063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040385723 meters 0.02875275948701865 Centerline is valid? [True, True] Translation: X:72.85, Y:-4.69, Z:-3.27 [[ 9.87466643e-01 1.01606645e-01 1.20771348e-01 7.28533411e+01] [-1.01173846e-01 9.94821217e-01 -9.72621573e-03 -4.68626523e+00] [-1.21134147e-01 -2.61458817e-03 9.92632703e-01 -3.26943681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070385723 meters 0.026964051817903657 Centerline is valid? [True, True] Translation: X:72.88, Y:-4.70, Z:-3.28 [[ 9.87648554e-01 1.00838645e-01 1.19924569e-01 7.28842429e+01] [-1.00404543e-01 9.94899682e-01 -9.67220096e-03 -4.69562824e+00] [-1.20288247e-01 -2.48823622e-03 9.92735890e-01 -3.27679799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100385723 meters 0.026964051817903657 Centerline is valid? [True, True] Translation: X:72.92, Y:-4.70, Z:-3.28 [[ 9.87619971e-01 1.01120477e-01 1.19922648e-01 7.29166449e+01] [-1.00685558e-01 9.94871050e-01 -9.69597370e-03 -4.69829592e+00] [-1.20288032e-01 -2.49854149e-03 9.92735890e-01 -3.27825577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13038572299999 meters 0.02839703383587575 Centerline is valid? [True, True] Translation: X:72.95, Y:-4.71, Z:-3.28 [[ 9.88131150e-01 9.88076753e-02 1.17617490e-01 7.29452875e+01] [-9.83716824e-02 9.95104199e-01 -9.52076951e-03 -4.70809383e+00] [-1.17982383e-01 -2.16246144e-03 9.93013334e-01 -3.27908129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16038572299999 meters 0.026598128012401488 Centerline is valid? [True, True] Translation: X:72.98, Y:-4.71, Z:-3.29 [[ 9.88395591e-01 9.77167658e-02 1.16299569e-01 7.29763744e+01] [-9.72824297e-02 9.95212247e-01 -9.41875790e-03 -4.71483452e+00] [-1.16663126e-01 -2.00444590e-03 9.93169521e-01 -3.28749094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19038572299999 meters 0.025781914218654688 Centerline is valid? [True, True] Translation: X:73.01, Y:-4.73, Z:-3.30 [[ 9.89209030e-01 9.52261559e-02 1.11343948e-01 7.30051842e+01] [-9.48119590e-02 9.95454325e-01 -9.02108084e-03 -4.72504144e+00] [-1.11696858e-01 -1.63300323e-03 9.93740985e-01 -3.29580401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22038572299999 meters 0.0239320306053816 Centerline is valid? [True, True] Translation: X:73.03, Y:-4.73, Z:-3.30 [[ 9.89669954e-01 9.33201368e-02 1.08833520e-01 7.30345439e+01] [-9.29129166e-02 9.95635191e-01 -8.81796596e-03 -4.73343155e+00] [-1.09181376e-01 -1.38516377e-03 9.94020879e-01 -3.30470830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250385723 meters 0.024674338436018826 Centerline is valid? [True, True] Translation: X:73.06, Y:-4.74, Z:-3.31 [[ 9.90206151e-01 9.07872790e-02 1.06063416e-01 7.30643087e+01] [-9.03860715e-02 9.95869725e-01 -8.59352516e-03 -4.74031049e+00] [-1.06405527e-01 -1.07729399e-03 9.94322233e-01 -3.30535660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280385723 meters 0.023477144099756535 Centerline is valid? [True, True] Translation: X:73.09, Y:-4.75, Z:-3.31 [[ 9.91272231e-01 8.52796232e-02 1.00532334e-01 7.30927687e+01] [-8.48910375e-02 9.96356951e-01 -8.14481380e-03 -4.75081447e+00] [-1.00860677e-01 -4.60566418e-04 9.94900453e-01 -3.31332609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310385723 meters 0.02224705246439182 Centerline is valid? [True, True] Translation: X:73.12, Y:-4.76, Z:-3.32 [[ 9.91633016e-01 8.31690733e-02 9.87262170e-02 7.31239420e+01] [-8.27836785e-02 9.96535422e-01 -8.00090217e-03 -4.75583592e+00] [-9.90496000e-02 -2.38960656e-04 9.95082469e-01 -3.32134608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340385723 meters 0.021759025859429848 Centerline is valid? [True, True] Translation: X:73.16, Y:-4.76, Z:-3.33 [[ 9.91918918e-01 8.18291500e-02 9.69579775e-02 7.31554154e+01] [-8.14505819e-02 9.96646367e-01 -7.86270529e-03 -4.75864637e+00] [-9.72762146e-02 -9.81175633e-05 9.95257418e-01 -3.32725764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370385723 meters 0.021877870587040292 Centerline is valid? [True, True] Translation: X:73.19, Y:-4.76, Z:-3.33 [[ 9.92394420e-01 8.15630448e-02 9.21997040e-02 7.31854989e+01] [-8.12194470e-02 9.96668182e-01 -7.47904374e-03 -4.75917599e+00] [-9.25025250e-02 -6.62477058e-05 9.95712448e-01 -3.33352868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400385723 meters 0.02074295380174685 Centerline is valid? [True, True] Translation: X:73.22, Y:-4.76, Z:-3.34 [[ 9.92568078e-01 8.22885948e-02 8.96504235e-02 7.32165870e+01] [-8.19665841e-02 9.96608534e-01 -7.27381931e-03 -4.76218604e+00] [-8.99449295e-02 -1.28578133e-04 9.95946732e-01 -3.34146022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430385723 meters 0.020510658263675638 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.76, Z:-3.35 [[ 9.92754006e-01 8.45180335e-02 8.54177101e-02 7.32469571e+01] [-8.42338066e-02 9.96421901e-01 -6.93264530e-03 -4.76399332e+00] [-8.56980106e-02 -3.12647473e-04 9.96321109e-01 -3.34828038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460385723 meters 0.020368151139914366 Centerline is valid? [True, True] Translation: X:73.28, Y:-4.76, Z:-3.35 [[ 9.92800140e-01 8.66277079e-02 8.27255836e-02 7.32783723e+01] [-8.63682747e-02 9.96240640e-01 -6.71627759e-03 -4.76471956e+00] [-8.29964041e-02 -4.76944597e-04 9.96549733e-01 -3.35299495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490385723 meters 0.020297076042530685 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.76, Z:-3.36 [[ 9.92759330e-01 8.93972851e-02 8.02311486e-02 7.33102958e+01] [-8.91614685e-02 9.95995817e-01 -6.52417652e-03 -4.76466355e+00] [-8.04931321e-02 -6.76589921e-04 9.96754934e-01 -3.35868453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52038572299999 meters 0.020315387951922517 Centerline is valid? [True, True] Translation: X:73.34, Y:-4.76, Z:-3.37 [[ 9.92778517e-01 9.69806261e-02 7.06086025e-02 7.33414550e+01] [-9.68164361e-02 9.95285633e-01 -5.75207462e-03 -4.76199446e+00] [-7.08335675e-02 -1.12553715e-03 9.97487513e-01 -3.36975798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55038572299999 meters 0.020967900992745696 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.76, Z:-3.38 [[ 9.92679466e-01 1.01514805e-01 6.54386859e-02 7.33722366e+01] [-1.01383249e-01 9.94833130e-01 -5.33662699e-03 -4.76119779e+00] [-6.56423194e-02 -1.33682655e-03 9.97842322e-01 -3.37551316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58038572299999 meters 0.022101296627193227 Centerline is valid? [True, True] Translation: X:73.40, Y:-4.76, Z:-3.39 [[ 9.92351263e-01 1.08762231e-01 5.83930432e-02 7.34039529e+01] [-1.08669277e-01 9.94066493e-01 -4.77445654e-03 -4.75877845e+00] [-5.85658482e-02 -1.60759182e-03 9.98282253e-01 -3.38574773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610385723 meters 0.022715038092960417 Centerline is valid? [True, True] Translation: X:73.44, Y:-4.76, Z:-3.39 [[ 9.92180083e-01 1.11487204e-01 5.61185036e-02 7.34360962e+01] [-1.11404960e-01 9.93764439e-01 -4.60161997e-03 -4.75967820e+00] [-5.62815950e-02 -1.68624399e-03 9.98413511e-01 -3.39078402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640385723 meters 0.022460828221131848 Centerline is valid? [True, True] Translation: X:73.47, Y:-4.76, Z:-3.40 [[ 9.92113520e-01 1.13137955e-01 5.39496733e-02 7.34682274e+01] [-1.13063697e-01 9.93577837e-01 -4.43640511e-03 -4.76265672e+00] [-5.41051255e-02 -1.69833201e-03 9.98533801e-01 -3.39576820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670385723 meters 0.024398786958289086 Centerline is valid? [True, True] Translation: X:73.50, Y:-4.76, Z:-3.40 [[ 9.91953283e-01 1.15718104e-01 5.13615131e-02 7.34988075e+01] [-1.15653635e-01 9.93280573e-01 -4.23550487e-03 -4.76331830e+00] [-5.15065178e-02 -1.73872273e-03 9.98671145e-01 -3.40127646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700385723 meters 0.023768905992213235 Centerline is valid? [True, True] Translation: X:73.53, Y:-4.77, Z:-3.41 [[ 9.91748882e-01 1.18380659e-01 4.91952678e-02 7.35304575e+01] [-1.18324250e-01 9.92966679e-01 -4.06760709e-03 -4.76893669e+00] [-4.93307877e-02 -1.78694839e-03 9.98780897e-01 -3.40709208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730385723 meters 0.024963475267769056 Centerline is valid? [True, True] Translation: X:73.56, Y:-4.77, Z:-3.41 [[ 9.91658621e-01 1.19502432e-01 4.82943871e-02 7.35616495e+01] [-1.19448852e-01 9.92832280e-01 -4.00435652e-03 -4.77054093e+00] [-4.84267569e-02 -1.79775444e-03 9.98825118e-01 -3.41042577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760385723 meters 0.024233105543003924 Centerline is valid? [True, True] Translation: X:73.59, Y:-4.78, Z:-3.41 [[ 9.91637974e-01 1.20174876e-01 4.70332690e-02 7.35938888e+01] [-1.20124319e-01 9.92751156e-01 -3.91022189e-03 -4.77614292e+00] [-4.71622427e-02 -1.77231490e-03 9.98885670e-01 -3.41387096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790385723 meters 0.024507574140539695 Centerline is valid? [True, True] Translation: X:73.63, Y:-4.78, Z:-3.42 [[ 9.91638272e-01 1.20707353e-01 4.56428861e-02 7.36250866e+01] [-1.20659747e-01 9.92686624e-01 -3.80677134e-03 -4.78008552e+00] [-4.57685878e-02 -1.73231894e-03 9.98950567e-01 -3.41735638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820385723 meters 0.02422048620547003 Centerline is valid? [True, True] Translation: X:73.66, Y:-4.79, Z:-3.42 [[ 9.91740546e-01 1.21613555e-01 4.07533100e-02 7.36562866e+01] [-1.21576185e-01 9.92576268e-01 -3.40331216e-03 -4.78858912e+00] [-4.08646572e-02 -1.57942931e-03 9.99163443e-01 -3.42271951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850385723 meters 0.023946747357592738 Centerline is valid? [True, True] Translation: X:73.69, Y:-4.80, Z:-3.43 [[ 9.91741894e-01 1.22703980e-01 3.73061645e-02 7.36877281e+01] [-1.22673130e-01 9.92442213e-01 -3.12354234e-03 -4.79910131e+00] [-3.74074836e-02 -1.47871617e-03 9.99299001e-01 -3.42763079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88038572299999 meters 0.02440708317169854 Centerline is valid? [True, True] Translation: X:73.72, Y:-4.80, Z:-3.43 [[ 9.91716491e-01 1.23335308e-01 3.58720475e-02 7.37187423e+01] [-1.23306889e-01 9.92364015e-01 -3.01198418e-03 -4.80428062e+00] [-3.59696131e-02 -1.43623620e-03 9.99351852e-01 -3.43049213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91038572299999 meters 0.024413344532575775 Centerline is valid? [True, True] Translation: X:73.75, Y:-4.81, Z:-3.43 [[ 9.91701206e-01 1.24010226e-01 3.39143430e-02 7.37500591e+01] [-1.23984983e-01 9.92279989e-01 -2.85451269e-03 -4.80975504e+00] [-3.40065127e-02 -1.37404556e-03 9.99420667e-01 -3.43336499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94038572299999 meters 0.026779924733759654 Centerline is valid? [True, True] Translation: X:73.78, Y:-4.81, Z:-3.44 [[ 9.91838305e-01 1.24186223e-01 2.88887435e-02 7.37805949e+01] [-1.24167814e-01 9.92258239e-01 -2.43724072e-03 -4.81208141e+00] [-2.89677655e-02 -1.16970343e-03 9.99579662e-01 -3.44037765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97038572299999 meters 0.02387829905322443 Centerline is valid? [True, True] Translation: X:73.81, Y:-4.82, Z:-3.44 [[ 9.91935462e-01 1.23900673e-01 2.66957562e-02 7.38121323e+01] [-1.23884719e-01 9.92294050e-01 -2.25707774e-03 -4.82157637e+00] [-2.67696934e-02 -1.06832081e-03 9.99641057e-01 -3.44171824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000385723 meters 0.02411634034759832 Centerline is valid? [True, True] Translation: X:73.84, Y:-4.83, Z:-3.45 [[ 9.92041190e-01 1.23472740e-01 2.46730782e-02 7.38423752e+01] [-1.23458841e-01 9.92347489e-01 -2.09168247e-03 -4.82634275e+00] [-2.47425330e-02 -9.71074469e-04 9.99693385e-01 -3.44519743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030385723 meters 0.024261509452195046 Centerline is valid? [True, True] Translation: X:73.87, Y:-4.83, Z:-3.45 [[ 9.92265164e-01 1.22325775e-01 2.11246000e-02 7.38728472e+01] [-1.22315254e-01 9.92489677e-01 -1.79424974e-03 -4.83366927e+00] [-2.11854304e-02 -8.03489309e-04 9.99775241e-01 -3.44945757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060385723 meters 0.02422567431772984 Centerline is valid? [True, True] Translation: X:73.90, Y:-4.84, Z:-3.45 [[ 9.92267177e-01 1.22512446e-01 1.99135784e-02 7.39045373e+01] [-1.22503065e-01 9.92466688e-01 -1.69485286e-03 -4.83892145e+00] [-1.99712037e-02 -7.57727528e-04 9.99800268e-01 -3.45212958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090385723 meters 0.02523317713108683 Centerline is valid? [True, True] Translation: X:73.94, Y:-4.85, Z:-3.45 [[ 9.91960006e-01 1.24985103e-01 1.98512232e-02 7.39361482e+01] [-1.24976096e-01 9.92158299e-01 -1.69853149e-03 -4.84603470e+00] [-1.99078469e-02 -7.96053068e-04 9.99801502e-01 -3.45298623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120385723 meters 0.02491851976645838 Centerline is valid? [True, True] Translation: X:73.97, Y:-4.85, Z:-3.45 [[ 9.91613110e-01 1.27626228e-01 2.03711795e-02 7.39675898e+01] [-1.27617348e-01 9.91821951e-01 -1.74064665e-03 -4.85222253e+00] [-2.04267351e-02 -8.73667872e-04 9.99790971e-01 -3.45205817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150385723 meters 0.02644497655709169 Centerline is valid? [True, True] Translation: X:74.00, Y:-4.85, Z:-3.45 [[ 9.91239496e-01 1.30489649e-01 2.04135659e-02 7.39980088e+01] [-1.30481138e-01 9.91449240e-01 -1.75402628e-03 -4.85485615e+00] [-2.04678967e-02 -9.24925180e-04 9.99790083e-01 -3.45325724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180385723 meters 0.028692417314982066 Centerline is valid? [True, True] Translation: X:74.03, Y:-4.86, Z:-3.46 [[ 9.90899689e-01 1.33095698e-01 2.00833409e-02 7.40289444e+01] [-1.33088089e-01 9.91102719e-01 -1.72095102e-03 -4.85551974e+00] [-2.01337049e-02 -9.67563628e-04 9.99796828e-01 -3.45526756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210385723 meters 0.02882790328609813 Centerline is valid? [True, True] Translation: X:74.06, Y:-4.86, Z:-3.46 [[ 9.90357018e-01 1.37250257e-01 1.88505610e-02 7.40593240e+01] [-1.37244133e-01 9.90535920e-01 -1.62431237e-03 -4.86130405e+00] [-1.88950951e-02 -9.78479750e-04 9.99820993e-01 -3.45536509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240385723 meters 0.029902202555546462 Centerline is valid? [True, True] Translation: X:74.09, Y:-4.87, Z:-3.46 [[ 9.90123633e-01 1.39030978e-01 1.80438003e-02 7.40906773e+01] [-1.39025669e-01 9.90287558e-01 -1.55441793e-03 -4.86583847e+00] [-1.80846632e-02 -9.69485477e-04 9.99835989e-01 -3.45515577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27038572299999 meters 0.030020690133060402 Centerline is valid? [True, True] Translation: X:74.12, Y:-4.87, Z:-3.46 [[ 9.90082028e-01 1.39508188e-01 1.65844255e-02 7.41229457e+01] [-1.39503859e-01 9.90220505e-01 -1.42331975e-03 -4.86859955e+00] [-1.66208029e-02 -9.04388051e-04 9.99861456e-01 -3.45740451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30038572299999 meters 0.030176405559752414 Centerline is valid? [True, True] Translation: X:74.16, Y:-4.87, Z:-3.46 [[ 9.90147277e-01 1.39157636e-01 1.56052261e-02 7.41557114e+01] [-1.39153725e-01 9.90269883e-01 -1.34149559e-03 -4.87045771e+00] [-1.56400648e-02 -8.43247133e-04 9.99877331e-01 -3.46033973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33038572299999 meters 0.028042199353649915 Centerline is valid? [True, True] Translation: X:74.19, Y:-4.88, Z:-3.46 [[ 9.90285373e-01 1.38278805e-01 1.46236781e-02 7.41874722e+01] [-1.38275214e-01 9.90393040e-01 -1.26124868e-03 -4.87562279e+00] [-1.46575930e-02 -7.73096103e-04 9.99892273e-01 -3.46109689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360385723 meters 0.027184529648639585 Centerline is valid? [True, True] Translation: X:74.22, Y:-4.88, Z:-3.46 [[ 9.90811362e-01 1.34738709e-01 1.17611815e-02 7.42183946e+01] [-1.34736047e-01 9.90880998e-01 -1.02204161e-03 -4.88105261e+00] [-1.17916398e-02 -5.72004669e-04 9.99930313e-01 -3.46394957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390385723 meters 0.02696841084703946 Centerline is valid? [True, True] Translation: X:74.25, Y:-4.89, Z:-3.47 [[ 9.91085287e-01 1.32822058e-01 1.04045788e-02 7.42493781e+01] [-1.32819936e-01 9.91139778e-01 -8.97829005e-04 -4.88558160e+00] [-1.04316434e-02 -4.92110366e-04 9.99945468e-01 -3.46643594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420385723 meters 0.026263305676209145 Centerline is valid? [True, True] Translation: X:74.28, Y:-4.89, Z:-3.47 [[ 9.91653671e-01 1.28605102e-01 9.15010239e-03 7.42793271e+01] [-1.28603206e-01 9.91695810e-01 -7.97807208e-04 -4.89164633e+00] [-9.17672027e-03 -3.85584054e-04 9.99957819e-01 -3.46864357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450385723 meters 0.025625511395552254 Centerline is valid? [True, True] Translation: X:74.31, Y:-4.90, Z:-3.47 [[ 9.91912204e-01 1.26531700e-01 9.99537372e-03 7.43102179e+01] [-1.26529335e-01 9.91962483e-01 -8.71168015e-04 -4.89656494e+00] [-1.00252661e-02 -4.00585805e-04 9.99949666e-01 -3.46919154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480385723 meters 0.024913174367411743 Centerline is valid? [True, True] Translation: X:74.34, Y:-4.90, Z:-3.47 [[ 9.92204421e-01 1.24062038e-01 1.17897415e-02 7.43409684e+01] [-1.24058559e-01 9.92274365e-01 -1.02880968e-03 -4.90108279e+00] [-1.18262945e-02 -4.41828834e-04 9.99929969e-01 -3.46928737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510385723 meters 0.022731289785685005 Centerline is valid? [True, True] Translation: X:74.37, Y:-4.91, Z:-3.46 [[ 9.92765584e-01 1.18622164e-01 1.85816595e-02 7.43717829e+01] [-1.18612556e-01 9.92939288e-01 -1.62224709e-03 -4.90703725e+00] [-1.86428943e-02 -5.93507044e-04 9.99826030e-01 -3.46485207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540385723 meters 0.021330327553477923 Centerline is valid? [True, True] Translation: X:74.40, Y:-4.91, Z:-3.46 [[ 9.93030681e-01 1.15898481e-01 2.13917952e-02 7.44031364e+01] [-1.15885122e-01 9.93260868e-01 -1.86723923e-03 -4.91168296e+00] [-2.14640433e-02 -6.24764962e-04 9.99769426e-01 -3.46334223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570385723 meters 0.020190131177996198 Centerline is valid? [True, True] Translation: X:74.43, Y:-4.92, Z:-3.46 [[ 9.93680374e-01 1.09939962e-01 2.26388786e-02 7.44321934e+01] [-1.09923390e-01 9.93938093e-01 -1.97893754e-03 -4.91919300e+00] [-2.27192081e-02 -5.22110883e-04 9.99741749e-01 -3.46217317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600385723 meters 0.019304390355586058 Centerline is valid? [True, True] Translation: X:74.46, Y:-4.93, Z:-3.46 [[ 9.93989040e-01 1.07063097e-01 2.28753412e-02 7.44637093e+01] [-1.07045553e-01 9.94252118e-01 -1.99359216e-03 -4.92608676e+00] [-2.29572966e-02 -4.67094798e-04 9.99736337e-01 -3.46207227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63038572299999 meters 0.018734876205847194 Centerline is valid? [True, True] Translation: X:74.50, Y:-4.93, Z:-3.46 [[ 9.94247508e-01 1.04675432e-01 2.26924223e-02 7.44951311e+01] [-1.04657424e-01 9.94506356e-01 -1.98299798e-03 -4.93282196e+00] [-2.27753294e-02 -4.03339665e-04 9.99740527e-01 -3.46181404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66038572299999 meters 0.018829425007666826 Centerline is valid? [True, True] Translation: X:74.53, Y:-4.94, Z:-3.46 [[ 9.94474742e-01 1.02380173e-01 2.32010251e-02 7.45258427e+01] [-1.02360578e-01 9.94745282e-01 -2.03373095e-03 -4.93939872e+00] [-2.32873240e-02 -3.52376280e-04 9.99728751e-01 -3.46349587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69038572299999 meters 0.018680647996218023 Centerline is valid? [True, True] Translation: X:74.56, Y:-4.94, Z:-3.46 [[ 9.94419950e-01 1.02881346e-01 2.33321937e-02 7.45587655e+01] [-1.02861567e-01 9.94693570e-01 -2.04950482e-03 -4.94428177e+00] [-2.34192388e-02 -3.61917512e-04 9.99725667e-01 -3.46389494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72038572299999 meters 0.019789901255845767 Centerline is valid? [True, True] Translation: X:74.59, Y:-4.95, Z:-3.47 [[ 9.94183915e-01 1.05779144e-01 2.02266054e-02 7.45887726e+01] [-1.05764675e-01 9.94389582e-01 -1.78674535e-03 -4.94845090e+00] [-2.03021261e-02 -3.62906862e-04 9.99793825e-01 -3.46785793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750385723 meters 0.02039108474858374 Centerline is valid? [True, True] Translation: X:74.62, Y:-4.95, Z:-3.47 [[ 9.93996611e-01 1.08118739e-01 1.67653361e-02 7.46192876e+01] [-1.08109129e-01 9.94137929e-01 -1.48114197e-03 -4.95251245e+00] [-1.68271957e-02 -3.40235781e-04 9.99858355e-01 -3.47030955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780385723 meters 0.021247400209187955 Centerline is valid? [True, True] Translation: X:74.65, Y:-4.96, Z:-3.47 [[ 9.93763028e-01 1.10527760e-01 1.47871172e-02 7.46508802e+01] [-1.10520570e-01 9.93872980e-01 -1.30504642e-03 -4.95537842e+00] [-1.48407601e-02 -3.37373737e-04 9.99889813e-01 -3.47305361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810385723 meters 0.02198066399864073 Centerline is valid? [True, True] Translation: X:74.68, Y:-4.96, Z:-3.47 [[ 9.93208839e-01 1.15489332e-01 1.40860598e-02 7.46824207e+01] [-1.15483281e-01 9.93308644e-01 -1.24495651e-03 -4.95734430e+00] [-1.41355841e-02 -3.90202583e-04 9.99900012e-01 -3.47338412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840385723 meters 0.02246094464515434 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.96, Z:-3.47 [[ 9.92905897e-01 1.18018449e-01 1.44749649e-02 7.47144749e+01] [-1.18012409e-01 9.93011304e-01 -1.27369566e-03 -4.95808798e+00] [-1.45241234e-02 -4.43565552e-04 9.99894421e-01 -3.47439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870385723 meters 0.025055168012364484 Centerline is valid? [True, True] Translation: X:74.75, Y:-4.95, Z:-3.48 [[ 9.92334546e-01 1.22607555e-01 1.54769887e-02 7.47459186e+01] [-1.22601129e-01 9.92455085e-01 -1.36690626e-03 -4.95496469e+00] [-1.55278092e-02 -5.41067983e-04 9.99879290e-01 -3.47537614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900385723 meters 0.025892893642745725 Centerline is valid? [True, True] Translation: X:74.78, Y:-4.96, Z:-3.47 [[ 9.92011930e-01 1.25054346e-01 1.65451296e-02 7.47784367e+01] [-1.25047227e-01 9.92149704e-01 -1.46822900e-03 -4.95675360e+00] [-1.65988539e-02 -6.12421893e-04 9.99862042e-01 -3.47446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930385723 meters 0.026356912479525343 Centerline is valid? [True, True] Translation: X:74.81, Y:-4.96, Z:-3.47 [[ 9.91652873e-01 1.27711930e-01 1.77268651e-02 7.48105291e+01] [-1.27704189e-01 9.91811054e-01 -1.57261002e-03 -4.95826709e+00] [-1.77825418e-02 -7.04311690e-04 9.99841630e-01 -3.47303530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960385723 meters 0.02751405575585771 Centerline is valid? [True, True] Translation: X:74.84, Y:-4.96, Z:-3.47 [[ 9.90772237e-01 1.33854818e-01 2.12899364e-02 7.48425944e+01] [-1.33844813e-01 9.91000481e-01 -1.90060684e-03 -4.95506521e+00] [-2.13527426e-02 -9.66479067e-04 9.99771537e-01 -3.47151000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990385723 meters 0.02751405575585771 Centerline is valid? [True, True] Translation: X:74.87, Y:-4.96, Z:-3.47 [[ 9.90736031e-01 1.34122469e-01 2.12903644e-02 7.48748906e+01] [-1.34112628e-01 9.90964282e-01 -1.89582602e-03 -4.95803002e+00] [-2.13522635e-02 -9.77043571e-04 9.99771537e-01 -3.47296413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02038572299999 meters 0.029215510156764473 Centerline is valid? [True, True] Translation: X:74.91, Y:-4.96, Z:-3.47 [[ 9.90292267e-01 1.37004002e-01 2.34761283e-02 7.49076347e+01] [-1.36992563e-01 9.90569845e-01 -2.10243058e-03 -4.95604084e+00] [-2.35427861e-02 -1.13403424e-03 9.99722187e-01 -3.47412563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05038572299999 meters 0.031602045532890734 Centerline is valid? [True, True] Translation: X:74.94, Y:-4.96, Z:-3.47 [[ 9.89519356e-01 1.41919966e-01 2.66489503e-02 7.49393717e+01] [-1.41906928e-01 9.89877121e-01 -2.38940924e-03 -4.95513933e+00] [-2.67182911e-02 -1.41730399e-03 9.99641998e-01 -3.47237386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08038572299999 meters 0.033291543721394964 Centerline is valid? [True, True] Translation: X:74.97, Y:-4.96, Z:-3.47 [[ 9.89177569e-01 1.44144399e-01 2.73884850e-02 7.49704452e+01] [-1.44131539e-01 9.89555496e-01 -2.45347553e-03 -4.95644984e+00] [-2.74560806e-02 -1.52062152e-03 9.99621854e-01 -3.47225871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110385723 meters 0.03270477176095817 Centerline is valid? [True, True] Translation: X:75.00, Y:-4.96, Z:-3.47 [[ 9.88877240e-01 1.46236942e-01 2.71396444e-02 7.50012627e+01] [-1.46224842e-01 9.89248371e-01 -2.44066485e-03 -4.96124267e+00] [-2.72047644e-02 -1.55497228e-03 9.99628672e-01 -3.47231716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140385723 meters 0.03674598196192468 Centerline is valid? [True, True] Translation: X:75.03, Y:-4.96, Z:-3.47 [[ 9.88582502e-01 1.48466909e-01 2.57334975e-02 7.50318446e+01] [-1.48456780e-01 9.88916189e-01 -2.31429773e-03 -4.95939059e+00] [-2.57918689e-02 -1.53243793e-03 9.99666160e-01 -3.47423048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170385723 meters 0.032187000040234046 Centerline is valid? [True, True] Translation: X:75.06, Y:-4.97, Z:-3.47 [[ 9.88414546e-01 1.49615082e-01 2.55345510e-02 7.50632963e+01] [-1.49605572e-01 9.88743098e-01 -2.29322434e-03 -4.96876080e+00] [-2.55902120e-02 -1.55345481e-03 9.99671310e-01 -3.47324847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200385723 meters 0.036680990912088894 Centerline is valid? [True, True] Translation: X:75.09, Y:-4.96, Z:-3.48 [[ 9.88240945e-01 1.50699247e-01 2.58760862e-02 7.50946104e+01] [-1.50689680e-01 9.88578368e-01 -2.33048161e-03 -4.96218931e+00] [-2.59317408e-02 -1.59618180e-03 9.99662442e-01 -3.47786760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230385723 meters 0.035351381867837275 Centerline is valid? [True, True] Translation: X:75.13, Y:-4.97, Z:-3.48 [[ 9.88181329e-01 1.51082998e-01 2.59150284e-02 7.51270293e+01] [-1.51073386e-01 9.88519781e-01 -2.33969441e-03 -4.96538161e+00] [-2.59710063e-02 -1.60302876e-03 9.99661411e-01 -3.47979594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260385723 meters 0.03176862457493048 Centerline is valid? [True, True] Translation: X:75.16, Y:-4.97, Z:-3.48 [[ 9.88228726e-01 1.50842411e-01 2.55059303e-02 7.51584055e+01] [-1.50832834e-01 9.88556584e-01 -2.30999387e-03 -4.97240082e+00] [-2.55625004e-02 -1.56432946e-03 9.99672002e-01 -3.48041136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290385723 meters 0.03635339138019699 Centerline is valid? [True, True] Translation: X:75.19, Y:-4.97, Z:-3.48 [[ 9.88343618e-01 1.50149239e-01 2.51415679e-02 7.51899401e+01] [-1.50139550e-01 9.88662178e-01 -2.28336319e-03 -4.96932556e+00] [-2.51993625e-02 -1.51799624e-03 9.99681293e-01 -3.48328479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320385723 meters 0.0306465425465 Centerline is valid? [True, True] Translation: X:75.22, Y:-4.98, Z:-3.48 [[ 9.88834285e-01 1.46747894e-01 2.59193445e-02 7.52195646e+01] [-1.46736163e-01 9.89172840e-01 -2.36436390e-03 -4.98229364e+00] [-2.59856771e-02 -1.46534107e-03 9.99661241e-01 -3.47836062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350385723 meters 0.029131517034055802 Centerline is valid? [True, True] Translation: X:75.25, Y:-4.99, Z:-3.48 [[ 9.89176854e-01 1.44203683e-01 2.71007178e-02 7.52504157e+01] [-1.44189918e-01 9.89546946e-01 -2.47170910e-03 -4.98626701e+00] [-2.71738621e-02 -1.46269283e-03 9.99629652e-01 -3.47826132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38038572299999 meters 0.02849342765529917 Centerline is valid? [True, True] Translation: X:75.28, Y:-4.99, Z:-3.48 [[ 9.89621880e-01 1.40542968e-01 2.99367323e-02 7.52814694e+01] [-1.40524473e-01 9.90073438e-01 -2.73131247e-03 -4.98599030e+00] [-3.00234302e-02 -1.50387694e-03 9.99548064e-01 -3.47826729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41038572299999 meters 0.030042234126055885 Centerline is valid? [True, True] Translation: X:75.31, Y:-4.99, Z:-3.48 [[ 9.89777090e-01 1.39278883e-01 3.07034941e-02 7.53128792e+01] [-1.39258858e-01 9.90252054e-01 -2.80009030e-03 -4.98527204e+00] [-3.07941916e-02 -1.50426832e-03 9.99524614e-01 -3.47934105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44038572299999 meters 0.025994643787569317 Centerline is valid? [True, True] Translation: X:75.34, Y:-4.99, Z:-3.48 [[ 9.89815716e-01 1.38852769e-01 3.13808251e-02 7.53441787e+01] [-1.38831544e-01 9.90311868e-01 -2.86484200e-03 -4.99437921e+00] [-3.14745947e-02 -1.52098277e-03 9.99503395e-01 -3.47784776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47038572299999 meters 0.026384455746973477 Centerline is valid? [True, True] Translation: X:75.38, Y:-5.00, Z:-3.48 [[ 9.89836270e-01 1.38135879e-01 3.38029270e-02 7.53753382e+01] [-1.38110510e-01 9.90411987e-01 -3.09553985e-03 -4.99531906e+00] [-3.39064292e-02 -1.60446187e-03 9.99423724e-01 -3.47605787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500385723 meters 0.02868328996168493 Centerline is valid? [True, True] Translation: X:75.41, Y:-4.99, Z:-3.48 [[ 9.89750853e-01 1.38422772e-01 3.51053593e-02 7.54069023e+01] [-1.38395293e-01 9.90371826e-01 -3.22326288e-03 -4.99292041e+00] [-3.52135318e-02 -1.66818931e-03 9.99378419e-01 -3.47741641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530385723 meters 0.02737535254646087 Centerline is valid? [True, True] Translation: X:75.44, Y:-4.99, Z:-3.48 [[ 9.89679334e-01 1.39021758e-01 3.47529372e-02 7.54386181e+01] [-1.38994925e-01 9.90287927e-01 -3.19869454e-03 -4.99241796e+00] [-3.48601023e-02 -1.66480001e-03 9.99390815e-01 -3.47941814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560385723 meters 0.028069154114513394 Centerline is valid? [True, True] Translation: X:75.47, Y:-4.99, Z:-3.48 [[ 9.89587426e-01 1.39987836e-01 3.34683673e-02 7.54708015e+01] [-1.39963264e-01 9.90151883e-01 -3.08747716e-03 -4.99121993e+00] [-3.35709762e-02 -1.62901336e-03 9.99435008e-01 -3.48291728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590385723 meters 0.02857556912320645 Centerline is valid? [True, True] Translation: X:75.50, Y:-4.99, Z:-3.49 [[ 9.89425165e-01 1.41378412e-01 3.24035054e-02 7.55028386e+01] [-1.41355881e-01 9.89954310e-01 -2.99667132e-03 -4.98994983e+00] [-3.25016544e-02 -1.61544403e-03 9.99470376e-01 -3.48564924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620385723 meters 0.029305013897820482 Centerline is valid? [True, True] Translation: X:75.53, Y:-4.99, Z:-3.49 [[ 9.89376004e-01 1.41902307e-01 3.16047136e-02 7.55344435e+01] [-1.41880898e-01 9.89879399e-01 -2.93040011e-03 -4.99176091e+00] [-3.17006854e-02 -1.58483759e-03 9.99496150e-01 -3.48684396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650385723 meters 0.029254117654716243 Centerline is valid? [True, True] Translation: X:75.57, Y:-5.00, Z:-3.49 [[ 9.89314421e-01 1.42433549e-01 3.11393759e-02 7.55664224e+01] [-1.42412822e-01 9.89803119e-01 -2.89386097e-03 -4.99503776e+00] [-3.12340343e-02 -1.57170800e-03 9.99510863e-01 -3.48735097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680385723 meters 0.027154798075686867 Centerline is valid? [True, True] Translation: X:75.60, Y:-5.00, Z:-3.49 [[ 9.89403285e-01 1.41586808e-01 3.21607715e-02 7.55980989e+01] [-1.41563991e-01 9.89924570e-01 -2.99689106e-03 -4.99982238e+00] [-3.22610582e-02 -1.58767333e-03 9.99478216e-01 -3.48582127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710385723 meters 0.028011075393674038 Centerline is valid? [True, True] Translation: X:75.63, Y:-5.00, Z:-3.49 [[ 9.89438549e-01 1.40944888e-01 3.38510806e-02 7.56290985e+01] [-1.40918924e-01 9.90016085e-01 -3.16357280e-03 -4.99947983e+00] [-3.39590037e-02 -1.64009699e-03 9.99421881e-01 -3.48640644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740385723 meters 0.02713566425738655 Centerline is valid? [True, True] Translation: X:75.66, Y:-5.00, Z:-3.49 [[ 9.89805527e-01 1.38335594e-01 3.38863209e-02 7.56608724e+01] [-1.38307726e-01 9.90384210e-01 -3.17639790e-03 -5.00007991e+00] [-3.39998860e-02 -1.54272377e-03 9.99420646e-01 -3.48823417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77038572299999 meters 0.02629377416955005 Centerline is valid? [True, True] Translation: X:75.69, Y:-5.00, Z:-3.49 [[ 9.90032279e-01 1.36753440e-01 3.36835719e-02 7.56925746e+01] [-1.36725003e-01 9.90604011e-01 -3.15705351e-03 -5.00442204e+00] [-3.37988194e-02 -1.47980157e-03 9.99427561e-01 -3.48951069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80038572299999 meters 0.025246585251209642 Centerline is valid? [True, True] Translation: X:75.72, Y:-5.01, Z:-3.49 [[ 9.90363747e-01 1.34233749e-01 3.40727085e-02 7.57241014e+01] [-1.34202809e-01 9.90948708e-01 -3.20385167e-03 -5.00992146e+00] [-3.41943714e-02 -1.39967463e-03 9.99414221e-01 -3.48969181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83038572299999 meters 0.023504650534597007 Centerline is valid? [True, True] Translation: X:75.75, Y:-5.02, Z:-3.49 [[ 9.91188174e-01 1.27717981e-01 3.51300593e-02 7.57539142e+01] [-1.27680916e-01 9.91809788e-01 -3.30569684e-03 -5.01624785e+00] [-3.52645336e-02 -1.20887055e-03 9.99377282e-01 -3.48832988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860385723 meters 0.02157608348450199 Centerline is valid? [True, True] Translation: X:75.78, Y:-5.02, Z:-3.49 [[ 9.91616040e-01 1.24175301e-01 3.57508613e-02 7.57846144e+01] [-1.24134633e-01 9.92259683e-01 -3.36361384e-03 -5.02140257e+00] [-3.58918161e-02 -1.10250660e-03 9.99355073e-01 -3.48906359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890385723 meters 0.020734957988786065 Centerline is valid? [True, True] Translation: X:75.82, Y:-5.02, Z:-3.49 [[ 9.92001700e-01 1.20629872e-01 3.71626303e-02 7.58160493e+01] [-1.20583396e-01 9.92697039e-01 -3.49767687e-03 -5.02421180e+00] [-3.73131573e-02 -1.01149475e-03 9.99303110e-01 -3.49014792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920385723 meters 0.019401577715671997 Centerline is valid? [True, True] Translation: X:75.85, Y:-5.03, Z:-3.49 [[ 9.92720997e-01 1.13614364e-01 3.99599711e-02 7.58456402e+01] [-1.13554844e-01 9.93524602e-01 -3.76345671e-03 -5.02714068e+00] [-4.01287971e-02 -8.01585794e-04 9.99194194e-01 -3.48980808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950385723 meters 0.018688239075063694 Centerline is valid? [True, True] Translation: X:75.88, Y:-5.03, Z:-3.49 [[ 9.92939633e-01 1.11123195e-01 4.15032667e-02 7.58779413e+01] [-1.11056824e-01 9.93806372e-01 -3.90853620e-03 -5.03196155e+00] [-4.16805399e-02 -7.28280490e-04 9.99130723e-01 -3.48982305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980385723 meters 0.018151964818787163 Centerline is valid? [True, True] Translation: X:75.91, Y:-5.04, Z:-3.49 [[ 9.93321545e-01 1.06665020e-01 4.39872886e-02 7.59084853e+01] [-1.06585915e-01 9.94294850e-01 -4.14652109e-03 -5.03761272e+00] [-4.41786233e-02 -5.69596667e-04 9.99023486e-01 -3.48752884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010385723 meters 0.018020190388187703 Centerline is valid? [True, True] Translation: X:75.94, Y:-5.04, Z:-3.49 [[ 9.93429800e-01 1.05498502e-01 4.43542453e-02 7.59403007e+01] [-1.05416632e-01 9.94419328e-01 -4.18732319e-03 -5.04088835e+00] [-4.45484752e-02 -5.15863531e-04 9.99007091e-01 -3.48769554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040385723 meters 0.01802196028825431 Centerline is valid? [True, True] Translation: X:75.97, Y:-5.04, Z:-3.49 [[ 9.93478743e-01 1.04849416e-01 4.47949536e-02 7.59710061e+01] [-1.04764759e-01 9.94487993e-01 -4.23986024e-03 -5.04205492e+00] [-4.49925904e-02 -4.80721479e-04 9.98987205e-01 -3.48952239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070385723 meters 0.017935680969375645 Centerline is valid? [True, True] Translation: X:76.00, Y:-5.04, Z:-3.49 [[ 9.93498904e-01 1.04934870e-01 4.41429547e-02 7.60038883e+01] [-1.04852316e-01 9.94478986e-01 -4.18781301e-03 -5.04215128e+00] [-4.43386885e-02 -4.67903379e-04 9.99016447e-01 -3.49247045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100385723 meters 0.01778636808000492 Centerline is valid? [True, True] Translation: X:76.04, Y:-5.04, Z:-3.50 [[ 9.93540859e-01 1.05034759e-01 4.29448516e-02 7.60374536e+01] [-1.04956221e-01 9.94468450e-01 -4.08571712e-03 -5.04031248e+00] [-4.31364424e-02 -4.48002420e-04 9.99069090e-01 -3.49656187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13038572299999 meters 0.01782847724638592 Centerline is valid? [True, True] Translation: X:76.07, Y:-5.04, Z:-3.50 [[ 9.93520073e-01 1.05568745e-01 4.21082417e-02 7.60700710e+01] [-1.05493226e-01 9.94411905e-01 -4.01771373e-03 -5.04225380e+00] [-4.22970819e-02 -4.50455034e-04 9.99104976e-01 -3.49796483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16038572299999 meters 0.017789654085331584 Centerline is valid? [True, True] Translation: X:76.10, Y:-5.04, Z:-3.50 [[ 9.93599075e-01 1.06084668e-01 3.88190932e-02 7.61021395e+01] [-1.06020490e-01 9.94357009e-01 -3.71396869e-03 -5.04186953e+00] [-3.89940325e-02 -4.25423423e-04 9.99239353e-01 -3.50157924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19038572299999 meters 0.017956421246998547 Centerline is valid? [True, True] Translation: X:76.13, Y:-5.04, Z:-3.51 [[ 9.93656061e-01 1.06246962e-01 3.68675334e-02 7.61328612e+01] [-1.06188837e-01 9.94339692e-01 -3.53671715e-03 -5.04156318e+00] [-3.70346173e-02 -4.00640059e-04 9.99313903e-01 -3.50553042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22038572299999 meters 0.01793852736906345 Centerline is valid? [True, True] Translation: X:76.17, Y:-5.04, Z:-3.51 [[ 9.93689892e-01 1.06323919e-01 3.57158697e-02 7.61661378e+01] [-1.06269295e-01 9.94331471e-01 -3.42967813e-03 -5.04249908e+00] [-3.58780700e-02 -3.87463808e-04 9.99356100e-01 -3.50853905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250385723 meters 0.017950992340418487 Centerline is valid? [True, True] Translation: X:76.20, Y:-5.04, Z:-3.51 [[ 9.93601739e-01 1.07068749e-01 3.59425433e-02 7.61990497e+01] [-1.07013557e-01 9.94251536e-01 -3.46140092e-03 -5.04226257e+00] [-3.61065368e-02 -4.07085448e-04 9.99347864e-01 -3.51048568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280385723 meters 0.018012049667591425 Centerline is valid? [True, True] Translation: X:76.23, Y:-5.04, Z:-3.51 [[ 9.93456899e-01 1.08097077e-01 3.68566425e-02 7.62319629e+01] [-1.08039361e-01 9.94140243e-01 -3.55989128e-03 -5.04322968e+00] [-3.70254854e-02 -4.45369560e-04 9.99314222e-01 -3.51147814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310385723 meters 0.01812671463675178 Centerline is valid? [True, True] Translation: X:76.27, Y:-5.04, Z:-3.51 [[ 9.93263761e-01 1.09539629e-01 3.77911453e-02 7.62651744e+01] [-1.09479583e-01 9.93982303e-01 -3.66091875e-03 -5.04392137e+00] [-3.79647453e-02 -5.01100907e-04 9.99278954e-01 -3.51244377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340385723 meters 0.018790479388508436 Centerline is valid? [True, True] Translation: X:76.30, Y:-5.04, Z:-3.51 [[ 9.92792698e-01 1.13437011e-01 3.86613912e-02 7.62962404e+01] [-1.13376634e-01 9.93544976e-01 -3.75770625e-03 -5.04165197e+00] [-3.88380939e-02 -6.52675083e-04 9.99245303e-01 -3.51383104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370385723 meters 0.01943920684815703 Centerline is valid? [True, True] Translation: X:76.33, Y:-5.04, Z:-3.52 [[ 9.92481994e-01 1.16356954e-01 3.79545884e-02 7.63283841e+01] [-1.16300900e-01 9.93207175e-01 -3.68895733e-03 -5.04236455e+00] [-3.81260054e-02 -7.52929066e-04 9.99272656e-01 -3.51599034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400385723 meters 0.021109150160443742 Centerline is valid? [True, True] Translation: X:76.36, Y:-5.04, Z:-3.52 [[ 9.91743005e-01 1.22904859e-01 3.66088402e-02 7.63600971e+01] [-1.22856798e-01 9.92417995e-01 -3.56809956e-03 -5.03997571e+00] [-3.67698085e-02 -9.59007097e-04 9.99323302e-01 -3.51888714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430385723 meters 0.021979995440952 Centerline is valid? [True, True] Translation: X:76.39, Y:-5.04, Z:-3.52 [[ 9.91372595e-01 1.25804358e-01 3.67918602e-02 7.63916553e+01] [-1.25757816e-01 9.92054492e-01 -3.58575013e-03 -5.04032849e+00] [-3.69506332e-02 -1.07204957e-03 9.99316517e-01 -3.52104030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460385723 meters 0.023025265679057987 Centerline is valid? [True, True] Translation: X:76.42, Y:-5.04, Z:-3.52 [[ 9.91024243e-01 1.28461066e-01 3.69960051e-02 7.64225815e+01] [-1.28415551e-01 9.91713863e-01 -3.61379898e-03 -5.04081679e+00] [-3.71536836e-02 -1.16949997e-03 9.99308879e-01 -3.52273554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490385723 meters 0.024849750631806857 Centerline is valid? [True, True] Translation: X:76.45, Y:-5.04, Z:-3.52 [[ 9.90484776e-01 1.32537766e-01 3.70627763e-02 7.64523128e+01] [-1.32494596e-01 9.91177083e-01 -3.62941646e-03 -5.04115935e+00] [-3.72168092e-02 -1.31573582e-03 9.99306348e-01 -3.52419865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52038572299999 meters 0.026008964791854387 Centerline is valid? [True, True] Translation: X:76.48, Y:-5.04, Z:-3.53 [[ 9.90266093e-01 1.34232190e-01 3.68073980e-02 7.64835416e+01] [-1.34190683e-01 9.90948964e-01 -3.60704310e-03 -5.04480012e+00] [-3.69584343e-02 -1.36727740e-03 9.99315868e-01 -3.52530752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55038572299999 meters 0.026487304347734802 Centerline is valid? [True, True] Translation: X:76.52, Y:-5.05, Z:-3.53 [[ 9.90115763e-01 1.35333492e-01 3.68187727e-02 7.65157337e+01] [-1.35292591e-01 9.90799107e-01 -3.61163605e-03 -5.04960187e+00] [-3.69687824e-02 -1.40536938e-03 9.99315433e-01 -3.52617124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58038572299999 meters 0.027908797124272147 Centerline is valid? [True, True] Translation: X:76.55, Y:-5.05, Z:-3.53 [[ 9.89787398e-01 1.37904866e-01 3.60992306e-02 7.65469179e+01] [-1.37866903e-01 9.90444400e-01 -3.55074808e-03 -5.05459402e+00] [-3.62439463e-02 -1.46240342e-03 9.99341902e-01 -3.52765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610385723 meters 0.028552909946437766 Centerline is valid? [True, True] Translation: X:76.58, Y:-5.06, Z:-3.53 [[ 9.89591230e-01 1.39524158e-01 3.52449691e-02 7.65785707e+01] [-1.39489019e-01 9.90217552e-01 -3.46603563e-03 -5.05813462e+00] [-3.53837827e-02 -1.48632770e-03 9.99372693e-01 -3.53044736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640385723 meters 0.026262310002609215 Centerline is valid? [True, True] Translation: X:76.61, Y:-5.07, Z:-3.53 [[ 9.89365284e-01 1.41438903e-01 3.39318514e-02 7.66095189e+01] [-1.41407153e-01 9.89945868e-01 -3.34581894e-03 -5.06839206e+00] [-3.40639251e-02 -1.48796940e-03 9.99418548e-01 -3.53252448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670385723 meters 0.02636442441799639 Centerline is valid? [True, True] Translation: X:76.64, Y:-5.07, Z:-3.53 [[ 9.89275412e-01 1.41916184e-01 3.45536658e-02 7.66416311e+01] [-1.41883537e-01 9.89877493e-01 -3.40750174e-03 -5.07417362e+00] [-3.46874757e-02 -1.53163862e-03 9.99397035e-01 -3.53295599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700385723 meters 0.0255380815772831 Centerline is valid? [True, True] Translation: X:76.67, Y:-5.08, Z:-3.53 [[ 9.89260383e-01 1.41849148e-01 3.52521430e-02 7.66734404e+01] [-1.41814764e-01 9.89887072e-01 -3.48660415e-03 -5.08216014e+00] [-3.53902124e-02 -1.55011498e-03 9.99372368e-01 -3.53237338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730385723 meters 0.024697358008701018 Centerline is valid? [True, True] Translation: X:76.70, Y:-5.09, Z:-3.53 [[ 9.89296232e-01 1.41130095e-01 3.70845349e-02 7.67047664e+01] [-1.41091183e-01 9.89989775e-01 -3.67741782e-03 -5.09323026e+00] [-3.72323047e-02 -1.59424530e-03 9.99305366e-01 -3.53088090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760385723 meters 0.02849175449694882 Centerline is valid? [True, True] Translation: X:76.74, Y:-5.09, Z:-3.53 [[ 9.89324009e-01 1.40721583e-01 3.78872220e-02 7.67362719e+01] [-1.40680301e-01 9.90047910e-01 -3.76671739e-03 -5.09237800e+00] [-3.80402234e-02 -1.60348184e-03 9.99274922e-01 -3.53320148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790385723 meters 0.02770708224222652 Centerline is valid? [True, True] Translation: X:76.77, Y:-5.10, Z:-3.54 [[ 9.89269454e-01 1.40857462e-01 3.87959032e-02 7.67676996e+01] [-1.40813928e-01 9.90028530e-01 -3.86608183e-03 -5.09903604e+00] [-3.89536175e-02 -1.63840686e-03 9.99239677e-01 -3.53502764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820385723 meters 0.02566845457239368 Centerline is valid? [True, True] Translation: X:76.80, Y:-5.11, Z:-3.54 [[ 9.89202430e-01 1.41053691e-01 3.97795097e-02 7.67994971e+01] [-1.41007710e-01 9.90000524e-01 -3.97336456e-03 -5.10690336e+00] [-3.99421932e-02 -1.67875569e-03 9.99200582e-01 -3.53630762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850385723 meters 0.02608296031943884 Centerline is valid? [True, True] Translation: X:76.83, Y:-5.11, Z:-3.54 [[ 9.89180501e-01 1.41226790e-01 3.97105795e-02 7.68315647e+01] [-1.41180668e-01 9.89975858e-01 -3.97749557e-03 -5.11121961e+00] [-3.98742439e-02 -1.67190507e-03 9.99203307e-01 -3.53756831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88038572299999 meters 0.02642984006809658 Centerline is valid? [True, True] Translation: X:76.86, Y:-5.12, Z:-3.54 [[ 9.89066977e-01 1.42021585e-01 3.97037056e-02 7.68633804e+01] [-1.41975709e-01 9.89862112e-01 -3.98705208e-03 -5.11640727e+00] [-3.98674414e-02 -1.69350019e-03 9.99203542e-01 -3.53864984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91038572299999 meters 0.02642984006809658 Centerline is valid? [True, True] Translation: X:76.90, Y:-5.12, Z:-3.54 [[ 9.89028778e-01 1.42287613e-01 3.97027832e-02 7.68956382e+01] [-1.42241584e-01 9.89823905e-01 -3.99621538e-03 -5.11972976e+00] [-3.98673758e-02 -1.69501475e-03 9.99203542e-01 -3.54010666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94038572299999 meters 0.026621007032813483 Centerline is valid? [True, True] Translation: X:76.93, Y:-5.13, Z:-3.54 [[ 9.88952529e-01 1.43076544e-01 3.87556195e-02 7.69271041e+01] [-1.43032882e-01 9.89710208e-01 -3.91130996e-03 -5.12660645e+00] [-3.89164489e-02 -1.67522809e-03 9.99241064e-01 -3.54139171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97038572299999 meters 0.025153833393299223 Centerline is valid? [True, True] Translation: X:76.96, Y:-5.13, Z:-3.54 [[ 9.88940170e-01 1.43200540e-01 3.86127572e-02 7.69595980e+01] [-1.43156949e-01 9.89692292e-01 -3.90579651e-03 -5.13350760e+00] [-3.87740604e-02 -1.66508544e-03 9.99246616e-01 -3.54319073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000385723 meters 0.027048556581095527 Centerline is valid? [True, True] Translation: X:76.99, Y:-5.14, Z:-3.55 [[ 9.89029651e-01 1.42840887e-01 3.76407991e-02 7.69911387e+01] [-1.42798805e-01 9.89744373e-01 -3.81799387e-03 -5.13502589e+00] [-3.78001348e-02 -1.59895197e-03 9.99284040e-01 -3.54604579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030385723 meters 0.02404209838391073 Centerline is valid? [True, True] Translation: X:77.02, Y:-5.14, Z:-3.55 [[ 9.89167925e-01 1.41997556e-01 3.71955579e-02 7.70229912e+01] [-1.41955493e-01 9.89865813e-01 -3.78285125e-03 -5.14460095e+00] [-3.73557668e-02 -1.53823864e-03 9.99300846e-01 -3.54714249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060385723 meters 0.026680175654825555 Centerline is valid? [True, True] Translation: X:77.05, Y:-5.15, Z:-3.55 [[ 9.89470655e-01 1.40008901e-01 3.66787620e-02 7.70545891e+01] [-1.39966562e-01 9.90149197e-01 -3.73225275e-03 -5.14509547e+00] [-3.68399953e-02 -1.44084565e-03 9.99320138e-01 -3.54972264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090385723 meters 0.021293325233551177 Centerline is valid? [True, True] Translation: X:77.08, Y:-5.16, Z:-3.55 [[ 9.90607942e-01 1.31911180e-01 3.59909211e-02 7.70837566e+01] [-1.31864690e-01 9.91260921e-01 -3.67283010e-03 -5.16325704e+00] [-3.61608809e-02 -1.10759700e-03 9.99345368e-01 -3.54924781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120385723 meters 0.019973672075563425 Centerline is valid? [True, True] Translation: X:77.11, Y:-5.17, Z:-3.55 [[ 9.91334925e-01 1.26218523e-01 3.63861342e-02 7.71142507e+01] [-1.26167156e-01 9.92002045e-01 -3.71365144e-03 -5.17193210e+00] [-3.65638511e-02 -9.09262678e-04 9.99330905e-01 -3.55001676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150385723 meters 0.017716974394990648 Centerline is valid? [True, True] Translation: X:77.14, Y:-5.19, Z:-3.55 [[ 9.92824788e-01 1.13754714e-01 3.68619804e-02 7.71438854e+01] [-1.13693372e-01 9.93508761e-01 -3.76287517e-03 -5.18554933e+00] [-3.70507452e-02 -4.55087104e-04 9.99313282e-01 -3.55071720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180385723 meters 0.01732507981528555 Centerline is valid? [True, True] Translation: X:77.18, Y:-5.19, Z:-3.55 [[ 9.93400824e-01 1.08665280e-01 3.66968523e-02 7.71750944e+01] [-1.08601057e-01 9.94078360e-01 -3.74483438e-03 -5.19398792e+00] [-3.68864803e-02 -2.65195400e-04 9.99319427e-01 -3.55221693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210385723 meters 0.01716626712682551 Centerline is valid? [True, True] Translation: X:77.20, Y:-5.21, Z:-3.55 [[ 9.94236726e-01 1.00692142e-01 3.68025205e-02 7.72048063e+01] [-1.00621717e-01 9.94917630e-01 -3.76551990e-03 -5.20563565e+00] [-3.69946348e-02 4.06853574e-05 9.99315463e-01 -3.55295182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240385723 meters 0.017237705102854838 Centerline is valid? [True, True] Translation: X:77.24, Y:-5.21, Z:-3.55 [[ 9.94395013e-01 9.88732449e-02 3.74518344e-02 7.72372235e+01] [-9.87988589e-02 9.95100029e-01 -3.83629656e-03 -5.21130781e+00] [-3.76476286e-02 1.14595656e-04 9.99291070e-01 -3.55318118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27038572299999 meters 0.017214543077882172 Centerline is valid? [True, True] Translation: X:77.27, Y:-5.22, Z:-3.55 [[ 9.94443531e-01 9.80496964e-02 3.83186716e-02 7.72685045e+01] [-9.79707860e-02 9.95181507e-01 -3.93620587e-03 -5.21502227e+00] [-3.85199771e-02 1.60224091e-04 9.99257817e-01 -3.55438086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30038572299999 meters 0.0172228164672487 Centerline is valid? [True, True] Translation: X:77.30, Y:-5.22, Z:-3.56 [[ 9.94284498e-01 9.87337286e-02 4.06200445e-02 7.73007475e+01] [-9.86451578e-02 9.95113877e-01 -4.18395004e-03 -5.21585208e+00] [-4.08346669e-02 1.53065960e-04 9.99165905e-01 -3.55583038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33038572299999 meters 0.01708112236743515 Centerline is valid? [True, True] Translation: X:77.33, Y:-5.22, Z:-3.56 [[ 9.94066303e-01 1.00643803e-01 4.12675367e-02 7.73333887e+01] [-1.00553612e-01 9.94922518e-01 -4.26070431e-03 -5.21721863e+00] [-4.14868150e-02 8.58227192e-05 9.99139048e-01 -3.55743292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360385723 meters 0.01715627704070726 Centerline is valid? [True, True] Translation: X:77.37, Y:-5.22, Z:-3.56 [[ 9.93824336e-01 1.03003827e-01 4.12722734e-02 7.73658139e+01] [-1.02915173e-01 9.94680960e-01 -4.27265529e-03 -5.21881447e+00] [-4.14928444e-02 -1.27435867e-06 9.99138801e-01 -3.55905703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390385723 meters 0.01721288827183566 Centerline is valid? [True, True] Translation: X:77.40, Y:-5.22, Z:-3.56 [[ 9.93399934e-01 1.08195478e-01 3.80829429e-02 7.73968677e+01] [-1.08123422e-01 9.94129620e-01 -3.95267232e-03 -5.21975134e+00] [-3.82870428e-02 -1.91073696e-04 9.99266764e-01 -3.56252091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420385723 meters 0.017388402764739855 Centerline is valid? [True, True] Translation: X:77.43, Y:-5.22, Z:-3.56 [[ 9.93183728e-01 1.10888086e-01 3.59153978e-02 7.74281955e+01] [-1.10825455e-01 9.93832863e-01 -3.73616716e-03 -5.22382960e+00] [-3.61081990e-02 -2.69639864e-04 9.99347850e-01 -3.56349793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450385723 meters 0.01832663676747114 Centerline is valid? [True, True] Translation: X:77.46, Y:-5.22, Z:-3.57 [[ 9.92731912e-01 1.15537347e-01 3.36819260e-02 7.74594806e+01] [-1.15484836e-01 9.93303053e-01 -3.50686717e-03 -5.22178819e+00] [-3.38615341e-02 -4.08372739e-04 9.99426450e-01 -3.56854812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480385723 meters 0.018200226354671552 Centerline is valid? [True, True] Translation: X:77.49, Y:-5.22, Z:-3.57 [[ 9.92459184e-01 1.17834018e-01 3.37625848e-02 7.74918202e+01] [-1.17782329e-01 9.93033188e-01 -3.52271290e-03 -5.22345057e+00] [-3.39424627e-02 -4.80487119e-04 9.99423673e-01 -3.57000881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510385723 meters 0.018305207090422815 Centerline is valid? [True, True] Translation: X:77.52, Y:-5.22, Z:-3.57 [[ 9.92178191e-01 1.19912422e-01 3.46907619e-02 7.75237788e+01] [-1.19858821e-01 9.92784317e-01 -3.62818583e-03 -5.22468218e+00] [-3.48755089e-02 -5.58186962e-04 9.99391509e-01 -3.57191614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540385723 meters 0.018254503164305772 Centerline is valid? [True, True] Translation: X:77.56, Y:-5.23, Z:-3.57 [[ 9.91807526e-01 1.22344878e-01 3.67363852e-02 7.75552974e+01] [-1.22286083e-01 9.92487420e-01 -3.85164174e-03 -5.22914319e+00] [-3.69316288e-02 -6.72261380e-04 9.99317569e-01 -3.57093445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570385723 meters 0.01869821199491988 Centerline is valid? [True, True] Translation: X:77.59, Y:-5.23, Z:-3.57 [[ 9.91745575e-01 1.22683629e-01 3.72752255e-02 7.75870393e+01] [-1.22622981e-01 9.92445594e-01 -3.91754752e-03 -5.23334813e+00] [-3.74742522e-02 -6.85588869e-04 9.99297358e-01 -3.57124907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600385723 meters 0.018408441975949142 Centerline is valid? [True, True] Translation: X:77.62, Y:-5.24, Z:-3.57 [[ 9.91914406e-01 1.21129176e-01 3.78620369e-02 7.76185879e+01] [-1.21065072e-01 9.92636555e-01 -3.98970068e-03 -5.24141602e+00] [-3.80665111e-02 -6.26328665e-04 9.99275011e-01 -3.57007556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63038572299999 meters 0.0182947535606046 Centerline is valid? [True, True] Translation: X:77.65, Y:-5.25, Z:-3.57 [[ 9.92007757e-01 1.20420341e-01 3.76769504e-02 7.76506157e+01] [-1.20356005e-01 9.92722820e-01 -3.97933769e-03 -5.24650140e+00] [-3.78819616e-02 -5.87113381e-04 9.99282048e-01 -3.57086486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66038572299999 meters 0.018343815307779576 Centerline is valid? [True, True] Translation: X:77.68, Y:-5.25, Z:-3.57 [[ 9.92054612e-01 1.19659656e-01 3.88485844e-02 7.76817768e+01] [-1.19590285e-01 9.92814810e-01 -4.11302436e-03 -5.24946914e+00] [-3.90616130e-02 -5.65568501e-04 9.99236644e-01 -3.57265238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69038572299999 meters 0.01883544185468613 Centerline is valid? [True, True] Translation: X:77.71, Y:-5.25, Z:-3.57 [[ 9.92027262e-01 1.19541926e-01 3.98953672e-02 7.77125918e+01] [-1.19468297e-01 9.92828992e-01 -4.23313232e-03 -5.25073635e+00] [-4.01153140e-02 -5.66848920e-04 9.99194896e-01 -3.57485242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72038572299999 meters 0.018265071218822763 Centerline is valid? [True, True] Translation: X:77.75, Y:-5.26, Z:-3.58 [[ 9.91976145e-01 1.19981102e-01 3.98479863e-02 7.77454230e+01] [-1.19907662e-01 9.92776009e-01 -4.23657481e-03 -5.25665318e+00] [-4.00684337e-02 -5.75497733e-04 9.99196772e-01 -3.57552727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750385723 meters 0.018549970611582433 Centerline is valid? [True, True] Translation: X:77.78, Y:-5.26, Z:-3.58 [[ 9.91852244e-01 1.21018479e-01 3.97951491e-02 7.77777798e+01] [-1.20945623e-01 9.92650070e-01 -4.24205357e-03 -5.26051021e+00] [-4.00160244e-02 -6.05558759e-04 9.99198855e-01 -3.57678760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780385723 meters 0.018988082187455475 Centerline is valid? [True, True] Translation: X:77.81, Y:-5.26, Z:-3.58 [[ 9.91426765e-01 1.24259352e-01 4.04052441e-02 7.78102067e+01] [-1.24186465e-01 9.92249501e-01 -4.31861811e-03 -5.26173120e+00] [-4.06287119e-02 -7.36190861e-04 9.99174042e-01 -3.57826688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810385723 meters 0.01931458014761864 Centerline is valid? [True, True] Translation: X:77.84, Y:-5.26, Z:-3.58 [[ 9.91183850e-01 1.26170853e-01 4.04412156e-02 7.78418509e+01] [-1.26099021e-01 9.92008199e-01 -4.33240327e-03 -5.26308487e+00] [-4.06646405e-02 -8.05389567e-04 9.99172527e-01 -3.57995311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840385723 meters 0.021031653498122204 Centerline is valid? [True, True] Translation: X:77.87, Y:-5.26, Z:-3.58 [[ 9.90621826e-01 1.31012678e-01 3.87824295e-02 7.78732222e+01] [-1.30949997e-01 9.91380233e-01 -4.16308460e-03 -5.26165070e+00] [-3.89935509e-02 -9.54516549e-04 9.99239006e-01 -3.58306754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870385723 meters 0.02055414304682326 Centerline is valid? [True, True] Translation: X:77.90, Y:-5.27, Z:-3.58 [[ 9.90437263e-01 1.32817697e-01 3.73294556e-02 7.79046229e+01] [-1.32760609e-01 9.91140000e-01 -4.01499972e-03 -5.26681053e+00] [-3.75319797e-02 -9.79275921e-04 9.99294947e-01 -3.58461178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900385723 meters 0.0213022358537369 Centerline is valid? [True, True] Translation: X:77.94, Y:-5.27, Z:-3.59 [[ 9.90396474e-01 1.33566167e-01 3.57057832e-02 7.79350704e+01] [-1.33514121e-01 9.91039437e-01 -3.84879532e-03 -5.26967151e+00] [-3.58999082e-02 -9.55392950e-04 9.99354934e-01 -3.58789744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930385723 meters 0.02115269850358622 Centerline is valid? [True, True] Translation: X:77.97, Y:-5.28, Z:-3.59 [[ 9.90447205e-01 1.34400877e-01 3.08340482e-02 7.79665853e+01] [-1.34362229e-01 9.90926684e-01 -3.33142325e-03 -5.27686169e+00] [-3.10020273e-02 -8.43332595e-04 9.99518966e-01 -3.59277580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960385723 meters 0.02114837605303893 Centerline is valid? [True, True] Translation: X:78.00, Y:-5.28, Z:-3.60 [[ 9.90428236e-01 1.34777345e-01 2.97821644e-02 7.79979154e+01] [-1.34741476e-01 9.90875564e-01 -3.21719375e-03 -5.28223156e+00] [-2.99440237e-02 -8.26493259e-04 9.99551235e-01 -3.59521172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990385723 meters 0.021991558027971106 Centerline is valid? [True, True] Translation: X:78.03, Y:-5.29, Z:-3.60 [[ 9.90422744e-01 1.35042826e-01 2.87441050e-02 7.80283034e+01] [-1.35009328e-01 9.90839441e-01 -3.11192769e-03 -5.28829985e+00] [-2.89010364e-02 -7.98598340e-04 9.99581959e-01 -3.59782728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02038572299999 meters 0.021890663280027506 Centerline is valid? [True, True] Translation: X:78.06, Y:-5.29, Z:-3.60 [[ 9.90481599e-01 1.34481779e-01 2.93402862e-02 7.80604913e+01] [-1.34446369e-01 9.90915752e-01 -3.18532293e-03 -5.29426229e+00] [-2.95021197e-02 -7.89691204e-04 9.99564406e-01 -3.59885436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05038572299999 meters 0.021127338251575603 Centerline is valid? [True, True] Translation: X:78.09, Y:-5.30, Z:-3.60 [[ 9.90531694e-01 1.33981799e-01 2.99305879e-02 7.80922727e+01] [-1.33944713e-01 9.90983478e-01 -3.24971192e-03 -5.30209407e+00] [-3.00961203e-02 -7.90101352e-04 9.99546697e-01 -3.59902618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08038572299999 meters 0.020381866640011428 Centerline is valid? [True, True] Translation: X:78.12, Y:-5.31, Z:-3.60 [[ 9.90584132e-01 1.33513605e-01 3.02852156e-02 7.81234248e+01] [-1.33475193e-01 9.91046675e-01 -3.29551682e-03 -5.31314427e+00] [-3.04540585e-02 -7.77838331e-04 9.99535865e-01 -3.59910068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110385723 meters 0.020407855706969878 Centerline is valid? [True, True] Translation: X:78.15, Y:-5.32, Z:-3.60 [[ 9.90546660e-01 1.33664259e-01 3.08412154e-02 7.81548262e+01] [-1.33624254e-01 9.91026359e-01 -3.36385329e-03 -5.31931575e+00] [-3.10140844e-02 -7.89080747e-04 9.99518636e-01 -3.59986025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140385723 meters 0.02157490915448471 Centerline is valid? [True, True] Translation: X:78.19, Y:-5.32, Z:-3.60 [[ 9.90484824e-01 1.33998597e-01 3.13717850e-02 7.81859861e+01] [-1.33957128e-01 9.90981194e-01 -3.42942073e-03 -5.32477861e+00] [-3.15483865e-02 -8.05685033e-04 9.99501901e-01 -3.60118438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170385723 meters 0.020652102261240098 Centerline is valid? [True, True] Translation: X:78.22, Y:-5.33, Z:-3.60 [[ 9.90355624e-01 1.34708400e-01 3.23942181e-02 7.82178659e+01] [-1.34664281e-01 9.90884923e-01 -3.54983635e-03 -5.33242985e+00] [-3.25771351e-02 -8.46743704e-04 9.99468866e-01 -3.60095952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200385723 meters 0.020831455339159748 Centerline is valid? [True, True] Translation: X:78.25, Y:-5.34, Z:-3.60 [[ 9.90265778e-01 1.35393073e-01 3.22863065e-02 7.82494700e+01] [-1.35349307e-01 9.90791593e-01 -3.54738654e-03 -5.33792209e+00] [-3.24692927e-02 -8.57073727e-04 9.99472366e-01 -3.60242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230385723 meters 0.021375717964344485 Centerline is valid? [True, True] Translation: X:78.28, Y:-5.34, Z:-3.60 [[ 9.89944952e-01 1.37619109e-01 3.27104315e-02 7.82811766e+01] [-1.37575131e-01 9.90484784e-01 -3.60211601e-03 -5.34391555e+00] [-3.28949047e-02 -9.34245347e-04 9.99458380e-01 -3.60276048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260385723 meters 0.02185450976489197 Centerline is valid? [True, True] Translation: X:78.31, Y:-5.35, Z:-3.60 [[ 9.89833394e-01 1.38375024e-01 3.28968707e-02 7.83123195e+01] [-1.38330686e-01 9.90379441e-01 -3.63093313e-03 -5.34764768e+00] [-3.30828149e-02 -9.56627821e-04 9.99452156e-01 -3.60397244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290385723 meters 0.021957765751861424 Centerline is valid? [True, True] Translation: X:78.35, Y:-5.36, Z:-3.60 [[ 9.89709783e-01 1.39153360e-01 3.33299726e-02 7.83450761e+01] [-1.39108052e-01 9.90270349e-01 -3.68579289e-03 -5.35518634e+00] [-3.35185741e-02 -9.88602260e-04 9.99437606e-01 -3.60344431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320385723 meters 0.02162600812139213 Centerline is valid? [True, True] Translation: X:78.38, Y:-5.36, Z:-3.60 [[ 9.89771327e-01 1.38775207e-01 3.30781109e-02 7.83771681e+01] [-1.38729997e-01 9.90323445e-01 -3.66913670e-03 -5.36194618e+00] [-3.32672140e-02 -9.57319927e-04 9.99446035e-01 -3.60423332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350385723 meters 0.021859056921734513 Centerline is valid? [True, True] Translation: X:78.41, Y:-5.37, Z:-3.61 [[ 9.89851851e-01 1.38305917e-01 3.26310535e-02 7.84083072e+01] [-1.38261628e-01 9.90389122e-01 -3.62071309e-03 -5.36704123e+00] [-3.28182064e-02 -9.27653008e-04 9.99460907e-01 -3.60542299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38038572299999 meters 0.021022511659758547 Centerline is valid? [True, True] Translation: X:78.44, Y:-5.37, Z:-3.61 [[ 9.90210767e-01 1.35801030e-01 3.22601558e-02 7.84393986e+01] [-1.35756189e-01 9.90735784e-01 -3.58646192e-03 -5.37430404e+00] [-3.24483360e-02 -8.28162589e-04 9.99473071e-01 -3.60810609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41038572299999 meters 0.02064491717186659 Centerline is valid? [True, True] Translation: X:78.47, Y:-5.38, Z:-3.61 [[ 9.90339162e-01 1.34790832e-01 3.25542098e-02 7.84714408e+01] [-1.34744362e-01 9.90873756e-01 -3.62717170e-03 -5.37941950e+00] [-3.27460216e-02 -7.94366049e-04 9.99463390e-01 -3.61027672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44038572299999 meters 0.019731540148062547 Centerline is valid? [True, True] Translation: X:78.50, Y:-5.39, Z:-3.61 [[ 9.90718513e-01 1.32264470e-01 3.13518354e-02 7.85029679e+01] [-1.32219876e-01 9.91214231e-01 -3.50044117e-03 -5.38904750e+00] [-3.15393694e-02 -6.77383914e-04 9.99502281e-01 -3.61216981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47038572299999 meters 0.019926124453542433 Centerline is valid? [True, True] Translation: X:78.53, Y:-5.39, Z:-3.61 [[ 9.90887066e-01 1.31117224e-01 3.08398592e-02 7.85336815e+01] [-1.31073278e-01 9.91366676e-01 -3.45106898e-03 -5.39447143e+00] [-3.10261033e-02 -6.22661838e-04 9.99518381e-01 -3.61416730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500385723 meters 0.01928085270393469 Centerline is valid? [True, True] Translation: X:78.57, Y:-5.40, Z:-3.61 [[ 9.91096749e-01 1.29612087e-01 3.04621125e-02 7.85654310e+01] [-1.29568299e-01 9.91564618e-01 -3.41536103e-03 -5.40129312e+00] [-3.06478250e-02 -5.61970891e-04 9.99530087e-01 -3.61434967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530385723 meters 0.019086209315701465 Centerline is valid? [True, True] Translation: X:78.60, Y:-5.41, Z:-3.62 [[ 9.91272401e-01 1.28022970e-01 3.14506858e-02 7.85957097e+01] [-1.27975228e-01 9.91771066e-01 -3.53462530e-03 -5.40690426e+00] [-3.16443934e-02 -5.21132180e-04 9.99499055e-01 -3.61552733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560385723 meters 0.019458782578163372 Centerline is valid? [True, True] Translation: X:78.63, Y:-5.41, Z:-3.62 [[ 9.91268884e-01 1.27914668e-01 3.19974637e-02 7.86266306e+01] [-1.27864951e-01 9.91785041e-01 -3.60363708e-03 -5.40904003e+00] [-3.21955639e-02 -5.19180832e-04 9.99481454e-01 -3.61809582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590385723 meters 0.019155114805095012 Centerline is valid? [True, True] Translation: X:78.66, Y:-5.41, Z:-3.62 [[ 9.91165303e-01 1.28707719e-01 3.20259948e-02 7.86589751e+01] [-1.28658115e-01 9.91682425e-01 -3.61342465e-03 -5.41250451e+00] [-3.22246919e-02 -5.38902999e-04 9.99480504e-01 -3.61821637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620385723 meters 0.019106052918249447 Centerline is valid? [True, True] Translation: X:78.69, Y:-5.41, Z:-3.62 [[ 9.91108969e-01 1.29170117e-01 3.19075548e-02 7.86921045e+01] [-1.29120837e-01 9.91622300e-01 -3.60881829e-03 -5.41464896e+00] [-3.21063943e-02 -5.43197997e-04 9.99484309e-01 -3.62014818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650385723 meters 0.01939053406622515 Centerline is valid? [True, True] Translation: X:78.72, Y:-5.42, Z:-3.62 [[ 9.91076718e-01 1.29480797e-01 3.16490402e-02 7.87235085e+01] [-1.29432187e-01 9.91581783e-01 -3.58851534e-03 -5.41624207e+00] [-3.18472555e-02 -5.39910474e-04 9.99492602e-01 -3.62241594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680385723 meters 0.01933324924034777 Centerline is valid? [True, True] Translation: X:78.76, Y:-5.42, Z:-3.62 [[ 9.91082679e-01 1.29470018e-01 3.15061582e-02 7.87562417e+01] [-1.29421587e-01 9.91583196e-01 -3.58029143e-03 -5.42025630e+00] [-3.17045174e-02 -5.29212161e-04 9.99497145e-01 -3.62261687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710385723 meters 0.019476775482902428 Centerline is valid? [True, True] Translation: X:78.79, Y:-5.42, Z:-3.62 [[ 9.91033475e-01 1.29644083e-01 3.23274431e-02 7.87870552e+01] [-1.29592833e-01 9.91560448e-01 -3.68447060e-03 -5.42312745e+00] [-3.25322838e-02 -5.37971241e-04 9.99470540e-01 -3.62297910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740385723 meters 0.019279909963283014 Centerline is valid? [True, True] Translation: X:78.82, Y:-5.43, Z:-3.62 [[ 9.90926247e-01 1.30236369e-01 3.32213870e-02 7.88194587e+01] [-1.30182478e-01 9.91482811e-01 -3.78932517e-03 -5.42689757e+00] [-3.34319421e-02 -5.69900705e-04 9.99440834e-01 -3.62265565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77038572299999 meters 0.01936808701984764 Centerline is valid? [True, True] Translation: X:78.85, Y:-5.43, Z:-3.62 [[ 9.90632380e-01 1.32186138e-01 3.42682575e-02 7.88512675e+01] [-1.32129611e-01 9.91224701e-01 -3.91890919e-03 -5.42717792e+00] [-3.44855688e-02 -6.45653193e-04 9.99404987e-01 -3.62456866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80038572299999 meters 0.01936808701984764 Centerline is valid? [True, True] Translation: X:78.88, Y:-5.43, Z:-3.63 [[ 9.90595679e-01 1.32461124e-01 3.42673476e-02 7.88834269e+01] [-1.32404487e-01 9.91187990e-01 -3.92684692e-03 -5.43092710e+00] [-3.44855380e-02 -6.47233002e-04 9.99404987e-01 -3.62602431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83038572299999 meters 0.020394098254315436 Centerline is valid? [True, True] Translation: X:78.91, Y:-5.43, Z:-3.63 [[ 9.90416956e-01 1.33625293e-01 3.49075166e-02 7.89149096e+01] [-1.33566870e-01 9.91031687e-01 -4.01077904e-03 -5.43056479e+00] [-3.51303966e-02 -6.90144176e-04 9.99382499e-01 -3.62875581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860385723 meters 0.02024781404891562 Centerline is valid? [True, True] Translation: X:78.95, Y:-5.43, Z:-3.63 [[ 9.90051008e-01 1.36390776e-01 3.45912879e-02 7.89468841e+01] [-1.36334830e-01 9.90654813e-01 -3.98199711e-03 -5.43387536e+00] [-3.48111335e-02 -7.73617103e-04 9.99393609e-01 -3.62997776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890385723 meters 0.020540226173253923 Centerline is valid? [True, True] Translation: X:78.98, Y:-5.44, Z:-3.63 [[ 9.89822889e-01 1.38138685e-01 3.41811543e-02 7.89783546e+01] [-1.38084816e-01 9.90412559e-01 -3.94302648e-03 -5.43662841e+00] [-3.43981290e-02 -8.17000541e-04 9.99407875e-01 -3.63174237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920385723 meters 0.021854023565886404 Centerline is valid? [True, True] Translation: X:79.01, Y:-5.44, Z:-3.63 [[ 9.89652810e-01 1.39512582e-01 3.35194785e-02 7.90098613e+01] [-1.39461250e-01 9.90219943e-01 -3.87604364e-03 -5.43742265e+00] [-3.37324130e-02 -8.38730907e-04 9.99430548e-01 -3.63454000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950385723 meters 0.022287659080427506 Centerline is valid? [True, True] Translation: X:79.04, Y:-5.44, Z:-3.64 [[ 9.89208910e-01 1.42708462e-01 3.31666589e-02 7.90419139e+01] [-1.42659836e-01 9.89764328e-01 -3.84010090e-03 -5.44084998e+00] [-3.33751907e-02 -9.32888096e-04 9.99442458e-01 -3.63554914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980385723 meters 0.02233419893472683 Centerline is valid? [True, True] Translation: X:79.07, Y:-5.44, Z:-3.64 [[ 9.89080278e-01 1.43757177e-01 3.24665532e-02 7.90726870e+01] [-1.43711112e-01 9.89612539e-01 -3.76013171e-03 -5.44366194e+00] [-3.26698541e-02 -9.46732338e-04 9.99465749e-01 -3.63767657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010385723 meters 0.022450556191182625 Centerline is valid? [True, True] Translation: X:79.10, Y:-5.45, Z:-3.64 [[ 9.88997576e-01 1.44479086e-01 3.17740109e-02 7.91041839e+01] [-1.44435116e-01 9.89507405e-01 -3.68684884e-03 -5.44566434e+00] [-3.19732917e-02 -9.42998374e-04 9.99488279e-01 -3.64111247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040385723 meters 0.022703243316774608 Centerline is valid? [True, True] Translation: X:79.14, Y:-5.45, Z:-3.64 [[ 9.89024927e-01 1.44224405e-01 3.20782640e-02 7.91351538e+01] [-1.44179195e-01 9.89544565e-01 -3.73022499e-03 -5.44937780e+00] [-3.22808613e-02 -9.35732770e-04 9.99478399e-01 -3.64262558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070385723 meters 0.02192562711659239 Centerline is valid? [True, True] Translation: X:79.17, Y:-5.46, Z:-3.64 [[ 9.89100543e-01 1.43636708e-01 3.23822820e-02 7.91665403e+01] [-1.43590093e-01 9.89630059e-01 -3.77258725e-03 -5.45569311e+00] [-3.25883616e-02 -9.18306771e-04 9.99468436e-01 -3.64306137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100385723 meters 0.02259729016202091 Centerline is valid? [True, True] Translation: X:79.20, Y:-5.46, Z:-3.64 [[ 9.89147165e-01 1.43266367e-01 3.25980636e-02 7.91968901e+01] [-1.43218660e-01 9.89683753e-01 -3.80587288e-03 -5.45981080e+00] [-3.28070275e-02 -9.04082627e-04 9.99461296e-01 -3.64428324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13038572299999 meters 0.022730444349982098 Centerline is valid? [True, True] Translation: X:79.23, Y:-5.46, Z:-3.65 [[ 9.89122234e-01 1.43600563e-01 3.18760828e-02 7.92289323e+01] [-1.43554905e-01 9.89635331e-01 -3.72826137e-03 -5.46425494e+00] [-3.20810782e-02 -8.88261829e-04 9.99484875e-01 -3.64599127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16038572299999 meters 0.021569748727110854 Centerline is valid? [True, True] Translation: X:79.26, Y:-5.47, Z:-3.65 [[ 9.88977261e-01 1.44966689e-01 3.01436038e-02 7.92600438e+01] [-1.44926303e-01 9.89436149e-01 -3.53190390e-03 -5.47101608e+00] [-3.03371797e-02 -8.75628401e-04 9.99539338e-01 -3.64731384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19038572299999 meters 0.02202510724305593 Centerline is valid? [True, True] Translation: X:79.29, Y:-5.47, Z:-3.65 [[ 9.88788821e-01 1.46307852e-01 2.98442562e-02 7.92914981e+01] [-1.46268648e-01 9.89238698e-01 -3.50437346e-03 -5.47261598e+00] [-3.00358105e-02 -9.00193689e-04 9.99548418e-01 -3.64996309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22038572299999 meters 0.022897541833541632 Centerline is valid? [True, True] Translation: X:79.32, Y:-5.47, Z:-3.65 [[ 9.88561531e-01 1.47855578e-01 2.97460362e-02 7.93227407e+01] [-1.47817126e-01 9.89008518e-01 -3.49969662e-03 -5.47299316e+00] [-2.99365329e-02 -9.37308116e-04 9.99551362e-01 -3.65322096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250385723 meters 0.02261005304853011 Centerline is valid? [True, True] Translation: X:79.36, Y:-5.48, Z:-3.65 [[ 9.88397170e-01 1.48682336e-01 3.10579749e-02 7.93556166e+01] [-1.48640616e-01 9.88884506e-01 -3.66069917e-03 -5.47622718e+00] [-3.12570315e-02 -9.98251824e-04 9.99510881e-01 -3.65468702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280385723 meters 0.022271920821058777 Centerline is valid? [True, True] Translation: X:79.39, Y:-5.48, Z:-3.65 [[ 9.88602891e-01 1.46192719e-01 3.59445750e-02 7.93863290e+01] [-1.46134693e-01 9.89255571e-01 -4.25048776e-03 -5.48271646e+00] [-3.61797614e-02 -1.05070493e-03 9.99344746e-01 -3.65105588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310385723 meters 0.02199904868090891 Centerline is valid? [True, True] Translation: X:79.42, Y:-5.49, Z:-3.65 [[ 9.88646093e-01 1.45188866e-01 3.87181618e-02 7.94181176e+01] [-1.45120726e-01 9.89403357e-01 -4.57957557e-03 -5.48738797e+00] [-3.89727827e-02 -1.09122828e-03 9.99239677e-01 -3.64986768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340385723 meters 0.022001332992697183 Centerline is valid? [True, True] Translation: X:79.45, Y:-5.49, Z:-3.65 [[ 9.88597736e-01 1.45014683e-01 4.05617787e-02 7.94503366e+01] [-1.44939327e-01 9.89428863e-01 -4.80803920e-03 -5.49109274e+00] [-4.08302308e-02 -1.12578022e-03 9.99165464e-01 -3.64936111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370385723 meters 0.02375393007542479 Centerline is valid? [True, True] Translation: X:79.48, Y:-5.49, Z:-3.65 [[ 9.88473770e-01 1.45713095e-01 4.10767470e-02 7.94827094e+01] [-1.45636004e-01 9.89326210e-01 -4.87900967e-03 -5.49132085e+00] [-4.13492380e-02 -1.15948020e-03 9.99144082e-01 -3.65030125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400385723 meters 0.02193903133368053 Centerline is valid? [True, True] Translation: X:79.52, Y:-5.50, Z:-3.65 [[ 9.88448050e-01 1.46230812e-01 3.98371874e-02 7.95153109e+01] [-1.46158303e-01 9.89249848e-01 -4.74226939e-03 -5.49915787e+00] [-4.01023974e-02 -1.13504879e-03 9.99194931e-01 -3.65167379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430385723 meters 0.02108692781566561 Centerline is valid? [True, True] Translation: X:79.55, Y:-5.51, Z:-3.66 [[ 9.88592744e-01 1.46166662e-01 3.63275846e-02 7.95462272e+01] [-1.46105945e-01 9.89259451e-01 -4.33487016e-03 -5.50543715e+00] [-3.65710199e-02 -1.02225488e-03 9.99330534e-01 -3.65597565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460385723 meters 0.0228296692087751 Centerline is valid? [True, True] Translation: X:79.58, Y:-5.51, Z:-3.66 [[ 9.88721153e-01 1.45784710e-01 3.43117919e-02 7.95783146e+01] [-1.45730173e-01 9.89315885e-01 -4.09841182e-03 -5.50546166e+00] [-3.45426866e-02 -9.48076928e-04 9.99402774e-01 -3.66087797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490385723 meters 0.020931087243452533 Centerline is valid? [True, True] Translation: X:79.61, Y:-5.51, Z:-3.66 [[ 9.88813243e-01 1.45527317e-01 3.27134526e-02 7.96104283e+01] [-1.45477463e-01 9.89353833e-01 -3.91176314e-03 -5.51368220e+00] [-3.29344481e-02 -8.91066884e-04 9.99457117e-01 -3.66236462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52038572299999 meters 0.02067728407132002 Centerline is valid? [True, True] Translation: X:79.64, Y:-5.52, Z:-3.66 [[ 9.88911684e-01 1.45130654e-01 3.14765696e-02 7.96428133e+01] [-1.45084029e-01 9.89412146e-01 -3.77234974e-03 -5.51812893e+00] [-3.16907839e-02 -8.36226797e-04 9.99497371e-01 -3.66449081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55038572299999 meters 0.020617459151472204 Centerline is valid? [True, True] Translation: X:79.67, Y:-5.52, Z:-3.67 [[ 9.89179017e-01 1.43639983e-01 2.98735230e-02 7.96749372e+01] [-1.43597009e-01 9.89629734e-01 -3.59011536e-03 -5.52163900e+00] [-3.00794107e-02 -7.38481774e-04 9.99547239e-01 -3.66718339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58038572299999 meters 0.02042148085887377 Centerline is valid? [True, True] Translation: X:79.71, Y:-5.53, Z:-3.67 [[ 9.89258077e-01 1.43054566e-01 3.00640813e-02 7.97059885e+01] [-1.43010654e-01 9.89714540e-01 -3.61692662e-03 -5.52553409e+00] [-3.02722762e-02 -7.21410051e-04 9.99541429e-01 -3.66817649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610385723 meters 0.019869810013984704 Centerline is valid? [True, True] Translation: X:79.74, Y:-5.53, Z:-3.67 [[ 9.89600505e-01 1.39926184e-01 3.33392255e-02 7.97374617e+01] [-1.39870194e-01 9.90161699e-01 -4.01729104e-03 -5.53130805e+00] [-3.35733484e-02 -6.87650687e-04 9.99436020e-01 -3.66633652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640385723 meters 0.019149696655895762 Centerline is valid? [True, True] Translation: X:79.77, Y:-5.54, Z:-3.66 [[ 9.89704964e-01 1.38768159e-01 3.50354409e-02 7.97691446e+01] [-1.38705598e-01 9.90324661e-01 -4.22175003e-03 -5.53835634e+00] [-3.52823056e-02 -6.81324814e-04 9.99377153e-01 -3.66484488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670385723 meters 0.019039138855328628 Centerline is valid? [True, True] Translation: X:79.80, Y:-5.54, Z:-3.66 [[ 9.89747484e-01 1.38139067e-01 3.62975990e-02 7.98014382e+01] [-1.38071104e-01 9.90412614e-01 -4.38451453e-03 -5.54343760e+00] [-3.65552727e-02 -6.72087329e-04 9.99331407e-01 -3.66430371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700385723 meters 0.019158654692859423 Centerline is valid? [True, True] Translation: X:79.83, Y:-5.55, Z:-3.66 [[ 9.89594535e-01 1.39072810e-01 3.68972982e-02 7.98344441e+01] [-1.39003161e-01 9.90281899e-01 -4.45879572e-03 -5.54874950e+00] [-3.71588238e-02 -7.16441211e-04 9.99309116e-01 -3.66457751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730385723 meters 0.0203693307855255 Centerline is valid? [True, True] Translation: X:79.87, Y:-5.55, Z:-3.67 [[ 9.89075499e-01 1.42773412e-01 3.66798318e-02 7.98654401e+01] [-1.42706730e-01 9.89755044e-01 -4.44317126e-03 -5.54725750e+00] [-3.69384152e-02 -8.39826999e-04 9.99317191e-01 -3.66913389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760385723 meters 0.020905627525970763 Centerline is valid? [True, True] Translation: X:79.90, Y:-5.55, Z:-3.67 [[ 9.88609423e-01 1.45780307e-01 3.74100304e-02 7.98975929e+01] [-1.45712771e-01 9.89316519e-01 -4.54014788e-03 -5.54782067e+00] [-3.76722252e-02 -9.62686228e-04 9.99289686e-01 -3.67119417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790385723 meters 0.02160584888057771 Centerline is valid? [True, True] Translation: X:79.93, Y:-5.55, Z:-3.67 [[ 9.88174876e-01 1.48273986e-01 3.90543053e-02 7.99299417e+01] [-1.48201912e-01 9.88945716e-01 -4.75025736e-03 -5.54946703e+00] [-3.93269275e-02 -1.09383771e-03 9.99225798e-01 -3.67212900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820385723 meters 0.022235635522297827 Centerline is valid? [True, True] Translation: X:79.96, Y:-5.55, Z:-3.67 [[ 9.87630799e-01 1.51564677e-01 4.01690682e-02 7.99607016e+01] [-1.51490920e-01 9.88446546e-01 -4.89140338e-03 -5.55385899e+00] [-4.04463407e-02 -1.25434848e-03 9.99180925e-01 -3.67004127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850385723 meters 0.023027594260957674 Centerline is valid? [True, True] Translation: X:79.99, Y:-5.56, Z:-3.67 [[ 9.87570994e-01 1.52283704e-01 3.88999324e-02 7.99913924e+01] [-1.52214936e-01 9.88336045e-01 -4.74084340e-03 -5.55693796e+00] [-3.91681585e-02 -1.23923129e-03 9.99231865e-01 -3.67127542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88038572299999 meters 0.02451967991655268 Centerline is valid? [True, True] Translation: X:80.02, Y:-5.56, Z:-3.67 [[ 9.87453258e-01 1.53472678e-01 3.71779474e-02 8.00227061e+01] [-1.53410407e-01 9.88152137e-01 -4.53894750e-03 -5.55653223e+00] [-3.74340726e-02 -1.22148552e-03 9.99298353e-01 -3.67491703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91038572299999 meters 0.02462737541959969 Centerline is valid? [True, True] Translation: X:80.05, Y:-5.56, Z:-3.68 [[ 9.87237725e-01 1.55198297e-01 3.57094105e-02 8.00543236e+01] [-1.55141711e-01 9.87882573e-01 -4.36700359e-03 -5.55901834e+00] [-3.59544559e-02 -1.22874836e-03 9.99352674e-01 -3.67834479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94038572299999 meters 0.023129812754154128 Centerline is valid? [True, True] Translation: X:80.09, Y:-5.56, Z:-3.68 [[ 9.87040589e-01 1.56802981e-01 3.41130447e-02 8.00857360e+01] [-1.56752045e-01 9.87629147e-01 -4.17916262e-03 -5.56473371e+00] [-3.43463424e-02 -1.22228638e-03 9.99409243e-01 -3.68141903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97038572299999 meters 0.023297743101406424 Centerline is valid? [True, True] Translation: X:80.12, Y:-5.57, Z:-3.69 [[ 9.87070773e-01 1.57205993e-01 3.12660366e-02 8.01167705e+01] [-1.57163185e-01 9.87565192e-01 -3.83738643e-03 -5.56834810e+00] [-3.14805096e-02 -1.12609792e-03 9.99503732e-01 -3.68596560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000385723 meters 0.024775348645272796 Centerline is valid? [True, True] Translation: X:80.15, Y:-5.57, Z:-3.69 [[ 9.87172892e-01 1.56682640e-01 3.06631877e-02 8.01474172e+01] [-1.56641004e-01 9.87648410e-01 -3.77022618e-03 -5.57028326e+00] [-3.08751775e-02 -1.08124743e-03 9.99522663e-01 -3.68881698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030385723 meters 0.022638623033623934 Centerline is valid? [True, True] Translation: X:80.18, Y:-5.58, Z:-3.69 [[ 9.87737506e-01 1.52923156e-01 3.14504105e-02 8.01782228e+01] [-1.52877147e-01 9.88237598e-01 -3.87659734e-03 -5.57998500e+00] [-3.16732996e-02 -9.78988436e-04 9.99497796e-01 -3.68727851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060385723 meters 0.023068884713436207 Centerline is valid? [True, True] Translation: X:80.21, Y:-5.58, Z:-3.69 [[ 9.88072627e-01 1.50532904e-01 3.24396144e-02 8.02083615e+01] [-1.50482598e-01 9.88604563e-01 -4.00067385e-03 -5.58414581e+00] [-3.26721839e-02 -9.28641130e-04 9.99465690e-01 -3.68801384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090385723 meters 0.020742573255462343 Centerline is valid? [True, True] Translation: X:80.24, Y:-5.59, Z:-3.69 [[ 9.88340023e-01 1.48651135e-01 3.29672301e-02 8.02401282e+01] [-1.48598141e-01 9.88889308e-01 -4.06549357e-03 -5.59415868e+00] [-3.32052816e-02 -8.80779090e-04 9.99448164e-01 -3.68702876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120385723 meters 0.020136546937128234 Centerline is valid? [True, True] Translation: X:80.27, Y:-5.60, Z:-3.69 [[ 9.88752716e-01 1.45645634e-01 3.39914151e-02 8.02706645e+01] [-1.45587395e-01 9.89336499e-01 -4.19545894e-03 -5.59963577e+00] [-3.42399979e-02 -8.00450155e-04 9.99413319e-01 -3.68712923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150385723 meters 0.0197334084974241 Centerline is valid? [True, True] Translation: X:80.30, Y:-5.60, Z:-3.69 [[ 9.88753483e-01 1.45406967e-01 3.49766280e-02 8.03026990e+01] [-1.45345179e-01 9.89371593e-01 -4.31632256e-03 -5.60458739e+00] [-3.52325055e-02 -8.15905291e-04 9.99378809e-01 -3.68800732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180385723 meters 0.019629037872309785 Centerline is valid? [True, True] Translation: X:80.33, Y:-5.61, Z:-3.69 [[ 9.88790326e-01 1.44806885e-01 3.63958356e-02 8.03346506e+01] [-1.44739226e-01 9.89459599e-01 -4.50095017e-03 -5.60921060e+00] [-3.66639775e-02 -8.17409093e-04 9.99327316e-01 -3.68839621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210385723 meters 0.019327581817606524 Centerline is valid? [True, True] Translation: X:80.37, Y:-5.61, Z:-3.69 [[ 9.88745841e-01 1.45036369e-01 3.66894142e-02 8.03671304e+01] [-1.44967446e-01 9.89425981e-01 -4.54608574e-03 -5.61426197e+00] [-3.69608074e-02 -8.23847287e-04 9.99316376e-01 -3.68975963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240385723 meters 0.019379759909634427 Centerline is valid? [True, True] Translation: X:80.40, Y:-5.62, Z:-3.69 [[ 9.88706367e-01 1.45408220e-01 3.62790437e-02 8.04001087e+01] [-1.45340703e-01 9.89371407e-01 -4.50554399e-03 -5.61701201e+00] [-3.65485916e-02 -8.18161681e-04 9.99331542e-01 -3.69253299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27038572299999 meters 0.019701045637214233 Centerline is valid? [True, True] Translation: X:80.43, Y:-5.62, Z:-3.70 [[ 9.88443289e-01 1.47087806e-01 3.66748116e-02 8.04324237e+01] [-1.47019566e-01 9.89123048e-01 -4.56541257e-03 -5.61760877e+00] [-3.69474179e-02 -8.79263452e-04 9.99316824e-01 -3.69578645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30038572299999 meters 0.020727133569733665 Centerline is valid? [True, True] Translation: X:80.46, Y:-5.62, Z:-3.70 [[ 9.88233026e-01 1.48566213e-01 3.63808659e-02 8.04635107e+01] [-1.48499731e-01 9.88902036e-01 -4.53788188e-03 -5.61875244e+00] [-3.66512883e-02 -9.18064074e-04 9.99327694e-01 -3.69834043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33038572299999 meters 0.020885991971861344 Centerline is valid? [True, True] Translation: X:80.49, Y:-5.62, Z:-3.70 [[ 9.87837586e-01 1.51813058e-01 3.36110005e-02 8.04947413e+01] [-1.51757956e-01 9.88408766e-01 -4.19934864e-03 -5.62170091e+00] [-3.38589235e-02 -9.52462309e-04 9.99426168e-01 -3.70091073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360385723 meters 0.02211217924528212 Centerline is valid? [True, True] Translation: X:80.53, Y:-5.62, Z:-3.70 [[ 9.87653082e-01 1.53367420e-01 3.19346887e-02 8.05256185e+01] [-1.53318230e-01 9.88168779e-01 -3.99796893e-03 -5.62186868e+00] [-3.21700206e-02 -9.47563626e-04 9.99481962e-01 -3.70434053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390385723 meters 0.022849494241076955 Centerline is valid? [True, True] Translation: X:80.56, Y:-5.62, Z:-3.71 [[ 9.87397467e-01 1.55180618e-01 3.10679645e-02 8.05572243e+01] [-1.55134879e-01 9.87885632e-01 -3.89197680e-03 -5.62347110e+00] [-3.12955551e-02 -9.76796882e-04 9.99509697e-01 -3.70658298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420385723 meters 0.022479998786020663 Centerline is valid? [True, True] Translation: X:80.59, Y:-5.63, Z:-3.71 [[ 9.87172002e-01 1.56999451e-01 2.90277482e-02 8.05891620e+01] [-1.56960074e-01 9.87598225e-01 -3.64439992e-03 -5.62783386e+00] [-2.92399213e-02 -9.58547941e-04 9.99571962e-01 -3.70766493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450385723 meters 0.021238574511808557 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.63, Z:-3.71 [[ 9.87128132e-01 1.57349610e-01 2.86208132e-02 8.06218344e+01] [-1.57311518e-01 9.87542498e-01 -3.59182955e-03 -5.63411103e+00] [-2.88294423e-02 -9.56787588e-04 9.99583887e-01 -3.70846799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480385723 meters 0.023585969566830588 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.63, Z:-3.71 [[ 9.87087478e-01 1.57478727e-01 2.93046242e-02 8.06532677e+01] [-1.57438570e-01 9.87521899e-01 -3.68715753e-03 -5.62946100e+00] [-2.95196070e-02 -9.74131094e-04 9.99563727e-01 -3.71343794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510385723 meters 0.02228927749969332 Centerline is valid? [True, True] Translation: X:80.69, Y:-5.63, Z:-3.71 [[ 9.87055976e-01 1.57493348e-01 3.02712143e-02 8.06853391e+01] [-1.57450287e-01 9.87519542e-01 -3.81590669e-03 -5.63392823e+00] [-3.04943956e-02 -9.99697877e-04 9.99534438e-01 -3.71404229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540385723 meters 0.02099371481924726 Centerline is valid? [True, True] Translation: X:80.72, Y:-5.64, Z:-3.71 [[ 9.87070050e-01 1.57007539e-01 3.22699288e-02 8.07166504e+01] [-1.56958072e-01 9.87596855e-01 -4.07622743e-03 -5.64000241e+00] [-3.25096786e-02 -1.04150380e-03 9.99470878e-01 -3.71305020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570385723 meters 0.020309512163909697 Centerline is valid? [True, True] Translation: X:80.75, Y:-5.65, Z:-3.71 [[ 9.87357169e-01 1.54560090e-01 3.51710005e-02 8.07472955e+01] [-1.54499359e-01 9.87982847e-01 -4.45444545e-03 -5.64785900e+00] [-3.54368247e-02 -1.03576840e-03 9.99371382e-01 -3.70890361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600385723 meters 0.02040471450457516 Centerline is valid? [True, True] Translation: X:80.78, Y:-5.65, Z:-3.71 [[ 9.87595388e-01 1.52662558e-01 3.67354376e-02 8.07781000e+01] [-1.52594996e-01 9.88277856e-01 -4.65248338e-03 -5.65195984e+00] [-3.70150796e-02 -1.01087283e-03 9.99314196e-01 -3.70820278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63038572299999 meters 0.019577594400150607 Centerline is valid? [True, True] Translation: X:80.81, Y:-5.65, Z:-3.71 [[ 9.88122780e-01 1.48470851e-01 3.96204301e-02 8.08089725e+01] [-1.48388456e-01 9.88916365e-01 -5.02874139e-03 -5.65452496e+00] [-3.99279132e-02 -9.10200517e-04 9.99202148e-01 -3.70854046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66038572299999 meters 0.0191153861773502 Centerline is valid? [True, True] Translation: X:80.84, Y:-5.66, Z:-3.71 [[ 9.88151295e-01 1.48140623e-01 4.01419260e-02 8.08410472e+01] [-1.48055751e-01 9.88965890e-01 -5.09545173e-03 -5.65802425e+00] [-4.04538390e-02 -9.08165760e-04 9.99180996e-01 -3.71039999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69038572299999 meters 0.019178103185386215 Centerline is valid? [True, True] Translation: X:80.87, Y:-5.66, Z:-3.71 [[ 9.87977431e-01 1.49244751e-01 4.03311416e-02 8.08726508e+01] [-1.49159585e-01 9.88799831e-01 -5.12955537e-03 -5.65887572e+00] [-4.06449853e-02 -9.47891418e-04 9.99173202e-01 -3.71342362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72038572299999 meters 0.019178103185386215 Centerline is valid? [True, True] Translation: X:80.90, Y:-5.66, Z:-3.71 [[ 9.87935423e-01 1.49522877e-01 4.03299963e-02 8.09047657e+01] [-1.49437576e-01 9.88757810e-01 -5.13854356e-03 -5.66302696e+00] [-4.06449287e-02 -9.50267697e-04 9.99173202e-01 -3.71487906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750385723 meters 0.020100067761116707 Centerline is valid? [True, True] Translation: X:80.94, Y:-5.66, Z:-3.72 [[ 9.87734100e-01 1.50935640e-01 3.99972632e-02 8.09357705e+01] [-1.50852430e-01 9.88543097e-01 -5.10772877e-03 -5.66375492e+00] [-4.03099567e-02 -9.88606481e-04 9.99186734e-01 -3.71760663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780385723 meters 0.020250154986341713 Centerline is valid? [True, True] Translation: X:80.97, Y:-5.66, Z:-3.72 [[ 9.87415849e-01 1.53432594e-01 3.83194556e-02 8.09678135e+01] [-1.53357777e-01 9.88158573e-01 -4.90177615e-03 -5.66459514e+00] [-3.86177908e-02 -1.03649506e-03 9.99253517e-01 -3.72011546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810385723 meters 0.02056847606499254 Centerline is valid? [True, True] Translation: X:81.00, Y:-5.67, Z:-3.72 [[ 9.87264523e-01 1.54433709e-01 3.81967360e-02 8.10001356e+01] [-1.54359759e-01 9.88002581e-01 -4.89541393e-03 -5.66654450e+00] [-3.84944906e-02 -1.06297046e-03 9.99258247e-01 -3.72189589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840385723 meters 0.020273997259562564 Centerline is valid? [True, True] Translation: X:81.03, Y:-5.67, Z:-3.72 [[ 9.87045989e-01 1.55845189e-01 3.81115734e-02 8.10323363e+01] [-1.55772266e-01 9.87780873e-01 -4.89368548e-03 -5.67037752e+00] [-3.84085405e-02 -1.10643352e-03 9.99261507e-01 -3.72284725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870385723 meters 0.022704959791399918 Centerline is valid? [True, True] Translation: X:81.06, Y:-5.67, Z:-3.72 [[ 9.86749974e-01 1.57777993e-01 3.78231840e-02 8.10640168e+01] [-1.57707227e-01 9.87473924e-01 -4.86612320e-03 -5.66776717e+00] [-3.81171750e-02 -1.16334250e-03 9.99272599e-01 -3.72369154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900385723 meters 0.02251994957257844 Centerline is valid? [True, True] Translation: X:81.10, Y:-5.67, Z:-3.72 [[ 9.86607411e-01 1.58606318e-01 3.80769198e-02 8.10955209e+01] [-1.58534876e-01 9.87341181e-01 -4.90759097e-03 -5.67094614e+00] [-3.83732860e-02 -1.19465414e-03 9.99262760e-01 -3.72438225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930385723 meters 0.0230799278324404 Centerline is valid? [True, True] Translation: X:81.13, Y:-5.67, Z:-3.73 [[ 9.86466945e-01 1.59311085e-01 3.87678168e-02 8.11268533e+01] [-1.59237201e-01 9.87227660e-01 -5.00607112e-03 -5.67104022e+00] [-3.90701837e-02 -1.23495496e-03 9.99235706e-01 -3.72577188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960385723 meters 0.023141294599833745 Centerline is valid? [True, True] Translation: X:81.16, Y:-5.67, Z:-3.73 [[ 9.86577027e-01 1.58629800e-01 3.87602435e-02 8.11585392e+01] [-1.58555093e-01 9.87337403e-01 -5.01345673e-03 -5.67372823e+00] [-3.90647218e-02 -1.19947277e-03 9.99235963e-01 -3.72731027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990385723 meters 0.02075134364793038 Centerline is valid? [True, True] Translation: X:81.19, Y:-5.68, Z:-3.73 [[ 9.86681662e-01 1.58016431e-01 3.86018933e-02 8.11902264e+01] [-1.57941523e-01 9.87435799e-01 -5.00172369e-03 -5.68127466e+00] [-3.89072459e-02 -1.16173278e-03 9.99242151e-01 -3.72796466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02038572299999 meters 0.02039460064550265 Centerline is valid? [True, True] Translation: X:81.22, Y:-5.68, Z:-3.73 [[ 9.87001128e-01 1.56199652e-01 3.78211811e-02 8.12219356e+01] [-1.56126064e-01 9.87724935e-01 -4.90967131e-03 -5.68460116e+00] [-3.81238126e-02 -1.05902104e-03 9.99272462e-01 -3.72989226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05038572299999 meters 0.020251102462810446 Centerline is valid? [True, True] Translation: X:81.25, Y:-5.69, Z:-3.73 [[ 9.87085460e-01 1.55728461e-01 3.75625008e-02 8.12538475e+01] [-1.55655192e-01 9.87799370e-01 -4.88517161e-03 -5.68882371e+00] [-3.78649749e-02 -1.02471641e-03 9.99282339e-01 -3.73209757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08038572299999 meters 0.019698307475552814 Centerline is valid? [True, True] Translation: X:81.29, Y:-5.69, Z:-3.73 [[ 9.87197102e-01 1.55070590e-01 3.73496232e-02 8.12858616e+01] [-1.54997338e-01 9.87902901e-01 -4.86653742e-03 -5.69348816e+00] [-3.76524579e-02 -9.84860531e-04 9.99290409e-01 -3.73313733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110385723 meters 0.01995002618876641 Centerline is valid? [True, True] Translation: X:81.32, Y:-5.70, Z:-3.73 [[ 9.87173379e-01 1.54935272e-01 3.85198701e-02 8.13173401e+01] [-1.54856868e-01 9.87924117e-01 -5.02894450e-03 -5.69654872e+00] [-3.88338695e-02 -1.00062631e-03 9.99245180e-01 -3.73352776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140385723 meters 0.020099102073888996 Centerline is valid? [True, True] Translation: X:81.35, Y:-5.70, Z:-3.73 [[ 9.87192521e-01 1.54472237e-01 3.98654645e-02 8.13481052e+01] [-1.54387470e-01 9.87996617e-01 -5.21485573e-03 -5.69899311e+00] [-4.01924944e-02 -1.00666161e-03 9.99191448e-01 -3.73451414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170385723 meters 0.019829623193400963 Centerline is valid? [True, True] Translation: X:81.38, Y:-5.70, Z:-3.74 [[ 9.87188766e-01 1.54313122e-01 4.05684587e-02 8.13805188e+01] [-1.54224825e-01 9.88021479e-01 -5.31605947e-03 -5.70004821e+00] [-4.09028463e-02 -1.00870924e-03 9.99162619e-01 -3.73663828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200385723 meters 0.02045602738962152 Centerline is valid? [True, True] Translation: X:81.41, Y:-5.70, Z:-3.74 [[ 9.87113446e-01 1.54923769e-01 4.00708115e-02 8.14116524e+01] [-1.54837737e-01 9.87925909e-01 -5.26052587e-03 -5.70042440e+00] [-4.04019733e-02 -1.01173794e-03 9.99182995e-01 -3.73920560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230385723 meters 0.02120085254151459 Centerline is valid? [True, True] Translation: X:81.44, Y:-5.70, Z:-3.74 [[ 9.87013876e-01 1.55582980e-01 3.99692890e-02 8.14438705e+01] [-1.55497568e-01 9.87822292e-01 -5.25601930e-03 -5.70247521e+00] [-4.03003018e-02 -1.02736323e-03 9.99187085e-01 -3.74069629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260385723 meters 0.021316824511481047 Centerline is valid? [True, True] Translation: X:81.48, Y:-5.71, Z:-3.74 [[ 9.86975644e-01 1.55940960e-01 3.95157540e-02 8.14757752e+01] [-1.55857354e-01 9.87765851e-01 -5.20660686e-03 -5.70582963e+00] [-3.98442357e-02 -1.02002671e-03 9.99205383e-01 -3.74213337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290385723 meters 0.021578973450542174 Centerline is valid? [True, True] Translation: X:81.51, Y:-5.71, Z:-3.74 [[ 9.86933809e-01 1.56458589e-01 3.85015106e-02 8.15074945e+01] [-1.56379388e-01 9.87684005e-01 -5.07878284e-03 -5.70933940e+00] [-3.88219453e-02 -1.00842017e-03 9.99245635e-01 -3.74337556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320385723 meters 0.02147721870768366 Centerline is valid? [True, True] Translation: X:81.54, Y:-5.71, Z:-3.75 [[ 9.87095931e-01 1.55984959e-01 3.61982747e-02 8.15396745e+01] [-1.55914332e-01 9.87759000e-01 -4.78320269e-03 -5.71247044e+00] [-3.65012793e-02 -9.22349910e-04 9.99333181e-01 -3.74551730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350385723 meters 0.021645789572045555 Centerline is valid? [True, True] Translation: X:81.57, Y:-5.71, Z:-3.75 [[ 9.87239467e-01 1.55373638e-01 3.48893516e-02 8.15705249e+01] [-1.55307442e-01 9.87855400e-01 -4.61602605e-03 -5.71464194e+00] [-3.51828431e-02 -8.61452875e-04 9.99380521e-01 -3.74871787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38038572299999 meters 0.021279221213183677 Centerline is valid? [True, True] Translation: X:81.60, Y:-5.71, Z:-3.75 [[ 9.87372770e-01 1.54601804e-01 3.45440991e-02 8.16023960e+01] [-1.54536322e-01 9.87976521e-01 -4.57372913e-03 -5.71487754e+00] [-3.48358656e-02 -8.22342427e-04 9.99392709e-01 -3.75276215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41038572299999 meters 0.020506618386727245 Centerline is valid? [True, True] Translation: X:81.64, Y:-5.72, Z:-3.75 [[ 9.87329410e-01 1.54764871e-01 3.50495616e-02 8.16353445e+01] [-1.54697291e-01 9.87950981e-01 -4.64830609e-03 -5.71894972e+00] [-3.53466433e-02 -8.32662919e-04 9.99374765e-01 -3.75354013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44038572299999 meters 0.02033587923002109 Centerline is valid? [True, True] Translation: X:81.67, Y:-5.72, Z:-3.75 [[ 9.87288343e-01 1.55005594e-01 3.51424649e-02 8.16684448e+01] [-1.54937477e-01 9.87913240e-01 -4.66995461e-03 -5.72358822e+00] [-3.54415755e-02 -8.34293092e-04 9.99371402e-01 -3.75330731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47038572299999 meters 0.02190358218119043 Centerline is valid? [True, True] Translation: X:81.70, Y:-5.72, Z:-3.76 [[ 9.87181886e-01 1.55757121e-01 3.48086553e-02 8.16998902e+01] [-1.55690418e-01 9.87795023e-01 -4.63531043e-03 -5.72493797e+00] [-3.51057991e-02 -8.43479590e-04 9.99383246e-01 -3.75525457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500385723 meters 0.022392269792253717 Centerline is valid? [True, True] Translation: X:81.73, Y:-5.73, Z:-3.76 [[ 9.87108569e-01 1.56391451e-01 3.40350747e-02 8.17305161e+01] [-1.56327807e-01 9.87694796e-01 -4.53956311e-03 -5.72704526e+00] [-3.43262150e-02 -8.39586931e-04 9.99410329e-01 -3.75715030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530385723 meters 0.02036932919615538 Centerline is valid? [True, True] Translation: X:81.76, Y:-5.73, Z:-3.76 [[ 9.86916752e-01 1.57390669e-01 3.49785896e-02 8.17637524e+01] [-1.57323837e-01 9.87536015e-01 -4.67211657e-03 -5.72973676e+00] [-3.52779646e-02 -8.91975821e-04 9.99377141e-01 -3.75785161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560385723 meters 0.022580666849096646 Centerline is valid? [True, True] Translation: X:81.80, Y:-5.73, Z:-3.76 [[ 9.86883861e-01 1.57296985e-01 3.63029280e-02 8.17955937e+01] [-1.57224533e-01 9.87550924e-01 -4.85989979e-03 -5.72698511e+00] [-3.66154377e-02 -9.11554221e-04 9.99329014e-01 -3.76056199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590385723 meters 0.01999166559308182 Centerline is valid? [True, True] Translation: X:81.83, Y:-5.74, Z:-3.76 [[ 9.86975001e-01 1.56376107e-01 3.77738166e-02 8.18267498e+01] [-1.56296660e-01 9.87697168e-01 -5.06546280e-03 -5.73607086e+00] [-3.81012090e-02 -9.04436211e-04 9.99273476e-01 -3.75836159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620385723 meters 0.019580130760554735 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.74, Z:-3.76 [[ 9.87118190e-01 1.55556553e-01 3.74144061e-02 8.18584119e+01] [-1.55477687e-01 9.87826618e-01 -5.02616133e-03 -5.74251178e+00] [-3.77407986e-02 -8.55690046e-04 9.99287196e-01 -3.75910052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650385723 meters 0.019420643826618875 Centerline is valid? [True, True] Translation: X:81.89, Y:-5.75, Z:-3.76 [[ 9.87360243e-01 1.54132599e-01 3.69173764e-02 8.18892339e+01] [-1.54054486e-01 9.88049863e-01 -4.96835350e-03 -5.74877681e+00] [-3.72419940e-02 -7.81732728e-04 9.99305971e-01 -3.76018503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680385723 meters 0.019546285888990336 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.75, Z:-3.76 [[ 9.87325373e-01 1.54427155e-01 3.66177663e-02 8.19210449e+01] [-1.54350218e-01 9.88003870e-01 -4.93587711e-03 -5.75218394e+00] [-3.69407283e-02 -7.78643497e-04 9.99317155e-01 -3.76171548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710385723 meters 0.01956221725152998 Centerline is valid? [True, True] Translation: X:81.95, Y:-5.75, Z:-3.76 [[ 9.87298560e-01 1.54500439e-01 3.70292780e-02 8.19535943e+01] [-1.54421459e-01 9.87992411e-01 -5.00084167e-03 -5.75451749e+00] [-3.73572779e-02 -7.80791344e-04 9.99301668e-01 -3.76421087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740385723 meters 0.01946114383645017 Centerline is valid? [True, True] Translation: X:81.99, Y:-5.76, Z:-3.77 [[ 9.87151101e-01 1.55597421e-01 3.63613216e-02 8.19860842e+01] [-1.55521648e-01 9.87820230e-01 -4.92047476e-03 -5.75605452e+00] [-3.66840622e-02 -7.97720564e-04 9.99326595e-01 -3.76810531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77038572299999 meters 0.019482167972925794 Centerline is valid? [True, True] Translation: X:82.02, Y:-5.76, Z:-3.77 [[ 9.87006519e-01 1.56777177e-01 3.52001189e-02 8.20172682e+01] [-1.56706589e-01 9.87633671e-01 -4.77253739e-03 -5.76091528e+00] [-3.55130476e-02 -8.05565049e-04 9.99368888e-01 -3.76977774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80038572299999 meters 0.02046336883773485 Centerline is valid? [True, True] Translation: X:82.05, Y:-5.77, Z:-3.77 [[ 9.86605603e-01 1.60028864e-01 3.16250898e-02 8.20465622e+01] [-1.59973389e-01 9.87111992e-01 -4.29307975e-03 -5.76661037e+00] [-3.19045221e-02 -8.23596270e-04 9.99490582e-01 -3.77201397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83038572299999 meters 0.02068622984498627 Centerline is valid? [True, True] Translation: X:82.08, Y:-5.77, Z:-3.77 [[ 9.86371134e-01 1.61662511e-01 3.06140087e-02 8.20778946e+01] [-1.61611409e-01 9.86845736e-01 -4.15270329e-03 -5.77113897e+00] [-3.08826404e-02 -8.51466437e-04 9.99522655e-01 -3.77364405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860385723 meters 0.021242496116033162 Centerline is valid? [True, True] Translation: X:82.11, Y:-5.77, Z:-3.78 [[ 9.86073754e-01 1.63169645e-01 3.21592668e-02 8.21090903e+01] [-1.63113799e-01 9.86597583e-01 -4.37014652e-03 -5.77237984e+00] [-3.24413302e-02 -9.36333406e-04 9.99473203e-01 -3.77511800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890385723 meters 0.021083398959901946 Centerline is valid? [True, True] Translation: X:82.14, Y:-5.78, Z:-3.78 [[ 9.85948031e-01 1.63736169e-01 3.31201910e-02 8.21421326e+01] [-1.63677016e-01 9.86503681e-01 -4.50789021e-03 -5.77738535e+00] [-3.34112951e-02 -9.76468554e-04 9.99441210e-01 -3.77561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920385723 meters 0.020834343529894897 Centerline is valid? [True, True] Translation: X:82.17, Y:-5.78, Z:-3.78 [[ 9.85946483e-01 1.63628041e-01 3.36956498e-02 8.21739216e+01] [-1.63566411e-01 9.86521619e-01 -4.59620862e-03 -5.78442580e+00] [-3.39935556e-02 -9.79860794e-04 9.99421572e-01 -3.77595451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950385723 meters 0.020507485129094918 Centerline is valid? [True, True] Translation: X:82.20, Y:-5.80, Z:-3.77 [[ 9.86061805e-01 1.62891354e-01 3.38898650e-02 8.22043319e+01] [-1.62828291e-01 9.86643553e-01 -4.63107297e-03 -5.79647084e+00] [-3.41915786e-02 -9.51704612e-04 9.99414844e-01 -3.77426539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980385723 meters 0.020603419163332626 Centerline is valid? [True, True] Translation: X:82.24, Y:-5.80, Z:-3.77 [[ 9.85993388e-01 1.63050739e-01 3.50926733e-02 8.22356747e+01] [-1.62982901e-01 9.86617196e-01 -4.80444157e-03 -5.80311050e+00] [-3.54064027e-02 -9.82358089e-04 9.99372514e-01 -3.77381397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010385723 meters 0.02130107381874597 Centerline is valid? [True, True] Translation: X:82.27, Y:-5.81, Z:-3.78 [[ 9.86052765e-01 1.62242768e-01 3.71110486e-02 8.22669537e+01] [-1.62165964e-01 9.86750367e-01 -5.09047980e-03 -5.80766813e+00] [-3.74452344e-02 -9.98667303e-04 9.99298182e-01 -3.77532904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040385723 meters 0.02099262783360207 Centerline is valid? [True, True] Translation: X:82.30, Y:-5.81, Z:-3.78 [[ 9.86167572e-01 1.61742453e-01 3.62339559e-02 8.22981426e+01] [-1.61668585e-01 9.86832549e-01 -4.97879273e-03 -5.81342415e+00] [-3.65621292e-02 -9.47968455e-04 9.99330932e-01 -3.77793868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070385723 meters 0.021721035004971773 Centerline is valid? [True, True] Translation: X:82.33, Y:-5.82, Z:-3.78 [[ 9.85900898e-01 1.63485953e-01 3.56617716e-02 8.23293957e+01] [-1.63415240e-01 9.86545167e-01 -4.90847539e-03 -5.82234566e+00] [-3.59844152e-02 -9.88406658e-04 9.99351862e-01 -3.77965051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100385723 meters 0.02307359539912677 Centerline is valid? [True, True] Translation: X:82.36, Y:-5.83, Z:-3.78 [[ 9.85588411e-01 1.65299083e-01 3.59401789e-02 8.23602599e+01] [-1.65228151e-01 9.86242922e-01 -4.95544799e-03 -5.82802567e+00] [-3.62648781e-02 -1.05429719e-03 9.99341657e-01 -3.77977846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13038572299999 meters 0.025231220720432705 Centerline is valid? [True, True] Translation: X:82.39, Y:-5.83, Z:-3.78 [[ 9.84855113e-01 1.69412749e-01 3.68744787e-02 8.23902875e+01] [-1.69340595e-01 9.85544425e-01 -5.09401764e-03 -5.83438847e+00] [-3.72044285e-02 -1.22747685e-03 9.99306922e-01 -3.77890262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16038572299999 meters 0.022828316244170276 Centerline is valid? [True, True] Translation: X:82.42, Y:-5.84, Z:-3.78 [[ 9.84532889e-01 1.71348974e-01 3.65310871e-02 8.24213501e+01] [-1.71279533e-01 9.85209554e-01 -5.04537869e-03 -5.84302825e+00] [-3.68552965e-02 -1.28968627e-03 9.99319781e-01 -3.78058415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19038572299999 meters 0.02650461358676039 Centerline is valid? [True, True] Translation: X:82.45, Y:-5.84, Z:-3.79 [[ 9.84187741e-01 1.73450180e-01 3.59099673e-02 8.24528900e+01] [-1.73384157e-01 9.84841738e-01 -4.96838960e-03 -5.83989242e+00] [-3.62274027e-02 -1.33639126e-03 9.99342679e-01 -3.78538042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22038572299999 meters 0.025976772674048125 Centerline is valid? [True, True] Translation: X:82.48, Y:-5.85, Z:-3.79 [[ 9.83528321e-01 1.77613274e-01 3.35494638e-02 8.24833381e+01] [-1.77557758e-01 9.84099392e-01 -4.65079806e-03 -5.84690213e+00] [-3.38420504e-02 -1.38277597e-03 9.99426237e-01 -3.78977426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250385723 meters 0.02773496292357615 Centerline is valid? [True, True] Translation: X:82.51, Y:-5.86, Z:-3.79 [[ 9.83099281e-01 1.80460499e-01 3.08190176e-02 8.25122378e+01] [-1.80415004e-01 9.83581294e-01 -4.27368217e-03 -5.85520127e+00] [-3.10842400e-02 -1.35875930e-03 9.99515845e-01 -3.79151012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280385723 meters 0.03145163892126604 Centerline is valid? [True, True] Translation: X:82.54, Y:-5.86, Z:-3.79 [[ 9.83045526e-01 1.80859558e-01 3.01879825e-02 8.25429093e+01] [-1.80816189e-01 9.83508011e-01 -4.18305945e-03 -5.85660263e+00] [-3.04466689e-02 -1.34633809e-03 9.99535486e-01 -3.79377795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310385723 meters 0.028827002179947717 Centerline is valid? [True, True] Translation: X:82.57, Y:-5.87, Z:-3.79 [[ 9.83142278e-01 1.80282573e-01 3.04869542e-02 8.25740465e+01] [-1.80237859e-01 9.83613954e-01 -4.23114666e-03 -5.86702711e+00] [-3.07501955e-02 -1.33508419e-03 9.99526209e-01 -3.79288571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340385723 meters 0.025373174300187908 Centerline is valid? [True, True] Translation: X:82.60, Y:-5.88, Z:-3.79 [[ 9.83645390e-01 1.77703855e-01 2.93783407e-02 8.26045145e+01] [-1.77660924e-01 9.84083279e-01 -4.08611534e-03 -5.87952414e+00] [-2.96368523e-02 -1.20009463e-03 9.99560012e-01 -3.79303712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370385723 meters 0.024196689380819886 Centerline is valid? [True, True] Translation: X:82.64, Y:-5.89, Z:-3.79 [[ 9.83901867e-01 1.76407154e-01 2.85942652e-02 8.26361894e+01] [-1.76365891e-01 9.84316637e-01 -3.97867081e-03 -5.88820132e+00] [-2.88476770e-02 -1.12843143e-03 9.99583182e-01 -3.79436425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400385723 meters 0.02309106982171115 Centerline is valid? [True, True] Translation: X:82.67, Y:-5.90, Z:-3.80 [[ 9.84426481e-01 1.73711532e-01 2.69964384e-02 8.26669337e+01] [-1.73673756e-01 9.84796081e-01 -3.75573896e-03 -5.90056334e+00] [-2.72384019e-02 -9.91323963e-04 9.99628474e-01 -3.79524271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430385723 meters 0.023175493844353277 Centerline is valid? [True, True] Translation: X:82.70, Y:-5.91, Z:-3.80 [[ 9.84641865e-01 1.72444637e-01 2.72625168e-02 8.26975646e+01] [-1.72405430e-01 9.85018745e-01 -3.79996905e-03 -5.90707444e+00] [-2.75093744e-02 -9.58597311e-04 9.99621086e-01 -3.79662237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460385723 meters 0.02302479117750466 Centerline is valid? [True, True] Translation: X:82.73, Y:-5.91, Z:-3.80 [[ 9.84859596e-01 1.71211835e-01 2.71677087e-02 8.27288606e+01] [-1.71172269e-01 9.85233815e-01 -3.79266585e-03 -5.91324541e+00] [-2.74158945e-02 -9.15114980e-04 9.99623695e-01 -3.79837046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49038572299999 meters 0.023376413036449183 Centerline is valid? [True, True] Translation: X:82.76, Y:-5.92, Z:-3.80 [[ 9.85206632e-01 1.68907475e-01 2.89509520e-02 8.27590030e+01] [-1.68861228e-01 9.85631504e-01 -4.05261558e-03 -5.91770009e+00] [-2.92194875e-02 -8.96029561e-04 9.99572618e-01 -3.80190754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52038572299999 meters 0.02150101314430193 Centerline is valid? [True, True] Translation: X:82.79, Y:-5.93, Z:-3.80 [[ 9.85383334e-01 1.67723507e-01 2.98078852e-02 8.27899364e+01] [-1.67674001e-01 9.85833676e-01 -4.17056516e-03 -5.92723493e+00] [-3.00851189e-02 -8.88401974e-04 9.99546946e-01 -3.80184837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55038572299999 meters 0.020682275217293457 Centerline is valid? [True, True] Translation: X:82.82, Y:-5.94, Z:-3.80 [[ 9.86002983e-01 1.64075304e-01 2.96211387e-02 8.28204959e+01] [-1.64024467e-01 9.86447522e-01 -4.15455937e-03 -5.93765190e+00] [-2.99013595e-02 -7.62183563e-04 9.99552564e-01 -3.80195035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58038572299999 meters 0.020799559243740932 Centerline is valid? [True, True] Translation: X:82.85, Y:-5.94, Z:-3.80 [[ 9.86397556e-01 1.61826238e-01 2.88466805e-02 8.28513917e+01] [-1.61777107e-01 9.86819036e-01 -4.04445394e-03 -5.94389642e+00] [-2.91209522e-02 -6.77293037e-04 9.99575666e-01 -3.80458783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610385723 meters 0.020799559243740932 Centerline is valid? [True, True] Translation: X:82.88, Y:-5.95, Z:-3.81 [[ 9.86354501e-01 1.62088618e-01 2.88457711e-02 8.28834531e+01] [-1.62039410e-01 9.86775972e-01 -4.05092683e-03 -5.94847831e+00] [-2.91209230e-02 -6.78501814e-04 9.99575666e-01 -3.80604386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640385723 meters 0.019738246340478334 Centerline is valid? [True, True] Translation: X:82.91, Y:-5.96, Z:-3.81 [[ 9.87049464e-01 1.57929765e-01 2.81344128e-02 8.29145528e+01] [-1.57881043e-01 9.87450203e-01 -3.95884338e-03 -5.95909369e+00] [-2.84065508e-02 -5.34316194e-04 9.99596310e-01 -3.80812421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670385723 meters 0.019559758435004574 Centerline is valid? [True, True] Translation: X:82.95, Y:-5.96, Z:-3.81 [[ 9.87269200e-01 1.56477184e-01 2.85379950e-02 8.29461966e+01] [-1.56426244e-01 9.87681451e-01 -4.02268372e-03 -5.96488246e+00] [-2.88159065e-02 -4.92619610e-04 9.99584614e-01 -3.81067277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700385723 meters 0.01932860164372282 Centerline is valid? [True, True] Translation: X:82.98, Y:-5.97, Z:-3.81 [[ 9.87375593e-01 1.55610290e-01 2.95782935e-02 8.29780279e+01] [-1.55554955e-01 9.87818410e-01 -4.17682205e-03 -5.97005507e+00] [-2.98679393e-02 -4.76957966e-04 9.99553740e-01 -3.81278963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730385723 meters 0.019214389982118933 Centerline is valid? [True, True] Translation: X:83.01, Y:-5.97, Z:-3.82 [[ 9.87427049e-01 1.54806295e-01 3.19817742e-02 8.30100245e+01] [-1.54740899e-01 9.87944725e-01 -4.52487054e-03 -5.97400667e+00] [-3.22967036e-02 -4.80908937e-04 9.99478210e-01 -3.81501564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760385723 meters 0.019644153364949277 Centerline is valid? [True, True] Translation: X:83.04, Y:-5.98, Z:-3.82 [[ 9.87438359e-01 1.54396760e-01 3.35727245e-02 8.30412579e+01] [-1.54324158e-01 9.88008810e-01 -4.75881695e-03 -5.97548280e+00] [-3.39048935e-02 -4.82044028e-04 9.99424948e-01 -3.81739566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790385723 meters 0.019348728977787538 Centerline is valid? [True, True] Translation: X:83.07, Y:-5.98, Z:-3.82 [[ 9.87279975e-01 1.55465678e-01 3.32967694e-02 8.30732827e+01] [-1.55394629e-01 9.87841164e-01 -4.72692879e-03 -5.98031339e+00] [-3.36267947e-02 -5.07336978e-04 9.99434331e-01 -3.81766206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820385723 meters 0.019199686468582534 Centerline is valid? [True, True] Translation: X:83.10, Y:-5.98, Z:-3.82 [[ 9.87094217e-01 1.56650568e-01 3.32506647e-02 8.31047920e+01] [-1.56580122e-01 9.87653942e-01 -4.72827139e-03 -5.98470370e+00] [-3.35808365e-02 -5.39143781e-04 9.99435859e-01 -3.81809331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850385723 meters 0.019997954896205962 Centerline is valid? [True, True] Translation: X:83.14, Y:-5.99, Z:-3.82 [[ 9.86689077e-01 1.59133875e-01 3.34824640e-02 8.31359854e+01] [-1.59063582e-01 9.87256819e-01 -4.76978202e-03 -5.98655141e+00] [-3.38148248e-02 -6.19548849e-04 9.99427923e-01 -3.81858992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88038572299999 meters 0.020330126572308125 Centerline is valid? [True, True] Translation: X:83.17, Y:-5.99, Z:-3.82 [[ 9.86615972e-01 1.59404484e-01 3.43385333e-02 8.31672601e+01] [-1.59330432e-01 9.87213151e-01 -4.89985369e-03 -5.98971880e+00] [-3.46805103e-02 -6.36899428e-04 9.99398247e-01 -3.81923880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91038572299999 meters 0.01998727648418865 Centerline is valid? [True, True] Translation: X:83.20, Y:-5.99, Z:-3.82 [[ 9.86722743e-01 1.58074041e-01 3.72937795e-02 8.31994350e+01] [-1.57985405e-01 9.87427059e-01 -5.33047569e-03 -5.99365023e+00] [-3.76674968e-02 -6.32171268e-04 9.99290128e-01 -3.81926278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94038572299999 meters 0.019291992792123513 Centerline is valid? [True, True] Translation: X:83.23, Y:-6.00, Z:-3.82 [[ 9.86734739e-01 1.57628002e-01 3.88325587e-02 8.32307948e+01] [-1.57531189e-01 9.87498362e-01 -5.55967669e-03 -5.99842524e+00] [-3.92234489e-02 -6.31413042e-04 9.99230265e-01 -3.81978639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97038572299999 meters 0.0191202221182816 Centerline is valid? [True, True] Translation: X:83.26, Y:-6.00, Z:-3.82 [[ 9.86682537e-01 1.57478492e-01 4.07197275e-02 8.32626172e+01] [-1.57371484e-01 9.87522206e-01 -5.84023816e-03 -6.00188901e+00] [-4.11313470e-02 -6.45662948e-04 9.99153539e-01 -3.82158125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000385723 meters 0.018988516126114283 Centerline is valid? [True, True] Translation: X:83.29, Y:-6.01, Z:-3.82 [[ 9.86696284e-01 1.56977378e-01 4.22912155e-02 8.32940589e+01] [-1.56861026e-01 9.87601992e-01 -6.07643063e-03 -6.00599493e+00] [-4.27207508e-02 -6.38251928e-04 9.99086848e-01 -3.82170516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030385723 meters 0.01899006791204762 Centerline is valid? [True, True] Translation: X:83.33, Y:-6.01, Z:-3.82 [[ 9.86704635e-01 1.56914822e-01 4.23285030e-02 8.33250675e+01] [-1.56797765e-01 9.87611942e-01 -6.09212543e-03 -6.01151979e+00] [-4.27600798e-02 -6.25886257e-04 9.99085173e-01 -3.82206154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060385723 meters 0.01955649171423236 Centerline is valid? [True, True] Translation: X:83.36, Y:-6.02, Z:-3.82 [[ 9.86820288e-01 1.56554000e-01 4.09458734e-02 8.33564179e+01] [-1.56443731e-01 9.87669230e-01 -5.90341426e-03 -6.01530227e+00] [-4.13651823e-02 -5.80116254e-04 9.99143926e-01 -3.82357296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090385723 meters 0.018774153281314074 Centerline is valid? [True, True] Translation: X:83.39, Y:-6.02, Z:-3.83 [[ 9.86829488e-01 1.56742972e-01 3.99900169e-02 8.33884179e+01] [-1.56637548e-01 9.87639267e-01 -5.77550685e-03 -6.02159262e+00] [-4.04009811e-02 -5.64497718e-04 9.99183388e-01 -3.82605915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120385723 meters 0.018716804406580603 Centerline is valid? [True, True] Translation: X:83.42, Y:-6.02, Z:-3.83 [[ 9.86745886e-01 1.58134007e-01 3.64169130e-02 8.34208546e+01] [-1.58047185e-01 9.87417503e-01 -5.26888634e-03 -6.02242738e+00] [-3.67918874e-02 -5.56538656e-04 9.99322794e-01 -3.83312750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150385723 meters 0.01888128420122163 Centerline is valid? [True, True] Translation: X:83.45, Y:-6.03, Z:-3.84 [[ 9.86555342e-01 1.59707524e-01 3.46707985e-02 8.34525608e+01] [-1.59629515e-01 9.87164208e-01 -5.02440174e-03 -6.02525375e+00] [-3.50282061e-02 -5.77632381e-04 9.99386157e-01 -3.83664334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180385723 meters 0.019241583889201132 Centerline is valid? [True, True] Translation: X:83.48, Y:-6.03, Z:-3.84 [[ 9.86317642e-01 1.61388350e-01 3.36349523e-02 8.34843237e+01] [-1.61315593e-01 9.86890789e-01 -4.88363409e-03 -6.02830009e+00] [-3.39821862e-02 -6.09027803e-04 9.99422253e-01 -3.83993114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210385723 meters 0.019622629122771813 Centerline is valid? [True, True] Translation: X:83.51, Y:-6.03, Z:-3.84 [[ 9.86058110e-01 1.62874504e-01 3.40778413e-02 8.35147530e+01] [-1.62800547e-01 9.86646570e-01 -4.95251266e-03 -6.03293403e+00] [-3.44294232e-02 -6.64425937e-04 9.99406911e-01 -3.83989091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24038572299999 meters 0.020327462112281428 Centerline is valid? [True, True] Translation: X:83.55, Y:-6.04, Z:-3.84 [[ 9.85883024e-01 1.63602822e-01 3.56199299e-02 8.35468976e+01] [-1.63522347e-01 9.86526027e-01 -5.18069159e-03 -6.03730232e+00] [-3.59875637e-02 -7.17098646e-04 9.99351981e-01 -3.83915728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27038572299999 meters 0.02013380426420264 Centerline is valid? [True, True] Translation: X:83.58, Y:-6.04, Z:-3.84 [[ 9.85797429e-01 1.64025724e-01 3.60415138e-02 8.35797586e+01] [-1.63943272e-01 9.86455790e-01 -5.25141887e-03 -6.04359541e+00] [-3.64147278e-02 -7.31928494e-04 9.99336496e-01 -3.83923708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30038572299999 meters 0.019849093768685426 Centerline is valid? [True, True] Translation: X:83.61, Y:-6.05, Z:-3.84 [[ 9.85597076e-01 1.65232258e-01 3.60097922e-02 8.36107953e+01] [-1.65150390e-01 9.86254386e-01 -5.25682442e-03 -6.05051758e+00] [-3.63834125e-02 -7.65920466e-04 9.99337611e-01 -3.83949787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33038572299999 meters 0.02023202166460034 Centerline is valid? [True, True] Translation: X:83.64, Y:-6.05, Z:-3.84 [[ 9.85215479e-01 1.67315535e-01 3.68235155e-02 8.36427046e+01] [-1.67231027e-01 9.85903030e-01 -5.38504578e-03 -6.05466318e+00] [-3.72054174e-02 -8.52603869e-04 9.99307275e-01 -3.84007922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360385723 meters 0.020233198252155634 Centerline is valid? [True, True] Translation: X:83.67, Y:-6.06, Z:-3.84 [[ 9.85166042e-01 1.67356528e-01 3.79428716e-02 8.36744726e+01] [-1.67266463e-01 9.85896057e-01 -5.55841392e-03 -6.05859752e+00] [-3.83379644e-02 -8.70609284e-04 9.99264451e-01 -3.84158461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390385723 meters 0.02010413388519392 Centerline is valid? [True, True] Translation: X:83.70, Y:-6.06, Z:-3.84 [[ 9.85315792e-01 1.66228267e-01 3.89994132e-02 8.37047474e+01] [-1.66131836e-01 9.86086942e-01 -5.72319906e-03 -6.06324037e+00] [-3.94081696e-02 -8.39885731e-04 9.99222843e-01 -3.84368323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420385723 meters 0.02019135412994365 Centerline is valid? [True, True] Translation: X:83.74, Y:-6.07, Z:-3.85 [[ 9.85361970e-01 1.66130376e-01 3.82424665e-02 8.37357260e+01] [-1.66037259e-01 9.86103463e-01 -5.62042216e-03 -6.06830774e+00] [-3.86447515e-02 -8.11524051e-04 9.99252683e-01 -3.84555261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450385723 meters 0.02005436495224772 Centerline is valid? [True, True] Translation: X:83.77, Y:-6.08, Z:-3.85 [[ 9.85340250e-01 1.66618040e-01 3.66472549e-02 8.37669121e+01] [-1.66532486e-01 9.86021202e-01 -5.39628966e-03 -6.07540563e+00] [-3.70340895e-02 -7.85777046e-04 9.99313694e-01 -3.84746394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480385723 meters 0.020273771180136915 Centerline is valid? [True, True] Translation: X:83.80, Y:-6.08, Z:-3.85 [[ 9.85253584e-01 1.67321433e-01 3.57618911e-02 8.37975052e+01] [-1.67240358e-01 9.85902081e-01 -5.26778883e-03 -6.07981533e+00] [-3.61391368e-02 -7.90723660e-04 9.99346455e-01 -3.84870611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510385723 meters 0.020431623181842884 Centerline is valid? [True, True] Translation: X:83.83, Y:-6.08, Z:-3.85 [[ 9.85076473e-01 1.68148446e-01 3.67483756e-02 8.38305720e+01] [-1.68063101e-01 9.85761331e-01 -5.42143442e-03 -6.08416435e+00] [-3.71367334e-02 -8.35518474e-04 9.99309844e-01 -3.84984337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540385723 meters 0.02105080588391311 Centerline is valid? [True, True] Translation: X:83.86, Y:-6.09, Z:-3.85 [[ 9.84748044e-01 1.69855288e-01 3.76891413e-02 8.38619177e+01] [-1.69766337e-01 9.85468594e-01 -5.57147112e-03 -6.08597362e+00] [-3.80878089e-02 -9.11852171e-04 9.99273980e-01 -3.85068055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570385723 meters 0.021506148004255723 Centerline is valid? [True, True] Translation: X:83.89, Y:-6.09, Z:-3.85 [[ 9.84531446e-01 1.71090695e-01 3.77598379e-02 8.38934848e+01] [-1.71001959e-01 9.85254824e-01 -5.59130356e-03 -6.08899231e+00] [-3.81596825e-02 -9.52192077e-04 9.99271200e-01 -3.85183425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600385723 meters 0.021152917747190858 Centerline is valid? [True, True] Translation: X:83.93, Y:-6.09, Z:-3.85 [[ 9.84155186e-01 1.73026107e-01 3.87367525e-02 8.39251968e+01] [-1.72933828e-01 9.84916685e-01 -5.74585933e-03 -6.09285098e+00] [-3.91466575e-02 -1.04407761e-03 9.99232930e-01 -3.85262211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63038572299999 meters 0.021807214753733976 Centerline is valid? [True, True] Translation: X:83.96, Y:-6.10, Z:-3.85 [[ 9.84036299e-01 1.73563420e-01 3.93484513e-02 8.39566161e+01] [-1.73468236e-01 9.84822110e-01 -5.84655651e-03 -6.09525493e+00] [-3.97659732e-02 -1.07248261e-03 9.99208445e-01 -3.85383781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66038572299999 meters 0.021516677794053144 Centerline is valid? [True, True] Translation: X:83.99, Y:-6.10, Z:-3.85 [[ 9.84063988e-01 1.72962696e-01 4.12549776e-02 8.39887938e+01] [-1.72857054e-01 9.84927775e-01 -6.14137203e-03 -6.10113973e+00] [-4.16954016e-02 -1.08771083e-03 9.99129777e-01 -3.85369251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69038572299999 meters 0.02165762122466462 Centerline is valid? [True, True] Translation: X:84.02, Y:-6.11, Z:-3.85 [[ 9.84016872e-01 1.73016078e-01 4.21453690e-02 8.40214340e+01] [-1.72905652e-01 9.84918376e-01 -6.27911859e-03 -6.10656335e+00] [-4.25961368e-02 -1.10841388e-03 9.99091758e-01 -3.85414941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72038572299999 meters 0.019936539606348502 Centerline is valid? [True, True] Translation: X:84.05, Y:-6.12, Z:-3.85 [[ 9.83878488e-01 1.73884551e-01 4.18005239e-02 8.40528287e+01] [-1.73776235e-01 9.84765402e-01 -6.23891234e-03 -6.11509547e+00] [-4.22485602e-02 -1.12560604e-03 9.99106497e-01 -3.85493679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750385723 meters 0.022548827375087625 Centerline is valid? [True, True] Translation: X:84.09, Y:-6.11, Z:-3.86 [[ 9.83838979e-01 1.74185893e-01 4.14745459e-02 8.40852312e+01] [-1.74079092e-01 9.84712152e-01 -6.20063871e-03 -6.11450259e+00] [-4.19205532e-02 -1.11942126e-03 9.99120320e-01 -3.85749058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780385723 meters 0.020660879915481104 Centerline is valid? [True, True] Translation: X:84.12, Y:-6.12, Z:-3.86 [[ 9.83678775e-01 1.75555417e-01 3.94507733e-02 8.41161828e+01] [-1.75459482e-01 9.84468924e-01 -5.90823128e-03 -6.12195825e+00] [-3.98752823e-02 -1.11021054e-03 9.99204048e-01 -3.86104457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810385723 meters 0.024264645023721797 Centerline is valid? [True, True] Translation: X:84.15, Y:-6.12, Z:-3.87 [[ 9.83534884e-01 1.76634089e-01 3.82038027e-02 8.41478804e+01] [-1.76544575e-01 9.84275963e-01 -5.73085560e-03 -6.11866439e+00] [-3.86153492e-02 -1.10817770e-03 9.99253535e-01 -3.86574212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840385723 meters 0.02186524544329593 Centerline is valid? [True, True] Translation: X:84.18, Y:-6.13, Z:-3.87 [[ 9.83220301e-01 1.78786054e-01 3.62406873e-02 8.41794046e+01] [-1.78706678e-01 9.83887333e-01 -5.44414688e-03 -6.12682912e+00] [-3.66300907e-02 -1.12365711e-03 9.99328261e-01 -3.86830101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870385723 meters 0.022390297101964163 Centerline is valid? [True, True] Translation: X:84.21, Y:-6.13, Z:-3.87 [[ 9.83039247e-01 1.79830493e-01 3.59837787e-02 8.42104746e+01] [-1.79752609e-01 9.83696946e-01 -5.41458018e-03 -6.13055166e+00] [-3.63708398e-02 -1.14543328e-03 9.99337706e-01 -3.86955141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900385723 meters 0.025750254534260518 Centerline is valid? [True, True] Translation: X:84.24, Y:-6.13, Z:-3.87 [[ 9.82856093e-01 1.80887980e-01 3.56852867e-02 8.42421111e+01] [-1.80811784e-01 9.83503014e-01 -5.37783228e-03 -6.12997521e+00] [-3.60693722e-02 -1.16668513e-03 9.99348607e-01 -3.87067799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930385723 meters 0.0237272885453644 Centerline is valid? [True, True] Translation: X:84.27, Y:-6.14, Z:-3.87 [[ 9.82749504e-01 1.81444069e-01 3.57975318e-02 8.42737678e+01] [-1.81367486e-01 9.83400554e-01 -5.40235522e-03 -6.13879567e+00] [-3.61835379e-02 -1.18334643e-03 9.99344461e-01 -3.87030060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960385723 meters 0.02285563828605858 Centerline is valid? [True, True] Translation: X:84.31, Y:-6.15, Z:-3.87 [[ 9.82626808e-01 1.82072866e-01 3.59725936e-02 8.43059902e+01] [-1.81995599e-01 9.83284305e-01 -5.43849603e-03 -6.14547085e+00] [-3.63614892e-02 -1.20284172e-03 9.99337979e-01 -3.87107990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99038572299999 meters 0.022296593849555603 Centerline is valid? [True, True] Translation: X:84.34, Y:-6.15, Z:-3.87 [[ 9.82475980e-01 1.82528408e-01 3.77402928e-02 8.43383750e+01] [-1.82443274e-01 9.83199761e-01 -5.71678644e-03 -6.15034517e+00] [-3.81497228e-02 -1.26885723e-03 9.99271229e-01 -3.87142246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02038572299999 meters 0.021629806234216883 Centerline is valid? [True, True] Translation: X:84.37, Y:-6.16, Z:-3.87 [[ 9.82373052e-01 1.82927588e-01 3.84796610e-02 8.43711186e+01] [-1.82838960e-01 9.83125532e-01 -5.83983929e-03 -6.15585984e+00] [-3.88986049e-02 -1.29868044e-03 9.99242319e-01 -3.87240411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05038572299999 meters 0.021951529941475176 Centerline is valid? [True, True] Translation: X:84.40, Y:-6.16, Z:-3.87 [[ 9.82235303e-01 1.83429406e-01 3.95911792e-02 8.44041353e+01] [-1.83335522e-01 9.83031965e-01 -6.02021549e-03 -6.16041189e+00] [-4.00236792e-02 -1.34520133e-03 9.99197826e-01 -3.87335958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08038572299999 meters 0.021695033459441664 Centerline is valid? [True, True] Translation: X:84.44, Y:-6.17, Z:-3.87 [[ 9.82088287e-01 1.84291161e-01 3.92347494e-02 8.44355320e+01] [-1.84199202e-01 9.82870758e-01 -5.97719729e-03 -6.16674434e+00] [-3.96642325e-02 -1.35687411e-03 9.99212143e-01 -3.87411611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110385723 meters 0.022109390907228 Centerline is valid? [True, True] Translation: X:84.47, Y:-6.17, Z:-3.88 [[ 9.82025967e-01 1.84748812e-01 3.86377583e-02 8.44679901e+01] [-1.84659619e-01 9.82784853e-01 -5.89560090e-03 -6.17251418e+00] [-3.90618089e-02 -1.34520056e-03 9.99235891e-01 -3.87534909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140385723 meters 0.025301310398558208 Centerline is valid? [True, True] Translation: X:84.50, Y:-6.17, Z:-3.88 [[ 9.81911791e-01 1.85237386e-01 3.91962358e-02 8.45001220e+01] [-1.85145526e-01 9.82692844e-01 -5.99237707e-03 -6.17293987e+00] [-3.96278727e-02 -1.37302199e-03 9.99213564e-01 -3.87664676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170385723 meters 0.02358284079500337 Centerline is valid? [True, True] Translation: X:84.53, Y:-6.18, Z:-3.88 [[ 9.81790127e-01 1.85988853e-01 3.86819383e-02 8.45318876e+01] [-1.85899529e-01 9.82550894e-01 -5.92502444e-03 -6.17905584e+00] [-3.91089616e-02 -1.37382363e-03 9.99234007e-01 -3.87957027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200385723 meters 0.022932837898934362 Centerline is valid? [True, True] Translation: X:84.56, Y:-6.18, Z:-3.88 [[ 9.81677157e-01 1.86784569e-01 3.77025750e-02 8.45639326e+01] [-1.86700212e-01 9.82399946e-01 -5.77723665e-03 -6.18400090e+00] [-3.81181063e-02 -1.36769750e-03 9.99272305e-01 -3.88246177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230385723 meters 0.023801641203988023 Centerline is valid? [True, True] Translation: X:84.60, Y:-6.19, Z:-3.89 [[ 9.81408275e-01 1.88435907e-01 3.64651358e-02 8.45957826e+01] [-1.88357808e-01 9.82084526e-01 -5.59648356e-03 -6.18762209e+00] [-3.68664241e-02 -1.37605779e-03 9.99319255e-01 -3.88505700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260385723 meters 0.024039229039379797 Centerline is valid? [True, True] Translation: X:84.63, Y:-6.19, Z:-3.89 [[ 9.81190653e-01 1.89966246e-01 3.43180548e-02 8.46274064e+01] [-1.89897682e-01 9.81789708e-01 -5.27636603e-03 -6.19484111e+00] [-3.46954445e-02 -1.33979804e-03 9.99397034e-01 -3.88587790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290385723 meters 0.02438681496245825 Centerline is valid? [True, True] Translation: X:84.66, Y:-6.20, Z:-3.89 [[ 9.81281295e-01 1.89661383e-01 3.34002989e-02 8.46578755e+01] [-1.89596242e-01 9.81848709e-01 -5.13582794e-03 -6.19982285e+00] [-3.37681086e-02 -1.29287925e-03 9.99428859e-01 -3.88716132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320385723 meters 0.02393092601045673 Centerline is valid? [True, True] Translation: X:84.69, Y:-6.21, Z:-3.89 [[ 9.81848110e-01 1.86438290e-01 3.48576200e-02 8.46875984e+01] [-1.86364947e-01 9.82465911e-01 -5.37023335e-03 -6.20640596e+00] [-3.52476405e-02 -1.22348504e-03 9.99377860e-01 -3.88728577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350385723 meters 0.021447605040366025 Centerline is valid? [True, True] Translation: X:84.72, Y:-6.22, Z:-3.89 [[ 9.82022492e-01 1.85254930e-01 3.62275745e-02 8.47183379e+01] [-1.85174949e-01 9.82689728e-01 -5.58006283e-03 -6.21602631e+00] [-3.66341995e-02 -1.22869204e-03 9.99327987e-01 -3.88668001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38038572299999 meters 0.021547393072185107 Centerline is valid? [True, True] Translation: X:84.75, Y:-6.22, Z:-3.89 [[ 9.82450545e-01 1.82555216e-01 3.82690562e-02 8.47484930e+01] [-1.82463466e-01 9.83194894e-01 -5.90619723e-03 -6.22067224e+00] [-3.87041477e-02 -1.18015795e-03 9.99250017e-01 -3.88755323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41038572299999 meters 0.021187483321884224 Centerline is valid? [True, True] Translation: X:84.78, Y:-6.23, Z:-3.89 [[ 9.82518476e-01 1.81912772e-01 3.95624567e-02 8.47798058e+01] [-1.81814208e-01 9.83313946e-01 -6.10546972e-03 -6.22664938e+00] [-4.00129783e-02 -1.19427991e-03 9.99198446e-01 -3.88830753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44038572299999 meters 0.02213015748009994 Centerline is valid? [True, True] Translation: X:84.81, Y:-6.23, Z:-3.89 [[ 9.82870268e-01 1.79741537e-01 4.07310249e-02 8.48108752e+01] [-1.79634765e-01 9.83713224e-01 -6.29635991e-03 -6.22989350e+00] [-4.11993652e-02 -1.12820313e-03 9.99150309e-01 -3.88897796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47038572299999 meters 0.02045225242829508 Centerline is valid? [True, True] Translation: X:84.84, Y:-6.24, Z:-3.89 [[ 9.82975084e-01 1.79044022e-01 4.12701203e-02 8.48419956e+01] [-1.78933390e-01 9.83840444e-01 -6.38927657e-03 -6.23737356e+00] [-4.17471753e-02 -1.10410286e-03 9.99127597e-01 -3.89008875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500385723 meters 0.020242442847990705 Centerline is valid? [True, True] Translation: X:84.87, Y:-6.24, Z:-3.89 [[ 9.83083217e-01 1.78105683e-01 4.27288354e-02 8.48740594e+01] [-1.77985718e-01 9.84010760e-01 -6.62634344e-03 -6.24327354e+00] [-4.32258232e-02 -1.09087542e-03 9.99064732e-01 -3.89023968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530385723 meters 0.020242442847990705 Centerline is valid? [True, True] Translation: X:84.91, Y:-6.25, Z:-3.89 [[ 9.83032742e-01 1.78384222e-01 4.27281785e-02 8.49060420e+01] [-1.78264336e-01 9.83960295e-01 -6.63057718e-03 -6.24832446e+00] [-4.32256214e-02 -1.09883592e-03 9.99064732e-01 -3.89169283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560385723 meters 0.020642100280065915 Centerline is valid? [True, True] Translation: X:84.94, Y:-6.25, Z:-3.89 [[ 9.82982613e-01 1.78586181e-01 4.30367106e-02 8.49377807e+01] [-1.78464201e-01 9.83923655e-01 -6.69106517e-03 -6.25367484e+00] [-4.35397694e-02 -1.10331144e-03 9.99051085e-01 -3.89157755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590385723 meters 0.019963597195599588 Centerline is valid? [True, True] Translation: X:84.97, Y:-6.26, Z:-3.89 [[ 9.82844544e-01 1.79359733e-01 4.29731228e-02 8.49687465e+01] [-1.79238346e-01 9.83782914e-01 -6.69279665e-03 -6.26062389e+00] [-4.34766422e-02 -1.12445279e-03 9.99053811e-01 -3.89192328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620385723 meters 0.021059676828370837 Centerline is valid? [True, True] Translation: X:85.00, Y:-6.26, Z:-3.90 [[ 9.82309255e-01 1.82884311e-01 4.02722739e-02 8.49999644e+01] [-1.82780279e-01 9.83133720e-01 -6.28158151e-03 -6.26041552e+00] [-4.07418332e-02 -1.19052179e-03 9.99168998e-01 -3.89579059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650385723 meters 0.021166217127589378 Centerline is valid? [True, True] Translation: X:85.03, Y:-6.26, Z:-3.90 [[ 9.81888328e-01 1.85756598e-01 3.72799989e-02 8.50316416e+01] [-1.85669224e-01 9.82595052e-01 -5.82268852e-03 -6.26275743e+00] [-3.77127452e-02 -1.20451858e-03 9.99287895e-01 -3.89966449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680385723 meters 0.02525162093052205 Centerline is valid? [True, True] Translation: X:85.06, Y:-6.26, Z:-3.91 [[ 9.81142500e-01 1.90337066e-01 3.36332483e-02 8.50627883e+01] [-1.90268331e-01 9.81718021e-01 -5.26209510e-03 -6.25737820e+00] [-3.40199377e-02 -1.23647690e-03 9.99420390e-01 -3.90772317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710385723 meters 0.02424915643292822 Centerline is valid? [True, True] Translation: X:85.09, Y:-6.26, Z:-3.91 [[ 9.80889922e-01 1.91651837e-01 3.35340811e-02 8.50939100e+01] [-1.91584335e-01 9.81462141e-01 -5.24478354e-03 -6.26331116e+00] [-3.39176034e-02 -1.28004932e-03 9.99423813e-01 -3.90933555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74038572299999 meters 0.02579495078880199 Centerline is valid? [True, True] Translation: X:85.13, Y:-6.27, Z:-3.91 [[ 9.80869683e-01 1.91749387e-01 3.35684062e-02 8.51253400e+01] [-1.91681535e-01 9.81443092e-01 -5.25803982e-03 -6.26546085e+00] [-3.39537062e-02 -1.27699179e-03 9.99422591e-01 -3.91134673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77038572299999 meters 0.023977838688820533 Centerline is valid? [True, True] Translation: X:85.16, Y:-6.28, Z:-3.91 [[ 9.81297602e-01 1.89278508e-01 3.50522966e-02 8.51560514e+01] [-1.89202547e-01 9.81922668e-01 -5.50183643e-03 -6.27531799e+00] [-3.54600240e-02 -1.23304489e-03 9.99370335e-01 -3.90997810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80038572299999 meters 0.021446873985123564 Centerline is valid? [True, True] Translation: X:85.19, Y:-6.29, Z:-3.91 [[ 9.81753605e-01 1.86633206e-01 3.64404374e-02 8.51866756e+01] [-1.86549217e-01 9.82428955e-01 -5.72164112e-03 -6.28599174e+00] [-3.68679891e-02 -1.18069327e-03 9.99319447e-01 -3.90827684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83038572299999 meters 0.020325426933870808 Centerline is valid? [True, True] Translation: X:85.22, Y:-6.30, Z:-3.91 [[ 9.82522470e-01 1.81747717e-01 4.02164484e-02 8.52172106e+01] [-1.81641226e-01 9.83344579e-01 -6.31696714e-03 -6.29522870e+00] [-4.06947209e-02 -1.09840284e-03 9.99171023e-01 -3.90579859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860385723 meters 0.019767234549368358 Centerline is valid? [True, True] Translation: X:85.25, Y:-6.30, Z:-3.91 [[ 9.82840798e-01 1.79735409e-01 4.14626247e-02 8.52476471e+01] [-1.79620391e-01 9.83714435e-01 -6.51354125e-03 -6.30205380e+00] [-4.19580964e-02 -1.04575877e-03 9.99118824e-01 -3.90542702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890385723 meters 0.018979296602386713 Centerline is valid? [True, True] Translation: X:85.28, Y:-6.31, Z:-3.91 [[ 9.83279783e-01 1.77073283e-01 4.24961313e-02 8.52786519e+01] [-1.76949541e-01 9.84197215e-01 -6.68592289e-03 -6.31038229e+00] [-4.30084724e-02 -9.45538109e-04 9.99074260e-01 -3.90575518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920385723 meters 0.018780963882454604 Centerline is valid? [True, True] Translation: X:85.31, Y:-6.32, Z:-3.91 [[ 9.83345380e-01 1.76781840e-01 4.21905830e-02 8.53103744e+01] [-1.76659164e-01 9.84249634e-01 -6.64812645e-03 -6.31596620e+00] [-4.27013339e-02 -9.15948699e-04 9.99087462e-01 -3.90786193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950385723 meters 0.01860954742718009 Centerline is valid? [True, True] Translation: X:85.34, Y:-6.32, Z:-3.91 [[ 9.83369470e-01 1.76895179e-01 4.11410003e-02 8.53423481e+01] [-1.76778223e-01 9.84229296e-01 -6.49254693e-03 -6.32028458e+00] [-4.16406780e-02 -8.88260508e-04 9.99132256e-01 -3.91126421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980385723 meters 0.018800626795377858 Centerline is valid? [True, True] Translation: X:85.37, Y:-6.32, Z:-3.91 [[ 9.83303740e-01 1.77328629e-01 4.08449767e-02 8.53744588e+01] [-1.77213288e-01 9.84151292e-01 -6.45637900e-03 -6.32473377e+00] [-4.13425374e-02 -8.89690989e-04 9.99144636e-01 -3.91369006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010385723 meters 0.018879890780416932 Centerline is valid? [True, True] Translation: X:85.41, Y:-6.33, Z:-3.92 [[ 9.83203661e-01 1.77999167e-01 4.03343159e-02 8.54070989e+01] [-1.77886813e-01 9.84030230e-01 -6.38649716e-03 -6.32945391e+00] [-4.08269773e-02 -8.95715527e-04 9.99165830e-01 -3.91557181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040385723 meters 0.019187152661272553 Centerline is valid? [True, True] Translation: X:85.44, Y:-6.33, Z:-3.92 [[ 9.82903830e-01 1.79784850e-01 3.97173580e-02 8.54385120e+01] [-1.79676928e-01 9.83705503e-01 -6.29965745e-03 -6.33300978e+00] [-4.02027666e-02 -9.44335453e-04 9.99191096e-01 -3.91877492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070385723 meters 0.019810148512714978 Centerline is valid? [True, True] Translation: X:85.47, Y:-6.34, Z:-3.92 [[ 9.82676453e-01 1.81124199e-01 3.92557407e-02 8.54698382e+01] [-1.81019464e-01 9.83459744e-01 -6.23586515e-03 -6.33686032e+00] [-3.97359068e-02 -9.78215296e-04 9.99209738e-01 -3.92096269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100385723 meters 0.019476755992502183 Centerline is valid? [True, True] Translation: X:85.50, Y:-6.35, Z:-3.92 [[ 9.82344085e-01 1.83091705e-01 3.84386075e-02 8.55010003e+01] [-1.82992436e-01 9.83095302e-01 -6.11515374e-03 -6.34506915e+00] [-3.89084484e-02 -1.02678933e-03 9.99242252e-01 -3.92229328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13038572299999 meters 0.019599396394172294 Centerline is valid? [True, True] Translation: X:85.53, Y:-6.35, Z:-3.92 [[ 9.82313264e-01 1.83377659e-01 3.78587622e-02 8.55336252e+01] [-1.83281226e-01 9.83042017e-01 -6.03202497e-03 -6.35109594e+00] [-3.83228926e-02 -1.01346220e-03 9.99264894e-01 -3.92385025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16038572299999 meters 0.019843321135209306 Centerline is valid? [True, True] Translation: X:85.57, Y:-6.36, Z:-3.93 [[ 9.82317738e-01 1.83616132e-01 3.65647151e-02 8.55652050e+01] [-1.83525976e-01 9.82997538e-01 -5.83578374e-03 -6.35663678e+00] [-3.70145689e-02 -9.77981151e-04 9.99314247e-01 -3.92823552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19038572299999 meters 0.02037606034841359 Centerline is valid? [True, True] Translation: X:85.60, Y:-6.36, Z:-3.93 [[ 9.82232481e-01 1.84262567e-01 3.55901491e-02 8.55955905e+01] [-1.84177244e-01 9.82876580e-01 -5.68950206e-03 -6.36119170e+00] [-3.60290863e-02 -9.66481854e-04 9.99350274e-01 -3.93073294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22038572299999 meters 0.019455807288577837 Centerline is valid? [True, True] Translation: X:85.63, Y:-6.37, Z:-3.93 [[ 9.82066441e-01 1.85108568e-01 3.57816116e-02 8.56265673e+01] [-1.85022603e-01 9.82717573e-01 -5.72787840e-03 -6.36931798e+00] [-3.62234979e-02 -9.95249780e-04 9.99343218e-01 -3.93131180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250385723 meters 0.019723611773799415 Centerline is valid? [True, True] Translation: X:85.66, Y:-6.38, Z:-3.93 [[ 9.82044073e-01 1.85263267e-01 3.55943926e-02 8.56583991e+01] [-1.85177988e-01 9.82688428e-01 -5.70659989e-03 -6.37533540e+00] [-3.60354210e-02 -9.87165405e-04 9.99350026e-01 -3.93161616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280385723 meters 0.019688915700205745 Centerline is valid? [True, True] Translation: X:85.69, Y:-6.38, Z:-3.93 [[ 9.81929457e-01 1.85706015e-01 3.64392367e-02 8.56910972e+01] [-1.85616582e-01 9.82604824e-01 -5.85184639e-03 -6.38098457e+00] [-3.68920929e-02 -1.01762621e-03 9.99318737e-01 -3.93180771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310385723 meters 0.019953060600810212 Centerline is valid? [True, True] Translation: X:85.72, Y:-6.39, Z:-3.93 [[ 9.81798786e-01 1.86193962e-01 3.74560006e-02 8.57238802e+01] [-1.86099406e-01 9.82512441e-01 -6.02608168e-03 -6.38618635e+00] [-3.79230066e-02 -1.05413978e-03 9.99280108e-01 -3.93213752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340385723 meters 0.0196482149895008 Centerline is valid? [True, True] Translation: X:85.76, Y:-6.39, Z:-3.93 [[ 9.81690981e-01 1.86557344e-01 3.84600484e-02 8.57561500e+01] [-1.86457492e-01 9.82443473e-01 -6.19881908e-03 -6.39190652e+00] [-3.89412588e-02 -1.08583938e-03 9.99240912e-01 -3.93224057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370385723 meters 0.019852530109271276 Centerline is valid? [True, True] Translation: X:85.79, Y:-6.40, Z:-3.93 [[ 9.81427461e-01 1.87350386e-01 4.12307134e-02 8.57889107e+01] [-1.87235793e-01 9.82292435e-01 -6.65809400e-03 -6.39552251e+00] [-4.17480143e-02 -1.18542902e-03 9.99127468e-01 -3.93163814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400385723 meters 0.020345369335220444 Centerline is valid? [True, True] Translation: X:85.82, Y:-6.40, Z:-3.93 [[ 9.81306322e-01 1.87713476e-01 4.24447120e-02 8.58220190e+01] [-1.87591825e-01 9.82223067e-01 -6.86687255e-03 -6.39927041e+00] [-4.29791798e-02 -1.22377557e-03 9.99075219e-01 -3.93275574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430385723 meters 0.020189786099882527 Centerline is valid? [True, True] Translation: X:85.85, Y:-6.40, Z:-3.93 [[ 9.81276612e-01 1.87553063e-01 4.38184806e-02 8.58543773e+01] [-1.87422998e-01 9.82253676e-01 -7.09473590e-03 -6.40272204e+00] [-4.43715031e-02 -1.25069262e-03 9.99014317e-01 -3.93436648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460385723 meters 0.01998582953936869 Centerline is valid? [True, True] Translation: X:85.89, Y:-6.41, Z:-3.94 [[ 9.81193827e-01 1.87955429e-01 4.39480421e-02 8.58869830e+01] [-1.87824501e-01 9.82176748e-01 -7.12684346e-03 -6.40805888e+00] [-4.45042740e-02 -1.26170427e-03 9.99008397e-01 -3.93647730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49038572299999 meters 0.020515917490662346 Centerline is valid? [True, True] Translation: X:85.92, Y:-6.41, Z:-3.94 [[ 9.81215437e-01 1.88282207e-01 4.20247149e-02 8.59183981e+01] [-1.88162296e-01 9.82114224e-01 -6.82656621e-03 -6.41333307e+00] [-4.25583912e-02 -1.20913468e-03 9.99093250e-01 -3.93920251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52038572299999 meters 0.019587155561656303 Centerline is valid? [True, True] Translation: X:85.95, Y:-6.42, Z:-3.94 [[ 9.81205327e-01 1.88604299e-01 4.07985926e-02 8.59508033e+01] [-1.88491097e-01 9.82052460e-01 -6.63863973e-03 -6.42101777e+00] [-4.13184342e-02 -1.17630280e-03 9.99145336e-01 -3.94151229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55038572299999 meters 0.020621892127658963 Centerline is valid? [True, True] Translation: X:85.98, Y:-6.42, Z:-3.95 [[ 9.81346622e-01 1.88000528e-01 4.01822053e-02 8.59818345e+01] [-1.87889737e-01 9.82168286e-01 -6.55011763e-03 -6.42371440e+00] [-4.06971133e-02 -1.12188817e-03 9.99170899e-01 -3.94502914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58038572299999 meters 0.02083222278981803 Centerline is valid? [True, True] Translation: X:86.01, Y:-6.43, Z:-3.95 [[ 9.81446193e-01 1.87501672e-01 4.00810736e-02 8.60130065e+01] [-1.87390650e-01 9.82263680e-01 -6.54279831e-03 -6.42846332e+00] [-4.05969684e-02 -1.08941391e-03 9.99175009e-01 -3.94673964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610385723 meters 0.02019783264755028 Centerline is valid? [True, True] Translation: X:86.05, Y:-6.44, Z:-3.95 [[ 9.81456657e-01 1.87508832e-01 3.97903143e-02 8.60452864e+01] [-1.87399019e-01 9.82262332e-01 -6.50530911e-03 -6.43544093e+00] [-4.03043298e-02 -1.07198693e-03 9.99186875e-01 -3.94865049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640385723 meters 0.019066772989594527 Centerline is valid? [True, True] Translation: X:86.08, Y:-6.44, Z:-3.95 [[ 9.81440924e-01 1.87927786e-01 3.81688214e-02 8.60762645e+01] [-1.87826913e-01 9.82182296e-01 -6.24399399e-03 -6.44213594e+00] [-3.86621606e-02 -1.04102065e-03 9.99251797e-01 -3.95122827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670385723 meters 0.02014849605163037 Centerline is valid? [True, True] Translation: X:86.11, Y:-6.44, Z:-3.95 [[ 9.81314196e-01 1.88601345e-01 3.81048737e-02 8.61075669e+01] [-1.88500931e-01 9.82053164e-01 -6.24349721e-03 -6.44495195e+00] [-3.85985438e-02 -1.05597172e-03 9.99254241e-01 -3.95290643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700385723 meters 0.019418996231098027 Centerline is valid? [True, True] Translation: X:86.14, Y:-6.45, Z:-3.95 [[ 9.81302238e-01 1.88627617e-01 3.82823601e-02 8.61393627e+01] [-1.88525952e-01 9.82048121e-01 -6.28117353e-03 -6.45261330e+00] [-3.87799226e-02 -1.05348874e-03 9.99247221e-01 -3.95405027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730385723 meters 0.01941004576870154 Centerline is valid? [True, True] Translation: X:86.17, Y:-6.46, Z:-3.96 [[ 9.81397756e-01 1.88274280e-01 3.75664781e-02 8.61707634e+01] [-1.88175715e-01 9.82115969e-01 -6.17445559e-03 -6.45845256e+00] [-3.80571292e-02 -1.00950200e-03 9.99275055e-01 -3.95566940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760385723 meters 0.01926971142848676 Centerline is valid? [True, True] Translation: X:86.20, Y:-6.47, Z:-3.96 [[ 9.81512447e-01 1.87812143e-01 3.68770416e-02 8.62021460e+01] [-1.87716505e-01 9.82204494e-01 -6.07001563e-03 -6.46559610e+00] [-3.73608186e-02 -9.64633480e-04 9.99301375e-01 -3.95736423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790385723 meters 0.019131438369252563 Centerline is valid? [True, True] Translation: X:86.23, Y:-6.47, Z:-3.96 [[ 9.81541027e-01 1.87463461e-01 3.78769583e-02 8.62336677e+01] [-1.87361936e-01 9.82271100e-01 -6.24425497e-03 -6.47142300e+00] [-3.83760111e-02 -9.67707798e-04 9.99262901e-01 -3.95803162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820385723 meters 0.01928159044277573 Centerline is valid? [True, True] Translation: X:86.26, Y:-6.48, Z:-3.96 [[ 9.81721306e-01 1.85720184e-01 4.16087780e-02 8.62648475e+01] [-1.85595603e-01 9.82602188e-01 -6.87117085e-03 -6.47579691e+00] [-4.21609914e-02 -9.76831450e-04 9.99110353e-01 -3.95695591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850385723 meters 0.020373911236531532 Centerline is valid? [True, True] Translation: X:86.30, Y:-6.48, Z:-3.96 [[ 9.81714285e-01 1.85384403e-01 4.32398668e-02 8.62956194e+01] [-1.85249257e-01 9.82665577e-01 -7.14684884e-03 -6.47839640e+00] [-4.38152429e-02 -9.93989600e-04 9.99039157e-01 -3.95729853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88038572299999 meters 0.018355421825886054 Centerline is valid? [True, True] Translation: X:86.33, Y:-6.49, Z:-3.96 [[ 9.81848349e-01 1.84350177e-01 4.45963140e-02 8.63271938e+01] [-1.84204890e-01 9.82860151e-01 -7.38121902e-03 -6.48719070e+00] [-4.51926689e-02 -9.67621427e-04 9.98977821e-01 -3.95764259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91038572299999 meters 0.018077821665717277 Centerline is valid? [True, True] Translation: X:86.36, Y:-6.49, Z:-3.96 [[ 9.82020457e-01 1.83086189e-01 4.59920669e-02 8.63585734e+01] [-1.82929969e-01 9.83096424e-01 -7.61883308e-03 -6.49183269e+00] [-4.66095397e-02 -9.31477450e-04 9.98912751e-01 -3.95925690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94038572299999 meters 0.018001539864767022 Centerline is valid? [True, True] Translation: X:86.39, Y:-6.50, Z:-3.96 [[ 9.82061352e-01 1.83010057e-01 4.54182838e-02 8.63913600e+01] [-1.82857113e-01 9.83110624e-01 -7.53502527e-03 -6.49756019e+00] [-4.60301828e-02 -9.05199159e-04 9.98939639e-01 -3.96125630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97038572299999 meters 0.018254908394390614 Centerline is valid? [True, True] Translation: X:86.42, Y:-6.50, Z:-3.96 [[ 9.82104809e-01 1.83490578e-01 4.24423402e-02 8.64231822e+01] [-1.83356989e-01 9.83021096e-01 -7.05258776e-03 -6.50232024e+00] [-4.30157992e-02 -8.55719364e-04 9.99074026e-01 -3.96440363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000385723 meters 0.01845345674556512 Centerline is valid? [True, True] Translation: X:86.46, Y:-6.51, Z:-3.97 [[ 9.81958838e-01 1.84732199e-01 4.03838539e-02 8.64554364e+01] [-1.84611890e-01 9.82788524e-01 -6.72070716e-03 -6.50610778e+00] [-4.09303191e-02 -8.55881793e-04 9.99161637e-01 -3.96725177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030385723 meters 0.018291405900912414 Centerline is valid? [True, True] Translation: X:86.49, Y:-6.51, Z:-3.97 [[ 9.81705267e-01 1.86375506e-01 3.89735835e-02 8.64871730e+01] [-1.86264390e-01 9.82478189e-01 -6.49508181e-03 -6.50984440e+00] [-3.95012199e-02 -8.83134732e-04 9.99219132e-01 -3.97074323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060385723 meters 0.01888487962404896 Centerline is valid? [True, True] Translation: X:86.52, Y:-6.51, Z:-3.98 [[ 9.81427589e-01 1.88393407e-01 3.61636819e-02 8.65183443e+01] [-1.88298799e-01 9.82093243e-01 -6.03520995e-03 -6.51058390e+00] [-3.66531014e-02 -8.86456322e-04 9.99327656e-01 -3.97588754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090385723 meters 0.018841995388433008 Centerline is valid? [True, True] Translation: X:86.55, Y:-6.52, Z:-3.98 [[ 9.81416128e-01 1.88596191e-01 3.54098845e-02 8.65505302e+01] [-1.88505350e-01 9.82054338e-01 -5.91688991e-03 -6.51524109e+00] [-3.58903336e-02 -8.68021477e-04 9.99355357e-01 -3.97764421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120385723 meters 0.018783373093628992 Centerline is valid? [True, True] Translation: X:86.58, Y:-6.52, Z:-3.98 [[ 9.81501767e-01 1.88116524e-01 3.55872846e-02 8.65825505e+01] [-1.88024076e-01 9.82146354e-01 -5.95705608e-03 -6.52066228e+00] [-3.60725425e-02 -8.44405225e-04 9.99348817e-01 -3.97852601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150385723 meters 0.01856274560775272 Centerline is valid? [True, True] Translation: X:86.61, Y:-6.53, Z:-3.98 [[ 9.81640380e-01 1.87235031e-01 3.64033891e-02 8.66140395e+01] [-1.87137345e-01 9.82314801e-01 -6.10294582e-03 -6.52644798e+00] [-3.69022731e-02 -8.21535518e-04 9.99318541e-01 -3.97890498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180385723 meters 0.018175449678267112 Centerline is valid? [True, True] Translation: X:86.64, Y:-6.54, Z:-3.98 [[ 9.82089193e-01 1.84443665e-01 3.84883327e-02 8.66441811e+01] [-1.84331904e-01 9.82842803e-01 -6.46320072e-03 -6.53520052e+00] [-3.90200773e-02 -7.47188065e-04 9.99238147e-01 -3.97685015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210385723 meters 0.01785881338951343 Centerline is valid? [True, True] Translation: X:86.68, Y:-6.54, Z:-3.98 [[ 9.82305290e-01 1.83111998e-01 3.93231830e-02 8.66758090e+01] [-1.82994062e-01 9.83091807e-01 -6.60854668e-03 -6.54303065e+00] [-3.98684032e-02 -7.04298638e-04 9.99204691e-01 -3.97672637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24038572299999 meters 0.017837605667772084 Centerline is valid? [True, True] Translation: X:86.71, Y:-6.55, Z:-3.98 [[ 9.82562494e-01 1.81466894e-01 4.05057043e-02 8.67065448e+01] [-1.81339937e-01 9.83396842e-01 -6.81756806e-03 -6.54802019e+00] [-4.10703445e-02 -6.46615167e-04 9.99156048e-01 -3.97730202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27038572299999 meters 0.01775690296202698 Centerline is valid? [True, True] Translation: X:86.74, Y:-6.55, Z:-3.98 [[ 9.82527900e-01 1.81606203e-01 4.07199308e-02 8.67395381e+01] [-1.81477608e-01 9.83371125e-01 -6.86353846e-03 -6.55221029e+00] [-4.12892653e-02 -6.46137609e-04 9.99147026e-01 -3.97977294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30038572299999 meters 0.018024800864382184 Centerline is valid? [True, True] Translation: X:86.77, Y:-6.55, Z:-3.98 [[ 9.82167489e-01 1.83661728e-01 4.01919572e-02 8.67716458e+01] [-1.83537709e-01 9.82989249e-01 -6.78575478e-03 -6.55454719e+00] [-4.07545452e-02 -7.11992011e-04 9.99168935e-01 -3.98278627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33038572299999 meters 0.01781451725389538 Centerline is valid? [True, True] Translation: X:86.80, Y:-6.56, Z:-3.98 [[ 9.81909032e-01 1.84938472e-01 4.06498930e-02 8.68031793e+01] [-1.84812290e-01 9.82749804e-01 -6.87309813e-03 -6.56064379e+00] [-4.12197747e-02 -7.63842674e-04 9.99149812e-01 -3.98357426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360385723 meters 0.01926432149843706 Centerline is valid? [True, True] Translation: X:86.83, Y:-6.56, Z:-3.98 [[ 9.81603335e-01 1.86222418e-01 4.21438395e-02 8.68338646e+01] [-1.86087488e-01 9.82507257e-01 -7.13694233e-03 -6.56313659e+00] [-4.27356868e-02 -8.36794836e-04 9.99086063e-01 -3.98296441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390385723 meters 0.018612793991871216 Centerline is valid? [True, True] Translation: X:86.87, Y:-6.57, Z:-3.98 [[ 9.81506782e-01 1.86557797e-01 4.29025133e-02 8.68655733e+01] [-1.86417913e-01 9.82443612e-01 -7.27394548e-03 -6.57013543e+00] [-4.35063114e-02 -8.58370161e-04 9.99052783e-01 -3.98357935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420385723 meters 0.018612793991871216 Centerline is valid? [True, True] Translation: X:86.90, Y:-6.58, Z:-3.99 [[ 9.81456142e-01 1.86824480e-01 4.29005312e-02 8.68974845e+01] [-1.86684340e-01 9.82392934e-01 -7.28561640e-03 -6.57562156e+00] [-4.35063102e-02 -8.58344396e-04 9.99052783e-01 -3.98503560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450385723 meters 0.018334205566487488 Centerline is valid? [True, True] Translation: X:86.93, Y:-6.58, Z:-3.99 [[ 9.81378567e-01 1.87414352e-01 4.20947694e-02 8.69297092e+01] [-1.87279479e-01 9.82280575e-01 -7.16028955e-03 -6.58029055e+00] [-4.26908153e-02 -8.56531771e-04 9.99087964e-01 -3.98740397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480385723 meters 0.01846788877314665 Centerline is valid? [True, True] Translation: X:86.96, Y:-6.59, Z:-3.99 [[ 9.81295924e-01 1.88048903e-01 4.11815535e-02 8.69620056e+01] [-1.87919897e-01 9.82159295e-01 -7.01646190e-03 -6.58551035e+00] [-4.17662835e-02 -8.53607841e-04 9.99127043e-01 -3.98947477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510385723 meters 0.01900351787223137 Centerline is valid? [True, True] Translation: X:86.99, Y:-6.59, Z:-3.99 [[ 9.81015232e-01 1.89773562e-01 3.99388178e-02 8.69940400e+01] [-1.89653204e-01 9.81827483e-01 -6.81585227e-03 -6.59035852e+00] [-4.05064975e-02 -8.88069841e-04 9.99178880e-01 -3.99123541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540385723 meters 0.019432727159128662 Centerline is valid? [True, True] Translation: X:87.03, Y:-6.59, Z:-3.99 [[ 9.80824969e-01 1.90850427e-01 3.94777732e-02 8.70251252e+01] [-1.90733314e-01 9.81618705e-01 -6.74688555e-03 -6.59347156e+00] [-4.00397666e-02 -9.12212710e-04 9.99197671e-01 -3.99379684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570385723 meters 0.021005131414909776 Centerline is valid? [True, True] Translation: X:87.06, Y:-6.59, Z:-4.00 [[ 9.80689195e-01 1.91667864e-01 3.88861597e-02 8.70564875e+01] [-1.91554534e-01 9.81459413e-01 -6.65448503e-03 -6.59383146e+00] [-3.94406384e-02 -9.22838632e-04 9.99221489e-01 -3.99790723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600385723 meters 0.019338884970492323 Centerline is valid? [True, True] Translation: X:87.09, Y:-6.60, Z:-4.00 [[ 9.80743599e-01 1.91589956e-01 3.78851237e-02 8.70888064e+01] [-1.91482024e-01 9.81474656e-01 -6.49112859e-03 -6.60125953e+00] [-3.84269238e-02 -8.88187359e-04 9.99261018e-01 -4.00134942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63038572299999 meters 0.020726550320992108 Centerline is valid? [True, True] Translation: X:87.12, Y:-6.61, Z:-4.00 [[ 9.81101267e-01 1.89745307e-01 3.79080763e-02 8.71194273e+01] [-1.89635439e-01 9.81833015e-01 -6.50620188e-03 -6.60534460e+00] [-3.84539221e-02 -8.05471771e-04 9.99260050e-01 -4.00301777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66038572299999 meters 0.018422676493441287 Centerline is valid? [True, True] Translation: X:87.15, Y:-6.62, Z:-4.00 [[ 9.81399423e-01 1.88129405e-01 3.82426456e-02 8.71497130e+01] [-1.88016026e-01 9.82143971e-01 -6.57227622e-03 -6.61721938e+00] [-3.87962223e-02 -7.40202180e-04 9.99246869e-01 -4.00196972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69038572299999 meters 0.019674337036847737 Centerline is valid? [True, True] Translation: X:87.18, Y:-6.62, Z:-4.00 [[ 9.81673028e-01 1.86712686e-01 3.81633275e-02 8.71810860e+01] [-1.86598333e-01 9.82414332e-01 -6.56828228e-03 -6.62022683e+00] [-3.87185815e-02 -6.73307754e-04 9.99249928e-01 -4.00390430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72038572299999 meters 0.019247627472818003 Centerline is valid? [True, True] Translation: X:87.21, Y:-6.63, Z:-4.01 [[ 9.81941127e-01 1.85214210e-01 3.85657868e-02 8.72124436e+01] [-1.85095925e-01 9.82697981e-01 -6.64653004e-03 -6.62570455e+00] [-3.91295526e-02 -6.11868799e-04 9.99233958e-01 -4.00525492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750385723 meters 0.01781048764906289 Centerline is valid? [True, True] Translation: X:87.24, Y:-6.63, Z:-4.00 [[ 9.81951123e-01 1.85033048e-01 3.91760527e-02 8.72433587e+01] [-1.84910502e-01 9.82732112e-01 -6.76032770e-03 -6.63390801e+00] [-3.97504490e-02 -6.05752213e-04 9.99209455e-01 -4.00490932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780385723 meters 0.019071604580571586 Centerline is valid? [True, True] Translation: X:87.28, Y:-6.63, Z:-4.01 [[ 9.81959945e-01 1.84689983e-01 4.05496785e-02 8.72755164e+01] [-1.84557966e-01 9.82796646e-01 -7.00782531e-03 -6.63292734e+00] [-4.11463632e-02 -6.02362438e-04 9.99152948e-01 -4.00734364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810385723 meters 0.017740865592357203 Centerline is valid? [True, True] Translation: X:87.31, Y:-6.64, Z:-4.01 [[ 9.81944849e-01 1.84627601e-01 4.11942064e-02 8.73079209e+01] [-1.84490871e-01 9.82808369e-01 -7.12941955e-03 -6.64130936e+00] [-4.18022984e-02 -5.99258228e-04 9.99125722e-01 -4.00812429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840385723 meters 0.01782287784713716 Centerline is valid? [True, True] Translation: X:87.34, Y:-6.65, Z:-4.01 [[ 9.82134790e-01 1.83557892e-01 4.14458144e-02 8.73389797e+01] [-1.83418035e-01 9.83008750e-01 -7.18482895e-03 -6.64606743e+00] [-4.20604303e-02 -5.45439355e-04 9.99114920e-01 -4.00873319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870385723 meters 0.017815559575919807 Centerline is valid? [True, True] Translation: X:87.37, Y:-6.65, Z:-4.01 [[ 9.82215264e-01 1.83226633e-01 4.10021496e-02 8.73701858e+01] [-1.83089055e-01 9.83070565e-01 -7.11779641e-03 -6.65069601e+00] [-4.16121762e-02 -5.15836543e-04 9.99133705e-01 -4.01037174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900385723 meters 0.017647708150150848 Centerline is valid? [True, True] Translation: X:87.40, Y:-6.66, Z:-4.01 [[ 9.82305686e-01 1.82816874e-01 4.06636236e-02 8.74025179e+01] [-1.82680774e-01 9.83146864e-01 -7.06953615e-03 -6.65577425e+00] [-4.12707446e-02 -4.84016697e-04 9.99147883e-01 -4.01198214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930385723 meters 0.01784856831611011 Centerline is valid? [True, True] Translation: X:87.44, Y:-6.66, Z:-4.01 [[ 9.82211386e-01 1.83283621e-01 4.08400253e-02 8.74357290e+01] [-1.83146267e-01 9.83059952e-01 -7.11163887e-03 -6.65838133e+00] [-4.14516403e-02 -4.94565504e-04 9.99140389e-01 -4.01321953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960385723 meters 0.018006895840640184 Centerline is valid? [True, True] Translation: X:87.47, Y:-6.66, Z:-4.02 [[ 9.82091515e-01 1.84250499e-01 3.93447614e-02 8.74676365e+01] [-1.84123375e-01 9.82879188e-01 -6.86180511e-03 -6.66006829e+00] [-3.99354381e-02 -5.05369686e-04 9.99202134e-01 -4.01603023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99038572299999 meters 0.0181336277479566 Centerline is valid? [True, True] Translation: X:87.50, Y:-6.66, Z:-4.02 [[ 9.82064135e-01 1.84643880e-01 3.81663688e-02 8.75001161e+01] [-1.84524221e-01 9.82805367e-01 -6.66493418e-03 -6.66411207e+00] [-3.87407515e-02 -4.97226674e-04 9.99249172e-01 -4.01968033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02038572299999 meters 0.017948543639098414 Centerline is valid? [True, True] Translation: X:87.53, Y:-6.67, Z:-4.02 [[ 9.82081747e-01 1.84799354e-01 3.69410514e-02 8.75329177e+01] [-1.84687005e-01 9.82776155e-01 -6.46063703e-03 -6.66956980e+00] [-3.74987060e-02 -4.77658439e-04 9.99296562e-01 -4.02262245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05038572299999 meters 0.01796496769423906 Centerline is valid? [True, True] Translation: X:87.56, Y:-6.67, Z:-4.03 [[ 9.82279076e-01 1.83860481e-01 3.63749955e-02 8.75646875e+01] [-1.83750518e-01 9.82952259e-01 -6.37214082e-03 -6.67382705e+00] [-3.69264689e-02 -4.24703666e-04 9.99317895e-01 -4.02536901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08038572299999 meters 0.017959135001492158 Centerline is valid? [True, True] Translation: X:87.59, Y:-6.68, Z:-4.02 [[ 9.82558155e-01 1.82257522e-01 3.69007735e-02 8.75949121e+01] [-1.82142867e-01 9.83250764e-01 -6.47379985e-03 -6.68087093e+00] [-3.74626125e-02 -3.60327854e-04 9.99297965e-01 -4.02403345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110385723 meters 0.017998540388912257 Centerline is valid? [True, True] Translation: X:87.63, Y:-6.69, Z:-4.02 [[ 9.82602375e-01 1.82021240e-01 3.68895775e-02 8.76269353e+01] [-1.81906181e-01 9.83294539e-01 -6.48001866e-03 -6.68713012e+00] [-3.74528212e-02 -3.43160447e-04 9.99298338e-01 -4.02382921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140385723 meters 0.018002528166748164 Centerline is valid? [True, True] Translation: X:87.66, Y:-6.69, Z:-4.02 [[ 9.82661265e-01 1.81630284e-01 3.72461871e-02 8.76597792e+01] [-1.81512304e-01 9.83366837e-01 -6.55336328e-03 -6.69231997e+00] [-3.78169544e-02 -3.20904988e-04 9.99284632e-01 -4.02470579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170385723 meters 0.01794465478649236 Centerline is valid? [True, True] Translation: X:87.69, Y:-6.70, Z:-4.03 [[ 9.83043459e-01 1.79359200e-01 3.81554121e-02 8.76916020e+01] [-1.79233235e-01 9.83783627e-01 -6.72474110e-03 -6.69525209e+00] [-3.87428139e-02 -2.28005186e-04 9.99249189e-01 -4.02689135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200385723 meters 0.017832612630529345 Centerline is valid? [True, True] Translation: X:87.72, Y:-6.70, Z:-4.03 [[ 9.83295314e-01 1.77818864e-01 3.88687186e-02 8.77230787e+01] [-1.77686553e-01 9.84063222e-01 -6.86025913e-03 -6.70164332e+00] [-3.94691600e-02 -1.60787978e-04 9.99220776e-01 -4.02794283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230385723 meters 0.017927182030444046 Centerline is valid? [True, True] Translation: X:87.75, Y:-6.71, Z:-4.03 [[ 9.84035103e-01 1.73813850e-01 3.82578392e-02 8.77540412e+01] [-1.73682290e-01 9.84778526e-01 -6.76142911e-03 -6.71296573e+00] [-3.88507285e-02 8.77448550e-06 9.99245025e-01 -4.02867792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260385723 meters 0.01810495421101868 Centerline is valid? [True, True] Translation: X:87.79, Y:-6.72, Z:-4.03 [[ 9.84423860e-01 1.71654001e-01 3.80074746e-02 8.77858999e+01] [-1.71522143e-01 9.85157294e-01 -6.72765055e-03 -6.72011900e+00] [-3.85981690e-02 1.03736207e-04 9.99254808e-01 -4.03071561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290385723 meters 0.018420517554395326 Centerline is valid? [True, True] Translation: X:87.82, Y:-6.73, Z:-4.03 [[ 9.85035516e-01 1.68146362e-01 3.78395747e-02 8.78167738e+01] [-1.68012661e-01 9.85762009e-01 -6.70879388e-03 -6.72535105e+00] [-3.84288745e-02 2.50872603e-04 9.99261307e-01 -4.03451604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320385723 meters 0.018402067429593934 Centerline is valid? [True, True] Translation: X:87.85, Y:-6.73, Z:-4.04 [[ 9.85149627e-01 1.67483038e-01 3.78106375e-02 8.78493695e+01] [-1.67348741e-01 9.85874917e-01 -6.71176563e-03 -6.72993435e+00] [-3.84006660e-02 2.84530818e-04 9.99262382e-01 -4.03556558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350385723 meters 0.018461551645158482 Centerline is valid? [True, True] Translation: X:87.88, Y:-6.74, Z:-4.04 [[ 9.85190793e-01 1.67230131e-01 3.78574353e-02 8.78823427e+01] [-1.67094908e-01 9.85917841e-01 -6.73065106e-03 -6.73519331e+00] [-3.84498886e-02 3.05190789e-04 9.99260483e-01 -4.03650378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38038572299999 meters 0.01877247159172342 Centerline is valid? [True, True] Translation: X:87.91, Y:-6.74, Z:-4.04 [[ 9.85110702e-01 1.67678130e-01 3.79598495e-02 8.79130871e+01] [-1.67542074e-01 9.85841750e-01 -6.76006157e-03 -6.74393118e+00] [-3.85559189e-02 2.99537091e-04 9.99256399e-01 -4.03712884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41038572299999 meters 0.018601835468276935 Centerline is valid? [True, True] Translation: X:87.95, Y:-6.75, Z:-4.04 [[ 9.84908666e-01 1.68895946e-01 3.78031497e-02 8.79452059e+01] [-1.68761519e-01 9.85633853e-01 -6.74227009e-03 -6.74974423e+00] [-3.83988062e-02 2.60803257e-04 9.99262460e-01 -4.03690465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44038572299999 meters 0.018480282993787154 Centerline is valid? [True, True] Translation: X:87.98, Y:-6.75, Z:-4.04 [[ 9.84378308e-01 1.72063408e-01 3.73300098e-02 8.79756174e+01] [-1.71934195e-01 9.85085865e-01 -6.66860089e-03 -6.75428748e+00] [-3.79206872e-02 1.46120876e-04 9.99280741e-01 -4.03757665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47038572299999 meters 0.018501382446516168 Centerline is valid? [True, True] Translation: X:88.01, Y:-6.76, Z:-4.04 [[ 9.84047379e-01 1.73953395e-01 3.72957439e-02 8.80080471e+01] [-1.73825471e-01 9.84753883e-01 -6.67051966e-03 -6.75735950e+00] [-3.78874882e-02 8.11571484e-05 9.99282008e-01 -4.03940581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500385723 meters 0.018453010421074213 Centerline is valid? [True, True] Translation: X:88.04, Y:-6.76, Z:-4.04 [[ 9.83317916e-01 1.78165546e-01 3.66458001e-02 8.80419471e+01] [-1.78044584e-01 9.84000525e-01 -6.56450241e-03 -6.75608574e+00] [-3.72290547e-02 -6.95934142e-05 9.99306756e-01 -4.04441339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530385723 meters 0.01853887619813818 Centerline is valid? [True, True] Translation: X:88.07, Y:-6.76, Z:-4.05 [[ 9.82790440e-01 1.81165554e-01 3.60831364e-02 8.80736148e+01] [-1.81049919e-01 9.83452598e-01 -6.47406203e-03 -6.75912484e+00] [-3.66589313e-02 -1.70202666e-04 9.99327821e-01 -4.04711360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560385723 meters 0.018621460700400723 Centerline is valid? [True, True] Translation: X:88.11, Y:-6.76, Z:-4.05 [[ 9.82269948e-01 1.84027345e-01 3.57727029e-02 8.81050915e+01] [-1.83915269e-01 9.82921088e-01 -6.42716410e-03 -6.76411301e+00] [-3.63445180e-02 -2.65936117e-04 9.99339284e-01 -4.04827540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590385723 meters 0.018998093264451166 Centerline is valid? [True, True] Translation: X:88.13, Y:-6.77, Z:-4.05 [[ 9.81538247e-01 1.88112011e-01 3.45910634e-02 8.81349555e+01] [-1.88009417e-01 9.82147502e-01 -6.22438906e-03 -6.77121645e+00] [-3.51444089e-02 -3.93969730e-04 9.99382167e-01 -4.04759193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620385723 meters 0.019391941145240617 Centerline is valid? [True, True] Translation: X:88.17, Y:-6.78, Z:-4.05 [[ 9.80888997e-01 1.91370936e-01 3.51274965e-02 8.81669166e+01] [-1.91267100e-01 9.81517651e-01 -6.32431480e-03 -6.77558562e+00] [-3.56885479e-02 -5.15283603e-04 9.99362828e-01 -4.04798089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650385723 meters 0.019559710743463674 Centerline is valid? [True, True] Translation: X:88.20, Y:-6.78, Z:-4.05 [[ 9.80632285e-01 1.92475824e-01 3.62405802e-02 8.81992766e+01] [-1.92365722e-01 9.81301554e-01 -6.53376862e-03 -6.77911555e+00] [-3.68205301e-02 -5.64220909e-04 9.99321735e-01 -4.04945223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680385723 meters 0.019305435510808246 Centerline is valid? [True, True] Translation: X:88.23, Y:-6.78, Z:-4.05 [[ 9.80429594e-01 1.93348711e-01 3.70686689e-02 8.82322083e+01] [-1.93233741e-01 9.81129918e-01 -6.69370997e-03 -6.78410768e+00] [-3.76634002e-02 -6.00206202e-04 9.99290302e-01 -4.05042535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710385723 meters 0.020589056273102913 Centerline is valid? [True, True] Translation: X:88.26, Y:-6.79, Z:-4.05 [[ 9.79970702e-01 1.95562950e-01 3.75839928e-02 8.82631723e+01] [-1.95445921e-01 9.80690913e-01 -6.79893411e-03 -6.78541714e+00] [-3.81878998e-02 -6.82881878e-04 9.99270343e-01 -4.05209826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74038572299999 meters 0.019975132756942987 Centerline is valid? [True, True] Translation: X:88.29, Y:-6.80, Z:-4.05 [[ 9.79779443e-01 1.96919349e-01 3.54261515e-02 8.82941318e+01] [-1.96816135e-01 9.80419448e-01 -6.41210297e-03 -6.79634001e+00] [-3.59951550e-02 -6.89991522e-04 9.99351726e-01 -4.05200367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77038572299999 meters 0.02092914573430335 Centerline is valid? [True, True] Translation: X:88.32, Y:-6.80, Z:-4.05 [[ 9.79682979e-01 1.97540113e-01 3.46289580e-02 8.83248270e+01] [-1.97441578e-01 9.80294563e-01 -6.27640046e-03 -6.80067481e+00] [-3.51864201e-02 -6.88313433e-04 9.99380529e-01 -4.05412124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80038572299999 meters 0.02011442710171707 Centerline is valid? [True, True] Translation: X:88.36, Y:-6.81, Z:-4.05 [[ 9.79611038e-01 1.97865641e-01 3.48052002e-02 8.83566245e+01] [-1.97766037e-01 9.80228904e-01 -6.31595325e-03 -6.80968061e+00] [-3.53667734e-02 -6.96108985e-04 9.99374158e-01 -4.05383324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83038572299999 meters 0.02017804569380462 Centerline is valid? [True, True] Translation: X:88.39, Y:-6.81, Z:-4.06 [[ 9.79763961e-01 1.96873873e-01 3.61006865e-02 8.83877128e+01] [-1.96765630e-01 9.80428592e-01 -6.56222579e-03 -6.81424986e+00] [-3.66860761e-02 -6.73941989e-04 9.99326612e-01 -4.05512134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860385723 meters 0.020098848302137193 Centerline is valid? [True, True] Translation: X:88.42, Y:-6.82, Z:-4.06 [[ 9.79832953e-01 1.96447057e-01 3.65504887e-02 8.84188465e+01] [-1.96335490e-01 9.80514213e-01 -6.65239295e-03 -6.81953244e+00] [-3.71451167e-02 -6.57924275e-04 9.99309665e-01 -4.05684857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890385723 meters 0.01978486620579072 Centerline is valid? [True, True] Translation: X:88.45, Y:-6.83, Z:-4.06 [[ 9.80154205e-01 1.94603900e-01 3.77764085e-02 8.84491306e+01] [-1.94482979e-01 9.80881728e-01 -6.88525932e-03 -6.82754635e+00] [-3.83940872e-02 -5.98252588e-04 9.99262496e-01 -4.05703434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920385723 meters 0.019453290934114856 Centerline is valid? [True, True] Translation: X:88.48, Y:-6.84, Z:-4.06 [[ 9.80389405e-01 1.93395914e-01 3.78765730e-02 8.84799883e+01] [-1.93273123e-01 9.81120647e-01 -6.91198742e-03 -6.83615887e+00] [-3.84982380e-02 -5.44084303e-04 9.99258520e-01 -4.05742604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950385723 meters 0.019468413203233805 Centerline is valid? [True, True] Translation: X:88.51, Y:-6.84, Z:-4.06 [[ 9.80619964e-01 1.92221406e-01 3.78869026e-02 8.85107146e+01] [-1.92097312e-01 9.81351462e-01 -6.92320039e-03 -6.84341169e+00] [-3.85111546e-02 -4.88943616e-04 9.99258051e-01 -4.05908894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980385723 meters 0.01916107154221991 Centerline is valid? [True, True] Translation: X:88.54, Y:-6.85, Z:-4.06 [[ 9.81106450e-01 1.89805662e-01 3.74692466e-02 8.85405712e+01] [-1.89682180e-01 9.81821606e-01 -6.85602004e-03 -6.85115362e+00] [-3.80894273e-02 -3.80762902e-04 9.99274262e-01 -4.06184514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010385723 meters 0.019034826363750913 Centerline is valid? [True, True] Translation: X:88.57, Y:-6.86, Z:-4.06 [[ 9.81228633e-01 1.89286839e-01 3.68898565e-02 8.85727926e+01] [-1.89166494e-01 9.81921775e-01 -6.75762979e-03 -6.85796649e+00] [-3.75020838e-02 -3.47544988e-04 9.99296489e-01 -4.06421941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040385723 meters 0.019019127176831838 Centerline is valid? [True, True] Translation: X:88.60, Y:-6.87, Z:-4.07 [[ 9.81493935e-01 1.88262365e-01 3.50276645e-02 8.86042118e+01] [-1.88152887e-01 9.82118731e-01 -6.42571643e-03 -6.86548994e+00] [-3.56110460e-02 -2.83754500e-04 9.99365685e-01 -4.06689681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070385723 meters 0.01902202251917676 Centerline is valid? [True, True] Translation: X:88.64, Y:-6.87, Z:-4.07 [[ 9.81524145e-01 1.88204055e-01 3.44903759e-02 8.86360178e+01] [-1.88097576e-01 9.82129911e-01 -6.33565342e-03 -6.87230757e+00] [-3.50664254e-02 -2.68959286e-04 9.99384948e-01 -4.06887726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100385723 meters 0.019021722422173315 Centerline is valid? [True, True] Translation: X:88.67, Y:-6.88, Z:-4.07 [[ 9.81540714e-01 1.88138911e-01 3.43740732e-02 8.86672071e+01] [-1.88032745e-01 9.82142395e-01 -6.32469856e-03 -6.87900003e+00] [-3.49501565e-02 -2.55502215e-04 9.99389024e-01 -4.07025890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13038572299999 meters 0.019158967006510097 Centerline is valid? [True, True] Translation: X:88.70, Y:-6.88, Z:-4.07 [[ 9.81432885e-01 1.88637342e-01 3.47195387e-02 8.86985601e+01] [-1.88529130e-01 9.82046781e-01 -6.39428987e-03 -6.88444894e+00] [-3.53024131e-02 -2.70078074e-04 9.99376639e-01 -4.07169510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16038572299999 meters 0.019145581131434528 Centerline is valid? [True, True] Translation: X:88.73, Y:-6.89, Z:-4.07 [[ 9.81321507e-01 1.89173018e-01 3.49523728e-02 8.87309382e+01] [-1.89063513e-01 9.81943729e-01 -6.44212850e-03 -6.89010848e+00] [-3.55399402e-02 -2.86419133e-04 9.99368216e-01 -4.07246609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19038572299999 meters 0.019180786202359135 Centerline is valid? [True, True] Translation: X:88.76, Y:-6.89, Z:-4.07 [[ 9.81073709e-01 1.90490767e-01 3.47511920e-02 8.87639507e+01] [-1.90383012e-01 9.81688934e-01 -6.41446029e-03 -6.89495081e+00] [-3.53367561e-02 -3.22978266e-04 9.99375410e-01 -4.07403826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22038572299999 meters 0.01942313891568689 Centerline is valid? [True, True] Translation: X:88.80, Y:-6.90, Z:-4.08 [[ 9.80941767e-01 1.91126468e-01 3.49846044e-02 8.87953906e+01] [-1.91017309e-01 9.81565361e-01 -6.46752285e-03 -6.89980390e+00] [-3.55757906e-02 -3.38401696e-04 9.99366924e-01 -4.07686151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250385723 meters 0.019294003130714967 Centerline is valid? [True, True] Translation: X:88.83, Y:-6.91, Z:-4.08 [[ 9.80919052e-01 1.91416205e-01 3.40242616e-02 8.88270560e+01] [-1.91312846e-01 9.81508903e-01 -6.29826207e-03 -6.90711239e+00] [-3.46007051e-02 -3.31193086e-04 9.99401161e-01 -4.07776580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280385723 meters 0.01940149135711817 Centerline is valid? [True, True] Translation: X:88.86, Y:-6.91, Z:-4.08 [[ 9.80946064e-01 1.91388513e-01 3.33954486e-02 8.88579791e+01] [-1.91288606e-01 9.81514309e-01 -6.19121223e-03 -6.91265743e+00] [-3.39630375e-02 -3.14923529e-04 9.99423040e-01 -4.08056948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310385723 meters 0.01934908139019103 Centerline is valid? [True, True] Translation: X:88.89, Y:-6.92, Z:-4.08 [[ 9.81058268e-01 1.90991234e-01 3.23577441e-02 8.88901653e+01] [-1.90896965e-01 9.81591701e-01 -6.00676281e-03 -6.91880167e+00] [-3.29093321e-02 -2.84010805e-04 9.99458301e-01 -4.08283212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340385723 meters 0.01934908139019103 Centerline is valid? [True, True] Translation: X:88.92, Y:-6.92, Z:-4.08 [[ 9.81006235e-01 1.91258593e-01 3.23561195e-02 8.89219862e+01] [-1.91164180e-01 9.81539643e-01 -6.01549861e-03 -6.92479453e+00] [-3.29093298e-02 -2.84089428e-04 9.99458301e-01 -4.08428821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370385723 meters 0.019130527687910535 Centerline is valid? [True, True] Translation: X:88.95, Y:-6.93, Z:-4.08 [[ 9.81129502e-01 1.90559269e-01 3.27424162e-02 8.89535101e+01] [-1.90461876e-01 9.81675660e-01 -6.09700181e-03 -6.93180710e+00] [-3.33042732e-02 -2.54233659e-04 9.99445226e-01 -4.08483476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400385723 meters 0.019187175568829495 Centerline is valid? [True, True] Translation: X:88.98, Y:-6.94, Z:-4.09 [[ 9.80993628e-01 1.91098641e-01 3.36572711e-02 8.89836336e+01] [-1.90995701e-01 9.81570800e-01 -6.27741062e-03 -6.93798084e+00] [-3.42365991e-02 -2.70294268e-04 9.99413719e-01 -4.08535625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430385723 meters 0.019179863431291147 Centerline is valid? [True, True] Translation: X:89.01, Y:-6.94, Z:-4.09 [[ 9.80884548e-01 1.91375178e-01 3.52284573e-02 8.90147561e+01] [-1.91262423e-01 9.81516917e-01 -6.57475511e-03 -6.94372099e+00] [-3.58355717e-02 -2.88804418e-04 9.99357658e-01 -4.08557379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460385723 meters 0.019146714783104583 Centerline is valid? [True, True] Translation: X:89.05, Y:-6.95, Z:-4.09 [[ 9.80780005e-01 1.91747880e-01 3.61017051e-02 8.90470281e+01] [-1.91629388e-01 9.81444171e-01 -6.74668948e-03 -6.94857131e+00] [-3.67254714e-02 -3.01129512e-04 9.99325347e-01 -4.08718810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49038572299999 meters 0.01933762260774727 Centerline is valid? [True, True] Translation: X:89.08, Y:-6.95, Z:-4.09 [[ 9.80477619e-01 1.93317740e-01 3.59428761e-02 8.90777138e+01] [-1.93200947e-01 9.81136143e-01 -6.72781771e-03 -6.95182219e+00] [-3.65654613e-02 -3.47723027e-04 9.99331199e-01 -4.08940191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52038572299999 meters 0.019465820931040188 Centerline is valid? [True, True] Translation: X:89.11, Y:-6.96, Z:-4.09 [[ 9.80332804e-01 1.94120503e-01 3.55643542e-02 8.91087264e+01] [-1.94006360e-01 9.80977623e-01 -6.66598039e-03 -6.95765568e+00] [-3.61818391e-02 -3.64831638e-04 9.99345156e-01 -4.09066366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55038572299999 meters 0.01949090395907256 Centerline is valid? [True, True] Translation: X:89.14, Y:-6.96, Z:-4.09 [[ 9.80270709e-01 1.94532848e-01 3.50186831e-02 8.91409368e+01] [-1.94422324e-01 9.80895934e-01 -6.56708700e-03 -6.96406372e+00] [-3.56271980e-02 -3.70890724e-04 9.99365081e-01 -4.09219056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58038572299999 meters 0.019572258872489347 Centerline is valid? [True, True] Translation: X:89.17, Y:-6.97, Z:-4.09 [[ 9.80341866e-01 1.94263726e-01 3.45171054e-02 8.91731408e+01] [-1.94155845e-01 9.80949277e-01 -6.48252599e-03 -6.97045610e+00] [-3.51188492e-02 -3.46606147e-04 9.99383083e-01 -4.09456793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610385723 meters 0.019532349231129915 Centerline is valid? [True, True] Translation: X:89.20, Y:-6.97, Z:-4.10 [[ 9.80399366e-01 1.93838050e-01 3.52688820e-02 8.92038943e+01] [-1.93724758e-01 9.81033487e-01 -6.63439117e-03 -6.97493469e+00] [-3.58859518e-02 -3.28102743e-04 9.99355838e-01 -4.09681644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640385723 meters 0.019375165549216943 Centerline is valid? [True, True] Translation: X:89.24, Y:-6.98, Z:-4.10 [[ 9.80608894e-01 1.92230744e-01 3.81252899e-02 8.92360536e+01] [-1.92096739e-01 9.81349715e-01 -7.18196696e-03 -6.98070822e+00] [-3.87948372e-02 -2.81043189e-04 9.99247157e-01 -4.09616993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670385723 meters 0.01946868244072773 Centerline is valid? [True, True] Translation: X:89.27, Y:-6.99, Z:-4.10 [[ 9.80668054e-01 1.91869082e-01 3.84242607e-02 8.92676653e+01] [-1.91732572e-01 9.81420493e-01 -7.24127005e-03 -6.98774802e+00] [-3.90997328e-02 -2.65900136e-04 9.99235278e-01 -4.09697535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700385723 meters 0.01945683797873 Centerline is valid? [True, True] Translation: X:89.30, Y:-7.00, Z:-4.10 [[ 9.80687427e-01 1.91846917e-01 3.80385446e-02 8.92993666e+01] [-1.91712886e-01 9.81424829e-01 -7.17457844e-03 -6.99670277e+00] [-3.87083928e-02 -2.56460279e-04 9.99250516e-01 -4.09644341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730385723 meters 0.019515053702272238 Centerline is valid? [True, True] Translation: X:89.33, Y:-7.00, Z:-4.10 [[ 9.80574588e-01 1.92367016e-01 3.83198218e-02 8.93303912e+01] [-1.92230927e-01 9.81323015e-01 -7.23954403e-03 -7.00190610e+00] [-3.89967725e-02 -2.67341975e-04 9.99239301e-01 -4.09749176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760385723 meters 0.01970524667776933 Centerline is valid? [True, True] Translation: X:89.36, Y:-7.00, Z:-4.10 [[ 9.80143863e-01 1.94304766e-01 3.95432188e-02 8.93631231e+01] [-1.94161141e-01 9.80941148e-01 -7.47762175e-03 -7.00294587e+00] [-4.02425080e-02 -3.48611408e-04 9.99189881e-01 -4.10025164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790385723 meters 0.01967020360647534 Centerline is valid? [True, True] Translation: X:89.40, Y:-7.01, Z:-4.10 [[ 9.79936028e-01 1.95451865e-01 3.90377994e-02 8.93953888e+01] [-1.95312360e-01 9.80713222e-01 -7.39308774e-03 -7.00629482e+00] [-3.97298788e-02 -3.79811709e-04 9.99210384e-01 -4.10343144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820385723 meters 0.020008480346804514 Centerline is valid? [True, True] Translation: X:89.43, Y:-7.01, Z:-4.11 [[ 9.79738167e-01 1.96596095e-01 3.82504745e-02 8.94269484e+01] [-1.96462607e-01 9.80484477e-01 -7.25491505e-03 -7.00836187e+00] [-3.89302844e-02 -4.06870777e-04 9.99241846e-01 -4.10738672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850385723 meters 0.019954853400962893 Centerline is valid? [True, True] Translation: X:89.46, Y:-7.01, Z:-4.11 [[ 9.79431304e-01 1.98307723e-01 3.72607969e-02 8.94585243e+01] [-1.98182132e-01 9.80139703e-01 -7.07148750e-03 -7.01480425e+00] [-3.79231170e-02 -4.58387934e-04 9.99280555e-01 -4.10897474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88038572299999 meters 0.019994814062509515 Centerline is valid? [True, True] Translation: X:89.49, Y:-7.02, Z:-4.11 [[ 9.79156780e-01 1.99699448e-01 3.70422815e-02 8.94896603e+01] [-1.99575941e-01 9.79857072e-01 -7.04009603e-03 -7.02083446e+00] [-3.77020448e-02 -4.99390422e-04 9.99288900e-01 -4.10941451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91038572299999 meters 0.020701947855734117 Centerline is valid? [True, True] Translation: X:89.52, Y:-7.02, Z:-4.11 [[ 9.78938817e-01 2.00661980e-01 3.75973817e-02 8.95212852e+01] [-2.00535364e-01 9.79660388e-01 -7.14787061e-03 -7.02340917e+00] [-3.82669715e-02 -5.42276655e-04 9.99267404e-01 -4.11170277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94038572299999 meters 0.020622462214844522 Centerline is valid? [True, True] Translation: X:89.55, Y:-7.03, Z:-4.11 [[ 9.78805076e-01 2.01267562e-01 3.78416580e-02 8.95537404e+01] [-2.01139352e-01 9.79536143e-01 -7.20454969e-03 -7.02896386e+00] [-3.85173139e-02 -5.59596766e-04 9.99257776e-01 -4.11254359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97038572299999 meters 0.02007079312388341 Centerline is valid? [True, True] Translation: X:89.59, Y:-7.04, Z:-4.11 [[ 9.78592457e-01 2.02379791e-01 3.74062039e-02 8.95854794e+01] [-2.02254954e-01 9.79306936e-01 -7.13146818e-03 -7.03581660e+00] [-3.80754199e-02 -5.86789064e-04 9.99274696e-01 -4.11360897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000385723 meters 0.020087774120995522 Centerline is valid? [True, True] Translation: X:89.62, Y:-7.04, Z:-4.12 [[ 9.78570778e-01 2.02547418e-01 3.70644771e-02 8.96173417e+01] [-2.02424631e-01 9.79272285e-01 -7.07533954e-03 -7.04172276e+00] [-3.77293069e-02 -5.79042585e-04 9.99287828e-01 -4.11501403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030385723 meters 0.020187105036587397 Centerline is valid? [True, True] Translation: X:89.65, Y:-7.05, Z:-4.12 [[ 9.78414360e-01 2.03260872e-01 3.72875126e-02 8.96490237e+01] [-2.03136705e-01 9.79124435e-01 -7.12884758e-03 -7.04657520e+00] [-3.79581304e-02 -5.99495597e-04 9.99279151e-01 -4.11581845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060385723 meters 0.020083726228580616 Centerline is valid? [True, True] Translation: X:89.68, Y:-7.05, Z:-4.12 [[ 9.78393686e-01 2.03405135e-01 3.70424950e-02 8.96813644e+01] [-2.03282329e-01 9.79094480e-01 -7.09177747e-03 -7.05128714e+00] [-3.77106063e-02 -5.91534369e-04 9.99288527e-01 -4.11808461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090385723 meters 0.02015169487297466 Centerline is valid? [True, True] Translation: X:89.71, Y:-7.06, Z:-4.12 [[ 9.78516805e-01 2.02926912e-01 3.64078438e-02 8.97132755e+01] [-2.02807569e-01 9.79193731e-01 -6.98050389e-03 -7.05569742e+00] [-3.70668644e-02 -5.53245933e-04 9.99312635e-01 -4.12129999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120385723 meters 0.019809266102502304 Centerline is valid? [True, True] Translation: X:89.74, Y:-7.06, Z:-4.12 [[ 9.79009408e-01 2.00793068e-01 3.49674647e-02 8.97433222e+01] [-2.00681298e-01 9.79633577e-01 -6.71345809e-03 -7.06172736e+00] [-3.56033184e-02 -4.44777593e-04 9.99365902e-01 -4.12379517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150385723 meters 0.019429595864787246 Centerline is valid? [True, True] Translation: X:89.77, Y:-7.07, Z:-4.12 [[ 9.79325596e-01 1.99309461e-01 3.45993528e-02 8.97749533e+01] [-1.99198793e-01 9.79936526e-01 -6.65168871e-03 -7.07039162e+00] [-3.52309141e-02 -3.77980310e-04 9.99379127e-01 -4.12357657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180385723 meters 0.018979531117606762 Centerline is valid? [True, True] Translation: X:89.81, Y:-7.08, Z:-4.12 [[ 9.79977302e-01 1.96087126e-01 3.45590333e-02 8.98062069e+01] [-1.95974659e-01 9.80586443e-01 -6.64542373e-03 -7.07901743e+00] [-3.51912015e-02 -2.60330362e-04 9.99380564e-01 -4.12492483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210385723 meters 0.018907528403479555 Centerline is valid? [True, True] Translation: X:89.84, Y:-7.09, Z:-4.13 [[ 9.80381822e-01 1.94154832e-01 3.39909560e-02 8.98388098e+01] [-1.94044597e-01 9.80970881e-01 -6.54412658e-03 -7.08578582e+00] [-3.46147118e-02 -1.80018610e-04 9.99400715e-01 -4.12728985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24038572299999 meters 0.018677458307216146 Centerline is valid? [True, True] Translation: X:89.87, Y:-7.09, Z:-4.13 [[ 9.80985365e-01 1.90824582e-01 3.54075115e-02 8.98697619e+01] [-1.90702402e-01 9.81624152e-01 -6.82771081e-03 -7.09203876e+00] [-3.60597635e-02 -5.44131278e-05 9.99349634e-01 -4.12960003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27038572299999 meters 0.018711627033420105 Centerline is valid? [True, True] Translation: X:89.90, Y:-7.10, Z:-4.13 [[ 9.81135727e-01 1.90025253e-01 3.55399537e-02 8.99021536e+01] [-1.89901324e-01 9.81779203e-01 -6.86178948e-03 -7.09877722e+00] [-3.61963007e-02 -1.67374766e-05 9.99344699e-01 -4.13159557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30038572299999 meters 0.018718028112796346 Centerline is valid? [True, True] Translation: X:89.93, Y:-7.11, Z:-4.13 [[ 9.81214185e-01 1.89538373e-01 3.59712247e-02 8.99338974e+01] [-1.89410714e-01 9.81873314e-01 -6.95529451e-03 -7.10569419e+00] [-3.66374809e-02 1.12982603e-05 9.99328622e-01 -4.13233537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33038572299999 meters 0.018662839314720587 Centerline is valid? [True, True] Translation: X:89.97, Y:-7.11, Z:-4.13 [[ 9.80999721e-01 1.90536103e-01 3.65450534e-02 8.99650935e+01] [-1.90404621e-01 9.81680189e-01 -7.07722144e-03 -7.11308198e+00] [-3.72240211e-02 -1.55947799e-05 9.99306946e-01 -4.13313922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360385723 meters 0.018692581014779806 Centerline is valid? [True, True] Translation: X:90.00, Y:-7.12, Z:-4.13 [[ 9.80545966e-01 1.92838391e-01 3.66464674e-02 8.99974420e+01] [-1.92707418e-01 9.81230526e-01 -7.10667051e-03 -7.12060978e+00] [-3.73290714e-02 -9.36290259e-05 9.99303023e-01 -4.13324781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390385723 meters 0.018757161876157544 Centerline is valid? [True, True] Translation: X:90.03, Y:-7.12, Z:-4.14 [[ 9.80260741e-01 1.94401580e-01 3.60125648e-02 9.00282164e+01] [-1.94275741e-01 9.80922018e-01 -6.99501695e-03 -7.12420617e+00] [-3.66853601e-02 -1.39427203e-04 9.99326856e-01 -4.13615055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420385723 meters 0.01894080288723467 Centerline is valid? [True, True] Translation: X:90.06, Y:-7.13, Z:-4.14 [[ 9.79277220e-01 1.99164298e-01 3.67383944e-02 9.00602643e+01] [-1.99036516e-01 9.79966061e-01 -7.14038457e-03 -7.12513582e+00] [-3.74244893e-02 -3.19866065e-04 9.99299407e-01 -4.14009687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450385723 meters 0.019044328299150644 Centerline is valid? [True, True] Translation: X:90.09, Y:-7.13, Z:-4.14 [[ 9.78801270e-01 2.01395183e-01 3.72565985e-02 9.00921590e+01] [-2.01265024e-01 9.79509989e-01 -7.25059667e-03 -7.13149939e+00] [-3.79534456e-02 -4.01556962e-04 9.99279428e-01 -4.14056242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480385723 meters 0.019164714521734214 Centerline is valid? [True, True] Translation: X:90.12, Y:-7.14, Z:-4.14 [[ 9.78366365e-01 2.03467163e-01 3.74215121e-02 9.01229561e+01] [-2.03336976e-01 9.79081656e-01 -7.29283672e-03 -7.13894335e+00] [-3.81225688e-02 -4.74110932e-04 9.99272958e-01 -4.14079399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510385723 meters 0.019219433472685562 Centerline is valid? [True, True] Translation: X:90.15, Y:-7.15, Z:-4.14 [[ 9.78151671e-01 2.04725017e-01 3.61521149e-02 9.01539081e+01] [-2.04604233e-01 9.78819399e-01 -7.04927507e-03 -7.14756388e+00] [-3.68295543e-02 -5.01615536e-04 9.99321436e-01 -4.14213349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540385723 meters 0.019093836183460975 Centerline is valid? [True, True] Translation: X:90.19, Y:-7.15, Z:-4.14 [[ 9.78131315e-01 2.04814948e-01 3.61934765e-02 9.01861226e+01] [-2.04693624e-01 9.78800588e-01 -7.06611639e-03 -7.15418680e+00] [-3.68734423e-02 -4.96984163e-04 9.99319820e-01 -4.14404797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570385723 meters 0.019095236125408522 Centerline is valid? [True, True] Translation: X:90.22, Y:-7.16, Z:-4.15 [[ 9.78104276e-01 2.04826949e-01 3.68503329e-02 9.02170300e+01] [-2.04700745e-01 9.78798077e-01 -7.20616151e-03 -7.15961213e+00] [-3.75450511e-02 -4.94913230e-04 9.99294813e-01 -4.14585048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600385723 meters 0.019110127506186778 Centerline is valid? [True, True] Translation: X:90.25, Y:-7.17, Z:-4.15 [[ 9.77980418e-01 2.05314197e-01 3.74216774e-02 9.02488393e+01] [-2.05184237e-01 9.78695976e-01 -7.32228249e-03 -7.16652393e+00] [-3.81278136e-02 -5.17289441e-04 9.99272737e-01 -4.14666406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63038572299999 meters 0.019160702516655574 Centerline is valid? [True, True] Translation: X:90.28, Y:-7.17, Z:-4.15 [[ 9.77774710e-01 2.06246650e-01 3.76687663e-02 9.02804268e+01] [-2.06115250e-01 9.78499883e-01 -7.38127495e-03 -7.17486892e+00] [-3.83812467e-02 -5.46883227e-04 9.99263019e-01 -4.14744093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66038572299999 meters 0.01919966084375361 Centerline is valid? [True, True] Translation: X:90.31, Y:-7.18, Z:-4.15 [[ 9.77634617e-01 2.06768000e-01 3.84389109e-02 9.03114792e+01] [-2.06631126e-01 9.78389836e-01 -7.54360925e-03 -7.18433606e+00] [-3.91680168e-02 -5.67781882e-04 9.99232477e-01 -4.14714785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69038572299999 meters 0.01927039558188295 Centerline is valid? [True, True] Translation: X:90.34, Y:-7.19, Z:-4.15 [[ 9.77478110e-01 2.07492839e-01 3.85132041e-02 9.03439269e+01] [-2.07355593e-01 9.78236360e-01 -7.56847155e-03 -7.19127571e+00] [-3.92454202e-02 -5.87913000e-04 9.99229429e-01 -4.14936682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72038572299999 meters 0.01938958714513222 Centerline is valid? [True, True] Translation: X:90.37, Y:-7.20, Z:-4.15 [[ 9.77291342e-01 2.08515873e-01 3.77195377e-02 9.03749015e+01] [-2.08384577e-01 9.78018795e-01 -7.42320055e-03 -7.19703746e+00] [-3.84382720e-02 -6.05540284e-04 9.99260793e-01 -4.15174212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750385723 meters 0.01958026259043136 Centerline is valid? [True, True] Translation: X:90.41, Y:-7.20, Z:-4.15 [[ 9.77058264e-01 2.09699489e-01 3.71923779e-02 9.04063339e+01] [-2.09572384e-01 9.77765678e-01 -7.32765400e-03 -7.20345850e+00] [-3.79020359e-02 -6.34950401e-04 9.99281258e-01 -4.15375434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780385723 meters 0.020038085483632517 Centerline is valid? [True, True] Translation: X:90.44, Y:-7.21, Z:-4.16 [[ 9.76277360e-01 2.13438457e-01 3.64217106e-02 9.04376276e+01] [-2.13318796e-01 9.76956220e-01 -7.18573956e-03 -7.21080261e+00] [-3.71161299e-02 -7.54160624e-04 9.99310674e-01 -4.15523999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810385723 meters 0.021298331920191968 Centerline is valid? [True, True] Translation: X:90.47, Y:-7.22, Z:-4.16 [[ 9.75361073e-01 2.17623747e-01 3.62033546e-02 9.04676681e+01] [-2.17508291e-01 9.76032318e-01 -7.14548170e-03 -7.21685970e+00] [-3.68906706e-02 -9.05105098e-04 9.99318898e-01 -4.15632894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840385723 meters 0.020612940141974703 Centerline is valid? [True, True] Translation: X:90.50, Y:-7.23, Z:-4.16 [[ 9.75014002e-01 2.19292810e-01 3.54733550e-02 9.04986511e+01] [-2.19183090e-01 9.75658630e-01 -7.00074788e-03 -7.22678333e+00] [-3.61450986e-02 -9.49332355e-04 9.99346102e-01 -4.15730627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870385723 meters 0.020752701370423628 Centerline is valid? [True, True] Translation: X:90.53, Y:-7.23, Z:-4.16 [[ 9.74742598e-01 2.20734125e-01 3.39604584e-02 9.05296760e+01] [-2.20634155e-01 9.75333553e-01 -6.71043570e-03 -7.23427498e+00] [-3.46039967e-02 -9.51889510e-04 9.99400649e-01 -4.15932106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900385723 meters 0.021844581818621173 Centerline is valid? [True, True] Translation: X:90.56, Y:-7.24, Z:-4.16 [[ 9.74323080e-01 2.22957276e-01 3.13781720e-02 9.05597471e+01] [-2.22872845e-01 9.74827759e-01 -6.20765762e-03 -7.23984503e+00] [-3.19723556e-02 -9.45078372e-04 9.99488307e-01 -4.16354305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930385723 meters 0.021978421680463132 Centerline is valid? [True, True] Translation: X:90.59, Y:-7.25, Z:-4.17 [[ 9.74034025e-01 2.24285010e-01 3.08861153e-02 9.05913913e+01] [-2.24203654e-01 9.74523114e-01 -6.11730108e-03 -7.24641615e+00] [-3.14712522e-02 -9.66320502e-04 9.99504190e-01 -4.16629894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960385723 meters 0.024497225610544123 Centerline is valid? [True, True] Translation: X:90.62, Y:-7.25, Z:-4.17 [[ 9.73848444e-01 2.25174180e-01 3.02621489e-02 9.06217478e+01] [-2.25096213e-01 9.74318047e-01 -6.00322053e-03 -7.24960918e+00] [-3.08367280e-02 -9.65668135e-04 9.99523969e-01 -4.17111557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99038572299999 meters 0.021538104212101155 Centerline is valid? [True, True] Translation: X:90.65, Y:-7.26, Z:-4.17 [[ 9.73860298e-01 2.25072881e-01 3.06319888e-02 9.06518632e+01] [-2.24992870e-01 9.74341446e-01 -6.07900664e-03 -7.26457521e+00] [-3.12142358e-02 -9.71875875e-04 9.99512245e-01 -4.16910256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02038572299999 meters 0.020864845142957722 Centerline is valid? [True, True] Translation: X:90.68, Y:-7.28, Z:-4.17 [[ 9.74275773e-01 2.23328881e-01 3.01815904e-02 9.06820628e+01] [-2.23250138e-01 9.74742740e-01 -5.99717071e-03 -7.27895726e+00] [-3.07586275e-02 -8.95146094e-04 9.99526441e-01 -4.16858191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05038572299999 meters 0.020795261763865498 Centerline is valid? [True, True] Translation: X:90.71, Y:-7.29, Z:-4.17 [[ 9.74419713e-01 2.22630521e-01 3.06899499e-02 9.07134387e+01] [-2.22548504e-01 9.74902496e-01 -6.10628789e-03 -7.28735680e+00] [-3.12791548e-02 -8.79915132e-04 9.99510300e-01 -4.16927761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08038572299999 meters 0.020661199934923016 Centerline is valid? [True, True] Translation: X:90.74, Y:-7.29, Z:-4.17 [[ 9.74583287e-01 2.21762310e-01 3.17630912e-02 9.07433562e+01] [-2.21673675e-01 9.75100363e-01 -6.32966458e-03 -7.29493897e+00] [-3.23758827e-02 -8.72255833e-04 9.99475383e-01 -4.16937742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110385723 meters 0.02033710738849307 Centerline is valid? [True, True] Translation: X:90.77, Y:-7.30, Z:-4.17 [[ 9.74713402e-01 2.20949880e-01 3.33906302e-02 9.07743234e+01] [-2.20851312e-01 9.75284762e-01 -6.65807608e-03 -7.30407782e+00] [-3.40364740e-02 -8.84648516e-04 9.99420200e-01 -4.16924796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140385723 meters 0.02084143903961161 Centerline is valid? [True, True] Translation: X:90.81, Y:-7.31, Z:-4.17 [[ 9.74671312e-01 2.21197223e-01 3.29790994e-02 9.08052636e+01] [-2.21100941e-01 9.75228703e-01 -6.58408858e-03 -7.30928774e+00] [-3.36185464e-02 -8.74387641e-04 9.99434354e-01 -4.17161444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170385723 meters 0.02024448232826434 Centerline is valid? [True, True] Translation: X:90.84, Y:-7.32, Z:-4.17 [[ 9.74582009e-01 2.21631047e-01 3.27045508e-02 9.08370145e+01] [-2.21536321e-01 9.75130205e-01 -6.53779382e-03 -7.31736125e+00] [-3.33401734e-02 -8.73629643e-04 9.99443680e-01 -4.17266421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200385723 meters 0.02057952648900425 Centerline is valid? [True, True] Translation: X:90.87, Y:-7.32, Z:-4.17 [[ 9.74470235e-01 2.22230314e-01 3.19601155e-02 9.08676249e+01] [-2.22139858e-01 9.74993816e-01 -6.39867254e-03 -7.32409611e+00] [-3.25828940e-02 -8.64299594e-04 9.99468663e-01 -4.17402060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230385723 meters 0.02057952648900425 Centerline is valid? [True, True] Translation: X:90.90, Y:-7.33, Z:-4.18 [[ 9.74408219e-01 2.22502265e-01 3.19587992e-02 9.08993629e+01] [-2.22411740e-01 9.74931788e-01 -6.40523921e-03 -7.33052265e+00] [-3.25828295e-02 -8.66694391e-04 9.99468663e-01 -4.17547617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260385723 meters 0.020655514763778342 Centerline is valid? [True, True] Translation: X:90.93, Y:-7.34, Z:-4.18 [[ 9.74449342e-01 2.22651066e-01 2.95801023e-02 9.09303849e+01] [-2.22573339e-01 9.74897874e-01 -5.93665718e-03 -7.33909734e+00] [-3.01593819e-02 -7.98770472e-04 9.99544783e-01 -4.17786813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290385723 meters 0.02090206175116222 Centerline is valid? [True, True] Translation: X:90.96, Y:-7.35, Z:-4.18 [[ 9.74552600e-01 2.22127988e-01 3.01062591e-02 9.09603829e+01] [-2.22046981e-01 9.75017197e-01 -6.05009639e-03 -7.34523546e+00] [-3.06980161e-02 -7.88866774e-04 9.99528394e-01 -4.18016651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320385723 meters 0.020530310077403968 Centerline is valid? [True, True] Translation: X:90.99, Y:-7.35, Z:-4.18 [[ 9.75106474e-01 2.19597339e-01 3.07306661e-02 9.09910328e+01] [-2.19511383e-01 9.75590333e-01 -6.18504099e-03 -7.35145458e+00] [-3.13387594e-02 -7.14657529e-04 9.99508565e-01 -4.18231635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350385723 meters 0.01965286173077934 Centerline is valid? [True, True] Translation: X:91.02, Y:-7.36, Z:-4.18 [[ 9.75301566e-01 2.18732950e-01 3.07042700e-02 9.10219095e+01] [-2.18646617e-01 9.75784520e-01 -6.18278786e-03 -7.36011839e+00] [-3.13131308e-02 -6.83302089e-04 9.99509390e-01 -4.18314375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38038572299999 meters 0.01963478899973609 Centerline is valid? [True, True] Translation: X:91.05, Y:-7.37, Z:-4.19 [[ 9.75705461e-01 2.17032184e-01 2.99313435e-02 9.10521458e+01] [-2.16949114e-01 9.76164261e-01 -6.03465977e-03 -7.36888942e+00] [-3.05276232e-02 -6.05527976e-04 9.99533740e-01 -4.18528393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41038572299999 meters 0.019052491200855004 Centerline is valid? [True, True] Translation: X:91.08, Y:-7.38, Z:-4.19 [[ 9.75783507e-01 2.16725240e-01 2.96094204e-02 9.10835193e+01] [-2.16643630e-01 9.76232467e-01 -5.97562559e-03 -7.37830393e+00] [-3.02007464e-02 -5.83775413e-04 9.99543683e-01 -4.18540590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44038572299999 meters 0.01895647470931787 Centerline is valid? [True, True] Translation: X:91.11, Y:-7.39, Z:-4.19 [[ 9.75885457e-01 2.16252540e-01 2.97054638e-02 9.11148660e+01] [-2.16169904e-01 9.76337300e-01 -6.00410944e-03 -7.38550755e+00] [-3.03009562e-02 -5.62104176e-04 9.99540663e-01 -4.18591196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47038572299999 meters 0.018552329402362948 Centerline is valid? [True, True] Translation: X:91.15, Y:-7.39, Z:-4.19 [[ 9.75926272e-01 2.15996058e-01 3.02260507e-02 9.11465730e+01] [-2.15910141e-01 9.76394077e-01 -6.11699845e-03 -7.39228533e+00] [-3.08337844e-02 -5.56371368e-04 9.99524371e-01 -4.18703936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500385723 meters 0.01867572475792209 Centerline is valid? [True, True] Translation: X:91.18, Y:-7.40, Z:-4.19 [[ 9.75804683e-01 2.16506892e-01 3.04956889e-02 9.11776860e+01] [-2.16419448e-01 9.76280923e-01 -6.17914510e-03 -7.39788302e+00] [-3.11101868e-02 -5.70221440e-04 9.99515798e-01 -4.18828192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530385723 meters 0.019161761715696123 Centerline is valid? [True, True] Translation: X:91.21, Y:-7.40, Z:-4.19 [[ 9.75598302e-01 2.17361166e-01 3.10173515e-02 9.12089659e+01] [-2.17270865e-01 9.76091064e-01 -6.29341442e-03 -7.40262689e+00] [-3.16437035e-02 -5.99322354e-04 9.99499033e-01 -4.18997571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560385723 meters 0.018981889187311946 Centerline is valid? [True, True] Translation: X:91.24, Y:-7.41, Z:-4.19 [[ 9.75300113e-01 2.18518346e-01 3.22400809e-02 9.12408801e+01] [-2.18421125e-01 9.75832622e-01 -6.55031803e-03 -7.40846167e+00] [-3.28922874e-02 -6.53388825e-04 9.99458689e-01 -4.19010195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590385723 meters 0.019284831166775502 Centerline is valid? [True, True] Translation: X:91.27, Y:-7.41, Z:-4.19 [[ 9.74695754e-01 2.20982875e-01 3.36861376e-02 9.12726277e+01] [-2.20877840e-01 9.75277393e-01 -6.85474643e-03 -7.41249381e+00] [-3.43681100e-02 -7.59229045e-04 9.99408954e-01 -4.18995671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620385723 meters 0.019318028967635178 Centerline is valid? [True, True] Translation: X:91.31, Y:-7.42, Z:-4.19 [[ 9.74492591e-01 2.21747913e-01 3.45261124e-02 9.13051575e+01] [-2.21637746e-01 9.75103701e-01 -7.03435541e-03 -7.41905118e+00] [-3.52263936e-02 -7.97362523e-04 9.99379040e-01 -4.19028072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650385723 meters 0.019925064272573484 Centerline is valid? [True, True] Translation: X:91.34, Y:-7.42, Z:-4.19 [[ 9.74193015e-01 2.23012568e-01 3.48333789e-02 9.13354268e+01] [-2.22900850e-01 9.74815208e-01 -7.10788165e-03 -7.42387206e+00] [-3.55412544e-02 -8.39941107e-04 9.99367857e-01 -4.19101148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680385723 meters 0.019802817481547292 Centerline is valid? [True, True] Translation: X:91.37, Y:-7.43, Z:-4.19 [[ 9.74028075e-01 2.23806173e-01 3.43526659e-02 9.13665086e+01] [-2.23697796e-01 9.74633302e-01 -7.01590817e-03 -7.43022675e+00] [-3.50514557e-02 -8.50924121e-04 9.99385147e-01 -4.19277766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710385723 meters 0.02030168422190635 Centerline is valid? [True, True] Translation: X:91.40, Y:-7.43, Z:-4.20 [[ 9.74003823e-01 2.23878611e-01 3.45676244e-02 9.13978257e+01] [-2.23768618e-01 9.74616665e-01 -7.06833699e-03 -7.43485491e+00] [-3.52726323e-02 -8.50562311e-04 9.99377365e-01 -4.19554766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74038572299999 meters 0.021783412459838114 Centerline is valid? [True, True] Translation: X:91.43, Y:-7.44, Z:-4.20 [[ 9.73937867e-01 2.24176205e-01 3.44972422e-02 9.14296237e+01] [-2.24066531e-01 9.74548257e-01 -7.06288805e-03 -7.43741357e+00] [-3.52025587e-02 -8.50863276e-04 9.99379836e-01 -4.19888723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77038572299999 meters 0.02025463233071842 Centerline is valid? [True, True] Translation: X:91.46, Y:-7.45, Z:-4.20 [[ 9.74131370e-01 2.23473470e-01 3.35809828e-02 9.14610909e+01] [-2.23368754e-01 9.74709690e-01 -6.88622213e-03 -7.44608109e+00] [-3.42705973e-02 -7.92857304e-04 9.99412276e-01 -4.20084994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80038572299999 meters 0.019564693835361593 Centerline is valid? [True, True] Translation: X:91.49, Y:-7.45, Z:-4.20 [[ 9.74193487e-01 2.23291708e-01 3.29827591e-02 9.14926272e+01] [-2.23190563e-01 9.74751362e-01 -6.76422859e-03 -7.45380946e+00] [-3.36603855e-02 -7.71773153e-04 9.99433031e-01 -4.20231928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83038572299999 meters 0.02013489691603348 Centerline is valid? [True, True] Translation: X:91.52, Y:-7.46, Z:-4.20 [[ 9.74199965e-01 2.23366181e-01 3.22796628e-02 9.15240073e+01] [-2.23269048e-01 9.74734317e-01 -6.62902264e-03 -7.45958237e+00] [-3.29447945e-02 -7.49055951e-04 9.99456892e-01 -4.20425233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860385723 meters 0.018973057464332893 Centerline is valid? [True, True] Translation: X:91.55, Y:-7.47, Z:-4.20 [[ 9.74393493e-01 2.22601028e-01 3.17191321e-02 9.15547141e+01] [-2.22506571e-01 9.74909374e-01 -6.52208092e-03 -7.46822769e+00] [-3.23751011e-02 -7.02642101e-04 9.99475542e-01 -4.20416113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890385723 meters 0.019821521062175277 Centerline is valid? [True, True] Translation: X:91.59, Y:-7.47, Z:-4.21 [[ 9.74563990e-01 2.21910672e-01 3.13158464e-02 9.15858265e+01] [-2.21817993e-01 9.75066774e-01 -6.44703074e-03 -7.47169855e+00] [-3.19657063e-02 -6.63374214e-04 9.99488746e-01 -4.20753531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920385723 meters 0.018339437674204803 Centerline is valid? [True, True] Translation: X:91.62, Y:-7.48, Z:-4.21 [[ 9.74965195e-01 2.20137077e-01 3.13454210e-02 9.16164654e+01] [-2.20043083e-01 9.75468763e-01 -6.46011089e-03 -7.48008118e+00] [-3.19985890e-02 -5.98959823e-04 9.99487735e-01 -4.20809403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950385723 meters 0.01782101988100742 Centerline is valid? [True, True] Translation: X:91.65, Y:-7.49, Z:-4.21 [[ 9.75136714e-01 2.19330568e-01 3.16621449e-02 9.16474362e+01] [-2.19233986e-01 9.75650438e-01 -6.53323833e-03 -7.48815300e+00] [-3.23241244e-02 -5.70617670e-04 9.99477276e-01 -4.20862436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980385723 meters 0.017736770346454902 Centerline is valid? [True, True] Translation: X:91.68, Y:-7.50, Z:-4.21 [[ 9.75375028e-01 2.18299183e-01 3.14487050e-02 9.16770878e+01] [-2.18203102e-01 9.75881751e-01 -6.49732722e-03 -7.49614683e+00] [-3.21085785e-02 -5.24874248e-04 9.99484249e-01 -4.20926934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010385723 meters 0.01740558742704983 Centerline is valid? [True, True] Translation: X:91.71, Y:-7.51, Z:-4.21 [[ 9.75618687e-01 2.17132085e-01 3.19661690e-02 9.17081348e+01] [-2.17031884e-01 9.76142112e-01 -6.61356574e-03 -7.50748780e+00] [-3.26395410e-02 -4.85359550e-04 9.99467070e-01 -4.20749760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040385723 meters 0.01785601271197192 Centerline is valid? [True, True] Translation: X:91.74, Y:-7.51, Z:-4.21 [[ 9.75650807e-01 2.16801621e-01 3.32048217e-02 9.17384362e+01] [-2.16693255e-01 9.76215558e-01 -6.87148570e-03 -7.51205227e+00] [-3.39048128e-02 -4.91090308e-04 9.99424946e-01 -4.20944118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070385723 meters 0.017410910911882037 Centerline is valid? [True, True] Translation: X:91.77, Y:-7.51, Z:-4.21 [[ 9.75511961e-01 2.17142938e-01 3.50051276e-02 9.17712303e+01] [-2.17022360e-01 9.76139679e-01 -7.25406155e-03 -7.51421012e+00] [-3.57450622e-02 -5.20471603e-04 9.99360806e-01 -4.21256669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100385723 meters 0.01778402306202698 Centerline is valid? [True, True] Translation: X:91.80, Y:-7.52, Z:-4.22 [[ 9.75241397e-01 2.18418434e-01 3.46064481e-02 9.18021452e+01] [-2.18301335e-01 9.75855048e-01 -7.17301571e-03 -7.51764413e+00] [-3.53375960e-02 -5.59211955e-04 9.99375276e-01 -4.21579903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13038572299999 meters 0.01827857602134728 Centerline is valid? [True, True] Translation: X:91.83, Y:-7.53, Z:-4.22 [[ 9.74606715e-01 2.21639501e-01 3.19011352e-02 9.18335036e+01] [-2.21541419e-01 9.75128481e-01 -6.62155834e-03 -7.52528207e+00] [-3.25753044e-02 -6.14007548e-04 9.99469095e-01 -4.21739026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16038572299999 meters 0.018708491081151447 Centerline is valid? [True, True] Translation: X:91.86, Y:-7.53, Z:-4.22 [[ 9.74314941e-01 2.23106041e-01 3.05629061e-02 9.18640532e+01] [-2.23016737e-01 9.74793974e-01 -6.34378519e-03 -7.53235835e+00] [-3.12078735e-02 -6.35194921e-04 9.99512714e-01 -4.21807288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19038572299999 meters 0.019004850828459426 Centerline is valid? [True, True] Translation: X:91.90, Y:-7.54, Z:-4.22 [[ 9.74058854e-01 2.24282337e-01 3.01128303e-02 9.18952064e+01] [-2.24196007e-01 9.74523987e-01 -6.25687748e-03 -7.53901352e+00] [-3.07489826e-02 -6.56609399e-04 9.99526923e-01 -4.21892701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22038572299999 meters 0.019056820126994677 Centerline is valid? [True, True] Translation: X:91.93, Y:-7.55, Z:-4.22 [[ 9.73630197e-01 2.26059170e-01 3.06837405e-02 9.19268678e+01] [-2.25970175e-01 9.74113307e-01 -6.38317722e-03 -7.54562637e+00] [-3.13324156e-02 -7.18756113e-04 9.99508761e-01 -4.21895995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250385723 meters 0.019902668555368576 Centerline is valid? [True, True] Translation: X:91.96, Y:-7.55, Z:-4.22 [[ 9.73550557e-01 2.26387047e-01 3.07931415e-02 9.19590636e+01] [-2.26297306e-01 9.74037156e-01 -6.41463625e-03 -7.54970113e+00] [-3.14458545e-02 -7.23432282e-04 9.99505195e-01 -4.22157192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280385723 meters 0.019088140317719434 Centerline is valid? [True, True] Translation: X:91.99, Y:-7.56, Z:-4.22 [[ 9.73447190e-01 2.26658983e-01 3.20355176e-02 9.19904934e+01] [-2.26561832e-01 9.73973887e-01 -6.67859491e-03 -7.55545241e+00] [-3.27155211e-02 -7.56766099e-04 9.99464418e-01 -4.22243322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310385723 meters 0.020141181026354486 Centerline is valid? [True, True] Translation: X:92.02, Y:-7.56, Z:-4.22 [[ 9.73262111e-01 2.27439655e-01 3.21257902e-02 9.20215183e+01] [-2.27342106e-01 9.73791867e-01 -6.70576585e-03 -7.55951889e+00] [-3.28089903e-02 -7.77076993e-04 9.99461338e-01 -4.22470458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340385723 meters 0.019454142288621044 Centerline is valid? [True, True] Translation: X:92.05, Y:-7.57, Z:-4.22 [[ 9.72725018e-01 2.29881602e-01 3.09917421e-02 9.20519209e+01] [-2.29791847e-01 9.73218255e-01 -6.47568808e-03 -7.57014947e+00] [-3.16503708e-02 -8.22585880e-04 9.99498663e-01 -4.22329801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370385723 meters 0.019789894924243163 Centerline is valid? [True, True] Translation: X:92.08, Y:-7.58, Z:-4.22 [[ 9.72354141e-01 2.31521767e-01 3.04153882e-02 9.20828362e+01] [-2.31435887e-01 9.72829350e-01 -6.36278251e-03 -7.57714733e+00] [-3.10621050e-02 -8.52334433e-04 9.99517093e-01 -4.22396464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400385723 meters 0.02007073035293859 Centerline is valid? [True, True] Translation: X:92.11, Y:-7.58, Z:-4.23 [[ 9.71925166e-01 2.33219820e-01 3.11446128e-02 9.21139922e+01] [-2.33130373e-01 9.72423606e-01 -6.52379982e-03 -7.58265215e+00] [-3.18072361e-02 -9.20109977e-04 9.99493598e-01 -4.22533229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430385723 meters 0.02074985651096927 Centerline is valid? [True, True] Translation: X:92.14, Y:-7.59, Z:-4.23 [[ 9.71728726e-01 2.34024944e-01 3.12347360e-02 9.21446092e+01] [-2.33935116e-01 9.72230138e-01 -6.55140682e-03 -7.58705348e+00] [-3.19005443e-02 -9.40711397e-04 9.99490605e-01 -4.22724122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460385723 meters 0.023422798795556192 Centerline is valid? [True, True] Translation: X:92.18, Y:-7.59, Z:-4.23 [[ 9.71321435e-01 2.35560159e-01 3.23431690e-02 9.21765372e+01] [-2.35464569e-01 9.71859231e-01 -6.78756460e-03 -7.58746399e+00] [-3.30318871e-02 -1.02276336e-03 9.99453775e-01 -4.22983630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49038572299999 meters 0.02111106346683505 Centerline is valid? [True, True] Translation: X:92.21, Y:-7.60, Z:-4.23 [[ 9.71134491e-01 2.36302172e-01 3.25435549e-02 9.22070946e+01] [-2.36205565e-01 9.71679055e-01 -6.83699265e-03 -7.59844761e+00] [-3.32374869e-02 -1.04732940e-03 9.99446933e-01 -4.22908523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52038572299999 meters 0.02157962907264643 Centerline is valid? [True, True] Translation: X:92.24, Y:-7.60, Z:-4.23 [[ 9.71024787e-01 2.36845855e-01 3.18575638e-02 9.22380425e+01] [-2.36753309e-01 9.71546689e-01 -6.70092234e-03 -7.60438261e+00] [-3.25381963e-02 -1.03562195e-03 9.99469956e-01 -4.23010744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55038572299999 meters 0.025326324179703916 Centerline is valid? [True, True] Translation: X:92.27, Y:-7.61, Z:-4.23 [[ 9.70939065e-01 2.37176350e-01 3.20111044e-02 9.22705127e+01] [-2.37082857e-01 9.71466051e-01 -6.74029765e-03 -7.60538660e+00] [-3.26963403e-02 -1.04486579e-03 9.99464786e-01 -4.23352073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58038572299999 meters 0.025720407572488158 Centerline is valid? [True, True] Translation: X:92.30, Y:-7.61, Z:-4.23 [[ 9.70879784e-01 2.37365457e-01 3.24050234e-02 9.23019050e+01] [-2.37269454e-01 9.71419851e-01 -6.83229826e-03 -7.61113400e+00] [-3.31006346e-02 -1.05538195e-03 9.99451467e-01 -4.23494257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610385723 meters 0.0220524933213806 Centerline is valid? [True, True] Translation: X:92.33, Y:-7.62, Z:-4.24 [[ 9.70842743e-01 2.37430819e-01 3.30298980e-02 9.23320784e+01] [-2.37330838e-01 9.71403861e-01 -6.97225067e-03 -7.62162444e+00] [-3.37407976e-02 -1.07005440e-03 9.99430044e-01 -4.23526322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640385723 meters 0.025867412238235313 Centerline is valid? [True, True] Translation: X:92.36, Y:-7.62, Z:-4.24 [[ 9.70756039e-01 2.37739517e-01 3.33561839e-02 9.23648725e+01] [-2.37637422e-01 9.71328343e-01 -7.05021659e-03 -7.62141186e+00] [-3.40759220e-02 -1.08263724e-03 9.99418661e-01 -4.23958641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670385723 meters 0.022520576029212657 Centerline is valid? [True, True] Translation: X:92.40, Y:-7.63, Z:-4.24 [[ 9.70746217e-01 2.37852275e-01 3.28340834e-02 9.23962867e+01] [-2.37753267e-01 9.71300757e-01 -6.94433811e-03 -7.63449001e+00] [-3.35434967e-02 -1.06522063e-03 9.99436691e-01 -4.23890031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700385723 meters 0.022678709526151232 Centerline is valid? [True, True] Translation: X:92.43, Y:-7.64, Z:-4.24 [[ 9.70841440e-01 2.37611746e-01 3.17420290e-02 9.24267894e+01] [-2.37518773e-01 9.71359683e-01 -6.72302222e-03 -7.64383741e+00] [-3.24303963e-02 -1.01233921e-03 9.99473484e-01 -4.23916867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730385723 meters 0.020924538376884766 Centerline is valid? [True, True] Translation: X:92.46, Y:-7.66, Z:-4.24 [[ 9.71132955e-01 2.36398472e-01 3.18833379e-02 9.24569492e+01] [-2.36303865e-01 9.71655710e-01 -6.75757358e-03 -7.65503504e+00] [-3.25771074e-02 -9.71653584e-04 9.99468753e-01 -4.23800820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760385723 meters 0.022216750021693935 Centerline is valid? [True, True] Translation: X:92.49, Y:-7.66, Z:-4.24 [[ 9.71215739e-01 2.35943512e-01 3.27207458e-02 9.24882425e+01] [-2.35843323e-01 9.71766285e-01 -6.94371735e-03 -7.65871052e+00] [-3.34352426e-02 -9.73121825e-04 9.99440412e-01 -4.24049644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790385723 meters 0.01991231584604795 Centerline is valid? [True, True] Translation: X:92.52, Y:-7.67, Z:-4.24 [[ 9.71327206e-01 2.35418214e-01 3.31922176e-02 9.25189919e+01] [-2.35314557e-01 9.71893687e-01 -7.05121752e-03 -7.66838243e+00] [-3.39192918e-02 -9.61572566e-04 9.99424113e-01 -4.24066868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820385723 meters 0.020024281656394666 Centerline is valid? [True, True] Translation: X:92.55, Y:-7.67, Z:-4.24 [[ 9.71420253e-01 2.35101636e-01 3.27095250e-02 9.25509648e+01] [-2.35000457e-01 9.71970350e-01 -6.95872664e-03 -7.67210188e+00] [-3.34286965e-02 -9.26905324e-04 9.99440675e-01 -4.24452584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850385723 meters 0.02078922432389583 Centerline is valid? [True, True] Translation: X:92.58, Y:-7.68, Z:-4.25 [[ 9.71397185e-01 2.35257956e-01 3.22676904e-02 9.25828032e+01] [-2.35159552e-01 9.71932533e-01 -6.86552623e-03 -7.67781724e+00] [-3.29771878e-02 -9.18902782e-04 9.99455682e-01 -4.24679534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88038572299999 meters 0.020266306818100634 Centerline is valid? [True, True] Translation: X:92.61, Y:-7.69, Z:-4.24 [[ 9.71647473e-01 2.34183242e-01 3.25483951e-02 9.26132108e+01] [-2.34082203e-01 9.72192076e-01 -6.93462151e-03 -7.68929670e+00] [-3.32672640e-02 -8.80992565e-04 9.99446103e-01 -4.24463391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91038572299999 meters 0.019760780133341895 Centerline is valid? [True, True] Translation: X:92.64, Y:-7.70, Z:-4.24 [[ 9.71821886e-01 2.33367331e-01 3.31950470e-02 9.26438649e+01] [-2.33261463e-01 9.72388270e-01 -7.08116100e-03 -7.69842827e+00] [-3.39309859e-02 -8.61497993e-04 9.99423807e-01 -4.24390743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94038572299999 meters 0.01961807340972356 Centerline is valid? [True, True] Translation: X:92.68, Y:-7.71, Z:-4.24 [[ 9.72009898e-01 2.32508184e-01 3.37150316e-02 9.26754607e+01] [-2.32398153e-01 9.72594081e-01 -7.20091177e-03 -7.70520746e+00] [-3.44653110e-02 -8.35953545e-04 9.99405545e-01 -4.24476328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97038572299999 meters 0.01951461567256376 Centerline is valid? [True, True] Translation: X:92.71, Y:-7.71, Z:-4.25 [[ 9.72355945e-01 2.31008764e-01 3.40421290e-02 9.27071452e+01] [-2.30895366e-01 9.72951355e-01 -7.27947781e-03 -7.70826288e+00] [-3.48029587e-02 -7.81926294e-04 9.99393888e-01 -4.24789429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000385723 meters 0.02106291970227121 Centerline is valid? [True, True] Translation: X:92.74, Y:-7.71, Z:-4.25 [[ 9.72489755e-01 2.30477111e-01 3.38227267e-02 9.27388140e+01] [-2.30364551e-01 9.73077458e-01 -7.24115556e-03 -7.71015549e+00] [-3.45810535e-02 -7.49607638e-04 9.99401615e-01 -4.25061984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030385723 meters 0.019567112949480003 Centerline is valid? [True, True] Translation: X:92.77, Y:-7.72, Z:-4.25 [[ 9.72632795e-01 2.29775338e-01 3.44780950e-02 9.27692090e+01] [-2.29657648e-01 9.73243423e-01 -7.38951307e-03 -7.72163010e+00] [-3.52535071e-02 -7.30875468e-04 9.99378135e-01 -4.24878127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060385723 meters 0.019058121777884338 Centerline is valid? [True, True] Translation: X:92.80, Y:-7.73, Z:-4.25 [[ 9.72778545e-01 2.29090090e-01 3.49232511e-02 9.28003821e+01] [-2.28968591e-01 9.73404968e-01 -7.49354397e-03 -7.73140556e+00] [-3.57111628e-02 -7.06768818e-04 9.99361903e-01 -4.24813829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090385723 meters 0.018677893567745702 Centerline is valid? [True, True] Translation: X:92.83, Y:-7.74, Z:-4.25 [[ 9.73295143e-01 2.26904540e-01 3.47978975e-02 9.28311980e+01] [-2.26782207e-01 9.73916809e-01 -7.47531147e-03 -7.74045736e+00] [-3.55864394e-02 -6.15859638e-04 9.99366412e-01 -4.24790337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120385723 meters 0.018632929158908452 Centerline is valid? [True, True] Translation: X:92.86, Y:-7.75, Z:-4.25 [[ 9.73380493e-01 2.26539453e-01 3.47892638e-02 9.28631497e+01] [-2.26416637e-01 9.74001809e-01 -7.48218875e-03 -7.74614747e+00] [-3.55798168e-02 -5.93851538e-04 9.99366661e-01 -4.25096787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150385723 meters 0.018632929158908452 Centerline is valid? [True, True] Translation: X:92.89, Y:-7.75, Z:-4.25 [[ 9.73317614e-01 2.26809721e-01 3.47875276e-02 9.28947840e+01] [-2.26686789e-01 9.73938908e-01 -7.49025124e-03 -7.75302777e+00] [-3.55797884e-02 -5.95479477e-04 9.99366661e-01 -4.25242340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180385723 meters 0.01862048827724775 Centerline is valid? [True, True] Translation: X:92.93, Y:-7.76, Z:-4.26 [[ 9.73335500e-01 2.26752137e-01 3.46622665e-02 9.29276169e+01] [-2.26629696e-01 9.73952324e-01 -7.47332330e-03 -7.75627608e+00] [-3.54539871e-02 -5.81448065e-04 9.99371141e-01 -4.25739913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210385723 meters 0.018725475319144088 Centerline is valid? [True, True] Translation: X:92.96, Y:-7.76, Z:-4.26 [[ 9.73241928e-01 2.27124273e-01 3.48527502e-02 9.29596476e+01] [-2.27000359e-01 9.73865606e-01 -7.52452649e-03 -7.76269518e+00] [-3.56508973e-02 -5.88402145e-04 9.99364131e-01 -4.25841131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24038572299999 meters 0.018773707973398522 Centerline is valid? [True, True] Translation: X:92.99, Y:-7.77, Z:-4.26 [[ 9.73144538e-01 2.27405690e-01 3.57261766e-02 9.29912232e+01] [-2.27275290e-01 9.73799922e-01 -7.72362894e-03 -7.77150136e+00] [-3.65465452e-02 -6.03469834e-04 9.99331770e-01 -4.25755101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27038572299999 meters 0.018885303048227327 Centerline is valid? [True, True] Translation: X:93.02, Y:-7.78, Z:-4.26 [[ 9.73144491e-01 2.27324211e-01 3.62422740e-02 9.30221276e+01] [-2.27189523e-01 9.73818949e-01 -7.84698124e-03 -7.77875599e+00] [-3.70772220e-02 -5.97618354e-04 9.99312225e-01 -4.25791546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30038572299999 meters 0.01913383531021201 Centerline is valid? [True, True] Translation: X:93.05, Y:-7.78, Z:-4.26 [[ 9.73089798e-01 2.27417754e-01 3.71134835e-02 9.30524238e+01] [-2.27276379e-01 9.73797100e-01 -8.04084014e-03 -7.78476847e+00] [-3.79696325e-02 -6.10558639e-04 9.99278707e-01 -4.25841930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33038572299999 meters 0.01911337099193376 Centerline is valid? [True, True] Translation: X:93.08, Y:-7.79, Z:-4.26 [[ 9.73013974e-01 2.27521620e-01 3.84411048e-02 9.30841323e+01] [-2.27369824e-01 9.73772824e-01 -8.33362573e-03 -7.79070014e+00] [-3.93289832e-02 -6.31612949e-04 9.99226117e-01 -4.25917665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360385723 meters 0.019292758512087144 Centerline is valid? [True, True] Translation: X:93.12, Y:-7.80, Z:-4.26 [[ 9.72974749e-01 2.27671312e-01 3.85475080e-02 9.31156996e+01] [-2.27518410e-01 9.73737838e-01 -8.36637850e-03 -7.79609597e+00] [-3.94399515e-02 -6.29992727e-04 9.99221744e-01 -4.26136172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390385723 meters 0.01961731084733734 Centerline is valid? [True, True] Translation: X:93.15, Y:-7.80, Z:-4.26 [[ 9.72747365e-01 2.28359117e-01 4.01830584e-02 9.31470945e+01] [-2.28193089e-01 9.73576734e-01 -8.73246941e-03 -7.79975824e+00] [-4.11154298e-02 -6.75009643e-04 9.99154175e-01 -4.26436727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420385723 meters 0.019298478666176535 Centerline is valid? [True, True] Translation: X:93.18, Y:-7.81, Z:-4.26 [[ 9.72627781e-01 2.28723436e-01 4.09974255e-02 9.31794422e+01] [-2.28550475e-01 9.73491196e-01 -8.92030439e-03 -7.80766090e+00] [-4.19509155e-02 -6.93845214e-04 9.99119432e-01 -4.26478454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450385723 meters 0.019788359464008854 Centerline is valid? [True, True] Translation: X:93.21, Y:-7.81, Z:-4.27 [[ 9.72424459e-01 2.29485878e-01 4.15560327e-02 9.32106586e+01] [-2.29308341e-01 9.73311721e-01 -9.05415820e-03 -7.81349549e+00] [-4.25247752e-02 -7.24660063e-04 9.99095150e-01 -4.26585711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480385723 meters 0.0200838503452812 Centerline is valid? [True, True] Translation: X:93.24, Y:-7.82, Z:-4.27 [[ 9.71958704e-01 2.31541282e-01 4.10476950e-02 9.32421847e+01] [-2.31369430e-01 9.72824755e-01 -8.95445999e-03 -7.81907398e+00] [-4.20055410e-02 -7.93816471e-04 9.99117062e-01 -4.26677418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510385723 meters 0.020330688810505797 Centerline is valid? [True, True] Translation: X:93.27, Y:-7.82, Z:-4.27 [[ 9.71660189e-01 2.32942145e-01 4.01800155e-02 9.32729619e+01] [-2.32778266e-01 9.72490244e-01 -8.77524616e-03 -7.82328817e+00] [-4.11187978e-02 -8.26477007e-04 9.99153923e-01 -4.26868183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540385723 meters 0.021244393135187757 Centerline is valid? [True, True] Translation: X:93.31, Y:-7.83, Z:-4.27 [[ 9.71066735e-01 2.35614289e-01 3.89268859e-02 9.33054923e+01] [-2.35462241e-01 9.71846230e-01 -8.51105037e-03 -7.82527674e+00] [-3.98362724e-02 -9.01013877e-04 9.99205814e-01 -4.27079484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570385723 meters 0.02196945681578943 Centerline is valid? [True, True] Translation: X:93.34, Y:-7.83, Z:-4.27 [[ 9.70795467e-01 2.36837661e-01 3.82633487e-02 9.33361663e+01] [-2.36691601e-01 9.71548791e-01 -8.36857021e-03 -7.82946292e+00] [-3.91567027e-02 -9.32443238e-04 9.99232647e-01 -4.27192114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600385723 meters 0.022233813910101204 Centerline is valid? [True, True] Translation: X:93.37, Y:-7.84, Z:-4.27 [[ 9.70694766e-01 2.37235177e-01 3.83554623e-02 9.33672834e+01] [-2.37088374e-01 9.71451792e-01 -8.39760217e-03 -7.83576377e+00] [-3.92526892e-02 -9.42125706e-04 9.99228872e-01 -4.27237960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63038572299999 meters 0.02222059329868223 Centerline is valid? [True, True] Translation: X:93.40, Y:-7.84, Z:-4.27 [[ 9.70721457e-01 2.37229497e-01 3.77096722e-02 9.33997378e+01] [-2.37087227e-01 9.71453203e-01 -8.26568528e-03 -7.84229218e+00] [-3.85940462e-02 -9.16803563e-04 9.99254552e-01 -4.27480402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66038572299999 meters 0.02151031120566297 Centerline is valid? [True, True] Translation: X:93.43, Y:-7.85, Z:-4.28 [[ 9.70762388e-01 2.37118070e-01 3.73551459e-02 9.34321137e+01] [-2.36978000e-01 9.71480428e-01 -8.19793680e-03 -7.85003098e+00] [-3.82336721e-02 -8.94099056e-04 9.99268426e-01 -4.27705262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69038572299999 meters 0.0215474412143833 Centerline is valid? [True, True] Translation: X:93.46, Y:-7.85, Z:-4.28 [[ 9.70868127e-01 2.36593666e-01 3.79277978e-02 9.34626212e+01] [-2.36448433e-01 9.71608290e-01 -8.33478624e-03 -7.85421010e+00] [-3.88229204e-02 -8.75990067e-04 9.99245722e-01 -4.27975364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72038572299999 meters 0.02084943466138298 Centerline is valid? [True, True] Translation: X:93.49, Y:-7.86, Z:-4.28 [[ 9.70837904e-01 2.36667086e-01 3.82420506e-02 9.34942217e+01] [-2.36519164e-01 9.71590407e-01 -8.41223913e-03 -7.86286714e+00] [-3.91465096e-02 -8.78057234e-04 9.99233096e-01 -4.28034937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750385723 meters 0.02147058370466329 Centerline is valid? [True, True] Translation: X:93.53, Y:-7.87, Z:-4.28 [[ 9.70764340e-01 2.36997840e-01 3.80607383e-02 9.35258221e+01] [-2.36851140e-01 9.71509782e-01 -8.38343174e-03 -7.86912477e+00] [-3.89632347e-02 -8.76392660e-04 9.99240261e-01 -4.28039110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780385723 meters 0.022236269699020088 Centerline is valid? [True, True] Translation: X:93.56, Y:-7.87, Z:-4.28 [[ 9.70606001e-01 2.37706356e-01 3.76786216e-02 9.35568429e+01] [-2.37562724e-01 9.71336658e-01 -8.30952516e-03 -7.87369334e+00] [-3.85738533e-02 -8.85761014e-04 9.99255359e-01 -4.28212616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810385723 meters 0.0224608554610561 Centerline is valid? [True, True] Translation: X:93.59, Y:-7.88, Z:-4.28 [[ 9.70470345e-01 2.38107527e-01 3.86278990e-02 9.35890080e+01] [-2.37956534e-01 9.71238368e-01 -8.52767421e-03 -7.87870338e+00] [-3.95474010e-02 -9.15906006e-04 9.99217276e-01 -4.28356698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840385723 meters 0.022430946542029373 Centerline is valid? [True, True] Translation: X:93.62, Y:-7.89, Z:-4.29 [[ 9.70404388e-01 2.38241372e-01 3.94508777e-02 9.36213171e+01] [-2.38083547e-01 9.71205531e-01 -8.72019168e-03 -7.88538045e+00] [-4.03924211e-02 -9.30492616e-04 9.99183460e-01 -4.28535520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870385723 meters 0.022313605254301105 Centerline is valid? [True, True] Translation: X:93.65, Y:-7.89, Z:-4.29 [[ 9.70495348e-01 2.37680545e-01 4.05800263e-02 9.36530968e+01] [-2.37512572e-01 9.71342941e-01 -8.98158050e-03 -7.89260906e+00] [-4.15518690e-02 -9.21684347e-04 9.99135923e-01 -4.28636525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900385723 meters 0.020939274032460018 Centerline is valid? [True, True] Translation: X:93.68, Y:-7.90, Z:-4.29 [[ 9.70605726e-01 2.36967768e-01 4.20808804e-02 9.36838206e+01] [-2.36786321e-01 9.71517076e-01 -9.31717094e-03 -7.90348201e+00] [-4.30901631e-02 -9.20877375e-04 9.99070763e-01 -4.28667536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930385723 meters 0.021773022608074934 Centerline is valid? [True, True] Translation: X:93.71, Y:-7.91, Z:-4.29 [[ 9.70829267e-01 2.35991690e-01 4.24082155e-02 9.37146466e+01] [-2.35806002e-01 9.71754680e-01 -9.40057165e-03 -7.90917346e+00] [-4.34288387e-02 -8.73761658e-04 9.99056141e-01 -4.28681301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960385723 meters 0.020690783684532334 Centerline is valid? [True, True] Translation: X:93.74, Y:-7.92, Z:-4.29 [[ 9.71441301e-01 2.33432818e-01 4.25548895e-02 9.37444835e+01] [-2.33242950e-01 9.72372641e-01 -9.44312403e-03 -7.92232158e+00] [-4.35835454e-02 -7.52187273e-04 9.99049503e-01 -4.28548266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99038572299999 meters 0.020290777707602257 Centerline is valid? [True, True] Translation: X:93.77, Y:-7.93, Z:-4.29 [[ 9.71576573e-01 2.32944334e-01 4.21414279e-02 9.37749628e+01] [-2.32757239e-01 9.72489809e-01 -9.36158513e-03 -7.93087759e+00] [-4.31628374e-02 -7.13225616e-04 9.99067796e-01 -4.28671645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02038572299999 meters 0.02027797519588357 Centerline is valid? [True, True] Translation: X:93.81, Y:-7.93, Z:-4.29 [[ 9.71778285e-01 2.32329691e-01 4.08641610e-02 9.38059226e+01] [-2.32152808e-01 9.72636872e-01 -9.08781001e-03 -7.93494587e+00] [-4.18573578e-02 -6.55393305e-04 9.99123382e-01 -4.29095382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05038572299999 meters 0.020185464282940026 Centerline is valid? [True, True] Translation: X:93.84, Y:-7.94, Z:-4.29 [[ 9.71810190e-01 2.32354405e-01 3.99547804e-02 9.38380716e+01] [-2.32184972e-01 9.72630983e-01 -8.89435892e-03 -7.94153133e+00] [-4.09279008e-02 -6.33270934e-04 9.99161902e-01 -4.29404816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08038572299999 meters 0.02009496771875562 Centerline is valid? [True, True] Translation: X:93.87, Y:-7.95, Z:-4.30 [[ 9.71853113e-01 2.32328168e-01 3.90531669e-02 9.38695838e+01] [-2.32165838e-01 9.72637267e-01 -8.70459346e-03 -7.94881028e+00] [-4.00068877e-02 -6.07224962e-04 9.99199219e-01 -4.29696443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110385723 meters 0.02014126624398199 Centerline is valid? [True, True] Translation: X:93.90, Y:-7.96, Z:-4.30 [[ 9.72256255e-01 2.30807651e-01 3.80210750e-02 9.38992900e+01] [-2.30652201e-01 9.72999259e-01 -8.48549664e-03 -7.95828493e+00] [-3.89529954e-02 -5.19567476e-04 9.99240909e-01 -4.29876239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140385723 meters 0.019757291693207425 Centerline is valid? [True, True] Translation: X:93.93, Y:-7.97, Z:-4.30 [[ 9.72492951e-01 2.29741050e-01 3.84253861e-02 9.39304831e+01] [-2.29581093e-01 9.73251677e-01 -8.58461548e-03 -7.96785188e+00] [-3.93698101e-02 -4.73264110e-04 9.99224596e-01 -4.29909306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170385723 meters 0.019633665600621568 Centerline is valid? [True, True] Translation: X:93.96, Y:-7.97, Z:-4.30 [[ 9.72751795e-01 2.28281321e-01 4.05164694e-02 9.39604186e+01] [-2.28101754e-01 9.73595120e-01 -9.06273164e-03 -7.97442855e+00] [-4.15154892e-02 -4.26089272e-04 9.99137770e-01 -4.29979145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200385723 meters 0.01972081456195282 Centerline is valid? [True, True] Translation: X:93.99, Y:-7.98, Z:-4.30 [[ 9.72754395e-01 2.27948765e-01 4.22876791e-02 9.39917003e+01] [-2.27752386e-01 9.73673038e-01 -9.46922107e-03 -7.98081589e+00] [-4.33328702e-02 -4.19893407e-04 9.99060602e-01 -4.30098742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230385723 meters 0.019798803570784836 Centerline is valid? [True, True] Translation: X:94.02, Y:-7.99, Z:-4.30 [[ 9.72654868e-01 2.28213489e-01 4.31405987e-02 9.40235442e+01] [-2.28008878e-01 9.73611020e-01 -9.67122756e-03 -7.98710954e+00] [-4.42092669e-02 -4.29672924e-04 9.99022200e-01 -4.30195636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260385723 meters 0.019926629218502957 Centerline is valid? [True, True] Translation: X:94.06, Y:-7.99, Z:-4.30 [[ 9.72320428e-01 2.29498452e-01 4.38570965e-02 9.40556930e+01] [-2.29287719e-01 9.73308906e-01 -9.84456400e-03 -7.99355616e+00] [-4.49458148e-02 -4.83822944e-04 9.98989309e-01 -4.30301156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290385723 meters 0.019901401078174306 Centerline is valid? [True, True] Translation: X:94.09, Y:-8.00, Z:-4.30 [[ 9.72056473e-01 2.30574056e-01 4.40660564e-02 9.40878765e+01] [-2.30361836e-01 9.73054639e-01 -9.90424168e-03 -8.00070059e+00] [-4.51623417e-02 -5.23655406e-04 9.98979524e-01 -4.30441825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320385723 meters 0.020253001334957898 Centerline is valid? [True, True] Translation: X:94.12, Y:-8.01, Z:-4.31 [[ 9.71407437e-01 2.33210989e-01 4.44997376e-02 9.41193525e+01] [-2.32996735e-01 9.72425949e-01 -1.00147981e-02 -8.00639015e+00] [-4.56082606e-02 -6.39844213e-04 9.98959197e-01 -4.30560316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350385723 meters 0.02057820132562765 Centerline is valid? [True, True] Translation: X:94.15, Y:-8.01, Z:-4.31 [[ 9.71003132e-01 2.34830168e-01 4.48074757e-02 9.41496264e+01] [-2.34614135e-01 9.72036156e-01 -1.00955016e-02 -8.01171259e+00] [-4.59252147e-02 -7.09703513e-04 9.98944629e-01 -4.30690051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38038572299999 meters 0.020705103561284813 Centerline is valid? [True, True] Translation: X:94.18, Y:-8.02, Z:-4.31 [[ 9.70622783e-01 2.36289010e-01 4.53752950e-02 9.41811203e+01] [-2.36068554e-01 9.71682509e-01 -1.02342254e-02 -8.01772890e+00] [-4.65086155e-02 -7.78107959e-04 9.98917586e-01 -4.30809229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41038572299999 meters 0.02111397734254053 Centerline is valid? [True, True] Translation: X:94.21, Y:-8.02, Z:-4.31 [[ 9.70153398e-01 2.38075677e-01 4.60690362e-02 9.42125912e+01] [-2.37849880e-01 9.71246222e-01 -1.04024906e-02 -8.02166903e+00] [-4.72209573e-02 -8.65503059e-04 9.98884093e-01 -4.31030281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44038572299999 meters 0.021555202001118393 Centerline is valid? [True, True] Translation: X:94.24, Y:-8.03, Z:-4.31 [[ 9.69696208e-01 2.39953074e-01 4.59541823e-02 9.42430970e+01] [-2.39730009e-01 9.70784029e-01 -1.03871085e-02 -8.02636767e+00] [-4.71040049e-02 -9.44256877e-04 9.98889544e-01 -4.31207530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47038572299999 meters 0.02213737446110541 Centerline is valid? [True, True] Translation: X:94.27, Y:-8.03, Z:-4.31 [[ 9.69461566e-01 2.40941118e-01 4.57345667e-02 9.42748029e+01] [-2.40720994e-01 9.70539239e-01 -1.03435378e-02 -8.03252440e+00] [-4.68793751e-02 -9.81608035e-04 9.98900075e-01 -4.31305573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500385723 meters 0.021877877704405867 Centerline is valid? [True, True] Translation: X:94.31, Y:-8.04, Z:-4.31 [[ 9.69266205e-01 2.41938824e-01 4.45940468e-02 9.43060165e+01] [-2.41730414e-01 9.70290990e-01 -1.00896822e-02 -8.04050223e+00] [-4.57102877e-02 -1.00014942e-03 9.98954238e-01 -4.31485174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530385723 meters 0.022202472852669294 Centerline is valid? [True, True] Translation: X:94.34, Y:-8.05, Z:-4.32 [[ 9.69090368e-01 2.42743032e-01 4.40417958e-02 9.43361363e+01] [-2.42540081e-01 9.70090095e-01 -9.97584698e-03 -8.04740495e+00] [-4.51460772e-02 -1.01440350e-03 9.98979881e-01 -4.31715759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560385723 meters 0.02249104458949976 Centerline is valid? [True, True] Translation: X:94.37, Y:-8.05, Z:-4.32 [[ 9.69184812e-01 2.42385840e-01 4.39306869e-02 9.43672214e+01] [-2.42183090e-01 9.70179434e-01 -9.96077824e-03 -8.05366982e+00] [-4.50350006e-02 -9.85434533e-04 9.98984924e-01 -4.31912328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590385723 meters 0.02188131643196798 Centerline is valid? [True, True] Translation: X:94.40, Y:-8.06, Z:-4.32 [[ 9.69497998e-01 2.40944212e-01 4.49390611e-02 9.43973454e+01] [-2.40730297e-01 9.70538516e-01 -1.01937320e-02 -8.06236008e+00] [-4.60712104e-02 -9.35390788e-04 9.98937720e-01 -4.32008308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620385723 meters 0.02132744044849652 Centerline is valid? [True, True] Translation: X:94.43, Y:-8.07, Z:-4.32 [[ 9.69499548e-01 2.40839821e-01 4.54621511e-02 9.44291882e+01] [-2.40620275e-01 9.70564431e-01 -1.03232319e-02 -8.07252620e+00] [-4.66101922e-02 -9.30746594e-04 9.98912721e-01 -4.32107907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650385723 meters 0.021575811216279894 Centerline is valid? [True, True] Translation: X:94.46, Y:-8.08, Z:-4.32 [[ 9.69590920e-01 2.40419068e-01 4.57396942e-02 9.44596699e+01] [-2.40195740e-01 9.70668767e-01 -1.03995381e-02 -8.07981198e+00] [-4.68983399e-02 -9.03181984e-04 9.98899259e-01 -4.32251064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680385723 meters 0.021137203352239328 Centerline is valid? [True, True] Translation: X:94.49, Y:-8.09, Z:-4.32 [[ 9.69846660e-01 2.39035291e-01 4.75351002e-02 9.44904069e+01] [-2.38791852e-01 9.71010501e-01 -1.08193431e-02 -8.08892862e+00] [-4.87432863e-02 -8.57890786e-04 9.98810971e-01 -4.32381443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710385723 meters 0.020792541987460656 Centerline is valid? [True, True] Translation: X:94.52, Y:-8.10, Z:-4.33 [[ 9.70078549e-01 2.37543968e-01 5.02042959e-02 9.45210667e+01] [-2.37269733e-01 9.71376446e-01 -1.14400110e-02 -8.09686098e+00] [-5.14847761e-02 -8.14250601e-04 9.98673448e-01 -4.32511469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74038572299999 meters 0.020714095261732995 Centerline is valid? [True, True] Translation: X:94.55, Y:-8.10, Z:-4.33 [[ 9.70335905e-01 2.36522865e-01 5.00516361e-02 9.45521569e+01] [-2.36248343e-01 9.71625636e-01 -1.14167948e-02 -8.10430840e+00] [-5.13317858e-02 -7.46490194e-04 9.98681376e-01 -4.32680751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77038572299999 meters 0.020604377112793646 Centerline is valid? [True, True] Translation: X:94.58, Y:-8.11, Z:-4.33 [[ 9.70477799e-01 2.35983763e-01 4.98448082e-02 9.45823089e+01] [-2.35710520e-01 9.71756739e-01 -1.13750106e-02 -8.11269061e+00] [-5.11213461e-02 -7.09750439e-04 9.98692197e-01 -4.32867579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80038572299999 meters 0.019980393525924463 Centerline is valid? [True, True] Translation: X:94.61, Y:-8.12, Z:-4.33 [[ 9.71128303e-01 2.33476503e-01 4.89749164e-02 9.46124668e+01] [-2.33208957e-01 9.72362285e-01 -1.11879291e-02 -8.12433313e+00] [-5.02334802e-02 -5.56474602e-04 9.98737347e-01 -4.33041577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83038572299999 meters 0.01992983662784806 Centerline is valid? [True, True] Translation: X:94.64, Y:-8.13, Z:-4.33 [[ 9.71282329e-01 2.32891806e-01 4.87036398e-02 9.46431282e+01] [-2.32625867e-01 9.72502517e-01 -1.11382583e-02 -8.13328180e+00] [-4.99584214e-02 -5.11332951e-04 9.98751168e-01 -4.33182098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860385723 meters 0.019730182481158754 Centerline is valid? [True, True] Translation: X:94.67, Y:-8.14, Z:-4.33 [[ 9.71655160e-01 2.31287391e-01 4.89120935e-02 9.46734167e+01] [-2.31016517e-01 9.72885382e-01 -1.11982809e-02 -8.14089167e+00] [-5.01758820e-02 -4.18634076e-04 9.98740309e-01 -4.33430313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890385723 meters 0.019631311385652828 Centerline is valid? [True, True] Translation: X:94.71, Y:-8.15, Z:-4.34 [[ 9.71722521e-01 2.31050915e-01 4.86910354e-02 9.47057794e+01] [-2.30781608e-01 9.72941581e-01 -1.11592714e-02 -8.14735932e+00] [-4.99518929e-02 -3.93280155e-04 9.98751548e-01 -4.33606401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920385723 meters 0.019669760460873563 Centerline is valid? [True, True] Translation: X:94.74, Y:-8.15, Z:-4.34 [[ 9.71626388e-01 2.31406560e-01 4.89199965e-02 9.47383496e+01] [-2.31134454e-01 9.72857052e-01 -1.12258474e-02 -8.15321236e+00] [-5.01898983e-02 -3.99767088e-04 9.98739613e-01 -4.33892077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950385723 meters 0.01948438092316374 Centerline is valid? [True, True] Translation: X:94.77, Y:-8.16, Z:-4.34 [[ 9.71419571e-01 2.32728862e-01 4.67043281e-02 9.47705499e+01] [-2.32481772e-01 9.72541561e-01 -1.07302297e-02 -8.15928309e+00] [-4.79191343e-02 -4.34349820e-04 9.98851124e-01 -4.34376123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980385723 meters 0.019508265945327417 Centerline is valid? [True, True] Translation: X:94.80, Y:-8.17, Z:-4.35 [[ 9.71313832e-01 2.33674004e-01 4.41123618e-02 9.48013005e+01] [-2.33454012e-01 9.72314900e-01 -1.01469346e-02 -8.16717442e+00] [-4.52621814e-02 -4.42349874e-04 9.98975044e-01 -4.34594693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010385723 meters 0.01946336303702898 Centerline is valid? [True, True] Translation: X:94.83, Y:-8.17, Z:-4.35 [[ 9.71325808e-01 2.33642757e-01 4.40140443e-02 9.48329838e+01] [-2.33423169e-01 9.72322415e-01 -1.01363417e-02 -8.17444012e+00] [-4.51641247e-02 -4.28207384e-04 9.98979489e-01 -4.34818129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040385723 meters 0.01946336303702898 Centerline is valid? [True, True] Translation: X:94.86, Y:-8.18, Z:-4.35 [[ 9.71261806e-01 2.33909196e-01 4.40112686e-02 9.48645174e+01] [-2.33689336e-01 9.72258353e-01 -1.01483797e-02 -8.18177379e+00] [-4.51641228e-02 -4.28230562e-04 9.98979489e-01 -4.34963732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070385723 meters 0.019487989815502104 Centerline is valid? [True, True] Translation: X:94.90, Y:-8.19, Z:-4.35 [[ 9.71455072e-01 2.33108248e-01 4.39953061e-02 9.48953403e+01] [-2.32887154e-01 9.72450719e-01 -1.01573724e-02 -8.18802964e+00] [-4.51510344e-02 -3.78510654e-04 9.98980100e-01 -4.35248876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100385723 meters 0.01921140733470684 Centerline is valid? [True, True] Translation: X:94.93, Y:-8.20, Z:-4.36 [[ 9.71908971e-01 2.31141116e-01 4.43479166e-02 9.49265805e+01] [-2.30913940e-01 9.72920195e-01 -1.02491839e-02 -8.19532569e+00] [-4.55159915e-02 -2.79278386e-04 9.98963571e-01 -4.35516334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13038572299999 meters 0.01898256609245145 Centerline is valid? [True, True] Translation: X:94.96, Y:-8.20, Z:-4.36 [[ 9.72090777e-01 2.30292639e-01 4.47752267e-02 9.49582045e+01] [-2.30059647e-01 9.73121394e-01 -1.03591405e-02 -8.20364628e+00] [-4.59573648e-02 -2.30947963e-04 9.98943375e-01 -4.35625864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16038572299999 meters 0.018996178996379433 Centerline is valid? [True, True] Translation: X:94.99, Y:-8.21, Z:-4.36 [[ 9.72493275e-01 2.28565179e-01 4.48863996e-02 9.49888503e+01] [-2.28328610e-01 9.73528603e-01 -1.03974068e-02 -8.21140358e+00] [-4.60746790e-02 -1.37440988e-04 9.98937989e-01 -4.35681424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19038572299999 meters 0.018980250218203674 Centerline is valid? [True, True] Translation: X:95.02, Y:-8.22, Z:-4.36 [[ 9.72343546e-01 2.29211762e-01 4.48329862e-02 9.50209083e+01] [-2.28976148e-01 9.73376568e-01 -1.03914182e-02 -8.21783567e+00] [-4.60212135e-02 -1.61656023e-04 9.98940450e-01 -4.35841655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22038572299999 meters 0.018990753466236784 Centerline is valid? [True, True] Translation: X:95.05, Y:-8.22, Z:-4.36 [[ 9.72160104e-01 2.30077783e-01 4.43727969e-02 9.50534851e+01] [-2.29847317e-01 9.73172224e-01 -1.02972267e-02 -8.22408283e+00] [-4.55515365e-02 -1.88415302e-04 9.98961972e-01 -4.36063269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250385723 meters 0.019082132702640895 Centerline is valid? [True, True] Translation: X:95.08, Y:-8.23, Z:-4.36 [[ 9.71578888e-01 2.32885765e-01 4.24109110e-02 9.50849472e+01] [-2.32677393e-01 9.72504053e-01 -9.85378017e-03 -8.22771495e+00] [-4.35395880e-02 -2.94335407e-04 9.99051659e-01 -4.36476661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280385723 meters 0.019116849235559393 Centerline is valid? [True, True] Translation: X:95.12, Y:-8.23, Z:-4.37 [[ 9.71245084e-01 2.34551221e-01 4.08498697e-02 9.51158993e+01] [-2.34358967e-01 9.72103701e-01 -9.50102586e-03 -8.23253038e+00] [-4.19387867e-02 -3.45708587e-04 9.99120122e-01 -4.36850143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310385723 meters 0.019257280095987196 Centerline is valid? [True, True] Translation: X:95.15, Y:-8.24, Z:-4.37 [[ 9.70854894e-01 2.36426792e-01 3.92829078e-02 9.51473035e+01] [-2.36250194e-01 9.71649222e-01 -9.14523752e-03 -8.23800819e+00] [-4.03313859e-02 -4.01895958e-04 9.99186278e-01 -4.37231205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340385723 meters 0.019259861515588284 Centerline is valid? [True, True] Translation: X:95.18, Y:-8.24, Z:-4.37 [[ 9.70575600e-01 2.37633965e-01 3.88986184e-02 9.51784844e+01] [-2.37461390e-01 9.71354676e-01 -9.06543107e-03 -8.24471608e+00] [-3.99386092e-02 -4.38233785e-04 9.99202039e-01 -4.37372747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370385723 meters 0.01930362816161964 Centerline is valid? [True, True] Translation: X:95.21, Y:-8.25, Z:-4.38 [[ 9.70326347e-01 2.38846817e-01 3.76693353e-02 9.52103062e+01] [-2.38685536e-01 9.71057147e-01 -8.78816628e-03 -8.25091291e+00] [-3.86781028e-02 -4.63736222e-04 9.99251615e-01 -4.37526975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400385723 meters 0.019355713465733917 Centerline is valid? [True, True] Translation: X:95.24, Y:-8.26, Z:-4.38 [[ 9.70074146e-01 2.40036869e-01 3.65848645e-02 9.52416226e+01] [-2.39885255e-01 9.70763650e-01 -8.54406690e-03 -8.25704154e+00] [-3.75661477e-02 -4.87791138e-04 9.99294024e-01 -4.37766335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430385723 meters 0.019567677443075398 Centerline is valid? [True, True] Translation: X:95.27, Y:-8.26, Z:-4.38 [[ 9.69750523e-01 2.41442195e-01 3.59108504e-02 9.52731249e+01] [-2.41296750e-01 9.70415062e-01 -8.39561561e-03 -8.26174138e+00] [-3.68754859e-02 -5.23518849e-04 9.99319731e-01 -4.38029958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460385723 meters 0.019844072045196885 Centerline is valid? [True, True] Translation: X:95.31, Y:-8.26, Z:-4.38 [[ 9.68913389e-01 2.44682023e-01 3.65725605e-02 9.53053442e+01] [-2.44533116e-01 9.69603159e-01 -8.55975761e-03 -8.26382348e+00] [-3.75552890e-02 -6.49538446e-04 9.99294340e-01 -4.38276307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49038572299999 meters 0.020341465166145344 Centerline is valid? [True, True] Translation: X:95.34, Y:-8.27, Z:-4.38 [[ 9.68667550e-01 2.45660286e-01 3.65267149e-02 9.53363552e+01] [-2.45512094e-01 9.69355747e-01 -8.55842021e-03 -8.26814621e+00] [-3.75098450e-02 -6.77486338e-04 9.99296028e-01 -4.38463746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52038572299999 meters 0.020181154087819238 Centerline is valid? [True, True] Translation: X:95.37, Y:-8.27, Z:-4.39 [[ 9.68397388e-01 2.46967598e-01 3.48353916e-02 9.53680389e+01] [-2.46833391e-01 9.69023495e-01 -8.16966378e-03 -8.27361624e+00] [-3.57739552e-02 -6.87056792e-04 9.99359671e-01 -4.38669138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55038572299999 meters 0.020479876464757893 Centerline is valid? [True, True] Translation: X:95.40, Y:-8.28, Z:-4.39 [[ 9.68351591e-01 2.47263582e-01 3.39987701e-02 9.53986765e+01] [-2.47135598e-01 9.68948022e-01 -7.98291423e-03 -8.27983057e+00] [-3.49169250e-02 -6.72038686e-04 9.99389992e-01 -4.38927843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58038572299999 meters 0.02042284033310886 Centerline is valid? [True, True] Translation: X:95.43, Y:-8.29, Z:-4.39 [[ 9.68334383e-01 2.47359761e-01 3.37886368e-02 9.54307747e+01] [-2.47233302e-01 9.68923476e-01 -7.93678399e-03 -8.28755677e+00] [-3.47018444e-02 -6.68215416e-04 9.99397486e-01 -4.39051416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610385723 meters 0.020502416127068733 Centerline is valid? [True, True] Translation: X:95.46, Y:-8.29, Z:-4.39 [[ 9.68190992e-01 2.47787686e-01 3.47486132e-02 9.54629868e+01] [-2.47653845e-01 9.68814111e-01 -8.17253780e-03 -8.29318671e+00] [-3.56900010e-02 -6.93050194e-04 9.99362669e-01 -4.39139846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640385723 meters 0.02034505678084722 Centerline is valid? [True, True] Translation: X:95.50, Y:-8.30, Z:-4.39 [[ 9.67929873e-01 2.48681780e-01 3.56248966e-02 9.54950172e+01] [-2.48541326e-01 9.68584964e-01 -8.38905525e-03 -8.29909364e+00] [-3.65919444e-02 -7.34241851e-04 9.99330021e-01 -4.39274639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670385723 meters 0.02071316173332247 Centerline is valid? [True, True] Translation: X:95.53, Y:-8.30, Z:-4.39 [[ 9.67349277e-01 2.50810894e-01 3.64591692e-02 9.55268292e+01] [-2.50664881e-01 9.68035752e-01 -8.59648352e-03 -8.30214045e+00] [-3.74498710e-02 -8.23231205e-04 9.99298168e-01 -4.39464536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700385723 meters 0.02099211124738707 Centerline is valid? [True, True] Translation: X:95.56, Y:-8.31, Z:-4.40 [[ 9.67015358e-01 2.52133282e-01 3.61953729e-02 9.55583376e+01] [-2.51989966e-01 9.67692136e-01 -8.54329006e-03 -8.30821982e+00] [-3.71800255e-02 -8.59378094e-04 9.99308214e-01 -4.39614397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730385723 meters 0.021830545110059545 Centerline is valid? [True, True] Translation: X:95.59, Y:-8.31, Z:-4.40 [[ 9.66472351e-01 2.54403124e-01 3.47885793e-02 9.55889478e+01] [-2.54271867e-01 9.67097844e-01 -8.22061335e-03 -8.31363916e+00] [-3.57353097e-02 -9.00761507e-04 9.99360884e-01 -4.39782555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760385723 meters 0.022476199975650892 Centerline is valid? [True, True] Translation: X:95.62, Y:-8.32, Z:-4.40 [[ 9.66302268e-01 2.55141787e-01 3.40968500e-02 9.56194027e+01] [-2.55016051e-01 9.66903225e-01 -8.06023242e-03 -8.31889262e+00] [-3.50248563e-02 -9.06623176e-04 9.99386030e-01 -4.39996134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790385723 meters 0.022293590265265107 Centerline is valid? [True, True] Translation: X:95.65, Y:-8.32, Z:-4.40 [[ 9.66399816e-01 2.54915797e-01 3.30050294e-02 9.56504477e+01] [-2.54797598e-01 9.66962870e-01 -7.80970432e-03 -8.32474123e+00] [-3.39054550e-02 -8.62305386e-04 9.99424673e-01 -4.40239209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820385723 meters 0.02245690252823709 Centerline is valid? [True, True] Translation: X:95.68, Y:-8.33, Z:-4.41 [[ 9.66335512e-01 2.55277715e-01 3.20774921e-02 9.56821101e+01] [-2.55165993e-01 9.66867405e-01 -7.59851780e-03 -8.33134080e+00] [-3.29544138e-02 -8.42367532e-04 9.99456501e-01 -4.40503269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850385723 meters 0.020448225729283117 Centerline is valid? [True, True] Translation: X:95.71, Y:-8.34, Z:-4.41 [[ 9.65987922e-01 2.56754078e-01 3.07356249e-02 9.57120755e+01] [-2.56652047e-01 9.66476395e-01 -7.28727596e-03 -8.34243939e+00] [-3.15762938e-02 -8.48940470e-04 9.99500984e-01 -4.40538276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88038572299999 meters 0.02110250654199272 Centerline is valid? [True, True] Translation: X:95.74, Y:-8.35, Z:-4.41 [[ 9.65962154e-01 2.56965331e-01 2.97646894e-02 9.57430097e+01] [-2.56869462e-01 9.66420274e-01 -7.06630606e-03 -8.34792861e+00] [-3.05809950e-02 -8.19855549e-04 9.99531956e-01 -4.40788056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91038572299999 meters 0.02085700709877067 Centerline is valid? [True, True] Translation: X:95.77, Y:-8.36, Z:-4.41 [[ 9.65956133e-01 2.57008225e-01 2.95892213e-02 9.57749629e+01] [-2.56913440e-01 9.66408873e-01 -7.02675889e-03 -8.35568711e+00] [-3.04012208e-02 -8.14327779e-04 9.99537444e-01 -4.40941898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94038572299999 meters 0.020374381699959004 Centerline is valid? [True, True] Translation: X:95.81, Y:-8.36, Z:-4.41 [[ 9.66274377e-01 2.55815937e-01 2.95302299e-02 9.58061778e+01] [-2.55720692e-01 9.66725204e-01 -7.02200797e-03 -8.36466268e+00] [-3.03439591e-02 -7.66304443e-04 9.99539222e-01 -4.41044930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97038572299999 meters 0.020119015357291322 Centerline is valid? [True, True] Translation: X:95.84, Y:-8.37, Z:-4.41 [[ 9.66559276e-01 2.54717989e-01 2.96970040e-02 9.58372476e+01] [-2.54620906e-01 9.67015106e-01 -7.06955677e-03 -8.37360975e+00] [-3.05181948e-02 -7.28332393e-04 9.99533946e-01 -4.41160712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000385723 meters 0.01986739236166935 Centerline is valid? [True, True] Translation: X:95.87, Y:-8.39, Z:-4.41 [[ 9.67099119e-01 2.52506522e-01 3.09798277e-02 9.58664138e+01] [-2.52399453e-01 9.67594955e-01 -7.38376646e-03 -8.38622146e+00] [-3.18403741e-02 -6.78457519e-04 9.99492736e-01 -4.41025828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030385723 meters 0.019880645141355242 Centerline is valid? [True, True] Translation: X:95.90, Y:-8.40, Z:-4.41 [[ 9.67282962e-01 2.51645063e-01 3.22247500e-02 9.58966787e+01] [-2.51528468e-01 9.67819361e-01 -7.68857278e-03 -8.39532971e+00] [-3.31225283e-02 -6.68416529e-04 9.99451075e-01 -4.41042505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060385723 meters 0.01957676160066438 Centerline is valid? [True, True] Translation: X:95.93, Y:-8.40, Z:-4.41 [[ 9.67420822e-01 2.50967202e-01 3.33529146e-02 9.59272044e+01] [-2.50841591e-01 9.67995366e-01 -7.96662262e-03 -8.40409422e+00] [-3.42848278e-02 -6.59221567e-04 9.99411885e-01 -4.41039429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090385723 meters 0.019544281540354203 Centerline is valid? [True, True] Translation: X:95.96, Y:-8.41, Z:-4.41 [[ 9.67028148e-01 2.52181578e-01 3.55107511e-02 9.59597130e+01] [-2.52039652e-01 9.67679651e-01 -8.49162514e-03 -8.41170771e+00] [-3.65044626e-02 -7.38476813e-04 9.99333217e-01 -4.41045353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120385723 meters 0.02079013996548295 Centerline is valid? [True, True] Translation: X:95.99, Y:-8.42, Z:-4.41 [[ 9.66131776e-01 2.55527963e-01 3.59840623e-02 9.59898013e+01] [-2.55384067e-01 9.66801279e-01 -8.61768026e-03 -8.41772235e+00] [-3.69914957e-02 -8.63941440e-04 9.99315207e-01 -4.41241003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150385723 meters 0.021335111911524447 Centerline is valid? [True, True] Translation: X:96.02, Y:-8.43, Z:-4.41 [[ 9.65505759e-01 2.57923331e-01 3.56957338e-02 9.60203747e+01] [-2.57783374e-01 9.66164922e-01 -8.54842172e-03 -8.42547247e+00] [-3.66928032e-02 -9.48216296e-04 9.99326142e-01 -4.41388094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180385723 meters 0.021345927893644444 Centerline is valid? [True, True] Translation: X:96.05, Y:-8.43, Z:-4.42 [[ 9.64869945e-01 2.60368842e-01 3.51291100e-02 9.60508949e+01] [-2.60234626e-01 9.65508691e-01 -8.42066146e-03 -8.43338260e+00] [-3.61099389e-02 -1.01696765e-03 9.99347306e-01 -4.41545375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210385723 meters 0.021934350305307253 Centerline is valid? [True, True] Translation: X:96.08, Y:-8.44, Z:-4.42 [[ 9.64299804e-01 2.62507356e-01 3.48679967e-02 9.60821425e+01] [-2.62376235e-01 9.64929386e-01 -8.36611167e-03 -8.43956067e+00] [-3.58413205e-02 -1.08109386e-03 9.99356909e-01 -4.41750108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24038572299999 meters 0.02469541629252538 Centerline is valid? [True, True] Translation: X:96.11, Y:-8.44, Z:-4.42 [[ 9.63325967e-01 2.66116354e-01 3.44262468e-02 9.61132840e+01] [-2.65990522e-01 9.63940178e-01 -8.26893735e-03 -8.44243654e+00] [-3.53853419e-02 -1.19137329e-03 9.99373033e-01 -4.42033350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27038572299999 meters 0.024189430107277563 Centerline is valid? [True, True] Translation: X:96.14, Y:-8.45, Z:-4.42 [[ 9.62790222e-01 2.68213547e-01 3.31131638e-02 9.61432563e+01] [-2.68098061e-01 9.63358722e-01 -7.96263545e-03 -8.45433446e+00] [-3.40355419e-02 -1.21122745e-03 9.99419889e-01 -4.42099695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30038572299999 meters 0.024426121601769817 Centerline is valid? [True, True] Translation: X:96.17, Y:-8.46, Z:-4.42 [[ 9.62636230e-01 2.68768353e-01 3.30917180e-02 9.61743202e+01] [-2.68653326e-01 9.63204060e-01 -7.95798538e-03 -8.46377230e+00] [-3.40129318e-02 -1.22955508e-03 9.99420637e-01 -4.42197361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33038572299999 meters 0.024853621092524397 Centerline is valid? [True, True] Translation: X:96.21, Y:-8.47, Z:-4.42 [[ 9.62516006e-01 2.69177260e-01 3.32647075e-02 9.62057043e+01] [-2.69060994e-01 9.63089850e-01 -8.00769253e-03 -8.47248315e+00] [-3.41923909e-02 -1.24270301e-03 9.99414497e-01 -4.42292356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360385723 meters 0.023586629814693075 Centerline is valid? [True, True] Translation: X:96.24, Y:-8.48, Z:-4.42 [[ 9.62492826e-01 2.69226526e-01 3.35356151e-02 9.62356549e+01] [-2.69108036e-01 9.63076076e-01 -8.08309218e-03 -8.48324773e+00] [-3.44735314e-02 -1.24478528e-03 9.99404836e-01 -4.42402782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390385723 meters 0.023361390847155807 Centerline is valid? [True, True] Translation: X:96.27, Y:-8.49, Z:-4.42 [[ 9.62576868e-01 2.68787510e-01 3.46272614e-02 9.62662162e+01] [-2.68660562e-01 9.63198675e-01 -8.35559592e-03 -8.49192865e+00] [-3.55988121e-02 -1.26007613e-03 9.99365367e-01 -4.42494469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420385723 meters 0.022780186108370817 Centerline is valid? [True, True] Translation: X:96.30, Y:-8.50, Z:-4.42 [[ 9.63117158e-01 2.66485620e-01 3.72928154e-02 9.62958566e+01] [-2.66336197e-01 9.63838078e-01 -9.01048364e-03 -8.50307253e+00] [-3.83453998e-02 -1.25427525e-03 9.99263758e-01 -4.42309120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450385723 meters 0.02387628506639247 Centerline is valid? [True, True] Translation: X:96.33, Y:-8.51, Z:-4.42 [[ 9.63377606e-01 2.65340390e-01 3.87048575e-02 9.63264819e+01] [-2.65178491e-01 9.64153984e-01 -9.35217084e-03 -8.51032930e+00] [-3.97989512e-02 -1.25402374e-03 9.99206921e-01 -4.42309708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480385723 meters 0.0219091395672272 Centerline is valid? [True, True] Translation: X:96.36, Y:-8.52, Z:-4.42 [[ 9.63587389e-01 2.64441991e-01 3.96204110e-02 9.63562834e+01] [-2.64271196e-01 9.64400800e-01 -9.58283886e-03 -8.52302628e+00] [-4.07440611e-02 -1.23663075e-03 9.99168851e-01 -4.42291515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510385723 meters 0.021540313491966445 Centerline is valid? [True, True] Translation: X:96.39, Y:-8.53, Z:-4.42 [[ 9.64085027e-01 2.62417733e-01 4.09511223e-02 9.63859544e+01] [-2.62232987e-01 9.64953648e-01 -9.91553804e-03 -8.53187033e+00] [-4.21179479e-02 -1.17931338e-03 9.99111950e-01 -4.42389401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540385723 meters 0.022443098435681142 Centerline is valid? [True, True] Translation: X:96.42, Y:-8.54, Z:-4.43 [[ 9.64554062e-01 2.60661807e-01 4.11203661e-02 9.64166321e+01] [-2.60473527e-01 9.65429551e-01 -9.96618262e-03 -8.53927673e+00] [-4.22966198e-02 -1.09784486e-03 9.99104494e-01 -4.42516087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570385723 meters 0.022209155398126033 Centerline is valid? [True, True] Translation: X:96.45, Y:-8.55, Z:-4.43 [[ 9.64818570e-01 2.59773847e-01 4.05299272e-02 9.64462520e+01] [-2.59589730e-01 9.65668929e-01 -9.83321872e-03 -8.54934242e+00] [-4.16929045e-02 -1.03388085e-03 9.99129938e-01 -4.42642042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600385723 meters 0.02161239122332119 Centerline is valid? [True, True] Translation: X:96.48, Y:-8.56, Z:-4.43 [[ 9.65083940e-01 2.58867115e-01 4.00100564e-02 9.64761371e+01] [-2.58686559e-01 9.65912454e-01 -9.71572626e-03 -8.56026292e+00] [-4.11612938e-02 -9.73572441e-04 9.99152041e-01 -4.42763887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63038572299999 meters 0.020342136554488823 Centerline is valid? [True, True] Translation: X:96.51, Y:-8.57, Z:-4.43 [[ 9.65633591e-01 2.57004075e-01 3.87385243e-02 9.65064207e+01] [-2.56832967e-01 9.66409939e-01 -9.41576493e-03 -8.57195281e+00] [-3.98571849e-02 -8.57151223e-04 9.99205019e-01 -4.43027672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66038572299999 meters 0.01938234075488881 Centerline is valid? [True, True] Translation: X:96.54, Y:-8.58, Z:-4.43 [[ 9.65691550e-01 2.56927549e-01 3.77897366e-02 9.65380868e+01] [-2.56764327e-01 9.66430315e-01 -9.19380327e-03 -8.58180211e+00] [-3.88832884e-02 -8.24678167e-04 9.99243419e-01 -4.43309065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69038572299999 meters 0.02034702674517967 Centerline is valid? [True, True] Translation: X:96.57, Y:-8.59, Z:-4.44 [[ 9.65814445e-01 2.56837082e-01 3.51734312e-02 9.65690924e+01] [-2.56695264e-01 9.66454419e-01 -8.56723973e-03 -8.58621006e+00] [-3.61939029e-02 -7.54489316e-04 9.99344501e-01 -4.43827007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72038572299999 meters 0.020821519571475343 Centerline is valid? [True, True] Translation: X:96.60, Y:-8.59, Z:-4.44 [[ 9.65742296e-01 2.57247675e-01 3.41387141e-02 9.65996268e+01] [-2.57114058e-01 9.66345221e-01 -8.32313126e-03 -8.59285843e+00] [-3.51308894e-02 -7.39543402e-04 9.99382446e-01 -4.44085936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750385723 meters 0.022317137967023972 Centerline is valid? [True, True] Translation: X:96.63, Y:-8.60, Z:-4.44 [[ 9.65601369e-01 2.57947197e-01 3.28213443e-02 9.66298890e+01] [-2.57823868e-01 9.66158741e-01 -8.00879099e-03 -8.59780870e+00] [-3.37764739e-02 -7.28826397e-04 9.99429146e-01 -4.44456169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780385723 meters 0.019757307536293525 Centerline is valid? [True, True] Translation: X:96.66, Y:-8.61, Z:-4.44 [[ 9.65428068e-01 2.58656923e-01 3.23301927e-02 9.66593048e+01] [-2.58537413e-01 9.65968972e-01 -7.89622831e-03 -8.61194808e+00] [-3.32723771e-02 -7.35323940e-04 9.99446051e-01 -4.44238440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810385723 meters 0.019532943621733845 Centerline is valid? [True, True] Translation: X:96.69, Y:-8.62, Z:-4.44 [[ 9.65408407e-01 2.58563085e-01 3.36413427e-02 9.66907809e+01] [-2.58433254e-01 9.65994082e-01 -8.22717250e-03 -8.62067507e+00] [-3.46245810e-02 -7.51460180e-04 9.99400107e-01 -4.44232198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840385723 meters 0.01989312131345905 Centerline is valid? [True, True] Translation: X:96.72, Y:-8.63, Z:-4.44 [[ 9.65254494e-01 2.58634386e-01 3.73097381e-02 9.67209883e+01] [-2.58474629e-01 9.65974927e-01 -9.12724735e-03 -8.62757605e+00] [-3.84008915e-02 -8.33504171e-04 9.99262066e-01 -4.44018502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870385723 meters 0.020034670326507718 Centerline is valid? [True, True] Translation: X:96.75, Y:-8.63, Z:-4.44 [[ 9.65152143e-01 2.58875994e-01 3.82695820e-02 9.67534547e+01] [-2.58707743e-01 9.65910186e-01 -9.37107826e-03 -8.63415053e+00] [-3.93909262e-02 -8.56120913e-04 9.99223510e-01 -4.44151447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900385723 meters 0.019764282745882055 Centerline is valid? [True, True] Translation: X:96.78, Y:-8.64, Z:-4.44 [[ 9.64679245e-01 2.60473086e-01 3.93411335e-02 9.67847230e+01] [-2.60296135e-01 9.65480655e-01 -9.64504331e-03 -8.64011934e+00] [-4.04953775e-02 -9.35971892e-04 9.99179287e-01 -4.44294703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930385723 meters 0.019621621699761 Centerline is valid? [True, True] Translation: X:96.82, Y:-8.65, Z:-4.44 [[ 9.64284075e-01 2.61811194e-01 4.01387744e-02 9.68157206e+01] [-2.61627717e-01 9.65118591e-01 -9.85105514e-03 -8.64803605e+00] [-4.13177939e-02 -1.00220030e-03 9.99145553e-01 -4.44368309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960385723 meters 0.019621621699761 Centerline is valid? [True, True] Translation: X:96.85, Y:-8.66, Z:-4.45 [[ 9.64210501e-01 2.62082391e-01 4.01363842e-02 9.68471530e+01] [-2.61898744e-01 9.65044980e-01 -9.86078339e-03 -8.65581579e+00] [-4.13177538e-02 -1.00379772e-03 9.99145553e-01 -4.44513883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99038572299999 meters 0.01982260658935821 Centerline is valid? [True, True] Translation: X:96.88, Y:-8.66, Z:-4.45 [[ 9.63863703e-01 2.63381466e-01 3.99620493e-02 9.68784241e+01] [-2.63200033e-01 9.64691202e-01 -9.82993939e-03 -8.66332991e+00] [-4.11400612e-02 -1.04329092e-03 9.99152845e-01 -4.44635353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02038572299999 meters 0.02168591647229212 Centerline is valid? [True, True] Translation: X:96.91, Y:-8.67, Z:-4.45 [[ 9.63440296e-01 2.65051131e-01 3.91240882e-02 9.69092806e+01] [-2.64878199e-01 9.64233752e-01 -9.63387565e-03 -8.66723397e+00] [-4.02782360e-02 -1.08145400e-03 9.99187917e-01 -4.44946912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05038572299999 meters 0.020621353305779997 Centerline is valid? [True, True] Translation: X:96.94, Y:-8.68, Z:-4.45 [[ 9.63205740e-01 2.66014293e-01 3.83549021e-02 9.69396357e+01] [-2.65848505e-01 9.63968467e-01 -9.45338790e-03 -8.67697946e+00] [-3.94876525e-02 -1.09103591e-03 9.99219463e-01 -4.45106718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08038572299999 meters 0.020953316834867917 Centerline is valid? [True, True] Translation: X:96.97, Y:-8.68, Z:-4.45 [[ 9.62752067e-01 2.67887619e-01 3.66698866e-02 9.69709449e+01] [-2.67737102e-01 9.63449530e-01 -9.04699275e-03 -8.68278021e+00] [-3.77531623e-02 -1.10787817e-03 9.99286481e-01 -4.45452863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110385723 meters 0.02196465844808717 Centerline is valid? [True, True] Translation: X:97.00, Y:-8.69, Z:-4.46 [[ 9.62609829e-01 2.68456694e-01 3.62397683e-02 9.70016151e+01] [-2.68309741e-01 9.63291117e-01 -8.95026574e-03 -8.68743410e+00] [-3.73122056e-02 -1.10786906e-03 9.99303043e-01 -4.45732568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140385723 meters 0.020878077250729852 Centerline is valid? [True, True] Translation: X:97.03, Y:-8.70, Z:-4.46 [[ 9.62531974e-01 2.68754156e-01 3.61026664e-02 9.70326892e+01] [-2.68608217e-01 9.63208169e-01 -8.92457260e-03 -8.69733189e+00] [-3.71728992e-02 -1.10728639e-03 9.99308235e-01 -4.45837810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170385723 meters 0.021807724542179465 Centerline is valid? [True, True] Translation: X:97.06, Y:-8.70, Z:-4.46 [[ 9.62889010e-01 2.67494623e-01 3.59358058e-02 9.70628125e+01] [-2.67348718e-01 9.63558789e-01 -8.89509718e-03 -8.70342750e+00] [-3.70056522e-02 -1.04240029e-03 9.99314513e-01 -4.46063347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200385723 meters 0.02062988698491032 Centerline is valid? [True, True] Translation: X:97.09, Y:-8.71, Z:-4.46 [[ 9.63621039e-01 2.64915965e-01 3.54122145e-02 9.70929326e+01] [-2.64772383e-01 9.64271059e-01 -8.76982043e-03 -8.71450766e+00] [-3.64702390e-02 -9.25392955e-04 9.99334311e-01 -4.46175632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230385723 meters 0.02042635945715494 Centerline is valid? [True, True] Translation: X:97.12, Y:-8.72, Z:-4.46 [[ 9.63860248e-01 2.64119139e-01 3.48497223e-02 9.71236071e+01] [-2.63979255e-01 9.64489668e-01 -8.63910447e-03 -8.72308644e+00] [-3.58939499e-02 -8.72714348e-04 9.99355223e-01 -4.46333318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260385723 meters 0.020250553960298956 Centerline is valid? [True, True] Translation: X:97.15, Y:-8.73, Z:-4.47 [[ 9.64018464e-01 2.63647992e-01 3.40314050e-02 9.71546538e+01] [-2.63514020e-01 9.64618604e-01 -8.44448611e-03 -8.73131769e+00] [-3.50536982e-02 -8.27111794e-04 9.99385088e-01 -4.46506478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290385723 meters 0.02003058677696339 Centerline is valid? [True, True] Translation: X:97.18, Y:-8.74, Z:-4.47 [[ 9.64449368e-01 2.62176416e-01 3.31804615e-02 9.71842631e+01] [-2.62047910e-01 9.65019673e-01 -8.24152292e-03 -8.73960327e+00] [-3.41805310e-02 -7.46338999e-04 9.99415396e-01 -4.46644362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320385723 meters 0.019755900245350823 Centerline is valid? [True, True] Translation: X:97.22, Y:-8.75, Z:-4.47 [[ 9.64769544e-01 2.60939518e-01 3.36198503e-02 9.72156780e+01] [-2.60806569e-01 9.65354894e-01 -8.35833212e-03 -8.74755269e+00] [-3.46361062e-02 -7.04413554e-04 9.99399742e-01 -4.46787899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350385723 meters 0.019128485008066923 Centerline is valid? [True, True] Translation: X:97.25, Y:-8.76, Z:-4.47 [[ 9.65499614e-01 2.57984002e-01 3.54224505e-02 9.72453861e+01] [-2.57834077e-01 9.66148989e-01 -8.81589505e-03 -8.75604549e+00] [-3.64977246e-02 -6.21371573e-04 9.99333543e-01 -4.46791712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38038572299999 meters 0.01876551088021373 Centerline is valid? [True, True] Translation: X:97.28, Y:-8.77, Z:-4.47 [[ 9.65892294e-01 2.56398068e-01 3.62230209e-02 9.72758847e+01] [-2.56239862e-01 9.66571110e-01 -9.02346820e-03 -8.76506394e+00] [-3.73257253e-02 -5.66083490e-04 9.99302992e-01 -4.46790655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41038572299999 meters 0.017910921308039257 Centerline is valid? [True, True] Translation: X:97.31, Y:-8.78, Z:-4.47 [[ 9.66217779e-01 2.55041564e-01 3.71080100e-02 9.73060591e+01] [-2.54874185e-01 9.66929952e-01 -9.25294665e-03 -8.77616477e+00] [-3.82407323e-02 -5.17512230e-04 9.99268422e-01 -4.46757092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44038572299999 meters 0.01772711445123428 Centerline is valid? [True, True] Translation: X:97.34, Y:-8.79, Z:-4.47 [[ 9.66684574e-01 2.53148722e-01 3.79032747e-02 9.73363301e+01] [-2.52972247e-01 9.67427273e-01 -9.46115780e-03 -8.78544404e+00] [-3.90637417e-02 -4.42521265e-04 9.99236623e-01 -4.46733750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47038572299999 meters 0.017769516702000637 Centerline is valid? [True, True] Translation: X:97.37, Y:-8.79, Z:-4.47 [[ 9.66583145e-01 2.53489026e-01 3.82143577e-02 9.73678546e+01] [-2.53309532e-01 9.67338157e-01 -9.54833341e-03 -8.79312270e+00] [-3.93866041e-02 -4.50802915e-04 9.99223945e-01 -4.46836157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500385723 meters 0.018104723120453074 Centerline is valid? [True, True] Translation: X:97.40, Y:-8.80, Z:-4.47 [[ 9.65997404e-01 2.55818310e-01 3.74967771e-02 9.73981149e+01] [-2.55646830e-01 9.66724737e-01 -9.37983294e-03 -8.79898760e+00] [-3.86485950e-02 -5.25037951e-04 9.99252726e-01 -4.46993394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530385723 meters 0.018445791822484892 Centerline is valid? [True, True] Translation: X:97.43, Y:-8.81, Z:-4.47 [[ 9.65576557e-01 2.57615058e-01 3.60054738e-02 9.74290891e+01] [-2.57457905e-01 9.66247464e-01 -9.01469623e-03 -8.80508979e+00] [-3.71125192e-02 -5.65514506e-04 9.99310933e-01 -4.47263799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560385723 meters 0.019216213748798856 Centerline is valid? [True, True] Translation: X:97.46, Y:-8.81, Z:-4.48 [[ 9.64665213e-01 2.61142484e-01 3.50089883e-02 9.74606787e+01] [-2.60995921e-01 9.65300031e-01 -8.77381130e-03 -8.80917930e+00] [-3.60853923e-02 -6.73412591e-04 9.99348483e-01 -4.47600947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590385723 meters 0.01962177226415849 Centerline is valid? [True, True] Translation: X:97.49, Y:-8.82, Z:-4.48 [[ 9.64145508e-01 2.63023093e-01 3.52461503e-02 9.74922752e+01] [-2.62875667e-01 9.64789250e-01 -8.83669080e-03 -8.81578954e+00] [-3.63293606e-02 -7.45499529e-04 9.99339593e-01 -4.47725821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620385723 meters 0.021887636437136253 Centerline is valid? [True, True] Translation: X:97.52, Y:-8.82, Z:-4.48 [[ 9.63784024e-01 2.64345521e-01 3.52391938e-02 9.75236153e+01] [-2.64198719e-01 9.64427720e-01 -8.84367202e-03 -8.81897843e+00] [-3.63234404e-02 -7.86760062e-04 9.99339776e-01 -4.47976049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650385723 meters 0.020472633302769584 Centerline is valid? [True, True] Translation: X:97.55, Y:-8.83, Z:-4.48 [[ 9.63461066e-01 2.65562303e-01 3.49204520e-02 9.75541769e+01] [-2.65418639e-01 9.64093354e-01 -8.77211523e-03 -8.83083814e+00] [-3.59961189e-02 -8.16947378e-04 9.99351596e-01 -4.47893809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680385723 meters 0.021247023298795936 Centerline is valid? [True, True] Translation: X:97.58, Y:-8.84, Z:-4.48 [[ 9.63019860e-01 2.67181266e-01 3.47407626e-02 9.75846964e+01] [-2.67039822e-01 9.63645902e-01 -8.73556520e-03 -8.83562968e+00] [-3.58117728e-02 -8.64644271e-04 9.99358179e-01 -4.48150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710385723 meters 0.02160080270023352 Centerline is valid? [True, True] Translation: X:97.62, Y:-8.84, Z:-4.48 [[ 9.62653426e-01 2.68460671e-01 3.50321339e-02 9.76166578e+01] [-2.68317410e-01 9.63290214e-01 -8.81655714e-03 -8.84185655e+00] [-3.61130106e-02 -9.12442531e-04 9.99347296e-01 -4.48305120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74038572299999 meters 0.02230181618275409 Centerline is valid? [True, True] Translation: X:97.65, Y:-8.85, Z:-4.48 [[ 9.62258200e-01 2.69885175e-01 3.49449404e-02 9.76469345e+01] [-2.69743258e-01 9.62892040e-01 -8.80313545e-03 -8.84788486e+00] [-3.60240406e-02 -9.55272773e-04 9.99350467e-01 -4.48428587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77038572299999 meters 0.020614425495599737 Centerline is valid? [True, True] Translation: X:97.68, Y:-8.86, Z:-4.48 [[ 9.61904131e-01 2.71166608e-01 3.47723244e-02 9.76768318e+01] [-2.71026664e-01 9.62531915e-01 -8.76693952e-03 -8.86119782e+00] [-3.58467733e-02 -9.91271737e-04 9.99356806e-01 -4.48242106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80038572299999 meters 0.022956820061908877 Centerline is valid? [True, True] Translation: X:97.71, Y:-8.87, Z:-4.48 [[ 9.61932673e-01 2.71083926e-01 3.46271313e-02 9.77083088e+01] [-2.70944786e-01 9.62555221e-01 -8.73898178e-03 -8.86514706e+00] [-3.56995235e-02 -9.75728588e-04 9.99362093e-01 -4.48449281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83038572299999 meters 0.022896432582113223 Centerline is valid? [True, True] Translation: X:97.74, Y:-8.87, Z:-4.49 [[ 9.62256516e-01 2.69827151e-01 3.54359316e-02 9.77385199e+01] [-2.69680204e-01 9.62908315e-01 -8.95342584e-03 -8.87254798e+00] [-3.65374306e-02 -9.40876930e-04 9.99331842e-01 -4.48503550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860385723 meters 0.020164378389989742 Centerline is valid? [True, True] Translation: X:97.77, Y:-8.88, Z:-4.48 [[ 9.62620238e-01 2.68333422e-01 3.68707482e-02 9.77687399e+01] [-2.68172929e-01 9.63325668e-01 -9.32403807e-03 -8.88486361e+00] [-3.80204892e-02 -9.12228795e-04 9.99276543e-01 -4.48423557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890385723 meters 0.01957808488708232 Centerline is valid? [True, True] Translation: X:97.80, Y:-8.89, Z:-4.48 [[ 9.62830426e-01 2.67496668e-01 3.74580181e-02 9.78002168e+01] [-2.67329982e-01 9.63558381e-01 -9.48303169e-03 -8.89369700e+00] [-3.86296666e-02 -8.83099862e-04 9.99253206e-01 -4.48479902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920385723 meters 0.019320562976948393 Centerline is valid? [True, True] Translation: X:97.83, Y:-8.90, Z:-4.49 [[ 9.62884885e-01 2.67197606e-01 3.81855732e-02 9.78312288e+01] [-2.67024040e-01 9.63641352e-01 -9.66990741e-03 -8.90223415e+00] [-3.93809735e-02 -8.85458329e-04 9.99223876e-01 -4.48569766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950385723 meters 0.018904341130166667 Centerline is valid? [True, True] Translation: X:97.86, Y:-8.91, Z:-4.49 [[ 9.63179002e-01 2.66231180e-01 3.75122523e-02 9.78623086e+01] [-2.66062584e-01 9.63908856e-01 -9.50884970e-03 -8.91158344e+00] [-3.86899445e-02 -8.21882412e-04 9.99250926e-01 -4.48610118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980385723 meters 0.019472868852314015 Centerline is valid? [True, True] Translation: X:97.89, Y:-8.92, Z:-4.49 [[ 9.63242358e-01 2.66100963e-01 3.68026716e-02 9.78937946e+01] [-2.65938242e-01 9.63944838e-01 -9.33816720e-03 -8.91834693e+00] [-3.79606405e-02 -7.92319595e-04 9.99278921e-01 -4.48830928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010385723 meters 0.019237230911587938 Centerline is valid? [True, True] Translation: X:97.92, Y:-8.93, Z:-4.49 [[ 9.63389268e-01 2.65955027e-01 3.38975263e-02 9.79243753e+01] [-2.65816560e-01 9.63985172e-01 -8.61070833e-03 -8.92575504e+00] [-3.49667739e-02 -7.15059832e-04 9.99388220e-01 -4.49219176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040385723 meters 0.019196625801412504 Centerline is valid? [True, True] Translation: X:97.96, Y:-8.93, Z:-4.49 [[ 9.63413000e-01 2.66072069e-01 3.22652404e-02 9.79551452e+01] [-2.65946587e-01 9.63952898e-01 -8.19898540e-03 -8.93370371e+00] [-3.32836930e-02 -6.81821460e-04 9.99445712e-01 -4.49465204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070385723 meters 0.0192859972827166 Centerline is valid? [True, True] Translation: X:97.99, Y:-8.94, Z:-4.50 [[ 9.63458407e-01 2.66269539e-01 2.91278490e-02 9.79861701e+01] [-2.66167177e-01 9.63898415e-01 -7.40810099e-03 -8.94269292e+00] [-3.00488391e-02 -6.15480169e-04 9.99548242e-01 -4.49717351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100385723 meters 0.019160979345529325 Centerline is valid? [True, True] Translation: X:98.02, Y:-8.95, Z:-4.50 [[ 9.63477954e-01 2.66268683e-01 2.84819295e-02 9.80176928e+01] [-2.66170624e-01 9.63898664e-01 -7.25018316e-03 -8.95197540e+00] [-2.93841905e-02 -5.95661302e-04 9.99568014e-01 -4.49822139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13038572299999 meters 0.018720052371538006 Centerline is valid? [True, True] Translation: X:98.05, Y:-8.96, Z:-4.50 [[ 9.63509556e-01 2.66163215e-01 2.83985569e-02 9.80497093e+01] [-2.66065448e-01 9.63927800e-01 -7.23699173e-03 -8.96141065e+00] [-2.93003795e-02 -5.82964078e-04 9.99570482e-01 -4.49858405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16038572299999 meters 0.018836966164995167 Centerline is valid? [True, True] Translation: X:98.08, Y:-8.97, Z:-4.50 [[ 9.63449402e-01 2.66294160e-01 2.92005061e-02 9.80801107e+01] [-2.66190556e-01 9.63891626e-01 -7.45121073e-03 -8.96597456e+00] [-3.01303372e-02 -5.94034421e-04 9.99545802e-01 -4.50072704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19038572299999 meters 0.018785589510804498 Centerline is valid? [True, True] Translation: X:98.11, Y:-8.97, Z:-4.50 [[ 9.63572485e-01 2.65768034e-01 2.99235436e-02 9.81101305e+01] [-2.65658713e-01 9.64036831e-01 -7.64440392e-03 -8.97331687e+00] [-3.08790364e-02 -5.83512793e-04 9.99522959e-01 -4.50166407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22038572299999 meters 0.018526165694021556 Centerline is valid? [True, True] Translation: X:98.14, Y:-8.98, Z:-4.50 [[ 9.63680385e-01 2.65319734e-01 3.04229366e-02 9.81405534e+01] [-2.65206413e-01 9.64160312e-01 -7.77502968e-03 -8.98290152e+00] [-3.13954568e-02 -5.75714291e-04 9.99506875e-01 -4.50135291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250385723 meters 0.01833700068434554 Centerline is valid? [True, True] Translation: X:98.17, Y:-8.99, Z:-4.50 [[ 9.63857511e-01 2.64507682e-01 3.18494184e-02 9.81710445e+01] [-2.64382755e-01 9.64383412e-01 -8.14823001e-03 -8.99183010e+00] [-3.28703202e-02 -5.66704302e-04 9.99459464e-01 -4.50117271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280385723 meters 0.018129305214839818 Centerline is valid? [True, True] Translation: X:98.20, Y:-9.00, Z:-4.50 [[ 9.64631092e-01 2.61463556e-01 3.35211132e-02 9.82008700e+01] [-2.61323004e-01 9.65213230e-01 -8.58530263e-03 -8.99932008e+00] [-3.45997658e-02 -4.78188159e-04 9.99401134e-01 -4.50229291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310385723 meters 0.017590376834554805 Centerline is valid? [True, True] Translation: X:98.23, Y:-9.01, Z:-4.50 [[ 9.65167357e-01 2.59423651e-01 3.39314321e-02 9.82317835e+01] [-2.59278038e-01 9.65763537e-01 -8.70001365e-03 -9.00825261e+00] [-3.50267292e-02 -4.00705966e-04 9.99386296e-01 -4.50356877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340385723 meters 0.017038425995487282 Centerline is valid? [True, True] Translation: X:98.26, Y:-9.02, Z:-4.50 [[ 9.66071441e-01 2.55786248e-01 3.57682397e-02 9.82612682e+01] [-2.55621857e-01 9.66733322e-01 -9.17332770e-03 -9.01677774e+00] [-3.69247602e-02 -2.81053945e-04 9.99318009e-01 -4.50454511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370385723 meters 0.016874675678042496 Centerline is valid? [True, True] Translation: X:98.29, Y:-9.03, Z:-4.50 [[ 9.66530219e-01 2.53897874e-01 3.68131065e-02 9.82926833e+01] [-2.53721987e-01 9.67231010e-01 -9.45122068e-03 -9.02577671e+00] [-3.80064230e-02 -2.05404135e-04 9.99277474e-01 -4.50490576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400385723 meters 0.0168530299777451 Centerline is valid? [True, True] Translation: X:98.32, Y:-9.03, Z:-4.51 [[ 9.66934389e-01 2.52264160e-01 3.74256635e-02 9.83224255e+01] [-2.52081045e-01 9.67658397e-01 -9.61110381e-03 -9.03374911e+00] [-3.86397946e-02 -1.40993558e-04 9.99253194e-01 -4.50662912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430385723 meters 0.016762150442945253 Centerline is valid? [True, True] Translation: X:98.35, Y:-9.04, Z:-4.51 [[ 9.67655865e-01 2.49456802e-01 3.75956174e-02 9.83538668e+01] [-2.49269568e-01 9.68385927e-01 -9.66328378e-03 -9.04311445e+00] [-3.88176387e-02 -2.07100888e-05 9.99246311e-01 -4.50616959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460385723 meters 0.01667793770925163 Centerline is valid? [True, True] Translation: X:98.39, Y:-9.05, Z:-4.51 [[ 9.67974278e-01 2.48309326e-01 3.69902028e-02 9.83859700e+01] [-2.48126837e-01 9.68680792e-01 -9.51815225e-03 -9.05059145e+00] [-3.81951450e-02 3.50645217e-05 9.99270299e-01 -4.50857876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49038572299999 meters 0.01672898424110271 Centerline is valid? [True, True] Translation: X:98.42, Y:-9.06, Z:-4.51 [[ 9.68398786e-01 2.47060942e-01 3.41274304e-02 9.84179913e+01] [-2.46904518e-01 9.68999940e-01 -8.79066101e-03 -9.05579108e+00] [-3.52413070e-02 8.66487030e-05 9.99378828e-01 -4.51382249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52038572299999 meters 0.016693223866920317 Centerline is valid? [True, True] Translation: X:98.45, Y:-9.06, Z:-4.52 [[ 9.68403158e-01 2.47156464e-01 3.33017424e-02 9.84485910e+01] [-2.47007298e-01 9.68975580e-01 -8.58603406e-03 -9.06282565e+00] [-3.43906690e-02 8.89690645e-05 9.99408462e-01 -4.51661371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55038572299999 meters 0.016550703479954798 Centerline is valid? [True, True] Translation: X:98.48, Y:-9.07, Z:-4.52 [[ 9.68604071e-01 2.46444024e-01 3.27337396e-02 9.84810442e+01] [-2.46299213e-01 9.69157020e-01 -8.44801674e-03 -9.06980559e+00] [-3.38060968e-02 1.20489106e-04 9.99428403e-01 -4.51723266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58038572299999 meters 0.01664855972426321 Centerline is valid? [True, True] Translation: X:98.51, Y:-9.08, Z:-4.52 [[ 9.68694739e-01 2.46065839e-01 3.28953798e-02 9.85123703e+01] [-2.45919036e-01 9.69253105e-01 -8.49973389e-03 -9.07619472e+00] [-3.39754431e-02 1.44047409e-04 9.99422658e-01 -4.51869800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610385723 meters 0.01662912460257013 Centerline is valid? [True, True] Translation: X:98.54, Y:-9.08, Z:-4.52 [[ 9.68752314e-01 2.45656099e-01 3.42349981e-02 9.85438385e+01] [-2.45496481e-01 9.69357029e-01 -8.85590751e-03 -9.08141606e+00] [-3.53614437e-02 1.74609324e-04 9.99374573e-01 -4.51985639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640385723 meters 0.01650150149940573 Centerline is valid? [True, True] Translation: X:98.58, Y:-9.08, Z:-4.52 [[ 9.68881234e-01 2.44836768e-01 3.63883271e-02 9.85765378e+01] [-2.44655479e-01 9.69564286e-01 -9.42291638e-03 -9.08444896e+00] [-3.75878988e-02 2.27083272e-04 9.99293299e-01 -4.52029833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670385723 meters 0.016483176437323756 Centerline is valid? [True, True] Translation: X:98.61, Y:-9.09, Z:-4.52 [[ 9.68882915e-01 2.44711835e-01 3.71754623e-02 9.86075720e+01] [-2.44522128e-01 9.69595821e-01 -9.63701451e-03 -9.09160240e+00] [-3.84034644e-02 2.46915550e-04 9.99262284e-01 -4.52063016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700385723 meters 0.01641070911775226 Centerline is valid? [True, True] Translation: X:98.64, Y:-9.10, Z:-4.52 [[ 9.68790315e-01 2.44825779e-01 3.88028877e-02 9.86400181e+01] [-2.44618904e-01 9.69567053e-01 -1.00658535e-02 -9.09807918e+00] [-4.00863820e-02 2.59781535e-04 9.99196184e-01 -4.51808418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730385723 meters 0.016455717569877112 Centerline is valid? [True, True] Translation: X:98.67, Y:-9.10, Z:-4.52 [[ 9.68688925e-01 2.45118492e-01 3.94802741e-02 9.86717495e+01] [-2.44904093e-01 9.69493092e-01 -1.02532883e-02 -9.10373135e+00] [-4.07891236e-02 2.63366068e-04 9.99167743e-01 -4.51928702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760385723 meters 0.016267894343589318 Centerline is valid? [True, True] Translation: X:98.70, Y:-9.10, Z:-4.52 [[ 9.68362526e-01 2.46347639e-01 3.98354008e-02 9.87036557e+01] [-2.46129952e-01 9.69181505e-01 -1.03564706e-02 -9.10276648e+00] [-4.11590258e-02 2.24132746e-04 9.99152583e-01 -4.52238077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790385723 meters 0.016257069737101174 Centerline is valid? [True, True] Translation: X:98.74, Y:-9.11, Z:-4.52 [[ 9.68041973e-01 2.47567238e-01 4.00649595e-02 9.87360228e+01] [-2.47347697e-01 9.68870698e-01 -1.04253251e-02 -9.10675799e+00] [-4.13987342e-02 1.82176798e-04 9.99142688e-01 -4.52456799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820385723 meters 0.016182114769675387 Centerline is valid? [True, True] Translation: X:98.77, Y:-9.11, Z:-4.53 [[ 9.67627824e-01 2.49275061e-01 3.94757947e-02 9.87694550e+01] [-2.49062935e-01 9.68432718e-01 -1.02822209e-02 -9.10783849e+00] [-4.07927524e-02 1.17405724e-04 9.99167622e-01 -4.52798837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850385723 meters 0.016182114769675387 Centerline is valid? [True, True] Translation: X:98.80, Y:-9.12, Z:-4.53 [[ 9.67562480e-01 2.49528998e-01 3.94731014e-02 9.88007764e+01] [-2.49316662e-01 9.68367319e-01 -1.02925497e-02 -9.11608459e+00] [-4.07927510e-02 1.17383027e-04 9.99167622e-01 -4.52944434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88038572299999 meters 0.01611166259723248 Centerline is valid? [True, True] Translation: X:98.83, Y:-9.12, Z:-4.53 [[ 9.67362363e-01 2.50467772e-01 3.84181527e-02 9.88332866e+01] [-2.50266967e-01 9.68124934e-01 -1.00278337e-02 -9.12200702e+00] [-3.97052208e-02 8.57543435e-05 9.99211433e-01 -4.53162243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91038572299999 meters 0.016177100964711394 Centerline is valid? [True, True] Translation: X:98.87, Y:-9.13, Z:-4.53 [[ 9.67057179e-01 2.51777142e-01 3.75324298e-02 9.88652312e+01] [-2.51586033e-01 9.67785239e-01 -9.80809610e-03 -9.12647375e+00] [-3.87927860e-02 4.23546127e-05 9.99247276e-01 -4.53327293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94038572299999 meters 0.016165830159401925 Centerline is valid? [True, True] Translation: X:98.90, Y:-9.13, Z:-4.53 [[ 9.66945513e-01 2.52184168e-01 3.76765214e-02 9.88972339e+01] [-2.51991647e-01 9.67679257e-01 -9.85219368e-03 -9.13163966e+00] [-3.89433555e-02 3.23658020e-05 9.99241419e-01 -4.53484478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97038572299999 meters 0.01622348366526544 Centerline is valid? [True, True] Translation: X:98.93, Y:-9.14, Z:-4.54 [[ 9.66741384e-01 2.53016186e-01 3.73350405e-02 9.89304278e+01] [-2.52827379e-01 9.67462046e-01 -9.77275543e-03 -9.13615834e+00] [-3.85929000e-02 8.40667448e-06 9.99255017e-01 -4.53699640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000385723 meters 0.016226523283918305 Centerline is valid? [True, True] Translation: X:98.96, Y:-9.14, Z:-4.54 [[ 9.66311169e-01 2.54844082e-01 3.60169212e-02 9.89642219e+01] [-2.54669265e-01 9.66982157e-01 -9.43791225e-03 -9.13852448e+00] [-3.72329162e-02 -5.24428399e-05 9.99306613e-01 -4.54012162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030385723 meters 0.016285088143366783 Centerline is valid? [True, True] Translation: X:98.99, Y:-9.14, Z:-4.54 [[ 9.65871021e-01 2.56656541e-01 3.49369436e-02 9.89946437e+01] [-2.56492862e-01 9.66502668e-01 -9.16534195e-03 -9.14309915e+00] [-3.61189942e-02 -1.08538482e-04 9.99347490e-01 -4.54183645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060385723 meters 0.016233728526101457 Centerline is valid? [True, True] Translation: X:99.03, Y:-9.15, Z:-4.54 [[ 9.65741070e-01 2.57164823e-01 3.47913737e-02 9.90268572e+01] [-2.57002555e-01 9.66367549e-01 -9.13494223e-03 -9.14924337e+00] [-3.59704404e-02 -1.19483070e-04 9.99352847e-01 -4.54273097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090385723 meters 0.016136623862180625 Centerline is valid? [True, True] Translation: X:99.06, Y:-9.15, Z:-4.54 [[ 9.65610485e-01 2.57586995e-01 3.52892554e-02 9.90595712e+01] [-2.57419948e-01 9.66255103e-01 -9.27610575e-03 -9.15486561e+00] [-3.64878273e-02 -1.27053314e-04 9.99334089e-01 -4.54420929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120385723 meters 0.01613334736582639 Centerline is valid? [True, True] Translation: X:99.09, Y:-9.16, Z:-4.55 [[ 9.65668459e-01 2.57461689e-01 3.46107905e-02 9.90919572e+01] [-2.57300536e-01 9.66288501e-01 -9.10864599e-03 -9.15821161e+00] [-3.57891363e-02 -1.09442820e-04 9.99359358e-01 -4.54700872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150385723 meters 0.016124853215221124 Centerline is valid? [True, True] Translation: X:99.12, Y:-9.16, Z:-4.55 [[ 9.65795144e-01 2.57147902e-01 3.33870768e-02 9.91242252e+01] [-2.56997588e-01 9.66372055e-01 -8.79154691e-03 -9.16239692e+00] [-3.45250659e-02 -8.95649212e-05 9.99403828e-01 -4.55001731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180385723 meters 0.016146095071595572 Centerline is valid? [True, True] Translation: X:99.16, Y:-9.17, Z:-4.55 [[ 9.65664789e-01 2.57619538e-01 3.35214650e-02 9.91564846e+01] [-2.57467984e-01 9.66246430e-01 -8.83590206e-03 -9.16934603e+00] [-3.46662969e-02 -9.81845080e-05 9.99398938e-01 -4.55164779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210385723 meters 0.01610274702535136 Centerline is valid? [True, True] Translation: X:99.19, Y:-9.18, Z:-4.55 [[ 9.65409515e-01 2.58513851e-01 3.39861253e-02 9.91887922e+01] [-2.58358270e-01 9.66007543e-01 -8.96831110e-03 -9.17688529e+00] [-3.51492861e-02 -1.22503667e-04 9.99382065e-01 -4.55273863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24038572299999 meters 0.016194717268747823 Centerline is valid? [True, True] Translation: X:99.22, Y:-9.18, Z:-4.55 [[ 9.64522553e-01 2.61608934e-01 3.54543451e-02 9.92220743e+01] [-2.61441315e-01 9.65173928e-01 -9.36633775e-03 -9.18147839e+00] [-3.66699271e-02 -2.35186605e-04 9.99327404e-01 -4.55236141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27038572299999 meters 0.016431280165638395 Centerline is valid? [True, True] Translation: X:99.25, Y:-9.18, Z:-4.55 [[ 9.63945220e-01 2.63648125e-01 3.60455295e-02 9.92536712e+01] [-2.63475882e-01 9.64618874e-01 -9.53349995e-03 -9.18471809e+00] [-3.72836874e-02 -3.07355973e-04 9.99304674e-01 -4.55452059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30038572299999 meters 0.01672915346040499 Centerline is valid? [True, True] Translation: X:99.29, Y:-9.19, Z:-4.56 [[ 9.62618189e-01 2.68437091e-01 3.61628229e-02 9.92861016e+01] [-2.68266756e-01 9.63297095e-01 -9.57367420e-03 -9.18619078e+00] [-3.74054715e-02 -4.85490260e-04 9.99300053e-01 -4.55642004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33038572299999 meters 0.01691713248476402 Centerline is valid? [True, True] Translation: X:99.32, Y:-9.19, Z:-4.56 [[ 9.61966791e-01 2.70915500e-01 3.49954994e-02 9.93171071e+01] [-2.70757312e-01 9.62602973e-01 -9.27328185e-03 -9.19292131e+00] [-3.61990476e-02 -5.54698179e-04 9.99344446e-01 -4.55790090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360385723 meters 0.017460383961061834 Centerline is valid? [True, True] Translation: X:99.35, Y:-9.20, Z:-4.56 [[ 9.61050146e-01 2.74394851e-01 3.30163963e-02 9.93472079e+01] [-2.74255752e-01 9.61616899e-01 -8.75912708e-03 -9.19916751e+00] [-3.41525840e-02 -6.36976244e-04 9.99416427e-01 -4.56000481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390385723 meters 0.01922489416474148 Centerline is valid? [True, True] Translation: X:99.38, Y:-9.20, Z:-4.56 [[ 9.60429139e-01 2.76642670e-01 3.23218462e-02 9.93780597e+01] [-2.76510669e-01 9.60972601e-01 -8.57383183e-03 -9.20265457e+00] [-3.34322963e-02 -7.02777388e-04 9.99440737e-01 -4.56373836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420385723 meters 0.019738887412998 Centerline is valid? [True, True] Translation: X:99.41, Y:-9.21, Z:-4.57 [[ 9.59830885e-01 2.78797930e-01 3.15655980e-02 9.94095226e+01] [-2.78672962e-01 9.60349493e-01 -8.38048717e-03 -9.20836402e+00] [-3.26504685e-02 -7.52628280e-04 9.99466548e-01 -4.56671856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450385723 meters 0.01895083704771306 Centerline is valid? [True, True] Translation: X:99.44, Y:-9.21, Z:-4.57 [[ 9.58882327e-01 2.82107699e-01 3.09827273e-02 9.94408655e+01] [-2.81988729e-01 9.59382374e-01 -8.23508746e-03 -9.21486520e+00] [-3.20474640e-02 -8.40300077e-04 9.99485995e-01 -4.56840318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480385723 meters 0.0199791242734193 Centerline is valid? [True, True] Translation: X:99.47, Y:-9.22, Z:-4.57 [[ 9.57902922e-01 2.85291534e-01 3.21050303e-02 9.94713207e+01] [-2.85165549e-01 9.58440285e-01 -8.53405540e-03 -9.22141922e+00] [-3.32054482e-02 -9.80451997e-04 9.99448066e-01 -4.56931991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510385723 meters 0.020765692536631762 Centerline is valid? [True, True] Translation: X:99.50, Y:-9.23, Z:-4.57 [[ 9.57600488e-01 2.86285146e-01 3.22818952e-02 9.95017414e+01] [-2.86158036e-01 9.58143930e-01 -8.58996151e-03 -9.22949866e+00] [-3.33898804e-02 -1.01197241e-03 9.99441890e-01 -4.57015703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540385723 meters 0.02055210481800335 Centerline is valid? [True, True] Translation: X:99.53, Y:-9.24, Z:-4.57 [[ 9.57362357e-01 2.87058550e-01 3.24762471e-02 9.95321476e+01] [-2.86930238e-01 9.57912471e-01 -8.64498130e-03 -9.24028620e+00] [-3.35910180e-02 -1.04203765e-03 9.99435119e-01 -4.57054565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570385723 meters 0.023680779633640178 Centerline is valid? [True, True] Translation: X:99.56, Y:-9.25, Z:-4.57 [[ 9.57265635e-01 2.87464361e-01 3.17292472e-02 9.95628445e+01] [-2.87341841e-01 9.57790787e-01 -8.45424182e-03 -9.24728902e+00] [-3.28202739e-02 -1.02418513e-03 9.99460745e-01 -4.57285789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60038572299999 meters 0.01941089406133266 Centerline is valid? [True, True] Translation: X:99.59, Y:-9.26, Z:-4.57 [[ 9.57241776e-01 2.87543845e-01 3.17288341e-02 9.95927010e+01] [-2.87421152e-01 9.57766932e-01 -8.46082315e-03 -9.26442819e+00] [-3.28216857e-02 -1.02048467e-03 9.99460702e-01 -4.57120367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63038572299999 meters 0.020777825968508995 Centerline is valid? [True, True] Translation: X:99.62, Y:-9.27, Z:-4.57 [[ 9.57208961e-01 2.87654582e-01 3.17150733e-02 9.96237637e+01] [-2.87531732e-01 9.57733686e-01 -8.46702420e-03 -9.26986125e+00] [-3.28101723e-02 -1.01437852e-03 9.99461087e-01 -4.57487985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66038572299999 meters 0.020080998036186903 Centerline is valid? [True, True] Translation: X:99.65, Y:-9.28, Z:-4.58 [[ 9.57154014e-01 2.87758560e-01 3.24222902e-02 9.96542678e+01] [-2.87629903e-01 9.57702432e-01 -8.66554301e-03 -9.27996930e+00] [-3.35444904e-02 -1.03136091e-03 9.99436693e-01 -4.57610382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69038572299999 meters 0.024317585283844374 Centerline is valid? [True, True] Translation: X:99.69, Y:-9.28, Z:-4.58 [[ 9.57400464e-01 2.86709248e-01 3.43825359e-02 9.96852149e+01] [-2.86563537e-01 9.58017074e-01 -9.19919663e-03 -9.28374583e+00] [-3.55765512e-02 -1.04546600e-03 9.99366407e-01 -4.57772199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72038572299999 meters 0.01997621020546561 Centerline is valid? [True, True] Translation: X:99.71, Y:-9.30, Z:-4.58 [[ 9.57495603e-01 2.86266294e-01 3.54087508e-02 9.97135069e+01] [-2.86111135e-01 9.58149520e-01 -9.48237957e-03 -9.30191372e+00] [-3.66413632e-02 -1.05150113e-03 9.99327927e-01 -4.57530792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750385723 meters 0.019100005173422464 Centerline is valid? [True, True] Translation: X:99.74, Y:-9.31, Z:-4.58 [[ 9.57794818e-01 2.85298876e-01 3.51231846e-02 9.97433335e+01] [-2.85145240e-01 9.58438081e-01 -9.41469283e-03 -9.31441631e+00] [-3.63493989e-02 -9.97864871e-04 9.99338644e-01 -4.57564166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780385723 meters 0.01826235079134127 Centerline is valid? [True, True] Translation: X:99.77, Y:-9.33, Z:-4.58 [[ 9.58265278e-01 2.83814307e-01 3.43088294e-02 9.97731020e+01] [-2.83666458e-01 9.58878829e-01 -9.20498860e-03 -9.32729786e+00] [-3.55105176e-02 -9.11443168e-04 9.99368887e-01 -4.57715067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810385723 meters 0.018366837443771256 Centerline is valid? [True, True] Translation: X:99.80, Y:-9.34, Z:-4.58 [[ 9.58378569e-01 2.83388147e-01 3.46652082e-02 9.98027447e+01] [-2.83236595e-01 9.59004878e-01 -9.31000046e-03 -9.33563437e+00] [-3.58824475e-02 -8.95950606e-04 9.99355616e-01 -4.57937240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840385723 meters 0.019703385528064023 Centerline is valid? [True, True] Translation: X:99.83, Y:-9.34, Z:-4.58 [[ 9.58522500e-01 2.82907773e-01 3.46093758e-02 9.98328545e+01] [-2.82756067e-01 9.59146724e-01 -9.30418964e-03 -9.34349574e+00] [-3.58276970e-02 -8.67735865e-04 9.99357605e-01 -4.58248348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870385723 meters 0.0183623675035107 Centerline is valid? [True, True] Translation: X:99.86, Y:-9.36, Z:-4.58 [[ 9.58443943e-01 2.83203207e-01 3.43679010e-02 9.98631590e+01] [-2.83053669e-01 9.59059533e-01 -9.24296047e-03 -9.35640950e+00] [-3.55784992e-02 -8.69101003e-04 9.99366507e-01 -4.58290713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900385723 meters 0.018537076982261636 Centerline is valid? [True, True] Translation: X:99.89, Y:-9.37, Z:-4.58 [[ 9.58291643e-01 2.83740208e-01 3.41851017e-02 9.98944127e+01] [-2.83592242e-01 9.58900792e-01 -9.20387324e-03 -9.36621685e+00] [-3.53916300e-02 -8.74634807e-04 9.99373137e-01 -4.58468954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930385723 meters 0.018687264691422067 Centerline is valid? [True, True] Translation: X:99.93, Y:-9.38, Z:-4.59 [[ 9.58228758e-01 2.84025945e-01 3.35694625e-02 9.99255692e+01] [-2.83883099e-01 9.58816209e-01 -9.04781916e-03 -9.37719120e+00] [-3.47567601e-02 -8.59922529e-04 9.99395431e-01 -4.58679959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960385723 meters 0.019199871409222163 Centerline is valid? [True, True] Translation: X:99.95, Y:-9.39, Z:-4.59 [[ 9.58048442e-01 2.84747680e-01 3.25874402e-02 9.99549244e+01] [-2.84613122e-01 9.58602126e-01 -8.79396071e-03 -9.38734364e+00] [-3.37424494e-02 -8.49772742e-04 9.99430200e-01 -4.58954196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99038572299999 meters 0.01923217050519453 Centerline is valid? [True, True] Translation: X:99.99, Y:-9.40, Z:-4.59 [[ 9.57890599e-01 2.85333910e-01 3.20961138e-02 9.99852221e+01] [-2.85203607e-01 9.58427791e-01 -8.66444142e-03 -9.39745950e+00] [-3.32340664e-02 -8.54340445e-04 9.99447231e-01 -4.59120759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02038572299999 meters 0.019337035507492724 Centerline is valid? [True, True] Translation: X:100.02, Y:-9.41, Z:-4.59 [[ 9.57898533e-01 2.85283309e-01 3.23084088e-02 1.00015675e+02] [-2.85150972e-01 9.58442857e-01 -8.73000888e-03 -9.40794841e+00] [-3.34562894e-02 -8.50311449e-04 9.99439820e-01 -4.59258817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05038572299999 meters 0.018338544636191112 Centerline is valid? [True, True] Translation: X:100.05, Y:-9.42, Z:-4.59 [[ 9.58309396e-01 2.83953895e-01 3.18321707e-02 1.00045192e+02] [-2.83824442e-01 9.58837614e-01 -8.60907897e-03 -9.42328959e+00] [-3.29664641e-02 -7.84586797e-04 9.99456150e-01 -4.59307928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08038572299999 meters 0.01799748376408287 Centerline is valid? [True, True] Translation: X:100.07, Y:-9.44, Z:-4.60 [[ 9.59020338e-01 2.81631314e-01 3.10450248e-02 1.00074460e+02] [-2.81506719e-01 9.59522455e-01 -8.40396225e-03 -9.43586472e+00] [-3.21552173e-02 -6.79812342e-04 9.99482656e-01 -4.59659898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110385723 meters 0.017716062844476077 Centerline is valid? [True, True] Translation: X:100.10, Y:-9.45, Z:-4.60 [[ 9.59293029e-01 2.80704810e-01 3.10112121e-02 1.00104497e+02] [-2.80579746e-01 9.59793936e-01 -8.40274941e-03 -9.44688292e+00] [-3.21230655e-02 -6.40419092e-04 9.99483716e-01 -4.59875559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140385723 meters 0.01747314110819007 Centerline is valid? [True, True] Translation: X:100.13, Y:-9.46, Z:-4.60 [[ 9.59452665e-01 2.80117730e-01 3.13790022e-02 1.00134388e+02] [-2.79989103e-01 9.59965454e-01 -8.51056527e-03 -9.45828009e+00] [-3.25067183e-02 -6.20294153e-04 9.99471325e-01 -4.59925665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170385723 meters 0.017635690522098547 Centerline is valid? [True, True] Translation: X:100.16, Y:-9.47, Z:-4.60 [[ 9.59464608e-01 2.79862761e-01 3.32340415e-02 1.00162676e+02] [-2.79717996e-01 9.60039805e-01 -9.02308752e-03 -9.47287453e+00] [-3.44312289e-02 -6.38826365e-04 9.99406865e-01 -4.59726831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200385723 meters 0.017710789135606923 Centerline is valid? [True, True] Translation: X:100.19, Y:-9.48, Z:-4.60 [[ 9.59458516e-01 2.79770855e-01 3.41705379e-02 1.00193416e+02] [-2.79617463e-01 9.60066587e-01 -9.28557837e-03 -9.48320042e+00] [-3.54038259e-02 -6.45551891e-04 9.99372880e-01 -4.59768137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230385723 meters 0.017401343055814245 Centerline is valid? [True, True] Translation: X:100.22, Y:-9.49, Z:-4.60 [[ 9.59425144e-01 2.79727287e-01 3.54406181e-02 1.00224193e+02] [-2.79561908e-01 9.60079273e-01 -9.63997747e-03 -9.49385145e+00] [-3.67223676e-02 -6.59010045e-04 9.99325289e-01 -4.59887880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260385723 meters 0.017430010970264496 Centerline is valid? [True, True] Translation: X:100.26, Y:-9.50, Z:-4.60 [[ 9.59370989e-01 2.80021544e-01 3.45722458e-02 1.00255241e+02] [-2.79864064e-01 9.59993499e-01 -9.41212230e-03 -9.50438300e+00] [-3.58247283e-02 -6.45812127e-04 9.99357880e-01 -4.60142088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290385723 meters 0.017390478161926706 Centerline is valid? [True, True] Translation: X:100.28, Y:-9.52, Z:-4.60 [[ 9.59258893e-01 2.80754264e-01 3.16135987e-02 1.00284734e+02] [-2.80622702e-01 9.59779493e-01 -8.61538426e-03 -9.51823695e+00] [-3.27608895e-02 -6.07109500e-04 9.99463034e-01 -4.60498623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320385723 meters 0.017745228597356163 Centerline is valid? [True, True] Translation: X:100.31, Y:-9.53, Z:-4.61 [[ 9.59316706e-01 2.80598517e-01 3.12398755e-02 1.00314816e+02] [-2.80469711e-01 9.59825050e-01 -8.52135702e-03 -9.52824017e+00] [-3.23758952e-02 -5.87158720e-04 9.99475591e-01 -4.60746225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35038572299999 meters 0.017280670035496805 Centerline is valid? [True, True] Translation: X:100.35, Y:-9.54, Z:-4.61 [[ 9.59950583e-01 2.78336444e-01 3.19953406e-02 1.00345105e+02] [-2.78199701e-01 9.60483504e-01 -8.73872168e-03 -9.54103573e+00] [-3.31633016e-02 -5.12353211e-04 9.99449815e-01 -4.60913516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38038572299999 meters 0.016894383972634687 Centerline is valid? [True, True] Translation: X:100.38, Y:-9.55, Z:-4.61 [[ 9.60289278e-01 2.77059576e-01 3.29012743e-02 1.00376015e+02] [-2.76914123e-01 9.60852623e-01 -8.98922215e-03 -9.55185094e+00] [-3.41038257e-02 -4.78573864e-04 9.99418181e-01 -4.60985651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41038572299999 meters 0.01678023954363847 Centerline is valid? [True, True] Translation: X:100.41, Y:-9.56, Z:-4.61 [[ 9.60622939e-01 2.75822417e-01 3.35494166e-02 1.00405130e+02] [-2.75670360e-01 9.61208510e-01 -9.16806418e-03 -9.56223624e+00] [-3.47767423e-02 -4.41526977e-04 9.99395009e-01 -4.60977245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44038572299999 meters 0.016751531511614813 Centerline is valid? [True, True] Translation: X:100.43, Y:-9.58, Z:-4.61 [[ 9.60991546e-01 2.74454002e-01 3.42089179e-02 1.00433439e+02] [-2.74294717e-01 9.61600150e-01 -9.35737708e-03 -9.57630274e+00] [-3.54634702e-02 -3.90965184e-04 9.99370897e-01 -4.60886381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47038572299999 meters 0.01667877055350264 Centerline is valid? [True, True] Translation: X:100.46, Y:-9.59, Z:-4.61 [[ 9.60999905e-01 2.74459554e-01 3.39283886e-02 1.00464789e+02] [-2.74302750e-01 9.61598568e-01 -9.28416309e-03 -9.58766366e+00] [-3.51736171e-02 -3.84570462e-04 9.99381143e-01 -4.60986706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500385723 meters 0.016472711989874763 Centerline is valid? [True, True] Translation: X:100.50, Y:-9.60, Z:-4.61 [[ 9.60951220e-01 2.74728818e-01 3.31184275e-02 1.00495803e+02] [-2.74579263e-01 9.61521677e-01 -9.07156880e-03 -9.59942396e+00] [-3.43363073e-02 -3.76298317e-04 9.99410264e-01 -4.61253580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530385723 meters 0.016538756503126924 Centerline is valid? [True, True] Translation: X:100.53, Y:-9.61, Z:-4.62 [[ 9.60775777e-01 2.75378658e-01 3.28100608e-02 1.00527629e+02] [-2.75231925e-01 9.61335761e-01 -8.99680346e-03 -9.60713770e+00] [-3.40190124e-02 -3.86465345e-04 9.99421111e-01 -4.61571017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560385723 meters 0.016573949687629645 Centerline is valid? [True, True] Translation: X:100.56, Y:-9.62, Z:-4.62 [[ 9.60625884e-01 2.75872037e-01 3.30534382e-02 1.00559399e+02] [-2.75723066e-01 9.61194289e-01 -9.07355222e-03 -9.61532338e+00] [-3.42739154e-02 -3.97306201e-04 9.99412398e-01 -4.61960109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590385723 meters 0.016885878893638594 Centerline is valid? [True, True] Translation: X:100.59, Y:-9.62, Z:-4.62 [[ 9.60653673e-01 2.75831644e-01 3.25795067e-02 1.00589687e+02] [-2.75686564e-01 9.61205888e-01 -8.95319762e-03 -9.62485089e+00] [-3.37851888e-02 -3.80810046e-04 9.99429045e-01 -4.62216972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620385723 meters 0.01662955802706593 Centerline is valid? [True, True] Translation: X:100.62, Y:-9.64, Z:-4.62 [[ 9.61036038e-01 2.74394154e-01 3.34302437e-02 1.00619030e+02] [-2.74240184e-01 9.61617252e-01 -9.19683581e-03 -9.63993175e+00] [-3.46706570e-02 -3.29425522e-04 9.99398738e-01 -4.62062082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650385723 meters 0.01645637794202521 Centerline is valid? [True, True] Translation: X:100.65, Y:-9.65, Z:-4.62 [[ 9.61171651e-01 2.73862139e-01 3.38908063e-02 1.00649061e+02] [-2.73703273e-01 9.61768909e-01 -9.33184669e-03 -9.65125561e+00] [-3.51507633e-02 -3.06518137e-04 9.99381974e-01 -4.61975029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680385723 meters 0.01641107184120105 Centerline is valid? [True, True] Translation: X:100.68, Y:-9.66, Z:-4.62 [[ 9.61335287e-01 2.73218857e-01 3.44372276e-02 1.00679204e+02] [-2.73054058e-01 9.61951859e-01 -9.49220726e-03 -9.66024400e+00] [-3.57204051e-02 -2.78030961e-04 9.99361784e-01 -4.62096949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710385723 meters 0.016372938138157017 Centerline is valid? [True, True] Translation: X:100.71, Y:-9.67, Z:-4.62 [[ 9.61344785e-01 2.73189704e-01 3.44033292e-02 1.00710658e+02] [-2.73025082e-01 9.61960140e-01 -9.48650983e-03 -9.66925661e+00] [-3.56862482e-02 -2.73165010e-04 9.99363006e-01 -4.62360360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74038572299999 meters 0.01651666640707382 Centerline is valid? [True, True] Translation: X:100.74, Y:-9.68, Z:-4.63 [[ 9.61212268e-01 2.73632106e-01 3.45896828e-02 1.00740450e+02] [-2.73465611e-01 9.61834389e-01 -9.54818936e-03 -9.67971830e+00] [-3.58822376e-02 -2.81251997e-04 9.99355986e-01 -4.62508055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77038572299999 meters 0.01651666640707382 Centerline is valid? [True, True] Translation: X:100.77, Y:-9.69, Z:-4.63 [[ 9.61139761e-01 2.73886979e-01 3.45873207e-02 1.00771641e+02] [-2.73720342e-01 9.61761843e-01 -9.55673701e-03 -9.68841316e+00] [-3.58822312e-02 -2.81893337e-04 9.99355986e-01 -4.62653636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80038572299999 meters 0.016623862596685322 Centerline is valid? [True, True] Translation: X:100.80, Y:-9.70, Z:-4.63 [[ 9.60849159e-01 2.74898868e-01 3.46338808e-02 1.00802270e+02] [-2.74732077e-01 9.61473097e-01 -9.57966737e-03 -9.69756016e+00] [-3.59329843e-02 -3.10422657e-04 9.99354154e-01 -4.62829785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83038572299999 meters 0.0164572334196841 Centerline is valid? [True, True] Translation: X:100.83, Y:-9.71, Z:-4.63 [[ 9.60721625e-01 2.75383070e-01 3.43238121e-02 1.00833691e+02] [-2.75219251e-01 9.61334523e-01 -9.50260560e-03 -9.70824720e+00] [-3.56135222e-02 -3.17215172e-04 9.99365587e-01 -4.62887953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860385723 meters 0.016592869120636008 Centerline is valid? [True, True] Translation: X:100.86, Y:-9.72, Z:-4.63 [[ 9.60428576e-01 2.76471966e-01 3.37668666e-02 1.00863996e+02] [-2.76313727e-01 9.61021922e-01 -9.35891961e-03 -9.71684163e+00] [-3.50381779e-02 -3.41674911e-04 9.99385916e-01 -4.63211369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890385723 meters 0.016689411059727887 Centerline is valid? [True, True] Translation: X:100.90, Y:-9.73, Z:-4.63 [[ 9.60132599e-01 2.77500580e-01 3.37464157e-02 1.00895939e+02] [-2.77342899e-01 9.60725398e-01 -9.36090285e-03 -9.72549710e+00] [-3.50186946e-02 -3.71620767e-04 9.99386588e-01 -4.63397555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920385723 meters 0.016938142788041007 Centerline is valid? [True, True] Translation: X:100.93, Y:-9.74, Z:-4.64 [[ 9.59709500e-01 2.79154297e-01 3.21022382e-02 1.00926906e+02] [-2.79012219e-01 9.60246175e-01 -8.91430501e-03 -9.73514849e+00] [-3.33145180e-02 -4.01773497e-04 9.99444837e-01 -4.63568639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950385723 meters 0.017083460320061986 Centerline is valid? [True, True] Translation: X:100.96, Y:-9.75, Z:-4.64 [[ 9.59425257e-01 2.80165759e-01 3.17856017e-02 1.00957214e+02] [-2.80026755e-01 9.59951544e-01 -8.83457232e-03 -9.74562906e+00] [-3.29877821e-02 -4.24707059e-04 9.99455665e-01 -4.63613662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980385723 meters 0.01741755399771826 Centerline is valid? [True, True] Translation: X:100.99, Y:-9.76, Z:-4.64 [[ 9.58962736e-01 2.81603470e-01 3.30144965e-02 1.00987998e+02] [-2.81454052e-01 9.59530746e-01 -9.18504296e-03 -9.75607215e+00] [-3.42649644e-02 -4.83949899e-04 9.99412667e-01 -4.63563895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010385723 meters 0.017693183365011387 Centerline is valid? [True, True] Translation: X:101.02, Y:-9.76, Z:-4.64 [[ 9.58635149e-01 2.82615969e-01 3.38653870e-02 1.01019025e+02] [-2.82459035e-01 9.59232995e-01 -9.43155613e-03 -9.76331968e+00] [-3.51503050e-02 -5.24163313e-04 9.99381900e-01 -4.63757711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040385723 meters 0.01769668849210753 Centerline is valid? [True, True] Translation: X:101.05, Y:-9.77, Z:-4.64 [[ 9.58266642e-01 2.83760648e-01 3.47122003e-02 1.01050536e+02] [-2.83596164e-01 9.58894973e-01 -9.67713443e-03 -9.77145551e+00] [-3.60313443e-02 -5.70971738e-04 9.99350497e-01 -4.63916263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070385723 meters 0.01799023752161508 Centerline is valid? [True, True] Translation: X:101.08, Y:-9.78, Z:-4.64 [[ 9.57647158e-01 2.85810429e-01 3.49902702e-02 1.01081711e+02] [-2.85644270e-01 9.58285962e-01 -9.76552567e-03 -9.77935584e+00] [-3.63217738e-02 -6.42842297e-04 9.99339940e-01 -4.64090225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10038572299999 meters 0.01861449147017504 Centerline is valid? [True, True] Translation: X:101.11, Y:-9.79, Z:-4.64 [[ 9.57402239e-01 2.86579591e-01 3.53990080e-02 1.01112382e+02] [-2.86409713e-01 9.58056203e-01 -9.88881022e-03 -9.78774075e+00] [-3.67481704e-02 -6.71050693e-04 9.99324333e-01 -4.64232556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13038572299999 meters 0.018521793186607616 Centerline is valid? [True, True] Translation: X:101.14, Y:-9.80, Z:-4.64 [[ 9.57369746e-01 2.86762022e-01 3.47952807e-02 1.01142114e+02] [-2.86597615e-01 9.58001625e-01 -9.73111544e-03 -9.80095676e+00] [-3.61244498e-02 -6.55968928e-04 9.99347084e-01 -4.64211610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16038572299999 meters 0.018540490614250463 Centerline is valid? [True, True] Translation: X:101.17, Y:-9.81, Z:-4.64 [[ 9.57236984e-01 2.87316707e-01 3.38594958e-02 1.01171316e+02] [-2.87161315e-01 9.57835413e-01 -9.47105242e-03 -9.81079003e+00] [-3.51530157e-02 -6.57095689e-04 9.99381726e-01 -4.64378033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19038572299999 meters 0.01901221847197982 Centerline is valid? [True, True] Translation: X:101.20, Y:-9.82, Z:-4.65 [[ 9.56695047e-01 2.89146078e-01 3.36025703e-02 1.01201915e+02] [-2.88993891e-01 9.57284722e-01 -9.40697994e-03 -9.81952901e+00] [-3.48872185e-02 -7.11326431e-04 9.99391003e-01 -4.64654494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22038572299999 meters 0.01957531537924114 Centerline is valid? [True, True] Translation: X:101.23, Y:-9.83, Z:-4.65 [[ 9.56297018e-01 2.90474199e-01 3.34776422e-02 1.01232073e+02] [-2.90323655e-01 9.56882532e-01 -9.38063278e-03 -9.82653314e+00] [-3.47590028e-02 -7.48680290e-04 9.99395443e-01 -4.64902267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250385723 meters 0.01965952905263381 Centerline is valid? [True, True] Translation: X:101.26, Y:-9.84, Z:-4.65 [[ 9.55860760e-01 2.91940869e-01 3.31773441e-02 1.01263210e+02] [-2.91793640e-01 9.56436045e-01 -9.30394573e-03 -9.83523739e+00] [-3.44482098e-02 -7.87661352e-04 9.99406174e-01 -4.65073321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280385723 meters 0.019560570607002933 Centerline is valid? [True, True] Translation: X:101.29, Y:-9.85, Z:-4.65 [[ 9.54929431e-01 2.95081534e-01 3.21973570e-02 1.01293366e+02] [-2.94944393e-01 9.55471683e-01 -9.03702022e-03 -9.84511621e+00] [-3.34303207e-02 -8.66713347e-04 9.99440675e-01 -4.65230869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310385723 meters 0.02143869975544065 Centerline is valid? [True, True] Translation: X:101.32, Y:-9.85, Z:-4.65 [[ 9.54585296e-01 2.96253872e-01 3.16315744e-02 1.01323823e+02] [-2.96121910e-01 9.55108821e-01 -8.88560983e-03 -9.85036057e+00] [-3.28439920e-02 -8.84729741e-04 9.99460099e-01 -4.65476416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340385723 meters 0.0205488605155579 Centerline is valid? [True, True] Translation: X:101.36, Y:-9.86, Z:-4.66 [[ 9.54508480e-01 2.96495555e-01 3.16851271e-02 1.01355323e+02] [-2.96362983e-01 9.55033822e-01 -8.90963191e-03 -9.86152922e+00] [-3.29020343e-02 -8.85979563e-04 9.99458189e-01 -4.65503674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370385723 meters 0.021985149721217945 Centerline is valid? [True, True] Translation: X:101.39, Y:-9.87, Z:-4.66 [[ 9.54565946e-01 2.96307905e-01 3.17092886e-02 1.01385796e+02] [-2.96174785e-01 9.55092070e-01 -8.92378470e-03 -9.86826249e+00] [-3.29294780e-02 -8.73150737e-04 9.99457296e-01 -4.65740708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400385723 meters 0.019437615462622654 Centerline is valid? [True, True] Translation: X:101.42, Y:-9.88, Z:-4.65 [[ 9.54833115e-01 2.95336514e-01 3.27118789e-02 1.01415048e+02] [-2.95194139e-01 9.55392903e-01 -9.20979794e-03 -9.88408608e+00] [-3.39726866e-02 -8.62534874e-04 9.99422389e-01 -4.65433709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430385723 meters 0.021527816263937287 Centerline is valid? [True, True] Translation: X:101.45, Y:-9.89, Z:-4.66 [[ 9.54892020e-01 2.95136608e-01 3.27965462e-02 1.01446672e+02] [-2.94993028e-01 9.55454689e-01 -9.24389941e-03 -9.88794336e+00] [-3.40638270e-02 -8.47826716e-04 9.99419300e-01 -4.65750327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460385723 meters 0.019817078445863116 Centerline is valid? [True, True] Translation: X:101.48, Y:-9.90, Z:-4.66 [[ 9.54944390e-01 2.94906623e-01 3.33361018e-02 1.01477078e+02] [-2.94758000e-01 9.55525699e-01 -9.39997096e-03 -9.89814606e+00] [-3.46256157e-02 -8.49633149e-04 9.99399992e-01 -4.65868666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49038572299999 meters 0.021615589341428806 Centerline is valid? [True, True] Translation: X:101.51, Y:-9.90, Z:-4.66 [[ 9.54898614e-01 2.95028399e-01 3.35690485e-02 1.01508472e+02] [-2.94877463e-01 9.55488105e-01 -9.47432861e-03 -9.90284303e+00] [-3.48700225e-02 -8.51732598e-04 9.99391493e-01 -4.66148148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52038572299999 meters 0.02119902662685184 Centerline is valid? [True, True] Translation: X:101.54, Y:-9.91, Z:-4.66 [[ 9.55203153e-01 2.93922772e-01 3.45881466e-02 1.01538954e+02] [-2.93761438e-01 9.55828814e-01 -9.77220498e-03 -9.91251149e+00] [-3.59326207e-02 -8.26222667e-04 9.99353873e-01 -4.66182159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55038572299999 meters 0.021281914169792537 Centerline is valid? [True, True] Translation: X:101.57, Y:-9.92, Z:-4.66 [[ 9.55349581e-01 2.93472577e-01 3.43660508e-02 1.01569083e+02] [-2.93312720e-01 9.55967161e-01 -9.71780304e-03 -9.92087852e+00] [-3.57047247e-02 -7.96100763e-04 9.99362066e-01 -4.66315628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58038572299999 meters 0.02111784363077972 Centerline is valid? [True, True] Translation: X:101.60, Y:-9.93, Z:-4.66 [[ 9.55458921e-01 2.93108524e-01 3.44331726e-02 1.01599389e+02] [-2.92947536e-01 9.56078862e-01 -9.74429329e-03 -9.92988776e+00] [-3.57769639e-02 -7.76841115e-04 9.99359498e-01 -4.66406586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610385723 meters 0.019123655405152203 Centerline is valid? [True, True] Translation: X:101.63, Y:-9.94, Z:-4.66 [[ 9.55679998e-01 2.92215699e-01 3.58570300e-02 1.01629340e+02] [-2.92040123e-01 9.56352132e-01 -1.01570942e-02 -9.94456412e+00] [-3.72600095e-02 -7.64759719e-04 9.99305312e-01 -4.66159434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640385723 meters 0.01921214829504883 Centerline is valid? [True, True] Translation: X:101.66, Y:-9.95, Z:-4.66 [[ 9.55785556e-01 2.91819767e-01 3.62656174e-02 1.01659440e+02] [-2.91639788e-01 9.56473028e-01 -1.02752510e-02 -9.95306204e+00] [-3.76856062e-02 -7.55560479e-04 9.99289360e-01 -4.66216976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670385723 meters 0.02116014099152407 Centerline is valid? [True, True] Translation: X:101.69, Y:-9.96, Z:-4.67 [[ 9.55666027e-01 2.92199339e-01 3.63591817e-02 1.01691815e+02] [-2.92018384e-01 9.56357131e-01 -1.03102557e-02 -9.95718519e+00] [-3.77850126e-02 -7.64388371e-04 9.99285599e-01 -4.66532301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700385723 meters 0.019217976870239704 Centerline is valid? [True, True] Translation: X:101.72, Y:-9.97, Z:-4.67 [[ 9.55428578e-01 2.92978618e-01 3.63285314e-02 1.01721036e+02] [-2.92798145e-01 9.56118671e-01 -1.03117612e-02 -9.97003492e+00] [-3.77555127e-02 -7.84775286e-04 9.99286698e-01 -4.66561541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730385723 meters 0.022020610870387793 Centerline is valid? [True, True] Translation: X:101.75, Y:-9.97, Z:-4.67 [[ 9.55118448e-01 2.94164165e-01 3.48739914e-02 1.01752987e+02] [-2.93998356e-01 9.55754581e-01 -9.90694753e-03 -9.97209375e+00] [-3.62452460e-02 -7.90587781e-04 9.99342612e-01 -4.67104164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760385723 meters 0.019358305650784252 Centerline is valid? [True, True] Translation: X:101.78, Y:-9.99, Z:-4.67 [[ 9.55107006e-01 2.94145117e-01 3.53448206e-02 1.01781856e+02] [-2.93974475e-01 9.55760442e-01 -1.00491671e-02 -9.98826691e+00] [-3.67370948e-02 -7.92445157e-04 9.99324651e-01 -4.66885982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790385723 meters 0.019450955282565786 Centerline is valid? [True, True] Translation: X:101.81, Y:-10.00, Z:-4.67 [[ 9.55151267e-01 2.93958661e-01 3.56982167e-02 1.01812389e+02] [-2.93784110e-01 9.55817812e-01 -1.01590281e-02 -9.99841045e+00] [-3.71073257e-02 -7.84160329e-04 9.99310978e-01 -4.66973437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820385723 meters 0.01927552966440432 Centerline is valid? [True, True] Translation: X:101.84, Y:-10.01, Z:-4.67 [[ 9.55291792e-01 2.93533333e-01 3.54369118e-02 1.01843255e+02] [-2.93360700e-01 9.55948542e-01 -1.00937958e-02 -1.00075115e+01] [-3.68387297e-02 -7.53277007e-04 9.99320940e-01 -4.67156224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85038572299999 meters 0.019419317155317462 Centerline is valid? [True, True] Translation: X:101.87, Y:-10.02, Z:-4.68 [[ 9.55380165e-01 2.93344777e-01 3.46061000e-02 1.01874851e+02] [-2.93179717e-01 9.56006445e-01 -9.86562341e-03 -1.00154049e+01] [-3.59776837e-02 -7.20385673e-04 9.99352334e-01 -4.67604959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88038572299999 meters 0.0192882947336338 Centerline is valid? [True, True] Translation: X:101.91, Y:-10.02, Z:-4.68 [[ 9.55296828e-01 2.93615614e-01 3.46098448e-02 1.01906059e+02] [-2.93450283e-01 9.55923299e-01 -9.87815582e-03 -1.00237036e+01] [-3.59847378e-02 -7.19697829e-04 9.99352080e-01 -4.67662629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91038572299999 meters 0.019378688845896948 Centerline is valid? [True, True] Translation: X:101.94, Y:-10.03, Z:-4.68 [[ 9.55206044e-01 2.93739944e-01 3.60313518e-02 1.01936463e+02] [-2.93560590e-01 9.55885080e-01 -1.02904558e-02 -1.00334874e+01] [-3.74645495e-02 -7.47879364e-04 9.99297677e-01 -4.67534472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94038572299999 meters 0.019399465135222393 Centerline is valid? [True, True] Translation: X:101.97, Y:-10.04, Z:-4.68 [[ 9.55193057e-01 2.93657271e-01 3.70355504e-02 1.01966165e+02] [-2.93467330e-01 9.55910475e-01 -1.05872548e-02 -1.00425636e+01] [-3.85116949e-02 -7.55851775e-04 9.99257864e-01 -4.67525036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97038572299999 meters 0.019461690093776476 Centerline is valid? [True, True] Translation: X:102.00, Y:-10.05, Z:-4.68 [[ 9.55453813e-01 2.92761280e-01 3.74011213e-02 1.01995918e+02] [-2.92566535e-01 9.56185294e-01 -1.07007224e-02 -1.00505303e+01] [-3.88951593e-02 -7.18270443e-04 9.99243039e-01 -4.67616967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000385723 meters 0.01963411809750871 Centerline is valid? [True, True] Translation: X:102.03, Y:-10.06, Z:-4.68 [[ 9.55399257e-01 2.92971429e-01 3.71483597e-02 1.02027262e+02] [-2.92779145e-01 9.56120930e-01 -1.06367469e-02 -1.00587072e+01] [-3.86345871e-02 -7.13924902e-04 9.99253151e-01 -4.67830885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030385723 meters 0.019641340447942413 Centerline is valid? [True, True] Translation: X:102.06, Y:-10.07, Z:-4.68 [[ 9.55258987e-01 2.93512562e-01 3.64779822e-02 1.02058558e+02] [-2.93327163e-01 9.55954951e-01 -1.04550225e-02 -1.00673453e+01] [-3.79399882e-02 -7.12728823e-04 9.99279765e-01 -4.68061868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060385723 meters 0.020161910604678965 Centerline is valid? [True, True] Translation: X:102.09, Y:-10.08, Z:-4.68 [[ 9.54832452e-01 2.94940485e-01 3.61261476e-02 1.02088739e+02] [-2.94759267e-01 9.55515330e-01 -1.03648180e-02 -1.00751222e+01] [-3.75760922e-02 -7.51852183e-04 9.99293486e-01 -4.68240736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090385723 meters 0.020229337536960636 Centerline is valid? [True, True] Translation: X:102.12, Y:-10.08, Z:-4.68 [[ 9.54701546e-01 2.95323897e-01 3.64520804e-02 1.02120328e+02] [-2.95139364e-01 9.55396885e-01 -1.04664729e-02 -1.00839710e+01] [-3.79172037e-02 -7.66085962e-04 9.99280591e-01 -4.68329162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120385723 meters 0.01981389281644476 Centerline is valid? [True, True] Translation: X:102.15, Y:-10.09, Z:-4.68 [[ 9.54587615e-01 2.95424658e-01 3.85584834e-02 1.02151174e+02] [-2.95217778e-01 9.55365703e-01 -1.10831840e-02 -1.00937478e+01] [-4.01116985e-02 -8.03279598e-04 9.99194879e-01 -4.68237290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150385723 meters 0.019596067210279296 Centerline is valid? [True, True] Translation: X:102.18, Y:-10.10, Z:-4.68 [[ 9.54660648e-01 2.95059399e-01 3.95347801e-02 1.02181539e+02] [-2.94841164e-01 9.55478579e-01 -1.13742469e-02 -1.01027293e+01] [-4.11307139e-02 -7.97934699e-04 9.99153456e-01 -4.68300946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180385723 meters 0.01934200438392986 Centerline is valid? [True, True] Translation: X:102.21, Y:-10.11, Z:-4.68 [[ 9.54873600e-01 2.94284593e-01 4.01619997e-02 1.02212419e+02] [-2.94058232e-01 9.55717527e-01 -1.15656703e-02 -1.01127400e+01] [-4.17871255e-02 -7.66213424e-04 9.99126243e-01 -4.68305478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210385723 meters 0.020307552691182413 Centerline is valid? [True, True] Translation: X:102.24, Y:-10.12, Z:-4.68 [[ 9.54751148e-01 2.94647878e-01 4.04088309e-02 1.02244129e+02] [-2.94418907e-01 9.55605575e-01 -1.16401421e-02 -1.01191359e+01] [-4.20446473e-02 -7.83684820e-04 9.99115426e-01 -4.68489631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24038572299999 meters 0.019532907949698645 Centerline is valid? [True, True] Translation: X:102.27, Y:-10.13, Z:-4.69 [[ 9.54740144e-01 2.94874829e-01 3.89883734e-02 1.02274771e+02] [-2.94661433e-01 9.55535590e-01 -1.12416904e-02 -1.01300633e+01] [-4.05696699e-02 -7.55476881e-04 9.99176426e-01 -4.68629287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27038572299999 meters 0.019361641695417528 Centerline is valid? [True, True] Translation: X:102.31, Y:-10.14, Z:-4.69 [[ 9.54734347e-01 2.94960057e-01 3.84823462e-02 1.02305583e+02] [-2.94751785e-01 9.55509298e-01 -1.11070122e-02 -1.01402658e+01] [-4.00463646e-02 -7.38494240e-04 9.99197550e-01 -4.68756857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30038572299999 meters 0.019281838398786964 Centerline is valid? [True, True] Translation: X:102.34, Y:-10.15, Z:-4.69 [[ 9.54958186e-01 2.94457947e-01 3.67339246e-02 1.02336397e+02] [-2.94267407e-01 9.55664200e-01 -1.06127792e-02 -1.01517467e+01] [-3.82303138e-02 -6.74836351e-04 9.99268726e-01 -4.68886602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33038572299999 meters 0.01944523935461638 Centerline is valid? [True, True] Translation: X:102.37, Y:-10.16, Z:-4.69 [[ 9.54918409e-01 2.94702428e-01 3.57954112e-02 1.02366891e+02] [-2.94521281e-01 9.55588848e-01 -1.03521690e-02 -1.01605970e+01] [-3.72565051e-02 -6.57033602e-04 9.99305519e-01 -4.69079234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360385723 meters 0.0194696482884156 Centerline is valid? [True, True] Translation: X:102.40, Y:-10.17, Z:-4.69 [[ 9.54911923e-01 2.94814359e-01 3.50387422e-02 1.02398318e+02] [-2.94640524e-01 9.55554335e-01 -1.01427453e-02 -1.01686685e+01] [-3.64716489e-02 -6.38404987e-04 9.99334484e-01 -4.69376903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390385723 meters 0.019496359129644335 Centerline is valid? [True, True] Translation: X:102.43, Y:-10.17, Z:-4.70 [[ 9.54905939e-01 2.94684138e-01 3.62754166e-02 1.02429794e+02] [-2.94497287e-01 9.55594497e-01 -1.05121405e-02 -1.01745222e+01] [-3.77623496e-02 -6.44906419e-04 9.99286540e-01 -4.69670496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420385723 meters 0.0193091468614765 Centerline is valid? [True, True] Translation: X:102.46, Y:-10.18, Z:-4.70 [[ 9.55006657e-01 2.94176380e-01 3.77166006e-02 1.02459866e+02] [-2.93973583e-01 9.55750934e-01 -1.09400395e-02 -1.01828431e+01] [-3.92659775e-02 -6.39873686e-04 9.99228589e-01 -4.69620014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450385723 meters 0.01933932849040831 Centerline is valid? [True, True] Translation: X:102.49, Y:-10.19, Z:-4.70 [[ 9.55177003e-01 2.93587166e-01 3.79930198e-02 1.02490641e+02] [-2.93380561e-01 9.55932112e-01 -1.10292402e-02 -1.01928743e+01] [-3.95567910e-02 -6.11536919e-04 9.99217137e-01 -4.69678331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480385723 meters 0.019154062554987215 Centerline is valid? [True, True] Translation: X:102.52, Y:-10.20, Z:-4.69 [[ 9.55507291e-01 2.92407712e-01 3.87756067e-02 1.02521228e+02] [-2.92191109e-01 9.56293580e-01 -1.12669409e-02 -1.02048863e+01] [-4.03754041e-02 -5.64243319e-04 9.99184422e-01 -4.69464125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510385723 meters 0.01885009943756731 Centerline is valid? [True, True] Translation: X:102.55, Y:-10.22, Z:-4.69 [[ 9.55493379e-01 2.92367037e-01 3.94197795e-02 1.02552575e+02] [-2.92142942e-01 9.56306015e-01 -1.14589727e-02 -1.02166495e+01] [-4.10475982e-02 -5.67237831e-04 9.99157031e-01 -4.69429883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540385723 meters 0.018922361199684535 Centerline is valid? [True, True] Translation: X:102.58, Y:-10.23, Z:-4.70 [[ 9.55370908e-01 2.92793233e-01 3.92243779e-02 1.02584128e+02] [-2.92571229e-01 9.56175610e-01 -1.14139915e-02 -1.02262864e+01] [-4.08473329e-02 -5.71329000e-04 9.99165236e-01 -4.69520819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570385723 meters 0.019234813002574715 Centerline is valid? [True, True] Translation: X:102.62, Y:-10.23, Z:-4.70 [[ 9.55006693e-01 2.94157063e-01 3.78660485e-02 1.02615353e+02] [-2.93950797e-01 9.55756907e-01 -1.10300936e-02 -1.02304524e+01] [-3.94353173e-02 -5.96941949e-04 9.99221947e-01 -4.69978272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60038572299999 meters 0.019189029322826397 Centerline is valid? [True, True] Translation: X:102.65, Y:-10.24, Z:-4.70 [[ 9.54709654e-01 2.95242436e-01 3.68968864e-02 1.02646864e+02] [-2.95047076e-01 9.55422170e-01 -1.07563881e-02 -1.02375783e+01] [-3.84278455e-02 -6.17090846e-04 9.99261187e-01 -4.70330044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63038572299999 meters 0.0194194077811505 Centerline is valid? [True, True] Translation: X:102.68, Y:-10.25, Z:-4.71 [[ 9.54440627e-01 2.96196948e-01 3.62002479e-02 1.02677872e+02] [-2.96009232e-01 9.55126675e-01 -1.05626221e-02 -1.02457646e+01] [-3.77044389e-02 -6.34211897e-04 9.99288734e-01 -4.70576535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66038572299999 meters 0.0194194077811505 Centerline is valid? [True, True] Translation: X:102.71, Y:-10.25, Z:-4.71 [[ 9.54358925e-01 2.96460389e-01 3.61977836e-02 1.02708930e+02] [-2.96272542e-01 9.55044938e-01 -1.05710597e-02 -1.02549033e+01] [-3.77044105e-02 -6.35824240e-04 9.99288734e-01 -4.70722087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69038572299999 meters 0.01930145236328561 Centerline is valid? [True, True] Translation: X:102.74, Y:-10.27, Z:-4.71 [[ 9.54349928e-01 2.96586294e-01 3.53947006e-02 1.02739985e+02] [-2.96406398e-01 9.55005859e-01 -1.03468495e-02 -1.02657713e+01] [-3.68708801e-02 -6.16700664e-04 9.99319848e-01 -4.70826578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72038572299999 meters 0.019244841215023716 Centerline is valid? [True, True] Translation: X:102.77, Y:-10.28, Z:-4.71 [[ 9.54677063e-01 2.95599813e-01 3.48203472e-02 1.02770169e+02] [-2.95424672e-01 9.55311697e-01 -1.01894834e-02 -1.02767171e+01] [-3.62762943e-02 -5.59123530e-04 9.99341642e-01 -4.70812876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750385723 meters 0.019190168868353466 Centerline is valid? [True, True] Translation: X:102.80, Y:-10.29, Z:-4.71 [[ 9.54817387e-01 2.95131430e-01 3.49456213e-02 1.02801341e+02] [-2.94954381e-01 9.55456516e-01 -1.02352156e-02 -1.02859081e+01] [-3.64097553e-02 -5.34602298e-04 9.99336802e-01 -4.70877990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780385723 meters 0.019158760925041506 Centerline is valid? [True, True] Translation: X:102.83, Y:-10.29, Z:-4.71 [[ 9.54864000e-01 2.94875533e-01 3.58212342e-02 1.02832729e+02] [-2.94688963e-01 9.55535525e-01 -1.05011826e-02 -1.02943144e+01] [-3.73250036e-02 -5.28921103e-04 9.99303039e-01 -4.71016180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810385723 meters 0.0191740015471943 Centerline is valid? [True, True] Translation: X:102.87, Y:-10.30, Z:-4.71 [[ 9.54697301e-01 2.95282118e-01 3.68989809e-02 1.02865028e+02] [-2.95084086e-01 9.55409947e-01 -1.08266607e-02 -1.03027516e+01] [-3.84505727e-02 -5.52118269e-04 9.99260351e-01 -4.71094126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840385723 meters 0.019693357085193826 Centerline is valid? [True, True] Translation: X:102.90, Y:-10.31, Z:-4.71 [[ 9.54009760e-01 2.97422378e-01 3.74874342e-02 1.02896090e+02] [-2.97219175e-01 9.54745790e-01 -1.10108658e-02 -1.03107056e+01] [-3.90658479e-02 -6.37510801e-04 9.99236435e-01 -4.71156491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870385723 meters 0.02013272750355547 Centerline is valid? [True, True] Translation: X:102.93, Y:-10.32, Z:-4.71 [[ 9.53459913e-01 2.99125166e-01 3.79253055e-02 1.02926244e+02] [-2.98918136e-01 9.54213622e-01 -1.11494954e-02 -1.03179394e+01] [-3.95239378e-02 -7.05964701e-04 9.99218375e-01 -4.71220702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900385723 meters 0.020192164966507043 Centerline is valid? [True, True] Translation: X:102.96, Y:-10.33, Z:-4.71 [[ 9.52844721e-01 3.00985978e-01 3.86572028e-02 1.02957152e+02] [-3.00772029e-01 9.53628239e-01 -1.13740284e-02 -1.03270334e+01] [-4.02880233e-02 -7.89322367e-04 9.99187796e-01 -4.71284824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930385723 meters 0.021150707228449566 Centerline is valid? [True, True] Translation: X:102.99, Y:-10.33, Z:-4.71 [[ 9.51678999e-01 3.04546949e-01 3.94745425e-02 1.02988541e+02] [-3.04326453e-01 9.52496853e-01 -1.16256251e-02 -1.03330253e+01] [-4.11399261e-02 -9.49284224e-04 9.99152944e-01 -4.71444496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960385723 meters 0.02240042014415232 Centerline is valid? [True, True] Translation: X:103.02, Y:-10.34, Z:-4.72 [[ 9.51022892e-01 3.06562316e-01 3.96863487e-02 1.03019646e+02] [-3.06340965e-01 9.51850026e-01 -1.16936453e-02 -1.03387683e+01] [-4.13602830e-02 -1.03663002e-03 9.99143760e-01 -4.71583579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99038572299999 meters 0.022362245120175945 Centerline is valid? [True, True] Translation: X:103.05, Y:-10.35, Z:-4.72 [[ 9.49734318e-01 3.10486059e-01 4.00391445e-02 1.03050583e+02] [-3.10263986e-01 9.50577160e-01 -1.18034870e-02 -1.03474619e+01] [-4.17251144e-02 -1.21252790e-03 9.99128392e-01 -4.71740842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02038572299999 meters 0.02292185242829219 Centerline is valid? [True, True] Translation: X:103.08, Y:-10.35, Z:-4.72 [[ 9.49157852e-01 3.12282310e-01 3.97382700e-02 1.03080835e+02] [-3.12065030e-01 9.49988485e-01 -1.17172939e-02 -1.03540142e+01] [-4.14100026e-02 -1.27936293e-03 9.99141419e-01 -4.72020800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05038572299999 meters 0.025115450748284907 Centerline is valid? [True, True] Translation: X:103.11, Y:-10.36, Z:-4.72 [[ 9.49041064e-01 3.12768515e-01 3.86899838e-02 1.03111737e+02] [-3.12562592e-01 9.49828550e-01 -1.14171753e-02 -1.03583346e+01] [-4.03197841e-02 -1.25767342e-03 9.99186035e-01 -4.72379536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08038572299999 meters 0.022587200553989772 Centerline is valid? [True, True] Translation: X:103.14, Y:-10.37, Z:-4.72 [[ 9.49324645e-01 3.12000013e-01 3.79303299e-02 1.03140498e+02] [-3.11801110e-01 9.50081350e-01 -1.12025060e-02 -1.03743592e+01] [-3.95320811e-02 -1.19190397e-03 9.99217591e-01 -4.72381937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110385723 meters 0.023175242381774885 Centerline is valid? [True, True] Translation: X:103.17, Y:-10.38, Z:-4.73 [[ 9.49586864e-01 3.11294608e-01 3.71544683e-02 1.03170869e+02] [-3.11102849e-01 9.50312786e-01 -1.09829965e-02 -1.03821855e+01] [-3.87273139e-02 -1.12955175e-03 9.99249178e-01 -4.72653059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140385723 meters 0.02200517094178574 Centerline is valid? [True, True] Translation: X:103.20, Y:-10.39, Z:-4.73 [[ 9.49545754e-01 3.11584012e-01 3.57528128e-02 1.03201844e+02] [-3.11406369e-01 9.50217982e-01 -1.05763858e-02 -1.03932125e+01] [-3.72683983e-02 -1.09089139e-03 9.99304696e-01 -4.72891965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170385723 meters 0.022726833302648197 Centerline is valid? [True, True] Translation: X:103.23, Y:-10.40, Z:-4.73 [[ 9.49464479e-01 3.11922474e-01 3.49510074e-02 1.03233196e+02] [-3.11752561e-01 9.50106955e-01 -1.03495966e-02 -1.04010205e+01] [-3.64354670e-02 -1.06949173e-03 9.99335436e-01 -4.73199615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200385723 meters 0.022009613671956044 Centerline is valid? [True, True] Translation: X:103.26, Y:-10.41, Z:-4.73 [[ 9.49422886e-01 3.12110771e-01 3.43955040e-02 1.03263796e+02] [-3.11945975e-01 9.50045138e-01 -1.01952893e-02 -1.04136588e+01] [-3.58593410e-02 -1.04989809e-03 9.99356296e-01 -4.73219050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230385723 meters 0.023010345978705507 Centerline is valid? [True, True] Translation: X:103.29, Y:-10.42, Z:-4.73 [[ 9.49618745e-01 3.11511137e-01 3.44245719e-02 1.03294722e+02] [-3.11345275e-01 9.50241956e-01 -1.02148895e-02 -1.04203451e+01] [-3.58937244e-02 -1.01767722e-03 9.99355094e-01 -4.73433714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260385723 meters 0.021111266559158147 Centerline is valid? [True, True] Translation: X:103.33, Y:-10.43, Z:-4.74 [[ 9.50221731e-01 3.09514582e-01 3.57684859e-02 1.03325287e+02] [-3.09333688e-01 9.50894203e-01 -1.06247158e-02 -1.04321450e+01] [-3.73005504e-02 -9.68561839e-04 9.99303623e-01 -4.73513779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290385723 meters 0.021124526044242243 Centerline is valid? [True, True] Translation: X:103.36, Y:-10.44, Z:-4.74 [[ 9.50457757e-01 3.08642510e-01 3.70115238e-02 1.03355734e+02] [-3.08448055e-01 9.51177623e-01 -1.09966422e-02 -1.04405972e+01] [-3.85985645e-02 -9.64288665e-04 9.99254332e-01 -4.73659353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320385723 meters 0.02074641715180975 Centerline is valid? [True, True] Translation: X:103.39, Y:-10.45, Z:-4.74 [[ 9.51071271e-01 3.06586166e-01 3.83191968e-02 1.03385798e+02] [-3.06375632e-01 9.51842481e-01 -1.13957424e-02 -1.04518203e+01] [-3.99676163e-02 -9.01904957e-04 9.99200569e-01 -4.73665806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35038572299999 meters 0.020664247585561804 Centerline is valid? [True, True] Translation: X:103.42, Y:-10.46, Z:-4.74 [[ 9.51383425e-01 3.05626064e-01 3.82398811e-02 1.03415459e+02] [-3.05415222e-01 9.52151241e-01 -1.13822461e-02 -1.04628783e+01] [-3.98888613e-02 -8.50161528e-04 9.99203761e-01 -4.73706951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38038572299999 meters 0.020192272619737335 Centerline is valid? [True, True] Translation: X:103.45, Y:-10.48, Z:-4.74 [[ 9.52189698e-01 3.03082567e-01 3.84153138e-02 1.03445518e+02] [-3.02867279e-01 9.52964015e-01 -1.14453760e-02 -1.04762507e+01] [-4.00773056e-02 -7.36572413e-04 9.99196311e-01 -4.73685023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41038572299999 meters 0.02017228779812329 Centerline is valid? [True, True] Translation: X:103.48, Y:-10.49, Z:-4.74 [[ 9.52475336e-01 3.02136568e-01 3.87843749e-02 1.03475139e+02] [-3.01916214e-01 9.53264393e-01 -1.15583820e-02 -1.04852531e+01] [-4.04639734e-02 -7.00557856e-04 9.99180752e-01 -4.73828713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44038572299999 meters 0.02028254700691479 Centerline is valid? [True, True] Translation: X:103.51, Y:-10.49, Z:-4.74 [[ 9.52566886e-01 3.01909253e-01 3.83031409e-02 1.03506289e+02] [-3.01693796e-01 9.53336430e-01 -1.14238758e-02 -1.04907680e+01] [-3.99647534e-02 -6.73814136e-04 9.99200863e-01 -4.74377404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47038572299999 meters 0.020412410885021562 Centerline is valid? [True, True] Translation: X:103.54, Y:-10.50, Z:-4.75 [[ 9.52230950e-01 3.03096931e-01 3.72621511e-02 1.03536967e+02] [-3.02893543e-01 9.52959479e-01 -1.11235454e-02 -1.04988387e+01] [-3.88808326e-02 -6.94280717e-04 9.99243613e-01 -4.74694038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500385723 meters 0.019944498480064552 Centerline is valid? [True, True] Translation: X:103.57, Y:-10.51, Z:-4.75 [[ 9.51787570e-01 3.04656614e-01 3.58436850e-02 1.03566691e+02] [-3.04469207e-01 9.52461982e-01 -1.07086216e-02 -1.05102067e+01] [-3.74021997e-02 -7.20965380e-04 9.99300033e-01 -4.74788997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530385723 meters 0.020669063239497788 Centerline is valid? [True, True] Translation: X:103.60, Y:-10.52, Z:-4.75 [[ 9.50985550e-01 3.07477114e-01 3.29288255e-02 1.03596269e+02] [-3.07320326e-01 9.51555176e-01 -9.84699376e-03 -1.05206316e+01] [-3.43613196e-02 -7.55348619e-04 9.99409190e-01 -4.74898992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560385723 meters 0.02062752954290355 Centerline is valid? [True, True] Translation: X:103.63, Y:-10.53, Z:-4.75 [[ 9.50651627e-01 3.08642162e-01 3.16464973e-02 1.03626253e+02] [-3.08497920e-01 9.51177918e-01 -9.46579138e-03 -1.05306539e+01] [-3.30229918e-02 -7.64208646e-04 9.99454300e-01 -4.75046477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590385723 meters 0.021320556584549673 Centerline is valid? [True, True] Translation: X:103.66, Y:-10.54, Z:-4.75 [[ 9.50348818e-01 3.09559200e-01 3.17840628e-02 1.03656809e+02] [-3.09413922e-01 9.50879843e-01 -9.51573008e-03 -1.05359414e+01] [-3.31685065e-02 -7.91168705e-04 9.99449461e-01 -4.75406967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620385723 meters 0.02117863593519715 Centerline is valid? [True, True] Translation: X:103.69, Y:-10.54, Z:-4.76 [[ 9.50101604e-01 3.10219216e-01 3.27258316e-02 1.03687991e+02] [-3.10065287e-01 9.50664688e-01 -9.80656983e-03 -1.05448175e+01] [-3.41534789e-02 -8.29906643e-04 9.99416255e-01 -4.75591660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650385723 meters 0.021783168727445516 Centerline is valid? [True, True] Translation: X:103.72, Y:-10.55, Z:-4.76 [[ 9.50014165e-01 3.10303004e-01 3.44257421e-02 1.03717426e+02] [-3.10132425e-01 9.50637308e-01 -1.03241174e-02 -1.05537579e+01] [-3.59299994e-02 -8.68481100e-04 9.99353932e-01 -4.75644436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680385723 meters 0.02089898875747493 Centerline is valid? [True, True] Translation: X:103.75, Y:-10.57, Z:-4.75 [[ 9.50071198e-01 3.09978715e-01 3.57479513e-02 1.03746598e+02] [-3.09794366e-01 9.50743085e-01 -1.07255042e-02 -1.05670571e+01] [-3.73117955e-02 -8.84521269e-04 9.99303281e-01 -4.75448815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710385723 meters 0.021088681390692508 Centerline is valid? [True, True] Translation: X:103.78, Y:-10.58, Z:-4.75 [[ 9.49981960e-01 3.10010225e-01 3.77880448e-02 1.03776909e+02] [-3.09803837e-01 9.50732771e-01 -1.13481493e-02 -1.05778739e+01] [-3.94443748e-02 -9.26344133e-04 9.99221338e-01 -4.75374518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74038572299999 meters 0.021008211501152018 Centerline is valid? [True, True] Translation: X:103.81, Y:-10.59, Z:-4.75 [[ 9.50197603e-01 3.09033009e-01 4.02878834e-02 1.03806260e+02] [-3.08797046e-01 9.51050854e-01 -1.21101911e-02 -1.05881752e+01] [-4.20582747e-02 -9.33704782e-04 9.99114723e-01 -4.75209940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77038572299999 meters 0.021380934523014313 Centerline is valid? [True, True] Translation: X:103.84, Y:-10.59, Z:-4.76 [[ 9.50153575e-01 3.09101563e-01 4.07971609e-02 1.03837847e+02] [-3.08859235e-01 9.51028570e-01 -1.22732018e-02 -1.05946830e+01] [-4.25929314e-02 -9.39153362e-04 9.99092068e-01 -4.75517617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80038572299999 meters 0.02120063015828243 Centerline is valid? [True, True] Translation: X:103.87, Y:-10.60, Z:-4.76 [[ 9.49846271e-01 3.10088443e-01 4.04625647e-02 1.03868475e+02] [-3.09850469e-01 9.50707225e-01 -1.21843632e-02 -1.06028825e+01] [-4.22462828e-02 -9.64072750e-04 9.99106762e-01 -4.75835506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83038572299999 meters 0.021892249467217052 Centerline is valid? [True, True] Translation: X:103.90, Y:-10.61, Z:-4.76 [[ 9.49644518e-01 3.10852740e-01 3.93174618e-02 1.03898357e+02] [-3.10628290e-01 9.50457601e-01 -1.18496244e-02 -1.06093149e+01] [-4.10530687e-02 -9.60185085e-04 9.99156506e-01 -4.76168871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860385723 meters 0.020896301836005788 Centerline is valid? [True, True] Translation: X:103.93, Y:-10.62, Z:-4.77 [[ 9.49449941e-01 3.11699829e-01 3.72562327e-02 1.03928335e+02] [-3.11498693e-01 9.50180160e-01 -1.12351055e-02 -1.06204087e+01] [-3.89021136e-02 -9.38097572e-04 9.99242586e-01 -4.76510550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890385723 meters 0.02157628896324388 Centerline is valid? [True, True] Translation: X:103.96, Y:-10.63, Z:-4.77 [[ 9.49374739e-01 3.12068533e-01 3.60671105e-02 1.03959172e+02] [-3.11879961e-01 9.50059153e-01 -1.08855441e-02 -1.06268557e+01] [-3.76629242e-02 -9.14148408e-04 9.99290082e-01 -4.76804984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920385723 meters 0.021952166873798945 Centerline is valid? [True, True] Translation: X:103.99, Y:-10.64, Z:-4.77 [[ 9.49271919e-01 3.12440921e-01 3.55456590e-02 1.03989970e+02] [-3.12257609e-01 9.49936762e-01 -1.07393510e-02 -1.06350780e+01] [-3.71215410e-02 -9.04838113e-04 9.99310348e-01 -4.76960358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950385723 meters 0.02243204238801014 Centerline is valid? [True, True] Translation: X:104.02, Y:-10.64, Z:-4.77 [[ 9.49017887e-01 3.13310853e-01 3.46606385e-02 1.04020972e+02] [-3.13137075e-01 9.49650185e-01 -1.04736720e-02 -1.06431542e+01] [-3.61969968e-02 -9.13828895e-04 9.99344256e-01 -4.77161536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980385723 meters 0.023217301127276473 Centerline is valid? [True, True] Translation: X:104.05, Y:-10.65, Z:-4.78 [[ 9.48704210e-01 3.14552151e-01 3.18946192e-02 1.04051573e+02] [-3.14405423e-01 9.49239789e-01 -9.64642336e-03 -1.06489709e+01] [-3.33099448e-02 -8.76238787e-04 9.99444686e-01 -4.77632475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010385723 meters 0.022291706058557043 Centerline is valid? [True, True] Translation: X:104.08, Y:-10.66, Z:-4.78 [[ 9.48662778e-01 3.14771614e-01 3.09477826e-02 1.04082462e+02] [-3.14633510e-01 9.49167055e-01 -9.36242508e-03 -1.06587258e+01] [-3.23216414e-02 -8.55425307e-04 9.99477153e-01 -4.77978393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040385723 meters 0.022215785894264584 Centerline is valid? [True, True] Translation: X:104.11, Y:-10.67, Z:-4.78 [[ 9.49194796e-01 3.13204634e-01 3.05302536e-02 1.04112210e+02] [-3.13069170e-01 9.49685339e-01 -9.24402844e-03 -1.06671650e+01] [-3.18894068e-02 -7.83697461e-04 9.99491096e-01 -4.78356637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070385723 meters 0.021032887082734972 Centerline is valid? [True, True] Translation: X:104.14, Y:-10.68, Z:-4.78 [[ 9.49648242e-01 3.11711058e-01 3.16927993e-02 1.04141629e+02] [-3.11563999e-01 9.50176640e-01 -9.60352113e-03 -1.06800901e+01] [-3.31072813e-02 -7.54368334e-04 9.99451519e-01 -4.78291909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10038572299999 meters 0.020176142521387545 Centerline is valid? [True, True] Translation: X:104.17, Y:-10.69, Z:-4.78 [[ 9.50957568e-01 3.07325419e-01 3.50826208e-02 1.04170669e+02] [-3.07141791e-01 9.51604255e-01 -1.06424560e-02 -1.06935291e+01] [-3.66554685e-02 -6.54814900e-04 9.99327748e-01 -4.77987738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13038572299999 meters 0.019673438766999254 Centerline is valid? [True, True] Translation: X:104.20, Y:-10.70, Z:-4.78 [[ 9.51506406e-01 3.05400327e-01 3.69621293e-02 1.04201153e+02] [-3.05195002e-01 9.52223853e-01 -1.12135676e-02 -1.07045302e+01] [-3.86208484e-02 -6.10875652e-04 9.99253750e-01 -4.77968760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16038572299999 meters 0.019695043347542043 Centerline is valid? [True, True] Translation: X:104.23, Y:-10.71, Z:-4.78 [[ 9.51916079e-01 3.03995382e-01 3.79813911e-02 1.04230815e+02] [-3.03777048e-01 9.52673341e-01 -1.15330099e-02 -1.07128736e+01] [-3.96898404e-02 -5.59417352e-04 9.99211891e-01 -4.78091311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19038572299999 meters 0.019220351223250068 Centerline is valid? [True, True] Translation: X:104.26, Y:-10.72, Z:-4.78 [[ 9.52309217e-01 3.02459737e-01 4.03145586e-02 1.04261177e+02] [-3.02211938e-01 9.53162023e-01 -1.22516700e-02 -1.07232996e+01] [-4.21319431e-02 -5.16162598e-04 9.99111922e-01 -4.78120496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22038572299999 meters 0.01927247862356 Centerline is valid? [True, True] Translation: X:104.29, Y:-10.73, Z:-4.78 [[ 9.52475324e-01 3.01769779e-01 4.15422411e-02 1.04290936e+02] [-3.01505508e-01 9.53380701e-01 -1.26359709e-02 -1.07321307e+01] [-4.34187251e-02 -4.89764006e-04 9.99056842e-01 -4.78192464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250385723 meters 0.019104810234807368 Centerline is valid? [True, True] Translation: X:104.32, Y:-10.74, Z:-4.78 [[ 9.52692186e-01 3.00998142e-01 4.21629744e-02 1.04320871e+02] [-3.00724698e-01 9.53624619e-01 -1.28351525e-02 -1.07425847e+01] [-4.40710075e-02 -4.51498273e-04 9.99028299e-01 -4.78217164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280385723 meters 0.01898771727367786 Centerline is valid? [True, True] Translation: X:104.35, Y:-10.75, Z:-4.78 [[ 9.52591842e-01 3.01402183e-01 4.15392233e-02 1.04352316e+02] [-3.01137004e-01 9.53496991e-01 -1.26488006e-02 -1.07532349e+01] [-4.34199005e-02 -4.59853009e-04 9.99056806e-01 -4.78406706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310385723 meters 0.01901210349793555 Centerline is valid? [True, True] Translation: X:104.38, Y:-10.76, Z:-4.79 [[ 9.52437794e-01 3.02007309e-01 4.06673613e-02 1.04382739e+02] [-3.01753173e-01 9.53305496e-01 -1.23957203e-02 -1.07614051e+01] [-4.25120172e-02 -4.65352749e-04 9.99095847e-01 -4.78637624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340385723 meters 0.019286327077705896 Centerline is valid? [True, True] Translation: X:104.41, Y:-10.77, Z:-4.79 [[ 9.51514336e-01 3.05229534e-01 3.81497074e-02 1.04414243e+02] [-3.05008080e-01 9.52278644e-01 -1.16385355e-02 -1.07661164e+01] [-3.98815764e-02 -5.61735593e-04 9.99204256e-01 -4.79276810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370385723 meters 0.019868067474431796 Centerline is valid? [True, True] Translation: X:104.44, Y:-10.77, Z:-4.80 [[ 9.50383732e-01 3.09091538e-01 3.51167011e-02 1.04444076e+02] [-3.08906182e-01 9.51032065e-01 -1.07229340e-02 -1.07726643e+01] [-3.67114770e-02 -6.56864034e-04 9.99325691e-01 -4.79606566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400385723 meters 0.020132054315190582 Centerline is valid? [True, True] Translation: X:104.47, Y:-10.78, Z:-4.80 [[ 9.49854018e-01 3.10772224e-01 3.46116860e-02 1.04474553e+02] [-3.10593196e-01 9.50484151e-01 -1.05709204e-02 -1.07822619e+01] [-3.61830075e-02 -7.09322966e-04 9.99344929e-01 -4.79766959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430385723 meters 0.020476959355424006 Centerline is valid? [True, True] Translation: X:104.50, Y:-10.79, Z:-4.80 [[ 9.49409388e-01 3.12158645e-01 3.43335813e-02 1.04504903e+02] [-3.11983016e-01 9.50029696e-01 -1.04963657e-02 -1.07914241e+01] [-3.58944532e-02 -7.46146108e-04 9.99355308e-01 -4.79861591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460385723 meters 0.02098458325704905 Centerline is valid? [True, True] Translation: X:104.54, Y:-10.80, Z:-4.80 [[ 9.48538985e-01 3.14600297e-01 3.60617231e-02 1.04535711e+02] [-3.14408202e-01 9.49223831e-01 -1.10272851e-02 -1.07978001e+01] [-3.76998341e-02 -8.78291701e-04 9.99288723e-01 -4.79992166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49038572299999 meters 0.022469476809195327 Centerline is valid? [True, True] Translation: X:104.57, Y:-10.80, Z:-4.80 [[ 9.48088614e-01 3.15770414e-01 3.76434033e-02 1.04566361e+02] [-3.15561630e-01 9.48835145e-01 -1.15206817e-02 -1.08024073e+01] [-3.93552745e-02 -9.56186534e-04 9.99224824e-01 -4.80138250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52038572299999 meters 0.022398909726592777 Centerline is valid? [True, True] Translation: X:104.60, Y:-10.81, Z:-4.80 [[ 9.47184933e-01 3.18206431e-01 3.98166970e-02 1.04596624e+02] [-3.17974561e-01 9.48020800e-01 -1.21959391e-02 -1.08120580e+01] [-4.16278832e-02 -1.10888700e-03 9.99132569e-01 -4.80093913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55038572299999 meters 0.022591968212375132 Centerline is valid? [True, True] Translation: X:104.63, Y:-10.82, Z:-4.80 [[ 9.46744804e-01 3.19478618e-01 4.00959936e-02 1.04627376e+02] [-3.19244186e-01 9.47592771e-01 -1.22918585e-02 -1.08221784e+01] [-4.19216597e-02 -1.16315970e-03 9.99120224e-01 -4.80158045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58038572299999 meters 0.022591968212375132 Centerline is valid? [True, True] Translation: X:104.66, Y:-10.83, Z:-4.80 [[ 9.46658600e-01 3.19734323e-01 4.00931208e-02 1.04658317e+02] [-3.19499724e-01 9.47506521e-01 -1.23012216e-02 -1.08317486e+01] [-4.19216161e-02 -1.16468377e-03 9.99120224e-01 -4.80303634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610385723 meters 0.023942906212303116 Centerline is valid? [True, True] Translation: X:104.69, Y:-10.84, Z:-4.80 [[ 9.45834594e-01 3.22127112e-01 4.03861869e-02 1.04688218e+02] [-3.21890732e-01 9.46695577e-01 -1.24032998e-02 -1.08401356e+01] [-4.22288636e-02 -1.26846921e-03 9.99107158e-01 -4.80210412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640385723 meters 0.025075344897158486 Centerline is valid? [True, True] Translation: X:104.72, Y:-10.85, Z:-4.80 [[ 9.45414004e-01 3.23273186e-01 4.10707578e-02 1.04718452e+02] [-3.23029375e-01 9.46304745e-01 -1.26234582e-02 -1.08470789e+01] [-4.29462786e-02 -1.33266705e-03 9.99076494e-01 -4.80331408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670385723 meters 0.02488453470825708 Centerline is valid? [True, True] Translation: X:104.75, Y:-10.86, Z:-4.81 [[ 9.45276196e-01 3.23607492e-01 4.16065524e-02 1.04749895e+02] [-3.23357131e-01 9.46190443e-01 -1.27988921e-02 -1.08562100e+01] [-4.35095396e-02 -1.35528741e-03 9.99052092e-01 -4.80571805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700385723 meters 0.025370161445874145 Centerline is valid? [True, True] Translation: X:104.78, Y:-10.86, Z:-4.81 [[ 9.45241588e-01 3.23629858e-01 4.22143918e-02 1.04781790e+02] [-3.23371589e-01 9.46182781e-01 -1.29985095e-02 -1.08631438e+01] [-4.41492364e-02 -1.36420316e-03 9.99024016e-01 -4.80816984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730385723 meters 0.025960668245966195 Centerline is valid? [True, True] Translation: X:104.81, Y:-10.87, Z:-4.81 [[ 9.45113289e-01 3.23996898e-01 4.22715092e-02 1.04811672e+02] [-3.23737919e-01 9.46057144e-01 -1.30246197e-02 -1.08716884e+01] [-4.42111997e-02 -1.37514922e-03 9.99021260e-01 -4.80944076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760385723 meters 0.026489740690355097 Centerline is valid? [True, True] Translation: X:104.84, Y:-10.88, Z:-4.81 [[ 9.45048484e-01 3.24381440e-01 4.07436507e-02 1.04840609e+02] [-3.24140968e-01 9.45925416e-01 -1.25594509e-02 -1.08815734e+01] [-4.26145075e-02 -1.33739635e-03 9.99090694e-01 -4.81165472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790385723 meters 0.026701314271685827 Centerline is valid? [True, True] Translation: X:104.87, Y:-10.89, Z:-4.81 [[ 9.44913977e-01 3.24941523e-01 3.93774391e-02 1.04871341e+02] [-3.24717247e-01 9.45733198e-01 -1.21419939e-02 -1.08908803e+01] [-4.11859894e-02 -1.31339389e-03 9.99150634e-01 -4.81443375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820385723 meters 0.024502557106019087 Centerline is valid? [True, True] Translation: X:104.90, Y:-10.90, Z:-4.82 [[ 9.44471118e-01 3.26532509e-01 3.67536227e-02 1.04900721e+02] [-3.26338011e-01 9.45185101e-01 -1.13413814e-02 -1.09037085e+01] [-3.84423063e-02 -1.28249692e-03 9.99259998e-01 -4.81886596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85038572299999 meters 0.02484004826844626 Centerline is valid? [True, True] Translation: X:104.93, Y:-10.91, Z:-4.82 [[ 9.44228289e-01 3.27302551e-01 3.61383277e-02 1.04930706e+02] [-3.27114712e-01 9.44918724e-01 -1.11611039e-02 -1.09123019e+01] [-3.78008403e-02 -1.28274859e-03 9.99284470e-01 -4.82105990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88038572299999 meters 0.023936151418643768 Centerline is valid? [True, True] Translation: X:104.96, Y:-10.93, Z:-4.82 [[ 9.43964402e-01 3.28247351e-01 3.44221446e-02 1.04960640e+02] [-3.28077288e-01 9.44590976e-01 -1.06386438e-02 -1.09252338e+01] [-3.60069538e-02 -1.25062279e-03 9.99350757e-01 -4.82200329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91038572299999 meters 0.02420786663907211 Centerline is valid? [True, True] Translation: X:104.99, Y:-10.93, Z:-4.82 [[ 9.43810343e-01 3.28753159e-01 3.38141598e-02 1.04991118e+02] [-3.28589067e-01 9.44415070e-01 -1.04594706e-02 -1.09345827e+01] [-3.53731861e-02 -1.23920667e-03 9.99373405e-01 -4.82375119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94038572299999 meters 0.024241742978954605 Centerline is valid? [True, True] Translation: X:105.02, Y:-10.94, Z:-4.83 [[ 9.43702908e-01 3.29069707e-01 3.37335113e-02 1.05022708e+02] [-3.28906298e-01 9.44304818e-01 -1.04430564e-02 -1.09440184e+01] [-3.52912108e-02 -1.24002162e-03 9.99376302e-01 -4.82525868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97038572299999 meters 0.023441062775484477 Centerline is valid? [True, True] Translation: X:105.05, Y:-10.96, Z:-4.83 [[ 9.43606884e-01 3.29320376e-01 3.39726169e-02 1.05053853e+02] [-3.29154437e-01 9.44217417e-01 -1.05273462e-02 -1.09562184e+01] [-3.55444062e-02 -1.24856126e-03 9.99367318e-01 -4.82594406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000385723 meters 0.02355918045186888 Centerline is valid? [True, True] Translation: X:105.08, Y:-10.97, Z:-4.83 [[ 9.43766587e-01 3.28825780e-01 3.43254225e-02 1.05084524e+02] [-3.28655601e-01 9.44389798e-01 -1.06491648e-02 -1.09665152e+01] [-3.59182987e-02 -1.23091641e-03 9.99353972e-01 -4.82683390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030385723 meters 0.02289695660232914 Centerline is valid? [True, True] Translation: X:105.11, Y:-10.98, Z:-4.83 [[ 9.44452824e-01 3.26763355e-01 3.51364761e-02 1.05114246e+02] [-3.26583531e-01 9.45105456e-01 -1.09029499e-02 -1.09795712e+01] [-3.67703597e-02 -1.17767261e-03 9.99323048e-01 -4.82669953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060385723 meters 0.02293842740367528 Centerline is valid? [True, True] Translation: X:105.14, Y:-10.99, Z:-4.83 [[ 9.44666240e-01 3.26067191e-01 3.58592068e-02 1.05144207e+02] [-3.25879017e-01 9.45345879e-01 -1.11371364e-02 -1.09895440e+01] [-3.75308081e-02 -1.16488630e-03 9.99294792e-01 -4.82770323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090385723 meters 0.023137685655930097 Centerline is valid? [True, True] Translation: X:105.17, Y:-11.00, Z:-4.83 [[ 9.45034885e-01 3.24820337e-01 3.74274715e-02 1.05173754e+02] [-3.24613946e-01 9.45775035e-01 -1.16348385e-02 -1.09988713e+01] [-3.91772003e-02 -1.15415092e-03 9.99231612e-01 -4.82857243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120385723 meters 0.022337972830807906 Centerline is valid? [True, True] Translation: X:105.20, Y:-11.01, Z:-4.83 [[ 9.45005658e-01 3.24897817e-01 3.74928755e-02 1.05204945e+02] [-3.24690416e-01 9.45748425e-01 -1.16640378e-02 -1.10109008e+01] [-3.92484484e-02 -1.15099563e-03 9.99228820e-01 -4.82920949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150385723 meters 0.021724043118574884 Centerline is valid? [True, True] Translation: X:105.24, Y:-11.02, Z:-4.83 [[ 9.45219481e-01 3.24327612e-01 3.70369050e-02 1.05235377e+02] [-3.24124358e-01 9.45944175e-01 -1.15333077e-02 -1.10223521e+01] [-3.87754147e-02 -1.10305595e-03 9.99247342e-01 -4.83058226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180385723 meters 0.022685739749889765 Centerline is valid? [True, True] Translation: X:105.27, Y:-11.03, Z:-4.83 [[ 9.45200731e-01 3.24357777e-01 3.72506451e-02 1.05265921e+02] [-3.24151808e-01 9.45933835e-01 -1.16097365e-02 -1.10299212e+01] [-3.90023539e-02 -1.10133252e-03 9.99238512e-01 -4.83216143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210385723 meters 0.02202976231913781 Centerline is valid? [True, True] Translation: X:105.30, Y:-11.04, Z:-4.83 [[ 9.44978948e-01 3.24976891e-01 3.74807762e-02 1.05296923e+02] [-3.24768438e-01 9.45721289e-01 -1.16920640e-02 -1.10408274e+01] [-3.92460186e-02 -1.12381887e-03 9.99228946e-01 -4.83279696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24038572299999 meters 0.022533148173742173 Centerline is valid? [True, True] Translation: X:105.33, Y:-11.05, Z:-4.83 [[ 9.44850742e-01 3.25395933e-01 3.70750921e-02 1.05327704e+02] [-3.25191857e-01 9.45577197e-01 -1.15767150e-02 -1.10482994e+01] [-3.88243776e-02 -1.11825022e-03 9.99245424e-01 -4.83481914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27038572299999 meters 0.02265108291851674 Centerline is valid? [True, True] Translation: X:105.36, Y:-11.06, Z:-4.84 [[ 9.44506131e-01 3.26488086e-01 3.62449866e-02 1.05358922e+02] [-3.26293469e-01 9.45200644e-01 -1.13275579e-02 -1.10570556e+01] [-3.79570974e-02 -1.12755455e-03 9.99278734e-01 -4.83702405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30038572299999 meters 0.023089720156501858 Centerline is valid? [True, True] Translation: X:105.39, Y:-11.06, Z:-4.84 [[ 9.44299306e-01 3.27186171e-01 3.53274794e-02 1.05388591e+02] [-3.27001438e-01 9.44959237e-01 -1.10498704e-02 -1.10645262e+01] [-3.69983928e-02 -1.11775167e-03 9.99314700e-01 -4.83988810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33038572299999 meters 0.02278291969941705 Centerline is valid? [True, True] Translation: X:105.42, Y:-11.07, Z:-4.84 [[ 9.44161302e-01 3.27627954e-01 3.49193257e-02 1.05420208e+02] [-3.27447480e-01 9.44806161e-01 -1.09300769e-02 -1.10745078e+01] [-3.65729928e-02 -1.11448960e-03 9.99330363e-01 -4.84189779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360385723 meters 0.02373387698753059 Centerline is valid? [True, True] Translation: X:105.45, Y:-11.08, Z:-4.84 [[ 9.43770790e-01 3.28651200e-01 3.58480700e-02 1.05450965e+02] [-3.28461304e-01 9.44450639e-01 -1.12321571e-02 -1.10802071e+01] [-3.75481945e-02 -1.17412208e-03 9.99294128e-01 -4.84419036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390385723 meters 0.022853422957483265 Centerline is valid? [True, True] Translation: X:105.48, Y:-11.09, Z:-4.84 [[ 9.43676777e-01 3.28933883e-01 3.57301203e-02 1.05482420e+02] [-3.28745137e-01 9.44352224e-01 -1.12032399e-02 -1.10914741e+01] [-3.74269438e-02 -1.17386600e-03 9.99298677e-01 -4.84484194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420385723 meters 0.022551770395215377 Centerline is valid? [True, True] Translation: X:105.51, Y:-11.10, Z:-4.84 [[ 9.43746429e-01 3.28773160e-01 3.53678776e-02 1.05512147e+02] [-3.28587710e-01 9.44408226e-01 -1.11004169e-02 -1.11037212e+01] [-3.70512337e-02 -1.14547106e-03 9.99312711e-01 -4.84416052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450385723 meters 0.022391098518037878 Centerline is valid? [True, True] Translation: X:105.54, Y:-11.11, Z:-4.85 [[ 9.43675977e-01 3.28979669e-01 3.53274492e-02 1.05543041e+02] [-3.28794451e-01 9.44336312e-01 -1.10968319e-02 -1.11145563e+01] [-3.70116252e-02 -1.14365555e-03 9.99314181e-01 -4.84502269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480385723 meters 0.02248864817166521 Centerline is valid? [True, True] Translation: X:105.57, Y:-11.12, Z:-4.85 [[ 9.43567189e-01 3.29294334e-01 3.53015645e-02 1.05574136e+02] [-3.29109202e-01 9.44226631e-01 -1.10996440e-02 -1.11235912e+01] [-3.69877272e-02 -1.14480986e-03 9.99315064e-01 -4.84655805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510385723 meters 0.023522570614774262 Centerline is valid? [True, True] Translation: X:105.60, Y:-11.13, Z:-4.85 [[ 9.43218883e-01 3.30233670e-01 3.58310218e-02 1.05604534e+02] [-3.30043177e-01 9.43898465e-01 -1.12778447e-02 -1.11284969e+01] [-3.75451705e-02 -1.18830826e-03 9.99294225e-01 -4.84966088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540385723 meters 0.023431453174545504 Centerline is valid? [True, True] Translation: X:105.64, Y:-11.14, Z:-4.85 [[ 9.42820702e-01 3.31417537e-01 3.53771241e-02 1.05635538e+02] [-3.31232358e-01 9.43483412e-01 -1.11434783e-02 -1.11379399e+01] [-3.70708738e-02 -1.21174615e-03 9.99311904e-01 -4.85160583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570385723 meters 0.025428361125200825 Centerline is valid? [True, True] Translation: X:105.67, Y:-11.14, Z:-4.86 [[ 9.42449549e-01 3.32671374e-01 3.34455526e-02 1.05666673e+02] [-3.32506354e-01 9.43042075e-01 -1.05437017e-02 -1.11427863e+01] [-3.50481510e-02 -1.18395181e-03 9.99384924e-01 -4.85544045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60038572299999 meters 0.026574991673782584 Centerline is valid? [True, True] Translation: X:105.70, Y:-11.15, Z:-4.86 [[ 9.42097008e-01 3.33657314e-01 3.35562828e-02 1.05696928e+02] [-3.33491518e-01 9.42693650e-01 -1.05872762e-02 -1.11497148e+01] [-3.51658168e-02 -1.21649446e-03 9.99380751e-01 -4.85720645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63038572299999 meters 0.025863614595065938 Centerline is valid? [True, True] Translation: X:105.73, Y:-11.16, Z:-4.86 [[ 9.41879902e-01 3.34194164e-01 3.43002973e-02 1.05727868e+02] [-3.34021014e-01 9.42503412e-01 -1.08296276e-02 -1.11603854e+01] [-3.59473456e-02 -1.25681148e-03 9.99352895e-01 -4.85730513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66038572299999 meters 0.02336749622282246 Centerline is valid? [True, True] Translation: X:105.76, Y:-11.18, Z:-4.86 [[ 9.41886588e-01 3.34027704e-01 3.57092291e-02 1.05757548e+02] [-3.33839472e-01 9.42562373e-01 -1.12862841e-02 -1.11751895e+01] [-3.74281073e-02 -1.29075059e-03 9.99298489e-01 -4.85579525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69038572299999 meters 0.023197671063063818 Centerline is valid? [True, True] Translation: X:105.79, Y:-11.19, Z:-4.86 [[ 9.42000880e-01 3.33680804e-01 3.59369250e-02 1.05787895e+02] [-3.33489795e-01 9.42685248e-01 -1.13613307e-02 -1.11856173e+01] [-3.76682670e-02 -1.28221420e-03 9.99289476e-01 -4.85651961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72038572299999 meters 0.026121082875535273 Centerline is valid? [True, True] Translation: X:105.82, Y:-11.19, Z:-4.86 [[ 9.42268179e-01 3.32939637e-01 3.58033203e-02 1.05818943e+02] [-3.32749121e-01 9.42947329e-01 -1.13294840e-02 -1.11892637e+01] [-3.75326795e-02 -1.23811114e-03 9.99294634e-01 -4.85874031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750385723 meters 0.022440713701331168 Centerline is valid? [True, True] Translation: X:105.85, Y:-11.21, Z:-4.86 [[ 9.42419980e-01 3.32487094e-01 3.60126840e-02 1.05847989e+02] [-3.32293832e-01 9.43107013e-01 -1.14005266e-02 -1.12052318e+01] [-3.77543428e-02 -1.22270875e-03 9.99286303e-01 -4.85944768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780385723 meters 0.02185166442686406 Centerline is valid? [True, True] Translation: X:105.88, Y:-11.22, Z:-4.86 [[ 9.43158656e-01 3.30428212e-01 3.56222678e-02 1.05878587e+02] [-3.30237254e-01 9.43830465e-01 -1.12875512e-02 -1.12161597e+01] [-3.73511070e-02 -1.11784825e-03 9.99301579e-01 -4.86153459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810385723 meters 0.021746958350141076 Centerline is valid? [True, True] Translation: X:105.91, Y:-11.23, Z:-4.86 [[ 9.43520040e-01 3.29350649e-01 3.60289298e-02 1.05908126e+02] [-3.29154426e-01 9.44207060e-01 -1.14189040e-02 -1.12263963e+01] [-3.77795933e-02 -1.08511694e-03 9.99285507e-01 -4.86261420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840385723 meters 0.021270626092292473 Centerline is valid? [True, True] Translation: X:105.94, Y:-11.24, Z:-4.86 [[ 9.44531364e-01 3.26369328e-01 3.66546691e-02 1.05936691e+02] [-3.26163575e-01 9.45241829e-01 -1.16278438e-02 -1.12363181e+01] [-3.84424980e-02 -9.72554725e-04 9.99260341e-01 -4.86314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870385723 meters 0.02149941839206374 Centerline is valid? [True, True] Translation: X:105.97, Y:-11.24, Z:-4.86 [[ 9.45070023e-01 3.24781642e-01 3.68718926e-02 1.05967103e+02] [-3.24572257e-01 9.45788586e-01 -1.16961668e-02 -1.12444094e+01] [-3.86717155e-02 -9.13896782e-04 9.99251552e-01 -4.86483939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900385723 meters 0.02012616227781201 Centerline is valid? [True, True] Translation: X:106.00, Y:-11.26, Z:-4.87 [[ 9.45521277e-01 3.23457969e-01 3.69385540e-02 1.05997040e+02] [-3.23246475e-01 9.46242154e-01 -1.17261022e-02 -1.12574814e+01] [-3.87457181e-02 -8.52978293e-04 9.99248739e-01 -4.86571510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930385723 meters 0.02021377685270737 Centerline is valid? [True, True] Translation: X:106.03, Y:-11.27, Z:-4.87 [[ 9.46374545e-01 3.21020765e-01 3.63440254e-02 1.06027028e+02] [-3.20813832e-01 9.47071874e-01 -1.15477917e-02 -1.12669706e+01] [-3.81274852e-02 -7.31129982e-04 9.99272616e-01 -4.86728942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960385723 meters 0.01946396651999868 Centerline is valid? [True, True] Translation: X:106.06, Y:-11.28, Z:-4.87 [[ 9.46754415e-01 3.19929661e-01 3.60706312e-02 1.06057493e+02] [-3.19724814e-01 9.47441056e-01 -1.14668422e-02 -1.12787059e+01] [-3.78433798e-02 -6.76392352e-04 9.99283454e-01 -4.86830223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99038572299999 meters 0.019463183301960344 Centerline is valid? [True, True] Translation: X:106.09, Y:-11.29, Z:-4.87 [[ 9.47075080e-01 3.19026772e-01 3.56470324e-02 1.06087467e+02] [-3.18825985e-01 9.47745494e-01 -1.13344663e-02 -1.12855307e+01] [-3.74003125e-02 -6.30609651e-04 9.99300165e-01 -4.87080261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02038572299999 meters 0.019401258428108137 Centerline is valid? [True, True] Translation: X:106.12, Y:-11.30, Z:-4.87 [[ 9.46955837e-01 3.19374100e-01 3.57047212e-02 1.06119017e+02] [-3.19172597e-01 9.47628502e-01 -1.13611548e-02 -1.12950278e+01] [-3.74632700e-02 -6.37456702e-04 9.99297802e-01 -4.87265362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05038572299999 meters 0.019642859578455397 Centerline is valid? [True, True] Translation: X:106.15, Y:-11.30, Z:-4.88 [[ 9.46815713e-01 3.19862506e-01 3.50425860e-02 1.06150145e+02] [-3.19668360e-01 9.47463759e-01 -1.11608715e-02 -1.13006593e+01] [-3.67715246e-02 -6.34717512e-04 9.99323497e-01 -4.87586211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08038572299999 meters 0.01966171972090834 Centerline is valid? [True, True] Translation: X:106.18, Y:-11.31, Z:-4.88 [[ 9.46508356e-01 3.20835532e-01 3.44455193e-02 1.06180703e+02] [-3.20648208e-01 9.47134699e-01 -1.09813123e-02 -1.13097397e+01] [-3.61477417e-02 -6.50990168e-04 9.99346245e-01 -4.87715690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110385723 meters 0.019655598569409766 Centerline is valid? [True, True] Translation: X:106.21, Y:-11.32, Z:-4.88 [[ 9.46137609e-01 3.21843623e-01 3.52180058e-02 1.06212776e+02] [-3.21648150e-01 9.46792584e-01 -1.12369741e-02 -1.13184956e+01] [-3.69606951e-02 -6.96082636e-04 9.99316478e-01 -4.87726525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140385723 meters 0.01950933957490829 Centerline is valid? [True, True] Translation: X:106.24, Y:-11.33, Z:-4.88 [[ 9.45844613e-01 3.22625232e-01 3.59294912e-02 1.06244073e+02] [-3.22421926e-01 9.46526505e-01 -1.14750210e-02 -1.13275660e+01] [-3.77103471e-02 -7.30869021e-04 9.99288445e-01 -4.87720807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170385723 meters 0.019728817645511824 Centerline is valid? [True, True] Translation: X:106.28, Y:-11.33, Z:-4.88 [[ 9.45308042e-01 3.24033915e-01 3.73460528e-02 1.06275650e+02] [-3.23814880e-01 9.46045121e-01 -1.19395364e-02 -1.13341458e+01] [-3.91998658e-02 -8.06667793e-04 9.99231064e-01 -4.87731774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200385723 meters 0.019636157213355796 Centerline is valid? [True, True] Translation: X:106.31, Y:-11.34, Z:-4.88 [[ 9.45031603e-01 3.24917817e-01 3.66562500e-02 1.06306560e+02] [-3.24707100e-01 9.45741900e-01 -1.17284920e-02 -1.13436207e+01] [-3.84781475e-02 -8.18749014e-04 9.99259106e-01 -4.87842958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230385723 meters 0.019577834418110323 Centerline is valid? [True, True] Translation: X:106.34, Y:-11.35, Z:-4.88 [[ 9.44759033e-01 3.25773559e-01 3.60826484e-02 1.06336733e+02] [-3.25569650e-01 9.45447459e-01 -1.15544689e-02 -1.13529244e+01] [-3.78783887e-02 -8.31226385e-04 9.99282011e-01 -4.88028804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260385723 meters 0.019824798624259215 Centerline is valid? [True, True] Translation: X:106.37, Y:-11.36, Z:-4.88 [[ 9.44508559e-01 3.26704697e-01 3.41705061e-02 1.06366494e+02] [-3.26522112e-01 9.45126118e-01 -1.09513453e-02 -1.13602317e+01] [-3.58732937e-02 -8.13786487e-04 9.99356015e-01 -4.88270640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290385723 meters 0.020022294767695566 Centerline is valid? [True, True] Translation: X:106.40, Y:-11.37, Z:-4.88 [[ 9.44547153e-01 3.26553797e-01 3.45440659e-02 1.06396567e+02] [-3.26366834e-01 9.45178270e-01 -1.10782695e-02 -1.13685792e+01] [-3.62679514e-02 -8.10089573e-04 9.99341773e-01 -4.88446506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320385723 meters 0.019415623845481567 Centerline is valid? [True, True] Translation: X:106.43, Y:-11.38, Z:-4.88 [[ 9.45026090e-01 3.25043593e-01 3.56700328e-02 1.06427411e+02] [-3.24842777e-01 9.45698723e-01 -1.14496946e-02 -1.13779730e+01] [-3.74547544e-02 -7.66892378e-04 9.99298030e-01 -4.88487262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35038572299999 meters 0.01924311672666412 Centerline is valid? [True, True] Translation: X:106.46, Y:-11.39, Z:-4.89 [[ 9.45220702e-01 3.24412646e-01 3.62527127e-02 1.06458012e+02] [-3.24204658e-01 9.45915361e-01 -1.16391570e-02 -1.13869914e+01] [-3.80678876e-02 -7.51726156e-04 9.99274873e-01 -4.88582094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38038572299999 meters 0.018866855933193653 Centerline is valid? [True, True] Translation: X:106.49, Y:-11.40, Z:-4.88 [[ 9.46064193e-01 3.21786551e-01 3.76292119e-02 1.06487450e+02] [-3.21559963e-01 9.46812008e-01 -1.20917783e-02 -1.13967287e+01] [-3.95187614e-02 -6.60449489e-04 9.99218610e-01 -4.88496078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41038572299999 meters 0.0184393985722515 Centerline is valid? [True, True] Translation: X:106.52, Y:-11.41, Z:-4.89 [[ 9.46658117e-01 3.19951507e-01 3.83333092e-02 1.06517164e+02] [-3.19714464e-01 9.47433739e-01 -1.23276617e-02 -1.14077948e+01] [-4.02625244e-02 -5.85632413e-04 9.99188964e-01 -4.88524516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44038572299999 meters 0.018233987152854365 Centerline is valid? [True, True] Translation: X:106.55, Y:-11.42, Z:-4.89 [[ 9.47246476e-01 3.18251670e-01 3.79471644e-02 1.06546984e+02] [-3.18017620e-01 9.48006132e-01 -1.22134145e-02 -1.14181421e+01] [-3.98610841e-02 -4.98753095e-04 9.99205107e-01 -4.88619852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47038572299999 meters 0.018233987152854365 Centerline is valid? [True, True] Translation: X:106.58, Y:-11.43, Z:-4.89 [[ 9.47160179e-01 3.18508750e-01 3.79443197e-02 1.06577784e+02] [-3.18274553e-01 9.47919789e-01 -1.22222454e-02 -1.14281332e+01] [-3.98610636e-02 -5.00287281e-04 9.99205107e-01 -4.88765399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500385723 meters 0.01782030288564543 Centerline is valid? [True, True] Translation: X:106.61, Y:-11.44, Z:-4.89 [[ 9.48397032e-01 3.14843174e-01 3.76410152e-02 1.06607203e+02] [-3.14609364e-01 9.49143648e-01 -1.21360076e-02 -1.14369930e+01] [-3.95476696e-02 -3.32462261e-04 9.99217630e-01 -4.88984276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530385723 meters 0.01773321632525394 Centerline is valid? [True, True] Translation: X:106.64, Y:-11.45, Z:-4.89 [[ 9.48847507e-01 3.13472068e-01 3.77315537e-02 1.06637728e+02] [-3.13235689e-01 9.49597384e-01 -1.21742485e-02 -1.14453395e+01] [-3.96460715e-02 -2.67363848e-04 9.99213750e-01 -4.89233809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560385723 meters 0.017565629925684827 Centerline is valid? [True, True] Translation: X:106.67, Y:-11.45, Z:-4.90 [[ 9.49832765e-01 3.10558596e-01 3.70280533e-02 1.06667152e+02] [-3.10328370e-01 9.50554228e-01 -1.19566886e-02 -1.14539088e+01] [-3.89104251e-02 -1.34000867e-04 9.99242694e-01 -4.89561582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590385723 meters 0.01752184684538676 Centerline is valid? [True, True] Translation: X:106.70, Y:-11.46, Z:-4.90 [[ 9.50226438e-01 3.09416381e-01 3.64858818e-02 1.06697908e+02] [-3.09191694e-01 9.50926652e-01 -1.17897945e-02 -1.14645137e+01] [-3.83433530e-02 -7.81572162e-05 9.99264620e-01 -4.89705053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620385723 meters 0.01753950871797198 Centerline is valid? [True, True] Translation: X:106.73, Y:-11.47, Z:-4.90 [[ 9.50982907e-01 3.07166816e-01 3.57779063e-02 1.06728988e+02] [-3.06948794e-01 9.51655687e-01 -1.15711327e-02 -1.14744229e+01] [-3.76025160e-02 2.19641928e-05 9.99292775e-01 -4.89819390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650385723 meters 0.017403564414873656 Centerline is valid? [True, True] Translation: X:106.76, Y:-11.48, Z:-4.90 [[ 9.51078098e-01 3.07085232e-01 3.38985456e-02 1.06759707e+02] [-3.06889106e-01 9.51682016e-01 -1.09734773e-02 -1.14815372e+01] [-3.56304291e-02 3.35395764e-05 9.99365034e-01 -4.90070267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680385723 meters 0.017419558987056563 Centerline is valid? [True, True] Translation: X:106.79, Y:-11.49, Z:-4.90 [[ 9.50711250e-01 3.08307457e-01 3.30852183e-02 1.06791857e+02] [-3.08121115e-01 9.51286766e-01 -1.07175773e-02 -1.14899082e+01] [-3.47778394e-02 -4.93306384e-06 9.99395068e-01 -4.90321114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710385723 meters 0.017371732824391063 Centerline is valid? [True, True] Translation: X:106.82, Y:-11.50, Z:-4.90 [[ 9.50258355e-01 3.09760841e-01 3.25158524e-02 1.06823846e+02] [-3.09581392e-01 9.50814503e-01 -1.05423950e-02 -1.14975331e+01] [-3.41821652e-02 -4.83039242e-05 9.99415618e-01 -4.90475781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74038572299999 meters 0.01720334098064919 Centerline is valid? [True, True] Translation: X:106.86, Y:-11.50, Z:-4.91 [[ 9.49151904e-01 3.13184897e-01 3.20294071e-02 1.06856309e+02] [-3.13012385e-01 9.49692158e-01 -1.03947985e-02 -1.15016110e+01] [-3.36735707e-02 -1.59358292e-04 9.99432872e-01 -4.90673425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77038572299999 meters 0.017393524938545648 Centerline is valid? [True, True] Translation: X:106.89, Y:-11.51, Z:-4.91 [[ 9.48584815e-01 3.14829421e-01 3.26999312e-02 1.06887277e+02] [-3.14650280e-01 9.49148245e-01 -1.06212723e-02 -1.15079828e+01] [-3.43809713e-02 -2.13864881e-04 9.99408777e-01 -4.90964003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80038572299999 meters 0.01727848674877248 Centerline is valid? [True, True] Translation: X:106.92, Y:-11.51, Z:-4.91 [[ 9.47361544e-01 3.18474916e-01 3.28608265e-02 1.06919367e+02] [-3.18295861e-01 9.47931228e-01 -1.06832293e-02 -1.15140382e+01] [-3.45521442e-02 -3.38584469e-04 9.99402839e-01 -4.90921850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83038572299999 meters 0.01742253605521292 Centerline is valid? [True, True] Translation: X:106.95, Y:-11.52, Z:-4.91 [[ 9.46681045e-01 3.20567355e-01 3.21180475e-02 1.06950728e+02] [-3.20397229e-01 9.47225640e-01 -1.04500214e-02 -1.15208900e+01] [-3.37729739e-02 -3.97696227e-04 9.99429451e-01 -4.91102640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860385723 meters 0.01761511418099964 Centerline is valid? [True, True] Translation: X:106.98, Y:-11.53, Z:-4.91 [[ 9.45947999e-01 3.22781479e-01 3.15357014e-02 1.06982550e+02] [-3.22618424e-01 9.46473404e-01 -1.02687688e-02 -1.15279063e+01] [-3.31622711e-02 -4.60276966e-04 9.99449875e-01 -4.91287917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890385723 meters 0.018420721766434153 Centerline is valid? [True, True] Translation: X:107.01, Y:-11.53, Z:-4.91 [[ 9.44717166e-01 3.26426097e-01 3.09108188e-02 1.07013431e+02] [-3.26271041e-01 9.45222557e-01 -1.00759870e-02 -1.15319608e+01] [-3.25066682e-02 -5.66347148e-04 9.99471358e-01 -4.91460187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920385723 meters 0.018102297063759352 Centerline is valid? [True, True] Translation: X:107.04, Y:-11.54, Z:-4.91 [[ 9.44190556e-01 3.27909955e-01 3.12930624e-02 1.07044362e+02] [-3.27751900e-01 9.44708775e-01 -1.01991691e-02 -1.15418048e+01] [-3.29072397e-02 -6.26401526e-04 9.99458214e-01 -4.91368282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950385723 meters 0.01812833687548044 Centerline is valid? [True, True] Translation: X:107.08, Y:-11.55, Z:-4.91 [[ 9.43551013e-01 3.29490888e-01 3.38709425e-02 1.07077609e+02] [-3.29306381e-01 9.44158474e-01 -1.10491316e-02 -1.15472936e+01] [-3.56201255e-02 -7.28498189e-04 9.99365136e-01 -4.91254056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980385723 meters 0.01867852199460412 Centerline is valid? [True, True] Translation: X:107.11, Y:-11.55, Z:-4.91 [[ 9.43407356e-01 3.29765770e-01 3.51723981e-02 1.07108184e+02] [-3.29566553e-01 9.44062480e-01 -1.14857059e-02 -1.15524636e+01] [-3.69925340e-02 -7.55946592e-04 9.99315256e-01 -4.91380820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010385723 meters 0.019401284856614742 Centerline is valid? [True, True] Translation: X:107.14, Y:-11.56, Z:-4.92 [[ 9.43224833e-01 3.30359036e-01 3.44937793e-02 1.07139041e+02] [-3.30167519e-01 9.43855040e-01 -1.12726981e-02 -1.15577632e+01] [-3.62811651e-02 -7.56036700e-04 9.99341336e-01 -4.91501512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040385723 meters 0.019626707686859025 Centerline is valid? [True, True] Translation: X:107.17, Y:-11.57, Z:-4.92 [[ 9.43239344e-01 3.30463534e-01 3.30664973e-02 1.07168580e+02] [-3.30287306e-01 9.43818485e-01 -1.08148981e-02 -1.15672058e+01] [-3.47827009e-02 -7.20406881e-04 9.99394639e-01 -4.91696617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070385723 meters 0.01864204785895425 Centerline is valid? [True, True] Translation: X:107.20, Y:-11.58, Z:-4.92 [[ 9.43199090e-01 3.30687406e-01 3.19580509e-02 1.07198948e+02] [-3.30522843e-01 9.43740084e-01 -1.04548331e-02 -1.15799271e+01] [-3.36173753e-02 -7.01876780e-04 9.99434530e-01 -4.91802761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10038572299999 meters 0.018442606098511064 Centerline is valid? [True, True] Translation: X:107.23, Y:-11.59, Z:-4.92 [[ 9.43482732e-01 3.29922456e-01 3.14882102e-02 1.07229880e+02] [-3.29761947e-01 9.44007809e-01 -1.03109279e-02 -1.15868294e+01] [-3.31269229e-02 -6.55431030e-04 9.99450938e-01 -4.92073503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13038572299999 meters 0.01850696191694734 Centerline is valid? [True, True] Translation: X:107.26, Y:-11.59, Z:-4.92 [[ 9.43556685e-01 3.29682449e-01 3.17846561e-02 1.07259962e+02] [-3.29518471e-01 9.44091663e-01 -1.04168291e-02 -1.15938994e+01] [-3.34418746e-02 -6.44762573e-04 9.99440456e-01 -4.92377409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16038572299999 meters 0.018351635285176828 Centerline is valid? [True, True] Translation: X:107.29, Y:-11.60, Z:-4.93 [[ 9.43813093e-01 3.28988273e-01 3.13618053e-02 1.07291083e+02] [-3.28828002e-01 9.44333813e-01 -1.02856390e-02 -1.16022368e+01] [-3.29998678e-02 -6.04919086e-04 9.99455173e-01 -4.92682656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19038572299999 meters 0.0180494261545234 Centerline is valid? [True, True] Translation: X:107.32, Y:-11.61, Z:-4.93 [[ 9.43820371e-01 3.28977910e-01 3.12512624e-02 1.07321979e+02] [-3.28818508e-01 9.44337430e-01 -1.02571004e-02 -1.16137832e+01] [-3.28860963e-02 -5.95133142e-04 9.99458929e-01 -4.92781856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22038572299999 meters 0.01826609210091124 Centerline is valid? [True, True] Translation: X:107.35, Y:-11.62, Z:-4.93 [[ 9.43818870e-01 3.28985114e-01 3.12207609e-02 1.07351981e+02] [-3.28825704e-01 9.44334926e-01 -1.02569281e-02 -1.16243056e+01] [-3.28572316e-02 -5.85506366e-04 9.99459884e-01 -4.92945749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250385723 meters 0.01809689357997753 Centerline is valid? [True, True] Translation: X:107.38, Y:-11.64, Z:-4.93 [[ 9.43945460e-01 3.28730682e-01 3.00517385e-02 1.07382910e+02] [-3.28582609e-01 9.44423548e-01 -9.88081444e-03 -1.16362659e+01] [-3.16296964e-02 -5.47528697e-04 9.99499506e-01 -4.93036305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280385723 meters 0.018337597155304232 Centerline is valid? [True, True] Translation: X:107.41, Y:-11.65, Z:-4.93 [[ 9.43808756e-01 3.29221286e-01 2.89547364e-02 1.07412479e+02] [-3.29083781e-01 9.44252646e-01 -9.52923528e-03 -1.16455462e+01] [-3.04778136e-02 -5.34758451e-04 9.99535300e-01 -4.93248466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310385723 meters 0.01852388053722248 Centerline is valid? [True, True] Translation: X:107.44, Y:-11.66, Z:-4.93 [[ 9.43530625e-01 3.30034289e-01 2.87632996e-02 1.07442777e+02] [-3.29898770e-01 9.43968784e-01 -9.47296320e-03 -1.16552377e+01] [-3.02780596e-02 -5.50946280e-04 9.99541363e-01 -4.93447226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340385723 meters 0.01871693927613025 Centerline is valid? [True, True] Translation: X:107.47, Y:-11.67, Z:-4.94 [[ 9.43187826e-01 3.30985681e-01 2.90723813e-02 1.07473977e+02] [-3.30847465e-01 9.43635598e-01 -9.58194893e-03 -1.16653584e+01] [-3.06052218e-02 -5.80946080e-04 9.99531382e-01 -4.93561964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370385723 meters 0.01916735126527272 Centerline is valid? [True, True] Translation: X:107.50, Y:-11.68, Z:-4.93 [[ 9.42708626e-01 3.32182599e-01 3.09057743e-02 1.07504149e+02] [-3.32026670e-01 9.43214875e-01 -1.01975213e-02 -1.16758771e+01] [-3.25382252e-02 -6.48250011e-04 9.99470282e-01 -4.93491134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400385723 meters 0.019239113835558274 Centerline is valid? [True, True] Translation: X:107.53, Y:-11.69, Z:-4.93 [[ 9.42494193e-01 3.32678443e-01 3.20897075e-02 1.07534814e+02] [-3.32510437e-01 9.43040075e-01 -1.05936655e-02 -1.16869806e+01] [-3.37861643e-02 -6.85694477e-04 9.99428849e-01 -4.93488358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430385723 meters 0.01968382446413179 Centerline is valid? [True, True] Translation: X:107.57, Y:-11.70, Z:-4.94 [[ 9.42030074e-01 3.33886615e-01 3.31521974e-02 1.07565368e+02] [-3.33707740e-01 9.42612950e-01 -1.09531020e-02 -1.16969270e+01] [-3.49067848e-02 -7.44993379e-04 9.99390295e-01 -4.93608505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460385723 meters 0.020093807763792302 Centerline is valid? [True, True] Translation: X:107.60, Y:-11.71, Z:-4.94 [[ 9.41883147e-01 3.34348902e-01 3.26641773e-02 1.07596022e+02] [-3.34175233e-01 9.42449076e-01 -1.08006052e-02 -1.17057744e+01] [-3.43954942e-02 -7.42651029e-04 9.99408024e-01 -4.93910153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49038572299999 meters 0.020356216513073185 Centerline is valid? [True, True] Translation: X:107.63, Y:-11.72, Z:-4.94 [[ 9.41665891e-01 3.35020577e-01 3.20400099e-02 1.07625960e+02] [-3.34853580e-01 9.42210517e-01 -1.06028736e-02 -1.17177105e+01] [-3.37406151e-02 -7.44347577e-04 9.99430346e-01 -4.94140513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52038572299999 meters 0.01871237453998224 Centerline is valid? [True, True] Translation: X:107.66, Y:-11.73, Z:-4.94 [[ 9.41669532e-01 3.35060274e-01 3.15135603e-02 1.07655601e+02] [-3.34898513e-01 9.42196415e-01 -1.04356216e-02 -1.17343899e+01] [-3.31885258e-02 -7.26937535e-04 9.99448845e-01 -4.93969953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55038572299999 meters 0.0182939943875873 Centerline is valid? [True, True] Translation: X:107.69, Y:-11.75, Z:-4.94 [[ 9.41765918e-01 3.34838549e-01 3.09855123e-02 1.07686072e+02] [-3.34681739e-01 9.42275256e-01 -1.02701064e-02 -1.17482578e+01] [-3.26357090e-02 -6.98248994e-04 9.99467069e-01 -4.93975363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58038572299999 meters 0.018213894602078715 Centerline is valid? [True, True] Translation: X:107.72, Y:-11.76, Z:-4.94 [[ 9.42184106e-01 3.33553142e-01 3.21156139e-02 1.07715221e+02] [-3.33383560e-01 9.42731063e-01 -1.06557861e-02 -1.17607784e+01] [-3.38306577e-02 -6.67105367e-04 9.99427357e-01 -4.94044341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610385723 meters 0.018128009012410996 Centerline is valid? [True, True] Translation: X:107.75, Y:-11.77, Z:-4.94 [[ 9.42191476e-01 3.33487053e-01 3.25823255e-02 1.07745642e+02] [-3.33312152e-01 9.42754444e-01 -1.08197547e-02 -1.17707250e+01] [-3.43253803e-02 -6.65804338e-04 9.99410489e-01 -4.94156672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640385723 meters 0.018933734866737 Centerline is valid? [True, True] Translation: X:107.78, Y:-11.78, Z:-4.94 [[ 9.42491380e-01 3.32496756e-01 3.39986197e-02 1.07776328e+02] [-3.32305313e-01 9.43104177e-01 -1.13000555e-02 -1.17779029e+01] [-3.58214720e-02 -6.47717069e-04 9.99357995e-01 -4.94494144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670385723 meters 0.018950654136392086 Centerline is valid? [True, True] Translation: X:107.81, Y:-11.79, Z:-4.95 [[ 9.42704777e-01 3.31932813e-01 3.35903358e-02 1.07805000e+02] [-3.31745283e-01 9.43302833e-01 -1.11728575e-02 -1.17892416e+01] [-3.53944970e-02 -6.10729349e-04 9.99373232e-01 -4.94625265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700385723 meters 0.01789981638160843 Centerline is valid? [True, True] Translation: X:107.83, Y:-11.81, Z:-4.95 [[ 9.43516429e-01 3.29626100e-01 3.35168922e-02 1.07833045e+02] [-3.29437668e-01 9.44111417e-01 -1.11559327e-02 -1.18065350e+01] [-3.53209672e-02 -5.15920986e-04 9.99375887e-01 -4.94552104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730385723 meters 0.01764787189647115 Centerline is valid? [True, True] Translation: X:107.86, Y:-11.82, Z:-4.95 [[ 9.44078226e-01 3.28024474e-01 3.34102999e-02 1.07862972e+02] [-3.27835929e-01 9.44669120e-01 -1.11291585e-02 -1.18186015e+01] [-3.52123150e-02 -4.46300474e-04 9.99379754e-01 -4.94732014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760385723 meters 0.01698711639906937 Centerline is valid? [True, True] Translation: X:107.89, Y:-11.83, Z:-4.95 [[ 9.45308817e-01 3.24439733e-01 3.36169759e-02 1.07891624e+02] [-3.24246269e-01 9.45906320e-01 -1.12067439e-02 -1.18328228e+01] [-3.54344229e-02 -3.06345236e-04 9.99371957e-01 -4.94875191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790385723 meters 0.016847393990385727 Centerline is valid? [True, True] Translation: X:107.92, Y:-11.85, Z:-4.95 [[ 9.45860947e-01 3.22758380e-01 3.42651157e-02 1.07921662e+02] [-3.22555894e-01 9.46481364e-01 -1.14334339e-02 -1.18458831e+01] [-3.61215300e-02 -2.37976451e-04 9.99347376e-01 -4.94921154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820385723 meters 0.01673150639571571 Centerline is valid? [True, True] Translation: X:107.95, Y:-11.86, Z:-4.95 [[ 9.46294897e-01 3.21442079e-01 3.46548346e-02 1.07950685e+02] [-3.21233997e-01 9.46929224e-01 -1.15656821e-02 -1.18577876e+01] [-3.65333725e-02 -1.87765013e-04 9.99332416e-01 -4.95047399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85038572299999 meters 0.01703996135052039 Centerline is valid? [True, True] Translation: X:107.98, Y:-11.87, Z:-4.95 [[ 9.46967539e-01 3.19268873e-01 3.63299690e-02 1.07979963e+02] [-3.19038217e-01 9.47664169e-01 -1.21342285e-02 -1.18722784e+01] [-3.83026913e-02 -9.99280204e-05 9.99266178e-01 -4.95064127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88038572299999 meters 0.01668737642188539 Centerline is valid? [True, True] Translation: X:108.01, Y:-11.88, Z:-4.95 [[ 9.46984103e-01 3.19127872e-01 3.71282911e-02 1.08011121e+02] [-3.18886470e-01 9.47711662e-01 -1.24107063e-02 -1.18841005e+01] [-3.91475168e-02 -8.69681067e-05 9.99233438e-01 -4.95092189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91038572299999 meters 0.01678685374091726 Centerline is valid? [True, True] Translation: X:108.04, Y:-11.89, Z:-4.96 [[ 9.46782061e-01 3.19867988e-01 3.58914819e-02 1.08041846e+02] [-3.19642530e-01 9.47462115e-01 -1.20080657e-02 -1.18940033e+01] [-3.78468151e-02 -1.03422918e-04 9.99283547e-01 -4.95516822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94038572299999 meters 0.016817126838064873 Centerline is valid? [True, True] Translation: X:108.07, Y:-11.90, Z:-4.96 [[ 9.46424864e-01 3.21086502e-01 3.44011060e-02 1.08072523e+02] [-3.20879843e-01 9.47049861e-01 -1.15189810e-02 -1.19038171e+01] [-3.62781520e-02 -1.36771474e-04 9.99341722e-01 -4.95848634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97038572299999 meters 0.016831616349019876 Centerline is valid? [True, True] Translation: X:108.10, Y:-11.91, Z:-4.96 [[ 9.46010316e-01 3.22372470e-01 3.37708841e-02 1.08103899e+02] [-3.22173834e-01 9.46612888e-01 -1.13163993e-02 -1.19146797e+01] [-3.56160497e-02 -1.74664759e-04 9.99365532e-01 -4.96058777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000385723 meters 0.016983150888282696 Centerline is valid? [True, True] Translation: X:108.13, Y:-11.93, Z:-4.96 [[ 9.45226165e-01 3.24654034e-01 3.38711447e-02 1.08133699e+02] [-3.24455302e-01 9.45832805e-01 -1.13605581e-02 -1.19273739e+01] [-3.57246908e-02 -2.51375740e-04 9.99361638e-01 -4.96045093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030385723 meters 0.017022762172308473 Centerline is valid? [True, True] Translation: X:108.16, Y:-11.94, Z:-4.96 [[ 9.44466095e-01 3.26868745e-01 3.37730623e-02 1.08164023e+02] [-3.26672230e-01 9.45069690e-01 -1.13373765e-02 -1.19386266e+01] [-3.56237316e-02 -3.24953834e-04 9.99365221e-01 -4.96178978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060385723 meters 0.01707274814898882 Centerline is valid? [True, True] Translation: X:108.19, Y:-11.95, Z:-4.96 [[ 9.43975556e-01 3.28253830e-01 3.40524912e-02 1.08194684e+02] [-3.28054626e-01 9.44589480e-01 -1.14401536e-02 -1.19489679e+01] [-3.59208992e-02 -3.71851870e-04 9.99354567e-01 -4.96368006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090385723 meters 0.017249067796132944 Centerline is valid? [True, True] Translation: X:108.23, Y:-11.96, Z:-4.97 [[ 9.43586118e-01 3.29359719e-01 3.41674299e-02 1.08225483e+02] [-3.29159532e-01 9.44204433e-01 -1.14887857e-02 -1.19583956e+01] [-3.60449820e-02 -4.05876539e-04 9.99350086e-01 -4.96583188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120385723 meters 0.017665167926180766 Centerline is valid? [True, True] Translation: X:108.26, Y:-11.97, Z:-4.97 [[ 9.42635988e-01 3.31977235e-01 3.50500957e-02 1.08256179e+02] [-3.31767982e-01 9.43287261e-01 -1.17961734e-02 -1.19688610e+01] [-3.69783698e-02 -5.09002006e-04 9.99315937e-01 -4.96642721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150385723 meters 0.01762911414536889 Centerline is valid? [True, True] Translation: X:108.29, Y:-11.98, Z:-4.97 [[ 9.42143690e-01 3.33421641e-01 3.45727815e-02 1.08285703e+02] [-3.33218695e-01 9.42777655e-01 -1.16444854e-02 -1.19807183e+01] [-3.64769693e-02 -5.49518725e-04 9.99334343e-01 -4.96726551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180385723 meters 0.017999071137081463 Centerline is valid? [True, True] Translation: X:108.32, Y:-12.00, Z:-4.97 [[ 9.41533248e-01 3.35263639e-01 3.33681854e-02 1.08315105e+02] [-3.35075444e-01 9.42124166e-01 -1.12473911e-02 -1.19950174e+01] [-3.52078151e-02 -5.91066862e-04 9.99379838e-01 -4.96851711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210385723 meters 0.018147691746150097 Centerline is valid? [True, True] Translation: X:108.35, Y:-12.01, Z:-4.97 [[ 9.41135853e-01 3.36354953e-01 3.35954239e-02 1.08345433e+02] [-3.36164554e-01 9.41735075e-01 -1.13331647e-02 -1.20061768e+01] [-3.54499551e-02 -6.27543056e-04 9.99371256e-01 -4.96949039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24038572299999 meters 0.018433160526078286 Centerline is valid? [True, True] Translation: X:108.38, Y:-12.02, Z:-4.97 [[ 9.40485326e-01 3.38076577e-01 3.45192590e-02 1.08375852e+02] [-3.37876367e-01 9.41118343e-01 -1.16544274e-02 -1.20167437e+01] [-3.64267967e-02 -7.02423891e-04 9.99336077e-01 -4.97153713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27038572299999 meters 0.019635318239597348 Centerline is valid? [True, True] Translation: X:108.41, Y:-12.02, Z:-4.97 [[ 9.40120895e-01 3.39033672e-01 3.50552694e-02 1.08406540e+02] [-3.38827467e-01 9.40773947e-01 -1.18459845e-02 -1.20242419e+01] [-3.69952718e-02 -7.41030615e-04 9.99315166e-01 -4.97456275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30038572299999 meters 0.020047465607328667 Centerline is valid? [True, True] Translation: X:108.44, Y:-12.04, Z:-4.98 [[ 9.39614837e-01 3.40368794e-01 3.56797270e-02 1.08436511e+02] [-3.40155958e-01 9.40291678e-01 -1.20617233e-02 -1.20350665e+01] [-3.76547846e-02 -8.03297593e-04 9.99290484e-01 -4.97567010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33038572299999 meters 0.019389670078871386 Centerline is valid? [True, True] Translation: X:108.47, Y:-12.05, Z:-4.97 [[ 9.38818182e-01 3.42468519e-01 3.65477030e-02 1.08465246e+02] [-3.42246427e-01 9.39528873e-01 -1.23644780e-02 -1.20517492e+01] [-3.85720666e-02 -9.00324022e-04 9.99255415e-01 -4.97402814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360385723 meters 0.01941313152759395 Centerline is valid? [True, True] Translation: X:108.49, Y:-12.07, Z:-4.97 [[ 9.38288512e-01 3.43885167e-01 3.68464264e-02 1.08494802e+02] [-3.43660130e-01 9.39011222e-01 -1.24755321e-02 -1.20652124e+01] [-3.88893583e-02 -9.56999226e-04 9.99243065e-01 -4.97429776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390385723 meters 0.01941313152759395 Centerline is valid? [True, True] Translation: X:108.53, Y:-12.08, Z:-4.98 [[ 9.38192271e-01 3.44147967e-01 3.68434416e-02 1.08525455e+02] [-3.43922787e-01 9.38914936e-01 -1.24843402e-02 -1.20756586e+01] [-3.88893179e-02 -9.58587698e-04 9.99243065e-01 -4.97575353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420385723 meters 0.01950535365292401 Centerline is valid? [True, True] Translation: X:108.56, Y:-12.09, Z:-4.98 [[ 9.38000446e-01 3.44666256e-01 3.68827349e-02 1.08556169e+02] [-3.44440541e-01 9.38724790e-01 -1.25092987e-02 -1.20858684e+01] [-3.89342708e-02 -9.70181381e-04 9.99241303e-01 -4.97770873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450385723 meters 0.019582770806618566 Centerline is valid? [True, True] Translation: X:108.59, Y:-12.10, Z:-4.98 [[ 9.37766575e-01 3.45255301e-01 3.73179271e-02 1.08587633e+02] [-3.45024263e-01 9.38508276e-01 -1.26678013e-02 -1.20968920e+01] [-3.93968090e-02 -9.96149658e-04 9.99223148e-01 -4.97964956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480385723 meters 0.019602878643523062 Centerline is valid? [True, True] Translation: X:108.62, Y:-12.11, Z:-4.98 [[ 9.37812668e-01 3.45316419e-01 3.55523622e-02 1.08616964e+02] [-3.45106376e-01 9.38485847e-01 -1.20790940e-02 -1.21092860e+01] [-3.75364982e-02 -9.41419535e-04 9.99294814e-01 -4.98246018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510385723 meters 0.019658449653421235 Centerline is valid? [True, True] Translation: X:108.65, Y:-12.12, Z:-4.98 [[ 9.37870168e-01 3.45254049e-01 3.46293282e-02 1.08647734e+02] [-3.45054380e-01 9.38508829e-01 -1.17750912e-02 -1.21223372e+01] [-3.65653282e-02 -9.05494593e-04 9.99330855e-01 -4.98457101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540385723 meters 0.021336751735566106 Centerline is valid? [True, True] Translation: X:108.68, Y:-12.13, Z:-4.99 [[ 9.38329848e-01 3.44074940e-01 3.39047343e-02 1.08676955e+02] [-3.43882361e-01 9.38941822e-01 -1.15402197e-02 -1.21320990e+01] [-3.58052734e-02 -8.30707448e-04 9.99358440e-01 -4.98748130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570385723 meters 0.019232326399423013 Centerline is valid? [True, True] Translation: X:108.71, Y:-12.15, Z:-4.99 [[ 9.38652554e-01 3.43133103e-01 3.45116819e-02 1.08705149e+02] [-3.42932763e-01 9.39286445e-01 -1.17513404e-02 -1.21483177e+01] [-3.64486289e-02 -8.04760707e-04 9.99335204e-01 -4.98692473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60038572299999 meters 0.018767384112364963 Centerline is valid? [True, True] Translation: X:108.73, Y:-12.16, Z:-4.99 [[ 9.39313312e-01 3.41199834e-01 3.56815807e-02 1.08733947e+02] [-3.40983911e-01 9.39990488e-01 -1.21595421e-02 -1.21630823e+01] [-3.76891802e-02 -7.45225197e-04 9.99289233e-01 -4.98749165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63038572299999 meters 0.018703670930439502 Centerline is valid? [True, True] Translation: X:108.76, Y:-12.17, Z:-4.99 [[ 9.39505854e-01 3.40640431e-01 3.59561830e-02 1.08763508e+02] [-3.40420391e-01 9.40193374e-01 -1.22628592e-02 -1.21742580e+01] [-3.79829907e-02 -7.19189914e-04 9.99278127e-01 -4.98966581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66038572299999 meters 0.01867250421746247 Centerline is valid? [True, True] Translation: X:108.79, Y:-12.19, Z:-4.99 [[ 9.39596457e-01 3.40357355e-01 3.62680101e-02 1.08793249e+02] [-3.40132895e-01 9.40295897e-01 -1.23789983e-02 -1.21851053e+01] [-3.83159442e-02 -7.04680321e-04 9.99265426e-01 -4.99174448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69038572299999 meters 0.01845702763448724 Centerline is valid? [True, True] Translation: X:108.82, Y:-12.20, Z:-4.99 [[ 9.39612409e-01 3.40229698e-01 3.70442083e-02 1.08822406e+02] [-3.39995029e-01 9.40342095e-01 -1.26540392e-02 -1.22001879e+01] [-3.91395084e-02 -7.04954416e-04 9.99233507e-01 -4.99220914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72038572299999 meters 0.019134267773527263 Centerline is valid? [True, True] Translation: X:108.85, Y:-12.21, Z:-4.99 [[ 9.39613529e-01 3.40229447e-01 3.70180859e-02 1.08852711e+02] [-3.39994718e-01 9.40342193e-01 -1.26551003e-02 -1.22113248e+01] [-3.91153058e-02 -6.95050230e-04 9.99234462e-01 -4.99379128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750385723 meters 0.0192206747042112 Centerline is valid? [True, True] Translation: X:108.88, Y:-12.22, Z:-5.00 [[ 9.39805707e-01 3.39883761e-01 3.52741086e-02 1.08881405e+02] [-3.39670005e-01 9.40467235e-01 -1.20692382e-02 -1.22249721e+01] [-3.72762814e-02 -6.38817679e-04 9.99304794e-01 -4.99650448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780385723 meters 0.01910525570619904 Centerline is valid? [True, True] Translation: X:108.91, Y:-12.24, Z:-5.00 [[ 9.39822512e-01 3.39835983e-01 3.52867084e-02 1.08911944e+02] [-3.39621828e-01 9.40484506e-01 -1.20792295e-02 -1.22363266e+01] [-3.72915594e-02 -6.31804606e-04 9.99304228e-01 -4.99874684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810385723 meters 0.01879853727161888 Centerline is valid? [True, True] Translation: X:108.94, Y:-12.25, Z:-5.00 [[ 9.39730453e-01 3.40049000e-01 3.56840820e-02 1.08942651e+02] [-3.39829759e-01 9.40407502e-01 -1.22255656e-02 -1.22486206e+01] [-3.77148698e-02 -6.37776721e-04 9.99288338e-01 -5.00008609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840385723 meters 0.018494382347511707 Centerline is valid? [True, True] Translation: X:108.97, Y:-12.26, Z:-5.00 [[ 9.39370755e-01 3.40828330e-01 3.76647530e-02 1.08972691e+02] [-3.40584222e-01 9.40125293e-01 -1.29159452e-02 -1.22623529e+01] [-3.98117069e-02 -6.95159362e-04 9.99206958e-01 -4.99959896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870385723 meters 0.018899489859124947 Centerline is valid? [True, True] Translation: X:109.00, Y:-12.27, Z:-5.00 [[ 9.39109570e-01 3.41488365e-01 3.81957074e-02 1.09002483e+02] [-3.41237382e-01 9.39885724e-01 -1.31100684e-02 -1.22735727e+01] [-4.03765360e-02 -7.22012525e-04 9.99184274e-01 -5.00059261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900385723 meters 0.01888716142885621 Centerline is valid? [True, True] Translation: X:109.03, Y:-12.29, Z:-5.00 [[ 9.38980317e-01 3.41865508e-01 3.79991917e-02 1.09032790e+02] [-3.41616976e-01 9.39748610e-01 -1.30534327e-02 -1.22879272e+01] [-4.01722060e-02 -7.24252625e-04 9.99192509e-01 -5.00167291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930385723 meters 0.01895884810501978 Centerline is valid? [True, True] Translation: X:109.06, Y:-12.30, Z:-5.00 [[ 9.38896181e-01 3.42081760e-01 3.81317401e-02 1.09062508e+02] [-3.41831197e-01 9.39669912e-01 -1.31106543e-02 -1.22990861e+01] [-4.03161646e-02 -7.25075117e-04 9.99186710e-01 -5.00329926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960385723 meters 0.019814848402670587 Centerline is valid? [True, True] Translation: X:109.09, Y:-12.31, Z:-5.01 [[ 9.38880145e-01 3.42083983e-01 3.85048199e-02 1.09092896e+02] [-3.41828030e-01 9.39669106e-01 -1.32502888e-02 -1.23081989e+01] [-4.07145012e-02 -7.21593593e-04 9.99170560e-01 -5.00568628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99038572299999 meters 0.018411607991817576 Centerline is valid? [True, True] Translation: X:109.12, Y:-12.32, Z:-5.01 [[ 9.39380187e-01 3.40831609e-01 3.73989011e-02 1.09121903e+02] [-3.40588908e-01 9.40124142e-01 -1.28760872e-02 -1.23235843e+01] [-3.95481873e-02 -6.42109625e-04 9.99217458e-01 -5.00806740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02038572299999 meters 0.01822913924285475 Centerline is valid? [True, True] Translation: X:109.15, Y:-12.33, Z:-5.01 [[ 9.39746606e-01 3.39781776e-01 3.77446843e-02 1.09151040e+02] [-3.39533292e-01 9.40504116e-01 -1.30058102e-02 -1.23345571e+01] [-3.99181682e-02 -5.93410933e-04 9.99202776e-01 -5.01041517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05038572299999 meters 0.01818571274844273 Centerline is valid? [True, True] Translation: X:109.18, Y:-12.35, Z:-5.01 [[ 9.39700055e-01 3.39817836e-01 3.85700118e-02 1.09182134e+02] [-3.39558174e-01 9.40491082e-01 -1.32955520e-02 -1.23451143e+01] [-4.07928178e-02 -6.02931810e-04 9.99167445e-01 -5.01144886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08038572299999 meters 0.01877841986039939 Centerline is valid? [True, True] Translation: X:109.21, Y:-12.35, Z:-5.01 [[ 9.39489909e-01 3.40350820e-01 3.89875668e-02 1.09212657e+02] [-3.40085474e-01 9.40298321e-01 -1.34513007e-02 -1.23535451e+01] [-4.12381048e-02 -6.21743921e-04 9.99149154e-01 -5.01241073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110385723 meters 0.018864791122018342 Centerline is valid? [True, True] Translation: X:109.24, Y:-12.36, Z:-5.01 [[ 9.38680767e-01 3.42468590e-01 3.99209638e-02 1.09243714e+02] [-3.42191811e-01 9.39529002e-01 -1.37847605e-02 -1.23612911e+01] [-4.22277507e-02 -7.21137313e-04 9.99107750e-01 -5.01391345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140385723 meters 0.019420966928729102 Centerline is valid? [True, True] Translation: X:109.28, Y:-12.37, Z:-5.02 [[ 9.37994981e-01 3.44364814e-01 3.97277196e-02 1.09275238e+02] [-3.44091978e-01 9.38835580e-01 -1.37282343e-02 -1.23688487e+01] [-4.20253175e-02 -7.92974739e-04 9.99116231e-01 -5.01616861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170385723 meters 0.01985056763063999 Centerline is valid? [True, True] Translation: X:109.31, Y:-12.38, Z:-5.02 [[ 9.36697090e-01 3.48032650e-01 3.83645092e-02 1.09306101e+02] [-3.47780906e-01 9.37481966e-01 -1.32666929e-02 -1.23761083e+01] [-4.05832778e-02 -9.15571140e-04 9.99175740e-01 -5.01962188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200385723 meters 0.019750994772271702 Centerline is valid? [True, True] Translation: X:109.34, Y:-12.39, Z:-5.02 [[ 9.36100547e-01 3.49714881e-01 3.76200585e-02 1.09335767e+02] [-3.49473793e-01 9.36855688e-01 -1.30187694e-02 -1.23868248e+01] [-3.97974232e-02 -9.60347418e-04 9.99207307e-01 -5.02125372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230385723 meters 0.0208618827306564 Centerline is valid? [True, True] Translation: X:109.37, Y:-12.40, Z:-5.02 [[ 9.35199281e-01 3.52112335e-01 3.76723751e-02 1.09365924e+02] [-3.51872298e-01 9.35957148e-01 -1.30423699e-02 -1.23952573e+01] [-3.98521081e-02 -1.05865028e-03 9.99205028e-01 -5.02266474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260385723 meters 0.021590350138124534 Centerline is valid? [True, True] Translation: X:109.40, Y:-12.40, Z:-5.02 [[ 9.34976215e-01 3.52669903e-01 3.79923372e-02 1.09396525e+02] [-3.52426006e-01 9.35747166e-01 -1.31586842e-02 -1.24038381e+01] [-4.01918938e-02 -1.08643096e-03 9.99191389e-01 -5.02485383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290385723 meters 0.02295217826425072 Centerline is valid? [True, True] Translation: X:109.43, Y:-12.41, Z:-5.03 [[ 9.34979966e-01 3.52725991e-01 3.73743107e-02 1.09427841e+02] [-3.52489911e-01 9.35726046e-01 -1.29471901e-02 -1.24109683e+01] [-3.95389264e-02 -1.06870404e-03 9.99217459e-01 -5.02789564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320385723 meters 0.021079969751352498 Centerline is valid? [True, True] Translation: X:109.46, Y:-12.42, Z:-5.03 [[ 9.34919032e-01 3.52916392e-01 3.71001781e-02 1.09457851e+02] [-3.52683503e-01 9.35654262e-01 -1.28626692e-02 -1.24247167e+01] [-3.92523866e-02 -1.05906652e-03 9.99228767e-01 -5.02958465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35038572299999 meters 0.021380797544421133 Centerline is valid? [True, True] Translation: X:109.49, Y:-12.44, Z:-5.03 [[ 9.34706125e-01 3.53432653e-01 3.75475556e-02 1.09487935e+02] [-3.53194062e-01 9.35459345e-01 -1.30295000e-02 -1.24350035e+01] [-3.97292626e-02 -1.08282021e-03 9.99209894e-01 -5.03019186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38038572299999 meters 0.021770491580686297 Centerline is valid? [True, True] Translation: X:109.52, Y:-12.45, Z:-5.03 [[ 9.34524575e-01 3.53886664e-01 3.77895313e-02 1.09518967e+02] [-3.53644926e-01 9.35287668e-01 -1.31242210e-02 -1.24452969e+01] [-3.99885693e-02 -1.09916895e-03 9.99199533e-01 -5.03137283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41038572299999 meters 0.02078816003642397 Centerline is valid? [True, True] Translation: X:109.55, Y:-12.46, Z:-5.03 [[ 9.34426641e-01 3.54049138e-01 3.86789358e-02 1.09548805e+02] [-3.53795536e-01 9.35226150e-01 -1.34449807e-02 -1.24584779e+01] [-4.09337360e-02 -1.12108662e-03 9.99161234e-01 -5.03209953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44038572299999 meters 0.020293041058836458 Centerline is valid? [True, True] Translation: X:109.58, Y:-12.47, Z:-5.03 [[ 9.35175853e-01 3.51943227e-01 3.97754901e-02 1.09578730e+02] [-3.51672578e-01 9.36020764e-01 -1.38393155e-02 -1.24717419e+01] [-4.21013380e-02 -1.04575543e-03 9.99112798e-01 -5.03283422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47038572299999 meters 0.019875134241313798 Centerline is valid? [True, True] Translation: X:109.61, Y:-12.49, Z:-5.03 [[ 9.35960281e-01 3.49784965e-01 4.03587821e-02 1.09607366e+02] [-3.49504050e-01 9.36829527e-01 -1.40483708e-02 -1.24860402e+01] [-4.27232076e-02 -9.56840730e-04 9.99086489e-01 -5.03325763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500385723 meters 0.01962034577313474 Centerline is valid? [True, True] Translation: X:109.64, Y:-12.50, Z:-5.03 [[ 9.36146479e-01 3.49186373e-01 4.12146359e-02 1.09636009e+02] [-3.48892657e-01 9.37052818e-01 -1.43503041e-02 -1.24976953e+01] [-4.36312213e-02 -9.45497142e-04 9.99047257e-01 -5.03369425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530385723 meters 0.020150528920400174 Centerline is valid? [True, True] Translation: X:109.67, Y:-12.51, Z:-5.04 [[ 9.36160443e-01 3.49092797e-01 4.16874553e-02 1.09666859e+02] [-3.48791727e-01 9.37087687e-01 -1.45258119e-02 -1.25070272e+01] [-4.41356573e-02 -9.41749028e-04 9.99025103e-01 -5.03532274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560385723 meters 0.020270771370849688 Centerline is valid? [True, True] Translation: X:109.70, Y:-12.52, Z:-5.04 [[ 9.35885014e-01 3.49809909e-01 4.18601022e-02 1.09697696e+02] [-3.49506519e-01 9.36820202e-01 -1.45980655e-02 -1.25172789e+01] [-4.43219373e-02 -9.68267868e-04 9.99016831e-01 -5.03731687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590385723 meters 0.019889741626622767 Centerline is valid? [True, True] Translation: X:109.73, Y:-12.53, Z:-5.04 [[ 9.35646894e-01 3.50518487e-01 4.12514241e-02 1.09728618e+02] [-3.50224011e-01 9.36555305e-01 -1.43980493e-02 -1.25289293e+01] [-4.36810225e-02 -9.75749061e-04 9.99045052e-01 -5.03973965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620385723 meters 0.019934201222752062 Centerline is valid? [True, True] Translation: X:109.76, Y:-12.54, Z:-5.04 [[ 9.35576615e-01 3.50859578e-01 3.99243562e-02 1.09757990e+02] [-3.50583556e-01 9.36427604e-01 -1.39468066e-02 -1.25398373e+01] [-4.22796399e-02 -9.48516731e-04 9.99105366e-01 -5.04274907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650385723 meters 0.019769688223480224 Centerline is valid? [True, True] Translation: X:109.79, Y:-12.55, Z:-5.04 [[ 9.35532864e-01 3.50960857e-01 4.00591677e-02 1.09788697e+02] [-3.50682568e-01 9.36389653e-01 -1.40054751e-02 -1.25515647e+01] [-4.24263637e-02 -9.45469542e-04 9.99099149e-01 -5.04448952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680385723 meters 0.02022949533161481 Centerline is valid? [True, True] Translation: X:109.82, Y:-12.56, Z:-5.05 [[ 9.35449975e-01 3.51200024e-01 3.98984591e-02 1.09818753e+02] [-3.50923663e-01 9.36299983e-01 -1.39615634e-02 -1.25618840e+01] [-4.22602279e-02 -9.40969244e-04 9.99106194e-01 -5.04574420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710385723 meters 0.020494974055194855 Centerline is valid? [True, True] Translation: X:109.85, Y:-12.57, Z:-5.05 [[ 9.35504841e-01 3.51024365e-01 4.01570474e-02 1.09848131e+02] [-3.50743710e-01 9.36365866e-01 -1.40646553e-02 -1.25717223e+01] [-4.25387251e-02 -9.27278624e-04 9.99094388e-01 -5.04673932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74038572299999 meters 0.019909873142037845 Centerline is valid? [True, True] Translation: X:109.88, Y:-12.58, Z:-5.05 [[ 9.35462323e-01 3.50956594e-01 4.17098590e-02 1.09878222e+02] [-3.50653263e-01 9.36391247e-01 -1.46192451e-02 -1.25816841e+01] [-4.41874673e-02 -9.49945123e-04 9.99022805e-01 -5.04750345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77038572299999 meters 0.020338204796216088 Centerline is valid? [True, True] Translation: X:109.91, Y:-12.59, Z:-5.05 [[ 9.35372379e-01 3.51162925e-01 4.19894462e-02 1.09908706e+02] [-3.50855216e-01 9.36313883e-01 -1.47285589e-02 -1.25911764e+01] [-4.44874252e-02 -9.55529040e-04 9.99009487e-01 -5.04903305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80038572299999 meters 0.020064545145623933 Centerline is valid? [True, True] Translation: X:109.94, Y:-12.60, Z:-5.05 [[ 9.35162948e-01 3.51781507e-01 4.14732648e-02 1.09939474e+02] [-3.51481420e-01 9.36081645e-01 -1.45590217e-02 -1.26037348e+01] [-4.39439565e-02 -9.62024349e-04 9.99033535e-01 -5.05042501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83038572299999 meters 0.020489623655815713 Centerline is valid? [True, True] Translation: X:109.97, Y:-12.61, Z:-5.05 [[ 9.35046169e-01 3.52187617e-01 4.06515083e-02 1.09970139e+02] [-3.51899165e-01 9.35928940e-01 -1.42827762e-02 -1.26139404e+01] [-4.30771400e-02 -9.50176685e-04 9.99071297e-01 -5.05207971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860385723 meters 0.02056701894668224 Centerline is valid? [True, True] Translation: X:110.00, Y:-12.62, Z:-5.05 [[ 9.34854952e-01 3.52679979e-01 4.07805155e-02 1.10001473e+02] [-3.52389836e-01 9.35743498e-01 -1.43356113e-02 -1.26243797e+01] [-4.32159854e-02 -9.68921947e-04 9.99065283e-01 -5.05430664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890385723 meters 0.0207051428008452 Centerline is valid? [True, True] Translation: X:110.03, Y:-12.63, Z:-5.06 [[ 9.34650397e-01 3.53225490e-01 4.07478614e-02 1.10032264e+02] [-3.52935811e-01 9.35537700e-01 -1.43361508e-02 -1.26346090e+01] [-4.31850544e-02 -9.82090482e-04 9.99066608e-01 -5.05601323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920385723 meters 0.020753314894107314 Centerline is valid? [True, True] Translation: X:110.06, Y:-12.64, Z:-5.06 [[ 9.34609669e-01 3.53342637e-01 4.06662986e-02 1.10063274e+02] [-3.53053713e-01 9.35493470e-01 -1.43193582e-02 -1.26448332e+01] [-4.31026965e-02 -9.74377065e-04 9.99070172e-01 -5.05790976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950385723 meters 0.02067600623481275 Centerline is valid? [True, True] Translation: X:110.09, Y:-12.66, Z:-5.06 [[ 9.34801051e-01 3.52832848e-01 4.06936965e-02 1.10092876e+02] [-3.52542529e-01 9.35685897e-01 -1.43411271e-02 -1.26555154e+01] [-4.31365387e-02 -9.40158006e-04 9.99068744e-01 -5.05950891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980385723 meters 0.01897103428078815 Centerline is valid? [True, True] Translation: X:110.12, Y:-12.67, Z:-5.06 [[ 9.35060012e-01 3.52132796e-01 4.08077038e-02 1.10121338e+02] [-3.51839933e-01 9.35949611e-01 -1.43870264e-02 -1.26704527e+01] [-4.32600984e-02 -9.05046686e-04 9.99063434e-01 -5.06003794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010385723 meters 0.01932231149588167 Centerline is valid? [True, True] Translation: X:110.15, Y:-12.68, Z:-5.06 [[ 9.35268269e-01 3.51653395e-01 4.01640958e-02 1.10150960e+02] [-3.51368793e-01 9.36129880e-01 -1.41710624e-02 -1.26809710e+01] [-4.25821124e-02 -8.58664847e-04 9.99092602e-01 -5.06092391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040385723 meters 0.01924576655018981 Centerline is valid? [True, True] Translation: X:110.18, Y:-12.69, Z:-5.06 [[ 9.35514506e-01 3.51057606e-01 3.96379394e-02 1.10180079e+02] [-3.50779421e-01 9.36353513e-01 -1.39963102e-02 -1.26919752e+01] [-4.20286349e-02 -8.10422244e-04 9.99116078e-01 -5.06257599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070385723 meters 0.01899469829004969 Centerline is valid? [True, True] Translation: X:110.21, Y:-12.70, Z:-5.06 [[ 9.35756961e-01 3.50478337e-01 3.90364664e-02 1.10209904e+02] [-3.50207616e-01 9.36570528e-01 -1.37939330e-02 -1.27046160e+01] [-4.13948786e-02 -7.63099013e-04 9.99142573e-01 -5.06402876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10038572299999 meters 0.01869398423325179 Centerline is valid? [True, True] Translation: X:110.24, Y:-12.72, Z:-5.07 [[ 9.35716329e-01 3.50639753e-01 3.85579309e-02 1.10240834e+02] [-3.50375563e-01 9.36510113e-01 -1.36298653e-02 -1.27155431e+01] [-4.08890649e-02 -7.56069187e-04 9.99163406e-01 -5.06600415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13038572299999 meters 0.018768165272125898 Centerline is valid? [True, True] Translation: X:110.27, Y:-12.72, Z:-5.07 [[ 9.35462649e-01 3.51327934e-01 3.84488588e-02 1.10272063e+02] [-3.51065313e-01 9.36252149e-01 -1.36036584e-02 -1.27241989e+01] [-4.07771719e-02 -7.72346309e-04 9.99167967e-01 -5.06858427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16038572299999 meters 0.018767402506801773 Centerline is valid? [True, True] Translation: X:110.30, Y:-12.73, Z:-5.07 [[ 9.35395967e-01 3.51494164e-01 3.85517567e-02 1.10302480e+02] [-3.51229804e-01 9.36189756e-01 -1.36516090e-02 -1.27349521e+01] [-4.08902205e-02 -7.70865930e-04 9.99163348e-01 -5.06987119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19038572299999 meters 0.018750113545000485 Centerline is valid? [True, True] Translation: X:110.33, Y:-12.75, Z:-5.07 [[ 9.35463831e-01 3.51322930e-01 3.84658282e-02 1.10332058e+02] [-3.51059137e-01 9.36254044e-01 -1.36326014e-02 -1.27466899e+01] [-4.08032327e-02 -7.50974942e-04 9.99166919e-01 -5.07044975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22038572299999 meters 0.01861123676087152 Centerline is valid? [True, True] Translation: X:110.36, Y:-12.76, Z:-5.07 [[ 9.35973347e-01 3.50031365e-01 3.78409342e-02 1.10360931e+02] [-3.49774583e-01 9.36737738e-01 -1.34220224e-02 -1.27584395e+01] [-4.01451600e-02 -6.73141788e-04 9.99193631e-01 -5.07090808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250385723 meters 0.018120365227560244 Centerline is valid? [True, True] Translation: X:110.39, Y:-12.77, Z:-5.07 [[ 9.36155668e-01 3.49555754e-01 3.77271755e-02 1.10390363e+02] [-3.49299733e-01 9.36915345e-01 -1.33915530e-02 -1.27701753e+01] [-4.00282641e-02 -6.41514053e-04 9.99198342e-01 -5.07248234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280385723 meters 0.018120365227560244 Centerline is valid? [True, True] Translation: X:110.42, Y:-12.78, Z:-5.07 [[ 9.36057930e-01 3.49817745e-01 3.77239713e-02 1.10420839e+02] [-3.49561572e-01 9.36817555e-01 -1.34005729e-02 -1.27810742e+01] [-4.00282367e-02 -6.43138147e-04 9.99198342e-01 -5.07393776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310385723 meters 0.017983975759839357 Centerline is valid? [True, True] Translation: X:110.45, Y:-12.79, Z:-5.08 [[ 9.36269641e-01 3.49208382e-01 3.81138335e-02 1.10449768e+02] [-3.48945879e-01 9.37044893e-01 -1.35514588e-02 -1.27918173e+01] [-4.04466560e-02 -6.11845692e-04 9.99181512e-01 -5.07514806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340385723 meters 0.018057756207056568 Centerline is valid? [True, True] Translation: X:110.48, Y:-12.80, Z:-5.08 [[ 9.36293214e-01 3.49169516e-01 3.78902037e-02 1.10479996e+02] [-3.48909675e-01 9.37059386e-01 -1.34813586e-02 -1.28027165e+01] [-4.02126504e-02 -5.97754062e-04 9.99190965e-01 -5.07659822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370385723 meters 0.017983382723754632 Centerline is valid? [True, True] Translation: X:110.51, Y:-12.81, Z:-5.08 [[ 9.36446668e-01 3.48742758e-01 3.80279743e-02 1.10509789e+02] [-3.48480226e-01 9.37218311e-01 -1.35414030e-02 -1.28132469e+01] [-4.03629801e-02 -5.71195338e-04 9.99184920e-01 -5.07755888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400385723 meters 0.01827347536186334 Centerline is valid? [True, True] Translation: X:110.54, Y:-12.82, Z:-5.08 [[ 9.36377315e-01 3.48831373e-01 3.89126923e-02 1.10539736e+02] [-3.48556109e-01 9.37185328e-01 -1.38672320e-02 -1.28229468e+01] [-4.13057299e-02 -5.78295190e-04 9.99146387e-01 -5.07873016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430385723 meters 0.018071191932516096 Centerline is valid? [True, True] Translation: X:110.57, Y:-12.83, Z:-5.08 [[ 9.35949053e-01 3.49904855e-01 3.95722487e-02 1.10571115e+02] [-3.49620827e-01 9.36785032e-01 -1.41096068e-02 -1.28325608e+01] [-4.20077102e-02 -6.29409248e-04 9.99117088e-01 -5.08007655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460385723 meters 0.018184253235418245 Centerline is valid? [True, True] Translation: X:110.60, Y:-12.84, Z:-5.08 [[ 9.35580432e-01 3.50887234e-01 3.95904696e-02 1.10601166e+02] [-3.50603310e-01 9.36417487e-01 -1.41282890e-02 -1.28424373e+01] [-4.20306443e-02 -6.62398933e-04 9.99116102e-01 -5.08189223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49038572299999 meters 0.018848271723193716 Centerline is valid? [True, True] Translation: X:110.63, Y:-12.85, Z:-5.08 [[ 9.34975337e-01 3.52493650e-01 3.96149712e-02 1.10631187e+02] [-3.52210360e-01 9.35813924e-01 -1.41478408e-02 -1.28516506e+01] [-4.20592658e-02 -7.24921063e-04 9.99114855e-01 -5.08280603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52038572299999 meters 0.018197969423852507 Centerline is valid? [True, True] Translation: X:110.66, Y:-12.86, Z:-5.08 [[ 9.34599501e-01 3.53557574e-01 3.89976284e-02 1.10660996e+02] [-3.53283763e-01 9.35412460e-01 -1.39324157e-02 -1.28647308e+01] [-4.14047786e-02 -7.56000125e-04 9.99142168e-01 -5.08379324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55038572299999 meters 0.019420069192359963 Centerline is valid? [True, True] Translation: X:110.69, Y:-12.87, Z:-5.09 [[ 9.33927420e-01 3.55497704e-01 3.74293441e-02 1.10692254e+02] [-3.55246642e-01 9.34676813e-01 -1.33820397e-02 -1.28704143e+01] [-3.97416245e-02 -7.98795049e-04 9.99209670e-01 -5.08795765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58038572299999 meters 0.018916539412816 Centerline is valid? [True, True] Translation: X:110.72, Y:-12.88, Z:-5.09 [[ 9.33712159e-01 3.56138073e-01 3.67052882e-02 1.10722109e+02] [-3.55896776e-01 9.34432999e-01 -1.31321819e-02 -1.28815016e+01] [-3.89755025e-02 -8.01615779e-04 9.99239845e-01 -5.09038409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610385723 meters 0.02029838757858177 Centerline is valid? [True, True] Translation: X:110.75, Y:-12.89, Z:-5.09 [[ 9.33493233e-01 3.56789747e-01 3.59369056e-02 1.10752014e+02] [-3.56558578e-01 9.34184367e-01 -1.28665673e-02 -1.28890988e+01] [-3.81623547e-02 -8.02758468e-04 9.99271230e-01 -5.09323008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640385723 meters 0.018672966217085783 Centerline is valid? [True, True] Translation: X:110.78, Y:-12.90, Z:-5.09 [[ 9.33509410e-01 3.56792231e-01 3.54892325e-02 1.10781009e+02] [-3.56566448e-01 9.34183434e-01 -1.27153323e-02 -1.29046079e+01] [-3.76901848e-02 -7.84387255e-04 9.99289165e-01 -5.09285276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670385723 meters 0.018743812292165565 Centerline is valid? [True, True] Translation: X:110.81, Y:-12.92, Z:-5.09 [[ 9.33792968e-01 3.55990436e-01 3.60763501e-02 1.10810807e+02] [-3.55756063e-01 9.34489295e-01 -1.29376175e-02 -1.29151056e+01] [-3.83186311e-02 -7.53324008e-04 9.99265288e-01 -5.09377983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700385723 meters 0.01847406378470512 Centerline is valid? [True, True] Translation: X:110.84, Y:-12.93, Z:-5.09 [[ 9.33867185e-01 3.55782298e-01 3.62082459e-02 1.10840396e+02] [-3.55545675e-01 9.34568570e-01 -1.29946876e-02 -1.29265502e+01] [-3.84623684e-02 -7.38372872e-04 9.99259777e-01 -5.09442251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730385723 meters 0.018483985108594468 Centerline is valid? [True, True] Translation: X:110.87, Y:-12.94, Z:-5.10 [[ 9.33914558e-01 3.55557551e-01 3.71809810e-02 1.10870984e+02] [-3.55307455e-01 9.34654097e-01 -1.33540525e-02 -1.29370418e+01] [-3.94994904e-02 -7.39135669e-04 9.99219317e-01 -5.09536400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760385723 meters 0.018454942476047197 Centerline is valid? [True, True] Translation: X:110.90, Y:-12.95, Z:-5.10 [[ 9.33638475e-01 3.56188999e-01 3.80604032e-02 1.10901768e+02] [-3.55927040e-01 9.34413611e-01 -1.36801042e-02 -1.29476634e+01] [-4.04368615e-02 -7.74455000e-04 9.99181795e-01 -5.09656463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790385723 meters 0.018553038231969386 Centerline is valid? [True, True] Translation: X:110.93, Y:-12.96, Z:-5.10 [[ 9.33345424e-01 3.56954509e-01 3.80762074e-02 1.10933001e+02] [-3.56692492e-01 9.34121429e-01 -1.36975400e-02 -1.29579360e+01] [-4.04571999e-02 -7.96960991e-04 9.99180954e-01 -5.09831147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820385723 meters 0.01899918302014134 Centerline is valid? [True, True] Translation: X:110.96, Y:-12.97, Z:-5.10 [[ 9.32857659e-01 3.58143850e-01 3.88531814e-02 1.10962099e+02] [-3.57871544e-01 9.33666028e-01 -1.39894666e-02 -1.29676096e+01] [-4.12861370e-02 -8.54266953e-04 9.99146999e-01 -5.09943901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85038572299999 meters 0.019436710364732518 Centerline is valid? [True, True] Translation: X:110.99, Y:-12.98, Z:-5.10 [[ 9.32238958e-01 3.59668395e-01 3.96127530e-02 1.10992418e+02] [-3.59386268e-01 9.33079729e-01 -1.42734064e-02 -1.29792374e+01] [-4.20955500e-02 -9.30053958e-04 9.99113157e-01 -5.09898889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88038572299999 meters 0.01986145899648978 Centerline is valid? [True, True] Translation: X:111.02, Y:-12.99, Z:-5.10 [[ 9.31794469e-01 3.60812052e-01 3.96702644e-02 1.11021931e+02] [-3.60529991e-01 9.32638034e-01 -1.42976551e-02 -1.29885889e+01] [-4.21567637e-02 -9.79844103e-04 9.99110528e-01 -5.10008713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91038572299999 meters 0.020533394334916355 Centerline is valid? [True, True] Translation: X:111.05, Y:-13.00, Z:-5.10 [[ 9.31447216e-01 3.61779697e-01 3.90068601e-02 1.11052953e+02] [-3.61507414e-01 9.32263083e-01 -1.40688513e-02 -1.29978301e+01] [-4.14544804e-02 -9.96876731e-04 9.99139896e-01 -5.10262168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94038572299999 meters 0.020722647095533515 Centerline is valid? [True, True] Translation: X:111.08, Y:-13.01, Z:-5.11 [[ 9.30881027e-01 3.63403645e-01 3.73939125e-02 1.11083707e+02] [-3.63154631e-01 9.31631228e-01 -1.34895946e-02 -1.30067587e+01] [-3.97395045e-02 -1.02256477e-03 9.99209551e-01 -5.10731363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97038572299999 meters 0.021240256579141612 Centerline is valid? [True, True] Translation: X:111.11, Y:-13.02, Z:-5.11 [[ 9.30769239e-01 3.63719505e-01 3.71045269e-02 1.11113710e+02] [-3.63474205e-01 9.31507962e-01 -1.33947523e-02 -1.30165581e+01] [-3.94350949e-02 -1.01911498e-03 9.99221614e-01 -5.10968670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000385723 meters 0.020091859541868214 Centerline is valid? [True, True] Translation: X:111.14, Y:-13.03, Z:-5.11 [[ 9.31289217e-01 3.62371090e-01 3.72503382e-02 1.11142585e+02] [-3.62122363e-01 9.32033411e-01 -1.34578760e-02 -1.30306887e+01] [-3.95953050e-02 -9.56005740e-04 9.99215341e-01 -5.11039331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030385723 meters 0.019768128121104594 Centerline is valid? [True, True] Translation: X:111.17, Y:-13.04, Z:-5.11 [[ 9.31404519e-01 3.62064902e-01 3.73447438e-02 1.11172029e+02] [-3.61814276e-01 9.32152418e-01 -1.35018178e-02 -1.30425686e+01] [-3.96995276e-02 -9.36207286e-04 9.99211224e-01 -5.11090369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060385723 meters 0.020103150742173247 Centerline is valid? [True, True] Translation: X:111.20, Y:-13.05, Z:-5.11 [[ 9.31424787e-01 3.62056729e-01 3.69159972e-02 1.11202164e+02] [-3.61811425e-01 9.32155613e-01 -1.33568810e-02 -1.30523405e+01] [-3.92474026e-02 -9.15699478e-04 9.99229104e-01 -5.11341165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090385723 meters 0.02087676618680375 Centerline is valid? [True, True] Translation: X:111.23, Y:-13.06, Z:-5.12 [[ 9.31286687e-01 3.62470315e-01 3.63369946e-02 1.11232944e+02] [-3.62232720e-01 9.31994870e-01 -1.31536590e-02 -1.30612598e+01] [-3.86337035e-02 -9.12620875e-04 9.99253023e-01 -5.11635262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120385723 meters 0.01922371878126239 Centerline is valid? [True, True] Translation: X:111.26, Y:-13.08, Z:-5.12 [[ 9.31322518e-01 3.62399011e-01 3.61292845e-02 1.11262131e+02] [-3.62163694e-01 9.32022615e-01 -1.30882801e-02 -1.30758587e+01] [-3.84164900e-02 -8.95305193e-04 9.99261413e-01 -5.11717955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150385723 meters 0.019195200498587542 Centerline is valid? [True, True] Translation: X:111.29, Y:-13.09, Z:-5.12 [[ 9.31839806e-01 3.61048139e-01 3.63155250e-02 1.11290645e+02] [-3.60808892e-01 9.32546808e-01 -1.31679504e-02 -1.30882002e+01] [-3.86201909e-02 -8.32544001e-04 9.99253615e-01 -5.11837178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180385723 meters 0.018671500552177422 Centerline is valid? [True, True] Translation: X:111.32, Y:-13.10, Z:-5.12 [[ 9.31982536e-01 3.60629066e-01 3.68134337e-02 1.11320006e+02] [-3.60382684e-01 9.32708959e-01 -1.33536336e-02 -1.31016518e+01] [-3.91519278e-02 -8.21570743e-04 9.99232932e-01 -5.11888451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210385723 meters 0.020456367296764665 Centerline is valid? [True, True] Translation: X:111.35, Y:-13.11, Z:-5.12 [[ 9.32392948e-01 3.59391179e-01 3.84885876e-02 1.11350997e+02] [-3.59120349e-01 9.33186664e-01 -1.39723140e-02 -1.31087053e+01] [-4.09385631e-02 -7.94348027e-04 9.99161350e-01 -5.12018170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24038572299999 meters 0.02011209112119116 Centerline is valid? [True, True] Translation: X:111.38, Y:-13.12, Z:-5.12 [[ 9.32559418e-01 3.58886772e-01 3.91563055e-02 1.11380954e+02] [-3.58605562e-01 9.33380782e-01 -1.42255972e-02 -1.31212759e+01] [-4.16531217e-02 -7.75454340e-04 9.99131831e-01 -5.12066455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27038572299999 meters 0.01862969275689127 Centerline is valid? [True, True] Translation: X:111.41, Y:-13.14, Z:-5.12 [[ 9.32864828e-01 3.58010911e-01 3.98923607e-02 1.11408912e+02] [-3.57717806e-01 9.33717108e-01 -1.45028449e-02 -1.31378211e+01] [-4.24403564e-02 -7.41013830e-04 9.99098727e-01 -5.11996059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30038572299999 meters 0.01974422809726599 Centerline is valid? [True, True] Translation: X:111.44, Y:-13.15, Z:-5.12 [[ 9.33105078e-01 3.57307365e-01 4.05753813e-02 1.11438755e+02] [-3.57002991e-01 9.33986586e-01 -1.47621954e-02 -1.31455833e+01] [-4.31715030e-02 -7.10853043e-04 9.99067423e-01 -5.12099069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33038572299999 meters 0.01831539715537901 Centerline is valid? [True, True] Translation: X:111.47, Y:-13.16, Z:-5.12 [[ 9.33206985e-01 3.56870245e-01 4.20517650e-02 1.11467500e+02] [-3.56542382e-01 9.34153697e-01 -1.53101082e-02 -1.31602371e+01] [-4.47465338e-02 -7.05736547e-04 9.98998123e-01 -5.12128993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360385723 meters 0.01975713597831347 Centerline is valid? [True, True] Translation: X:111.50, Y:-13.17, Z:-5.12 [[ 9.33353029e-01 3.56348041e-01 4.32226541e-02 1.11498152e+02] [-3.56000549e-01 9.34353038e-01 -1.57483145e-02 -1.31673554e+01] [-4.59970992e-02 -6.88551511e-04 9.98941336e-01 -5.12130472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390385723 meters 0.0196041563651565 Centerline is valid? [True, True] Translation: X:111.53, Y:-13.18, Z:-5.12 [[ 9.33220291e-01 3.56859669e-01 4.18457435e-02 1.11528535e+02] [-3.56534041e-01 9.34157756e-01 -1.52566520e-02 -1.31793368e+01] [-4.45350095e-02 -6.81614830e-04 9.99007592e-01 -5.12472120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420385723 meters 0.018515950294990115 Centerline is valid? [True, True] Translation: X:111.56, Y:-13.19, Z:-5.13 [[ 9.32950965e-01 3.57697654e-01 4.06802893e-02 1.11558124e+02] [-3.57390250e-01 9.33837197e-01 -1.48424720e-02 -1.31936120e+01] [-4.32978848e-02 -6.91440162e-04 9.99061968e-01 -5.12738366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450385723 meters 0.018668705150520475 Centerline is valid? [True, True] Translation: X:111.59, Y:-13.20, Z:-5.13 [[ 9.32774539e-01 3.58263404e-01 3.97365345e-02 1.11587657e+02] [-3.57970105e-01 9.33620296e-01 -1.45102332e-02 -1.32035944e+01] [-4.22973207e-02 -6.89715314e-04 9.99104830e-01 -5.13012231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480385723 meters 0.01885780946158837 Centerline is valid? [True, True] Translation: X:111.62, Y:-13.21, Z:-5.13 [[ 9.32723922e-01 3.58632522e-01 3.75339661e-02 1.11617176e+02] [-3.58370959e-01 9.33478588e-01 -1.37106250e-02 -1.32124746e+01] [-3.99542297e-02 -6.62855515e-04 9.99201291e-01 -5.13466677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510385723 meters 0.01908313432996468 Centerline is valid? [True, True] Translation: X:111.65, Y:-13.22, Z:-5.14 [[ 9.32549821e-01 3.59232906e-01 3.60908761e-02 1.11646825e+02] [-3.58991196e-01 9.33247712e-01 -1.31920367e-02 -1.32200940e+01] [-3.84207412e-02 -6.54075311e-04 9.99261437e-01 -5.13873262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540385723 meters 0.018549855737484213 Centerline is valid? [True, True] Translation: X:111.68, Y:-13.23, Z:-5.14 [[ 9.32435550e-01 3.59541257e-01 3.59726219e-02 1.11677053e+02] [-3.59301102e-01 9.33128957e-01 -1.31554870e-02 -1.32324362e+01] [-3.82970355e-02 -6.58358980e-04 9.99266183e-01 -5.13963219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570385723 meters 0.01856975477193902 Centerline is valid? [True, True] Translation: X:111.71, Y:-13.24, Z:-5.14 [[ 9.32391104e-01 3.59619833e-01 3.63373717e-02 1.11707926e+02] [-3.59374404e-01 9.33098678e-01 -1.33001743e-02 -1.32445523e+01] [-3.86893600e-02 -6.57757086e-04 9.99251070e-01 -5.13990958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60038572299999 meters 0.0186394858454228 Centerline is valid? [True, True] Translation: X:111.74, Y:-13.26, Z:-5.14 [[ 9.32481933e-01 3.59219968e-01 3.79270401e-02 1.11736938e+02] [-3.58951735e-01 9.33252690e-01 -1.38949387e-02 -1.32559317e+01] [-4.03868516e-02 -6.57197498e-04 9.99183902e-01 -5.13845034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63038572299999 meters 0.018752576329628252 Centerline is valid? [True, True] Translation: X:111.77, Y:-13.27, Z:-5.14 [[ 9.32276697e-01 3.59615841e-01 3.91995805e-02 1.11767882e+02] [-3.59329407e-01 9.33100192e-01 -1.43669349e-02 -1.32667343e+01] [-4.17437134e-02 -6.91603368e-04 9.99128112e-01 -5.13907255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66038572299999 meters 0.018807874888040144 Centerline is valid? [True, True] Translation: X:111.80, Y:-13.28, Z:-5.14 [[ 9.31932554e-01 3.60325013e-01 4.08362692e-02 1.11799274e+02] [-3.60014267e-01 9.32826530e-01 -1.49797368e-02 -1.32774627e+01] [-4.34907291e-02 -7.41535089e-04 9.99053555e-01 -5.14000002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69038572299999 meters 0.019114824529991258 Centerline is valid? [True, True] Translation: X:111.83, Y:-13.29, Z:-5.14 [[ 9.31928427e-01 3.60209504e-01 4.19347011e-02 1.11829262e+02] [-3.59881096e-01 9.32871138e-01 -1.53959882e-02 -1.32877122e+01] [-4.46654536e-02 -7.43547151e-04 9.99001724e-01 -5.14066392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72038572299999 meters 0.0191468946925888 Centerline is valid? [True, True] Translation: X:111.86, Y:-13.30, Z:-5.14 [[ 9.32010650e-01 3.59847550e-01 4.31959334e-02 1.11859182e+02] [-3.59498104e-01 9.33010825e-01 -1.58717962e-02 -1.32993148e+01] [-4.60137004e-02 -7.36173030e-04 9.98940537e-01 -5.14089030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750385723 meters 0.01879420583480121 Centerline is valid? [True, True] Translation: X:111.89, Y:-13.31, Z:-5.14 [[ 9.31984580e-01 3.59829740e-01 4.39010333e-02 1.11889745e+02] [-3.59468219e-01 9.33017693e-01 -1.61425896e-02 -1.33127291e+01] [-4.67690246e-02 -7.36381689e-04 9.98905459e-01 -5.14177144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780385723 meters 0.01897381033238514 Centerline is valid? [True, True] Translation: X:111.92, Y:-13.32, Z:-5.14 [[ 9.31807028e-01 3.60391712e-01 4.30520227e-02 1.11919322e+02] [-3.60044044e-01 9.32800766e-01 -1.58435052e-02 -1.33231498e+01] [-4.58688277e-02 -7.37534867e-04 9.98947199e-01 -5.14376553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810385723 meters 0.01943139027585081 Centerline is valid? [True, True] Translation: X:111.95, Y:-13.33, Z:-5.15 [[ 9.30961458e-01 3.62792670e-01 4.11368682e-02 1.11950072e+02] [-3.62477133e-01 9.31869533e-01 -1.51493271e-02 -1.33308192e+01] [-4.38302590e-02 -8.07734400e-04 9.99038666e-01 -5.14876702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840385723 meters 0.02001578202323759 Centerline is valid? [True, True] Translation: X:111.98, Y:-13.34, Z:-5.15 [[ 9.30016479e-01 3.65437068e-01 3.90525120e-02 1.11981204e+02] [-3.65154622e-01 9.30835637e-01 -1.43916623e-02 -1.33393946e+01] [-4.16107167e-02 -8.75722115e-04 9.99133515e-01 -5.15351923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870385723 meters 0.01974365818280486 Centerline is valid? [True, True] Translation: X:112.01, Y:-13.35, Z:-5.16 [[ 9.29698606e-01 3.66327176e-01 3.82740448e-02 1.12010459e+02] [-3.66056219e-01 9.30485686e-01 -1.41149611e-02 -1.33511061e+01] [-4.07841446e-02 -8.87792443e-04 9.99167586e-01 -5.15556134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900385723 meters 0.020100582894430546 Centerline is valid? [True, True] Translation: X:112.04, Y:-13.36, Z:-5.16 [[ 9.29397589e-01 3.67150031e-01 3.76958305e-02 1.12039354e+02] [-3.66887495e-01 9.30161299e-01 -1.39112615e-02 -1.33618295e+01] [-4.01707228e-02 -9.01035974e-04 9.99192424e-01 -5.15723982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930385723 meters 0.02042444684623932 Centerline is valid? [True, True] Translation: X:112.07, Y:-13.37, Z:-5.16 [[ 9.29029379e-01 3.68118456e-01 3.73257967e-02 1.12069377e+02] [-3.67861459e-01 9.29778440e-01 -1.37840551e-02 -1.33729240e+01] [-3.97788861e-02 -9.24929887e-04 9.99208079e-01 -5.15832262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960385723 meters 0.02052348699114918 Centerline is valid? [True, True] Translation: X:112.10, Y:-13.38, Z:-5.16 [[ 9.28746239e-01 3.68893948e-01 3.67107516e-02 1.12099445e+02] [-3.68645573e-01 9.29471024e-01 -1.35667482e-02 -1.33828265e+01] [-3.91262712e-02 -9.33189737e-04 9.99233839e-01 -5.16030027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99038572299999 meters 0.021222238004712977 Centerline is valid? [True, True] Translation: X:112.13, Y:-13.39, Z:-5.16 [[ 9.28203053e-01 3.70308541e-01 3.62032722e-02 1.12129876e+02] [-3.70067681e-01 9.28908307e-01 -1.33890787e-02 -1.33903008e+01] [-3.85876105e-02 -9.69877328e-04 9.99254750e-01 -5.16407127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02038572299999 meters 0.020956682587330633 Centerline is valid? [True, True] Translation: X:112.16, Y:-13.40, Z:-5.17 [[ 9.27908982e-01 3.71029576e-01 3.63589843e-02 1.12159945e+02] [-3.70786847e-01 9.28620516e-01 -1.34555604e-02 -1.34024870e+01] [-3.87561096e-02 -9.95897836e-04 9.99248203e-01 -5.16551715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05038572299999 meters 0.02104712909161217 Centerline is valid? [True, True] Translation: X:112.19, Y:-13.42, Z:-5.16 [[ 9.27423984e-01 3.72103543e-01 3.77320436e-02 1.12189787e+02] [-3.71842515e-01 9.28190612e-01 -1.39761388e-02 -1.34156028e+01] [-4.02230994e-02 -1.06857167e-03 9.99190152e-01 -5.16435859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08038572299999 meters 0.02107820106766508 Centerline is valid? [True, True] Translation: X:112.22, Y:-13.43, Z:-5.16 [[ 9.27348501e-01 3.72201954e-01 3.86065276e-02 1.12220811e+02] [-3.71928324e-01 9.28151131e-01 -1.43108293e-02 -1.34273491e+01] [-4.11592109e-02 -1.08773501e-03 9.99152009e-01 -5.16445283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110385723 meters 0.021412372222867983 Centerline is valid? [True, True] Translation: X:112.25, Y:-13.44, Z:-5.16 [[ 9.27375465e-01 3.71973511e-01 4.01304624e-02 1.12250487e+02] [-3.71677061e-01 9.28242683e-01 -1.48890298e-02 -1.34377854e+01] [-4.27891328e-02 -1.10785142e-03 9.99083511e-01 -5.16484880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140385723 meters 0.021535233798625385 Centerline is valid? [True, True] Translation: X:112.28, Y:-13.45, Z:-5.17 [[ 9.27196590e-01 3.72455710e-01 3.97897965e-02 1.12281783e+02] [-3.72164296e-01 9.28049303e-01 -1.47725440e-02 -1.34483041e+01] [-4.24290112e-02 -1.11128920e-03 9.99098866e-01 -5.16732870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170385723 meters 0.021728404865621796 Centerline is valid? [True, True] Translation: X:112.31, Y:-13.46, Z:-5.17 [[ 9.26758943e-01 3.73662676e-01 3.86531448e-02 1.12312857e+02] [-3.73388238e-01 9.27563985e-01 -1.43623889e-02 -1.34572827e+01] [-4.12199537e-02 -1.12215732e-03 9.99149466e-01 -5.17134042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200385723 meters 0.021728404865621796 Centerline is valid? [True, True] Translation: X:112.34, Y:-13.47, Z:-5.17 [[ 9.26657555e-01 3.73914392e-01 3.86497562e-02 1.12343185e+02] [-3.73639793e-01 9.27462541e-01 -1.43715018e-02 -1.34686319e+01] [-4.12199124e-02 -1.12362619e-03 9.99149466e-01 -5.17279627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230385723 meters 0.02187953834272315 Centerline is valid? [True, True] Translation: X:112.37, Y:-13.48, Z:-5.17 [[ 9.26333316e-01 3.74699740e-01 3.88161431e-02 1.12372949e+02] [-3.74422939e-01 9.27145500e-01 -1.44459303e-02 -1.34798823e+01] [-4.14010987e-02 -1.15190788e-03 9.99141943e-01 -5.17400717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260385723 meters 0.022544106994304345 Centerline is valid? [True, True] Translation: X:112.40, Y:-13.49, Z:-5.17 [[ 9.25621595e-01 3.76517736e-01 3.81975954e-02 1.12401167e+02] [-3.76251008e-01 9.26408622e-01 -1.42212945e-02 -1.34924818e+01] [-4.07411513e-02 -1.20834647e-03 9.99169004e-01 -5.17282213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290385723 meters 0.0232146313192358 Centerline is valid? [True, True] Translation: X:112.43, Y:-13.50, Z:-5.18 [[ 9.25317903e-01 3.77379376e-01 3.70348988e-02 1.12431269e+02] [-3.77129155e-01 9.26057966e-01 -1.37929090e-02 -1.35013705e+01] [-3.95016225e-02 -1.20411446e-03 9.99218781e-01 -5.17552801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320385723 meters 0.023552554404776806 Centerline is valid? [True, True] Translation: X:112.46, Y:-13.51, Z:-5.18 [[ 9.24641759e-01 3.79306711e-01 3.41179786e-02 1.12462922e+02] [-3.79095317e-01 9.25270250e-01 -1.27163278e-02 -1.35069742e+01] [-3.63917390e-02 -1.17591819e-03 9.99336909e-01 -5.18309814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35038572299999 meters 0.022087179855914997 Centerline is valid? [True, True] Translation: X:112.49, Y:-13.52, Z:-5.19 [[ 9.24251785e-01 3.80338948e-01 3.31801610e-02 1.12492183e+02] [-3.80139657e-01 9.24846413e-01 -1.23674693e-02 -1.35189900e+01] [-3.53903831e-02 -1.18243942e-03 9.99372865e-01 -5.18644068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38038572299999 meters 0.022860039393002785 Centerline is valid? [True, True] Translation: X:112.52, Y:-13.53, Z:-5.19 [[ 9.23927303e-01 3.81238026e-01 3.18732885e-02 1.12521855e+02] [-3.81054366e-01 9.24476187e-01 -1.18890801e-02 -1.35280386e+01] [-3.39986657e-02 -1.16081003e-03 9.99421204e-01 -5.18919650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41038572299999 meters 0.025282316612336146 Centerline is valid? [True, True] Translation: X:112.55, Y:-13.54, Z:-5.19 [[ 9.23610176e-01 3.82114127e-01 3.05456565e-02 1.12551242e+02] [-3.81945684e-01 9.24114443e-01 -1.14013775e-02 -1.35383431e+01] [-3.25843098e-02 -1.13635342e-03 9.99468344e-01 -5.19040205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44038572299999 meters 0.023770671487824697 Centerline is valid? [True, True] Translation: X:112.58, Y:-13.55, Z:-5.19 [[ 9.23636878e-01 3.82069675e-01 3.02932606e-02 1.12580150e+02] [-3.81903756e-01 9.24132843e-01 -1.13141456e-02 -1.35544611e+01] [-3.23177890e-02 -1.11894783e-03 9.99477017e-01 -5.18917854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47038572299999 meters 0.025161713202228597 Centerline is valid? [True, True] Translation: X:112.61, Y:-13.56, Z:-5.19 [[ 9.24119590e-01 3.80788301e-01 3.16741648e-02 1.12610097e+02] [-3.80605748e-01 9.24661578e-01 -1.18419105e-02 -1.35637728e+01] [-3.37971442e-02 -1.11202777e-03 9.99428095e-01 -5.18935606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500385723 meters 0.02486493617193239 Centerline is valid? [True, True] Translation: X:112.64, Y:-13.57, Z:-5.19 [[ 9.24139059e-01 3.80635234e-01 3.29213920e-02 1.12640179e+02] [-3.80437768e-01 9.24724557e-01 -1.23125781e-02 -1.35748476e+01] [-3.51298207e-02 -1.14600651e-03 9.99382100e-01 -5.19003220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530385723 meters 0.02524874738366644 Centerline is valid? [True, True] Translation: X:112.67, Y:-13.58, Z:-5.19 [[ 9.24127437e-01 3.80452305e-01 3.52777940e-02 1.12669886e+02] [-3.80225038e-01 9.24799749e-01 -1.32039576e-02 -1.35835884e+01] [-3.76483711e-02 -1.21136101e-03 9.99290315e-01 -5.19050742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560385723 meters 0.025485833995984468 Centerline is valid? [True, True] Translation: X:112.70, Y:-13.59, Z:-5.19 [[ 9.24004151e-01 3.80679191e-01 3.60511069e-02 1.12700639e+02] [-3.80441672e-01 9.24706342e-01 -1.35024310e-02 -1.35944995e+01] [-3.84767817e-02 -1.23904111e-03 9.99258726e-01 -5.19123005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590385723 meters 0.023890733810059364 Centerline is valid? [True, True] Translation: X:112.73, Y:-13.61, Z:-5.19 [[ 9.23860125e-01 3.80984012e-01 3.65191941e-02 1.12730576e+02] [-3.80740252e-01 9.24580765e-01 -1.36846547e-02 -1.36095044e+01] [-3.89785791e-02 -1.26162034e-03 9.99239250e-01 -5.19105865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620385723 meters 0.023870356611568434 Centerline is valid? [True, True] Translation: X:112.76, Y:-13.62, Z:-5.19 [[ 9.24164152e-01 3.80228714e-01 3.66980302e-02 1.12759730e+02] [-3.79981510e-01 9.24891683e-01 -1.37632733e-02 -1.36221176e+01] [-3.91748946e-02 -1.22504917e-03 9.99231618e-01 -5.19114999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650385723 meters 0.023878502768234857 Centerline is valid? [True, True] Translation: X:112.79, Y:-13.63, Z:-5.19 [[ 9.24479469e-01 3.79508118e-01 3.62118753e-02 1.12788942e+02] [-3.79266475e-01 9.25187668e-01 -1.35911600e-02 -1.36331016e+01] [-3.86607360e-02 -1.16920191e-03 9.99251710e-01 -5.19324963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680385723 meters 0.0232028566056355 Centerline is valid? [True, True] Translation: X:112.82, Y:-13.65, Z:-5.20 [[ 9.25078246e-01 3.78182095e-01 3.47640868e-02 1.12818930e+02] [-3.77958299e-01 9.25730613e-01 -1.30520459e-02 -1.36450554e+01] [-3.71182294e-02 -1.06521133e-03 9.99310313e-01 -5.19577132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710385723 meters 0.0234817401947722 Centerline is valid? [True, True] Translation: X:112.85, Y:-13.65, Z:-5.20 [[ 9.25147450e-01 3.78290437e-01 3.15997001e-02 1.12848299e+02] [-3.78105346e-01 9.25686455e-01 -1.18715519e-02 -1.36538796e+01] [-3.37423089e-02 -9.65079613e-04 9.99430100e-01 -5.20023881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74038572299999 meters 0.023590729160193547 Centerline is valid? [True, True] Translation: X:112.88, Y:-13.66, Z:-5.20 [[ 9.25185102e-01 3.78347219e-01 2.97642116e-02 1.12878368e+02] [-3.78182834e-01 9.25663310e-01 -1.11884287e-02 -1.36637754e+01] [-3.17847495e-02 -9.04946366e-04 9.99494328e-01 -5.20369469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77038572299999 meters 0.02384739719126052 Centerline is valid? [True, True] Translation: X:112.91, Y:-13.67, Z:-5.21 [[ 9.25404244e-01 3.77911819e-01 2.84542077e-02 1.12909927e+02] [-3.77761122e-01 9.25841210e-01 -1.07045810e-02 -1.36743418e+01] [-3.03894657e-02 -8.42828726e-04 9.99537778e-01 -5.20759343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80038572299999 meters 0.022558014726500132 Centerline is valid? [True, True] Translation: X:112.94, Y:-13.69, Z:-5.21 [[ 9.26500570e-01 3.75366316e-01 2.63973862e-02 1.12938542e+02] [-3.75235560e-01 9.26876278e-01 -9.93179151e-03 -1.36883863e+01] [-2.81951710e-02 -7.03427482e-04 9.99602190e-01 -5.20969371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83038572299999 meters 0.02220440552293015 Centerline is valid? [True, True] Translation: X:112.97, Y:-13.70, Z:-5.21 [[ 9.27288330e-01 3.73423846e-01 2.62866021e-02 1.12967393e+02] [-3.73293211e-01 9.27660621e-01 -9.89699511e-03 -1.37014697e+01] [-2.80808196e-02 -6.35242038e-04 9.99605454e-01 -5.21096205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860385723 meters 0.02103138682665014 Centerline is valid? [True, True] Translation: X:112.99, Y:-13.72, Z:-5.21 [[ 9.29014012e-01 3.69002314e-01 2.77535163e-02 1.12994471e+02] [-3.68854424e-01 9.29428330e-01 -1.04590959e-02 -1.37161917e+01] [-2.96543349e-02 -5.20360629e-04 9.99560078e-01 -5.20916356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890385723 meters 0.020538419725000194 Centerline is valid? [True, True] Translation: X:113.02, Y:-13.73, Z:-5.21 [[ 9.29781506e-01 3.67020559e-01 2.83241983e-02 1.13022938e+02] [-3.66865557e-01 9.30212714e-01 -1.06756584e-02 -1.37285573e+01] [-3.02657155e-02 -4.65143013e-04 9.99541780e-01 -5.20886777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920385723 meters 0.019330118505151515 Centerline is valid? [True, True] Translation: X:113.05, Y:-13.74, Z:-5.21 [[ 9.31184884e-01 3.63346577e-01 2.95631004e-02 1.13052282e+02] [-3.63175644e-01 9.31653981e-01 -1.11495479e-02 -1.37429089e+01] [-3.15937302e-02 -3.54307568e-04 9.99500731e-01 -5.20714641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950385723 meters 0.019208957262195733 Centerline is valid? [True, True] Translation: X:113.08, Y:-13.75, Z:-5.21 [[ 9.31906929e-01 3.61433125e-01 3.02584052e-02 1.13081555e+02] [-3.61252772e-01 9.32397991e-01 -1.14202279e-02 -1.37533873e+01] [-3.23405249e-02 -2.88343292e-04 9.99476867e-01 -5.20992955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980385723 meters 0.0186253789605201 Centerline is valid? [True, True] Translation: X:113.11, Y:-13.77, Z:-5.21 [[ 9.33449944e-01 3.57322399e-01 3.14945164e-02 1.13109649e+02] [-3.57124388e-01 9.33981093e-01 -1.18949309e-02 -1.37669994e+01] [-3.36656081e-02 -1.44137346e-04 9.99433142e-01 -5.21086675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010385723 meters 0.018482552503527407 Centerline is valid? [True, True] Translation: X:113.14, Y:-13.78, Z:-5.21 [[ 9.34048823e-01 3.55738473e-01 3.16691568e-02 1.13139573e+02] [-3.55537107e-01 9.34585540e-01 -1.19680235e-02 -1.37795125e+01] [-3.38550224e-02 -8.08421136e-05 9.99426751e-01 -5.21265188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040385723 meters 0.018222509663750643 Centerline is valid? [True, True] Translation: X:113.17, Y:-13.79, Z:-5.21 [[ 9.34726906e-01 3.53961402e-01 3.15743143e-02 1.13170049e+02] [-3.53759990e-01 9.35260031e-01 -1.19391671e-02 -1.37919398e+01] [-3.37561985e-02 -9.86840914e-06 9.99430097e-01 -5.21257376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070385723 meters 0.018326023582771904 Centerline is valid? [True, True] Translation: X:113.20, Y:-13.80, Z:-5.21 [[ 9.35867709e-01 3.50908856e-01 3.18528933e-02 1.13200261e+02] [-3.50701774e-01 9.36409613e-01 -1.20541770e-02 -1.38041343e+01] [-3.40572730e-02 1.10248851e-04 9.99419877e-01 -5.21385482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10038572299999 meters 0.018359512609925462 Centerline is valid? [True, True] Translation: X:113.23, Y:-13.82, Z:-5.21 [[ 9.36247060e-01 3.49997633e-01 3.07099252e-02 1.13230043e+02] [-3.49804349e-01 9.36750573e-01 -1.16310756e-02 -1.38161473e+01] [-3.28383889e-02 1.47094911e-04 9.99460664e-01 -5.21464696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13038572299999 meters 0.018551758251085213 Centerline is valid? [True, True] Translation: X:113.26, Y:-13.83, Z:-5.22 [[ 9.36897151e-01 3.48466543e-01 2.81921346e-02 1.13259114e+02] [-3.48302752e-01 9.37321200e-01 -1.06846165e-02 -1.38277050e+01] [-3.01483168e-02 1.90988735e-04 9.99545418e-01 -5.21735720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16038572299999 meters 0.018610414443377906 Centerline is valid? [True, True] Translation: X:113.29, Y:-13.84, Z:-5.22 [[ 9.37223089e-01 3.47651602e-01 2.74088360e-02 1.13289442e+02] [-3.47496248e-01 9.37623761e-01 -1.03942783e-02 -1.38380783e+01] [-2.93127634e-02 2.17289968e-04 9.99570265e-01 -5.21925494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19038572299999 meters 0.01875927444643456 Centerline is valid? [True, True] Translation: X:113.32, Y:-13.85, Z:-5.22 [[ 9.37518875e-01 3.46961094e-01 2.60068849e-02 1.13318848e+02] [-3.46820758e-01 9.37879494e-01 -9.86997856e-03 -1.38465586e+01] [-2.78158226e-02 2.33563659e-04 9.99613038e-01 -5.22299542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22038572299999 meters 0.019048516062309416 Centerline is valid? [True, True] Translation: X:113.35, Y:-13.86, Z:-5.23 [[ 9.37664530e-01 3.46601471e-01 2.55470158e-02 1.13348233e+02] [-3.46465749e-01 9.38012452e-01 -9.70176822e-03 -1.38569332e+01] [-2.73260661e-02 2.45837951e-04 9.99626543e-01 -5.22659749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250385723 meters 0.01907247042272475 Centerline is valid? [True, True] Translation: X:113.38, Y:-13.87, Z:-5.23 [[ 9.37700081e-01 3.46484328e-01 2.58296161e-02 1.13379936e+02] [-3.46345502e-01 9.38055727e-01 -9.81052740e-03 -1.38673607e+01] [-2.76288133e-02 2.53360979e-04 9.99618219e-01 -5.22855035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280385723 meters 0.018831371117519313 Centerline is valid? [True, True] Translation: X:113.41, Y:-13.88, Z:-5.23 [[ 9.38280980e-01 3.44742680e-01 2.79515097e-02 1.13411128e+02] [-3.44579041e-01 9.38697166e-01 -1.06261402e-02 -1.38768383e+01] [-2.99012870e-02 3.38800879e-04 9.99552799e-01 -5.22721219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310385723 meters 0.01894366357736863 Centerline is valid? [True, True] Translation: X:113.44, Y:-13.89, Z:-5.23 [[ 9.38640167e-01 3.43677796e-01 2.89863828e-02 1.13441252e+02] [-3.43501064e-01 9.39087545e-01 -1.10273104e-02 -1.38891116e+01] [-3.10105927e-02 3.93823124e-04 9.99518978e-01 -5.22662800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340385723 meters 0.019235700788365548 Centerline is valid? [True, True] Translation: X:113.47, Y:-13.90, Z:-5.22 [[ 9.39181292e-01 3.41972084e-01 3.15213394e-02 1.13470282e+02] [-3.41761740e-01 9.39709978e-01 -1.20029085e-02 -1.39018591e+01] [-3.37255768e-02 5.00119278e-04 9.99431006e-01 -5.22418632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370385723 meters 0.01918056272667282 Centerline is valid? [True, True] Translation: X:113.50, Y:-13.91, Z:-5.22 [[ 9.39179183e-01 3.41875443e-01 3.26135590e-02 1.13500949e+02] [-3.41649864e-01 9.39745125e-01 -1.24286189e-02 -1.39124724e+01] [-3.48974726e-02 5.30282139e-04 9.99390757e-01 -5.22449449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400385723 meters 0.01901795703276829 Centerline is valid? [True, True] Translation: X:113.53, Y:-13.92, Z:-5.23 [[ 9.38761953e-01 3.42901010e-01 3.38362649e-02 1.13532731e+02] [-3.42658453e-01 9.39371399e-01 -1.29057521e-02 -1.39202155e+01] [-3.62102150e-02 5.21146873e-04 9.99344059e-01 -5.22577409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430385723 meters 0.018634251545645374 Centerline is valid? [True, True] Translation: X:113.56, Y:-13.93, Z:-5.23 [[ 9.38389183e-01 3.43878801e-01 3.42507256e-02 1.13564019e+02] [-3.43630528e-01 9.39013909e-01 -1.30743680e-02 -1.39295869e+01] [-3.66579057e-02 4.99250570e-04 9.99327748e-01 -5.22764939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460385723 meters 0.018570448578926778 Centerline is valid? [True, True] Translation: X:113.59, Y:-13.94, Z:-5.23 [[ 9.37914883e-01 3.45209452e-01 3.38541990e-02 1.13593059e+02] [-3.44967689e-01 9.38525566e-01 -1.29250160e-02 -1.39393379e+01] [-3.62348689e-02 4.43960059e-04 9.99343203e-01 -5.22948669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49038572299999 meters 0.018100741453812876 Centerline is valid? [True, True] Translation: X:113.62, Y:-13.95, Z:-5.23 [[ 9.36606538e-01 3.48814968e-01 3.31105809e-02 1.13624034e+02] [-3.48585683e-01 9.37191562e-01 -1.26490050e-02 -1.39477363e+01] [-3.54431193e-02 3.05266344e-04 9.99371649e-01 -5.23136207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52038572299999 meters 0.017757192766136565 Centerline is valid? [True, True] Translation: X:113.66, Y:-13.95, Z:-5.23 [[ 9.35516747e-01 3.51741965e-01 3.29546147e-02 1.13655549e+02] [-3.51516338e-01 9.36096977e-01 -1.25981825e-02 -1.39544428e+01] [-3.52800246e-02 2.01725277e-04 9.99377446e-01 -5.23373520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55038572299999 meters 0.01768383292539155 Centerline is valid? [True, True] Translation: X:113.69, Y:-13.96, Z:-5.24 [[ 9.34968561e-01 3.53225538e-01 3.26421549e-02 1.13686202e+02] [-3.53004782e-01 9.35538185e-01 -1.24870797e-02 -1.39638433e+01] [-3.49487378e-02 1.52190095e-04 9.99389095e-01 -5.23590994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58038572299999 meters 0.01755447758070971 Centerline is valid? [True, True] Translation: X:113.72, Y:-13.97, Z:-5.24 [[ 9.34308396e-01 3.54974778e-01 3.25688353e-02 1.13717463e+02] [-3.54755763e-01 9.34875873e-01 -1.24679645e-02 -1.39733139e+01] [-3.48736313e-02 9.49419331e-05 9.99391725e-01 -5.23678312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610385723 meters 0.017378833831949828 Centerline is valid? [True, True] Translation: X:113.75, Y:-13.98, Z:-5.24 [[ 9.33273903e-01 3.57745388e-01 3.19070479e-02 1.13749284e+02] [-3.57536480e-01 9.33819167e-01 -1.22240749e-02 -1.39820885e+01] [-3.41685193e-02 4.76563147e-07 9.99416086e-01 -5.23849621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640385723 meters 0.017366010770632167 Centerline is valid? [True, True] Translation: X:113.78, Y:-13.99, Z:-5.24 [[ 9.32894285e-01 3.58780994e-01 3.13759710e-02 1.13780706e+02] [-3.58579260e-01 9.33421768e-01 -1.20298340e-02 -1.39927087e+01] [-3.36030901e-02 -2.82090105e-05 9.99435256e-01 -5.23966566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670385723 meters 0.017315259120218342 Centerline is valid? [True, True] Translation: X:113.81, Y:-14.00, Z:-5.24 [[ 9.32720877e-01 3.59339510e-01 3.01144877e-02 1.13811367e+02] [-3.59153668e-01 9.33206898e-01 -1.15553968e-02 -1.40019273e+01] [-3.22553583e-02 -3.77688378e-05 9.99479660e-01 -5.24277486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700385723 meters 0.01747520133293358 Centerline is valid? [True, True] Translation: X:113.84, Y:-14.01, Z:-5.25 [[ 9.32832269e-01 3.59090424e-01 2.96314780e-02 1.13841047e+02] [-3.58910123e-01 9.33302773e-01 -1.13779169e-02 -1.40126005e+01] [-3.17408416e-02 -2.13494019e-05 9.99496132e-01 -5.24738798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730385723 meters 0.01735071045952036 Centerline is valid? [True, True] Translation: X:113.87, Y:-14.02, Z:-5.25 [[ 9.33340637e-01 3.57663902e-01 3.08510546e-02 1.13870737e+02] [-3.57467340e-01 9.33850380e-01 -1.18562029e-02 -1.40237566e+01] [-3.30508049e-02 3.76315751e-05 9.99453672e-01 -5.24655016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760385723 meters 0.017297989623485513 Centerline is valid? [True, True] Translation: X:113.90, Y:-14.04, Z:-5.25 [[ 9.33723595e-01 3.56502168e-01 3.26565855e-02 1.13900903e+02] [-3.56280833e-01 9.34294491e-01 -1.25607390e-02 -1.40363949e+01] [-3.49887987e-02 9.33429037e-05 9.99387700e-01 -5.24633267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790385723 meters 0.017282888093528407 Centerline is valid? [True, True] Translation: X:113.93, Y:-14.05, Z:-5.25 [[ 9.34001410e-01 3.55706602e-01 3.33793300e-02 1.13930155e+02] [-3.55474712e-01 9.34597666e-01 -1.28426039e-02 -1.40493553e+01] [-3.57644429e-02 1.29502399e-04 9.99360239e-01 -5.24643010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820385723 meters 0.017373469203238522 Centerline is valid? [True, True] Translation: X:113.96, Y:-14.06, Z:-5.24 [[ 9.34494956e-01 3.54158578e-01 3.59288087e-02 1.13958509e+02] [-3.53888308e-01 9.35185359e-01 -1.38350985e-02 -1.40623938e+01] [-3.84999147e-02 2.14044473e-04 9.99258581e-01 -5.24465228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85038572299999 meters 0.01741486703955228 Centerline is valid? [True, True] Translation: X:113.99, Y:-14.07, Z:-5.25 [[ 9.34228800e-01 3.54747683e-01 3.70220371e-02 1.13988048e+02] [-3.54460778e-01 9.34962053e-01 -1.42659474e-02 -1.40709368e+01] [-3.96750116e-02 2.04798883e-04 9.99212616e-01 -5.24702574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88038572299999 meters 0.01723729016189219 Centerline is valid? [True, True] Translation: X:114.02, Y:-14.08, Z:-5.25 [[ 9.33656551e-01 3.56291014e-01 3.66354750e-02 1.14019315e+02] [-3.56011078e-01 9.34375028e-01 -1.41215951e-02 -1.40807329e+01] [-3.92626704e-02 1.42084836e-04 9.99228914e-01 -5.25011346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91038572299999 meters 0.01716390569767258 Centerline is valid? [True, True] Translation: X:114.05, Y:-14.09, Z:-5.25 [[ 9.33019411e-01 3.58014276e-01 3.60632329e-02 1.14051103e+02] [-3.57743897e-01 9.33716109e-01 -1.39115720e-02 -1.40905927e+01] [-3.86533628e-02 7.83652421e-05 9.99252676e-01 -5.25312065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94038572299999 meters 0.017127262188822545 Centerline is valid? [True, True] Translation: X:114.08, Y:-14.10, Z:-5.26 [[ 9.31688501e-01 3.61602297e-01 3.46455664e-02 1.14082090e+02] [-3.61354872e-01 9.32332438e-01 -1.33746437e-02 -1.40991261e+01] [-3.71374872e-02 -5.83424752e-05 9.99310164e-01 -5.25681638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97038572299999 meters 0.017083926725175197 Centerline is valid? [True, True] Translation: X:114.11, Y:-14.11, Z:-5.26 [[ 9.30777241e-01 3.64105908e-01 3.28727046e-02 1.14112432e+02] [-3.63884416e-01 9.31357540e-01 -1.26989667e-02 -1.41082322e+01] [-3.52400101e-02 -1.41955727e-04 9.99378868e-01 -5.25805423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000385723 meters 0.01707270973828474 Centerline is valid? [True, True] Translation: X:114.14, Y:-14.12, Z:-5.26 [[ 9.30503682e-01 3.64892921e-01 3.18756034e-02 1.14142699e+02] [-3.64684871e-01 9.31049478e-01 -1.23212987e-02 -1.41181388e+01] [-3.41737186e-02 -1.59536519e-04 9.99415895e-01 -5.25984877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030385723 meters 0.017032871744058996 Centerline is valid? [True, True] Translation: X:114.17, Y:-14.13, Z:-5.26 [[ 9.30388388e-01 3.65203800e-01 3.16801571e-02 1.14173812e+02] [-3.64998195e-01 9.30927579e-01 -1.22539772e-02 -1.41291461e+01] [-3.39671310e-02 -1.62242079e-04 9.99422937e-01 -5.26239861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060385723 meters 0.016826824773891514 Centerline is valid? [True, True] Translation: X:114.20, Y:-14.14, Z:-5.26 [[ 9.30969634e-01 3.63772551e-01 3.10656164e-02 1.14204364e+02] [-3.63573738e-01 9.31487800e-01 -1.20256050e-02 -1.41421969e+01] [-3.33118277e-02 -9.91691785e-05 9.99445002e-01 -5.26321860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090385723 meters 0.016826824773891514 Centerline is valid? [True, True] Translation: X:114.23, Y:-14.15, Z:-5.26 [[ 9.30869395e-01 3.64029262e-01 3.10622865e-02 1.14234535e+02] [-3.63830306e-01 9.31387506e-01 -1.20341990e-02 -1.41539505e+01] [-3.33118261e-02 -9.91336896e-05 9.99445002e-01 -5.26467466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120385723 meters 0.016753001507005993 Centerline is valid? [True, True] Translation: X:114.26, Y:-14.17, Z:-5.27 [[ 9.31221356e-01 3.63105581e-01 3.13228986e-02 1.14264941e+02] [-3.62902411e-01 9.31747999e-01 -1.21452148e-02 -1.41670788e+01] [-3.35950433e-02 -5.72720341e-05 9.99435526e-01 -5.26567333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150385723 meters 0.01680784968226396 Centerline is valid? [True, True] Translation: X:114.29, Y:-14.18, Z:-5.27 [[ 9.32618218e-01 3.59445726e-01 3.19692122e-02 1.14294491e+02] [-3.59231566e-01 9.33165989e-01 -1.24064229e-02 -1.41796803e+01] [-3.42920172e-02 8.61058288e-05 9.99411852e-01 -5.26761757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180385723 meters 0.016783584307269776 Centerline is valid? [True, True] Translation: X:114.32, Y:-14.19, Z:-5.27 [[ 9.33341933e-01 3.57552857e-01 3.20747731e-02 1.14324316e+02] [-3.57335840e-01 9.33892889e-01 -1.24567101e-02 -1.41925653e+01] [-3.44083348e-02 1.64903902e-04 9.99407844e-01 -5.26889274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21038572299999 meters 0.017027407973505645 Centerline is valid? [True, True] Translation: X:114.35, Y:-14.21, Z:-5.27 [[ 9.34584653e-01 3.54184786e-01 3.32364998e-02 1.14352733e+02] [-3.53949230e-01 9.35175407e-01 -1.29190246e-02 -1.42077217e+01] [-3.56576791e-02 3.09888589e-04 9.99364015e-01 -5.26830410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24038572299999 meters 0.01721845736154962 Centerline is valid? [True, True] Translation: X:114.38, Y:-14.22, Z:-5.27 [[ 9.34999421e-01 3.52984546e-01 3.43218901e-02 1.14382005e+02] [-3.52732160e-01 9.35629076e-01 -1.33512157e-02 -1.42204541e+01] [-3.68253312e-02 3.76944482e-04 9.99321646e-01 -5.26953610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27038572299999 meters 0.017096485439345947 Centerline is valid? [True, True] Translation: X:114.41, Y:-14.23, Z:-5.27 [[ 9.35192226e-01 3.52278552e-01 3.62673634e-02 1.14413019e+02] [-3.51995935e-01 9.35895098e-01 -1.41148288e-02 -1.42317239e+01] [-3.89147991e-02 4.34113695e-04 9.99242438e-01 -5.26989159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30038572299999 meters 0.017260106522603482 Centerline is valid? [True, True] Translation: X:114.44, Y:-14.24, Z:-5.27 [[ 9.34970628e-01 3.52835852e-01 3.65620844e-02 1.14443057e+02] [-3.52548593e-01 9.35685140e-01 -1.42410887e-02 -1.42437871e+01] [-3.92353657e-02 4.25088258e-04 9.99229906e-01 -5.27137994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33038572299999 meters 0.01668218584095386 Centerline is valid? [True, True] Translation: X:114.47, Y:-14.25, Z:-5.27 [[ 9.34139920e-01 3.55093926e-01 3.59292918e-02 1.14474257e+02] [-3.54817767e-01 9.34830568e-01 -1.40057515e-02 -1.42533000e+01] [-3.85611575e-02 3.34980463e-04 9.99256186e-01 -5.27254531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360385723 meters 0.01664157551398238 Centerline is valid? [True, True] Translation: X:114.50, Y:-14.26, Z:-5.27 [[ 9.33500431e-01 3.56779284e-01 3.58537034e-02 1.14503445e+02] [-3.56505142e-01 9.34188668e-01 -1.39862922e-02 -1.42637436e+01] [-3.84841427e-02 2.74180142e-04 9.99259173e-01 -5.27471698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390385723 meters 0.016154068412251664 Centerline is valid? [True, True] Translation: X:114.54, Y:-14.27, Z:-5.28 [[ 9.31863521e-01 3.61080344e-01 3.53746243e-02 1.14535430e+02] [-3.60816242e-01 9.32534704e-01 -1.38081641e-02 -1.42698632e+01] [-3.79739214e-02 1.03585415e-04 9.99278725e-01 -5.27775263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420385723 meters 0.016007507801414557 Centerline is valid? [True, True] Translation: X:114.57, Y:-14.28, Z:-5.28 [[ 9.30923298e-01 3.63600146e-01 3.43037442e-02 1.14565714e+02] [-3.63353176e-01 9.31555116e-01 -1.33990996e-02 -1.42791410e+01] [-3.68277430e-02 9.15962964e-06 9.99321629e-01 -5.28056274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450385723 meters 0.016070664366084935 Centerline is valid? [True, True] Translation: X:114.60, Y:-14.29, Z:-5.28 [[ 9.30031757e-01 3.65958797e-01 3.33929664e-02 1.14597277e+02] [-3.65725955e-01 9.30631051e-01 -1.30526770e-02 -1.42898370e+01] [-3.58532734e-02 -7.32703806e-05 9.99357062e-01 -5.28307915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480385723 meters 0.01606962324673239 Centerline is valid? [True, True] Translation: X:114.63, Y:-14.30, Z:-5.28 [[ 9.28258709e-01 3.70558248e-01 3.19742593e-02 1.14627670e+02] [-3.70347156e-01 9.28809201e-01 -1.25080921e-02 -1.42987327e+01] [-3.43329629e-02 -2.30830582e-04 9.99410423e-01 -5.28381595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510385723 meters 0.016138047153011512 Centerline is valid? [True, True] Translation: X:114.66, Y:-14.31, Z:-5.28 [[ 9.27456744e-01 3.72510800e-01 3.25528944e-02 1.14657678e+02] [-3.72292863e-01 9.28027809e-01 -1.27440230e-02 -1.43088469e+01] [-3.49572775e-02 -2.99680161e-04 9.99388763e-01 -5.28479011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540385723 meters 0.016306014257837374 Centerline is valid? [True, True] Translation: X:114.69, Y:-14.32, Z:-5.29 [[ 9.26512872e-01 3.74732719e-01 3.39011424e-02 1.14689671e+02] [-3.74497654e-01 9.27132802e-01 -1.32768182e-02 -1.43170190e+01] [-3.64061193e-02 -3.94755288e-04 9.99337000e-01 -5.28695621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570385723 meters 0.01619806580361923 Centerline is valid? [True, True] Translation: X:114.72, Y:-14.33, Z:-5.29 [[ 9.26217422e-01 3.75399393e-01 3.45916589e-02 1.14720701e+02] [-3.75154855e-01 9.26863052e-01 -1.35542577e-02 -1.43277898e+01] [-3.71499907e-02 -4.23039138e-04 9.99309611e-01 -5.28883403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60038572299999 meters 0.016217328882898546 Centerline is valid? [True, True] Translation: X:114.75, Y:-14.34, Z:-5.29 [[ 9.25626763e-01 3.76791296e-01 3.52620880e-02 1.14751616e+02] [-3.76537758e-01 9.26298057e-01 -1.38284396e-02 -1.43394086e+01] [-3.78736393e-02 -4.77533739e-04 9.99282422e-01 -5.29055571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63038572299999 meters 0.016241829550112167 Centerline is valid? [True, True] Translation: X:114.78, Y:-14.35, Z:-5.29 [[ 9.25394295e-01 3.77405377e-01 3.47934033e-02 1.14782483e+02] [-3.77158562e-01 9.26048026e-01 -1.36555328e-02 -1.43516567e+01] [-3.73740339e-02 -4.85877800e-04 9.99301229e-01 -5.29204365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66038572299999 meters 0.016330262937836636 Centerline is valid? [True, True] Translation: X:114.81, Y:-14.36, Z:-5.29 [[ 9.24724077e-01 3.78975404e-01 3.55390496e-02 1.14812428e+02] [-3.78718599e-01 9.25406581e-01 -1.39600100e-02 -1.43631601e+01] [-3.81785708e-02 -5.50141732e-04 9.99270781e-01 -5.29250601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69038572299999 meters 0.01651506666365399 Centerline is valid? [True, True] Translation: X:114.84, Y:-14.37, Z:-5.29 [[ 9.24321468e-01 3.79926135e-01 3.58602201e-02 1.14841678e+02] [-3.79664958e-01 9.25016643e-01 -1.40971495e-02 -1.43733964e+01] [-3.85271759e-02 -5.84571036e-04 9.99257382e-01 -5.29396197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72038572299999 meters 0.016815108785847015 Centerline is valid? [True, True] Translation: X:114.87, Y:-14.38, Z:-5.30 [[ 9.23332886e-01 3.82272426e-01 3.63892044e-02 1.14872112e+02] [-3.82005105e-01 9.24049414e-01 -1.43101689e-02 -1.43842200e+01] [-3.90958060e-02 -6.87812270e-04 9.99235230e-01 -5.29631059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750385723 meters 0.016839102382269586 Centerline is valid? [True, True] Translation: X:114.90, Y:-14.40, Z:-5.30 [[ 9.22801271e-01 3.83566869e-01 3.62528780e-02 1.14900989e+02] [-3.83302150e-01 9.23512817e-01 -1.42666928e-02 -1.43973825e+01] [-3.89522282e-02 -7.30483790e-04 9.99240807e-01 -5.29749504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780385723 meters 0.017002665460634354 Centerline is valid? [True, True] Translation: X:114.93, Y:-14.41, Z:-5.30 [[ 9.22291095e-01 3.84790678e-01 3.62666583e-02 1.14930037e+02] [-3.84526302e-01 9.23003541e-01 -1.42823622e-02 -1.44103686e+01] [-3.89699739e-02 -7.72988582e-04 9.99240083e-01 -5.29839922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810385723 meters 0.017581191577984937 Centerline is valid? [True, True] Translation: X:114.96, Y:-14.42, Z:-5.30 [[ 9.21458565e-01 3.86842593e-01 3.55938364e-02 1.14959023e+02] [-3.86589086e-01 9.22145385e-01 -1.40273776e-02 -1.44213110e+01] [-3.82490791e-02 -8.34541449e-04 9.99267888e-01 -5.30187650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840385723 meters 0.01808429720174312 Centerline is valid? [True, True] Translation: X:114.99, Y:-14.43, Z:-5.30 [[ 9.20994099e-01 3.87992110e-01 3.50997375e-02 1.14987947e+02] [-3.87746086e-01 9.21662292e-01 -1.38416931e-02 -1.44314358e+01] [-3.77205722e-02 -8.61668185e-04 9.99287954e-01 -5.30474659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870385723 meters 0.018678027360552324 Centerline is valid? [True, True] Translation: X:115.02, Y:-14.44, Z:-5.31 [[ 9.20161620e-01 3.90096195e-01 3.35790208e-02 1.15017286e+02] [-3.89872132e-01 9.20773669e-01 -1.32503031e-02 -1.44431824e+01] [-3.60875710e-02 -8.99104111e-04 9.99348227e-01 -5.30762026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900385723 meters 0.018760355933527248 Centerline is valid? [True, True] Translation: X:115.05, Y:-14.46, Z:-5.31 [[ 9.19756484e-01 3.91143809e-01 3.24735468e-02 1.15046267e+02] [-3.90934640e-01 9.20329130e-01 -1.28218630e-02 -1.44571322e+01] [-3.49015434e-02 -9.02042723e-04 9.99390348e-01 -5.30841953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930385723 meters 0.019672440554447584 Centerline is valid? [True, True] Translation: X:115.07, Y:-14.47, Z:-5.31 [[ 9.19324695e-01 3.92246204e-01 3.13850278e-02 1.15073276e+02] [-3.92051184e-01 9.19859825e-01 -1.24004763e-02 -1.44723285e+01] [-3.37338659e-02 -9.04473150e-04 9.99430442e-01 -5.30887610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96038572299999 meters 0.019360621891047775 Centerline is valid? [True, True] Translation: X:115.10, Y:-14.49, Z:-5.31 [[ 9.19182461e-01 3.92578842e-01 3.13919778e-02 1.15103162e+02] [-3.92383650e-01 9.19717906e-01 -1.24115000e-02 -1.44867577e+01] [-3.37442564e-02 -9.09265695e-04 9.99430087e-01 -5.30977935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99038572299999 meters 0.019455408601232474 Centerline is valid? [True, True] Translation: X:115.13, Y:-14.50, Z:-5.31 [[ 9.19085430e-01 3.92769366e-01 3.18464753e-02 1.15133489e+02] [-3.92568239e-01 9.19636547e-01 -1.26015474e-02 -1.44995972e+01] [-3.42366843e-02 -9.20016125e-04 9.99413329e-01 -5.31123645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02038572299999 meters 0.01927048914509288 Centerline is valid? [True, True] Translation: X:115.16, Y:-14.51, Z:-5.31 [[ 9.18840599e-01 3.93277047e-01 3.26361524e-02 1.15162551e+02] [-3.93065771e-01 9.19419522e-01 -1.29245206e-02 -1.45144621e+01] [-3.50892329e-02 -9.52580138e-04 9.99383729e-01 -5.31192814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05038572299999 meters 0.020883223810847635 Centerline is valid? [True, True] Translation: X:115.19, Y:-14.53, Z:-5.31 [[ 9.18678278e-01 3.93662931e-01 3.25532973e-02 1.15192663e+02] [-3.93452602e-01 9.19254363e-01 -1.29021797e-02 -1.45253850e+01] [-3.50038704e-02 -9.55227310e-04 9.99386720e-01 -5.31410483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08038572299999 meters 0.019399769262675195 Centerline is valid? [True, True] Translation: X:115.22, Y:-14.54, Z:-5.31 [[ 9.18220889e-01 3.94726020e-01 3.25847719e-02 1.15219822e+02] [-3.94515567e-01 9.18798343e-01 -1.29256176e-02 -1.45426594e+01] [-3.50409120e-02 -9.86627671e-04 9.99385392e-01 -5.31459866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110385723 meters 0.020354893900361565 Centerline is valid? [True, True] Translation: X:115.25, Y:-14.55, Z:-5.32 [[ 9.17889537e-01 3.95499616e-01 3.25400085e-02 1.15249164e+02] [-3.95290087e-01 9.18465585e-01 -1.29118491e-02 -1.45536301e+01] [-3.49935093e-02 -1.01109161e-03 9.99387028e-01 -5.31708643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140385723 meters 0.02060117408404881 Centerline is valid? [True, True] Translation: X:115.28, Y:-14.57, Z:-5.32 [[ 9.17122677e-01 3.97296845e-01 3.22678276e-02 1.15277616e+02] [-3.97091638e-01 9.17689537e-01 -1.28118948e-02 -1.45691923e+01] [-3.47019731e-02 -1.06320530e-03 9.99397140e-01 -5.31778064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170385723 meters 0.02182007708605045 Centerline is valid? [True, True] Translation: X:115.31, Y:-14.58, Z:-5.32 [[ 9.16153081e-01 3.99597730e-01 3.13876734e-02 1.15307527e+02] [-3.99404564e-01 9.16689928e-01 -1.24728200e-02 -1.45815811e+01] [-3.37568746e-02 -1.10936752e-03 9.99429459e-01 -5.32059338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200385723 meters 0.02255081129584214 Centerline is valid? [True, True] Translation: X:115.34, Y:-14.59, Z:-5.32 [[ 9.15416392e-01 4.01313301e-01 3.09913584e-02 1.15337356e+02] [-4.01125953e-01 9.15940115e-01 -1.23156410e-02 -1.45924733e+01] [-3.33286589e-02 -1.15749856e-03 9.99443776e-01 -5.32273432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230385723 meters 0.024741465362380494 Centerline is valid? [True, True] Translation: X:115.37, Y:-14.60, Z:-5.33 [[ 9.14691230e-01 4.02937802e-01 3.13222217e-02 1.15366954e+02] [-4.02747086e-01 9.15226549e-01 -1.24558904e-02 -1.46009803e+01] [-3.36858779e-02 -1.22163978e-03 9.99431723e-01 -5.32514770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260385723 meters 0.02551089349570558 Centerline is valid? [True, True] Translation: X:115.40, Y:-14.61, Z:-5.33 [[ 9.13367532e-01 4.06002549e-01 3.03592098e-02 1.15395183e+02] [-4.05824791e-01 9.13871040e-01 -1.20814872e-02 -1.46136566e+01] [-3.26495172e-02 -1.28568178e-03 9.99466035e-01 -5.32651131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290385723 meters 0.02311001641969736 Centerline is valid? [True, True] Translation: X:115.42, Y:-14.63, Z:-5.33 [[ 9.12926938e-01 4.07080403e-01 2.91539134e-02 1.15423182e+02] [-4.06916863e-01 9.13391450e-01 -1.16071472e-02 -1.46304433e+01] [-3.13539774e-02 -1.26674159e-03 9.99507540e-01 -5.32753686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320385723 meters 0.02551858250893696 Centerline is valid? [True, True] Translation: X:115.45, Y:-14.64, Z:-5.33 [[ 9.12599316e-01 4.07969372e-01 2.68975940e-02 1.15452870e+02] [-4.07830293e-01 9.12994840e-01 -1.07179027e-02 -1.46400820e+01] [-2.89299406e-02 -1.18850297e-03 9.99580735e-01 -5.33269514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35038572299999 meters 0.02352210390303157 Centerline is valid? [True, True] Translation: X:115.48, Y:-14.66, Z:-5.33 [[ 9.12391386e-01 4.08476134e-01 2.62527450e-02 1.15480670e+02] [-4.08343810e-01 9.12768245e-01 -1.04624650e-02 -1.46557419e+01] [-2.82363392e-02 -1.17428301e-03 9.99600585e-01 -5.33370698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38038572299999 meters 0.027821922921972265 Centerline is valid? [True, True] Translation: X:115.51, Y:-14.66, Z:-5.34 [[ 9.12574224e-01 4.08034813e-01 2.67558761e-02 1.15511020e+02] [-4.07896936e-01 9.12965613e-01 -1.06714346e-02 -1.46639173e+01] [-2.87815116e-02 -1.17516375e-03 9.99585036e-01 -5.33716159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41038572299999 meters 0.02634987853466329 Centerline is valid? [True, True] Translation: X:115.54, Y:-14.68, Z:-5.34 [[ 9.12804323e-01 4.07473998e-01 2.74446522e-02 1.15539190e+02] [-4.07328452e-01 9.13216047e-01 -1.09537357e-02 -1.46797562e+01] [-2.95262593e-02 -1.18037036e-03 9.99563308e-01 -5.33683040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44038572299999 meters 0.02387081545852801 Centerline is valid? [True, True] Translation: X:115.57, Y:-14.70, Z:-5.34 [[ 9.13088465e-01 4.06808390e-01 2.78637651e-02 1.15566671e+02] [-4.06657824e-01 9.13512762e-01 -1.11286970e-02 -1.46967414e+01] [-2.99811523e-02 -1.16953325e-03 9.99549780e-01 -5.33561693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47038572299999 meters 0.024162602019034776 Centerline is valid? [True, True] Translation: X:115.59, Y:-14.71, Z:-5.34 [[ 9.14120016e-01 4.04383249e-01 2.93050395e-02 1.15594123e+02] [-4.04215076e-01 9.14588924e-01 -1.17163620e-02 -1.47101499e+01] [-3.15399651e-02 -1.13537773e-03 9.99501847e-01 -5.33622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500385723 meters 0.0227776388681176 Centerline is valid? [True, True] Translation: X:115.62, Y:-14.73, Z:-5.34 [[ 9.14558987e-01 4.03361976e-01 2.96812421e-02 1.15622176e+02] [-4.03188949e-01 9.15039820e-01 -1.18658619e-02 -1.47260025e+01] [-3.19457559e-02 -1.11511821e-03 9.99488982e-01 -5.33640497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530385723 meters 0.021061247458090515 Centerline is valid? [True, True] Translation: X:115.65, Y:-14.74, Z:-5.34 [[ 9.15656327e-01 4.00787219e-01 3.07098657e-02 1.15647885e+02] [-4.00600165e-01 9.16170564e-01 -1.22884684e-02 -1.47432445e+01] [-3.30605361e-02 -1.05036339e-03 9.99452799e-01 -5.33640054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560385723 meters 0.02009882082544609 Centerline is valid? [True, True] Translation: X:115.68, Y:-14.76, Z:-5.34 [[ 9.16236283e-01 3.99440349e-01 3.09593594e-02 1.15676430e+02] [-3.99249399e-01 9.16758633e-01 -1.23905356e-02 -1.47574231e+01] [-3.33315399e-02 -1.00784735e-03 9.99443842e-01 -5.33731406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590385723 meters 0.019626667416944674 Centerline is valid? [True, True] Translation: X:115.70, Y:-14.77, Z:-5.34 [[ 9.17533724e-01 3.96445094e-01 3.10347042e-02 1.15703709e+02] [-3.96251134e-01 9.18058001e-01 -1.24316202e-02 -1.47708383e+01] [-3.34201133e-02 -8.91105982e-04 9.99440995e-01 -5.33953542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620385723 meters 0.019415499261535303 Centerline is valid? [True, True] Translation: X:115.73, Y:-14.78, Z:-5.34 [[ 9.17989086e-01 3.95400309e-01 3.08971278e-02 1.15732750e+02] [-3.95207453e-01 9.18508506e-01 -1.23771713e-02 -1.47849511e+01] [-3.32732121e-02 -8.48667051e-04 9.99445933e-01 -5.34140030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650385723 meters 0.019048819305343825 Centerline is valid? [True, True] Translation: X:115.76, Y:-14.80, Z:-5.34 [[ 9.19170709e-01 3.92779420e-01 2.91467941e-02 1.15760036e+02] [-3.92606238e-01 9.19632444e-01 -1.16837565e-02 -1.48010176e+01] [-3.13934766e-02 -7.03846416e-04 9.99506856e-01 -5.34325864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680385723 meters 0.01880311434626745 Centerline is valid? [True, True] Translation: X:115.79, Y:-14.81, Z:-5.34 [[ 9.19785354e-01 3.91322622e-01 2.93514717e-02 1.15788561e+02] [-3.91146013e-01 9.20253324e-01 -1.17735229e-02 -1.48141647e+01] [-3.16180352e-02 -6.51597152e-04 9.99499813e-01 -5.34450953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71038572299999 meters 0.0184972772642641 Centerline is valid? [True, True] Translation: X:115.82, Y:-14.83, Z:-5.35 [[ 9.20368331e-01 3.89897419e-01 3.00356052e-02 1.15817493e+02] [-3.89711471e-01 9.20858095e-01 -1.20556489e-02 -1.48272619e+01] [-3.23589966e-02 -6.09582419e-04 9.99476125e-01 -5.34538417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74038572299999 meters 0.017944195212118742 Centerline is valid? [True, True] Translation: X:115.84, Y:-14.84, Z:-5.35 [[ 9.21628261e-01 3.86743453e-01 3.21068462e-02 1.15844685e+02] [-3.86528675e-01 9.22187198e-01 -1.28978823e-02 -1.48410927e+01] [-3.45966941e-02 -5.23163834e-04 9.99401218e-01 -5.34501259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77038572299999 meters 0.017731009761116752 Centerline is valid? [True, True] Translation: X:115.87, Y:-14.85, Z:-5.35 [[ 9.22162635e-01 3.85436823e-01 3.24735367e-02 1.15873032e+02] [-3.85216180e-01 9.22734105e-01 -1.30486030e-02 -1.48539897e+01] [-3.49938519e-02 -4.76397669e-04 9.99387414e-01 -5.34547230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80038572299999 meters 0.017029969349943313 Centerline is valid? [True, True] Translation: X:115.90, Y:-14.87, Z:-5.35 [[ 9.23075394e-01 3.83219898e-01 3.27769117e-02 1.15901729e+02] [-3.82993431e-01 9.23657057e-01 -1.31785305e-02 -1.48691586e+01] [-3.53249009e-02 -3.88564585e-04 9.99375805e-01 -5.34562420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83038572299999 meters 0.016958210774069626 Centerline is valid? [True, True] Translation: X:115.93, Y:-14.88, Z:-5.35 [[ 9.23899841e-01 3.81190088e-01 3.32144579e-02 1.15929830e+02] [-3.80955871e-01 9.24496632e-01 -1.33641588e-02 -1.48825956e+01] [-3.58009393e-02 -3.06098583e-04 9.99358894e-01 -5.34687919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860385723 meters 0.01685993982337374 Centerline is valid? [True, True] Translation: X:115.96, Y:-14.90, Z:-5.35 [[ 9.24250316e-01 3.80291253e-01 3.37626377e-02 1.15958947e+02] [-3.80048318e-01 9.24866743e-01 -1.35935330e-02 -1.48955055e+01] [-3.63954425e-02 -2.67606525e-04 9.99337431e-01 -5.34721396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890385723 meters 0.016718931973791824 Centerline is valid? [True, True] Translation: X:115.99, Y:-14.91, Z:-5.35 [[ 9.24860340e-01 3.78770447e-01 3.41511214e-02 1.15987131e+02] [-3.78520493e-01 9.25490631e-01 -1.37596715e-02 -1.49081338e+01] [-3.68182998e-02 -2.01124877e-04 9.99321956e-01 -5.34812187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920385723 meters 0.01665195270968131 Centerline is valid? [True, True] Translation: X:116.02, Y:-14.92, Z:-5.35 [[ 9.26353707e-01 3.75125229e-01 3.39097587e-02 1.16015419e+02] [-3.74876044e-01 9.26974142e-01 -1.36708431e-02 -1.49236370e+01] [-3.65617476e-02 -4.79199944e-05 9.99331395e-01 -5.34769520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950385723 meters 0.016748111632932237 Centerline is valid? [True, True] Translation: X:116.04, Y:-14.94, Z:-5.35 [[ 9.26897431e-01 3.73775566e-01 3.39555211e-02 1.16044535e+02] [-3.73524457e-01 9.27519178e-01 -1.36986874e-02 -1.49370410e+01] [-3.66146317e-02 1.40605994e-05 9.99329459e-01 -5.34903303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980385723 meters 0.016988052523705697 Centerline is valid? [True, True] Translation: X:116.08, Y:-14.95, Z:-5.35 [[ 9.27763636e-01 3.71624235e-01 3.39126020e-02 1.16075335e+02] [-3.71371958e-01 9.28383227e-01 -1.36913322e-02 -1.49491162e+01] [-3.65719217e-02 1.08130760e-04 9.99331018e-01 -5.35004737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010385723 meters 0.016988052523705697 Centerline is valid? [True, True] Translation: X:116.11, Y:-14.96, Z:-5.35 [[ 9.27661199e-01 3.71880212e-01 3.39088261e-02 1.16105318e+02] [-3.71627764e-01 9.28280721e-01 -1.37006766e-02 -1.49612955e+01] [-3.65719200e-02 1.08124813e-04 9.99331018e-01 -5.35150335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040385723 meters 0.016932774555716033 Centerline is valid? [True, True] Translation: X:116.14, Y:-14.97, Z:-5.35 [[ 9.28087392e-01 3.70795945e-01 3.41197917e-02 1.16136005e+02] [-3.70539206e-01 9.28714348e-01 -1.37969468e-02 -1.49729258e+01] [-3.68033921e-02 1.62051834e-04 9.99322513e-01 -5.35346576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070385723 meters 0.017173603038948198 Centerline is valid? [True, True] Translation: X:116.17, Y:-14.99, Z:-5.36 [[ 9.28392885e-01 3.70033287e-01 3.40883874e-02 1.16166116e+02] [-3.69776104e-01 9.29018474e-01 -1.37951814e-02 -1.49851126e+01] [-3.67734180e-02 2.02277168e-04 9.99323609e-01 -5.35542108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10038572299999 meters 0.017506586892772995 Centerline is valid? [True, True] Translation: X:116.19, Y:-15.00, Z:-5.36 [[ 9.29182189e-01 3.68115260e-01 3.33408750e-02 1.16194397e+02] [-3.67867611e-01 9.29780122e-01 -1.35035257e-02 -1.49971304e+01] [-3.59705367e-02 2.82207537e-04 9.99352811e-01 -5.35683362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13038572299999 meters 0.01763442106896467 Centerline is valid? [True, True] Translation: X:116.22, Y:-15.01, Z:-5.36 [[ 9.29504182e-01 3.67346770e-01 3.28378625e-02 1.16224484e+02] [-3.67105771e-01 9.30084002e-01 -1.33079451e-02 -1.50094828e+01] [-3.54306013e-02 3.14821825e-04 9.99372090e-01 -5.35791558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16038572299999 meters 0.017955975581772875 Centerline is valid? [True, True] Translation: X:116.25, Y:-15.02, Z:-5.36 [[ 9.30282699e-01 3.65286485e-01 3.37621677e-02 1.16254041e+02] [-3.65030014e-01 9.30895060e-01 -1.36921891e-02 -1.50219466e+01] [-3.64306068e-02 4.13402111e-04 9.99336100e-01 -5.35780077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19038572299999 meters 0.018158123083014562 Centerline is valid? [True, True] Translation: X:116.28, Y:-15.03, Z:-5.36 [[ 9.30619199e-01 3.64331175e-01 3.47951317e-02 1.16283927e+02] [-3.64057730e-01 9.31269333e-01 -1.41208773e-02 -1.50343298e+01] [-3.75483149e-02 4.73722845e-04 9.99294701e-01 -5.35824918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22038572299999 meters 0.018353614125330476 Centerline is valid? [True, True] Translation: X:116.31, Y:-15.05, Z:-5.36 [[ 9.30973807e-01 3.63322254e-01 3.58428646e-02 1.16314776e+02] [-3.63030926e-01 9.31663377e-01 -1.45567523e-02 -1.50460584e+01] [-3.86822763e-02 5.39886829e-04 9.99251415e-01 -5.35857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250385723 meters 0.018642599006074605 Centerline is valid? [True, True] Translation: X:116.34, Y:-15.06, Z:-5.36 [[ 9.31603731e-01 3.61595040e-01 3.69258164e-02 1.16344440e+02] [-3.61283988e-01 9.32335034e-01 -1.50088135e-02 -1.50560428e+01] [-3.98543448e-02 6.41560381e-04 9.99205294e-01 -5.35877129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280385723 meters 0.01846446484978942 Centerline is valid? [True, True] Translation: X:116.38, Y:-15.07, Z:-5.36 [[ 9.31581106e-01 3.61625975e-01 3.71927049e-02 1.16375039e+02] [-3.61310064e-01 9.32323027e-01 -1.51264867e-02 -1.50672918e+01] [-4.01457457e-02 6.53450582e-04 9.99193621e-01 -5.35965920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310385723 meters 0.018887884263886337 Centerline is valid? [True, True] Translation: X:116.40, Y:-15.08, Z:-5.36 [[ 9.31313724e-01 3.62328912e-01 3.70473765e-02 1.16404129e+02] [-3.62015552e-01 9.32050085e-01 -1.50791132e-02 -1.50794973e+01] [-3.99936091e-02 6.31658602e-04 9.99199736e-01 -5.35937577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340385723 meters 0.018209328351591943 Centerline is valid? [True, True] Translation: X:116.44, Y:-15.09, Z:-5.36 [[ 9.30941066e-01 3.63312303e-01 3.67818068e-02 1.16435359e+02] [-3.63003759e-01 9.31667224e-01 -1.49818277e-02 -1.50877450e+01] [-3.97114861e-02 5.95264580e-04 9.99211011e-01 -5.36066582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370385723 meters 0.01817734816534348 Centerline is valid? [True, True] Translation: X:116.47, Y:-15.10, Z:-5.36 [[ 9.30477286e-01 3.64596643e-01 3.57953637e-02 1.16465064e+02] [-3.64304979e-01 9.31165399e-01 -1.45904498e-02 -1.50965307e+01] [-3.86510332e-02 5.35652932e-04 9.99252626e-01 -5.36370340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400385723 meters 0.017670827248184397 Centerline is valid? [True, True] Translation: X:116.50, Y:-15.10, Z:-5.37 [[ 9.29220491e-01 3.67962450e-01 3.39546090e-02 1.16497113e+02] [-3.67702116e-01 9.29840573e-01 -1.38442230e-02 -1.51019034e+01] [-3.66665273e-02 3.79154133e-04 9.99327485e-01 -5.36764790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430385723 meters 0.017382572900069428 Centerline is valid? [True, True] Translation: X:116.53, Y:-15.11, Z:-5.37 [[ 9.27710415e-01 3.71886041e-01 3.24678163e-02 1.16527722e+02] [-3.71650106e-01 9.28278365e-01 -1.32467257e-02 -1.51106271e+01] [-3.50654438e-02 2.22458070e-04 9.99384993e-01 -5.36928330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46038572299999 meters 0.017195411738482307 Centerline is valid? [True, True] Translation: X:116.56, Y:-15.12, Z:-5.37 [[ 9.26857437e-01 3.74026190e-01 3.22443851e-02 1.16556844e+02] [-3.73794465e-01 9.27418129e-01 -1.31647820e-02 -1.51203520e+01] [-3.48280006e-02 1.49103474e-04 9.99393310e-01 -5.37049038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49038572299999 meters 0.01705113026497848 Centerline is valid? [True, True] Translation: X:116.59, Y:-15.13, Z:-5.37 [[ 9.24804436e-01 3.79097414e-01 3.19672586e-02 1.16588567e+02] [-3.78872413e-01 9.25356769e-01 -1.30592901e-02 -1.51292851e+01] [-3.45318622e-02 -3.42229865e-05 9.99403597e-01 -5.37112029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52038572299999 meters 0.01782902270768504 Centerline is valid? [True, True] Translation: X:116.62, Y:-15.14, Z:-5.37 [[ 9.23859585e-01 3.81441878e-01 3.13936292e-02 1.16619832e+02] [-3.81225901e-01 9.24392818e-01 -1.28347641e-02 -1.51396231e+01] [-3.39157619e-02 -1.10544765e-04 9.99424689e-01 -5.37367280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55038572299999 meters 0.017274379100932144 Centerline is valid? [True, True] Translation: X:116.65, Y:-15.15, Z:-5.37 [[ 9.22731318e-01 3.84204460e-01 3.08844146e-02 1.16650232e+02] [-3.83996644e-01 9.23248013e-01 -1.26366177e-02 -1.51493907e+01] [-3.33690193e-02 -1.99308618e-04 9.99443079e-01 -5.37457186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58038572299999 meters 0.017628938623697046 Centerline is valid? [True, True] Translation: X:116.68, Y:-15.16, Z:-5.38 [[ 9.21035533e-01 3.88255738e-01 3.08387446e-02 1.16680898e+02] [-3.88050511e-01 9.21551609e-01 -1.26266693e-02 -1.51555726e+01] [-3.33218715e-02 -3.37379521e-04 9.99444615e-01 -5.37733973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610385723 meters 0.01889873454955794 Centerline is valid? [True, True] Translation: X:116.71, Y:-15.17, Z:-5.38 [[ 9.19739505e-01 3.91275376e-01 3.13499942e-02 1.16710255e+02] [-3.91064723e-01 9.20273536e-01 -1.28452745e-02 -1.51651777e+01] [-3.38766096e-02 -4.45570363e-04 9.99425924e-01 -5.37854801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640385723 meters 0.01893601247491381 Centerline is valid? [True, True] Translation: X:116.74, Y:-15.18, Z:-5.38 [[ 9.19222949e-01 3.92464175e-01 3.16392480e-02 1.16740407e+02] [-3.92250212e-01 9.19767161e-01 -1.29669166e-02 -1.51778926e+01] [-3.41897915e-02 -4.91014374e-04 9.99415238e-01 -5.37839890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670385723 meters 0.018529061695853718 Centerline is valid? [True, True] Translation: X:116.77, Y:-15.19, Z:-5.38 [[ 9.18616326e-01 3.93845139e-01 3.20944104e-02 1.16769848e+02] [-3.93625445e-01 9.19176650e-01 -1.31641344e-02 -1.51900734e+01] [-3.46850630e-02 -5.40387775e-04 9.99398146e-01 -5.37785878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700385723 meters 0.018724760685774597 Centerline is valid? [True, True] Translation: X:116.80, Y:-15.20, Z:-5.38 [[ 9.18359840e-01 3.94377596e-01 3.28864033e-02 1.16799246e+02] [-3.94146942e-01 9.18948307e-01 -1.34980271e-02 -1.52021850e+01] [-3.55442241e-02 -5.66029316e-04 9.99367944e-01 -5.37730909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730385723 meters 0.01840941643098821 Centerline is valid? [True, True] Translation: X:116.83, Y:-15.22, Z:-5.38 [[ 9.18046888e-01 3.95087590e-01 3.31014839e-02 1.16829078e+02] [-3.94854035e-01 9.18643266e-01 -1.35956451e-02 -1.52156718e+01] [-3.57799259e-02 -5.88814803e-04 9.99359520e-01 -5.37754415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760385723 meters 0.019554636480253754 Centerline is valid? [True, True] Translation: X:116.86, Y:-15.22, Z:-5.38 [[ 9.17093649e-01 3.97301105e-01 3.30313666e-02 1.16859634e+02] [-3.97069576e-01 9.17688069e-01 -1.35779336e-02 -1.52238912e+01] [-3.57070191e-02 -6.63514031e-04 9.99362081e-01 -5.38029237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790385723 meters 0.0199482194755663 Centerline is valid? [True, True] Translation: X:116.89, Y:-15.24, Z:-5.38 [[ 9.16494168e-01 3.98662683e-01 3.32641699e-02 1.16889969e+02] [-3.98428462e-01 9.17097354e-01 -1.36822814e-02 -1.52353860e+01] [-3.59610972e-02 -7.13660931e-04 9.99352936e-01 -5.38169874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820385723 meters 0.020541060435787635 Centerline is valid? [True, True] Translation: X:116.92, Y:-15.25, Z:-5.38 [[ 9.15949765e-01 3.99911029e-01 3.32745798e-02 1.16918635e+02] [-3.99677161e-01 9.16553653e-01 -1.36955287e-02 -1.52465932e+01] [-3.59749306e-02 -7.54673282e-04 9.99352408e-01 -5.38255632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85038572299999 meters 0.02158179439366259 Centerline is valid? [True, True] Translation: X:116.95, Y:-15.26, Z:-5.38 [[ 9.14779013e-01 4.02628612e-01 3.27040895e-02 1.16948939e+02] [-4.02404158e-01 9.15363040e-01 -1.34684134e-02 -1.52578600e+01] [-3.53588834e-02 -8.39639660e-04 9.99374326e-01 -5.38362736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88038572299999 meters 0.022292255539661805 Centerline is valid? [True, True] Translation: X:116.98, Y:-15.27, Z:-5.39 [[ 9.14066321e-01 4.04263349e-01 3.24639051e-02 1.16979084e+02] [-4.04042921e-01 9.14642201e-01 -1.33776974e-02 -1.52687193e+01] [-3.51009704e-02 -8.88708414e-04 9.99383376e-01 -5.38570017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91038572299999 meters 0.02356419022011863 Centerline is valid? [True, True] Translation: X:117.01, Y:-15.28, Z:-5.39 [[ 9.12931471e-01 4.06935507e-01 3.09777799e-02 1.17009789e+02] [-4.06736021e-01 9.13456411e-01 -1.27747528e-02 -1.52777049e+01] [-3.34953522e-02 -9.37305043e-04 9.99438434e-01 -5.38845144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94038572299999 meters 0.02416553802510414 Centerline is valid? [True, True] Translation: X:117.04, Y:-15.29, Z:-5.39 [[ 9.12445453e-01 4.08024323e-01 3.09749329e-02 1.17039500e+02] [-4.07825481e-01 9.12970535e-01 -1.27741520e-02 -1.52882848e+01] [-3.34913658e-02 -9.76650003e-04 9.99438530e-01 -5.39031757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97038572299999 meters 0.024976440357650204 Centerline is valid? [True, True] Translation: X:117.07, Y:-15.30, Z:-5.39 [[ 9.11811451e-01 4.09392247e-01 3.15890264e-02 1.17068568e+02] [-4.09185995e-01 9.12357883e-01 -1.30351586e-02 -1.52997651e+01] [-3.41569901e-02 -1.04018031e-03 9.99415938e-01 -5.39049771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000385723 meters 0.0252130684021456 Centerline is valid? [True, True] Translation: X:117.10, Y:-15.31, Z:-5.39 [[ 9.11749559e-01 4.09550013e-01 3.13293533e-02 1.17098601e+02] [-4.09347001e-01 9.12287084e-01 -1.29348134e-02 -1.53132809e+01] [-3.38788174e-02 -1.03126644e-03 9.99425416e-01 -5.39147093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030385723 meters 0.021212553657179327 Centerline is valid? [True, True] Translation: X:117.12, Y:-15.33, Z:-5.39 [[ 9.12408795e-01 4.08224555e-01 2.93752249e-02 1.17124859e+02] [-4.08045148e-01 9.12881087e-01 -1.21358360e-02 -1.53348378e+01] [-3.17702335e-02 -9.13574483e-04 9.99494781e-01 -5.39064150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060385723 meters 0.02455086801651362 Centerline is valid? [True, True] Translation: X:117.16, Y:-15.34, Z:-5.40 [[ 9.12967189e-01 4.06994493e-01 2.90928770e-02 1.17156030e+02] [-4.06817629e-01 9.13430212e-01 -1.20276566e-02 -1.53412151e+01] [-3.14695028e-02 -8.54639429e-04 9.99504347e-01 -5.39626248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090385723 meters 0.02292212622229034 Centerline is valid? [True, True] Translation: X:117.18, Y:-15.36, Z:-5.40 [[ 9.13905157e-01 4.04922326e-01 2.85529885e-02 1.17182382e+02] [-4.04750738e-01 9.14350769e-01 -1.18114888e-02 -1.53616677e+01] [-3.08901825e-02 -7.62262655e-04 9.99522494e-01 -5.39728067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120385723 meters 0.019979142681983555 Centerline is valid? [True, True] Translation: X:117.21, Y:-15.38, Z:-5.40 [[ 9.15107261e-01 4.02043645e-01 3.06530362e-02 1.17209514e+02] [-4.01843887e-01 9.15620234e-01 -1.26916713e-02 -1.53764765e+01] [-3.31691460e-02 -7.03494649e-04 9.99449505e-01 -5.39529675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150385723 meters 0.019417961424475737 Centerline is valid? [True, True] Translation: X:117.24, Y:-15.39, Z:-5.40 [[ 9.16898143e-01 3.97768961e-01 3.28275748e-02 1.17236803e+02] [-3.97536924e-01 9.17485430e-01 -1.35970791e-02 -1.53915768e+01] [-3.55273176e-02 -5.83036500e-04 9.99368536e-01 -5.39566842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180385723 meters 0.018854950919092006 Centerline is valid? [True, True] Translation: X:117.27, Y:-15.41, Z:-5.40 [[ 9.17531666e-01 3.96258187e-01 3.33929758e-02 1.17265243e+02] [-3.96017094e-01 9.18138968e-01 -1.38310177e-02 -1.54066098e+01] [-3.61400464e-02 -5.33792499e-04 9.99346593e-01 -5.39587111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21038572299999 meters 0.0196281330723761 Centerline is valid? [True, True] Translation: X:117.29, Y:-15.42, Z:-5.40 [[ 9.18887787e-01 3.93008116e-01 3.44942975e-02 1.17294950e+02] [-3.92748143e-01 9.19534912e-01 -1.42983298e-02 -1.54161133e+01] [-3.73380704e-02 -4.09010648e-04 9.99302607e-01 -5.40052597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24038572299999 meters 0.01851844561040933 Centerline is valid? [True, True] Translation: X:117.32, Y:-15.43, Z:-5.40 [[ 9.19226263e-01 3.92175025e-01 3.49546416e-02 1.17322812e+02] [-3.91907272e-01 9.19890542e-01 -1.44941927e-02 -1.54319634e+01] [-3.78387045e-02 -3.75535646e-04 9.99283789e-01 -5.39939312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27038572299999 meters 0.018547020095606836 Centerline is valid? [True, True] Translation: X:117.35, Y:-15.44, Z:-5.40 [[ 9.19423420e-01 3.91644775e-01 3.57063823e-02 1.17352039e+02] [-3.91364575e-01 9.20116431e-01 -1.48163121e-02 -1.54448992e+01] [-3.86567603e-02 -3.51748757e-04 9.99252486e-01 -5.40049000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30038572299999 meters 0.01858052978324787 Centerline is valid? [True, True] Translation: X:117.38, Y:-15.46, Z:-5.40 [[ 9.19188393e-01 3.92231621e-01 3.53136462e-02 1.17381959e+02] [-3.91957608e-01 9.19866416e-01 -1.46632164e-02 -1.54561038e+01] [-3.82352143e-02 -3.63193971e-04 9.99268701e-01 -5.40211037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33038572299999 meters 0.019513985753054033 Centerline is valid? [True, True] Translation: X:117.41, Y:-15.47, Z:-5.41 [[ 9.18947689e-01 3.92823992e-01 3.49922274e-02 1.17412467e+02] [-3.92554975e-01 9.19613599e-01 -1.45402920e-02 -1.54666660e+01] [-3.78911037e-02 -3.74605273e-04 9.99281804e-01 -5.40577926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360385723 meters 0.018688338753260807 Centerline is valid? [True, True] Translation: X:117.44, Y:-15.48, Z:-5.41 [[ 9.18496802e-01 3.93866268e-01 3.51139286e-02 1.17442918e+02] [-3.93595740e-01 9.19167664e-01 -1.46013107e-02 -1.54785843e+01] [-3.80265515e-02 -4.09435533e-04 9.99276645e-01 -5.40614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390385723 meters 0.018924425060338024 Centerline is valid? [True, True] Translation: X:117.47, Y:-15.49, Z:-5.41 [[ 9.18027412e-01 3.95007594e-01 3.45640199e-02 1.17472829e+02] [-3.94745817e-01 9.18677750e-01 -1.43851012e-02 -1.54878182e+01] [-3.74354202e-02 -4.38085091e-04 9.99298953e-01 -5.40923463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420385723 meters 0.01898191395563361 Centerline is valid? [True, True] Translation: X:117.50, Y:-15.50, Z:-5.41 [[ 9.17725753e-01 3.95864919e-01 3.27170852e-02 1.17502974e+02] [-3.95630791e-01 9.18308645e-01 -1.36201821e-02 -1.54986686e+01] [-3.54361345e-02 -4.44294466e-04 9.99371844e-01 -5.41258817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450385723 meters 0.018934638677858818 Centerline is valid? [True, True] Translation: X:117.53, Y:-15.51, Z:-5.41 [[ 9.17636100e-01 3.96113091e-01 3.22243426e-02 1.17533479e+02] [-3.95885820e-01 9.18201626e-01 -1.34235164e-02 -1.55107248e+01] [-3.49056743e-02 -4.39257107e-04 9.99390515e-01 -5.41478793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480385723 meters 0.018820539844707752 Centerline is valid? [True, True] Translation: X:117.56, Y:-15.52, Z:-5.42 [[ 9.17678803e-01 3.96014905e-01 3.22150442e-02 1.17563611e+02] [-3.95787348e-01 9.18243984e-01 -1.34298688e-02 -1.55230286e+01] [-3.48996988e-02 -4.26001017e-04 9.99390729e-01 -5.41620352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510385723 meters 0.01915404098858062 Centerline is valid? [True, True] Translation: X:117.59, Y:-15.53, Z:-5.42 [[ 9.17733542e-01 3.95812868e-01 3.31258226e-02 1.17593071e+02] [-3.95571700e-01 9.18331094e-01 -1.38214330e-02 -1.55332996e+01] [-3.58911739e-02 -4.19245337e-04 9.99355616e-01 -5.41834950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540385723 meters 0.019061664152011187 Centerline is valid? [True, True] Translation: X:117.62, Y:-15.55, Z:-5.42 [[ 9.17713291e-01 3.95735060e-01 3.45843606e-02 1.17623098e+02] [-3.95471764e-01 9.18364623e-01 -1.44396357e-02 -1.55457859e+01] [-3.74753234e-02 -4.25692485e-04 9.99297463e-01 -5.41838674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570385723 meters 0.01895900127267128 Centerline is valid? [True, True] Translation: X:117.65, Y:-15.56, Z:-5.42 [[ 9.17853129e-01 3.95163715e-01 3.72997448e-02 1.17652920e+02] [-3.94856507e-01 9.18610613e-01 -1.55846048e-02 -1.55567933e+01] [-4.04224118e-02 -4.23668700e-04 9.99182590e-01 -5.41760978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60038572299999 meters 0.018883373326541723 Centerline is valid? [True, True] Translation: X:117.68, Y:-15.57, Z:-5.42 [[ 9.17843524e-01 3.95100997e-01 3.81899007e-02 1.17683007e+02] [-3.94778446e-01 9.18637592e-01 -1.59672655e-02 -1.55698122e+01] [-4.13913609e-02 -4.21098418e-04 9.99142922e-01 -5.41802782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63038572299999 meters 0.018988028098104303 Centerline is valid? [True, True] Translation: X:117.71, Y:-15.58, Z:-5.42 [[ 9.17772434e-01 3.95133912e-01 3.95341799e-02 1.17713284e+02] [-3.94787703e-01 9.18623433e-01 -1.65426386e-02 -1.55828418e+01] [-4.28535816e-02 -4.25230345e-04 9.99081273e-01 -5.41826431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66038572299999 meters 0.01926466249438918 Centerline is valid? [True, True] Translation: X:117.74, Y:-15.59, Z:-5.42 [[ 9.17616425e-01 3.95490832e-01 3.95866026e-02 1.17744067e+02] [-3.95143475e-01 9.18469824e-01 -1.65776222e-02 -1.55904476e+01] [-4.29153975e-02 -4.30489340e-04 9.99078617e-01 -5.42168867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69038572299999 meters 0.01915213312966216 Centerline is valid? [True, True] Translation: X:117.78, Y:-15.60, Z:-5.42 [[ 9.17330414e-01 3.96130229e-01 3.98215177e-02 1.17775152e+02] [-3.95779033e-01 9.18194224e-01 -1.66830387e-02 -1.56016565e+01] [-4.31725435e-02 -4.56662927e-04 9.99067527e-01 -5.42457352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72038572299999 meters 0.019293413212111286 Centerline is valid? [True, True] Translation: X:117.81, Y:-15.61, Z:-5.43 [[ 9.16938760e-01 3.97115781e-01 3.90175220e-02 1.17806072e+02] [-3.96779000e-01 9.17768394e-01 -1.63585045e-02 -1.56125565e+01] [-4.23052688e-02 -4.81586568e-04 9.99104615e-01 -5.42718257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750385723 meters 0.019532547336031568 Centerline is valid? [True, True] Translation: X:117.84, Y:-15.62, Z:-5.43 [[ 9.16533208e-01 3.98149625e-01 3.79967702e-02 1.17835693e+02] [-3.97830640e-01 9.17320348e-01 -1.59424087e-02 -1.56231214e+01] [-4.12026745e-02 -5.04532452e-04 9.99150682e-01 -5.43013778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780385723 meters 0.019718473161231834 Centerline is valid? [True, True] Translation: X:117.87, Y:-15.63, Z:-5.43 [[ 9.16217863e-01 3.99086435e-01 3.57049782e-02 1.17865667e+02] [-3.98805169e-01 9.16913170e-01 -1.49891850e-02 -1.56343713e+01] [-3.87203451e-02 -5.05970797e-04 9.99249958e-01 -5.43330266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810385723 meters 0.019840570748769503 Centerline is valid? [True, True] Translation: X:117.90, Y:-15.65, Z:-5.44 [[ 9.16084330e-01 3.99469996e-01 3.48313452e-02 1.17896618e+02] [-3.99202271e-01 9.16746132e-01 -1.46313472e-02 -1.56460029e+01] [-3.77762852e-02 -5.01204241e-04 9.99286096e-01 -5.43616341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840385723 meters 0.019832573905485623 Centerline is valid? [True, True] Translation: X:117.93, Y:-15.66, Z:-5.44 [[ 9.16029048e-01 3.99612586e-01 3.46491680e-02 1.17927064e+02] [-3.99347357e-01 9.16683989e-01 -1.45654458e-02 -1.56573721e+01] [-3.75828730e-02 -4.94682231e-04 9.99293392e-01 -5.43847027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870385723 meters 0.01996953388032006 Centerline is valid? [True, True] Translation: X:117.96, Y:-15.67, Z:-5.44 [[ 9.15990161e-01 3.99715028e-01 3.44952298e-02 1.17957492e+02] [-3.99451799e-01 9.16639329e-01 -1.45120734e-02 -1.56679362e+01] [-3.74203781e-02 -4.86265127e-04 9.99299494e-01 -5.44044761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900385723 meters 0.01996953388032006 Centerline is valid? [True, True] Translation: X:117.99, Y:-15.68, Z:-5.44 [[ 9.15886868e-01 3.99951832e-01 3.44931529e-02 1.17987309e+02] [-3.99688585e-01 9.16536028e-01 -1.45170080e-02 -1.56805795e+01] [-3.74203213e-02 -4.90582473e-04 9.99299494e-01 -5.44190200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930385723 meters 0.019585220312452637 Centerline is valid? [True, True] Translation: X:118.02, Y:-15.69, Z:-5.44 [[ 9.15824007e-01 4.00103360e-01 3.44047865e-02 1.18016702e+02] [-3.99841183e-01 9.16469893e-01 -1.44900993e-02 -1.56945167e+01] [-3.73284884e-02 -4.86069690e-04 9.99302931e-01 -5.44241401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96038572299999 meters 0.01963178214580535 Centerline is valid? [True, True] Translation: X:118.05, Y:-15.71, Z:-5.44 [[ 9.15902479e-01 3.99913520e-01 3.45228161e-02 1.18046154e+02] [-3.99648975e-01 9.16552757e-01 -1.45513218e-02 -1.57056182e+01] [-3.74612526e-02 -4.69416298e-04 9.99297971e-01 -5.44404813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99038572299999 meters 0.01961232955392144 Centerline is valid? [True, True] Translation: X:118.07, Y:-15.72, Z:-5.44 [[ 9.15933537e-01 3.99785367e-01 3.51769226e-02 1.18074651e+02] [-3.99510174e-01 9.16608666e-01 -1.48382712e-02 -1.57175888e+01] [-3.81755958e-02 -4.62668223e-04 9.99270939e-01 -5.44455476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02038572299999 meters 0.019412780529547567 Centerline is valid? [True, True] Translation: X:118.10, Y:-15.73, Z:-5.44 [[ 9.16618883e-01 3.98181897e-01 3.55105730e-02 1.18102883e+02] [-3.97899868e-01 9.17306396e-01 -1.49890072e-02 -1.57305578e+01] [-3.85424271e-02 -3.90445218e-04 9.99256888e-01 -5.44473967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05038572299999 meters 0.021672806749362013 Centerline is valid? [True, True] Translation: X:118.13, Y:-15.74, Z:-5.45 [[ 9.16910083e-01 3.97525434e-01 3.53472557e-02 1.18133162e+02] [-3.97245328e-01 9.17591086e-01 -1.49247232e-02 -1.57432157e+01] [-3.83672839e-02 -3.56902997e-04 9.99263641e-01 -5.44936788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08038572299999 meters 0.01919918109370242 Centerline is valid? [True, True] Translation: X:118.16, Y:-15.76, Z:-5.45 [[ 9.17303414e-01 3.96424013e-01 3.74492848e-02 1.18162690e+02] [-3.96108154e-01 9.18067482e-01 -1.58249531e-02 -1.57550860e+01] [-4.06543620e-02 -3.17683606e-04 9.99173219e-01 -5.44753650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110385723 meters 0.01927483711221523 Centerline is valid? [True, True] Translation: X:118.19, Y:-15.77, Z:-5.45 [[ 9.17395302e-01 3.96110338e-01 3.85027290e-02 1.18191557e+02] [-3.95775715e-01 9.18202869e-01 -1.62811225e-02 -1.57677145e+01] [-4.18024372e-02 -3.02219759e-04 9.99125850e-01 -5.44775112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140385723 meters 0.019037856986324493 Centerline is valid? [True, True] Translation: X:118.22, Y:-15.78, Z:-5.45 [[ 9.17683099e-01 3.95404284e-01 3.88996394e-02 1.18220444e+02] [-3.95061671e-01 9.18507149e-01 -1.64588486e-02 -1.57832188e+01] [-4.22374961e-02 -2.63749372e-04 9.99107564e-01 -5.44680437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170385723 meters 0.019047944929592237 Centerline is valid? [True, True] Translation: X:118.25, Y:-15.80, Z:-5.45 [[ 9.17592564e-01 3.95608442e-01 3.89595591e-02 1.18250503e+02] [-3.95264419e-01 9.18419236e-01 -1.64968736e-02 -1.57956274e+01] [-4.23075109e-02 -2.61918892e-04 9.99104602e-01 -5.44872998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200385723 meters 0.01913612328606499 Centerline is valid? [True, True] Translation: X:118.28, Y:-15.81, Z:-5.45 [[ 9.17208898e-01 3.96534142e-01 3.85812391e-02 1.18281393e+02] [-3.96197069e-01 9.18019929e-01 -1.63490940e-02 -1.58057422e+01] [-4.19013204e-02 -2.90239336e-04 9.99121712e-01 -5.45142751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230385723 meters 0.019060471306059614 Centerline is valid? [True, True] Translation: X:118.31, Y:-15.82, Z:-5.45 [[ 9.16654298e-01 3.97892927e-01 3.77639639e-02 1.18311911e+02] [-3.97570651e-01 9.17431800e-01 -1.60146921e-02 -1.58175892e+01] [-4.10179940e-02 -3.33907402e-04 9.99158352e-01 -5.45369912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260385723 meters 0.01922317522048862 Centerline is valid? [True, True] Translation: X:118.34, Y:-15.83, Z:-5.46 [[ 9.16020244e-01 3.99464481e-01 3.65382180e-02 1.18341567e+02] [-3.99163585e-01 9.16748593e-01 -1.55064144e-02 -1.58300124e+01] [-3.96906217e-02 -3.80536559e-04 9.99211944e-01 -5.45589574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290385723 meters 0.019575439264915877 Centerline is valid? [True, True] Translation: X:118.37, Y:-15.84, Z:-5.46 [[ 9.14753426e-01 4.02567677e-01 3.41384647e-02 1.18370474e+02] [-4.02306835e-01 9.15390103e-01 -1.44972124e-02 -1.58413806e+01] [-3.70861218e-02 -4.72762982e-04 9.99311961e-01 -5.45837885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320385723 meters 0.019741634751377926 Centerline is valid? [True, True] Translation: X:118.40, Y:-15.85, Z:-5.46 [[ 9.13972383e-01 4.04392957e-01 3.34786389e-02 1.18399571e+02] [-4.04143012e-01 9.14585183e-01 -1.42256330e-02 -1.58536551e+01] [-3.63718129e-02 -5.28322312e-04 9.99338187e-01 -5.46005225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35038572299999 meters 0.020294125817935497 Centerline is valid? [True, True] Translation: X:118.43, Y:-15.86, Z:-5.46 [[ 9.12419196e-01 4.07882036e-01 3.35179888e-02 1.18429298e+02] [-4.07633527e-01 9.13034397e-01 -1.42512625e-02 -1.58634041e+01] [-3.64159106e-02 -6.59930462e-04 9.99336503e-01 -5.46201474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38038572299999 meters 0.02054943200665356 Centerline is valid? [True, True] Translation: X:118.46, Y:-15.87, Z:-5.46 [[ 9.11682527e-01 4.09472134e-01 3.41692971e-02 1.18458457e+02] [-4.09214607e-01 9.12322334e-01 -1.45383575e-02 -1.58745933e+01] [-3.71264652e-02 -7.28209012e-04 9.99310310e-01 -5.46322410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41038572299999 meters 0.021075308776563884 Centerline is valid? [True, True] Translation: X:118.49, Y:-15.89, Z:-5.46 [[ 9.10679449e-01 4.11552091e-01 3.58861745e-02 1.18487474e+02] [-4.11269243e-01 9.11385848e-01 -1.52789494e-02 -1.58867656e+01] [-3.89942352e-02 -8.44654594e-04 9.99239079e-01 -5.46315821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44038572299999 meters 0.020608019196721387 Centerline is valid? [True, True] Translation: X:118.52, Y:-15.90, Z:-5.46 [[ 9.10400033e-01 4.12095571e-01 3.67290101e-02 1.18516465e+02] [-4.11799336e-01 9.11140201e-01 -1.56473859e-02 -1.59016693e+01] [-3.99134961e-02 -8.79601351e-04 9.99202752e-01 -5.46320910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47038572299999 meters 0.020865087925513087 Centerline is valid? [True, True] Translation: X:118.55, Y:-15.91, Z:-5.46 [[ 9.09832889e-01 4.13243996e-01 3.78617795e-02 1.18545175e+02] [-4.12929647e-01 9.10619846e-01 -1.61431951e-02 -1.59143783e+01] [-4.11487663e-02 -9.46641417e-04 9.99152582e-01 -5.46416004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500385723 meters 0.02160179609363031 Centerline is valid? [True, True] Translation: X:118.57, Y:-15.93, Z:-5.47 [[ 9.09099393e-01 4.14790026e-01 3.85684952e-02 1.18573866e+02] [-4.14464775e-01 9.09916580e-01 -1.64550538e-02 -1.59257766e+01] [-4.19195054e-02 -1.02600331e-03 9.99120464e-01 -5.46620018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530385723 meters 0.021859505397314665 Centerline is valid? [True, True] Translation: X:118.60, Y:-15.94, Z:-5.47 [[ 9.08561885e-01 4.15980288e-01 3.84148634e-02 1.18603140e+02] [-4.15658264e-01 9.09373004e-01 -1.63995990e-02 -1.59381003e+01] [-4.17553496e-02 -1.06740485e-03 9.99127295e-01 -5.46768670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560385723 meters 0.022193011932112386 Centerline is valid? [True, True] Translation: X:118.63, Y:-15.95, Z:-5.47 [[ 9.07990722e-01 4.17197344e-01 3.87198405e-02 1.18633179e+02] [-4.16870822e-01 9.08815227e-01 -1.65408818e-02 -1.59504506e+01] [-4.20899925e-02 -1.12220456e-03 9.99113193e-01 -5.46946679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590385723 meters 0.02357191770647956 Centerline is valid? [True, True] Translation: X:118.66, Y:-15.96, Z:-5.47 [[ 9.06759262e-01 4.19783303e-01 3.96184157e-02 1.18663157e+02] [-4.19443407e-01 9.07623484e-01 -1.69363170e-02 -1.59605074e+01] [-4.30681876e-02 -1.26052095e-03 9.99071340e-01 -5.47144899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620385723 meters 0.024110654947037825 Centerline is valid? [True, True] Translation: X:118.69, Y:-15.97, Z:-5.47 [[ 9.06062954e-01 4.21286273e-01 3.95954418e-02 1.18693789e+02] [-4.20947742e-01 9.06926750e-01 -1.69371967e-02 -1.59707020e+01] [-4.30455738e-02 -1.32144538e-03 9.99072236e-01 -5.47189744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650385723 meters 0.023464621757675386 Centerline is valid? [True, True] Translation: X:118.72, Y:-15.98, Z:-5.48 [[ 9.05089789e-01 4.23506695e-01 3.81386128e-02 1.18722816e+02] [-4.23194460e-01 9.05891935e-01 -1.63171946e-02 -1.59836931e+01] [-4.14599029e-02 -1.37152347e-03 9.99139227e-01 -5.47577426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680385723 meters 0.024050782240581825 Centerline is valid? [True, True] Translation: X:118.75, Y:-16.00, Z:-5.48 [[ 9.04665323e-01 4.24569461e-01 3.63514168e-02 1.18751969e+02] [-4.24286263e-01 9.05394370e-01 -1.55628190e-02 -1.59952930e+01] [-3.95198658e-02 -1.34426414e-03 9.99217881e-01 -5.47877599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71038572299999 meters 0.02468486494364114 Centerline is valid? [True, True] Translation: X:118.78, Y:-16.01, Z:-5.48 [[ 9.04538138e-01 4.25025405e-01 3.41198127e-02 1.18781143e+02] [-4.24775937e-01 9.05180526e-01 -1.46156762e-02 -1.60089490e+01] [-3.70966237e-02 -1.27283887e-03 9.99310873e-01 -5.48326397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74038572299999 meters 0.02368437522596624 Centerline is valid? [True, True] Translation: X:118.81, Y:-16.02, Z:-5.48 [[ 9.04664522e-01 4.24817627e-01 3.33479761e-02 1.18809635e+02] [-4.24578849e-01 9.05278122e-01 -1.42941749e-02 -1.60228794e+01] [-3.62616106e-02 -1.22741242e-03 9.99341578e-01 -5.48464752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77038572299999 meters 0.02565572370731658 Centerline is valid? [True, True] Translation: X:118.84, Y:-16.03, Z:-5.49 [[ 9.05206406e-01 4.23737171e-01 3.23755018e-02 1.18838796e+02] [-4.23511115e-01 9.05784471e-01 -1.38862717e-02 -1.60344667e+01] [-3.52093563e-02 -1.14144283e-03 9.99379307e-01 -5.49011409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80038572299999 meters 0.02276900229166236 Centerline is valid? [True, True] Translation: X:118.87, Y:-16.05, Z:-5.49 [[ 9.05954952e-01 4.22140684e-01 3.22934600e-02 1.18865441e+02] [-4.21914438e-01 9.06529702e-01 -1.38602220e-02 -1.60531149e+01] [-3.51259442e-02 -1.06834028e-03 9.99382323e-01 -5.48787241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83038572299999 meters 0.022477024878031812 Centerline is valid? [True, True] Translation: X:118.89, Y:-16.07, Z:-5.49 [[ 9.06304436e-01 4.21326743e-01 3.31065645e-02 1.18893762e+02] [-4.21088060e-01 9.06908300e-01 -1.42190319e-02 -1.60684685e+01] [-3.60154766e-02 -1.05400732e-03 9.99350676e-01 -5.48842475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860385723 meters 0.02229454663372564 Centerline is valid? [True, True] Translation: X:118.92, Y:-16.08, Z:-5.49 [[ 9.07151571e-01 4.19361552e-01 3.48125771e-02 1.18921062e+02] [-4.19095753e-01 9.07818736e-01 -1.49630744e-02 -1.60843737e+01] [-3.78784478e-02 -1.01602676e-03 9.99281838e-01 -5.48767949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890385723 meters 0.022814387182890018 Centerline is valid? [True, True] Translation: X:118.95, Y:-16.10, Z:-5.49 [[ 9.07619584e-01 4.18216355e-01 3.63561877e-02 1.18950021e+02] [-4.17925312e-01 9.08346888e-01 -1.56321855e-02 -1.60969098e+01] [-3.95616655e-02 -1.00609341e-03 9.99216624e-01 -5.48872081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920385723 meters 0.02147622680402415 Centerline is valid? [True, True] Translation: X:118.98, Y:-16.11, Z:-5.49 [[ 9.07603265e-01 4.18255599e-01 3.63120853e-02 1.18979092e+02] [-4.17964900e-01 9.08328827e-01 -1.56231877e-02 -1.61137890e+01] [-3.95177996e-02 -9.97520973e-04 9.99218369e-01 -5.48961774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950385723 meters 0.021747716475712327 Centerline is valid? [True, True] Translation: X:119.01, Y:-16.13, Z:-5.49 [[ 9.07410984e-01 4.18690657e-01 3.61032001e-02 1.19008443e+02] [-4.18403161e-01 9.08128369e-01 -1.55454269e-02 -1.61267126e+01] [-3.92950652e-02 -9.99601859e-04 9.99227151e-01 -5.49144520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980385723 meters 0.022053349045084575 Centerline is valid? [True, True] Translation: X:119.04, Y:-16.14, Z:-5.49 [[ 9.07312510e-01 4.18984349e-01 3.51585670e-02 1.19036808e+02] [-4.18711524e-01 9.07992931e-01 -1.51491844e-02 -1.61418845e+01] [-3.82710015e-02 -9.76252640e-04 9.99266920e-01 -5.49259387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010385723 meters 0.021745337990938873 Centerline is valid? [True, True] Translation: X:119.07, Y:-16.16, Z:-5.49 [[ 9.07114622e-01 4.19385989e-01 3.54747028e-02 1.19066538e+02] [-4.19108121e-01 9.07807473e-01 -1.52962467e-02 -1.61569936e+01] [-3.86192318e-02 -9.92287037e-04 9.99253507e-01 -5.49347113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040385723 meters 0.022231147684288504 Centerline is valid? [True, True] Translation: X:119.10, Y:-16.17, Z:-5.50 [[ 9.06861517e-01 4.19935755e-01 3.54422096e-02 1.19096923e+02] [-4.19658362e-01 9.07553278e-01 -1.52939998e-02 -1.61704757e+01] [-3.85881909e-02 -1.00407980e-03 9.99254694e-01 -5.49523651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070385723 meters 0.02217476035551918 Centerline is valid? [True, True] Translation: X:119.13, Y:-16.18, Z:-5.50 [[ 9.06719952e-01 4.20264020e-01 3.51721787e-02 1.19126516e+02] [-4.19990621e-01 9.07401320e-01 -1.51895853e-02 -1.61827095e+01] [-3.82989175e-02 -9.99285100e-04 9.99265828e-01 -5.49652175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10038572299999 meters 0.022651482627808202 Centerline is valid? [True, True] Translation: X:119.16, Y:-16.19, Z:-5.50 [[ 9.06425359e-01 4.20961520e-01 3.44160836e-02 1.19155386e+02] [-4.20699987e-01 9.07077945e-01 -1.48702071e-02 -1.61946275e+01] [-3.74778554e-02 -1.00011305e-03 9.99296958e-01 -5.49890282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13038572299999 meters 0.022978895688134188 Centerline is valid? [True, True] Translation: X:119.19, Y:-16.21, Z:-5.50 [[ 9.06161925e-01 4.21584488e-01 3.37206829e-02 1.19185043e+02] [-4.21333699e-01 9.06788573e-01 -1.45738511e-02 -1.62076661e+01] [-3.67216395e-02 -1.00139108e-03 9.99325031e-01 -5.50062118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16038572299999 meters 0.022287005008967183 Centerline is valid? [True, True] Translation: X:119.21, Y:-16.22, Z:-5.50 [[ 9.06032134e-01 4.21919179e-01 3.30148148e-02 1.19213811e+02] [-4.21678694e-01 9.06632910e-01 -1.42774114e-02 -1.62244836e+01] [-3.59562313e-02 -9.85850505e-04 9.99352879e-01 -5.50189819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19038572299999 meters 0.0233315974065231 Centerline is valid? [True, True] Translation: X:119.24, Y:-16.24, Z:-5.50 [[ 9.05887725e-01 4.22214855e-01 3.31970881e-02 1.19243849e+02] [-4.21971498e-01 9.06495246e-01 -1.43674668e-02 -1.62358477e+01] [-3.61591605e-02 -9.92913175e-04 9.99345550e-01 -5.50389527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22038572299999 meters 0.022475519557982836 Centerline is valid? [True, True] Translation: X:119.27, Y:-16.25, Z:-5.51 [[ 9.06195003e-01 4.21531189e-01 3.34973591e-02 1.19272881e+02] [-4.21282511e-01 9.06813392e-01 -1.45092367e-02 -1.62508375e+01] [-3.64919496e-02 -9.63653773e-04 9.99333482e-01 -5.50523737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250385723 meters 0.021773930550492794 Centerline is valid? [True, True] Translation: X:119.30, Y:-16.27, Z:-5.51 [[ 9.06492036e-01 4.20874652e-01 3.37152283e-02 1.19301190e+02] [-4.20622200e-01 9.07118317e-01 -1.46056241e-02 -1.62663430e+01] [-3.67308381e-02 -9.41491573e-04 9.99324752e-01 -5.50550784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280385723 meters 0.02294783723265185 Centerline is valid? [True, True] Translation: X:119.33, Y:-16.28, Z:-5.51 [[ 9.07105537e-01 4.19490432e-01 3.44575495e-02 1.19330538e+02] [-4.19225348e-01 9.07759316e-01 -1.49376053e-02 -1.62769951e+01] [-3.75453440e-02 -8.95493688e-04 9.99294524e-01 -5.50719730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310385723 meters 0.021493795299374945 Centerline is valid? [True, True] Translation: X:119.36, Y:-16.29, Z:-5.51 [[ 9.08446226e-01 4.16444507e-01 3.60475562e-02 1.19356878e+02] [-4.16151573e-01 9.09160789e-01 -1.56373960e-02 -1.62949196e+01] [-3.92851323e-02 -7.95513822e-04 9.99227725e-01 -5.50656906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340385723 meters 0.0211342942828871 Centerline is valid? [True, True] Translation: X:119.38, Y:-16.31, Z:-5.51 [[ 9.09925693e-01 4.13158819e-01 3.65379647e-02 1.19384091e+02] [-4.12854917e-01 9.10658751e-01 -1.58574185e-02 -1.63096448e+01] [-3.98252496e-02 -6.55805903e-04 9.99206445e-01 -5.50830961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370385723 meters 0.019793788157123716 Centerline is valid? [True, True] Translation: X:119.41, Y:-16.33, Z:-5.51 [[ 9.10584003e-01 4.11686871e-01 3.67517703e-02 1.19411929e+02] [-4.11377830e-01 9.11325176e-01 -1.59594829e-02 -1.63268980e+01] [-4.00631231e-02 -5.86413644e-04 9.99196979e-01 -5.50891050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400385723 meters 0.019643982138315533 Centerline is valid? [True, True] Translation: X:119.44, Y:-16.34, Z:-5.51 [[ 9.11245051e-01 4.10182148e-01 3.71895396e-02 1.19441314e+02] [-4.09863970e-01 9.12003476e-01 -1.61612798e-02 -1.63408877e+01] [-4.05460578e-02 -5.15766038e-04 9.99177537e-01 -5.51099434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430385723 meters 0.019457960035619153 Centerline is valid? [True, True] Translation: X:119.47, Y:-16.35, Z:-5.51 [[ 9.12087743e-01 4.08291421e-01 3.73371685e-02 1.19468947e+02] [-4.07968992e-01 9.12851538e-01 -1.62287090e-02 -1.63549998e+01] [-4.07093344e-02 -4.30400437e-04 9.99170939e-01 -5.51332761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46038572299999 meters 0.019892318986851863 Centerline is valid? [True, True] Translation: X:119.50, Y:-16.37, Z:-5.52 [[ 9.12271339e-01 4.07864246e-01 3.75201385e-02 1.19498521e+02] [-4.07537881e-01 9.13042493e-01 -1.63181461e-02 -1.63664003e+01] [-4.09130691e-02 -4.04300783e-04 9.99162628e-01 -5.51531630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49038572299999 meters 0.019365243655907232 Centerline is valid? [True, True] Translation: X:119.53, Y:-16.38, Z:-5.52 [[ 9.12432954e-01 4.07433588e-01 3.82619343e-02 1.19526751e+02] [-4.07093285e-01 9.13234760e-01 -1.66532589e-02 -1.63820619e+01] [-4.17272254e-02 -3.81194266e-04 9.99128967e-01 -5.51598330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52038572299999 meters 0.019136015462804693 Centerline is valid? [True, True] Translation: X:119.56, Y:-16.40, Z:-5.52 [[ 9.12464875e-01 4.07382669e-01 3.80422549e-02 1.19557028e+02] [-4.07046089e-01 9.13257478e-01 -1.65608086e-02 -1.63952715e+01] [-4.14889601e-02 -3.73794941e-04 9.99138892e-01 -5.51810492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55038572299999 meters 0.019124188227529385 Centerline is valid? [True, True] Translation: X:119.59, Y:-16.41, Z:-5.52 [[ 9.12480710e-01 4.07474185e-01 3.66571010e-02 1.19586515e+02] [-4.07161288e-01 9.13216658e-01 -1.59693970e-02 -1.64068362e+01] [-3.99829923e-02 -3.53585706e-04 9.99200298e-01 -5.52201176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58038572299999 meters 0.019069942995475066 Centerline is valid? [True, True] Translation: X:119.62, Y:-16.42, Z:-5.52 [[ 9.12388431e-01 4.07733602e-01 3.60646708e-02 1.19616588e+02] [-4.07430528e-01 9.13100864e-01 -1.57218699e-02 -1.64196342e+01] [-3.93410167e-02 -3.49395683e-04 9.99225781e-01 -5.52482035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610385723 meters 0.019125425062804742 Centerline is valid? [True, True] Translation: X:119.65, Y:-16.43, Z:-5.53 [[ 9.12344648e-01 4.07900513e-01 3.52762616e-02 1.19646091e+02] [-4.07610242e-01 9.13026318e-01 -1.53893876e-02 -1.64324359e+01] [-3.84854943e-02 -3.38540099e-04 9.99259102e-01 -5.52713624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640385723 meters 0.019147148109687342 Centerline is valid? [True, True] Translation: X:119.68, Y:-16.45, Z:-5.53 [[ 9.12282587e-01 4.08057121e-01 3.50694648e-02 1.19675091e+02] [-4.07769937e-01 9.12956338e-01 -1.53102329e-02 -1.64458340e+01] [-3.82643397e-02 -3.33014536e-04 9.99267596e-01 -5.52822824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670385723 meters 0.01906021682234992 Centerline is valid? [True, True] Translation: X:119.70, Y:-16.46, Z:-5.53 [[ 9.12590626e-01 4.07284531e-01 3.60230545e-02 1.19704185e+02] [-4.06980601e-01 9.13301275e-01 -1.57343717e-02 -1.64590099e+01] [-3.93082679e-02 -3.01644278e-04 9.99227086e-01 -5.52864583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700385723 meters 0.018806720152013914 Centerline is valid? [True, True] Translation: X:119.73, Y:-16.47, Z:-5.53 [[ 9.12705944e-01 4.06962212e-01 3.67371537e-02 1.19734541e+02] [-4.06645742e-01 9.13444948e-01 -1.60489059e-02 -1.64728323e+01] [-4.00886657e-02 -2.91075349e-04 9.99196084e-01 -5.52921061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730385723 meters 0.018615560509090162 Centerline is valid? [True, True] Translation: X:119.76, Y:-16.49, Z:-5.53 [[ 9.13535827e-01 4.04967181e-01 3.81297077e-02 1.19762928e+02] [-4.04623959e-01 9.14331200e-01 -1.66706197e-02 -1.64855784e+01] [-4.16142352e-02 -1.98984870e-04 9.99133733e-01 -5.52978323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760385723 meters 0.018587302197490385 Centerline is valid? [True, True] Translation: X:119.79, Y:-16.50, Z:-5.53 [[ 9.13878699e-01 4.04134401e-01 3.87441500e-02 1.19792772e+02] [-4.03778833e-01 9.14699602e-01 -1.69496991e-02 -1.65003425e+01] [-4.22892151e-02 -1.54098672e-04 9.99105399e-01 -5.53006079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790385723 meters 0.01850704915642089 Centerline is valid? [True, True] Translation: X:119.82, Y:-16.52, Z:-5.53 [[ 9.14869170e-01 4.01866483e-01 3.89580757e-02 1.19821290e+02] [-4.01504375e-01 9.15698274e-01 -1.70560364e-02 -1.65154656e+01] [-4.25280921e-02 -3.77959314e-05 9.99095271e-01 -5.53064424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820385723 meters 0.01850704915642089 Centerline is valid? [True, True] Translation: X:119.85, Y:-16.53, Z:-5.53 [[ 9.14761541e-01 4.02111833e-01 3.89537745e-02 1.19850910e+02] [-4.01749529e-01 9.15590559e-01 -1.70658540e-02 -1.65285198e+01] [-4.25280901e-02 -3.84736979e-05 9.99095271e-01 -5.53209988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85038572299999 meters 0.018541481210216478 Centerline is valid? [True, True] Translation: X:119.88, Y:-16.54, Z:-5.53 [[ 9.15080118e-01 4.01331426e-01 3.95153667e-02 1.19880831e+02] [-4.00957315e-01 9.15932905e-01 -1.73246997e-02 -1.65417218e+01] [-4.31463710e-02 9.51293115e-06 9.99068762e-01 -5.53367643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88038572299999 meters 0.01859643425545446 Centerline is valid? [True, True] Translation: X:119.91, Y:-16.55, Z:-5.54 [[ 9.15197604e-01 4.00987874e-01 4.02749436e-02 1.19910834e+02] [-4.00598319e-01 9.16083361e-01 -1.76709699e-02 -1.65543919e+01] [-4.39810503e-02 3.83545866e-05 9.99032365e-01 -5.53509047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91038572299999 meters 0.018656385085611637 Centerline is valid? [True, True] Translation: X:119.94, Y:-16.57, Z:-5.54 [[ 9.14743116e-01 4.01935625e-01 4.11434737e-02 1.19940553e+02] [-4.01529419e-01 9.15667928e-01 -1.80657642e-02 -1.65651653e+01] [-4.49350336e-02 5.21834682e-06 9.98989911e-01 -5.53529975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94038572299999 meters 0.01969906783279721 Centerline is valid? [True, True] Translation: X:119.97, Y:-16.58, Z:-5.54 [[ 9.14626232e-01 4.02263146e-01 4.05366215e-02 1.19971166e+02] [-4.01868623e-01 9.15524091e-01 -1.78114512e-02 -1.65771919e+01] [-4.42771440e-02 4.24246937e-07 9.99019286e-01 -5.53948493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97038572299999 meters 0.018581179859236793 Centerline is valid? [True, True] Translation: X:120.00, Y:-16.59, Z:-5.54 [[ 9.14086379e-01 4.03609323e-01 3.93141887e-02 1.20000930e+02] [-4.03238968e-01 9.14931424e-01 -1.72865108e-02 -1.65886585e+01] [-4.29467836e-02 -5.16488129e-05 9.99077360e-01 -5.53923652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000385723 meters 0.018578948590970073 Centerline is valid? [True, True] Translation: X:120.03, Y:-16.60, Z:-5.54 [[ 9.14366004e-01 4.02998502e-01 3.90770888e-02 1.20030124e+02] [-4.02631550e-01 9.15200638e-01 -1.71938247e-02 -1.66013181e+01] [-4.26924622e-02 -1.22200811e-05 9.99088261e-01 -5.54118941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030385723 meters 0.018574911038244577 Centerline is valid? [True, True] Translation: X:120.06, Y:-16.61, Z:-5.54 [[ 9.15548696e-01 4.00355192e-01 3.85526275e-02 1.20060269e+02] [-3.99995216e-01 9.16360031e-01 -1.69741440e-02 -1.66142593e+01] [-4.21237736e-02 1.19788877e-04 9.99112393e-01 -5.54281290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060385723 meters 0.018654702683473818 Centerline is valid? [True, True] Translation: X:120.09, Y:-16.63, Z:-5.54 [[ 9.16304376e-01 3.98691489e-01 3.78336822e-02 1.20088440e+02] [-3.98342891e-01 9.17085086e-01 -1.66699183e-02 -1.66281350e+01] [-4.13428603e-02 2.03940714e-04 9.99144998e-01 -5.54493548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090385723 meters 0.01900171813473099 Centerline is valid? [True, True] Translation: X:120.12, Y:-16.64, Z:-5.55 [[ 9.18218497e-01 3.94286702e-01 3.75870692e-02 1.20116100e+02] [-3.93938463e-01 9.18987393e-01 -1.65728503e-02 -1.66439458e+01] [-4.10764973e-02 4.10505439e-04 9.99155920e-01 -5.54546664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120385723 meters 0.01932306415195015 Centerline is valid? [True, True] Translation: X:120.15, Y:-16.66, Z:-5.55 [[ 9.19196081e-01 3.91978277e-01 3.78364299e-02 1.20145183e+02] [-3.91622999e-01 9.19974322e-01 -1.66935489e-02 -1.66579794e+01] [-4.13520525e-02 5.27028527e-04 9.99144499e-01 -5.54641852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150385723 meters 0.020070763590915145 Centerline is valid? [True, True] Translation: X:120.17, Y:-16.67, Z:-5.55 [[ 9.21088454e-01 3.87458589e-01 3.83653590e-02 1.20173996e+02] [-3.87088913e-01 9.21886803e-01 -1.69379921e-02 -1.66702912e+01] [-4.19312887e-02 7.50583821e-04 9.99120215e-01 -5.54805985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180385723 meters 0.020781414049432834 Centerline is valid? [True, True] Translation: X:120.20, Y:-16.68, Z:-5.55 [[ 9.21745144e-01 3.85880109e-01 3.85023478e-02 1.20202152e+02] [-3.85505984e-01 9.22548560e-01 -1.70085592e-02 -1.66830260e+01] [-4.20835502e-02 8.34671357e-04 9.99113746e-01 -5.55012792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21038572299999 meters 0.021340203662126175 Centerline is valid? [True, True] Translation: X:120.23, Y:-16.70, Z:-5.55 [[ 9.22405171e-01 3.84332172e-01 3.81769695e-02 1.20231229e+02] [-3.83962617e-01 9.23194432e-01 -1.68745252e-02 -1.66963664e+01] [-4.17301886e-02 9.06620225e-04 9.99128505e-01 -5.55063063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24038572299999 meters 0.021137341722491626 Centerline is valid? [True, True] Translation: X:120.26, Y:-16.71, Z:-5.55 [[ 9.22496966e-01 3.84112281e-01 3.81720125e-02 1.20261871e+02] [-3.83742205e-01 9.23285924e-01 -1.68825961e-02 -1.67088704e+01] [-4.17284944e-02 9.25931414e-04 9.99128558e-01 -5.55047172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27038572299999 meters 0.02293159525694783 Centerline is valid? [True, True] Translation: X:120.29, Y:-16.72, Z:-5.55 [[ 9.22981442e-01 3.82909631e-01 3.85418268e-02 1.20291836e+02] [-3.82530774e-01 9.23785263e-01 -1.70585696e-02 -1.67193285e+01] [-4.21362622e-02 1.00130835e-03 9.99111372e-01 -5.55405515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30038572299999 meters 0.02081319876142981 Centerline is valid? [True, True] Translation: X:120.32, Y:-16.73, Z:-5.55 [[ 9.22352191e-01 3.84364161e-01 3.91232373e-02 1.20322765e+02] [-3.83974601e-01 9.23181061e-01 -1.73272899e-02 -1.67294546e+01] [-4.27778209e-02 9.59534416e-04 9.99084149e-01 -5.55187472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33038572299999 meters 0.020834649084078716 Centerline is valid? [True, True] Translation: X:120.35, Y:-16.74, Z:-5.55 [[ 9.22145865e-01 3.84845417e-01 3.92556824e-02 1.20353993e+02] [-3.84453168e-01 9.22980553e-01 -1.73971273e-02 -1.67409159e+01] [-4.29274362e-02 9.50717516e-04 9.99077740e-01 -5.55379322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360385723 meters 0.020301098707703878 Centerline is valid? [True, True] Translation: X:120.39, Y:-16.75, Z:-5.56 [[ 9.21510803e-01 3.86378844e-01 3.91053630e-02 1.20385859e+02] [-3.85990429e-01 9.22339743e-01 -1.73432518e-02 -1.67483011e+01] [-4.27694960e-02 8.87698044e-04 9.99084572e-01 -5.55570820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390385723 meters 0.02106028018244301 Centerline is valid? [True, True] Translation: X:120.42, Y:-16.76, Z:-5.56 [[ 9.20810891e-01 3.88088603e-01 3.86592660e-02 1.20416955e+02] [-3.87710040e-01 9.21621713e-01 -1.71564574e-02 -1.67574628e+01] [-4.22874446e-02 8.09267278e-04 9.99105158e-01 -5.55825119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420385723 meters 0.020099224769968952 Centerline is valid? [True, True] Translation: X:120.45, Y:-16.77, Z:-5.56 [[ 9.20001542e-01 3.90044798e-01 3.82389701e-02 1.20445668e+02] [-3.89675652e-01 9.20795599e-01 -1.69809147e-02 -1.67698812e+01] [-4.18335928e-02 7.21672060e-04 9.99124331e-01 -5.55698337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450385723 meters 0.019799755247602205 Centerline is valid? [True, True] Translation: X:120.48, Y:-16.78, Z:-5.56 [[ 9.19700131e-01 3.90775699e-01 3.80265989e-02 1.20475704e+02] [-3.90410850e-01 9.20485672e-01 -1.68966361e-02 -1.67808116e+01] [-4.16057343e-02 6.93841649e-04 9.99133866e-01 -5.55815623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480385723 meters 0.021888888763684635 Centerline is valid? [True, True] Translation: X:120.51, Y:-16.79, Z:-5.56 [[ 9.20335853e-01 3.89459500e-01 3.61000822e-02 1.20506660e+02] [-3.89129303e-01 9.21043307e-01 -1.60502885e-02 -1.67898081e+01] [-3.95006764e-02 7.24056118e-04 9.99219281e-01 -5.56339874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510385723 meters 0.021793261740433993 Centerline is valid? [True, True] Translation: X:120.54, Y:-16.80, Z:-5.56 [[ 9.20599849e-01 3.88829575e-01 3.61590798e-02 1.20535217e+02] [-3.88497395e-01 9.21309384e-01 -1.60870401e-02 -1.68016556e+01] [-3.95688165e-02 7.62018375e-04 9.99216557e-01 -5.56441992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540385723 meters 0.020948536167752774 Centerline is valid? [True, True] Translation: X:120.56, Y:-16.81, Z:-5.56 [[ 9.21794179e-01 3.85915865e-01 3.69382893e-02 1.20563992e+02] [-3.85566462e-01 9.22533526e-01 -1.64437317e-02 -1.68140276e+01] [-4.04227072e-02 9.15570648e-04 9.99182249e-01 -5.56185595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570385723 meters 0.02153755050632428 Centerline is valid? [True, True] Translation: X:120.59, Y:-16.83, Z:-5.56 [[ 9.22760082e-01 3.83553636e-01 3.74224558e-02 1.20592970e+02] [-3.83192658e-01 9.23518015e-01 -1.66692404e-02 -1.68267810e+01] [-4.09538599e-02 1.04169934e-03 9.99160496e-01 -5.56224511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60038572299999 meters 0.024349573972151203 Centerline is valid? [True, True] Translation: X:120.62, Y:-16.84, Z:-5.56 [[ 9.25082799e-01 3.77732325e-01 3.92441782e-02 1.20622197e+02] [-3.77329610e-01 9.25913821e-01 -1.74917376e-02 -1.68387073e+01] [-4.29439218e-02 1.37331513e-03 9.99076540e-01 -5.56445854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63038572299999 meters 0.02442003043762695 Centerline is valid? [True, True] Translation: X:120.65, Y:-16.85, Z:-5.56 [[ 9.25784984e-01 3.75948778e-01 3.98080480e-02 1.20650663e+02] [-3.75532667e-01 9.26639266e-01 -1.77450414e-02 -1.68517465e+01] [-4.35589270e-02 1.47887041e-03 9.99049765e-01 -5.56348955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66038572299999 meters 0.023203575452092427 Centerline is valid? [True, True] Translation: X:120.68, Y:-16.86, Z:-5.56 [[ 9.26401060e-01 3.74369764e-01 4.03528884e-02 1.20681022e+02] [-3.73940220e-01 9.27278152e-01 -1.79983727e-02 -1.68621089e+01] [-4.41563983e-02 1.58414354e-03 9.99023375e-01 -5.56289060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69038572299999 meters 0.02426805579048928 Centerline is valid? [True, True] Translation: X:120.71, Y:-16.87, Z:-5.56 [[ 9.27862499e-01 3.70746407e-01 4.02279042e-02 1.20710425e+02] [-3.70315614e-01 9.28732468e-01 -1.79540702e-02 -1.68722239e+01] [-4.40173678e-02 1.76188740e-03 9.99029212e-01 -5.56408203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72038572299999 meters 0.027481377765947234 Centerline is valid? [True, True] Translation: X:120.74, Y:-16.88, Z:-5.57 [[ 9.28944024e-01 3.68112884e-01 3.94449610e-02 1.20738949e+02] [-3.67695938e-01 9.29779248e-01 -1.76138031e-02 -1.68832783e+01] [-4.31589740e-02 1.85848517e-03 9.99066489e-01 -5.56694599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750385723 meters 0.025451201133484355 Centerline is valid? [True, True] Translation: X:120.77, Y:-16.89, Z:-5.57 [[ 9.29144654e-01 3.67582587e-01 3.96642552e-02 1.20771141e+02] [-3.67160104e-01 9.29988937e-01 -1.77210317e-02 -1.68894328e+01] [-4.34012612e-02 1.90226984e-03 9.99055910e-01 -5.56826082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780385723 meters 0.025113126225749256 Centerline is valid? [True, True] Translation: X:120.80, Y:-16.90, Z:-5.57 [[ 9.29322846e-01 3.67143904e-01 3.95525132e-02 1.20801676e+02] [-3.66722920e-01 9.30162157e-01 -1.76822676e-02 -1.68985766e+01] [-4.32821877e-02 1.92772215e-03 9.99061027e-01 -5.56916904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810385723 meters 0.024493520074289954 Centerline is valid? [True, True] Translation: X:120.83, Y:-16.90, Z:-5.57 [[ 9.30035414e-01 3.65404086e-01 3.89099240e-02 1.20833890e+02] [-3.64994716e-01 9.30846878e-01 -1.74053553e-02 -1.69041243e+01] [-4.25791692e-02 1.98568020e-03 9.99091123e-01 -5.57010926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840385723 meters 0.02549311297194187 Centerline is valid? [True, True] Translation: X:120.86, Y:-16.92, Z:-5.57 [[ 9.30350536e-01 3.64731479e-01 3.76673381e-02 1.20862838e+02] [-3.64347092e-01 9.31110691e-01 -1.68545944e-02 -1.69151823e+01] [-4.12198624e-02 1.95669587e-03 9.99148184e-01 -5.57171565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870385723 meters 0.025850122157002567 Centerline is valid? [True, True] Translation: X:120.90, Y:-16.92, Z:-5.58 [[ 9.31763249e-01 3.61226195e-01 3.65086839e-02 1.20895586e+02] [-3.60862215e-01 9.32475966e-01 -1.63411983e-02 -1.69180546e+01] [-3.99463391e-02 2.05152346e-03 9.99199720e-01 -5.57593558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900385723 meters 0.02530050788137327 Centerline is valid? [True, True] Translation: X:120.93, Y:-16.93, Z:-5.58 [[ 9.32137963e-01 3.60311784e-01 3.59755035e-02 1.20926053e+02] [-3.59957363e-01 9.32829643e-01 -1.61106775e-02 -1.69275063e+01] [-3.93638830e-02 2.06772670e-03 9.99222803e-01 -5.57600496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930385723 meters 0.027729586361268176 Centerline is valid? [True, True] Translation: X:120.96, Y:-16.93, Z:-5.58 [[ 9.33395603e-01 3.57201818e-01 3.43439930e-02 1.20956322e+02] [-3.56876384e-01 9.34024849e-01 -1.53892082e-02 -1.69349077e+01] [-3.75751960e-02 2.10765922e-03 9.99291580e-01 -5.57914542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96038572299999 meters 0.027476313000198423 Centerline is valid? [True, True] Translation: X:120.99, Y:-16.94, Z:-5.58 [[ 9.33948601e-01 3.55767360e-01 3.41993590e-02 1.20987022e+02] [-3.55443420e-01 9.34572044e-01 -1.53319919e-02 -1.69436283e+01] [-3.74163871e-02 2.16335523e-03 9.99297420e-01 -5.58003516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99038572299999 meters 0.028146102647618305 Centerline is valid? [True, True] Translation: X:121.02, Y:-16.95, Z:-5.58 [[ 9.35315275e-01 3.52164518e-01 3.41392444e-02 1.21018470e+02] [-3.51838920e-01 9.35935254e-01 -1.53158281e-02 -1.69493903e+01] [-3.73458135e-02 2.31361307e-03 9.99299724e-01 -5.57963869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02038572299999 meters 0.02944761600018959 Centerline is valid? [True, True] Translation: X:121.05, Y:-16.96, Z:-5.58 [[ 9.35816145e-01 3.50949818e-01 3.28993718e-02 1.21049735e+02] [-3.50646684e-01 9.36391500e-01 -1.47601150e-02 -1.69578958e+01] [-3.59867518e-02 2.27669829e-03 9.99349674e-01 -5.58245261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05038572299999 meters 0.031330663444924974 Centerline is valid? [True, True] Translation: X:121.08, Y:-16.96, Z:-5.59 [[ 9.35834256e-01 3.50973382e-01 3.21236832e-02 1.21082014e+02] [-3.50684358e-01 9.36382798e-01 -1.44130931e-02 -1.69616357e+01] [-3.51386764e-02 2.22299304e-03 9.99379974e-01 -5.58529798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08038572299999 meters 0.02958628295852055 Centerline is valid? [True, True] Translation: X:121.11, Y:-16.97, Z:-5.59 [[ 9.35302286e-01 3.52274818e-01 3.33479721e-02 1.21114566e+02] [-3.51963822e-01 9.35893861e-01 -1.49716009e-02 -1.69681848e+01] [-3.64842804e-02 2.26569283e-03 9.99331659e-01 -5.58507974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110385723 meters 0.030284533631815932 Centerline is valid? [True, True] Translation: X:121.15, Y:-16.97, Z:-5.59 [[ 9.34319725e-01 3.54809322e-01 3.40146639e-02 1.21146899e+02] [-3.54486993e-01 9.34936047e-01 -1.52826836e-02 -1.69696133e+01] [-3.72239740e-02 2.22115680e-03 9.99304479e-01 -5.58648963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140385723 meters 0.03131042110615896 Centerline is valid? [True, True] Translation: X:121.18, Y:-16.98, Z:-5.59 [[ 9.33763177e-01 3.56356216e-01 3.31145948e-02 1.21178108e+02] [-3.56051680e-01 9.34347808e-01 -1.48786967e-02 -1.69767636e+01] [-3.62426651e-02 2.10267203e-03 9.99340807e-01 -5.58871248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170385723 meters 0.029517426825623624 Centerline is valid? [True, True] Translation: X:121.21, Y:-16.98, Z:-5.59 [[ 9.32254505e-01 3.60241543e-01 3.35792829e-02 1.21211747e+02] [-3.59930852e-01 9.32856960e-01 -1.50888595e-02 -1.69782428e+01] [-3.67603018e-02 1.98043741e-03 9.99322149e-01 -5.58717237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200385723 meters 0.028600470771035617 Centerline is valid? [True, True] Translation: X:121.24, Y:-16.98, Z:-5.59 [[ 9.31469088e-01 3.62402980e-01 3.20845606e-02 1.21243741e+02] [-3.62120591e-01 9.32019742e-01 -1.44179971e-02 -1.69844082e+01] [-3.51285690e-02 1.81143851e-03 9.99381160e-01 -5.58911508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230385723 meters 0.029849991944295908 Centerline is valid? [True, True] Translation: X:121.27, Y:-16.99, Z:-5.59 [[ 9.30667858e-01 3.64574692e-01 3.07023025e-02 1.21273213e+02] [-3.64317224e-01 9.31172674e-01 -1.37989806e-02 -1.69918591e+01] [-3.36199042e-02 1.65689015e-03 9.99433318e-01 -5.59269100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260385723 meters 0.028367890054086835 Centerline is valid? [True, True] Translation: X:121.31, Y:-16.99, Z:-5.60 [[ 9.28679987e-01 3.69638711e-01 3.03431246e-02 1.21308212e+02] [-3.69389771e-01 9.29174413e-01 -1.36421324e-02 -1.69901082e+01] [-3.32367152e-02 1.46073552e-03 9.99446440e-01 -5.59510343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290385723 meters 0.026290946416134373 Centerline is valid? [True, True] Translation: X:121.34, Y:-16.99, Z:-5.59 [[ 9.26181071e-01 3.75726396e-01 3.19108129e-02 1.21340715e+02] [-3.75454623e-01 9.26729716e-01 -1.43478367e-02 -1.69897666e+01] [-3.49635595e-02 1.30763247e-03 9.99387732e-01 -5.59451201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320385723 meters 0.02668569325414192 Centerline is valid? [True, True] Translation: X:121.37, Y:-17.00, Z:-5.60 [[ 9.24679621e-01 3.79545486e-01 3.02129552e-02 1.21371999e+02] [-3.79303921e-01 9.25172423e-01 -1.35839414e-02 -1.69965987e+01] [-3.31079166e-02 1.10090138e-03 9.99451176e-01 -5.59764240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35038572299999 meters 0.023760329307050555 Centerline is valid? [True, True] Translation: X:121.40, Y:-17.00, Z:-5.60 [[ 9.23037680e-01 3.83386941e-01 3.18730985e-02 1.21402843e+02] [-3.83120321e-01 9.23587255e-01 -1.43318405e-02 -1.70032940e+01] [-3.49322281e-02 1.01759709e-03 9.99389165e-01 -5.59630756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38038572299999 meters 0.024150691019360508 Centerline is valid? [True, True] Translation: X:121.44, Y:-17.00, Z:-5.60 [[ 9.19242701e-01 3.92673676e-01 2.82885284e-02 1.21436936e+02] [-3.92468030e-01 9.19677680e-01 -1.27204780e-02 -1.70023613e+01] [-3.10113251e-02 5.90863559e-04 9.99518859e-01 -5.60182489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41038572299999 meters 0.019014785709477254 Centerline is valid? [True, True] Translation: X:121.47, Y:-17.00, Z:-5.60 [[ 9.15374374e-01 4.01454779e-01 3.03943498e-02 1.21470482e+02] [-4.01222157e-01 9.15878791e-01 -1.36682378e-02 -1.70024274e+01] [-3.33247197e-02 3.16668015e-04 9.99444527e-01 -5.60096326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44038572299999 meters 0.01835734618527421 Centerline is valid? [True, True] Translation: X:121.50, Y:-17.01, Z:-5.60 [[ 9.13471119e-01 4.05720500e-01 3.10063078e-02 1.21502043e+02] [-4.05480955e-01 9.13997182e-01 -1.39407958e-02 -1.70106128e+01] [-3.39957446e-02 1.62047086e-04 9.99421964e-01 -5.60217556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47038572299999 meters 0.018206214309948402 Centerline is valid? [True, True] Translation: X:121.53, Y:-17.02, Z:-5.60 [[ 9.09867501e-01 4.13751506e-01 3.08353958e-02 1.21534555e+02] [-4.13518915e-01 9.10389848e-01 -1.38719912e-02 -1.70154735e+01] [-3.38117886e-02 -1.29345470e-04 9.99428210e-01 -5.60384558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500385723 meters 0.01851662932374341 Centerline is valid? [True, True] Translation: X:121.56, Y:-17.03, Z:-5.61 [[ 9.08065117e-01 4.17732970e-01 3.02805077e-02 1.21563842e+02] [-4.17510591e-01 9.08569808e-01 -1.36312585e-02 -1.70251637e+01] [-3.32061811e-02 -2.64362319e-04 9.99448488e-01 -5.60542814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530385723 meters 0.019015255093073048 Centerline is valid? [True, True] Translation: X:121.59, Y:-17.04, Z:-5.61 [[ 9.06376518e-01 4.21384252e-01 3.02806877e-02 1.21594488e+02] [-4.21163663e-01 9.06882109e-01 -1.36385652e-02 -1.70362492e+01] [-3.32080905e-02 -3.91450136e-04 9.99448383e-01 -5.60666886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560385723 meters 0.02070496666425778 Centerline is valid? [True, True] Translation: X:121.62, Y:-17.04, Z:-5.61 [[ 9.03478666e-01 4.27647017e-01 2.90573587e-02 1.21624756e+02] [-4.27446806e-01 9.03945620e-01 -1.30974492e-02 -1.70449560e+01] [-3.18673572e-02 -5.87209276e-04 9.99491934e-01 -5.60909219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590385723 meters 0.02188891192662495 Centerline is valid? [True, True] Translation: X:121.65, Y:-17.06, Z:-5.61 [[ 9.01769953e-01 4.31248469e-01 2.89086561e-02 1.21654786e+02] [-4.31052129e-01 9.02232927e-01 -1.30310511e-02 -1.70563624e+01] [-3.17019622e-02 -7.10127361e-04 9.99497114e-01 -5.61129607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620385723 meters 0.022277865186275413 Centerline is valid? [True, True] Translation: X:121.68, Y:-17.07, Z:-5.61 [[ 9.01328587e-01 4.32177148e-01 2.88043633e-02 1.21683337e+02] [-4.31982700e-01 9.01788426e-01 -1.29838941e-02 -1.70707999e+01] [-3.15867838e-02 -7.40231727e-04 9.99500739e-01 -5.61266779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650385723 meters 0.022745920393881625 Centerline is valid? [True, True] Translation: X:121.71, Y:-17.08, Z:-5.61 [[ 9.01012568e-01 4.32863754e-01 2.83782142e-02 1.21711200e+02] [-4.32675077e-01 9.01459048e-01 -1.28008561e-02 -1.70835167e+01] [-3.11228246e-02 -7.44813813e-04 9.99515290e-01 -5.61452662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680385723 meters 0.02242931790732118 Centerline is valid? [True, True] Translation: X:121.74, Y:-17.10, Z:-5.62 [[ 9.01449867e-01 4.31970802e-01 2.80956112e-02 1.21737378e+02] [-4.31785360e-01 9.01887316e-01 -1.26756913e-02 -1.71016485e+01] [-3.08146039e-02 -7.04773350e-04 9.99524869e-01 -5.61710174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71038572299999 meters 0.02242931790732118 Centerline is valid? [True, True] Translation: X:121.77, Y:-17.12, Z:-5.62 [[ 9.01344601e-01 4.32190552e-01 2.80933557e-02 1.21766911e+02] [-4.32005061e-01 9.01782029e-01 -1.26806880e-02 -1.71150987e+01] [-3.08145568e-02 -7.06802154e-04 9.99524869e-01 -5.61855780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74038572299999 meters 0.024539088419543158 Centerline is valid? [True, True] Translation: X:121.79, Y:-17.13, Z:-5.62 [[ 9.01641787e-01 4.31633670e-01 2.71009676e-02 1.21794412e+02] [-4.31460571e-01 9.02048748e-01 -1.22405538e-02 -1.71315556e+01] [-2.97298291e-02 -6.56404167e-04 9.99557755e-01 -5.62295216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77038572299999 meters 0.020955123817391435 Centerline is valid? [True, True] Translation: X:121.82, Y:-17.15, Z:-5.62 [[ 9.03210194e-01 4.28181652e-01 2.95265826e-02 1.21818515e+02] [-4.27973940e-01 9.03692501e-01 -1.33480671e-02 -1.71519245e+01] [-3.23983487e-02 -5.80497591e-04 9.99474867e-01 -5.62065435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80038572299999 meters 0.018226108916739207 Centerline is valid? [True, True] Translation: X:121.84, Y:-17.17, Z:-5.62 [[ 9.04115271e-01 4.26218773e-01 3.02180995e-02 1.21843850e+02] [-4.26000199e-01 9.04619966e-01 -1.36582717e-02 -1.71749339e+01] [-3.31573079e-02 -5.24264308e-04 9.99450008e-01 -5.61747086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83038572299999 meters 0.019737096592409752 Centerline is valid? [True, True] Translation: X:121.87, Y:-17.19, Z:-5.62 [[ 9.04986515e-01 4.24361967e-01 3.02709092e-02 1.21870771e+02] [-4.24141277e-01 9.05492529e-01 -1.36914953e-02 -1.71899440e+01] [-3.32202320e-02 -4.48523451e-04 9.99447955e-01 -5.62154281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860385723 meters 0.017610813350767935 Centerline is valid? [True, True] Translation: X:121.90, Y:-17.21, Z:-5.62 [[ 9.06982444e-01 4.19946612e-01 3.20575849e-02 1.21895179e+02] [-4.19696000e-01 9.07548762e-01 -1.45090257e-02 -1.72135570e+01] [-3.51868377e-02 -2.95008564e-04 9.99380708e-01 -5.61944850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890385723 meters 0.017353382290603826 Centerline is valid? [True, True] Translation: X:121.92, Y:-17.23, Z:-5.62 [[ 9.08061860e-01 4.17526397e-01 3.30963131e-02 1.21921966e+02] [-4.17257307e-01 9.08664772e-01 -1.49890316e-02 -1.72319701e+01] [-3.63317701e-02 -1.98710545e-04 9.99339764e-01 -5.62007781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920385723 meters 0.01726157604315577 Centerline is valid? [True, True] Translation: X:121.95, Y:-17.25, Z:-5.62 [[ 9.10149364e-01 4.12857503e-01 3.43047747e-02 1.21946062e+02] [-4.12564673e-01 9.10795631e-01 -1.55469781e-02 -1.72548042e+01] [-3.76633255e-02 -2.86597799e-06 9.99290485e-01 -5.62092354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950385723 meters 0.01724376302294462 Centerline is valid? [True, True] Translation: X:121.97, Y:-17.27, Z:-5.62 [[ 9.11172715e-01 4.10511036e-01 3.52841681e-02 1.21974099e+02] [-4.10199110e-01 9.11855624e-01 -1.60003716e-02 -1.72731665e+01] [-3.87423962e-02 1.05567723e-04 9.99249226e-01 -5.62203697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980385723 meters 0.01742073992437618 Centerline is valid? [True, True] Translation: X:122.00, Y:-17.29, Z:-5.62 [[ 9.13001103e-01 4.06339910e-01 3.62886151e-02 1.21999562e+02] [-4.06006170e-01 9.13721941e-01 -1.64682675e-02 -1.72940639e+01] [-3.98494181e-02 3.02144780e-04 9.99205651e-01 -5.62308230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010385723 meters 0.017637750197628244 Centerline is valid? [True, True] Translation: X:122.03, Y:-17.31, Z:-5.62 [[ 9.13596014e-01 4.05004893e-01 3.62403103e-02 1.22025592e+02] [-4.04670561e-01 9.14314442e-01 -1.64571432e-02 -1.73111298e+01] [-3.98002626e-02 3.69793767e-04 9.99207587e-01 -5.62470311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040385723 meters 0.0209362977350263 Centerline is valid? [True, True] Translation: X:122.05, Y:-17.33, Z:-5.63 [[ 9.14997860e-01 4.01881311e-01 3.56416610e-02 1.22051225e+02] [-4.01555196e-01 9.15691627e-01 -1.61947147e-02 -1.73315366e+01] [-3.91451237e-02 5.06035147e-04 9.99233408e-01 -5.62832213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070385723 meters 0.018651007677913604 Centerline is valid? [True, True] Translation: X:122.08, Y:-17.35, Z:-5.63 [[ 9.15460899e-01 4.00806668e-01 3.58518744e-02 1.22078966e+02] [-4.00475459e-01 9.16162483e-01 -1.63006504e-02 -1.73475853e+01] [-3.93795517e-02 5.64812156e-04 9.99224165e-01 -5.62763351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10038572299999 meters 0.01829103423044398 Centerline is valid? [True, True] Translation: X:122.11, Y:-17.36, Z:-5.63 [[ 9.16134888e-01 3.99328101e-01 3.51274038e-02 1.22107500e+02] [-3.99008683e-01 9.16807874e-01 -1.59810138e-02 -1.73630378e+01] [-3.85867482e-02 6.24625156e-04 9.99255059e-01 -5.62884385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13038572299999 meters 0.0182257623789562 Centerline is valid? [True, True] Translation: X:122.14, Y:-17.38, Z:-5.63 [[ 9.16344248e-01 3.98880262e-01 3.47527884e-02 1.22136014e+02] [-3.98566914e-01 9.17002792e-01 -1.58207320e-02 -1.73781837e+01] [-3.81789817e-02 6.45925155e-04 9.99270708e-01 -5.63101445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16038572299999 meters 0.018501441754469005 Centerline is valid? [True, True] Translation: X:122.16, Y:-17.39, Z:-5.63 [[ 9.16446795e-01 3.98642939e-01 3.47718208e-02 1.22163766e+02] [-3.98328686e-01 9.17105972e-01 -1.58396199e-02 -1.73937010e+01] [-3.82037972e-02 6.65555193e-04 9.99269747e-01 -5.63231583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19038572299999 meters 0.018620808737262455 Centerline is valid? [True, True] Translation: X:122.19, Y:-17.41, Z:-5.63 [[ 9.16710681e-01 3.97913223e-01 3.61468355e-02 1.22191911e+02] [-3.97572576e-01 9.17422764e-01 -1.64778326e-02 -1.74104279e+01] [-3.97186772e-02 7.34414642e-04 9.99210632e-01 -5.63282588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22038572299999 meters 0.01899298892738218 Centerline is valid? [True, True] Translation: X:122.22, Y:-17.42, Z:-5.63 [[ 9.16747848e-01 3.97818906e-01 3.62422534e-02 1.22220306e+02] [-3.97475897e-01 9.17463652e-01 -1.65335577e-02 -1.74246382e+01] [-3.98283120e-02 7.51681273e-04 9.99206255e-01 -5.63473213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250385723 meters 0.018818132312975057 Centerline is valid? [True, True] Translation: X:122.25, Y:-17.44, Z:-5.64 [[ 9.16616937e-01 3.98102653e-01 3.64371850e-02 1.22250361e+02] [-3.97755713e-01 9.17340564e-01 -1.66337884e-02 -1.74376533e+01] [-4.00472631e-02 7.53713627e-04 9.99197502e-01 -5.63589758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280385723 meters 0.01855991123801671 Centerline is valid? [True, True] Translation: X:122.28, Y:-17.45, Z:-5.64 [[ 9.15597041e-01 4.00330038e-01 3.76552526e-02 1.22278873e+02] [-3.99960841e-01 9.16370768e-01 -1.72029514e-02 -1.74504656e+01] [-4.13930309e-02 6.90344936e-04 9.99142703e-01 -5.63736056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310385723 meters 0.019771244052356102 Centerline is valid? [True, True] Translation: X:122.31, Y:-17.46, Z:-5.64 [[ 9.14698120e-01 4.02353466e-01 3.79346397e-02 1.22308528e+02] [-4.01980082e-01 9.15484196e-01 -1.73407217e-02 -1.74632611e+01] [-4.17056626e-02 6.12555942e-04 9.99129753e-01 -5.64011499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340385723 meters 0.017540359465932066 Centerline is valid? [True, True] Translation: X:122.34, Y:-17.47, Z:-5.64 [[ 9.11781839e-01 4.08829346e-01 3.88901462e-02 1.22338725e+02] [-4.08442288e-01 9.12610790e-01 -1.77888495e-02 -1.74744418e+01] [-4.27641707e-02 3.35169630e-04 9.99085138e-01 -5.63987347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370385723 meters 0.017240854481085543 Centerline is valid? [True, True] Translation: X:122.37, Y:-17.49, Z:-5.64 [[ 9.09984102e-01 4.12788388e-01 3.91750002e-02 1.22368777e+02] [-4.12398817e-01 9.10826943e-01 -1.79302832e-02 -1.74864812e+01] [-4.30830584e-02 1.60548916e-04 9.99071481e-01 -5.64102838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400385723 meters 0.017285501215017533 Centerline is valid? [True, True] Translation: X:122.40, Y:-17.50, Z:-5.64 [[ 9.06382486e-01 4.20585855e-01 3.97281762e-02 1.22399493e+02] [-4.20192158e-01 9.07252720e-01 -1.81948581e-02 -1.74962933e+01] [-4.36959959e-02 -2.01967423e-04 9.99044853e-01 -5.64200925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430385723 meters 0.017606313147665285 Centerline is valid? [True, True] Translation: X:122.43, Y:-17.51, Z:-5.64 [[ 9.04840262e-01 4.23901223e-01 3.96466151e-02 1.22429271e+02] [-4.23511794e-01 9.05708359e-01 -1.81694615e-02 -1.75082593e+01] [-4.36103276e-02 -3.50348831e-04 9.99048556e-01 -5.64344033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46038572299999 meters 0.01854765837873104 Centerline is valid? [True, True] Translation: X:122.46, Y:-17.52, Z:-5.65 [[ 9.02188905e-01 4.29531670e-01 3.94680222e-02 1.22458125e+02] [-4.29150630e-01 9.03051590e-01 -1.80987053e-02 -1.75194520e+01] [-4.34156273e-02 -6.09275528e-04 9.99056911e-01 -5.64564247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49038572299999 meters 0.019214189313514117 Centerline is valid? [True, True] Translation: X:122.49, Y:-17.53, Z:-5.65 [[ 9.00905915e-01 4.32266380e-01 3.89141206e-02 1.22487029e+02] [-4.31898291e-01 9.01745668e-01 -1.78498342e-02 -1.75325498e+01] [-4.28065229e-02 -7.25920936e-04 9.99083117e-01 -5.64766603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52038572299999 meters 0.020611217549948328 Centerline is valid? [True, True] Translation: X:122.51, Y:-17.55, Z:-5.65 [[ 8.98814703e-01 4.36547300e-01 3.94789221e-02 1.22514966e+02] [-4.36172080e-01 8.99680823e-01 -1.81199517e-02 -1.75461738e+01] [-4.34286452e-02 -9.33124547e-04 9.99056096e-01 -5.64891666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55038572299999 meters 0.021243378705144308 Centerline is valid? [True, True] Translation: X:122.54, Y:-17.56, Z:-5.65 [[ 8.97962432e-01 4.38277576e-01 3.97018538e-02 1.22544274e+02] [-4.37899350e-01 8.98839107e-01 -1.82323827e-02 -1.75602029e+01] [-4.36764233e-02 -1.01342128e-03 9.99045216e-01 -5.65041258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58038572299999 meters 0.024801990361306224 Centerline is valid? [True, True] Translation: X:122.57, Y:-17.58, Z:-5.66 [[ 8.97360738e-01 4.39572642e-01 3.89820348e-02 1.22571670e+02] [-4.39208786e-01 8.98206432e-01 -1.79122164e-02 -1.75756164e+01] [-4.28876347e-02 -1.04753245e-03 9.99079353e-01 -5.65543936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610385723 meters 0.022467576683561617 Centerline is valid? [True, True] Translation: X:122.60, Y:-17.59, Z:-5.65 [[ 8.96826394e-01 4.40573269e-01 3.99701685e-02 1.22600527e+02] [-4.40191266e-01 8.97715965e-01 -1.83765002e-02 -1.75908144e+01] [-4.39780532e-02 -1.11398863e-03 9.99031876e-01 -5.65368792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640385723 meters 0.022357982977987436 Centerline is valid? [True, True] Translation: X:122.63, Y:-17.61, Z:-5.66 [[ 8.96894297e-01 4.40490026e-01 3.93593354e-02 1.22629229e+02] [-4.40119087e-01 8.97756850e-01 -1.81059778e-02 -1.76072697e+01] [-4.33106156e-02 -1.08364653e-03 9.99061067e-01 -5.65521610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670385723 meters 0.020940596571876188 Centerline is valid? [True, True] Translation: X:122.65, Y:-17.63, Z:-5.66 [[ 8.97075755e-01 4.40042830e-01 4.02168771e-02 1.22654305e+02] [-4.39654539e-01 8.97976144e-01 -1.85130197e-02 -1.76293572e+01] [-4.42603178e-02 -1.07395146e-03 9.99019455e-01 -5.65600703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700385723 meters 0.020943958219925646 Centerline is valid? [True, True] Translation: X:122.68, Y:-17.65, Z:-5.66 [[ 8.97232782e-01 4.39594333e-01 4.15951517e-02 1.22679460e+02] [-4.39177925e-01 8.98195782e-01 -1.91595475e-02 -1.76484829e+01] [-4.57830183e-02 -1.07709832e-03 9.98950827e-01 -5.65634804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730385723 meters 0.021210541171841773 Centerline is valid? [True, True] Translation: X:122.71, Y:-17.67, Z:-5.66 [[ 8.97026891e-01 4.40013384e-01 4.16050459e-02 1.22707574e+02] [-4.39596730e-01 8.97990555e-01 -1.91749524e-02 -1.76651231e+01] [-4.57981740e-02 -1.08899423e-03 9.98950120e-01 -5.65736855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760385723 meters 0.022773062448312387 Centerline is valid? [True, True] Translation: X:122.74, Y:-17.68, Z:-5.66 [[ 8.96846745e-01 4.40355243e-01 4.18709358e-02 1.22736742e+02] [-4.39933001e-01 8.97822948e-01 -1.93108333e-02 -1.76788962e+01] [-4.60963138e-02 -1.10154841e-03 9.98936393e-01 -5.65865984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790385723 meters 0.022377459798548924 Centerline is valid? [True, True] Translation: X:122.76, Y:-17.70, Z:-5.66 [[ 8.96595837e-01 4.40818647e-01 4.23653805e-02 1.22763234e+02] [-4.40386293e-01 8.97595482e-01 -1.95515544e-02 -1.76998168e+01] [-4.66456639e-02 -1.12729060e-03 9.98910863e-01 -5.66162146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820385723 meters 0.022140779592612608 Centerline is valid? [True, True] Translation: X:122.79, Y:-17.72, Z:-5.66 [[ 8.96156611e-01 4.41632694e-01 4.31728213e-02 1.22791382e+02] [-4.41183988e-01 8.97195169e-01 -1.99378215e-02 -1.77156058e+01] [-4.75396405e-02 -1.17974692e-03 9.98868655e-01 -5.66166506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85038572299999 meters 0.022195431502533128 Centerline is valid? [True, True] Translation: X:122.82, Y:-17.74, Z:-5.66 [[ 8.96380179e-01 4.41167291e-01 4.32896816e-02 1.22816003e+02] [-4.40715049e-01 8.97424150e-01 -2.00035230e-02 -1.77360536e+01] [-4.76741058e-02 -1.14765262e-03 9.98862284e-01 -5.66253068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88038572299999 meters 0.022108800409372718 Centerline is valid? [True, True] Translation: X:122.84, Y:-17.75, Z:-5.66 [[ 8.96431174e-01 4.41128003e-01 4.26290410e-02 1.22843024e+02] [-4.40688926e-01 8.97443499e-01 -1.97088182e-02 -1.77532075e+01] [-4.69512673e-02 -1.11854727e-03 9.98896555e-01 -5.66415453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91038572299999 meters 0.02233854973515821 Centerline is valid? [True, True] Translation: X:122.87, Y:-17.77, Z:-5.67 [[ 8.96390773e-01 4.41148899e-01 4.32577221e-02 1.22869299e+02] [-4.40696229e-01 8.97433219e-01 -2.00112897e-02 -1.77730003e+01] [-4.76488752e-02 -1.12557962e-03 9.98863513e-01 -5.66519697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94038572299999 meters 0.020121587579126844 Centerline is valid? [True, True] Translation: X:122.90, Y:-17.79, Z:-5.67 [[ 8.96350790e-01 4.41179185e-01 4.37742913e-02 1.22895671e+02] [-4.40715051e-01 8.97418326e-01 -2.02630742e-02 -1.77931903e+01] [-4.82234978e-02 -1.12916648e-03 9.98835932e-01 -5.66678118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97038572299999 meters 0.023011389986025827 Centerline is valid? [True, True] Translation: X:122.92, Y:-17.81, Z:-5.67 [[ 8.95901498e-01 4.42135473e-01 4.33212455e-02 1.22924424e+02] [-4.41681335e-01 8.96947539e-01 -2.00676311e-02 -1.78050306e+01] [-4.77294961e-02 -1.15556479e-03 9.98859630e-01 -5.66834366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000385723 meters 0.023327832884116596 Centerline is valid? [True, True] Translation: X:122.95, Y:-17.82, Z:-5.67 [[ 8.95544505e-01 4.42883634e-01 4.30595642e-02 1.22951967e+02] [-4.42435282e-01 8.96578329e-01 -1.99579985e-02 -1.78209314e+01] [-4.74453430e-02 -1.17779459e-03 9.98873141e-01 -5.67013438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030385723 meters 0.020761833388414253 Centerline is valid? [True, True] Translation: X:122.98, Y:-17.84, Z:-5.67 [[ 8.95171033e-01 4.43741408e-01 4.19807533e-02 1.22977358e+02] [-4.43315692e-01 8.96154096e-01 -1.94687963e-02 -1.78429133e+01] [-4.62603351e-02 -1.18282416e-03 9.98928717e-01 -5.67228120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060385723 meters 0.024290546191482635 Centerline is valid? [True, True] Translation: X:123.01, Y:-17.86, Z:-5.67 [[ 8.94610968e-01 4.44889628e-01 4.17664371e-02 1.23005804e+02] [-4.44468936e-01 8.95584568e-01 -1.93816008e-02 -1.78555765e+01] [-4.60280497e-02 -1.22489127e-03 9.98939397e-01 -5.67373937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090385723 meters 0.020776950239325902 Centerline is valid? [True, True] Translation: X:123.03, Y:-17.88, Z:-5.68 [[ 8.94401820e-01 4.45267194e-01 4.22197855e-02 1.23031387e+02] [-4.44837196e-01 8.95396878e-01 -1.96035689e-02 -1.78777588e+01] [-4.65322902e-02 -1.24746330e-03 9.98916007e-01 -5.67530061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120385723 meters 0.021262404408173913 Centerline is valid? [True, True] Translation: X:123.06, Y:-17.89, Z:-5.68 [[ 8.94200205e-01 4.45581582e-01 4.31630272e-02 1.23058655e+02] [-4.45131802e-01 8.95240425e-01 -2.00564243e-02 -1.78937109e+01] [-4.75780601e-02 -1.27877739e-03 9.98866704e-01 -5.67742086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150385723 meters 0.02083717879493829 Centerline is valid? [True, True] Translation: X:123.09, Y:-17.91, Z:-5.68 [[ 8.94022219e-01 4.45918639e-01 4.33686517e-02 1.23086984e+02] [-4.45464296e-01 8.95072568e-01 -2.01657805e-02 -1.79101508e+01] [-4.78103878e-02 -1.29053005e-03 9.98855596e-01 -5.67957949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180385723 meters 0.02089567641252452 Centerline is valid? [True, True] Translation: X:123.11, Y:-17.93, Z:-5.68 [[ 8.93701060e-01 4.46531283e-01 4.36832730e-02 1.23113254e+02] [-4.46070334e-01 8.94767049e-01 -2.03269648e-02 -1.79288094e+01] [-4.81629790e-02 -1.31958216e-03 9.98838619e-01 -5.68107196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21038572299999 meters 0.02084658482008982 Centerline is valid? [True, True] Translation: X:123.14, Y:-17.95, Z:-5.68 [[ 8.93549038e-01 4.46843103e-01 4.36045707e-02 1.23141613e+02] [-4.46383551e-01 8.94611364e-01 -2.03035018e-02 -1.79469490e+01] [-4.80816242e-02 -1.32218860e-03 9.98842535e-01 -5.68203555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24038572299999 meters 0.02225146762480365 Centerline is valid? [True, True] Translation: X:123.17, Y:-17.96, Z:-5.68 [[ 8.93361685e-01 4.47272274e-01 4.30396581e-02 1.23169420e+02] [-4.46824362e-01 8.94396883e-01 -2.00550534e-02 -1.79632945e+01] [-4.74646054e-02 -1.31475147e-03 9.98872055e-01 -5.68336352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27038572299999 meters 0.021697267245058514 Centerline is valid? [True, True] Translation: X:123.20, Y:-17.98, Z:-5.69 [[ 8.93159653e-01 4.47731398e-01 4.24550314e-02 1.23197975e+02] [-4.47295464e-01 8.94167144e-01 -1.97961088e-02 -1.79792643e+01] [-4.68252337e-02 -1.30885734e-03 9.98902240e-01 -5.68598990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30038572299999 meters 0.022097387152278877 Centerline is valid? [True, True] Translation: X:123.23, Y:-17.99, Z:-5.69 [[ 8.92931679e-01 4.48176617e-01 4.25527500e-02 1.23226928e+02] [-4.47738511e-01 8.93944053e-01 -1.98558674e-02 -1.79931581e+01] [-4.69387133e-02 -1.32257188e-03 9.98896896e-01 -5.68915229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33038572299999 meters 0.02195713962460691 Centerline is valid? [True, True] Translation: X:123.25, Y:-18.01, Z:-5.69 [[ 8.92713980e-01 4.48731206e-01 4.12559528e-02 1.23252702e+02] [-4.48319700e-01 8.93665823e-01 -1.92573050e-02 -1.80113382e+01] [-4.55103887e-02 -1.30459098e-03 9.98963014e-01 -5.69176813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360385723 meters 0.022941727828392704 Centerline is valid? [True, True] Translation: X:123.28, Y:-18.03, Z:-5.69 [[ 8.92446767e-01 4.49284714e-01 4.10123567e-02 1.23281143e+02] [-4.48878329e-01 8.93387657e-01 -1.91504505e-02 -1.80267012e+01] [-4.52439379e-02 -1.31880044e-03 9.98975098e-01 -5.69278668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390385723 meters 0.02237096134328572 Centerline is valid? [True, True] Translation: X:123.31, Y:-18.05, Z:-5.69 [[ 8.92404022e-01 4.49417363e-01 4.04857382e-02 1.23307969e+02] [-4.49020929e-01 8.93320967e-01 -1.89170542e-02 -1.80479512e+01] [-4.46684114e-02 -1.29728846e-03 9.99001026e-01 -5.69396295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420385723 meters 0.0233027187422084 Centerline is valid? [True, True] Translation: X:123.34, Y:-18.06, Z:-5.70 [[ 8.92544573e-01 4.49188494e-01 3.99234537e-02 1.23336124e+02] [-4.48802192e-01 8.93436130e-01 -1.86674592e-02 -1.80615550e+01] [-4.40542639e-02 -1.25619411e-03 9.99028350e-01 -5.69613888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450385723 meters 0.021857509064787357 Centerline is valid? [True, True] Translation: X:123.36, Y:-18.08, Z:-5.70 [[ 8.92795956e-01 4.48712684e-01 3.96523459e-02 1.23363020e+02] [-4.48330682e-01 8.93675249e-01 -1.85512379e-02 -1.80797392e+01] [-4.37604959e-02 -1.21489314e-03 9.99041312e-01 -5.69829986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480385723 meters 0.02178650580372008 Centerline is valid? [True, True] Translation: X:123.39, Y:-18.10, Z:-5.70 [[ 8.93292686e-01 4.47591438e-01 4.11106008e-02 1.23389868e+02] [-4.47179055e-01 8.94237376e-01 -1.92459786e-02 -1.80977591e+01] [-4.53769710e-02 -1.19150773e-03 9.98969224e-01 -5.69948387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510385723 meters 0.022146861565223986 Centerline is valid? [True, True] Translation: X:123.42, Y:-18.11, Z:-5.70 [[ 8.93554620e-01 4.46983963e-01 4.20175845e-02 1.23417459e+02] [-4.46551930e-01 8.94541199e-01 -1.96829322e-02 -1.81128950e+01] [-4.63844154e-02 -1.17525846e-03 9.98922972e-01 -5.70017584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540385723 meters 0.021837743864687675 Centerline is valid? [True, True] Translation: X:123.44, Y:-18.13, Z:-5.70 [[ 8.93913890e-01 4.46104659e-01 4.36874238e-02 1.23443281e+02] [-4.45636157e-01 8.94980039e-01 -2.04730478e-02 -1.81329919e+01] [-4.82324943e-02 -1.16755384e-03 9.98835454e-01 -5.69925024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570385723 meters 0.0214900458355816 Centerline is valid? [True, True] Translation: X:123.47, Y:-18.15, Z:-5.70 [[ 8.94340486e-01 4.45172575e-01 4.44575397e-02 1.23470656e+02] [-4.44685607e-01 8.95444087e-01 -2.08470369e-02 -1.81503432e+01] [-4.90897701e-02 -1.12527893e-03 9.98793737e-01 -5.69945428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60038572299999 meters 0.020540818512036936 Centerline is valid? [True, True] Translation: X:123.50, Y:-18.17, Z:-5.70 [[ 8.96116877e-01 4.41540126e-01 4.49094628e-02 1.23497390e+02] [-4.41038025e-01 8.97241028e-01 -2.10712593e-02 -1.81688460e+01] [-4.95984191e-02 -9.24469716e-04 9.98768813e-01 -5.70042915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63038572299999 meters 0.020540818512036936 Centerline is valid? [True, True] Translation: X:123.53, Y:-18.18, Z:-5.70 [[ 8.95994444e-01 4.41788711e-01 4.49075898e-02 1.23526671e+02] [-4.41286722e-01 8.97118645e-01 -2.10752502e-02 -1.81826592e+01] [-4.95982437e-02 -9.33816042e-04 9.98768813e-01 -5.70188143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66038572299999 meters 0.02047159228626561 Centerline is valid? [True, True] Translation: X:123.55, Y:-18.20, Z:-5.70 [[ 8.96622324e-01 4.40537054e-01 4.46711605e-02 1.23553985e+02] [-4.40038056e-01 8.97734029e-01 -2.09790776e-02 -1.81965122e+01] [-4.93448819e-02 -8.46701353e-04 9.98781440e-01 -5.70428578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69038572299999 meters 0.019912726103721023 Centerline is valid? [True, True] Translation: X:123.58, Y:-18.21, Z:-5.71 [[ 8.97704004e-01 4.38488285e-01 4.30760465e-02 1.23581236e+02] [-4.38021403e-01 8.98736634e-01 -2.02413654e-02 -1.82130223e+01] [-4.75896226e-02 -6.97475550e-04 9.98866729e-01 -5.70814872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72038572299999 meters 0.01980148869234933 Centerline is valid? [True, True] Translation: X:123.61, Y:-18.23, Z:-5.71 [[ 8.98019128e-01 4.37966151e-01 4.18006626e-02 1.23610169e+02] [-4.37525406e-01 8.98991236e-01 -1.96539465e-02 -1.82274589e+01] [-4.61861927e-02 -6.39231944e-04 9.98932644e-01 -5.71122646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750385723 meters 0.019788673044004893 Centerline is valid? [True, True] Translation: X:123.64, Y:-18.24, Z:-5.71 [[ 8.98014853e-01 4.38063152e-01 4.08656166e-02 1.23639441e+02] [-4.37641490e-01 8.98943987e-01 -1.92259001e-02 -1.82418109e+01] [-4.51580587e-02 -6.19345443e-04 9.98979663e-01 -5.71407227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780385723 meters 0.019594864377080287 Centerline is valid? [True, True] Translation: X:123.67, Y:-18.26, Z:-5.72 [[ 8.98577859e-01 4.37063910e-01 3.91531545e-02 1.23667241e+02] [-4.36675376e-01 8.99430294e-01 -1.84326563e-02 -1.82580184e+01] [-4.32717820e-02 -5.34041615e-04 9.99063195e-01 -5.71817350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810385723 meters 0.019178330337573688 Centerline is valid? [True, True] Translation: X:123.69, Y:-18.27, Z:-5.72 [[ 9.00502821e-01 4.33229815e-01 3.75046302e-02 1.23693981e+02] [-4.32869556e-01 9.01283430e-01 -1.76670978e-02 -1.82742674e+01] [-4.14562152e-02 -3.25341198e-04 9.99140269e-01 -5.72179958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840385723 meters 0.019116279658997617 Centerline is valid? [True, True] Translation: X:123.72, Y:-18.29, Z:-5.72 [[ 9.01182371e-01 4.31812251e-01 3.75301691e-02 1.23721740e+02] [-4.31449846e-01 9.01963479e-01 -1.76893492e-02 -1.82882300e+01] [-4.14893196e-02 -2.51056061e-04 9.99138916e-01 -5.72352741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870385723 meters 0.019025959907156616 Centerline is valid? [True, True] Translation: X:123.75, Y:-18.30, Z:-5.73 [[ 9.01980754e-01 4.30024462e-01 3.88546114e-02 1.23750954e+02] [-4.29633901e-01 9.02817221e-01 -1.83241901e-02 -1.83016157e+01] [-4.29584623e-02 -1.65191511e-04 9.99076846e-01 -5.72566695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900385723 meters 0.019062668535803035 Centerline is valid? [True, True] Translation: X:123.78, Y:-18.32, Z:-5.73 [[ 9.01999030e-01 4.29917365e-01 3.96081915e-02 1.23780137e+02] [-4.29510890e-01 9.02868227e-01 -1.86911725e-02 -1.83151344e+01] [-4.37966372e-02 -1.52730050e-04 9.99040455e-01 -5.72634832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930385723 meters 0.019164120950014466 Centerline is valid? [True, True] Translation: X:123.81, Y:-18.33, Z:-5.73 [[ 9.01871675e-01 4.30136230e-01 4.01286085e-02 1.23809101e+02] [-4.29718663e-01 9.02763978e-01 -1.89491650e-02 -1.83297928e+01] [-4.43773847e-02 -1.54296800e-04 9.99014827e-01 -5.72661290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96038572299999 meters 0.01906401014794433 Centerline is valid? [True, True] Translation: X:123.84, Y:-18.34, Z:-5.73 [[ 9.01909419e-01 4.30118227e-01 3.94678406e-02 1.23837984e+02] [-4.29713727e-01 9.02772558e-01 -1.86499814e-02 -1.83422472e+01] [-4.36521803e-02 -1.39279019e-04 9.99046780e-01 -5.72756640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99038572299999 meters 0.019120396565303784 Centerline is valid? [True, True] Translation: X:123.87, Y:-18.35, Z:-5.73 [[ 9.01927975e-01 4.30051596e-01 3.97687320e-02 1.23868527e+02] [-4.29640294e-01 9.02804303e-01 -1.88044859e-02 -1.83536048e+01] [-4.39902815e-02 -1.25957795e-04 9.99031951e-01 -5.73095977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02038572299999 meters 0.019093976122326117 Centerline is valid? [True, True] Translation: X:123.90, Y:-18.37, Z:-5.73 [[ 9.01770849e-01 4.30375819e-01 3.98245044e-02 1.23897997e+02] [-4.29963106e-01 9.02649787e-01 -1.88438329e-02 -1.83670510e+01] [-4.40575104e-02 -1.30248450e-04 9.99028988e-01 -5.73225829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05038572299999 meters 0.020998364991019935 Centerline is valid? [True, True] Translation: X:123.93, Y:-18.38, Z:-5.74 [[ 9.01959426e-01 4.29980924e-01 3.98195795e-02 1.23927787e+02] [-4.29567358e-01 9.02837967e-01 -1.88544354e-02 -1.83812288e+01] [-4.40576758e-02 -9.92558814e-05 9.99028984e-01 -5.73667226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08038572299999 meters 0.019136857066155 Centerline is valid? [True, True] Translation: X:123.96, Y:-18.39, Z:-5.73 [[ 9.01420098e-01 4.30918628e-01 4.18442669e-02 1.23958508e+02] [-4.30462257e-01 9.02390778e-01 -1.98274738e-02 -1.83939017e+01] [-4.63039084e-02 -1.39494191e-04 9.98927389e-01 -5.73245718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110385723 meters 0.019242797088478474 Centerline is valid? [True, True] Translation: X:123.99, Y:-18.41, Z:-5.73 [[ 9.01065918e-01 4.31525809e-01 4.31936091e-02 1.23988229e+02] [-4.31039501e-01 9.02100576e-01 -2.04816872e-02 -1.84062624e+01] [-4.78033563e-02 -1.62801449e-04 9.98856753e-01 -5.73300174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140385723 meters 0.019493813559838136 Centerline is valid? [True, True] Translation: X:124.02, Y:-18.42, Z:-5.73 [[ 9.00297002e-01 4.33110924e-01 4.33616964e-02 1.24018511e+02] [-4.32622005e-01 9.01340597e-01 -2.05749500e-02 -1.84160587e+01] [-4.79948929e-02 -2.35658233e-04 9.98847553e-01 -5.73461250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170385723 meters 0.01940387681975847 Centerline is valid? [True, True] Translation: X:124.05, Y:-18.43, Z:-5.74 [[ 8.99627397e-01 4.34555700e-01 4.28005983e-02 1.24048700e+02] [-4.34080383e-01 9.00644911e-01 -2.03215488e-02 -1.84287159e+01] [-4.73789859e-02 -2.97078084e-04 9.98876941e-01 -5.73683922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200385723 meters 0.019686079884320078 Centerline is valid? [True, True] Translation: X:124.08, Y:-18.44, Z:-5.74 [[ 8.98127594e-01 4.37751982e-01 4.17136271e-02 1.24078748e+02] [-4.37303339e-01 8.99095661e-01 -1.98187471e-02 -1.84377172e+01] [-4.61802370e-02 -4.41744758e-04 9.98933026e-01 -5.73930578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230385723 meters 0.019961978659659922 Centerline is valid? [True, True] Translation: X:124.11, Y:-18.45, Z:-5.74 [[ 8.97275777e-01 4.39535161e-01 4.12919030e-02 1.24108373e+02] [-4.39096937e-01 8.98225235e-01 -1.96292186e-02 -1.84489289e+01] [-4.57171611e-02 -5.18325798e-04 9.98954290e-01 -5.74166209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260385723 meters 0.020049235507290132 Centerline is valid? [True, True] Translation: X:124.14, Y:-18.46, Z:-5.74 [[ 8.96697104e-01 4.40748919e-01 4.09230262e-02 1.24138399e+02] [-4.40319237e-01 8.97630253e-01 -1.94652869e-02 -1.84602537e+01] [-4.53130506e-02 -5.64729319e-04 9.98972677e-01 -5.74374839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290385723 meters 0.020292008169645638 Centerline is valid? [True, True] Translation: X:124.17, Y:-18.47, Z:-5.74 [[ 8.96261489e-01 4.41556491e-01 4.17517397e-02 1.24168722e+02] [-4.41109543e-01 8.97233245e-01 -1.98714375e-02 -1.84715312e+01] [-4.62354111e-02 -6.07086672e-04 9.98930387e-01 -5.74466942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320385723 meters 0.0201184603051435 Centerline is valid? [True, True] Translation: X:124.20, Y:-18.49, Z:-5.75 [[ 8.96243267e-01 4.41536361e-01 4.23514986e-02 1.24197952e+02] [-4.41075845e-01 8.97243155e-01 -2.01697910e-02 -1.84859375e+01] [-4.69052883e-02 -6.03183656e-04 9.98899159e-01 -5.74563866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35038572299999 meters 0.019681388754792473 Centerline is valid? [True, True] Translation: X:124.23, Y:-18.50, Z:-5.75 [[ 8.96497438e-01 4.40922002e-01 4.33604924e-02 1.24227291e+02] [-4.40437863e-01 8.97545242e-01 -2.06646473e-02 -1.85006542e+01] [-4.80295013e-02 -5.71799231e-04 9.98845754e-01 -5.74552024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38038572299999 meters 0.020084554429881968 Centerline is valid? [True, True] Translation: X:124.26, Y:-18.51, Z:-5.75 [[ 8.96598546e-01 4.40664215e-01 4.38873154e-02 1.24256641e+02] [-4.40167200e-01 8.97671847e-01 -2.09306172e-02 -1.85125497e+01] [-4.86197815e-02 -5.51395767e-04 9.98817207e-01 -5.74693386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41038572299999 meters 0.019642602445007703 Centerline is valid? [True, True] Translation: X:124.29, Y:-18.52, Z:-5.75 [[ 8.96382236e-01 4.41067666e-01 4.42515567e-02 1.24287149e+02] [-4.40562165e-01 8.97473673e-01 -2.11183459e-02 -1.85246219e+01] [-4.90292267e-02 -5.65451461e-04 9.98797184e-01 -5.74836653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44038572299999 meters 0.01987421529921546 Centerline is valid? [True, True] Translation: X:124.32, Y:-18.54, Z:-5.75 [[ 8.96249209e-01 4.41367899e-01 4.39514923e-02 1.24317157e+02] [-4.40868903e-01 8.97326060e-01 -2.09893202e-02 -1.85364492e+01] [-4.87028315e-02 -5.65184558e-04 9.98813153e-01 -5.75012575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47038572299999 meters 0.01958957960577921 Centerline is valid? [True, True] Translation: X:124.35, Y:-18.55, Z:-5.75 [[ 8.95964538e-01 4.42104511e-01 4.23219607e-02 1.24346565e+02] [-4.41642260e-01 8.96963361e-01 -2.02198674e-02 -1.85519183e+01] [-4.69005427e-02 -5.74882203e-04 9.98899399e-01 -5.75270218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500385723 meters 0.019580635476882984 Centerline is valid? [True, True] Translation: X:124.38, Y:-18.57, Z:-5.75 [[ 8.95860055e-01 4.42370467e-01 4.17508251e-02 1.24376027e+02] [-4.41920259e-01 8.96832229e-01 -1.99609203e-02 -1.85662631e+01] [-4.62736072e-02 -5.68344258e-04 9.98928641e-01 -5.75446992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530385723 meters 0.019811653285609188 Centerline is valid? [True, True] Translation: X:124.41, Y:-18.58, Z:-5.76 [[ 8.95750435e-01 4.42649805e-01 4.11376642e-02 1.24405380e+02] [-4.42212394e-01 8.96694393e-01 -1.96815869e-02 -1.85786090e+01] [-4.55999635e-02 -5.61794898e-04 9.98959623e-01 -5.75619434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560385723 meters 0.019805845805935467 Centerline is valid? [True, True] Translation: X:124.44, Y:-18.59, Z:-5.76 [[ 8.95783027e-01 4.42622762e-01 4.07168072e-02 1.24435634e+02] [-4.42193655e-01 8.96707754e-01 -1.94929716e-02 -1.85907224e+01] [-4.51391096e-02 -5.43240652e-04 9.98980563e-01 -5.75957790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590385723 meters 0.019928955543204983 Centerline is valid? [True, True] Translation: X:124.46, Y:-18.60, Z:-5.76 [[ 8.95579255e-01 4.43062538e-01 4.04151658e-02 1.24464721e+02] [-4.42639959e-01 8.96490535e-01 -1.93542854e-02 -1.86033963e+01] [-4.48069724e-02 -5.56070792e-04 9.98995509e-01 -5.76135627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620385723 meters 0.01985886443510033 Centerline is valid? [True, True] Translation: X:124.49, Y:-18.62, Z:-5.76 [[ 8.95055706e-01 4.44188700e-01 3.96444414e-02 1.24493155e+02] [-4.43782674e-01 8.95933061e-01 -1.89970444e-02 -1.86171741e+01] [-4.39570382e-02 -5.90103276e-04 9.99033248e-01 -5.76287756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650385723 meters 0.019556137048971058 Centerline is valid? [True, True] Translation: X:124.52, Y:-18.63, Z:-5.76 [[ 8.94653041e-01 4.45070031e-01 3.88407457e-02 1.24522357e+02] [-4.44680651e-01 8.95495558e-01 -1.86232090e-02 -1.86320892e+01] [-4.30703474e-02 -6.10417547e-04 9.99071856e-01 -5.76418582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680385723 meters 0.019820827182040923 Centerline is valid? [True, True] Translation: X:124.55, Y:-18.64, Z:-5.77 [[ 8.93833267e-01 4.46886306e-01 3.68065242e-02 1.24550777e+02] [-4.46537683e-01 8.94590525e-01 -1.76604325e-02 -1.86436103e+01] [-4.08189732e-02 -6.50017982e-04 9.99166347e-01 -5.76713849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71038572299999 meters 0.020111653676226394 Centerline is valid? [True, True] Translation: X:124.58, Y:-18.66, Z:-5.77 [[ 8.93231928e-01 4.48178394e-01 3.56770371e-02 1.24578883e+02] [-4.47851490e-01 8.93943884e-01 -1.71282278e-02 -1.86557001e+01] [-3.95697708e-02 -6.78534281e-04 9.99216580e-01 -5.76963140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74038572299999 meters 0.020369180900118036 Centerline is valid? [True, True] Translation: X:124.61, Y:-18.67, Z:-5.77 [[ 8.92595520e-01 4.49470389e-01 3.53497834e-02 1.24607803e+02] [-4.49150093e-01 8.93294940e-01 -1.69806990e-02 -1.86690067e+01] [-3.92101041e-02 -7.20462659e-04 9.99230728e-01 -5.77256096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77038572299999 meters 0.020806221348992005 Centerline is valid? [True, True] Translation: X:124.64, Y:-18.68, Z:-5.77 [[ 8.91271306e-01 4.52067064e-01 3.56486940e-02 1.24636188e+02] [-4.51742938e-01 8.91983564e-01 -1.71358872e-02 -1.86804605e+01] [-3.95446193e-02 -8.31321264e-04 9.99217460e-01 -5.77359782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80038572299999 meters 0.022217908075359775 Centerline is valid? [True, True] Translation: X:124.67, Y:-18.69, Z:-5.78 [[ 8.90768026e-01 4.53012379e-01 3.62230294e-02 1.24665005e+02] [-4.52678317e-01 8.91503788e-01 -1.74165854e-02 -1.86937593e+01] [-4.01828967e-02 -8.83242562e-04 9.99191951e-01 -5.77600048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83038572299999 meters 0.02112182564119302 Centerline is valid? [True, True] Translation: X:124.69, Y:-18.71, Z:-5.78 [[ 8.91091905e-01 4.52437010e-01 3.54396510e-02 1.24694400e+02] [-4.52116386e-01 8.91795977e-01 -1.70502090e-02 -1.87052754e+01] [-3.93190838e-02 -8.29543712e-04 9.99226361e-01 -5.77688579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860385723 meters 0.02109860648719534 Centerline is valid? [True, True] Translation: X:124.72, Y:-18.72, Z:-5.78 [[ 8.91228112e-01 4.52107739e-01 3.62083445e-02 1.24722959e+02] [-4.51772377e-01 8.91962955e-01 -1.74300248e-02 -1.87190692e+01] [-4.01767510e-02 -8.23801788e-04 9.99192249e-01 -5.77771014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890385723 meters 0.020846193901080036 Centerline is valid? [True, True] Translation: X:124.75, Y:-18.74, Z:-5.78 [[ 8.91657938e-01 4.51060495e-01 3.86076730e-02 1.24750950e+02] [-4.50677700e-01 8.92493004e-01 -1.85970231e-02 -1.87360362e+01] [-4.28454605e-02 -8.17433982e-04 9.99081377e-01 -5.77502440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920385723 meters 0.020923651856000543 Centerline is valid? [True, True] Translation: X:124.78, Y:-18.75, Z:-5.78 [[ 8.92003244e-01 4.50384582e-01 3.85219704e-02 1.24778575e+02] [-4.50002363e-01 8.92834325e-01 -1.85672400e-02 -1.87493234e+01] [-4.27561361e-02 -7.72939356e-04 9.99085239e-01 -5.77599356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950385723 meters 0.02034841756819944 Centerline is valid? [True, True] Translation: X:124.81, Y:-18.76, Z:-5.78 [[ 8.92614376e-01 4.49295212e-01 3.70592504e-02 1.24806249e+02] [-4.48940316e-01 8.93383086e-01 -1.78676830e-02 -1.87649087e+01] [-4.11359719e-02 -6.88440852e-04 9.99153320e-01 -5.77853790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980385723 meters 0.02027710626259674 Centerline is valid? [True, True] Translation: X:124.84, Y:-18.78, Z:-5.78 [[ 8.92734509e-01 4.49115476e-01 3.63371120e-02 1.24835423e+02] [-4.48773708e-01 8.93473478e-01 -1.75300310e-02 -1.87779618e+01] [-4.03392541e-02 -6.57476889e-04 9.99185825e-01 -5.78120795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010385723 meters 0.020111893040436375 Centerline is valid? [True, True] Translation: X:124.87, Y:-18.79, Z:-5.79 [[ 8.92782683e-01 4.49118994e-01 3.50885981e-02 1.24866131e+02] [-4.48799907e-01 8.93471733e-01 -1.69382676e-02 -1.87897058e+01] [-3.89579683e-02 -6.25567577e-04 9.99240654e-01 -5.78566511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040385723 meters 0.020478993757350492 Centerline is valid? [True, True] Translation: X:124.90, Y:-18.80, Z:-5.79 [[ 8.92446184e-01 4.49805790e-01 3.48505258e-02 1.24895045e+02] [-4.49491085e-01 8.93126162e-01 -1.68351896e-02 -1.88020249e+01] [-3.86984821e-02 -6.40499940e-04 9.99250728e-01 -5.78764914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070385723 meters 0.020553522293197103 Centerline is valid? [True, True] Translation: X:124.92, Y:-18.82, Z:-5.79 [[ 8.91683707e-01 4.51387497e-01 3.39041996e-02 1.24922950e+02] [-4.51090404e-01 8.92327779e-01 -1.63884885e-02 -1.88182675e+01] [-3.76512179e-02 -6.80510906e-04 9.99290710e-01 -5.78772737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10038572299999 meters 0.021459218377987154 Centerline is valid? [True, True] Translation: X:124.95, Y:-18.83, Z:-5.79 [[ 8.91411001e-01 4.51953625e-01 3.35313044e-02 1.24952365e+02] [-4.51663079e-01 8.92041169e-01 -1.62177639e-02 -1.88305440e+01] [-3.72409812e-02 -6.88159053e-04 9.99306077e-01 -5.78999452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13038572299999 meters 0.02105706125432513 Centerline is valid? [True, True] Translation: X:124.98, Y:-18.84, Z:-5.79 [[ 8.91034196e-01 4.52689769e-01 3.36159886e-02 1.24981111e+02] [-4.52397846e-01 8.91667801e-01 -1.62702447e-02 -1.88436709e+01] [-3.73396680e-02 -7.10456495e-04 9.99302379e-01 -5.79132952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16038572299999 meters 0.021232135144515375 Centerline is valid? [True, True] Translation: X:125.01, Y:-18.85, Z:-5.79 [[ 8.90663341e-01 4.53358959e-01 3.44160963e-02 1.25011340e+02] [-4.53053287e-01 8.91327711e-01 -1.66622336e-02 -1.88544137e+01] [-3.82299932e-02 -7.51884934e-04 9.99268684e-01 -5.79405101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19038572299999 meters 0.02125901597433205 Centerline is valid? [True, True] Translation: X:125.04, Y:-18.87, Z:-5.80 [[ 8.90536167e-01 4.53532014e-01 3.54125361e-02 1.25041308e+02] [-4.53208078e-01 8.91239652e-01 -1.71557700e-02 -1.88683286e+01] [-3.93417472e-02 -7.71413802e-04 9.99225516e-01 -5.79523946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22038572299999 meters 0.021384174211808465 Centerline is valid? [True, True] Translation: X:125.07, Y:-18.88, Z:-5.79 [[ 8.90253641e-01 4.53909500e-01 3.76114333e-02 1.25069910e+02] [-4.53543861e-01 8.91047408e-01 -1.82340936e-02 -1.88828713e+01] [-4.17901985e-02 -8.25466451e-04 9.99126067e-01 -5.79325955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250385723 meters 0.02060178718476166 Centerline is valid? [True, True] Translation: X:125.10, Y:-18.90, Z:-5.79 [[ 8.90065067e-01 4.54167523e-01 3.89363370e-02 1.25097639e+02] [-4.53775380e-01 8.90915893e-01 -1.88885304e-02 -1.89002997e+01] [-4.32675585e-02 -8.56330054e-04 9.99063154e-01 -5.79278472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280385723 meters 0.020592572136776458 Centerline is valid? [True, True] Translation: X:125.13, Y:-18.91, Z:-5.79 [[ 8.89701036e-01 4.54713311e-01 4.08395778e-02 1.25127856e+02] [-4.54281775e-01 8.90637396e-01 -1.98266684e-02 -1.89121957e+01] [-4.53887053e-02 -9.12868519e-04 9.98968985e-01 -5.79206757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310385723 meters 0.020635162109520332 Centerline is valid? [True, True] Translation: X:125.16, Y:-18.92, Z:-5.79 [[ 8.89385152e-01 4.55295953e-01 4.12267675e-02 1.25158373e+02] [-4.54856398e-01 8.90339657e-01 -2.00237826e-02 -1.89247943e+01] [-4.58225732e-02 -9.43404066e-04 9.98949149e-01 -5.79381510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340385723 meters 0.02077803561045831 Centerline is valid? [True, True] Translation: X:125.19, Y:-18.94, Z:-5.80 [[ 8.88748040e-01 4.56544038e-01 4.11638483e-02 1.25187742e+02] [-4.56106519e-01 8.89700261e-01 -2.00072479e-02 -1.89369185e+01] [-4.57576763e-02 -9.93697143e-04 9.98952075e-01 -5.79587374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370385723 meters 0.02129337927957574 Centerline is valid? [True, True] Translation: X:125.22, Y:-18.95, Z:-5.80 [[ 8.87645147e-01 4.58698495e-01 4.10095616e-02 1.25217281e+02] [-4.58265985e-01 8.88591303e-01 -1.99444976e-02 -1.89469341e+01] [-4.55892508e-02 -1.08965068e-03 9.98959675e-01 -5.79806778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400385723 meters 0.021317451525152943 Centerline is valid? [True, True] Translation: X:125.25, Y:-18.96, Z:-5.80 [[ 8.86535051e-01 4.60907465e-01 4.02481252e-02 1.25246419e+02] [-4.60492656e-01 8.87447428e-01 -1.95850966e-02 -1.89597556e+01] [-4.47450124e-02 -1.17109147e-03 9.98997754e-01 -5.80018035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430385723 meters 0.02148714646410446 Centerline is valid? [True, True] Translation: X:125.28, Y:-18.97, Z:-5.80 [[ 8.86088661e-01 4.61785745e-01 4.00101263e-02 1.25275913e+02] [-4.61376188e-01 8.86990694e-01 -1.94813080e-02 -1.89731339e+01] [-4.44848000e-02 -1.19755348e-03 9.99009344e-01 -5.80188481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46038572299999 meters 0.021415472232094175 Centerline is valid? [True, True] Translation: X:125.31, Y:-18.99, Z:-5.80 [[ 8.85914269e-01 4.62182422e-01 3.92850781e-02 1.25306213e+02] [-4.61787463e-01 8.86784080e-01 -1.91398717e-02 -1.89869628e+01] [-4.36834941e-02 -1.18507112e-03 9.99044718e-01 -5.80425409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49038572299999 meters 0.02246462178569431 Centerline is valid? [True, True] Translation: X:125.34, Y:-19.00, Z:-5.81 [[ 8.85657664e-01 4.62736471e-01 3.85416691e-02 1.25335081e+02] [-4.62356284e-01 8.86495105e-01 -1.87908251e-02 -1.89986192e+01] [-4.28622011e-02 -1.17774471e-03 9.99080299e-01 -5.80882581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52038572299999 meters 0.02246462178569431 Centerline is valid? [True, True] Translation: X:125.36, Y:-19.01, Z:-5.81 [[ 8.85530237e-01 4.62980626e-01 3.85374969e-02 1.25364170e+02] [-4.62600298e-01 8.86367614e-01 -1.87993779e-02 -1.90128799e+01] [-4.28621369e-02 -1.18003996e-03 9.99080299e-01 -5.81028143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55038572299999 meters 0.02166052845648033 Centerline is valid? [True, True] Translation: X:125.39, Y:-19.03, Z:-5.81 [[ 8.85379265e-01 4.63282682e-01 3.83759482e-02 1.25393820e+02] [-4.62905264e-01 8.86209777e-01 -1.87336074e-02 -1.90269171e+01] [-4.26880964e-02 -1.17808082e-03 9.99087753e-01 -5.81062843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58038572299999 meters 0.021242879307432516 Centerline is valid? [True, True] Translation: X:125.42, Y:-19.04, Z:-5.81 [[ 8.85644267e-01 4.62724813e-01 3.89869240e-02 1.25422136e+02] [-4.62334147e-01 8.86501217e-01 -1.90454402e-02 -1.90425337e+01] [-4.33747533e-02 -1.15750138e-03 9.99058202e-01 -5.81190477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610385723 meters 0.020984301301379064 Centerline is valid? [True, True] Translation: X:125.45, Y:-19.06, Z:-5.81 [[ 8.85797661e-01 4.62412276e-01 3.92095730e-02 1.25450537e+02] [-4.62016310e-01 8.86664306e-01 -1.91660588e-02 -1.90578673e+01] [-4.36283498e-02 -1.13821214e-03 9.99047182e-01 -5.81312381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640385723 meters 0.021166469343551705 Centerline is valid? [True, True] Translation: X:125.48, Y:-19.07, Z:-5.82 [[ 8.86356037e-01 4.61272848e-01 4.00041959e-02 1.25478758e+02] [-4.60858954e-01 8.87257665e-01 -1.95668103e-02 -1.90706164e+01] [-4.45196678e-02 -1.09313142e-03 9.99007910e-01 -5.81503695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670385723 meters 0.020968281485486604 Centerline is valid? [True, True] Translation: X:125.51, Y:-19.08, Z:-5.82 [[ 8.86491718e-01 4.60958006e-01 4.06220356e-02 1.25507636e+02] [-4.60530374e-01 8.87421288e-01 -1.98804762e-02 -1.90839897e+01] [-4.52129238e-02 -1.08380374e-03 9.98976785e-01 -5.81627023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700385723 meters 0.021092004524461867 Centerline is valid? [True, True] Translation: X:125.54, Y:-19.10, Z:-5.82 [[ 8.86500930e-01 4.60991178e-01 4.00404276e-02 1.25536017e+02] [-4.60575221e-01 8.87404086e-01 -1.96074974e-02 -1.90986013e+01] [-4.45709224e-02 -1.05956413e-03 9.99005661e-01 -5.81792771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730385723 meters 0.020911683580858147 Centerline is valid? [True, True] Translation: X:125.57, Y:-19.11, Z:-5.82 [[ 8.86411004e-01 4.61172541e-01 3.99427009e-02 1.25565085e+02] [-4.60758239e-01 8.87309853e-01 -1.95721927e-02 -1.91140711e+01] [-4.44677099e-02 -1.05492156e-03 9.99010265e-01 -5.81955393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760385723 meters 0.02088630373424747 Centerline is valid? [True, True] Translation: X:125.59, Y:-19.13, Z:-5.82 [[ 8.86381755e-01 4.61315273e-01 3.89307591e-02 1.25594529e+02] [-4.60921287e-01 8.87235691e-01 -1.90891632e-02 -1.91290080e+01] [-4.33468815e-02 -1.02372962e-03 9.99059558e-01 -5.82144938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790385723 meters 0.02216065079492256 Centerline is valid? [True, True] Translation: X:125.62, Y:-19.14, Z:-5.82 [[ 8.86346176e-01 4.61440036e-01 3.82563672e-02 1.25624482e+02] [-4.61059159e-01 8.87170836e-01 -1.87712561e-02 -1.91408377e+01] [-4.26017423e-02 -1.00061742e-03 9.99091633e-01 -5.82463614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820385723 meters 0.02045853725710263 Centerline is valid? [True, True] Translation: X:125.65, Y:-19.16, Z:-5.83 [[ 8.86247778e-01 4.61643969e-01 3.80752162e-02 1.25652558e+02] [-4.61266375e-01 8.87064741e-01 -1.86942779e-02 -1.91584058e+01] [-4.24052825e-02 -9.95054716e-04 9.99099996e-01 -5.82604299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85038572299999 meters 0.020586945326491832 Centerline is valid? [True, True] Translation: X:125.68, Y:-19.17, Z:-5.83 [[ 8.86057000e-01 4.62049888e-01 3.75884815e-02 1.25682706e+02] [-4.61681719e-01 8.86853382e-01 -1.84680727e-02 -1.91724101e+01] [-4.18686429e-02 -9.90149644e-04 9.99122633e-01 -5.82832880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88038572299999 meters 0.021005934430917913 Centerline is valid? [True, True] Translation: X:125.71, Y:-19.19, Z:-5.83 [[ 8.85797314e-01 4.62592094e-01 3.70360974e-02 1.25712095e+02] [-4.62234625e-01 8.86570682e-01 -1.82092413e-02 -1.91856943e+01] [-4.12585693e-02 -9.89669566e-04 9.99148013e-01 -5.83139838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91038572299999 meters 0.02139988667827206 Centerline is valid? [True, True] Translation: X:125.74, Y:-19.20, Z:-5.83 [[ 8.84938075e-01 4.64263776e-01 3.66571915e-02 1.25741154e+02] [-4.63914542e-01 8.85696365e-01 -1.80345963e-02 -1.92001244e+01] [-4.08399511e-02 -1.04630324e-03 9.99165153e-01 -5.83392971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94038572299999 meters 0.021749193381021315 Centerline is valid? [True, True] Translation: X:125.77, Y:-19.21, Z:-5.84 [[ 8.84574732e-01 4.64973484e-01 3.64308077e-02 1.25770371e+02] [-4.64628719e-01 8.85323969e-01 -1.79338687e-02 -1.92133934e+01] [-4.05918407e-02 -1.06295244e-03 9.99175246e-01 -5.83630229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97038572299999 meters 0.02240826186215516 Centerline is valid? [True, True] Translation: X:125.80, Y:-19.23, Z:-5.84 [[ 8.83713173e-01 4.66682346e-01 3.54769778e-02 1.25799952e+02] [-4.66356381e-01 8.84424317e-01 -1.74743801e-02 -1.92262520e+01] [-3.95316866e-02 -1.10257510e-03 9.99217709e-01 -5.84005989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000385723 meters 0.02144257413894379 Centerline is valid? [True, True] Translation: X:125.83, Y:-19.24, Z:-5.84 [[ 8.83406452e-01 4.67271874e-01 3.53558648e-02 1.25827907e+02] [-4.66948202e-01 8.84112974e-01 -1.74248942e-02 -1.92425152e+01] [-3.94007417e-02 -1.11609354e-03 9.99222866e-01 -5.84163938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030385723 meters 0.02295276207995882 Centerline is valid? [True, True] Translation: X:125.86, Y:-19.25, Z:-5.84 [[ 8.83150146e-01 4.67759903e-01 3.53056980e-02 1.25857702e+02] [-4.67437122e-01 8.83854854e-01 -1.74107394e-02 -1.92541594e+01] [-3.93491584e-02 -1.12689677e-03 9.99224887e-01 -5.84365630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060385723 meters 0.023417224571451404 Centerline is valid? [True, True] Translation: X:125.89, Y:-19.27, Z:-5.85 [[ 8.82724685e-01 4.68585686e-01 3.49940763e-02 1.25885115e+02] [-4.68268779e-01 8.83417313e-01 -1.72685421e-02 -1.92687024e+01] [-3.90061645e-02 -1.14326494e-03 9.99238316e-01 -5.84519739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090385723 meters 0.022287851854784536 Centerline is valid? [True, True] Translation: X:125.91, Y:-19.29, Z:-5.85 [[ 8.82287817e-01 4.69397214e-01 3.51349439e-02 1.25912051e+02] [-4.69078033e-01 8.82986338e-01 -1.73472184e-02 -1.92859543e+01] [-3.91664115e-02 -1.17579093e-03 9.99232010e-01 -5.84578655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120385723 meters 0.023097187708663765 Centerline is valid? [True, True] Translation: X:125.94, Y:-19.30, Z:-5.85 [[ 8.81910053e-01 4.70145132e-01 3.46152236e-02 1.25940055e+02] [-4.69835512e-01 8.82588328e-01 -1.71007132e-02 -1.93017777e+01] [-3.85908094e-02 -1.18217043e-03 9.99254398e-01 -5.84965639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150385723 meters 0.024829973704554423 Centerline is valid? [True, True] Translation: X:125.97, Y:-19.31, Z:-5.85 [[ 8.81293556e-01 4.71276415e-01 3.49314932e-02 1.25970576e+02] [-4.70961570e-01 8.81984705e-01 -1.72678820e-02 -1.93103865e+01] [-3.89469883e-02 -1.23331782e-03 9.99240517e-01 -5.84998206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180385723 meters 0.023321449708794156 Centerline is valid? [True, True] Translation: X:126.00, Y:-19.33, Z:-5.85 [[ 8.80722055e-01 4.72382423e-01 3.44021641e-02 1.25997971e+02] [-4.72077529e-01 8.81392803e-01 -1.70156980e-02 -1.93268099e+01] [-3.83597364e-02 -1.25438813e-03 9.99263207e-01 -5.85173244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21038572299999 meters 0.023173066580047332 Centerline is valid? [True, True] Translation: X:126.03, Y:-19.34, Z:-5.85 [[ 8.80383858e-01 4.72990561e-01 3.47014528e-02 1.26027446e+02] [-4.72680415e-01 8.81066560e-01 -1.71738986e-02 -1.93416908e+01] [-3.86973815e-02 -1.28307396e-03 9.99250152e-01 -5.85303533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24038572299999 meters 0.02298002082126073 Centerline is valid? [True, True] Translation: X:126.06, Y:-19.36, Z:-5.85 [[ 8.79813942e-01 4.73994806e-01 3.54450431e-02 1.26055741e+02] [-4.73671536e-01 8.80526613e-01 -1.75544790e-02 -1.93576938e+01] [-3.95310356e-02 -1.34463261e-03 9.99217438e-01 -5.85303781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27038572299999 meters 0.023253163465424845 Centerline is valid? [True, True] Translation: X:126.09, Y:-19.37, Z:-5.85 [[ 8.79572688e-01 4.74409070e-01 3.58876098e-02 1.26085334e+02] [-4.74077584e-01 8.80303445e-01 -1.77845088e-02 -1.93724319e+01] [-4.00291188e-02 -1.37074315e-03 9.99197573e-01 -5.85371978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30038572299999 meters 0.023564360114418623 Centerline is valid? [True, True] Translation: X:126.11, Y:-19.39, Z:-5.86 [[ 8.79232370e-01 4.75000653e-01 3.63980681e-02 1.26114869e+02] [-4.74659648e-01 8.79984320e-01 -1.80503711e-02 -1.93857909e+01] [-4.06036673e-02 -1.40622358e-03 9.99174342e-01 -5.85572183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33038572299999 meters 0.02411786619898296 Centerline is valid? [True, True] Translation: X:126.14, Y:-19.40, Z:-5.86 [[ 8.78912033e-01 4.75601551e-01 3.62877789e-02 1.26143191e+02] [-4.75262678e-01 8.79659677e-01 -1.80066210e-02 -1.93979907e+01] [-4.04848727e-02 -1.41999115e-03 9.99179142e-01 -5.85778140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360385723 meters 0.023629894803437246 Centerline is valid? [True, True] Translation: X:126.17, Y:-19.41, Z:-5.86 [[ 8.78636642e-01 4.76105272e-01 3.63513587e-02 1.26172510e+02] [-4.75765241e-01 8.79387119e-01 -1.80480021e-02 -1.94135536e+01] [-4.05596656e-02 -1.43707699e-03 9.99176085e-01 -5.85948505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390385723 meters 0.024537185450576822 Centerline is valid? [True, True] Translation: X:126.20, Y:-19.43, Z:-5.86 [[ 8.78742479e-01 4.76002630e-01 3.51162581e-02 1.26200822e+02] [-4.75684776e-01 8.79442784e-01 -1.74465945e-02 -1.94278532e+01] [-3.91873646e-02 -1.37320568e-03 9.99230937e-01 -5.86114490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420385723 meters 0.023039458914094937 Centerline is valid? [True, True] Translation: X:126.23, Y:-19.45, Z:-5.86 [[ 8.79984836e-01 4.73793403e-01 3.38600037e-02 1.26227849e+02] [-4.73495812e-01 8.80635183e-01 -1.68341973e-02 -1.94469460e+01] [-3.77942422e-02 -1.21873159e-03 9.99284799e-01 -5.86294268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450385723 meters 0.022107392457067762 Centerline is valid? [True, True] Translation: X:126.26, Y:-19.46, Z:-5.86 [[ 8.80815544e-01 4.72229113e-01 3.41122128e-02 1.26255517e+02] [-4.71925803e-01 8.81475084e-01 -1.69620778e-02 -1.94639240e+01] [-3.80790525e-02 -1.15797167e-03 9.99274059e-01 -5.86402788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480385723 meters 0.02186568091920021 Centerline is valid? [True, True] Translation: X:126.28, Y:-19.48, Z:-5.87 [[ 8.81908986e-01 4.70176599e-01 3.42126597e-02 1.26282977e+02] [-4.69869554e-01 8.82571717e-01 -1.70225314e-02 -1.94791746e+01] [-3.81987217e-02 -1.06316380e-03 9.99269597e-01 -5.86522543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510385723 meters 0.021562791501496027 Centerline is valid? [True, True] Translation: X:126.31, Y:-19.49, Z:-5.87 [[ 8.83069129e-01 4.68013267e-01 3.39484112e-02 1.26309894e+02] [-4.67708993e-01 8.83720924e-01 -1.69004596e-02 -1.94946631e+01] [-3.79105606e-02 -9.53703104e-04 9.99280681e-01 -5.86657328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540385723 meters 0.019406043031447624 Centerline is valid? [True, True] Translation: X:126.33, Y:-19.52, Z:-5.87 [[ 8.85900713e-01 4.62593715e-01 3.44525994e-02 1.26334873e+02] [-4.62275810e-01 8.86570095e-01 -1.71622486e-02 -1.95155884e+01] [-3.84837926e-02 -7.22555042e-04 9.99258963e-01 -5.86778024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570385723 meters 0.01867638147109485 Centerline is valid? [True, True] Translation: X:126.36, Y:-19.53, Z:-5.87 [[ 8.88760009e-01 4.56949074e-01 3.60997173e-02 1.26359879e+02] [-4.56595290e-01 8.89492718e-01 -1.79846091e-02 -1.95347747e+01] [-4.03284861e-02 -4.98959503e-04 9.99186351e-01 -5.86682563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60038572299999 meters 0.018540844564629264 Centerline is valid? [True, True] Translation: X:126.39, Y:-19.55, Z:-5.87 [[ 8.89979818e-01 4.54479423e-01 3.72072217e-02 1.26385994e+02] [-4.54101072e-01 8.90757150e-01 -1.85449564e-02 -1.95512111e+01] [-4.15708999e-02 -3.91202352e-04 9.99135480e-01 -5.86651506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63038572299999 meters 0.018279050795545104 Centerline is valid? [True, True] Translation: X:126.41, Y:-19.57, Z:-5.87 [[ 8.91076747e-01 4.52266144e-01 3.79152402e-02 1.26412474e+02] [-4.51870791e-01 8.91882982e-01 -1.89085705e-02 -1.95678364e+01] [-4.23676638e-02 -2.83802130e-04 9.99102047e-01 -5.86658067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66038572299999 meters 0.017988938737703353 Centerline is valid? [True, True] Translation: X:126.44, Y:-19.59, Z:-5.87 [[ 8.93188786e-01 4.47993425e-01 3.89317866e-02 1.26438872e+02] [-4.47572043e-01 8.94036848e-01 -1.94262878e-02 -1.95869527e+01] [-4.35093010e-02 -7.34367741e-05 9.99053019e-01 -5.86621114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69038572299999 meters 0.018852161461912022 Centerline is valid? [True, True] Translation: X:126.47, Y:-19.60, Z:-5.87 [[ 8.94329701e-01 4.45771001e-01 3.82439569e-02 1.26467483e+02] [-4.45361867e-01 8.95147034e-01 -1.90943816e-02 -1.96033731e+01] [-4.27456862e-02 4.42726040e-05 9.99085984e-01 -5.86956632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72038572299999 meters 0.017997041881723057 Centerline is valid? [True, True] Translation: X:126.50, Y:-19.62, Z:-5.87 [[ 8.95396480e-01 4.43659436e-01 3.78344786e-02 1.26495183e+02] [-4.43256578e-01 8.96195448e-01 -1.89030492e-02 -1.96184868e+01] [-4.22936036e-02 1.55342253e-04 9.99105213e-01 -5.87100110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750385723 meters 0.01807850645638353 Centerline is valid? [True, True] Translation: X:126.52, Y:-19.63, Z:-5.87 [[ 8.95804028e-01 4.42866501e-01 3.74753906e-02 1.26523872e+02] [-4.42470060e-01 8.96587542e-01 -1.87356540e-02 -1.96335120e+01] [-4.18973619e-02 2.01736057e-04 9.99121900e-01 -5.87326471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780385723 meters 0.018176797597929884 Centerline is valid? [True, True] Translation: X:126.55, Y:-19.65, Z:-5.87 [[ 8.96550898e-01 4.41309994e-01 3.79733723e-02 1.26550983e+02] [-4.40900985e-01 8.97354671e-01 -1.89977848e-02 -1.96504906e+01] [-4.24594953e-02 2.89983765e-04 9.99098147e-01 -5.87425806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810385723 meters 0.0182146440136235 Centerline is valid? [True, True] Translation: X:126.58, Y:-19.67, Z:-5.87 [[ 8.96898962e-01 4.40567541e-01 3.83730984e-02 1.26580013e+02] [-4.40148668e-01 8.97719403e-01 -1.92099868e-02 -1.96657425e+01] [-4.29115717e-02 3.39549022e-04 9.99078817e-01 -5.87482783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840385723 meters 0.01830161570927656 Centerline is valid? [True, True] Translation: X:126.61, Y:-19.68, Z:-5.88 [[ 8.97842730e-01 4.38586044e-01 3.89963436e-02 1.26607914e+02] [-4.38150975e-01 8.98689088e-01 -1.95357799e-02 -1.96801695e+01] [-4.36137089e-02 4.53771953e-04 9.99048366e-01 -5.87567575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870385723 meters 0.01851252072765766 Centerline is valid? [True, True] Translation: X:126.64, Y:-19.69, Z:-5.88 [[ 8.98114703e-01 4.37987548e-01 3.94574341e-02 1.26636727e+02] [-4.37541057e-01 8.98980901e-01 -1.97778657e-02 -1.96944962e+01] [-4.41339386e-02 4.98544515e-04 9.99025499e-01 -5.87692588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900385723 meters 0.018728907489516687 Centerline is valid? [True, True] Translation: X:126.67, Y:-19.71, Z:-5.88 [[ 8.98673189e-01 4.36811281e-01 3.97794550e-02 1.26665558e+02] [-4.36355747e-01 8.99552987e-01 -1.99520664e-02 -1.97073831e+01] [-4.44990152e-02 5.72393302e-04 9.99009264e-01 -5.87827970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930385723 meters 0.01882071972440949 Centerline is valid? [True, True] Translation: X:126.69, Y:-19.72, Z:-5.88 [[ 8.98888753e-01 4.36412407e-01 3.92838539e-02 1.26693843e+02] [-4.35967308e-01 8.99746552e-01 -1.97141802e-02 -1.97222812e+01] [-4.39490250e-02 5.94378829e-04 9.99033598e-01 -5.88002100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96038572299999 meters 0.01880359956218109 Centerline is valid? [True, True] Translation: X:126.72, Y:-19.74, Z:-5.88 [[ 8.99440090e-01 4.35364031e-01 3.82842693e-02 1.26722050e+02] [-4.34939847e-01 9.00254270e-01 -1.92244326e-02 -1.97364225e+01] [-4.28352034e-02 6.39871101e-04 9.99081947e-01 -5.88128927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99038572299999 meters 0.019513952090748514 Centerline is valid? [True, True] Translation: X:126.75, Y:-19.75, Z:-5.88 [[ 9.00803295e-01 4.32615778e-01 3.73766280e-02 1.26748872e+02] [-4.32208668e-01 9.01578066e-01 -1.87792190e-02 -1.97510296e+01] [-4.18221344e-02 7.61879809e-04 9.99124781e-01 -5.88378091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.020385723 meters 0.01948746514396159 Centerline is valid? [True, True] Translation: X:126.78, Y:-19.76, Z:-5.89 [[ 9.01337277e-01 4.31521787e-01 3.71491735e-02 1.26778290e+02] [-4.31118494e-01 9.02102150e-01 -1.86696480e-02 -1.97639805e+01] [-4.15687091e-02 8.11953958e-04 9.99135318e-01 -5.88542946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050385723 meters 0.02004124646761598 Centerline is valid? [True, True] Translation: X:126.81, Y:-19.78, Z:-5.89 [[ 9.02310771e-01 4.29392894e-01 3.81708626e-02 1.26807411e+02] [-4.28964689e-01 9.03117295e-01 -1.91950016e-02 -1.97757218e+01] [-4.27149635e-02 9.45904502e-04 9.99086852e-01 -5.88758682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.080385723 meters 0.02021975892398762 Centerline is valid? [True, True] Translation: X:126.84, Y:-19.79, Z:-5.89 [[ 9.02676132e-01 4.28650161e-01 3.78792874e-02 1.26836446e+02] [-4.28227384e-01 9.03470018e-01 -1.90587043e-02 -1.97891405e+01] [-4.23923172e-02 9.82889299e-04 9.99100558e-01 -5.88888603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110385723 meters 0.02084522654609301 Centerline is valid? [True, True] Translation: X:126.87, Y:-19.80, Z:-5.89 [[ 9.03469901e-01 4.27050074e-01 3.70185327e-02 1.26865041e+02] [-4.26644498e-01 9.04227374e-01 -1.86367407e-02 -1.98018948e+01] [-4.14319922e-02 1.04398097e-03 9.99140781e-01 -5.89078377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.140385723 meters 0.02114479781613433 Centerline is valid? [True, True] Translation: X:126.89, Y:-19.82, Z:-5.89 [[ 9.03744702e-01 4.26463610e-01 3.70715973e-02 1.26892900e+02] [-4.26056139e-01 9.04504079e-01 -1.86691758e-02 -1.98154476e+01] [-4.14931351e-02 1.07758709e-03 9.99138208e-01 -5.89238755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.170385723 meters 0.021640151123324926 Centerline is valid? [True, True] Translation: X:126.92, Y:-19.83, Z:-5.89 [[ 9.04117564e-01 4.25756245e-01 3.60977958e-02 1.26921408e+02] [-4.25369138e-01 9.04837246e-01 -1.81839164e-02 -1.98277019e+01] [-4.04045461e-02 1.08550991e-03 9.99182813e-01 -5.89393855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.200385723 meters 0.02173804769936475 Centerline is valid? [True, True] Translation: X:126.95, Y:-19.84, Z:-5.90 [[ 9.04121124e-01 4.25753242e-01 3.60439987e-02 1.26951802e+02] [-4.25366908e-01 9.04838651e-01 -1.81661845e-02 -1.98414737e+01] [-4.03483150e-02 1.09250690e-03 9.99185078e-01 -5.89591896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230385723 meters 0.022113581459692323 Centerline is valid? [True, True] Translation: X:126.98, Y:-19.85, Z:-5.90 [[ 9.04229473e-01 4.25492071e-01 3.64082233e-02 1.26981172e+02] [-4.25097155e-01 9.04961451e-01 -1.83624951e-02 -1.98522472e+01] [-4.07611346e-02 1.12687711e-03 9.99168284e-01 -5.89724454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260385723 meters 0.02232129703396644 Centerline is valid? [True, True] Translation: X:127.01, Y:-19.87, Z:-5.90 [[ 9.04267287e-01 4.25410373e-01 3.64237228e-02 1.27011680e+02] [-4.25014843e-01 9.04999848e-01 -1.83754972e-02 -1.98651664e+01] [-4.07805907e-02 1.13573820e-03 9.99167480e-01 -5.89908041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290385723 meters 0.022657979007694836 Centerline is valid? [True, True] Translation: X:127.04, Y:-19.88, Z:-5.90 [[ 9.04385194e-01 4.25133188e-01 3.67313710e-02 1.27041944e+02] [-4.24730217e-01 9.05130049e-01 -1.85428262e-02 -1.98769934e+01] [-4.11298384e-02 1.16893428e-03 9.99153126e-01 -5.90031015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32038572300002 meters 0.02297438890494598 Centerline is valid? [True, True] Translation: X:127.07, Y:-19.89, Z:-5.90 [[ 9.04474376e-01 4.24993796e-01 3.61438295e-02 1.27069689e+02] [-4.24603101e-01 9.05195512e-01 -1.82562771e-02 -1.98906633e+01] [-4.04760368e-02 1.16555278e-03 9.99179830e-01 -5.90154935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35038572300002 meters 0.023494523996165417 Centerline is valid? [True, True] Translation: X:127.10, Y:-19.90, Z:-5.90 [[ 9.04802452e-01 4.24289388e-01 3.62082578e-02 1.27099346e+02] [-4.23896356e-01 9.05525846e-01 -1.82981478e-02 -1.99038018e+01] [-4.05512232e-02 1.20766047e-03 9.99176731e-01 -5.90263981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38038572300002 meters 0.02369532836929417 Centerline is valid? [True, True] Translation: X:127.13, Y:-19.92, Z:-5.90 [[ 9.04830979e-01 4.24220559e-01 3.63017560e-02 1.27128936e+02] [-4.23825034e-01 9.05558072e-01 -1.83553381e-02 -1.99173449e+01] [-4.06600599e-02 1.22288556e-03 9.99172289e-01 -5.90425439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41038572300002 meters 0.021520446710271268 Centerline is valid? [True, True] Translation: X:127.16, Y:-19.92, Z:-5.91 [[ 9.04923044e-01 4.23967115e-01 3.69617331e-02 1.27161002e+02] [-4.23556361e-01 9.05676696e-01 -1.87010819e-02 -1.99238633e+01] [-4.14040241e-02 1.26766279e-03 9.99141682e-01 -5.90583932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44038572300002 meters 0.020886526509506693 Centerline is valid? [True, True] Translation: X:127.19, Y:-19.94, Z:-5.91 [[ 9.04590539e-01 4.24608896e-01 3.77258789e-02 1.27191342e+02] [-4.24181086e-01 9.05375979e-01 -1.90982550e-02 -1.99352650e+01] [-4.22653935e-02 1.27349648e-03 9.99105607e-01 -5.90743662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47038572300002 meters 0.020886526509506693 Centerline is valid? [True, True] Translation: X:127.22, Y:-19.95, Z:-5.91 [[ 9.04473751e-01 4.24858018e-01 3.77213231e-02 1.27220219e+02] [-4.24430048e-01 9.05259105e-01 -1.91072490e-02 -1.99499500e+01] [-4.22654391e-02 1.27194216e-03 9.99105607e-01 -5.90889264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50038572300002 meters 0.021132157665914742 Centerline is valid? [True, True] Translation: X:127.25, Y:-19.96, Z:-5.91 [[ 9.03973949e-01 4.25933447e-01 3.75739031e-02 1.27248135e+02] [-4.25509192e-01 9.04753662e-01 -1.90456796e-02 -1.99628149e+01] [-4.21073184e-02 1.22875701e-03 9.99112338e-01 -5.91057031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530385723 meters 0.020821084456004054 Centerline is valid? [True, True] Translation: X:127.28, Y:-19.97, Z:-5.91 [[ 9.02475474e-01 4.29182232e-01 3.66146322e-02 1.27277910e+02] [-4.28781603e-01 9.03217299e-01 -1.85700706e-02 -1.99744933e+01] [-4.10409135e-02 1.05935258e-03 9.99156905e-01 -5.91251368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.560385723 meters 0.020748402337981572 Centerline is valid? [True, True] Translation: X:127.31, Y:-19.99, Z:-5.91 [[ 9.01262941e-01 4.31764170e-01 3.61221996e-02 1.27307592e+02] [-4.31376240e-01 9.01986051e-01 -1.83222286e-02 -1.99880229e+01] [-4.04926020e-02 9.30886958e-04 9.99179405e-01 -5.91418308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590385723 meters 0.02044444173522384 Centerline is valid? [True, True] Translation: X:127.34, Y:-20.00, Z:-5.92 [[ 8.98712944e-01 4.37037461e-01 3.62394925e-02 1.27337760e+02] [-4.36651023e-01 8.99443031e-01 -1.83880074e-02 -1.99978266e+01] [-4.06316070e-02 7.01528770e-04 9.99173949e-01 -5.91635709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.620385723 meters 0.020282377085690535 Centerline is valid? [True, True] Translation: X:127.37, Y:-20.01, Z:-5.92 [[ 8.97152299e-01 4.40227317e-01 3.62996031e-02 1.27366702e+02] [-4.39842171e-01 8.97886183e-01 -1.84192159e-02 -2.00094578e+01] [-4.07015541e-02 5.58745688e-04 9.99171192e-01 -5.91840371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650385723 meters 0.02005202972551558 Centerline is valid? [True, True] Translation: X:127.40, Y:-20.02, Z:-5.92 [[ 8.95520025e-01 4.43544633e-01 3.62221399e-02 1.27397180e+02] [-4.43163411e-01 8.96252189e-01 -1.83903619e-02 -2.00212209e+01] [-4.06211185e-02 4.16610228e-04 9.99174535e-01 -5.92050563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.680385723 meters 0.019322104322277128 Centerline is valid? [True, True] Translation: X:127.43, Y:-20.03, Z:-5.92 [[ 8.92146129e-01 4.50320540e-01 3.58705278e-02 1.27428052e+02] [-4.49952024e-01 8.92866955e-01 -1.82147483e-02 -2.00308421e+01] [-4.02300842e-02 1.10200602e-04 9.99190436e-01 -5.92236824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710385723 meters 0.02021413915136552 Centerline is valid? [True, True] Translation: X:127.46, Y:-20.04, Z:-5.92 [[ 8.89359309e-01 4.55785460e-01 3.60504245e-02 1.27457043e+02] [-4.55417245e-01 8.90089657e-01 -1.83176008e-02 -2.00431268e+01] [-4.04370061e-02 -1.27056180e-04 9.99182082e-01 -5.92471155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.740385723 meters 0.01938374838685222 Centerline is valid? [True, True] Translation: X:127.49, Y:-20.06, Z:-5.92 [[ 8.87622868e-01 4.59138976e-01 3.62911054e-02 1.27485070e+02] [-4.58768303e-01 8.88364410e-01 -1.84477305e-02 -2.00572386e+01] [-4.07097985e-02 -2.74581375e-04 9.99170975e-01 -5.92432347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770385723 meters 0.01953670051590039 Centerline is valid? [True, True] Translation: X:127.51, Y:-20.07, Z:-5.93 [[ 8.86301050e-01 4.61682390e-01 3.63293207e-02 1.27513475e+02] [-4.61312658e-01 8.87045221e-01 -1.84772180e-02 -2.00718890e+01] [-4.07563564e-02 -3.82797802e-04 9.99169041e-01 -5.92529109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.800385723 meters 0.02004710951397016 Centerline is valid? [True, True] Translation: X:127.54, Y:-20.09, Z:-5.93 [[ 8.83735280e-01 4.66595570e-01 3.60628436e-02 1.27542011e+02] [-4.66234878e-01 8.84470587e-01 -1.83526234e-02 -2.00860424e+01] [-4.04597773e-02 -5.94894685e-04 9.99180991e-01 -5.92769688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830385723 meters 0.020442733143581134 Centerline is valid? [True, True] Translation: X:127.57, Y:-20.10, Z:-5.93 [[ 8.82340428e-01 4.69215537e-01 3.62235949e-02 1.27570998e+02] [-4.68853366e-01 8.83083393e-01 -1.84456740e-02 -2.01004957e+01] [-4.06434518e-02 -7.08190518e-04 9.99173463e-01 -5.93019631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.860385723 meters 0.021273909043976608 Centerline is valid? [True, True] Translation: X:127.60, Y:-20.12, Z:-5.93 [[ 8.79689079e-01 4.74194043e-01 3.58766403e-02 1.27599001e+02] [-4.73842458e-01 8.80419880e-01 -1.82800465e-02 -2.01152432e+01] [-4.02547965e-02 -9.19118145e-04 9.99189024e-01 -5.93286944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890385723 meters 0.022951966341117357 Centerline is valid? [True, True] Translation: X:127.63, Y:-20.13, Z:-5.94 [[ 8.78579381e-01 4.76285491e-01 3.53610303e-02 1.27626969e+02] [-4.75945203e-01 8.79290139e-01 -1.80281673e-02 -2.01275150e+01] [-3.96791598e-02 -9.90736650e-04 9.99211981e-01 -5.93533360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.920385723 meters 0.022727155697674348 Centerline is valid? [True, True] Translation: X:127.65, Y:-20.15, Z:-5.94 [[ 8.76957022e-01 4.79281174e-01 3.51558980e-02 1.27652834e+02] [-4.78947094e-01 8.77660703e-01 -1.79268618e-02 -2.01474155e+01] [-3.94469575e-02 -1.11672779e-03 9.99221042e-01 -5.93639605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.950385723 meters 0.02297238340946092 Centerline is valid? [True, True] Translation: X:127.68, Y:-20.16, Z:-5.94 [[ 8.76322522e-01 4.80428692e-01 3.53144325e-02 1.27680467e+02] [-4.80092437e-01 8.77033009e-01 -1.80098082e-02 -2.01642135e+01] [-3.96243516e-02 -1.17179140e-03 9.99213960e-01 -5.93758096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980385723 meters 0.023773292749974324 Centerline is valid? [True, True] Translation: X:127.71, Y:-20.18, Z:-5.94 [[ 8.75673854e-01 4.81631549e-01 3.50193110e-02 1.27707415e+02] [-4.81301432e-01 8.76372977e-01 -1.78700035e-02 -2.01800359e+01] [-3.92967354e-02 -1.20654967e-03 9.99226857e-01 -5.93915800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010385723 meters 0.024173067887745793 Centerline is valid? [True, True] Translation: X:127.73, Y:-20.20, Z:-5.94 [[ 8.74695343e-01 4.83505709e-01 3.36197288e-02 1.27732812e+02] [-4.83202469e-01 8.75340342e-01 -1.71656346e-02 -2.01998763e+01] [-3.77283873e-02 -1.23043537e-03 9.99287273e-01 -5.94082859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040385723 meters 0.024591135863246814 Centerline is valid? [True, True] Translation: X:127.76, Y:-20.22, Z:-5.94 [[ 8.74051629e-01 4.84782019e-01 3.19396963e-02 1.27758677e+02] [-4.84509065e-01 8.74634158e-01 -1.63112264e-02 -2.02190702e+01] [-3.58429386e-02 -1.21821840e-03 9.99356693e-01 -5.94341259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07038572300002 meters 0.024966219002867395 Centerline is valid? [True, True] Translation: X:127.79, Y:-20.24, Z:-5.95 [[ 8.73781371e-01 4.85321366e-01 3.11333917e-02 1.27785952e+02] [-4.85062045e-01 8.74335021e-01 -1.59086012e-02 -2.02355146e+01] [-3.49417988e-02 -1.20098731e-03 9.99388627e-01 -5.94593585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10038572300002 meters 0.024623852232113424 Centerline is valid? [True, True] Translation: X:127.81, Y:-20.25, Z:-5.95 [[ 8.73478108e-01 4.85904421e-01 3.05432208e-02 1.27812985e+02] [-4.85654888e-01 8.74011138e-01 -1.56160152e-02 -2.02535209e+01] [-3.42830060e-02 -1.19321701e-03 9.99411453e-01 -5.94820677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13038572300002 meters 0.02478077100953146 Centerline is valid? [True, True] Translation: X:127.84, Y:-20.28, Z:-5.95 [[ 8.73415669e-01 4.86068705e-01 2.97032417e-02 1.27838930e+02] [-4.85832530e-01 8.73919830e-01 -1.51948372e-02 -2.02752844e+01] [-3.33439868e-02 -1.15939214e-03 9.99443262e-01 -5.95012615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16038572300002 meters 0.024980052626861655 Centerline is valid? [True, True] Translation: X:127.86, Y:-20.30, Z:-5.95 [[ 8.73502843e-01 4.85923481e-01 2.95152968e-02 1.27864151e+02] [-4.85689848e-01 8.74000616e-01 -1.51094187e-02 -2.02966873e+01] [-3.31384089e-02 -1.13715982e-03 9.99450125e-01 -5.95109459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19038572300002 meters 0.025056025516847397 Centerline is valid? [True, True] Translation: X:127.89, Y:-20.31, Z:-5.95 [[ 8.73345206e-01 4.86221649e-01 2.92687330e-02 1.27892099e+02] [-4.85991796e-01 8.73834783e-01 -1.49915658e-02 -2.03148579e+01] [-3.28652607e-02 -1.13155200e-03 9.99459151e-01 -5.95234191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22038572300002 meters 0.025461001590457805 Centerline is valid? [True, True] Translation: X:127.92, Y:-20.33, Z:-5.95 [[ 8.73020267e-01 4.86792446e-01 2.94741980e-02 1.27919650e+02] [-4.86559333e-01 8.73516907e-01 -1.51072166e-02 -2.03323392e+01] [-3.31002892e-02 -1.15203991e-03 9.99451371e-01 -5.95340939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25038572300002 meters 0.025415271326227944 Centerline is valid? [True, True] Translation: X:127.95, Y:-20.35, Z:-5.95 [[ 8.73438706e-01 4.86009435e-01 2.99942446e-02 1.27945065e+02] [-4.85767185e-01 8.73952828e-01 -1.53849292e-02 -2.03527984e+01] [-3.36907757e-02 -1.13242705e-03 9.99431663e-01 -5.95395030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.280385723 meters 0.025370402417875162 Centerline is valid? [True, True] Translation: X:127.97, Y:-20.37, Z:-5.96 [[ 8.74416937e-01 4.84297233e-01 2.91755208e-02 1.27971461e+02] [-4.84066799e-01 8.74902926e-01 -1.49734757e-02 -2.03706993e+01] [-3.27773614e-02 -1.02984020e-03 9.99462147e-01 -5.95647372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310385723 meters 0.024084823991493597 Centerline is valid? [True, True] Translation: X:128.00, Y:-20.39, Z:-5.96 [[ 8.76083422e-01 4.81282809e-01 2.90636222e-02 1.27997396e+02] [-4.81052119e-01 8.76564909e-01 -1.49270932e-02 -2.03896475e+01] [-3.26603048e-02 -9.03738171e-04 9.99466101e-01 -5.95739228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.340385723 meters 0.02476148857942597 Centerline is valid? [True, True] Translation: X:128.03, Y:-20.40, Z:-5.96 [[ 8.76435576e-01 4.80650619e-01 2.89078603e-02 1.28025328e+02] [-4.80422031e-01 8.76911750e-01 -1.48477149e-02 -2.04023909e+01] [-3.24862057e-02 -8.74907407e-04 9.99471801e-01 -5.96005309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370385723 meters 0.02358176623283299 Centerline is valid? [True, True] Translation: X:128.05, Y:-20.42, Z:-5.96 [[ 8.76614634e-01 4.80351425e-01 2.84480671e-02 1.28052746e+02] [-4.80129652e-01 8.77075708e-01 -1.46191609e-02 -2.04189006e+01] [-3.19734434e-02 -8.43390160e-04 9.99488363e-01 -5.96082743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.400385723 meters 0.02401240743317412 Centerline is valid? [True, True] Translation: X:128.08, Y:-20.43, Z:-5.96 [[ 8.76750497e-01 4.80166274e-01 2.73663323e-02 1.28081743e+02] [-4.79960723e-01 8.77177127e-01 -1.40709607e-02 -2.04311120e+01] [-3.07615215e-02 -7.98042815e-04 9.99526434e-01 -5.96329254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430385723 meters 0.023847093184042347 Centerline is valid? [True, True] Translation: X:128.11, Y:-20.44, Z:-5.96 [[ 8.76480116e-01 4.80704543e-01 2.65659189e-02 1.28110567e+02] [-4.80510835e-01 8.76882276e-01 -1.36679335e-02 -2.04447869e+01] [-2.98654212e-02 -7.85539964e-04 9.99553620e-01 -5.96377167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.460385723 meters 0.025817188381959948 Centerline is valid? [True, True] Translation: X:128.14, Y:-20.45, Z:-5.97 [[ 8.76106614e-01 4.81352322e-01 2.71503805e-02 1.28141616e+02] [-4.81150049e-01 8.76526824e-01 -1.39770419e-02 -2.04548314e+01] [-3.05259183e-02 -8.18028015e-04 9.99533641e-01 -5.96666478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490385723 meters 0.024632393414219526 Centerline is valid? [True, True] Translation: X:128.17, Y:-20.47, Z:-5.96 [[ 8.75480661e-01 4.82417597e-01 2.84055255e-02 1.28168737e+02] [-4.82196370e-01 8.75940911e-01 -1.46349240e-02 -2.04714960e+01] [-3.19417067e-02 -8.84448268e-04 9.99489342e-01 -5.96445072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.520385723 meters 0.02442975212135084 Centerline is valid? [True, True] Translation: X:128.20, Y:-20.49, Z:-5.96 [[ 8.75087143e-01 4.83061772e-01 2.95603833e-02 1.28197240e+02] [-4.82822443e-01 8.75585768e-01 -1.52332182e-02 -2.04870214e+01] [-3.32412363e-02 -9.42023141e-04 9.99446913e-01 -5.96491356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550385723 meters 0.024740204165284746 Centerline is valid? [True, True] Translation: X:128.23, Y:-20.50, Z:-5.97 [[ 8.74598989e-01 4.83929342e-01 2.98161211e-02 1.28226067e+02] [-4.83685982e-01 8.75106533e-01 -1.53761614e-02 -2.05009704e+01] [-3.35332580e-02 -9.73664638e-04 9.99437128e-01 -5.96615467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.580385723 meters 0.025146074672692323 Centerline is valid? [True, True] Translation: X:128.25, Y:-20.51, Z:-5.97 [[ 8.73302116e-01 4.86243125e-01 3.01833920e-02 1.28254518e+02] [-4.85994780e-01 8.73822914e-01 -1.55752738e-02 -2.05146565e+01] [-3.39483094e-02 -1.06705135e-03 9.99423020e-01 -5.96727520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610385723 meters 0.02520417654355791 Centerline is valid? [True, True] Translation: X:128.28, Y:-20.53, Z:-5.97 [[ 8.72816192e-01 4.87056722e-01 3.11069792e-02 1.28283855e+02] [-4.86793152e-01 8.73369615e-01 -1.60605956e-02 -2.05302472e+01] [-3.49903115e-02 -1.12471655e-03 9.99387019e-01 -5.96755731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.640385723 meters 0.024964475519712637 Centerline is valid? [True, True] Translation: X:128.31, Y:-20.54, Z:-5.97 [[ 8.72816159e-01 4.87011634e-01 3.18060054e-02 1.28312389e+02] [-4.86735624e-01 8.73394741e-01 -1.64334505e-02 -2.05447698e+01] [-3.57824795e-02 -1.13773479e-03 9.99358954e-01 -5.96849210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.670385723 meters 0.025142974509521375 Centerline is valid? [True, True] Translation: X:128.34, Y:-20.56, Z:-5.97 [[ 8.72884355e-01 4.86891653e-01 3.17713858e-02 1.28341072e+02] [-4.86615813e-01 8.73461652e-01 -1.64253835e-02 -2.05584459e+01] [-3.57484693e-02 -1.12299849e-03 9.99360188e-01 -5.97020236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.700385723 meters 0.024524268370272256 Centerline is valid? [True, True] Translation: X:128.37, Y:-20.57, Z:-5.97 [[ 8.73217332e-01 4.86291303e-01 3.18160293e-02 1.28369729e+02] [-4.86013941e-01 8.73796073e-01 -1.64581871e-02 -2.05728296e+01] [-3.58041947e-02 -1.09145959e-03 9.99358228e-01 -5.97233841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730385723 meters 0.024324311169697136 Centerline is valid? [True, True] Translation: X:128.40, Y:-20.59, Z:-5.97 [[ 8.73266899e-01 4.86203478e-01 3.17978188e-02 1.28397697e+02] [-4.85926025e-01 8.73844960e-01 -1.64585586e-02 -2.05883858e+01] [-3.57885721e-02 -1.07867322e-03 9.99358802e-01 -5.97392745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760385723 meters 0.024663742061317287 Centerline is valid? [True, True] Translation: X:128.43, Y:-20.60, Z:-5.98 [[ 8.73531744e-01 4.85696462e-01 3.22682444e-02 1.28426072e+02] [-4.85410013e-01 8.74126887e-01 -1.67124426e-02 -2.06009277e+01] [-3.63237142e-02 -1.06447982e-03 9.99339509e-01 -5.97691533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790385723 meters 0.024874347682394035 Centerline is valid? [True, True] Translation: X:128.45, Y:-20.61, Z:-5.98 [[ 8.73563556e-01 4.85631331e-01 3.23871078e-02 1.28454624e+02] [-4.85342382e-01 8.74163081e-01 -1.67833268e-02 -2.06142729e+01] [-3.64621233e-02 -1.05753342e-03 9.99334476e-01 -5.97874806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82038572300002 meters 0.025043571378246966 Centerline is valid? [True, True] Translation: X:128.48, Y:-20.63, Z:-5.98 [[ 8.73345777e-01 4.86013604e-01 3.25258604e-02 1.28483884e+02] [-4.85722116e-01 8.73950589e-01 -1.68639932e-02 -2.06291831e+01] [-3.66221249e-02 -1.07043252e-03 9.99328612e-01 -5.98050659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85038572300002 meters 0.02522315838371153 Centerline is valid? [True, True] Translation: X:128.51, Y:-20.64, Z:-5.98 [[ 8.72689757e-01 4.87223796e-01 3.20243784e-02 1.28512869e+02] [-4.86941644e-01 8.73276460e-01 -1.66150478e-02 -2.06425356e+01] [-3.60613825e-02 -1.09422139e-03 9.99348978e-01 -5.98242323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88038572300002 meters 0.02543524327837093 Centerline is valid? [True, True] Translation: X:128.54, Y:-20.66, Z:-5.99 [[ 8.71693157e-01 4.89093963e-01 3.06289988e-02 1.28541716e+02] [-4.88836661e-01 8.72230394e-01 -1.59015381e-02 -2.06562474e+01] [-3.44928900e-02 -1.11131560e-03 9.99404325e-01 -5.98615238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91038572300002 meters 0.02624405309964727 Centerline is valid? [True, True] Translation: X:128.57, Y:-20.67, Z:-5.99 [[ 8.71260092e-01 4.89910319e-01 2.98953512e-02 1.28569845e+02] [-4.89665643e-01 8.71772124e-01 -1.55216736e-02 -2.06683636e+01] [-3.36661619e-02 -1.11531162e-03 9.99432512e-01 -5.98916550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94038572300002 meters 0.026060694644082904 Centerline is valid? [True, True] Translation: X:128.60, Y:-20.68, Z:-5.99 [[ 8.70982036e-01 4.90392181e-01 3.00965466e-02 1.28599727e+02] [-4.90144279e-01 8.71501129e-01 -1.56322660e-02 -2.06826539e+01] [-3.38951153e-02 -1.13622728e-03 9.99424750e-01 -5.99124099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97038572300002 meters 0.025883344068620428 Centerline is valid? [True, True] Translation: X:128.63, Y:-20.70, Z:-5.99 [[ 8.71020272e-01 4.90266372e-01 3.10253147e-02 1.28628088e+02] [-4.90002452e-01 8.71571883e-01 -1.61260705e-02 -2.06968692e+01] [-3.49468620e-02 -1.15634596e-03 9.99388503e-01 -5.99272308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00038572300002 meters 0.02573940802522587 Centerline is valid? [True, True] Translation: X:128.66, Y:-20.71, Z:-5.99 [[ 8.71141594e-01 4.89985491e-01 3.20396881e-02 1.28656784e+02] [-4.89703474e-01 8.71729798e-01 -1.66633277e-02 -2.07118899e+01] [-3.60947396e-02 -1.17382864e-03 9.99347683e-01 -5.99347818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030385723 meters 0.025771491698582307 Centerline is valid? [True, True] Translation: X:128.68, Y:-20.73, Z:-5.99 [[ 8.71395529e-01 4.89401446e-01 3.40008247e-02 1.28684839e+02] [-4.89082974e-01 8.72057773e-01 -1.76942251e-02 -2.07269735e+01] [-3.83102628e-02 -1.21055581e-03 9.99265159e-01 -5.99266131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.060385723 meters 0.026094725664863313 Centerline is valid? [True, True] Translation: X:128.71, Y:-20.74, Z:-5.99 [[ 8.71529021e-01 4.89095535e-01 3.49674549e-02 1.28713320e+02] [-4.88757984e-01 8.72229366e-01 -1.82089731e-02 -2.07413083e+01] [-3.94055685e-02 -1.22097424e-03 9.99222553e-01 -5.99336206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090385723 meters 0.026918305385431388 Centerline is valid? [True, True] Translation: X:128.74, Y:-20.75, Z:-5.99 [[ 8.71023670e-01 4.89925526e-01 3.59269566e-02 1.28742089e+02] [-4.89569758e-01 8.71763336e-01 -1.87119494e-02 -2.07538413e+01] [-4.04872652e-02 -1.29020066e-03 9.99179222e-01 -5.99454722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.120385723 meters 0.026622436283490983 Centerline is valid? [True, True] Translation: X:128.77, Y:-20.77, Z:-6.00 [[ 8.70592071e-01 4.90710711e-01 3.56713309e-02 1.28770359e+02] [-4.90360253e-01 8.71321574e-01 -1.85886242e-02 -2.07682024e+01] [-4.02028372e-02 -1.30869399e-03 9.99190682e-01 -5.99670509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150385723 meters 0.026736931371352284 Centerline is valid? [True, True] Translation: X:128.80, Y:-20.78, Z:-6.00 [[ 8.70046758e-01 4.91691036e-01 3.54762457e-02 1.28799007e+02] [-4.91344802e-01 8.70768704e-01 -1.84972849e-02 -2.07821006e+01] [-3.99865537e-02 -1.33756618e-03 9.99199323e-01 -5.99941254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.180385723 meters 0.027687142049746802 Centerline is valid? [True, True] Translation: X:128.83, Y:-20.79, Z:-6.00 [[ 8.69434957e-01 4.92783253e-01 3.53202587e-02 1.28827625e+02] [-4.92440549e-01 8.70151011e-01 -1.84261998e-02 -2.07944477e+01] [-3.98140815e-02 -1.37274536e-03 9.99206162e-01 -6.00195569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210385723 meters 0.027796076595191142 Centerline is valid? [True, True] Translation: X:128.86, Y:-20.81, Z:-6.00 [[ 8.69371643e-01 4.92921546e-01 3.49470304e-02 1.28855052e+02] [-4.92585770e-01 8.70072704e-01 -1.82413831e-02 -2.08105014e+01] [-3.93980280e-02 -1.35586867e-03 9.99222676e-01 -6.00306846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.240385723 meters 0.02789251020563322 Centerline is valid? [True, True] Translation: X:128.88, Y:-20.83, Z:-6.00 [[ 8.69161174e-01 4.93283999e-01 3.50677845e-02 1.28884339e+02] [-4.92945763e-01 8.69867246e-01 -1.83152728e-02 -2.08257206e+01] [-3.95389482e-02 -1.36759176e-03 9.99217094e-01 -6.00472040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270385723 meters 0.027859342240612997 Centerline is valid? [True, True] Translation: X:128.91, Y:-20.84, Z:-6.01 [[ 8.69096094e-01 4.93402101e-01 3.50192257e-02 1.28913412e+02] [-4.93064448e-01 8.69800273e-01 -1.83012542e-02 -2.08400663e+01] [-3.94896093e-02 -1.36118664e-03 9.99219054e-01 -6.00641503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.300385723 meters 0.026351268065631282 Centerline is valid? [True, True] Translation: X:128.94, Y:-20.86, Z:-6.01 [[ 8.68991306e-01 4.93572916e-01 3.52120301e-02 1.28941154e+02] [-4.93231220e-01 8.69703345e-01 -1.84134375e-02 -2.08570683e+01] [-3.97123944e-02 -1.36655550e-03 9.99210217e-01 -6.00802379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330385723 meters 0.028889993769061064 Centerline is valid? [True, True] Translation: X:128.97, Y:-20.87, Z:-6.01 [[ 8.68992941e-01 4.93602642e-01 3.47519884e-02 1.28970973e+02] [-4.93269384e-01 8.69686516e-01 -1.81845465e-02 -2.08685718e+01] [-3.91992759e-02 -1.33984942e-03 9.99230515e-01 -6.00960012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.360385723 meters 0.028889993769061064 Centerline is valid? [True, True] Translation: X:129.00, Y:-20.88, Z:-6.01 [[ 8.68869703e-01 4.93819858e-01 3.47474746e-02 1.28999632e+02] [-4.93486429e-01 8.69563197e-01 -1.81931670e-02 -2.08836992e+01] [-3.91992723e-02 -1.33991556e-03 9.99230515e-01 -6.01105687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390385723 meters 0.02611585784530494 Centerline is valid? [True, True] Translation: X:129.02, Y:-20.91, Z:-6.01 [[ 8.69761386e-01 4.92356772e-01 3.31653425e-02 1.29024413e+02] [-4.92051582e-01 8.70392643e-01 -1.73749310e-02 -2.09055527e+01] [-3.74215351e-02 -1.20701524e-03 9.99298840e-01 -6.01087005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.420385723 meters 0.02584304074693049 Centerline is valid? [True, True] Translation: X:129.05, Y:-20.92, Z:-6.01 [[ 8.70526782e-01 4.91065364e-01 3.22169224e-02 1.29052215e+02] [-4.90776168e-01 8.71122021e-01 -1.68872128e-02 -2.09220747e+01] [-3.63575958e-02 -1.11052666e-03 9.99338227e-01 -6.01267361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.450385723 meters 0.022965399307405352 Centerline is valid? [True, True] Translation: X:129.08, Y:-20.94, Z:-6.01 [[ 8.73073897e-01 4.86547935e-01 3.18288761e-02 1.29076138e+02] [-4.86262264e-01 8.73653418e-01 -1.66947965e-02 -2.09444329e+01] [-3.59302251e-02 -9.01390332e-04 9.99353894e-01 -6.01355866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480385723 meters 0.022459638920470003 Centerline is valid? [True, True] Translation: X:129.10, Y:-20.96, Z:-6.01 [[ 8.74319126e-01 4.84306776e-01 3.18278678e-02 1.29103054e+02] [-4.84019628e-01 8.74897875e-01 -1.66945415e-02 -2.09615343e+01] [-3.59314135e-02 -8.08955774e-04 9.99353931e-01 -6.01477740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510385723 meters 0.02184659248509077 Centerline is valid? [True, True] Translation: X:129.13, Y:-20.98, Z:-6.02 [[ 8.75655462e-01 4.81855078e-01 3.22985400e-02 1.29129845e+02] [-4.81557335e-01 8.76250638e-01 -1.69514998e-02 -2.09793154e+01] [-3.64697826e-02 -7.09925415e-04 9.99334504e-01 -6.01525903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540385723 meters 0.020976618667950333 Centerline is valid? [True, True] Translation: X:129.15, Y:-21.00, Z:-6.01 [[ 8.78292343e-01 4.77023706e-01 3.24182556e-02 1.29153993e+02] [-4.76720076e-01 8.78890284e-01 -1.70246041e-02 -2.10004876e+01] [-3.66132297e-02 -5.01853851e-04 9.99329385e-01 -6.01429300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57038572300002 meters 0.020629437898360234 Centerline is valid? [True, True] Translation: X:129.18, Y:-21.02, Z:-6.01 [[ 8.80441937e-01 4.72929019e-01 3.40608087e-02 1.29179179e+02] [-4.72590375e-01 8.81100464e-01 -1.78972096e-02 -2.10191356e+01] [-3.84751041e-02 -3.39356437e-04 9.99259501e-01 -6.01363578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60038572300002 meters 0.02054526927490012 Centerline is valid? [True, True] Translation: X:129.21, Y:-21.03, Z:-6.02 [[ 8.81359037e-01 4.71184462e-01 3.45174138e-02 1.29206475e+02] [-4.70835121e-01 8.82034656e-01 -1.81426014e-02 -2.10349983e+01] [-3.89940671e-02 -2.61864991e-04 9.99239408e-01 -6.01502995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63038572300002 meters 0.02036107322321264 Centerline is valid? [True, True] Translation: X:129.23, Y:-21.05, Z:-6.02 [[ 8.81959126e-01 4.70098351e-01 3.39947198e-02 1.29234927e+02] [-4.69758330e-01 8.82614015e-01 -1.78776807e-02 -2.10516768e+01] [-3.84084843e-02 -2.01919169e-04 9.99262102e-01 -6.01619239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66038572300002 meters 0.021525955660993027 Centerline is valid? [True, True] Translation: X:129.26, Y:-21.07, Z:-6.02 [[ 8.83046634e-01 4.68239342e-01 3.13139038e-02 1.29261522e+02] [-4.67949306e-01 8.83601668e-01 -1.64784137e-02 -2.10674732e+01] [-3.53848592e-02 -1.02111791e-04 9.99373755e-01 -6.02103636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69038572300002 meters 0.019894222312549035 Centerline is valid? [True, True] Translation: X:129.29, Y:-21.08, Z:-6.02 [[ 8.83509280e-01 4.67516162e-01 2.89825766e-02 1.29288224e+02] [-4.67267083e-01 8.83984522e-01 -1.52590478e-02 -2.10829977e+01] [-3.27540006e-02 -6.10936487e-05 9.99463442e-01 -6.02413371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72038572300002 meters 0.019782456151525567 Centerline is valid? [True, True] Translation: X:129.32, Y:-21.10, Z:-6.03 [[ 8.83819713e-01 4.66987741e-01 2.80208046e-02 1.29316824e+02] [-4.66754425e-01 8.84263789e-01 -1.47599955e-02 -2.10983741e+01] [-3.16705198e-02 -3.36595763e-05 9.99498363e-01 -6.02666264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75038572300002 meters 0.019660962538453616 Centerline is valid? [True, True] Translation: X:129.35, Y:-21.11, Z:-6.03 [[ 8.84281070e-01 4.66137998e-01 2.76107916e-02 1.29346019e+02] [-4.65910813e-01 8.84712025e-01 -1.45515244e-02 -2.11138757e+01] [-3.12106178e-02 3.47122648e-06 9.99512830e-01 -6.02819424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.780385723 meters 0.019466209975993316 Centerline is valid? [True, True] Translation: X:129.37, Y:-21.13, Z:-6.03 [[ 8.85058007e-01 4.64631854e-01 2.80991880e-02 1.29374680e+02] [-4.64395471e-01 8.85503944e-01 -1.48192725e-02 -2.11279199e+01] [-3.17674479e-02 6.67801577e-05 9.99495285e-01 -6.03083488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810385723 meters 0.019301178511276447 Centerline is valid? [True, True] Translation: X:129.40, Y:-21.14, Z:-6.03 [[ 8.85031651e-01 4.64643555e-01 2.87287899e-02 1.29403114e+02] [-4.64396139e-01 8.85497804e-01 -1.51612966e-02 -2.11420856e+01] [-3.24838791e-02 7.66882960e-05 9.99472257e-01 -6.03127589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.840385723 meters 0.019093221495208573 Centerline is valid? [True, True] Translation: X:129.43, Y:-21.16, Z:-6.03 [[ 8.84820719e-01 4.65015895e-01 2.91978066e-02 1.29432061e+02] [-4.64760200e-01 8.85302328e-01 -1.54189629e-02 -2.11568346e+01] [-3.30189490e-02 7.30394475e-05 9.99454723e-01 -6.02975346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870385723 meters 0.018982377554790632 Centerline is valid? [True, True] Translation: X:129.46, Y:-21.17, Z:-6.03 [[ 8.84554064e-01 4.65539824e-01 2.89271575e-02 1.29461608e+02] [-4.65289037e-01 8.85026931e-01 -1.52788343e-02 -2.11718218e+01] [-3.27142193e-02 5.54657392e-05 9.99464745e-01 -6.03075715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.900385723 meters 0.01880523632558711 Centerline is valid? [True, True] Translation: X:129.49, Y:-21.18, Z:-6.03 [[ 8.83912402e-01 4.66825516e-01 2.77993464e-02 1.29489903e+02] [-4.66594222e-01 8.84349443e-01 -1.46933400e-02 -2.11835625e+01] [-3.14435625e-02 1.66110558e-05 9.99505529e-01 -6.03416174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930385723 meters 0.018669885441420724 Centerline is valid? [True, True] Translation: X:129.52, Y:-21.20, Z:-6.04 [[ 8.83516048e-01 4.67564042e-01 2.79867739e-02 1.29520028e+02] [-4.67329762e-01 8.83959199e-01 -1.47995674e-02 -2.11977926e+01] [-3.16589119e-02 -3.39707085e-06 9.99498731e-01 -6.03535732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.960385723 meters 0.018436000769939193 Centerline is valid? [True, True] Translation: X:129.55, Y:-21.21, Z:-6.04 [[ 8.82854533e-01 4.68757318e-01 2.88868599e-02 1.29549381e+02] [-4.68508003e-01 8.83326992e-01 -1.52864436e-02 -2.12109526e+01] [-3.26821753e-02 -3.80190280e-05 9.99465794e-01 -6.03583115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990385723 meters 0.01864091927476402 Centerline is valid? [True, True] Translation: X:129.58, Y:-21.23, Z:-6.04 [[ 8.82581283e-01 4.69244172e-01 2.93289159e-02 1.29579054e+02] [-4.68987152e-01 8.83068460e-01 -1.55288990e-02 -2.12259407e+01] [-3.31862860e-02 -4.93691247e-05 9.99449182e-01 -6.03620920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.020385723 meters 0.018271397805905955 Centerline is valid? [True, True] Translation: X:129.61, Y:-21.24, Z:-6.04 [[ 8.82226206e-01 4.69871088e-01 2.99680079e-02 1.29607808e+02] [-4.69602729e-01 8.82735043e-01 -1.58782945e-02 -2.12402332e+01] [-3.39145623e-02 -6.48108058e-05 9.99424734e-01 -6.03709815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050385723 meters 0.017971263421759448 Centerline is valid? [True, True] Translation: X:129.64, Y:-21.25, Z:-6.04 [[ 8.82223444e-01 4.69801328e-01 3.11208586e-02 1.29636928e+02] [-4.69511495e-01 8.82772173e-01 -1.64999035e-02 -2.12544967e+01] [-3.52243046e-02 -5.49991285e-05 9.99379430e-01 -6.03557538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.080385723 meters 0.017839023942465355 Centerline is valid? [True, True] Translation: X:129.67, Y:-21.27, Z:-6.04 [[ 8.81999655e-01 4.70203670e-01 3.13865886e-02 1.29666269e+02] [-4.69908787e-01 8.82557933e-01 -1.66501307e-02 -2.12685013e+01] [-3.55294353e-02 -6.34242077e-05 9.99368628e-01 -6.03640450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110385723 meters 0.017634013913562854 Centerline is valid? [True, True] Translation: X:129.70, Y:-21.28, Z:-6.04 [[ 8.81889445e-01 4.70422144e-01 3.12091796e-02 1.29695735e+02] [-4.70130331e-01 8.82441501e-01 -1.65670941e-02 -2.12806732e+01] [-3.53338032e-02 -6.20364991e-05 9.99375564e-01 -6.03853876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.140385723 meters 0.017458783820791957 Centerline is valid? [True, True] Translation: X:129.73, Y:-21.30, Z:-6.04 [[ 8.81978602e-01 4.70276693e-01 3.08800381e-02 1.29725140e+02] [-4.69990577e-01 8.82519025e-01 -1.64020651e-02 -2.12956549e+01] [-3.49657300e-02 -4.70565077e-05 9.99388511e-01 -6.03952868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.170385723 meters 0.017385058199628753 Centerline is valid? [True, True] Translation: X:129.75, Y:-21.31, Z:-6.04 [[ 8.82762493e-01 4.68850884e-01 3.01534227e-02 1.29754275e+02] [-4.68576830e-01 8.83277334e-01 -1.60282903e-02 -2.13102539e+01] [-3.41487129e-02 1.99783261e-05 9.99416762e-01 -6.04070599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.200385723 meters 0.01722872441577819 Centerline is valid? [True, True] Translation: X:129.78, Y:-21.32, Z:-6.04 [[ 8.83162016e-01 4.68109897e-01 2.99662764e-02 1.29782855e+02] [-4.67838769e-01 8.83670256e-01 -1.59299731e-02 -2.13248754e+01] [-3.39372852e-02 4.93612601e-05 9.99423963e-01 -6.04261681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230385723 meters 0.01711312699366145 Centerline is valid? [True, True] Translation: X:129.81, Y:-21.34, Z:-6.04 [[ 8.84488869e-01 4.65586957e-01 3.01367993e-02 1.29812771e+02] [-4.65310931e-01 8.85002125e-01 -1.60304655e-02 -2.13393154e+01] [-3.41347071e-02 1.55786189e-04 9.99417229e-01 -6.04175280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260385723 meters 0.01718325737966049 Centerline is valid? [True, True] Translation: X:129.84, Y:-21.35, Z:-6.04 [[ 8.85218317e-01 4.64225154e-01 2.97243442e-02 1.29840121e+02] [-4.63955502e-01 8.85717201e-01 -1.58218977e-02 -2.13534374e+01] [-3.36722858e-02 2.15060589e-04 9.99432905e-01 -6.04292509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290385723 meters 0.01747194685206119 Centerline is valid? [True, True] Translation: X:129.87, Y:-21.37, Z:-6.04 [[ 8.86333410e-01 4.62072859e-01 3.00293205e-02 1.29868696e+02] [-4.61796122e-01 8.86841913e-01 -1.59925793e-02 -2.13683521e+01] [-3.40209969e-02 3.07333558e-04 9.99421071e-01 -6.04419383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32038572300002 meters 0.018217759659694778 Centerline is valid? [True, True] Translation: X:129.90, Y:-21.38, Z:-6.04 [[ 8.88697787e-01 4.57441547e-01 3.10398934e-02 1.29895768e+02] [-4.57142686e-01 8.89239547e-01 -1.65406571e-02 -2.13836658e+01] [-3.51682845e-02 5.09985087e-04 9.99381274e-01 -6.04321430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35038572300002 meters 0.01862601056730751 Centerline is valid? [True, True] Translation: X:129.92, Y:-21.40, Z:-6.04 [[ 8.89630120e-01 4.55577396e-01 3.17409205e-02 1.29923671e+02] [-4.55263373e-01 8.90195973e-01 -1.69230644e-02 -2.13993568e+01] [-3.59654053e-02 6.04789279e-04 9.99352853e-01 -6.04329734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38038572300002 meters 0.019901731560103622 Centerline is valid? [True, True] Translation: X:129.95, Y:-21.41, Z:-6.04 [[ 8.91862866e-01 4.51142814e-01 3.24158904e-02 1.29951575e+02] [-4.50811991e-01 8.92451403e-01 -1.72928524e-02 -2.14131354e+01] [-3.67311529e-02 8.09380864e-04 9.99324856e-01 -6.04366588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41038572300002 meters 0.02059886059074389 Centerline is valid? [True, True] Translation: X:129.98, Y:-21.43, Z:-6.05 [[ 8.92771975e-01 4.49336280e-01 3.24824328e-02 1.29980173e+02] [-4.49002580e-01 8.93362250e-01 -1.73370594e-02 -2.14269148e+01] [-3.68087491e-02 8.93344658e-04 9.99321929e-01 -6.04510703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44038572300002 meters 0.0217365878630388 Centerline is valid? [True, True] Translation: X:130.01, Y:-21.44, Z:-6.05 [[ 8.94112211e-01 4.46770547e-01 3.09747128e-02 1.30008988e+02] [-4.46465274e-01 8.94648063e-01 -1.65409585e-02 -2.14386456e+01] [-3.51014798e-02 9.60339373e-04 9.99383292e-01 -6.04764891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47038572300002 meters 0.022425787612177596 Centerline is valid? [True, True] Translation: X:130.04, Y:-21.45, Z:-6.05 [[ 8.94601937e-01 4.45844608e-01 3.01655451e-02 1.30038098e+02] [-4.45554295e-01 8.95109842e-01 -1.61164572e-02 -2.14530071e+01] [-3.41869119e-02 9.77425654e-04 9.99414979e-01 -6.04935653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50038572300002 meters 0.022622861548812965 Centerline is valid? [True, True] Translation: X:130.07, Y:-21.46, Z:-6.05 [[ 8.95169638e-01 4.44742917e-01 2.95813690e-02 1.30068366e+02] [-4.44462868e-01 8.95657704e-01 -1.58125119e-02 -2.14645172e+01] [-3.35272837e-02 1.00706046e-03 9.99437295e-01 -6.04961522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530385723 meters 0.02262284119372449 Centerline is valid? [True, True] Translation: X:130.10, Y:-21.48, Z:-6.05 [[ 8.95060551e-01 4.44941709e-01 2.98912343e-02 1.30098973e+02] [-4.44655590e-01 8.95558954e-01 -1.59864206e-02 -2.14772297e+01] [-3.38823878e-02 1.01751004e-03 9.99425309e-01 -6.05046707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.560385723 meters 0.022745381973083508 Centerline is valid? [True, True] Translation: X:130.13, Y:-21.48, Z:-6.05 [[ 8.94759232e-01 4.45505118e-01 3.05140355e-02 1.30130513e+02] [-4.45206903e-01 8.95278803e-01 -1.63302719e-02 -2.14830987e+01] [-3.45937889e-02 1.02660230e-03 9.99400928e-01 -6.05252826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590385723 meters 0.02271847518538279 Centerline is valid? [True, True] Translation: X:130.16, Y:-21.49, Z:-6.05 [[ 8.94431702e-01 4.46180919e-01 3.02410030e-02 1.30160675e+02] [-4.45888140e-01 8.94942228e-01 -1.61918313e-02 -2.14939725e+01] [-3.42884368e-02 9.98382648e-04 9.99411480e-01 -6.05422134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.620385723 meters 0.022533831934022613 Centerline is valid? [True, True] Translation: X:130.19, Y:-21.51, Z:-6.06 [[ 8.93885733e-01 4.47269488e-01 3.03034821e-02 1.30189922e+02] [-4.46975823e-01 8.94398721e-01 -1.62339846e-02 -2.15051052e+01] [-3.43643616e-02 9.66403333e-04 9.99408904e-01 -6.05533322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650385723 meters 0.022256491265233307 Centerline is valid? [True, True] Translation: X:130.22, Y:-21.51, Z:-6.06 [[ 8.93180321e-01 4.48670836e-01 3.03874089e-02 1.30221103e+02] [-4.48376079e-01 8.93696610e-01 -1.62868346e-02 -2.15133079e+01] [-3.44645520e-02 9.22092915e-04 9.99405495e-01 -6.05523530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.680385723 meters 0.022257270010316743 Centerline is valid? [True, True] Translation: X:130.25, Y:-21.52, Z:-6.06 [[ 8.92935382e-01 4.49153638e-01 3.04534467e-02 1.30250983e+02] [-4.48857614e-01 8.93454071e-01 -1.63298979e-02 -2.15248790e+01] [-3.45433890e-02 9.12282238e-04 9.99402783e-01 -6.05612008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710385723 meters 0.021669567860240737 Centerline is valid? [True, True] Translation: X:130.28, Y:-21.53, Z:-6.06 [[ 8.91964579e-01 4.51052724e-01 3.08322956e-02 1.30283239e+02] [-4.50750111e-01 8.92496894e-01 -1.65418178e-02 -2.15311002e+01] [-3.49789601e-02 8.57054865e-04 9.99387681e-01 -6.05799035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.740385723 meters 0.020658890096915614 Centerline is valid? [True, True] Translation: X:130.32, Y:-21.54, Z:-6.06 [[ 8.90600583e-01 4.53779332e-01 3.02476283e-02 1.30316215e+02] [-4.53489409e-01 8.91113779e-01 -1.62354409e-02 -2.15360856e+01] [-3.43213859e-02 7.42314038e-04 9.99410572e-01 -6.06156589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770385723 meters 0.020535939167242303 Centerline is valid? [True, True] Translation: X:130.35, Y:-21.55, Z:-6.06 [[ 8.90150594e-01 4.54658979e-01 3.02841924e-02 1.30346627e+02] [-4.54368581e-01 8.90665313e-01 -1.62632467e-02 -2.15469574e+01] [-3.43673109e-02 7.16553147e-04 9.99409013e-01 -6.06358786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.800385723 meters 0.020310156180666415 Centerline is valid? [True, True] Translation: X:130.38, Y:-21.56, Z:-6.07 [[ 8.89833027e-01 4.55273033e-01 3.03916154e-02 1.30376612e+02] [-4.54980645e-01 8.90351600e-01 -1.63291256e-02 -2.15579807e+01] [-3.44934340e-02 7.02598470e-04 9.99404677e-01 -6.06568886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830385723 meters 0.02081892992988901 Centerline is valid? [True, True] Translation: X:130.41, Y:-21.57, Z:-6.07 [[ 8.89963167e-01 4.55102281e-01 2.91114132e-02 1.30406406e+02] [-4.54833635e-01 8.90438904e-01 -1.56500165e-02 -2.15669532e+01] [-3.30442931e-02 6.87088364e-04 9.99453652e-01 -6.06893308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.860385723 meters 0.021377357039086813 Centerline is valid? [True, True] Translation: X:130.44, Y:-21.58, Z:-6.07 [[ 8.90328254e-01 4.54395674e-01 2.89856994e-02 1.30435330e+02] [-4.54128888e-01 8.90799677e-01 -1.55849089e-02 -2.15801877e+01] [-3.29021668e-02 7.12441286e-04 9.99458323e-01 -6.07031977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890385723 meters 0.02253583314283314 Centerline is valid? [True, True] Translation: X:130.47, Y:-21.59, Z:-6.07 [[ 8.91247390e-01 4.52607278e-01 2.87183137e-02 1.30465535e+02] [-4.52344219e-01 8.91709620e-01 -1.54486355e-02 -2.15910541e+01] [-3.26005615e-02 7.77992854e-04 9.99468158e-01 -6.07161717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.920385723 meters 0.02345649676432244 Centerline is valid? [True, True] Translation: X:130.49, Y:-21.60, Z:-6.07 [[ 8.91904586e-01 4.51290938e-01 2.90292745e-02 1.30493185e+02] [-4.51021154e-01 8.92376478e-01 -1.56250014e-02 -2.16042644e+01] [-3.29564632e-02 8.43193512e-04 9.99456433e-01 -6.07289589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.950385723 meters 0.02510759368889975 Centerline is valid? [True, True] Translation: X:130.52, Y:-21.62, Z:-6.07 [[ 8.92906352e-01 4.49298509e-01 2.91392749e-02 1.30522239e+02] [-4.49025526e-01 8.93381217e-01 -1.56868968e-02 -2.16162006e+01] [-3.30805802e-02 9.22651527e-04 9.99452262e-01 -6.07391365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980385723 meters 0.025441858404218486 Centerline is valid? [True, True] Translation: X:130.55, Y:-21.63, Z:-6.08 [[ 8.92988281e-01 4.49142824e-01 2.90284783e-02 1.30551666e+02] [-4.48871609e-01 8.93459488e-01 -1.56340099e-02 -2.16285847e+01] [-3.29576727e-02 9.30927909e-04 9.99456315e-01 -6.07624021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010385723 meters 0.025262708025416046 Centerline is valid? [True, True] Translation: X:130.58, Y:-21.64, Z:-6.08 [[ 8.92489159e-01 4.50139646e-01 2.89378675e-02 1.30581739e+02] [-4.49870394e-01 8.92957722e-01 -1.55928121e-02 -2.16377955e+01] [-3.28592352e-02 8.98125850e-04 9.99459586e-01 -6.07786263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040385723 meters 0.018758447213259543 Centerline is valid? [True, True] Translation: X:130.62, Y:-21.64, Z:-6.07 [[ 8.91733286e-01 4.51584294e-01 2.97215900e-02 1.30616186e+02] [-4.51300785e-01 8.92228031e-01 -1.60231467e-02 -2.16428416e+01] [-3.37542371e-02 8.74996312e-04 9.99429780e-01 -6.07433014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07038572300002 meters 0.017755907790407807 Centerline is valid? [True, True] Translation: X:130.65, Y:-21.65, Z:-6.07 [[ 8.89524214e-01 4.55825478e-01 3.11417071e-02 1.30647810e+02] [-4.55516593e-01 8.90068854e-01 -1.67948892e-02 -2.16516717e+01] [-3.53738019e-02 7.53896323e-04 9.99373867e-01 -6.07423767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10038572300002 meters 0.020750975565459535 Centerline is valid? [True, True] Translation: X:130.67, Y:-21.67, Z:-6.08 [[ 8.88210459e-01 4.58385126e-01 3.10685737e-02 1.30674218e+02] [-4.58079245e-01 8.88753426e-01 -1.67556759e-02 -2.16681700e+01] [-3.52928539e-02 6.50697778e-04 9.99376801e-01 -6.07900218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13038572300002 meters 0.015860661843003134 Centerline is valid? [True, True] Translation: X:130.71, Y:-21.67, Z:-6.08 [[ 8.86593244e-01 4.61501994e-01 3.11179736e-02 1.30708570e+02] [-4.61196758e-01 8.87139010e-01 -1.67906818e-02 -2.16720619e+01] [-3.53549014e-02 5.34996536e-04 9.99374677e-01 -6.07731473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16038572300002 meters 0.016045847714089786 Centerline is valid? [True, True] Translation: X:130.74, Y:-21.68, Z:-6.08 [[ 8.83177053e-01 4.67961261e-01 3.17891619e-02 1.30738111e+02] [-4.67646449e-01 8.83748930e-01 -1.71646967e-02 -2.16816268e+01] [-3.61260510e-02 2.93377542e-04 9.99347198e-01 -6.08263833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19038572300002 meters 0.01426392219852236 Centerline is valid? [True, True] Translation: X:130.77, Y:-21.69, Z:-6.08 [[ 8.78835501e-01 4.76076965e-01 3.16051463e-02 1.30772196e+02] [-4.75771032e-01 8.79403617e-01 -1.70646598e-02 -2.16866929e+01] [-3.59177714e-02 -3.97842532e-05 9.99354748e-01 -6.08065746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22038572300002 meters 0.014442049119121012 Centerline is valid? [True, True] Translation: X:130.80, Y:-21.70, Z:-6.08 [[ 8.76542353e-01 4.80350554e-01 3.06079712e-02 1.30802483e+02] [-4.80065914e-01 8.77076567e-01 -1.65351915e-02 -2.16986106e+01] [-3.47882227e-02 -2.00048003e-04 9.99394687e-01 -6.08306057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25038572300002 meters 0.015075704276821025 Centerline is valid? [True, True] Translation: X:130.83, Y:-21.71, Z:-6.09 [[ 8.74330603e-01 4.84411805e-01 2.98529684e-02 1.30832128e+02] [-4.84143101e-01 8.74840034e-01 -1.61360981e-02 -2.17104089e+01] [-3.39330883e-02 -3.44824325e-04 9.99424047e-01 -6.08573947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.280385723 meters 0.015075704276821025 Centerline is valid? [True, True] Translation: X:130.86, Y:-21.73, Z:-6.09 [[ 8.74200671e-01 4.84646471e-01 2.98493606e-02 1.30860611e+02] [-4.84377676e-01 8.74710054e-01 -1.61427687e-02 -2.17258937e+01] [-3.39330717e-02 -3.46344661e-04 9.99424047e-01 -6.08719515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310385723 meters 0.016287858199493212 Centerline is valid? [True, True] Translation: X:130.89, Y:-21.74, Z:-6.09 [[ 8.70801227e-01 4.90821235e-01 2.82796406e-02 1.30890910e+02] [-4.90582814e-01 8.71260133e-01 -1.53063131e-02 -2.17357402e+01] [-3.21515869e-02 -5.44749450e-04 9.99482856e-01 -6.09060267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.340385723 meters 0.017606784911381273 Centerline is valid? [True, True] Translation: X:130.92, Y:-21.75, Z:-6.09 [[ 8.69441663e-01 4.93224278e-01 2.83020417e-02 1.30919985e+02] [-4.92986752e-01 8.69901954e-01 -1.53183926e-02 -2.17476572e+01] [-3.21754045e-02 -6.34082829e-04 9.99482037e-01 -6.09382494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370385723 meters 0.017772591121007687 Centerline is valid? [True, True] Translation: X:130.95, Y:-21.76, Z:-6.09 [[ 8.68020974e-01 4.95664893e-01 2.92558178e-02 1.30947960e+02] [-4.95412354e-01 8.68513533e-01 -1.58380187e-02 -2.17631097e+01] [-3.32594236e-02 -7.45961132e-04 9.99446474e-01 -6.09422908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.400385723 meters 0.01878379414894211 Centerline is valid? [True, True] Translation: X:130.98, Y:-21.78, Z:-6.10 [[ 8.67430904e-01 4.96651304e-01 3.00184759e-02 1.30975414e+02] [-4.96385686e-01 8.67949796e-01 -1.62604412e-02 -2.17777805e+01] [-3.41302994e-02 -7.95932563e-04 9.99417075e-01 -6.09539855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430385723 meters 0.019001771818646512 Centerline is valid? [True, True] Translation: X:131.00, Y:-21.80, Z:-6.10 [[ 8.67061890e-01 4.97282554e-01 3.02281401e-02 1.31002225e+02] [-4.97013321e-01 8.67588260e-01 -1.63819658e-02 -2.17973200e+01] [-3.43720452e-02 -8.19610074e-04 9.99408771e-01 -6.09537721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.460385723 meters 0.016972280371078827 Centerline is valid? [True, True] Translation: X:131.03, Y:-21.82, Z:-6.09 [[ 8.67001713e-01 4.97389675e-01 3.01917253e-02 1.31028368e+02] [-4.97120821e-01 8.67526857e-01 -1.63719860e-02 -2.18185832e+01] [-3.43353894e-02 -8.14395395e-04 9.99410035e-01 -6.09462968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490385723 meters 0.0169885986129849 Centerline is valid? [True, True] Translation: X:131.06, Y:-21.84, Z:-6.10 [[ 8.66781368e-01 4.97777243e-01 3.01309894e-02 1.31056515e+02] [-4.97509329e-01 8.67304529e-01 -1.63499753e-02 -2.18356412e+01] [-3.42713892e-02 -8.18594382e-04 9.99412228e-01 -6.09588047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.520385723 meters 0.017387646321686503 Centerline is valid? [True, True] Translation: X:131.08, Y:-21.85, Z:-6.10 [[ 8.66697824e-01 4.98006979e-01 2.87042022e-02 1.31082919e+02] [-4.97763625e-01 8.67172671e-01 -1.55862672e-02 -2.18528953e+01] [-3.26535696e-02 -7.79323886e-04 9.99466426e-01 -6.09922289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550385723 meters 0.0174924217965258 Centerline is valid? [True, True] Translation: X:131.11, Y:-21.87, Z:-6.10 [[ 8.66667626e-01 4.98099749e-01 2.79976212e-02 1.31110351e+02] [-4.97868050e-01 8.67119408e-01 -1.52098049e-02 -2.18708468e+01] [-3.18532807e-02 -7.57275527e-04 9.99492269e-01 -6.10164694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.580385723 meters 0.01727524424051523 Centerline is valid? [True, True] Translation: X:131.14, Y:-21.89, Z:-6.10 [[ 8.66749011e-01 4.97930637e-01 2.84821503e-02 1.31135225e+02] [-4.97690406e-01 8.67216531e-01 -1.54837932e-02 -2.18926188e+01] [-3.24100466e-02 -7.54730520e-04 9.99474371e-01 -6.10194666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610385723 meters 0.01727043852994523 Centerline is valid? [True, True] Translation: X:131.16, Y:-21.91, Z:-6.10 [[ 8.66702615e-01 4.97999220e-01 2.86941248e-02 1.31162356e+02] [-4.97755156e-01 8.67177148e-01 -1.56076660e-02 -2.19111771e+01] [-3.26554948e-02 -7.55443582e-04 9.99466382e-01 -6.10228933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.640385723 meters 0.019927090077327306 Centerline is valid? [True, True] Translation: X:131.19, Y:-21.93, Z:-6.10 [[ 8.66304080e-01 4.98645643e-01 2.94917614e-02 1.31189721e+02] [-4.98387780e-01 8.66805571e-01 -1.60537600e-02 -2.19278458e+01] [-3.35687606e-02 -7.90895733e-04 9.99436097e-01 -6.10404257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.670385723 meters 0.017972084119138195 Centerline is valid? [True, True] Translation: X:131.21, Y:-21.95, Z:-6.10 [[ 8.65802970e-01 4.99493038e-01 2.98650582e-02 1.31214964e+02] [-4.99228906e-01 8.66317504e-01 -1.62628882e-02 -2.19487414e+01] [-3.39958221e-02 -8.29043424e-04 9.99421631e-01 -6.10313443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.700385723 meters 0.018547658767711226 Centerline is valid? [True, True] Translation: X:131.24, Y:-21.97, Z:-6.11 [[ 8.65135409e-01 5.00657385e-01 2.97137648e-02 1.31240943e+02] [-5.00396292e-01 8.65645100e-01 -1.61898538e-02 -2.19669608e+01] [-3.38271448e-02 -8.62241972e-04 9.99427326e-01 -6.10552880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730385723 meters 0.018491896798830856 Centerline is valid? [True, True] Translation: X:131.27, Y:-21.99, Z:-6.11 [[ 8.65017943e-01 5.00886323e-01 2.92720002e-02 1.31268484e+02] [-5.00632819e-01 8.65512661e-01 -1.59566524e-02 -2.19857630e+01] [-3.33277557e-02 -8.51733383e-04 9.99444113e-01 -6.10792905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760385723 meters 0.01851251043302833 Centerline is valid? [True, True] Translation: X:131.29, Y:-22.01, Z:-6.11 [[ 8.65056455e-01 5.00865339e-01 2.84823146e-02 1.31293888e+02] [-5.00625007e-01 8.65524835e-01 -1.55358312e-02 -2.20086768e+01] [-3.24335100e-02 -8.19587826e-04 9.99473559e-01 -6.11040868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790385723 meters 0.018980191692963628 Centerline is valid? [True, True] Translation: X:131.32, Y:-22.03, Z:-6.11 [[ 8.65065855e-01 5.00869214e-01 2.81264663e-02 1.31321122e+02] [-5.00634532e-01 8.65522611e-01 -1.53517400e-02 -2.20259104e+01] [-3.20333065e-02 -8.00814233e-04 9.99486481e-01 -6.11245513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82038572300002 meters 0.018756732038096625 Centerline is valid? [True, True] Translation: X:131.35, Y:-22.05, Z:-6.12 [[ 8.64697816e-01 5.01599853e-01 2.63680808e-02 1.31347091e+02] [-5.01393698e-01 8.65099414e-01 -1.44001101e-02 -2.20458471e+01] [-3.00341044e-02 -7.69045832e-04 9.99548579e-01 -6.11537074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85038572300002 meters 0.019196626530210356 Centerline is valid? [True, True] Translation: X:131.37, Y:-22.06, Z:-6.12 [[ 8.64459883e-01 5.02053047e-01 2.55313437e-02 1.31373187e+02] [-5.01859689e-01 8.64836501e-01 -1.39527475e-02 -2.20618146e+01] [-2.90854573e-02 -7.51561702e-04 9.99576646e-01 -6.11772781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88038572300002 meters 0.019166576781488115 Centerline is valid? [True, True] Translation: X:131.40, Y:-22.08, Z:-6.12 [[ 8.63472227e-01 5.03731951e-01 2.58811524e-02 1.31397968e+02] [-5.03533945e-01 8.63859626e-01 -1.41461355e-02 -2.20826104e+01] [-2.94835430e-02 -8.17243615e-04 9.99564932e-01 -6.11767653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91038572300002 meters 0.019046518018249397 Centerline is valid? [True, True] Translation: X:131.42, Y:-22.10, Z:-6.12 [[ 8.63002981e-01 5.04518406e-01 2.62113226e-02 1.31424974e+02] [-5.04315474e-01 8.63400520e-01 -1.43333734e-02 -2.21015114e+01] [-2.98623203e-02 -8.49031607e-04 9.99553661e-01 -6.11768304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94038572300002 meters 0.01989170003456882 Centerline is valid? [True, True] Translation: X:131.45, Y:-22.12, Z:-6.12 [[ 8.62423751e-01 5.05433258e-01 2.76133062e-02 1.31450899e+02] [-5.05208155e-01 8.62865214e-01 -1.51109884e-02 -2.21215154e+01] [-3.14641575e-02 -9.18392168e-04 9.99504459e-01 -6.11706496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97038572300002 meters 0.019861289566454415 Centerline is valid? [True, True] Translation: X:131.48, Y:-22.14, Z:-6.12 [[ 8.62268646e-01 5.05680042e-01 2.79370367e-02 1.31478524e+02] [-5.05449461e-01 8.62720598e-01 -1.52974638e-02 -2.21395455e+01] [-3.18374791e-02 -9.30236798e-04 9.99492626e-01 -6.11751863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00038572300002 meters 0.01887893006346058 Centerline is valid? [True, True] Translation: X:131.50, Y:-22.16, Z:-6.12 [[ 8.62502986e-01 5.05257800e-01 2.83399931e-02 1.31503791e+02] [-5.05019949e-01 8.62967966e-01 -1.55286972e-02 -2.21607962e+01] [-3.23025016e-02 -9.18714199e-04 9.99477716e-01 -6.11885715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030385723 meters 0.019269001222339554 Centerline is valid? [True, True] Translation: X:131.53, Y:-22.18, Z:-6.12 [[ 8.62822414e-01 5.04733465e-01 2.79573009e-02 1.31530260e+02] [-5.04501434e-01 8.63274786e-01 -1.53279809e-02 -2.21778752e+01] [-3.18713778e-02 -8.79172930e-04 9.99491592e-01 -6.12108455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.060385723 meters 0.01828716445032237 Centerline is valid? [True, True] Translation: X:131.56, Y:-22.20, Z:-6.12 [[ 8.63208013e-01 5.04080783e-01 2.78296758e-02 1.31555712e+02] [-5.03850281e-01 8.63656095e-01 -1.52657647e-02 -2.21982985e+01] [-3.17304478e-02 -8.44459511e-04 9.99496106e-01 -6.12127329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090385723 meters 0.018139568235844415 Centerline is valid? [True, True] Translation: X:131.58, Y:-22.22, Z:-6.12 [[ 8.64842178e-01 5.01254719e-01 2.81374064e-02 1.31578228e+02] [-5.01017216e-01 8.65299463e-01 -1.54462962e-02 -2.22196051e+01] [-3.20898115e-02 -7.38716624e-04 9.99484716e-01 -6.12165478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.120385723 meters 0.017391269032961603 Centerline is valid? [True, True] Translation: X:131.60, Y:-22.24, Z:-6.12 [[ 8.66487938e-01 4.98408479e-01 2.80649435e-02 1.31601797e+02] [-4.98170705e-01 8.66942091e-01 -1.54064506e-02 -2.22429963e+01] [-3.20093864e-02 -6.31629135e-04 9.99487369e-01 -6.12197315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150385723 meters 0.01709207123164659 Centerline is valid? [True, True] Translation: X:131.63, Y:-22.26, Z:-6.12 [[ 8.67317310e-01 4.96948596e-01 2.83333175e-02 1.31627886e+02] [-4.96705182e-01 8.67779789e-01 -1.55627872e-02 -2.22619353e+01] [-3.23209855e-02 -5.75430931e-04 9.99477375e-01 -6.12320871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.180385723 meters 0.01694115350191685 Centerline is valid? [True, True] Translation: X:131.65, Y:-22.28, Z:-6.12 [[ 8.68089008e-01 4.95560885e-01 2.89979986e-02 1.31654004e+02] [-4.95304829e-01 8.68573043e-01 -1.59372458e-02 -2.22807919e+01] [-3.30847555e-02 -5.27900817e-04 9.99452410e-01 -6.12390474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210385723 meters 0.016498443941866277 Centerline is valid? [True, True] Translation: X:131.68, Y:-22.30, Z:-6.12 [[ 8.69959708e-01 4.92198594e-01 3.01769903e-02 1.31677715e+02] [-4.91918914e-01 8.70482842e-01 -1.65953139e-02 -2.23024921e+01] [-3.44367425e-02 -4.07377905e-04 9.99406796e-01 -6.12392244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.240385723 meters 0.016126013595400873 Centerline is valid? [True, True] Translation: X:131.70, Y:-22.33, Z:-6.12 [[ 8.72311255e-01 4.88051546e-01 2.96439327e-02 1.31700970e+02] [-4.87778980e-01 8.72814777e-01 -1.63104874e-02 -2.23255722e+01] [-3.38340211e-02 -2.31865467e-04 9.99427439e-01 -6.12458483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270385723 meters 0.016020389100935128 Centerline is valid? [True, True] Translation: X:131.73, Y:-22.35, Z:-6.13 [[ 8.73376152e-01 4.86156189e-01 2.94322370e-02 1.31726518e+02] [-4.85886154e-01 8.73871923e-01 -1.62020934e-02 -2.23450822e+01] [-3.35967536e-02 -1.50194403e-04 9.99435458e-01 -6.12553723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.300385723 meters 0.016052862459660477 Centerline is valid? [True, True] Translation: X:131.75, Y:-22.37, Z:-6.13 [[ 8.74325737e-01 4.84456429e-01 2.92655670e-02 1.31753241e+02] [-4.84188220e-01 8.74815388e-01 -1.61184770e-02 -2.23650568e+01] [-3.34106681e-02 -7.72435291e-05 9.99441705e-01 -6.12518935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330385723 meters 0.016162655497423965 Centerline is valid? [True, True] Translation: X:131.78, Y:-22.39, Z:-6.13 [[ 8.75869056e-01 4.81633355e-01 2.97104099e-02 1.31779551e+02] [-4.81354933e-01 8.76372814e-01 -1.63743203e-02 -2.23857521e+01] [-3.39238143e-02 4.05081109e-05 9.99424421e-01 -6.12556843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.360385723 meters 0.016313945019147864 Centerline is valid? [True, True] Translation: X:131.81, Y:-22.40, Z:-6.13 [[ 8.76277227e-01 4.80894418e-01 2.96442132e-02 1.31807416e+02] [-4.80616458e-01 8.76778508e-01 -1.63483516e-02 -2.24040747e+01] [-3.38532401e-02 7.81914912e-05 9.99426812e-01 -6.12685053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390385723 meters 0.016501618287097928 Centerline is valid? [True, True] Translation: X:131.83, Y:-22.42, Z:-6.13 [[ 8.76924485e-01 4.79700372e-01 2.98496339e-02 1.31833852e+02] [-4.79417486e-01 8.77432354e-01 -1.64723667e-02 -2.24247247e+01] [-3.40928350e-02 1.34585293e-04 9.99418661e-01 -6.12779015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.420385723 meters 0.01654753839838536 Centerline is valid? [True, True] Translation: X:131.86, Y:-22.44, Z:-6.13 [[ 8.76980658e-01 4.79573614e-01 3.02336724e-02 1.31861331e+02] [-4.79282951e-01 8.77501639e-01 -1.66951130e-02 -2.24425263e+01] [-3.45366327e-02 1.50807506e-04 9.99403421e-01 -6.12834501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.450385723 meters 0.016674424502251605 Centerline is valid? [True, True] Translation: X:131.89, Y:-22.46, Z:-6.13 [[ 8.76281857e-01 4.80870373e-01 2.98963559e-02 1.31888229e+02] [-4.80586549e-01 8.76791693e-01 -1.65195452e-02 -2.24622007e+01] [-3.41566364e-02 1.07991211e-04 9.99416486e-01 -6.12910939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480385723 meters 0.016677050473959325 Centerline is valid? [True, True] Translation: X:131.92, Y:-22.48, Z:-6.13 [[ 8.75520889e-01 4.82271077e-01 2.96273797e-02 1.31915332e+02] [-4.81992737e-01 8.76022034e-01 -1.63828398e-02 -2.24790498e+01] [-3.38552073e-02 6.33366526e-05 9.99426746e-01 -6.13075733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510385723 meters 0.016760431487312943 Centerline is valid? [True, True] Translation: X:131.94, Y:-22.50, Z:-6.13 [[ 8.74209076e-01 4.84674972e-01 2.91318145e-02 1.31943754e+02] [-4.84407033e-01 8.74694330e-01 -1.61138366e-02 -2.24952672e+01] [-3.32914063e-02 -2.47936126e-05 9.99445687e-01 -6.13225845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540385723 meters 0.0170611007811037 Centerline is valid? [True, True] Translation: X:131.97, Y:-22.51, Z:-6.14 [[ 8.70772192e-01 4.90923875e-01 2.73776970e-02 1.31971129e+02] [-4.90689955e-01 8.71202441e-01 -1.51550282e-02 -2.25086232e+01] [-3.12914816e-02 -2.37383741e-04 9.99510273e-01 -6.13594465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57038572300002 meters 0.01786331011664627 Centerline is valid? [True, True] Translation: X:132.00, Y:-22.52, Z:-6.14 [[ 8.66889452e-01 4.97824195e-01 2.59566794e-02 1.31998669e+02] [-4.97616954e-01 8.67277845e-01 -1.43703709e-02 -2.25238946e+01] [-2.96655713e-02 -4.58960742e-04 9.99559775e-01 -6.13840906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60038572300002 meters 0.01897534287215503 Centerline is valid? [True, True] Translation: X:132.03, Y:-22.54, Z:-6.14 [[ 8.65112094e-01 5.00925640e-01 2.55845430e-02 1.32026568e+02] [-5.00725437e-01 8.65490150e-01 -1.41716763e-02 -2.25381785e+01] [-2.92421260e-02 -5.50742932e-04 9.99572206e-01 -6.14168342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63038572300002 meters 0.019145924468505868 Centerline is valid? [True, True] Translation: X:132.05, Y:-22.55, Z:-6.14 [[ 8.63645354e-01 5.03445917e-01 2.56692540e-02 1.32053648e+02] [-5.03245285e-01 8.64026510e-01 -1.42258022e-02 -2.25548304e+01] [-2.93408379e-02 -6.31883047e-04 9.99569265e-01 -6.14212813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66038572300002 meters 0.02021884935678184 Centerline is valid? [True, True] Translation: X:132.08, Y:-22.57, Z:-6.14 [[ 8.61652687e-01 5.06804163e-01 2.65365394e-02 1.32080573e+02] [-5.06591056e-01 8.62060878e-01 -1.47154404e-02 -2.25698822e+01] [-3.03339589e-02 -7.63574786e-04 9.99539528e-01 -6.14447236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69038572300002 meters 0.020406404384818416 Centerline is valid? [True, True] Translation: X:132.11, Y:-22.59, Z:-6.15 [[ 8.61144803e-01 5.07626516e-01 2.72937442e-02 1.32108963e+02] [-5.07401254e-01 8.61576849e-01 -1.51427174e-02 -2.25874418e+01] [-3.12025030e-02 -8.08807627e-04 9.99512756e-01 -6.14555907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72038572300002 meters 0.021179609663334143 Centerline is valid? [True, True] Translation: X:132.13, Y:-22.61, Z:-6.15 [[ 8.60308950e-01 5.08995253e-01 2.81485960e-02 1.32133809e+02] [-5.08756025e-01 8.60768881e-01 -1.56282173e-02 -2.26062805e+01] [-3.21841239e-02 -8.75672605e-04 9.99481573e-01 -6.14582473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75038572300002 meters 0.020867112563497648 Centerline is valid? [True, True] Translation: X:132.16, Y:-22.63, Z:-6.15 [[ 8.60144920e-01 5.09258848e-01 2.83926466e-02 1.32161021e+02] [-5.09015353e-01 8.60612944e-01 -1.57712056e-02 -2.26260795e+01] [-3.24667052e-02 -8.86770693e-04 9.99472424e-01 -6.14594128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.780385723 meters 0.02110160241014926 Centerline is valid? [True, True] Translation: X:132.19, Y:-22.65, Z:-6.15 [[ 8.60401604e-01 5.08783308e-01 2.91311898e-02 1.32185978e+02] [-5.08526327e-01 8.60894168e-01 -1.61927988e-02 -2.26457593e+01] [-3.33174972e-02 -8.81666886e-04 9.99444429e-01 -6.14694648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810385723 meters 0.02114650597083835 Centerline is valid? [True, True] Translation: X:132.21, Y:-22.66, Z:-6.15 [[ 8.60632725e-01 5.08377521e-01 2.93872135e-02 1.32213072e+02] [-5.08115487e-01 8.61133872e-01 -1.63433812e-02 -2.26633459e+01] [-3.36149325e-02 -8.66449579e-04 9.99434483e-01 -6.14849635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.840385723 meters 0.02138408608456042 Centerline is valid? [True, True] Translation: X:132.24, Y:-22.68, Z:-6.15 [[ 8.60662410e-01 5.08291068e-01 3.00067597e-02 1.32238488e+02] [-5.08017484e-01 8.61184898e-01 -1.66975350e-02 -2.26814375e+01] [-3.43285762e-02 -8.73017801e-04 9.99410219e-01 -6.14974652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870385723 meters 0.020349167256669416 Centerline is valid? [True, True] Translation: X:132.26, Y:-22.70, Z:-6.15 [[ 8.60700988e-01 5.08220546e-01 3.00946030e-02 1.32264076e+02] [-5.07945034e-01 8.61226525e-01 -1.67545690e-02 -2.27016479e+01] [-3.44332866e-02 -8.65729996e-04 9.99406624e-01 -6.15026904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.900385723 meters 0.02080177705679518 Centerline is valid? [True, True] Translation: X:132.29, Y:-22.72, Z:-6.15 [[ 8.62510752e-01 5.05225264e-01 2.86816292e-02 1.32289001e+02] [-5.04973085e-01 8.62987218e-01 -1.59764055e-02 -2.27215532e+01] [-3.28235631e-02 -7.03629293e-04 9.99460914e-01 -6.15368419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930385723 meters 0.0192777544353069 Centerline is valid? [True, True] Translation: X:132.31, Y:-22.74, Z:-6.15 [[ 8.63760836e-01 5.03076460e-01 2.88321590e-02 1.32313806e+02] [-5.02820131e-01 8.64241687e-01 -1.60692977e-02 -2.27429401e+01] [-3.30020391e-02 -6.17359946e-04 9.99455094e-01 -6.15372106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.960385723 meters 0.018588905075533787 Centerline is valid? [True, True] Translation: X:132.34, Y:-22.76, Z:-6.16 [[ 8.65923819e-01 4.99326392e-01 2.91392068e-02 1.32339220e+02] [-4.99062133e-01 8.66413834e-01 -1.62497860e-02 -2.27626329e+01] [-3.33605588e-02 -4.71197957e-04 9.99443271e-01 -6.15566292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990385723 meters 0.018924056678973164 Centerline is valid? [True, True] Translation: X:132.37, Y:-22.78, Z:-6.16 [[ 8.66675819e-01 4.98016140e-01 2.92052947e-02 1.32366240e+02] [-4.97749619e-01 8.67167662e-01 -1.62961062e-02 -2.27775722e+01] [-3.34416110e-02 -4.13483185e-04 9.99440587e-01 -6.15926951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.020385723 meters 0.018291404510448365 Centerline is valid? [True, True] Translation: X:132.39, Y:-22.80, Z:-6.16 [[ 8.67345638e-01 4.96911680e-01 2.81127381e-02 1.32393238e+02] [-4.96663934e-01 8.67801048e-01 -1.56932369e-02 -2.27972070e+01] [-3.21944163e-02 -3.51122529e-04 9.99481564e-01 -6.15878289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050385723 meters 0.01839134834047834 Centerline is valid? [True, True] Translation: X:132.42, Y:-22.81, Z:-6.16 [[ 8.67277849e-01 4.97044871e-01 2.78483041e-02 1.32421674e+02] [-4.96801500e-01 8.67724771e-01 -1.55560631e-02 -2.28120604e+01] [-3.18967247e-02 -3.43650276e-04 9.99491111e-01 -6.16075167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.080385723 meters 0.018365972785203136 Centerline is valid? [True, True] Translation: X:132.45, Y:-22.82, Z:-6.16 [[ 8.67265775e-01 4.97083715e-01 2.75291860e-02 1.32451270e+02] [-4.96845575e-01 8.67702524e-01 -1.53884478e-02 -2.28247529e+01] [-3.15364910e-02 -3.31880155e-04 9.99502546e-01 -6.16322209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110385723 meters 0.018815207344077663 Centerline is valid? [True, True] Translation: X:132.48, Y:-22.84, Z:-6.17 [[ 8.67015634e-01 4.97488073e-01 2.80981656e-02 1.32480265e+02] [-4.97240026e-01 8.67470746e-01 -1.57118220e-02 -2.28372844e+01] [-3.21907807e-02 -3.49137226e-04 9.99481682e-01 -6.16688874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.140385723 meters 0.01850192822320431 Centerline is valid? [True, True] Translation: X:132.51, Y:-22.85, Z:-6.17 [[ 8.66743984e-01 4.97880087e-01 2.95005867e-02 1.32507837e+02] [-4.97606524e-01 8.67245801e-01 -1.65065701e-02 -2.28535540e+01] [-3.38025525e-02 -3.72714091e-04 9.99428461e-01 -6.16511731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.170385723 meters 0.01850192822320431 Centerline is valid? [True, True] Translation: X:132.54, Y:-22.87, Z:-6.17 [[ 8.66612220e-01 4.98109618e-01 2.94969317e-02 1.32536044e+02] [-4.97835966e-01 8.67113988e-01 -1.65130985e-02 -2.28694359e+01] [-3.38025353e-02 -3.74180546e-04 9.99428461e-01 -6.16657275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.200385723 meters 0.019013157531926922 Centerline is valid? [True, True] Translation: X:132.56, Y:-22.88, Z:-6.17 [[ 8.66527797e-01 4.98241264e-01 2.97526303e-02 1.32564554e+02] [-4.97962559e-01 8.67038352e-01 -1.66669352e-02 -2.28837224e+01] [-3.41008264e-02 -3.73333289e-04 9.99418328e-01 -6.16927629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230385723 meters 0.018541662134719784 Centerline is valid? [True, True] Translation: X:132.59, Y:-22.90, Z:-6.17 [[ 8.66452053e-01 4.98343462e-01 3.02429201e-02 1.32592036e+02] [-4.98055214e-01 8.66979615e-01 -1.69514158e-02 -2.29011824e+01] [-3.46676225e-02 -3.75055008e-04 9.99398827e-01 -6.16954927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260385723 meters 0.01834520195926396 Centerline is valid? [True, True] Translation: X:132.62, Y:-22.92, Z:-6.17 [[ 8.66522490e-01 4.98185385e-01 3.08236472e-02 1.32619429e+02] [-4.97885465e-01 8.67070463e-01 -1.72880249e-02 -2.29180170e+01] [-3.53389153e-02 -3.66183561e-04 9.99375318e-01 -6.16996810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290385723 meters 0.01835901460660161 Centerline is valid? [True, True] Translation: X:132.65, Y:-22.93, Z:-6.17 [[ 8.66989512e-01 4.97249401e-01 3.27447663e-02 1.32646677e+02] [-4.96909799e-01 8.67607583e-01 -1.83775203e-02 -2.29348168e+01] [-3.75478186e-02 -3.38077895e-04 9.99294775e-01 -6.16931648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32038572300002 meters 0.01818894811124561 Centerline is valid? [True, True] Translation: X:132.67, Y:-22.95, Z:-6.17 [[ 8.67200665e-01 4.96827485e-01 3.35478208e-02 1.32673938e+02] [-4.96470508e-01 8.67849264e-01 -1.88331862e-02 -2.29513923e+01] [-3.84712961e-02 -3.23352047e-04 9.99259653e-01 -6.16915708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35038572300002 meters 0.018525343764404578 Centerline is valid? [True, True] Translation: X:132.70, Y:-22.96, Z:-6.17 [[ 8.67301489e-01 4.96594057e-01 3.43870663e-02 1.32702194e+02] [-4.96218327e-01 8.67982861e-01 -1.93164742e-02 -2.29639915e+01] [-3.94398305e-02 -3.10285635e-04 9.99221899e-01 -6.17171416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38038572300002 meters 0.018348103209189403 Centerline is valid? [True, True] Translation: X:132.73, Y:-22.98, Z:-6.17 [[ 8.66869965e-01 4.97307799e-01 3.49487804e-02 1.32730170e+02] [-4.96920040e-01 8.67574109e-01 -1.96376726e-02 -2.29809263e+01] [-4.00866247e-02 -3.43440806e-04 9.99196149e-01 -6.17131120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41038572300002 meters 0.018348089335724373 Centerline is valid? [True, True] Translation: X:132.76, Y:-23.00, Z:-6.17 [[ 8.66572655e-01 4.97878906e-01 3.41822872e-02 1.32758395e+02] [-4.97507938e-01 8.67246489e-01 -1.92192383e-02 -2.29950790e+01] [-3.92133219e-02 -3.51092839e-04 9.99230800e-01 -6.17397231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44038572300002 meters 0.018598479946538325 Centerline is valid? [True, True] Translation: X:132.79, Y:-23.01, Z:-6.18 [[ 8.65907847e-01 4.99175541e-01 3.20527818e-02 1.32787064e+02] [-4.98849874e-01 8.66500801e-01 -1.80323250e-02 -2.30074390e+01] [-3.67750567e-02 -3.75194416e-04 9.99323498e-01 -6.17979631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47038572300002 meters 0.018683577627421278 Centerline is valid? [True, True] Translation: X:132.82, Y:-23.02, Z:-6.18 [[ 8.65520601e-01 4.99888025e-01 3.14014757e-02 1.32815163e+02] [-4.99575619e-01 8.66089956e-01 -1.76745453e-02 -2.30227720e+01] [-3.60317963e-02 -3.89728643e-04 9.99350568e-01 -6.18239941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50038572300002 meters 0.018496848748532177 Centerline is valid? [True, True] Translation: X:132.84, Y:-23.04, Z:-6.18 [[ 8.65666525e-01 4.99615115e-01 3.17207217e-02 1.32842829e+02] [-4.99295779e-01 8.66247423e-01 -1.78641455e-02 -2.30393346e+01] [-3.64031905e-02 -3.73629713e-04 9.99337114e-01 -6.18306371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530385723 meters 0.018437766734605916 Centerline is valid? [True, True] Translation: X:132.87, Y:-23.06, Z:-6.18 [[ 8.65944091e-01 4.99080455e-01 3.25504249e-02 1.32869709e+02] [-4.98743420e-01 8.66555581e-01 -1.83418913e-02 -2.30561187e+01] [-3.73608318e-02 -3.51257833e-04 9.99301779e-01 -6.18315586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.560385723 meters 0.01834156325182122 Centerline is valid? [True, True] Translation: X:132.90, Y:-23.07, Z:-6.18 [[ 8.66635238e-01 4.97832147e-01 3.32643650e-02 1.32896857e+02] [-4.97478830e-01 8.67273352e-01 -1.87549092e-02 -2.30732215e+01] [-3.81860941e-02 -2.94652155e-04 9.99270602e-01 -6.18308874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590385723 meters 0.01829885930146276 Centerline is valid? [True, True] Translation: X:132.92, Y:-23.09, Z:-6.18 [[ 8.68003105e-01 4.95369869e-01 3.43409756e-02 1.32922796e+02] [-4.94990916e-01 8.68682140e-01 -1.93735320e-02 -2.30897266e+01] [-3.94284562e-02 -1.82185071e-04 9.99222379e-01 -6.18373854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.620385723 meters 0.018220576946116056 Centerline is valid? [True, True] Translation: X:132.95, Y:-23.11, Z:-6.19 [[ 8.68950128e-01 4.93680115e-01 3.47220350e-02 1.32950182e+02] [-4.93290937e-01 8.69643567e-01 -1.95989078e-02 -2.31066040e+01] [-3.98713855e-02 -9.75917076e-05 9.99204815e-01 -6.18508223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650385723 meters 0.01824986701645039 Centerline is valid? [True, True] Translation: X:132.98, Y:-23.12, Z:-6.19 [[ 8.69234332e-01 4.93184501e-01 3.46514595e-02 1.32978038e+02] [-4.92796076e-01 8.69924734e-01 -1.95699728e-02 -2.31225504e+01] [-3.97957690e-02 -6.52110759e-05 9.99207832e-01 -6.18775371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.680385723 meters 0.018236693815719112 Centerline is valid? [True, True] Translation: X:133.01, Y:-23.14, Z:-6.19 [[ 8.69451054e-01 4.92820951e-01 3.43856719e-02 1.33006194e+02] [-4.92437692e-01 8.70130742e-01 -1.94322052e-02 -2.31389133e+01] [-3.94966281e-02 -3.74495953e-05 9.99219703e-01 -6.18991811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710385723 meters 0.018234693330421558 Centerline is valid? [True, True] Translation: X:133.03, Y:-23.15, Z:-6.19 [[ 8.70018199e-01 4.91850137e-01 3.39378236e-02 1.33033788e+02] [-4.91475580e-01 8.70679874e-01 -1.91914454e-02 -2.31544464e+01] [-3.89882950e-02 1.72951953e-05 9.99239667e-01 -6.19255998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.740385723 meters 0.018207524825748514 Centerline is valid? [True, True] Translation: X:133.06, Y:-23.17, Z:-6.19 [[ 8.70040573e-01 4.91796027e-01 3.41477656e-02 1.33062241e+02] [-4.91416321e-01 8.70710438e-01 -1.93218020e-02 -2.31704583e+01] [-3.92352014e-02 2.99822707e-05 9.99230003e-01 -6.19419645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770385723 meters 0.018224307142304122 Centerline is valid? [True, True] Translation: X:133.09, Y:-23.19, Z:-6.19 [[ 8.70022349e-01 4.91724068e-01 3.56167605e-02 1.33091097e+02] [-4.91310375e-01 8.70751077e-01 -2.01662268e-02 -2.31870799e+01] [-4.09295517e-02 4.61840739e-05 9.99162034e-01 -6.19395366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.800385723 meters 0.01826986000067665 Centerline is valid? [True, True] Translation: X:133.12, Y:-23.20, Z:-6.19 [[ 8.69676296e-01 4.92267127e-01 3.65542750e-02 1.33119849e+02] [-4.91831281e-01 8.70444182e-01 -2.07103052e-02 -2.32031087e+01] [-4.20134585e-02 3.27256428e-05 9.99117044e-01 -6.19449280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830385723 meters 0.018204450811307688 Centerline is valid? [True, True] Translation: X:133.15, Y:-23.22, Z:-6.20 [[ 8.68521476e-01 4.94279004e-01 3.68607170e-02 1.33149241e+02] [-4.93837064e-01 8.69303321e-01 -2.08971513e-02 -2.32173457e+01] [-4.23721668e-02 -5.35636097e-05 9.99101895e-01 -6.19569184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.860385723 meters 0.018193852286034005 Centerline is valid? [True, True] Translation: X:133.18, Y:-23.23, Z:-6.20 [[ 8.67773001e-01 4.95628343e-01 3.63670768e-02 1.33178583e+02] [-4.95198819e-01 8.68534705e-01 -2.06299635e-02 -2.32320235e+01] [-4.18108630e-02 -1.06808129e-04 9.99125538e-01 -6.19849475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890385723 meters 0.01822971574856661 Centerline is valid? [True, True] Translation: X:133.21, Y:-23.25, Z:-6.20 [[ 8.66782835e-01 4.97447798e-01 3.51170272e-02 1.33206834e+02] [-4.97048297e-01 8.67493894e-01 -1.99332175e-02 -2.32461554e+01] [-4.03795418e-02 -1.77087764e-04 9.99184398e-01 -6.20161271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.920385723 meters 0.018266141595978502 Centerline is valid? [True, True] Translation: X:133.24, Y:-23.26, Z:-6.21 [[ 8.65121767e-01 5.00463147e-01 3.31808121e-02 1.33235083e+02] [-5.00108302e-01 8.65757792e-01 -1.88449563e-02 -2.32590378e+01] [-3.81577528e-02 -2.90817698e-04 9.99271685e-01 -6.20554480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.950385723 meters 0.018621949944972665 Centerline is valid? [True, True] Translation: X:133.26, Y:-23.27, Z:-6.21 [[ 8.64004616e-01 5.02396762e-01 3.30683683e-02 1.33262425e+02] [-5.02045359e-01 8.64637126e-01 -1.87909159e-02 -2.32726812e+01] [-3.80326342e-02 -3.66382782e-04 9.99276430e-01 -6.20748816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980385723 meters 0.01855311034770552 Centerline is valid? [True, True] Translation: X:133.29, Y:-23.29, Z:-6.21 [[ 8.63483867e-01 5.03266497e-01 3.34431400e-02 1.33290381e+02] [-5.02907439e-01 8.64131165e-01 -1.90115149e-02 -2.32892443e+01] [-3.84671181e-02 -4.02667463e-04 9.99259785e-01 -6.20815847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010385723 meters 0.01858242958550345 Centerline is valid? [True, True] Translation: X:133.32, Y:-23.30, Z:-6.21 [[ 8.63018563e-01 5.04040058e-01 3.38020680e-02 1.33318606e+02] [-5.03673348e-01 8.63680169e-01 -1.92282337e-02 -2.33046143e+01] [-3.88859758e-02 -4.30878083e-04 9.99243562e-01 -6.20984964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040385723 meters 0.01882091393079336 Centerline is valid? [True, True] Translation: X:133.35, Y:-23.32, Z:-6.21 [[ 8.61621902e-01 5.06398015e-01 3.41869658e-02 1.33346830e+02] [-5.06024283e-01 8.62299696e-01 -1.94591556e-02 -2.33197273e+01] [-3.93334880e-02 -5.33000250e-04 9.99225997e-01 -6.21071343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07038572300002 meters 0.019152703110787216 Centerline is valid? [True, True] Translation: X:133.37, Y:-23.33, Z:-6.21 [[ 8.60726904e-01 5.07894588e-01 3.45294830e-02 1.33373548e+02] [-5.07514085e-01 8.61419021e-01 -1.96652927e-02 -2.33348535e+01] [-3.97322492e-02 -5.97752434e-04 9.99210184e-01 -6.21111163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10038572300002 meters 0.019728130658513688 Centerline is valid? [True, True] Translation: X:133.40, Y:-23.35, Z:-6.21 [[ 8.59061564e-01 5.10657150e-01 3.52491673e-02 1.33401685e+02] [-5.10262484e-01 8.59784124e-01 -2.00862308e-02 -2.33507474e+01] [-4.05638518e-02 -7.31018859e-04 9.99176681e-01 -6.21149114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13038572300002 meters 0.0199699474964342 Centerline is valid? [True, True] Translation: X:133.43, Y:-23.37, Z:-6.21 [[ 8.58378940e-01 5.11806529e-01 3.52089779e-02 1.33429070e+02] [-5.11413490e-01 8.59100384e-01 -2.00692035e-02 -2.33655306e+01] [-4.05195958e-02 -7.79364682e-04 9.99178440e-01 -6.21316693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16038572300002 meters 0.019464169277246042 Centerline is valid? [True, True] Translation: X:133.46, Y:-23.38, Z:-6.22 [[ 8.58959029e-01 5.10855086e-01 3.48779009e-02 1.33455707e+02] [-5.10468407e-01 8.59666539e-01 -1.98858642e-02 -2.33824866e+01] [-4.01421592e-02 -7.22923896e-04 9.99193717e-01 -6.21600133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19038572300002 meters 0.01954372431400902 Centerline is valid? [True, True] Translation: X:133.48, Y:-23.40, Z:-6.22 [[ 8.59199968e-01 5.10485824e-01 3.43458674e-02 1.33483052e+02] [-5.10110136e-01 8.59885896e-01 -1.95932660e-02 -2.33977453e+01] [-3.95356115e-02 -6.85641540e-04 9.99217927e-01 -6.21776164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22038572300002 meters 0.0193548502500386 Centerline is valid? [True, True] Translation: X:133.51, Y:-23.41, Z:-6.22 [[ 8.59094929e-01 5.10664242e-01 3.43210605e-02 1.33510820e+02] [-5.10288857e-01 8.59779950e-01 -1.95887621e-02 -2.34145293e+01] [-3.95118400e-02 -6.85048500e-04 9.99218868e-01 -6.21875915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25038572300002 meters 0.019324458144245358 Centerline is valid? [True, True] Translation: X:133.54, Y:-23.43, Z:-6.22 [[ 8.58637569e-01 5.11440862e-01 3.42019019e-02 1.33537293e+02] [-5.11068185e-01 8.59318186e-01 -1.95337128e-02 -2.34319496e+01] [-3.93806552e-02 -7.07124205e-04 9.99224031e-01 -6.21933706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.280385723 meters 0.019474818619351967 Centerline is valid? [True, True] Translation: X:133.57, Y:-23.45, Z:-6.22 [[ 8.58120086e-01 5.12305049e-01 3.42557324e-02 1.33565284e+02] [-5.11931674e-01 8.58803228e-01 -1.95698096e-02 -2.34483197e+01] [-3.94446458e-02 -7.43347743e-04 9.99221481e-01 -6.22047050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310385723 meters 0.019679474062448785 Centerline is valid? [True, True] Translation: X:133.59, Y:-23.46, Z:-6.22 [[ 8.58005208e-01 5.12496142e-01 3.42748677e-02 1.33593583e+02] [-5.12122073e-01 8.58689206e-01 -1.95915969e-02 -2.34629982e+01] [-3.94720767e-02 -7.43224110e-04 9.99220398e-01 -6.22301160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.340385723 meters 0.020107590531203128 Centerline is valid? [True, True] Translation: X:133.62, Y:-23.48, Z:-6.23 [[ 8.57933927e-01 5.12624430e-01 3.41404643e-02 1.33622067e+02] [-5.12252932e-01 8.58612632e-01 -1.95264413e-02 -2.34772010e+01] [-3.93231647e-02 -7.36156467e-04 9.99226274e-01 -6.22612076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370385723 meters 0.018887736012754903 Centerline is valid? [True, True] Translation: X:133.65, Y:-23.50, Z:-6.23 [[ 8.58449994e-01 5.11736742e-01 3.44835348e-02 1.33648943e+02] [-5.11356564e-01 8.59142030e-01 -1.97341519e-02 -2.34953892e+01] [-3.97249447e-02 -6.92599339e-04 9.99210413e-01 -6.22778967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.400385723 meters 0.019005757268695782 Centerline is valid? [True, True] Translation: X:133.68, Y:-23.51, Z:-6.23 [[ 8.58693602e-01 5.11295786e-01 3.49559442e-02 1.33676531e+02] [-5.10904261e-01 8.59404543e-01 -2.00166659e-02 -2.35105122e+01] [-4.02757342e-02 -6.70957864e-04 9.99188378e-01 -6.22847367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430385723 meters 0.018746351251120837 Centerline is valid? [True, True] Translation: X:133.70, Y:-23.53, Z:-6.23 [[ 8.59106690e-01 5.10556811e-01 3.56010935e-02 1.33702933e+02] [-5.10149804e-01 8.59843782e-01 -2.03923511e-02 -2.35286580e+01] [-4.10228327e-02 -6.42685586e-04 9.99158003e-01 -6.22794868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.460385723 meters 0.018685572561801426 Centerline is valid? [True, True] Translation: X:133.73, Y:-23.54, Z:-6.23 [[ 8.59288783e-01 5.10246448e-01 3.56559809e-02 1.33729902e+02] [-5.09837427e-01 8.60028011e-01 -2.04357293e-02 -2.35445264e+01] [-4.10924006e-02 -6.18560553e-04 9.99155159e-01 -6.22874636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490385723 meters 0.018676234618476256 Centerline is valid? [True, True] Translation: X:133.76, Y:-23.56, Z:-6.23 [[ 8.59133995e-01 5.10526436e-01 3.53770723e-02 1.33757787e+02] [-5.10123795e-01 8.59861832e-01 -2.02815924e-02 -2.35613890e+01] [-4.07736833e-02 -6.22080915e-04 9.99168214e-01 -6.22958627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.520385723 meters 0.01846305526747045 Centerline is valid? [True, True] Translation: X:133.79, Y:-23.58, Z:-6.23 [[ 8.59090737e-01 5.10616287e-01 3.51299351e-02 1.33786186e+02] [-5.10218782e-01 8.59808487e-01 -2.01534119e-02 -2.35777580e+01] [-4.04956767e-02 -6.10343206e-04 9.99179527e-01 -6.23155634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550385723 meters 0.018487190999343477 Centerline is valid? [True, True] Translation: X:133.81, Y:-23.59, Z:-6.23 [[ 8.58697439e-01 5.11317368e-01 3.45435697e-02 1.33813767e+02] [-5.10933399e-01 8.59391735e-01 -1.98218842e-02 -2.35935675e+01] [-3.98217319e-02 -6.28462327e-04 9.99206603e-01 -6.23352783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.580385723 meters 0.018775345223298733 Centerline is valid? [True, True] Translation: X:133.84, Y:-23.61, Z:-6.24 [[ 8.58131780e-01 5.12343287e-01 3.33797157e-02 1.33841363e+02] [-5.11985059e-01 8.58780498e-01 -1.91665148e-02 -2.36070123e+01] [-3.84856840e-02 -6.42520245e-04 9.99258945e-01 -6.23690636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610385723 meters 0.01856950970314237 Centerline is valid? [True, True] Translation: X:133.87, Y:-23.62, Z:-6.24 [[ 8.57773022e-01 5.12941585e-01 3.34121656e-02 1.33869706e+02] [-5.12582929e-01 8.58423257e-01 -1.91899357e-02 -2.36239453e+01] [-3.85250960e-02 -6.65896603e-04 9.99257411e-01 -6.23850778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.640385723 meters 0.01873073841139377 Centerline is valid? [True, True] Translation: X:133.90, Y:-23.64, Z:-6.24 [[ 8.57621118e-01 5.13147843e-01 3.41366201e-02 1.33897762e+02] [-5.12773114e-01 8.58299965e-01 -1.96189452e-02 -2.36389201e+01] [-3.93668792e-02 -6.78719282e-04 9.99224593e-01 -6.24002192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.670385723 meters 0.018667565953646922 Centerline is valid? [True, True] Translation: X:133.93, Y:-23.65, Z:-6.24 [[ 8.57493083e-01 5.13380182e-01 3.38585453e-02 1.33926411e+02] [-5.13011235e-01 8.58161019e-01 -1.94714472e-02 -2.36548072e+01] [-3.90523389e-02 -6.73182875e-04 9.99236940e-01 -6.24145109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.700385723 meters 0.018707002051478728 Centerline is valid? [True, True] Translation: X:133.95, Y:-23.67, Z:-6.24 [[ 8.57496477e-01 5.13381859e-01 3.37469740e-02 1.33954236e+02] [-5.13014857e-01 8.58160026e-01 -1.94197371e-02 -2.36713266e+01] [-3.89300448e-02 -6.60342858e-04 9.99241720e-01 -6.24223438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730385723 meters 0.01876452046834297 Centerline is valid? [True, True] Translation: X:133.98, Y:-23.69, Z:-6.24 [[ 8.57491838e-01 5.13355691e-01 3.42590466e-02 1.33981818e+02] [-5.12976933e-01 8.58175682e-01 -1.97272494e-02 -2.36883879e+01] [-3.95273764e-02 -6.58145329e-04 9.99218271e-01 -6.24238693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760385723 meters 0.018248631639716188 Centerline is valid? [True, True] Translation: X:134.01, Y:-23.71, Z:-6.24 [[ 8.57460703e-01 5.13376561e-01 3.47224691e-02 1.34008605e+02] [-5.12987382e-01 8.58163192e-01 -1.99970683e-02 -2.37078105e+01] [-4.00635711e-02 -6.65488276e-04 9.99196911e-01 -6.24112209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790385723 meters 0.01840054639849172 Centerline is valid? [True, True] Translation: X:134.04, Y:-23.72, Z:-6.24 [[ 8.57363230e-01 5.13518663e-01 3.50267688e-02 1.34036815e+02] [-5.13122200e-01 8.58078166e-01 -2.01858694e-02 -2.37230569e+01] [-4.04215262e-02 -6.66390476e-04 9.99182494e-01 -6.24335888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82038572300002 meters 0.01832387659990961 Centerline is valid? [True, True] Translation: X:134.07, Y:-23.74, Z:-6.25 [[ 8.57259473e-01 5.13714253e-01 3.46967270e-02 1.34065512e+02] [-5.13324918e-01 8.57961090e-01 -2.00074002e-02 -2.37390497e+01] [-4.00465283e-02 -6.59161174e-04 9.99197599e-01 -6.24587660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85038572300002 meters 0.018302291022608465 Centerline is valid? [True, True] Translation: X:134.09, Y:-23.76, Z:-6.25 [[ 8.57158814e-01 5.13927402e-01 3.40204799e-02 1.34094303e+02] [-5.13552790e-01 8.57833439e-01 -1.96296597e-02 -2.37553566e+01] [-3.92721253e-02 -6.45576563e-04 9.99228344e-01 -6.24963662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88038572300002 meters 0.018431318848083886 Centerline is valid? [True, True] Translation: X:134.12, Y:-23.77, Z:-6.25 [[ 8.57305508e-01 5.13730118e-01 3.32961205e-02 1.34121871e+02] [-5.13370657e-01 8.57951625e-01 -1.92243866e-02 -2.37715804e+01] [-3.84426071e-02 -6.12078785e-04 9.99260622e-01 -6.25168369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91038572300002 meters 0.018165533195485962 Centerline is valid? [True, True] Translation: X:134.15, Y:-23.79, Z:-6.25 [[ 8.57998944e-01 5.12570032e-01 3.33132696e-02 1.34148499e+02] [-5.12209054e-01 8.58645244e-01 -1.92413782e-02 -2.37903719e+01] [-3.84668343e-02 -5.54276123e-04 9.99259724e-01 -6.25245796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94038572300002 meters 0.018107034879038256 Centerline is valid? [True, True] Translation: X:134.17, Y:-23.81, Z:-6.25 [[ 8.58428878e-01 5.11836418e-01 3.35162935e-02 1.34174309e+02] [-5.11470047e-01 8.59082776e-01 -1.93694626e-02 -2.38071736e+01] [-3.87072668e-02 -5.15274097e-04 9.99250460e-01 -6.25271001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97038572300002 meters 0.017843938079750432 Centerline is valid? [True, True] Translation: X:134.20, Y:-23.83, Z:-6.25 [[ 8.59421244e-01 5.10088466e-01 3.47114229e-02 1.34199755e+02] [-5.09693641e-01 8.60121829e-01 -2.00706675e-02 -2.38250566e+01] [-4.00938686e-02 -4.43033501e-04 9.99195819e-01 -6.25244405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00038572300002 meters 0.01779190723629637 Centerline is valid? [True, True] Translation: X:134.23, Y:-23.84, Z:-6.25 [[ 8.59627068e-01 5.09701848e-01 3.52892435e-02 1.34226174e+02] [-5.09292996e-01 8.60351002e-01 -2.04156067e-02 -2.38405488e+01] [-4.07670085e-02 -4.22756399e-04 9.99168591e-01 -6.25367128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030385723 meters 0.017601520427807497 Centerline is valid? [True, True] Translation: X:134.25, Y:-23.86, Z:-6.25 [[ 8.59337371e-01 5.10185779e-01 3.53518495e-02 1.34254231e+02] [-5.09775656e-01 8.60064111e-01 -2.04573996e-02 -2.38574110e+01] [-4.08419314e-02 -4.41704281e-04 9.99165523e-01 -6.25485668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.060385723 meters 0.017601520427807497 Centerline is valid? [True, True] Translation: X:134.28, Y:-23.87, Z:-6.26 [[ 8.59197793e-01 5.10421197e-01 3.53462181e-02 1.34282208e+02] [-5.10010873e-01 8.59924419e-01 -2.04671246e-02 -2.38736818e+01] [-4.08419303e-02 -4.41647252e-04 9.99165523e-01 -6.25631272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090385723 meters 0.01758713318574109 Centerline is valid? [True, True] Translation: X:134.31, Y:-23.89, Z:-6.26 [[ 8.59129731e-01 5.10532017e-01 3.54000632e-02 1.34311167e+02] [-5.10120005e-01 8.59858633e-01 -2.05112676e-02 -2.38896725e+01] [-4.09107088e-02 -4.36440556e-04 9.99162711e-01 -6.25889471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.120385723 meters 0.01756453397404064 Centerline is valid? [True, True] Translation: X:134.34, Y:-23.91, Z:-6.26 [[ 8.58986814e-01 5.10813508e-01 3.48024980e-02 1.34339948e+02] [-5.10415021e-01 8.59691441e-01 -2.01775251e-02 -2.39057509e+01] [-4.02263620e-02 -4.31489757e-04 9.99190499e-01 -6.26130649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150385723 meters 0.01887111018957072 Centerline is valid? [True, True] Translation: X:134.37, Y:-23.92, Z:-6.26 [[ 8.58659645e-01 5.11391736e-01 3.43817779e-02 1.34368168e+02] [-5.11002796e-01 8.59347600e-01 -1.99460790e-02 -2.39220101e+01] [-3.97461583e-02 -4.42291566e-04 9.99209711e-01 -6.26469089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.180385723 meters 0.017699674693632695 Centerline is valid? [True, True] Translation: X:134.40, Y:-23.94, Z:-6.26 [[ 8.58415325e-01 5.11829554e-01 3.39652463e-02 1.34395591e+02] [-5.11449786e-01 8.59086905e-01 -1.97181746e-02 -2.39380439e+01] [-3.92714428e-02 -4.45134693e-04 9.99228480e-01 -6.26467726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210385723 meters 0.017887230299970414 Centerline is valid? [True, True] Translation: X:134.42, Y:-23.95, Z:-6.27 [[ 8.57483934e-01 5.13411414e-01 3.36158113e-02 1.34424476e+02] [-5.13040526e-01 8.58142447e-01 -1.95181775e-02 -2.39518247e+01] [-3.88680097e-02 -5.09749855e-04 9.99244223e-01 -6.26712524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.240385723 meters 0.018072758281256384 Centerline is valid? [True, True] Translation: X:134.45, Y:-23.97, Z:-6.27 [[ 8.56744443e-01 5.14659714e-01 3.33817087e-02 1.34452143e+02] [-5.14294496e-01 8.57394351e-01 -1.93932536e-02 -2.39650994e+01] [-3.86022148e-02 -5.52966857e-04 9.99254504e-01 -6.26959878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270385723 meters 0.018284270286753765 Centerline is valid? [True, True] Translation: X:134.48, Y:-23.98, Z:-6.27 [[ 8.55615179e-01 5.16529402e-01 3.34670199e-02 1.34481344e+02] [-5.16163315e-01 8.56269222e-01 -1.94538248e-02 -2.39783184e+01] [-3.87052516e-02 -6.29460123e-04 9.99250473e-01 -6.27180865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.300385723 meters 0.018292024945470477 Centerline is valid? [True, True] Translation: X:134.51, Y:-23.99, Z:-6.27 [[ 8.54943995e-01 5.17654331e-01 3.32379107e-02 1.34509235e+02] [-5.17293669e-01 8.55589592e-01 -1.93315880e-02 -2.39940821e+01] [-3.84450907e-02 -6.66335717e-04 9.99260492e-01 -6.27288811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330385723 meters 0.018545207816830587 Centerline is valid? [True, True] Translation: X:134.54, Y:-24.01, Z:-6.27 [[ 8.54407710e-01 5.18547941e-01 3.30983121e-02 1.34536315e+02] [-5.18190521e-01 8.55048275e-01 -1.92621862e-02 -2.40084422e+01] [-3.82890216e-02 -6.93471228e-04 9.99266466e-01 -6.27430711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.360385723 meters 0.01875423938825785 Centerline is valid? [True, True] Translation: X:134.56, Y:-24.02, Z:-6.28 [[ 8.53583166e-01 5.19926162e-01 3.27500473e-02 1.34564264e+02] [-5.19577055e-01 8.54210884e-01 -1.90643566e-02 -2.40243595e+01] [-3.78875046e-02 -7.43159277e-04 9.99281734e-01 -6.27547062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390385723 meters 0.020951257702446838 Centerline is valid? [True, True] Translation: X:134.59, Y:-24.04, Z:-6.28 [[ 8.53016448e-01 5.20852479e-01 3.27968664e-02 1.34593459e+02] [-5.20502650e-01 8.53646351e-01 -1.91023240e-02 -2.40357343e+01] [-3.79464182e-02 -7.76259304e-04 9.99279474e-01 -6.27820960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.420385723 meters 0.021413020198042053 Centerline is valid? [True, True] Translation: X:134.62, Y:-24.05, Z:-6.28 [[ 8.52325748e-01 5.21997957e-01 3.25415376e-02 1.34621630e+02] [-5.21654019e-01 8.52946348e-01 -1.89634380e-02 -2.40495045e+01] [-3.76550616e-02 -8.12397424e-04 9.99290466e-01 -6.28082795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.450385723 meters 0.019444928797004497 Centerline is valid? [True, True] Translation: X:134.65, Y:-24.07, Z:-6.28 [[ 8.52142637e-01 5.22321375e-01 3.21451026e-02 1.34648120e+02] [-5.21985703e-01 8.52748337e-01 -1.87403322e-02 -2.40685801e+01] [-3.72001588e-02 -8.09847846e-04 9.99307506e-01 -6.28227855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480385723 meters 0.019477112462825377 Centerline is valid? [True, True] Translation: X:134.68, Y:-24.08, Z:-6.28 [[ 8.51978216e-01 5.22594183e-01 3.20692836e-02 1.34677035e+02] [-5.22259854e-01 8.52581177e-01 -1.87077857e-02 -2.40848236e+01] [-3.71182475e-02 -8.09873474e-04 9.99310552e-01 -6.28410309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510385723 meters 0.019468700451811247 Centerline is valid? [True, True] Translation: X:134.71, Y:-24.10, Z:-6.28 [[ 8.51910140e-01 5.22681073e-01 3.24593498e-02 1.34705262e+02] [-5.22338173e-01 8.52527908e-01 -1.89472693e-02 -2.41018868e+01] [-3.75758807e-02 -8.13386653e-04 9.99293446e-01 -6.28478688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540385723 meters 0.019386607618448466 Centerline is valid? [True, True] Translation: X:134.73, Y:-24.12, Z:-6.29 [[ 8.52095588e-01 5.22335813e-01 3.31422485e-02 1.34732923e+02] [-5.21977549e-01 8.52739499e-01 -1.93593758e-02 -2.41191631e+01] [-3.83737997e-02 -8.03470961e-04 9.99263131e-01 -6.28570236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57038572300002 meters 0.019515340658108265 Centerline is valid? [True, True] Translation: X:134.76, Y:-24.13, Z:-6.29 [[ 8.52316866e-01 5.21948756e-01 3.35478127e-02 1.34759971e+02] [-5.21581255e-01 8.52976475e-01 -1.95991686e-02 -2.41347336e+01] [-3.88452567e-02 -7.93208334e-04 9.99244923e-01 -6.28685540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60038572300002 meters 0.018644808713559096 Centerline is valid? [True, True] Translation: X:134.79, Y:-24.15, Z:-6.29 [[ 8.52305977e-01 5.21900268e-01 3.45634341e-02 1.34786796e+02] [-5.21509702e-01 8.53006132e-01 -2.02032200e-02 -2.41521514e+01] [-4.00268872e-02 -8.05841038e-04 9.99198278e-01 -6.28832704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63038572300002 meters 0.019120638141770775 Centerline is valid? [True, True] Translation: X:134.81, Y:-24.17, Z:-6.29 [[ 8.52260053e-01 5.21950147e-01 3.49406032e-02 1.34814912e+02] [-5.21550802e-01 8.52975606e-01 -2.04297851e-02 -2.41667565e+01] [-4.04668116e-02 -8.11809904e-04 9.99180553e-01 -6.29055152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66038572300002 meters 0.019514949625539655 Centerline is valid? [True, True] Translation: X:134.84, Y:-24.18, Z:-6.29 [[ 8.52549062e-01 5.21472323e-01 3.50244537e-02 1.34842184e+02] [-5.21070310e-01 8.53267837e-01 -2.04873272e-02 -2.41812308e+01] [-4.05688140e-02 -7.83751397e-04 9.99176439e-01 -6.29258813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69038572300002 meters 0.018609316023587525 Centerline is valid? [True, True] Translation: X:134.87, Y:-24.20, Z:-6.29 [[ 8.52264690e-01 5.21897256e-01 3.56111210e-02 1.34869807e+02] [-5.21481771e-01 8.53007968e-01 -2.08367108e-02 -2.42001460e+01] [-4.12511922e-02 -8.12157575e-04 9.99148477e-01 -6.29281359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72038572300002 meters 0.020029425328258355 Centerline is valid? [True, True] Translation: X:134.90, Y:-24.21, Z:-6.30 [[ 8.51983255e-01 5.22375899e-01 3.53263817e-02 1.34897013e+02] [-5.21967062e-01 8.52714927e-01 -2.06794483e-02 -2.42143269e+01] [-4.09257784e-02 -8.20663983e-04 9.99161852e-01 -6.29589148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75038572300002 meters 0.01926165165055317 Centerline is valid? [True, True] Translation: X:134.93, Y:-24.23, Z:-6.30 [[ 8.50952105e-01 5.24083656e-01 3.48831902e-02 1.34925316e+02] [-5.23686217e-01 8.51666329e-01 -2.04257340e-02 -2.42298097e+01] [-4.04136319e-02 -8.86524590e-04 9.99182642e-01 -6.29595759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.780385723 meters 0.019299759570187744 Centerline is valid? [True, True] Translation: X:134.95, Y:-24.25, Z:-6.30 [[ 8.50634708e-01 5.24637402e-01 3.42956215e-02 1.34953148e+02] [-5.24253221e-01 8.51325325e-01 -2.00935808e-02 -2.42460333e+01] [-3.97385752e-02 -8.87292788e-04 9.99209717e-01 -6.29790928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810385723 meters 0.01949798415281919 Centerline is valid? [True, True] Translation: X:134.98, Y:-24.26, Z:-6.30 [[ 8.50127208e-01 5.25568226e-01 3.25848159e-02 1.34980590e+02] [-5.25222017e-01 8.50750999e-01 -1.90937480e-02 -2.42606076e+01] [-3.77566319e-02 -8.82148047e-04 9.99286575e-01 -6.30195621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.840385723 meters 0.019144587247254624 Centerline is valid? [True, True] Translation: X:135.01, Y:-24.28, Z:-6.30 [[ 8.49899254e-01 5.25948010e-01 3.24029075e-02 1.35008943e+02] [-5.25605573e-01 8.50516259e-01 -1.89967198e-02 -2.42779640e+01] [-3.75504866e-02 -8.85850754e-04 9.99294339e-01 -6.30444788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870385723 meters 0.0191709148556514 Centerline is valid? [True, True] Translation: X:135.04, Y:-24.29, Z:-6.31 [[ 8.50037282e-01 5.25725036e-01 3.24007048e-02 1.35036664e+02] [-5.25382003e-01 8.50654124e-01 -1.90082187e-02 -2.42934174e+01] [-3.75548896e-02 -8.65052625e-04 9.99294192e-01 -6.30661870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.900385723 meters 0.018991769146372343 Centerline is valid? [True, True] Translation: X:135.06, Y:-24.31, Z:-6.31 [[ 8.51204230e-01 5.23693133e-01 3.45956849e-02 1.35061937e+02] [-5.23299860e-01 8.51906588e-01 -2.03081780e-02 -2.43112804e+01] [-4.01075453e-02 -8.17510039e-04 9.99195034e-01 -6.30641614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930385723 meters 0.018810721414665856 Centerline is valid? [True, True] Translation: X:135.09, Y:-24.33, Z:-6.30 [[ 8.52575896e-01 5.21326050e-01 3.65169833e-02 1.35086736e+02] [-5.20885200e-01 8.53357257e-01 -2.14476100e-02 -2.43315795e+01] [-4.23432305e-02 -7.35440859e-04 9.99102853e-01 -6.30399291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.960385723 meters 0.018607761709306052 Centerline is valid? [True, True] Translation: X:135.11, Y:-24.35, Z:-6.30 [[ 8.53281669e-01 5.20093944e-01 3.75856718e-02 1.35113841e+02] [-5.19625164e-01 8.54108788e-01 -2.20877162e-02 -2.43489396e+01] [-4.35899400e-02 -6.83417496e-04 9.99049273e-01 -6.30438665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990385723 meters 0.01840764973121538 Centerline is valid? [True, True] Translation: X:135.14, Y:-24.37, Z:-6.31 [[ 8.53792743e-01 5.19215140e-01 3.81259727e-02 1.35141289e+02] [-5.18731358e-01 8.54643336e-01 -2.24175325e-02 -2.43656566e+01] [-4.42236307e-02 -6.37211049e-04 9.99021453e-01 -6.30579175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.020385723 meters 0.019124357618541834 Centerline is valid? [True, True] Translation: X:135.17, Y:-24.38, Z:-6.31 [[ 8.54517324e-01 5.17967818e-01 3.88520634e-02 1.35170295e+02] [-5.17463562e-01 8.55399913e-01 -2.28571829e-02 -2.43784252e+01] [-4.50733368e-02 -5.72668303e-04 9.98983517e-01 -6.30834343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050385723 meters 0.018295048683801326 Centerline is valid? [True, True] Translation: X:135.20, Y:-24.40, Z:-6.31 [[ 8.55089276e-01 5.17129693e-01 3.74060214e-02 1.35195882e+02] [-5.16660991e-01 8.55906906e-01 -2.20179163e-02 -2.43977967e+01] [-4.34021903e-02 -4.98947914e-04 9.99057556e-01 -6.31156900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.080385723 meters 0.018312508858372222 Centerline is valid? [True, True] Translation: X:135.22, Y:-24.42, Z:-6.31 [[ 8.55360831e-01 5.16737332e-01 3.66111804e-02 1.35223780e+02] [-5.16287516e-01 8.56143866e-01 -2.15611333e-02 -2.44159015e+01] [-4.24858800e-02 -4.59346518e-04 9.99096962e-01 -6.31395704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110385723 meters 0.01834129570423946 Centerline is valid? [True, True] Translation: X:135.25, Y:-24.43, Z:-6.32 [[ 8.55753108e-01 5.16113862e-01 3.62367136e-02 1.35250557e+02] [-5.15672087e-01 8.56519884e-01 -2.13538543e-02 -2.44323752e+01] [-4.20584860e-02 -4.12634489e-04 9.99115065e-01 -6.31598104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.140385723 meters 0.01810261615902999 Centerline is valid? [True, True] Translation: X:135.28, Y:-24.45, Z:-6.32 [[ 8.56978931e-01 5.14086900e-01 3.60800693e-02 1.35276646e+02] [-5.13646678e-01 8.57738053e-01 -2.12725734e-02 -2.44523676e+01] [-4.18831997e-02 -3.02260523e-04 9.99122468e-01 -6.31681149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.170385723 meters 0.01805617235178644 Centerline is valid? [True, True] Translation: X:135.30, Y:-24.47, Z:-6.32 [[ 8.57573446e-01 5.13059060e-01 3.65812081e-02 1.35303281e+02] [-5.12605416e-01 8.58353270e-01 -2.15719867e-02 -2.44693348e+01] [-4.24673029e-02 -2.52162396e-04 9.99097825e-01 -6.31733541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.200385723 meters 0.017902114073120808 Centerline is valid? [True, True] Translation: X:135.33, Y:-24.49, Z:-6.32 [[ 8.59254688e-01 5.10095532e-01 3.85218062e-02 1.35330039e+02] [-5.09588885e-01 8.60117747e-01 -2.27294890e-02 -2.44870921e+01] [-4.47274999e-02 -9.98642636e-05 9.98999220e-01 -6.31691955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230385723 meters 0.01787446674939104 Centerline is valid? [True, True] Translation: X:135.36, Y:-24.51, Z:-6.32 [[ 8.60027305e-01 5.08716051e-01 3.95096700e-02 1.35358168e+02] [-5.08181013e-01 8.60934364e-01 -2.33255070e-02 -2.45050213e+01] [-4.58812924e-02 -1.74912120e-05 9.98946899e-01 -6.31768459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260385723 meters 0.017993717939244473 Centerline is valid? [True, True] Translation: X:135.38, Y:-24.52, Z:-6.32 [[ 8.61509257e-01 5.06043302e-01 4.14966942e-02 1.35384265e+02] [-5.05449180e-01 8.62508061e-01 -2.45147169e-02 -2.45227303e+01] [-4.81967415e-02 1.45185465e-04 9.98837851e-01 -6.31729122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290385723 meters 0.019191431785656587 Centerline is valid? [True, True] Translation: X:135.41, Y:-24.54, Z:-6.32 [[ 8.62362941e-01 5.04558399e-01 4.18447162e-02 1.35412231e+02] [-5.03951843e-01 8.63377532e-01 -2.47341119e-02 -2.45393997e+01] [-4.86075917e-02 2.42059668e-04 9.98817923e-01 -6.32105452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32038572300002 meters 0.018240350362977168 Centerline is valid? [True, True] Translation: X:135.44, Y:-24.56, Z:-6.32 [[ 8.62915304e-01 5.03650382e-01 4.13940928e-02 1.35440290e+02] [-5.03055044e-01 8.63907519e-01 -2.44830904e-02 -2.45571069e+01] [-4.80915858e-02 3.03326232e-04 9.98842884e-01 -6.32140143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35038572300002 meters 0.01903499955056249 Centerline is valid? [True, True] Translation: X:135.47, Y:-24.57, Z:-6.32 [[ 8.64156555e-01 5.01530052e-01 4.12438667e-02 1.35466002e+02] [-5.00935906e-01 8.65140116e-01 -2.44089617e-02 -2.45734913e+01] [-4.79235514e-02 4.32630471e-04 9.98850913e-01 -6.32472607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38038572300002 meters 0.01848979626002065 Centerline is valid? [True, True] Translation: X:135.49, Y:-24.59, Z:-6.33 [[ 8.64444640e-01 5.01033604e-01 4.12406711e-02 1.35494220e+02] [-5.00438640e-01 8.65427704e-01 -2.44142862e-02 -2.45904921e+01] [-4.79231971e-02 4.66373477e-04 9.98850915e-01 -6.32560704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41038572300002 meters 0.01867889917315566 Centerline is valid? [True, True] Translation: X:135.52, Y:-24.60, Z:-6.33 [[ 8.65154376e-01 4.99800897e-01 4.13154835e-02 1.35521554e+02] [-4.99201646e-01 8.66140151e-01 -2.44735578e-02 -2.46049521e+01] [-4.80169053e-02 5.48648245e-04 9.98846372e-01 -6.32826124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44038572300002 meters 0.018782069882455517 Centerline is valid? [True, True] Translation: X:135.55, Y:-24.62, Z:-6.33 [[ 8.65198716e-01 4.99718802e-01 4.13799476e-02 1.35550350e+02] [-4.99116985e-01 8.66187508e-01 -2.45241845e-02 -2.46210166e+01] [-4.80979898e-02 5.64858312e-04 9.98842462e-01 -6.33039240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47038572300002 meters 0.01893729814117691 Centerline is valid? [True, True] Translation: X:135.58, Y:-24.63, Z:-6.33 [[ 8.65562512e-01 4.99092783e-01 4.13271271e-02 1.35578593e+02] [-4.98491087e-01 8.66548337e-01 -2.45074597e-02 -2.46349924e+01] [-4.80434495e-02 6.11533881e-04 9.98845060e-01 -6.33289955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50038572300002 meters 0.01906114577538247 Centerline is valid? [True, True] Translation: X:135.61, Y:-24.65, Z:-6.34 [[ 8.65520200e-01 4.99202612e-01 4.08844126e-02 1.35608326e+02] [-4.98613303e-01 8.66485073e-01 -2.42568129e-02 -2.46490343e+01] [-4.75347976e-02 6.09249516e-04 9.98869397e-01 -6.33693063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530385723 meters 0.018971981412405473 Centerline is valid? [True, True] Translation: X:135.64, Y:-24.67, Z:-6.34 [[ 8.65394189e-01 4.99570289e-01 3.90182448e-02 1.35635979e+02] [-4.99033320e-01 8.66273165e-01 -2.31635252e-02 -2.46651701e+01] [-4.53722674e-02 5.74175825e-04 9.98969983e-01 -6.33886757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.560385723 meters 0.018977687815402548 Centerline is valid? [True, True] Translation: X:135.66, Y:-24.68, Z:-6.34 [[ 8.65360359e-01 4.99698829e-01 3.81120535e-02 1.35664607e+02] [-4.99186079e-01 8.66199030e-01 -2.26384205e-02 -2.46819300e+01] [-4.43250160e-02 5.65385171e-04 9.99017004e-01 -6.34099068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590385723 meters 0.018775482402064395 Centerline is valid? [True, True] Translation: X:135.69, Y:-24.70, Z:-6.34 [[ 8.65519082e-01 4.99514374e-01 3.69067719e-02 1.35693993e+02] [-4.99032854e-01 8.66305413e-01 -2.19349428e-02 -2.46969346e+01] [-4.29293555e-02 5.67419862e-04 9.99077949e-01 -6.34374718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.620385723 meters 0.018750978623081525 Centerline is valid? [True, True] Translation: X:135.72, Y:-24.71, Z:-6.35 [[ 8.65540066e-01 4.99489935e-01 3.67450551e-02 1.35722672e+02] [-4.99012034e-01 8.66319497e-01 -2.18521992e-02 -2.47130927e+01] [-4.27479112e-02 5.77729246e-04 9.99085723e-01 -6.34556917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650385723 meters 0.018898780148530237 Centerline is valid? [True, True] Translation: X:135.75, Y:-24.73, Z:-6.35 [[ 8.65660807e-01 4.99207562e-01 3.77250239e-02 1.35750599e+02] [-4.98702922e-01 8.66482213e-01 -2.24492828e-02 -2.47283171e+01] [-4.38949139e-02 6.19884648e-04 9.99035961e-01 -6.34686173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.680385723 meters 0.018582177166702286 Centerline is valid? [True, True] Translation: X:135.78, Y:-24.74, Z:-6.35 [[ 8.65512252e-01 4.99399842e-01 3.85790083e-02 1.35779881e+02] [-4.98871871e-01 8.66371398e-01 -2.29664409e-02 -2.47439283e+01] [-4.48931863e-02 6.31753915e-04 9.98991593e-01 -6.34786944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710385723 meters 0.01865110459335055 Centerline is valid? [True, True] Translation: X:135.81, Y:-24.76, Z:-6.35 [[ 8.65280693e-01 4.99779348e-01 3.88577529e-02 1.35807140e+02] [-4.99243429e-01 8.66152531e-01 -2.31471708e-02 -2.47603046e+01] [-4.52252190e-02 6.29322200e-04 9.98976618e-01 -6.34830436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.740385723 meters 0.018688215459910607 Centerline is valid? [True, True] Translation: X:135.83, Y:-24.78, Z:-6.35 [[ 8.63774450e-01 5.02308635e-01 3.97458813e-02 1.35834002e+02] [-5.01749935e-01 8.64688247e-01 -2.36904689e-02 -2.47762383e+01] [-4.62677235e-02 5.20728342e-04 9.98928940e-01 -6.34812743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770385723 meters 0.018320875019962813 Centerline is valid? [True, True] Translation: X:135.86, Y:-24.79, Z:-6.35 [[ 8.62598658e-01 5.04322835e-01 3.97747866e-02 1.35862726e+02] [-5.03764901e-01 8.63515083e-01 -2.37197380e-02 -2.47913241e+01] [-4.63085336e-02 4.23472797e-04 9.98927095e-01 -6.34973702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.800385723 meters 0.017752674149286326 Centerline is valid? [True, True] Translation: X:135.89, Y:-24.80, Z:-6.35 [[ 8.59474785e-01 5.09662828e-01 3.93305888e-02 1.35893327e+02] [-5.09122321e-01 8.60374209e-01 -2.34666160e-02 -2.48036446e+01] [-4.57990861e-02 1.44884062e-04 9.98950661e-01 -6.35186008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830385723 meters 0.019740856976372182 Centerline is valid? [True, True] Translation: X:135.92, Y:-24.82, Z:-6.36 [[ 8.57978315e-01 5.12200981e-01 3.90303210e-02 1.35921533e+02] [-5.11671112e-01 8.58865621e-01 -2.32920349e-02 -2.48181691e+01] [-4.54520040e-02 1.33731201e-05 9.98966524e-01 -6.35601574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.860385723 meters 0.017960317083848522 Centerline is valid? [True, True] Translation: X:135.95, Y:-24.83, Z:-6.35 [[ 8.55296531e-01 5.16644550e-01 3.93224222e-02 1.35949856e+02] [-5.16110973e-01 8.56199955e-01 -2.34755389e-02 -2.48311561e+01] [-4.57963654e-02 -2.16186587e-04 9.98950773e-01 -6.35331875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890385723 meters 0.01806215400673592 Centerline is valid? [True, True] Translation: X:135.98, Y:-24.85, Z:-6.35 [[ 8.54227983e-01 5.18393415e-01 3.95325328e-02 1.35978145e+02] [-5.17855498e-01 8.55142196e-01 -2.36115905e-02 -2.48474175e+01] [-4.60460299e-02 -3.02458099e-04 9.98939273e-01 -6.35415012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.920385723 meters 0.01811844815881144 Centerline is valid? [True, True] Translation: X:136.01, Y:-24.86, Z:-6.36 [[ 8.53172771e-01 5.20120738e-01 3.96313062e-02 1.36005452e+02] [-5.19581370e-01 8.54092659e-01 -2.36839657e-02 -2.48641299e+01] [-4.61673294e-02 -3.85173674e-04 9.98933646e-01 -6.35527294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.950385723 meters 0.018428142461277018 Centerline is valid? [True, True] Translation: X:136.03, Y:-24.88, Z:-6.36 [[ 8.51253927e-01 5.23301788e-01 3.90127119e-02 1.36034474e+02] [-5.22781907e-01 8.52147258e-01 -2.33265587e-02 -2.48789492e+01] [-4.54514054e-02 -5.38315225e-04 9.98966406e-01 -6.35621897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980385723 meters 0.018428142461277018 Centerline is valid? [True, True] Translation: X:136.06, Y:-24.90, Z:-6.36 [[ 8.51113751e-01 5.23530153e-01 3.90071983e-02 1.36062221e+02] [-5.23010090e-01 8.52006976e-01 -2.33357752e-02 -2.48956279e+01] [-4.54513870e-02 -5.39759148e-04 9.98966406e-01 -6.35767437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010385723 meters 0.018606724014447 Centerline is valid? [True, True] Translation: X:136.09, Y:-24.91, Z:-6.36 [[ 8.50148456e-01 5.25096883e-01 3.89982780e-02 1.36090497e+02] [-5.24578059e-01 8.51042237e-01 -2.33446087e-02 -2.49105794e+01] [-4.54473631e-02 -6.11257950e-04 9.98966548e-01 -6.35974368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040385723 meters 0.019249199501672518 Centerline is valid? [True, True] Translation: X:136.12, Y:-24.92, Z:-6.36 [[ 8.48624627e-01 5.27624639e-01 3.80589280e-02 1.36119103e+02] [-5.27132531e-01 8.49477324e-01 -2.27940865e-02 -2.49249025e+01] [-4.43569179e-02 -7.18475922e-04 9.99015489e-01 -6.36277964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07038572300002 meters 0.019400800469328582 Centerline is valid? [True, True] Translation: X:136.15, Y:-24.94, Z:-6.36 [[ 8.48012263e-01 5.28662109e-01 3.73038450e-02 1.36146507e+02] [-5.28189843e-01 8.48832030e-01 -2.23533864e-02 -2.49406491e+01] [-4.34820869e-02 -7.47566221e-04 9.99053927e-01 -6.36488486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10038572300002 meters 0.01949934499181313 Centerline is valid? [True, True] Translation: X:136.17, Y:-24.96, Z:-6.37 [[ 8.47925500e-01 5.28924257e-01 3.55172749e-02 1.36174546e+02] [-5.28495957e-01 8.48668733e-01 -2.12932957e-02 -2.49585817e+01] [-4.14049413e-02 -7.15607777e-04 9.99142191e-01 -6.36827794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13038572300002 meters 0.019185646504713286 Centerline is valid? [True, True] Translation: X:136.20, Y:-24.98, Z:-6.37 [[ 8.48110839e-01 5.28676687e-01 3.47701800e-02 1.36201458e+02] [-5.28265521e-01 8.48823009e-01 -2.08575668e-02 -2.49767984e+01] [-4.05406381e-02 -6.78358780e-04 9.99177660e-01 -6.37001723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16038572300002 meters 0.01925855133344192 Centerline is valid? [True, True] Translation: X:136.23, Y:-24.99, Z:-6.37 [[ 8.48475235e-01 5.28122641e-01 3.42965327e-02 1.36227369e+02] [-5.27721651e-01 8.49167873e-01 -2.05859900e-02 -2.49934430e+01] [-3.99954412e-02 -6.32320142e-04 9.99199662e-01 -6.37148812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19038572300002 meters 0.01892554709008302 Centerline is valid? [True, True] Translation: X:136.25, Y:-25.01, Z:-6.37 [[ 8.49224879e-01 5.26896138e-01 3.46058402e-02 1.36252924e+02] [-5.26486452e-01 8.49929487e-01 -2.07817987e-02 -2.50135261e+01] [-4.03623735e-02 -5.71085545e-04 9.99184944e-01 -6.37090595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22038572300002 meters 0.01887507605260872 Centerline is valid? [True, True] Translation: X:136.28, Y:-25.03, Z:-6.37 [[ 8.49556463e-01 5.26369869e-01 3.44757641e-02 1.36279193e+02] [-5.25962367e-01 8.50255536e-01 -2.07150247e-02 -2.50309440e+01] [-4.02169741e-02 -5.34371400e-04 9.99190827e-01 -6.37165921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25038572300002 meters 0.018455454213508922 Centerline is valid? [True, True] Translation: X:136.30, Y:-25.05, Z:-6.37 [[ 8.50218561e-01 5.25233065e-01 3.54771313e-02 1.36304961e+02] [-5.24800297e-01 8.50958276e-01 -2.13227452e-02 -2.50505991e+01] [-4.13889693e-02 -4.89415274e-04 9.99142990e-01 -6.37180104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.280385723 meters 0.01846568050946769 Centerline is valid? [True, True] Translation: X:136.33, Y:-25.07, Z:-6.37 [[ 8.50506163e-01 5.24750441e-01 3.57245231e-02 1.36330988e+02] [-5.24310699e-01 8.51255992e-01 -2.14831616e-02 -2.50669715e+01] [-4.16840128e-02 -4.59188319e-04 9.99130738e-01 -6.37308409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310385723 meters 0.018550074357766226 Centerline is valid? [True, True] Translation: X:136.36, Y:-25.08, Z:-6.37 [[ 8.50746945e-01 5.24387003e-01 3.53257092e-02 1.36357385e+02] [-5.23956289e-01 8.51479940e-01 -2.12536809e-02 -2.50839747e+01] [-4.12242868e-02 -4.27623446e-04 9.99149826e-01 -6.37472484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.340385723 meters 0.018228440772617243 Centerline is valid? [True, True] Translation: X:136.38, Y:-25.10, Z:-6.38 [[ 8.51279467e-01 5.23590270e-01 3.43001059e-02 1.36384581e+02] [-5.23183120e-01 8.51970125e-01 -2.06477542e-02 -2.51033511e+01] [-4.00336287e-02 -3.68227176e-04 9.99198265e-01 -6.37662199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370385723 meters 0.01848343847841599 Centerline is valid? [True, True] Translation: X:136.41, Y:-25.12, Z:-6.38 [[ 8.51644632e-01 5.23094380e-01 3.27672130e-02 1.36412449e+02] [-5.22722005e-01 8.52274702e-01 -1.97367172e-02 -2.51194738e+01] [-3.82508326e-02 -3.19474033e-04 9.99268118e-01 -6.38064467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.400385723 meters 0.018483944056204276 Centerline is valid? [True, True] Translation: X:136.44, Y:-25.14, Z:-6.38 [[ 8.51809962e-01 5.22900367e-01 3.15435564e-02 1.36439606e+02] [-5.22554714e-01 8.52393761e-01 -1.90117850e-02 -2.51362310e+01] [-3.68288001e-02 -2.88806216e-04 9.99321548e-01 -6.38288621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430385723 meters 0.018073791958393745 Centerline is valid? [True, True] Translation: X:136.47, Y:-25.16, Z:-6.38 [[ 8.51812091e-01 5.22961618e-01 3.04517217e-02 1.36466632e+02] [-5.22639493e-01 8.52356186e-01 -1.83546332e-02 -2.51554735e+01] [-3.55544820e-02 -2.80573896e-04 9.99367700e-01 -6.38252225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.460385723 meters 0.01817745302458411 Centerline is valid? [True, True] Translation: X:136.49, Y:-25.17, Z:-6.38 [[ 8.51871751e-01 5.22900199e-01 2.98312180e-02 1.36494298e+02] [-5.22590638e-01 8.52393872e-01 -1.79920036e-02 -2.51715480e+01] [-3.48359697e-02 -2.62635594e-04 9.99393009e-01 -6.38351896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490385723 meters 0.018241414396212376 Centerline is valid? [True, True] Translation: X:136.52, Y:-25.19, Z:-6.39 [[ 8.51655789e-01 5.23272550e-01 2.94661898e-02 1.36521963e+02] [-5.22970394e-01 8.52165341e-01 -1.77819879e-02 -2.51866991e+01] [-3.44148918e-02 -2.65811939e-04 9.99407597e-01 -6.38531901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.520385723 meters 0.01821883803956721 Centerline is valid? [True, True] Translation: X:136.55, Y:-25.20, Z:-6.39 [[ 8.51609175e-01 5.23322337e-01 2.99256597e-02 1.36550533e+02] [-5.23010276e-01 8.52134768e-01 -1.80717416e-02 -2.52018867e+01] [-3.49580411e-02 -2.61366642e-04 9.99388747e-01 -6.38603935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550385723 meters 0.01823192376895219 Centerline is valid? [True, True] Translation: X:136.58, Y:-25.22, Z:-6.39 [[ 8.51524161e-01 5.23445596e-01 3.01879262e-02 1.36579056e+02] [-5.23128065e-01 8.52059057e-01 -1.82316062e-02 -2.52182854e+01] [-3.52651499e-02 -2.67498221e-04 9.99377955e-01 -6.38702747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.580385723 meters 0.01823981055609401 Centerline is valid? [True, True] Translation: X:136.61, Y:-25.23, Z:-6.39 [[ 8.51710612e-01 5.23124436e-01 3.04935636e-02 1.36607043e+02] [-5.22799816e-01 8.52256278e-01 -1.84279251e-02 -2.52349694e+01] [-3.56284290e-02 -2.46770065e-04 9.99365076e-01 -6.38651396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610385723 meters 0.01836394698890485 Centerline is valid? [True, True] Translation: X:136.64, Y:-25.25, Z:-6.39 [[ 8.51816608e-01 5.22962759e-01 3.03054164e-02 1.36635412e+02] [-5.22641628e-01 8.52355501e-01 -1.83256290e-02 -2.52524542e+01] [-3.54146099e-02 -2.28797013e-04 9.99372680e-01 -6.38727829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.640385723 meters 0.018293598906661823 Centerline is valid? [True, True] Translation: X:136.66, Y:-25.27, Z:-6.39 [[ 8.52167829e-01 5.22419587e-01 2.97954041e-02 1.36662739e+02] [-5.22108456e-01 8.52688535e-01 -1.80283637e-02 -2.52690123e+01] [-3.48245698e-02 -1.93240920e-04 9.99393422e-01 -6.38767843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670385723 meters 0.01826766047627197 Centerline is valid? [True, True] Translation: X:136.69, Y:-25.29, Z:-6.39 [[ 8.52267547e-01 5.22260817e-01 2.97265395e-02 1.36690765e+02] [-5.21950674e-01 8.52785792e-01 -1.79968661e-02 -2.52852031e+01] [-3.47494285e-02 -1.77642376e-04 9.99396040e-01 -6.38942854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.700385723 meters 0.018347900555962193 Centerline is valid? [True, True] Translation: X:136.72, Y:-25.30, Z:-6.39 [[ 8.52154164e-01 5.22446952e-01 2.97062828e-02 1.36719484e+02] [-5.22136962e-01 8.52671772e-01 -1.79956018e-02 -2.53010807e+01] [-3.47314561e-02 -1.75721228e-04 9.99396666e-01 -6.39117600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730385723 meters 0.018253737397019656 Centerline is valid? [True, True] Translation: X:136.75, Y:-25.32, Z:-6.39 [[ 8.52069464e-01 5.22630827e-01 2.88902692e-02 1.36748488e+02] [-5.22337396e-01 8.52559083e-01 -1.75115721e-02 -2.53161085e+01] [-3.37827489e-02 -1.69392113e-04 9.99429186e-01 -6.39349650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760385723 meters 0.018262369298873544 Centerline is valid? [True, True] Translation: X:136.78, Y:-25.33, Z:-6.40 [[ 8.51966106e-01 5.22818462e-01 2.85413817e-02 1.36776186e+02] [-5.22531825e-01 8.52444033e-01 -1.73107858e-02 -2.53322578e+01] [-3.33803289e-02 -1.65577485e-04 9.99442708e-01 -6.39541945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790385723 meters 0.018238025255682567 Centerline is valid? [True, True] Translation: X:136.80, Y:-25.35, Z:-6.40 [[ 8.51660926e-01 5.23372808e-01 2.74694586e-02 1.36804182e+02] [-5.23107293e-01 8.52103793e-01 -1.66699166e-02 -2.53477732e+01] [-3.21314109e-02 -1.72357505e-04 9.99483638e-01 -6.39704544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82038572300002 meters 0.018346521851986652 Centerline is valid? [True, True] Translation: X:136.83, Y:-25.36, Z:-6.40 [[ 8.51075196e-01 5.24337241e-01 2.72299333e-02 1.36832388e+02] [-5.24076560e-01 8.51510668e-01 -1.65330227e-02 -2.53630177e+01] [-3.18554582e-02 -1.99724296e-04 9.99492466e-01 -6.39892953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85038572300002 meters 0.018477651709518247 Centerline is valid? [True, True] Translation: X:136.86, Y:-25.38, Z:-6.40 [[ 8.49793902e-01 5.26434710e-01 2.67735005e-02 1.36861912e+02] [-5.26183446e-01 8.50215517e-01 -1.62651728e-02 -2.53766537e+01] [-3.13257971e-02 -2.65728067e-04 9.99509191e-01 -6.40009909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88038572300002 meters 0.018492072316028427 Centerline is valid? [True, True] Translation: X:136.89, Y:-25.39, Z:-6.40 [[ 8.48656224e-01 5.28254692e-01 2.70110045e-02 1.36889968e+02] [-5.27999594e-01 8.49085904e-01 -1.64181449e-02 -2.53916048e+01] [-3.16076252e-02 -3.28438578e-04 9.99500300e-01 -6.40049117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91038572300002 meters 0.018769441104104594 Centerline is valid? [True, True] Translation: X:136.92, Y:-25.40, Z:-6.40 [[ 8.47468307e-01 5.30149722e-01 2.71798048e-02 1.36917731e+02] [-5.29892055e-01 8.47903956e-01 -1.65315402e-02 -2.54047927e+01] [-3.18100555e-02 -3.92406278e-04 9.99493855e-01 -6.40192404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94038572300002 meters 0.019982792608913086 Centerline is valid? [True, True] Translation: X:136.95, Y:-25.41, Z:-6.40 [[ 8.45033062e-01 5.33973320e-01 2.81357061e-02 1.36948297e+02] [-5.33699203e-01 8.45501146e-01 -1.71164303e-02 -2.54144439e+01] [-3.29284889e-02 -5.52054384e-04 9.99457558e-01 -6.40324207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97038572300002 meters 0.02025879589869238 Centerline is valid? [True, True] Translation: X:136.98, Y:-25.43, Z:-6.40 [[ 8.43583037e-01 5.36250334e-01 2.83414760e-02 1.36976889e+02] [-5.35973201e-01 8.44058749e-01 -1.72498220e-02 -2.54284890e+01] [-3.31720936e-02 -6.38614421e-04 9.99449451e-01 -6.40429257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.000385723 meters 0.020975733101646618 Centerline is valid? [True, True] Translation: X:137.01, Y:-25.44, Z:-6.41 [[ 8.41280377e-01 5.39824717e-01 2.89240789e-02 1.37007370e+02] [-5.39537809e-01 8.41777082e-01 -1.76152372e-02 -2.54394553e+01] [-3.38567672e-02 -7.86280792e-04 9.99426386e-01 -6.40576448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030385723 meters 0.021394004220736056 Centerline is valid? [True, True] Translation: X:137.04, Y:-25.45, Z:-6.41 [[ 8.40115694e-01 5.41637644e-01 2.88839606e-02 1.37036402e+02] [-5.41352501e-01 8.40611641e-01 -1.75937301e-02 -2.54539902e+01] [-3.38096200e-02 -8.55635482e-04 9.99427925e-01 -6.40717981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.060385723 meters 0.022406485456328496 Centerline is valid? [True, True] Translation: X:137.07, Y:-25.47, Z:-6.41 [[ 8.38079602e-01 5.44767584e-01 2.91695061e-02 1.37066449e+02] [-5.44478271e-01 8.38586499e-01 -1.77791078e-02 -2.54661455e+01] [-3.41466355e-02 -9.81854658e-04 9.99416351e-01 -6.40834349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090385723 meters 0.022252422264200915 Centerline is valid? [True, True] Translation: X:137.09, Y:-25.48, Z:-6.41 [[ 8.37037288e-01 5.46357323e-01 2.93641444e-02 1.37094268e+02] [-5.46065090e-01 8.37551530e-01 -1.78983594e-02 -2.54818017e+01] [-3.43728838e-02 -1.05313999e-03 9.99408523e-01 -6.40927412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.120385723 meters 0.02414925223262078 Centerline is valid? [True, True] Translation: X:137.12, Y:-25.49, Z:-6.41 [[ 8.35676522e-01 5.48412774e-01 2.98023515e-02 1.37124247e+02] [-5.48112698e-01 8.36206982e-01 -1.81756472e-02 -2.54923173e+01] [-3.48886915e-02 -1.14608566e-03 9.99390547e-01 -6.41106318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150385723 meters 0.02505471494974734 Centerline is valid? [True, True] Translation: X:137.15, Y:-25.51, Z:-6.41 [[ 8.35031245e-01 5.49395717e-01 2.97853247e-02 1.37151948e+02] [-5.49096276e-01 8.35561462e-01 -1.81747640e-02 -2.55057508e+01] [-3.48726070e-02 -1.17851504e-03 9.99391071e-01 -6.41245801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.180385723 meters 0.025875320617355514 Centerline is valid? [True, True] Translation: X:137.18, Y:-25.52, Z:-6.42 [[ 8.33954074e-01 5.51109118e-01 2.82726622e-02 1.37181986e+02] [-5.50840042e-01 8.34432351e-01 -1.72597845e-02 -2.55185145e+01] [-3.31036486e-02 -1.17984687e-03 9.99451228e-01 -6.41537778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210385723 meters 0.026051239625324903 Centerline is valid? [True, True] Translation: X:137.21, Y:-25.53, Z:-6.42 [[ 8.33477165e-01 5.51868873e-01 2.75056707e-02 1.37210524e+02] [-5.51614615e-01 8.33930070e-01 -1.67915314e-02 -2.55328738e+01] [-3.22045294e-02 -1.17717198e-03 9.99480606e-01 -6.41813275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.240385723 meters 0.025128452080919267 Centerline is valid? [True, True] Translation: X:137.24, Y:-25.55, Z:-6.42 [[ 8.33355622e-01 5.52097858e-01 2.65774843e-02 1.37237981e+02] [-5.51860347e-01 8.33778542e-01 -1.62327023e-02 -2.55488443e+01] [-3.11217763e-02 -1.13944595e-03 9.99514951e-01 -6.42090216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270385723 meters 0.026668112559988452 Centerline is valid? [True, True] Translation: X:137.27, Y:-25.56, Z:-6.43 [[ 8.33848441e-01 5.51425083e-01 2.50430546e-02 1.37266930e+02] [-5.51213641e-01 8.34223765e-01 -1.53046258e-02 -2.55607570e+01] [-2.93308659e-02 -1.04233491e-03 9.99569214e-01 -6.42507533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.300385723 meters 0.02413115268691182 Centerline is valid? [True, True] Translation: X:137.29, Y:-25.58, Z:-6.42 [[ 8.35383194e-01 5.49060345e-01 2.58390587e-02 1.37292564e+02] [-5.48833916e-01 8.35782130e-01 -1.57975993e-02 -2.55786395e+01] [-3.02696588e-02 -9.84302814e-04 9.99541284e-01 -6.42491261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330385723 meters 0.021246164232202453 Centerline is valid? [True, True] Translation: X:137.32, Y:-25.60, Z:-6.42 [[ 8.36242082e-01 5.47714449e-01 2.66094596e-02 1.37317752e+02] [-5.47473699e-01 8.36664778e-01 -1.62664806e-02 -2.55984907e+01] [-3.11725840e-02 -9.65263646e-04 9.99513551e-01 -6.42362741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.360385723 meters 0.02207680555763541 Centerline is valid? [True, True] Translation: X:137.35, Y:-25.61, Z:-6.43 [[ 8.37259824e-01 5.46116753e-01 2.74313679e-02 1.37346011e+02] [-5.45859719e-01 8.37708563e-01 -1.67788855e-02 -2.56118329e+01] [-3.21427222e-02 -9.25392030e-04 9.99482861e-01 -6.42559417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390385723 meters 0.020278628918947866 Centerline is valid? [True, True] Translation: X:137.37, Y:-25.63, Z:-6.42 [[ 8.39721756e-01 5.42266531e-01 2.85373653e-02 1.37371860e+02] [-5.41985742e-01 8.40206147e-01 -1.74667050e-02 -2.56293039e+01] [-3.34488792e-02 -7.99672896e-04 9.99440110e-01 -6.42427512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.420385723 meters 0.01950363763502877 Centerline is valid? [True, True] Translation: X:137.40, Y:-25.65, Z:-6.42 [[ 8.40938568e-01 5.40370865e-01 2.86644991e-02 1.37398622e+02] [-5.40086430e-01 8.41426646e-01 -1.75455855e-02 -2.56472713e+01] [-3.36001965e-02 -7.26547471e-04 9.99435090e-01 -6.42446106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.450385723 meters 0.018758701036076516 Centerline is valid? [True, True] Translation: X:137.43, Y:-25.66, Z:-6.43 [[ 8.43279971e-01 5.36725397e-01 2.83679059e-02 1.37425142e+02] [-5.36444437e-01 8.43756794e-01 -1.73735149e-02 -2.56635668e+01] [-3.32604200e-02 -5.67068206e-04 9.99446558e-01 -6.42592768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480385723 meters 0.018409209993230456 Centerline is valid? [True, True] Translation: X:137.45, Y:-25.68, Z:-6.43 [[ 8.44533613e-01 5.34722700e-01 2.88896250e-02 1.37453306e+02] [-5.34429780e-01 8.45027453e-01 -1.77035064e-02 -2.56800148e+01] [-3.38789930e-02 -4.88269683e-04 9.99425823e-01 -6.42778623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510385723 meters 0.0176257134392417 Centerline is valid? [True, True] Translation: X:137.48, Y:-25.70, Z:-6.43 [[ 8.47034854e-01 5.30725073e-01 2.93743531e-02 1.37481048e+02] [-5.30419741e-01 8.47543973e-01 -1.80030993e-02 -2.56967549e+01] [-3.44507521e-02 -3.31484149e-04 9.99406342e-01 -6.42918428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540385723 meters 0.01745594738337715 Centerline is valid? [True, True] Translation: X:137.51, Y:-25.71, Z:-6.43 [[ 8.48103969e-01 5.29028005e-01 2.91380729e-02 1.37508383e+02] [-5.28726237e-01 8.48604328e-01 -1.78678518e-02 -2.57128997e+01] [-3.41792887e-02 -2.52267598e-04 9.99415686e-01 -6.43109892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57038572300002 meters 0.017328539588241446 Centerline is valid? [True, True] Translation: X:137.54, Y:-25.73, Z:-6.43 [[ 8.49091098e-01 5.27479630e-01 2.84525418e-02 1.37535437e+02] [-5.27190736e-01 8.49567660e-01 -1.74562182e-02 -2.57291337e+01] [-3.33801589e-02 -1.77997008e-04 9.99442711e-01 -6.43281121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60038572300002 meters 0.0172791595937036 Centerline is valid? [True, True] Translation: X:137.56, Y:-25.75, Z:-6.43 [[ 8.51187106e-01 5.24084146e-01 2.85713053e-02 1.37561336e+02] [-5.23790531e-01 8.51666488e-01 -1.75406016e-02 -2.57457417e+01] [-3.35259744e-02 -3.50452442e-05 9.99437846e-01 -6.43391205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63038572300002 meters 0.01739452091741041 Centerline is valid? [True, True] Translation: X:137.59, Y:-25.76, Z:-6.43 [[ 8.53398556e-01 5.20491330e-01 2.82786074e-02 1.37589675e+02] [-5.20201618e-01 8.53866947e-01 -1.73641398e-02 -2.57627020e+01] [-3.31840524e-02 1.07954548e-04 9.99449252e-01 -6.43452966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66038572300002 meters 0.01751404404250236 Centerline is valid? [True, True] Translation: X:137.62, Y:-25.78, Z:-6.44 [[ 8.54483397e-01 5.18714473e-01 2.81677149e-02 1.37616696e+02] [-5.18425702e-01 8.54947520e-01 -1.73069389e-02 -2.57785109e+01] [-3.30592777e-02 1.85624569e-04 9.99453375e-01 -6.43664757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69038572300002 meters 0.01777873136904591 Centerline is valid? [True, True] Translation: X:137.64, Y:-25.79, Z:-6.44 [[ 8.55586044e-01 5.16919151e-01 2.76968083e-02 1.37644028e+02] [-5.16638766e-01 8.56034185e-01 -1.70252605e-02 -2.57947535e+01] [-3.25100979e-02 2.57330422e-04 9.99471374e-01 -6.43836226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72038572300002 meters 0.01850493815720706 Centerline is valid? [True, True] Translation: X:137.67, Y:-25.81, Z:-6.44 [[ 8.58154220e-01 5.12626553e-01 2.80241398e-02 1.37669869e+02] [-5.12336901e-01 8.58611571e-01 -1.72357198e-02 -2.58119643e+01] [-3.28973383e-02 4.33104691e-04 9.99458642e-01 -6.44015335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750385723 meters 0.019201489399217432 Centerline is valid? [True, True] Translation: X:137.70, Y:-25.83, Z:-6.44 [[ 8.59375011e-01 5.10558783e-01 2.83605303e-02 1.37695801e+02] [-5.10260727e-01 8.59842691e-01 -1.74510207e-02 -2.58288854e+01] [-3.32953666e-02 5.25706330e-04 9.99445417e-01 -6.44182641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.780385723 meters 0.01997826336089578 Centerline is valid? [True, True] Translation: X:137.72, Y:-25.85, Z:-6.44 [[ 8.61185615e-01 5.07419091e-01 2.97523533e-02 1.37723380e+02] [-5.07088864e-01 8.61699132e-01 -1.83163735e-02 -2.58458975e+01] [-3.49316546e-02 6.86710324e-04 9.99389468e-01 -6.44159067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810385723 meters 0.02032968454895571 Centerline is valid? [True, True] Translation: X:137.75, Y:-25.86, Z:-6.44 [[ 8.61625981e-01 5.06634430e-01 3.03681193e-02 1.37750637e+02] [-5.06289557e-01 8.62160660e-01 -1.87050894e-02 -2.58623558e+01] [-3.56588401e-02 7.41729341e-04 9.99363746e-01 -6.44202319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.840385723 meters 0.0205773385569065 Centerline is valid? [True, True] Translation: X:137.78, Y:-25.88, Z:-6.44 [[ 8.61585191e-01 5.06634026e-01 3.15106615e-02 1.37779251e+02] [-5.06262335e-01 8.62160866e-01 -1.94188149e-02 -2.58768410e+01] [-3.70054916e-02 7.78302242e-04 9.99314759e-01 -6.44325641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870385723 meters 0.0205773385569065 Centerline is valid? [True, True] Translation: X:137.81, Y:-25.89, Z:-6.44 [[ 8.61458133e-01 5.06850323e-01 3.15061224e-02 1.37806785e+02] [-5.06478507e-01 8.62033726e-01 -1.94261762e-02 -2.58939219e+01] [-3.70055038e-02 7.77663572e-04 9.99314759e-01 -6.44471246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.900385723 meters 0.020922255292953273 Centerline is valid? [True, True] Translation: X:137.83, Y:-25.91, Z:-6.45 [[ 8.60986961e-01 5.07646899e-01 3.15607048e-02 1.37833546e+02] [-5.07273905e-01 8.61564888e-01 -1.94712274e-02 -2.59090500e+01] [-3.70761033e-02 7.54550914e-04 9.99312160e-01 -6.44626995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930385723 meters 0.020185256657326126 Centerline is valid? [True, True] Translation: X:137.86, Y:-25.92, Z:-6.45 [[ 8.60337223e-01 5.08743481e-01 3.16217263e-02 1.37862525e+02] [-5.08369458e-01 8.60917858e-01 -1.95175926e-02 -2.59236095e+01] [-3.71531569e-02 7.16191549e-04 9.99309326e-01 -6.44770619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.960385723 meters 0.01908140960964528 Centerline is valid? [True, True] Translation: X:137.89, Y:-25.94, Z:-6.45 [[ 8.58097216e-01 5.12467447e-01 3.23462901e-02 1.37891534e+02] [-5.12078283e-01 8.58706458e-01 -1.99762525e-02 -2.59354609e+01] [-3.80131473e-02 5.77733947e-04 9.99277072e-01 -6.44862003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990385723 meters 0.017805869627422952 Centerline is valid? [True, True] Translation: X:137.92, Y:-25.95, Z:-6.45 [[ 8.55051504e-01 5.17520693e-01 3.25462359e-02 1.37922796e+02] [-5.17130345e-01 8.55670618e-01 -2.00997426e-02 -2.59458266e+01] [-3.82508905e-02 3.55668921e-04 9.99268104e-01 -6.45066323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.020385723 meters 0.017310056233196126 Centerline is valid? [True, True] Translation: X:137.95, Y:-25.96, Z:-6.45 [[ 8.53353838e-01 5.20340094e-01 3.21467345e-02 1.37951616e+02] [-5.19960917e-01 8.53959092e-01 -1.98623554e-02 -2.59593196e+01] [-3.77871760e-02 2.34571644e-04 9.99285782e-01 -6.45285989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050385723 meters 0.017031766631400134 Centerline is valid? [True, True] Translation: X:137.98, Y:-25.97, Z:-6.46 [[ 8.51550166e-01 5.23317870e-01 3.16341684e-02 1.37980795e+02] [-5.22952404e-01 8.52137544e-01 -1.95547608e-02 -2.59732121e+01] [-3.71900183e-02 1.08695386e-04 9.99308206e-01 -6.45522382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.080385723 meters 0.01682450739500254 Centerline is valid? [True, True] Translation: X:138.01, Y:-25.98, Z:-6.46 [[ 8.48189586e-01 5.28824616e-01 3.03142259e-02 1.38010156e+02] [-5.28492218e-01 8.48731119e-01 -1.87473860e-02 -2.59841231e+01] [-3.56427061e-02 -1.19494869e-04 9.99364590e-01 -6.45870307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110385723 meters 0.01718555842192336 Centerline is valid? [True, True] Translation: X:138.04, Y:-26.00, Z:-6.46 [[ 8.46467725e-01 5.31587695e-01 3.01149850e-02 1.38038876e+02] [-5.31261118e-01 8.47003229e-01 -1.86320694e-02 -2.59981697e+01] [-3.54120684e-02 -2.27475215e-04 9.99372770e-01 -6.46069320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.140385723 meters 0.018251293702630483 Centerline is valid? [True, True] Translation: X:138.07, Y:-26.01, Z:-6.46 [[ 8.43551412e-01 5.36160828e-01 3.08639323e-02 1.38068501e+02] [-5.35820510e-01 8.44115744e-01 -1.91047546e-02 -2.60093396e+01] [-3.62959522e-02 -4.21685224e-04 9.99340996e-01 -6.46204217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170385723 meters 0.01901332749350901 Centerline is valid? [True, True] Translation: X:138.10, Y:-26.02, Z:-6.46 [[ 8.42103329e-01 5.38441523e-01 3.07035957e-02 1.38097347e+02] [-5.38105958e-01 8.42662724e-01 -1.90134744e-02 -2.60245055e+01] [-3.61104197e-02 -5.10477670e-04 9.99347676e-01 -6.46368302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.200385723 meters 0.018925379019708182 Centerline is valid? [True, True] Translation: X:138.12, Y:-26.04, Z:-6.46 [[ 8.39621176e-01 5.42265585e-01 3.13738087e-02 1.38124073e+02] [-5.41917536e-01 8.40206862e-01 -1.94374322e-02 -2.60426897e+01] [-3.69007399e-02 -6.81937411e-04 9.99318703e-01 -6.46286889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230385723 meters 0.018323548710050215 Centerline is valid? [True, True] Translation: X:138.15, Y:-26.06, Z:-6.46 [[ 8.38479468e-01 5.44022223e-01 3.14960798e-02 1.38150223e+02] [-5.43672327e-01 8.39070469e-01 -1.95230095e-02 -2.60618489e+01] [-3.70483814e-02 -7.53904398e-04 9.99313189e-01 -6.46285036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260385723 meters 0.023753465717629037 Centerline is valid? [True, True] Translation: X:138.18, Y:-26.07, Z:-6.47 [[ 8.36479471e-01 5.47064866e-01 3.19707138e-02 1.38181659e+02] [-5.46706100e-01 8.37089743e-01 -1.98293558e-02 -2.60698481e+01] [-3.76103005e-02 -8.91735196e-04 9.99292084e-01 -6.46624237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290385723 meters 0.01965922842395203 Centerline is valid? [True, True] Translation: X:138.20, Y:-26.09, Z:-6.46 [[ 8.35266264e-01 5.48929028e-01 3.17362550e-02 1.38203899e+02] [-5.48576679e-01 8.35868406e-01 -1.96884678e-02 -2.60941802e+01] [-3.73349043e-02 -9.64656446e-04 9.99302344e-01 -6.46471301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32038572300002 meters 0.021944593552175477 Centerline is valid? [True, True] Translation: X:138.23, Y:-26.11, Z:-6.47 [[ 8.33138952e-01 5.52201469e-01 3.08711120e-02 1.38231932e+02] [-5.51869922e-01 8.33710015e-01 -1.91624653e-02 -2.61066605e+01] [-3.63190967e-02 -1.07184187e-03 9.99339669e-01 -6.46859675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35038572300002 meters 0.021052547957542397 Centerline is valid? [True, True] Translation: X:138.26, Y:-26.13, Z:-6.47 [[ 8.31971201e-01 5.53971606e-01 3.06493216e-02 1.38257904e+02] [-5.53645947e-01 8.32534781e-01 -1.90263831e-02 -2.61255771e+01] [-3.60567022e-02 -1.13946994e-03 9.99349096e-01 -6.46984318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38038572300002 meters 0.021722716677861333 Centerline is valid? [True, True] Translation: X:138.28, Y:-26.14, Z:-6.47 [[ 8.30256247e-01 5.56558187e-01 3.02910653e-02 1.38284537e+02] [-5.56241392e-01 8.30807726e-01 -1.88158374e-02 -2.61440756e+01] [-3.56381594e-02 -1.22717776e-03 9.99364006e-01 -6.47057011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41038572300002 meters 0.024958432660819173 Centerline is valid? [True, True] Translation: X:138.31, Y:-26.16, Z:-6.47 [[ 8.29452869e-01 5.57740703e-01 3.05490926e-02 1.38312871e+02] [-5.57419236e-01 8.30014247e-01 -1.89774925e-02 -2.61569445e+01] [-3.59407021e-02 -1.28771627e-03 9.99353095e-01 -6.47295010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44038572300002 meters 0.025776344970666273 Centerline is valid? [True, True] Translation: X:138.34, Y:-26.17, Z:-6.47 [[ 8.28878663e-01 5.58613492e-01 3.01849157e-02 1.38338878e+02] [-5.58299889e-01 8.29427074e-01 -1.87606539e-02 -2.61737524e+01] [-3.55161407e-02 -1.30192940e-03 9.99368255e-01 -6.47431156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47038572300002 meters 0.02607350942360097 Centerline is valid? [True, True] Translation: X:138.36, Y:-26.19, Z:-6.48 [[ 8.28654214e-01 5.58977513e-01 2.96029141e-02 1.38364314e+02] [-5.58675836e-01 8.29181818e-01 -1.84071364e-02 -2.61937710e+01] [-3.48353735e-02 -1.28528167e-03 9.99392238e-01 -6.47637027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.500385723 meters 0.022452591176944852 Centerline is valid? [True, True] Translation: X:138.39, Y:-26.22, Z:-6.48 [[ 8.28836003e-01 5.58738476e-01 2.90206155e-02 1.38387074e+02] [-5.58448116e-01 8.29342975e-01 -1.80535590e-02 -2.62172471e+01] [-3.41552616e-02 -1.24306838e-03 9.99415766e-01 -6.47645295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530385723 meters 0.022537055047957878 Centerline is valid? [True, True] Translation: X:138.41, Y:-26.24, Z:-6.48 [[ 8.29198225e-01 5.58238639e-01 2.82829355e-02 1.38412213e+02] [-5.57962253e-01 8.29679589e-01 -1.76040665e-02 -2.62354109e+01] [-3.32930444e-02 -1.18354973e-03 9.99444932e-01 -6.47916168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.560385723 meters 0.022946330448804578 Centerline is valid? [True, True] Translation: X:138.44, Y:-26.25, Z:-6.48 [[ 8.29140480e-01 5.58350848e-01 2.77559891e-02 1.38439049e+02] [-5.58084471e-01 8.29604114e-01 -1.72840051e-02 -2.62529666e+01] [-3.26770217e-02 -1.15931821e-03 9.99465291e-01 -6.48120035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590385723 meters 0.022179193353055956 Centerline is valid? [True, True] Translation: X:138.46, Y:-26.27, Z:-6.48 [[ 8.29376819e-01 5.58006964e-01 2.76101335e-02 1.38464419e+02] [-5.57742867e-01 8.29835494e-01 -1.72030944e-02 -2.62737256e+01] [-3.25113153e-02 -1.13150734e-03 9.99470727e-01 -6.48284751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.620385723 meters 0.024106758804924033 Centerline is valid? [True, True] Translation: X:138.49, Y:-26.29, Z:-6.49 [[ 8.29634414e-01 5.57619404e-01 2.77008994e-02 1.38491386e+02] [-5.57353001e-01 8.30095998e-01 -1.72703969e-02 -2.62891605e+01] [-3.26247141e-02 -1.11106381e-03 9.99467055e-01 -6.48517844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650385723 meters 0.02210299774747138 Centerline is valid? [True, True] Translation: X:138.52, Y:-26.31, Z:-6.48 [[ 8.30025546e-01 5.57037611e-01 2.76892169e-02 1.38515206e+02] [-5.56770986e-01 8.30486559e-01 -1.72668863e-02 -2.63111812e+01] [-3.26138275e-02 -1.08459584e-03 9.99467439e-01 -6.48471067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.680385723 meters 0.021620359181181676 Centerline is valid? [True, True] Translation: X:138.54, Y:-26.33, Z:-6.49 [[ 8.31146493e-01 5.55380778e-01 2.73440799e-02 1.38539671e+02] [-5.55119577e-01 8.31595570e-01 -1.70605637e-02 -2.63328243e+01] [-3.22143248e-02 -9.99406353e-04 9.99480484e-01 -6.48575983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710385723 meters 0.02189086284711638 Centerline is valid? [True, True] Translation: X:138.56, Y:-26.35, Z:-6.49 [[ 8.32186401e-01 5.53853662e-01 2.66817384e-02 1.38564136e+02] [-5.53603904e-01 8.32613532e-01 -1.66560729e-02 -2.63519603e+01] [-3.14406034e-02 -9.10157132e-04 9.99505208e-01 -6.48840056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.740385723 meters 0.020664693594893615 Centerline is valid? [True, True] Translation: X:138.59, Y:-26.37, Z:-6.49 [[ 8.32359927e-01 5.53589317e-01 2.67548130e-02 1.38589685e+02] [-5.53337806e-01 8.32789328e-01 -1.67094887e-02 -2.63724944e+01] [-3.15313172e-02 -8.96140732e-04 9.99502363e-01 -6.48920637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770385723 meters 0.021235561344326075 Centerline is valid? [True, True] Translation: X:138.62, Y:-26.39, Z:-6.49 [[ 8.32298686e-01 5.53648863e-01 2.74195935e-02 1.38615685e+02] [-5.53384375e-01 8.32749726e-01 -1.71355866e-02 -2.63886554e+01] [-3.23207570e-02 -9.11648416e-04 9.99477132e-01 -6.49096324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.800385723 meters 0.02026873836104848 Centerline is valid? [True, True] Translation: X:138.64, Y:-26.41, Z:-6.49 [[ 8.32043528e-01 5.53961961e-01 2.88047371e-02 1.38639967e+02] [-5.53670109e-01 8.32541417e-01 -1.80055656e-02 -2.64102209e+01] [-3.39555351e-02 -9.66907559e-04 9.99422877e-01 -6.49045352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830385723 meters 0.0199277028239694 Centerline is valid? [True, True] Translation: X:138.66, Y:-26.43, Z:-6.49 [[ 8.32285029e-01 5.53579710e-01 2.91742146e-02 1.38663597e+02] [-5.53279743e-01 8.32795648e-01 -1.82464775e-02 -2.64331786e+01] [-3.43970387e-02 -9.55231941e-04 9.99407790e-01 -6.48968309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.860385723 meters 0.020539073060737583 Centerline is valid? [True, True] Translation: X:138.69, Y:-26.45, Z:-6.49 [[ 8.32464939e-01 5.53315764e-01 2.90480662e-02 1.38688968e+02] [-5.53017882e-01 8.32971066e-01 -1.81776089e-02 -2.64512272e+01] [-3.42541562e-02 -9.31877902e-04 9.99412720e-01 -6.49095431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890385723 meters 0.02179682488906443 Centerline is valid? [True, True] Translation: X:138.72, Y:-26.47, Z:-6.49 [[ 8.32347401e-01 5.53506479e-01 2.87816145e-02 1.38716017e+02] [-5.53213862e-01 8.32844357e-01 -1.80194268e-02 -2.64682118e+01] [-3.39444748e-02 -9.23965045e-04 9.99423293e-01 -6.49307895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.920385723 meters 0.021701164043416214 Centerline is valid? [True, True] Translation: X:138.74, Y:-26.49, Z:-6.50 [[ 8.32022649e-01 5.53986963e-01 2.89267537e-02 1.38742875e+02] [-5.53691331e-01 8.32524812e-01 -1.81203809e-02 -2.64881286e+01] [-3.41206950e-02 -9.39925410e-04 9.99417278e-01 -6.49536722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.950385723 meters 0.02192244854760815 Centerline is valid? [True, True] Translation: X:138.77, Y:-26.51, Z:-6.50 [[ 8.31593072e-01 5.54616668e-01 2.92115485e-02 1.38770475e+02] [-5.54315203e-01 8.32105413e-01 -1.83095147e-02 -2.65058744e+01] [-3.44618496e-02 -9.66339863e-04 9.99405547e-01 -6.49711406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980385723 meters 0.020930283571943195 Centerline is valid? [True, True] Translation: X:138.79, Y:-26.53, Z:-6.50 [[ 8.30851209e-01 5.55722962e-01 2.92960446e-02 1.38794683e+02] [-5.55420058e-01 8.31366933e-01 -1.83733862e-02 -2.65269469e+01] [-3.45662754e-02 -1.00606065e-03 9.99401901e-01 -6.49808863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010385723 meters 0.02279414506088538 Centerline is valid? [True, True] Translation: X:138.82, Y:-26.54, Z:-6.50 [[ 8.30637291e-01 5.56067936e-01 2.88121776e-02 1.38820969e+02] [-5.55774840e-01 8.31136246e-01 -1.80794969e-02 -2.65429227e+01] [-3.40002737e-02 -9.95579080e-04 9.99421328e-01 -6.50094067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040385723 meters 0.020341950502776485 Centerline is valid? [True, True] Translation: X:138.84, Y:-26.57, Z:-6.50 [[ 8.30983149e-01 5.55619441e-01 2.74598441e-02 1.38843644e+02] [-5.55352748e-01 8.31436215e-01 -1.72378900e-02 -2.65687861e+01] [-3.24088157e-02 -9.25503740e-04 9.99474268e-01 -6.50166617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07038572300002 meters 0.021233037127082525 Centerline is valid? [True, True] Translation: X:138.87, Y:-26.59, Z:-6.50 [[ 8.31183380e-01 5.55349724e-01 2.68490765e-02 1.38870986e+02] [-5.55094296e-01 8.31616437e-01 -1.68648618e-02 -2.65856919e+01] [-3.16940297e-02 -8.85976427e-04 9.99497225e-01 -6.50485424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10038572300002 meters 0.020980100965412238 Centerline is valid? [True, True] Translation: X:138.90, Y:-26.60, Z:-6.51 [[ 8.31373577e-01 5.55067094e-01 2.68047683e-02 1.38897402e+02] [-5.54812046e-01 8.31805129e-01 -1.68470173e-02 -2.66040089e+01] [-3.16475687e-02 -8.65443286e-04 9.99498716e-01 -6.50721081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13038572300002 meters 0.020108361676509395 Centerline is valid? [True, True] Translation: X:138.92, Y:-26.63, Z:-6.51 [[ 8.32341921e-01 5.53654577e-01 2.59525559e-02 1.38921972e+02] [-5.53414515e-01 8.32746062e-01 -1.63208549e-02 -2.66260844e+01] [-3.06480048e-02 -7.77989407e-04 9.99529937e-01 -6.50925152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16038572300002 meters 0.019584909072476234 Centerline is valid? [True, True] Translation: X:138.94, Y:-26.65, Z:-6.51 [[ 8.33473403e-01 5.51925777e-01 2.64579449e-02 1.38944921e+02] [-5.51675266e-01 8.33892926e-01 -1.66429978e-02 -2.66496759e+01] [-3.12487926e-02 -7.24697763e-04 9.99511375e-01 -6.50796547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19038572300002 meters 0.01920859108352497 Centerline is valid? [True, True] Translation: X:138.97, Y:-26.67, Z:-6.51 [[ 8.33956571e-01 5.51160036e-01 2.71854962e-02 1.38970084e+02] [-5.50894844e-01 8.34399253e-01 -1.71101280e-02 -2.66693993e+01] [-3.21139765e-02 -7.07246035e-04 9.99483963e-01 -6.50815995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22038572300002 meters 0.019372594704425414 Centerline is valid? [True, True] Translation: X:139.00, Y:-26.69, Z:-6.51 [[ 8.34308231e-01 5.50597974e-01 2.77785265e-02 1.38995584e+02] [-5.50320447e-01 8.34770263e-01 -1.74932554e-02 -2.66867991e+01] [-3.28204388e-02 -6.92324112e-04 9.99461024e-01 -6.50950422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250385723 meters 0.018522152288224333 Centerline is valid? [True, True] Translation: X:139.02, Y:-26.71, Z:-6.51 [[ 8.34911040e-01 5.49608823e-01 2.92181060e-02 1.39020254e+02] [-5.49300849e-01 8.35421858e-01 -1.84091582e-02 -2.67076132e+01] [-3.45272801e-02 -6.79520978e-04 9.99403525e-01 -6.50995328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.280385723 meters 0.019306978210627476 Centerline is valid? [True, True] Translation: X:139.05, Y:-26.72, Z:-6.51 [[ 8.35012451e-01 5.49435263e-01 2.95820503e-02 1.39047203e+02] [-5.49119087e-01 8.35536020e-01 -1.86490881e-02 -2.67228253e+01] [-3.49633352e-02 -6.71847638e-04 9.99388370e-01 -6.51255329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310385723 meters 0.018391104353348123 Centerline is valid? [True, True] Translation: X:139.07, Y:-26.74, Z:-6.51 [[ 8.35096215e-01 5.49301443e-01 2.97024692e-02 1.39070751e+02] [-5.48982273e-01 8.35624011e-01 -1.87343551e-02 -2.67449241e+01] [-3.51109047e-02 -6.61139983e-04 9.99383203e-01 -6.51157296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.340385723 meters 0.0184940345895836 Centerline is valid? [True, True] Translation: X:139.10, Y:-26.76, Z:-6.51 [[ 8.34932551e-01 5.49553353e-01 2.96436903e-02 1.39097075e+02] [-5.49235257e-01 8.35458362e-01 -1.87071787e-02 -2.67640201e+01] [-3.50466617e-02 -6.62127408e-04 9.99385458e-01 -6.51226648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370385723 meters 0.01839779285966033 Centerline is valid? [True, True] Translation: X:139.12, Y:-26.78, Z:-6.51 [[ 8.35200484e-01 5.49158623e-01 2.94101609e-02 1.39121976e+02] [-5.48844854e-01 8.35717901e-01 -1.85719360e-02 -2.67827730e+01] [-3.47775367e-02 -6.30325541e-04 9.99394880e-01 -6.51296506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.400385723 meters 0.01851548549418737 Centerline is valid? [True, True] Translation: X:139.15, Y:-26.80, Z:-6.52 [[ 8.35260268e-01 5.49083775e-01 2.91082830e-02 1.39148799e+02] [-5.48776030e-01 8.35767093e-01 -1.83912062e-02 -2.67994463e+01] [-3.44260580e-02 -6.12484167e-04 9.99407060e-01 -6.51563863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430385723 meters 0.01847399644257331 Centerline is valid? [True, True] Translation: X:139.18, Y:-26.82, Z:-6.52 [[ 8.35365883e-01 5.48943893e-01 2.87131366e-02 1.39175536e+02] [-5.48644170e-01 8.35858989e-01 -1.81472838e-02 -2.68161891e+01] [-3.39619739e-02 -5.93673256e-04 9.99422949e-01 -6.51836124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.460385723 meters 0.018159179971569506 Centerline is valid? [True, True] Translation: X:139.20, Y:-26.84, Z:-6.52 [[ 8.35803170e-01 5.48338313e-01 2.75346120e-02 1.39201607e+02] [-5.48062073e-01 8.36256423e-01 -1.74114673e-02 -2.68359990e+01] [-3.25733707e-02 -5.38116932e-04 9.99469202e-01 -6.52053282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490385723 meters 0.018032365627697142 Centerline is valid? [True, True] Translation: X:139.23, Y:-26.86, Z:-6.52 [[ 8.37003805e-01 5.46561699e-01 2.63617125e-02 1.39225437e+02] [-5.46307288e-01 8.37418721e-01 -1.66803046e-02 -2.68557379e+01] [-3.11926072e-02 -4.40117260e-04 9.99513295e-01 -6.52232485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.520385723 meters 0.017866202352896023 Centerline is valid? [True, True] Translation: X:139.25, Y:-26.88, Z:-6.52 [[ 8.37782462e-01 5.45382079e-01 2.60563659e-02 1.39251595e+02] [-5.45132718e-01 8.38187473e-01 -1.64948649e-02 -2.68751032e+01] [-3.08361232e-02 -3.85069072e-04 9.99524380e-01 -6.52365176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550385723 meters 0.017624148315379968 Centerline is valid? [True, True] Translation: X:139.28, Y:-26.89, Z:-6.52 [[ 8.39387047e-01 5.42917855e-01 2.58764124e-02 1.39275540e+02] [-5.42670478e-01 8.39785760e-01 -1.63899329e-02 -2.68949621e+01] [-3.06290299e-02 -2.84867705e-04 9.99530781e-01 -6.52419169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.580385723 meters 0.017528403819729255 Centerline is valid? [True, True] Translation: X:139.30, Y:-26.91, Z:-6.52 [[ 8.39779033e-01 5.42302172e-01 2.60677806e-02 1.39301569e+02] [-5.42050581e-01 8.40183485e-01 -1.65190747e-02 -2.69135824e+01] [-3.08600489e-02 -2.57683073e-04 9.99523682e-01 -6.52428100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610385723 meters 0.017343264566726947 Centerline is valid? [True, True] Translation: X:139.33, Y:-26.93, Z:-6.52 [[ 8.40065268e-01 5.41789045e-01 2.74768270e-02 1.39327762e+02] [-5.41508915e-01 8.40514468e-01 -1.74219280e-02 -2.69321923e+01] [-3.25336804e-02 -2.43390138e-04 9.99470610e-01 -6.52331976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.640385723 meters 0.017450396847153396 Centerline is valid? [True, True] Translation: X:139.36, Y:-26.95, Z:-6.52 [[ 8.39722258e-01 5.42285573e-01 2.81582536e-02 1.39355710e+02] [-5.41991341e-01 8.40194197e-01 -1.78633103e-02 -2.69500647e+01] [-3.33454167e-02 -2.61310366e-04 9.99443853e-01 -6.52438557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670385723 meters 0.017511192628917045 Centerline is valid? [True, True] Translation: X:139.38, Y:-26.97, Z:-6.53 [[ 8.38869894e-01 5.43603207e-01 2.81576625e-02 1.39383345e+02] [-5.43309357e-01 8.39342279e-01 -1.78740409e-02 -2.69663855e+01] [-3.33503025e-02 -3.04326752e-04 9.99443678e-01 -6.52588126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.700385723 meters 0.01768403768958736 Centerline is valid? [True, True] Translation: X:139.41, Y:-26.98, Z:-6.53 [[ 8.38342319e-01 5.44420779e-01 2.80744111e-02 1.39411166e+02] [-5.44128794e-01 8.38812201e-01 -1.78310823e-02 -2.69838172e+01] [-3.32567703e-02 -3.27544516e-04 9.99446787e-01 -6.52726636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730385723 meters 0.017752517830734504 Centerline is valid? [True, True] Translation: X:139.44, Y:-27.00, Z:-6.53 [[ 8.37714175e-01 5.45392085e-01 2.79720443e-02 1.39438894e+02] [-5.45102423e-01 8.38180975e-01 -1.77764483e-02 -2.70011691e+01] [-3.31407696e-02 -3.56046417e-04 9.99450630e-01 -6.52871378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760385723 meters 0.01792677854304376 Centerline is valid? [True, True] Translation: X:139.47, Y:-27.02, Z:-6.53 [[ 8.36607291e-01 5.47165274e-01 2.64273190e-02 1.39466056e+02] [-5.46907312e-01 8.37024496e-01 -1.68043156e-02 -2.70181917e+01] [-3.13150513e-02 -3.94681026e-04 9.99509486e-01 -6.53063495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790385723 meters 0.01792677854304376 Centerline is valid? [True, True] Translation: X:139.49, Y:-27.04, Z:-6.53 [[ 8.36458882e-01 5.47392302e-01 2.64235811e-02 1.39493332e+02] [-5.47134268e-01 8.36876043e-01 -1.68101905e-02 -2.70356260e+01] [-3.13150308e-02 -3.96213501e-04 9.99509486e-01 -6.53209042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82038572300002 meters 0.018067976433944366 Centerline is valid? [True, True] Translation: X:139.52, Y:-27.05, Z:-6.53 [[ 8.35631523e-01 5.48688618e-01 2.57052094e-02 1.39520807e+02] [-5.48444733e-01 8.36026686e-01 -1.63631908e-02 -2.70524625e+01] [-3.04685376e-02 -4.24288725e-04 9.99535636e-01 -6.53385284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85038572300002 meters 0.018142123444909425 Centerline is valid? [True, True] Translation: X:139.55, Y:-27.07, Z:-6.54 [[ 8.34128185e-01 5.51033274e-01 2.43413583e-02 1.39548357e+02] [-5.50815375e-01 8.34483136e-01 -1.55022405e-02 -2.70694984e+01] [-2.88547033e-02 -4.76738691e-04 9.99583503e-01 -6.53519650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88038572300002 meters 0.01841733292850793 Centerline is valid? [True, True] Translation: X:139.58, Y:-27.09, Z:-6.54 [[ 8.33111664e-01 5.52586836e-01 2.39320673e-02 1.39576197e+02] [-5.52376616e-01 8.33455172e-01 -1.52495817e-02 -2.70857605e+01] [-2.83730234e-02 -5.14909975e-04 9.99597272e-01 -6.53685507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91038572300002 meters 0.018999226199119444 Centerline is valid? [True, True] Translation: X:139.60, Y:-27.10, Z:-6.54 [[ 8.31260534e-01 5.55372780e-01 2.38117612e-02 1.39604744e+02] [-5.55165580e-01 8.31601296e-01 -1.51810320e-02 -2.71011941e+01] [-2.82330234e-02 -6.00077505e-04 9.99601189e-01 -6.53895366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94038572300002 meters 0.019342758526025173 Centerline is valid? [True, True] Translation: X:139.63, Y:-27.12, Z:-6.54 [[ 8.30685032e-01 5.56283096e-01 2.26162474e-02 1.39632280e+02] [-5.56096330e-01 8.30992638e-01 -1.44259277e-02 -2.71176763e+01] [-2.68188348e-02 -5.93409947e-04 9.99640134e-01 -6.54111580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97038572300002 meters 0.01924346467673141 Centerline is valid? [True, True] Translation: X:139.66, Y:-27.13, Z:-6.54 [[ 8.29895626e-01 5.57495042e-01 2.17376897e-02 1.39659609e+02] [-5.57322740e-01 8.30180050e-01 -1.38725634e-02 -2.71339160e+01] [-2.57800816e-02 -6.02129068e-04 9.99667457e-01 -6.54276060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.000385723 meters 0.019289862710608407 Centerline is valid? [True, True] Translation: X:139.69, Y:-27.15, Z:-6.54 [[ 8.29652365e-01 5.57862037e-01 2.16078894e-02 1.39687665e+02] [-5.57691745e-01 8.29933480e-01 -1.37962145e-02 -2.71517860e+01] [-2.56294952e-02 -6.04479571e-04 9.99671328e-01 -6.54408226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030385723 meters 0.019243653841190582 Centerline is valid? [True, True] Translation: X:139.71, Y:-27.17, Z:-6.54 [[ 8.29852730e-01 5.57566827e-01 2.15332511e-02 1.39713763e+02] [-5.57397375e-01 8.30131851e-01 -1.37577525e-02 -2.71699250e+01] [-2.55463041e-02 -5.85669151e-04 9.99673468e-01 -6.54423176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.060385723 meters 0.019246527455841024 Centerline is valid? [True, True] Translation: X:139.74, Y:-27.19, Z:-6.54 [[ 8.30113209e-01 5.57156798e-01 2.20989484e-02 1.39739096e+02] [-5.56977961e-01 8.30407108e-01 -1.41274858e-02 -2.71875420e+01] [-2.62223485e-02 -5.81214668e-04 9.99655966e-01 -6.54463170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090385723 meters 0.019234782603360933 Centerline is valid? [True, True] Translation: X:139.77, Y:-27.21, Z:-6.54 [[ 8.30417059e-01 5.56686459e-01 2.25320975e-02 1.39765316e+02] [-5.56500181e-01 8.30722493e-01 -1.44113866e-02 -2.72064439e+01] [-2.67405440e-02 -5.71655064e-04 9.99642244e-01 -6.54410893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.120385723 meters 0.019139418992476585 Centerline is valid? [True, True] Translation: X:139.79, Y:-27.23, Z:-6.54 [[ 8.31088544e-01 5.55644553e-01 2.34725869e-02 1.39791271e+02] [-5.55441749e-01 8.31419764e-01 -1.50212970e-02 -2.72258882e+01] [-2.78620745e-02 -5.53626833e-04 9.99611624e-01 -6.54219909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150385723 meters 0.018523447856201594 Centerline is valid? [True, True] Translation: X:139.82, Y:-27.24, Z:-6.54 [[ 8.31281761e-01 5.55346923e-01 2.36734007e-02 1.39817772e+02] [-5.55140292e-01 8.31618604e-01 -1.51576562e-02 -2.72445425e+01] [-2.81049982e-02 -5.41775412e-04 9.99604830e-01 -6.54184921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.180385723 meters 0.019103261413261047 Centerline is valid? [True, True] Translation: X:139.85, Y:-27.26, Z:-6.54 [[ 8.31574926e-01 5.54886265e-01 2.41738617e-02 1.39845351e+02] [-5.54670303e-01 8.31926050e-01 -1.54887686e-02 -2.72593289e+01] [-2.87053703e-02 -5.28451582e-04 9.99587776e-01 -6.54472885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210385723 meters 0.018670248703309446 Centerline is valid? [True, True] Translation: X:139.87, Y:-27.28, Z:-6.54 [[ 8.30958715e-01 5.55808827e-01 2.41694601e-02 1.39871908e+02] [-5.55593254e-01 8.31309952e-01 -1.54886648e-02 -2.72779661e+01] [-2.87010494e-02 -5.57948033e-04 9.99587884e-01 -6.54454744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.240385723 meters 0.018835995336742815 Centerline is valid? [True, True] Translation: X:139.90, Y:-27.30, Z:-6.55 [[ 8.30550699e-01 5.56423497e-01 2.40505229e-02 1.39899042e+02] [-5.56210063e-01 8.30898651e-01 -1.54207179e-02 -2.72955167e+01] [-2.85639969e-02 -5.69454811e-04 9.99591804e-01 -6.54539498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270385723 meters 0.01885587275252914 Centerline is valid? [True, True] Translation: X:139.93, Y:-27.31, Z:-6.55 [[ 8.30058712e-01 5.57167612e-01 2.38072794e-02 1.39925777e+02] [-5.56958557e-01 8.30399851e-01 -1.52726158e-02 -2.73134360e+01] [-2.82789681e-02 -5.82500231e-04 9.99599900e-01 -6.54583421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.300385723 meters 0.01938334038228272 Centerline is valid? [True, True] Translation: X:139.95, Y:-27.33, Z:-6.55 [[ 8.28981267e-01 5.58804300e-01 2.29741775e-02 1.39953094e+02] [-5.58610038e-01 8.29299332e-01 -1.47459554e-02 -2.73285142e+01] [-2.72925733e-02 -6.09485381e-04 9.99627303e-01 -6.54703590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330385723 meters 0.018927015796191198 Centerline is valid? [True, True] Translation: X:139.98, Y:-27.35, Z:-6.55 [[ 8.28387352e-01 5.59694129e-01 2.27349350e-02 1.39980617e+02] [-5.59504051e-01 8.28699034e-01 -1.45989142e-02 -2.73458410e+01] [-2.70113452e-02 -6.26732368e-04 9.99634931e-01 -6.54807735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.360385723 meters 0.019630220800511407 Centerline is valid? [True, True] Translation: X:140.01, Y:-27.36, Z:-6.55 [[ 8.27280405e-01 5.61394875e-01 2.10457904e-02 1.40008965e+02] [-5.61232373e-01 8.27547825e-01 -1.35211239e-02 -2.73588340e+01] [-2.50070877e-02 -6.25818061e-04 9.99687078e-01 -6.55222983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390385723 meters 0.01981028209330264 Centerline is valid? [True, True] Translation: X:140.04, Y:-27.38, Z:-6.55 [[ 8.26656136e-01 5.62328316e-01 2.06518159e-02 1.40036437e+02] [-5.62171985e-01 8.26913816e-01 -1.32740439e-02 -2.73755992e+01] [-2.45416427e-02 -6.36802468e-04 9.99698606e-01 -6.55431306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.420385723 meters 0.020826815958894532 Centerline is valid? [True, True] Translation: X:140.06, Y:-27.39, Z:-6.56 [[ 8.25760574e-01 5.63691184e-01 1.92801266e-02 1.40063497e+02] [-5.63555170e-01 8.25985384e-01 -1.23982041e-02 -2.73905040e+01] [-2.29138611e-02 -6.27466843e-04 9.99737246e-01 -6.55718099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.450385723 meters 0.02085322867997775 Centerline is valid? [True, True] Translation: X:140.09, Y:-27.41, Z:-6.56 [[ 8.25354777e-01 5.64295383e-01 1.89792855e-02 1.40090698e+02] [-5.64163600e-01 8.25572725e-01 -1.22109706e-02 -2.74076703e+01] [-2.25593748e-02 -6.29039147e-04 9.99745307e-01 -6.55810084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480385723 meters 0.021172341453803884 Centerline is valid? [True, True] Translation: X:140.12, Y:-27.42, Z:-6.56 [[ 8.25096456e-01 5.64660321e-01 1.93535639e-02 1.40118635e+02] [-5.64523248e-01 8.25323151e-01 -1.24578527e-02 -2.74244050e+01] [-2.30073994e-02 -6.46606689e-04 9.99735086e-01 -6.55980733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510385723 meters 0.020538690747857434 Centerline is valid? [True, True] Translation: X:140.14, Y:-27.44, Z:-6.56 [[ 8.25411185e-01 5.64182761e-01 1.98541547e-02 1.40144497e+02] [-5.64038153e-01 8.25649684e-01 -1.27891127e-02 -2.74429565e+01] [-2.36079735e-02 -6.42224049e-04 9.99721087e-01 -6.55870640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540385723 meters 0.019924806835661574 Centerline is valid? [True, True] Translation: X:140.17, Y:-27.46, Z:-6.56 [[ 8.26187163e-01 5.63003640e-01 2.10160288e-02 1.40170591e+02] [-5.62840937e-01 8.26454172e-01 -1.35492073e-02 -2.74627179e+01] [-2.49970377e-02 -6.34500236e-04 9.99687324e-01 -6.55785142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57038572300002 meters 0.020176597767387467 Centerline is valid? [True, True] Translation: X:140.20, Y:-27.48, Z:-6.56 [[ 8.26590627e-01 5.62394158e-01 2.14650192e-02 1.40197547e+02] [-5.62224242e-01 8.26869043e-01 -1.38378893e-02 -2.74789748e+01] [-2.55311080e-02 -6.29884612e-04 9.99673830e-01 -6.55998221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60038572300002 meters 0.019212378042301078 Centerline is valid? [True, True] Translation: X:140.22, Y:-27.50, Z:-6.56 [[ 8.26861794e-01 5.61971426e-01 2.20837153e-02 1.40223315e+02] [-5.61791218e-01 8.27156407e-01 -1.42444726e-02 -2.74974910e+01] [-2.62716732e-02 -6.28227185e-04 9.99654643e-01 -6.56014114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63038572300002 meters 0.01927846712839475 Centerline is valid? [True, True] Translation: X:140.25, Y:-27.51, Z:-6.56 [[ 8.27241269e-01 5.61333662e-01 2.40083692e-02 1.40249697e+02] [-5.61120119e-01 8.27589327e-01 -1.54957635e-02 -2.75136999e+01] [-2.85673638e-02 -6.52843877e-04 9.99591656e-01 -6.56153684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66038572300002 meters 0.0188790347382752 Centerline is valid? [True, True] Translation: X:140.28, Y:-27.53, Z:-6.56 [[ 8.27506397e-01 5.60913316e-01 2.46863230e-02 1.40275776e+02] [-5.60687119e-01 8.27874284e-01 -1.59412872e-02 -2.75318977e+01] [-2.93788522e-02 -6.49786197e-04 9.99568137e-01 -6.56173893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69038572300002 meters 0.018934660014481613 Centerline is valid? [True, True] Translation: X:140.30, Y:-27.55, Z:-6.56 [[ 8.28084817e-01 5.60014788e-01 2.56704609e-02 1.40301997e+02] [-5.59769463e-01 8.28482368e-01 -1.65865550e-02 -2.75491915e+01] [-3.05562403e-02 -6.34465741e-04 9.99532848e-01 -6.56280041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72038572300002 meters 0.018594260287706214 Centerline is valid? [True, True] Translation: X:140.33, Y:-27.57, Z:-6.56 [[ 8.28453626e-01 5.59463467e-01 2.57918260e-02 1.40328672e+02] [-5.59215302e-01 8.28854786e-01 -1.66730421e-02 -2.75673435e+01] [-3.07056364e-02 -6.10341624e-04 9.99528284e-01 -6.56379767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750385723 meters 0.018585092594720493 Centerline is valid? [True, True] Translation: X:140.36, Y:-27.58, Z:-6.57 [[ 8.29071337e-01 5.58566233e-01 2.53866527e-02 1.40355077e+02] [-5.58325124e-01 8.29459733e-01 -1.64197214e-02 -2.75845818e+01] [-3.02287082e-02 -5.60885638e-04 9.99542851e-01 -6.56614835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.780385723 meters 0.017969993549650443 Centerline is valid? [True, True] Translation: X:140.38, Y:-27.60, Z:-6.57 [[ 8.29261556e-01 5.58284026e-01 2.53814383e-02 1.40381652e+02] [-5.58042631e-01 8.29649716e-01 -1.64247220e-02 -2.76029487e+01] [-3.02273629e-02 -5.43534072e-04 9.99542901e-01 -6.56731766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810385723 meters 0.01796794716923022 Centerline is valid? [True, True] Translation: X:140.41, Y:-27.62, Z:-6.57 [[ 8.30039109e-01 5.57128404e-01 2.53578385e-02 1.40407744e+02] [-5.56886650e-01 8.30426215e-01 -1.64183151e-02 -2.76202026e+01] [-3.02049235e-02 -4.93598071e-04 9.99543605e-01 -6.56981954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.840385723 meters 0.017701623238843646 Centerline is valid? [True, True] Translation: X:140.43, Y:-27.64, Z:-6.57 [[ 8.30376344e-01 5.56631410e-01 2.52309547e-02 1.40433604e+02] [-5.56391579e-01 8.30759446e-01 -1.63448610e-02 -2.76387636e+01] [-3.00589170e-02 -4.65904839e-04 9.99548020e-01 -6.57062769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870385723 meters 0.01750758615305491 Centerline is valid? [True, True] Translation: X:140.46, Y:-27.66, Z:-6.57 [[ 8.31184849e-01 5.55449709e-01 2.46448221e-02 1.40458817e+02] [-5.55220118e-01 8.31550032e-01 -1.59738492e-02 -2.76560660e+01] [-2.93660725e-02 -4.06079625e-04 9.99568641e-01 -6.57287760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.900385723 meters 0.01773466772713763 Centerline is valid? [True, True] Translation: X:140.49, Y:-27.67, Z:-6.58 [[ 8.31654184e-01 5.54744571e-01 2.46937255e-02 1.40486199e+02] [-5.54513490e-01 8.32020625e-01 -1.60146169e-02 -2.76735363e+01] [-2.94297107e-02 -3.74380835e-04 9.99566782e-01 -6.57579794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930385723 meters 0.01737596085181165 Centerline is valid? [True, True] Translation: X:140.51, Y:-27.69, Z:-6.58 [[ 8.32117048e-01 5.54081310e-01 2.39816726e-02 1.40512713e+02] [-5.53862957e-01 8.32462485e-01 -1.55575328e-02 -2.76915167e+01] [-2.85839810e-02 -3.36871816e-04 9.99591338e-01 -6.57752031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.960385723 meters 0.017335017649256428 Centerline is valid? [True, True] Translation: X:140.54, Y:-27.71, Z:-6.58 [[ 8.31985547e-01 5.54289844e-01 2.37238096e-02 1.40539985e+02] [-5.54076136e-01 8.32323648e-01 -1.53941640e-02 -2.77102352e+01] [-2.82787165e-02 -3.37074751e-04 9.99600020e-01 -6.57857252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990385723 meters 0.017476778762899967 Centerline is valid? [True, True] Translation: X:140.57, Y:-27.73, Z:-6.58 [[ 8.32201085e-01 5.53956566e-01 2.39473740e-02 1.40565544e+02] [-5.53738374e-01 8.32545507e-01 -1.55496881e-02 -2.77284620e+01] [-2.85511304e-02 -3.20112602e-04 9.99592282e-01 -6.57989695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.020385723 meters 0.017517818998314474 Centerline is valid? [True, True] Translation: X:140.59, Y:-27.75, Z:-6.58 [[ 8.32376058e-01 5.53681644e-01 2.42226117e-02 1.40592153e+02] [-5.53458076e-01 8.32728373e-01 -1.57358054e-02 -2.77467812e+01] [-2.88834826e-02 -3.08092407e-04 9.99582738e-01 -6.58096975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050385723 meters 0.017591151285884878 Centerline is valid? [True, True] Translation: X:140.62, Y:-27.76, Z:-6.58 [[ 8.32500650e-01 5.53469205e-01 2.47892472e-02 1.40617564e+02] [-5.53234695e-01 8.32869587e-01 -1.61128472e-02 -2.77638856e+01] [-2.95641748e-02 -3.00315821e-04 9.99562839e-01 -6.58225135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.080385723 meters 0.017500076922028866 Centerline is valid? [True, True] Translation: X:140.65, Y:-27.78, Z:-6.58 [[ 8.32648858e-01 5.53174152e-01 2.63483722e-02 1.40645192e+02] [-5.52908715e-01 8.33065584e-01 -1.71372552e-02 -2.77813543e+01] [-3.14298087e-02 -2.98928620e-04 9.99505917e-01 -6.58225289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110385723 meters 0.017356283634273974 Centerline is valid? [True, True] Translation: X:140.67, Y:-27.80, Z:-6.58 [[ 8.31960133e-01 5.54186799e-01 2.68202958e-02 1.40673442e+02] [-5.53912275e-01 8.32392260e-01 -1.74446932e-02 -2.77981435e+01] [-3.19926253e-02 -3.42801801e-04 9.99488046e-01 -6.58342480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.140385723 meters 0.017497693269895354 Centerline is valid? [True, True] Translation: X:140.70, Y:-27.82, Z:-6.58 [[ 8.30738903e-01 5.55972515e-01 2.77026673e-02 1.40702132e+02] [-5.55680240e-01 8.31200571e-01 -1.80300038e-02 -2.78153252e+01] [-3.30506595e-02 -4.15599295e-04 9.99453591e-01 -6.58329953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170385723 meters 0.020071992221234854 Centerline is valid? [True, True] Translation: X:140.73, Y:-27.83, Z:-6.59 [[ 8.30365064e-01 5.56540365e-01 2.75078816e-02 1.40729299e+02] [-5.56252073e-01 8.30820463e-01 -1.79161721e-02 -2.78303490e+01] [-3.28251839e-02 -4.24352750e-04 9.99461018e-01 -6.58744792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.200385723 meters 0.018368233786156995 Centerline is valid? [True, True] Translation: X:140.76, Y:-27.85, Z:-6.59 [[ 8.28679453e-01 5.59093649e-01 2.65453470e-02 1.40756249e+02] [-5.58826391e-01 8.29104359e-01 -1.72924025e-02 -2.78470791e+01] [-3.16769353e-02 -5.04381798e-04 9.99498033e-01 -6.58646496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230385723 meters 0.01836759318089039 Centerline is valid? [True, True] Translation: X:140.78, Y:-27.86, Z:-6.59 [[ 8.27897356e-01 5.60255034e-01 2.64625269e-02 1.40783723e+02] [-5.59989755e-01 8.28319990e-01 -1.72472831e-02 -2.78644331e+01] [-3.15823172e-02 -5.39763844e-04 9.99501008e-01 -6.58799203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260385723 meters 0.01851681571575305 Centerline is valid? [True, True] Translation: X:140.81, Y:-27.88, Z:-6.59 [[ 8.27144370e-01 5.61370464e-01 2.63703197e-02 1.40811449e+02] [-5.61107308e-01 8.27564423e-01 -1.71963407e-02 -2.78799841e+01] [-3.14766562e-02 -5.72722685e-04 9.99504323e-01 -6.59035399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290385723 meters 0.019019228895988862 Centerline is valid? [True, True] Translation: X:140.84, Y:-27.89, Z:-6.59 [[ 8.25865465e-01 5.63213396e-01 2.71459710e-02 1.40840456e+02] [-5.62935199e-01 8.26311227e-01 -1.77120762e-02 -2.78932173e+01] [-3.24066991e-02 -6.53630547e-04 9.99474551e-01 -6.59299788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32038572300002 meters 0.019225438022247472 Centerline is valid? [True, True] Translation: X:140.87, Y:-27.91, Z:-6.59 [[ 8.25094883e-01 5.64307003e-01 2.78574869e-02 1.40867878e+02] [-5.64014353e-01 8.25564719e-01 -1.81852682e-02 -2.79090039e+01] [-3.32602326e-02 -7.07450715e-04 9.99446475e-01 -6.59445349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35038572300002 meters 0.019557823113040603 Centerline is valid? [True, True] Translation: X:140.90, Y:-27.93, Z:-6.59 [[ 8.23738415e-01 5.66244128e-01 2.86812041e-02 1.40895777e+02] [-5.65934734e-01 8.24237191e-01 -1.87331413e-02 -2.79256936e+01] [-3.42476464e-02 -8.00481526e-04 9.99413057e-01 -6.59436295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38038572300002 meters 0.019805587883533517 Centerline is valid? [True, True] Translation: X:140.92, Y:-27.94, Z:-6.59 [[ 8.22451988e-01 5.68025926e-01 3.03195633e-02 1.40923281e+02] [-5.67680966e-01 8.23010152e-01 -1.98144024e-02 -2.79428649e+01] [-3.62084027e-02 -9.15444410e-04 9.99343841e-01 -6.59359812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41038572300002 meters 0.020115452025078973 Centerline is valid? [True, True] Translation: X:140.95, Y:-27.96, Z:-6.60 [[ 8.21559653e-01 5.69280130e-01 3.09817646e-02 1.40951300e+02] [-5.68920408e-01 8.22143033e-01 -2.02583857e-02 -2.79589151e+01] [-3.70041384e-02 -9.82685871e-04 9.99314629e-01 -6.59513787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44038572300002 meters 0.020981229266503476 Centerline is valid? [True, True] Translation: X:140.98, Y:-27.97, Z:-6.60 [[ 8.20834976e-01 5.70284055e-01 3.17181300e-02 1.40978535e+02] [-5.69907331e-01 8.21446900e-01 -2.07514942e-02 -2.79734295e+01] [-3.78890058e-02 -1.04284253e-03 9.99281410e-01 -6.59697896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47038572300002 meters 0.021778924266344347 Centerline is valid? [True, True] Translation: X:141.01, Y:-27.99, Z:-6.60 [[ 8.19435045e-01 5.72244538e-01 3.25944212e-02 1.41007243e+02] [-5.71847828e-01 8.20082223e-01 -2.13356337e-02 -2.79876781e+01] [-3.89393052e-02 -1.15588297e-03 9.99240909e-01 -6.59877468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.500385723 meters 0.021791201033438144 Centerline is valid? [True, True] Translation: X:141.03, Y:-28.00, Z:-6.60 [[ 8.18702861e-01 5.73270180e-01 3.29685558e-02 1.41034410e+02] [-5.72864686e-01 8.19365510e-01 -2.15919679e-02 -2.80041667e+01] [-3.93913289e-02 -1.20911548e-03 9.99223129e-01 -6.60014351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530385723 meters 0.023666747069438342 Centerline is valid? [True, True] Translation: X:141.06, Y:-28.02, Z:-6.60 [[ 8.17454421e-01 5.75027533e-01 3.33407578e-02 1.41061976e+02] [-5.74613814e-01 8.18133027e-01 -2.18475319e-02 -2.80176249e+01] [-3.98401075e-02 -1.29869846e-03 9.99205224e-01 -6.60228356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.560385723 meters 0.02378249798816091 Centerline is valid? [True, True] Translation: X:141.09, Y:-28.03, Z:-6.60 [[ 8.16556377e-01 5.76264761e-01 3.39795310e-02 1.41089360e+02] [-5.75835646e-01 8.17261912e-01 -2.22772776e-02 -2.80326806e+01] [-4.06077865e-02 -1.37597211e-03 9.99174216e-01 -6.60259469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590385723 meters 0.02499358808885648 Centerline is valid? [True, True] Translation: X:141.12, Y:-28.05, Z:-6.61 [[ 8.16300127e-01 5.76618628e-01 3.41329707e-02 1.41117744e+02] [-5.76185495e-01 8.17012254e-01 -2.23886764e-02 -2.80490105e+01] [-4.07967832e-02 -1.39104318e-03 9.99166496e-01 -6.60577808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.620385723 meters 0.02500785381932234 Centerline is valid? [True, True] Translation: X:141.15, Y:-28.06, Z:-6.61 [[ 8.16106704e-01 5.76939972e-01 3.33184163e-02 1.41145953e+02] [-5.76527028e-01 8.16785413e-01 -2.18672123e-02 -2.80643966e+01] [-3.98300652e-02 -1.36298896e-03 9.99205538e-01 -6.60740526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650385723 meters 0.023597718892983847 Centerline is valid? [True, True] Translation: X:141.17, Y:-28.08, Z:-6.61 [[ 8.16327235e-01 5.76613694e-01 3.35632832e-02 1.41172814e+02] [-5.76193842e-01 8.17015812e-01 -2.20413292e-02 -2.80828281e+01] [-4.01310653e-02 -1.34601978e-03 9.99193518e-01 -6.61023316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.680385723 meters 0.023597718892983847 Centerline is valid? [True, True] Translation: X:141.20, Y:-28.10, Z:-6.61 [[ 8.16171431e-01 5.76834287e-01 3.35618831e-02 1.41199847e+02] [-5.76414534e-01 8.16860068e-01 -2.20434612e-02 -2.81006789e+01] [-4.01307863e-02 -1.35431389e-03 9.99193518e-01 -6.61168654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710385723 meters 0.023631898576479637 Centerline is valid? [True, True] Translation: X:141.23, Y:-28.12, Z:-6.61 [[ 8.16511042e-01 5.76343768e-01 3.37280119e-02 1.41226356e+02] [-5.75918871e-01 8.17206280e-01 -2.21664229e-02 -2.81176136e+01] [-4.03382229e-02 -1.32546942e-03 9.99185204e-01 -6.61340853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.740385723 meters 0.024002268806152933 Centerline is valid? [True, True] Translation: X:141.25, Y:-28.13, Z:-6.62 [[ 8.17415752e-01 5.75086676e-01 3.32686563e-02 1.41252997e+02] [-5.74672009e-01 8.18091544e-01 -2.18702574e-02 -2.81340985e+01] [-3.97941001e-02 -1.24147263e-03 9.99207130e-01 -6.61506220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770385723 meters 0.023163406136676126 Centerline is valid? [True, True] Translation: X:141.28, Y:-28.15, Z:-6.62 [[ 8.17840708e-01 5.74402457e-01 3.46178297e-02 1.41279176e+02] [-5.73952349e-01 8.18572087e-01 -2.27692691e-02 -2.81525246e+01] [-4.14159133e-02 -1.24734949e-03 9.99141214e-01 -6.61549794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.800385723 meters 0.022706249051964028 Centerline is valid? [True, True] Translation: X:141.31, Y:-28.17, Z:-6.61 [[ 8.18800997e-01 5.72885789e-01 3.69702480e-02 1.41305579e+02] [-5.72370274e-01 8.19634270e-01 -2.43296680e-02 -2.81705056e+01] [-4.42402033e-02 -1.23951455e-03 9.99020154e-01 -6.61374483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830385723 meters 0.02260602395734654 Centerline is valid? [True, True] Translation: X:141.33, Y:-28.19, Z:-6.61 [[ 8.19049822e-01 5.72473810e-01 3.78302321e-02 1.41332682e+02] [-5.71933010e-01 8.19922076e-01 -2.49082467e-02 -2.81880017e+01] [-4.52771613e-02 -1.23526347e-03 9.98973700e-01 -6.61411613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.860385723 meters 0.022757011453088127 Centerline is valid? [True, True] Translation: X:141.36, Y:-28.20, Z:-6.62 [[ 8.19233516e-01 5.72174693e-01 3.83740389e-02 1.41359982e+02] [-5.71617323e-01 8.20130854e-01 -2.52788107e-02 -2.82025748e+01] [-4.59356291e-02 -1.22601644e-03 9.98943649e-01 -6.61614850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890385723 meters 0.0207614424401456 Centerline is valid? [True, True] Translation: X:141.39, Y:-28.22, Z:-6.62 [[ 8.18911512e-01 5.72648982e-01 3.81716952e-02 1.41386011e+02] [-5.72097666e-01 8.19799735e-01 -2.51526414e-02 -2.82231735e+01] [-4.56967800e-02 -1.24015015e-03 9.98954587e-01 -6.61865716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.920385723 meters 0.02316352237033047 Centerline is valid? [True, True] Translation: X:141.42, Y:-28.24, Z:-6.62 [[ 8.18654641e-01 5.73052286e-01 3.76252123e-02 1.41416185e+02] [-5.72516411e-01 8.19517882e-01 -2.48072690e-02 -2.82354122e+01] [-4.50503965e-02 -1.23246565e-03 9.98983955e-01 -6.62165829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.950385723 meters 0.020613833988032116 Centerline is valid? [True, True] Translation: X:141.44, Y:-28.26, Z:-6.62 [[ 8.18475677e-01 5.73326752e-01 3.73363164e-02 1.41440987e+02] [-5.72798753e-01 8.19325900e-01 -2.46304313e-02 -2.82573504e+01] [-4.47118962e-02 -1.22678655e-03 9.98999170e-01 -6.62386908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980385723 meters 0.02348599416223668 Centerline is valid? [True, True] Translation: X:141.47, Y:-28.27, Z:-6.63 [[ 8.18613398e-01 5.73111122e-01 3.76264060e-02 1.41470823e+02] [-5.72573976e-01 8.19476768e-01 -2.48368561e-02 -2.82679062e+01] [-4.50682440e-02 -1.21211776e-03 9.98983175e-01 -6.62595902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010385723 meters 0.024228119607051814 Centerline is valid? [True, True] Translation: X:141.50, Y:-28.29, Z:-6.63 [[ 8.18939774e-01 5.72617138e-01 3.80428664e-02 1.41498187e+02] [-5.72066936e-01 8.19822055e-01 -2.51240745e-02 -2.82850746e+01] [-4.55748566e-02 -1.18796216e-03 9.98960220e-01 -6.62852141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040385723 meters 0.023707132813602594 Centerline is valid? [True, True] Translation: X:141.53, Y:-28.30, Z:-6.63 [[ 8.18690734e-01 5.72939140e-01 3.85515830e-02 1.41525462e+02] [-5.72373909e-01 8.19597019e-01 -2.54722339e-02 -2.83010825e+01] [-4.61908023e-02 -1.21203845e-03 9.98931900e-01 -6.62778296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07038572300002 meters 0.024281261037750797 Centerline is valid? [True, True] Translation: X:141.55, Y:-28.32, Z:-6.63 [[ 8.18533324e-01 5.73102385e-01 3.94569798e-02 1.41554169e+02] [-5.72509836e-01 8.19482837e-01 -2.60838367e-02 -2.83162399e+01] [-4.72830268e-02 -1.23901951e-03 9.98880764e-01 -6.62822824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10038572300002 meters 0.021382389809943024 Centerline is valid? [True, True] Translation: X:141.58, Y:-28.34, Z:-6.63 [[ 8.18003822e-01 5.73909078e-01 3.87055284e-02 1.41579025e+02] [-5.73339211e-01 8.18918070e-01 -2.55996738e-02 -2.83361178e+01] [-4.63885418e-02 -1.25076606e-03 9.98922689e-01 -6.63034682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13038572300002 meters 0.025076778168072286 Centerline is valid? [True, True] Translation: X:141.61, Y:-28.35, Z:-6.63 [[ 8.17679433e-01 5.74399323e-01 3.82852952e-02 1.41609399e+02] [-5.73841712e-01 8.18574276e-01 -2.53346451e-02 -2.83472676e+01] [-4.58915608e-02 -1.25408111e-03 9.98945640e-01 -6.63194872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16038572300002 meters 0.025206518994446977 Centerline is valid? [True, True] Translation: X:141.64, Y:-28.36, Z:-6.63 [[ 8.17369278e-01 5.74891811e-01 3.75082411e-02 1.41637370e+02] [-5.74356818e-01 8.18228479e-01 -2.48274604e-02 -2.83646902e+01] [-4.49634147e-02 -1.24991059e-03 9.98987852e-01 -6.63392215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19038572300002 meters 0.021967101360717216 Centerline is valid? [True, True] Translation: X:141.66, Y:-28.39, Z:-6.64 [[ 8.17120673e-01 5.75325057e-01 3.62613483e-02 1.41662827e+02] [-5.74824957e-01 8.17923949e-01 -2.40141955e-02 -2.83862580e+01] [-4.34749936e-02 -1.22143237e-03 9.99053769e-01 -6.63839856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22038572300002 meters 0.023216931654569492 Centerline is valid? [True, True] Translation: X:141.69, Y:-28.40, Z:-6.64 [[ 8.16962685e-01 5.75588771e-01 3.56305719e-02 1.41691850e+02] [-5.75105591e-01 8.17738418e-01 -2.36101664e-02 -2.84007193e+01] [-4.27262342e-02 -1.20271620e-03 9.99086094e-01 -6.64243361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250385723 meters 0.022171879262374405 Centerline is valid? [True, True] Translation: X:141.72, Y:-28.42, Z:-6.64 [[ 8.16360080e-01 5.76387668e-01 3.65167918e-02 1.41719162e+02] [-5.75880342e-01 8.17175414e-01 -2.42110483e-02 -2.84170052e+01] [-4.37955742e-02 -1.26436919e-03 9.99039713e-01 -6.64189445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.280385723 meters 0.022425679184195284 Centerline is valid? [True, True] Translation: X:141.75, Y:-28.43, Z:-6.64 [[ 8.16230346e-01 5.76480918e-01 3.79179687e-02 1.41748702e+02] [-5.75933389e-01 8.17109565e-01 -2.51533223e-02 -2.84324498e+01] [-4.54835453e-02 -1.30731918e-03 9.98964233e-01 -6.64200286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310385723 meters 0.022544064077557203 Centerline is valid? [True, True] Translation: X:141.78, Y:-28.45, Z:-6.64 [[ 8.16200541e-01 5.76479502e-01 3.85753913e-02 1.41776682e+02] [-5.75912117e-01 8.17110548e-01 -2.56044151e-02 -2.84493314e+01] [-4.62807796e-02 -1.31769779e-03 9.98927602e-01 -6.64257501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.340385723 meters 0.022523024939334817 Centerline is valid? [True, True] Translation: X:141.80, Y:-28.47, Z:-6.64 [[ 8.16285682e-01 5.76351982e-01 3.86791790e-02 1.41804010e+02] [-5.75780711e-01 8.17200525e-01 -2.56880275e-02 -2.84665411e+01] [-4.64139909e-02 -1.30195615e-03 9.98921442e-01 -6.64331063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370385723 meters 0.022407383351854594 Centerline is valid? [True, True] Translation: X:141.83, Y:-28.48, Z:-6.64 [[ 8.16755655e-01 5.75749048e-01 3.77257563e-02 1.41831117e+02] [-5.75204410e-01 8.17625544e-01 -2.50670462e-02 -2.84837110e+01] [-4.52778700e-02 -1.22636965e-03 9.98973679e-01 -6.64414670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.400385723 meters 0.022193530456288392 Centerline is valid? [True, True] Translation: X:141.86, Y:-28.50, Z:-6.65 [[ 8.17056350e-01 5.75373173e-01 3.69409278e-02 1.41858751e+02] [-5.74850058e-01 8.17890177e-01 -2.45574818e-02 -2.85007013e+01] [-4.43433382e-02 -1.17064804e-03 9.99015665e-01 -6.64623745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430385723 meters 0.022180954091741263 Centerline is valid? [True, True] Translation: X:141.89, Y:-28.52, Z:-6.65 [[ 8.18013774e-01 5.74071433e-01 3.59924307e-02 1.41887702e+02] [-5.73573090e-01 8.18804532e-01 -2.39384568e-02 -2.85153027e+01] [-4.32131496e-02 -1.06230227e-03 9.99065311e-01 -6.65125844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.460385723 meters 0.02317652643069556 Centerline is valid? [True, True] Translation: X:141.91, Y:-28.53, Z:-6.66 [[ 8.18730805e-01 5.73083319e-01 3.54313289e-02 1.41914950e+02] [-5.72598987e-01 8.19496516e-01 -2.35767015e-02 -2.85320043e+01] [-4.25472649e-02 -9.84971274e-04 9.99093970e-01 -6.65634312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490385723 meters 0.021026048852491833 Centerline is valid? [True, True] Translation: X:141.94, Y:-28.55, Z:-6.66 [[ 8.19530585e-01 5.71966295e-01 3.49882386e-02 1.41942040e+02] [-5.71492509e-01 8.20276622e-01 -2.32932611e-02 -2.85468036e+01] [-4.20229945e-02 -9.05976365e-04 9.99116233e-01 -6.65596960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.520385723 meters 0.02026845511404882 Centerline is valid? [True, True] Translation: X:141.97, Y:-28.57, Z:-6.66 [[ 8.20558830e-01 5.70465993e-01 3.53801819e-02 1.41967796e+02] [-5.69979676e-01 8.21320804e-01 -2.35649250e-02 -2.85653033e+01] [-4.25014678e-02 -8.29577293e-04 9.99096060e-01 -6.65678692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550385723 meters 0.019167610640821606 Centerline is valid? [True, True] Translation: X:141.99, Y:-28.59, Z:-6.66 [[ 8.22888286e-01 5.67056078e-01 3.60870174e-02 1.41993747e+02] [-5.66546322e-01 8.23678927e-01 -2.40476936e-02 -2.85852964e+01] [-4.33605066e-02 -6.56401573e-04 9.99059275e-01 -6.65561967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.580385723 meters 0.018791007272014194 Centerline is valid? [True, True] Translation: X:142.02, Y:-28.60, Z:-6.66 [[ 8.23956985e-01 5.65469614e-01 3.65923721e-02 1.42019945e+02] [-5.64943629e-01 8.24768928e-01 -2.43908204e-02 -2.86027597e+01] [-4.39725193e-02 -5.75640619e-04 9.99032575e-01 -6.65680923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610385723 meters 0.01781712538400103 Centerline is valid? [True, True] Translation: X:142.05, Y:-28.62, Z:-6.66 [[ 8.25446410e-01 5.63268725e-01 3.69671221e-02 1.42046256e+02] [-5.62729207e-01 8.26273646e-01 -2.46516128e-02 -2.86214940e+01] [-4.44304413e-02 -4.53894033e-04 9.99012377e-01 -6.65846712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.640385723 meters 0.018047578586898542 Centerline is valid? [True, True] Translation: X:142.07, Y:-28.64, Z:-6.66 [[ 8.25741843e-01 5.62875269e-01 3.63571124e-02 1.42074865e+02] [-5.62352490e-01 8.26541747e-01 -2.42573286e-02 -2.86368750e+01] [-4.37045216e-02 -4.15221431e-04 9.99044415e-01 -6.66079821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670385723 meters 0.0181947356827945 Centerline is valid? [True, True] Translation: X:142.10, Y:-28.65, Z:-6.66 [[ 8.25579137e-01 5.63152393e-01 3.57557159e-02 1.42104047e+02] [-5.62646459e-01 8.26352959e-01 -2.38694255e-02 -2.86498289e+01] [-4.29889657e-02 -4.11727273e-04 9.99075462e-01 -6.66361842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.700385723 meters 0.0177268646062367 Centerline is valid? [True, True] Translation: X:142.13, Y:-28.67, Z:-6.67 [[ 8.25142187e-01 5.63806514e-01 3.55328709e-02 1.42131037e+02] [-5.63307143e-01 8.25906789e-01 -2.37284302e-02 -2.86680581e+01] [-4.27250829e-02 -4.36591229e-04 9.99086771e-01 -6.66530206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730385723 meters 0.017831676451904997 Centerline is valid? [True, True] Translation: X:142.16, Y:-28.68, Z:-6.67 [[ 8.24296103e-01 5.65095731e-01 3.46806780e-02 1.42159323e+02] [-5.64620603e-01 8.25025202e-01 -2.31730529e-02 -2.86814273e+01] [-4.17074266e-02 -4.79968164e-04 9.99129751e-01 -6.66709271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760385723 meters 0.020184803211731623 Centerline is valid? [True, True] Translation: X:142.19, Y:-28.69, Z:-6.67 [[ 8.24232718e-01 5.65215411e-01 3.42339940e-02 1.42188517e+02] [-5.64752109e-01 8.24943221e-01 -2.28853139e-02 -2.86942959e+01] [-4.11762334e-02 -4.70895890e-04 9.99151788e-01 -6.67207890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790385723 meters 0.01910037804236148 Centerline is valid? [True, True] Translation: X:142.22, Y:-28.71, Z:-6.67 [[ 8.23355476e-01 5.66537723e-01 3.34778937e-02 1.42217190e+02] [-5.66095260e-01 8.24035645e-01 -2.23922584e-02 -2.87070519e+01] [-4.02730368e-02 -5.14888431e-04 9.99188579e-01 -6.67215092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82038572300002 meters 0.018208146860448582 Centerline is valid? [True, True] Translation: X:142.24, Y:-28.73, Z:-6.67 [[ 8.22978323e-01 5.67084703e-01 3.34905939e-02 1.42243965e+02] [-5.66641995e-01 8.23659307e-01 -2.24097073e-02 -2.87263664e+01] [-4.02930415e-02 -5.34473644e-04 9.99187763e-01 -6.67237325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85038572300002 meters 0.01961803497574925 Centerline is valid? [True, True] Translation: X:142.27, Y:-28.74, Z:-6.67 [[ 8.22288389e-01 5.68095251e-01 3.33105225e-02 1.42274153e+02] [-5.67657592e-01 8.22962612e-01 -2.23023962e-02 -2.87376168e+01] [-4.00832000e-02 -5.69969517e-04 9.99196183e-01 -6.67455058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88038572300002 meters 0.01821972286613031 Centerline is valid? [True, True] Translation: X:142.30, Y:-28.76, Z:-6.67 [[ 8.21931244e-01 5.68606861e-01 3.33956240e-02 1.42299964e+02] [-5.68166976e-01 8.22609198e-01 -2.23695316e-02 -2.87591318e+01] [-4.01910166e-02 -5.88073712e-04 9.99191842e-01 -6.67414684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91038572300002 meters 0.02019241981321599 Centerline is valid? [True, True] Translation: X:142.33, Y:-28.78, Z:-6.68 [[ 8.21958532e-01 5.68598022e-01 3.28703865e-02 1.42328022e+02] [-5.68171355e-01 8.22615322e-01 -2.20305294e-02 -2.87769946e+01] [-3.95661990e-02 -5.67830445e-04 9.99216790e-01 -6.67779220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94038572300002 meters 0.018866774818211134 Centerline is valid? [True, True] Translation: X:142.36, Y:-28.79, Z:-6.68 [[ 8.20825819e-01 5.70200056e-01 3.34196189e-02 1.42356963e+02] [-5.69759772e-01 8.21505619e-01 -2.24125259e-02 -2.87900303e+01] [-4.02340282e-02 -6.44374521e-04 9.99190076e-01 -6.67749758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97038572300002 meters 0.018798490770520416 Centerline is valid? [True, True] Translation: X:142.38, Y:-28.81, Z:-6.68 [[ 8.19815465e-01 5.71689323e-01 3.27707185e-02 1.42384619e+02] [-5.71266762e-01 8.20469886e-01 -2.19875583e-02 -2.88060610e+01] [-3.94574400e-02 -6.95081916e-04 9.99221010e-01 -6.67947537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.000385723 meters 0.019030892069693082 Centerline is valid? [True, True] Translation: X:142.41, Y:-28.82, Z:-6.68 [[ 8.19234750e-01 5.72568458e-01 3.19340755e-02 1.42410853e+02] [-5.72167445e-01 8.19856608e-01 -2.14372839e-02 -2.88218330e+01] [-3.84556754e-02 -7.09470525e-04 9.99260055e-01 -6.68140020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030385723 meters 0.01906039875086949 Centerline is valid? [True, True] Translation: X:142.44, Y:-28.84, Z:-6.68 [[ 8.18408583e-01 5.73765681e-01 3.16280607e-02 1.42437394e+02] [-5.73372905e-01 8.19019156e-01 -2.12398993e-02 -2.88391659e+01] [-3.80907129e-02 -7.51757170e-04 9.99274003e-01 -6.68276236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.060385723 meters 0.01862916510541736 Centerline is valid? [True, True] Translation: X:142.46, Y:-28.86, Z:-6.68 [[ 8.17994817e-01 5.74332970e-01 3.20331030e-02 1.42463765e+02] [-5.73930078e-01 8.18621422e-01 -2.15228376e-02 -2.88580805e+01] [-3.85842595e-02 -7.79191738e-04 9.99255046e-01 -6.68361458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090385723 meters 0.01891506207910452 Centerline is valid? [True, True] Translation: X:142.49, Y:-28.88, Z:-6.68 [[ 8.17726494e-01 5.74694111e-01 3.24046294e-02 1.42490447e+02] [-5.74281567e-01 8.18367917e-01 -2.17860733e-02 -2.88750694e+01] [-3.90392371e-02 -7.94332010e-04 9.99237363e-01 -6.68487198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.120385723 meters 0.018880881701329337 Centerline is valid? [True, True] Translation: X:142.52, Y:-28.90, Z:-6.68 [[ 8.17178228e-01 5.75419515e-01 3.33485457e-02 1.42517283e+02] [-5.74982657e-01 8.17857978e-01 -2.24337280e-02 -2.88950378e+01] [-4.01831791e-02 -8.42481339e-04 9.99191975e-01 -6.68449541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150385723 meters 0.0198353564852229 Centerline is valid? [True, True] Translation: X:142.54, Y:-28.91, Z:-6.69 [[ 8.17437182e-01 5.75073788e-01 3.29634873e-02 1.42544146e+02] [-5.74646141e-01 8.18101149e-01 -2.21883383e-02 -2.89112798e+01] [-3.97273986e-02 -8.04767970e-04 9.99210231e-01 -6.68671790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.180385723 meters 0.019864310505290975 Centerline is valid? [True, True] Translation: X:142.57, Y:-28.93, Z:-6.69 [[ 8.17597291e-01 5.74889300e-01 3.22019068e-02 1.42570550e+02] [-5.74480653e-01 8.18230836e-01 -2.16859018e-02 -2.89295081e+01] [-3.88155861e-02 -7.69037854e-04 9.99246095e-01 -6.68958792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210385723 meters 0.02032832313716347 Centerline is valid? [True, True] Translation: X:142.59, Y:-28.95, Z:-6.69 [[ 8.17991369e-01 5.74347420e-01 3.18615960e-02 1.42594708e+02] [-5.73946530e-01 8.18611332e-01 -2.14678151e-02 -2.89500412e+01] [-3.84122477e-02 -7.26365030e-04 9.99261713e-01 -6.69335143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.240385723 meters 0.018436181259585436 Centerline is valid? [True, True] Translation: X:142.62, Y:-28.97, Z:-6.69 [[ 8.17824709e-01 5.74598102e-01 3.16190918e-02 1.42619846e+02] [-5.74203072e-01 8.18435396e-01 -2.13151192e-02 -2.89720695e+01] [-3.81258109e-02 -7.23748511e-04 9.99272685e-01 -6.69203394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270385723 meters 0.018514901992618404 Centerline is valid? [True, True] Translation: X:142.65, Y:-28.99, Z:-6.69 [[ 8.17717130e-01 5.74737746e-01 3.18624962e-02 1.42645757e+02] [-5.74336208e-01 8.18337337e-01 -2.14923895e-02 -2.89923677e+01] [-3.84267578e-02 -7.25090188e-04 9.99261156e-01 -6.69260473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.300385723 meters 0.018749063647575937 Centerline is valid? [True, True] Translation: X:142.67, Y:-29.01, Z:-6.69 [[ 8.17601051e-01 5.74902892e-01 3.18620055e-02 1.42671379e+02] [-5.74500961e-01 8.18221330e-01 -2.15058436e-02 -2.90110381e+01] [-3.84339441e-02 -7.21552469e-04 9.99260883e-01 -6.69347340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330385723 meters 0.018525125609192526 Centerline is valid? [True, True] Translation: X:142.70, Y:-29.03, Z:-6.70 [[ 8.17306281e-01 5.75344677e-01 3.14475121e-02 1.42697828e+02] [-5.74953196e-01 8.17910737e-01 -2.12331784e-02 -2.90296827e+01] [-3.79376539e-02 -7.26837494e-04 9.99279844e-01 -6.69556696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.360385723 meters 0.018489949706158554 Centerline is valid? [True, True] Translation: X:142.72, Y:-29.05, Z:-6.70 [[ 8.16601023e-01 5.76400460e-01 3.04184042e-02 1.42723369e+02] [-5.76034505e-01 8.17167034e-01 -2.05496530e-02 -2.90489253e+01] [-3.67017465e-02 -7.41182730e-04 9.99325989e-01 -6.69825944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390385723 meters 0.0188994200693257 Centerline is valid? [True, True] Translation: X:142.75, Y:-29.07, Z:-6.70 [[ 8.16264298e-01 5.76916410e-01 2.96656474e-02 1.42748235e+02] [-5.76568270e-01 8.16802861e-01 -2.00528402e-02 -2.90667212e+01] [-3.57997983e-02 -7.35853466e-04 9.99358711e-01 -6.70035203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.420385723 meters 0.01957365362452425 Centerline is valid? [True, True] Translation: X:142.77, Y:-29.09, Z:-6.70 [[ 8.15527129e-01 5.78028191e-01 2.82650538e-02 1.42772614e+02] [-5.77712704e-01 8.16016456e-01 -1.91095547e-02 -2.90859552e+01] [-3.41106104e-02 -7.44720374e-04 9.99417786e-01 -6.70289886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.450385723 meters 0.019098836997964927 Centerline is valid? [True, True] Translation: X:142.80, Y:-29.11, Z:-6.70 [[ 8.15032616e-01 5.78739340e-01 2.79751800e-02 1.42797604e+02] [-5.78430416e-01 8.15512232e-01 -1.89223224e-02 -2.91066614e+01] [-3.37651939e-02 -7.59385083e-04 9.99429505e-01 -6.70397339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480385723 meters 0.019337745226723956 Centerline is valid? [True, True] Translation: X:142.82, Y:-29.13, Z:-6.71 [[ 8.14459110e-01 5.79576209e-01 2.73454952e-02 1.42823925e+02] [-5.79281199e-01 8.14917681e-01 -1.85058059e-02 -2.91255058e+01] [-3.30098524e-02 -7.68509062e-04 9.99454731e-01 -6.70582997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510385723 meters 0.019734101693732076 Centerline is valid? [True, True] Translation: X:142.85, Y:-29.14, Z:-6.71 [[ 8.13587688e-01 5.80790737e-01 2.75171583e-02 1.42850201e+02] [-5.80492377e-01 8.14052490e-01 -1.86317918e-02 -2.91445213e+01] [-3.32215833e-02 -8.14904238e-04 9.99447679e-01 -6.70804626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540385723 meters 0.020055972100364375 Centerline is valid? [True, True] Translation: X:142.87, Y:-29.17, Z:-6.71 [[ 8.12685661e-01 5.82009411e-01 2.84088308e-02 1.42874561e+02] [-5.81691785e-01 8.13181568e-01 -1.92458910e-02 -2.91652753e+01] [-3.43028272e-02 -8.84323865e-04 9.99411094e-01 -6.70855108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57038572300002 meters 0.020432275991685504 Centerline is valid? [True, True] Translation: X:142.90, Y:-29.18, Z:-6.71 [[ 8.12260914e-01 5.82557508e-01 2.93079711e-02 1.42900494e+02] [-5.82219436e-01 8.12788957e-01 -1.98655296e-02 -2.91846963e+01] [-3.53940086e-02 -9.27677193e-04 9.99373005e-01 -6.70899543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60038572300002 meters 0.020432275991685504 Centerline is valid? [True, True] Translation: X:142.93, Y:-29.20, Z:-6.71 [[ 8.12102133e-01 5.82779087e-01 2.93029271e-02 1.42927269e+02] [-5.82440891e-01 8.12630097e-01 -1.98729665e-02 -2.92029415e+01] [-3.53939897e-02 -9.28344510e-04 9.99373005e-01 -6.71045165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63038572300002 meters 0.020666789034490454 Centerline is valid? [True, True] Translation: X:142.95, Y:-29.22, Z:-6.71 [[ 8.11375680e-01 5.83695839e-01 3.11235187e-02 1.42952705e+02] [-5.83314471e-01 8.11971755e-01 -2.11209854e-02 -2.92242446e+01] [-3.75996494e-02 -1.01774497e-03 9.99292365e-01 -6.70965788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66038572300002 meters 0.020903286096334427 Centerline is valid? [True, True] Translation: X:142.98, Y:-29.24, Z:-6.71 [[ 8.10965835e-01 5.84249496e-01 3.14156053e-02 1.42979279e+02] [-5.83860868e-01 8.11573434e-01 -2.13318752e-02 -2.92432787e+01] [-3.79592080e-02 -1.04292062e-03 9.99278745e-01 -6.71089605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69038572300002 meters 0.021093287573610956 Centerline is valid? [True, True] Translation: X:143.00, Y:-29.26, Z:-6.71 [[ 8.10886640e-01 5.84378040e-01 3.10670671e-02 1.43004507e+02] [-5.83997622e-01 8.11480900e-01 -2.11075064e-02 -2.92635843e+01] [-3.75450948e-02 -1.02729829e-03 9.99294406e-01 -6.71308112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72038572300002 meters 0.021410323618882246 Centerline is valid? [True, True] Translation: X:143.03, Y:-29.28, Z:-6.71 [[ 8.10560472e-01 5.84848585e-01 3.07221980e-02 1.43029485e+02] [-5.84476449e-01 8.11141835e-01 -2.08854839e-02 -2.92822508e+01] [-3.71349058e-02 -1.02745345e-03 9.99309733e-01 -6.71462656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750385723 meters 0.02138352589936264 Centerline is valid? [True, True] Translation: X:143.05, Y:-29.30, Z:-6.71 [[ 8.10102432e-01 5.85469357e-01 3.09787308e-02 1.43053994e+02] [-5.85091248e-01 8.10693843e-01 -2.10647936e-02 -2.93037452e+01] [-3.74470574e-02 -1.06074375e-03 9.99298050e-01 -6.71470191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.780385723 meters 0.021447376158251773 Centerline is valid? [True, True] Translation: X:143.08, Y:-29.32, Z:-6.72 [[ 8.09958745e-01 5.85659590e-01 3.11396106e-02 1.43080237e+02] [-5.85277289e-01 8.10556418e-01 -2.11846403e-02 -2.93230812e+01] [-3.76473990e-02 -1.06662218e-03 9.99290516e-01 -6.71603557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810385723 meters 0.021525597826778594 Centerline is valid? [True, True] Translation: X:143.11, Y:-29.34, Z:-6.72 [[ 8.10042999e-01 5.85544383e-01 3.11145549e-02 1.43106209e+02] [-5.85162144e-01 8.10639668e-01 -2.11800122e-02 -2.93421789e+01] [-3.76245297e-02 -1.05033906e-03 9.99291395e-01 -6.71801596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.840385723 meters 0.02132425448450578 Centerline is valid? [True, True] Translation: X:143.13, Y:-29.36, Z:-6.72 [[ 8.10883584e-01 5.84431992e-01 3.01174482e-02 1.43130034e+02] [-5.84072736e-01 8.11442129e-01 -2.05112373e-02 -2.93618855e+01] [-3.64259895e-02 -9.58554771e-04 9.99335894e-01 -6.72174680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870385723 meters 0.02158186015846403 Centerline is valid? [True, True] Translation: X:143.15, Y:-29.39, Z:-6.73 [[ 8.12283025e-01 5.82487856e-01 3.00696585e-02 1.43153659e+02] [-5.82128019e-01 8.12838948e-01 -2.04893509e-02 -2.93850113e+01] [-3.63765877e-02 -8.61238764e-04 9.99337782e-01 -6.72620319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.900385723 meters 0.020241215826528342 Centerline is valid? [True, True] Translation: X:143.18, Y:-29.41, Z:-6.72 [[ 8.11991671e-01 5.82879429e-01 3.03495963e-02 1.43179817e+02] [-5.82513059e-01 8.12558175e-01 -2.06820788e-02 -2.94056264e+01] [-3.67159709e-02 -8.85360434e-04 9.99325349e-01 -6.72432424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930385723 meters 0.020879227292743333 Centerline is valid? [True, True] Translation: X:143.21, Y:-29.42, Z:-6.73 [[ 8.12064037e-01 5.82773497e-01 3.04475126e-02 1.43205309e+02] [-5.82404225e-01 8.12634166e-01 -2.07612808e-02 -2.94238008e+01] [-3.68418132e-02 -8.73270458e-04 9.99320728e-01 -6.72524980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.960385723 meters 0.02088652819352174 Centerline is valid? [True, True] Translation: X:143.23, Y:-29.44, Z:-6.73 [[ 8.12428292e-01 5.82262416e-01 3.05081994e-02 1.43229011e+02] [-5.81890921e-01 8.13000473e-01 -2.08131553e-02 -2.94441170e+01] [-3.69218986e-02 -8.43248035e-04 9.99317798e-01 -6.72545268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990385723 meters 0.019089386330607534 Centerline is valid? [True, True] Translation: X:143.25, Y:-29.47, Z:-6.73 [[ 8.12411357e-01 5.82290346e-01 3.04259884e-02 1.43252629e+02] [-5.81920714e-01 8.12980473e-01 -2.07613353e-02 -2.94676525e+01] [-3.68248596e-02 -8.38768326e-04 9.99321383e-01 -6.72516282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.020385723 meters 0.01915016997535706 Centerline is valid? [True, True] Translation: X:143.28, Y:-29.49, Z:-6.73 [[ 8.12654755e-01 5.81946421e-01 3.05059424e-02 1.43277200e+02] [-5.81574123e-01 8.13226721e-01 -2.08288208e-02 -2.94888529e+01] [-3.69295052e-02 -8.14826453e-04 9.99317541e-01 -6.72620886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050385723 meters 0.0191271105087731 Centerline is valid? [True, True] Translation: X:143.30, Y:-29.51, Z:-6.73 [[ 8.12629470e-01 5.81972565e-01 3.06802454e-02 1.43303657e+02] [-5.81595622e-01 8.13208014e-01 -2.09585022e-02 -2.95089983e+01] [-3.71466947e-02 -8.11999855e-04 9.99309493e-01 -6.72766607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.080385723 meters 0.01885285617833067 Centerline is valid? [True, True] Translation: X:143.33, Y:-29.53, Z:-6.73 [[ 8.12791832e-01 5.81694125e-01 3.16446479e-02 1.43328160e+02] [-5.81292371e-01 8.13407207e-01 -2.16308979e-02 -2.95301431e+01] [-3.83225509e-02 -8.13375287e-04 9.99265090e-01 -6.72814399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110385723 meters 0.020049316127524426 Centerline is valid? [True, True] Translation: X:143.35, Y:-29.55, Z:-6.73 [[ 8.13186197e-01 5.81093402e-01 3.25371662e-02 1.43352832e+02] [-5.80667700e-01 8.13836484e-01 -2.22530802e-02 -2.95484285e+01] [-3.94110510e-02 -7.97383795e-04 9.99222765e-01 -6.73108553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.140385723 meters 0.01884912491417465 Centerline is valid? [True, True] Translation: X:143.38, Y:-29.57, Z:-6.73 [[ 8.12680345e-01 5.81740169e-01 3.36010687e-02 1.43378587e+02] [-5.81286259e-01 8.13374242e-01 -2.29918902e-02 -2.95697217e+01] [-4.07055499e-02 -8.46782277e-04 9.99170827e-01 -6.72818216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170385723 meters 0.01886866263442554 Centerline is valid? [True, True] Translation: X:143.41, Y:-29.59, Z:-6.73 [[ 8.12449674e-01 5.82087815e-01 3.31557408e-02 1.43405144e+02] [-5.81645612e-01 8.13125493e-01 -2.27005424e-02 -2.95888746e+01] [-4.01734872e-02 -8.41842856e-04 9.99192365e-01 -6.72972947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.200385723 meters 0.018658116169675356 Centerline is valid? [True, True] Translation: X:143.43, Y:-29.61, Z:-6.73 [[ 8.12135554e-01 5.82555548e-01 3.26324140e-02 1.43431815e+02] [-5.82127060e-01 8.12790457e-01 -2.23552963e-02 -2.96084442e+01] [-3.95465166e-02 -8.40680286e-04 9.99217377e-01 -6.73136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230385723 meters 0.019041074142156764 Centerline is valid? [True, True] Translation: X:143.46, Y:-29.63, Z:-6.73 [[ 8.11730074e-01 5.83170806e-01 3.17190365e-02 1.43457203e+02] [-5.82765943e-01 8.12349132e-01 -2.17426497e-02 -2.96263999e+01] [-3.84466103e-02 -8.35611609e-04 9.99260306e-01 -6.73367854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260385723 meters 0.01921806925848087 Centerline is valid? [True, True] Translation: X:143.48, Y:-29.64, Z:-6.74 [[ 8.11373907e-01 5.83695504e-01 3.11759971e-02 1.43482384e+02] [-5.83304362e-01 8.11972203e-01 -2.13813586e-02 -2.96439310e+01] [-3.77942459e-02 -8.36818594e-04 9.99285192e-01 -6.73580429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290385723 meters 0.01899095806635595 Centerline is valid? [True, True] Translation: X:143.51, Y:-29.66, Z:-6.74 [[ 8.11092827e-01 5.84052185e-01 3.18036369e-02 1.43508929e+02] [-5.83645203e-01 8.11715649e-01 -2.18170365e-02 -2.96635533e+01] [-3.85577976e-02 -8.66398327e-04 9.99255996e-01 -6.73647496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32038572300002 meters 0.019284099103593202 Centerline is valid? [True, True] Translation: X:143.54, Y:-29.68, Z:-6.74 [[ 8.10911646e-01 5.84293634e-01 3.19883109e-02 1.43535341e+02] [-5.83881580e-01 8.11541859e-01 -2.19570507e-02 -2.96817862e+01] [-3.87892182e-02 -8.72157391e-04 9.99247034e-01 -6.73740790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35038572300002 meters 0.019598509935712962 Centerline is valid? [True, True] Translation: X:143.56, Y:-29.70, Z:-6.74 [[ 8.10913440e-01 5.84258993e-01 3.25702739e-02 1.43560819e+02] [-5.83831265e-01 8.11566795e-01 -2.23694425e-02 -2.97000147e+01] [-3.95025007e-02 -8.75862610e-04 9.99219088e-01 -6.73739656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38038572300002 meters 0.018992718966690216 Centerline is valid? [True, True] Translation: X:143.59, Y:-29.72, Z:-6.74 [[ 8.10725196e-01 5.84548456e-01 3.20586845e-02 1.43586215e+02] [-5.84133910e-01 8.11358336e-01 -2.20278569e-02 -2.97204329e+01] [-3.88874307e-02 -8.68026136e-04 9.99243221e-01 -6.73855658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41038572300002 meters 0.01914423296675437 Centerline is valid? [True, True] Translation: X:143.61, Y:-29.74, Z:-6.74 [[ 8.10174194e-01 5.85363257e-01 3.11067774e-02 1.43612191e+02] [-5.84973092e-01 8.10770683e-01 -2.13864690e-02 -2.97382245e+01] [-3.77393163e-02 -8.69862460e-04 9.99287240e-01 -6.74096483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44038572300002 meters 0.019357977169925506 Centerline is valid? [True, True] Translation: X:143.64, Y:-29.76, Z:-6.74 [[ 8.09219578e-01 5.86734149e-01 3.01116628e-02 1.43638534e+02] [-5.86369161e-01 8.09779127e-01 -2.07116443e-02 -2.97561355e+01] [-3.65360250e-02 -8.96282433e-04 9.99331935e-01 -6.74380870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47038572300002 meters 0.01955334339800664 Centerline is valid? [True, True] Translation: X:143.66, Y:-29.77, Z:-6.75 [[ 8.07590310e-01 5.89070386e-01 2.81774889e-02 1.43664171e+02] [-5.88751890e-01 8.08081194e-01 -1.93906150e-02 -2.97744276e+01] [-3.41921360e-02 -9.29877106e-04 9.99414845e-01 -6.74691794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.500385723 meters 0.01961589667827156 Centerline is valid? [True, True] Translation: X:143.69, Y:-29.79, Z:-6.75 [[ 8.06952120e-01 5.89969237e-01 2.76509642e-02 1.43690525e+02] [-5.89662765e-01 8.07425173e-01 -1.90371432e-02 -2.97929293e+01] [-3.35574135e-02 -9.42680954e-04 9.99436347e-01 -6.74864995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530385723 meters 0.021438421462183 Centerline is valid? [True, True] Translation: X:143.72, Y:-29.81, Z:-6.75 [[ 8.05966773e-01 5.91301121e-01 2.79382437e-02 1.43718271e+02] [-5.90988682e-01 8.06450237e-01 -1.92456012e-02 -2.98076644e+01] [-3.39107489e-02 -9.99870743e-04 9.99424365e-01 -6.75085266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.560385723 meters 0.0203736345743283 Centerline is valid? [True, True] Translation: X:143.74, Y:-29.83, Z:-6.75 [[ 8.05645325e-01 5.91730865e-01 2.81103875e-02 1.43744244e+02] [-5.91414519e-01 8.06134945e-01 -1.93731251e-02 -2.98287831e+01] [-3.41244417e-02 -1.01702366e-03 9.99417074e-01 -6.75131505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590385723 meters 0.020563269447318237 Centerline is valid? [True, True] Translation: X:143.77, Y:-29.85, Z:-6.75 [[ 8.05439846e-01 5.92024714e-01 2.78099411e-02 1.43771525e+02] [-5.91714890e-01 8.05919177e-01 -1.91773173e-02 -2.98478608e+01] [-3.37660106e-02 -1.00938075e-03 9.99429256e-01 -6.75300970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.620385723 meters 0.02386483450934491 Centerline is valid? [True, True] Translation: X:143.80, Y:-29.86, Z:-6.76 [[ 8.05019421e-01 5.92615199e-01 2.74036076e-02 1.43799902e+02] [-5.92314323e-01 8.05485075e-01 -1.89086334e-02 -2.98618977e+01] [-3.32787405e-02 -1.00973221e-03 9.99445599e-01 -6.75625712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650385723 meters 0.020832154567479663 Centerline is valid? [True, True] Translation: X:143.82, Y:-29.89, Z:-6.76 [[ 8.05032240e-01 5.92616359e-01 2.69989518e-02 1.43824035e+02] [-5.92324012e-01 8.05484249e-01 -1.86383936e-02 -2.98855076e+01] [-3.27926473e-02 -9.87619698e-04 9.99461689e-01 -6.75674297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.680385723 meters 0.02056586455452553 Centerline is valid? [True, True] Translation: X:143.85, Y:-29.90, Z:-6.76 [[ 8.05833788e-01 5.91604392e-01 2.52220138e-02 1.43848297e+02] [-5.91348450e-01 8.06227931e-01 -1.74222268e-02 -2.99048824e+01] [-3.06417579e-02 -8.75579799e-04 9.99530048e-01 -6.76024872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710385723 meters 0.020019447429734893 Centerline is valid? [True, True] Translation: X:143.87, Y:-29.93, Z:-6.76 [[ 8.06254023e-01 5.91061265e-01 2.45159402e-02 1.43873154e+02] [-5.90818980e-01 8.06626246e-01 -1.69420180e-02 -2.99257672e+01] [-2.97889714e-02 -8.24912637e-04 9.99555870e-01 -6.76146260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.740385723 meters 0.022056343694901708 Centerline is valid? [True, True] Translation: X:143.90, Y:-29.94, Z:-6.77 [[ 8.07517500e-01 5.89348445e-01 2.41639515e-02 1.43898947e+02] [-5.89112042e-01 8.07878615e-01 -1.67076303e-02 -2.99422175e+01] [-2.93681556e-02 -7.43570958e-04 9.99568386e-01 -6.76559857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770385723 meters 0.01940942896537155 Centerline is valid? [True, True] Translation: X:143.92, Y:-29.97, Z:-6.76 [[ 8.07887392e-01 5.88825956e-01 2.45347906e-02 1.43921861e+02] [-5.88581760e-01 8.08259527e-01 -1.69720079e-02 -2.99658036e+01] [-2.98240370e-02 -7.29259085e-04 9.99554898e-01 -6.76311394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.800385723 meters 0.019094905753721986 Centerline is valid? [True, True] Translation: X:143.95, Y:-29.98, Z:-6.76 [[ 8.08621939e-01 5.87767364e-01 2.56921296e-02 1.43947534e+02] [-5.87498741e-01 8.09029675e-01 -1.77824103e-02 -2.99844890e+01] [-3.12376157e-02 -7.14846707e-04 9.99511731e-01 -6.76330421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830385723 meters 0.01889111920162417 Centerline is valid? [True, True] Translation: X:143.97, Y:-30.00, Z:-6.76 [[ 8.08816184e-01 5.87495354e-01 2.57990261e-02 1.43973963e+02] [-5.87224060e-01 8.09227236e-01 -1.78657257e-02 -3.00026375e+01] [-3.13733054e-02 -6.99720793e-04 9.99507492e-01 -6.76435724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.860385723 meters 0.01969736238028693 Centerline is valid? [True, True] Translation: X:144.00, Y:-30.02, Z:-6.77 [[ 8.08695557e-01 5.87658906e-01 2.58554817e-02 1.44000905e+02] [-5.87386221e-01 8.09108472e-01 -1.79138897e-02 -3.00188122e+01] [-3.14471461e-02 -7.00270616e-04 9.99505171e-01 -6.76685256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890385723 meters 0.018868288454590564 Centerline is valid? [True, True] Translation: X:144.03, Y:-30.04, Z:-6.77 [[ 8.08996892e-01 5.87226981e-01 2.62393284e-02 1.44025711e+02] [-5.86945577e-01 8.09422018e-01 -1.81902695e-02 -3.00387338e+01] [-3.19205072e-02 -6.85186264e-04 9.99490176e-01 -6.76624966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.920385723 meters 0.01882277477603945 Centerline is valid? [True, True] Translation: X:144.05, Y:-30.06, Z:-6.77 [[ 8.09176442e-01 5.86963453e-01 2.65968118e-02 1.44050874e+02] [-5.86673865e-01 8.09613147e-01 -1.84479747e-02 -3.00568590e+01] [-3.23614155e-02 -6.75987836e-04 9.99476004e-01 -6.76643340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.950385723 meters 0.018969973534333655 Centerline is valid? [True, True] Translation: X:144.08, Y:-30.08, Z:-6.77 [[ 8.08824767e-01 5.87452944e-01 2.64864908e-02 1.44077691e+02] [-5.87165764e-01 8.09258035e-01 -1.83792924e-02 -3.00751694e+01] [-3.22313749e-02 -6.86333691e-04 9.99480199e-01 -6.76794430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980385723 meters 0.019202093645965763 Centerline is valid? [True, True] Translation: X:144.10, Y:-30.09, Z:-6.77 [[ 8.08556063e-01 5.87847283e-01 2.59357810e-02 1.44104688e+02] [-5.87571792e-01 8.08971638e-01 -1.80077104e-02 -3.00927312e+01] [-3.15670949e-02 -6.78889851e-04 9.99501405e-01 -6.77036594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010385723 meters 0.018723207600611046 Centerline is valid? [True, True] Translation: X:144.13, Y:-30.11, Z:-6.77 [[ 8.08293424e-01 5.88253376e-01 2.48938917e-02 1.44131124e+02] [-5.87999531e-01 8.08676406e-01 -1.72922491e-02 -3.01101824e+01] [-3.03033268e-02 -6.60385412e-04 9.99540531e-01 -6.77283857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040385723 meters 0.018981086923087812 Centerline is valid? [True, True] Translation: X:144.16, Y:-30.13, Z:-6.77 [[ 8.07813680e-01 5.88930745e-01 2.44465968e-02 1.44157348e+02] [-5.88685990e-01 8.08183230e-01 -1.69903439e-02 -3.01262683e+01] [-2.97634655e-02 -6.66336805e-04 9.99556748e-01 -6.77433212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07038572300002 meters 0.019189109195647428 Centerline is valid? [True, True] Translation: X:144.18, Y:-30.14, Z:-6.78 [[ 8.07615598e-01 5.89202215e-01 2.44498582e-02 1.44184016e+02] [-5.88957252e-01 8.07985335e-01 -1.70015715e-02 -3.01440747e+01] [-2.97724905e-02 -6.69186910e-04 9.99556477e-01 -6.77595949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10038572300002 meters 0.019261472939594838 Centerline is valid? [True, True] Translation: X:144.21, Y:-30.16, Z:-6.78 [[ 8.07434772e-01 5.89443218e-01 2.46126399e-02 1.44211308e+02] [-5.89194961e-01 8.07809527e-01 -1.71191834e-02 -3.01622567e+01] [-2.99731115e-02 -6.79019404e-04 9.99550475e-01 -6.77730131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13038572300002 meters 0.01959177677629512 Centerline is valid? [True, True] Translation: X:144.24, Y:-30.18, Z:-6.78 [[ 8.07072578e-01 5.89945594e-01 2.44550583e-02 1.44238753e+02] [-5.89700438e-01 8.07442708e-01 -1.70196083e-02 -3.01781404e+01] [-2.97867014e-02 -6.85099417e-04 9.99556043e-01 -6.77903894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16038572300002 meters 0.019559267125014365 Centerline is valid? [True, True] Translation: X:144.27, Y:-30.20, Z:-6.78 [[ 8.06903740e-01 5.90196441e-01 2.39690316e-02 1.44265742e+02] [-5.89960802e-01 8.07259380e-01 -1.66896945e-02 -3.01962183e+01] [-2.91994239e-02 -6.73812189e-04 9.99573379e-01 -6.78099892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19038572300002 meters 0.020040283380743307 Centerline is valid? [True, True] Translation: X:144.29, Y:-30.21, Z:-6.78 [[ 8.06444420e-01 5.90873883e-01 2.27035684e-02 1.44291881e+02] [-5.90662482e-01 8.06763675e-01 -1.58179003e-02 -3.02122997e+01] [-2.76627984e-02 -6.53888609e-04 9.99617098e-01 -6.78398222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22038572300002 meters 0.02028104271476569 Centerline is valid? [True, True] Translation: X:144.32, Y:-30.23, Z:-6.79 [[ 8.06382630e-01 5.90981224e-01 2.20963331e-02 1.44318162e+02] [-5.90780840e-01 8.06685063e-01 -1.54015882e-02 -3.02296524e+01] [-2.69268313e-02 -6.34517087e-04 9.99637206e-01 -6.78593956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250385723 meters 0.020357507550220786 Centerline is valid? [True, True] Translation: X:144.35, Y:-30.25, Z:-6.79 [[ 8.06333956e-01 5.91044700e-01 2.21746267e-02 1.44345683e+02] [-5.90842754e-01 8.06638557e-01 -1.54621976e-02 -3.02483695e+01] [-2.70257588e-02 -6.34022524e-04 9.99634536e-01 -6.78709958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.280385723 meters 0.01946813840372527 Centerline is valid? [True, True] Translation: X:144.37, Y:-30.27, Z:-6.79 [[ 8.06181104e-01 5.91218540e-01 2.30795547e-02 1.44371199e+02] [-5.90999563e-01 8.06511132e-01 -1.61031284e-02 -3.02675107e+01] [-2.81343858e-02 -6.57968900e-04 9.99603933e-01 -6.78678115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310385723 meters 0.019217583792892956 Centerline is valid? [True, True] Translation: X:144.40, Y:-30.29, Z:-6.79 [[ 8.06012968e-01 5.91391388e-01 2.44810470e-02 1.44398276e+02] [-5.91144724e-01 8.06384365e-01 -1.70930354e-02 -3.02857938e+01] [-2.98498075e-02 -6.94633585e-04 9.99554154e-01 -6.78635848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.340385723 meters 0.018336227975999105 Centerline is valid? [True, True] Translation: X:144.42, Y:-30.31, Z:-6.79 [[ 8.05994992e-01 5.91380669e-01 2.53175404e-02 1.44423678e+02] [-5.91116831e-01 8.06392206e-01 -1.76777252e-02 -3.03055893e+01] [-3.08701322e-02 -7.17466274e-04 9.99523146e-01 -6.78574273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370385723 meters 0.0192412716126921 Centerline is valid? [True, True] Translation: X:144.45, Y:-30.32, Z:-6.79 [[ 8.06089792e-01 5.91194107e-01 2.66228277e-02 1.44450296e+02] [-5.90901908e-01 8.06528972e-01 -1.85998133e-02 -3.03209360e+01] [-3.24681818e-02 -7.38360028e-04 9.99472497e-01 -6.78757320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.400385723 meters 0.018366212728655778 Centerline is valid? [True, True] Translation: X:144.48, Y:-30.34, Z:-6.79 [[ 8.05909346e-01 5.91429087e-01 2.68656179e-02 1.44475861e+02] [-5.91131390e-01 8.06356668e-01 -1.87777478e-02 -3.03416174e+01] [-3.27689764e-02 -7.47947625e-04 9.99462673e-01 -6.78745823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430385723 meters 0.018836294905777592 Centerline is valid? [True, True] Translation: X:144.50, Y:-30.36, Z:-6.79 [[ 8.06050259e-01 5.91205875e-01 2.75425822e-02 1.44501802e+02] [-5.90892430e-01 8.06520337e-01 -1.92634804e-02 -3.03583698e+01] [-3.36023355e-02 -7.47369991e-04 9.99435003e-01 -6.78890427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.460385723 meters 0.018952310027195964 Centerline is valid? [True, True] Translation: X:144.53, Y:-30.38, Z:-6.79 [[ 8.05996201e-01 5.91255653e-01 2.80513084e-02 1.44527020e+02] [-5.90930214e-01 8.06483838e-01 -1.96290652e-02 -3.03761517e+01] [-3.42287227e-02 -7.55413667e-04 9.99413740e-01 -6.78940417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490385723 meters 0.018952310027195964 Centerline is valid? [True, True] Translation: X:144.55, Y:-30.39, Z:-6.79 [[ 8.05838980e-01 5.91470103e-01 2.80473764e-02 1.44553505e+02] [-5.91144598e-01 8.06326574e-01 -1.96346817e-02 -3.03947906e+01] [-3.42286721e-02 -7.57663128e-04 9.99413740e-01 -6.79085958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.520385723 meters 0.019158825526542165 Centerline is valid? [True, True] Translation: X:144.58, Y:-30.41, Z:-6.79 [[ 8.05842313e-01 5.91448872e-01 2.83971335e-02 1.44579081e+02] [-5.91114764e-01 8.06342148e-01 -1.98916114e-02 -3.04128371e+01] [-3.46626768e-02 -7.56462724e-04 9.99398783e-01 -6.79115110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550385723 meters 0.019175118633404684 Centerline is valid? [True, True] Translation: X:144.61, Y:-30.43, Z:-6.79 [[ 8.05854938e-01 5.91430619e-01 2.84190267e-02 1.44606662e+02] [-5.91095689e-01 8.06355543e-01 -1.99154502e-02 -3.04314504e+01] [-3.46944467e-02 -7.49400326e-04 9.99397685e-01 -6.79334056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.580385723 meters 0.018352247098363476 Centerline is valid? [True, True] Translation: X:144.63, Y:-30.45, Z:-6.79 [[ 8.05834090e-01 5.91458877e-01 2.84220898e-02 1.44633004e+02] [-5.91123511e-01 8.06334823e-01 -1.99285990e-02 -3.04515404e+01] [-3.47046676e-02 -7.41821027e-04 9.99397336e-01 -6.79438769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610385723 meters 0.018502506044760336 Centerline is valid? [True, True] Translation: X:144.66, Y:-30.47, Z:-6.80 [[ 8.05679345e-01 5.91710677e-01 2.75548229e-02 1.44659227e+02] [-5.91395240e-01 8.06150083e-01 -1.93317041e-02 -3.04700432e+01] [-3.36520984e-02 -7.20636384e-04 9.99433348e-01 -6.79701221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.640385723 meters 0.018487439590118414 Centerline is valid? [True, True] Translation: X:144.68, Y:-30.49, Z:-6.80 [[ 8.05367885e-01 5.92171529e-01 2.67479207e-02 1.44684908e+02] [-5.91874258e-01 8.05811625e-01 -1.87746475e-02 -3.04889475e+01] [-3.26715972e-02 -7.10907608e-04 9.99465888e-01 -6.79863094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670385723 meters 0.01872245132152656 Centerline is valid? [True, True] Translation: X:144.71, Y:-30.51, Z:-6.80 [[ 8.05092714e-01 5.92552785e-01 2.65879417e-02 1.44711033e+02] [-5.92258972e-01 8.05531307e-01 -1.86714597e-02 -3.05076228e+01] [-3.24812449e-02 -7.14690799e-04 9.99472090e-01 -6.80086417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.700385723 meters 0.018218065038419048 Centerline is valid? [True, True] Translation: X:144.74, Y:-30.53, Z:-6.80 [[ 8.04872702e-01 5.92827446e-01 2.71210806e-02 1.44736890e+02] [-5.92521549e-01 8.05329177e-01 -1.90559775e-02 -3.05274175e+01] [-3.31383040e-02 -7.32188625e-04 9.99450507e-01 -6.80115426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730385723 meters 0.01811970146223767 Centerline is valid? [True, True] Translation: X:144.76, Y:-30.55, Z:-6.80 [[ 8.04730357e-01 5.92934049e-01 2.89528257e-02 1.44762130e+02] [-5.92585022e-01 8.05250651e-01 -2.03563321e-02 -3.05469806e+01] [-3.53842442e-02 -7.75652455e-04 9.99373481e-01 -6.80075227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760385723 meters 0.018384070295898138 Centerline is valid? [True, True] Translation: X:144.79, Y:-30.57, Z:-6.80 [[ 8.04513110e-01 5.93227722e-01 2.89745768e-02 1.44788455e+02] [-5.92877991e-01 8.05034322e-01 -2.03820270e-02 -3.05657659e+01] [-3.54167123e-02 -7.80780920e-04 9.99372326e-01 -6.80133724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790385723 meters 0.018238266890328297 Centerline is valid? [True, True] Translation: X:144.81, Y:-30.59, Z:-6.80 [[ 8.04022495e-01 5.93874914e-01 2.93328336e-02 1.44814416e+02] [-5.93516497e-01 8.04556978e-01 -2.06454923e-02 -3.05863179e+01] [-3.58607759e-02 -8.10080439e-04 9.99356467e-01 -6.80129151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82038572300002 meters 0.018276628711976526 Centerline is valid? [True, True] Translation: X:144.84, Y:-30.61, Z:-6.80 [[ 8.03576762e-01 5.94476529e-01 2.93605699e-02 1.44841231e+02] [-5.94117399e-01 8.04112536e-01 -2.06771768e-02 -3.06054137e+01] [-3.59012986e-02 -8.27926575e-04 9.99354998e-01 -6.80279628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85038572300002 meters 0.018589678312902685 Centerline is valid? [True, True] Translation: X:144.87, Y:-30.62, Z:-6.81 [[ 8.03104955e-01 5.95110966e-01 2.94171625e-02 1.44867434e+02] [-5.94750424e-01 8.03643092e-01 -2.07295468e-02 -3.06227056e+01] [-3.59772800e-02 -8.47868072e-04 9.99352248e-01 -6.80505535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88038572300002 meters 0.018609504742563433 Centerline is valid? [True, True] Translation: X:144.89, Y:-30.64, Z:-6.81 [[ 8.02540560e-01 5.95897475e-01 2.88937379e-02 1.44893876e+02] [-5.95549766e-01 8.03060061e-01 -2.03718976e-02 -3.06412133e+01] [-3.53429693e-02 -8.58384680e-04 9.99374873e-01 -6.80795796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91038572300002 meters 0.01862090916154416 Centerline is valid? [True, True] Translation: X:144.92, Y:-30.66, Z:-6.81 [[ 8.02787655e-01 5.95602677e-01 2.80968416e-02 1.44919484e+02] [-5.95273381e-01 8.03278774e-01 -1.98195132e-02 -3.06611162e+01] [-3.43741516e-02 -8.14441345e-04 9.99408702e-01 -6.80973631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94038572300002 meters 0.018326737546749433 Centerline is valid? [True, True] Translation: X:144.94, Y:-30.68, Z:-6.81 [[ 8.03027769e-01 5.95285115e-01 2.79648650e-02 1.44944761e+02] [-5.94958301e-01 8.03514164e-01 -1.97385045e-02 -3.06802601e+01] [-3.42202030e-02 -7.87361302e-04 9.99414007e-01 -6.81098636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97038572300002 meters 0.020695407178150983 Centerline is valid? [True, True] Translation: X:144.97, Y:-30.69, Z:-6.81 [[ 8.03243555e-01 5.94973820e-01 2.83891711e-02 1.44972582e+02] [-5.94636437e-01 8.03744705e-01 -2.00488810e-02 -3.06943276e+01] [-3.47462053e-02 -7.77101076e-04 9.99395866e-01 -6.81437005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.000385723 meters 0.018505583658745755 Centerline is valid? [True, True] Translation: X:145.00, Y:-30.72, Z:-6.81 [[ 8.03473974e-01 5.94641191e-01 2.88344624e-02 1.44996249e+02] [-5.94292517e-01 8.03990838e-01 -2.03748925e-02 -3.07172810e+01] [-3.52983940e-02 -7.65409369e-04 9.99376524e-01 -6.81334740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030385723 meters 0.01833224173516136 Centerline is valid? [True, True] Translation: X:145.02, Y:-30.74, Z:-6.81 [[ 8.03314603e-01 5.94841170e-01 2.91484488e-02 1.45022652e+02] [-5.94484929e-01 8.03842878e-01 -2.05984710e-02 -3.07369114e+01] [-3.56835916e-02 -7.81260982e-04 9.99362832e-01 -6.81439902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.060385723 meters 0.018554926681739175 Centerline is valid? [True, True] Translation: X:145.05, Y:-30.76, Z:-6.82 [[ 8.03607187e-01 5.94433260e-01 2.94038878e-02 1.45048801e+02] [-5.94069961e-01 8.04144592e-01 -2.07932069e-02 -3.07552084e+01] [-3.60051511e-02 -7.58395982e-04 9.99351317e-01 -6.81643344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090385723 meters 0.018614401063603566 Centerline is valid? [True, True] Translation: X:145.08, Y:-30.77, Z:-6.82 [[ 8.03646410e-01 5.94378052e-01 2.94479017e-02 1.45075277e+02] [-5.94013472e-01 8.04185404e-01 -2.08286095e-02 -3.07747066e+01] [-3.60616411e-02 -7.53613116e-04 9.99349283e-01 -6.81770173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.120385723 meters 0.018125500245733856 Centerline is valid? [True, True] Translation: X:145.10, Y:-30.79, Z:-6.82 [[ 8.04106288e-01 5.93721703e-01 3.01266727e-02 1.45099731e+02] [-5.93339163e-01 8.04670122e-01 -2.13221022e-02 -3.07949927e+01] [-3.69014283e-02 -7.30098319e-04 9.99318644e-01 -6.81842411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150385723 meters 0.018425073805826878 Centerline is valid? [True, True] Translation: X:145.13, Y:-30.81, Z:-6.82 [[ 8.04211553e-01 5.93571950e-01 3.02674379e-02 1.45125652e+02] [-5.93185263e-01 8.04780608e-01 -2.14340131e-02 -3.08130438e+01] [-3.70812760e-02 -7.16717117e-04 9.99311996e-01 -6.82003242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.180385723 meters 0.017892540233301016 Centerline is valid? [True, True] Translation: X:145.15, Y:-30.83, Z:-6.82 [[ 8.03923879e-01 5.93940460e-01 3.06777788e-02 1.45150900e+02] [-5.93543305e-01 8.04508659e-01 -2.17293023e-02 -3.08337915e+01] [-3.75864505e-02 -7.39885194e-04 9.99293106e-01 -6.82013983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210385723 meters 0.018085364355010927 Centerline is valid? [True, True] Translation: X:145.18, Y:-30.85, Z:-6.82 [[ 8.03638815e-01 5.94303126e-01 3.11199390e-02 1.45177957e+02] [-5.93894189e-01 8.04240774e-01 -2.20560642e-02 -3.08528056e+01] [-3.81359117e-02 -7.56841638e-04 9.99272275e-01 -6.82158038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.240385723 meters 0.017867894897819855 Centerline is valid? [True, True] Translation: X:145.20, Y:-30.87, Z:-6.82 [[ 8.04056537e-01 5.93664791e-01 3.24838691e-02 1.45203751e+02] [-5.93218106e-01 8.04712097e-01 -2.30373654e-02 -3.08714487e+01] [-3.98166352e-02 -7.46675041e-04 9.99206724e-01 -6.82313452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270385723 meters 0.017704119453640442 Centerline is valid? [True, True] Translation: X:145.23, Y:-30.89, Z:-6.82 [[ 8.04582186e-01 5.92911669e-01 3.32153510e-02 1.45229411e+02] [-5.92443481e-01 8.05267186e-01 -2.35686280e-02 -3.08907763e+01] [-4.07213468e-02 -7.15319952e-04 9.99170286e-01 -6.82445349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.300385723 meters 0.017343794324569797 Centerline is valid? [True, True] Translation: X:145.25, Y:-30.91, Z:-6.82 [[ 8.05834155e-01 5.91114820e-01 3.48508884e-02 1.45253529e+02] [-5.90597116e-01 8.06587165e-01 -2.47425083e-02 -3.09109336e+01] [-4.27359426e-02 -6.44475888e-04 9.99086194e-01 -6.82465127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330385723 meters 0.017484599569068227 Centerline is valid? [True, True] Translation: X:145.28, Y:-30.93, Z:-6.83 [[ 8.05901767e-01 5.91017089e-01 3.49448521e-02 1.45279393e+02] [-5.90496002e-01 8.06658789e-01 -2.48207771e-02 -3.09305323e+01] [-4.28580755e-02 -6.31687273e-04 9.99080971e-01 -6.82578741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.360385723 meters 0.017608081771849315 Centerline is valid? [True, True] Translation: X:145.30, Y:-30.95, Z:-6.83 [[ 8.05798515e-01 5.91147828e-01 3.51140735e-02 1.45304776e+02] [-5.90621184e-01 8.06562985e-01 -2.49553275e-02 -3.09493302e+01] [-4.30739996e-02 -6.30149783e-04 9.99071686e-01 -6.82707879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390385723 meters 0.01751468204918187 Centerline is valid? [True, True] Translation: X:145.33, Y:-30.97, Z:-6.83 [[ 8.05445996e-01 5.91659775e-01 3.45753842e-02 1.45331540e+02] [-5.91149099e-01 8.06187512e-01 -2.45853292e-02 -3.09689457e+01] [-4.24203933e-02 -6.37052215e-04 9.99099647e-01 -6.82991912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.420385723 meters 0.018169297740987935 Centerline is valid? [True, True] Translation: X:145.36, Y:-30.98, Z:-6.83 [[ 8.04504491e-01 5.92956884e-01 3.42732617e-02 1.45359424e+02] [-5.92455666e-01 8.05233917e-01 -2.43848999e-02 -3.09832166e+01] [-4.20571870e-02 -6.87626549e-04 9.99114968e-01 -6.83414180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.450385723 meters 0.01780487642847051 Centerline is valid? [True, True] Translation: X:145.39, Y:-31.00, Z:-6.84 [[ 8.04193735e-01 5.93412219e-01 3.36804766e-02 1.45386184e+02] [-5.92928145e-01 8.04898417e-01 -2.39740061e-02 -3.10029371e+01] [-4.13358305e-02 -6.90357010e-04 9.99145071e-01 -6.83571353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480385723 meters 0.018414121633029763 Centerline is valid? [True, True] Translation: X:145.41, Y:-31.02, Z:-6.84 [[ 8.04024904e-01 5.93635298e-01 3.37799649e-02 1.45413373e+02] [-5.93147978e-01 8.04733902e-01 -2.40587436e-02 -3.10204140e+01] [-4.14660024e-02 -6.92688855e-04 9.99139675e-01 -6.83741208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510385723 meters 0.017614634584530962 Centerline is valid? [True, True] Translation: X:145.44, Y:-31.04, Z:-6.84 [[ 8.04359096e-01 5.93147916e-01 3.43801549e-02 1.45437863e+02] [-5.92642107e-01 8.05093226e-01 -2.44996050e-02 -3.10415287e+01] [-4.22111195e-02 -6.68647282e-04 9.99108490e-01 -6.83659653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540385723 meters 0.01768207418996355 Centerline is valid? [True, True] Translation: X:145.46, Y:-31.06, Z:-6.84 [[ 8.04420861e-01 5.93013212e-01 3.52478194e-02 1.45463795e+02] [-5.92480836e-01 8.05192452e-01 -2.51311360e-02 -3.10594744e+01] [-4.32843738e-02 -6.67647477e-04 9.99062569e-01 -6.83731111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57038572300002 meters 0.01729675015154977 Centerline is valid? [True, True] Translation: X:145.49, Y:-31.08, Z:-6.84 [[ 8.04903295e-01 5.92273432e-01 3.66451472e-02 1.45489697e+02] [-5.91696645e-01 8.05736786e-01 -2.61402233e-02 -3.10783402e+01] [-4.50085029e-02 -6.42458793e-04 9.98986397e-01 -6.83831712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60038572300002 meters 0.017293402143953154 Centerline is valid? [True, True] Translation: X:145.52, Y:-31.10, Z:-6.84 [[ 8.04875410e-01 5.92293011e-01 3.69400068e-02 1.45516263e+02] [-5.91706300e-01 8.05722398e-01 -2.63642086e-02 -3.10968543e+01] [-4.53787273e-02 -6.37731560e-04 9.98969651e-01 -6.83988602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63038572300002 meters 0.01721392885525239 Centerline is valid? [True, True] Translation: X:145.54, Y:-31.11, Z:-6.84 [[ 8.05186631e-01 5.91840090e-01 3.74138674e-02 1.45542097e+02] [-5.91237015e-01 8.06055171e-01 -2.67180450e-02 -3.11142271e+01] [-4.59704515e-02 -6.07450676e-04 9.98942615e-01 -6.84104214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66038572300002 meters 0.01698660517633199 Centerline is valid? [True, True] Translation: X:145.57, Y:-31.13, Z:-6.84 [[ 8.05219875e-01 5.91762091e-01 3.79286315e-02 1.45568588e+02] [-5.91141606e-01 8.06112440e-01 -2.70986301e-02 -3.11338392e+01] [-4.66106838e-02 -6.00836596e-04 9.98912951e-01 -6.84248479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69038572300002 meters 0.016760623160644274 Centerline is valid? [True, True] Translation: X:145.59, Y:-31.15, Z:-6.84 [[ 8.06194134e-01 5.90443936e-01 3.77753609e-02 1.45593650e+02] [-5.89826280e-01 8.07078496e-01 -2.70048216e-02 -3.11527931e+01] [-4.64325146e-02 -5.09771896e-04 9.98921299e-01 -6.84381693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72038572300002 meters 0.016719215465195295 Centerline is valid? [True, True] Translation: X:145.62, Y:-31.17, Z:-6.85 [[ 8.06717252e-01 5.89749561e-01 3.74530505e-02 1.45618772e+02] [-5.89141078e-01 8.07586062e-01 -2.67869820e-02 -3.11714222e+01] [-4.60441725e-02 -4.55610032e-04 9.98939301e-01 -6.84510326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750385723 meters 0.016525916260609154 Centerline is valid? [True, True] Translation: X:145.64, Y:-31.19, Z:-6.85 [[ 8.07941052e-01 5.88122397e-01 3.66510825e-02 1.45644380e+02] [-5.87537486e-01 8.08771863e-01 -2.62254815e-02 -3.11905947e+01] [-4.50661573e-02 -3.45241702e-04 9.98983945e-01 -6.84790631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.780385723 meters 0.016637147718129824 Centerline is valid? [True, True] Translation: X:145.67, Y:-31.21, Z:-6.85 [[ 8.08199072e-01 5.87788540e-01 3.63165587e-02 1.45670329e+02] [-5.87213339e-01 8.09014545e-01 -2.59992415e-02 -3.12083262e+01] [-4.46626804e-02 -3.13004831e-04 9.99002076e-01 -6.85021458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810385723 meters 0.01649692916464369 Centerline is valid? [True, True] Translation: X:145.70, Y:-31.23, Z:-6.85 [[ 8.08613465e-01 5.87239834e-01 3.59672223e-02 1.45696089e+02] [-5.86674496e-01 8.09412938e-01 -2.57629667e-02 -3.12291758e+01] [-4.42413754e-02 -2.68770267e-04 9.99020835e-01 -6.85155898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.840385723 meters 0.016453297067612362 Centerline is valid? [True, True] Translation: X:145.72, Y:-31.25, Z:-6.85 [[ 8.08577352e-01 5.87275270e-01 3.61997575e-02 1.45722833e+02] [-5.86701962e-01 8.09387231e-01 -2.59445344e-02 -3.12490979e+01] [-4.45362049e-02 -2.60305820e-04 9.99007737e-01 -6.85267232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870385723 meters 0.016624407536729603 Centerline is valid? [True, True] Translation: X:145.75, Y:-31.27, Z:-6.85 [[ 8.08610366e-01 5.87176918e-01 3.70478400e-02 1.45748656e+02] [-5.86575593e-01 8.09458588e-01 -2.65681776e-02 -3.12672055e+01] [-4.55889129e-02 -2.48054945e-04 9.98960254e-01 -6.85386094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.900385723 meters 0.016716028748311677 Centerline is valid? [True, True] Translation: X:145.78, Y:-31.29, Z:-6.86 [[ 8.08610595e-01 5.87162704e-01 3.72674723e-02 1.45775313e+02] [-5.86553540e-01 8.09468902e-01 -2.67402596e-02 -3.12861010e+01] [-4.58677430e-02 -2.36910596e-04 9.98947493e-01 -6.85539461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930385723 meters 0.016823874313494948 Centerline is valid? [True, True] Translation: X:145.80, Y:-31.30, Z:-6.86 [[ 8.08162048e-01 5.87712735e-01 3.83124694e-02 1.45801697e+02] [-5.87068784e-01 8.09069633e-01 -2.75058500e-02 -3.13049014e+01] [-4.71629939e-02 -2.62870776e-04 9.98887172e-01 -6.85561615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.960385723 meters 0.01694602454670651 Centerline is valid? [True, True] Translation: X:145.83, Y:-31.32, Z:-6.86 [[ 8.07694991e-01 5.88318924e-01 3.88541623e-02 1.45828142e+02] [-5.87656825e-01 8.08628937e-01 -2.79051750e-02 -3.13248114e+01] [-4.78357425e-02 -2.94043613e-04 9.98855172e-01 -6.85645893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990385723 meters 0.017176750935848775 Centerline is valid? [True, True] Translation: X:145.85, Y:-31.34, Z:-6.86 [[ 8.07270782e-01 5.88878935e-01 3.91852589e-02 1.45854417e+02] [-5.88205360e-01 8.08221195e-01 -2.81594455e-02 -3.13426736e+01] [-4.82528610e-02 -3.16681734e-04 9.98835102e-01 -6.85719006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.020385723 meters 0.01713070076335231 Centerline is valid? [True, True] Translation: X:145.88, Y:-31.36, Z:-6.86 [[ 8.06348788e-01 5.90153363e-01 3.89953857e-02 1.45881121e+02] [-5.89487059e-01 8.07291065e-01 -2.80382386e-02 -3.13614237e+01] [-4.80274872e-02 -3.78675522e-04 9.98845943e-01 -6.86003711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050385723 meters 0.01726469615217937 Centerline is valid? [True, True] Translation: X:145.91, Y:-31.38, Z:-6.86 [[ 8.05883809e-01 5.90792059e-01 3.89362250e-02 1.45907155e+02] [-5.90127737e-01 8.06823761e-01 -2.80120224e-02 -3.13794643e+01] [-4.79639519e-02 -4.02911028e-04 9.98848986e-01 -6.86175704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.080385723 meters 0.01745870022382311 Centerline is valid? [True, True] Translation: X:145.93, Y:-31.40, Z:-6.86 [[ 8.05187123e-01 5.91794837e-01 3.81125659e-02 1.45933100e+02] [-5.91158770e-01 8.06088504e-01 -2.74341374e-02 -3.13992132e+01] [-4.69574821e-02 -4.40963455e-04 9.98896792e-01 -6.86456866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110385723 meters 0.017521945596182188 Centerline is valid? [True, True] Translation: X:145.96, Y:-31.42, Z:-6.87 [[ 8.04690015e-01 5.92489554e-01 3.78167727e-02 1.45960138e+02] [-5.91863356e-01 8.05577999e-01 -2.72370110e-02 -3.14176455e+01] [-4.66020046e-02 -4.65011207e-04 9.98913428e-01 -6.86709321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.140385723 meters 0.017831049002155708 Centerline is valid? [True, True] Translation: X:145.99, Y:-31.43, Z:-6.87 [[ 8.03822034e-01 5.93715982e-01 3.70333695e-02 1.45988154e+02] [-5.93116082e-01 8.04674512e-01 -2.66878864e-02 -3.14344702e+01] [-4.56448332e-02 -5.12775894e-04 9.98957600e-01 -6.87213904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170385723 meters 0.017885123457684744 Centerline is valid? [True, True] Translation: X:146.01, Y:-31.45, Z:-6.88 [[ 8.03060840e-01 5.94778145e-01 3.64999446e-02 1.46014785e+02] [-5.94195835e-01 8.03889702e-01 -2.63183776e-02 -3.14528315e+01] [-4.49955253e-02 -5.52856638e-04 9.98987035e-01 -6.87507180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.200385723 meters 0.01844869379800447 Centerline is valid? [True, True] Translation: X:146.04, Y:-31.47, Z:-6.88 [[ 8.01766773e-01 5.96587798e-01 3.53983179e-02 1.46040355e+02] [-5.96041252e-01 8.02547576e-01 -2.55384909e-02 -3.14706647e+01] [-4.36447863e-02 -6.22944281e-04 9.99046918e-01 -6.87726960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230385723 meters 0.018599914961789213 Centerline is valid? [True, True] Translation: X:146.07, Y:-31.49, Z:-6.88 [[ 8.01234100e-01 5.97310958e-01 3.52638197e-02 1.46066823e+02] [-5.96768745e-01 8.02009474e-01 -2.54532486e-02 -3.14907686e+01] [-4.34854218e-02 -6.50334754e-04 9.99053850e-01 -6.87779431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260385723 meters 0.018772573643774052 Centerline is valid? [True, True] Translation: X:146.09, Y:-31.51, Z:-6.88 [[ 8.00704821e-01 5.97989406e-01 3.57835257e-02 1.46093190e+02] [-5.97431102e-01 8.01503712e-01 -2.58433139e-02 -3.15112695e+01] [-4.41346566e-02 -6.85325178e-04 9.99025356e-01 -6.87768532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290385723 meters 0.01912734598078349 Centerline is valid? [True, True] Translation: X:146.12, Y:-31.53, Z:-6.88 [[ 8.00274056e-01 5.98536767e-01 3.62653361e-02 1.46119414e+02] [-5.97963208e-01 8.01095019e-01 -2.62063317e-02 -3.15285348e+01] [-4.47374332e-02 -7.13089383e-04 9.98998525e-01 -6.87936903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32038572300002 meters 0.01890969260568636 Centerline is valid? [True, True] Translation: X:146.15, Y:-31.55, Z:-6.88 [[ 7.99857890e-01 5.99056175e-01 3.68653673e-02 1.46146480e+02] [-5.98463414e-01 8.00706654e-01 -2.66532642e-02 -3.15476607e+01] [-4.54851474e-02 -7.43749914e-04 9.98964738e-01 -6.88123325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35038572300002 meters 0.01922351006473254 Centerline is valid? [True, True] Translation: X:146.17, Y:-31.56, Z:-6.88 [[ 7.99192069e-01 5.99875712e-01 3.79626985e-02 1.46173545e+02] [-5.99247294e-01 8.00092800e-01 -2.74625774e-02 -3.15638869e+01] [-4.68478149e-02 -8.01170309e-04 9.98901717e-01 -6.88319007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38038572300002 meters 0.019356263589936633 Centerline is valid? [True, True] Translation: X:146.20, Y:-31.58, Z:-6.88 [[ 7.98908682e-01 6.00247779e-01 3.80463141e-02 1.46200163e+02] [-5.99616633e-01 7.99813687e-01 -2.75310731e-02 -3.15837976e+01] [-4.69554283e-02 -8.18389454e-04 9.98896650e-01 -6.88443783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41038572300002 meters 0.019356263589936633 Centerline is valid? [True, True] Translation: X:146.23, Y:-31.60, Z:-6.89 [[ 7.98742819e-01 6.00468955e-01 3.80387146e-02 1.46226344e+02] [-5.99837559e-01 7.99647650e-01 -2.75415693e-02 -3.16028398e+01] [-4.69554260e-02 -8.18418997e-04 9.98896650e-01 -6.88589394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44038572300002 meters 0.01970687318945059 Centerline is valid? [True, True] Translation: X:146.25, Y:-31.62, Z:-6.89 [[ 7.98829077e-01 6.00338725e-01 3.82821296e-02 1.46251399e+02] [-5.99698303e-01 7.99745441e-01 -2.77339944e-02 -3.16233142e+01] [-4.72657494e-02 -8.03007013e-04 9.98882027e-01 -6.88535377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47038572300002 meters 0.019439685256339205 Centerline is valid? [True, True] Translation: X:146.28, Y:-31.64, Z:-6.89 [[ 7.98912016e-01 6.00222297e-01 3.83768881e-02 1.46276558e+02] [-5.99577846e-01 7.99832843e-01 -2.78177972e-02 -3.16440118e+01] [-4.73919576e-02 -7.85959465e-04 9.98876061e-01 -6.88572770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.500385723 meters 0.019643819628708273 Centerline is valid? [True, True] Translation: X:146.30, Y:-31.66, Z:-6.89 [[ 7.99177547e-01 5.99854764e-01 3.85941696e-02 1.46302711e+02] [-5.99201818e-01 8.00108549e-01 -2.79909183e-02 -3.16617850e+01] [-4.76700108e-02 -7.55983131e-04 9.98862853e-01 -6.88655614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530385723 meters 0.01960977956606508 Centerline is valid? [True, True] Translation: X:146.33, Y:-31.68, Z:-6.89 [[ 7.98966224e-01 6.00150209e-01 3.83757680e-02 1.46329867e+02] [-5.99504605e-01 7.99886957e-01 -2.78403367e-02 -3.16803475e+01] [-4.74046602e-02 -7.62961026e-04 9.98875476e-01 -6.88901793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.560385723 meters 0.01975850758679269 Centerline is valid? [True, True] Translation: X:146.36, Y:-31.70, Z:-6.89 [[ 7.98608207e-01 6.00688908e-01 3.73867186e-02 1.46357272e+02] [-6.00076076e-01 7.99482491e-01 -2.71376027e-02 -3.16964785e+01] [-4.61912839e-02 -7.62563120e-04 9.98932322e-01 -6.89316976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590385723 meters 0.020053262789680008 Centerline is valid? [True, True] Translation: X:146.38, Y:-31.71, Z:-6.90 [[ 7.98448189e-01 6.00920578e-01 3.70802875e-02 1.46383484e+02] [-6.00317378e-01 7.99308378e-01 -2.69288362e-02 -3.17143407e+01] [-4.58206763e-02 -7.58660494e-04 9.98949393e-01 -6.89512457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.620385723 meters 0.01979690525568311 Centerline is valid? [True, True] Translation: X:146.41, Y:-31.73, Z:-6.90 [[ 7.98060422e-01 6.01418642e-01 3.73521142e-02 1.46409379e+02] [-6.00806667e-01 7.98933665e-01 -2.71357466e-02 -3.17342813e+01] [-4.61618053e-02 -7.85433816e-04 9.98933667e-01 -6.89594468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650385723 meters 0.019861333121374926 Centerline is valid? [True, True] Translation: X:146.44, Y:-31.75, Z:-6.90 [[ 7.97565019e-01 6.02084107e-01 3.72124634e-02 1.46436199e+02] [-6.01476732e-01 7.98432260e-01 -2.70493553e-02 -3.17533654e+01] [-4.59976182e-02 -8.08811327e-04 9.98941222e-01 -6.89710199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.680385723 meters 0.019899840958013146 Centerline is valid? [True, True] Translation: X:146.46, Y:-31.77, Z:-6.90 [[ 7.96945619e-01 6.02917710e-01 3.69853442e-02 1.46462925e+02] [-6.02317944e-01 7.97802939e-01 -2.68991533e-02 -3.17712179e+01] [-4.57249922e-02 -8.39774105e-04 9.98953713e-01 -6.89943408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710385723 meters 0.02036248015489482 Centerline is valid? [True, True] Translation: X:146.49, Y:-31.79, Z:-6.90 [[ 7.96739088e-01 6.03201612e-01 3.68054541e-02 1.46489595e+02] [-6.02607367e-01 7.97588307e-01 -2.67816027e-02 -3.17880692e+01] [-4.55103057e-02 -8.41288088e-04 9.98963515e-01 -6.90091770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.740385723 meters 0.020715413657236722 Centerline is valid? [True, True] Translation: X:146.52, Y:-31.81, Z:-6.90 [[ 7.96386139e-01 6.03663358e-01 3.68736642e-02 1.46515804e+02] [-6.03066709e-01 7.97238869e-01 -2.68463987e-02 -3.18063130e+01] [-4.56033055e-02 -8.57179510e-04 9.98959260e-01 -6.90224455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770385723 meters 0.020174318506018862 Centerline is valid? [True, True] Translation: X:146.54, Y:-31.83, Z:-6.90 [[ 7.96024666e-01 6.04179420e-01 3.62209827e-02 1.46541204e+02] [-6.03603647e-01 7.96847846e-01 -2.63846268e-02 -3.18275880e+01] [-4.48036605e-02 -8.60303477e-04 9.98995441e-01 -6.90338314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.800385723 meters 0.021256876073273145 Centerline is valid? [True, True] Translation: X:146.57, Y:-31.84, Z:-6.91 [[ 7.95487163e-01 6.04867207e-01 3.65490788e-02 1.46568666e+02] [-6.04280976e-01 7.96325851e-01 -2.66390877e-02 -3.18436624e+01] [-4.52180869e-02 -8.94860700e-04 9.98976738e-01 -6.90515539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830385723 meters 0.02059472891692589 Centerline is valid? [True, True] Translation: X:146.60, Y:-31.86, Z:-6.91 [[ 7.95119712e-01 6.05346543e-01 3.66088251e-02 1.46595186e+02] [-6.04758204e-01 7.95961514e-01 -2.66979743e-02 -3.18632658e+01] [-4.53007423e-02 -9.11401681e-04 9.98972979e-01 -6.90746101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.860385723 meters 0.020779183821156993 Centerline is valid? [True, True] Translation: X:146.62, Y:-31.88, Z:-6.91 [[ 7.94748169e-01 6.05838420e-01 3.65397936e-02 1.46622168e+02] [-6.05252121e-01 7.95587175e-01 -2.66630232e-02 -3.18801537e+01] [-4.52240750e-02 -9.25398693e-04 9.98976440e-01 -6.91022866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890385723 meters 0.021097858143075923 Centerline is valid? [True, True] Translation: X:146.65, Y:-31.90, Z:-6.91 [[ 7.94405194e-01 6.06345488e-01 3.55743792e-02 1.46649682e+02] [-6.05789687e-01 7.95200796e-01 -2.59720832e-02 -3.18972291e+01] [-4.40368301e-02 -9.18234274e-04 9.99029486e-01 -6.91411560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.920385723 meters 0.021204622247037185 Centerline is valid? [True, True] Translation: X:146.68, Y:-31.92, Z:-6.92 [[ 7.94146165e-01 6.06731161e-01 3.47730832e-02 1.46675128e+02] [-6.06199929e-01 7.94906582e-01 -2.54002450e-02 -3.19161715e+01] [-4.30524729e-02 -9.07933414e-04 9.99072400e-01 -6.91628586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.950385723 meters 0.020692959469216853 Centerline is valid? [True, True] Translation: X:146.70, Y:-31.94, Z:-6.92 [[ 7.94643858e-01 6.06170899e-01 3.31357844e-02 1.46699784e+02] [-6.05687544e-01 7.95333992e-01 -2.42165332e-02 -3.19371499e+01] [-4.10333734e-02 -8.26412491e-04 9.99157435e-01 -6.91906495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980385723 meters 0.020774614340363245 Centerline is valid? [True, True] Translation: X:146.72, Y:-31.96, Z:-6.92 [[ 7.94946463e-01 6.05793509e-01 3.27771982e-02 1.46724904e+02] [-6.05319766e-01 7.95621519e-01 -2.39662101e-02 -3.19556506e+01] [-4.05968187e-02 -7.88832003e-04 9.99175298e-01 -6.92032981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010385723 meters 0.021904660582992508 Centerline is valid? [True, True] Translation: X:146.75, Y:-31.98, Z:-6.92 [[ 7.95807445e-01 6.04636178e-01 3.32505876e-02 1.46750362e+02] [-6.04147182e-01 7.96501448e-01 -2.43233568e-02 -3.19751488e+01] [-4.11909227e-02 -7.31540362e-04 9.99151026e-01 -6.92360648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040385723 meters 0.02073041635930974 Centerline is valid? [True, True] Translation: X:146.78, Y:-31.99, Z:-6.92 [[ 7.95939434e-01 6.04410286e-01 3.41851497e-02 1.46776619e+02] [-6.03892663e-01 7.96672877e-01 -2.50195597e-02 -3.19920907e+01] [-4.23564608e-02 -7.30106895e-04 9.99102296e-01 -6.92207614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07038572300002 meters 0.019524794665996166 Centerline is valid? [True, True] Translation: X:146.80, Y:-32.01, Z:-6.92 [[ 7.96831260e-01 6.03227780e-01 3.42956051e-02 1.46800994e+02] [-6.02705233e-01 7.97568686e-01 -2.51116055e-02 -3.20137838e+01] [-4.25011188e-02 -6.60428441e-04 9.99096201e-01 -6.92341368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10038572300002 meters 0.019584764947370166 Centerline is valid? [True, True] Translation: X:146.83, Y:-32.03, Z:-6.92 [[ 7.97320344e-01 6.02616903e-01 3.36621106e-02 1.46826075e+02] [-6.02112429e-01 7.98030388e-01 -2.46601359e-02 -3.20326235e+01] [-4.17240020e-02 -6.06347156e-04 9.99128991e-01 -6.92494938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13038572300002 meters 0.02004236118549158 Centerline is valid? [True, True] Translation: X:146.85, Y:-32.05, Z:-6.93 [[ 7.97906339e-01 6.01913831e-01 3.23297721e-02 1.46851660e+02] [-6.01447512e-01 7.98560862e-01 -2.36947282e-02 -3.20509650e+01] [-4.00794753e-02 -5.38487167e-04 9.99196350e-01 -6.92766987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16038572300002 meters 0.019436476656643838 Centerline is valid? [True, True] Translation: X:146.88, Y:-32.07, Z:-6.93 [[ 7.98129904e-01 6.01631259e-01 3.20700038e-02 1.46876426e+02] [-6.01171764e-01 7.98773790e-01 -2.35147535e-02 -3.20730362e+01] [-3.97638892e-02 -5.11752802e-04 9.99208973e-01 -6.92848393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19038572300002 meters 0.019060487555559488 Centerline is valid? [True, True] Translation: X:146.90, Y:-32.09, Z:-6.93 [[ 7.98686013e-01 6.00952915e-01 3.09232390e-02 1.46901507e+02] [-6.00524735e-01 7.99284298e-01 -2.26859584e-02 -3.20938641e+01] [-3.83496522e-02 -4.51212271e-04 9.99264280e-01 -6.92977565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22038572300002 meters 0.01909910023088619 Centerline is valid? [True, True] Translation: X:146.93, Y:-32.11, Z:-6.93 [[ 7.98792460e-01 6.00837904e-01 3.04042625e-02 1.46927320e+02] [-6.00423406e-01 7.99370771e-01 -2.23182509e-02 -3.21124931e+01] [-3.77139298e-02 -4.27780279e-04 9.99288485e-01 -6.93176535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250385723 meters 0.018973116471449628 Centerline is valid? [True, True] Translation: X:146.95, Y:-32.13, Z:-6.93 [[ 7.98764139e-01 6.00896880e-01 2.99798251e-02 1.46953773e+02] [-6.00493486e-01 7.99326446e-01 -2.20183125e-02 -3.21327140e+01] [-3.71944023e-02 -4.15251245e-04 9.99307963e-01 -6.93307567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.280385723 meters 0.019023911191180624 Centerline is valid? [True, True] Translation: X:146.98, Y:-32.15, Z:-6.93 [[ 7.98821928e-01 6.00774746e-01 3.08744450e-02 1.46979739e+02] [-6.00346275e-01 7.99418248e-01 -2.26895120e-02 -3.21521694e+01] [-3.83128805e-02 -4.10478366e-04 9.99265708e-01 -6.93369654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310385723 meters 0.019061997432600168 Centerline is valid? [True, True] Translation: X:147.01, Y:-32.17, Z:-6.93 [[ 7.98517627e-01 6.01082739e-01 3.26977093e-02 1.47005260e+02] [-6.00601866e-01 7.99186679e-01 -2.40426906e-02 -3.21705630e+01] [-4.05832200e-02 -4.39792951e-04 9.99176065e-01 -6.93388862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.340385723 meters 0.01912509335046717 Centerline is valid? [True, True] Translation: X:147.03, Y:-32.19, Z:-6.93 [[ 7.98241040e-01 6.01419778e-01 3.32489446e-02 1.47031192e+02] [-6.00922345e-01 7.98933066e-01 -2.44600138e-02 -3.21899438e+01] [-4.12744173e-02 -4.55046876e-04 9.99147745e-01 -6.93464236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370385723 meters 0.0191594596554316 Centerline is valid? [True, True] Translation: X:147.06, Y:-32.21, Z:-6.94 [[ 7.97824533e-01 6.01990037e-01 3.29243223e-02 1.47056470e+02] [-6.01502422e-01 7.98503458e-01 -2.42294247e-02 -3.22087750e+01] [-4.08760574e-02 -4.73230148e-04 9.99164113e-01 -6.93564339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.400385723 meters 0.019183231887189817 Centerline is valid? [True, True] Translation: X:147.08, Y:-32.23, Z:-6.94 [[ 7.97242036e-01 6.02768133e-01 3.27980628e-02 1.47083038e+02] [-6.02284390e-01 7.97916240e-01 -2.41492767e-02 -3.22276274e+01] [-4.07265214e-02 -5.00942684e-04 9.99170205e-01 -6.93729052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430385723 meters 0.019438893741514286 Centerline is valid? [True, True] Translation: X:147.11, Y:-32.24, Z:-6.94 [[ 7.96108716e-01 6.04273521e-01 3.26255099e-02 1.47110197e+02] [-6.03795561e-01 7.96776753e-01 -2.40359613e-02 -3.22447668e+01] [-4.05195428e-02 -5.63899721e-04 9.99178587e-01 -6.93980194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.460385723 meters 0.019466415208649897 Centerline is valid? [True, True] Translation: X:147.14, Y:-32.26, Z:-6.94 [[ 7.95551813e-01 6.05004061e-01 3.26710765e-02 1.47136433e+02] [-6.04524898e-01 7.96222164e-01 -2.40813771e-02 -3.22634744e+01] [-4.05827662e-02 -5.92495971e-04 9.99176005e-01 -6.94157990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490385723 meters 0.019600929991967775 Centerline is valid? [True, True] Translation: X:147.16, Y:-32.28, Z:-6.94 [[ 7.94892273e-01 6.05830258e-01 3.34061809e-02 1.47163098e+02] [-6.05329455e-01 7.95593672e-01 -2.46365455e-02 -3.22828694e+01] [-4.15033108e-02 -6.38345669e-04 9.99138162e-01 -6.94175892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.520385723 meters 0.01970909817212154 Centerline is valid? [True, True] Translation: X:147.19, Y:-32.30, Z:-6.94 [[ 7.94803143e-01 6.05939168e-01 3.35512928e-02 1.47188975e+02] [-6.05433499e-01 7.95510730e-01 -2.47579687e-02 -3.23014467e+01] [-4.16922364e-02 -6.35365317e-04 9.99130299e-01 -6.94261492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550385723 meters 0.019736658911754072 Centerline is valid? [True, True] Translation: X:147.22, Y:-32.32, Z:-6.94 [[ 7.94613535e-01 6.06195986e-01 3.34029306e-02 1.47215715e+02] [-6.05694667e-01 7.95315043e-01 -2.46567103e-02 -3.23213276e+01] [-4.15126520e-02 -6.39421148e-04 9.99137774e-01 -6.94387457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.580385723 meters 0.01916465001310362 Centerline is valid? [True, True] Translation: X:147.24, Y:-32.34, Z:-6.95 [[ 7.94730669e-01 6.06068221e-01 3.29313659e-02 1.47240613e+02] [-6.05580314e-01 7.95412431e-01 -2.43217518e-02 -3.23425750e+01] [-4.09346586e-02 -6.13344784e-04 9.99161637e-01 -6.94512907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610385723 meters 0.0193410845283303 Centerline is valid? [True, True] Translation: X:147.27, Y:-32.36, Z:-6.95 [[ 7.94863871e-01 6.05911835e-01 3.25925668e-02 1.47266509e+02] [-6.05433202e-01 7.95531585e-01 -2.40859938e-02 -3.23605054e+01] [-4.05224050e-02 -5.87535780e-04 9.99178457e-01 -6.94707734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.640385723 meters 0.019836276848642892 Centerline is valid? [True, True] Translation: X:147.29, Y:-32.38, Z:-6.95 [[ 7.94574002e-01 6.06343175e-01 3.16245070e-02 1.47294148e+02] [-6.05892603e-01 7.95202875e-01 -2.33782251e-02 -3.23770221e+01] [-3.93231261e-02 -5.85324960e-04 9.99226375e-01 -6.95126152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670385723 meters 0.019922826477032335 Centerline is valid? [True, True] Translation: X:147.32, Y:-32.40, Z:-6.95 [[ 7.94258231e-01 6.06788491e-01 3.10095259e-02 1.47320474e+02] [-6.06355150e-01 7.94863123e-01 -2.29357403e-02 -3.23954882e+01] [-3.85654718e-02 -5.85885205e-04 9.99255904e-01 -6.95420451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.700385723 meters 0.0193135771457899 Centerline is valid? [True, True] Translation: X:147.35, Y:-32.42, Z:-6.95 [[ 7.94439462e-01 6.06547103e-01 3.10894335e-02 1.47345156e+02] [-6.06110886e-01 7.95047351e-01 -2.30065937e-02 -3.24158204e+01] [-3.86721545e-02 -5.66298114e-04 9.99251792e-01 -6.95474944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730385723 meters 0.019189255356245844 Centerline is valid? [True, True] Translation: X:147.37, Y:-32.44, Z:-6.96 [[ 7.94852205e-01 6.05968550e-01 3.18133288e-02 1.47370914e+02] [-6.05510837e-01 7.95488418e-01 -2.35542552e-02 -3.24350596e+01] [-3.95802724e-02 -5.41163698e-04 9.99216247e-01 -6.95580233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760385723 meters 0.01889441769195081 Centerline is valid? [True, True] Translation: X:147.40, Y:-32.45, Z:-6.96 [[ 7.96322486e-01 6.03986697e-01 3.27195329e-02 1.47396156e+02] [-6.03500346e-01 7.96994273e-01 -2.42375934e-02 -3.24542811e+01] [-4.07164643e-02 -4.45308843e-04 9.99170642e-01 -6.95743850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790385723 meters 0.01858803227928389 Centerline is valid? [True, True] Translation: X:147.42, Y:-32.47, Z:-6.96 [[ 7.96935573e-01 6.03165001e-01 3.29495760e-02 1.47421187e+02] [-6.02670586e-01 7.97616339e-01 -2.44200778e-02 -3.24741387e+01] [-4.10104564e-02 -3.96511554e-04 9.99158639e-01 -6.95863140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82038572300002 meters 0.01851689682569407 Centerline is valid? [True, True] Translation: X:147.45, Y:-32.49, Z:-6.96 [[ 7.98152651e-01 6.01515107e-01 3.36440310e-02 1.47445826e+02] [-6.00997611e-01 7.98861365e-01 -2.49477569e-02 -3.24943931e+01] [-4.18833692e-02 -3.07863984e-04 9.99122459e-01 -6.95909624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85038572300002 meters 0.01865525356345325 Centerline is valid? [True, True] Translation: X:147.47, Y:-32.51, Z:-6.96 [[ 7.98581974e-01 6.00924786e-01 3.40034068e-02 1.47472037e+02] [-6.00395092e-01 7.99305529e-01 -2.52270655e-02 -3.25128635e+01] [-4.23386800e-02 -2.69598809e-04 9.99103280e-01 -6.96048153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88038572300002 meters 0.018375358672147755 Centerline is valid? [True, True] Translation: X:147.50, Y:-32.53, Z:-6.96 [[ 7.99508698e-01 5.99686042e-01 3.40953538e-02 1.47496601e+02] [-5.99151768e-01 8.00235349e-01 -2.53089862e-02 -3.25329349e+01] [-4.24617531e-02 -1.93536931e-04 9.99098074e-01 -6.96129656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91038572300002 meters 0.018347672540013498 Centerline is valid? [True, True] Translation: X:147.52, Y:-32.55, Z:-6.96 [[ 7.99730332e-01 5.99422144e-01 3.35333957e-02 1.47523804e+02] [-5.98904615e-01 8.00433048e-01 -2.49037477e-02 -3.25521461e+01] [-4.17690960e-02 -1.67023064e-04 9.99127277e-01 -6.96399067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94038572300002 meters 0.01834247951997821 Centerline is valid? [True, True] Translation: X:147.55, Y:-32.57, Z:-6.97 [[ 7.99590225e-01 5.99643093e-01 3.29185926e-02 1.47550250e+02] [-5.99144001e-01 8.00267539e-01 -2.44608190e-02 -3.25703335e+01] [-4.10114422e-02 -1.64345461e-04 9.99158663e-01 -6.96695053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97038572300002 meters 0.01982751158469024 Centerline is valid? [True, True] Translation: X:147.58, Y:-32.59, Z:-6.97 [[ 7.99883235e-01 5.99265267e-01 3.26795161e-02 1.47576215e+02] [-5.98772574e-01 8.00550512e-01 -2.42957238e-02 -3.25899362e+01] [-4.07211867e-02 -1.33855848e-04 9.99170540e-01 -6.97168555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.000385723 meters 0.018272975981853262 Centerline is valid? [True, True] Translation: X:147.60, Y:-32.61, Z:-6.97 [[ 7.99847805e-01 5.99266189e-01 3.35190066e-02 1.47601562e+02] [-5.98747227e-01 8.00549823e-01 -2.49346949e-02 -3.26092507e+01] [-4.17761544e-02 -1.25451323e-04 9.99126988e-01 -6.96924525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030385723 meters 0.018152822111754646 Centerline is valid? [True, True] Translation: X:147.63, Y:-32.63, Z:-6.97 [[ 7.99766169e-01 5.99361007e-01 3.37706711e-02 1.47628236e+02] [-5.98833733e-01 8.00478838e-01 -2.51354509e-02 -3.26285360e+01] [-4.20979167e-02 -1.20533786e-04 9.99113482e-01 -6.97035884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.060385723 meters 0.01825980726100023 Centerline is valid? [True, True] Translation: X:147.66, Y:-32.65, Z:-6.97 [[ 7.99486756e-01 5.99720095e-01 3.40107948e-02 1.47655126e+02] [-5.99184998e-01 8.00209842e-01 -2.53287884e-02 -3.26477233e+01] [-4.24059561e-02 -1.28727121e-04 9.99100455e-01 -6.97199144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090385723 meters 0.018350751604536794 Centerline is valid? [True, True] Translation: X:147.68, Y:-32.67, Z:-6.97 [[ 7.98566819e-01 6.00946706e-01 3.39719247e-02 1.47682301e+02] [-6.00413310e-01 7.99289074e-01 -2.53147040e-02 -3.26650552e+01] [-4.23661762e-02 -1.81713069e-04 9.99102134e-01 -6.97424904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.120385723 meters 0.01848961851791213 Centerline is valid? [True, True] Translation: X:147.71, Y:-32.68, Z:-6.98 [[ 7.96981860e-01 6.03068189e-01 3.35957525e-02 1.47709138e+02] [-6.02547857e-01 7.97689589e-01 -2.50479399e-02 -3.26822488e+01] [-4.19045978e-02 -2.80294959e-04 9.99121577e-01 -6.97659698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150385723 meters 0.018535075847700495 Centerline is valid? [True, True] Translation: X:147.73, Y:-32.70, Z:-6.98 [[ 7.96051590e-01 6.04308096e-01 3.33705214e-02 1.47734872e+02] [-6.03795271e-01 7.96750660e-01 -2.48929023e-02 -3.27005613e+01] [-4.16309673e-02 -3.32928522e-04 9.99133000e-01 -6.97838110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.180385723 meters 0.018907917721504047 Centerline is valid? [True, True] Translation: X:147.76, Y:-32.72, Z:-6.98 [[ 7.94127593e-01 6.06869538e-01 3.27220218e-02 1.47760197e+02] [-6.06378358e-01 7.94801333e-01 -2.44157366e-02 -3.27176949e+01] [-4.08246733e-02 -4.52715705e-04 9.99166223e-01 -6.97955235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210385723 meters 0.01907678963216051 Centerline is valid? [True, True] Translation: X:147.79, Y:-32.74, Z:-6.98 [[ 7.92968219e-01 6.08411479e-01 3.22005684e-02 1.47786300e+02] [-6.07936728e-01 7.93621576e-01 -2.40359953e-02 -3.27365721e+01] [-4.01788413e-02 -5.16127819e-04 9.99192371e-01 -6.98111430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.240385723 meters 0.01931278356918566 Centerline is valid? [True, True] Translation: X:147.81, Y:-32.75, Z:-6.98 [[ 7.91765806e-01 6.10015036e-01 3.14414493e-02 1.47812522e+02] [-6.09563221e-01 7.92389631e-01 -2.34809051e-02 -3.27544008e+01] [-3.92375836e-02 -5.74173424e-04 9.99229745e-01 -6.98287645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270385723 meters 0.019818214337968657 Centerline is valid? [True, True] Translation: X:147.84, Y:-32.77, Z:-6.99 [[ 7.89915055e-01 6.12417567e-01 3.12878474e-02 1.47839338e+02] [-6.11971546e-01 7.90534162e-01 -2.33787551e-02 -3.27707533e+01] [-3.90516726e-02 -6.80041701e-04 9.99236961e-01 -6.98563689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.300385723 meters 0.020048334723585037 Centerline is valid? [True, True] Translation: X:147.87, Y:-32.79, Z:-6.99 [[ 7.88992094e-01 6.13602997e-01 3.13502422e-02 1.47865187e+02] [-6.13155916e-01 7.89614350e-01 -2.34307939e-02 -3.27893965e+01] [-3.91318064e-02 -7.35875363e-04 9.99233787e-01 -6.98736078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330385723 meters 0.020048334723585037 Centerline is valid? [True, True] Translation: X:147.89, Y:-32.81, Z:-6.99 [[ 7.88824145e-01 6.13819171e-01 3.13447604e-02 1.47891081e+02] [-6.13371969e-01 7.89446314e-01 -2.34381247e-02 -3.28088393e+01] [-3.91317758e-02 -7.37438682e-04 9.99233787e-01 -6.98881631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.360385723 meters 0.02062354209960714 Centerline is valid? [True, True] Translation: X:147.92, Y:-32.83, Z:-6.99 [[ 7.87856721e-01 6.15047918e-01 3.15887000e-02 1.47915806e+02] [-6.14594160e-01 7.88489333e-01 -2.36344990e-02 -3.28281857e+01] [-3.94437024e-02 -7.93631683e-04 9.99221479e-01 -6.98917428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390385723 meters 0.020701764965317566 Centerline is valid? [True, True] Translation: X:147.94, Y:-32.85, Z:-6.99 [[ 7.87691398e-01 6.15261534e-01 3.15516457e-02 1.47941561e+02] [-6.14808597e-01 7.88322658e-01 -2.36172842e-02 -3.28484079e+01] [-3.94036837e-02 -7.95091426e-04 9.99223057e-01 -6.99029218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.420385723 meters 0.020403675842940235 Centerline is valid? [True, True] Translation: X:147.97, Y:-32.87, Z:-6.99 [[ 7.87665718e-01 6.15276246e-01 3.19038876e-02 1.47966484e+02] [-6.14812605e-01 7.88311176e-01 -2.38945659e-02 -3.28693968e+01] [-3.98519500e-02 -7.93981848e-04 9.99205280e-01 -6.99106927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.450385723 meters 0.02073335098668968 Centerline is valid? [True, True] Translation: X:147.99, Y:-32.89, Z:-6.99 [[ 7.87631749e-01 6.15309437e-01 3.21018045e-02 1.47992076e+02] [-6.14839489e-01 7.88285274e-01 -2.40567977e-02 -3.28884222e+01] [-4.01077544e-02 -7.89559389e-04 9.99195048e-01 -6.99256327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480385723 meters 0.021790657338409 Centerline is valid? [True, True] Translation: X:148.02, Y:-32.91, Z:-7.00 [[ 7.88319106e-01 6.14430934e-01 3.20564290e-02 1.48015730e+02] [-6.13961069e-01 7.88970272e-01 -2.40357105e-02 -3.29093553e+01] [-4.00598536e-02 -7.33589599e-04 9.99197013e-01 -6.99607211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510385723 meters 0.02118600478164774 Centerline is valid? [True, True] Translation: X:148.04, Y:-32.93, Z:-6.99 [[ 7.87567724e-01 6.15370962e-01 3.24909249e-02 1.48041591e+02] [-6.14888560e-01 7.88237253e-01 -2.43739817e-02 -3.29285786e+01] [-4.06095980e-02 -7.82136800e-04 9.99174784e-01 -6.99433483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540385723 meters 0.020528246118677505 Centerline is valid? [True, True] Translation: X:148.07, Y:-32.95, Z:-7.00 [[ 7.87486261e-01 6.15509200e-01 3.18404361e-02 1.48065642e+02] [-6.15045837e-01 7.88129325e-01 -2.38911105e-02 -3.29513074e+01] [-3.97995797e-02 -7.69406426e-04 9.99207387e-01 -6.99703393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57038572300002 meters 0.020688949297571473 Centerline is valid? [True, True] Translation: X:148.09, Y:-32.97, Z:-7.00 [[ 7.87296904e-01 6.15791657e-01 3.10518961e-02 1.48090643e+02] [-6.15350671e-01 7.87908667e-01 -2.33127407e-02 -3.29709371e+01] [-3.88218493e-02 -7.53756505e-04 9.99245864e-01 -6.99967674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60038572300002 meters 0.020126851046374013 Centerline is valid? [True, True] Translation: X:148.11, Y:-32.99, Z:-7.00 [[ 7.86854000e-01 6.16400284e-01 3.01905981e-02 1.48114031e+02] [-6.15983424e-01 7.87432615e-01 -2.26781348e-02 -3.29935021e+01] [-3.77518703e-02 -7.52526928e-04 9.99286861e-01 -7.00193503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63038572300002 meters 0.0212877757321728 Centerline is valid? [True, True] Translation: X:148.14, Y:-33.01, Z:-7.00 [[ 7.86596065e-01 6.16738189e-01 3.00106083e-02 1.48140385e+02] [-6.16326111e-01 7.87167984e-01 -2.25541415e-02 -3.30111236e+01] [-3.75333904e-02 -7.55322604e-04 9.99295089e-01 -7.00458127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66038572300002 meters 0.020118844791184448 Centerline is valid? [True, True] Translation: X:148.16, Y:-33.04, Z:-7.00 [[ 7.86156079e-01 6.17337929e-01 2.91976370e-02 1.48162199e+02] [-6.16947865e-01 7.86697727e-01 -2.19549069e-02 -3.30361303e+01] [-3.65233114e-02 -7.53436247e-04 9.99332517e-01 -7.00349817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69038572300002 meters 0.020239440573066224 Centerline is valid? [True, True] Translation: X:148.19, Y:-33.06, Z:-7.00 [[ 7.85734001e-01 6.17885399e-01 2.89778097e-02 1.48186872e+02] [-6.17501123e-01 7.86267799e-01 -2.18016535e-02 -3.30558714e+01] [-3.62552420e-02 -7.63529599e-04 9.99342271e-01 -7.00462431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72038572300002 meters 0.020056187601420413 Centerline is valid? [True, True] Translation: X:148.21, Y:-33.07, Z:-7.01 [[ 7.85150888e-01 6.18684103e-01 2.77139685e-02 1.48211926e+02] [-6.18332974e-01 7.85639485e-01 -2.08550638e-02 -3.30749605e+01] [-3.46758844e-02 -7.62088743e-04 9.99398320e-01 -7.00744078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750385723 meters 0.020162301252991455 Centerline is valid? [True, True] Translation: X:148.24, Y:-33.09, Z:-7.01 [[ 7.84669131e-01 6.19341450e-01 2.66556420e-02 1.48237720e+02] [-6.19016721e-01 7.85121391e-01 -2.00673966e-02 -3.30934575e+01] [-3.33564852e-02 -7.54021469e-04 9.99443233e-01 -7.01017483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.780385723 meters 0.02030849791890103 Centerline is valid? [True, True] Translation: X:148.26, Y:-33.11, Z:-7.01 [[ 7.84120817e-01 6.20085885e-01 2.54566164e-02 1.48264527e+02] [-6.19789819e-01 7.84533583e-01 -1.91738551e-02 -3.31111929e+01] [-3.18610074e-02 -7.43132785e-04 9.99492033e-01 -7.01398482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810385723 meters 0.020516712849218754 Centerline is valid? [True, True] Translation: X:148.29, Y:-33.13, Z:-7.02 [[ 7.83892858e-01 6.20361464e-01 2.57612376e-02 1.48290796e+02] [-6.20058105e-01 7.84315678e-01 -1.94129988e-02 -3.31286058e+01] [-3.22480189e-02 -7.55753105e-04 9.99479612e-01 -7.01577649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.840385723 meters 0.020547811825951504 Centerline is valid? [True, True] Translation: X:148.32, Y:-33.15, Z:-7.02 [[ 7.83792802e-01 6.20461553e-01 2.63876041e-02 1.48317689e+02] [-6.20142941e-01 7.84236488e-01 -1.98963143e-02 -3.31469123e+01] [-3.30390200e-02 -7.69498495e-04 9.99453766e-01 -7.01720629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870385723 meters 0.020113005291757684 Centerline is valid? [True, True] Translation: X:148.34, Y:-33.17, Z:-7.02 [[ 7.83823107e-01 6.20382367e-01 2.73322995e-02 1.48343152e+02] [-6.20040113e-01 7.84299115e-01 -2.06193126e-02 -3.31664446e+01] [-3.42285562e-02 -7.85228365e-04 9.99413723e-01 -7.01649411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.900385723 meters 0.020281561052186956 Centerline is valid? [True, True] Translation: X:148.37, Y:-33.19, Z:-7.02 [[ 7.83771643e-01 6.20427675e-01 2.77760935e-02 1.48368324e+02] [-6.20073857e-01 7.84263268e-01 -2.09651586e-02 -3.31854703e+01] [-3.47911345e-02 -7.91332664e-04 9.99394292e-01 -7.01648708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930385723 meters 0.020225325714797994 Centerline is valid? [True, True] Translation: X:148.39, Y:-33.21, Z:-7.02 [[ 7.83449406e-01 6.20827328e-01 2.79366621e-02 1.48394818e+02] [-6.20469338e-01 7.83946924e-01 -2.10955391e-02 -3.32054038e+01] [-3.49975475e-02 -8.06554701e-04 9.99387073e-01 -7.01776957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.960385723 meters 0.02033094383282724 Centerline is valid? [True, True] Translation: X:148.42, Y:-33.22, Z:-7.02 [[ 7.82981013e-01 6.21417057e-01 2.79566521e-02 1.48420377e+02] [-6.21058484e-01 7.83479523e-01 -2.11233721e-02 -3.32231084e+01] [-3.50298882e-02 -8.23516705e-04 9.99385926e-01 -7.01945856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990385723 meters 0.020109083089397295 Centerline is valid? [True, True] Translation: X:148.45, Y:-33.24, Z:-7.02 [[ 7.82416263e-01 6.22155496e-01 2.73373432e-02 1.48446714e+02] [-6.21812778e-01 7.82893255e-01 -2.06644879e-02 -3.32416279e+01] [-3.42587463e-02 -8.30477967e-04 9.99412652e-01 -7.02197019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.020385723 meters 0.02038091649780731 Centerline is valid? [True, True] Translation: X:148.47, Y:-33.26, Z:-7.02 [[ 7.82068183e-01 6.22606275e-01 2.70330103e-02 1.48471877e+02] [-6.22271063e-01 7.82534813e-01 -2.04448145e-02 -3.32600378e+01] [-3.38833414e-02 -8.32621089e-04 9.99425448e-01 -7.02431428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050385723 meters 0.02128476483653783 Centerline is valid? [True, True] Translation: X:148.50, Y:-33.28, Z:-7.03 [[ 7.82781043e-01 6.21777204e-01 2.54351787e-02 1.48497252e+02] [-6.21479786e-01 7.83193818e-01 -1.92436935e-02 -3.32809652e+01] [-3.18859647e-02 -7.43851000e-04 9.99491237e-01 -7.02658320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.080385723 meters 0.020149708932304247 Centerline is valid? [True, True] Translation: X:148.52, Y:-33.30, Z:-7.02 [[ 7.82804685e-01 6.21698417e-01 2.66064418e-02 1.48521581e+02] [-6.21372488e-01 7.83256340e-01 -2.01429128e-02 -3.32998934e+01] [-3.33624812e-02 -7.64544442e-04 9.99443025e-01 -7.02489167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110385723 meters 0.019326547938036523 Centerline is valid? [True, True] Translation: X:148.55, Y:-33.32, Z:-7.02 [[ 7.83224580e-01 6.21175317e-01 2.64666342e-02 1.48545965e+02] [-6.20852210e-01 7.83671290e-01 -2.00460135e-02 -3.33215391e+01] [-3.31932302e-02 -7.31337816e-04 9.99448685e-01 -7.02492109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.140385723 meters 0.01957541699630553 Centerline is valid? [True, True] Translation: X:148.57, Y:-33.34, Z:-7.03 [[ 7.83618141e-01 6.20698464e-01 2.60004948e-02 1.48570710e+02] [-6.20386052e-01 7.84049067e-01 -1.97029760e-02 -3.33402949e+01] [-3.26152706e-02 -6.90734852e-04 9.99467742e-01 -7.02624930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170385723 meters 0.01912684549594769 Centerline is valid? [True, True] Translation: X:148.60, Y:-33.36, Z:-7.03 [[ 7.84702791e-01 6.19311510e-01 2.63587506e-02 1.48595176e+02] [-6.18989337e-01 7.85145115e-01 -1.99837221e-02 -3.33609005e+01] [-3.30715934e-02 -6.34503067e-04 9.99452784e-01 -7.02696274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.200385723 meters 0.019079950110715546 Centerline is valid? [True, True] Translation: X:148.62, Y:-33.38, Z:-7.03 [[ 7.84848826e-01 6.19121362e-01 2.64775290e-02 1.48620134e+02] [-6.18795834e-01 7.85295074e-01 -2.00838657e-02 -3.33806684e+01] [-3.32270234e-02 -6.21386193e-04 9.99447637e-01 -7.02820376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230385723 meters 0.019394363290429862 Centerline is valid? [True, True] Translation: X:148.64, Y:-33.40, Z:-7.03 [[ 7.85333836e-01 6.18514866e-01 2.62702578e-02 1.48644812e+02] [-6.18193753e-01 7.85772881e-01 -1.99364739e-02 -3.34001037e+01] [-3.29734616e-02 -5.83321720e-04 9.99456057e-01 -7.02943819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260385723 meters 0.019468327501896993 Centerline is valid? [True, True] Translation: X:148.67, Y:-33.42, Z:-7.03 [[ 7.85451747e-01 6.18373971e-01 2.60611672e-02 1.48671117e+02] [-6.18057506e-01 7.85883779e-01 -1.97890262e-02 -3.34206881e+01] [-3.27180673e-02 -5.63974824e-04 9.99464462e-01 -7.03133189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290385723 meters 0.01891540495065205 Centerline is valid? [True, True] Translation: X:148.70, Y:-33.44, Z:-7.03 [[ 7.86068420e-01 6.17624614e-01 2.52245095e-02 1.48696083e+02] [-6.17327669e-01 7.86472868e-01 -1.91566137e-02 -3.34414320e+01] [-3.16699885e-02 -5.13378632e-04 9.99498248e-01 -7.03318811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32038572300002 meters 0.018988266899148867 Centerline is valid? [True, True] Translation: X:148.72, Y:-33.46, Z:-7.04 [[ 7.86321126e-01 6.17321356e-01 2.47675338e-02 1.48722512e+02] [-6.17034600e-01 7.86710944e-01 -1.88200081e-02 -3.34612136e+01] [-3.11028829e-02 -4.83855369e-04 9.99516071e-01 -7.03596533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35038572300002 meters 0.018464864344008715 Centerline is valid? [True, True] Translation: X:148.75, Y:-33.48, Z:-7.04 [[ 7.87204719e-01 6.16213973e-01 2.42707432e-02 1.48746582e+02] [-6.15937767e-01 7.87578669e-01 -1.84528430e-02 -3.34819795e+01] [-3.04860193e-02 -4.23102203e-04 9.99535104e-01 -7.03745101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38038572300002 meters 0.018387929056433064 Centerline is valid? [True, True] Translation: X:148.77, Y:-33.50, Z:-7.04 [[ 7.87531064e-01 6.15790228e-01 2.44380591e-02 1.48770270e+02] [-6.15509698e-01 7.87910042e-01 -1.85897223e-02 -3.35015110e+01] [-3.07023615e-02 -4.01878556e-04 9.99528491e-01 -7.03862203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41038572300002 meters 0.018236635817281934 Centerline is valid? [True, True] Translation: X:148.79, Y:-33.52, Z:-7.04 [[ 7.87871404e-01 6.15350768e-01 2.45373772e-02 1.48794985e+02] [-6.15067486e-01 7.88253315e-01 -1.86734949e-02 -3.35226668e+01] [-3.08324184e-02 -3.79830250e-04 9.99524496e-01 -7.03904438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44038572300002 meters 0.018224948925475493 Centerline is valid? [True, True] Translation: X:148.82, Y:-33.54, Z:-7.04 [[ 7.88557581e-01 6.14471129e-01 2.45391916e-02 1.48818736e+02] [-6.14187087e-01 7.88939235e-01 -1.86843695e-02 -3.35433335e+01] [-3.08409367e-02 -3.37953343e-04 9.99524248e-01 -7.04000105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47038572300002 meters 0.019064025019953683 Centerline is valid? [True, True] Translation: X:148.84, Y:-33.56, Z:-7.05 [[ 7.88330572e-01 6.14798666e-01 2.36116490e-02 1.48844441e+02] [-6.14535610e-01 7.88684024e-01 -1.79859244e-02 -3.35599964e+01] [-2.96798527e-02 -3.31345085e-04 9.99559401e-01 -7.04672033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.500385723 meters 0.019341562603024633 Centerline is valid? [True, True] Translation: X:148.87, Y:-33.58, Z:-7.05 [[ 7.88442035e-01 6.14703067e-01 2.23449498e-02 1.48868338e+02] [-6.14467263e-01 7.88758548e-01 -1.70275110e-02 -3.35808245e+01] [-2.80916334e-02 -3.05034770e-04 9.99605306e-01 -7.04822053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530385723 meters 0.019317706185591574 Centerline is valid? [True, True] Translation: X:148.89, Y:-33.60, Z:-7.05 [[ 7.88149783e-01 6.15103017e-01 2.16378726e-02 1.48892759e+02] [-6.14881848e-01 7.88446692e-01 -1.64962698e-02 -3.36008681e+01] [-2.72072144e-02 -3.03203572e-04 9.99629769e-01 -7.04934940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.560385723 meters 0.01811668790840899 Centerline is valid? [True, True] Translation: X:148.92, Y:-33.62, Z:-7.05 [[ 7.87627497e-01 6.15748319e-01 2.22919846e-02 1.48917728e+02] [-6.15513633e-01 7.87942827e-01 -1.70020138e-02 -3.36227187e+01] [-2.80337708e-02 -3.29766827e-04 9.99606922e-01 -7.04842425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590385723 meters 0.018078816799733093 Centerline is valid? [True, True] Translation: X:148.94, Y:-33.64, Z:-7.05 [[ 7.87928433e-01 6.15308425e-01 2.37555685e-02 1.48941819e+02] [-6.15041339e-01 7.88286392e-01 -1.81305034e-02 -3.36421625e+01] [-2.98820429e-02 -3.25117478e-04 9.99553379e-01 -7.04895195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.620385723 meters 0.017824016434892197 Centerline is valid? [True, True] Translation: X:148.97, Y:-33.66, Z:-7.05 [[ 7.87856599e-01 6.15349863e-01 2.50304846e-02 1.48967232e+02] [-6.15053073e-01 7.88254040e-01 -1.91124175e-02 -3.36624706e+01] [-3.14912041e-02 -3.37232190e-04 9.99503972e-01 -7.04841976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650385723 meters 0.018131378702930644 Centerline is valid? [True, True] Translation: X:148.99, Y:-33.68, Z:-7.05 [[ 7.87142497e-01 6.16169516e-01 2.72363152e-02 1.48993811e+02] [-6.15818177e-01 7.87613467e-01 -2.08086467e-02 -3.36786259e+01] [-3.42733424e-02 -3.93247886e-04 9.99412419e-01 -7.04998540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.680385723 meters 0.017789479196746182 Centerline is valid? [True, True] Translation: X:149.02, Y:-33.70, Z:-7.05 [[ 7.86437709e-01 6.17057811e-01 2.74843262e-02 1.49019267e+02] [-6.16700269e-01 7.86917705e-01 -2.10072388e-02 -3.36991752e+01] [-3.45905837e-02 -4.28706628e-04 9.99401475e-01 -7.04948982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710385723 meters 0.018140512528708748 Centerline is valid? [True, True] Translation: X:149.04, Y:-33.72, Z:-7.05 [[ 7.85007235e-01 6.18822597e-01 2.86746230e-02 1.49044202e+02] [-6.18434084e-01 7.85530601e-01 -2.19307561e-02 -3.37175573e+01] [-3.60960412e-02 -5.17561978e-04 9.99348192e-01 -7.04931870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.740385723 meters 0.018252848250984343 Centerline is valid? [True, True] Translation: X:149.07, Y:-33.74, Z:-7.05 [[ 7.84553108e-01 6.19354576e-01 2.96028814e-02 1.49070068e+02] [-6.18940446e-01 7.85111206e-01 -2.26521170e-02 -3.37374062e+01] [-3.72712463e-02 -5.50631800e-04 9.99305034e-01 -7.04986241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770385723 meters 0.018294956261229567 Centerline is valid? [True, True] Translation: X:149.10, Y:-33.76, Z:-7.05 [[ 7.83773314e-01 6.20287082e-01 3.07136607e-02 1.49096913e+02] [-6.19841454e-01 7.84374635e-01 -2.35160355e-02 -3.37560784e+01] [-3.86777094e-02 -6.06359062e-04 9.99251553e-01 -7.05173471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.800385723 meters 0.01806510668642156 Centerline is valid? [True, True] Translation: X:149.12, Y:-33.78, Z:-7.05 [[ 7.83181601e-01 6.21023177e-01 3.09320740e-02 1.49123305e+02] [-6.20571239e-01 7.83791942e-01 -2.36966213e-02 -3.37760819e+01] [-3.89604614e-02 -6.36797641e-04 9.99240550e-01 -7.05377514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830385723 meters 0.01850750028371472 Centerline is valid? [True, True] Translation: X:149.15, Y:-33.79, Z:-7.06 [[ 7.81858560e-01 6.22693025e-01 3.08316175e-02 1.49149678e+02] [-6.22244753e-01 7.82465908e-01 -2.36340757e-02 -3.37916879e+01] [-3.88414637e-02 -7.06307777e-04 9.99245136e-01 -7.05777932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.860385723 meters 0.01877039259007588 Centerline is valid? [True, True] Translation: X:149.18, Y:-33.81, Z:-7.06 [[ 7.80680873e-01 6.24207854e-01 3.00321410e-02 1.49175720e+02] [-6.23783326e-01 7.81257951e-01 -2.30298978e-02 -3.38095608e+01] [-3.78382921e-02 -7.54548093e-04 9.99283591e-01 -7.06050803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890385723 meters 0.01915273361223488 Centerline is valid? [True, True] Translation: X:149.20, Y:-33.83, Z:-7.06 [[ 7.79003357e-01 6.26396236e-01 2.79557868e-02 1.49201846e+02] [-6.26029437e-01 7.79504411e-01 -2.14480224e-02 -3.38275587e+01] [-3.52266196e-02 -7.93063966e-04 9.99379035e-01 -7.06434000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.920385723 meters 0.01951887376395023 Centerline is valid? [True, True] Translation: X:149.23, Y:-33.85, Z:-7.07 [[ 7.77993128e-01 6.27694176e-01 2.69576580e-02 1.49227273e+02] [-6.27353769e-01 7.78459602e-01 -2.06856712e-02 -3.38458955e+01] [-3.39697231e-02 -8.18678303e-04 9.99422527e-01 -7.06712934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950385723 meters 0.01941730831462244 Centerline is valid? [True, True] Translation: X:149.25, Y:-33.87, Z:-7.07 [[ 7.77200419e-01 6.28714031e-01 2.60417959e-02 1.49252409e+02] [-6.28396654e-01 7.77636151e-01 -1.99915579e-02 -3.38660271e+01] [-3.28200149e-02 -8.27130246e-04 9.99460936e-01 -7.06900622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980385723 meters 0.020252675392671355 Centerline is valid? [True, True] Translation: X:149.28, Y:-33.88, Z:-7.07 [[ 7.75789814e-01 6.30472407e-01 2.55872867e-02 1.49277805e+02] [-6.30166600e-01 7.76211167e-01 -1.96540179e-02 -3.38830861e+01] [-3.22524537e-02 -8.76866571e-04 9.99479370e-01 -7.07163042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010385723 meters 0.020633449898519174 Centerline is valid? [True, True] Translation: X:149.30, Y:-33.90, Z:-7.07 [[ 7.74982318e-01 6.31442568e-01 2.61283226e-02 1.49303051e+02] [-6.31124072e-01 7.75422087e-01 -2.00746632e-02 -3.39008274e+01] [-3.29364753e-02 -9.32704370e-04 9.99457012e-01 -7.07273231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040385723 meters 0.020760933871199632 Centerline is valid? [True, True] Translation: X:149.33, Y:-33.92, Z:-7.07 [[ 7.73874015e-01 6.32743086e-01 2.74808383e-02 1.49328867e+02] [-6.32391221e-01 7.74361107e-01 -2.11239202e-02 -3.39193961e+01] [-3.46461068e-02 -1.03138792e-03 9.99399111e-01 -7.07347954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07038572300002 meters 0.02172987674268477 Centerline is valid? [True, True] Translation: X:149.36, Y:-33.94, Z:-7.07 [[ 7.73260480e-01 6.33480875e-01 2.77526800e-02 1.49355073e+02] [-6.33122107e-01 7.73757613e-01 -2.13436910e-02 -3.39369631e+01] [-3.49946675e-02 -1.06660254e-03 9.99386930e-01 -7.07495127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10038572300002 meters 0.02106843428028318 Centerline is valid? [True, True] Translation: X:149.38, Y:-33.96, Z:-7.08 [[ 7.73223549e-01 6.33481114e-01 2.87579961e-02 1.49379538e+02] [-6.33095462e-01 7.73757376e-01 -2.21282505e-02 -3.39584437e+01] [-3.62695403e-02 -1.09647245e-03 9.99341442e-01 -7.07550113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13038572300002 meters 0.020936237234104423 Centerline is valid? [True, True] Translation: X:149.40, Y:-33.98, Z:-7.08 [[ 7.73416590e-01 6.33238503e-01 2.89098099e-02 1.49404366e+02] [-6.32848189e-01 7.73955959e-01 -2.22563070e-02 -3.39786634e+01] [-3.64684702e-02 -1.08212379e-03 9.99334218e-01 -7.07713679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16038572300002 meters 0.020919159593494975 Centerline is valid? [True, True] Translation: X:149.43, Y:-34.00, Z:-7.08 [[ 7.74460221e-01 6.31953683e-01 2.90845036e-02 1.49428001e+02] [-6.31557309e-01 7.75005487e-01 -2.24022497e-02 -3.39991346e+01] [-3.66978341e-02 -1.01887959e-03 9.99325888e-01 -7.07889906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19038572300002 meters 0.02060882262987176 Centerline is valid? [True, True] Translation: X:149.45, Y:-34.02, Z:-7.08 [[ 7.75045617e-01 6.31201134e-01 2.98231401e-02 1.49453203e+02] [-6.30783351e-01 7.75618547e-01 -2.29833312e-02 -3.40199504e+01] [-3.76384853e-02 -9.98810118e-04 9.99290922e-01 -7.07977256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22038572300002 meters 0.02060882262987176 Centerline is valid? [True, True] Translation: X:149.48, Y:-34.04, Z:-7.08 [[ 7.74875147e-01 6.31410449e-01 2.98219943e-02 1.49478804e+02] [-6.30992764e-01 7.75448148e-01 -2.29848181e-02 -3.40397820e+01] [-3.76382646e-02 -1.00709830e-03 9.99290922e-01 -7.08122551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250385723 meters 0.019630300707257155 Centerline is valid? [True, True] Translation: X:149.50, Y:-34.06, Z:-7.08 [[ 7.75356639e-01 6.30741279e-01 3.14248439e-02 1.49502493e+02] [-6.30276345e-01 7.75992530e-01 -2.42347217e-02 -3.40611558e+01] [-3.96712834e-02 -1.01578338e-03 9.99212268e-01 -7.08094358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.280385723 meters 0.02036670885001678 Centerline is valid? [True, True] Translation: X:149.53, Y:-34.08, Z:-7.08 [[ 7.75467261e-01 6.30588370e-01 3.17621571e-02 1.49528304e+02] [-6.30112763e-01 7.76116801e-01 -2.45074908e-02 -3.40792570e+01] [-4.01052825e-02 -1.00898381e-03 9.99194950e-01 -7.08212226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310385723 meters 0.019238073585692846 Centerline is valid? [True, True] Translation: X:149.55, Y:-34.10, Z:-7.08 [[ 7.75626549e-01 6.30368123e-01 3.22410704e-02 1.49551718e+02] [-6.29877391e-01 7.76295706e-01 -2.48887411e-02 -3.41013903e+01] [-4.07176735e-02 -1.00355295e-03 9.99170188e-01 -7.08259157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.340385723 meters 0.020313015067137643 Centerline is valid? [True, True] Translation: X:149.58, Y:-34.12, Z:-7.08 [[ 7.75801544e-01 6.30180260e-01 3.16986432e-02 1.49577385e+02] [-6.29705242e-01 7.76448262e-01 -2.44827284e-02 -3.41183898e+01] [-4.00408886e-02 -9.67063286e-04 9.99197574e-01 -7.08455743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370385723 meters 0.02057152307236747 Centerline is valid? [True, True] Translation: X:149.60, Y:-34.14, Z:-7.09 [[ 7.76027246e-01 6.29951238e-01 3.07107713e-02 1.49602279e+02] [-6.29504979e-01 7.76634141e-01 -2.37253538e-02 -3.41376520e+01] [-3.87968495e-02 -9.21062461e-04 9.99246694e-01 -7.08789008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.400385723 meters 0.01905072391524436 Centerline is valid? [True, True] Translation: X:149.63, Y:-34.16, Z:-7.09 [[ 7.75979504e-01 6.30028562e-01 3.03285520e-02 1.49626344e+02] [-6.29592969e-01 7.76571434e-01 -2.34414383e-02 -3.41608402e+01] [-3.83210628e-02 -9.04567467e-04 9.99265069e-01 -7.08955939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430385723 meters 0.02063283393341044 Centerline is valid? [True, True] Translation: X:149.65, Y:-34.18, Z:-7.09 [[ 7.75805394e-01 6.30230470e-01 3.05866935e-02 1.49653870e+02] [-6.29787048e-01 7.76407576e-01 -2.36548198e-02 -3.41777760e+01] [-3.86557288e-02 -9.11566595e-04 9.99252172e-01 -7.09262577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.460385723 meters 0.019590743206932708 Centerline is valid? [True, True] Translation: X:149.68, Y:-34.20, Z:-7.09 [[ 7.75348297e-01 6.30767079e-01 3.11112553e-02 1.49677554e+02] [-6.30308234e-01 7.75971649e-01 -2.40734230e-02 -3.42001945e+01] [-3.93261747e-02 -9.44392873e-04 9.99225981e-01 -7.09254023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490385723 meters 0.01896634255063779 Centerline is valid? [True, True] Translation: X:149.70, Y:-34.22, Z:-7.09 [[ 7.74941422e-01 6.31219209e-01 3.20640551e-02 1.49702526e+02] [-6.30731618e-01 7.75603854e-01 -2.48251405e-02 -3.42210266e+01] [-4.05391103e-02 -9.85783709e-04 9.99177466e-01 -7.09307233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.520385723 meters 0.02177124003260743 Centerline is valid? [True, True] Translation: X:149.73, Y:-34.24, Z:-7.09 [[ 7.74358694e-01 6.31859409e-01 3.35007519e-02 1.49731112e+02] [-6.31327047e-01 7.75082305e-01 -2.59534279e-02 -3.42359239e+01] [-4.23647576e-02 -1.05266823e-03 9.99101656e-01 -7.09318075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550385723 meters 0.01924396744273543 Centerline is valid? [True, True] Translation: X:149.75, Y:-34.26, Z:-7.09 [[ 7.74047994e-01 6.32228490e-01 3.37170471e-02 1.49754112e+02] [-6.31688971e-01 7.74781256e-01 -2.61352199e-02 -3.42600188e+01] [-4.26467667e-02 -1.06877220e-03 9.99089641e-01 -7.09352003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.580385723 meters 0.019463490476741223 Centerline is valid? [True, True] Translation: X:149.78, Y:-34.28, Z:-7.10 [[ 7.73817055e-01 6.32488602e-01 3.41369849e-02 1.49780764e+02] [-6.31935135e-01 7.74568907e-01 -2.64762677e-02 -3.42781046e+01] [-4.31873846e-02 -1.08457270e-03 9.99066401e-01 -7.09530184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610385723 meters 0.019695984172916303 Centerline is valid? [True, True] Translation: X:149.81, Y:-34.30, Z:-7.10 [[ 7.73476448e-01 6.32911518e-01 3.40175664e-02 1.49806985e+02] [-6.32361719e-01 7.74223363e-01 -2.63977521e-02 -3.42967842e+01] [-4.30446359e-02 -1.09336721e-03 9.99072552e-01 -7.09764098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.640385723 meters 0.019814716239838128 Centerline is valid? [True, True] Translation: X:149.83, Y:-34.31, Z:-7.10 [[ 7.72899178e-01 6.33641637e-01 3.35430430e-02 1.49833874e+02] [-6.33107181e-01 7.73625910e-01 -2.60432017e-02 -3.43149209e+01] [-4.24518241e-02 -1.10757221e-03 9.99097901e-01 -7.10095073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670385723 meters 0.01920802031002557 Centerline is valid? [True, True] Translation: X:149.86, Y:-34.34, Z:-7.10 [[ 7.71989117e-01 6.34773015e-01 3.31062232e-02 1.49858483e+02] [-6.34252909e-01 7.72697812e-01 -2.57165124e-02 -3.43356366e+01] [-4.19052544e-02 -1.14485066e-03 9.99120933e-01 -7.10244199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.700385723 meters 0.01987178532223184 Centerline is valid? [True, True] Translation: X:149.88, Y:-34.35, Z:-7.10 [[ 7.71632184e-01 6.35236855e-01 3.25255448e-02 1.49884174e+02] [-6.34734732e-01 7.72316541e-01 -2.52780529e-02 -3.43543687e+01] [-4.11775671e-02 -1.13973376e-03 9.99151194e-01 -7.10341446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730385723 meters 0.019991757694707908 Centerline is valid? [True, True] Translation: X:149.91, Y:-34.37, Z:-7.10 [[ 7.71371790e-01 6.35564879e-01 3.22931333e-02 1.49910179e+02] [-6.35069645e-01 7.72046623e-01 -2.51109063e-02 -3.43742996e+01] [-4.08914146e-02 -1.13854398e-03 9.99162948e-01 -7.10465724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760385723 meters 0.01969125405425008 Centerline is valid? [True, True] Translation: X:149.94, Y:-34.39, Z:-7.11 [[ 7.71691199e-01 6.35180851e-01 3.22176973e-02 1.49936333e+02] [-6.34687007e-01 7.72362652e-01 -2.50666521e-02 -3.43929554e+01] [-4.08056036e-02 -1.10443912e-03 9.99166494e-01 -7.10706607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790385723 meters 0.019090693178890727 Centerline is valid? [True, True] Translation: X:149.96, Y:-34.41, Z:-7.11 [[ 7.72022205e-01 6.34790548e-01 3.19792951e-02 1.49960989e+02] [-6.34303155e-01 7.72683521e-01 -2.48934562e-02 -3.44131097e+01] [-4.05120050e-02 -1.06626686e-03 9.99178483e-01 -7.10907272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82038572300002 meters 0.019223196600253383 Centerline is valid? [True, True] Translation: X:149.99, Y:-34.43, Z:-7.11 [[ 7.73203379e-01 6.33390986e-01 3.11832188e-02 1.49985998e+02] [-6.32925947e-01 7.73831338e-01 -2.42859095e-02 -3.44320067e+01] [-3.95130281e-02 -9.58720995e-04 9.99218595e-01 -7.11150048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85038572300002 meters 0.018417042409458524 Centerline is valid? [True, True] Translation: X:150.01, Y:-34.45, Z:-7.11 [[ 7.73719898e-01 6.32757586e-01 3.12307012e-02 1.50009568e+02] [-6.32290165e-01 7.74349400e-01 -2.43342080e-02 -3.44532715e+01] [-3.95811294e-02 -9.19004234e-04 9.99215937e-01 -7.11279141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88038572300002 meters 0.017790386719014013 Centerline is valid? [True, True] Translation: X:150.03, Y:-34.47, Z:-7.11 [[ 7.75694298e-01 6.30268471e-01 3.25577986e-02 1.50033684e+02] [-6.29757717e-01 7.76376835e-01 -2.53816360e-02 -3.44735077e+01] [-4.12743656e-02 -8.15134630e-04 9.99147518e-01 -7.11310411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91038572300002 meters 0.017513977757620494 Centerline is valid? [True, True] Translation: X:150.06, Y:-34.49, Z:-7.11 [[ 7.76618529e-01 6.29064873e-01 3.37793655e-02 1.50058842e+02] [-6.28513330e-01 7.77352426e-01 -2.63476599e-02 -3.44939040e+01] [-4.28328590e-02 -7.68700619e-04 9.99081956e-01 -7.11386713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94038572300002 meters 0.01739452770596576 Centerline is valid? [True, True] Translation: X:150.08, Y:-34.51, Z:-7.11 [[ 7.77378733e-01 6.28062492e-01 3.49258097e-02 1.50083202e+02] [-6.27471224e-01 7.78162565e-01 -2.72559281e-02 -3.45129551e+01] [-4.42963839e-02 -7.26761691e-04 9.99018169e-01 -7.11451793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97038572300002 meters 0.01714640634840964 Centerline is valid? [True, True] Translation: X:150.11, Y:-34.53, Z:-7.12 [[ 7.78496371e-01 6.26621557e-01 3.59002227e-02 1.50109056e+02] [-6.25994683e-01 7.79323424e-01 -2.80295848e-02 -3.45325899e+01] [-4.55418265e-02 -6.52418520e-04 9.98962220e-01 -7.11519686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.000385723 meters 0.0170646330113694 Centerline is valid? [True, True] Translation: X:150.13, Y:-34.55, Z:-7.12 [[ 7.78879088e-01 6.26147018e-01 3.58786408e-02 1.50134299e+02] [-6.25519770e-01 7.79704774e-01 -2.80264718e-02 -3.45515591e+01] [-4.55234392e-02 -6.13566308e-04 9.98963082e-01 -7.11716866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030385723 meters 0.017009045310789093 Centerline is valid? [True, True] Translation: X:150.16, Y:-34.57, Z:-7.12 [[ 7.78789083e-01 6.26294908e-01 3.52456011e-02 1.50160498e+02] [-6.25689166e-01 7.79585997e-01 -2.75452401e-02 -3.45716061e+01] [-4.47284207e-02 -6.00858504e-04 9.98999003e-01 -7.11906211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.060385723 meters 0.017220862182029246 Centerline is valid? [True, True] Translation: X:150.19, Y:-34.59, Z:-7.12 [[ 7.78730300e-01 6.26443396e-01 3.38790697e-02 1.50186608e+02] [-6.25883264e-01 7.79466703e-01 -2.64914940e-02 -3.45893891e+01] [-4.30030282e-02 -5.74613609e-04 9.99074777e-01 -7.12194326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090385723 meters 0.017218428839273794 Centerline is valid? [True, True] Translation: X:150.21, Y:-34.61, Z:-7.12 [[ 7.78664101e-01 6.26559503e-01 3.32476608e-02 1.50213098e+02] [-6.26019566e-01 7.79373387e-01 -2.60120612e-02 -3.46084473e+01] [-4.22104462e-02 -5.59027918e-04 9.99108586e-01 -7.12458311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.120385723 meters 0.01728366498249066 Centerline is valid? [True, True] Translation: X:150.24, Y:-34.63, Z:-7.13 [[ 7.78665903e-01 6.26592404e-01 3.25786848e-02 1.50239436e+02] [-6.26073439e-01 7.79346951e-01 -2.55025369e-02 -3.46275468e+01] [-4.13697945e-02 -5.38693312e-04 9.99143758e-01 -7.12736388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150385723 meters 0.01699441171246332 Centerline is valid? [True, True] Translation: X:150.27, Y:-34.65, Z:-7.13 [[ 7.79102956e-01 6.26088708e-01 3.18043231e-02 1.50265920e+02] [-6.25593166e-01 7.79751685e-01 -2.49098286e-02 -3.46473315e+01] [-4.03952369e-02 -4.89246145e-04 9.99183660e-01 -7.13009446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.180385723 meters 0.01694361541290952 Centerline is valid? [True, True] Translation: X:150.29, Y:-34.67, Z:-7.13 [[ 7.79127851e-01 6.26063130e-01 3.16977742e-02 1.50292225e+02] [-6.25570329e-01 7.79772230e-01 -2.48401331e-02 -3.46677320e+01] [-4.02685356e-02 -4.75547485e-04 9.99188780e-01 -7.13179089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210385723 meters 0.01680230266329629 Centerline is valid? [True, True] Translation: X:150.32, Y:-34.69, Z:-7.13 [[ 7.79818193e-01 6.25217454e-01 3.14121117e-02 1.50316649e+02] [-6.24732256e-01 7.80450486e-01 -2.46301880e-02 -3.46865739e+01] [-3.99148213e-02 -4.17090737e-04 9.99202999e-01 -7.13311034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.240385723 meters 0.016748298602366096 Centerline is valid? [True, True] Translation: X:150.34, Y:-34.71, Z:-7.13 [[ 7.80034386e-01 6.24938427e-01 3.15961871e-02 1.50342003e+02] [-6.24447061e-01 7.80673941e-01 -2.47803563e-02 -3.47069498e+01] [-4.01525168e-02 -4.00616152e-04 9.99193482e-01 -7.13457292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270385723 meters 0.016609413294526178 Centerline is valid? [True, True] Translation: X:150.37, Y:-34.73, Z:-7.14 [[ 7.80778859e-01 6.23982913e-01 3.20888979e-02 1.50366766e+02] [-6.23474725e-01 7.81437908e-01 -2.51806135e-02 -3.47261379e+01] [-4.07877538e-02 -3.46126143e-04 9.99167773e-01 -7.13537274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.300385723 meters 0.01660033081647591 Centerline is valid? [True, True] Translation: X:150.39, Y:-34.75, Z:-7.14 [[ 7.80883188e-01 6.23836271e-01 3.23998861e-02 1.50391962e+02] [-6.23317609e-01 7.81554986e-01 -2.54354716e-02 -3.47455822e+01] [-4.11898623e-02 -3.33287317e-04 9.99151282e-01 -7.13649273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330385723 meters 0.016424113406910787 Centerline is valid? [True, True] Translation: X:150.42, Y:-34.76, Z:-7.14 [[ 7.81555056e-01 6.22952304e-01 3.31982092e-02 1.50416668e+02] [-6.22406392e-01 7.82259769e-01 -2.60755960e-02 -3.47644042e+01] [-4.22134761e-02 -2.83263706e-04 9.99108574e-01 -7.13730449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.360385723 meters 0.01645287761018969 Centerline is valid? [True, True] Translation: X:150.44, Y:-34.78, Z:-7.14 [[ 7.81466284e-01 6.23052172e-01 3.34131451e-02 1.50442890e+02] [-6.22498983e-01 7.82180228e-01 -2.62508361e-02 -3.47844980e+01] [-4.24907419e-02 -2.85505516e-04 9.99096820e-01 -7.13874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390385723 meters 0.016701578151439737 Centerline is valid? [True, True] Translation: X:150.47, Y:-34.80, Z:-7.14 [[ 7.80963203e-01 6.23667517e-01 3.36942750e-02 1.50468998e+02] [-6.23104962e-01 7.81689665e-01 -2.64853683e-02 -3.48028682e+01] [-4.28565304e-02 -3.10971922e-04 9.99081188e-01 -7.14030609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.420385723 meters 0.016777254398814338 Centerline is valid? [True, True] Translation: X:150.50, Y:-34.82, Z:-7.14 [[ 7.80470243e-01 6.24292323e-01 3.35454065e-02 1.50495522e+02] [-6.23734776e-01 7.81190747e-01 -2.63807781e-02 -3.48223513e+01] [-4.26746784e-02 -3.34024361e-04 9.99088965e-01 -7.14170844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450385723 meters 0.017205922316720492 Centerline is valid? [True, True] Translation: X:150.52, Y:-34.84, Z:-7.14 [[ 7.79140242e-01 6.25986549e-01 3.28834896e-02 1.50522437e+02] [-6.25451763e-01 7.79833748e-01 -2.58731108e-02 -3.48406368e+01] [-4.18398743e-02 -4.08254762e-04 9.99124246e-01 -7.14376036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480385723 meters 0.01757334072120668 Centerline is valid? [True, True] Translation: X:150.55, Y:-34.86, Z:-7.15 [[ 7.78645041e-01 6.26636028e-01 3.22364365e-02 1.50548801e+02] [-6.26122196e-01 7.79311944e-01 -2.53749744e-02 -3.48593199e+01] [-4.10231132e-02 -4.25850407e-04 9.99158107e-01 -7.14603328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510385723 meters 0.017897162928125456 Centerline is valid? [True, True] Translation: X:150.58, Y:-34.88, Z:-7.15 [[ 7.77682786e-01 6.27881408e-01 3.12157352e-02 1.50575667e+02] [-6.27400165e-01 7.78308884e-01 -2.45827924e-02 -3.48771571e+01] [-3.97305624e-02 -4.67142944e-04 9.99210320e-01 -7.14879169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540385723 meters 0.018056254592767832 Centerline is valid? [True, True] Translation: X:150.60, Y:-34.90, Z:-7.15 [[ 7.77296571e-01 6.28403942e-01 3.03071934e-02 1.50601200e+02] [-6.27950327e-01 7.77887050e-01 -2.38772808e-02 -3.48959907e+01] [-3.85801507e-02 -4.71683529e-04 9.99255398e-01 -7.15101153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57038572300002 meters 0.016985554689104218 Centerline is valid? [True, True] Translation: X:150.63, Y:-34.92, Z:-7.15 [[ 7.77119077e-01 6.28655874e-01 2.96265394e-02 1.50626176e+02] [-6.28222250e-01 7.77683467e-01 -2.33501752e-02 -3.49182003e+01] [-3.77192947e-02 -4.66184624e-04 9.99288265e-01 -7.15176572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60038572300002 meters 0.018196174746529497 Centerline is valid? [True, True] Translation: X:150.65, Y:-34.93, Z:-7.16 [[ 7.77094313e-01 6.28695690e-01 2.94305622e-02 1.50653818e+02] [-6.28267287e-01 7.77651287e-01 -2.32097653e-02 -3.49344588e+01] [-3.74785940e-02 -4.54082806e-04 9.99297328e-01 -7.15580641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63038572300002 meters 0.018257740384034687 Centerline is valid? [True, True] Translation: X:150.68, Y:-34.95, Z:-7.16 [[ 7.76942552e-01 6.28902038e-01 2.90258099e-02 1.50679269e+02] [-6.28485213e-01 7.77484419e-01 -2.28979176e-02 -3.49546072e+01] [-3.69676620e-02 -4.51925804e-04 9.99316360e-01 -7.15727606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66038572300002 meters 0.016904375035846395 Centerline is valid? [True, True] Translation: X:150.70, Y:-34.98, Z:-7.16 [[ 7.76836740e-01 6.29035207e-01 2.89721952e-02 1.50702408e+02] [-6.28619626e-01 7.77376683e-01 -2.28660999e-02 -3.49778181e+01] [-3.69058908e-02 -4.49263999e-04 9.99318645e-01 -7.15539680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69038572300002 meters 0.016893944465748 Centerline is valid? [True, True] Translation: X:150.73, Y:-35.00, Z:-7.16 [[ 7.76510055e-01 6.29427457e-01 2.92097727e-02 1.50728833e+02] [-6.29004817e-01 7.77059112e-01 -2.30667937e-02 -3.49981920e+01] [-3.72165934e-02 -4.61490479e-04 9.99307116e-01 -7.15657100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72038572300002 meters 0.016949893044816138 Centerline is valid? [True, True] Translation: X:150.75, Y:-35.02, Z:-7.16 [[ 7.76139114e-01 6.29854186e-01 2.98626990e-02 1.50754940e+02] [-6.29412222e-01 7.76713250e-01 -2.35962357e-02 -3.50178676e+01] [-3.80569418e-02 -4.81986245e-04 9.99275456e-01 -7.15752869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750385723 meters 0.017042550250503736 Centerline is valid? [True, True] Translation: X:150.78, Y:-35.04, Z:-7.16 [[ 7.75719689e-01 6.30353525e-01 3.02224702e-02 1.50781174e+02] [-6.29900690e-01 7.76308046e-01 -2.38943448e-02 -3.50383993e+01] [-3.85238312e-02 -5.01841095e-04 9.99257556e-01 -7.15841961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.780385723 meters 0.017414125704806854 Centerline is valid? [True, True] Translation: X:150.81, Y:-35.06, Z:-7.16 [[ 7.74588832e-01 6.31736209e-01 3.03562717e-02 1.50806659e+02] [-6.31279869e-01 7.75183234e-01 -2.40141777e-02 -3.50569592e+01] [-3.87022984e-02 -5.62189371e-04 9.99250627e-01 -7.15927757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810385723 meters 0.017402452254304784 Centerline is valid? [True, True] Translation: X:150.83, Y:-35.08, Z:-7.16 [[ 7.73619466e-01 6.32934328e-01 3.01174206e-02 1.50831363e+02] [-6.32485636e-01 7.74205248e-01 -2.38359849e-02 -3.50766481e+01] [-3.84036781e-02 -6.08853998e-04 9.99262121e-01 -7.16067989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.840385723 meters 0.01858567257776423 Centerline is valid? [True, True] Translation: X:150.86, Y:-35.09, Z:-7.16 [[ 7.71933432e-01 6.35009918e-01 2.96847048e-02 1.50857582e+02] [-6.34575161e-01 7.72503672e-01 -2.35040783e-02 -3.50929395e+01] [-3.78568663e-02 -6.93592536e-04 9.99282931e-01 -7.16316897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870385723 meters 0.018055310156961563 Centerline is valid? [True, True] Translation: X:150.88, Y:-35.11, Z:-7.16 [[ 7.71064365e-01 6.36067003e-01 2.96397020e-02 1.50882584e+02] [-6.35633948e-01 7.71633479e-01 -2.34789117e-02 -3.51133639e+01] [-3.78051474e-02 -7.36248578e-04 9.99284859e-01 -7.16436690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.900385723 meters 0.018419448314743323 Centerline is valid? [True, True] Translation: X:150.91, Y:-35.13, Z:-7.17 [[ 7.69942920e-01 6.37473633e-01 2.85528862e-02 1.50908852e+02] [-6.37072342e-01 7.70471789e-01 -2.26286058e-02 -3.51316106e+01] [-3.64243329e-02 -7.67519245e-04 9.99336119e-01 -7.16719049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930385723 meters 0.018472037522515482 Centerline is valid? [True, True] Translation: X:150.93, Y:-35.15, Z:-7.17 [[ 7.69635623e-01 6.37860026e-01 2.82063126e-02 1.50934741e+02] [-6.37468303e-01 7.70151931e-01 -2.23643674e-02 -3.51524827e+01] [-3.59884821e-02 -7.68216466e-04 9.99351909e-01 -7.16933217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.960385723 meters 0.018698495517959653 Centerline is valid? [True, True] Translation: X:150.96, Y:-35.17, Z:-7.17 [[ 7.69535525e-01 6.38043002e-01 2.67619797e-02 1.50958589e+02] [-6.37690085e-01 7.70000388e-01 -2.12310293e-02 -3.51726347e+01] [-3.41530444e-02 -7.27817801e-04 9.99416350e-01 -7.17171067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990385723 meters 0.01838654774540745 Centerline is valid? [True, True] Translation: X:150.98, Y:-35.19, Z:-7.17 [[ 7.69763415e-01 6.37794988e-01 2.61120402e-02 1.50983408e+02] [-6.37458592e-01 7.70205864e-01 -2.07236763e-02 -3.51941837e+01] [-3.33291034e-02 -6.93016562e-04 9.99444191e-01 -7.17308768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.020385723 meters 0.018139935455243675 Centerline is valid? [True, True] Translation: X:151.01, Y:-35.21, Z:-7.17 [[ 7.70716142e-01 6.36605967e-01 2.70087342e-02 1.51007318e+02] [-6.36244874e-01 7.71188963e-01 -2.14486202e-02 -3.52142206e+01] [-3.44831573e-02 -6.53370910e-04 9.99405066e-01 -7.17401432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050385723 meters 0.018608092787474016 Centerline is valid? [True, True] Translation: X:151.03, Y:-35.23, Z:-7.18 [[ 7.71257486e-01 6.35924236e-01 2.76090082e-02 1.51032283e+02] [-6.35546113e-01 7.71751236e-01 -2.19355178e-02 -3.52323721e+01] [-3.52566136e-02 -6.28865591e-04 9.99378094e-01 -7.17582558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.080385723 meters 0.017513376668856998 Centerline is valid? [True, True] Translation: X:151.06, Y:-35.26, Z:-7.18 [[ 7.72811308e-01 6.34011351e-01 2.81476348e-02 1.51055149e+02] [-6.33616696e-01 7.73323548e-01 -2.23734816e-02 -3.52553001e+01] [-3.59522701e-02 -5.44331787e-04 9.99353360e-01 -7.17645458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110385723 meters 0.017424629909459102 Centerline is valid? [True, True] Translation: X:151.08, Y:-35.28, Z:-7.18 [[ 7.73369756e-01 6.33353994e-01 2.76032365e-02 1.51079869e+02] [-6.32973615e-01 7.73862051e-01 -2.19528979e-02 -3.52765756e+01] [-3.52650528e-02 -4.94413128e-04 9.99377872e-01 -7.17819197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.140385723 meters 0.017424629909459102 Centerline is valid? [True, True] Translation: X:151.11, Y:-35.30, Z:-7.18 [[ 7.73200529e-01 6.33560608e-01 2.76024922e-02 1.51105165e+02] [-6.33180327e-01 7.73692900e-01 -2.19538342e-02 -3.52967934e+01] [-3.52649368e-02 -5.02638792e-04 9.99377872e-01 -7.17964476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170385723 meters 0.017293706669441238 Centerline is valid? [True, True] Translation: X:151.13, Y:-35.32, Z:-7.18 [[ 7.74111783e-01 6.32446967e-01 2.76003847e-02 1.51128391e+02] [-6.32065587e-01 7.74603537e-01 -2.19648424e-02 -3.53179176e+01] [-3.52709536e-02 -4.42010084e-04 9.99377689e-01 -7.18106304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.200385723 meters 0.01714471267210352 Centerline is valid? [True, True] Translation: X:151.15, Y:-35.34, Z:-7.18 [[ 7.74403354e-01 6.32093317e-01 2.75224150e-02 1.51153839e+02] [-6.31713548e-01 7.74892163e-01 -2.19118544e-02 -3.53390006e+01] [-3.51772404e-02 -4.17668917e-04 9.99381002e-01 -7.18259979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230385723 meters 0.01690857333456172 Centerline is valid? [True, True] Translation: X:151.18, Y:-35.36, Z:-7.18 [[ 7.75283632e-01 6.31003735e-01 2.77412439e-02 1.51178310e+02] [-6.30616760e-01 7.75779708e-01 -2.20985425e-02 -3.53593924e+01] [-3.54653570e-02 -3.61455131e-04 9.99370841e-01 -7.18469139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260385723 meters 0.016715173473175197 Centerline is valid? [True, True] Translation: X:151.20, Y:-35.38, Z:-7.19 [[ 7.75586121e-01 6.30629810e-01 2.77886917e-02 1.51203600e+02] [-6.30240914e-01 7.76083713e-01 -2.21463519e-02 -3.53810721e+01] [-3.55325007e-02 -3.37167316e-04 9.99368464e-01 -7.18568584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290385723 meters 0.0167078166236184 Centerline is valid? [True, True] Translation: X:151.23, Y:-35.40, Z:-7.19 [[ 7.75716086e-01 6.30441759e-01 2.84208027e-02 1.51227326e+02] [-6.30034353e-01 7.76236486e-01 -2.26634567e-02 -3.54005244e+01] [-3.63492536e-02 -3.25674071e-04 9.99339094e-01 -7.18725691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32038572300002 meters 0.01637245451403318 Centerline is valid? [True, True] Translation: X:151.25, Y:-35.42, Z:-7.19 [[ 7.75904752e-01 6.30210992e-01 2.83887562e-02 1.51250932e+02] [-6.29803970e-01 7.76423861e-01 -2.26483330e-02 -3.54239591e+01] [-3.63149361e-02 -3.06402167e-04 9.99340348e-01 -7.18629146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35038572300002 meters 0.016692242329891728 Centerline is valid? [True, True] Translation: X:151.28, Y:-35.44, Z:-7.19 [[ 7.76337941e-01 6.29732603e-01 2.71339227e-02 1.51275190e+02] [-6.29360062e-01 7.76811933e-01 -2.16594659e-02 -3.54437402e+01] [-3.47176268e-02 -2.61942165e-04 9.99397127e-01 -7.18945662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38038572300002 meters 0.016614425197930945 Centerline is valid? [True, True] Translation: X:151.30, Y:-35.46, Z:-7.19 [[ 7.76867976e-01 6.29091421e-01 2.68352843e-02 1.51299513e+02] [-6.28726260e-01 7.77331291e-01 -2.14325774e-02 -3.54642421e+01] [-3.43429567e-02 -2.21764837e-04 9.99410082e-01 -7.19159556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41038572300002 meters 0.016298316215616906 Centerline is valid? [True, True] Translation: X:151.32, Y:-35.49, Z:-7.19 [[ 7.77407901e-01 6.28438284e-01 2.65005428e-02 1.51324270e+02] [-6.28081619e-01 7.77859428e-01 -2.11705142e-02 -3.54862024e+01] [-3.39180587e-02 -1.86378824e-04 9.99424600e-01 -7.19229802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44038572300002 meters 0.01625325771702715 Centerline is valid? [True, True] Translation: X:151.35, Y:-35.51, Z:-7.19 [[ 7.79313856e-01 6.26054622e-01 2.69355687e-02 1.51346942e+02] [-6.25684271e-01 7.79779203e-01 -2.15310913e-02 -3.55078595e+01] [-3.44834356e-02 -7.36838717e-05 9.99405267e-01 -7.19436204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47038572300002 meters 0.01615942129992311 Centerline is valid? [True, True] Translation: X:151.37, Y:-35.53, Z:-7.19 [[ 7.81595593e-01 6.23159886e-01 2.79300231e-02 1.51369093e+02] [-6.22759450e-01 7.82094465e-01 -2.23364105e-02 -3.55317292e+01] [-3.57630715e-02 6.43542428e-05 9.99360295e-01 -7.19429687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.500385723 meters 0.016259817991750483 Centerline is valid? [True, True] Translation: X:151.39, Y:-35.55, Z:-7.20 [[ 7.82583666e-01 6.21899551e-01 2.83505668e-02 1.51392206e+02] [-6.21485730e-01 7.83097012e-01 -2.26838275e-02 -3.55537258e+01] [-3.63083063e-02 1.32520179e-04 9.99340627e-01 -7.19569767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530385723 meters 0.01662809341181969 Centerline is valid? [True, True] Translation: X:151.41, Y:-35.58, Z:-7.20 [[ 7.84483721e-01 6.19469733e-01 2.90265651e-02 1.51414319e+02] [-6.19033790e-01 7.85020498e-01 -2.32375887e-02 -3.55760207e+01] [-3.71814315e-02 2.61085455e-04 9.99308497e-01 -7.19683337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.560385723 meters 0.017417507640261135 Centerline is valid? [True, True] Translation: X:151.44, Y:-35.60, Z:-7.20 [[ 7.85183946e-01 6.18576273e-01 2.91472967e-02 1.51439540e+02] [-6.18135713e-01 7.85724695e-01 -2.33440131e-02 -3.55974329e+01] [-3.73418035e-02 3.12359315e-04 9.99302503e-01 -7.19908657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590385723 meters 0.016706811334178104 Centerline is valid? [True, True] Translation: X:151.46, Y:-35.62, Z:-7.20 [[ 7.85303798e-01 6.18397465e-01 2.97072280e-02 1.51464438e+02] [-6.17939177e-01 7.85865422e-01 -2.38057205e-02 -3.56191381e+01] [-3.80672805e-02 3.37462717e-04 9.99275121e-01 -7.19915691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.620385723 meters 0.017056077918865188 Centerline is valid? [True, True] Translation: X:151.49, Y:-35.64, Z:-7.20 [[ 7.85558391e-01 6.18055766e-01 3.00846181e-02 1.51486786e+02] [-6.17584983e-01 7.86134171e-01 -2.41216544e-02 -3.56415697e+01] [-3.85590739e-02 3.69159724e-04 9.99256254e-01 -7.19969983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650385723 meters 0.017370891575982084 Centerline is valid? [True, True] Translation: X:151.51, Y:-35.66, Z:-7.20 [[ 7.85115246e-01 6.18641958e-01 2.96003178e-02 1.51510767e+02] [-6.18186156e-01 7.85672966e-01 -2.37459047e-02 -3.56620223e+01] [-3.79463825e-02 3.44765162e-04 9.99279717e-01 -7.20246516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.680385723 meters 0.0166901573011804 Centerline is valid? [True, True] Translation: X:151.54, Y:-35.68, Z:-7.20 [[ 7.84248575e-01 6.19755332e-01 2.92831033e-02 1.51537238e+02] [-6.19309776e-01 7.84795032e-01 -2.34980558e-02 -3.56810132e+01] [-3.75442794e-02 2.93004614e-04 9.99294922e-01 -7.20326909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710385723 meters 0.016595356423151648 Centerline is valid? [True, True] Translation: X:151.56, Y:-35.70, Z:-7.21 [[ 7.83522248e-01 6.20681075e-01 2.91185554e-02 1.51561628e+02] [-6.20240612e-01 7.84063095e-01 -2.33804647e-02 -3.57000059e+01] [-3.73425966e-02 2.58603629e-04 9.99302489e-01 -7.20576171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.740385723 meters 0.016360745392984717 Centerline is valid? [True, True] Translation: X:151.59, Y:-35.72, Z:-7.21 [[ 7.81603256e-01 6.23128800e-01 2.84050759e-02 1.51587790e+02] [-6.22711096e-01 7.82119223e-01 -2.28125448e-02 -3.57184304e+01] [-3.64313095e-02 1.42203360e-04 9.99336149e-01 -7.20881872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770385723 meters 0.016240805007725383 Centerline is valid? [True, True] Translation: X:151.61, Y:-35.74, Z:-7.21 [[ 7.80471756e-01 6.24532588e-01 2.86859713e-02 1.51612314e+02] [-6.24107098e-01 7.80998744e-01 -2.30497592e-02 -3.57374516e+01] [-3.67990333e-02 8.65676922e-05 9.99322682e-01 -7.21027425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.800385723 meters 0.016214112599291723 Centerline is valid? [True, True] Translation: X:151.64, Y:-35.76, Z:-7.21 [[ 7.78720424e-01 6.26694542e-01 2.91281961e-02 1.51638894e+02] [-6.26256952e-01 7.79265007e-01 -2.34153660e-02 -3.57575828e+01] [-3.73728660e-02 -7.71157455e-06 9.99301390e-01 -7.21087253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830385723 meters 0.01627264903908776 Centerline is valid? [True, True] Translation: X:151.66, Y:-35.78, Z:-7.21 [[ 7.77910649e-01 6.27687202e-01 2.93904526e-02 1.51663754e+02] [-6.27241893e-01 7.78465654e-01 -2.36396576e-02 -3.57769075e+01] [-3.77177684e-02 -4.53816762e-05 9.99288431e-01 -7.21247126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.860385723 meters 0.016249713390495885 Centerline is valid? [True, True] Translation: X:151.69, Y:-35.80, Z:-7.21 [[ 7.76578818e-01 6.29343617e-01 2.91882022e-02 1.51690177e+02] [-6.28905140e-01 7.77127145e-01 -2.34888565e-02 -3.57963607e+01] [-3.74655061e-02 -1.15661953e-04 9.99297915e-01 -7.21461394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890385723 meters 0.0162562816847014 Centerline is valid? [True, True] Translation: X:151.72, Y:-35.82, Z:-7.22 [[ 7.75824892e-01 6.30309342e-01 2.83878606e-02 1.51716207e+02] [-6.29894799e-01 7.76344068e-01 -2.28567276e-02 -3.58170652e+01] [-3.64455561e-02 -1.48547545e-04 9.99335629e-01 -7.21598460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.920385723 meters 0.016403757929111206 Centerline is valid? [True, True] Translation: X:151.74, Y:-35.84, Z:-7.22 [[ 7.74422092e-01 6.32079067e-01 2.73217382e-02 1.51741301e+02] [-6.31695751e-01 7.74903870e-01 -2.20106874e-02 -3.58367825e+01] [-3.50842154e-02 -2.13463354e-04 9.99384337e-01 -7.21768282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950385723 meters 0.016330727006945715 Centerline is valid? [True, True] Translation: X:151.77, Y:-35.86, Z:-7.22 [[ 7.73889134e-01 6.32723420e-01 2.75078520e-02 1.51766528e+02] [-6.32334897e-01 7.74377826e-01 -2.21711535e-02 -3.58571542e+01] [-3.53296787e-02 -2.36159996e-04 9.99375684e-01 -7.21849456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980385723 meters 0.016287160797086697 Centerline is valid? [True, True] Translation: X:151.79, Y:-35.88, Z:-7.22 [[ 7.74064943e-01 6.32488794e-01 2.79533401e-02 1.51790797e+02] [-6.32086928e-01 7.74569479e-01 -2.25441267e-02 -3.58764841e+01] [-3.59107115e-02 -2.18322718e-04 9.99354979e-01 -7.22017354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010385723 meters 0.01610967324637443 Centerline is valid? [True, True] Translation: X:151.82, Y:-35.90, Z:-7.22 [[ 7.74430908e-01 6.32039772e-01 2.79731233e-02 1.51816005e+02] [-6.31636687e-01 7.74935927e-01 -2.25700122e-02 -3.58974366e+01] [-3.59425236e-02 -1.89935888e-04 9.99353841e-01 -7.22164040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040385723 meters 0.016144453865747067 Centerline is valid? [True, True] Translation: X:151.84, Y:-35.92, Z:-7.22 [[ 7.75331891e-01 6.30911304e-01 2.84848152e-02 1.51839191e+02] [-6.30492059e-01 7.75854954e-01 -2.29968271e-02 -3.59178353e+01] [-3.66090432e-02 -1.29276372e-04 9.99329656e-01 -7.22339541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07038572300002 meters 0.01611236855256731 Centerline is valid? [True, True] Translation: X:151.86, Y:-35.94, Z:-7.22 [[ 7.75588056e-01 6.30580318e-01 2.88379979e-02 1.51863831e+02] [-6.30150001e-01 7.76123992e-01 -2.32921678e-02 -3.59394063e+01] [-3.70694446e-02 -1.07137237e-04 9.99312686e-01 -7.22357845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10038572300002 meters 0.016090220126500708 Centerline is valid? [True, True] Translation: X:151.89, Y:-35.96, Z:-7.22 [[ 7.76143707e-01 6.29860789e-01 2.96029114e-02 1.51886737e+02] [-6.29406223e-01 7.76708042e-01 -2.39253754e-02 -3.59606284e+01] [-3.80624751e-02 -6.27271035e-05 9.99275359e-01 -7.22330170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13038572300002 meters 0.01615867692920196 Centerline is valid? [True, True] Translation: X:151.91, Y:-35.98, Z:-7.22 [[ 7.76212392e-01 6.29768255e-01 2.97702503e-02 1.51911565e+02] [-6.29308249e-01 7.76783073e-01 -2.40662670e-02 -3.59815957e+01] [-3.82811974e-02 -5.41294156e-05 9.99267005e-01 -7.22475268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16038572300002 meters 0.01621529552592304 Centerline is valid? [True, True] Translation: X:151.94, Y:-36.00, Z:-7.23 [[ 7.76315636e-01 6.29689525e-01 2.87251497e-02 1.51937079e+02] [-6.29260744e-01 7.76846896e-01 -2.32339357e-02 -3.60019313e+01] [-3.69452093e-02 -3.87414979e-05 9.99317292e-01 -7.22811388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19038572300002 meters 0.016211902034059436 Centerline is valid? [True, True] Translation: X:151.96, Y:-36.02, Z:-7.23 [[ 7.76139804e-01 6.29939202e-01 2.79929605e-02 1.51962153e+02] [-6.29531687e-01 7.76644449e-01 -2.26551365e-02 -3.60221942e+01] [-3.60119360e-02 -3.89024418e-05 9.99351359e-01 -7.23073988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22038572300002 meters 0.01630702063352037 Centerline is valid? [True, True] Translation: X:151.99, Y:-36.04, Z:-7.23 [[ 7.75257569e-01 6.31064687e-01 2.70751128e-02 1.51985802e+02] [-6.30683919e-01 7.75730207e-01 -2.19189689e-02 -3.60424450e+01] [-3.48352701e-02 -8.29916752e-05 9.99393064e-01 -7.23360879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250385723 meters 0.016226971324738902 Centerline is valid? [True, True] Translation: X:152.01, Y:-36.06, Z:-7.23 [[ 7.74540776e-01 6.31935890e-01 2.72693488e-02 1.52011017e+02] [-6.31549852e-01 7.75020656e-01 -2.20854546e-02 -3.60637508e+01] [-3.50909000e-02 -1.15868077e-04 9.99384118e-01 -7.23404963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.280385723 meters 0.016233596764020843 Centerline is valid? [True, True] Translation: X:152.04, Y:-36.09, Z:-7.23 [[ 7.73151924e-01 6.33617568e-01 2.76564485e-02 1.52036372e+02] [-6.33221109e-01 7.73646394e-01 -2.24117026e-02 -3.60850515e+01] [-3.55967602e-02 -1.84996001e-04 9.99366217e-01 -7.23446886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310385723 meters 0.016367669631460854 Centerline is valid? [True, True] Translation: X:152.06, Y:-36.10, Z:-7.24 [[ 7.72037431e-01 6.34955925e-01 2.80923144e-02 1.52061387e+02] [-6.34547277e-01 7.72548326e-01 -2.27779950e-02 -3.61044336e+01] [-3.61656933e-02 -2.40436874e-04 9.99345778e-01 -7.23597774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.340385723 meters 0.016460901884196803 Centerline is valid? [True, True] Translation: X:152.09, Y:-36.12, Z:-7.24 [[ 7.70118605e-01 6.37273330e-01 2.82849318e-02 1.52086959e+02] [-6.36860131e-01 7.70637779e-01 -2.29474848e-02 -3.61239484e+01] [-3.64212571e-02 -3.41260398e-04 9.99336468e-01 -7.23689640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370385723 meters 0.016691560320844182 Centerline is valid? [True, True] Translation: X:152.11, Y:-36.14, Z:-7.24 [[ 7.68802759e-01 6.38854496e-01 2.84121753e-02 1.52112373e+02] [-6.38438230e-01 7.69327476e-01 -2.30621021e-02 -3.61438286e+01] [-3.65915948e-02 -4.09211223e-04 9.99330220e-01 -7.23845059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.400385723 meters 0.017273422567763427 Centerline is valid? [True, True] Translation: X:152.14, Y:-36.16, Z:-7.24 [[ 7.65938825e-01 6.42276310e-01 2.86156889e-02 1.52138369e+02] [-6.41856018e-01 7.66472973e-01 -2.32386297e-02 -3.61628407e+01] [-3.68587735e-02 -5.67783396e-04 9.99320323e-01 -7.23956805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430385723 meters 0.017409603553912776 Centerline is valid? [True, True] Translation: X:152.16, Y:-36.18, Z:-7.24 [[ 7.64543523e-01 6.43917922e-01 2.90329357e-02 1.52163714e+02] [-6.43486023e-01 7.65094302e-01 -2.35891239e-02 -3.61827725e+01] [-3.74023933e-02 -6.47376415e-04 9.99300076e-01 -7.24062695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.460385723 meters 0.018552078390644343 Centerline is valid? [True, True] Translation: X:152.19, Y:-36.20, Z:-7.24 [[ 7.62605514e-01 6.46193111e-01 2.94498500e-02 1.52189048e+02] [-6.45749937e-01 7.63173562e-01 -2.39401943e-02 -3.62002323e+01] [-3.79453356e-02 -7.60314633e-04 9.99279527e-01 -7.24236900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490385723 meters 0.018240281064941688 Centerline is valid? [True, True] Translation: X:152.21, Y:-36.22, Z:-7.24 [[ 7.61827817e-01 6.47112579e-01 2.93885512e-02 1.52212647e+02] [-6.46671514e-01 7.62394043e-01 -2.39013946e-02 -3.62212524e+01] [-3.78725494e-02 -7.95991607e-04 9.99282261e-01 -7.24336726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.520385723 meters 0.018386065944057655 Centerline is valid? [True, True] Translation: X:152.24, Y:-36.24, Z:-7.24 [[ 7.61319046e-01 6.47718380e-01 2.92268889e-02 1.52236855e+02] [-6.47282200e-01 7.61879412e-01 -2.37805633e-02 -3.62423562e+01] [-3.76704729e-02 -8.13449204e-04 9.99289885e-01 -7.24492535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550385723 meters 0.018312036743048134 Centerline is valid? [True, True] Translation: X:152.26, Y:-36.26, Z:-7.25 [[ 7.61331894e-01 6.47710861e-01 2.90583489e-02 1.52261904e+02] [-6.47279220e-01 7.61885820e-01 -2.36560369e-02 -3.62644066e+01] [-3.74614160e-02 -7.98770038e-04 9.99297756e-01 -7.24623785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.580385723 meters 0.018059176519614323 Centerline is valid? [True, True] Translation: X:152.29, Y:-36.29, Z:-7.25 [[ 7.62083938e-01 6.46809402e-01 2.94222400e-02 1.52285703e+02] [-6.46366017e-01 7.62651309e-01 -2.39572915e-02 -3.62861931e+01] [-3.79347113e-02 -7.60069025e-04 9.99279931e-01 -7.24655006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610385723 meters 0.018025768900903714 Centerline is valid? [True, True] Translation: X:152.31, Y:-36.31, Z:-7.25 [[ 7.62287518e-01 6.46548506e-01 2.98792574e-02 1.52310274e+02] [-6.46090557e-01 7.62872511e-01 -2.43418182e-02 -3.63067652e+01] [-3.85322304e-02 -7.49241871e-04 9.99257077e-01 -7.24789046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.640385723 meters 0.017839489573109654 Centerline is valid? [True, True] Translation: X:152.33, Y:-36.33, Z:-7.25 [[ 7.62903077e-01 6.45849376e-01 2.92827516e-02 1.52334775e+02] [-6.45408587e-01 7.63464542e-01 -2.38673174e-02 -3.63275707e+01] [-3.77710346e-02 -6.90889528e-04 9.99286181e-01 -7.25017862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670385723 meters 0.01795029735825274 Centerline is valid? [True, True] Translation: X:152.36, Y:-36.35, Z:-7.25 [[ 7.63148714e-01 6.45609233e-01 2.81559830e-02 1.52359332e+02] [-6.45201177e-01 7.63667665e-01 -2.29595008e-02 -3.63477949e+01] [-3.63246795e-02 -6.44759858e-04 9.99339833e-01 -7.25289724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.700385723 meters 0.01803691493512983 Centerline is valid? [True, True] Translation: X:152.38, Y:-36.37, Z:-7.26 [[ 7.63300874e-01 6.45515515e-01 2.61054531e-02 1.52383791e+02] [-6.45164341e-01 7.63746932e-01 -2.12978019e-02 -3.63688803e+01] [-3.36860213e-02 -5.85676713e-04 9.99432293e-01 -7.25661262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730385723 meters 0.0179817840805493 Centerline is valid? [True, True] Translation: X:152.41, Y:-36.39, Z:-7.26 [[ 7.63126325e-01 6.45747721e-01 2.54576896e-02 1.52408921e+02] [-6.45413592e-01 7.63550622e-01 -2.07784509e-02 -3.63897939e+01] [-3.28558720e-02 -5.74156006e-04 9.99459935e-01 -7.25879568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760385723 meters 0.01811994435461928 Centerline is valid? [True, True] Translation: X:152.43, Y:-36.41, Z:-7.26 [[ 7.63002752e-01 6.45904317e-01 2.51875558e-02 1.52434569e+02] [-6.45576951e-01 7.63418164e-01 -2.05695853e-02 -3.64093925e+01] [-3.25146216e-02 -5.65855314e-04 9.99471100e-01 -7.26125078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790385723 meters 0.017876514640548975 Centerline is valid? [True, True] Translation: X:152.46, Y:-36.43, Z:-7.26 [[ 7.62920648e-01 6.46007105e-01 2.50380877e-02 1.52459287e+02] [-6.45683339e-01 7.63331191e-01 -2.04577258e-02 -3.64305643e+01] [-3.23281895e-02 -5.59054665e-04 9.99477151e-01 -7.26205995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82038572300002 meters 0.018010260850325248 Centerline is valid? [True, True] Translation: X:152.48, Y:-36.45, Z:-7.26 [[ 7.63003434e-01 6.45912524e-01 2.49553712e-02 1.52484088e+02] [-6.45590465e-01 7.63411236e-01 -2.04018706e-02 -3.64504083e+01] [-3.22290345e-02 -5.44252352e-04 9.99480362e-01 -7.26362719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85038572300002 meters 0.017823913055774698 Centerline is valid? [True, True] Translation: X:152.51, Y:-36.47, Z:-7.26 [[ 7.63031605e-01 6.45879075e-01 2.49597714e-02 1.52509496e+02] [-6.45556547e-01 7.63439542e-01 -2.04159203e-02 -3.64714144e+01] [-3.22414922e-02 -5.34951397e-04 9.99479965e-01 -7.26395020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88038572300002 meters 0.01779270536329849 Centerline is valid? [True, True] Translation: X:152.54, Y:-36.49, Z:-7.27 [[ 7.62869911e-01 6.46059923e-01 2.52205171e-02 1.52535780e+02] [-6.45730339e-01 7.63286502e-01 -2.06408385e-02 -3.64919125e+01] [-3.25856989e-02 -5.39378438e-04 9.99468800e-01 -7.26516021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91038572300002 meters 0.01795404970649675 Centerline is valid? [True, True] Translation: X:152.56, Y:-36.51, Z:-7.27 [[ 7.62471871e-01 6.46492067e-01 2.61658938e-02 1.52560852e+02] [-6.46137109e-01 7.62920497e-01 -2.14278247e-02 -3.65099163e+01] [-3.38154154e-02 -5.68641357e-04 9.99427934e-01 -7.26633929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94038572300002 meters 0.018527681118371265 Centerline is valid? [True, True] Translation: X:152.59, Y:-36.53, Z:-7.27 [[ 7.61436672e-01 6.47676965e-01 2.69952478e-02 1.52586581e+02] [-6.47299539e-01 7.61914791e-01 -2.21169448e-02 -3.65284621e+01] [-3.48927142e-02 -6.33358622e-04 9.99390863e-01 -7.26757976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97038572300002 meters 0.018761724013611304 Centerline is valid? [True, True] Translation: X:152.61, Y:-36.55, Z:-7.27 [[ 7.60899936e-01 6.48305542e-01 2.70409236e-02 1.52611780e+02] [-6.47926846e-01 7.61379994e-01 -2.21654446e-02 -3.65490417e+01] [-3.49583988e-02 -6.54854981e-04 9.99388554e-01 -7.26905629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.000385723 meters 0.018761724013611304 Centerline is valid? [True, True] Translation: X:152.64, Y:-36.57, Z:-7.27 [[ 7.60726758e-01 6.48508990e-01 2.70349839e-02 1.52636770e+02] [-6.48130165e-01 7.61206714e-01 -2.21726863e-02 -3.65696304e+01] [-3.49583976e-02 -6.54832816e-04 9.99388554e-01 -7.27051250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030385723 meters 0.018566490553132333 Centerline is valid? [True, True] Translation: X:152.66, Y:-36.59, Z:-7.27 [[ 7.59972790e-01 6.49382534e-01 2.72705447e-02 1.52662366e+02] [-6.48997190e-01 7.60461601e-01 -2.23785974e-02 -3.65895751e+01] [-3.52704724e-02 -6.91381817e-04 9.99377564e-01 -7.27103659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.060385723 meters 0.0187546774462724 Centerline is valid? [True, True] Translation: X:152.69, Y:-36.61, Z:-7.27 [[ 7.59878396e-01 6.49496368e-01 2.71898969e-02 1.52687482e+02] [-6.49113004e-01 7.60364384e-01 -2.23229095e-02 -3.66090246e+01] [-3.51728779e-02 -6.86618970e-04 9.99381007e-01 -7.27269282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090385723 meters 0.019200963850134554 Centerline is valid? [True, True] Translation: X:152.71, Y:-36.63, Z:-7.27 [[ 7.59428849e-01 6.50002383e-01 2.76536673e-02 1.52713809e+02] [-6.49605732e-01 7.59931835e-01 -2.27156169e-02 -3.66274973e+01] [-3.57801072e-02 -7.13085995e-04 9.99359433e-01 -7.27421535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.120385723 meters 0.018203837170945442 Centerline is valid? [True, True] Translation: X:152.74, Y:-36.65, Z:-7.27 [[ 7.58934099e-01 6.50585865e-01 2.75148307e-02 1.52738316e+02] [-6.50193175e-01 7.59432355e-01 -2.26126838e-02 -3.66487999e+01] [-3.56071451e-02 -7.28418304e-04 9.99365599e-01 -7.27470334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150385723 meters 0.018637654482213002 Centerline is valid? [True, True] Translation: X:152.76, Y:-36.67, Z:-7.28 [[ 7.58377960e-01 6.51254930e-01 2.70164202e-02 1.52764026e+02] [-6.50876269e-01 7.58858667e-01 -2.22172441e-02 -3.66660188e+01] [-3.49707343e-02 -7.35278518e-04 9.99388066e-01 -7.27785475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.180385723 meters 0.018781520807777962 Centerline is valid? [True, True] Translation: X:152.79, Y:-36.69, Z:-7.28 [[ 7.58174206e-01 6.51515724e-01 2.64411467e-02 1.52789411e+02] [-6.51153052e-01 7.58634781e-01 -2.17479404e-02 -3.66864556e+01] [-3.42282987e-02 -7.28505878e-04 9.99413775e-01 -7.28023686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210385723 meters 0.019205478424386118 Centerline is valid? [True, True] Translation: X:152.81, Y:-36.71, Z:-7.28 [[ 7.58221970e-01 6.51515110e-01 2.50500575e-02 1.52812891e+02] [-6.51189231e-01 7.58635352e-01 -2.06152420e-02 -3.67063468e+01] [-3.24350008e-02 -6.81398223e-04 9.99473615e-01 -7.28315460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.240385723 meters 0.018212054768689975 Centerline is valid? [True, True] Translation: X:152.84, Y:-36.73, Z:-7.28 [[ 7.58652365e-01 6.51012061e-01 2.50975282e-02 1.52835568e+02] [-6.50684378e-01 7.59067104e-01 -2.06632856e-02 -3.67288827e+01] [-3.25027562e-02 -6.54319028e-04 9.99471432e-01 -7.28342467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270385723 meters 0.017851309875282526 Centerline is valid? [True, True] Translation: X:152.86, Y:-36.75, Z:-7.28 [[ 7.59773511e-01 6.49630918e-01 2.69050488e-02 1.52859643e+02] [-6.49253039e-01 7.60249482e-01 -2.21634066e-02 -3.67503117e+01] [-3.48525836e-02 -6.29015471e-04 9.99392266e-01 -7.28335235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.300385723 meters 0.017619375247489594 Centerline is valid? [True, True] Translation: X:152.88, Y:-36.77, Z:-7.28 [[ 7.60648197e-01 6.48496423e-01 2.94399309e-02 1.52883670e+02] [-6.48042566e-01 7.61217448e-01 -2.42657962e-02 -3.67696258e+01] [-3.81464711e-02 -6.20594274e-04 9.99271966e-01 -7.28227865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330385723 meters 0.020227950586959215 Centerline is valid? [True, True] Translation: X:152.91, Y:-36.79, Z:-7.29 [[ 7.61109960e-01 6.47930324e-01 2.99653729e-02 1.52909984e+02] [-6.47459425e-01 7.61699375e-01 -2.47053547e-02 -3.67862510e+01] [-3.88319543e-02 -5.97871525e-04 9.99245576e-01 -7.28630120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.360385723 meters 0.01749898207066948 Centerline is valid? [True, True] Translation: X:152.93, Y:-36.81, Z:-7.28 [[ 7.61383669e-01 6.47566167e-01 3.08701873e-02 1.52933304e+02] [-6.47065581e-01 7.62008999e-01 -2.54640693e-02 -3.68094498e+01] [-4.00130303e-02 -5.87109165e-04 9.99198986e-01 -7.28418637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390385723 meters 0.01732040415427998 Centerline is valid? [True, True] Translation: X:152.96, Y:-36.83, Z:-7.29 [[ 7.61580524e-01 6.47345368e-01 3.06444074e-02 1.52958859e+02] [-6.46851778e-01 7.62196596e-01 -2.52809494e-02 -3.68295921e+01] [-3.97225685e-02 -5.68910713e-04 9.99210585e-01 -7.28668641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.420385723 meters 0.0172742365097571 Centerline is valid? [True, True] Translation: X:152.98, Y:-36.85, Z:-7.29 [[ 7.61348351e-01 6.47656400e-01 2.98307866e-02 1.52984438e+02] [-6.47188405e-01 7.61932330e-01 -2.46230229e-02 -3.68502879e+01] [-3.86762991e-02 -5.59441274e-04 9.99251635e-01 -7.28924195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450385723 meters 0.017630950058338476 Centerline is valid? [True, True] Translation: X:153.01, Y:-36.87, Z:-7.29 [[ 7.60941925e-01 6.48215231e-01 2.80071675e-02 1.53008803e+02] [-6.47802644e-01 7.61456972e-01 -2.31303881e-02 -3.68694181e+01] [-3.63197228e-02 -5.42235117e-04 9.99340074e-01 -7.29316268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480385723 meters 0.017633103102382176 Centerline is valid? [True, True] Translation: X:153.03, Y:-36.89, Z:-7.30 [[ 7.60659658e-01 6.48572075e-01 2.74070684e-02 1.53033798e+02] [-6.48176884e-01 7.61153054e-01 -2.26441224e-02 -3.68907307e+01] [-3.55473193e-02 -5.40157795e-04 9.99367848e-01 -7.29518168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510385723 meters 0.017719195461931958 Centerline is valid? [True, True] Translation: X:153.06, Y:-36.91, Z:-7.30 [[ 7.60610103e-01 6.48673448e-01 2.63634113e-02 1.53058514e+02] [-6.48307364e-01 7.61066682e-01 -2.17960421e-02 -3.69108606e+01] [-3.42028278e-02 -5.13303869e-04 9.99414780e-01 -7.29739864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540385723 meters 0.01776915709775026 Centerline is valid? [True, True] Translation: X:153.08, Y:-36.93, Z:-7.30 [[ 7.60187257e-01 6.49187648e-01 2.58985110e-02 1.53083467e+02] [-6.48834615e-01 7.60628110e-01 -2.14131109e-02 -3.69312663e+01] [-3.36002626e-02 -5.25876375e-04 9.99435213e-01 -7.29973543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57038572300002 meters 0.017876001852946247 Centerline is valid? [True, True] Translation: X:153.11, Y:-36.95, Z:-7.30 [[ 7.59830040e-01 6.49617088e-01 2.56115186e-02 1.53109082e+02] [-6.49271755e-01 7.60261374e-01 -2.11856256e-02 -3.69516355e+01] [-3.32339927e-02 -5.31360873e-04 9.99447457e-01 -7.30220460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60038572300002 meters 0.018818308420459666 Centerline is valid? [True, True] Translation: X:153.13, Y:-36.97, Z:-7.31 [[ 7.58751765e-01 6.50905567e-01 2.48535912e-02 1.53134682e+02] [-6.50580685e-01 7.59158499e-01 -2.05704846e-02 -3.69693416e+01] [-3.22572579e-02 -5.61374871e-04 9.99479442e-01 -7.30585153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63038572300002 meters 0.018286554514033698 Centerline is valid? [True, True] Translation: X:153.16, Y:-36.99, Z:-7.31 [[ 7.58191972e-01 6.51555458e-01 2.49082182e-02 1.53158741e+02] [-6.51229224e-01 7.58600781e-01 -2.06240759e-02 -3.69914482e+01] [-3.23331230e-02 -5.83950852e-04 9.99476977e-01 -7.30576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66038572300002 meters 0.01840252392357025 Centerline is valid? [True, True] Translation: X:153.18, Y:-37.01, Z:-7.31 [[ 7.56800218e-01 6.53184288e-01 2.45706364e-02 1.53182705e+02] [-6.52867330e-01 7.57198707e-01 -2.03560405e-02 -3.70131447e+01] [-3.19010999e-02 -6.35909898e-04 9.99490828e-01 -7.30531441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69038572300002 meters 0.018556749927992312 Centerline is valid? [True, True] Translation: X:153.21, Y:-37.03, Z:-7.31 [[ 7.56029104e-01 6.54081681e-01 2.44366006e-02 1.53206763e+02] [-6.53768268e-01 7.56423636e-01 -2.02567195e-02 -3.70337632e+01] [-3.17339715e-02 -6.61204541e-04 9.99496132e-01 -7.30566232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72038572300002 meters 0.01935497959005435 Centerline is valid? [True, True] Translation: X:153.23, Y:-37.05, Z:-7.31 [[ 7.54498658e-01 6.55821884e-01 2.50884875e-02 1.53230921e+02] [-6.55492338e-01 7.54915289e-01 -2.08014795e-02 -3.70526786e+01] [-3.25817483e-02 -7.50623025e-04 9.99468792e-01 -7.30640989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750385723 meters 0.020393211979975817 Centerline is valid? [True, True] Translation: X:153.26, Y:-37.07, Z:-7.31 [[ 7.53747897e-01 6.56667156e-01 2.55412100e-02 1.53256772e+02] [-6.56325761e-01 7.54180095e-01 -2.11867741e-02 -3.70707460e+01] [-3.31753309e-02 -7.93867631e-04 9.99449232e-01 -7.30806598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.780385723 meters 0.020546301721100224 Centerline is valid? [True, True] Translation: X:153.28, Y:-37.09, Z:-7.31 [[ 7.53015203e-01 6.57481537e-01 2.61941272e-02 1.53282812e+02] [-6.57122626e-01 7.53470183e-01 -2.17379238e-02 -3.70904509e+01] [-3.40287773e-02 -8.43766565e-04 9.99420497e-01 -7.30896992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810385723 meters 0.02007648527219764 Centerline is valid? [True, True] Translation: X:153.31, Y:-37.11, Z:-7.31 [[ 7.52356914e-01 6.58216935e-01 2.66371796e-02 1.53307019e+02] [-6.57845805e-01 7.52827794e-01 -2.21180958e-02 -3.71111370e+01] [-3.46117143e-02 -8.82454550e-04 9.99400446e-01 -7.30919341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.840385723 meters 0.020514370008254297 Centerline is valid? [True, True] Translation: X:153.33, Y:-37.13, Z:-7.31 [[ 7.50874428e-01 6.59888721e-01 2.71010943e-02 1.53332331e+02] [-6.59505234e-01 7.51362722e-01 -2.25145786e-02 -3.71301275e+01] [-3.52198684e-02 -9.67692193e-04 9.99379119e-01 -7.30985560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870385723 meters 0.020960606272325336 Centerline is valid? [True, True] Translation: X:153.36, Y:-37.15, Z:-7.31 [[ 7.49934748e-01 6.60969062e-01 2.67912886e-02 1.53358191e+02] [-6.60594643e-01 7.50412487e-01 -2.22669446e-02 -3.71493849e+01] [-3.48222790e-02 -9.99426251e-04 9.99393021e-01 -7.31166035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.900385723 meters 0.021921302771477788 Centerline is valid? [True, True] Translation: X:153.38, Y:-37.17, Z:-7.31 [[ 7.48214671e-01 6.62927335e-01 2.64981969e-02 1.53384612e+02] [-6.62561915e-01 7.48682979e-01 -2.20341948e-02 -3.71666855e+01] [-3.44458190e-02 -1.07038827e-03 9.99405993e-01 -7.31396689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930385723 meters 0.02272662799544365 Centerline is valid? [True, True] Translation: X:153.41, Y:-37.18, Z:-7.32 [[ 7.47684575e-01 6.63528636e-01 2.64107005e-02 1.53409978e+02] [-6.63165661e-01 7.48150097e-01 -2.19713114e-02 -3.71844958e+01] [-3.43377624e-02 -1.08705902e-03 9.99409694e-01 -7.31626071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.960385723 meters 0.023958688671054343 Centerline is valid? [True, True] Translation: X:153.44, Y:-37.20, Z:-7.32 [[ 7.46606602e-01 6.64765933e-01 2.57844224e-02 1.53435775e+02] [-6.64420350e-01 7.47050885e-01 -2.14609926e-02 -3.72015921e+01] [-3.35288123e-02 -1.10877624e-03 9.99437136e-01 -7.31856277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990385723 meters 0.023586442511681197 Centerline is valid? [True, True] Translation: X:153.46, Y:-37.22, Z:-7.32 [[ 7.45671022e-01 6.65823273e-01 2.55753020e-02 1.53459699e+02] [-6.65483781e-01 7.46108611e-01 -2.12903451e-02 -3.72227401e+01] [-3.32575603e-02 -1.14435527e-03 9.99446159e-01 -7.31896679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.020385723 meters 0.02317015004801428 Centerline is valid? [True, True] Translation: X:153.48, Y:-37.24, Z:-7.32 [[ 7.44598403e-01 6.67062524e-01 2.45113762e-02 1.53483436e+02] [-6.66751068e-01 7.45000861e-01 -2.04139630e-02 -3.72437001e+01] [-3.18783860e-02 -1.14278202e-03 9.99491102e-01 -7.31948929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050385723 meters 0.024554899398734818 Centerline is valid? [True, True] Translation: X:153.51, Y:-37.26, Z:-7.32 [[ 7.44256700e-01 6.67448171e-01 2.43906496e-02 1.53508847e+02] [-6.67139695e-01 7.44655373e-01 -2.03225034e-02 -3.72615218e+01] [-3.17268460e-02 -1.14681120e-03 9.99495919e-01 -7.32132704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.080385723 meters 0.022864239500480953 Centerline is valid? [True, True] Translation: X:153.53, Y:-37.28, Z:-7.32 [[ 7.44101392e-01 6.67615771e-01 2.45417956e-02 1.53533281e+02] [-6.67303287e-01 7.44505103e-01 -2.04566658e-02 -3.72842563e+01] [-3.19286848e-02 -1.15498737e-03 9.99489482e-01 -7.32213144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110385723 meters 0.02446537954566913 Centerline is valid? [True, True] Translation: X:153.56, Y:-37.30, Z:-7.32 [[ 7.43953924e-01 6.67775497e-01 2.46666586e-02 1.53559731e+02] [-6.67459480e-01 7.44361837e-01 -2.05741956e-02 -3.73022827e+01] [-3.20998630e-02 -1.15774156e-03 9.99483996e-01 -7.32482101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.140385723 meters 0.02431249752382906 Centerline is valid? [True, True] Translation: X:153.58, Y:-37.32, Z:-7.33 [[ 7.44482982e-01 6.67188345e-01 2.45927272e-02 1.53583495e+02] [-6.66873704e-01 7.44888212e-01 -2.05186531e-02 -3.73234724e+01] [-3.20086388e-02 -1.12445506e-03 9.99486960e-01 -7.32571910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170385723 meters 0.024080596950784842 Centerline is valid? [True, True] Translation: X:153.61, Y:-37.34, Z:-7.33 [[ 7.44934524e-01 6.66680552e-01 2.46900003e-02 1.53606901e+02] [-6.66362810e-01 7.45342762e-01 -2.06100089e-02 -3.73446165e+01] [-3.21428051e-02 -1.09939078e-03 9.99482682e-01 -7.32643140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.200385723 meters 0.025073107468834593 Centerline is valid? [True, True] Translation: X:153.63, Y:-37.36, Z:-7.33 [[ 7.46465502e-01 6.64961615e-01 2.48053577e-02 1.53629671e+02] [-6.64639635e-01 7.46876834e-01 -2.07159762e-02 -3.73649420e+01] [-3.23018760e-02 -1.02286229e-03 9.99477635e-01 -7.32956549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230385723 meters 0.022331356713702996 Centerline is valid? [True, True] Translation: X:153.65, Y:-37.39, Z:-7.33 [[ 7.46710961e-01 6.64696514e-01 2.45211298e-02 1.53652268e+02] [-6.64381506e-01 7.47112813e-01 -2.04855885e-02 -3.73885548e+01] [-3.19367495e-02 -9.94571653e-04 9.99489397e-01 -7.32735693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260385723 meters 0.023227922549198702 Centerline is valid? [True, True] Translation: X:153.68, Y:-37.41, Z:-7.33 [[ 7.48302997e-01 6.62902225e-01 2.45614293e-02 1.53676705e+02] [-6.62584883e-01 7.48705422e-01 -2.05295914e-02 -3.74080201e+01] [-3.19983871e-02 -9.11676976e-04 9.99487505e-01 -7.32976079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290385723 meters 0.02251951787576369 Centerline is valid? [True, True] Translation: X:153.70, Y:-37.43, Z:-7.33 [[ 7.48970073e-01 6.62135599e-01 2.49053833e-02 1.53700363e+02] [-6.61808578e-01 7.49383525e-01 -2.08264170e-02 -3.74303776e+01] [-3.24535961e-02 -8.84233224e-04 9.99472852e-01 -7.33025138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32038572300002 meters 0.02266487409572886 Centerline is valid? [True, True] Translation: X:153.72, Y:-37.45, Z:-7.33 [[ 7.49731612e-01 6.61264583e-01 2.51328945e-02 1.53724240e+02] [-6.60930737e-01 7.50152275e-01 -2.10267814e-02 -3.74507442e+01] [-3.27577638e-02 -8.46659779e-04 9.99462962e-01 -7.33177667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35038572300002 meters 0.022394697144084798 Centerline is valid? [True, True] Translation: X:153.75, Y:-37.47, Z:-7.33 [[ 7.50763094e-01 6.60079155e-01 2.55006919e-02 1.53747364e+02] [-6.59734481e-01 7.51195626e-01 -2.13435041e-02 -3.74724396e+01] [-3.32444104e-02 -7.99770529e-04 9.99446932e-01 -7.33366726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38038572300002 meters 0.02201715651690346 Centerline is valid? [True, True] Translation: X:153.77, Y:-37.49, Z:-7.33 [[ 7.50817457e-01 6.60024573e-01 2.53122188e-02 1.53772067e+02] [-6.59684636e-01 7.51243600e-01 -2.11951310e-02 -3.74926647e+01] [-3.30049497e-02 -7.84407439e-04 9.99454880e-01 -7.33486144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41038572300002 meters 0.022868436349104335 Centerline is valid? [True, True] Translation: X:153.80, Y:-37.51, Z:-7.34 [[ 7.50969132e-01 6.59856477e-01 2.51950830e-02 1.53796351e+02] [-6.59519242e-01 7.51391272e-01 -2.11075017e-02 -3.75134541e+01] [-3.28592872e-02 -7.65559816e-04 9.99459695e-01 -7.33791173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44038572300002 meters 0.022440927049646255 Centerline is valid? [True, True] Translation: X:153.82, Y:-37.53, Z:-7.34 [[ 7.50503980e-01 6.60384550e-01 2.52194837e-02 1.53820986e+02] [-6.60046653e-01 7.50927183e-01 -2.11372121e-02 -3.75339810e+01] [-3.28966842e-02 -7.82474020e-04 9.99458451e-01 -7.33731528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47038572300002 meters 0.022488412241190588 Centerline is valid? [True, True] Translation: X:153.84, Y:-37.56, Z:-7.34 [[ 7.50671353e-01 6.60170405e-01 2.58371213e-02 1.53844138e+02] [-6.59815259e-01 7.51115452e-01 -2.16656925e-02 -3.75558304e+01] [-3.37097101e-02 -7.83912196e-04 9.99431359e-01 -7.33987764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.500385723 meters 0.020111066713007924 Centerline is valid? [True, True] Translation: X:153.87, Y:-37.58, Z:-7.34 [[ 7.49728362e-01 6.61220378e-01 2.63627560e-02 1.53867364e+02] [-6.60850925e-01 7.50191246e-01 -2.21167281e-02 -3.75782169e+01] [-3.44011401e-02 -8.40313304e-04 9.99407752e-01 -7.33722670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530385723 meters 0.022580235706173582 Centerline is valid? [True, True] Translation: X:153.89, Y:-37.60, Z:-7.34 [[ 7.49735912e-01 6.61197250e-01 2.67256080e-02 1.53892567e+02] [-6.60817141e-01 7.50211628e-01 -2.24325352e-02 -3.75984821e+01] [-3.48821925e-02 -8.42262624e-04 9.99391076e-01 -7.34291463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.560385723 meters 0.020886905667273175 Centerline is valid? [True, True] Translation: X:153.92, Y:-37.62, Z:-7.34 [[ 7.49120302e-01 6.61899132e-01 2.66141379e-02 1.53916667e+02] [-6.61522238e-01 7.49592419e-01 -2.23502683e-02 -3.76180403e+01] [-3.47433792e-02 -8.62804311e-04 9.99395894e-01 -7.34186875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590385723 meters 0.02260419870996806 Centerline is valid? [True, True] Translation: X:153.94, Y:-37.64, Z:-7.35 [[ 7.48617386e-01 6.62460554e-01 2.67959745e-02 1.53941886e+02] [-6.62078507e-01 7.49096273e-01 -2.25127396e-02 -3.76376539e+01] [-3.49865666e-02 -8.87610525e-04 9.99387389e-01 -7.34547753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.620385723 meters 0.02134615316145882 Centerline is valid? [True, True] Translation: X:153.97, Y:-37.66, Z:-7.34 [[ 7.48232519e-01 6.62866271e-01 2.75028156e-02 1.53966076e+02] [-6.62463592e-01 7.48737244e-01 -2.31198964e-02 -3.76607704e+01] [-3.59177819e-02 -9.20555731e-04 9.99354324e-01 -7.34427468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650385723 meters 0.022084156117746133 Centerline is valid? [True, True] Translation: X:153.99, Y:-37.68, Z:-7.35 [[ 7.47724051e-01 6.63421694e-01 2.79356188e-02 1.53991106e+02] [-6.63006122e-01 7.48245114e-01 -2.34974904e-02 -3.76810037e+01] [-3.64914351e-02 -9.51847609e-04 9.99333512e-01 -7.34598048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.680385723 meters 0.02161640102554011 Centerline is valid? [True, True] Translation: X:154.02, Y:-37.70, Z:-7.35 [[ 7.47128109e-01 6.64076988e-01 2.83079949e-02 1.54015992e+02] [-6.63650269e-01 7.47663546e-01 -2.38231397e-02 -3.77029901e+01] [-3.69852547e-02 -9.87671100e-04 9.99315323e-01 -7.34619681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710385723 meters 0.02111912832871062 Centerline is valid? [True, True] Translation: X:154.04, Y:-37.72, Z:-7.35 [[ 7.45837769e-01 6.65526104e-01 2.83024141e-02 1.54041371e+02] [-6.65100087e-01 7.46373837e-01 -2.38321168e-02 -3.77220819e+01] [-3.69850773e-02 -1.04904527e-03 9.99315267e-01 -7.34664095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.740385723 meters 0.0211601829258521 Centerline is valid? [True, True] Translation: X:154.07, Y:-37.74, Z:-7.35 [[ 7.44259017e-01 6.67270379e-01 2.87881446e-02 1.54067050e+02] [-6.66830449e-01 7.44814694e-01 -2.42533498e-02 -3.77404977e+01] [-3.76253750e-02 -1.14603717e-03 9.99291258e-01 -7.34905793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770385723 meters 0.023886134432475448 Centerline is valid? [True, True] Translation: X:154.09, Y:-37.76, Z:-7.35 [[ 7.43891724e-01 6.67676524e-01 2.88645498e-02 1.54092638e+02] [-6.67234103e-01 7.44450611e-01 -2.43298022e-02 -3.77579591e+01] [-3.77326695e-02 -1.16067347e-03 9.99287195e-01 -7.35450946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.800385723 meters 0.02345679387173711 Centerline is valid? [True, True] Translation: X:154.12, Y:-37.78, Z:-7.35 [[ 7.42851334e-01 6.68821533e-01 2.91488019e-02 1.54118582e+02] [-6.68371009e-01 7.43421988e-01 -2.45752382e-02 -3.77774304e+01] [-3.81063087e-02 -1.22646569e-03 9.99272938e-01 -7.35461253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830385723 meters 0.02199783096152827 Centerline is valid? [True, True] Translation: X:154.14, Y:-37.80, Z:-7.35 [[ 7.41859143e-01 6.69894306e-01 2.97763633e-02 1.54142324e+02] [-6.69424545e-01 7.42455338e-01 -2.51167130e-02 -3.77989969e+01] [-3.89331629e-02 -1.29996524e-03 9.99240971e-01 -7.35336334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.860385723 meters 0.023243000936446483 Centerline is valid? [True, True] Translation: X:154.17, Y:-37.82, Z:-7.36 [[ 7.41629870e-01 6.70130600e-01 3.01681081e-02 1.54167290e+02] [-6.69648082e-01 7.42242034e-01 -2.54599660e-02 -3.78184673e+01] [-3.94535402e-02 -1.32014450e-03 9.99220534e-01 -7.35603878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890385723 meters 0.024197652502940096 Centerline is valid? [True, True] Translation: X:154.19, Y:-37.83, Z:-7.36 [[ 7.40536633e-01 6.71312560e-01 3.07398971e-02 1.54194096e+02] [-6.70811987e-01 7.41173051e-01 -2.59574127e-02 -3.78343014e+01] [-4.02091205e-02 -1.39827642e-03 9.99190308e-01 -7.35533091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.920385723 meters 0.02307584410032751 Centerline is valid? [True, True] Translation: X:154.22, Y:-37.86, Z:-7.36 [[ 7.40175219e-01 6.71698465e-01 3.10131593e-02 1.54219070e+02] [-6.71189062e-01 7.40823281e-01 -2.61937139e-02 -3.78562647e+01] [-4.05695478e-02 -1.42775535e-03 9.99175697e-01 -7.35678179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950385723 meters 0.02307584410032751 Centerline is valid? [True, True] Translation: X:154.24, Y:-37.88, Z:-7.36 [[ 7.39992177e-01 6.71900445e-01 3.10059733e-02 1.54243771e+02] [-6.71390862e-01 7.40640098e-01 -2.62022170e-02 -3.78772268e+01] [-4.05695484e-02 -1.42769155e-03 9.99175697e-01 -7.35823861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980385723 meters 0.025598472204623753 Centerline is valid? [True, True] Translation: X:154.27, Y:-37.89, Z:-7.36 [[ 7.39487152e-01 6.72490364e-01 3.02566208e-02 1.54271903e+02] [-6.72005061e-01 7.40104527e-01 -2.55829639e-02 -3.78919882e+01] [-3.95973587e-02 -1.41432918e-03 9.99214716e-01 -7.36196192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010385723 meters 0.02344328366855304 Centerline is valid? [True, True] Translation: X:154.29, Y:-37.92, Z:-7.37 [[ 7.39458784e-01 6.72548899e-01 2.96426143e-02 1.54294791e+02] [-6.72082702e-01 7.40051399e-01 -2.50752552e-02 -3.79159780e+01] [-3.88013935e-02 -1.38017063e-03 9.99245989e-01 -7.36563253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040385723 meters 0.025341175550360116 Centerline is valid? [True, True] Translation: X:154.32, Y:-37.93, Z:-7.37 [[ 7.39146563e-01 6.72923159e-01 2.89271524e-02 1.54322001e+02] [-6.72478959e-01 7.39711149e-01 -2.44839699e-02 -3.79323206e+01] [-3.78735675e-02 -1.35565918e-03 9.99281620e-01 -7.36758435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07038572300002 meters 0.024446796284841678 Centerline is valid? [True, True] Translation: X:154.35, Y:-37.95, Z:-7.37 [[ 7.39317962e-01 6.72761587e-01 2.82983911e-02 1.54346936e+02] [-6.72335949e-01 7.39858184e-01 -2.39632980e-02 -3.79529954e+01] [-3.70583826e-02 -1.30952903e-03 9.99312244e-01 -7.36981416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10038572300002 meters 0.023843915681753848 Centerline is valid? [True, True] Translation: X:154.37, Y:-37.97, Z:-7.37 [[ 7.40471749e-01 6.71496457e-01 2.81797299e-02 1.54371386e+02] [-6.71073244e-01 7.41006734e-01 -2.38688355e-02 -3.79718359e+01] [-3.69092080e-02 -1.23646440e-03 9.99317858e-01 -7.37133378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13038572300002 meters 0.02228794509453779 Centerline is valid? [True, True] Translation: X:154.39, Y:-37.99, Z:-7.37 [[ 7.40962549e-01 6.70961276e-01 2.80261752e-02 1.54394326e+02] [-6.70542090e-01 7.41491421e-01 -2.37440163e-02 -3.79943546e+01] [-3.67124839e-02 -1.19930326e-03 9.99325150e-01 -7.37172588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16038572300002 meters 0.021084305159699397 Centerline is valid? [True, True] Translation: X:154.42, Y:-38.02, Z:-7.37 [[ 7.42665693e-01 6.69084775e-01 2.78070381e-02 1.54417818e+02] [-6.68670394e-01 7.43185291e-01 -2.35696309e-02 -3.80160970e+01] [-3.64358629e-02 -1.08938685e-03 9.99335400e-01 -7.37193380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19038572300002 meters 0.021195256821286593 Centerline is valid? [True, True] Translation: X:154.44, Y:-38.04, Z:-7.37 [[ 7.43617973e-01 6.68023343e-01 2.78769233e-02 1.54442082e+02] [-6.67605703e-01 7.44139604e-01 -2.36405584e-02 -3.80355409e+01] [-3.65367675e-02 -1.03124883e-03 9.99331777e-01 -7.37350666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22038572300002 meters 0.020978364715405262 Centerline is valid? [True, True] Translation: X:154.47, Y:-38.06, Z:-7.38 [[ 7.44310414e-01 6.67243559e-01 2.80720521e-02 1.54466609e+02] [-6.66819109e-01 7.44838941e-01 -2.38165456e-02 -3.80559862e+01] [-3.68005942e-02 -9.92077878e-04 9.99322136e-01 -7.37509735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250385723 meters 0.020368796284641832 Centerline is valid? [True, True] Translation: X:154.49, Y:-38.08, Z:-7.38 [[ 7.46276434e-01 6.65011243e-01 2.88362698e-02 1.54489371e+02] [-6.64561229e-01 7.46832807e-01 -2.44771542e-02 -3.80771057e+01] [-3.78134551e-02 -8.96743569e-04 9.99284413e-01 -7.37732920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.280385723 meters 0.01919556523112272 Centerline is valid? [True, True] Translation: X:154.51, Y:-38.10, Z:-7.38 [[ 7.46541597e-01 6.64716312e-01 2.87726865e-02 1.54513983e+02] [-6.64267685e-01 7.47095351e-01 -2.44331596e-02 -3.80983345e+01] [-3.77370600e-02 -8.72395833e-04 9.99287323e-01 -7.37688458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310385723 meters 0.019382492018827698 Centerline is valid? [True, True] Translation: X:154.54, Y:-38.12, Z:-7.38 [[ 7.47549372e-01 6.63525133e-01 3.00721338e-02 1.54539529e+02] [-6.63033564e-01 7.48153523e-01 -2.55499538e-02 -3.81167345e+01] [-3.94516093e-02 -8.38982108e-04 9.99221130e-01 -7.37812267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.340385723 meters 0.01871949535091112 Centerline is valid? [True, True] Translation: X:154.56, Y:-38.14, Z:-7.38 [[ 7.47703087e-01 6.63309663e-01 3.09900774e-02 1.54563955e+02] [-6.62786925e-01 7.48344559e-01 -2.63422139e-02 -3.81379328e+01] [-4.06643008e-02 -8.43663488e-04 9.99172509e-01 -7.37912384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370385723 meters 0.02108371092875729 Centerline is valid? [True, True] Translation: X:154.59, Y:-38.16, Z:-7.38 [[ 7.47893131e-01 6.63078081e-01 3.13579830e-02 1.54589045e+02] [-6.62542116e-01 7.48549777e-01 -2.66679008e-02 -3.81570063e+01] [-4.11559117e-02 -8.31244534e-04 9.99152391e-01 -7.38363892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.400385723 meters 0.01928382823713036 Centerline is valid? [True, True] Translation: X:154.61, Y:-38.18, Z:-7.38 [[ 7.46987060e-01 6.64090880e-01 3.15219862e-02 1.54613955e+02] [-6.63549644e-01 7.47651339e-01 -2.68205937e-02 -3.81753791e+01] [-4.13787669e-02 -8.81766371e-04 9.99143143e-01 -7.38146688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430385723 meters 0.01960572509647559 Centerline is valid? [True, True] Translation: X:154.64, Y:-38.19, Z:-7.38 [[ 7.45131698e-01 6.66187257e-01 3.11976208e-02 1.54639473e+02] [-6.65658413e-01 7.45783871e-01 -2.65573956e-02 -3.81946848e+01] [-4.09588809e-02 -9.78201504e-04 9.99160354e-01 -7.38264524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.460385723 meters 0.02104048591911008 Centerline is valid? [True, True] Translation: X:154.67, Y:-38.21, Z:-7.39 [[ 7.43034542e-01 6.68561151e-01 3.04246114e-02 1.54666671e+02] [-6.68059654e-01 7.43656399e-01 -2.59125325e-02 -3.82101807e+01] [-3.99495695e-02 -1.07154865e-03 9.99201123e-01 -7.38569398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490385723 meters 0.021294088203604424 Centerline is valid? [True, True] Translation: X:154.69, Y:-38.23, Z:-7.39 [[ 7.42009474e-01 6.69725959e-01 2.98174522e-02 1.54691675e+02] [-6.69245141e-01 7.42607505e-01 -2.53975298e-02 -3.82305288e+01] [-3.91520488e-02 -1.10997724e-03 9.99232648e-01 -7.38880518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.520385723 meters 0.0218117436904297 Centerline is valid? [True, True] Translation: X:154.72, Y:-38.25, Z:-7.39 [[ 7.40522799e-01 6.71355428e-01 3.01309369e-02 1.54716890e+02] [-6.70865284e-01 7.41134570e-01 -2.56772264e-02 -3.82495720e+01] [-3.95696243e-02 -1.19922799e-03 9.99216096e-01 -7.39070057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550385723 meters 0.021712185864928304 Centerline is valid? [True, True] Translation: X:154.74, Y:-38.27, Z:-7.39 [[ 7.39530887e-01 6.72436500e-01 3.03845371e-02 1.54741724e+02] [-6.71938502e-01 7.40153747e-01 -2.59052283e-02 -3.82681188e+01] [-3.99088501e-02 -1.25882387e-03 9.99202532e-01 -7.38933888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.580385723 meters 0.021859426036322946 Centerline is valid? [True, True] Translation: X:154.77, Y:-38.29, Z:-7.39 [[ 7.39393714e-01 6.72588756e-01 3.03529526e-02 1.54765874e+02] [-6.72091463e-01 7.40015395e-01 -2.58897715e-02 -3.82885161e+01] [-3.98748214e-02 -1.25722599e-03 9.99203892e-01 -7.39024016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610385723 meters 0.021954917936171433 Centerline is valid? [True, True] Translation: X:154.79, Y:-38.31, Z:-7.39 [[ 7.39955179e-01 6.71977441e-01 3.02101283e-02 1.54789453e+02] [-6.71483782e-01 7.40570630e-01 -2.57812355e-02 -3.83098130e+01] [-3.96971424e-02 -1.20865244e-03 9.99211027e-01 -7.39345043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.640385723 meters 0.020371231529791 Centerline is valid? [True, True] Translation: X:154.81, Y:-38.33, Z:-7.39 [[ 7.40124250e-01 6.71779601e-01 3.04673880e-02 1.54813711e+02] [-6.71276781e-01 7.40750115e-01 -2.60144298e-02 -3.83317774e+01] [-4.00446844e-02 -1.19813978e-03 9.99197172e-01 -7.39249494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670385723 meters 0.02050065821834718 Centerline is valid? [True, True] Translation: X:154.84, Y:-38.35, Z:-7.39 [[ 7.41594123e-01 6.70060383e-01 3.25152176e-02 1.54838498e+02] [-6.69485807e-01 7.42305665e-01 -2.77678537e-02 -3.83510652e+01] [-4.27423689e-02 -1.17599961e-03 9.99085435e-01 -7.39244045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.700385723 meters 0.019974534800447013 Centerline is valid? [True, True] Translation: X:154.86, Y:-38.37, Z:-7.39 [[ 7.42535261e-01 6.68964533e-01 3.35833336e-02 1.54862510e+02] [-6.68349850e-01 7.43293452e-01 -2.86935963e-02 -3.83725595e+01] [-4.41572702e-02 -1.13940897e-03 9.99023942e-01 -7.39290947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730385723 meters 0.021809090747918147 Centerline is valid? [True, True] Translation: X:154.89, Y:-38.39, Z:-7.40 [[ 7.45662159e-01 6.65462020e-01 3.38857475e-02 1.54885508e+02] [-6.64831957e-01 7.46431132e-01 -2.89660733e-02 -3.83918723e+01] [-4.45691986e-02 -9.29423078e-04 9.99005867e-01 -7.39754815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760385723 meters 0.01848545691706365 Centerline is valid? [True, True] Translation: X:154.91, Y:-38.42, Z:-7.39 [[ 7.46235198e-01 6.64799546e-01 3.42723393e-02 1.54908031e+02] [-6.64154219e-01 7.47021256e-01 -2.92987559e-02 -3.84151971e+01] [-4.50799656e-02 -8.98355875e-04 9.98982978e-01 -7.39462155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790385723 meters 0.019904408003835285 Centerline is valid? [True, True] Translation: X:154.93, Y:-38.43, Z:-7.40 [[ 7.48961055e-01 6.61785634e-01 3.31227068e-02 1.54931681e+02] [-6.61179361e-01 7.49692810e-01 -2.83291998e-02 -3.84347634e+01] [-4.35797126e-02 -6.82582732e-04 9.99049720e-01 -7.40092195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82038572300002 meters 0.017458324024474087 Centerline is valid? [True, True] Translation: X:154.96, Y:-38.46, Z:-7.40 [[ 7.49145829e-01 6.61598077e-01 3.26880876e-02 1.54955715e+02] [-6.61006917e-01 7.49858358e-01 -2.79696126e-02 -3.84575313e+01] [-4.30160776e-02 -6.53733427e-04 9.99074166e-01 -7.39991831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85038572300002 meters 0.017475700474040574 Centerline is valid? [True, True] Translation: X:154.98, Y:-38.48, Z:-7.40 [[ 7.50620217e-01 6.60011160e-01 3.08959364e-02 1.54979724e+02] [-6.59481143e-01 7.51255614e-01 -2.64504225e-02 -3.84766562e+01] [-4.06683197e-02 -5.21065507e-04 9.99172566e-01 -7.40378035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88038572300002 meters 0.016986045507114522 Centerline is valid? [True, True] Translation: X:155.00, Y:-38.50, Z:-7.41 [[ 7.50963868e-01 6.59661176e-01 3.00066965e-02 1.55003315e+02] [-6.59160531e-01 7.51562974e-01 -2.57000201e-02 -3.84994939e+01] [-3.95052275e-02 -4.79443431e-04 9.99219249e-01 -7.40558288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91038572300002 meters 0.016965709677427186 Centerline is valid? [True, True] Translation: X:155.03, Y:-38.52, Z:-7.41 [[ 7.51732596e-01 6.58822278e-01 2.91772112e-02 1.55027092e+02] [-6.58347737e-01 7.52298502e-01 -2.50044288e-02 -3.85196482e+01] [-3.84234471e-02 -4.12106758e-04 9.99261462e-01 -7.40775151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94038572300002 meters 0.016822788100083506 Centerline is valid? [True, True] Translation: X:155.05, Y:-38.54, Z:-7.41 [[ 7.51844643e-01 6.58713218e-01 2.87494209e-02 1.55050914e+02] [-6.58252211e-01 7.52394005e-01 -2.46432098e-02 -3.85417753e+01] [-3.78636999e-02 -3.96504570e-04 9.99282834e-01 -7.40885274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97038572300002 meters 0.01709497435125845 Centerline is valid? [True, True] Translation: X:155.08, Y:-38.56, Z:-7.41 [[ 7.51750564e-01 6.58834412e-01 2.84307405e-02 1.55075894e+02] [-6.58383143e-01 7.52287889e-01 -2.43838017e-02 -3.85618019e+01] [-3.74529894e-02 -3.87783578e-04 9.99298315e-01 -7.41139869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.000385723 meters 0.01691195138527403 Centerline is valid? [True, True] Translation: X:155.10, Y:-38.58, Z:-7.41 [[ 7.51902676e-01 6.58661447e-01 2.84159144e-02 1.55099573e+02] [-6.58210050e-01 7.52439341e-01 -2.43837582e-02 -3.85841606e+01] [-3.74418934e-02 -3.69427398e-04 9.99298738e-01 -7.41279620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030385723 meters 0.01701726799960348 Centerline is valid? [True, True] Translation: X:155.12, Y:-38.61, Z:-7.41 [[ 7.51218777e-01 6.59442242e-01 2.83950381e-02 1.55124881e+02] [-6.58991565e-01 7.51755127e-01 -2.43792172e-02 -3.86056884e+01] [-3.74228011e-02 -3.97964887e-04 9.99299442e-01 -7.41451891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.060385723 meters 0.016961925167604607 Centerline is valid? [True, True] Translation: X:155.15, Y:-38.63, Z:-7.42 [[ 7.50448032e-01 6.60309074e-01 2.86300209e-02 1.55149914e+02] [-6.59851024e-01 7.50993833e-01 -2.45944845e-02 -3.86272276e+01] [-3.77409304e-02 -4.34666093e-04 9.99287463e-01 -7.41575307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090385723 meters 0.017084733632477794 Centerline is valid? [True, True] Translation: X:155.17, Y:-38.65, Z:-7.42 [[ 7.49472909e-01 6.61408494e-01 2.87951829e-02 1.55174199e+02] [-6.60945419e-01 7.50025714e-01 -2.47503921e-02 -3.86475007e+01] [-3.79672472e-02 -4.82295842e-04 9.99278868e-01 -7.41687054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.120385723 meters 0.017579781312706513 Centerline is valid? [True, True] Translation: X:155.20, Y:-38.67, Z:-7.42 [[ 7.47539939e-01 6.63592028e-01 2.88038330e-02 1.55198605e+02] [-6.63129829e-01 7.48094432e-01 -2.47699563e-02 -3.86674043e+01] [-3.79851326e-02 -5.84149229e-04 9.99278134e-01 -7.41781053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150385723 meters 0.0179221354737597 Centerline is valid? [True, True] Translation: X:155.22, Y:-38.69, Z:-7.42 [[ 7.45592378e-01 6.65785252e-01 2.86706078e-02 1.55222360e+02] [-6.65328529e-01 7.46143103e-01 -2.46661392e-02 -3.86891755e+01] [-3.78147279e-02 -6.84487931e-04 9.99284533e-01 -7.41842118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.180385723 meters 0.0184006530731366 Centerline is valid? [True, True] Translation: X:155.25, Y:-38.71, Z:-7.42 [[ 7.44531675e-01 6.66985849e-01 2.83277526e-02 1.55246600e+02] [-6.66540416e-01 7.45070028e-01 -2.43829247e-02 -3.87092695e+01] [-3.73692252e-02 -7.27732214e-04 9.99301262e-01 -7.42019997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210385723 meters 0.018261227830660923 Centerline is valid? [True, True] Translation: X:155.27, Y:-38.73, Z:-7.42 [[ 7.43515938e-01 6.68127374e-01 2.81044844e-02 1.55270156e+02] [-6.67689363e-01 7.44046516e-01 -2.42011713e-02 -3.87312833e+01] [-3.70805087e-02 -7.71108647e-04 9.99311984e-01 -7.42157594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.240385723 meters 0.019954715727243378 Centerline is valid? [True, True] Translation: X:155.29, Y:-38.75, Z:-7.43 [[ 7.41747005e-01 6.70118289e-01 2.74382979e-02 1.55294005e+02] [-6.69701747e-01 7.42253846e-01 -2.36389401e-02 -3.87507690e+01] [-3.62070682e-02 -8.41362969e-04 9.99343955e-01 -7.42523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270385723 meters 0.020237727407168053 Centerline is valid? [True, True] Translation: X:155.32, Y:-38.77, Z:-7.43 [[ 7.40580499e-01 6.71392315e-01 2.78007985e-02 1.55317913e+02] [-6.70965167e-01 7.41101570e-01 -2.39626323e-02 -3.87700277e+01] [-3.66915426e-02 -9.07109219e-04 9.99326227e-01 -7.42573098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.300385723 meters 0.020568880992942316 Centerline is valid? [True, True] Translation: X:155.34, Y:-38.79, Z:-7.43 [[ 7.39284684e-01 6.72845687e-01 2.71447495e-02 1.55340466e+02] [-6.72439163e-01 7.39782251e-01 -2.34049827e-02 -3.87935207e+01] [-3.58291456e-02 -9.50247417e-04 9.99357478e-01 -7.42816762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330385723 meters 0.020330931365982723 Centerline is valid? [True, True] Translation: X:155.36, Y:-38.81, Z:-7.43 [[ 7.38543383e-01 6.73638528e-01 2.76551198e-02 1.55363246e+02] [-6.73216687e-01 7.39060307e-01 -2.38569646e-02 -3.88147675e+01] [-3.65097718e-02 -9.98484748e-04 9.99332797e-01 -7.42762240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.360385723 meters 0.022098843327052343 Centerline is valid? [True, True] Translation: X:155.39, Y:-38.84, Z:-7.43 [[ 7.37851105e-01 6.74370947e-01 2.82767217e-02 1.55386983e+02] [-6.73930045e-01 7.38391985e-01 -2.44043123e-02 -3.88351725e+01] [-3.73368639e-02 -1.04978358e-03 9.99302185e-01 -7.42868451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390385723 meters 0.0239786857518086 Centerline is valid? [True, True] Translation: X:155.41, Y:-38.86, Z:-7.43 [[ 7.38231947e-01 6.73967215e-01 2.79604327e-02 1.55409757e+02] [-6.73535452e-01 7.38760565e-01 -2.41417112e-02 -3.88573212e+01] [-3.69267869e-02 -1.01016018e-03 9.99317463e-01 -7.43443919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.420385723 meters 0.021016815977728004 Centerline is valid? [True, True] Translation: X:155.43, Y:-38.88, Z:-7.43 [[ 7.37485847e-01 6.74755362e-01 2.86326137e-02 1.55430563e+02] [-6.74302740e-01 7.38040693e-01 -2.47335753e-02 -3.88820991e+01] [-3.78211466e-02 -1.06638814e-03 9.99283955e-01 -7.43166989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450385723 meters 0.02244198666014684 Centerline is valid? [True, True] Translation: X:155.45, Y:-38.90, Z:-7.43 [[ 7.37169438e-01 6.75111466e-01 2.83853699e-02 1.55454788e+02] [-6.74666473e-01 7.37714966e-01 -2.45311930e-02 -3.89022564e+01] [-3.75016019e-02 -1.06701169e-03 9.99295998e-01 -7.43392236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480385723 meters 0.021494248893219787 Centerline is valid? [True, True] Translation: X:155.48, Y:-38.93, Z:-7.44 [[ 7.36753167e-01 6.75563860e-01 2.84295999e-02 1.55477192e+02] [-6.75117361e-01 7.37300684e-01 -2.45815074e-02 -3.89262347e+01] [-3.75675415e-02 -1.08281303e-03 9.99293504e-01 -7.43508508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510385723 meters 0.02204198679269013 Centerline is valid? [True, True] Translation: X:155.50, Y:-38.95, Z:-7.44 [[ 7.36410938e-01 6.75947640e-01 2.81730101e-02 1.55500001e+02] [-6.75508964e-01 7.36948856e-01 -2.43725876e-02 -3.89491869e+01] [-3.72366607e-02 -1.08288079e-03 9.99305888e-01 -7.43682985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540385723 meters 0.021327471699039934 Centerline is valid? [True, True] Translation: X:155.52, Y:-38.97, Z:-7.44 [[ 7.36337834e-01 6.76039948e-01 2.78672361e-02 1.55522268e+02] [-6.75610388e-01 7.36864200e-01 -2.41195828e-02 -3.89743866e+01] [-3.68401702e-02 -1.06723282e-03 9.99320601e-01 -7.43803162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57038572300002 meters 0.021732520979166798 Centerline is valid? [True, True] Translation: X:155.55, Y:-39.00, Z:-7.44 [[ 7.36180801e-01 6.76217208e-01 2.77149019e-02 1.55545544e+02] [-6.75791919e-01 7.36701544e-01 -2.40024308e-02 -3.89959404e+01] [-3.66484678e-02 -1.05937800e-03 9.99327658e-01 -7.43975382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60038572300002 meters 0.022149054703933618 Centerline is valid? [True, True] Translation: X:155.57, Y:-39.02, Z:-7.44 [[ 7.35991052e-01 6.76406316e-01 2.81365903e-02 1.55569189e+02] [-6.75968028e-01 7.36527883e-01 -2.43701159e-02 -3.90176390e+01] [-3.72074836e-02 -1.08324824e-03 9.99306975e-01 -7.44113923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63038572300002 meters 0.022380790639285636 Centerline is valid? [True, True] Translation: X:155.59, Y:-39.04, Z:-7.44 [[ 7.35278231e-01 6.77161388e-01 2.86072919e-02 1.55591842e+02] [-6.76708393e-01 7.35833661e-01 -2.47906204e-02 -3.90401745e+01] [-3.78374592e-02 -1.13079097e-03 9.99283267e-01 -7.44192700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66038572300002 meters 0.022821722447326866 Centerline is valid? [True, True] Translation: X:155.62, Y:-39.06, Z:-7.44 [[ 7.34783521e-01 6.77691520e-01 2.87642166e-02 1.55615481e+02] [-6.77233509e-01 7.35345407e-01 -2.49380734e-02 -3.90613232e+01] [-3.80519554e-02 -1.15600590e-03 9.99275093e-01 -7.44336428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69038572300002 meters 0.023982263331055357 Centerline is valid? [True, True] Translation: X:155.64, Y:-39.08, Z:-7.45 [[ 7.34426470e-01 6.78104826e-01 2.81354625e-02 1.55638719e+02] [-6.77666518e-01 7.34964310e-01 -2.44039513e-02 -3.90814773e+01] [-3.72269980e-02 -1.14355309e-03 9.99306181e-01 -7.44618051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72038572300002 meters 0.02156814140747297 Centerline is valid? [True, True] Translation: X:155.66, Y:-39.11, Z:-7.45 [[ 7.34193036e-01 6.78406624e-01 2.69265356e-02 1.55659423e+02] [-6.78005066e-01 7.34685808e-01 -2.33643696e-02 -3.91071648e+01] [-3.56330867e-02 -1.10237013e-03 9.99364332e-01 -7.44773029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750385723 meters 0.02289109926449663 Centerline is valid? [True, True] Translation: X:155.68, Y:-39.13, Z:-7.45 [[ 7.34519619e-01 6.78079461e-01 2.62521098e-02 1.55682490e+02] [-6.77697189e-01 7.34987850e-01 -2.27899406e-02 -3.91273449e+01] [-3.47483724e-02 -1.05132254e-03 9.99395540e-01 -7.45293113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.780385723 meters 0.021440336410079187 Centerline is valid? [True, True] Translation: X:155.71, Y:-39.15, Z:-7.45 [[ 7.33997790e-01 6.78663928e-01 2.57394052e-02 1.55705411e+02] [-6.78296483e-01 7.34448207e-01 -2.23542643e-02 -3.91498874e+01] [-3.40752928e-02 -1.05096745e-03 9.99418716e-01 -7.45159726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810385723 meters 0.021440336410079187 Centerline is valid? [True, True] Translation: X:155.73, Y:-39.17, Z:-7.45 [[ 7.33814963e-01 6.78861800e-01 2.57343510e-02 1.55729814e+02] [-6.78494273e-01 7.34265312e-01 -2.23600807e-02 -3.91711874e+01] [-3.40752459e-02 -1.05244802e-03 9.99418716e-01 -7.45305330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.840385723 meters 0.02096615767141949 Centerline is valid? [True, True] Translation: X:155.75, Y:-39.19, Z:-7.46 [[ 7.34049846e-01 6.78612692e-01 2.56054380e-02 1.55752490e+02] [-6.78248263e-01 7.34495583e-01 -2.22605517e-02 -3.91940123e+01] [-3.39133740e-02 -1.02648931e-03 9.99424249e-01 -7.45551413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870385723 meters 0.021952945237123968 Centerline is valid? [True, True] Translation: X:155.78, Y:-39.21, Z:-7.46 [[ 7.34457402e-01 6.78161258e-01 2.58772438e-02 1.55777229e+02] [-6.77788384e-01 7.34912438e-01 -2.25080988e-02 -3.92125554e+01] [-3.42816290e-02 -1.00805550e-03 9.99411704e-01 -7.45869426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.900385723 meters 0.022000495129035975 Centerline is valid? [True, True] Translation: X:155.80, Y:-39.23, Z:-7.46 [[ 7.34416979e-01 6.78189047e-01 2.62929202e-02 1.55801689e+02] [-6.77803754e-01 7.34886780e-01 -2.28799200e-02 -3.92339049e+01] [-3.48392307e-02 -1.01803830e-03 9.99392411e-01 -7.46026987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930385723 meters 0.02129305213424045 Centerline is valid? [True, True] Translation: X:155.82, Y:-39.26, Z:-7.46 [[ 7.34821967e-01 6.77730290e-01 2.68016953e-02 1.55824121e+02] [-6.77329236e-01 7.35309894e-01 -2.33337911e-02 -3.92576776e+01] [-3.55215687e-02 -1.00738957e-03 9.99368402e-01 -7.45978190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.960385723 meters 0.021226629311941046 Centerline is valid? [True, True] Translation: X:155.85, Y:-39.28, Z:-7.46 [[ 7.34946342e-01 6.77603923e-01 2.65856706e-02 1.55847081e+02] [-6.77208844e-01 7.35426375e-01 -2.31566123e-02 -3.92795087e+01] [-3.52428147e-02 -9.85183786e-04 9.99378293e-01 -7.46016645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990385723 meters 0.02130001029521542 Centerline is valid? [True, True] Translation: X:155.87, Y:-39.30, Z:-7.46 [[ 7.35162080e-01 6.77350436e-01 2.70758799e-02 1.55870501e+02] [-6.76940066e-01 7.35659854e-01 -2.35950384e-02 -3.93007210e+01] [-3.59007474e-02 -9.82570424e-04 9.99354877e-01 -7.46134461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.020385723 meters 0.02097330182441836 Centerline is valid? [True, True] Translation: X:155.89, Y:-39.32, Z:-7.46 [[ 7.35702491e-01 6.76767420e-01 2.69760052e-02 1.55894792e+02] [-6.76359284e-01 7.36196286e-01 -2.35190878e-02 -3.93220492e+01] [-3.57765872e-02 -9.42420129e-04 9.99359369e-01 -7.46360512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050385723 meters 0.020299083344797703 Centerline is valid? [True, True] Translation: X:155.92, Y:-39.34, Z:-7.47 [[ 7.35651068e-01 6.76813315e-01 2.72257752e-02 1.55918500e+02] [-6.76397227e-01 7.36154089e-01 -2.37475965e-02 -3.93441647e+01] [-3.61150552e-02 -9.45494116e-04 9.99347191e-01 -7.46529071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.080385723 meters 0.021291634587943635 Centerline is valid? [True, True] Translation: X:155.94, Y:-39.36, Z:-7.47 [[ 7.36093655e-01 6.76316880e-01 2.75972812e-02 1.55943125e+02] [-6.75888497e-01 7.36610226e-01 -2.40855562e-02 -3.93637308e+01] [-3.66179078e-02 -9.23459844e-04 9.99328913e-01 -7.46813733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110385723 meters 0.019830090943608696 Centerline is valid? [True, True] Translation: X:155.96, Y:-39.39, Z:-7.47 [[ 7.36747739e-01 6.75607827e-01 2.75106065e-02 1.55964456e+02] [-6.75181260e-01 7.37260668e-01 -2.40202485e-02 -3.93875233e+01] [-3.65107560e-02 -8.77782239e-04 9.99332875e-01 -7.46892258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.140385723 meters 0.020690721434733085 Centerline is valid? [True, True] Translation: X:155.99, Y:-39.41, Z:-7.47 [[ 7.37727611e-01 6.74516336e-01 2.80300764e-02 1.55988036e+02] [-6.74072268e-01 7.38259455e-01 -2.44858011e-02 -3.94084730e+01] [-3.72095418e-02 -8.30445563e-04 9.99307140e-01 -7.47021515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170385723 meters 0.02086624580996096 Centerline is valid? [True, True] Translation: X:156.01, Y:-39.43, Z:-7.47 [[ 7.37875416e-01 6.74350356e-01 2.81330180e-02 1.56011557e+02] [-6.73902459e-01 7.38411085e-01 -2.45874967e-02 -3.94291150e+01] [-3.73543195e-02 -8.16400657e-04 9.99301750e-01 -7.47109551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.200385723 meters 0.019353758848843588 Centerline is valid? [True, True] Translation: X:156.03, Y:-39.45, Z:-7.47 [[ 7.37940635e-01 6.74263049e-01 2.85124401e-02 1.56033110e+02] [-6.73802443e-01 7.38490811e-01 -2.49316843e-02 -3.94530469e+01] [-3.78666885e-02 -8.13648859e-04 9.99282469e-01 -7.47125933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230385723 meters 0.021057283203580864 Centerline is valid? [True, True] Translation: X:156.06, Y:-39.47, Z:-7.47 [[ 7.37719658e-01 6.74498546e-01 2.86603756e-02 1.56059668e+02] [-6.74033213e-01 7.38275712e-01 -2.50639439e-02 -3.94703688e+01] [-3.80648529e-02 -8.27880952e-04 9.99274928e-01 -7.47454317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260385723 meters 0.02121964918549681 Centerline is valid? [True, True] Translation: X:156.08, Y:-39.49, Z:-7.48 [[ 7.37440497e-01 6.74778955e-01 2.92382576e-02 1.56084179e+02] [-6.74294332e-01 7.38019404e-01 -2.55834363e-02 -3.94906289e+01] [-3.88415659e-02 -8.48929417e-04 9.99245021e-01 -7.47651025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290385723 meters 0.02143778136646295 Centerline is valid? [True, True] Translation: X:156.11, Y:-39.51, Z:-7.48 [[ 7.37130702e-01 6.75107853e-01 2.94570011e-02 1.56108498e+02] [-6.74615729e-01 7.37718538e-01 -2.57871586e-02 -3.95116354e+01] [-3.91400890e-02 -8.63649973e-04 9.99233360e-01 -7.47794109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32038572300002 meters 0.021635001697999607 Centerline is valid? [True, True] Translation: X:156.13, Y:-39.53, Z:-7.48 [[ 7.37308468e-01 6.74913688e-01 2.94573781e-02 1.56132159e+02] [-6.74420918e-01 7.37896199e-01 -2.57997076e-02 -3.95324559e+01] [-3.91490631e-02 -8.44329126e-04 9.99233025e-01 -7.47866000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35038572300002 meters 0.0218401201056266 Centerline is valid? [True, True] Translation: X:156.16, Y:-39.55, Z:-7.48 [[ 7.36893286e-01 6.75365333e-01 2.94949634e-02 1.56157288e+02] [-6.74871274e-01 7.37482830e-01 -2.58425835e-02 -3.95541355e+01] [-3.92052141e-02 -8.62077264e-04 9.99230808e-01 -7.48000134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38038572300002 meters 0.018891437746237676 Centerline is valid? [True, True] Translation: X:156.18, Y:-39.58, Z:-7.48 [[ 7.36757430e-01 6.75558195e-01 2.84537307e-02 1.56178228e+02] [-6.75098132e-01 7.37306199e-01 -2.49415542e-02 -3.95805964e+01] [-3.78285834e-02 -8.33185067e-04 9.99283896e-01 -7.48102810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41038572300002 meters 0.021958115369027822 Centerline is valid? [True, True] Translation: X:156.21, Y:-39.60, Z:-7.49 [[ 7.36707867e-01 6.75633514e-01 2.79441218e-02 1.56207043e+02] [-6.75189329e-01 7.37237204e-01 -2.45086731e-02 -3.95957620e+01] [-3.71603271e-02 -8.11840558e-04 9.99308987e-01 -7.48607645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44038572300002 meters 0.018902527728090413 Centerline is valid? [True, True] Translation: X:156.23, Y:-39.62, Z:-7.49 [[ 7.37389123e-01 6.74920891e-01 2.71858890e-02 1.56226272e+02] [-6.74499560e-01 7.37889717e-01 -2.38560088e-02 -3.96228163e+01] [-3.61611066e-02 -7.45708735e-04 9.99345695e-01 -7.48589212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47038572300002 meters 0.018739948043557227 Centerline is valid? [True, True] Translation: X:156.25, Y:-39.64, Z:-7.49 [[ 7.37658551e-01 6.74608917e-01 2.76165054e-02 1.56248963e+02] [-6.74173468e-01 7.38174960e-01 -2.42459065e-02 -3.96448895e+01] [-3.67423175e-02 -7.33114950e-04 9.99324504e-01 -7.48663808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.500385723 meters 0.0182773571432979 Centerline is valid? [True, True] Translation: X:156.27, Y:-39.67, Z:-7.49 [[ 7.39504052e-01 6.72534339e-01 2.88326152e-02 1.56270373e+02] [-6.72057602e-01 7.40065634e-01 -2.53265956e-02 -3.96687951e+01] [-3.83710329e-02 -6.48058101e-04 9.99263351e-01 -7.48540368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530385723 meters 0.018085510997559454 Centerline is valid? [True, True] Translation: X:156.29, Y:-39.69, Z:-7.49 [[ 7.41071355e-01 6.70755979e-01 2.99943812e-02 1.56292930e+02] [-6.70238031e-01 7.41677891e-01 -2.63607280e-02 -3.96909441e+01] [-3.99277853e-02 -5.68194591e-04 9.99202406e-01 -7.48534563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.560385723 meters 0.017733234348506637 Centerline is valid? [True, True] Translation: X:156.32, Y:-39.71, Z:-7.49 [[ 7.42877281e-01 6.68719235e-01 3.07884650e-02 1.56315209e+02] [-6.68171173e-01 7.43514877e-01 -2.70723474e-02 -3.97146666e+01] [-4.09954812e-02 -4.60532928e-04 9.99159226e-01 -7.48517569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590385723 meters 0.017362609301310703 Centerline is valid? [True, True] Translation: X:156.34, Y:-39.74, Z:-7.48 [[ 7.46804813e-01 6.64267617e-01 3.21107940e-02 1.56335155e+02] [-6.63666691e-01 7.47494807e-01 -2.82495364e-02 -3.97388331e+01] [-4.27679040e-02 -2.13974681e-04 9.99085012e-01 -7.48454497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.620385723 meters 0.017387175982768663 Centerline is valid? [True, True] Translation: X:156.36, Y:-39.76, Z:-7.49 [[ 7.48670618e-01 6.62158229e-01 3.22301795e-02 1.56357219e+02] [-6.61550267e-01 7.49364045e-01 -2.83684933e-02 -3.97613813e+01] [-4.29365690e-02 -8.32264812e-05 9.99077797e-01 -7.48523715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650385723 meters 0.01759753808074758 Centerline is valid? [True, True] Translation: X:156.38, Y:-39.79, Z:-7.49 [[ 7.52395168e-01 6.57935402e-01 3.19768284e-02 1.56379110e+02] [-6.57332604e-01 7.53074351e-01 -2.81579244e-02 -3.97866419e+01] [-4.26070246e-02 1.66474359e-04 9.99091895e-01 -7.48733386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.680385723 meters 0.017905295385414473 Centerline is valid? [True, True] Translation: X:156.40, Y:-39.81, Z:-7.49 [[ 7.54242245e-01 6.55823971e-01 3.18363585e-02 1.56401008e+02] [-6.55223927e-01 7.54913790e-01 -2.80494998e-02 -3.98091976e+01] [-4.24292404e-02 2.96173866e-04 9.99099430e-01 -7.48932809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710385723 meters 0.01900818789652494 Centerline is valid? [True, True] Translation: X:156.42, Y:-39.83, Z:-7.49 [[ 7.58356586e-01 6.51059858e-01 3.18802444e-02 1.56420886e+02] [-6.50453396e-01 7.59026173e-01 -2.81006790e-02 -3.98329090e+01] [-4.24931640e-02 5.73721764e-04 9.99096593e-01 -7.49027930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.740385723 meters 0.01970208753781307 Centerline is valid? [True, True] Translation: X:156.44, Y:-39.86, Z:-7.49 [[ 7.60272297e-01 6.48799744e-01 3.23253297e-02 1.56443921e+02] [-6.48173899e-01 7.60958856e-01 -2.84994104e-02 -3.98550325e+01] [-4.30886561e-02 7.14877228e-04 9.99070997e-01 -7.49158864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770385723 meters 0.0212423177801479 Centerline is valid? [True, True] Translation: X:156.47, Y:-39.88, Z:-7.49 [[ 7.63917220e-01 6.44467878e-01 3.30399001e-02 1.56466313e+02] [-6.43809371e-01 7.64630741e-01 -2.91431564e-02 -3.98759457e+01] [-4.40451515e-02 9.91561678e-04 9.99029049e-01 -7.49295168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.800385723 meters 0.02209505407555238 Centerline is valid? [True, True] Translation: X:156.49, Y:-39.90, Z:-7.49 [[ 7.65369203e-01 6.42749215e-01 3.29154877e-02 1.56488895e+02] [-6.42093791e-01 7.66075881e-01 -2.90397575e-02 -3.98964461e+01] [-4.38810426e-02 1.09130570e-03 9.99036167e-01 -7.49471158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830385723 meters 0.021416795375238502 Centerline is valid? [True, True] Translation: X:156.52, Y:-39.91, Z:-7.50 [[ 7.67261207e-01 6.40515704e-01 3.24017423e-02 1.56515161e+02] [-6.39878334e-01 7.67944127e-01 -2.85925932e-02 -3.99148001e+01] [-4.31967327e-02 1.20481473e-03 9.99065859e-01 -7.49621747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.860385723 meters 0.021345128886640384 Centerline is valid? [True, True] Translation: X:156.54, Y:-39.94, Z:-7.50 [[ 7.67320313e-01 6.40469987e-01 3.19019243e-02 1.56540459e+02] [-6.39851615e-01 7.67982266e-01 -2.81628946e-02 -3.99360031e+01] [-4.25376009e-02 1.19746333e-03 9.99094149e-01 -7.49730755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890385723 meters 0.02153274233844721 Centerline is valid? [True, True] Translation: X:156.57, Y:-39.96, Z:-7.50 [[ 7.67249379e-01 6.40557972e-01 3.18414094e-02 1.56565637e+02] [-6.39941371e-01 7.67908874e-01 -2.81247619e-02 -3.99565153e+01] [-4.24668413e-02 1.20207086e-03 9.99097154e-01 -7.49916169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.920385723 meters 0.021248890394628562 Centerline is valid? [True, True] Translation: X:156.59, Y:-39.97, Z:-7.50 [[ 7.66298146e-01 6.41724874e-01 3.12464117e-02 1.56593405e+02] [-6.41131458e-01 7.66934101e-01 -2.76140997e-02 -3.99739096e+01] [-4.16845933e-02 1.12757588e-03 9.99130183e-01 -7.50128006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950385723 meters 0.020735838476295846 Centerline is valid? [True, True] Translation: X:156.62, Y:-39.99, Z:-7.50 [[ 7.63867397e-01 6.44623735e-01 3.10940716e-02 1.56620328e+02] [-6.44037921e-01 7.64499372e-01 -2.74930260e-02 -3.99888190e+01] [-4.14940553e-02 9.75264926e-04 9.99138275e-01 -7.50426265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980385723 meters 0.019544352740907652 Centerline is valid? [True, True] Translation: X:156.65, Y:-40.01, Z:-7.51 [[ 7.61939233e-01 6.46914966e-01 3.08160932e-02 1.56647722e+02] [-6.46341245e-01 7.62561676e-01 -2.72522686e-02 -4.00061281e+01] [-4.11290720e-02 8.46860620e-04 9.99153483e-01 -7.50572831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010385723 meters 0.019202458778678082 Centerline is valid? [True, True] Translation: X:156.67, Y:-40.02, Z:-7.51 [[ 7.57418257e-01 6.52206320e-01 3.07327174e-02 1.56673626e+02] [-6.51639475e-01 7.58041287e-01 -2.71919377e-02 -4.00232248e+01] [-4.10314222e-02 5.69018244e-04 9.99157695e-01 -7.50611657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040385723 meters 0.018630046013217105 Centerline is valid? [True, True] Translation: X:156.70, Y:-40.04, Z:-7.51 [[ 7.55022971e-01 6.54976293e-01 3.07631160e-02 1.56700017e+02] [-6.54410157e-01 7.55649305e-01 -2.72300207e-02 -4.00415856e+01] [-4.10811453e-02 4.27595568e-04 9.99155722e-01 -7.50722835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07038572300002 meters 0.01810512690537942 Centerline is valid? [True, True] Translation: X:156.73, Y:-40.06, Z:-7.51 [[ 7.50239174e-01 6.60502024e-01 2.96354160e-02 1.56728205e+02] [-6.59980469e-01 7.50824253e-01 -2.62435094e-02 -4.00564838e+01] [-3.95848802e-02 1.30113089e-04 9.99216203e-01 -7.51097705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10038572300002 meters 0.017928639190142565 Centerline is valid? [True, True] Translation: X:156.76, Y:-40.08, Z:-7.51 [[ 7.48001128e-01 6.63053662e-01 2.92259143e-02 1.56755968e+02] [-6.62547963e-01 7.48571868e-01 -2.58912324e-02 -4.00752266e+01] [-3.90449738e-02 3.10106689e-06 9.99237454e-01 -7.51188420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13038572300002 meters 0.01788855147047037 Centerline is valid? [True, True] Translation: X:156.78, Y:-40.10, Z:-7.51 [[ 7.45878755e-01 6.65440878e-01 2.92116457e-02 1.56782538e+02] [-6.64936952e-01 7.46450551e-01 -2.58925626e-02 -4.00952414e+01] [-3.90350186e-02 -1.11190300e-04 9.99237837e-01 -7.51336563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16038572300002 meters 0.01798234954966564 Centerline is valid? [True, True] Translation: X:156.81, Y:-40.11, Z:-7.51 [[ 7.43233029e-01 6.68392477e-01 2.92602353e-02 1.56808563e+02] [-6.67888578e-01 7.43808733e-01 -2.59502472e-02 -4.01134886e+01] [-3.91089685e-02 -2.55496076e-04 9.99234919e-01 -7.51434799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19038572300002 meters 0.0181666898609096 Centerline is valid? [True, True] Translation: X:156.83, Y:-40.13, Z:-7.51 [[ 7.41374376e-01 6.70420563e-01 3.00050603e-02 1.56834036e+02] [-6.69891851e-01 7.41981224e-01 -2.66227589e-02 -4.01330658e+01] [-4.01116364e-02 -3.62714045e-04 9.99195139e-01 -7.51415350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22038572300002 meters 0.018165186026387017 Centerline is valid? [True, True] Translation: X:156.86, Y:-40.15, Z:-7.51 [[ 7.40575369e-01 6.71282782e-01 3.04556970e-02 1.56859206e+02] [-6.70738259e-01 7.41201229e-01 -2.70356413e-02 -4.01542326e+01] [-4.07223606e-02 -4.05871178e-04 9.99170418e-01 -7.51496259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250385723 meters 0.018177186445810564 Centerline is valid? [True, True] Translation: X:156.88, Y:-40.18, Z:-7.52 [[ 7.40157287e-01 6.71741261e-01 3.05101375e-02 1.56884365e+02] [-6.71194569e-01 7.40785732e-01 -2.70988770e-02 -4.01757158e+01] [-4.08049084e-02 -4.20807323e-04 9.99167044e-01 -7.51588652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.280385723 meters 0.01830026835105278 Centerline is valid? [True, True] Translation: X:156.91, Y:-40.20, Z:-7.52 [[ 7.39599917e-01 6.72397151e-01 2.95640527e-02 1.56908669e+02] [-6.71883816e-01 7.40190438e-01 -2.62726793e-02 -4.01963932e+01] [-3.95487038e-02 -4.32337121e-04 9.99217550e-01 -7.51823010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310385723 meters 0.018276400967098955 Centerline is valid? [True, True] Translation: X:156.93, Y:-40.22, Z:-7.52 [[ 7.39276420e-01 6.72782648e-01 2.88770278e-02 1.56932881e+02] [-6.72292749e-01 7.39840064e-01 -2.56737262e-02 -4.02183349e+01] [-3.86372196e-02 -4.33835956e-04 9.99253210e-01 -7.51980662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.340385723 meters 0.01826386747963179 Centerline is valid? [True, True] Translation: X:156.96, Y:-40.24, Z:-7.52 [[ 7.39192462e-01 6.72889640e-01 2.85313248e-02 1.56956923e+02] [-6.72410957e-01 7.39742761e-01 -2.53801526e-02 -4.02397666e+01] [-3.81838827e-02 -4.23957919e-04 9.99270640e-01 -7.52155871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370385723 meters 0.018059022200253495 Centerline is valid? [True, True] Translation: X:156.98, Y:-40.26, Z:-7.52 [[ 7.39173743e-01 6.72916857e-01 2.83739725e-02 1.56980437e+02] [-6.72442984e-01 7.39718009e-01 -2.52527396e-02 -4.02621442e+01] [-3.79817325e-02 -4.13716688e-04 9.99278348e-01 -7.52281155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.400385723 meters 0.01889904683315711 Centerline is valid? [True, True] Translation: X:157.00, Y:-40.29, Z:-7.53 [[ 7.40202871e-01 6.71790636e-01 2.82320854e-02 1.57003489e+02] [-6.71320079e-01 7.40740997e-01 -2.51421591e-02 -4.02851436e+01] [-3.78029301e-02 -3.42467385e-04 9.99285155e-01 -7.52611322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430385723 meters 0.01795838676370428 Centerline is valid? [True, True] Translation: X:157.03, Y:-40.31, Z:-7.53 [[ 7.40412165e-01 6.71554346e-01 2.83652302e-02 1.57026764e+02] [-6.71079026e-01 7.40955230e-01 -2.52643645e-02 -4.03073738e+01] [-3.79837594e-02 -3.29268229e-04 9.99278302e-01 -7.52507910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.460385723 meters 0.017805874306046857 Centerline is valid? [True, True] Translation: X:157.05, Y:-40.33, Z:-7.53 [[ 7.41303235e-01 6.70573905e-01 2.82869596e-02 1.57049021e+02] [-6.70100188e-01 7.41842681e-01 -2.52026484e-02 -4.03310822e+01] [-3.78847123e-02 -2.72292182e-04 9.99282080e-01 -7.52628670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490385723 meters 0.017703891264130404 Centerline is valid? [True, True] Translation: X:157.07, Y:-40.35, Z:-7.53 [[ 7.41565364e-01 6.70303415e-01 2.78234125e-02 1.57072091e+02] [-6.69844491e-01 7.42087105e-01 -2.48009485e-02 -4.03541017e+01] [-3.72715561e-02 -2.45835198e-04 9.99305144e-01 -7.52760771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.520385723 meters 0.017699152117553994 Centerline is valid? [True, True] Translation: X:157.09, Y:-40.38, Z:-7.53 [[ 7.42357409e-01 6.69478070e-01 2.65441469e-02 1.57093872e+02] [-6.69059404e-01 7.42831798e-01 -2.36735019e-02 -4.03772692e+01] [-3.55667268e-02 -1.85411558e-04 9.99367287e-01 -7.53034675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550385723 meters 0.017654472644530312 Centerline is valid? [True, True] Translation: X:157.12, Y:-40.40, Z:-7.53 [[ 7.42839109e-01 6.68961363e-01 2.60912610e-02 1.57117106e+02] [-6.68556125e-01 7.43297163e-01 -2.32816474e-02 -4.03995737e+01] [-3.49680829e-02 -1.48954121e-04 9.99388418e-01 -7.53298472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.580385723 meters 0.017565192886455167 Centerline is valid? [True, True] Translation: X:157.14, Y:-40.42, Z:-7.53 [[ 7.43854211e-01 6.67843420e-01 2.58085084e-02 1.57139925e+02] [-6.67445851e-01 7.44301793e-01 -2.30407827e-02 -4.04240932e+01] [-3.45969542e-02 -8.67986457e-05 9.99401342e-01 -7.53421156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610385723 meters 0.01751948401341064 Centerline is valid? [True, True] Translation: X:157.16, Y:-40.45, Z:-7.54 [[ 7.44207045e-01 6.67453197e-01 2.57313805e-02 1.57163706e+02] [-6.67057322e-01 7.44651749e-01 -2.29848315e-02 -4.04472039e+01] [-3.45022168e-02 -5.88322109e-05 9.99404620e-01 -7.53509783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.640385723 meters 0.01754207619258478 Centerline is valid? [True, True] Translation: X:157.19, Y:-40.47, Z:-7.54 [[ 7.44531579e-01 6.67073701e-01 2.61802328e-02 1.57186842e+02] [-6.66663185e-01 7.44991729e-01 -2.33991836e-02 -4.04707932e+01] [-3.51130369e-02 -3.19662837e-05 9.99383347e-01 -7.53551014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670385723 meters 0.01752497206417864 Centerline is valid? [True, True] Translation: X:157.21, Y:-40.49, Z:-7.54 [[ 7.44538744e-01 6.67054058e-01 2.64753215e-02 1.57210775e+02] [-6.66633746e-01 7.45009317e-01 -2.36762630e-02 -4.04931208e+01] [-3.55177086e-02 -2.14476388e-05 9.99369047e-01 -7.53663787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.700385723 meters 0.01753646259624123 Centerline is valid? [True, True] Translation: X:157.23, Y:-40.51, Z:-7.54 [[ 7.44570681e-01 6.67006926e-01 2.67630784e-02 1.57234154e+02] [-6.66576861e-01 7.45051515e-01 -2.39484363e-02 -4.05147622e+01] [-3.59136450e-02 -8.34527958e-06 9.99354897e-01 -7.53839905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730385723 meters 0.017574209658366508 Centerline is valid? [True, True] Translation: X:157.26, Y:-40.54, Z:-7.54 [[ 7.44397536e-01 6.67209397e-01 2.65316693e-02 1.57258389e+02] [-6.66786618e-01 7.44870204e-01 -2.37483629e-02 -4.05369526e+01] [-3.56077808e-02 -1.27392347e-05 9.99365842e-01 -7.53996108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760385723 meters 0.017574209658366508 Centerline is valid? [True, True] Translation: X:157.28, Y:-40.56, Z:-7.54 [[ 7.44214850e-01 6.67413420e-01 2.65251567e-02 1.57282462e+02] [-6.66990512e-01 7.44687402e-01 -2.37556343e-02 -4.05585947e+01] [-3.56077791e-02 -1.27320197e-05 9.99365842e-01 -7.54141702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790385723 meters 0.017622925943426945 Centerline is valid? [True, True] Translation: X:157.31, Y:-40.58, Z:-7.54 [[ 7.44080307e-01 6.67596139e-01 2.56883515e-02 1.57305438e+02] [-6.67199123e-01 7.44523603e-01 -2.30203385e-02 -4.05797585e+01] [-3.44938731e-02 -1.02650140e-05 9.99404909e-01 -7.54358103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82038572300002 meters 0.01771343985925765 Centerline is valid? [True, True] Translation: X:157.33, Y:-40.60, Z:-7.55 [[ 7.43837880e-01 6.67909206e-01 2.45458855e-02 1.57327298e+02] [-6.67546710e-01 7.44242764e-01 -2.20022195e-02 -4.06011017e+01] [-3.29635826e-02 -1.94408157e-05 9.99456553e-01 -7.54608581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85038572300002 meters 0.017758697003386115 Centerline is valid? [True, True] Translation: X:157.35, Y:-40.62, Z:-7.55 [[ 7.42575725e-01 6.69352952e-01 2.34076566e-02 1.57350865e+02] [-6.69023940e-01 7.42944560e-01 -2.09844839e-02 -4.06234061e+01] [-3.14366174e-02 -7.77142905e-05 9.99505744e-01 -7.54786952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88038572300002 meters 0.018112331199462314 Centerline is valid? [True, True] Translation: X:157.38, Y:-40.65, Z:-7.55 [[ 7.42063565e-01 6.69922947e-01 2.33433330e-02 1.57375543e+02] [-6.69595735e-01 7.42430627e-01 -2.09359737e-02 -4.06455429e+01] [-3.13562945e-02 -9.47729487e-05 9.99508266e-01 -7.55022735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91038572300002 meters 0.01778995783646077 Centerline is valid? [True, True] Translation: X:157.40, Y:-40.67, Z:-7.55 [[ 7.41095522e-01 6.70991681e-01 2.34006596e-02 1.57399788e+02] [-6.70663040e-01 7.41464865e-01 -2.09985735e-02 -4.06671310e+01] [-3.14406350e-02 -1.32008728e-04 9.99505612e-01 -7.55046093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94038572300002 meters 0.01781814664482766 Centerline is valid? [True, True] Translation: X:157.42, Y:-40.69, Z:-7.55 [[ 7.39494593e-01 6.72757705e-01 2.33413273e-02 1.57423886e+02] [-6.72431222e-01 7.39862847e-01 -2.09575653e-02 -4.06869351e+01] [-3.13687444e-02 -1.97431015e-04 9.99507860e-01 -7.55208703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97038572300002 meters 0.018057669074824877 Centerline is valid? [True, True] Translation: X:157.45, Y:-40.71, Z:-7.55 [[ 7.37356152e-01 6.75113322e-01 2.29762659e-02 1.57448490e+02] [-6.74797852e-01 7.37713983e-01 -2.06382606e-02 -4.07077999e+01] [-3.08830773e-02 -2.86586471e-04 9.99522963e-01 -7.55427982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.000385723 meters 0.01821584468893331 Centerline is valid? [True, True] Translation: X:157.47, Y:-40.73, Z:-7.56 [[ 7.36210839e-01 6.76373902e-01 2.26262218e-02 1.57472987e+02] [-6.76068287e-01 7.36558374e-01 -2.03330528e-02 -4.07288682e+01] [-3.04182794e-02 -3.27457156e-04 9.99537203e-01 -7.55648896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030385723 meters 0.018452140906363372 Centerline is valid? [True, True] Translation: X:157.50, Y:-40.75, Z:-7.56 [[ 7.33950158e-01 6.78855890e-01 2.17220368e-02 1.57496948e+02] [-6.78575061e-01 7.34271418e-01 -1.95287368e-02 -4.07501566e+01] [-2.92070688e-02 -4.06913008e-04 9.99573300e-01 -7.55807472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.060385723 meters 0.018763638274846086 Centerline is valid? [True, True] Translation: X:157.52, Y:-40.77, Z:-7.56 [[ 7.32607547e-01 6.80309950e-01 2.15535132e-02 1.57520907e+02] [-6.80033824e-01 7.32924393e-01 -1.93864055e-02 -4.07712655e+01] [-2.89858602e-02 -4.54491023e-04 9.99579718e-01 -7.55981475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090385723 meters 0.020578678074942337 Centerline is valid? [True, True] Translation: X:157.54, Y:-40.79, Z:-7.56 [[ 7.31771345e-01 6.81213042e-01 2.14357209e-02 1.57544517e+02] [-6.80940051e-01 7.32085077e-01 -1.92895631e-02 -4.07926571e+01] [-2.88330734e-02 -4.80891348e-04 9.99584125e-01 -7.56376194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.120385723 meters 0.019003272205258815 Centerline is valid? [True, True] Translation: X:157.57, Y:-40.82, Z:-7.56 [[ 7.30597622e-01 6.82463402e-01 2.16983649e-02 1.57566531e+02] [-6.82183953e-01 7.30919574e-01 -1.95353406e-02 -4.08161470e+01] [-2.91919146e-02 -5.29802978e-04 9.99573685e-01 -7.56094763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150385723 meters 0.019189826833139557 Centerline is valid? [True, True] Translation: X:157.59, Y:-40.84, Z:-7.56 [[ 7.30574749e-01 6.82493443e-01 2.15229215e-02 1.57590064e+02] [-6.82218249e-01 7.30891531e-01 -1.93863509e-02 -4.08381999e+01] [-2.89619784e-02 -5.20151371e-04 9.99580379e-01 -7.56249286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.180385723 meters 0.018725423694602596 Centerline is valid? [True, True] Translation: X:157.61, Y:-40.86, Z:-7.56 [[ 7.30963839e-01 6.82055462e-01 2.21858784e-02 1.57611294e+02] [-6.81762513e-01 7.31300271e-01 -1.99947155e-02 -4.08624126e+01] [-2.98620438e-02 -5.10086253e-04 9.99553900e-01 -7.56297915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210385723 meters 0.01871129527141131 Centerline is valid? [True, True] Translation: X:157.63, Y:-40.89, Z:-7.56 [[ 7.30884853e-01 6.82133566e-01 2.23859567e-02 1.57634562e+02] [-6.81835069e-01 7.31227418e-01 -2.01841892e-02 -4.08856316e+01] [-3.01375382e-02 -5.11212181e-04 9.99545631e-01 -7.56375091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.240385723 meters 0.018469760645092842 Centerline is valid? [True, True] Translation: X:157.66, Y:-40.91, Z:-7.56 [[ 7.31341305e-01 6.81641074e-01 2.24797909e-02 1.57655536e+02] [-6.81339480e-01 7.31686553e-01 -2.02805805e-02 -4.09099842e+01] [-3.02722374e-02 -4.84342840e-04 9.99541573e-01 -7.56454506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270385723 meters 0.018171169835464216 Centerline is valid? [True, True] Translation: X:157.68, Y:-40.93, Z:-7.57 [[ 7.32153907e-01 6.80766279e-01 2.25373035e-02 1.57677391e+02] [-6.80462420e-01 7.32500566e-01 -2.03424782e-02 -4.09340807e+01] [-3.03570608e-02 -4.41963188e-04 9.99539021e-01 -7.56542518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.300385723 meters 0.018407559093647472 Centerline is valid? [True, True] Translation: X:157.70, Y:-40.96, Z:-7.57 [[ 7.32527068e-01 6.80359481e-01 2.26951803e-02 1.57700095e+02] [-6.80050834e-01 7.32878434e-01 -2.04954530e-02 -4.09558783e+01] [-3.05770839e-02 -4.20402195e-04 9.99532323e-01 -7.56774625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330385723 meters 0.018085359437148035 Centerline is valid? [True, True] Translation: X:157.72, Y:-40.98, Z:-7.57 [[ 7.33172298e-01 6.79660284e-01 2.28096170e-02 1.57722440e+02] [-6.79347899e-01 7.33526924e-01 -2.06078624e-02 -4.09794128e+01] [-3.07378138e-02 -3.86551554e-04 9.99527407e-01 -7.56836001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.360385723 meters 0.018081630091393033 Centerline is valid? [True, True] Translation: X:157.74, Y:-41.00, Z:-7.57 [[ 7.34408929e-01 6.78314125e-01 2.30970296e-02 1.57743529e+02] [-6.77992818e-01 7.34771966e-01 -2.08781313e-02 -4.10020480e+01] [-3.11329812e-02 -3.26534151e-04 9.99515198e-01 -7.57052974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390385723 meters 0.01799229458491214 Centerline is valid? [True, True] Translation: X:157.77, Y:-41.03, Z:-7.57 [[ 7.35112206e-01 6.77570528e-01 2.25438156e-02 1.57765208e+02] [-6.77263845e-01 7.35457748e-01 -2.03859073e-02 -4.10265243e+01] [-3.03929139e-02 -2.82181954e-04 9.99537989e-01 -7.57236507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.420385723 meters 0.01799106253260371 Centerline is valid? [True, True] Translation: X:157.79, Y:-41.05, Z:-7.57 [[ 7.35438459e-01 6.77229378e-01 2.21504472e-02 1.57788271e+02] [-6.76932751e-01 7.35771911e-01 -2.00435954e-02 -4.10497097e+01] [-2.98717885e-02 -2.53532254e-04 9.99553706e-01 -7.57427083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450385723 meters 0.018030759775355044 Centerline is valid? [True, True] Translation: X:157.81, Y:-41.07, Z:-7.58 [[ 7.35741844e-01 6.76922230e-01 2.14530518e-02 1.57810706e+02] [-6.76643815e-01 7.36054509e-01 -1.94140734e-02 -4.10720417e+01] [-2.89324334e-02 -2.32328635e-04 9.99581343e-01 -7.57592208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480385723 meters 0.01819938925788885 Centerline is valid? [True, True] Translation: X:157.83, Y:-41.09, Z:-7.58 [[ 7.35575446e-01 6.77122395e-01 2.08333025e-02 1.57833711e+02] [-6.76859642e-01 7.35870377e-01 -1.88630307e-02 -4.10942107e+01] [-2.81031907e-02 -2.26039421e-04 9.99605002e-01 -7.57801510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510385723 meters 0.01840287651683112 Centerline is valid? [True, True] Translation: X:157.86, Y:-41.12, Z:-7.58 [[ 7.34875787e-01 6.77881763e-01 2.08301067e-02 1.57858583e+02] [-6.77619167e-01 7.35170901e-01 -1.88682264e-02 -4.11157646e+01] [-2.81041149e-02 -2.49076840e-04 9.99604970e-01 -7.57969934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540385723 meters 0.01851989540746813 Centerline is valid? [True, True] Translation: X:157.88, Y:-41.13, Z:-7.58 [[ 7.33917218e-01 6.78931486e-01 2.04341308e-02 1.57883578e+02] [-6.78678901e-01 7.34201580e-01 -1.85199547e-02 -4.11349695e+01] [-2.75765515e-02 -2.76099773e-04 9.99619656e-01 -7.58223888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57038572300002 meters 0.018699072521900544 Centerline is valid? [True, True] Translation: X:157.91, Y:-41.16, Z:-7.58 [[ 7.33341251e-01 6.79557137e-01 2.03151871e-02 1.57908479e+02] [-6.79307514e-01 7.33622527e-01 -1.84198282e-02 -4.11559371e+01] [-2.74210046e-02 -2.92239367e-04 9.99623931e-01 -7.58376963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60038572300002 meters 0.01818635069643662 Centerline is valid? [True, True] Translation: X:157.93, Y:-41.18, Z:-7.58 [[ 7.32759098e-01 6.80167748e-01 2.08791454e-02 1.57933199e+02] [-6.79904029e-01 7.33056433e-01 -1.89414024e-02 -4.11775332e+01] [-2.81889228e-02 -3.16330149e-04 9.99602563e-01 -7.58214170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63038572300002 meters 0.018107541179968892 Centerline is valid? [True, True] Translation: X:157.96, Y:-41.20, Z:-7.58 [[ 7.32317152e-01 6.80628609e-01 2.13608472e-02 1.57957735e+02] [-6.80352442e-01 7.32628546e-01 -1.93899046e-02 -4.11993820e+01] [-2.88468902e-02 -3.33344853e-04 9.99583786e-01 -7.58253872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66038572300002 meters 0.01820562308343403 Centerline is valid? [True, True] Translation: X:157.98, Y:-41.22, Z:-7.58 [[ 7.32264474e-01 6.80639623e-01 2.27693444e-02 1.57981571e+02] [-6.80325419e-01 7.32618307e-01 -2.06818843e-02 -4.12188588e+01] [-3.07581485e-02 -3.45954640e-04 9.99526796e-01 -7.58317186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69038572300002 meters 0.01806500260246009 Centerline is valid? [True, True] Translation: X:158.01, Y:-41.24, Z:-7.58 [[ 7.32553464e-01 6.80313448e-01 2.32171442e-02 1.58005944e+02] [-6.79986263e-01 7.32921212e-01 -2.10992468e-02 -4.12402104e+01] [-3.13704388e-02 -3.31012749e-04 9.99507772e-01 -7.58397372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72038572300002 meters 0.017747168148049882 Centerline is valid? [True, True] Translation: X:158.03, Y:-41.26, Z:-7.58 [[ 7.33669494e-01 6.79053147e-01 2.48172597e-02 1.58030025e+02] [-6.78678180e-01 7.34089055e-01 -2.25651794e-02 -4.12613676e+01] [-3.35410348e-02 -2.87548890e-04 9.99437300e-01 -7.58497778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750385723 meters 0.017680163927453477 Centerline is valid? [True, True] Translation: X:158.05, Y:-41.28, Z:-7.59 [[ 7.34207764e-01 6.78452684e-01 2.53163055e-02 1.58054240e+02] [-6.78061672e-01 7.34644057e-01 -2.30321185e-02 -4.12831776e+01] [-3.42246760e-02 -2.55656172e-04 9.99414131e-01 -7.58622761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.780385723 meters 0.01778536928972793 Centerline is valid? [True, True] Translation: X:158.08, Y:-41.30, Z:-7.59 [[ 7.34960620e-01 6.77622785e-01 2.56952840e-02 1.58077213e+02] [-6.77219294e-01 7.35409623e-01 -2.33819063e-02 -4.13042421e+01] [-3.47406716e-02 -2.16561711e-04 9.99396337e-01 -7.58766224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810385723 meters 0.017647519219566407 Centerline is valid? [True, True] Translation: X:158.10, Y:-41.33, Z:-7.59 [[ 7.35056938e-01 6.77521829e-01 2.56021165e-02 1.58101081e+02] [-6.77120860e-01 7.35502637e-01 -2.33068872e-02 -4.13265018e+01] [-3.46213491e-02 -2.03837964e-04 9.99400481e-01 -7.58873098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.840385723 meters 0.017697699500504153 Centerline is valid? [True, True] Translation: X:158.13, Y:-41.35, Z:-7.59 [[ 7.35457808e-01 6.77077444e-01 2.58446941e-02 1.58125798e+02] [-6.76668101e-01 7.35911751e-01 -2.35409597e-02 -4.13478795e+01] [-3.49584669e-02 -1.74897462e-04 9.99388751e-01 -7.59120063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870385723 meters 0.01770396045956404 Centerline is valid? [True, True] Translation: X:158.15, Y:-41.37, Z:-7.59 [[ 7.35398389e-01 6.77149895e-01 2.56364692e-02 1.58150347e+02] [-6.76746665e-01 7.35845087e-01 -2.33657900e-02 -4.13688905e+01] [-3.46866122e-02 -1.66230711e-04 9.99398225e-01 -7.59369248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.900385723 meters 0.017564775195817096 Centerline is valid? [True, True] Translation: X:158.18, Y:-41.39, Z:-7.60 [[ 7.35453403e-01 6.77115332e-01 2.49623560e-02 1.58175291e+02] [-6.76732710e-01 7.35876894e-01 -2.27604117e-02 -4.13895887e+01] [-3.37806448e-02 -1.53620614e-04 9.99429259e-01 -7.59689713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930385723 meters 0.017502311727116162 Centerline is valid? [True, True] Translation: X:158.20, Y:-41.41, Z:-7.60 [[ 7.35459852e-01 6.77107241e-01 2.49917895e-02 1.58199836e+02] [-6.76723674e-01 7.35884339e-01 -2.27883501e-02 -4.14120071e+01] [-3.38212234e-02 -1.52619027e-04 9.99427887e-01 -7.59847517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.960385723 meters 0.017440173150352938 Centerline is valid? [True, True] Translation: X:158.22, Y:-41.43, Z:-7.60 [[ 7.35202146e-01 6.77398118e-01 2.46899675e-02 1.58223821e+02] [-6.77023516e-01 7.35616589e-01 -2.25253972e-02 -4.14339954e+01] [-3.34210113e-02 -1.54968266e-04 9.99441350e-01 -7.60032581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990385723 meters 0.017499273620086336 Centerline is valid? [True, True] Translation: X:158.25, Y:-41.45, Z:-7.60 [[ 7.35192088e-01 6.77430564e-01 2.40920178e-02 1.58247858e+02] [-6.77073515e-01 7.35586712e-01 -2.19919352e-02 -4.14545159e+01] [-3.26197773e-02 -1.43770432e-04 9.99467823e-01 -7.60328176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.020385723 meters 0.017442406312757567 Centerline is valid? [True, True] Translation: X:158.27, Y:-41.48, Z:-7.60 [[ 7.34150367e-01 6.78558036e-01 2.41294411e-02 1.58272941e+02] [-6.78200127e-01 7.34546770e-01 -2.20370177e-02 -4.14758016e+01] [-3.26775985e-02 -1.86105361e-04 9.99465927e-01 -7.60490989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050385723 meters 0.01744491587995945 Centerline is valid? [True, True] Translation: X:158.30, Y:-41.50, Z:-7.61 [[ 7.33468613e-01 6.79267244e-01 2.48958675e-02 1.58298022e+02] [-6.78886205e-01 7.33890976e-01 -2.27498540e-02 -4.14974633e+01] [-3.37240831e-02 -2.15157108e-04 9.99431158e-01 -7.60623507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.080385723 meters 0.017464090323160354 Centerline is valid? [True, True] Translation: X:158.32, Y:-41.52, Z:-7.61 [[ 7.32553226e-01 6.80239518e-01 2.52976222e-02 1.58323162e+02] [-6.79846214e-01 7.32989859e-01 -2.31298741e-02 -4.15191009e+01] [-3.42767550e-02 -2.54628811e-04 9.99412347e-01 -7.60670836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110385723 meters 0.01749170686218997 Centerline is valid? [True, True] Translation: X:158.35, Y:-41.54, Z:-7.61 [[ 7.30934874e-01 6.81906960e-01 2.71497341e-02 1.58348499e+02] [-6.81454537e-01 7.31438841e-01 -2.48381992e-02 -4.15407230e+01] [-3.67957110e-02 -3.46203453e-04 9.99322749e-01 -7.60578224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.140385723 meters 0.017558321315917932 Centerline is valid? [True, True] Translation: X:158.37, Y:-41.56, Z:-7.61 [[ 7.30039047e-01 6.82829551e-01 2.80498391e-02 1.58373107e+02] [-6.82346730e-01 7.30577613e-01 -2.56766749e-02 -4.15625243e+01] [-3.80253769e-02 -3.94740706e-04 9.99276696e-01 -7.60621860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170385723 meters 0.017774601757228392 Centerline is valid? [True, True] Translation: X:158.40, Y:-41.58, Z:-7.61 [[ 7.27816708e-01 6.85191750e-01 2.81976360e-02 1.58397951e+02] [-6.84704993e-01 7.28362552e-01 -2.58276010e-02 -4.15822565e+01] [-3.82349612e-02 -5.09302672e-04 9.99268647e-01 -7.60692515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.200385723 meters 0.018104437123941233 Centerline is valid? [True, True] Translation: X:158.42, Y:-41.60, Z:-7.61 [[ 7.26328075e-01 6.86770812e-01 2.81669889e-02 1.58422856e+02] [-6.86286069e-01 7.26873790e-01 -2.58055068e-02 -4.16010361e+01] [-3.81963148e-02 -5.87348003e-04 9.99270082e-01 -7.60928085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230385723 meters 0.018560512373210686 Centerline is valid? [True, True] Translation: X:158.45, Y:-41.62, Z:-7.61 [[ 7.24978839e-01 6.88211276e-01 2.77654834e-02 1.58447236e+02] [-6.87740874e-01 7.25510043e-01 -2.54493213e-02 -4.16195376e+01] [-3.76586469e-02 -6.45238456e-04 9.99290453e-01 -7.61217868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260385723 meters 0.018957970046097693 Centerline is valid? [True, True] Translation: X:158.47, Y:-41.64, Z:-7.62 [[ 7.22650757e-01 6.90692839e-01 2.68195048e-02 1.58472959e+02] [-6.90255354e-01 7.23147877e-01 -2.45905377e-02 -4.16391388e+01] [-3.63789762e-02 -7.41936100e-04 9.99337791e-01 -7.61639114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290385723 meters 0.019458336707440075 Centerline is valid? [True, True] Translation: X:158.50, Y:-41.66, Z:-7.62 [[ 7.20796080e-01 6.92645732e-01 2.63609770e-02 1.58498173e+02] [-6.92223982e-01 7.21277493e-01 -2.41813494e-02 -4.16595962e+01] [-3.57626878e-02 -8.17878597e-04 9.99359976e-01 -7.61828159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32038572300002 meters 0.019584255129929676 Centerline is valid? [True, True] Translation: X:158.52, Y:-41.68, Z:-7.62 [[ 7.19746134e-01 6.93744863e-01 2.61451160e-02 1.58522106e+02] [-6.93330320e-01 7.20220334e-01 -2.39945411e-02 -4.16806763e+01] [-3.54763338e-02 -8.57223476e-04 9.99370149e-01 -7.61964555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35038572300002 meters 0.020925979344320347 Centerline is valid? [True, True] Translation: X:158.55, Y:-41.70, Z:-7.62 [[ 7.18002466e-01 6.95541686e-01 2.63480800e-02 1.58548210e+02] [-6.95121455e-01 7.18485122e-01 -2.41928208e-02 -4.16981846e+01] [-3.57578189e-02 -9.44610717e-04 9.99360038e-01 -7.62193117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38038572300002 meters 0.021266299063692373 Centerline is valid? [True, True] Translation: X:158.57, Y:-41.72, Z:-7.62 [[ 7.17349815e-01 6.96217825e-01 2.62675425e-02 1.58573090e+02] [-6.95800166e-01 7.17829929e-01 -2.41313531e-02 -4.17191532e+01] [-3.56563063e-02 -9.66338730e-04 9.99363645e-01 -7.62378669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41038572300002 meters 0.021420043869630593 Centerline is valid? [True, True] Translation: X:158.60, Y:-41.74, Z:-7.63 [[ 7.16810399e-01 6.96765630e-01 2.64671121e-02 1.58597679e+02] [-6.96341902e-01 7.17298165e-01 -2.43166196e-02 -4.17405073e+01] [-3.59277957e-02 -9.99753366e-04 9.99353888e-01 -7.62557205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44038572300002 meters 0.020511849262922283 Centerline is valid? [True, True] Translation: X:158.62, Y:-41.76, Z:-7.63 [[ 7.16698367e-01 6.96848106e-01 2.73160647e-02 1.58621112e+02] [-6.96396275e-01 7.17218003e-01 -2.51110258e-02 -4.17628754e+01] [-3.70901441e-02 -1.02577452e-03 9.99311397e-01 -7.62660196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47038572300002 meters 0.020948042757921184 Centerline is valid? [True, True] Translation: X:158.64, Y:-41.78, Z:-7.63 [[ 7.17277296e-01 6.96271351e-01 2.68232252e-02 1.58644882e+02] [-6.95834854e-01 7.17778006e-01 -2.46696397e-02 -4.17835727e+01] [-3.64298845e-02 -9.69562538e-04 9.99335741e-01 -7.62895078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.500385723 meters 0.02035338751317057 Centerline is valid? [True, True] Translation: X:158.67, Y:-41.81, Z:-7.63 [[ 7.18025451e-01 6.95485642e-01 2.71877457e-02 1.58668096e+02] [-6.95036127e-01 7.18539388e-01 -2.50186069e-02 -4.18065204e+01] [-3.69355480e-02 -9.32469005e-04 9.99317215e-01 -7.63022932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530385723 meters 0.020151873062715413 Centerline is valid? [True, True] Translation: X:158.69, Y:-41.83, Z:-7.63 [[ 7.18692284e-01 6.94780867e-01 2.75853016e-02 1.58691544e+02] [-6.94317479e-01 7.19220915e-01 -2.53872929e-02 -4.18287341e+01] [-3.74785312e-02 -9.07305523e-04 9.99297021e-01 -7.63133255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.560385723 meters 0.01980942070468581 Centerline is valid? [True, True] Translation: X:158.71, Y:-41.85, Z:-7.63 [[ 7.20140767e-01 6.93219653e-01 2.90480484e-02 1.58713751e+02] [-6.92704001e-01 7.20725866e-01 -2.67468501e-02 -4.18502038e+01] [-3.94771220e-02 -8.60202242e-04 9.99220104e-01 -7.63173848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590385723 meters 0.01949204031614043 Centerline is valid? [True, True] Translation: X:158.74, Y:-41.87, Z:-7.63 [[ 7.20888556e-01 6.92385142e-01 3.03727504e-02 1.58737206e+02] [-6.91820106e-01 7.21527619e-01 -2.79792172e-02 -4.18724761e+01] [-4.12871725e-02 -8.42581936e-04 9.99146966e-01 -7.63177406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.620385723 meters 0.01949204031614043 Centerline is valid? [True, True] Translation: X:158.76, Y:-41.89, Z:-7.63 [[ 7.20708740e-01 6.92572588e-01 3.03664725e-02 1.58760965e+02] [-6.92007431e-01 7.21347696e-01 -2.79860289e-02 -4.18944839e+01] [-4.12871414e-02 -8.44048959e-04 9.99146966e-01 -7.63322964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650385723 meters 0.01929985284599951 Centerline is valid? [True, True] Translation: X:158.78, Y:-41.92, Z:-7.63 [[ 7.21398371e-01 6.91845578e-01 3.05628406e-02 1.58784526e+02] [-6.91271785e-01 7.22045055e-01 -2.81825804e-02 -4.19170214e+01] [-4.15657416e-02 -7.96361839e-04 9.99135454e-01 -7.63423568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.680385723 meters 0.018465745199425062 Centerline is valid? [True, True] Translation: X:158.81, Y:-41.94, Z:-7.64 [[ 7.21570349e-01 6.91656490e-01 3.07820058e-02 1.58806669e+02] [-6.91074093e-01 7.22226196e-01 -2.83887074e-02 -4.19399944e+01] [-4.18668047e-02 -7.88197276e-04 9.99122890e-01 -7.63621753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710385723 meters 0.018270406710451336 Centerline is valid? [True, True] Translation: X:158.83, Y:-41.96, Z:-7.64 [[ 7.21379492e-01 6.91887651e-01 3.00517430e-02 1.58831613e+02] [-6.91332246e-01 7.22004765e-01 -2.77280589e-02 -4.19620493e+01] [-4.08822031e-02 -7.73285949e-04 9.99163674e-01 -7.63873739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.740385723 meters 0.018287468445972937 Centerline is valid? [True, True] Translation: X:158.86, Y:-41.98, Z:-7.64 [[ 7.21159243e-01 6.92153929e-01 2.91939311e-02 1.58856666e+02] [-6.91629434e-01 7.21749519e-01 -2.69510288e-02 -4.19832668e+01] [-3.97249662e-02 -7.55398558e-04 9.99210366e-01 -7.64226754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770385723 meters 0.018492776658009354 Centerline is valid? [True, True] Translation: X:158.88, Y:-42.00, Z:-7.65 [[ 7.20667520e-01 6.92755008e-01 2.69967535e-02 1.58881515e+02] [-6.92306458e-01 7.21172643e-01 -2.49356582e-02 -4.20036155e+01] [-3.67436221e-02 -7.19707856e-04 9.99324466e-01 -7.64690663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.800385723 meters 0.018693600324140452 Centerline is valid? [True, True] Translation: X:158.91, Y:-42.02, Z:-7.65 [[ 7.20600169e-01 6.92849411e-01 2.63645560e-02 1.58905755e+02] [-6.92421287e-01 7.21081968e-01 -2.43630414e-02 -4.20247802e+01] [-3.58909248e-02 -6.99368085e-04 9.99355468e-01 -7.64976204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830385723 meters 0.01830898446927328 Centerline is valid? [True, True] Translation: X:158.93, Y:-42.05, Z:-7.65 [[ 7.21417488e-01 6.92027120e-01 2.55983073e-02 1.58928124e+02] [-6.91622589e-01 7.21871226e-01 -2.36669973e-02 -4.20481457e+01] [-3.48568855e-02 -6.30581826e-04 9.99392115e-01 -7.65075767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.860385723 meters 0.01788692306184475 Centerline is valid? [True, True] Translation: X:158.95, Y:-42.07, Z:-7.65 [[ 7.23745362e-01 6.89554707e-01 2.65886604e-02 1.58950330e+02] [-6.89116070e-01 7.24233412e-01 -2.45968921e-02 -4.20722344e+01] [-3.62172990e-02 -5.20786552e-04 9.99343803e-01 -7.65097527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890385723 meters 0.017656310062275686 Centerline is valid? [True, True] Translation: X:158.97, Y:-42.09, Z:-7.65 [[ 7.25125800e-01 6.88075102e-01 2.72988728e-02 1.58972986e+02] [-6.87611553e-01 7.25639336e-01 -2.52568119e-02 -4.20946789e+01] [-3.71877194e-02 -4.56654446e-04 9.99308193e-01 -7.65186491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.920385723 meters 0.017148704556786784 Centerline is valid? [True, True] Translation: X:158.99, Y:-42.12, Z:-7.65 [[ 7.27971733e-01 6.84973929e-01 2.94596771e-02 1.58993698e+02] [-6.84430943e-01 7.28567512e-01 -2.72702125e-02 -4.21179331e+01] [-4.01427482e-02 -3.11170703e-04 9.99193907e-01 -7.65167223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950385723 meters 0.017096327030716924 Centerline is valid? [True, True] Translation: X:159.02, Y:-42.14, Z:-7.65 [[ 7.29189746e-01 6.83641635e-01 3.02725796e-02 1.59016108e+02] [-6.83066587e-01 7.29817826e-01 -2.80353184e-02 -4.21414458e+01] [-4.12595792e-02 -2.35120886e-04 9.99148433e-01 -7.65185282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980385723 meters 0.017011208546951612 Centerline is valid? [True, True] Translation: X:159.04, Y:-42.17, Z:-7.65 [[ 7.31154083e-01 6.81466286e-01 3.18968274e-02 1.59037294e+02] [-6.80825135e-01 7.31849499e-01 -2.95541188e-02 -4.21655252e+01] [-4.34838127e-02 -1.07547239e-04 9.99054126e-01 -7.65100819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010385723 meters 0.01695782293810084 Centerline is valid? [True, True] Translation: X:159.06, Y:-42.19, Z:-7.65 [[ 7.31542794e-01 6.81032767e-01 3.22414449e-02 1.59061048e+02] [-6.80376615e-01 7.32252938e-01 -2.98880656e-02 -4.21886149e+01] [-4.39636448e-02 -7.19261586e-05 9.99033129e-01 -7.65237179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040385723 meters 0.016912850371571433 Centerline is valid? [True, True] Translation: X:159.08, Y:-42.21, Z:-7.65 [[ 7.32364060e-01 6.80129950e-01 3.26517248e-02 1.59084395e+02] [-6.79455328e-01 7.33091571e-01 -3.02854049e-02 -4.22100347e+01] [-4.45347152e-02 -5.44634708e-06 9.99007837e-01 -7.65446421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07038572300002 meters 0.01694617046143458 Centerline is valid? [True, True] Translation: X:159.11, Y:-42.23, Z:-7.66 [[ 7.32292394e-01 6.80212935e-01 3.25301771e-02 1.59108714e+02] [-6.79542951e-01 7.33014572e-01 -3.01830118e-02 -4.22314466e+01] [-4.43759688e-02 -2.86256601e-06 9.99014901e-01 -7.65686780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10038572300002 meters 0.016844229630726973 Centerline is valid? [True, True] Translation: X:159.13, Y:-42.25, Z:-7.66 [[ 7.31549516e-01 6.81050824e-01 3.17030158e-02 1.59132997e+02] [-6.80414595e-01 7.32236146e-01 -2.94313668e-02 -4.22516988e+01] [-4.32583508e-02 -4.06925005e-05 9.99063919e-01 -7.65950791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13038572300002 meters 0.016852282619152822 Centerline is valid? [True, True] Translation: X:159.16, Y:-42.27, Z:-7.66 [[ 7.31072833e-01 6.81584784e-01 3.12201109e-02 1.59157670e+02] [-6.80967662e-01 7.31739147e-01 -2.89976547e-02 -4.22739410e+01] [-4.26093375e-02 -6.04883655e-05 9.99091808e-01 -7.66115082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16038572300002 meters 0.01676851600879239 Centerline is valid? [True, True] Translation: X:159.18, Y:-42.30, Z:-7.66 [[ 7.30676492e-01 6.82035665e-01 3.06466268e-02 1.59181766e+02] [-6.81440773e-01 7.31318909e-01 -2.84802747e-02 -4.22955267e+01] [-4.18370207e-02 -7.39938419e-05 9.99124446e-01 -7.66339825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19038572300002 meters 0.016811419052382034 Centerline is valid? [True, True] Translation: X:159.21, Y:-42.32, Z:-7.67 [[ 7.30458424e-01 6.82331344e-01 2.92305933e-02 1.59206675e+02] [-6.81789895e-01 7.31043043e-01 -2.71773491e-02 -4.23168630e+01] [-3.99127790e-02 -7.71995134e-05 9.99203165e-01 -7.66734297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22038572300002 meters 0.016764659726901786 Centerline is valid? [True, True] Translation: X:159.23, Y:-42.34, Z:-7.67 [[ 7.30618488e-01 6.82180769e-01 2.87406178e-02 1.59229815e+02] [-6.81656654e-01 7.31183558e-01 -2.67359566e-02 -4.23380948e+01] [-3.92534226e-02 -5.74491237e-05 9.99229286e-01 -7.67037599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250385723 meters 0.01678680187845322 Centerline is valid? [True, True] Translation: X:159.25, Y:-42.36, Z:-7.67 [[ 7.30449194e-01 6.82368946e-01 2.85761493e-02 1.59254217e+02] [-6.81850360e-01 7.31007947e-01 -2.65982793e-02 -4.23607007e+01] [-3.90392320e-02 -5.59660137e-05 9.99237677e-01 -7.67205887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.280385723 meters 0.01676973133325694 Centerline is valid? [True, True] Translation: X:159.28, Y:-42.38, Z:-7.67 [[ 7.30620315e-01 6.82181231e-01 2.86831442e-02 1.59277752e+02] [-6.81658397e-01 7.31183128e-01 -2.67032615e-02 -4.23828916e+01] [-3.91890949e-02 -4.21607774e-05 9.99231811e-01 -7.67352780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310385723 meters 0.016923161539526742 Centerline is valid? [True, True] Translation: X:159.30, Y:-42.40, Z:-7.67 [[ 7.30576151e-01 6.82193182e-01 2.95118727e-02 1.59300677e+02] [-6.81639112e-01 7.31171978e-01 -2.74892566e-02 -4.24045187e+01] [-4.03312377e-02 -3.34513978e-05 9.99186364e-01 -7.67386791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.340385723 meters 0.016858488398311357 Centerline is valid? [True, True] Translation: X:159.32, Y:-42.43, Z:-7.67 [[ 7.30380181e-01 6.82366951e-01 3.03337459e-02 1.59324699e+02] [-6.81781084e-01 7.31009811e-01 -2.82703112e-02 -4.24266203e+01] [-4.14649919e-02 -3.28991375e-05 9.99139957e-01 -7.67402694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370385723 meters 0.016817069542050554 Centerline is valid? [True, True] Translation: X:159.35, Y:-42.45, Z:-7.67 [[ 7.29564146e-01 6.83169263e-01 3.18734098e-02 1.59349624e+02] [-6.82522400e-01 7.30260058e-01 -2.97223861e-02 -4.24481241e+01] [-4.35812988e-02 -6.99289246e-05 9.99049881e-01 -7.67311596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.400385723 meters 0.01691606319265916 Centerline is valid? [True, True] Translation: X:159.37, Y:-42.47, Z:-7.67 [[ 7.28402600e-01 6.84389926e-01 3.22502931e-02 1.59374351e+02] [-6.83728077e-01 7.29116185e-01 -3.00916099e-02 -4.24690978e+01] [-4.41086054e-02 -1.31624017e-04 9.99026733e-01 -7.67350796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430385723 meters 0.016856503691442724 Centerline is valid? [True, True] Translation: X:159.40, Y:-42.49, Z:-7.67 [[ 7.27590280e-01 6.85248034e-01 3.23653580e-02 1.59399018e+02] [-6.84581831e-01 7.28309756e-01 -3.02095241e-02 -4.24912136e+01] [-4.42730230e-02 -1.76579922e-04 9.99019453e-01 -7.67455604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.460385723 meters 0.017017387007332612 Centerline is valid? [True, True] Translation: X:159.42, Y:-42.51, Z:-7.68 [[ 7.25375465e-01 6.87592031e-01 3.23671774e-02 1.59424577e+02] [-6.86927327e-01 7.26097173e-01 -3.02281740e-02 -4.25111167e+01] [-4.42863675e-02 -3.07122910e-04 9.99018830e-01 -7.67514929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490385723 meters 0.017022617112281913 Centerline is valid? [True, True] Translation: X:159.45, Y:-42.53, Z:-7.68 [[ 7.24549753e-01 6.88483452e-01 3.19091114e-02 1.59449663e+02] [-6.87837672e-01 7.25251967e-01 -2.98147726e-02 -4.25315800e+01] [-4.36691234e-02 -3.46002828e-04 9.99045989e-01 -7.67739913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.520385723 meters 0.017184523691687013 Centerline is valid? [True, True] Translation: X:159.47, Y:-42.55, Z:-7.68 [[ 7.22499817e-01 6.90701553e-01 3.04200432e-02 1.59474848e+02] [-6.90116033e-01 7.23139796e-01 -2.84375938e-02 -4.25514724e+01] [-4.16398341e-02 -4.47203204e-04 9.99132586e-01 -7.67950158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550385723 meters 0.01758162686568283 Centerline is valid? [True, True] Translation: X:159.50, Y:-42.57, Z:-7.68 [[ 7.21771245e-01 6.91470533e-01 3.02452014e-02 1.59499598e+02] [-6.90891839e-01 7.22404508e-01 -2.82877062e-02 -4.25735516e+01] [-4.14093851e-02 -4.78909907e-04 9.99142149e-01 -7.68144331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.580385723 meters 0.017547452040146714 Centerline is valid? [True, True] Translation: X:159.52, Y:-42.59, Z:-7.68 [[ 7.20735141e-01 6.92564521e-01 2.99205751e-02 1.59522994e+02] [-6.91998474e-01 7.21355744e-01 -2.80000375e-02 -4.25935856e+01] [-4.09752112e-02 -5.24381371e-04 9.99160026e-01 -7.68198429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610385723 meters 0.01753454780748541 Centerline is valid? [True, True] Translation: X:159.55, Y:-42.61, Z:-7.68 [[ 7.19801516e-01 6.93528111e-01 3.00755175e-02 1.59548373e+02] [-6.92956495e-01 7.20429338e-01 -2.81578504e-02 -4.26135248e+01] [-4.11955460e-02 -5.72961784e-04 9.99150939e-01 -7.68324825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.640385723 meters 0.017611809979681065 Centerline is valid? [True, True] Translation: X:159.57, Y:-42.63, Z:-7.68 [[ 7.19070363e-01 6.94271391e-01 3.04146087e-02 1.59572727e+02] [-6.93686887e-01 7.19713040e-01 -2.84893483e-02 -4.26340477e+01] [-4.16691300e-02 -6.12369247e-04 9.99131277e-01 -7.68373010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670385723 meters 0.017634685500048 Centerline is valid? [True, True] Translation: X:159.60, Y:-42.66, Z:-7.68 [[ 7.18899932e-01 6.94451367e-01 3.03345801e-02 1.59596951e+02] [-6.93869484e-01 7.19539384e-01 -2.84290851e-02 -4.26564699e+01] [-4.15695421e-02 -6.10572150e-04 9.99135426e-01 -7.68460213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.700385723 meters 0.018262784987666186 Centerline is valid? [True, True] Translation: X:159.62, Y:-42.68, Z:-7.69 [[ 7.18853683e-01 6.94482306e-01 3.07198497e-02 1.59620614e+02] [-6.93884896e-01 7.19509525e-01 -2.88061541e-02 -4.26790109e+01] [-4.21085888e-02 -6.08629780e-04 9.99112855e-01 -7.68638904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730385723 meters 0.017661841384452155 Centerline is valid? [True, True] Translation: X:159.64, Y:-42.70, Z:-7.69 [[ 7.18782620e-01 6.94540121e-01 3.10735533e-02 1.59643894e+02] [-6.93928208e-01 7.19453718e-01 -2.91545927e-02 -4.27010210e+01] [-4.26050178e-02 -6.07000637e-04 9.99091810e-01 -7.68500881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760385723 meters 0.017559226516260344 Centerline is valid? [True, True] Translation: X:159.67, Y:-42.72, Z:-7.69 [[ 7.18454593e-01 6.94874630e-01 3.11808640e-02 1.59668178e+02] [-6.94258372e-01 7.19130629e-01 -2.92651897e-02 -4.27230195e+01] [-4.27587522e-02 -6.21865916e-04 9.99085233e-01 -7.68634076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790385723 meters 0.01749949783125702 Centerline is valid? [True, True] Translation: X:159.69, Y:-42.74, Z:-7.69 [[ 7.17599063e-01 6.95785017e-01 3.05744006e-02 1.59693095e+02] [-6.95192680e-01 7.18249807e-01 -2.87115581e-02 -4.27434049e+01] [-4.19371293e-02 -6.51712261e-04 9.99120039e-01 -7.68894067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82038572300002 meters 0.017555864714502146 Centerline is valid? [True, True] Translation: X:159.72, Y:-42.76, Z:-7.69 [[ 7.16954634e-01 6.96460845e-01 3.03041906e-02 1.59718215e+02] [-6.95878973e-01 7.17594478e-01 -2.84713949e-02 -4.27649844e+01] [-4.15753315e-02 -6.75350501e-04 9.99135144e-01 -7.69109117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85038572300002 meters 0.017669517110495327 Centerline is valid? [True, True] Translation: X:159.74, Y:-42.79, Z:-7.69 [[ 7.16000579e-01 6.97469306e-01 2.96603624e-02 1.59742286e+02] [-6.96912121e-01 7.16614308e-01 -2.78824154e-02 -4.27854197e+01] [-4.07021690e-02 -7.06840540e-04 9.99171073e-01 -7.69321889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88038572300002 meters 0.017710696297513755 Centerline is valid? [True, True] Translation: X:159.77, Y:-42.81, Z:-7.69 [[ 7.15745285e-01 6.97754297e-01 2.91140600e-02 1.59766185e+02] [-6.97217447e-01 7.16336823e-01 -2.73749524e-02 -4.28076733e+01] [-3.99564639e-02 -7.05337503e-04 9.99201173e-01 -7.69483240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91038572300002 meters 0.017515986231744878 Centerline is valid? [True, True] Translation: X:159.79, Y:-42.83, Z:-7.70 [[ 7.16511452e-01 6.97013502e-01 2.79913682e-02 1.59789114e+02] [-6.96516164e-01 7.17057727e-01 -2.63334426e-02 -4.28297642e+01] [-3.84261919e-02 -6.28227186e-04 9.99261244e-01 -7.69719127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94038572300002 meters 0.017209120392150036 Centerline is valid? [True, True] Translation: X:159.81, Y:-42.85, Z:-7.70 [[ 7.17689184e-01 6.95818518e-01 2.75467925e-02 1.59811547e+02] [-6.95335509e-01 7.18217441e-01 -2.59275375e-02 -4.28514238e+01] [-3.78254475e-02 -5.46349760e-04 9.99284212e-01 -7.69894159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97038572300002 meters 0.01702023256365413 Centerline is valid? [True, True] Translation: X:159.83, Y:-42.87, Z:-7.70 [[ 7.18195636e-01 6.95311608e-01 2.71440066e-02 1.59834152e+02] [-6.94841858e-01 7.18708226e-01 -2.55593118e-02 -4.28736948e+01] [-3.72803070e-02 -5.04205832e-04 9.99304721e-01 -7.70015861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.000385723 meters 0.016770246614946267 Centerline is valid? [True, True] Translation: X:159.86, Y:-42.90, Z:-7.70 [[ 7.18753285e-01 6.94728770e-01 2.73066188e-02 1.59857207e+02] [-6.94252488e-01 7.19271657e-01 -2.57248233e-02 -4.28966020e+01] [-3.75126518e-02 -4.67886736e-04 9.99296043e-01 -7.70092975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030385723 meters 0.01666294672728161 Centerline is valid? [True, True] Translation: X:159.88, Y:-42.92, Z:-7.70 [[ 7.19105564e-01 6.94369940e-01 2.71583321e-02 1.59880463e+02] [-6.93898108e-01 7.19618090e-01 -2.55972767e-02 -4.29181292e+01] [-3.73176065e-02 -4.37971208e-04 9.99303360e-01 -7.70239797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.060385723 meters 0.016756150378286008 Centerline is valid? [True, True] Translation: X:159.90, Y:-42.94, Z:-7.70 [[ 7.18952883e-01 6.94532708e-01 2.70383046e-02 1.59904222e+02] [-6.94064675e-01 7.19460998e-01 -2.54970511e-02 -4.29404014e+01] [-3.71615416e-02 -4.35153701e-04 9.99309177e-01 -7.70396814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090385723 meters 0.0164970145614635 Centerline is valid? [True, True] Translation: X:159.93, Y:-42.96, Z:-7.70 [[ 7.18734791e-01 6.94771466e-01 2.67003947e-02 1.59928362e+02] [-6.94314738e-01 7.19230439e-01 -2.51916723e-02 -4.29627640e+01] [-3.67061917e-02 -4.32346255e-04 9.99326007e-01 -7.70459989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.120385723 meters 0.016759039980530792 Centerline is valid? [True, True] Translation: X:159.95, Y:-42.98, Z:-7.71 [[ 7.18379732e-01 6.95135890e-01 2.67704079e-02 1.59952496e+02] [-6.94676488e-01 7.18878222e-01 -2.52720940e-02 -4.29838317e+01] [-3.68122028e-02 -4.41812870e-04 9.99322103e-01 -7.70655414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150385723 meters 0.016585155569887343 Centerline is valid? [True, True] Translation: X:159.98, Y:-43.01, Z:-7.71 [[ 7.17650485e-01 6.95876436e-01 2.70881261e-02 1.59975724e+02] [-6.95406092e-01 7.18161374e-01 -2.55853136e-02 -4.30078462e+01] [-3.72578627e-02 -4.75935146e-04 9.99305571e-01 -7.70609562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.180385723 meters 0.016825812971244764 Centerline is valid? [True, True] Translation: X:160.00, Y:-43.03, Z:-7.71 [[ 7.16988597e-01 6.96573657e-01 2.66925615e-02 1.59998463e+02] [-6.96116904e-01 7.17485120e-01 -2.52261549e-02 -4.30286956e+01] [-3.67233906e-02 -4.94277834e-04 9.99325347e-01 -7.70735714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210385723 meters 0.01680009022223237 Centerline is valid? [True, True] Translation: X:160.02, Y:-43.05, Z:-7.71 [[ 7.16322424e-01 6.97247601e-01 2.69808601e-02 1.60023217e+02] [-6.96780992e-01 7.16830179e-01 -2.55096832e-02 -4.30507509e+01] [-3.71272602e-02 -5.26592320e-04 9.99310407e-01 -7.70875194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.240385723 meters 0.016728307506823414 Centerline is valid? [True, True] Translation: X:160.05, Y:-43.07, Z:-7.71 [[ 7.15742714e-01 6.97850761e-01 2.67709357e-02 1.60047320e+02] [-6.97391292e-01 7.16242989e-01 -2.53251993e-02 -4.30732372e+01] [-3.68477046e-02 -5.43490606e-04 9.99320745e-01 -7.71021930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270385723 meters 0.016837019199773418 Centerline is valid? [True, True] Translation: X:160.07, Y:-43.09, Z:-7.71 [[ 7.15413989e-01 6.98206229e-01 2.62847141e-02 1.60070525e+02] [-6.97763036e-01 7.15896479e-01 -2.48792387e-02 -4.30948026e+01] [-3.61879737e-02 -5.41546485e-04 9.99344854e-01 -7.71212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.300385723 meters 0.016896802384025644 Centerline is valid? [True, True] Translation: X:160.09, Y:-43.12, Z:-7.71 [[ 7.15204091e-01 6.98442415e-01 2.57157838e-02 1.60093822e+02] [-6.98017923e-01 7.15666060e-01 -2.43530096e-02 -4.31174201e+01] [-3.54130885e-02 -5.32705874e-04 9.99372618e-01 -7.71382218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330385723 meters 0.01685169795214784 Centerline is valid? [True, True] Translation: X:160.12, Y:-43.14, Z:-7.72 [[ 7.15022529e-01 6.98625085e-01 2.58026054e-02 1.60117027e+02] [-6.98197356e-01 7.15487740e-01 -2.44488550e-02 -4.31403410e+01] [-3.55420312e-02 -5.33828700e-04 9.99368040e-01 -7.71501483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.360385723 meters 0.01650513175640171 Centerline is valid? [True, True] Translation: X:160.14, Y:-43.16, Z:-7.71 [[ 7.15744582e-01 6.97874382e-01 2.60967590e-02 1.60138755e+02] [-6.97435832e-01 7.16220011e-01 -2.47417858e-02 -4.31647545e+01] [-3.59576795e-02 -4.92015713e-04 9.99353192e-01 -7.71405768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390385723 meters 0.016447886615941744 Centerline is valid? [True, True] Translation: X:160.16, Y:-43.19, Z:-7.72 [[ 7.16166690e-01 6.97433856e-01 2.62923834e-02 1.60161128e+02] [-6.96987951e-01 7.16649008e-01 -2.49398256e-02 -4.31864830e+01] [-3.62362892e-02 -4.64402089e-04 9.99343142e-01 -7.71516737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.420385723 meters 0.01648920782157929 Centerline is valid? [True, True] Translation: X:160.18, Y:-43.21, Z:-7.72 [[ 7.16615310e-01 6.96961795e-01 2.65848335e-02 1.60183945e+02] [-6.96505127e-01 7.17108127e-01 -2.52297873e-02 -4.32079728e+01] [-3.66483981e-02 -4.36421006e-04 9.99328127e-01 -7.71665993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450385723 meters 0.016317183928847786 Centerline is valid? [True, True] Translation: X:160.21, Y:-43.23, Z:-7.72 [[ 7.16549317e-01 6.97019458e-01 2.68505390e-02 1.60206521e+02] [-6.96553446e-01 7.17052077e-01 -2.54875458e-02 -4.32321522e+01] [-3.70185501e-02 -4.39751960e-04 9.99314482e-01 -7.71620552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480385723 meters 0.016360943292569843 Centerline is valid? [True, True] Translation: X:160.23, Y:-43.26, Z:-7.72 [[ 7.16509680e-01 6.97041281e-01 2.73373500e-02 1.60229691e+02] [-6.96557673e-01 7.17030864e-01 -2.59643491e-02 -4.32550729e+01] [-3.76999469e-02 -4.38333428e-04 9.99289008e-01 -7.71702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510385723 meters 0.016439794783622688 Centerline is valid? [True, True] Translation: X:160.25, Y:-43.28, Z:-7.72 [[ 7.16015546e-01 6.97531686e-01 2.77720017e-02 1.60252705e+02] [-6.97032340e-01 7.16553791e-01 -2.63928529e-02 -4.32769901e+01] [-3.83099843e-02 -4.60290284e-04 9.99265797e-01 -7.71722585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540385723 meters 0.016576600948764345 Centerline is valid? [True, True] Translation: X:160.28, Y:-43.30, Z:-7.72 [[ 7.15430167e-01 6.98126291e-01 2.79169755e-02 1.60277443e+02] [-6.97621849e-01 7.15974471e-01 -2.65388963e-02 -4.32988696e+01] [-3.85153430e-02 -4.88765035e-04 9.99257889e-01 -7.71850594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57038572300002 meters 0.016576600948764345 Centerline is valid? [True, True] Translation: X:160.30, Y:-43.32, Z:-7.72 [[ 7.15241058e-01 6.98320321e-01 2.79098125e-02 1.60300856e+02] [-6.97815733e-01 7.15785226e-01 -2.65464268e-02 -4.33212385e+01] [-3.85153408e-02 -4.88811849e-04 9.99257889e-01 -7.71996194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60038572300002 meters 0.016516218787761876 Centerline is valid? [True, True] Translation: X:160.32, Y:-43.34, Z:-7.72 [[ 7.13869062e-01 6.99728069e-01 2.77775479e-02 1.60324658e+02] [-6.99228759e-01 7.14409074e-01 -2.64351427e-02 -4.33424494e+01] [-3.83419436e-02 -5.51629781e-04 9.99264525e-01 -7.72208544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63038572300002 meters 0.01656508918042712 Centerline is valid? [True, True] Translation: X:160.35, Y:-43.36, Z:-7.72 [[ 7.13139280e-01 7.00483175e-01 2.74898040e-02 1.60347506e+02] [-6.99994243e-01 7.13668683e-01 -2.61738582e-02 -4.33647453e+01] [-3.79529595e-02 -5.77098133e-04 9.99279360e-01 -7.72311920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66038572300002 meters 0.016933668405078834 Centerline is valid? [True, True] Translation: X:160.37, Y:-43.39, Z:-7.72 [[ 7.12043876e-01 7.01624439e-01 2.67706044e-02 1.60370115e+02] [-7.01161114e-01 7.12546681e-01 -2.55013721e-02 -4.33860560e+01] [-3.69676912e-02 -6.12411000e-04 9.99316274e-01 -7.72416692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69038572300002 meters 0.017112450125397943 Centerline is valid? [True, True] Translation: X:160.39, Y:-43.41, Z:-7.73 [[ 7.11458581e-01 7.02220477e-01 2.67037462e-02 1.60394576e+02] [-7.01759480e-01 7.11959269e-01 -2.54486205e-02 -4.34085638e+01] [-3.68825220e-02 -6.33967646e-04 9.99319407e-01 -7.72562517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72038572300002 meters 0.017077942276099833 Centerline is valid? [True, True] Translation: X:160.42, Y:-43.43, Z:-7.73 [[ 7.10333465e-01 7.03348550e-01 2.69663943e-02 1.60418086e+02] [-7.02878707e-01 7.10844809e-01 -2.57134311e-02 -4.34303024e+01] [-3.72544259e-02 -6.88993746e-04 9.99305575e-01 -7.72601383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750385723 meters 0.017118577065961135 Centerline is valid? [True, True] Translation: X:160.44, Y:-43.45, Z:-7.73 [[ 7.09696186e-01 7.03985731e-01 2.71185180e-02 1.60442246e+02] [-7.03510573e-01 7.10213753e-01 -2.58708026e-02 -4.34530632e+01] [-3.74726203e-02 -7.17754153e-04 9.99297397e-01 -7.72715751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.780385723 meters 0.017357570713642988 Centerline is valid? [True, True] Translation: X:160.46, Y:-43.47, Z:-7.73 [[ 7.09108587e-01 7.04595251e-01 2.66560524e-02 1.60464069e+02] [-7.04136060e-01 7.09609050e-01 -2.54441397e-02 -4.34745815e+01] [-3.68431960e-02 -7.26829844e-04 9.99320795e-01 -7.72849370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810385723 meters 0.017511850962074704 Centerline is valid? [True, True] Translation: X:160.49, Y:-43.50, Z:-7.73 [[ 7.09204587e-01 7.04515090e-01 2.62171916e-02 1.60486642e+02] [-7.04070422e-01 7.09688660e-01 -2.50369011e-02 -4.34967600e+01] [-3.62449182e-02 -7.02463993e-04 9.99342690e-01 -7.73029340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.840385723 meters 0.017174434697761223 Centerline is valid? [True, True] Translation: X:160.51, Y:-43.52, Z:-7.73 [[ 7.09896653e-01 7.03841256e-01 2.55778675e-02 1.60507581e+02] [-7.03417325e-01 7.10357000e-01 -2.44335649e-02 -4.35210858e+01] [-3.53667682e-02 -6.46609191e-04 9.99374191e-01 -7.73145861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870385723 meters 0.016873159008626654 Centerline is valid? [True, True] Translation: X:160.53, Y:-43.54, Z:-7.73 [[ 7.10447113e-01 7.03302014e-01 2.51232386e-02 1.60530098e+02] [-7.02892289e-01 7.10890931e-01 -2.40107028e-02 -4.35445003e+01] [-3.47466581e-02 -6.00596268e-04 9.99395972e-01 -7.73256138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.900385723 meters 0.017484980651623853 Centerline is valid? [True, True] Translation: X:160.55, Y:-43.57, Z:-7.74 [[ 7.11983481e-01 7.01749614e-01 2.50400099e-02 1.60552802e+02] [-7.01341230e-01 7.12423479e-01 -2.39429571e-02 -4.35663216e+01] [-3.46410519e-02 -5.14601390e-04 9.99399686e-01 -7.73584554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930385723 meters 0.01659132573712467 Centerline is valid? [True, True] Translation: X:160.57, Y:-43.59, Z:-7.74 [[ 7.12388413e-01 7.01333349e-01 2.51849711e-02 1.60573329e+02] [-7.00919545e-01 7.12833286e-01 -2.40934970e-02 -4.35913544e+01] [-3.48502586e-02 -4.88710392e-04 9.99392426e-01 -7.73544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.960385723 meters 0.016497847658933324 Centerline is valid? [True, True] Translation: X:160.59, Y:-43.62, Z:-7.74 [[ 7.13659562e-01 7.00024251e-01 2.56140227e-02 1.60594924e+02] [-6.99594946e-01 7.14118946e-01 -2.45161662e-02 -4.36153041e+01] [-3.54533698e-02 -4.23244346e-04 9.99371242e-01 -7.73671434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990385723 meters 0.016458416249114923 Centerline is valid? [True, True] Translation: X:160.62, Y:-43.64, Z:-7.74 [[ 7.13909086e-01 6.99763153e-01 2.57943298e-02 1.60617127e+02] [-6.99327169e-01 7.14374808e-01 -2.47010940e-02 -4.36372533e+01] [-3.57117348e-02 -4.04340151e-04 9.99362051e-01 -7.73849461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.020385723 meters 0.016487987034054824 Centerline is valid? [True, True] Translation: X:160.64, Y:-43.66, Z:-7.74 [[ 7.13697227e-01 6.99969695e-01 2.60517482e-02 1.60639297e+02] [-6.99524718e-01 7.14172428e-01 -2.49582060e-02 -4.36612505e+01] [-3.60754280e-02 -4.11239388e-04 9.99348985e-01 -7.73892398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050385723 meters 0.016614290135262937 Centerline is valid? [True, True] Translation: X:160.66, Y:-43.68, Z:-7.74 [[ 7.13344600e-01 7.00333834e-01 2.59230181e-02 1.60662481e+02] [-6.99892973e-01 7.13815345e-01 -2.48491309e-02 -4.36826997e+01] [-3.59069352e-02 -4.17344832e-04 9.99355051e-01 -7.74113531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.080385723 meters 0.016526944337895883 Centerline is valid? [True, True] Translation: X:160.69, Y:-43.71, Z:-7.74 [[ 7.13111270e-01 7.00586492e-01 2.55124279e-02 1.60685684e+02] [-7.00159214e-01 7.13567373e-01 -2.44679239e-02 -4.37053498e+01] [-3.53467331e-02 -4.14409203e-04 9.99375023e-01 -7.74276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110385723 meters 0.016562068424177467 Centerline is valid? [True, True] Translation: X:160.71, Y:-43.73, Z:-7.75 [[ 7.13126088e-01 7.00597495e-01 2.47857271e-02 1.60709075e+02] [-7.00193785e-01 7.13556581e-01 -2.37837996e-02 -4.37288052e+01] [-3.43488892e-02 -3.93964096e-04 9.99409825e-01 -7.74582794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.140385723 meters 0.016484562652616018 Centerline is valid? [True, True] Translation: X:160.73, Y:-43.75, Z:-7.75 [[ 7.13581158e-01 7.00155687e-01 2.41649686e-02 1.60730219e+02] [-6.99771224e-01 7.13990119e-01 -2.32022617e-02 -4.37530485e+01] [-3.34987443e-02 -3.53252925e-04 9.99438697e-01 -7.74750600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170385723 meters 0.01629626142493494 Centerline is valid? [True, True] Translation: X:160.75, Y:-43.78, Z:-7.75 [[ 7.14195403e-01 6.99533285e-01 2.40438899e-02 1.60751674e+02] [-6.99152088e-01 7.14599945e-01 -2.30927659e-02 -4.37767453e+01] [-3.33359208e-02 -3.17588546e-04 9.99444153e-01 -7.74798966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.200385723 meters 0.0162919131653445 Centerline is valid? [True, True] Translation: X:160.77, Y:-43.80, Z:-7.75 [[ 7.14569250e-01 6.99146749e-01 2.41787175e-02 1.60773376e+02] [-6.98760644e-01 7.14978138e-01 -2.32341529e-02 -4.37992366e+01] [-3.35313369e-02 -2.92725033e-04 9.99437624e-01 -7.74965743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230385723 meters 0.015968135449028798 Centerline is valid? [True, True] Translation: X:160.79, Y:-43.82, Z:-7.75 [[ 7.15997946e-01 6.97666748e-01 2.46586773e-02 1.60794879e+02] [-6.97263905e-01 7.16422404e-01 -2.37062288e-02 -4.38237593e+01] [-3.42050764e-02 -2.19994530e-04 9.99414811e-01 -7.75063024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260385723 meters 0.015853889867639578 Centerline is valid? [True, True] Translation: X:160.82, Y:-43.85, Z:-7.75 [[ 7.17353276e-01 6.96276394e-01 2.45654481e-02 1.60815731e+02] [-6.95875375e-01 7.17773754e-01 -2.36283726e-02 -4.38469466e+01] [-3.40843119e-02 -1.44599915e-04 9.99418951e-01 -7.75211464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290385723 meters 0.01586821394761876 Centerline is valid? [True, True] Translation: X:160.84, Y:-43.87, Z:-7.75 [[ 7.17592519e-01 6.96039628e-01 2.42860623e-02 1.60838336e+02] [-6.95647221e-01 7.18003357e-01 -2.33693022e-02 -4.38708207e+01] [-3.37034347e-02 -1.24895369e-04 9.99431870e-01 -7.75372870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32038572300002 meters 0.01590520500564894 Centerline is valid? [True, True] Translation: X:160.86, Y:-43.89, Z:-7.76 [[ 7.17708570e-01 6.95928118e-01 2.40512655e-02 1.60860820e+02] [-6.95542769e-01 7.18111442e-01 -2.31562982e-02 -4.38940017e+01] [-3.33866079e-02 -1.09210137e-04 9.99442506e-01 -7.75541631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35038572300002 meters 0.015832405260986157 Centerline is valid? [True, True] Translation: X:160.88, Y:-43.92, Z:-7.76 [[ 7.18060716e-01 6.95568931e-01 2.39305206e-02 1.60883143e+02] [-6.95186860e-01 7.18459362e-01 -2.30515688e-02 -4.39188214e+01] [-3.32270617e-02 -8.37574706e-05 9.99447825e-01 -7.75658583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38038572300002 meters 0.015806303824296417 Centerline is valid? [True, True] Translation: X:160.91, Y:-43.94, Z:-7.76 [[ 7.17858474e-01 6.95783987e-01 2.37456460e-02 1.60905697e+02] [-6.95407492e-01 7.18251096e-01 -2.28863258e-02 -4.39414823e+01] [-3.29792752e-02 -8.37572205e-05 9.99456032e-01 -7.75832175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41038572300002 meters 0.01586542945619743 Centerline is valid? [True, True] Translation: X:160.93, Y:-43.96, Z:-7.76 [[ 7.16799928e-01 6.96860936e-01 2.41391697e-02 1.60928965e+02] [-6.96472063e-01 7.17206260e-01 -2.32775848e-02 -4.39648486e+01] [-3.35340032e-02 -1.26886217e-04 9.99437569e-01 -7.75878354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44038572300002 meters 0.0161093608722894 Centerline is valid? [True, True] Translation: X:160.95, Y:-43.99, Z:-7.76 [[ 7.14722267e-01 6.98971578e-01 2.47146478e-02 1.60953453e+02] [-6.98564724e-01 7.15149414e-01 -2.38462286e-02 -4.39857870e+01] [-3.43425019e-02 -2.21350593e-04 9.99410098e-01 -7.75960336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47038572300002 meters 0.016279472821242546 Centerline is valid? [True, True] Translation: X:160.98, Y:-44.01, Z:-7.76 [[ 7.13227766e-01 7.00485121e-01 2.50349681e-02 1.60977949e+02] [-7.00068153e-01 7.13666947e-01 -2.41675382e-02 -4.40076377e+01] [-3.47956302e-02 -2.89224579e-04 9.99394407e-01 -7.76038425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.500385723 meters 0.016672893249459062 Centerline is valid? [True, True] Translation: X:161.00, Y:-44.03, Z:-7.76 [[ 7.10377955e-01 7.03365163e-01 2.53102537e-02 1.61003415e+02] [-7.02940300e-01 7.10828578e-01 -2.44472497e-02 -4.40269640e+01] [-3.51865954e-02 -4.24810058e-04 9.99380670e-01 -7.76277097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530385723 meters 0.017111020459729852 Centerline is valid? [True, True] Translation: X:161.03, Y:-44.05, Z:-7.76 [[ 7.08675459e-01 7.05087701e-01 2.51083290e-02 1.61027812e+02] [-7.04670272e-01 7.09119938e-01 -2.42636022e-02 -4.40475257e+01] [-3.49127842e-02 -4.98073566e-04 9.99390239e-01 -7.76448202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.560385723 meters 0.0177750834869667 Centerline is valid? [True, True] Translation: X:161.05, Y:-44.07, Z:-7.77 [[ 7.06830308e-01 7.06940984e-01 2.50072392e-02 1.61052044e+02] [-7.06527659e-01 7.07272303e-01 -2.41776120e-02 -4.40673396e+01] [-3.47790724e-02 -5.78837240e-04 9.99394857e-01 -7.76696091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590385723 meters 0.018559726873325175 Centerline is valid? [True, True] Translation: X:161.08, Y:-44.09, Z:-7.77 [[ 7.03720483e-01 7.10086941e-01 2.35375770e-02 1.61076666e+02] [-7.09722160e-01 7.04113677e-01 -2.27681045e-02 -4.40881689e+01] [-3.27404635e-02 -6.82758515e-04 9.99463654e-01 -7.76966339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.620385723 meters 0.01928832646362361 Centerline is valid? [True, True] Translation: X:161.10, Y:-44.11, Z:-7.77 [[ 7.02362369e-01 7.11456741e-01 2.27246162e-02 1.61100161e+02] [-7.11117409e-01 7.02729527e-01 -2.19828034e-02 -4.41083161e+01] [-3.16090724e-02 -7.19976263e-04 9.99500049e-01 -7.77279580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650385723 meters 0.01965137435323564 Centerline is valid? [True, True] Translation: X:161.12, Y:-44.13, Z:-7.78 [[ 7.00963221e-01 7.12882039e-01 2.12075849e-02 1.61123762e+02] [-7.12586820e-01 7.01283591e-01 -2.05267844e-02 -4.41299659e+01] [-2.95057072e-02 -7.23724608e-04 9.99564350e-01 -7.77595524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.680385723 meters 0.020022785776288302 Centerline is valid? [True, True] Translation: X:161.15, Y:-44.15, Z:-7.78 [[ 7.00785743e-01 7.13047583e-01 2.15055090e-02 1.61146732e+02] [-7.12744115e-01 7.01115250e-01 -2.08142327e-02 -4.41513598e+01] [-2.99193787e-02 -7.41607442e-04 9.99552040e-01 -7.77792063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710385723 meters 0.020073318731495947 Centerline is valid? [True, True] Translation: X:161.17, Y:-44.17, Z:-7.78 [[ 7.00692115e-01 7.13111038e-01 2.24323132e-02 1.61169802e+02] [-7.12780500e-01 7.01050682e-01 -2.17232671e-02 -4.41739829e+01] [-3.12172900e-02 -7.67993461e-04 9.99512327e-01 -7.77853164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.740385723 meters 0.019959569309826453 Centerline is valid? [True, True] Translation: X:161.19, Y:-44.20, Z:-7.78 [[ 7.00786604e-01 7.12990100e-01 2.33077869e-02 1.61192558e+02] [-7.12632822e-01 7.01173661e-01 -2.25822717e-02 -4.41969988e+01] [-3.24437424e-02 -7.84540481e-04 9.99473255e-01 -7.77906279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770385723 meters 0.02010360832653817 Centerline is valid? [True, True] Translation: X:161.21, Y:-44.22, Z:-7.78 [[ 7.01118291e-01 7.12615041e-01 2.47577259e-02 1.61214499e+02] [-7.12211265e-01 7.01554811e-01 -2.39991975e-02 -4.42198779e+01] [-3.44710908e-02 -8.06454955e-04 9.99405370e-01 -7.77809553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.800385723 meters 0.020203613586690285 Centerline is valid? [True, True] Translation: X:161.24, Y:-44.24, Z:-7.78 [[ 7.01653493e-01 7.12080422e-01 2.49769509e-02 1.61236341e+02] [-7.11668722e-01 7.02097476e-01 -2.42232145e-02 -4.42419145e+01] [-3.47851310e-02 -7.79011654e-04 9.99394511e-01 -7.77929608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830385723 meters 0.01970647730604382 Centerline is valid? [True, True] Translation: X:161.26, Y:-44.26, Z:-7.78 [[ 7.01817828e-01 7.11903939e-01 2.53873525e-02 1.61258357e+02] [-7.11478109e-01 7.02276427e-01 -2.46317115e-02 -4.42649994e+01] [-3.53643517e-02 -7.75571328e-04 9.99374185e-01 -7.78043530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.860385723 meters 0.019609831716784952 Centerline is valid? [True, True] Translation: X:161.28, Y:-44.29, Z:-7.78 [[ 7.02842370e-01 7.10894482e-01 2.53305976e-02 1.61280636e+02] [-7.10469449e-01 7.03298319e-01 -2.45893431e-02 -4.42869702e+01] [-3.52953950e-02 -7.14183547e-04 9.99376668e-01 -7.78213288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890385723 meters 0.019435399923814455 Centerline is valid? [True, True] Translation: X:161.30, Y:-44.31, Z:-7.78 [[ 7.03474900e-01 7.10244740e-01 2.59899008e-02 1.61303370e+02] [-7.09796639e-01 7.03954492e-01 -2.52350120e-02 -4.43096097e+01] [-3.62187420e-02 -6.95346662e-04 9.99343644e-01 -7.78387669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.920385723 meters 0.01921123101764736 Centerline is valid? [True, True] Translation: X:161.32, Y:-44.33, Z:-7.78 [[ 7.04224151e-01 7.09476080e-01 2.66840266e-02 1.61324788e+02] [-7.09002674e-01 7.04729204e-01 -2.59221408e-02 -4.43317942e+01] [-3.71961517e-02 -6.64048640e-04 9.99307763e-01 -7.78489992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950385723 meters 0.01811459866213123 Centerline is valid? [True, True] Translation: X:161.35, Y:-44.36, Z:-7.79 [[ 7.06070280e-01 7.07602534e-01 2.76299281e-02 1.61345121e+02] [-7.07093227e-01 7.06610442e-01 -2.68486700e-02 -4.43568516e+01] [-3.85217826e-02 -5.79887018e-04 9.99257592e-01 -7.78545207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980385723 meters 0.01845349845254496 Centerline is valid? [True, True] Translation: X:161.37, Y:-44.38, Z:-7.79 [[ 7.07018657e-01 7.06660941e-01 2.74760560e-02 1.61367638e+02] [-7.06156455e-01 7.07552147e-01 -2.67024453e-02 -4.43783653e+01] [-3.83103175e-02 -5.23267301e-04 9.99265753e-01 -7.78760888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010385723 meters 0.01790034171609669 Centerline is valid? [True, True] Translation: X:161.39, Y:-44.40, Z:-7.79 [[ 7.08990744e-01 7.04678576e-01 2.75722628e-02 1.61387460e+02] [-7.04168557e-01 7.09526559e-01 -2.68086947e-02 -4.44020142e+01] [-3.84547655e-02 -4.08404034e-04 9.99260258e-01 -7.78851162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040385723 meters 0.017761828195780437 Centerline is valid? [True, True] Translation: X:161.41, Y:-44.43, Z:-7.79 [[ 7.09591576e-01 7.04070233e-01 2.76568664e-02 1.61410146e+02] [-7.03556385e-01 7.10130247e-01 -2.68969201e-02 -4.44251170e+01] [-3.85772982e-02 -3.72336993e-04 9.99255550e-01 -7.79014845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07038572300002 meters 0.017507475330664345 Centerline is valid? [True, True] Translation: X:161.43, Y:-44.45, Z:-7.79 [[ 7.10866791e-01 7.02796980e-01 2.72912102e-02 1.61432413e+02] [-7.02295255e-01 7.11390413e-01 -2.65528681e-02 -4.44470936e+01] [-3.80759808e-02 -2.90935235e-04 9.99274805e-01 -7.79277107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10038572300002 meters 0.017203306562242473 Centerline is valid? [True, True] Translation: X:161.45, Y:-44.47, Z:-7.79 [[ 7.11046132e-01 7.02622608e-01 2.71084582e-02 1.61454735e+02] [-7.02127084e-01 7.11562644e-01 -2.63848952e-02 -4.44706252e+01] [-3.78279901e-02 -2.72705020e-04 9.99284228e-01 -7.79357772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13038572300002 meters 0.017343445186140047 Centerline is valid? [True, True] Translation: X:161.48, Y:-44.49, Z:-7.80 [[ 7.11883186e-01 7.01775808e-01 2.70747993e-02 1.61477401e+02] [-7.01280347e-01 7.12397830e-01 -2.63667698e-02 -4.44918739e+01] [-3.77915894e-02 -2.16964606e-04 9.99285619e-01 -7.79717574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16038572300002 meters 0.01713187528208419 Centerline is valid? [True, True] Translation: X:161.50, Y:-44.52, Z:-7.80 [[ 7.12411174e-01 7.01228053e-01 2.73776481e-02 1.61500237e+02] [-7.00720563e-01 7.12937013e-01 -2.66741174e-02 -4.45161089e+01] [-3.82231781e-02 -1.81141733e-04 9.99269211e-01 -7.79736982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19038572300002 meters 0.01706820564680638 Centerline is valid? [True, True] Translation: X:161.52, Y:-44.54, Z:-7.80 [[ 7.14387845e-01 6.99170151e-01 2.84799540e-02 1.61521812e+02] [-6.98618685e-01 7.14955311e-01 -2.77639552e-02 -4.45402076e+01] [-3.97736231e-02 -6.23958656e-05 9.99208714e-01 -7.79692657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22038572300002 meters 0.01704861857020359 Centerline is valid? [True, True] Translation: X:161.54, Y:-44.56, Z:-7.80 [[ 7.15346889e-01 6.98156585e-01 2.92610825e-02 1.61544374e+02] [-6.97573036e-01 7.15945098e-01 -2.85390448e-02 -4.45633269e+01] [-4.08740506e-02 3.57480344e-06 9.99164307e-01 -7.79817482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250385723 meters 0.017064856712107182 Centerline is valid? [True, True] Translation: X:161.57, Y:-44.59, Z:-7.80 [[ 7.17282459e-01 6.96112933e-01 3.05394429e-02 1.61567377e+02] [-6.95474747e-01 7.17932285e-01 -2.98011867e-02 -4.45867395e+01] [-4.26702435e-02 1.36457120e-04 9.99089201e-01 -7.79790307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.280385723 meters 0.017115799457190897 Centerline is valid? [True, True] Translation: X:161.59, Y:-44.61, Z:-7.80 [[ 7.17817274e-01 6.95549778e-01 3.08036935e-02 1.61590995e+02] [-6.94899272e-01 7.18477886e-01 -3.00753979e-02 -4.46097756e+01] [-4.30507089e-02 1.83175982e-04 9.99072872e-01 -7.79948701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310385723 meters 0.017274429888345877 Centerline is valid? [True, True] Translation: X:161.61, Y:-44.63, Z:-7.80 [[ 7.18737565e-01 6.94612081e-01 3.05019610e-02 1.61614934e+02] [-6.93972726e-01 7.19384455e-01 -2.97969959e-02 -4.46314462e+01] [-4.26399900e-02 2.48691258e-04 9.99090471e-01 -7.80258029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.340385723 meters 0.017319830632466865 Centerline is valid? [True, True] Translation: X:161.64, Y:-44.65, Z:-7.81 [[ 7.19063369e-01 6.94301201e-01 2.98950599e-02 1.61638913e+02] [-6.93686153e-01 7.19684492e-01 -2.92190519e-02 -4.46522690e+01] [-4.18018338e-02 2.72560830e-04 9.99125884e-01 -7.80595128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370385723 meters 0.017361636697161936 Centerline is valid? [True, True] Translation: X:161.66, Y:-44.68, Z:-7.81 [[ 7.19013237e-01 6.94344005e-01 3.01059487e-02 1.61663229e+02] [-6.93719874e-01 7.19643193e-01 -2.94348694e-02 -4.46750146e+01] [-4.21034662e-02 2.78965837e-04 9.99113217e-01 -7.80765246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.400385723 meters 0.017933627104440724 Centerline is valid? [True, True] Translation: X:161.69, Y:-44.70, Z:-7.81 [[ 7.18955911e-01 6.94377938e-01 3.06867496e-02 1.61687315e+02] [-6.93728812e-01 7.19610445e-01 -3.00190372e-02 -4.46966481e+01] [-4.29270627e-02 2.94081881e-04 9.99078166e-01 -7.81011662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430385723 meters 0.017933627104440724 Centerline is valid? [True, True] Translation: X:161.71, Y:-44.72, Z:-7.81 [[ 7.18763885e-01 6.94577074e-01 3.06784391e-02 1.61710411e+02] [-6.93927767e-01 7.19418239e-01 -3.00275279e-02 -4.47193284e+01] [-4.29270610e-02 2.94081869e-04 9.99078166e-01 -7.81157252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.460385723 meters 0.017303590719435505 Centerline is valid? [True, True] Translation: X:161.74, Y:-44.74, Z:-7.81 [[ 7.18708621e-01 6.94587437e-01 3.17208280e-02 1.61735234e+02] [-6.93892453e-01 7.19408224e-01 -3.10655894e-02 -4.47406899e+01] [-4.43979927e-02 3.16263800e-04 9.99013873e-01 -7.81113566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490385723 meters 0.01730755883591299 Centerline is valid? [True, True] Translation: X:161.76, Y:-44.76, Z:-7.81 [[ 7.18372990e-01 6.94930580e-01 3.18077963e-02 1.61759458e+02] [-6.94231345e-01 7.19076765e-01 -3.11680131e-02 -4.47614486e+01] [-4.45318526e-02 3.08289571e-04 9.99007917e-01 -7.81231332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.520385723 meters 0.017156691048513015 Centerline is valid? [True, True] Translation: X:161.78, Y:-44.78, Z:-7.81 [[ 7.17559845e-01 6.95754409e-01 3.21507529e-02 1.61783437e+02] [-6.95040095e-01 7.18279701e-01 -3.15204360e-02 -4.47820761e+01] [-4.50237155e-02 2.71736802e-04 9.98985881e-01 -7.81413898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550385723 meters 0.017278438642849264 Centerline is valid? [True, True] Translation: X:161.81, Y:-44.80, Z:-7.82 [[ 7.17039037e-01 6.96248015e-01 3.30714428e-02 1.61808776e+02] [-6.95491918e-01 7.17801249e-01 -3.24400840e-02 -4.48031561e+01] [-4.63250671e-02 2.59885404e-04 9.98926384e-01 -7.81594881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.580385723 meters 0.017271639418068762 Centerline is valid? [True, True] Translation: X:161.83, Y:-44.82, Z:-7.82 [[ 7.16294186e-01 6.96957993e-01 3.42373306e-02 1.61834496e+02] [-6.96147520e-01 7.17111917e-01 -3.36025220e-02 -4.48228801e+01] [-4.79715441e-02 2.35058308e-04 9.98848675e-01 -7.81661158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610385723 meters 0.017329530426529658 Centerline is valid? [True, True] Translation: X:161.86, Y:-44.84, Z:-7.82 [[ 7.16024677e-01 6.97196171e-01 3.50165802e-02 1.61858978e+02] [-6.96347798e-01 7.16880355e-01 -3.43846050e-02 -4.48433093e+01] [-4.90755134e-02 2.36507166e-04 9.98795043e-01 -7.81751493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.640385723 meters 0.017285328997867395 Centerline is valid? [True, True] Translation: X:161.88, Y:-44.87, Z:-7.82 [[ 7.15819717e-01 6.97407396e-01 3.50008084e-02 1.61883648e+02] [-6.96559444e-01 7.16674871e-01 -3.43812499e-02 -4.48651634e+01] [-4.90619378e-02 2.30632954e-04 9.98795711e-01 -7.81972516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670385723 meters 0.01786606445745174 Centerline is valid? [True, True] Translation: X:161.91, Y:-44.89, Z:-7.82 [[ 7.15963544e-01 6.97253478e-01 3.51253680e-02 1.61907888e+02] [-6.96398349e-01 7.16824611e-01 -3.45227059e-02 -4.48871278e+01] [-4.92498049e-02 2.55750581e-04 9.98786459e-01 -7.82305102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.700385723 meters 0.018025588188053315 Centerline is valid? [True, True] Translation: X:161.93, Y:-44.91, Z:-7.83 [[ 7.16377977e-01 6.96799655e-01 3.56768214e-02 1.61932577e+02] [-6.95915908e-01 7.17265744e-01 -3.50842148e-02 -4.49073306e+01] [-5.00364306e-02 3.05491271e-04 9.98747347e-01 -7.82577838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730385723 meters 0.01740713232527976 Centerline is valid? [True, True] Translation: X:161.96, Y:-44.93, Z:-7.83 [[ 7.16195601e-01 6.96995583e-01 3.55108129e-02 1.61957173e+02] [-6.96119387e-01 7.17075355e-01 -3.49390113e-02 -4.49293595e+01] [-4.98162653e-02 3.03400891e-04 9.98758353e-01 -7.82630320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760385723 meters 0.01740571221400899 Centerline is valid? [True, True] Translation: X:161.98, Y:-44.95, Z:-7.83 [[ 7.16648297e-01 6.96546267e-01 3.51925656e-02 1.61982195e+02] [-6.95684236e-01 7.17511797e-01 -3.46448282e-02 -4.49511381e+01] [-4.93828067e-02 3.45244020e-04 9.98779865e-01 -7.82916946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790385723 meters 0.01741517113692169 Centerline is valid? [True, True] Translation: X:162.01, Y:-44.97, Z:-7.83 [[ 7.16496600e-01 6.96731958e-01 3.46005914e-02 1.62006436e+02] [-6.95898010e-01 7.17331487e-01 -3.40807465e-02 -4.49736732e+01] [-4.85652389e-02 3.40256299e-04 9.98819955e-01 -7.83167048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82038572300002 meters 0.017496187798586693 Centerline is valid? [True, True] Translation: X:162.03, Y:-45.00, Z:-7.83 [[ 7.16373946e-01 6.96885405e-01 3.40455874e-02 1.62029913e+02] [-6.96077311e-01 7.17182416e-01 -3.35523191e-02 -4.49960550e+01] [-4.77990181e-02 3.37646274e-04 9.98856917e-01 -7.83365165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85038572300002 meters 0.01737224129565698 Centerline is valid? [True, True] Translation: X:162.05, Y:-45.02, Z:-7.84 [[ 7.16250491e-01 6.97042004e-01 3.34316940e-02 1.62053909e+02] [-6.96262139e-01 7.17030218e-01 -3.29651388e-02 -4.50188752e+01] [-4.69496212e-02 3.34074100e-04 9.98897203e-01 -7.83607115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88038572300002 meters 0.01829576590741502 Centerline is valid? [True, True] Translation: X:162.08, Y:-45.04, Z:-7.84 [[ 7.16362878e-01 6.96960439e-01 3.27165640e-02 1.62078184e+02] [-6.96212717e-01 7.17109495e-01 -3.22773132e-02 -4.50413657e+01] [-4.59573690e-02 3.44581073e-04 9.98943342e-01 -7.84092016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91038572300002 meters 0.01763451474660135 Centerline is valid? [True, True] Translation: X:162.10, Y:-45.06, Z:-7.84 [[ 7.16057991e-01 6.97285043e-01 3.24734045e-02 1.62101396e+02] [-6.96547943e-01 7.16793874e-01 -3.20547406e-02 -4.50627887e+01] [-4.56280286e-02 3.33770031e-04 9.98958443e-01 -7.84171821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94038572300002 meters 0.018045678250039644 Centerline is valid? [True, True] Translation: X:162.13, Y:-45.09, Z:-7.84 [[ 7.16208046e-01 6.97118416e-01 3.27406204e-02 1.62125325e+02] [-6.96368191e-01 7.16955915e-01 -3.23350933e-02 -4.50857412e+01] [-4.60149705e-02 3.59127413e-04 9.98940686e-01 -7.84424455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970385723 meters 0.017706003082327677 Centerline is valid? [True, True] Translation: X:162.15, Y:-45.11, Z:-7.84 [[ 7.16337810e-01 6.96966260e-01 3.31387229e-02 1.62149279e+02] [-6.96196672e-01 7.17103816e-01 -3.27461458e-02 -4.51090411e+01] [-4.65868634e-02 3.86233775e-04 9.98914168e-01 -7.84430839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.000385723 meters 0.01785067757578373 Centerline is valid? [True, True] Translation: X:162.17, Y:-45.13, Z:-7.84 [[ 7.16504392e-01 6.96717502e-01 3.47300817e-02 1.62172470e+02] [-6.95870954e-01 7.17345477e-01 -3.43377792e-02 -4.51319354e+01] [-4.88371988e-02 4.35514494e-04 9.98806657e-01 -7.84440938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030385723 meters 0.019479141944272475 Centerline is valid? [True, True] Translation: X:162.20, Y:-45.16, Z:-7.85 [[ 7.16869423e-01 6.96315411e-01 3.52573341e-02 1.62195090e+02] [-6.95441629e-01 7.17735757e-01 -3.48758446e-02 -4.51555209e+01] [-4.95900374e-02 4.82008763e-04 9.98769541e-01 -7.84844699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.060385723 meters 0.017993668658653962 Centerline is valid? [True, True] Translation: X:162.22, Y:-45.18, Z:-7.85 [[ 7.16274139e-01 6.96932346e-01 3.51662234e-02 1.62218414e+02] [-6.96062910e-01 7.17136738e-01 -3.48040736e-02 -4.51774937e+01] [-4.94750754e-02 4.51354048e-04 9.98775257e-01 -7.84703018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090385723 meters 0.017831711075418238 Centerline is valid? [True, True] Translation: X:162.24, Y:-45.20, Z:-7.85 [[ 7.15497694e-01 6.97722303e-01 3.53077765e-02 1.62242594e+02] [-6.96845937e-01 7.16368215e-01 -3.49617076e-02 -4.52000262e+01] [-4.96869320e-02 4.10940614e-04 9.98764757e-01 -7.84885480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.120385723 meters 0.01779592349827009 Centerline is valid? [True, True] Translation: X:162.27, Y:-45.22, Z:-7.85 [[ 7.13610768e-01 6.99658568e-01 3.51789546e-02 1.62266088e+02] [-6.98790016e-01 7.14477295e-01 -3.48526771e-02 -4.52216175e+01] [-4.95195385e-02 2.88543382e-04 9.98773113e-01 -7.85023531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150385723 meters 0.017744542956871997 Centerline is valid? [True, True] Translation: X:162.29, Y:-45.24, Z:-7.85 [[ 7.12438788e-01 7.00855185e-01 3.51138492e-02 1.62289776e+02] [-6.99990471e-01 7.13303556e-01 -3.48048571e-02 -4.52438634e+01] [-4.94399980e-02 2.16970375e-04 9.98777072e-01 -7.85203386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.180385723 meters 0.01764266199731585 Centerline is valid? [True, True] Translation: X:162.31, Y:-45.26, Z:-7.85 [[ 7.09760204e-01 7.03559741e-01 3.52724242e-02 1.62313693e+02] [-7.02689593e-01 7.10636116e-01 -3.49806778e-02 -4.52638270e+01] [-4.96768552e-02 4.23276216e-05 9.98765342e-01 -7.85386662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210385723 meters 0.017678405967535688 Centerline is valid? [True, True] Translation: X:162.34, Y:-45.29, Z:-7.86 [[ 7.08271341e-01 7.05069737e-01 3.50481523e-02 1.62337657e+02] [-7.04211707e-01 7.09137972e-01 -3.47736760e-02 -4.52857083e+01] [-4.93718422e-02 -5.21210260e-05 9.98780466e-01 -7.85645396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.240385723 meters 0.017897344014214295 Centerline is valid? [True, True] Translation: X:162.36, Y:-45.31, Z:-7.86 [[ 7.04888002e-01 7.08494622e-01 3.41800449e-02 1.62362039e+02] [-7.07681726e-01 7.05716159e-01 -3.39304779e-02 -4.53071570e+01] [-4.81609711e-02 -2.71406382e-04 9.98839550e-01 -7.85919586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270385723 meters 0.018176314861733694 Centerline is valid? [True, True] Translation: X:162.38, Y:-45.33, Z:-7.86 [[ 7.03437825e-01 7.09945713e-01 3.39457203e-02 1.62384682e+02] [-7.09144766e-01 7.04256316e-01 -3.37156156e-02 -4.53284363e+01] [-4.78427446e-02 -3.55590598e-04 9.98854817e-01 -7.86067745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.300385723 meters 0.018534563884986012 Centerline is valid? [True, True] Translation: X:162.41, Y:-45.35, Z:-7.86 [[ 7.01264440e-01 7.12065967e-01 3.44999174e-02 1.62407912e+02] [-7.11240721e-01 7.02112389e-01 -3.42757919e-02 -4.53508294e+01] [-4.86294444e-02 -5.01352101e-04 9.98816763e-01 -7.86135554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330385723 meters 0.018694502945553595 Centerline is valid? [True, True] Translation: X:162.43, Y:-45.37, Z:-7.86 [[ 7.00337920e-01 7.12942807e-01 3.52044423e-02 1.62430533e+02] [-7.12083752e-01 7.01221961e-01 -3.49927362e-02 -4.53731183e+01] [-4.96339476e-02 -5.61771224e-04 9.98767318e-01 -7.86239521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.360385723 meters 0.01884703698902723 Centerline is valid? [True, True] Translation: X:162.45, Y:-45.40, Z:-7.86 [[ 6.99583262e-01 7.13643141e-01 3.60100930e-02 1.62453966e+02] [-7.12744314e-01 7.00509166e-01 -3.58113271e-02 -4.53954917e+01] [-5.07819081e-02 -6.12983996e-04 9.98709578e-01 -7.86334852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390385723 meters 0.019956921166727766 Centerline is valid? [True, True] Translation: X:162.48, Y:-45.42, Z:-7.87 [[ 6.99044349e-01 7.14135922e-01 3.66998939e-02 1.62476482e+02] [-7.13202031e-01 7.00006760e-01 -3.65157292e-02 -4.54197031e+01] [-5.17673678e-02 -6.48324679e-04 9.98658960e-01 -7.86611395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.420385723 meters 0.020028967577555845 Centerline is valid? [True, True] Translation: X:162.50, Y:-45.44, Z:-7.87 [[ 6.98979995e-01 7.14201955e-01 3.66406041e-02 1.62499105e+02] [-7.13270126e-01 6.99939398e-01 -3.64769396e-02 -4.54426846e+01] [-5.16981039e-02 -6.37997209e-04 9.98662555e-01 -7.86696674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450385723 meters 0.018748850069898813 Centerline is valid? [True, True] Translation: X:162.52, Y:-45.47, Z:-7.87 [[ 6.99440199e-01 7.13783178e-01 3.60136457e-02 1.62520442e+02] [-7.12881504e-01 7.00366500e-01 -3.58709891e-02 -4.54667667e+01] [-5.08268596e-02 -5.83850131e-04 9.98707309e-01 -7.86808266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480385723 meters 0.018881071509059304 Centerline is valid? [True, True] Translation: X:162.54, Y:-45.49, Z:-7.87 [[ 7.00034055e-01 7.13238113e-01 3.52663483e-02 1.62542714e+02] [-7.12371960e-01 7.00921624e-01 -3.51435444e-02 -4.54889682e+01] [-4.97846614e-02 -5.21079741e-04 9.98759839e-01 -7.87017221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510385723 meters 0.018440773108932905 Centerline is valid? [True, True] Translation: X:162.56, Y:-45.51, Z:-7.87 [[ 7.02072397e-01 7.11283302e-01 3.42113054e-02 1.62563088e+02] [-7.10465168e-01 7.02905352e-01 -3.41073413e-02 -4.55141244e+01] [-4.83072921e-02 -3.60118004e-04 9.98832456e-01 -7.87446172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540385723 meters 0.019336057242639034 Centerline is valid? [True, True] Translation: X:162.58, Y:-45.54, Z:-7.88 [[ 7.03289495e-01 7.10133042e-01 3.30900034e-02 1.62584295e+02] [-7.09365688e-01 7.04067464e-01 -3.30049506e-02 -4.55383671e+01] [-4.67355008e-02 -2.60878021e-04 9.98907265e-01 -7.87895310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57038572300002 meters 0.018204746577318975 Centerline is valid? [True, True] Translation: X:162.60, Y:-45.56, Z:-7.88 [[ 7.04246165e-01 7.09226019e-01 3.21837368e-02 1.62604868e+02] [-7.08498506e-01 7.04981149e-01 -3.21161437e-02 -4.55622059e+01] [-4.54665325e-02 -1.84458356e-04 9.98965845e-01 -7.87970170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60038572300002 meters 0.018121125574385374 Centerline is valid? [True, True] Translation: X:162.63, Y:-45.59, Z:-7.88 [[ 7.04662739e-01 7.08823100e-01 3.19411451e-02 1.62626803e+02] [-7.08105465e-01 7.05386271e-01 -3.18882322e-02 -4.55860971e+01] [-4.51339608e-02 -1.47250338e-04 9.98980933e-01 -7.88132670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63038572300002 meters 0.01818462023122969 Centerline is valid? [True, True] Translation: X:162.65, Y:-45.61, Z:-7.88 [[ 7.04784751e-01 7.08710071e-01 3.17567418e-02 1.62648563e+02] [-7.07999811e-01 7.05499837e-01 -3.17214022e-02 -4.56092834e+01] [-4.48856534e-02 -1.27006653e-04 9.98992123e-01 -7.88273313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66038572300002 meters 0.01828926912331797 Centerline is valid? [True, True] Translation: X:162.67, Y:-45.63, Z:-7.88 [[ 7.04563287e-01 7.08938960e-01 3.15614495e-02 1.62670712e+02] [-7.08236932e-01 7.05269831e-01 -3.15422639e-02 -4.56334076e+01] [-4.46208779e-02 -1.29462993e-04 9.99003984e-01 -7.88419306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69038572300002 meters 0.018279904979064482 Centerline is valid? [True, True] Translation: X:162.69, Y:-45.66, Z:-7.89 [[ 7.03528451e-01 7.09993516e-01 3.09342259e-02 1.62692468e+02] [-7.09319420e-01 7.04208190e-01 -3.09319570e-02 -4.56561372e+01] [-4.37456242e-02 -1.80735388e-04 9.99042686e-01 -7.88693954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.720385723 meters 0.01828131474841823 Centerline is valid? [True, True] Translation: X:163.34, Y:-45.22, Z:-6.93 [[ 7.61323423e-01 -6.47561747e-01 -3.24103311e-02 1.63342297e+02] [-6.46765125e-01 -7.62004281e-01 3.23163855e-02 -4.52225240e+01] [-4.56236661e-02 -3.64134939e-03 -9.98952062e-01 -6.92862786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750385723 meters 0.018429396711961372 Centerline is valid? [True, True] Translation: X:163.34, Y:-45.23, Z:-6.93 [[ 8.10815043e-01 -5.84281808e-01 -3.45504607e-02 1.63341781e+02] [-5.83546393e-01 -8.11541951e-01 2.95511266e-02 -4.52321981e+01] [-4.53053339e-02 -3.79870125e-03 -9.98965964e-01 -6.93135119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.780385723 meters 0.018574944958736527 Centerline is valid? [True, True] Translation: X:163.34, Y:-45.24, Z:-6.93 [[ 8.54524244e-01 -5.18145307e-01 -3.62457963e-02 1.63339954e+02] [-5.17484694e-01 -8.55284016e-01 2.64356663e-02 -4.52421581e+01] [-4.46979666e-02 -3.83327293e-03 -9.98993192e-01 -6.93339727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810385723 meters 0.0187007006417642 Centerline is valid? [True, True] Translation: X:163.34, Y:-45.25, Z:-6.94 [[ 8.93196236e-01 -4.48197425e-01 -3.63256430e-02 1.63337915e+02] [-4.47646723e-01 -8.93926187e-01 2.25473569e-02 -4.52500797e+01] [-4.25781108e-02 -3.87815928e-03 -9.99085614e-01 -6.93616206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.840385723 meters 0.018744108158104598 Centerline is valid? [True, True] Translation: X:163.34, Y:-45.26, Z:-6.94 [[ 9.25642372e-01 -3.76592654e-01 -3.69346952e-02 1.63335370e+02] [-3.76123307e-01 -9.26370868e-01 1.91904587e-02 -4.52570919e+01] [-4.14422114e-02 -3.87150200e-03 -9.99133402e-01 -6.93815362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870385723 meters 0.01887284721797441 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.26, Z:-6.94 [[ 9.52492512e-01 -3.02314158e-01 -3.69346075e-02 1.63332765e+02] [-3.01927191e-01 -9.53200477e-01 1.57741123e-02 -4.52614807e+01] [-3.99748230e-02 -3.87316153e-03 -9.99193181e-01 -6.94105104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.900385723 meters 0.01884713134170238 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.27, Z:-6.94 [[ 9.73264691e-01 -2.26556200e-01 -3.77905943e-02 1.63331799e+02] [-2.26229646e-01 -9.73990405e-01 1.27608122e-02 -4.52657532e+01] [-3.96987173e-02 -3.87029520e-03 -9.99204200e-01 -6.94280043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930385723 meters 0.01884768956067937 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.27, Z:-6.94 [[ 9.87878434e-01 -1.50356875e-01 -3.85876845e-02 1.63330306e+02] [-1.50089908e-01 -9.88624363e-01 9.74108088e-03 -4.52691361e+01] [-3.96133634e-02 -3.83138170e-03 -9.99207737e-01 -6.94379457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.960385723 meters 0.018368891618845175 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.27, Z:-6.94 [[ 9.96402277e-01 -7.45659014e-02 -4.02793809e-02 1.63325972e+02] [-7.43526231e-02 -9.97209037e-01 6.76941348e-03 -4.52688993e+01] [-4.06717300e-02 -3.75018138e-03 -9.99165525e-01 -6.94306897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990385723 meters 0.018177356229336833 Centerline is valid? [True, True] Translation: X:163.32, Y:-45.28, Z:-6.94 [[ 9.99097723e-01 2.93410337e-03 -4.23689838e-02 1.63321447e+02] [ 3.08890786e-03 -9.99988790e-01 3.58871772e-03 -4.52768637e+01] [-4.23579792e-02 -3.71635359e-03 -9.99095586e-01 -6.94251341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.020385723 meters 0.01812574705003583 Centerline is valid? [True, True] Translation: X:163.32, Y:-45.29, Z:-6.94 [[ 9.95747650e-01 8.14037872e-02 -4.31281820e-02 1.63317858e+02] [ 8.14883049e-02 -9.96674277e-01 2.02359226e-04 -4.52879496e+01] [-4.29682768e-02 -3.71594117e-03 -9.99069527e-01 -6.94306359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050385723 meters 0.018095666895355602 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.30, Z:-6.94 [[ 9.86260068e-01 1.59378039e-01 -4.34709071e-02 1.63314611e+02] [ 1.59387972e-01 -9.87210640e-01 -3.25973216e-03 -4.52997775e+01] [-4.34344718e-02 -3.71379609e-03 -9.99049375e-01 -6.94414056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.080385723 meters 0.018036214023108364 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.31, Z:-6.95 [[ 9.70607595e-01 2.36599961e-01 -4.40608108e-02 1.63311565e+02] [ 2.36528845e-01 -9.71599998e-01 -6.89565894e-03 -4.53086241e+01] [-4.44409963e-02 -3.72867372e-03 -9.99005052e-01 -6.94532315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110385723 meters 0.018502324183177293 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.31, Z:-6.95 [[ 9.49307868e-01 3.11309114e-01 -4.36028477e-02 1.63309157e+02] [ 3.11156920e-01 -9.50301554e-01 -1.04080922e-02 -4.53144565e+01] [-4.46759879e-02 -3.68684394e-03 -9.98994726e-01 -6.94527165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.140385723 meters 0.017927426376036656 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.32, Z:-6.95 [[ 9.21930118e-01 3.85060102e-01 -4.21138324e-02 1.63308149e+02] [ 3.84838073e-01 -9.22884146e-01 -1.35834848e-02 -4.53224279e+01] [-4.40966463e-02 -3.68398236e-03 -9.99020477e-01 -6.94697909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170385723 meters 0.017771175085996235 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.33, Z:-6.95 [[ 8.88940533e-01 4.56210867e-01 -4.06985628e-02 1.63309278e+02] [ 4.55918418e-01 -8.89864118e-01 -1.67406115e-02 -4.53331547e+01] [-4.38534395e-02 -3.67381621e-03 -9.99031220e-01 -6.94845362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.200385723 meters 0.017818672790830596 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.34, Z:-6.95 [[ 8.50471135e-01 5.24586218e-01 -3.88348923e-02 1.63311208e+02] [ 5.24231484e-01 -8.51349456e-01 -1.96330213e-02 -4.53434700e+01] [-4.33612768e-02 -3.66115531e-03 -9.99052749e-01 -6.95019106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230385723 meters 0.01776960616767666 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.35, Z:-6.95 [[ 8.06876537e-01 5.89547763e-01 -3.71979778e-02 1.63312859e+02] [ 5.89123985e-01 -8.07725302e-01 -2.26443507e-02 -4.53547337e+01] [-4.33956742e-02 -3.64302568e-03 -9.99051322e-01 -6.95133539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260385723 meters 0.017729383803768616 Centerline is valid? [True, True] Translation: X:163.31, Y:-45.36, Z:-6.95 [[ 7.58324851e-01 6.50868842e-01 -3.62376911e-02 1.63314908e+02] [ 6.50347998e-01 -7.59181496e-01 -2.62856948e-02 -4.53637667e+01] [-4.46195243e-02 -3.63401422e-03 -9.98997443e-01 -6.95144924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290385723 meters 0.0176971592694777 Centerline is valid? [True, True] Translation: X:163.32, Y:-45.37, Z:-6.95 [[ 7.05134705e-01 7.08246353e-01 -3.42367062e-02 1.63316334e+02] [ 7.07652220e-01 -7.05956102e-01 -2.92287227e-02 -4.53712090e+01] [-4.48707479e-02 -3.61749436e-03 -9.98986251e-01 -6.95197675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32038572300002 meters 0.017632415506456414 Centerline is valid? [True, True] Translation: X:163.32, Y:-45.38, Z:-6.95 [[ 6.48159098e-01 7.60820179e-01 -3.22868194e-02 1.63318507e+02] [ 7.60140300e-01 -6.48952925e-01 -3.23546935e-02 -4.53781846e+01] [-4.55687296e-02 -3.57152357e-03 -9.98954821e-01 -6.95252183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35038572300002 meters 0.017620076821140595 Centerline is valid? [True, True] Translation: X:163.32, Y:-45.39, Z:-6.95 [[ 5.86807389e-01 8.09177426e-01 -2.98158014e-02 1.63321968e+02] [ 8.08426846e-01 -5.87553644e-01 -3.50249866e-02 -4.53865889e+01] [-4.58598113e-02 -3.55097338e-03 -9.98941574e-01 -6.95398053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38038572300002 meters 0.017620076821140595 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.40, Z:-6.96 [[ 5.21626191e-01 8.52749839e-01 -2.69040620e-02 1.63326591e+02] [ 8.51947631e-01 -5.22307534e-01 -3.71493421e-02 -4.53956918e+01] [-4.57312898e-02 -3.54278208e-03 -9.98947495e-01 -6.95511958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41038572300002 meters 0.017620278649483404 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.40, Z:-6.96 [[ 4.53427359e-01 8.90978406e-01 -2.36877570e-02 1.63331011e+02] [ 8.90142855e-01 -4.54032030e-01 -3.87377568e-02 -4.54030844e+01] [-4.52695052e-02 -3.52072893e-03 -9.98968606e-01 -6.95646257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44038572300002 meters 0.017500561416484362 Centerline is valid? [True, True] Translation: X:163.34, Y:-45.41, Z:-6.96 [[ 3.82212835e-01 9.23841952e-01 -2.07218923e-02 1.63338278e+02] [ 9.22945525e-01 -3.82758001e-01 -4.08395756e-02 -4.54119284e+01] [-4.56607833e-02 -3.51576777e-03 -9.98950816e-01 -6.95700899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470385723 meters 0.017500434230374902 Centerline is valid? [True, True] Translation: X:163.35, Y:-45.42, Z:-6.96 [[ 3.08229741e-01 9.51147919e-01 -1.76653148e-02 1.63345792e+02] [ 9.50182062e-01 -3.08715343e-01 -4.29986639e-02 -4.54205195e+01] [-4.63516434e-02 -3.53179816e-03 -9.98918941e-01 -6.95689923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.500385723 meters 0.017492619113061363 Centerline is valid? [True, True] Translation: X:163.36, Y:-45.43, Z:-6.96 [[ 2.30945894e-01 9.72860023e-01 -1.44003636e-02 1.63355219e+02] [ 9.71827723e-01 -2.31366201e-01 -4.49506134e-02 -4.54276712e+01] [-4.70624122e-02 -3.61351299e-03 -9.98885415e-01 -6.95698369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530385723 meters 0.017724202947948273 Centerline is valid? [True, True] Translation: X:163.36, Y:-45.44, Z:-6.96 [[ 1.51919790e-01 9.88333683e-01 -1.08123965e-02 1.63364693e+02] [ 9.87274950e-01 -1.52259023e-01 -4.58842386e-02 -4.54358719e+01] [-4.69952235e-02 -3.70408435e-03 -9.98888246e-01 -6.95864853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.560385723 meters 0.017817925905226784 Centerline is valid? [True, True] Translation: X:163.37, Y:-45.44, Z:-6.96 [[ 7.32765055e-02 9.97286515e-01 -7.08240028e-03 1.63372153e+02] [ 9.96253342e-01 -7.35239721e-02 -4.55357445e-02 -4.54423330e+01] [-4.59329102e-02 -3.71916472e-03 -9.98937603e-01 -6.96006071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590385723 meters 0.01787749430174974 Centerline is valid? [True, True] Translation: X:163.38, Y:-45.45, Z:-6.96 [[-6.68008397e-03 9.99971638e-01 -3.47850987e-03 1.63382255e+02] [ 9.98936379e-01 6.51437914e-03 -4.56472795e-02 -4.54475010e+01] [-4.56233245e-02 -3.77973772e-03 -9.98951563e-01 -6.96216622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.620385723 meters 0.01802106380466834 Centerline is valid? [True, True] Translation: X:163.39, Y:-45.45, Z:-6.96 [[-8.53137648e-02 9.96354130e-01 9.55749966e-05 1.63391048e+02] [ 9.95324883e-01 8.52299927e-02 -4.54337601e-02 -4.54529609e+01] [-4.52762604e-02 -3.78099695e-03 -9.98967349e-01 -6.96346951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650385723 meters 0.017899882530088652 Centerline is valid? [True, True] Translation: X:163.40, Y:-45.46, Z:-6.96 [[-1.63100864e-01 9.86602786e-01 3.61247479e-03 1.63401296e+02] [ 9.85586713e-01 1.63097378e-01 -4.49229980e-02 -4.54570230e+01] [-4.49103402e-02 -3.76657265e-03 -9.98983921e-01 -6.96494723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.680385723 meters 0.01785464014069273 Centerline is valid? [True, True] Translation: X:163.41, Y:-45.46, Z:-6.97 [[-2.39363156e-01 9.70904654e-01 7.03080589e-03 1.63412837e+02] [ 9.69911399e-01 2.39437371e-01 -4.40638470e-02 -4.54612987e+01] [-4.44652319e-02 -3.72800273e-03 -9.99003977e-01 -6.96630082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710385723 meters 0.017674755638721066 Centerline is valid? [True, True] Translation: X:163.42, Y:-45.46, Z:-6.97 [[-3.14122243e-01 9.49327423e-01 1.02303294e-02 1.63423302e+02] [ 9.48377988e-01 3.14267228e-01 -4.26063548e-02 -4.54641137e+01] [-4.36624383e-02 -3.68138451e-03 -9.99039558e-01 -6.96808666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.740385723 meters 0.017858891543311627 Centerline is valid? [True, True] Translation: X:163.43, Y:-45.47, Z:-6.97 [[-3.87244312e-01 9.21878641e-01 1.34764224e-02 1.63434326e+02] [ 9.20951611e-01 3.87461478e-01 -4.14937697e-02 -4.54661286e+01] [-4.34738146e-02 -3.65709341e-03 -9.99047873e-01 -6.96919180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770385723 meters 0.017686284501303145 Centerline is valid? [True, True] Translation: X:163.44, Y:-45.47, Z:-6.97 [[-4.58208985e-01 8.88688953e-01 1.66274247e-02 1.63443373e+02] [ 8.87788061e-01 4.58496084e-01 -4.01708706e-02 -4.54677203e+01] [-4.33230180e-02 -3.64502469e-03 -9.99054468e-01 -6.97055136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.800385723 meters 0.017877150322010066 Centerline is valid? [True, True] Translation: X:163.45, Y:-45.47, Z:-6.97 [[-5.26955290e-01 8.49672368e-01 1.93646651e-02 1.63452516e+02] [ 8.48824189e-01 5.27298302e-01 -3.81313178e-02 -4.54694312e+01] [-4.26100821e-02 -3.65630348e-03 -9.99085088e-01 -6.97184218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830385723 meters 0.017785906693531937 Centerline is valid? [True, True] Translation: X:163.46, Y:-45.47, Z:-6.97 [[-5.92981615e-01 8.04930038e-01 2.14578201e-02 1.63462655e+02] [ 8.04163549e-01 5.93358294e-01 -3.53117916e-02 -4.54678801e+01] [-4.11556973e-02 -3.68364646e-03 -9.99145955e-01 -6.97353605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.860385723 meters 0.01777695581956013 Centerline is valid? [True, True] Translation: X:163.47, Y:-45.46, Z:-6.97 [[-6.54601986e-01 7.55587947e-01 2.41473293e-02 1.63473585e+02] [ 7.54854475e-01 6.55036798e-01 -3.34890235e-02 -4.54645035e+01] [-4.11212918e-02 -3.69426171e-03 -9.99147332e-01 -6.97431476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890385723 meters 0.017933836934342452 Centerline is valid? [True, True] Translation: X:163.48, Y:-45.46, Z:-6.97 [[-7.12471081e-01 7.01187552e-01 2.68509977e-02 1.63484750e+02] [ 7.00483444e-01 7.12967106e-01 -3.16362166e-02 -4.54602315e+01] [-4.13267994e-02 -3.73121003e-03 -9.99138716e-01 -6.97431482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.920385723 meters 0.017972737047689053 Centerline is valid? [True, True] Translation: X:163.49, Y:-45.46, Z:-6.97 [[-7.65338694e-01 6.42932248e-01 2.99133328e-02 1.63493423e+02] [ 6.42242968e-01 7.65913888e-01 -2.99981117e-02 -4.54559780e+01] [-4.21977904e-02 -3.74708802e-03 -9.99102250e-01 -6.97439937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950385723 meters 0.017808183564277855 Centerline is valid? [True, True] Translation: X:163.52, Y:-45.44, Z:-6.97 [[-8.08622686e-01 5.87342743e-01 3.40272480e-02 1.63519700e+02] [ 5.86638374e-01 8.09330921e-01 -2.89634157e-02 -4.54436188e+01] [-4.45507560e-02 -3.45878559e-03 -9.99001135e-01 -6.97318368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980385723 meters 0.01771882215479046 Centerline is valid? [True, True] Translation: X:163.54, Y:-45.43, Z:-6.97 [[-8.48046498e-01 5.28644613e-01 3.67696926e-02 1.63540473e+02] [ 5.27967518e-01 8.48836209e-01 -2.69701729e-02 -4.54256857e+01] [-4.54690831e-02 -3.45875735e-03 -9.98959759e-01 -6.97326401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010385723 meters 0.017575054147857753 Centerline is valid? [True, True] Translation: X:163.56, Y:-45.40, Z:-6.97 [[-8.83216492e-01 4.67296472e-01 3.95301800e-02 1.63556294e+02] [ 4.66650548e-01 8.84093905e-01 -2.48039089e-02 -4.54038294e+01] [-4.65391703e-02 -3.46044131e-03 -9.98910472e-01 -6.97347986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040385723 meters 0.01770542580152456 Centerline is valid? [True, True] Translation: X:163.95, Y:-44.76, Z:-7.95 [[-8.34576936e-01 -5.50269086e-01 -2.61776640e-02 1.63951167e+02] [ 5.50083392e-01 -8.34984176e-01 1.44805983e-02 -4.47570788e+01] [-2.98261608e-02 -2.31472484e-03 9.99552421e-01 -7.95220430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07038572300002 meters 0.017842109749812957 Centerline is valid? [True, True] Translation: X:163.50, Y:-45.37, Z:-6.97 [[-8.84959455e-01 4.63761133e-01 4.20995794e-02 1.63500215e+02] [ 4.63045153e-01 8.85953309e-01 -2.59984765e-02 -4.53729463e+01] [-4.93553446e-02 -3.51359140e-03 -9.98775102e-01 -6.97251740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10038572300002 meters 0.018162129718717966 Centerline is valid? [True, True] Translation: X:163.88, Y:-44.72, Z:-7.96 [[-8.36051153e-01 -5.48074235e-01 -2.51615242e-02 1.63879314e+02] [ 5.47910846e-01 -8.36426201e-01 1.35983603e-02 -4.47184030e+01] [-2.84986690e-02 -2.41734724e-03 9.99590907e-01 -7.95794231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13038572300002 meters 0.017748424556236615 Centerline is valid? [True, True] Translation: X:163.46, Y:-45.35, Z:-6.98 [[-8.87285504e-01 4.59366008e-01 4.13195550e-02 1.63461226e+02] [ 4.58679064e-01 8.88239978e-01 -2.53625449e-02 -4.53548463e+01] [-4.83523716e-02 -3.55140368e-03 -9.98824026e-01 -6.97512114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16038572300002 meters 0.017688603318105307 Centerline is valid? [True, True] Translation: X:163.49, Y:-45.34, Z:-6.98 [[-9.17609491e-01 3.95249875e-01 4.20756362e-02 1.63486970e+02] [ 3.94656560e-01 9.18566896e-01 -2.19330214e-02 -4.53384437e+01] [-4.73183105e-02 -3.52052277e-03 -9.98873657e-01 -6.97717516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19038572300002 meters 0.017713466589720044 Centerline is valid? [True, True] Translation: X:163.50, Y:-45.31, Z:-6.98 [[-9.43261573e-01 3.29403245e-01 4.18462310e-02 1.63497944e+02] [ 3.28914433e-01 9.44182957e-01 -1.82712882e-02 -4.53143511e+01] [-4.55291198e-02 -3.47077466e-03 -9.98956983e-01 -6.97935874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.220385723 meters 0.01760232359510951 Centerline is valid? [True, True] Translation: X:163.50, Y:-45.29, Z:-6.98 [[-9.64042557e-01 2.62522409e-01 4.12787342e-02 1.63502741e+02] [ 2.62130021e-01 9.64919930e-01 -1.47438634e-02 -4.52877478e+01] [-4.37012678e-02 -3.39331626e-03 -9.99038880e-01 -6.98260000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250385723 meters 0.017520436208010852 Centerline is valid? [True, True] Translation: X:163.52, Y:-45.26, Z:-6.98 [[-9.80212394e-01 1.93597602e-01 4.12750710e-02 1.63522586e+02] [ 1.93280772e-01 9.81075251e-01 -1.15713300e-02 -4.52644975e+01] [-4.27341324e-02 -3.36468351e-03 -9.99080814e-01 -6.98367354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.280385723 meters 0.017591981608155536 Centerline is valid? [True, True] Translation: X:163.52, Y:-45.23, Z:-6.98 [[-9.91411551e-01 1.23787264e-01 4.21882684e-02 1.63518554e+02] [ 1.23531298e-01 9.92303140e-01 -8.63118917e-03 -4.52345588e+01] [-4.29319825e-02 -3.34548910e-03 -9.99072396e-01 -6.98408103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310385723 meters 0.017541169330027105 Centerline is valid? [True, True] Translation: X:163.53, Y:-45.21, Z:-6.98 [[-9.97670013e-01 5.29004924e-02 4.30822824e-02 1.63527186e+02] [ 5.27062292e-02 9.98594171e-01 -5.63338341e-03 -4.52071813e+01] [-4.33197248e-02 -3.34955305e-03 -9.99055645e-01 -6.98414098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.340385723 meters 0.017350215820432884 Centerline is valid? [True, True] Translation: X:163.62, Y:-44.45, Z:-7.96 [[-9.88348976e-01 -1.48586524e-01 -3.29900884e-02 1.63615995e+02] [ 1.48596304e-01 -9.88895563e-01 2.16879845e-03 -4.44521600e+01] [-3.29460062e-02 -2.75867548e-03 9.99453326e-01 -7.96043021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370385723 meters 0.017901168691244404 Centerline is valid? [True, True] Translation: X:163.44, Y:-45.20, Z:-6.99 [[-9.97918713e-01 4.76843490e-02 4.34102045e-02 1.63439924e+02] [ 4.74908968e-02 9.98856653e-01 -5.47738902e-03 -4.51991247e+01] [-4.36217573e-02 -3.40439945e-03 -9.99042318e-01 -6.98606136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.400385723 meters 0.0173634983308516 Centerline is valid? [True, True] Translation: X:163.43, Y:-45.17, Z:-6.99 [[-9.98692679e-01 -2.47570152e-02 4.47216171e-02 1.63433581e+02] [-2.48858002e-02 9.99687596e-01 -2.32517030e-03 -4.51732327e+01] [-4.46500817e-02 -3.43506379e-03 -9.98996782e-01 -6.98753107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430385723 meters 0.017462008927195283 Centerline is valid? [True, True] Translation: X:163.44, Y:-45.15, Z:-6.99 [[-9.94300876e-01 -9.67458322e-02 4.47885197e-02 1.63441311e+02] [-9.68041198e-02 9.95303071e-01 8.70822087e-04 -4.51450074e+01] [-4.46623997e-02 -3.46985407e-03 -9.98996111e-01 -6.98785999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.460385723 meters 0.017719137656771314 Centerline is valid? [True, True] Translation: X:163.43, Y:-45.12, Z:-6.99 [[-9.84472580e-01 -1.69432499e-01 4.58951727e-02 1.63432351e+02] [-1.69416311e-01 9.85535324e-01 4.27059416e-03 -4.51164638e+01] [-4.59548913e-02 -3.57110801e-03 -9.98937133e-01 -6.98770477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490385723 meters 0.017679520561028454 Centerline is valid? [True, True] Translation: X:163.41, Y:-45.09, Z:-6.99 [[-9.69648965e-01 -2.40252912e-01 4.53808619e-02 1.63407048e+02] [-2.40161359e-01 9.70703697e-01 7.54011261e-03 -4.50929468e+01] [-4.58629045e-02 -3.58746709e-03 -9.98941302e-01 -6.98922374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.520385723 meters 0.018006685204139138 Centerline is valid? [True, True] Translation: X:163.36, Y:-45.08, Z:-6.99 [[-9.49219684e-01 -3.11304692e-01 4.55124098e-02 1.63358907e+02] [-3.11130377e-01 9.50303046e-01 1.10457626e-02 -4.50770501e+01] [-4.66891794e-02 -3.67543791e-03 -9.98902704e-01 -6.99124259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550385723 meters 0.018365695824494137 Centerline is valid? [True, True] Translation: X:163.29, Y:-45.07, Z:-6.99 [[-9.23645149e-01 -3.80617416e-01 4.48332510e-02 1.63292336e+02] [-3.80361267e-01 9.24725159e-01 1.44460076e-02 -4.50713569e+01] [-4.69568373e-02 -3.70984733e-03 -9.98890030e-01 -6.99485986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.580385723 meters 0.018267418084560616 Centerline is valid? [True, True] Translation: X:163.22, Y:-45.07, Z:-7.00 [[-8.92910952e-01 -4.48114309e-01 4.36302296e-02 1.63220257e+02] [-4.47779477e-01 8.93968530e-01 1.77145815e-02 -4.50738540e+01] [-4.69422098e-02 -3.71917755e-03 -9.98890683e-01 -6.99888194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610385723 meters 0.01856926660314019 Centerline is valid? [True, True] Translation: X:163.12, Y:-45.09, Z:-7.00 [[-8.56903292e-01 -5.13789984e-01 4.16725503e-02 1.63123452e+02] [-5.13389742e-01 8.57907893e-01 2.06160251e-02 -4.50939171e+01] [-4.63435170e-02 -3.72832009e-03 -9.98918604e-01 -7.00385765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.640385723 meters 0.01906890045849085 Centerline is valid? [True, True] Translation: X:163.06, Y:-45.10, Z:-7.01 [[-8.15269781e-01 -5.77782743e-01 3.87593436e-02 1.63055315e+02] [-5.77344301e-01 8.16181879e-01 2.28188396e-02 -4.51026092e+01] [-4.48190056e-02 -3.77397576e-03 -9.98987995e-01 -7.00680658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670385723 meters 0.01888656366971141 Centerline is valid? [True, True] Translation: X:162.97, Y:-45.14, Z:-7.01 [[-7.69145240e-01 -6.38058045e-01 3.60212590e-02 1.62965658e+02] [-6.37580286e-01 7.69979089e-01 2.49716261e-02 -4.51350336e+01] [-4.36689631e-02 -3.75963724e-03 -9.99038982e-01 -7.01214436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.700385723 meters 0.019610251888570088 Centerline is valid? [True, True] Translation: X:162.86, Y:-45.19, Z:-7.02 [[-7.18939739e-01 -6.94251743e-01 3.37663933e-02 1.62862191e+02] [-6.93721550e-01 7.19722551e-01 2.73835798e-02 -4.51856934e+01] [-4.33135327e-02 -3.73733099e-03 -9.99054538e-01 -7.01710582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730385723 meters 0.01882018296069522 Centerline is valid? [True, True] Translation: X:162.78, Y:-45.24, Z:-7.02 [[-6.64044124e-01 -7.47044889e-01 3.11341562e-02 1.62776193e+02] [-7.46476422e-01 6.64763110e-01 2.93761709e-02 -4.52357222e+01] [-4.26421568e-02 -3.73383986e-03 -9.99083432e-01 -7.02205379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760385723 meters 0.019201964024739337 Centerline is valid? [True, True] Translation: X:162.70, Y:-45.28, Z:-7.02 [[-6.04886980e-01 -7.95753109e-01 2.98115862e-02 1.62697301e+02] [-7.95079889e-01 6.05609389e-01 3.29429476e-02 -4.52841019e+01] [-4.42686295e-02 -3.77583254e-03 -9.99012528e-01 -7.02398369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790385723 meters 0.019317303809199955 Centerline is valid? [True, True] Translation: X:162.61, Y:-45.36, Z:-7.03 [[-5.41753869e-01 -8.40076893e-01 2.78129413e-02 1.62609666e+02] [-8.39312152e-01 5.42453896e-01 3.60400145e-02 -4.53571707e+01] [-4.53636218e-02 -3.81892233e-03 -9.98963241e-01 -7.02778653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82038572300002 meters 0.020754227336903578 Centerline is valid? [True, True] Translation: X:162.52, Y:-45.44, Z:-7.03 [[-4.74731025e-01 -8.79756943e-01 2.56549327e-02 1.62524543e+02] [-8.78888480e-01 4.75407711e-01 3.92752833e-02 -4.54385931e+01] [-4.67492560e-02 -3.90262932e-03 -9.98899032e-01 -7.03035659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85038572300002 meters 0.020702466042062034 Centerline is valid? [True, True] Translation: X:162.44, Y:-45.54, Z:-7.04 [[-4.05509243e-01 -9.13807503e-01 2.27618223e-02 1.62440968e+02] [-9.12870749e-01 4.06128565e-01 4.15521821e-02 -4.55414116e+01] [-4.72149220e-02 -3.92880783e-03 -9.98877027e-01 -7.03595602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88038572300002 meters 0.020787907762963596 Centerline is valid? [True, True] Translation: X:162.37, Y:-45.65, Z:-7.04 [[-3.33767123e-01 -9.42453291e-01 1.95269625e-02 1.62366123e+02] [-9.41468211e-01 3.34314565e-01 4.32594519e-02 -4.56491797e+01] [-4.72981607e-02 -3.94543168e-03 -9.98873024e-01 -7.04187162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91038572300002 meters 0.019326722086998746 Centerline is valid? [True, True] Translation: X:162.30, Y:-45.76, Z:-7.05 [[-2.60221686e-01 -9.65415617e-01 1.60424733e-02 1.62303960e+02] [-9.64405286e-01 2.60686015e-01 4.43310876e-02 -4.57594278e+01] [-4.69799727e-02 -3.93553566e-03 -9.98888079e-01 -7.04878693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94038572300002 meters 0.019584729146053186 Centerline is valid? [True, True] Translation: X:162.24, Y:-45.91, Z:-7.06 [[-1.85439941e-01 -9.82576820e-01 1.24427225e-02 1.62237193e+02] [-9.81560854e-01 1.85816034e-01 4.48407279e-02 -4.59126036e+01] [-4.63715171e-02 -3.89802736e-03 -9.98916657e-01 -7.05576666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970385723 meters 0.020042953797519025 Centerline is valid? [True, True] Translation: X:162.19, Y:-46.05, Z:-7.06 [[-1.09958247e-01 -9.93897583e-01 8.76229023e-03 1.62187349e+02] [-9.92915917e-01 1.10240447e-01 4.43286196e-02 -4.60464038e+01] [-4.50240667e-02 -3.82592012e-03 -9.98978576e-01 -7.06237684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.000385723 meters 0.02116656613356417 Centerline is valid? [True, True] Translation: X:161.45, Y:-45.92, Z:-8.06 [[-2.21360277e-01 9.75186300e-01 -3.36277076e-03 1.61453439e+02] [-9.74805488e-01 -2.21368294e-01 -2.73923089e-02 -4.59152140e+01] [-2.74570152e-02 -2.78552171e-03 9.99619104e-01 -8.05542193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030385723 meters 0.018749912651670635 Centerline is valid? [True, True] Translation: X:162.17, Y:-46.23, Z:-7.07 [[-1.01995506e-01 -9.94752461e-01 8.02856217e-03 1.62166491e+02] [-9.93871119e-01 1.02244338e-01 4.20272996e-02 -4.62323280e+01] [-4.26276347e-02 -3.69276038e-03 -9.99084205e-01 -7.07193188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.060385723 meters 0.020825253997199904 Centerline is valid? [True, True] Translation: X:162.12, Y:-46.36, Z:-7.08 [[-2.57625174e-02 -9.99657112e-01 4.68510218e-03 1.62123539e+02] [-9.98796876e-01 2.59354049e-02 4.16191703e-02 -4.63599936e+01] [-4.17264097e-02 -3.60725082e-03 -9.99122562e-01 -7.07688741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090385723 meters 0.019193603838176927 Centerline is valid? [True, True] Translation: X:162.10, Y:-46.47, Z:-7.08 [[ 5.06902692e-02 -9.98713276e-01 1.51325410e-03 1.62099728e+02] [-9.97922315e-01 -5.05896721e-02 3.98965893e-02 -4.64675159e+01] [-3.97686983e-02 -3.53247888e-03 -9.99202668e-01 -7.08457249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.120385723 meters 0.01884930353450403 Centerline is valid? [True, True] Translation: X:162.08, Y:-46.60, Z:-7.09 [[ 1.28150958e-01 -9.91753498e-01 -1.52661094e-03 1.62082406e+02] [-9.90970002e-01 -1.28110635e-01 3.95742287e-02 -4.65954810e+01] [-3.94434548e-02 -3.55864968e-03 -9.99215467e-01 -7.09137036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150385723 meters 0.019143511602705388 Centerline is valid? [True, True] Translation: X:162.07, Y:-46.72, Z:-7.10 [[ 2.05520180e-01 -9.78642235e-01 -4.56421527e-03 1.62071694e+02] [-9.77863636e-01 -2.05539468e-01 3.91948663e-02 -4.67208847e+01] [-3.92958779e-02 -3.59215582e-03 -9.99221162e-01 -7.09676946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.180385723 meters 0.019681875533778485 Centerline is valid? [True, True] Translation: X:162.07, Y:-46.86, Z:-7.10 [[ 2.81315487e-01 -9.59584023e-01 -7.75239144e-03 1.62073404e+02] [-9.58784119e-01 -2.81398817e-01 3.93410635e-02 -4.68643187e+01] [-3.99325698e-02 -3.63438064e-03 -9.99195767e-01 -7.10114475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210385723 meters 0.02004651393916828 Centerline is valid? [True, True] Translation: X:162.08, Y:-46.99, Z:-7.11 [[ 3.54849450e-01 -9.34862205e-01 -1.07016826e-02 1.62081962e+02] [-9.34079668e-01 -3.54992172e-01 3.84152515e-02 -4.69881817e+01] [-3.97119803e-02 -3.63540671e-03 -9.99204555e-01 -7.10585327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.240385723 meters 0.02004651393916828 Centerline is valid? [True, True] Translation: X:162.10, Y:-47.11, Z:-7.11 [[ 4.25897858e-01 -9.04668994e-01 -1.36024029e-02 1.62101539e+02] [-9.03903913e-01 -4.26099624e-01 3.73741429e-02 -4.71107679e+01] [-3.96072071e-02 -3.62230219e-03 -9.99208761e-01 -7.11122625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270385723 meters 0.01989197687088929 Centerline is valid? [True, True] Translation: X:162.13, Y:-47.23, Z:-7.12 [[ 4.94539109e-01 -8.68994255e-01 -1.67348160e-02 1.62130228e+02] [-8.68225298e-01 -4.94808826e-01 3.67295241e-02 -4.72310865e+01] [-4.01982800e-02 -3.63459551e-03 -9.99185112e-01 -7.11634373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.300385723 meters 0.019683907430608705 Centerline is valid? [True, True] Translation: X:162.16, Y:-47.34, Z:-7.12 [[ 5.60291402e-01 -8.28045547e-01 -2.03498583e-02 1.62161438e+02] [-8.27244179e-01 -5.60648785e-01 3.66061268e-02 -4.73363332e+01] [-4.17206636e-02 -3.67579626e-03 -9.99122552e-01 -7.12018187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330385723 meters 0.01969368247517655 Centerline is valid? [True, True] Translation: X:162.21, Y:-47.45, Z:-7.13 [[ 6.22501405e-01 -7.82259405e-01 -2.37112699e-02 1.62209325e+02] [-7.81452604e-01 -6.22941831e-01 3.57113790e-02 -4.74526703e+01] [-4.27063040e-02 -3.70115002e-03 -9.99080814e-01 -7.12501072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.360385723 meters 0.020036185874699224 Centerline is valid? [True, True] Translation: X:162.25, Y:-47.55, Z:-7.13 [[ 6.81099025e-01 -7.31686597e-01 -2.71816461e-02 1.62253940e+02] [-7.30874558e-01 -6.81630916e-01 3.46651703e-02 -4.75529062e+01] [-4.38918908e-02 -3.74404006e-03 -9.99029271e-01 -7.12841837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390385723 meters 0.019622544147476325 Centerline is valid? [True, True] Translation: X:162.32, Y:-47.66, Z:-7.13 [[ 7.35070943e-01 -6.77336552e-01 -2.97641331e-02 1.62320196e+02] [-6.76568182e-01 -7.35663842e-01 3.24685447e-02 -4.76615130e+01] [-4.38885287e-02 -3.72921832e-03 -9.99029474e-01 -7.13393241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.420385723 meters 0.020412996052031007 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.67, Z:-7.13 [[ 7.85457722e-01 -6.18096569e-01 -3.18244862e-02 1.62314835e+02] [-6.17389946e-01 -7.86093253e-01 2.97834188e-02 -4.76719800e+01] [-4.34260429e-02 -3.74549846e-03 -9.99049623e-01 -7.13452140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450385723 meters 0.019770459237628758 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.68, Z:-7.14 [[ 8.31125398e-01 -5.55070070e-01 -3.35825960e-02 1.62313249e+02] [-5.54431990e-01 -8.31795326e-01 2.68645554e-02 -4.76803970e+01] [-4.28455570e-02 -3.70854878e-03 -9.99074824e-01 -7.13624889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480385723 meters 0.020404926234282427 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.69, Z:-7.14 [[ 8.71664891e-01 -4.88806718e-01 -3.56133514e-02 1.62310172e+02] [-4.88222796e-01 -8.72384356e-01 2.41668661e-02 -4.76884888e+01] [-4.28814571e-02 -3.67815871e-03 -9.99073397e-01 -7.13723878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510385723 meters 0.01918702363395073 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.69, Z:-7.14 [[ 9.06165821e-01 -4.21283246e-01 -3.72012389e-02 1.62308773e+02] [-4.20764342e-01 -9.06922125e-01 2.12044227e-02 -4.76938999e+01] [-4.26716947e-02 -3.56176823e-03 -9.99082800e-01 -7.13905481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540385723 meters 0.019068213414962367 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.70, Z:-7.14 [[ 9.35299846e-01 -3.51806621e-01 -3.80302368e-02 1.62307758e+02] [-3.51365657e-01 -9.36066476e-01 1.79367521e-02 -4.76980243e+01] [-4.19090979e-02 -3.41372233e-03 -9.99115596e-01 -7.14069037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57038572300002 meters 0.019019013116688396 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.70, Z:-7.14 [[ 9.59539437e-01 -2.78879170e-01 -3.88648479e-02 1.62308640e+02] [-2.78508375e-01 -9.60320400e-01 1.47585001e-02 -4.76988955e+01] [-4.14385446e-02 -3.33717727e-03 -9.99135481e-01 -7.14165155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60038572300002 meters 0.018226726079847485 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.71, Z:-7.14 [[ 9.78129753e-01 -2.04245182e-01 -3.93203800e-02 1.62307349e+02] [-2.03945338e-01 -9.78914327e-01 1.15342689e-02 -4.77057475e+01] [-4.08471022e-02 -3.26280341e-03 -9.99160081e-01 -7.14439554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63038572300002 meters 0.01796387731891027 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.71, Z:-7.15 [[ 9.91025247e-01 -1.27713054e-01 -3.94757484e-02 1.62307497e+02] [-1.27482025e-01 -9.91805937e-01 8.32563054e-03 -4.77141093e+01] [-4.02155734e-02 -3.21846173e-03 -9.99185843e-01 -7.14556459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66038572300002 meters 0.017860204686306162 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.72, Z:-7.15 [[ 9.97941275e-01 -5.04665775e-02 -3.95769695e-02 1.62304485e+02] [-5.03006926e-02 -9.98720703e-01 5.17670737e-03 -4.77226155e+01] [-3.97875895e-02 -3.17530097e-03 -9.99203115e-01 -7.14547482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69038572300002 meters 0.017880999259348555 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.73, Z:-7.15 [[ 9.98827010e-01 2.76040754e-02 -3.97821465e-02 1.62300883e+02] [ 2.77076583e-02 -9.99613958e-01 2.05465134e-03 -4.77296315e+01] [-3.97100722e-02 -3.15451137e-03 -9.99206265e-01 -7.14562911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.720385723 meters 0.018369448556420743 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.74, Z:-7.14 [[ 9.93538363e-01 1.05814796e-01 -4.10457036e-02 1.62296983e+02] [ 1.05855380e-01 -9.94380824e-01 -1.18948057e-03 -4.77356391e+01] [-4.09409252e-02 -3.16311398e-03 -9.99156562e-01 -7.14471741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750385723 meters 0.0176231811839877 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.74, Z:-7.15 [[ 9.82162771e-01 1.83567689e-01 -4.07332075e-02 1.62295193e+02] [ 1.83542358e-01 -9.83001987e-01 -4.39277291e-03 -4.77434893e+01] [-4.08471951e-02 -3.16185094e-03 -9.99160402e-01 -7.14741325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.780385723 meters 0.01774735877578066 Centerline is valid? [True, True] Translation: X:162.29, Y:-47.75, Z:-7.15 [[ 9.64726889e-01 2.60207808e-01 -3.99240116e-02 1.62294373e+02] [ 2.60119113e-01 -9.65547474e-01 -7.49147564e-03 -4.77531318e+01] [-4.04978690e-02 -3.15777050e-03 -9.99174635e-01 -7.14879935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810385723 meters 0.017713052431582037 Centerline is valid? [True, True] Translation: X:162.29, Y:-47.76, Z:-7.15 [[ 9.41490173e-01 3.34821332e-01 -3.86125649e-02 1.62293156e+02] [ 3.34674432e-01 -9.42276430e-01 -1.03997292e-02 -4.77622402e+01] [-3.98657610e-02 -3.13139544e-03 -9.99200138e-01 -7.15018707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.840385723 meters 0.01760258935653464 Centerline is valid? [True, True] Translation: X:162.29, Y:-47.77, Z:-7.15 [[ 9.12487343e-01 4.07357418e-01 -3.77727734e-02 1.62293378e+02] [ 4.07147549e-01 -9.13263506e-01 -1.34403287e-02 -4.77711470e+01] [-3.99715131e-02 -3.11496225e-03 -9.99195964e-01 -7.15147932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870385723 meters 0.01746516993310516 Centerline is valid? [True, True] Translation: X:162.29, Y:-47.78, Z:-7.15 [[ 8.78188991e-01 4.76905493e-01 -3.66776068e-02 1.62294764e+02] [ 4.76633104e-01 -8.78949204e-01 -1.64067223e-02 -4.77791992e+01] [-4.00622093e-02 -3.07355868e-03 -9.99192460e-01 -7.15201232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.900385723 meters 0.017456957038140788 Centerline is valid? [True, True] Translation: X:162.29, Y:-47.79, Z:-7.15 [[ 8.38442162e-01 5.43846263e-01 -3.52984925e-02 1.62294775e+02] [ 5.43513948e-01 -8.39179347e-01 -1.92512941e-02 -4.77870015e+01] [-4.00915102e-02 -3.04412640e-03 -9.99191375e-01 -7.15256937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930385723 meters 0.017234087798666798 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.80, Z:-7.15 [[ 7.93426153e-01 6.07746512e-01 -3.34532151e-02 1.62296892e+02] [ 6.07363117e-01 -7.94125320e-01 -2.17949607e-02 -4.77952073e+01] [-3.98118565e-02 -3.02555718e-03 -9.99202613e-01 -7.15372616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.960385723 meters 0.01712403603299423 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.80, Z:-7.15 [[ 7.43598208e-01 6.67881232e-01 -3.15652404e-02 1.62299816e+02] [ 6.67446151e-01 -7.44261798e-01 -2.42901579e-02 -4.78042328e+01] [-3.97157431e-02 -3.00598029e-03 -9.99206497e-01 -7.15475186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990385723 meters 0.017103664544452366 Centerline is valid? [True, True] Translation: X:162.30, Y:-47.81, Z:-7.16 [[ 6.89315957e-01 7.23884263e-01 -2.88978297e-02 1.62302520e+02] [ 7.23422814e-01 -6.89915016e-01 -2.60134935e-02 -4.78126649e+01] [-3.87678053e-02 -2.97383313e-03 -9.99243821e-01 -7.15664149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.020385723 meters 0.017640342043343183 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.82, Z:-7.16 [[ 6.30832611e-01 7.75467522e-01 -2.64639435e-02 1.62307681e+02] [ 7.74973190e-01 -6.31380586e-01 -2.78407962e-02 -4.78236111e+01] [-3.82984534e-02 -2.94596462e-03 -9.99262003e-01 -7.15634415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050385723 meters 0.016961381870246983 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.83, Z:-7.16 [[ 5.67873569e-01 8.22784385e-01 -2.33552030e-02 1.62310683e+02] [ 8.22290840e-01 -5.68346043e-01 -2.86452404e-02 -4.78300936e+01] [-3.68426938e-02 -2.93789459e-03 -9.99316759e-01 -7.15905946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.080385723 meters 0.016999577964495163 Centerline is valid? [True, True] Translation: X:162.31, Y:-47.84, Z:-7.16 [[ 5.01321206e-01 8.65007612e-01 -2.09494564e-02 1.62314073e+02] [ 8.64483471e-01 -5.01750098e-01 -3.02517375e-02 -4.78370435e+01] [-3.66793750e-02 -2.94462126e-03 -9.99322747e-01 -7.16008298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110385723 meters 0.017107217564477757 Centerline is valid? [True, True] Translation: X:162.32, Y:-47.84, Z:-7.16 [[ 4.31737328e-01 9.01807785e-01 -1.85902788e-02 1.62319055e+02] [ 9.01245782e-01 -4.32127301e-01 -3.19693077e-02 -4.78441699e+01] [-3.68635375e-02 -2.95206684e-03 -9.99315948e-01 -7.16076707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.140385723 meters 0.017065640899252613 Centerline is valid? [True, True] Translation: X:162.32, Y:-47.85, Z:-7.16 [[ 3.59911186e-01 9.32847240e-01 -1.61234600e-02 1.62324491e+02] [ 9.32247118e-01 -3.60260133e-01 -3.35849274e-02 -4.78512743e+01] [-3.71382467e-02 -2.94345803e-03 -9.99305802e-01 -7.16120862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170385723 meters 0.016918450261966807 Centerline is valid? [True, True] Translation: X:162.33, Y:-47.86, Z:-7.16 [[ 2.85857365e-01 9.58172265e-01 -1.38375296e-02 1.62333227e+02] [ 9.57498866e-01 -2.86176904e-01 -3.60375056e-02 -4.78586880e+01] [-3.84901198e-02 -2.94783253e-03 -9.99254633e-01 -7.16110863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.200385723 meters 0.017244165963233415 Centerline is valid? [True, True] Translation: X:162.34, Y:-47.87, Z:-7.16 [[ 2.09864013e-01 9.77666391e-01 -1.12037928e-02 1.62343442e+02] [ 9.76929427e-01 -2.10142071e-01 -3.80684118e-02 -4.78667728e+01] [-3.95725950e-02 -2.95612518e-03 -9.99212325e-01 -7.16075255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230385723 meters 0.017248594376247792 Centerline is valid? [True, True] Translation: X:162.35, Y:-47.87, Z:-7.16 [[ 1.32405653e-01 9.91160132e-01 -8.38664581e-03 1.62347780e+02] [ 9.90346687e-01 -1.32637628e-01 -4.02578994e-02 -4.78718452e+01] [-4.10144097e-02 -2.97531342e-03 -9.99154125e-01 -7.16066721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260385723 meters 0.017038279011238274 Centerline is valid? [True, True] Translation: X:162.36, Y:-47.88, Z:-7.16 [[ 5.38605482e-02 9.98534735e-01 -5.23673654e-03 1.62356953e+02] [ 9.97681239e-01 -5.40315525e-02 -4.13852192e-02 -4.78766783e+01] [-4.16075279e-02 -2.99556320e-03 -9.99129541e-01 -7.16205635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290385723 meters 0.017596432698782496 Centerline is valid? [True, True] Translation: X:162.37, Y:-47.88, Z:-7.16 [[-2.53669692e-02 9.99676282e-01 -1.96161403e-03 1.62367861e+02] [ 9.98786415e-01 2.52614257e-02 -4.22795199e-02 -4.78820143e+01] [-4.22162801e-02 -3.03173672e-03 -9.99103896e-01 -7.16133022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32038572300002 meters 0.018678807093776364 Centerline is valid? [True, True] Translation: X:162.38, Y:-47.89, Z:-7.16 [[-1.04471864e-01 9.94526744e-01 1.47794083e-03 1.62376022e+02] [ 9.93578084e-01 1.04436910e-01 -4.35375988e-02 -4.78857516e+01] [-4.34536579e-02 -3.08000446e-03 -9.99050696e-01 -7.16074201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35038572300002 meters 0.018878259477763896 Centerline is valid? [True, True] Translation: X:162.38, Y:-47.89, Z:-7.16 [[-1.82879874e-01 9.83123316e-01 4.84730164e-03 1.62384574e+02] [ 9.82186680e-01 1.82917735e-01 -4.30166016e-02 -4.78885618e+01] [-4.31772815e-02 -3.10591558e-03 -9.99062598e-01 -7.16168826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38038572300002 meters 0.018142504850651414 Centerline is valid? [True, True] Translation: X:162.39, Y:-47.89, Z:-7.17 [[-2.61574186e-01 9.65150750e-01 7.93567210e-03 1.62393753e+02] [ 9.64267152e-01 2.61675211e-01 -4.14118754e-02 -4.78916767e+01] [-4.20452712e-02 -3.18016965e-03 -9.99110645e-01 -7.16579282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41038572300002 meters 0.0185158624153291 Centerline is valid? [True, True] Translation: X:162.40, Y:-47.90, Z:-7.17 [[-3.36876419e-01 9.41485961e-01 1.08840776e-02 1.62399388e+02] [ 9.40648474e-01 3.37037203e-01 -3.98292879e-02 -4.78959513e+01] [-4.11670545e-02 -3.17945687e-03 -9.99147219e-01 -7.16716699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44038572300002 meters 0.01851191667688933 Centerline is valid? [True, True] Translation: X:162.40, Y:-47.90, Z:-7.17 [[-4.10421144e-01 9.11792819e-01 1.37236855e-02 1.62402147e+02] [ 9.10995633e-01 4.10638075e-01 -3.82534816e-02 -4.78996835e+01] [-4.05147176e-02 -3.19782009e-03 -9.99173825e-01 -7.16935903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470385723 meters 0.018129165461178407 Centerline is valid? [True, True] Translation: X:162.41, Y:-47.90, Z:-7.17 [[-4.80967634e-01 8.76585795e-01 1.63547659e-02 1.62411516e+02] [ 8.75834449e-01 4.81235005e-01 -3.64264838e-02 -4.79004700e+01] [-3.98014241e-02 -3.19589242e-03 -9.99202498e-01 -7.17129916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.500385723 meters 0.01891457480662891 Centerline is valid? [True, True] Translation: X:162.42, Y:-47.90, Z:-7.17 [[-5.48596778e-01 8.35878803e-01 1.86601867e-02 1.62423574e+02] [ 8.35183855e-01 5.48904761e-01 -3.42270509e-02 -4.78996187e+01] [-3.88523316e-02 -3.19216317e-03 -9.99239864e-01 -7.17161246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530385723 meters 0.018387602574507146 Centerline is valid? [True, True] Translation: X:162.43, Y:-47.90, Z:-7.17 [[-6.13190173e-01 7.89668352e-01 2.05354724e-02 1.62433105e+02] [ 7.89040655e-01 6.13525599e-01 -3.16414908e-02 -4.78981961e+01] [-3.75853219e-02 -3.19892858e-03 -9.99288302e-01 -7.17440265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.560385723 meters 0.019720082138492502 Centerline is valid? [True, True] Translation: X:162.45, Y:-47.89, Z:-7.18 [[-6.73458953e-01 7.38903799e-01 2.17764594e-02 1.62445597e+02] [ 7.38357700e-01 6.73803487e-01 -2.85791418e-02 -4.78947942e+01] [-3.57902907e-02 -3.16806242e-03 -9.99354301e-01 -7.17533385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590385723 meters 0.018776765526551838 Centerline is valid? [True, True] Translation: X:162.45, Y:-47.89, Z:-7.18 [[-7.29366579e-01 6.83718095e-01 2.35363705e-02 1.62451789e+02] [ 6.83216595e-01 7.29739418e-01 -2.63716946e-02 -4.78945709e+01] [-3.52062221e-02 -3.15419378e-03 -9.99375091e-01 -7.17714187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.620385723 meters 0.018296737752418003 Centerline is valid? [True, True] Translation: X:163.01, Y:-47.39, Z:-8.16 [[-6.50502112e-01 -7.59281321e-01 -1.84086463e-02 1.63012011e+02] [ 7.59050995e-01 -6.50760168e-01 1.87827273e-02 -4.73870927e+01] [-2.62409877e-02 -1.75489751e-03 9.99654106e-01 -8.15669392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650385723 meters 0.01825839295288753 Centerline is valid? [True, True] Translation: X:162.99, Y:-47.37, Z:-8.16 [[-6.51258948e-01 -7.58657794e-01 -1.73244079e-02 1.62992662e+02] [ 7.58410341e-01 -6.51489129e-01 1.93821988e-02 -4.73670711e+01] [-2.59911196e-02 -5.16179663e-04 9.99662041e-01 -8.15918168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.680385723 meters 0.01822074411341188 Centerline is valid? [True, True] Translation: X:162.97, Y:-47.35, Z:-8.16 [[-6.51479493e-01 -7.58474971e-01 -1.70349426e-02 1.62973641e+02] [ 7.58235923e-01 -6.51701973e-01 1.90479483e-02 -4.73460874e+01] [-2.55490977e-02 -5.07157716e-04 9.99673440e-01 -8.16072654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710385723 meters 0.01926518386241491 Centerline is valid? [True, True] Translation: X:162.95, Y:-47.33, Z:-8.16 [[-6.51541160e-01 -7.58431143e-01 -1.66228270e-02 1.62954625e+02] [ 7.58203779e-01 -6.51752983e-01 1.85763132e-02 -4.73264358e+01] [-2.49228316e-02 -5.00257633e-04 9.99689253e-01 -8.16402782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.740385723 meters 0.018761192294841193 Centerline is valid? [True, True] Translation: X:162.93, Y:-47.31, Z:-8.16 [[-6.50849759e-01 -7.59027062e-01 -1.65078574e-02 1.62934876e+02] [ 7.58803195e-01 -6.51058864e-01 1.84409116e-02 -4.73066041e+01] [-2.47447378e-02 -5.23952049e-04 9.99693665e-01 -8.16343558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770385723 meters 0.018933328194923906 Centerline is valid? [True, True] Translation: X:162.92, Y:-47.29, Z:-8.16 [[-6.50025803e-01 -7.59748763e-01 -1.57567019e-02 1.62915045e+02] [ 7.59545235e-01 -6.50216529e-01 1.75926665e-02 -4.72869970e+01] [-2.36112746e-02 -5.32240670e-04 9.99721073e-01 -8.16492889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.800385723 meters 0.019121370491611268 Centerline is valid? [True, True] Translation: X:162.90, Y:-47.27, Z:-8.17 [[-6.49756426e-01 -7.59984066e-01 -1.55179144e-02 1.62895574e+02] [ 7.59786941e-01 -6.49941481e-01 1.73169185e-02 -4.72681206e+01] [-2.32463184e-02 -5.38529696e-04 9.99729623e-01 -8.16648928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830385723 meters 0.022262410958674775 Centerline is valid? [True, True] Translation: X:162.87, Y:-47.25, Z:-8.17 [[-6.49580146e-01 -7.60138469e-01 -1.53343414e-02 1.62872588e+02] [ 7.59946261e-01 -6.49760888e-01 1.71016927e-02 -4.72540376e+01] [-2.29633098e-02 -5.44355343e-04 9.99736160e-01 -8.16971941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.860385723 meters 0.02316333898817655 Centerline is valid? [True, True] Translation: X:162.85, Y:-47.24, Z:-8.17 [[-6.48776589e-01 -7.60832986e-01 -1.49032175e-02 1.62851723e+02] [ 7.60651865e-01 -6.48947497e-01 1.66097970e-02 -4.72358040e+01] [-2.23086871e-02 -5.60112739e-04 9.99750973e-01 -8.17139590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890385723 meters 0.019681610831445557 Centerline is valid? [True, True] Translation: X:162.84, Y:-47.21, Z:-8.17 [[-6.47799085e-01 -7.61671441e-01 -1.45932143e-02 1.62837271e+02] [ 7.61498178e-01 -6.47963176e-01 1.62557145e-02 -4.72108115e+01] [-2.18373789e-02 -5.82269086e-04 9.99761366e-01 -8.16955143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.920385723 meters 0.02012360496792214 Centerline is valid? [True, True] Translation: X:162.82, Y:-47.19, Z:-8.17 [[-6.47776851e-01 -7.61693332e-01 -1.44367614e-02 1.62817863e+02] [ 7.61523985e-01 -6.47937442e-01 1.60714500e-02 -4.71914899e+01] [-2.15956346e-02 -5.83226803e-04 9.99766617e-01 -8.17043379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.950385723 meters 0.019227808269963932 Centerline is valid? [True, True] Translation: X:162.80, Y:-47.17, Z:-8.17 [[-6.48426333e-01 -7.61119932e-01 -1.54835169e-02 1.62799778e+02] [ 7.60925130e-01 -6.48610883e-01 1.72299009e-02 -4.71700731e+01] [-2.31567986e-02 -6.09475594e-04 9.99731660e-01 -8.16974423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.980385723 meters 0.019355133778593426 Centerline is valid? [True, True] Translation: X:162.78, Y:-47.15, Z:-8.17 [[-6.49075691e-01 -7.60562741e-01 -1.56545368e-02 1.62781085e+02] [ 7.60363686e-01 -6.49264164e-01 1.74100763e-02 -4.71496984e+01] [-2.34053851e-02 -6.02684032e-04 9.99725875e-01 -8.17001852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.010385723 meters 0.02417169855852567 Centerline is valid? [True, True] Translation: X:162.76, Y:-47.14, Z:-8.17 [[-6.50056262e-01 -7.59704311e-01 -1.66197530e-02 1.62755657e+02] [ 7.59479949e-01 -6.50268393e-01 1.84722728e-02 -4.71357067e+01] [-2.48407654e-02 -6.14352526e-04 9.99691232e-01 -8.17148111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.040385723 meters 0.019260422293593298 Centerline is valid? [True, True] Translation: X:162.74, Y:-47.11, Z:-8.17 [[-6.50437591e-01 -7.59372838e-01 -1.68473242e-02 1.62743131e+02] [ 7.59142452e-01 -6.50655448e-01 1.87143191e-02 -4.71089764e+01] [-2.51729489e-02 -6.17022360e-04 9.99682921e-01 -8.16965092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07038572300002 meters 0.019564111021728066 Centerline is valid? [True, True] Translation: X:162.72, Y:-47.09, Z:-8.17 [[-6.50188046e-01 -7.59588939e-01 -1.67376478e-02 1.62723032e+02] [ 7.59361873e-01 -6.50403144e-01 1.85821358e-02 -4.70898548e+01] [-2.50010036e-02 -6.28048976e-04 9.99687229e-01 -8.17013887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10038572300002 meters 0.019644939171719156 Centerline is valid? [True, True] Translation: X:162.70, Y:-47.07, Z:-8.17 [[-6.50343061e-01 -7.59459359e-01 -1.65947571e-02 1.62704000e+02] [ 7.59236357e-01 -6.50554450e-01 1.84136175e-02 -4.70706118e+01] [-2.47801872e-02 -6.24174575e-04 9.99692729e-01 -8.17164633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13038572300002 meters 0.021127172047944013 Centerline is valid? [True, True] Translation: X:162.68, Y:-47.05, Z:-8.17 [[-6.50573073e-01 -7.59275813e-01 -1.59661197e-02 1.62683460e+02] [ 7.59069580e-01 -6.50768683e-01 1.77057327e-02 -4.70539856e+01] [-2.38337853e-02 -6.00522846e-04 9.99715755e-01 -8.17414588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16038572300002 meters 0.019200904469417343 Centerline is valid? [True, True] Translation: X:162.67, Y:-47.03, Z:-8.18 [[-6.51367359e-01 -7.58621883e-01 -1.46083056e-02 1.62666575e+02] [ 7.58449291e-01 -6.51530931e-01 1.61901049e-02 -4.70316990e+01] [-2.17999308e-02 -5.33953185e-04 9.99762211e-01 -8.17568530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19038572300002 meters 0.019200904469417343 Centerline is valid? [True, True] Translation: X:162.65, Y:-47.01, Z:-8.18 [[-6.51578468e-01 -7.58440483e-01 -1.46128281e-02 1.62648045e+02] [ 7.58267937e-01 -6.51742088e-01 1.61860216e-02 -4.70112648e+01] [-2.17999291e-02 -5.33975843e-04 9.99762211e-01 -8.17652695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.220385723 meters 0.01903412700315495 Centerline is valid? [True, True] Translation: X:162.63, Y:-46.99, Z:-8.18 [[-6.52490599e-01 -7.57663704e-01 -1.42031727e-02 1.62628924e+02] [ 7.57500692e-01 -6.52644975e-01 1.57237982e-02 -4.69907327e+01] [-2.11829805e-02 -4.99282625e-04 9.99775491e-01 -8.17831672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.250385723 meters 0.018632371100043742 Centerline is valid? [True, True] Translation: X:162.61, Y:-46.97, Z:-8.18 [[-6.54053774e-01 -7.56321176e-01 -1.38542401e-02 1.62610740e+02] [ 7.56165945e-01 -6.54200334e-01 1.53292938e-02 -4.69698429e+01] [-2.06573180e-02 -4.49922073e-04 9.99786514e-01 -8.17924386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.280385723 meters 0.018662760295672546 Centerline is valid? [True, True] Translation: X:162.59, Y:-46.95, Z:-8.18 [[-6.55235063e-01 -7.55296057e-01 -1.39599195e-02 1.62593058e+02] [ 7.55138381e-01 -6.55383617e-01 1.54382841e-02 -4.69502027e+01] [-2.08095776e-02 -4.25965920e-04 9.99783367e-01 -8.18006988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.310385723 meters 0.0179063220458391 Centerline is valid? [True, True] Translation: X:162.57, Y:-46.93, Z:-8.18 [[-6.57396628e-01 -7.53411687e-01 -1.41599570e-02 1.62574829e+02] [ 7.53249264e-01 -6.57549000e-01 1.56480006e-02 -4.69282464e+01] [-2.11002521e-02 -3.79034379e-04 9.99777293e-01 -8.18051824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.340385723 meters 0.017706363246173414 Centerline is valid? [True, True] Translation: X:162.56, Y:-46.91, Z:-8.18 [[-6.58490448e-01 -7.52454691e-01 -1.42220790e-02 1.62556518e+02] [ 7.52290786e-01 -6.58643919e-01 1.57086394e-02 -4.69075458e+01] [-2.11873252e-02 -3.55150037e-04 9.99775460e-01 -8.18138027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.370385723 meters 0.017338821023094978 Centerline is valid? [True, True] Translation: X:162.54, Y:-46.89, Z:-8.18 [[-6.61077028e-01 -7.50187203e-01 -1.40115576e-02 1.62538762e+02] [ 7.50027778e-01 -6.61225438e-01 1.54677509e-02 -4.68860168e+01] [-2.08685071e-02 -2.83682619e-04 9.99782189e-01 -8.18229366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.400385723 meters 0.01706719051888736 Centerline is valid? [True, True] Translation: X:162.52, Y:-46.87, Z:-8.18 [[-6.62532658e-01 -7.48901166e-01 -1.40542014e-02 1.62521347e+02] [ 7.48740649e-01 -6.62681659e-01 1.55067681e-02 -4.68653471e+01] [-2.09264982e-02 -2.49211635e-04 9.99780986e-01 -8.18302744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.430385723 meters 0.016738171410371327 Centerline is valid? [True, True] Translation: X:162.50, Y:-46.84, Z:-8.18 [[-6.64752601e-01 -7.46938027e-01 -1.36954008e-02 1.62504213e+02] [ 7.46785376e-01 -6.64893637e-01 1.51014347e-02 -4.68435889e+01] [-2.03858207e-02 -1.88807022e-04 9.99792170e-01 -8.18361117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.460385723 meters 0.01682347960540208 Centerline is valid? [True, True] Translation: X:162.49, Y:-46.82, Z:-8.19 [[-6.65709678e-01 -7.46081501e-01 -1.38930955e-02 1.62486108e+02] [ 7.45924401e-01 -6.65854612e-01 1.53108652e-02 -4.68238107e+01] [-2.06739350e-02 -1.70607806e-04 9.99786257e-01 -8.18500694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.490385723 meters 0.016486041112651048 Centerline is valid? [True, True] Translation: X:162.47, Y:-46.80, Z:-8.18 [[-6.67488513e-01 -7.44482680e-01 -1.43047027e-02 1.62468645e+02] [ 7.44315969e-01 -6.67641762e-01 1.57548521e-02 -4.68021945e+01] [-2.12796314e-02 -1.31035796e-04 9.99773554e-01 -8.18471408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.520385723 meters 0.016578253609094158 Centerline is valid? [True, True] Translation: X:162.45, Y:-46.78, Z:-8.19 [[-6.68494403e-01 -7.43578681e-01 -1.43519510e-02 1.62450484e+02] [ 7.43410846e-01 -6.68648438e-01 1.57980923e-02 -4.67817996e+01] [-2.13435343e-02 -1.08459715e-04 9.99772195e-01 -8.18555703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.550385723 meters 0.01655357794418978 Centerline is valid? [True, True] Translation: X:162.43, Y:-46.76, Z:-8.19 [[-6.69990408e-01 -7.42224246e-01 -1.46977057e-02 1.62432122e+02] [ 7.42048124e-01 -6.70151597e-01 1.61684454e-02 -4.67600995e+01] [-2.18503032e-02 -7.37015964e-05 9.99761251e-01 -8.18522394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.580385723 meters 0.016525495455559907 Centerline is valid? [True, True] Translation: X:162.41, Y:-46.74, Z:-8.19 [[-6.70678617e-01 -7.41599965e-01 -1.48217906e-02 1.62413144e+02] [ 7.41420904e-01 -6.70842372e-01 1.62958279e-02 -4.67398709e+01] [-2.20280705e-02 -5.99221012e-05 9.99757351e-01 -8.18600521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.610385723 meters 0.016679311242720745 Centerline is valid? [True, True] Translation: X:162.39, Y:-46.72, Z:-8.19 [[-6.70781789e-01 -7.41500751e-01 -1.51138103e-02 1.62393300e+02] [ 7.41314761e-01 -6.70952034e-01 1.66070164e-02 -4.67222936e+01] [-2.24547569e-02 -6.44064722e-05 9.99747858e-01 -8.18785536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.640385723 meters 0.016763663416643402 Centerline is valid? [True, True] Translation: X:162.37, Y:-46.70, Z:-8.19 [[-6.70502525e-01 -7.41757560e-01 -1.49025313e-02 1.62374412e+02] [ 7.41576946e-01 -6.70668112e-01 1.63681605e-02 -4.67044234e+01] [-2.21358593e-02 -7.64806787e-05 9.99754969e-01 -8.18949368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.670385723 meters 0.017924789713216847 Centerline is valid? [True, True] Translation: X:162.35, Y:-46.69, Z:-8.19 [[-6.70647673e-01 -7.41636949e-01 -1.43643567e-02 1.62354972e+02] [ 7.41469329e-01 -6.70801484e-01 1.57671642e-02 -4.66854775e+01] [-2.13291433e-02 -7.65179539e-05 9.99772505e-01 -8.19291462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.700385723 meters 0.017052410064064667 Centerline is valid? [True, True] Translation: X:162.33, Y:-46.67, Z:-8.19 [[-6.68805078e-01 -7.43325837e-01 -1.29022557e-02 1.62333396e+02] [ 7.43191069e-01 -6.68929507e-01 1.41544867e-02 -4.66669396e+01] [-1.91520953e-02 -1.22248605e-04 9.99816574e-01 -8.19317433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.730385723 meters 0.017317777434220184 Centerline is valid? [True, True] Translation: X:162.31, Y:-46.65, Z:-8.20 [[-6.68158591e-01 -7.43916780e-01 -1.23256965e-02 1.62313881e+02] [ 7.43794010e-01 -6.68272255e-01 1.35153686e-02 -4.66486781e+01] [-1.82912305e-02 -1.37369585e-04 9.99832692e-01 -8.19518104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.760385723 meters 0.018429004610649374 Centerline is valid? [True, True] Translation: X:162.29, Y:-46.63, Z:-8.20 [[-6.67182942e-01 -7.44795603e-01 -1.21009122e-02 1.62292996e+02] [ 7.44677540e-01 -6.67292652e-01 1.32618913e-02 -4.66309655e+01] [-1.79522482e-02 -1.63169867e-04 9.99838832e-01 -8.19800118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.790385723 meters 0.01751132071868626 Centerline is valid? [True, True] Translation: X:162.27, Y:-46.61, Z:-8.20 [[-6.65133361e-01 -7.46624980e-01 -1.21963833e-02 1.62271745e+02] [ 7.46505523e-01 -6.65245136e-01 1.33571291e-02 -4.66124196e+01] [-1.80863509e-02 -2.20395354e-04 9.99836404e-01 -8.19594197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82038572300002 meters 0.01759651729814171 Centerline is valid? [True, True] Translation: X:162.25, Y:-46.59, Z:-8.20 [[-6.64532009e-01 -7.47154321e-01 -1.25550413e-02 1.62251376e+02] [ 7.47027958e-01 -6.64650555e-01 1.37430132e-02 -4.65924964e+01] [-1.86128668e-02 -2.46294713e-04 9.99826735e-01 -8.19617895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85038572300002 meters 0.01783200622665586 Centerline is valid? [True, True] Translation: X:162.23, Y:-46.57, Z:-8.20 [[-6.63711035e-01 -7.47882283e-01 -1.26393468e-02 1.62231451e+02] [ 7.47754507e-01 -6.63831316e-01 1.38268402e-02 -4.65729630e+01] [-1.87312430e-02 -2.74102130e-04 9.99824517e-01 -8.19659480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88038572300002 meters 0.018333802223013056 Centerline is valid? [True, True] Translation: X:162.21, Y:-46.56, Z:-8.20 [[-6.62133057e-01 -7.49273819e-01 -1.29830183e-02 1.62210782e+02] [ 7.49139395e-01 -6.62260249e-01 1.41960972e-02 -4.65556283e+01] [-1.92349009e-02 -3.26385226e-04 9.99814939e-01 -8.19720735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91038572300002 meters 0.018613734420726544 Centerline is valid? [True, True] Translation: X:162.19, Y:-46.54, Z:-8.20 [[-6.61624784e-01 -7.49720725e-01 -1.30950236e-02 1.62191356e+02] [ 7.49584226e-01 -6.61754270e-01 1.43099131e-02 -4.65370871e+01] [-1.93941263e-02 -3.48029956e-04 9.99811856e-01 -8.19800000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94038572300002 meters 0.019260778057545436 Centerline is valid? [True, True] Translation: X:162.17, Y:-46.52, Z:-8.20 [[-6.61007972e-01 -7.50261607e-01 -1.32657824e-02 1.62170292e+02] [ 7.50121806e-01 -6.61140969e-01 1.44878006e-02 -4.65195296e+01] [-1.96401928e-02 -3.74400975e-04 9.99807043e-01 -8.19897024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.970385723 meters 0.01861238784919227 Centerline is valid? [True, True] Translation: X:162.15, Y:-46.50, Z:-8.20 [[-6.61110205e-01 -7.50170774e-01 -1.33081957e-02 1.62151833e+02] [ 7.50030229e-01 -6.61244030e-01 1.45254212e-02 -4.64983807e+01] [-1.96965114e-02 -3.78644871e-04 9.99805933e-01 -8.19884634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.000385723 meters 0.018826515121412195 Centerline is valid? [True, True] Translation: X:162.13, Y:-46.48, Z:-8.20 [[-6.61418082e-01 -7.49897234e-01 -1.34260473e-02 1.62132715e+02] [ 7.49754293e-01 -6.61554226e-01 1.46460263e-02 -4.64795646e+01] [-1.98650730e-02 -3.79089968e-04 9.99802598e-01 -8.19993756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.030385723 meters 0.01861651823660518 Centerline is valid? [True, True] Translation: X:162.11, Y:-46.46, Z:-8.20 [[-6.62048233e-01 -7.49344583e-01 -1.32224604e-02 1.62113719e+02] [ 7.49206000e-01 -6.62180160e-01 1.44154075e-02 -4.64585861e+01] [-1.95577584e-02 -3.62651592e-04 9.99808663e-01 -8.20058718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.060385723 meters 0.018222290533374236 Centerline is valid? [True, True] Translation: X:162.09, Y:-46.44, Z:-8.20 [[-6.63412772e-01 -7.48137756e-01 -1.31678299e-02 1.62094720e+02] [ 7.48000232e-01 -6.63543359e-01 1.43479855e-02 -4.64379107e+01] [-1.94716957e-02 -3.30902934e-04 9.99810354e-01 -8.20164641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.090385723 meters 0.01858092252158286 Centerline is valid? [True, True] Translation: X:162.08, Y:-46.42, Z:-8.20 [[-6.64309768e-01 -7.47338653e-01 -1.33217537e-02 1.62075560e+02] [ 7.47197895e-01 -6.64443253e-01 1.45075580e-02 -4.64192588e+01] [-1.96936082e-02 -3.16473808e-04 9.99806012e-01 -8.20367458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.120385723 meters 0.017989029657132727 Centerline is valid? [True, True] Translation: X:162.06, Y:-46.40, Z:-8.20 [[-6.65804846e-01 -7.46006090e-01 -1.33723930e-02 1.62057920e+02] [ 7.45864161e-01 -6.65939061e-01 1.45540616e-02 -4.63978139e+01] [-1.97626174e-02 -2.83823948e-04 9.99804660e-01 -8.20384572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.150385723 meters 0.0179677952458449 Centerline is valid? [True, True] Translation: X:162.04, Y:-46.38, Z:-8.20 [[-6.66530238e-01 -7.45357964e-01 -1.33770909e-02 1.62040202e+02] [ 7.45215962e-01 -6.66664408e-01 1.45512249e-02 -4.63777192e+01] [-1.97639017e-02 -2.69990298e-04 9.99804639e-01 -8.20401273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.180385723 meters 0.017846827116898282 Centerline is valid? [True, True] Translation: X:162.02, Y:-46.36, Z:-8.20 [[-6.67306800e-01 -7.44656075e-01 -1.37464454e-02 1.62021908e+02] [ 7.44506161e-01 -6.67448321e-01 1.49437360e-02 -4.63557458e+01] [-2.03029857e-02 -2.62256626e-04 9.99793839e-01 -8.20338529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.210385723 meters 0.01844750086065758 Centerline is valid? [True, True] Translation: X:162.00, Y:-46.34, Z:-8.21 [[-6.67437445e-01 -7.44534986e-01 -1.39610759e-02 1.62002206e+02] [ 7.44380500e-01 -6.67583390e-01 1.51686550e-02 -4.63373239e+01] [-2.06137767e-02 -2.68224369e-04 9.99787478e-01 -8.20538585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.240385723 meters 0.0178873245898252 Centerline is valid? [True, True] Translation: X:161.98, Y:-46.32, Z:-8.20 [[-6.67434385e-01 -7.44533303e-01 -1.41951285e-02 1.61984836e+02] [ 7.44373792e-01 -6.67585262e-01 1.54134727e-02 -4.63153016e+01] [-2.09523023e-02 -2.78999945e-04 9.99780437e-01 -8.20411367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.270385723 meters 0.018579219792345898 Centerline is valid? [True, True] Translation: X:161.96, Y:-46.30, Z:-8.21 [[-6.67827476e-01 -7.44181192e-01 -1.41709227e-02 1.61964552e+02] [ 7.44022320e-01 -6.67977753e-01 1.53788510e-02 -4.62968645e+01] [-2.09105128e-02 -2.73063465e-04 9.99781314e-01 -8.20677084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.300385723 meters 0.017972440922789615 Centerline is valid? [True, True] Translation: X:161.95, Y:-46.27, Z:-8.21 [[-6.67954055e-01 -7.44069600e-01 -1.40644777e-02 1.61947576e+02] [ 7.43913270e-01 -6.68102054e-01 1.52542482e-02 -4.62742746e+01] [-2.07467288e-02 -2.73614611e-04 9.99784726e-01 -8.20640627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.330385723 meters 0.018025032432720165 Centerline is valid? [True, True] Translation: X:161.93, Y:-46.25, Z:-8.21 [[-6.68265698e-01 -7.43802258e-01 -1.33850176e-02 1.61929243e+02] [ 7.43660762e-01 -6.68399682e-01 1.45098684e-02 -4.62526604e+01] [-1.97390144e-02 -2.57465050e-04 9.99805134e-01 -8.20791486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.360385723 meters 0.018029350312258385 Centerline is valid? [True, True] Translation: X:161.91, Y:-46.23, Z:-8.21 [[-6.68048045e-01 -7.44007150e-01 -1.28518477e-02 1.61911782e+02] [ 7.43876875e-01 -6.68171605e-01 1.39248088e-02 -4.62311442e+01] [-1.89473970e-02 -2.57750986e-04 9.99820449e-01 -8.20857059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.390385723 meters 0.018002283094432338 Centerline is valid? [True, True] Translation: X:161.89, Y:-46.21, Z:-8.21 [[-6.68019219e-01 -7.44028716e-01 -1.30993370e-02 1.61893363e+02] [ 7.43893536e-01 -6.68147587e-01 1.41848216e-02 -4.62103338e+01] [-1.93062050e-02 -2.68778610e-04 9.99813582e-01 -8.20949385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.420385723 meters 0.018213180312546623 Centerline is valid? [True, True] Translation: X:161.88, Y:-46.19, Z:-8.21 [[-6.67878354e-01 -7.44154954e-01 -1.31113762e-02 1.61875118e+02] [ 7.44019699e-01 -6.68006981e-01 1.41901707e-02 -4.61909101e+01] [-1.93181766e-02 -2.77814333e-04 9.99813348e-01 -8.21028301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.450385723 meters 0.018222902030727888 Centerline is valid? [True, True] Translation: X:161.86, Y:-46.17, Z:-8.21 [[-6.67198632e-01 -7.44746530e-01 -1.40922502e-02 1.61857356e+02] [ 7.44590622e-01 -6.67347362e-01 1.52415489e-02 -4.61690810e+01] [-2.07555167e-02 -3.23816762e-04 9.99784529e-01 -8.20963105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.480385723 meters 0.018230404762103868 Centerline is valid? [True, True] Translation: X:161.84, Y:-46.15, Z:-8.21 [[-6.66838193e-01 -7.45070646e-01 -1.40199152e-02 1.61839811e+02] [ 7.44916580e-01 -6.66985471e-01 1.51548616e-02 -4.61470230e+01] [-2.06425222e-02 -3.37826778e-04 9.99786863e-01 -8.21029073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.510385723 meters 0.018289325719046647 Centerline is valid? [True, True] Translation: X:161.82, Y:-46.13, Z:-8.21 [[-6.66706231e-01 -7.45190434e-01 -1.39290367e-02 1.61821216e+02] [ 7.45038558e-01 -6.66851631e-01 1.50482454e-02 -4.61257210e+01] [-2.05024094e-02 -3.44910444e-04 9.99789744e-01 -8.21195069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.540385723 meters 0.01860543198388003 Centerline is valid? [True, True] Translation: X:161.80, Y:-46.10, Z:-8.21 [[-6.65955122e-01 -7.45875508e-01 -1.31719823e-02 1.61804021e+02] [ 7.45739969e-01 -6.66085282e-01 1.42230522e-02 -4.61039501e+01] [-1.93822898e-02 -3.50959175e-04 9.99812084e-01 -8.21403981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57038572300002 meters 0.01860470535166737 Centerline is valid? [True, True] Translation: X:161.79, Y:-46.08, Z:-8.21 [[-6.65705142e-01 -7.46099300e-01 -1.31338719e-02 1.61786390e+02] [ 7.45964739e-01 -6.65834592e-01 1.41740799e-02 -4.60823409e+01] [-1.93202574e-02 -3.61647467e-04 9.99813281e-01 -8.21483039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60038572300002 meters 0.01988689935700837 Centerline is valid? [True, True] Translation: X:161.77, Y:-46.06, Z:-8.22 [[-6.65083150e-01 -7.46651917e-01 -1.32407667e-02 1.61766674e+02] [ 7.46515449e-01 -6.65214826e-01 1.42800440e-02 -4.60633186e+01] [-1.94701766e-02 -3.87020263e-04 9.99810363e-01 -8.21717875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63038572300002 meters 0.0204609829500935 Centerline is valid? [True, True] Translation: X:161.75, Y:-46.04, Z:-8.22 [[-6.64023274e-01 -7.47590455e-01 -1.34759975e-02 1.61749165e+02] [ 7.47449386e-01 -6.64159868e-01 1.45287508e-02 -4.60419348e+01] [-1.98117721e-02 -4.25197357e-04 9.99803637e-01 -8.21797184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66038572300002 meters 0.0198712591327125 Centerline is valid? [True, True] Translation: X:161.73, Y:-46.02, Z:-8.22 [[-6.63323109e-01 -7.48206745e-01 -1.37521139e-02 1.61733720e+02] [ 7.48060139e-01 -6.63465490e-01 1.48179562e-02 -4.60182976e+01] [-2.02109477e-02 -4.58315414e-04 9.99795633e-01 -8.21874455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69038572300002 meters 0.01981879036685681 Centerline is valid? [True, True] Translation: X:161.72, Y:-46.00, Z:-8.22 [[-6.63242730e-01 -7.48279797e-01 -1.36538266e-02 1.61716322e+02] [ 7.48135455e-01 -6.63383096e-01 1.47040712e-02 -4.59961320e+01] [-2.00604772e-02 -4.62543485e-04 9.99798661e-01 -8.21961891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.720385723 meters 0.020428271372778528 Centerline is valid? [True, True] Translation: X:161.70, Y:-45.97, Z:-8.22 [[-6.62432113e-01 -7.49003874e-01 -1.33000685e-02 1.61701049e+02] [ 7.48867207e-01 -6.62565445e-01 1.43156489e-02 -4.59736059e+01] [-1.95346423e-02 -4.76839585e-04 9.99809067e-01 -8.22062474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.750385723 meters 0.020420825096555736 Centerline is valid? [True, True] Translation: X:161.68, Y:-45.95, Z:-8.22 [[-6.62228979e-01 -7.49185795e-01 -1.31690435e-02 1.61684008e+02] [ 7.49052008e-01 -6.62359730e-01 1.41660971e-02 -4.59516275e+01] [-1.93356828e-02 -4.83098434e-04 9.99812931e-01 -8.22124134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.780385723 meters 0.02031417350687565 Centerline is valid? [True, True] Translation: X:161.67, Y:-45.93, Z:-8.22 [[-6.62061012e-01 -7.49334866e-01 -1.31329691e-02 1.61666562e+02] [ 7.49201989e-01 -6.62191073e-01 1.41195497e-02 -4.59291207e+01] [-1.92768058e-02 -4.91243228e-04 9.99814064e-01 -8.22187189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.810385723 meters 0.020772611458218734 Centerline is valid? [True, True] Translation: X:161.65, Y:-45.91, Z:-8.22 [[-6.61126443e-01 -7.50159881e-01 -1.31140843e-02 1.61649374e+02] [ 7.50027701e-01 -6.61256291e-01 1.40913195e-02 -4.59064900e+01] [-1.92425133e-02 -5.19782526e-04 9.99814711e-01 -8.22333866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.840385723 meters 0.021240892337427382 Centerline is valid? [True, True] Translation: X:161.63, Y:-45.89, Z:-8.22 [[-6.60410822e-01 -7.50791865e-01 -1.30046539e-02 1.61630287e+02] [ 7.50662151e-01 -6.60538632e-01 1.39660409e-02 -4.58857581e+01] [-1.90756662e-02 -5.38776934e-04 9.99817898e-01 -8.22462132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.870385723 meters 0.022031200405999284 Centerline is valid? [True, True] Translation: X:161.61, Y:-45.86, Z:-8.23 [[-6.58288698e-01 -7.52647797e-01 -1.33148337e-02 1.61611525e+02] [ 7.52512357e-01 -6.58423055e-01 1.42910011e-02 -4.58647913e+01] [-1.95228840e-02 -6.11972425e-04 9.99809223e-01 -8.22596030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.900385723 meters 0.021942027649715395 Centerline is valid? [True, True] Translation: X:161.59, Y:-45.84, Z:-8.23 [[-6.59477727e-01 -7.51611009e-01 -1.30390931e-02 1.61594777e+02] [ 7.51481063e-01 -6.59606368e-01 1.39875474e-02 -4.58429549e+01] [-1.91138635e-02 -5.74155635e-04 9.99817149e-01 -8.22658535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.930385723 meters 0.021670522788321718 Centerline is valid? [True, True] Translation: X:161.58, Y:-45.82, Z:-8.23 [[-6.59741205e-01 -7.51382165e-01 -1.28990147e-02 1.61577022e+02] [ 7.51255082e-01 -6.59867049e-01 1.38304028e-02 -4.58223703e+01] [-1.89035528e-02 -5.65963772e-04 9.99821152e-01 -8.22724012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.960385723 meters 0.021662881752615996 Centerline is valid? [True, True] Translation: X:161.56, Y:-45.80, Z:-8.23 [[-6.59636680e-01 -7.51476880e-01 -1.27259424e-02 1.61558773e+02] [ 7.51353356e-01 -6.59759182e-01 1.36365552e-02 -4.58027370e+01] [-1.86436133e-02 -5.66507502e-04 9.99826032e-01 -8.22825412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.990385723 meters 0.021200776010142777 Centerline is valid? [True, True] Translation: X:161.54, Y:-45.78, Z:-8.23 [[-6.60178837e-01 -7.51007040e-01 -1.23421332e-02 1.61540867e+02] [ 7.50890925e-01 -6.60293974e-01 1.32169271e-02 -4.57814900e+01] [-1.80754415e-02 -5.42060285e-04 9.99836479e-01 -8.23022741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.020385723 meters 0.022458602181939243 Centerline is valid? [True, True] Translation: X:161.52, Y:-45.76, Z:-8.23 [[-6.61117788e-01 -7.50177878e-01 -1.25069159e-02 1.61521343e+02] [ 7.50058632e-01 -6.61235865e-01 1.33857537e-02 -4.57624935e+01] [-1.83117176e-02 -5.31360400e-04 9.99832185e-01 -8.23209121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.050385723 meters 0.021178886005507592 Centerline is valid? [True, True] Translation: X:161.50, Y:-45.74, Z:-8.23 [[-6.61585044e-01 -7.49762069e-01 -1.27306631e-02 1.61504358e+02] [ 7.49638594e-01 -6.61707303e-01 1.36170276e-02 -4.57397288e+01] [-1.86335035e-02 -5.34574548e-04 9.99826238e-01 -8.23143730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.080385723 meters 0.021178886005507592 Centerline is valid? [True, True] Translation: X:161.49, Y:-45.72, Z:-8.23 [[-6.61796893e-01 -7.49575024e-01 -1.27340627e-02 1.61485453e+02] [ 7.49451576e-01 -6.61919178e-01 1.36138472e-02 -4.57196245e+01] [-1.86335201e-02 -5.33961594e-04 9.99826238e-01 -8.23227933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.110385723 meters 0.02045994404351172 Centerline is valid? [True, True] Translation: X:161.47, Y:-45.70, Z:-8.23 [[-6.62472062e-01 -7.48969941e-01 -1.32210112e-02 1.61467976e+02] [ 7.48836913e-01 -6.62603753e-01 1.41260192e-02 -4.56975560e+01] [-1.93402554e-02 -5.42288174e-04 9.99812813e-01 -8.23182074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.140385723 meters 0.021086420469543815 Centerline is valid? [True, True] Translation: X:161.45, Y:-45.68, Z:-8.23 [[-6.63013418e-01 -7.48490087e-01 -1.32588508e-02 1.61448215e+02] [ 7.48356360e-01 -6.63145764e-01 1.41582170e-02 -4.56785486e+01] [-1.93898358e-02 -5.35257479e-04 9.99811856e-01 -8.23329782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.170385723 meters 0.02025709614131663 Centerline is valid? [True, True] Translation: X:161.43, Y:-45.66, Z:-8.23 [[-6.63411753e-01 -7.48142064e-01 -1.29729791e-02 1.61430285e+02] [ 7.48014117e-01 -6.63538381e-01 1.38454797e-02 -4.56568626e+01] [-1.89664553e-02 -5.18717513e-04 9.99819986e-01 -8.23321809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.200385723 meters 0.02066529803300577 Centerline is valid? [True, True] Translation: X:161.41, Y:-45.64, Z:-8.24 [[-6.63204352e-01 -7.48339913e-01 -1.21393247e-02 1.61411377e+02] [ 7.48228029e-01 -6.63315257e-01 1.29493508e-02 -4.56375748e+01] [-1.77427154e-02 -4.94917234e-04 9.99842463e-01 -8.23523986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.230385723 meters 0.021025266091382045 Centerline is valid? [True, True] Translation: X:161.39, Y:-45.62, Z:-8.24 [[-6.63067301e-01 -7.48475223e-01 -1.12514401e-02 1.61392434e+02] [ 7.48379234e-01 -6.63162591e-01 1.19958203e-02 -4.56180315e+01] [-1.64401085e-02 -4.66307919e-04 9.99864744e-01 -8.23660587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.260385723 meters 0.02115751501252885 Centerline is valid? [True, True] Translation: X:161.37, Y:-45.60, Z:-8.24 [[-6.62625712e-01 -7.48873613e-01 -1.07460500e-02 1.61373345e+02] [ 7.48786210e-01 -6.62712683e-01 1.14503755e-02 -4.55980182e+01] [-1.56964277e-02 -4.59180866e-04 9.99876698e-01 -8.23768748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.290385723 meters 0.021243814288606444 Centerline is valid? [True, True] Translation: X:161.35, Y:-45.58, Z:-8.24 [[-6.62680198e-01 -7.48823124e-01 -1.09034579e-02 1.61354615e+02] [ 7.48733228e-01 -6.62769726e-01 1.16122058e-02 -4.55786908e+01] [-1.59219701e-02 -4.68602364e-04 9.99873128e-01 -8.23823364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32038572300002 meters 0.02163480776109107 Centerline is valid? [True, True] Translation: X:161.33, Y:-45.56, Z:-8.24 [[-6.62551877e-01 -7.48924629e-01 -1.17008759e-02 1.61334971e+02] [ 7.48821269e-01 -6.62654992e-01 1.24526264e-02 -4.55591453e+01] [-1.70797225e-02 -5.11353733e-04 9.99854000e-01 -8.23793134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35038572300002 meters 0.02182310237875601 Centerline is valid? [True, True] Translation: X:161.32, Y:-45.54, Z:-8.24 [[-6.62938123e-01 -7.48576023e-01 -1.21236292e-02 1.61316648e+02] [ 7.48465151e-01 -6.63048762e-01 1.28940631e-02 -4.55395791e+01] [-1.76907438e-02 -5.26147910e-04 9.99843368e-01 -8.23807317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38038572300002 meters 0.02175980471847606 Centerline is valid? [True, True] Translation: X:161.30, Y:-45.52, Z:-8.24 [[-6.63660609e-01 -7.47920358e-01 -1.30281744e-02 1.61299179e+02] [ 7.47792391e-01 -6.63788243e-01 1.38458661e-02 -4.55185392e+01] [-1.90035541e-02 -5.53413808e-04 9.99819263e-01 -8.23655331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41038572300002 meters 0.020676047586802533 Centerline is valid? [True, True] Translation: X:161.28, Y:-45.50, Z:-8.24 [[-6.64259229e-01 -7.47380560e-01 -1.34897870e-02 1.61281534e+02] [ 7.47243416e-01 -6.64395952e-01 1.43281685e-02 -4.54960991e+01] [-1.96711544e-02 -5.62536363e-04 9.99806346e-01 -8.23602576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44038572300002 meters 0.020382608676314615 Centerline is valid? [True, True] Translation: X:161.26, Y:-45.47, Z:-8.24 [[-6.64947675e-01 -7.46766592e-01 -1.35737340e-02 1.61263194e+02] [ 7.46627768e-01 -6.65085972e-01 1.44092117e-02 -4.54745336e+01] [-1.97880181e-02 -5.53154915e-04 9.99804045e-01 -8.23632043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.470385723 meters 0.020468313017871848 Centerline is valid? [True, True] Translation: X:161.24, Y:-45.45, Z:-8.24 [[-6.65361206e-01 -7.46404111e-01 -1.32426522e-02 1.61244182e+02] [ 7.46272051e-01 -6.65492763e-01 1.40501889e-02 -4.54540319e+01] [-1.93000080e-02 -5.34170655e-04 9.99813595e-01 -8.23720984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.500385723 meters 0.021490967582701 Centerline is valid? [True, True] Translation: X:161.23, Y:-45.44, Z:-8.24 [[-6.65335555e-01 -7.46442241e-01 -1.23523379e-02 1.61225197e+02] [ 7.46327494e-01 -6.65450018e-01 1.30975481e-02 -4.54355311e+01] [-1.79964266e-02 -5.04624939e-04 9.99837924e-01 -8.24015544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.530385723 meters 0.021498246236352922 Centerline is valid? [True, True] Translation: X:161.21, Y:-45.42, Z:-8.24 [[-6.65305649e-01 -7.46472633e-01 -1.21244657e-02 1.61206880e+02] [ 7.46362126e-01 -6.65415931e-01 1.28536107e-02 -4.54169328e+01] [-1.76626812e-02 -4.97662192e-04 9.99843879e-01 -8.24038240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.560385723 meters 0.021800119029817308 Centerline is valid? [True, True] Translation: X:161.19, Y:-45.40, Z:-8.24 [[-6.65361240e-01 -7.46422946e-01 -1.21328629e-02 1.61188664e+02] [ 7.46312428e-01 -6.65471662e-01 1.28540210e-02 -4.53980330e+01] [-1.76686127e-02 -5.02338988e-04 9.99843772e-01 -8.23989165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.590385723 meters 0.021040458981149753 Centerline is valid? [True, True] Translation: X:161.17, Y:-45.38, Z:-8.24 [[-6.65854221e-01 -7.45979308e-01 -1.23704532e-02 1.61170461e+02] [ 7.45864514e-01 -6.65968929e-01 1.30962790e-02 -4.53761987e+01] [-1.80078906e-02 -5.06469428e-04 9.99837717e-01 -8.23949236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.620385723 meters 0.02042606333354675 Centerline is valid? [True, True] Translation: X:161.15, Y:-45.35, Z:-8.24 [[-6.67807349e-01 -7.44227804e-01 -1.25825228e-02 1.61151720e+02] [ 7.44108873e-01 -6.67925709e-01 1.33128695e-02 -4.53546345e+01] [-1.83119981e-02 -4.72334780e-04 9.99832210e-01 -8.23934251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.650385723 meters 0.019931825444763355 Centerline is valid? [True, True] Translation: X:161.13, Y:-45.33, Z:-8.24 [[-6.69365630e-01 -7.42817380e-01 -1.31146156e-02 1.61133478e+02] [ 7.42688048e-01 -6.69493936e-01 1.38683920e-02 -4.53329973e+01] [-1.90818382e-02 -4.57043319e-04 9.99817821e-01 -8.23918518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.680385723 meters 0.01970140126871512 Centerline is valid? [True, True] Translation: X:161.12, Y:-45.31, Z:-8.24 [[-6.70955706e-01 -7.41367082e-01 -1.39029098e-02 1.61115530e+02] [ 7.41221601e-01 -6.71099583e-01 1.46931247e-02 -4.53111811e+01] [-2.02232359e-02 -4.46701240e-04 9.99795390e-01 -8.23897615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.710385723 meters 0.0184872053313383 Centerline is valid? [True, True] Translation: X:161.10, Y:-45.29, Z:-8.24 [[-6.74812980e-01 -7.37832076e-01 -1.52075523e-02 1.61100017e+02] [ 7.37657326e-01 -6.74984210e-01 1.60619281e-02 -4.52866260e+01] [-2.21158635e-02 -3.79164797e-04 9.99755342e-01 -8.23692481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.740385723 meters 0.017753679944748895 Centerline is valid? [True, True] Translation: X:161.08, Y:-45.26, Z:-8.24 [[-6.79153666e-01 -7.33825075e-01 -1.58447905e-02 1.61084487e+02] [ 7.33634490e-01 -6.79338420e-01 1.67255912e-02 -4.52634700e+01] [-2.30376331e-02 -2.65038276e-04 9.99734563e-01 -8.23620431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.770385723 meters 0.01741644685586762 Centerline is valid? [True, True] Translation: X:161.07, Y:-45.24, Z:-8.24 [[-6.81273633e-01 -7.31861299e-01 -1.56612854e-02 1.61066754e+02] [ 7.31674792e-01 -6.81453592e-01 1.65227344e-02 -4.52411958e+01] [-2.27647891e-02 -2.02464452e-04 9.99740828e-01 -8.23686665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.800385723 meters 0.017248896373934813 Centerline is valid? [True, True] Translation: X:161.05, Y:-45.22, Z:-8.24 [[-6.83116097e-01 -7.30139284e-01 -1.57804952e-02 1.61049536e+02] [ 7.29949668e-01 -6.83298327e-01 1.66396990e-02 -4.52207813e+01] [-2.29320838e-02 -1.52120971e-04 9.99737014e-01 -8.23779085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.830385723 meters 0.017020140233577143 Centerline is valid? [True, True] Translation: X:161.03, Y:-45.20, Z:-8.24 [[-6.85671427e-01 -7.27743493e-01 -1.56238082e-02 1.61032838e+02] [ 7.27557248e-01 -6.85849402e-01 1.64635550e-02 -4.51991681e+01] [-2.26968245e-02 -7.86256034e-05 9.99742391e-01 -8.23846536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.860385723 meters 0.017010069864410685 Centerline is valid? [True, True] Translation: X:161.01, Y:-45.18, Z:-8.24 [[-6.86694108e-01 -7.26778405e-01 -1.56317666e-02 1.61014251e+02] [ 7.26591949e-01 -6.86872002e-01 1.64618777e-02 -4.51788238e+01] [-2.27011601e-02 -5.36413245e-05 9.99742294e-01 -8.23859371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.890385723 meters 0.0171266830256212 Centerline is valid? [True, True] Translation: X:160.99, Y:-45.16, Z:-8.24 [[-6.87510484e-01 -7.26014710e-01 -1.52307354e-02 1.60993946e+02] [ 7.25837730e-01 -6.87679169e-01 1.60296536e-02 -4.51589591e+01] [-2.21116238e-02 -3.44874944e-05 9.99755508e-01 -8.23899201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.920385723 meters 0.01728402278045628 Centerline is valid? [True, True] Translation: X:160.97, Y:-45.14, Z:-8.24 [[-6.87736766e-01 -7.25809692e-01 -1.47794295e-02 1.60974518e+02] [ 7.25643199e-01 -6.87895552e-01 1.55453523e-02 -4.51407606e+01] [-2.14496711e-02 -3.34821921e-05 9.99769929e-01 -8.24095325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.950385723 meters 0.017154652073937463 Centerline is valid? [True, True] Translation: X:160.95, Y:-45.12, Z:-8.24 [[-6.88650134e-01 -7.24956965e-01 -1.40851716e-02 1.60953691e+02] [ 7.24805659e-01 -6.88794163e-01 1.48107456e-02 -4.51231894e+01] [-2.04389372e-02 -9.59017742e-06 9.99791103e-01 -8.24331096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.980385723 meters 0.01722199016445322 Centerline is valid? [True, True] Translation: X:160.94, Y:-45.10, Z:-8.25 [[-6.89195843e-01 -7.24449358e-01 -1.34987953e-02 1.60935088e+02] [ 7.24310431e-01 -6.89328026e-01 1.41870651e-02 -4.51047947e+01] [-1.95829081e-02 3.48083501e-07 9.99808236e-01 -8.24502845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.010385723 meters 0.01737666155021163 Centerline is valid? [True, True] Translation: X:160.92, Y:-45.08, Z:-8.25 [[-6.90981857e-01 -7.22770046e-01 -1.21463846e-02 1.60916370e+02] [ 7.22657433e-01 -6.91088605e-01 1.27582976e-02 -4.50845308e+01] [-1.76155434e-02 3.80770357e-05 9.99844834e-01 -8.24623967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.040385723 meters 0.017534938782536997 Centerline is valid? [True, True] Translation: X:160.90, Y:-45.06, Z:-8.25 [[-6.92314981e-01 -7.21503889e-01 -1.14937077e-02 1.60898080e+02] [ 7.21402987e-01 -6.92410380e-01 1.20663188e-02 -4.50646180e+01] [-1.66642585e-02 6.20981447e-05 9.99861140e-01 -8.24776745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07038572300002 meters 0.017680210640660412 Centerline is valid? [True, True] Translation: X:160.88, Y:-45.04, Z:-8.25 [[-6.94013596e-01 -7.19871946e-01 -1.13801993e-02 1.60879823e+02] [ 7.19772912e-01 -6.94106888e-01 1.19408113e-02 -4.50448637e+01] [-1.64949298e-02 9.59261632e-05 9.99863945e-01 -8.24891316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10038572300002 meters 0.01806866591807858 Centerline is valid? [True, True] Translation: X:160.86, Y:-45.02, Z:-8.25 [[-6.97733260e-01 -7.16266859e-01 -1.14054766e-02 1.60860670e+02] [ 7.16167027e-01 -6.97826451e-01 1.19596448e-02 -4.50238576e+01] [-1.65253404e-02 1.76415670e-04 9.99863432e-01 -8.24918053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13038572300002 meters 0.018676830023501685 Centerline is valid? [True, True] Translation: X:160.84, Y:-45.00, Z:-8.25 [[-7.01280853e-01 -7.12773591e-01 -1.26084149e-02 1.60841063e+02] [ 7.12651176e-01 -7.01394132e-01 1.32126120e-02 -4.50031974e+01] [-1.82610691e-02 2.80350165e-04 9.99833213e-01 -8.24879772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16038572300002 meters 0.0191223732843919 Centerline is valid? [True, True] Translation: X:160.82, Y:-44.98, Z:-8.25 [[-7.02966475e-01 -7.11095708e-01 -1.34546876e-02 1.60822143e+02] [ 7.10956162e-01 -7.03095142e-01 1.40910123e-02 -4.49829005e+01] [-1.94799838e-02 3.39816160e-04 9.99810189e-01 -8.24873953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19038572300002 meters 0.019029764686118243 Centerline is valid? [True, True] Translation: X:160.80, Y:-44.96, Z:-8.25 [[-7.04479225e-01 -7.09574415e-01 -1.46003796e-02 1.60802854e+02] [ 7.09409945e-01 -7.04630387e-01 1.52822521e-02 -4.49638058e+01] [-2.11317662e-02 4.08374611e-04 9.99776616e-01 -8.24769172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.220385723 meters 0.019571639176869323 Centerline is valid? [True, True] Translation: X:160.78, Y:-44.94, Z:-8.25 [[-7.06230395e-01 -7.07793561e-01 -1.63371836e-02 1.60783885e+02] [ 7.07587443e-01 -7.06419151e-01 1.70878339e-02 -4.49435882e+01] [-2.36355582e-02 5.07961735e-04 9.99720512e-01 -8.24572045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.250385723 meters 0.01981311571702175 Centerline is valid? [True, True] Translation: X:160.77, Y:-44.92, Z:-8.25 [[-7.06388968e-01 -7.07619595e-01 -1.70039672e-02 1.60765248e+02] [ 7.07396518e-01 -7.06593399e-01 1.77745734e-02 -4.49243020e+01] [-2.45925274e-02 5.27215385e-04 9.99697419e-01 -8.24582958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.280385723 meters 0.019907782209775526 Centerline is valid? [True, True] Translation: X:160.75, Y:-44.91, Z:-8.25 [[-7.05382801e-01 -7.08619153e-01 -1.71464171e-02 1.60745851e+02] [ 7.08392898e-01 -7.05590998e-01 1.79121400e-02 -4.49052023e+01] [-2.47912430e-02 4.88515367e-04 9.99692531e-01 -8.24627833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.310385723 meters 0.018780164534148224 Centerline is valid? [True, True] Translation: X:160.72, Y:-44.89, Z:-8.25 [[-7.04440491e-01 -7.09556718e-01 -1.71131195e-02 1.60723802e+02] [ 7.09331849e-01 -7.04648184e-01 1.78679689e-02 -4.48886710e+01] [-2.47370659e-02 4.48040108e-04 9.99693892e-01 -8.24725324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.340385723 meters 0.017942730710837185 Centerline is valid? [True, True] Translation: X:160.70, Y:-44.87, Z:-8.25 [[-7.00332496e-01 -7.13625072e-01 -1.65423990e-02 1.60700121e+02] [ 7.13416334e-01 -7.00527782e-01 1.72615120e-02 -4.48729839e+01] [-2.39066579e-02 2.87180101e-04 9.99714154e-01 -8.25049622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.370385723 meters 0.01773864856509581 Centerline is valid? [True, True] Translation: X:160.68, Y:-44.85, Z:-8.25 [[-6.97604715e-01 -7.16299770e-01 -1.61957369e-02 1.60680148e+02] [ 7.16100625e-01 -6.97792666e-01 1.68905343e-02 -4.48547426e+01] [-2.33999522e-02 1.85139031e-04 9.99726166e-01 -8.25293347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.400385723 meters 0.01729985530657591 Centerline is valid? [True, True] Translation: X:160.66, Y:-44.84, Z:-8.25 [[-6.91668068e-01 -7.22034773e-01 -1.61576683e-02 1.60656950e+02] [ 7.21838322e-01 -6.91856767e-01 1.68419289e-02 -4.48396427e+01] [-2.33392504e-02 -1.41997029e-05 9.99727602e-01 -8.25304667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.430385723 meters 0.01735758941670113 Centerline is valid? [True, True] Translation: X:160.64, Y:-44.82, Z:-8.25 [[-6.89017099e-01 -7.24562525e-01 -1.62660640e-02 1.60636522e+02] [ 7.24364378e-01 -6.89209065e-01 1.69443656e-02 -4.48220313e+01] [-2.34879711e-02 -1.07599680e-04 9.99724114e-01 -8.25405443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.460385723 meters 0.0179712319854288 Centerline is valid? [True, True] Translation: X:160.61, Y:-44.80, Z:-8.25 [[-6.84139464e-01 -7.29182455e-01 -1.56888861e-02 1.60613987e+02] [ 7.28999554e-01 -6.84319281e-01 1.63331497e-02 -4.48046776e+01] [-2.26460535e-02 -2.63038677e-04 9.99743511e-01 -8.25482485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.490385723 meters 0.01819012077717155 Centerline is valid? [True, True] Translation: X:160.59, Y:-44.79, Z:-8.26 [[-6.82494702e-01 -7.30720618e-01 -1.57594632e-02 1.60593815e+02] [ 7.30536680e-01 -6.82676553e-01 1.63976533e-02 -4.47854849e+01] [-2.27407193e-02 -3.21554420e-04 9.99741345e-01 -8.25545415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.520385723 meters 0.018980722943691904 Centerline is valid? [True, True] Translation: X:160.57, Y:-44.77, Z:-8.26 [[-6.79655714e-01 -7.33360295e-01 -1.58363023e-02 1.60573379e+02] [ 7.33175478e-01 -6.79840057e-01 1.64686250e-02 -4.47668679e+01] [-2.28435884e-02 -4.17793429e-04 9.99738964e-01 -8.25645849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.550385723 meters 0.019773345018903515 Centerline is valid? [True, True] Translation: X:160.55, Y:-44.75, Z:-8.26 [[-6.78559856e-01 -7.34378521e-01 -1.56431742e-02 1.60553230e+02] [ 7.34198666e-01 -6.78739996e-01 1.62583993e-02 -4.47487817e+01] [-2.25574673e-02 -4.52900547e-04 9.99745445e-01 -8.25783086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.580385723 meters 0.019787205390333375 Centerline is valid? [True, True] Translation: X:160.53, Y:-44.73, Z:-8.26 [[-6.77733284e-01 -7.35142803e-01 -1.55773812e-02 1.60534202e+02] [ 7.34964870e-01 -6.77912108e-01 1.61806594e-02 -4.47287099e+01] [-2.24551906e-02 -4.82656468e-04 9.99747734e-01 -8.25835955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.610385723 meters 0.019821155887519842 Centerline is valid? [True, True] Translation: X:160.52, Y:-44.71, Z:-8.26 [[-6.76355817e-01 -7.36408499e-01 -1.56630550e-02 1.60515107e+02] [ 7.36229177e-01 -6.76536944e-01 1.62592133e-02 -4.47087967e+01] [-2.25700582e-02 -5.34584605e-04 9.99745121e-01 -8.25909748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.640385723 meters 0.020136254631523468 Centerline is valid? [True, True] Translation: X:160.50, Y:-44.69, Z:-8.26 [[-6.76504887e-01 -7.36244422e-01 -1.68905107e-02 1.60495566e+02] [ 7.36036030e-01 -6.76715464e-01 1.75254766e-02 -4.46894360e+01] [-2.43331042e-02 -5.75953897e-04 9.99703740e-01 -8.25882728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.670385723 meters 0.021746370348038654 Centerline is valid? [True, True] Translation: X:160.47, Y:-44.67, Z:-8.26 [[-6.77011974e-01 -7.35777874e-01 -1.69028788e-02 1.60474896e+02] [ 7.35569184e-01 -6.77222713e-01 1.75320472e-02 -4.46723813e+01] [-2.43467058e-02 -5.63830849e-04 9.99703416e-01 -8.26003647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.700385723 meters 0.019928113851863584 Centerline is valid? [True, True] Translation: X:160.46, Y:-44.65, Z:-8.26 [[-6.79145134e-01 -7.33810991e-01 -1.68319929e-02 1.60459705e+02] [ 7.33603711e-01 -6.79353502e-01 1.74474879e-02 -4.46475237e+01] [-2.42380317e-02 -4.98635945e-04 9.99706091e-01 -8.25993767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.730385723 meters 0.019732783330082267 Centerline is valid? [True, True] Translation: X:160.44, Y:-44.63, Z:-8.26 [[-6.80434040e-01 -7.32619702e-01 -1.66700547e-02 1.60442207e+02] [ 7.32416265e-01 -6.80638056e-01 1.72699793e-02 -4.46274860e+01] [-2.39986007e-02 -4.58337456e-04 9.99711887e-01 -8.26109473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.760385723 meters 0.019304142394980957 Centerline is valid? [True, True] Translation: X:160.43, Y:-44.61, Z:-8.26 [[-6.83218026e-01 -7.30033457e-01 -1.62567161e-02 1.60425827e+02] [ 7.29839438e-01 -6.83411311e-01 1.68337514e-02 -4.46054537e+01] [-2.33992254e-02 -3.63670148e-04 9.99726134e-01 -8.26276394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.790385723 meters 0.019012064057936325 Centerline is valid? [True, True] Translation: X:160.41, Y:-44.58, Z:-8.26 [[-6.84831903e-01 -7.28521742e-01 -1.61658853e-02 1.60408776e+02] [ 7.28329590e-01 -6.85022608e-01 1.67342768e-02 -4.45843802e+01] [-2.32652814e-02 -3.13926030e-04 9.99729277e-01 -8.26372449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82038572300002 meters 0.018504931797713915 Centerline is valid? [True, True] Translation: X:160.39, Y:-44.56, Z:-8.26 [[-6.87094944e-01 -7.26395994e-01 -1.57923286e-02 1.60393065e+02] [ 7.26212270e-01 -6.87276364e-01 1.63382536e-02 -4.45613886e+01] [-2.27217362e-02 -2.42651400e-04 9.99741799e-01 -8.26464128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85038572300002 meters 0.018461992719690443 Centerline is valid? [True, True] Translation: X:160.38, Y:-44.54, Z:-8.27 [[-6.88413111e-01 -7.25147055e-01 -1.57840814e-02 1.60375617e+02] [ 7.24963418e-01 -6.88594006e-01 1.63198425e-02 -4.45413438e+01] [-2.27031096e-02 -2.08088080e-04 9.99742230e-01 -8.26579650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88038572300002 meters 0.018363527800171923 Centerline is valid? [True, True] Translation: X:160.36, Y:-44.52, Z:-8.27 [[-6.89473815e-01 -7.24134738e-01 -1.59605948e-02 1.60358110e+02] [ 7.23946951e-01 -6.89658501e-01 1.64913575e-02 -4.45209230e+01] [-2.29493247e-02 -1.84264819e-04 9.99736613e-01 -8.26640414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91038572300002 meters 0.018226605897665973 Centerline is valid? [True, True] Translation: X:160.34, Y:-44.50, Z:-8.27 [[-6.91256112e-01 -7.22413403e-01 -1.68481980e-02 1.60341320e+02] [ 7.22203929e-01 -6.91461390e-01 1.73962733e-02 -4.44985646e+01] [-2.42171794e-02 -1.42554563e-04 9.99706711e-01 -8.26634332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94038572300002 meters 0.018283014608195362 Centerline is valid? [True, True] Translation: X:160.32, Y:-44.48, Z:-8.27 [[-6.92266774e-01 -7.21438770e-01 -1.71118495e-02 1.60324285e+02] [ 7.21222557e-01 -6.92478223e-01 1.76616817e-02 -4.44789522e+01] [-2.45914050e-02 -1.14856459e-04 9.99697579e-01 -8.26715082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.970385723 meters 0.018283014608195362 Centerline is valid? [True, True] Translation: X:160.31, Y:-44.46, Z:-8.27 [[-6.92485970e-01 -7.21228235e-01 -1.71176572e-02 1.60305581e+02] [ 7.21012098e-01 -6.92697495e-01 1.76560506e-02 -4.44598081e+01] [-2.45914005e-02 -1.15470601e-04 9.99697579e-01 -8.26796640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.000385723 meters 0.018144090557535523 Centerline is valid? [True, True] Translation: X:160.29, Y:-44.44, Z:-8.27 [[-6.93721098e-01 -7.20018068e-01 -1.80283119e-02 1.60288598e+02] [ 7.19778224e-01 -6.93955312e-01 1.85831689e-02 -4.44371467e+01] [-2.58910601e-02 -8.48499797e-05 9.99664767e-01 -8.26695431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.030385723 meters 0.018171510030655293 Centerline is valid? [True, True] Translation: X:160.27, Y:-44.42, Z:-8.27 [[-6.94086895e-01 -7.19647991e-01 -1.87123315e-02 1.60270145e+02] [ 7.19389765e-01 -6.94339083e-01 1.92769975e-02 -4.44162555e+01] [-2.68653556e-02 -8.15484373e-05 9.99639058e-01 -8.26677226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.060385723 meters 0.01824610286509741 Centerline is valid? [True, True] Translation: X:160.25, Y:-44.40, Z:-8.27 [[-6.94422475e-01 -7.19309426e-01 -1.92711262e-02 1.60252730e+02] [ 7.19035730e-01 -6.94689818e-01 1.98412493e-02 -4.43958530e+01] [-2.76594527e-02 -7.84188545e-05 9.99617401e-01 -8.26727169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.090385723 meters 0.018259902342710667 Centerline is valid? [True, True] Translation: X:160.23, Y:-44.38, Z:-8.27 [[-6.94980996e-01 -7.18776340e-01 -1.90260225e-02 1.60234156e+02] [ 7.18509675e-01 -6.95241375e-01 1.95774833e-02 -4.43755931e+01] [-2.72995098e-02 -6.44023968e-05 9.99627297e-01 -8.26860150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.120385723 meters 0.01813971682059061 Centerline is valid? [True, True] Translation: X:160.22, Y:-44.35, Z:-8.27 [[-6.96616909e-01 -7.17210097e-01 -1.82909788e-02 1.60217062e+02] [ 7.16963372e-01 -6.96856999e-01 1.88107988e-02 -4.43547700e+01] [-2.62374915e-02 -1.00413356e-05 9.99655738e-01 -8.27049431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.150385723 meters 0.018178772771705206 Centerline is valid? [True, True] Translation: X:160.20, Y:-44.33, Z:-8.27 [[-6.98148948e-01 -7.15721192e-01 -1.81995190e-02 1.60199468e+02] [ 7.15476724e-01 -6.98386121e-01 1.87051476e-02 -4.43343534e+01] [-2.60979620e-02 3.76468775e-05 9.99659389e-01 -8.27193839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.180385723 meters 0.01826052684753715 Centerline is valid? [True, True] Translation: X:160.18, Y:-44.31, Z:-8.27 [[-7.01137867e-01 -7.12798495e-01 -1.79999449e-02 1.60184062e+02] [ 7.12558686e-01 -7.01368867e-01 1.84886893e-02 -4.43129803e+01] [-2.58033109e-02 1.37103095e-04 9.99667030e-01 -8.27289690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.210385723 meters 0.018266600920649877 Centerline is valid? [True, True] Translation: X:160.17, Y:-44.29, Z:-8.27 [[-7.02827816e-01 -7.11130668e-01 -1.80619582e-02 1.60165343e+02] [ 7.10888972e-01 -7.03059839e-01 1.85400106e-02 -4.42922005e+01] [-2.58830075e-02 1.90388275e-04 9.99664961e-01 -8.27367960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.240385723 meters 0.01858654080089626 Centerline is valid? [True, True] Translation: X:160.15, Y:-44.27, Z:-8.27 [[-7.06149256e-01 -7.07833254e-01 -1.80364570e-02 1.60148823e+02] [ 7.07591424e-01 -7.06379496e-01 1.85036233e-02 -4.42709274e+01] [-2.58380633e-02 3.03877523e-04 9.99666095e-01 -8.27397644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.270385723 meters 0.018810128565413316 Centerline is valid? [True, True] Translation: X:160.13, Y:-44.25, Z:-8.27 [[-7.07614475e-01 -7.06360972e-01 -1.83284395e-02 1.60130203e+02] [ 7.06111053e-01 -7.07851715e-01 1.87917591e-02 -4.42502273e+01] [-2.62475826e-02 3.55407017e-04 9.99655410e-01 -8.27467012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.300385723 meters 0.019017113348640043 Centerline is valid? [True, True] Translation: X:160.11, Y:-44.23, Z:-8.28 [[-7.10024518e-01 -7.03943379e-01 -1.81357083e-02 1.60110551e+02] [ 7.03698157e-01 -7.10255962e-01 1.85841898e-02 -4.42299984e+01] [-2.59632123e-02 4.33165877e-04 9.99662805e-01 -8.27507107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.330385723 meters 0.018999017053135957 Centerline is valid? [True, True] Translation: X:160.09, Y:-44.21, Z:-8.28 [[-7.11180153e-01 -7.02769701e-01 -1.83721764e-02 1.60090441e+02] [ 7.02517928e-01 -7.11417263e-01 1.88159266e-02 -4.42099273e+01] [-2.62935465e-02 4.74730242e-04 9.99654152e-01 -8.27594724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.360385723 meters 0.019269750496911424 Centerline is valid? [True, True] Translation: X:160.07, Y:-44.19, Z:-8.28 [[-7.12307280e-01 -7.01629660e-01 -1.82800220e-02 1.60070571e+02] [ 7.01380302e-01 -7.12541622e-01 1.87111805e-02 -4.41901814e+01] [-2.61535958e-02 5.06862710e-04 9.99657808e-01 -8.27729176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.390385723 meters 0.019459346757398605 Centerline is valid? [True, True] Translation: X:160.05, Y:-44.17, Z:-8.28 [[-7.12804291e-01 -7.01136360e-01 -1.78282877e-02 1.60052310e+02] [ 7.00899278e-01 -7.13027034e-01 1.82387515e-02 -4.41718371e+01] [-2.54999030e-02 5.04826356e-04 9.99674697e-01 -8.27810654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.420385723 meters 0.019494626199386748 Centerline is valid? [True, True] Translation: X:160.03, Y:-44.15, Z:-8.28 [[-7.13399223e-01 -7.00532292e-01 -1.77779919e-02 1.60032045e+02] [ 7.00296567e-01 -7.13620515e-01 1.81790938e-02 -4.41539455e+01] [-2.54217819e-02 5.19084658e-04 9.99676680e-01 -8.27950340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.450385723 meters 0.0195753083024905 Centerline is valid? [True, True] Translation: X:160.01, Y:-44.14, Z:-8.28 [[-7.13585133e-01 -7.00346444e-01 -1.76384940e-02 1.60012834e+02] [ 7.00114620e-01 -7.13802910e-01 1.80256442e-02 -4.41353513e+01] [-2.52146041e-02 5.13864233e-04 9.99681929e-01 -8.28023666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.480385723 meters 0.019539937828695075 Centerline is valid? [True, True] Translation: X:159.99, Y:-44.12, Z:-8.28 [[-7.13716459e-01 -7.00211621e-01 -1.76777129e-02 1.59992704e+02] [ 6.99979021e-01 -7.13935168e-01 1.80539697e-02 -4.41167609e+01] [-2.52623403e-02 5.11387145e-04 9.99680725e-01 -8.28072413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.510385723 meters 0.019439626815165024 Centerline is valid? [True, True] Translation: X:159.97, Y:-44.10, Z:-8.28 [[-7.13260051e-01 -7.00675904e-01 -1.77024495e-02 1.59972672e+02] [ 7.00443070e-01 -7.13479530e-01 1.80683851e-02 -4.40999451e+01] [-2.52904174e-02 4.87899158e-04 9.99680027e-01 -8.28187630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.540385723 meters 0.0189332895748236 Centerline is valid? [True, True] Translation: X:159.95, Y:-44.08, Z:-8.28 [[-7.12585887e-01 -7.01376507e-01 -1.70981832e-02 1.59951332e+02] [ 7.01159766e-01 -7.12790854e-01 1.74407959e-02 -4.40832428e+01] [-2.44199931e-02 4.39506912e-04 9.99701691e-01 -8.28252008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57038572300002 meters 0.018903502722919803 Centerline is valid? [True, True] Translation: X:159.93, Y:-44.07, Z:-8.28 [[-7.12141543e-01 -7.01829869e-01 -1.70075773e-02 1.59931150e+02] [ 7.01615801e-01 -7.12344483e-01 1.73379524e-02 -4.40655417e+01] [-2.42835467e-02 4.14291177e-04 9.99705025e-01 -8.28356518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60038572300002 meters 0.018123874101914274 Centerline is valid? [True, True] Translation: X:159.91, Y:-44.05, Z:-8.28 [[-7.11600378e-01 -7.02380510e-01 -1.69269385e-02 1.59908396e+02] [ 7.02168875e-01 -7.11801567e-01 1.72453264e-02 -4.40486126e+01] [-2.41614026e-02 3.86211439e-04 9.99707996e-01 -8.28404741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63038572300002 meters 0.017710591941942754 Centerline is valid? [True, True] Translation: X:159.89, Y:-44.03, Z:-8.29 [[-7.09468635e-01 -7.04539838e-01 -1.66695297e-02 1.59885452e+02] [ 7.04335407e-01 -7.09664376e-01 1.69737707e-02 -4.40328032e+01] [-2.37884690e-02 3.01417902e-04 9.99716969e-01 -8.28608063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66038572300002 meters 0.01785856615210165 Centerline is valid? [True, True] Translation: X:159.87, Y:-44.01, Z:-8.29 [[-7.08572011e-01 -7.05450842e-01 -1.62731299e-02 1.59865838e+02] [ 7.05256472e-01 -7.08758804e-01 1.65609953e-02 -4.40147773e+01] [-2.32166922e-02 2.57927516e-04 9.99730423e-01 -8.28805757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69038572300002 meters 0.017114796713866624 Centerline is valid? [True, True] Translation: X:159.84, Y:-44.00, Z:-8.29 [[-7.05807576e-01 -7.08242344e-01 -1.51145044e-02 1.59842821e+02] [ 7.08075431e-01 -7.05969376e-01 1.53760821e-02 -4.39994883e+01] [-2.15603696e-02 1.50346009e-04 9.99767537e-01 -8.28936663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.720385723 meters 0.01698150564807834 Centerline is valid? [True, True] Translation: X:159.82, Y:-43.98, Z:-8.29 [[-7.04801870e-01 -7.09244974e-01 -1.50296682e-02 1.59821916e+02] [ 7.09080358e-01 -7.04962094e-01 1.52804619e-02 -4.39818507e+01] [-2.14329372e-02 1.12455593e-04 9.99770282e-01 -8.29032748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.750385723 meters 0.016666178483927496 Centerline is valid? [True, True] Translation: X:159.80, Y:-43.97, Z:-8.29 [[-7.01973521e-01 -7.12037919e-01 -1.53355171e-02 1.59798393e+02] [ 7.11867411e-01 -7.02141013e-01 1.55816381e-02 -4.39662055e+01] [-2.18624127e-02 2.10425246e-05 9.99760989e-01 -8.29052009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.780385723 meters 0.016630153476153473 Centerline is valid? [True, True] Translation: X:159.78, Y:-43.95, Z:-8.29 [[-7.00688222e-01 -7.13296955e-01 -1.56035141e-02 1.59776571e+02] [ 7.13120976e-01 -7.00861936e-01 1.58435984e-02 -4.39482581e+01] [-2.22370996e-02 -2.57703702e-05 9.99752725e-01 -8.29031204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.810385723 meters 0.016632336496150976 Centerline is valid? [True, True] Translation: X:159.75, Y:-43.93, Z:-8.29 [[-6.99157169e-01 -7.14783973e-01 -1.62211089e-02 1.59754803e+02] [ 7.14594408e-01 -6.99345311e-01 1.64610816e-02 -4.39306651e+01] [-2.31102738e-02 -8.26304673e-05 9.99732919e-01 -8.29096763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.840385723 meters 0.016801815989149038 Centerline is valid? [True, True] Translation: X:159.73, Y:-43.92, Z:-8.29 [[-6.96410465e-01 -7.17439262e-01 -1.71280270e-02 1.59731696e+02] [ 7.17228951e-01 -6.96621038e-01 1.73712786e-02 -4.39158709e+01] [-2.43945813e-02 -1.87176641e-04 9.99702390e-01 -8.29156620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.870385723 meters 0.017501880729456687 Centerline is valid? [True, True] Translation: X:159.71, Y:-43.90, Z:-8.29 [[-6.94620956e-01 -7.19174370e-01 -1.70280075e-02 1.59707780e+02] [ 7.18967272e-01 -6.94829592e-01 1.72597969e-02 -4.39009618e+01] [-2.42443671e-02 -2.53563447e-04 9.99706030e-01 -8.29395565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.900385723 meters 0.01702693090925001 Centerline is valid? [True, True] Translation: X:159.69, Y:-43.88, Z:-8.29 [[-6.94368499e-01 -7.19425969e-01 -1.66931747e-02 1.59688462e+02] [ 7.19227236e-01 -6.94569079e-01 1.69108674e-02 -4.38807176e+01] [-2.37606802e-02 -2.63812300e-04 9.99717640e-01 -8.29343200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.930385723 meters 0.017083481537728307 Centerline is valid? [True, True] Translation: X:159.67, Y:-43.86, Z:-8.29 [[-6.94337556e-01 -7.19464833e-01 -1.63006806e-02 1.59668642e+02] [ 7.19275544e-01 -6.94528821e-01 1.65048180e-02 -4.38624946e+01] [-2.31959286e-02 -2.64765965e-04 9.99730903e-01 -8.29432218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.960385723 meters 0.017105306262086065 Centerline is valid? [True, True] Translation: X:159.65, Y:-43.85, Z:-8.30 [[-6.95323782e-01 -7.18531929e-01 -1.53851906e-02 1.59648594e+02] [ 7.18363268e-01 -6.95493936e-01 1.55691938e-02 -4.38456762e+01] [-2.18872697e-02 -2.26525038e-04 9.99760419e-01 -8.29627829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.990385723 meters 0.016624527626181017 Centerline is valid? [True, True] Translation: X:159.63, Y:-43.83, Z:-8.30 [[-6.97606960e-01 -7.16323457e-01 -1.50077973e-02 1.59628809e+02] [ 7.16162664e-01 -6.97768356e-01 1.51776378e-02 -4.38264021e+01] [-2.13440640e-02 -1.59998354e-04 9.99772177e-01 -8.29669926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.020385723 meters 0.0164901835448049 Centerline is valid? [True, True] Translation: X:159.61, Y:-43.81, Z:-8.30 [[-6.99268066e-01 -7.14697127e-01 -1.52377078e-02 1.59609877e+02] [ 7.14531189e-01 -6.99434059e-01 1.54005780e-02 -4.38072452e+01] [-2.16645207e-02 -1.18685053e-04 9.99765290e-01 -8.29696781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.050385723 meters 0.016322434837163162 Centerline is valid? [True, True] Translation: X:159.59, Y:-43.79, Z:-8.30 [[-7.01023418e-01 -7.12975308e-01 -1.52439118e-02 1.59590482e+02] [ 7.12809034e-01 -7.01189136e-01 1.53972863e-02 -4.37877750e+01] [-2.16667503e-02 -7.21397669e-05 9.99765246e-01 -8.29769813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.080385723 meters 0.01619945435047124 Centerline is valid? [True, True] Translation: X:159.57, Y:-43.77, Z:-8.30 [[-7.04435799e-01 -7.09597831e-01 -1.55281767e-02 1.59572846e+02] [ 7.09424686e-01 -7.04606924e-01 1.56747079e-02 -4.37686084e+01] [-2.20639995e-02 2.57534644e-05 9.99756560e-01 -8.29756979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.110385723 meters 0.016209743866462376 Centerline is valid? [True, True] Translation: X:159.55, Y:-43.75, Z:-8.30 [[-7.05858020e-01 -7.08180233e-01 -1.56592530e-02 1.59553335e+02] [ 7.08004035e-01 -7.06031694e-01 1.57966248e-02 -4.37490137e+01] [-2.22427864e-02 6.33600121e-05 9.99752597e-01 -8.29744965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.140385723 meters 0.01618762807805085 Centerline is valid? [True, True] Translation: X:159.53, Y:-43.73, Z:-8.30 [[-7.08046718e-01 -7.05978839e-01 -1.62395854e-02 1.59534050e+02] [ 7.05789019e-01 -7.08232916e-01 1.63706299e-02 -4.37306308e+01] [-2.30587272e-02 1.29449715e-04 9.99734104e-01 -8.29805684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.170385723 meters 0.016289757917150233 Centerline is valid? [True, True] Translation: X:159.51, Y:-43.71, Z:-8.30 [[-7.08976456e-01 -7.05054659e-01 -1.58212740e-02 1.59514084e+02] [ 7.04874410e-01 -7.09152949e-01 1.59424376e-02 -4.37120271e+01] [-2.24599930e-02 1.50801696e-04 9.99747731e-01 -8.29906990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.200385723 meters 0.016347132423870446 Centerline is valid? [True, True] Translation: X:159.49, Y:-43.69, Z:-8.30 [[-7.10263104e-01 -7.03779199e-01 -1.48715100e-02 1.59493024e+02] [ 7.03619851e-01 -7.10418756e-01 1.49765460e-02 -4.36936333e+01] [-2.11051811e-02 1.73398386e-04 9.99777246e-01 -8.30129295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.230385723 meters 0.016369856073106922 Centerline is valid? [True, True] Translation: X:159.47, Y:-43.68, Z:-8.30 [[-7.10747738e-01 -7.03297797e-01 -1.44866266e-02 1.59473958e+02] [ 7.03146632e-01 -7.10895335e-01 1.45820543e-02 -4.36758849e+01] [-2.05540019e-02 1.77939429e-04 9.99788728e-01 -8.30302048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.260385723 meters 0.016240073221897182 Centerline is valid? [True, True] Translation: X:159.45, Y:-43.66, Z:-8.30 [[-7.10963285e-01 -7.03096535e-01 -1.36553766e-02 1.59453327e+02] [ 7.02962346e-01 -7.11094392e-01 1.37370333e-02 -4.36580267e+01] [-1.93687223e-02 1.67310765e-04 9.99812395e-01 -8.30370188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.290385723 meters 0.016116361041178993 Centerline is valid? [True, True] Translation: X:159.43, Y:-43.64, Z:-8.30 [[-7.11197075e-01 -7.02856551e-01 -1.38343670e-02 1.59432507e+02] [ 7.02718950e-01 -7.11331596e-01 1.39081639e-02 -4.36393961e+01] [-1.96162665e-02 1.69773573e-04 9.99807568e-01 -8.30375136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32038572300002 meters 0.016192871471381313 Centerline is valid? [True, True] Translation: X:159.41, Y:-43.62, Z:-8.30 [[-7.11567218e-01 -7.02479358e-01 -1.39586996e-02 1.59411526e+02] [ 7.02339339e-01 -7.11704096e-01 1.40261214e-02 -4.36227230e+01] [-1.97875245e-02 1.76784343e-04 9.99804192e-01 -8.30494536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35038572300002 meters 0.016157562430909746 Centerline is valid? [True, True] Translation: X:159.39, Y:-43.60, Z:-8.31 [[-7.11898870e-01 -7.02143293e-01 -1.39568797e-02 1.59390665e+02] [ 7.02003430e-01 -7.12035648e-01 1.40150168e-02 -4.36049878e+01] [-1.97783459e-02 1.79497174e-04 9.99804373e-01 -8.30570341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38038572300002 meters 0.01600526157905129 Centerline is valid? [True, True] Translation: X:159.37, Y:-43.59, Z:-8.31 [[-7.12001099e-01 -7.02041387e-01 -1.38681694e-02 1.59368549e+02] [ 7.01903452e-01 -7.12136125e-01 1.39170282e-02 -4.35871256e+01] [-1.96463542e-02 1.74823430e-04 9.99806976e-01 -8.30630559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41038572300002 meters 0.015885810677823593 Centerline is valid? [True, True] Translation: X:159.35, Y:-43.57, Z:-8.31 [[-7.11790189e-01 -7.02250529e-01 -1.41039405e-02 1.59348227e+02] [ 7.02108063e-01 -7.11929889e-01 1.41457107e-02 -4.35683454e+01] [-1.99748496e-02 1.66287742e-04 9.99800469e-01 -8.30674919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44038572300002 meters 0.015760141596600646 Centerline is valid? [True, True] Translation: X:159.33, Y:-43.55, Z:-8.31 [[-7.10529798e-01 -7.03523049e-01 -1.42381895e-02 1.59325511e+02] [ 7.03378277e-01 -7.10672431e-01 1.42721821e-02 -4.35506308e+01] [-2.01594978e-02 1.25977426e-04 9.99796769e-01 -8.30737436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.470385723 meters 0.015666685983096815 Centerline is valid? [True, True] Translation: X:159.30, Y:-43.53, Z:-8.31 [[-7.09481800e-01 -7.04590246e-01 -1.37171694e-02 1.59304645e+02] [ 7.04456196e-01 -7.09614386e-01 1.37437354e-02 -4.35331413e+01] [-1.94176027e-02 8.77851675e-05 9.99811457e-01 -8.30908802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.500385723 meters 0.015577739071741764 Centerline is valid? [True, True] Translation: X:159.28, Y:-43.52, Z:-8.31 [[-7.06768785e-01 -7.07329918e-01 -1.27385917e-02 1.59281137e+02] [ 7.07214870e-01 -7.06883574e-01 1.27569977e-02 -4.35177767e+01] [-1.80281073e-02 7.32629724e-06 9.99837480e-01 -8.31185331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.530385723 meters 0.015608620778354992 Centerline is valid? [True, True] Translation: X:159.26, Y:-43.50, Z:-8.31 [[-7.05173361e-01 -7.08931963e-01 -1.20831843e-02 1.59260731e+02] [ 7.08828806e-01 -7.05276875e-01 1.20935394e-02 -4.35018203e+01] [-1.70954871e-02 -3.68672948e-05 9.99853861e-01 -8.31419156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.560385723 meters 0.015990898358311814 Centerline is valid? [True, True] Translation: X:158.76, Y:-43.95, Z:-7.35 [[-7.60276782e-01 6.48797537e-01 3.22640656e-02 1.58763175e+02] [ 6.48068649e-01 7.60956816e-01 -3.08504472e-02 -4.39504874e+01] [-4.45672548e-02 -2.54554936e-03 -9.99003143e-01 -7.35106713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.590385723 meters 0.016379392027953982 Centerline is valid? [True, True] Translation: X:158.78, Y:-43.93, Z:-7.35 [[-8.05768883e-01 5.91212877e-01 3.46964197e-02 1.58780948e+02] [ 5.90520586e-01 8.06511173e-01 -2.87257009e-02 -4.39267210e+01] [-4.49660544e-02 -2.65732588e-03 -9.98984981e-01 -7.35151525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.620385723 meters 0.017289553783884127 Centerline is valid? [True, True] Translation: X:158.79, Y:-43.90, Z:-7.35 [[-8.47704933e-01 5.29118195e-01 3.78190628e-02 1.58793249e+02] [ 5.28439334e-01 8.48543323e-01 -2.69462227e-02 -4.38973610e+01] [-4.63488499e-02 -2.85736559e-03 -9.98921228e-01 -7.35180042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.650385723 meters 0.016959956591293828 Centerline is valid? [True, True] Translation: X:158.81, Y:-43.87, Z:-7.35 [[-8.83459145e-01 4.66782948e-01 4.01698693e-02 1.58808468e+02] [ 4.66149289e-01 8.84367131e-01 -2.44870951e-02 -4.38744470e+01] [-4.69550705e-02 -2.90819204e-03 -9.98892769e-01 -7.35370358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.680385723 meters 0.0173010843154301 Centerline is valid? [True, True] Translation: X:158.82, Y:-43.85, Z:-7.35 [[-9.14685526e-01 4.01913760e-01 4.26112438e-02 1.58815877e+02] [ 4.01325227e-01 9.15672704e-01 -2.19445109e-02 -4.38473016e+01] [-4.78377537e-02 -2.97135943e-03 -9.98850700e-01 -7.35456953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.710385723 meters 0.017362714344577045 Centerline is valid? [True, True] Translation: X:158.82, Y:-43.82, Z:-7.36 [[-9.40752855e-01 3.36209502e-01 4.41274951e-02 1.58821999e+02] [ 3.35691524e-01 9.41782583e-01 -1.88883117e-02 -4.38209378e+01] [-4.79089361e-02 -2.95600715e-03 -9.98847334e-01 -7.35589548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.740385723 meters 0.017247132574290898 Centerline is valid? [True, True] Translation: X:158.83, Y:-43.80, Z:-7.36 [[-9.61983517e-01 2.69396988e-01 4.48662034e-02 1.58826654e+02] [ 2.68962914e-01 9.63024843e-01 -1.55596407e-02 -4.37960803e+01] [-4.73989888e-02 -2.90077306e-03 -9.98871824e-01 -7.35790317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.770385723 meters 0.017719653291170298 Centerline is valid? [True, True] Translation: X:159.05, Y:-43.18, Z:-8.32 [[-9.31677131e-01 -3.63035875e-01 -1.35157793e-02 1.59048082e+02] [ 3.63026995e-01 -9.31773157e-01 3.19138452e-03 -4.31759080e+01] [-1.37522274e-02 -1.93325277e-03 9.99903565e-01 -8.31961103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.800385723 meters 0.017381679811937913 Centerline is valid? [True, True] Translation: X:158.78, Y:-43.78, Z:-7.36 [[-9.62633289e-01 2.67433973e-01 4.26171387e-02 1.58780001e+02] [ 2.67043674e-01 9.63572184e-01 -1.47078853e-02 -4.37840474e+01] [-4.49980776e-02 -2.77766270e-03 -9.98983212e-01 -7.35920795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.830385723 meters 0.017415866553907033 Centerline is valid? [True, True] Translation: X:159.00, Y:-43.16, Z:-8.32 [[-9.33607254e-01 -3.57991143e-01 -1.48268908e-02 1.58997700e+02] [ 3.57977290e-01 -9.33723085e-01 3.66894557e-03 -4.31597407e+01] [-1.51576602e-02 -1.88233598e-03 9.99883344e-01 -8.32070785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.860385723 meters 0.016670925507435368 Centerline is valid? [True, True] Translation: X:158.74, Y:-43.78, Z:-7.36 [[-9.63607018e-01 2.64030303e-01 4.18271946e-02 1.58737010e+02] [ 2.63657598e-01 9.64510489e-01 -1.42893914e-02 -4.37767740e+01] [-4.41156003e-02 -2.74130016e-03 -9.99022672e-01 -7.36297005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.890385723 meters 0.016670925507435368 Centerline is valid? [True, True] Translation: X:158.74, Y:-43.75, Z:-7.36 [[-9.79862819e-01 1.95060477e-01 4.26645778e-02 1.58743473e+02] [ 1.94754313e-01 9.80787436e-01 -1.12588703e-02 -4.37496884e+01] [-4.40410425e-02 -2.72303781e-03 -9.99026011e-01 -7.36375409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.920385723 meters 0.016791872967759015 Centerline is valid? [True, True] Translation: X:158.91, Y:-43.10, Z:-8.32 [[-9.57761407e-01 -2.87156546e-01 -1.53037861e-02 1.58908982e+02] [ 2.87151083e-01 -9.57881774e-01 2.60048109e-03 -4.30993467e+01] [-1.54059630e-02 -1.90385832e-03 9.99879509e-01 -8.32022325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.950385723 meters 0.01702251447760678 Centerline is valid? [True, True] Translation: X:158.69, Y:-43.74, Z:-7.37 [[-9.80594504e-01 1.91068280e-01 4.39013720e-02 1.58686672e+02] [ 1.90751005e-01 9.81572894e-01 -1.13449196e-02 -4.37429306e+01] [-4.52600511e-02 -2.75053497e-03 -9.98971452e-01 -7.36569222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.980385723 meters 0.01708884888391334 Centerline is valid? [True, True] Translation: X:158.67, Y:-43.71, Z:-7.37 [[-9.91665405e-01 1.20764834e-01 4.48952048e-02 1.58672925e+02] [ 1.20515795e-01 9.92677352e-01 -8.22296713e-03 -4.37132922e+01] [-4.55594983e-02 -2.74385075e-03 -9.98957859e-01 -7.36692494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.010385723 meters 0.017105303675770296 Centerline is valid? [True, True] Translation: X:158.81, Y:-43.05, Z:-8.32 [[-9.76451536e-01 -2.15297771e-01 -1.37574880e-02 1.58808372e+02] [ 2.15304650e-01 -9.76546422e-01 9.96655792e-04 -4.30464819e+01] [-1.36494034e-02 -1.98886506e-03 9.99904865e-01 -8.32314162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.040385723 meters 0.01754266587822095 Centerline is valid? [True, True] Translation: X:158.61, Y:-43.71, Z:-7.37 [[-9.92284573e-01 1.15354685e-01 4.54381120e-02 1.58613726e+02] [ 1.15103609e-01 9.93320363e-01 -8.11262725e-03 -4.37077121e+01] [-4.60704315e-02 -2.81994421e-03 -9.98934214e-01 -7.36710223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07038572300002 meters 0.01775687454839202 Centerline is valid? [True, True] Translation: X:158.75, Y:-43.04, Z:-8.33 [[-9.76967454e-01 -2.13040906e-01 -1.21723668e-02 1.58751036e+02] [ 2.13048648e-01 -9.77041361e-01 6.72118805e-04 -4.30364108e+01] [-1.20360947e-02 -1.93666811e-03 9.99925688e-01 -8.32766281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10038572300002 meters 0.017970698730126366 Centerline is valid? [True, True] Translation: X:158.57, Y:-43.71, Z:-7.37 [[-9.92890546e-01 1.09786533e-01 4.59921811e-02 1.58566044e+02] [ 1.09534118e-01 9.93950999e-01 -7.98057112e-03 -4.37051424e+01] [-4.65901335e-02 -2.88612064e-03 -9.98909921e-01 -7.36699525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13038572300002 meters 0.0180359176620797 Centerline is valid? [True, True] Translation: X:158.69, Y:-43.03, Z:-8.33 [[-9.77727534e-01 -2.09547851e-01 -1.17715057e-02 1.58685459e+02] [ 2.09555625e-01 -9.77796554e-01 5.82910807e-04 -4.30253471e+01] [-1.16322854e-02 -1.89685729e-03 9.99930544e-01 -8.32950167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16038572300002 meters 0.01851829290355899 Centerline is valid? [True, True] Translation: X:158.50, Y:-43.70, Z:-7.37 [[-9.93554573e-01 1.03842234e-01 4.54543851e-02 1.58504109e+02] [ 1.03598051e-01 9.94589428e-01 -7.70158616e-03 -4.37021397e+01] [-4.60082008e-02 -2.94296045e-03 -9.98936727e-01 -7.37099981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19038572300002 meters 0.017848766351768883 Centerline is valid? [True, True] Translation: X:158.61, Y:-43.01, Z:-8.33 [[-9.78253854e-01 -2.06991545e-01 -1.31870028e-02 1.58610977e+02] [ 2.06999810e-01 -9.78340695e-01 7.49989767e-04 -4.30101370e+01] [-1.30566230e-02 -1.99602668e-03 9.99912766e-01 -8.32743978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.220385723 meters 0.01731046995563939 Centerline is valid? [True, True] Translation: X:158.43, Y:-43.70, Z:-7.38 [[-9.94257622e-01 9.74984361e-02 4.41116285e-02 1.58429773e+02] [ 9.72688720e-02 9.95231177e-01 -7.32609279e-03 -4.36999848e+01] [-4.46155505e-02 -2.99333525e-03 -9.98999746e-01 -7.37871818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.250385723 meters 0.017841182160952745 Centerline is valid? [True, True] Translation: X:158.54, Y:-43.00, Z:-8.33 [[-9.78789698e-01 -2.04434018e-01 -1.33214063e-02 1.58542815e+02] [ 2.04441964e-01 -9.78878378e-01 7.77076514e-04 -4.29986110e+01] [-1.31988975e-02 -1.96285999e-03 9.99910964e-01 -8.32785002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.280385723 meters 0.017808879069441882 Centerline is valid? [True, True] Translation: X:158.37, Y:-43.69, Z:-7.38 [[-9.94871992e-01 9.10845970e-02 4.39694875e-02 1.58366604e+02] [ 9.08593324e-02 9.95838434e-01 -7.09895446e-03 -4.36934582e+01] [-4.44331110e-02 -3.06751268e-03 -9.99007652e-01 -7.37931547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.310385723 meters 0.018910955576739993 Centerline is valid? [True, True] Translation: X:158.46, Y:-42.99, Z:-8.33 [[-9.79399130e-01 -2.01538597e-01 -1.26308605e-02 1.58462597e+02] [ 2.01546299e-01 -9.79478757e-01 6.73398655e-04 -4.29888837e+01] [-1.25073753e-02 -1.88617712e-03 9.99920001e-01 -8.33275786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.340385723 meters 0.018246096211038915 Centerline is valid? [True, True] Translation: X:158.29, Y:-43.69, Z:-7.38 [[-9.95226957e-01 8.61876050e-02 4.57711838e-02 1.58291718e+02] [ 8.59526931e-02 9.96274066e-01 -7.07952983e-03 -4.36883090e+01] [-4.62108111e-02 -3.11158242e-03 -9.98926864e-01 -7.37997944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.370385723 meters 0.018126371861242694 Centerline is valid? [True, True] Translation: X:158.30, Y:-43.66, Z:-7.38 [[-9.98782142e-01 1.57879370e-02 4.67437022e-02 1.58295674e+02] [ 1.56273724e-02 9.99870670e-01 -3.79847135e-03 -4.36626189e+01] [-4.67976269e-02 -3.06336410e-03 -9.98899694e-01 -7.38073352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.400385723 meters 0.017839665577236492 Centerline is valid? [True, True] Translation: X:158.30, Y:-43.64, Z:-7.38 [[-9.97462180e-01 -5.38401358e-02 4.65879800e-02 1.58299568e+02] [-5.39204813e-02 9.98545123e-01 -4.68701043e-04 -4.36387147e+01] [-4.64949653e-02 -2.97955787e-03 -9.98914081e-01 -7.38234404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.430385723 meters 0.017713435267495563 Centerline is valid? [True, True] Translation: X:158.29, Y:-43.61, Z:-7.38 [[-9.91312574e-01 -1.23310922e-01 4.57580272e-02 1.58292291e+02] [-1.23313403e-01 9.92363885e-01 2.77937300e-03 -4.36132297e+01] [-4.57513407e-02 -2.88735066e-03 -9.98948686e-01 -7.38338332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.460385723 meters 0.01700291361497268 Centerline is valid? [True, True] Translation: X:158.27, Y:-43.59, Z:-7.39 [[-9.80782182e-01 -1.89893904e-01 4.47952876e-02 1.58270698e+02] [-1.89820328e-01 9.81800939e-01 5.92958229e-03 -4.35937808e+01] [-4.51060470e-02 -2.68742754e-03 -9.98978589e-01 -7.38551914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.490385723 meters 0.01674917513921358 Centerline is valid? [True, True] Translation: X:158.24, Y:-43.58, Z:-7.39 [[-9.64910382e-01 -2.58850517e-01 4.40949493e-02 1.58237616e+02] [-2.58703527e-01 9.65913840e-01 9.10711998e-03 -4.35752238e+01] [-4.49493045e-02 -2.61996429e-03 -9.98985834e-01 -7.38707689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.520385723 meters 0.01846014678636422 Centerline is valid? [True, True] Translation: X:158.17, Y:-43.57, Z:-7.39 [[-9.44840032e-01 -3.24673701e-01 4.31775541e-02 1.58174310e+02] [-3.24450838e-01 9.45822998e-01 1.22682484e-02 -4.35704438e+01] [-4.48215013e-02 -2.41746136e-03 -9.98992087e-01 -7.38599784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.550385723 meters 0.0161842584541325 Centerline is valid? [True, True] Translation: X:158.11, Y:-43.57, Z:-7.39 [[-9.18750280e-01 -3.92596843e-01 4.20195469e-02 1.58111110e+02] [-3.92303091e-01 9.19707629e-01 1.53675458e-02 -4.35678061e+01] [-4.46789478e-02 -2.36546112e-03 -9.98998597e-01 -7.39159972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.580385723 meters 0.016119610611199327 Centerline is valid? [True, True] Translation: X:158.03, Y:-43.58, Z:-7.39 [[-8.88320471e-01 -4.57448088e-01 4.03483205e-02 1.58033201e+02] [-4.57089682e-01 8.89233512e-01 1.82423588e-02 -4.35779515e+01] [-4.42240109e-02 -2.23774025e-03 -9.99019134e-01 -7.39384857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.610385723 meters 0.016155397478983174 Centerline is valid? [True, True] Translation: X:157.95, Y:-43.59, Z:-7.40 [[-8.52088114e-01 -5.21950522e-01 3.89037132e-02 1.57951728e+02] [-5.21522998e-01 8.52972939e-01 2.12350730e-02 -4.35932017e+01] [-4.42674720e-02 -2.19502782e-03 -9.99017304e-01 -7.39659164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.640385723 meters 0.016030483683782484 Centerline is valid? [True, True] Translation: X:157.86, Y:-43.62, Z:-7.40 [[-8.11237635e-01 -5.83555702e-01 3.68272058e-02 1.57863639e+02] [-5.83072282e-01 8.12070320e-01 2.38434242e-02 -4.36223331e+01] [-4.38202469e-02 -2.13023985e-03 -9.99037160e-01 -7.40227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.670385723 meters 0.016133399777351155 Centerline is valid? [True, True] Translation: X:157.77, Y:-43.66, Z:-7.41 [[-7.64980397e-01 -6.43126009e-01 3.45532684e-02 1.57770824e+02] [-6.42593364e-01 7.65757432e-01 2.62549796e-02 -4.36606410e+01] [-4.33446823e-02 -2.11915627e-03 -9.99057930e-01 -7.40534455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.700385723 meters 0.016122703905766166 Centerline is valid? [True, True] Translation: X:157.67, Y:-43.72, Z:-7.41 [[-7.14001618e-01 -6.99392437e-01 3.24331253e-02 1.57666806e+02] [-6.98803268e-01 7.14734735e-01 2.87793464e-02 -4.37205889e+01] [-4.33091384e-02 -2.11587408e-03 -9.99059479e-01 -7.41034287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.730385723 meters 0.016192333427233276 Centerline is valid? [True, True] Translation: X:157.58, Y:-43.77, Z:-7.41 [[-6.58253189e-01 -7.52187923e-01 3.02666091e-02 1.57581968e+02] [-7.51539152e-01 6.58945184e-01 3.13072925e-02 -4.37712832e+01] [-4.34930036e-02 -2.13841659e-03 -9.99051443e-01 -7.41394902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.760385723 meters 0.01625540500471177 Centerline is valid? [True, True] Translation: X:157.49, Y:-43.84, Z:-7.42 [[-5.97035512e-01 -8.01720397e-01 2.81603015e-02 1.57492660e+02] [-8.01000352e-01 5.97695097e-01 3.40442069e-02 -4.38382921e+01] [-4.41252092e-02 -2.23081090e-03 -9.99023518e-01 -7.41676189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.790385723 meters 0.01633749895571777 Centerline is valid? [True, True] Translation: X:157.40, Y:-43.92, Z:-7.42 [[-5.32438759e-01 -8.46078951e-01 2.56783210e-02 1.57403703e+02] [-8.45297010e-01 5.33052625e-01 3.64398587e-02 -4.39172808e+01] [-4.45188938e-02 -2.30381478e-03 -9.99005886e-01 -7.42066449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82038572300002 meters 0.016510250192814577 Centerline is valid? [True, True] Translation: X:157.32, Y:-44.01, Z:-7.42 [[-4.64189505e-01 -8.85446218e-01 2.26516652e-02 1.57317061e+02] [-8.84632647e-01 4.64735721e-01 3.80235392e-02 -4.40099617e+01] [-4.41948369e-02 -2.38827473e-03 -9.99020076e-01 -7.42457729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85038572300002 meters 0.016834860829107692 Centerline is valid? [True, True] Translation: X:157.23, Y:-44.12, Z:-7.43 [[-3.90336359e-01 -9.20464091e-01 1.95801777e-02 1.57233537e+02] [-9.19620793e-01 3.90818517e-01 3.94776371e-02 -4.41183186e+01] [-4.39900434e-02 -2.59678139e-03 -9.99028595e-01 -7.43053773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88038572300002 meters 0.01744926277633271 Centerline is valid? [True, True] Translation: X:157.17, Y:-44.21, Z:-7.44 [[-3.13900483e-01 -9.49318382e-01 1.61584867e-02 1.57168698e+02] [-9.48481076e-01 3.14303781e-01 3.99597419e-02 -4.42050429e+01] [-4.30131909e-02 -2.78263661e-03 -9.99070629e-01 -7.43539792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91038572300002 meters 0.01784843497930565 Centerline is valid? [True, True] Translation: X:157.11, Y:-44.31, Z:-7.44 [[-2.37481547e-01 -9.71308053e-01 1.27742199e-02 1.57105961e+02] [-9.70481846e-01 2.37807657e-01 4.01560079e-02 -4.43117502e+01] [-4.20416611e-02 -2.86083762e-03 -9.99111763e-01 -7.43970364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94038572300002 meters 0.018289937030158136 Centerline is valid? [True, True] Translation: X:157.05, Y:-44.42, Z:-7.44 [[-1.59716811e-01 -9.87117004e-01 9.51630463e-03 1.57051872e+02] [-9.86294312e-01 1.59973169e-01 4.03994516e-02 -4.44218078e+01] [-4.14013390e-02 -2.93340556e-03 -9.99138291e-01 -7.44420086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.970385723 meters 0.01948698887047954 Centerline is valid? [True, True] Translation: X:157.00, Y:-44.54, Z:-7.45 [[-7.86674608e-02 -9.96881971e-01 6.14548790e-03 1.57004993e+02] [-9.96125859e-01 7.88478445e-02 3.89395748e-02 -4.45435661e+01] [-3.93027185e-02 -3.05840194e-03 -9.99222669e-01 -7.44905215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.000385723 meters 0.019477284690774848 Centerline is valid? [True, True] Translation: X:156.21, Y:-44.58, Z:-8.40 [[-1.97159147e-01 9.80371059e-01 -9.25992737e-04 1.56210934e+02] [-9.80244837e-01 -1.97148770e-01 -1.58878234e-02 -4.45750879e+01] [-1.57585206e-02 -2.22473012e-03 9.99873352e-01 -8.39617927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.030385723 meters 0.02057538658919083 Centerline is valid? [True, True] Translation: X:156.97, Y:-44.86, Z:-7.46 [[-6.31393556e-02 -9.97988736e-01 5.64846744e-03 1.56969410e+02] [-9.97275953e-01 6.33084920e-02 3.78511436e-02 -4.48550700e+01] [-3.81326109e-02 -3.24318393e-03 -9.99267425e-01 -7.45957866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.060385723 meters 0.020575294833298122 Centerline is valid? [True, True] Translation: X:156.93, Y:-45.00, Z:-7.46 [[ 1.53140019e-02 -9.99879152e-01 2.67641891e-03 1.56934844e+02] [-9.99165901e-01 -1.52016292e-02 3.79000372e-02 -4.50010977e+01] [-3.78547711e-02 -3.25458776e-03 -9.99277951e-01 -7.46446532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.090385723 meters 0.023970784107262947 Centerline is valid? [True, True] Translation: X:156.90, Y:-45.09, Z:-7.47 [[ 9.53052257e-02 -9.95448050e-01 -3.05783767e-04 1.56904570e+02] [-9.94705072e-01 -9.52459497e-02 3.86008935e-02 -4.50925967e+01] [-3.84543088e-02 -3.37470220e-03 -9.99254661e-01 -7.46557382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.120385723 meters 0.020998405446833283 Centerline is valid? [True, True] Translation: X:156.90, Y:-45.22, Z:-7.47 [[ 1.72876488e-01 -9.84938021e-01 -3.28845228e-03 1.56895149e+02] [-9.84195840e-01 -1.72874360e-01 3.83797337e-02 -4.52180596e+01] [-3.83701481e-02 -3.39847251e-03 -9.99257816e-01 -7.47087902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.150385723 meters 0.024438611921017966 Centerline is valid? [True, True] Translation: X:156.89, Y:-45.35, Z:-7.47 [[ 2.49065928e-01 -9.68463838e-01 -6.63004376e-03 1.56885849e+02] [-9.67655211e-01 -2.49129890e-01 3.97201572e-02 -4.53508619e+01] [-4.01192780e-02 -3.47734143e-03 -9.99188847e-01 -7.47090665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.180385723 meters 0.023823075033697117 Centerline is valid? [True, True] Translation: X:156.89, Y:-45.48, Z:-7.47 [[ 3.23505447e-01 -9.46174094e-01 -9.94025959e-03 1.56892041e+02] [-9.45338010e-01 -3.23639003e-01 3.99229626e-02 -4.54757965e+01] [-4.09911287e-02 -3.51839065e-03 -9.99153316e-01 -7.47440523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.210385723 meters 0.022255159021393744 Centerline is valid? [True, True] Translation: X:156.91, Y:-45.60, Z:-7.48 [[ 3.94340561e-01 -9.18865731e-01 -1.34643902e-02 1.56909484e+02] [-9.17992062e-01 -3.94554860e-01 4.02123903e-02 -4.55957743e+01] [-4.22622280e-02 -3.49717323e-03 -9.99100432e-01 -7.47809943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.240385723 meters 0.020888613534263824 Centerline is valid? [True, True] Translation: X:156.94, Y:-45.73, Z:-7.48 [[ 4.62617906e-01 -8.86402876e-01 -1.65715147e-02 1.56942920e+02] [-8.85546017e-01 -4.62901978e-01 3.91153401e-02 -4.57312464e+01] [-4.23429369e-02 -3.42061782e-03 -9.99097280e-01 -7.48328059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.270385723 meters 0.019786908666772723 Centerline is valid? [True, True] Translation: X:156.98, Y:-45.85, Z:-7.49 [[ 5.25933372e-01 -8.50298053e-01 -1.96801939e-02 1.56983866e+02] [-8.49457405e-01 -5.26291507e-01 3.79389761e-02 -4.58527736e+01] [-4.26169564e-02 -3.23588717e-03 -9.99086245e-01 -7.48832756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.300385723 meters 0.01929980954777293 Centerline is valid? [True, True] Translation: X:157.01, Y:-45.94, Z:-7.49 [[ 5.88095866e-01 -8.08475481e-01 -2.25975580e-02 1.57009223e+02] [-8.07663517e-01 -5.88521527e-01 3.63600778e-02 -4.59380806e+01] [-4.26953807e-02 -3.13198827e-03 -9.99083227e-01 -7.49197003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.330385723 meters 0.01863652304834035 Centerline is valid? [True, True] Translation: X:157.07, Y:-46.05, Z:-7.50 [[ 6.45622600e-01 -7.63234053e-01 -2.54015447e-02 1.57065300e+02] [-7.62456022e-01 -6.46115337e-01 3.45801205e-02 -4.60503100e+01] [-4.28050532e-02 -2.95814656e-03 -9.99079064e-01 -7.49646701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.360385723 meters 0.018281714444406103 Centerline is valid? [True, True] Translation: X:157.11, Y:-46.14, Z:-7.50 [[ 7.01304718e-01 -7.12326322e-01 -2.76207213e-02 1.57110873e+02] [-7.11607270e-01 -7.01842533e-01 3.21271194e-02 -4.61410118e+01] [-4.22703898e-02 -2.87579432e-03 -9.99102069e-01 -7.50016268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.390385723 meters 0.01792148290049945 Centerline is valid? [True, True] Translation: X:157.17, Y:-46.23, Z:-7.50 [[ 7.52234207e-01 -6.58244770e-01 -2.92834654e-02 1.57171425e+02] [-6.57600342e-01 -7.52798968e-01 2.92489855e-02 -4.62348033e+01] [-4.12975543e-02 -2.74527051e-03 -9.99143121e-01 -7.50475025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.420385723 meters 0.017893894772244432 Centerline is valid? [True, True] Translation: X:157.17, Y:-46.24, Z:-7.51 [[ 8.00936568e-01 -5.97956489e-01 -3.08001887e-02 1.57168252e+02] [-5.97380137e-01 -8.01523889e-01 2.63898888e-02 -4.62406722e+01] [-4.04670923e-02 -2.73720595e-03 -9.99177123e-01 -7.50597015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.450385723 meters 0.01765992166312666 Centerline is valid? [True, True] Translation: X:157.17, Y:-46.24, Z:-7.51 [[ 8.44585393e-01 -5.34472138e-01 -3.18598150e-02 1.57165313e+02] [-5.33970616e-01 -8.45181883e-01 2.33016226e-02 -4.62439056e+01] [-3.93814065e-02 -2.66800501e-03 -9.99220690e-01 -7.50811520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.480385723 meters 0.017714546715265924 Centerline is valid? [True, True] Translation: X:157.16, Y:-46.25, Z:-7.51 [[ 8.83463267e-01 -4.67332187e-01 -3.30648400e-02 1.57160429e+02] [-4.66892000e-01 -8.84077894e-01 2.04484183e-02 -4.62473758e+01] [-3.87880982e-02 -2.62771711e-03 -9.99244004e-01 -7.50971179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.510385723 meters 0.017284536635071866 Centerline is valid? [True, True] Translation: X:157.16, Y:-46.25, Z:-7.51 [[ 9.16860452e-01 -3.97756912e-01 -3.40051516e-02 1.57155882e+02] [-3.97378186e-01 -9.17487235e-01 1.75428130e-02 -4.62491847e+01] [-3.81770677e-02 -2.57140598e-03 -9.99267682e-01 -7.51293968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.540385723 meters 0.017059236645989444 Centerline is valid? [True, True] Translation: X:157.15, Y:-46.25, Z:-7.51 [[ 9.44622153e-01 -3.26263171e-01 -3.52325451e-02 1.57149831e+02] [-3.25936503e-01 -9.45275654e-01 1.48099110e-02 -4.62549998e+01] [-3.81363957e-02 -2.50619747e-03 -9.99269400e-01 -7.51478046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57038572300002 meters 0.01725198707914496 Centerline is valid? [True, True] Translation: X:157.14, Y:-46.26, Z:-7.51 [[ 9.66996983e-01 -2.52186940e-01 -3.63122794e-02 1.57144180e+02] [-2.51912798e-01 -9.67675388e-01 1.20119050e-02 -4.62608005e+01] [-3.81677447e-02 -2.46794799e-03 -9.99268299e-01 -7.51476021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60038572300002 meters 0.017027157383857273 Centerline is valid? [True, True] Translation: X:157.14, Y:-46.26, Z:-7.52 [[ 9.83513248e-01 -1.76937316e-01 -3.73480629e-02 1.57140910e+02] [-1.76716079e-01 -9.84219150e-01 9.17022976e-03 -4.62618920e+01] [-3.83812346e-02 -2.41903922e-03 -9.99260241e-01 -7.51546331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63038572300002 meters 0.01653893759394529 Centerline is valid? [True, True] Translation: X:157.13, Y:-46.26, Z:-7.52 [[ 9.94054794e-01 -1.02393560e-01 -3.70219665e-02 1.57134103e+02] [-1.02236639e-01 -9.94741329e-01 6.11218680e-03 -4.62616928e+01] [-3.74531287e-02 -2.29084717e-03 -9.99295760e-01 -7.51760044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66038572300002 meters 0.016407838163492106 Centerline is valid? [True, True] Translation: X:157.13, Y:-46.27, Z:-7.52 [[ 9.98968146e-01 -2.60319974e-02 -3.72153062e-02 1.57126135e+02] [-2.59314307e-02 -9.99658658e-01 3.18251732e-03 -4.62698890e+01] [-3.72854503e-02 -2.21418729e-03 -9.99302203e-01 -7.51923735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69038572300002 meters 0.016317199900086107 Centerline is valid? [True, True] Translation: X:157.12, Y:-46.28, Z:-7.52 [[ 9.98146749e-01 4.83136758e-02 -3.69980596e-02 1.57117867e+02] [ 4.83566912e-02 -9.98830095e-01 2.68141562e-04 -4.62772134e+01] [-3.69418205e-02 -2.05674837e-03 -9.99315301e-01 -7.51996887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.720385723 meters 0.01645645001131751 Centerline is valid? [True, True] Translation: X:157.11, Y:-46.29, Z:-7.52 [[ 9.91478312e-01 1.24903740e-01 -3.70109727e-02 1.57109776e+02] [ 1.24891540e-01 -9.92166860e-01 -2.65051877e-03 -4.62857057e+01] [-3.70521203e-02 -1.99442549e-03 -9.99311344e-01 -7.52032240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.750385723 meters 0.016455457465377465 Centerline is valid? [True, True] Translation: X:157.10, Y:-46.30, Z:-7.52 [[ 9.79187083e-01 1.99672744e-01 -3.63792706e-02 1.57104147e+02] [ 1.99606409e-01 -9.79860814e-01 -5.48332484e-03 -4.62959304e+01] [-3.67414922e-02 -1.89233471e-03 -9.99323012e-01 -7.52224288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.780385723 meters 0.016455457465377465 Centerline is valid? [True, True] Translation: X:157.10, Y:-46.31, Z:-7.52 [[ 9.60543895e-01 2.75819615e-01 -3.57626390e-02 1.57098966e+02] [ 2.75701200e-01 -9.61207561e-01 -8.29899470e-03 -4.63090282e+01] [-3.66643445e-02 -1.88825379e-03 -9.99325853e-01 -7.52294895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.810385723 meters 0.016660180352897406 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.32, Z:-7.52 [[ 9.36345455e-01 3.49335172e-01 -3.49589251e-02 1.57094136e+02] [ 3.49164768e-01 -9.36996014e-01 -1.10650065e-02 -4.63213040e+01] [-3.66217694e-02 -1.84575643e-03 -9.99327493e-01 -7.52360113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.840385723 meters 0.016898555073523062 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.33, Z:-7.52 [[ 9.06896306e-01 4.19945424e-01 -3.44228320e-02 1.57090376e+02] [ 4.19716357e-01 -9.07547637e-01 -1.39809495e-02 -4.63331641e+01] [-3.71115956e-02 -1.76855420e-03 -9.99309562e-01 -7.52368298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.870385723 meters 0.016980417636066565 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.35, Z:-7.52 [[ 8.71592970e-01 4.89094979e-01 -3.33436214e-02 1.57088140e+02] [ 4.88812566e-01 -8.72228806e-01 -1.67088571e-02 -4.63454573e+01] [-3.72554852e-02 -1.73545873e-03 -9.99304266e-01 -7.52463933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.900385723 meters 0.01721259342520641 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.36, Z:-7.52 [[ 8.31535694e-01 5.54542677e-01 -3.21062131e-02 1.57086588e+02] [ 5.54205977e-01 -8.32153615e-01 -1.93931834e-02 -4.63587282e+01] [-3.74716492e-02 -1.66733097e-03 -9.99296300e-01 -7.52474333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.930385723 meters 0.01741855923630938 Centerline is valid? [True, True] Translation: X:157.08, Y:-46.37, Z:-7.53 [[ 7.86266239e-01 6.17156110e-01 -3.00622363e-02 1.57083665e+02] [ 6.16783094e-01 -7.86839053e-01 -2.15155679e-02 -4.63692758e+01] [-3.69326057e-02 -1.62491447e-03 -9.99316438e-01 -7.52581086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.960385723 meters 0.017439643724505877 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.38, Z:-7.53 [[ 7.36526418e-01 6.75859435e-01 -2.72554558e-02 1.57085429e+02] [ 6.75474888e-01 -7.37028850e-01 -2.28505907e-02 -4.63836120e+01] [-3.55318446e-02 -1.58031222e-03 -9.99367295e-01 -7.52852014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.990385723 meters 0.01777887973775213 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.40, Z:-7.53 [[ 6.81649396e-01 7.31245295e-01 -2.51876731e-02 1.57085255e+02] [ 7.30829256e-01 -6.82112804e-01 -2.47127714e-02 -4.63959285e+01] [-3.52519321e-02 -1.56244274e-03 -9.99377236e-01 -7.52873742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.020385723 meters 0.017743047938505733 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.41, Z:-7.53 [[ 6.22611915e-01 7.82195632e-01 -2.28997144e-02 1.57088704e+02] [ 7.81755977e-01 -6.23030978e-01 -2.62677153e-02 -4.64090098e+01] [-3.48137236e-02 -1.54739603e-03 -9.99392621e-01 -7.52994267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.050385723 meters 0.017699628925445497 Centerline is valid? [True, True] Translation: X:157.09, Y:-46.42, Z:-7.53 [[ 5.59147439e-01 8.28808050e-01 -2.07691693e-02 1.57094074e+02] [ 8.28336790e-01 -5.59530876e-01 -2.79885711e-02 -4.64229345e+01] [-3.48181445e-02 -1.55412919e-03 -9.99392456e-01 -7.53148290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.080385723 meters 0.017479516279464504 Centerline is valid? [True, True] Translation: X:157.10, Y:-46.44, Z:-7.53 [[ 4.91024860e-01 8.70939340e-01 -1.89539850e-02 1.57103411e+02] [ 8.70412235e-01 -4.91387936e-01 -3.03387074e-02 -4.64372861e+01] [-3.57369334e-02 -1.60072092e-03 -9.99359950e-01 -7.53199039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.110385723 meters 0.017474004183354427 Centerline is valid? [True, True] Translation: X:157.11, Y:-46.45, Z:-7.53 [[ 4.19781245e-01 9.07472000e-01 -1.66815971e-02 1.57109451e+02] [ 9.06905390e-01 -4.20109323e-01 -3.21056082e-02 -4.64495356e+01] [-3.61430349e-02 -1.65129817e-03 -9.99345263e-01 -7.53138807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.140385723 meters 0.017229417349465086 Centerline is valid? [True, True] Translation: X:157.12, Y:-46.46, Z:-7.53 [[ 3.44367735e-01 9.38725768e-01 -1.43106615e-02 1.57118077e+02] [ 9.38116131e-01 -3.44660459e-01 -3.38716995e-02 -4.64615124e+01] [-3.67285563e-02 -1.76074196e-03 -9.99323728e-01 -7.53253856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.170385723 meters 0.01718142388917864 Centerline is valid? [True, True] Translation: X:157.12, Y:-46.47, Z:-7.53 [[ 2.67813200e-01 9.63400087e-01 -1.16774086e-02 1.57123671e+02] [ 9.62760789e-01 -2.68061404e-01 -3.51389615e-02 -4.64724220e+01] [-3.69831412e-02 -1.83187340e-03 -9.99314211e-01 -7.53302159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.200385723 meters 0.017221131770623788 Centerline is valid? [True, True] Translation: X:157.13, Y:-46.48, Z:-7.53 [[ 1.87870838e-01 9.82152822e-01 -8.96568024e-03 1.57134124e+02] [ 9.81481061e-01 -1.88074370e-01 -3.63724892e-02 -4.64826330e+01] [-3.74095576e-02 -1.96631534e-03 -9.99298083e-01 -7.53394340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.230385723 meters 0.01728928895658424 Centerline is valid? [True, True] Translation: X:157.14, Y:-46.49, Z:-7.53 [[ 1.08483346e-01 9.94079529e-01 -6.10356376e-03 1.57143144e+02] [ 9.93386946e-01 -1.08635904e-01 -3.71566323e-02 -4.64907348e+01] [-3.75997137e-02 -2.03232475e-03 -9.99290814e-01 -7.53468891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.260385723 meters 0.017464989627678763 Centerline is valid? [True, True] Translation: X:157.16, Y:-46.50, Z:-7.54 [[ 2.69065887e-02 9.99632883e-01 -3.18345093e-03 1.57155551e+02] [ 9.98913338e-01 -2.70081822e-02 -3.79829049e-02 -4.64984491e+01] [-3.80549399e-02 -2.15800120e-03 -9.99273318e-01 -7.53613009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.290385723 meters 0.01787655343140118 Centerline is valid? [True, True] Translation: X:157.17, Y:-46.51, Z:-7.54 [[-5.29966453e-02 9.98594674e-01 -1.81470617e-04 1.57167227e+02] [ 9.97860404e-01 5.29507073e-02 -3.83514868e-02 -4.65058311e+01] [-3.82879815e-02 -2.21358249e-03 -9.99264295e-01 -7.53555474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32038572300002 meters 0.018296712322352325 Centerline is valid? [True, True] Translation: X:157.18, Y:-46.51, Z:-7.54 [[-1.34288951e-01 9.90938390e-01 2.75397306e-03 1.57177064e+02] [ 9.90226693e-01 1.34297061e-01 -3.76217403e-02 -4.65120442e+01] [-3.76506773e-02 -2.32512641e-03 -9.99288257e-01 -7.53655527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35038572300002 meters 0.018494069534763072 Centerline is valid? [True, True] Translation: X:157.19, Y:-46.52, Z:-7.54 [[-2.13456375e-01 9.76936349e-01 5.63431562e-03 1.57185283e+02] [ 9.76239652e-01 2.13517345e-01 -3.69660115e-02 -4.65177003e+01] [-3.73164644e-02 -2.39018849e-03 -9.99300640e-01 -7.53835065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38038572300002 meters 0.0194112982835928 Centerline is valid? [True, True] Translation: X:157.19, Y:-46.52, Z:-7.54 [[-2.93385698e-01 9.55958066e-01 8.30707221e-03 1.57194934e+02] [ 9.55295671e-01 2.93492379e-01 -3.56707874e-02 -4.65216673e+01] [-3.65378394e-02 -2.52958875e-03 -9.99329069e-01 -7.53942710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41038572300002 meters 0.019277249524503978 Centerline is valid? [True, True] Translation: X:157.20, Y:-46.53, Z:-7.54 [[-3.69039778e-01 9.29349756e-01 1.08937687e-02 1.57200703e+02] [ 9.28716204e-01 3.69191513e-01 -3.44069727e-02 -4.65262548e+01] [-3.59979986e-02 -2.58032210e-03 -9.99348531e-01 -7.54135264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44038572300002 meters 0.02033023923038445 Centerline is valid? [True, True] Translation: X:157.21, Y:-46.53, Z:-7.54 [[-4.43325178e-01 8.96265357e-01 1.30842168e-02 1.57214654e+02] [ 8.95682719e-01 4.43510280e-01 -3.24206430e-02 -4.65283081e+01] [-3.48604838e-02 -2.65358048e-03 -9.99388666e-01 -7.54202478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.470385723 meters 0.020726634122217105 Centerline is valid? [True, True] Translation: X:157.22, Y:-46.53, Z:-7.54 [[-5.13315739e-01 8.58061564e-01 1.54047149e-02 1.57223456e+02] [ 8.57506837e-01 5.13539814e-01 -3.09658666e-02 -4.65310574e+01] [-3.44815543e-02 -2.68561832e-03 -9.99401726e-01 -7.54332167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.500385723 meters 0.021513395401158136 Centerline is valid? [True, True] Translation: X:157.23, Y:-46.53, Z:-7.54 [[-5.80462497e-01 8.14104133e-01 1.72554345e-02 1.57233577e+02] [ 8.13596651e-01 5.80712554e-01 -2.88689871e-02 -4.65332228e+01] [-3.35228091e-02 -2.71840061e-03 -9.99434256e-01 -7.54452960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.530385723 meters 0.020659667476707826 Centerline is valid? [True, True] Translation: X:157.24, Y:-46.53, Z:-7.55 [[-6.43051359e-01 7.65583789e-01 1.91418848e-02 1.57243356e+02] [ 7.65111930e-01 6.43330426e-01 -2.70129027e-02 -4.65324962e+01] [-3.29951973e-02 -2.72499942e-03 -9.99451795e-01 -7.54592816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.560385723 meters 0.022146338334412312 Centerline is valid? [True, True] Translation: X:157.26, Y:-46.53, Z:-7.55 [[-7.02702332e-01 7.11159387e-01 2.14885772e-02 1.57255519e+02] [ 7.10699249e-01 7.03025198e-01 -2.57322400e-02 -4.65301558e+01] [-3.34067353e-02 -2.81018935e-03 -9.99437888e-01 -7.54579977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.590385723 meters 0.0233581900537206 Centerline is valid? [True, True] Translation: X:157.27, Y:-46.53, Z:-7.55 [[-7.56814246e-01 6.53194648e-01 2.38526342e-02 1.57265094e+02] [ 6.52747168e-01 7.57184664e-01 -2.43417174e-02 -4.65293738e+01] [-3.39607284e-02 -2.85241911e-03 -9.99419098e-01 -7.54543735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.620385723 meters 0.023005322212359902 Centerline is valid? [True, True] Translation: X:157.28, Y:-46.51, Z:-7.54 [[-8.01785273e-01 5.97006837e-01 2.68926181e-02 1.57276711e+02] [ 5.96552252e-01 8.02231385e-01 -2.34566712e-02 -4.65059816e+01] [-3.55778953e-02 -2.76436167e-03 -9.99363083e-01 -7.54499485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.650385723 meters 0.021830856574546975 Centerline is valid? [True, True] Translation: X:157.30, Y:-46.49, Z:-7.55 [[-8.41937149e-01 5.38801937e-01 2.88844358e-02 1.57302133e+02] [ 5.38369327e-01 8.42427908e-01 -2.17643939e-02 -4.64941839e+01] [-3.60597524e-02 -2.77375754e-03 -9.99345786e-01 -7.54593812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.680385723 meters 0.023973525211359543 Centerline is valid? [True, True] Translation: X:157.33, Y:-46.47, Z:-7.54 [[-8.77473806e-01 4.78677302e-01 3.01290579e-02 1.57327549e+02] [ 4.78286483e-01 8.77986676e-01 -1.95303863e-02 -4.64748433e+01] [-3.58016640e-02 -2.72708126e-03 -9.99355194e-01 -7.54480426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.710385723 meters 0.021578729102401523 Centerline is valid? [True, True] Translation: X:157.33, Y:-46.45, Z:-7.55 [[-9.08415814e-01 4.16940940e-01 3.06751057e-02 1.57330595e+02] [ 4.16603913e-01 9.08929766e-01 -1.69664695e-02 -4.64536772e+01] [-3.49555324e-02 -2.63324010e-03 -9.99385400e-01 -7.54858155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.740385723 meters 0.02165838848124325 Centerline is valid? [True, True] Translation: X:157.73, Y:-45.75, Z:-8.47 [[-8.50381965e-01 -5.26060574e-01 -1.05255058e-02 1.57730000e+02] [ 5.26041231e-01 -8.50445787e-01 4.75252151e-03 -4.57505746e+01] [-1.14514862e-02 -1.49539143e-03 9.99933311e-01 -8.46813883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.770385723 meters 0.020969848689382484 Centerline is valid? [True, True] Translation: X:157.31, Y:-46.45, Z:-7.55 [[-9.08927566e-01 4.15887758e-01 2.98002073e-02 1.57305428e+02] [ 4.15572211e-01 9.09412474e-01 -1.63917302e-02 -4.64474106e+01] [-3.39178002e-02 -2.51475743e-03 -9.99421462e-01 -7.55107259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.800385723 meters 0.020830922237203616 Centerline is valid? [True, True] Translation: X:157.31, Y:-46.42, Z:-7.55 [[-9.35356311e-01 3.52368312e-01 3.07431977e-02 1.57313884e+02] [ 3.52091561e-01 9.35858246e-01 -1.41730972e-02 -4.64235287e+01] [-3.37654254e-02 -2.43247547e-03 -9.99426825e-01 -7.55119804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.830385723 meters 0.02064057146066244 Centerline is valid? [True, True] Translation: X:157.65, Y:-45.67, Z:-8.47 [[-8.89242963e-01 -4.57315086e-01 -1.04816166e-02 1.57650909e+02] [ 4.57300973e-01 -8.89303675e-01 3.84616753e-03 -4.56739208e+01] [-1.10802506e-02 -1.37307606e-03 9.99937669e-01 -8.46976569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.860385723 meters 0.02024214054934445 Centerline is valid? [True, True] Translation: X:157.28, Y:-46.41, Z:-7.55 [[-9.35446463e-01 3.52068610e-01 3.14262353e-02 1.57277803e+02] [ 3.51785418e-01 9.35971294e-01 -1.43093034e-02 -4.64148509e+01] [-3.44519106e-02 -2.33029592e-03 -9.99403640e-01 -7.55101077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.890385723 meters 0.019932246893561777 Centerline is valid? [True, True] Translation: X:157.27, Y:-46.39, Z:-7.55 [[-9.57450885e-01 2.86877856e-01 3.14467543e-02 1.57274319e+02] [ 2.86646032e-01 9.57964571e-01 -1.17444838e-02 -4.63875683e+01] [-3.34941089e-02 -2.23067903e-03 -9.99436426e-01 -7.55333749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.920385723 meters 0.019709529177115933 Centerline is valid? [True, True] Translation: X:157.30, Y:-46.37, Z:-7.55 [[-9.75274044e-01 2.18721815e-01 3.16434310e-02 1.57301587e+02] [ 2.18533110e-01 9.75784775e-01 -9.34624156e-03 -4.63679243e+01] [-3.29214051e-02 -2.20000943e-03 -9.99455522e-01 -7.55414044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.950385723 meters 0.019107989126447397 Centerline is valid? [True, True] Translation: X:157.31, Y:-46.34, Z:-7.56 [[-9.88291717e-01 1.49270923e-01 3.15859573e-02 1.57310122e+02] [ 1.49124183e-01 9.88793947e-01 -6.96480509e-03 -4.63436331e+01] [-3.22716463e-02 -2.17302910e-03 -9.99476773e-01 -7.55689566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.980385723 meters 0.019352325923867354 Centerline is valid? [True, True] Translation: X:157.31, Y:-46.32, Z:-7.56 [[-9.96456228e-01 7.84308271e-02 3.03906438e-02 1.57314213e+02] [ 7.83284516e-02 9.96917240e-01 -4.54647433e-03 -4.63155129e+01] [-3.06535404e-02 -2.14991059e-03 -9.99527758e-01 -7.55803583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.010385723 meters 0.019307216460046836 Centerline is valid? [True, True] Translation: X:157.42, Y:-45.48, Z:-8.47 [[-9.83319619e-01 -1.81306692e-01 -1.45055404e-02 1.57420501e+02] [ 1.81310605e-01 -9.83425315e-01 1.05583137e-03 -4.54795902e+01] [-1.44565449e-02 -1.59178860e-03 9.99894232e-01 -8.46917975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.040385723 meters 0.019557132183256658 Centerline is valid? [True, True] Translation: X:157.24, Y:-46.31, Z:-7.56 [[-9.96933368e-01 7.22159781e-02 3.01448456e-02 1.57244091e+02] [ 7.21159523e-02 9.97386577e-01 -4.39372185e-03 -4.63086557e+01] [-3.03833613e-02 -2.20632367e-03 -9.99535884e-01 -7.55905799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07038572300002 meters 0.019450782571113663 Centerline is valid? [True, True] Translation: X:157.24, Y:-46.28, Z:-7.56 [[-9.99532712e-01 7.70180993e-04 3.05575715e-02 1.57244568e+02] [ 7.02967175e-04 9.99997310e-01 -2.21026189e-03 -4.62816155e+01] [-3.05591916e-02 -2.18774809e-03 -9.99530565e-01 -7.55958299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10038572300002 meters 0.019914261335450843 Centerline is valid? [True, True] Translation: X:157.23, Y:-46.25, Z:-7.56 [[-9.96963700e-01 -7.16764266e-02 3.04281372e-02 1.57225790e+02] [-7.17108160e-02 9.97425465e-01 -3.90206742e-05 -4.62540649e+01] [-3.03470021e-02 -2.22092875e-03 -9.99536956e-01 -7.55998802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13038572300002 meters 0.019919819253653496 Centerline is valid? [True, True] Translation: X:157.20, Y:-45.41, Z:-8.47 [[-9.99126598e-01 -3.93656234e-02 -1.40138840e-02 1.57199337e+02] [ 3.93858486e-02 -9.99223391e-01 -1.17007544e-03 -4.54095535e+01] [-1.39569400e-02 -1.72100221e-03 9.99901116e-01 -8.47474617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16038572300002 meters 0.01992635851336537 Centerline is valid? [True, True] Translation: X:157.11, Y:-46.26, Z:-7.56 [[-9.96342647e-01 -7.98993215e-02 3.02890930e-02 1.57106515e+02] [-7.99331510e-02 9.96800222e-01 9.42313101e-05 -4.62595081e+01] [-3.01997037e-02 -2.32721598e-03 -9.99541176e-01 -7.56240896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19038572300002 meters 0.020270566847908993 Centerline is valid? [True, True] Translation: X:157.07, Y:-45.41, Z:-8.48 [[-9.99341196e-01 -3.37361871e-02 -1.33807168e-02 1.57069384e+02] [ 3.37541808e-02 -9.99429536e-01 -1.12113037e-03 -4.54142583e+01] [-1.33352609e-02 -1.57204689e-03 9.99909846e-01 -8.47859142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.220385723 meters 0.020167800434459194 Centerline is valid? [True, True] Translation: X:156.98, Y:-46.27, Z:-7.56 [[-9.95811605e-01 -8.58622057e-02 3.14154183e-02 1.56980232e+02] [-8.58931798e-02 9.96304285e-01 3.64731980e-04 -4.62660794e+01] [-3.13306326e-02 -2.33516584e-03 -9.99506347e-01 -7.56379211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.250385723 meters 0.02137739923562699 Centerline is valid? [True, True] Translation: X:156.93, Y:-46.24, Z:-7.56 [[-9.87277473e-01 -1.55837329e-01 3.15898443e-02 1.56928835e+02] [-1.55830283e-01 9.87780154e-01 2.70001474e-03 -4.62449981e+01] [-3.16245844e-02 -2.25699064e-03 -9.99497269e-01 -7.56314953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.280385723 meters 0.02020529340904755 Centerline is valid? [True, True] Translation: X:156.96, Y:-46.21, Z:-7.56 [[-9.73213307e-01 -2.27801963e-01 3.10181449e-02 1.56964337e+02] [-2.27760401e-01 9.73704809e-01 4.91369654e-03 -4.62142454e+01] [-3.13218665e-02 -2.28263027e-03 -9.99506743e-01 -7.56395560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.310385723 meters 0.018903535672175033 Centerline is valid? [True, True] Translation: X:156.92, Y:-46.20, Z:-7.57 [[-9.55046701e-01 -2.94978757e-01 2.95521708e-02 1.56921320e+02] [-2.94905620e-01 9.55501453e-01 6.90275554e-03 -4.61997900e+01] [-3.02733084e-02 -2.12264735e-03 -9.99539405e-01 -7.56734650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.340385723 meters 0.018711633362849287 Centerline is valid? [True, True] Translation: X:156.87, Y:-46.19, Z:-7.57 [[-9.31275036e-01 -3.63234613e-01 2.80610689e-02 1.56865965e+02] [-3.63136354e-01 9.31695371e-01 8.70198148e-03 -4.61904990e+01] [-2.93052289e-02 -2.08605611e-03 -9.99568333e-01 -7.56970005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.370385723 meters 0.018460736365159245 Centerline is valid? [True, True] Translation: X:156.81, Y:-46.19, Z:-7.57 [[-9.02282512e-01 -4.30332342e-01 2.64639957e-02 1.56808747e+02] [-4.30212525e-01 9.02668219e-01 1.03571142e-02 -4.61851330e+01] [-2.83452091e-02 -2.04009942e-03 -9.99596112e-01 -7.57232617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.400385723 meters 0.01816227738965712 Centerline is valid? [True, True] Translation: X:156.73, Y:-46.20, Z:-7.58 [[-8.68625769e-01 -4.94887297e-01 2.39966056e-02 1.56727116e+02] [-4.94759516e-01 8.68954965e-01 1.14144501e-02 -4.61974317e+01] [-2.65008359e-02 -1.95766349e-03 -9.99646874e-01 -7.57664617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.430385723 meters 0.018188026992597018 Centerline is valid? [True, True] Translation: X:156.64, Y:-46.22, Z:-7.58 [[-8.28882911e-01 -5.58999573e-01 2.17393139e-02 1.56641652e+02] [-5.58867394e-01 8.29165660e-01 1.23103124e-02 -4.62168552e+01] [-2.49069519e-02 -1.94558615e-03 -9.99687881e-01 -7.58126108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.460385723 meters 0.01816130845548211 Centerline is valid? [True, True] Translation: X:156.55, Y:-46.25, Z:-7.58 [[-7.84023943e-01 -6.20384629e-01 2.07211898e-02 1.56549208e+02] [-6.20231994e-01 7.84295283e-01 1.38990229e-02 -4.62478430e+01] [-2.48742716e-02 -1.95477810e-03 -9.99688676e-01 -7.58435224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.490385723 meters 0.018423225578364573 Centerline is valid? [True, True] Translation: X:156.46, Y:-46.29, Z:-7.59 [[-7.34214712e-01 -6.78621217e-01 2.00499434e-02 1.56457440e+02] [-6.78439412e-01 7.34485757e-01 1.58314894e-02 -4.62858167e+01] [-2.54699825e-02 -1.97895939e-03 -9.99673629e-01 -7.58672613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.520385723 meters 0.018616356401427572 Centerline is valid? [True, True] Translation: X:156.35, Y:-46.35, Z:-7.59 [[-6.79080550e-01 -7.33802194e-01 1.95945511e-02 1.56347645e+02] [-7.33580249e-01 6.79360121e-01 1.81616004e-02 -4.63507979e+01] [-2.66387789e-02 -2.04098608e-03 -9.99643041e-01 -7.58779777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.550385723 meters 0.018865127313109183 Centerline is valid? [True, True] Translation: X:156.26, Y:-46.41, Z:-7.59 [[-6.20037224e-01 -7.84340226e-01 1.90853497e-02 1.56255105e+02] [-7.84068638e-01 6.20327328e-01 2.07455355e-02 -4.64119834e+01] [-2.81107220e-02 -2.10121985e-03 -9.99602607e-01 -7.58933999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.580385723 meters 0.01938929946165577 Centerline is valid? [True, True] Translation: X:156.16, Y:-46.48, Z:-7.59 [[-5.56835974e-01 -8.30415348e-01 1.85485133e-02 1.56164967e+02] [-8.30078634e-01 5.57140576e-01 2.37453196e-02 -4.64830345e+01] [-3.00526073e-02 -2.17447642e-03 -9.99545953e-01 -7.58978990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.610385723 meters 0.01920128459575797 Centerline is valid? [True, True] Translation: X:156.08, Y:-46.56, Z:-7.59 [[-4.91048857e-01 -8.70970089e-01 1.67965303e-02 1.56083903e+02] [-8.70604661e-01 4.91331164e-01 2.53221583e-02 -4.65610063e+01] [-3.03075012e-02 -2.18872068e-03 -9.99538226e-01 -7.59368443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.640385723 meters 0.019220215261882976 Centerline is valid? [True, True] Translation: X:156.01, Y:-46.64, Z:-7.60 [[-4.22751894e-01 -9.06135138e-01 1.41402803e-02 1.56013464e+02] [-9.05787150e-01 4.22982829e-01 2.52025008e-02 -4.66365940e+01] [-2.88179673e-02 -2.15367922e-03 -9.99582356e-01 -7.59770107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.670385723 meters 0.019046859428444477 Centerline is valid? [True, True] Translation: X:155.94, Y:-46.74, Z:-7.60 [[-3.52253924e-01 -9.35829836e-01 1.18190912e-02 1.55937456e+02] [-9.35487733e-01 3.52445816e-01 2.53899280e-02 -4.67409532e+01] [-2.79262414e-02 -2.11291306e-03 -9.99607753e-01 -7.60177811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.700385723 meters 0.019046859428444477 Centerline is valid? [True, True] Translation: X:155.87, Y:-46.84, Z:-7.61 [[-2.78800286e-01 -9.60299084e-01 9.80155588e-03 1.55871433e+02] [-9.59944814e-01 2.78964520e-01 2.61677380e-02 -4.68447798e+01] [-2.78631411e-02 -2.11337991e-03 -9.99609513e-01 -7.60505113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.730385723 meters 0.019137650649236046 Centerline is valid? [True, True] Translation: X:155.81, Y:-46.96, Z:-7.61 [[-2.04828396e-01 -9.78770970e-01 7.26065637e-03 1.55811975e+02] [-9.78460839e-01 2.04946884e-01 2.47216681e-02 -4.69623251e+01] [-2.56849000e-02 -2.04056829e-03 -9.99668006e-01 -7.60986017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.760385723 meters 0.018760569525496998 Centerline is valid? [True, True] Translation: X:155.77, Y:-47.07, Z:-7.61 [[-1.28890221e-01 -9.91644792e-01 5.28372463e-03 1.55765317e+02] [-9.91332542e-01 1.28982658e-01 2.49652995e-02 -4.70727822e+01] [-2.54382181e-02 -2.02014519e-03 -9.99674355e-01 -7.61392713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.790385723 meters 0.0183476644993675 Centerline is valid? [True, True] Translation: X:155.73, Y:-47.18, Z:-7.62 [[-5.27087890e-02 -9.98604512e-01 3.28829771e-03 1.55728709e+02] [-9.98300068e-01 5.27741721e-02 2.47358169e-02 -4.71768831e+01] [-2.48748355e-02 -1.97891287e-03 -9.99688615e-01 -7.61729984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82038572300002 meters 0.018327924023066842 Centerline is valid? [True, True] Translation: X:155.70, Y:-47.30, Z:-7.62 [[ 2.44851140e-02 -9.99699280e-01 1.35214463e-03 1.55697506e+02] [-9.99388992e-01 -2.44437236e-02 2.49829304e-02 -4.72959792e+01] [-2.49423661e-02 -1.96302836e-03 -9.99686963e-01 -7.62033043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85038572300002 meters 0.0182994594235881 Centerline is valid? [True, True] Translation: X:155.68, Y:-47.44, Z:-7.62 [[ 1.01074755e-01 -9.94878650e-01 -6.05179780e-04 1.55676302e+02] [-9.94563316e-01 -1.01058000e-01 2.51215138e-02 -4.74428352e+01] [-2.50540160e-02 -1.93726123e-03 -9.99684222e-01 -7.62349149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88038572300002 meters 0.01828913660922806 Centerline is valid? [True, True] Translation: X:155.67, Y:-47.59, Z:-7.63 [[ 1.77754555e-01 -9.84071421e-01 -2.59941697e-03 1.55667652e+02] [-9.83749030e-01 -1.77763049e-01 2.52615111e-02 -4.75905779e+01] [-2.53212114e-02 -1.93317473e-03 -9.99677498e-01 -7.62716987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91038572300002 meters 0.018175255833496294 Centerline is valid? [True, True] Translation: X:155.66, Y:-47.67, Z:-7.63 [[ 2.52595823e-01 -9.67560101e-01 -4.77496625e-03 1.55657109e+02] [-9.67216011e-01 -2.52633678e-01 2.58729986e-02 -4.76725087e+01] [-2.62399984e-02 -1.91698757e-03 -9.99653834e-01 -7.62890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94038572300002 meters 0.018215756308616576 Centerline is valid? [True, True] Translation: X:155.66, Y:-47.79, Z:-7.63 [[ 3.26988241e-01 -9.45004218e-01 -6.76158025e-03 1.55663279e+02] [-9.44664285e-01 -3.27052484e-01 2.54177368e-02 -4.77938837e+01] [-2.62312601e-02 -1.92387765e-03 -9.99654050e-01 -7.63240229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.970385723 meters 0.01808167708543834 Centerline is valid? [True, True] Translation: X:155.68, Y:-47.92, Z:-7.64 [[ 3.98459855e-01 -9.17144718e-01 -8.67813261e-03 1.55679856e+02] [-9.16813407e-01 -3.98549841e-01 2.47224749e-02 -4.79187374e+01] [-2.61327557e-02 -1.89468545e-03 -9.99656686e-01 -7.63531818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.000385723 meters 0.01809181396984268 Centerline is valid? [True, True] Translation: X:155.71, Y:-48.06, Z:-7.64 [[ 4.68015432e-01 -8.83658797e-01 -1.04252738e-02 1.55712646e+02] [-8.83343226e-01 -4.68127767e-01 2.36883906e-02 -4.80552214e+01] [-2.58128149e-02 -1.87743737e-03 -9.99665031e-01 -7.63866513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.030385723 meters 0.01830389072647967 Centerline is valid? [True, True] Translation: X:155.75, Y:-48.18, Z:-7.64 [[ 5.35735209e-01 -8.44299831e-01 -1.20657220e-02 1.55752544e+02] [-8.44001036e-01 -5.35867724e-01 2.25396112e-02 -4.81817453e+01] [-2.54958209e-02 -1.89178146e-03 -9.99673139e-01 -7.64319737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.060385723 meters 0.018610989336891273 Centerline is valid? [True, True] Translation: X:155.78, Y:-48.28, Z:-7.65 [[ 6.00190006e-01 -7.99738458e-01 -1.37969805e-02 1.55782519e+02] [-7.99449987e-01 -6.00345520e-01 2.15632727e-02 -4.82788050e+01] [-2.55279339e-02 -1.91206494e-03 -9.99672281e-01 -7.64599874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.090385723 meters 0.019140313942268776 Centerline is valid? [True, True] Translation: X:155.85, Y:-48.41, Z:-7.65 [[ 6.61742707e-01 -7.49577684e-01 -1.51619767e-02 1.55853512e+02] [-7.49310092e-01 -6.61913494e-01 2.01224217e-02 -4.84142817e+01] [-2.51192352e-02 -1.95484362e-03 -9.99682551e-01 -7.65034200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.120385723 meters 0.0192607019744788 Centerline is valid? [True, True] Translation: X:155.92, Y:-48.53, Z:-7.65 [[ 7.18484407e-01 -6.95348441e-01 -1.64530134e-02 1.55922656e+02] [-6.95100462e-01 -7.18670037e-01 1.86742015e-02 -4.85319109e+01] [-2.48093646e-02 -1.98062541e-03 -9.99690238e-01 -7.65399988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.150385723 meters 0.019777516374793244 Centerline is valid? [True, True] Translation: X:155.97, Y:-48.62, Z:-7.66 [[ 7.71909845e-01 -6.35490604e-01 -1.75180625e-02 1.55969393e+02] [-6.35264598e-01 -7.72105885e-01 1.70702383e-02 -4.86164272e+01] [-2.43737752e-02 -2.04808006e-03 -9.99700817e-01 -7.65620044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.180385723 meters 0.019763483128727475 Centerline is valid? [True, True] Translation: X:155.97, Y:-48.62, Z:-7.66 [[ 8.19921258e-01 -5.72143755e-01 -1.95103940e-02 1.55966175e+02] [-5.71918370e-01 -8.20150608e-01 1.61974599e-02 -4.86239023e+01] [-2.52687371e-02 -2.12228896e-03 -9.99678442e-01 -7.65639904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.210385723 meters 0.020831260573072444 Centerline is valid? [True, True] Translation: X:155.96, Y:-48.63, Z:-7.66 [[ 8.63137161e-01 -5.04508645e-01 -2.15700984e-02 1.55958512e+02] [-5.04285964e-01 -8.63403844e-01 1.51482225e-02 -4.86328685e+01] [-2.62661151e-02 -2.19749593e-03 -9.99652571e-01 -7.65572630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.240385723 meters 0.020108539349806585 Centerline is valid? [True, True] Translation: X:155.95, Y:-48.64, Z:-7.66 [[ 9.00209034e-01 -4.34863287e-01 -2.27512039e-02 1.55953683e+02] [-4.34661016e-01 -9.00493763e-01 1.34456165e-02 -4.86379783e+01] [-2.63343221e-02 -2.21480404e-03 -9.99650738e-01 -7.65648974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.270385723 meters 0.020155568595636667 Centerline is valid? [True, True] Translation: X:155.95, Y:-48.65, Z:-7.66 [[ 9.31843042e-01 -3.62072978e-01 -2.39103106e-02 1.55945432e+02] [-3.61890988e-01 -9.32147045e-01 1.16960950e-02 -4.86479913e+01] [-2.65227653e-02 -2.24599887e-03 -9.99645686e-01 -7.65679452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.300385723 meters 0.02055920360696215 Centerline is valid? [True, True] Translation: X:155.94, Y:-48.66, Z:-7.66 [[ 9.57524238e-01 -2.87271292e-01 -2.49507169e-02 1.55937760e+02] [-2.87111269e-01 -9.57846570e-01 9.85233006e-03 -4.86574295e+01] [-2.67292502e-02 -2.27021284e-03 -9.99640132e-01 -7.65700575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.330385723 meters 0.02065472398005113 Centerline is valid? [True, True] Translation: X:155.93, Y:-48.67, Z:-7.66 [[ 9.77162135e-01 -2.10970016e-01 -2.54128946e-02 1.55932006e+02] [-2.10837682e-01 -9.77489890e-01 7.80935198e-03 -4.86659333e+01] [-2.64883867e-02 -2.27300725e-03 -9.99646537e-01 -7.65744955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.360385723 meters 0.02057154990233765 Centerline is valid? [True, True] Translation: X:155.93, Y:-48.68, Z:-7.66 [[ 9.90701224e-01 -1.33644925e-01 -2.54974222e-02 1.55925208e+02] [-1.33541618e-01 -9.91026699e-01 5.71993842e-03 -4.86757660e+01] [-2.60330669e-02 -2.26178297e-03 -9.99658524e-01 -7.65773406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.390385723 meters 0.021130856026890507 Centerline is valid? [True, True] Translation: X:155.92, Y:-48.68, Z:-7.66 [[ 9.98140692e-01 -5.58703190e-02 -2.43652779e-02 1.55916761e+02] [-5.57995250e-02 -9.98435588e-01 3.57633224e-03 -4.86842408e+01] [-2.45269714e-02 -2.21011181e-03 -9.99696726e-01 -7.65887711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.420385723 meters 0.02117131733967224 Centerline is valid? [True, True] Translation: X:155.91, Y:-48.69, Z:-7.66 [[ 9.99478921e-01 2.19199524e-02 -2.36939091e-02 1.55910443e+02] [ 2.19651304e-02 -9.99757379e-01 1.64813359e-03 -4.86899382e+01] [-2.36520335e-02 -2.16771459e-03 -9.99717901e-01 -7.65966972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.450385723 meters 0.020962934790749232 Centerline is valid? [True, True] Translation: X:155.90, Y:-48.69, Z:-7.66 [[ 9.94787273e-01 9.92638074e-02 -2.33447688e-02 1.55904220e+02] [ 9.92865017e-02 -9.95058870e-01 -1.87785404e-04 -4.86937512e+01] [-2.32480595e-02 -2.13101389e-03 -9.99727456e-01 -7.66055849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.480385723 meters 0.020750298769855915 Centerline is valid? [True, True] Translation: X:155.90, Y:-48.70, Z:-7.66 [[ 9.84404576e-01 1.74435782e-01 -2.27988786e-02 1.55896640e+02] [ 1.74437009e-01 -9.84666404e-01 -1.95029469e-03 -4.86958707e+01] [-2.27894909e-02 -2.05708917e-03 -9.99738169e-01 -7.66067046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.510385723 meters 0.020389600613933186 Centerline is valid? [True, True] Translation: X:155.89, Y:-48.70, Z:-7.66 [[ 9.67943100e-01 2.50162315e-01 -2.24715756e-02 1.55890647e+02] [ 2.50143051e-01 -9.68201783e-01 -3.70954380e-03 -4.86985030e+01] [-2.26850076e-02 -2.03048115e-03 -9.99740600e-01 -7.66124144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.540385723 meters 0.020181523608879273 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.70, Z:-7.66 [[ 9.45857582e-01 3.23887835e-01 -2.12156993e-02 1.55884403e+02] [ 3.23852478e-01 -9.46093427e-01 -5.17679567e-03 -4.87039227e+01] [-2.17487348e-02 -1.97424536e-03 -9.99761519e-01 -7.66194893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57038572300002 meters 0.019810813375856006 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.71, Z:-7.66 [[ 9.17662942e-01 3.96858151e-01 -1.99582911e-02 1.55879971e+02] [ 3.96809611e-01 -9.17877883e-01 -6.50576409e-03 -4.87122019e+01] [-2.09011395e-02 -1.94954313e-03 -9.99779647e-01 -7.66256001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60038572300002 meters 0.019950009917135948 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.72, Z:-7.66 [[ 8.84240707e-01 4.66678030e-01 -1.81655777e-02 1.55875505e+02] [ 4.66622571e-01 -8.84425246e-01 -7.44044340e-03 -4.87224706e+01] [-1.95383870e-02 -1.89732564e-03 -9.99807307e-01 -7.66342638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63038572300002 meters 0.019950626398303785 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.73, Z:-7.66 [[ 8.45257998e-01 5.34064369e-01 -1.77247346e-02 1.55870951e+02] [ 5.33992468e-01 -8.45441710e-01 -8.96428214e-03 -4.87304308e+01] [-1.97727336e-02 -1.88774358e-03 -9.99802718e-01 -7.66380459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66038572300002 meters 0.019604052627986184 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.74, Z:-7.66 [[ 8.01309057e-01 5.98013507e-01 -1.68416718e-02 1.55867765e+02] [ 5.97928755e-01 -8.01483853e-01 -1.02390610e-02 -4.87380703e+01] [-1.96214248e-02 -1.86546754e-03 -9.99805741e-01 -7.66394369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69038572300002 meters 0.01936904431253284 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.75, Z:-7.66 [[ 7.52035090e-01 6.58930596e-01 -1.59277473e-02 1.55865849e+02] [ 6.58833181e-01 -7.52201445e-01 -1.14815396e-02 -4.87478922e+01] [-1.95464122e-02 -1.85920774e-03 -9.99807222e-01 -7.66364826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.720385723 meters 0.01915156364089141 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.76, Z:-7.66 [[ 6.97628450e-01 7.16289418e-01 -1.56209917e-02 1.55865529e+02] [ 7.16167813e-01 -6.97800768e-01 -1.33323798e-02 -4.87592960e+01] [-2.04501826e-02 -1.88620402e-03 -9.99789094e-01 -7.66299634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.750385723 meters 0.018924297280395623 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.77, Z:-7.66 [[ 6.39141021e-01 7.68940040e-01 -1.51647429e-02 1.55866519e+02] [ 7.68791011e-01 -6.39318058e-01 -1.52578337e-02 -4.87711039e+01] [-2.14274532e-02 -1.90661069e-03 -9.99768588e-01 -7.66265776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.780385723 meters 0.019646582585440425 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.79, Z:-7.66 [[ 5.76739366e-01 8.16795565e-01 -1.47210376e-02 1.55869414e+02] [ 8.16610602e-01 -5.76923966e-01 -1.74889379e-02 -4.87851202e+01] [-2.27778063e-02 -1.93479639e-03 -9.99738680e-01 -7.66128790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.810385723 meters 0.019045881521823065 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.80, Z:-7.66 [[ 5.11575710e-01 8.59132384e-01 -1.34848359e-02 1.55869489e+02] [ 8.58926956e-01 -5.11749797e-01 -1.88846237e-02 -4.87950511e+01] [-2.31252538e-02 -1.92157430e-03 -9.99730729e-01 -7.66129382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.840385723 meters 0.01874370594267072 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.81, Z:-7.66 [[ 4.44582151e-01 8.95658142e-01 -1.19668071e-02 1.55870555e+02] [ 8.95439053e-01 -4.44739247e-01 -1.98973285e-02 -4.88052379e+01] [-2.31433131e-02 -1.86954932e-03 -9.99730410e-01 -7.66161208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.870385723 meters 0.018526708699116438 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.82, Z:-7.66 [[ 3.73913591e-01 9.27407683e-01 -1.01791516e-02 1.55871653e+02] [ 9.27186634e-01 -3.74047614e-01 -2.03304874e-02 -4.88151839e+01] [-2.26621376e-02 -1.83612777e-03 -9.99741495e-01 -7.66279104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.900385723 meters 0.018405025636638785 Centerline is valid? [True, True] Translation: X:155.87, Y:-48.83, Z:-7.66 [[ 3.01174444e-01 9.53533059e-01 -8.28615937e-03 1.55874616e+02] [ 9.53319270e-01 -3.01283066e-01 -2.02702737e-02 -4.88257240e+01] [-2.18248556e-02 -1.79446698e-03 -9.99760199e-01 -7.66443836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.930385723 meters 0.018359840360550488 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.84, Z:-7.67 [[ 2.27129729e-01 9.73845705e-01 -6.05221463e-03 1.55876645e+02] [ 9.73673898e-01 -2.27203841e-01 -1.83726781e-02 -4.88351777e+01] [-1.92672401e-02 -1.71990201e-03 -9.99812890e-01 -7.66720437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.960385723 meters 0.018286210353760483 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.85, Z:-7.67 [[ 1.50844173e-01 9.88547020e-01 -4.56334056e-03 1.55877800e+02] [ 9.88372859e-01 -1.50903612e-01 -1.86330958e-02 -4.88453050e+01] [-1.91083159e-02 -1.69958803e-03 -9.99815975e-01 -7.66769262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.990385723 meters 0.01857382384116051 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.86, Z:-7.67 [[ 7.28436977e-02 9.97338574e-01 -3.09253688e-03 1.55881856e+02] [ 9.97158817e-01 -7.28895172e-02 -1.90108487e-02 -4.88564352e+01] [-1.91856663e-02 -1.69892990e-03 -9.99814495e-01 -7.66761157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.020385723 meters 0.018454777654327365 Centerline is valid? [True, True] Translation: X:155.89, Y:-48.87, Z:-7.67 [[-5.56386516e-03 9.99983250e-01 -1.59454941e-03 1.55886225e+02] [ 9.99787121e-01 5.53107755e-03 -1.98776075e-02 -4.88656016e+01] [-1.98684550e-02 -1.70480629e-03 -9.99801149e-01 -7.66709922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.050385723 meters 0.01855167742576939 Centerline is valid? [True, True] Translation: X:155.89, Y:-48.88, Z:-7.67 [[-8.39416398e-02 9.96470672e-01 -3.31375833e-05 1.55889557e+02] [ 9.96273998e-01 8.39244114e-02 -1.98699278e-02 -4.88751704e+01] [-1.97970193e-02 -1.70092844e-03 -9.99802573e-01 -7.66749430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.080385723 meters 0.018601916291521265 Centerline is valid? [True, True] Translation: X:155.89, Y:-48.88, Z:-7.67 [[-1.61455517e-01 9.86878829e-01 1.51420467e-03 1.55891515e+02] [ 9.86683280e-01 1.61453778e-01 -1.97175728e-02 -4.88846067e+01] [-1.97033293e-02 -1.68947048e-03 -9.99804443e-01 -7.66812669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.110385723 meters 0.01841870518195379 Centerline is valid? [True, True] Translation: X:155.89, Y:-48.89, Z:-7.67 [[-2.38102596e-01 9.71235476e-01 2.96709012e-03 1.55893679e+02] [ 9.71048315e-01 2.38115184e-01 -1.91397197e-02 -4.88943154e+01] [-1.92956840e-02 -1.67602910e-03 -9.99812416e-01 -7.66873787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.140385723 meters 0.0188183090518556 Centerline is valid? [True, True] Translation: X:155.90, Y:-48.90, Z:-7.67 [[-3.13781178e-01 9.49483204e-01 4.79770775e-03 1.55902032e+02] [ 9.49275917e-01 3.13813286e-01 -1.99111838e-02 -4.89027840e+01] [-2.04109190e-02 -1.69340629e-03 -9.99790241e-01 -7.66815459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.170385723 meters 0.018281070192218488 Centerline is valid? [True, True] Translation: X:155.91, Y:-48.91, Z:-7.67 [[-3.87322765e-01 9.21921752e-01 6.43107678e-03 1.55910569e+02] [ 9.21713281e-01 3.87372448e-01 -1.96777657e-02 -4.89092524e+01] [-2.06325822e-02 -1.69403775e-03 -9.99785690e-01 -7.66838245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.200385723 meters 0.018581110254231835 Centerline is valid? [True, True] Translation: X:155.92, Y:-48.92, Z:-7.67 [[-4.58116996e-01 8.88849629e-01 8.66916844e-03 1.55921675e+02] [ 8.88613980e-01 4.58195843e-01 -2.05368777e-02 -4.89158247e+01] [-2.22263731e-02 -1.70474847e-03 -9.99751510e-01 -7.66719808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.230385723 meters 0.01815006093531817 Centerline is valid? [True, True] Translation: X:155.93, Y:-48.92, Z:-7.67 [[-5.26355631e-01 8.50197499e-01 1.06753050e-02 1.55930266e+02] [ 8.49952272e-01 5.26461093e-01 -2.04903147e-02 -4.89217424e+01] [-2.30409470e-02 -1.71169278e-03 -9.99733057e-01 -7.66760641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.260385723 meters 0.018047968607152208 Centerline is valid? [True, True] Translation: X:155.94, Y:-48.92, Z:-7.67 [[-5.91642899e-01 8.06097973e-01 1.28350288e-02 1.55942465e+02] [ 8.05841531e-01 5.91779576e-01 -2.04049099e-02 -4.89241921e+01] [-2.40438644e-02 -1.72942080e-03 -9.99709409e-01 -7.66780529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.290385723 meters 0.018255555724083872 Centerline is valid? [True, True] Translation: X:155.96, Y:-48.93, Z:-7.67 [[-6.53086023e-01 7.57146721e-01 1.44045179e-02 1.55956809e+02] [ 7.56901611e-01 6.53242569e-01 -1.93416133e-02 -4.89255812e+01] [-2.40540834e-02 -1.72893452e-03 -9.99709164e-01 -7.66827328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32038572300002 meters 0.018286572159128576 Centerline is valid? [True, True] Translation: X:155.97, Y:-48.93, Z:-7.67 [[-7.10700646e-01 7.03333566e-01 1.50494774e-02 1.55968598e+02] [ 7.03122684e-01 7.10857891e-01 -1.73075201e-02 -4.89267662e+01] [-2.28709995e-02 -1.71883678e-03 -9.99736947e-01 -7.66998298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35038572300002 meters 0.018114400698998775 Centerline is valid? [True, True] Translation: X:155.98, Y:-48.93, Z:-7.67 [[-7.63734429e-01 6.45340045e-01 1.56827415e-02 1.55981797e+02] [ 6.45156558e-01 7.63893523e-01 -1.54823273e-02 -4.89260607e+01] [-2.19713105e-02 -1.70656285e-03 -9.99757145e-01 -7.67136948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38038572300002 meters 0.018196036544851763 Centerline is valid? [True, True] Translation: X:156.00, Y:-48.90, Z:-7.67 [[-8.07625722e-01 5.89471440e-01 1.62515791e-02 1.56000986e+02] [ 5.89312082e-01 8.07787705e-01 -1.37947153e-02 -4.89049647e+01] [-2.12594165e-02 -1.56371496e-03 -9.99772770e-01 -7.67262640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41038572300002 meters 0.018453547683476266 Centerline is valid? [True, True] Translation: X:156.04, Y:-48.90, Z:-7.67 [[-8.48055293e-01 5.29662832e-01 1.61091327e-02 1.56040846e+02] [ 5.29531203e-01 8.48206823e-01 -1.19117952e-02 -4.88975691e+01] [-1.99731115e-02 -1.57157258e-03 -9.99799282e-01 -7.67314946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44038572300002 meters 0.01853438767304717 Centerline is valid? [True, True] Translation: X:156.53, Y:-48.17, Z:-8.59 [[-7.91091720e-01 -6.11562406e-01 -1.28574650e-02 1.56525551e+02] [ 6.11503646e-01 -7.91195433e-01 8.54852774e-03 -4.81730758e+01] [-1.54007258e-02 -1.09971718e-03 9.99880797e-01 -8.59322051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.470385723 meters 0.01874926943352721 Centerline is valid? [True, True] Translation: X:156.00, Y:-48.87, Z:-7.67 [[-8.50863381e-01 5.25107790e-01 1.71264895e-02 1.55998601e+02] [ 5.24962082e-01 8.51034177e-01 -1.24756518e-02 -4.88677235e+01] [-2.11262898e-02 -1.62431768e-03 -9.99775496e-01 -7.67342664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.500385723 meters 0.019203298662719616 Centerline is valid? [True, True] Translation: X:156.02, Y:-48.85, Z:-7.67 [[-8.86835979e-01 4.61656239e-01 1.98862769e-02 1.56020840e+02] [ 4.61496201e-01 8.87057270e-01 -1.22742014e-02 -4.88457265e+01] [-2.33067282e-02 -1.70776216e-03 -9.99726903e-01 -7.67199109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.530385723 meters 0.019589293662290265 Centerline is valid? [True, True] Translation: X:156.05, Y:-48.82, Z:-7.67 [[-9.17686458e-01 3.96701068e-01 2.19049680e-02 1.56045255e+02] [ 3.96541631e-01 9.17946167e-01 -1.13828358e-02 -4.88244257e+01] [-2.46231645e-02 -1.75964257e-03 -9.99695255e-01 -7.67075128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.560385723 meters 0.019898859637984052 Centerline is valid? [True, True] Translation: X:156.05, Y:-48.79, Z:-7.67 [[-9.43810029e-01 3.29664652e-01 2.33205037e-02 1.56048879e+02] [ 3.29516368e-01 9.44096381e-01 -1.00492122e-02 -4.87937769e+01] [-2.53296732e-02 -1.80005958e-03 -9.99677532e-01 -7.67015349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.590385723 meters 0.019898859637984052 Centerline is valid? [True, True] Translation: X:156.37, Y:-48.00, Z:-8.60 [[-9.01491694e-01 -4.32701705e-01 -9.05320863e-03 1.56373062e+02] [ 4.32691978e-01 -9.01536461e-01 3.10829766e-03 -4.80030590e+01] [-9.50676337e-03 -1.11514623e-03 9.99954188e-01 -8.60065977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.620385723 meters 0.019585239024555296 Centerline is valid? [True, True] Translation: X:156.01, Y:-48.78, Z:-7.67 [[-9.45424706e-01 3.24919176e-01 2.44878382e-02 1.56014774e+02] [ 3.24758702e-01 9.45739960e-01 -1.03785304e-02 -4.87818000e+01] [-2.65313107e-02 -1.85948051e-03 -9.99646253e-01 -7.67047259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.650385723 meters 0.0195588964822111 Centerline is valid? [True, True] Translation: X:156.00, Y:-48.75, Z:-7.67 [[-9.66149291e-01 2.56700817e-01 2.56950931e-02 1.55998194e+02] [ 2.56557983e-01 9.66489094e-01 -8.76538556e-03 -4.87475274e+01] [-2.70841089e-02 -1.87638978e-03 -9.99631397e-01 -7.67138853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.680385723 meters 0.019431739381865314 Centerline is valid? [True, True] Translation: X:156.04, Y:-48.73, Z:-7.67 [[-9.81596970e-01 1.89045480e-01 2.70036217e-02 1.56041747e+02] [ 1.88921847e-01 9.81966590e-01 -7.08175425e-03 -4.87313652e+01] [-2.78554279e-02 -1.84985443e-03 -9.99610251e-01 -7.67126794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.710385723 meters 0.020044422829053072 Centerline is valid? [True, True] Translation: X:156.25, Y:-47.90, Z:-8.60 [[-9.55055609e-01 -2.96359757e-01 -6.29898134e-03 1.56245011e+02] [ 2.96360255e-01 -9.55075825e-01 8.75725529e-04 -4.79007327e+01] [-6.27553461e-03 -1.03040114e-03 9.99979778e-01 -8.60355714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.740385723 meters 0.01906603222750473 Centerline is valid? [True, True] Translation: X:156.00, Y:-48.72, Z:-7.67 [[-9.81898082e-01 1.87530240e-01 2.66188836e-02 1.55996111e+02] [ 1.87412122e-01 9.82257228e-01 -6.88723047e-03 -4.87240729e+01] [-2.74381549e-02 -1.77385693e-03 -9.99621929e-01 -7.67362246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.770385723 meters 0.018772623358425413 Centerline is valid? [True, True] Translation: X:156.20, Y:-47.89, Z:-8.60 [[-9.57069616e-01 -2.89755059e-01 -7.73015439e-03 1.56201002e+02] [ 2.89754733e-01 -9.57100197e-01 1.18674641e-03 -4.78881704e+01] [-7.74239806e-03 -1.10404989e-03 9.99969418e-01 -8.60134601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.800385723 meters 0.018935241313523803 Centerline is valid? [True, True] Translation: X:155.94, Y:-48.71, Z:-7.68 [[-9.82245386e-01 1.85877894e-01 2.53655242e-02 1.55940182e+02] [ 1.85771579e-01 9.82571418e-01 -6.50604206e-03 -4.87143208e+01] [-2.61327684e-02 -1.67833633e-03 -9.99657072e-01 -7.67593685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.830385723 meters 0.01827403182626198 Centerline is valid? [True, True] Translation: X:155.96, Y:-48.69, Z:-7.68 [[-9.92678728e-01 1.18403720e-01 2.38642273e-02 1.55958167e+02] [ 1.18331401e-01 9.92964298e-01 -4.42512954e-03 -4.86926305e+01] [-2.42202776e-02 -1.56884451e-03 -9.99705415e-01 -7.67899396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.860385723 meters 0.017973982456859532 Centerline is valid? [True, True] Translation: X:155.96, Y:-48.67, Z:-7.68 [[-9.98481407e-01 5.03565605e-02 2.23404614e-02 1.55958370e+02] [ 5.03107889e-02 9.98730209e-01 -2.60652483e-03 -4.86665576e+01] [-2.24433493e-02 -1.47860035e-03 -9.99747023e-01 -7.68183144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.890385723 meters 0.01784439815360538 Centerline is valid? [True, True] Translation: X:155.96, Y:-48.64, Z:-7.68 [[-9.99568421e-01 -1.97897929e-02 2.17102677e-02 1.55956642e+02] [-1.98165343e-02 9.99803116e-01 -1.01727419e-03 -4.86394844e+01] [-2.16858617e-02 -1.44705742e-03 -9.99763787e-01 -7.68366451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.920385723 meters 0.017800067366600517 Centerline is valid? [True, True] Translation: X:155.94, Y:-48.61, Z:-7.69 [[-9.95688673e-01 -9.02038130e-02 2.16180208e-02 1.55935405e+02] [-9.02136297e-02 9.95922300e-01 5.22697367e-04 -4.86131737e+01] [-2.15770183e-02 -1.42979628e-03 -9.99766167e-01 -7.68510879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.950385723 meters 0.017853115450754086 Centerline is valid? [True, True] Translation: X:155.95, Y:-48.58, Z:-7.69 [[-9.86640812e-01 -1.61420826e-01 2.19823938e-02 1.55945691e+02] [-1.61413142e-01 9.86884613e-01 2.13518121e-03 -4.85838032e+01] [-2.20387489e-02 -1.44159033e-03 -9.99756078e-01 -7.68515121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.980385723 meters 0.017991326307229837 Centerline is valid? [True, True] Translation: X:155.91, Y:-48.56, Z:-7.69 [[-9.72451077e-01 -2.32001546e-01 2.26756490e-02 1.55905048e+02] [-2.31972985e-01 9.72714337e-01 3.91831590e-03 -4.85621124e+01] [-2.29659842e-02 -1.44976746e-03 -9.99735196e-01 -7.68541509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.010385723 meters 0.01794703789275829 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.54, Z:-7.68 [[-9.52180898e-01 -3.04573309e-01 2.42205876e-02 1.55879121e+02] [-3.04515628e-01 9.52487647e-01 6.12493793e-03 -4.85386894e+01] [-2.49353031e-02 -1.54349855e-03 -9.99687875e-01 -7.68483633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.040385723 meters 0.018202362060600507 Centerline is valid? [True, True] Translation: X:155.82, Y:-48.53, Z:-7.68 [[-9.26389695e-01 -3.75656689e-01 2.61569467e-02 1.55815752e+02] [-3.75555721e-01 9.26757485e-01 8.85801033e-03 -4.85283832e+01] [-2.75687170e-02 -1.61742152e-03 -9.99618602e-01 -7.68417287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07038572300002 meters 0.018489227972692014 Centerline is valid? [True, True] Translation: X:155.74, Y:-48.53, Z:-7.69 [[-8.95449323e-01 -4.44382452e-01 2.63580384e-02 1.55739766e+02] [-4.44243916e-01 8.95835627e-01 1.12192849e-02 -4.85294509e+01] [-2.85981232e-02 -1.66309716e-03 -9.99589607e-01 -7.68545860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10038572300002 meters 0.018540293841051703 Centerline is valid? [True, True] Translation: X:155.66, Y:-48.54, Z:-7.69 [[-8.59302654e-01 -5.10814650e-01 2.58329602e-02 1.55656400e+02] [-5.10642205e-01 8.59689202e-01 1.33796446e-02 -4.85407481e+01] [-2.90428354e-02 -1.69423564e-03 -9.99576732e-01 -7.68752727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13038572300002 meters 0.018717869043783295 Centerline is valid? [True, True] Translation: X:155.56, Y:-48.57, Z:-7.69 [[-8.17903607e-01 -5.74859141e-01 2.38884646e-02 1.55558293e+02] [-5.74673843e-01 8.18250601e-01 1.46944736e-02 -4.85672404e+01] [-2.79940030e-02 -1.70941277e-03 -9.99606629e-01 -7.69169238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16038572300002 meters 0.018842876376506723 Centerline is valid? [True, True] Translation: X:155.47, Y:-48.59, Z:-7.69 [[-7.71758543e-01 -6.35533989e-01 2.20295018e-02 1.55473303e+02] [-6.35336987e-01 7.72070990e-01 1.59153957e-02 -4.85932593e+01] [-2.71231142e-02 -1.71331469e-03 -9.99630632e-01 -7.69425969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19038572300002 meters 0.01866945502269297 Centerline is valid? [True, True] Translation: X:155.38, Y:-48.64, Z:-7.70 [[-7.20804975e-01 -6.92840515e-01 2.03029306e-02 1.55378253e+02] [-6.92630990e-01 7.21088805e-01 1.71244480e-02 -4.86365182e+01] [-2.65047274e-02 -1.71905162e-03 -9.99647210e-01 -7.69788277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.220385723 meters 0.019331720150105636 Centerline is valid? [True, True] Translation: X:155.28, Y:-48.69, Z:-7.70 [[-6.65668270e-01 -7.46005633e-01 1.90092384e-02 1.55279454e+02] [-7.45773241e-01 6.65937390e-01 1.86993603e-02 -4.86916409e+01] [-2.66087907e-02 -1.72901057e-03 -9.99644428e-01 -7.69930766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.250385723 meters 0.019573863758569336 Centerline is valid? [True, True] Translation: X:155.19, Y:-48.75, Z:-7.70 [[-6.05792430e-01 -7.95430680e-01 1.74804296e-02 1.55191669e+02] [-7.95179987e-01 6.06042036e-01 2.00459177e-02 -4.87473258e+01] [-2.65390130e-02 -1.75642257e-03 -9.99646235e-01 -7.70157037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.280385723 meters 0.019297783706142213 Centerline is valid? [True, True] Translation: X:155.10, Y:-48.83, Z:-7.71 [[-5.42764320e-01 -8.39739663e-01 1.56266165e-02 1.55096791e+02] [-8.39480426e-01 5.42986392e-01 2.09378301e-02 -4.88300395e+01] [-2.60673665e-02 -1.75393163e-03 -9.99658650e-01 -7.70504473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.310385723 meters 0.01991755184903262 Centerline is valid? [True, True] Translation: X:155.02, Y:-48.90, Z:-7.71 [[-4.76669119e-01 -8.78970758e-01 1.40341726e-02 1.55016432e+02] [-8.78692343e-01 4.76872447e-01 2.21909119e-02 -4.89026921e+01] [-2.61976728e-02 -1.75399758e-03 -9.99655243e-01 -7.70778776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.340385723 meters 0.018977672436717403 Centerline is valid? [True, True] Translation: X:154.93, Y:-49.00, Z:-7.71 [[-4.08080639e-01 -9.12862729e-01 1.23219245e-02 1.54934715e+02] [-9.12567119e-01 4.08262924e-01 2.32945900e-02 -4.90025303e+01] [-2.62953479e-02 -1.73851198e-03 -9.99652706e-01 -7.71120897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.370385723 meters 0.018860745459315018 Centerline is valid? [True, True] Translation: X:154.87, Y:-49.09, Z:-7.71 [[-3.37662403e-01 -9.41208326e-01 1.05351244e-02 1.54865983e+02] [-9.40895949e-01 3.37822410e-01 2.43070476e-02 -4.90878477e+01] [-2.64369967e-02 -1.70487978e-03 -9.99649028e-01 -7.71289230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.400385723 meters 0.01850991556257568 Centerline is valid? [True, True] Translation: X:154.79, Y:-49.21, Z:-7.72 [[-2.64867873e-01 -9.64247068e-01 8.52065972e-03 1.54794150e+02] [-9.63932082e-01 2.64999623e-01 2.47010269e-02 -4.92145212e+01] [-2.60758643e-02 -1.67082882e-03 -9.99658571e-01 -7.71609354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.430385723 meters 0.01827033925141454 Centerline is valid? [True, True] Translation: X:154.75, Y:-49.30, Z:-7.72 [[-1.91098900e-01 -9.81548389e-01 6.63101403e-03 1.54745297e+02] [-9.81217861e-01 1.91206971e-01 2.55226240e-02 -4.92968609e+01] [-2.63195866e-02 -1.62912403e-03 -9.99652252e-01 -7.71849771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.460385723 meters 0.017875927686046577 Centerline is valid? [True, True] Translation: X:154.70, Y:-49.41, Z:-7.72 [[-1.18517144e-01 -9.92940851e-01 4.70666264e-03 1.54698630e+02] [-9.92586975e-01 1.18600761e-01 2.65510333e-02 -4.94139114e+01] [-2.69218194e-02 -1.52501939e-03 -9.99636379e-01 -7.72102091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.490385723 meters 0.017456344945507175 Centerline is valid? [True, True] Translation: X:154.66, Y:-49.54, Z:-7.72 [[-4.57639296e-02 -9.98948711e-01 2.67142340e-03 1.54661888e+02] [-9.98568357e-01 4.58203125e-02 2.75995427e-02 -4.95356221e+01] [-2.76929331e-02 -1.40453534e-03 -9.99615490e-01 -7.72365201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.520385723 meters 0.01747685147558231 Centerline is valid? [True, True] Translation: X:154.63, Y:-49.66, Z:-7.73 [[ 2.99162137e-02 -9.99552269e-01 5.30417057e-04 1.54632940e+02] [-9.99178314e-01 -2.98904960e-02 2.73725331e-02 -4.96595371e+01] [-2.73444231e-02 -1.34886377e-03 -9.99625161e-01 -7.72661770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.550385723 meters 0.0174844393007509 Centerline is valid? [True, True] Translation: X:154.61, Y:-49.78, Z:-7.73 [[ 1.05541641e-01 -9.94413662e-01 -1.55915020e-03 1.54612863e+02] [-9.94048596e-01 -1.05545187e-01 2.69740940e-02 -4.97840491e+01] [-2.69879683e-02 -1.29701906e-03 -9.99634917e-01 -7.72868419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.580385723 meters 0.01744862689008886 Centerline is valid? [True, True] Translation: X:154.61, Y:-49.93, Z:-7.73 [[ 1.79770215e-01 -9.83702583e-01 -3.44941124e-03 1.54605797e+02] [-9.83367861e-01 -1.79799125e-01 2.56890044e-02 -4.99292026e+01] [-2.58905411e-02 -1.22607769e-03 -9.99664032e-01 -7.73251299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.610385723 meters 0.017455745332902926 Centerline is valid? [True, True] Translation: X:154.60, Y:-50.04, Z:-7.74 [[ 2.54323140e-01 -9.67104492e-01 -5.35173229e-03 1.54601036e+02] [-9.66781106e-01 -2.54376643e-01 2.50363132e-02 -5.00362431e+01] [-2.55740867e-02 -1.19336014e-03 -9.99672217e-01 -7.73527782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.640385723 meters 0.01757919449635524 Centerline is valid? [True, True] Translation: X:154.61, Y:-50.16, Z:-7.74 [[ 3.27343823e-01 -9.44877953e-01 -7.18855468e-03 1.54610130e+02] [-9.44566539e-01 -3.27420692e-01 2.42846280e-02 -5.01644271e+01] [-2.52996911e-02 -1.15935474e-03 -9.99679239e-01 -7.73765111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.670385723 meters 0.017688281599875764 Centerline is valid? [True, True] Translation: X:154.63, Y:-50.29, Z:-7.74 [[ 3.99320466e-01 -9.16766443e-01 -9.08043199e-03 1.54629700e+02] [-9.16460227e-01 -3.99422039e-01 2.37210396e-02 -5.02937602e+01] [-2.53735777e-02 -1.15044182e-03 -9.99677377e-01 -7.73953276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.700385723 meters 0.017654937074169527 Centerline is valid? [True, True] Translation: X:154.66, Y:-50.43, Z:-7.74 [[ 4.68910671e-01 -8.83176676e-01 -1.10336705e-02 1.54663714e+02] [-8.82872329e-01 -4.69039074e-01 2.32120391e-02 -5.04320474e+01] [-2.56755541e-02 -1.14305049e-03 -9.99669675e-01 -7.74215516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.730385723 meters 0.017536014948514363 Centerline is valid? [True, True] Translation: X:154.69, Y:-50.53, Z:-7.74 [[ 5.36592599e-01 -8.43738808e-01 -1.31607811e-02 1.54686331e+02] [-8.43429910e-01 -5.36752704e-01 2.28587386e-02 -5.05316675e+01] [-2.63508897e-02 -1.16563355e-03 -9.99652075e-01 -7.74464855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.760385723 meters 0.01758453668789807 Centerline is valid? [True, True] Translation: X:154.73, Y:-50.65, Z:-7.75 [[ 6.00166112e-01 -7.99733557e-01 -1.50624221e-02 1.54732771e+02] [-7.99431587e-01 -6.00353961e-01 2.20058902e-02 -5.06500819e+01] [-2.66416336e-02 -1.16581353e-03 -9.99644369e-01 -7.74771902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.790385723 meters 0.0175368209773179 Centerline is valid? [True, True] Translation: X:154.78, Y:-50.76, Z:-7.75 [[ 6.60501430e-01 -7.50621133e-01 -1.74864265e-02 1.54782859e+02] [-7.50309614e-01 -6.60731802e-01 2.16556972e-02 -5.07593153e+01] [-2.78090621e-02 -1.18338504e-03 -9.99612553e-01 -7.74994119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82038572300002 meters 0.017834850718795148 Centerline is valid? [True, True] Translation: X:154.84, Y:-50.86, Z:-7.75 [[ 7.16179524e-01 -6.97642893e-01 -1.95264537e-02 1.54836310e+02] [-6.97337911e-01 -7.16444695e-01 2.06600323e-02 -5.08575430e+01] [-2.84029489e-02 -1.17975564e-03 -9.99595859e-01 -7.74938663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85038572300002 meters 0.017850276696465165 Centerline is valid? [True, True] Translation: X:154.84, Y:-50.86, Z:-7.75 [[ 7.68145650e-01 -6.39923356e-01 -2.12216484e-02 1.54835539e+02] [-6.39636008e-01 -7.68437830e-01 1.92114310e-02 -5.08554805e+01] [-2.86013609e-02 -1.18304670e-03 -9.99590197e-01 -7.74939033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88038572300002 meters 0.017905225351271672 Centerline is valid? [True, True] Translation: X:154.83, Y:-50.85, Z:-7.75 [[ 8.15343872e-01 -5.78539177e-01 -2.25120093e-02 1.54834573e+02] [-5.78279031e-01 -8.15653775e-01 1.73862658e-02 -5.08525319e+01] [-2.84206413e-02 -1.15756236e-03 -9.99595382e-01 -7.74995876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91038572300002 meters 0.018378621049289025 Centerline is valid? [True, True] Translation: X:154.83, Y:-50.86, Z:-7.75 [[ 8.56691583e-01 -5.15321965e-01 -2.28649174e-02 1.54829410e+02] [-5.15104416e-01 -8.56995975e-01 1.50113147e-02 -5.08562539e+01] [-2.73308023e-02 -1.08224701e-03 -9.99625858e-01 -7.75277758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94038572300002 meters 0.01796085684636426 Centerline is valid? [True, True] Translation: X:154.83, Y:-50.86, Z:-7.75 [[ 8.93290800e-01 -4.48880686e-01 -2.31878714e-02 1.54825360e+02] [-4.48699649e-01 -8.93591121e-01 1.27880104e-02 -5.08591509e+01] [-2.64607669e-02 -1.01902225e-03 -9.99649333e-01 -7.75430723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.970385723 meters 0.017969192753995358 Centerline is valid? [True, True] Translation: X:154.82, Y:-50.86, Z:-7.75 [[ 9.25262211e-01 -3.78573634e-01 -2.39132583e-02 1.54819903e+02] [-3.78419415e-01 -9.25570647e-01 1.08500297e-02 -5.08642034e+01] [-2.62409452e-02 -9.89881254e-04 -9.99655157e-01 -7.75477943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.000385723 meters 0.018129929149273954 Centerline is valid? [True, True] Translation: X:154.82, Y:-50.87, Z:-7.75 [[ 9.51758295e-01 -3.05866128e-01 -2.45369213e-02 1.54815105e+02] [-3.05738259e-01 -9.52074042e-01 8.89583935e-03 -5.08670762e+01] [-2.60819018e-02 -9.64813283e-04 -9.99659344e-01 -7.75480623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.030385723 meters 0.01811279361371871 Centerline is valid? [True, True] Translation: X:154.81, Y:-50.87, Z:-7.76 [[ 9.72604019e-01 -2.31174845e-01 -2.44870098e-02 1.54811289e+02] [-2.31076943e-01 -9.72911759e-01 6.79385727e-03 -5.08699770e+01] [-2.53942687e-02 -9.49349516e-04 -9.99677063e-01 -7.75534771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.060385723 meters 0.018126230030500557 Centerline is valid? [True, True] Translation: X:154.80, Y:-50.87, Z:-7.76 [[ 9.87590412e-01 -1.55079048e-01 -2.48126201e-02 1.54803531e+02] [-1.55006464e-01 -9.87901629e-01 4.83411486e-03 -5.08732152e+01] [-2.52620977e-02 -9.28008998e-04 -9.99680432e-01 -7.75672602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.090385723 meters 0.017925823272581926 Centerline is valid? [True, True] Translation: X:154.80, Y:-50.88, Z:-7.76 [[ 9.96723530e-01 -7.71340510e-02 -2.43422026e-02 1.54796062e+02] [-7.70881215e-02 -9.97020292e-01 2.82100720e-03 -5.08798206e+01] [-2.44872657e-02 -9.35269583e-04 -9.99699704e-01 -7.75827875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.120385723 meters 0.017616893689606894 Centerline is valid? [True, True] Translation: X:154.79, Y:-50.89, Z:-7.76 [[ 9.99712127e-01 1.33154687e-03 -2.39560087e-02 1.54789546e+02] [ 1.35371203e-03 -9.99998671e-01 9.09051163e-04 -5.08904603e+01] [-2.39547664e-02 -9.41219009e-04 -9.99712600e-01 -7.75946451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.150385723 meters 0.017539278191938762 Centerline is valid? [True, True] Translation: X:154.78, Y:-50.90, Z:-7.76 [[ 9.96575970e-01 7.93784972e-02 -2.31385080e-02 1.54783100e+02] [ 7.93789764e-02 -9.96844105e-01 -8.99221150e-04 -5.08998356e+01] [-2.31368641e-02 -9.40568887e-04 -9.99731864e-01 -7.75995951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.180385723 meters 0.017532464723441332 Centerline is valid? [True, True] Translation: X:154.78, Y:-50.91, Z:-7.76 [[ 9.87431649e-01 1.56466374e-01 -2.22937540e-02 1.54776574e+02] [ 1.56447653e-01 -9.87682850e-01 -2.59221826e-03 -5.09114324e+01] [-2.24247534e-02 -9.28167135e-04 -9.99748103e-01 -7.75980691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.210385723 meters 0.01755375046555331 Centerline is valid? [True, True] Translation: X:154.77, Y:-50.92, Z:-7.76 [[ 9.72421496e-01 2.32282687e-01 -2.10044806e-02 1.54771925e+02] [ 2.32248688e-01 -9.72647891e-01 -4.07765371e-03 -5.09220936e+01] [-2.13771321e-02 -9.13064940e-04 -9.99771066e-01 -7.76006926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.240385723 meters 0.017973887663828684 Centerline is valid? [True, True] Translation: X:154.77, Y:-50.93, Z:-7.76 [[ 9.52137867e-01 3.05078480e-01 -1.89895336e-02 1.54766610e+02] [ 3.05036037e-01 -9.52326810e-01 -5.16358018e-03 -5.09306660e+01] [-1.96595392e-02 -8.76051866e-04 -9.99806349e-01 -7.76155499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.270385723 meters 0.017992930449304795 Centerline is valid? [True, True] Translation: X:154.76, Y:-50.94, Z:-7.76 [[ 9.26135769e-01 3.76800156e-01 -1.71516416e-02 1.54764858e+02] [ 3.76752542e-01 -9.26294179e-01 -6.05110926e-03 -5.09433251e+01] [-1.81675247e-02 -8.57775831e-04 -9.99834589e-01 -7.76283912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.300385723 meters 0.018232790884075346 Centerline is valid? [True, True] Translation: X:154.76, Y:-50.96, Z:-7.76 [[ 8.94964984e-01 4.45854092e-01 -1.58683873e-02 1.54763601e+02] [ 4.45800156e-01 -8.95105273e-01 -6.98368209e-03 -5.09563670e+01] [-1.73175804e-02 -8.23978600e-04 -9.99849700e-01 -7.76381373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.330385723 meters 0.020287825957445896 Centerline is valid? [True, True] Translation: X:154.76, Y:-50.97, Z:-7.76 [[ 8.60303392e-01 5.09572031e-01 -1.46430805e-02 1.54762633e+02] [ 5.09512662e-01 -8.60427684e-01 -7.81331996e-03 -5.09683456e+01] [-1.65807611e-02 -7.39009257e-04 -9.99862257e-01 -7.76284459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.360385723 meters 0.020614758209530192 Centerline is valid? [True, True] Translation: X:154.76, Y:-50.98, Z:-7.76 [[ 8.19135464e-01 5.73428050e-01 -1.40485962e-02 1.54763659e+02] [ 5.73358061e-01 -8.19255631e-01 -8.98581534e-03 -5.09821823e+01] [-1.66621101e-02 -6.94275875e-04 -9.99860936e-01 -7.76292247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.390385723 meters 0.021121521180301056 Centerline is valid? [True, True] Translation: X:154.76, Y:-51.00, Z:-7.76 [[ 7.74498554e-01 6.32428191e-01 -1.36591667e-02 1.54763562e+02] [ 6.32343374e-01 -7.74618758e-01 -1.03748327e-02 -5.09951931e+01] [-1.71419835e-02 -6.01990616e-04 -9.99852884e-01 -7.76409004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.420385723 meters 0.020800388937193402 Centerline is valid? [True, True] Translation: X:154.77, Y:-51.01, Z:-7.76 [[ 7.23911451e-01 6.89771863e-01 -1.29223633e-02 1.54768418e+02] [ 6.89675583e-01 -7.24026562e-01 -1.15380449e-02 -5.10107195e+01] [-1.73147530e-02 -5.59715632e-04 -9.99849932e-01 -7.76443204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.450385723 meters 0.02185976705793668 Centerline is valid? [True, True] Translation: X:154.77, Y:-51.02, Z:-7.76 [[ 6.69184710e-01 7.43005228e-01 -1.16212955e-02 1.54771586e+02] [ 7.42907007e-01 -6.69285394e-01 -1.20930329e-02 -5.10240862e+01] [-1.67631500e-02 -5.41069114e-04 -9.99859342e-01 -7.76446339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.480385723 meters 0.023175850668225636 Centerline is valid? [True, True] Translation: X:154.78, Y:-51.04, Z:-7.76 [[ 6.10886931e-01 7.91645367e-01 -1.07130873e-02 1.54775633e+02] [ 7.91537527e-01 -6.10980663e-01 -1.30756598e-02 -5.10382492e+01] [-1.68967747e-02 -4.92060954e-04 -9.99857118e-01 -7.76346711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.510385723 meters 0.023175850668225636 Centerline is valid? [True, True] Translation: X:154.78, Y:-51.05, Z:-7.76 [[ 5.47006187e-01 8.37073173e-01 -9.62983867e-03 1.54779118e+02] [ 8.36958925e-01 -5.47090726e-01 -1.38381690e-02 -5.10499732e+01] [-1.68519554e-02 -4.90215393e-04 -9.99857876e-01 -7.76386021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.540385723 meters 0.022649356655691483 Centerline is valid? [True, True] Translation: X:154.79, Y:-51.06, Z:-7.76 [[ 4.79847073e-01 8.77308815e-01 -8.71948157e-03 1.54787323e+02] [ 8.77181273e-01 -4.79926062e-01 -1.49662698e-02 -5.10628328e+01] [-1.73147469e-02 -4.67045200e-04 -9.99849979e-01 -7.76370869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57038572300002 meters 0.022111569248087774 Centerline is valid? [True, True] Translation: X:154.80, Y:-51.08, Z:-7.76 [[ 4.08383978e-01 9.12777693e-01 -7.70769628e-03 1.54799015e+02] [ 9.12636203e-01 -4.08456439e-01 -1.60778576e-02 -5.10757320e+01] [-1.78237680e-02 -4.68383211e-04 -9.99841034e-01 -7.76277879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60038572300002 meters 0.02206833218649749 Centerline is valid? [True, True] Translation: X:154.81, Y:-51.09, Z:-7.76 [[ 3.33662110e-01 9.42671087e-01 -6.38891139e-03 1.54807755e+02] [ 9.42526288e-01 -3.33722887e-01 -1.65296958e-02 -5.10870002e+01] [-1.77141923e-02 -5.06383754e-04 -9.99842963e-01 -7.76339683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63038572300002 meters 0.02067455998859034 Centerline is valid? [True, True] Translation: X:154.82, Y:-51.10, Z:-7.76 [[ 2.56630523e-01 9.66496683e-01 -4.99361992e-03 1.54821791e+02] [ 9.66353503e-01 -2.56678504e-01 -1.66449023e-02 -5.10979416e+01] [-1.73689977e-02 -5.54012127e-04 -9.99848994e-01 -7.76448997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66038572300002 meters 0.018984951645299043 Centerline is valid? [True, True] Translation: X:154.84, Y:-51.11, Z:-7.77 [[ 1.73592015e-01 9.84811703e-01 -3.42383335e-03 1.54840629e+02] [ 9.84692649e-01 -1.73624323e-01 -1.53291355e-02 -5.11079765e+01] [-1.56907728e-02 -7.10408007e-04 -9.99876640e-01 -7.76593378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69038572300002 meters 0.018122465251406296 Centerline is valid? [True, True] Translation: X:154.86, Y:-51.12, Z:-7.77 [[ 9.19253079e-02 9.95763621e-01 -2.13280542e-03 1.54857727e+02] [ 9.95658849e-01 -9.19466209e-02 -1.44663747e-02 -5.11150927e+01] [-1.46011939e-02 -7.93720640e-04 -9.99893082e-01 -7.76671518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.720385723 meters 0.01742214941432656 Centerline is valid? [True, True] Translation: X:154.87, Y:-51.12, Z:-7.77 [[ 9.27758052e-03 9.99956465e-01 -9.97052554e-04 1.54873858e+02] [ 9.99861818e-01 -9.29044756e-03 -1.37851974e-02 -5.11219596e+01] [-1.37938603e-02 -8.69021500e-04 -9.99904483e-01 -7.76720232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.750385723 meters 0.016094460986651772 Centerline is valid? [True, True] Translation: X:154.89, Y:-51.13, Z:-7.77 [[-7.83186482e-02 9.96928376e-01 4.53344495e-05 1.54893793e+02] [ 9.96839945e-01 7.83123066e-02 -1.33156912e-02 -5.11265947e+01] [-1.32783406e-02 -9.97675744e-04 -9.99911341e-01 -7.76763668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.780385723 meters 0.01565076333867512 Centerline is valid? [True, True] Translation: X:154.91, Y:-51.13, Z:-7.77 [[-1.64710180e-01 9.86341317e-01 1.16731604e-03 1.54913518e+02] [ 9.86246428e-01 1.64710579e-01 -1.37262030e-02 -5.11280084e+01] [-1.37309904e-02 -1.10958409e-03 -9.99905110e-01 -7.76703186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.810385723 meters 0.015719930304002188 Centerline is valid? [True, True] Translation: X:154.93, Y:-51.13, Z:-7.77 [[-2.45360471e-01 9.69429380e-01 2.21724264e-03 1.54928438e+02] [ 9.69336209e-01 2.45367744e-01 -1.34901515e-02 -5.11285314e+01] [-1.36217891e-02 -1.16069636e-03 -9.99906545e-01 -7.76670911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.840385723 meters 0.01584375461711637 Centerline is valid? [True, True] Translation: X:154.94, Y:-51.13, Z:-7.77 [[-3.23754255e-01 9.46135498e-01 3.28668038e-03 1.54943338e+02] [ 9.46042446e-01 3.23768697e-01 -1.33237240e-02 -5.11277419e+01] [-1.36701725e-02 -1.20427319e-03 -9.99905834e-01 -7.76652011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.870385723 meters 0.01648744361971489 Centerline is valid? [True, True] Translation: X:154.96, Y:-51.13, Z:-7.77 [[-4.01910772e-01 9.15667080e-01 4.64005526e-03 1.54959685e+02] [ 9.15564413e-01 4.01935496e-01 -1.37718326e-02 -5.11261916e+01] [-1.44754167e-02 -1.28677843e-03 -9.99894398e-01 -7.76572385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.900385723 meters 0.01681326479222736 Centerline is valid? [True, True] Translation: X:154.97, Y:-51.12, Z:-7.77 [[-4.74302483e-01 8.80341991e-01 5.92734328e-03 1.54970455e+02] [ 8.80235020e-01 4.74337677e-01 -1.37868921e-02 -5.11234916e+01] [-1.49487423e-02 -1.32170204e-03 -9.99887388e-01 -7.76549150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.930385723 meters 0.01738159149857414 Centerline is valid? [True, True] Translation: X:154.98, Y:-51.12, Z:-7.77 [[-5.43651299e-01 8.39281577e-01 7.04978220e-03 1.54981841e+02] [ 8.39176153e-01 5.43695322e-01 -1.33708920e-02 -5.11203942e+01] [-1.50548769e-02 -1.35309368e-03 -9.99885753e-01 -7.76518522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.960385723 meters 0.017140880034620647 Centerline is valid? [True, True] Translation: X:154.99, Y:-51.12, Z:-7.77 [[-6.08390719e-01 7.93596390e-01 8.09342504e-03 1.54991589e+02] [ 7.93494378e-01 6.08443022e-01 -1.27969290e-02 -5.11163139e+01] [-1.50799846e-02 -1.36344555e-03 -9.99885361e-01 -7.76567186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.990385723 meters 0.017698235675168615 Centerline is valid? [True, True] Translation: X:155.00, Y:-51.11, Z:-7.77 [[-6.68712018e-01 7.43472893e-01 8.50255878e-03 1.55002404e+02] [ 7.43385737e-01 6.68764719e-01 -1.14628561e-02 -5.11107922e+01] [-1.42085341e-02 -1.34466871e-03 -9.99898150e-01 -7.76592305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.020385723 meters 0.0176024954779647 Centerline is valid? [True, True] Translation: X:155.01, Y:-51.11, Z:-7.77 [[-7.24658582e-01 6.89047624e-01 9.12753827e-03 1.55009417e+02] [ 6.88968685e-01 7.24714842e-01 -1.05142408e-02 -5.11065488e+01] [-1.38596751e-02 -1.33064682e-03 -9.99903065e-01 -7.76572901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.050385723 meters 0.017661688675928926 Centerline is valid? [True, True] Translation: X:155.03, Y:-51.08, Z:-7.77 [[-7.71292129e-01 6.36409583e-01 9.55480824e-03 1.55029794e+02] [ 6.36340579e-01 7.71350364e-01 -9.44899070e-03 -5.10849003e+01] [-1.33835330e-02 -1.20781994e-03 -9.99909707e-01 -7.76581502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.080385723 meters 0.01662566214475789 Centerline is valid? [True, True] Translation: X:155.05, Y:-51.07, Z:-7.76 [[-8.13338744e-01 5.81689341e-01 1.08442817e-02 1.55050430e+02] [ 5.81617444e-01 8.13410157e-01 -9.22304870e-03 -5.10650963e+01] [-1.41857980e-02 -1.19423942e-03 -9.99898663e-01 -7.76493014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.110385723 meters 0.016893713334028 Centerline is valid? [True, True] Translation: X:155.07, Y:-51.04, Z:-7.76 [[-8.51859723e-01 5.23630078e-01 1.21059532e-02 1.55070065e+02] [ 5.23556919e-01 8.51944913e-01 -8.83276466e-03 -5.10424629e+01] [-1.49387065e-02 -1.18612092e-03 -9.99887708e-01 -7.76441271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.140385723 meters 0.016176667186826595 Centerline is valid? [True, True] Translation: X:155.09, Y:-51.02, Z:-7.76 [[-8.86264863e-01 4.62984162e-01 1.34260098e-02 1.55085074e+02] [ 4.62910499e-01 8.86365769e-01 -8.34225129e-03 -5.10198099e+01] [-1.57626857e-02 -1.17840329e-03 -9.99875067e-01 -7.76442509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.170385723 meters 0.0159567973317634 Centerline is valid? [True, True] Translation: X:155.10, Y:-50.99, Z:-7.76 [[-9.15489902e-01 4.02047556e-01 1.53623242e-02 1.55098168e+02] [ 4.01969781e-01 9.15618078e-01 -7.98938193e-03 -5.09932867e+01] [-1.72781332e-02 -1.13900841e-03 -9.99850073e-01 -7.76258315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.200385723 meters 0.015578930896056822 Centerline is valid? [True, True] Translation: X:155.11, Y:-50.97, Z:-7.76 [[-9.41032711e-01 3.37925566e-01 1.62403417e-02 1.55105420e+02] [ 3.37854714e-01 9.41172187e-01 -7.00760364e-03 -5.09667413e+01] [-1.76530063e-02 -1.10750827e-03 -9.99843560e-01 -7.76266215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.230385723 meters 0.015313687881213298 Centerline is valid? [True, True] Translation: X:155.12, Y:-50.94, Z:-7.76 [[-9.61421704e-01 2.74514060e-01 1.76164054e-02 1.55123989e+02] [ 2.74448162e-01 9.61582532e-01 -6.10254445e-03 -5.09435032e+01] [-1.86148620e-02 -1.03232859e-03 -9.99826196e-01 -7.76220666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.260385723 meters 0.01514225784721413 Centerline is valid? [True, True] Translation: X:155.13, Y:-50.92, Z:-7.76 [[-9.77977474e-01 2.07860909e-01 1.88122843e-02 1.55129365e+02] [ 2.07802922e-01 9.78157894e-01 -5.00800217e-03 -5.09156357e+01] [-1.94423523e-02 -9.88465656e-04 -9.99810491e-01 -7.76260195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.290385723 meters 0.015223788421046625 Centerline is valid? [True, True] Translation: X:155.13, Y:-50.89, Z:-7.76 [[-9.90010822e-01 1.39626672e-01 1.95694689e-02 1.55127650e+02] [ 1.39580324e-01 9.90203759e-01 -3.72132294e-03 -5.08865339e+01] [-1.98973576e-02 -9.52637173e-04 -9.99801574e-01 -7.76218595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32038572300002 meters 0.015042714497069329 Centerline is valid? [True, True] Translation: X:155.24, Y:-50.22, Z:-8.69 [[-9.79096149e-01 -2.03277479e-01 -6.99983992e-03 1.55239874e+02] [ 2.03277503e-01 -9.79120904e-01 7.15602364e-04 -5.02213062e+01] [-6.99915544e-03 -7.22266460e-04 9.99975245e-01 -8.68993014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35038572300002 meters 0.015131037010821975 Centerline is valid? [True, True] Translation: X:155.07, Y:-50.88, Z:-7.77 [[-9.90186791e-01 1.38443881e-01 1.90633384e-02 1.55074379e+02] [ 1.38400698e-01 9.90369872e-01 -3.57263096e-03 -5.08783582e+01] [-1.93743649e-02 -8.99192647e-04 -9.99811895e-01 -7.76538110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38038572300002 meters 0.015072469057209133 Centerline is valid? [True, True] Translation: X:155.07, Y:-50.85, Z:-7.77 [[-9.97504941e-01 6.82342250e-02 1.81103059e-02 1.55071102e+02] [ 6.82068605e-02 9.97668937e-01 -2.12511358e-03 -5.08468174e+01] [-1.82130951e-02 -8.84564189e-04 -9.99833737e-01 -7.76683694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41038572300002 meters 0.015005436181123676 Centerline is valid? [True, True] Translation: X:155.07, Y:-50.82, Z:-7.77 [[-9.99844227e-01 -3.08500623e-03 1.73782775e-02 1.55069262e+02] [-3.10000376e-03 9.99994845e-01 -8.36132077e-04 -5.08169822e+01] [-1.73756084e-02 -8.89874556e-04 -9.99848637e-01 -7.76770938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44038572300002 meters 0.014784926714949501 Centerline is valid? [True, True] Translation: X:155.07, Y:-50.15, Z:-8.69 [[-9.98295567e-01 -5.76012043e-02 -9.38414877e-03 1.55073069e+02] [ 5.76060876e-02 -9.98339359e-01 -2.50694385e-04 -5.01531054e+01] [-9.35412477e-03 -7.90851189e-04 9.99955936e-01 -8.68881898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.470385723 meters 0.014661921389615095 Centerline is valid? [True, True] Translation: X:154.99, Y:-50.81, Z:-7.77 [[-9.99809935e-01 -1.05586619e-02 1.63892927e-02 1.54987855e+02] [-1.05727295e-02 9.99943809e-01 -7.71933812e-04 -5.08116620e+01] [-1.63802212e-02 -9.45066653e-04 -9.99865389e-01 -7.76935440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.500385723 meters 0.014592568643637229 Centerline is valid? [True, True] Translation: X:154.97, Y:-50.78, Z:-7.77 [[-9.96195497e-01 -8.56471012e-02 1.60967888e-02 1.54971568e+02] [-8.56519059e-02 9.96325046e-01 3.91954320e-04 -5.07789083e+01] [-1.60712036e-02 -9.88257513e-04 -9.99870361e-01 -7.76910635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.530385723 meters 0.01456587720471169 Centerline is valid? [True, True] Translation: X:154.96, Y:-50.75, Z:-7.77 [[-9.87189628e-01 -1.58704885e-01 1.64133341e-02 1.54959187e+02] [-1.58700131e-01 9.87325533e-01 1.60005028e-03 -5.07494025e+01] [-1.64592396e-02 -1.02524523e-03 -9.99864012e-01 -7.76933724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.560385723 meters 0.01484191429665349 Centerline is valid? [True, True] Translation: X:154.86, Y:-50.12, Z:-8.69 [[-9.96770068e-01 7.97698807e-02 -9.28425668e-03 1.54860752e+02] [-7.97580937e-02 -9.96812910e-01 -1.63356089e-03 -5.01199324e+01] [-9.38497588e-03 -8.87789986e-04 9.99955566e-01 -8.69289357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.590385723 meters 0.01568557552815983 Centerline is valid? [True, True] Translation: X:154.85, Y:-50.76, Z:-7.77 [[-9.84989908e-01 -1.71499314e-01 1.95669688e-02 1.54848902e+02] [-1.71489489e-01 9.85183512e-01 2.19146735e-03 -5.07586477e+01] [-1.96528902e-02 -1.19695626e-03 -9.99806147e-01 -7.76743266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.620385723 meters 0.0154784514166345 Centerline is valid? [True, True] Translation: X:154.82, Y:-50.73, Z:-7.77 [[-9.69411273e-01 -2.44623290e-01 2.00307266e-02 1.54823433e+02] [-2.44597251e-01 9.69617406e-01 3.77755153e-03 -5.07342261e+01] [-2.03462182e-02 -1.23745962e-03 -9.99792228e-01 -7.76832614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.650385723 meters 0.01622089157659122 Centerline is valid? [True, True] Translation: X:154.78, Y:-50.71, Z:-7.77 [[-9.47656278e-01 -3.18651254e-01 2.02226813e-02 1.54784467e+02] [-3.18608885e-01 9.47871059e-01 5.36980607e-03 -5.07109409e+01] [-2.08795898e-02 -1.35439551e-03 -9.99781080e-01 -7.76837401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.680385723 meters 0.016721208741177586 Centerline is valid? [True, True] Translation: X:154.73, Y:-50.70, Z:-7.77 [[-9.21131405e-01 -3.88736940e-01 2.00131689e-02 1.54732159e+02] [-3.88678095e-01 9.21347704e-01 6.90984564e-03 -5.06973082e+01] [-2.11251994e-02 -1.41380453e-03 -9.99775838e-01 -7.76907841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.710385723 meters 0.01671918031965996 Centerline is valid? [True, True] Translation: X:154.66, Y:-50.70, Z:-7.77 [[-8.89013498e-01 -4.57467070e-01 1.94648444e-02 1.54664573e+02] [-4.57393059e-01 8.89225345e-01 8.35913589e-03 -5.06954147e+01] [-2.11326624e-02 -1.47170010e-03 -9.99775597e-01 -7.77036812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.740385723 meters 0.018324847669704172 Centerline is valid? [True, True] Translation: X:154.59, Y:-50.70, Z:-7.77 [[-8.51174427e-01 -5.24545046e-01 1.88305608e-02 1.54589583e+02] [-5.24455884e-01 8.51381303e-01 9.79301002e-03 -5.06977487e+01] [-2.11688622e-02 -1.54023870e-03 -9.99774728e-01 -7.76985359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.770385723 meters 0.017997636028097667 Centerline is valid? [True, True] Translation: X:154.51, Y:-50.71, Z:-7.77 [[-8.09257805e-01 -5.87178927e-01 1.79642168e-02 1.54513681e+02] [-5.87076060e-01 8.09455660e-01 1.11011051e-02 -5.07126997e+01] [-2.10595720e-02 -1.56270565e-03 -9.99777001e-01 -7.77143758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.800385723 meters 0.01839873603704494 Centerline is valid? [True, True] Translation: X:154.43, Y:-50.74, Z:-7.77 [[-7.62467134e-01 -6.46825100e-01 1.61604660e-02 1.54431816e+02] [-6.46721670e-01 7.62636794e-01 1.16705739e-02 -5.07383594e+01] [-1.98733861e-02 -1.55289458e-03 -9.99801299e-01 -7.77376926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.830385723 meters 0.017772623957106697 Centerline is valid? [True, True] Translation: X:154.35, Y:-50.78, Z:-7.78 [[-7.11757523e-01 -7.02272288e-01 1.46581686e-02 1.54347929e+02] [-7.02166126e-01 7.11906793e-01 1.23064538e-02 -5.07764763e+01] [-1.90777313e-02 -1.53325836e-03 -9.99816828e-01 -7.77668220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.860385723 meters 0.017918814693309477 Centerline is valid? [True, True] Translation: X:154.26, Y:-50.82, Z:-7.78 [[-6.57567672e-01 -7.53279402e-01 1.32249681e-02 1.54263396e+02] [-7.53170937e-01 6.57698943e-01 1.28700942e-02 -5.08237230e+01] [-1.83928244e-02 -1.49770375e-03 -9.99829716e-01 -7.77956300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.890385723 meters 0.019861629019312595 Centerline is valid? [True, True] Translation: X:154.18, Y:-50.88, Z:-7.78 [[-5.98621754e-01 -8.00939488e-01 1.21627771e-02 1.54179326e+02] [-8.00822606e-01 5.98743422e-01 1.37647251e-02 -5.08789668e+01] [-1.83070947e-02 -1.50036298e-03 -9.99831285e-01 -7.77894834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.920385723 meters 0.01831493792976874 Centerline is valid? [True, True] Translation: X:154.10, Y:-50.94, Z:-7.78 [[-5.36070845e-01 -8.44096780e-01 1.13434779e-02 1.54095517e+02] [-8.43964351e-01 5.36188701e-01 1.50283448e-02 -5.09448307e+01] [-1.87676222e-02 -1.51723348e-03 -9.99822721e-01 -7.78200167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.950385723 meters 0.01912568283393761 Centerline is valid? [True, True] Translation: X:154.02, Y:-51.02, Z:-7.78 [[-4.68531428e-01 -8.83385178e-01 1.04369097e-02 1.54015003e+02] [-8.83235933e-01 4.68645013e-01 1.63137398e-02 -5.10198750e+01] [-1.93025216e-02 -1.57475386e-03 -9.99812449e-01 -7.78200427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.980385723 meters 0.020076567236178924 Centerline is valid? [True, True] Translation: X:153.94, Y:-51.10, Z:-7.78 [[-3.98684632e-01 -9.17040548e-01 9.33792722e-03 1.53938625e+02] [-9.16876431e-01 3.98790702e-01 1.74237398e-02 -5.11038287e+01] [-1.97021544e-02 -1.61514810e-03 -9.99804589e-01 -7.78279394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.010385723 meters 0.02157526575139774 Centerline is valid? [True, True] Translation: X:153.87, Y:-51.20, Z:-7.78 [[-3.23820815e-01 -9.46080329e-01 8.49063821e-03 1.53866938e+02] [-9.45882890e-01 3.23927398e-01 1.94061816e-02 -5.11964080e+01] [-2.11101570e-02 -1.74702386e-03 -9.99775629e-01 -7.78313893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.040385723 meters 0.022194612781026263 Centerline is valid? [True, True] Translation: X:153.80, Y:-51.30, Z:-7.78 [[-2.49158298e-01 -9.68435986e-01 7.20300320e-03 1.53802974e+02] [-9.68215811e-01 2.49255826e-01 2.07286498e-02 -5.12954011e+01] [-2.18697609e-02 -1.80934650e-03 -9.99759191e-01 -7.78412767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07038572300002 meters 0.02295789315360954 Centerline is valid? [True, True] Translation: X:153.75, Y:-51.40, Z:-7.78 [[-1.72273015e-01 -9.85032606e-01 5.72484910e-03 1.53746982e+02] [-9.84793004e-01 1.72357846e-01 2.18062529e-02 -5.13986294e+01] [-2.24665927e-02 -1.88116240e-03 -9.99745824e-01 -7.78497249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10038572300002 meters 0.023774307329444997 Centerline is valid? [True, True] Translation: X:153.70, Y:-51.51, Z:-7.79 [[-9.42821278e-02 -9.95536508e-01 4.23582257e-03 1.53699360e+02] [-9.95258574e-01 9.43562476e-02 2.36065631e-02 -5.15119140e+01] [-2.39008717e-02 -1.99006173e-03 -9.99712353e-01 -7.78600189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13038572300002 meters 0.023651675485426 Centerline is valid? [True, True] Translation: X:153.66, Y:-51.62, Z:-7.79 [[-1.69688673e-02 -9.99853088e-01 2.42079776e-03 1.53662313e+02] [-9.99567562e-01 1.70220756e-02 2.39778587e-02 -5.16214290e+01] [-2.40155431e-02 -2.01287382e-03 -9.99709559e-01 -7.78790629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16038572300002 meters 0.024378341255680256 Centerline is valid? [True, True] Translation: X:153.63, Y:-51.74, Z:-7.79 [[ 5.88940672e-02 -9.98264067e-01 5.84562058e-04 1.53634190e+02] [-9.97988894e-01 -5.88640602e-02 2.35199721e-02 -5.17375497e+01] [-2.34447333e-02 -1.96857326e-03 -9.99723196e-01 -7.79044948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19038572300002 meters 0.023838071244503902 Centerline is valid? [True, True] Translation: X:153.61, Y:-51.85, Z:-7.79 [[ 1.34161446e-01 -9.90958803e-01 -1.16496939e-03 1.53614813e+02] [-9.90696292e-01 -1.34152814e-01 2.28884144e-02 -5.18531116e+01] [-2.28377597e-02 -1.91661194e-03 -9.99737347e-01 -7.79267086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.220385723 meters 0.02296515093162392 Centerline is valid? [True, True] Translation: X:153.61, Y:-51.97, Z:-7.80 [[ 2.07287385e-01 -9.78276289e-01 -2.72809582e-03 1.53607532e+02] [-9.78038979e-01 -2.07297400e-01 2.16227481e-02 -5.19747220e+01] [-2.17185489e-02 -1.81393885e-03 -9.99762479e-01 -7.79519521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.250385723 meters 0.021278258587337017 Centerline is valid? [True, True] Translation: X:153.61, Y:-52.10, Z:-7.80 [[ 2.80427160e-01 -9.59865876e-01 -4.25525591e-03 1.53609780e+02] [-9.59640799e-01 -2.80453881e-01 2.08604150e-02 -5.20984966e+01] [-2.12166036e-02 -1.76630976e-03 -9.99773342e-01 -7.79773084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.280385723 meters 0.022576998722719035 Centerline is valid? [True, True] Translation: X:153.62, Y:-52.22, Z:-7.80 [[ 3.52166773e-01 -9.35919961e-01 -5.69137562e-03 1.53616544e+02] [-9.35707588e-01 -3.52208550e-01 2.00111737e-02 -5.22207721e+01] [-2.07334081e-02 -1.72180712e-03 -9.99783557e-01 -7.79971395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.310385723 meters 0.022924820673334796 Centerline is valid? [True, True] Translation: X:153.63, Y:-52.33, Z:-7.80 [[ 4.20853492e-01 -9.07103153e-01 -6.79769616e-03 1.53629998e+02] [-9.06915313e-01 -4.20905215e-01 1.85314339e-02 -5.23255425e+01] [-1.96711078e-02 -1.63408391e-03 -9.99805170e-01 -7.80215697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.340385723 meters 0.02197024184190032 Centerline is valid? [True, True] Translation: X:153.66, Y:-52.44, Z:-7.80 [[ 4.88477720e-01 -8.72540252e-01 -7.93889753e-03 1.53658152e+02] [-8.72367314e-01 -4.88539623e-01 1.74443701e-02 -5.24443367e+01] [-1.90993810e-02 -1.59555139e-03 -9.99816317e-01 -7.80474057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.370385723 meters 0.0225192357026442 Centerline is valid? [True, True] Translation: X:153.69, Y:-52.55, Z:-7.81 [[ 5.52992220e-01 -8.33134228e-01 -9.32542967e-03 1.53689280e+02] [-8.32964334e-01 -5.53068597e-01 1.68981078e-02 -5.25526473e+01] [-1.92359943e-02 -1.57677183e-03 -9.99813728e-01 -7.80529597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.400385723 meters 0.0225192357026442 Centerline is valid? [True, True] Translation: X:153.73, Y:-52.66, Z:-7.81 [[ 6.15062058e-01 -7.88407813e-01 -1.05728262e-02 1.53729003e+02] [-7.88244891e-01 -6.15150918e-01 1.61040286e-02 -5.26624646e+01] [-1.92004257e-02 -1.57100076e-03 -9.99814421e-01 -7.80701468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.430385723 meters 0.022180590142512852 Centerline is valid? [True, True] Translation: X:153.78, Y:-52.77, Z:-7.81 [[ 6.73285034e-01 -7.39281856e-01 -1.22311376e-02 1.53779500e+02] [-7.39115057e-01 -6.73394254e-01 1.57832604e-02 -5.27685266e+01] [-1.99046558e-02 -1.58641505e-03 -9.99800624e-01 -7.80784112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.460385723 meters 0.023017059561016844 Centerline is valid? [True, True] Translation: X:153.83, Y:-52.86, Z:-7.81 [[ 7.28438688e-01 -6.84958702e-01 -1.44448650e-02 1.53832858e+02] [-6.84777234e-01 -7.28580012e-01 1.58526494e-02 -5.28641119e+01] [-2.13826500e-02 -1.65616846e-03 -9.99769993e-01 -7.80742954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.490385723 meters 0.02146202995608408 Centerline is valid? [True, True] Translation: X:153.89, Y:-52.95, Z:-7.81 [[ 7.78938965e-01 -6.26894323e-01 -1.60498213e-02 1.53893855e+02] [-6.26715134e-01 -7.79102466e-01 1.50827349e-02 -5.29542365e+01] [-2.19597362e-02 -1.68986400e-03 -9.99757428e-01 -7.80913491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.520385723 meters 0.02273405121153138 Centerline is valid? [True, True] Translation: X:153.89, Y:-52.96, Z:-7.81 [[ 8.26177140e-01 -5.63145284e-01 -1.72836252e-02 1.53891966e+02] [-5.62976732e-01 -8.26356069e-01 1.38869240e-02 -5.29612281e+01] [-2.21027843e-02 -1.74278034e-03 -9.99754185e-01 -7.80834500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.550385723 meters 0.023067592186430473 Centerline is valid? [True, True] Translation: X:153.89, Y:-52.97, Z:-7.81 [[ 8.68761005e-01 -4.94866428e-01 -1.90140519e-02 1.53893557e+02] [-4.94701013e-01 -8.68967147e-01 1.29230521e-02 -5.29665100e+01] [-2.29177711e-02 -1.82077297e-03 -9.99735695e-01 -7.80819212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.580385723 meters 0.02347306924240474 Centerline is valid? [True, True] Translation: X:153.89, Y:-52.97, Z:-7.81 [[ 9.05214207e-01 -4.24493415e-01 -1.98136214e-02 1.53894893e+02] [-4.24346572e-01 -9.05429168e-01 1.13141004e-02 -5.29721960e+01] [-2.27425919e-02 -1.83384213e-03 -9.99739672e-01 -7.80875178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.610385723 meters 0.02507718620729493 Centerline is valid? [True, True] Translation: X:153.90, Y:-52.98, Z:-7.81 [[ 9.36294453e-01 -3.50687990e-01 -1.92517640e-02 1.53896113e+02] [-3.50573479e-01 -9.36490606e-01 9.14224613e-03 -5.29763597e+01] [-2.12351720e-02 -1.81067647e-03 -9.99772869e-01 -7.80972894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.640385723 meters 0.021694883591735194 Centerline is valid? [True, True] Translation: X:153.90, Y:-52.98, Z:-7.81 [[ 9.61065608e-01 -2.75666235e-01 -1.90006067e-02 1.53898115e+02] [-2.75575217e-01 -9.61251759e-01 7.30449089e-03 -5.29819473e+01] [-2.02779681e-02 -1.78399865e-03 -9.99792789e-01 -7.81179833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.670385723 meters 0.022906326143847522 Centerline is valid? [True, True] Translation: X:153.90, Y:-52.99, Z:-7.81 [[ 9.79905981e-01 -1.98621158e-01 -1.82730689e-02 1.53897913e+02] [-1.98553062e-01 -9.80074783e-01 5.48647326e-03 -5.29916645e+01] [-1.89987037e-02 -1.74805417e-03 -9.99817980e-01 -7.81265867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.700385723 meters 0.02612108258306371 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.00, Z:-7.81 [[ 9.92528671e-01 -1.20675013e-01 -1.80104925e-02 1.53897806e+02] [-1.20623330e-01 -9.92690559e-01 3.93284332e-03 -5.30033262e+01] [-1.83534418e-02 -1.73097417e-03 -9.99830063e-01 -7.81262422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.730385723 meters 0.024048603596863918 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.00, Z:-7.81 [[ 9.98969871e-01 -4.15048114e-02 -1.83452061e-02 1.53898288e+02] [-4.14655410e-02 -9.99136767e-01 2.51601669e-03 -5.30048313e+01] [-1.84337967e-02 -1.75273097e-03 -9.99828547e-01 -7.81391182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.760385723 meters 0.024156572939142806 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.01, Z:-7.81 [[ 9.99135854e-01 3.73065056e-02 -1.83240242e-02 1.53896405e+02] [ 3.73322889e-02 -9.99302338e-01 1.06691088e-03 -5.30119526e+01] [-1.82714375e-02 -1.75006668e-03 -9.99831532e-01 -7.81454019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.790385723 meters 0.024611992835090545 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.02, Z:-7.82 [[ 9.93116031e-01 1.15816083e-01 -1.75266829e-02 1.53895741e+02] [ 1.15828374e-01 -9.93269192e-01 -3.15645058e-04 -5.30184878e+01] [-1.74452709e-02 -1.71661502e-03 -9.99846346e-01 -7.81512042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82038572300002 meters 0.024870590064855775 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.03, Z:-7.82 [[ 9.80980408e-01 1.93342835e-01 -1.72042655e-02 1.53895464e+02] [ 1.93343286e-01 -9.81129778e-01 -1.65297049e-03 -5.30264383e+01] [-1.71992072e-02 -1.70479756e-03 -9.99850629e-01 -7.81561442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85038572300002 meters 0.024826968825806216 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.03, Z:-7.82 [[ 9.62912132e-01 2.69307374e-01 -1.65458150e-02 1.53895486e+02] [ 2.69297107e-01 -9.63052818e-01 -2.88735749e-03 -5.30345514e+01] [-1.67120804e-02 -1.67546856e-03 -9.99858940e-01 -7.81538163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88038572300002 meters 0.025461674912561457 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.04, Z:-7.82 [[ 9.39230805e-01 3.42937092e-01 -1.54805190e-02 1.53894504e+02] [ 3.42918423e-01 -9.39356976e-01 -3.92771370e-03 -5.30410490e+01] [-1.58886923e-02 -1.61952549e-03 -9.99872455e-01 -7.81519262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91038572300002 meters 0.024794190246092092 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.05, Z:-7.82 [[ 9.09826374e-01 4.14715324e-01 -1.50721074e-02 1.53894758e+02] [ 4.14686942e-01 -9.09949798e-01 -5.10933224e-03 -5.30464339e+01] [-1.58337795e-02 -1.60160091e-03 -9.99873355e-01 -7.81593230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94038572300002 meters 0.02453774671959736 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.05, Z:-7.82 [[ 8.75739912e-01 4.82571913e-01 -1.42813088e-02 1.53894054e+02] [ 4.82535759e-01 -8.75854990e-01 -6.10553177e-03 -5.30502552e+01] [-1.54547137e-02 -1.54438431e-03 -9.99879376e-01 -7.81657658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.970385723 meters 0.023682554831734735 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.05, Z:-7.82 [[ 8.36086472e-01 5.48424714e-01 -1.37747859e-02 1.53893960e+02] [ 5.48379330e-01 -8.36198555e-01 -7.21713804e-03 -5.30539881e+01] [-1.54765129e-02 -1.51965637e-03 -9.99879077e-01 -7.81724033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.000385723 meters 0.02192597746691075 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.06, Z:-7.82 [[ 7.92333504e-01 6.09938916e-01 -1.34957907e-02 1.53893432e+02] [ 6.09881361e-01 -7.92447035e-01 -8.51007507e-03 -5.30575901e+01] [-1.58853253e-02 -1.48801357e-03 -9.99872713e-01 -7.81748788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.030385723 meters 0.02306618382062365 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.07, Z:-7.82 [[ 7.42880602e-01 6.69293638e-01 -1.32074532e-02 1.53895736e+02] [ 6.69222146e-01 -7.42996508e-01 -9.89486277e-03 -5.30675080e+01] [-1.64356603e-02 -1.48801854e-03 -9.99863818e-01 -7.81707730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.060385723 meters 0.021868422383478657 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.07, Z:-7.82 [[ 6.89601461e-01 7.24077920e-01 -1.26881832e-02 1.53894256e+02] [ 7.23992899e-01 -6.89716616e-01 -1.11924940e-02 -5.30704164e+01] [-1.68554886e-02 -1.46779428e-03 -9.99856859e-01 -7.81743037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.090385723 meters 0.022958213394134785 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.08, Z:-7.82 [[ 6.31798135e-01 7.75046142e-01 -1.16015037e-02 1.53895285e+02] [ 7.74955191e-01 -6.31903015e-01 -1.19595894e-02 -5.30782144e+01] [-1.66002588e-02 -1.43459927e-03 -9.99861177e-01 -7.81773604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.120385723 meters 0.02078133518268868 Centerline is valid? [True, True] Translation: X:153.89, Y:-53.08, Z:-7.82 [[ 5.70119238e-01 8.21498315e-01 -1.02261003e-02 1.53893808e+02] [ 8.21407514e-01 -5.70209245e-01 -1.22928371e-02 -5.30826090e+01] [-1.59295619e-02 -1.39141267e-03 -9.99872148e-01 -7.81892909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.150385723 meters 0.0199391861554681 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.09, Z:-7.82 [[ 5.05217053e-01 8.62949721e-01 -8.57366225e-03 1.53896444e+02] [ 8.62867166e-01 -5.05288046e-01 -1.20101679e-02 -5.30899547e+01] [-1.46963401e-02 -1.33019002e-03 -9.99891118e-01 -7.82020208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.180385723 meters 0.019640981337643068 Centerline is valid? [True, True] Translation: X:153.90, Y:-53.10, Z:-7.82 [[ 4.36262257e-01 8.99790245e-01 -7.26343020e-03 1.53901319e+02] [ 8.99711260e-01 -4.36320773e-01 -1.19930129e-02 -5.30986063e+01] [-1.39603815e-02 -1.30289103e-03 -9.99901700e-01 -7.82086020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.210385723 meters 0.022264155826866232 Centerline is valid? [True, True] Translation: X:153.91, Y:-53.11, Z:-7.82 [[ 3.63404200e-01 9.31610301e-01 -6.29562885e-03 1.53910223e+02] [ 9.31527136e-01 -3.63456347e-01 -1.25170997e-02 -5.31100067e+01] [-1.39492453e-02 -1.31578250e-03 -9.99901839e-01 -7.82123420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.240385723 meters 0.020663820212373108 Centerline is valid? [True, True] Translation: X:153.91, Y:-53.12, Z:-7.82 [[ 2.88124732e-01 9.57578076e-01 -5.32609715e-03 1.53914171e+02] [ 9.57489809e-01 -2.88170867e-01 -1.30696606e-02 -5.31173349e+01] [-1.40500465e-02 -1.33399129e-03 -9.99900403e-01 -7.82205270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.270385723 meters 0.025154594697159097 Centerline is valid? [True, True] Translation: X:153.93, Y:-53.13, Z:-7.82 [[ 2.08980807e-01 9.77908731e-01 -4.64069283e-03 1.53927033e+02] [ 9.77796739e-01 -2.09027432e-01 -1.48684298e-02 -5.31276087e+01] [-1.55099994e-02 -1.43043787e-03 -9.99878690e-01 -7.82102360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.300385723 meters 0.026460923962317806 Centerline is valid? [True, True] Translation: X:153.93, Y:-53.13, Z:-7.82 [[ 1.30112621e-01 9.91492952e-01 -3.52602428e-03 1.53927981e+02] [ 9.91371607e-01 -1.30152107e-01 -1.55809232e-02 -5.31340084e+01] [-1.59072950e-02 -1.46832560e-03 -9.99872393e-01 -7.82063074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.330385723 meters 0.026554495155590024 Centerline is valid? [True, True] Translation: X:153.93, Y:-53.14, Z:-7.82 [[ 5.15578023e-02 9.98667229e-01 -2.35768163e-03 1.53925766e+02] [ 9.98531335e-01 -5.15898410e-02 -1.65427129e-02 -5.31397445e+01] [-1.66422976e-02 -1.50131307e-03 -9.99860380e-01 -7.81934900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.360385723 meters 0.02734214288568209 Centerline is valid? [True, True] Translation: X:153.93, Y:-53.15, Z:-7.82 [[-2.73468961e-02 9.99625437e-01 -1.06463159e-03 1.53925308e+02] [ 9.99467071e-01 2.73235417e-02 -1.78605098e-02 -5.31467075e+01] [-1.78247304e-02 -1.55249372e-03 -9.99839922e-01 -7.81823027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.390385723 meters 0.02308576876056273 Centerline is valid? [True, True] Translation: X:153.93, Y:-53.15, Z:-7.82 [[-1.05455370e-01 9.94423974e-01 3.53510202e-04 1.53925129e+02] [ 9.94260783e-01 1.05444492e-01 -1.80818972e-02 -5.31523920e+01] [-1.80183478e-02 -1.55535183e-03 -9.99836447e-01 -7.81993711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.420385723 meters 0.023502149262930306 Centerline is valid? [True, True] Translation: X:153.93, Y:-53.16, Z:-7.82 [[-1.82253963e-01 9.83249824e-01 1.81022865e-03 1.53932291e+02] [ 9.83081494e-01 1.82256377e-01 -1.82589277e-02 -5.31581784e+01] [-1.82830132e-02 -1.54815965e-03 -9.99831653e-01 -7.81992928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.450385723 meters 0.02587239205234086 Centerline is valid? [True, True] Translation: X:153.94, Y:-53.16, Z:-7.82 [[-2.58240375e-01 9.66075147e-01 3.27403633e-03 1.53941641e+02] [ 9.65904597e-01 2.58256525e-01 -1.82174759e-02 -5.31636895e+01] [-1.84449919e-02 -1.54208107e-03 -9.99828687e-01 -7.81924299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.480385723 meters 0.02366122524052602 Centerline is valid? [True, True] Translation: X:153.94, Y:-53.17, Z:-7.82 [[-3.31733557e-01 9.43360984e-01 4.78548348e-03 1.53942369e+02] [ 9.43186699e-01 3.31764577e-01 -1.81965948e-02 -5.31704020e+01] [-1.87536115e-02 -1.52281675e-03 -9.99822976e-01 -7.82026318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.510385723 meters 0.023771492523725058 Centerline is valid? [True, True] Translation: X:153.95, Y:-53.18, Z:-7.82 [[-4.03910508e-01 9.14778388e-01 6.06648746e-03 1.53948173e+02] [ 9.14613461e-01 4.03953303e-01 -1.74340417e-02 -5.31767563e+01] [-1.83988622e-02 -1.49330154e-03 -9.99829611e-01 -7.82058066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.540385723 meters 0.021731682671179326 Centerline is valid? [True, True] Translation: X:153.95, Y:-53.18, Z:-7.82 [[-4.73449535e-01 8.80790185e-01 7.36122337e-03 1.53954936e+02] [ 8.80631319e-01 4.73504482e-01 -1.67924243e-02 -5.31802484e+01] [-1.82761748e-02 -1.46784165e-03 -9.99831899e-01 -7.82229560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57038572300002 meters 0.02189024773775728 Centerline is valid? [True, True] Translation: X:153.96, Y:-53.18, Z:-7.82 [[-5.39403961e-01 8.42009026e-01 8.01048495e-03 1.53962745e+02] [ 8.41875130e-01 5.39461646e-01 -1.50797370e-02 -5.31844480e+01] [-1.70186241e-02 -1.39024181e-03 -9.99854206e-01 -7.82456596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60038572300002 meters 0.020499362177094534 Centerline is valid? [True, True] Translation: X:153.97, Y:-53.19, Z:-7.83 [[-6.02561664e-01 7.98030865e-01 8.13510281e-03 1.53971796e+02] [ 7.97926952e-01 6.02615156e-01 -1.29442271e-02 -5.31860602e+01] [-1.52322290e-02 -1.30847725e-03 -9.99883127e-01 -7.82750628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63038572300002 meters 0.020462053863884094 Centerline is valid? [True, True] Translation: X:153.98, Y:-53.19, Z:-7.83 [[-6.62571388e-01 7.48946645e-01 8.83625606e-03 1.53983523e+02] [ 7.48852912e-01 6.62629072e-01 -1.19176058e-02 -5.31860566e+01] [-1.47808111e-02 -1.27920856e-03 -9.99889940e-01 -7.82844017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66038572300002 meters 0.020390573721033027 Centerline is valid? [True, True] Translation: X:154.00, Y:-53.18, Z:-7.83 [[-7.18635833e-01 6.95320788e-01 9.56771844e-03 1.53995838e+02] [ 6.95234810e-01 7.18698421e-01 -1.10063383e-02 -5.31845851e+01] [-1.45292399e-02 -1.25773815e-03 -9.99893654e-01 -7.82918765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69038572300002 meters 0.020229666249663564 Centerline is valid? [True, True] Translation: X:154.01, Y:-53.18, Z:-7.83 [[-7.70424675e-01 6.37456261e-01 9.76400797e-03 1.54007637e+02] [ 6.37384192e-01 7.70485577e-01 -9.66268455e-03 -5.31821973e+01] [-1.36825661e-02 -1.22094627e-03 -9.99905644e-01 -7.82957837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.720385723 meters 0.020457094400682285 Centerline is valid? [True, True] Translation: X:154.01, Y:-53.15, Z:-7.83 [[-8.13685181e-01 5.81207193e-01 1.07063339e-02 1.54011526e+02] [ 5.81137743e-01 8.13754803e-01 -9.05777120e-03 -5.31482109e+01] [-1.39767724e-02 -1.14831949e-03 -9.99901661e-01 -7.82997325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.750385723 meters 0.020345937834378942 Centerline is valid? [True, True] Translation: X:154.06, Y:-53.15, Z:-7.83 [[-8.53106678e-01 5.21597163e-01 1.20580234e-02 1.54058358e+02] [ 5.21525006e-01 8.53191071e-01 -8.75580384e-03 -5.31467782e+01] [-1.48548003e-02 -1.18107401e-03 -9.99888964e-01 -7.82927161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.780385723 meters 0.020776958128355682 Centerline is valid? [True, True] Translation: X:154.08, Y:-53.12, Z:-7.83 [[-8.88252110e-01 4.59165864e-01 1.32249505e-02 1.54076902e+02] [ 4.59094260e-01 8.88349730e-01 -8.19862496e-03 -5.31237891e+01] [-1.55129100e-02 -1.21094704e-03 -9.99878934e-01 -7.82907490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.810385723 meters 0.021414751453051866 Centerline is valid? [True, True] Translation: X:154.09, Y:-53.10, Z:-7.83 [[-9.18677671e-01 3.94743781e-01 1.44459214e-02 1.54089572e+02] [ 3.94673444e-01 9.18790408e-01 -7.55370767e-03 -5.30967409e+01] [-1.62545531e-02 -1.23800103e-03 -9.99867120e-01 -7.82870756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.840385723 meters 0.021586427459816065 Centerline is valid? [True, True] Translation: X:154.11, Y:-53.07, Z:-7.83 [[-9.44510957e-01 3.28047616e-01 1.68467744e-02 1.54109059e+02] [ 3.27970338e-01 9.44660276e-01 -7.24013198e-03 -5.30730368e+01] [-1.82895866e-02 -1.31314169e-03 -9.99831869e-01 -7.82733909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.870385723 meters 0.02155447209689232 Centerline is valid? [True, True] Translation: X:154.41, Y:-52.31, Z:-8.76 [[-8.94205108e-01 -4.47656351e-01 -1.00765416e-03 1.54405846e+02] [ 4.47656593e-01 -8.94205555e-01 -1.60273147e-05 -5.23099455e+01] [-8.93875216e-04 -4.65414733e-04 9.99999492e-01 -8.75947880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.900385723 meters 0.021830993240149768 Centerline is valid? [True, True] Translation: X:154.06, Y:-53.05, Z:-7.83 [[-9.45942157e-01 3.23729728e-01 1.98115651e-02 1.54056895e+02] [ 3.23626680e-01 9.46148514e-01 -8.29223054e-03 -5.30520281e+01] [-2.14291245e-02 -1.43241940e-03 -9.99769344e-01 -7.82535950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.930385723 meters 0.021535924305317755 Centerline is valid? [True, True] Translation: X:154.08, Y:-53.03, Z:-7.83 [[-9.66432635e-01 2.56056613e-01 2.10469298e-02 1.54082686e+02] [ 2.55963029e-01 9.66660704e-01 -7.07187410e-03 -5.30314318e+01] [-2.21560401e-02 -1.44725401e-03 -9.99753477e-01 -7.82559694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.960385723 meters 0.02201907849026207 Centerline is valid? [True, True] Translation: X:154.09, Y:-53.00, Z:-7.83 [[-9.82022063e-01 1.87550769e-01 2.13863835e-02 1.54092951e+02] [ 1.87474475e-01 9.82253874e-01 -5.53615652e-03 -5.30048088e+01] [-2.20451684e-02 -1.42722683e-03 -9.99755957e-01 -7.82671921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.990385723 meters 0.022605707461779288 Centerline is valid? [True, True] Translation: X:154.10, Y:-52.98, Z:-7.83 [[-9.92774496e-01 1.18109146e-01 2.11903040e-02 1.54099620e+02] [ 1.18052185e-01 9.92999641e-01 -3.92350575e-03 -5.29765196e+01] [-2.15053662e-02 -1.39359475e-03 -9.99767762e-01 -7.82747872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.020385723 meters 0.022316815527312926 Centerline is valid? [True, True] Translation: X:154.23, Y:-52.17, Z:-8.76 [[-9.70209479e-01 -2.42263681e-01 -1.36926856e-03 1.54231531e+02] [ 2.42264408e-01 -9.70210185e-01 -3.90558158e-04 -5.21723293e+01] [-1.23386025e-03 -7.10648264e-04 9.99998986e-01 -8.75774425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.050385723 meters 0.02117256088972953 Centerline is valid? [True, True] Translation: X:154.04, Y:-52.97, Z:-7.83 [[-9.93063147e-01 1.16037510e-01 1.89969140e-02 1.54041879e+02] [ 1.15991437e-01 9.93244000e-01 -3.51311053e-03 -5.29703881e+01] [-1.92762235e-02 -1.28526124e-03 -9.99813370e-01 -7.83204479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.080385723 meters 0.022076281397827798 Centerline is valid? [True, True] Translation: X:154.05, Y:-52.94, Z:-7.83 [[-9.98767023e-01 4.60026395e-02 1.86598763e-02 1.54049855e+02] [ 4.59712830e-02 9.98940541e-01 -2.10613533e-03 -5.29415086e+01] [-1.87369947e-02 -1.24572007e-03 -9.99823671e-01 -7.83327404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.110385723 meters 0.021098952596296405 Centerline is valid? [True, True] Translation: X:154.05, Y:-52.12, Z:-8.76 [[-9.86030293e-01 -1.66558338e-01 -1.60695610e-03 1.54049151e+02] [ 1.66559026e-01 -9.86031439e-01 -3.03640950e-04 -5.21177280e+01] [-1.53393531e-03 -5.67052219e-04 9.99998663e-01 -8.75583697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.140385723 meters 0.020891684374990328 Centerline is valid? [True, True] Translation: X:153.94, Y:-52.93, Z:-7.84 [[-9.99025384e-01 3.97943329e-02 1.90969309e-02 1.53940569e+02] [ 3.97626312e-02 9.99207077e-01 -2.03703744e-03 -5.29341554e+01] [-1.91628510e-02 -1.27570789e-03 -9.99815562e-01 -7.83602247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.170385723 meters 0.02187843023011026 Centerline is valid? [True, True] Translation: X:153.94, Y:-52.90, Z:-7.84 [[-9.99322293e-01 -3.12899451e-02 1.93880075e-02 1.53938621e+02] [-3.13082401e-02 9.99509572e-01 -6.40742422e-04 -5.29025188e+01] [-1.93584502e-02 -1.24731258e-03 -9.99811830e-01 -7.83521635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.200385723 meters 0.02213417948052504 Centerline is valid? [True, True] Translation: X:153.94, Y:-52.87, Z:-7.83 [[-9.94424150e-01 -1.03393097e-01 2.07479668e-02 1.53938820e+02] [-1.03397879e-01 9.94639716e-01 8.45040793e-04 -5.28716291e+01] [-2.07241232e-02 -1.30496679e-03 -9.99784381e-01 -7.83415351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.230385723 meters 0.021761574090530336 Centerline is valid? [True, True] Translation: X:153.91, Y:-52.85, Z:-7.83 [[-9.84407514e-01 -1.74584196e-01 2.14989449e-02 1.53913815e+02] [-1.74572170e-01 9.84641335e-01 2.44943060e-03 -5.28458154e+01] [-2.15963816e-02 -1.34187956e-03 -9.99765870e-01 -7.83430327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.260385723 meters 0.023595463461880774 Centerline is valid? [True, True] Translation: X:153.90, Y:-52.82, Z:-7.83 [[-9.68888404e-01 -2.46479634e-01 2.24287883e-02 1.53896011e+02] [-2.46447187e-01 9.69146936e-01 4.24278510e-03 -5.28166314e+01] [-2.27825516e-02 -1.41672650e-03 -9.99739440e-01 -7.83347493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.290385723 meters 0.02423216179252732 Centerline is valid? [True, True] Translation: X:153.86, Y:-52.80, Z:-7.83 [[-9.48264421e-01 -3.16668503e-01 2.27078723e-02 1.53859428e+02] [-3.16614126e-01 9.48535154e-01 6.04622558e-03 -5.27958526e+01] [-2.34538643e-02 -1.45621252e-03 -9.99723860e-01 -7.83401024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32038572300002 meters 0.02423216179252732 Centerline is valid? [True, True] Translation: X:153.80, Y:-52.79, Z:-7.83 [[-9.22422961e-01 -3.85543703e-01 2.21795991e-02 1.53801827e+02] [-3.85469976e-01 9.22688413e-01 7.68053415e-03 -5.27859206e+01] [-2.34260407e-02 -1.46486847e-03 -9.99724499e-01 -7.83484883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35038572300002 meters 0.023973184646162115 Centerline is valid? [True, True] Translation: X:153.74, Y:-52.78, Z:-7.84 [[-8.90253372e-01 -4.54926010e-01 2.21643818e-02 1.53743041e+02] [-4.54827524e-01 8.90527902e-01 9.59057444e-03 -5.27798210e+01] [-2.41010022e-02 -1.54292966e-03 -9.99708338e-01 -7.83671016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38038572300002 meters 0.022862897078544615 Centerline is valid? [True, True] Translation: X:153.67, Y:-52.79, Z:-7.84 [[-8.53190860e-01 -5.21162887e-01 2.13213881e-02 1.53666929e+02] [-5.21045382e-01 8.53455782e-01 1.11776118e-02 -5.27884988e+01] [-2.40222184e-02 -1.57277464e-03 -9.99710188e-01 -7.83869815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41038572300002 meters 0.024120131817083647 Centerline is valid? [True, True] Translation: X:153.58, Y:-52.81, Z:-7.84 [[-8.10450956e-01 -5.85428930e-01 2.10289396e-02 1.53577928e+02] [-5.85283670e-01 8.10722043e-01 1.31451271e-02 -5.28050371e+01] [-2.47441625e-02 -1.65441412e-03 -9.99692447e-01 -7.83946310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44038572300002 meters 0.025629212101182127 Centerline is valid? [True, True] Translation: X:153.49, Y:-52.83, Z:-7.84 [[-7.63872251e-01 -6.45048984e-01 2.02729359e-02 1.53488831e+02] [-6.44878608e-01 7.64139382e-01 1.49193065e-02 -5.28335363e+01] [-2.51150322e-02 -1.67713843e-03 -9.99683161e-01 -7.83746697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.470385723 meters 0.024994996412269106 Centerline is valid? [True, True] Translation: X:153.40, Y:-52.87, Z:-7.84 [[-7.12657994e-01 -7.01258131e-01 1.88578296e-02 1.53401085e+02] [-7.01072925e-01 7.12905486e-01 1.62025045e-02 -5.28705445e+01] [-2.48059882e-02 -1.67386940e-03 -9.99690883e-01 -7.84189018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.500385723 meters 0.02494911453872452 Centerline is valid? [True, True] Translation: X:153.31, Y:-52.92, Z:-7.84 [[-6.57647420e-01 -7.53128241e-01 1.72546573e-02 1.53310321e+02] [-7.52932439e-01 6.57871675e-01 1.72511358e-02 -5.29195589e+01] [-2.43436679e-02 -1.64642628e-03 -9.99702293e-01 -7.84449427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.530385723 meters 0.02316244355042821 Centerline is valid? [True, True] Translation: X:153.22, Y:-52.98, Z:-7.85 [[-5.98773937e-01 -8.00768947e-01 1.54553062e-02 1.53224508e+02] [-8.00568743e-01 5.98971206e-01 1.79772589e-02 -5.29795011e+01] [-2.36529141e-02 -1.60872095e-03 -9.99718936e-01 -7.84800899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.560385723 meters 0.02164384371952753 Centerline is valid? [True, True] Translation: X:153.14, Y:-53.05, Z:-7.85 [[-5.36608042e-01 -8.43724215e-01 1.34631922e-02 1.53137773e+02] [-8.43527751e-01 5.36774666e-01 1.82726879e-02 -5.30504760e+01] [-2.26438098e-02 -1.55130495e-03 -9.99742392e-01 -7.85175929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.590385723 meters 0.022514018240289025 Centerline is valid? [True, True] Translation: X:153.04, Y:-53.14, Z:-7.85 [[-4.71390602e-01 -8.81843645e-01 1.19451016e-02 1.53043326e+02] [-8.81637778e-01 4.71539470e-01 1.91142928e-02 -5.31409089e+01] [-2.24884045e-02 -1.52095481e-03 -9.99745947e-01 -7.85308918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.620385723 meters 0.022071118152740786 Centerline is valid? [True, True] Translation: X:152.97, Y:-53.21, Z:-7.85 [[-4.03062010e-01 -9.15109646e-01 1.07401993e-02 1.52973916e+02] [-9.14879057e-01 4.03202201e-01 2.05984747e-02 -5.32123660e+01] [-2.31803349e-02 -1.52352084e-03 -9.99730139e-01 -7.85411585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.650385723 meters 0.022116215067775287 Centerline is valid? [True, True] Translation: X:152.90, Y:-53.31, Z:-7.85 [[-3.32646434e-01 -9.43005607e-01 9.31532695e-03 1.52902423e+02] [-9.42753341e-01 3.32773417e-01 2.18630311e-02 -5.33083990e+01] [-2.37168541e-02 -1.50939628e-03 -9.99717576e-01 -7.85385978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.680385723 meters 0.021474839262744936 Centerline is valid? [True, True] Translation: X:152.83, Y:-53.41, Z:-7.86 [[-2.60627188e-01 -9.65404857e-01 8.18112236e-03 1.52834289e+02] [-9.65096867e-01 2.60751083e-01 2.44317481e-02 -5.34140708e+01] [-2.57197648e-02 -1.52799775e-03 -9.99668024e-01 -7.85509926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.710385723 meters 0.020595260234429008 Centerline is valid? [True, True] Translation: X:152.78, Y:-53.53, Z:-7.86 [[-1.86834289e-01 -9.82369973e-01 6.49497156e-03 1.52777232e+02] [-9.82026736e-01 1.86940981e-01 2.60107462e-02 -5.35253042e+01] [-2.67663524e-02 -1.51853644e-03 -9.99640564e-01 -7.85667243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.740385723 meters 0.020035269208674884 Centerline is valid? [True, True] Translation: X:152.73, Y:-53.63, Z:-7.86 [[-1.13388249e-01 -9.93539922e-01 4.63990905e-03 1.52729262e+02] [-9.93155243e-01 1.13473633e-01 2.76838898e-02 -5.36316723e+01] [-2.80315570e-02 -1.46912223e-03 -9.99605959e-01 -7.85755924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.770385723 meters 0.019390550777690245 Centerline is valid? [True, True] Translation: X:151.93, Y:-53.63, Z:-8.78 [[-2.27362034e-01 9.73807572e-01 2.30617752e-03 1.51933234e+02] [-9.73768294e-01 -2.27373586e-01 8.74993312e-03 -5.36309100e+01] [ 9.04511498e-03 -2.56279953e-04 9.99959059e-01 -8.77799284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.800385723 meters 0.01894959949718297 Centerline is valid? [True, True] Translation: X:152.69, Y:-53.93, Z:-7.86 [[-1.07684639e-01 -9.94175381e-01 4.39654087e-03 1.52685785e+02] [-9.93781668e-01 1.07765859e-01 2.80092189e-02 -5.39347680e+01] [-2.83198729e-02 -1.35303908e-03 -9.99597996e-01 -7.86227714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.830385723 meters 0.018693593279242755 Centerline is valid? [True, True] Translation: X:152.65, Y:-54.04, Z:-7.87 [[-3.31069035e-02 -9.99449496e-01 2.15375985e-03 1.52647804e+02] [-9.99083989e-01 3.31531014e-02 2.70564943e-02 -5.40442804e+01] [-2.71130034e-02 -1.25603023e-03 -9.99631586e-01 -7.86539466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.860385723 meters 0.01875960171591372 Centerline is valid? [True, True] Translation: X:152.62, Y:-54.17, Z:-7.87 [[ 4.28882648e-02 -9.99079872e-01 7.34181593e-05 1.52616844e+02] [-9.98728925e-01 -4.28712516e-02 2.65064192e-02 -5.41707712e+01] [-2.64788824e-02 -1.21013917e-03 -9.99648640e-01 -7.86726981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.890385723 meters 0.018638930446643436 Centerline is valid? [True, True] Translation: X:152.60, Y:-54.29, Z:-7.87 [[ 1.18762638e-01 -9.92920951e-01 -1.84966342e-03 1.52595961e+02] [-9.92602156e-01 -1.18771424e-01 2.51854777e-02 -5.42911803e+01] [-2.52268756e-02 -1.15511387e-03 -9.99681084e-01 -7.86922474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.920385723 meters 0.018243961932911654 Centerline is valid? [True, True] Translation: X:152.59, Y:-54.41, Z:-7.87 [[ 1.93441663e-01 -9.81105097e-01 -3.62102999e-03 1.52585136e+02] [-9.80811679e-01 -1.93472455e-01 2.40179008e-02 -5.44124881e+01] [-2.42646544e-02 -1.09451416e-03 -9.99704971e-01 -7.87221593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.950385723 meters 0.018155454757089497 Centerline is valid? [True, True] Translation: X:152.58, Y:-54.54, Z:-7.87 [[ 2.67944549e-01 -9.63419331e-01 -5.37692030e-03 1.52584042e+02] [-9.63137695e-01 -2.67996361e-01 2.33180250e-02 -5.45388303e+01] [-2.39060311e-02 -1.06922307e-03 -9.99713638e-01 -7.87441207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.980385723 meters 0.01823229413193054 Centerline is valid? [True, True] Translation: X:152.59, Y:-54.67, Z:-7.88 [[ 3.40798990e-01 -9.40111112e-01 -6.86629186e-03 1.52592383e+02] [-9.39854734e-01 -3.40866576e-01 2.19785406e-02 -5.46678888e+01] [-2.30027596e-02 -1.03694752e-03 -9.99734864e-01 -7.87631723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.010385723 meters 0.018237828667010566 Centerline is valid? [True, True] Translation: X:152.61, Y:-54.80, Z:-7.88 [[ 4.12156407e-01 -9.11071473e-01 -8.71022074e-03 1.52609875e+02] [-9.10812060e-01 -4.12247130e-01 2.17645419e-02 -5.47984019e+01] [-2.34198167e-02 -1.03702130e-03 -9.99725181e-01 -7.87621045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.040385723 meters 0.01827847681441088 Centerline is valid? [True, True] Translation: X:152.63, Y:-54.91, Z:-7.88 [[ 4.81382001e-01 -8.76445118e-01 -1.07389114e-02 1.52629717e+02] [-8.76176304e-01 -4.81500622e-01 2.17309833e-02 -5.49089734e+01] [-2.42168067e-02 -1.05172453e-03 -9.99706177e-01 -7.87655320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07038572300002 meters 0.018518240618905262 Centerline is valid? [True, True] Translation: X:152.67, Y:-55.04, Z:-7.88 [[ 5.47833122e-01 -8.36491277e-01 -1.26970157e-02 1.52668514e+02] [-8.36219878e-01 -5.47979196e-01 2.13334712e-02 -5.50367513e+01] [-2.48029630e-02 -1.06968516e-03 -9.99691787e-01 -7.87623650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10038572300002 meters 0.019135754442781365 Centerline is valid? [True, True] Translation: X:152.75, Y:-55.20, Z:-7.88 [[ 6.10884040e-01 -7.91591800e-01 -1.42517623e-02 1.52746940e+02] [-7.91334031e-01 -6.11049309e-01 2.02285414e-02 -5.52048905e+01] [-2.47212770e-02 -1.07938861e-03 -9.99693800e-01 -7.87627982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13038572300002 meters 0.01913186147919946 Centerline is valid? [True, True] Translation: X:152.74, Y:-55.24, Z:-7.88 [[ 6.70151029e-01 -7.42055357e-01 -1.58570007e-02 1.52742909e+02] [-7.41808321e-01 -6.70337722e-01 1.91768846e-02 -5.52446041e+01] [-2.48598557e-02 -1.08855391e-03 -9.99690353e-01 -7.87757567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16038572300002 meters 0.019287025176120628 Centerline is valid? [True, True] Translation: X:152.80, Y:-55.35, Z:-7.88 [[ 7.24795257e-01 -6.88748526e-01 -1.72424917e-02 1.52798751e+02] [-6.88517571e-01 -7.24999521e-01 1.78675435e-02 -5.53481435e+01] [-2.48070424e-02 -1.07855231e-03 -9.99691676e-01 -7.87890042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19038572300002 meters 0.0193917099400112 Centerline is valid? [True, True] Translation: X:152.79, Y:-55.35, Z:-7.88 [[ 7.75774025e-01 -6.30763616e-01 -1.76613629e-02 1.52793653e+02] [-6.30568788e-01 -7.75974326e-01 1.57114139e-02 -5.53533435e+01] [-2.36149524e-02 -1.05180262e-03 -9.99720575e-01 -7.87888976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.220385723 meters 0.018937590992196416 Centerline is valid? [True, True] Translation: X:152.79, Y:-55.36, Z:-7.88 [[ 8.22567482e-01 -5.68370073e-01 -1.83901574e-02 1.52789187e+02] [-5.68199464e-01 -8.22772377e-01 1.39636812e-02 -5.53604381e+01] [-2.30674520e-02 -1.03679250e-03 -9.99733373e-01 -7.88060361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.250385723 meters 0.019409481882835488 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.37, Z:-7.88 [[ 8.64398932e-01 -5.02436531e-01 -1.92877928e-02 1.52783635e+02] [-5.02284596e-01 -8.64613482e-01 1.23979926e-02 -5.53686716e+01] [-2.29056901e-02 -1.02885029e-03 -9.99737101e-01 -7.87944423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.280385723 meters 0.019497336754958128 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.37, Z:-7.88 [[ 9.00964065e-01 -4.33438642e-01 -1.98669915e-02 1.52782610e+02] [-4.33308105e-01 -9.01182504e-01 1.06855215e-02 -5.53723252e+01] [-2.25353031e-02 -1.01874249e-03 -9.99745529e-01 -7.88047493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.310385723 meters 0.018902361742738953 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.38, Z:-7.88 [[ 9.31991734e-01 -3.61954122e-01 -1.95095125e-02 1.52780079e+02] [-3.61852323e-01 -9.32195379e-01 8.64123214e-03 -5.53813606e+01] [-2.13144070e-02 -9.93994510e-04 -9.99772328e-01 -7.88276535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.340385723 meters 0.018896860094968597 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.39, Z:-7.88 [[ 9.57346290e-01 -2.88288508e-01 -1.94375230e-02 1.52777229e+02] [-2.88208275e-01 -9.57543098e-01 6.87066846e-03 -5.53912795e+01] [-2.05930007e-02 -9.75554004e-04 -9.99787466e-01 -7.88288481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.370385723 meters 0.018924008005284702 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.40, Z:-7.88 [[ 9.77024582e-01 -2.12279323e-01 -1.89856808e-02 1.52775322e+02] [-2.12219928e-01 -9.77208552e-01 5.11351128e-03 -5.54015880e+01] [-1.96384624e-02 -9.66886403e-04 -9.99806679e-01 -7.88294936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.400385723 meters 0.01903527027778755 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.41, Z:-7.88 [[ 9.90762794e-01 -1.34316139e-01 -1.86617512e-02 1.52773200e+02] [-1.34273761e-01 -9.90938054e-01 3.51130235e-03 -5.54124604e+01] [-1.89642641e-02 -9.73084193e-04 -9.99819689e-01 -7.88347840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.430385723 meters 0.01926734906083377 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.42, Z:-7.88 [[ 9.98276749e-01 -5.54732492e-02 -1.91377086e-02 1.52769223e+02] [-5.54439982e-02 -9.98459682e-01 2.05607324e-03 -5.54227298e+01] [-1.92222875e-02 -9.91459028e-04 -9.99814743e-01 -7.88373201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.460385723 meters 0.01951743273902617 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.43, Z:-7.88 [[ 9.99494068e-01 2.48152316e-02 -1.98950533e-02 1.52767017e+02] [ 2.48309598e-02 -9.99691516e-01 5.43879503e-04 -5.54346967e+01] [-1.98754195e-02 -1.03761760e-03 -9.99801926e-01 -7.88348020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.490385723 meters 0.01960415618338708 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.45, Z:-7.88 [[ 9.94374312e-01 1.04062352e-01 -1.97675193e-02 1.52765407e+02] [ 1.04062816e-01 -9.94570216e-01 -1.00793103e-03 -5.54458409e+01] [-1.97650736e-02 -1.05480302e-03 -9.99804095e-01 -7.88334989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.520385723 meters 0.020150067614823845 Centerline is valid? [True, True] Translation: X:152.76, Y:-55.46, Z:-7.88 [[ 9.82872650e-01 1.83258026e-01 -1.94383510e-02 1.52764409e+02] [ 1.83243854e-01 -9.83064253e-01 -2.52293644e-03 -5.54590530e+01] [-1.95714963e-02 -1.08223313e-03 -9.99807874e-01 -7.88269441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.550385723 meters 0.021760266584081076 Centerline is valid? [True, True] Translation: X:152.76, Y:-55.47, Z:-7.88 [[ 9.65232825e-01 2.60636071e-01 -1.98603064e-02 1.52763463e+02] [ 2.60604479e-01 -9.65436480e-01 -4.20807840e-03 -5.54701065e+01] [-2.02706413e-02 -1.11390939e-03 -9.99793909e-01 -7.88076458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.580385723 meters 0.020839586885955653 Centerline is valid? [True, True] Translation: X:152.76, Y:-55.48, Z:-7.88 [[ 9.41400645e-01 3.36700749e-01 -1.99357038e-02 1.52763440e+02] [ 3.36650879e-01 -9.41611004e-01 -5.90777496e-03 -5.54762989e+01] [-2.07608303e-02 -1.14978906e-03 -9.99783810e-01 -7.88189397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.610385723 meters 0.021121662177533123 Centerline is valid? [True, True] Translation: X:152.76, Y:-55.48, Z:-7.88 [[ 9.11889054e-01 4.09945228e-01 -2.00813916e-02 1.52764706e+02] [ 4.09873911e-01 -9.12109383e-01 -7.73630218e-03 -5.54839823e+01] [-2.14878859e-02 -1.17618925e-03 -9.99768417e-01 -7.88239694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.640385723 meters 0.021050210640484603 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.49, Z:-7.88 [[ 8.76512931e-01 4.80990106e-01 -1.93287142e-02 1.52767343e+02] [ 4.80902769e-01 -8.76725209e-01 -9.24304928e-03 -5.54925817e+01] [-2.13917863e-02 -1.19357997e-03 -9.99770457e-01 -7.88299073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.670385723 meters 0.02126864986745177 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.50, Z:-7.88 [[ 8.35770106e-01 5.48758433e-01 -1.87753329e-02 1.52769953e+02] [ 5.48652032e-01 -8.35980090e-01 -1.08736829e-02 -5.55010280e+01] [-2.16628297e-02 -1.21322544e-03 -9.99764597e-01 -7.88324505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.700385723 meters 0.021167063796342405 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.51, Z:-7.88 [[ 7.89480428e-01 6.13530984e-01 -1.73316334e-02 1.52774844e+02] [ 6.13416417e-01 -7.89669703e-01 -1.19188972e-02 -5.55109545e+01] [-2.09988785e-02 -1.22177235e-03 -9.99778753e-01 -7.88348673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.730385723 meters 0.021806853800222764 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.52, Z:-7.88 [[ 7.38426564e-01 6.74140833e-01 -1.61352905e-02 1.52778824e+02] [ 6.74015437e-01 -7.38601801e-01 -1.30602385e-02 -5.55200722e+01] [-2.07219947e-02 -1.23140786e-03 -9.99784518e-01 -7.88321745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.760385723 meters 0.021614237326720985 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.53, Z:-7.89 [[ 6.82403107e-01 7.30836411e-01 -1.42877582e-02 1.52783838e+02] [ 7.30712751e-01 -6.82551560e-01 -1.34997859e-02 -5.55275004e+01] [-1.96182667e-02 -1.22795131e-03 -9.99806789e-01 -7.88505749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.790385723 meters 0.021464580256363944 Centerline is valid? [True, True] Translation: X:152.79, Y:-55.54, Z:-7.89 [[ 6.22445126e-01 7.82559950e-01 -1.27275122e-02 1.52790176e+02] [ 7.82435054e-01 -6.22574035e-01 -1.40341211e-02 -5.55356540e+01] [-1.89063597e-02 -1.22298142e-03 -9.99820511e-01 -7.88607509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82038572300002 meters 0.022579627327609587 Centerline is valid? [True, True] Translation: X:152.80, Y:-55.55, Z:-7.89 [[ 5.58712566e-01 8.29281254e-01 -1.15269912e-02 1.52797339e+02] [ 8.29148245e-01 -5.58830106e-01 -1.49030718e-02 -5.55451508e+01] [-1.88004678e-02 -1.23105105e-03 -9.99822498e-01 -7.88524666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85038572300002 meters 0.022744872496075548 Centerline is valid? [True, True] Translation: X:152.81, Y:-55.55, Z:-7.89 [[ 4.89701856e-01 8.71822281e-01 -1.08628801e-02 1.52805020e+02] [ 8.71664170e-01 -4.89820566e-01 -1.66549785e-02 -5.55523745e+01] [-1.98410434e-02 -1.31280942e-03 -9.99802285e-01 -7.88520630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88038572300002 meters 0.02339526241620983 Centerline is valid? [True, True] Translation: X:152.81, Y:-55.56, Z:-7.88 [[ 4.17996270e-01 9.08393884e-01 -9.98348285e-03 1.52813892e+02] [ 9.08209124e-01 -4.18113175e-01 -1.83727981e-02 -5.55596842e+01] [-2.08639631e-02 -1.38732913e-03 -9.99781361e-01 -7.88379441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91038572300002 meters 0.025207293501018337 Centerline is valid? [True, True] Translation: X:152.82, Y:-55.57, Z:-7.88 [[ 3.44610251e-01 9.38706123e-01 -8.63649119e-03 1.52822821e+02] [ 9.38506601e-01 -3.44715539e-01 -1.94050954e-02 -5.55670952e+01] [-2.11928146e-02 -1.41820917e-03 -9.99774401e-01 -7.88243013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94038572300002 meters 0.022973304446011727 Centerline is valid? [True, True] Translation: X:152.83, Y:-55.57, Z:-7.88 [[ 2.69559817e-01 9.62958275e-01 -6.99042426e-03 1.52828851e+02] [ 9.62757446e-01 -2.69646728e-01 -1.97165396e-02 -5.55708901e+01] [-2.08711500e-02 -1.41529620e-03 -9.99781172e-01 -7.88354745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.970385723 meters 0.02343552150821728 Centerline is valid? [True, True] Translation: X:152.84, Y:-55.58, Z:-7.88 [[ 1.92856363e-01 9.81212790e-01 -5.28051267e-03 1.52838907e+02] [ 9.81018100e-01 -1.92923554e-01 -1.95956597e-02 -5.55752989e+01] [-2.02462472e-02 -1.40113082e-03 -9.99794042e-01 -7.88358926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.000385723 meters 0.023480148369331207 Centerline is valid? [True, True] Translation: X:152.85, Y:-55.58, Z:-7.88 [[ 1.15603999e-01 9.93288843e-01 -3.60414091e-03 1.52847921e+02] [ 9.93105349e-01 -1.15652094e-01 -1.91404801e-02 -5.55800358e+01] [-1.94288517e-02 -1.36657559e-03 -9.99810308e-01 -7.88460865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.030385723 meters 0.023005497509902037 Centerline is valid? [True, True] Translation: X:152.86, Y:-55.58, Z:-7.89 [[ 3.88837108e-02 9.99241808e-01 -1.96627467e-03 1.52855664e+02] [ 9.99086826e-01 -3.89124009e-02 -1.76448072e-02 -5.55826566e+01] [-1.77079415e-02 -1.27838354e-03 -9.99842385e-01 -7.88593496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.060385723 meters 0.024093585197795073 Centerline is valid? [True, True] Translation: X:152.87, Y:-55.59, Z:-7.89 [[-3.77685765e-02 9.99286344e-01 -5.81341407e-04 1.52866100e+02] [ 9.99145416e-01 3.77534614e-02 -1.68259824e-02 -5.55855553e+01] [-1.67920268e-02 -1.21633800e-03 -9.99858264e-01 -7.88533840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.090385723 meters 0.022366979006457743 Centerline is valid? [True, True] Translation: X:152.87, Y:-55.59, Z:-7.89 [[-1.15378135e-01 9.93321352e-01 7.60679197e-04 1.52872610e+02] [ 9.93175530e-01 1.15374264e-01 -1.70630234e-02 -5.55871607e+01] [-1.70368282e-02 -1.21321184e-03 -9.99854127e-01 -7.88581990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.120385723 meters 0.022107042901515075 Centerline is valid? [True, True] Translation: X:152.88, Y:-55.59, Z:-7.89 [[-1.92113859e-01 9.81370278e-01 2.15446610e-03 1.52881417e+02] [ 9.81218498e-01 1.92122130e-01 -1.73016339e-02 -5.55878826e+01] [-1.73932299e-02 -1.20988167e-03 -9.99847994e-01 -7.88523839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.150385723 meters 0.02215453290389819 Centerline is valid? [True, True] Translation: X:152.89, Y:-55.59, Z:-7.88 [[-2.66855950e-01 9.63729685e-01 3.60496376e-03 1.52890857e+02] [ 9.63571820e-01 2.66877637e-01 -1.74835753e-02 -5.55881753e+01] [-1.78115247e-02 -1.19195461e-03 -9.99840652e-01 -7.88357033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.180385723 meters 0.022142003230676402 Centerline is valid? [True, True] Translation: X:152.90, Y:-55.59, Z:-7.88 [[-3.41336462e-01 9.39928423e-01 4.89693163e-03 1.52900366e+02] [ 9.39776538e-01 3.41369549e-01 -1.69378311e-02 -5.55893268e+01] [-1.75920122e-02 -1.17947790e-03 -9.99844553e-01 -7.88408790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.210385723 meters 0.022142003230676402 Centerline is valid? [True, True] Translation: X:152.91, Y:-55.59, Z:-7.88 [[-4.13924302e-01 9.10290185e-01 6.20093835e-03 1.52907410e+02] [ 9.10141804e-01 4.13969075e-01 -1.64773136e-02 -5.55897029e+01] [-1.75661336e-02 -1.17662734e-03 -9.99845011e-01 -7.88430880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.240385723 meters 0.021355721864154836 Centerline is valid? [True, True] Translation: X:152.91, Y:-55.59, Z:-7.89 [[-4.83314663e-01 8.75416913e-01 7.22260409e-03 1.52914575e+02] [ 8.75281288e-01 4.83367268e-01 -1.54516053e-02 -5.55890998e+01] [-1.70177670e-02 -1.14617721e-03 -9.99854530e-01 -7.88535414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.270385723 meters 0.022063418001305 Centerline is valid? [True, True] Translation: X:152.92, Y:-55.59, Z:-7.88 [[-5.49387529e-01 8.35529506e-01 7.98666247e-03 1.52924464e+02] [ 8.35410410e-01 5.49444475e-01 -1.41497522e-02 -5.55867336e+01] [-1.62107630e-02 -1.10155643e-03 -9.99867990e-01 -7.88471296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.300385723 meters 0.020360739442425443 Centerline is valid? [True, True] Translation: X:152.93, Y:-55.58, Z:-7.89 [[-6.12794689e-01 7.90191552e-01 8.94314980e-03 1.52931327e+02] [ 7.90080303e-01 6.12858981e-01 -1.33035781e-02 -5.55841100e+01] [-1.59932647e-02 -1.08655548e-03 -9.99871509e-01 -7.88535595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.330385723 meters 0.021096773559348095 Centerline is valid? [True, True] Translation: X:152.94, Y:-55.58, Z:-7.88 [[-6.72548879e-01 7.39984465e-01 1.00497734e-02 1.52939927e+02] [ 7.39876850e-01 6.72623089e-01 -1.26659800e-02 -5.55806707e+01] [-1.61323381e-02 -1.08289595e-03 -9.99869279e-01 -7.88487240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.360385723 meters 0.019709218196813583 Centerline is valid? [True, True] Translation: X:152.95, Y:-55.58, Z:-7.89 [[-7.28220782e-01 6.85257053e-01 1.08288744e-02 1.52948150e+02] [ 6.85158737e-01 7.28300507e-01 -1.16566379e-02 -5.55754726e+01] [-1.58744680e-02 -1.06910805e-03 -9.99873421e-01 -7.88648436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.390385723 meters 0.022965717613087914 Centerline is valid? [True, True] Translation: X:152.96, Y:-55.55, Z:-7.88 [[-7.74186099e-01 6.32843804e-01 1.20251715e-02 1.52964107e+02] [ 6.32746905e-01 7.74278840e-01 -1.11190207e-02 -5.55525672e+01] [-1.63474392e-02 -9.99301198e-04 -9.99865872e-01 -7.88379793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.420385723 meters 0.01973243798039109 Centerline is valid? [True, True] Translation: X:152.97, Y:-55.53, Z:-7.89 [[-8.16627693e-01 5.77027786e-01 1.25755617e-02 1.52972119e+02] [ 5.76940480e-01 8.16723927e-01 -1.00850796e-02 -5.55263722e+01] [-1.60901333e-02 -9.80404694e-04 -9.99870065e-01 -7.88695753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.450385723 meters 0.01916737572188293 Centerline is valid? [True, True] Translation: X:152.99, Y:-55.51, Z:-7.89 [[-8.54812023e-01 5.18766048e-01 1.33489119e-02 1.52989051e+02] [ 5.18684884e-01 8.54915704e-01 -9.22662014e-03 -5.55063208e+01] [-1.61986517e-02 -9.63147020e-04 -9.99868329e-01 -7.88722634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.480385723 meters 0.01900997835969957 Centerline is valid? [True, True] Translation: X:153.02, Y:-55.50, Z:-7.89 [[-8.88363798e-01 4.58918839e-01 1.42570050e-02 1.53022164e+02] [ 4.58842652e-01 8.88477703e-01 -8.41381343e-03 -5.54957629e+01] [-1.65282885e-02 -9.32805295e-04 -9.99862963e-01 -7.88621648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.510385723 meters 0.01824955458824776 Centerline is valid? [True, True] Translation: X:153.03, Y:-55.47, Z:-7.89 [[-9.17998085e-01 3.96319557e-01 1.45025860e-02 1.53032046e+02] [ 3.96254467e-01 9.18112195e-01 -7.23846832e-03 -5.54745654e+01] [-1.61837476e-02 -8.98185567e-04 -9.99868631e-01 -7.88737086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.540385723 meters 0.018451010705235187 Centerline is valid? [True, True] Translation: X:153.04, Y:-55.45, Z:-7.89 [[-9.43509682e-01 3.31026535e-01 1.45228832e-02 1.53044384e+02] [ 3.30972913e-01 9.43621040e-01 -6.02187585e-03 -5.54498414e+01] [-1.56974988e-02 -8.75017221e-04 -9.99876404e-01 -7.88748440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57038572300002 meters 0.01848495375674315 Centerline is valid? [True, True] Translation: X:153.06, Y:-55.42, Z:-7.89 [[-9.64595594e-01 2.63330366e-01 1.45759713e-02 1.53056429e+02] [ 2.63286627e-01 9.64705327e-01 -4.87700131e-03 -5.54248368e+01] [-1.53457797e-02 -8.66675658e-04 -9.99881871e-01 -7.88765826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60038572300002 meters 0.018614714508246803 Centerline is valid? [True, True] Translation: X:153.06, Y:-55.40, Z:-7.89 [[-9.80968561e-01 1.93617650e-01 1.45906837e-02 1.53063652e+02] [ 1.93582980e-01 9.81076679e-01 -3.76571258e-03 -5.53969355e+01] [-1.50436879e-02 -8.69537620e-04 -9.99886459e-01 -7.88752327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63038572300002 meters 0.01905435112305358 Centerline is valid? [True, True] Translation: X:153.21, Y:-54.67, Z:-8.81 [[-9.54642133e-01 -2.97743341e-01 -2.70215975e-03 1.53211263e+02] [ 2.97743888e-01 -9.54645764e-01 2.06938450e-04 -5.46720009e+01] [-2.64121991e-03 -6.06999386e-04 9.99996328e-01 -8.81146001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66038572300002 meters 0.019058990643686227 Centerline is valid? [True, True] Translation: X:153.00, Y:-55.38, Z:-7.89 [[-9.82070212e-01 1.88083267e-01 1.27586232e-02 1.53000834e+02] [ 1.88056010e-01 9.82152714e-01 -3.31428859e-03 -5.53841239e+01] [-1.31542786e-02 -8.55528326e-04 -9.99913113e-01 -7.88861562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69038572300002 meters 0.018773326482138083 Centerline is valid? [True, True] Translation: X:153.17, Y:-54.66, Z:-8.81 [[-9.55617884e-01 -2.94595767e-01 -2.79162007e-03 1.53170266e+02] [ 2.94595988e-01 -9.55621833e-01 3.41231770e-04 -5.46618184e+01] [-2.76825853e-03 -4.96312891e-04 9.99996045e-01 -8.81057385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.720385723 meters 0.018903643252726 Centerline is valid? [True, True] Translation: X:152.96, Y:-55.38, Z:-7.89 [[-9.82805203e-01 1.84165878e-01 1.32989787e-02 1.52956379e+02] [ 1.84137049e-01 9.82894797e-01 -3.37123704e-03 -5.53783776e+01] [-1.36923638e-02 -8.64434602e-04 -9.99905882e-01 -7.88957688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.750385723 meters 0.0192947171040097 Centerline is valid? [True, True] Translation: X:153.13, Y:-54.65, Z:-8.81 [[-9.56805032e-01 -2.90724050e-01 -1.91238702e-03 1.53125603e+02] [ 2.90724391e-01 -9.56806834e-01 1.03098833e-04 -5.46531975e+01] [-1.85975828e-03 -4.57332069e-04 9.99998166e-01 -8.81180637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.780385723 meters 0.018730951060935166 Centerline is valid? [True, True] Translation: X:152.91, Y:-55.37, Z:-7.89 [[-9.83484444e-01 1.80387225e-01 1.47918341e-02 1.52907957e+02] [ 1.80353100e-01 9.83595268e-01 -3.62042213e-03 -5.53692537e+01] [-1.52022559e-02 -8.92875709e-04 -9.99884040e-01 -7.88733392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.810385723 meters 0.01888991952451075 Centerline is valid? [True, True] Translation: X:152.91, Y:-55.34, Z:-7.89 [[-9.93689588e-01 1.11001149e-01 1.61167092e-02 1.52910329e+02] [ 1.10971847e-01 9.93819872e-01 -2.70398341e-03 -5.53420632e+01] [-1.63172511e-02 -8.98419173e-04 -9.99866461e-01 -7.88612529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.840385723 meters 0.01858590419420233 Centerline is valid? [True, True] Translation: X:152.92, Y:-55.32, Z:-7.89 [[-9.99026012e-01 4.09011300e-02 1.65566967e-02 1.52917037e+02] [ 4.08807318e-02 9.99162802e-01 -1.56874480e-03 -5.53161297e+01] [-1.66069989e-02 -8.90366988e-04 -9.99861698e-01 -7.88660621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.870385723 meters 0.01821215243182271 Centerline is valid? [True, True] Translation: X:152.92, Y:-55.29, Z:-7.89 [[-9.99482105e-01 -2.78182647e-02 1.61761224e-02 1.52917408e+02] [-2.78282371e-02 9.99612643e-01 -3.91687161e-04 -5.52925764e+01] [-1.61589604e-02 -8.41637277e-04 -9.99869081e-01 -7.88827295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.900385723 meters 0.01744646363252563 Centerline is valid? [True, True] Translation: X:152.90, Y:-55.27, Z:-7.89 [[-9.95086124e-01 -9.76382595e-02 1.64430954e-02 1.52897993e+02] [-9.76386055e-02 9.95221628e-01 7.83673422e-04 -5.52682530e+01] [-1.64410407e-02 -8.25658356e-04 -9.99864496e-01 -7.88996535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.930385723 meters 0.017955152031013534 Centerline is valid? [True, True] Translation: X:152.90, Y:-55.24, Z:-7.89 [[-9.85976033e-01 -1.66174415e-01 1.54053731e-02 1.52898090e+02] [-1.66166365e-01 9.86096072e-01 1.81003522e-03 -5.52394809e+01] [-1.54919594e-02 -7.75203491e-04 -9.99879692e-01 -7.88893387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.960385723 meters 0.01729938103247435 Centerline is valid? [True, True] Translation: X:152.88, Y:-55.22, Z:-7.89 [[-9.71663486e-01 -2.35924765e-01 1.44767165e-02 1.52875454e+02] [-2.35910097e-01 9.71771030e-01 2.73710722e-03 -5.52169122e+01] [-1.47138051e-02 -7.55656452e-04 -9.99891461e-01 -7.89062656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.990385723 meters 0.01721872260064547 Centerline is valid? [True, True] Translation: X:152.84, Y:-55.20, Z:-7.89 [[-9.51925293e-01 -3.06026295e-01 1.36434427e-02 1.52836673e+02] [-3.06006112e-01 9.52022762e-01 3.59447806e-03 -5.51985870e+01] [-1.40888728e-02 -7.53302278e-04 -9.99900463e-01 -7.89139015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.020385723 meters 0.017008607156461505 Centerline is valid? [True, True] Translation: X:152.77, Y:-55.19, Z:-7.89 [[-9.26709024e-01 -3.75577670e-01 1.23206747e-02 1.52774461e+02] [-3.75555102e-01 9.26790620e-01 4.18484231e-03 -5.51921559e+01] [-1.29904191e-02 -7.48961108e-04 -9.99915340e-01 -7.89374430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.050385723 meters 0.017304610421154283 Centerline is valid? [True, True] Translation: X:152.71, Y:-55.19, Z:-7.89 [[-8.96148297e-01 -4.43595538e-01 1.18839675e-02 1.52705670e+02] [-4.43567565e-01 8.96226772e-01 5.03863695e-03 -5.51915073e+01] [-1.28858467e-02 -7.55976613e-04 -9.99916688e-01 -7.89458964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.080385723 meters 0.01752070997291534 Centerline is valid? [True, True] Translation: X:152.63, Y:-55.20, Z:-7.90 [[-8.60083775e-01 -5.10014590e-01 1.18750508e-02 1.52627660e+02] [-5.09978265e-01 8.60165398e-01 6.13652654e-03 -5.51996066e+01] [-1.33442258e-02 -7.78090866e-04 -9.99910659e-01 -7.89518433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.110385723 meters 0.018934938716142467 Centerline is valid? [True, True] Translation: X:152.54, Y:-55.22, Z:-7.89 [[-8.17405955e-01 -5.75911900e-01 1.31525152e-02 1.52540717e+02] [-5.75854079e-01 8.17511305e-01 8.20650106e-03 -5.52156590e+01] [-1.54785515e-02 -8.65886707e-04 -9.99879825e-01 -7.89390193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.140385723 meters 0.018301056872876822 Centerline is valid? [True, True] Translation: X:152.45, Y:-55.25, Z:-7.90 [[-7.70455224e-01 -6.37361198e-01 1.30173705e-02 1.52453225e+02] [-6.37289781e-01 7.70564646e-01 9.58449736e-03 -5.52467141e+01] [-1.61395122e-02 -9.11411153e-04 -9.99869334e-01 -7.89555497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.170385723 meters 0.01975834451935047 Centerline is valid? [True, True] Translation: X:152.36, Y:-55.29, Z:-7.90 [[-7.17536772e-01 -6.96399993e-01 1.29626587e-02 1.52359052e+02] [-6.96310712e-01 7.17653163e-01 1.11950343e-02 -5.52854165e+01] [-1.70989148e-02 -9.93189335e-04 -9.99853310e-01 -7.89509892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.200385723 meters 0.019656874660391337 Centerline is valid? [True, True] Translation: X:152.27, Y:-55.34, Z:-7.90 [[-6.61433570e-01 -7.49903767e-01 1.22463320e-02 1.52265698e+02] [-7.49803112e-01 6.61546132e-01 1.23291730e-02 -5.53384794e+01] [-1.73472068e-02 -1.02740896e-03 -9.99848998e-01 -7.89635757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.230385723 meters 0.02029807800307278 Centerline is valid? [True, True] Translation: X:152.17, Y:-55.40, Z:-7.90 [[-6.01078152e-01 -7.99103055e-01 1.18051730e-02 1.52170845e+02] [-7.98983012e-01 6.01193095e-01 1.38927859e-02 -5.54048901e+01] [-1.81989562e-02 -1.08148262e-03 -9.99833800e-01 -7.89696588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.260385723 meters 0.020178216923682043 Centerline is valid? [True, True] Translation: X:152.09, Y:-55.47, Z:-7.90 [[-5.37930695e-01 -8.42915408e-01 1.11437184e-02 1.52089356e+02] [-8.42775542e-01 5.38044963e-01 1.53949455e-02 -5.54701654e+01] [-1.89724583e-02 -1.11023960e-03 -9.99819390e-01 -7.89802607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.290385723 meters 0.020527207752272136 Centerline is valid? [True, True] Translation: X:152.01, Y:-55.55, Z:-7.90 [[-4.72809097e-01 -8.81108637e-01 9.95625766e-03 1.52007869e+02] [-8.80959491e-01 4.72912660e-01 1.62477958e-02 -5.55505076e+01] [-1.90245135e-02 -1.08895402e-03 -9.99818425e-01 -7.89925649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32038572300002 meters 0.019631572455705924 Centerline is valid? [True, True] Translation: X:151.93, Y:-55.64, Z:-7.90 [[-4.04447667e-01 -9.14521005e-01 8.56832493e-03 1.51932951e+02] [-9.14368589e-01 4.04537008e-01 1.67300186e-02 -5.56395633e+01] [-1.87661580e-02 -1.06819017e-03 -9.99823330e-01 -7.90145424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35038572300002 meters 0.019201976320456945 Centerline is valid? [True, True] Translation: X:151.86, Y:-55.74, Z:-7.90 [[-3.34008155e-01 -9.42543152e-01 7.13857828e-03 1.51862400e+02] [-9.42389791e-01 3.34082819e-01 1.70338586e-02 -5.57367492e+01] [-1.84400231e-02 -1.03787561e-03 -9.99829430e-01 -7.90342641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38038572300002 meters 0.020075955201480457 Centerline is valid? [True, True] Translation: X:151.79, Y:-55.88, Z:-7.90 [[-2.61799629e-01 -9.65105632e-01 5.66330496e-03 1.51785279e+02] [-9.64955549e-01 2.61858962e-01 1.70491023e-02 -5.58771449e+01] [-1.79371718e-02 -1.00138889e-03 -9.99838615e-01 -7.90449599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41038572300002 meters 0.019267234627722507 Centerline is valid? [True, True] Translation: X:151.74, Y:-55.94, Z:-7.91 [[-1.87331482e-01 -9.82287150e-01 4.34403377e-03 1.51744518e+02] [-9.82131681e-01 1.87379240e-01 1.75037734e-02 -5.59389333e+01] [-1.80077134e-02 -9.87405381e-04 -9.99837360e-01 -7.90602702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44038572300002 meters 0.019184431855838645 Centerline is valid? [True, True] Translation: X:151.70, Y:-56.05, Z:-7.91 [[-1.11212254e-01 -9.93792347e-01 2.93367143e-03 1.51696693e+02] [-9.93639266e-01 1.11246693e-01 1.74694935e-02 -5.60544104e+01] [-1.76874102e-02 -9.72189371e-04 -9.99843093e-01 -7.90730464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.470385723 meters 0.01859234976430561 Centerline is valid? [True, True] Translation: X:151.66, Y:-56.19, Z:-7.91 [[-3.50723753e-02 -9.99383591e-01 1.53845774e-03 1.51659223e+02] [-9.99239418e-01 3.50934871e-02 1.70009749e-02 -5.61867293e+01] [-1.70444852e-02 -9.41023042e-04 -9.99854289e-01 -7.90927284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.500385723 meters 0.01898816289785991 Centerline is valid? [True, True] Translation: X:151.63, Y:-56.30, Z:-7.91 [[ 4.17701418e-02 -9.99127222e-01 2.20981372e-04 1.51629108e+02] [-9.98984152e-01 -4.17604154e-02 1.69331300e-02 -5.63020957e+01] [-1.69091229e-02 -9.28056132e-04 -9.99856600e-01 -7.91026476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.530385723 meters 0.018872004161149997 Centerline is valid? [True, True] Translation: X:151.61, Y:-56.44, Z:-7.91 [[ 1.17463988e-01 -9.93076480e-01 -1.14744665e-03 1.51611781e+02] [-9.92923278e-01 -1.17466049e-01 1.74668800e-02 -5.64427183e+01] [-1.74807338e-02 -9.12402902e-04 -9.99846784e-01 -7.91179695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.560385723 meters 0.019357273307949695 Centerline is valid? [True, True] Translation: X:151.60, Y:-56.60, Z:-7.91 [[ 1.92463889e-01 -9.81300819e-01 -2.52078147e-03 1.51604841e+02] [-9.81145427e-01 -1.92478329e-01 1.74855302e-02 -5.66011461e+01] [-1.76437609e-02 -8.92079944e-04 -9.99843939e-01 -7.91197354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.590385723 meters 0.018052612019497396 Centerline is valid? [True, True] Translation: X:151.59, Y:-56.67, Z:-7.91 [[ 2.67559423e-01 -9.63532014e-01 -4.24417148e-03 1.51594832e+02] [-9.63351044e-01 -2.67591523e-01 1.86960516e-02 -5.66660198e+01] [-1.91499486e-02 -9.13677756e-04 -9.99816205e-01 -7.91438032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.620385723 meters 0.01818456867891669 Centerline is valid? [True, True] Translation: X:151.61, Y:-56.81, Z:-7.91 [[ 3.40772086e-01 -9.40127945e-01 -5.81656448e-03 1.51606578e+02] [-9.39942040e-01 -3.40820506e-01 1.87174934e-02 -5.68060498e+01] [-1.95792430e-02 -9.11165776e-04 -9.99807893e-01 -7.91486060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.650385723 meters 0.01824040934516659 Centerline is valid? [True, True] Translation: X:151.62, Y:-56.91, Z:-7.92 [[ 4.12397584e-01 -9.10974520e-01 -7.32503603e-03 1.51616030e+02] [-9.10789068e-01 -4.12461611e-01 1.84035959e-02 -5.69114317e+01] [-1.97865031e-02 -9.18035736e-04 -9.99803807e-01 -7.91524462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.680385723 meters 0.019651426782805514 Centerline is valid? [True, True] Translation: X:151.64, Y:-57.03, Z:-7.91 [[ 4.82092609e-01 -8.76075704e-01 -8.83611617e-03 1.51635577e+02] [-8.75891347e-01 -4.82172670e-01 1.79962253e-02 -5.70272666e+01] [-2.00265895e-02 -9.36369513e-04 -9.99799009e-01 -7.91357900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.710385723 meters 0.018561884249798166 Centerline is valid? [True, True] Translation: X:151.68, Y:-57.16, Z:-7.92 [[ 5.49476610e-01 -8.35447375e-01 -1.01556871e-02 1.51682845e+02] [-8.35271010e-01 -5.49569607e-01 1.71926097e-02 -5.71596581e+01] [-1.99447776e-02 -9.64185881e-04 -9.99800618e-01 -7.91749489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.740385723 meters 0.019161085676640596 Centerline is valid? [True, True] Translation: X:151.71, Y:-57.25, Z:-7.92 [[ 6.13002205e-01 -7.90001274e-01 -1.12376104e-02 1.51712150e+02] [-7.89838391e-01 -6.13104424e-01 1.60711065e-02 -5.72547099e+01] [-1.95860233e-02 -9.75727585e-04 -9.99807699e-01 -7.91838348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.770385723 meters 0.019430706961252067 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.37, Z:-7.92 [[ 6.73082245e-01 -7.39468803e-01 -1.20904977e-02 1.51766987e+02] [-7.39322224e-01 -6.73190094e-01 1.47562631e-02 -5.73689895e+01] [-1.90509995e-02 -9.93405066e-04 -9.99818020e-01 -7.92103400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.800385723 meters 0.020271879782561914 Centerline is valid? [True, True] Translation: X:151.82, Y:-57.47, Z:-7.92 [[ 7.29258741e-01 -6.84120134e-01 -1.27015810e-02 1.51819380e+02] [-6.83991479e-01 -7.29368638e-01 1.33058908e-02 -5.74701794e+01] [-1.83669626e-02 -1.01566399e-03 -9.99830797e-01 -7.92208318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.830385723 meters 0.019783188821999333 Centerline is valid? [True, True] Translation: X:151.81, Y:-57.48, Z:-7.92 [[ 7.81195512e-01 -6.24126373e-01 -1.41365452e-02 1.51813893e+02] [-6.23999049e-01 -7.81322688e-01 1.26508349e-02 -5.74791891e+01] [-1.89409232e-02 -1.06158469e-03 -9.99820041e-01 -7.92296867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.860385723 meters 0.020122441259567178 Centerline is valid? [True, True] Translation: X:151.81, Y:-57.49, Z:-7.92 [[ 8.28150575e-01 -5.60298440e-01 -1.52408154e-02 1.51808138e+02] [-5.60178998e-01 -8.28290095e-01 1.16193507e-02 -5.74886227e+01] [-1.91341206e-02 -1.08498728e-03 -9.99816337e-01 -7.92268162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.890385723 meters 0.022013807812839667 Centerline is valid? [True, True] Translation: X:151.80, Y:-57.50, Z:-7.92 [[ 8.70116339e-01 -4.92595115e-01 -1.57356185e-02 1.51799929e+02] [-4.92491354e-01 -8.70257918e-01 1.01696547e-02 -5.74998055e+01] [-1.87035688e-02 -1.09912666e-03 -9.99824469e-01 -7.92159106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.920385723 meters 0.02126364943222286 Centerline is valid? [True, True] Translation: X:151.80, Y:-57.51, Z:-7.92 [[ 9.06087849e-01 -4.22772490e-01 -1.63777840e-02 1.51796608e+02] [-4.22681187e-01 -9.06235185e-01 8.85458485e-03 -5.75059268e+01] [-1.85855990e-02 -1.10045057e-03 -9.99826667e-01 -7.92263659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.950385723 meters 0.020734583203315393 Centerline is valid? [True, True] Translation: X:151.79, Y:-57.51, Z:-7.92 [[ 9.36564257e-01 -3.50077550e-01 -1.71202085e-02 1.51792611e+02] [-3.49997110e-01 -9.36720060e-01 7.58634679e-03 -5.75125582e+01] [-1.86926524e-02 -1.11307773e-03 -9.99824658e-01 -7.92379793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.980385723 meters 0.02062174697713177 Centerline is valid? [True, True] Translation: X:151.79, Y:-57.52, Z:-7.92 [[ 9.61051000e-01 -2.75772678e-01 -1.81770652e-02 1.51789061e+02] [-2.75700987e-01 -9.61222221e-01 6.38807096e-03 -5.75203587e+01] [-1.92338544e-02 -1.12782718e-03 -9.99814376e-01 -7.92481711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.010385723 meters 0.02084127154076728 Centerline is valid? [True, True] Translation: X:151.79, Y:-57.53, Z:-7.93 [[ 9.79642283e-01 -1.99873173e-01 -1.87539620e-02 1.51786470e+02] [-1.99814369e-01 -9.79821126e-01 4.97779096e-03 -5.75288104e+01] [-1.93704551e-02 -1.12914342e-03 -9.99811738e-01 -7.92527028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.040385723 meters 0.020757689751959033 Centerline is valid? [True, True] Translation: X:151.78, Y:-57.54, Z:-7.93 [[ 9.92268815e-01 -1.22552344e-01 -1.95837113e-02 1.51783487e+02] [-1.22505659e-01 -9.92461392e-01 3.57054784e-03 -5.75369478e+01] [-1.98736564e-02 -1.14382781e-03 -9.99801845e-01 -7.92605181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07038572300002 meters 0.020913554775303003 Centerline is valid? [True, True] Translation: X:151.78, Y:-57.55, Z:-7.93 [[ 9.98826028e-01 -4.42852538e-02 -1.96311641e-02 1.51778378e+02] [-4.42542177e-02 -9.99018275e-01 2.01278618e-03 -5.75455089e+01] [-1.97010284e-02 -1.14166141e-03 -9.99805264e-01 -7.92609205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10038572300002 meters 0.021320169219294357 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.55, Z:-7.93 [[ 9.99224113e-01 3.41517563e-02 -1.96170526e-02 1.51774227e+02] [ 3.41675159e-02 -9.99416010e-01 4.68660288e-04 -5.75544349e+01] [-1.95895908e-02 -1.13856262e-03 -9.99807457e-01 -7.92622868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13038572300002 meters 0.021320169219294357 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.56, Z:-7.93 [[ 9.93480406e-01 1.12310413e-01 -1.95717737e-02 1.51769807e+02] [ 1.12311075e-01 -9.93672522e-01 -1.06881579e-03 -5.75620378e+01] [-1.95679728e-02 -1.13627939e-03 -9.99807883e-01 -7.92642494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16038572300002 meters 0.019798980342250735 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.57, Z:-7.93 [[ 9.81632763e-01 1.89732133e-01 -1.99708866e-02 1.51766864e+02] [ 1.89716586e-01 -9.81835217e-01 -2.68759993e-03 -5.75716643e+01] [-2.01180439e-02 -1.15057229e-03 -9.99796950e-01 -7.92738913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19038572300002 meters 0.022976941644175335 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.59, Z:-7.92 [[ 9.63855553e-01 2.65677173e-01 -1.99527439e-02 1.51765636e+02] [ 2.65644747e-01 -9.64061367e-01 -4.30685892e-03 -5.75897144e+01] [-2.03799037e-02 -1.14915174e-03 -9.99791648e-01 -7.92478219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.220385723 meters 0.02270159475264653 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.59, Z:-7.93 [[ 9.40327780e-01 3.39673106e-01 -2.01456618e-02 1.51760214e+02] [ 3.39621133e-01 -9.40542852e-01 -6.05222727e-03 -5.75901220e+01] [-2.10036370e-02 -1.15081504e-03 -9.99778737e-01 -7.92524954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.250385723 meters 0.02054744898933836 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.59, Z:-7.93 [[ 9.11283531e-01 4.11329093e-01 -1.92536719e-02 1.51757053e+02] [ 4.11262881e-01 -9.11486221e-01 -7.46405560e-03 -5.75938032e+01] [-2.06196399e-02 -1.11644964e-03 -9.99786769e-01 -7.92729429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.280385723 meters 0.020599310994251458 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.60, Z:-7.93 [[ 8.76289798e-01 4.81400888e-01 -1.92191091e-02 1.51755788e+02] [ 4.81313087e-01 -8.76499801e-01 -9.26345037e-03 -5.76017064e+01] [-2.13049785e-02 -1.13294166e-03 -9.99772381e-01 -7.92742735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.310385723 meters 0.020270442521711837 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.61, Z:-7.93 [[ 8.35982498e-01 5.48410421e-01 -1.94749409e-02 1.51755505e+02] [ 5.48293496e-01 -8.36208503e-01 -1.13833927e-02 -5.76099459e+01] [-2.25278823e-02 -1.16166636e-03 -9.99745540e-01 -7.92730755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.340385723 meters 0.021149847477009785 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.62, Z:-7.93 [[ 7.90290632e-01 6.12435843e-01 -1.90540072e-02 1.51755196e+02] [ 6.12293366e-01 -7.90519407e-01 -1.32627650e-02 -5.76199822e+01] [-2.31851552e-02 -1.18520326e-03 -9.99730486e-01 -7.92631049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.370385723 meters 0.020049957266089127 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.63, Z:-7.93 [[ 7.39352450e-01 6.73065551e-01 -1.84585702e-02 1.51756066e+02] [ 6.72896201e-01 -7.39581822e-01 -1.51469790e-02 -5.76292021e+01] [-2.38465327e-02 -1.22174572e-03 -9.99714884e-01 -7.92761127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.400385723 meters 0.019687091245864763 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.64, Z:-7.93 [[ 6.84281696e-01 7.29011472e-01 -1.73445745e-02 1.51759503e+02] [ 7.28821723e-01 -6.84500374e-01 -1.66773386e-02 -5.76406915e+01] [-2.40303389e-02 -1.22910513e-03 -9.99710474e-01 -7.92756650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.430385723 meters 0.02052285237283349 Centerline is valid? [True, True] Translation: X:151.76, Y:-57.65, Z:-7.93 [[ 6.25320606e-01 7.80196325e-01 -1.63656118e-02 1.51764404e+02] [ 7.79979510e-01 -6.25533502e-01 -1.84337495e-02 -5.76532155e+01] [-2.46191821e-02 -1.23783843e-03 -9.99696136e-01 -7.92693869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.460385723 meters 0.02055525392063492 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.66, Z:-7.93 [[ 5.62845903e-01 8.26429546e-01 -1.47883573e-02 1.51765835e+02] [ 8.26199262e-01 -5.63038832e-01 -1.95461996e-02 -5.76621553e+01] [-2.44799763e-02 -1.21663150e-03 -9.99699580e-01 -7.92732051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.490385723 meters 0.020310261625253588 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.67, Z:-7.93 [[ 4.98017444e-01 8.67070694e-01 -1.29242477e-02 1.51766531e+02] [ 8.66836718e-01 -4.98183777e-01 -2.01749669e-02 -5.76703401e+01] [-2.39317730e-02 -1.15572699e-03 -9.99712926e-01 -7.92763270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.520385723 meters 0.019948145455686083 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.68, Z:-7.93 [[ 4.29570176e-01 9.02963816e-01 -1.12165033e-02 1.51767274e+02] [ 9.02721361e-01 -4.29715117e-01 -2.09538047e-02 -5.76766211e+01] [-2.37404284e-02 -1.12424754e-03 -9.99717524e-01 -7.92815858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.550385723 meters 0.019401667625074726 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.68, Z:-7.93 [[ 3.58825230e-01 9.33358107e-01 -9.33264469e-03 1.51769142e+02] [ 9.33116428e-01 -3.58944957e-01 -2.12661466e-02 -5.76843173e+01] [-2.31988361e-02 -1.07761416e-03 -9.99730290e-01 -7.92976575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.580385723 meters 0.01982765749599567 Centerline is valid? [True, True] Translation: X:151.77, Y:-57.69, Z:-7.93 [[ 2.84909152e-01 9.58523195e-01 -7.74982041e-03 1.51771073e+02] [ 9.58264741e-01 -2.85012497e-01 -2.22836789e-02 -5.76922857e+01] [-2.35682188e-02 -1.07755558e-03 -9.99721650e-01 -7.92955138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.610385723 meters 0.018545279216413458 Centerline is valid? [True, True] Translation: X:151.78, Y:-57.70, Z:-7.93 [[ 2.09466179e-01 9.77797897e-01 -5.93237072e-03 1.51775744e+02] [ 9.77536597e-01 -2.09547492e-01 -2.26285304e-02 -5.76993896e+01] [-2.33692429e-02 -1.05919768e-03 -9.99726341e-01 -7.93137193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.640385723 meters 0.018340399069313215 Centerline is valid? [True, True] Translation: X:151.78, Y:-57.71, Z:-7.93 [[ 1.33340312e-01 9.91062000e-01 -4.05874873e-03 1.51780471e+02] [ 9.90806910e-01 -1.33398168e-01 -2.25076646e-02 -5.77078653e+01] [-2.28479207e-02 -1.02025728e-03 -9.99738432e-01 -7.93210166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.670385723 meters 0.01769329468772035 Centerline is valid? [True, True] Translation: X:151.79, Y:-57.71, Z:-7.93 [[ 5.58194005e-02 9.98438378e-01 -2.23596853e-03 1.51787728e+02] [ 9.98192971e-01 -5.58553027e-02 -2.21579977e-02 -5.77146606e+01] [-2.22482860e-02 -9.95081922e-04 -9.99751981e-01 -7.93391296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.700385723 meters 0.018003959928865873 Centerline is valid? [True, True] Translation: X:151.80, Y:-57.72, Z:-7.93 [[-2.17529476e-02 9.99763255e-01 -4.93426810e-04 1.51797449e+02] [ 9.99529290e-01 2.17371720e-02 -2.16493558e-02 -5.77228250e+01] [-2.16335047e-02 -9.64131850e-04 -9.99765503e-01 -7.93395103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.730385723 meters 0.016993106632396657 Centerline is valid? [True, True] Translation: X:151.81, Y:-57.73, Z:-7.94 [[-9.89970010e-02 9.95087114e-01 1.10892883e-03 1.51806164e+02] [ 9.94878200e-01 9.89989622e-02 -2.04101077e-02 -5.77295018e+01] [-2.04196179e-02 -9.17290335e-04 -9.99791077e-01 -7.93644101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.760385723 meters 0.01716808786902519 Centerline is valid? [True, True] Translation: X:151.82, Y:-57.74, Z:-7.94 [[-1.76243355e-01 9.84342721e-01 2.77263528e-03 1.51818885e+02] [ 9.84125938e-01 1.76262784e-01 -2.06777257e-02 -5.77353408e+01] [-2.08426812e-02 -9.15689452e-04 -9.99782348e-01 -7.93624268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.790385723 meters 0.01729055409390786 Centerline is valid? [True, True] Translation: X:151.83, Y:-57.74, Z:-7.94 [[-2.53004559e-01 9.67455078e-01 4.40070954e-03 1.51829898e+02] [ 9.67239144e-01 2.53041156e-01 -2.04600010e-02 -5.77400114e+01] [-2.09076925e-02 -9.19935001e-04 -9.99780987e-01 -7.93687375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82038572300002 meters 0.01885611524361437 Centerline is valid? [True, True] Translation: X:151.84, Y:-57.74, Z:-7.93 [[-3.28248329e-01 9.44571701e-01 6.11032991e-03 1.51842268e+02] [ 9.44351491e-01 3.28303875e-01 -2.04163513e-02 -5.77444100e+01] [-2.12907526e-02 -9.31334046e-04 -9.99772892e-01 -7.93458847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85038572300002 meters 0.017089209900584882 Centerline is valid? [True, True] Translation: X:151.85, Y:-57.75, Z:-7.94 [[-4.00959972e-01 9.16064217e-01 7.57961025e-03 1.51848948e+02] [ 9.15854901e-01 4.01030555e-01 -1.96034386e-02 -5.77488309e+01] [-2.09976640e-02 -9.18371018e-04 -9.99779103e-01 -7.93727885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88038572300002 meters 0.01715011251340446 Centerline is valid? [True, True] Translation: X:151.86, Y:-57.75, Z:-7.94 [[-4.71236344e-01 8.81963203e-01 8.78727047e-03 1.51859877e+02] [ 8.81772770e-01 4.71317410e-01 -1.83488822e-02 -5.77529206e+01] [-2.03246324e-02 -8.98284330e-04 -9.99793030e-01 -7.93723134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91038572300002 meters 0.016472885630889254 Centerline is valid? [True, True] Translation: X:151.87, Y:-57.75, Z:-7.94 [[-5.37634463e-01 8.43120025e-01 9.88981150e-03 1.51871040e+02] [ 8.42947042e-01 5.37724735e-01 -1.70995254e-02 -5.77544535e+01] [-1.97349485e-02 -8.56706798e-04 -9.99804880e-01 -7.93814710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94038572300002 meters 0.016716558596103572 Centerline is valid? [True, True] Translation: X:151.88, Y:-57.76, Z:-7.94 [[-6.01465535e-01 7.98821329e-01 1.11218217e-02 1.51882680e+02] [ 7.98658211e-01 6.01567768e-01 -1.61642272e-02 -5.77556112e+01] [-1.96028589e-02 -8.39691383e-04 -9.99807493e-01 -7.93807862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.970385723 meters 0.016002525350946362 Centerline is valid? [True, True] Translation: X:151.89, Y:-57.75, Z:-7.94 [[-6.60865076e-01 7.50407060e-01 1.21076585e-02 1.51893571e+02] [ 7.50258491e-01 6.60975497e-01 -1.49528966e-02 -5.77548766e+01] [-1.92236248e-02 -7.97973540e-04 -9.99814891e-01 -7.93914684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.000385723 meters 0.015907059336151292 Centerline is valid? [True, True] Translation: X:151.91, Y:-57.75, Z:-7.94 [[-7.16884282e-01 6.97062715e-01 1.34349480e-02 1.51905760e+02] [ 6.96919530e-01 7.17009737e-01 -1.41493982e-02 -5.77531960e+01] [-1.94960065e-02 -7.80403547e-04 -9.99809630e-01 -7.93876492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.030385723 meters 0.01860266623214081 Centerline is valid? [True, True] Translation: X:151.92, Y:-57.73, Z:-7.93 [[-7.62666184e-01 6.46580559e-01 1.65490935e-02 1.51924179e+02] [ 6.46407879e-01 7.62845380e-01 -1.49592737e-02 -5.77329696e+01] [-2.22967751e-02 -7.11467767e-04 -9.99751143e-01 -7.93488379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.060385723 meters 0.01556641720799637 Centerline is valid? [True, True] Translation: X:151.96, Y:-57.72, Z:-7.94 [[-8.06603477e-01 5.90836893e-01 1.73952994e-02 1.51955481e+02] [ 5.90680269e-01 8.06790715e-01 -1.36221135e-02 -5.77212809e+01] [-2.20828132e-02 -7.12583985e-04 -9.99755891e-01 -7.93686564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.090385723 meters 0.015463170027435108 Centerline is valid? [True, True] Translation: X:151.96, Y:-57.69, Z:-7.94 [[-8.45771016e-01 5.33198506e-01 1.92546781e-02 1.51962702e+02] [ 5.33041384e-01 8.45989872e-01 -1.29622212e-02 -5.76918089e+01] [-2.32006997e-02 -6.99530725e-04 -9.99730583e-01 -7.93603567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.120385723 meters 0.015518482181255315 Centerline is valid? [True, True] Translation: X:151.98, Y:-57.67, Z:-7.94 [[-8.81344950e-01 4.72074791e-01 1.94028387e-02 1.51981580e+02] [ 4.71943103e-01 8.81558233e-01 -1.11709632e-02 -5.76695929e+01] [-2.23782623e-02 -6.88436072e-04 -9.99749338e-01 -7.93571865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.150385723 meters 0.015105726768545543 Centerline is valid? [True, True] Translation: X:152.38, Y:-56.95, Z:-8.84 [[-8.36390746e-01 -5.48097988e-01 6.25428109e-03 1.52375488e+02] [ 5.48079533e-01 -8.36414058e-01 -4.51104942e-03 -5.69518156e+01] [ 7.70366574e-03 -3.45156530e-04 9.99970267e-01 -8.84187572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.180385723 meters 0.015114401867532736 Centerline is valid? [True, True] Translation: X:151.90, Y:-57.63, Z:-7.94 [[-8.82885186e-01 4.69276250e-01 1.71332861e-02 1.51903128e+02] [ 4.69173470e-01 8.83051175e-01 -9.84265085e-03 -5.76251904e+01] [-1.97484907e-02 -6.51447317e-04 -9.99804767e-01 -7.93842731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.210385723 meters 0.014916273312640012 Centerline is valid? [True, True] Translation: X:151.97, Y:-57.63, Z:-7.94 [[-9.13703225e-01 4.06037591e-01 1.67299650e-02 1.51967208e+02] [ 4.05956853e-01 9.13856159e-01 -8.12123234e-03 -5.76259003e+01] [-1.85863072e-02 -6.28752221e-04 -9.99827062e-01 -7.93931625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.240385723 meters 0.01493035379651651 Centerline is valid? [True, True] Translation: X:152.00, Y:-57.61, Z:-7.94 [[-9.39834519e-01 3.41232433e-01 1.64773840e-02 1.51996498e+02] [ 3.41168596e-01 9.39978754e-01 -6.62810368e-03 -5.76065021e+01] [-1.77501148e-02 -6.07754672e-04 -9.99842270e-01 -7.93952087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.270385723 meters 0.01729857739321003 Centerline is valid? [True, True] Translation: X:152.00, Y:-57.58, Z:-7.94 [[-9.61344166e-01 2.74868749e-01 1.62654870e-02 1.51997255e+02] [ 2.74819034e-01 9.61481579e-01 -5.26048165e-03 -5.75760351e+01] [-1.70849081e-02 -5.87067932e-04 -9.99853870e-01 -7.93804149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.300385723 meters 0.014830325762849149 Centerline is valid? [True, True] Translation: X:152.21, Y:-56.79, Z:-8.84 [[-9.34873082e-01 -3.54970047e-01 2.93014192e-03 1.52212911e+02] [ 3.54966980e-01 -9.34877595e-01 -1.52501333e-03 -5.67916226e+01] [ 3.28065808e-03 -3.85590283e-04 9.99994544e-01 -8.84129242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.330385723 meters 0.01453120271786254 Centerline is valid? [True, True] Translation: X:151.97, Y:-57.57, Z:-7.94 [[-9.62508790e-01 2.70834340e-01 1.50196320e-02 1.51965138e+02] [ 2.70791948e-01 9.62625797e-01 -4.82646042e-03 -5.75659245e+01] [-1.57654565e-02 -5.78315166e-04 -9.99875550e-01 -7.94101188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.360385723 meters 0.014822303513816991 Centerline is valid? [True, True] Translation: X:151.97, Y:-57.54, Z:-7.94 [[-9.79194933e-01 2.02347805e-01 1.52528540e-02 1.51973520e+02] [ 2.02314228e-01 9.79313558e-01 -3.72924754e-03 -5.75365682e+01] [-1.56919318e-02 -5.65790901e-04 -9.99876714e-01 -7.93907553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.390385723 meters 0.014918071106222055 Centerline is valid? [True, True] Translation: X:151.97, Y:-57.50, Z:-7.94 [[-9.90976762e-01 1.33067780e-01 1.60631304e-02 1.51967558e+02] [ 1.33041149e-01 9.91106782e-01 -2.72003334e-03 -5.75046047e+01] [-1.62822263e-02 -5.58432513e-04 -9.99867280e-01 -7.93773823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.420385723 meters 0.01451566729638853 Centerline is valid? [True, True] Translation: X:152.10, Y:-56.71, Z:-8.84 [[-9.77035469e-01 -2.13052374e-01 3.22153346e-03 1.52099964e+02] [ 2.13049983e-01 -9.77040713e-01 -1.07196870e-03 -5.67118661e+01] [ 3.37595483e-03 -3.61003795e-04 9.99994236e-01 -8.84234913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.450385723 meters 0.015086929881406128 Centerline is valid? [True, True] Translation: X:151.90, Y:-57.50, Z:-7.94 [[-9.91469368e-01 1.29517726e-01 1.46167694e-02 1.51903229e+02] [ 1.29495584e-01 9.91576959e-01 -2.45526250e-03 -5.74951095e+01] [-1.48116518e-02 -5.41510462e-04 -9.99890155e-01 -7.94046587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.480385723 meters 0.014517254457323377 Centerline is valid? [True, True] Translation: X:151.93, Y:-57.47, Z:-7.94 [[-9.98195016e-01 5.84184344e-02 1.39282452e-02 1.51928981e+02] [ 5.84052321e-02 9.98292040e-01 -1.35310758e-03 -5.74685696e+01] [-1.39835027e-02 -5.37182852e-04 -9.99902082e-01 -7.94210484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.510385723 meters 0.015037652903595322 Centerline is valid? [True, True] Translation: X:151.93, Y:-57.44, Z:-7.94 [[-9.99836430e-01 -1.30866144e-02 1.24841259e-02 1.51933019e+02] [-1.30922240e-02 9.99914226e-01 -3.67715019e-04 -5.74362790e+01] [-1.24782429e-02 -5.31099844e-04 -9.99922003e-01 -7.94076020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.540385723 meters 0.014758869900376849 Centerline is valid? [True, True] Translation: X:151.93, Y:-57.41, Z:-7.94 [[-9.96303401e-01 -8.49051075e-02 1.30635418e-02 1.51926652e+02] [-8.49049587e-02 9.96388893e-01 5.66997874e-04 -5.74082117e+01] [-1.30645090e-02 -5.44257570e-04 -9.99914508e-01 -7.94234037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57038572300002 meters 0.015030404151516302 Centerline is valid? [True, True] Translation: X:151.92, Y:-57.38, Z:-7.94 [[-9.87410615e-01 -1.57656704e-01 1.28312470e-02 1.51920303e+02] [-1.57650841e-01 9.87493818e-01 1.47343422e-03 -5.73774015e+01] [-1.29030739e-02 -5.67972290e-04 -9.99916591e-01 -7.94169416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60038572300002 meters 0.015254428403854318 Centerline is valid? [True, True] Translation: X:151.90, Y:-57.35, Z:-7.94 [[-9.73244791e-01 -2.29423794e-01 1.26213932e-02 1.51896779e+02] [-2.29412280e-01 9.73326450e-01 2.37219089e-03 -5.73511013e+01] [-1.28289729e-02 -5.86780171e-04 -9.99917533e-01 -7.94195419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63038572300002 meters 0.0158166938796675 Centerline is valid? [True, True] Translation: X:151.86, Y:-57.33, Z:-7.94 [[-9.53228518e-01 -3.02002646e-01 1.22390868e-02 1.51857456e+02] [-3.01986136e-01 9.53306881e-01 3.21947445e-03 -5.73283388e+01] [-1.26398955e-02 -6.27139675e-04 -9.99919917e-01 -7.94194079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66038572300002 meters 0.01575264257130612 Centerline is valid? [True, True] Translation: X:151.80, Y:-57.32, Z:-7.94 [[-9.27822308e-01 -3.72823519e-01 1.21815047e-02 1.51798537e+02] [-3.72800634e-01 9.27902036e-01 4.18319980e-03 -5.73174925e+01] [-1.28628383e-02 -6.60006588e-04 -9.99917052e-01 -7.94244856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69038572300002 meters 0.01909504050386982 Centerline is valid? [True, True] Translation: X:151.73, Y:-57.31, Z:-7.94 [[-8.96534357e-01 -4.42801965e-01 1.23518197e-02 1.51725365e+02] [-4.42770683e-01 8.96619161e-01 5.31070238e-03 -5.73118048e+01] [-1.34264677e-02 -7.07796514e-04 -9.99909610e-01 -7.93938008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.720385723 meters 0.017715902386528842 Centerline is valid? [True, True] Translation: X:151.64, Y:-57.32, Z:-7.94 [[-8.60012921e-01 -5.10147545e-01 1.12808661e-02 1.51638646e+02] [-5.10114558e-01 8.60086597e-01 5.84664071e-03 -5.73235740e+01] [-1.26851712e-02 -7.26347483e-04 -9.99919276e-01 -7.94248392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.750385723 meters 0.017773929357998288 Centerline is valid? [True, True] Translation: X:151.57, Y:-57.33, Z:-7.94 [[-8.17179271e-01 -5.76278164e-01 1.10234865e-02 1.51568704e+02] [-5.76238415e-01 8.17253243e-01 6.81371606e-03 -5.73329434e+01] [-1.29355759e-02 -7.84128889e-04 -9.99916024e-01 -7.94381747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.780385723 meters 0.018815568565528143 Centerline is valid? [True, True] Translation: X:151.46, Y:-57.37, Z:-7.94 [[-7.70841569e-01 -6.36940887e-01 1.04682014e-02 1.51462898e+02] [-6.36895920e-01 7.70912230e-01 7.61062245e-03 -5.73720060e+01] [-1.29175811e-02 -8.00570585e-04 -9.99916244e-01 -7.94430585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.810385723 meters 0.01908140377652153 Centerline is valid? [True, True] Translation: X:151.40, Y:-57.38, Z:-7.94 [[-7.18755499e-01 -6.95198817e-01 9.44126186e-03 1.51403963e+02] [-6.95153334e-01 7.18817040e-01 7.99404150e-03 -5.73820532e+01] [-1.23439881e-02 -8.17363375e-04 -9.99923476e-01 -7.94461744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.840385723 meters 0.019323866482021307 Centerline is valid? [True, True] Translation: X:151.31, Y:-57.43, Z:-7.95 [[-6.63731998e-01 -7.47923792e-01 8.35677992e-03 1.51308526e+02] [-7.47879158e-01 6.63784122e-01 8.21008101e-03 -5.74349471e+01] [-1.16876127e-02 -8.00568058e-04 -9.99931377e-01 -7.94513168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.870385723 meters 0.018830212770911195 Centerline is valid? [True, True] Translation: X:151.23, Y:-57.49, Z:-7.95 [[-6.05648592e-01 -7.95699454e-01 7.22231451e-03 1.51225754e+02] [-7.95657376e-01 6.05691166e-01 8.21894773e-03 -5.74892043e+01] [-1.09143043e-02 -7.68693687e-04 -9.99940142e-01 -7.94652330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.900385723 meters 0.018562595178521685 Centerline is valid? [True, True] Translation: X:151.14, Y:-57.56, Z:-7.95 [[-5.43869627e-01 -8.39143763e-01 6.60106702e-03 1.51139740e+02] [-8.39098117e-01 5.43909152e-01 8.78547696e-03 -5.75585339e+01] [-1.09626590e-02 -7.60788832e-04 -9.99939619e-01 -7.94758204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.930385723 meters 0.020530261741479126 Centerline is valid? [True, True] Translation: X:151.06, Y:-57.64, Z:-7.95 [[-4.79775848e-01 -8.77369088e-01 6.21437604e-03 1.51057116e+02] [-8.77314797e-01 4.79815498e-01 9.78948142e-03 -5.76356667e+01] [-1.15707423e-02 -7.55207308e-04 -9.99932772e-01 -7.94555930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.960385723 meters 0.01799180112251071 Centerline is valid? [True, True] Translation: X:150.98, Y:-57.72, Z:-7.95 [[-4.12776173e-01 -9.10819628e-01 4.84118483e-03 1.50979944e+02] [-9.10775606e-01 4.12803965e-01 8.98236133e-03 -5.77230046e+01] [-1.01797713e-02 -7.01528312e-04 -9.99947939e-01 -7.94823039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.990385723 meters 0.017889026801812938 Centerline is valid? [True, True] Translation: X:150.91, Y:-57.81, Z:-7.95 [[-3.43071710e-01 -9.39302180e-01 3.63538745e-03 1.50909449e+02] [-9.39267973e-01 3.43090345e-01 8.04302591e-03 -5.78130471e+01] [-8.80209811e-03 -6.55268349e-04 -9.99961046e-01 -7.94923811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.020385723 meters 0.017889026801812938 Centerline is valid? [True, True] Translation: X:150.84, Y:-57.92, Z:-7.95 [[-2.69804435e-01 -9.62910467e-01 2.99989666e-03 1.50843711e+02] [-9.62875068e-01 2.69820319e-01 8.28237967e-03 -5.79151372e+01] [-8.78462315e-03 -6.53902936e-04 -9.99961201e-01 -7.95012084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.050385723 meters 0.01788717362442859 Centerline is valid? [True, True] Translation: X:150.79, Y:-58.02, Z:-7.95 [[-1.95749216e-01 -9.80651311e-01 2.29153781e-03 1.50785880e+02] [-9.80617109e-01 1.95761586e-01 8.21507505e-03 -5.80225627e+01] [-8.50471919e-03 -6.39026678e-04 -9.99963630e-01 -7.95135389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.080385723 meters 0.017765599250480865 Centerline is valid? [True, True] Translation: X:150.74, Y:-58.13, Z:-7.95 [[-1.20836783e-01 -9.92671188e-01 1.54385842e-03 1.50737240e+02] [-9.92642167e-01 1.20845094e-01 7.61521098e-03 -5.81333566e+01] [-7.74596825e-03 -6.12301371e-04 -9.99969812e-01 -7.95265352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.110385723 meters 0.01734380410921655 Centerline is valid? [True, True] Translation: X:150.70, Y:-58.25, Z:-7.95 [[-4.59143473e-02 -9.98944956e-01 9.20446936e-04 1.50697683e+02] [-9.98919062e-01 4.59198067e-02 7.21659131e-03 -5.82476106e+01] [-7.25124423e-03 -5.88106909e-04 -9.99973536e-01 -7.95381034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.140385723 meters 0.017186655642181203 Centerline is valid? [True, True] Translation: X:150.67, Y:-58.36, Z:-7.95 [[ 2.99021241e-02 -9.99552769e-01 3.52274170e-04 1.50665364e+02] [-9.99520183e-01 -2.98982970e-02 8.09299191e-03 -5.83575940e+01] [-8.07884008e-03 -5.94102791e-04 -9.99967189e-01 -7.95326802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.170385723 meters 0.01694858566132756 Centerline is valid? [True, True] Translation: X:150.64, Y:-58.49, Z:-7.95 [[ 1.06666741e-01 -9.94294789e-01 -2.81350551e-04 1.50643028e+02] [-9.94261284e-01 -1.06665462e-01 8.18405495e-03 -5.84878551e+01] [-8.16737357e-03 -5.93230507e-04 -9.99966470e-01 -7.95347722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.200385723 meters 0.018446632292680308 Centerline is valid? [True, True] Translation: X:150.63, Y:-58.61, Z:-7.95 [[ 1.82075674e-01 -9.83283987e-01 -1.02476585e-03 1.50628447e+02] [-9.83244781e-01 -1.82077587e-01 8.80076772e-03 -5.86075223e+01] [-8.84024086e-03 -5.94810050e-04 -9.99960747e-01 -7.95162204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.230385723 meters 0.017283491350649403 Centerline is valid? [True, True] Translation: X:150.62, Y:-58.73, Z:-7.95 [[ 2.56748464e-01 -9.66476725e-01 -1.72212136e-03 1.50622380e+02] [-9.66437055e-01 -2.56753564e-01 8.77648550e-03 -5.87333033e+01] [-8.92442976e-03 -5.89027279e-04 -9.99960003e-01 -7.95299178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.260385723 meters 0.016579725901860885 Centerline is valid? [True, True] Translation: X:150.63, Y:-58.86, Z:-7.95 [[ 3.29617504e-01 -9.44111220e-01 -2.51125707e-03 1.50630719e+02] [-9.44068808e-01 -3.29626550e-01 8.96791217e-03 -5.88597236e+01] [-9.29448350e-03 -5.85181353e-04 -9.99956634e-01 -7.95426678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.290385723 meters 0.01653099758601546 Centerline is valid? [True, True] Translation: X:150.65, Y:-58.98, Z:-7.96 [[ 3.99676655e-01 -9.16651829e-01 -2.82749318e-03 1.50645315e+02] [-9.16618211e-01 -3.99686273e-01 7.87003827e-03 -5.89819239e+01] [-8.34419519e-03 -5.53738829e-04 -9.99965033e-01 -7.95551643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32038572300002 meters 0.017266755285923547 Centerline is valid? [True, True] Translation: X:150.67, Y:-59.11, Z:-7.96 [[ 4.66433934e-01 -8.84551489e-01 -2.83706063e-03 1.50672189e+02] [-8.84527886e-01 -4.66442279e-01 6.48217491e-03 -5.91094041e+01] [-7.05714249e-03 -5.14047110e-04 -9.99974966e-01 -7.95580199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35038572300002 meters 0.016188583560409732 Centerline is valid? [True, True] Translation: X:150.71, Y:-59.24, Z:-7.96 [[ 5.32529272e-01 -8.46406044e-01 -3.06335851e-03 1.50709146e+02] [-8.46386227e-01 -5.32537845e-01 5.81357154e-03 -5.92351044e+01] [-6.55199643e-03 -5.03112564e-04 -9.99978409e-01 -7.95821560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38038572300002 meters 0.01603349480916099 Centerline is valid? [True, True] Translation: X:150.74, Y:-59.34, Z:-7.96 [[ 5.95086121e-01 -8.03656412e-01 -2.97990803e-03 1.50742423e+02] [-8.03641972e-01 -5.95093383e-01 4.84217963e-03 -5.93368213e+01] [-5.66477226e-03 -4.86734734e-04 -9.99983837e-01 -7.95932390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41038572300002 meters 0.016163956054638863 Centerline is valid? [True, True] Translation: X:150.78, Y:-59.44, Z:-7.96 [[ 6.54108990e-01 -7.56393985e-01 -3.09324696e-03 1.50781634e+02] [-7.56381889e-01 -6.54116131e-01 4.30412884e-03 -5.94372768e+01] [-5.27895990e-03 -4.75693393e-04 -9.99985953e-01 -7.95989070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44038572300002 meters 0.016140205259111414 Centerline is valid? [True, True] Translation: X:150.83, Y:-59.54, Z:-7.96 [[ 7.09725243e-01 -7.04472334e-01 -2.96804238e-03 1.50834366e+02] [-7.04463272e-01 -7.09731296e-01 3.60366331e-03 -5.95387502e+01] [-4.64519367e-03 -4.66733973e-04 -9.99989102e-01 -7.96046990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.470385723 meters 0.016161006409571868 Centerline is valid? [True, True] Translation: X:150.89, Y:-59.64, Z:-7.96 [[ 7.61612768e-01 -6.48022913e-01 -3.50644155e-03 1.50890945e+02] [-6.48013087e-01 -7.61620696e-01 3.59924529e-03 -5.96351114e+01] [-5.00297187e-03 -4.69011160e-04 -9.99987375e-01 -7.96096930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.500385723 meters 0.01619159934114681 Centerline is valid? [True, True] Translation: X:150.89, Y:-59.64, Z:-7.96 [[ 8.10086633e-01 -5.86299937e-01 -3.46868336e-03 1.50887311e+02] [-5.86291938e-01 -8.10093918e-01 3.09955821e-03 -5.96431561e+01] [-4.62723008e-03 -4.77249579e-04 -9.99989180e-01 -7.96097235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.530385723 meters 0.016096518107189373 Centerline is valid? [True, True] Translation: X:150.88, Y:-59.65, Z:-7.96 [[ 8.53535589e-01 -5.21026004e-01 -2.98366778e-03 1.50881562e+02] [-5.21020818e-01 -8.53540674e-01 2.37152856e-03 -5.96548080e+01] [-3.78230986e-03 -4.69630993e-04 -9.99992737e-01 -7.96088904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.560385723 meters 0.01609452657725145 Centerline is valid? [True, True] Translation: X:150.88, Y:-59.66, Z:-7.96 [[ 8.91603839e-01 -4.52805583e-01 -3.11425913e-03 1.50877130e+02] [-4.52800927e-01 -8.91609155e-01 2.10594775e-03 -5.96645606e+01] [-3.73028685e-03 -4.67531674e-04 -9.99992933e-01 -7.96114324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.590385723 meters 0.016243245388799277 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.68, Z:-7.96 [[ 9.24559258e-01 -3.81020794e-01 -3.65142559e-03 1.50873516e+02] [-3.81015754e-01 -9.24566348e-01 2.01603801e-03 -5.96755135e+01] [-4.14413762e-03 -4.72695937e-04 -9.99991301e-01 -7.96083496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.620385723 meters 0.01633659389465346 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.69, Z:-7.96 [[ 9.51612958e-01 -3.07277971e-01 -3.60918073e-03 1.50872240e+02] [-3.07273847e-01 -9.51619686e-01 1.66019864e-03 -5.96855822e+01] [-3.94470990e-03 -4.70859689e-04 -9.99992109e-01 -7.96043505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.650385723 meters 0.016609665088974154 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.70, Z:-7.96 [[ 9.72869716e-01 -2.31304322e-01 -4.77773755e-03 1.50870746e+02] [-2.31299067e-01 -9.72881328e-01 1.63214273e-03 -5.96971108e+01] [-5.02569332e-03 -4.82775998e-04 -9.99987255e-01 -7.95868523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.680385723 meters 0.01638440997623027 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.71, Z:-7.96 [[ 9.88037451e-01 -1.54122001e-01 -5.32947132e-03 1.50870905e+02] [-1.54117075e-01 -9.88051704e-01 1.32540421e-03 -5.97109444e+01] [-5.47006717e-03 -4.88186469e-04 -9.99984920e-01 -7.95785479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.710385723 meters 0.016684872745210483 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.73, Z:-7.96 [[ 9.97138527e-01 -7.53595334e-02 -5.97487409e-03 1.50867605e+02] [-7.53551740e-02 -9.97156303e-01 9.51739317e-04 -5.97264267e+01] [-6.02960599e-03 -4.98778264e-04 -9.99981697e-01 -7.95687235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.740385723 meters 0.017251367818777445 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.74, Z:-7.96 [[ 9.99972036e-01 3.86729503e-03 -6.40091440e-03 1.50865654e+02] [ 3.87046336e-03 -9.99992393e-01 4.82667705e-04 -5.97377771e+01] [-6.39899909e-03 -5.07428713e-04 -9.99979397e-01 -7.95669582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.770385723 meters 0.016838442967133358 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.75, Z:-7.96 [[ 9.96518757e-01 8.31072853e-02 -6.59899641e-03 1.50865800e+02] [ 8.31088722e-02 -9.96540473e-01 -3.38620452e-05 -5.97493770e+01] [-6.57898119e-03 -5.14690986e-04 -9.99978226e-01 -7.95722273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.800385723 meters 0.017625250468713834 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.77, Z:-7.96 [[ 9.86617707e-01 1.62924560e-01 -6.41005966e-03 1.50866260e+02] [ 1.62924553e-01 -9.86638390e-01 -5.26787251e-04 -5.97658518e+01] [-6.41023752e-03 -5.24618475e-04 -9.99979317e-01 -7.95705078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.830385723 meters 0.017702046851046017 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.78, Z:-7.96 [[ 9.69962989e-01 2.43156037e-01 -6.85137091e-03 1.50869655e+02] [ 2.43153982e-01 -9.69987027e-01 -1.14405389e-03 -5.97814109e+01] [-6.92392451e-03 -5.56248190e-04 -9.99975875e-01 -7.95600388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.860385723 meters 0.018159557378373666 Centerline is valid? [True, True] Translation: X:150.87, Y:-59.80, Z:-7.96 [[ 9.47271369e-01 3.20359404e-01 -6.84154547e-03 1.50873761e+02] [ 3.20355350e-01 -9.47295902e-01 -1.71001596e-03 -5.97953432e+01] [-7.02878767e-03 -5.71876537e-04 -9.99975134e-01 -7.95549521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.890385723 meters 0.01923222132206634 Centerline is valid? [True, True] Translation: X:150.88, Y:-59.81, Z:-7.96 [[ 9.17650134e-01 3.97328791e-01 -6.93278846e-03 1.50878898e+02] [ 3.97322357e-01 -9.17676122e-01 -2.34097634e-03 -5.98095058e+01] [-7.29219172e-03 -6.06354600e-04 -9.99973228e-01 -7.95610976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.920385723 meters 0.022803471585990342 Centerline is valid? [True, True] Translation: X:150.89, Y:-59.82, Z:-7.96 [[ 8.82732316e-01 4.69824477e-01 -6.97265158e-03 1.50886053e+02] [ 4.69815320e-01 -8.82759631e-01 -2.99977747e-03 -5.98246449e+01] [-7.56454422e-03 -6.27858017e-04 -9.99971191e-01 -7.95623377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.950385723 meters 0.021442518837502575 Centerline is valid? [True, True] Translation: X:150.89, Y:-59.83, Z:-7.96 [[ 8.42586753e-01 5.38518802e-01 -6.71291210e-03 1.50889573e+02] [ 5.38507568e-01 -8.42613254e-01 -3.53601906e-03 -5.98282559e+01] [-7.56060146e-03 -6.35551151e-04 -9.99971216e-01 -7.95543215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.980385723 meters 0.021450201872378973 Centerline is valid? [True, True] Translation: X:150.90, Y:-59.84, Z:-7.96 [[ 7.96091472e-01 6.05143771e-01 -6.27571807e-03 1.50897254e+02] [ 6.05131210e-01 -7.96115942e-01 -3.95292911e-03 -5.98382579e+01] [-7.38828963e-03 -6.50739716e-04 -9.99972494e-01 -7.95705867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.010385723 meters 0.02594537700693991 Centerline is valid? [True, True] Translation: X:150.91, Y:-59.85, Z:-7.96 [[ 7.45554422e-01 6.66420606e-01 -5.67262628e-03 1.50908041e+02] [ 6.66407658e-01 -7.45575723e-01 -4.20412088e-03 -5.98505741e+01] [-7.03108523e-03 -6.45880679e-04 -9.99975073e-01 -7.95648450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.040385723 meters 0.0217233603481799 Centerline is valid? [True, True] Translation: X:150.91, Y:-59.85, Z:-7.96 [[ 6.89726928e-01 7.24045393e-01 -5.91893282e-03 1.50912683e+02] [ 7.24026912e-01 -6.89751983e-01 -5.21853169e-03 -5.98526977e+01] [-7.86104948e-03 -6.86104819e-04 -9.99968866e-01 -7.95546286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07038572300002 meters 0.024635365041030578 Centerline is valid? [True, True] Translation: X:150.92, Y:-59.86, Z:-7.95 [[ 6.30940229e-01 7.75806420e-01 -6.23097665e-03 1.50920846e+02] [ 7.75779400e-01 -6.30970582e-01 -6.51522828e-03 -5.98593343e+01] [-8.98611889e-03 -7.23143696e-04 -9.99959363e-01 -7.95227494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10038572300002 meters 0.020774634119684547 Centerline is valid? [True, True] Translation: X:150.93, Y:-59.86, Z:-7.96 [[ 5.66719378e-01 8.23887309e-01 -6.23282568e-03 1.50929560e+02] [ 8.23851682e-01 -5.66753128e-01 -7.70057103e-03 -5.98643820e+01] [-9.87687620e-03 -7.70861093e-04 -9.99950925e-01 -7.95581447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13038572300002 meters 0.02255128458495476 Centerline is valid? [True, True] Translation: X:150.94, Y:-59.87, Z:-7.95 [[ 5.01085816e-01 8.65377281e-01 -5.93019178e-03 1.50941329e+02] [ 8.65334138e-01 -5.01120293e-01 -8.67654710e-03 -5.98718829e+01] [-1.04802262e-02 -7.83902708e-04 -9.99944774e-01 -7.95324568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16038572300002 meters 0.02131143574794786 Centerline is valid? [True, True] Translation: X:150.95, Y:-59.88, Z:-7.96 [[ 4.31172932e-01 9.02254117e-01 -5.23564779e-03 1.50953781e+02] [ 9.02208335e-01 -4.31203995e-01 -9.12328972e-03 -5.98771644e+01] [-1.04891580e-02 -7.89929497e-04 -9.99944675e-01 -7.95526460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19038572300002 meters 0.024771482493225118 Centerline is valid? [True, True] Translation: X:150.97, Y:-59.88, Z:-7.95 [[ 3.59269957e-01 9.33222937e-01 -4.47749959e-03 1.50969978e+02] [ 9.33175481e-01 -3.59296998e-01 -9.44397233e-03 -5.98846061e+01] [-1.04220838e-02 -7.85357304e-04 -9.99945380e-01 -7.95459076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.220385723 meters 0.02280060559518249 Centerline is valid? [True, True] Translation: X:150.98, Y:-59.89, Z:-7.95 [[ 2.85775146e-01 9.58290265e-01 -3.51202719e-03 1.50975006e+02] [ 9.58246970e-01 -2.85795733e-01 -9.14021948e-03 -5.98853527e+01] [-9.76270573e-03 -7.53341855e-04 -9.99952060e-01 -7.95469076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.250385723 meters 0.026226375814088175 Centerline is valid? [True, True] Translation: X:150.99, Y:-59.89, Z:-7.95 [[ 2.10653480e-01 9.77556702e-01 -2.82949670e-03 1.50987270e+02] [ 9.77510163e-01 -2.10671146e-01 -9.56813896e-03 -5.98883499e+01] [-9.94949168e-03 -7.50300018e-04 -9.99950221e-01 -7.95331791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.280385723 meters 0.02106618788367536 Centerline is valid? [True, True] Translation: X:150.99, Y:-59.89, Z:-7.96 [[ 1.33579849e-01 9.91036064e-01 -1.98603838e-03 1.50990823e+02] [ 9.90993020e-01 -1.33592616e-01 -9.26536984e-03 -5.98884284e+01] [-9.44763572e-03 -7.30483459e-04 -9.99955103e-01 -7.95741611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.310385723 meters 0.021157372602009384 Centerline is valid? [True, True] Translation: X:151.00, Y:-59.89, Z:-7.96 [[ 5.64010759e-02 9.98407322e-01 -1.31858593e-03 1.51002299e+02] [ 9.98356272e-01 -5.64115623e-02 -1.01237149e-02 -5.98904567e+01] [-1.01819746e-02 -7.45430127e-04 -9.99947885e-01 -7.95684047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.340385723 meters 0.02110427500402485 Centerline is valid? [True, True] Translation: X:151.01, Y:-59.89, Z:-7.96 [[-2.02887903e-02 9.99794020e-01 -5.31540164e-04 1.51012244e+02] [ 9.99731550e-01 2.02815670e-02 -1.12020173e-02 -5.98917068e+01] [-1.11889294e-02 -7.58672852e-04 -9.99937114e-01 -7.95563023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.370385723 meters 0.02105779364840536 Centerline is valid? [True, True] Translation: X:151.02, Y:-59.89, Z:-7.96 [[-9.80993772e-02 9.95176556e-01 3.67518723e-04 1.51021059e+02] [ 9.95110543e-01 9.80971124e-02 -1.14875115e-02 -5.98907134e+01] [-1.14681547e-02 -7.61195968e-04 -9.99933949e-01 -7.95574532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.400385723 meters 0.02066007765425348 Centerline is valid? [True, True] Translation: X:151.03, Y:-59.89, Z:-7.96 [[-1.73825952e-01 9.84775672e-01 1.18947287e-03 1.51028078e+02] [ 9.84715718e-01 1.73828523e-01 -1.08902953e-02 -5.98894050e+01] [-1.09312622e-02 -7.21723319e-04 -9.99939992e-01 -7.95614407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.430385723 meters 0.020261172978320065 Centerline is valid? [True, True] Translation: X:151.04, Y:-59.89, Z:-7.96 [[-2.49386662e-01 9.68401874e-01 2.02573867e-03 1.51035165e+02] [ 9.68343030e-01 2.49393889e-01 -1.06988196e-02 -5.98877448e+01] [-1.08659638e-02 -7.06532989e-04 -9.99940714e-01 -7.95706748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.460385723 meters 0.02229871861146547 Centerline is valid? [True, True] Translation: X:151.04, Y:-59.89, Z:-7.95 [[-3.21936424e-01 9.46757072e-01 2.82580619e-03 1.51041706e+02] [ 9.46700184e-01 3.21948122e-01 -1.04003562e-02 -5.98855110e+01] [-1.07563738e-02 -6.73062240e-04 -9.99941922e-01 -7.95368128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.490385723 meters 0.018854046252714942 Centerline is valid? [True, True] Translation: X:151.05, Y:-59.88, Z:-7.96 [[-3.93485103e-01 9.19324203e-01 3.53314192e-03 1.51049470e+02] [ 9.19271151e-01 3.93500434e-01 -9.89746379e-03 -5.98828266e+01] [-1.04892709e-02 -6.46589119e-04 -9.99944777e-01 -7.95806114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.520385723 meters 0.0182552480740308 Centerline is valid? [True, True] Translation: X:151.06, Y:-59.88, Z:-7.96 [[-4.61496960e-01 8.87130411e-01 4.49324349e-03 1.51056159e+02] [ 8.87074453e-01 4.61518414e-01 -9.98340003e-03 -5.98796755e+01] [-1.09302924e-02 -6.21467254e-04 -9.99940069e-01 -7.95820205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.550385723 meters 0.017800595870099998 Centerline is valid? [True, True] Translation: X:151.06, Y:-59.88, Z:-7.96 [[-5.27588368e-01 8.49483440e-01 5.32915687e-03 1.51063383e+02] [ 8.49428131e-01 5.27614944e-01 -9.71193636e-03 -5.98766699e+01] [-1.10618719e-02 -5.97168897e-04 -9.99938637e-01 -7.95846500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.580385723 meters 0.016715094858218267 Centerline is valid? [True, True] Translation: X:151.07, Y:-59.87, Z:-7.96 [[-5.88482288e-01 8.08481373e-01 6.81663824e-03 1.51068966e+02] [ 8.08415797e-01 5.88521502e-01 -1.03121890e-02 -5.98728484e+01] [-1.23489509e-02 -5.57862536e-04 -9.99923593e-01 -7.95926374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.610385723 meters 0.016577962506574975 Centerline is valid? [True, True] Translation: X:151.08, Y:-59.87, Z:-7.96 [[-6.47823572e-01 7.61751587e-01 7.69023924e-03 1.51077748e+02] [ 7.61688097e-01 6.47869004e-01 -9.84863738e-03 -5.98675425e+01] [-1.24844828e-02 -5.22615744e-04 -9.99921929e-01 -7.95901831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.640385723 meters 0.01625491987458181 Centerline is valid? [True, True] Translation: X:151.08, Y:-59.86, Z:-7.96 [[-7.03616404e-01 7.10528426e-01 8.56221933e-03 1.51083452e+02] [ 7.10467187e-01 7.03668328e-01 -9.34131299e-03 -5.98631643e+01] [-1.26622310e-02 -4.89525171e-04 -9.99919711e-01 -7.95954233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.670385723 meters 0.0159498134936283 Centerline is valid? [True, True] Translation: X:151.09, Y:-59.86, Z:-7.96 [[-7.53554829e-01 6.57317765e-01 9.40612302e-03 1.51086804e+02] [ 6.57259504e-01 7.53613415e-01 -8.76155686e-03 -5.98612876e+01] [-1.28477075e-02 -4.20049736e-04 -9.99917377e-01 -7.96063684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.700385723 meters 0.016002936170886814 Centerline is valid? [True, True] Translation: X:151.10, Y:-59.84, Z:-7.96 [[-7.94870061e-01 6.06703709e-01 9.60187444e-03 1.51102537e+02] [ 6.06654653e-01 7.94927991e-01 -7.72141000e-03 -5.98435583e+01] [-1.23174068e-02 -3.12495824e-04 -9.99924089e-01 -7.96141718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.730385723 meters 0.016183346010185253 Centerline is valid? [True, True] Translation: X:151.11, Y:-59.81, Z:-7.96 [[-8.34609265e-01 5.50757752e-01 9.65784013e-03 1.51106988e+02] [ 5.50716857e-01 8.34665092e-01 -6.71772275e-03 -5.98135901e+01] [-1.17608999e-02 -2.87938279e-04 -9.99930797e-01 -7.96256709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.760385723 meters 0.01643189059135043 Centerline is valid? [True, True] Translation: X:151.13, Y:-59.80, Z:-7.96 [[-8.69764649e-01 4.93371615e-01 9.69047263e-03 1.51134024e+02] [ 4.93337777e-01 8.69818594e-01 -5.78369281e-03 -5.97997113e+01] [-1.12824631e-02 -2.49775316e-04 -9.99936320e-01 -7.96321691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.790385723 meters 0.016672223916023826 Centerline is valid? [True, True] Translation: X:151.15, Y:-59.78, Z:-7.96 [[-9.02082559e-01 4.31451053e-01 9.85117742e-03 1.51150846e+02] [ 4.31422411e-01 9.02136315e-01 -4.97713792e-03 -5.97771731e+01] [-1.10344963e-02 -2.39770603e-04 -9.99939089e-01 -7.96378234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82038572300002 meters 0.016618796104762412 Centerline is valid? [True, True] Translation: X:151.16, Y:-59.75, Z:-7.96 [[-9.30184293e-01 3.66923596e-01 1.11469782e-02 1.51159739e+02] [ 3.66894376e-01 9.30251055e-01 -4.63594895e-03 -5.97506147e+01] [-1.20705273e-02 -2.22523276e-04 -9.99927124e-01 -7.96446987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85038572300002 meters 0.016620612828820575 Centerline is valid? [True, True] Translation: X:151.17, Y:-59.72, Z:-7.96 [[-9.53960298e-01 2.99651475e-01 1.29901283e-02 1.51171152e+02] [ 2.99620686e-01 9.54048714e-01 -4.30060487e-03 -5.97240113e+01] [-1.36818978e-02 -2.10495157e-04 -9.99906376e-01 -7.96464412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88038572300002 meters 0.016607673486177567 Centerline is valid? [True, True] Translation: X:151.18, Y:-59.69, Z:-7.96 [[-9.73143628e-01 2.29768957e-01 1.40608001e-02 1.51176103e+02] [ 2.29741660e-01 9.73245178e-01 -3.54865466e-03 -5.96943682e+01] [-1.44999766e-02 -2.22999109e-04 -9.99894845e-01 -7.96429020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91038572300002 meters 0.017365489789134513 Centerline is valid? [True, True] Translation: X:151.18, Y:-59.67, Z:-7.96 [[-9.87008895e-01 1.59993907e-01 1.46761765e-02 1.51178634e+02] [ 1.59972894e-01 9.87117977e-01 -2.60237845e-03 -5.96653778e+01] [-1.49034823e-02 -2.20780264e-04 -9.99888913e-01 -7.96266183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94038572300002 meters 0.017365489789134513 Centerline is valid? [True, True] Translation: X:151.18, Y:-59.64, Z:-7.96 [[-9.95875631e-01 8.95116815e-02 1.48116756e-02 1.51179197e+02] [ 8.94984930e-02 9.95985748e-01 -1.55220911e-03 -5.96363003e+01] [-1.48911587e-02 -2.20184582e-04 -9.99889096e-01 -7.96280944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.970385723 meters 0.016440487933994614 Centerline is valid? [True, True] Translation: X:151.17, Y:-59.61, Z:-7.96 [[-9.99746119e-01 1.67737568e-02 1.50445688e-02 1.51171481e+02] [ 1.67681776e-02 9.99859281e-01 -4.96923158e-04 -5.96060233e+01] [-1.50507870e-02 -2.44526997e-04 -9.99886701e-01 -7.96418619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.000385723 meters 0.016387493016162102 Centerline is valid? [True, True] Translation: X:151.17, Y:-59.58, Z:-7.96 [[-9.98260740e-01 -5.68821933e-02 1.54890592e-02 1.51165884e+02] [-5.68796872e-02 9.98380858e-01 6.02636327e-04 -5.95761182e+01] [-1.54982595e-02 -2.79424656e-04 -9.99879856e-01 -7.96426067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.030385723 meters 0.0163209911376544 Centerline is valid? [True, True] Translation: X:151.13, Y:-58.87, Z:-8.88 [[-9.99979231e-01 -3.20969518e-03 5.58885484e-03 1.51131266e+02] [ 3.20768090e-03 -9.99994787e-01 -3.69336211e-04 -5.88721053e+01] [ 5.59001116e-03 -3.51401278e-04 9.99984314e-01 -8.88111323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.060385723 meters 0.016312755732904433 Centerline is valid? [True, True] Translation: X:151.07, Y:-59.58, Z:-7.96 [[-9.97672767e-01 -6.64371117e-02 1.53349417e-02 1.51066742e+02] [-6.64345738e-02 9.97790555e-01 6.75414577e-04 -5.95790397e+01] [-1.53459326e-02 -3.44927585e-04 -9.99882185e-01 -7.96481652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.090385723 meters 0.016314929032324274 Centerline is valid? [True, True] Translation: X:151.06, Y:-59.55, Z:-7.97 [[-9.90248402e-01 -1.38504683e-01 1.49851848e-02 1.51057388e+02] [-1.38494186e-01 9.90361716e-01 1.74104095e-03 -5.95501514e+01] [-1.50818956e-02 -3.51297950e-04 -9.99886200e-01 -7.96537499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.120385723 meters 0.016305280573832823 Centerline is valid? [True, True] Translation: X:151.03, Y:-59.53, Z:-7.97 [[-9.77371474e-01 -2.11045866e-01 1.43053947e-02 1.51028180e+02] [-2.11028984e-01 9.77476084e-01 2.69676297e-03 -5.95252347e+01] [-1.45523219e-02 -3.83113708e-04 -9.99894036e-01 -7.96629805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.150385723 meters 0.01635991286451461 Centerline is valid? [True, True] Translation: X:151.00, Y:-59.50, Z:-7.97 [[-9.59404359e-01 -2.81708125e-01 1.35575886e-02 1.50995747e+02] [-2.81685797e-01 9.59500066e-01 3.56875924e-03 -5.95040308e+01] [-1.40138556e-02 -3.95096975e-04 -9.99901723e-01 -7.96749252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.180385723 meters 0.01648759649696847 Centerline is valid? [True, True] Translation: X:150.94, Y:-59.49, Z:-7.97 [[-9.35309521e-01 -3.53594221e-01 1.29316464e-02 1.50941061e+02] [-3.53566750e-01 9.35398814e-01 4.42848704e-03 -5.94907900e+01] [-1.36621341e-02 -4.30194094e-04 -9.99906576e-01 -7.96872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.210385723 meters 0.016489989672770412 Centerline is valid? [True, True] Translation: X:150.88, Y:-59.49, Z:-7.97 [[-9.06166851e-01 -4.22741022e-01 1.23152821e-02 1.50875850e+02] [-4.22708626e-01 9.06250423e-01 5.25241010e-03 -5.94853499e+01] [-1.33811388e-02 -4.46216048e-04 -9.99910369e-01 -7.96903472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.240385723 meters 0.016917752225054608 Centerline is valid? [True, True] Translation: X:150.80, Y:-59.49, Z:-7.97 [[-8.70397595e-01 -4.92219103e-01 1.13305556e-02 1.50800055e+02] [-4.92184711e-01 8.70471201e-01 5.83943013e-03 -5.94874589e+01] [-1.27372014e-02 -4.94100288e-04 -9.99918756e-01 -7.96923046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.270385723 meters 0.01781105581366573 Centerline is valid? [True, True] Translation: X:150.72, Y:-59.50, Z:-7.97 [[-8.30524923e-01 -5.56870854e-01 1.10997589e-02 1.50719413e+02] [-5.56829342e-01 8.30598931e-01 6.81899527e-03 -5.95011116e+01] [-1.30167476e-02 -5.17325929e-04 -9.99915145e-01 -7.96843092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.300385723 meters 0.01827071261801192 Centerline is valid? [True, True] Translation: X:150.63, Y:-59.53, Z:-7.97 [[-7.83417198e-01 -6.21394731e-01 1.12286700e-02 1.50629675e+02] [-6.21341685e-01 7.83497435e-01 8.14128322e-03 -5.95259072e+01] [-1.38565847e-02 -5.98819471e-04 -9.99903814e-01 -7.96916867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.330385723 meters 0.018350094931853547 Centerline is valid? [True, True] Translation: X:150.54, Y:-59.56, Z:-7.97 [[-7.33169235e-01 -6.79963079e-01 1.06340842e-02 1.50542712e+02] [-6.79903742e-01 7.33246082e-01 9.00472977e-03 -5.95607393e+01] [-1.39202844e-02 -6.28162812e-04 -9.99902911e-01 -7.97034524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.360385723 meters 0.019239625454011148 Centerline is valid? [True, True] Translation: X:150.45, Y:-59.61, Z:-7.97 [[-6.77313323e-01 -7.35637042e-01 9.20890703e-03 1.50451407e+02] [-7.35581813e-01 6.77375609e-01 9.03773212e-03 -5.96056450e+01] [-1.28863795e-02 -6.52528153e-04 -9.99916754e-01 -7.97204857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.390385723 meters 0.01975168718700057 Centerline is valid? [True, True] Translation: X:150.36, Y:-59.66, Z:-7.97 [[-6.18589904e-01 -7.85674122e-01 7.91871602e-03 1.50361565e+02] [-7.85622756e-01 6.18640245e-01 9.00732744e-03 -5.96618036e+01] [-1.19756605e-02 -6.49281696e-04 -9.99928078e-01 -7.97331858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.420385723 meters 0.020663526143028223 Centerline is valid? [True, True] Translation: X:150.27, Y:-59.73, Z:-7.97 [[-5.54877978e-01 -8.31902562e-01 6.96830161e-03 1.50274807e+02] [-8.31851549e-01 5.54921326e-01 9.23705737e-03 -5.97265310e+01] [-1.15511909e-02 -6.71152766e-04 -9.99933058e-01 -7.97404212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.450385723 meters 0.019589541563956092 Centerline is valid? [True, True] Translation: X:150.19, Y:-59.80, Z:-7.98 [[-4.89116716e-01 -8.72196550e-01 6.16572645e-03 1.50194683e+02] [-8.72143883e-01 4.89155107e-01 9.60878333e-03 -5.98028377e+01] [-1.13967443e-02 -6.77584065e-04 -9.99934825e-01 -7.97533112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.480385723 meters 0.02019432626954402 Centerline is valid? [True, True] Translation: X:150.12, Y:-59.89, Z:-7.98 [[-4.19826297e-01 -9.07586607e-01 5.69489694e-03 1.50117605e+02] [-9.07524821e-01 4.19864316e-01 1.06139462e-02 -5.98852575e+01] [-1.20241594e-02 -7.12246617e-04 -9.99927454e-01 -7.97536249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.510385723 meters 0.021619540356796738 Centerline is valid? [True, True] Translation: X:150.05, Y:-59.98, Z:-7.97 [[-3.48991060e-01 -9.37111699e-01 5.18684906e-03 1.50045670e+02] [-9.37037617e-01 3.49028818e-01 1.18062651e-02 -5.99758061e+01] [-1.28741489e-02 -7.39991717e-04 -9.99916851e-01 -7.97394288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.540385723 meters 0.020844000068277725 Centerline is valid? [True, True] Translation: X:149.98, Y:-60.08, Z:-7.98 [[-2.74999495e-01 -9.61435840e-01 4.05017488e-03 1.49979155e+02] [-9.61367459e-01 2.75028340e-01 1.14900660e-02 -6.00756247e+01] [-1.21608742e-02 -7.33943972e-04 -9.99925784e-01 -7.97614507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57038572300002 meters 0.022785007788435514 Centerline is valid? [True, True] Translation: X:149.92, Y:-60.18, Z:-7.98 [[-1.99105814e-01 -9.79972884e-01 3.16564168e-03 1.49918295e+02] [-9.79902140e-01 1.99129555e-01 1.17990293e-02 -6.01801911e+01] [-1.21931016e-02 -7.52763720e-04 -9.99925378e-01 -7.97584663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60038572300002 meters 0.022895330394204765 Centerline is valid? [True, True] Translation: X:149.87, Y:-60.29, Z:-7.98 [[-1.22248258e-01 -9.92496758e-01 2.35559147e-03 1.49871296e+02] [-9.92416168e-01 1.22268408e-01 1.26722169e-02 -6.02941828e+01] [-1.28651486e-02 -7.88570627e-04 -9.99916930e-01 -7.97587162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63038572300002 meters 0.020733161180194366 Centerline is valid? [True, True] Translation: X:149.83, Y:-60.40, Z:-7.98 [[-4.53182225e-02 -9.98971696e-01 1.34510838e-03 1.49834735e+02] [-9.98894326e-01 4.53314861e-02 1.24572418e-02 -6.04047351e+01] [-1.25054077e-02 -7.79081076e-04 -9.99921501e-01 -7.97860060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66038572300002 meters 0.02056209302281207 Centerline is valid? [True, True] Translation: X:149.81, Y:-60.53, Z:-7.98 [[ 3.01464920e-02 -9.99545417e-01 3.84031257e-04 1.49805501e+02] [-9.99457551e-01 -3.01387411e-02 1.32763269e-02 -6.05294169e+01] [-1.32587175e-02 -7.84057623e-04 -9.99911792e-01 -7.97908566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69038572300002 meters 0.020867814309116637 Centerline is valid? [True, True] Translation: X:149.78, Y:-60.64, Z:-7.98 [[ 1.06026447e-01 -9.94363086e-01 -6.67078349e-04 1.49782816e+02] [-9.94270008e-01 -1.06025665e-01 1.36275583e-02 -6.06435757e+01] [-1.36214683e-02 -7.81625596e-04 -9.99906918e-01 -7.97922603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.720385723 meters 0.020176833450443042 Centerline is valid? [True, True] Translation: X:149.77, Y:-60.77, Z:-7.98 [[ 1.79960731e-01 -9.83672270e-01 -1.73232368e-03 1.49774328e+02] [-9.83577922e-01 -1.79967499e-01 1.36444315e-02 -6.07672531e+01] [-1.37334109e-02 -7.51586550e-04 -9.99905410e-01 -7.98035090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.750385723 meters 0.02044107681245872 Centerline is valid? [True, True] Translation: X:149.77, Y:-60.90, Z:-7.98 [[ 2.54131967e-01 -9.67165499e-01 -2.80021867e-03 1.49772319e+02] [-9.67070683e-01 -2.54146320e-01 1.35625562e-02 -6.08950021e+01] [-1.38289017e-02 -7.38669690e-04 -9.99904103e-01 -7.98127136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.780385723 meters 0.019535272004995864 Centerline is valid? [True, True] Translation: X:149.78, Y:-61.01, Z:-7.98 [[ 3.25803073e-01 -9.45430580e-01 -3.65737418e-03 1.49781809e+02] [-9.45345057e-01 -3.25822867e-01 1.27351091e-02 -6.10091951e+01] [-1.32318177e-02 -6.91657063e-04 -9.99912216e-01 -7.98288022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.810385723 meters 0.018747954687036886 Centerline is valid? [True, True] Translation: X:149.80, Y:-61.13, Z:-7.98 [[ 3.96471554e-01 -9.18036667e-01 -4.35707505e-03 1.49799183e+02] [-9.17961802e-01 -3.96494952e-01 1.17423629e-02 -6.11300202e+01] [-1.25074780e-02 -6.55884404e-04 -9.99921563e-01 -7.98395712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.840385723 meters 0.01907643548147385 Centerline is valid? [True, True] Translation: X:149.83, Y:-61.25, Z:-7.98 [[ 4.64122663e-01 -8.85758144e-01 -4.76074876e-03 1.49827258e+02] [-8.85697459e-01 -4.64146686e-01 1.03858064e-02 -6.12525361e+01] [-1.14089983e-02 -6.03705035e-04 -9.99934733e-01 -7.98453786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.870385723 meters 0.01832774425753082 Centerline is valid? [True, True] Translation: X:149.86, Y:-61.36, Z:-7.99 [[ 5.29930349e-01 -8.48024409e-01 -5.33175197e-03 1.49859029e+02] [-8.47969963e-01 -5.29956852e-01 9.62689724e-03 -6.13628883e+01] [-1.09894423e-02 -5.80419494e-04 -9.99939446e-01 -7.98566564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.900385723 meters 0.018195735558840444 Centerline is valid? [True, True] Translation: X:149.90, Y:-61.47, Z:-7.99 [[ 5.91933548e-01 -8.05964570e-01 -5.98220864e-03 1.49901663e+02] [-8.05913588e-01 -5.91963516e-01 9.08209798e-03 -6.14717288e+01] [-1.08610985e-02 -5.54855248e-04 -9.99940863e-01 -7.98658571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.930385723 meters 0.018140797085886975 Centerline is valid? [True, True] Translation: X:149.95, Y:-61.58, Z:-7.99 [[ 6.51264380e-01 -7.58821589e-01 -6.67105638e-03 1.49951779e+02] [-7.58772979e-01 -6.51298319e-01 8.60614729e-03 -6.15804881e+01] [-1.08753782e-02 -5.43059861e-04 -9.99940714e-01 -7.98687571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.960385723 meters 0.017965882787889475 Centerline is valid? [True, True] Translation: X:150.01, Y:-61.68, Z:-7.99 [[ 7.06167721e-01 -7.08003277e-01 -7.64919053e-03 1.50005887e+02] [-7.07953421e-01 -7.06208949e-01 8.41866727e-03 -6.16767010e+01] [-1.13623708e-02 -5.29720483e-04 -9.99935306e-01 -7.98739526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.990385723 meters 0.019338454785319033 Centerline is valid? [True, True] Translation: X:150.07, Y:-61.77, Z:-7.99 [[ 7.57147697e-01 -6.53178954e-01 -9.19887710e-03 1.50072513e+02] [-6.53122117e-01 -7.57203391e-01 8.63277121e-03 -6.17748359e+01] [-1.26041654e-02 -5.28292750e-04 -9.99920425e-01 -7.98568686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.020385723 meters 0.01727754174934129 Centerline is valid? [True, True] Translation: X:150.07, Y:-61.78, Z:-7.99 [[ 8.04792556e-01 -5.93475646e-01 -9.77752266e-03 1.50068654e+02] [-5.93424013e-01 -8.04851785e-01 7.84506145e-03 -6.17807060e+01] [-1.25253095e-02 -5.11430317e-04 -9.99921424e-01 -7.98646391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.050385723 meters 0.01709742936625317 Centerline is valid? [True, True] Translation: X:150.06, Y:-61.79, Z:-7.99 [[ 8.48112068e-01 -5.29703474e-01 -1.09612951e-02 1.50063939e+02] [-5.29651440e-01 -8.48182748e-01 7.44163919e-03 -6.17883859e+01] [-1.32390436e-02 -5.05678249e-04 -9.99912232e-01 -7.98643208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.080385723 meters 0.017936015368776134 Centerline is valid? [True, True] Translation: X:150.06, Y:-61.79, Z:-7.98 [[ 8.86525251e-01 -4.62506343e-01 -1.26831680e-02 1.50058060e+02] [-4.62450727e-01 -8.86615827e-01 7.19032460e-03 -6.17942447e+01] [-1.45706682e-02 -5.09064048e-04 -9.99893713e-01 -7.98431108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.110385723 meters 0.016991383164598785 Centerline is valid? [True, True] Translation: X:150.05, Y:-61.80, Z:-7.99 [[ 9.19919998e-01 -3.91879528e-01 -1.33278807e-02 1.50052574e+02] [-3.91830352e-01 -9.20016401e-01 6.22871965e-03 -6.18008303e+01] [-1.47027765e-02 -5.07655586e-04 -9.99891779e-01 -7.98596779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.140385723 meters 0.016979411751434848 Centerline is valid? [True, True] Translation: X:150.05, Y:-61.81, Z:-7.99 [[ 9.47514681e-01 -3.19424766e-01 -1.35553539e-02 1.50046640e+02] [-3.19384589e-01 -9.47611511e-01 5.09014824e-03 -6.18070712e+01] [-1.44711288e-02 -4.93619067e-04 -9.99895166e-01 -7.98556539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.170385723 meters 0.01687752728921541 Centerline is valid? [True, True] Translation: X:150.04, Y:-61.82, Z:-7.99 [[ 9.69497057e-01 -2.44733683e-01 -1.34491948e-02 1.50042055e+02] [-2.44703204e-01 -9.69590218e-01 3.89233844e-03 -6.18153666e+01] [-1.39927941e-02 -4.82549594e-04 -9.99901980e-01 -7.98632448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.200385723 meters 0.016612303150797418 Centerline is valid? [True, True] Translation: X:150.03, Y:-61.82, Z:-7.99 [[ 9.85491363e-01 -1.69276163e-01 -1.23432021e-02 1.50034789e+02] [-1.69257120e-01 -9.85568555e-01 2.57897130e-03 -6.18237006e+01] [-1.26016302e-02 -4.52379100e-04 -9.99920494e-01 -7.98793495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.230385723 meters 0.016669116559423686 Centerline is valid? [True, True] Translation: X:150.03, Y:-61.83, Z:-7.99 [[ 9.95665006e-01 -9.22451259e-02 -1.19177806e-02 1.50027610e+02] [-9.22332449e-02 -9.95736233e-01 1.54389933e-03 -6.18335969e+01] [-1.20093832e-02 -4.37990957e-04 -9.99927789e-01 -7.98932425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.260385723 meters 0.016549334175726287 Centerline is valid? [True, True] Translation: X:150.02, Y:-61.84, Z:-7.99 [[ 9.99823957e-01 -1.48139097e-02 -1.15153794e-02 1.50019680e+02] [-1.48080453e-02 -9.99890178e-01 5.94366700e-04 -6.18435821e+01] [-1.15229196e-02 -4.23741807e-04 -9.99933519e-01 -7.99073074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.290385723 meters 0.0165562952815718 Centerline is valid? [True, True] Translation: X:150.01, Y:-61.85, Z:-7.99 [[ 9.97917132e-01 6.34407464e-02 -1.16905291e-02 1.50013555e+02] [ 6.34413541e-02 -9.97985517e-01 -3.19229009e-04 -6.18546391e+01] [-1.16872309e-02 -4.23098901e-04 -9.99931612e-01 -7.99064533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32038572300002 meters 0.016554134327823294 Centerline is valid? [True, True] Translation: X:150.01, Y:-61.87, Z:-7.99 [[ 9.89795796e-01 1.42005022e-01 -1.17837558e-02 1.50007129e+02] [ 1.42000122e-01 -9.89865844e-01 -1.25570127e-03 -6.18671530e+01] [-1.18426533e-02 -4.30406918e-04 -9.99929781e-01 -7.99035580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35038572300002 meters 0.016620422070717067 Centerline is valid? [True, True] Translation: X:150.00, Y:-61.88, Z:-7.99 [[ 9.75468088e-01 2.19817685e-01 -1.19245734e-02 1.50002869e+02] [ 2.19806766e-01 -9.75540871e-01 -2.23491667e-03 -6.18782065e+01] [-1.21241829e-02 -4.41012014e-04 -9.99926402e-01 -7.98988758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38038572300002 meters 0.01682135117312908 Centerline is valid? [True, True] Translation: X:150.00, Y:-61.89, Z:-7.99 [[ 9.54820433e-01 2.96919289e-01 -1.25250518e-02 1.49998967e+02] [ 2.96900121e-01 -9.54902465e-01 -3.40585380e-03 -6.18906380e+01] [-1.29714665e-02 -4.66710595e-04 -9.99915758e-01 -7.98913910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41038572300002 meters 0.016869862829034417 Centerline is valid? [True, True] Translation: X:150.00, Y:-61.90, Z:-7.99 [[ 9.28417153e-01 3.71309031e-01 -1.30840642e-02 1.49996096e+02] [ 3.71279455e-01 -9.28509219e-01 -4.71132643e-03 -6.19002672e+01] [-1.38980323e-02 -4.83767975e-04 -9.99903301e-01 -7.98865567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.440385723 meters 0.01699485087509715 Centerline is valid? [True, True] Translation: X:149.99, Y:-61.91, Z:-7.99 [[ 8.95882574e-01 4.44085877e-01 -1.34961758e-02 1.49993176e+02] [ 4.44044054e-01 -8.95984079e-01 -6.11620733e-03 -6.19110767e+01] [-1.48084799e-02 -5.13493032e-04 -9.99890217e-01 -7.98815321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.470385723 meters 0.019000983118670604 Centerline is valid? [True, True] Translation: X:149.99, Y:-61.92, Z:-7.99 [[ 8.58336684e-01 5.12899579e-01 -1.38620952e-02 1.49991741e+02] [ 5.12842497e-01 -8.58448452e-01 -7.66994512e-03 -6.19193044e+01] [-1.58338058e-02 -5.25676235e-04 -9.99874499e-01 -7.98560723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.500385723 meters 0.01723990536385548 Centerline is valid? [True, True] Translation: X:149.99, Y:-61.93, Z:-7.99 [[ 8.14952345e-01 5.79399603e-01 -1.21973540e-02 1.49990048e+02] [ 5.79344236e-01 -8.15043450e-01 -8.02693252e-03 -6.19274588e+01] [-1.45921750e-02 -5.24899229e-04 -9.99893391e-01 -7.98885825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.530385723 meters 0.017113747140331433 Centerline is valid? [True, True] Translation: X:149.99, Y:-61.93, Z:-7.99 [[ 7.67186156e-01 6.41328077e-01 -1.11219842e-02 1.49986495e+02] [ 6.41270282e-01 -7.67266598e-01 -8.62515857e-03 -6.19343203e+01] [-1.40650834e-02 -5.15095718e-04 -9.99900949e-01 -7.98937763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.560385723 meters 0.01694488933964081 Centerline is valid? [True, True] Translation: X:149.99, Y:-61.94, Z:-7.99 [[ 7.14968440e-01 6.99089832e-01 -9.67145616e-03 1.49985000e+02] [ 6.99035067e-01 -7.15033679e-01 -8.76427476e-03 -6.19420150e+01] [-1.30424322e-02 -4.94507155e-04 -9.99914822e-01 -7.99058612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.590385723 meters 0.016993028058913298 Centerline is valid? [True, True] Translation: X:149.98, Y:-61.95, Z:-7.99 [[ 6.58232644e-01 7.52763945e-01 -8.73090141e-03 1.49983410e+02] [ 7.52707323e-01 -6.58290366e-01 -9.24550118e-03 -6.19497141e+01] [-1.27071482e-02 -4.86122741e-04 -9.99919143e-01 -7.99103665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.620385723 meters 0.016809308718100754 Centerline is valid? [True, True] Translation: X:149.98, Y:-61.96, Z:-7.99 [[ 5.97758037e-01 8.01637575e-01 -7.90745199e-03 1.49980156e+02] [ 8.01577724e-01 -5.97810147e-01 -9.80719644e-03 -6.19567578e+01] [-1.25889722e-02 -4.76106873e-04 -9.99920642e-01 -7.99151062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.650385723 meters 0.016847388104168345 Centerline is valid? [True, True] Translation: X:149.98, Y:-61.96, Z:-7.99 [[ 5.33129525e-01 8.46001663e-01 -7.35499518e-03 1.49977815e+02] [ 8.45933261e-01 -5.33180040e-01 -1.07685982e-02 -6.19631997e+01] [-1.30317886e-02 -4.80777438e-04 -9.99914967e-01 -7.99121950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.680385723 meters 0.017152196961163425 Centerline is valid? [True, True] Translation: X:149.98, Y:-61.97, Z:-7.99 [[ 4.64131401e-01 8.85742000e-01 -6.56899393e-03 1.49976115e+02] [ 8.85667979e-01 -4.64177618e-01 -1.14616540e-02 -6.19701928e+01] [-1.32012483e-02 -4.98234025e-04 -9.99912736e-01 -7.99033942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.710385723 meters 0.017357032565691426 Centerline is valid? [True, True] Translation: X:149.97, Y:-61.98, Z:-7.99 [[ 3.92363817e-01 9.19793279e-01 -5.56397910e-03 1.49974490e+02] [ 9.19718410e-01 -3.92402937e-01 -1.17465880e-02 -6.19763785e+01] [-1.29877544e-02 -5.08357898e-04 -9.99915526e-01 -7.98994447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.740385723 meters 0.01805858798334623 Centerline is valid? [True, True] Translation: X:149.98, Y:-61.98, Z:-7.99 [[ 3.16346400e-01 9.48632449e-01 -4.62952942e-03 1.49975096e+02] [ 9.48554706e-01 -3.16379803e-01 -1.21568716e-02 -6.19835669e+01] [-1.29970925e-02 -5.45579342e-04 -9.99915385e-01 -7.98937887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.770385723 meters 0.01895410802062917 Centerline is valid? [True, True] Translation: X:149.97, Y:-61.99, Z:-7.99 [[ 2.39461754e-01 9.70898939e-01 -3.64955187e-03 1.49974590e+02] [ 9.70819476e-01 -2.39488895e-01 -1.24343942e-02 -6.19911801e+01] [-1.29465672e-02 -5.65494201e-04 -9.99916030e-01 -7.98915996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.800385723 meters 0.02045300416788753 Centerline is valid? [True, True] Translation: X:149.97, Y:-62.00, Z:-7.99 [[ 1.59093294e-01 9.87260398e-01 -2.49590222e-03 1.49972995e+02] [ 9.87190371e-01 -1.59111774e-01 -1.17734718e-02 -6.19981702e+01] [-1.20206099e-02 -5.90850224e-04 -9.99927575e-01 -7.98975441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.830385723 meters 0.021213900130475343 Centerline is valid? [True, True] Translation: X:149.97, Y:-62.00, Z:-7.99 [[ 7.95580408e-02 9.96829063e-01 -1.52850701e-03 1.49970958e+02] [ 9.96761948e-01 -7.95704451e-02 -1.15829020e-02 -6.20043331e+01] [-1.16677974e-02 -6.02044628e-04 -9.99931748e-01 -7.99008900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.860385723 meters 0.021213900130475343 Centerline is valid? [True, True] Translation: X:149.97, Y:-62.01, Z:-7.99 [[ 1.21070701e-03 9.99999078e-01 -6.15018896e-04 1.49967740e+02] [ 9.99931341e-01 -1.21779283e-03 -1.16546424e-02 -6.20112196e+01] [-1.16553806e-02 -6.00866312e-04 -9.99931893e-01 -7.99019124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.890385723 meters 0.022333041595266563 Centerline is valid? [True, True] Translation: X:149.97, Y:-62.02, Z:-7.99 [[-7.92754217e-02 9.96852693e-01 3.42032338e-04 1.49966103e+02] [ 9.96775180e-01 7.92735285e-02 -1.24478292e-02 -6.20178601e+01] [-1.24357661e-02 -6.45877561e-04 -9.99922464e-01 -7.98938876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.920385723 meters 0.02284646443015074 Centerline is valid? [True, True] Translation: X:149.96, Y:-62.02, Z:-7.99 [[-1.57677270e-01 9.87489694e-01 1.40812269e-03 1.49964170e+02] [ 9.87403389e-01 1.57682131e-01 -1.30726000e-02 -6.20248470e+01] [-1.31310936e-02 -6.70866776e-04 -9.99913558e-01 -7.98855546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.950385723 meters 0.022974387988803743 Centerline is valid? [True, True] Translation: X:149.96, Y:-62.03, Z:-7.99 [[-2.34845443e-01 9.72029269e-01 2.59179915e-03 1.49960616e+02] [ 9.71933146e-01 2.34858715e-01 -1.36873805e-02 -6.20326623e+01] [-1.39132411e-02 -6.95363441e-04 -9.99902964e-01 -7.98745845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.980385723 meters 0.023526054336684782 Centerline is valid? [True, True] Translation: X:149.96, Y:-62.04, Z:-7.99 [[-3.10315677e-01 9.50627104e-01 3.50567470e-03 1.49959741e+02] [ 9.50539401e-01 3.10334733e-01 -1.29306405e-02 -6.20404980e+01] [-1.33801500e-02 -6.80298542e-04 -9.99910250e-01 -7.98707595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.010385723 meters 0.019076845736653247 Centerline is valid? [True, True] Translation: X:149.96, Y:-62.05, Z:-7.99 [[-3.83943646e-01 9.23346267e-01 4.35291101e-03 1.49963126e+02] [ 9.23265786e-01 3.83967738e-01 -1.22092322e-02 -6.20451791e+01] [-1.29447264e-02 -6.68763312e-04 -9.99915990e-01 -7.99021437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.040385723 meters 0.01911799507729996 Centerline is valid? [True, True] Translation: X:149.97, Y:-62.05, Z:-7.99 [[-4.54999652e-01 8.90477659e-01 4.98550474e-03 1.49974015e+02] [ 8.90407749e-01 4.55026506e-01 -1.11767111e-02 -6.20477371e+01] [-1.22211483e-02 -6.46267610e-04 -9.99925110e-01 -7.99089104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07038572300002 meters 0.01938154688922327 Centerline is valid? [True, True] Translation: X:149.99, Y:-62.05, Z:-7.99 [[-5.23416909e-01 8.52056446e-01 5.87813622e-03 1.49985324e+02] [ 8.51988172e-01 5.23449514e-01 -1.08056070e-02 -6.20498123e+01] [-1.22838946e-02 -6.47734880e-04 -9.99924340e-01 -7.99127798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10038572300002 meters 0.019763653304851338 Centerline is valid? [True, True] Translation: X:150.00, Y:-62.05, Z:-7.99 [[-5.88443716e-01 8.08513564e-01 6.30950434e-03 1.49996567e+02] [ 8.08455236e-01 5.88477209e-01 -9.73169068e-03 -6.20513901e+01] [-1.15812034e-02 -6.25600412e-04 -9.99932740e-01 -7.99092387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13038572300002 meters 0.019268794662051118 Centerline is valid? [True, True] Translation: X:150.01, Y:-62.05, Z:-7.99 [[-6.49870036e-01 7.60013476e-01 6.96075922e-03 1.50006612e+02] [ 7.59959336e-01 6.49907019e-01 -9.09254690e-03 -6.20508524e+01] [-1.14343044e-02 -6.19079831e-04 -9.99934435e-01 -7.99129136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16038572300002 meters 0.01887899005824372 Centerline is valid? [True, True] Translation: X:150.02, Y:-62.05, Z:-7.99 [[-7.06521295e-01 7.07658717e-01 6.84102665e-03 1.50015970e+02] [ 7.07617457e-01 7.06554182e-01 -7.66306686e-03 -6.20499500e+01] [-1.02563920e-02 -5.73290040e-04 -9.99947237e-01 -7.99182897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.190385723 meters 0.019143318390136752 Centerline is valid? [True, True] Translation: X:150.03, Y:-62.05, Z:-7.99 [[-7.59451182e-01 6.50528327e-01 6.84087864e-03 1.50025701e+02] [ 6.50495277e-01 7.59481794e-01 -6.58016255e-03 -6.20496943e+01] [-9.47610492e-03 -5.47352982e-04 -9.99954951e-01 -7.99255161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.220385723 meters 0.018749501870065924 Centerline is valid? [True, True] Translation: X:150.08, Y:-62.06, Z:-7.99 [[-8.02408320e-01 5.96744844e-01 6.03980553e-03 1.50083040e+02] [ 5.96723502e-01 8.02430918e-01 -5.06805880e-03 -6.20623855e+01] [-7.87086465e-03 -4.62558648e-04 -9.99968917e-01 -7.99354202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.250385723 meters 0.01792354435768675 Centerline is valid? [True, True] Translation: X:150.11, Y:-62.05, Z:-7.99 [[-8.42321437e-01 5.38939130e-01 6.26183972e-03 1.50111585e+02] [ 5.38920133e-01 8.42344588e-01 -4.54798841e-03 -6.20499625e+01] [-7.72571572e-03 -4.56236637e-04 -9.99970052e-01 -7.99383646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.280385723 meters 0.01809685945200482 Centerline is valid? [True, True] Translation: X:150.13, Y:-62.02, Z:-7.99 [[-8.78131127e-01 4.78361607e-01 7.47638183e-03 1.50125893e+02] [ 4.78339579e-01 8.78162824e-01 -4.61536493e-03 -6.20239790e+01] [-8.77329397e-03 -4.76646273e-04 -9.99961400e-01 -7.99247630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.310385723 meters 0.018280656462016157 Centerline is valid? [True, True] Translation: X:150.14, Y:-62.00, Z:-7.99 [[-9.09848156e-01 4.14851822e-01 8.61966022e-03 1.50136162e+02] [ 4.14827946e-01 9.09888848e-01 -4.47877859e-03 -6.19962050e+01] [-9.70096217e-03 -4.99332501e-04 -9.99952820e-01 -7.99154441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.340385723 meters 0.019849572976518313 Centerline is valid? [True, True] Translation: X:150.15, Y:-61.97, Z:-7.99 [[-9.37012831e-01 3.49139192e-01 1.04297416e-02 1.50154405e+02] [ 3.49111101e-01 9.37070720e-01 -4.46156739e-03 -6.19679996e+01] [-1.13311135e-02 -5.39407322e-04 -9.99935655e-01 -7.98883291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.370385723 meters 0.018782336488993027 Centerline is valid? [True, True] Translation: X:150.18, Y:-61.95, Z:-7.99 [[-9.59395054e-01 2.81841376e-01 1.12503053e-02 1.50180973e+02] [ 2.81815205e-01 9.59460856e-01 -3.88022479e-03 -6.19490270e+01] [-1.18878355e-02 -5.52161373e-04 -9.99929185e-01 -7.98864202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.400385723 meters 0.01880370044496951 Centerline is valid? [True, True] Translation: X:150.19, Y:-61.92, Z:-7.99 [[-9.76828140e-01 2.13676468e-01 1.22127613e-02 1.50191255e+02] [ 2.13652543e-01 9.76904321e-01 -3.24645769e-03 -6.19215978e+01] [-1.26243909e-02 -5.61943729e-04 -9.99920151e-01 -7.98800815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.430385723 meters 0.018395804505317487 Centerline is valid? [True, True] Translation: X:150.19, Y:-61.89, Z:-7.99 [[-9.89392972e-01 1.44749452e-01 1.22123745e-02 1.50189391e+02] [ 1.44731595e-01 9.89468189e-01 -2.33826113e-03 -6.18930067e+01] [-1.24222181e-02 -5.45942697e-04 -9.99922692e-01 -7.98822112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.460385723 meters 0.017163817174381896 Centerline is valid? [True, True] Translation: X:150.18, Y:-61.87, Z:-7.99 [[-9.96986948e-01 7.67979430e-02 1.09134026e-02 1.50184669e+02] [ 7.67880153e-02 9.97046559e-01 -1.32643489e-03 -6.18672255e+01] [-1.09830379e-02 -4.84419751e-04 -9.99939567e-01 -7.99015449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.490385723 meters 0.01695729855507904 Centerline is valid? [True, True] Translation: X:150.29, Y:-61.07, Z:-8.90 [[-9.83542628e-01 -1.80660459e-01 2.38706828e-03 1.50285745e+02] [ 1.80659373e-01 -9.83545499e-01 -6.64929861e-04 -6.10723853e+01] [ 2.46791680e-03 -2.22740605e-04 9.99996930e-01 -8.90245794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.520385723 meters 0.016517330622246834 Centerline is valid? [True, True] Translation: X:150.12, Y:-61.86, Z:-7.99 [[-9.97073396e-01 7.59040825e-02 9.12209653e-03 1.50115149e+02] [ 7.58970422e-02 9.97115035e-01 -1.11599091e-03 -6.18635074e+01] [-9.18048787e-03 -4.20384704e-04 -9.99957770e-01 -7.99192609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.550385723 meters 0.016758061753010853 Centerline is valid? [True, True] Translation: X:150.10, Y:-61.83, Z:-7.99 [[-9.99939836e-01 5.50048182e-03 9.49050172e-03 1.50104970e+02] [ 5.49627026e-03 9.99984785e-01 -4.69790763e-04 -6.18345671e+01] [-9.49294140e-03 -4.17600136e-04 -9.99954854e-01 -7.99147727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.580385723 meters 0.01658571956833791 Centerline is valid? [True, True] Translation: X:150.12, Y:-61.81, Z:-7.99 [[-9.97771040e-01 -6.60095942e-02 9.78187689e-03 1.50119466e+02] [-6.60105938e-02 9.97818898e-01 2.20987760e-04 -6.18063190e+01] [-9.77512892e-03 -4.25212315e-04 -9.99952132e-01 -7.99050656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.610385723 meters 0.01663802670209619 Centerline is valid? [True, True] Translation: X:150.08, Y:-61.00, Z:-8.90 [[-9.99436730e-01 -3.34854440e-02 2.22452521e-03 1.50080100e+02] [ 3.34849235e-02 -9.99439186e-01 -2.70854286e-04 -6.10031247e+01] [ 2.23234734e-03 -1.96213666e-04 9.99997489e-01 -8.90462511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.640385723 meters 0.016926326006868594 Centerline is valid? [True, True] Translation: X:150.01, Y:-61.81, Z:-7.99 [[-9.97228769e-01 -7.36245557e-02 1.06867809e-02 1.50010020e+02] [-7.36252877e-02 9.97285922e-01 3.25445048e-04 -6.18096376e+01] [-1.06817369e-02 -4.62274152e-04 -9.99942842e-01 -7.98886189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.670385723 meters 0.017313223040570272 Centerline is valid? [True, True] Translation: X:149.96, Y:-61.01, Z:-8.91 [[-9.99566792e-01 -2.91992836e-02 3.69191589e-03 1.49955294e+02] [ 2.91986223e-02 -9.99573602e-01 -2.32903769e-04 -6.10085965e+01] [ 3.69714229e-03 -1.25004016e-04 9.99993158e-01 -8.90719172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.700385723 meters 0.017713350824249758 Centerline is valid? [True, True] Translation: X:149.91, Y:-61.81, Z:-7.99 [[-9.96489306e-01 -8.29215637e-02 1.15359127e-02 1.49913642e+02] [-8.29218811e-02 9.96555948e-01 4.51613897e-04 -6.18123083e+01] [-1.15336309e-02 -5.06551160e-04 -9.99933357e-01 -7.98830306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.730385723 meters 0.01794497753500493 Centerline is valid? [True, True] Translation: X:149.88, Y:-61.02, Z:-8.91 [[-9.99684463e-01 -2.48045702e-02 3.96327541e-03 1.49879957e+02] [ 2.48037595e-02 -9.99692307e-01 -2.53578839e-04 -6.10159067e+01] [ 3.96834585e-03 -1.55194695e-04 9.99992114e-01 -8.90820270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.760385723 meters 0.018910511056963838 Centerline is valid? [True, True] Translation: X:149.81, Y:-61.81, Z:-7.99 [[-9.95708108e-01 -9.18762301e-02 1.11410071e-02 1.49814556e+02] [-9.18763679e-02 9.95770296e-01 5.00529579e-04 -6.18130473e+01] [-1.11398708e-02 -5.25213912e-04 -9.99937812e-01 -7.98715460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.790385723 meters 0.0185799977581143 Centerline is valid? [True, True] Translation: X:149.82, Y:-61.78, Z:-7.99 [[-9.86498240e-01 -1.63426453e-01 1.06309588e-02 1.49821611e+02] [-1.63422554e-01 9.86555386e-01 1.24027026e-03 -6.17834791e+01] [-1.06907227e-02 -5.13814016e-04 -9.99942721e-01 -7.98747904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82038572300002 meters 0.019183992263860968 Centerline is valid? [True, True] Translation: X:149.81, Y:-61.76, Z:-7.99 [[-9.72247026e-01 -2.33752059e-01 9.78241545e-03 1.49808534e+02] [-2.33745344e-01 9.72296111e-01 1.84026512e-03 -6.17551709e+01] [-9.94157026e-03 -4.97401782e-04 -9.99950458e-01 -7.98736104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85038572300002 meters 0.01918285700151341 Centerline is valid? [True, True] Translation: X:149.78, Y:-61.73, Z:-7.99 [[-9.53121759e-01 -3.02450148e-01 9.10053012e-03 1.49777126e+02] [-3.02441121e-01 9.53165085e-01 2.38527658e-03 -6.17329891e+01] [-9.39573482e-03 -4.78915522e-04 -9.99955744e-01 -7.98717154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88038572300002 meters 0.018811164123538764 Centerline is valid? [True, True] Translation: X:149.72, Y:-61.72, Z:-7.99 [[-9.28904383e-01 -3.70237824e-01 7.78473395e-03 1.49724446e+02] [-3.70228785e-01 9.28936896e-01 2.62480048e-03 -6.17213633e+01] [-8.20332701e-03 -4.43943923e-04 -9.99966254e-01 -7.98799390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91038572300002 meters 0.018545801797567322 Centerline is valid? [True, True] Translation: X:149.66, Y:-61.72, Z:-7.99 [[-8.99634200e-01 -4.36583950e-01 7.26362962e-03 1.49656284e+02] [-4.36573501e-01 8.99663422e-01 3.05053731e-03 -6.17192115e+01] [-7.86663750e-03 -4.26740520e-04 -9.99968966e-01 -7.98857740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.940385723 meters 0.016907036686899 Centerline is valid? [True, True] Translation: X:149.59, Y:-61.73, Z:-7.99 [[-8.65790982e-01 -5.00361656e-01 6.64739855e-03 1.49585796e+02] [-5.00350425e-01 8.65816407e-01 3.37654569e-03 -6.17266285e+01] [-7.44492072e-03 -4.02645885e-04 -9.99972205e-01 -7.98931472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.970385723 meters 0.017266374558337107 Centerline is valid? [True, True] Translation: X:149.50, Y:-61.74, Z:-7.99 [[-8.26427711e-01 -5.63007316e-01 6.32458983e-03 1.49502594e+02] [-5.62994420e-01 8.26451818e-01 3.83103051e-03 -6.17418323e+01] [-7.38386696e-03 -3.94639004e-04 -9.99972661e-01 -7.98908008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.000385723 meters 0.016401292714314827 Centerline is valid? [True, True] Translation: X:149.41, Y:-61.78, Z:-7.99 [[-7.83126046e-01 -6.21834157e-01 5.98973840e-03 1.49408446e+02] [-6.21819588e-01 7.83148861e-01 4.27331870e-03 -6.17756749e+01] [-7.34815234e-03 -3.77989492e-04 -9.99972931e-01 -7.98935594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.030385723 meters 0.016038486384702847 Centerline is valid? [True, True] Translation: X:149.33, Y:-61.81, Z:-7.99 [[-7.35700830e-01 -6.77285252e-01 5.38307212e-03 1.49326830e+02] [-6.77270565e-01 7.35720438e-01 4.47433547e-03 -6.18078445e+01] [-6.99083760e-03 -3.54023980e-04 -9.99975501e-01 -7.99022300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.060385723 meters 0.015968759206258433 Centerline is valid? [True, True] Translation: X:149.22, Y:-61.87, Z:-7.99 [[-6.83324475e-01 -7.30097008e-01 5.10108392e-03 1.49221141e+02] [-7.30080329e-01 6.83343428e-01 4.94689879e-03 -6.18710307e+01] [-7.09750817e-03 -3.43864007e-04 -9.99974753e-01 -7.99054104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.090385723 meters 0.01566692936186599 Centerline is valid? [True, True] Translation: X:149.14, Y:-61.93, Z:-7.99 [[-6.27946986e-01 -7.78238129e-01 5.29128481e-03 1.49135090e+02] [-7.78214818e-01 6.27969192e-01 6.03244118e-03 -6.19254201e+01] [-8.01743958e-03 -3.29702986e-04 -9.99967805e-01 -7.99071900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.120385723 meters 0.015479321888610634 Centerline is valid? [True, True] Translation: X:149.05, Y:-61.99, Z:-7.99 [[-5.67544647e-01 -8.23327479e-01 4.99370094e-03 1.49051173e+02] [-8.23300461e-01 5.67566525e-01 6.67769714e-03 -6.19886264e+01] [-8.33218904e-03 -3.21425019e-04 -9.99965235e-01 -7.99077980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.150385723 meters 0.015483717467241934 Centerline is valid? [True, True] Translation: X:148.97, Y:-62.06, Z:-7.99 [[-5.04710861e-01 -8.63274987e-01 4.82118390e-03 1.48970291e+02] [-8.63241198e-01 5.04733796e-01 7.64393734e-03 -6.20602286e+01] [-9.03223435e-03 -3.03866372e-04 -9.99959162e-01 -7.99077271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.180385723 meters 0.01538940079096145 Centerline is valid? [True, True] Translation: X:148.89, Y:-62.15, Z:-7.99 [[-4.37789896e-01 -8.99067165e-01 4.27083526e-03 1.48890264e+02] [-8.99030750e-01 4.37810628e-01 8.09722802e-03 -6.21469913e+01] [-9.14976890e-03 -2.94727617e-04 -9.99958097e-01 -7.99096694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.210385723 meters 0.015453825831767663 Centerline is valid? [True, True] Translation: X:148.81, Y:-62.26, Z:-7.99 [[-3.68453792e-01 -9.29638887e-01 3.65275572e-03 1.48806194e+02] [-9.29600580e-01 3.68471788e-01 8.44415145e-03 -6.22640982e+01] [-9.19594898e-03 -2.84324214e-04 -9.99957676e-01 -7.99159787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.240385723 meters 0.015432775257204448 Centerline is valid? [True, True] Translation: X:148.74, Y:-62.37, Z:-7.99 [[-2.95519728e-01 -9.55332071e-01 2.95366837e-03 1.48736899e+02] [-9.55293603e-01 2.95534350e-01 8.57788727e-03 -6.23717162e+01] [-9.06764128e-03 -2.86685585e-04 -9.99958847e-01 -7.99304411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.270385723 meters 0.015494939746040989 Centerline is valid? [True, True] Translation: X:148.68, Y:-62.45, Z:-7.99 [[-2.19666992e-01 -9.75572853e-01 2.00530624e-03 1.48682473e+02] [-9.75543574e-01 2.19675947e-01 7.56390159e-03 -6.24499057e+01] [-7.81965460e-03 -2.94724108e-04 -9.99969383e-01 -7.99424225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.300385723 meters 0.015586959922745515 Centerline is valid? [True, True] Translation: X:148.63, Y:-62.57, Z:-7.99 [[-1.42703668e-01 -9.89764590e-01 1.31165651e-03 1.48628528e+02] [-9.89739892e-01 1.42709382e-01 6.99842933e-03 -6.25681420e+01] [-7.11398322e-03 -2.99497235e-04 -9.99974650e-01 -7.99488535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.330385723 meters 0.015953087547979604 Centerline is valid? [True, True] Translation: X:148.58, Y:-62.68, Z:-8.00 [[-6.57416699e-02 -9.97836421e-01 7.13581613e-04 1.48580587e+02] [-9.97817299e-01 6.57448332e-02 6.18509341e-03 -6.26801077e+01] [-6.21862577e-03 -3.05405709e-04 -9.99980618e-01 -7.99645072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.360385723 meters 0.01618750596472368 Centerline is valid? [True, True] Translation: X:148.55, Y:-62.80, Z:-8.00 [[ 1.32177832e-02 -9.99912611e-01 2.46824091e-04 1.48545559e+02] [-9.99895508e-01 -1.32161113e-02 5.85719665e-03 -6.27970605e+01] [-5.85342274e-03 -3.24217456e-04 -9.99982816e-01 -7.99726637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.390385723 meters 0.016889015956738133 Centerline is valid? [True, True] Translation: X:148.52, Y:-62.92, Z:-8.00 [[ 9.47875975e-02 -9.95497491e-01 -2.40404133e-04 1.48516981e+02] [-9.95477765e-01 -9.47872351e-02 6.27684528e-03 -6.29202467e+01] [-6.27137097e-03 -3.55650114e-04 -9.99980272e-01 -7.99773845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.420385723 meters 0.01760535609171716 Centerline is valid? [True, True] Translation: X:148.50, Y:-63.05, Z:-8.00 [[ 1.75263771e-01 -9.84521254e-01 -7.15048721e-04 1.48498972e+02] [-9.84501921e-01 -1.75264819e-01 6.18152187e-03 -6.30541201e+01] [-6.21116254e-03 -3.79429996e-04 -9.99980639e-01 -7.99769969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.450385723 meters 0.01773776280107384 Centerline is valid? [True, True] Translation: X:148.49, Y:-63.18, Z:-8.00 [[ 2.52018388e-01 -9.67721682e-01 -1.21595592e-03 1.48493847e+02] [-9.67701798e-01 -2.52021020e-01 6.21571391e-03 -6.31823442e+01] [-6.32152757e-03 -3.89791466e-04 -9.99979943e-01 -7.99820464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.480385723 meters 0.017867552379412826 Centerline is valid? [True, True] Translation: X:148.50, Y:-63.30, Z:-8.00 [[ 3.27215322e-01 -9.44948676e-01 -1.46013855e-03 1.48496783e+02] [-9.44933404e-01 -3.27218356e-01 5.38596149e-03 -6.33032972e+01] [-5.56724131e-03 -3.82635432e-04 -9.99984430e-01 -7.99883311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.510385723 meters 0.018469725640805325 Centerline is valid? [True, True] Translation: X:148.51, Y:-63.44, Z:-8.00 [[ 4.00836606e-01 -9.16148294e-01 -1.52276665e-03 1.48511481e+02] [-9.16137760e-01 -4.00839326e-01 4.40895320e-03 -6.34365929e+01] [-4.64963971e-03 -3.72205805e-04 -9.99989121e-01 -7.99979467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.540385723 meters 0.018964413039129397 Centerline is valid? [True, True] Translation: X:148.53, Y:-63.54, Z:-8.00 [[ 4.70871464e-01 -8.82200145e-01 -1.72282973e-03 1.48526034e+02] [-8.82191108e-01 -4.70874472e-01 4.01001496e-03 -6.35427509e+01] [-4.34887232e-03 -3.68336552e-04 -9.99990476e-01 -8.00030085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57038572300002 meters 0.02068259872963563 Centerline is valid? [True, True] Translation: X:148.55, Y:-63.66, Z:-8.00 [[ 5.38365375e-01 -8.42707830e-01 -2.49731482e-03 1.48553366e+02] [-8.42695128e-01 -5.38371021e-01 4.64368486e-03 -6.36638189e+01] [-5.25775152e-03 -3.95524105e-04 -9.99986100e-01 -7.99977394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60038572300002 meters 0.019281149484426253 Centerline is valid? [True, True] Translation: X:148.60, Y:-63.78, Z:-8.00 [[ 6.01862566e-01 -7.98593398e-01 -3.16793978e-03 1.48600524e+02] [-7.98578550e-01 -6.01870763e-01 4.88713552e-03 -6.37842172e+01] [-5.80952450e-03 -4.11535166e-04 -9.99983040e-01 -7.99950128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63038572300002 meters 0.01893154844143713 Centerline is valid? [True, True] Translation: X:148.64, Y:-63.88, Z:-8.00 [[ 6.61592509e-01 -7.49852591e-01 -4.05511677e-03 1.48640591e+02] [-7.49834321e-01 -6.61604794e-01 5.25248372e-03 -6.38849088e+01] [-6.62147322e-03 -4.34338151e-04 -9.99977983e-01 -7.99824795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66038572300002 meters 0.019367652762720167 Centerline is valid? [True, True] Translation: X:148.69, Y:-63.98, Z:-8.00 [[ 7.17148703e-01 -6.96902534e-01 -4.95943464e-03 1.48689715e+02] [-6.96881349e-01 -7.17165708e-01 5.45282091e-03 -6.39837347e+01] [-7.35682117e-03 -4.54345941e-04 -9.99972835e-01 -7.99786397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.690385723 meters 0.019119205334976234 Centerline is valid? [True, True] Translation: X:148.75, Y:-64.08, Z:-8.00 [[ 7.67508515e-01 -6.41005197e-01 -6.55870379e-03 1.48754380e+02] [-6.40976255e-01 -7.67536384e-01 6.11062797e-03 -6.40849288e+01] [-8.95098808e-03 -4.85985610e-04 -9.99959821e-01 -7.99721470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.720385723 meters 0.019119205334976234 Centerline is valid? [True, True] Translation: X:148.75, Y:-64.09, Z:-8.00 [[ 8.15262782e-01 -5.79048822e-01 -7.00420131e-03 1.48749933e+02] [-5.79022163e-01 -8.15292720e-01 5.57800365e-03 -6.40941485e+01] [-8.94041078e-03 -4.91950972e-04 -9.99959913e-01 -7.99732053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.750385723 meters 0.018988366226752085 Centerline is valid? [True, True] Translation: X:148.75, Y:-64.10, Z:-8.00 [[ 8.57695392e-01 -5.14096796e-01 -7.94353592e-03 1.48746663e+02] [-5.14069254e-01 -8.57732029e-01 5.34491526e-03 -6.41036261e+01] [-9.56122900e-03 -5.00781603e-04 -9.99954165e-01 -7.99701248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.780385723 meters 0.019124300179917102 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.11, Z:-8.00 [[ 8.94556329e-01 -4.46873544e-01 -8.54456070e-03 1.48742904e+02] [-4.46847858e-01 -8.94597002e-01 4.81625608e-03 -6.41130683e+01] [-9.79619580e-03 -4.90293720e-04 -9.99951896e-01 -7.99670122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.810385723 meters 0.02020594721604358 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.12, Z:-7.99 [[ 9.26332713e-01 -3.76602153e-01 -8.86134520e-03 1.48741639e+02] [-3.76579939e-01 -9.26374973e-01 4.11815884e-03 -6.41224113e+01] [-9.75983590e-03 -4.77780415e-04 -9.99952258e-01 -7.99441948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.840385723 meters 0.01835648073933719 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.13, Z:-8.00 [[ 9.53047631e-01 -3.02697831e-01 -8.61603530e-03 1.48740178e+02] [-3.02680987e-01 -9.53086462e-01 3.22731117e-03 -6.41338826e+01] [-9.18872669e-03 -4.67871193e-04 -9.99957673e-01 -7.99840224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.870385723 meters 0.018094614880288757 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.15, Z:-8.00 [[ 9.73772573e-01 -2.27348003e-01 -8.93652444e-03 1.48739439e+02] [-2.27333989e-01 -9.73813466e-01 2.56733325e-03 -6.41454882e+01] [-9.28618592e-03 -4.68422952e-04 -9.99956773e-01 -7.99871595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.900385723 meters 0.01963179047001781 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.16, Z:-8.00 [[ 9.88510657e-01 -1.50827104e-01 -9.89269507e-03 1.48737758e+02] [-1.50814656e-01 -9.88560040e-01 1.99678657e-03 -6.41600466e+01] [-1.00806926e-02 -4.81881398e-04 -9.99949072e-01 -7.99736125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.930385723 meters 0.018171572490446423 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.17, Z:-8.00 [[ 9.97275699e-01 -7.30130034e-02 -1.05015381e-02 1.48735883e+02] [-7.30037579e-02 -9.97330868e-01 1.26157064e-03 -6.41676987e+01] [-1.05656192e-02 -4.91481999e-04 -9.99944062e-01 -7.99807976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.960385723 meters 0.018316773761825944 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.18, Z:-8.00 [[ 9.99936890e-01 4.87081727e-03 -1.01238172e-02 1.48732904e+02] [ 4.87539180e-03 -9.99988024e-01 4.27227542e-04 -6.41785865e+01] [-1.01216150e-02 -4.76558154e-04 -9.99948662e-01 -7.99810395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.990385723 meters 0.018698761019670163 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.19, Z:-8.00 [[ 9.96400948e-01 8.42110624e-02 -9.67719287e-03 1.48731848e+02] [ 8.42117237e-02 -9.96447826e-01 -3.39849736e-04 -6.41887995e+01] [-9.67143690e-03 -4.76306492e-04 -9.99953117e-01 -7.99910748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.020385723 meters 0.019356762060077273 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.20, Z:-8.00 [[ 9.86588154e-01 1.62958537e-01 -9.39843235e-03 1.48731044e+02] [ 1.62955759e-01 -9.86632801e-01 -1.06577897e-03 -6.41990238e+01] [-9.44647942e-03 -4.80043768e-04 -9.99955266e-01 -7.99965026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.050385723 meters 0.01933418525067915 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.21, Z:-8.00 [[ 9.70558082e-01 2.40690830e-01 -9.21595108e-03 1.48731929e+02] [ 2.40684715e-01 -9.70601714e-01 -1.78351251e-03 -6.42075519e+01] [-9.37429302e-03 -4.87136073e-04 -9.99955942e-01 -8.00040677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.080385723 meters 0.02101293655135218 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.22, Z:-8.00 [[ 9.48170478e-01 3.17591816e-01 -1.04011369e-02 1.48732325e+02] [ 3.17578899e-01 -9.48227371e-01 -2.91477561e-03 -6.42171193e+01] [-1.07883516e-02 -5.39477421e-04 -9.99941659e-01 -7.99803836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.110385723 meters 0.020590394146231476 Centerline is valid? [True, True] Translation: X:148.73, Y:-64.23, Z:-8.00 [[ 9.19526779e-01 3.92860918e-01 -1.14368809e-02 1.48734291e+02] [ 3.92838585e-01 -9.19597704e-01 -4.23193789e-03 -6.42257700e+01] [-1.21798924e-02 -6.01467879e-04 -9.99925641e-01 -7.99929425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.140385723 meters 0.021055589753280927 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.23, Z:-8.00 [[ 8.85620907e-01 4.64276549e-01 -1.10857707e-02 1.48735631e+02] [ 4.64248689e-01 -8.85690078e-01 -5.12256972e-03 -6.42338059e+01] [-1.21968461e-02 -6.09899646e-04 -9.99925430e-01 -7.99915714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.170385723 meters 0.02150417445029528 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.24, Z:-8.00 [[ 8.46331485e-01 5.32552911e-01 -1.05078488e-02 1.48737923e+02] [ 5.32520675e-01 -8.46396494e-01 -5.89113272e-03 -6.42405186e+01] [-1.20311462e-02 -6.09795616e-04 -9.99927437e-01 -7.99878401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.200385723 meters 0.020531888596055297 Centerline is valid? [True, True] Translation: X:148.74, Y:-64.25, Z:-8.00 [[ 8.01314608e-01 5.98161154e-01 -9.90622833e-03 1.48741102e+02] [ 5.98124834e-01 -8.01375598e-01 -6.62067600e-03 -6.42472743e+01] [-1.18988408e-02 -6.19916786e-04 -9.99929014e-01 -8.00099712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.230385723 meters 0.022232128647949614 Centerline is valid? [True, True] Translation: X:148.75, Y:-64.26, Z:-8.00 [[ 7.51331746e-01 6.59865571e-01 -8.83381764e-03 1.48746823e+02] [ 6.59829297e-01 -7.51383428e-01 -6.94570203e-03 -6.42578209e+01] [-1.12208138e-02 -6.10285249e-04 -9.99936858e-01 -8.00107620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.260385723 meters 0.022453666529811338 Centerline is valid? [True, True] Translation: X:148.75, Y:-64.26, Z:-8.00 [[ 6.96553103e-01 7.17460560e-01 -8.00752241e-03 1.48751071e+02] [ 7.17422957e-01 -6.96598860e-01 -7.37083331e-03 -6.42634831e+01] [-1.08663132e-02 -6.10603592e-04 -9.99940773e-01 -8.00157798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.290385723 meters 0.02316151696055355 Centerline is valid? [True, True] Translation: X:148.76, Y:-64.27, Z:-8.00 [[ 6.36596602e-01 7.71163273e-01 -7.20918693e-03 1.48756384e+02] [ 7.71124534e-01 -6.36637117e-01 -7.75462292e-03 -6.42698800e+01] [-1.05697164e-02 -6.22614310e-04 -9.99943945e-01 -8.00166627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32038572300002 meters 0.02250265638402007 Centerline is valid? [True, True] Translation: X:148.76, Y:-64.28, Z:-8.00 [[ 5.73339617e-01 8.19294247e-01 -6.21451089e-03 1.48762297e+02] [ 8.19257224e-01 -5.73372969e-01 -7.81280010e-03 -6.42758251e+01] [-9.96421474e-03 -6.11895118e-04 -9.99950169e-01 -8.00196431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35038572300002 meters 0.022931275818813008 Centerline is valid? [True, True] Translation: X:148.77, Y:-64.28, Z:-8.00 [[ 5.05286466e-01 8.62933919e-01 -5.53512275e-03 1.48768411e+02] [ 8.62895180e-01 -5.05316387e-01 -8.20104763e-03 -6.42822792e+01] [-9.87395040e-03 -6.32352368e-04 -9.99951051e-01 -8.00179629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38038572300002 meters 0.023978053675484043 Centerline is valid? [True, True] Translation: X:148.78, Y:-64.29, Z:-8.00 [[ 4.35589557e-01 9.00131885e-01 -4.93225886e-03 1.48776514e+02] [ 9.00089908e-01 -4.35617006e-01 -8.71677868e-03 -6.42900430e+01] [-9.99482627e-03 -6.42538661e-04 -9.99949844e-01 -8.00153899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41038572300002 meters 0.024269641894011193 Centerline is valid? [True, True] Translation: X:148.78, Y:-64.29, Z:-8.00 [[ 3.63023055e-01 9.31770783e-01 -4.17961130e-03 1.48782910e+02] [ 9.31727994e-01 -3.63046543e-01 -8.95282401e-03 -6.42948883e+01] [-9.85937327e-03 -6.44179330e-04 -9.99951188e-01 -8.00150330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.440385723 meters 0.02460793089856863 Centerline is valid? [True, True] Translation: X:148.79, Y:-64.30, Z:-8.00 [[ 2.89314787e-01 9.57227539e-01 -3.52025945e-03 1.48789952e+02] [ 9.57181474e-01 -2.89335481e-01 -9.41301784e-03 -6.43000685e+01] [-1.00289359e-02 -6.46201883e-04 -9.99949500e-01 -8.00020884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.470385723 meters 0.023584958015092132 Centerline is valid? [True, True] Translation: X:148.80, Y:-64.30, Z:-8.00 [[ 2.12940604e-01 9.77060899e-01 -2.88084703e-03 1.48795869e+02] [ 9.77009139e-01 -2.12959041e-01 -1.00791813e-02 -6.43035806e+01] [-1.04614764e-02 -6.68346910e-04 -9.99945054e-01 -8.00083290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.500385723 meters 0.026887751883944558 Centerline is valid? [True, True] Translation: X:148.81, Y:-64.31, Z:-8.00 [[ 1.36115006e-01 9.90690617e-01 -2.19218614e-03 1.48808259e+02] [ 9.90630991e-01 -1.36130913e-01 -1.08910130e-02 -6.43095550e+01] [-1.10880487e-02 -6.89217224e-04 -9.99938288e-01 -7.99919864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.530385723 meters 0.024776283166132344 Centerline is valid? [True, True] Translation: X:148.81, Y:-64.31, Z:-8.00 [[ 5.93398478e-02 9.98236748e-01 -1.47533148e-03 1.48808304e+02] [ 9.98158874e-01 -5.93536783e-02 -1.24901395e-02 -6.43123258e+01] [-1.25556826e-02 -7.31452230e-04 -9.99920907e-01 -7.99840729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.560385723 meters 0.025508960682455555 Centerline is valid? [True, True] Translation: X:148.81, Y:-64.32, Z:-8.00 [[-1.82818638e-02 9.99832748e-01 -4.99440619e-04 1.48813488e+02] [ 9.99749110e-01 1.82738641e-02 -1.29531091e-02 -6.43167154e+01] [-1.29418159e-02 -7.36122290e-04 -9.99915980e-01 -7.99758840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.590385723 meters 0.021895488151621196 Centerline is valid? [True, True] Translation: X:148.82, Y:-64.32, Z:-8.00 [[-9.39254580e-02 9.95579084e-01 5.43309189e-04 1.48815662e+02] [ 9.95489310e-01 9.39242950e-02 -1.33888164e-02 -6.43195504e+01] [-1.33806555e-02 -7.16692225e-04 -9.99910218e-01 -7.99821446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.620385723 meters 0.023663435046507194 Centerline is valid? [True, True] Translation: X:148.83, Y:-64.32, Z:-8.00 [[-1.68344565e-01 9.85727028e-01 1.52783817e-03 1.48825402e+02] [ 9.85643534e-01 1.68350217e-01 -1.28463153e-02 -6.43232492e+01] [-1.29201720e-02 -6.56703547e-04 -9.99916315e-01 -7.99719519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.650385723 meters 0.020998948410241965 Centerline is valid? [True, True] Translation: X:148.83, Y:-64.33, Z:-8.00 [[-2.43469804e-01 9.69905328e-01 2.47179224e-03 1.48828884e+02] [ 9.69826001e-01 2.43481544e-01 -1.24204042e-02 -6.43263973e+01] [-1.26484520e-02 -6.26784999e-04 -9.99919809e-01 -7.99895071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.680385723 meters 0.019421750964700266 Centerline is valid? [True, True] Translation: X:148.84, Y:-64.33, Z:-8.00 [[-3.14903757e-01 9.49118505e-01 3.11242353e-03 1.48835074e+02] [ 9.49053583e-01 3.14918665e-01 -1.11144895e-02 -6.43286212e+01] [-1.15291279e-02 -5.46137793e-04 -9.99933388e-01 -8.00059314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.710385723 meters 0.01917768767031665 Centerline is valid? [True, True] Translation: X:148.85, Y:-64.33, Z:-8.00 [[-3.86595336e-01 9.22241624e-01 3.79901461e-03 1.48845680e+02] [ 9.22183255e-01 3.86613662e-01 -1.03884790e-02 -6.43312036e+01] [-1.10494387e-02 -5.12749891e-04 -9.99938822e-01 -8.00108111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.740385723 meters 0.01892560978005789 Centerline is valid? [True, True] Translation: X:148.86, Y:-64.33, Z:-8.00 [[-4.56016176e-01 8.89960427e-01 4.43692083e-03 1.48856515e+02] [ 8.89907493e-01 4.56037505e-01 -9.71844570e-03 -6.43319931e+01] [-1.06724344e-02 -4.83319350e-04 -9.99942931e-01 -8.00105062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.770385723 meters 0.01852018178078669 Centerline is valid? [True, True] Translation: X:148.87, Y:-64.33, Z:-8.00 [[-5.21572407e-01 8.53191256e-01 5.18691130e-03 1.48866241e+02] [ 8.53140208e-01 5.21598005e-01 -9.34378280e-03 -6.43326613e+01] [-1.06775164e-02 -4.48296708e-04 -9.99942893e-01 -8.00044610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.800385723 meters 0.019194854695996078 Centerline is valid? [True, True] Translation: X:148.88, Y:-64.33, Z:-8.00 [[-5.85472506e-01 8.10666652e-01 6.44393707e-03 1.48879188e+02] [ 8.10608908e-01 5.85507796e-01 -9.68603805e-03 -6.43308642e+01] [-1.16251234e-02 -4.47396179e-04 -9.99932326e-01 -7.99904949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.830385723 meters 0.01884406903660106 Centerline is valid? [True, True] Translation: X:148.89, Y:-64.33, Z:-8.00 [[-6.46053884e-01 7.63248541e-01 8.12669652e-03 1.48887093e+02] [ 7.63179132e-01 6.46104835e-01 -1.03031708e-02 -6.43311522e+01] [-1.31145780e-02 -4.54278308e-04 -9.99913897e-01 -7.99922734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.860385723 meters 0.019161355060775254 Centerline is valid? [True, True] Translation: X:148.90, Y:-64.33, Z:-8.00 [[-7.03159695e-01 7.10965558e-01 9.71690075e-03 1.48896971e+02] [ 7.10888518e-01 7.03226681e-01 -1.04761847e-02 -6.43296517e+01] [-1.42813904e-02 -4.58797676e-04 -9.99897910e-01 -7.99885367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.890385723 meters 0.019442447495815706 Centerline is valid? [True, True] Translation: X:148.91, Y:-64.33, Z:-8.00 [[-7.56422967e-01 6.53989473e-01 1.10482743e-02 1.48907938e+02] [ 6.53910647e-01 7.56503506e-01 -1.01642220e-02 -6.43273856e+01] [-1.50053524e-02 -4.63866749e-04 -9.99887306e-01 -7.99835723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.920385723 meters 0.019380541283743103 Centerline is valid? [True, True] Translation: X:148.92, Y:-64.30, Z:-8.00 [[-8.00966746e-01 5.98596165e-01 1.16148249e-02 1.48916713e+02] [ 5.98525136e-01 8.01050832e-01 -9.23179574e-03 -6.42983519e+01] [-1.48301827e-02 -4.42596723e-04 -9.99889929e-01 -7.99837355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.950385723 meters 0.019824093179928486 Centerline is valid? [True, True] Translation: X:148.96, Y:-64.30, Z:-8.00 [[-8.41672890e-01 5.39854389e-01 1.19993526e-02 1.48961744e+02] [ 5.39791884e-01 8.41758302e-01 -8.22699361e-03 -6.42951730e+01] [-1.45419333e-02 -4.47284360e-04 -9.99894160e-01 -7.99778485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.980385723 meters 0.0195158747451524 Centerline is valid? [True, True] Translation: X:148.98, Y:-64.27, Z:-8.00 [[-8.78191211e-01 4.78160842e-01 1.19334069e-02 1.48977478e+02] [ 4.78109716e-01 8.78272172e-01 -7.00648389e-03 -6.42712535e+01] [-1.38310054e-02 -4.47554782e-04 -9.99904247e-01 -7.99881631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.010385723 meters 0.01967321436284419 Centerline is valid? [True, True] Translation: X:148.99, Y:-64.25, Z:-8.00 [[-9.10332038e-01 4.13697063e-01 1.22604957e-02 1.48993199e+02] [ 4.13652671e-01 9.10414481e-01 -6.07786446e-03 -6.42486020e+01] [-1.36765275e-02 -4.61287962e-04 -9.99906366e-01 -8.00026809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.040385723 meters 0.02016110843148223 Centerline is valid? [True, True] Translation: X:149.00, Y:-64.22, Z:-8.00 [[-9.37601518e-01 3.47478196e-01 1.27395958e-02 1.49001096e+02] [ 3.47439229e-01 9.37687944e-01 -5.22518172e-03 -6.42219901e+01] [-1.37614021e-02 -4.72902973e-04 -9.99905196e-01 -8.00086105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07038572300002 meters 0.020375874013108253 Centerline is valid? [True, True] Translation: X:148.98, Y:-64.19, Z:-8.00 [[-9.59930046e-01 2.79938566e-01 1.29887054e-02 1.48984095e+02] [ 2.79906222e-01 9.60017799e-01 -4.28162754e-03 -6.41857986e+01] [-1.36679811e-02 -4.74443452e-04 -9.99906476e-01 -8.00085979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10038572300002 meters 0.020509914045639167 Centerline is valid? [True, True] Translation: X:148.99, Y:-64.16, Z:-8.00 [[-9.77458491e-01 2.10689657e-01 1.35928862e-02 1.48990273e+02] [ 2.10662316e-01 9.77552878e-01 -3.42906711e-03 -6.41587703e+01] [-1.40102340e-02 -4.88261866e-04 -9.99901733e-01 -8.00167018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13038572300002 meters 0.02072180226000861 Centerline is valid? [True, True] Translation: X:149.19, Y:-63.39, Z:-8.93 [[-9.48792430e-01 -3.15788535e-01 8.39795791e-03 1.49189896e+02] [ 3.15776617e-01 -9.48829594e-01 -2.74389090e-03 -6.33851451e+01] [ 8.83472028e-03 4.84958268e-05 9.99960972e-01 -8.93215861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16038572300002 meters 0.02109504605693771 Centerline is valid? [True, True] Translation: X:148.94, Y:-64.15, Z:-8.00 [[-9.78933262e-01 2.03667012e-01 1.44712223e-02 1.48935305e+02] [ 2.03636338e-01 9.79040060e-01 -3.57806688e-03 -6.41454950e+01] [-1.48966405e-02 -5.55821968e-04 -9.99888884e-01 -8.00155832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.190385723 meters 0.022101804330085205 Centerline is valid? [True, True] Translation: X:148.92, Y:-64.11, Z:-8.00 [[-9.91191776e-01 1.31537932e-01 1.53829775e-02 1.48916507e+02] [ 1.31512590e-01 9.91310953e-01 -2.65196791e-03 -6.41125459e+01] [-1.55981484e-02 -6.05553571e-04 -9.99878158e-01 -8.00117824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.220385723 meters 0.022664655690701984 Centerline is valid? [True, True] Translation: X:149.03, Y:-63.33, Z:-8.93 [[-9.68487602e-01 -2.48860262e-01 1.00167174e-02 1.49031147e+02] [ 2.48848337e-01 -9.68539392e-01 -2.43973808e-03 -6.33256346e+01] [ 1.03087392e-02 1.29787375e-04 9.99946855e-01 -8.93413085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.250385723 meters 0.022471566582589655 Centerline is valid? [True, True] Translation: X:148.89, Y:-64.11, Z:-8.00 [[-9.92385989e-01 1.21940644e-01 1.73357686e-02 1.48890814e+02] [ 1.21909305e-01 9.92537132e-01 -2.85715032e-03 -6.41090817e+01] [-1.75547968e-02 -7.22004449e-04 -9.99845642e-01 -8.00036873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.280385723 meters 0.022988587656071008 Centerline is valid? [True, True] Translation: X:148.88, Y:-64.08, Z:-8.00 [[-9.98578897e-01 5.02434124e-02 1.77703599e-02 1.48880581e+02] [ 5.02222909e-02 9.98736729e-01 -1.63314506e-03 -6.40787318e+01] [-1.78299659e-02 -7.38356009e-04 -9.99840761e-01 -8.00017140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.310385723 meters 0.02335200160337752 Centerline is valid? [True, True] Translation: X:148.88, Y:-64.05, Z:-8.00 [[-9.99625872e-01 -2.14274659e-02 1.69993868e-02 1.48880473e+02] [-2.14366566e-02 9.99770144e-01 -3.58594185e-04 -6.40499724e+01] [-1.69877956e-02 -7.22870042e-04 -9.99855436e-01 -8.00090887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.340385723 meters 0.023290960781232852 Centerline is valid? [True, True] Translation: X:148.90, Y:-63.26, Z:-8.93 [[-9.94243116e-01 -1.06616548e-01 1.06554101e-02 1.48904809e+02] [ 1.06611678e-01 -9.94300205e-01 -1.02562478e-03 -6.32596467e+01] [ 1.07040250e-02 1.16270775e-04 9.99942704e-01 -8.93324029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.370385723 meters 0.023508968283067783 Centerline is valid? [True, True] Translation: X:148.80, Y:-64.05, Z:-8.00 [[-9.99533374e-01 -2.67514804e-02 1.47442181e-02 1.48798726e+02] [-2.67583982e-02 9.99641893e-01 -2.72073853e-04 -6.40474292e+01] [-1.47316597e-02 -6.66478556e-04 -9.99891261e-01 -8.00322159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.400385723 meters 0.02387952082890868 Centerline is valid? [True, True] Translation: X:148.81, Y:-64.02, Z:-8.00 [[-9.95136034e-01 -9.75227649e-02 1.39134513e-02 1.48813328e+02] [-9.75221168e-02 9.95233093e-01 7.26663164e-04 -6.40180093e+01] [-1.39179934e-02 -6.33740527e-04 -9.99902939e-01 -8.00310933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.430385723 meters 0.023829274250192104 Centerline is valid? [True, True] Translation: X:148.80, Y:-63.99, Z:-8.00 [[-9.85747556e-01 -1.67664881e-01 1.37928867e-02 1.48800829e+02] [-1.67657307e-01 9.85843850e-01 1.71178106e-03 -6.39918850e+01] [-1.38846381e-02 -6.25094258e-04 -9.99903408e-01 -8.00374551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.460385723 meters 0.022348652711277704 Centerline is valid? [True, True] Translation: X:148.79, Y:-63.97, Z:-8.00 [[-9.71397077e-01 -2.37084283e-01 1.33701778e-02 1.48794203e+02] [-2.37070338e-01 9.71488898e-01 2.64134355e-03 -6.39679840e+01] [-1.36152003e-02 -6.03879155e-04 -9.99907127e-01 -8.00494701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.490385723 meters 0.022377425572249986 Centerline is valid? [True, True] Translation: X:148.76, Y:-63.95, Z:-8.00 [[-9.51894302e-01 -3.06133169e-01 1.34060040e-02 1.48764147e+02] [-3.06111694e-01 9.51988507e-01 3.67608409e-03 -6.39468654e+01] [-1.38877330e-02 -6.04491094e-04 -9.99903378e-01 -8.00431298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.520385723 meters 0.02132520183347478 Centerline is valid? [True, True] Translation: X:148.71, Y:-63.94, Z:-8.01 [[-9.27092003e-01 -3.74608068e-01 1.30081717e-02 1.48707478e+02] [-3.74580229e-01 9.27183063e-01 4.60641020e-03 -6.39363386e+01] [-1.37865549e-02 -6.02037872e-04 -9.99904780e-01 -8.00502601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.550385723 meters 0.021854832634802795 Centerline is valid? [True, True] Translation: X:148.65, Y:-63.93, Z:-8.00 [[-8.97025127e-01 -4.41796282e-01 1.27266119e-02 1.48652316e+02] [-4.41761208e-01 8.97115202e-01 5.59906863e-03 -6.39264898e+01] [-1.38908847e-02 -5.99618192e-04 -9.99903337e-01 -8.00349987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.580385723 meters 0.0211683302025755 Centerline is valid? [True, True] Translation: X:148.58, Y:-63.93, Z:-8.00 [[-8.61752619e-01 -5.07182853e-01 1.21646044e-02 1.48581783e+02] [-5.07141923e-01 8.61838269e-01 6.47059849e-03 -6.39319656e+01] [-1.37656982e-02 -5.93125676e-04 -9.99905072e-01 -8.00445029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.610385723 meters 0.021767326358579104 Centerline is valid? [True, True] Translation: X:148.48, Y:-63.96, Z:-8.00 [[-8.21665011e-01 -5.69848363e-01 1.18090046e-02 1.48481499e+02] [-5.69799793e-01 8.21749650e-01 7.46380409e-03 -6.39584130e+01] [-1.39572819e-02 -5.96021701e-04 -9.99902415e-01 -8.00466566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.640385723 meters 0.021647795778151818 Centerline is valid? [True, True] Translation: X:148.41, Y:-63.97, Z:-8.01 [[-7.76333139e-01 -6.30235214e-01 1.05086546e-02 1.48410307e+02] [-6.30187291e-01 7.76404049e-01 7.79304258e-03 -6.39741144e+01] [-1.30704118e-02 -5.72423340e-04 -9.99914415e-01 -8.00552994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.670385723 meters 0.021647795778151818 Centerline is valid? [True, True] Translation: X:148.32, Y:-64.01, Z:-8.01 [[-7.26455533e-01 -6.87142408e-01 9.88283439e-03 1.48320341e+02] [-6.87089321e-01 7.26522529e-01 8.56040918e-03 -6.40116707e+01] [-1.30623220e-02 -5.71633362e-04 -9.99914521e-01 -8.00588534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.700385723 meters 0.021944877597625742 Centerline is valid? [True, True] Translation: X:148.23, Y:-64.06, Z:-8.01 [[-6.72017930e-01 -7.40481528e-01 8.88864873e-03 1.48225152e+02] [-7.40427589e-01 6.72076476e-01 8.95525991e-03 -6.40627182e+01] [-1.26050563e-02 -5.63305518e-04 -9.99920394e-01 -8.00633343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.730385723 meters 0.022269459943936854 Centerline is valid? [True, True] Translation: X:148.13, Y:-64.13, Z:-8.01 [[-6.13523853e-01 -7.89635926e-01 7.97409374e-03 1.48127995e+02] [-7.89580727e-01 6.13575418e-01 9.35321334e-03 -6.41281208e+01] [-1.22783412e-02 -5.57771249e-04 -9.99924463e-01 -8.00674508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.760385723 meters 0.02113212164517947 Centerline is valid? [True, True] Translation: X:148.05, Y:-64.19, Z:-8.01 [[-5.50606715e-01 -8.34737272e-01 6.77737954e-03 1.48050231e+02] [-8.34685831e-01 5.50648154e-01 9.28296329e-03 -6.41868454e+01] [-1.14807870e-02 -5.45720753e-04 -9.99933945e-01 -8.00833015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.790385723 meters 0.021299340149568684 Centerline is valid? [True, True] Translation: X:147.96, Y:-64.27, Z:-8.01 [[-4.85272342e-01 -8.74343117e-01 5.90489624e-03 1.47962808e+02] [-8.74291279e-01 4.85307972e-01 9.53584068e-03 -6.42685557e+01] [-1.12032899e-02 -5.35119539e-04 -9.99937098e-01 -8.00819440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82038572300002 meters 0.02260667676313391 Centerline is valid? [True, True] Translation: X:147.89, Y:-64.34, Z:-8.01 [[-4.16704513e-01 -9.09027601e-01 5.11559298e-03 1.47889927e+02] [-9.08974042e-01 4.16735572e-01 9.88200836e-03 -6.43369376e+01] [-1.11148679e-02 -5.32063744e-04 -9.99938086e-01 -8.00731985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85038572300002 meters 0.023115339178425738 Centerline is valid? [True, True] Translation: X:147.82, Y:-64.43, Z:-8.01 [[-3.45235516e-01 -9.38506401e-01 4.26302157e-03 1.47816602e+02] [-9.38452703e-01 3.45261428e-01 1.00533596e-02 -6.44312014e+01] [-1.09069992e-02 -5.29867337e-04 -9.99940377e-01 -8.00704930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88038572300002 meters 0.023395876116667824 Centerline is valid? [True, True] Translation: X:147.75, Y:-64.53, Z:-8.01 [[-2.71215889e-01 -9.62511856e-01 3.58738677e-03 1.47748959e+02] [-9.62452490e-01 2.71239056e-01 1.07041505e-02 -6.45346696e+01] [-1.12759112e-02 -5.49553627e-04 -9.99936274e-01 -8.00762235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91038572300002 meters 0.023285654034378288 Centerline is valid? [True, True] Translation: X:147.69, Y:-64.66, Z:-8.01 [[-1.94759380e-01 -9.80847285e-01 2.71802906e-03 1.47685451e+02] [-9.80787974e-01 1.94777534e-01 1.08010274e-02 -6.46582204e+01] [-1.11235694e-02 -5.62208810e-04 -9.99937973e-01 -8.00827603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.940385723 meters 0.02382243029400416 Centerline is valid? [True, True] Translation: X:147.63, Y:-64.78, Z:-8.01 [[-1.18237125e-01 -9.92983530e-01 1.92147948e-03 1.47632213e+02] [-9.92919991e-01 1.18251324e-01 1.12479690e-02 -6.47808888e+01] [-1.13962654e-02 -5.77947881e-04 -9.99934893e-01 -8.00846696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.970385723 meters 0.02567278307271838 Centerline is valid? [True, True] Translation: X:147.59, Y:-64.90, Z:-8.01 [[-4.05136658e-02 -9.99178471e-01 1.01245910e-03 1.47587526e+02] [-9.99119386e-01 4.05222957e-02 1.08810161e-02 -6.48997934e+01] [-1.09131042e-02 -5.70737667e-04 -9.99940287e-01 -8.00850574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.000385723 meters 0.02464442408317725 Centerline is valid? [True, True] Translation: X:147.56, Y:-65.02, Z:-8.01 [[ 3.77232919e-02 -9.99288210e-01 1.63281398e-04 1.47557403e+02] [-9.99215246e-01 -3.77185618e-02 1.20913854e-02 -6.50230430e+01] [-1.20766202e-02 -6.19280124e-04 -9.99926883e-01 -8.00888918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.030385723 meters 0.023160988238258736 Centerline is valid? [True, True] Translation: X:147.54, Y:-65.11, Z:-8.01 [[ 1.15042457e-01 -9.93360189e-01 -8.76304330e-04 1.47536797e+02] [-9.93271077e-01 -1.15043888e-01 1.33218437e-02 -6.51110324e+01] [-1.33342026e-02 -6.62169875e-04 -9.99910876e-01 -8.00866138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.060385723 meters 0.022248777971679755 Centerline is valid? [True, True] Translation: X:147.52, Y:-65.22, Z:-8.01 [[ 1.91470161e-01 -9.81496521e-01 -1.93814410e-03 1.47524021e+02] [-9.81405025e-01 -1.91478808e-01 1.34180085e-02 -6.52243068e+01] [-1.35408422e-02 -6.67043877e-04 -9.99908096e-01 -8.00970637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.090385723 meters 0.024035852576965146 Centerline is valid? [True, True] Translation: X:147.52, Y:-65.36, Z:-8.01 [[ 2.66476020e-01 -9.63837049e-01 -2.94521469e-03 1.47519263e+02] [-9.63747877e-01 -2.66491479e-01 1.31271540e-02 -6.53565472e+01] [-1.34373120e-02 -6.59627340e-04 -9.99909498e-01 -8.00945141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.120385723 meters 0.025304856984920146 Centerline is valid? [True, True] Translation: X:147.52, Y:-65.49, Z:-8.01 [[ 3.39632561e-01 -9.40549662e-01 -4.00717130e-03 1.47524697e+02] [-9.40459595e-01 -3.39655562e-01 1.30325982e-02 -6.54874764e+01] [-1.36188639e-02 -6.57712004e-04 -9.99907043e-01 -8.00968371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.150385723 meters 0.025375072627587678 Centerline is valid? [True, True] Translation: X:147.55, Y:-65.62, Z:-8.01 [[ 4.10762105e-01 -9.11729100e-01 -4.95392513e-03 1.47545734e+02] [-9.11642720e-01 -4.10791469e-01 1.25665787e-02 -6.56248967e+01] [-1.34923457e-02 -6.45664535e-04 -9.99908766e-01 -8.01033708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.180385723 meters 0.02176515550991297 Centerline is valid? [True, True] Translation: X:147.57, Y:-65.72, Z:-8.01 [[ 4.78898847e-01 -8.77854154e-01 -5.28940892e-03 1.47565526e+02] [-8.77786443e-01 -4.78927699e-01 1.09188279e-02 -6.57179067e+01] [-1.21183829e-02 -5.86042663e-04 -9.99926398e-01 -8.01424382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.210385723 meters 0.024818465104312935 Centerline is valid? [True, True] Translation: X:147.60, Y:-65.85, Z:-8.02 [[ 5.43906223e-01 -8.39128270e-01 -5.45591433e-03 1.47601453e+02] [-8.39075890e-01 -5.43933328e-01 9.39072879e-03 -6.58499970e+01] [-1.08476796e-02 -5.29749656e-04 -9.99941022e-01 -8.01508885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.240385723 meters 0.02512561533447663 Centerline is valid? [True, True] Translation: X:147.65, Y:-65.97, Z:-8.02 [[ 6.06503824e-01 -7.95059965e-01 -5.72398648e-03 1.47650931e+02] [-7.95016480e-01 -6.06530627e-01 8.33038726e-03 -6.59749701e+01] [-1.00949305e-02 -5.01748146e-04 -9.99948919e-01 -8.01574203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.270385723 meters 0.021733522850660433 Centerline is valid? [True, True] Translation: X:147.68, Y:-66.04, Z:-8.02 [[ 6.65175628e-01 -7.46658252e-01 -6.54507727e-03 1.47675421e+02] [-7.46614494e-01 -6.65207640e-01 8.09895725e-03 -6.60410652e+01] [-1.04009887e-02 -5.00579428e-04 -9.99945783e-01 -8.01789379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.300385723 meters 0.021007652186054715 Centerline is valid? [True, True] Translation: X:147.73, Y:-66.15, Z:-8.02 [[ 7.20358397e-01 -6.93563039e-01 -7.35468131e-03 1.47734321e+02] [-6.93519554e-01 -7.20395763e-01 7.78288233e-03 -6.61460035e+01] [-1.06962008e-02 -5.05849339e-04 -9.99942666e-01 -8.01839871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.330385723 meters 0.02231193553735789 Centerline is valid? [True, True] Translation: X:147.79, Y:-66.24, Z:-8.02 [[ 7.71690023e-01 -6.35935612e-01 -8.96693467e-03 1.47791440e+02] [-6.35884227e-01 -7.71741922e-01 8.10283954e-03 -6.62436418e+01] [-1.20730436e-02 -5.50948116e-04 -9.99926966e-01 -8.01742311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.360385723 meters 0.023587548524132355 Centerline is valid? [True, True] Translation: X:147.79, Y:-66.25, Z:-8.02 [[ 8.19195953e-01 -5.73425685e-01 -1.00486271e-02 1.47786086e+02] [-5.73373790e-01 -8.19257378e-01 7.73594373e-03 -6.62478343e+01] [-1.26684007e-02 -5.75634403e-04 -9.99919587e-01 -8.01585487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.390385723 meters 0.022122659596285413 Centerline is valid? [True, True] Translation: X:147.78, Y:-66.25, Z:-8.02 [[ 8.61911695e-01 -5.06947643e-01 -1.05979534e-02 1.47783525e+02] [-5.06900882e-01 -8.61976651e-01 6.91015744e-03 -6.62502209e+01] [-1.26382764e-02 -5.83833593e-04 -9.99919963e-01 -8.01680731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.420385723 meters 0.022327471162787844 Centerline is valid? [True, True] Translation: X:147.78, Y:-66.26, Z:-8.02 [[ 8.98861069e-01 -4.38101923e-01 -1.07463202e-02 1.47779917e+02] [-4.38062948e-01 -8.98925125e-01 5.87141224e-03 -6.62557017e+01] [-1.22324142e-02 -5.70019193e-04 -9.99925019e-01 -8.01713336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.450385723 meters 0.022460159408168916 Centerline is valid? [True, True] Translation: X:147.78, Y:-66.26, Z:-8.02 [[ 9.30124133e-01 -3.67096286e-01 -1.04601211e-02 1.47776294e+02] [-3.67066500e-01 -9.30182792e-01 4.70728337e-03 -6.62593927e+01] [-1.14578509e-02 -5.38797806e-04 -9.99934212e-01 -8.01742658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.480385723 meters 0.022409389289578103 Centerline is valid? [True, True] Translation: X:147.77, Y:-66.26, Z:-8.02 [[ 9.55914741e-01 -2.93436336e-01 -1.10510378e-02 1.47773976e+02] [-2.93410107e-01 -9.55978463e-01 3.96077533e-03 -6.62618424e+01] [-1.17267895e-02 -5.43677339e-04 -9.99931091e-01 -8.01732971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.510385723 meters 0.022770999242078194 Centerline is valid? [True, True] Translation: X:147.77, Y:-66.27, Z:-8.02 [[ 9.75915229e-01 -2.17809102e-01 -1.21926600e-02 1.47772563e+02] [-2.17784784e-01 -9.75991225e-01 3.30405702e-03 -6.62656912e+01] [-1.26195829e-02 -5.69103730e-04 -9.99920208e-01 -8.01655070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.540385723 meters 0.02322232582182081 Centerline is valid? [True, True] Translation: X:147.77, Y:-66.27, Z:-8.02 [[ 9.90002064e-01 -1.40444899e-01 -1.30821573e-02 1.47770194e+02] [-1.40424691e-01 -9.90088318e-01 2.45518835e-03 -6.62697153e+01] [-1.32973098e-02 -5.93583634e-04 -9.99911411e-01 -8.01553717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57038572300002 meters 0.02213808875746291 Centerline is valid? [True, True] Translation: X:147.76, Y:-66.28, Z:-8.02 [[ 9.98017950e-01 -6.12770413e-02 -1.43281742e-02 1.47764752e+02] [-6.12614657e-02 -9.98120589e-01 1.52386298e-03 -6.62759673e+01] [-1.43946235e-02 -6.43077659e-04 -9.99896185e-01 -8.01500700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60038572300002 meters 0.02455502439773135 Centerline is valid? [True, True] Translation: X:147.76, Y:-66.29, Z:-8.01 [[ 9.99731771e-01 1.76529620e-02 -1.49919813e-02 1.47758605e+02] [ 1.76610192e-02 -9.99843950e-01 4.05198039e-04 -6.62864922e+01] [-1.49824888e-02 -6.69863022e-04 -9.99887532e-01 -8.01284541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63038572300002 meters 0.02291067791107096 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.29, Z:-8.01 [[ 9.95172377e-01 9.70104843e-02 -1.48629263e-02 1.47754978e+02] [ 9.70098886e-02 -9.95283125e-01 -7.62740388e-04 -6.62910565e+01] [-1.48668136e-02 -6.82792664e-04 -9.99889250e-01 -8.01446044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66038572300002 meters 0.02430360052691222 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.30, Z:-8.01 [[ 9.84526900e-01 1.74710813e-01 -1.35246216e-02 1.47750559e+02] [ 1.74703272e-01 -9.84619580e-01 -1.74624521e-03 -6.63008702e+01] [-1.36216951e-02 -6.43570256e-04 -9.99907013e-01 -8.01405690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.690385723 meters 0.023073598900949233 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.31, Z:-8.02 [[ 9.67854987e-01 2.51271930e-01 -1.09152275e-02 1.47747342e+02] [ 2.51262460e-01 -9.67916371e-01 -2.25282400e-03 -6.63070043e+01] [-1.11310988e-02 -5.62179972e-04 -9.99937889e-01 -8.01704640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.720385723 meters 0.023101912072800383 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.32, Z:-8.02 [[ 9.45264631e-01 3.26162813e-01 -9.62269284e-03 1.47745240e+02] [ 3.26151501e-01 -9.45313464e-01 -2.76640970e-03 -6.63153083e+01] [-9.99876107e-03 -5.23466470e-04 -9.99949874e-01 -8.01834074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.750385723 meters 0.0241057109705076 Centerline is valid? [True, True] Translation: X:147.74, Y:-66.32, Z:-8.02 [[ 9.16756110e-01 3.99371308e-01 -7.79697401e-03 1.47743466e+02] [ 3.99361171e-01 -9.16789146e-01 -2.88404809e-03 -6.63242351e+01] [-8.29998720e-03 -4.69839961e-04 -9.99965444e-01 -8.01970639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.780385723 meters 0.022491200848579584 Centerline is valid? [True, True] Translation: X:147.74, Y:-66.33, Z:-8.02 [[ 8.82043498e-01 4.71103491e-01 -7.79540492e-03 1.47743401e+02] [ 4.71089930e-01 -8.82077809e-01 -3.60801299e-03 -6.63328233e+01] [-8.57590120e-03 -4.89912355e-04 -9.99963106e-01 -8.01954799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.810385723 meters 0.026848659568838324 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.35, Z:-8.02 [[ 8.42174289e-01 5.39150244e-01 -7.71238555e-03 1.47747132e+02] [ 5.39133008e-01 -8.42209452e-01 -4.34031270e-03 -6.63505080e+01] [-8.83552466e-03 -5.02701854e-04 -9.99960840e-01 -8.01773624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.840385723 meters 0.023431722369756332 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.36, Z:-8.02 [[ 7.96519280e-01 6.04554356e-01 -8.43015248e-03 1.47746579e+02] [ 6.04527819e-01 -7.96563692e-01 -5.69222358e-03 -6.63567145e+01] [-1.01564119e-02 -5.62295868e-04 -9.99948264e-01 -8.01761640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.870385723 meters 0.02450394235792609 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.37, Z:-8.02 [[ 7.46253867e-01 6.65608996e-01 -8.35651343e-03 1.47749693e+02] [ 6.65575883e-01 -7.46300421e-01 -6.66520117e-03 -6.63682725e+01] [-1.06728873e-02 -5.87961662e-04 -9.99942870e-01 -8.01610032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.900385723 meters 0.024847975739104886 Centerline is valid? [True, True] Translation: X:147.75, Y:-66.38, Z:-8.02 [[ 6.91358613e-01 7.22464176e-01 -8.29351664e-03 1.47752391e+02] [ 7.22422660e-01 -6.91408078e-01 -7.76985442e-03 -6.63770615e+01] [-1.13476459e-02 -6.19668581e-04 -9.99935421e-01 -8.01520878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.930385723 meters 0.0231349514912312 Centerline is valid? [True, True] Translation: X:147.76, Y:-66.39, Z:-8.02 [[ 6.32148250e-01 7.74804308e-01 -8.17764027e-03 1.47756874e+02] [ 7.74752500e-01 -6.32200801e-01 -8.98389146e-03 -6.63865922e+01] [-1.21306685e-02 -6.56495978e-04 -9.99926205e-01 -8.01503715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.960385723 meters 0.024459962348685343 Centerline is valid? [True, True] Translation: X:147.76, Y:-66.40, Z:-8.01 [[ 5.69639140e-01 8.21859033e-01 -7.67985206e-03 1.47763966e+02] [ 8.21799608e-01 -5.69690515e-01 -9.90562490e-03 -6.63987644e+01] [-1.25161662e-02 -6.68667768e-04 -9.99921446e-01 -8.01474728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.990385723 meters 0.023220120075189022 Centerline is valid? [True, True] Translation: X:147.77, Y:-66.41, Z:-8.02 [[ 5.04337905e-01 8.63477384e-01 -7.07710862e-03 1.47768322e+02] [ 8.63410255e-01 -5.04387113e-01 -1.07876110e-02 -6.64065291e+01] [-1.28844605e-02 -6.69847008e-04 -9.99916768e-01 -8.01570207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.020385723 meters 0.023405647778788712 Centerline is valid? [True, True] Translation: X:147.77, Y:-66.42, Z:-8.02 [[ 4.36840312e-01 8.99517549e-01 -6.22251552e-03 1.47774697e+02] [ 8.99446387e-01 -4.36884150e-01 -1.13329742e-02 -6.64159366e+01] [-1.29127276e-02 -6.46119108e-04 -9.99916419e-01 -8.01607123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.050385723 meters 0.023506831060214513 Centerline is valid? [True, True] Translation: X:147.78, Y:-66.42, Z:-8.02 [[ 3.66115329e-01 9.30554255e-01 -5.32400659e-03 1.47779564e+02] [ 9.30479586e-01 -3.66153492e-01 -1.18051276e-02 -6.64236817e+01] [-1.29347153e-02 -6.31841266e-04 -9.99916143e-01 -8.01576725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.080385723 meters 0.022065378755460326 Centerline is valid? [True, True] Translation: X:147.79, Y:-66.43, Z:-8.02 [[ 2.94427094e-01 9.55663477e-01 -4.47274612e-03 1.47785069e+02] [ 9.55582599e-01 -2.94460436e-01 -1.24477991e-02 -6.64298969e+01] [-1.32129537e-02 -6.09109049e-04 -9.99912520e-01 -8.01581229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.110385723 meters 0.022008983706001517 Centerline is valid? [True, True] Translation: X:147.79, Y:-66.44, Z:-8.02 [[ 2.19757416e-01 9.75548551e-01 -3.42100716e-03 1.47792294e+02] [ 9.75468433e-01 -2.19783260e-01 -1.25162232e-02 -6.64362578e+01] [-1.29620635e-02 -5.86551623e-04 -9.99915817e-01 -8.01586609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.140385723 meters 0.021365509190741427 Centerline is valid? [True, True] Translation: X:147.80, Y:-66.44, Z:-8.02 [[ 1.44159225e-01 9.89551638e-01 -2.38192706e-03 1.47800758e+02] [ 9.89473165e-01 -1.44177820e-01 -1.24744487e-02 -6.64419759e+01] [-1.26875322e-02 -5.58546059e-04 -9.99919354e-01 -8.01714475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.170385723 meters 0.021965415461652798 Centerline is valid? [True, True] Translation: X:147.81, Y:-66.45, Z:-8.02 [[ 6.70192723e-02 9.97750715e-01 -1.38846897e-03 1.47809238e+02] [ 9.97672089e-01 -6.70314382e-02 -1.25375190e-02 -6.64484137e+01] [-1.26023896e-02 -5.44981338e-04 -9.99920438e-01 -8.01748663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.200385723 meters 0.021079952500518334 Centerline is valid? [True, True] Translation: X:147.82, Y:-66.45, Z:-8.02 [[-9.78536800e-03 9.99952036e-01 -4.13900929e-04 1.47816606e+02] [ 9.99863332e-01 9.77898240e-03 -1.33299810e-02 -6.64533548e+01] [-1.33252941e-02 -5.44283132e-04 -9.99911066e-01 -8.01857532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.230385723 meters 0.020823225632608928 Centerline is valid? [True, True] Translation: X:147.83, Y:-66.46, Z:-8.02 [[-8.74319494e-02 9.96170276e-01 6.59840269e-04 1.47825722e+02] [ 9.96075330e-01 8.74327333e-02 -1.37642429e-02 -6.64573405e+01] [-1.37692213e-02 -5.46183976e-04 -9.99905051e-01 -8.01901761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.260385723 meters 0.02020793721465378 Centerline is valid? [True, True] Translation: X:147.84, Y:-66.46, Z:-8.02 [[-1.64412296e-01 9.86389892e-01 1.89154649e-03 1.47838877e+02] [ 9.86279483e-01 1.64422215e-01 -1.47687659e-02 -6.64599208e+01] [-1.48787737e-02 -5.62573224e-04 -9.99889147e-01 -8.01903417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.290385723 meters 0.021006417764748916 Centerline is valid? [True, True] Translation: X:147.85, Y:-66.46, Z:-8.02 [[-2.40891514e-01 9.70546581e-01 3.25768377e-03 1.47854240e+02] [ 9.70422333e-01 2.40912838e-01 -1.55402877e-02 -6.64617797e+01] [-1.58673910e-02 -5.82194370e-04 -9.99873936e-01 -8.01793414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32038572300002 meters 0.021273393311829623 Centerline is valid? [True, True] Translation: X:147.87, Y:-66.46, Z:-8.02 [[-3.16349163e-01 9.48630366e-01 4.86169316e-03 1.47865148e+02] [ 9.48486514e-01 3.16385914e-01 -1.65313770e-02 -6.64635012e+01] [-1.72203374e-02 -6.18436880e-04 -9.99851528e-01 -8.01787568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35038572300002 meters 0.021177327627179155 Centerline is valid? [True, True] Translation: X:147.87, Y:-66.46, Z:-8.02 [[-3.89331779e-01 9.21076611e-01 6.21626234e-03 1.47874892e+02] [ 9.20932826e-01 3.89380915e-01 -1.62859895e-02 -6.64639737e+01] [-1.74211380e-02 -6.15893233e-04 -9.99848051e-01 -8.01826481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38038572300002 meters 0.020893797813186215 Centerline is valid? [True, True] Translation: X:147.89, Y:-66.46, Z:-8.02 [[-4.59442313e-01 8.88174808e-01 7.63361427e-03 1.47886035e+02] [ 8.88029508e-01 4.59505323e-01 -1.60764053e-02 -6.64633924e+01] [-1.77863446e-02 -6.07306105e-04 -9.99841626e-01 -8.01920253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41038572300002 meters 0.02127712722343074 Centerline is valid? [True, True] Translation: X:147.90, Y:-66.46, Z:-8.02 [[-5.26955863e-01 8.49849515e-01 8.56272423e-03 1.47897080e+02] [ 8.49718970e-01 5.27025110e-01 -1.49065540e-02 -6.64631115e+01] [-1.71810984e-02 -5.79186828e-04 -9.99852226e-01 -8.01899276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.440385723 meters 0.021473044564414484 Centerline is valid? [True, True] Translation: X:147.90, Y:-66.46, Z:-8.02 [[-5.90450170e-01 8.07023749e-01 9.01471743e-03 1.47904702e+02] [ 8.06915889e-01 5.90518751e-01 -1.32042689e-02 -6.64627930e+01] [-1.59795183e-02 -5.22344108e-04 -9.99872183e-01 -8.01970658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.470385723 meters 0.020899572341190577 Centerline is valid? [True, True] Translation: X:147.91, Y:-66.46, Z:-8.02 [[-6.51447577e-01 7.58627945e-01 9.98476106e-03 1.47913054e+02] [ 7.58526563e-01 6.51523889e-01 -1.24126555e-02 -6.64624611e+01] [-1.59218977e-02 -5.12487857e-04 -9.99873107e-01 -8.02168713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.500385723 meters 0.020802329950823664 Centerline is valid? [True, True] Translation: X:147.92, Y:-66.46, Z:-8.02 [[-7.07620758e-01 7.06512221e-01 1.06463503e-02 1.47920826e+02] [ 7.06421985e-01 7.07700682e-01 -1.13015550e-02 -6.64619332e+01] [-1.55191161e-02 -4.76399008e-04 -9.99879458e-01 -8.02240670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.530385723 meters 0.020802329950823664 Centerline is valid? [True, True] Translation: X:147.93, Y:-66.46, Z:-8.02 [[-7.60764297e-01 6.48926484e-01 1.14936341e-02 1.47927365e+02] [ 6.48842866e-01 7.60850966e-01 -1.04279627e-02 -6.64608496e+01] [-1.55119238e-02 -4.75659190e-04 -9.99879570e-01 -8.02246851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.560385723 meters 0.02086309726986439 Centerline is valid? [True, True] Translation: X:147.95, Y:-66.44, Z:-8.02 [[-8.04409397e-01 5.93943964e-01 1.24935685e-02 1.47945440e+02] [ 5.93863464e-01 8.04506284e-01 -9.78902228e-03 -6.64384023e+01] [-1.58652850e-02 -4.54907650e-04 -9.99874035e-01 -8.02197341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.590385723 meters 0.020768408098494347 Centerline is valid? [True, True] Translation: X:147.97, Y:-66.42, Z:-8.02 [[-8.43747534e-01 5.36567634e-01 1.36114819e-02 1.47966524e+02] [ 5.36489257e-01 8.43857201e-01 -9.18154995e-03 -6.64182412e+01] [-1.64126695e-02 -4.44496334e-04 -9.99865204e-01 -8.02120945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.620385723 meters 0.020186967875542167 Centerline is valid? [True, True] Translation: X:147.98, Y:-66.40, Z:-8.02 [[-8.79126364e-01 4.76363814e-01 1.46407903e-02 1.47982034e+02] [ 4.76289460e-01 8.79248160e-01 -8.42748847e-03 -6.63956141e+01] [-1.68874385e-02 -4.35573179e-04 -9.99857302e-01 -8.02191850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.650385723 meters 0.020189639955288205 Centerline is valid? [True, True] Translation: X:148.00, Y:-66.37, Z:-8.02 [[-9.10264351e-01 4.13753320e-01 1.50666010e-02 1.47997158e+02] [ 4.13689018e-01 9.10388937e-01 -7.30618800e-03 -6.63707226e+01] [-1.67394264e-02 -4.17675107e-04 -9.99859799e-01 -8.02098428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.680385723 meters 0.019979407225983875 Centerline is valid? [True, True] Translation: X:148.01, Y:-66.35, Z:-8.02 [[-9.37073475e-01 3.48761939e-01 1.60752422e-02 1.48013026e+02] [ 3.48702992e-01 9.37211255e-01 -6.42544711e-03 -6.63460210e+01] [-1.73068493e-02 -4.15631012e-04 -9.99850139e-01 -8.02025834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.710385723 meters 0.01953332417247843 Centerline is valid? [True, True] Translation: X:148.01, Y:-66.32, Z:-8.02 [[-9.58831507e-01 2.83452137e-01 1.72344883e-02 1.48011720e+02] [ 2.83399037e-01 9.58986306e-01 -5.50011071e-03 -6.63165272e+01] [-1.80866564e-02 -3.89442053e-04 -9.99836347e-01 -8.01922938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.740385723 meters 0.019349513283816976 Centerline is valid? [True, True] Translation: X:148.01, Y:-66.29, Z:-8.02 [[-9.76157229e-01 2.16311143e-01 1.80708218e-02 1.48011353e+02] [ 2.16267141e-01 9.76324411e-01 -4.37813674e-03 -6.62879454e+01] [-1.85900242e-02 -3.65624867e-04 -9.99827124e-01 -8.01870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.770385723 meters 0.01891689145669131 Centerline is valid? [True, True] Translation: X:148.03, Y:-66.27, Z:-8.02 [[-9.88580481e-01 1.49547556e-01 1.85515573e-02 1.48034304e+02] [ 1.49515357e-01 9.88754486e-01 -3.11849229e-03 -6.62666780e+01] [-1.88092984e-02 -3.09137894e-04 -9.99823042e-01 -8.01872472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.800385723 meters 0.018503201437900088 Centerline is valid? [True, True] Translation: X:148.04, Y:-66.24, Z:-8.02 [[-9.96513640e-01 8.15121278e-02 1.77859141e-02 1.48041637e+02] [ 8.14945678e-02 9.96672317e-01 -1.71106803e-03 -6.62413270e+01] [-1.78662010e-02 -2.55647251e-04 -9.99840354e-01 -8.02051877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.830385723 meters 0.018406043180539185 Centerline is valid? [True, True] Translation: X:148.04, Y:-66.21, Z:-8.02 [[-9.99799068e-01 1.15101384e-02 1.64115853e-02 1.48043295e+02] [ 1.15048170e-02 9.99933730e-01 -4.18625236e-04 -6.62132454e+01] [-1.64153161e-02 -2.29728836e-04 -9.99865233e-01 -8.02096178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.860385723 meters 0.018187808241386078 Centerline is valid? [True, True] Translation: X:148.04, Y:-66.19, Z:-8.02 [[-9.98183375e-01 -5.84035157e-02 1.47979509e-02 1.48039659e+02] [-5.84001324e-02 9.98293037e-01 6.61025358e-04 -6.61858473e+01] [-1.48112975e-02 -2.04377767e-04 -9.99890286e-01 -8.02322474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.890385723 meters 0.01808238394249857 Centerline is valid? [True, True] Translation: X:148.00, Y:-65.43, Z:-8.94 [[-9.99856052e-01 -1.45156225e-02 8.78479958e-03 1.48002049e+02] [ 1.45131913e-02 -9.99894620e-01 -3.40437720e-04 -6.54305740e+01] [ 8.78881551e-03 -2.12893237e-04 9.99961355e-01 -8.93996018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.920385723 meters 0.01788419320852587 Centerline is valid? [True, True] Translation: X:147.94, Y:-66.19, Z:-8.03 [[-9.97782716e-01 -6.56205969e-02 1.11170586e-02 1.47936853e+02] [-6.56188620e-02 9.97844624e-01 5.21138342e-04 -6.61909602e+01] [-1.11272946e-02 -2.09505903e-04 -9.99938068e-01 -8.02777449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.950385723 meters 0.017931659378806558 Centerline is valid? [True, True] Translation: X:147.89, Y:-65.44, Z:-8.94 [[-9.99928561e-01 -1.02514636e-02 6.14663363e-03 1.47893836e+02] [ 1.02503769e-02 -9.99947442e-01 -2.08267251e-04 -6.54360535e+01] [ 6.14844562e-03 -1.45247061e-04 9.99981088e-01 -8.93697205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.980385723 meters 0.017958189931794613 Centerline is valid? [True, True] Translation: X:147.83, Y:-66.19, Z:-8.03 [[-9.97222035e-01 -7.37259847e-02 1.06156971e-02 1.47829163e+02] [-7.37242285e-02 9.97278511e-01 5.57204021e-04 -6.61948679e+01] [-1.06278870e-02 -2.26977951e-04 -9.99943497e-01 -8.02678950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.010385723 meters 0.01802055876904032 Centerline is valid? [True, True] Translation: X:147.82, Y:-66.17, Z:-8.03 [[-9.89031056e-01 -1.47330396e-01 1.05510781e-02 1.47820580e+02] [-1.47324707e-01 9.89087302e-01 1.31868190e-03 -6.61652745e+01] [-1.06302193e-02 -2.50217126e-04 -9.99943466e-01 -8.02728462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.040385723 meters 0.018593235206822215 Centerline is valid? [True, True] Translation: X:147.80, Y:-66.14, Z:-8.03 [[-9.75137356e-01 -2.21321922e-01 1.11240118e-02 1.47800207e+02] [-2.21311002e-01 9.75200758e-01 2.21870250e-03 -6.61370576e+01] [-1.13391922e-02 -2.98326509e-04 -9.99935665e-01 -8.02632845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07038572300002 meters 0.01838848892722861 Centerline is valid? [True, True] Translation: X:147.77, Y:-66.12, Z:-8.03 [[-9.56158625e-01 -2.92643033e-01 1.09881529e-02 1.47765676e+02] [-2.92627543e-01 9.56221707e-01 3.02794532e-03 -6.61175891e+01] [-1.13932175e-02 -3.20240156e-04 -9.99935044e-01 -8.02779594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10038572300002 meters 0.019129541446304743 Centerline is valid? [True, True] Translation: X:147.71, Y:-66.10, Z:-8.03 [[-9.30702793e-01 -3.65588840e-01 1.17094730e-02 1.47709565e+02] [-3.65565104e-01 9.30776370e-01 4.18385623e-03 -6.61046825e+01] [-1.24284719e-02 -3.86648028e-04 -9.99922689e-01 -8.02793133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13038572300002 meters 0.019195846235897367 Centerline is valid? [True, True] Translation: X:147.64, Y:-66.10, Z:-8.03 [[-9.00548684e-01 -4.34594780e-01 1.18086870e-02 1.47644417e+02] [-4.34563429e-01 9.00626007e-01 5.23653380e-03 -6.61009513e+01] [-1.29109809e-02 -4.15869911e-04 -9.99916563e-01 -8.02822066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16038572300002 meters 0.02047976850779832 Centerline is valid? [True, True] Translation: X:147.57, Y:-66.11, Z:-8.03 [[-8.65266931e-01 -5.01180952e-01 1.14364087e-02 1.47565089e+02] [-5.01143734e-01 8.65342398e-01 6.12309508e-03 -6.61058312e+01] [-1.29651880e-02 -4.33172885e-04 -9.99915855e-01 -8.02667375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.190385723 meters 0.019821626856284802 Centerline is valid? [True, True] Translation: X:147.49, Y:-66.12, Z:-8.03 [[-8.24438594e-01 -5.65859652e-01 1.01911003e-02 1.47491171e+02] [-5.65822861e-01 8.24501465e-01 6.46715688e-03 -6.61206375e+01] [-1.20620803e-02 -4.34583805e-04 -9.99927156e-01 -8.02848403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.220385723 meters 0.020236832700750832 Centerline is valid? [True, True] Translation: X:147.41, Y:-66.15, Z:-8.03 [[-7.78866502e-01 -6.27136554e-01 8.16791057e-03 1.47406581e+02] [-6.27107436e-01 7.78909224e-01 6.05676032e-03 -6.61467742e+01] [-1.01604767e-02 -4.04749736e-04 -9.99948299e-01 -8.02932289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.250385723 meters 0.020951031942406204 Centerline is valid? [True, True] Translation: X:147.31, Y:-66.19, Z:-8.03 [[-7.29346945e-01 -6.84108562e-01 6.96488095e-03 1.47307158e+02] [-6.84082297e-01 7.29380099e-01 6.00690480e-03 -6.61948285e+01] [-9.18942056e-03 -3.83434091e-04 -9.99957703e-01 -8.02901640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.280385723 meters 0.020022787727322633 Centerline is valid? [True, True] Translation: X:147.22, Y:-66.24, Z:-8.03 [[-6.75189354e-01 -7.37618766e-01 6.15569817e-03 1.47219541e+02] [-7.37593061e-01 6.75217310e-01 6.16935759e-03 -6.62423353e+01] [-8.70706789e-03 -3.74915693e-04 -9.99962022e-01 -8.03165296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.310385723 meters 0.020385393639481955 Centerline is valid? [True, True] Translation: X:147.14, Y:-66.30, Z:-8.03 [[-6.17445659e-01 -7.86593240e-01 5.65085140e-03 1.47136965e+02] [-7.86565648e-01 6.17471406e-01 6.59885911e-03 -6.62980528e+01] [-8.67985713e-03 -3.70328676e-04 -9.99962261e-01 -8.03166369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.340385723 meters 0.020858252118411715 Centerline is valid? [True, True] Translation: X:147.05, Y:-66.37, Z:-8.03 [[-5.55503269e-01 -8.31497362e-01 5.31562452e-03 1.47049410e+02] [-8.31465641e-01 5.55528571e-01 7.27287468e-03 -6.63657691e+01] [-9.00035741e-03 -3.79653490e-04 -9.99959424e-01 -8.03252810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.370385723 meters 0.02062990188052097 Centerline is valid? [True, True] Translation: X:146.97, Y:-66.44, Z:-8.03 [[-4.89606305e-01 -8.71931685e-01 4.56110854e-03 1.46973435e+02] [-8.71900772e-01 4.89627404e-01 7.35179501e-03 -6.64373378e+01] [-8.64350675e-03 -3.77348871e-04 -9.99962573e-01 -8.03402354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.400385723 meters 0.021402479808844663 Centerline is valid? [True, True] Translation: X:146.90, Y:-66.52, Z:-8.03 [[-4.20931178e-01 -9.07084362e-01 3.86045844e-03 1.46895309e+02] [-9.07053999e-01 4.20948714e-01 7.43123550e-03 -6.65201526e+01] [-8.36581253e-03 -3.73605549e-04 -9.99964936e-01 -8.03426747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.430385723 meters 0.020543949523624032 Centerline is valid? [True, True] Translation: X:146.83, Y:-66.61, Z:-8.03 [[-3.49750333e-01 -9.36837831e-01 3.09568065e-03 1.46826213e+02] [-9.36809825e-01 3.49763844e-01 7.25299408e-03 -6.66137589e+01] [-7.87763640e-03 -3.63326957e-04 -9.99968905e-01 -8.03422722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.460385723 meters 0.02064117453716439 Centerline is valid? [True, True] Translation: X:146.76, Y:-66.72, Z:-8.03 [[-2.76918929e-01 -9.60889991e-01 2.51624416e-03 1.46758545e+02] [-9.60861323e-01 2.76930127e-01 7.43127791e-03 -6.67218369e+01] [-7.83746438e-03 -3.59900178e-04 -9.99969222e-01 -8.03424648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.490385723 meters 0.019791165117961595 Centerline is valid? [True, True] Translation: X:146.70, Y:-66.85, Z:-8.04 [[-2.03852331e-01 -9.79000122e-01 1.72895063e-03 1.46700930e+02] [-9.78977167e-01 2.03859404e-01 6.71198208e-03 -6.68469349e+01] [-6.92349412e-03 -3.24350003e-04 -9.99975980e-01 -8.03561652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.520385723 meters 0.019251107119768823 Centerline is valid? [True, True] Translation: X:146.66, Y:-66.94, Z:-8.04 [[-1.29223891e-01 -9.91614827e-01 1.10451654e-03 1.46658690e+02] [-9.91595700e-01 1.29228267e-01 6.16624539e-03 -6.69353999e+01] [-6.25727512e-03 -2.98407623e-04 -9.99980379e-01 -8.03653032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.550385723 meters 0.01914696609920813 Centerline is valid? [True, True] Translation: X:146.62, Y:-67.07, Z:-8.04 [[-5.57954668e-02 -9.98442078e-01 5.31411004e-04 1.46619835e+02] [-9.98429721e-01 5.57974236e-02 4.97384641e-03 -6.70652421e+01] [-4.99574891e-03 -2.53058458e-04 -9.99987489e-01 -8.03727503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.580385723 meters 0.018661458408914255 Centerline is valid? [True, True] Translation: X:146.59, Y:-67.20, Z:-8.04 [[ 2.02775700e-02 -9.99794378e-01 1.47579678e-04 1.46589852e+02] [-9.99785148e-01 -2.02767477e-02 4.30241270e-03 -6.71961350e+01] [-4.29853560e-03 -2.34790445e-04 -9.99990734e-01 -8.03797059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.610385723 meters 0.018155522055728762 Centerline is valid? [True, True] Translation: X:146.57, Y:-67.33, Z:-8.04 [[ 9.53380303e-02 -9.95444942e-01 -1.65114151e-04 1.46572657e+02] [-9.95436756e-01 -9.53379169e-02 4.04312793e-03 -6.73348770e+01] [-4.04045289e-03 -2.21103159e-04 -9.99991813e-01 -8.03787714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.640385723 meters 0.01844525550264682 Centerline is valid? [True, True] Translation: X:146.56, Y:-67.44, Z:-8.04 [[ 1.71221693e-01 -9.85232316e-01 -6.43974159e-04 1.46557246e+02] [-9.85219389e-01 -1.71222748e-01 5.05242199e-03 -6.74383873e+01] [-5.08807245e-03 -2.30628419e-04 -9.99987029e-01 -8.03671747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.670385723 meters 0.01790382927086978 Centerline is valid? [True, True] Translation: X:146.55, Y:-67.55, Z:-8.03 [[ 2.46041435e-01 -9.69258224e-01 -1.45179999e-03 1.46553857e+02] [-9.69234959e-01 -2.46045595e-01 6.72009947e-03 -6.75450573e+01] [-6.87072067e-03 -2.46287617e-04 -9.99976366e-01 -8.03475497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.700385723 meters 0.017838026573991587 Centerline is valid? [True, True] Translation: X:146.56, Y:-67.66, Z:-8.03 [[ 3.19571734e-01 -9.47558492e-01 -2.61001991e-03 1.46560208e+02] [-9.47519759e-01 -3.19582281e-01 8.57162613e-03 -6.76646999e+01] [-8.95623325e-03 -2.66203986e-04 -9.99959857e-01 -8.03215902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.730385723 meters 0.017721770220960494 Centerline is valid? [True, True] Translation: X:146.58, Y:-67.80, Z:-8.03 [[ 3.91638085e-01 -9.20112276e-01 -3.60686471e-03 1.46579020e+02] [-9.20066586e-01 -3.91654598e-01 9.17349579e-03 -6.77952288e+01] [-9.85329124e-03 -2.74134627e-04 -9.99951418e-01 -8.03167438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.760385723 meters 0.017750145678314504 Centerline is valid? [True, True] Translation: X:146.60, Y:-67.91, Z:-8.03 [[ 4.61262155e-01 -8.87253523e-01 -4.29063059e-03 1.46601342e+02] [-8.87209551e-01 -4.61282031e-01 8.83737856e-03 -6.79098025e+01] [-9.82018606e-03 -2.69659844e-04 -9.99951744e-01 -8.03158388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.790385723 meters 0.01799874334249976 Centerline is valid? [True, True] Translation: X:146.64, Y:-68.03, Z:-8.03 [[ 5.27730451e-01 -8.49400686e-01 -4.36420213e-03 1.46636290e+02] [-8.49367634e-01 -5.27748437e-01 7.49736397e-03 -6.80280206e+01] [-8.67146695e-03 -2.49775235e-04 -9.99962371e-01 -8.03140909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82038572300002 meters 0.01758260262903564 Centerline is valid? [True, True] Translation: X:146.68, Y:-68.15, Z:-8.03 [[ 5.91350138e-01 -8.06403482e-01 -4.29400695e-03 1.46681357e+02] [-8.06379270e-01 -5.91365681e-01 6.25332767e-03 -6.81468347e+01] [-7.58203355e-03 -2.35307994e-04 -9.99971228e-01 -8.03295765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85038572300002 meters 0.018917094383077683 Centerline is valid? [True, True] Translation: X:146.74, Y:-68.26, Z:-8.03 [[ 6.51408875e-01 -7.58714359e-01 -4.35877279e-03 1.46737202e+02] [-7.58695007e-01 -6.51423419e-01 5.42362826e-03 -6.82642567e+01] [-6.95439131e-03 -2.26020431e-04 -9.99975792e-01 -8.03076206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88038572300002 meters 0.019502041044097525 Centerline is valid? [True, True] Translation: X:146.79, Y:-68.37, Z:-8.03 [[ 7.07847540e-01 -7.06346771e-01 -5.10865463e-03 1.46792737e+02] [-7.06325984e-01 -7.07865938e-01 5.42395757e-03 -6.83667574e+01] [-7.44743752e-03 -2.30959514e-04 -9.99972241e-01 -8.02984977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91038572300002 meters 0.017950696482081443 Centerline is valid? [True, True] Translation: X:146.84, Y:-68.45, Z:-8.03 [[ 7.61099928e-01 -6.48603179e-01 -6.38878018e-03 1.46842483e+02] [-6.48577449e-01 -7.61126698e-01 5.78298073e-03 -6.84526815e+01] [-8.61353084e-03 -2.57807469e-04 -9.99962870e-01 -8.03081465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.940385723 meters 0.020187608892471183 Centerline is valid? [True, True] Translation: X:146.84, Y:-68.46, Z:-8.03 [[ 8.09227973e-01 -5.87442817e-01 -7.81178151e-03 1.46837946e+02] [-5.87412177e-01 -8.09265632e-01 6.00601284e-03 -6.84555029e+01] [-9.84999540e-03 -2.71498021e-04 -9.99951451e-01 -8.02723927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.970385723 meters 0.01957022588198301 Centerline is valid? [True, True] Translation: X:146.83, Y:-68.46, Z:-8.03 [[ 8.53302411e-01 -5.21346345e-01 -8.54309722e-03 1.46832546e+02] [-5.21316817e-01 -8.53345127e-01 5.55607794e-03 -6.84568240e+01] [-1.01868513e-02 -2.87354448e-04 -9.99948071e-01 -8.02693986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.000385723 meters 0.019045783400664207 Centerline is valid? [True, True] Translation: X:146.83, Y:-68.46, Z:-8.03 [[ 8.91546498e-01 -4.52835569e-01 -9.20813083e-03 1.46827593e+02] [-4.52808004e-01 -8.91594001e-01 5.00496679e-03 -6.84594440e+01] [-1.04763412e-02 -2.92645271e-04 -9.99945079e-01 -8.02714688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.030385723 meters 0.018100718122908272 Centerline is valid? [True, True] Translation: X:146.82, Y:-68.46, Z:-8.03 [[ 9.24217294e-01 -3.81736619e-01 -9.97727783e-03 1.46822065e+02] [-3.81710880e-01 -9.24271099e-01 4.44286519e-03 -6.84614910e+01] [-1.09177139e-02 -2.97737345e-04 -9.99940356e-01 -8.02756596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.060385723 meters 0.017723493463178155 Centerline is valid? [True, True] Translation: X:146.82, Y:-68.47, Z:-8.03 [[ 9.51013237e-01 -3.08995409e-01 -9.78056417e-03 1.46816904e+02] [-3.08975995e-01 -9.51063487e-01 3.47528997e-03 -6.84662269e+01] [-1.03757861e-02 -2.83087218e-04 -9.99946130e-01 -8.02825361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.090385723 meters 0.017430613360932375 Centerline is valid? [True, True] Translation: X:146.81, Y:-68.47, Z:-8.03 [[ 9.71789349e-01 -2.35703210e-01 -8.33407768e-03 1.46811456e+02] [-2.35692383e-01 -9.71825055e-01 2.27235233e-03 -6.84715707e+01] [-8.63486624e-03 -2.43969167e-04 -9.99962689e-01 -8.02907601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.120385723 meters 0.017371072570980015 Centerline is valid? [True, True] Translation: X:146.80, Y:-68.48, Z:-8.03 [[ 9.87068100e-01 -1.60111897e-01 -7.79405654e-03 1.46804543e+02] [-1.60105084e-01 -9.87098845e-01 1.49429540e-03 -6.84752927e+01] [-7.93275867e-03 -2.27103244e-04 -9.99968509e-01 -8.02952831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.150385723 meters 0.016831354822719555 Centerline is valid? [True, True] Translation: X:146.80, Y:-68.48, Z:-8.03 [[ 9.96368759e-01 -8.48156593e-02 -7.45650348e-03 1.46796719e+02] [-8.48117483e-02 -9.96396639e-01 8.39732664e-04 -6.84817553e+01] [-7.50085748e-03 -2.04284296e-04 -9.99971847e-01 -8.03038466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.180385723 meters 0.016740879709635663 Centerline is valid? [True, True] Translation: X:146.79, Y:-68.49, Z:-8.03 [[ 9.99947159e-01 -7.51287825e-03 -7.01689519e-03 1.46788406e+02] [-7.51133221e-03 -9.99971759e-01 2.46658998e-04 -6.84900032e+01] [-7.01855014e-03 -1.93939733e-04 -9.99975351e-01 -8.03073569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.210385723 meters 0.01671923781225032 Centerline is valid? [True, True] Translation: X:146.78, Y:-68.50, Z:-8.03 [[ 9.97506184e-01 7.02681587e-02 -6.61808252e-03 1.46780885e+02] [ 7.02678602e-02 -9.97528120e-01 -2.77899387e-04 -6.84974956e+01] [-6.62125089e-03 -1.87832141e-04 -9.99978062e-01 -8.03066277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.240385723 meters 0.018840912966716382 Centerline is valid? [True, True] Translation: X:146.78, Y:-68.51, Z:-8.03 [[ 9.89248726e-01 1.46103578e-01 -6.37980638e-03 1.46775321e+02] [ 1.46101667e-01 -9.89269283e-01 -7.67177830e-04 -6.85072860e+01] [-6.42343391e-03 -1.73170655e-04 -9.99979355e-01 -8.02792009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.270385723 meters 0.016511476608021883 Centerline is valid? [True, True] Translation: X:146.77, Y:-68.52, Z:-8.03 [[ 9.74658035e-01 2.23642435e-01 -5.07708287e-03 1.46769476e+02] [ 2.23640317e-01 -9.74671243e-01 -9.88352961e-04 -6.85181975e+01] [-5.16952434e-03 -1.72134271e-04 -9.99986623e-01 -8.03094802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.300385723 meters 0.016604882334701324 Centerline is valid? [True, True] Translation: X:146.77, Y:-68.53, Z:-8.03 [[ 9.54045246e-01 2.99620838e-01 -5.00219016e-03 1.46765027e+02] [ 2.99617669e-01 -9.54058344e-01 -1.38890757e-03 -6.85288318e+01] [-5.18852691e-03 -1.73663887e-04 -9.99986524e-01 -8.03085138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.330385723 meters 0.01701108010046849 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.54, Z:-8.03 [[ 9.27502758e-01 3.73776963e-01 -5.42373135e-03 1.46761852e+02] [ 3.73771685e-01 -9.27518599e-01 -1.99414210e-03 -6.85392860e+01] [-5.77597608e-03 -1.77664913e-04 -9.99983303e-01 -8.02956938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.360385723 meters 0.016559723418636273 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.55, Z:-8.03 [[ 8.94556296e-01 4.46913152e-01 -6.13735639e-03 1.46759356e+02] [ 4.46904108e-01 -8.94577329e-01 -2.84967806e-03 -6.85509777e+01] [-6.76389849e-03 -1.93612339e-04 -9.99977106e-01 -8.02933331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.390385723 meters 0.016560278636592565 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.56, Z:-8.03 [[ 8.56327965e-01 5.16387932e-01 -6.77649271e-03 1.46757569e+02] [ 5.16373657e-01 -8.56354752e-01 -3.84520892e-03 -6.85614791e+01] [-7.78870121e-03 -2.06442393e-04 -9.99969646e-01 -8.02818723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.420385723 meters 0.01676507791355494 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.57, Z:-8.03 [[ 8.12218957e-01 5.83286797e-01 -8.76800841e-03 1.46757699e+02] [ 5.83256029e-01 -8.12266245e-01 -5.99599049e-03 -6.85729650e+01] [-1.06193394e-02 -2.43936627e-04 -9.99943583e-01 -8.02644664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.450385723 meters 0.01886091795126921 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.58, Z:-8.02 [[ 7.63840935e-01 6.45335433e-01 -9.44481460e-03 1.46758069e+02] [ 6.45290287e-01 -7.63899281e-01 -7.63769875e-03 -6.85837626e+01] [-1.21437647e-02 -2.60660163e-04 -9.99926228e-01 -8.02320515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.480385723 meters 0.01886091795126921 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.59, Z:-8.02 [[ 7.10992937e-01 7.03143916e-01 -8.81346299e-03 1.46758508e+02] [ 7.03094387e-01 -7.11047513e-01 -8.34966854e-03 -6.85945607e+01] [-1.21378096e-02 -2.60141004e-04 -9.99926300e-01 -8.02325856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.510385723 meters 0.01712203858617594 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.61, Z:-8.02 [[ 6.52388915e-01 7.57835955e-01 -8.56550688e-03 1.46760692e+02] [ 7.57776378e-01 -6.52445079e-01 -9.50681928e-03 -6.86075850e+01] [-1.27931323e-02 -2.88595265e-04 -9.99918123e-01 -8.02413583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.540385723 meters 0.01701951311387819 Centerline is valid? [True, True] Translation: X:146.76, Y:-68.62, Z:-8.02 [[ 5.90807097e-01 8.06777319e-01 -7.57170119e-03 1.46762795e+02] [ 8.06717215e-01 -5.90855544e-01 -9.85194744e-03 -6.86174804e+01] [-1.24221094e-02 -2.87621223e-04 -9.99922801e-01 -8.02451633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57038572300002 meters 0.017039521767342154 Centerline is valid? [True, True] Translation: X:146.77, Y:-68.63, Z:-8.02 [[ 5.25344034e-01 8.50866094e-01 -6.36675983e-03 1.46765063e+02] [ 8.50810069e-01 -5.25382535e-01 -9.76823625e-03 -6.86279254e+01] [-1.16564454e-02 -2.85218737e-04 -9.99932021e-01 -8.02498018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60038572300002 meters 0.017207866405106808 Centerline is valid? [True, True] Translation: X:146.77, Y:-68.64, Z:-8.03 [[ 4.56919005e-01 8.89492011e-01 -5.38385561e-03 1.46766150e+02] [ 8.89437370e-01 -4.56950636e-01 -9.86308832e-03 -6.86362236e+01] [-1.12332945e-02 -2.81969872e-04 -9.99936865e-01 -8.02582355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63038572300002 meters 0.017511900941916556 Centerline is valid? [True, True] Translation: X:146.77, Y:-68.65, Z:-8.03 [[ 3.85652422e-01 9.22635259e-01 -4.04838061e-03 1.46769465e+02] [ 9.22591490e-01 -3.85673577e-01 -8.99078044e-03 -6.86455924e+01] [-9.85656447e-03 -2.67685246e-04 -9.99951387e-01 -8.02815274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66038572300002 meters 0.0171373175301181 Centerline is valid? [True, True] Translation: X:146.78, Y:-68.66, Z:-8.03 [[ 3.10546083e-01 9.50553996e-01 -2.86896969e-03 1.46776993e+02] [ 9.50520975e-01 -3.10559222e-01 -7.92752768e-03 -6.86554336e+01] [-8.42652811e-03 -2.65153194e-04 -9.99964461e-01 -8.03091021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.690385723 meters 0.017156737078076804 Centerline is valid? [True, True] Translation: X:146.79, Y:-68.67, Z:-8.03 [[ 2.33880237e-01 9.72263057e-01 -2.14082153e-03 1.46786036e+02] [ 9.72232238e-01 -2.33889879e-01 -7.74591192e-03 -6.86651502e+01] [-8.03178049e-03 -2.69759987e-04 -9.99967708e-01 -8.03180025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.720385723 meters 0.018899211407900827 Centerline is valid? [True, True] Translation: X:146.80, Y:-68.68, Z:-8.03 [[ 1.53976182e-01 9.88073531e-01 -1.42575414e-03 1.46800791e+02] [ 9.88046535e-01 -1.53982522e-01 -7.30943580e-03 -6.86760842e+01] [-7.44180126e-03 -2.83232423e-04 -9.99972269e-01 -8.03143127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.750385723 meters 0.01790165653030862 Centerline is valid? [True, True] Translation: X:146.81, Y:-68.68, Z:-8.03 [[ 7.47169078e-02 9.97204444e-01 -8.24413647e-04 1.46808728e+02] [ 9.97178903e-01 -7.47208994e-02 -7.14307452e-03 -6.86835146e+01] [-7.18470658e-03 -2.88379455e-04 -9.99974148e-01 -8.03246155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.780385723 meters 0.018289059565012103 Centerline is valid? [True, True] Translation: X:146.82, Y:-68.69, Z:-8.03 [[-5.23511273e-03 9.99986261e-01 -2.67521422e-04 1.46819515e+02] [ 9.99957846e-01 5.23294558e-03 -7.54469330e-03 -6.86907623e+01] [-7.54318972e-03 -3.07007465e-04 -9.99971503e-01 -8.03239905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.810385723 meters 0.01884163629654623 Centerline is valid? [True, True] Translation: X:146.83, Y:-68.70, Z:-8.03 [[-8.58481694e-02 9.96308151e-01 4.00024024e-04 1.46830881e+02] [ 9.96269831e-01 8.58483788e-02 -8.74525989e-03 -6.86969429e+01] [-8.74731513e-03 -3.52232686e-04 -9.99961679e-01 -8.03161374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.840385723 meters 0.019183317181302995 Centerline is valid? [True, True] Translation: X:146.84, Y:-68.70, Z:-8.03 [[-1.64368081e-01 9.86398427e-01 1.13054885e-03 1.46841269e+02] [ 9.86357331e-01 1.64371561e-01 -9.01141592e-03 -6.87034716e+01] [-9.07467657e-03 -3.66063997e-04 -9.99958757e-01 -8.03127356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.870385723 meters 0.019664941986016045 Centerline is valid? [True, True] Translation: X:146.85, Y:-68.71, Z:-8.03 [[-2.42575945e-01 9.70129979e-01 2.17579509e-03 1.46851200e+02] [ 9.70074019e-01 2.42585341e-01 -1.04282794e-02 -6.87079544e+01] [-1.06446025e-02 -4.18967450e-04 -9.99943257e-01 -8.03101239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.900385723 meters 0.01959968479160604 Centerline is valid? [True, True] Translation: X:146.86, Y:-68.71, Z:-8.03 [[-3.18052897e-01 9.48067999e-01 3.06999219e-03 1.46859578e+02] [ 9.48009977e-01 3.18067424e-01 -1.04974929e-02 -6.87124296e+01] [-1.09288016e-02 -4.28374797e-04 -9.99940187e-01 -8.03123484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.930385723 meters 0.020622763870015905 Centerline is valid? [True, True] Translation: X:146.87, Y:-68.72, Z:-8.03 [[-3.90836774e-01 9.20450725e-01 4.13271054e-03 1.46868450e+02] [ 9.20386807e-01 3.90858377e-01 -1.08560678e-02 -6.87166692e+01] [-1.16077800e-02 -4.39258267e-04 -9.99932531e-01 -8.03035623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.960385723 meters 0.01895309609392707 Centerline is valid? [True, True] Translation: X:146.88, Y:-68.72, Z:-8.03 [[-4.61359490e-01 8.87200663e-01 4.73336389e-03 1.46878375e+02] [ 8.87144258e-01 4.61383579e-01 -1.00129163e-02 -6.87197909e+01] [-1.10673624e-02 -4.20377371e-04 -9.99938667e-01 -8.03272551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.990385723 meters 0.020680796637163535 Centerline is valid? [True, True] Translation: X:146.89, Y:-68.72, Z:-8.03 [[-5.28465639e-01 8.48937737e-01 5.36541079e-03 1.46892032e+02] [ 8.48886048e-01 5.28492723e-01 -9.37652937e-03 -6.87213069e+01] [-1.07956702e-02 -4.00551220e-04 -9.99941645e-01 -8.03095519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.020385723 meters 0.01936617105939772 Centerline is valid? [True, True] Translation: X:146.90, Y:-68.73, Z:-8.03 [[-5.91592061e-01 8.06215919e-01 5.89271466e-03 1.46896380e+02] [ 8.06169549e-01 5.91621293e-01 -8.65466832e-03 -6.87261654e+01] [-1.04637868e-02 -3.69505955e-04 -9.99945185e-01 -8.03235356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.050385723 meters 0.0181991290030042 Centerline is valid? [True, True] Translation: X:146.90, Y:-68.73, Z:-8.03 [[-6.50977739e-01 7.59067045e-01 6.72349314e-03 1.46900358e+02] [ 7.59020942e-01 6.51012366e-01 -8.37306806e-03 -6.87325663e+01] [-1.07327972e-02 -3.47408810e-04 -9.99942342e-01 -8.03348821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.080385723 meters 0.017951569179472503 Centerline is valid? [True, True] Translation: X:146.91, Y:-68.73, Z:-8.03 [[-7.07559626e-01 7.06615715e-01 7.32174298e-03 1.46909103e+02] [ 7.06572942e-01 7.07597429e-01 -7.78182603e-03 -6.87345759e+01] [-1.06796071e-02 -3.32760432e-04 -9.99942916e-01 -8.03370267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.110385723 meters 0.017309095293312187 Centerline is valid? [True, True] Translation: X:146.92, Y:-68.74, Z:-8.03 [[-7.58811444e-01 6.51263221e-01 7.83639433e-03 1.46916311e+02] [ 6.51224371e-01 7.58851848e-01 -7.11978537e-03 -6.87378839e+01] [-1.05835167e-02 -2.99323653e-04 -9.99943948e-01 -8.03409519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.140385723 meters 0.01717561085333963 Centerline is valid? [True, True] Translation: X:146.94, Y:-68.72, Z:-8.03 [[-8.02297883e-01 5.96868784e-01 8.10936286e-03 1.46939399e+02] [ 5.96834870e-01 8.02338820e-01 -6.36836840e-03 -6.87217757e+01] [-1.03075369e-02 -2.69377952e-04 -9.99946840e-01 -8.03435646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.170385723 meters 0.016937816465272756 Centerline is valid? [True, True] Translation: X:146.96, Y:-68.71, Z:-8.03 [[-8.42001886e-01 5.39409785e-01 8.36102005e-03 1.46963598e+02] [ 5.39380142e-01 8.42043359e-01 -5.66077760e-03 -6.87073618e+01] [-1.00938202e-02 -2.56617237e-04 -9.99949023e-01 -8.03476133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.200385723 meters 0.018616760472268814 Centerline is valid? [True, True] Translation: X:146.99, Y:-68.69, Z:-8.03 [[-8.77919695e-01 4.78719460e-01 9.20255204e-03 1.46985482e+02] [ 4.78690037e-01 8.77967887e-01 -5.31391300e-03 -6.86883035e+01] [-1.06234187e-02 -2.60018900e-04 -9.99943536e-01 -8.03269838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.230385723 meters 0.01700144077577782 Centerline is valid? [True, True] Translation: X:146.99, Y:-68.66, Z:-8.03 [[-9.09830973e-01 4.14866603e-01 9.65927169e-03 1.46985712e+02] [ 4.14840089e-01 9.09882207e-01 -4.69796483e-03 -6.86575539e+01] [-1.07378282e-02 -2.67300787e-04 -9.99942312e-01 -8.03493866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.260385723 meters 0.018902756580336116 Centerline is valid? [True, True] Translation: X:147.01, Y:-68.64, Z:-8.03 [[-9.36897892e-01 3.49455681e-01 1.01521517e-02 1.47007776e+02] [ 3.49432039e-01 9.36952856e-01 -4.07383053e-03 -6.86363433e+01] [-1.09357107e-02 -2.69276185e-04 -9.99940167e-01 -8.03233633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.290385723 meters 0.017292339535744168 Centerline is valid? [True, True] Translation: X:147.03, Y:-68.61, Z:-8.03 [[-9.59498297e-01 2.81519929e-01 1.04664892e-02 1.47027357e+02] [ 2.81500018e-01 9.59555341e-01 -3.35962616e-03 -6.86133596e+01] [-1.09889774e-02 -2.77238677e-04 -9.99939581e-01 -8.03460565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32038572300002 meters 0.017526894567735506 Centerline is valid? [True, True] Translation: X:147.02, Y:-68.58, Z:-8.03 [[-9.77210285e-01 2.11999738e-01 1.07782511e-02 1.47023099e+02] [ 2.11983587e-01 9.77269680e-01 -2.63257285e-03 -6.85828578e+01] [-1.10913628e-02 -2.87764931e-04 -9.99938448e-01 -8.03410959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35038572300002 meters 0.018208474013494496 Centerline is valid? [True, True] Translation: X:147.21, Y:-67.75, Z:-8.96 [[-9.52093153e-01 -3.05710785e-01 7.71646665e-03 1.47214022e+02] [ 3.05701206e-01 -9.52124421e-01 -2.42066801e-03 -6.77534332e+01] [ 8.08706066e-03 5.42317260e-05 9.99967298e-01 -8.95512338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38038572300002 meters 0.01785661421414224 Centerline is valid? [True, True] Translation: X:146.98, Y:-68.57, Z:-8.03 [[-9.78281863e-01 2.06940687e-01 1.18384507e-02 1.46980464e+02] [ 2.06921620e-01 9.78353439e-01 -2.82681087e-03 -6.85744577e+01] [-1.21671711e-02 -3.15786411e-04 -9.99925927e-01 -8.03282897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41038572300002 meters 0.018055272468951937 Centerline is valid? [True, True] Translation: X:146.98, Y:-68.54, Z:-8.03 [[-9.90543651e-01 1.36661807e-01 1.21171749e-02 1.46977140e+02] [ 1.36647616e-01 9.90617710e-01 -1.99534286e-03 -6.85447118e+01] [-1.22761752e-02 -3.20691140e-04 -9.99924594e-01 -8.03223930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.440385723 meters 0.0191202529039571 Centerline is valid? [True, True] Translation: X:147.11, Y:-67.70, Z:-8.96 [[-9.71832017e-01 -2.35527867e-01 8.31588827e-03 1.47110818e+02] [ 2.35519411e-01 -9.71867596e-01 -1.99587357e-03 -6.77017559e+01] [ 8.55202618e-03 1.88992701e-05 9.99963431e-01 -8.95682280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.470385723 meters 0.017776868934436574 Centerline is valid? [True, True] Translation: X:146.93, Y:-68.54, Z:-8.03 [[-9.91492453e-01 1.29609478e-01 1.20041057e-02 1.46928404e+02] [ 1.29595701e-01 9.91565056e-01 -1.92179723e-03 -6.85393420e+01] [-1.21519349e-02 -3.49766949e-04 -9.99926101e-01 -8.03317945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.500385723 meters 0.018281174872131132 Centerline is valid? [True, True] Translation: X:147.04, Y:-67.69, Z:-8.96 [[-9.72445013e-01 -2.32964049e-01 8.85717035e-03 1.47044983e+02] [ 2.32955283e-01 -9.72485343e-01 -2.02320859e-03 -6.76928201e+01] [ 9.08480321e-03 9.58655296e-05 9.99958728e-01 -8.95602476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.530385723 meters 0.018484072322448832 Centerline is valid? [True, True] Translation: X:146.84, Y:-68.52, Z:-8.03 [[-9.92213758e-01 1.23912208e-01 1.25548345e-02 1.46839188e+02] [ 1.23897445e-01 9.92293112e-01 -1.94996162e-03 -6.85238988e+01] [-1.26996999e-02 -3.79266829e-04 -9.99919284e-01 -8.03188432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.560385723 meters 0.019011916749076225 Centerline is valid? [True, True] Translation: X:146.98, Y:-67.69, Z:-8.96 [[-9.72888285e-01 -2.31055981e-01 1.00756509e-02 1.46979423e+02] [ 2.31045447e-01 -9.72940442e-01 -2.21319709e-03 -6.76856060e+01] [ 1.03143807e-02 1.74739746e-04 9.99946790e-01 -8.95825996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.590385723 meters 0.018725161139238188 Centerline is valid? [True, True] Translation: X:146.81, Y:-68.52, Z:-8.03 [[-9.93055828e-01 1.16782141e-01 1.42145555e-02 1.46808949e+02] [ 1.16763751e-01 9.93157456e-01 -2.11975662e-03 -6.85191838e+01] [-1.43648415e-02 -4.45291854e-04 -9.99896721e-01 -8.03052162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.620385723 meters 0.019787910616205957 Centerline is valid? [True, True] Translation: X:146.80, Y:-68.49, Z:-8.03 [[-9.98893247e-01 4.45371219e-02 1.51236821e-02 1.46795109e+02] [ 4.45246936e-02 9.99007613e-01 -1.15766123e-03 -6.84865045e+01] [-1.51602324e-02 -4.83002673e-04 -9.99884960e-01 -8.02952664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.650385723 meters 0.019895483673359096 Centerline is valid? [True, True] Translation: X:146.88, Y:-67.65, Z:-8.96 [[-9.87198880e-01 -1.59090033e-01 1.13460677e-02 1.46877441e+02] [ 1.59081298e-01 -9.87264067e-01 -1.67408757e-03 -6.76476529e+01] [ 1.14678955e-02 1.52289796e-04 9.99934230e-01 -8.95878040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.680385723 meters 0.021127287743452104 Centerline is valid? [True, True] Translation: X:146.74, Y:-68.48, Z:-8.03 [[-9.99147642e-01 3.88595695e-02 1.39256654e-02 1.46739659e+02] [ 3.88492710e-02 9.99244572e-01 -1.00938726e-03 -6.84824835e+01] [-1.39543699e-02 -4.67524951e-04 -9.99902524e-01 -8.03018448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.710385723 meters 0.019876558200685977 Centerline is valid? [True, True] Translation: X:146.79, Y:-67.64, Z:-8.96 [[-9.88102161e-01 -1.53479817e-01 9.90276705e-03 1.46792168e+02] [ 1.53473321e-01 -9.88151775e-01 -1.41716310e-03 -6.76415853e+01] [ 1.00029428e-02 1.19508625e-04 9.99949962e-01 -8.95668956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.740385723 meters 0.019107535184463193 Centerline is valid? [True, True] Translation: X:146.66, Y:-68.48, Z:-8.03 [[-9.99265524e-01 3.65147956e-02 1.16224569e-02 1.46659786e+02] [ 3.65079607e-02 9.99333042e-01 -7.99771031e-04 -6.84802925e+01] [-1.16439087e-02 -3.74871418e-04 -9.99932137e-01 -8.03365010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.770385723 meters 0.018396968026336332 Centerline is valid? [True, True] Translation: X:146.66, Y:-68.45, Z:-8.04 [[-9.99359640e-01 -3.40281936e-02 1.10631335e-02 1.46661257e+02] [-3.40300106e-02 9.99420811e-01 2.40135752e-05 -6.84520152e+01] [-1.10575430e-02 -3.52480353e-04 -9.99938801e-01 -8.03538204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.800385723 meters 0.018048328544256403 Centerline is valid? [True, True] Translation: X:146.66, Y:-68.42, Z:-8.04 [[-9.94448330e-01 -1.04639229e-01 1.10973301e-02 1.46661788e+02] [-1.04636618e-01 9.94510186e-01 8.17142177e-04 -6.84243598e+01] [-1.11219129e-02 -3.48581421e-04 -9.99938089e-01 -8.03603014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.830385723 meters 0.01844873394197466 Centerline is valid? [True, True] Translation: X:146.66, Y:-68.40, Z:-8.04 [[-9.84443185e-01 -1.75352386e-01 1.10975808e-02 1.46655263e+02] [-1.75345251e-01 9.84505672e-01 1.62021679e-03 -6.83955917e+01] [-1.12097401e-02 -3.50896714e-04 -9.99937107e-01 -8.03514211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.860385723 meters 0.018370492282021117 Centerline is valid? [True, True] Translation: X:146.62, Y:-68.37, Z:-8.03 [[-9.69332983e-01 -2.45449658e-01 1.21668906e-02 1.46615424e+02] [-2.45435231e-01 9.69409264e-01 2.68821597e-03 -6.83741958e+01] [-1.24545182e-02 -3.80407205e-04 -9.99922367e-01 -8.03407759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.890385723 meters 0.020174033398362243 Centerline is valid? [True, True] Translation: X:146.58, Y:-68.35, Z:-8.03 [[-9.48514605e-01 -3.16458249e-01 1.31992888e-02 1.46582290e+02] [-3.16433687e-01 9.48606348e-01 3.96456075e-03 -6.83491528e+01] [-1.37755471e-02 -4.16255867e-04 -9.99905026e-01 -8.03040294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.920385723 meters 0.018630687158898315 Centerline is valid? [True, True] Translation: X:146.53, Y:-68.34, Z:-8.03 [[-9.22435540e-01 -3.85929099e-01 1.30921392e-02 1.46526983e+02] [-3.85896771e-01 9.22528345e-01 5.01347253e-03 -6.83421103e+01] [-1.40127144e-02 -4.27608985e-04 -9.99901726e-01 -8.03219828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.950385723 meters 0.018773840530954378 Centerline is valid? [True, True] Translation: X:146.46, Y:-68.34, Z:-8.03 [[-8.91442496e-01 -4.52959992e-01 1.25508109e-02 1.46455345e+02] [-4.52921761e-01 8.91530743e-01 5.90029555e-03 -6.83421111e+01] [-1.38620316e-02 -4.24761161e-04 -9.99903827e-01 -8.03250212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.980385723 meters 0.02031645334195327 Centerline is valid? [True, True] Translation: X:146.38, Y:-68.35, Z:-8.03 [[-8.55726475e-01 -5.17286402e-01 1.21235134e-02 1.46381922e+02] [-5.17241182e-01 8.55812253e-01 6.85175405e-03 -6.83455588e+01] [-1.39197705e-02 -4.07553076e-04 -9.99903032e-01 -8.03127930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.010385723 meters 0.018788202226952957 Centerline is valid? [True, True] Translation: X:146.29, Y:-68.37, Z:-8.03 [[-8.14548167e-01 -5.79992125e-01 1.09735283e-02 1.46290338e+02] [-5.79945923e-01 8.14621987e-01 7.33109633e-03 -6.83733527e+01] [-1.31912556e-02 -3.92521943e-04 -9.99912915e-01 -8.03414610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.040385723 meters 0.019027061958654737 Centerline is valid? [True, True] Translation: X:146.19, Y:-68.41, Z:-8.03 [[-7.68734560e-01 -6.39488033e-01 1.01109769e-02 1.46185327e+02] [-6.39439178e-01 7.68800956e-01 7.91373762e-03 -6.84146003e+01] [-1.28340692e-02 -3.81791132e-04 -9.99917567e-01 -8.03412695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07038572300002 meters 0.018115452771260847 Centerline is valid? [True, True] Translation: X:146.09, Y:-68.47, Z:-8.04 [[-7.17826901e-01 -6.96157018e-01 9.48398752e-03 1.46086858e+02] [-6.96103260e-01 7.17889446e-01 8.65990894e-03 -6.84651133e+01] [-1.28371109e-02 -3.85519033e-04 -9.99917527e-01 -8.03530964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10038572300002 meters 0.018062244078007585 Centerline is valid? [True, True] Translation: X:146.01, Y:-68.50, Z:-8.04 [[-6.62314585e-01 -7.49170897e-01 9.07514132e-03 1.46008087e+02] [-7.49108669e-01 6.62376637e-01 9.66398693e-03 -6.85049920e+01] [-1.32511393e-02 -3.97667545e-04 -9.99912121e-01 -8.03530627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13038572300002 meters 0.018063174676770773 Centerline is valid? [True, True] Translation: X:145.92, Y:-68.57, Z:-8.04 [[-6.03217956e-01 -7.97535737e-01 8.05267792e-03 1.45918543e+02] [-7.97473058e-01 6.03271580e-01 1.00061122e-02 -6.85676764e+01] [-1.28381838e-02 -3.85927138e-04 -9.99917513e-01 -8.03648332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16038572300002 meters 0.018186298440044678 Centerline is valid? [True, True] Translation: X:145.85, Y:-68.62, Z:-8.04 [[-5.40201554e-01 -8.41504764e-01 7.21206869e-03 1.45846770e+02] [-8.41439028e-01 5.40249559e-01 1.05250030e-02 -6.86171887e+01] [-1.27531571e-02 -3.82893129e-04 -9.99918602e-01 -8.03638031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.190385723 meters 0.019776851042181073 Centerline is valid? [True, True] Translation: X:145.77, Y:-68.69, Z:-8.03 [[-4.74403087e-01 -8.80282382e-01 6.68127623e-03 1.45767189e+02] [-8.80206286e-01 4.74449975e-01 1.15807950e-02 -6.86924482e+01] [-1.33643012e-02 -3.86936432e-04 -9.99910619e-01 -8.03461456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.220385723 meters 0.017736751276760946 Centerline is valid? [True, True] Translation: X:145.69, Y:-68.79, Z:-8.04 [[-4.04444736e-01 -9.14546234e-01 5.44433067e-03 1.45686079e+02] [-9.14475729e-01 4.04481197e-01 1.13623058e-02 -6.87854516e+01] [-1.25934834e-02 -3.83283487e-04 -9.99920625e-01 -8.03752545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.250385723 meters 0.01857210944861011 Centerline is valid? [True, True] Translation: X:145.61, Y:-68.88, Z:-8.04 [[-3.32256034e-01 -9.43177806e-01 4.64257884e-03 1.45612985e+02] [-9.43101689e-01 3.32288232e-01 1.19889201e-02 -6.88788761e+01] [-1.28503576e-02 -3.95032922e-04 -9.99917353e-01 -8.03668366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.280385723 meters 0.018583940516490097 Centerline is valid? [True, True] Translation: X:145.54, Y:-69.01, Z:-8.04 [[-2.56723813e-01 -9.66477089e-01 3.86268414e-03 1.45539322e+02] [-9.66391664e-01 2.56752506e-01 1.28569845e-02 -6.90058606e+01] [-1.34177348e-02 -4.32171682e-04 -9.99909885e-01 -8.03663122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.310385723 meters 0.01886440760547123 Centerline is valid? [True, True] Translation: X:145.48, Y:-69.11, Z:-8.04 [[-1.79520328e-01 -9.83749314e-01 3.12081234e-03 1.45483292e+02] [-9.83644199e-01 1.79546793e-01 1.43888756e-02 -6.91082983e+01] [-1.47153783e-02 -4.86673281e-04 -9.99891605e-01 -8.03683198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.340385723 meters 0.01886440760547123 Centerline is valid? [True, True] Translation: X:145.44, Y:-69.22, Z:-8.04 [[-1.02888081e-01 -9.94690934e-01 1.99732886e-03 1.45435231e+02] [-9.94584157e-01 1.02906317e-01 1.45823462e-02 -6.92232069e+01] [-1.47104654e-02 -4.86162018e-04 -9.99891677e-01 -8.03708842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.370385723 meters 0.020301110393938702 Centerline is valid? [True, True] Translation: X:145.40, Y:-69.33, Z:-8.04 [[-2.52813473e-02 -9.99679998e-01 8.69033493e-04 1.45396388e+02] [-9.99570091e-01 2.52914610e-02 1.48315713e-02 -6.93291088e+01] [-1.48488043e-02 -4.93697783e-04 -9.99889629e-01 -8.03512533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.400385723 meters 0.018769216739849017 Centerline is valid? [True, True] Translation: X:145.37, Y:-69.47, Z:-8.04 [[ 5.29844072e-02 -9.98595307e-01 -2.54860443e-04 1.45365682e+02] [-9.98498860e-01 -5.29828340e-02 1.38869101e-02 -6.94706365e+01] [-1.38809065e-02 -4.81311836e-04 -9.99903540e-01 -8.03805480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.430385723 meters 0.0190629192291197 Centerline is valid? [True, True] Translation: X:145.34, Y:-69.60, Z:-8.04 [[ 1.30705574e-01 -9.91420499e-01 -1.20264384e-03 1.45344024e+02] [-9.91340273e-01 -1.30710306e-01 1.26205770e-02 -6.95967086e+01] [-1.26694967e-02 -4.57350479e-04 -9.99919634e-01 -8.03906099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.460385723 meters 0.021121349966558792 Centerline is valid? [True, True] Translation: X:145.33, Y:-69.73, Z:-8.04 [[ 2.07154045e-01 -9.78305657e-01 -2.28999102e-03 1.45334069e+02] [-9.78217995e-01 -2.07166158e-01 1.31048696e-02 -6.97285824e+01] [-1.32949767e-02 -4.74616315e-04 -9.99911505e-01 -8.03727873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.490385723 meters 0.019582165167378398 Centerline is valid? [True, True] Translation: X:145.34, Y:-69.87, Z:-8.04 [[ 2.83470969e-01 -9.58975616e-01 -3.15883360e-03 1.45336209e+02] [-9.58895996e-01 -2.83488168e-01 1.23664212e-02 -6.98684441e+01] [-1.27545884e-02 -4.76528516e-04 -9.99918543e-01 -8.04096104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.520385723 meters 0.02001121401302056 Centerline is valid? [True, True] Translation: X:145.34, Y:-69.96, Z:-8.04 [[ 3.57025156e-01 -9.34085851e-01 -4.08188382e-03 1.45335224e+02] [-9.34008727e-01 -3.57048171e-01 1.20125651e-02 -6.99640559e+01] [-1.26781962e-02 -4.76272804e-04 -9.99919515e-01 -8.04091983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.550385723 meters 0.0202662790464142 Centerline is valid? [True, True] Translation: X:145.36, Y:-70.11, Z:-8.04 [[ 4.28864111e-01 -9.03354355e-01 -5.14615565e-03 1.45360755e+02] [-9.03274832e-01 -4.28894698e-01 1.19964834e-02 -7.01084266e+01] [-1.30442344e-02 -4.96468301e-04 -9.99914797e-01 -8.04167249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.580385723 meters 0.020900817708167502 Centerline is valid? [True, True] Translation: X:145.40, Y:-70.27, Z:-8.04 [[ 4.97977674e-01 -8.67168840e-01 -6.03649644e-03 1.45404940e+02] [-8.67092431e-01 -4.98014005e-01 1.15224555e-02 -7.02652798e+01] [-1.29981741e-02 -5.03725212e-04 -9.99915393e-01 -8.04168569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.610385723 meters 0.02113480686725557 Centerline is valid? [True, True] Translation: X:145.42, Y:-70.35, Z:-8.04 [[ 5.64099912e-01 -8.25679360e-01 -6.69955830e-03 1.45419990e+02] [-8.25610259e-01 -5.64139472e-01 1.06937417e-02 -7.03474002e+01] [-1.26090871e-02 -5.01114686e-04 -9.99920377e-01 -8.04198964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.640385723 meters 0.02063974050809836 Centerline is valid? [True, True] Translation: X:145.47, Y:-70.46, Z:-8.04 [[ 6.26495272e-01 -7.79388196e-01 -7.59691678e-03 1.45467666e+02] [-7.79320722e-01 -6.26541121e-01 1.02681930e-02 -7.04632176e+01] [-1.27626892e-02 -5.12539679e-04 -9.99918422e-01 -8.04266853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.670385723 meters 0.019993003722282226 Centerline is valid? [True, True] Translation: X:145.51, Y:-70.56, Z:-8.04 [[ 6.84920189e-01 -7.28571664e-01 -8.22591063e-03 1.45509993e+02] [-7.28509962e-01 -6.84969393e-01 9.49555910e-03 -7.05581221e+01] [-1.25526923e-02 -5.11042287e-04 -9.99921081e-01 -8.04299878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.700385723 meters 0.02151580220917498 Centerline is valid? [True, True] Translation: X:145.58, Y:-70.68, Z:-8.04 [[ 7.39247608e-01 -6.73365835e-01 -9.56166035e-03 1.45582404e+02] [-6.73299778e-01 -7.39309241e-01 9.44746846e-03 -7.06783812e+01] [-1.34306263e-02 -5.46154670e-04 -9.99909656e-01 -8.04234721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.730385723 meters 0.02036449955259201 Centerline is valid? [True, True] Translation: X:145.58, Y:-70.68, Z:-8.04 [[ 7.89949554e-01 -6.13080787e-01 -1.05664549e-02 1.45578552e+02] [-6.13016170e-01 -7.90020016e-01 8.91908664e-03 -7.06827778e+01] [-1.38158315e-02 -5.68220812e-04 -9.99904395e-01 -8.04248121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.760385723 meters 0.021217547633288914 Centerline is valid? [True, True] Translation: X:145.57, Y:-70.69, Z:-8.04 [[ 8.35602523e-01 -5.49212888e-01 -1.15597445e-02 1.45571400e+02] [-5.49150515e-01 -8.35682273e-01 8.29765987e-03 -7.06903380e+01] [-1.42174553e-02 -5.85505886e-04 -9.99898755e-01 -8.04246782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.790385723 meters 0.02349822728878231 Centerline is valid? [True, True] Translation: X:145.57, Y:-70.70, Z:-8.04 [[ 8.75928925e-01 -4.82257216e-01 -1.32852087e-02 1.45565300e+02] [-4.82190793e-01 -8.76029443e-01 8.02829001e-03 -7.06967013e+01] [-1.55099348e-02 -6.26206106e-04 -9.99879518e-01 -8.04072380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82038572300002 meters 0.021095950378744684 Centerline is valid? [True, True] Translation: X:145.56, Y:-70.70, Z:-8.04 [[ 9.11132935e-01 -4.11904878e-01 -1.30822486e-02 1.45560820e+02] [-4.11852829e-01 -9.11226650e-01 6.57569522e-03 -7.07032747e+01] [-1.46294545e-02 -6.03371379e-04 -9.99892802e-01 -8.04371253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85038572300002 meters 0.02110282369217993 Centerline is valid? [True, True] Translation: X:145.55, Y:-70.71, Z:-8.04 [[ 9.40487213e-01 -3.39550735e-01 -1.37514017e-02 1.45554802e+02] [-3.39504919e-01 -9.40587544e-01 5.61079900e-03 -7.07115646e+01] [-1.48395481e-02 -6.08216194e-04 -9.99889703e-01 -8.04239039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88038572300002 meters 0.021257932446347886 Centerline is valid? [True, True] Translation: X:145.55, Y:-70.72, Z:-8.04 [[ 9.64144707e-01 -2.64961945e-01 -1.48375211e-02 1.45550712e+02] [-2.64920432e-01 -9.64258662e-01 4.73250049e-03 -7.07194554e+01] [-1.55611408e-02 -6.32052802e-04 -9.99878718e-01 -8.04193948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91038572300002 meters 0.020503840402143016 Centerline is valid? [True, True] Translation: X:145.55, Y:-70.73, Z:-8.04 [[ 9.81786916e-01 -1.89291067e-01 -1.62278474e-02 1.45548006e+02] [-1.89254086e-01 -9.81920800e-01 3.79903534e-03 -7.07276130e+01] [-1.66535843e-02 -6.58656766e-04 -9.99861103e-01 -8.04162921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.940385723 meters 0.020596987149835464 Centerline is valid? [True, True] Translation: X:145.54, Y:-70.74, Z:-8.04 [[ 9.93525194e-01 -1.12296145e-01 -1.72413410e-02 1.45542130e+02] [-1.12267433e-01 -9.93674555e-01 2.62733999e-03 -7.07355673e+01] [-1.74273219e-02 -6.74687376e-04 -9.99847905e-01 -8.04122691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.970385723 meters 0.020932085846421967 Centerline is valid? [True, True] Translation: X:145.54, Y:-70.74, Z:-8.04 [[ 9.99244901e-01 -3.47466905e-02 -1.73866631e-02 1.45536916e+02] [-3.47298635e-02 -9.99395931e-01 1.26891257e-03 -7.07434850e+01] [-1.74202508e-02 -6.64117984e-04 -9.99848035e-01 -8.04155699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.000385723 meters 0.023549019906505098 Centerline is valid? [True, True] Translation: X:145.53, Y:-70.75, Z:-8.04 [[ 9.98984475e-01 4.13394703e-02 -1.79183564e-02 1.45531019e+02] [ 4.13442777e-02 -9.99144955e-01 -1.02220993e-04 -7.07484994e+01] [-1.79072612e-02 -6.38704318e-04 -9.99839448e-01 -8.03851818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.030385723 meters 0.020548483564769154 Centerline is valid? [True, True] Translation: X:145.53, Y:-70.75, Z:-8.04 [[ 9.92695450e-01 1.19557247e-01 -1.61804665e-02 1.45526859e+02] [ 1.19551056e-01 -9.92827132e-01 -1.35284585e-03 -7.07531093e+01] [-1.62261487e-02 -5.91427930e-04 -9.99868172e-01 -8.04292582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.060385723 meters 0.019682893180462048 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.76, Z:-8.05 [[ 9.80590774e-01 1.95492676e-01 -1.49782429e-02 1.45522227e+02] [ 1.95478226e-01 -9.80705014e-01 -2.43706508e-03 -7.07580870e+01] [-1.51656663e-02 -5.38156808e-04 -9.99884850e-01 -8.04505557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.090385723 meters 0.0192910823763966 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.77, Z:-8.05 [[ 9.62359180e-01 2.71456649e-01 -1.32701245e-02 1.45519056e+02] [ 2.71437874e-01 -9.62450541e-01 -3.23050616e-03 -7.07707000e+01] [-1.36487809e-02 -4.93107108e-04 -9.99906729e-01 -8.04682466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.120385723 meters 0.0196819384872572 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.78, Z:-8.05 [[ 9.38212280e-01 3.45809966e-01 -1.31600174e-02 1.45515394e+02] [ 3.45783319e-01 -9.38304440e-01 -4.32144287e-03 -7.07805290e+01] [-1.38425007e-02 -4.96083716e-04 -9.99904065e-01 -8.04682984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.150385723 meters 0.02081037296699749 Centerline is valid? [True, True] Translation: X:145.51, Y:-70.79, Z:-8.05 [[ 9.08680180e-01 4.17288798e-01 -1.30533459e-02 1.45513088e+02] [ 4.17253420e-01 -9.08773800e-01 -5.45560219e-03 -7.07891647e+01] [-1.41391004e-02 -4.89155629e-04 -9.99899918e-01 -8.04541884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.180385723 meters 0.01839905881193358 Centerline is valid? [True, True] Translation: X:145.51, Y:-70.80, Z:-8.05 [[ 8.73234804e-01 4.87149137e-01 -1.21117736e-02 1.45511895e+02] [ 4.87109752e-01 -8.73318666e-01 -6.21258448e-03 -7.07999571e+01] [-1.36038931e-02 -4.74718038e-04 -9.99907350e-01 -8.04853296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.210385723 meters 0.018310326581751007 Centerline is valid? [True, True] Translation: X:145.51, Y:-70.81, Z:-8.05 [[ 8.32990420e-01 5.53148606e-01 -1.23927001e-02 1.45512619e+02] [ 5.53095947e-01 -8.33082460e-01 -7.64777600e-03 -7.08121770e+01] [-1.45544977e-02 -4.83828043e-04 -9.99893961e-01 -8.04794598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.240385723 meters 0.019719124866652817 Centerline is valid? [True, True] Translation: X:145.51, Y:-70.82, Z:-8.05 [[ 7.87697030e-01 6.15948579e-01 -1.18632768e-02 1.45513353e+02] [ 6.15887663e-01 -7.87786217e-01 -8.67537470e-03 -7.08244554e+01] [-1.46893107e-02 -4.72878958e-04 -9.99891994e-01 -8.04584058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.270385723 meters 0.019074145526839555 Centerline is valid? [True, True] Translation: X:145.51, Y:-70.83, Z:-8.05 [[ 7.37757136e-01 6.74976645e-01 -1.09971276e-02 1.45514513e+02] [ 6.74910694e-01 -7.37838955e-01 -9.44623065e-03 -7.08347644e+01] [-1.44900942e-02 -4.53054948e-04 -9.99894910e-01 -8.04619981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.300385723 meters 0.01793102795319165 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.85, Z:-8.05 [[ 6.82949293e-01 7.30403025e-01 -9.57519165e-03 1.45517468e+02] [ 7.30339849e-01 -6.83016281e-01 -9.61589033e-03 -7.08474782e+01] [-1.35634872e-02 -4.25978519e-04 -9.99907921e-01 -8.04705431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.330385723 meters 0.017561819969885803 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.86, Z:-8.05 [[ 6.25459023e-01 7.80207364e-01 -8.80223342e-03 1.45518007e+02] [ 7.80138850e-01 -6.25520833e-01 -1.03470956e-02 -7.08580183e+01] [-1.35788605e-02 -3.95279966e-04 -9.99907725e-01 -8.04676385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.360385723 meters 0.017255357015034115 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.87, Z:-8.05 [[ 5.64352232e-01 8.25495873e-01 -7.94493099e-03 1.45518023e+02] [ 8.25422961e-01 -5.64408037e-01 -1.09773561e-02 -7.08668995e+01] [-1.35459451e-02 -3.62833033e-04 -9.99908184e-01 -8.04761460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.390385723 meters 0.01711383364823863 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.88, Z:-8.05 [[ 4.98738613e-01 8.66723651e-01 -7.06461786e-03 1.45520562e+02] [ 8.66646450e-01 -4.98788523e-01 -1.15732326e-02 -7.08764963e+01] [-1.35545448e-02 -3.50507988e-04 -9.99908072e-01 -8.04797216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.420385723 meters 0.016819369938720314 Centerline is valid? [True, True] Translation: X:145.52, Y:-70.89, Z:-8.05 [[ 4.30258765e-01 9.02685824e-01 -5.97477983e-03 1.45524752e+02] [ 9.02609198e-01 -4.30300120e-01 -1.17661684e-02 -7.08859585e+01] [-1.31921019e-02 -3.30394152e-04 -9.99912926e-01 -8.04818951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.450385723 meters 0.01642447617399966 Centerline is valid? [True, True] Translation: X:145.53, Y:-70.90, Z:-8.05 [[ 3.60038861e-01 9.32925328e-01 -4.72761815e-03 1.45526969e+02] [ 9.32855282e-01 -3.60069779e-01 -1.14357640e-02 -7.08960422e+01] [-1.23709863e-02 -2.92864120e-04 -9.99923434e-01 -8.04827063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.480385723 meters 0.016366794612677045 Centerline is valid? [True, True] Translation: X:145.53, Y:-70.91, Z:-8.05 [[ 2.86842692e-01 9.57970634e-01 -3.67879323e-03 1.45533864e+02] [ 9.57903660e-01 -2.86866151e-01 -1.13309035e-02 -7.09065587e+01] [-1.19099941e-02 -2.73742634e-04 -9.99929036e-01 -8.04811076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.510385723 meters 0.01612384595090116 Centerline is valid? [True, True] Translation: X:145.54, Y:-70.92, Z:-8.05 [[ 2.12629348e-01 9.77129579e-01 -2.55853087e-03 1.45539463e+02] [ 9.77071878e-01 -2.12644604e-01 -1.06215965e-02 -7.09150969e+01] [-1.09227339e-02 -2.41405416e-04 -9.99940316e-01 -8.04839678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.540385723 meters 0.01600242305004814 Centerline is valid? [True, True] Translation: X:145.55, Y:-70.92, Z:-8.05 [[ 1.36257763e-01 9.90672094e-01 -1.61990408e-03 1.45545104e+02] [ 9.90620362e-01 -1.36267206e-01 -1.01265814e-02 -7.09244552e+01] [-1.02528614e-02 -2.24884648e-04 -9.99947413e-01 -8.04881204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57038572300002 meters 0.01585206826607216 Centerline is valid? [True, True] Translation: X:145.56, Y:-70.93, Z:-8.05 [[ 5.91374750e-02 9.98249532e-01 -7.94253713e-04 1.45555036e+02] [ 9.98201146e-01 -5.91424304e-02 -9.83079753e-03 -7.09324363e+01] [-9.86056313e-03 -2.11456424e-04 -9.99951361e-01 -8.05009410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60038572300002 meters 0.015812135351277755 Centerline is valid? [True, True] Translation: X:145.57, Y:-70.94, Z:-8.05 [[-1.89104764e-02 9.99821181e-01 -3.04441813e-05 1.45565460e+02] [ 9.99781560e-01 1.89094559e-02 -8.90304524e-03 -7.09397347e+01] [-8.90087751e-03 -1.98798358e-04 -9.99960367e-01 -8.05155442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63038572300002 meters 0.015892950372227963 Centerline is valid? [True, True] Translation: X:145.58, Y:-70.95, Z:-8.05 [[-9.74708280e-02 9.95238140e-01 6.94600051e-04 1.45577757e+02] [ 9.95195727e-01 9.74730883e-02 -9.19029397e-03 -7.09468393e+01] [-9.21423589e-03 -2.04522560e-04 -9.99957527e-01 -8.05127507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66038572300002 meters 0.01621113759418159 Centerline is valid? [True, True] Translation: X:145.59, Y:-70.95, Z:-8.05 [[-1.75871225e-01 9.84411939e-01 1.56438861e-03 1.45588896e+02] [ 9.84361056e-01 1.75878044e-01 -1.00112347e-02 -7.09540544e+01] [-1.01303206e-02 -2.20764888e-04 -9.99948663e-01 -8.05021100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.690385723 meters 0.01665219239756968 Centerline is valid? [True, True] Translation: X:145.60, Y:-70.96, Z:-8.05 [[-2.53251577e-01 9.67396193e-01 2.87132862e-03 1.45600696e+02] [ 9.67322165e-01 2.53267727e-01 -1.19702587e-02 -7.09590564e+01] [-1.23071976e-02 -2.53987088e-04 -9.99924231e-01 -8.04819252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.720385723 meters 0.016340746853836043 Centerline is valid? [True, True] Translation: X:145.61, Y:-70.96, Z:-8.05 [[-3.28750624e-01 9.44407707e-01 4.13643295e-03 1.45612675e+02] [ 9.44322204e-01 3.28776533e-01 -1.27108492e-02 -7.09632986e+01] [-1.33641860e-02 -2.72574108e-04 -9.99910658e-01 -8.04776875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.750385723 meters 0.01870110399437414 Centerline is valid? [True, True] Translation: X:145.63, Y:-70.97, Z:-8.04 [[-4.00825266e-01 9.16137673e-01 5.55609034e-03 1.45625648e+02] [ 9.16040061e-01 4.00863680e-01 -1.33759564e-02 -7.09674650e+01] [-1.44814524e-02 -2.71819938e-04 -9.99895101e-01 -8.04430967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.780385723 meters 0.017217709063516388 Centerline is valid? [True, True] Translation: X:145.64, Y:-70.97, Z:-8.05 [[-4.71860555e-01 8.81650421e-01 6.33648094e-03 1.45637193e+02] [ 8.81563005e-01 4.71903019e-01 -1.24180409e-02 -7.09703374e+01] [-1.39385754e-02 -2.73576467e-04 -9.99902816e-01 -8.04614490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.810385723 meters 0.017223286620426718 Centerline is valid? [True, True] Translation: X:145.65, Y:-70.97, Z:-8.05 [[-5.39857537e-01 8.41729940e-01 6.67445232e-03 1.45649452e+02] [ 8.41659421e-01 5.39898729e-01 -1.08987116e-02 -7.09706330e+01] [-1.27773002e-02 -2.66135919e-04 -9.99918332e-01 -8.04774226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.840385723 meters 0.01675631884391075 Centerline is valid? [True, True] Translation: X:145.66, Y:-70.97, Z:-8.05 [[-6.04735893e-01 7.96393416e-01 7.21302881e-03 1.45660566e+02] [ 7.96331386e-01 6.04778848e-01 -9.94329321e-03 -7.09721576e+01] [-1.22810605e-02 -2.69105064e-04 -9.99924549e-01 -8.04877045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.870385723 meters 0.01682924207122332 Centerline is valid? [True, True] Translation: X:145.67, Y:-70.97, Z:-8.05 [[-6.66018252e-01 7.45899011e-01 7.37241276e-03 1.45670912e+02] [ 7.45848802e-01 6.66059001e-01 -8.65864824e-03 -7.09726439e+01] [-1.13689390e-02 -2.68112540e-04 -9.99935336e-01 -8.04980289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.900385723 meters 0.017094967653002703 Centerline is valid? [True, True] Translation: X:145.68, Y:-70.97, Z:-8.05 [[-7.22997428e-01 6.90803764e-01 8.05478865e-03 1.45682355e+02] [ 6.90756561e-01 7.23042241e-01 -8.08028963e-03 -7.09719050e+01] [-1.14058469e-02 -2.78130508e-04 -9.99934913e-01 -8.04981656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.930385723 meters 0.018719051215933886 Centerline is valid? [True, True] Translation: X:145.70, Y:-70.94, Z:-8.05 [[-7.71294760e-01 6.36418800e-01 8.68937127e-03 1.45699582e+02] [ 6.36374120e-01 7.71343650e-01 -7.54666239e-03 -7.09445687e+01] [-1.15053292e-02 -2.91010159e-04 -9.99933769e-01 -8.04796949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.960385723 meters 0.017335867430376253 Centerline is valid? [True, True] Translation: X:145.73, Y:-70.93, Z:-8.05 [[-8.15051970e-01 5.79312322e-01 9.35514262e-03 1.45727324e+02] [ 5.79269794e-01 8.15105600e-01 -7.02617112e-03 -7.09296321e+01] [-1.16957766e-02 -3.07543079e-04 -9.99931555e-01 -8.04954533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.990385723 meters 0.018175253629409298 Centerline is valid? [True, True] Translation: X:145.76, Y:-70.91, Z:-8.05 [[-8.54252431e-01 5.19752980e-01 1.04701082e-02 1.45755672e+02] [ 5.19709185e-01 8.54316529e-01 -6.75507393e-03 -7.09092288e+01] [-1.24557563e-02 -3.29126913e-04 -9.99922370e-01 -8.04756501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.020385723 meters 0.01940821346450613 Centerline is valid? [True, True] Translation: X:145.76, Y:-70.88, Z:-8.05 [[-8.88766313e-01 4.58229490e-01 1.09624481e-02 1.45759959e+02] [ 4.58190073e-01 8.88833858e-01 -6.01904624e-03 -7.08771559e+01] [-1.25018995e-02 -3.26640649e-04 -9.99921795e-01 -8.04624008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.050385723 meters 0.017379399408910628 Centerline is valid? [True, True] Translation: X:145.78, Y:-70.86, Z:-8.05 [[-9.18832005e-01 3.94521135e-01 1.00409310e-02 1.45783739e+02] [ 3.94494048e-01 9.18886819e-01 -4.63238662e-03 -7.08588716e+01] [-1.10540536e-02 -2.95297563e-04 -9.99938858e-01 -8.04983184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.080385723 meters 0.01969103900703385 Centerline is valid? [True, True] Translation: X:145.80, Y:-70.83, Z:-8.05 [[-9.44117660e-01 3.29472587e-01 9.46886122e-03 1.45804318e+02] [ 3.29453165e-01 9.44165104e-01 -3.58735458e-03 -7.08343925e+01] [-1.01221033e-02 -2.67338516e-04 -9.99948734e-01 -8.04767755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.110385723 meters 0.01693525057180143 Centerline is valid? [True, True] Translation: X:146.08, Y:-70.10, Z:-8.96 [[-9.07043042e-01 -4.21002261e-01 5.47874086e-03 1.46077090e+02] [ 4.20994296e-01 -9.07059587e-01 -2.59004910e-03 -7.00967730e+01] [ 6.05996095e-03 -4.27673610e-05 9.99981637e-01 -8.95540158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.140385723 meters 0.016750358568699122 Centerline is valid? [True, True] Translation: X:145.76, Y:-70.82, Z:-8.05 [[-9.44309950e-01 3.28960070e-01 7.99944089e-03 1.45762757e+02] [ 3.28946350e-01 9.44343808e-01 -3.01202183e-03 -7.08218762e+01] [-8.54505738e-03 -2.12895301e-04 -9.99963468e-01 -8.05106397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.170385723 meters 0.016686927124480225 Centerline is valid? [True, True] Translation: X:146.03, Y:-70.08, Z:-8.96 [[-9.09994926e-01 -4.14596271e-01 4.37803388e-03 1.46033752e+02] [ 4.14591164e-01 -9.10005455e-01 -2.05878590e-03 -7.00836136e+01] [ 4.83759967e-03 -5.83905674e-05 9.99988297e-01 -8.95624018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.200385723 meters 0.016378840747850974 Centerline is valid? [True, True] Translation: X:145.72, Y:-70.81, Z:-8.05 [[-9.44538656e-01 3.28340419e-01 6.26871142e-03 1.45720594e+02] [ 3.28332012e-01 9.44559443e-01 -2.35551138e-03 -7.08067006e+01] [-6.69458016e-03 -1.66652921e-04 -9.99977577e-01 -8.05146563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.230385723 meters 0.016841816426213203 Centerline is valid? [True, True] Translation: X:145.74, Y:-70.78, Z:-8.05 [[-9.64678554e-01 2.63383201e-01 4.95743900e-03 1.45737940e+02] [ 2.63378992e-01 9.64691283e-01 -1.49527502e-03 -7.07812410e+01] [-5.17622851e-03 -1.36774461e-04 -9.99986594e-01 -8.05124184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.260385723 meters 0.016173936248072004 Centerline is valid? [True, True] Translation: X:145.96, Y:-70.03, Z:-8.96 [[-9.39719956e-01 -3.41938794e-01 2.06522629e-03 1.45956632e+02] [ 3.41937805e-01 -9.39722223e-01 -8.25279503e-04 -7.00278961e+01] [ 2.22293412e-03 -6.93526746e-05 9.99997527e-01 -8.95508458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.290385723 meters 0.016173936248072004 Centerline is valid? [True, True] Translation: X:145.69, Y:-70.77, Z:-8.05 [[-9.65477402e-01 2.60444041e-01 4.72099793e-03 1.45688954e+02] [ 2.60440259e-01 9.65488935e-01 -1.40973553e-03 -7.07677227e+01] [-4.92522848e-03 -1.31529870e-04 -9.99987862e-01 -8.05193927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32038572300002 meters 0.017815137197336937 Centerline is valid? [True, True] Translation: X:145.90, Y:-70.02, Z:-8.96 [[-9.41592489e-01 -3.36737932e-01 3.33902573e-03 1.45902922e+02] [ 3.36735953e-01 -9.41598409e-01 -1.15516323e-03 -7.00153281e+01] [ 3.53300859e-03 3.66769860e-05 9.99993758e-01 -8.95853885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35038572300002 meters 0.016184781684640877 Centerline is valid? [True, True] Translation: X:145.63, Y:-70.75, Z:-8.05 [[-9.66031895e-01 2.58342266e-01 6.45379590e-03 1.45632859e+02] [ 2.58335576e-01 9.66053443e-01 -1.86400218e-03 -7.07505345e+01] [-6.71626230e-03 -1.33440480e-04 -9.99977437e-01 -8.04971486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38038572300002 meters 0.016462484455202726 Centerline is valid? [True, True] Translation: X:145.65, Y:-70.72, Z:-8.05 [[-9.81873634e-01 1.89347387e-01 8.46961091e-03 1.45653020e+02] [ 1.89339095e-01 9.81910152e-01 -1.77776543e-03 -7.07237878e+01] [-8.65301217e-03 -1.41912544e-04 -9.99962552e-01 -8.04750082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41038572300002 meters 0.0167113567106408 Centerline is valid? [True, True] Translation: X:145.66, Y:-70.69, Z:-8.05 [[-9.92831676e-01 1.19005502e-01 1.10884668e-02 1.45657989e+02] [ 1.18996310e-01 9.92893582e-01 -1.48746625e-03 -7.06928056e+01] [-1.11866842e-02 -1.57316982e-04 -9.99937415e-01 -8.04533834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.440385723 meters 0.016589907552531542 Centerline is valid? [True, True] Translation: X:145.66, Y:-70.66, Z:-8.04 [[-9.98762328e-01 4.84918816e-02 1.10611348e-02 1.45657632e+02] [ 4.84872126e-02 9.98823565e-01 -6.90048327e-04 -7.06627894e+01] [-1.10815839e-02 -1.52870678e-04 -9.99938586e-01 -8.04473408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.470385723 meters 0.016604692500620986 Centerline is valid? [True, True] Translation: X:145.71, Y:-69.90, Z:-8.96 [[-9.92030239e-01 -1.25692260e-01 8.80119168e-03 1.45705004e+02] [ 1.25687293e-01 -9.92069280e-01 -1.11737944e-03 -6.98961406e+01] [ 8.87183784e-03 -2.27623599e-06 9.99960644e-01 -8.96267813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.500385723 meters 0.018729272795330886 Centerline is valid? [True, True] Translation: X:145.58, Y:-70.66, Z:-8.04 [[-9.98932344e-01 4.46739054e-02 1.17649391e-02 1.45583302e+02] [ 4.46690808e-02 9.99001612e-01 -6.72665207e-04 -7.06569937e+01] [-1.17832437e-02 -1.46418015e-04 -9.99930564e-01 -8.04314269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.530385723 meters 0.01657227542114105 Centerline is valid? [True, True] Translation: X:145.58, Y:-70.63, Z:-8.05 [[-9.99583944e-01 -2.65429436e-02 1.12876158e-02 1.45580583e+02] [-2.65428692e-02 9.99647664e-01 1.56425832e-04 -7.06279626e+01] [-1.12877907e-02 -1.43244958e-04 -9.99936281e-01 -8.04570596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.560385723 meters 0.016906500052783473 Centerline is valid? [True, True] Translation: X:145.58, Y:-70.60, Z:-8.05 [[-9.95176524e-01 -9.75018257e-02 1.08203142e-02 1.45579069e+02] [-9.74975877e-02 9.95235336e-01 9.19731894e-04 -7.05972029e+01] [-1.08584346e-02 -1.39658946e-04 -9.99941036e-01 -8.04590139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.590385723 meters 0.016585054994504512 Centerline is valid? [True, True] Translation: X:145.57, Y:-70.57, Z:-8.05 [[-9.85606592e-01 -1.68812248e-01 9.05928555e-03 1.45567748e+02] [-1.68806398e-01 9.85648216e-01 1.41212496e-03 -7.05675763e+01] [-9.16765263e-03 -1.37465695e-04 -9.99957967e-01 -8.04725098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.620385723 meters 0.016534246712921905 Centerline is valid? [True, True] Translation: X:145.54, Y:-70.54, Z:-8.05 [[-9.70926032e-01 -2.39228282e-01 8.51294576e-03 1.45540417e+02] [-2.39220314e-01 9.70963342e-01 1.95718739e-03 -7.05432258e+01] [-8.73397284e-03 -1.36185371e-04 -9.99961849e-01 -8.04753131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.650385723 meters 0.016563271495595864 Centerline is valid? [True, True] Translation: X:145.50, Y:-70.52, Z:-8.05 [[-9.51059793e-01 -3.08897020e-01 8.24022093e-03 1.45495625e+02] [-3.08886639e-01 9.51095481e-01 2.53589865e-03 -7.05248555e+01] [-8.62056842e-03 -1.33502909e-04 -9.99962833e-01 -8.04853820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.680385723 meters 0.016788046818030714 Centerline is valid? [True, True] Translation: X:145.43, Y:-70.52, Z:-8.05 [[-9.25612398e-01 -3.78385841e-01 8.11446437e-03 1.45428203e+02] [-3.78372604e-01 9.25647955e-01 3.16801185e-03 -7.05178892e+01] [-8.70986818e-03 -1.37939969e-04 -9.99962059e-01 -8.04881215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.710385723 meters 0.01667619514887265 Centerline is valid? [True, True] Translation: X:145.36, Y:-70.51, Z:-8.05 [[-8.94968562e-01 -4.46064706e-01 7.58622467e-03 1.45363984e+02] [-4.46049977e-01 8.95000704e-01 3.62747841e-03 -7.05137831e+01] [-8.40776651e-03 -1.37356201e-04 -9.99964645e-01 -8.04880069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.740385723 meters 0.01673338809194712 Centerline is valid? [True, True] Translation: X:145.28, Y:-70.52, Z:-8.05 [[-8.58870898e-01 -5.12148511e-01 6.68462918e-03 1.45283204e+02] [-5.12134263e-01 8.58896899e-01 3.82277528e-03 -7.05221725e+01] [-7.69923594e-03 -1.40157197e-04 -9.99970351e-01 -8.04957548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.770385723 meters 0.016531081508819937 Centerline is valid? [True, True] Translation: X:145.20, Y:-70.54, Z:-8.05 [[-8.17956069e-01 -5.75248301e-01 6.10411888e-03 1.45200305e+02] [-5.75233559e-01 8.17978834e-01 4.12076820e-03 -7.05392085e+01] [-7.36350494e-03 -1.40686664e-04 -9.99972879e-01 -8.05034496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.800385723 meters 0.01749974380789902 Centerline is valid? [True, True] Translation: X:145.11, Y:-70.57, Z:-8.05 [[-7.72234420e-01 -6.35314009e-01 5.48733271e-03 1.45109885e+02] [-6.35299252e-01 7.72253903e-01 4.33240581e-03 -7.05678150e+01] [-6.99005220e-03 -1.40465487e-04 -9.99975559e-01 -8.04958015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.830385723 meters 0.019131046891696302 Centerline is valid? [True, True] Translation: X:145.02, Y:-70.61, Z:-8.05 [[-7.22018824e-01 -6.91843818e-01 6.39919704e-03 1.45018047e+02] [-6.91818488e-01 7.22047165e-01 5.92203346e-03 -7.06052730e+01] [-8.71764432e-03 -1.51263190e-04 -9.99961989e-01 -8.04676496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.860385723 meters 0.017298019009056382 Centerline is valid? [True, True] Translation: X:144.93, Y:-70.66, Z:-8.05 [[-6.67399347e-01 -7.44675533e-01 6.03839182e-03 1.44926134e+02] [-7.44647113e-01 6.67426646e-01 6.50766538e-03 -7.06563601e+01] [-8.87628278e-03 -1.53259410e-04 -9.99960593e-01 -8.04722904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.890385723 meters 0.016463723184522952 Centerline is valid? [True, True] Translation: X:144.83, Y:-70.72, Z:-8.05 [[-6.09284899e-01 -7.92925504e-01 6.40760231e-03 1.44830297e+02] [-7.92884339e-01 6.09318571e-01 8.08108803e-03 -7.07224790e+01] [-1.03119719e-02 -1.56802622e-04 -9.99946818e-01 -8.04651024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.920385723 meters 0.016072748624090798 Centerline is valid? [True, True] Translation: X:144.75, Y:-70.79, Z:-8.05 [[-5.47590184e-01 -8.36725900e-01 5.89570260e-03 1.44746645e+02] [-8.36680341e-01 5.47621901e-01 8.73276494e-03 -7.07888667e+01] [-1.05355465e-02 -1.50842100e-04 -9.99944488e-01 -8.04684253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.950385723 meters 0.016038587703166064 Centerline is valid? [True, True] Translation: X:144.66, Y:-70.87, Z:-8.05 [[-4.82580369e-01 -8.75836101e-01 5.22603042e-03 1.44664852e+02] [-8.75787947e-01 4.82608644e-01 9.18529254e-03 -7.08670713e+01] [-1.05669383e-02 -1.44252595e-04 -9.99944158e-01 -8.04693614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.980385723 meters 0.015942907624143274 Centerline is valid? [True, True] Translation: X:144.59, Y:-70.96, Z:-8.05 [[-4.15807709e-01 -9.09442890e-01 4.19278487e-03 1.44586201e+02] [-9.09399598e-01 4.15828829e-01 8.87448791e-03 -7.09569869e+01] [-9.81432076e-03 -1.22836388e-04 -9.99951831e-01 -8.04763772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.010385723 meters 0.01626142531470821 Centerline is valid? [True, True] Translation: X:144.51, Y:-71.05, Z:-8.05 [[-3.45287162e-01 -9.38492466e-01 2.94406940e-03 1.44514417e+02] [-9.38461145e-01 3.45299693e-01 7.66819753e-03 -7.10503662e+01] [-8.21313187e-03 -1.15164584e-04 -9.99966265e-01 -8.04758455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.040385723 meters 0.015823461268149368 Centerline is valid? [True, True] Translation: X:144.45, Y:-71.15, Z:-8.05 [[-2.71628645e-01 -9.62399433e-01 2.28256051e-03 1.44449065e+02] [-9.62369064e-01 2.71638209e-01 7.64647694e-03 -7.11535246e+01] [-7.97899572e-03 -1.19663445e-04 -9.99968160e-01 -8.04917673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07038572300002 meters 0.015729140910134005 Centerline is valid? [True, True] Translation: X:144.39, Y:-71.27, Z:-8.05 [[-1.94417602e-01 -9.80917225e-01 1.78686154e-03 1.44386945e+02] [-9.80882281e-01 1.94425761e-01 8.28093071e-03 -7.12722435e+01] [-8.47031949e-03 -1.42742130e-04 -9.99964116e-01 -8.04829121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10038572300002 meters 0.0157201559869131 Centerline is valid? [True, True] Translation: X:144.34, Y:-71.38, Z:-8.05 [[-1.16710920e-01 -9.93165195e-01 1.20682788e-03 1.44339792e+02] [-9.93125379e-01 1.16717049e-01 8.89447447e-03 -7.13750272e+01] [-8.97453986e-03 -1.60449096e-04 -9.99959715e-01 -8.04861873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13038572300002 meters 0.015893053904716292 Centerline is valid? [True, True] Translation: X:144.30, Y:-71.50, Z:-8.05 [[-3.80935164e-02 -9.99274031e-01 5.43553094e-04 1.44298454e+02] [-9.99229103e-01 3.80969589e-02 9.47741104e-03 -7.14951790e+01] [-9.49123845e-03 -1.82106158e-04 -9.99954941e-01 -8.04832799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16038572300002 meters 0.016806197311541086 Centerline is valid? [True, True] Translation: X:144.26, Y:-71.62, Z:-8.05 [[ 4.33824939e-02 -9.99058517e-01 -1.99430992e-04 1.44263842e+02] [-9.99009371e-01 -4.33823384e-02 9.91207838e-03 -7.16209062e+01] [-9.91139810e-03 -2.30777249e-04 -9.99950854e-01 -8.04807807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.190385723 meters 0.01667433323132162 Centerline is valid? [True, True] Translation: X:144.24, Y:-71.75, Z:-8.05 [[ 1.24466537e-01 -9.92223240e-01 -1.06012360e-03 1.44243273e+02] [-9.92164653e-01 -1.24470712e-01 1.07862152e-02 -7.17454750e+01] [-1.08342877e-02 -2.90705695e-04 -9.99941265e-01 -8.04981230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.220385723 meters 0.017042424398184573 Centerline is valid? [True, True] Translation: X:144.23, Y:-71.87, Z:-8.05 [[ 2.02165037e-01 -9.79349557e-01 -1.93464453e-03 1.44231334e+02] [-9.79288625e-01 -2.02174048e-01 1.09290049e-02 -7.18721128e+01] [-1.10944510e-02 -3.14887297e-04 -9.99938405e-01 -8.05009357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.250385723 meters 0.017618540259541036 Centerline is valid? [True, True] Translation: X:144.23, Y:-72.00, Z:-8.05 [[ 2.79782776e-01 -9.60059690e-01 -2.64374812e-03 1.44228404e+02] [-9.60004743e-01 -2.79795063e-01 1.02769871e-02 -7.19951334e+01] [-1.06062288e-02 -3.37313260e-04 -9.99943695e-01 -8.05095521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.280385723 meters 0.018113455195943273 Centerline is valid? [True, True] Translation: X:144.23, Y:-72.11, Z:-8.05 [[ 3.53536223e-01 -9.35415208e-01 -3.24453549e-03 1.44233941e+02] [-9.35366755e-01 -3.53550954e-01 9.52659740e-03 -7.21134128e+01] [-1.00584327e-02 -3.33166629e-04 -9.99949357e-01 -8.05150577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.310385723 meters 0.01818072997585502 Centerline is valid? [True, True] Translation: X:144.25, Y:-72.24, Z:-8.05 [[ 4.25469418e-01 -9.04966507e-01 -3.37572757e-03 1.44253769e+02] [-9.04932026e-01 -4.25482698e-01 7.90587862e-03 -7.22386241e+01] [-8.59086903e-03 -3.08905585e-04 -9.99963050e-01 -8.05293838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.340385723 meters 0.01822456278536185 Centerline is valid? [True, True] Translation: X:144.28, Y:-72.36, Z:-8.05 [[ 4.94021082e-01 -8.69441680e-01 -3.78615637e-03 1.44279706e+02] [-8.69411292e-01 -4.94035498e-01 7.27551261e-03 -7.23553313e+01] [-8.19612955e-03 -3.02529511e-04 -9.99966365e-01 -8.05338618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.370385723 meters 0.01863474531133934 Centerline is valid? [True, True] Translation: X:144.31, Y:-72.47, Z:-8.05 [[ 5.59939873e-01 -8.28523758e-01 -3.96492586e-03 1.44313299e+02] [-8.28499188e-01 -5.59953835e-01 6.38737189e-03 -7.24656093e+01] [-7.51226480e-03 -2.91606356e-04 -9.99971740e-01 -8.05455755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.400385723 meters 0.018933930755544982 Centerline is valid? [True, True] Translation: X:144.35, Y:-72.57, Z:-8.05 [[ 6.21971414e-01 -7.83029320e-01 -4.07974475e-03 1.44354926e+02] [-7.83009468e-01 -6.21984732e-01 5.58269501e-03 -7.25744129e+01] [-6.90895282e-03 -2.77797944e-04 -9.99976094e-01 -8.05466639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.430385723 meters 0.01932616979997587 Centerline is valid? [True, True] Translation: X:144.41, Y:-72.68, Z:-8.05 [[ 6.80270732e-01 -7.32946382e-01 -4.61858633e-03 1.44408151e+02] [-7.32926577e-01 -6.80286351e-01 5.39569611e-03 -7.26847868e+01] [-7.09671719e-03 -2.85449476e-04 -9.99974777e-01 -8.05432913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.460385723 meters 0.019371977246613985 Centerline is valid? [True, True] Translation: X:144.46, Y:-72.78, Z:-8.05 [[ 7.34903102e-01 -6.78150033e-01 -5.47385151e-03 1.44458718e+02] [-6.78128015e-01 -7.34923422e-01 5.47347298e-03 -7.27779563e+01] [-7.73469757e-03 -3.10500216e-04 -9.99970039e-01 -8.05306511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.490385723 meters 0.02018302378556547 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.78, Z:-8.05 [[ 7.86057697e-01 -6.18123749e-01 -6.02728800e-03 1.44454666e+02] [-6.18102375e-01 -7.86080738e-01 5.15044046e-03 -7.27847316e+01] [-7.92154457e-03 -3.23062336e-04 -9.99968572e-01 -8.05190553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.520385723 meters 0.02091242929426489 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.79, Z:-8.05 [[ 8.32862884e-01 -5.53426756e-01 -7.63161175e-03 1.44454772e+02] [-5.53399271e-01 -8.32897761e-01 5.52870119e-03 -7.27905752e+01] [-9.41608351e-03 -3.81321637e-04 -9.99955595e-01 -8.05006278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.550385723 meters 0.020078287572909605 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.80, Z:-8.05 [[ 8.74004241e-01 -4.85840132e-01 -8.71512080e-03 1.44454148e+02] [-4.85811203e-01 -8.74047593e-01 5.31787453e-03 -7.27966742e+01] [-1.02010672e-02 -4.13941572e-04 -9.99947882e-01 -8.05021954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.580385723 meters 0.020363480344454173 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.80, Z:-8.05 [[ 9.09890507e-01 -4.14725748e-01 -1.00905779e-02 1.44453620e+02] [-4.14694537e-01 -9.09946338e-01 5.10910838e-03 -7.28030973e+01] [-1.13007632e-02 -4.64221695e-04 -9.99936037e-01 -8.04995671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.610385723 meters 0.021210518860880375 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.81, Z:-8.05 [[ 9.39760365e-01 -3.41668862e-01 -1.06228727e-02 1.44452415e+02] [-3.41641243e-01 -9.39820281e-01 4.37047351e-03 -7.28101937e+01] [-1.14768459e-02 -4.77986345e-04 -9.99934025e-01 -8.04970091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.640385723 meters 0.021257500481724725 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.82, Z:-8.05 [[ 9.63658580e-01 -2.66927072e-01 -1.05867744e-02 1.44453053e+02] [-2.66905593e-01 -9.63716617e-01 3.41842154e-03 -7.28167440e+01] [-1.11151197e-02 -4.68521934e-04 -9.99938115e-01 -8.04941598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.670385723 meters 0.021684108243339786 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.82, Z:-8.05 [[ 9.81699801e-01 -1.90147728e-01 -1.04566676e-02 1.44453403e+02] [-1.90131908e-01 -9.81755381e-01 2.49593538e-03 -7.28244820e+01] [-1.07404861e-02 -4.62113106e-04 -9.99942213e-01 -8.04908662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.700385723 meters 0.02264385937661208 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.83, Z:-8.05 [[ 9.93673043e-01 -1.11836013e-01 -1.03242859e-02 1.44453218e+02] [-1.11825135e-01 -9.93726568e-01 1.62679198e-03 -7.28304204e+01] [-1.04414512e-02 -4.61984677e-04 -9.99945380e-01 -8.04837799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.730385723 meters 0.023061058547028893 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.83, Z:-8.05 [[ 9.99394035e-01 -3.32275778e-02 -1.03677747e-02 1.44451065e+02] [-3.32209586e-02 -9.99447703e-01 8.10050301e-04 -7.28324212e+01] [-1.03889646e-02 -4.65132024e-04 -9.99945925e-01 -8.04853369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.760385723 meters 0.02568448026504899 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.84, Z:-8.05 [[ 9.98955087e-01 4.44419562e-02 -1.06605343e-02 1.44449805e+02] [ 4.44444120e-02 -9.99011859e-01 -6.55094131e-06 -7.28368164e+01] [-1.06502913e-02 -4.67257081e-04 -9.99943175e-01 -8.04650716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.790385723 meters 0.024309830722567965 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.84, Z:-8.05 [[ 9.92278578e-01 1.23633369e-01 -9.90024043e-03 1.44448716e+02] [ 1.23631754e-01 -9.92327862e-01 -7.77270027e-04 -7.28393636e+01] [-9.92038093e-03 -4.52715694e-04 -9.99950689e-01 -8.04838528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82038572300002 meters 0.024766822655269992 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.84, Z:-8.05 [[ 9.79318382e-01 2.02126704e-01 -8.96119790e-03 1.44446371e+02] [ 2.02122262e-01 -9.79359285e-01 -1.40799684e-03 -7.28419567e+01] [-9.06082613e-03 -4.32380404e-04 -9.99958856e-01 -8.04940468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85038572300002 meters 0.024926868370221213 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.84, Z:-8.05 [[ 9.60440890e-01 2.78367121e-01 -8.06493127e-03 1.44445267e+02] [ 2.78360821e-01 -9.60474665e-01 -1.91607936e-03 -7.28438415e+01] [-8.27953565e-03 -4.04679924e-04 -9.99965642e-01 -8.04960802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88038572300002 meters 0.022369506164590946 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.85, Z:-8.05 [[ 9.35334140e-01 3.53697185e-01 -6.95322679e-03 1.44443810e+02] [ 3.53690364e-01 -9.35359910e-01 -2.22846576e-03 -7.28470671e+01] [-7.29197165e-03 -3.74929206e-04 -9.99973343e-01 -8.05103945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91038572300002 meters 0.023742982355279767 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.86, Z:-8.05 [[ 9.04412005e-01 4.26612272e-01 -6.39483730e-03 1.44443696e+02] [ 4.26604430e-01 -9.04434539e-01 -2.61236806e-03 -7.28552587e+01] [-6.89818000e-03 -3.65408882e-04 -9.99976141e-01 -8.05069523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.940385723 meters 0.022857701800777588 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.86, Z:-8.05 [[ 8.68144305e-01 4.96277178e-01 -5.86761227e-03 1.44444632e+02] [ 4.96268549e-01 -8.68164062e-01 -2.94765804e-03 -7.28614969e+01] [-6.55690552e-03 -3.52918888e-04 -9.99978441e-01 -8.05121720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.970385723 meters 0.024174062932244562 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.87, Z:-8.05 [[ 8.26783384e-01 5.62490163e-01 -5.83540616e-03 1.44445685e+02] [ 5.62479181e-01 -8.26803898e-01 -3.53337846e-03 -7.28695954e+01] [-6.81222718e-03 -3.60955879e-04 -9.99976731e-01 -8.05008524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.000385723 meters 0.025632719620852906 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.88, Z:-8.05 [[ 7.80419146e-01 6.25232452e-01 -5.50783032e-03 1.44446699e+02] [ 6.25220043e-01 -7.80438501e-01 -3.95533788e-03 -7.28776700e+01] [-6.77152844e-03 -3.56784497e-04 -9.99977009e-01 -8.05005233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.030385723 meters 0.02369157403595121 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.88, Z:-8.05 [[ 7.29365864e-01 6.84101950e-01 -5.47341701e-03 1.44445524e+02] [ 6.84086393e-01 -7.29386308e-01 -4.62814830e-03 -7.28810857e+01] [-7.15836070e-03 -3.68676712e-04 -9.99974311e-01 -8.04996866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.060385723 meters 0.024216168811636705 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.89, Z:-8.05 [[ 6.74656800e-01 7.38114553e-01 -5.01081863e-03 1.44444639e+02] [ 7.38097984e-01 -6.74675316e-01 -4.95824458e-03 -7.28859464e+01] [-7.04042813e-03 -3.53361708e-04 -9.99975153e-01 -8.04940568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.090385723 meters 0.023951850977374314 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.89, Z:-8.05 [[ 6.16277258e-01 7.87518022e-01 -4.20782682e-03 1.44441576e+02] [ 7.87503082e-01 -6.16291541e-01 -4.86125236e-03 -7.28895085e+01] [-6.42157192e-03 -3.17797320e-04 -9.99979331e-01 -8.04906165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.120385723 meters 0.02369494995559111 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.89, Z:-8.05 [[ 5.53651307e-01 8.32741072e-01 -3.54077065e-03 1.44439843e+02] [ 8.32727326e-01 -5.53662551e-01 -4.79386715e-03 -7.28935490e+01] [-5.95244218e-03 -2.94365657e-04 -9.99982241e-01 -8.04905803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.150385723 meters 0.02369494995559111 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.90, Z:-8.05 [[ 4.86759013e-01 8.73530609e-01 -3.15256974e-03 1.44439196e+02] [ 8.73516040e-01 -4.86769134e-01 -5.05349041e-03 -7.28989243e+01] [-5.94895220e-03 -2.93988231e-04 -9.99982262e-01 -8.04908847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.180385723 meters 0.022087480320762576 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.90, Z:-8.05 [[ 4.17951973e-01 9.08465792e-01 -2.46013570e-03 1.44438293e+02] [ 9.08453607e-01 -4.17959129e-01 -4.71272843e-03 -7.29033243e+01] [-5.30958874e-03 -2.65225003e-04 -9.99985869e-01 -8.05001942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.210385723 meters 0.02260751422708971 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.91, Z:-8.05 [[ 3.48472685e-01 9.37317614e-01 -1.57423838e-03 1.44437773e+02] [ 9.37310577e-01 -3.48476179e-01 -3.63804339e-03 -7.29100560e+01] [-3.95858672e-03 -2.07791541e-04 -9.99992143e-01 -8.05086457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.240385723 meters 0.01949923171883518 Centerline is valid? [True, True] Translation: X:144.44, Y:-72.92, Z:-8.05 [[ 2.75301783e-01 9.61357039e-01 -1.25354420e-03 1.44438522e+02] [ 9.61350118e-01 -2.75304565e-01 -3.65325339e-03 -7.29158332e+01] [-3.85718731e-03 -1.99347695e-04 -9.99992541e-01 -8.05205766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.270385723 meters 0.021272232716321674 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.92, Z:-8.05 [[ 2.00624710e-01 9.79667694e-01 -9.66632302e-04 1.44447269e+02] [ 9.79660518e-01 -2.00626945e-01 -3.75467221e-03 -7.29249076e+01] [-3.87226355e-03 -1.93691479e-04 -9.99992484e-01 -8.05210536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.300385723 meters 0.019698123262639766 Centerline is valid? [True, True] Translation: X:144.45, Y:-72.93, Z:-8.05 [[ 1.23486917e-01 9.92346001e-01 -6.29669074e-04 1.44450332e+02] [ 9.92339639e-01 -1.23488383e-01 -3.55813279e-03 -7.29317970e+01] [-3.60865566e-03 -1.85462733e-04 -9.99993472e-01 -8.05204636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.330385723 meters 0.019974616625059394 Centerline is valid? [True, True] Translation: X:144.46, Y:-72.94, Z:-8.05 [[ 4.57329825e-02 9.98953638e-01 -3.51371585e-04 1.44456678e+02] [ 9.98947049e-01 -4.57339587e-02 -3.63299300e-03 -7.29392256e+01] [-3.64526119e-03 -1.84854003e-04 -9.99993339e-01 -8.05126011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.360385723 meters 0.019725724906659938 Centerline is valid? [True, True] Translation: X:144.46, Y:-72.95, Z:-8.05 [[-3.08826087e-02 9.99523016e-01 -6.74289821e-05 1.44460601e+02] [ 9.99517519e-01 3.08822149e-02 -3.31930884e-03 -7.29470204e+01] [-3.31564323e-03 -1.69905365e-04 -9.99994489e-01 -8.05055205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.390385723 meters 0.019657946904757417 Centerline is valid? [True, True] Translation: X:144.46, Y:-72.95, Z:-8.05 [[-1.07731657e-01 9.94179999e-01 1.42550342e-04 1.44464779e+02] [ 9.94176297e-01 1.07731646e-01 -2.71713373e-03 -7.29536426e+01] [-2.71667719e-03 -1.51001149e-04 -9.99996298e-01 -8.05066651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.420385723 meters 0.018192077125003283 Centerline is valid? [True, True] Translation: X:144.47, Y:-72.96, Z:-8.05 [[-1.81547604e-01 9.83382123e-01 2.59990795e-04 1.44466329e+02] [ 9.83379850e-01 1.81547744e-01 -2.11807686e-03 -7.29603256e+01] [-2.13007967e-03 -1.28862070e-04 -9.99997723e-01 -8.05169583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.450385723 meters 0.01834869056942571 Centerline is valid? [True, True] Translation: X:144.47, Y:-72.97, Z:-8.05 [[-2.56313229e-01 9.66593714e-01 3.48640339e-04 1.44474110e+02] [ 9.66592083e-01 2.56313438e-01 -1.77947199e-03 -7.29666328e+01] [-1.80938764e-03 -1.19109220e-04 -9.99998356e-01 -8.05226100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.480385723 meters 0.017525460271550046 Centerline is valid? [True, True] Translation: X:144.48, Y:-72.97, Z:-8.05 [[-3.28338938e-01 9.44559970e-01 -7.44463830e-05 1.44477281e+02] [ 9.44559972e-01 3.28338935e-01 -5.01165254e-05 -7.29734437e+01] [-2.28944174e-05 -8.67742802e-05 -9.99999996e-01 -8.05315279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.510385723 meters 0.017511599507853512 Centerline is valid? [True, True] Translation: X:144.48, Y:-72.98, Z:-8.05 [[-4.00421083e-01 9.16331206e-01 -2.77930566e-04 1.44483604e+02] [ 9.16331104e-01 4.00421172e-01 4.38608121e-04 -7.29788056e+01] [ 5.13199591e-04 -7.90484833e-05 -9.99999865e-01 -8.05317136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.540385723 meters 0.0170196922980033 Centerline is valid? [True, True] Translation: X:144.49, Y:-72.98, Z:-8.05 [[-4.69424941e-01 8.82972273e-01 -4.35565582e-04 1.44492152e+02] [ 8.82972033e-01 4.69425137e-01 6.56422302e-04 -7.29833002e+01] [ 7.84068125e-04 -7.64512272e-05 -9.99999690e-01 -8.05280460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57038572300002 meters 0.017056385530369318 Centerline is valid? [True, True] Translation: X:144.50, Y:-72.99, Z:-8.05 [[-5.36686670e-01 8.43781486e-01 -4.72224501e-04 1.44503616e+02] [ 8.43781276e-01 5.36686872e-01 5.99120415e-04 -7.29863167e+01] [ 7.58963404e-04 -7.69142526e-05 -9.99999709e-01 -8.05276827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60038572300002 meters 0.017164376890375744 Centerline is valid? [True, True] Translation: X:144.51, Y:-72.99, Z:-8.05 [[-6.00991018e-01 7.99255643e-01 -4.61418332e-04 1.44514371e+02] [ 7.99255500e-01 6.00991190e-01 4.84201258e-04 -7.29887548e+01] [ 6.64308940e-04 -7.77905323e-05 -9.99999776e-01 -8.05272499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63038572300002 meters 0.01708634486737302 Centerline is valid? [True, True] Translation: X:144.53, Y:-72.99, Z:-8.05 [[-6.62096072e-01 7.49418922e-01 -2.64609787e-04 1.44526555e+02] [ 7.49418906e-01 6.62096120e-01 1.76501559e-04 -7.29887557e+01] [ 3.07470722e-04 -8.14425879e-05 -9.99999949e-01 -8.05270555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66038572300002 meters 0.01760462508095537 Centerline is valid? [True, True] Translation: X:144.54, Y:-72.99, Z:-8.05 [[-7.19423908e-01 6.94571176e-01 3.48783792e-04 1.44540019e+02] [ 6.94571027e-01 7.19423987e-01 -4.64758388e-04 -7.29882858e+01] [-5.73731206e-04 -9.21031792e-05 -9.99999831e-01 -8.05234350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.690385723 meters 0.01743482925134292 Centerline is valid? [True, True] Translation: X:144.56, Y:-72.97, Z:-8.05 [[-7.67005132e-01 6.41640602e-01 6.81459791e-04 1.44559420e+02] [ 6.41640242e-01 7.67005430e-01 -6.86053802e-04 -7.29690405e+01] [-9.62883334e-04 -8.89547621e-05 -9.99999532e-01 -8.05144463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.720385723 meters 0.01777723964328511 Centerline is valid? [True, True] Translation: X:144.58, Y:-72.95, Z:-8.05 [[-8.11031172e-01 5.84998592e-01 2.25521498e-03 1.44581922e+02] [ 5.84995925e-01 8.11034299e-01 -1.77041577e-03 -7.29508771e+01] [-2.86474743e-03 -1.16570809e-04 -9.99995890e-01 -8.04970983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.750385723 meters 0.01817438059968913 Centerline is valid? [True, True] Translation: X:144.58, Y:-72.91, Z:-8.05 [[-8.50461933e-01 5.26028717e-01 2.87929531e-03 1.44580934e+02] [ 5.26025197e-01 8.50466797e-01 -1.92841310e-03 -7.29147692e+01] [-3.46314573e-03 -1.25460050e-04 -9.99993995e-01 -8.04849678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.780385723 meters 0.01818546298515433 Centerline is valid? [True, True] Translation: X:144.63, Y:-72.91, Z:-8.05 [[-8.85727494e-01 4.64187904e-01 4.04911689e-03 1.44626036e+02] [ 4.64182305e-01 8.85736738e-01 -2.28447209e-03 -7.29106768e+01] [-4.64687590e-03 -1.43891329e-04 -9.99989193e-01 -8.04748823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.810385723 meters 0.018114351846139454 Centerline is valid? [True, True] Translation: X:144.65, Y:-72.89, Z:-8.05 [[-9.16365700e-01 4.00319578e-01 4.25909589e-03 1.44649048e+02] [ 4.00314515e-01 9.16375586e-01 -2.01847257e-03 -7.28915631e+01] [-4.71096558e-03 -1.44681122e-04 -9.99988893e-01 -8.04781046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.840385723 meters 0.018015713598254175 Centerline is valid? [True, True] Translation: X:144.66, Y:-72.87, Z:-8.05 [[-9.42230696e-01 3.34948615e-01 3.27718528e-03 1.44663649e+02] [ 3.34946123e-01 9.42236387e-01 -1.29807742e-03 -7.28694930e+01] [-3.52267245e-03 -1.25407889e-04 -9.99993788e-01 -8.04938869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.870385723 meters 0.018028202222065918 Centerline is valid? [True, True] Translation: X:144.68, Y:-72.85, Z:-8.05 [[-9.63557884e-01 2.67484611e-01 2.86118546e-03 1.44681733e+02] [ 2.67483068e-01 9.63562125e-01 -9.16253234e-04 -7.28463440e+01] [-3.00201358e-03 -1.17544364e-04 -9.99995487e-01 -8.05048699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.900385723 meters 0.018615538243721114 Centerline is valid? [True, True] Translation: X:144.68, Y:-72.82, Z:-8.05 [[-9.80202847e-01 1.97986541e-01 1.92565251e-03 1.44684605e+02] [ 1.97985949e-01 9.80204733e-01 -4.95239622e-04 -7.28161272e+01] [-1.98558448e-03 -1.04183148e-04 -9.99998023e-01 -8.05172947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.930385723 meters 0.018489849992130828 Centerline is valid? [True, True] Translation: X:144.70, Y:-72.79, Z:-8.05 [[-9.91807008e-01 1.27733699e-01 1.72058857e-03 1.44703674e+02] [ 1.27733330e-01 9.91808496e-01 -3.23407004e-04 -7.27906197e+01] [-1.74780434e-03 -1.00980826e-04 -9.99998467e-01 -8.05194519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.960385723 meters 0.01853017843765075 Centerline is valid? [True, True] Translation: X:144.70, Y:-72.76, Z:-8.05 [[-9.98400078e-01 5.65147517e-02 1.83516049e-03 1.44700798e+02] [ 5.65144660e-02 9.98401759e-01 -2.07220380e-04 -7.27604384e+01] [-1.84393847e-03 -1.03175728e-04 -9.99998295e-01 -8.05112061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.990385723 meters 0.018681362195431615 Centerline is valid? [True, True] Translation: X:144.78, Y:-71.91, Z:-8.97 [[-9.88089954e-01 -1.53877188e-01 2.34018863e-04 1.44776414e+02] [ 1.53877177e-01 -9.88089981e-01 -6.20697078e-05 -7.19096879e+01] [ 2.40782806e-04 -2.53202926e-05 9.99999971e-01 -8.97048998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.020385723 meters 0.01895242336124544 Centerline is valid? [True, True] Translation: X:144.64, Y:-72.75, Z:-8.05 [[-9.98672285e-01 5.13940698e-02 3.50956343e-03 1.44636534e+02] [ 5.13932922e-02 9.98678443e-01 -3.11451585e-04 -7.27541337e+01] [-3.52093210e-03 -1.30670047e-04 -9.99993793e-01 -8.04962272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.050385723 meters 0.0190959830996336 Centerline is valid? [True, True] Translation: X:144.63, Y:-72.72, Z:-8.05 [[-9.99790229e-01 -2.00122702e-02 4.35963694e-03 1.44627075e+02] [-2.00127064e-02 9.99799724e-01 -5.64503644e-05 -7.27245709e+01] [-4.35763411e-03 -1.43686657e-04 -9.99990495e-01 -8.04986817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.080385723 meters 0.019340010528453036 Centerline is valid? [True, True] Translation: X:144.64, Y:-71.88, Z:-8.97 [[-9.96775045e-01 -8.02100521e-02 2.42002840e-03 1.44640309e+02] [ 8.02097754e-02 -9.96777983e-01 -2.11315323e-04 -7.18754505e+01] [ 2.42918064e-03 -1.65239060e-05 9.99997049e-01 -8.97027999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.110385723 meters 0.019634636889419056 Centerline is valid? [True, True] Translation: X:144.54, Y:-72.72, Z:-8.05 [[-9.99623162e-01 -2.71024656e-02 4.35789209e-03 1.44536728e+02] [-2.71028746e-02 9.99632649e-01 -3.48175960e-05 -7.27216345e+01] [-4.35534757e-03 -1.52915878e-04 -9.99990504e-01 -8.05054394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.140385723 meters 0.020230700888608656 Centerline is valid? [True, True] Translation: X:144.55, Y:-72.69, Z:-8.05 [[-9.95026126e-01 -9.94930183e-02 4.91396376e-03 1.44548133e+02] [-9.94926357e-02 9.95038246e-01 3.22862871e-04 -7.26891595e+01] [-4.92170448e-03 -1.67646214e-04 -9.99987874e-01 -8.05012380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.170385723 meters 0.019648844374442014 Centerline is valid? [True, True] Translation: X:144.54, Y:-72.66, Z:-8.05 [[-9.85307785e-01 -1.70671259e-01 6.31589410e-03 1.44544498e+02] [-1.70669038e-01 9.85328007e-01 8.92949091e-04 -7.26613289e+01] [-6.37562809e-03 -1.98097882e-04 -9.99979656e-01 -8.05016856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.200385723 meters 0.01970770841222822 Centerline is valid? [True, True] Translation: X:144.52, Y:-72.64, Z:-8.05 [[-9.70558665e-01 -2.40775260e-01 6.56897187e-03 1.44523986e+02] [-2.40771164e-01 9.70580874e-01 1.41908653e-03 -7.26356729e+01] [-6.71739939e-03 -2.04312275e-04 -9.99977417e-01 -8.04996158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.230385723 meters 0.020157459364564097 Centerline is valid? [True, True] Translation: X:144.49, Y:-72.61, Z:-8.05 [[-9.50560111e-01 -3.10463667e-01 6.91282854e-03 1.44485758e+02] [-3.10457077e-01 9.50585223e-01 2.03408686e-03 -7.26145458e+01] [-7.20274272e-03 -2.12614713e-04 -9.99974037e-01 -8.04939732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.260385723 meters 0.019739925587296786 Centerline is valid? [True, True] Translation: X:144.43, Y:-72.61, Z:-8.05 [[-9.25408575e-01 -3.78904299e-01 7.10642651e-03 1.44427548e+02] [-3.78894905e-01 9.25435835e-01 2.67679685e-03 -7.26060267e+01] [-7.59079159e-03 -2.15458039e-04 -9.99971166e-01 -8.05023029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.290385723 meters 0.019772578767104112 Centerline is valid? [True, True] Translation: X:144.35, Y:-72.61, Z:-8.05 [[-8.95627595e-01 -4.44755216e-01 6.63389314e-03 1.44346459e+02] [-4.44744654e-01 8.95652141e-01 3.07160797e-03 -7.26106627e+01] [-7.30777426e-03 -1.99371648e-04 -9.99973278e-01 -8.05139278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32038572300002 meters 0.01965035731948768 Centerline is valid? [True, True] Translation: X:144.26, Y:-72.62, Z:-8.05 [[-8.60511599e-01 -5.09391159e-01 6.35880571e-03 1.44263313e+02] [-5.09378882e-01 8.60535072e-01 3.54179063e-03 -7.26230670e+01] [-7.27613216e-03 -1.91289421e-04 -9.99973510e-01 -8.05230581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35038572300002 meters 0.01898720454410561 Centerline is valid? [True, True] Translation: X:144.18, Y:-72.64, Z:-8.05 [[-8.21362218e-01 -5.70376186e-01 5.92563358e-03 1.44182836e+02] [-5.70362810e-01 8.21383575e-01 3.90981782e-03 -7.26432360e+01] [-7.09728507e-03 -1.68384392e-04 -9.99974800e-01 -8.05369878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38038572300002 meters 0.019089773217210882 Centerline is valid? [True, True] Translation: X:144.09, Y:-72.68, Z:-8.05 [[-7.76779089e-01 -6.29745471e-01 5.90665974e-03 1.44091314e+02] [-6.29728845e-01 7.76801529e-01 4.57886641e-03 -7.26766852e+01] [-7.47182269e-03 -1.62826339e-04 -9.99972072e-01 -8.05356881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41038572300002 meters 0.019040842181393087 Centerline is valid? [True, True] Translation: X:144.00, Y:-72.71, Z:-8.05 [[-7.27356453e-01 -6.86239835e-01 5.24213804e-03 1.44004838e+02] [-6.86223492e-01 7.27375327e-01 4.73836251e-03 -7.27116888e+01] [-7.06465498e-03 -1.50799728e-04 -9.99975034e-01 -8.05289810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.440385723 meters 0.018571752962702703 Centerline is valid? [True, True] Translation: X:143.91, Y:-72.77, Z:-8.05 [[-6.74512789e-01 -7.38244714e-01 5.21908655e-03 1.43908581e+02] [-7.38224209e-01 6.74532966e-01 5.50407854e-03 -7.27716346e+01] [-7.58380282e-03 -1.40284672e-04 -9.99971233e-01 -8.05450333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.470385723 meters 0.018558959221030208 Centerline is valid? [True, True] Translation: X:143.82, Y:-72.83, Z:-8.06 [[-6.16327525e-01 -7.87473702e-01 5.05473856e-03 1.43823000e+02] [-7.87449076e-01 6.16348236e-01 6.22934538e-03 -7.28291092e+01] [-8.02092487e-03 -1.41032188e-04 -9.99967822e-01 -8.05532509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.500385723 meters 0.018693334064519375 Centerline is valid? [True, True] Translation: X:143.72, Y:-72.92, Z:-8.06 [[-5.54609723e-01 -8.32093926e-01 5.26812427e-03 1.43721282e+02] [-8.32058865e-01 5.54634724e-01 7.63993456e-03 -7.29197203e+01] [-9.27902780e-03 -1.46207514e-04 -9.99956938e-01 -8.05543111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.530385723 meters 0.018580632572431914 Centerline is valid? [True, True] Translation: X:143.66, Y:-72.96, Z:-8.05 [[-4.89131513e-01 -8.72193098e-01 5.43714909e-03 1.43664729e+02] [-8.72142649e-01 4.89161708e-01 9.38209656e-03 -7.29566248e+01] [-1.08426450e-02 -1.52890519e-04 -9.99941205e-01 -8.05491297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.560385723 meters 0.018665131499574585 Centerline is valid? [True, True] Translation: X:143.58, Y:-73.06, Z:-8.05 [[-4.20941990e-01 -9.07073186e-01 5.10649358e-03 1.43576748e+02] [-9.07010846e-01 4.20972934e-01 1.06354798e-02 -7.30636234e+01] [-1.17968541e-02 -1.54725038e-04 -9.99930403e-01 -8.05422494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.590385723 meters 0.018625457092125024 Centerline is valid? [True, True] Translation: X:143.51, Y:-73.14, Z:-8.05 [[-3.51164222e-01 -9.36301449e-01 4.82557319e-03 1.43513964e+02] [-9.36218541e-01 3.51197347e-01 1.24605880e-02 -7.31395539e+01] [-1.33615951e-02 -1.42078395e-04 -9.99910720e-01 -8.05333409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.620385723 meters 0.018651219415467952 Centerline is valid? [True, True] Translation: X:143.45, Y:-73.24, Z:-8.05 [[-2.79038273e-01 -9.60271375e-01 4.06555549e-03 1.43449019e+02] [-9.60176038e-01 2.79067860e-01 1.35316557e-02 -7.32449200e+01] [-1.41286275e-02 -1.27799112e-04 -9.99900178e-01 -8.05315121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.650385723 meters 0.018576915055895413 Centerline is valid? [True, True] Translation: X:143.39, Y:-73.37, Z:-8.05 [[-2.05384079e-01 -9.78676301e-01 3.17447042e-03 1.43390221e+02] [-9.78567517e-01 2.05408581e-01 1.45921003e-02 -7.33658290e+01] [-1.49330062e-02 -1.09448555e-04 -9.99888490e-01 -8.05331502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.680385723 meters 0.018671245149407115 Centerline is valid? [True, True] Translation: X:143.34, Y:-73.50, Z:-8.05 [[-1.32347414e-01 -9.91201269e-01 2.05109035e-03 1.43340727e+02] [-9.91089390e-01 1.32363292e-01 1.48923021e-02 -7.34989381e+01] [-1.50327578e-02 -6.18562106e-05 -9.99887000e-01 -8.05429862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.710385723 meters 0.018578863094683797 Centerline is valid? [True, True] Translation: X:143.30, Y:-73.60, Z:-8.06 [[-5.69104316e-02 -9.98378892e-01 8.88779916e-04 1.43303681e+02] [-9.98266296e-01 5.69173612e-02 1.49938622e-02 -7.35962353e+01] [-1.50201425e-02 -3.39318678e-05 -9.99887191e-01 -8.05650828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.740385723 meters 0.018604232430238146 Centerline is valid? [True, True] Translation: X:143.27, Y:-73.72, Z:-8.06 [[ 2.01642939e-02 -9.99796648e-01 -2.53588960e-04 1.43273066e+02] [-9.99697973e-01 -2.01658666e-02 1.40463492e-02 -7.37194964e+01] [-1.40486066e-02 -2.97223437e-05 -9.99901313e-01 -8.05739625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.770385723 meters 0.0186141466937947 Centerline is valid? [True, True] Translation: X:143.25, Y:-73.83, Z:-8.06 [[ 9.73122877e-02 -9.95253123e-01 -1.24099124e-03 1.43249785e+02] [-9.95168396e-01 -9.73201961e-02 1.29862877e-02 -7.38309631e+01] [-1.30454169e-02 -2.87301011e-05 -9.99914905e-01 -8.05934417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.800385723 meters 0.018519575468217173 Centerline is valid? [True, True] Translation: X:143.24, Y:-73.96, Z:-8.06 [[ 1.74061306e-01 -9.84732430e-01 -2.16872113e-03 1.43237444e+02] [-9.84653879e-01 -1.74074814e-01 1.24377590e-02 -7.39596167e+01] [-1.26253843e-02 -2.94929021e-05 -9.99920296e-01 -8.06036053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.830385723 meters 0.018411016504416414 Centerline is valid? [True, True] Translation: X:143.24, Y:-74.10, Z:-8.06 [[ 2.49850631e-01 -9.68280144e-01 -2.86772273e-03 1.43236249e+02] [-9.68214778e-01 -2.49867086e-01 1.12509413e-02 -7.40956679e+01] [-1.16106126e-02 -3.44832632e-05 -9.99932594e-01 -8.06064431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.860385723 meters 0.018375838351529727 Centerline is valid? [True, True] Translation: X:143.25, Y:-74.23, Z:-8.06 [[ 3.23752209e-01 -9.46134880e-01 -3.64638751e-03 1.43245734e+02] [-9.46073644e-01 -3.23772741e-01 1.07644173e-02 -7.42300093e+01] [-1.13651915e-02 -3.52527637e-05 -9.99935414e-01 -8.06213337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.890385723 meters 0.01820235888663448 Centerline is valid? [True, True] Translation: X:143.26, Y:-74.34, Z:-8.06 [[ 3.96271856e-01 -9.18121811e-01 -4.57785644e-03 1.43255572e+02] [-9.18059432e-01 -3.96298296e-01 1.07023670e-02 -7.43371660e+01] [-1.16402732e-02 -3.83025410e-05 -9.99932249e-01 -8.06285305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.920385723 meters 0.018217435645200657 Centerline is valid? [True, True] Translation: X:143.28, Y:-74.47, Z:-8.06 [[ 4.66442287e-01 -8.84532672e-01 -5.79178172e-03 1.43283387e+02] [-8.84463388e-01 -4.66478242e-01 1.10709038e-02 -7.44652767e+01] [-1.24943163e-02 -4.13188108e-05 -9.99921942e-01 -8.06255113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.950385723 meters 0.018020927004118958 Centerline is valid? [True, True] Translation: X:143.31, Y:-74.58, Z:-8.06 [[ 5.33858296e-01 -8.45539796e-01 -7.60086789e-03 1.43314501e+02] [-8.45452856e-01 -5.33912400e-01 1.21250971e-02 -7.45803664e+01] [-1.43104498e-02 -4.69082157e-05 -9.99897599e-01 -8.06235598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.980385723 meters 0.018005777790166096 Centerline is valid? [True, True] Translation: X:143.35, Y:-74.69, Z:-8.06 [[ 5.97117524e-01 -8.02103120e-01 -9.01372077e-03 1.43354514e+02] [-8.02010705e-01 -5.97185552e-01 1.21756588e-02 -7.46920454e+01] [-1.51489977e-02 -4.11986893e-05 -9.99885247e-01 -8.06196309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.010385723 meters 0.019616913126681356 Centerline is valid? [True, True] Translation: X:143.41, Y:-74.81, Z:-8.06 [[ 6.55715809e-01 -7.54921380e-01 -1.14231538e-02 1.43405650e+02] [-7.54806648e-01 -6.55815302e-01 1.31610673e-02 -7.48051704e+01] [-1.74270501e-02 -7.64746047e-06 -9.99848137e-01 -8.05743822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.040385723 meters 0.02027241670159834 Centerline is valid? [True, True] Translation: X:143.46, Y:-74.90, Z:-8.06 [[ 7.10704663e-01 -7.03371642e-01 -1.29311349e-02 1.43458893e+02] [-7.03255728e-01 -7.10822293e-01 1.27690759e-02 -7.49038544e+01] [-1.81731449e-02 1.88529187e-05 -9.99834855e-01 -8.05635338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07038572300002 meters 0.018264976115140417 Centerline is valid? [True, True] Translation: X:143.45, Y:-74.91, Z:-8.06 [[ 7.62262323e-01 -6.47117685e-01 -1.39589276e-02 1.43452968e+02] [-6.47010462e-01 -7.62390122e-01 1.17798207e-02 -7.49067214e+01] [-1.82650788e-02 5.22587294e-05 -9.99833178e-01 -8.05913870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10038572300002 meters 0.018264976115140417 Centerline is valid? [True, True] Translation: X:143.45, Y:-74.91, Z:-8.06 [[ 8.10485837e-01 -5.85570361e-01 -1.48344213e-02 1.43446481e+02] [-5.85473485e-01 -8.10621582e-01 1.06512723e-02 -7.49115352e+01] [-1.82621714e-02 5.24550087e-05 -9.99833231e-01 -8.05916942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13038572300002 meters 0.020706998341282163 Centerline is valid? [True, True] Translation: X:143.44, Y:-74.92, Z:-8.06 [[ 8.51588303e-01 -5.23971131e-01 -1.58623952e-02 1.43438815e+02] [-5.23883138e-01 -8.51736013e-01 9.60318132e-03 -7.49194898e+01] [-1.85423630e-02 1.32084496e-04 -9.99828067e-01 -8.05858673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16038572300002 meters 0.020480449004599808 Centerline is valid? [True, True] Translation: X:143.43, Y:-74.93, Z:-8.06 [[ 8.89236967e-01 -4.57184352e-01 -1.54946871e-02 1.43431337e+02] [-4.57117824e-01 -8.89371940e-01 7.80047215e-03 -7.49258535e+01] [-1.73467937e-02 1.46429457e-04 -9.99849522e-01 -8.05942603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.190385723 meters 0.018538173412642616 Centerline is valid? [True, True] Translation: X:143.42, Y:-74.94, Z:-8.06 [[ 9.21982328e-01 -3.86972484e-01 -1.41733700e-02 1.43423974e+02] [-3.86928978e-01 -9.22091253e-01 5.80407296e-03 -7.49362647e+01] [-1.53151570e-02 1.32834871e-04 -9.99882707e-01 -8.06427481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.220385723 meters 0.01894672332845824 Centerline is valid? [True, True] Translation: X:143.42, Y:-74.95, Z:-8.07 [[ 9.48576472e-01 -3.16295364e-01 -1.26459470e-02 1.43416905e+02] [-3.16269250e-01 -9.48660752e-01 4.06681766e-03 -7.49463631e+01] [-1.32830291e-02 1.41836620e-04 -9.99911767e-01 -8.06504534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.250385723 meters 0.020068802109365465 Centerline is valid? [True, True] Translation: X:143.41, Y:-74.96, Z:-8.06 [[ 9.70043881e-01 -2.42619684e-01 -1.22702041e-02 1.43409835e+02] [-2.42602242e-01 -9.70121470e-01 2.91308976e-03 -7.49580563e+01] [-1.26103613e-02 1.50954119e-04 -9.99920475e-01 -8.06371180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.280385723 meters 0.020103706528321198 Centerline is valid? [True, True] Translation: X:143.40, Y:-74.97, Z:-8.06 [[ 9.86072373e-01 -1.65895950e-01 -1.18240793e-02 1.43401433e+02] [-1.65885716e-01 -9.86143252e-01 1.84791508e-03 -7.49709869e+01] [-1.19667977e-02 1.39267867e-04 -9.99928386e-01 -8.06353577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.310385723 meters 0.01904819528461443 Centerline is valid? [True, True] Translation: X:143.39, Y:-74.98, Z:-8.06 [[ 9.96110300e-01 -8.73233465e-02 -1.17857355e-02 1.43393492e+02] [-8.73187364e-02 -9.96180012e-01 9.06154452e-04 -7.49813084e+01] [-1.18198426e-02 1.26485752e-04 -9.99930135e-01 -8.06479948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.340385723 meters 0.020734193353895317 Centerline is valid? [True, True] Translation: X:143.39, Y:-74.99, Z:-8.06 [[ 9.99876909e-01 -9.07530783e-03 -1.27986596e-02 1.43386468e+02] [-9.07639986e-03 -9.99958808e-01 -2.72403133e-05 -7.49936703e+01] [-1.27978852e-02 1.43402712e-04 -9.99918093e-01 -8.06089215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.370385723 meters 0.01878465606234118 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.01, Z:-8.06 [[ 9.97461723e-01 7.01314828e-02 -1.23160795e-02 1.43381877e+02] [ 7.01245853e-02 -9.97537748e-01 -9.91530366e-04 -7.50064258e+01] [-1.23552917e-02 1.25353617e-04 -9.99923663e-01 -8.06349133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.400385723 meters 0.021394275243331897 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.02, Z:-8.06 [[ 9.89024699e-01 1.47134821e-01 -1.34717809e-02 1.43377988e+02] [ 1.47118994e-01 -9.89116434e-01 -2.16385077e-03 -7.50208724e+01] [-1.36435377e-02 1.58146993e-04 -9.99906910e-01 -8.05843119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.430385723 meters 0.01958356682178562 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.04, Z:-8.06 [[ 9.74465221e-01 2.24194301e-01 -1.24277480e-02 1.43376157e+02] [ 2.24174200e-01 -9.74544455e-01 -3.00546483e-03 -7.50354429e+01] [-1.27852010e-02 1.42740478e-04 -9.99918256e-01 -8.06068391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.460385723 meters 0.018885929743261334 Centerline is valid? [True, True] Translation: X:143.37, Y:-75.05, Z:-8.06 [[ 9.53860814e-01 3.00040839e-01 -1.11822740e-02 1.43373487e+02] [ 3.00018707e-01 -9.53926349e-01 -3.64629695e-03 -7.50482640e+01] [-1.17611038e-02 1.23168380e-04 -9.99930828e-01 -8.06193319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.490385723 meters 0.01857931375070038 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.06, Z:-8.06 [[ 9.27635759e-01 3.73374367e-01 -9.13673694e-03 1.43375438e+02] [ 3.73355225e-01 -9.27680749e-01 -3.78192968e-03 -7.50649807e+01] [-9.88805057e-03 9.70047320e-05 -9.99951107e-01 -8.06358326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.520385723 meters 0.018763919928994663 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.08, Z:-8.06 [[ 8.96032962e-01 4.43925468e-01 -7.42357609e-03 1.43377362e+02] [ 4.43909499e-01 -8.96063710e-01 -3.76613135e-03 -7.50805338e+01] [-8.32387876e-03 7.91818902e-05 -9.99965353e-01 -8.06441977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.550385723 meters 0.01863221690393742 Centerline is valid? [True, True] Translation: X:143.38, Y:-75.10, Z:-8.06 [[ 8.58954422e-01 5.12016298e-01 -6.05078397e-03 1.43381333e+02] [ 5.12003080e-01 -8.58975731e-01 -3.67967067e-03 -7.50955067e+01] [-7.08152794e-03 6.26493618e-05 -9.99974924e-01 -8.06459482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.580385723 meters 0.018888924405921617 Centerline is valid? [True, True] Translation: X:143.39, Y:-75.11, Z:-8.06 [[ 8.16709962e-01 5.77030581e-01 -4.53286146e-03 1.43386190e+02] [ 5.77021427e-01 -8.16722540e-01 -3.25046618e-03 -7.51105812e+01] [-5.57770851e-03 3.91299218e-05 -9.99984444e-01 -8.06462080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.610385723 meters 0.018706724105994218 Centerline is valid? [True, True] Translation: X:143.39, Y:-75.12, Z:-8.06 [[ 7.68846687e-01 6.39420353e-01 -4.04761793e-03 1.43392457e+02] [ 6.39411272e-01 -7.68857341e-01 -3.40797275e-03 -7.51234212e+01] [-5.29116789e-03 3.21160293e-05 -9.99986001e-01 -8.06492094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.640385723 meters 0.018699740862150257 Centerline is valid? [True, True] Translation: X:143.40, Y:-75.14, Z:-8.06 [[ 7.15927269e-01 6.98167380e-01 -3.23331511e-03 1.43399825e+02] [ 6.98160169e-01 -7.15934570e-01 -3.17316185e-03 -7.51379508e+01] [-4.53024015e-03 1.43812741e-05 -9.99989738e-01 -8.06442169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.670385723 meters 0.018555969093919388 Centerline is valid? [True, True] Translation: X:143.41, Y:-75.15, Z:-8.06 [[ 6.58803012e-01 7.52308671e-01 -3.20236511e-03 1.43407824e+02] [ 7.52299639e-01 -6.58810795e-01 -3.68654609e-03 -7.51491756e+01] [-4.88317329e-03 1.95695490e-05 -9.99988077e-01 -8.06363690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.700385723 meters 0.018577869640559214 Centerline is valid? [True, True] Translation: X:143.42, Y:-75.16, Z:-8.06 [[ 5.97299310e-01 8.02012292e-01 -3.13329961e-03 1.43417342e+02] [ 8.02001053e-01 -5.97307528e-01 -4.24601568e-03 -7.51612473e+01] [-5.27690021e-03 2.32326471e-05 -9.99986077e-01 -8.06230534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.730385723 meters 0.01811415075198629 Centerline is valid? [True, True] Translation: X:143.43, Y:-75.17, Z:-8.06 [[ 5.32326464e-01 8.46534688e-01 -2.74929342e-03 1.43429322e+02] [ 8.46523204e-01 -5.32333563e-01 -4.40939034e-03 -7.51724123e+01] [-5.19624303e-03 1.98944942e-05 -9.99986499e-01 -8.06224715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.760385723 meters 0.018504225241992828 Centerline is valid? [True, True] Translation: X:143.44, Y:-75.18, Z:-8.06 [[ 4.64291408e-01 8.85679146e-01 -2.43703427e-03 1.43441230e+02] [ 8.85666707e-01 -4.64297803e-01 -4.69409453e-03 -7.51825564e+01] [-5.28897129e-03 2.10276401e-05 -9.99986013e-01 -8.06113998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.790385723 meters 0.018038497040577188 Centerline is valid? [True, True] Translation: X:143.45, Y:-75.19, Z:-8.06 [[ 3.92977433e-01 9.19545889e-01 -2.02355743e-03 1.43452785e+02] [ 9.19533481e-01 -3.92982642e-01 -4.77711746e-03 -7.51900768e+01] [-5.18800167e-03 1.65705541e-05 -9.99986542e-01 -8.06063248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82038572300002 meters 0.01771788403967668 Centerline is valid? [True, True] Translation: X:143.47, Y:-75.20, Z:-8.06 [[ 3.17875659e-01 9.48130396e-01 -1.95367291e-03 1.43467125e+02] [ 9.48112074e-01 -3.17881662e-01 -5.89445497e-03 -7.51979898e+01] [-6.20974872e-03 2.14028826e-05 -9.99980719e-01 -8.05958326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85038572300002 meters 0.01733247874832791 Centerline is valid? [True, True] Translation: X:143.48, Y:-75.20, Z:-8.06 [[ 2.41361837e-01 9.70434097e-01 -1.45843469e-03 1.43481061e+02] [ 9.70416082e-01 -2.41366243e-01 -5.91305600e-03 -7.52040868e+01] [-6.09024806e-03 1.18975824e-05 -9.99981454e-01 -8.05934087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88038572300002 meters 0.016850596968352196 Centerline is valid? [True, True] Translation: X:143.50, Y:-75.21, Z:-8.06 [[ 1.60747295e-01 9.86995186e-01 -8.99976050e-04 1.43498547e+02] [ 9.86980313e-01 -1.60749813e-01 -5.41849627e-03 -7.52093108e+01] [-5.49270072e-03 -1.72500266e-05 -9.99984915e-01 -8.05902562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91038572300002 meters 0.01646365137903517 Centerline is valid? [True, True] Translation: X:143.52, Y:-75.21, Z:-8.06 [[ 7.82898526e-02 9.96930550e-01 -4.21471029e-04 1.43515485e+02] [ 9.96919091e-01 -7.82909736e-02 -4.78013404e-03 -7.52132406e+01] [-4.79845904e-03 -4.59365259e-05 -9.99988486e-01 -8.05894689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.940385723 meters 0.01618670432922115 Centerline is valid? [True, True] Translation: X:143.53, Y:-75.21, Z:-8.06 [[-2.26142623e-03 9.99997442e-01 -4.87485329e-05 1.43531210e+02] [ 9.99988936e-01 2.26120590e-03 -4.12500801e-03 -7.52140536e+01] [-4.12488723e-03 -5.80763949e-05 -9.99991491e-01 -8.05886703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.970385723 meters 0.01620021773943625 Centerline is valid? [True, True] Translation: X:143.55, Y:-75.21, Z:-8.06 [[-8.26097319e-02 9.96581941e-01 2.60429017e-04 1.43545456e+02] [ 9.96574135e-01 8.26101158e-02 -3.94484606e-03 -7.52147253e+01] [-3.95287642e-03 -6.63458539e-05 -9.99992185e-01 -8.05859078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.000385723 meters 0.016216671581224657 Centerline is valid? [True, True] Translation: X:143.56, Y:-75.21, Z:-8.06 [[-1.61724310e-01 9.86835856e-01 4.90738698e-04 1.43558572e+02] [ 9.86829886e-01 1.61725039e-01 -3.43322146e-03 -7.52130930e+01] [-3.46739077e-03 -7.09597576e-05 -9.99993986e-01 -8.05863761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.030385723 meters 0.016397470580066822 Centerline is valid? [True, True] Translation: X:143.57, Y:-75.21, Z:-8.06 [[-2.40461529e-01 9.70658447e-01 6.57065357e-04 1.43571883e+02] [ 9.70653906e-01 2.40462415e-01 -2.97020647e-03 -7.52111251e+01] [-3.04105552e-03 -7.64373340e-05 -9.99995373e-01 -8.05851041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.060385723 meters 0.018921743726242543 Centerline is valid? [True, True] Translation: X:143.58, Y:-75.21, Z:-8.06 [[-3.15914314e-01 9.48787356e-01 8.36115844e-04 1.43583717e+02] [ 9.48783367e-01 3.15915411e-01 -2.75243825e-03 -7.52085569e+01] [-2.87562049e-03 -7.62418337e-05 -9.99995862e-01 -8.05584805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.090385723 meters 0.01833864333118879 Centerline is valid? [True, True] Translation: X:143.59, Y:-75.20, Z:-8.06 [[-3.89187748e-01 9.21157958e-01 9.56197897e-04 1.43594325e+02] [ 9.21154686e-01 3.89188915e-01 -2.45620405e-03 -7.52046079e+01] [-2.63469353e-03 -7.51183493e-05 -9.99996526e-01 -8.05629474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.120385723 meters 0.016552979410581332 Centerline is valid? [True, True] Translation: X:143.61, Y:-75.20, Z:-8.06 [[-4.59734760e-01 8.88055425e-01 1.23000357e-03 1.43606461e+02] [ 8.88051803e-01 4.59736399e-01 -2.53734384e-03 -7.51978430e+01] [-2.81877938e-03 -7.41982681e-05 -9.99996024e-01 -8.05740721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.150385723 meters 0.019013140400874984 Centerline is valid? [True, True] Translation: X:143.62, Y:-75.19, Z:-8.05 [[-5.26402793e-01 8.50234211e-01 1.37317809e-03 1.43617947e+02] [ 8.50230969e-01 5.26404580e-01 -2.34907448e-03 -7.51915447e+01] [-2.72011072e-03 -6.90408271e-05 -9.99996298e-01 -8.05478447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.180385723 meters 0.01676335954823896 Centerline is valid? [True, True] Translation: X:143.63, Y:-75.18, Z:-8.06 [[-5.88995499e-01 8.08135200e-01 1.34168881e-03 1.43626602e+02] [ 8.08132861e-01 5.88997024e-01 -1.94535021e-03 -7.51844955e+01] [-2.36235669e-03 -6.15397040e-05 -9.99997208e-01 -8.05731330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.210385723 meters 0.016752478316878407 Centerline is valid? [True, True] Translation: X:143.63, Y:-75.18, Z:-8.06 [[-6.48971310e-01 7.60812450e-01 8.09355457e-04 1.43634851e+02] [ 7.60811737e-01 6.48971812e-01 -1.04278399e-03 -7.51765041e+01] [-1.31861192e-03 -6.09697623e-05 -9.99999129e-01 -8.05739240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.240385723 meters 0.018367919416320422 Centerline is valid? [True, True] Translation: X:143.64, Y:-75.17, Z:-8.06 [[-7.03495736e-01 7.10699456e-01 1.81866873e-04 1.43642216e+02] [ 7.10699406e-01 7.03495757e-01 -2.73996736e-04 -7.51704106e+01] [-3.22671905e-04 -6.35028574e-05 -9.99999946e-01 -8.05661670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.270385723 meters 0.017196305899009126 Centerline is valid? [True, True] Translation: X:143.66, Y:-75.15, Z:-8.06 [[-7.51272607e-01 6.59991876e-01 4.41003980e-04 1.43659612e+02] [ 6.59991718e-01 7.51272734e-01 -4.58748065e-04 -7.51481665e+01] [-6.34084262e-04 -5.35858801e-05 -9.99999798e-01 -8.05851852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.300385723 meters 0.017286352584387682 Centerline is valid? [True, True] Translation: X:143.68, Y:-75.13, Z:-8.06 [[-7.95744490e-01 6.05632168e-01 6.19193724e-04 1.43679956e+02] [ 6.05631933e-01 7.95744729e-01 -5.35652231e-04 -7.51257472e+01] [-8.17128365e-04 -5.12388193e-05 -9.99999665e-01 -8.05784860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.330385723 meters 0.01700573704003373 Centerline is valid? [True, True] Translation: X:143.69, Y:-75.09, Z:-8.06 [[-8.38233992e-01 5.45308208e-01 1.65338577e-03 1.43692776e+02] [ 5.45307040e-01 8.38235621e-01 -1.12942886e-03 -7.50948168e+01] [-2.00181368e-03 -4.51227618e-05 -9.99997995e-01 -8.05623455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.360385723 meters 0.018894364182588115 Centerline is valid? [True, True] Translation: X:143.71, Y:-75.07, Z:-8.05 [[-8.75949729e-01 4.82399791e-01 1.58584755e-03 1.43709539e+02] [ 4.82398894e-01 8.75951163e-01 -9.31436133e-04 -7.50676480e+01] [-1.83844960e-03 -5.08801242e-05 -9.99998309e-01 -8.05345176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.390385723 meters 0.019761377900359388 Centerline is valid? [True, True] Translation: X:144.01, Y:-74.52, Z:-8.98 [[-8.44859957e-01 -5.34987468e-01 2.50915528e-04 1.44007109e+02] [ 5.34987430e-01 -8.44859993e-01 -2.05793201e-04 -7.45172472e+01] [ 3.22085274e-04 -3.96297813e-05 9.99999947e-01 -8.97880777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.420385723 meters 0.01858745682155785 Centerline is valid? [True, True] Translation: X:143.66, Y:-75.04, Z:-8.05 [[-8.82444576e-01 4.70409834e-01 2.48168537e-03 1.43664808e+02] [ 4.70407734e-01 8.82448062e-01 -1.40762655e-03 -7.50351861e+01] [-2.85211982e-03 -7.47484275e-05 -9.99995930e-01 -8.05316888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.450385723 meters 0.017277261758881297 Centerline is valid? [True, True] Translation: X:143.67, Y:-75.00, Z:-8.05 [[-9.16493441e-01 4.00028089e-01 4.15946131e-03 1.43670997e+02] [ 4.00023383e-01 9.16502872e-01 -1.94393727e-03 -7.50017761e+01] [-4.58978774e-03 -1.17723968e-04 -9.99989460e-01 -8.05494207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.480385723 meters 0.020675244424180124 Centerline is valid? [True, True] Translation: X:143.68, Y:-74.97, Z:-8.05 [[-9.43598895e-01 3.31056171e-01 4.78923540e-03 1.43680257e+02] [ 3.31051146e-01 9.43611038e-01 -1.82951801e-03 -7.49720159e+01] [-5.12484862e-03 -1.40849306e-04 -9.99986858e-01 -8.05128289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.510385723 meters 0.01935097768009819 Centerline is valid? [True, True] Translation: X:143.68, Y:-74.94, Z:-8.05 [[-9.65455644e-01 2.60517077e-01 5.12374295e-03 1.43681089e+02] [ 2.60512525e-01 9.65469226e-01 -1.54831539e-03 -7.49408064e+01] [-5.35017874e-03 -1.60030621e-04 -9.99985675e-01 -8.05230152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.540385723 meters 0.020542532348244963 Centerline is valid? [True, True] Translation: X:143.84, Y:-74.37, Z:-8.98 [[-9.31406902e-01 -3.63958446e-01 3.92846731e-03 1.43841639e+02] [ 3.63955484e-01 -9.31415184e-01 -1.46971167e-03 -7.43682329e+01] [ 4.19394808e-03 6.08876263e-05 9.99991204e-01 -8.97909181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57038572300002 meters 0.01940684800791038 Centerline is valid? [True, True] Translation: X:143.63, Y:-74.93, Z:-8.05 [[-9.67602479e-01 2.52427580e-01 5.07543383e-03 1.43632606e+02] [ 2.52423110e-01 9.67615773e-01 -1.51333536e-03 -7.49266563e+01] [-5.29307741e-03 -1.83150255e-04 -9.99985975e-01 -8.05377865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60038572300002 meters 0.021086161418577117 Centerline is valid? [True, True] Translation: X:143.63, Y:-74.90, Z:-8.05 [[-9.82990014e-01 1.83624161e-01 3.57765239e-03 1.43632434e+02] [ 1.83622413e-01 9.82996514e-01 -8.13765476e-04 -7.48989576e+01] [-3.66624684e-03 -1.42986171e-04 -9.99993269e-01 -8.05302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63038572300002 meters 0.02127913130001631 Centerline is valid? [True, True] Translation: X:143.76, Y:-74.31, Z:-8.98 [[-9.56060244e-01 -2.93167944e-01 1.16881149e-03 1.43761492e+02] [ 2.93167640e-01 -9.56060956e-01 -4.27750222e-04 -7.43103351e+01] [ 1.24285768e-03 -6.62972771e-05 9.99999225e-01 -8.97887867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66038572300002 meters 0.018719237267367506 Centerline is valid? [True, True] Translation: X:143.59, Y:-74.90, Z:-8.06 [[-9.83135286e-01 1.82871688e-01 1.71887010e-03 1.43587377e+02] [ 1.82871242e-01 9.83136784e-01 -4.14675972e-04 -7.48954089e+01] [-1.76571692e-03 -9.33506709e-05 -9.99998437e-01 -8.05602563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.690385723 meters 0.018523423352884347 Centerline is valid? [True, True] Translation: X:143.58, Y:-74.87, Z:-8.06 [[-9.93448585e-01 1.14269194e-01 1.56872145e-03 1.43584830e+02] [ 1.14268913e-01 9.93449819e-01 -2.67875180e-04 -7.48676462e+01] [-1.58905592e-03 -8.68641226e-05 -9.99998734e-01 -8.05588204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.720385723 meters 0.017856626552007968 Centerline is valid? [True, True] Translation: X:143.67, Y:-74.25, Z:-8.98 [[-9.76987317e-01 -2.13297021e-01 -4.03713811e-04 1.43672042e+02] [ 2.13297032e-01 -9.76987398e-01 1.55978195e-05 -7.42545066e+01] [-3.97750275e-04 -7.08720861e-05 9.99999918e-01 -8.97559317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.750385723 meters 0.01753980747324834 Centerline is valid? [True, True] Translation: X:143.54, Y:-74.87, Z:-8.06 [[-9.93307423e-01 1.15493725e-01 1.25045684e-03 1.43536434e+02] [ 1.15493539e-01 9.93308207e-01 -2.20173943e-04 -7.48705708e+01] [-1.26751775e-03 -7.42807262e-05 -9.99999194e-01 -8.05663504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.780385723 meters 0.017573495696915988 Centerline is valid? [True, True] Translation: X:143.53, Y:-74.84, Z:-8.06 [[-9.98905856e-01 4.67482999e-02 1.29875864e-03 1.43532101e+02] [ 4.67481672e-02 9.98906698e-01 -1.32424685e-04 -7.48447884e+01] [-1.30352933e-03 -7.15652076e-05 -9.99999148e-01 -8.05598521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.810385723 meters 0.01705462647708664 Centerline is valid? [True, True] Translation: X:143.57, Y:-74.20, Z:-8.98 [[-9.90814476e-01 -1.35228192e-01 1.00316894e-04 1.43569797e+02] [ 1.35228190e-01 -9.90814481e-01 -3.32482949e-05 -7.42048831e+01] [ 1.03891537e-04 -1.93772200e-05 9.99999994e-01 -8.97686797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.840385723 meters 0.018751139404085543 Centerline is valid? [True, True] Translation: X:143.47, Y:-74.85, Z:-8.05 [[-9.99159114e-01 4.09015522e-02 2.85098253e-03 1.43468184e+02] [ 4.09011206e-02 9.99163177e-01 -2.09552383e-04 -7.48466783e+01] [-2.85716778e-03 -9.27677934e-05 -9.99995914e-01 -8.05208268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.870385723 meters 0.018057947833823428 Centerline is valid? [True, True] Translation: X:143.49, Y:-74.20, Z:-8.98 [[-9.90710442e-01 -1.35975073e-01 1.89731251e-03 1.43494858e+02] [ 1.35974856e-01 -9.90712259e-01 -2.43808444e-04 -7.41963885e+01] [ 1.91284263e-03 1.64432238e-05 9.99998170e-01 -8.97951285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.900385723 meters 0.01883955194740785 Centerline is valid? [True, True] Translation: X:143.40, Y:-74.85, Z:-8.05 [[-9.99531149e-01 3.04014625e-02 3.63780650e-03 1.43396416e+02] [ 3.04008094e-02 9.99537761e-01 -2.34710829e-04 -7.48454891e+01] [-3.64326051e-03 -1.24008522e-04 -9.99993356e-01 -8.05273623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.930385723 meters 0.01883315824807679 Centerline is valid? [True, True] Translation: X:143.39, Y:-74.82, Z:-8.05 [[-9.99072184e-01 -4.29373699e-02 3.33963937e-03 1.43388118e+02] [-4.29375484e-02 9.99077758e-01 1.82762964e-05 -7.48188605e+01] [-3.33734415e-03 -1.25136588e-04 -9.99994423e-01 -8.05321054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.960385723 meters 0.01883315824807679 Centerline is valid? [True, True] Translation: X:143.38, Y:-74.79, Z:-8.05 [[-9.93479521e-01 -1.13962128e-01 3.32783581e-03 1.43379917e+02] [-1.13961909e-01 9.93485087e-01 2.55847182e-04 -7.47906879e+01] [-3.33531214e-03 -1.25067587e-04 -9.99994430e-01 -8.05323625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.990385723 meters 0.019239120406108173 Centerline is valid? [True, True] Translation: X:143.32, Y:-74.13, Z:-8.98 [[-9.99997759e-01 1.41546428e-03 1.57429486e-03 1.43318494e+02] [-1.41551973e-03 -9.99998998e-01 -3.41081843e-05 -7.41326954e+01] [ 1.57424500e-03 -3.63365533e-05 9.99998760e-01 -8.97844432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.020385723 meters 0.020251931471284852 Centerline is valid? [True, True] Translation: X:143.29, Y:-74.80, Z:-8.05 [[-9.92026806e-01 -1.25974104e-01 3.65270030e-03 1.43286620e+02] [-1.25973830e-01 9.92033518e-01 3.05923978e-04 -7.48036861e+01] [-3.66213963e-03 -1.56659859e-04 -9.99993282e-01 -8.05314539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.050385723 meters 0.020390444125215033 Centerline is valid? [True, True] Translation: X:143.28, Y:-74.78, Z:-8.05 [[-9.80114734e-01 -1.98369738e-01 4.95521869e-03 1.43277293e+02] [-1.98368241e-01 9.80127240e-01 7.96840434e-04 -7.47798148e+01] [-5.01481384e-03 -2.01962963e-04 -9.99987405e-01 -8.05311265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.080385723 meters 0.020898689106869987 Centerline is valid? [True, True] Translation: X:143.16, Y:-74.11, Z:-8.98 [[-9.97277330e-01 7.36220863e-02 4.20886919e-03 1.43161339e+02] [-7.36208959e-02 -9.97286204e-01 4.37281701e-04 -7.41134652e+01] [ 4.22964077e-03 1.26230407e-04 9.99991047e-01 -8.97993498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.110385723 meters 0.020747870756790285 Centerline is valid? [True, True] Translation: X:143.17, Y:-74.81, Z:-8.05 [[-9.78894517e-01 -2.04265346e-01 6.41822362e-03 1.43169993e+02] [-2.04262593e-01 9.78915527e-01 1.08855809e-03 -7.48057778e+01] [-6.50525345e-03 -2.45419452e-04 -9.99978811e-01 -8.05209502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.140385723 meters 0.020386944155145845 Centerline is valid? [True, True] Translation: X:143.15, Y:-74.79, Z:-8.05 [[-9.62111414e-01 -2.72580779e-01 6.43007987e-03 1.43148834e+02] [-2.72576329e-01 9.62132872e-01 1.57538949e-03 -7.47886573e+01] [-6.61601210e-03 -2.36987356e-04 -9.99978086e-01 -8.05173113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.170385723 meters 0.02033414233472887 Centerline is valid? [True, True] Translation: X:143.11, Y:-74.77, Z:-8.05 [[-9.39904457e-01 -3.41381086e-01 6.21009296e-03 1.43112488e+02] [-3.41375268e-01 9.39924944e-01 2.00676000e-03 -7.47731955e+01] [-6.52209119e-03 -2.33809476e-04 -9.99978704e-01 -8.05184031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.200385723 meters 0.0205715403446505 Centerline is valid? [True, True] Translation: X:143.05, Y:-74.77, Z:-8.05 [[-9.12219390e-01 -4.09654049e-01 6.27254394e-03 1.43051595e+02] [-4.09646186e-01 9.12240923e-01 2.54972417e-03 -7.47714778e+01] [-6.76657610e-03 -2.43615876e-04 -9.99977077e-01 -8.05174826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.230385723 meters 0.02050286767025669 Centerline is valid? [True, True] Translation: X:142.98, Y:-74.78, Z:-8.05 [[-8.79205936e-01 -4.76401961e-01 6.17207645e-03 1.42977564e+02] [-4.76392219e-01 8.79227563e-01 3.05699286e-03 -7.47778806e+01] [-6.88301713e-03 -2.52602925e-04 -9.99976280e-01 -8.05171757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.260385723 meters 0.023049921959922868 Centerline is valid? [True, True] Translation: X:142.91, Y:-74.78, Z:-8.05 [[-8.40021598e-01 -5.42523259e-01 5.67694537e-03 1.42911224e+02] [-5.42512933e-01 8.40040740e-01 3.35743155e-03 -7.47840755e+01] [-6.59035010e-03 -2.59501269e-04 -9.99978250e-01 -8.05131421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.290385723 meters 0.02164348260815214 Centerline is valid? [True, True] Translation: X:142.83, Y:-74.81, Z:-8.05 [[-7.96421165e-01 -6.04713683e-01 5.88979591e-03 1.42831737e+02] [-6.04699756e-01 7.96442892e-01 4.11399106e-03 -7.48096478e+01] [-7.17867277e-03 -2.85088595e-04 -9.99974192e-01 -8.05208305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32038572300002 meters 0.0226824957078307 Centerline is valid? [True, True] Translation: X:142.74, Y:-74.84, Z:-8.05 [[-7.48081520e-01 -6.63581086e-01 5.84651537e-03 1.42742638e+02] [-6.63563942e-01 7.48104304e-01 4.77965701e-03 -7.48448052e+01] [-7.54549330e-03 -3.03963702e-04 -9.99971486e-01 -8.05214265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35038572300002 meters 0.022502669871803795 Centerline is valid? [True, True] Translation: X:142.66, Y:-74.89, Z:-8.05 [[-6.95484983e-01 -7.18522009e-01 5.17314553e-03 1.42657319e+02] [-7.18505212e-01 6.95504160e-01 4.92171087e-03 -7.48943885e+01] [-7.13430182e-03 -2.93956023e-04 -9.99974507e-01 -8.05364387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38038572300002 meters 0.022415528906580783 Centerline is valid? [True, True] Translation: X:142.58, Y:-74.94, Z:-8.05 [[-6.39373801e-01 -7.68883206e-01 4.44515114e-03 1.42576477e+02] [-7.68867517e-01 6.39389194e-01 4.91925328e-03 -7.49436706e+01] [-6.62451283e-03 -2.72490655e-04 -9.99978021e-01 -8.05451008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41038572300002 meters 0.021328594809452397 Centerline is valid? [True, True] Translation: X:142.50, Y:-75.01, Z:-8.05 [[-5.82359724e-01 -8.12918798e-01 4.49226432e-03 1.42495476e+02] [-8.12898018e-01 5.82376990e-01 5.81829828e-03 -7.50123284e+01] [-7.34599542e-03 -2.63410188e-04 -9.99972983e-01 -8.05483888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.440385723 meters 0.020363972942931942 Centerline is valid? [True, True] Translation: X:142.42, Y:-75.09, Z:-8.05 [[-5.21261158e-01 -8.53386205e-01 4.33465595e-03 1.42415914e+02] [-8.53360623e-01 5.21279120e-01 6.61258337e-03 -7.50869650e+01] [-7.90265307e-03 -2.52141840e-04 -9.99968742e-01 -8.05485300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.470385723 meters 0.019297975838748375 Centerline is valid? [True, True] Translation: X:142.34, Y:-75.18, Z:-8.06 [[-4.60302029e-01 -8.87753795e-01 3.90413719e-03 1.42336280e+02] [-8.87725486e-01 4.60318541e-01 7.09241092e-03 -7.51808177e+01] [-8.09346144e-03 -2.01150947e-04 -9.99967227e-01 -8.05509022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.500385723 meters 0.01843458584656356 Centerline is valid? [True, True] Translation: X:142.27, Y:-75.26, Z:-8.06 [[-3.93193165e-01 -9.19450164e-01 3.24517672e-03 1.42266663e+02] [-9.19422422e-01 3.93206518e-01 7.14451831e-03 -7.52647324e+01] [-7.84505317e-03 -1.74512467e-04 -9.99969212e-01 -8.05526441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.530385723 meters 0.01789382426283085 Centerline is valid? [True, True] Translation: X:142.19, Y:-75.37, Z:-8.06 [[-3.24711716e-01 -9.45809274e-01 2.66807276e-03 1.42194072e+02] [-9.45780913e-01 3.24722645e-01 7.32594614e-03 -7.53706627e+01] [-7.79533144e-03 -1.44591745e-04 -9.99969605e-01 -8.05531497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.560385723 meters 0.018851629543730545 Centerline is valid? [True, True] Translation: X:142.14, Y:-75.46, Z:-8.05 [[-2.52249942e-01 -9.67659963e-01 2.04043096e-03 1.42135042e+02] [-9.67632337e-01 2.52258161e-01 7.31305683e-03 -7.54634065e+01] [-7.59126766e-03 -1.29668815e-04 -9.99971178e-01 -8.05412652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.590385723 meters 0.017623452505082682 Centerline is valid? [True, True] Translation: X:142.08, Y:-75.59, Z:-8.06 [[-1.77094009e-01 -9.84192958e-01 1.39010542e-03 1.42076257e+02] [-9.84167865e-01 1.77099422e-01 7.02905706e-03 -7.55886249e+01] [-7.16413533e-03 -1.23293189e-04 -9.99974330e-01 -8.05620543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.620385723 meters 0.01763958990748342 Centerline is valid? [True, True] Translation: X:142.03, Y:-75.70, Z:-8.06 [[-1.00542933e-01 -9.94932396e-01 8.04300680e-04 1.42029942e+02] [-9.94909349e-01 1.00546079e-01 6.77290646e-03 -7.56956390e+01] [-6.81945333e-03 -1.19238385e-04 -9.99976740e-01 -8.05739295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.650385723 meters 0.017766646603553975 Centerline is valid? [True, True] Translation: X:141.99, Y:-75.82, Z:-8.06 [[-2.20139771e-02 -9.99757634e-01 2.42871102e-04 1.41992169e+02] [-9.99741192e-01 2.20150082e-02 5.73485285e-03 -7.58168449e+01] [-5.73880972e-03 -1.16561326e-04 -9.99983526e-01 -8.05915149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.680385723 meters 0.01765688130424538 Centerline is valid? [True, True] Translation: X:141.96, Y:-75.94, Z:-8.06 [[ 5.61257708e-02 -9.98423683e-01 -2.16621300e-04 1.41964293e+02] [-9.98405278e-01 -5.61260517e-02 6.06362958e-03 -7.59399125e+01] [-6.06622948e-03 -1.24050035e-04 -9.99981593e-01 -8.05954292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.710385723 meters 0.01928923327762105 Centerline is valid? [True, True] Translation: X:141.95, Y:-76.06, Z:-8.06 [[ 1.34066692e-01 -9.90971856e-01 -9.50587747e-04 1.41945280e+02] [-9.90938111e-01 -1.34069973e-01 8.17946158e-03 -7.60601663e+01] [-8.23306149e-03 -1.54619729e-04 -9.99966096e-01 -8.05613122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.740385723 meters 0.01934442871106044 Centerline is valid? [True, True] Translation: X:141.94, Y:-76.19, Z:-8.06 [[ 2.10746540e-01 -9.77539139e-01 -1.76830249e-03 1.41936555e+02] [-9.77497658e-01 -2.10753890e-01 9.00705512e-03 -7.61892414e+01] [-9.17742554e-03 -1.69694162e-04 -9.99957872e-01 -8.05522310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.770385723 meters 0.017975710335860772 Centerline is valid? [True, True] Translation: X:141.94, Y:-76.32, Z:-8.06 [[ 2.86473540e-01 -9.58083814e-01 -2.88389166e-03 1.41939362e+02] [-9.58028088e-01 -2.86487988e-01 1.03351716e-02 -7.63249241e+01] [-1.07281609e-02 -1.97903981e-04 -9.99942432e-01 -8.05624231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.800385723 meters 0.018046907840243653 Centerline is valid? [True, True] Translation: X:141.95, Y:-76.44, Z:-8.06 [[ 3.58814239e-01 -9.33400132e-01 -4.06642214e-03 1.41947370e+02] [-9.33333693e-01 -3.58837224e-01 1.11383916e-02 -7.64388706e+01] [-1.18557598e-02 -2.01284724e-04 -9.99929698e-01 -8.05563300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.830385723 meters 0.017620184161570924 Centerline is valid? [True, True] Translation: X:141.97, Y:-76.57, Z:-8.06 [[ 4.29298940e-01 -9.03148446e-01 -5.03043351e-03 1.41973282e+02] [-9.03080956e-01 -4.29328366e-01 1.10427212e-02 -7.65713043e+01] [-1.21329243e-02 -1.97739801e-04 -9.99926374e-01 -8.05697939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.860385723 meters 0.017811730534687497 Centerline is valid? [True, True] Translation: X:142.01, Y:-76.70, Z:-8.06 [[ 4.97377097e-01 -8.67516382e-01 -5.59911025e-03 1.42005022e+02] [-8.67457127e-01 -4.97408577e-01 1.01410510e-02 -7.66972100e+01] [-1.15825733e-02 -1.86938425e-04 -9.99932902e-01 -8.05690266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.890385723 meters 0.017617257456202472 Centerline is valid? [True, True] Translation: X:142.04, Y:-76.80, Z:-8.06 [[ 5.62323528e-01 -8.26897581e-01 -5.71312236e-03 1.42035568e+02] [-8.26851837e-01 -5.62352525e-01 8.69930950e-03 -7.67985032e+01] [-1.04062268e-02 -1.67920690e-04 -9.99945840e-01 -8.05940621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.920385723 meters 0.017566683437762094 Centerline is valid? [True, True] Translation: X:142.09, Y:-76.92, Z:-8.06 [[ 6.24247876e-01 -7.81202096e-01 -6.15426318e-03 1.42090994e+02] [-7.81161506e-01 -6.24278190e-01 7.96515132e-03 -7.69236049e+01] [-1.00643652e-02 -1.64755299e-04 -9.99949339e-01 -8.06026520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.950385723 meters 0.01783099584388612 Centerline is valid? [True, True] Translation: X:142.13, Y:-77.02, Z:-8.06 [[ 6.83373013e-01 -7.30044869e-01 -5.98448870e-03 1.42133871e+02] [-7.30014756e-01 -6.83399197e-01 6.63273178e-03 -7.70194433e+01] [-8.93198658e-03 -1.63864848e-04 -9.99960096e-01 -8.06115495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.980385723 meters 0.017676906012245138 Centerline is valid? [True, True] Translation: X:142.19, Y:-77.11, Z:-8.06 [[ 7.37984392e-01 -6.74789029e-01 -6.22934748e-03 1.42186786e+02] [-6.74763053e-01 -7.38010663e-01 5.92307384e-03 -7.71130466e+01] [-8.59415011e-03 -1.67802516e-04 -9.99963056e-01 -8.06236547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.010385723 meters 0.018283010084202425 Centerline is valid? [True, True] Translation: X:142.18, Y:-77.12, Z:-8.06 [[ 7.89440696e-01 -6.13795794e-01 -6.17339141e-03 1.42178549e+02] [-6.13775289e-01 -7.89464814e-01 5.02013477e-03 -7.71242419e+01] [-7.95501291e-03 -1.74023588e-04 -9.99968343e-01 -8.06216830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.040385723 meters 0.01805301281605601 Centerline is valid? [True, True] Translation: X:142.17, Y:-77.13, Z:-8.06 [[ 8.35474557e-01 -5.49483833e-01 -7.05571925e-03 1.42171758e+02] [-5.49462292e-01 -8.35504327e-01 4.86918345e-03 -7.71336902e+01] [-8.57062155e-03 -1.91227220e-04 -9.99963253e-01 -8.06219286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07038572300002 meters 0.018159938954583666 Centerline is valid? [True, True] Translation: X:142.16, Y:-77.14, Z:-8.06 [[ 8.75996940e-01 -4.82250235e-01 -8.00454036e-03 1.42164205e+02] [-4.82227959e-01 -8.76033486e-01 4.63966030e-03 -7.71407992e+01] [-9.24972267e-03 -2.04315067e-04 -9.99957200e-01 -8.06213315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10038572300002 meters 0.018609580653728565 Centerline is valid? [True, True] Translation: X:142.16, Y:-77.15, Z:-8.06 [[ 9.10958760e-01 -4.12414016e-01 -8.29557745e-03 1.42156800e+02] [-4.12394886e-01 -9.10996508e-01 3.97736883e-03 -7.71478817e+01] [-9.19756474e-03 -2.02165261e-04 -9.99957681e-01 -8.06149656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13038572300002 meters 0.017860458022704265 Centerline is valid? [True, True] Translation: X:142.15, Y:-77.16, Z:-8.06 [[ 9.40319715e-01 -3.40188564e-01 -8.40086618e-03 1.42151345e+02] [-3.40173116e-01 -9.40357221e-01 3.24791268e-03 -7.71552100e+01] [-9.00471792e-03 -1.96327495e-04 -9.99959437e-01 -8.06327021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16038572300002 meters 0.017845930811274374 Centerline is valid? [True, True] Translation: X:142.15, Y:-77.16, Z:-8.06 [[ 9.63937286e-01 -2.66000550e-01 -8.28348293e-03 1.42145852e+02] [-2.65989052e-01 -9.63972859e-01 2.48031738e-03 -7.71640131e+01] [-8.64481850e-03 -1.87554634e-04 -9.99962615e-01 -8.06361945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.190385723 meters 0.017515463608229566 Centerline is valid? [True, True] Translation: X:142.14, Y:-77.17, Z:-8.06 [[ 9.81674640e-01 -1.90399932e-01 -7.92261584e-03 1.42141799e+02] [-1.90392292e-01 -9.81706593e-01 1.71458749e-03 -7.71718172e+01] [-8.10414155e-03 -1.74762069e-04 -9.99967146e-01 -8.06426505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.220385723 meters 0.017496743890333993 Centerline is valid? [True, True] Translation: X:142.13, Y:-77.18, Z:-8.06 [[ 9.93570376e-01 -1.12986831e-01 -7.20310194e-03 1.42134555e+02] [-1.12982677e-01 -9.93596472e-01 9.82358953e-04 -7.71814026e+01] [-7.26797030e-03 -1.62217012e-04 -9.99973575e-01 -8.06495276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.250385723 meters 0.0176094949298072 Centerline is valid? [True, True] Translation: X:142.13, Y:-77.19, Z:-8.07 [[ 9.99373989e-01 -3.46115792e-02 -7.32584030e-03 1.42127284e+02] [-3.46094411e-02 -9.99400826e-01 4.18471008e-04 -7.71907382e+01] [-7.33593479e-03 -1.64665803e-04 -9.99973078e-01 -8.06517878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.280385723 meters 0.01747630473126987 Centerline is valid? [True, True] Translation: X:142.12, Y:-77.20, Z:-8.07 [[ 9.99020558e-01 4.36717926e-02 -7.12033994e-03 1.42121556e+02] [ 4.36718291e-02 -9.99045919e-01 -1.50435443e-04 -7.71986140e+01] [-7.12011635e-03 -1.60670169e-04 -9.99974639e-01 -8.06589360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.310385723 meters 0.017485310434027335 Centerline is valid? [True, True] Translation: X:142.12, Y:-77.21, Z:-8.07 [[ 9.92565139e-01 1.21504745e-01 -7.14441107e-03 1.42115537e+02] [ 1.21502753e-01 -9.92590838e-01 -7.13810405e-04 -7.72080668e+01] [-7.17820832e-03 -1.59562291e-04 -9.99974224e-01 -8.06571836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.340385723 meters 0.017387629353075182 Centerline is valid? [True, True] Translation: X:142.11, Y:-77.22, Z:-8.07 [[ 9.80106142e-01 1.98362543e-01 -6.65227802e-03 1.42111115e+02] [ 1.98359010e-01 -9.80128705e-01 -1.19342647e-03 -7.72171378e+01] [-6.75681975e-03 -1.49854667e-04 -9.99977161e-01 -8.06580388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.370385723 meters 0.01856615866147564 Centerline is valid? [True, True] Translation: X:142.11, Y:-77.23, Z:-8.06 [[ 9.61801445e-01 2.73667286e-01 -6.64812490e-03 1.42107329e+02] [ 2.73661790e-01 -9.61824410e-01 -1.74052648e-03 -7.72267206e+01] [-6.87065396e-03 -1.45296877e-04 -9.99976386e-01 -8.06387165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.400385723 meters 0.018066888039690136 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.24, Z:-8.07 [[ 9.37227496e-01 3.48667047e-01 -5.99261760e-03 1.42103783e+02] [ 3.48660883e-01 -9.37246643e-01 -2.07813243e-03 -7.72371645e+01] [-6.34113703e-03 -1.41708490e-04 -9.99979885e-01 -8.06542176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.430385723 meters 0.018014031639218966 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.25, Z:-8.07 [[ 9.07122741e-01 4.20831198e-01 -5.42543918e-03 1.42101575e+02] [ 4.20824556e-01 -9.07138955e-01 -2.36832448e-03 -7.72467932e+01] [-5.91829206e-03 -1.34797041e-04 -9.99982478e-01 -8.06624242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.460385723 meters 0.01764432506172712 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.26, Z:-8.07 [[ 8.71128362e-01 4.91038818e-01 -4.03189263e-03 1.42099944e+02] [ 4.91034185e-01 -8.71137684e-01 -2.13634031e-03 -7.72582438e+01] [-4.56135963e-03 -1.18770475e-04 -9.99989590e-01 -8.06920398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.490385723 meters 0.01746119946181137 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.27, Z:-8.07 [[ 8.30338099e-01 5.57249600e-01 -3.39490822e-03 1.42099588e+02] [ 5.57245472e-01 -8.30345032e-01 -2.14754040e-03 -7.72681793e+01] [-4.01566120e-03 -1.08612622e-04 -9.99991931e-01 -8.06976700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.520385723 meters 0.01706782931827696 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.28, Z:-8.07 [[ 7.84179138e-01 6.20528252e-01 -2.78710757e-03 1.42099264e+02] [ 6.20524785e-01 -7.84184085e-01 -2.07671125e-03 -7.72777692e+01] [-3.47426340e-03 -1.00955686e-04 -9.99993960e-01 -8.07081431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.550385723 meters 0.0169443131487626 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.29, Z:-8.07 [[ 7.34057097e-01 6.79084869e-01 -1.97968872e-03 1.42098827e+02] [ 6.79082710e-01 -7.34059762e-01 -1.71452435e-03 -7.72884900e+01] [-2.61751737e-03 -8.58136151e-05 -9.99996571e-01 -8.07111149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.580385723 meters 0.016765999672216644 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.30, Z:-8.07 [[ 6.80182991e-01 7.33041106e-01 -1.35475663e-03 1.42097711e+02] [ 7.33039862e-01 -6.80184336e-01 -1.35274287e-03 -7.72977757e+01] [-1.91310037e-03 -7.29779203e-05 -9.99998167e-01 -8.07165569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.610385723 meters 0.016582421194687825 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.31, Z:-8.07 [[ 6.21905514e-01 7.83091543e-01 -1.07983959e-03 1.42097077e+02] [ 7.83090547e-01 -6.21906448e-01 -1.25095071e-03 -7.73068665e+01] [-1.65116813e-03 -6.76390297e-05 -9.99998635e-01 -8.07172432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.640385723 meters 0.016400072418717198 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.32, Z:-8.07 [[ 5.60720536e-01 8.28005089e-01 -2.28321442e-04 1.42098020e+02] [ 8.28005057e-01 -5.60720580e-01 -2.38386046e-04 -7.73165737e+01] [-3.25409390e-04 -5.53833576e-05 -9.99999946e-01 -8.07217737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.670385723 meters 0.016198479606019965 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.33, Z:-8.07 [[ 4.95451038e-01 8.68635843e-01 2.02387196e-04 1.42103531e+02] [ 8.68635724e-01 -4.95451077e-01 4.57672375e-04 -7.73284809e+01] [ 4.97823584e-04 -5.09535049e-05 -9.99999875e-01 -8.07264067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.700385723 meters 0.016167756624347118 Centerline is valid? [True, True] Translation: X:142.11, Y:-77.34, Z:-8.07 [[ 4.27224596e-01 9.04145216e-01 7.57219542e-04 1.42109428e+02] [ 9.04143594e-01 -4.27225264e-01 1.71304272e-03 -7.73403741e+01] [ 1.87234270e-03 -4.72187854e-05 -9.99998246e-01 -8.07329075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.730385723 meters 0.01621554611192478 Centerline is valid? [True, True] Translation: X:142.12, Y:-77.35, Z:-8.07 [[ 3.56926148e-01 9.34130992e-01 1.73602772e-03 1.42115797e+02] [ 9.34119294e-01 -3.56930367e-01 4.67524950e-03 -7.73517315e+01] [ 4.98693646e-03 -4.70618063e-05 -9.99987564e-01 -8.07464033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.760385723 meters 0.016454070177186222 Centerline is valid? [True, True] Translation: X:142.12, Y:-77.36, Z:-8.08 [[ 2.84492394e-01 9.58676300e-01 1.95708178e-03 1.42122374e+02] [ 9.58652192e-01 -2.84499119e-01 6.79897811e-03 -7.73636593e+01] [ 7.07480722e-03 -5.80968197e-05 -9.99974972e-01 -8.07567419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.790385723 meters 0.016166781962889856 Centerline is valid? [True, True] Translation: X:142.13, Y:-77.37, Z:-8.08 [[ 2.09038806e-01 9.77905992e-01 1.62714191e-03 1.42130305e+02] [ 9.77873991e-01 -2.09045129e-01 7.91146458e-03 -7.73741369e+01] [ 8.07681471e-03 -6.26633608e-05 -9.99967380e-01 -8.07664680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82038572300002 meters 0.016184431682528068 Centerline is valid? [True, True] Translation: X:142.14, Y:-77.38, Z:-8.08 [[ 1.33733261e-01 9.91016460e-01 1.33842684e-03 1.42140693e+02] [ 9.90960153e-01 -1.33739931e-01 1.05643579e-02 -7.73837371e+01] [ 1.06484537e-02 -8.64783617e-05 -9.99943300e-01 -8.07700974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85038572300002 meters 0.0162195145741249 Centerline is valid? [True, True] Translation: X:142.15, Y:-77.39, Z:-8.08 [[ 5.66271348e-02 9.98395244e-01 5.52199650e-04 1.42150210e+02] [ 9.98328990e-01 -5.66297387e-02 1.15021851e-02 -7.73938234e+01] [ 1.15149979e-02 -1.00058870e-04 -9.99933695e-01 -8.07823651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88038572300002 meters 0.016218266742210642 Centerline is valid? [True, True] Translation: X:142.16, Y:-77.40, Z:-8.08 [[-2.10867894e-02 9.99777582e-01 -3.65900734e-04 1.42160276e+02] [ 9.99704301e-01 2.10896741e-02 1.21051964e-02 -7.74016994e+01] [ 1.21102207e-02 -1.10532810e-04 -9.99926662e-01 -8.07824758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91038572300002 meters 0.016218266742210642 Centerline is valid? [True, True] Translation: X:142.17, Y:-77.41, Z:-8.08 [[-9.93005868e-02 9.95056617e-01 -1.31265849e-03 1.42171517e+02] [ 9.94983762e-01 9.93092012e-02 1.20414242e-02 -7.74095688e+01] [ 1.21122579e-02 -1.10353394e-04 -9.99926638e-01 -8.07826514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.940385723 meters 0.016336791808789868 Centerline is valid? [True, True] Translation: X:142.18, Y:-77.42, Z:-8.08 [[-1.76004969e-01 9.84386295e-01 -2.42341013e-03 1.42181547e+02] [ 9.84302682e-01 1.76021606e-01 1.28306191e-02 -7.74176763e+01] [ 1.30568581e-02 -1.27116375e-04 -9.99914748e-01 -8.07947477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.970385723 meters 0.016551573089738814 Centerline is valid? [True, True] Translation: X:142.19, Y:-77.43, Z:-8.08 [[-2.52549672e-01 9.67576999e-01 -3.66259711e-03 1.42191837e+02] [ 9.67482743e-01 2.52576195e-01 1.35058767e-02 -7.74254312e+01] [ 1.39930605e-02 -1.32594745e-04 -9.99902084e-01 -8.08109382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.000385723 meters 0.01641425429665823 Centerline is valid? [True, True] Translation: X:142.20, Y:-77.43, Z:-8.08 [[-3.27163308e-01 9.44955782e-01 -4.76865923e-03 1.42202272e+02] [ 9.44861525e-01 3.27198030e-01 1.33472143e-02 -7.74310253e+01] [ 1.41728232e-02 -1.39003843e-04 -9.99899551e-01 -8.08032562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.030385723 meters 0.016403711757303686 Centerline is valid? [True, True] Translation: X:142.21, Y:-77.44, Z:-8.08 [[-4.00074939e-01 9.16461840e-01 -6.14324856e-03 1.42213004e+02] [ 9.16359350e-01 4.00122075e-01 1.37064707e-02 -7.74359382e+01] [ 1.50195067e-02 -1.45807815e-04 -9.99887190e-01 -8.08038549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.060385723 meters 0.016212656218752213 Centerline is valid? [True, True] Translation: X:142.23, Y:-77.44, Z:-8.08 [[-4.70694132e-01 8.82265997e-01 -7.33103036e-03 1.42227691e+02] [ 8.82163821e-01 4.70751196e-01 1.34277301e-02 -7.74375074e+01] [ 1.52979210e-02 -1.46815998e-04 -9.99882969e-01 -8.07900614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.090385723 meters 0.016195837393536916 Centerline is valid? [True, True] Translation: X:142.24, Y:-77.44, Z:-8.08 [[-5.38022457e-01 8.42885725e-01 -8.68850689e-03 1.42241116e+02] [ 8.42780500e-01 5.38092584e-01 1.33191398e-02 -7.74389451e+01] [ 1.59017339e-02 -1.56507885e-04 -9.99873547e-01 -8.07837629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.120385723 meters 0.016394062442056937 Centerline is valid? [True, True] Translation: X:142.25, Y:-77.44, Z:-8.08 [[-6.02011029e-01 7.98430958e-01 -9.52499117e-03 1.42254345e+02] [ 7.98335260e-01 6.02086355e-01 1.23626211e-02 -7.74410016e+01] [ 1.56055666e-02 -1.61702057e-04 -9.99878213e-01 -8.07913470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.150385723 meters 0.01635502874439623 Centerline is valid? [True, True] Translation: X:142.26, Y:-77.44, Z:-8.08 [[-6.62259966e-01 7.49206836e-01 -1.00426439e-02 1.42264397e+02] [ 7.49124477e-01 6.62336085e-01 1.11097954e-02 -7.74434985e+01] [ 1.49751401e-02 -1.65617662e-04 -9.99887853e-01 -8.07739542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.180385723 meters 0.01793300768724988 Centerline is valid? [True, True] Translation: X:142.28, Y:-77.44, Z:-8.07 [[-7.18291623e-01 6.95667067e-01 -1.02213879e-02 1.42277188e+02] [ 6.95600017e-01 7.18364325e-01 9.65987191e-03 -7.74415241e+01] [ 1.40627351e-02 -1.71392497e-04 -9.99901100e-01 -8.07298033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.210385723 meters 0.016195918385671783 Centerline is valid? [True, True] Translation: X:142.29, Y:-77.42, Z:-8.07 [[-7.65935697e-01 6.42822361e-01 -1.10417425e-02 1.42293679e+02] [ 6.42758629e-01 7.66015265e-01 9.05313293e-03 -7.74163074e+01] [ 1.42776996e-02 -1.63057594e-04 -9.99898055e-01 -8.07483765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.240385723 meters 0.017625864207208637 Centerline is valid? [True, True] Translation: X:142.32, Y:-77.40, Z:-8.07 [[-8.09389131e-01 5.87170832e-01 -1.09384498e-02 1.42324864e+02] [ 5.87119842e-01 8.09463025e-01 7.73963483e-03 -7.74030566e+01] [ 1.33987585e-02 -1.57804594e-04 -9.99910220e-01 -8.07208291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.270385723 meters 0.01572021175155683 Centerline is valid? [True, True] Translation: X:142.35, Y:-77.38, Z:-8.07 [[-8.49502000e-01 5.27475096e-01 -1.07877236e-02 1.42351485e+02] [ 5.27434610e-01 8.49570482e-01 6.53660292e-03 -7.73818718e+01] [ 1.26128268e-02 -1.36961567e-04 -9.99920446e-01 -8.07172242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.300385723 meters 0.01574833401534832 Centerline is valid? [True, True] Translation: X:142.37, Y:-77.36, Z:-8.07 [[-8.84953958e-01 4.65552081e-01 -1.08513793e-02 1.42368673e+02] [ 4.65518838e-01 8.85020476e-01 5.56483198e-03 -7.73564364e+01] [ 1.21944120e-02 -1.26901398e-04 -9.99925637e-01 -8.07120670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.330385723 meters 0.01578392736453872 Centerline is valid? [True, True] Translation: X:142.39, Y:-77.33, Z:-8.07 [[-9.14670073e-01 4.04053723e-01 -1.09199825e-02 1.42390472e+02] [ 4.04026919e-01 9.14735244e-01 4.65646402e-03 -7.73299111e+01] [ 1.18703544e-02 -1.52838582e-04 -9.99929533e-01 -8.07085413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.360385723 meters 0.015571472505114503 Centerline is valid? [True, True] Translation: X:142.41, Y:-77.30, Z:-8.07 [[-9.41692061e-01 3.36318338e-01 -1.02974436e-02 1.42405658e+02] [ 3.36299218e-01 9.41748357e-01 3.58717877e-03 -7.72999070e+01] [ 1.09040346e-02 -8.50044466e-05 -9.99940546e-01 -8.06840092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.390385723 meters 0.01533965983913243 Centerline is valid? [True, True] Translation: X:142.42, Y:-77.27, Z:-8.07 [[-9.63904875e-01 2.66102629e-01 -8.76260983e-03 1.42422969e+02] [ 2.66092134e-01 9.63944702e-01 2.36389889e-03 -7.72704634e+01] [ 9.07571102e-03 -5.30878862e-05 -9.99958813e-01 -8.06514686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.420385723 meters 0.015288287084315122 Centerline is valid? [True, True] Translation: X:142.43, Y:-77.24, Z:-8.06 [[-9.80558505e-01 1.96072632e-01 -7.78089134e-03 1.42432565e+02] [ 1.96066812e-01 9.80589374e-01 1.51128637e-03 -7.72412935e+01] [ 7.92618127e-03 -4.36698530e-05 -9.99968586e-01 -8.06412121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.450385723 meters 0.015362760263337247 Centerline is valid? [True, True] Translation: X:142.44, Y:-77.21, Z:-8.06 [[-9.92191182e-01 1.24587628e-01 -5.88057479e-03 1.42435152e+02] [ 1.24585651e-01 9.92208608e-01 7.02747810e-04 -7.72098143e+01] [ 5.92231061e-03 -3.53750613e-05 -9.99982462e-01 -8.06197846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.480385723 meters 0.015382867280443831 Centerline is valid? [True, True] Translation: X:142.54, Y:-76.41, Z:-8.98 [[-9.80870288e-01 -1.94567301e-01 -6.08634642e-03 1.42539281e+02] [ 1.94563451e-01 -9.80889171e-01 1.22409635e-03 -7.64093130e+01] [-6.20820042e-03 1.64991827e-05 9.99980729e-01 -8.97984310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.510385723 meters 0.015431903358893627 Centerline is valid? [True, True] Translation: X:142.37, Y:-77.20, Z:-8.06 [[-9.92810189e-01 1.19673468e-01 -2.48800056e-03 1.42367914e+02] [ 1.19673193e-01 9.92813305e-01 2.59755283e-04 -7.71979907e+01] [ 2.50120587e-03 -3.98592783e-05 -9.99996871e-01 -8.05813330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.540385723 meters 0.015424756213351891 Centerline is valid? [True, True] Translation: X:142.48, Y:-76.41, Z:-8.98 [[-9.81703349e-01 -1.90391720e-01 -3.08656873e-03 1.42480563e+02] [ 1.90390788e-01 -9.81708202e-01 5.95610304e-04 -7.64064738e+01] [-3.14350911e-03 -2.94162309e-06 9.99995059e-01 -8.98399106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57038572300002 meters 0.015399262154147237 Centerline is valid? [True, True] Translation: X:142.30, Y:-77.19, Z:-8.05 [[-9.93228949e-01 1.16173377e-01 -3.86924919e-05 1.42298655e+02] [ 1.16173379e-01 9.93228949e-01 -4.06883219e-05 -7.71857538e+01] [ 3.37036035e-05 -4.49078568e-05 -9.99999998e-01 -8.05445256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60038572300002 meters 0.015434609637999834 Centerline is valid? [True, True] Translation: X:142.42, Y:-76.40, Z:-8.99 [[-9.82636098e-01 -1.85543255e-01 -6.19945535e-07 1.42421998e+02] [ 1.85543254e-01 -9.82636097e-01 4.74581050e-05 -7.64038025e+01] [-9.41471230e-06 4.65190204e-05 9.99999999e-01 -8.98744478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63038572300002 meters 0.015378964508612054 Centerline is valid? [True, True] Translation: X:142.26, Y:-77.18, Z:-8.05 [[-9.93721091e-01 1.11834575e-01 3.37951658e-03 1.42258938e+02] [ 1.11833756e-01 9.93726836e-01 -4.30994454e-04 -7.71783078e+01] [-3.40651640e-03 -5.03442462e-05 -9.99994197e-01 -8.05086401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66038572300002 meters 0.015416920055131508 Centerline is valid? [True, True] Translation: X:142.35, Y:-76.40, Z:-8.99 [[-9.83349902e-01 -1.81688205e-01 3.51658595e-03 1.42352925e+02] [ 1.81687265e-01 -9.83356188e-01 -5.87866631e-04 -7.64002511e+01] [ 3.56486498e-03 6.08402868e-05 9.99993644e-01 -8.99181062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.690385723 meters 0.01541311589522612 Centerline is valid? [True, True] Translation: X:142.19, Y:-77.17, Z:-8.05 [[-9.94347789e-01 1.05952555e-01 6.82136451e-03 1.42192648e+02] [ 1.05949608e-01 9.94371184e-01 -7.92957320e-04 -7.71658463e+01] [-6.86698416e-03 -6.57544610e-05 -9.99976420e-01 -8.04774708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.720385723 meters 0.015405066508840147 Centerline is valid? [True, True] Translation: X:142.19, Y:-77.13, Z:-8.05 [[-9.99378738e-01 3.43861112e-02 7.72879027e-03 1.42189469e+02] [ 3.43845188e-02 9.99408620e-01 -3.38853797e-04 -7.71349068e+01] [-7.73587149e-03 -7.28925452e-05 -9.99970075e-01 -8.04714540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.750385723 meters 0.01602624390787207 Centerline is valid? [True, True] Translation: X:142.22, Y:-76.37, Z:-9.00 [[-9.93762522e-01 -1.11259192e-01 7.57902252e-03 1.42224864e+02] [ 1.11256451e-01 -9.93791421e-01 -7.83562695e-04 -7.63693118e+01] [ 7.61914611e-03 6.45399080e-05 9.99970972e-01 -8.99692779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.780385723 meters 0.01594014604087361 Centerline is valid? [True, True] Translation: X:142.12, Y:-77.13, Z:-8.05 [[-9.99646449e-01 2.50820861e-02 8.82417246e-03 1.42116335e+02] [ 2.50800816e-02 9.99685388e-01 -3.37767313e-04 -7.71251433e+01] [-8.82986818e-03 -1.16336930e-04 -9.99961009e-01 -8.04588286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.810385723 meters 0.016273859606292625 Centerline is valid? [True, True] Translation: X:142.11, Y:-77.09, Z:-8.05 [[-9.98664250e-01 -5.08709829e-02 9.04760160e-03 1.42111661e+02] [-5.08703540e-02 9.98705220e-01 2.99774064e-04 -7.70913676e+01] [-9.05113675e-03 -1.60881055e-04 -9.99959025e-01 -8.04619959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.840385723 meters 0.016690569745015735 Centerline is valid? [True, True] Translation: X:142.10, Y:-77.06, Z:-8.05 [[-9.92216544e-01 -1.24144962e-01 9.71383457e-03 1.42103481e+02] [-1.24140914e-01 9.92264073e-01 1.02095496e-03 -7.70603136e+01] [-9.76543547e-03 -1.92875898e-04 -9.99952298e-01 -8.04560052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.870385723 meters 0.017224950367328337 Centerline is valid? [True, True] Translation: X:142.07, Y:-77.03, Z:-8.04 [[-9.80140133e-01 -1.97966923e-01 1.15938025e-02 1.42074024e+02] [-1.97956257e-01 9.80208665e-01 2.07188595e-03 -7.70319780e+01] [-1.17745106e-02 -2.64327170e-04 -9.99930643e-01 -8.04395420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.900385723 meters 0.01784353696395237 Centerline is valid? [True, True] Translation: X:142.04, Y:-77.01, Z:-8.04 [[-9.63267798e-01 -2.68277582e-01 1.19284848e-02 1.42040916e+02] [-2.68260647e-01 9.63341610e-01 3.02764874e-03 -7.70076116e+01] [-1.23034560e-02 -2.83506511e-04 -9.99924269e-01 -8.04212679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.930385723 meters 0.017337163338542155 Centerline is valid? [True, True] Translation: X:142.00, Y:-76.99, Z:-8.04 [[-9.40807698e-01 -3.38737967e-01 1.17245356e-02 1.42003801e+02] [-3.38715493e-01 9.40880707e-01 3.91268996e-03 -7.69882906e+01] [-1.23567660e-02 -2.90193029e-04 -9.99923610e-01 -8.04126789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.960385723 meters 0.01749280814210896 Centerline is valid? [True, True] Translation: X:141.94, Y:-76.98, Z:-8.04 [[-9.13268337e-01 -4.07202678e-01 1.12660645e-02 1.41943327e+02] [-4.07175579e-01 9.13337777e-01 4.70665905e-03 -7.69796895e+01] [-1.22062865e-02 -2.88823664e-04 -9.99925459e-01 -8.04102959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.990385723 meters 0.017731402438813076 Centerline is valid? [True, True] Translation: X:141.87, Y:-76.98, Z:-8.04 [[-8.80860459e-01 -4.73273716e-01 9.84082438e-03 1.41866687e+02] [-4.73247510e-01 8.80915387e-01 4.98746469e-03 -7.69841114e+01] [-1.10293696e-02 -2.63885200e-04 -9.99939140e-01 -8.04120784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.020385723 meters 0.01763306243701695 Centerline is valid? [True, True] Translation: X:141.80, Y:-76.99, Z:-8.04 [[-8.43112350e-01 -5.37659720e-01 9.14282197e-03 1.41795230e+02] [-5.37631382e-01 8.43161882e-01 5.52611257e-03 -7.69917915e+01] [-1.06800471e-02 -2.56334262e-04 -9.99942934e-01 -8.04187601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.050385723 meters 0.019350058159840984 Centerline is valid? [True, True] Translation: X:141.72, Y:-77.01, Z:-8.04 [[-8.00776007e-01 -5.98909935e-01 8.04219754e-03 1.41716462e+02] [-5.98882653e-01 8.00816355e-01 5.72131109e-03 -7.70095301e+01] [-9.86687337e-03 -2.34843943e-04 -9.99951294e-01 -8.04043600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.080385723 meters 0.017930329058703343 Centerline is valid? [True, True] Translation: X:141.63, Y:-77.04, Z:-8.04 [[-7.53354109e-01 -6.57583024e-01 6.49255418e-03 1.41629029e+02] [-6.57560968e-01 7.53382056e-01 5.38983582e-03 -7.70407452e+01] [-8.43563835e-03 -2.08795255e-04 -9.99964398e-01 -8.04214422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.110385723 meters 0.01814770186995961 Centerline is valid? [True, True] Translation: X:141.54, Y:-77.08, Z:-8.04 [[-7.01222940e-01 -7.12920342e-01 5.56548571e-03 1.41537453e+02] [-7.12900114e-01 7.01244997e-01 5.37409524e-03 -7.70849063e+01] [-7.73407082e-03 -1.99196540e-04 -9.99970072e-01 -8.04174559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.140385723 meters 0.01838259943062649 Centerline is valid? [True, True] Translation: X:141.45, Y:-77.14, Z:-8.04 [[-6.44642057e-01 -7.64468689e-01 4.92350604e-03 1.41448149e+02] [-7.64448703e-01 6.44660829e-01 5.53142251e-03 -7.71376249e+01] [-7.40259080e-03 -1.97980219e-04 -9.99972581e-01 -8.04141235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.170385723 meters 0.01922870638029816 Centerline is valid? [True, True] Translation: X:141.36, Y:-77.20, Z:-8.04 [[-5.82582214e-01 -8.12757229e-01 4.86320108e-03 1.41360833e+02] [-8.12732158e-01 5.82602466e-01 6.38799548e-03 -7.71987059e+01] [-8.02520245e-03 -2.30947353e-04 -9.99967771e-01 -8.04032593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.200385723 meters 0.020595224250721186 Centerline is valid? [True, True] Translation: X:141.27, Y:-77.27, Z:-8.04 [[-5.17768038e-01 -8.55509056e-01 4.52928364e-03 1.41272699e+02] [-8.55480455e-01 5.17787788e-01 6.99987417e-03 -7.72749460e+01] [-8.33366350e-03 -2.50402511e-04 -9.99965243e-01 -8.03835092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.230385723 meters 0.01973890756299527 Centerline is valid? [True, True] Translation: X:141.18, Y:-77.38, Z:-8.04 [[-4.48542805e-01 -8.93750879e-01 4.32643213e-03 1.41182632e+02] [-8.93715428e-01 4.48563574e-01 7.96577893e-03 -7.73758178e+01] [-9.06010178e-03 -2.93606322e-04 -9.99958913e-01 -8.03877399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.260385723 meters 0.021690273467977902 Centerline is valid? [True, True] Translation: X:141.11, Y:-77.45, Z:-8.04 [[-3.76504443e-01 -9.26407552e-01 3.66766540e-03 1.41112417e+02] [-9.26371355e-01 3.76522177e-01 8.19533130e-03 -7.74528091e+01] [-8.97317417e-03 -3.12041523e-04 -9.99959692e-01 -8.03726949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.290385723 meters 0.020688237811009324 Centerline is valid? [True, True] Translation: X:141.04, Y:-77.57, Z:-8.04 [[-3.03521783e-01 -9.52819593e-01 3.05791860e-03 1.41041323e+02] [-9.52781415e-01 3.03537015e-01 8.53557120e-03 -7.75663475e+01] [-9.06105096e-03 -3.22796226e-04 -9.99958896e-01 -8.03783359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32038572300002 meters 0.023021633117545945 Centerline is valid? [True, True] Translation: X:140.98, Y:-77.66, Z:-8.04 [[-2.28557469e-01 -9.73527226e-01 2.49487030e-03 1.40979988e+02] [-9.73484495e-01 2.28570829e-01 9.12765610e-03 -7.76625731e+01] [-9.45627629e-03 -3.42523581e-04 -9.99955230e-01 -8.03681816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35038572300002 meters 0.02379922058870028 Centerline is valid? [True, True] Translation: X:140.93, Y:-77.77, Z:-8.04 [[-1.51949727e-01 -9.88386629e-01 1.77525040e-03 1.40929270e+02] [-9.88343467e-01 1.51959694e-01 9.24356960e-03 -7.77677095e+01] [-9.40598711e-03 -3.49999254e-04 -9.99955701e-01 -8.03628577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38038572300002 meters 0.02387838397068596 Centerline is valid? [True, True] Translation: X:140.89, Y:-77.87, Z:-8.04 [[-7.49087407e-02 -9.97189822e-01 1.06753931e-03 1.40887001e+02] [-9.97145154e-01 7.49154967e-02 9.44509483e-03 -7.78721739e+01] [-9.49852767e-03 -3.56971489e-04 -9.99954824e-01 -8.03570752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41038572300002 meters 0.022542111319567574 Centerline is valid? [True, True] Translation: X:140.86, Y:-78.00, Z:-8.04 [[ 2.61294146e-03 -9.99996522e-01 3.58215256e-04 1.40856466e+02] [-9.99944260e-01 -2.60914005e-03 1.02308212e-02 -7.79968505e+01] [-1.02298510e-02 -3.84927826e-04 -9.99947600e-01 -8.03546822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.440385723 meters 0.02266634561686848 Centerline is valid? [True, True] Translation: X:140.83, Y:-78.10, Z:-8.04 [[ 7.99022138e-02 -9.96802607e-01 -4.46311786e-04 1.40830852e+02] [-9.96747329e-01 -7.99024864e-02 1.05049482e-02 -7.80966381e+01] [-1.05070212e-02 -3.94508535e-04 -9.99944722e-01 -8.03550013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.470385723 meters 0.022734574113888163 Centerline is valid? [True, True] Translation: X:140.82, Y:-78.22, Z:-8.04 [[ 1.56249156e-01 -9.87716892e-01 -1.24229718e-03 1.40815708e+02] [-9.87662955e-01 -1.56253615e-01 1.03293435e-02 -7.82172334e+01] [-1.03965805e-02 -3.86980301e-04 -9.99945879e-01 -8.03528988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.500385723 meters 0.022357794281703713 Centerline is valid? [True, True] Translation: X:140.81, Y:-78.34, Z:-8.04 [[ 2.31136916e-01 -9.72919076e-01 -2.04885513e-03 1.40808899e+02] [-9.72864993e-01 -2.31145686e-01 1.02653698e-02 -7.83412074e+01] [-1.04609581e-02 -3.79446478e-04 -9.99945211e-01 -8.03544227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.530385723 meters 0.02203297844585981 Centerline is valid? [True, True] Translation: X:140.81, Y:-78.47, Z:-8.04 [[ 3.03864067e-01 -9.52711745e-01 -2.63825310e-03 1.40812194e+02] [-9.52665548e-01 -3.03875330e-01 9.38815710e-03 -7.84665952e+01] [-9.74590756e-03 -3.39350764e-04 -9.99952450e-01 -8.03562845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.560385723 meters 0.021890151951652066 Centerline is valid? [True, True] Translation: X:140.82, Y:-78.59, Z:-8.04 [[ 3.75401645e-01 -9.26857102e-01 -3.08512516e-03 1.40822435e+02] [-9.26818800e-01 -3.75414197e-01 8.43166880e-03 -7.85888196e+01] [-8.97315189e-03 -3.05910338e-04 -9.99959694e-01 -8.03664106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.590385723 meters 0.021917406573327816 Centerline is valid? [True, True] Translation: X:140.85, Y:-78.73, Z:-8.04 [[ 4.43929820e-01 -8.96057170e-01 -2.80427786e-03 1.40848307e+02] [-8.96035902e-01 -4.43938617e-01 6.17782958e-03 -7.87274926e+01] [-6.78061573e-03 -2.29789128e-04 -9.99976985e-01 -8.03757430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.620385723 meters 0.021843717395594077 Centerline is valid? [True, True] Translation: X:140.88, Y:-78.86, Z:-8.04 [[ 5.10757770e-01 -8.59719765e-01 -2.90280126e-03 1.40883645e+02] [-8.59703550e-01 -5.10765978e-01 5.28405723e-03 -7.88589887e+01] [-6.02546056e-03 -2.03324736e-04 -9.99981826e-01 -8.03805988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.650385723 meters 0.021140419287833615 Centerline is valid? [True, True] Translation: X:140.90, Y:-78.94, Z:-8.04 [[ 5.73925759e-01 -8.18903532e-01 -2.49552882e-03 1.40900235e+02] [-8.18894575e-01 -5.73931163e-01 3.83348929e-03 -7.89373689e+01] [-4.57151968e-03 -1.56563237e-04 -9.99989538e-01 -8.03950064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.680385723 meters 0.019299622352947143 Centerline is valid? [True, True] Translation: X:140.95, Y:-79.05, Z:-8.04 [[ 6.34683703e-01 -7.72768165e-01 -2.44122088e-03 1.40950384e+02] [-7.72761579e-01 -6.34688383e-01 3.19366309e-03 -7.90475912e+01] [-4.01737570e-03 -1.40484212e-04 -9.99991920e-01 -8.04105892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.710385723 meters 0.019440360159835558 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.15, Z:-8.04 [[ 6.91348690e-01 -7.22518729e-01 -1.91687488e-03 1.41001654e+02] [-7.22515499e-01 -6.91351339e-01 2.16318759e-03 -7.91496740e+01] [-2.88817757e-03 -1.10545094e-04 -9.99995823e-01 -8.04228184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.740385723 meters 0.019152244892196534 Centerline is valid? [True, True] Translation: X:141.06, Y:-79.25, Z:-8.04 [[ 7.42803775e-01 -6.69505073e-01 -2.34713817e-03 1.41058370e+02] [-6.69501256e-01 -7.42807475e-01 2.26360830e-03 -7.92469453e+01] [-3.25896902e-03 -1.10004840e-04 -9.99994684e-01 -8.04143932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.770385723 meters 0.019152244892196534 Centerline is valid? [True, True] Translation: X:141.05, Y:-79.26, Z:-8.04 [[ 7.92827012e-01 -6.09441551e-01 -2.51489935e-03 1.41052442e+02] [-6.09438036e-01 -7.92830993e-01 2.07287647e-03 -7.92552992e+01] [-3.25718720e-03 -1.10757141e-04 -9.99994689e-01 -8.04145824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.800385723 meters 0.018770053783200995 Centerline is valid? [True, True] Translation: X:141.05, Y:-79.26, Z:-8.04 [[ 8.37424932e-01 -5.46546812e-01 -2.46301523e-03 1.41047861e+02] [-5.46544084e-01 -8.37428547e-01 1.72971662e-03 -7.92642212e+01] [-3.00797037e-03 -1.02361422e-04 -9.99995471e-01 -8.04160784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.830385723 meters 0.018863042612319803 Centerline is valid? [True, True] Translation: X:141.04, Y:-79.27, Z:-8.04 [[ 8.77255625e-01 -4.80018174e-01 -2.26300865e-03 1.41041782e+02] [-4.80016300e-01 -8.77258539e-01 1.34450628e-03 -7.92724430e+01] [-2.63063111e-03 -9.31946550e-05 -9.99996536e-01 -8.04190524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.860385723 meters 0.018783036006942363 Centerline is valid? [True, True] Translation: X:141.04, Y:-79.28, Z:-8.04 [[ 9.11778483e-01 -4.10673724e-01 -2.66270849e-03 1.41038256e+02] [-4.10671660e-01 -9.11782366e-01 1.30552372e-03 -7.92790964e+01] [-2.96395493e-03 -9.68495185e-05 -9.99995603e-01 -8.04328285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.890385723 meters 0.018437547220750992 Centerline is valid? [True, True] Translation: X:141.03, Y:-79.29, Z:-8.04 [[ 9.41002916e-01 -3.38385232e-01 -2.99102422e-03 1.41033878e+02] [-3.38383181e-01 -9.41007665e-01 1.18222038e-03 -7.92887367e+01] [-3.21462263e-03 -1.00360534e-04 -9.99994828e-01 -8.04417044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.920385723 meters 0.018486267844640997 Centerline is valid? [True, True] Translation: X:141.03, Y:-79.30, Z:-8.04 [[ 9.64342311e-01 -2.64646959e-01 -2.42778069e-03 1.41028547e+02] [-2.64645894e-01 -9.64345363e-01 7.55778647e-04 -7.92994330e+01] [-2.54123357e-03 -8.63271369e-05 -9.99996767e-01 -8.04479361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.950385723 meters 0.01833013921260161 Centerline is valid? [True, True] Translation: X:141.03, Y:-79.31, Z:-8.05 [[ 9.81982087e-01 -1.88967532e-01 -1.56618338e-03 1.41025418e+02] [-1.88967178e-01 -9.81983333e-01 3.72647926e-04 -7.93110884e+01] [-1.60838434e-03 -6.99763337e-05 -9.99998704e-01 -8.04500174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.980385723 meters 0.018024552448471905 Centerline is valid? [True, True] Translation: X:141.02, Y:-79.32, Z:-8.05 [[ 9.93521119e-01 -1.13645218e-01 7.41926151e-04 1.41019383e+02] [-1.13645212e-01 -9.93521395e-01 -5.05553663e-05 -7.93200619e+01] [ 7.42864880e-04 -3.40885306e-05 -9.99999724e-01 -8.04624189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.010385723 meters 0.01795147499645125 Centerline is valid? [True, True] Translation: X:141.01, Y:-79.33, Z:-8.05 [[ 9.99312092e-01 -3.70068437e-02 2.41568205e-03 1.41013676e+02] [-3.70067706e-02 -9.99315012e-01 -7.49551438e-05 -7.93275608e+01] [ 2.41680119e-03 -1.44930100e-05 -9.99997079e-01 -8.04763659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.040385723 meters 0.01754068520310382 Centerline is valid? [True, True] Translation: X:141.01, Y:-79.33, Z:-8.05 [[ 9.99249928e-01 3.84223092e-02 4.82769991e-03 1.41009223e+02] [ 3.84218664e-02 -9.99261590e-01 1.84470663e-04 -7.93320868e+01] [ 4.83122288e-03 1.15694369e-06 -9.99988330e-01 -8.05018423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07038572300002 meters 0.017281707871371364 Centerline is valid? [True, True] Translation: X:141.01, Y:-79.34, Z:-8.05 [[ 9.93502596e-01 1.13667085e-01 5.69077226e-03 1.41005095e+02] [ 1.13665180e-01 -9.93518895e-01 6.58105844e-04 -7.93412958e+01] [ 5.72869474e-03 -6.98721117e-06 -9.99983591e-01 -8.05151310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10038572300002 meters 0.017259354305586727 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.35, Z:-8.05 [[ 9.81726985e-01 1.90207459e-01 5.76628369e-03 1.41000718e+02] [ 1.90204111e-01 -9.81743919e-01 1.12856751e-03 -7.93527620e+01] [ 5.87567591e-03 -1.11743160e-05 -9.99982738e-01 -8.05182238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13038572300002 meters 0.017197006813800066 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.36, Z:-8.05 [[ 9.63987822e-01 2.65874097e-01 6.20034000e-03 1.40998051e+02] [ 2.65868518e-01 -9.64007762e-01 1.72245703e-03 -7.93644640e+01] [ 6.43513259e-03 -1.19523992e-05 -9.99979294e-01 -8.05193193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16038572300002 meters 0.017183957634224253 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.38, Z:-8.05 [[ 9.40170640e-01 3.40633842e-01 6.91042451e-03 1.40995468e+02] [ 3.40624592e-01 -9.40196036e-01 2.51029415e-03 -7.93769409e+01] [ 7.35224487e-03 -6.24431811e-06 -9.99972972e-01 -8.05227212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.190385723 meters 0.01722929307084107 Centerline is valid? [True, True] Translation: X:140.99, Y:-79.39, Z:-8.05 [[ 9.10441240e-01 4.13579018e-01 7.01029559e-03 1.40994488e+02] [ 4.13566750e-01 -9.10468229e-01 3.18552986e-03 -7.93883668e+01] [ 7.70011972e-03 -1.01258855e-06 -9.99970354e-01 -8.05245552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.220385723 meters 0.017179794668237373 Centerline is valid? [True, True] Translation: X:140.99, Y:-79.40, Z:-8.05 [[ 8.75030877e-01 4.84027973e-01 6.15512492e-03 1.40992741e+02] [ 4.84015992e-01 -8.75052525e-01 3.40560448e-03 -7.93990948e+01] [ 7.03446543e-03 -8.30181492e-07 -9.99975258e-01 -8.05183337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.250385723 meters 0.017109859418605735 Centerline is valid? [True, True] Translation: X:140.99, Y:-79.41, Z:-8.05 [[ 8.34481485e-01 5.51008736e-01 5.47941513e-03 1.40993537e+02] [ 5.50996828e-01 -8.34499474e-01 3.62254584e-03 -7.94108064e+01] [ 6.56862345e-03 -3.80707413e-06 -9.99978426e-01 -8.05119863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.280385723 meters 0.017076841909581062 Centerline is valid? [True, True] Translation: X:140.99, Y:-79.42, Z:-8.05 [[ 7.88947350e-01 6.14445533e-01 4.33201312e-03 1.40994530e+02] [ 6.14436191e-01 -7.88959243e-01 3.38823209e-03 -7.94223883e+01] [ 5.49966587e-03 -1.13910868e-05 -9.99984877e-01 -8.05100749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.310385723 meters 0.017040337142386962 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.43, Z:-8.05 [[ 7.38493537e-01 6.74247658e-01 4.17034606e-03 1.40996106e+02] [ 6.74236824e-01 -7.38505312e-01 3.82214095e-03 -7.94330806e+01] [ 5.65689230e-03 -1.08255037e-05 -9.99984000e-01 -8.05117769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.340385723 meters 0.017128297672557354 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.44, Z:-8.05 [[ 6.82975433e-01 7.30427400e-01 4.51355973e-03 1.40997952e+02] [ 7.30411439e-01 -6.82990347e-01 4.82867071e-03 -7.94440628e+01] [ 6.60971112e-03 -1.10781181e-06 -9.99978156e-01 -8.05194846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.370385723 meters 0.01710963179195234 Centerline is valid? [True, True] Translation: X:141.00, Y:-79.45, Z:-8.05 [[ 6.23729305e-01 7.81628677e-01 4.28554447e-03 1.40999502e+02] [ 7.81610233e-01 -6.23744027e-01 5.36959390e-03 -7.94532054e+01] [ 6.87011134e-03 4.52335496e-07 -9.99976401e-01 -8.05151123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.400385723 meters 0.01693491895631596 Centerline is valid? [True, True] Translation: X:141.01, Y:-79.46, Z:-8.05 [[ 5.60327914e-01 8.28262519e-01 3.71870594e-03 1.41005631e+02] [ 8.28244295e-01 -5.60340254e-01 5.49433683e-03 -7.94649831e+01] [ 6.63449389e-03 1.36668088e-06 -9.99977992e-01 -8.05005856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.430385723 meters 0.01702888232975119 Centerline is valid? [True, True] Translation: X:141.01, Y:-79.48, Z:-8.05 [[ 4.93764747e-01 8.69591096e-01 2.77502585e-03 1.41012402e+02] [ 8.69577301e-01 -4.93772545e-01 4.89804558e-03 -7.94770171e+01] [ 5.62952840e-03 -5.38275365e-06 -9.99984154e-01 -8.04921903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.460385723 meters 0.01699767334074842 Centerline is valid? [True, True] Translation: X:141.02, Y:-79.49, Z:-8.05 [[ 4.25647813e-01 9.04886188e-01 2.21930815e-03 1.41018402e+02] [ 9.04873686e-01 -4.25653598e-01 4.75677841e-03 -7.94873546e+01] [ 5.24899959e-03 -1.65187864e-05 -9.99986224e-01 -8.04957791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.490385723 meters 0.01685310702910424 Centerline is valid? [True, True] Translation: X:141.02, Y:-79.50, Z:-8.05 [[ 3.54600821e-01 9.35016061e-01 1.79518639e-03 1.41022676e+02] [ 9.35003750e-01 -3.54605364e-01 4.79831149e-03 -7.94954087e+01] [ 5.12308104e-03 -2.29791841e-05 -9.99986877e-01 -8.04902676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.520385723 meters 0.016787069472701217 Centerline is valid? [True, True] Translation: X:141.03, Y:-79.50, Z:-8.05 [[ 2.81371070e-01 9.59598087e-01 1.35337394e-03 1.41027033e+02] [ 9.59586483e-01 -2.81374324e-01 4.71928643e-03 -7.95049997e+01] [ 4.90942291e-03 -2.91913386e-05 -9.99987948e-01 -8.04879006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.550385723 meters 0.016861267648589962 Centerline is valid? [True, True] Translation: X:141.03, Y:-79.51, Z:-8.05 [[ 2.06537260e-01 9.78438007e-01 1.19453119e-03 1.41034348e+02] [ 9.78420692e-01 -2.06540712e-01 5.82098454e-03 -7.95129259e+01] [ 5.94219183e-03 -3.34961607e-05 -9.99982344e-01 -8.04824901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.580385723 meters 0.01690184736050241 Centerline is valid? [True, True] Translation: X:141.04, Y:-79.52, Z:-8.05 [[ 1.29165400e-01 9.91622792e-01 7.32862095e-04 1.41043014e+02] [ 9.91605369e-01 -1.29167475e-01 5.87836547e-03 -7.95202876e+01] [ 5.92378313e-03 -3.25714382e-05 -9.99982454e-01 -8.04815871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.610385723 meters 0.016863433727468 Centerline is valid? [True, True] Translation: X:141.05, Y:-79.53, Z:-8.05 [[ 5.00682335e-02 9.98745773e-01 2.28409382e-04 1.41053199e+02] [ 9.98732654e-01 -5.00687465e-02 5.11916958e-03 -7.95272488e+01] [ 5.12418515e-03 -2.81878693e-05 -9.99986871e-01 -8.04701951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.640385723 meters 0.017006579764723365 Centerline is valid? [True, True] Translation: X:141.06, Y:-79.53, Z:-8.05 [[-3.07312830e-02 9.99527673e-01 -1.38885106e-04 1.41062990e+02] [ 9.99520488e-01 3.07315887e-02 3.78980817e-03 -7.95344795e+01] [ 3.79228631e-03 -2.23528414e-05 -9.99992809e-01 -8.04667874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.670385723 meters 0.017151627766213002 Centerline is valid? [True, True] Translation: X:141.07, Y:-79.54, Z:-8.05 [[-1.10545962e-01 9.93870952e-01 -3.47632149e-04 1.41071734e+02] [ 9.93866639e-01 1.10546506e-01 2.92811234e-03 -7.95401318e+01] [ 2.94859532e-03 -2.18090012e-05 -9.99995653e-01 -8.04570035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.700385723 meters 0.017065263980613362 Centerline is valid? [True, True] Translation: X:141.09, Y:-79.54, Z:-8.04 [[-1.90249303e-01 9.81735803e-01 -1.23117953e-04 1.41085638e+02] [ 9.81735706e-01 1.90249339e-01 4.39891079e-04 -7.95446469e+01] [ 4.55279931e-04 -3.71803198e-05 -9.99999896e-01 -8.04284673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.730385723 meters 0.017157156914535114 Centerline is valid? [True, True] Translation: X:141.10, Y:-79.55, Z:-8.04 [[-2.67228848e-01 9.63633086e-01 1.35639986e-04 1.41098132e+02] [ 9.63632856e-01 2.67228878e-01 -6.66886919e-04 -7.95477831e+01] [-6.78881221e-04 -4.75042757e-05 -9.99999768e-01 -8.04157216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.760385723 meters 0.01711421399330397 Centerline is valid? [True, True] Translation: X:141.11, Y:-79.55, Z:-8.04 [[-3.42622663e-01 9.39472529e-01 1.03844045e-03 1.41112438e+02] [ 9.39467535e-01 3.42624228e-01 -3.06412520e-03 -7.95491038e+01] [-3.23445631e-03 -7.42576490e-05 -9.99994766e-01 -8.03891112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.790385723 meters 0.017220669826897878 Centerline is valid? [True, True] Translation: X:141.13, Y:-79.55, Z:-8.04 [[-4.15396562e-01 9.09638923e-01 1.65107454e-03 1.41125297e+02] [ 9.09630909e-01 4.15399834e-01 -3.81922591e-03 -7.95504735e+01] [-4.15997263e-03 -8.46248770e-05 -9.99991344e-01 -8.03769246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82038572300002 meters 0.017121378086849513 Centerline is valid? [True, True] Translation: X:141.14, Y:-79.55, Z:-8.04 [[-4.85271154e-01 8.74360470e-01 2.38241400e-03 1.41137471e+02] [ 8.74348969e-01 4.85276993e-01 -4.48551799e-03 -7.95505297e+01] [-5.07809032e-03 -9.36312655e-05 -9.99987102e-01 -8.03661393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85038572300002 meters 0.017078842078459663 Centerline is valid? [True, True] Translation: X:141.15, Y:-79.55, Z:-8.03 [[-5.51629553e-01 8.34080005e-01 3.92192283e-03 1.41149891e+02] [ 8.34057481e-01 5.51643484e-01 -6.13062238e-03 -7.95505091e+01] [-7.27693272e-03 -1.10723405e-04 -9.99973517e-01 -8.03445223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88038572300002 meters 0.017010801111416878 Centerline is valid? [True, True] Translation: X:141.16, Y:-79.55, Z:-8.03 [[-6.14816283e-01 7.88655771e-01 4.79709777e-03 1.41160729e+02] [ 7.88630325e-01 6.14834987e-01 -6.33631189e-03 -7.95495670e+01] [-7.94659249e-03 -1.12530955e-04 -9.99968419e-01 -8.03372818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91038572300002 meters 0.01685704172775327 Centerline is valid? [True, True] Translation: X:141.17, Y:-79.55, Z:-8.03 [[-6.73593941e-01 7.39073770e-01 6.41602860e-03 1.41171213e+02] [ 7.39038634e-01 6.73624487e-01 -7.20752269e-03 -7.95469774e+01] [-9.64888494e-03 -1.13250606e-04 -9.99953442e-01 -8.03176049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.940385723 meters 0.01712254971508796 Centerline is valid? [True, True] Translation: X:141.18, Y:-79.54, Z:-8.03 [[-7.28934892e-01 6.84545683e-01 7.15065498e-03 1.41182591e+02] [ 6.84511282e-01 7.28969956e-01 -6.86360978e-03 -7.95446829e+01] [-9.91106709e-03 -1.08420642e-04 -9.99950878e-01 -8.02988635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.970385723 meters 0.01688063637381689 Centerline is valid? [True, True] Translation: X:141.73, Y:-78.99, Z:-9.02 [[-6.71870361e-01 -7.40639760e-01 6.55472001e-03 1.41728145e+02] [ 7.40605843e-01 -6.71902328e-01 -7.08853551e-03 -7.89858889e+01] [ 9.65418287e-03 9.18870329e-05 9.99953393e-01 -9.01592747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.000385723 meters 0.01693901687981602 Centerline is valid? [True, True] Translation: X:141.71, Y:-78.97, Z:-9.02 [[-6.72066330e-01 -7.40457321e-01 7.05715493e-03 1.41709863e+02] [ 7.40417462e-01 -6.72103379e-01 -7.68316186e-03 -7.89666608e+01] [ 1.04321911e-02 6.16463446e-05 9.99945581e-01 -9.01662762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.030385723 meters 0.01698759530553709 Centerline is valid? [True, True] Translation: X:141.69, Y:-78.95, Z:-9.02 [[-6.71781257e-01 -7.40715299e-01 7.12657119e-03 1.41690866e+02] [ 7.40674714e-01 -6.71819054e-01 -7.75413196e-03 -7.89474505e+01] [ 1.05313705e-02 6.93905662e-05 9.99944541e-01 -9.01755076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.060385723 meters 0.01710277163918935 Centerline is valid? [True, True] Translation: X:141.67, Y:-78.93, Z:-9.02 [[-6.71581833e-01 -7.40896712e-01 7.06431300e-03 1.41671767e+02] [ 7.40856890e-01 -6.71618982e-01 -7.68185293e-03 -7.89275819e+01] [ 1.04359863e-02 7.46520967e-05 9.99945541e-01 -9.01780683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.090385723 meters 0.017255121284000544 Centerline is valid? [True, True] Translation: X:141.65, Y:-78.91, Z:-9.02 [[-6.70951278e-01 -7.41471788e-01 6.63101898e-03 1.41652411e+02] [ 7.41436771e-01 -6.70984040e-01 -7.20643411e-03 -7.89083546e+01] [ 9.79267548e-03 8.13151246e-05 9.99952047e-01 -9.01742596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.120385723 meters 0.017586204379448724 Centerline is valid? [True, True] Translation: X:141.63, Y:-78.89, Z:-9.02 [[-6.68983836e-01 -7.43250772e-01 6.23842368e-03 1.41631546e+02] [ 7.43219889e-01 -6.69012914e-01 -6.77621604e-03 -7.88892958e+01] [ 9.21001381e-03 1.03341552e-04 9.99957582e-01 -9.01665563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.150385723 meters 0.01781942307565411 Centerline is valid? [True, True] Translation: X:141.61, Y:-78.87, Z:-9.01 [[-6.67172131e-01 -7.44882876e-01 5.55422149e-03 1.41612820e+02] [ 7.44858481e-01 -6.67195240e-01 -6.02950310e-03 -7.88689698e+01] [ 8.19702375e-03 1.14392552e-04 9.99966397e-01 -9.01455366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.180385723 meters 0.018800437925159414 Centerline is valid? [True, True] Translation: X:141.59, Y:-78.85, Z:-9.01 [[-6.66603246e-01 -7.45393063e-01 5.41248703e-03 1.41593052e+02] [ 7.45369944e-01 -6.66625208e-01 -5.87184723e-03 -7.88509988e+01] [ 7.98493448e-03 1.20112739e-04 9.99968113e-01 -9.01477452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.210385723 meters 0.018157092335661845 Centerline is valid? [True, True] Translation: X:141.58, Y:-78.83, Z:-9.01 [[-6.66175818e-01 -7.45776077e-01 5.27473207e-03 1.41575722e+02] [ 7.45754159e-01 -6.66196689e-01 -5.71893415e-03 -7.88297630e+01] [ 7.77905331e-03 1.23837738e-04 9.99969735e-01 -9.01284028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.240385723 meters 0.01863740208916712 Centerline is valid? [True, True] Translation: X:141.56, Y:-78.81, Z:-9.01 [[-6.64996796e-01 -7.46830584e-01 4.83111775e-03 1.41556510e+02] [ 7.46812240e-01 -6.65014333e-01 -5.23596162e-03 -7.88112094e+01] [ 7.12313882e-03 1.26040159e-04 9.99974622e-01 -9.01234192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.270385723 meters 0.01844866847357702 Centerline is valid? [True, True] Translation: X:141.54, Y:-78.79, Z:-9.01 [[-6.65022666e-01 -7.46810495e-01 4.35183615e-03 1.41538610e+02] [ 7.46795629e-01 -6.65036895e-01 -4.71350277e-03 -7.87901972e+01] [ 6.41422494e-03 1.15346041e-04 9.99979422e-01 -9.01147050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.300385723 meters 0.018350297934897786 Centerline is valid? [True, True] Translation: X:141.52, Y:-78.77, Z:-9.01 [[-6.65658776e-01 -7.46249346e-01 3.21054213e-03 1.41520942e+02] [ 7.46241259e-01 -6.65666513e-01 -3.47515296e-03 -7.87695593e+01] [ 4.73048100e-03 8.25729387e-05 9.99988808e-01 -9.01011102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.330385723 meters 0.018208877116924243 Centerline is valid? [True, True] Translation: X:141.50, Y:-78.75, Z:-9.01 [[-6.66371002e-01 -7.45615810e-01 2.59854615e-03 1.41502937e+02] [ 7.45610514e-01 -6.66376065e-01 -2.81093620e-03 -7.87491033e+01] [ 3.82748743e-03 6.43769572e-05 9.99992673e-01 -9.00909140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.360385723 meters 0.01794193587438985 Centerline is valid? [True, True] Translation: X:141.49, Y:-78.73, Z:-9.01 [[-6.67585405e-01 -7.44532084e-01 1.30519925e-03 1.41486243e+02] [ 7.44530748e-01 -6.67586680e-01 -1.41089722e-03 -7.87277559e+01] [ 1.92179188e-03 2.98665864e-05 9.99998153e-01 -9.00672335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.390385723 meters 0.01797339680832307 Centerline is valid? [True, True] Translation: X:141.47, Y:-78.71, Z:-9.01 [[-6.68337433e-01 -7.43858030e-01 5.53001227e-04 1.41468351e+02] [ 7.43857791e-01 -6.68337662e-01 -5.97285319e-04 -7.87066541e+01] [ 8.13887028e-04 1.21661339e-05 9.99999669e-01 -9.00563705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.420385723 meters 0.01779450396115067 Centerline is valid? [True, True] Translation: X:141.45, Y:-78.69, Z:-9.01 [[-6.69922770e-01 -7.42430701e-01 3.69062354e-04 1.41451126e+02] [ 7.42430594e-01 -6.69922872e-01 -3.98269879e-04 -7.86865923e+01] [ 5.42931098e-04 7.19312176e-06 9.99999853e-01 -9.00539195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.450385723 meters 0.017622838394783787 Centerline is valid? [True, True] Translation: X:141.43, Y:-78.67, Z:-9.01 [[-6.70732304e-01 -7.41699465e-01 2.84008736e-04 1.41432660e+02] [ 7.41699401e-01 -6.70732364e-01 -3.06255308e-04 -7.86669011e+01] [ 4.17643248e-04 5.23378100e-06 9.99999913e-01 -9.00561885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.480385723 meters 0.0174883269376472 Centerline is valid? [True, True] Translation: X:141.41, Y:-78.65, Z:-9.01 [[-6.72036738e-01 -7.40517801e-01 -9.56487596e-05 1.41414813e+02] [ 7.40517794e-01 -6.72036745e-01 1.03394192e-04 -7.86474261e+01] [-1.40844721e-04 -1.34491312e-06 9.99999990e-01 -9.00584208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.510385723 meters 0.01714314155198991 Centerline is valid? [True, True] Translation: X:141.40, Y:-78.63, Z:-9.01 [[-6.73439310e-01 -7.39242442e-01 3.26465035e-04 1.41396955e+02] [ 7.39242359e-01 -6.73439390e-01 -3.51629791e-04 -7.86263820e+01] [ 4.79794079e-04 4.53545867e-06 9.99999885e-01 -9.00557541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.540385723 meters 0.017249339802175714 Centerline is valid? [True, True] Translation: X:141.38, Y:-78.61, Z:-9.01 [[-6.74243461e-01 -7.38508885e-01 6.17704630e-04 1.41378256e+02] [ 7.38508586e-01 -6.74243744e-01 -6.65087348e-04 -7.86074094e+01] [ 9.07656398e-04 7.74937741e-06 9.99999588e-01 -9.00553556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57038572300002 meters 0.017009913506959157 Centerline is valid? [True, True] Translation: X:141.36, Y:-78.59, Z:-9.01 [[-6.75408374e-01 -7.37443099e-01 1.09768850e-03 1.41359704e+02] [ 7.37442153e-01 -6.75409265e-01 -1.18144800e-03 -7.85867309e+01] [ 1.61263966e-03 1.15219007e-05 9.99998700e-01 -9.00521782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60038572300002 meters 0.016933379421970176 Centerline is valid? [True, True] Translation: X:141.34, Y:-78.57, Z:-9.01 [[-6.75740079e-01 -7.37138814e-01 1.30950738e-03 1.41339602e+02] [ 7.37137468e-01 -6.75741348e-01 -1.40867476e-03 -7.85667456e+01] [ 1.92327712e-03 1.33889595e-05 9.99998150e-01 -9.00555078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63038572300002 meters 0.017048021230509542 Centerline is valid? [True, True] Translation: X:141.32, Y:-78.55, Z:-9.01 [[-6.76072501e-01 -7.36833661e-01 1.45923755e-03 1.41320056e+02] [ 7.36831991e-01 -6.76074075e-01 -1.56882634e-03 -7.85476323e+01] [ 2.14251673e-03 1.45725566e-05 9.99997705e-01 -9.00634054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66038572300002 meters 0.016946669133689193 Centerline is valid? [True, True] Translation: X:141.30, Y:-78.53, Z:-9.01 [[-6.76809770e-01 -7.36157218e-01 1.04211928e-03 1.41300612e+02] [ 7.36156367e-01 -6.76810572e-01 -1.11970398e-03 -7.85279181e+01] [ 1.52959551e-03 9.33615064e-06 9.99998830e-01 -9.00588643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.690385723 meters 0.016946669133689193 Centerline is valid? [True, True] Translation: X:141.28, Y:-78.51, Z:-9.01 [[-6.77015071e-01 -7.35968414e-01 1.04243145e-03 1.41281769e+02] [ 7.35967563e-01 -6.77015874e-01 -1.11941338e-03 -7.85077554e+01] [ 1.52959553e-03 9.33601056e-06 9.99998830e-01 -9.00590058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.720385723 meters 0.016777717402691874 Centerline is valid? [True, True] Translation: X:141.26, Y:-78.49, Z:-9.00 [[-6.78164186e-01 -7.34909782e-01 9.74407078e-04 1.41263691e+02] [ 7.34909038e-01 -6.78164886e-01 -1.04572606e-03 -7.84875024e+01] [ 1.42932298e-03 6.92660351e-06 9.99998978e-01 -9.00494700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.750385723 meters 0.01679353536732091 Centerline is valid? [True, True] Translation: X:141.25, Y:-78.47, Z:-9.01 [[-6.78675987e-01 -7.34436996e-01 1.09677380e-03 1.41245740e+02] [ 7.34436054e-01 -6.78676874e-01 -1.17629316e-03 -7.84683579e+01] [ 1.60826823e-03 7.18829855e-06 9.99998707e-01 -9.00503311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.780385723 meters 0.01669527129164931 Centerline is valid? [True, True] Translation: X:141.23, Y:-78.45, Z:-9.01 [[-6.79716783e-01 -7.33472836e-01 1.64100713e-03 1.41227574e+02] [ 7.33470727e-01 -6.79718764e-01 -1.75902753e-03 -7.84482342e+01] [ 2.40562225e-03 7.99015742e-06 9.99997106e-01 -9.00525858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.810385723 meters 0.01661208453344374 Centerline is valid? [True, True] Translation: X:141.21, Y:-78.43, Z:-9.01 [[-6.80152006e-01 -7.33068750e-01 1.85936869e-03 1.41208983e+02] [ 7.33066043e-01 -6.80154547e-01 -1.99201716e-03 -7.84276365e+01] [ 2.72494360e-03 8.16558387e-06 9.99996287e-01 -9.00527104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.840385723 meters 0.01657754240650092 Centerline is valid? [True, True] Translation: X:141.19, Y:-78.41, Z:-9.01 [[-6.80725464e-01 -7.32536010e-01 1.95879337e-03 1.41190401e+02] [ 7.32533008e-01 -6.80728282e-01 -2.09728287e-03 -7.84079832e+01] [ 2.86974127e-03 7.20694095e-06 9.99995882e-01 -9.00524837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.870385723 meters 0.017578893248363443 Centerline is valid? [True, True] Translation: X:141.17, Y:-78.39, Z:-9.01 [[-6.81302096e-01 -7.31997800e-01 2.58342932e-03 1.41170237e+02] [ 7.31992579e-01 -6.81306994e-01 -2.76461385e-03 -7.83877616e+01] [ 3.78379973e-03 7.51388113e-06 9.99992841e-01 -9.00688171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.900385723 meters 0.016682379386068716 Centerline is valid? [True, True] Translation: X:141.15, Y:-78.37, Z:-9.01 [[-6.80739600e-01 -7.32517714e-01 3.37584268e-03 1.41149655e+02] [ 7.32508817e-01 -6.80747970e-01 -3.61023293e-03 -7.83705849e+01] [ 4.94265762e-03 1.52060017e-05 9.99987785e-01 -9.00791754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.930385723 meters 0.016677087062678866 Centerline is valid? [True, True] Translation: X:141.13, Y:-78.35, Z:-9.01 [[-6.80361315e-01 -7.32866668e-01 3.86373566e-03 1.41129345e+02] [ 7.32855032e-01 -6.80372286e-01 -4.12978488e-03 -7.83506646e+01] [ 5.65536034e-03 2.18122448e-05 9.99984008e-01 -9.00923095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.960385723 meters 0.01766163877742262 Centerline is valid? [True, True] Translation: X:141.11, Y:-78.33, Z:-9.01 [[-6.80105844e-01 -7.33094881e-01 5.28547723e-03 1.41109118e+02] [ 7.33073137e-01 -6.80126381e-01 -5.64633997e-03 -7.83312173e+01] [ 7.73409542e-03 3.45325642e-05 9.99970091e-01 -9.01170161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.990385723 meters 0.016681859611878045 Centerline is valid? [True, True] Translation: X:141.09, Y:-78.31, Z:-9.01 [[-6.79380307e-01 -7.33767450e-01 5.26574694e-03 1.41090159e+02] [ 7.33745906e-01 -6.79400712e-01 -5.62301869e-03 -7.83122103e+01] [ 7.70354031e-03 4.35521001e-05 9.99970326e-01 -9.01101001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.020385723 meters 0.016817896651325288 Centerline is valid? [True, True] Translation: X:141.07, Y:-78.29, Z:-9.01 [[-6.78467047e-01 -7.34606034e-01 6.03659955e-03 1.41071252e+02] [ 7.34577786e-01 -6.78493899e-01 -6.44251344e-03 -7.82916333e+01] [ 8.82850522e-03 6.33188592e-05 9.99961026e-01 -9.01017541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.050385723 meters 0.01675895008229574 Centerline is valid? [True, True] Translation: X:141.05, Y:-78.27, Z:-9.01 [[-6.78136438e-01 -7.34909710e-01 6.22009474e-03 1.41051735e+02] [ 7.34879766e-01 -6.78164960e-01 -6.63455018e-03 -7.82708429e+01] [ 9.09404565e-03 7.18915390e-05 9.99958646e-01 -9.00955333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.080385723 meters 0.01687297743736216 Centerline is valid? [True, True] Translation: X:141.03, Y:-78.25, Z:-9.01 [[-6.77866056e-01 -7.35158936e-01 6.24097229e-03 1.41032295e+02] [ 7.35128837e-01 -6.77894780e-01 -6.65278906e-03 -7.82524515e+01] [ 9.12157986e-03 7.82188279e-05 9.99958394e-01 -9.01035410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.110385723 meters 0.016885701562394873 Centerline is valid? [True, True] Translation: X:141.01, Y:-78.23, Z:-9.01 [[-6.76737861e-01 -7.36196562e-01 6.36317118e-03 1.41010972e+02] [ 7.36165354e-01 -6.76767769e-01 -6.77930666e-03 -7.82342142e+01] [ 9.29729142e-03 9.65326717e-05 9.99956775e-01 -9.01177057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.140385723 meters 0.01718413157251941 Centerline is valid? [True, True] Translation: X:140.99, Y:-78.21, Z:-9.01 [[-6.75515182e-01 -7.37315895e-01 6.67148018e-03 1.40991070e+02] [ 7.37281683e-01 -6.75548115e-01 -7.10382787e-03 -7.82142596e+01] [ 9.74467107e-03 1.20016550e-04 9.99952512e-01 -9.01274031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.170385723 meters 0.0172965628322187 Centerline is valid? [True, True] Translation: X:140.97, Y:-78.19, Z:-9.01 [[-6.74845162e-01 -7.37925150e-01 7.10498341e-03 1.40971793e+02] [ 7.37886424e-01 -6.74882548e-01 -7.56123505e-03 -7.81938221e+01] [ 1.03746548e-02 1.40007907e-04 9.99946172e-01 -9.01297811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.200385723 meters 0.01775838516623206 Centerline is valid? [True, True] Translation: X:140.95, Y:-78.17, Z:-9.01 [[-6.73135132e-01 -7.39477100e-01 7.91914257e-03 1.40952071e+02] [ 7.39429150e-01 -6.73181688e-01 -8.42304153e-03 -7.81734175e+01] [ 1.15596681e-02 1.85799691e-04 9.99933168e-01 -9.01448028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.230385723 meters 0.01795911166146891 Centerline is valid? [True, True] Translation: X:140.93, Y:-78.15, Z:-9.01 [[-6.72566163e-01 -7.39990915e-01 8.25850143e-03 1.40932489e+02] [ 7.39938864e-01 -6.72616833e-01 -8.77916653e-03 -7.81535478e+01] [ 1.20513105e-02 2.06215824e-04 9.99927359e-01 -9.01498931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.260385723 meters 0.018516615434110165 Centerline is valid? [True, True] Translation: X:140.91, Y:-78.14, Z:-9.02 [[-6.71287166e-01 -7.41144739e-01 8.83267482e-03 1.40912107e+02] [ 7.41085369e-01 -6.71345228e-01 -9.38408171e-03 -7.81352879e+01] [ 1.28847369e-02 2.46352459e-04 9.99916958e-01 -9.01688443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.290385723 meters 0.018863418949842167 Centerline is valid? [True, True] Translation: X:140.89, Y:-78.12, Z:-9.02 [[-6.70880736e-01 -7.41509767e-01 9.07211439e-03 1.40891755e+02] [ 7.41447236e-01 -6.70942022e-01 -9.63323969e-03 -7.81160686e+01] [ 1.32300041e-02 2.63739212e-04 9.99912445e-01 -9.01807829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32038572300002 meters 0.01860656182072349 Centerline is valid? [True, True] Translation: X:140.87, Y:-78.10, Z:-9.02 [[-6.70128343e-01 -7.42170381e-01 1.05418080e-02 1.40872405e+02] [ 7.42086127e-01 -6.70211175e-01 -1.11875286e-02 -7.80954316e+01] [ 1.53682899e-02 3.25849454e-04 9.99881848e-01 -9.01851558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35038572300002 meters 0.018754248210654537 Centerline is valid? [True, True] Translation: X:140.85, Y:-78.08, Z:-9.02 [[-6.70044361e-01 -7.42240612e-01 1.09282769e-02 1.40853867e+02] [ 7.42150187e-01 -6.70133386e-01 -1.15907514e-02 -7.80755207e+01] [ 1.59265296e-02 3.44105186e-04 9.99873106e-01 -9.01872548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38038572300002 meters 0.01881700873456869 Centerline is valid? [True, True] Translation: X:140.83, Y:-78.05, Z:-9.02 [[-6.69854860e-01 -7.42400372e-01 1.16685084e-02 1.40834815e+02] [ 7.42297421e-01 -6.69956377e-01 -1.23690337e-02 -7.80543551e+01] [ 1.70001669e-02 3.76046370e-04 9.99855416e-01 -9.01830869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41038572300002 meters 0.018939204103567038 Centerline is valid? [True, True] Translation: X:140.82, Y:-78.04, Z:-9.02 [[-6.69855026e-01 -7.42401341e-01 1.15971406e-02 1.40815743e+02] [ 7.42299774e-01 -6.69955301e-01 -1.22857743e-02 -7.80354468e+01] [ 1.68905411e-02 3.78867158e-04 9.99857273e-01 -9.01895744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.440385723 meters 0.018762662797224054 Centerline is valid? [True, True] Translation: X:140.80, Y:-78.02, Z:-9.02 [[-6.69898420e-01 -7.42358343e-01 1.18404928e-02 1.40796255e+02] [ 7.42252581e-01 -6.70002939e-01 -1.25366329e-02 -7.80154038e+01] [ 1.72398390e-02 3.90365794e-04 9.99851307e-01 -9.01916446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.470385723 meters 0.01894850365402088 Centerline is valid? [True, True] Translation: X:140.78, Y:-78.00, Z:-9.02 [[-6.70179869e-01 -7.42100266e-01 1.20887556e-02 1.40777762e+02] [ 7.41990128e-01 -6.70288772e-01 -1.27910877e-02 -7.79966221e+01] [ 1.75952267e-02 3.97407792e-04 9.99845113e-01 -9.01964725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.500385723 meters 0.01932970686053582 Centerline is valid? [True, True] Translation: X:140.76, Y:-77.98, Z:-9.02 [[-6.70180856e-01 -7.42107866e-01 1.15557207e-02 1.40759091e+02] [ 7.42007362e-01 -6.70280364e-01 -1.22191941e-02 -7.79774658e+01] [ 1.68135327e-02 3.85359799e-04 9.99858568e-01 -9.01941566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.530385723 meters 0.019440777946565013 Centerline is valid? [True, True] Translation: X:140.74, Y:-77.96, Z:-9.02 [[-6.70043478e-01 -7.42240270e-01 1.10054527e-02 1.40740841e+02] [ 7.42149242e-01 -6.70133749e-01 -1.16301783e-02 -7.79575636e+01] [ 1.60075119e-02 3.74963276e-04 9.99871801e-01 -9.01846713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.560385723 meters 0.019691836272408007 Centerline is valid? [True, True] Translation: X:140.72, Y:-77.94, Z:-9.01 [[-6.69258458e-01 -7.42969254e-01 9.47650255e-03 1.40723562e+02] [ 7.42901919e-01 -6.69325459e-01 -1.00084541e-02 -7.79366119e+01] [ 1.37788381e-02 3.41869348e-04 9.99905009e-01 -9.01493914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.590385723 meters 0.0199567937457467 Centerline is valid? [True, True] Translation: X:140.71, Y:-77.92, Z:-9.01 [[-6.68892293e-01 -7.43306182e-01 8.88934298e-03 1.40705067e+02] [ 7.43247039e-01 -6.68951276e-01 -9.38235761e-03 -7.79168651e+01] [ 1.29205018e-02 3.31191159e-04 9.99916472e-01 -9.01406305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.620385723 meters 0.019384386267343675 Centerline is valid? [True, True] Translation: X:140.69, Y:-77.90, Z:-9.01 [[-6.68494782e-01 -7.43666680e-01 8.63693199e-03 1.40686977e+02] [ 7.43610951e-01 -6.68550491e-01 -9.11012378e-03 -7.78966255e+01] [ 1.25491206e-02 3.32447008e-04 9.99921201e-01 -9.01371529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.650385723 meters 0.020624925639558592 Centerline is valid? [True, True] Translation: X:140.67, Y:-77.88, Z:-9.02 [[-6.68615607e-01 -7.43556919e-01 8.73372294e-03 1.40667053e+02] [ 7.43500002e-01 -6.68672561e-01 -9.20619018e-03 -7.78793297e+01] [ 1.26853273e-02 3.38120578e-04 9.99919481e-01 -9.01533205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.680385723 meters 0.020459595569610033 Centerline is valid? [True, True] Translation: X:140.65, Y:-77.86, Z:-9.02 [[-6.69707796e-01 -7.42573202e-01 8.74682660e-03 1.40649301e+02] [ 7.42516095e-01 -6.69764835e-01 -9.21492257e-03 -7.78579102e+01] [ 1.27010714e-02 3.23354041e-04 9.99919286e-01 -9.01508097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.710385723 meters 0.020391204200589836 Centerline is valid? [True, True] Translation: X:140.63, Y:-77.84, Z:-9.01 [[-6.70364938e-01 -7.41980447e-01 8.71016348e-03 1.40631177e+02] [ 7.41923835e-01 -6.70421448e-01 -9.17091809e-03 -7.78377721e+01] [ 1.26441223e-02 3.14415955e-04 9.99920010e-01 -9.01471139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.740385723 meters 0.019123334242129596 Centerline is valid? [True, True] Translation: X:140.61, Y:-77.82, Z:-9.01 [[-6.71438390e-01 -7.41022976e-01 7.44562191e-03 1.40613722e+02] [ 7.40981596e-01 -6.71479623e-01 -7.83525668e-03 -7.78152565e+01] [ 1.08056886e-02 2.56176671e-04 9.99941584e-01 -9.01193763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.770385723 meters 0.018967942759323668 Centerline is valid? [True, True] Translation: X:140.59, Y:-77.80, Z:-9.01 [[-6.71809333e-01 -7.40693264e-01 6.76076340e-03 1.40594436e+02] [ 7.40659172e-01 -6.71843312e-01 -7.11021935e-03 -7.77956502e+01] [ 9.80866525e-03 2.30709701e-04 9.99951867e-01 -9.01123705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.800385723 meters 0.020342689787560153 Centerline is valid? [True, True] Translation: X:140.57, Y:-77.78, Z:-9.01 [[-6.71947318e-01 -7.40574320e-01 6.03980235e-03 1.40574535e+02] [ 7.40547142e-01 -6.71974430e-01 -6.34794092e-03 -7.77788446e+01] [ 8.75971477e-03 2.07276494e-04 9.99961611e-01 -9.01088983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.830385723 meters 0.01831734410406777 Centerline is valid? [True, True] Translation: X:140.56, Y:-77.76, Z:-9.01 [[-6.72509912e-01 -7.40067268e-01 5.55487797e-03 1.40559232e+02] [ 7.40044292e-01 -6.72532827e-01 -5.83463120e-03 -7.77560134e+01] [ 8.05385736e-03 1.87008414e-04 9.99967550e-01 -9.00826768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.860385723 meters 0.018171515875040747 Centerline is valid? [True, True] Translation: X:140.54, Y:-77.73, Z:-9.01 [[-6.73530525e-01 -7.39146559e-01 4.35841715e-03 1.40541876e+02] [ 7.39132405e-01 -6.73544613e-01 -4.57638864e-03 -7.77340852e+01] [ 6.31821031e-03 1.39109905e-04 9.99980030e-01 -9.00587271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.890385723 meters 0.017381050880002157 Centerline is valid? [True, True] Translation: X:140.52, Y:-77.71, Z:-9.00 [[-6.75869294e-01 -7.37015774e-01 2.90613405e-03 1.40524711e+02] [ 7.37009469e-01 -6.75875537e-01 -3.04976394e-03 -7.77112011e+01] [ 4.21190904e-03 8.06065153e-05 9.99991127e-01 -9.00427471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.920385723 meters 0.017789578083581004 Centerline is valid? [True, True] Translation: X:140.51, Y:-77.69, Z:-9.00 [[-6.77733513e-01 -7.35305651e-01 1.69823076e-03 1.40505616e+02] [ 7.35303495e-01 -6.77735640e-01 -1.78111408e-03 -7.76917323e+01] [ 2.46061476e-03 4.15943136e-05 9.99996972e-01 -9.00366087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.950385723 meters 0.016452284857012126 Centerline is valid? [True, True] Translation: X:140.49, Y:-77.67, Z:-9.00 [[-6.81386030e-01 -7.31924194e-01 -2.28381605e-04 1.40490322e+02] [ 7.31924155e-01 -6.81386068e-01 2.39628055e-04 -7.76671202e+01] [-3.31005615e-04 -3.87880461e-06 9.99999945e-01 -9.00148517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.980385723 meters 0.0183847140366406 Centerline is valid? [True, True] Translation: X:140.47, Y:-77.65, Z:-9.00 [[-6.83731012e-01 -7.29733711e-01 -7.83435704e-04 1.40473744e+02] [ 7.29733249e-01 -6.83731461e-01 8.21038383e-04 -7.76458361e+01] [-1.13479903e-03 -1.03296767e-05 9.99999356e-01 -9.00252694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.010385723 meters 0.015721794656631774 Centerline is valid? [True, True] Translation: X:140.46, Y:-77.62, Z:-9.00 [[-6.86497131e-01 -7.27121635e-01 -3.97721819e-03 1.40457091e+02] [ 7.27109708e-01 -6.86508651e-01 4.16480628e-03 -7.76229219e+01] [-5.75871544e-03 -3.27463929e-05 9.99983418e-01 -8.99700762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.040385723 meters 0.015771838079895573 Centerline is valid? [True, True] Translation: X:140.44, Y:-77.60, Z:-9.00 [[-6.87917527e-01 -7.25768647e-01 -5.41724768e-03 1.40438660e+02] [ 7.25746497e-01 -6.87938856e-01 5.67027855e-03 -7.76029346e+01] [-7.84204557e-03 -3.08645277e-05 9.99969250e-01 -8.99501328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07038572300002 meters 0.015700372274211075 Centerline is valid? [True, True] Translation: X:140.42, Y:-77.58, Z:-8.99 [[-6.89158660e-01 -7.24582473e-01 -6.37036327e-03 1.40420044e+02] [ 7.24551827e-01 -6.89188102e-01 6.66416499e-03 -7.75816865e+01] [-9.21911572e-03 -2.29913268e-05 9.99957503e-01 -8.99447256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10038572300002 meters 0.015844045275290587 Centerline is valid? [True, True] Translation: X:140.40, Y:-77.56, Z:-8.99 [[-6.91855405e-01 -7.21998739e-01 -7.34298661e-03 1.40402116e+02] [ 7.21957923e-01 -6.91894371e-01 7.67706640e-03 -7.75607769e+01] [-1.06234034e-02 1.00925257e-05 9.99943570e-01 -8.99248166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13038572300002 meters 0.015787392397907832 Centerline is valid? [True, True] Translation: X:140.38, Y:-77.54, Z:-8.99 [[-6.94426422e-01 -7.19526877e-01 -7.28134850e-03 1.40383140e+02] [ 7.19486651e-01 -6.94464594e-01 7.60833221e-03 -7.75405878e+01] [-1.05310382e-02 4.45938600e-05 9.99944546e-01 -8.99439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16038572300002 meters 0.016496823008175097 Centerline is valid? [True, True] Translation: X:140.36, Y:-77.52, Z:-9.00 [[-6.96225353e-01 -7.17789051e-01 -7.00970937e-03 1.40364601e+02] [ 7.17751714e-01 -6.96260636e-01 7.32145752e-03 -7.75201979e+01] [-1.01358468e-02 6.61534272e-05 9.99948629e-01 -8.99525938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.190385723 meters 0.01611542339947485 Centerline is valid? [True, True] Translation: X:140.35, Y:-77.50, Z:-9.00 [[-6.99325125e-01 -7.14771241e-01 -6.81493200e-03 1.40345734e+02] [ 7.14735844e-01 -6.99358322e-01 7.11411770e-03 -7.74990173e+01] [-9.85104614e-03 1.04205074e-04 9.99951472e-01 -8.99601046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.220385723 meters 0.016340619245450255 Centerline is valid? [True, True] Translation: X:140.33, Y:-77.48, Z:-9.00 [[-7.01098699e-01 -7.13032221e-01 -6.75765865e-03 1.40327096e+02] [ 7.12997374e-01 -7.01131255e-01 7.05039210e-03 -7.74782681e+01] [-9.76516242e-03 1.24827857e-04 9.99952312e-01 -8.99604715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.250385723 meters 0.016869592466209483 Centerline is valid? [True, True] Translation: X:140.31, Y:-77.46, Z:-9.00 [[-7.04208762e-01 -7.09969867e-01 -5.72784238e-03 1.40309679e+02] [ 7.09944753e-01 -7.04232042e-01 5.97325782e-03 -7.74580930e+01] [-8.27456319e-03 1.39968850e-04 9.99965755e-01 -8.99734604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.280385723 meters 0.017410841165296117 Centerline is valid? [True, True] Translation: X:140.29, Y:-77.44, Z:-9.00 [[-7.06085995e-01 -7.08106736e-01 -5.23624672e-03 1.40290904e+02] [ 7.08085720e-01 -7.06105395e-01 5.45749175e-03 -7.74379753e+01] [-7.56182873e-03 1.45746962e-04 9.99971398e-01 -8.99854655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.310385723 meters 0.01910097444040375 Centerline is valid? [True, True] Translation: X:140.27, Y:-77.42, Z:-9.00 [[-7.09520192e-01 -7.04673523e-01 -4.04004103e-03 1.40270979e+02] [ 7.04660971e-01 -7.09531681e-01 4.20832601e-03 -7.74189129e+01] [-5.83203302e-03 1.39033048e-04 9.99982984e-01 -9.00259914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.340385723 meters 0.018503285909533467 Centerline is valid? [True, True] Translation: X:140.25, Y:-77.40, Z:-9.00 [[-7.10990615e-01 -7.03190819e-01 -3.87523378e-03 1.40252502e+02] [ 7.03179258e-01 -7.11001161e-01 4.03490984e-03 -7.73997539e+01] [-5.59260727e-03 1.43799019e-04 9.99984351e-01 -9.00156045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.370385723 meters 0.019440139349088243 Centerline is valid? [True, True] Translation: X:140.23, Y:-77.38, Z:-9.00 [[-7.13875702e-01 -7.00264823e-01 -3.26495588e-03 1.40233251e+02] [ 7.00256594e-01 -7.13883154e-01 3.39770799e-03 -7.73796494e+01] [-4.71009238e-03 1.39234290e-04 9.99988898e-01 -9.00259931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.400385723 meters 0.02092364036357925 Centerline is valid? [True, True] Translation: X:140.21, Y:-77.36, Z:-9.00 [[-7.16574406e-01 -6.97504703e-01 -2.88257103e-03 1.40213517e+02] [ 6.97498273e-01 -7.16580191e-01 2.99807800e-03 -7.73605164e+01] [-4.15676681e-03 1.37757650e-04 9.99991351e-01 -9.00462687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.430385723 meters 0.022514206102179878 Centerline is valid? [True, True] Translation: X:140.19, Y:-77.34, Z:-9.01 [[-7.17616917e-01 -6.96434071e-01 -2.35475321e-03 1.40193239e+02] [ 6.96429779e-01 -7.17620771e-01 2.44781750e-03 -7.73410983e+01] [-3.39456332e-03 1.16674991e-04 9.99994232e-01 -9.00688219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.460385723 meters 0.020839522028418003 Centerline is valid? [True, True] Translation: X:140.17, Y:-77.32, Z:-9.01 [[-7.17637651e-01 -6.96413675e-01 -2.04849558e-03 1.40172888e+02] [ 6.96410430e-01 -7.17640567e-01 2.12828324e-03 -7.73221383e+01] [-2.95224908e-03 1.00742494e-04 9.99995637e-01 -9.00607040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.490385723 meters 0.019611360389723734 Centerline is valid? [True, True] Translation: X:140.15, Y:-77.31, Z:-9.01 [[-7.17168566e-01 -6.96899617e-01 4.13855324e-04 1.40149399e+02] [ 6.96899485e-01 -7.17168685e-01 -4.29492182e-04 -7.73054058e+01] [ 5.96117016e-04 -1.96027302e-05 9.99999822e-01 -9.00983571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.520385723 meters 0.022079695155452394 Centerline is valid? [True, True] Translation: X:140.13, Y:-77.29, Z:-9.02 [[-7.15778685e-01 -6.98320590e-01 3.03781484e-03 1.40129242e+02] [ 6.98313488e-01 -7.15785119e-01 -3.15223517e-03 -7.72867166e+01] [ 4.37569338e-03 -1.34955668e-04 9.99990418e-01 -9.01529185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.550385723 meters 0.02118104255729133 Centerline is valid? [True, True] Translation: X:140.11, Y:-77.27, Z:-9.02 [[-7.14636527e-01 -6.99486702e-01 3.60389156e-03 1.40107266e+02] [ 6.99476731e-01 -7.14645599e-01 -3.73772859e-03 -7.72689834e+01] [ 5.18999668e-03 -1.50279088e-04 9.99986521e-01 -9.01638270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.580385723 meters 0.01895018557545515 Centerline is valid? [True, True] Translation: X:140.08, Y:-77.25, Z:-9.02 [[-7.11168374e-01 -7.03008007e-01 4.39153442e-03 1.40082334e+02] [ 7.02993285e-01 -7.11181917e-01 -4.55214581e-03 -7.72543344e+01] [ 6.32337482e-03 -1.50122930e-04 9.99979996e-01 -9.01743555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.610385723 meters 0.01895018557545515 Centerline is valid? [True, True] Translation: X:140.06, Y:-77.24, Z:-9.02 [[-7.11373313e-01 -7.02800621e-01 4.39286760e-03 1.40063664e+02] [ 7.02785902e-01 -7.11386860e-01 -4.55085932e-03 -7.72351430e+01] [ 6.32337504e-03 -1.50114449e-04 9.99979996e-01 -9.01744928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.640385723 meters 0.01714225968208095 Centerline is valid? [True, True] Translation: X:140.04, Y:-77.22, Z:-9.02 [[-7.09606836e-01 -7.04581801e-01 4.75655527e-03 1.40039797e+02] [ 7.04564602e-01 -7.09622763e-01 -4.92498170e-03 -7.72188145e+01] [ 6.84541236e-03 -1.43500209e-04 9.99976560e-01 -9.01807755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.670385723 meters 0.016276346401163492 Centerline is valid? [True, True] Translation: X:140.02, Y:-77.20, Z:-9.02 [[-7.05519842e-01 -7.08662213e-01 6.29442768e-03 1.40015377e+02] [ 7.08632286e-01 -7.05547907e-01 -6.51413117e-03 -7.72048157e+01] [ 9.05733889e-03 -1.35414116e-04 9.99958972e-01 -9.02078251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.700385723 meters 0.01616459140835772 Centerline is valid? [True, True] Translation: X:139.99, Y:-77.19, Z:-9.02 [[-7.03233388e-01 -7.10925300e-01 6.92961286e-03 1.39994462e+02] [ 7.10889171e-01 -7.03267520e-01 -7.16818356e-03 -7.71884751e+01] [ 9.96941470e-03 -1.14719268e-04 9.99950298e-01 -9.02366074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.730385723 meters 0.015055652932862224 Centerline is valid? [True, True] Translation: X:139.97, Y:-77.18, Z:-9.03 [[-6.98135455e-01 -7.15914153e-01 8.59142780e-03 1.39967049e+02] [ 7.15859049e-01 -6.98188315e-01 -8.88252561e-03 -7.71758912e+01] [ 1.23575603e-02 -5.09547166e-05 9.99923641e-01 -9.02556540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.760385723 meters 0.01695975697469754 Centerline is valid? [True, True] Translation: X:139.94, Y:-77.16, Z:-9.03 [[-6.96527998e-01 -7.17469448e-01 9.29193060e-03 1.39944093e+02] [ 7.17405208e-01 -6.96589973e-01 -9.60089213e-03 -7.71596345e+01] [ 1.33610125e-02 -2.12107663e-05 9.99910737e-01 -9.02882689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.790385723 meters 0.014969405272950856 Centerline is valid? [True, True] Translation: X:139.92, Y:-77.15, Z:-9.03 [[-6.92840723e-01 -7.21013038e-01 1.05797738e-02 1.39917772e+02] [ 7.20930261e-01 -6.92921494e-01 -1.09253064e-02 -7.71467660e+01] [ 1.52082410e-02 5.77819574e-05 9.99884346e-01 -9.02967307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82038572300002 meters 0.01638051400219212 Centerline is valid? [True, True] Translation: X:139.90, Y:-77.13, Z:-9.03 [[-6.92614506e-01 -7.21216798e-01 1.14663400e-02 1.39895262e+02] [ 7.21119698e-01 -6.92709409e-01 -1.18345105e-02 -7.71295498e+01] [ 1.64780894e-02 7.18499938e-05 9.99864224e-01 -9.03208681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85038572300002 meters 0.015327236271126084 Centerline is valid? [True, True] Translation: X:139.87, Y:-77.12, Z:-9.04 [[-6.92374521e-01 -7.21416630e-01 1.32502309e-02 1.39870368e+02] [ 7.21287137e-01 -6.92501290e-01 -1.36685452e-02 -7.71154697e+01] [ 1.90365178e-02 9.34687150e-05 9.99818785e-01 -9.03582272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88038572300002 meters 0.017098362813341948 Centerline is valid? [True, True] Translation: X:139.85, Y:-77.10, Z:-9.04 [[-6.93592213e-01 -7.20230846e-01 1.40488704e-02 1.39850470e+02] [ 7.20085171e-01 -6.93734477e-01 -1.44852372e-02 -7.70989062e+01] [ 2.01789004e-02 6.95355327e-05 9.99796383e-01 -9.03890979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91038572300002 meters 0.014997623247338929 Centerline is valid? [True, True] Translation: X:139.83, Y:-77.08, Z:-9.04 [[-6.95776126e-01 -7.18122616e-01 1.39817916e-02 1.39827100e+02] [ 7.17978062e-01 -6.95916596e-01 -1.44081278e-02 -7.70826301e+01] [ 2.00769632e-02 1.37883383e-05 9.99798437e-01 -9.03574962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.940385723 meters 0.01523222898839482 Centerline is valid? [True, True] Translation: X:139.81, Y:-77.07, Z:-9.04 [[-6.97579675e-01 -7.16368370e-01 1.41051715e-02 1.39805820e+02] [ 7.16221011e-01 -6.97722264e-01 -1.45294994e-02 -7.70655518e+01] [ 2.02499660e-02 -3.30633081e-05 9.99794948e-01 -9.03701756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.970385723 meters 0.015716257748602143 Centerline is valid? [True, True] Translation: X:139.78, Y:-77.05, Z:-9.04 [[-7.00753782e-01 -7.13252524e-01 1.46619847e-02 1.39781924e+02] [ 7.13092739e-01 -7.00907142e-01 -1.50971451e-02 -7.70506129e+01] [ 2.10447666e-02 -1.24026682e-04 9.99778527e-01 -9.03915183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.000385723 meters 0.018225927631992034 Centerline is valid? [True, True] Translation: X:139.76, Y:-77.04, Z:-9.04 [[-7.03711888e-01 -7.10304276e-01 1.60441398e-02 1.39756751e+02] [ 7.10112383e-01 -7.03894726e-01 -1.65111722e-02 -7.70357212e+01] [ 2.30213416e-02 -2.25965851e-04 9.99734948e-01 -9.04168735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.030385723 meters 0.015751111411032262 Centerline is valid? [True, True] Translation: X:139.73, Y:-77.02, Z:-9.04 [[-7.03851214e-01 -7.10142514e-01 1.70610153e-02 1.39733997e+02] [ 7.09925701e-01 -7.04057918e-01 -1.75484266e-02 -7.70182607e+01] [ 2.44738267e-02 -2.39428155e-04 9.99700442e-01 -9.03935619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.060385723 meters 0.016185541333642667 Centerline is valid? [True, True] Translation: X:139.71, Y:-77.00, Z:-9.04 [[-7.03788999e-01 -7.10172360e-01 1.83375029e-02 1.39708251e+02] [ 7.09922149e-01 -7.04027810e-01 -1.88516837e-02 -7.70047029e+01] [ 2.62980567e-02 -2.49408087e-04 9.99654115e-01 -9.04213580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.090385723 meters 0.01687908066268928 Centerline is valid? [True, True] Translation: X:139.69, Y:-76.99, Z:-9.05 [[-7.03579472e-01 -7.10380448e-01 1.83178978e-02 1.39686754e+02] [ 7.10131161e-01 -7.03817849e-01 -1.88193897e-02 -7.69895603e+01] [ 2.62613899e-02 -2.32826232e-04 9.99655083e-01 -9.04527996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.120385723 meters 0.01833793367342701 Centerline is valid? [True, True] Translation: X:139.66, Y:-76.98, Z:-9.04 [[-7.03364781e-01 -7.10581834e-01 1.87467936e-02 1.39658688e+02] [ 7.10321092e-01 -7.03614531e-01 -1.92493548e-02 -7.69772905e+01] [ 2.68687582e-02 -2.23075322e-04 9.99638945e-01 -9.04354068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.150385723 meters 0.020532846511089 Centerline is valid? [True, True] Translation: X:139.64, Y:-76.96, Z:-9.04 [[-7.03405883e-01 -7.10512621e-01 1.97984727e-02 1.39635429e+02] [ 7.10222073e-01 -7.03684420e-01 -2.03185628e-02 -7.69598282e+01] [ 2.83684721e-02 -2.30884314e-04 9.99597507e-01 -9.04453644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.180385723 meters 0.015835918579779895 Centerline is valid? [True, True] Translation: X:139.61, Y:-76.94, Z:-9.04 [[-7.02064104e-01 -7.11818832e-01 2.04925491e-02 1.39611288e+02] [ 7.11508450e-01 -7.02363097e-01 -2.10191821e-02 -7.69446524e+01] [ 2.93550599e-02 -1.76191374e-04 9.99569032e-01 -9.04124711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.210385723 meters 0.01862242103360926 Centerline is valid? [True, True] Translation: X:139.59, Y:-76.93, Z:-9.04 [[-7.01321951e-01 -7.12541330e-01 2.07936096e-02 1.39587790e+02] [ 7.12222449e-01 -7.01630126e-01 -2.13154902e-02 -7.69299914e+01] [ 2.97775906e-02 -1.39345592e-04 9.99556540e-01 -9.04316854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.240385723 meters 0.015712527659080117 Centerline is valid? [True, True] Translation: X:139.57, Y:-76.91, Z:-9.04 [[-7.00077290e-01 -7.13775398e-01 2.04075880e-02 1.39565391e+02] [ 7.13469109e-01 -7.00374668e-01 -2.09082638e-02 -7.69126664e+01] [ 2.92167620e-02 -7.72170354e-05 9.99573096e-01 -9.03999834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.270385723 meters 0.017559451546468558 Centerline is valid? [True, True] Translation: X:139.54, Y:-76.90, Z:-9.04 [[-6.99285208e-01 -7.14551053e-01 2.04203559e-02 1.39543422e+02] [ 7.14245047e-01 -6.99583298e-01 -2.09098402e-02 -7.68951859e+01] [ 2.92268883e-02 -3.68039289e-05 9.99572803e-01 -9.04128750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.300385723 meters 0.015172153299734604 Centerline is valid? [True, True] Translation: X:139.52, Y:-76.88, Z:-9.04 [[-6.96582026e-01 -7.17228343e-01 1.88940263e-02 1.39519813e+02] [ 7.16967646e-01 -6.96838215e-01 -1.93363986e-02 -7.68782596e+01] [ 2.70346926e-02 7.70178711e-05 9.99634493e-01 -9.03571558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.330385723 meters 0.015428738718193951 Centerline is valid? [True, True] Translation: X:139.50, Y:-76.86, Z:-9.04 [[-6.95428567e-01 -7.18381697e-01 1.75170008e-02 1.39498864e+02] [ 7.18158147e-01 -6.95649139e-01 -1.79207029e-02 -7.68600713e+01] [ 2.50595915e-02 1.17408093e-04 9.99685952e-01 -9.03608213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.360385723 meters 0.016538815988926293 Centerline is valid? [True, True] Translation: X:139.48, Y:-76.84, Z:-9.03 [[-6.93621037e-01 -7.20174748e-01 1.54333775e-02 1.39478144e+02] [ 7.20001854e-01 -6.93792696e-01 -1.57805653e-02 -7.68406747e+01] [ 2.20723292e-02 1.66328372e-04 9.99756363e-01 -9.03236244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.390385723 meters 0.015214056624539896 Centerline is valid? [True, True] Translation: X:139.46, Y:-76.82, Z:-9.03 [[-6.92483187e-01 -7.21295053e-01 1.41592159e-02 1.39458503e+02] [ 7.21149927e-01 -6.92627902e-01 -1.44696769e-02 -7.68212053e+01] [ 2.02439744e-02 1.90909536e-04 9.99795052e-01 -9.02921475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.420385723 meters 0.01531257073798946 Centerline is valid? [True, True] Translation: X:139.44, Y:-76.80, Z:-9.03 [[-6.90901314e-01 -7.22850032e-01 1.19668870e-02 1.39437391e+02] [ 7.22746719e-01 -6.91004913e-01 -1.22225063e-02 -7.68026419e+01] [ 1.71042168e-02 2.04482705e-04 9.99853691e-01 -9.02638806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.450385723 meters 0.015479106775959834 Centerline is valid? [True, True] Translation: X:139.42, Y:-76.78, Z:-9.02 [[-6.90266716e-01 -7.23471286e-01 1.10072736e-02 1.39419300e+02] [ 7.23384061e-01 -6.90354442e-01 -1.12358647e-02 -7.67827067e+01] [ 1.57277458e-02 2.06742835e-04 9.99876290e-01 -9.02426930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.480385723 meters 0.015574475909767394 Centerline is valid? [True, True] Translation: X:139.40, Y:-76.76, Z:-9.02 [[-6.90430557e-01 -7.23309862e-01 1.13353282e-02 1.39401746e+02] [ 7.23217453e-01 -6.90523568e-01 -1.15636448e-02 -7.67618629e+01] [ 1.61914096e-02 2.14013509e-04 9.99868888e-01 -9.02334469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.510385723 meters 0.015622158914190862 Centerline is valid? [True, True] Translation: X:139.38, Y:-76.74, Z:-9.02 [[-6.90709036e-01 -7.23038966e-01 1.16482464e-02 1.39384468e+02] [ 7.22941466e-01 -6.90807214e-01 -1.18756152e-02 -7.67404270e+01] [ 1.66332252e-02 2.18405579e-04 9.99861634e-01 -9.02203635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.540385723 meters 0.015435102407404267 Centerline is valid? [True, True] Translation: X:139.37, Y:-76.72, Z:-9.02 [[-6.91883361e-01 -7.21924267e-01 1.10800169e-02 1.39369616e+02] [ 7.21836020e-01 -6.91972049e-01 -1.12890445e-02 -7.67184802e+01] [ 1.58168972e-02 1.87253263e-04 9.99874888e-01 -9.02011842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57038572300002 meters 0.015340059725652229 Centerline is valid? [True, True] Translation: X:139.36, Y:-76.70, Z:-9.02 [[-6.93067134e-01 -7.20789159e-01 1.09970513e-02 1.39355273e+02] [ 7.20702167e-01 -6.93154356e-01 -1.11993333e-02 -7.66962557e+01] [ 1.56950121e-02 1.63708915e-04 9.99876812e-01 -9.01919691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60038572300002 meters 0.015383972605319483 Centerline is valid? [True, True] Translation: X:139.34, Y:-76.68, Z:-9.02 [[-6.93635153e-01 -7.20236023e-01 1.14169161e-02 1.39338568e+02] [ 7.20142299e-01 -6.93729087e-01 -1.16199451e-02 -7.66751267e+01] [ 1.62893498e-02 1.61801836e-04 9.99867307e-01 -9.01953428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63038572300002 meters 0.015243065115391863 Centerline is valid? [True, True] Translation: X:139.32, Y:-76.65, Z:-9.02 [[-6.94460389e-01 -7.19440707e-01 1.13945966e-02 1.39322744e+02] [ 7.19347357e-01 -6.94553847e-01 -1.15902450e-02 -7.66523823e+01] [ 1.62526549e-02 1.47706860e-04 9.99867906e-01 -9.01936336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66038572300002 meters 0.017945650830525767 Centerline is valid? [True, True] Translation: X:139.31, Y:-76.63, Z:-9.02 [[-6.95047409e-01 -7.18869571e-01 1.16464557e-02 1.39305508e+02] [ 7.18772085e-01 -6.95144963e-01 -1.18393454e-02 -7.66307446e+01] [ 1.66069201e-02 1.42240888e-04 9.99862085e-01 -9.02181836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.690385723 meters 0.01517581484734273 Centerline is valid? [True, True] Translation: X:139.29, Y:-76.61, Z:-9.02 [[-6.94206523e-01 -7.19695880e-01 1.07304794e-02 1.39292135e+02] [ 7.19613318e-01 -6.94289433e-01 -1.09021379e-02 -7.66052079e+01] [ 1.52962822e-02 1.53460606e-04 9.99882993e-01 -9.01571347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.720385723 meters 0.015358795561138824 Centerline is valid? [True, True] Translation: X:139.27, Y:-76.58, Z:-9.02 [[-6.94129983e-01 -7.19774626e-01 1.03949012e-02 1.39274786e+02] [ 7.19697248e-01 -6.94207796e-01 -1.05549915e-02 -7.65843628e+01] [ 1.48134365e-02 1.54645661e-04 9.99890263e-01 -9.01543192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.750385723 meters 0.017322396368029565 Centerline is valid? [True, True] Translation: X:139.26, Y:-76.56, Z:-9.02 [[-6.94035106e-01 -7.19870915e-01 1.00567168e-02 1.39258696e+02] [ 7.19798588e-01 -6.94107946e-01 -1.02054340e-02 -7.65615141e+01] [ 1.43270422e-02 1.55881080e-04 9.99897351e-01 -9.01628298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.780385723 meters 0.015699976914639223 Centerline is valid? [True, True] Translation: X:139.24, Y:-76.54, Z:-9.01 [[-6.93557839e-01 -7.20332651e-01 9.91944304e-03 1.39241246e+02] [ 7.20262418e-01 -6.93628751e-01 -1.00601129e-02 -7.65399231e+01] [ 1.41270386e-02 1.67331890e-04 9.99900194e-01 -9.01435465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.810385723 meters 0.015431490805737932 Centerline is valid? [True, True] Translation: X:139.23, Y:-76.51, Z:-9.01 [[-6.93725175e-01 -7.20168793e-01 1.01138844e-02 1.39227154e+02] [ 7.20095844e-01 -6.93798876e-01 -1.02516474e-02 -7.65146732e+01] [ 1.43999182e-02 1.71140234e-04 9.99896301e-01 -9.01307626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.840385723 meters 0.015534298494824681 Centerline is valid? [True, True] Translation: X:139.21, Y:-76.49, Z:-9.01 [[-6.94404661e-01 -7.19517843e-01 9.81024470e-03 1.39212662e+02] [ 7.19449223e-01 -6.94473937e-01 -9.93813516e-03 -7.64910102e+01] [ 1.39636248e-02 1.56885552e-04 9.99902492e-01 -9.01313878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.870385723 meters 0.015495867018643798 Centerline is valid? [True, True] Translation: X:139.20, Y:-76.47, Z:-9.01 [[-6.94436215e-01 -7.19485648e-01 9.93708239e-03 1.39196503e+02] [ 7.19415306e-01 -6.94507290e-01 -1.00618641e-02 -7.64703407e+01] [ 1.41407430e-02 1.61566329e-04 9.99900002e-01 -9.01278165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.900385723 meters 0.015242084461813604 Centerline is valid? [True, True] Translation: X:139.18, Y:-76.45, Z:-9.01 [[-6.94756723e-01 -7.19184869e-01 9.28547321e-03 1.39181067e+02] [ 7.19123493e-01 -6.94818755e-01 -9.39678707e-03 -7.64457204e+01] [ 1.32097480e-02 1.48920939e-04 9.99912736e-01 -9.01088903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.930385723 meters 0.015149643533585944 Centerline is valid? [True, True] Translation: X:139.16, Y:-76.42, Z:-9.01 [[-6.95251343e-01 -7.18711263e-01 8.92690229e-03 1.39162478e+02] [ 7.18654562e-01 -6.95308637e-01 -9.02880386e-03 -7.64240229e+01] [ 1.26960553e-02 1.38071044e-04 9.99919392e-01 -9.01056120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.960385723 meters 0.015058926030090403 Centerline is valid? [True, True] Translation: X:139.15, Y:-76.40, Z:-9.01 [[-6.96289206e-01 -7.17708083e-01 8.74351256e-03 1.39146455e+02] [ 7.17653673e-01 -6.96344091e-01 -8.83813151e-03 -7.64019712e+01] [ 1.24316917e-02 1.20918328e-04 9.99922716e-01 -9.01137167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.990385723 meters 0.014942045874723366 Centerline is valid? [True, True] Translation: X:139.13, Y:-76.38, Z:-9.01 [[-6.97086240e-01 -7.16930048e-01 9.05979234e-03 1.39128811e+02] [ 7.16871631e-01 -6.97145102e-01 -9.15272627e-03 -7.63796917e+01] [ 1.28778543e-02 1.14468568e-04 9.99917070e-01 -9.01133712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.020385723 meters 0.014978229700711958 Centerline is valid? [True, True] Translation: X:139.11, Y:-76.36, Z:-9.01 [[-6.98427208e-01 -7.15619674e-01 9.37641860e-03 1.39112706e+02] [ 7.15557034e-01 -6.98490138e-01 -9.46879873e-03 -7.63579869e+01] [ 1.33253946e-02 9.60956169e-05 9.99911208e-01 -9.01250304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.050385723 meters 0.01491986384460841 Centerline is valid? [True, True] Translation: X:139.09, Y:-76.34, Z:-9.01 [[-6.99213211e-01 -7.14855494e-01 9.08343255e-03 1.39093864e+02] [ 7.14796708e-01 -6.99272205e-01 -9.16783633e-03 -7.63372450e+01] [ 1.29054701e-02 8.25354089e-05 9.99916718e-01 -9.01312512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.080385723 meters 0.014803835973225248 Centerline is valid? [True, True] Translation: X:139.08, Y:-76.31, Z:-9.01 [[-7.01238696e-01 -7.12878193e-01 8.30494141e-03 1.39078340e+02] [ 7.12828969e-01 -7.01287872e-01 -8.37745540e-03 -7.63131699e+01] [ 1.17962600e-02 4.54069162e-05 9.99930421e-01 -9.01138687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.110385723 meters 0.01480938342948461 Centerline is valid? [True, True] Translation: X:139.06, Y:-76.29, Z:-9.01 [[-7.02681300e-01 -7.11459794e-01 7.99707422e-03 1.39061366e+02] [ 7.11414110e-01 -7.02726804e-01 -8.06242871e-03 -7.62910071e+01] [ 1.13558523e-02 2.39135575e-05 9.99935520e-01 -9.01038602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.140385723 meters 0.014796652685966591 Centerline is valid? [True, True] Translation: X:139.05, Y:-76.27, Z:-9.01 [[-7.05154782e-01 -7.09015615e-01 7.32067625e-03 1.39046141e+02] [ 7.08977244e-01 -7.05192781e-01 -7.37622590e-03 -7.62685157e+01] [ 1.03923474e-02 -1.11880887e-05 9.99945998e-01 -9.00994097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.170385723 meters 0.014879106969251675 Centerline is valid? [True, True] Translation: X:139.03, Y:-76.25, Z:-9.01 [[-7.06390911e-01 -7.07786253e-01 7.10644124e-03 1.39028097e+02] [ 7.07750078e-01 -7.06426656e-01 -7.15596573e-03 -7.62473191e+01] [ 1.00850737e-02 -2.53248138e-05 9.99949144e-01 -9.01001745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.200385723 meters 0.015023549735845647 Centerline is valid? [True, True] Translation: X:139.01, Y:-76.23, Z:-9.01 [[-7.08019327e-01 -7.06156893e-01 7.14670225e-03 1.39013038e+02] [ 7.06120271e-01 -7.08055393e-01 -7.19188566e-03 -7.62258815e+01] [ 1.01388607e-02 -4.55627175e-05 9.99948599e-01 -9.01005644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.230385723 meters 0.015417975406989904 Centerline is valid? [True, True] Translation: X:139.00, Y:-76.21, Z:-9.01 [[-7.08687744e-01 -7.05487722e-01 6.98258121e-03 1.38995666e+02] [ 7.05452772e-01 -7.08722140e-01 -7.02249168e-03 -7.62053086e+01] [ 9.90299156e-03 -5.08725173e-05 9.99950963e-01 -9.01047447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.260385723 meters 0.015213122904349443 Centerline is valid? [True, True] Translation: X:138.98, Y:-76.18, Z:-9.01 [[-7.09718351e-01 -7.04448587e-01 7.21454214e-03 1.38979610e+02] [ 7.04411270e-01 -7.09755017e-01 -7.25118043e-03 -7.61836007e+01] [ 1.02286413e-02 -6.42910283e-05 9.99947684e-01 -9.00994988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.290385723 meters 0.015193535048398621 Centerline is valid? [True, True] Translation: X:138.96, Y:-76.16, Z:-9.01 [[-7.10037509e-01 -7.04134344e-01 6.44688040e-03 1.38962880e+02] [ 7.04104569e-01 -7.10066773e-01 -6.47554377e-03 -7.61637383e+01] [ 9.13736833e-03 -5.86010210e-05 9.99958252e-01 -9.01005966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32038572300002 meters 0.014969175211837018 Centerline is valid? [True, True] Translation: X:138.94, Y:-76.14, Z:-9.01 [[-7.09992752e-01 -7.04180966e-01 6.28165877e-03 1.38943072e+02] [ 7.04152735e-01 -7.10020538e-01 -6.30570788e-03 -7.61443491e+01] [ 8.90046620e-03 -5.37596835e-05 9.99960389e-01 -9.00932103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35038572300002 meters 0.014918835695455983 Centerline is valid? [True, True] Translation: X:138.92, Y:-76.12, Z:-9.01 [[-7.09543700e-01 -7.04636240e-01 5.95880590e-03 1.38923470e+02] [ 7.04610880e-01 -7.09568719e-01 -5.97834755e-03 -7.61241152e+01] [ 8.44074261e-03 -4.32593737e-05 9.99964375e-01 -9.00945047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38038572300002 meters 0.014753196178165695 Centerline is valid? [True, True] Translation: X:138.90, Y:-76.10, Z:-9.01 [[-7.08009059e-01 -7.06174251e-01 6.41093574e-03 1.38904583e+02] [ 7.06144991e-01 -7.08038083e-01 -6.42843710e-03 -7.61038825e+01] [ 9.07878341e-03 -2.43415440e-05 9.99958787e-01 -9.01042009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41038572300002 meters 0.014754259444893397 Centerline is valid? [True, True] Translation: X:138.89, Y:-76.08, Z:-9.01 [[-7.07400005e-01 -7.06781259e-01 6.74423011e-03 1.38885529e+02] [ 7.06748945e-01 -7.07432153e-01 -6.75846958e-03 -7.60844079e+01] [ 9.54784487e-03 -1.44638969e-05 9.99954418e-01 -9.01119871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.440385723 meters 0.014666611628454257 Centerline is valid? [True, True] Translation: X:138.87, Y:-76.07, Z:-9.01 [[-7.06784831e-01 -7.07402156e-01 6.11501321e-03 1.38866910e+02] [ 7.07375646e-01 -7.06811283e-01 -6.12415578e-03 -7.60650370e+01] [ 8.65440133e-03 -2.84898364e-06 9.99962550e-01 -9.01172229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.470385723 meters 0.01467699912838529 Centerline is valid? [True, True] Translation: X:138.85, Y:-76.04, Z:-9.01 [[-7.07771373e-01 -7.06419526e-01 5.57996596e-03 1.38848294e+02] [ 7.06397449e-01 -7.07793369e-01 -5.58487902e-03 -7.60445999e+01] [ 7.89473050e-03 -1.11437757e-05 9.99968836e-01 -9.01205287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.500385723 meters 0.01467699912838529 Centerline is valid? [True, True] Translation: X:138.83, Y:-76.03, Z:-9.01 [[-7.07987185e-01 -7.06203222e-01 5.58167234e-03 1.38829309e+02] [ 7.06181151e-01 -7.08009188e-01 -5.58317366e-03 -7.60257353e+01] [ 7.89473052e-03 -1.11436121e-05 9.99968836e-01 -9.01206659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.530385723 meters 0.014768745158792973 Centerline is valid? [True, True] Translation: X:138.81, Y:-76.01, Z:-9.01 [[-7.08956104e-01 -7.05230121e-01 5.63199933e-03 1.38811561e+02] [ 7.05207649e-01 -7.08978474e-01 -5.62989977e-03 -7.60061783e+01] [ 7.96334118e-03 -1.96227954e-05 9.99968292e-01 -9.01217093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.560385723 meters 0.01475597896754695 Centerline is valid? [True, True] Translation: X:138.30, Y:-76.52, Z:-8.04 [[-7.53084015e-01 6.57889489e-01 6.77399724e-03 1.38300666e+02] [ 6.57862834e-01 7.53114480e-01 -5.92211178e-03 -7.65174439e+01] [-8.99769050e-03 -3.48668921e-06 -9.99959520e-01 -8.03945013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.590385723 meters 0.014947029266303109 Centerline is valid? [True, True] Translation: X:138.32, Y:-76.50, Z:-8.04 [[-7.96340516e-01 6.04800150e-01 7.65256133e-03 1.38319408e+02] [ 6.04772479e-01 7.96377284e-01 -5.78539114e-03 -7.64988864e+01] [-9.59333144e-03 2.09171225e-05 -9.99953983e-01 -8.03988127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.620385723 meters 0.015003672460018689 Centerline is valid? [True, True] Translation: X:138.34, Y:-76.48, Z:-8.04 [[-8.35858761e-01 5.48887565e-01 7.91032864e-03 1.38337211e+02] [ 5.48863465e-01 8.35896189e-01 -5.14364072e-03 -7.64772723e+01] [-9.43549400e-03 4.23332328e-05 -9.99955484e-01 -8.04040012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.650385723 meters 0.015053693767243583 Centerline is valid? [True, True] Translation: X:138.35, Y:-76.45, Z:-8.04 [[-8.72052654e-01 4.89356142e-01 7.39835093e-03 1.38354000e+02] [ 4.89338962e-01 8.72084035e-01 -4.10072384e-03 -7.64536229e+01] [-8.45869813e-03 4.42542553e-05 -9.99964224e-01 -8.04078950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.680385723 meters 0.015743789570431137 Centerline is valid? [True, True] Translation: X:138.36, Y:-76.43, Z:-8.04 [[-9.03643926e-01 4.28209035e-01 8.04221323e-03 1.38364823e+02] [ 4.28192729e-01 9.03679710e-01 -3.73753096e-03 -7.64311795e+01] [-8.86802945e-03 6.62200790e-05 -9.99960676e-01 -8.04002614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.710385723 meters 0.015712286225687946 Centerline is valid? [True, True] Translation: X:138.38, Y:-76.41, Z:-8.04 [[-9.31462011e-01 3.63719030e-01 9.32685367e-03 1.38379163e+02] [ 3.63701721e-01 9.31508701e-01 -3.54936905e-03 -7.64070667e+01] [-9.97901841e-03 8.60902996e-05 -9.99950205e-01 -8.04003197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.740385723 meters 0.01575108177704589 Centerline is valid? [True, True] Translation: X:138.39, Y:-76.38, Z:-8.04 [[-9.54880597e-01 2.96797273e-01 1.06969522e-02 1.38387358e+02] [ 2.96779836e-01 9.54940505e-01 -3.21879804e-03 -7.63796407e+01] [-1.11702835e-02 1.01071930e-04 -9.99937605e-01 -8.03958752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.770385723 meters 0.015533231904722637 Centerline is valid? [True, True] Translation: X:138.40, Y:-76.35, Z:-8.04 [[-9.73800108e-01 2.27057915e-01 1.25719104e-02 1.38395187e+02] [ 2.27040397e-01 9.73881252e-01 -2.82243579e-03 -7.63494521e+01] [-1.28844042e-02 1.05843248e-04 -9.99916987e-01 -8.03818594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.800385723 meters 0.015396230020076819 Centerline is valid? [True, True] Translation: X:138.40, Y:-76.32, Z:-8.04 [[-9.87538615e-01 1.56837345e-01 1.30204180e-02 1.38399290e+02] [ 1.56825081e-01 9.87624441e-01 -1.96395766e-03 -7.63194086e+01] [-1.31673050e-02 1.02444085e-04 -9.99913302e-01 -8.03732353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.830385723 meters 0.015309553481470981 Centerline is valid? [True, True] Translation: X:138.51, Y:-75.59, Z:-9.01 [[-9.79000591e-01 -2.03527801e-01 1.15877860e-02 1.38510798e+02] [ 2.03511443e-01 -9.79069152e-01 -2.58624404e-03 -7.55930199e+01] [ 1.18716163e-02 -1.73687406e-04 9.99929515e-01 -9.01433379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.860385723 meters 0.015275049163885768 Centerline is valid? [True, True] Translation: X:138.34, Y:-76.31, Z:-8.04 [[-9.88424901e-01 1.51209963e-01 1.23192257e-02 1.38339867e+02] [ 1.51199186e-01 9.88501665e-01 -1.80687091e-03 -7.63104277e+01] [-1.24507920e-02 7.67006991e-05 -9.99922483e-01 -8.03804309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.890385723 meters 0.015146442364255991 Centerline is valid? [True, True] Translation: X:138.45, Y:-75.58, Z:-9.01 [[-9.79890283e-01 -1.99283854e-01 1.00488512e-02 1.38447467e+02] [ 1.99271331e-01 -9.79941788e-01 -2.24259777e-03 -7.55835890e+01] [ 1.02942027e-02 -1.95051812e-04 9.99946994e-01 -9.01246838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.920385723 meters 0.015077653368332462 Centerline is valid? [True, True] Translation: X:138.28, Y:-76.30, Z:-8.04 [[-9.88884270e-01 1.48337084e-01 1.01985376e-02 1.38279231e+02] [ 1.48329946e-01 9.88936856e-01 -1.45698974e-03 -7.63018689e+01] [-1.03018353e-02 7.19543034e-05 -9.99946932e-01 -8.03952446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.950385723 meters 0.015017887380765899 Centerline is valid? [True, True] Translation: X:138.39, Y:-75.58, Z:-9.01 [[-9.81065559e-01 -1.93484039e-01 8.61947402e-03 1.38385986e+02] [ 1.93475214e-01 -9.81103411e-01 -1.85407060e-03 -7.55765608e+01] [ 8.81532843e-03 -1.51310225e-04 9.99961133e-01 -9.01202303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.980385723 meters 0.015171347065836768 Centerline is valid? [True, True] Translation: X:138.22, Y:-76.29, Z:-8.04 [[-9.89294816e-01 1.45632702e-01 9.32114886e-03 1.38219529e+02] [ 1.45626974e-01 9.89338724e-01 -1.29391385e-03 -7.62934037e+01] [-9.41020969e-03 7.73484406e-05 -9.99955720e-01 -8.03954479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.010385723 meters 0.015596658911488183 Centerline is valid? [True, True] Translation: X:138.22, Y:-76.27, Z:-8.04 [[-9.97024873e-01 7.66274988e-02 8.34437127e-03 1.38222593e+02] [ 7.66254781e-02 9.97059788e-01 -5.62058712e-04 -7.62664137e+01] [-8.36290620e-03 7.90049228e-05 -9.99965027e-01 -8.04088730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.040385723 meters 0.015367686472118768 Centerline is valid? [True, True] Translation: X:138.27, Y:-75.53, Z:-9.01 [[-9.93187567e-01 -1.16259118e-01 7.89146985e-03 1.38274108e+02] [ 1.16254649e-01 -9.93218912e-01 -1.02426937e-03 -7.55318041e+01] [ 7.95703775e-03 -9.98715503e-05 9.99968337e-01 -9.00976234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07038572300002 meters 0.01542972586137961 Centerline is valid? [True, True] Translation: X:138.15, Y:-76.26, Z:-8.04 [[-9.97357268e-01 7.22175651e-02 7.94378922e-03 1.38150813e+02] [ 7.22158672e-02 9.97388900e-01 -5.00746444e-04 -7.62610657e+01] [-7.95920988e-03 7.42445223e-05 -9.99968322e-01 -8.04178190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10038572300002 meters 0.014931178148752786 Centerline is valid? [True, True] Translation: X:138.20, Y:-75.53, Z:-9.01 [[-9.93567186e-01 -1.13141247e-01 4.82759466e-03 1.38198678e+02] [ 1.13138752e-01 -9.93578886e-01 -7.87765098e-04 -7.55328718e+01] [ 4.88572485e-03 -2.36509517e-04 9.99988037e-01 -9.00925917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13038572300002 meters 0.015043019210953938 Centerline is valid? [True, True] Translation: X:138.08, Y:-76.25, Z:-8.04 [[-9.97846414e-01 6.53396094e-02 5.76792228e-03 1.38079845e+02] [ 6.53387037e-02 9.97863084e-01 -3.45520158e-04 -7.62509067e+01] [-5.77817287e-03 3.20925140e-05 -9.99983306e-01 -8.04174202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16038572300002 meters 0.014587231416548684 Centerline is valid? [True, True] Translation: X:138.07, Y:-76.22, Z:-8.04 [[-9.99936249e-01 -8.53399455e-03 7.39385867e-03 1.38074997e+02] [-8.53353287e-03 9.99963584e-01 9.39869966e-05 -7.62185297e+01] [-7.39439150e-03 3.08852688e-05 -9.99972661e-01 -8.04125192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.190385723 meters 0.014531456885613645 Centerline is valid? [True, True] Translation: X:138.07, Y:-76.19, Z:-8.04 [[-9.96658581e-01 -8.12409698e-02 8.46038898e-03 1.38067680e+02] [-8.12378101e-02 9.96694489e-01 7.17024078e-04 -7.61893588e+01] [-8.49067480e-03 2.73247261e-05 -9.99963953e-01 -8.04116477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.220385723 meters 0.014369008250090626 Centerline is valid? [True, True] Translation: X:138.05, Y:-76.16, Z:-8.04 [[-9.87804861e-01 -1.55373808e-01 1.00268319e-02 1.38052658e+02] [-1.55365739e-01 9.87855748e-01 1.58346596e-03 -7.61599767e+01] [-1.01510927e-02 6.32921688e-06 -9.99948476e-01 -8.04023388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.250385723 meters 0.014273552736920365 Centerline is valid? [True, True] Translation: X:138.03, Y:-76.13, Z:-8.04 [[-9.73665122e-01 -2.27780833e-01 9.59804414e-03 1.38027009e+02] [-2.27769896e-01 9.73712428e-01 2.23217826e-03 -7.61339876e+01] [-9.85418229e-03 -1.27513979e-05 -9.99951446e-01 -8.03953264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.280385723 meters 0.014059120464378894 Centerline is valid? [True, True] Translation: X:137.99, Y:-76.11, Z:-8.04 [[-9.53816529e-01 -3.00281302e-01 8.07276490e-03 1.37987347e+02] [-3.00270907e-01 9.53850690e-01 2.49883847e-03 -7.61122154e+01] [-8.45056684e-03 -4.05830014e-05 -9.99964293e-01 -8.04018535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.310385723 meters 0.014158420652544391 Centerline is valid? [True, True] Translation: X:137.92, Y:-76.10, Z:-8.04 [[-9.28893908e-01 -3.70275507e-01 7.22187407e-03 1.37924471e+02] [-3.70264720e-01 9.28921981e-01 2.82680767e-03 -7.61027978e+01] [-7.75525521e-03 -4.82007553e-05 -9.99969926e-01 -8.04016094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.340385723 meters 0.014213187501010948 Centerline is valid? [True, True] Translation: X:137.86, Y:-76.10, Z:-8.04 [[-8.98298311e-01 -4.39328024e-01 7.14359476e-03 1.37855095e+02] [-4.39314686e-01 8.98326713e-01 3.42391647e-03 -7.61015475e+01] [-7.92150446e-03 -6.25877136e-05 -9.99968622e-01 -8.03947047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.370385723 meters 0.014224252597667126 Centerline is valid? [True, True] Translation: X:137.78, Y:-76.11, Z:-8.04 [[-8.62897945e-01 -5.05332714e-01 6.78128230e-03 1.37779203e+02] [-5.05317716e-01 8.62924588e-01 3.89377601e-03 -7.61096571e+01] [-7.81938763e-03 -6.67707663e-05 -9.99969426e-01 -8.03918387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.400385723 meters 0.014348971332286168 Centerline is valid? [True, True] Translation: X:137.70, Y:-76.13, Z:-8.04 [[-8.22065077e-01 -5.69359207e-01 6.25321899e-03 1.37696250e+02] [-5.69343426e-01 8.22088856e-01 4.23979590e-03 -7.61289873e+01] [-7.55466848e-03 -7.48409783e-05 -9.99971460e-01 -8.03937343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.430385723 meters 0.014525703634151817 Centerline is valid? [True, True] Translation: X:137.61, Y:-76.16, Z:-8.04 [[-7.76541975e-01 -6.30035075e-01 6.19403224e-03 1.37606882e+02] [-6.30015887e-01 7.76566673e-01 4.91773153e-03 -7.61594487e+01] [-7.90842236e-03 -8.35137627e-05 -9.99968724e-01 -8.03914227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.460385723 meters 0.014769962731890036 Centerline is valid? [True, True] Translation: X:137.52, Y:-76.20, Z:-8.04 [[-7.25499562e-01 -6.88195920e-01 6.06313153e-03 1.37520263e+02] [-6.88173050e-01 7.25524890e-01 5.61134873e-03 -7.61971584e+01] [-8.26066014e-03 -1.01452674e-04 -9.99965875e-01 -8.03860517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.490385723 meters 0.015094254212604352 Centerline is valid? [True, True] Translation: X:137.43, Y:-76.25, Z:-8.04 [[-6.70047992e-01 -7.42292028e-01 6.18339464e-03 1.37428211e+02] [-7.42262114e-01 6.70076511e-01 6.66518706e-03 -7.62479614e+01] [-9.09086272e-03 -1.23704371e-04 -9.99958670e-01 -8.03754850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.520385723 meters 0.015708783513785726 Centerline is valid? [True, True] Translation: X:137.34, Y:-76.31, Z:-8.04 [[-6.08910260e-01 -7.93210370e-01 6.75303937e-03 1.37338375e+02] [-7.93164840e-01 6.08947679e-01 8.50065530e-03 -7.63074013e+01] [-1.08550556e-02 -1.80137155e-04 -9.99941066e-01 -8.03509197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.550385723 meters 0.015527090018379396 Centerline is valid? [True, True] Translation: X:137.25, Y:-76.38, Z:-8.04 [[-5.45618496e-01 -8.38009244e-01 6.40034069e-03 1.37252411e+02] [-8.37955905e-01 5.45655996e-01 9.45701070e-03 -7.63791426e+01] [-1.14174467e-02 -2.03283317e-04 -9.99934798e-01 -8.03562712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.580385723 meters 0.017280694678777037 Centerline is valid? [True, True] Translation: X:137.17, Y:-76.46, Z:-8.03 [[-4.77739126e-01 -8.78483540e-01 5.65661884e-03 1.37166860e+02] [-8.78427669e-01 4.77772556e-01 9.91039948e-03 -7.64616393e+01] [-1.14087001e-02 -2.34344908e-04 -9.99934891e-01 -8.03475439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.610385723 meters 0.016525337259650916 Centerline is valid? [True, True] Translation: X:137.09, Y:-76.55, Z:-8.04 [[-4.08244078e-01 -9.12860778e-01 4.68746213e-03 1.37090148e+02] [-9.12807142e-01 4.08270919e-01 9.89841930e-03 -7.65548761e+01] [-1.09496332e-02 -2.37777848e-04 -9.99940023e-01 -8.03669952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.640385723 meters 0.01686725256951665 Centerline is valid? [True, True] Translation: X:137.02, Y:-76.65, Z:-8.04 [[-3.34909281e-01 -9.42242317e-01 3.89732818e-03 1.37017434e+02] [-9.42187345e-01 3.34931854e-01 1.01813611e-02 -7.66528344e+01] [-1.08986486e-02 -2.62180970e-04 -9.99940574e-01 -8.03557923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.670385723 meters 0.01726820716724606 Centerline is valid? [True, True] Translation: X:136.95, Y:-76.76, Z:-8.03 [[-2.60581360e-01 -9.65447042e-01 3.06022930e-03 1.36950452e+02] [-9.65392140e-01 2.60599188e-01 1.02994424e-02 -7.67616894e+01] [-1.07410594e-02 -2.70478621e-04 -9.99942277e-01 -8.03477051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.700385723 meters 0.01770914521078908 Centerline is valid? [True, True] Translation: X:136.90, Y:-76.87, Z:-8.04 [[-1.83032569e-01 -9.83104536e-01 2.13307785e-03 1.36898015e+02] [-9.83054651e-01 1.83044778e-01 9.90771212e-03 -7.68660127e+01] [-1.01307655e-02 -2.83498102e-04 -9.99948642e-01 -8.03589802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.730385723 meters 0.018907416200734415 Centerline is valid? [True, True] Translation: X:136.85, Y:-76.98, Z:-8.04 [[-1.05300981e-01 -9.94439333e-01 1.45491526e-03 1.36850155e+02] [-9.94381555e-01 1.05310553e-01 1.07242733e-02 -7.69803882e+01] [-1.08178571e-02 -3.17464413e-04 -9.99941435e-01 -8.03620435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.760385723 meters 0.018430023502236086 Centerline is valid? [True, True] Translation: X:136.82, Y:-77.08, Z:-8.04 [[-2.52239174e-02 -9.99681617e-01 6.47552274e-04 1.36818167e+02] [-9.99618567e-01 2.52296030e-02 1.12333623e-02 -7.70797218e+01] [-1.12461232e-02 -3.63955875e-04 -9.99936694e-01 -8.03825787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.790385723 meters 0.019118238200613008 Centerline is valid? [True, True] Translation: X:136.79, Y:-77.20, Z:-8.04 [[ 5.45730634e-02 -9.98509752e-01 -2.36623598e-04 1.36787919e+02] [-9.98437819e-01 -5.45719739e-02 1.19925661e-02 -7.72017136e+01] [-1.19876072e-02 -4.18217123e-04 -9.99928059e-01 -8.03754525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82038572300002 meters 0.020035739350936246 Centerline is valid? [True, True] Translation: X:136.77, Y:-77.33, Z:-8.04 [[ 1.32597597e-01 -9.91169277e-01 -1.15797221e-03 1.36765912e+02] [-9.91097671e-01 -1.32601946e-01 1.19218780e-02 -7.73260414e+01] [-1.19701485e-02 -4.33148808e-04 -9.99928261e-01 -8.03639571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85038572300002 meters 0.02161349443659878 Centerline is valid? [True, True] Translation: X:136.75, Y:-77.46, Z:-8.03 [[ 2.09382295e-01 -9.77831609e-01 -2.09721088e-03 1.36753382e+02] [-9.77758818e-01 -2.09392315e-01 1.19395473e-02 -7.74554648e+01] [-1.21140066e-02 -4.49363373e-04 -9.99926522e-01 -8.03482052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88038572300002 meters 0.022395372987536778 Centerline is valid? [True, True] Translation: X:136.76, Y:-77.58, Z:-8.03 [[ 2.86348391e-01 -9.58119767e-01 -3.33334776e-03 1.36755418e+02] [-9.58031922e-01 -2.86367312e-01 1.29845802e-02 -7.75821097e+01] [-1.33953448e-02 -5.24660111e-04 -9.99910141e-01 -8.03482402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91038572300002 meters 0.021471184166572593 Centerline is valid? [True, True] Translation: X:136.77, Y:-77.70, Z:-8.04 [[ 3.59826986e-01 -9.33008662e-01 -4.40182645e-03 1.36766326e+02] [-9.32919417e-01 -3.59853502e-01 1.29158303e-02 -7.77023827e+01] [-1.36345942e-02 -5.40914908e-04 -9.99906898e-01 -8.03619652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.940385723 meters 0.021447421342863135 Centerline is valid? [True, True] Translation: X:136.78, Y:-77.82, Z:-8.04 [[ 4.29643483e-01 -9.02981592e-01 -5.54271514e-03 1.36783847e+02] [-9.02889491e-01 -4.29678893e-01 1.29079423e-02 -7.78191454e+01] [-1.40372220e-02 -5.41354030e-04 -9.99901327e-01 -8.03596412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.970385723 meters 0.021464195694549215 Centerline is valid? [True, True] Translation: X:136.82, Y:-77.95, Z:-8.03 [[ 4.96731071e-01 -8.67880303e-01 -6.48244271e-03 1.36816573e+02] [-8.67792262e-01 -4.96773096e-01 1.23725844e-02 -7.79523431e+01] [-1.39582254e-02 -5.20433487e-04 -9.99902444e-01 -8.03484571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.000385723 meters 0.020332898494497865 Centerline is valid? [True, True] Translation: X:136.84, Y:-78.05, Z:-8.04 [[ 5.59123341e-01 -8.29055914e-01 -6.88338015e-03 1.36844967e+02] [-8.28983159e-01 -5.59165537e-01 1.09919850e-02 -7.80506389e+01] [-1.29619191e-02 -4.39669134e-04 -9.99915894e-01 -8.03538745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.030385723 meters 0.02004144394132023 Centerline is valid? [True, True] Translation: X:136.89, Y:-78.17, Z:-8.04 [[ 6.19759637e-01 -7.84756672e-01 -7.41336551e-03 1.36893398e+02] [-7.84692595e-01 -6.19803842e-01 1.00363772e-02 -7.81673219e+01] [-1.24709464e-02 -4.02928438e-04 -9.99922154e-01 -8.03645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.060385723 meters 0.01980648162037084 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.27, Z:-8.04 [[ 6.77125432e-01 -7.35827327e-01 -7.70025660e-03 1.36944037e+02] [-7.35773482e-01 -6.77169115e-01 8.90918035e-03 -7.82717945e+01] [-1.17699943e-02 -3.66987987e-04 -9.99930664e-01 -8.03799369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.090385723 meters 0.019002037535526706 Centerline is valid? [True, True] Translation: X:136.99, Y:-78.36, Z:-8.04 [[ 7.29372023e-01 -6.84069226e-01 -8.10842093e-03 1.36990356e+02] [-6.84021995e-01 -7.29417022e-01 8.04480021e-03 -7.83552805e+01] [-1.14176205e-02 -3.21313937e-04 -9.99934765e-01 -8.03996990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.120385723 meters 0.018343619568890884 Centerline is valid? [True, True] Translation: X:136.99, Y:-78.36, Z:-8.04 [[ 7.79756855e-01 -6.26021802e-01 -8.71493329e-03 1.36987299e+02] [-6.25978267e-01 -7.79805494e-01 7.38917978e-03 -7.83582903e+01] [-1.14217405e-02 -3.06404751e-04 -9.99934723e-01 -8.04039142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.150385723 meters 0.017176329818219423 Centerline is valid? [True, True] Translation: X:136.98, Y:-78.36, Z:-8.04 [[ 8.25119158e-01 -5.64873320e-01 -9.82380284e-03 1.36983925e+02] [-5.64828957e-01 -8.25177583e-01 7.08554902e-03 -7.83642409e+01] [-1.21088195e-02 -2.97653931e-04 -9.99926641e-01 -8.03980816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.180385723 meters 0.016892998376714954 Centerline is valid? [True, True] Translation: X:136.98, Y:-78.37, Z:-8.04 [[ 8.66272035e-01 -4.99457467e-01 -1.07237690e-02 1.36978542e+02] [-4.99414952e-01 -8.66338358e-01 6.52339737e-03 -7.83718761e+01] [-1.25485719e-02 -2.95426145e-04 -9.99921220e-01 -8.03946967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.210385723 meters 0.017982117965390895 Centerline is valid? [True, True] Translation: X:136.97, Y:-78.38, Z:-8.04 [[ 9.02054742e-01 -4.31442165e-01 -1.24459267e-02 1.36972098e+02] [-4.31396419e-01 -9.02140546e-01 6.29001272e-03 -7.83799733e+01] [-1.39417518e-02 -3.04807584e-04 -9.99902763e-01 -8.03701379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.240385723 meters 0.01682321930688093 Centerline is valid? [True, True] Translation: X:136.97, Y:-78.38, Z:-8.04 [[ 9.32636896e-01 -3.60580248e-01 -1.30500529e-02 1.36969735e+02] [-3.60540540e-01 -9.32728148e-01 5.35912514e-03 -7.83843021e+01] [-1.41045464e-02 -2.93044710e-04 -9.99900483e-01 -8.03911845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.270385723 meters 0.016812292678684494 Centerline is valid? [True, True] Translation: X:136.97, Y:-78.39, Z:-8.04 [[ 9.57659706e-01 -2.87612739e-01 -1.29150809e-02 1.36967184e+02] [-2.87582794e-01 -9.57746752e-01 4.15882803e-03 -7.83900214e+01] [-1.35655087e-02 -2.68586958e-04 -9.99907948e-01 -8.03914358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.300385723 meters 0.016286532063164345 Centerline is valid? [True, True] Translation: X:136.96, Y:-78.39, Z:-8.04 [[ 9.76768328e-01 -2.13953648e-01 -1.21437036e-02 1.36964961e+02] [-2.13934269e-01 -9.76843788e-01 2.88820219e-03 -7.83930063e+01] [-1.24804428e-02 -2.23150078e-04 -9.99922091e-01 -8.04072576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.330385723 meters 0.016170911729812724 Centerline is valid? [True, True] Translation: X:136.96, Y:-78.40, Z:-8.04 [[ 9.90462033e-01 -1.37280440e-01 -1.17915961e-02 1.36959520e+02] [-1.37268194e-01 -9.90532199e-01 1.84555474e-03 -7.83986952e+01] [-1.19333141e-02 -2.09340801e-04 -9.99928774e-01 -8.04146883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.360385723 meters 0.016100271008099788 Centerline is valid? [True, True] Translation: X:136.95, Y:-78.41, Z:-8.04 [[ 9.98173223e-01 -5.91553380e-02 -1.22826507e-02 1.36954193e+02] [-5.91481845e-02 -9.98248766e-01 9.45174170e-04 -7.84074047e+01] [-1.23170530e-02 -2.16951059e-04 -9.99924119e-01 -8.04204717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.390385723 meters 0.016225155659959696 Centerline is valid? [True, True] Translation: X:136.95, Y:-78.42, Z:-8.04 [[ 9.99726979e-01 1.95944156e-02 -1.27289931e-02 1.36948547e+02] [ 1.95957388e-02 -9.99807985e-01 -2.07759487e-05 -7.84175442e+01] [-1.27269561e-02 -2.28663748e-04 -9.99918983e-01 -8.04089912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.420385723 meters 0.016225155659959696 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.43, Z:-8.04 [[ 9.95123063e-01 9.78219302e-02 -1.26869877e-02 1.36943659e+02] [ 9.78169064e-02 -9.95203908e-01 -1.01740206e-03 -7.84269956e+01] [-1.27256639e-02 -2.28561631e-04 -9.99918999e-01 -8.04091090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.450385723 meters 0.016527546911730123 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.44, Z:-8.04 [[ 9.84101253e-01 1.77099787e-01 -1.34308975e-02 1.36939920e+02] [ 1.77086959e-01 -9.84192865e-01 -2.14795163e-03 -7.84399036e+01] [-1.35989953e-02 -2.64634902e-04 -9.99907494e-01 -8.03885508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.480385723 meters 0.01669346804136826 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.45, Z:-8.04 [[ 9.66897494e-01 2.54765276e-01 -1.42790376e-02 1.36938082e+02] [ 2.54742083e-01 -9.67002877e-01 -3.45073598e-03 -7.84510654e+01] [-1.46869982e-02 -3.00963811e-04 -9.99892095e-01 -8.03815284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.510385723 meters 0.017541535754695685 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.46, Z:-8.04 [[ 9.43211812e-01 3.31826685e-01 -1.55733228e-02 1.36936478e+02] [ 3.31787906e-01 -9.43340296e-01 -5.08633582e-03 -7.84612846e+01] [-1.63787249e-02 -3.69548140e-04 -9.99865791e-01 -8.03755504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.540385723 meters 0.017339309259496973 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.47, Z:-8.04 [[ 9.13891807e-01 4.05654484e-01 -1.56909182e-02 1.36935372e+02] [ 4.05602181e-01 -9.14026411e-01 -6.52621834e-03 -7.84699488e+01] [-1.69893033e-02 -4.00013158e-04 -9.99855591e-01 -8.03784330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57038572300002 meters 0.017729971736103554 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.48, Z:-8.04 [[ 8.78363951e-01 4.77765959e-01 -1.47125385e-02 1.36937225e+02] [ 4.77706977e-01 -8.78487057e-01 -7.51897387e-03 -7.84840539e+01] [-1.65170844e-02 -4.23886688e-04 -9.99863494e-01 -8.03713668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60038572300002 meters 0.019166098829266724 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.50, Z:-8.04 [[ 8.37766795e-01 5.45854347e-01 -1.37778516e-02 1.36940276e+02] [ 5.45788934e-01 -8.37879971e-01 -8.46126306e-03 -7.84980943e+01] [-1.61628031e-02 -4.31233688e-04 -9.99869280e-01 -8.03585622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63038572300002 meters 0.01835553038645592 Centerline is valid? [True, True] Translation: X:136.94, Y:-78.51, Z:-8.04 [[ 7.91765853e-01 6.10696942e-01 -1.24931896e-02 1.36942609e+02] [ 6.10629435e-01 -7.91864293e-01 -9.09031357e-03 -7.85074796e+01] [-1.54443375e-02 -4.31309450e-04 -9.99880636e-01 -8.03848146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66038572300002 meters 0.01814355336340847 Centerline is valid? [True, True] Translation: X:136.95, Y:-78.52, Z:-8.04 [[ 7.41893719e-01 6.70420314e-01 -1.14154532e-02 1.36945858e+02] [ 6.70349408e-01 -7.41981423e-01 -9.75902908e-03 -7.85177541e+01] [-1.50127056e-02 -4.12179935e-04 -9.99887218e-01 -8.03950147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.690385723 meters 0.018544006159853216 Centerline is valid? [True, True] Translation: X:136.95, Y:-78.53, Z:-8.04 [[ 6.88493881e-01 7.25172914e-01 -1.00210674e-02 1.36948422e+02] [ 7.25103715e-01 -6.88566709e-01 -1.00245045e-02 -7.85282751e+01] [-1.41696725e-02 -3.64503168e-04 -9.99899539e-01 -8.04008406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.720385723 meters 0.017696516462197893 Centerline is valid? [True, True] Translation: X:136.95, Y:-78.54, Z:-8.04 [[ 6.30590327e-01 7.76065777e-01 -8.81755166e-03 1.36949780e+02] [ 7.75997207e-01 -6.30651884e-01 -1.03216294e-02 -7.85351448e+01] [-1.35710689e-02 -3.33675818e-04 -9.99907853e-01 -8.04120872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.750385723 meters 0.017094997132527434 Centerline is valid? [True, True] Translation: X:136.95, Y:-78.54, Z:-8.04 [[ 5.69888575e-01 8.21677865e-01 -8.51460158e-03 1.36952590e+02] [ 8.21594388e-01 -5.69952090e-01 -1.17165243e-02 -7.85430963e+01] [-1.44801237e-02 -3.18435502e-04 -9.99895107e-01 -8.04122846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.780385723 meters 0.017114511391972162 Centerline is valid? [True, True] Translation: X:136.96, Y:-78.55, Z:-8.04 [[ 5.04790635e-01 8.63206003e-01 -7.86198419e-03 1.36955646e+02] [ 8.63110785e-01 -5.04851759e-01 -1.28247330e-02 -7.85523367e+01] [-1.50395231e-02 -3.11958204e-04 -9.99886851e-01 -8.04005934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.810385723 meters 0.016296900341792993 Centerline is valid? [True, True] Translation: X:136.96, Y:-78.56, Z:-8.04 [[ 4.38028537e-01 8.98933153e-01 -7.08432573e-03 1.36959311e+02] [ 8.98825781e-01 -4.38085731e-01 -1.38963358e-02 -7.85605486e+01] [-1.55954189e-02 -2.80582985e-04 -9.99878345e-01 -8.04135806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.840385723 meters 0.01628855410373029 Centerline is valid? [True, True] Translation: X:136.97, Y:-78.57, Z:-8.04 [[ 3.67465291e-01 9.30019396e-01 -5.76052015e-03 1.36965363e+02] [ 9.29915688e-01 -3.67510353e-01 -1.38907553e-02 -7.85706507e+01] [-1.50357227e-02 -2.52427615e-04 -9.99886925e-01 -8.04195221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.870385723 meters 0.015736226703709267 Centerline is valid? [True, True] Translation: X:136.97, Y:-78.58, Z:-8.04 [[ 2.96712546e-01 9.54956241e-01 -4.49918757e-03 1.36969791e+02] [ 9.54856296e-01 -2.96746591e-01 -1.38171981e-02 -7.85777684e+01] [-1.45299382e-02 -1.96341539e-04 -9.99894416e-01 -8.04322554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.900385723 meters 0.015610833307262569 Centerline is valid? [True, True] Translation: X:136.98, Y:-78.59, Z:-8.04 [[ 2.22591155e-01 9.74905762e-01 -3.45446656e-03 1.36977206e+02] [ 9.74800277e-01 -2.22617890e-01 -1.43420737e-02 -7.85860010e+01] [-1.47511963e-02 -1.74996205e-04 -9.99891180e-01 -8.04326119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.930385723 meters 0.015503684007255403 Centerline is valid? [True, True] Translation: X:136.98, Y:-78.59, Z:-8.04 [[ 1.46940373e-01 9.89142392e-01 -2.41981074e-03 1.36983634e+02] [ 9.89025587e-01 -1.46960209e-01 -1.52014602e-02 -7.85938466e+01] [-1.53920245e-02 -1.59546516e-04 -9.99881523e-01 -8.04349376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.960385723 meters 0.01584582467896109 Centerline is valid? [True, True] Translation: X:136.99, Y:-78.60, Z:-8.04 [[ 6.91278540e-02 9.97606994e-01 -1.27464227e-03 1.36991588e+02] [ 9.97478237e-01 -6.91394114e-02 -1.60283651e-02 -7.86017265e+01] [-1.60781371e-02 -1.63421446e-04 -9.99870725e-01 -8.04193778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.990385723 meters 0.015807522458790503 Centerline is valid? [True, True] Translation: X:137.00, Y:-78.61, Z:-8.04 [[-9.94087532e-03 9.99950588e-01 -1.48140490e-05 1.36997474e+02] [ 9.99807493e-01 9.93920214e-03 -1.69171297e-02 -7.86085773e+01] [-1.69161466e-02 -1.82982275e-04 -9.99856895e-01 -8.04274146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.020385723 meters 0.01618391087397523 Centerline is valid? [True, True] Translation: X:137.01, Y:-78.61, Z:-8.04 [[-9.08962083e-02 9.95859374e-01 1.40923620e-03 1.37006896e+02] [ 9.95694848e-01 9.09068089e-02 -1.81030695e-02 -7.86143169e+01] [-1.81562206e-02 -2.42331146e-04 -9.99835133e-01 -8.04317545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.050385723 meters 0.016749189491194312 Centerline is valid? [True, True] Translation: X:137.02, Y:-78.62, Z:-8.04 [[-1.72151947e-01 9.85065650e-01 3.06154469e-03 1.37019806e+02] [ 9.84873942e-01 1.72178851e-01 -1.94360876e-02 -7.86190574e+01] [-1.96729555e-02 -3.30724744e-04 -9.99806414e-01 -8.04242141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.080385723 meters 0.016941381718337974 Centerline is valid? [True, True] Translation: X:137.03, Y:-78.62, Z:-8.04 [[-2.50140837e-01 9.68197657e-01 4.78105554e-03 1.37031205e+02] [ 9.67991360e-01 2.50186247e-01 -1.99892188e-02 -7.86225509e+01] [-2.05496692e-02 -3.72099462e-04 -9.99788764e-01 -8.04241464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.110385723 meters 0.017064586671144393 Centerline is valid? [True, True] Translation: X:137.04, Y:-78.62, Z:-8.04 [[-3.26305837e-01 9.45243241e-01 6.30207369e-03 1.37042390e+02] [ 9.45042948e-01 3.26366450e-01 -1.94619593e-02 -7.86248687e+01] [-2.04530709e-02 -3.94820621e-04 -9.99790736e-01 -8.04283308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.140385723 meters 0.017128044575797873 Centerline is valid? [True, True] Translation: X:137.05, Y:-78.63, Z:-8.04 [[-3.99490511e-01 9.16703123e-01 7.91936798e-03 1.37053178e+02] [ 9.16502606e-01 3.99568795e-01 -1.91768383e-02 -7.86265532e+01] [-2.07437999e-02 -4.02843544e-04 -9.99784743e-01 -8.04280266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.170385723 meters 0.018378429364057768 Centerline is valid? [True, True] Translation: X:137.06, Y:-78.63, Z:-8.04 [[-4.70171216e-01 8.82516774e-01 1.01573334e-02 1.37064959e+02] [ 8.82290503e-01 4.70280718e-01 -1.99878647e-02 -7.86286706e+01] [-2.24164240e-02 -4.35999876e-04 -9.99748625e-01 -8.04020222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.200385723 meters 0.017511808594857993 Centerline is valid? [True, True] Translation: X:137.07, Y:-78.63, Z:-8.04 [[-5.37974073e-01 8.42877102e-01 1.19200275e-02 1.37071634e+02] [ 8.42651548e-01 5.38105928e-01 -1.95033204e-02 -7.86317503e+01] [-2.28531397e-02 -4.47851089e-04 -9.99738733e-01 -8.04214985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.230385723 meters 0.01754482241834278 Centerline is valid? [True, True] Translation: X:137.08, Y:-78.63, Z:-8.04 [[-6.02721834e-01 7.97830065e-01 1.39132090e-02 1.37080434e+02] [ 7.97599137e-01 6.02882212e-01 -1.92004043e-02 -7.86319296e+01] [-2.37066860e-02 -4.75339406e-04 -9.99718844e-01 -8.04237020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.260385723 meters 0.017712952030384387 Centerline is valid? [True, True] Translation: X:137.09, Y:-78.63, Z:-8.04 [[-6.63705912e-01 7.47819501e-01 1.61386786e-02 1.37090018e+02] [ 7.47579648e-01 6.63901902e-01 -1.89455724e-02 -7.86312617e+01] [-2.48823679e-02 -5.09340731e-04 -9.99690256e-01 -8.04217464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.290385723 meters 0.01796824895988949 Centerline is valid? [True, True] Translation: X:137.10, Y:-78.63, Z:-8.04 [[-7.20266126e-01 6.93460426e-01 1.81478810e-02 1.37099887e+02] [ 6.93221778e-01 7.20494524e-01 -1.81990791e-02 -7.86304286e+01] [-2.56957900e-02 -5.27673885e-04 -9.99669669e-01 -8.04086694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32038572300002 meters 0.017500278520086343 Centerline is valid? [True, True] Translation: X:137.11, Y:-78.63, Z:-8.04 [[-7.72670678e-01 6.34501891e-01 1.96818300e-02 1.37109283e+02] [ 6.34278050e-01 7.72921118e-01 -1.68612351e-02 -7.86267928e+01] [-2.59109876e-02 -5.44429193e-04 -9.99664106e-01 -8.04196344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35038572300002 meters 0.018667403012924095 Centerline is valid? [True, True] Translation: X:137.12, Y:-78.60, Z:-8.04 [[-8.17091065e-01 5.76096951e-01 2.17828744e-02 1.37118625e+02] [ 5.75871468e-01 8.17381123e-01 -1.61292477e-02 -7.85957983e+01] [-2.70969208e-02 -6.34928353e-04 -9.99632609e-01 -8.04175085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38038572300002 meters 0.01920862265390432 Centerline is valid? [True, True] Translation: X:137.14, Y:-78.57, Z:-8.04 [[-8.56803314e-01 5.15137845e-01 2.28272091e-02 1.37137175e+02] [ 5.14933638e-01 8.57107070e-01 -1.45195703e-02 -7.85731850e+01] [-2.70449425e-02 -6.85918134e-04 -9.99633983e-01 -8.04294549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.410385723 meters 0.023673436881127757 Centerline is valid? [True, True] Translation: X:137.15, Y:-78.54, Z:-8.04 [[-8.92870068e-01 4.49757334e-01 2.23915739e-02 1.37149539e+02] [ 4.49594886e-01 8.93150483e-01 -1.21100846e-02 -7.85374534e+01] [-2.54456444e-02 -7.45594977e-04 -9.99675929e-01 -8.04032408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.440385723 meters 0.020973783425523546 Centerline is valid? [True, True] Translation: X:137.16, Y:-78.51, Z:-8.05 [[-9.23245845e-01 3.83571972e-01 2.21280770e-02 1.37155428e+02] [ 3.83441969e-01 9.23510673e-01 -1.00146835e-02 -7.85123612e+01] [-2.42768672e-02 -7.61181502e-04 -9.99704984e-01 -8.04511779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.470385723 meters 0.0222721149268846 Centerline is valid? [True, True] Translation: X:137.20, Y:-78.49, Z:-8.04 [[-9.49304898e-01 3.13630272e-01 2.13603127e-02 1.37198183e+02] [ 3.13531866e-01 9.49544846e-01 -7.89651466e-03 -7.84937233e+01] [-2.27591609e-02 -7.99061356e-04 -9.99740657e-01 -8.04412827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.500385723 meters 0.02225939643104319 Centerline is valid? [True, True] Translation: X:137.47, Y:-77.79, Z:-9.01 [[-8.97945624e-01 -4.39638582e-01 2.02872770e-02 1.37466413e+02] [ 4.39545050e-01 -8.98174459e-01 -9.09887480e-03 -7.77915365e+01] [ 2.22217304e-02 7.46877364e-04 9.99752788e-01 -9.01194683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.530385723 meters 0.024324358844116833 Centerline is valid? [True, True] Translation: X:137.13, Y:-78.46, Z:-8.04 [[-9.51191129e-01 3.07912567e-01 2.06225006e-02 1.37127072e+02] [ 3.07821370e-01 9.51414302e-01 -7.53855165e-03 -7.84648821e+01] [-2.19417568e-02 -8.22557081e-04 -9.99758912e-01 -8.04430135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.560385723 meters 0.023795468172800413 Centerline is valid? [True, True] Translation: X:137.17, Y:-78.45, Z:-8.05 [[-9.70742675e-01 2.39236664e-01 2.06028624e-02 1.37166150e+02] [ 2.39164935e-01 9.70960945e-01 -5.91416621e-03 -7.84495521e+01] [-2.14194601e-02 -8.13651291e-04 -9.99770246e-01 -8.04592022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.590385723 meters 0.025192003461995734 Centerline is valid? [True, True] Translation: X:137.18, Y:-78.42, Z:-8.05 [[-9.85342418e-01 1.69303953e-01 2.08923468e-02 1.37175701e+02] [ 1.69248171e-01 9.85563542e-01 -4.42274484e-03 -7.84195773e+01] [-2.13395236e-02 -8.21926604e-04 -9.99771949e-01 -8.04546926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.620385723 meters 0.024254421057143708 Centerline is valid? [True, True] Translation: X:137.18, Y:-78.39, Z:-8.05 [[-9.94857307e-01 9.85823147e-02 2.32479314e-02 1.37177974e+02] [ 9.85340124e-02 9.95128484e-01 -3.21694106e-03 -7.83940561e+01] [-2.34518122e-02 -9.09685365e-04 -9.99724555e-01 -8.04720505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.650385723 meters 0.02298561379388037 Centerline is valid? [True, True] Translation: X:137.29, Y:-77.65, Z:-9.01 [[-9.70418106e-01 -2.40562552e-01 2.04537800e-02 1.37288436e+02] [ 2.40523117e-01 -9.70633422e-01 -4.40335847e-03 -7.76549963e+01] [ 2.09124056e-02 6.46508144e-04 9.99781103e-01 -9.00882862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.680385723 meters 0.023220985906304906 Centerline is valid? [True, True] Translation: X:137.12, Y:-78.38, Z:-8.05 [[-9.95530664e-01 9.20337083e-02 2.11776879e-02 1.37123586e+02] [ 9.19939992e-02 9.95755501e-01 -2.84375870e-03 -7.83848561e+01] [-2.13495209e-02 -8.82828781e-04 -9.99771683e-01 -8.04730607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.710385723 meters 0.023731288157845497 Centerline is valid? [True, True] Translation: X:137.22, Y:-77.65, Z:-9.01 [[-9.71129855e-01 -2.37689949e-01 2.02556792e-02 1.37224941e+02] [ 2.37655572e-01 -9.71340739e-01 -4.12279348e-03 -7.76485707e+01] [ 2.06551130e-02 8.10107184e-04 9.99786332e-01 -9.00982531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.740385723 meters 0.02591560878146339 Centerline is valid? [True, True] Translation: X:137.06, Y:-78.37, Z:-8.05 [[-9.95897240e-01 8.80141920e-02 2.10283129e-02 1.37058673e+02] [ 8.79759609e-02 9.96118835e-01 -2.73810462e-03 -7.83717899e+01] [-2.11876906e-02 -8.76884795e-04 -9.99775131e-01 -8.04511545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.770385723 meters 0.024777496708839178 Centerline is valid? [True, True] Translation: X:137.16, Y:-77.64, Z:-9.01 [[-9.71984845e-01 -2.34226013e-01 1.95866208e-02 1.37158630e+02] [ 2.34193911e-01 -9.72181884e-01 -3.94930478e-03 -7.76423784e+01] [ 1.99667878e-02 7.48402950e-04 9.99800364e-01 -9.00979203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.800385723 meters 0.025781517822684796 Centerline is valid? [True, True] Translation: X:136.98, Y:-78.36, Z:-8.05 [[-9.96347019e-01 8.29803564e-02 2.01712263e-02 1.36978657e+02] [ 8.29457627e-02 9.96550808e-01 -2.54708374e-03 -7.83601836e+01] [-2.03130098e-02 -8.64661540e-04 -9.99793296e-01 -8.04619643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.830385723 meters 0.025614553068243423 Centerline is valid? [True, True] Translation: X:137.12, Y:-77.64, Z:-9.01 [[-9.72743396e-01 -2.31170206e-01 1.81829734e-02 1.37120391e+02] [ 2.31142704e-01 -9.72913091e-01 -3.62873553e-03 -7.76433303e+01] [ 1.85293084e-02 6.73033113e-04 9.99828091e-01 -9.01026093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.860385723 meters 0.02369396212188048 Centerline is valid? [True, True] Translation: X:136.96, Y:-78.36, Z:-8.05 [[-9.96684873e-01 7.94951296e-02 1.73144036e-02 1.36964862e+02] [ 7.94702904e-02 9.96834983e-01 -2.11903146e-03 -7.83587946e+01] [-1.74280559e-02 -7.36025920e-04 -9.99847849e-01 -8.04766259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.890385723 meters 0.02341852242295602 Centerline is valid? [True, True] Translation: X:137.05, Y:-77.63, Z:-9.01 [[-9.74106983e-01 -2.25522981e-01 1.59678116e-02 1.37046827e+02] [ 2.25502962e-01 -9.74237655e-01 -3.06682742e-03 -7.76334102e+01] [ 1.62480834e-02 6.13370796e-04 9.99867803e-01 -9.00852165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.920385723 meters 0.02330454231167805 Centerline is valid? [True, True] Translation: X:136.91, Y:-78.35, Z:-8.05 [[-9.96759416e-01 7.88999324e-02 1.56673976e-02 1.36909117e+02] [ 7.88806419e-02 9.96882358e-01 -1.84638738e-03 -7.83534830e+01] [-1.57642321e-02 -6.04549621e-04 -9.99875554e-01 -8.04883093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.950385723 meters 0.021747120632581367 Centerline is valid? [True, True] Translation: X:136.91, Y:-78.33, Z:-8.05 [[-9.99853618e-01 9.02241750e-03 1.45374900e-02 1.36911058e+02] [ 9.01356142e-03 9.99959150e-01 -6.74595980e-04 -7.83253469e+01] [-1.45429826e-02 -5.43462673e-04 -9.99894098e-01 -8.04967761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.980385723 meters 0.021999552508030956 Centerline is valid? [True, True] Translation: X:136.94, Y:-77.59, Z:-9.01 [[-9.89247619e-01 -1.45634703e-01 1.34045072e-02 1.36941500e+02] [ 1.45627324e-01 -9.89338335e-01 -1.53012012e-03 -7.75945085e+01] [ 1.34844314e-02 4.38394836e-04 9.99908985e-01 -9.00752211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.010385723 meters 0.02003573040609527 Centerline is valid? [True, True] Translation: X:136.84, Y:-78.32, Z:-8.05 [[-9.99857075e-01 8.75378739e-03 1.44637939e-02 1.36839992e+02] [ 8.74600399e-03 9.99961572e-01 -6.01296881e-04 -7.83239648e+01] [-1.44685017e-02 -4.74710541e-04 -9.99895213e-01 -8.04904220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.040385723 meters 0.01965883797488368 Centerline is valid? [True, True] Translation: X:136.84, Y:-78.30, Z:-8.05 [[-9.98010134e-01 -6.11697746e-02 1.52980600e-02 1.36841410e+02] [-6.11699731e-02 9.98127260e-01 4.55382057e-04 -7.82954514e+01] [-1.52972664e-02 -4.81306013e-04 -9.99882874e-01 -8.04835871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07038572300002 meters 0.01910026387259329 Centerline is valid? [True, True] Translation: X:136.83, Y:-78.27, Z:-8.05 [[-9.91459321e-01 -1.29418981e-01 1.60979156e-02 1.36827345e+02] [-1.29409512e-01 9.91589891e-01 1.63290232e-03 -7.82677646e+01] [-1.61738589e-02 -4.64267178e-04 -9.99869087e-01 -8.04638022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10038572300002 meters 0.018895721050069928 Centerline is valid? [True, True] Translation: X:136.82, Y:-78.24, Z:-8.05 [[-9.80028219e-01 -1.98233533e-01 1.57529996e-02 1.36817117e+02] [-1.98214997e-01 9.80154722e-01 2.74505290e-03 -7.82394454e+01] [-1.59845385e-02 -4.32251465e-04 -9.99872146e-01 -8.04549773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13038572300002 meters 0.01878916577033682 Centerline is valid? [True, True] Translation: X:136.80, Y:-78.21, Z:-8.05 [[-9.63407446e-01 -2.67607345e-01 1.52447456e-02 1.36797450e+02] [-2.67580640e-01 9.63527963e-01 3.80323999e-03 -7.82145355e+01] [-1.57065136e-02 -4.15129050e-04 -9.99876559e-01 -8.04584842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.160385723 meters 0.018541629013993942 Centerline is valid? [True, True] Translation: X:136.74, Y:-78.20, Z:-8.05 [[-9.42343793e-01 -3.34340958e-01 1.42933582e-02 1.36739536e+02] [-3.34308468e-01 9.42452113e-01 4.67575333e-03 -7.82018917e+01] [-1.50341015e-02 -3.72223569e-04 -9.99886912e-01 -8.04624088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.190385723 meters 0.018345303168154754 Centerline is valid? [True, True] Translation: X:136.70, Y:-78.19, Z:-8.05 [[-9.15325441e-01 -4.02509085e-01 1.28753111e-02 1.36702027e+02] [-4.02474398e-01 9.15415929e-01 5.29483140e-03 -7.81858785e+01] [-1.39174826e-02 -3.35489200e-04 -9.99903091e-01 -8.04675089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.220385723 meters 0.018076485043140533 Centerline is valid? [True, True] Translation: X:136.63, Y:-78.19, Z:-8.05 [[-8.83863554e-01 -4.67579091e-01 1.24503613e-02 1.36633800e+02] [-4.67537631e-01 8.83951185e-01 6.23432137e-03 -7.81851645e+01] [-1.39205500e-02 -3.10722993e-04 -9.99903056e-01 -8.04632983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.250385723 meters 0.01789153354667101 Centerline is valid? [True, True] Translation: X:136.56, Y:-78.19, Z:-8.05 [[-8.46750470e-01 -5.31860344e-01 1.17565508e-02 1.36557456e+02] [-5.31813995e-01 8.46832028e-01 7.02785239e-03 -7.81941619e+01] [-1.36936598e-02 -3.01460936e-04 -9.99906192e-01 -8.04621514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.280385723 meters 0.017656287086640732 Centerline is valid? [True, True] Translation: X:136.47, Y:-78.21, Z:-8.05 [[-8.04582551e-01 -5.93750138e-01 1.03775048e-02 1.36471841e+02] [-5.93705231e-01 8.04649423e-01 7.30779300e-03 -7.82146569e+01] [-1.26892563e-02 -2.81456148e-04 -9.99919449e-01 -8.04680731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.310385723 meters 0.017656287086640732 Centerline is valid? [True, True] Translation: X:136.38, Y:-78.25, Z:-8.05 [[-7.57604012e-01 -6.52640924e-01 9.79722845e-03 1.36383741e+02] [-6.52591119e-01 7.57667305e-01 8.06762537e-03 -7.82458187e+01] [-1.26883022e-02 -2.81518933e-04 -9.99919461e-01 -8.04684711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.340385723 meters 0.01846768425536195 Centerline is valid? [True, True] Translation: X:136.29, Y:-78.29, Z:-8.05 [[-7.05836720e-01 -7.08317292e-01 9.00776243e-03 1.36289656e+02] [-7.08264684e-01 7.05894138e-01 8.63734534e-03 -7.82868326e+01] [-1.24765078e-02 -2.83324512e-04 -9.99922125e-01 -8.04561267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.370385723 meters 0.019154687659313482 Centerline is valid? [True, True] Translation: X:136.19, Y:-78.34, Z:-8.04 [[-6.49243977e-01 -7.60542021e-01 7.62182990e-03 1.36190681e+02] [-7.60494555e-01 6.49288655e-01 8.50139082e-03 -7.83418240e+01] [-1.14144326e-02 -2.76883355e-04 -9.99934815e-01 -8.04485749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.400385723 meters 0.019412785348532434 Centerline is valid? [True, True] Translation: X:136.11, Y:-78.39, Z:-8.04 [[-5.89123349e-01 -8.08012158e-01 7.07336996e-03 1.36109222e+02] [-8.07959657e-01 5.89165741e-01 9.21529452e-03 -7.83920681e+01] [-1.16134573e-02 -2.86052400e-04 -9.99932521e-01 -8.04444288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.430385723 meters 0.0195040278770825 Centerline is valid? [True, True] Translation: X:136.02, Y:-78.46, Z:-8.04 [[-5.25146070e-01 -8.50989396e-01 6.21723256e-03 1.36022785e+02] [-8.50936183e-01 5.25182791e-01 9.52094381e-03 -7.84611712e+01] [-1.13674058e-02 -2.90581923e-04 -9.99935347e-01 -8.04419136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.460385723 meters 0.019203715948937057 Centerline is valid? [True, True] Translation: X:135.94, Y:-78.55, Z:-8.04 [[-4.57598332e-01 -8.89139384e-01 5.90958893e-03 1.35936565e+02] [-8.89074239e-01 4.57636373e-01 1.07679351e-02 -7.85460684e+01] [-1.22786380e-02 -3.26674157e-04 -9.99924561e-01 -8.04379578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.490385723 meters 0.020610530648752293 Centerline is valid? [True, True] Translation: X:135.86, Y:-78.62, Z:-8.04 [[-3.88178927e-01 -9.21570368e-01 5.01774386e-03 1.35861312e+02] [-9.21503871e-01 3.88211220e-01 1.10753754e-02 -7.86231656e+01] [-1.21546822e-02 -3.24643076e-04 -9.99926076e-01 -8.04251315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.520385723 meters 0.020172488578379683 Centerline is valid? [True, True] Translation: X:135.79, Y:-78.72, Z:-8.04 [[-3.17011873e-01 -9.48414279e-01 3.71840929e-03 1.35790801e+02] [-9.48359265e-01 3.17033551e-01 1.02191842e-02 -7.87192464e+01] [-1.08708807e-02 -2.86785161e-04 -9.99940869e-01 -8.04333965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.550385723 meters 0.018926369816640976 Centerline is valid? [True, True] Translation: X:135.72, Y:-78.83, Z:-8.05 [[-2.44259872e-01 -9.69706651e-01 2.47499351e-03 1.35724454e+02] [-9.69666301e-01 2.44272295e-01 8.84938350e-03 -7.88311058e+01] [-9.18587839e-03 -2.38368518e-04 -9.99957781e-01 -8.04500252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.580385723 meters 0.01723369947851902 Centerline is valid? [True, True] Translation: X:135.67, Y:-78.94, Z:-8.05 [[-1.69314112e-01 -9.85560739e-01 1.66192273e-03 1.35672136e+02] [-9.85525230e-01 1.69322124e-01 8.36890395e-03 -7.89389171e+01] [-8.52946345e-03 -2.20893238e-04 -9.99963599e-01 -8.04669480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.610385723 meters 0.017370876489877313 Centerline is valid? [True, True] Translation: X:135.63, Y:-79.04, Z:-8.05 [[-9.38104802e-02 -9.95589729e-01 8.27401973e-04 1.35626303e+02] [-9.95566008e-01 9.38139586e-02 6.87494883e-03 -7.90387876e+01] [-6.92225030e-03 -1.78791028e-04 -9.99976025e-01 -8.04788360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.640385723 meters 0.017288654964953614 Centerline is valid? [True, True] Translation: X:135.59, Y:-79.17, Z:-8.05 [[-1.77070499e-02 -9.99843181e-01 2.70386243e-04 1.35586068e+02] [-9.99823702e-01 1.77083933e-02 6.24316360e-03 -7.91697868e+01] [-6.24697266e-03 -1.59790565e-04 -9.99980475e-01 -8.04828602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.670385723 meters 0.01866270576692298 Centerline is valid? [True, True] Translation: X:135.55, Y:-79.29, Z:-8.05 [[ 5.90411310e-02 -9.98255522e-01 -2.39819744e-04 1.35554156e+02] [-9.98230831e-01 -5.90413579e-02 7.02325405e-03 -7.92892629e+01] [-7.02516143e-03 -1.75265400e-04 -9.99975308e-01 -8.04695697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.700385723 meters 0.01862737352193279 Centerline is valid? [True, True] Translation: X:135.53, Y:-79.39, Z:-8.05 [[ 1.35051017e-01 -9.90838273e-01 -8.60035308e-04 1.35532892e+02] [-9.90808492e-01 -1.35053627e-01 7.68434121e-03 -7.93918760e+01] [-7.73009026e-03 -1.85647806e-04 -9.99970105e-01 -8.04591990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.730385723 meters 0.017469428376846497 Centerline is valid? [True, True] Translation: X:135.52, Y:-79.51, Z:-8.05 [[ 2.09636091e-01 -9.77777785e-01 -1.81985344e-03 1.35521753e+02] [-9.77731178e-01 -2.09643871e-01 9.54936079e-03 -7.95089008e+01] [-9.71867397e-03 -2.22563220e-04 -9.99952748e-01 -8.04509793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.760385723 meters 0.016962044609463555 Centerline is valid? [True, True] Translation: X:135.52, Y:-79.63, Z:-8.05 [[ 2.84788331e-01 -9.58587155e-01 -2.50457280e-03 1.35520469e+02] [-9.58542825e-01 -2.84799255e-01 9.22157185e-03 -7.96284468e+01] [-9.55298080e-03 -2.25455770e-04 -9.99954344e-01 -8.04611650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.790385723 meters 0.01661893100705219 Centerline is valid? [True, True] Translation: X:135.53, Y:-79.75, Z:-8.05 [[ 3.57723711e-01 -9.33822495e-01 -3.04870944e-03 1.35529977e+02] [-9.33783227e-01 -3.57736635e-01 8.56648046e-03 -7.97522121e+01] [-9.09020721e-03 -2.17599439e-04 -9.99958660e-01 -8.04756770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82038572300002 meters 0.016993858281407787 Centerline is valid? [True, True] Translation: X:135.55, Y:-79.87, Z:-8.05 [[ 4.28469215e-01 -9.03549927e-01 -3.41495632e-03 1.35546279e+02] [-9.03517329e-01 -4.28482775e-01 7.67776178e-03 -7.98710307e+01] [-8.40049105e-03 -2.04212351e-04 -9.99964694e-01 -8.04842488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85038572300002 meters 0.017414031392559995 Centerline is valid? [True, True] Translation: X:135.57, Y:-79.99, Z:-8.05 [[ 4.97447939e-01 -8.67487144e-01 -3.40634155e-03 1.35571984e+02] [-8.67464183e-01 -4.97459567e-01 6.31434445e-03 -7.99899878e+01] [-7.17212982e-03 -1.86178344e-04 -9.99974263e-01 -8.05026387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88038572300002 meters 0.017665646322053627 Centerline is valid? [True, True] Translation: X:135.60, Y:-80.10, Z:-8.05 [[ 5.63486756e-01 -8.26115566e-01 -3.96821754e-03 1.35603468e+02] [-8.26092539e-01 -5.63500693e-01 6.17133495e-03 -8.01040028e+01] [-7.33432920e-03 -1.99350615e-04 -9.99973084e-01 -8.04943292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.910385723 meters 0.018039117086949837 Centerline is valid? [True, True] Translation: X:135.65, Y:-80.22, Z:-8.05 [[ 6.25573579e-01 -7.80150117e-01 -4.84687078e-03 1.35645611e+02] [-7.80123903e-01 -6.25592315e-01 6.39922111e-03 -8.02172217e+01] [-8.02451821e-03 -2.22023897e-04 -9.99967778e-01 -8.04844307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.940385723 meters 0.018769471665728715 Centerline is valid? [True, True] Translation: X:135.69, Y:-80.32, Z:-8.05 [[ 6.84461585e-01 -7.29019328e-01 -6.56947943e-03 1.35690766e+02] [-7.28981694e-01 -6.84493052e-01 7.41294576e-03 -8.03205219e+01] [-9.90094377e-03 -2.84846364e-04 -9.99950944e-01 -8.04670529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.970385723 meters 0.01832741435485055 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.42, Z:-8.05 [[ 7.38152533e-01 -6.74590053e-01 -7.68760056e-03 1.35744340e+02] [-6.74549060e-01 -7.38192499e-01 7.44310158e-03 -8.04161496e+01] [-1.06959714e-02 -3.08480545e-04 -9.99942749e-01 -8.04692977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.000385723 meters 0.0192880603561888 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.43, Z:-8.05 [[ 7.89166641e-01 -6.14124752e-01 -8.17330049e-03 1.35739669e+02] [-6.14087620e-01 -7.89208901e-01 6.76054400e-03 -8.04268391e+01] [-1.06022589e-02 -3.16073147e-04 -9.99943745e-01 -8.04666199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.030385723 meters 0.01866594239607891 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.44, Z:-8.05 [[ 8.34747759e-01 -5.50555261e-01 -9.22403750e-03 1.35737961e+02] [-5.50517184e-01 -8.34798654e-01 6.48362852e-03 -8.04367506e+01] [-1.12698099e-02 -3.34203230e-04 -9.99936438e-01 -8.04668526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.060385723 meters 0.019555225927066995 Centerline is valid? [True, True] Translation: X:135.73, Y:-80.45, Z:-8.05 [[ 8.75272831e-01 -4.83535175e-01 -9.55016075e-03 1.35734381e+02] [-4.83502244e-01 -8.75324869e-01 5.65282901e-03 -8.04483566e+01] [-1.10928349e-02 -3.30243498e-04 -9.99938418e-01 -8.04562472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.090385723 meters 0.01977364079850684 Centerline is valid? [True, True] Translation: X:135.73, Y:-80.46, Z:-8.05 [[ 9.10396146e-01 -4.13625530e-01 -9.63221164e-03 1.35734644e+02] [-4.13598636e-01 -9.10447043e-01 4.72748731e-03 -8.04562607e+01] [-1.07250281e-02 -3.20016624e-04 -9.99942434e-01 -8.04581884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.120385723 meters 0.01923248377838624 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.46, Z:-8.05 [[ 9.40231959e-01 -3.40410916e-01 -9.17996321e-03 1.35736485e+02] [-3.40391510e-01 -9.40276723e-01 3.64751567e-03 -8.04646063e+01] [-9.87335988e-03 -3.04729266e-04 -9.99951211e-01 -8.04820009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.150385723 meters 0.02002502018200593 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.47, Z:-8.05 [[ 9.64058510e-01 -2.65508930e-01 -9.80807438e-03 1.35737172e+02] [-2.65491806e-01 -9.64108348e-01 3.03231384e-03 -8.04736466e+01] [-1.02611528e-02 -3.19364580e-04 -9.99947302e-01 -8.04838921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.180385723 meters 0.021022415244643787 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.48, Z:-8.05 [[ 9.81989896e-01 -1.88630793e-01 -1.06895856e-02 1.35739270e+02] [-1.88615760e-01 -9.82048015e-01 2.40657889e-03 -8.04811191e+01] [-1.09516412e-02 -3.47011853e-04 -9.99939969e-01 -8.04743333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.210385723 meters 0.02120526923380354 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.49, Z:-8.05 [[ 9.93755098e-01 -1.11042994e-01 -1.09662376e-02 1.35743065e+02] [-1.11032304e-01 -9.93815541e-01 1.58080292e-03 -8.04856582e+01] [-1.10739545e-02 -3.53324337e-04 -9.99938619e-01 -8.04722835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.240385723 meters 0.019427391346756383 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.49, Z:-8.05 [[ 9.99411637e-01 -3.23290005e-02 -1.14549731e-02 1.35743323e+02] [-3.23226160e-02 -9.99477212e-01 7.42093538e-04 -8.04920427e+01] [-1.14729757e-02 -3.71402220e-04 -9.99934114e-01 -8.04853554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.270385723 meters 0.019801968230303373 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.50, Z:-8.05 [[ 9.98853733e-01 4.63264053e-02 -1.20451127e-02 1.35742195e+02] [ 4.63277635e-02 -9.98926279e-01 -1.66393132e-04 -8.05012091e+01] [-1.20398880e-02 -3.91820729e-04 -9.99927441e-01 -8.04824324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.300385723 meters 0.019752651663644753 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.51, Z:-8.05 [[ 9.92165254e-01 1.24432472e-01 -1.11655299e-02 1.35743425e+02] [ 1.24428745e-01 -9.92228011e-01 -1.03059948e-03 -8.05076945e+01] [-1.12069915e-02 -3.66787874e-04 -9.99937132e-01 -8.05004886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.330385723 meters 0.02207543237859569 Centerline is valid? [True, True] Translation: X:135.74, Y:-80.52, Z:-8.05 [[ 9.79662967e-01 2.00464409e-01 -8.63084240e-03 1.35744446e+02] [ 2.00459144e-01 -9.79700945e-01 -1.47972139e-03 -8.05174349e+01] [-8.75227593e-03 -2.80503038e-04 -9.99961659e-01 -8.05130963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.360385723 meters 0.02041819399471824 Centerline is valid? [True, True] Translation: X:135.75, Y:-80.52, Z:-8.05 [[ 9.61063854e-01 2.76232890e-01 -7.18740212e-03 1.35745035e+02] [ 2.76227016e-01 -9.61090700e-01 -1.81720024e-03 -8.05192267e+01] [-7.40971581e-03 -2.38909178e-04 -9.99972519e-01 -8.05338066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.390385723 meters 0.02018691861283215 Centerline is valid? [True, True] Translation: X:135.75, Y:-80.52, Z:-8.05 [[ 9.36497320e-01 3.50622057e-01 -6.07811809e-03 1.35746936e+02] [ 3.50616117e-01 -9.36517020e-01 -2.05166537e-03 -8.05239314e+01] [-6.41162017e-03 -2.09707036e-04 -9.99979423e-01 -8.05402538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.420385723 meters 0.018826840858596663 Centerline is valid? [True, True] Translation: X:135.75, Y:-80.53, Z:-8.05 [[ 9.05874394e-01 4.23495479e-01 -6.56977720e-03 1.35749417e+02] [ 4.23486217e-01 -9.05898186e-01 -2.81086617e-03 -8.05297629e+01] [-7.14193836e-03 -2.35918399e-04 -9.99974468e-01 -8.05446031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.450385723 meters 0.019971760032070626 Centerline is valid? [True, True] Translation: X:135.75, Y:-80.54, Z:-8.05 [[ 8.68282339e-01 4.96003177e-01 -8.16263480e-03 1.35752773e+02] [ 4.95984777e-01 -8.68320644e-01 -4.28492850e-03 -8.05393238e+01] [-9.21312246e-03 -3.28014856e-04 -9.99957504e-01 -8.05359077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.480385723 meters 0.022986622806783232 Centerline is valid? [True, True] Translation: X:135.76, Y:-80.55, Z:-8.05 [[ 8.25460719e-01 5.64398103e-01 -8.32963065e-03 1.35759552e+02] [ 5.64373855e-01 -8.25502661e-01 -5.24485332e-03 -8.05517960e+01] [-9.83631753e-03 -3.71605368e-04 -9.99951553e-01 -8.05227560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.510385723 meters 0.0234114552109737 Centerline is valid? [True, True] Translation: X:135.76, Y:-80.56, Z:-8.05 [[ 7.76246569e-01 6.30372267e-01 -8.48941998e-03 1.35764444e+02] [ 6.30340663e-01 -7.76292865e-01 -6.32743996e-03 -8.05589816e+01] [-1.05789188e-02 -4.39573058e-04 -9.99943945e-01 -8.05077290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.540385723 meters 0.02302299359178057 Centerline is valid? [True, True] Translation: X:135.77, Y:-80.56, Z:-8.05 [[ 7.23993286e-01 6.89755360e-01 -8.44185290e-03 1.35769764e+02] [ 6.89715942e-01 -7.24042347e-01 -7.38919250e-03 -8.05649017e+01] [-1.12089941e-02 -4.72754766e-04 -9.99937066e-01 -8.04963103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57038572300002 meters 0.022199156029464793 Centerline is valid? [True, True] Translation: X:135.77, Y:-80.57, Z:-8.05 [[ 6.68409815e-01 7.43739925e-01 -8.90191865e-03 1.35772552e+02] [ 7.43684170e-01 -6.68468885e-01 -9.12168886e-03 -8.05681125e+01] [-1.27348198e-02 -5.23189623e-04 -9.99918772e-01 -8.04857546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60038572300002 meters 0.023205651971638114 Centerline is valid? [True, True] Translation: X:135.78, Y:-80.57, Z:-8.05 [[ 6.08810457e-01 7.93269537e-01 -8.55971977e-03 1.35776692e+02] [ 7.93203203e-01 -6.08870392e-01 -1.02725038e-02 -8.05736888e+01] [-1.33606243e-02 -5.35589399e-04 -9.99910599e-01 -8.04847868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63038572300002 meters 0.02186733201883633 Centerline is valid? [True, True] Translation: X:135.78, Y:-80.58, Z:-8.05 [[ 5.46283729e-01 8.37565812e-01 -7.58938541e-03 1.35778346e+02] [ 8.37497448e-01 -5.46336213e-01 -1.07129859e-02 -8.05758145e+01] [-1.31191868e-02 -5.03761042e-04 -9.99913813e-01 -8.04959771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.660385723 meters 0.02088046308741661 Centerline is valid? [True, True] Translation: X:135.78, Y:-80.58, Z:-8.05 [[ 4.82499886e-01 8.75876500e-01 -5.84951845e-03 1.35777547e+02] [ 8.75821778e-01 -4.82535181e-01 -9.79853710e-03 -8.05780934e+01] [-1.14049068e-02 -3.95342610e-04 -9.99934884e-01 -8.05154173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.690385723 meters 0.020243748701108347 Centerline is valid? [True, True] Translation: X:135.78, Y:-80.58, Z:-8.05 [[ 4.14443952e-01 9.10064564e-01 -4.32433043e-03 1.35777458e+02] [ 9.10022790e-01 -4.14466388e-01 -8.72552131e-03 -8.05812259e+01] [-9.73307736e-03 -3.18999713e-04 -9.99952582e-01 -8.05357697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.720385723 meters 0.019607132291306496 Centerline is valid? [True, True] Translation: X:135.78, Y:-80.59, Z:-8.05 [[ 3.41980047e-01 9.39701170e-01 -3.37022941e-03 1.35782242e+02] [ 9.39663739e-01 -3.41996525e-01 -8.39249482e-03 -8.05865933e+01] [-9.03904395e-03 -2.96816598e-04 -9.99959103e-01 -8.05434123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.750385723 meters 0.019801386740320878 Centerline is valid? [True, True] Translation: X:135.79, Y:-80.59, Z:-8.06 [[ 2.66521684e-01 9.63826499e-01 -2.16157953e-03 1.35787407e+02] [ 9.63801920e-01 -2.66530334e-01 -6.88772260e-03 -8.05916133e+01] [-7.21469607e-03 -2.47607078e-04 -9.99973943e-01 -8.05568334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.780385723 meters 0.020047649565001244 Centerline is valid? [True, True] Translation: X:135.79, Y:-80.60, Z:-8.06 [[ 1.89109797e-01 9.81954903e-01 -1.43296510e-03 1.35794930e+02] [ 9.81935171e-01 -1.89115087e-01 -6.22930534e-03 -8.05965430e+01] [-6.38789224e-03 -2.29056166e-04 -9.99979571e-01 -8.05637220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.810385723 meters 0.021443413426900697 Centerline is valid? [True, True] Translation: X:135.80, Y:-80.60, Z:-8.06 [[ 1.10837874e-01 9.93838091e-01 -9.02526913e-04 1.35803898e+02] [ 9.93819645e-01 -1.10841320e-01 -6.05934630e-03 -8.06022929e+01] [-6.12204643e-03 -2.25343913e-04 -9.99981235e-01 -8.05629479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.840385723 meters 0.021895212679391998 Centerline is valid? [True, True] Translation: X:135.81, Y:-80.61, Z:-8.06 [[ 3.12443210e-02 9.99511692e-01 -4.11294747e-04 1.35808037e+02] [ 9.99494294e-01 -3.12462058e-02 -5.90184660e-03 -8.06059975e+01] [-5.91181608e-03 -2.26687563e-04 -9.99982499e-01 -8.05589202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.870385723 meters 0.022616426477644783 Centerline is valid? [True, True] Translation: X:135.81, Y:-80.61, Z:-8.05 [[-4.82798937e-02 9.98833843e-01 7.51248017e-05 1.35812556e+02] [ 9.98804190e-01 4.82790397e-02 -7.70225817e-03 -8.06102935e+01] [-7.69690308e-03 -2.96829239e-04 -9.99970334e-01 -8.05444392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.900385723 meters 0.020810226504585385 Centerline is valid? [True, True] Translation: X:135.82, Y:-80.61, Z:-8.05 [[-1.26873899e-01 9.91918555e-01 7.70776326e-04 1.35818717e+02] [ 9.91880577e-01 1.26875791e-01 -8.68645756e-03 -8.06138073e+01] [-8.71405129e-03 -3.37566673e-04 -9.99961975e-01 -8.05397670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.930385723 meters 0.023356950585961538 Centerline is valid? [True, True] Translation: X:135.83, Y:-80.62, Z:-8.05 [[-2.04564957e-01 9.78851237e-01 1.85309608e-03 1.35830381e+02] [ 9.78789949e-01 2.04572901e-01 -1.09619328e-02 -8.06171981e+01] [-1.11091947e-02 -4.28635500e-04 -9.99938199e-01 -8.05072935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.960385723 meters 0.02160933376933346 Centerline is valid? [True, True] Translation: X:135.83, Y:-80.62, Z:-8.05 [[-2.79999685e-01 9.59995504e-01 2.96809417e-03 1.35834605e+02] [ 9.59922889e-01 2.80015039e-01 -1.18162710e-02 -8.06214029e+01] [-1.21746781e-02 -4.59410632e-04 -9.99925780e-01 -8.05069591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.990385723 meters 0.021947970277717107 Centerline is valid? [True, True] Translation: X:135.84, Y:-80.63, Z:-8.05 [[-3.52718933e-01 9.35720998e-01 3.94559371e-03 1.35840597e+02] [ 9.35647627e-01 3.52740720e-01 -1.17261104e-02 -8.06258625e+01] [-1.23641393e-02 -4.44335766e-04 -9.99923462e-01 -8.05018760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.020385723 meters 0.021931485203548828 Centerline is valid? [True, True] Translation: X:135.85, Y:-80.63, Z:-8.05 [[-4.23897972e-01 9.05698275e-01 4.59824346e-03 1.35845009e+02] [ 9.05634111e-01 4.23922714e-01 -1.07883803e-02 -8.06309813e+01] [-1.17203173e-02 -4.08846400e-04 -9.99931231e-01 -8.05027266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.050385723 meters 0.02135225129786979 Centerline is valid? [True, True] Translation: X:135.85, Y:-80.64, Z:-8.05 [[-4.91470300e-01 8.70883697e-01 4.30466327e-03 1.35848130e+02] [ 8.70844661e-01 4.91489056e-01 -8.25134496e-03 -8.06350980e+01] [-9.30165669e-03 -3.06597959e-04 -9.99956692e-01 -8.05149045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.080385723 meters 0.020604483566555552 Centerline is valid? [True, True] Translation: X:135.85, Y:-80.64, Z:-8.05 [[-5.57221147e-01 8.30353189e-01 4.26319237e-03 1.35852371e+02] [ 8.30325251e-01 5.57237395e-01 -6.81645214e-03 -8.06383218e+01] [-8.03567298e-03 -2.58435005e-04 -9.99967680e-01 -8.05256133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.110385723 meters 0.02043213690849524 Centerline is valid? [True, True] Translation: X:135.86, Y:-80.64, Z:-8.05 [[-6.18314503e-01 7.85919793e-01 4.15370141e-03 1.35855741e+02] [ 7.85899762e-01 6.18328420e-01 -5.61500741e-03 -8.06439098e+01] [-6.98129710e-03 -2.07447563e-04 -9.99975609e-01 -8.05382399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.140385723 meters 0.0192642361834512 Centerline is valid? [True, True] Translation: X:135.86, Y:-80.65, Z:-8.05 [[-6.76847167e-01 7.36111049e-01 4.29382006e-03 1.35859887e+02] [ 7.36094469e-01 6.76860761e-01 -4.94399153e-03 -8.06477693e+01] [-6.54564510e-03 -1.85669461e-04 -9.99978560e-01 -8.05496383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.170385723 meters 0.01796125239425427 Centerline is valid? [True, True] Translation: X:135.87, Y:-80.65, Z:-8.06 [[-7.30342650e-01 6.83067730e-01 4.25320726e-03 1.35865368e+02] [ 6.83054915e-01 7.30355018e-01 -4.18694370e-03 -8.06510256e+01] [-5.96631740e-03 -1.52729433e-04 -9.99982190e-01 -8.05647258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.200385723 meters 0.01776550981095666 Centerline is valid? [True, True] Translation: X:135.87, Y:-80.62, Z:-8.06 [[-7.76088197e-01 6.30607982e-01 4.54798179e-03 1.35874728e+02] [ 6.30596056e-01 7.76101509e-01 -3.88092657e-03 -8.06229379e+01] [-5.97703880e-03 -1.44001928e-04 -9.99982127e-01 -8.05643272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.230385723 meters 0.01776550981095666 Centerline is valid? [True, True] Translation: X:135.90, Y:-80.60, Z:-8.06 [[-8.18726244e-01 5.74163912e-01 4.81043345e-03 1.35896530e+02] [ 5.74152960e-01 8.18740363e-01 -3.54924982e-03 -8.06049158e+01] [-5.97634719e-03 -1.43939374e-04 -9.99982131e-01 -8.05643951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.260385723 meters 0.019011313066687754 Centerline is valid? [True, True] Translation: X:135.91, Y:-80.58, Z:-8.05 [[-8.56771812e-01 5.15668252e-01 5.32138014e-03 1.35912795e+02] [ 5.15657252e-01 8.56788325e-01 -3.37115337e-03 -8.05794888e+01] [-6.29769314e-03 -1.44300917e-04 -9.99980159e-01 -8.05495120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.290385723 meters 0.017541936067347576 Centerline is valid? [True, True] Translation: X:135.93, Y:-80.56, Z:-8.06 [[-8.90966383e-01 4.54030272e-01 5.95109816e-03 1.35932791e+02] [ 4.54019004e-01 8.90986245e-01 -3.20227374e-03 -8.05626449e+01] [-6.75627582e-03 -1.51206589e-04 -9.99977165e-01 -8.05529037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32038572300002 meters 0.01722584910209457 Centerline is valid? [True, True] Translation: X:136.32, Y:-79.86, Z:-9.01 [[-8.38086696e-01 -5.45506311e-01 5.79260397e-03 1.36321746e+02] [ 5.45494550e-01 -8.38106700e-01 -3.58542373e-03 -7.98586513e+01] [ 6.81069147e-03 1.54937969e-04 9.99976795e-01 -9.00619105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35038572300002 meters 0.016799675413077968 Centerline is valid? [True, True] Translation: X:135.92, Y:-80.56, Z:-8.05 [[-8.92192076e-01 4.51605349e-01 6.77554324e-03 1.35920274e+02] [ 4.51590946e-01 8.92217789e-01 -3.61043466e-03 -8.05598882e+01] [-7.67575181e-03 -1.61427217e-04 -9.99970528e-01 -8.05367120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38038572300002 meters 0.016945408330997478 Centerline is valid? [True, True] Translation: X:135.94, Y:-80.54, Z:-8.05 [[-9.21733682e-01 3.87749449e-01 7.57519407e-03 1.35943911e+02] [ 3.87734844e-01 9.21764794e-01 -3.36966804e-03 -8.05422283e+01] [-8.28913413e-03 -1.68769846e-04 -9.99965630e-01 -8.05425848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.410385723 meters 0.016655278459183753 Centerline is valid? [True, True] Translation: X:135.96, Y:-80.52, Z:-8.06 [[-9.46667222e-01 3.22117125e-01 7.85675968e-03 1.35959066e+02] [ 3.22104585e-01 9.46699810e-01 -2.84706675e-03 -8.05197367e+01] [-8.35508185e-03 -1.64526460e-04 -9.99965082e-01 -8.05557461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.440385723 meters 0.016443663706117096 Centerline is valid? [True, True] Translation: X:135.94, Y:-80.49, Z:-8.06 [[-9.66704356e-01 2.55804325e-01 6.84358648e-03 1.35939524e+02] [ 2.55796950e-01 9.66728571e-01 -1.94687734e-03 -8.04856791e+01] [-7.11391022e-03 -1.31486256e-04 -9.99974687e-01 -8.05743142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.470385723 meters 0.017217759586962224 Centerline is valid? [True, True] Translation: X:135.92, Y:-80.45, Z:-8.06 [[-9.82202007e-01 1.87732879e-01 5.96520431e-03 1.35919092e+02] [ 1.87728742e-01 9.82220115e-01 -1.25105170e-03 -8.04496824e+01] [-6.09400720e-03 -1.08945191e-04 -9.99981425e-01 -8.05635831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.500385723 meters 0.015948799345505325 Centerline is valid? [True, True] Translation: X:136.16, Y:-79.67, Z:-9.00 [[-9.59933973e-01 -2.80198699e-01 3.93139444e-03 1.36160994e+02] [ 2.80196150e-01 -9.59942023e-01 -1.19610196e-03 -7.96683311e+01] [ 4.10905695e-03 -4.66173193e-05 9.99991557e-01 -9.00247881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.530385723 meters 0.015794332947779075 Centerline is valid? [True, True] Translation: X:135.95, Y:-80.46, Z:-8.06 [[-9.82489249e-01 1.86279841e-01 3.83350464e-03 1.35947024e+02] [ 1.86278159e-01 9.82496726e-01 -7.94506342e-04 -8.04622630e+01] [-3.91440628e-03 -6.64957528e-05 -9.99992336e-01 -8.05793889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.560385723 meters 0.01538013217189003 Centerline is valid? [True, True] Translation: X:136.10, Y:-79.65, Z:-9.00 [[-9.61871264e-01 -2.73494235e-01 2.13898478e-03 1.36103799e+02] [ 2.73493429e-01 -9.61873640e-01 -6.66268001e-04 -7.96529236e+01] [ 2.23965354e-03 -5.58657616e-05 9.99997490e-01 -9.00075387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.590385723 meters 0.015465558494153556 Centerline is valid? [True, True] Translation: X:135.89, Y:-80.46, Z:-8.06 [[-9.82805940e-01 1.84623724e-01 2.56229458e-03 1.35891650e+02] [ 1.84622980e-01 9.82809279e-01 -5.25963302e-04 -8.04553974e+01] [-2.61535219e-03 -4.38613964e-05 -9.99996579e-01 -8.05946411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.620385723 meters 0.015305654545514882 Centerline is valid? [True, True] Translation: X:135.89, Y:-80.43, Z:-8.06 [[-9.93347016e-01 1.15128606e-01 2.66645225e-03 1.35885109e+02] [ 1.15128076e-01 9.93350594e-01 -3.51900877e-04 -8.04262759e+01] [-2.68923578e-03 -4.25761694e-05 -9.99996383e-01 -8.05962851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.650385723 meters 0.015189317698938973 Centerline is valid? [True, True] Translation: X:135.90, Y:-80.40, Z:-8.06 [[-9.98998123e-01 4.46572985e-02 2.91121843e-03 1.35903104e+02] [ 4.46569819e-02 9.99002364e-01 -1.73685130e-04 -8.03994686e+01] [-2.91607040e-03 -4.35048905e-05 -9.99995747e-01 -8.05890238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.680385723 meters 0.015242522018916765 Centerline is valid? [True, True] Translation: X:135.91, Y:-80.37, Z:-8.06 [[-9.99640512e-01 -2.66487774e-02 2.94768470e-03 1.35906504e+02] [-2.66487922e-02 9.99644857e-01 3.42665151e-05 -8.03699704e+01] [-2.94755101e-03 -4.42980403e-05 -9.99995655e-01 -8.05838021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.710385723 meters 0.017265462492853087 Centerline is valid? [True, True] Translation: X:135.91, Y:-80.34, Z:-8.06 [[-9.95146365e-01 -9.83108750e-02 4.32244293e-03 1.35905189e+02] [-9.83102043e-02 9.95155751e-01 3.67872012e-04 -8.03390067e+01] [-4.33766976e-03 -5.88537521e-05 -9.99990591e-01 -8.05597747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.740385723 meters 0.015399604175404369 Centerline is valid? [True, True] Translation: X:135.89, Y:-80.31, Z:-8.06 [[-9.85445303e-01 -1.69938236e-01 4.30702791e-03 1.35894227e+02] [-1.69936893e-01 9.85454713e-01 6.78573059e-04 -8.03101604e+01] [-4.35969647e-03 -6.32263053e-05 -9.99990494e-01 -8.05667186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.770385723 meters 0.015505834948548883 Centerline is valid? [True, True] Translation: X:135.87, Y:-80.28, Z:-8.05 [[-9.70328811e-01 -2.41698324e-01 6.62709176e-03 1.35867360e+02] [-2.41693377e-01 9.70351437e-01 1.54950406e-03 -8.02828689e+01] [-6.80512054e-03 -9.81957532e-05 -9.99976840e-01 -8.05384080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.800385723 meters 0.015502775364072378 Centerline is valid? [True, True] Translation: X:135.82, Y:-80.26, Z:-8.05 [[-9.50204027e-01 -3.11529402e-01 7.85737553e-03 1.35822279e+02] [-3.11519765e-01 9.50236506e-01 2.45315054e-03 -8.02642371e+01] [-8.23059360e-03 -1.16734253e-04 -9.99966121e-01 -8.05252921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.830385723 meters 0.015267065982858655 Centerline is valid? [True, True] Translation: X:135.77, Y:-80.25, Z:-8.05 [[-9.24553585e-01 -3.80966100e-01 8.09317019e-03 1.35771914e+02] [-3.80952668e-01 9.24588998e-01 3.20143977e-03 -8.02529446e+01] [-8.70249614e-03 -1.23212154e-04 -9.99962125e-01 -8.05325239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.860385723 meters 0.01800346086593561 Centerline is valid? [True, True] Translation: X:135.70, Y:-80.25, Z:-8.05 [[-8.94279383e-01 -4.47428638e-01 8.48523689e-03 1.35700381e+02] [-4.47409786e-01 8.94319629e-01 4.10903575e-03 -8.02538431e+01] [-9.42701418e-03 -1.21752070e-04 -9.99955557e-01 -8.05259505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.890385723 meters 0.016054392507370594 Centerline is valid? [True, True] Translation: X:135.62, Y:-80.27, Z:-8.06 [[-8.59307492e-01 -5.11420832e-01 6.27425126e-03 1.35615876e+02] [-5.11407928e-01 8.59330394e-01 3.63394345e-03 -8.02681134e+01] [-7.25012919e-03 -8.60270059e-05 -9.99973714e-01 -8.05589316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.920385723 meters 0.015503899611093592 Centerline is valid? [True, True] Translation: X:135.52, Y:-80.30, Z:-8.06 [[-8.19219050e-01 -5.73459600e-01 4.92289159e-03 1.35520779e+02] [-5.73449739e-01 8.19233839e-01 3.36370471e-03 -8.02954690e+01] [-5.96194813e-03 -6.74199181e-05 -9.99982225e-01 -8.05712822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.950385723 meters 0.014541735568551182 Centerline is valid? [True, True] Translation: X:135.44, Y:-80.32, Z:-8.06 [[-7.75471036e-01 -6.31375118e-01 3.18327130e-03 1.35442130e+02] [-6.31370004e-01 7.75477569e-01 2.54142506e-03 -8.03195309e+01] [-4.07314804e-03 -3.90204880e-05 -9.99991704e-01 -8.05899814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.980385723 meters 0.014375811234852553 Centerline is valid? [True, True] Translation: X:135.36, Y:-80.35, Z:-8.06 [[-7.26098597e-01 -6.87585012e-01 2.77112800e-03 1.35358357e+02] [-6.87580176e-01 7.26103884e-01 2.57892393e-03 -8.03546835e+01] [-3.78535625e-03 -3.28196302e-05 -9.99992835e-01 -8.05909558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.010385723 meters 0.01427692566197811 Centerline is valid? [True, True] Translation: X:135.26, Y:-80.41, Z:-8.06 [[-6.73601729e-01 -7.39086991e-01 3.33614900e-03 1.35259394e+02] [-7.39078102e-01 6.73609990e-01 3.62500922e-03 -8.04140210e+01] [-4.92646045e-03 -2.38621899e-05 -9.99987865e-01 -8.05749609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.040385723 meters 0.014256977637901317 Centerline is valid? [True, True] Translation: X:135.17, Y:-80.47, Z:-8.06 [[-6.16038490e-01 -7.87707533e-01 3.66345990e-03 1.35172863e+02] [-7.87693776e-01 6.16049383e-01 4.65550524e-03 -8.04725088e+01] [-5.92404876e-03 -1.77141431e-05 -9.99982453e-01 -8.05594873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07038572300002 meters 0.014218717548102186 Centerline is valid? [True, True] Translation: X:135.08, Y:-80.55, Z:-8.06 [[-5.54492669e-01 -8.32177338e-01 4.33100810e-03 1.35083333e+02] [-8.32152116e-01 5.54509583e-01 6.47907281e-03 -8.05478177e+01] [-7.79332306e-03 -1.14591813e-05 -9.99969632e-01 -8.05556149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10038572300002 meters 0.01436812226850066 Centerline is valid? [True, True] Translation: X:134.99, Y:-80.64, Z:-8.06 [[-4.90165847e-01 -8.71615958e-01 4.80240492e-03 1.34994751e+02] [-8.71574043e-01 4.90189373e-01 8.54792633e-03 -8.06383886e+01] [-9.80459685e-03 4.25008297e-06 -9.99951934e-01 -8.05501778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13038572300002 meters 0.014444302708259147 Centerline is valid? [True, True] Translation: X:134.92, Y:-80.73, Z:-8.06 [[-4.22242720e-01 -9.06473522e-01 4.10350796e-03 1.34917661e+02] [-9.06430459e-01 4.22262659e-01 8.83570468e-03 -8.07253932e+01] [-9.74209052e-03 1.12673743e-05 -9.99952545e-01 -8.05522724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.160385723 meters 0.015094403713421871 Centerline is valid? [True, True] Translation: X:134.85, Y:-80.81, Z:-8.06 [[-3.52684905e-01 -9.35736839e-01 3.15058814e-03 1.34846964e+02] [-9.35698882e-01 3.52698976e-01 8.42822102e-03 -8.08149598e+01] [-8.99780610e-03 2.45045307e-05 -9.99959519e-01 -8.05661415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.190385723 meters 0.014363538345330733 Centerline is valid? [True, True] Translation: X:134.78, Y:-80.92, Z:-8.06 [[-2.80098577e-01 -9.59968793e-01 2.16875927e-03 1.34780791e+02] [-9.59939354e-01 2.80106972e-01 7.51797521e-03 -8.09192938e+01] [-7.82450618e-03 2.38967840e-05 -9.99969388e-01 -8.05771850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.220385723 meters 0.014511071270902811 Centerline is valid? [True, True] Translation: X:134.72, Y:-81.03, Z:-8.06 [[-2.05547830e-01 -9.78645987e-01 1.45671748e-03 1.34723637e+02] [-9.78620604e-01 2.05552990e-01 7.04849321e-03 -8.10271888e+01] [-7.19741222e-03 2.32287418e-05 -9.99974098e-01 -8.05784134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.250385723 meters 0.014635060502476148 Centerline is valid? [True, True] Translation: X:134.67, Y:-81.16, Z:-8.06 [[-1.29984828e-01 -9.91515563e-01 9.12086651e-04 1.34671057e+02] [-9.91489636e-01 1.29988025e-01 7.17045179e-03 -8.11576192e+01] [-7.22817489e-03 2.77254811e-05 -9.99973876e-01 -8.05856741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.280385723 meters 0.014594236781488927 Centerline is valid? [True, True] Translation: X:134.63, Y:-81.27, Z:-8.06 [[-5.17190888e-02 -9.98661587e-01 4.12066546e-04 1.34630176e+02] [-9.98625815e-01 5.17207239e-02 8.45270022e-03 -8.12667481e+01] [-8.46269940e-03 2.56656629e-05 -9.99964190e-01 -8.05933624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.310385723 meters 0.014566476724732472 Centerline is valid? [True, True] Translation: X:134.60, Y:-81.39, Z:-8.06 [[ 2.68836346e-02 -9.99638536e-01 -2.58649270e-04 1.34598059e+02] [-9.99598204e-01 -2.68848733e-02 8.97962339e-03 -8.13900224e+01] [-8.98333134e-03 1.71404315e-05 -9.99959649e-01 -8.05968931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.340385723 meters 0.014559472539551787 Centerline is valid? [True, True] Translation: X:134.58, Y:-81.52, Z:-8.06 [[ 1.05355397e-01 -9.94434175e-01 -9.55087336e-04 1.34575277e+02] [-9.94393775e-01 -1.05359726e-01 8.96370907e-03 -8.15179686e+01] [-9.01444637e-03 5.35777056e-06 -9.99959369e-01 -8.06000664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.370385723 meters 0.014499480181997476 Centerline is valid? [True, True] Translation: X:134.56, Y:-81.65, Z:-8.06 [[ 1.83336065e-01 -9.83048903e-01 -1.65593896e-03 1.34563219e+02] [-9.83008396e-01 -1.83343543e-01 8.92401972e-03 -8.16528623e+01] [-9.07635351e-03 -8.29275346e-06 -9.99958809e-01 -8.06081644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.400385723 meters 0.014556703348981462 Centerline is valid? [True, True] Translation: X:134.56, Y:-81.77, Z:-8.06 [[ 2.61579607e-01 -9.65179445e-01 -2.17912518e-03 1.34555295e+02] [-9.65144858e-01 -2.61588682e-01 8.17090806e-03 -8.17719800e+01] [-8.45642699e-03 -3.41714641e-05 -9.99964243e-01 -8.06191486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.430385723 meters 0.01458772362349271 Centerline is valid? [True, True] Translation: X:134.56, Y:-81.90, Z:-8.06 [[ 3.37738089e-01 -9.41236145e-01 -2.73920370e-03 1.34561267e+02] [-9.41203838e-01 -3.37749193e-01 7.79864879e-03 -8.19031954e+01] [-8.26553396e-03 -5.57517065e-05 -9.99965838e-01 -8.06258953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.460385723 meters 0.014569332718357817 Centerline is valid? [True, True] Translation: X:134.58, Y:-82.03, Z:-8.06 [[ 4.10315141e-01 -9.11937884e-01 -3.28337614e-03 1.34578025e+02] [-9.11907414e-01 -4.10328272e-01 7.45497284e-03 -8.20298359e+01] [-8.14573422e-03 -6.47531860e-05 -9.99966821e-01 -8.06301157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.490385723 meters 0.01467177891816816 Centerline is valid? [True, True] Translation: X:134.60, Y:-82.15, Z:-8.06 [[ 4.80632320e-01 -8.76912815e-01 -4.06055354e-03 1.34603846e+02] [-8.76880091e-01 -4.80649465e-01 7.57606987e-03 -8.21545046e+01] [-8.59525564e-03 -8.06854823e-05 -9.99963057e-01 -8.06274499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.520385723 meters 0.014683807407929034 Centerline is valid? [True, True] Translation: X:134.63, Y:-82.27, Z:-8.06 [[ 5.47985621e-01 -8.36474231e-01 -4.75601865e-03 1.34634006e+02] [-8.36441179e-01 -5.48006251e-01 7.43663207e-03 -8.22690246e+01] [-8.82687904e-03 -9.70375939e-05 -9.99961038e-01 -8.06230645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.550385723 meters 0.015196352066559865 Centerline is valid? [True, True] Translation: X:134.68, Y:-82.39, Z:-8.06 [[ 6.12886603e-01 -7.90148553e-01 -5.93931383e-03 1.34675303e+02] [-7.90109276e-01 -6.12915366e-01 7.87953257e-03 -8.23894361e+01] [-9.86629796e-03 -1.36553000e-04 -9.99951318e-01 -8.06066599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.580385723 meters 0.015325856175931964 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.51, Z:-8.06 [[ 6.72150865e-01 -7.40379481e-01 -7.17204426e-03 1.34737675e+02] [-7.40334815e-01 -6.72189110e-01 8.13405206e-03 -8.25131343e+01] [-1.08432553e-02 -1.57596066e-04 -9.99941198e-01 -8.06053127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.610385723 meters 0.015499742062666454 Centerline is valid? [True, True] Translation: X:134.77, Y:-82.59, Z:-8.06 [[ 7.27691438e-01 -6.85849026e-01 -8.73410925e-03 1.34765317e+02] [-6.85796460e-01 -7.27743826e-01 8.49346121e-03 -8.25865178e+01] [-1.21814262e-02 -1.90797797e-04 -9.99925785e-01 -8.06077051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.640385723 meters 0.015937919735191514 Centerline is valid? [True, True] Translation: X:134.76, Y:-82.60, Z:-8.06 [[ 7.79386312e-01 -6.26469119e-01 -9.66536703e-03 1.34756656e+02] [-6.26417706e-01 -7.79446215e-01 8.02845203e-03 -8.25966765e+01] [-1.25632110e-02 -2.02708577e-04 -9.99921059e-01 -8.05957786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.670385723 meters 0.015677045693961455 Centerline is valid? [True, True] Translation: X:134.75, Y:-82.61, Z:-8.06 [[ 8.25934702e-01 -5.63664727e-01 -1.06744101e-02 1.34751280e+02] [-5.63614361e-01 -8.26003651e-01 7.53792361e-03 -8.26068768e+01] [-1.30659634e-02 -2.09581844e-04 -9.99914615e-01 -8.05902270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.700385723 meters 0.015484909013642299 Centerline is valid? [True, True] Translation: X:134.75, Y:-82.62, Z:-8.06 [[ 8.67347398e-01 -4.97555359e-01 -1.21307533e-02 1.34745271e+02] [-4.97503112e-01 -8.67432197e-01 7.21374993e-03 -8.26206677e+01] [-1.41118459e-02 -2.21739703e-04 -9.99900398e-01 -8.05763257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.730385723 meters 0.01553534908913375 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.63, Z:-8.06 [[ 9.03390447e-01 -4.28628652e-01 -1.27741964e-02 1.34741305e+02] [-4.28582396e-01 -9.03480731e-01 6.30062895e-03 -8.26301234e+01] [-1.42418704e-02 -2.17132279e-04 -9.99898556e-01 -8.05744791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.760385723 meters 0.015055790364472516 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.64, Z:-8.06 [[ 9.32997181e-01 -3.59676454e-01 -1.22110390e-02 1.34739390e+02] [-3.59643405e-01 -9.33077072e-01 4.87837694e-03 -8.26403137e+01] [-1.31484778e-02 -1.59892305e-04 -9.99913542e-01 -8.05890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.790385723 meters 0.01488482709650153 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.65, Z:-8.06 [[ 9.57646232e-01 -2.87702846e-01 -1.18644910e-02 1.34737416e+02] [-2.87679145e-01 -9.57719717e-01 3.69499051e-03 -8.26514417e+01] [-1.24259163e-02 -1.25327108e-04 -9.99922787e-01 -8.05983578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82038572300002 meters 0.014800556145331998 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.66, Z:-8.06 [[ 9.76481928e-01 -2.15267683e-01 -1.19527644e-02 1.34736663e+02] [-2.15250521e-01 -9.76555077e-01 2.71946675e-03 -8.26616646e+01] [-1.22579461e-02 -8.26713664e-05 -9.99924865e-01 -8.06126052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85038572300002 meters 0.01712844596150769 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.67, Z:-8.06 [[ 9.90154522e-01 -1.39333210e-01 -1.34268135e-02 1.34733434e+02] [-1.39319400e-01 -9.90245551e-01 1.96306369e-03 -8.26720377e+01] [-1.35693623e-02 -7.31207943e-05 -9.99907929e-01 -8.05964040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88038572300002 meters 0.014860759216011939 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.68, Z:-8.06 [[ 9.98036716e-01 -6.11769733e-02 -1.34198035e-02 1.34730903e+02] [-6.11704297e-02 -9.98126932e-01 8.97916870e-04 -8.26837509e+01] [-1.34495991e-02 -7.52588576e-05 -9.99909547e-01 -8.06054929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.910385723 meters 0.015099519184931827 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.70, Z:-8.06 [[ 9.99756653e-01 1.75762942e-02 -1.33307407e-02 1.34727561e+02] [ 1.75758068e-02 -9.99845522e-01 -1.53719965e-04 -8.26964033e+01] [-1.33313832e-02 -8.06159655e-05 -9.99911130e-01 -8.06021023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.940385723 meters 0.01505258275077563 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.71, Z:-8.06 [[ 9.95297572e-01 9.60642691e-02 -1.24257303e-02 1.34726871e+02] [ 9.60577829e-02 -9.95375130e-01 -1.11914653e-03 -8.27078409e+01] [-1.24757729e-02 -7.97042823e-05 -9.99922171e-01 -8.06058883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.970385723 meters 0.01522446679382931 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.72, Z:-8.06 [[ 9.84724561e-01 1.73693050e-01 -1.21763743e-02 1.34726567e+02] [ 1.73680771e-01 -9.84799837e-01 -2.06675123e-03 -8.27199675e+01] [-1.23502718e-02 -7.96213883e-05 -9.99923729e-01 -8.05936264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.000385723 meters 0.01730559232483828 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.73, Z:-8.06 [[ 9.68122533e-01 2.50128550e-01 -1.32087220e-02 1.34727559e+02] [ 2.50106457e-01 -9.68212632e-01 -3.32548522e-03 -8.27306658e+01] [-1.36206503e-02 -8.41094916e-05 -9.99907231e-01 -8.05834075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.030385723 meters 0.01510252879215677 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.74, Z:-8.06 [[ 9.45578722e-01 3.25131295e-01 -1.30583544e-02 1.34729428e+02] [ 3.25101532e-01 -9.45668882e-01 -4.40003269e-03 -8.27415421e+01] [-1.37794677e-02 -8.47137430e-05 -9.99905055e-01 -8.05948251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.060385723 meters 0.01518041300957365 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.75, Z:-8.06 [[ 9.17092602e-01 3.98426935e-01 -1.40405695e-02 1.34730834e+02] [ 3.98381857e-01 -9.17200070e-01 -5.99393751e-03 -8.27514935e+01] [-1.52661575e-02 -9.65124111e-05 -9.99883461e-01 -8.05858869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.090385723 meters 0.016179465028153147 Centerline is valid? [True, True] Translation: X:134.73, Y:-82.76, Z:-8.06 [[ 8.83082889e-01 4.68993927e-01 -1.44674299e-02 1.34734866e+02] [ 4.68932884e-01 -8.83201385e-01 -7.56732350e-03 -8.27629870e+01] [-1.63266829e-02 -1.01679724e-04 -9.99866706e-01 -8.05866595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.120385723 meters 0.016179465028153147 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.77, Z:-8.06 [[ 8.43667280e-01 5.36688223e-01 -1.38300849e-02 1.34739460e+02] [ 5.36618097e-01 -8.43780624e-01 -8.67623347e-03 -8.27745931e+01] [-1.63259899e-02 -1.01619523e-04 -9.99866717e-01 -8.05867229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.150385723 meters 0.01511031610915873 Centerline is valid? [True, True] Translation: X:134.74, Y:-82.79, Z:-8.06 [[ 7.99001768e-01 6.01212371e-01 -1.18262789e-02 1.34744747e+02] [ 6.01148281e-01 -7.99089279e-01 -8.77881392e-03 -8.27863316e+01] [-1.47281842e-02 -9.50593863e-05 -9.99891530e-01 -8.05805218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.180385723 meters 0.015046070256820086 Centerline is valid? [True, True] Translation: X:134.75, Y:-82.80, Z:-8.06 [[ 7.49694176e-01 6.61697031e-01 -1.07555714e-02 1.34751084e+02] [ 6.61630639e-01 -7.49771320e-01 -9.37367793e-03 -8.27967467e+01] [-1.42667538e-02 -8.88238546e-05 -9.99898221e-01 -8.05879318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.210385723 meters 0.014976164767578607 Centerline is valid? [True, True] Translation: X:134.76, Y:-82.81, Z:-8.06 [[ 6.95604102e-01 7.18361614e-01 -9.56680337e-03 1.34757522e+02] [ 7.18295367e-01 -6.95669881e-01 -9.75609310e-03 -8.28054263e+01] [-1.36637398e-02 -8.54121566e-05 -9.99906643e-01 -8.05854960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.240385723 meters 0.014885764181879192 Centerline is valid? [True, True] Translation: X:134.76, Y:-82.81, Z:-8.06 [[ 6.37603800e-01 7.70328937e-01 -7.39750095e-03 1.34763154e+02] [ 7.70278346e-01 -6.37646708e-01 -8.82861487e-03 -8.28145620e+01] [-1.15179296e-02 -6.89764057e-05 -9.99933664e-01 -8.05929972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.270385723 meters 0.014847953835079105 Centerline is valid? [True, True] Translation: X:134.77, Y:-82.82, Z:-8.06 [[ 5.75519075e-01 8.17766327e-01 -6.00240035e-03 1.34768226e+02] [ 8.17722964e-01 -5.75550372e-01 -8.42162401e-03 -8.28211020e+01] [-1.03416043e-02 -6.14953473e-05 -9.99946522e-01 -8.06030189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.300385723 meters 0.014730128203731428 Centerline is valid? [True, True] Translation: X:134.78, Y:-82.83, Z:-8.06 [[ 5.10221156e-01 8.60031344e-01 -4.52325920e-03 1.34775852e+02] [ 8.59998411e-01 -5.10241203e-01 -7.52649822e-03 -8.28283841e+01] [-8.78097760e-03 -4.98170989e-05 -9.99961445e-01 -8.06192427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.330385723 meters 0.016361040010669434 Centerline is valid? [True, True] Translation: X:134.78, Y:-82.84, Z:-8.06 [[ 4.41688830e-01 8.97158743e-01 -4.14337927e-03 1.34783739e+02] [ 8.97120285e-01 -4.41708261e-01 -8.30701694e-03 -8.28353097e+01] [-9.28287773e-03 -4.79929970e-05 -9.99956912e-01 -8.06098471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.360385723 meters 0.014781800247808341 Centerline is valid? [True, True] Translation: X:134.79, Y:-82.84, Z:-8.06 [[ 3.69879468e-01 9.29073954e-01 -3.28136360e-03 1.34792992e+02] [ 9.29038537e-01 -3.69894020e-01 -8.11244031e-03 -8.28418835e+01] [-8.75081377e-03 -4.78881366e-05 -9.99961710e-01 -8.06221696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.390385723 meters 0.014810588643368497 Centerline is valid? [True, True] Translation: X:134.80, Y:-82.85, Z:-8.06 [[ 2.94981418e-01 9.55499749e-01 -2.48852195e-03 1.34803563e+02] [ 9.55467293e-01 -2.94991909e-01 -7.87559609e-03 -8.28476292e+01] [-8.25922393e-03 -5.45468313e-05 -9.99965891e-01 -8.06176000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.420385723 meters 0.014908841678846237 Centerline is valid? [True, True] Translation: X:134.81, Y:-82.85, Z:-8.06 [[ 2.18545698e-01 9.75824948e-01 -1.85702789e-03 1.34813232e+02] [ 9.75792024e-01 -2.18553580e-01 -8.01620582e-03 -8.28539292e+01] [-8.22827372e-03 -6.01657008e-05 -9.99966145e-01 -8.06107443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.450385723 meters 0.014933355990037308 Centerline is valid? [True, True] Translation: X:134.82, Y:-82.86, Z:-8.06 [[ 1.40618331e-01 9.90063078e-01 -1.25954547e-03 1.34824647e+02] [ 9.90027601e-01 -1.40623955e-01 -8.38169351e-03 -8.28586480e+01] [-8.47552755e-03 -6.83650313e-05 -9.99964080e-01 -8.06027049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.480385723 meters 0.015006380779896567 Centerline is valid? [True, True] Translation: X:134.84, Y:-82.86, Z:-8.06 [[ 6.11581401e-02 9.98127898e-01 -6.18168602e-04 1.34836527e+02] [ 9.98089688e-01 -6.11612081e-02 -8.73389244e-03 -8.28632730e+01] [-8.75534963e-03 -8.28390895e-05 -9.99961668e-01 -8.05874348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.510385723 meters 0.015020261463986473 Centerline is valid? [True, True] Translation: X:134.85, Y:-82.87, Z:-8.06 [[-1.77504142e-02 9.99842447e-01 6.92720058e-05 1.34847693e+02] [ 9.99802749e-01 1.77503267e-02 -8.91009084e-03 -8.28658180e+01] [-8.90991662e-03 -8.88994608e-05 -9.99960302e-01 -8.05873628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.540385723 meters 0.01491877498189668 Centerline is valid? [True, True] Translation: X:134.86, Y:-82.87, Z:-8.06 [[-9.52785950e-02 9.95450324e-01 8.00747458e-04 1.34856529e+02] [ 9.95407284e-01 9.52819220e-02 -9.25715919e-03 -8.28691093e+01] [-9.29133887e-03 -8.49392698e-05 -9.99956831e-01 -8.05882190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57038572300002 meters 0.014914190214997132 Centerline is valid? [True, True] Translation: X:134.86, Y:-82.87, Z:-8.06 [[-1.71785834e-01 9.85133025e-01 1.59695653e-03 1.34864971e+02] [ 9.85086201e-01 1.71793239e-01 -9.60523122e-03 -8.28716660e+01] [-9.73677682e-03 -7.69028136e-05 -9.99952594e-01 -8.05810243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60038572300002 meters 0.014787649914436833 Centerline is valid? [True, True] Translation: X:134.87, Y:-82.87, Z:-8.06 [[-2.47293879e-01 9.68937457e-01 2.43758019e-03 1.34872739e+02] [ 9.68887660e-01 2.47305884e-01 -9.82357601e-03 -8.28731657e+01] [-1.01212587e-02 -6.75688542e-05 -9.99948776e-01 -8.05751440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63038572300002 meters 0.0146977765195484 Centerline is valid? [True, True] Translation: X:134.88, Y:-82.87, Z:-8.06 [[-3.21636198e-01 9.46858087e-01 3.14944292e-03 1.34881906e+02] [ 9.46810907e-01 3.21651612e-01 -9.45234120e-03 -8.28734128e+01] [-9.96304910e-03 -5.82881839e-05 -9.99950366e-01 -8.05767846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.660385723 meters 0.014549637244271248 Centerline is valid? [True, True] Translation: X:134.89, Y:-82.87, Z:-8.06 [[-3.92540429e-01 9.19728379e-01 3.42348917e-03 1.34888758e+02] [ 9.19692699e-01 3.92555357e-01 -8.10128297e-03 -8.28746756e+01] [-8.79488886e-03 -3.15230999e-05 -9.99961324e-01 -8.05803921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.690385723 meters 0.014620981202683795 Centerline is valid? [True, True] Translation: X:134.90, Y:-82.88, Z:-8.06 [[-4.62096592e-01 8.86823538e-01 3.27908697e-03 1.34897766e+02] [ 8.86800928e-01 4.62108226e-01 -6.33252953e-03 -8.28756958e+01] [-7.13112930e-03 -1.83429456e-05 -9.99974573e-01 -8.05826468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.720385723 meters 0.014604030994038359 Centerline is valid? [True, True] Translation: X:134.91, Y:-82.88, Z:-8.06 [[-5.28329423e-01 8.49035156e-01 2.70640420e-03 1.34906123e+02] [ 8.49023951e-01 5.28336355e-01 -4.36207733e-03 -8.28754670e+01] [-5.13344873e-03 -6.81181008e-06 -9.99986824e-01 -8.05856436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.750385723 meters 0.015386891557630953 Centerline is valid? [True, True] Translation: X:134.91, Y:-82.88, Z:-8.06 [[-5.92277029e-01 8.05729028e-01 2.94196663e-03 1.34914186e+02] [ 8.05719078e-01 5.92284335e-01 -4.00419654e-03 -8.28754239e+01] [-4.96877814e-03 -1.19499225e-06 -9.99987656e-01 -8.05749645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.780385723 meters 0.014729437472133034 Centerline is valid? [True, True] Translation: X:134.92, Y:-82.88, Z:-8.06 [[-6.53140531e-01 7.57231070e-01 2.92455276e-03 1.34918870e+02] [ 7.57223479e-01 6.53147079e-01 -3.39054904e-03 -8.28774179e+01] [-4.47759217e-03 3.50226742e-08 -9.99989976e-01 -8.05812252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.810385723 meters 0.014804243527841697 Centerline is valid? [True, True] Translation: X:134.92, Y:-82.88, Z:-8.06 [[-7.10203539e-01 7.03988218e-01 3.39446360e-03 1.34922655e+02] [ 7.03980197e-01 7.10211651e-01 -3.36047868e-03 -8.28818728e+01] [-4.77652499e-03 3.01130186e-06 -9.99988592e-01 -8.05810896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.840385723 meters 0.014613192688545818 Centerline is valid? [True, True] Translation: X:134.94, Y:-82.86, Z:-8.06 [[-7.58619883e-01 6.51523243e-01 3.65196380e-03 1.34944518e+02] [ 6.51515705e-01 7.58628673e-01 -3.13411209e-03 -8.28629565e+01] [-4.81243133e-03 1.71201869e-06 -9.99988420e-01 -8.05834279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.870385723 meters 0.016279510370499205 Centerline is valid? [True, True] Translation: X:134.96, Y:-82.84, Z:-8.06 [[-8.04547336e-01 5.93871664e-01 4.47564054e-03 1.34957370e+02] [ 5.93862391e-01 8.04559785e-01 -3.31862917e-03 -8.28358744e+01] [-5.57176021e-03 -1.20796662e-05 -9.99984478e-01 -8.05590411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.900385723 meters 0.01450134422860451 Centerline is valid? [True, True] Translation: X:134.97, Y:-82.81, Z:-8.06 [[-8.45856795e-01 5.33391936e-01 4.39609211e-03 1.34965081e+02] [ 5.33384575e-01 8.45868218e-01 -2.80236575e-03 -8.28061101e+01] [-5.21327389e-03 -2.55923876e-05 -9.99986410e-01 -8.05775393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.930385723 meters 0.01496005243166451 Centerline is valid? [True, True] Translation: X:135.39, Y:-82.18, Z:-9.01 [[-8.02910381e-01 -5.96087435e-01 3.83275138e-03 1.35385360e+02] [ 5.96080622e-01 -8.02919529e-01 -2.84997971e-03 -8.21788186e+01] [ 4.77622803e-03 -3.64946453e-06 9.99988594e-01 -9.00778050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.960385723 meters 0.016841641130713954 Centerline is valid? [True, True] Translation: X:134.92, Y:-82.77, Z:-8.05 [[-8.51210022e-01 5.24800999e-01 5.04077801e-03 1.34922989e+02] [ 5.24791336e-01 8.51224945e-01 -3.18539018e-03 -8.27745855e+01] [-5.96253194e-03 -6.60794136e-05 -9.99982222e-01 -8.05219991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.990385723 meters 0.015202344167910475 Centerline is valid? [True, True] Translation: X:134.94, Y:-82.75, Z:-8.05 [[-8.87463219e-01 4.60841909e-01 5.81111585e-03 1.34940384e+02] [ 4.60831369e-01 8.87482240e-01 -3.11813532e-03 -8.27542605e+01] [-6.59422955e-03 -8.92859378e-05 -9.99978254e-01 -8.05351607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.020385723 meters 0.015578211848588729 Centerline is valid? [True, True] Translation: X:134.93, Y:-82.72, Z:-8.05 [[-9.19292719e-01 3.93512035e-01 7.01248042e-03 1.34933681e+02] [ 3.93499503e-01 9.19319456e-01 -3.14309355e-03 -8.27214872e+01] [-7.68355482e-03 -1.30015455e-04 -9.99970473e-01 -8.05297218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.050385723 meters 0.017607035315958117 Centerline is valid? [True, True] Translation: X:134.94, Y:-82.69, Z:-8.05 [[-9.45262440e-01 3.26222410e-01 7.60647582e-03 1.34942915e+02] [ 3.26210601e-01 9.45293033e-01 -2.77965787e-03 -8.26915500e+01] [-8.09713528e-03 -1.46193131e-04 -9.99967207e-01 -8.05087839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.080385723 meters 0.01640351392349557 Centerline is valid? [True, True] Translation: X:134.99, Y:-82.68, Z:-8.05 [[-9.66448434e-01 2.56728688e-01 8.23436268e-03 1.34989568e+02] [ 2.56717885e-01 9.66483498e-01 -2.36108790e-03 -8.26829133e+01] [-8.56453465e-03 -1.67961531e-04 -9.99963310e-01 -8.05361517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.110385723 meters 0.018527029382917174 Centerline is valid? [True, True] Translation: X:135.00, Y:-82.65, Z:-8.05 [[-9.82332674e-01 1.86986670e-01 7.64877320e-03 1.34998891e+02] [ 1.86979740e-01 9.82362438e-01 -1.61763912e-03 -8.26521203e+01] [-7.81634445e-03 -1.58894140e-04 -9.99969439e-01 -8.05236831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.140385723 meters 0.01626255346071716 Centerline is valid? [True, True] Translation: X:135.00, Y:-82.63, Z:-8.06 [[-9.93133336e-01 1.16765411e-01 7.21223343e-03 1.35003333e+02] [ 1.16761239e-01 9.93159512e-01 -9.98228635e-04 -8.26302547e+01] [-7.27945681e-03 -1.49264821e-04 -9.99973493e-01 -8.05501197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.170385723 meters 0.016794279828281022 Centerline is valid? [True, True] Translation: X:134.98, Y:-82.60, Z:-8.06 [[-9.98905863e-01 4.63204664e-02 6.44131389e-03 1.34980915e+02] [ 4.63186521e-02 9.98926622e-01 -4.30640864e-04 -8.26023776e+01] [-6.45434741e-03 -1.31816707e-04 -9.99979162e-01 -8.05544029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.200385723 meters 0.01617162535978922 Centerline is valid? [True, True] Translation: X:135.03, Y:-81.83, Z:-9.01 [[-9.88789471e-01 -1.49198550e-01 5.93083957e-03 1.35031341e+02] [ 1.49196429e-01 -9.88807253e-01 -8.00895143e-04 -8.18275109e+01] [ 5.98394958e-03 9.29434011e-05 9.99982092e-01 -9.00673208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.230385723 meters 0.01563743729459758 Centerline is valid? [True, True] Translation: X:134.92, Y:-82.61, Z:-8.06 [[-9.99102218e-01 4.18851318e-02 6.35565904e-03 1.34917812e+02] [ 4.18835176e-02 9.99122426e-01 -3.86930570e-04 -8.26077915e+01] [-6.36628811e-03 -1.20385834e-04 -9.99979728e-01 -8.05573298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.260385723 meters 0.015708263096760582 Centerline is valid? [True, True] Translation: X:134.91, Y:-82.58, Z:-8.06 [[-9.99569069e-01 -2.86838589e-02 6.23801603e-03 1.34913371e+02] [-2.86840141e-02 9.99588527e-01 6.46128328e-05 -8.25811244e+01] [-6.23730260e-03 -1.14346350e-04 -9.99980541e-01 -8.05566057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.290385723 meters 0.016297139128568776 Centerline is valid? [True, True] Translation: X:134.92, Y:-82.55, Z:-8.06 [[-9.95037059e-01 -9.93158645e-02 6.13267801e-03 1.34916807e+02] [-9.93146609e-02 9.95055952e-01 5.01224487e-04 -8.25525125e+01] [-6.15213730e-03 -1.10327898e-04 -9.99981069e-01 -8.05519845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32038572300002 meters 0.015795366065039052 Centerline is valid? [True, True] Translation: X:134.89, Y:-82.53, Z:-8.06 [[-9.85460863e-01 -1.69820625e-01 5.27658569e-03 1.34889611e+02] [-1.69818718e-01 9.85474985e-01 8.10624841e-04 -8.25311057e+01] [-5.33760402e-03 -9.72239626e-05 -9.99985750e-01 -8.05566606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35038572300002 meters 0.015796146792023427 Centerline is valid? [True, True] Translation: X:134.87, Y:-82.51, Z:-8.05 [[-9.70576801e-01 -2.40735254e-01 5.21650573e-03 1.34874444e+02] [-2.40732330e-01 9.70590814e-01 1.19073374e-03 -8.25050044e+01] [-5.34974413e-03 -1.00083031e-04 -9.99985685e-01 -8.05476413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38038572300002 meters 0.016372473210520024 Centerline is valid? [True, True] Translation: X:134.84, Y:-82.48, Z:-8.05 [[-9.49890577e-01 -3.12521176e-01 6.19729119e-03 1.34838574e+02] [-3.12515414e-01 9.49910784e-01 1.90208538e-03 -8.24844470e+01] [-6.48131569e-03 -1.29976049e-04 -9.99978988e-01 -8.05234843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.410385723 meters 0.01655150068745767 Centerline is valid? [True, True] Translation: X:134.78, Y:-82.48, Z:-8.05 [[-9.24091058e-01 -3.82107651e-01 7.03273669e-03 1.34775641e+02] [-3.82097843e-01 9.24117806e-01 2.74201439e-03 -8.24778874e+01] [-7.54682188e-03 -1.53322538e-04 -9.99971511e-01 -8.05197085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.440385723 meters 0.016335831259808874 Centerline is valid? [True, True] Translation: X:134.71, Y:-82.48, Z:-8.05 [[-8.93814117e-01 -4.48372807e-01 7.62559731e-03 1.34707131e+02] [-4.48358004e-01 8.93846631e-01 3.64693555e-03 -8.24788227e+01] [-8.45130120e-03 -1.59315111e-04 -9.99964274e-01 -8.05123210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.470385723 meters 0.015831132644592204 Centerline is valid? [True, True] Translation: X:134.63, Y:-82.49, Z:-8.05 [[-8.58977706e-01 -5.11951455e-01 7.93771153e-03 1.34633163e+02] [-5.11931205e-01 8.59014368e-01 4.55593963e-03 -8.24895126e+01] [-9.15102818e-03 -1.50111650e-04 -9.99958117e-01 -8.05070322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.500385723 meters 0.0158403587628273 Centerline is valid? [True, True] Translation: X:134.53, Y:-82.52, Z:-8.05 [[-8.19051221e-01 -5.73677960e-01 6.97818042e-03 1.34531147e+02] [-5.73658484e-01 8.19080937e-01 4.72893536e-03 -8.25204091e+01] [-8.42858055e-03 -1.29852114e-04 -9.99964470e-01 -8.05065076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.530385723 meters 0.01588623400839952 Centerline is valid? [True, True] Translation: X:134.46, Y:-82.54, Z:-8.05 [[-7.74304393e-01 -6.32787601e-01 5.70598935e-03 1.34460480e+02] [-6.32771386e-01 7.74325411e-01 4.53118605e-03 -8.25376969e+01] [-7.28557090e-03 -1.02069518e-04 -9.99973455e-01 -8.05125460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.560385723 meters 0.015669312992916025 Centerline is valid? [True, True] Translation: X:134.36, Y:-82.59, Z:-8.05 [[-7.24581039e-01 -6.89174392e-01 4.57984209e-03 1.34362410e+02] [-6.89161369e-01 7.24595508e-01 4.23752594e-03 -8.25854301e+01] [-6.23892737e-03 -8.58192898e-05 -9.99980534e-01 -8.05253605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.590385723 meters 0.015687818279542916 Centerline is valid? [True, True] Translation: X:134.27, Y:-82.64, Z:-8.05 [[-6.70172741e-01 -7.42195046e-01 3.87444983e-03 1.34271101e+02] [-7.42183314e-01 6.70183936e-01 4.17387701e-03 -8.26362868e+01] [-5.69442487e-03 -7.83334165e-05 -9.99983784e-01 -8.05334672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.620385723 meters 0.015852062332890875 Centerline is valid? [True, True] Translation: X:134.18, Y:-82.69, Z:-8.05 [[-6.10976356e-01 -7.91637383e-01 4.25980002e-03 1.34183666e+02] [-7.91619220e-01 6.10991198e-01 5.36333828e-03 -8.26921166e+01] [-6.84851940e-03 -9.52666961e-05 -9.99976544e-01 -8.05283122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.650385723 meters 0.01582732928324481 Centerline is valid? [True, True] Translation: X:134.09, Y:-82.77, Z:-8.05 [[-5.48375890e-01 -8.36220814e-01 4.31651145e-03 1.34092267e+02] [-8.36196433e-01 5.48392868e-01 6.38649036e-03 -8.27690295e+01] [-7.70766027e-03 -1.07254144e-04 -9.99970290e-01 -8.05252643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.680385723 meters 0.016136512014915064 Centerline is valid? [True, True] Translation: X:134.00, Y:-82.87, Z:-8.05 [[-4.82402378e-01 -8.75940346e-01 4.05653575e-03 1.33995643e+02] [-8.75911375e-01 4.82419420e-01 7.12501299e-03 -8.28693902e+01] [-8.19803797e-03 -1.16042595e-04 -9.99966389e-01 -8.05174897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.710385723 meters 0.016155057378972174 Centerline is valid? [True, True] Translation: X:133.93, Y:-82.93, Z:-8.05 [[-4.12996414e-01 -9.10726631e-01 3.31152803e-03 1.33932113e+02] [-9.10699540e-01 4.13009675e-01 7.02542308e-03 -8.29266187e+01] [-7.76593300e-03 -1.14332514e-04 -9.99969838e-01 -8.05171810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.740385723 meters 0.015697763021885656 Centerline is valid? [True, True] Translation: X:133.86, Y:-83.03, Z:-8.05 [[-3.42089995e-01 -9.39662736e-01 2.89445243e-03 1.33858921e+02] [-9.39631900e-01 3.42102220e-01 7.61338550e-03 -8.30283610e+01] [-8.14421325e-03 -1.15256836e-04 -9.99966829e-01 -8.05177851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.770385723 meters 0.015490581686397645 Centerline is valid? [True, True] Translation: X:133.79, Y:-83.14, Z:-8.05 [[-2.71365260e-01 -9.62474067e-01 2.13692581e-03 1.33793389e+02] [-9.62446678e-01 2.71373660e-01 7.26150263e-03 -8.31385063e+01] [-7.56891335e-03 -8.61575991e-05 -9.99971352e-01 -8.05191909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.800385723 meters 0.015232449624800774 Centerline is valid? [True, True] Translation: X:133.73, Y:-83.26, Z:-8.05 [[-1.98424883e-01 -9.80115070e-01 1.41974501e-03 1.33734802e+02] [-9.80092245e-01 1.98429952e-01 6.68926288e-03 -8.32592266e+01] [-6.83796729e-03 -6.41648720e-05 -9.99976619e-01 -8.05261833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.830385723 meters 0.015155425216598316 Centerline is valid? [True, True] Translation: X:133.69, Y:-83.39, Z:-8.05 [[-1.23982188e-01 -9.92284053e-01 8.79977901e-04 1.33685484e+02] [-9.92261849e-01 1.23985300e-01 6.63833292e-03 -8.33864645e+01] [-6.69621622e-03 -5.01334602e-05 -9.99977579e-01 -8.05247769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.860385723 meters 0.015061537888972775 Centerline is valid? [True, True] Translation: X:133.65, Y:-83.47, Z:-8.05 [[-5.02074494e-02 -9.98738716e-01 4.34254025e-04 1.33654456e+02] [-9.98706268e-01 5.02093187e-02 8.05075213e-03 -8.34653003e+01] [-8.06240144e-03 -2.94844863e-05 -9.99967498e-01 -8.05315240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.890385723 meters 0.015053130836171663 Centerline is valid? [True, True] Translation: X:133.63, Y:-83.59, Z:-8.05 [[ 2.55184543e-02 -9.99674331e-01 -1.99238969e-04 1.33625510e+02] [-9.99639058e-01 -2.55192276e-02 8.39784305e-03 -8.35875943e+01] [-8.40019256e-03 -1.51329185e-05 -9.99964718e-01 -8.05266917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.920385723 meters 0.015137955545564808 Centerline is valid? [True, True] Translation: X:133.60, Y:-83.72, Z:-8.05 [[ 1.00049889e-01 -9.94982082e-01 -8.22863561e-04 1.33603463e+02] [-9.94949040e-01 -1.00053272e-01 8.10868415e-03 -8.37155025e+01] [-8.15032563e-03 7.43436085e-06 -9.99966786e-01 -8.05044070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.950385723 meters 0.015133799445983982 Centerline is valid? [True, True] Translation: X:132.79, Y:-83.93, Z:-9.01 [[ 3.86133073e-02 9.99254208e-01 -2.01677374e-04 1.32785076e+02] [-9.99228797e-01 3.86137638e-02 7.12664976e-03 -8.39311646e+01] [ 7.12912229e-03 -7.36616778e-05 9.99974585e-01 -9.01409410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.980385723 meters 0.01523959235107173 Centerline is valid? [True, True] Translation: X:133.63, Y:-84.02, Z:-8.05 [[ 1.08627687e-01 -9.94082210e-01 -7.65600374e-04 1.33630953e+02] [-9.94058466e-01 -1.08630384e-01 6.87064481e-03 -8.40211789e+01] [-6.91315323e-03 1.47092771e-05 -9.99976104e-01 -8.05066964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.010385723 meters 0.015378670118542473 Centerline is valid? [True, True] Translation: X:133.62, Y:-84.14, Z:-8.05 [[ 1.83318624e-01 -9.83052792e-01 -1.22090154e-03 1.33621533e+02] [-9.83031922e-01 -1.83322688e-01 6.40560288e-03 -8.41438136e+01] [-6.52086474e-03 2.59188858e-05 -9.99978739e-01 -8.05220951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.040385723 meters 0.015378670118542473 Centerline is valid? [True, True] Translation: X:132.82, Y:-84.42, Z:-9.01 [[ 1.28549010e-01 9.91702879e-01 -7.42388054e-04 1.32821826e+02] [-9.91684076e-01 1.28551144e-01 6.10714279e-03 -8.44181234e+01] [ 6.15190592e-03 -4.88527475e-05 9.99981076e-01 -9.01185893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07038572300002 meters 0.015457560075888445 Centerline is valid? [True, True] Translation: X:133.68, Y:-84.45, Z:-8.05 [[ 1.92213250e-01 -9.81352419e-01 -1.22311176e-03 1.33678983e+02] [-9.81333526e-01 -1.92217139e-01 6.08955297e-03 -8.44547959e+01] [-6.21110059e-03 2.97878126e-05 -9.99980710e-01 -8.05320385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10038572300002 meters 0.01563203062080757 Centerline is valid? [True, True] Translation: X:133.68, Y:-84.58, Z:-8.05 [[ 2.66506606e-01 -9.63831635e-01 -1.67609329e-03 1.33679406e+02] [-9.63813422e-01 -2.66511874e-01 5.92520667e-03 -8.45765555e+01] [-6.15760039e-03 3.63344884e-05 -9.99981041e-01 -8.05420532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13038572300002 meters 0.015701095170971558 Centerline is valid? [True, True] Translation: X:133.69, Y:-84.70, Z:-8.05 [[ 3.40151594e-01 -9.40368004e-01 -2.21595029e-03 1.33690852e+02] [-9.40348791e-01 -3.40158809e-01 6.01128104e-03 -8.47048150e+01] [-6.40659137e-03 3.90193529e-05 -9.99979477e-01 -8.05440778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.160385723 meters 0.015725519565170175 Centerline is valid? [True, True] Translation: X:133.71, Y:-84.84, Z:-8.05 [[ 4.11900288e-01 -9.11224940e-01 -2.69460232e-03 1.33714477e+02] [-9.11206049e-01 -4.11909100e-01 5.86763818e-03 -8.48393497e+01] [-6.45666947e-03 3.84560725e-05 -9.99979155e-01 -8.05392303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.190385723 meters 0.015582480551720608 Centerline is valid? [True, True] Translation: X:133.74, Y:-84.96, Z:-8.05 [[ 4.82201744e-01 -8.76051334e-01 -3.94196342e-03 1.33742211e+02] [-8.76022749e-01 -4.82217854e-01 7.07705754e-03 -8.49634809e+01] [-8.10075084e-03 4.06801382e-05 -9.99967188e-01 -8.05216289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.220385723 meters 0.015585881681269188 Centerline is valid? [True, True] Translation: X:133.78, Y:-85.08, Z:-8.05 [[ 5.49179334e-01 -8.35690926e-01 -4.76824947e-03 1.33776076e+02] [-8.35659978e-01 -5.49200033e-01 7.19208144e-03 -8.50754320e+01] [-8.62907997e-03 3.48927518e-05 -9.99962768e-01 -8.05182976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.250385723 meters 0.01556789247122891 Centerline is valid? [True, True] Translation: X:133.81, Y:-85.18, Z:-8.05 [[ 6.12487309e-01 -7.90463199e-01 -5.21806881e-03 1.33814294e+02] [-7.90434889e-01 -6.12509535e-01 6.68999593e-03 -8.51778714e+01] [-8.48431248e-03 2.70060363e-05 -9.99964007e-01 -8.05217412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.280385723 meters 0.015241892942588342 Centerline is valid? [True, True] Translation: X:133.86, Y:-85.28, Z:-8.05 [[ 6.73349159e-01 -7.39301984e-01 -5.78668063e-03 1.33864114e+02] [-7.39274735e-01 -6.73374024e-01 6.34738940e-03 -8.52842509e+01] [-8.58923800e-03 3.93747824e-06 -9.99963112e-01 -8.05430980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.310385723 meters 0.015175198484817397 Centerline is valid? [True, True] Translation: X:133.93, Y:-85.39, Z:-8.05 [[ 7.30527098e-01 -6.82849286e-01 -6.85648822e-03 1.33926447e+02] [-6.82818825e-01 -7.30559273e-01 6.44981193e-03 -8.53936688e+01] [-9.41332052e-03 -3.00231587e-05 -9.99955693e-01 -8.05306139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.340385723 meters 0.01527279195893119 Centerline is valid? [True, True] Translation: X:133.92, Y:-85.40, Z:-8.05 [[ 7.82813246e-01 -6.22208452e-01 -7.75008849e-03 1.33919167e+02] [-6.22177325e-01 -7.82851608e-01 6.22389403e-03 -8.54034751e+01] [-9.93972871e-03 -5.02173617e-05 -9.99950598e-01 -8.05329906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.370385723 meters 0.015338237106028139 Centerline is valid? [True, True] Translation: X:133.91, Y:-85.41, Z:-8.05 [[ 8.30004576e-01 -5.57700329e-01 -7.92131226e-03 1.33911749e+02] [-5.57674180e-01 -8.30042371e-01 5.40096402e-03 -8.54125604e+01] [-9.58714423e-03 -6.53135319e-05 -9.99954040e-01 -8.05335554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.400385723 meters 0.015591683874496023 Centerline is valid? [True, True] Translation: X:133.90, Y:-85.42, Z:-8.05 [[ 8.71768920e-01 -4.89843756e-01 -8.48787157e-03 1.33903832e+02] [-4.89819639e-01 -8.71810236e-01 4.86142321e-03 -8.54211952e+01] [-9.78115112e-03 -8.05114784e-05 -9.99952160e-01 -8.05371658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.430385723 meters 0.015931336824959504 Centerline is valid? [True, True] Translation: X:133.90, Y:-85.43, Z:-8.05 [[ 9.08640130e-01 -4.17490020e-01 -8.67157809e-03 1.33896133e+02] [-4.17469873e-01 -9.08681502e-01 4.10286843e-03 -8.54328581e+01] [-9.59260922e-03 -1.07908298e-04 -9.99953984e-01 -8.05248892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.460385723 meters 0.01632723410855456 Centerline is valid? [True, True] Translation: X:133.89, Y:-85.44, Z:-8.05 [[ 9.39395549e-01 -3.42709619e-01 -9.28011893e-03 1.33889676e+02] [-3.42691451e-01 -9.39441376e-01 3.53143885e-03 -8.54446844e+01] [-9.92838576e-03 -1.37200520e-04 -9.99950703e-01 -8.05176304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.490385723 meters 0.01660956728459569 Centerline is valid? [True, True] Translation: X:133.89, Y:-85.45, Z:-8.05 [[ 9.63654949e-01 -2.66994120e-01 -9.12571636e-03 1.33885686e+02] [-2.66980732e-01 -9.63698147e-01 2.67758353e-03 -8.54533860e+01] [-9.50933500e-03 -1.43876180e-04 -9.99954775e-01 -8.05259064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.520385723 meters 0.01657407719863169 Centerline is valid? [True, True] Translation: X:133.88, Y:-85.46, Z:-8.05 [[ 9.81718021e-01 -1.90119836e-01 -9.17472704e-03 1.33882241e+02] [-1.90110115e-01 -9.81760880e-01 1.92831759e-03 -8.54636656e+01] [-9.37399952e-03 -1.48855713e-04 -9.99956052e-01 -8.05395416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.550385723 meters 0.01698190254192039 Centerline is valid? [True, True] Translation: X:133.87, Y:-85.47, Z:-8.05 [[ 9.93637065e-01 -1.12225318e-01 -9.53205651e-03 1.33874789e+02] [-1.12218643e-01 -9.93682773e-01 1.23395623e-03 -8.54746166e+01] [-9.61032148e-03 -1.56430195e-04 -9.99953808e-01 -8.05386175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.580385723 meters 0.0168479357348173 Centerline is valid? [True, True] Translation: X:133.87, Y:-85.49, Z:-8.05 [[ 9.99399542e-01 -3.34270089e-02 -9.12083367e-03 1.33868903e+02] [-3.34241966e-02 -9.99441149e-01 4.60640994e-04 -8.54861326e+01] [-9.13113434e-03 -1.55507861e-04 -9.99958298e-01 -8.05482079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.610385723 meters 0.017123771081781293 Centerline is valid? [True, True] Translation: X:133.86, Y:-85.50, Z:-8.05 [[ 9.98935568e-01 4.52843667e-02 -8.77825557e-03 1.33863263e+02] [ 4.52839684e-02 -9.98974125e-01 -2.44224265e-04 -8.54982163e+01] [-8.78030972e-03 -1.53549944e-04 -9.99961441e-01 -8.05446545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.640385723 meters 0.01702699209028118 Centerline is valid? [True, True] Translation: X:133.86, Y:-85.51, Z:-8.05 [[ 9.92326842e-01 1.23328187e-01 -8.80887092e-03 1.33859505e+02] [ 1.23324708e-01 -9.92365928e-01 -9.39114984e-04 -8.55098064e+01] [-8.85744271e-03 -1.54442430e-04 -9.99960760e-01 -8.05392269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.670385723 meters 0.01707081875584061 Centerline is valid? [True, True] Translation: X:133.86, Y:-85.52, Z:-8.05 [[ 9.79782249e-01 1.99825454e-01 -9.82510082e-03 1.33855859e+02] [ 1.99817088e-01 -9.79831496e-01 -1.83589310e-03 -8.55218834e+01] [-9.99380140e-03 -1.64447561e-04 -9.99950047e-01 -8.05203094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.700385723 meters 0.017317237657851196 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.53, Z:-8.05 [[ 9.61366389e-01 2.75098875e-01 -9.76084421e-03 1.33852889e+02] [ 2.75086359e-01 -9.61415927e-01 -2.62894376e-03 -8.55323746e+01] [-1.01074506e-02 -1.57696925e-04 -9.99948906e-01 -8.05112420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.730385723 meters 0.01670093603357685 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.54, Z:-8.05 [[ 9.37996925e-01 3.46497025e-01 -1.00786804e-02 1.33849865e+02] [ 3.46478526e-01 -9.38051062e-01 -3.58285463e-03 -8.55381438e+01] [-1.06957653e-02 -1.31339692e-04 -9.99942790e-01 -8.05061451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.760385723 meters 0.016231279218311263 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.55, Z:-8.05 [[ 9.08887249e-01 4.16900892e-01 -1.08450059e-02 1.33849120e+02] [ 4.16872771e-01 -9.08951942e-01 -4.84363258e-03 -8.55489152e+01] [-1.18769039e-02 -1.18671747e-04 -9.99929460e-01 -8.05021095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.790385723 meters 0.01613421932610122 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.56, Z:-8.05 [[ 8.74477817e-01 4.84950990e-01 -1.05396619e-02 1.33850043e+02] [ 4.84917067e-01 -8.74541325e-01 -5.73666482e-03 -8.55608290e+01] [-1.19993712e-02 -9.42758248e-05 -9.99928001e-01 -8.04921889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82038572300002 meters 0.016023790842787624 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.57, Z:-8.05 [[ 8.36353452e-01 5.48105521e-01 -9.65615960e-03 1.33849199e+02] [ 5.48069524e-01 -8.36409192e-01 -6.28176679e-03 -8.55707938e+01] [-1.15195717e-02 -3.84694556e-05 -9.99933647e-01 -8.04879007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85038572300002 meters 0.01593748045222167 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.58, Z:-8.05 [[ 7.92523686e-01 6.09779654e-01 -8.65916479e-03 1.33850410e+02] [ 6.09743366e-01 -7.92570989e-01 -6.65234933e-03 -8.55806847e+01] [-1.09194701e-02 -7.72388000e-06 -9.99940381e-01 -8.05083573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88038572300002 meters 0.015914170971165993 Centerline is valid? [True, True] Translation: X:133.85, Y:-85.59, Z:-8.05 [[ 7.44018925e-01 6.68116294e-01 -7.51384453e-03 1.33852006e+02] [ 6.68081994e-01 -7.44056865e-01 -6.76986380e-03 -8.55903844e+01] [-1.01137839e-02 1.70425444e-05 -9.99948854e-01 -8.05158942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.910385723 meters 0.016207166968767128 Centerline is valid? [True, True] Translation: X:133.86, Y:-85.60, Z:-8.05 [[ 6.93002156e-01 7.20914492e-01 -5.50511748e-03 1.33855594e+02] [ 7.20891166e-01 -6.93024020e-01 -5.79951309e-03 -8.56017841e+01] [-7.99613169e-03 5.04845182e-05 -9.99968029e-01 -8.05236678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.940385723 meters 0.01630714442431247 Centerline is valid? [True, True] Translation: X:133.86, Y:-85.61, Z:-8.05 [[ 6.35772372e-01 7.71866174e-01 -4.01247375e-03 1.33860837e+02] [ 7.71850316e-01 -6.35785032e-01 -4.94798711e-03 -8.56148029e+01] [-6.37025463e-03 4.87643704e-05 -9.99979709e-01 -8.05190194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.970385723 meters 0.01636861730966216 Centerline is valid? [True, True] Translation: X:133.87, Y:-85.63, Z:-8.05 [[ 5.74353614e-01 8.18601838e-01 -2.99274884e-03 1.33867169e+02] [ 8.18590321e-01 -5.74361409e-01 -4.34252896e-03 -8.56272538e+01] [-5.27372162e-03 4.43119672e-05 -9.99986093e-01 -8.05130953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.000385723 meters 0.016417406690856656 Centerline is valid? [True, True] Translation: X:133.87, Y:-85.64, Z:-8.05 [[ 5.09785696e-01 8.60297754e-01 -2.51344650e-03 1.33873852e+02] [ 8.60286819e-01 -5.09791890e-01 -4.33796496e-03 -8.56386718e+01] [-5.01327615e-03 4.91475922e-05 -9.99987432e-01 -8.05112539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.030385723 meters 0.01628113869847087 Centerline is valid? [True, True] Translation: X:133.88, Y:-85.65, Z:-8.05 [[ 4.41338225e-01 8.97338240e-01 -2.15736288e-03 1.33882154e+02] [ 8.97326941e-01 -4.41343495e-01 -4.50333254e-03 -8.56502009e+01] [-4.99315057e-03 5.16329552e-05 -9.99987533e-01 -8.05223752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.060385723 meters 0.016273853561618284 Centerline is valid? [True, True] Translation: X:133.89, Y:-85.66, Z:-8.06 [[ 3.70466235e-01 9.28844867e-01 -1.40795453e-03 1.33889683e+02] [ 9.28837737e-01 -3.70468908e-01 -3.63957791e-03 -8.56612991e+01] [-3.90220664e-03 4.05794238e-05 -9.99992386e-01 -8.05567918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.090385723 meters 0.016449047138484336 Centerline is valid? [True, True] Translation: X:133.90, Y:-85.67, Z:-8.06 [[ 2.96647913e-01 9.54986557e-01 -8.31335085e-04 1.33899012e+02] [ 9.54982549e-01 -2.96649077e-01 -2.76696559e-03 -8.56718797e+01] [-2.88902973e-03 2.69040710e-05 -9.99995826e-01 -8.05647415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.120385723 meters 0.01611847674309197 Centerline is valid? [True, True] Translation: X:133.91, Y:-85.68, Z:-8.06 [[ 2.20619748e-01 9.75359787e-01 -4.62097938e-04 1.33912253e+02] [ 9.75357489e-01 -2.20620231e-01 -2.11691585e-03 -8.56815438e+01] [-2.16670275e-03 1.63227571e-05 -9.99997653e-01 -8.05605110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.150385723 meters 0.015708756791606004 Centerline is valid? [True, True] Translation: X:133.93, Y:-85.69, Z:-8.05 [[ 1.41642235e-01 9.89917865e-01 -3.12514414e-04 1.33929566e+02] [ 9.89915236e-01 -1.41642579e-01 -2.28168325e-03 -8.56915166e+01] [-2.30294436e-03 1.38199339e-05 -9.99997348e-01 -8.05256883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.180385723 meters 0.015559592905983929 Centerline is valid? [True, True] Translation: X:133.94, Y:-85.70, Z:-8.05 [[ 6.26056865e-02 9.98038330e-01 -1.42887296e-04 1.33940934e+02] [ 9.98035219e-01 -6.26058481e-02 -2.49179417e-03 -8.56983218e+01] [-2.49585167e-03 1.33939305e-05 -9.99996885e-01 -8.05177438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.210385723 meters 0.015095663565303351 Centerline is valid? [True, True] Translation: X:133.95, Y:-85.70, Z:-8.05 [[-1.80730060e-02 9.99836667e-01 7.03997511e-05 1.33953503e+02] [ 9.99831661e-01 1.80731382e-02 -3.16397368e-03 -8.57036060e+01] [-3.16472924e-03 1.32053850e-05 -9.99994992e-01 -8.05210586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.240385723 meters 0.014925330055908192 Centerline is valid? [True, True] Translation: X:133.96, Y:-85.71, Z:-8.05 [[-9.74511738e-02 9.95240257e-01 3.14205866e-04 1.33964223e+02] [ 9.95235392e-01 9.74516799e-02 -3.11200125e-03 -8.57078887e+01] [-3.12780882e-03 9.44062374e-06 -9.99995108e-01 -8.05332020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.270385723 meters 0.014771892854090599 Centerline is valid? [True, True] Translation: X:133.98, Y:-85.71, Z:-8.06 [[-1.76339249e-01 9.84329298e-01 5.48942909e-04 1.33978275e+02] [ 9.84324623e-01 1.76340104e-01 -3.03376950e-03 -8.57111208e+01] [-3.08302885e-03 5.36538625e-06 -9.99995247e-01 -8.05512747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.300385723 meters 0.014746474772514014 Centerline is valid? [True, True] Translation: X:133.99, Y:-85.71, Z:-8.05 [[-2.53664954e-01 9.67291770e-01 8.50298311e-04 1.33991738e+02] [ 9.67286391e-01 2.53666379e-01 -3.22581179e-03 -8.57141651e+01] [-3.33599329e-03 4.20658625e-06 -9.99994436e-01 -8.05475111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.330385723 meters 0.01456444965771189 Centerline is valid? [True, True] Translation: X:134.01, Y:-85.71, Z:-8.05 [[-3.29877089e-01 9.44023107e-01 1.21680384e-03 1.34005505e+02] [ 9.44016699e-01 3.29879333e-01 -3.47818158e-03 -8.57147507e+01] [-3.68488222e-03 1.31072714e-06 -9.99993211e-01 -8.05341061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.360385723 meters 0.014429351461397592 Centerline is valid? [True, True] Translation: X:134.02, Y:-85.71, Z:-8.05 [[-4.03976706e-01 9.14768094e-01 1.46791945e-03 1.34018353e+02] [ 9.14762023e-01 4.03979373e-01 -3.33279585e-03 -8.57142440e+01] [-3.64174449e-03 -3.57492770e-06 -9.99993369e-01 -8.05274182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.390385723 meters 0.014553889275308417 Centerline is valid? [True, True] Translation: X:134.03, Y:-85.71, Z:-8.05 [[-4.76901732e-01 8.78955495e-01 1.40529410e-03 1.34033329e+02] [ 8.78951594e-01 4.76903802e-01 -2.61888204e-03 -8.57107249e+01] [-2.97207086e-03 -1.37638945e-05 -9.99995583e-01 -8.05350795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.420385723 meters 0.014609604433827398 Centerline is valid? [True, True] Translation: X:134.05, Y:-85.71, Z:-8.05 [[-5.45676961e-01 8.37993540e-01 1.86596989e-03 1.34046081e+02] [ 8.37988516e-01 5.45680151e-01 -2.90164031e-03 -8.57087374e+01] [-3.44977856e-03 -1.96969294e-05 -9.99994049e-01 -8.05329689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.450385723 meters 0.01469474091490117 Centerline is valid? [True, True] Translation: X:134.06, Y:-85.70, Z:-8.05 [[-6.10887753e-01 7.91714822e-01 1.94786498e-03 1.34059958e+02] [ 7.91710670e-01 6.10890857e-01 -2.56426411e-03 -8.57026938e+01] [-3.22009881e-03 -2.43320535e-05 -9.99994815e-01 -8.05283629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.480385723 meters 0.014725728167282216 Centerline is valid? [True, True] Translation: X:134.07, Y:-85.70, Z:-8.05 [[-6.71268793e-01 7.41211238e-01 2.02675622e-03 1.34071861e+02] [ 7.41207748e-01 6.71271852e-01 -2.27461504e-03 -8.56973511e+01] [-3.04647463e-03 -2.46306814e-05 -9.99995359e-01 -8.05136171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.510385723 meters 0.014765710425274864 Centerline is valid? [True, True] Translation: X:134.08, Y:-85.69, Z:-8.05 [[-7.27558229e-01 6.86042965e-01 2.01821584e-03 1.34082006e+02] [ 6.86040231e-01 7.27561028e-01 -1.93721417e-03 -8.56915721e+01] [-2.79738734e-03 -2.48588518e-05 -9.99996087e-01 -8.05151380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.540385723 meters 0.01482182274955011 Centerline is valid? [True, True] Translation: X:134.10, Y:-85.67, Z:-8.05 [[-7.74090108e-01 6.33071367e-01 2.26928453e-03 1.34104712e+02] [ 6.33068557e-01 7.74093434e-01 -1.88632471e-03 -8.56693435e+01] [-2.95081641e-03 -2.35726108e-05 -9.99995646e-01 -8.05171383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57038572300002 meters 0.014881892514050832 Centerline is valid? [True, True] Translation: X:134.12, Y:-85.65, Z:-8.05 [[-8.16859403e-01 5.76830722e-01 2.65230906e-03 1.34120640e+02] [ 5.76827584e-01 8.16863708e-01 -1.90263857e-03 -8.56456090e+01] [-3.26407540e-03 -2.42631792e-05 -9.99994673e-01 -8.05248117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60038572300002 meters 0.01479711106080969 Centerline is valid? [True, True] Translation: X:134.54, Y:-85.07, Z:-9.01 [[-7.71765954e-01 -6.35903804e-01 1.91422166e-03 1.34536157e+02] [ 6.35901771e-01 -7.71768328e-01 -1.60821185e-03 -8.50725907e+01] [ 2.50000368e-03 -2.39062062e-05 9.99996875e-01 -9.01124195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63038572300002 meters 0.014697649207760568 Centerline is valid? [True, True] Translation: X:134.09, Y:-85.62, Z:-8.05 [[-8.18059508e-01 5.75129780e-01 2.09243743e-03 1.34089430e+02] [ 5.75127844e-01 8.18062183e-01 -1.49228436e-03 -8.56162745e+01] [-2.57000111e-03 -1.73583830e-05 -9.99996697e-01 -8.05255884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.660385723 meters 0.014682191383379234 Centerline is valid? [True, True] Translation: X:134.11, Y:-85.59, Z:-8.05 [[-8.56837157e-01 5.15581982e-01 2.30359254e-03 1.34109712e+02] [ 5.15580061e-01 8.56840253e-01 -1.40746406e-03 -8.55902717e+01] [-2.69947392e-03 -1.82811202e-05 -9.99996356e-01 -8.05116122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.690385723 meters 0.01481092864277248 Centerline is valid? [True, True] Translation: X:134.12, Y:-85.56, Z:-8.05 [[-8.91760945e-01 4.52487901e-01 4.13725477e-03 1.34120129e+02] [ 4.52482879e-01 8.91770541e-01 -2.13215020e-03 -8.55582539e+01] [-4.65425409e-03 -2.93313234e-05 -9.99989168e-01 -8.04858478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.720385723 meters 0.01468935814691172 Centerline is valid? [True, True] Translation: X:134.13, Y:-85.53, Z:-8.05 [[-9.21772069e-01 3.87693949e-01 5.44567829e-03 1.34134582e+02] [ 3.87686944e-01 9.21788154e-01 -2.33088459e-03 -8.55336377e+01] [-5.92343159e-03 -3.73259335e-05 -9.99982456e-01 -8.04861436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.750385723 meters 0.014793524119181113 Centerline is valid? [True, True] Translation: X:134.14, Y:-85.50, Z:-8.05 [[-9.46897329e-01 3.21478777e-01 6.06992375e-03 1.34144124e+02] [ 3.21471908e-01 9.46916783e-01 -2.10181593e-03 -8.55038831e+01] [-6.42340189e-03 -3.88939201e-05 -9.99979369e-01 -8.04912205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.780385723 meters 0.01477420767058222 Centerline is valid? [True, True] Translation: X:134.37, Y:-84.87, Z:-9.02 [[-9.19954403e-01 -3.91992901e-01 5.04601787e-03 1.34366653e+02] [ 3.91986868e-01 -9.19968241e-01 -2.17483177e-03 -8.48668943e+01] [ 5.49469480e-03 -2.27733147e-05 9.99984904e-01 -9.01520665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.810385723 meters 0.014656129689149481 Centerline is valid? [True, True] Translation: X:134.10, Y:-85.49, Z:-8.05 [[-9.47605227e-01 3.19412518e-01 4.46962817e-03 1.34100893e+02] [ 3.19408846e-01 9.47615767e-01 -1.53178685e-03 -8.54851579e+01] [-4.72476203e-03 -2.38904466e-05 -9.99988838e-01 -8.05033690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.840385723 meters 0.014517053512987172 Centerline is valid? [True, True] Translation: X:134.32, Y:-84.86, Z:-9.01 [[-9.22745190e-01 -3.85396337e-01 3.31330287e-03 1.34321570e+02] [ 3.85393671e-01 -9.22751137e-01 -1.43426231e-03 -8.48570837e+01] [ 3.61011344e-03 -4.65326960e-05 9.99993482e-01 -9.01378780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.870385723 meters 0.014583185237530803 Centerline is valid? [True, True] Translation: X:134.06, Y:-85.47, Z:-8.05 [[-9.47706186e-01 3.19123615e-01 3.61976163e-03 1.34059511e+02] [ 3.19121256e-01 9.47713099e-01 -1.22722472e-03 -8.54696293e+01] [-3.82213190e-03 -7.90558703e-06 -9.99992696e-01 -8.05239837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.900385723 meters 0.014670509343949298 Centerline is valid? [True, True] Translation: X:134.06, Y:-85.44, Z:-8.05 [[-9.67422981e-01 2.53139607e-01 3.62136585e-03 1.34064562e+02] [ 2.53137834e-01 9.67429759e-01 -9.47578525e-04 -8.54406101e+01] [-3.74328674e-03 -4.53583107e-09 -9.99992994e-01 -8.05359194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.930385723 meters 0.014670509343949298 Centerline is valid? [True, True] Translation: X:134.07, Y:-85.41, Z:-8.05 [[-9.82940460e-01 1.83887237e-01 3.67909258e-03 1.34067653e+02] [ 1.83885949e-01 9.82947346e-01 -6.88252724e-04 -8.54115931e+01] [-3.74291518e-03 2.19820183e-08 -9.99992995e-01 -8.05359621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.960385723 meters 0.014578326184183725 Centerline is valid? [True, True] Translation: X:134.19, Y:-84.76, Z:-9.01 [[-9.70001420e-01 -2.43071181e-01 3.69414784e-03 1.34191702e+02] [ 2.43069434e-01 -9.70008454e-01 -9.21727746e-04 -8.47618054e+01] [ 3.80740009e-03 3.85720271e-06 9.99992752e-01 -9.01143959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.990385723 meters 0.014662527501353176 Centerline is valid? [True, True] Translation: X:134.02, Y:-85.40, Z:-8.05 [[-9.83212373e-01 1.82420260e-01 4.03465945e-03 1.34018548e+02] [ 1.82418770e-01 9.83220651e-01 -7.37195445e-04 -8.54003767e+01] [-4.10143987e-03 1.11779323e-05 -9.99991589e-01 -8.05274126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.020385723 meters 0.014691410920120626 Centerline is valid? [True, True] Translation: X:134.02, Y:-85.37, Z:-8.05 [[-9.93510172e-01 1.13644040e-01 4.75089530e-03 1.34019831e+02] [ 1.13642847e-01 9.93521531e-01 -5.21252308e-04 -8.53693115e+01] [-4.77935399e-03 2.20357964e-05 -9.99988579e-01 -8.05228879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.050385723 meters 0.015044985333537661 Centerline is valid? [True, True] Translation: X:134.09, Y:-84.72, Z:-9.01 [[-9.86474870e-01 -1.63871303e-01 3.67784890e-03 1.34089414e+02] [ 1.63869865e-01 -9.86481723e-01 -6.91157737e-04 -8.47225476e+01] [ 3.74139164e-03 -7.91211358e-05 9.99992998e-01 -9.01373141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.080385723 meters 0.015033095627604236 Centerline is valid? [True, True] Translation: X:133.96, Y:-85.36, Z:-8.05 [[-9.93521918e-01 1.13589032e-01 3.42489984e-03 1.33961362e+02] [ 1.13588452e-01 9.93527821e-01 -3.63912811e-04 -8.53596833e+01] [-3.44406978e-03 2.74737175e-05 -9.99994069e-01 -8.05258249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.110385723 meters 0.015213837261376198 Centerline is valid? [True, True] Translation: X:134.03, Y:-84.72, Z:-9.01 [[-9.87541646e-01 -1.57349349e-01 1.63720692e-03 1.34028731e+02] [ 1.57348929e-01 -9.87542995e-01 -3.82944479e-04 -8.47173878e+01] [ 1.67706829e-03 -1.20560865e-04 9.99998586e-01 -9.00988154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.140385723 meters 0.01528344296082519 Centerline is valid? [True, True] Translation: X:133.90, Y:-85.35, Z:-8.06 [[-9.93847140e-01 1.10732538e-01 2.48347237e-03 1.33902718e+02] [ 1.10732245e-01 9.93850243e-01 -2.55706497e-04 -8.53533627e+01] [-2.49651465e-03 2.08673005e-05 -9.99996883e-01 -8.05576902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.170385723 meters 0.015190430547538925 Centerline is valid? [True, True] Translation: X:133.90, Y:-85.32, Z:-8.05 [[-9.99221062e-01 3.93252948e-02 3.28498729e-03 1.33898557e+02] [ 3.93251782e-02 9.99226461e-01 -1.00102340e-04 -8.53208244e+01] [-3.28638278e-03 2.91583445e-05 -9.99994599e-01 -8.05480141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.200385723 meters 0.014924944969213675 Centerline is valid? [True, True] Translation: X:133.89, Y:-85.28, Z:-8.05 [[-9.99414072e-01 -3.38023825e-02 5.37686875e-03 1.33889322e+02] [-3.38016594e-02 9.99428535e-01 2.25320331e-04 -8.52835513e+01] [-5.38141242e-03 4.34412234e-05 -9.99985519e-01 -8.05099397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.230385723 meters 0.014593705288512265 Centerline is valid? [True, True] Translation: X:133.86, Y:-84.67, Z:-9.01 [[-9.99867463e-01 -1.50929029e-02 6.10408057e-03 1.33861090e+02] [ 1.50926116e-02 -9.99886096e-01 -9.37873411e-05 -8.46657533e+01] [ 6.10480081e-03 -1.64839349e-06 9.99981366e-01 -9.01449645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.260385723 meters 0.014408650067633479 Centerline is valid? [True, True] Translation: X:133.81, Y:-85.28, Z:-8.05 [[-9.99102129e-01 -4.18386651e-02 6.66804801e-03 1.33807702e+02] [-4.18374982e-02 9.99124379e-01 3.14449519e-04 -8.52831243e+01] [-6.67536547e-03 3.51927375e-05 -9.99977719e-01 -8.05128582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.290385723 meters 0.014115561132744765 Centerline is valid? [True, True] Translation: X:133.79, Y:-85.25, Z:-8.05 [[-9.93270160e-01 -1.15671250e-01 5.87806855e-03 1.33792327e+02] [-1.15669143e-01 9.93287552e-01 6.98404401e-04 -8.52533505e+01] [-5.91939763e-03 1.37931001e-05 -9.99982480e-01 -8.05345495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32038572300002 meters 0.014045004639901373 Centerline is valid? [True, True] Translation: X:133.72, Y:-84.65, Z:-9.01 [[-9.98420900e-01 5.59578525e-02 4.94220522e-03 1.33721343e+02] [-5.59575404e-02 -9.98433129e-01 2.01504654e-04 -8.46489815e+01] [ 4.94573719e-03 -7.53671907e-05 9.99987767e-01 -9.01109141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35038572300002 meters 0.014006091023506627 Centerline is valid? [True, True] Translation: X:133.70, Y:-85.26, Z:-8.05 [[-9.92441292e-01 -1.22630458e-01 4.69610297e-03 1.33701292e+02] [-1.22629071e-01 9.92452402e-01 5.83308329e-04 -8.52601291e+01] [-4.73219004e-03 3.02052623e-06 -9.99988803e-01 -8.05387869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38038572300002 meters 0.013851262030810132 Centerline is valid? [True, True] Translation: X:133.68, Y:-85.23, Z:-8.05 [[-9.81105469e-01 -1.93412738e-01 4.85515500e-03 1.33682598e+02] [-1.93410355e-01 9.81117482e-01 9.59986453e-04 -8.52329598e+01] [-4.94915105e-03 2.81070577e-06 -9.99987753e-01 -8.05419703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.410385723 meters 0.013749450860278416 Centerline is valid? [True, True] Translation: X:133.65, Y:-85.21, Z:-8.06 [[-9.64540400e-01 -2.63893834e-01 4.67557156e-03 1.33651693e+02] [-2.63890732e-01 9.64551732e-01 1.27961788e-03 -8.52106609e+01] [-4.84751391e-03 4.03136563e-07 -9.99988251e-01 -8.05500432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.440385723 meters 0.013739199498806927 Centerline is valid? [True, True] Translation: X:133.61, Y:-85.19, Z:-8.06 [[-9.42661774e-01 -3.33730036e-01 3.61143766e-03 1.33608892e+02] [-3.33727610e-01 9.42668692e-01 1.27264503e-03 -8.51948038e+01] [-3.82910909e-03 -5.56263443e-06 -9.99992669e-01 -8.05676366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.470385723 meters 0.013660408995775655 Centerline is valid? [True, True] Translation: X:133.55, Y:-85.19, Z:-8.06 [[-9.15442151e-01 -4.02437021e-01 3.17989647e-03 1.33546957e+02] [-4.02434623e-01 9.15447674e-01 1.38950703e-03 -8.51877017e+01] [-3.47021789e-03 -7.68713285e-06 -9.99993979e-01 -8.05735210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.500385723 meters 0.013704161477021198 Centerline is valid? [True, True] Translation: X:133.48, Y:-85.19, Z:-8.06 [[-8.83002228e-01 -4.69358644e-01 3.08675885e-03 1.33477603e+02] [-4.69355817e-01 8.83007624e-01 1.62914424e-03 -8.51881626e+01] [-3.49028453e-03 -1.02502220e-05 -9.99993909e-01 -8.05655430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.530385723 meters 0.013739472145255381 Centerline is valid? [True, True] Translation: X:133.40, Y:-85.20, Z:-8.06 [[-8.45457412e-01 -5.34029384e-01 3.79226800e-03 1.33399417e+02] [-5.34024082e-01 8.45465917e-01 2.37952502e-03 -8.52004432e+01] [-4.47696962e-03 -1.33753737e-05 -9.99989978e-01 -8.05617404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.560385723 meters 0.013796883601096602 Centerline is valid? [True, True] Translation: X:133.32, Y:-85.22, Z:-8.06 [[-8.02842676e-01 -5.96174963e-01 4.36475534e-03 1.33317190e+02] [-5.96166280e-01 8.02854540e-01 3.21769169e-03 -8.52225077e+01] [-5.42257086e-03 -1.88197492e-05 -9.99985298e-01 -8.05562993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.590385723 meters 0.01380145653682868 Centerline is valid? [True, True] Translation: X:133.23, Y:-85.25, Z:-8.05 [[-7.54307189e-01 -6.56498519e-01 5.50984755e-03 1.33231059e+02] [-6.56481403e-01 7.54327311e-01 4.74082962e-03 -8.52514851e+01] [-7.26857611e-03 -4.10705788e-05 -9.99973583e-01 -8.05399572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.620385723 meters 0.014155900864101756 Centerline is valid? [True, True] Translation: X:133.14, Y:-85.29, Z:-8.05 [[-7.00106496e-01 -7.14015550e-01 5.71732156e-03 1.33141891e+02] [-7.13992634e-01 7.00129837e-01 5.72101981e-03 -8.52907538e+01] [-8.08776452e-03 -7.68023485e-05 -9.99967291e-01 -8.05201177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.650385723 meters 0.014321633708497657 Centerline is valid? [True, True] Translation: X:133.05, Y:-85.34, Z:-8.05 [[-6.43118625e-01 -7.65748687e-01 5.23275291e-03 1.33054893e+02] [-7.65724476e-01 6.43139907e-01 6.08989190e-03 -8.53429768e+01] [-8.02871894e-03 -9.03240754e-05 -9.99967765e-01 -8.05240376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.680385723 meters 0.014506167735752985 Centerline is valid? [True, True] Translation: X:132.97, Y:-85.40, Z:-8.05 [[-5.82195558e-01 -8.13036434e-01 4.48216090e-03 1.32972811e+02] [-8.13013615e-01 5.82212803e-01 6.09217331e-03 -8.54040095e+01] [-7.56273032e-03 -9.72216001e-05 -9.99971397e-01 -8.05411268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.710385723 meters 0.014597812357764388 Centerline is valid? [True, True] Translation: X:132.89, Y:-85.47, Z:-8.06 [[-5.18421902e-01 -8.55118322e-01 3.37439419e-03 1.32893878e+02] [-8.55101291e-01 5.18432876e-01 5.39766155e-03 -8.54745294e+01] [-6.36503617e-03 -8.71828673e-05 -9.99979739e-01 -8.05620532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.740385723 meters 0.014888395793802115 Centerline is valid? [True, True] Translation: X:132.82, Y:-85.55, Z:-8.06 [[-4.51227434e-01 -8.92406550e-01 2.08596932e-03 1.32815953e+02] [-8.92397709e-01 4.51232251e-01 3.97303699e-03 -8.55532991e+01] [-4.48682087e-03 -6.87709559e-05 -9.99989932e-01 -8.05771509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.770385723 meters 0.0151787783947477 Centerline is valid? [True, True] Translation: X:132.74, Y:-85.64, Z:-8.05 [[-3.80465111e-01 -9.24792568e-01 2.23723867e-03 1.32738898e+02] [-9.24778003e-01 3.80471677e-01 5.19118571e-03 -8.56358236e+01] [-5.65197591e-03 -9.38840645e-05 -9.99984023e-01 -8.05334364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.800385723 meters 0.01524936990323215 Centerline is valid? [True, True] Translation: X:132.67, Y:-85.73, Z:-8.05 [[-3.07903265e-01 -9.51414862e-01 2.31091195e-03 1.32671698e+02] [-9.51391001e-01 3.07911912e-01 6.73930999e-03 -8.57315486e+01] [-7.12343700e-03 -1.23525288e-04 -9.99974620e-01 -8.05178831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.830385723 meters 0.015899892131076235 Centerline is valid? [True, True] Translation: X:132.61, Y:-85.83, Z:-8.05 [[-2.33376042e-01 -9.72384310e-01 2.09193139e-03 1.32612102e+02] [-9.72350878e-01 2.33385368e-01 8.06472195e-03 -8.58338218e+01] [-8.33023526e-03 -1.51978441e-04 -9.99965291e-01 -8.05089789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.860385723 meters 0.016136196018917134 Centerline is valid? [True, True] Translation: X:132.56, Y:-85.94, Z:-8.05 [[-1.57816376e-01 -9.87466961e-01 1.73001346e-03 1.32563327e+02] [-9.87419694e-01 1.57825752e-01 9.66338093e-03 -8.59411829e+01] [-9.81531008e-03 -1.83209597e-04 -9.99951812e-01 -8.05148965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.890385723 meters 0.01654081703902428 Centerline is valid? [True, True] Translation: X:132.52, Y:-86.06, Z:-8.05 [[-8.16512303e-02 -9.96660415e-01 1.04618932e-03 1.32521447e+02] [-9.96606527e-01 8.16576965e-02 1.03658248e-02 -8.60618148e+01] [-1.04166367e-02 -1.96256758e-04 -9.99945726e-01 -8.05262551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.920385723 meters 0.01653612368314624 Centerline is valid? [True, True] Translation: X:132.49, Y:-86.17, Z:-8.05 [[-5.27718956e-03 -9.99986048e-01 2.33743684e-04 1.32485700e+02] [-9.99938755e-01 5.27921365e-03 9.72707260e-03 -8.61689988e+01] [-9.72817087e-03 -1.82397763e-04 -9.99952664e-01 -8.05203473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.950385723 meters 0.015829733738268677 Centerline is valid? [True, True] Translation: X:132.46, Y:-86.28, Z:-8.05 [[ 7.07270036e-02 -9.97495589e-01 -4.90038144e-04 1.32459765e+02] [-9.97452211e-01 -7.07284987e-02 9.30413002e-03 -8.62844147e+01] [-9.31548832e-03 -1.69263607e-04 -9.99956596e-01 -8.05200794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.980385723 meters 0.015483499297467673 Centerline is valid? [True, True] Translation: X:132.45, Y:-86.41, Z:-8.05 [[ 1.46411312e-01 -9.89223011e-01 -1.25008154e-03 1.32445463e+02] [-9.89176348e-01 -1.46416549e-01 9.60972631e-03 -8.64072285e+01] [-9.68919502e-03 -1.70421544e-04 -9.99953044e-01 -8.05244940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.010385723 meters 0.016236134980988248 Centerline is valid? [True, True] Translation: X:132.44, Y:-86.52, Z:-8.05 [[ 2.20180595e-01 -9.75456370e-01 -2.31853545e-03 1.32442744e+02] [-9.75393450e-01 -2.20192730e-01 1.10805878e-02 -8.65236824e+01] [-1.13191546e-02 -1.78246126e-04 -9.99935920e-01 -8.05223976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.040385723 meters 0.015170780793363543 Centerline is valid? [True, True] Translation: X:132.45, Y:-86.65, Z:-8.06 [[ 2.92926736e-01 -9.56129264e-01 -3.27993937e-03 1.32451756e+02] [-9.56062748e-01 -2.92945050e-01 1.12791790e-02 -8.66517221e+01] [-1.17451951e-02 -1.68145239e-04 -9.99931009e-01 -8.05506956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07038572300002 meters 0.015081294621714562 Centerline is valid? [True, True] Translation: X:132.46, Y:-86.76, Z:-8.06 [[ 3.64327939e-01 -9.31260917e-01 -4.27273423e-03 1.32461557e+02] [-9.31191644e-01 -3.64352958e-01 1.13597522e-02 -8.67649297e+01] [-1.21356766e-02 -1.59940679e-04 -9.99926347e-01 -8.05545821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10038572300002 meters 0.014933532971849758 Centerline is valid? [True, True] Translation: X:132.48, Y:-86.89, Z:-8.05 [[ 4.32725272e-01 -9.01511328e-01 -5.11513849e-03 1.32482770e+02] [-9.01444620e-01 -4.32755482e-01 1.09676870e-02 -8.68853396e+01] [-1.21010983e-02 -1.34981254e-04 -9.99926770e-01 -8.05424683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13038572300002 meters 0.014826053647468073 Centerline is valid? [True, True] Translation: X:132.51, Y:-86.99, Z:-8.05 [[ 5.00012991e-01 -8.65996445e-01 -6.09645550e-03 1.32508091e+02] [-8.65928846e-01 -5.00050138e-01 1.08209761e-02 -8.69942052e+01] [-1.24194603e-02 -1.31531961e-04 -9.99922867e-01 -8.05370100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.160385723 meters 0.015492562782386612 Centerline is valid? [True, True] Translation: X:132.55, Y:-87.10, Z:-8.05 [[ 5.63995604e-01 -8.25751810e-01 -6.55029819e-03 1.32548110e+02] [-8.25693733e-01 -5.64033629e-01 9.79411402e-03 -8.71034080e+01] [-1.17820958e-02 -1.15297093e-04 -9.99930582e-01 -8.05363330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.190385723 meters 0.014629118731364393 Centerline is valid? [True, True] Translation: X:132.60, Y:-87.21, Z:-8.06 [[ 6.24484860e-01 -7.81010846e-01 -6.38111892e-03 1.32596532e+02] [-7.80968600e-01 -6.24517454e-01 8.12376246e-03 -8.72080989e+01] [-1.03298667e-02 -8.97131533e-05 -9.99946641e-01 -8.05907333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.220385723 meters 0.014754015010539983 Centerline is valid? [True, True] Translation: X:132.65, Y:-87.31, Z:-8.06 [[ 6.81412109e-01 -7.31872831e-01 -6.30057277e-03 1.32647372e+02] [-7.31840573e-01 -6.81441233e-01 6.87178376e-03 -8.73082080e+01] [-9.32274191e-03 -7.15018778e-05 -9.99956540e-01 -8.06015172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.250385723 meters 0.01465332060436222 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.40, Z:-8.06 [[ 7.34491563e-01 -6.78593618e-01 -5.73114995e-03 1.32703610e+02] [-6.78572380e-01 -7.34513920e-01 5.36892700e-03 -8.74032250e+01] [-7.85292901e-03 -5.44315215e-05 -9.99969164e-01 -8.06099075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.280385723 meters 0.01449804985990054 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.41, Z:-8.06 [[ 7.84556764e-01 -6.20028012e-01 -5.99568808e-03 1.32703447e+02] [-6.20009472e-01 -7.84579672e-01 4.79503764e-03 -8.74082475e+01] [-7.67715265e-03 -4.45958153e-05 -9.99970529e-01 -8.06065360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.310385723 meters 0.014503646691016447 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.42, Z:-8.06 [[ 8.30489921e-01 -5.56987954e-01 -7.13505732e-03 1.32701343e+02] [-5.56966914e-01 -8.30520570e-01 4.84148037e-03 -8.74165370e+01] [-8.62245812e-03 -4.68098000e-05 -9.99962825e-01 -8.06113378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.340385723 meters 0.01471667379300407 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.42, Z:-8.06 [[ 8.71762534e-01 -4.89845033e-01 -9.05140518e-03 1.32700366e+02] [-4.89817906e-01 -8.71809521e-01 5.15550483e-03 -8.74200795e+01] [-1.04164996e-02 -6.08356272e-05 -9.99945745e-01 -8.06138505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.370385723 meters 0.014688301363385725 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.43, Z:-8.06 [[ 9.07514383e-01 -4.19906083e-01 -9.82474810e-03 1.32698127e+02] [-4.19880678e-01 -9.07567561e-01 4.61940359e-03 -8.74262984e+01] [-1.08563383e-02 -6.69533039e-05 -9.99941066e-01 -8.06092279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.400385723 meters 0.014786452374803265 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.43, Z:-8.06 [[ 9.37730453e-01 -3.47221656e-01 -9.93576846e-03 1.32696887e+02] [-3.47201361e-01 -9.37783086e-01 3.75480174e-03 -8.74343917e+01] [-1.06213441e-02 -7.12796096e-05 -9.99943589e-01 -8.06049671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.430385723 meters 0.015191781323675843 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.44, Z:-8.06 [[ 9.62227706e-01 -2.72044321e-01 -1.04751591e-02 1.32695664e+02] [-2.72027270e-01 -9.62284719e-01 3.04698302e-03 -8.74438866e+01] [-1.09090000e-02 -8.23625434e-05 -9.99940492e-01 -8.05924589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.460385723 meters 0.014806383511977841 Centerline is valid? [True, True] Translation: X:132.69, Y:-87.45, Z:-8.06 [[ 9.80628053e-01 -1.95566609e-01 -1.10599994e-02 1.32694712e+02] [-1.95553145e-01 -9.80690417e-01 2.29655858e-03 -8.74542353e+01] [-1.12955656e-02 -8.92521007e-05 -9.99936199e-01 -8.05943216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.490385723 meters 0.014788114599677018 Centerline is valid? [True, True] Translation: X:132.69, Y:-87.46, Z:-8.06 [[ 9.92758454e-01 -1.19649536e-01 -1.07070231e-02 1.32690936e+02] [-1.19641823e-01 -9.92816188e-01 1.36029662e-03 -8.74589754e+01] [-1.07928647e-02 -6.94382088e-05 -9.99941753e-01 -8.06055106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.520385723 meters 0.014894885836654553 Centerline is valid? [True, True] Translation: X:132.69, Y:-87.47, Z:-8.06 [[ 9.99023768e-01 -4.30008229e-02 -1.01212976e-02 1.32687775e+02] [-4.29981003e-02 -9.99075036e-01 4.86549084e-04 -8.74668298e+01] [-1.01328578e-02 -5.08775295e-05 -9.99948660e-01 -8.06107469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.550385723 meters 0.014866419557157994 Centerline is valid? [True, True] Translation: X:132.68, Y:-87.48, Z:-8.06 [[ 9.99384306e-01 3.35597809e-02 -1.02347141e-02 1.32683771e+02] [ 3.35583568e-02 -9.99436711e-01 -3.10895192e-04 -8.74751451e+01] [-1.02393826e-02 -3.27564124e-05 -9.99947576e-01 -8.06122491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.580385723 meters 0.014891074808694813 Centerline is valid? [True, True] Translation: X:132.68, Y:-87.48, Z:-8.06 [[ 9.94001359e-01 1.08814212e-01 -1.09893509e-02 1.32681017e+02] [ 1.08807591e-01 -9.94062104e-01 -1.20039108e-03 -8.74809615e+01] [-1.10547169e-02 -2.53443365e-06 -9.99938895e-01 -8.06063412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.610385723 meters 0.017040653644526522 Centerline is valid? [True, True] Translation: X:132.68, Y:-87.49, Z:-8.06 [[ 9.82762251e-01 1.84448820e-01 -1.25296287e-02 1.32678829e+02] [ 1.84433538e-01 -9.82842120e-01 -2.37437472e-03 -8.74873297e+01] [-1.27525974e-02 2.25620906e-05 -9.99918682e-01 -8.05905892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.640385723 meters 0.014987010644191955 Centerline is valid? [True, True] Translation: X:132.68, Y:-87.49, Z:-8.06 [[ 9.65430203e-01 2.60389605e-01 -1.19069826e-02 1.32676074e+02] [ 2.60369457e-01 -9.65503626e-01 -3.23928815e-03 -8.74921472e+01] [-1.23397118e-02 2.70920256e-05 -9.99923862e-01 -8.06056871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.670385723 meters 0.014999877233628538 Centerline is valid? [True, True] Translation: X:132.67, Y:-87.50, Z:-8.06 [[ 9.42348860e-01 3.34431655e-01 -1.15798898e-02 1.32674470e+02] [ 3.34405931e-01 -9.42420006e-01 -4.14803669e-03 -8.74992831e+01] [-1.23003546e-02 3.65138229e-05 -9.99924347e-01 -8.06010100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.700385723 meters 0.01509498789870874 Centerline is valid? [True, True] Translation: X:132.67, Y:-87.50, Z:-8.06 [[ 9.13793501e-01 4.06044537e-01 -1.04532957e-02 1.32671168e+02] [ 4.06017373e-01 -9.13853288e-01 -4.69690948e-03 -8.75049477e+01] [-1.14599331e-02 4.77857009e-05 -9.99934332e-01 -8.05996473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.730385723 meters 0.015457081872927981 Centerline is valid? [True, True] Translation: X:132.67, Y:-87.51, Z:-8.06 [[ 8.80623747e-01 4.73727206e-01 -9.18421816e-03 1.32667274e+02] [ 4.73700568e-01 -8.80671635e-01 -5.02418833e-03 -8.75082079e+01] [-1.04683751e-02 7.38501857e-05 -9.99945202e-01 -8.06031433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.760385723 meters 0.015754397441889723 Centerline is valid? [True, True] Translation: X:132.66, Y:-87.51, Z:-8.06 [[ 8.41614939e-01 5.39994523e-01 -9.49788490e-03 1.32664457e+02] [ 5.39958831e-01 -8.41668525e-01 -6.20931124e-03 -8.75130517e+01] [-1.13470648e-02 9.73822752e-05 -9.99935615e-01 -8.05958402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.790385723 meters 0.01585945811188584 Centerline is valid? [True, True] Translation: X:132.66, Y:-87.52, Z:-8.06 [[ 7.97533442e-01 6.03189009e-01 -1.01699486e-02 1.32663574e+02] [ 6.03137914e-01 -7.97598272e-01 -7.85196533e-03 -8.75208598e+01] [-1.28477526e-02 1.28323326e-04 -9.99917456e-01 -8.05929436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82038572300002 meters 0.016241518198405115 Centerline is valid? [True, True] Translation: X:132.66, Y:-87.53, Z:-8.06 [[ 7.48764995e-01 6.62755230e-01 -1.03192599e-02 1.32660165e+02] [ 6.62689361e-01 -7.48836084e-01 -9.34505877e-03 -8.75274640e+01] [-1.39209207e-02 1.58789160e-04 -9.99903087e-01 -8.05798561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85038572300002 meters 0.016241518198405115 Centerline is valid? [True, True] Translation: X:132.66, Y:-87.54, Z:-8.06 [[ 6.94576491e-01 7.19355398e-01 -9.55557642e-03 1.32660594e+02] [ 7.19284169e-01 -6.94642200e-01 -1.01241339e-02 -8.75370344e+01] [-1.39205570e-02 1.58810576e-04 -9.99903092e-01 -8.05798884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88038572300002 meters 0.015978914937673287 Centerline is valid? [True, True] Translation: X:132.66, Y:-87.55, Z:-8.06 [[ 6.35657302e-01 7.71922289e-01 -8.70487143e-03 1.32662043e+02] [ 7.71846672e-01 -6.35716885e-01 -1.08054231e-02 -8.75458570e+01] [-1.38747807e-02 1.49720044e-04 -9.99903729e-01 -8.05858972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.910385723 meters 0.015170466326318858 Centerline is valid? [True, True] Translation: X:132.67, Y:-87.56, Z:-8.06 [[ 5.69681034e-01 8.21827505e-01 -7.94175587e-03 1.32670755e+02] [ 8.21745432e-01 -5.69736381e-01 -1.16146890e-02 -8.75596107e+01] [-1.40699782e-02 9.05664615e-05 -9.99901009e-01 -8.05845264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.940385723 meters 0.014976885064631474 Centerline is valid? [True, True] Translation: X:132.68, Y:-87.57, Z:-8.06 [[ 5.01280157e-01 8.65256723e-01 -7.00055630e-03 1.32677984e+02] [ 8.65170860e-01 -5.01329034e-01 -1.21894008e-02 -8.75707536e+01] [-1.40565431e-02 5.36274323e-05 -9.99901200e-01 -8.05713765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.970385723 meters 0.014760573899639228 Centerline is valid? [True, True] Translation: X:132.69, Y:-87.58, Z:-8.06 [[ 4.30108715e-01 9.02756959e-01 -6.03046845e-03 1.32686795e+02] [ 9.02667428e-01 -4.30150988e-01 -1.27138136e-02 -8.75818494e+01] [-1.40714957e-02 2.48146019e-05 -9.99900991e-01 -8.05702534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.000385723 meters 0.014716765764830515 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.59, Z:-8.06 [[ 3.54695518e-01 9.34970942e-01 -4.51969228e-03 1.32696041e+02] [ 9.34895926e-01 -3.54724312e-01 -1.18435954e-02 -8.75925376e+01] [-1.26766623e-02 -2.45716812e-05 -9.99919648e-01 -8.05733001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.030385723 meters 0.014699146489052987 Centerline is valid? [True, True] Translation: X:132.70, Y:-87.60, Z:-8.06 [[ 2.79548554e-01 9.60125617e-01 -3.37718141e-03 1.32704153e+02] [ 9.60057038e-01 -2.79568951e-01 -1.14754310e-02 -8.76013109e+01] [-1.19620104e-02 -3.43466230e-05 -9.99928452e-01 -8.05725648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.060385723 meters 0.014799972899489682 Centerline is valid? [True, True] Translation: X:132.71, Y:-87.61, Z:-8.06 [[ 2.02625456e-01 9.79253815e-01 -2.21149993e-03 1.32713601e+02] [ 9.79197704e-01 -2.02637520e-01 -1.04829795e-02 -8.76108756e+01] [-1.07136305e-02 -4.13771542e-05 -9.99942607e-01 -8.05611414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.090385723 meters 0.014818031499338734 Centerline is valid? [True, True] Translation: X:132.72, Y:-87.62, Z:-8.06 [[ 1.25072416e-01 9.92146686e-01 -1.35841269e-03 1.32722313e+02] [ 9.92091858e-01 -1.25079785e-01 -1.04303980e-02 -8.76179214e+01] [-1.05183948e-02 -4.31150959e-05 -9.99944679e-01 -8.05560579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.120385723 meters 0.015126982173911088 Centerline is valid? [True, True] Translation: X:132.73, Y:-87.62, Z:-8.06 [[ 4.70646945e-02 9.98891703e-01 -5.30299961e-04 1.32730169e+02] [ 9.98837899e-01 -4.70676635e-02 -1.03675835e-02 -8.76245582e+01] [-1.03810531e-02 -4.17365480e-05 -9.99946115e-01 -8.05521335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.150385723 meters 0.015019033308789353 Centerline is valid? [True, True] Translation: X:132.74, Y:-87.63, Z:-8.06 [[-2.97784193e-02 9.99556496e-01 2.37499738e-04 1.32736559e+02] [ 9.99518210e-01 2.97793574e-02 -8.74856953e-03 -8.76301111e+01] [-8.75176210e-03 -2.31332588e-05 -9.99961702e-01 -8.05646176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.180385723 meters 0.015016527163495927 Centerline is valid? [True, True] Translation: X:132.75, Y:-87.64, Z:-8.06 [[-1.07338368e-01 9.94222216e-01 8.12002277e-04 1.32746820e+02] [ 9.94192622e-01 1.07341438e-01 -7.67105993e-03 -8.76356905e+01] [-7.71389970e-03 -1.61123840e-05 -9.99970247e-01 -8.05808035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.210385723 meters 0.014971850010146124 Centerline is valid? [True, True] Translation: X:132.76, Y:-87.64, Z:-8.06 [[-1.83247060e-01 9.83066214e-01 1.15489680e-03 1.32758843e+02] [ 9.83046552e-01 1.83250699e-01 -6.21748808e-03 -8.76409273e+01] [-6.32383811e-03 -4.01909269e-06 -9.99980004e-01 -8.05779317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.240385723 meters 0.014945171588639925 Centerline is valid? [True, True] Translation: X:132.77, Y:-87.64, Z:-8.06 [[-2.59417841e-01 9.65764152e-01 1.40934464e-03 1.32771666e+02] [ 9.65749837e-01 2.59421669e-01 -5.25838091e-03 -8.76444327e+01] [-5.44397032e-03 -3.04346208e-06 -9.99985181e-01 -8.05688781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.270385723 meters 0.015056368400043154 Centerline is valid? [True, True] Translation: X:132.78, Y:-87.65, Z:-8.06 [[-3.34101379e-01 9.42535290e-01 1.86974536e-03 1.32783172e+02] [ 9.42520497e-01 3.34106610e-01 -5.28073162e-03 -8.76466398e+01] [-5.60197019e-03 -2.02638760e-06 -9.99984309e-01 -8.05627049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.300385723 meters 0.01503132699163074 Centerline is valid? [True, True] Translation: X:132.80, Y:-87.65, Z:-8.05 [[-4.06864372e-01 9.13483696e-01 2.98643598e-03 1.32795844e+02] [ 9.13459097e-01 4.06875333e-01 -6.70388305e-03 -8.76477917e+01] [-7.33899500e-03 4.15945943e-07 -9.99973069e-01 -8.05456394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.330385723 meters 0.015044456154403472 Centerline is valid? [True, True] Translation: X:132.81, Y:-87.65, Z:-8.05 [[-4.76964993e-01 8.78914029e-01 3.81113029e-03 1.32808312e+02] [ 8.78886024e-01 4.76980219e-01 -7.01621170e-03 -8.76483610e+01] [-7.98448065e-03 3.06178909e-06 -9.99968124e-01 -8.05388618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.360385723 meters 0.015212782089830653 Centerline is valid? [True, True] Translation: X:132.82, Y:-87.65, Z:-8.05 [[-5.42306957e-01 8.40170365e-01 4.11369219e-03 1.32819074e+02] [ 8.40146485e-01 5.42322558e-01 -6.33449433e-03 -8.76491984e+01] [-7.55300248e-03 2.08636918e-05 -9.99971475e-01 -8.05292375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.390385723 meters 0.015263371743975249 Centerline is valid? [True, True] Translation: X:132.83, Y:-87.65, Z:-8.05 [[-6.05603388e-01 7.95754836e-01 4.33322087e-03 1.32827041e+02] [ 7.95734782e-01 6.05618890e-01 -5.64955520e-03 -8.76518434e+01] [-7.11994128e-03 2.67047958e-05 -9.99974653e-01 -8.05265040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.420385723 meters 0.015264512210844147 Centerline is valid? [True, True] Translation: X:132.84, Y:-87.65, Z:-8.05 [[-6.64979657e-01 7.46846243e-01 4.76920073e-03 1.32839186e+02] [ 7.46827435e-01 6.64996758e-01 -5.30042230e-03 -8.76481570e+01] [-7.13010351e-03 3.70969437e-05 -9.99974580e-01 -8.05261672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.450385723 meters 0.015542884561355299 Centerline is valid? [True, True] Translation: X:132.85, Y:-87.64, Z:-8.05 [[-7.19236870e-01 6.94753162e-01 4.04582248e-03 1.32851173e+02] [ 6.94742520e-01 7.19248248e-01 -3.84565383e-03 -8.76443780e+01] [-5.58173089e-03 4.48688782e-05 -9.99984421e-01 -8.05093541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.480385723 meters 0.01611139606521871 Centerline is valid? [True, True] Translation: X:132.87, Y:-87.63, Z:-8.05 [[-7.65576825e-01 6.43336972e-01 3.10897721e-03 1.32870942e+02] [ 6.43331863e-01 7.65583137e-01 -2.56409503e-03 -8.76270900e+01] [-4.02975766e-03 3.70923679e-05 -9.99991880e-01 -8.05095925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.510385723 meters 0.016271639562807968 Centerline is valid? [True, True] Translation: X:133.34, Y:-86.97, Z:-9.01 [[-7.38028068e-01 -6.74769441e-01 8.78534435e-04 1.33342806e+02] [ 6.74768701e-01 -7.38028575e-01 -1.01085426e-03 -8.69730005e+01] [ 1.33047708e-03 -1.53231281e-04 9.99999103e-01 -9.01186258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.540385723 meters 0.016733783914551936 Centerline is valid? [True, True] Translation: X:132.81, Y:-87.59, Z:-8.06 [[-7.64820592e-01 6.44242733e-01 8.73639093e-04 1.32807170e+02] [ 6.44242329e-01 7.64821091e-01 -7.21731535e-04 -8.75852565e+01] [-1.13314790e-03 1.08401441e-05 -9.99999358e-01 -8.05590212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57038572300002 meters 0.016999822865597827 Centerline is valid? [True, True] Translation: X:132.86, Y:-87.59, Z:-8.06 [[-8.07846637e-01 5.89392337e-01 6.95760776e-04 1.32855777e+02] [ 5.89392126e-01 8.07846936e-01 -4.98487042e-04 -8.75887729e+01] [-8.55872654e-04 7.37484310e-06 -9.99999634e-01 -8.05660406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60038572300002 meters 0.017168404209053603 Centerline is valid? [True, True] Translation: X:133.34, Y:-86.94, Z:-9.01 [[-7.88176757e-01 -6.15448933e-01 -1.03210746e-04 1.33343577e+02] [ 6.15448934e-01 -7.88176763e-01 2.05627157e-05 -8.69356774e+01] [-9.40036136e-05 -4.73138893e-05 9.99999994e-01 -9.01205398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63038572300002 meters 0.01678750036736267 Centerline is valid? [True, True] Translation: X:132.83, Y:-87.57, Z:-8.05 [[-8.09910603e-01 5.86553333e-01 6.34202659e-05 1.32834414e+02] [ 5.86553330e-01 8.09910605e-01 -5.27951679e-05 -8.75690982e+01] [-8.23319274e-05 -5.55999810e-06 -9.99999997e-01 -8.05275037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.660385723 meters 0.016277385567268602 Centerline is valid? [True, True] Translation: X:132.84, Y:-87.54, Z:-8.05 [[-8.50773599e-01 5.25529643e-01 1.69616541e-03 1.32841812e+02] [ 5.25528649e-01 8.50775290e-01 -1.02219667e-03 -8.75381944e+01] [-1.98025027e-03 2.17255795e-05 -9.99998039e-01 -8.05024654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.690385723 meters 0.016110763886233122 Centerline is valid? [True, True] Translation: X:132.87, Y:-87.52, Z:-8.05 [[-8.86421982e-01 4.62869820e-01 2.75689456e-03 1.32866800e+02] [ 4.62867700e-01 8.86426268e-01 -1.40124998e-03 -8.75202808e+01] [-3.09238008e-03 3.39786585e-05 -9.99995218e-01 -8.05007052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.720385723 meters 0.016538966374709956 Centerline is valid? [True, True] Translation: X:132.88, Y:-87.50, Z:-8.05 [[-9.17381635e-01 3.97992770e-01 3.56227342e-03 1.32883389e+02] [ 3.97989940e-01 9.17388551e-01 -1.50152154e-03 -8.74982498e+01] [-3.86558357e-03 4.02807011e-05 -9.99992528e-01 -8.04951609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.750385723 meters 0.01615866916813568 Centerline is valid? [True, True] Translation: X:132.90, Y:-87.47, Z:-8.05 [[-9.43471001e-01 3.31440245e-01 3.13598496e-03 1.32896733e+02] [ 3.31438524e-01 9.43476212e-01 -1.06828998e-03 -8.74678316e+01] [-3.31280151e-03 3.14856161e-05 -9.99994512e-01 -8.04812857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.780385723 meters 0.01608365928164915 Centerline is valid? [True, True] Translation: X:132.90, Y:-87.44, Z:-8.05 [[-9.64633041e-01 2.63584873e-01 2.47199493e-03 1.32899105e+02] [ 2.63584067e-01 9.64636208e-01 -6.52242275e-04 -8.74363571e+01] [-2.55649701e-03 2.24040273e-05 -9.99996732e-01 -8.04773523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.810385723 meters 0.01611743727827729 Centerline is valid? [True, True] Translation: X:133.12, Y:-86.67, Z:-9.02 [[-9.51871602e-01 -3.06496370e-01 6.54870948e-04 1.33121515e+02] [ 3.06496210e-01 -9.51871820e-01 -3.34669556e-04 -8.66670826e+01] [ 7.25928205e-04 -1.17846983e-04 9.99999730e-01 -9.01697820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.840385723 meters 0.01630179946913386 Centerline is valid? [True, True] Translation: X:132.86, Y:-87.43, Z:-8.05 [[-9.65720619e-01 2.59583505e-01 3.00210505e-04 1.32862712e+02] [ 2.59583491e-01 9.65720666e-01 -8.36961700e-05 -8.74298805e+01] [-3.11645634e-04 -2.89742611e-06 -9.99999951e-01 -8.05067358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.870385723 meters 0.016381640452645046 Centerline is valid? [True, True] Translation: X:132.87, Y:-87.40, Z:-8.05 [[-9.81572260e-01 1.91084574e-01 -1.60760529e-03 1.32871215e+02] [ 1.91084360e-01 9.81573576e-01 2.86729381e-04 -8.74019878e+01] [ 1.63277243e-03 -2.57426216e-05 -9.99998667e-01 -8.05198330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.900385723 meters 0.0161203881235899 Centerline is valid? [True, True] Translation: X:133.02, Y:-86.61, Z:-9.01 [[-9.72417279e-01 -2.33228308e-01 -3.03168762e-03 1.33019993e+02] [ 2.33227334e-01 -9.72422004e-01 6.75912458e-04 -8.66136055e+01] [-3.10572167e-03 -4.98034685e-05 9.99995176e-01 -9.01476099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.930385723 meters 0.016373862817995324 Centerline is valid? [True, True] Translation: X:132.82, Y:-87.39, Z:-8.05 [[-9.82225047e-01 1.87671833e-01 -3.63863210e-03 1.32816631e+02] [ 1.87670742e-01 9.82231785e-01 6.42096434e-04 -8.73907046e+01] [ 3.69448352e-03 -5.21815872e-05 -9.99993174e-01 -8.05150405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.960385723 meters 0.016520705181641497 Centerline is valid? [True, True] Translation: X:132.81, Y:-87.36, Z:-8.05 [[-9.93007962e-01 1.17996477e-01 -3.46682063e-03 1.32806269e+02] [ 1.17995938e-01 9.93014012e-01 3.60267429e-04 -8.73605386e+01] [ 3.48511175e-03 -5.13223262e-05 -9.99993926e-01 -8.05050379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.990385723 meters 0.016424295710267225 Centerline is valid? [True, True] Translation: X:132.82, Y:-87.33, Z:-8.05 [[-9.98858264e-01 4.76683824e-02 -3.14550025e-03 1.32823519e+02] [ 4.76682996e-02 9.98863215e-01 1.01338773e-04 -8.73321761e+01] [ 3.14675515e-03 -4.87175775e-05 -9.99995048e-01 -8.04990596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.020385723 meters 0.016605282775399372 Centerline is valid? [True, True] Translation: X:132.85, Y:-86.53, Z:-9.02 [[-9.96141058e-01 -8.77121755e-02 -3.09319483e-03 1.32848215e+02] [ 8.77115947e-02 -9.96145859e-01 3.23188503e-04 -8.65307155e+01] [-3.10962079e-03 5.06322859e-05 9.99995164e-01 -9.01696751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.050385723 meters 0.016553069023230893 Centerline is valid? [True, True] Translation: X:132.73, Y:-87.33, Z:-8.05 [[-9.99128522e-01 4.16542316e-02 -2.66861315e-03 1.32731834e+02] [ 4.16541941e-02 9.99132085e-01 6.96711160e-05 -8.73317977e+01] [ 2.66919912e-03 -4.15485310e-05 -9.99996437e-01 -8.05059005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.080385723 meters 0.01669556599276359 Centerline is valid? [True, True] Translation: X:132.72, Y:-87.30, Z:-8.05 [[-9.99550453e-01 -2.98942675e-02 -2.28595299e-03 1.32715234e+02] [-2.98941085e-02 9.99553066e-01 -1.03737533e-04 -8.73044053e+01] [ 2.28803248e-03 -3.53543718e-05 -9.99997382e-01 -8.05096272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.110385723 meters 0.01675081861217922 Centerline is valid? [True, True] Translation: X:132.72, Y:-87.28, Z:-8.05 [[-9.94864477e-01 -1.01213877e-01 -6.51142229e-04 1.32720978e+02] [-1.01213846e-01 9.94864690e-01 -8.06422971e-05 -8.72756099e+01] [ 6.55960532e-04 -1.43235475e-05 -9.99999785e-01 -8.05016682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.140385723 meters 0.01673388491817459 Centerline is valid? [True, True] Translation: X:132.63, Y:-86.47, Z:-9.02 [[-9.98251137e-01 5.91153867e-02 -1.95838619e-04 1.32630391e+02] [-5.91153932e-02 -9.98251156e-01 2.78315057e-05 -8.64697493e+01] [-1.93850858e-04 3.93599092e-05 9.99999980e-01 -9.01726810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.170385723 meters 0.016573747522207617 Centerline is valid? [True, True] Translation: X:132.60, Y:-87.29, Z:-8.05 [[-9.94089791e-01 -1.08558963e-01 -6.61903187e-04 1.32604417e+02] [-1.08558929e-01 9.94090012e-01 -8.67175662e-05 -8.72857243e+01] [ 6.67405316e-04 -1.43495462e-05 -9.99999777e-01 -8.04895955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.200385723 meters 0.01635279105526492 Centerline is valid? [True, True] Translation: X:132.59, Y:-87.26, Z:-8.05 [[-9.83492145e-01 -1.80949135e-01 -7.81584174e-04 1.32586062e+02] [-1.80949066e-01 9.83492456e-01 -1.58419548e-04 -8.72575588e+01] [ 7.97348019e-04 -1.43774543e-05 -9.99999682e-01 -8.04947620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.230385723 meters 0.0161307821382957 Centerline is valid? [True, True] Translation: X:132.55, Y:-87.23, Z:-8.05 [[-9.67687480e-01 -2.52151210e-01 -8.41981372e-04 1.32554652e+02] [-2.52151101e-01 9.67687846e-01 -2.34347410e-04 -8.72341872e+01] [ 8.73866123e-04 -1.44685246e-05 -9.99999618e-01 -8.04983201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.260385723 meters 0.01607264454720909 Centerline is valid? [True, True] Translation: X:132.50, Y:-87.22, Z:-8.05 [[-9.46229654e-01 -3.23493753e-01 -1.11057937e-03 1.32499259e+02] [-3.23493510e-01 9.46230306e-01 -3.97015262e-04 -8.72207444e+01] [ 1.17929581e-03 -1.64023969e-05 -9.99999305e-01 -8.05134150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.290385723 meters 0.016085418759866712 Centerline is valid? [True, True] Translation: X:132.42, Y:-87.22, Z:-8.05 [[-9.19895477e-01 -3.92159965e-01 -1.69500314e-03 1.32421659e+02] [-3.92159255e-01 9.19897038e-01 -7.46894790e-04 -8.72195551e+01] [ 1.85213060e-03 -2.23539728e-05 -9.99998285e-01 -8.05206920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32038572300002 meters 0.01614624141696344 Centerline is valid? [True, True] Translation: X:132.35, Y:-87.22, Z:-8.05 [[-8.88278481e-01 -4.59301784e-01 -1.79181045e-03 1.32352962e+02] [-4.59300793e-01 8.88280288e-01 -9.54537797e-04 -8.72179588e+01] [ 2.03005082e-03 -2.49154228e-05 -9.99997939e-01 -8.05100774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35038572300002 meters 0.016046098242862853 Centerline is valid? [True, True] Translation: X:132.27, Y:-87.23, Z:-8.05 [[-8.51378985e-01 -5.24548134e-01 -1.75456617e-03 1.32269890e+02] [-5.24546958e-01 8.51380793e-01 -1.11077798e-03 -8.72308342e+01] [ 2.07646046e-03 -2.53406850e-05 -9.99997844e-01 -8.05020930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38038572300002 meters 0.016013611906143154 Centerline is valid? [True, True] Translation: X:132.18, Y:-87.26, Z:-8.05 [[-8.09235853e-01 -5.87482709e-01 -1.18402112e-03 1.32178494e+02] [-5.87482045e-01 8.09236719e-01 -8.83236003e-04 -8.72572687e+01] [ 1.47703925e-03 -1.91550904e-05 -9.99998909e-01 -8.04998353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.410385723 meters 0.016032041137788066 Centerline is valid? [True, True] Translation: X:132.09, Y:-87.29, Z:-8.05 [[-7.61537735e-01 -6.48120563e-01 -1.22182045e-04 1.32087388e+02] [-6.48120553e-01 7.61537745e-01 -1.13873551e-04 -8.72925799e+01] [ 1.66850029e-04 -7.53031118e-06 -9.99999986e-01 -8.04978101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.440385723 meters 0.015908471365764773 Centerline is valid? [True, True] Translation: X:131.99, Y:-87.34, Z:-8.05 [[-7.09616605e-01 -7.04587860e-01 4.71154460e-04 1.31994021e+02] [-7.04587707e-01 7.09616761e-01 4.64843835e-04 -8.73382585e+01] [-6.61862424e-04 -2.10873688e-06 -9.99999781e-01 -8.04952591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.470385723 meters 0.015884197042750223 Centerline is valid? [True, True] Translation: X:131.90, Y:-87.40, Z:-8.05 [[-6.52825172e-01 -7.57507750e-01 1.14162342e-03 1.31895363e+02] [-7.57506586e-01 6.52826171e-01 1.32800943e-03 -8.73965866e+01] [-1.75125908e-03 2.17072561e-06 -9.99998467e-01 -8.04728317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.500385723 meters 0.015911169476578668 Centerline is valid? [True, True] Translation: X:131.80, Y:-87.46, Z:-8.05 [[-5.92064438e-01 -8.05889291e-01 1.46699707e-03 1.31804671e+02] [-8.05886806e-01 5.92066255e-01 2.00116433e-03 -8.74611791e+01] [-2.48127637e-03 2.58465117e-06 -9.99996922e-01 -8.04586284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.530385723 meters 0.015863067432126204 Centerline is valid? [True, True] Translation: X:131.72, Y:-87.54, Z:-8.04 [[-5.26181397e-01 -8.50370322e-01 1.85811806e-03 1.31716895e+02] [-8.50365048e-01 5.26184677e-01 2.99497829e-03 -8.75353800e+01] [-3.52455390e-03 -4.17679194e-06 -9.99993789e-01 -8.04480934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.560385723 meters 0.01588067692250774 Centerline is valid? [True, True] Translation: X:131.63, Y:-87.63, Z:-8.05 [[-4.58191304e-01 -8.88852197e-01 1.58151280e-03 1.31628538e+02] [-8.88846972e-01 4.58194033e-01 3.04755141e-03 -8.76311520e+01] [-3.43346250e-03 -9.36130689e-06 -9.99994106e-01 -8.04528116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.590385723 meters 0.016009359273267302 Centerline is valid? [True, True] Translation: X:131.56, Y:-87.71, Z:-8.05 [[-3.87142064e-01 -9.22019369e-01 1.14281495e-03 1.31557059e+02] [-9.22015453e-01 3.87143750e-01 2.68716192e-03 -8.77129424e+01] [-2.92004900e-03 -1.33796299e-05 -9.99995737e-01 -8.04629768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.620385723 meters 0.01605511695412206 Centerline is valid? [True, True] Translation: X:131.48, Y:-87.82, Z:-8.05 [[-3.12372497e-01 -9.49959503e-01 6.05094946e-04 1.31483825e+02] [-9.49957821e-01 3.12373083e-01 1.78758122e-03 -8.78167715e+01] [-1.88714514e-03 -1.64234661e-05 -9.99998219e-01 -8.04753986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.650385723 meters 0.016215216576488778 Centerline is valid? [True, True] Translation: X:131.42, Y:-87.92, Z:-8.05 [[-2.37059250e-01 -9.71495123e-01 3.71125350e-04 1.31420412e+02] [-9.71494039e-01 2.37059540e-01 1.45142259e-03 -8.79240637e+01] [-1.49802877e-03 -1.64729151e-05 -9.99998878e-01 -8.04808367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.680385723 meters 0.016305249828115397 Centerline is valid? [True, True] Translation: X:131.37, Y:-88.03, Z:-8.05 [[-1.59352584e-01 -9.87221735e-01 1.36715295e-05 1.31365825e+02] [-9.87221734e-01 1.59352585e-01 4.27611616e-05 -8.80329214e+01] [-4.43933416e-05 -6.68272947e-06 -9.99999999e-01 -8.04811303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.710385723 meters 0.01648562229804101 Centerline is valid? [True, True] Translation: X:131.32, Y:-88.15, Z:-8.05 [[-8.22210969e-02 -9.96614112e-01 -4.63301699e-05 1.31320345e+02] [-9.96613949e-01 8.22211099e-02 -5.70551637e-04 -8.81535700e+01] [ 5.72429132e-04 -7.38087884e-07 -9.99999836e-01 -8.04858967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.740385723 meters 0.01648562229804101 Centerline is valid? [True, True] Translation: X:131.28, Y:-88.27, Z:-8.05 [[-5.12143234e-03 -9.99986885e-01 -2.20782741e-06 1.31284983e+02] [-9.99986721e-01 5.12143277e-03 -5.72666722e-04 -8.82741099e+01] [ 5.72670519e-04 -7.25075773e-07 -9.99999836e-01 -8.04860214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.770385723 meters 0.016487450616328163 Centerline is valid? [True, True] Translation: X:131.26, Y:-88.39, Z:-8.05 [[ 7.18111306e-02 -9.97418244e-01 9.52930485e-05 1.31259855e+02] [-9.97417225e-01 -7.18111934e-02 -1.42554191e-03 -8.83937285e+01] [ 1.42870461e-03 7.32284824e-06 -9.99998979e-01 -8.04938726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.800385723 meters 0.01650639707126927 Centerline is valid? [True, True] Translation: X:131.24, Y:-88.52, Z:-8.05 [[ 1.48089608e-01 -9.88973914e-01 2.57209295e-04 1.31244421e+02] [-9.88972301e-01 -1.48089831e-01 -1.78594838e-03 -8.85184205e+01] [ 1.80434644e-03 1.01075270e-05 -9.99998372e-01 -8.05031625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.830385723 meters 0.01652254266384761 Centerline is valid? [True, True] Translation: X:131.24, Y:-88.64, Z:-8.05 [[ 2.22933328e-01 -9.74833561e-01 5.08611591e-04 1.31238565e+02] [-9.74830895e-01 -2.22933908e-01 -2.27991630e-03 -8.86427437e+01] [ 2.33592569e-03 1.24590355e-05 -9.99997272e-01 -8.05027230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.860385723 meters 0.016525849100957734 Centerline is valid? [True, True] Translation: X:131.24, Y:-88.77, Z:-8.05 [[ 2.97137222e-01 -9.54834558e-01 6.61758495e-04 1.31241190e+02] [-9.54832105e-01 -2.97137959e-01 -2.16439609e-03 -8.87682721e+01] [ 2.26327375e-03 1.12543848e-05 -9.99997439e-01 -8.04950382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.890385723 meters 0.01633676095534519 Centerline is valid? [True, True] Translation: X:131.25, Y:-88.89, Z:-8.05 [[ 3.69719947e-01 -9.29143106e-01 5.00445500e-04 1.31253874e+02] [-9.29142239e-01 -3.69720285e-01 -1.26898919e-03 -8.88932055e+01] [ 1.36409741e-03 4.18556300e-06 -9.99999070e-01 -8.04875802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.920385723 meters 0.016505604968019956 Centerline is valid? [True, True] Translation: X:131.28, Y:-89.03, Z:-8.05 [[ 4.40650273e-01 -8.97678858e-01 -6.79161947e-05 1.31280850e+02] [-8.97678845e-01 -4.40650278e-01 1.55409435e-04 -8.90296758e+01] [-1.69435054e-04 -7.51427880e-06 -9.99999986e-01 -8.04682282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.950385723 meters 0.01643821449881683 Centerline is valid? [True, True] Translation: X:131.31, Y:-89.15, Z:-8.05 [[ 5.08757869e-01 -8.60909584e-01 -3.45116470e-04 1.31314123e+02] [-8.60909369e-01 -5.08757986e-01 6.07795213e-04 -8.91529816e+01] [-6.98837484e-04 -1.21065957e-05 -9.99999756e-01 -8.04613590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.980385723 meters 0.016450676356420824 Centerline is valid? [True, True] Translation: X:131.35, Y:-89.27, Z:-8.05 [[ 5.73713713e-01 -8.19055617e-01 -6.87600315e-04 1.31353924e+02] [-8.19054993e-01 -5.73714124e-01 1.01127616e-03 -8.92704346e+01] [-1.22277743e-03 -1.70005304e-05 -9.99999252e-01 -8.04566858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.010385723 meters 0.016664084829711823 Centerline is valid? [True, True] Translation: X:131.38, Y:-89.36, Z:-8.05 [[ 6.34719170e-01 -7.72742405e-01 -8.65788202e-04 1.31384361e+02] [-7.72741647e-01 -6.34719761e-01 1.08255189e-03 -8.93597336e+01] [-1.38606663e-03 -1.80858350e-05 -9.99999039e-01 -8.04515080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.040385723 meters 0.016375685019361506 Centerline is valid? [True, True] Translation: X:131.43, Y:-89.46, Z:-8.05 [[ 6.91558974e-01 -7.22318646e-01 -1.39968065e-03 1.31434816e+02] [-7.22317100e-01 -6.91560390e-01 1.49442014e-03 -8.94578683e+01] [-2.04741123e-03 -2.24663931e-05 -9.99997904e-01 -8.04618040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07038572300002 meters 0.017291371043217672 Centerline is valid? [True, True] Translation: X:131.49, Y:-89.55, Z:-8.05 [[ 7.43970318e-01 -6.68210739e-01 -1.60453988e-03 1.31494137e+02] [-6.68209123e-01 -7.43972048e-01 1.46970799e-03 -8.95543007e+01] [-2.17580748e-03 -2.12509334e-05 -9.99997633e-01 -8.04517121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10038572300002 meters 0.016205015418610007 Centerline is valid? [True, True] Translation: X:131.49, Y:-89.56, Z:-8.05 [[ 7.92851731e-01 -6.09411048e-01 -2.07562399e-03 1.31489398e+02] [-6.09408893e-01 -7.92854447e-01 1.62066381e-03 -8.95603125e+01] [-2.63331814e-03 -2.00423884e-05 -9.99996533e-01 -8.04643726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13038572300002 meters 0.01617581197427481 Centerline is valid? [True, True] Translation: X:131.48, Y:-89.57, Z:-8.05 [[ 8.37322371e-01 -5.46705001e-01 -2.21107995e-03 1.31484847e+02] [-5.46703043e-01 -8.37325290e-01 1.46339075e-03 -8.95663070e+01] [-2.65143621e-03 -1.65256732e-05 -9.99996485e-01 -8.04622060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.160385723 meters 0.017178056224144256 Centerline is valid? [True, True] Translation: X:131.48, Y:-89.57, Z:-8.04 [[ 8.76839885e-01 -4.80775465e-01 -2.60152338e-03 1.31481588e+02] [-4.80773302e-01 -8.76843745e-01 1.44206511e-03 -8.95720547e+01] [-2.97443903e-03 -1.37172216e-05 -9.99995576e-01 -8.04456813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.190385723 meters 0.016165532027034465 Centerline is valid? [True, True] Translation: X:131.48, Y:-89.58, Z:-8.04 [[ 9.11078753e-01 -4.12220193e-01 -3.16530343e-03 1.31478163e+02] [-4.12217669e-01 -9.11084251e-01 1.44257596e-03 -8.95797447e+01] [-3.47851704e-03 -9.50630556e-06 -9.99993950e-01 -8.04487672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.220385723 meters 0.016157137005247433 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.59, Z:-8.04 [[ 9.40175430e-01 -3.40674582e-01 -3.31509834e-03 1.31474417e+02] [-3.40672441e-01 -9.40181275e-01 1.20763960e-03 -8.95857877e+01] [-3.52820550e-03 -6.03043919e-06 -9.99993776e-01 -8.04491306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.250385723 meters 0.01621457196745456 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.59, Z:-8.05 [[ 9.63604336e-01 -2.67320122e-01 -2.57592575e-03 1.31472012e+02] [-2.67319159e-01 -9.63607779e-01 7.17503691e-04 -8.95899560e+01] [-2.67398526e-03 -2.79536442e-06 -9.99996425e-01 -8.04589680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.280385723 meters 0.01631079589652853 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.59, Z:-8.05 [[ 9.81218475e-01 -1.92894940e-01 -1.35860599e-03 1.31471013e+02] [-1.92894752e-01 -9.81219416e-01 2.69043539e-04 -8.95948701e+01] [-1.38498771e-03 -1.92252647e-06 -9.99999041e-01 -8.04758991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.310385723 meters 0.016569962136368258 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.60, Z:-8.05 [[ 9.93047321e-01 -1.17715787e-01 -1.04312793e-04 1.31465801e+02] [-1.17715786e-01 -9.93047327e-01 1.78523834e-05 -8.96012124e+01] [-1.05689048e-04 -5.44899907e-06 -9.99999994e-01 -8.04947268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.340385723 meters 0.01660661373303505 Centerline is valid? [True, True] Translation: X:131.46, Y:-89.61, Z:-8.05 [[ 9.99212967e-01 -3.96661766e-02 -2.01172819e-04 1.31460371e+02] [-3.96661748e-02 -9.99212988e-01 1.29188357e-05 -8.96085316e+01] [-2.01526934e-04 -4.92891196e-06 -9.99999980e-01 -8.04882016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.370385723 meters 0.01657147806020669 Centerline is valid? [True, True] Translation: X:131.46, Y:-89.62, Z:-8.05 [[ 9.99186993e-01 4.03061350e-02 -8.76777234e-04 1.31456256e+02] [ 4.03061220e-02 -9.99187378e-01 -3.25444391e-05 -8.96211303e+01] [-8.77376486e-04 -2.82150994e-06 -9.99999615e-01 -8.04771229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.400385723 meters 0.01657790365444438 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.63, Z:-8.05 [[ 9.92847991e-01 1.19379639e-01 -1.17006277e-03 1.31453672e+02] [ 1.19379560e-01 -9.92848680e-01 -1.37794116e-04 -8.96307821e+01] [-1.17814509e-03 -2.87296705e-06 -9.99999306e-01 -8.04786831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.430385723 meters 0.016569713904866855 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.64, Z:-8.05 [[ 9.80102057e-01 1.98485133e-01 -1.90000886e-03 1.31449862e+02] [ 1.98484769e-01 -9.80103899e-01 -3.80340521e-04 -8.96392694e+01] [-1.93769803e-03 -4.35029256e-06 -9.99998123e-01 -8.04901745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.460385723 meters 0.017967775026971288 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.65, Z:-8.05 [[ 9.61664402e-01 2.74222412e-01 -1.90945561e-03 1.31448592e+02] [ 2.74221879e-01 -9.61666298e-01 -5.40868886e-04 -8.96510397e+01] [-1.98457748e-03 -3.48015043e-06 -9.99998031e-01 -8.04723875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.490385723 meters 0.01906621788758047 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.66, Z:-8.05 [[ 9.37329385e-01 3.48439077e-01 -1.95811994e-03 1.31447860e+02] [ 3.48438323e-01 -9.37331430e-01 -7.24872644e-04 -8.96632515e+01] [-2.08798132e-03 -2.83959863e-06 -9.99997820e-01 -8.04524670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.520385723 meters 0.016562225028550558 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.68, Z:-8.05 [[ 9.06560982e-01 4.22069393e-01 -2.14811275e-03 1.31450105e+02] [ 4.22068223e-01 -9.06563527e-01 -9.93589688e-04 -8.96784949e+01] [-2.36676446e-03 -5.90048658e-06 -9.99997199e-01 -8.04714505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.550385723 meters 0.01664721847769495 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.69, Z:-8.05 [[ 8.69898148e-01 4.93224079e-01 -2.68710373e-03 1.31452193e+02] [ 4.93221765e-01 -8.69902298e-01 -1.51087506e-03 -8.96927999e+01] [-3.08271767e-03 -1.10306272e-05 -9.99995248e-01 -8.04668476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.580385723 meters 0.01667520954377287 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.70, Z:-8.05 [[ 8.28192376e-01 5.60435191e-01 -3.12830620e-03 1.31453204e+02] [ 5.60431261e-01 -8.28198284e-01 -2.09872693e-03 -8.97026182e+01] [-3.76705825e-03 -1.50509452e-05 -9.99992905e-01 -8.04709296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.610385723 meters 0.016568589116417266 Centerline is valid? [True, True] Translation: X:131.46, Y:-89.71, Z:-8.05 [[ 7.81734932e-01 6.23597532e-01 -4.07597972e-03 1.31455188e+02] [ 6.23589181e-01 -7.81745558e-01 -3.22735188e-03 -8.97105313e+01] [-5.19894771e-03 -1.88031454e-05 -9.99986485e-01 -8.04783082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.640385723 meters 0.01662233229142911 Centerline is valid? [True, True] Translation: X:131.46, Y:-89.72, Z:-8.05 [[ 7.30845819e-01 6.82532638e-01 -3.68605684e-03 1.31455715e+02] [ 6.82524066e-01 -7.30855114e-01 -3.42070481e-03 -8.97176384e+01] [-5.02871617e-03 -1.58146900e-05 -9.99987356e-01 -8.04757000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.670385723 meters 0.016627663488304772 Centerline is valid? [True, True] Translation: X:131.46, Y:-89.72, Z:-8.05 [[ 6.75767204e-01 7.37106734e-01 -3.51388715e-03 1.31457615e+02] [ 7.37096860e-01 -6.75776340e-01 -3.81541052e-03 -8.97242512e+01] [-5.18696659e-03 -1.17458839e-05 -9.99986548e-01 -8.04773113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.700385723 meters 0.016512454467774225 Centerline is valid? [True, True] Translation: X:131.46, Y:-89.73, Z:-8.05 [[ 6.18131076e-01 7.86068928e-01 -3.10057843e-03 1.31461175e+02] [ 7.86059022e-01 -6.18138853e-01 -3.94621413e-03 -8.97328092e+01] [-5.01858430e-03 2.03994009e-06 -9.99987407e-01 -8.04778741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.730385723 meters 0.016536538818411262 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.74, Z:-8.05 [[ 5.55567965e-01 8.31467077e-01 -2.59530343e-03 1.31466484e+02] [ 8.31457951e-01 -5.55574027e-01 -3.89576283e-03 -8.97420738e+01] [-4.68108171e-03 6.47535434e-06 -9.99989044e-01 -8.04807804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.760385723 meters 0.01653063429295896 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.75, Z:-8.05 [[ 4.89841812e-01 8.71808375e-01 -2.27056196e-03 1.31470306e+02] [ 8.71798895e-01 -4.89847075e-01 -4.06570142e-03 -8.97500165e+01] [-4.65674069e-03 1.20771415e-05 -9.99989157e-01 -8.04799368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.790385723 meters 0.01666501243990253 Centerline is valid? [True, True] Translation: X:131.47, Y:-89.76, Z:-8.05 [[ 4.21877944e-01 9.06650920e-01 -1.76318115e-03 1.31474201e+02] [ 9.06642814e-01 -4.21881628e-01 -3.83404252e-03 -8.97565666e+01] [-4.21999192e-03 1.89224591e-05 -9.99991096e-01 -8.05084281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82038572300002 meters 0.016639200142113286 Centerline is valid? [True, True] Translation: X:131.48, Y:-89.77, Z:-8.05 [[ 3.50557170e-01 9.36540432e-01 -1.30026413e-03 1.31484986e+02] [ 9.36533772e-01 -3.50559580e-01 -3.53189097e-03 -8.97659907e+01] [-3.76357874e-03 2.03884362e-05 -9.99992918e-01 -8.05238634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85038572300002 meters 0.016805588264021048 Centerline is valid? [True, True] Translation: X:131.50, Y:-89.78, Z:-8.05 [[ 2.76964711e-01 9.60879638e-01 -9.33151923e-04 1.31495167e+02] [ 9.60873923e-01 -2.76966282e-01 -3.31408809e-03 -8.97751848e+01] [-3.44289138e-03 2.12441019e-05 -9.99994073e-01 -8.05230967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88038572300002 meters 0.016881401047852917 Centerline is valid? [True, True] Translation: X:131.51, Y:-89.78, Z:-8.05 [[ 2.02477461e-01 9.79286659e-01 -7.19643297e-04 1.31509624e+02] [ 9.79279945e-01 -2.02478738e-01 -3.62624088e-03 -8.97830176e+01] [-3.69684178e-03 2.94997978e-05 -9.99993166e-01 -8.05048358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.910385723 meters 0.016998013008884615 Centerline is valid? [True, True] Translation: X:131.52, Y:-89.79, Z:-8.05 [[ 1.26164963e-01 9.92009163e-01 -4.72086603e-04 1.31521453e+02] [ 9.92001082e-01 -1.26165841e-01 -4.00415078e-03 -8.97898521e+01] [-4.03171546e-03 3.68731141e-05 -9.99991872e-01 -8.04902028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.940385723 meters 0.017012868100703103 Centerline is valid? [True, True] Translation: X:131.53, Y:-89.80, Z:-8.05 [[ 4.86204395e-02 9.98817307e-01 -1.98415491e-04 1.31532090e+02] [ 9.98804150e-01 -4.86208175e-02 -5.12703893e-03 -8.97951398e+01] [-5.13062235e-03 5.11006706e-05 -9.99986837e-01 -8.04816193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.970385723 meters 0.016992168578026493 Centerline is valid? [True, True] Translation: X:131.54, Y:-89.80, Z:-8.05 [[-2.86871096e-02 9.99588393e-01 3.08470746e-04 1.31544760e+02] [ 9.99558850e-01 2.86886335e-02 -7.68559831e-03 -8.97991631e+01] [-7.69128446e-03 8.78570631e-05 -9.99970418e-01 -8.04807071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.000385723 meters 0.017324925597956186 Centerline is valid? [True, True] Translation: X:131.56, Y:-89.80, Z:-8.05 [[-1.05932074e-01 9.94372850e-01 1.01576470e-03 1.31556153e+02] [ 9.94336287e-01 1.05936890e-01 -8.52781863e-03 -8.98034129e+01] [-8.58743827e-03 1.06642182e-04 -9.99963122e-01 -8.04788954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.030385723 meters 0.01970405532553868 Centerline is valid? [True, True] Translation: X:131.57, Y:-89.81, Z:-8.04 [[-1.80783292e-01 9.83521282e-01 1.81360834e-03 1.31571091e+02] [ 9.83479307e-01 1.80792334e-01 -9.08763897e-03 -8.98054456e+01] [-9.26577281e-03 1.40752987e-04 -9.99957062e-01 -8.04497547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.060385723 meters 0.020368241951559375 Centerline is valid? [True, True] Translation: X:131.59, Y:-89.81, Z:-8.04 [[-2.56904998e-01 9.66432635e-01 2.78991716e-03 1.31586090e+02] [ 9.66382223e-01 2.56920097e-01 -9.87229525e-03 -8.98059620e+01] [-1.02576941e-02 1.59884353e-04 -9.99947376e-01 -8.04393229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.090385723 meters 0.017227245267867012 Centerline is valid? [True, True] Translation: X:131.60, Y:-89.80, Z:-8.05 [[-3.33029021e-01 9.42908941e-01 3.79483822e-03 1.31601799e+02] [ 9.42852997e-01 3.33050604e-01 -1.02723625e-02 -8.98048392e+01] [-1.09497756e-02 1.56979766e-04 -9.99940037e-01 -8.04697740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.120385723 meters 0.017816853342976675 Centerline is valid? [True, True] Translation: X:131.61, Y:-89.80, Z:-8.05 [[-4.06697586e-01 9.13550141e-01 4.81796071e-03 1.31614340e+02] [ 9.13490477e-01 4.06726094e-01 -1.04418658e-02 -8.98049051e+01] [-1.14987583e-02 1.54479602e-04 -9.99933875e-01 -8.04557822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.150385723 meters 0.01745090648590337 Centerline is valid? [True, True] Translation: X:131.63, Y:-89.80, Z:-8.05 [[-4.77585838e-01 8.78566713e-01 5.68306885e-03 1.31629750e+02] [ 8.78508164e-01 4.77619627e-01 -1.01438080e-02 -8.98000840e+01] [-1.16263573e-02 1.48083346e-04 -9.99932401e-01 -8.04684869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.180385723 meters 0.01681441558047915 Centerline is valid? [True, True] Translation: X:131.65, Y:-89.79, Z:-8.05 [[-5.46940377e-01 8.37153255e-01 5.53636307e-03 1.31645290e+02] [ 8.37112244e-01 5.46968388e-01 -8.28692772e-03 -8.97945063e+01] [-9.96564410e-03 1.02101941e-04 -9.99950337e-01 -8.04910262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.210385723 meters 0.016618972411395812 Centerline is valid? [True, True] Translation: X:131.66, Y:-89.79, Z:-8.05 [[-6.11952819e-01 7.90876988e-01 5.22840821e-03 1.31657289e+02] [ 7.90849147e-01 6.11975150e-01 -6.63645802e-03 -8.97899927e+01] [-8.44827783e-03 7.36829830e-05 -9.99964310e-01 -8.04995487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.240385723 meters 0.01621477783722235 Centerline is valid? [True, True] Translation: X:131.67, Y:-89.78, Z:-8.05 [[-6.74275258e-01 7.38461861e-01 5.19192090e-03 1.31672737e+02] [ 7.38440459e-01 6.74295245e-01 -5.62228733e-03 -8.97798911e+01] [-7.65273234e-03 4.29552119e-05 -9.99970717e-01 -8.05072627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.270385723 meters 0.016100138057346572 Centerline is valid? [True, True] Translation: X:131.68, Y:-89.77, Z:-8.05 [[-7.31160203e-01 6.82180133e-01 5.91815786e-03 1.31683795e+02] [ 6.82158141e-01 7.31184153e-01 -5.47770158e-03 -8.97703567e+01] [-8.06404243e-03 3.20421597e-05 -9.99967485e-01 -8.05051622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.300385723 meters 0.016070408739942674 Centerline is valid? [True, True] Translation: X:131.71, Y:-89.75, Z:-8.05 [[-7.79416218e-01 6.26463674e-01 7.32288916e-03 1.31707905e+02] [ 6.26436169e-01 7.79450617e-01 -5.87041681e-03 -8.97455521e+01] [-9.38543336e-03 1.18245606e-05 -9.99955956e-01 -8.05016128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.330385723 meters 0.016040829155848105 Centerline is valid? [True, True] Translation: X:131.73, Y:-89.72, Z:-8.05 [[-8.22252224e-01 5.69063025e-01 8.27969169e-03 1.31727028e+02] [ 5.69034236e-01 8.22293909e-01 -5.72402120e-03 -8.97207051e+01] [-1.00656689e-02 4.83886906e-06 -9.99949340e-01 -8.05049174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.360385723 meters 0.01596049645002678 Centerline is valid? [True, True] Translation: X:131.74, Y:-89.69, Z:-8.05 [[-8.60592380e-01 5.09211555e-01 9.18410328e-03 1.31741407e+02] [ 5.09182595e-01 8.60641384e-01 -5.43072330e-03 -8.96932484e+01] [-1.06696064e-02 2.74644605e-06 -9.99943078e-01 -8.05053942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.390385723 meters 0.016008383394860264 Centerline is valid? [True, True] Translation: X:131.75, Y:-89.66, Z:-8.05 [[-8.94052919e-01 4.47847145e-01 1.01150016e-02 1.31754138e+02] [ 4.47818666e-01 8.94110136e-01 -5.05053676e-03 -8.96635288e+01] [-1.13057940e-02 1.42394139e-05 -9.99936087e-01 -8.05057467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.420385723 meters 0.01593385427301416 Centerline is valid? [True, True] Translation: X:131.77, Y:-89.64, Z:-8.05 [[-9.23195567e-01 3.84193445e-01 1.02636313e-02 1.31768578e+02] [ 3.84169995e-01 9.23252618e-01 -4.24488130e-03 -8.96366021e+01] [-1.11067800e-02 2.41235789e-05 -9.99938318e-01 -8.05158540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.450385723 meters 0.015888602551792242 Centerline is valid? [True, True] Translation: X:131.77, Y:-89.61, Z:-8.05 [[-9.47688908e-01 3.19033489e-01 1.01669292e-02 1.31774596e+02] [ 3.19015556e-01 9.47743442e-01 -3.38283705e-03 -8.96059470e+01] [-1.07148787e-02 3.75314027e-05 -9.99942593e-01 -8.05279572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.480385723 meters 0.016897152914050785 Centerline is valid? [True, True] Translation: X:131.79, Y:-89.58, Z:-8.05 [[-9.67124810e-01 2.54116078e-01 9.72728487e-03 1.31786325e+02] [ 2.54103928e-01 9.67173725e-01 -2.48589219e-03 -8.95770480e+01] [-1.00396795e-02 6.75732777e-05 -9.99949599e-01 -8.05145702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.510385723 meters 0.018625672312779867 Centerline is valid? [True, True] Translation: X:131.79, Y:-89.55, Z:-8.05 [[-9.82324891e-01 1.86872931e-01 1.07849766e-02 1.31790201e+02] [ 1.86862752e-01 9.82384089e-01 -1.95285684e-03 -8.95468094e+01] [-1.09599255e-02 9.69705214e-05 -9.99939934e-01 -8.05024197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.540385723 meters 0.016321639321287888 Centerline is valid? [True, True] Translation: X:131.91, Y:-88.91, Z:-9.01 [[-9.72529562e-01 -2.32505276e-01 1.12936907e-02 1.31905566e+02] [ 2.32488863e-01 -9.72595133e-01 -2.76329652e-03 -8.89059746e+01] [ 1.16266696e-02 -6.17302438e-05 9.99932406e-01 -9.01455944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57038572300002 meters 0.020695343033150508 Centerline is valid? [True, True] Translation: X:131.74, Y:-89.54, Z:-8.05 [[-9.82089723e-01 1.88012169e-01 1.22963801e-02 1.31737050e+02] [ 1.87999671e-01 9.82166683e-01 -2.17491691e-03 -8.95366956e+01] [-1.24860057e-02 1.75751865e-04 -9.99922031e-01 -8.04909100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60038572300002 meters 0.018503091360513993 Centerline is valid? [True, True] Translation: X:131.85, Y:-88.90, Z:-9.02 [[-9.74464035e-01 -2.24265524e-01 1.11722313e-02 1.31853724e+02] [ 2.24248157e-01 -9.74528053e-01 -2.79978606e-03 -8.88981860e+01] [ 1.15155483e-02 -2.22938534e-04 9.99933669e-01 -9.01592282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63038572300002 meters 0.01715694861075166 Centerline is valid? [True, True] Translation: X:131.68, Y:-89.53, Z:-8.05 [[-9.82446661e-01 1.86213156e-01 1.11004204e-02 1.31682491e+02] [ 1.86203366e-01 9.82509352e-01 -1.91814377e-03 -8.95264424e+01] [-1.12634505e-02 1.82461696e-04 -9.99936549e-01 -8.05349430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.660385723 meters 0.01715694861075166 Centerline is valid? [True, True] Translation: X:131.79, Y:-88.89, Z:-9.01 [[-9.75532027e-01 -2.19591421e-01 1.08107276e-02 1.31793593e+02] [ 2.19575786e-01 -9.75591909e-01 -2.62718748e-03 -8.88887546e+01] [ 1.11237662e-02 -1.89131528e-04 9.99938111e-01 -9.01399913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.690385723 meters 0.017238471841176887 Centerline is valid? [True, True] Translation: X:131.63, Y:-89.51, Z:-8.05 [[-9.82618680e-01 1.85367604e-01 9.96903453e-03 1.31629222e+02] [ 1.85360085e-01 9.82669229e-01 -1.68101435e-03 -8.95139506e+01] [-1.01078691e-02 1.96064987e-04 -9.99948895e-01 -8.05367317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.720385723 meters 0.019221555552492216 Centerline is valid? [True, True] Translation: X:131.74, Y:-88.89, Z:-9.02 [[-9.77558977e-01 -2.10419285e-01 1.01079344e-02 1.31743429e+02] [ 2.10406083e-01 -9.77611216e-01 -2.36427656e-03 -8.88855548e+01] [ 1.03791194e-02 -1.84448899e-04 9.99946118e-01 -9.01651875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.750385723 meters 0.019325915787796386 Centerline is valid? [True, True] Translation: X:131.58, Y:-89.51, Z:-8.05 [[-9.82824889e-01 1.84219416e-01 1.08832331e-02 1.31581203e+02] [ 1.84210887e-01 9.82885114e-01 -1.78956310e-03 -8.95061228e+01] [-1.10266401e-02 2.45982867e-04 -9.99939175e-01 -8.05059372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.780385723 meters 0.020840349124663104 Centerline is valid? [True, True] Translation: X:131.58, Y:-89.47, Z:-8.05 [[-9.93264130e-01 1.15182423e-01 1.26244735e-02 1.31582942e+02] [ 1.15176943e-01 9.93344311e-01 -1.16271301e-03 -8.94743277e+01] [-1.26743730e-02 2.99167141e-04 -9.99919632e-01 -8.04860773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.810385723 meters 0.0193580016797522 Centerline is valid? [True, True] Translation: X:131.64, Y:-88.84, Z:-9.02 [[-9.90755826e-01 -1.35084295e-01 1.24550079e-02 1.31637106e+02] [ 1.35069787e-01 -9.90834064e-01 -2.00261151e-03 -8.88443782e+01] [ 1.26113675e-02 -3.01803746e-04 9.99920428e-01 -9.01755212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.840385723 meters 0.018235159226772477 Centerline is valid? [True, True] Translation: X:131.52, Y:-89.46, Z:-8.05 [[-9.93922641e-01 1.09413557e-01 1.21019194e-02 1.31516743e+02] [ 1.09408749e-01 9.93996278e-01 -1.06063166e-03 -8.94638799e+01] [-1.21453103e-02 2.69870040e-04 -9.99926207e-01 -8.05151424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.870385723 meters 0.020533040335587813 Centerline is valid? [True, True] Translation: X:131.57, Y:-88.84, Z:-9.02 [[-9.91340729e-01 -1.30790783e-01 1.17187746e-02 1.31571655e+02] [ 1.30778279e-01 -9.91409951e-01 -1.83040540e-03 -8.88441228e+01] [ 1.18575099e-02 -2.81994250e-04 9.99929658e-01 -9.01888186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.900385723 meters 0.018347103544618232 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.46, Z:-8.05 [[-9.94433032e-01 1.04774106e-01 1.11951289e-02 1.31453639e+02] [ 1.04770242e-01 9.94496016e-01 -9.32660445e-04 -8.94552274e+01] [-1.12312298e-02 2.45448019e-04 -9.99936898e-01 -8.05154271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.930385723 meters 0.021732843986086492 Centerline is valid? [True, True] Translation: X:131.45, Y:-89.43, Z:-8.05 [[-9.99322822e-01 3.48668599e-02 1.17558324e-02 1.31446470e+02] [ 3.48676191e-02 9.99391930e-01 -1.40428408e-04 -8.94250214e+01] [-1.17535803e-02 2.69564573e-04 -9.99930888e-01 -8.04914831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.960385723 meters 0.019941924400181922 Centerline is valid? [True, True] Translation: X:131.44, Y:-89.39, Z:-8.05 [[-9.99279153e-01 -3.61092094e-02 1.17174849e-02 1.31436786e+02] [-3.61035379e-02 9.99347813e-01 6.95260181e-04 -8.93930994e+01] [-1.17349482e-02 2.71716343e-04 -9.99931106e-01 -8.05145881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.990385723 meters 0.01789049038509577 Centerline is valid? [True, True] Translation: X:131.42, Y:-89.36, Z:-8.05 [[-9.94143796e-01 -1.07449202e-01 1.15230916e-02 1.31422221e+02] [-1.07438864e-01 9.94210540e-01 1.51428888e-03 -8.93633620e+01] [-1.16190883e-02 2.67393021e-04 -9.99932460e-01 -8.05380139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.020385723 meters 0.018336407056692153 Centerline is valid? [True, True] Translation: X:131.40, Y:-89.34, Z:-8.05 [[-9.84030749e-01 -1.77507301e-01 1.32152376e-02 1.31395880e+02] [-1.77486880e-01 9.84119431e-01 2.71174801e-03 -8.93361467e+01] [-1.34867272e-02 3.22912126e-04 -9.99908998e-01 -8.05312511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.050385723 meters 0.018386231049035993 Centerline is valid? [True, True] Translation: X:131.36, Y:-89.32, Z:-8.05 [[-9.68715463e-01 -2.47814737e-01 1.33494795e-02 1.31361550e+02] [-2.47786440e-01 9.68807382e-01 3.75975328e-03 -8.93156576e+01] [-1.38647966e-02 3.34311132e-04 -9.99903823e-01 -8.05345674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.080385723 meters 0.0181134610972628 Centerline is valid? [True, True] Translation: X:131.31, Y:-89.30, Z:-8.06 [[-9.48637229e-01 -3.16152771e-01 1.16117421e-02 1.31306881e+02] [-3.16124970e-01 9.48708240e-01 4.20470205e-03 -8.93003517e+01] [-1.23454836e-02 3.17975286e-04 -9.99923741e-01 -8.05557975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.110385723 meters 0.0182476946617341 Centerline is valid? [True, True] Translation: X:131.24, Y:-89.30, Z:-8.06 [[-9.23264580e-01 -3.84024485e-01 1.03783440e-02 1.31238718e+02] [-3.83996482e-01 9.23322859e-01 4.64769046e-03 -8.92950833e+01] [-1.13673892e-02 3.05800389e-04 -9.99935342e-01 -8.05637557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.140385723 meters 0.018584941852946808 Centerline is valid? [True, True] Translation: X:131.16, Y:-89.30, Z:-8.06 [[-8.92798377e-01 -4.50356617e-01 9.48555100e-03 1.31164230e+02] [-4.50327610e-01 8.92848715e-01 5.12011608e-03 -8.92984868e+01] [-1.07750402e-02 2.99625814e-04 -9.99941903e-01 -8.05679504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.170385723 meters 0.021069569871312574 Centerline is valid? [True, True] Translation: X:131.08, Y:-89.31, Z:-8.05 [[-8.57692617e-01 -5.14052789e-01 1.06351038e-02 1.31083020e+02] [-5.14007834e-01 8.57758469e-01 6.80847356e-03 -8.93118957e+01] [-1.26222652e-02 3.73050820e-04 -9.99920266e-01 -8.05457163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.200385723 meters 0.022035128601878805 Centerline is valid? [True, True] Translation: X:131.00, Y:-89.34, Z:-8.06 [[-8.17115228e-01 -5.76361768e-01 1.13937290e-02 1.30995011e+02] [-5.76298391e-01 8.17194549e-01 8.55769012e-03 -8.93364986e+01] [-1.42432186e-02 4.26431239e-04 -9.99898469e-01 -8.05515738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.230385723 meters 0.01902559457011586 Centerline is valid? [True, True] Translation: X:130.91, Y:-89.37, Z:-8.06 [[-7.70920847e-01 -6.36868226e-01 8.93923227e-03 1.30907196e+02] [-6.36820238e-01 7.70972598e-01 7.82548438e-03 -8.93709032e+01] [-1.18757055e-02 3.40145029e-04 -9.99929423e-01 -8.05877084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.260385723 meters 0.020465106931390257 Centerline is valid? [True, True] Translation: X:130.81, Y:-89.42, Z:-8.06 [[-7.21320339e-01 -6.92542765e-01 9.02704542e-03 1.30813709e+02] [-6.92481907e-01 7.21376723e-01 9.18865072e-03 -8.94162344e+01] [-1.28754340e-02 3.76895024e-04 -9.99917037e-01 -8.05788404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.290385723 meters 0.01937520636864656 Centerline is valid? [True, True] Translation: X:130.72, Y:-89.47, Z:-8.06 [[-6.65720349e-01 -7.46164383e-01 7.42502057e-03 1.30724735e+02] [-7.46112610e-01 6.65761680e-01 8.79536556e-03 -8.94654893e+01] [-1.15060827e-02 3.15352348e-04 -9.99933753e-01 -8.05880380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32038572300002 meters 0.018300005839679643 Centerline is valid? [True, True] Translation: X:130.64, Y:-89.53, Z:-8.06 [[-6.07020151e-01 -7.94656205e-01 6.93203263e-03 1.30635323e+02] [-7.94598308e-01 6.07059648e-01 9.59753830e-03 -8.95260059e+01] [-1.18349006e-02 3.17717740e-04 -9.99929915e-01 -8.05911316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35038572300002 meters 0.01787646218380674 Centerline is valid? [True, True] Translation: X:130.55, Y:-89.60, Z:-8.06 [[-5.43324266e-01 -8.39497472e-01 6.53736820e-03 1.30551467e+02] [-8.39429732e-01 5.43363506e-01 1.06689259e-02 -8.95991985e+01] [-1.25087036e-02 3.09025108e-04 -9.99921715e-01 -8.05966578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38038572300002 meters 0.01764716198533366 Centerline is valid? [True, True] Translation: X:130.47, Y:-89.68, Z:-8.06 [[-4.76558589e-01 -8.79123785e-01 5.76908142e-03 1.30472752e+02] [-8.79051838e-01 4.76593419e-01 1.12507752e-02 -8.96807378e+01] [-1.26403303e-02 2.90331916e-04 -9.99920066e-01 -8.06030678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.410385723 meters 0.01679432102574205 Centerline is valid? [True, True] Translation: X:130.40, Y:-89.77, Z:-8.06 [[-4.04744032e-01 -9.14416344e-01 5.00180040e-03 1.30395114e+02] [-9.14338912e-01 4.04774863e-01 1.19022738e-02 -8.97704862e+01] [-1.29082368e-02 2.44033563e-04 -9.99916655e-01 -8.06055030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.440385723 meters 0.01619178214618619 Centerline is valid? [True, True] Translation: X:130.32, Y:-89.87, Z:-8.06 [[-3.31339363e-01 -9.43502684e-01 4.11230384e-03 1.30323075e+02] [-9.43422047e-01 3.31364816e-01 1.23369241e-02 -8.98664608e+01] [-1.30025938e-02 2.08070462e-04 -9.99915441e-01 -8.05981106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.470385723 meters 0.016075150928545737 Centerline is valid? [True, True] Translation: X:130.26, Y:-89.97, Z:-8.06 [[-2.55640364e-01 -9.66766871e-01 3.13401325e-03 1.30259717e+02] [-9.66686026e-01 2.55659519e-01 1.25035106e-02 -8.99680001e+01] [-1.28892201e-02 1.66795183e-04 -9.99916917e-01 -8.05816931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.500385723 meters 0.015623971673844144 Centerline is valid? [True, True] Translation: X:130.20, Y:-90.07, Z:-8.06 [[-1.78603438e-01 -9.83918935e-01 2.08344964e-03 1.30204532e+02] [-9.83843552e-01 1.78615546e-01 1.21799533e-02 -9.00742479e+01] [-1.23562232e-02 1.25593045e-04 -9.99923651e-01 -8.05754926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.530385723 meters 0.01761160080941407 Centerline is valid? [True, True] Translation: X:130.16, Y:-90.19, Z:-8.06 [[-1.00203422e-01 -9.94966256e-01 1.19311789e-03 1.30160727e+02] [-9.94884282e-01 1.00210482e-01 1.27720657e-02 -9.01890286e+01] [-1.28273373e-02 9.27904412e-05 -9.99917722e-01 -8.05676922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.560385723 meters 0.015043496838012588 Centerline is valid? [True, True] Translation: X:130.13, Y:-90.30, Z:-8.06 [[-2.21420039e-02 -9.99754818e-01 1.89835490e-04 1.30127375e+02] [-9.99691813e-01 2.21427398e-02 1.12239844e-02 -9.03036475e+01] [-1.12254359e-02 5.87445205e-05 -9.99936991e-01 -8.06020063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.590385723 meters 0.014864052920378403 Centerline is valid? [True, True] Translation: X:130.10, Y:-90.42, Z:-8.06 [[ 5.50578470e-02 -9.98482972e-01 -6.22248981e-04 1.30100933e+02] [-9.98427875e-01 -5.50613458e-02 1.04893676e-02 -9.04152172e+01] [-1.05077168e-02 4.37487297e-05 -9.99944791e-01 -8.06156634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.620385723 meters 0.01490088928703492 Centerline is valid? [True, True] Translation: X:130.08, Y:-90.54, Z:-8.06 [[ 1.31081773e-01 -9.91370525e-01 -1.43200555e-03 1.30081580e+02] [-9.91314963e-01 -1.31089587e-01 1.04959136e-02 -9.05362748e+01] [-1.05930604e-02 4.37455591e-05 -9.99943891e-01 -8.05966758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.650385723 meters 0.015039391092970457 Centerline is valid? [True, True] Translation: X:130.07, Y:-90.66, Z:-8.06 [[ 2.06332614e-01 -9.78479070e-01 -2.35857641e-03 1.30070786e+02] [-9.78417649e-01 -2.06346088e-01 1.09634247e-02 -9.06555652e+01] [-1.12141646e-02 4.55607218e-05 -9.99937118e-01 -8.05729868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.680385723 meters 0.014897076591015239 Centerline is valid? [True, True] Translation: X:130.07, Y:-90.77, Z:-8.06 [[ 2.80341680e-01 -9.59894131e-01 -3.43507684e-03 1.30070259e+02] [-9.59824214e-01 -2.80362720e-01 1.15854567e-02 -9.07726103e+01] [-1.20838794e-02 4.91835204e-05 -9.99926986e-01 -8.05603785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.710385723 meters 0.01482347316199504 Centerline is valid? [True, True] Translation: X:130.08, Y:-90.89, Z:-8.06 [[ 3.52703338e-01 -9.35725127e-01 -4.34081912e-03 1.30082777e+02] [-9.35655947e-01 -3.52730045e-01 1.13782233e-02 -9.08939480e+01] [-1.21780268e-02 4.83758931e-05 -9.99925844e-01 -8.05772692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.740385723 meters 0.014946337043710648 Centerline is valid? [True, True] Translation: X:130.10, Y:-91.00, Z:-8.06 [[ 4.23220062e-01 -9.06014432e-01 -4.75692006e-03 1.30103813e+02] [-9.05958290e-01 -4.23246793e-01 1.00861221e-02 -9.10046574e+01] [-1.11515234e-02 4.09219195e-05 -9.99937819e-01 -8.05822655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.770385723 meters 0.014674847300231676 Centerline is valid? [True, True] Translation: X:130.13, Y:-91.12, Z:-8.06 [[ 4.91232357e-01 -8.71014500e-01 -4.95093832e-03 1.30129236e+02] [-8.70970940e-01 -4.91257305e-01 8.71107776e-03 -9.11166725e+01] [-1.00196597e-02 3.29601376e-05 -9.99949801e-01 -8.06073219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.800385723 meters 0.01474980383749928 Centerline is valid? [True, True] Translation: X:130.16, Y:-91.22, Z:-8.06 [[ 5.56545460e-01 -8.30803129e-01 -4.82831399e-03 1.30161801e+02] [-8.30772209e-01 -5.56566403e-01 7.16765425e-03 -9.12247140e+01] [-8.64218692e-03 2.21036534e-05 -9.99962655e-01 -8.06050605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.830385723 meters 0.014619199015713017 Centerline is valid? [True, True] Translation: X:130.20, Y:-91.33, Z:-8.06 [[ 6.19150574e-01 -7.85258563e-01 -4.64270812e-03 1.30201835e+02] [-7.85236568e-01 -6.19167981e-01 5.87734410e-03 -9.13337872e+01] [-7.48985100e-03 6.66321787e-06 -9.99971951e-01 -8.05972815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.860385723 meters 0.014617963523681244 Centerline is valid? [True, True] Translation: X:130.25, Y:-91.43, Z:-8.06 [[ 6.77407879e-01 -7.35586434e-01 -5.58240400e-03 1.30245587e+02] [-7.35561466e-01 -6.77430880e-01 6.06075841e-03 -9.14306413e+01] [-8.23990453e-03 5.95765624e-07 -9.99966051e-01 -8.05866427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.890385723 meters 0.016763663185016365 Centerline is valid? [True, True] Translation: X:130.30, Y:-91.53, Z:-8.06 [[ 7.31280370e-01 -6.82040725e-01 -7.03348704e-03 1.30299867e+02] [-6.82009145e-01 -7.31314193e-01 6.56325882e-03 -9.15250557e+01] [-9.62009871e-03 -2.67985085e-06 -9.99953726e-01 -8.05781649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.920385723 meters 0.014505941713925776 Centerline is valid? [True, True] Translation: X:130.30, Y:-91.54, Z:-8.06 [[ 7.83304130e-01 -6.21589582e-01 -7.81225907e-03 1.30299781e+02] [-6.21558444e-01 -7.83343087e-01 6.22167037e-03 -9.15359804e+01] [-9.98700462e-03 -1.76845043e-05 -9.99950128e-01 -8.05962210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.950385723 meters 0.01449119110776044 Centerline is valid? [True, True] Translation: X:130.30, Y:-91.55, Z:-8.06 [[ 8.29681532e-01 -5.58175953e-01 -8.25595820e-03 1.30300146e+02] [-5.58148067e-01 -8.29722608e-01 5.57945501e-03 -9.15479825e+01] [-9.96447278e-03 -2.11236759e-05 -9.99950353e-01 -8.05959038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.980385723 meters 0.014422245368159614 Centerline is valid? [True, True] Translation: X:130.30, Y:-91.56, Z:-8.06 [[ 8.70679154e-01 -4.91790846e-01 -7.71846969e-03 1.30301064e+02] [-4.91771348e-01 -8.70713364e-01 4.37933332e-03 -9.15608477e+01] [-8.87429075e-03 -1.72719877e-05 -9.99960623e-01 -8.06012596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.010385723 meters 0.014444820095740133 Centerline is valid? [True, True] Translation: X:130.30, Y:-91.57, Z:-8.06 [[ 9.06294582e-01 -4.22583323e-01 -7.31209706e-03 1.30303362e+02] [-4.22569456e-01 -9.06324078e-01 3.42339879e-03 -9.15742175e+01] [-8.07380086e-03 -1.27389007e-05 -9.99967406e-01 -8.05981766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.040385723 meters 0.014397345634119494 Centerline is valid? [True, True] Translation: X:130.31, Y:-91.59, Z:-8.06 [[ 9.36470179e-01 -3.50677530e-01 -6.99093002e-03 1.30306058e+02] [-3.50667676e-01 -9.36496273e-01 2.62887399e-03 -9.15853276e+01] [-7.46886695e-03 -1.03689088e-05 -9.99972108e-01 -8.05959513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07038572300002 meters 0.014405121106759084 Centerline is valid? [True, True] Translation: X:130.31, Y:-91.59, Z:-8.06 [[ 9.60806396e-01 -2.77139164e-01 -6.70477752e-03 1.30310814e+02] [-2.77132383e-01 -9.60829789e-01 1.93867304e-03 -9.15945323e+01] [-6.97943220e-03 -4.57848286e-06 -9.99975643e-01 -8.06008368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10038572300002 meters 0.016587824810403065 Centerline is valid? [True, True] Translation: X:130.32, Y:-91.60, Z:-8.06 [[ 9.79039876e-01 -2.03507017e-01 -8.11271547e-03 1.30316154e+02] [-2.03500160e-01 -9.79073488e-01 1.67057042e-03 -9.16032725e+01] [-8.28291743e-03 1.53838456e-05 -9.99965696e-01 -8.05918816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13038572300002 meters 0.014500259446249912 Centerline is valid? [True, True] Translation: X:130.32, Y:-91.61, Z:-8.06 [[ 9.91977589e-01 -1.26166367e-01 -7.90632385e-03 1.30319719e+02] [-1.26162474e-01 -9.92009097e-01 9.91188593e-04 -9.16138782e+01] [-7.96819984e-03 1.42445050e-05 -9.99968253e-01 -8.06066215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.160385723 meters 0.015149573825276947 Centerline is valid? [True, True] Translation: X:130.32, Y:-91.62, Z:-8.06 [[ 9.98734576e-01 -4.94531872e-02 -9.14485150e-03 1.30321636e+02] [-4.94513858e-02 -9.98776442e-01 4.23129851e-04 -9.16202796e+01] [-9.15458737e-03 2.96311674e-05 -9.99958095e-01 -8.05944923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.190385723 meters 0.014757643790399266 Centerline is valid? [True, True] Translation: X:130.32, Y:-91.63, Z:-8.06 [[ 9.99547105e-01 2.86151427e-02 -9.31444833e-03 1.30322850e+02] [ 2.86135936e-02 -9.99590502e-01 -2.99559763e-04 -9.16281891e+01] [-9.31920603e-03 3.29042557e-05 -9.99956575e-01 -8.05824915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.220385723 meters 0.014706853665853574 Centerline is valid? [True, True] Translation: X:130.33, Y:-91.64, Z:-8.06 [[ 9.94347988e-01 1.05809343e-01 -8.74426539e-03 1.30326071e+02] [ 1.05804904e-01 -9.94386435e-01 -9.70051880e-04 -9.16389121e+01] [-8.79781943e-03 3.93829794e-05 -9.99961298e-01 -8.05919676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.250385723 meters 0.014993595849380727 Centerline is valid? [True, True] Translation: X:130.33, Y:-91.65, Z:-8.06 [[ 9.83382107e-01 1.81362656e-01 -8.19869940e-03 1.30328204e+02] [ 1.81355894e-01 -9.83416282e-01 -1.56698968e-03 -9.16451631e+01] [-8.34692789e-03 5.40671586e-05 -9.99965162e-01 -8.05893468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.280385723 meters 0.0164409695783789 Centerline is valid? [True, True] Translation: X:130.33, Y:-91.65, Z:-8.06 [[ 9.66567327e-01 2.56280354e-01 -8.24512479e-03 1.30331894e+02] [ 2.56270424e-01 -9.66602491e-01 -2.25707323e-03 -9.16526114e+01] [-8.54820168e-03 6.86316179e-05 -9.99963461e-01 -8.05770001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.310385723 meters 0.01555456914091808 Centerline is valid? [True, True] Translation: X:130.33, Y:-91.66, Z:-8.06 [[ 9.44226732e-01 3.29180787e-01 -8.71138414e-03 1.30333560e+02] [ 3.29165858e-01 -9.44266912e-01 -3.13644591e-03 -9.16564914e+01] [-9.25832954e-03 9.40258380e-05 -9.99957136e-01 -8.05823670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.340385723 meters 0.015751407956450622 Centerline is valid? [True, True] Translation: X:130.34, Y:-91.66, Z:-8.06 [[ 9.16104285e-01 4.00858072e-01 -8.10835953e-03 1.30336969e+02] [ 4.00841382e-01 -9.16140161e-01 -3.65940030e-03 -9.16617373e+01] [-8.89529396e-03 1.02226257e-04 -9.99960431e-01 -8.05882041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.370385723 meters 0.016748271808825085 Centerline is valid? [True, True] Translation: X:130.34, Y:-91.67, Z:-8.06 [[ 8.82620473e-01 4.70029118e-01 -7.32998973e-03 1.30340737e+02] [ 4.70011886e-01 -8.82650903e-01 -4.02622991e-03 -9.16673123e+01] [-8.36226735e-03 1.08450649e-04 -9.99965030e-01 -8.05848419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.400385723 meters 0.017085396314123497 Centerline is valid? [True, True] Translation: X:130.35, Y:-91.68, Z:-8.06 [[ 8.44635125e-01 5.35308781e-01 -6.00119548e-03 1.30346778e+02] [ 5.35294316e-01 -8.44656437e-01 -3.93694160e-03 -9.16752862e+01] [-7.17642780e-03 1.12873334e-04 -9.99974243e-01 -8.05967036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.430385723 meters 0.01806294806478007 Centerline is valid? [True, True] Translation: X:130.35, Y:-91.68, Z:-8.06 [[ 8.00609349e-01 5.99160170e-01 -5.63571150e-03 1.30354287e+02] [ 5.99144286e-01 -8.00629176e-01 -4.36427740e-03 -9.16846776e+01] [-7.12701624e-03 1.17476939e-04 -9.99974596e-01 -8.05869446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.460385723 meters 0.016962139551732792 Centerline is valid? [True, True] Translation: X:130.36, Y:-91.69, Z:-8.06 [[ 7.51365813e-01 6.59866240e-01 -5.09518835e-03 1.30362366e+02] [ 6.59850026e-01 -7.51383080e-01 -4.62720562e-03 -9.16931014e+01] [-6.88177508e-03 1.14663950e-04 -9.99976314e-01 -8.05895955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.490385723 meters 0.016202881580648153 Centerline is valid? [True, True] Translation: X:130.37, Y:-91.70, Z:-8.06 [[ 6.96852907e-01 7.17199377e-01 -4.59123258e-03 1.30369067e+02] [ 7.17182796e-01 -6.96868023e-01 -4.87806533e-03 -9.17003715e+01] [-6.69802858e-03 1.06540987e-04 -9.99977562e-01 -8.05926653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.520385723 meters 0.018141305970155078 Centerline is valid? [True, True] Translation: X:130.38, Y:-91.71, Z:-8.06 [[ 6.38616237e-01 7.69516332e-01 -3.73044125e-03 1.30375398e+02] [ 7.69502328e-01 -6.38627126e-01 -4.64340598e-03 -9.17075973e+01] [-5.95553771e-03 9.47712326e-05 -9.99982261e-01 -8.05767436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.550385723 meters 0.01788005366558732 Centerline is valid? [True, True] Translation: X:130.38, Y:-91.71, Z:-8.06 [[ 5.76304062e-01 8.17229784e-01 -3.01796504e-03 1.30382713e+02] [ 8.17217808e-01 -5.76311958e-01 -4.42518289e-03 -9.17133431e+01] [-5.35568060e-03 8.39161043e-05 -9.99985655e-01 -8.05850381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.580385723 meters 0.01788005366558732 Centerline is valid? [True, True] Translation: X:130.39, Y:-91.72, Z:-8.06 [[ 5.10552145e-01 8.59842672e-01 -2.66213397e-03 1.30390895e+02] [ 8.59830115e-01 -5.10559078e-01 -4.64773085e-03 -9.17193017e+01] [-5.35549398e-03 8.39259924e-05 -9.99985656e-01 -8.05850546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.610385723 meters 0.018084702082470584 Centerline is valid? [True, True] Translation: X:130.40, Y:-91.72, Z:-8.06 [[ 4.41887875e-01 8.97068133e-01 -1.96726906e-03 1.30400143e+02] [ 8.97058499e-01 -4.41892248e-01 -4.15823486e-03 -9.17241685e+01] [-4.59954094e-03 7.27181344e-05 -9.99989419e-01 -8.05867642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.640385723 meters 0.01617644735568971 Centerline is valid? [True, True] Translation: X:130.41, Y:-91.73, Z:-8.06 [[ 3.70491636e-01 9.28834863e-01 -1.32086994e-03 1.30409448e+02] [ 9.28828384e-01 -3.70493986e-01 -3.46974354e-03 -9.17282717e+01] [-3.71219313e-03 5.86494741e-05 -9.99993108e-01 -8.06079755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.670385723 meters 0.016558831656751996 Centerline is valid? [True, True] Translation: X:130.42, Y:-91.73, Z:-8.06 [[ 2.97526340e-01 9.54713222e-01 -8.61089977e-04 1.30417518e+02] [ 9.54708720e-01 -2.97527582e-01 -2.93212972e-03 -9.17331640e+01] [-3.05554103e-03 5.02957123e-05 -9.99995331e-01 -8.06101790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.700385723 meters 0.0167370895432148 Centerline is valid? [True, True] Translation: X:130.43, Y:-91.74, Z:-8.06 [[ 2.23144903e-01 9.74785185e-01 -4.42827830e-04 1.30425177e+02] [ 9.74782925e-01 -2.23145340e-01 -2.09907221e-03 -9.17361664e+01] [-2.14495946e-03 3.67362580e-05 -9.99997699e-01 -8.06127338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.730385723 meters 0.016790115576746575 Centerline is valid? [True, True] Translation: X:130.43, Y:-91.74, Z:-8.06 [[ 1.46072599e-01 9.89273814e-01 -3.42763212e-04 1.30432816e+02] [ 9.89270289e-01 -1.46072993e-01 -2.64127502e-03 -9.17390904e+01] [-2.66301266e-03 4.67324448e-05 -9.99996453e-01 -8.06135231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.760385723 meters 0.01670305609116616 Centerline is valid? [True, True] Translation: X:130.44, Y:-91.74, Z:-8.06 [[ 6.65716701e-02 9.97781635e-01 -1.50304215e-04 1.30440063e+02] [ 9.97777193e-01 -6.65718223e-02 -2.97767526e-03 -9.17418747e+01] [-2.98107571e-03 4.82586972e-05 -9.99995555e-01 -8.06148698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.790385723 meters 0.016224566114578332 Centerline is valid? [True, True] Translation: X:130.45, Y:-91.74, Z:-8.06 [[-1.31844510e-02 9.99913078e-01 7.99434932e-05 1.30453936e+02] [ 9.99908981e-01 1.31846259e-02 -2.86268499e-03 -9.17428458e+01] [-2.86349019e-03 4.21932868e-05 -9.99995899e-01 -8.06120160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82038572300002 meters 0.01700761192380721 Centerline is valid? [True, True] Translation: X:130.47, Y:-91.74, Z:-8.06 [[-9.29526345e-02 9.95670481e-01 3.19298855e-04 1.30465639e+02] [ 9.95665991e-01 9.29531743e-02 -2.99040474e-03 -9.17437615e+01] [-3.00713757e-03 3.99490120e-05 -9.99995478e-01 -8.06006592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85038572300002 meters 0.015676136972174383 Centerline is valid? [True, True] Translation: X:130.48, Y:-91.74, Z:-8.06 [[-1.72779265e-01 9.84960489e-01 3.99621384e-04 1.30475268e+02] [ 9.84958155e-01 1.72779726e-01 -2.14459336e-03 -9.17449519e+01] [-2.18138620e-03 2.30690764e-05 -9.99997621e-01 -8.06108856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88038572300002 meters 0.015321180396647432 Centerline is valid? [True, True] Translation: X:130.48, Y:-91.75, Z:-8.06 [[-2.52252061e-01 9.67661403e-01 5.53813877e-04 1.30482495e+02] [ 9.67659209e-01 2.52252669e-01 -2.06061087e-03 -9.17461492e+01] [-2.13367463e-03 1.61097586e-05 -9.99997724e-01 -8.06023576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.910385723 meters 0.017533294542981085 Centerline is valid? [True, True] Translation: X:130.49, Y:-91.75, Z:-8.06 [[-3.27869101e-01 9.44722922e-01 6.72722030e-04 1.30487029e+02] [ 9.44721018e-01 3.27869791e-01 -1.89678578e-03 -9.17466121e+01] [-2.01250223e-03 1.36371948e-05 -9.99997975e-01 -8.05728352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.940385723 meters 0.015162235013690564 Centerline is valid? [True, True] Translation: X:130.50, Y:-91.74, Z:-8.06 [[-4.02023258e-01 9.15628785e-01 1.10829003e-03 1.30499790e+02] [ 9.15625419e-01 4.02024785e-01 -2.48287159e-03 -9.17421266e+01] [-2.71894876e-03 1.66063929e-05 -9.99996304e-01 -8.05908324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.970385723 meters 0.017006401084463954 Centerline is valid? [True, True] Translation: X:130.51, Y:-91.74, Z:-8.06 [[-4.72046317e-01 8.81572071e-01 1.72005315e-03 1.30509202e+02] [ 8.81566412e-01 4.72049450e-01 -3.15879808e-03 -9.17397397e+01] [-3.59665831e-03 2.52420830e-05 -9.99993532e-01 -8.05672743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.000385723 meters 0.01814199718118818 Centerline is valid? [True, True] Translation: X:130.51, Y:-91.74, Z:-8.06 [[-5.38435205e-01 8.42665716e-01 1.42202817e-03 1.30511730e+02] [ 8.42662879e-01 5.38437082e-01 -2.18670075e-03 -9.17416173e+01] [-2.60833045e-03 2.08936810e-05 -9.99996598e-01 -8.05560219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.030385723 meters 0.015948086296810132 Centerline is valid? [True, True] Translation: X:130.51, Y:-91.74, Z:-8.06 [[-6.01735606e-01 7.98693541e-01 1.69917444e-03 1.30511681e+02] [ 7.98690480e-01 6.01738005e-01 -2.21159982e-03 -9.17432376e+01] [-2.78884833e-03 2.63160897e-05 -9.99996111e-01 -8.05817301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.060385723 meters 0.017593669704603614 Centerline is valid? [True, True] Translation: X:130.51, Y:-91.75, Z:-8.06 [[-6.61109334e-01 7.50287383e-01 1.81439888e-03 1.30511005e+02] [ 7.50284682e-01 6.61111823e-01 -2.01337816e-03 -9.17453928e+01] [-2.71013278e-03 3.02525921e-05 -9.99996327e-01 -8.05644557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.090385723 meters 0.015435782556466358 Centerline is valid? [True, True] Translation: X:130.52, Y:-91.74, Z:-8.06 [[-7.17118405e-01 6.96947376e-01 2.35567709e-03 1.30521550e+02] [ 6.96943800e-01 7.17122273e-01 -2.23298949e-03 -9.17359977e+01] [-3.24558467e-03 4.04566821e-05 -9.99994732e-01 -8.05924807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.120385723 meters 0.0160013708239776 Centerline is valid? [True, True] Translation: X:130.54, Y:-91.71, Z:-8.06 [[-7.63233623e-01 6.46117237e-01 2.63684280e-03 1.30537140e+02] [ 6.46113609e-01 7.63238176e-01 -2.16584635e-03 -9.17145086e+01] [-3.41192975e-03 5.06532568e-05 -9.99994178e-01 -8.05925904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.150385723 meters 0.020647084120024035 Centerline is valid? [True, True] Translation: X:130.55, Y:-91.70, Z:-8.06 [[-8.06238299e-01 5.91587378e-01 2.04416079e-03 1.30551906e+02] [ 5.91585600e-01 8.06240890e-01 -1.45083385e-03 -9.16959085e+01] [-2.50638101e-03 3.95782713e-05 -9.99996858e-01 -8.05535627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.180385723 meters 0.019803025444577734 Centerline is valid? [True, True] Translation: X:130.58, Y:-91.67, Z:-8.06 [[-8.45238140e-01 5.34386983e-01 1.74327577e-03 1.30575155e+02] [ 5.34385931e-01 8.45239937e-01 -1.06099152e-03 -9.16708279e+01] [-2.04046635e-03 3.47915493e-05 -9.99997918e-01 -8.05519926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.210385723 meters 0.016871068922021518 Centerline is valid? [True, True] Translation: X:130.93, Y:-91.09, Z:-9.01 [[-8.29694690e-01 -5.58216358e-01 1.10423700e-03 1.30928487e+02] [ 5.58215763e-01 -8.29695422e-01 -8.17854210e-04 -9.10898567e+01] [ 1.37271998e-03 -6.21667951e-05 9.99999056e-01 -9.01009699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.240385723 meters 0.019503410801507984 Centerline is valid? [True, True] Translation: X:130.53, Y:-91.65, Z:-8.06 [[-8.46706262e-01 5.32058294e-01 1.57398636e-03 1.30534893e+02] [ 5.32057446e-01 8.46707725e-01 -9.50526154e-04 -9.16472944e+01] [-1.83844173e-03 3.26347154e-05 -9.99998310e-01 -8.05524996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.270385723 meters 0.019029208555943256 Centerline is valid? [True, True] Translation: X:130.55, Y:-91.62, Z:-8.06 [[-8.82966797e-01 4.69431599e-01 1.89974663e-03 1.30546934e+02] [ 4.69430597e-01 8.82968840e-01 -9.70129940e-04 -9.16227644e+01] [-2.13282673e-03 3.52066709e-05 -9.99997725e-01 -8.05626829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.300385723 meters 0.01874915153040443 Centerline is valid? [True, True] Translation: X:130.55, Y:-91.59, Z:-8.06 [[-9.14426102e-01 4.04747011e-01 2.18202508e-03 1.30550170e+02] [ 4.04745955e-01 9.14428705e-01 -9.25156961e-04 -9.15925760e+01] [-2.36976088e-03 3.71781494e-05 -9.99997191e-01 -8.05664948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.330385723 meters 0.017142629677672817 Centerline is valid? [True, True] Translation: X:130.83, Y:-90.97, Z:-9.01 [[-9.00018655e-01 -4.35849248e-01 1.36133873e-03 1.30825198e+02] [ 4.35848622e-01 -9.00019681e-01 -7.42939086e-04 -9.09672281e+01] [ 1.54904109e-03 -7.53214273e-05 9.99998797e-01 -9.01049539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.360385723 meters 0.01586986874847546 Centerline is valid? [True, True] Translation: X:130.51, Y:-91.57, Z:-8.06 [[-9.17710082e-01 3.97249593e-01 9.83533623e-04 1.30513980e+02] [ 3.97249376e-01 9.17710608e-01 -4.14797674e-04 -9.15715368e+01] [-1.06737745e-03 1.00441108e-05 -9.99999430e-01 -8.05764308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.390385723 meters 0.016130188769197754 Centerline is valid? [True, True] Translation: X:130.52, Y:-91.54, Z:-8.06 [[-9.43993059e-01 3.29962058e-01 1.46478148e-03 1.30523215e+02] [ 3.29961684e-01 9.43994195e-01 -4.97278446e-04 -9.15434804e+01] [-1.54682824e-03 1.38943639e-05 -9.99998804e-01 -8.05642765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.420385723 meters 0.015173441369013198 Centerline is valid? [True, True] Translation: X:130.74, Y:-90.91, Z:-9.01 [[-9.27635329e-01 -3.73484318e-01 1.46995372e-03 1.30739617e+02] [ 3.73483829e-01 -9.27636493e-01 -6.04374972e-04 -9.09097468e+01] [ 1.58930729e-03 -1.16356330e-05 9.99998737e-01 -9.01186100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.450385723 meters 0.015358233955329901 Centerline is valid? [True, True] Translation: X:130.47, Y:-91.52, Z:-8.06 [[-9.46447050e-01 3.22851718e-01 2.17952688e-03 1.30471808e+02] [ 3.22850896e-01 9.46449559e-01 -7.28966101e-04 -9.15247473e+01] [-2.29816021e-03 1.37343904e-05 -9.99997359e-01 -8.05596312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.480385723 meters 0.014680507444868781 Centerline is valid? [True, True] Translation: X:130.47, Y:-91.50, Z:-8.06 [[-9.67961155e-01 2.51083472e-01 2.87959776e-03 1.30473326e+02] [ 2.51082383e-01 9.67965438e-01 -7.39699075e-04 -9.14969118e+01] [-2.97307732e-03 7.01629746e-06 -9.99995580e-01 -8.05831884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.510385723 meters 0.01462987846682357 Centerline is valid? [True, True] Translation: X:130.48, Y:-91.47, Z:-8.06 [[-9.83673981e-01 1.79929236e-01 3.31200451e-03 1.30481180e+02] [ 1.79928223e-01 9.83679557e-01 -6.03643492e-04 -9.14684597e+01] [-3.36656424e-03 2.13468903e-06 -9.99994333e-01 -8.05826362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.540385723 meters 0.01629377373005887 Centerline is valid? [True, True] Translation: X:130.48, Y:-91.44, Z:-8.05 [[-9.94274921e-01 1.06812803e-01 2.89952537e-03 1.30476015e+02] [ 1.06812329e-01 9.94279148e-01 -3.18437285e-04 -9.14356259e+01] [-2.91695079e-03 -6.90914869e-06 -9.99995746e-01 -8.05456140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57038572300002 meters 0.014628462893212808 Centerline is valid? [True, True] Translation: X:130.47, Y:-91.41, Z:-8.06 [[-9.99404953e-01 3.43872316e-02 2.69414857e-03 1.30470121e+02] [ 3.43870777e-02 9.99408584e-01 -1.03445825e-04 -9.14053948e+01] [-2.69611243e-03 -1.07403738e-05 -9.99996365e-01 -8.05629678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60038572300002 meters 0.018098756991101025 Centerline is valid? [True, True] Translation: X:130.50, Y:-90.74, Z:-9.02 [[-9.94239220e-01 -1.07154654e-01 2.50068420e-03 1.30502388e+02] [ 1.07154311e-01 -9.94242365e-01 -2.71177069e-04 -9.07421293e+01] [ 2.51534406e-03 -1.65578421e-06 9.99996837e-01 -9.01571968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63038572300002 meters 0.015416964253265414 Centerline is valid? [True, True] Translation: X:130.41, Y:-91.41, Z:-8.06 [[-9.99590540e-01 2.85355410e-02 2.11560630e-03 1.30406364e+02] [ 2.85354520e-02 9.99592778e-01 -7.22660994e-05 -9.14075185e+01] [-2.11680693e-03 -1.18667273e-05 -9.99997760e-01 -8.05538957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.660385723 meters 0.014559451847697389 Centerline is valid? [True, True] Translation: X:130.43, Y:-90.73, Z:-9.01 [[-9.94591384e-01 -1.03819255e-01 3.08876249e-03 1.30425123e+02] [ 1.03819004e-01 -9.94596177e-01 -2.41952019e-04 -9.07334444e+01] [ 3.09719064e-03 8.00288503e-05 9.99995201e-01 -9.01190684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.690385723 meters 0.01465721353067931 Centerline is valid? [True, True] Translation: X:130.33, Y:-91.41, Z:-8.06 [[-9.99716828e-01 2.33814639e-02 4.42395756e-03 1.30334958e+02] [ 2.33811320e-02 9.99726616e-01 -1.26731576e-04 -9.14094121e+01] [-4.42571129e-03 -2.32585538e-05 -9.99990206e-01 -8.05549057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.720385723 meters 0.014589252880147521 Centerline is valid? [True, True] Translation: X:130.32, Y:-91.38, Z:-8.05 [[-9.98856947e-01 -4.75367328e-02 5.00584601e-03 1.30324127e+02] [-4.75362589e-02 9.98869490e-01 2.13681781e-04 -9.13819245e+01] [-5.01034458e-03 -2.45216601e-05 -9.99987448e-01 -8.05472660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.750385723 meters 0.017390794781352695 Centerline is valid? [True, True] Translation: X:130.30, Y:-90.70, Z:-9.02 [[-9.99612386e-01 -2.72285729e-02 5.80360572e-03 1.30303733e+02] [ 2.72285782e-02 -9.99629231e-01 -7.81110497e-05 -9.06953946e+01] [ 5.80358078e-03 7.99431594e-05 9.99983156e-01 -9.01681717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.780385723 meters 0.01447450993580962 Centerline is valid? [True, True] Translation: X:130.24, Y:-91.39, Z:-8.06 [[-9.98605091e-01 -5.25830299e-02 4.78506179e-03 1.30241652e+02] [-5.25825341e-02 9.98616555e-01 2.29447437e-04 -9.13914809e+01] [-4.79050697e-03 -2.24832958e-05 -9.99988525e-01 -8.05539026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.810385723 meters 0.014631474241178201 Centerline is valid? [True, True] Translation: X:130.21, Y:-90.69, Z:-9.01 [[-9.99736485e-01 -2.27395921e-02 3.14185753e-03 1.30213927e+02] [ 2.27391850e-02 -9.99741418e-01 -1.65235590e-04 -9.06937124e+01] [ 3.14480249e-03 -9.37487683e-05 9.99995051e-01 -9.01178065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.840385723 meters 0.014637146881758831 Centerline is valid? [True, True] Translation: X:130.15, Y:-91.40, Z:-8.06 [[-9.98302780e-01 -5.81832212e-02 2.50460072e-03 1.30153352e+02] [-5.81830723e-02 9.98305921e-01 1.32336268e-04 -9.14003762e+01] [-2.50805748e-03 -1.36137006e-05 -9.99996855e-01 -8.05684951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.870385723 meters 0.014580800049073356 Centerline is valid? [True, True] Translation: X:130.15, Y:-91.37, Z:-8.06 [[-9.91630386e-01 -1.29086337e-01 2.42782876e-03 1.30151670e+02] [-1.29085982e-01 9.91633358e-01 3.02938355e-04 -9.13737081e+01] [-2.44662119e-03 -1.29957816e-05 -9.99997007e-01 -8.05698288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.900385723 meters 0.014670631391934833 Centerline is valid? [True, True] Translation: X:130.13, Y:-91.35, Z:-8.06 [[-9.79956854e-01 -1.99192511e-01 2.62845417e-03 1.30133125e+02] [-1.99191829e-01 9.79960379e-01 5.21258678e-04 -9.13538539e+01] [-2.67961176e-03 -1.27555787e-05 -9.99996410e-01 -8.05747038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.930385723 meters 0.014682610757649133 Centerline is valid? [True, True] Translation: X:130.11, Y:-91.33, Z:-8.06 [[-9.63158488e-01 -2.68925132e-01 2.23614010e-03 1.30107600e+02] [-2.68924433e-01 9.63161084e-01 6.13128786e-04 -9.13330715e+01] [-2.31864886e-03 -1.08125150e-05 -9.99997312e-01 -8.05798271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.960385723 meters 0.014642339493501915 Centerline is valid? [True, True] Translation: X:130.05, Y:-91.32, Z:-8.06 [[-9.41518775e-01 -3.36951028e-01 2.53019360e-03 1.30054944e+02] [-3.36949834e-01 9.41522174e-01 8.96798702e-04 -9.13228792e+01] [-2.68441063e-03 -8.19550078e-06 -9.99996397e-01 -8.05713297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.990385723 meters 0.014676784544343877 Centerline is valid? [True, True] Translation: X:130.00, Y:-91.32, Z:-8.06 [[-9.14289002e-01 -4.05053221e-01 2.74027078e-03 1.29996624e+02] [-4.05051427e-01 9.14293109e-01 1.20557024e-03 -9.13168874e+01] [-2.99373080e-03 -7.71098006e-06 -9.99995519e-01 -8.05649185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.020385723 meters 0.016266213639111356 Centerline is valid? [True, True] Translation: X:129.92, Y:-91.32, Z:-8.05 [[-8.82103115e-01 -4.71043491e-01 3.48200139e-03 1.29921207e+02] [-4.71039846e-01 8.82109987e-01 1.85292906e-03 -9.13239342e+01] [-3.94431837e-03 -5.68690352e-06 -9.99992221e-01 -8.05403801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.050385723 meters 0.014722693408226396 Centerline is valid? [True, True] Translation: X:129.84, Y:-91.34, Z:-8.06 [[-8.43998477e-01 -5.36335029e-01 3.36265233e-03 1.29841800e+02] [-5.36330814e-01 8.44005176e-01 2.12622004e-03 -9.13394156e+01] [-3.97846226e-03 -8.96758469e-06 -9.99992086e-01 -8.05635197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.080385723 meters 0.014796006280191733 Centerline is valid? [True, True] Translation: X:129.76, Y:-91.37, Z:-8.06 [[-8.00971453e-01 -5.98690662e-01 3.77134556e-03 1.29756598e+02] [-5.98684101e-01 8.00980331e-01 2.80296949e-03 -9.13678033e+01] [-4.69888528e-03 -1.27460815e-05 -9.99988960e-01 -8.05614314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.110385723 meters 0.014783789454939767 Centerline is valid? [True, True] Translation: X:129.66, Y:-91.41, Z:-8.06 [[-7.53513081e-01 -6.57424637e-01 3.29906903e-03 1.29661755e+02] [-6.57418408e-01 7.53520303e-01 2.86177184e-03 -9.14085566e+01] [-4.36731480e-03 -1.24861974e-05 -9.99990463e-01 -8.05603233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.140385723 meters 0.014744334293913497 Centerline is valid? [True, True] Translation: X:129.56, Y:-91.47, Z:-8.06 [[-7.01060712e-01 -7.13095749e-01 2.88630477e-03 1.29560538e+02] [-7.13089796e-01 7.01066654e-01 2.91382538e-03 -9.14669739e+01] [-4.10132851e-03 -1.54259787e-05 -9.99991589e-01 -8.05572689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.170385723 meters 0.014758920645096596 Centerline is valid? [True, True] Translation: X:129.49, Y:-91.51, Z:-8.06 [[-6.44148042e-01 -7.64895581e-01 2.83732736e-03 1.29487212e+02] [-7.64888288e-01 6.44154291e-01 3.34014713e-03 -9.15054878e+01] [-4.38254037e-03 -1.86892373e-05 -9.99990396e-01 -8.05500155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.200385723 meters 0.01635911375852492 Centerline is valid? [True, True] Translation: X:129.40, Y:-91.57, Z:-8.05 [[-5.84138605e-01 -8.11646211e-01 3.53801309e-03 1.29398007e+02] [-8.11631561e-01 5.84149319e-01 4.87662309e-03 -9.15730742e+01] [-6.02482059e-03 -2.29392772e-05 -9.99981850e-01 -8.05129150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.230385723 meters 0.014771869739967537 Centerline is valid? [True, True] Translation: X:129.31, Y:-91.65, Z:-8.05 [[-5.18726400e-01 -8.54933213e-01 3.48182126e-03 1.29313342e+02] [-8.54914443e-01 5.18738084e-01 5.66537660e-03 -9.16525168e+01] [-6.64967191e-03 -3.78788769e-05 -9.99977890e-01 -8.05313856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.260385723 meters 0.01485097350255156 Centerline is valid? [True, True] Translation: X:129.23, Y:-91.74, Z:-8.05 [[-4.50977019e-01 -8.92529810e-01 3.20408343e-03 1.29233212e+02] [-8.92507996e-01 4.50988399e-01 6.24033170e-03 -9.17392291e+01] [-7.01468652e-03 -4.54238926e-05 -9.99975396e-01 -8.05351095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.290385723 meters 0.014755982838871333 Centerline is valid? [True, True] Translation: X:129.16, Y:-91.84, Z:-8.05 [[-3.80802899e-01 -9.24652196e-01 2.73302051e-03 1.29158413e+02] [-9.24629283e-01 3.80812703e-01 6.50952901e-03 -9.18364099e+01] [-7.05981922e-03 -4.81832825e-05 -9.99975078e-01 -8.05396072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32038572300002 meters 0.014689728541016635 Centerline is valid? [True, True] Translation: X:129.09, Y:-91.94, Z:-8.05 [[-3.09483989e-01 -9.50902537e-01 2.00646902e-03 1.29092099e+02] [-9.50883334e-01 3.09490491e-01 6.04329485e-03 -9.19446371e+01] [-6.36756748e-03 -3.76149556e-05 -9.99979726e-01 -8.05489299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35038572300002 meters 0.014758027475529647 Centerline is valid? [True, True] Translation: X:129.03, Y:-92.06, Z:-8.05 [[-2.36455851e-01 -9.71641088e-01 1.49206559e-03 1.29028939e+02] [-9.71622542e-01 2.36460557e-01 6.00336035e-03 -9.20645803e+01] [-6.18592624e-03 -3.01948774e-05 -9.99980867e-01 -8.05364217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38038572300002 meters 0.015139917856833622 Centerline is valid? [True, True] Translation: X:128.98, Y:-92.17, Z:-8.05 [[-1.61732019e-01 -9.86834180e-01 1.02763757e-03 1.28978538e+02] [-9.86815189e-01 1.61735282e-01 6.12215792e-03 -9.21743079e+01] [-6.20775994e-03 -2.39394047e-05 -9.99980731e-01 -8.05215639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.410385723 meters 0.014716987485912231 Centerline is valid? [True, True] Translation: X:128.94, Y:-92.27, Z:-8.05 [[-8.52991280e-02 -9.96355240e-01 5.41878798e-04 1.28940571e+02] [-9.96336678e-01 8.53008465e-02 6.08192531e-03 -9.22676104e+01] [-6.10598087e-03 -2.11107961e-05 -9.99981358e-01 -8.05192572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.440385723 meters 0.014716987485912231 Centerline is valid? [True, True] Translation: X:128.91, Y:-92.39, Z:-8.05 [[-8.08897119e-03 -9.99967281e-01 7.04830188e-05 1.28905397e+02] [-9.99948642e-01 8.08925077e-03 6.10546570e-03 -9.23898635e+01] [-6.10583609e-03 -2.10924628e-05 -9.99981359e-01 -8.05193334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.470385723 meters 0.01473878515746804 Centerline is valid? [True, True] Translation: X:128.88, Y:-92.52, Z:-8.05 [[ 6.93022204e-02 -9.97595627e-01 -4.08084832e-04 1.28882343e+02] [-9.97576415e-01 -6.93034184e-02 6.19129679e-03 -9.25199324e+01] [-6.20469228e-03 -2.19748100e-05 -9.99980750e-01 -8.05233770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.500385723 meters 0.01500543504000326 Centerline is valid? [True, True] Translation: X:128.87, Y:-92.65, Z:-8.05 [[ 1.47347380e-01 -9.89084457e-01 -8.28453794e-04 1.28870494e+02] [-9.89067757e-01 -1.47349707e-01 5.74772593e-03 -9.26491841e+01] [-5.80705881e-03 -2.75154226e-05 -9.99983139e-01 -8.05458799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.530385723 meters 0.015021140279398432 Centerline is valid? [True, True] Translation: X:128.87, Y:-92.80, Z:-8.05 [[ 2.25034607e-01 -9.74350013e-01 -1.21559277e-03 1.28868279e+02] [-9.74334903e-01 -2.25037887e-01 5.42636996e-03 -9.28026640e+01] [-5.56073807e-03 -3.67265663e-05 -9.99984538e-01 -8.05495621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.560385723 meters 0.015177671658900261 Centerline is valid? [True, True] Translation: X:128.88, Y:-92.95, Z:-8.05 [[ 3.01177784e-01 -9.53566495e-01 -1.69755637e-03 1.28876622e+02] [-9.53550449e-01 -3.01182564e-01 5.53210006e-03 -9.29507841e+01] [-5.78649964e-03 -4.74399990e-05 -9.99983257e-01 -8.05422074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.590385723 meters 0.015331591753553872 Centerline is valid? [True, True] Translation: X:128.87, Y:-93.02, Z:-8.05 [[ 3.75246634e-01 -9.26922378e-01 -2.20657041e-03 1.28870833e+02] [-9.26905447e-01 -3.75253117e-01 5.60271889e-03 -9.30249112e+01] [-6.02130794e-03 -5.71192728e-05 -9.99981870e-01 -8.05324304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.620385723 meters 0.015495959718310255 Centerline is valid? [True, True] Translation: X:128.90, Y:-93.18, Z:-8.05 [[ 4.46673573e-01 -8.94691972e-01 -2.99914093e-03 1.28902790e+02] [-8.94670696e-01 -4.46683635e-01 6.17054125e-03 -9.31778585e+01] [-6.86040090e-03 -7.29742028e-05 -9.99976465e-01 -8.05037935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.650385723 meters 0.015424845988927247 Centerline is valid? [True, True] Translation: X:128.92, Y:-93.27, Z:-8.05 [[ 5.14506812e-01 -8.57478264e-01 -3.71046437e-03 1.28917326e+02] [-8.57454848e-01 -5.14520186e-01 6.33733313e-03 -9.32650270e+01] [-7.34323422e-03 -7.90454048e-05 -9.99973035e-01 -8.05025203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.680385723 meters 0.015378128493792964 Centerline is valid? [True, True] Translation: X:128.96, Y:-93.38, Z:-8.05 [[ 5.78269016e-01 -8.15833654e-01 -4.51598376e-03 1.28957080e+02] [-8.15807712e-01 -5.78286644e-01 6.50647677e-03 -9.33772057e+01] [-7.91973581e-03 -7.83195442e-05 -9.99968635e-01 -8.05121006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.710385723 meters 0.015349008751294321 Centerline is valid? [True, True] Translation: X:129.00, Y:-93.48, Z:-8.05 [[ 6.38457460e-01 -7.69640528e-01 -5.05264072e-03 1.28998750e+02] [-7.69615545e-01 -6.38477448e-01 6.20165687e-03 -9.34803716e+01] [-7.99904362e-03 -7.09032469e-05 -9.99968005e-01 -8.05125952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.740385723 meters 0.01508872984950531 Centerline is valid? [True, True] Translation: X:129.05, Y:-93.58, Z:-8.05 [[ 6.94559270e-01 -7.19414585e-01 -5.48404879e-03 1.29049717e+02] [-7.19391484e-01 -6.94580917e-01 5.76562612e-03 -9.35824064e+01] [-7.95699117e-03 -5.93910734e-05 -9.99968341e-01 -8.05062552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.770385723 meters 0.01487831889044857 Centerline is valid? [True, True] Translation: X:129.12, Y:-93.69, Z:-8.05 [[ 7.45459200e-01 -6.66523281e-01 -6.10704388e-03 1.29118554e+02] [-6.66500520e-01 -7.45484214e-01 5.50839945e-03 -9.36892447e+01] [-8.22418128e-03 -3.59391228e-05 -9.99966180e-01 -8.04853321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.800385723 meters 0.014845655990446079 Centerline is valid? [True, True] Translation: X:129.12, Y:-93.69, Z:-8.05 [[ 7.94267118e-01 -6.07534736e-01 -6.42572598e-03 1.29115949e+02] [-6.07514634e-01 -7.94293110e-01 4.94219068e-03 -9.36914257e+01] [-8.10646238e-03 -2.16969790e-05 -9.99967142e-01 -8.04858024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.830385723 meters 0.014743873616302205 Centerline is valid? [True, True] Translation: X:129.11, Y:-93.69, Z:-8.05 [[ 8.38372725e-01 -5.45054983e-01 -6.80001340e-03 1.29113860e+02] [-5.45036984e-01 -8.38400301e-01 4.42958165e-03 -9.36939266e+01] [-8.11549884e-03 -7.38164621e-06 -9.99967069e-01 -8.04899161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.860385723 meters 0.014904550304316666 Centerline is valid? [True, True] Translation: X:129.11, Y:-93.69, Z:-8.05 [[ 8.76610544e-01 -4.81146531e-01 -7.20904457e-03 1.29111369e+02] [-4.81130484e-01 -8.76640186e-01 3.92965430e-03 -9.36946126e+01] [-8.21047770e-03 2.37147071e-05 -9.99966293e-01 -8.04886122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.890385723 meters 0.015096994360565033 Centerline is valid? [True, True] Translation: X:129.11, Y:-93.70, Z:-8.05 [[ 9.10865616e-01 -4.12635468e-01 -7.46990402e-03 1.29108742e+02] [-4.12621926e-01 -9.10896245e-01 3.34320021e-03 -9.36969357e+01] [-8.18383051e-03 3.70400708e-05 -9.99966511e-01 -8.04828796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.920385723 meters 0.015325151486908597 Centerline is valid? [True, True] Translation: X:129.11, Y:-93.70, Z:-8.05 [[ 9.39818930e-01 -3.41576641e-01 -8.11030393e-03 1.29105926e+02] [-3.41564402e-01 -9.39853923e-01 2.89193994e-03 -9.36991899e+01] [-8.61032009e-03 5.22912146e-05 -9.99962929e-01 -8.04753036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.950385723 meters 0.01554444721577687 Centerline is valid? [True, True] Translation: X:129.10, Y:-93.70, Z:-8.05 [[ 9.63465848e-01 -2.67687306e-01 -8.77870097e-03 1.29102474e+02] [-2.67676774e-01 -9.63505839e-01 2.37536003e-03 -9.37015335e+01] [-9.09418337e-03 6.12760843e-05 -9.99958645e-01 -8.04638177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.980385723 meters 0.015700936018363882 Centerline is valid? [True, True] Translation: X:129.10, Y:-93.70, Z:-8.05 [[ 9.81447154e-01 -1.91461686e-01 -1.01934823e-02 1.29101095e+02] [-1.91452093e-01 -9.81500086e-01 1.91787899e-03 -9.37041822e+01] [-1.03721041e-02 6.92666437e-05 -9.99946206e-01 -8.04520843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.010385723 meters 0.015371118765588658 Centerline is valid? [True, True] Translation: X:129.09, Y:-93.71, Z:-8.05 [[ 9.93440131e-01 -1.13894836e-01 -1.02309932e-02 1.29094139e+02] [-1.13889495e-01 -9.93492809e-01 1.10504352e-03 -9.37146746e+01] [-1.02902769e-02 6.74080683e-05 -9.99947051e-01 -8.04748430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.040385723 meters 0.015335490612037561 Centerline is valid? [True, True] Translation: X:129.09, Y:-93.73, Z:-8.05 [[ 9.99321503e-01 -3.55197138e-02 -9.74080405e-03 1.29088229e+02] [-3.55186243e-02 -9.99368974e-01 2.84878042e-04 -9.37280294e+01] [-9.74477613e-03 6.12952055e-05 -9.99952517e-01 -8.04896629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07038572300002 meters 0.015577713596827096 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.74, Z:-8.05 [[ 9.99028765e-01 4.33179060e-02 -8.06758567e-03 1.29082417e+02] [ 4.33161196e-02 -9.99061338e-01 -3.96100331e-04 -9.37416135e+01] [-8.07717117e-03 4.62591187e-05 -9.99967378e-01 -8.05079664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10038572300002 meters 0.015560132004918915 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.75, Z:-8.05 [[ 9.92589021e-01 1.21288283e-01 -7.49585372e-03 1.29078773e+02] [ 1.21284489e-01 -9.92617323e-01 -9.60343820e-04 -9.37540446e+01] [-7.55699271e-03 4.40959467e-05 -9.99971445e-01 -8.05157112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13038572300002 meters 0.015841862652880782 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.77, Z:-8.05 [[ 9.80242048e-01 1.97648760e-01 -7.77785607e-03 1.29076834e+02] [ 1.97642097e-01 -9.80272903e-01 -1.62388558e-03 -9.37665426e+01] [-7.94538052e-03 5.45691409e-05 -9.99968433e-01 -8.05247423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.160385723 meters 0.01886912967886127 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.78, Z:-8.05 [[ 9.62015322e-01 2.72882333e-01 -7.85826611e-03 1.29075359e+02] [ 2.72872683e-01 -9.62047415e-01 -2.29587622e-03 -9.37797398e+01] [-8.18652865e-03 6.43619460e-05 -9.99966488e-01 -8.04937901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.190385723 meters 0.016191574375342316 Centerline is valid? [True, True] Translation: X:129.07, Y:-93.79, Z:-8.05 [[ 9.37572946e-01 3.47701497e-01 -7.78713762e-03 1.29073143e+02] [ 3.47688948e-01 -9.37605282e-01 -2.95466808e-03 -9.37919645e+01] [-8.32860388e-03 6.27151700e-05 -9.99965315e-01 -8.05304281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.220385723 meters 0.016818777052591015 Centerline is valid? [True, True] Translation: X:129.07, Y:-93.80, Z:-8.05 [[ 9.07780907e-01 4.19373462e-01 -7.72814640e-03 1.29073923e+02] [ 4.19357601e-01 -9.07813800e-01 -3.64795843e-03 -9.38043405e+01] [-8.54557490e-03 7.06900729e-05 -9.99963483e-01 -8.05270507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.250385723 meters 0.018372271485337096 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.82, Z:-8.05 [[ 8.72242017e-01 4.89016249e-01 -7.54796718e-03 1.29076157e+02] [ 4.88997212e-01 -8.72274672e-01 -4.31551039e-03 -9.38180605e+01] [-8.69425530e-03 7.32345834e-05 -9.99962202e-01 -8.05052448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.280385723 meters 0.017286697682961094 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.83, Z:-8.05 [[ 8.30762299e-01 5.56583411e-01 -6.99353124e-03 1.29078154e+02] [ 5.56563048e-01 -8.30791732e-01 -4.76138629e-03 -9.38312347e+01] [-8.46027655e-03 6.32391571e-05 -9.99964209e-01 -8.05130884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.310385723 meters 0.017702910992205504 Centerline is valid? [True, True] Translation: X:129.08, Y:-93.84, Z:-8.05 [[ 7.83386374e-01 6.21499634e-01 -6.63287941e-03 1.29082154e+02] [ 6.21476856e-01 -7.83414452e-01 -5.32109559e-03 -9.38442110e+01] [-8.50335255e-03 4.62927293e-05 -9.99963845e-01 -8.05071490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.340385723 meters 0.01837292026985032 Centerline is valid? [True, True] Translation: X:129.09, Y:-93.86, Z:-8.05 [[ 7.31426725e-01 6.81891705e-01 -6.21677447e-03 1.29086048e+02] [ 6.81866663e-01 -7.31453144e-01 -5.84397793e-03 -9.38555096e+01] [-8.53223930e-03 3.54303747e-05 -9.99963599e-01 -8.05017507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.370385723 meters 0.01926089986714856 Centerline is valid? [True, True] Translation: X:129.09, Y:-93.87, Z:-8.05 [[ 6.74956479e-01 7.37834410e-01 -5.84242796e-03 1.29092258e+02] [ 7.37806433e-01 -6.74981764e-01 -6.42530991e-03 -9.38672926e+01] [-8.68434708e-03 2.62236228e-05 -9.99962290e-01 -8.04986924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.400385723 meters 0.01841488969973172 Centerline is valid? [True, True] Translation: X:129.10, Y:-93.88, Z:-8.05 [[ 6.12950450e-01 7.90096876e-01 -6.21877320e-03 1.29100225e+02] [ 7.90056154e-01 -6.12981996e-01 -8.02165945e-03 -9.38793849e+01] [-1.01498841e-02 3.69973522e-06 -9.99948489e-01 -8.05007026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.430385723 meters 0.016679664998448238 Centerline is valid? [True, True] Translation: X:129.11, Y:-93.89, Z:-8.05 [[ 5.47976413e-01 8.36474308e-01 -5.70815060e-03 1.29106714e+02] [ 8.36429148e-01 -5.48006142e-01 -8.69186480e-03 -9.38903727e+01] [-1.03986232e-02 -1.15266502e-05 -9.99945933e-01 -8.05174753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.460385723 meters 0.019447087230927102 Centerline is valid? [True, True] Translation: X:129.11, Y:-93.90, Z:-8.05 [[ 4.79461332e-01 8.77547374e-01 -5.23815859e-03 1.29114374e+02] [ 8.77495646e-01 -4.79489944e-01 -9.52811147e-03 -9.39010210e+01] [-1.08730136e-02 -2.81003421e-05 -9.99940887e-01 -8.04982753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.490385723 meters 0.018488233805054915 Centerline is valid? [True, True] Translation: X:129.12, Y:-93.91, Z:-8.05 [[ 4.08602045e-01 9.12702137e-01 -4.37925628e-03 1.29121555e+02] [ 9.12650647e-01 -4.08625511e-01 -9.69475283e-03 -9.39105883e+01] [-1.06378975e-02 -3.54352405e-05 -9.99943415e-01 -8.05110661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.520385723 meters 0.019235300773392965 Centerline is valid? [True, True] Translation: X:129.13, Y:-93.92, Z:-8.05 [[ 3.36008566e-01 9.41852440e-01 -3.49649607e-03 1.29130329e+02] [ 9.41802460e-01 -3.36026757e-01 -9.70282803e-03 -9.39193884e+01] [-1.03135485e-02 -3.27752636e-05 -9.99946813e-01 -8.05058500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.550385723 meters 0.019104429782915756 Centerline is valid? [True, True] Translation: X:129.14, Y:-93.93, Z:-8.05 [[ 2.61553914e-01 9.65185758e-01 -2.45011042e-03 1.29140063e+02] [ 9.65144352e-01 -2.61565388e-01 -8.94028271e-03 -9.39279107e+01] [-9.26989762e-03 -2.63443038e-05 -9.99957033e-01 -8.05025076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.580385723 meters 0.016711423541807865 Centerline is valid? [True, True] Translation: X:129.15, Y:-93.94, Z:-8.05 [[ 1.85564119e-01 9.82630740e-01 -1.66927798e-03 1.29150861e+02] [ 9.82592038e-01 -1.85571625e-01 -8.72120146e-03 -9.39355799e+01] [-8.87949128e-03 -2.18771871e-05 -9.99960576e-01 -8.05356415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.610385723 meters 0.016810886652554244 Centerline is valid? [True, True] Translation: X:129.16, Y:-93.94, Z:-8.05 [[ 1.07860608e-01 9.94165476e-01 -1.04627215e-03 1.29160125e+02] [ 9.94120889e-01 -1.07865679e-01 -9.41562527e-03 -9.39426774e+01] [-9.47354644e-03 -2.45459395e-05 -9.99955125e-01 -8.05344419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.640385723 meters 0.01704561453583757 Centerline is valid? [True, True] Translation: X:129.17, Y:-93.95, Z:-8.06 [[ 2.96450373e-02 9.99560429e-01 -3.46863084e-04 1.29169210e+02] [ 9.99502531e-01 -2.96470535e-02 -1.07584044e-02 -9.39487075e+01] [-1.07639588e-02 -2.77572304e-05 -9.99942067e-01 -8.05509691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.670385723 meters 0.019051217017281512 Centerline is valid? [True, True] Translation: X:129.18, Y:-93.95, Z:-8.05 [[-4.81385825e-02 9.98840523e-01 5.36096921e-04 1.29179391e+02] [ 9.98773250e-01 4.81415623e-02 -1.15924626e-02 -9.39548021e+01] [-1.16048300e-02 -2.26054558e-05 -9.99932661e-01 -8.05246307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.700385723 meters 0.017287092036541576 Centerline is valid? [True, True] Translation: X:129.19, Y:-93.96, Z:-8.05 [[-1.26234529e-01 9.91999279e-01 1.50798375e-03 1.29190349e+02] [ 9.91926259e-01 1.26243534e-01 -1.20360267e-02 -9.39603089e+01] [-1.21301031e-02 -2.35534881e-05 -9.99926427e-01 -8.05336573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.730385723 meters 0.017274111907885636 Centerline is valid? [True, True] Translation: X:129.20, Y:-93.96, Z:-8.05 [[-2.03139496e-01 9.79146151e-01 2.67584799e-03 1.29203074e+02] [ 9.79059916e-01 2.03157118e-01 -1.29948236e-02 -9.39639428e+01] [-1.32674490e-02 -1.99463917e-05 -9.99911983e-01 -8.05229828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.760385723 meters 0.019813605176477248 Centerline is valid? [True, True] Translation: X:129.21, Y:-93.97, Z:-8.05 [[-2.78823860e-01 9.60333007e-01 4.21551589e-03 1.29212404e+02] [ 9.60222375e-01 2.78855725e-01 -1.45765366e-02 -9.39684238e+01] [-1.51738499e-02 -1.64535123e-05 -9.99884870e-01 -8.04830153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.790385723 meters 0.01766614996593667 Centerline is valid? [True, True] Translation: X:129.22, Y:-93.97, Z:-8.05 [[-3.51618705e-01 9.36125670e-01 5.74593130e-03 1.29216948e+02] [ 9.36001172e-01 3.51665650e-01 -1.52668578e-02 -9.39738307e+01] [-1.63123442e-02 1.00856501e-05 -9.99866945e-01 -8.05197042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82038572300002 meters 0.018189567864464233 Centerline is valid? [True, True] Translation: X:129.23, Y:-93.98, Z:-8.05 [[-4.22745471e-01 9.06219208e-01 7.28101746e-03 1.29226269e+02] [ 9.06086155e-01 4.22808167e-01 -1.55284755e-02 -9.39762460e+01] [-1.71506764e-02 3.26364268e-05 -9.99852916e-01 -8.05279740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85038572300002 meters 0.019820409115099358 Centerline is valid? [True, True] Translation: X:129.24, Y:-93.98, Z:-8.05 [[-4.91244610e-01 8.70977366e-01 8.78417576e-03 1.29235634e+02] [ 8.70840261e-01 4.91323137e-01 -1.54536234e-02 -9.39792289e+01] [-1.77756250e-02 5.81047264e-05 -9.99841999e-01 -8.05122555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88038572300002 meters 0.01940118328422494 Centerline is valid? [True, True] Translation: X:129.25, Y:-93.98, Z:-8.05 [[-5.55292230e-01 8.31600861e-01 9.51560853e-03 1.29245422e+02] [ 8.31482165e-01 5.55373744e-01 -1.40503976e-02 -9.39792565e+01] [-1.69690418e-02 1.09982185e-04 -9.99856009e-01 -8.05423666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.910385723 meters 0.019889158781227042 Centerline is valid? [True, True] Translation: X:129.26, Y:-93.98, Z:-8.05 [[-6.17741455e-01 7.86309991e-01 1.05873756e-02 1.29256047e+02] [ 7.86198160e-01 6.17832162e-01 -1.32617260e-02 -9.39783222e+01] [-1.69690488e-02 1.31457249e-04 -9.99856007e-01 -8.05393471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.940385723 meters 0.018925389384457786 Centerline is valid? [True, True] Translation: X:129.27, Y:-93.98, Z:-8.06 [[-6.76198137e-01 7.36629451e-01 1.15382486e-02 1.29266105e+02] [ 7.36526237e-01 6.76296552e-01 -1.23318956e-02 -9.39783844e+01] [-1.68873153e-02 1.59418001e-04 -9.99857386e-01 -8.05542539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.970385723 meters 0.02059682984466984 Centerline is valid? [True, True] Translation: X:129.28, Y:-93.98, Z:-8.05 [[-7.31416564e-01 6.81810677e-01 1.28066622e-02 1.29275437e+02] [ 6.81710330e-01 7.31528653e-01 -1.16985646e-02 -9.39766728e+01] [-1.73446466e-02 1.73910037e-04 -9.99849555e-01 -8.05465917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.000385723 meters 0.020229563814740815 Centerline is valid? [True, True] Translation: X:129.29, Y:-93.95, Z:-8.06 [[-7.77429575e-01 6.28830753e-01 1.32340585e-02 1.29293538e+02] [ 6.28743573e-01 7.77542187e-01 -1.04721836e-02 -9.39549576e+01] [-1.68752699e-02 1.79444031e-04 -9.99857586e-01 -8.05669339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.030385723 meters 0.018616936129098118 Centerline is valid? [True, True] Translation: X:129.30, Y:-93.93, Z:-8.06 [[-8.19530315e-01 5.72888826e-01 1.29790746e-02 1.29300333e+02] [ 5.72820435e-01 8.19633065e-01 -8.85372055e-03 -9.39263389e+01] [-1.57102762e-02 1.78786740e-04 -9.99876570e-01 -8.05825397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.060385723 meters 0.020819767734390992 Centerline is valid? [True, True] Translation: X:129.34, Y:-93.92, Z:-8.06 [[-8.57520783e-01 5.14224040e-01 1.52231308e-02 1.29336442e+02] [ 5.14147509e-01 8.57655869e-01 -8.87407599e-03 -9.39162246e+01] [-1.76194707e-02 2.17230205e-04 -9.99844741e-01 -8.05599569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.090385723 meters 0.021583719144219988 Centerline is valid? [True, True] Translation: X:129.36, Y:-93.90, Z:-8.06 [[-8.91035276e-01 4.53591320e-01 1.76366324e-02 1.29363520e+02] [ 4.53508561e-01 8.91209762e-01 -8.66865432e-03 -9.38991396e+01] [-1.96499653e-02 2.74286974e-04 -9.99806883e-01 -8.05638146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.120385723 meters 0.020846273365791777 Centerline is valid? [True, True] Translation: X:129.38, Y:-93.88, Z:-8.06 [[-9.20713475e-01 3.89824874e-01 1.79795706e-02 1.29380734e+02] [ 3.89756520e-01 9.20888966e-01 -7.30523530e-03 -9.38761612e+01] [-1.94049506e-02 2.81626302e-04 -9.99811667e-01 -8.05807922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.150385723 meters 0.020319695835321037 Centerline is valid? [True, True] Translation: X:129.39, Y:-93.85, Z:-8.06 [[-9.45551016e-01 3.24918518e-01 1.90061052e-02 1.29390586e+02] [ 3.24859637e-01 9.45741960e-01 -6.19362790e-03 -9.38490808e+01] [-1.99872956e-02 3.17925267e-04 -9.99800184e-01 -8.06042219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.180385723 meters 0.01886476024808362 Centerline is valid? [True, True] Translation: X:129.39, Y:-93.82, Z:-8.06 [[-9.66125826e-01 2.57366356e-01 1.90642738e-02 1.29388870e+02] [ 2.57322755e-01 9.66313850e-01 -4.74790728e-03 -9.38176253e+01] [-1.96440234e-02 3.18595619e-04 -9.99806987e-01 -8.06255590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.210385723 meters 0.019930387555279334 Centerline is valid? [True, True] Translation: X:129.40, Y:-93.79, Z:-8.06 [[-9.81854234e-01 1.88586543e-01 1.99343409e-02 1.29400809e+02] [ 1.88554627e-01 9.82056517e-01 -3.48567043e-03 -9.37910393e+01] [-2.02339999e-02 3.36291954e-04 -9.99795215e-01 -8.06109068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.240385723 meters 0.020746870001851356 Centerline is valid? [True, True] Translation: X:129.41, Y:-93.76, Z:-8.06 [[-9.92673854e-01 1.18831373e-01 2.18569026e-02 1.29408330e+02] [ 1.18810869e-01 9.92914379e-01 -2.23892351e-03 -9.37617159e+01] [-2.19680872e-02 3.74316764e-04 -9.99758602e-01 -8.06073058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.270385723 meters 0.019734328119939217 Centerline is valid? [True, True] Translation: X:129.51, Y:-92.96, Z:-9.01 [[-9.88160454e-01 -1.51992214e-01 2.09113618e-02 1.29506360e+02] [ 1.51949389e-01 -9.88381606e-01 -3.63107407e-03 -9.29611886e+01] [ 2.12203004e-02 -4.10615138e-04 9.99774740e-01 -9.00736880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.300385723 meters 0.019769363800178876 Centerline is valid? [True, True] Translation: X:129.34, Y:-93.76, Z:-8.06 [[-9.93282652e-01 1.13782128e-01 2.10523176e-02 1.29344705e+02] [ 1.13764066e-01 9.93505664e-01 -2.05750716e-03 -9.37550015e+01] [-2.11497043e-02 3.51311086e-04 -9.99776258e-01 -8.06198740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.330385723 meters 0.020997661174115258 Centerline is valid? [True, True] Translation: X:129.35, Y:-93.72, Z:-8.06 [[-9.98838932e-01 4.25115778e-02 2.26617107e-02 1.29345785e+02] [ 4.25089831e-02 9.99095907e-01 -5.96429305e-04 -9.37245866e+01] [-2.26665775e-02 3.67589467e-04 -9.99743013e-01 -8.06291714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.360385723 meters 0.021604168182820425 Centerline is valid? [True, True] Translation: X:129.34, Y:-93.69, Z:-8.06 [[-9.99303130e-01 -2.88687793e-02 2.36611040e-02 1.29340682e+02] [-2.88516788e-02 9.99583138e-01 1.06385773e-03 -9.36946121e+01] [-2.36819529e-02 3.80453791e-04 -9.99719471e-01 -8.06321312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.390385723 meters 0.021604168182820425 Centerline is valid? [True, True] Translation: X:129.33, Y:-93.67, Z:-8.06 [[-9.94698087e-01 -1.00111437e-01 2.35248121e-02 1.29332795e+02] [-1.00074403e-01 9.94976158e-01 2.74926068e-03 -9.36661637e+01] [-2.36818596e-02 3.80452816e-04 -9.99719473e-01 -8.06321445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.420385723 meters 0.019401003160245026 Centerline is valid? [True, True] Translation: X:129.31, Y:-93.64, Z:-8.06 [[-9.84921640e-01 -1.71769827e-01 2.06031576e-02 1.29314263e+02] [-1.71725264e-01 9.85137056e-01 3.92622187e-03 -9.36385612e+01] [-2.09713405e-02 3.28938196e-04 -9.99780023e-01 -8.06433092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.450385723 meters 0.01952019535877423 Centerline is valid? [True, True] Translation: X:129.27, Y:-93.62, Z:-8.06 [[-9.70024850e-01 -2.42326876e-01 1.81514697e-02 1.29274194e+02] [-2.42278733e-01 9.70194618e-01 4.83924863e-03 -9.36158341e+01] [-1.87831382e-02 2.96476342e-04 -9.99823537e-01 -8.06376641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.480385723 meters 0.019513524567619168 Centerline is valid? [True, True] Translation: X:129.22, Y:-93.60, Z:-8.06 [[-9.49405816e-01 -3.13552999e-01 1.76950257e-02 1.29219302e+02] [-3.13492946e-01 9.49570658e-01 6.14306702e-03 -9.36015498e+01] [-1.87288543e-02 2.84997818e-04 -9.99824559e-01 -8.06373765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.510385723 meters 0.019409964074040525 Centerline is valid? [True, True] Translation: X:129.15, Y:-93.60, Z:-8.06 [[-9.23123599e-01 -3.84171619e-01 1.59683775e-02 1.29147414e+02] [-3.84109634e-01 9.23261669e-01 6.90501981e-03 -9.35960973e+01] [-1.73957035e-02 2.40579098e-04 -9.99848654e-01 -8.06392438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.540385723 meters 0.019156320061011194 Centerline is valid? [True, True] Translation: X:129.07, Y:-93.60, Z:-8.06 [[-8.91345766e-01 -4.53080092e-01 1.48713234e-02 1.29069170e+02] [-4.53013134e-01 8.91469790e-01 7.79189155e-03 -9.35993166e+01] [-1.67876865e-02 2.08364737e-04 -9.99859055e-01 -8.06430477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57038572300002 meters 0.020263815408168854 Centerline is valid? [True, True] Translation: X:128.98, Y:-93.61, Z:-8.06 [[-8.54332717e-01 -5.19514607e-01 1.48385352e-02 1.28984582e+02] [-5.19432208e-01 8.54461546e-01 9.25462386e-03 -9.36112931e+01] [-1.74868700e-02 1.98914860e-04 -9.99847073e-01 -8.06435403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60038572300002 meters 0.01840090096537541 Centerline is valid? [True, True] Translation: X:128.89, Y:-93.63, Z:-8.06 [[-8.11574706e-01 -5.84127802e-01 1.18830909e-02 1.28892464e+02] [-5.84062763e-01 8.11661686e-01 8.71761541e-03 -9.36331667e+01] [-1.47372511e-02 1.34525270e-04 -9.99891392e-01 -8.06412103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63038572300002 meters 0.018354857808812984 Centerline is valid? [True, True] Translation: X:128.80, Y:-93.67, Z:-8.06 [[-7.64927529e-01 -6.44020566e-01 1.11079282e-02 1.28797695e+02] [-6.43950228e-01 7.65008166e-01 9.51892642e-03 -9.36698248e+01] [-1.46280402e-02 1.28335960e-04 -9.99892996e-01 -8.06353677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.660385723 meters 0.018299523376993424 Centerline is valid? [True, True] Translation: X:128.70, Y:-93.72, Z:-8.06 [[-7.13892906e-01 -7.00186799e-01 9.76556006e-03 1.28704464e+02] [-7.00118959e-01 7.13959685e-01 9.74736134e-03 -9.37157078e+01] [-1.37971899e-02 1.21518366e-04 -9.99904807e-01 -8.06383246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.690385723 meters 0.018394855526865882 Centerline is valid? [True, True] Translation: X:128.61, Y:-93.77, Z:-8.06 [[-6.58664173e-01 -7.52385227e-01 8.83050243e-03 1.28609934e+02] [-7.52315135e-01 6.58723353e-01 1.02704066e-02 -9.37730115e+01] [-1.35441604e-02 1.21428243e-04 -9.99908266e-01 -8.06385559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.720385723 meters 0.018400776222957358 Centerline is valid? [True, True] Translation: X:128.51, Y:-93.85, Z:-8.06 [[-5.99505214e-01 -8.00329148e-01 8.17027232e-03 1.28508093e+02] [-8.00251992e-01 5.99560872e-01 1.11134912e-02 -9.38525018e+01] [-1.37930266e-02 1.24319228e-04 -9.99904864e-01 -8.06287634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.750385723 meters 0.018354710263539034 Centerline is valid? [True, True] Translation: X:128.43, Y:-93.91, Z:-8.06 [[-5.36679108e-01 -8.43757250e-01 7.01706358e-03 1.28428312e+02] [-8.43682108e-01 5.36724965e-01 1.12611007e-02 -9.39120929e+01] [-1.32678685e-02 1.23426460e-04 -9.99911970e-01 -8.06258615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.780385723 meters 0.01970406388641848 Centerline is valid? [True, True] Translation: X:128.35, Y:-93.99, Z:-8.06 [[-4.71075054e-01 -8.82069893e-01 6.40286060e-03 1.28348097e+02] [-8.81984381e-01 4.71118546e-01 1.22828332e-02 -9.39919852e+01] [-1.38508238e-02 1.38913278e-04 -9.99904063e-01 -8.06132929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.810385723 meters 0.01851073125868705 Centerline is valid? [True, True] Translation: X:128.27, Y:-94.08, Z:-8.06 [[-4.02667905e-01 -9.15332966e-01 4.91120571e-03 1.28271937e+02] [-9.15260789e-01 4.02697832e-01 1.14953540e-02 -9.40848818e+01] [-1.24998084e-02 1.33776117e-04 -9.99921865e-01 -8.06241313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.840385723 meters 0.018483928211448168 Centerline is valid? [True, True] Translation: X:128.20, Y:-94.19, Z:-8.06 [[-3.32334985e-01 -9.43153107e-01 3.95913793e-03 1.28202289e+02] [-9.43080791e-01 3.32358534e-01 1.16801906e-02 -9.41862944e+01] [-1.23320613e-02 1.47949017e-04 -9.99923946e-01 -8.06323131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.870385723 meters 0.019119090598287276 Centerline is valid? [True, True] Translation: X:128.14, Y:-94.29, Z:-8.06 [[-2.61747904e-01 -9.65132164e-01 2.81805120e-03 1.28142869e+02] [-9.65068968e-01 2.61763017e-01 1.10457695e-02 -9.42933402e+01] [-1.13982890e-02 1.71593236e-04 -9.99935023e-01 -8.06385792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.900385723 meters 0.01928734608960205 Centerline is valid? [True, True] Translation: X:128.09, Y:-94.41, Z:-8.06 [[-1.87936382e-01 -9.82179295e-01 1.93597712e-03 1.28088394e+02] [-9.82116590e-01 1.87946263e-01 1.10998242e-02 -9.44057421e+01] [-1.12658771e-02 1.84705548e-04 -9.99936521e-01 -8.06361124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.930385723 meters 0.019239585455027443 Centerline is valid? [True, True] Translation: X:128.04, Y:-94.52, Z:-8.06 [[-1.12593188e-01 -9.93640710e-01 9.55569902e-04 1.28039775e+02] [-9.93590759e-01 1.12597111e-01 9.96468580e-03 -9.45230788e+01] [-1.00089119e-02 1.72510320e-04 -9.99949895e-01 -8.06317569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.960385723 meters 0.01898496758169519 Centerline is valid? [True, True] Translation: X:128.00, Y:-94.65, Z:-8.06 [[-3.56196937e-02 -9.99365401e-01 1.80321088e-04 1.28001940e+02] [-9.99317915e-01 3.56197593e-02 9.74358261e-03 -9.46522247e+01] [-9.74382234e-03 1.66865335e-04 -9.99952514e-01 -8.06368211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.990385723 meters 0.018785384955199026 Centerline is valid? [True, True] Translation: X:127.97, Y:-94.77, Z:-8.06 [[ 4.31372224e-02 -9.99069050e-01 -4.62766408e-04 1.27974356e+02] [-9.99037906e-01 -4.31395321e-02 7.88939554e-03 -9.47686683e+01] [-7.90201443e-03 1.21994573e-04 -9.99968771e-01 -8.06499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.020385723 meters 0.018693011400959306 Centerline is valid? [True, True] Translation: X:127.96, Y:-94.89, Z:-8.07 [[ 1.20906721e-01 -9.92663333e-01 -1.03585542e-03 1.27956286e+02] [-9.92634358e-01 -1.20911107e-01 7.58522831e-03 -9.48948215e+01] [-7.65482444e-03 1.11120595e-04 -9.99970695e-01 -8.06502833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.050385723 meters 0.01859385353153225 Centerline is valid? [True, True] Translation: X:127.95, Y:-95.03, Z:-8.07 [[ 1.97717322e-01 -9.80257887e-01 -1.52827829e-03 1.27949740e+02] [-9.80232363e-01 -1.97723204e-01 7.07461518e-03 -9.50341862e+01] [-7.23712340e-03 9.92938753e-05 -9.99973807e-01 -8.06511710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.080385723 meters 0.018453317734359112 Centerline is valid? [True, True] Translation: X:127.95, Y:-95.15, Z:-8.06 [[ 2.73321111e-01 -9.61921044e-01 -1.86439306e-03 1.27947019e+02] [-9.61900732e-01 -2.73327457e-01 6.25167849e-03 -9.51490476e+01] [-6.52321091e-03 8.46453385e-05 -9.99978720e-01 -8.06436324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.110385723 meters 0.018346232315939546 Centerline is valid? [True, True] Translation: X:127.95, Y:-95.27, Z:-8.06 [[ 3.47754196e-01 -9.37582991e-01 -2.27027671e-03 1.27954955e+02] [-9.37564373e-01 -3.47761598e-01 5.90915077e-03 -9.52737954e+01] [-6.32983431e-03 7.35985855e-05 -9.99979964e-01 -8.06226967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.140385723 meters 0.01827327008788188 Centerline is valid? [True, True] Translation: X:127.98, Y:-95.40, Z:-8.06 [[ 4.19288827e-01 -9.07848212e-01 -2.91616839e-03 1.27975099e+02] [-9.07827482e-01 -4.19298961e-01 6.13543808e-03 -9.53977308e+01] [-6.79279287e-03 7.48571658e-05 -9.99976926e-01 -8.06144380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.170385723 meters 0.0181912837766729 Centerline is valid? [True, True] Translation: X:128.00, Y:-95.52, Z:-8.06 [[ 4.88369066e-01 -8.72630254e-01 -3.47774554e-03 1.28003038e+02] [-8.72609171e-01 -4.88381443e-01 6.06641684e-03 -9.55164463e+01] [-6.99220526e-03 7.20623276e-05 -9.99975552e-01 -8.06109418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.200385723 meters 0.017718319438824067 Centerline is valid? [True, True] Translation: X:128.04, Y:-95.63, Z:-8.06 [[ 5.53823520e-01 -8.32626378e-01 -3.58104450e-03 1.28035508e+02] [-8.32609721e-01 -5.53835094e-01 5.26704089e-03 -9.56308157e+01] [-6.36878529e-03 6.46013389e-05 -9.99979717e-01 -8.06181213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.230385723 meters 0.017667738142596014 Centerline is valid? [True, True] Translation: X:128.08, Y:-95.74, Z:-8.06 [[ 6.15247254e-01 -7.88324344e-01 -3.94280351e-03 1.28078563e+02] [-7.88308867e-01 -6.15259884e-01 4.94018015e-03 -9.57404874e+01] [-6.32031310e-03 6.87147009e-05 -9.99980024e-01 -8.06174759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.260385723 meters 0.01934062565647894 Centerline is valid? [True, True] Translation: X:128.13, Y:-95.84, Z:-8.06 [[ 6.72985236e-01 -7.39642497e-01 -4.45517104e-03 1.28130879e+02] [-7.39627037e-01 -6.72999979e-01 4.78275954e-03 -9.58431941e+01] [-6.53586222e-03 7.64383924e-05 -9.99978638e-01 -8.05933155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.290385723 meters 0.017952744200366508 Centerline is valid? [True, True] Translation: X:128.18, Y:-95.94, Z:-8.06 [[ 7.27318055e-01 -6.86285551e-01 -4.53747260e-03 1.28183739e+02] [-6.86272810e-01 -7.27332205e-01 4.18245594e-03 -9.59419914e+01] [-6.17060903e-03 7.19683510e-05 -9.99980959e-01 -8.06001656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32038572300002 meters 0.01777785939070286 Centerline is valid? [True, True] Translation: X:128.18, Y:-95.95, Z:-8.06 [[ 7.78311823e-01 -6.27862218e-01 -4.44304363e-03 1.28176780e+02] [-6.27852495e-01 -7.78324502e-01 3.49496234e-03 -9.59540597e+01] [-5.65248453e-03 6.94055105e-05 -9.99984022e-01 -8.05952838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35038572300002 meters 0.01782692534701166 Centerline is valid? [True, True] Translation: X:128.17, Y:-95.97, Z:-8.06 [[ 8.24625322e-01 -5.65658311e-01 -4.87374485e-03 1.28171795e+02] [-5.65648975e-01 -8.24639721e-01 3.25087923e-03 -9.59652838e+01] [-5.85797045e-03 7.60714456e-05 -9.99982839e-01 -8.05916166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38038572300002 meters 0.018377261914427536 Centerline is valid? [True, True] Translation: X:128.17, Y:-95.97, Z:-8.06 [[ 8.64923628e-01 -5.01888781e-01 -3.84305112e-03 1.28167803e+02] [-5.01884179e-01 -8.64932163e-01 2.15025201e-03 -9.59739564e+01] [-4.40316588e-03 6.89627860e-05 -9.99990304e-01 -8.05951705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.410385723 meters 0.01846580277429774 Centerline is valid? [True, True] Translation: X:128.17, Y:-95.98, Z:-8.06 [[ 9.00740571e-01 -4.34346087e-01 -3.14662246e-03 1.28165262e+02] [-4.34343668e-01 -9.00746065e-01 1.45079599e-03 -9.59845922e+01] [-3.46445536e-03 5.99247376e-05 -9.99993997e-01 -8.05950622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.440385723 meters 0.019054769149213384 Centerline is valid? [True, True] Translation: X:128.16, Y:-95.99, Z:-8.06 [[ 9.31053846e-01 -3.64873152e-01 -2.51383502e-03 1.28162282e+02] [-3.64871974e-01 -9.31057238e-01 9.28917635e-04 -9.59945672e+01] [-2.67946140e-03 5.23556104e-05 -9.99996409e-01 -8.05855056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.470385723 meters 0.018866083828236627 Centerline is valid? [True, True] Translation: X:128.16, Y:-96.01, Z:-8.06 [[ 9.56659120e-01 -2.91206367e-01 -1.47642324e-03 1.28160978e+02] [-2.91206067e-01 -9.56660259e-01 4.18796534e-04 -9.60080694e+01] [-1.53439165e-03 2.92978810e-05 -9.99998822e-01 -8.05834674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.500385723 meters 0.0188070612446985 Centerline is valid? [True, True] Translation: X:128.16, Y:-96.02, Z:-8.06 [[ 9.76593234e-01 -2.15093412e-01 -6.92816502e-04 1.28159739e+02] [-2.15093367e-01 -9.76593479e-01 1.40502667e-04 -9.60195928e+01] [-7.06821276e-04 1.18062803e-05 -9.99999750e-01 -8.05874530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.530385723 meters 0.018681932100975393 Centerline is valid? [True, True] Translation: X:128.16, Y:-96.03, Z:-8.06 [[ 9.90649111e-01 -1.36432383e-01 7.37095339e-04 1.28155673e+02] [-1.36432358e-01 -9.90649385e-01 -8.48694421e-05 -9.60315774e+01] [ 7.41781985e-04 -1.64878177e-05 -9.99999725e-01 -8.05854578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.560385723 meters 0.01967077516373594 Centerline is valid? [True, True] Translation: X:128.15, Y:-96.04, Z:-8.06 [[ 9.98328461e-01 -5.77939009e-02 3.85294862e-04 1.28153358e+02] [-5.77939003e-02 -9.98328536e-01 -1.27673542e-05 -9.60413115e+01] [ 3.85388730e-04 -9.52167969e-06 -9.99999926e-01 -8.05677470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.590385723 meters 0.017874680244418496 Centerline is valid? [True, True] Translation: X:128.15, Y:-96.06, Z:-8.06 [[ 9.99744925e-01 2.25850167e-02 3.15980360e-05 1.28153245e+02] [ 2.25850166e-02 -9.99744926e-01 3.77043157e-06 -9.60586529e+01] [ 3.16751315e-05 -3.05582766e-06 -1.00000000e+00 -8.05652265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.620385723 meters 0.01774511446913974 Centerline is valid? [True, True] Translation: X:128.15, Y:-96.07, Z:-8.06 [[ 9.94810717e-01 1.01742220e-01 3.97666140e-04 1.28154503e+02] [ 1.01742208e-01 -9.94810796e-01 4.92712059e-05 -9.60735288e+01] [ 4.00615531e-04 -8.55609248e-06 -9.99999920e-01 -8.05571739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.650385723 meters 0.01794751604899918 Centerline is valid? [True, True] Translation: X:128.16, Y:-96.09, Z:-8.06 [[ 9.83476223e-01 1.81036558e-01 5.32189263e-04 1.28155772e+02] [ 1.81036526e-01 -9.83476367e-01 1.07852355e-04 -9.60857485e+01] [ 5.42920782e-04 -9.72453149e-06 -9.99999853e-01 -8.05556311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.680385723 meters 0.017521197827737034 Centerline is valid? [True, True] Translation: X:128.16, Y:-96.10, Z:-8.06 [[ 9.65973540e-01 2.58639821e-01 7.50006515e-04 1.28159073e+02] [ 2.58639733e-01 -9.65973831e-01 2.13165313e-04 -9.60999218e+01] [ 7.79619705e-04 -1.19305667e-05 -9.99999696e-01 -8.05541020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.710385723 meters 0.01735891913587343 Centerline is valid? [True, True] Translation: X:128.16, Y:-96.11, Z:-8.05 [[ 9.41989546e-01 3.35637942e-01 1.69326428e-03 1.28162406e+02] [ 3.35637361e-01 -9.41991068e-01 6.24755899e-04 -9.61136657e+01] [ 1.80473161e-03 -2.01907715e-05 -9.99998371e-01 -8.05457176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.740385723 meters 0.017360076363781042 Centerline is valid? [True, True] Translation: X:128.17, Y:-96.13, Z:-8.05 [[ 9.12724267e-01 4.08571435e-01 1.94804768e-03 1.28167246e+02] [ 4.08570451e-01 -9.12726346e-01 8.97106075e-04 -9.61251884e+01] [ 2.14456636e-03 -2.28957658e-05 -9.99997700e-01 -8.05375495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.770385723 meters 0.017215110070042925 Centerline is valid? [True, True] Translation: X:128.18, Y:-96.14, Z:-8.05 [[ 8.77507887e-01 4.79557714e-01 2.07553538e-03 1.28175001e+02] [ 4.79556310e-01 -8.77510341e-01 1.16041997e-03 -9.61393480e+01] [ 2.37779211e-03 -2.29415889e-05 -9.99997173e-01 -8.05250859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.800385723 meters 0.0171312039927437 Centerline is valid? [True, True] Translation: X:128.18, Y:-96.15, Z:-8.05 [[ 8.36959365e-01 5.47261102e-01 2.07557434e-03 1.28180595e+02] [ 5.47259353e-01 -8.36961938e-01 1.38399388e-03 -9.61488344e+01] [ 2.49458273e-03 -2.24691709e-05 -9.99996888e-01 -8.05280808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.830385723 meters 0.01706135139682504 Centerline is valid? [True, True] Translation: X:128.19, Y:-96.16, Z:-8.05 [[ 7.91122684e-01 6.11653650e-01 2.17055684e-03 1.28188566e+02] [ 6.11651269e-01 -7.91125662e-01 1.70671090e-03 -9.61585574e+01] [ 2.76109917e-03 -2.25938668e-05 -9.99996188e-01 -8.05340114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.860385723 meters 0.016840445038001788 Centerline is valid? [True, True] Translation: X:128.20, Y:-96.17, Z:-8.05 [[ 7.40298158e-01 6.72273880e-01 2.54310584e-03 1.28199297e+02] [ 6.72269796e-01 -7.40302526e-01 2.34335146e-03 -9.61694563e+01] [ 3.45804166e-03 -2.51255248e-05 -9.99994021e-01 -8.05277955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.890385723 meters 0.01683643154760525 Centerline is valid? [True, True] Translation: X:128.21, Y:-96.18, Z:-8.05 [[ 6.84951707e-01 7.28585075e-01 2.22437289e-03 1.28208581e+02] [ 7.28581129e-01 -6.84955318e-01 2.39800700e-03 -9.61797152e+01] [ 3.27074815e-03 -2.18828765e-05 -9.99994651e-01 -8.05184221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.920385723 meters 0.01668571451767633 Centerline is valid? [True, True] Translation: X:128.22, Y:-96.19, Z:-8.05 [[ 6.25263216e-01 7.80411440e-01 1.97342650e-03 1.28219180e+02] [ 7.80407456e-01 -6.25266330e-01 2.49368987e-03 -9.61873651e+01] [ 3.18002124e-03 -1.91357945e-05 -9.99994944e-01 -8.05103093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.950385723 meters 0.016591450792160095 Centerline is valid? [True, True] Translation: X:128.23, Y:-96.19, Z:-8.05 [[ 5.61574026e-01 8.27425369e-01 1.36836063e-03 1.28229863e+02] [ 8.27422854e-01 -5.61575693e-01 2.03996645e-03 -9.61938848e+01] [ 2.45635807e-03 -1.33793136e-05 -9.99996983e-01 -8.05043283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.980385723 meters 0.01646820729279739 Centerline is valid? [True, True] Translation: X:128.24, Y:-96.20, Z:-8.05 [[ 4.93029331e-01 8.70012193e-01 9.29067455e-04 1.28238563e+02] [ 8.70010623e-01 -4.93030206e-01 1.65253554e-03 -9.61985264e+01] [ 1.89578439e-03 -6.44993824e-06 -9.99998203e-01 -8.04977860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.010385723 meters 0.016291021304403377 Centerline is valid? [True, True] Translation: X:128.25, Y:-96.20, Z:-8.05 [[ 4.21889881e-01 9.06646841e-01 6.59001780e-04 1.28248002e+02] [ 9.06645723e-01 -4.21890396e-01 1.42350150e-03 -9.62042182e+01] [ 1.56863966e-03 -3.07973128e-06 -9.99998770e-01 -8.05035785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.040385723 meters 0.0163469482982645 Centerline is valid? [True, True] Translation: X:128.26, Y:-96.21, Z:-8.05 [[ 3.47832570e-01 9.37556426e-01 6.71893820e-04 1.28259185e+02] [ 9.37554679e-01 -3.47833219e-01 1.80993252e-03 -9.62090306e+01] [ 1.93062086e-03 3.83713401e-07 -9.99998136e-01 -8.05017402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07038572300002 meters 0.016607818727084077 Centerline is valid? [True, True] Translation: X:128.27, Y:-96.21, Z:-8.05 [[ 2.69594672e-01 9.62973659e-01 6.66454867e-04 1.28273729e+02] [ 9.62970814e-01 -2.69595496e-01 2.34100129e-03 -9.62132788e+01] [ 2.43399581e-03 1.06551101e-05 -9.99997038e-01 -8.04832389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10038572300002 meters 0.016728727014282026 Centerline is valid? [True, True] Translation: X:128.28, Y:-96.22, Z:-8.05 [[ 1.91298970e-01 9.81531731e-01 4.05430530e-04 1.28284746e+02] [ 9.81529668e-01 -1.91299399e-01 2.01285225e-03 -9.62150603e+01] [ 2.05323697e-03 1.28855318e-05 -9.99997892e-01 -8.04763049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13038572300002 meters 0.017053329777529738 Centerline is valid? [True, True] Translation: X:128.29, Y:-96.22, Z:-8.05 [[ 1.10885834e-01 9.93833110e-01 2.85039264e-04 1.28291458e+02] [ 9.93830323e-01 -1.10886199e-01 2.35377725e-03 -9.62170159e+01] [ 2.37086868e-03 2.22801097e-05 -9.99997189e-01 -8.04916071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.160385723 meters 0.017205731682337765 Centerline is valid? [True, True] Translation: X:128.30, Y:-96.22, Z:-8.05 [[ 3.19621814e-02 9.99489072e-01 1.20696304e-04 1.28298993e+02] [ 9.99484998e-01 -3.19623958e-02 2.85388999e-03 -9.62175337e+01] [ 2.85628960e-03 2.94175955e-05 -9.99995920e-01 -8.05002462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.190385723 meters 0.017485684957922996 Centerline is valid? [True, True] Translation: X:128.31, Y:-96.22, Z:-8.05 [[-4.75075347e-02 9.98870870e-01 -1.36219617e-04 1.28307562e+02] [ 9.98863687e-01 4.75077097e-02 3.78837265e-03 -9.62173880e+01] [ 3.79056657e-03 4.39114162e-05 -9.99992815e-01 -8.05019015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.220385723 meters 0.018153894216140127 Centerline is valid? [True, True] Translation: X:128.32, Y:-96.22, Z:-8.05 [[-1.27264060e-01 9.91868760e-01 -4.70094400e-04 1.28316790e+02] [ 9.91860308e-01 1.27264917e-01 4.09526213e-03 -9.62183160e+01] [ 4.12178910e-03 5.49117113e-05 -9.99991504e-01 -8.04951526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.250385723 meters 0.018153894216140127 Centerline is valid? [True, True] Translation: X:128.32, Y:-96.22, Z:-8.05 [[-2.04534096e-01 9.78859122e-01 -7.89312247e-04 1.28321729e+02] [ 9.78850762e-01 2.04535612e-01 4.04597540e-03 -9.62184700e+01] [ 4.12188239e-03 5.49210273e-05 -9.99991504e-01 -8.04951605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.280385723 meters 0.018156093560870137 Centerline is valid? [True, True] Translation: X:128.33, Y:-96.22, Z:-8.05 [[-2.81200133e-01 9.59648568e-01 -1.05427739e-03 1.28325281e+02] [ 9.59641073e-01 2.81202104e-01 3.79298739e-03 -9.62182796e+01] [ 3.93639994e-03 5.48606728e-05 -9.99992251e-01 -8.04942846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.310385723 meters 0.017715553706948085 Centerline is valid? [True, True] Translation: X:128.33, Y:-96.22, Z:-8.05 [[-3.56136684e-01 9.34433212e-01 -1.11101043e-03 1.28331762e+02] [ 9.34428245e-01 3.56138414e-01 3.04724643e-03 -9.62168958e+01] [ 3.24312176e-03 4.70767120e-05 -9.99994740e-01 -8.04966584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.340385723 meters 0.017903620254153898 Centerline is valid? [True, True] Translation: X:128.34, Y:-96.22, Z:-8.05 [[-4.28586638e-01 9.03499497e-01 -1.46712845e-03 1.28337795e+02] [ 9.03493774e-01 4.28589146e-01 3.21619726e-03 -9.62152850e+01] [ 3.53462793e-03 5.28777509e-05 -9.99993752e-01 -8.05027085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.370385723 meters 0.018042860393067288 Centerline is valid? [True, True] Translation: X:128.35, Y:-96.21, Z:-8.05 [[-4.98244129e-01 8.67034438e-01 -2.01782588e-03 1.28345826e+02] [ 8.67026803e-01 4.98248211e-01 3.63914170e-03 -9.62121272e+01] [ 4.16063932e-03 6.36718636e-05 -9.99991342e-01 -8.05080002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.400385723 meters 0.01905047608927354 Centerline is valid? [True, True] Translation: X:128.36, Y:-96.21, Z:-8.05 [[-5.64631867e-01 8.25339465e-01 -2.37104900e-03 1.28355693e+02] [ 8.25331694e-01 5.64636841e-01 3.58232724e-03 -9.62081314e+01] [ 4.29541766e-03 6.57942254e-05 -9.99990772e-01 -8.05148911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.430385723 meters 0.018839630158020128 Centerline is valid? [True, True] Translation: X:128.36, Y:-96.21, Z:-8.05 [[-6.27283207e-01 7.78787232e-01 -2.49514602e-03 1.28356113e+02] [ 7.78780683e-01 6.27288166e-01 3.19438005e-03 -9.62097804e+01] [ 4.05291797e-03 6.06094321e-05 -9.99991785e-01 -8.04947435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.460385723 meters 0.01832868911369079 Centerline is valid? [True, True] Translation: X:128.36, Y:-96.21, Z:-8.05 [[-6.86362581e-01 7.27257316e-01 -1.79006204e-03 1.28360045e+02] [ 7.27254694e-01 6.86364914e-01 1.95324314e-03 -9.62077729e+01] [ 2.64914614e-03 3.88019809e-05 -9.99996490e-01 -8.04823642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.490385723 meters 0.01805067073090842 Centerline is valid? [True, True] Translation: X:128.36, Y:-96.21, Z:-8.05 [[-7.40763948e-01 6.71764614e-01 -1.03727805e-03 1.28361838e+02] [ 6.71763920e-01 7.40764674e-01 9.66002310e-04 -9.62083545e+01] [ 1.41730511e-03 1.87737131e-05 -9.99998995e-01 -8.04762053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.520385723 meters 0.018644817156804334 Centerline is valid? [True, True] Translation: X:128.38, Y:-96.19, Z:-8.05 [[-7.85870147e-01 6.18390508e-01 -1.13683460e-03 1.28380445e+02] [ 6.18389827e-01 7.85870969e-01 9.18020042e-04 -9.61900969e+01] [ 1.46110019e-03 1.84375922e-05 -9.99998932e-01 -8.04871000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.550385723 meters 0.017741313902274295 Centerline is valid? [True, True] Translation: X:128.39, Y:-96.17, Z:-8.05 [[-8.26966880e-01 5.62249127e-01 -1.30314824e-03 1.28392242e+02] [ 5.62248394e-01 8.26967907e-01 9.08043966e-04 -9.61703309e+01] [ 1.58820870e-03 1.82292790e-05 -9.99998739e-01 -8.04903363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.580385723 meters 0.018216484995488336 Centerline is valid? [True, True] Translation: X:128.40, Y:-96.14, Z:-8.05 [[-8.64045714e-01 5.03410098e-01 -1.81030746e-03 1.28396590e+02] [ 5.03408940e-01 8.64047610e-01 1.08035541e-03 -9.61400176e+01] [ 2.10805366e-03 2.21514977e-05 -9.99997778e-01 -8.04899621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.610385723 meters 0.01755530673786109 Centerline is valid? [True, True] Translation: X:128.42, Y:-96.13, Z:-8.05 [[-8.96514634e-01 4.43011760e-01 -1.44598612e-03 1.28421680e+02] [ 4.43011161e-01 8.96515800e-01 7.28811708e-04 -9.61263687e+01] [ 1.61922156e-03 1.28023741e-05 -9.99998689e-01 -8.04679670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.640385723 meters 0.0171876393442094 Centerline is valid? [True, True] Translation: X:128.44, Y:-96.11, Z:-8.05 [[-9.25193128e-01 3.79494819e-01 -1.16580954e-03 1.28435594e+02] [ 3.79494507e-01 9.25193862e-01 4.86863782e-04 -9.61054769e+01] [ 1.26336211e-03 8.02470850e-06 -9.99999202e-01 -8.04637408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.670385723 meters 0.017011661954011135 Centerline is valid? [True, True] Translation: X:128.74, Y:-95.42, Z:-9.02 [[-8.90821047e-01 -4.54353724e-01 -7.45442720e-04 1.28738943e+02] [ 4.54353545e-01 -8.90821359e-01 4.03328120e-04 -9.54217979e+01] [-8.47309930e-04 2.05986359e-05 9.99999641e-01 -9.02247064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.700385723 meters 0.01699369723834284 Centerline is valid? [True, True] Translation: X:128.40, Y:-96.10, Z:-8.05 [[-9.25690190e-01 3.78282528e-01 -4.01202718e-05 1.28397177e+02] [ 3.78282527e-01 9.25690191e-01 1.42700138e-05 -9.61020877e+01] [ 4.25370390e-05 -1.96718603e-06 -9.99999999e-01 -8.04731300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.730385723 meters 0.016672456869707915 Centerline is valid? [True, True] Translation: X:128.39, Y:-96.08, Z:-8.05 [[-9.49204607e-01 3.14658414e-01 8.34987191e-04 1.28387448e+02] [ 3.14658288e-01 9.49204974e-01 -2.81505006e-04 -9.60774765e+01] [-8.81151913e-04 -4.47020879e-06 -9.99999612e-01 -8.04778821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.760385723 meters 0.016689262833645833 Centerline is valid? [True, True] Translation: X:128.40, Y:-96.05, Z:-8.05 [[-9.68724807e-01 2.48135459e-01 1.02090349e-03 1.28401782e+02] [ 2.48135318e-01 9.68725345e-01 -2.64827334e-04 -9.60546714e+01] [-1.05468814e-03 -3.22259651e-06 -9.99999444e-01 -8.04718211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.790385723 meters 0.016613469817844843 Centerline is valid? [True, True] Translation: X:128.41, Y:-96.03, Z:-8.05 [[-9.83191358e-01 1.82576645e-01 7.22979183e-04 1.28408653e+02] [ 1.82576595e-01 9.83191624e-01 -1.34339979e-04 -9.60322960e+01] [-7.35354419e-04 -8.28292206e-08 -9.99999730e-01 -8.04559114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82038572300002 meters 0.0166331459613508 Centerline is valid? [True, True] Translation: X:128.44, Y:-96.01, Z:-8.05 [[-9.93443360e-01 1.14322103e-01 8.64317638e-04 1.28435048e+02] [ 1.14322061e-01 9.93443736e-01 -9.73664360e-05 -9.60104331e+01] [-8.69782079e-04 2.08253440e-06 -9.99999622e-01 -8.04601572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85038572300002 meters 0.016821725704358494 Centerline is valid? [True, True] Translation: X:128.44, Y:-95.99, Z:-8.05 [[-9.98992545e-01 4.48742589e-02 4.42971602e-04 1.28438986e+02] [ 4.48742548e-02 9.98992643e-01 -1.92730084e-05 -9.59866026e+01] [-4.43390233e-04 6.24428854e-07 -9.99999902e-01 -8.04701399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88038572300002 meters 0.016950978842933787 Centerline is valid? [True, True] Translation: X:128.48, Y:-95.17, Z:-9.02 [[-9.95193329e-01 -9.79297380e-02 -6.11717295e-05 1.28477724e+02] [ 9.79297396e-02 -9.95193331e-01 -2.36420299e-05 -9.51655953e+01] [-5.85624395e-05 -2.95189220e-05 9.99999998e-01 -9.01963683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.910385723 meters 0.016828742807602708 Centerline is valid? [True, True] Translation: X:128.35, Y:-95.99, Z:-8.05 [[-9.99168708e-01 4.07659935e-02 -1.65102219e-04 1.28352284e+02] [ 4.07659935e-02 9.99168721e-01 3.40530079e-06 -9.59910632e+01] [ 1.65103794e-04 -3.32808599e-06 -9.99999986e-01 -8.04993227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.940385723 meters 0.016648240730137185 Centerline is valid? [True, True] Translation: X:128.37, Y:-95.16, Z:-9.02 [[-9.95265429e-01 -9.71931072e-02 4.75735680e-04 1.28365963e+02] [ 9.71931165e-02 -9.95265542e-01 -3.63954649e-06 -9.51638196e+01] [ 4.73837068e-04 4.26159186e-05 9.99999887e-01 -9.02160625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.970385723 meters 0.016623708785886742 Centerline is valid? [True, True] Translation: X:128.25, Y:-95.98, Z:-8.05 [[-9.99619451e-01 2.75522399e-02 1.35194745e-03 1.28253247e+02] [ 2.75522122e-02 9.99620365e-01 -3.90735229e-05 -9.59797164e+01] [-1.35251077e-03 -1.80951046e-06 -9.99999085e-01 -8.04658467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.000385723 meters 0.016682366493402236 Centerline is valid? [True, True] Translation: X:128.28, Y:-95.17, Z:-9.02 [[-9.95248935e-01 -9.73507775e-02 1.54414590e-03 1.28280329e+02] [ 9.73506842e-02 -9.95250132e-01 -1.35665840e-04 -9.51664272e+01] [ 1.55001859e-03 1.53023779e-05 9.99998799e-01 -9.02316534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.030385723 meters 0.01691588648529439 Centerline is valid? [True, True] Translation: X:128.17, Y:-95.97, Z:-8.05 [[-9.99862354e-01 1.65056983e-02 1.68365856e-03 1.28167403e+02] [ 1.65056550e-02 9.99863772e-01 -3.96364064e-05 -9.59732687e+01] [-1.68408343e-03 -1.18410633e-05 -9.99998582e-01 -8.04677592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.060385723 meters 0.0173974303051633 Centerline is valid? [True, True] Translation: X:128.15, Y:-95.94, Z:-8.05 [[-9.98329258e-01 -5.77813721e-02 7.40454891e-05 1.28145424e+02] [-5.77813722e-02 9.98329261e-01 1.33394685e-06 -9.59430965e+01] [-7.39988555e-05 -2.94673179e-06 -9.99999997e-01 -8.04910236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.090385723 meters 0.017453006918356006 Centerline is valid? [True, True] Translation: X:128.16, Y:-95.91, Z:-8.05 [[-9.91594721e-01 -1.29382786e-01 -5.60317638e-05 1.28161545e+02] [-1.29382786e-01 9.91594723e-01 -9.09403373e-06 -9.59116715e+01] [ 5.67374128e-05 -1.76805015e-06 -9.99999998e-01 -8.04942791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.120385723 meters 0.017570943932669853 Centerline is valid? [True, True] Translation: X:128.05, Y:-95.12, Z:-9.02 [[-9.99070135e-01 4.31142232e-02 -1.68292097e-04 1.28051128e+02] [-4.31142214e-02 -9.99070150e-01 -1.40722137e-05 -9.51187449e+01] [-1.68742324e-04 -6.80334566e-06 9.99999986e-01 -9.02016851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.150385723 meters 0.017648940526735914 Centerline is valid? [True, True] Translation: X:128.03, Y:-95.92, Z:-8.05 [[-9.90625243e-01 -1.36607177e-01 -3.26627289e-04 1.28033645e+02] [-1.36607170e-01 9.90625297e-01 -4.40849453e-05 -9.59232240e+01] [ 3.29587575e-04 9.47970021e-07 -9.99999946e-01 -8.04941478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.180385723 meters 0.017559963258719145 Centerline is valid? [True, True] Translation: X:127.94, Y:-95.13, Z:-9.02 [[-9.98751489e-01 4.99543201e-02 -1.68441656e-04 1.27938547e+02] [-4.99543213e-02 -9.98751504e-01 2.95369349e-06 -9.51313456e+01] [-1.68083808e-04 1.13643944e-05 9.99999986e-01 -9.01937321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.210385723 meters 0.017090714621058725 Centerline is valid? [True, True] Translation: X:127.92, Y:-95.94, Z:-8.05 [[-9.90034527e-01 -1.40824818e-01 -7.32452456e-05 1.27922209e+02] [-1.40824817e-01 9.90034530e-01 -1.22733889e-05 -9.59382625e+01] [ 7.42437202e-05 -1.83633044e-06 -9.99999997e-01 -8.04873648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.240385723 meters 0.01714790949384679 Centerline is valid? [True, True] Translation: X:127.91, Y:-95.91, Z:-8.05 [[-9.77609986e-01 -2.10423324e-01 8.60579420e-04 1.27906987e+02] [-2.10423250e-01 9.77610364e-01 1.76756316e-04 -9.59096820e+01] [-8.78505012e-04 -8.28717893e-06 -9.99999614e-01 -8.04711926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.270385723 meters 0.01686033382153137 Centerline is valid? [True, True] Translation: X:127.87, Y:-95.89, Z:-8.05 [[-9.60252470e-01 -2.79130382e-01 1.19303057e-03 1.27874571e+02] [-2.79130179e-01 9.60253211e-01 3.37468137e-04 -9.58881070e+01] [-1.23980904e-03 -8.95622379e-06 -9.99999231e-01 -8.04540669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.300385723 meters 0.016640046658304444 Centerline is valid? [True, True] Translation: X:127.82, Y:-95.88, Z:-8.04 [[-9.37671630e-01 -3.47517998e-01 1.77632902e-03 1.27816593e+02] [-3.47517393e-01 9.37673313e-01 6.48293017e-04 -9.58783231e+01] [-1.89090981e-03 -9.41926281e-06 -9.99998212e-01 -8.04474382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.330385723 meters 0.01660223921122603 Centerline is valid? [True, True] Translation: X:127.74, Y:-95.88, Z:-8.04 [[-9.11059196e-01 -4.12269101e-01 2.30876156e-03 1.27735842e+02] [-4.12267784e-01 9.11062121e-01 1.04186911e-03 -9.58841671e+01] [-2.53295564e-03 -2.62357407e-06 -9.99996792e-01 -8.04431447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.360385723 meters 0.01655563948258441 Centerline is valid? [True, True] Translation: X:127.67, Y:-95.89, Z:-8.05 [[-8.78750084e-01 -4.77275188e-01 2.58545506e-03 1.27671117e+02] [-4.77273110e-01 8.78753888e-01 1.40846229e-03 -9.58875102e+01] [-2.94420279e-03 3.71818148e-06 -9.99995666e-01 -8.04512225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.390385723 meters 0.016826523103158696 Centerline is valid? [True, True] Translation: X:127.59, Y:-95.90, Z:-8.05 [[-8.42417901e-01 -5.38819681e-01 2.33043178e-03 1.27593418e+02] [-5.38817573e-01 8.42421125e-01 1.50706741e-03 -9.59048305e+01] [-2.77524254e-03 1.39029696e-05 -9.99996149e-01 -8.04660575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.420385723 meters 0.01698211101125994 Centerline is valid? [True, True] Translation: X:127.49, Y:-95.94, Z:-8.05 [[-8.00072788e-01 -5.99898126e-01 2.40246630e-03 1.27492169e+02] [-5.99895353e-01 8.00076395e-01 1.82420738e-03 -9.59407882e+01] [-3.01649516e-03 1.82703188e-05 -9.99995450e-01 -8.04645358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.450385723 meters 0.016956107476493756 Centerline is valid? [True, True] Translation: X:127.40, Y:-95.98, Z:-8.04 [[-7.52636669e-01 -6.58430314e-01 2.75066065e-03 1.27398822e+02] [-6.58425796e-01 7.52641695e-01 2.43937171e-03 -9.59788105e+01] [-3.67641818e-03 2.48546738e-05 -9.99993242e-01 -8.04491146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.480385723 meters 0.016897924166501887 Centerline is valid? [True, True] Translation: X:127.31, Y:-96.02, Z:-8.04 [[-6.99945662e-01 -7.14189763e-01 3.00875954e-03 1.27308429e+02] [-7.14182996e-01 6.99952128e-01 3.10916272e-03 -9.60222887e+01] [-4.32651983e-03 2.74400549e-05 -9.99990640e-01 -8.04251457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.510385723 meters 0.01683978063316446 Centerline is valid? [True, True] Translation: X:127.22, Y:-96.08, Z:-8.04 [[-6.43188555e-01 -7.65703133e-01 2.68228886e-03 1.27220969e+02] [-7.65696308e-01 6.43194147e-01 3.23315931e-03 -9.60764161e+01] [-4.20087271e-03 2.57123901e-05 -9.99991176e-01 -8.04281050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.540385723 meters 0.016884046396712045 Centerline is valid? [True, True] Translation: X:127.14, Y:-96.14, Z:-8.04 [[-5.82624267e-01 -8.12737411e-01 2.62015716e-03 1.27135369e+02] [-8.12728979e-01 5.82630158e-01 3.70206568e-03 -9.61409624e+01] [-4.53538985e-03 2.74356503e-05 -9.99989715e-01 -8.04309164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57038572300002 meters 0.01699268386414083 Centerline is valid? [True, True] Translation: X:127.05, Y:-96.22, Z:-8.04 [[-5.19171940e-01 -8.54666929e-01 2.22211913e-03 1.27048887e+02] [-8.54658859e-01 5.19176694e-01 3.71410763e-03 -9.62206277e+01] [-4.32799743e-03 2.91066644e-05 -9.99990634e-01 -8.04350201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60038572300002 meters 0.016856894050742803 Centerline is valid? [True, True] Translation: X:126.97, Y:-96.31, Z:-8.04 [[-4.52788598e-01 -8.91615803e-01 1.93540507e-03 1.26967380e+02] [-8.91607344e-01 4.52792733e-01 3.88388066e-03 -9.63077151e+01] [-4.33926673e-03 3.29555080e-05 -9.99990585e-01 -8.04378974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63038572300002 meters 0.0169516645914374 Centerline is valid? [True, True] Translation: X:126.89, Y:-96.40, Z:-8.04 [[-3.83170190e-01 -9.23676151e-01 1.72442417e-03 1.26891524e+02] [-9.23666367e-01 3.83174068e-01 4.25166340e-03 -9.64042445e+01] [-4.58791471e-03 3.63180582e-05 -9.99989475e-01 -8.04412976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.660385723 meters 0.01689676187506352 Centerline is valid? [True, True] Translation: X:126.82, Y:-96.52, Z:-8.04 [[-3.11287437e-01 -9.50314517e-01 1.56516686e-03 1.26819782e+02] [-9.50301795e-01 3.11291369e-01 4.91742737e-03 -9.65192482e+01] [-5.16032555e-03 4.33524874e-05 -9.99986685e-01 -8.04434473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.690385723 meters 0.01690708291612927 Centerline is valid? [True, True] Translation: X:126.76, Y:-96.62, Z:-8.05 [[-2.36911246e-01 -9.71530705e-01 1.07243509e-03 1.26761404e+02] [-9.71519998e-01 2.36913670e-01 4.56136690e-03 -9.66239499e+01] [-4.68558254e-03 3.87469823e-05 -9.99989022e-01 -8.04558758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.720385723 meters 0.0168563938960302 Centerline is valid? [True, True] Translation: X:126.71, Y:-96.73, Z:-8.05 [[-1.60896265e-01 -9.86971224e-01 4.42011799e-04 1.26710617e+02] [-9.86967111e-01 1.60896871e-01 2.84944413e-03 -9.67309885e+01] [-2.88343768e-03 2.22138100e-05 -9.99995843e-01 -8.04787094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.750385723 meters 0.016750978002836897 Centerline is valid? [True, True] Translation: X:126.67, Y:-96.85, Z:-8.05 [[-8.35598697e-02 -9.96502740e-01 1.91201573e-04 1.26665947e+02] [-9.96499636e-01 8.35600867e-02 2.48760737e-03 -9.68524472e+01] [-2.49488439e-03 1.73318499e-05 -9.99996888e-01 -8.04750123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.780385723 meters 0.016630342212835984 Centerline is valid? [True, True] Translation: X:126.63, Y:-96.98, Z:-8.05 [[-5.68287431e-03 -9.99983852e-01 -2.23874168e-06 1.26630283e+02] [-9.99979839e-01 5.68284516e-03 2.83312227e-03 -9.69782060e+01] [-2.83306379e-03 1.83389743e-05 -9.99995987e-01 -8.04647797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.810385723 meters 0.016438297342846003 Centerline is valid? [True, True] Translation: X:125.82, Y:-97.11, Z:-9.02 [[-6.03759592e-02 9.98175690e-01 1.87937078e-04 1.25821910e+02] [-9.98169390e-01 -6.03762458e-02 3.54662359e-03 -9.71064740e+01] [ 3.55150038e-03 2.65377624e-05 9.99993693e-01 -9.02456342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.840385723 meters 0.016221848625006342 Centerline is valid? [True, True] Translation: X:126.62, Y:-97.29, Z:-8.05 [[ 7.08024109e-03 -9.99974934e-01 -4.40066058e-05 1.26624645e+02] [-9.99967036e-01 -7.08036007e-03 3.97429088e-03 -9.72938943e+01] [-3.97450284e-03 1.58662176e-05 -9.99992102e-01 -8.04532634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.870385723 meters 0.01624877932005371 Centerline is valid? [True, True] Translation: X:126.60, Y:-97.44, Z:-8.05 [[ 8.50903805e-02 -9.96373179e-01 -3.40217799e-04 1.26603672e+02] [-9.96365785e-01 -8.50910598e-02 3.83843423e-03 -9.74377406e+01] [-3.85346240e-03 1.23675460e-05 -9.99992575e-01 -8.04612142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.900385723 meters 0.016106441753476575 Centerline is valid? [True, True] Translation: X:126.59, Y:-97.54, Z:-8.05 [[ 1.62073529e-01 -9.86778514e-01 -5.79239844e-04 1.26587894e+02] [-9.86772441e-01 -1.62074563e-01 3.46189066e-03 -9.75368059e+01] [-3.50999936e-03 1.04970806e-05 -9.99993840e-01 -8.04726252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.930385723 meters 0.016086644619786632 Centerline is valid? [True, True] Translation: X:126.58, Y:-97.66, Z:-8.05 [[ 2.37896708e-01 -9.71290280e-01 -5.89501897e-04 1.26584868e+02] [-9.71287364e-01 -2.37897438e-01 2.38014917e-03 -9.76626960e+01] [-2.45205675e-03 6.34609233e-06 -9.99996994e-01 -8.04834333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.960385723 meters 0.01610947289963998 Centerline is valid? [True, True] Translation: X:126.59, Y:-97.79, Z:-8.05 [[ 3.10826953e-01 -9.50466426e-01 -4.22016301e-04 1.26590168e+02] [-9.50465569e-01 -3.10827239e-01 1.27683209e-03 -9.77863845e+01] [-1.34476019e-03 4.23813617e-06 -9.99999096e-01 -8.04938850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.990385723 meters 0.016087462822212156 Centerline is valid? [True, True] Translation: X:126.61, Y:-97.93, Z:-8.05 [[ 3.82811100e-01 -9.23826542e-01 -4.26355552e-04 1.26611807e+02] [-9.23825979e-01 -3.82811338e-01 1.01974740e-03 -9.79269357e+01] [-1.10528345e-03 3.50771239e-06 -9.99999389e-01 -8.04909042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.020385723 meters 0.016180961728890806 Centerline is valid? [True, True] Translation: X:126.63, Y:-98.03, Z:-8.05 [[ 4.52287626e-01 -8.91871922e-01 -6.15502747e-04 1.26629151e+02] [-8.91871113e-01 -4.52288045e-01 1.20087952e-03 -9.80327768e+01] [-1.34941526e-03 5.80617388e-06 -9.99999090e-01 -8.04910333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.050385723 meters 0.016177865301946637 Centerline is valid? [True, True] Translation: X:126.67, Y:-98.17, Z:-8.05 [[ 5.19058197e-01 -8.54738641e-01 -6.66347330e-04 1.26671896e+02] [-8.54737951e-01 -5.19058625e-01 1.08555146e-03 -9.81653636e+01] [-1.27373610e-03 6.08797032e-06 -9.99999189e-01 -8.04966873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.080385723 meters 0.01609746849342477 Centerline is valid? [True, True] Translation: X:126.71, Y:-98.27, Z:-8.05 [[ 5.83137971e-01 -8.12372693e-01 -8.45003825e-04 1.26708588e+02] [-8.12371859e-01 -5.83138583e-01 1.16438267e-03 -9.82720349e+01] [-1.43866702e-03 7.46157870e-06 -9.99998965e-01 -8.05033788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.110385723 meters 0.0162519220292003 Centerline is valid? [True, True] Translation: X:126.76, Y:-98.38, Z:-8.05 [[ 6.43430894e-01 -7.65502771e-01 -1.48051490e-03 1.26761683e+02] [-7.65500795e-01 -6.43432598e-01 1.73913677e-03 -9.83838270e+01] [-2.28392556e-03 1.43210063e-05 -9.99997392e-01 -8.04984758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.140385723 meters 0.016326193047856475 Centerline is valid? [True, True] Translation: X:126.82, Y:-98.49, Z:-8.05 [[ 6.99422607e-01 -7.14705917e-01 -1.86228609e-03 1.26817095e+02] [-7.14703458e-01 -6.99425086e-01 1.87483614e-03 -9.84872280e+01] [-2.64248609e-03 1.96795304e-05 -9.99996508e-01 -8.04901795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.170385723 meters 0.016005792870702203 Centerline is valid? [True, True] Translation: X:126.86, Y:-98.57, Z:-8.05 [[ 7.51493782e-01 -6.59738064e-01 -1.66789585e-03 1.26862262e+02] [-6.59736491e-01 -7.51495633e-01 1.44089977e-03 -9.85717683e+01] [-2.20403287e-03 1.75445382e-05 -9.99997571e-01 -8.04926793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.200385723 meters 0.016005792870702203 Centerline is valid? [True, True] Translation: X:126.86, Y:-98.58, Z:-8.05 [[ 8.00714513e-01 -5.99043502e-01 -1.77520497e-03 1.26855405e+02] [-5.99042078e-01 -8.00716481e-01 1.30624385e-03 -9.85814025e+01] [-2.20393277e-03 1.74940653e-05 -9.99997571e-01 -8.04926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.230385723 meters 0.016089526678046695 Centerline is valid? [True, True] Translation: X:126.85, Y:-98.59, Z:-8.05 [[ 8.44475506e-01 -5.35591747e-01 -1.61232498e-03 1.26847710e+02] [-5.35590809e-01 -8.44477045e-01 1.00262272e-03 -9.85904896e+01] [-1.89856789e-03 1.68561098e-05 -9.99998198e-01 -8.04980452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.260385723 meters 0.016118116270203747 Centerline is valid? [True, True] Translation: X:126.84, Y:-98.60, Z:-8.05 [[ 8.83727111e-01 -4.67999478e-01 -1.69793849e-03 1.26840969e+02] [-4.67998651e-01 -8.83728742e-01 8.79858517e-04 -9.85978900e+01] [-1.91229037e-03 1.70780977e-05 -9.99998171e-01 -8.05009729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.290385723 meters 0.01611716882026034 Centerline is valid? [True, True] Translation: X:126.84, Y:-98.60, Z:-8.05 [[ 9.17647069e-01 -3.97390592e-01 -2.13877560e-03 1.26835274e+02] [-3.97389566e-01 -9.17649561e-01 9.03291606e-04 -9.86044876e+01] [-2.32160608e-03 2.10242131e-05 -9.99997305e-01 -8.05016956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32038572300002 meters 0.016063377324552694 Centerline is valid? [True, True] Translation: X:126.83, Y:-98.61, Z:-8.05 [[ 9.45983057e-01 -3.24187622e-01 -4.29446342e-03 1.26831431e+02] [-3.24184484e-01 -9.45992803e-01 1.42697844e-03 -9.86133900e+01] [-4.52514024e-03 4.23009781e-05 -9.99989761e-01 -8.04948668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35038572300002 meters 0.016013540270072766 Centerline is valid? [True, True] Translation: X:126.83, Y:-98.62, Z:-8.05 [[ 9.68517194e-01 -2.48893612e-01 -5.13951420e-03 1.26828574e+02] [-2.48890370e-01 -9.68530829e-01 1.27131985e-03 -9.86224430e+01] [-5.29420134e-03 4.78804561e-05 -9.99985984e-01 -8.04803937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38038572300002 meters 0.0158014836237324 Centerline is valid? [True, True] Translation: X:126.82, Y:-98.63, Z:-8.05 [[ 9.85110948e-01 -1.71814518e-01 -6.01591391e-03 1.26821404e+02] [-1.71811638e-01 -9.85129316e-01 9.96217467e-04 -9.86339027e+01] [-6.09761777e-03 5.22192888e-05 -9.99981408e-01 -8.04693706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.410385723 meters 0.01566115091487926 Centerline is valid? [True, True] Translation: X:126.82, Y:-98.65, Z:-8.05 [[ 9.95534592e-01 -9.41818138e-02 -6.37668336e-03 1.26815210e+02] [-9.41802362e-02 -9.95555013e-01 5.47900839e-04 -9.86461506e+01] [-6.39994138e-03 5.51033074e-05 -9.99979519e-01 -8.04646617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.440385723 meters 0.015737464845479898 Centerline is valid? [True, True] Translation: X:126.81, Y:-98.66, Z:-8.05 [[ 9.99852863e-01 -1.61294353e-02 -5.83904813e-03 1.26810513e+02] [-1.61294597e-02 -9.99869911e-01 4.29159850e-05 -9.86573471e+01] [-5.83898074e-03 5.12710209e-05 -9.99982952e-01 -8.04793285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.470385723 meters 0.015864109283473076 Centerline is valid? [True, True] Translation: X:126.81, Y:-98.67, Z:-8.05 [[ 9.98090599e-01 6.15023138e-02 -5.71157521e-03 1.26805805e+02] [ 6.15009949e-02 -9.98106939e-01 -4.06418708e-04 -9.86665876e+01] [-5.72575854e-03 5.43751339e-05 -9.99983606e-01 -8.04889119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.500385723 meters 0.01602509443157816 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.68, Z:-8.05 [[ 9.90376789e-01 1.38281887e-01 -5.65121225e-03 1.26802463e+02] [ 1.38279285e-01 -9.90392910e-01 -8.50603664e-04 -9.86764487e+01] [-5.71454362e-03 6.09725382e-05 -9.99983670e-01 -8.05008646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.530385723 meters 0.016225580088453373 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.69, Z:-8.05 [[ 9.76591204e-01 2.15029805e-01 -5.63945766e-03 1.26798578e+02] [ 2.15025841e-01 -9.76607485e-01 -1.30722471e-03 -9.86861584e+01] [-5.78862884e-03 6.39950316e-05 -9.99983244e-01 -8.04953537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.560385723 meters 0.015897787984800613 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.70, Z:-8.05 [[ 9.56707858e-01 2.90991795e-01 -5.81806334e-03 1.26798513e+02] [ 2.90985990e-01 -9.56725546e-01 -1.83922062e-03 -9.87001714e+01] [-6.10148793e-03 6.66218957e-05 -9.99981384e-01 -8.04974311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.590385723 meters 0.016211526729322006 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.71, Z:-8.05 [[ 9.30728922e-01 3.65656044e-01 -6.27141631e-03 1.26797652e+02] [ 3.65647241e-01 -9.30750048e-01 -2.53831860e-03 -9.87134514e+01] [-6.76527257e-03 6.93604614e-05 -9.99977113e-01 -8.04873903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.620385723 meters 0.01592078619522645 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.73, Z:-8.05 [[ 8.99140662e-01 4.37612533e-01 -6.42976479e-03 1.26799015e+02] [ 4.37600770e-01 -8.99163648e-01 -3.20942941e-03 -9.87259965e+01] [-7.18589730e-03 7.20584607e-05 -9.99974179e-01 -8.04958493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.650385723 meters 0.015904908146130586 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.74, Z:-8.05 [[ 8.62012722e-01 5.06841859e-01 -6.73778060e-03 1.26801099e+02] [ 5.06825674e-01 -8.62039050e-01 -4.05127684e-03 -9.87382500e+01] [-7.86158667e-03 7.73719832e-05 -9.99969094e-01 -8.04982747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.680385723 meters 0.01588073536478179 Centerline is valid? [True, True] Translation: X:126.80, Y:-98.75, Z:-8.05 [[ 8.19448860e-01 5.73106864e-01 -7.21719195e-03 1.26804938e+02] [ 5.73083731e-01 -8.19480638e-01 -5.14995600e-03 -9.87507378e+01] [-8.86582419e-03 8.40702814e-05 -9.99960694e-01 -8.04997657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.710385723 meters 0.016092927598593532 Centerline is valid? [True, True] Translation: X:126.81, Y:-98.76, Z:-8.05 [[ 7.71966470e-01 6.35616102e-01 -7.74204046e-03 1.26808582e+02] [ 6.35582905e-01 -7.72005286e-01 -6.49691950e-03 -9.87625886e+01] [-1.01064428e-02 9.46954477e-05 -9.99948924e-01 -8.04956041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.740385723 meters 0.016209608762615676 Centerline is valid? [True, True] Translation: X:126.81, Y:-98.77, Z:-8.05 [[ 7.20002413e-01 6.93931213e-01 -7.48310716e-03 1.26811053e+02] [ 6.93892276e-01 -7.20041291e-01 -7.35178196e-03 -9.87705621e+01] [-1.04897771e-02 1.00830488e-04 -9.99944976e-01 -8.04999005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.770385723 meters 0.015886382003381428 Centerline is valid? [True, True] Translation: X:126.82, Y:-98.78, Z:-8.05 [[ 6.63343878e-01 7.48276419e-01 -7.56968051e-03 1.26820739e+02] [ 7.48225813e-01 -6.63387058e-01 -8.70315496e-03 -9.87845151e+01] [-1.15339937e-02 1.09354209e-04 -9.99933475e-01 -8.05173350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.800385723 meters 0.015918861733891256 Centerline is valid? [True, True] Translation: X:126.83, Y:-98.80, Z:-8.05 [[ 6.02254448e-01 7.98270723e-01 -7.30977216e-03 1.26828001e+02] [ 7.98209713e-01 -6.02298797e-01 -9.86979500e-03 -9.87963131e+01] [-1.22814354e-02 1.09396797e-04 -9.99924574e-01 -8.05120826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.830385723 meters 0.016398003426824157 Centerline is valid? [True, True] Translation: X:126.83, Y:-98.81, Z:-8.05 [[ 5.37308300e-01 8.43354666e-01 -7.25938924e-03 1.26833416e+02] [ 8.43274852e-01 -5.37357325e-01 -1.16029808e-02 -9.88063517e+01] [-1.36863140e-02 1.12717501e-04 -9.99906332e-01 -8.04943799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.860385723 meters 0.015887966901686982 Centerline is valid? [True, True] Translation: X:126.84, Y:-98.82, Z:-8.05 [[ 4.69270538e-01 8.83028923e-01 -6.71438780e-03 1.26843605e+02] [ 8.82935051e-01 -4.69318557e-01 -1.28758917e-02 -9.88164243e+01] [-1.45209715e-02 1.13908276e-04 -9.99894559e-01 -8.05143916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.890385723 meters 0.015756894563857027 Centerline is valid? [True, True] Translation: X:126.86, Y:-98.83, Z:-8.05 [[ 3.97966915e-01 9.17379219e-01 -6.14033785e-03 1.26857167e+02] [ 9.17265706e-01 -3.98014267e-01 -1.44314680e-02 -9.88267443e+01] [-1.56830709e-02 1.10925468e-04 -9.99877007e-01 -8.05149174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.920385723 meters 0.01576242224031312 Centerline is valid? [True, True] Translation: X:126.87, Y:-98.83, Z:-8.05 [[ 3.24954110e-01 9.45716482e-01 -5.01620035e-03 1.26869392e+02] [ 9.45598427e-01 -3.24992805e-01 -1.49429319e-02 -9.88347800e+01] [-1.57620060e-02 1.12455986e-04 -9.99875766e-01 -8.05201150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.950385723 meters 0.015994073505205576 Centerline is valid? [True, True] Translation: X:126.88, Y:-98.84, Z:-8.05 [[ 2.51271355e-01 9.67908709e-01 -3.92893177e-03 1.26880100e+02] [ 9.67781611e-01 -2.51302032e-01 -1.56857528e-02 -9.88415689e+01] [-1.61697253e-02 1.39032442e-04 -9.99869252e-01 -8.05469117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.980385723 meters 0.01616897153548189 Centerline is valid? [True, True] Translation: X:126.89, Y:-98.85, Z:-8.06 [[ 1.75991133e-01 9.84388295e-01 -2.60866302e-03 1.26890351e+02] [ 9.84266694e-01 -1.76010397e-01 -1.54730351e-02 -9.88468754e+01] [-1.56906265e-02 1.55496858e-04 -9.99876882e-01 -8.05665043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.010385723 meters 0.01634943566499393 Centerline is valid? [True, True] Translation: X:126.90, Y:-98.85, Z:-8.06 [[ 9.97095275e-02 9.95015620e-01 -1.38812269e-03 1.26900935e+02] [ 9.94892909e-01 -9.97190322e-02 -1.56273614e-02 -9.88530627e+01] [-1.56878910e-02 1.77163402e-04 -9.99876922e-01 -8.05737496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.040385723 meters 0.016581529899639073 Centerline is valid? [True, True] Translation: X:126.92, Y:-98.86, Z:-8.06 [[ 2.36462667e-02 9.99720374e-01 -1.68383422e-04 1.26916965e+02] [ 9.99583038e-01 -2.36458095e-02 -1.65718412e-02 -9.88566351e+01] [-1.65711888e-02 2.23548963e-04 -9.99862663e-01 -8.05769730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07038572300002 meters 0.0168727382767398 Centerline is valid? [True, True] Translation: X:126.93, Y:-98.86, Z:-8.06 [[-5.42040432e-02 9.98529208e-01 1.15854799e-03 1.26929968e+02] [ 9.98385399e-01 5.42159006e-02 -1.69479002e-02 -9.88606438e+01] [-1.69857851e-02 2.38032678e-04 -9.99855703e-01 -8.05640304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10038572300002 meters 0.01691666849950799 Centerline is valid? [True, True] Translation: X:126.94, Y:-98.86, Z:-8.06 [[-1.31830991e-01 9.91269102e-01 2.48144791e-03 1.26942871e+02] [ 9.91126783e-01 1.31854115e-01 -1.67986068e-02 -9.88623669e+01] [-1.69791289e-02 2.44852506e-04 -9.99855814e-01 -8.05671546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13038572300002 meters 0.017000187060337776 Centerline is valid? [True, True] Translation: X:126.96, Y:-98.86, Z:-8.06 [[-2.08846157e-01 9.77940616e-01 3.92856236e-03 1.26955396e+02] [ 9.77790094e-01 2.08882944e-01 -1.71595063e-02 -9.88632946e+01] [-1.76015878e-02 2.57612420e-04 -9.99845047e-01 -8.05685174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.160385723 meters 0.017303517446395168 Centerline is valid? [True, True] Translation: X:126.97, Y:-98.86, Z:-8.06 [[-2.83808260e-01 9.58866647e-01 5.25586836e-03 1.26969261e+02] [ 9.58719791e-01 2.83856789e-01 -1.67835167e-02 -9.88633320e+01] [-1.75850683e-02 2.75604343e-04 -9.99845333e-01 -8.05690697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.190385723 meters 0.01739368172453458 Centerline is valid? [True, True] Translation: X:126.98, Y:-98.86, Z:-8.06 [[-3.57389193e-01 9.33930619e-01 6.82375528e-03 1.26980559e+02] [ 9.33776097e-01 3.57454206e-01 -1.69909071e-02 -9.88616515e+01] [-1.83075084e-02 2.99492983e-04 -9.99832359e-01 -8.05683917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.220385723 meters 0.017837550360692674 Centerline is valid? [True, True] Translation: X:126.99, Y:-98.86, Z:-8.06 [[-4.28598081e-01 9.03456122e-01 8.40958703e-03 1.26990765e+02] [ 9.03296960e-01 4.28680452e-01 -1.69608854e-02 -9.88602229e+01] [-1.89284413e-02 3.26951451e-04 -9.99820788e-01 -8.05619650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.250385723 meters 0.018448723143630205 Centerline is valid? [True, True] Translation: X:127.00, Y:-98.86, Z:-8.05 [[-4.96708142e-01 8.67854085e-01 1.05028488e-02 1.27002982e+02] [ 8.67676257e-01 4.96819021e-01 -1.75719509e-02 -9.88567205e+01] [-2.04679044e-02 3.84941443e-04 -9.99790436e-01 -8.05476175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.280385723 meters 0.01855011217498645 Centerline is valid? [True, True] Translation: X:127.01, Y:-98.85, Z:-8.05 [[-5.63046325e-01 8.26333406e-01 1.23263270e-02 1.27011804e+02] [ 8.26150921e-01 5.63181089e-01 -1.73699725e-02 -9.88533479e+01] [-2.12953429e-02 4.03307247e-04 -9.99773147e-01 -8.05435771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.310385723 meters 0.01896579508721732 Centerline is valid? [True, True] Translation: X:127.02, Y:-98.85, Z:-8.05 [[-6.25692735e-01 7.79957114e-01 1.32477271e-02 1.27020975e+02] [ 7.79795757e-01 6.25832837e-01 -1.58693617e-02 -9.88490173e+01] [-2.06682841e-02 4.01177057e-04 -9.99786308e-01 -8.05497477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.340385723 meters 0.01915958444597445 Centerline is valid? [True, True] Translation: X:127.03, Y:-98.85, Z:-8.06 [[-6.84539529e-01 7.28836803e-01 1.42319485e-02 1.27027266e+02] [ 7.28691453e-01 6.84687339e-01 -1.45607231e-02 -9.88468130e+01] [-2.03568258e-02 4.03308733e-04 -9.99792697e-01 -8.05517061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.370385723 meters 0.01756739874044704 Centerline is valid? [True, True] Translation: X:127.04, Y:-98.83, Z:-8.06 [[-7.39264718e-01 6.73239590e-01 1.53665703e-02 1.27038394e+02] [ 6.73105643e-01 7.39424294e-01 -1.34353041e-02 -9.88349560e+01] [-2.04075940e-02 4.11078896e-04 -9.99791659e-01 -8.05848208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.400385723 meters 0.017664822566375762 Centerline is valid? [True, True] Translation: X:127.06, Y:-98.81, Z:-8.06 [[-7.84434304e-01 6.20023209e-01 1.52984585e-02 1.27059225e+02] [ 6.19915339e-01 7.84583364e-01 -1.15722425e-02 -9.88070180e+01] [-1.91779750e-02 4.06085083e-04 -9.99816003e-01 -8.05909848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.430385723 meters 0.017562355259686666 Centerline is valid? [True, True] Translation: X:127.07, Y:-98.78, Z:-8.06 [[-8.26212856e-01 5.63150102e-01 1.53061866e-02 1.27074274e+02] [ 5.63062210e-01 8.26354530e-01 -9.95686468e-03 -9.87788581e+01] [-1.82555460e-02 3.91845635e-04 -9.99833277e-01 -8.05953781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.460385723 meters 0.017455923883268762 Centerline is valid? [True, True] Translation: X:127.43, Y:-98.24, Z:-9.01 [[-8.12304592e-01 -5.83063645e-01 1.40725405e-02 1.27427824e+02] [ 5.82967199e-01 -8.12426374e-01 -1.06128439e-02 -9.82427766e+01] [ 1.76208665e-02 -4.17032321e-04 9.99844654e-01 -9.00946855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.490385723 meters 0.018734846284122017 Centerline is valid? [True, True] Translation: X:127.04, Y:-98.75, Z:-8.06 [[-8.28447099e-01 5.59864551e-01 1.50694533e-02 1.27041348e+02] [ 5.59780200e-01 8.28584058e-01 -9.72553400e-03 -9.87492518e+01] [-1.79312905e-02 3.78491141e-04 -9.99839150e-01 -8.05945870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.520385723 meters 0.01727694441313775 Centerline is valid? [True, True] Translation: X:127.06, Y:-98.72, Z:-8.06 [[-8.66929846e-01 4.98211414e-01 1.47658083e-02 1.27056290e+02] [ 4.98145497e-01 8.67055524e-01 -8.11064925e-03 -9.87215064e+01] [-1.68435937e-02 3.24157009e-04 -9.99858084e-01 -8.05965532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.550385723 meters 0.017048114442520253 Centerline is valid? [True, True] Translation: X:127.06, Y:-98.69, Z:-8.06 [[-9.00610599e-01 4.34357441e-01 1.53023862e-02 1.27064432e+02] [ 4.34300437e-01 9.00740541e-01 -7.04333278e-03 -9.86894610e+01] [-1.68428036e-02 3.02532857e-04 -9.99858104e-01 -8.05949532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.580385723 meters 0.01683018141733622 Centerline is valid? [True, True] Translation: X:127.07, Y:-98.66, Z:-8.06 [[-9.29710144e-01 3.67954657e-01 1.57613052e-02 1.27071362e+02] [ 3.67906815e-01 9.29843693e-01 -5.93982078e-03 -9.86576082e+01] [-1.68411349e-02 2.76379959e-04 -9.99858140e-01 -8.05913337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.610385723 meters 0.0162897638109418 Centerline is valid? [True, True] Translation: X:127.08, Y:-98.62, Z:-8.06 [[-9.54469246e-01 2.97839317e-01 1.67391500e-02 1.27078167e+02] [ 2.97797683e-01 9.54615991e-01 -4.98499107e-03 -9.86225136e+01] [-1.74641866e-02 2.26859430e-04 -9.99847464e-01 -8.05812375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.640385723 meters 0.01615792679049816 Centerline is valid? [True, True] Translation: X:127.08, Y:-98.59, Z:-8.06 [[-9.73475945e-01 2.28140090e-01 1.72245264e-02 1.27080412e+02] [ 2.28108133e-01 9.73628295e-01 -3.82400371e-03 -9.85901738e+01] [-1.76426948e-02 2.06478929e-04 -9.99844334e-01 -8.05728507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.670385723 meters 0.016061907914194103 Centerline is valid? [True, True] Translation: X:127.20, Y:-98.01, Z:-9.01 [[-9.62346124e-01 -2.71337356e-01 1.63088141e-02 1.27203628e+02] [ 2.71294168e-01 -9.62484276e-01 -4.84691521e-03 -9.80110732e+01] [ 1.70121263e-02 -2.39923897e-04 9.99855255e-01 -9.01291258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.700385723 meters 0.016121105471520507 Centerline is valid? [True, True] Translation: X:127.03, Y:-98.57, Z:-8.06 [[-9.74629761e-01 2.23235504e-01 1.62092170e-02 1.27030246e+02] [ 2.23207608e-01 9.74764525e-01 -3.53329442e-03 -9.85726425e+01] [-1.65889265e-02 1.74366671e-04 -9.99862379e-01 -8.05512355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.730385723 meters 0.01595756169795067 Centerline is valid? [True, True] Translation: X:127.15, Y:-98.01, Z:-9.01 [[-9.63362939e-01 -2.67743782e-01 1.56561219e-02 1.27151202e+02] [ 2.67705228e-01 -9.63490130e-01 -4.54749139e-03 -9.80056732e+01] [ 1.63020814e-02 -1.89658999e-04 9.99867094e-01 -9.01354156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.760385723 meters 0.016032909941193933 Centerline is valid? [True, True] Translation: X:126.98, Y:-98.56, Z:-8.06 [[-9.75376726e-01 2.19983734e-01 1.57289013e-02 1.26978415e+02] [ 2.19958076e-01 9.75503524e-01 -3.36451350e-03 -9.85618925e+01] [-1.60837369e-02 1.78030714e-04 -9.99870632e-01 -8.05767681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.790385723 meters 0.016364518858290274 Centerline is valid? [True, True] Translation: X:127.10, Y:-97.99, Z:-9.01 [[-9.64424478e-01 -2.63909224e-01 1.54060684e-02 1.27096910e+02] [ 2.63872551e-01 -9.64547505e-01 -4.40320507e-03 -9.79937967e+01] [ 1.60219312e-02 -1.81320187e-04 9.99871624e-01 -9.01296005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82038572300002 meters 0.016221108550949218 Centerline is valid? [True, True] Translation: X:126.93, Y:-98.55, Z:-8.06 [[-9.76339282e-01 2.15655835e-01 1.59426016e-02 1.26927853e+02] [ 2.15629962e-01 9.76469421e-01 -3.34489286e-03 -9.85495570e+01] [-1.62888087e-02 1.71952296e-04 -9.99867314e-01 -8.05608855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85038572300002 meters 0.016207146000495876 Centerline is valid? [True, True] Translation: X:126.92, Y:-98.52, Z:-8.06 [[-9.89334416e-01 1.44803164e-01 1.57942099e-02 1.26922953e+02] [ 1.44787178e-01 9.89460469e-01 -2.15699778e-03 -9.85164536e+01] [-1.59400865e-02 1.52806951e-04 -9.99872937e-01 -8.05508586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88038572300002 meters 0.015679274008852696 Centerline is valid? [True, True] Translation: X:126.92, Y:-98.48, Z:-8.06 [[-9.97325819e-01 7.16445501e-02 1.44315567e-02 1.26919007e+02] [ 7.16385324e-02 9.97430222e-01 -9.34175331e-04 -9.84826157e+01] [-1.44613994e-02 1.02178366e-04 -9.99895423e-01 -8.05538696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.910385723 meters 0.015408856568277082 Centerline is valid? [True, True] Translation: X:126.91, Y:-98.45, Z:-8.06 [[-9.99902269e-01 -7.21023649e-04 1.39618486e-02 1.26907422e+02] [-7.19819974e-04 9.99999737e-01 9.12368179e-05 -9.84520167e+01] [-1.39619107e-02 8.11778837e-05 -9.99902524e-01 -8.05683597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.940385723 meters 0.015543832756472576 Centerline is valid? [True, True] Translation: X:126.89, Y:-98.42, Z:-8.06 [[-9.97245563e-01 -7.29570556e-02 1.33624716e-02 1.26892161e+02] [-7.29496487e-02 9.97335081e-01 1.04153523e-03 -9.84235911e+01] [-1.34028490e-02 6.38787819e-05 -9.99910176e-01 -8.05633678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.970385723 meters 0.015318792489548105 Centerline is valid? [True, True] Translation: X:126.88, Y:-98.39, Z:-8.06 [[-9.89238381e-01 -1.45764959e-01 1.26492272e-02 1.26876896e+02] [-1.45752577e-01 9.89319249e-01 1.90022513e-03 -9.83947056e+01] [-1.27911102e-02 3.61181616e-05 -9.99918190e-01 -8.05744588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00038572299997 meters 0.015434396905613131 Centerline is valid? [True, True] Translation: X:126.85, Y:-98.37, Z:-8.06 [[-9.76101700e-01 -2.16948786e-01 1.25974596e-02 1.26853100e+02] [-2.16930380e-01 9.76182987e-01 2.82603394e-03 -9.83687531e+01] [-1.29105304e-02 2.57248287e-05 -9.99916655e-01 -8.05654500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.030385723 meters 0.015374033421322457 Centerline is valid? [True, True] Translation: X:126.82, Y:-98.35, Z:-8.06 [[-9.57750837e-01 -2.87335350e-01 1.23179514e-02 1.26816853e+02] [-2.87311374e-01 9.57830046e-01 3.71187073e-03 -9.83470215e+01] [-1.28650556e-02 1.59597518e-05 -9.99917242e-01 -8.05687371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.060385723 meters 0.015538833424686186 Centerline is valid? [True, True] Translation: X:126.77, Y:-98.33, Z:-8.05 [[-9.33990369e-01 -3.57096574e-01 1.20011281e-02 1.26768967e+02] [-3.57067086e-01 9.34067469e-01 4.58908812e-03 -9.83315319e+01] [-1.28486110e-02 9.56252380e-07 -9.99917453e-01 -8.05436802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.090385723 meters 0.015538833424686186 Centerline is valid? [True, True] Translation: X:126.70, Y:-98.33, Z:-8.05 [[-9.05276866e-01 -4.24662798e-01 1.16320597e-02 1.26702251e+02] [-4.24627732e-01 9.05351594e-01 5.45715589e-03 -9.83282486e+01] [-1.28485548e-02 9.41863338e-07 -9.99917454e-01 -8.05436974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.120385723 meters 0.0154835668346819 Centerline is valid? [True, True] Translation: X:126.62, Y:-98.34, Z:-8.06 [[-8.71599912e-01 -4.90090340e-01 1.11826501e-02 1.26624911e+02] [-4.90049979e-01 8.71671646e-01 6.28959408e-03 -9.83356679e+01] [-1.28300683e-02 1.95221811e-06 -9.99917691e-01 -8.05509279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.150385723 meters 0.015381390137965079 Centerline is valid? [True, True] Translation: X:126.55, Y:-98.35, Z:-8.06 [[-8.32765169e-01 -5.53540137e-01 9.77193104e-03 1.26549678e+02] [-5.53502058e-01 8.32822500e-01 6.49270042e-03 -9.83483733e+01] [-1.17322543e-02 -1.88918256e-06 -9.99931175e-01 -8.05649361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18038572300003 meters 0.015331878668288184 Centerline is valid? [True, True] Translation: X:126.47, Y:-98.37, Z:-8.06 [[-7.89234731e-01 -6.14026325e-01 8.95612973e-03 1.26472134e+02] [-6.13986823e-01 7.89285546e-01 6.96482097e-03 -9.83689151e+01] [-1.13455272e-02 -2.06703319e-06 -9.99935637e-01 -8.05734083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.210385723 meters 0.015362648994943131 Centerline is valid? [True, True] Translation: X:126.39, Y:-98.40, Z:-8.06 [[-7.39882484e-01 -6.72699534e-01 7.01757508e-03 1.26386606e+02] [-6.72669557e-01 7.39915763e-01 6.35061454e-03 -9.84030201e+01] [-9.46446986e-03 -2.18006578e-05 -9.99955211e-01 -8.05783738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24038572300003 meters 0.01545748461114811 Centerline is valid? [True, True] Translation: X:126.30, Y:-98.44, Z:-8.06 [[-6.86385758e-01 -7.27212955e-01 5.99249268e-03 1.26301588e+02] [-7.27185655e-01 6.86411915e-01 6.30129879e-03 -9.84445529e+01] [-8.69570449e-03 -3.25329676e-05 -9.99962191e-01 -8.05761068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.270385723 meters 0.01578714753689009 Centerline is valid? [True, True] Translation: X:126.22, Y:-98.50, Z:-8.06 [[-6.27049515e-01 -7.78959576e-01 5.55748227e-03 1.26215416e+02] [-7.78929888e-01 6.27074139e-01 6.80102828e-03 -9.84951071e+01] [-8.78267951e-03 -6.43075607e-05 -9.99961429e-01 -8.05631691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.300385723 meters 0.015997248391285336 Centerline is valid? [True, True] Translation: X:126.13, Y:-98.56, Z:-8.06 [[-5.65150401e-01 -8.24975987e-01 4.43229881e-03 1.26131311e+02] [-8.24951590e-01 5.65167777e-01 6.34492943e-03 -9.85570298e+01] [-7.73940688e-03 -7.05925402e-05 -9.99970048e-01 -8.05645417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.330385723 meters 0.01619385127371866 Centerline is valid? [True, True] Translation: X:126.05, Y:-98.63, Z:-8.06 [[-5.00112239e-01 -8.65954058e-01 3.36431022e-03 1.26052519e+02] [-8.65935391e-01 5.00123550e-01 5.68619881e-03 -9.86261353e+01] [-6.60655770e-03 -6.95376634e-05 -9.99978174e-01 -8.05716360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.360385723 meters 0.016564641443721242 Centerline is valid? [True, True] Translation: X:125.98, Y:-98.71, Z:-8.06 [[-4.31968604e-01 -9.01883938e-01 2.91340468e-03 1.25977014e+02] [-9.01864632e-01 4.31978421e-01 5.90165110e-03 -9.87055051e+01] [-6.58113229e-03 -7.81686554e-05 -9.99978341e-01 -8.05734284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.390385723 meters 0.01693099948769248 Centerline is valid? [True, True] Translation: X:125.91, Y:-98.79, Z:-8.06 [[-3.61666077e-01 -9.32304810e-01 2.32171915e-03 1.25908548e+02] [-9.32286967e-01 3.61673521e-01 5.76850801e-03 -9.87928580e+01] [-6.21771210e-03 -7.82348407e-05 -9.99980667e-01 -8.05667667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.420385723 meters 0.016902620693514715 Centerline is valid? [True, True] Translation: X:125.84, Y:-98.89, Z:-8.06 [[-2.89687100e-01 -9.57119505e-01 1.90710637e-03 1.25844925e+02] [-9.57100554e-01 2.89693366e-01 6.02355513e-03 -9.88893931e+01] [-6.31773817e-03 -8.03463421e-05 -9.99980040e-01 -8.05636409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.450385723 meters 0.01675459289575086 Centerline is valid? [True, True] Translation: X:125.79, Y:-98.99, Z:-8.06 [[-2.14864003e-01 -9.76642973e-01 1.40097078e-03 1.25791493e+02] [-9.76624716e-01 2.14868553e-01 5.97237417e-03 -9.89912262e+01] [-6.13390184e-03 -8.49744669e-05 -9.99981184e-01 -8.05661755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.480385723 meters 0.01670679038064532 Centerline is valid? [True, True] Translation: X:125.74, Y:-99.09, Z:-8.06 [[-1.39380869e-01 -9.90238494e-01 8.35619652e-04 1.25743636e+02] [-9.90223906e-01 1.39383352e-01 5.37563756e-03 -9.90946277e+01] [-5.43963471e-03 -7.81895211e-05 -9.99985202e-01 -8.05718834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.510385723 meters 0.01706382097844982 Centerline is valid? [True, True] Translation: X:125.70, Y:-99.21, Z:-8.06 [[-6.26415403e-02 -9.98036028e-01 3.51182063e-04 1.25702397e+02] [-9.98025891e-01 6.26424870e-02 4.49879773e-03 -9.92079534e+01] [-4.51196114e-03 -6.86771716e-05 -9.99989819e-01 -8.05742345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.540385723 meters 0.017058509228570193 Centerline is valid? [True, True] Translation: X:125.67, Y:-99.32, Z:-8.06 [[ 1.43598312e-02 -9.99896892e-01 5.82624964e-06 1.25670572e+02] [-9.99890321e-01 -1.43597157e-02 3.62566886e-03 -9.93201416e+01] [-3.62521136e-03 -5.78896033e-05 -9.99993427e-01 -8.05775564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.570385723 meters 0.017316659563702548 Centerline is valid? [True, True] Translation: X:125.65, Y:-99.44, Z:-8.06 [[ 9.20752938e-02 -9.95752002e-01 -3.02303925e-04 1.25647447e+02] [-9.95743856e-01 -9.20757636e-02 4.02837664e-03 -9.94383852e+01] [-4.03909897e-03 -6.98966867e-05 -9.99991840e-01 -8.05685989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.600385723 meters 0.017461477828565657 Centerline is valid? [True, True] Translation: X:125.08, Y:-99.59, Z:-9.01 [[-9.13478476e-03 9.99958276e-01 -3.84660424e-05 1.25080850e+02] [-9.99949823e-01 -9.13454935e-03 4.11234768e-03 -9.95875157e+01] [ 4.11182472e-03 7.60295232e-05 9.99991544e-01 -9.01341375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.630385723 meters 0.017291484076698962 Centerline is valid? [True, True] Translation: X:125.67, Y:-99.71, Z:-8.06 [[ 9.85042439e-02 -9.95136573e-01 -3.39910261e-04 1.25672108e+02] [-9.95128367e-01 -9.85048122e-02 4.04161319e-03 -9.97066676e+01] [-4.05543989e-03 -5.98617085e-05 -9.99991775e-01 -8.05681972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.660385723 meters 0.01705979721781867 Centerline is valid? [True, True] Translation: X:125.66, Y:-99.82, Z:-8.06 [[ 1.72980615e-01 -9.84925033e-01 -6.22017810e-04 1.25661351e+02] [-9.84917534e-01 -1.72981726e-01 3.84368185e-03 -9.98235805e+01] [-3.89333619e-03 -5.22462036e-05 -9.99992420e-01 -8.05763361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.690385723 meters 0.016891672448823346 Centerline is valid? [True, True] Translation: X:125.66, Y:-99.94, Z:-8.06 [[ 2.45652132e-01 -9.69357658e-01 -8.72161254e-04 1.25659670e+02] [-9.69350931e-01 -2.45653677e-01 3.61157460e-03 -9.99442524e+01] [-3.71515712e-03 -4.17606769e-05 -9.99993098e-01 -8.05814767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.720385723 meters 0.016504484952898902 Centerline is valid? [True, True] Translation: X:125.67, Y:-100.06, Z:-8.06 [[ 3.15647328e-01 -9.48875886e-01 -1.14813684e-03 1.25668799e+02] [-9.48869278e-01 -3.15649414e-01 3.54115213e-03 -1.00060351e+02] [-3.72252259e-03 -2.83234272e-05 -9.99993071e-01 -8.05836397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.750385723 meters 0.016458098603241638 Centerline is valid? [True, True] Translation: X:125.68, Y:-100.18, Z:-8.06 [[ 3.85650249e-01 -9.22643956e-01 -1.42026139e-03 1.25683018e+02] [-9.22637490e-01 -3.85652863e-01 3.45420912e-03 -1.00176750e+02] [-3.73473304e-03 -2.17301985e-05 -9.99993026e-01 -8.05778731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.780385723 meters 0.016356461734407152 Centerline is valid? [True, True] Translation: X:125.71, Y:-100.29, Z:-8.06 [[ 4.53611253e-01 -8.91198290e-01 -1.56197181e-03 1.25707841e+02] [-8.91192893e-01 -4.53613942e-01 3.10144462e-03 -1.00293933e+02] [-3.47253433e-03 -1.48319989e-05 -9.99993971e-01 -8.05802756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.810385723 meters 0.017458450049777724 Centerline is valid? [True, True] Translation: X:125.74, Y:-100.41, Z:-8.06 [[ 5.17806224e-01 -8.55495579e-01 -2.00710014e-03 1.25744848e+02] [-8.55489116e-01 -5.17810114e-01 3.32550972e-03 -1.00405289e+02] [-3.88425561e-03 -4.91730706e-06 -9.99992456e-01 -8.05758052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.840385723 meters 0.016413581690177936 Centerline is valid? [True, True] Translation: X:125.78, Y:-100.51, Z:-8.06 [[ 5.80732077e-01 -8.14091558e-01 -2.27829612e-03 1.25784541e+02] [-8.14085286e-01 -5.80736546e-01 3.19554944e-03 -1.00512665e+02] [-3.92455964e-03 -1.03070916e-06 -9.99992299e-01 -8.05904072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.870385723 meters 0.01637176073110439 Centerline is valid? [True, True] Translation: X:125.83, Y:-100.61, Z:-8.06 [[ 6.40309905e-01 -7.68111629e-01 -2.78404796e-03 1.25827726e+02] [-7.68104391e-01 -6.40315957e-01 3.33467062e-03 -1.00612828e+02] [-4.34406962e-03 3.21683222e-06 -9.99990564e-01 -8.05928712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.900385723 meters 0.016431456502034154 Centerline is valid? [True, True] Translation: X:125.88, Y:-100.71, Z:-8.06 [[ 6.96915083e-01 -7.17144316e-01 -3.66024948e-03 1.25880358e+02] [-7.17134452e-01 -6.96924695e-01 3.76127410e-03 -1.00711546e+02] [-5.24829459e-03 3.60235320e-06 -9.99986228e-01 -8.05774122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93038572300003 meters 0.01648627526644308 Centerline is valid? [True, True] Translation: X:125.94, Y:-100.80, Z:-8.06 [[ 7.49544364e-01 -6.61942057e-01 -3.99495599e-03 1.25935914e+02] [-6.61932666e-01 -7.49555010e-01 3.52599982e-03 -1.00802798e+02] [-5.32844685e-03 1.49858467e-06 -9.99985804e-01 -8.05726476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.960385723 meters 0.01655300257592758 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.81, Z:-8.06 [[ 7.99360947e-01 -6.00831302e-01 -4.88094842e-03 1.25931435e+02] [-6.00820087e-01 -7.99375848e-01 3.67108961e-03 -1.00814243e+02] [-6.10741783e-03 -1.95381884e-06 -9.99981350e-01 -8.05723147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99038572300003 meters 0.016949425198317547 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.83, Z:-8.06 [[ 8.44243241e-01 -5.35933227e-01 -5.37832862e-03 1.25929218e+02] [-5.35922303e-01 -8.44260372e-01 3.42194815e-03 -1.00826171e+02] [-6.37464544e-03 -6.59034106e-06 -9.99979682e-01 -8.05784263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.020385723 meters 0.01664848824415964 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.84, Z:-8.06 [[ 8.83889822e-01 -4.67661208e-01 -5.63700625e-03 1.25926854e+02] [-4.67651618e-01 -8.83907797e-01 2.99499927e-03 -1.00836238e+02] [-6.38323875e-03 -1.10942810e-05 -9.99979627e-01 -8.05883243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.050385723 meters 0.01658083868273067 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.85, Z:-8.06 [[ 9.17704064e-01 -3.97227269e-01 -5.45421090e-03 1.25925362e+02] [-3.97220190e-01 -9.17720271e-01 2.37144896e-03 -1.00848599e+02] [-5.94744410e-03 -9.76566029e-06 -9.99982314e-01 -8.05840836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.080385723 meters 0.01666416796521783 Centerline is valid? [True, True] Translation: X:125.92, Y:-100.86, Z:-8.06 [[ 9.46022505e-01 -3.24058982e-01 -5.21493430e-03 1.25924778e+02] [-3.24053997e-01 -9.46036879e-01 1.79740436e-03 -1.00860575e+02] [-5.51598520e-03 -1.04646743e-05 -9.99984787e-01 -8.05841701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.110385723 meters 0.016714160734500324 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.87, Z:-8.06 [[ 9.68543109e-01 -2.48807843e-01 -4.34790306e-03 1.25925879e+02] [-2.48805288e-01 -9.68552868e-01 1.12752869e-03 -1.00868903e+02] [-4.49171195e-03 -1.02788699e-05 -9.99989912e-01 -8.06030128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.140385723 meters 0.01671606615371241 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.88, Z:-8.06 [[ 9.85010427e-01 -1.72457806e-01 -3.57269170e-03 1.25927816e+02] [-1.72456642e-01 -9.85016906e-01 6.33769798e-04 -1.00876527e+02] [-3.62846028e-03 -8.13544596e-06 -9.99993417e-01 -8.06162013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.170385723 meters 0.01687022073614089 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.88, Z:-8.06 [[ 9.95505370e-01 -9.46577251e-02 -2.99570350e-03 1.25926886e+02] [-9.46572736e-02 -9.95509877e-01 2.92438401e-04 -1.00882899e+02] [-3.00993397e-03 -7.55887265e-06 -9.99995470e-01 -8.06398464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.200385723 meters 0.016855252370573594 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.89, Z:-8.06 [[ 9.99875133e-01 -1.53442938e-02 -3.77771953e-03 1.25925392e+02] [-1.53441349e-02 -9.99882269e-01 7.10440516e-05 -1.00891725e+02] [-3.77836490e-03 -1.30693426e-05 -9.99992862e-01 -8.06352717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.230385723 meters 0.016915070934304426 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.90, Z:-8.06 [[ 9.97932627e-01 6.40299407e-02 -5.53527937e-03 1.25925873e+02] [ 6.40290913e-02 -9.97947978e-01 -3.30721689e-04 -1.00901808e+02] [-5.54509695e-03 -2.43809443e-05 -9.99984626e-01 -8.06165301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.260385723 meters 0.017231276090889543 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.91, Z:-8.06 [[ 9.89355921e-01 1.45279763e-01 -8.28565530e-03 1.25925794e+02] [ 1.45275209e-01 -9.89390614e-01 -1.15211222e-03 -1.00910986e+02] [-8.36512817e-03 -6.38512586e-05 -9.99965010e-01 -8.05888502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.290385723 meters 0.01713250379783991 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.92, Z:-8.06 [[ 9.74551842e-01 2.23995472e-01 -8.64500955e-03 1.25927064e+02] [ 2.23987414e-01 -9.74590181e-01 -1.90180634e-03 -1.00920906e+02] [-8.85133744e-03 -8.29644569e-05 -9.99960823e-01 -8.06038596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.320385723 meters 0.01745831901119047 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.93, Z:-8.06 [[ 9.53685969e-01 3.00687783e-01 -8.36235365e-03 1.25928997e+02] [ 3.00677069e-01 -9.53722627e-01 -2.53999873e-03 -1.00931709e+02] [-8.73911248e-03 -9.20068304e-05 -9.99961809e-01 -8.05997509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.350385723 meters 0.01729725282238072 Centerline is valid? [True, True] Translation: X:125.93, Y:-100.94, Z:-8.06 [[ 9.26920802e-01 3.75172410e-01 -7.96801238e-03 1.25931447e+02] [ 3.75159445e-01 -9.26955044e-01 -3.12041208e-03 -1.00940324e+02] [-8.55668178e-03 -9.69002400e-05 -9.99963386e-01 -8.06063180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.380385723 meters 0.01744453858599427 Centerline is valid? [True, True] Translation: X:125.94, Y:-100.95, Z:-8.06 [[ 8.94410030e-01 4.47175681e-01 -8.03792668e-03 1.25935388e+02] [ 4.47158694e-01 -8.94446141e-01 -3.89919002e-03 -1.00949749e+02] [-8.93311545e-03 -1.06754129e-04 -9.99960093e-01 -8.05949687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.410385723 meters 0.017677135282661204 Centerline is valid? [True, True] Translation: X:125.94, Y:-100.96, Z:-8.06 [[ 8.56595783e-01 5.15929115e-01 -7.79831467e-03 1.25938558e+02] [ 5.15908889e-01 -8.56631272e-01 -4.56965107e-03 -1.00958892e+02] [-9.03789625e-03 -1.08876024e-04 -9.99959151e-01 -8.05797369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.440385723 meters 0.017289923173164683 Centerline is valid? [True, True] Translation: X:125.94, Y:-100.97, Z:-8.06 [[ 8.13583864e-01 5.81393566e-01 -7.92579286e-03 1.25942445e+02] [ 5.81367362e-01 -8.13622460e-01 -5.52106193e-03 -1.00965998e+02] [-9.65851296e-03 -1.15950391e-04 -9.99953349e-01 -8.05869740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.470385723 meters 0.017177506479950453 Centerline is valid? [True, True] Translation: X:125.95, Y:-100.97, Z:-8.06 [[ 7.65715049e-01 6.43128802e-01 -8.11217426e-03 1.25946530e+02] [ 6.43094406e-01 -7.65758009e-01 -6.65249798e-03 -1.00972389e+02] [-1.04903755e-02 -1.22976070e-04 -9.99944967e-01 -8.06018298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.500385723 meters 0.01773343393205199 Centerline is valid? [True, True] Translation: X:125.95, Y:-100.98, Z:-8.06 [[ 7.13363478e-01 7.00756519e-01 -7.26970891e-03 1.25952087e+02] [ 7.00721737e-01 -7.13400510e-01 -6.98277364e-03 -1.00981435e+02] [-1.00794382e-02 -1.12787365e-04 -9.99949195e-01 -8.05900212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.530385723 meters 0.01738669508427965 Centerline is valid? [True, True] Translation: X:125.95, Y:-100.99, Z:-8.06 [[ 6.56781146e-01 7.54057529e-01 -5.98072646e-03 1.25954149e+02] [ 7.54027576e-01 -6.56808370e-01 -6.72168529e-03 -1.00985539e+02] [-8.99672860e-03 -9.49565011e-05 -9.99959524e-01 -8.05998892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.560385723 meters 0.017106579029009073 Centerline is valid? [True, True] Translation: X:125.96, Y:-100.99, Z:-8.06 [[ 5.95691895e-01 8.03195612e-01 -5.28922915e-03 1.25960400e+02] [ 8.03165326e-01 -5.95715369e-01 -6.97559973e-03 -1.00992790e+02] [-8.75364619e-03 -9.28172353e-05 -9.99961682e-01 -8.06005271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.590385723 meters 0.017432549391718625 Centerline is valid? [True, True] Translation: X:125.97, Y:-101.00, Z:-8.06 [[ 5.30666792e-01 8.47566702e-01 -4.84159657e-03 1.25967635e+02] [ 8.47533102e-01 -5.30688869e-01 -7.54755347e-03 -1.01001600e+02] [-8.96643641e-03 -9.81773717e-05 -9.99959796e-01 -8.05848803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.620385723 meters 0.017274952344465667 Centerline is valid? [True, True] Translation: X:125.97, Y:-101.01, Z:-8.06 [[ 4.62186067e-01 8.86772177e-01 -4.37558617e-03 1.25972534e+02] [ 8.86734599e-01 -4.62206766e-01 -8.16437839e-03 -1.01006242e+02] [-9.26236913e-03 -1.06521715e-04 -9.99957098e-01 -8.05877981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.650385723 meters 0.01731205396615813 Centerline is valid? [True, True] Translation: X:125.98, Y:-101.01, Z:-8.06 [[ 3.91214725e-01 9.20291638e-01 -3.78686201e-03 1.25975196e+02] [ 9.20251192e-01 -3.91233037e-01 -8.62874747e-03 -1.01009759e+02] [-9.42250967e-03 -1.09171211e-04 -9.99955601e-01 -8.05969671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68038572300003 meters 0.017261765255332795 Centerline is valid? [True, True] Translation: X:125.98, Y:-101.02, Z:-8.06 [[ 3.18133324e-01 9.48040469e-01 -3.23389221e-03 1.25982470e+02] [ 9.47995015e-01 -3.18149740e-01 -9.28408553e-03 -1.01015788e+02] [-9.83055076e-03 -1.12136708e-04 -9.99951673e-01 -8.05975780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.710385723 meters 0.01748911788212821 Centerline is valid? [True, True] Translation: X:125.99, Y:-101.02, Z:-8.06 [[ 2.43293114e-01 9.69949129e-01 -2.67347869e-03 1.25990929e+02] [ 9.69895689e-01 -2.43307776e-01 -1.01822769e-02 -1.01022467e+02] [-1.05267687e-02 -1.15717603e-04 -9.99944585e-01 -8.05732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74038572300003 meters 0.017196379768749055 Centerline is valid? [True, True] Translation: X:126.00, Y:-101.03, Z:-8.06 [[ 1.67177212e-01 9.85924993e-01 -1.92067548e-03 1.25997963e+02] [ 9.85867419e-01 -1.67188207e-01 -1.06552836e-02 -1.01027479e+02] [-1.08264247e-02 -1.12210774e-04 -9.99941386e-01 -8.05630685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.770385723 meters 0.017200529475453193 Centerline is valid? [True, True] Translation: X:126.00, Y:-101.03, Z:-8.06 [[ 8.97424205e-02 9.95964464e-01 -1.04174666e-03 1.26004360e+02] [ 9.95910252e-01 -8.97484055e-02 -1.03920260e-02 -1.01032887e+02] [-1.04435837e-02 -1.04880608e-04 -9.99945459e-01 -8.05627848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.800385723 meters 0.01727067309296561 Centerline is valid? [True, True] Translation: X:126.01, Y:-101.04, Z:-8.06 [[ 1.26392581e-02 9.99920098e-01 -2.18028373e-04 1.26007550e+02] [ 9.99868854e-01 -1.26408178e-02 -1.01235131e-02 -1.01036724e+02] [-1.01254603e-02 -9.00460842e-05 -9.99948732e-01 -8.05735872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.830385723 meters 0.01724157031656225 Centerline is valid? [True, True] Translation: X:126.01, Y:-101.04, Z:-8.06 [[-6.50680412e-02 9.97880658e-01 5.85844471e-04 1.26012903e+02] [ 9.97827664e-01 6.50706235e-02 -1.02843287e-02 -1.01041613e+02] [-1.03006540e-02 -8.46093055e-05 -9.99946943e-01 -8.05752824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.860385723 meters 0.01726323592610077 Centerline is valid? [True, True] Translation: X:126.02, Y:-101.05, Z:-8.06 [[-1.42763478e-01 9.89755897e-01 1.36126132e-03 1.26017570e+02] [ 9.89705411e-01 1.42769945e-01 -9.99706787e-03 -1.01045652e+02] [-1.00890041e-02 -7.99684811e-05 -9.99949102e-01 -8.05807654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.890385723 meters 0.01715979760656883 Centerline is valid? [True, True] Translation: X:126.02, Y:-101.05, Z:-8.06 [[-2.18654275e-01 9.75800455e-01 1.94427112e-03 1.26021019e+02] [ 9.75759341e-01 2.18662910e-01 -8.95766603e-03 -1.01049736e+02] [-9.16603457e-03 -6.14912656e-05 -9.99957989e-01 -8.05785856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.920385723 meters 0.017179068264693242 Centerline is valid? [True, True] Translation: X:126.03, Y:-101.05, Z:-8.06 [[-2.93928585e-01 9.55823894e-01 2.58271532e-03 1.26025932e+02] [ 9.55785316e-01 2.93939927e-01 -8.58769427e-03 -1.01053225e+02] [-8.96748653e-03 -5.56474488e-05 -9.99959790e-01 -8.05790553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.950385723 meters 0.017197193932042523 Centerline is valid? [True, True] Translation: X:126.03, Y:-101.06, Z:-8.06 [[-3.67362874e-01 9.30072603e-01 3.07751185e-03 1.26030947e+02] [ 9.30038865e-01 3.67375762e-01 -7.92203040e-03 -1.01058069e+02] [-8.49866670e-03 -4.80542254e-05 -9.99963885e-01 -8.05778181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.980385723 meters 0.017197193932042523 Centerline is valid? [True, True] Translation: X:126.04, Y:-101.06, Z:-8.06 [[-4.39095690e-01 8.98432729e-01 3.68866735e-03 1.26037004e+02] [ 8.98400105e-01 4.39111181e-01 -7.65652969e-03 -1.01061471e+02] [-8.49861194e-03 -4.80500572e-05 -9.99963885e-01 -8.05778227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.010385723 meters 0.017088623777983064 Centerline is valid? [True, True] Translation: X:126.04, Y:-101.07, Z:-8.06 [[-5.07319116e-01 8.61749880e-01 3.80253393e-03 1.26040753e+02] [ 8.61725145e-01 5.07333366e-01 -6.52916207e-03 -1.01065446e+02] [-7.55565697e-03 -3.56296244e-05 -9.99971455e-01 -8.05848796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.040385723 meters 0.017009304932734687 Centerline is valid? [True, True] Translation: X:126.04, Y:-101.07, Z:-8.06 [[-5.71812744e-01 8.20376538e-01 3.53863048e-03 1.26041593e+02] [ 8.20360632e-01 5.71823693e-01 -5.10866687e-03 -1.01072398e+02] [-6.21450318e-03 -1.82476870e-05 -9.99980690e-01 -8.05978429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.070385723 meters 0.017041312317769144 Centerline is valid? [True, True] Translation: X:126.04, Y:-101.08, Z:-8.06 [[-6.33469905e-01 7.73757894e-01 3.82107896e-03 1.26044968e+02] [ 7.73743711e-01 6.33481429e-01 -4.68483452e-03 -1.01077130e+02] [-6.04551025e-03 -1.11658662e-05 -9.99981726e-01 -8.06013731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.100385723 meters 0.01716185672635375 Centerline is valid? [True, True] Translation: X:126.05, Y:-101.08, Z:-8.06 [[-6.91879726e-01 7.21997824e-01 4.64608980e-03 1.26052985e+02] [ 7.21981450e-01 6.91895326e-01 -4.86247814e-03 -1.01076802e+02] [-6.72530646e-03 -9.85939214e-06 -9.99977385e-01 -8.05905094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.130385723 meters 0.017129185305295707 Centerline is valid? [True, True] Translation: X:126.06, Y:-101.08, Z:-8.06 [[-7.46445901e-01 6.65422477e-01 5.60753635e-03 1.26062487e+02] [ 6.65403573e-01 7.46466963e-01 -5.01578740e-03 -1.01076666e+02] [-7.52345831e-03 -1.27392281e-05 -9.99971698e-01 -8.05735830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.160385723 meters 0.01725425644932605 Centerline is valid? [True, True] Translation: X:126.09, Y:-101.06, Z:-8.06 [[-7.92093418e-01 6.10368088e-01 6.23019365e-03 1.26086248e+02] [ 6.10349019e-01 7.92117919e-01 -4.82478022e-03 -1.01060498e+02] [-7.87993991e-03 -1.90840733e-05 -9.99968953e-01 -8.05711835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.190385723 meters 0.01728671966796073 Centerline is valid? [True, True] Translation: X:126.11, Y:-101.04, Z:-8.06 [[-8.34019297e-01 5.51693844e-01 6.76122656e-03 1.26109785e+02] [ 5.51675417e-01 8.34046702e-01 -4.50918048e-03 -1.01044682e+02] [-8.12686583e-03 -3.07410476e-05 -9.99966976e-01 -8.05885351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.220385723 meters 0.017288721627214215 Centerline is valid? [True, True] Translation: X:126.13, Y:-101.02, Z:-8.06 [[-8.71069412e-01 4.91112559e-01 6.82156206e-03 1.26127608e+02] [ 4.91097220e-01 8.71096122e-01 -3.88168158e-03 -1.01022015e+02] [-7.84857883e-03 -3.11639328e-05 -9.99969199e-01 -8.05851985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.250385723 meters 0.017314908731325136 Centerline is valid? [True, True] Translation: X:126.11, Y:-100.98, Z:-8.06 [[-9.03715010e-01 4.28076289e-01 7.06202462e-03 1.26113051e+02] [ 4.28062941e-01 9.03742602e-01 -3.38060488e-03 -1.00982739e+02] [-7.82940929e-03 -3.21123404e-05 -9.99969349e-01 -8.05755192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.280385723 meters 0.017311537324901524 Centerline is valid? [True, True] Translation: X:126.14, Y:-100.97, Z:-8.06 [[-9.31760832e-01 3.62994657e-01 7.52529619e-03 1.26141476e+02] [ 3.62982533e-01 9.31791220e-01 -2.96694598e-03 -1.00966852e+02] [-8.08899046e-03 -3.29329796e-05 -9.99967283e-01 -8.05789751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.310385723 meters 0.01733538221144809 Centerline is valid? [True, True] Translation: X:126.43, Y:-100.22, Z:-9.01 [[-9.01812761e-01 -4.32072169e-01 6.88370923e-03 1.26434311e+02] [ 4.32059607e-01 -9.01839033e-01 -3.29460682e-03 -1.00219433e+02] [ 7.63150559e-03 3.05423100e-06 9.99970880e-01 -9.01001535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.340385723 meters 0.01733551598041351 Centerline is valid? [True, True] Translation: X:126.08, Y:-100.95, Z:-8.06 [[-9.33006782e-01 3.59797045e-01 6.66568229e-03 1.26083720e+02] [ 3.59787657e-01 9.33030592e-01 -2.59931892e-03 -1.00947855e+02] [-7.15451276e-03 -2.69519691e-05 -9.99974406e-01 -8.05975313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.370385723 meters 0.01740189704645371 Centerline is valid? [True, True] Translation: X:126.07, Y:-100.91, Z:-8.06 [[-9.55772411e-01 2.94022767e-01 7.05057610e-03 1.26069387e+02] [ 2.94014571e-01 9.55798416e-01 -2.19549692e-03 -1.00914022e+02] [-7.38445554e-03 -2.54232822e-05 -9.99972734e-01 -8.05967286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.400385723 meters 0.01736986053417035 Centerline is valid? [True, True] Translation: X:126.38, Y:-100.16, Z:-9.01 [[-9.31645069e-01 -3.63302423e-01 6.98683052e-03 1.26378450e+02] [ 3.63292466e-01 -9.31671266e-01 -2.68988425e-03 -1.00164099e+02] [ 7.48667071e-03 3.22454976e-05 9.99971974e-01 -9.01101008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43038572300003 meters 0.01734522212454283 Centerline is valid? [True, True] Translation: X:126.09, Y:-100.92, Z:-8.06 [[-9.56758289e-01 2.90791557e-01 7.33807125e-03 1.26088234e+02] [ 2.90782823e-01 9.56786428e-01 -2.25395082e-03 -1.00924547e+02] [-7.67639685e-03 -2.27010552e-05 -9.99970536e-01 -8.05947944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.460385723 meters 0.01737884477784411 Centerline is valid? [True, True] Translation: X:126.33, Y:-100.15, Z:-9.01 [[-9.33081140e-01 -3.59602327e-01 6.76408709e-03 1.26331095e+02] [ 3.59592840e-01 -9.33105657e-01 -2.61202270e-03 -1.00148326e+02] [ 7.25089736e-03 -4.91182924e-06 9.99973712e-01 -9.01010637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49038572300003 meters 0.01734858637033993 Centerline is valid? [True, True] Translation: X:126.04, Y:-100.91, Z:-8.06 [[-9.57715145e-01 2.87638326e-01 6.77461598e-03 1.26041841e+02] [ 2.87631003e-01 9.57739105e-01 -2.05251975e-03 -1.00912906e+02] [-7.07869799e-03 -1.71396561e-05 -9.99974946e-01 -8.05942224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.520385723 meters 0.017415130704733807 Centerline is valid? [True, True] Translation: X:126.05, Y:-100.89, Z:-8.06 [[-9.75679038e-01 2.19106921e-01 6.52477642e-03 1.26050574e+02] [ 2.19101916e-01 9.75700854e-01 -1.48108510e-03 -1.00886267e+02] [-6.69074592e-03 -1.54726732e-05 -9.99977617e-01 -8.05932209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.550385723 meters 0.01741111469448483 Centerline is valid? [True, True] Translation: X:126.06, Y:-100.86, Z:-8.06 [[-9.88732098e-01 1.49503475e-01 7.58615586e-03 1.26057476e+02] [ 1.49498945e-01 9.88761200e-01 -1.16387727e-03 -1.00859584e+02] [-7.67490027e-03 -1.66405158e-05 -9.99970547e-01 -8.05944622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.580385723 meters 0.01737288996178237 Centerline is valid? [True, True] Translation: X:126.06, Y:-100.83, Z:-8.06 [[-9.96892139e-01 7.83160162e-02 8.52439667e-03 1.26060559e+02] [ 7.83129499e-02 9.96928584e-01 -6.93426193e-04 -1.00830462e+02] [-8.55252108e-03 -2.37004717e-05 -9.99963426e-01 -8.05883745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.610385723 meters 0.017433047853326514 Centerline is valid? [True, True] Translation: X:126.13, Y:-100.02, Z:-9.01 [[-9.88296154e-01 -1.52250508e-01 9.51285563e-03 1.26134292e+02] [ 1.52244400e-01 -9.88341931e-01 -1.36728991e-03 -1.00016580e+02] [ 9.61012469e-03 9.69916389e-05 9.99953817e-01 -9.01293775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.640385723 meters 0.01748198931442032 Centerline is valid? [True, True] Translation: X:125.99, Y:-100.82, Z:-8.06 [[-9.97424909e-01 7.10097770e-02 1.00579856e-02 1.25989264e+02] [ 7.10056042e-02 9.97475618e-01 -7.71817098e-04 -1.00821993e+02] [-1.00874019e-02 -5.56562561e-05 -9.99949119e-01 -8.05690530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.670385723 meters 0.017426990638016344 Centerline is valid? [True, True] Translation: X:126.00, Y:-100.79, Z:-8.06 [[-9.99949644e-01 -4.29724415e-04 1.00262567e-02 1.25998255e+02] [-4.30295405e-04 9.99999906e-01 -5.47923598e-05 -1.00792561e+02] [-1.00262322e-02 -5.91038528e-05 -9.99949734e-01 -8.05664847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.700385723 meters 0.01743781314479992 Centerline is valid? [True, True] Translation: X:126.01, Y:-99.98, Z:-9.01 [[-9.96858530e-01 -7.86640181e-02 9.22187642e-03 1.26007100e+02] [ 7.86606839e-02 -9.96901185e-01 -7.24262095e-04 -9.99813067e+01] [ 9.25027290e-03 3.41225903e-06 9.99957215e-01 -9.01305279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.730385723 meters 0.01723581876468722 Centerline is valid? [True, True] Translation: X:125.90, Y:-100.79, Z:-8.06 [[-9.99949744e-01 -4.77538805e-03 8.81506506e-03 1.25902504e+02] [-4.77554478e-03 9.99988597e-01 3.26869516e-06 -1.00792296e+02] [-8.81498015e-03 -3.88282070e-05 -9.99961147e-01 -8.05867291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.760385723 meters 0.017139860393941823 Centerline is valid? [True, True] Translation: X:125.91, Y:-99.98, Z:-9.01 [[-9.97514687e-01 -6.99247414e-02 8.65907933e-03 1.25908224e+02] [ 6.99223628e-02 -9.97552269e-01 -5.77504158e-04 -9.99778520e+01] [ 8.67826606e-03 2.93944063e-05 9.99962343e-01 -9.01095166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.790385723 meters 0.017135647452158523 Centerline is valid? [True, True] Translation: X:125.81, Y:-100.79, Z:-8.06 [[-9.99927633e-01 -8.12130471e-03 8.87544280e-03 1.25806653e+02] [-8.12111890e-03 9.99967022e-01 5.69753534e-05 -1.00793911e+02] [-8.87561281e-03 -1.51072960e-05 -9.99960611e-01 -8.05863768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.820385723 meters 0.01705230000722758 Centerline is valid? [True, True] Translation: X:125.79, Y:-100.77, Z:-8.06 [[-9.97051693e-01 -7.62308916e-02 8.76201764e-03 1.25794289e+02] [-7.62278455e-02 9.97090192e-01 6.81570709e-04 -1.00768250e+02] [-8.78847859e-03 1.16515029e-05 -9.99961381e-01 -8.06056487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.850385723 meters 0.01700665257635705 Centerline is valid? [True, True] Translation: X:125.78, Y:-100.74, Z:-8.06 [[-9.89286695e-01 -1.45739962e-01 8.46751233e-03 1.25784624e+02] [-1.45734415e-01 9.89322932e-01 1.27176379e-03 -1.00741764e+02] [-8.56245093e-03 2.41310446e-05 -9.99963341e-01 -8.06076404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.880385723 meters 0.017111504721196942 Centerline is valid? [True, True] Translation: X:125.76, Y:-100.72, Z:-8.06 [[-9.76867970e-01 -2.13686558e-01 8.18680059e-03 1.25755692e+02] [-2.13678640e-01 9.76902274e-01 1.84019048e-03 -1.00719974e+02] [-8.39092808e-03 4.82787285e-05 -9.99964794e-01 -8.06141270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.910385723 meters 0.017128020368477267 Centerline is valid? [True, True] Translation: X:125.71, Y:-100.70, Z:-8.06 [[-9.59241748e-01 -2.82474758e-01 7.95488665e-03 1.25712192e+02] [-2.82464528e-01 9.59274730e-01 2.40467135e-03 -1.00702189e+02] [-8.31018070e-03 5.96878411e-05 -9.99965468e-01 -8.06136440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.940385723 meters 0.01719780124090151 Centerline is valid? [True, True] Translation: X:125.67, Y:-100.69, Z:-8.06 [[-9.35972881e-01 -3.51986618e-01 7.75801074e-03 1.25672836e+02] [-3.51973911e-01 9.36005030e-01 2.99167099e-03 -1.00685100e+02] [-8.31456523e-03 6.95055349e-05 -9.99965431e-01 -8.06100940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.970385723 meters 0.01744355157266825 Centerline is valid? [True, True] Translation: X:125.60, Y:-100.69, Z:-8.06 [[-9.07765187e-01 -4.19408421e-01 7.67730863e-03 1.25597603e+02] [-4.19392665e-01 9.07797648e-01 3.63637086e-03 -1.00685398e+02] [-8.49456727e-03 8.11639499e-05 -9.99963917e-01 -8.06059969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.000385723 meters 0.017557444309773802 Centerline is valid? [True, True] Translation: X:125.51, Y:-100.70, Z:-8.06 [[-8.74647247e-01 -4.84692184e-01 8.10436474e-03 1.25508132e+02] [-4.84670301e-01 8.74684787e-01 4.60680299e-03 -1.00699978e+02] [-9.32164594e-03 1.01382654e-04 -9.99956547e-01 -8.05975088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.030385723 meters 0.017589745803006745 Centerline is valid? [True, True] Translation: X:125.43, Y:-100.71, Z:-8.06 [[-8.35830506e-01 -5.48922199e-01 8.47257331e-03 1.25430998e+02] [-5.48892584e-01 8.35873439e-01 5.70303951e-03 -1.00714225e+02] [-1.02125240e-02 1.16241743e-04 -9.99947844e-01 -8.05956280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.060385723 meters 0.017715736761975954 Centerline is valid? [True, True] Translation: X:125.33, Y:-100.75, Z:-8.06 [[-7.92157494e-01 -6.10256095e-01 8.60250044e-03 1.25327560e+02] [-6.10218370e-01 7.92204192e-01 6.78661046e-03 -1.00754572e+02] [-1.09565073e-02 1.26660541e-04 -9.99939968e-01 -8.05989393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.090385723 meters 0.017622641801955687 Centerline is valid? [True, True] Translation: X:125.24, Y:-100.79, Z:-8.06 [[-7.43071203e-01 -6.69158410e-01 8.49763720e-03 1.25239236e+02] [-6.69112692e-01 7.43119779e-01 7.82300617e-03 -1.00790957e+02] [-1.15495926e-02 1.27173707e-04 -9.99933293e-01 -8.05955431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.120385723 meters 0.01726503130861951 Centerline is valid? [True, True] Translation: X:125.15, Y:-100.84, Z:-8.06 [[-6.89312947e-01 -7.24419740e-01 7.98134754e-03 1.25147675e+02] [-7.24369173e-01 6.89359142e-01 8.56010079e-03 -1.00837601e+02] [-1.17031209e-02 1.19146186e-04 -9.99931509e-01 -8.06001206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.150385723 meters 0.016903747273879874 Centerline is valid? [True, True] Translation: X:125.05, Y:-100.90, Z:-8.06 [[-6.30161647e-01 -7.76433147e-01 6.91860256e-03 1.25050581e+02] [-7.76384834e-01 6.30199620e-01 8.66190428e-03 -1.00898707e+02] [-1.10854903e-02 8.69017627e-05 -9.99938550e-01 -8.05907733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18038572300003 meters 0.01676499395487736 Centerline is valid? [True, True] Translation: X:124.96, Y:-100.97, Z:-8.06 [[-5.67647410e-01 -8.23251131e-01 5.83029165e-03 1.24957639e+02] [-8.23206525e-01 5.67677347e-01 8.57011235e-03 -1.00974014e+02] [-1.03650792e-02 6.52679567e-05 -9.99946279e-01 -8.05992510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.210385723 meters 0.01672745192095185 Centerline is valid? [True, True] Translation: X:124.87, Y:-101.05, Z:-8.06 [[-5.01819209e-01 -8.64959315e-01 4.78178092e-03 1.24873736e+02] [-8.64919095e-01 5.01841988e-01 8.34132992e-03 -1.01053420e+02] [-9.61460946e-03 4.99859567e-05 -9.99953777e-01 -8.05996530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24038572300003 meters 0.016407564514749118 Centerline is valid? [True, True] Translation: X:124.79, Y:-101.14, Z:-8.06 [[-4.32447548e-01 -9.01651778e-01 3.63182429e-03 1.24791607e+02] [-9.01619385e-01 4.32462797e-01 7.64294760e-03 -1.01144517e+02] [-8.46190619e-03 3.06507664e-05 -9.99964197e-01 -8.06327054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.270385723 meters 0.016333946515565943 Centerline is valid? [True, True] Translation: X:124.72, Y:-101.24, Z:-8.06 [[-3.61275753e-01 -9.32454489e-01 2.90781438e-03 1.24718357e+02] [-9.32423717e-01 3.61287454e-01 7.57542497e-03 -1.01239958e+02] [-8.11429588e-03 2.55022667e-05 -9.99967078e-01 -8.06339301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.300385723 meters 0.016228549125766503 Centerline is valid? [True, True] Translation: X:124.65, Y:-101.35, Z:-8.06 [[-2.87921131e-01 -9.57651317e-01 2.31899428e-03 1.24651055e+02] [-9.57619641e-01 2.87930469e-01 7.78903715e-03 -1.01345577e+02] [-8.12689080e-03 2.19139131e-05 -9.99966976e-01 -8.06408157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.330385723 meters 0.016256273136896076 Centerline is valid? [True, True] Translation: X:124.59, Y:-101.46, Z:-8.07 [[-2.11658374e-01 -9.77342089e-01 1.78131973e-03 1.24590627e+02] [-9.77307117e-01 2.11665869e-01 8.26792177e-03 -1.01458886e+02] [-8.45763253e-03 9.07842471e-06 -9.99964234e-01 -8.06525528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.360385723 meters 0.016376249966870496 Centerline is valid? [True, True] Translation: X:124.54, Y:-101.57, Z:-8.06 [[-1.34468370e-01 -9.90917151e-01 1.20687883e-03 1.24541085e+02] [-9.90877291e-01 1.34473786e-01 8.88794925e-03 -1.01569342e+02] [-8.96951492e-03 -7.20777697e-07 -9.99959773e-01 -8.06393603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.390385723 meters 0.016303174627492097 Centerline is valid? [True, True] Translation: X:124.50, Y:-101.70, Z:-8.06 [[-5.58470495e-02 -9.98439181e-01 5.56440182e-04 1.24496795e+02] [-9.98392689e-01 5.58498188e-02 9.63512503e-03 -1.01704017e+02] [-9.65116343e-03 -1.74525052e-05 -9.99953426e-01 -8.06426294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.420385723 meters 0.01628344877388624 Centerline is valid? [True, True] Translation: X:124.46, Y:-101.82, Z:-8.06 [[ 2.21184597e-02 -9.99755337e-01 -1.98928575e-04 1.24464753e+02] [-9.99704305e-01 -2.21193406e-02 1.01013224e-02 -1.01818713e+02] [-1.01032512e-02 -2.45559399e-05 -9.99948961e-01 -8.06378465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.450385723 meters 0.016247333986455084 Centerline is valid? [True, True] Translation: X:124.44, Y:-101.94, Z:-8.06 [[ 9.93440908e-02 -9.95052629e-01 -1.00861472e-03 1.24441494e+02] [-9.94998703e-01 -9.93492075e-02 1.03593015e-02 -1.01937891e+02] [-1.04082553e-02 -2.55650514e-05 -9.99945832e-01 -8.06301722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.480385723 meters 0.01623816778399936 Centerline is valid? [True, True] Translation: X:124.43, Y:-102.07, Z:-8.06 [[ 1.75965035e-01 -9.84394580e-01 -1.90212900e-03 1.24428450e+02] [-9.84335370e-01 -1.75975313e-01 1.07966976e-02 -1.02071658e+02] [-1.09629383e-02 -2.75084144e-05 -9.99939905e-01 -8.06175079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.510385723 meters 0.016217643943315627 Centerline is valid? [True, True] Translation: X:124.43, Y:-102.20, Z:-8.06 [[ 2.51477855e-01 -9.67859308e-01 -2.69225416e-03 1.24425294e+02] [-9.67802676e-01 -2.51492264e-01 1.04700313e-02 -1.02196496e+02] [-1.08105983e-02 -2.74102237e-05 -9.99941563e-01 -8.06207396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.540385723 meters 0.016216004757527477 Centerline is valid? [True, True] Translation: X:124.43, Y:-102.32, Z:-8.06 [[ 3.25585088e-01 -9.45506526e-01 -3.42919769e-03 1.24431653e+02] [-9.45453167e-01 -3.25603145e-01 1.00449384e-02 -1.02320199e+02] [-1.06141124e-02 -2.83363267e-05 -9.99943668e-01 -8.06253922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.570385723 meters 0.016297814963726197 Centerline is valid? [True, True] Translation: X:124.45, Y:-102.44, Z:-8.06 [[ 3.97317108e-01 -9.17670858e-01 -4.39456970e-03 1.24447356e+02] [-9.17613972e-01 -3.97341410e-01 1.02177514e-02 -1.02442135e+02] [-1.11226773e-02 -2.71688980e-05 -9.99938141e-01 -8.06347757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.600385723 meters 0.01639602934345144 Centerline is valid? [True, True] Translation: X:124.47, Y:-102.56, Z:-8.06 [[ 4.65526273e-01 -8.85016994e-01 -5.49639826e-03 1.24472894e+02] [-8.84955019e-01 -4.65558719e-01 1.04734457e-02 -1.02562675e+02] [-1.18280735e-02 -1.15989017e-05 -9.99930046e-01 -8.06398124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.630385723 meters 0.01648775327265427 Centerline is valid? [True, True] Translation: X:124.51, Y:-102.68, Z:-8.06 [[ 5.31357048e-01 -8.47123100e-01 -6.49160351e-03 1.24507345e+02] [-8.47059899e-01 -5.31396701e-01 1.03476450e-02 -1.02681079e+02] [-1.22153458e-02 4.82922492e-07 -9.99925390e-01 -8.06369751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.660385723 meters 0.01659734843160363 Centerline is valid? [True, True] Translation: X:124.55, Y:-102.80, Z:-8.06 [[ 5.93266880e-01 -8.04971567e-01 -7.42864425e-03 1.24549489e+02] [-8.04908987e-01 -5.93313387e-01 1.00373438e-02 -1.02796136e+02] [-1.24872905e-02 2.45588601e-05 -9.99922030e-01 -8.06269277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.690385723 meters 0.016534189976719196 Centerline is valid? [True, True] Translation: X:124.59, Y:-102.90, Z:-8.06 [[ 6.52794047e-01 -7.57488650e-01 -8.41887904e-03 1.24594304e+02] [-7.57426315e-01 -6.52848332e-01 9.71769391e-03 -1.02899667e+02] [-1.28572940e-02 3.30277887e-05 -9.99917341e-01 -8.06309820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.720385723 meters 0.016533618529627328 Centerline is valid? [True, True] Translation: X:124.65, Y:-103.00, Z:-8.06 [[ 7.08281946e-01 -7.05874144e-01 -8.85316553e-03 1.24651742e+02] [-7.05819727e-01 -7.08337273e-01 8.76479947e-03 -1.03004290e+02] [-1.24578724e-02 4.07896562e-05 -9.99922397e-01 -8.06467849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.750385723 meters 0.0167576051925892 Centerline is valid? [True, True] Translation: X:124.64, Y:-103.01, Z:-8.06 [[ 7.60659520e-01 -6.49086756e-01 -9.13661643e-03 1.24644888e+02] [-6.49040732e-01 -7.60714389e-01 7.72963723e-03 -1.03012030e+02] [-1.19675607e-02 5.04140744e-05 -9.99928385e-01 -8.06482809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.780385723 meters 0.016531535563501763 Centerline is valid? [True, True] Translation: X:124.64, Y:-103.02, Z:-8.07 [[ 8.08883168e-01 -5.87893434e-01 -9.45148895e-03 1.24636738e+02] [-5.87854054e-01 -8.08938383e-01 6.80469406e-03 -1.03024221e+02] [-1.16461072e-02 5.18936114e-05 -9.99932180e-01 -8.06740790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.810385723 meters 0.016526217026182396 Centerline is valid? [True, True] Translation: X:124.63, Y:-103.03, Z:-8.07 [[ 8.52084556e-01 -5.23322152e-01 -9.26466024e-03 1.24629289e+02] [-5.23291906e-01 -8.52134920e-01 5.62661551e-03 -1.03034452e+02] [-1.08392731e-02 5.37695373e-05 -9.99941252e-01 -8.06810095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.840385723 meters 0.016812960414255517 Centerline is valid? [True, True] Translation: X:124.62, Y:-103.04, Z:-8.07 [[ 8.90190949e-01 -4.55503703e-01 -8.74360843e-03 1.24622603e+02] [-4.55482318e-01 -8.90233887e-01 4.41406020e-03 -1.03043365e+02] [-9.79447729e-03 5.32025893e-05 -9.99952032e-01 -8.06812512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.870385723 meters 0.016776542156494052 Centerline is valid? [True, True] Translation: X:124.62, Y:-103.05, Z:-8.07 [[ 9.22675327e-01 -3.85464047e-01 -9.36534636e-03 1.24617300e+02] [-3.85444907e-01 -9.22722853e-01 3.84178823e-03 -1.03054317e+02] [-1.01224904e-02 6.51018507e-05 -9.99948764e-01 -8.06938088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.900385723 meters 0.016776542156494052 Centerline is valid? [True, True] Translation: X:124.61, Y:-103.06, Z:-8.07 [[ 9.49981752e-01 -3.12156691e-01 -9.63695889e-03 1.24613444e+02] [-3.12141325e-01 -9.50030629e-01 3.09794232e-03 -1.03063116e+02] [-1.01224495e-02 6.51044399e-05 -9.99948765e-01 -8.06938131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93038572300003 meters 0.01687104462305105 Centerline is valid? [True, True] Translation: X:124.61, Y:-103.07, Z:-8.07 [[ 9.71433044e-01 -2.37080561e-01 -1.05189262e-02 1.24610805e+02] [-2.37067457e-01 -9.71489991e-01 2.49367357e-03 -1.03073516e+02] [-1.08102330e-02 7.12581669e-05 -9.99941565e-01 -8.06844347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.960385723 meters 0.01703147630029912 Centerline is valid? [True, True] Translation: X:124.60, Y:-103.08, Z:-8.07 [[ 9.87042914e-01 -1.59936126e-01 -1.29120399e-02 1.24603767e+02] [-1.59923525e-01 -9.87127362e-01 2.00925042e-03 -1.03083523e+02] [-1.30671796e-02 8.17225507e-05 -9.99914617e-01 -8.06651708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99038572300003 meters 0.017081116012808848 Centerline is valid? [True, True] Translation: X:124.60, Y:-103.09, Z:-8.07 [[ 9.96498453e-01 -8.23829479e-02 -1.42787971e-02 1.24598239e+02] [-8.23758320e-02 -9.96600743e-01 1.08678493e-03 -1.03091359e+02] [-1.43197923e-02 9.32482842e-05 -9.99897462e-01 -8.06624755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.020385723 meters 0.018539751356803833 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.10, Z:-8.07 [[ 9.99859989e-01 -4.44054645e-03 -1.61332887e-02 1.24594618e+02] [-4.44175182e-03 -9.99990135e-01 -3.88815993e-05 -1.03099970e+02] [-1.61329568e-02 1.10536220e-04 -9.99869849e-01 -8.06510717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.050385723 meters 0.017092298727927665 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.11, Z:-8.07 [[ 9.97253695e-01 7.28325602e-02 -1.34344800e-02 1.24591730e+02] [ 7.28245213e-02 -9.97344177e-01 -1.08726614e-03 -1.03112745e+02] [-1.34779888e-02 1.05920600e-04 -9.99909162e-01 -8.06766981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.080385723 meters 0.0172050051180157 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.12, Z:-8.07 [[ 9.88653223e-01 1.49710912e-01 -1.23064040e-02 1.24588932e+02] [ 1.49697932e-01 -9.88729807e-01 -1.97444748e-03 -1.03123405e+02] [-1.24633048e-02 1.09800643e-04 -9.99922324e-01 -8.06816132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.110385723 meters 0.017325630840259582 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.13, Z:-8.07 [[ 9.74231704e-01 2.25281076e-01 -1.10010770e-02 1.24587822e+02] [ 2.25265370e-01 -9.74293808e-01 -2.66259509e-03 -1.03134559e+02] [-1.13181134e-02 1.15822873e-04 -9.99935941e-01 -8.06944060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.140385723 meters 0.01730456641405067 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.15, Z:-8.07 [[ 9.53837660e-01 3.00143091e-01 -1.03847851e-02 1.24587609e+02] [ 3.00123935e-01 -9.53894182e-01 -3.39312589e-03 -1.03145704e+02] [-1.09244094e-02 1.19768696e-04 -9.99940320e-01 -8.07055587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.170385723 meters 0.01732869161610119 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.16, Z:-8.07 [[ 9.27607972e-01 3.73422178e-01 -9.96628274e-03 1.24588089e+02] [ 3.73399189e-01 -9.27661502e-01 -4.14539377e-03 -1.03156058e+02] [-1.07933188e-02 1.23898415e-04 -9.99941743e-01 -8.07153772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.200385723 meters 0.017423413390991318 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.17, Z:-8.07 [[ 8.95784189e-01 4.44393099e-01 -9.24448756e-03 1.24589985e+02] [ 4.44367988e-01 -8.95831880e-01 -4.72584943e-03 -1.03166594e+02] [-1.03816415e-02 1.25386861e-04 -9.99946101e-01 -8.07218374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.230385723 meters 0.017524957860337614 Centerline is valid? [True, True] Translation: X:124.59, Y:-103.18, Z:-8.07 [[ 8.58266520e-01 5.13120261e-01 -9.28321417e-03 1.24593443e+02] [ 5.13088576e-01 -8.58316713e-01 -5.70376743e-03 -1.03180310e+02] [-1.08946565e-02 1.32241482e-04 -9.99940643e-01 -8.07104100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.260385723 meters 0.017625974662433735 Centerline is valid? [True, True] Translation: X:124.60, Y:-103.19, Z:-8.07 [[ 8.15184580e-01 5.79127418e-01 -9.24849246e-03 1.24595428e+02] [ 5.79088292e-01 -8.15237031e-01 -6.73310340e-03 -1.03190764e+02] [-1.14390383e-02 1.33028372e-04 -9.99934563e-01 -8.06891183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.290385723 meters 0.016787067036519086 Centerline is valid? [True, True] Translation: X:124.61, Y:-103.21, Z:-8.07 [[ 7.66899500e-01 6.41702858e-01 -9.08833214e-03 1.24605714e+02] [ 6.41655767e-01 -7.66953339e-01 -7.77513766e-03 -1.03207372e+02] [-1.19596547e-02 1.31168462e-04 -9.99928472e-01 -8.07010717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.320385723 meters 0.016749708941354954 Centerline is valid? [True, True] Translation: X:124.61, Y:-103.22, Z:-8.07 [[ 7.13636110e-01 7.00464061e-01 -8.57916957e-03 1.24613350e+02] [ 7.00411383e-01 -7.13687666e-01 -8.59122044e-03 -1.03220668e+02] [-1.21406887e-02 1.22057109e-04 -9.99926292e-01 -8.06957591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.350385723 meters 0.01650179057266154 Centerline is valid? [True, True] Translation: X:124.62, Y:-103.23, Z:-8.07 [[ 6.55040768e-01 7.55552534e-01 -7.87149982e-03 1.24621308e+02] [ 7.55496203e-01 -6.55088055e-01 -9.22645747e-03 -1.03232237e+02] [-1.21275988e-02 9.68175659e-05 -9.99926453e-01 -8.07047730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.380385723 meters 0.016341566252377083 Centerline is valid? [True, True] Translation: X:124.63, Y:-103.24, Z:-8.07 [[ 5.93342422e-01 8.04922587e-01 -6.66324687e-03 1.24629108e+02] [ 8.04870264e-01 -5.93379830e-01 -9.17803168e-03 -1.03240952e+02] [-1.13414413e-02 8.26662852e-05 -9.99935680e-01 -8.07103391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.410385723 meters 0.01597748495984659 Centerline is valid? [True, True] Translation: X:124.64, Y:-103.25, Z:-8.07 [[ 5.27161824e-01 8.49750129e-01 -5.01294600e-03 1.24642024e+02] [ 8.49710719e-01 -5.27185655e-01 -8.18407684e-03 -1.03252592e+02] [-9.59717357e-03 5.47789280e-05 -9.99953945e-01 -8.07129900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.440385723 meters 0.015877378520790766 Centerline is valid? [True, True] Translation: X:124.65, Y:-103.26, Z:-8.07 [[ 4.57579440e-01 8.89159625e-01 -4.02697121e-03 1.24653105e+02] [ 8.89124490e-01 -4.57597158e-01 -7.90459420e-03 -1.03260943e+02] [-8.87117660e-03 3.65010730e-05 -9.99960650e-01 -8.07108449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.470385723 meters 0.015777313814857925 Centerline is valid? [True, True] Translation: X:124.67, Y:-103.27, Z:-8.07 [[ 3.85228280e-01 9.22815847e-01 -3.17565544e-03 1.24665257e+02] [ 9.22784015e-01 -3.85241368e-01 -7.66480903e-03 -1.03268992e+02] [-8.29660109e-03 2.22571220e-05 -9.99965582e-01 -8.07105970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.500385723 meters 0.015580100199309136 Centerline is valid? [True, True] Translation: X:124.68, Y:-103.28, Z:-8.07 [[ 3.09625457e-01 9.50855999e-01 -2.22397037e-03 1.24676366e+02] [ 9.50831399e-01 -3.09633444e-01 -6.83960401e-03 -1.03275944e+02] [-7.19209411e-03 3.09466464e-06 -9.99974137e-01 -8.07218450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.530385723 meters 0.0174466971402542 Centerline is valid? [True, True] Translation: X:124.69, Y:-103.28, Z:-8.07 [[ 2.34024475e-01 9.72229182e-01 -1.72157897e-03 1.24685185e+02] [ 9.72202827e-01 -2.34030807e-01 -7.15858850e-03 -1.03281603e+02] [-7.36269115e-03 1.56097547e-06 -9.99972895e-01 -8.07062960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.560385723 meters 0.015638746372400814 Centerline is valid? [True, True] Translation: X:124.70, Y:-103.29, Z:-8.07 [[ 1.55668106e-01 9.87808949e-01 -9.59853896e-04 1.24697500e+02] [ 9.87790493e-01 -1.55671065e-01 -6.03827204e-03 -1.03286037e+02] [-6.11408064e-03 -8.16817817e-06 -9.99981309e-01 -8.07311239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.590385723 meters 0.015413349890974471 Centerline is valid? [True, True] Translation: X:124.71, Y:-103.29, Z:-8.07 [[ 7.69311777e-02 9.97036280e-01 -4.99571779e-04 1.24713614e+02] [ 9.97016434e-01 -7.69327984e-02 -6.29088715e-03 -1.03289487e+02] [-6.31067618e-03 -1.41159170e-05 -9.99980087e-01 -8.07168388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.620385723 meters 0.015378302746228697 Centerline is valid? [True, True] Translation: X:124.73, Y:-103.29, Z:-8.07 [[-1.91864223e-03 9.99998159e-01 -5.12341283e-06 1.24725923e+02] [ 9.99980146e-01 1.91857692e-03 -6.00226429e-03 -1.03292472e+02] [-6.00224341e-03 -1.66395089e-05 -9.99981986e-01 -8.07138325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.650385723 meters 0.015452449208964021 Centerline is valid? [True, True] Translation: X:124.74, Y:-103.29, Z:-8.07 [[-8.07335180e-02 9.96735631e-01 4.25270605e-04 1.24737159e+02] [ 9.96720598e-01 8.07346360e-02 -5.47436424e-03 -1.03293557e+02] [-5.49082796e-03 -1.80887117e-05 -9.99984925e-01 -8.07154454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68038572300003 meters 0.015340013195817615 Centerline is valid? [True, True] Translation: X:124.75, Y:-103.29, Z:-8.07 [[-1.58395319e-01 9.87375463e-01 7.86038196e-04 1.24750654e+02] [ 9.87362799e-01 1.58397268e-01 -5.00076792e-03 -1.03293324e+02] [-5.06214184e-03 -1.59933541e-05 -9.99987187e-01 -8.07212983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.710385723 meters 0.015282084860703144 Centerline is valid? [True, True] Translation: X:124.77, Y:-103.29, Z:-8.07 [[-2.35302430e-01 9.71921872e-01 8.00172940e-04 1.24765514e+02] [ 9.71916086e-01 2.35303790e-01 -3.35389252e-03 -1.03292593e+02] [-3.44800522e-03 -1.14781081e-05 -9.99994056e-01 -8.07230185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74038572300003 meters 0.015218797525751811 Centerline is valid? [True, True] Translation: X:124.78, Y:-103.29, Z:-8.07 [[-3.10065982e-01 9.50714572e-01 9.43094505e-04 1.24778158e+02] [ 9.50710093e-01 3.10067417e-01 -2.91827139e-03 -1.03289795e+02] [-3.06686601e-03 -8.24722098e-06 -9.99995297e-01 -8.07204439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.770385723 meters 0.015330233147099555 Centerline is valid? [True, True] Translation: X:124.79, Y:-103.29, Z:-8.07 [[-3.83084085e-01 9.23712198e-01 1.53603125e-03 1.24789803e+02] [ 9.23704685e-01 3.83087165e-01 -3.72547836e-03 -1.03287457e+02] [-4.02970366e-03 -8.33220801e-06 -9.99991881e-01 -8.07125578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.800385723 meters 0.01513551873016886 Centerline is valid? [True, True] Translation: X:124.80, Y:-103.28, Z:-8.07 [[-4.52490648e-01 8.91766351e-01 2.23365866e-03 1.24800524e+02] [ 8.91755483e-01 4.52496161e-01 -4.40266807e-03 -1.03283634e+02] [-4.93687321e-03 -2.88772988e-07 -9.99987814e-01 -8.07072568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.830385723 meters 0.01553903343234805 Centerline is valid? [True, True] Translation: X:124.81, Y:-103.28, Z:-8.07 [[-5.20055498e-01 8.54127298e-01 2.97284340e-03 1.24810398e+02] [ 8.54113407e-01 5.20063995e-01 -4.87114612e-03 -1.03278257e+02] [-5.70664769e-03 5.87907806e-06 -9.99983717e-01 -8.06999269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.860385723 meters 0.015151735058339527 Centerline is valid? [True, True] Translation: X:124.82, Y:-103.27, Z:-8.07 [[-5.84484747e-01 8.11396510e-01 3.64482459e-03 1.24820177e+02] [ 8.11380874e-01 5.84496111e-01 -5.03712897e-03 -1.03272693e+02] [-6.21749466e-03 1.32159129e-05 -9.99980671e-01 -8.06963727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.890385723 meters 0.015204188382560645 Centerline is valid? [True, True] Translation: X:124.83, Y:-103.27, Z:-8.07 [[-6.44400282e-01 7.64677112e-01 4.14607205e-03 1.24829943e+02] [ 7.64661575e-01 6.44413620e-01 -4.87470125e-03 -1.03266926e+02] [-6.39935778e-03 2.90831211e-05 -9.99979523e-01 -8.06781199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.920385723 meters 0.01521246344775054 Centerline is valid? [True, True] Translation: X:124.84, Y:-103.26, Z:-8.07 [[-7.01349163e-01 7.12803848e-01 4.47502056e-03 1.24836618e+02] [ 7.12789677e-01 7.01363438e-01 -4.49486478e-03 -1.03260399e+02] [-6.34257272e-03 3.72788108e-05 -9.99979885e-01 -8.06818467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.950385723 meters 0.016788613347022915 Centerline is valid? [True, True] Translation: X:124.84, Y:-103.25, Z:-8.07 [[-7.54022763e-01 6.56833920e-01 4.34445912e-03 1.24844054e+02] [ 6.56823340e-01 7.54035277e-01 -3.72837041e-03 -1.03252444e+02] [-5.72479559e-03 4.22659900e-05 -9.99983612e-01 -8.06760214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.980385723 meters 0.0153325839175677 Centerline is valid? [True, True] Translation: X:125.28, Y:-102.75, Z:-9.00 [[-7.20121170e-01 -6.93844391e-01 2.33691638e-03 1.25278195e+02] [ 6.93840003e-01 -7.20124945e-01 -2.47276084e-03 -1.02754821e+02] [ 3.39858302e-03 -1.59241364e-04 9.99994212e-01 -8.99953181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.010385723 meters 0.015419450829573645 Centerline is valid? [True, True] Translation: X:124.81, Y:-103.23, Z:-8.07 [[-7.54338551e-01 6.56483259e-01 1.75522981e-03 1.24812937e+02] [ 6.56481556e-01 7.54340593e-01 -1.49545212e-03 -1.03225476e+02] [-2.30578038e-03 2.41988167e-05 -9.99997341e-01 -8.07023378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.040385723 meters 0.015566752453692512 Centerline is valid? [True, True] Translation: X:124.83, Y:-103.20, Z:-8.07 [[-7.98156663e-01 6.02448136e-01 1.47813233e-03 1.24826920e+02] [ 6.02447153e-01 7.98158031e-01 -1.08881748e-03 -1.03198941e+02] [-1.83573925e-03 2.14496906e-05 -9.99998315e-01 -8.07003117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.070385723 meters 0.015401627146928382 Centerline is valid? [True, True] Translation: X:124.84, Y:-103.17, Z:-8.07 [[-8.38118981e-01 5.45485237e-01 1.55895154e-03 1.24844560e+02] [ 5.45484346e-01 8.38120430e-01 -9.86103259e-04 -1.03173750e+02] [-1.84449390e-03 2.39118017e-05 -9.99998299e-01 -8.06994757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.100385723 meters 0.01710783957912032 Centerline is valid? [True, True] Translation: X:124.86, Y:-103.15, Z:-8.07 [[-8.74590296e-01 4.84859312e-01 1.80600275e-03 1.24858948e+02] [ 4.84858342e-01 8.74592160e-01 -9.70465501e-04 -1.03148095e+02] [-2.05005508e-03 2.68957882e-05 -9.99997898e-01 -8.06782025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.130385723 meters 0.015157629901606615 Centerline is valid? [True, True] Translation: X:124.87, Y:-103.12, Z:-8.07 [[-9.07152226e-01 4.20798426e-01 1.87711970e-03 1.24871025e+02] [ 4.20797582e-01 9.07154168e-01 -8.43137335e-04 -1.03119919e+02] [-2.05762783e-03 2.50335226e-05 -9.99997883e-01 -8.06994093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.160385723 meters 0.015058517154413673 Centerline is valid? [True, True] Translation: X:124.88, Y:-103.09, Z:-8.07 [[-9.35375505e-01 3.53654637e-01 1.03096323e-03 1.24880824e+02] [ 3.53654435e-01 9.35376073e-01 -3.77901223e-04 -1.03088398e+02] [-1.09798486e-03 1.11251712e-05 -9.99999397e-01 -8.06920335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.190385723 meters 0.014927814594605177 Centerline is valid? [True, True] Translation: X:125.10, Y:-102.49, Z:-9.00 [[-9.17345094e-01 -3.98091893e-01 9.07447806e-04 1.25102221e+02] [ 3.98091680e-01 -9.17345543e-01 -4.11853077e-04 -1.02486903e+02] [ 9.96398571e-04 -1.65639777e-05 9.99999503e-01 -9.00123916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.220385723 meters 0.014735618268423315 Centerline is valid? [True, True] Translation: X:124.84, Y:-103.07, Z:-8.07 [[-9.37517533e-01 3.47937995e-01 1.64342816e-04 1.24837046e+02] [ 3.47937990e-01 9.37517547e-01 -5.97215493e-05 -1.03068702e+02] [-1.74853670e-04 1.19110956e-06 -9.99999985e-01 -8.06858386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.250385723 meters 0.01786439339918678 Centerline is valid? [True, True] Translation: X:124.84, Y:-103.04, Z:-8.07 [[-9.59834840e-01 2.80565620e-01 1.11684856e-04 1.24842000e+02] [ 2.80565618e-01 9.59834847e-01 -3.18931466e-05 -1.03037960e+02] [-1.16147137e-04 7.22777345e-07 -9.99999993e-01 -8.06543323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.280385723 meters 0.0159076781546055 Centerline is valid? [True, True] Translation: X:124.84, Y:-103.01, Z:-8.07 [[-9.77540430e-01 2.10745723e-01 -9.73142266e-04 1.24838746e+02] [ 2.10745626e-01 9.77540915e-01 2.02521986e-04 -1.03005743e+02] [ 9.93967023e-04 -7.11204696e-06 -9.99999506e-01 -8.06643948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.310385723 meters 0.014485100860412308 Centerline is valid? [True, True] Translation: X:124.84, Y:-102.97, Z:-8.07 [[-9.90111596e-01 1.40281384e-01 -4.01167312e-04 1.24841994e+02] [ 1.40281374e-01 9.90111677e-01 5.40045241e-05 -1.02974930e+02] [ 4.04776270e-04 -2.80579607e-06 -9.99999918e-01 -8.06709470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.340385723 meters 0.014325714480448793 Centerline is valid? [True, True] Translation: X:124.93, Y:-102.36, Z:-9.00 [[-9.80865713e-01 -1.94685519e-01 3.60059466e-05 1.24927281e+02] [ 1.94685519e-01 -9.80865714e-01 2.18692379e-05 -1.02357522e+02] [ 3.10593745e-05 2.84606221e-05 9.99999999e-01 -9.00325134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.370385723 meters 0.01419151005033268 Centerline is valid? [True, True] Translation: X:124.79, Y:-102.97, Z:-8.07 [[-9.90862710e-01 1.34872881e-01 -6.28772242e-04 1.24789516e+02] [ 1.34872856e-01 9.90862910e-01 8.20688176e-05 -1.02965825e+02] [ 6.34095951e-04 -3.48537709e-06 -9.99999799e-01 -8.06658266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.400385723 meters 0.01418738102614023 Centerline is valid? [True, True] Translation: X:124.87, Y:-102.35, Z:-9.00 [[-9.81334245e-01 -1.92307869e-01 -8.84738793e-04 1.24868014e+02] [ 1.92307803e-01 -9.81334644e-01 1.60639853e-04 -1.02352303e+02] [-8.99117136e-04 -1.25007839e-05 9.99999596e-01 -9.00326365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43038572300003 meters 0.014046600488203618 Centerline is valid? [True, True] Translation: X:124.73, Y:-102.96, Z:-8.07 [[-9.91586653e-01 1.29435910e-01 -1.50139194e-03 1.24733206e+02] [ 1.29435770e-01 9.91587790e-01 1.90454413e-04 -1.02957131e+02] [ 1.51341356e-03 -5.48176793e-06 -9.99998855e-01 -8.06670260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.460385723 meters 0.014167674200305801 Centerline is valid? [True, True] Translation: X:124.73, Y:-102.93, Z:-8.07 [[-9.98306095e-01 5.81594266e-02 -1.55600722e-03 1.24729807e+02] [ 5.81593636e-02 9.98307308e-01 8.57453798e-05 -1.02926807e+02] [ 1.55836028e-03 -4.89625418e-06 -9.99998786e-01 -8.06671933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49038572300003 meters 0.014044847892170807 Centerline is valid? [True, True] Translation: X:124.76, Y:-102.32, Z:-9.00 [[-9.92645551e-01 -1.21044560e-01 -1.73928719e-03 1.24762182e+02] [ 1.21044387e-01 -9.92647074e-01 2.04594688e-04 -1.02315489e+02] [-1.75126342e-03 -7.44094595e-06 9.99998467e-01 -9.00372874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.520385723 meters 0.01399833728850934 Centerline is valid? [True, True] Translation: X:124.67, Y:-102.92, Z:-8.07 [[-9.98697355e-01 5.09714082e-02 -2.34723688e-03 1.24665134e+02] [ 5.09712683e-02 9.98700113e-01 1.19452465e-04 -1.02921509e+02] [ 2.35027439e-03 -3.44779203e-07 -9.99997238e-01 -8.06593359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.550385723 meters 0.014043934217817636 Centerline is valid? [True, True] Translation: X:124.70, Y:-102.31, Z:-9.00 [[-9.92867513e-01 -1.19206777e-01 -1.96100298e-03 1.24695730e+02] [ 1.19206494e-01 -9.92869450e-01 2.60698555e-04 -1.02313338e+02] [-1.97809699e-03 2.50748346e-05 9.99998043e-01 -9.00440467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.580385723 meters 0.014089873436498292 Centerline is valid? [True, True] Translation: X:124.60, Y:-102.92, Z:-8.06 [[-9.99079293e-01 4.28653871e-02 -1.76802113e-03 1.24603085e+02] [ 4.28653086e-02 9.99080857e-01 8.22700948e-05 -1.02915643e+02] [ 1.76992260e-03 6.40757690e-06 -9.99998434e-01 -8.06413245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.610385723 meters 0.014169108476046119 Centerline is valid? [True, True] Translation: X:124.59, Y:-102.89, Z:-8.06 [[-9.99557230e-01 -2.96762379e-02 -2.15960823e-03 1.24593398e+02] [-2.96761923e-02 9.99559563e-01 -5.31565084e-05 -1.02885601e+02] [ 2.16023455e-03 1.09559768e-05 -9.99997667e-01 -8.06346535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.640385723 meters 0.014204853444688583 Centerline is valid? [True, True] Translation: X:124.58, Y:-102.28, Z:-9.01 [[-9.98785005e-01 -4.92205139e-02 -2.41976208e-03 1.24578354e+02] [ 4.92204418e-02 -9.98787936e-01 8.93942338e-05 -1.02284075e+02] [-2.42122921e-03 -2.98161385e-05 9.99997068e-01 -9.00671563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.670385723 meters 0.01451790731131041 Centerline is valid? [True, True] Translation: X:124.52, Y:-102.89, Z:-8.06 [[-9.99306306e-01 -3.70510381e-02 -3.75851132e-03 1.24516637e+02] [-3.70508892e-02 9.99313374e-01 -1.09243820e-04 -1.02888845e+02] [ 3.75997823e-03 3.00881485e-05 -9.99992931e-01 -8.06466003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.700385723 meters 0.01449166275876808 Centerline is valid? [True, True] Translation: X:124.50, Y:-102.86, Z:-8.06 [[-9.94071351e-01 -1.08624816e-01 -4.77476733e-03 1.24504745e+02] [-1.08623761e-01 9.94082817e-01 -4.80497709e-04 -1.02861545e+02] [ 4.79870813e-03 4.10041796e-05 -9.99988485e-01 -8.06484317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.730385723 meters 0.014854868796615458 Centerline is valid? [True, True] Translation: X:124.45, Y:-102.26, Z:-9.00 [[-9.99709173e-01 2.35903630e-02 -5.00648307e-03 1.24449428e+02] [-2.35897816e-02 -9.99721707e-01 -1.75154800e-04 -1.02260370e+02] [-5.00922177e-03 -5.70020173e-05 9.99987452e-01 -9.00483434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.760385723 meters 0.014707503718649196 Centerline is valid? [True, True] Translation: X:124.43, Y:-102.87, Z:-8.06 [[-9.93172826e-01 -1.16583740e-01 -3.99613565e-03 1.24428089e+02] [-1.16582978e-01 9.93180864e-01 -4.24032551e-04 -1.02868361e+02] [ 4.01832076e-03 4.47437861e-05 -9.99991926e-01 -8.06310851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.790385723 meters 0.014707503718649196 Centerline is valid? [True, True] Translation: X:124.41, Y:-102.84, Z:-8.06 [[-9.82339810e-01 -1.87063757e-01 -3.95576706e-03 1.24413237e+02] [-1.87062423e-01 9.82347774e-01 -7.07724810e-04 -1.02841376e+02] [ 4.01832863e-03 4.47491171e-05 -9.99991925e-01 -8.06310862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.820385723 meters 0.015028419604710198 Centerline is valid? [True, True] Translation: X:124.38, Y:-102.82, Z:-8.06 [[-9.66183400e-01 -2.57833118e-01 -3.42359933e-03 1.24382555e+02] [-2.57831659e-01 9.66189464e-01 -8.68651063e-04 -1.02818312e+02] [ 3.53181261e-03 4.34360561e-05 -9.99993762e-01 -8.06260251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.850385723 meters 0.01525549774646936 Centerline is valid? [True, True] Translation: X:124.35, Y:-102.80, Z:-8.06 [[-9.44882470e-01 -3.27399510e-01 -2.58445669e-03 1.24352251e+02] [-3.27398387e-01 9.44886003e-01 -8.58109498e-04 -1.02797697e+02] [ 2.72296158e-03 3.53343320e-05 -9.99996292e-01 -8.06187047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.880385723 meters 0.015033652816200328 Centerline is valid? [True, True] Translation: X:124.30, Y:-102.79, Z:-8.06 [[-9.18194262e-01 -3.96124266e-01 -2.20527505e-03 1.24302209e+02] [-3.96123209e-01 9.18196909e-01 -9.15710521e-04 -1.02789239e+02] [ 2.38761189e-03 3.27604842e-05 -9.99997149e-01 -8.06123239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.910385723 meters 0.015383512170661466 Centerline is valid? [True, True] Translation: X:124.23, Y:-102.79, Z:-8.06 [[-8.86365644e-01 -4.62981324e-01 -2.05890214e-03 1.24234000e+02] [-4.62980160e-01 8.86368035e-01 -1.03860405e-03 -1.02788374e+02] [ 2.30579932e-03 3.26478929e-05 -9.99997341e-01 -8.06091001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.940385723 meters 0.018851719362398094 Centerline is valid? [True, True] Translation: X:124.16, Y:-102.80, Z:-8.06 [[-8.50067313e-01 -5.26673177e-01 -9.62837558e-04 1.24162701e+02] [-5.26672860e-01 8.50067859e-01 -5.78697156e-04 -1.02795215e+02] [ 1.12326153e-03 1.51688731e-05 -9.99999369e-01 -8.05572658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.970385723 meters 0.017052939006712935 Centerline is valid? [True, True] Translation: X:124.09, Y:-102.81, Z:-8.06 [[-8.08209030e-01 -5.88895662e-01 -2.51269466e-04 1.24085327e+02] [-5.88895635e-01 8.08209069e-01 -1.77903518e-04 -1.02813076e+02] [ 3.07844871e-04 4.18826158e-06 -9.99999953e-01 -8.05624544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.000385723 meters 0.01562515526061267 Centerline is valid? [True, True] Translation: X:124.00, Y:-102.84, Z:-8.06 [[-7.61552166e-01 -6.48103074e-01 -8.39284068e-04 1.24001035e+02] [-6.48102703e-01 7.61552628e-01 -6.93027280e-04 -1.02842813e+02] [ 1.08831210e-03 1.61658468e-05 -9.99999408e-01 -8.05880588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.030385723 meters 0.015445399617080793 Centerline is valid? [True, True] Translation: X:123.92, Y:-102.88, Z:-8.06 [[-7.10903227e-01 -7.03288953e-01 -1.11816706e-03 1.23916259e+02] [-7.03288134e-01 7.10904106e-01 -1.07404294e-03 -1.02882494e+02] [ 1.55027209e-03 2.28530331e-05 -9.99998798e-01 -8.05904911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.060385723 meters 0.015600632630384333 Centerline is valid? [True, True] Translation: X:123.83, Y:-102.93, Z:-8.06 [[-6.56072078e-01 -7.54697385e-01 -1.13370954e-03 1.23832489e+02] [-7.54696323e-01 6.56073057e-01 -1.26650731e-03 -1.02930024e+02] [ 1.69962604e-03 2.46863340e-05 -9.99998555e-01 -8.05945297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.090385723 meters 0.015266693112473572 Centerline is valid? [True, True] Translation: X:123.75, Y:-102.99, Z:-8.06 [[-5.98414436e-01 -8.01186006e-01 -1.07042384e-03 1.23749508e+02] [-8.01184792e-01 5.98415393e-01 -1.39496857e-03 -1.02991272e+02] [ 1.75818740e-03 2.28379736e-05 -9.99998454e-01 -8.05925305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.120385723 meters 0.015229210366744869 Centerline is valid? [True, True] Translation: X:123.67, Y:-103.06, Z:-8.06 [[-5.36562761e-01 -8.43860031e-01 -8.07642838e-04 1.23666943e+02] [-8.43859125e-01 5.36563368e-01 -1.23644803e-03 -1.03060343e+02] [ 1.47674064e-03 1.81048082e-05 -9.99998909e-01 -8.05852115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.150385723 meters 0.015269826604342193 Centerline is valid? [True, True] Translation: X:123.59, Y:-103.14, Z:-8.06 [[-4.71363039e-01 -8.81939246e-01 -2.28121725e-04 1.23589799e+02] [-8.81939148e-01 4.71363094e-01 -4.15456616e-04 -1.03136859e+02] [ 4.73935656e-04 5.35858634e-06 -9.99999888e-01 -8.05688422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18038572300003 meters 0.017606897379819453 Centerline is valid? [True, True] Translation: X:123.52, Y:-103.23, Z:-8.05 [[-4.03810883e-01 -9.14842473e-01 1.45996032e-04 1.23515393e+02] [-9.14842416e-01 4.03810909e-01 3.20855109e-04 -1.03225397e+02] [-3.52486671e-04 -3.99857760e-06 -9.99999938e-01 -8.05303969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.210385723 meters 0.01605002432998857 Centerline is valid? [True, True] Translation: X:123.45, Y:-103.32, Z:-8.06 [[-3.32654935e-01 -9.43048587e-01 -2.39696133e-04 1.23449082e+02] [-9.43048358e-01 3.32655021e-01 -6.57367222e-04 -1.03316166e+02] [ 6.99665352e-04 7.36859427e-06 -9.99999755e-01 -8.05570709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24038572300003 meters 0.015129999847086914 Centerline is valid? [True, True] Translation: X:123.39, Y:-103.42, Z:-8.06 [[-2.60150339e-01 -9.65567812e-01 -7.75280591e-04 1.23390288e+02] [-9.65563853e-01 2.60151492e-01 -2.76521309e-03 -1.03415611e+02] [ 2.87169115e-03 2.92117949e-05 -9.99995876e-01 -8.05883246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.270385723 meters 0.015349513849289221 Centerline is valid? [True, True] Translation: X:123.34, Y:-103.52, Z:-8.06 [[-1.85727840e-01 -9.82601035e-01 -6.12919244e-04 1.23335267e+02] [-9.82596222e-01 1.85728849e-01 -3.07560725e-03 -1.03522208e+02] [ 3.13593165e-03 3.10262430e-05 -9.99995082e-01 -8.05898578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.300385723 meters 0.015130955817678017 Centerline is valid? [True, True] Translation: X:123.29, Y:-103.63, Z:-8.06 [[-1.10548052e-01 -9.93870719e-01 -3.48948422e-04 1.23290120e+02] [-9.93866522e-01 1.10548599e-01 -2.88843351e-03 -1.03631391e+02] [ 2.90930525e-03 2.74974565e-05 -9.99995768e-01 -8.05816004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.330385723 meters 0.01538096882265388 Centerline is valid? [True, True] Translation: X:123.25, Y:-103.74, Z:-8.06 [[-3.70676415e-02 -9.99312754e-01 -9.61856034e-05 1.23251088e+02] [-9.99310613e-01 3.70677612e-02 -2.06875513e-03 -1.03742522e+02] [ 2.07089877e-03 1.94354208e-05 -9.99997856e-01 -8.05787193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.360385723 meters 0.014824426598211411 Centerline is valid? [True, True] Translation: X:122.58, Y:-103.82, Z:-9.01 [[-1.22782363e-01 9.92433598e-01 -2.11882979e-04 1.22580587e+02] [-9.92432369e-01 -1.22782545e-01 -1.56217318e-03 -1.03817417e+02] [-1.57636868e-03 1.84722114e-05 9.99998757e-01 -9.01247864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.390385723 meters 0.015606663075794166 Centerline is valid? [True, True] Translation: X:123.24, Y:-104.02, Z:-8.06 [[-2.90251613e-02 -9.99578679e-01 -6.31965330e-05 1.23241794e+02] [-9.99577208e-01 2.90252270e-02 -1.71502099e-03 -1.04024560e+02] [ 1.71613271e-03 1.33910532e-05 -9.99998527e-01 -8.05595064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.420385723 meters 0.014715700997872396 Centerline is valid? [True, True] Translation: X:123.21, Y:-104.14, Z:-8.06 [[ 4.67214574e-02 -9.98907953e-01 8.62040108e-05 1.23214914e+02] [-9.98905635e-01 -4.67215347e-02 -2.15194263e-03 -1.04142618e+02] [ 2.15362019e-03 1.44322239e-05 -9.99997681e-01 -8.05673839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.450385723 meters 0.014751924673905473 Centerline is valid? [True, True] Translation: X:123.20, Y:-104.26, Z:-8.06 [[ 1.22260218e-01 -9.92498048e-01 2.51986475e-04 1.23196881e+02] [-9.92495730e-01 -1.22260477e-01 -2.14514773e-03 -1.04263657e+02] [ 2.15986292e-03 1.21707277e-05 -9.99997667e-01 -8.05621562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.480385723 meters 0.014684833048435188 Centerline is valid? [True, True] Translation: X:123.19, Y:-104.39, Z:-8.06 [[ 1.97005266e-01 -9.80402360e-01 3.71568096e-04 1.23188374e+02] [-9.80400532e-01 -1.97005616e-01 -1.89303930e-03 -1.04387207e+02] [ 1.92914120e-03 8.65315305e-06 -9.99998139e-01 -8.05630835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.510385723 meters 0.014601093355421436 Centerline is valid? [True, True] Translation: X:123.19, Y:-104.51, Z:-8.06 [[ 2.70774096e-01 -9.62642789e-01 5.00267233e-04 1.23190997e+02] [-9.62641102e-01 -2.70774558e-01 -1.80227179e-03 -1.04514608e+02] [ 1.87040358e-03 6.43071492e-06 -9.99998251e-01 -8.05610449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.540385723 meters 0.014662090836283335 Centerline is valid? [True, True] Translation: X:123.20, Y:-104.63, Z:-8.06 [[ 3.42471530e-01 -9.39528089e-01 4.69557768e-04 1.23202618e+02] [-9.39527196e-01 -3.42471852e-01 -1.29538405e-03 -1.04633286e+02] [ 1.37786002e-03 2.46986274e-06 -9.99999051e-01 -8.05546660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.570385723 meters 0.01461189070407311 Centerline is valid? [True, True] Translation: X:123.22, Y:-104.75, Z:-8.06 [[ 4.13190581e-01 -9.10644425e-01 5.24836041e-04 1.23221250e+02] [-9.10643685e-01 -4.13190914e-01 -1.16075234e-03 -1.04754176e+02] [ 1.27389013e-03 1.67330690e-06 -9.99999189e-01 -8.05566592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.600385723 meters 0.014655430937778954 Centerline is valid? [True, True] Translation: X:123.25, Y:-104.87, Z:-8.06 [[ 4.81369587e-01 -8.76517451e-01 6.92015868e-04 1.23246600e+02] [-8.76516541e-01 -4.81370085e-01 -1.26266898e-03 -1.04870189e+02] [ 1.43986713e-03 1.24709025e-06 -9.99998963e-01 -8.05518461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.630385723 meters 0.014683549486500878 Centerline is valid? [True, True] Translation: X:123.28, Y:-104.99, Z:-8.05 [[ 5.46955647e-01 -8.37160869e-01 1.09527581e-03 1.23281263e+02] [-8.37159185e-01 -5.46956744e-01 -1.67922583e-03 -1.04985970e+02] [ 2.00485065e-03 1.54184659e-06 -9.99997990e-01 -8.05370222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.660385723 meters 0.014689199043184742 Centerline is valid? [True, True] Translation: X:123.32, Y:-105.09, Z:-8.05 [[ 6.09237645e-01 -7.92987205e-01 8.85592053e-04 1.23321873e+02] [-7.92986365e-01 -6.09238288e-01 -1.15443647e-03 -1.05093207e+02] [ 1.45498994e-03 1.06373487e-06 -9.99998942e-01 -8.05316826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.690385723 meters 0.014648888892242138 Centerline is valid? [True, True] Translation: X:123.37, Y:-105.20, Z:-8.05 [[ 6.67870698e-01 -7.44276965e-01 7.27786184e-04 1.23372066e+02] [-7.44276522e-01 -6.67871095e-01 -8.11910048e-04 -1.05196889e+02] [ 1.09035330e-03 5.76760489e-07 -9.99999406e-01 -8.05299356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.720385723 meters 0.016573689300048752 Centerline is valid? [True, True] Translation: X:123.43, Y:-105.29, Z:-8.05 [[ 7.22739228e-01 -6.91120788e-01 2.54508613e-04 1.23429122e+02] [-6.91120745e-01 -7.22739273e-01 -2.43351420e-04 -1.05292221e+02] [ 3.52128595e-04 -1.65652800e-08 -9.99999938e-01 -8.05162001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.750385723 meters 0.014740135423402499 Centerline is valid? [True, True] Translation: X:123.42, Y:-105.30, Z:-8.05 [[ 7.75385317e-01 -6.31487955e-01 7.56762154e-04 1.23423553e+02] [-6.31487652e-01 -7.75385686e-01 -6.18813805e-04 -1.05302795e+02] [ 9.77556007e-04 1.93318317e-06 -9.99999522e-01 -8.05482485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.780385723 meters 0.014871917507387927 Centerline is valid? [True, True] Translation: X:123.42, Y:-105.32, Z:-8.05 [[ 8.23071251e-01 -5.67937750e-01 6.54326650e-04 1.23417897e+02] [-5.67937568e-01 -8.23071511e-01 -4.54514285e-04 -1.05315760e+02] [ 7.96693445e-04 2.48095426e-06 -9.99999683e-01 -8.05415908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.810385723 meters 0.014927287591284479 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.33, Z:-8.05 [[ 8.66553316e-01 -4.99084406e-01 3.26242665e-04 1.23411759e+02] [-4.99084369e-01 -8.66553377e-01 -1.90426042e-04 -1.05331433e+02] [ 3.77745352e-04 2.19170329e-06 -9.99999929e-01 -8.05168757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.840385723 meters 0.015137478769692847 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.34, Z:-8.05 [[ 9.03611818e-01 -4.28352287e-01 -1.24465275e-05 1.23408974e+02] [-4.28352287e-01 -9.03611818e-01 6.45761130e-06 -1.05343673e+02] [-1.40129618e-05 -5.03675378e-07 -1.00000000e+00 -8.05093283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.870385723 meters 0.01520305678913636 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.36, Z:-8.05 [[ 9.34984187e-01 -3.54687410e-01 -1.18803316e-03 1.23407167e+02] [-3.54687105e-01 -9.34984942e-01 4.65150751e-04 -1.05355655e+02] [-1.27577623e-03 -1.35285555e-05 -9.99999186e-01 -8.05107689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.900385723 meters 0.015754103056895608 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.37, Z:-8.05 [[ 9.60613500e-01 -2.77878910e-01 -2.23951494e-03 1.23406098e+02] [-2.77878080e-01 -9.60616110e-01 6.80007128e-04 -1.05365477e+02] [-2.34027377e-03 -3.09119159e-05 -9.99997261e-01 -8.05177752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93038572300003 meters 0.015625909108210878 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.38, Z:-8.05 [[ 9.79475925e-01 -2.01547291e-01 -2.36700711e-03 1.23406697e+02] [-2.01546621e-01 -9.79478784e-01 5.20679405e-04 -1.05375951e+02] [-2.42337477e-03 -3.29306576e-05 -9.99997063e-01 -8.05169065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.960385723 meters 0.015665503276020662 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.39, Z:-8.05 [[ 9.92188149e-01 -1.24723844e-01 -2.57697962e-03 1.23407087e+02] [-1.24723333e-01 -9.92191494e-01 3.58509843e-04 -1.05386741e+02] [-2.60157199e-03 -3.42997297e-05 -9.99996615e-01 -8.05088176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99038572300003 meters 0.01545379398855624 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.40, Z:-8.05 [[ 9.98855783e-01 -4.77330843e-02 -2.94580701e-03 1.23405562e+02] [-4.77327713e-02 -9.98860126e-01 1.76530729e-04 -1.05396443e+02] [-2.95087552e-03 -3.57172072e-05 -9.99995646e-01 -8.04890163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.020385723 meters 0.015389269399886212 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.41, Z:-8.05 [[ 9.99540068e-01 3.01170743e-02 -3.55170036e-03 1.23404639e+02] [ 3.01170300e-02 -9.99546377e-01 -6.59616460e-05 -1.05405248e+02] [-3.55207580e-03 -4.10353581e-05 -9.99993691e-01 -8.04871215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.050385723 meters 0.015304942266800028 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.41, Z:-8.05 [[ 9.94183009e-01 1.07629829e-01 -3.99547646e-03 1.23404651e+02] [ 1.07629136e-01 -9.94191037e-01 -3.88612481e-04 -1.05411918e+02] [-4.01409318e-03 -4.36777548e-05 -9.99991943e-01 -8.04899481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.080385723 meters 0.015259954208153325 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.42, Z:-8.05 [[ 9.82928672e-01 1.83954473e-01 -3.46095838e-03 1.23402601e+02] [ 1.83953455e-01 -9.82934764e-01 -6.12905866e-04 -1.05415392e+02] [-3.51464308e-03 -3.42125019e-05 -9.99993823e-01 -8.05100201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.110385723 meters 0.015181005968524359 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.42, Z:-8.05 [[ 9.65609448e-01 2.59976169e-01 -3.28412771e-03 1.23403174e+02] [ 2.59974777e-01 -9.65615032e-01 -8.51332027e-04 -1.05423168e+02] [-3.39252912e-03 -3.17361192e-05 -9.99994245e-01 -8.05159260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.140385723 meters 0.01513505485461147 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.43, Z:-8.05 [[ 9.42504914e-01 3.34175143e-01 -3.38547877e-03 1.23402700e+02] [ 3.34173106e-01 -9.42510994e-01 -1.16723647e-03 -1.05432133e+02] [-3.58091238e-03 -3.12098439e-05 -9.99993588e-01 -8.05061659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.170385723 meters 0.015054937256315945 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.44, Z:-8.05 [[ 9.13575411e-01 4.06657390e-01 -3.12003342e-03 1.23402923e+02] [ 4.06655126e-01 -9.13580739e-01 -1.35743552e-03 -1.05437612e+02] [-3.40241362e-03 -2.86578639e-05 -9.99994211e-01 -8.05014601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.200385723 meters 0.01497762288387883 Centerline is valid? [True, True] Translation: X:123.40, Y:-105.44, Z:-8.05 [[ 8.79054883e-01 4.76708910e-01 -3.33591485e-03 1.23404666e+02] [ 4.76705610e-01 -8.79061212e-01 -1.77388426e-03 -1.05444928e+02] [-3.77809978e-03 -3.09077077e-05 -9.99992862e-01 -8.05010856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.230385723 meters 0.015049229056475955 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.45, Z:-8.05 [[ 8.39201721e-01 5.43809592e-01 -3.40567812e-03 1.23405593e+02] [ 5.43805267e-01 -8.39208631e-01 -2.16897322e-03 -1.05451186e+02] [-4.03758291e-03 -3.18196445e-05 -9.99991848e-01 -8.05007569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.260385723 meters 0.014795249871934327 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.45, Z:-8.05 [[ 7.95063850e-01 6.06517569e-01 -3.14836773e-03 1.23405027e+02] [ 6.06512936e-01 -7.95070084e-01 -2.37074979e-03 -1.05454358e+02] [-3.94107439e-03 -2.46282984e-05 -9.99992234e-01 -8.05186309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.290385723 meters 0.014721703251387048 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.46, Z:-8.05 [[ 7.45644896e-01 6.66337293e-01 -2.88123563e-03 1.23407311e+02] [ 6.66332427e-01 -7.45650462e-01 -2.54650241e-03 -1.05462057e+02] [-3.84522420e-03 -2.10742018e-05 -9.99992607e-01 -8.05246534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.320385723 meters 0.01471239641822613 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.47, Z:-8.05 [[ 6.91776693e-01 7.22105614e-01 -2.91352581e-03 1.23409386e+02] [ 7.22099328e-01 -6.91782828e-01 -3.01309183e-03 -1.05470360e+02] [-4.19129765e-03 -1.94683280e-05 -9.99991216e-01 -8.05247179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.350385723 meters 0.014727977787714059 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.47, Z:-8.05 [[ 6.33742252e-01 7.73537589e-01 -3.21818213e-03 1.23407727e+02] [ 7.73527769e-01 -6.33750423e-01 -3.89769264e-03 -1.05474601e+02] [-5.05453606e-03 -1.92207336e-05 -9.99987226e-01 -8.05133458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.380385723 meters 0.01451262761398953 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.48, Z:-8.05 [[ 5.71410863e-01 8.20657915e-01 -3.19572169e-03 1.23411731e+02] [ 8.20645276e-01 -5.71419799e-01 -4.55470616e-03 -1.05482647e+02] [-5.56395431e-03 -1.99453306e-05 -9.99984521e-01 -8.05195945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.410385723 meters 0.014654497871902601 Centerline is valid? [True, True] Translation: X:123.42, Y:-105.49, Z:-8.05 [[ 5.05508027e-01 8.62816453e-01 -3.06647017e-03 1.23416583e+02] [ 8.62800829e-01 -5.05517328e-01 -5.19235495e-03 -1.05492075e+02] [-6.03020309e-03 -2.09758925e-05 -9.99981818e-01 -8.05028987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.440385723 meters 0.014616442659828742 Centerline is valid? [True, True] Translation: X:123.42, Y:-105.50, Z:-8.05 [[ 4.35785155e-01 9.00046814e-01 -2.65163351e-03 1.23419930e+02] [ 9.00030501e-01 -4.35793221e-01 -5.41908561e-03 -1.05498529e+02] [-6.03299465e-03 -2.49939718e-05 -9.99981801e-01 -8.05095135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.470385723 meters 0.014600683729424229 Centerline is valid? [True, True] Translation: X:123.42, Y:-105.51, Z:-8.05 [[ 3.64384703e-01 9.31245873e-01 -2.21654668e-03 1.23423266e+02] [ 9.31229013e-01 -3.64391444e-01 -5.60371506e-03 -1.05506166e+02] [-6.02612716e-03 -2.22045349e-05 -9.99981842e-01 -8.05128883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.500385723 meters 0.014610474925444112 Centerline is valid? [True, True] Translation: X:123.43, Y:-105.51, Z:-8.05 [[ 2.90850005e-01 9.56767034e-01 -1.76566209e-03 1.23426895e+02] [ 9.56749797e-01 -2.90855364e-01 -5.74306487e-03 -1.05512837e+02] [-6.00832743e-03 -1.89263991e-05 -9.99981950e-01 -8.05140994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.530385723 meters 0.014539882185105915 Centerline is valid? [True, True] Translation: X:123.43, Y:-105.52, Z:-8.05 [[ 2.16783303e-01 9.76218670e-01 -1.45173192e-03 1.23429490e+02] [ 9.76197049e-01 -2.16788163e-01 -6.49727352e-03 -1.05519608e+02] [-6.65747802e-03 -8.67600634e-06 -9.99977839e-01 -8.05138363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.560385723 meters 0.014459770826769122 Centerline is valid? [True, True] Translation: X:123.44, Y:-105.53, Z:-8.05 [[ 1.40307411e-01 9.90107559e-01 -9.23006790e-04 1.23435480e+02] [ 9.90086339e-01 -1.40310447e-01 -6.48219583e-03 -1.05526240e+02] [-6.54757858e-03 -4.35629885e-06 -9.99978564e-01 -8.05156135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.590385723 meters 0.014578836590045144 Centerline is valid? [True, True] Translation: X:123.44, Y:-105.53, Z:-8.05 [[ 6.26828863e-02 9.98033405e-01 -4.22135024e-04 1.23440713e+02] [ 9.98011003e-01 -6.26843077e-02 -6.68698215e-03 -1.05534502e+02] [-6.70029281e-03 -2.13605620e-06 -9.99977553e-01 -8.05193350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.620385723 meters 0.01461562161759516 Centerline is valid? [True, True] Translation: X:123.44, Y:-105.54, Z:-8.05 [[-1.53664257e-02 9.99881925e-01 9.70918790e-05 1.23441030e+02] [ 9.99861917e-01 1.53667324e-02 -6.32536048e-03 -1.05542351e+02] [-6.32610560e-03 -1.19709320e-07 -9.99979990e-01 -8.05363850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.650385723 meters 0.014523588873877238 Centerline is valid? [True, True] Translation: X:123.44, Y:-105.55, Z:-8.05 [[-9.33821430e-02 9.95630176e-01 5.73478133e-04 1.23444287e+02] [ 9.95611482e-01 9.33839039e-02 -6.10117698e-03 -1.05548793e+02] [-6.12806954e-03 1.22043206e-06 -9.99981223e-01 -8.05399601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68038572300003 meters 0.014526086861356776 Centerline is valid? [True, True] Translation: X:123.45, Y:-105.56, Z:-8.05 [[-1.71013647e-01 9.85268085e-01 1.06460458e-03 1.23447859e+02] [ 9.85249051e-01 1.71016961e-01 -6.12428384e-03 -1.05556099e+02] [-6.21612685e-03 1.56453745e-06 -9.99980680e-01 -8.05410161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.710385723 meters 0.014526086861356776 Centerline is valid? [True, True] Translation: X:123.45, Y:-105.56, Z:-8.05 [[-2.47682710e-01 9.68839976e-01 1.54117016e-03 1.23453351e+02] [ 9.68821261e-01 2.47687505e-01 -6.02203103e-03 -1.05563026e+02] [-6.21611299e-03 1.56545096e-06 -9.99980680e-01 -8.05410173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74038572300003 meters 0.014511783403998467 Centerline is valid? [True, True] Translation: X:123.46, Y:-105.57, Z:-8.05 [[-3.22910456e-01 9.46427376e-01 2.01461382e-03 1.23460335e+02] [ 9.46408977e-01 3.22916741e-01 -5.90142296e-03 -1.05568634e+02] [-6.23582078e-03 1.01742479e-06 -9.99980557e-01 -8.05402503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.770385723 meters 0.01457985731601495 Centerline is valid? [True, True] Translation: X:123.47, Y:-105.58, Z:-8.05 [[-3.96424497e-01 9.18063103e-01 2.78531500e-03 1.23466417e+02] [ 9.18040410e-01 3.96434282e-01 -6.45489749e-03 -1.05575576e+02] [-7.03019756e-03 -1.84776608e-06 -9.99975288e-01 -8.05302650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.800385723 meters 0.014457559729014436 Centerline is valid? [True, True] Translation: X:123.48, Y:-105.58, Z:-8.05 [[-4.67064901e-01 8.84215786e-01 3.58072630e-03 1.23477473e+02] [ 8.84189777e-01 4.67078627e-01 -6.78193364e-03 -1.05578696e+02] [-7.66917350e-03 -1.56157282e-06 -9.99970591e-01 -8.05348640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.830385723 meters 0.01461729304271876 Centerline is valid? [True, True] Translation: X:123.49, Y:-105.58, Z:-8.05 [[-5.34811744e-01 8.44961319e-01 4.09477882e-03 1.23487569e+02] [ 8.44936540e-01 5.34827420e-01 -6.47100815e-03 -1.05581982e+02] [-7.65775157e-03 -9.42908007e-07 -9.99970679e-01 -8.05236860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.860385723 meters 0.014521634504261896 Centerline is valid? [True, True] Translation: X:123.49, Y:-105.59, Z:-8.05 [[-5.99247636e-01 8.00550793e-01 4.54960834e-03 1.23493275e+02] [ 8.00527721e-01 5.99264907e-01 -6.07779666e-03 -1.05588157e+02] [-7.59200555e-03 -1.76865058e-08 -9.99971180e-01 -8.05307352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.890385723 meters 0.014373107779320663 Centerline is valid? [True, True] Translation: X:123.50, Y:-105.59, Z:-8.05 [[-6.59617002e-01 7.51587875e-01 4.59085241e-03 1.23504295e+02] [ 7.51569720e-01 6.59632978e-01 -5.22403567e-03 -1.05588025e+02] [-6.95459952e-03 4.48290489e-06 -9.99975816e-01 -8.05447423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.920385723 meters 0.014477053245119456 Centerline is valid? [True, True] Translation: X:123.52, Y:-105.59, Z:-8.05 [[-7.15902809e-01 6.98181444e-01 5.08313438e-03 1.23516808e+02] [ 6.98163946e-01 7.15920855e-01 -4.94310275e-03 -1.05586039e+02] [-7.09030453e-03 1.00800052e-05 -9.99974863e-01 -8.05479076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.950385723 meters 0.014502261723194862 Centerline is valid? [True, True] Translation: X:123.55, Y:-105.58, Z:-8.06 [[-7.62710098e-01 6.46717971e-01 5.40119992e-03 1.23552441e+02] [ 6.46701929e-01 7.62729222e-01 -4.55514935e-03 -1.05580179e+02] [-7.06554996e-03 1.87080034e-05 -9.99975039e-01 -8.05577886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.980385723 meters 0.01447318052478047 Centerline is valid? [True, True] Translation: X:123.58, Y:-105.56, Z:-8.06 [[-8.06369011e-01 5.91383916e-01 5.83794932e-03 1.23579406e+02] [ 5.91368608e-01 8.06390144e-01 -4.25507253e-03 -1.05564475e+02] [-7.22404625e-03 2.12213304e-05 -9.99973906e-01 -8.05559385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.010385723 meters 0.014502266091848976 Centerline is valid? [True, True] Translation: X:123.60, Y:-105.54, Z:-8.06 [[-8.45959494e-01 5.33211977e-01 6.12561157e-03 1.23599500e+02] [ 5.33198206e-01 8.45981671e-01 -3.83220174e-03 -1.05543178e+02] [-7.22553098e-03 2.42776610e-05 -9.99973895e-01 -8.05599319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.040385723 meters 0.014532780320786089 Centerline is valid? [True, True] Translation: X:123.62, Y:-105.52, Z:-8.06 [[-8.81020847e-01 4.73038288e-01 6.08645902e-03 1.23621758e+02] [ 4.73027244e-01 8.81041870e-01 -3.23247769e-03 -1.05521965e+02] [-6.89151095e-03 3.11807031e-05 -9.99976253e-01 -8.05662260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.070385723 meters 0.014620592512821357 Centerline is valid? [True, True] Translation: X:123.64, Y:-105.50, Z:-8.06 [[-9.11996538e-01 4.10147959e-01 6.40045120e-03 1.23639092e+02] [ 4.10138141e-01 9.12018997e-01 -2.83813639e-03 -1.05497557e+02] [-7.00138892e-03 3.66985941e-05 -9.99975489e-01 -8.05650348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.100385723 meters 0.014808193423001463 Centerline is valid? [True, True] Translation: X:123.66, Y:-105.47, Z:-8.06 [[-9.37972780e-01 3.46639785e-01 6.92268597e-03 1.23660731e+02] [ 3.46630780e-01 9.37998324e-01 -2.49914152e-03 -1.05474616e+02] [-7.35976972e-03 5.54893188e-05 -9.99972915e-01 -8.05588000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.130385723 meters 0.014958960931051903 Centerline is valid? [True, True] Translation: X:123.67, Y:-105.45, Z:-8.06 [[-9.59883289e-01 2.80308583e-01 7.15323407e-03 1.23672082e+02] [ 2.80301297e-01 9.59909941e-01 -2.02210062e-03 -1.05447588e+02] [-7.43327265e-03 6.40801955e-05 -9.99972371e-01 -8.05615010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.160385723 meters 0.01502480614960979 Centerline is valid? [True, True] Translation: X:123.68, Y:-105.42, Z:-8.06 [[-9.77208667e-01 2.12144640e-01 7.60744143e-03 1.23684765e+02] [ 2.12138783e-01 9.77238275e-01 -1.57808647e-03 -1.05420167e+02] [-7.76906553e-03 7.17135936e-05 -9.99969818e-01 -8.05561723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.190385723 meters 0.015220515100239251 Centerline is valid? [True, True] Translation: X:123.86, Y:-104.61, Z:-9.02 [[-9.65815267e-01 -2.59101811e-01 8.19275085e-03 1.23860279e+02] [ 2.59092200e-01 -9.65850015e-01 -2.23187836e-03 -1.04610027e+02] [ 8.49125225e-03 -3.29043576e-05 9.99963948e-01 -9.01526540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.220385723 meters 0.015099687830234904 Centerline is valid? [True, True] Translation: X:123.63, Y:-105.41, Z:-8.05 [[-9.77761754e-01 2.09517702e-01 9.18071181e-03 1.23626156e+02] [ 2.09509416e-01 9.77804849e-01 -1.86589803e-03 -1.05406154e+02] [-9.36788319e-03 9.90418439e-05 -9.99956116e-01 -8.05478174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.250385723 meters 0.015329853344596448 Centerline is valid? [True, True] Translation: X:123.63, Y:-105.38, Z:-8.05 [[-9.90101207e-01 1.40007728e-01 9.87100357e-03 1.23632634e+02] [ 1.40001872e-01 9.90150405e-01 -1.28518708e-03 -1.05378244e+02] [-9.95371431e-03 1.09493703e-04 -9.99950455e-01 -8.05458653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.280385723 meters 0.015281342074849866 Centerline is valid? [True, True] Translation: X:123.75, Y:-104.56, Z:-9.02 [[-9.82839536e-01 -1.84186394e-01 1.00904796e-02 1.23752033e+02] [ 1.84175726e-01 -9.82891329e-01 -1.98447192e-03 -1.04563395e+02] [ 1.02833576e-02 -9.19960595e-05 9.99947121e-01 -9.01601998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.310385723 meters 0.01536501811088429 Centerline is valid? [True, True] Translation: X:123.57, Y:-105.37, Z:-8.05 [[-9.90587357e-01 1.36516951e-01 9.99047039e-03 1.23573038e+02] [ 1.36511250e-01 9.90637727e-01 -1.25364935e-03 -1.05367853e+02] [-1.00680813e-02 1.21962402e-04 -9.99949308e-01 -8.05354011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.340385723 meters 0.015530085327652729 Centerline is valid? [True, True] Translation: X:123.57, Y:-105.34, Z:-8.05 [[-9.97759039e-01 6.61907306e-02 9.78199970e-03 1.23573105e+02] [ 6.61887470e-02 9.97806982e-01 -5.26730017e-04 -1.05338697e+02] [-9.79541223e-03 1.21908667e-04 -9.99952016e-01 -8.05312165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.370385723 meters 0.015505823419990385 Centerline is valid? [True, True] Translation: X:123.58, Y:-105.31, Z:-8.05 [[-9.99935157e-01 -4.54213384e-03 1.04427654e-02 1.23576036e+02] [-4.54048881e-03 9.99989676e-01 1.81231331e-04 -1.05309759e+02] [-1.04434807e-02 1.33804320e-04 -9.99945456e-01 -8.05395299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.400385723 meters 0.01566946007372472 Centerline is valid? [True, True] Translation: X:123.56, Y:-105.28, Z:-8.05 [[-9.97061904e-01 -7.58016120e-02 1.10306932e-02 1.23563298e+02] [-7.57954150e-02 9.97122909e-01 9.79369755e-04 -1.05281522e+02] [-1.10731947e-02 1.40416301e-04 -9.99938680e-01 -8.05375814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43038572300003 meters 0.015829136835769097 Centerline is valid? [True, True] Translation: X:123.55, Y:-105.25, Z:-8.05 [[-9.89046131e-01 -1.47146668e-01 1.16451361e-02 1.23552790e+02] [-1.47134710e-01 9.89114673e-01 1.88165822e-03 -1.05254041e+02] [-1.17952547e-02 1.47643057e-04 -9.99930423e-01 -8.05316185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.460385723 meters 0.015851755705856344 Centerline is valid? [True, True] Translation: X:123.40, Y:-104.45, Z:-9.02 [[-9.94443516e-01 1.04630745e-01 1.15974642e-02 1.23399364e+02] [-1.04625456e-01 -9.94511128e-01 1.06346594e-03 -1.04446531e+02] [ 1.16450784e-02 -1.55833178e-04 9.99932182e-01 -9.01632056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49038572300003 meters 0.015761131141338487 Centerline is valid? [True, True] Translation: X:123.41, Y:-105.28, Z:-8.05 [[-9.87839703e-01 -1.55067438e-01 1.12610054e-02 1.23408576e+02] [-1.55055802e-01 9.87903878e-01 1.90437835e-03 -1.05275480e+02] [-1.14200980e-02 1.35136314e-04 -9.99934779e-01 -8.05439285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.520385723 meters 0.01586023174367214 Centerline is valid? [True, True] Translation: X:123.37, Y:-105.25, Z:-8.05 [[-9.74108563e-01 -2.25824128e-01 1.07689520e-02 1.23370415e+02] [-2.25808849e-01 9.74168079e-01 2.63011108e-03 -1.05253565e+02] [-1.10847118e-02 1.30289077e-04 -9.99938554e-01 -8.05446831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.550385723 meters 0.015496661763416176 Centerline is valid? [True, True] Translation: X:123.32, Y:-105.24, Z:-8.06 [[-9.54803142e-01 -2.97061222e-01 1.02757530e-02 1.23315963e+02] [-2.97042609e-01 9.54858427e-01 3.32763934e-03 -1.05238148e+02] [-1.08004020e-02 1.24903999e-04 -9.99941666e-01 -8.05517804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.580385723 meters 0.015354564021718548 Centerline is valid? [True, True] Translation: X:123.25, Y:-105.23, Z:-8.06 [[-9.30145424e-01 -3.67047786e-01 1.02670911e-02 1.23249466e+02] [-3.67023946e-01 9.30202079e-01 4.18519225e-03 -1.05232141e+02] [-1.10866350e-02 1.24569121e-04 -9.99938534e-01 -8.05581163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.610385723 meters 0.015293942536114427 Centerline is valid? [True, True] Translation: X:123.18, Y:-105.23, Z:-8.06 [[-9.00052601e-01 -4.35669692e-01 9.86075320e-03 1.23178807e+02] [-4.35642081e-01 9.00106607e-01 4.90640356e-03 -1.05233318e+02] [-1.10133004e-02 1.20262245e-04 -9.99939345e-01 -8.05716560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.640385723 meters 0.01562974839078737 Centerline is valid? [True, True] Translation: X:123.09, Y:-105.25, Z:-8.06 [[-8.64868734e-01 -5.01913711e-01 9.20323910e-03 1.23094525e+02] [-5.01883861e-01 8.64917692e-01 5.47511017e-03 -1.05248284e+02] [-1.07080772e-02 1.16294438e-04 -9.99942660e-01 -8.05723944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.670385723 meters 0.015669748208367983 Centerline is valid? [True, True] Translation: X:123.01, Y:-105.27, Z:-8.06 [[-8.24425659e-01 -5.65899997e-01 8.91780254e-03 1.23005693e+02] [-5.65865375e-01 8.24473881e-01 6.26073506e-03 -1.05271113e+02] [-1.08954452e-02 1.15234947e-04 -9.99940636e-01 -8.05697640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.700385723 meters 0.015412509929496582 Centerline is valid? [True, True] Translation: X:122.91, Y:-105.30, Z:-8.06 [[-7.79099070e-01 -6.26840205e-01 8.71759762e-03 1.22911848e+02] [-6.26799280e-01 7.79147832e-01 7.16374819e-03 -1.05304346e+02] [-1.12828227e-02 1.17085639e-04 -9.99936340e-01 -8.05736500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.730385723 meters 0.015621535182995566 Centerline is valid? [True, True] Translation: X:122.81, Y:-105.36, Z:-8.05 [[-7.28444729e-01 -6.85051340e-01 8.54044898e-03 1.22806882e+02] [-6.85002528e-01 7.28494784e-01 8.17840953e-03 -1.05358080e+02] [-1.18243029e-02 1.07290172e-04 -9.99930085e-01 -8.05492285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.760385723 meters 0.015609141552556327 Centerline is valid? [True, True] Translation: X:122.72, Y:-105.40, Z:-8.05 [[-6.73504678e-01 -7.39133538e-01 8.54763934e-03 1.22722080e+02] [-7.39071976e-01 6.73558907e-01 9.54010156e-03 -1.05403868e+02] [-1.28087476e-02 1.07982332e-04 -9.99917959e-01 -8.05441943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.790385723 meters 0.015028206602474253 Centerline is valid? [True, True] Translation: X:122.63, Y:-105.47, Z:-8.06 [[-6.14689535e-01 -7.88727382e-01 8.11735322e-03 1.22625615e+02] [-7.88656343e-01 6.14743121e-01 1.05861962e-02 -1.05473417e+02] [-1.33397099e-02 1.05421913e-04 -9.99911017e-01 -8.05676469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.820385723 meters 0.015871485442785032 Centerline is valid? [True, True] Translation: X:122.54, Y:-105.54, Z:-8.05 [[-5.52211934e-01 -8.33672885e-01 7.17639809e-03 1.22543950e+02] [-8.33600078e-01 5.52258553e-01 1.10181722e-02 -1.05543721e+02] [-1.31487787e-02 1.02120182e-04 -9.99913546e-01 -8.05466182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.850385723 meters 0.015185719730113898 Centerline is valid? [True, True] Translation: X:122.46, Y:-105.63, Z:-8.06 [[-4.86852710e-01 -8.73464929e-01 5.78416976e-03 1.22457332e+02] [-8.73400883e-01 4.86887059e-01 1.05777574e-02 -1.05626227e+02] [-1.20555375e-02 9.79108728e-05 -9.99927325e-01 -8.05757284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.880385723 meters 0.015436556754309149 Centerline is valid? [True, True] Translation: X:122.37, Y:-105.73, Z:-8.06 [[-4.18262474e-01 -9.08313527e-01 4.79996506e-03 1.22373865e+02] [-9.08251082e-01 4.18290004e-01 1.06510043e-02 -1.05727219e+02] [-1.16822287e-02 9.53419501e-05 -9.99931756e-01 -8.05601193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.910385723 meters 0.015647457961737308 Centerline is valid? [True, True] Translation: X:122.30, Y:-105.84, Z:-8.06 [[-3.46572129e-01 -9.38013046e-01 4.39139792e-03 1.22295587e+02] [-9.37934107e-01 3.46599936e-01 1.21694650e-02 -1.05841842e+02] [-1.29371752e-02 9.87555181e-05 -9.99916306e-01 -8.05542549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.940385723 meters 0.015407602870672237 Centerline is valid? [True, True] Translation: X:122.24, Y:-105.93, Z:-8.06 [[-2.73057821e-01 -9.61991466e-01 3.44179631e-03 1.22236282e+02] [-9.61910499e-01 2.73079494e-01 1.24812856e-02 -1.05931957e+02] [-1.29467742e-02 9.74126489e-05 -9.99916182e-01 -8.05696982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.970385723 meters 0.015451758682101777 Centerline is valid? [True, True] Translation: X:122.18, Y:-106.03, Z:-8.06 [[-1.97911960e-01 -9.80216775e-01 2.43517530e-03 1.22183181e+02] [-9.80136502e-01 1.97926918e-01 1.25448508e-02 -1.06033110e+02] [-1.27786599e-02 9.59717997e-05 -9.99918345e-01 -8.05796516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.000385723 meters 0.015394101416813818 Centerline is valid? [True, True] Translation: X:122.13, Y:-106.16, Z:-8.06 [[-1.21932793e-01 -9.92537392e-01 1.38572593e-03 1.22134070e+02] [-9.92464158e-01 1.21940630e-01 1.20572689e-02 -1.06160078e+02] [-1.21362665e-02 9.48931445e-05 -9.99926348e-01 -8.06005876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.030385723 meters 0.015505700311324432 Centerline is valid? [True, True] Translation: X:122.09, Y:-106.28, Z:-8.06 [[-4.52976587e-02 -9.98973440e-01 4.33450095e-04 1.22094867e+02] [-9.98904938e-01 4.52996287e-02 1.16990696e-02 -1.06275069e+02] [-1.17066950e-02 9.69650227e-05 -9.99931470e-01 -8.06065142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.060385723 meters 0.015387848732005029 Centerline is valid? [True, True] Translation: X:121.28, Y:-106.36, Z:-9.01 [[-9.55361049e-02 9.95425223e-01 1.21597484e-03 1.21277406e+02] [-9.95356817e-01 -9.55437953e-02 1.16700590e-02 -1.06359338e+02] [ 1.17328499e-02 -9.54168605e-05 9.99931163e-01 -9.00997449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.090385723 meters 0.015821892540088277 Centerline is valid? [True, True] Translation: X:122.08, Y:-106.58, Z:-8.06 [[-3.66055209e-02 -9.99329739e-01 3.31038075e-04 1.22075634e+02] [-9.99254155e-01 3.66068238e-02 1.22912349e-02 -1.06584004e+02] [-1.22951149e-02 1.19135886e-04 -9.99924405e-01 -8.05745744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.120385723 meters 0.015591328084211466 Centerline is valid? [True, True] Translation: X:122.05, Y:-106.70, Z:-8.06 [[ 4.04953040e-02 -9.99179534e-01 -6.23345011e-04 1.22047955e+02] [-9.99102808e-01 -4.04999196e-02 1.23828606e-02 -1.06701119e+02] [-1.23979464e-02 1.21338044e-04 -9.99923135e-01 -8.05901165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.150385723 meters 0.015700313442823677 Centerline is valid? [True, True] Translation: X:121.25, Y:-106.86, Z:-9.01 [[-7.41225889e-03 9.99972504e-01 2.24422313e-04 1.21245825e+02] [-9.99898371e-01 -7.41444219e-03 1.21767372e-02 -1.06858809e+02] [ 1.21780663e-02 -1.34142377e-04 9.99925836e-01 -9.00986656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18038572300003 meters 0.0157307888988681 Centerline is valid? [True, True] Translation: X:122.06, Y:-107.01, Z:-8.06 [[ 4.99259283e-02 -9.98752652e-01 -7.36318036e-04 1.22062744e+02] [-9.98678336e-01 -4.99311961e-02 1.21843041e-02 -1.07014379e+02] [-1.22058713e-02 1.27032177e-04 -9.99925498e-01 -8.06121815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.210385723 meters 0.01584991280945559 Centerline is valid? [True, True] Translation: X:122.05, Y:-107.16, Z:-8.06 [[ 1.26360471e-01 -9.91983224e-01 -1.52124202e-03 1.22046572e+02] [-9.91922473e-01 -1.26369569e-01 1.09790092e-02 -1.07155237e+02] [-1.10832317e-02 1.21641366e-04 -9.99938572e-01 -8.06201161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24038572300003 meters 0.015745369145970717 Centerline is valid? [True, True] Translation: X:122.03, Y:-107.26, Z:-8.06 [[ 2.02716978e-01 -9.79234705e-01 -2.28452738e-03 1.22034546e+02] [-9.79178865e-01 -2.02729816e-01 1.04581199e-02 -1.07264111e+02] [-1.07040958e-02 1.16922468e-04 -9.99942703e-01 -8.06252466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.270385723 meters 0.015582830732861637 Centerline is valid? [True, True] Translation: X:122.04, Y:-107.40, Z:-8.06 [[ 2.78157012e-01 -9.60531074e-01 -2.95494276e-03 1.22036698e+02] [-9.60480903e-01 -2.78172686e-01 9.81787749e-03 -1.07395517e+02] [-1.02523608e-02 1.07254626e-04 -9.99947437e-01 -8.06240158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.300385723 meters 0.015298287176309381 Centerline is valid? [True, True] Translation: X:122.04, Y:-107.52, Z:-8.06 [[ 3.52681718e-01 -9.35735799e-01 -3.75783015e-03 1.22044852e+02] [-9.35685512e-01 -3.52701724e-01 9.70136462e-03 -1.07515655e+02] [-1.04033073e-02 9.46532933e-05 -9.99945880e-01 -8.06086890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.330385723 meters 0.015251963555616128 Centerline is valid? [True, True] Translation: X:122.07, Y:-107.65, Z:-8.06 [[ 4.24675049e-01 -9.05334311e-01 -4.57033155e-03 1.22068925e+02] [-9.05284026e-01 -4.24699633e-01 9.54224844e-03 -1.07645686e+02] [-1.05799430e-02 8.50933184e-05 -9.99944027e-01 -8.06075824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.360385723 meters 0.015159678145736764 Centerline is valid? [True, True] Translation: X:122.10, Y:-107.76, Z:-8.06 [[ 4.94782601e-01 -8.68997755e-01 -5.75157443e-03 1.22096711e+02] [-8.68940689e-01 -4.94816024e-01 9.95900659e-03 -1.07762858e+02] [-1.15003256e-02 7.02338674e-05 -9.99933867e-01 -8.06027691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.390385723 meters 0.015017840708029048 Centerline is valid? [True, True] Translation: X:122.13, Y:-107.87, Z:-8.06 [[ 5.60864672e-01 -8.27879345e-01 -6.82705423e-03 1.22131740e+02] [-8.27819365e-01 -5.60906218e-01 9.96559145e-03 -1.07874490e+02] [-1.20796445e-02 6.22195135e-05 -9.99927037e-01 -8.05956409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.420385723 meters 0.014856140522998343 Centerline is valid? [True, True] Translation: X:122.18, Y:-107.99, Z:-8.06 [[ 6.23810684e-01 -7.81540720e-01 -7.37109678e-03 1.22177472e+02] [-7.81487001e-01 -6.23854230e-01 9.16334587e-03 -1.07988221e+02] [-1.17600178e-02 4.42232683e-05 -9.99930848e-01 -8.05856486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.450385723 meters 0.01617812654763247 Centerline is valid? [True, True] Translation: X:122.23, Y:-108.09, Z:-8.06 [[ 6.81690667e-01 -7.31597114e-01 -7.96852639e-03 1.22227916e+02] [-7.31547918e-01 -6.81737237e-01 8.48433947e-03 -1.08092057e+02] [-1.16395594e-02 4.56638580e-05 -9.99932257e-01 -8.05777225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.480385723 meters 0.014739470113409132 Centerline is valid? [True, True] Translation: X:122.29, Y:-108.19, Z:-8.06 [[ 7.36489502e-01 -6.76407825e-01 -7.46116690e-03 1.22289253e+02] [-6.76373477e-01 -7.36527294e-01 6.81659664e-03 -1.08194004e+02] [-1.01061524e-02 2.61835345e-05 -9.99948931e-01 -8.05909082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.510385723 meters 0.014898308844603575 Centerline is valid? [True, True] Translation: X:122.28, Y:-108.20, Z:-8.06 [[ 7.87455472e-01 -6.16324525e-01 -7.61309345e-03 1.22284890e+02] [-6.16295961e-01 -7.87492273e-01 5.93367134e-03 -1.08198978e+02] [-9.65231943e-03 1.94167706e-05 -9.99953415e-01 -8.05852440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.540385723 meters 0.015210930034287824 Centerline is valid? [True, True] Translation: X:122.28, Y:-108.20, Z:-8.06 [[ 8.33531711e-01 -5.52419473e-01 -7.59025580e-03 1.22280913e+02] [-5.52396716e-01 -8.33566270e-01 5.01419342e-03 -1.08202706e+02] [-9.09691929e-03 1.33431599e-05 -9.99958622e-01 -8.05770240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.570385723 meters 0.01671811769831828 Centerline is valid? [True, True] Translation: X:122.28, Y:-108.21, Z:-8.06 [[ 8.73827379e-01 -4.86166056e-01 -8.26303682e-03 1.22278473e+02] [-4.86144537e-01 -8.73866446e-01 4.57419461e-03 -1.08205080e+02] [-9.44460877e-03 1.99737234e-05 -9.99955399e-01 -8.05695615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.600385723 meters 0.01671811769831828 Centerline is valid? [True, True] Translation: X:122.28, Y:-108.21, Z:-8.06 [[ 9.09162387e-01 -4.16353065e-01 -8.59536202e-03 1.22275633e+02] [-4.16334667e-01 -9.09203016e-01 3.91412156e-03 -1.08208475e+02] [-9.44458559e-03 1.99750780e-05 -9.99955399e-01 -8.05695639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.630385723 meters 0.015909274202273165 Centerline is valid? [True, True] Translation: X:122.27, Y:-108.21, Z:-8.06 [[ 9.38370348e-01 -3.45545872e-01 -7.69027153e-03 1.22274134e+02] [-3.45534537e-01 -9.38401859e-01 2.79901949e-03 -1.08208285e+02] [-8.18375473e-03 3.07375221e-05 -9.99966512e-01 -8.05834952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.660385723 meters 0.016075472436431235 Centerline is valid? [True, True] Translation: X:122.27, Y:-108.22, Z:-8.06 [[ 9.62228831e-01 -2.72148877e-01 -7.11791884e-03 1.22270483e+02] [-2.72141703e-01 -9.62255157e-01 1.97629868e-03 -1.08218124e+02] [-7.38710157e-03 3.54309890e-05 -9.99972714e-01 -8.05935336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.690385723 meters 0.01663159682469983 Centerline is valid? [True, True] Translation: X:122.27, Y:-108.23, Z:-8.06 [[ 9.80383080e-01 -1.96994775e-01 -6.48657507e-03 1.22266695e+02] [-1.96990719e-01 -9.80404538e-01 1.26470682e-03 -1.08227140e+02] [-6.60860827e-03 3.78979160e-05 -9.99978162e-01 -8.05874493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.720385723 meters 0.017254708126418685 Centerline is valid? [True, True] Translation: X:122.26, Y:-108.24, Z:-8.06 [[ 9.92691512e-01 -1.20489619e-01 -6.76860422e-03 1.22260871e+02] [-1.20487126e-01 -9.92714586e-01 7.76251126e-04 -1.08238282e+02] [-6.81282234e-03 4.49517681e-05 -9.99976791e-01 -8.05778730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.750385723 meters 0.016876980354636095 Centerline is valid? [True, True] Translation: X:122.26, Y:-108.25, Z:-8.06 [[ 9.99068626e-01 -4.25419423e-02 -7.21547561e-03 1.22255003e+02] [-4.25411844e-02 -9.99094681e-01 2.58552498e-04 -1.08247731e+02] [-7.21994263e-03 4.86431895e-05 -9.99973935e-01 -8.05669029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.780385723 meters 0.016810448697783704 Centerline is valid? [True, True] Translation: X:122.25, Y:-108.26, Z:-8.06 [[ 9.99343000e-01 3.54038606e-02 -7.75468107e-03 1.22250652e+02] [ 3.54023632e-02 -9.99373085e-01 -3.30323305e-04 -1.08255678e+02] [-7.76151426e-03 5.55722465e-05 -9.99969877e-01 -8.05650130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.810385723 meters 0.01833626008680876 Centerline is valid? [True, True] Translation: X:122.25, Y:-108.26, Z:-8.06 [[ 9.93735218e-01 1.11446895e-01 -8.36104104e-03 1.22245953e+02] [ 1.11442289e-01 -9.93770388e-01 -1.01623032e-03 -1.08261993e+02] [-8.42221071e-03 7.80903074e-05 -9.99964530e-01 -8.05655867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.840385723 meters 0.017456014882915802 Centerline is valid? [True, True] Translation: X:122.24, Y:-108.27, Z:-8.06 [[ 9.82229711e-01 1.87509623e-01 -8.05826862e-03 1.22242502e+02] [ 1.87502582e-01 -9.82262762e-01 -1.62735719e-03 -1.08268676e+02] [-8.22048233e-03 8.74924147e-05 -9.99966207e-01 -8.05718748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.870385723 meters 0.017804739678382336 Centerline is valid? [True, True] Translation: X:122.24, Y:-108.28, Z:-8.06 [[ 9.64926708e-01 2.62381660e-01 -8.50372816e-03 1.22239135e+02] [ 2.62370491e-01 -9.64964172e-01 -2.42327687e-03 -1.08276353e+02] [-8.84161641e-03 1.07157238e-04 -9.99960906e-01 -8.05677484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.900385723 meters 0.018882118181656044 Centerline is valid? [True, True] Translation: X:122.24, Y:-108.28, Z:-8.06 [[ 9.42492385e-01 3.34093497e-01 -9.46783738e-03 1.22235795e+02] [ 3.34074989e-01 -9.42539926e-01 -3.51998201e-03 -1.08282639e+02] [-1.00998178e-02 1.54588569e-04 -9.99948984e-01 -8.05598412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93038572300003 meters 0.020212486066247447 Centerline is valid? [True, True] Translation: X:122.23, Y:-108.29, Z:-8.06 [[ 9.14150003e-01 4.05261891e-01 -9.62143379e-03 1.22232856e+02] [ 4.05237355e-01 -9.14200616e-01 -4.46306143e-03 -1.08289264e+02] [-1.06046294e-02 1.80943240e-04 -9.99943753e-01 -8.05628086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.960385723 meters 0.01939571981898597 Centerline is valid? [True, True] Translation: X:122.23, Y:-108.30, Z:-8.06 [[ 8.80080713e-01 4.74735633e-01 -9.16610217e-03 1.22231557e+02] [ 4.74707634e-01 -8.80128424e-01 -5.15936057e-03 -1.08298590e+02] [-1.05166794e-02 1.89435058e-04 -9.99944680e-01 -8.05766590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99038572300003 meters 0.019841375719491947 Centerline is valid? [True, True] Translation: X:122.23, Y:-108.31, Z:-8.06 [[ 8.40996913e-01 5.40974175e-01 -8.43411388e-03 1.22229374e+02] [ 5.40944601e-01 -8.41039180e-01 -5.66006427e-03 -1.08306613e+02] [-1.01553688e-02 1.97708213e-04 -9.99948413e-01 -8.05850608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.020385723 meters 0.019527150445369814 Centerline is valid? [True, True] Translation: X:122.23, Y:-108.32, Z:-8.06 [[ 7.96286155e-01 6.04869014e-01 -7.86349351e-03 1.22231640e+02] [ 6.04837042e-01 -7.96324956e-01 -6.22231676e-03 -1.08318525e+02] [-1.00255827e-02 1.98612533e-04 -9.99949723e-01 -8.05945565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.050385723 meters 0.018857884565508683 Centerline is valid? [True, True] Translation: X:122.24, Y:-108.33, Z:-8.06 [[ 7.46709637e-01 6.65110626e-01 -7.25074625e-03 1.22237037e+02] [ 6.65076657e-01 -7.46744813e-01 -6.72501723e-03 -1.08332621e+02] [-9.88733757e-03 1.99333094e-04 -9.99951099e-01 -8.06024723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.080385723 meters 0.01928328588034562 Centerline is valid? [True, True] Translation: X:122.24, Y:-108.35, Z:-8.06 [[ 6.92449905e-01 7.21439292e-01 -6.20294573e-03 1.22241047e+02] [ 7.21407922e-01 -6.92477663e-01 -6.73022661e-03 -1.08345021e+02] [-9.15085128e-03 1.85490590e-04 -9.99958113e-01 -8.05991808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.110385723 meters 0.01893408570586429 Centerline is valid? [True, True] Translation: X:122.25, Y:-108.36, Z:-8.06 [[ 6.33806716e-01 7.73473545e-01 -5.26516514e-03 1.22245668e+02] [ 7.73444573e-01 -6.33828561e-01 -6.69677734e-03 -1.08356850e+02] [-8.51699215e-03 1.72149044e-04 -9.99963715e-01 -8.06023035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.140385723 meters 0.019991349803483254 Centerline is valid? [True, True] Translation: X:122.25, Y:-108.37, Z:-8.06 [[ 5.71122122e-01 8.20851500e-01 -4.72613952e-03 1.22249678e+02] [ 8.20820893e-01 -5.71141651e-01 -7.09059119e-03 -1.08367897e+02] [-8.51961755e-03 1.70279420e-04 -9.99963693e-01 -8.05963892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.170385723 meters 0.0184078529112504 Centerline is valid? [True, True] Translation: X:122.26, Y:-108.38, Z:-8.06 [[ 5.04398679e-01 8.63462957e-01 -3.70058408e-03 1.22260982e+02] [ 8.63437570e-01 -5.04412233e-01 -6.62283827e-03 -1.08381135e+02] [-7.58519540e-03 1.45327553e-04 -9.99971221e-01 -8.06106043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.200385723 meters 0.01791856971085686 Centerline is valid? [True, True] Translation: X:122.27, Y:-108.39, Z:-8.06 [[ 4.32416733e-01 9.01669156e-01 -2.91583093e-03 1.22274939e+02] [ 9.01646883e-01 -4.32426549e-01 -6.33865930e-03 -1.08393965e+02] [-6.97625629e-03 1.11892472e-04 -9.99975659e-01 -8.06057318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.230385723 meters 0.017990992098263308 Centerline is valid? [True, True] Translation: X:122.29, Y:-108.40, Z:-8.06 [[ 3.58453166e-01 9.33544955e-01 -2.26814200e-03 1.22286032e+02] [ 9.33524633e-01 -3.58460330e-01 -6.16046475e-03 -1.08404901e+02] [-6.56410972e-03 9.08716596e-05 -9.99978452e-01 -8.06014909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.260385723 meters 0.018549669032816112 Centerline is valid? [True, True] Translation: X:122.30, Y:-108.41, Z:-8.06 [[ 2.80688163e-01 9.59797188e-01 -1.87433820e-03 1.22303477e+02] [ 9.59774087e-01 -2.80694412e-01 -6.65950995e-03 -1.08414943e+02] [-6.91789518e-03 7.03043815e-05 -9.99976069e-01 -8.05911012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.290385723 meters 0.016910367056284202 Centerline is valid? [True, True] Translation: X:122.32, Y:-108.42, Z:-8.06 [[ 2.02557235e-01 9.79269547e-01 -1.31159166e-03 1.22316326e+02] [ 9.79247253e-01 -2.02561474e-01 -6.60812976e-03 -1.08423563e+02] [-6.73681818e-03 5.41519660e-05 -9.99977306e-01 -8.05898089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.320385723 meters 0.016843232076780255 Centerline is valid? [True, True] Translation: X:122.33, Y:-108.43, Z:-8.06 [[ 1.23584631e-01 9.92333725e-01 -7.85707023e-04 1.22329398e+02] [ 9.92311429e-01 -1.23587121e-01 -6.65221909e-03 -1.08429906e+02] [-6.69832462e-03 4.24459832e-05 -9.99977565e-01 -8.05825713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.350385723 meters 0.016773301799887994 Centerline is valid? [True, True] Translation: X:122.35, Y:-108.43, Z:-8.06 [[ 4.39891731e-02 9.99031986e-01 -2.09693111e-04 1.22345768e+02] [ 9.99017656e-01 -4.39896652e-02 -5.35087297e-03 -1.08434772e+02] [-5.35491758e-03 2.58933567e-05 -9.99985662e-01 -8.05842383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.380385723 meters 0.016793754667492833 Centerline is valid? [True, True] Translation: X:122.36, Y:-108.44, Z:-8.06 [[-3.44313214e-02 9.99407050e-01 1.79610414e-04 1.22358851e+02] [ 9.99396562e-01 3.44317829e-02 -4.57859685e-03 -1.08439310e+02] [-4.58206628e-03 2.18548904e-05 -9.99989502e-01 -8.05831066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.410385723 meters 0.016819899861926325 Centerline is valid? [True, True] Translation: X:122.37, Y:-108.44, Z:-8.06 [[-1.12172108e-01 9.93688703e-01 4.24257143e-04 1.22373111e+02] [ 9.93682211e-01 1.12172909e-01 -3.59186166e-03 -1.08441854e+02] [-3.61678251e-03 1.86700834e-05 -9.99993459e-01 -8.05774045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.440385723 meters 0.016701142437756826 Centerline is valid? [True, True] Translation: X:122.39, Y:-108.44, Z:-8.06 [[-1.89173383e-01 9.81943441e-01 7.13623071e-04 1.22386376e+02] [ 9.81936860e-01 1.89174728e-01 -3.59510295e-03 -1.08443602e+02] [-3.66518721e-03 2.06350113e-05 -9.99993283e-01 -8.05723148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.470385723 meters 0.017196652431669048 Centerline is valid? [True, True] Translation: X:122.40, Y:-108.44, Z:-8.06 [[-2.64735931e-01 9.64320334e-01 1.08663592e-03 1.22397838e+02] [ 9.64312605e-01 2.64738160e-01 -3.86103732e-03 -1.08444150e+02] [-4.01095079e-03 2.57014005e-05 -9.99991956e-01 -8.05623270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.500385723 meters 0.016595198681908112 Centerline is valid? [True, True] Translation: X:122.41, Y:-108.44, Z:-8.06 [[-3.38870226e-01 9.40832052e-01 1.42100496e-03 1.22408830e+02] [ 9.40824135e-01 3.38873204e-01 -3.85998417e-03 -1.08444239e+02] [-4.11313734e-03 2.88820571e-05 -9.99991541e-01 -8.05608643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.530385723 meters 0.016636248881770406 Centerline is valid? [True, True] Translation: X:122.42, Y:-108.44, Z:-8.06 [[-4.10899328e-01 9.11679254e-01 1.63677801e-03 1.22419815e+02] [ 9.11672312e-01 4.10902587e-01 -3.55788448e-03 -1.08444005e+02] [-3.91620579e-03 3.02728535e-05 -9.99992331e-01 -8.05593544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.560385723 meters 0.01657310934382634 Centerline is valid? [True, True] Translation: X:122.43, Y:-108.44, Z:-8.06 [[-4.79916449e-01 8.77313479e-01 1.12332582e-03 1.22433286e+02] [ 8.77311175e-01 4.79917763e-01 -2.01059404e-03 -1.08441016e+02] [-2.30302526e-03 2.05891410e-05 -9.99997348e-01 -8.05558670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.590385723 meters 0.01664695667639863 Centerline is valid? [True, True] Translation: X:122.45, Y:-108.44, Z:-8.06 [[-5.46832448e-01 8.37241540e-01 9.37288609e-04 1.22446194e+02] [ 8.37240359e-01 5.46833251e-01 -1.40641759e-03 -1.08436868e+02] [-1.69005181e-03 1.56610756e-05 -9.99998572e-01 -8.05540738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.620385723 meters 0.016690377797293602 Centerline is valid? [True, True] Translation: X:122.46, Y:-108.43, Z:-8.05 [[-6.10403720e-01 7.92089968e-01 8.84378013e-04 1.22458903e+02] [ 7.92089169e-01 6.10404360e-01 -1.12507989e-03 -1.08431774e+02] [-1.43099269e-03 1.37532978e-05 -9.99998976e-01 -8.05454848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.650385723 meters 0.016997687206040578 Centerline is valid? [True, True] Translation: X:122.47, Y:-108.43, Z:-8.05 [[-6.70303276e-01 7.42086215e-01 1.25205606e-03 1.22469982e+02] [ 7.42084972e-01 6.70304445e-01 -1.35836841e-03 -1.08425826e+02] [-1.84728522e-03 1.86131906e-05 -9.99998294e-01 -8.05395215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68038572300003 meters 0.01818681724559614 Centerline is valid? [True, True] Translation: X:122.48, Y:-108.42, Z:-8.05 [[-7.25659919e-01 6.88051627e-01 1.62479960e-03 1.22479687e+02] [ 6.88049978e-01 7.25661738e-01 -1.50652881e-03 -1.08420581e+02] [-2.21562450e-03 2.47157562e-05 -9.99997545e-01 -8.05341828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.710385723 meters 0.019551235594569637 Centerline is valid? [True, True] Translation: X:122.50, Y:-108.40, Z:-8.05 [[-7.72019092e-01 6.35597207e-01 1.64678978e-03 1.22499089e+02] [ 6.35595831e-01 7.72020848e-01 -1.32308819e-03 -1.08397556e+02] [-2.11230720e-03 2.52433783e-05 -9.99997769e-01 -8.05249602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74038572300003 meters 0.017998749514016397 Centerline is valid? [True, True] Translation: X:122.52, Y:-108.38, Z:-8.05 [[-8.14671128e-01 5.79921225e-01 1.52486254e-03 1.22520707e+02] [ 5.79920263e-01 8.14672555e-01 -1.05686710e-03 -1.08375236e+02] [-1.85516333e-03 2.32995718e-05 -9.99998279e-01 -8.05259781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.770385723 meters 0.017321481958529356 Centerline is valid? [True, True] Translation: X:122.53, Y:-108.35, Z:-8.05 [[-8.53183776e-01 5.21607788e-01 1.66152172e-03 1.22532423e+02] [ 5.21606858e-01 8.53185393e-01 -9.85122648e-04 -1.08348279e+02] [-1.93143371e-03 2.61704639e-05 -9.99998134e-01 -8.05228105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.800385723 meters 0.020172716090344198 Centerline is valid? [True, True] Translation: X:122.55, Y:-108.33, Z:-8.05 [[-8.86909535e-01 4.61938106e-01 2.15933221e-03 1.22553025e+02] [ 4.61936842e-01 8.86912163e-01 -1.08135140e-03 -1.08326019e+02] [-2.41465542e-03 3.84142406e-05 -9.99997084e-01 -8.05115264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.830385723 meters 0.017369285607356243 Centerline is valid? [True, True] Translation: X:122.56, Y:-108.30, Z:-8.05 [[-9.17113491e-01 3.98621844e-01 1.86276356e-03 1.22563951e+02] [ 3.98621095e-01 9.17115382e-01 -7.73135497e-04 -1.08297345e+02] [-2.01655781e-03 3.34838567e-05 -9.99997966e-01 -8.05265935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.860385723 meters 0.017315313291120685 Centerline is valid? [True, True] Translation: X:122.58, Y:-108.27, Z:-8.05 [[-9.42980183e-01 3.32845016e-01 1.60316926e-03 1.22576301e+02] [ 3.32844586e-01 9.42981545e-01 -5.35798671e-04 -1.08267335e+02] [-1.69009694e-03 2.83586795e-05 -9.99998571e-01 -8.05334606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.890385723 meters 0.0173913552854735 Centerline is valid? [True, True] Translation: X:122.58, Y:-108.24, Z:-8.05 [[-9.64224995e-01 2.65081531e-01 1.39296237e-03 1.22579804e+02] [ 2.65081290e-01 9.64226001e-01 -3.58061687e-04 -1.08237282e+02] [-1.43804607e-03 2.39962335e-05 -9.99998966e-01 -8.05308004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.920385723 meters 0.017232248679676387 Centerline is valid? [True, True] Translation: X:122.58, Y:-108.21, Z:-8.05 [[-9.80629285e-01 1.95865155e-01 1.74537929e-03 1.22581058e+02] [ 1.95864898e-01 9.80630838e-01 -3.18631316e-04 -1.08206458e+02] [-1.77398152e-03 2.93993361e-05 -9.99998426e-01 -8.05307571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.950385723 meters 0.018622333567066756 Centerline is valid? [True, True] Translation: X:122.72, Y:-107.52, Z:-9.02 [[-9.73261354e-01 -2.29695225e-01 1.56200829e-03 1.22715810e+02] [ 2.29694868e-01 -9.73262607e-01 -4.06810961e-04 -1.07521122e+02] [ 1.61368679e-03 -3.71481006e-05 9.99998697e-01 -9.01737104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.980385723 meters 0.017981126752269996 Centerline is valid? [True, True] Translation: X:122.53, Y:-108.20, Z:-8.05 [[-9.81695598e-01 1.90449029e-01 1.70879644e-03 1.22533053e+02] [ 1.90448787e-01 9.81697085e-01 -3.04848139e-04 -1.08195304e+02] [-1.73557852e-03 2.61701335e-05 -9.99998494e-01 -8.05333973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.010385723 meters 0.01830254388813953 Centerline is valid? [True, True] Translation: X:122.66, Y:-107.51, Z:-9.02 [[-9.73861861e-01 -2.27136908e-01 1.37892299e-03 1.22658957e+02] [ 2.27136620e-01 -9.73862836e-01 -3.64272549e-04 -1.07513891e+02] [ 1.42562159e-03 -4.15472360e-05 9.99998983e-01 -9.01722647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.040385723 meters 0.01654444748782804 Centerline is valid? [True, True] Translation: X:122.48, Y:-108.18, Z:-8.05 [[-9.82936006e-01 1.83941749e-01 1.49686453e-03 1.22480538e+02] [ 1.83941565e-01 9.82937146e-01 -2.60868212e-04 -1.08180903e+02] [-1.51930831e-03 1.89188467e-05 -9.99998846e-01 -8.05309088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.070385723 meters 0.018308947283463772 Centerline is valid? [True, True] Translation: X:122.48, Y:-108.15, Z:-8.05 [[-9.93620819e-01 1.12766316e-01 1.19443382e-03 1.22479384e+02] [ 1.12766251e-01 9.93621537e-01 -1.21728500e-04 -1.08149872e+02] [-1.20054204e-03 1.37398522e-05 -9.99999279e-01 -8.05183527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.100385723 meters 0.01736019239343868 Centerline is valid? [True, True] Translation: X:122.55, Y:-107.47, Z:-9.02 [[-9.87558972e-01 -1.57245460e-01 1.06893991e-03 1.22551096e+02] [ 1.57245346e-01 -9.87559550e-01 -1.90412422e-04 -1.07473795e+02] [ 1.08558330e-03 -1.99576702e-05 9.99999411e-01 -9.01727143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.130385723 meters 0.015581139446616177 Centerline is valid? [True, True] Translation: X:122.42, Y:-108.14, Z:-8.05 [[-9.94334973e-01 1.06286765e-01 1.04174831e-03 1.22418811e+02] [ 1.06286717e-01 9.94335519e-01 -1.01668118e-04 -1.08143141e+02] [-1.04665332e-03 9.63184161e-06 -9.99999452e-01 -8.05466594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.160385723 meters 0.01584264264397443 Centerline is valid? [True, True] Translation: X:122.48, Y:-107.47, Z:-9.02 [[-9.87976273e-01 -1.54602910e-01 9.07395787e-04 1.22484678e+02] [ 1.54602829e-01 -9.87976690e-01 -1.58820000e-04 -1.07468762e+02] [ 9.21039920e-04 -1.66244361e-05 9.99999576e-01 -9.01572433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.190385723 meters 0.015289217583431172 Centerline is valid? [True, True] Translation: X:122.35, Y:-108.13, Z:-8.05 [[-9.94879986e-01 1.01062565e-01 4.14786507e-04 1.22353283e+02] [ 1.01062558e-01 9.94880072e-01 -3.88361301e-05 -1.08133206e+02] [-4.16587709e-04 3.28209683e-06 -9.99999913e-01 -8.05376552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.220385723 meters 0.015249774864338749 Centerline is valid? [True, True] Translation: X:122.35, Y:-108.10, Z:-8.05 [[-9.99566895e-01 2.94091976e-02 1.05902303e-03 1.22353251e+02] [ 2.94091895e-02 9.99567456e-01 -2.32036322e-05 -1.08103105e+02] [-1.05924736e-03 7.95142646e-06 -9.99999439e-01 -8.05307479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.250385723 meters 0.014886017547026583 Centerline is valid? [True, True] Translation: X:122.36, Y:-107.44, Z:-9.02 [[-9.96633061e-01 -8.19871929e-02 8.01834592e-04 1.22363126e+02] [ 8.19871480e-02 -9.96633383e-01 -8.87721542e-05 -1.07435121e+02] [ 8.06413301e-04 -2.27331324e-05 9.99999675e-01 -9.01721243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.280385723 meters 0.014893738053230746 Centerline is valid? [True, True] Translation: X:122.28, Y:-108.10, Z:-8.05 [[-9.99725181e-01 2.34182469e-02 1.07150722e-03 1.22278896e+02] [ 2.34182407e-02 9.99725755e-01 -1.83559720e-05 -1.08100873e+02] [-1.07164323e-03 6.74188647e-06 -9.99999426e-01 -8.05265066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.310385723 meters 0.014980361557096516 Centerline is valid? [True, True] Translation: X:122.29, Y:-107.43, Z:-9.02 [[-9.96927299e-01 -7.83216845e-02 1.29377985e-03 1.22294216e+02] [ 7.83216273e-02 -9.96928139e-01 -9.48745620e-05 -1.07434956e+02] [ 1.29723627e-03 6.74790220e-06 9.99999159e-01 -9.01717831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.340385723 meters 0.014255893026733364 Centerline is valid? [True, True] Translation: X:122.21, Y:-108.10, Z:-8.05 [[-9.99842036e-01 1.77596374e-02 7.06083087e-04 1.22211542e+02] [ 1.77596355e-02 9.99842285e-01 -8.96571211e-06 -1.08097931e+02] [-7.06130955e-04 3.57548242e-06 -9.99999751e-01 -8.05334760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.370385723 meters 0.014223290561319366 Centerline is valid? [True, True] Translation: X:122.22, Y:-107.44, Z:-9.02 [[-9.97188373e-01 -7.49352437e-02 2.39021643e-04 1.22218801e+02] [ 7.49352338e-02 -9.97188402e-01 -4.98823751e-05 -1.07436434e+02] [ 2.42087558e-04 -3.18309818e-05 9.99999970e-01 -9.01702020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.400385723 meters 0.014522238888221697 Centerline is valid? [True, True] Translation: X:122.14, Y:-108.10, Z:-8.05 [[-9.99922463e-01 1.24317371e-02 7.20388945e-04 1.22139783e+02] [ 1.24317363e-02 9.99922723e-01 -5.58996806e-06 -1.08095309e+02] [-7.20402769e-04 3.36615075e-06 -9.99999741e-01 -8.05245222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43038572300003 meters 0.01441137903876762 Centerline is valid? [True, True] Translation: X:122.13, Y:-108.07, Z:-8.05 [[-9.98262837e-01 -5.88997740e-02 1.45744302e-03 1.22130786e+02] [-5.88997014e-02 9.98263901e-01 9.27280157e-05 -1.08067104e+02] [-1.46037442e-03 6.72397317e-06 -9.99998934e-01 -8.05190177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.460385723 meters 0.014077054229381594 Centerline is valid? [True, True] Translation: X:122.09, Y:-107.41, Z:-9.02 [[-9.99999188e-01 5.95514600e-04 1.12678043e-03 1.22087043e+02] [-5.95545120e-04 -9.99999822e-01 -2.67507581e-05 -1.07407673e+02] [ 1.12676430e-03 -2.74217850e-05 9.99999365e-01 -9.01788500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49038572300003 meters 0.014070693694815182 Centerline is valid? [True, True] Translation: X:122.04, Y:-108.07, Z:-8.05 [[-9.97927798e-01 -6.43361679e-02 9.83665885e-04 1.22039105e+02] [-6.43361319e-02 9.97928283e-01 6.82575469e-05 -1.08072765e+02] [-9.86019437e-04 4.83084531e-06 -9.99999514e-01 -8.05207390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.520385723 meters 0.014070693694815182 Centerline is valid? [True, True] Translation: X:122.03, Y:-108.04, Z:-8.05 [[-9.90803421e-01 -1.35305683e-01 9.76299451e-04 1.22027182e+02] [-1.35305613e-01 9.90803902e-01 1.38199789e-04 -1.08044844e+02] [-9.86020522e-04 4.83002791e-06 -9.99999514e-01 -8.05207388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.550385723 meters 0.014037349250398033 Centerline is valid? [True, True] Translation: X:122.01, Y:-108.02, Z:-8.05 [[-9.78638300e-01 -2.05588769e-01 5.79795564e-04 1.22009406e+02] [-2.05588731e-01 9.78638472e-01 1.24960761e-04 -1.08018640e+02] [-5.93100773e-04 3.09195225e-06 -9.99999824e-01 -8.05198919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.580385723 meters 0.014218433277888009 Centerline is valid? [True, True] Translation: X:121.98, Y:-108.00, Z:-8.05 [[-9.61534210e-01 -2.74673413e-01 2.54552596e-03 1.21976794e+02] [-2.74672407e-01 9.61537579e-01 7.43877965e-04 -1.07998501e+02] [-2.65194237e-03 1.60783691e-05 -9.99996483e-01 -8.04991168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.610385723 meters 0.014164471269418546 Centerline is valid? [True, True] Translation: X:121.92, Y:-107.99, Z:-8.05 [[-9.39129631e-01 -3.43545592e-01 3.45858372e-03 1.21921059e+02] [-3.43543166e-01 9.39136000e-01 1.29125524e-03 -1.07987425e+02] [-3.69168553e-03 2.44832573e-05 -9.99993185e-01 -8.04931872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.640385723 meters 0.014120208338602832 Centerline is valid? [True, True] Translation: X:121.86, Y:-107.98, Z:-8.05 [[-9.11389127e-01 -4.11532635e-01 3.27868224e-03 1.21858965e+02] [-4.11529875e-01 9.11395024e-01 1.50753310e-03 -1.07983794e+02] [-3.60857374e-03 2.46735879e-05 -9.99993489e-01 -8.05013302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.670385723 meters 0.014143470240867583 Centerline is valid? [True, True] Translation: X:121.78, Y:-107.99, Z:-8.05 [[-8.78263322e-01 -4.78169086e-01 2.80401564e-03 1.21783649e+02] [-4.78166574e-01 8.78267798e-01 1.55002608e-03 -1.07989964e+02] [-3.20385120e-03 2.05444983e-05 -9.99994867e-01 -8.05054736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.700385723 meters 0.013815612074666694 Centerline is valid? [True, True] Translation: X:121.70, Y:-108.00, Z:-8.05 [[-8.38932201e-01 -5.44231863e-01 2.10752352e-03 1.21701650e+02] [-5.44230115e-01 8.38934848e-01 1.37932523e-03 -1.08004238e+02] [-2.51874767e-03 1.01825803e-05 -9.99996828e-01 -8.05049067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.730385723 meters 0.013801060663254799 Centerline is valid? [True, True] Translation: X:121.62, Y:-108.03, Z:-8.05 [[-7.94755316e-01 -6.06926583e-01 2.02749992e-03 1.21616801e+02] [-6.06924589e-01 7.94757902e-01 1.55556094e-03 -1.08027025e+02] [-2.55548287e-03 5.75077208e-06 -9.99996735e-01 -8.04990574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.760385723 meters 0.013745003298632909 Centerline is valid? [True, True] Translation: X:121.53, Y:-108.06, Z:-8.05 [[-7.45647073e-01 -6.66338224e-01 1.95289096e-03 1.21526624e+02] [-6.66335936e-01 7.45649630e-01 1.74626875e-03 -1.08061853e+02] [-2.61977804e-03 8.18752406e-07 -9.99996568e-01 -8.04948380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.790385723 meters 0.01377673421680104 Centerline is valid? [True, True] Translation: X:121.43, Y:-108.11, Z:-8.05 [[-6.91751821e-01 -7.22133206e-01 1.74693697e-03 1.21434940e+02] [-7.22130920e-01 6.91754027e-01 1.81690309e-03 -1.08108371e+02] [-2.52049674e-03 -4.67117504e-06 -9.99996824e-01 -8.04979391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.820385723 meters 0.013814174984334375 Centerline is valid? [True, True] Translation: X:121.35, Y:-108.16, Z:-8.05 [[-6.33639178e-01 -7.73626907e-01 1.67390161e-03 1.21345870e+02] [-7.73624249e-01 6.33641389e-01 2.02767342e-03 -1.08163718e+02] [-2.62931606e-03 -1.01575533e-05 -9.99996543e-01 -8.04995821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.850385723 meters 0.014082339572969362 Centerline is valid? [True, True] Translation: X:121.26, Y:-108.23, Z:-8.05 [[-5.71518250e-01 -8.20588386e-01 1.26146936e-03 1.21259498e+02] [-8.20586436e-01 5.71519642e-01 1.78897735e-03 -1.08231012e+02] [-2.18896855e-03 -1.27114431e-05 -9.99997604e-01 -8.05127321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.880385723 meters 0.014049401608046177 Centerline is valid? [True, True] Translation: X:121.18, Y:-108.31, Z:-8.05 [[-5.06891912e-01 -8.62008777e-01 1.20743022e-03 1.21176810e+02] [-8.62006403e-01 5.06893350e-01 2.02321131e-03 -1.08306418e+02] [-2.35606425e-03 -1.52631322e-05 -9.99997224e-01 -8.05171312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.910385723 meters 0.014181512206103811 Centerline is valid? [True, True] Translation: X:121.10, Y:-108.39, Z:-8.05 [[-4.39495695e-01 -8.98243752e-01 1.30248259e-03 1.21099113e+02] [-8.98239938e-01 4.39497625e-01 2.61742256e-03 -1.08388344e+02] [-2.92352146e-03 -1.95959380e-05 -9.99995726e-01 -8.05150100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.940385723 meters 0.01583508762988714 Centerline is valid? [True, True] Translation: X:121.03, Y:-108.48, Z:-8.05 [[-3.70280140e-01 -9.28919302e-01 1.24455914e-03 1.21027119e+02] [-9.28914233e-01 3.70282231e-01 3.06864086e-03 -1.08479517e+02] [-3.31135786e-03 -1.98319367e-05 -9.99994517e-01 -8.04851745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.970385723 meters 0.014168370305004684 Centerline is valid? [True, True] Translation: X:120.96, Y:-108.58, Z:-8.05 [[-2.98085593e-01 -9.54538114e-01 1.40301056e-03 1.20960777e+02] [-9.54527979e-01 2.98088893e-01 4.39867632e-03 -1.08582876e+02] [-4.61692606e-03 -2.80307933e-05 -9.99989342e-01 -8.05049813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.000385723 meters 0.01429128083888355 Centerline is valid? [True, True] Translation: X:120.90, Y:-108.68, Z:-8.05 [[-2.24200183e-01 -9.74542432e-01 1.15133866e-03 1.20903650e+02] [-9.74530258e-01 2.24203137e-01 4.87140428e-03 -1.08684504e+02] [-5.00552392e-03 -2.98446308e-05 -9.99987472e-01 -8.05002689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.030385723 meters 0.014269753340756947 Centerline is valid? [True, True] Translation: X:120.85, Y:-108.80, Z:-8.05 [[-1.48985929e-01 -9.88838954e-01 8.46297783e-04 1.20853543e+02] [-9.88824191e-01 1.48988330e-01 5.40346355e-03 -1.08796145e+02] [-5.46924374e-03 -3.17996818e-05 -9.99985043e-01 -8.04989378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.060385723 meters 0.01427287690237497 Centerline is valid? [True, True] Translation: X:120.81, Y:-108.91, Z:-8.05 [[-7.31391330e-02 -9.97321642e-01 4.57908948e-04 1.20812985e+02] [-9.97304665e-01 7.31405598e-02 5.81922424e-03 -1.08911876e+02] [-5.83712999e-03 -3.10617146e-05 -9.99982963e-01 -8.04883337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.090385723 meters 0.014179379763832605 Centerline is valid? [True, True] Translation: X:120.78, Y:-109.04, Z:-8.05 [[ 3.49835934e-03 -9.99993881e-01 1.07463438e-05 1.20781034e+02] [-9.99972619e-01 -3.49821488e-03 6.52102305e-03 -1.09036094e+02] [-6.52094556e-03 -3.35589315e-05 -9.99978738e-01 -8.04923584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.120385723 meters 0.014212016931026809 Centerline is valid? [True, True] Translation: X:120.76, Y:-109.16, Z:-8.05 [[ 7.99677332e-02 -9.96797262e-01 -6.16722016e-04 1.20759526e+02] [-9.96763735e-01 -7.99701018e-02 8.17558817e-03 -1.09159841e+02] [-8.19872323e-03 -3.90571147e-05 -9.99966389e-01 -8.04831419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.150385723 meters 0.01422760229119004 Centerline is valid? [True, True] Translation: X:120.75, Y:-109.29, Z:-8.05 [[ 1.56078999e-01 -9.87743717e-01 -1.30198237e-03 1.20747053e+02] [-9.87707277e-01 -1.56084425e-01 8.48451031e-03 -1.09286561e+02] [-8.58374092e-03 -3.82764198e-05 -9.99963158e-01 -8.04889299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18038572300003 meters 0.014166825131594347 Centerline is valid? [True, True] Translation: X:120.74, Y:-109.40, Z:-8.05 [[ 2.31429846e-01 -9.72849721e-01 -1.90960090e-03 1.20741505e+02] [-9.72815297e-01 -2.31437722e-01 8.18409342e-03 -1.09400025e+02] [-8.40384668e-03 -3.63545138e-05 -9.99964686e-01 -8.04960056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.210385723 meters 0.014249242150951757 Centerline is valid? [True, True] Translation: X:120.75, Y:-109.53, Z:-8.05 [[ 3.05299858e-01 -9.52253721e-01 -2.20190220e-03 1.20751081e+02] [-9.52228237e-01 -3.05307797e-01 6.96655336e-03 -1.09533505e+02] [-7.30618426e-03 -3.01743026e-05 -9.99973309e-01 -8.05094929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24038572300003 meters 0.014210304568375137 Centerline is valid? [True, True] Translation: X:120.76, Y:-109.65, Z:-8.05 [[ 3.77625287e-01 -9.25954734e-01 -2.64069092e-03 1.20761690e+02] [-9.25931542e-01 -3.77634518e-01 6.55368874e-03 -1.09646005e+02] [-7.06563516e-03 -2.97395713e-05 -9.99975038e-01 -8.05143526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.270385723 meters 0.014147521016982868 Centerline is valid? [True, True] Translation: X:120.79, Y:-109.77, Z:-8.05 [[ 4.47578241e-01 -8.94239178e-01 -3.16395946e-03 1.20787298e+02] [-8.94216356e-01 -4.47589423e-01 6.38879511e-03 -1.09767093e+02] [-7.12926568e-03 -3.02213796e-05 -9.99974586e-01 -8.05209611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.300385723 meters 0.014239747154090245 Centerline is valid? [True, True] Translation: X:120.82, Y:-109.88, Z:-8.05 [[ 5.14682905e-01 -8.57370919e-01 -4.07612982e-03 1.20818688e+02] [-8.57343534e-01 -5.14699045e-01 6.85259165e-03 -1.09881662e+02] [-7.97319292e-03 -3.22682361e-05 -9.99968213e-01 -8.05196964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.330385723 meters 0.014250329031382137 Centerline is valid? [True, True] Translation: X:120.86, Y:-109.99, Z:-8.05 [[ 5.78731640e-01 -8.15502268e-01 -5.07345553e-03 1.20859080e+02] [-8.15470407e-01 -5.78753877e-01 7.20869603e-03 -1.09993789e+02] [-8.81499002e-03 -3.46476349e-05 -9.99961147e-01 -8.05200427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.360385723 meters 0.014307104340366075 Centerline is valid? [True, True] Translation: X:120.91, Y:-110.10, Z:-8.05 [[ 6.38832328e-01 -7.69326212e-01 -5.51681775e-03 1.20910419e+02] [-7.69297153e-01 -6.38856148e-01 6.68675209e-03 -1.10102841e+02] [-8.66874659e-03 -2.76412232e-05 -9.99962425e-01 -8.05254683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.390385723 meters 0.014223098685530285 Centerline is valid? [True, True] Translation: X:120.96, Y:-110.20, Z:-8.05 [[ 6.95186810e-01 -7.18807657e-01 -5.55453518e-03 1.20955873e+02] [-7.18784479e-01 -6.95208999e-01 5.77235789e-03 -1.10195992e+02] [-8.01077789e-03 -2.03533935e-05 -9.99967913e-01 -8.05273726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.420385723 meters 0.014210133211201905 Centerline is valid? [True, True] Translation: X:121.01, Y:-110.29, Z:-8.05 [[ 7.47642946e-01 -6.64076345e-01 -5.71255698e-03 1.21012909e+02] [-6.64056792e-01 -7.47664769e-01 5.09601284e-03 -1.10290126e+02] [-7.65521918e-03 -1.65357896e-05 -9.99970698e-01 -8.05262997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.450385723 meters 0.014284510780548109 Centerline is valid? [True, True] Translation: X:121.01, Y:-110.30, Z:-8.05 [[ 7.96732904e-01 -6.04293386e-01 -6.79575881e-03 1.21010729e+02] [-6.04271289e-01 -7.96761886e-01 5.16782788e-03 -1.10296311e+02] [-8.53748582e-03 -1.08965773e-05 -9.99963555e-01 -8.05203646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.480385723 meters 0.014333093374321584 Centerline is valid? [True, True] Translation: X:121.01, Y:-110.30, Z:-8.05 [[ 8.41267376e-01 -5.40563868e-01 -7.73994466e-03 1.21007289e+02] [-5.40540909e-01 -8.41302980e-01 4.98216391e-03 -1.10304116e+02] [-9.20481631e-03 -7.57523708e-06 -9.99957635e-01 -8.05190803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.510385723 meters 0.014521577623734011 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.31, Z:-8.05 [[ 8.80671717e-01 -4.73657483e-01 -8.11890448e-03 1.21004480e+02] [-4.73637332e-01 -8.80709140e-01 4.36908655e-03 -1.10310558e+02] [-9.21984392e-03 -2.31470298e-06 -9.99957496e-01 -8.05111967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.540385723 meters 0.014466943972919106 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.32, Z:-8.05 [[ 9.14886804e-01 -4.03630432e-01 -8.03806163e-03 1.21002146e+02] [-4.03614855e-01 -9.14922114e-01 3.54596709e-03 -1.10316259e+02] [-8.78546057e-03 1.22587925e-07 -9.99961407e-01 -8.05090335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.570385723 meters 0.014429082430590733 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.32, Z:-8.05 [[ 9.43492970e-01 -3.31294305e-01 -8.06847137e-03 1.21000878e+02] [-3.31282225e-01 -9.43527468e-01 2.82903970e-03 -1.10324192e+02] [-8.55006911e-03 3.76208725e-06 -9.99963447e-01 -8.05162833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.600385723 meters 0.014562314980488883 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.33, Z:-8.05 [[ 9.66210685e-01 -2.57613418e-01 -8.49931610e-03 1.21000163e+02] [-2.57603580e-01 -9.66248067e-01 2.25136929e-03 -1.10330078e+02] [-8.79243069e-03 1.41571938e-05 -9.99961346e-01 -8.05235741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.630385723 meters 0.014704566155885558 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.34, Z:-8.05 [[ 9.83268864e-01 -1.81956365e-01 -8.61526711e-03 1.20998864e+02] [-1.81949556e-01 -9.83306606e-01 1.57413514e-03 -1.10337098e+02] [-8.75787297e-03 1.97459613e-05 -9.99961649e-01 -8.05139261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.660385723 meters 0.01465296180680689 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.34, Z:-8.05 [[ 9.94456686e-01 -1.04739049e-01 -9.25367917e-03 1.20995155e+02] [-1.04734741e-01 -9.94499739e-01 9.50304867e-04 -1.10344961e+02] [-9.30231555e-03 2.41446584e-05 -9.99956732e-01 -8.05078207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.690385723 meters 0.014687985075352432 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.35, Z:-8.05 [[ 9.99610768e-01 -2.63585212e-02 -9.14011416e-03 1.20991181e+02] [-2.63576232e-02 -9.99652554e-01 2.18712212e-04 -1.10351658e+02] [-9.14270339e-03 2.22846023e-05 -9.99958204e-01 -8.05070080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.720385723 meters 0.01473464030074929 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.36, Z:-8.05 [[ 9.98600551e-01 5.21346212e-02 -8.88376402e-03 1.20988384e+02] [ 5.21323768e-02 -9.98640066e-01 -4.84176152e-04 -1.10357255e+02] [-8.89692503e-03 2.03668381e-05 -9.99960421e-01 -8.05129470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.750385723 meters 0.014792043283923478 Centerline is valid? [True, True] Translation: X:120.98, Y:-110.36, Z:-8.05 [[ 9.91493201e-01 1.29876495e-01 -8.56315980e-03 1.20984851e+02] [ 1.29871459e-01 -9.91530179e-01 -1.14399139e-03 -1.10361372e+02] [-8.63920896e-03 2.21496258e-05 -9.99962681e-01 -8.05204341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.780385723 meters 0.014805337821575455 Centerline is valid? [True, True] Translation: X:120.98, Y:-110.37, Z:-8.05 [[ 9.78387889e-01 2.06610119e-01 -8.33051678e-03 1.20984010e+02] [ 2.06602406e-01 -9.78423353e-01 -1.78545456e-03 -1.10373384e+02] [-8.51966514e-03 2.57623032e-05 -9.99963707e-01 -8.05282985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.810385723 meters 0.01474487686266669 Centerline is valid? [True, True] Translation: X:120.98, Y:-110.39, Z:-8.05 [[ 9.59484853e-01 2.81653299e-01 -7.76113348e-03 1.20984450e+02] [ 2.81643815e-01 -9.59516242e-01 -2.31156663e-03 -1.10385912e+02] [-8.09799399e-03 3.20379307e-05 -9.99967210e-01 -8.05241630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.840385723 meters 0.014829764985943922 Centerline is valid? [True, True] Translation: X:120.98, Y:-110.40, Z:-8.05 [[ 9.34757514e-01 3.55208622e-01 -7.43130393e-03 1.20984848e+02] [ 3.55197078e-01 -9.34787052e-01 -2.86402337e-03 -1.10396594e+02] [-7.96401249e-03 3.75899251e-05 -9.99968286e-01 -8.05263933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.870385723 meters 0.014784640853505735 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.41, Z:-8.05 [[ 9.04042474e-01 4.27379304e-01 -7.35768125e-03 1.20986105e+02] [ 4.27364810e-01 -9.04072413e-01 -3.52002773e-03 -1.10407967e+02] [-8.15626365e-03 3.78405254e-05 -9.99966736e-01 -8.05310263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.900385723 meters 0.015092766349961827 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.42, Z:-8.05 [[ 8.67860568e-01 4.96751879e-01 -7.45683298e-03 1.20985908e+02] [ 4.96733137e-01 -8.67892602e-01 -4.31525401e-03 -1.10417677e+02] [-8.61534072e-03 4.09827574e-05 -9.99962886e-01 -8.05215380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93038572300003 meters 0.014987884400980565 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.43, Z:-8.05 [[ 8.26589848e-01 5.62762360e-01 -6.91010351e-03 1.20988490e+02] [ 5.62742251e-01 -8.26618729e-01 -4.75757639e-03 -1.10428664e+02] [-8.38940590e-03 4.39571349e-05 -9.99964807e-01 -8.05273054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.960385723 meters 0.01500803758223525 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.44, Z:-8.05 [[ 7.80289210e-01 6.25386813e-01 -6.33110368e-03 1.20989650e+02] [ 6.25365744e-01 -7.80314893e-01 -5.13365434e-03 -1.10439781e+02] [-8.15077421e-03 4.64797271e-05 -9.99966781e-01 -8.05218096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99038572300003 meters 0.015046066802853225 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.45, Z:-8.05 [[ 7.29067159e-01 6.84417173e-01 -5.84906515e-03 1.20992256e+02] [ 6.84394621e-01 -7.29090619e-01 -5.55619970e-03 -1.10449925e+02] [-8.06725703e-03 4.77740025e-05 -9.99967458e-01 -8.05172953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.020385723 meters 0.015224690732101049 Centerline is valid? [True, True] Translation: X:120.99, Y:-110.46, Z:-8.05 [[ 6.73642395e-01 7.39036342e-01 -5.58645589e-03 1.20994324e+02] [ 7.39010265e-01 -6.73665556e-01 -6.20852319e-03 -1.10458650e+02] [-8.35172719e-03 5.38761851e-05 -9.99965122e-01 -8.05193748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.050385723 meters 0.015209035361198785 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.47, Z:-8.05 [[ 6.13420617e-01 7.89740361e-01 -5.03088978e-03 1.20995224e+02] [ 7.89713124e-01 -6.13441244e-01 -6.55910318e-03 -1.10467948e+02] [-8.26614379e-03 5.05294339e-05 -9.99965834e-01 -8.05348557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.080385723 meters 0.015231757585769414 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.48, Z:-8.05 [[ 5.48885141e-01 8.35885929e-01 -4.45142882e-03 1.20998107e+02] [ 8.35857816e-01 -5.48903189e-01 -6.85567893e-03 -1.10478113e+02] [-8.17396903e-03 4.22187276e-05 -9.99966592e-01 -8.05403715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.110385723 meters 0.015197523693763359 Centerline is valid? [True, True] Translation: X:121.01, Y:-110.49, Z:-8.05 [[ 4.81007153e-01 8.76707940e-01 -3.91228476e-03 1.21005121e+02] [ 8.76678341e-01 -4.81023062e-01 -7.20415343e-03 -1.10488907e+02] [-8.19783771e-03 3.54340176e-05 -9.99966397e-01 -8.05478878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.140385723 meters 0.01522481473174627 Centerline is valid? [True, True] Translation: X:121.01, Y:-110.50, Z:-8.05 [[ 4.10160690e-01 9.12006373e-01 -3.54731761e-03 1.21011564e+02] [ 9.11971612e-01 -4.10176028e-01 -7.96278274e-03 -1.10499321e+02] [-8.71713326e-03 3.09675042e-05 -9.99962005e-01 -8.05405249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.170385723 meters 0.015255965679353565 Centerline is valid? [True, True] Translation: X:121.02, Y:-110.51, Z:-8.05 [[ 3.36184962e-01 9.41789095e-01 -3.60169800e-03 1.21020488e+02] [ 9.41734296e-01 -3.36204254e-01 -1.01595092e-02 -1.10509266e+02] [-1.07790212e-02 2.36316910e-05 -9.99941904e-01 -8.05264483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.200385723 meters 0.015433235400125901 Centerline is valid? [True, True] Translation: X:121.03, Y:-110.52, Z:-8.05 [[ 2.61144834e-01 9.65295260e-01 -2.90473195e-03 1.21027325e+02] [ 9.65234609e-01 -2.61160987e-01 -1.08207838e-02 -1.10518392e+02] [-1.12038540e-02 2.20439956e-05 -9.99937235e-01 -8.05223173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.230385723 meters 0.01552430675303835 Centerline is valid? [True, True] Translation: X:121.03, Y:-110.53, Z:-8.05 [[ 1.85990876e-01 9.82549145e-01 -2.13823135e-03 1.21034175e+02] [ 9.82481839e-01 -1.86003163e-01 -1.15004039e-02 -1.10526033e+02] [-1.16974298e-02 3.81967276e-05 -9.99931582e-01 -8.05425557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.260385723 meters 0.01557234881677012 Centerline is valid? [True, True] Translation: X:121.04, Y:-110.53, Z:-8.06 [[ 1.09766922e-01 9.93956642e-01 -1.19006804e-03 1.21044683e+02] [ 9.93892979e-01 -1.09773361e-01 -1.12496628e-02 -1.10532886e+02] [-1.13123149e-02 5.20405959e-05 -9.99936012e-01 -8.05507749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.290385723 meters 0.015972422476029133 Centerline is valid? [True, True] Translation: X:121.05, Y:-110.54, Z:-8.05 [[ 3.46905610e-02 9.99398050e-01 -3.21099735e-04 1.21054338e+02] [ 9.99327339e-01 -3.46919263e-02 -1.18886519e-02 -1.10539976e+02] [-1.18926351e-02 9.15402603e-05 -9.99929276e-01 -8.05464915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.320385723 meters 0.016160727432061393 Centerline is valid? [True, True] Translation: X:121.06, Y:-110.55, Z:-8.05 [[-4.21937932e-02 9.99109246e-01 6.31726928e-04 1.21064356e+02] [ 9.99033814e-01 4.21983706e-02 -1.22774726e-02 -1.10546333e+02] [-1.22931942e-02 1.13083422e-04 -9.99924429e-01 -8.05443356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.350385723 meters 0.01620588219730608 Centerline is valid? [True, True] Translation: X:121.08, Y:-110.55, Z:-8.05 [[-1.19129105e-01 9.92877363e-01 1.67253840e-03 1.21076100e+02] [ 9.92794722e-01 1.19140770e-01 -1.28108009e-02 -1.10551522e+02] [-1.29188218e-02 1.34348044e-04 -9.99916540e-01 -8.05405770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.380385723 meters 0.016264532899479742 Centerline is valid? [True, True] Translation: X:121.09, Y:-110.55, Z:-8.05 [[-1.96151671e-01 9.80569618e-01 2.78315739e-03 1.21089602e+02] [ 9.80481157e-01 1.96171361e-01 -1.31718414e-02 -1.10554794e+02] [-1.34618832e-02 1.45154684e-04 -9.99909374e-01 -8.05399793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.410385723 meters 0.016264532899479742 Centerline is valid? [True, True] Translation: X:121.10, Y:-110.56, Z:-8.05 [[-2.72378362e-01 9.62182694e-01 3.80673625e-03 1.21102777e+02] [ 9.62096048e-01 2.72404923e-01 -1.29132551e-02 -1.10558044e+02] [-1.34618843e-02 1.45154621e-04 -9.99909374e-01 -8.05399792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.440385723 meters 0.0168611156411955 Centerline is valid? [True, True] Translation: X:121.12, Y:-110.56, Z:-8.05 [[-3.46607257e-01 9.37995528e-01 5.27253478e-03 1.21115524e+02] [ 9.37894107e-01 3.46647319e-01 -1.37942332e-02 -1.10561180e+02] [-1.47666390e-02 1.63897984e-04 -9.99890954e-01 -8.05300075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.470385723 meters 0.016575939954557146 Centerline is valid? [True, True] Translation: X:121.13, Y:-110.56, Z:-8.05 [[-4.18920284e-01 9.08001108e-01 6.30733862e-03 1.21129254e+02] [ 9.07904028e-01 4.18967732e-01 -1.32784109e-02 -1.10562067e+02] [-1.46993832e-02 1.63862449e-04 -9.99891945e-01 -8.05396719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.500385723 meters 0.016607279522581828 Centerline is valid? [True, True] Translation: X:121.14, Y:-110.56, Z:-8.06 [[-4.88815184e-01 8.72355999e-01 7.39781218e-03 1.21142683e+02] [ 8.72261151e-01 4.88871133e-01 -1.28646966e-02 -1.10563129e+02] [-1.48391721e-02 1.64365138e-04 -9.99889880e-01 -8.05529295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.530385723 meters 0.01683323108885982 Centerline is valid? [True, True] Translation: X:121.15, Y:-110.56, Z:-8.06 [[-5.55405085e-01 8.31538664e-01 8.28508537e-03 1.21154262e+02] [ 8.31450595e-01 5.55466852e-01 -1.21030903e-02 -1.10562591e+02] [-1.46662778e-02 1.66521278e-04 -9.99892431e-01 -8.05549404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.560385723 meters 0.016709861505744106 Centerline is valid? [True, True] Translation: X:121.17, Y:-110.56, Z:-8.06 [[-6.18954736e-01 7.85370135e-01 9.42259219e-03 1.21166428e+02] [ 7.85283241e-01 6.19026431e-01 -1.16837296e-02 -1.10560539e+02] [-1.50088859e-02 1.67703986e-04 -9.99887346e-01 -8.05602633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.590385723 meters 0.01659295117138123 Centerline is valid? [True, True] Translation: X:121.18, Y:-110.56, Z:-8.06 [[-6.79763320e-01 7.33353812e-01 1.06777884e-02 1.21179256e+02] [ 7.33266760e-01 6.79847162e-01 -1.13002083e-02 -1.10556036e+02] [-1.55463150e-02 1.48200230e-04 -9.99879138e-01 -8.05639559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.620385723 meters 0.016570286024773864 Centerline is valid? [True, True] Translation: X:121.19, Y:-110.55, Z:-8.06 [[-7.35851442e-01 6.77043660e-01 1.15989974e-02 1.21190723e+02] [ 6.76962379e-01 7.35942841e-01 -1.04915472e-02 -1.10552381e+02] [-1.56394346e-02 1.31864703e-04 -9.99877688e-01 -8.05640852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.650385723 meters 0.01621983483555618 Centerline is valid? [True, True] Translation: X:121.22, Y:-110.53, Z:-8.06 [[-7.82597386e-01 6.22407393e-01 1.22624726e-02 1.21216267e+02] [ 6.22333270e-01 7.82693442e-01 -9.60610842e-03 -1.10533569e+02] [-1.55766698e-02 1.13629321e-04 -9.99878670e-01 -8.05772134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68038572300003 meters 0.0160804672322129 Centerline is valid? [True, True] Translation: X:121.23, Y:-110.51, Z:-8.06 [[-8.25993869e-01 5.63545792e-01 1.22583994e-02 1.21234841e+02] [ 5.63485066e-01 8.26084823e-01 -8.27314249e-03 -1.10507929e+02] [-1.47887723e-02 7.38599948e-05 -9.99890637e-01 -8.05852290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.710385723 meters 0.01597998194234565 Centerline is valid? [True, True] Translation: X:121.25, Y:-110.48, Z:-8.06 [[-8.64322998e-01 5.02784987e-01 1.23698228e-02 1.21254185e+02] [ 5.02734441e-01 8.64411507e-01 -7.12940471e-03 -1.10484379e+02] [-1.42771749e-02 5.66275125e-05 -9.99898074e-01 -8.05920300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74038572300003 meters 0.015931871902687498 Centerline is valid? [True, True] Translation: X:121.27, Y:-110.46, Z:-8.06 [[-8.98287020e-01 4.39242262e-01 1.21105057e-02 1.21270073e+02] [ 4.39202899e-01 8.98368652e-01 -5.88047115e-03 -1.10459117e+02] [-1.34626501e-02 3.66183081e-05 -9.99909374e-01 -8.06046242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.770385723 meters 0.015762389143033694 Centerline is valid? [True, True] Translation: X:121.28, Y:-110.43, Z:-8.06 [[-9.28065061e-01 3.72256560e-01 1.09679440e-02 1.21282634e+02] [ 3.72230614e-01 9.28129869e-01 -4.39507606e-03 -1.10431548e+02] [-1.18157723e-02 3.68799050e-06 -9.99930191e-01 -8.06263576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.800385723 meters 0.01585520177295797 Centerline is valid? [True, True] Translation: X:121.28, Y:-110.40, Z:-8.06 [[-9.52312463e-01 3.04936849e-01 1.07000755e-02 1.21283521e+02] [ 3.04917558e-01 9.52372573e-01 -3.42994810e-03 -1.10400726e+02] [-1.12363760e-02 -3.74142788e-06 -9.99936870e-01 -8.06295257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.830385723 meters 0.01574198162604236 Centerline is valid? [True, True] Translation: X:121.52, Y:-109.67, Z:-9.01 [[-9.28986107e-01 -3.69958548e-01 1.07464042e-02 1.21522535e+02] [ 3.69934099e-01 -9.29048261e-01 -4.25326487e-03 -1.09674018e+02] [ 1.15574598e-02 2.42373828e-05 9.99933210e-01 -9.00704873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.860385723 meters 0.01564390084653384 Centerline is valid? [True, True] Translation: X:121.25, Y:-110.39, Z:-8.06 [[-9.53832907e-01 3.00111582e-01 1.16543447e-02 1.21248548e+02] [ 3.00088936e-01 9.53904103e-01 -3.68678056e-03 -1.10389461e+02] [-1.22235728e-02 -1.92327187e-05 -9.99925289e-01 -8.06259829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.890385723 meters 0.015688124851287392 Centerline is valid? [True, True] Translation: X:121.25, Y:-110.36, Z:-8.06 [[-9.72786016e-01 2.31372048e-01 1.24234293e-02 1.21252221e+02] [ 2.31352864e-01 9.72865343e-01 -2.97957207e-03 -1.10359758e+02] [-1.27757135e-02 -2.42900935e-05 -9.99918387e-01 -8.06231223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.920385723 meters 0.016460385375070934 Centerline is valid? [True, True] Translation: X:121.26, Y:-110.33, Z:-8.06 [[-9.86731018e-01 1.61808749e-01 1.34099652e-02 1.21259792e+02] [ 1.61793466e-01 9.86822136e-01 -2.22396891e-03 -1.10331099e+02] [-1.35931081e-02 -2.48143610e-05 -9.99907609e-01 -8.06094869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.950385723 meters 0.015638824395016234 Centerline is valid? [True, True] Translation: X:121.27, Y:-110.30, Z:-8.06 [[-9.95722764e-01 9.15667090e-02 1.23172413e-02 1.21266149e+02] [ 9.15594607e-02 9.95798944e-01 -1.15226955e-03 -1.10301138e+02] [-1.23710054e-02 -1.95810474e-05 -9.99923476e-01 -8.06010343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.980385723 meters 0.015577401515965724 Centerline is valid? [True, True] Translation: X:121.26, Y:-110.27, Z:-8.06 [[-9.99693439e-01 2.18521655e-02 1.16408939e-02 1.21257182e+02] [ 2.18506359e-02 9.99761213e-01 -2.58581320e-04 -1.10271144e+02] [-1.16437647e-02 -4.14111637e-06 -9.99932209e-01 -8.05993813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.010385723 meters 0.015509030451462017 Centerline is valid? [True, True] Translation: X:121.27, Y:-110.24, Z:-8.06 [[-9.98885374e-01 -4.60435002e-02 1.03925999e-02 1.21265463e+02] [-4.60406850e-02 9.98939435e-01 5.10100768e-04 -1.10242317e+02] [-1.04050647e-02 3.10497796e-05 -9.99945865e-01 -8.06003853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.040385723 meters 0.0156458181594886 Centerline is valid? [True, True] Translation: X:121.26, Y:-110.21, Z:-8.06 [[-9.93308093e-01 -1.15014414e-01 1.05222033e-02 1.21255848e+02] [-1.15007386e-01 9.93363821e-01 1.27259853e-03 -1.10214767e+02] [-1.05987432e-02 5.39513304e-05 -9.99943830e-01 -8.06021134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.070385723 meters 0.015980886984129323 Centerline is valid? [True, True] Translation: X:121.24, Y:-110.19, Z:-8.06 [[-9.83273381e-01 -1.81863186e-01 9.96197042e-03 1.21235171e+02] [-1.81852897e-01 9.83323839e-01 1.93665667e-03 -1.10190782e+02] [-1.01480496e-02 9.26497666e-05 -9.99948503e-01 -8.06043837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.100385723 meters 0.016062037925174993 Centerline is valid? [True, True] Translation: X:121.20, Y:-110.17, Z:-8.06 [[-9.67734485e-01 -2.51803643e-01 9.21365581e-03 1.21202142e+02] [-2.51791269e-01 9.67778340e-01 2.49814267e-03 -1.10168754e+02] [-9.54581795e-03 9.76207173e-05 -9.99954433e-01 -8.06095188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.130385723 meters 0.016197417731656224 Centerline is valid? [True, True] Translation: X:121.14, Y:-110.16, Z:-8.06 [[-9.47133582e-01 -3.20738676e-01 8.04242839e-03 1.21141254e+02] [-3.20726245e-01 9.47167721e-01 2.82550509e-03 -1.10156152e+02] [-8.52377733e-03 9.67129032e-05 -9.99963667e-01 -8.06095021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.160385723 meters 0.0162091943996086 Centerline is valid? [True, True] Translation: X:121.08, Y:-110.15, Z:-8.06 [[-9.21083491e-01 -3.89301567e-01 7.03506723e-03 1.21078885e+02] [-3.89289447e-01 9.21110353e-01 3.07330092e-03 -1.10146600e+02] [-7.67651412e-03 9.20893112e-05 -9.99970531e-01 -8.06017073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.190385723 meters 0.015868886308840754 Centerline is valid? [True, True] Translation: X:121.00, Y:-110.15, Z:-8.06 [[-8.89687156e-01 -4.56518799e-01 6.88114064e-03 1.20996816e+02] [-4.56504330e-01 8.89713761e-01 3.63591434e-03 -1.10145769e+02] [-7.78210877e-03 9.35557950e-05 -9.99969715e-01 -8.05818102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.220385723 meters 0.01586419794763505 Centerline is valid? [True, True] Translation: X:120.92, Y:-110.16, Z:-8.06 [[-8.52913017e-01 -5.22011996e-01 6.54687533e-03 1.20915277e+02] [-5.21995801e-01 8.52938138e-01 4.11289796e-03 -1.10157343e+02] [-7.73106173e-03 9.05027802e-05 -9.99970111e-01 -8.05756118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.250385723 meters 0.015716106757622077 Centerline is valid? [True, True] Translation: X:120.82, Y:-110.18, Z:-8.06 [[-8.10981339e-01 -5.85036504e-01 6.44641888e-03 1.20824297e+02] [-5.85017150e-01 8.11006955e-01 4.75957774e-03 -1.10180945e+02] [-8.01261727e-03 8.86631272e-05 -9.99967895e-01 -8.05846979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.280385723 meters 0.01571741240679455 Centerline is valid? [True, True] Translation: X:120.73, Y:-110.22, Z:-8.06 [[-7.64743996e-01 -6.44306203e-01 6.01142698e-03 1.20729564e+02] [-6.44285375e-01 7.64767617e-01 5.18145457e-03 -1.10216990e+02] [-7.93578801e-03 8.94117866e-05 -9.99968507e-01 -8.05845645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.310385723 meters 0.015712782069581818 Centerline is valid? [True, True] Translation: X:120.64, Y:-110.26, Z:-8.06 [[-7.14094198e-01 -7.00024976e-01 5.87451122e-03 1.20637430e+02] [-7.00000156e-01 7.14118354e-01 5.89556286e-03 -1.10259806e+02] [-8.32213753e-03 9.78284606e-05 -9.99965366e-01 -8.05769435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.340385723 meters 0.015849565637056095 Centerline is valid? [True, True] Translation: X:120.54, Y:-110.32, Z:-8.06 [[-6.60008783e-01 -7.51236081e-01 5.72328676e-03 1.20538309e+02] [-7.51206302e-01 6.60033588e-01 6.68997475e-03 -1.10317885e+02] [-8.80331191e-03 1.16073020e-04 -9.99961243e-01 -8.05611856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.370385723 meters 0.015971793492817386 Centerline is valid? [True, True] Translation: X:120.46, Y:-110.37, Z:-8.06 [[-6.01758251e-01 -7.98660407e-01 5.34426612e-03 1.20455556e+02] [-7.98626978e-01 6.01781968e-01 7.30841073e-03 -1.10372979e+02] [-9.05302127e-03 1.29821355e-04 -9.99959012e-01 -8.05575774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.400385723 meters 0.015869930915375856 Centerline is valid? [True, True] Translation: X:120.37, Y:-110.45, Z:-8.06 [[-5.40244708e-01 -8.41494140e-01 4.82376180e-03 1.20368113e+02] [-8.41458193e-01 5.40266223e-01 7.77925503e-03 -1.10446531e+02] [-9.15231309e-03 1.43707465e-04 -9.99958106e-01 -8.05578964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43038572300003 meters 0.01659094434664411 Centerline is valid? [True, True] Translation: X:120.29, Y:-110.53, Z:-8.06 [[-4.76804623e-01 -8.79001306e-01 3.74897229e-03 1.20286641e+02] [-8.78971610e-01 4.76819337e-01 7.22688430e-03 -1.10528826e+02] [-8.14002322e-03 1.50571635e-04 -9.99966858e-01 -8.05582880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.460385723 meters 0.01689529378593204 Centerline is valid? [True, True] Translation: X:120.21, Y:-110.62, Z:-8.06 [[-4.09180635e-01 -9.12449277e-01 2.74322258e-03 1.20209771e+02] [-9.12426470e-01 4.09189808e-01 6.45276940e-03 -1.10619929e+02] [-7.01032349e-03 1.37359394e-04 -9.99975418e-01 -8.05627343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49038572300003 meters 0.016864045617345554 Centerline is valid? [True, True] Translation: X:120.13, Y:-110.72, Z:-8.06 [[-3.39490932e-01 -9.40607321e-01 1.94300158e-03 1.20133895e+02] [-9.40589689e-01 3.39496468e-01 5.76062400e-03 -1.10718737e+02] [-6.07812728e-03 1.28112361e-04 -9.99981520e-01 -8.05594144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.520385723 meters 0.01713627787196739 Centerline is valid? [True, True] Translation: X:120.07, Y:-110.82, Z:-8.06 [[-2.67155473e-01 -9.63652435e-01 1.39229950e-03 1.20069984e+02] [-9.63636831e-01 2.67159072e-01 5.48516713e-03 -1.10822976e+02] [-5.65776010e-03 1.23721340e-04 -9.99983987e-01 -8.05511222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.550385723 meters 0.017271586354007138 Centerline is valid? [True, True] Translation: X:120.01, Y:-110.94, Z:-8.05 [[-1.92895497e-01 -9.81218772e-01 1.02408639e-03 1.20013765e+02] [-9.81201030e-01 1.92898169e-01 5.90217662e-03 -1.10935305e+02] [-5.98887088e-03 1.33668671e-04 -9.99982058e-01 -8.05467424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.580385723 meters 0.01746927818471531 Centerline is valid? [True, True] Translation: X:119.97, Y:-111.05, Z:-8.05 [[-1.17752513e-01 -9.93042792e-01 5.99722416e-04 1.19967072e+02] [-9.93022836e-01 1.17753950e-01 6.29712460e-03 -1.11046874e+02] [-6.32393388e-03 1.45964190e-04 -9.99979993e-01 -8.05451286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.610385723 meters 0.018151484914115005 Centerline is valid? [True, True] Translation: X:119.93, Y:-111.17, Z:-8.05 [[-4.27903063e-02 -9.99084068e-01 1.19440099e-04 1.19928244e+02] [-9.99062255e-01 4.27901615e-02 6.60400609e-03 -1.11165815e+02] [-6.60306813e-03 1.63259348e-04 -9.99978186e-01 -8.05437479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.640385723 meters 0.017929376444198824 Centerline is valid? [True, True] Translation: X:119.90, Y:-111.29, Z:-8.05 [[ 3.28581009e-02 -9.99459951e-01 -3.89387652e-04 1.19898512e+02] [-9.99438038e-01 -3.28599599e-02 6.62055954e-03 -1.11287149e+02] [-6.62977938e-03 1.71629818e-04 -9.99978008e-01 -8.05437655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.670385723 meters 0.01941040003138506 Centerline is valid? [True, True] Translation: X:119.88, Y:-111.41, Z:-8.05 [[ 1.07129327e-01 -9.94244630e-01 -9.60461032e-04 1.19878188e+02] [-9.94219714e-01 -1.07133444e-01 7.04171833e-03 -1.11410706e+02] [-7.10408813e-03 2.00534748e-04 -9.99974746e-01 -8.05301341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.700385723 meters 0.021840628881278978 Centerline is valid? [True, True] Translation: X:119.87, Y:-111.54, Z:-8.05 [[ 1.82120456e-01 -9.83274587e-01 -1.79604586e-03 1.19868002e+02] [-9.83239301e-01 -1.82129143e-01 8.33385557e-03 -1.11536461e+02] [-8.52158069e-03 2.48177297e-04 -9.99963660e-01 -8.05128809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.730385723 meters 0.018507284689797173 Centerline is valid? [True, True] Translation: X:119.86, Y:-111.66, Z:-8.05 [[ 2.57396456e-01 -9.66304107e-01 -1.85414424e-03 1.19862712e+02] [-9.66283993e-01 -2.57403067e-01 6.23740103e-03 -1.11658861e+02] [-6.50448864e-03 1.86144983e-04 -9.99978828e-01 -8.05227198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.760385723 meters 0.018370396916415933 Centerline is valid? [True, True] Translation: X:119.87, Y:-111.78, Z:-8.05 [[ 3.31790946e-01 -9.43350023e-01 -2.34581364e-03 1.19867821e+02] [-9.43330111e-01 -3.31799191e-01 6.13176226e-03 -1.11781638e+02] [-6.56273713e-03 1.78413437e-04 -9.99978449e-01 -8.05210673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.790385723 meters 0.01808771114562031 Centerline is valid? [True, True] Translation: X:119.89, Y:-111.90, Z:-8.05 [[ 4.03739429e-01 -9.14870142e-01 -2.66410780e-03 1.19885784e+02] [-9.14852817e-01 -4.03748186e-01 5.63262098e-03 -1.11904646e+02] [-6.22874544e-03 1.63155345e-04 -9.99980588e-01 -8.05203577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.820385723 meters 0.018498492346680655 Centerline is valid? [True, True] Translation: X:119.91, Y:-112.02, Z:-8.05 [[ 4.74381066e-01 -8.80313751e-01 -3.21007649e-03 1.19910744e+02] [-8.80295754e-01 -4.74391902e-01 5.63117193e-03 -1.12022275e+02] [-6.48003237e-03 1.54495360e-04 -9.99978992e-01 -8.05177117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.850385723 meters 0.017593940779116198 Centerline is valid? [True, True] Translation: X:119.94, Y:-112.14, Z:-8.05 [[ 5.40614382e-01 -8.41262591e-01 -3.65279089e-03 1.19944041e+02] [-8.41245241e-01 -5.40626702e-01 5.40502229e-03 -1.12138868e+02] [-6.52183935e-03 1.50860166e-04 -9.99978721e-01 -8.05179957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.880385723 meters 0.017720047855163727 Centerline is valid? [True, True] Translation: X:119.98, Y:-112.24, Z:-8.05 [[ 6.03103839e-01 -7.97652690e-01 -3.99309572e-03 1.19979845e+02] [-7.97636800e-01 -6.03117040e-01 5.03707439e-03 -1.12241371e+02] [-6.42614001e-03 1.47161190e-04 -9.99979341e-01 -8.05105111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.910385723 meters 0.017928347734627603 Centerline is valid? [True, True] Translation: X:120.03, Y:-112.34, Z:-8.05 [[ 6.61960411e-01 -7.49523328e-01 -4.81613894e-03 1.20025804e+02] [-7.49505237e-01 -6.61977911e-01 5.21006735e-03 -1.12342709e+02] [-7.09324461e-03 1.60863037e-04 -9.99974830e-01 -8.05062367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.940385723 meters 0.01731435008111711 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.44, Z:-8.05 [[ 7.16476803e-01 -6.97592214e-01 -5.10832948e-03 1.20075874e+02] [-6.97576061e-01 -7.16494995e-01 4.74981908e-03 -1.12437642e+02] [-6.97352931e-03 1.60313173e-04 -9.99975672e-01 -8.05197221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.970385723 meters 0.018354549136600975 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.45, Z:-8.05 [[ 7.68521578e-01 -6.39804128e-01 -5.02611588e-03 1.20075243e+02] [-6.39791714e-01 -7.68537998e-01 3.98847286e-03 -1.12447287e+02] [-6.41460244e-03 1.50439837e-04 -9.99979415e-01 -8.05222284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.000385723 meters 0.01721016412987532 Centerline is valid? [True, True] Translation: X:120.07, Y:-112.46, Z:-8.05 [[ 8.16085418e-01 -5.77908237e-01 -5.16344935e-03 1.20073084e+02] [-5.77897799e-01 -8.16101739e-01 3.47647207e-03 -1.12462729e+02] [-6.22298184e-03 1.46847856e-04 -9.99980626e-01 -8.05322286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.030385723 meters 0.017390260341900873 Centerline is valid? [True, True] Translation: X:120.07, Y:-112.48, Z:-8.05 [[ 8.59172500e-01 -5.11657371e-01 -5.41755200e-03 1.20071372e+02] [-5.11648234e-01 -8.59189568e-01 3.06107917e-03 -1.12476840e+02] [-6.22092788e-03 1.41885867e-04 -9.99980640e-01 -8.05264622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.060385723 meters 0.01766674465367988 Centerline is valid? [True, True] Translation: X:120.07, Y:-112.49, Z:-8.05 [[ 8.96872121e-01 -4.42250697e-01 -5.89237038e-03 1.20071656e+02] [-4.42242197e-01 -8.96891465e-01 2.74570387e-03 -1.12492523e+02] [-6.49910615e-03 1.43309571e-04 -9.99978870e-01 -8.05219143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.090385723 meters 0.016131580373290582 Centerline is valid? [True, True] Translation: X:120.07, Y:-112.51, Z:-8.05 [[ 9.29666592e-01 -3.68370367e-01 -4.82708860e-03 1.20072920e+02] [-3.68365959e-01 -9.29679118e-01 1.80499114e-03 -1.12509094e+02] [-5.15254872e-03 1.00095157e-04 -9.99986721e-01 -8.05320307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.120385723 meters 0.01626589463810393 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.52, Z:-8.05 [[ 9.55950855e-01 -2.93490463e-01 -4.61642077e-03 1.20075812e+02] [-2.93487482e-01 -9.55961997e-01 1.32564047e-03 -1.12521574e+02] [-4.80218565e-03 8.76145674e-05 -9.99988466e-01 -8.05274371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.150385723 meters 0.015469569736313608 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.54, Z:-8.05 [[ 9.76219805e-01 -2.16727954e-01 -4.88735252e-03 1.20078811e+02] [-2.16725674e-01 -9.76232035e-01 9.97767059e-04 -1.12538926e+02] [-4.98743411e-03 8.51748056e-05 -9.99987559e-01 -8.05279189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18038572300003 meters 0.015213374027034886 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.55, Z:-8.05 [[ 9.90348331e-01 -1.38498579e-01 -5.32230943e-03 1.20083032e+02] [-1.38497041e-01 -9.90362629e-01 6.58199481e-04 -1.12554931e+02] [-5.36217605e-03 8.52773484e-05 -9.99985620e-01 -8.05291669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.210385723 meters 0.015147902107284814 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.57, Z:-8.05 [[ 9.98268305e-01 -5.86515537e-02 -4.51524232e-03 1.20084699e+02] [-5.86512412e-02 -9.98278514e-01 2.01687880e-04 -1.12568508e+02] [-4.51929870e-03 6.34859486e-05 -9.99989786e-01 -8.05338933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24038572300003 meters 0.014928183205222502 Centerline is valid? [True, True] Translation: X:120.09, Y:-112.58, Z:-8.05 [[ 9.99780467e-01 2.05539220e-02 -4.06859713e-03 1.20088676e+02] [ 2.05535336e-02 -9.99788744e-01 -1.37266212e-04 -1.12581377e+02] [-4.07055897e-03 5.36120296e-05 -9.99991714e-01 -8.05369710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.270385723 meters 0.0156684729050182 Centerline is valid? [True, True] Translation: X:120.09, Y:-112.60, Z:-8.05 [[ 9.94911521e-01 1.00615339e-01 -5.25538945e-03 1.20093987e+02] [ 1.00613618e-01 -9.94925399e-01 -5.91475596e-04 -1.12595026e+02] [-5.28823197e-03 5.97021384e-05 -9.99986015e-01 -8.05278078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.300385723 meters 0.0156684729050182 Centerline is valid? [True, True] Translation: X:120.10, Y:-112.61, Z:-8.05 [[ 9.83982241e-01 1.78190862e-01 -5.19295997e-03 1.20099751e+02] [ 1.78188060e-01 -9.83995942e-01 -1.00106038e-03 -1.12607316e+02] [-5.28823135e-03 5.97021772e-05 -9.99986015e-01 -8.05278078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.330385723 meters 0.014432795705339984 Centerline is valid? [True, True] Translation: X:120.11, Y:-112.62, Z:-8.05 [[ 9.66497352e-01 2.56626580e-01 -5.06617631e-03 1.20107780e+02] [ 2.56622791e-01 -9.66510629e-01 -1.39545298e-03 -1.12620773e+02] [-5.25462358e-03 4.86053055e-05 -9.99986193e-01 -8.05328221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.360385723 meters 0.014300040503834384 Centerline is valid? [True, True] Translation: X:120.12, Y:-112.63, Z:-8.05 [[ 9.42826815e-01 3.33251066e-01 -4.61781103e-03 1.20116465e+02] [ 3.33246880e-01 -9.42838123e-01 -1.67072796e-03 -1.12633724e+02] [-4.91062015e-03 3.63360045e-05 -9.99987942e-01 -8.05307766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.390385723 meters 0.01425305262253315 Centerline is valid? [True, True] Translation: X:120.12, Y:-112.64, Z:-8.05 [[ 9.12670145e-01 4.08677861e-01 -3.95130991e-03 1.20124989e+02] [ 4.08673938e-01 -9.12678698e-01 -1.79084343e-03 -1.12644750e+02] [-4.33815445e-03 1.96519534e-05 -9.99990590e-01 -8.05264909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.420385723 meters 0.01430564162529028 Centerline is valid? [True, True] Translation: X:120.13, Y:-112.65, Z:-8.05 [[ 8.77844406e-01 4.78933467e-01 -3.45453385e-03 1.20134080e+02] [ 4.78929679e-01 -8.77851203e-01 -1.90478620e-03 -1.12653398e+02] [-3.94483256e-03 1.76271174e-05 -9.99992219e-01 -8.05255242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.450385723 meters 0.014387402870294792 Centerline is valid? [True, True] Translation: X:120.14, Y:-112.66, Z:-8.05 [[ 8.38298269e-01 5.45204578e-01 -2.82517850e-03 1.20143795e+02] [ 5.45201405e-01 -8.38303029e-01 -1.86007257e-03 -1.12660428e+02] [-3.38247578e-03 1.90043244e-05 -9.99994279e-01 -8.05200595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.480385723 meters 0.014554105364925077 Centerline is valid? [True, True] Translation: X:120.15, Y:-112.67, Z:-8.05 [[ 7.93669997e-01 6.08343859e-01 -2.38447230e-03 1.20153345e+02] [ 6.08341037e-01 -7.93673578e-01 -1.85295596e-03 -1.12666530e+02] [-3.01972704e-03 2.00632043e-05 -9.99995440e-01 -8.05170514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.510385723 meters 0.014567529639591001 Centerline is valid? [True, True] Translation: X:120.16, Y:-112.67, Z:-8.05 [[ 7.43956572e-01 6.68225213e-01 -1.91940089e-03 1.20164754e+02] [ 6.68222924e-01 -7.43959048e-01 -1.74899030e-03 -1.12673745e+02] [-2.59667508e-03 1.85851494e-05 -9.99996628e-01 -8.05145017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.540385723 meters 0.01619382930608967 Centerline is valid? [True, True] Translation: X:120.17, Y:-112.68, Z:-8.05 [[ 6.90816444e-01 7.23027677e-01 -1.90240456e-03 1.20174732e+02] [ 7.23024833e-01 -6.90819063e-01 -2.02807303e-03 -1.12679405e+02] [-2.78057027e-03 2.55404570e-05 -9.99996134e-01 -8.05049983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.570385723 meters 0.015005039872116122 Centerline is valid? [True, True] Translation: X:120.19, Y:-112.68, Z:-8.05 [[ 6.31753371e-01 7.75168477e-01 -1.22893108e-03 1.20186358e+02] [ 7.75166957e-01 -6.31754567e-01 -1.53519078e-03 -1.12683999e+02] [-1.96641432e-03 1.72351879e-05 -9.99998066e-01 -8.05170212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.600385723 meters 0.015028261132213488 Centerline is valid? [True, True] Translation: X:120.20, Y:-112.69, Z:-8.05 [[ 5.68989156e-01 8.22344802e-01 -6.05570750e-04 1.20197726e+02] [ 8.22344319e-01 -5.68989478e-01 -8.91505162e-04 -1.12688141e+02] [-1.07768802e-03 9.26910292e-06 -9.99999419e-01 -8.05192121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.630385723 meters 0.015004811229657973 Centerline is valid? [True, True] Translation: X:120.21, Y:-112.69, Z:-8.05 [[ 5.02349938e-01 8.64664064e-01 -7.72470758e-04 1.20209719e+02] [ 8.64663003e-01 -5.02350532e-01 -1.35446553e-03 -1.12691764e+02] [-1.55920877e-03 1.24887909e-05 -9.99998784e-01 -8.05082337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.660385723 meters 0.01626529938793334 Centerline is valid? [True, True] Translation: X:120.22, Y:-112.70, Z:-8.05 [[ 4.32634160e-01 9.01568822e-01 -1.15884408e-03 1.20224964e+02] [ 9.01565460e-01 -4.32635712e-01 -2.46198008e-03 -1.12695862e+02] [-2.72100182e-03 2.03628883e-05 -9.99996298e-01 -8.04901081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.690385723 meters 0.014887030149301726 Centerline is valid? [True, True] Translation: X:120.24, Y:-112.70, Z:-8.05 [[ 3.59294320e-01 9.33223742e-01 -1.01894753e-03 1.20239539e+02] [ 9.33219854e-01 -3.59295764e-01 -2.69418147e-03 -1.12698918e+02] [-2.88037765e-03 1.71020341e-05 -9.99995852e-01 -8.04876129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.720385723 meters 0.014767122904410138 Centerline is valid? [True, True] Translation: X:120.25, Y:-112.70, Z:-8.05 [[ 2.82985095e-01 9.59123812e-01 -9.74550673e-04 1.20254813e+02] [ 9.59117964e-01 -2.82986773e-01 -3.34924397e-03 -1.12699678e+02] [-3.48812459e-03 1.30770646e-05 -9.99993916e-01 -8.04872376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.750385723 meters 0.014904729015070341 Centerline is valid? [True, True] Translation: X:120.27, Y:-112.70, Z:-8.05 [[ 2.06741878e-01 9.78395239e-01 -7.43524976e-04 1.20268018e+02] [ 9.78388690e-01 -2.06743215e-01 -3.57980019e-03 -1.12700028e+02] [-3.65617820e-03 1.26381875e-05 -9.99993316e-01 -8.04860098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.780385723 meters 0.01496249147863552 Centerline is valid? [True, True] Translation: X:120.28, Y:-112.70, Z:-8.05 [[ 1.30331275e-01 9.91470357e-01 -5.37778541e-04 1.20280595e+02] [ 9.91461328e-01 -1.30332383e-01 -4.23145281e-03 -1.12699818e+02] [-4.26544998e-03 1.83040135e-05 -9.99990903e-01 -8.04764146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.810385723 meters 0.015052165413667412 Centerline is valid? [True, True] Translation: X:120.29, Y:-112.70, Z:-8.05 [[ 5.31774273e-02 9.98585060e-01 -1.95891356e-04 1.20291119e+02] [ 9.98576745e-01 -5.31777839e-02 -4.07528955e-03 -1.12698028e+02] [-4.07994033e-03 2.11008613e-05 -9.99991677e-01 -8.04754899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.840385723 meters 0.015101490744671799 Centerline is valid? [True, True] Translation: X:120.30, Y:-112.70, Z:-8.05 [[-2.41235995e-02 9.99708977e-01 1.16754479e-04 1.20302039e+02] [ 9.99701571e-01 2.41238703e-02 -3.84804003e-03 -1.12695125e+02] [-3.84973673e-03 2.38910591e-05 -9.99992589e-01 -8.04796790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.870385723 meters 0.015285572354517128 Centerline is valid? [True, True] Translation: X:120.31, Y:-112.69, Z:-8.05 [[-1.00768049e-01 9.94909849e-01 4.37838006e-04 1.20311617e+02] [ 9.94901767e-01 1.00768996e-01 -4.01041102e-03 -1.12691137e+02] [-4.03411792e-03 3.14845107e-05 -9.99991862e-01 -8.04784139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.900385723 meters 0.01837412602314661 Centerline is valid? [True, True] Translation: X:120.32, Y:-112.69, Z:-8.05 [[-1.77824705e-01 9.84061738e-01 9.33334945e-04 1.20320716e+02] [ 9.84049398e-01 1.77827149e-01 -4.92825543e-03 -1.12688142e+02] [-5.01567989e-03 4.20821248e-05 -9.99987421e-01 -8.04577921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93038572300003 meters 0.01540256522932076 Centerline is valid? [True, True] Translation: X:120.33, Y:-112.68, Z:-8.05 [[-2.55184933e-01 9.66891697e-01 1.04686740e-03 1.20329450e+02] [ 9.66884036e-01 2.55187078e-01 -3.84911507e-03 -1.12683759e+02] [-3.98882443e-03 2.99632071e-05 -9.99992044e-01 -8.04748008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.960385723 meters 0.015222368807005287 Centerline is valid? [True, True] Translation: X:120.34, Y:-112.68, Z:-8.05 [[-3.31365430e-01 9.43501568e-01 1.31989068e-03 1.20337077e+02] [ 9.43494372e-01 3.31368058e-01 -3.68500808e-03 -1.12678025e+02] [-3.91418052e-03 2.42251427e-05 -9.99992339e-01 -8.04778689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99038572300003 meters 0.015188658057481009 Centerline is valid? [True, True] Translation: X:120.34, Y:-112.67, Z:-8.05 [[-4.04676846e-01 9.14458238e-01 1.66756562e-03 1.20343251e+02] [ 9.14450710e-01 4.04680281e-01 -3.71060681e-03 -1.12673336e+02] [-4.06802589e-03 2.33099028e-05 -9.99991725e-01 -8.04795001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.020385723 meters 0.015242388321315786 Centerline is valid? [True, True] Translation: X:120.35, Y:-112.67, Z:-8.05 [[-4.75658402e-01 8.79627780e-01 2.01328886e-03 1.20348502e+02] [ 8.79620088e-01 4.75662662e-01 -3.67877039e-03 -1.12668587e+02] [-4.19359497e-03 2.10912788e-05 -9.99991207e-01 -8.04714199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.050385723 meters 0.01512561645250834 Centerline is valid? [True, True] Translation: X:120.35, Y:-112.66, Z:-8.05 [[-5.43628745e-01 8.39321799e-01 2.58954655e-03 1.20352964e+02] [ 8.39312458e-01 5.43634912e-01 -3.95983725e-03 -1.12663189e+02] [-4.73134563e-03 2.07573235e-05 -9.99988807e-01 -8.04618374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.080385723 meters 0.015013970951206221 Centerline is valid? [True, True] Translation: X:120.36, Y:-112.65, Z:-8.05 [[-6.08637085e-01 7.93442940e-01 3.03295288e-03 1.20359438e+02] [ 7.93433219e-01 6.08644642e-01 -3.92773285e-03 -1.12654406e+02] [-4.96242242e-03 1.58816924e-05 -9.99987687e-01 -8.04670218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.110385723 meters 0.015035132838068578 Centerline is valid? [True, True] Translation: X:120.36, Y:-112.65, Z:-8.05 [[-6.69402186e-01 7.42892339e-01 3.41861421e-03 1.20363989e+02] [ 7.42882749e-01 6.69410915e-01 -3.77462373e-03 -1.12647140e+02] [-5.09259672e-03 1.28881506e-05 -9.99987033e-01 -8.04660582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.140385723 meters 0.01502263913430412 Centerline is valid? [True, True] Translation: X:120.37, Y:-112.64, Z:-8.05 [[-7.26116649e-01 6.87564341e-01 3.14465937e-03 1.20365064e+02] [ 6.87557937e-01 7.26123459e-01 -2.96748760e-03 -1.12643481e+02] [-4.32374960e-03 7.39335051e-06 -9.99990653e-01 -8.04746643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.170385723 meters 0.014965616661889378 Centerline is valid? [True, True] Translation: X:120.38, Y:-112.62, Z:-8.05 [[-7.73223290e-01 6.34126355e-01 3.08366865e-03 1.20381965e+02] [ 6.34121339e-01 7.73229439e-01 -2.52236355e-03 -1.12619024e+02] [-3.98388059e-03 5.06984749e-06 -9.99992064e-01 -8.04791835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.200385723 meters 0.014979414368308536 Centerline is valid? [True, True] Translation: X:120.40, Y:-112.59, Z:-8.05 [[-8.16710648e-01 5.77039368e-01 3.04728009e-03 1.20396357e+02] [ 5.77035358e-01 8.16716332e-01 -2.15116668e-03 -1.12593116e+02] [-3.73007129e-03 1.50762508e-06 -9.99993043e-01 -8.04900481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.230385723 meters 0.01495307052009668 Centerline is valid? [True, True] Translation: X:120.72, Y:-112.13, Z:-9.02 [[-7.75828463e-01 -6.30932844e-01 3.73393156e-03 1.20723731e+02] [ 6.30925921e-01 -7.75837446e-01 -2.95628807e-03 -1.12126621e+02] [ 4.76214316e-03 6.22617808e-05 9.99988659e-01 -9.02182947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.260385723 meters 0.014961007038068972 Centerline is valid? [True, True] Translation: X:120.36, Y:-112.57, Z:-8.05 [[-8.19870078e-01 5.72527458e-01 5.03641847e-03 1.20357400e+02] [ 5.72516584e-01 8.19885547e-01 -3.52863698e-03 -1.12568486e+02] [-6.14952828e-03 -9.59077374e-06 -9.99981091e-01 -8.04801804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.290385723 meters 0.015088164505950396 Centerline is valid? [True, True] Translation: X:120.37, Y:-112.54, Z:-8.05 [[-8.58525847e-01 5.12733134e-01 6.17278556e-03 1.20368011e+02] [ 5.12719770e-01 8.58548038e-01 -3.70203004e-03 -1.12542683e+02] [-7.19778640e-03 -1.33792883e-05 -9.99974096e-01 -8.04664190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.320385723 meters 0.01676507117224234 Centerline is valid? [True, True] Translation: X:120.37, Y:-112.52, Z:-8.05 [[-8.92776296e-01 4.50444920e-01 7.06117440e-03 1.20373205e+02] [ 4.50430686e-01 8.92804219e-01 -3.58086077e-03 -1.12516886e+02] [-7.91722684e-03 -1.63379838e-05 -9.99968658e-01 -8.04570711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.350385723 meters 0.015033090085397334 Centerline is valid? [True, True] Translation: X:120.38, Y:-112.49, Z:-8.05 [[-9.22915970e-01 3.84942705e-01 6.72503983e-03 1.20382264e+02] [ 3.84932299e-01 9.22940471e-01 -2.83057053e-03 -1.12488957e+02] [-7.29641891e-03 -2.36937036e-05 -9.99973381e-01 -8.04704908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.380385723 meters 0.015081041781672631 Centerline is valid? [True, True] Translation: X:120.39, Y:-112.46, Z:-8.05 [[-9.48149897e-01 3.17743788e-01 7.11747679e-03 1.20386593e+02] [ 3.17734594e-01 9.48176610e-01 -2.41734939e-03 -1.12459396e+02] [-7.51672277e-03 -3.05409850e-05 -9.99971749e-01 -8.04640534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.410385723 meters 0.01518103751736744 Centerline is valid? [True, True] Translation: X:120.57, Y:-111.91, Z:-9.02 [[-9.20461567e-01 -3.90770113e-01 7.01579425e-03 1.20572476e+02] [ 3.90759067e-01 -9.20488304e-01 -2.93842413e-03 -1.11905517e+02] [ 7.60620488e-03 3.67787381e-05 9.99971072e-01 -9.02387128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.440385723 meters 0.015340100916391038 Centerline is valid? [True, True] Translation: X:120.34, Y:-112.45, Z:-8.05 [[-9.50623185e-01 3.10271343e-01 6.87416217e-03 1.20338691e+02] [ 3.10262779e-01 9.50648037e-01 -2.30597292e-03 -1.12447371e+02] [-7.25038609e-03 -5.93146624e-05 -9.99973714e-01 -8.04662958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.470385723 meters 0.015653660577070138 Centerline is valid? [True, True] Translation: X:120.52, Y:-111.88, Z:-9.02 [[-9.20129056e-01 -3.91565246e-01 6.25930162e-03 1.20523212e+02] [ 3.91556374e-01 -9.20150345e-01 -2.63613664e-03 -1.11884504e+02] [ 6.79171804e-03 2.52835260e-05 9.99976936e-01 -9.02209920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.500385723 meters 0.01569041662170112 Centerline is valid? [True, True] Translation: X:120.29, Y:-112.44, Z:-8.05 [[-9.53108025e-01 3.02565049e-01 6.28369298e-03 1.20286162e+02] [ 3.02557900e-01 9.53128734e-01 -2.08156458e-03 -1.12435560e+02] [-6.61897703e-03 -8.27749571e-05 -9.99978091e-01 -8.04876581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.530385723 meters 0.0159451116527178 Centerline is valid? [True, True] Translation: X:120.29, Y:-112.41, Z:-8.05 [[-9.72416353e-01 2.33176289e-01 5.93749241e-03 1.20288517e+02] [ 2.33171421e-01 9.72434477e-01 -1.50902133e-03 -1.12407151e+02] [-6.12569032e-03 -8.29434759e-05 -9.99981234e-01 -8.04887624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.560385723 meters 0.015877200900447596 Centerline is valid? [True, True] Translation: X:120.29, Y:-112.38, Z:-8.05 [[-9.86652075e-01 1.62748305e-01 5.53830941e-03 1.20291828e+02] [ 1.62745279e-01 9.86667615e-01 -9.95726885e-04 -1.12380228e+02] [-5.62652340e-03 -8.11022869e-05 -9.99984168e-01 -8.04896498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.590385723 meters 0.01598925265050868 Centerline is valid? [True, True] Translation: X:120.39, Y:-111.78, Z:-9.02 [[-9.66204735e-01 -2.57691975e-01 6.57697543e-03 1.20390481e+02] [ 2.57687207e-01 -9.66227104e-01 -1.57702088e-03 -1.11781304e+02] [ 6.76123755e-03 1.71077391e-04 9.99977128e-01 -9.02294521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.620385723 meters 0.016121154082722886 Centerline is valid? [True, True] Translation: X:120.24, Y:-112.38, Z:-8.05 [[-9.87395314e-01 1.58099369e-01 7.42187540e-03 1.20236188e+02] [ 1.58094027e-01 9.87423200e-01 -1.30468850e-03 -1.12376048e+02] [-7.53480239e-03 -1.14889145e-04 -9.99971606e-01 -8.04625992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.650385723 meters 0.017350728594592323 Centerline is valid? [True, True] Translation: X:120.24, Y:-112.35, Z:-8.05 [[-9.96017521e-01 8.88487943e-02 7.41553777e-03 1.20235616e+02] [ 8.88455525e-02 9.96045120e-01 -7.66090473e-04 -1.12351015e+02] [-7.45427642e-03 -1.04201983e-04 -9.99972211e-01 -8.04508154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68038572300003 meters 0.015608897315105726 Centerline is valid? [True, True] Translation: X:120.30, Y:-111.73, Z:-9.02 [[-9.83194871e-01 -1.82498224e-01 4.71639725e-03 1.20300011e+02] [ 1.82495628e-01 -9.83206178e-01 -9.78670914e-04 -1.11725677e+02] [ 4.81579662e-03 -1.01502346e-04 9.99988399e-01 -9.02097710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.710385723 meters 0.01555830777504031 Centerline is valid? [True, True] Translation: X:120.18, Y:-112.35, Z:-8.05 [[-9.96264375e-01 8.62662254e-02 3.92854906e-03 1.20178186e+02] [ 8.62653632e-02 9.96272119e-01 -3.88711682e-04 -1.12354885e+02] [-3.94743659e-03 -4.83618898e-05 -9.99992208e-01 -8.04976955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74038572300003 meters 0.015274332241556216 Centerline is valid? [True, True] Translation: X:120.17, Y:-112.33, Z:-8.05 [[-9.99864827e-01 1.62262668e-02 2.65254173e-03 1.20174784e+02] [ 1.62261308e-02 9.99868345e-01 -7.27831832e-05 -1.12328963e+02] [-2.65337351e-03 -2.97328558e-05 -9.99996479e-01 -8.04971698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.770385723 meters 0.015255171673585595 Centerline is valid? [True, True] Translation: X:120.17, Y:-112.30, Z:-8.05 [[-9.98502640e-01 -5.46657209e-02 2.03373284e-03 1.20170726e+02] [-5.46656528e-02 9.98504711e-01 8.90821163e-05 -1.12301047e+02] [-2.03556156e-03 -2.22266048e-05 -9.99997928e-01 -8.04918744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.800385723 meters 0.015153625018030742 Centerline is valid? [True, True] Translation: X:120.16, Y:-112.28, Z:-8.05 [[-9.92104927e-01 -1.25394650e-01 1.99899318e-03 1.20160586e+02] [-1.25394439e-01 9.92106940e-01 2.31026897e-04 -1.12275272e+02] [-2.01218454e-03 -2.14597058e-05 -9.99997975e-01 -8.04914365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.830385723 meters 0.014986691997132961 Centerline is valid? [True, True] Translation: X:120.15, Y:-112.26, Z:-8.05 [[-9.80845812e-01 -1.94762651e-01 3.00039141e-03 1.20147084e+02] [-1.94761831e-01 9.80850401e-01 5.65953550e-04 -1.12255813e+02] [-3.05316173e-03 -2.92485545e-05 -9.99995339e-01 -8.04918351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.860385723 meters 0.014691060319849484 Centerline is valid? [True, True] Translation: X:120.12, Y:-112.24, Z:-8.05 [[-9.64560491e-01 -2.63846214e-01 2.86963083e-03 1.20119281e+02] [-2.63845126e-01 9.64564759e-01 7.58120821e-04 -1.12237029e+02] [-2.96797208e-03 -2.58847172e-05 -9.99995595e-01 -8.04987843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.890385723 meters 0.014587257131982521 Centerline is valid? [True, True] Translation: X:120.08, Y:-112.22, Z:-8.05 [[-9.43113289e-01 -3.32457673e-01 3.03658415e-03 1.20076677e+02] [-3.32456037e-01 9.43118177e-01 1.04328069e-03 -1.12222572e+02] [-3.21070437e-03 -2.55988495e-05 -9.99994845e-01 -8.04957220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.920385723 meters 0.014498777814655842 Centerline is valid? [True, True] Translation: X:120.01, Y:-112.22, Z:-8.05 [[-9.17129392e-01 -3.98576223e-01 3.26681173e-03 1.20007016e+02] [-3.98573784e-01 9.17135210e-01 1.39442675e-03 -1.12219577e+02] [-3.55189341e-03 -2.31957573e-05 -9.99993692e-01 -8.04703110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.950385723 meters 0.014228089700549182 Centerline is valid? [True, True] Translation: X:119.95, Y:-112.22, Z:-8.05 [[-8.85396974e-01 -4.64825146e-01 3.12750822e-03 1.19951137e+02] [-4.64822325e-01 8.85402498e-01 1.61961216e-03 -1.12216602e+02] [-3.52194004e-03 -1.97359347e-05 -9.99993798e-01 -8.04618661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.980385723 meters 0.01422245276591356 Centerline is valid? [True, True] Translation: X:119.87, Y:-112.23, Z:-8.05 [[-8.48622573e-01 -5.28988294e-01 3.33370964e-03 1.19872997e+02] [-5.28984307e-01 8.48629120e-01 2.05402696e-03 -1.12231227e+02] [-3.91563930e-03 -2.03864442e-05 -9.99992334e-01 -8.04588411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.010385723 meters 0.014152312950082778 Centerline is valid? [True, True] Translation: X:119.79, Y:-112.25, Z:-8.05 [[-8.07016683e-01 -5.90517897e-01 3.56190531e-03 1.19794446e+02] [-5.90512254e-01 8.07024543e-01 2.58163871e-03 -1.12252577e+02] [-4.39904886e-03 -1.99232244e-05 -9.99990324e-01 -8.04534655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.040385723 meters 0.01394468848818685 Centerline is valid? [True, True] Translation: X:119.71, Y:-112.29, Z:-8.05 [[-7.60967562e-01 -6.48777678e-01 3.98663071e-03 1.19705109e+02] [-6.48768906e-01 7.60978005e-01 3.37384441e-03 -1.12294466e+02] [-5.22261322e-03 -1.90158884e-05 -9.99986362e-01 -8.04569324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.070385723 meters 0.013835842817636806 Centerline is valid? [True, True] Translation: X:119.62, Y:-112.33, Z:-8.05 [[-7.09913393e-01 -7.04278046e-01 3.92526778e-03 1.19620642e+02] [-7.04267424e-01 7.09924245e-01 3.86801999e-03 -1.12334866e+02] [-5.51080432e-03 -1.84790351e-05 -9.99984815e-01 -8.04529389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.100385723 meters 0.01377492809482545 Centerline is valid? [True, True] Translation: X:119.53, Y:-112.39, Z:-8.04 [[-6.54912396e-01 -7.55696010e-01 3.64613153e-03 1.19531934e+02] [-7.55684429e-01 6.54922545e-01 4.18375794e-03 -1.12389987e+02] [-5.54958293e-03 -1.53298863e-05 -9.99984601e-01 -8.04333928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.130385723 meters 0.013627875611113961 Centerline is valid? [True, True] Translation: X:119.44, Y:-112.45, Z:-8.04 [[-5.95856621e-01 -8.03082852e-01 3.58047747e-03 1.19444727e+02] [-8.03068497e-01 5.95867378e-01 4.80171538e-03 -1.12454767e+02] [-5.98966500e-03 -1.42347626e-05 -9.99982062e-01 -8.04309455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.160385723 meters 0.01358742018598207 Centerline is valid? [True, True] Translation: X:119.36, Y:-112.53, Z:-8.04 [[-5.33248920e-01 -8.45951709e-01 3.36088956e-03 1.19360560e+02] [-8.45935048e-01 5.33259511e-01 5.30926086e-03 -1.12530013e+02] [-6.28360462e-03 -1.19366490e-05 -9.99980258e-01 -8.04296812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.190385723 meters 0.01350962501361243 Centerline is valid? [True, True] Translation: X:119.28, Y:-112.62, Z:-8.04 [[-4.67902911e-01 -8.83775103e-01 2.90409093e-03 1.19283456e+02] [-8.83758150e-01 4.67911924e-01 5.47400747e-03 -1.12616660e+02] [-6.19665029e-03 -5.20999143e-06 -9.99980801e-01 -8.04359712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.220385723 meters 0.01350962501361243 Centerline is valid? [True, True] Translation: X:119.21, Y:-112.71, Z:-8.04 [[-3.98799267e-01 -9.17034903e-01 2.47605328e-03 1.19207232e+02] [-9.17017310e-01 3.98806953e-01 5.68048457e-03 -1.12707852e+02] [-6.19666988e-03 -5.21063744e-06 -9.99980800e-01 -8.04359615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.250385723 meters 0.01351312558248385 Centerline is valid? [True, True] Translation: X:119.14, Y:-112.81, Z:-8.04 [[-3.27828765e-01 -9.44735235e-01 1.90697445e-03 1.19140136e+02] [-9.44719277e-01 3.27834312e-01 5.49111871e-03 -1.12808299e+02] [-5.81282498e-03 -1.40885060e-06 -9.99983105e-01 -8.04455158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.280385723 meters 0.013412517895131038 Centerline is valid? [True, True] Translation: X:119.08, Y:-112.92, Z:-8.04 [[-2.54848061e-01 -9.66980049e-01 1.43204160e-03 1.19079623e+02] [-9.66964741e-01 2.54852084e-01 5.44110549e-03 -1.12917964e+02] [-5.62639924e-03 1.92144798e-06 -9.99984172e-01 -8.04473917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.310385723 meters 0.013556030345532634 Centerline is valid? [True, True] Translation: X:119.03, Y:-113.02, Z:-8.04 [[-1.79801233e-01 -9.83702407e-01 1.04431811e-03 1.19030204e+02] [-9.83685700e-01 1.79804265e-01 5.73321168e-03 -1.13023533e+02] [-5.82754698e-03 3.55773085e-06 -9.99983020e-01 -8.04441629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.340385723 meters 0.013435666917587397 Centerline is valid? [True, True] Translation: X:118.99, Y:-113.14, Z:-8.04 [[-1.03170789e-01 -9.94663458e-01 6.28080753e-04 1.18985206e+02] [-9.94644920e-01 1.03172701e-01 6.07266100e-03 -1.13135369e+02] [-6.10505477e-03 1.80389883e-06 -9.99981364e-01 -8.04376821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.370385723 meters 0.013410159832098692 Centerline is valid? [True, True] Translation: X:118.95, Y:-113.28, Z:-8.04 [[-2.53321591e-02 -9.99679077e-01 1.57181790e-04 1.18947362e+02] [-9.99660735e-01 2.53326465e-02 6.05570011e-03 -1.13275991e+02] [-6.05773853e-03 -3.72450551e-06 -9.99981652e-01 -8.04270891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.400385723 meters 0.013361919157524743 Centerline is valid? [True, True] Translation: X:118.92, Y:-113.38, Z:-8.04 [[ 5.27151243e-02 -9.98609547e-01 -2.96612575e-04 1.18920742e+02] [-9.98592864e-01 -5.27159581e-02 5.77226956e-03 -1.13383092e+02] [-5.77987971e-03 -8.09070625e-06 -9.99983296e-01 -8.04332528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43038572300003 meters 0.013346942982986285 Centerline is valid? [True, True] Translation: X:118.91, Y:-113.51, Z:-8.04 [[ 1.31014094e-01 -9.91380270e-01 -6.83758992e-04 1.18906974e+02] [-9.91366172e-01 -1.31015877e-01 5.28714541e-03 -1.13512082e+02] [-5.33115493e-03 -1.48350313e-05 -9.99985789e-01 -8.04473312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.460385723 meters 0.013383116374566826 Centerline is valid? [True, True] Translation: X:118.90, Y:-113.65, Z:-8.04 [[ 2.07343332e-01 -9.78267634e-01 -1.08550421e-03 1.18902883e+02] [-9.78253822e-01 -2.07346173e-01 5.19844818e-03 -1.13651550e+02] [-5.31054874e-03 -1.59649268e-05 -9.99985899e-01 -8.04463801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49038572300003 meters 0.013420549448235142 Centerline is valid? [True, True] Translation: X:118.91, Y:-113.77, Z:-8.04 [[ 2.82281863e-01 -9.59330159e-01 -1.61151206e-03 1.18905241e+02] [-9.59314166e-01 -2.82286462e-01 5.53926000e-03 -1.13773379e+02] [-5.76888721e-03 -1.76862828e-05 -9.99983360e-01 -8.04394971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.520385723 meters 0.013291016718153264 Centerline is valid? [True, True] Translation: X:118.92, Y:-113.89, Z:-8.04 [[ 3.55117615e-01 -9.34818660e-01 -2.35617120e-03 1.18915055e+02] [-9.34797741e-01 -3.55125431e-01 6.25387950e-03 -1.13889377e+02] [-6.68297957e-03 -1.83192536e-05 -9.99977668e-01 -8.04372030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.550385723 meters 0.013311056763413305 Centerline is valid? [True, True] Translation: X:118.94, Y:-114.01, Z:-8.04 [[ 4.25630152e-01 -9.04891720e-01 -3.15408797e-03 1.18936987e+02] [-9.04866586e-01 -4.25641838e-01 6.74436749e-03 -1.14007944e+02] [-7.44543410e-03 -1.65773513e-05 -9.99972282e-01 -8.04218615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.580385723 meters 0.013224022208493662 Centerline is valid? [True, True] Translation: X:118.96, Y:-114.12, Z:-8.04 [[ 4.93468430e-01 -8.69756560e-01 -3.52642349e-03 1.18963449e+02] [-8.69734194e-01 -4.93481030e-01 6.23738498e-03 -1.14118308e+02] [-7.16522959e-03 -1.09014801e-05 -9.99974329e-01 -8.04180326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.610385723 meters 0.01326542522624238 Centerline is valid? [True, True] Translation: X:119.01, Y:-114.23, Z:-8.04 [[ 5.58096242e-01 -8.29769160e-01 -3.42431394e-03 1.19005066e+02] [-8.29753507e-01 -5.58106747e-01 5.09671841e-03 -1.14234057e+02] [-6.14023247e-03 -3.12288783e-06 -9.99981149e-01 -8.04294245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.640385723 meters 0.013173109662960314 Centerline is valid? [True, True] Translation: X:119.05, Y:-114.34, Z:-8.04 [[ 6.19902013e-01 -7.84671603e-01 -3.45976065e-03 1.19050921e+02] [-7.84659373e-01 -6.19911667e-01 4.38103539e-03 -1.14344267e+02] [-5.58242005e-03 -1.07902891e-06 -9.99984418e-01 -8.04355983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.670385723 meters 0.013236157519473381 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.45, Z:-8.04 [[ 6.78256184e-01 -7.34815966e-01 -3.74775901e-03 1.19100315e+02] [-7.34804739e-01 -6.78266538e-01 4.06194733e-03 -1.14445898e+02] [-5.52676328e-03 -1.16981223e-06 -9.99984727e-01 -8.04339965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.700385723 meters 0.013215383652485124 Centerline is valid? [True, True] Translation: X:119.16, Y:-114.55, Z:-8.04 [[ 7.32665194e-01 -6.80577783e-01 -3.94900559e-03 1.19159857e+02] [-6.80567878e-01 -7.32675836e-01 3.67187400e-03 -1.14547030e+02] [-5.39233683e-03 -2.68792193e-06 -9.99985461e-01 -8.04306223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.730385723 meters 0.01328151906687527 Centerline is valid? [True, True] Translation: X:119.15, Y:-114.56, Z:-8.04 [[ 7.84511927e-01 -6.20097458e-01 -4.49218451e-03 1.19152355e+02] [-6.20087206e-01 -7.84524788e-01 3.56573890e-03 -1.14558413e+02] [-5.73533572e-03 -1.18185530e-05 -9.99983553e-01 -8.04266869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.760385723 meters 0.013368723318211324 Centerline is valid? [True, True] Translation: X:119.14, Y:-114.57, Z:-8.04 [[ 8.30935961e-01 -5.56349620e-01 -4.53086806e-03 1.19144856e+02] [-5.56341252e-01 -8.30948314e-01 3.05158062e-03 -1.14567319e+02] [-5.46266289e-03 -1.49592688e-05 -9.99985079e-01 -8.04224138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.790385723 meters 0.013413414012963797 Centerline is valid? [True, True] Translation: X:119.14, Y:-114.57, Z:-8.04 [[ 8.72000635e-01 -4.89478168e-01 -5.10053146e-03 1.19140115e+02] [-4.89469677e-01 -8.72015552e-01 2.88318305e-03 -1.14573640e+02] [-5.85899791e-03 -1.75819659e-05 -9.99982836e-01 -8.04259529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.820385723 meters 0.013452425486038453 Centerline is valid? [True, True] Translation: X:119.14, Y:-114.58, Z:-8.04 [[ 9.07492670e-01 -4.20034108e-01 -5.32932036e-03 1.19135707e+02] [-4.20026762e-01 -9.07508318e-01 2.48426456e-03 -1.14580271e+02] [-5.87987840e-03 -1.59947045e-05 -9.99982713e-01 -8.04275709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.850385723 meters 0.013340445970129114 Centerline is valid? [True, True] Translation: X:119.13, Y:-114.59, Z:-8.04 [[ 9.37344236e-01 -3.48364200e-01 -5.30725252e-03 1.19130490e+02] [-3.48358544e-01 -9.37359261e-01 1.98525022e-03 -1.14589673e+02] [-5.66639240e-03 -1.20360919e-05 -9.99983946e-01 -8.04253860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.880385723 meters 0.013359239329420878 Centerline is valid? [True, True] Translation: X:119.13, Y:-114.60, Z:-8.04 [[ 9.61605770e-01 -2.74390430e-01 -4.92299888e-03 1.19125026e+02] [-2.74386787e-01 -9.61618371e-01 1.41392693e-03 -1.14600074e+02] [-5.12201418e-03 -8.83444540e-06 -9.99986882e-01 -8.04204268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.910385723 meters 0.013415370919491028 Centerline is valid? [True, True] Translation: X:119.12, Y:-114.61, Z:-8.04 [[ 9.80276717e-01 -1.97573306e-01 -4.72733152e-03 1.19120665e+02] [-1.97570949e-01 -9.80288115e-01 9.65337492e-04 -1.14611914e+02] [-4.82487183e-03 -1.23144943e-05 -9.99988360e-01 -8.04102869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.940385723 meters 0.013415789236847477 Centerline is valid? [True, True] Translation: X:119.11, Y:-114.62, Z:-8.04 [[ 9.92797043e-01 -1.19707382e-01 -4.91676050e-03 1.19113900e+02] [-1.19705838e-01 -9.92809218e-01 6.08213658e-04 -1.14620093e+02] [-4.95421281e-03 -1.52677844e-05 -9.99987728e-01 -8.04109194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.970385723 meters 0.013465373885106428 Centerline is valid? [True, True] Translation: X:119.11, Y:-114.63, Z:-8.04 [[ 9.99156721e-01 -4.07347288e-02 -5.15062325e-03 1.19108553e+02] [-4.07340825e-02 -9.99169996e-01 2.30359459e-04 -1.14627950e+02] [-5.15573184e-03 -2.03592897e-05 -9.99986709e-01 -8.04156503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.000385723 meters 0.013349304898101924 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.64, Z:-8.04 [[ 9.99260248e-01 3.81233362e-02 -5.05654824e-03 1.19103870e+02] [ 3.81229622e-02 -9.99273041e-01 -1.70354259e-04 -1.14637432e+02] [-5.05936681e-03 -2.25423580e-05 -9.99987201e-01 -8.04264290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.030385723 meters 0.013418895613780861 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.65, Z:-8.04 [[ 9.93210721e-01 1.16239155e-01 -4.57409012e-03 1.19098707e+02] [ 1.16238017e-01 -9.93221254e-01 -5.14673134e-04 -1.14647077e+02] [-4.60290869e-03 -2.05042897e-05 -9.99989406e-01 -8.04219705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.060385723 meters 0.013380725047373043 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.66, Z:-8.04 [[ 9.81102262e-01 1.93419919e-01 -5.20440742e-03 1.19096229e+02] [ 1.93417319e-01 -9.81116066e-01 -1.00319938e-03 -1.14656556e+02] [-5.30016647e-03 -2.23813433e-05 -9.99985954e-01 -8.04026328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.090385723 meters 0.013400920844869345 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.66, Z:-8.04 [[ 9.62848621e-01 2.69975969e-01 -5.95895969e-03 1.19092281e+02] [ 2.69970982e-01 -9.62867060e-01 -1.64125370e-03 -1.14664898e+02] [-6.18078505e-03 -2.84673386e-05 -9.99980898e-01 -8.03966763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.120385723 meters 0.013383347280947536 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.67, Z:-8.04 [[ 9.38630686e-01 3.44864922e-01 -6.37347587e-03 1.19091341e+02] [ 3.44857214e-01 -9.38652324e-01 -2.30589104e-03 -1.14674822e+02] [-6.77769887e-03 -3.35590424e-05 -9.99977031e-01 -8.03947135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.150385723 meters 0.013385379530714222 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.69, Z:-8.04 [[ 9.08769532e-01 4.17245707e-01 -6.63004717e-03 1.19090480e+02] [ 4.17234890e-01 -9.08793716e-01 -3.00471482e-03 -1.14685039e+02] [-7.27904957e-03 -3.56937192e-05 -9.99973507e-01 -8.03970395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18038572300003 meters 0.013368561831498814 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.69, Z:-8.04 [[ 8.73668558e-01 4.86486060e-01 -5.87921592e-03 1.19089763e+02] [ 4.86475262e-01 -8.73688339e-01 -3.24142927e-03 -1.14694793e+02] [-6.71351254e-03 -2.81582655e-05 -9.99977464e-01 -8.03996204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.210385723 meters 0.013275728017543136 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.70, Z:-8.04 [[ 8.33481144e-01 5.52523816e-01 -5.15904493e-03 1.19090425e+02] [ 5.52513375e-01 -8.33497110e-01 -3.39682945e-03 -1.14704573e+02] [-6.17687821e-03 -1.92480336e-05 -9.99980923e-01 -8.04068427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24038572300003 meters 0.013257598058665157 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.71, Z:-8.04 [[ 7.88502049e-01 6.15014560e-01 -4.64856394e-03 1.19091563e+02] [ 6.15003950e-01 -7.88515752e-01 -3.61250933e-03 -1.14714578e+02] [-5.88721172e-03 -1.04141779e-05 -9.99982670e-01 -8.04077285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.270385723 meters 0.013276925368733088 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.72, Z:-8.04 [[ 7.39783855e-01 6.72829739e-01 -4.47110146e-03 1.19091004e+02] [ 6.72817402e-01 -7.39797366e-01 -4.07448241e-03 -1.14723908e+02] [-6.04914202e-03 6.00143043e-06 -9.99981704e-01 -8.04107112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.300385723 meters 0.013394679181913336 Centerline is valid? [True, True] Translation: X:119.09, Y:-114.73, Z:-8.04 [[ 6.85706607e-01 7.27867652e-01 -3.88977681e-03 1.19093472e+02] [ 7.27855838e-01 -6.85717639e-01 -4.14712702e-03 -1.14734444e+02] [-5.68584818e-03 1.25156319e-05 -9.99983835e-01 -8.04152142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.330385723 meters 0.015914994149232697 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.75, Z:-8.04 [[ 6.27582082e-01 7.78541950e-01 -3.62785749e-03 1.19095796e+02] [ 7.78528756e-01 -6.27592568e-01 -4.53260745e-03 -1.14745726e+02] [-5.80564144e-03 2.01918448e-05 -9.99983147e-01 -8.04047040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.360385723 meters 0.013478791678796667 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.76, Z:-8.04 [[ 5.64373067e-01 8.25514551e-01 -2.96102579e-03 1.19100020e+02] [ 8.25503035e-01 -5.64380834e-01 -4.36036771e-03 -1.14755877e+02] [-5.27069319e-03 1.65383229e-05 -9.99986110e-01 -8.04372102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.390385723 meters 0.013506199555537718 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.77, Z:-8.04 [[ 4.97877067e-01 8.67242825e-01 -2.88245342e-03 1.19104264e+02] [ 8.67228085e-01 -4.97885411e-01 -5.05624689e-03 -1.14766577e+02] [-5.82012534e-03 1.76448130e-05 -9.99983063e-01 -8.04331433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.420385723 meters 0.013675885851972297 Centerline is valid? [True, True] Translation: X:119.11, Y:-114.78, Z:-8.04 [[ 4.28013950e-01 9.03768089e-01 -2.70188594e-03 1.19108914e+02] [ 9.03749840e-01 -4.28022477e-01 -5.74332508e-03 -1.14776067e+02] [-6.34710185e-03 1.63942665e-05 -9.99979857e-01 -8.04269912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.450385723 meters 0.013744073371357399 Centerline is valid? [True, True] Translation: X:119.11, Y:-114.79, Z:-8.04 [[ 3.54809859e-01 9.34934670e-01 -2.66966641e-03 1.19114970e+02] [ 9.34907984e-01 -3.54819903e-01 -7.06392114e-03 -1.14785801e+02] [-7.55155555e-03 1.04564292e-05 -9.99971487e-01 -8.04222799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.480385723 meters 0.013809814740904175 Centerline is valid? [True, True] Translation: X:119.12, Y:-114.79, Z:-8.04 [[ 2.80056012e-01 9.59980684e-01 -2.39083515e-03 1.19119893e+02] [ 9.59945471e-01 -2.80066217e-01 -8.22235645e-03 -1.14794860e+02] [-8.56289553e-03 7.64897762e-06 -9.99963338e-01 -8.04163407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.510385723 meters 0.01390515774997146 Centerline is valid? [True, True] Translation: X:119.13, Y:-114.80, Z:-8.04 [[ 2.03613773e-01 9.79049295e-01 -1.97745439e-03 1.19127764e+02] [ 9.79002899e-01 -2.03623375e-01 -9.53127320e-03 -1.14803139e+02] [-9.73424224e-03 4.76491398e-06 -9.99952621e-01 -8.04182101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.540385723 meters 0.014094811733798536 Centerline is valid? [True, True] Translation: X:119.14, Y:-114.81, Z:-8.04 [[ 1.26880893e-01 9.91916996e-01 -1.38293962e-03 1.19136096e+02] [ 9.91857048e-01 -1.26888429e-01 -1.09052238e-02 -1.14811042e+02] [-1.09925559e-02 1.19861284e-05 -9.99939580e-01 -8.04133428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.570385723 meters 0.014156218855138215 Centerline is valid? [True, True] Translation: X:119.14, Y:-114.82, Z:-8.04 [[ 4.97913537e-02 9.98759492e-01 -5.46952328e-04 1.19144901e+02] [ 9.98693928e-01 -4.97943522e-02 -1.14438200e-02 -1.14818065e+02] [-1.14568590e-02 2.35653198e-05 -9.99934368e-01 -8.04207433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.600385723 meters 0.014471285493998589 Centerline is valid? [True, True] Translation: X:119.15, Y:-114.83, Z:-8.04 [[-2.62690705e-02 9.99654834e-01 3.86784118e-04 1.19152033e+02] [ 9.99575209e-01 2.62718599e-02 -1.26171281e-02 -1.14825358e+02] [-1.26229346e-02 5.51795895e-05 -9.99920326e-01 -8.04338468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.630385723 meters 0.014770995602757936 Centerline is valid? [True, True] Translation: X:119.16, Y:-114.83, Z:-8.04 [[-1.03102022e-01 9.94669741e-01 1.44178979e-03 1.19159593e+02] [ 9.94582573e-01 1.03112075e-01 -1.31683831e-02 -1.14831754e+02] [-1.32468581e-02 7.62920762e-05 -9.99912254e-01 -8.04336781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.660385723 meters 0.01499685033508127 Centerline is valid? [True, True] Translation: X:119.17, Y:-114.84, Z:-8.04 [[-1.78874660e-01 9.83868508e-01 2.57182650e-03 1.19166758e+02] [ 9.83775090e-01 1.78893117e-01 -1.35582035e-02 -1.14836852e+02] [-1.37995715e-02 1.04879792e-04 -9.99904776e-01 -8.04256466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.690385723 meters 0.015522187852456978 Centerline is valid? [True, True] Translation: X:119.17, Y:-114.84, Z:-8.04 [[-2.53263733e-01 9.67390184e-01 3.70310641e-03 1.19174395e+02] [ 9.67294605e-01 2.53290766e-01 -1.35990970e-02 -1.14843011e+02] [-1.40935956e-02 1.37836782e-04 -9.99900671e-01 -8.04122079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.720385723 meters 0.015466061248431449 Centerline is valid? [True, True] Translation: X:119.19, Y:-114.85, Z:-8.04 [[-3.24514296e-01 9.45868225e-01 4.87581875e-03 1.19187973e+02] [ 9.45770476e-01 3.24550863e-01 -1.35993872e-02 -1.14845413e+02] [-1.44456794e-02 1.98209875e-04 -9.99895636e-01 -8.04313928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.750385723 meters 0.016000378269733995 Centerline is valid? [True, True] Translation: X:119.20, Y:-114.85, Z:-8.04 [[-3.95642637e-01 9.18386310e-01 5.78698353e-03 1.19200212e+02] [ 9.18296189e-01 3.95684894e-01 -1.28675708e-02 -1.14848199e+02] [-1.41072228e-02 2.23205283e-04 -9.99900463e-01 -8.04340675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.780385723 meters 0.01640183882670103 Centerline is valid? [True, True] Translation: X:119.21, Y:-114.85, Z:-8.04 [[-4.64375962e-01 8.85613883e-01 6.55872802e-03 1.19211596e+02] [ 8.85532928e-01 4.64422211e-01 -1.19767767e-02 -1.14848910e+02] [-1.36528187e-02 2.46242414e-04 -9.99906766e-01 -8.04397089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.810385723 meters 0.01742650530433119 Centerline is valid? [True, True] Translation: X:119.22, Y:-114.85, Z:-8.04 [[-5.29162570e-01 8.48487883e-01 7.43552675e-03 1.19223388e+02] [ 8.48411849e-01 5.29214725e-01 -1.13626289e-02 -1.14848422e+02] [-1.35760432e-02 2.95711062e-04 -9.99907798e-01 -8.04336265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.840385723 meters 0.01762472154584175 Centerline is valid? [True, True] Translation: X:119.23, Y:-114.85, Z:-8.04 [[-5.93332274e-01 8.04912629e-01 8.51312831e-03 1.19234966e+02] [ 8.04837279e-01 5.93393261e-01 -1.10178387e-02 -1.14847639e+02] [-1.39200304e-02 3.14443765e-04 -9.99903062e-01 -8.04339459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.870385723 meters 0.017482584165056065 Centerline is valid? [True, True] Translation: X:119.25, Y:-114.84, Z:-8.04 [[-6.54703994e-01 7.55816426e-01 1.02083859e-02 1.19248932e+02] [ 7.55732557e-01 6.54783487e-01 -1.12644052e-02 -1.14843773e+02] [-1.51981050e-02 3.39958494e-04 -9.99884444e-01 -8.04353214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.900385723 meters 0.01781240974633338 Centerline is valid? [True, True] Translation: X:119.26, Y:-114.84, Z:-8.04 [[-7.12435205e-01 7.01640310e-01 1.17027552e-02 1.19262299e+02] [ 7.01553575e-01 7.12531231e-01 -1.10375114e-02 -1.14838570e+02] [-1.60829415e-02 3.46598057e-04 -9.99870601e-01 -8.04328838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93038572300003 meters 0.01635181148286383 Centerline is valid? [True, True] Translation: X:119.29, Y:-114.82, Z:-8.04 [[-7.61290049e-01 6.48298783e-01 1.20892132e-02 1.19291173e+02] [ 6.48223521e-01 7.61385966e-01 -9.88320112e-03 -1.14820710e+02] [-1.56118245e-02 3.12529672e-04 -9.99878079e-01 -8.04494542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.960385723 meters 0.016553670570664977 Centerline is valid? [True, True] Translation: X:119.31, Y:-114.79, Z:-8.04 [[-8.07246212e-01 5.90093055e-01 1.19891782e-02 1.19312097e+02] [ 5.90032444e-01 8.07335201e-01 -8.46096745e-03 -1.14794737e+02] [-1.46720437e-02 2.43920158e-04 -9.99892330e-01 -8.04468267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99038572300003 meters 0.015772367360234508 Centerline is valid? [True, True] Translation: X:119.33, Y:-114.77, Z:-8.05 [[-8.47852712e-01 5.30079138e-01 1.27234343e-02 1.19332412e+02] [ 5.30023392e-01 8.47948146e-01 -7.69065693e-03 -1.14767950e+02] [-1.48654693e-02 2.23173457e-04 -9.99889478e-01 -8.04572177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.020385723 meters 0.015645799374259948 Centerline is valid? [True, True] Translation: X:119.35, Y:-114.74, Z:-8.05 [[-8.84057710e-01 4.67196939e-01 1.29994449e-02 1.19348849e+02] [ 4.67149652e-01 8.84153257e-01 -6.64983159e-03 -1.14740782e+02] [-1.46002825e-02 1.93851277e-04 -9.99893391e-01 -8.04528862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.050385723 meters 0.015368529991584046 Centerline is valid? [True, True] Translation: X:119.70, Y:-114.07, Z:-9.02 [[-8.62627230e-01 -5.05680387e-01 1.27125405e-02 1.19697679e+02] [ 5.05622372e-01 -8.62720878e-01 -7.66179706e-03 -1.14067509e+02] [ 1.48417946e-02 -1.81529896e-04 9.99889838e-01 -9.02384772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.080385723 meters 0.015241998141511547 Centerline is valid? [True, True] Translation: X:119.31, Y:-114.72, Z:-8.05 [[-8.87527377e-01 4.60562644e-01 1.33118944e-02 1.19308760e+02] [ 4.60513213e-01 8.87627192e-01 -6.74903183e-03 -1.14715672e+02] [-1.49243514e-02 1.40352762e-04 -9.99888616e-01 -8.04710148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.110385723 meters 0.015241998141511547 Centerline is valid? [True, True] Translation: X:119.32, Y:-114.69, Z:-8.05 [[-9.17920283e-01 3.96526304e-01 1.37565678e-02 1.19322751e+02] [ 3.96484068e-01 9.18023350e-01 -5.78907461e-03 -1.14690032e+02] [-1.49243708e-02 1.40350946e-04 -9.99888616e-01 -8.04710127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.140385723 meters 0.014880687839595527 Centerline is valid? [True, True] Translation: X:119.34, Y:-114.66, Z:-8.05 [[-9.44044106e-01 3.29571198e-01 1.27887403e-02 1.19337860e+02] [ 3.29542536e-01 9.44130718e-01 -4.34780823e-03 -1.14659932e+02] [-1.35071549e-02 1.09911174e-04 -9.99908768e-01 -8.04847617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.170385723 meters 0.014884412431149368 Centerline is valid? [True, True] Translation: X:119.35, Y:-114.63, Z:-8.05 [[-9.65101324e-01 2.61583048e-01 1.23993317e-02 1.19347345e+02] [ 2.61562807e-01 9.65180967e-01 -3.25567420e-03 -1.14629917e+02] [-1.28192282e-02 1.01148522e-04 -9.99917825e-01 -8.04857479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.200385723 meters 0.014827783867598903 Centerline is valid? [True, True] Translation: X:119.54, Y:-113.92, Z:-9.02 [[-9.50215854e-01 -3.11388116e-01 1.12815261e-02 1.19535983e+02] [ 3.11364281e-01 -9.50282810e-01 -3.85569627e-03 -1.13917897e+02] [ 1.19212583e-02 -1.51079473e-04 9.99928928e-01 -9.02158261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.230385723 meters 0.01480879963743658 Centerline is valid? [True, True] Translation: X:119.30, Y:-114.61, Z:-8.05 [[-9.66274222e-01 2.57260862e-01 1.14445364e-02 1.19297895e+02] [ 2.57243874e-01 9.66341990e-01 -2.95768613e-03 -1.14614362e+02] [-1.18202330e-02 8.61010199e-05 -9.99930135e-01 -8.04793243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.260385723 meters 0.014923828618990716 Centerline is valid? [True, True] Translation: X:119.30, Y:-114.58, Z:-8.05 [[-9.81941255e-01 1.88758177e-01 1.27169879e-02 1.19298944e+02] [ 1.88743711e-01 9.82023594e-01 -2.33913210e-03 -1.14583657e+02] [-1.29299125e-02 1.03361187e-04 -9.99916400e-01 -8.04795212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.290385723 meters 0.015139804161111926 Centerline is valid? [True, True] Translation: X:119.30, Y:-114.55, Z:-8.05 [[-9.92753668e-01 1.19448854e-01 1.31196879e-02 1.19304985e+02] [ 1.19439992e-01 9.92840348e-01 -1.45977129e-03 -1.14554498e+02] [-1.32001235e-02 1.17822116e-04 -9.99912868e-01 -8.04709206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.320385723 meters 0.015626952455729416 Centerline is valid? [True, True] Translation: X:119.31, Y:-114.52, Z:-8.05 [[-9.98595481e-01 5.12565688e-02 1.34100227e-02 1.19307927e+02] [ 5.12540356e-02 9.98685506e-01 -5.32728968e-04 -1.14523535e+02] [-1.34197012e-02 1.55337042e-04 -9.99909940e-01 -8.04542823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.350385723 meters 0.015920530818598146 Centerline is valid? [True, True] Translation: X:119.30, Y:-114.49, Z:-8.04 [[-9.99735523e-01 -1.83788834e-02 1.38239086e-02 1.19302820e+02] [-1.83746145e-02 9.99831078e-01 4.35763425e-04 -1.14494164e+02] [-1.38295823e-02 1.81639183e-04 -9.99904350e-01 -8.04469896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.380385723 meters 0.01807805108156136 Centerline is valid? [True, True] Translation: X:119.30, Y:-114.47, Z:-8.04 [[-9.96040342e-01 -8.76436023e-02 1.49075765e-02 1.19296165e+02] [-8.76303838e-02 9.96151870e-01 1.53886893e-03 -1.14465347e+02] [-1.49850822e-02 2.26418890e-04 -9.99887692e-01 -8.04433075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.410385723 meters 0.01722278903598494 Centerline is valid? [True, True] Translation: X:119.28, Y:-114.44, Z:-8.05 [[-9.87650977e-01 -1.56077703e-01 1.36124058e-02 1.19279882e+02] [-1.56059438e-01 9.87744749e-01 2.40045839e-03 -1.14438862e+02] [-1.38202404e-02 2.46470678e-04 -9.99904466e-01 -8.04551336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.440385723 meters 0.017218842778184244 Centerline is valid? [True, True] Translation: X:119.13, Y:-113.73, Z:-9.02 [[-9.91985362e-01 1.25647782e-01 1.33294988e-02 1.19129723e+02] [-1.25640043e-01 -9.92074878e-01 1.41972167e-03 -1.13730301e+02] [ 1.34022458e-02 -2.66375701e-04 9.99910150e-01 -9.02357558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.470385723 meters 0.01918125783745554 Centerline is valid? [True, True] Translation: X:119.13, Y:-114.46, Z:-8.05 [[-9.87090909e-01 -1.59626858e-01 1.30691532e-02 1.19134026e+02] [-1.59609121e-01 9.87177385e-01 2.39584013e-03 -1.14459885e+02] [-1.32840129e-02 2.78955964e-04 -9.99911725e-01 -8.04648411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.500385723 meters 0.017124415786077478 Centerline is valid? [True, True] Translation: X:119.10, Y:-114.43, Z:-8.05 [[-9.73539493e-01 -2.28262109e-01 1.08289371e-02 1.19103541e+02] [-2.28245017e-01 9.73599683e-01 2.80534025e-03 -1.14433634e+02] [-1.11834026e-02 2.59458585e-04 -9.99937430e-01 -8.04745694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.530385723 meters 0.01774876757311586 Centerline is valid? [True, True] Translation: X:119.05, Y:-114.42, Z:-8.05 [[-9.54596850e-01 -2.97711104e-01 1.06278881e-02 1.19048256e+02] [-2.97689457e-01 9.54655972e-01 3.60039831e-03 -1.14419131e+02] [-1.12178554e-02 2.73118648e-04 -9.99937041e-01 -8.04706022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.560385723 meters 0.01807881264456742 Centerline is valid? [True, True] Translation: X:118.98, Y:-114.41, Z:-8.05 [[-9.30651689e-01 -3.65769652e-01 9.99971310e-03 1.18981715e+02] [-3.65745268e-01 9.30705368e-01 4.23287670e-03 -1.14412169e+02] [-1.08550445e-02 2.81986109e-04 -9.99941043e-01 -8.04725335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.590385723 meters 0.019574347505464836 Centerline is valid? [True, True] Translation: X:118.90, Y:-114.41, Z:-8.05 [[-9.02308561e-01 -4.31007062e-01 8.49552933e-03 1.18902955e+02] [-4.30985052e-01 9.02348512e-01 4.36444347e-03 -1.14414725e+02] [-9.54703421e-03 2.76628551e-04 -9.99954388e-01 -8.04762752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.620385723 meters 0.02026287685306289 Centerline is valid? [True, True] Translation: X:118.82, Y:-114.43, Z:-8.05 [[-8.68146224e-01 -4.96241356e-01 8.16400559e-03 1.18821731e+02] [-4.96216270e-01 8.68184562e-01 4.99795197e-03 -1.14425290e+02] [-9.56805408e-03 2.87840727e-04 -9.99954184e-01 -8.04790662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.650385723 meters 0.01851960341504035 Centerline is valid? [True, True] Translation: X:118.73, Y:-114.45, Z:-8.05 [[-8.28676631e-01 -5.59680052e-01 7.29943972e-03 1.18731114e+02] [-5.59655406e-01 8.28708734e-01 5.25944451e-03 -1.14446831e+02] [-8.99271562e-03 2.73207861e-04 -9.99959527e-01 -8.04907237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68038572300003 meters 0.01891743561969311 Centerline is valid? [True, True] Translation: X:118.64, Y:-114.48, Z:-8.05 [[-7.84057235e-01 -6.20652227e-01 6.71308453e-03 1.18637547e+02] [-6.20626560e-01 7.84085929e-01 5.65063240e-03 -1.14476622e+02] [-8.77071270e-03 2.64100660e-04 -9.99961502e-01 -8.04818862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.710385723 meters 0.017911732314738797 Centerline is valid? [True, True] Translation: X:118.54, Y:-114.52, Z:-8.05 [[-7.34445619e-01 -6.78642041e-01 5.88318374e-03 1.18541112e+02] [-6.78617600e-01 7.34469143e-01 5.76471113e-03 -1.14518561e+02] [-8.23319224e-03 2.41434805e-04 -9.99966078e-01 -8.04847583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74038572300003 meters 0.01840026855346272 Centerline is valid? [True, True] Translation: X:118.45, Y:-114.57, Z:-8.05 [[-6.79183369e-01 -7.33948037e-01 5.49816008e-03 1.18446789e+02] [-7.33921284e-01 6.79205586e-01 6.27062843e-03 -1.14570703e+02] [-8.33669647e-03 2.23689835e-04 -9.99965224e-01 -8.04787284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.770385723 meters 0.019640339600463325 Centerline is valid? [True, True] Translation: X:118.35, Y:-114.63, Z:-8.05 [[-6.20628741e-01 -7.84085221e-01 5.50738305e-03 1.18354558e+02] [-7.84050931e-01 6.20653132e-01 7.33667743e-03 -1.14633484e+02] [-9.17075489e-03 2.35284073e-04 -9.99957920e-01 -8.04587533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.800385723 meters 0.01808807359666304 Centerline is valid? [True, True] Translation: X:118.26, Y:-114.71, Z:-8.05 [[-5.57915979e-01 -8.29882712e-01 4.94412265e-03 1.18264130e+02] [-8.29846551e-01 5.57937841e-01 7.75025172e-03 -1.14706244e+02] [-9.19031304e-03 2.21126141e-04 -9.99957744e-01 -8.04582254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.830385723 meters 0.0170767896226362 Centerline is valid? [True, True] Translation: X:118.18, Y:-114.78, Z:-8.05 [[-4.92075079e-01 -8.70540202e-01 4.67681607e-03 1.18178923e+02] [-8.70496422e-01 4.92097252e-01 8.73349836e-03 -1.14783331e+02] [-9.90430976e-03 2.26385237e-04 -9.99950926e-01 -8.04562137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.860385723 meters 0.01712411048087503 Centerline is valid? [True, True] Translation: X:118.10, Y:-114.87, Z:-8.05 [[-4.23041817e-01 -9.06103495e-01 3.47516086e-03 1.18097802e+02] [-9.06069245e-01 4.23056050e-01 7.88041941e-03 -1.14871626e+02] [-8.61066339e-03 1.85010569e-04 -9.99962910e-01 -8.04569512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.890385723 meters 0.017056002312402178 Centerline is valid? [True, True] Translation: X:118.03, Y:-114.97, Z:-8.05 [[-3.52905268e-01 -9.35655867e-01 2.44345533e-03 1.18027108e+02] [-9.35630201e-01 3.52913691e-01 6.93210774e-03 -1.14966130e+02] [-7.34839612e-03 1.60206747e-04 -9.99972987e-01 -8.04656241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.920385723 meters 0.01744024712566419 Centerline is valid? [True, True] Translation: X:117.96, Y:-115.07, Z:-8.05 [[-2.82116651e-01 -9.59378946e-01 1.49424037e-03 1.17962507e+02] [-9.59362828e-01 2.82120576e-01 5.56278028e-03 -1.15067416e+02] [-5.75837023e-03 1.35834273e-04 -9.99983411e-01 -8.04762250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.950385723 meters 0.017583127052294034 Centerline is valid? [True, True] Translation: X:117.91, Y:-115.17, Z:-8.05 [[-2.09188049e-01 -9.77874966e-01 9.54415065e-04 1.17906911e+02] [-9.77861814e-01 2.09190187e-01 5.07329148e-03 -1.15172027e+02] [-5.16069900e-03 1.27985901e-04 -9.99986675e-01 -8.04774641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.980385723 meters 0.018167124611676456 Centerline is valid? [True, True] Translation: X:117.86, Y:-115.28, Z:-8.05 [[-1.34765063e-01 -9.90877424e-01 5.55288948e-04 1.17859723e+02] [-9.90864513e-01 1.34766143e-01 5.05995926e-03 -1.15283745e+02] [-5.08863355e-03 1.31689617e-04 -9.99987044e-01 -8.04747928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.010385723 meters 0.01855865226046862 Centerline is valid? [True, True] Translation: X:117.82, Y:-115.40, Z:-8.05 [[-5.97217750e-02 -9.98215048e-01 1.65131103e-04 1.17818033e+02] [-9.98202286e-01 5.97218468e-02 5.04948285e-03 -1.15401045e+02] [-5.05033170e-03 1.36729834e-04 -9.99987238e-01 -8.04695023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.040385723 meters 0.019248810524316866 Centerline is valid? [True, True] Translation: X:117.79, Y:-115.52, Z:-8.05 [[ 1.64252286e-02 -9.99865072e-01 -2.23766649e-04 1.17787907e+02] [-9.99852136e-01 -1.64261547e-02 5.08799415e-03 -1.15522874e+02] [-5.09098326e-03 1.40162095e-04 -9.99987031e-01 -8.04642779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.070385723 meters 0.02084847494934331 Centerline is valid? [True, True] Translation: X:117.76, Y:-115.65, Z:-8.04 [[ 9.28750927e-02 -9.95677516e-01 -7.08720828e-04 1.17763982e+02] [-9.95660327e-01 -9.28776553e-02 5.85267595e-03 -1.15646281e+02] [-5.89320218e-03 1.62077391e-04 -9.99982622e-01 -8.04407173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.100385723 meters 0.018187103008503267 Centerline is valid? [True, True] Translation: X:117.75, Y:-115.77, Z:-8.05 [[ 1.69627118e-01 -9.85507690e-01 -1.11083642e-03 1.17750039e+02] [-9.85491987e-01 -1.69630688e-01 5.56540511e-03 -1.15766077e+02] [-5.67318148e-03 1.50676761e-04 -9.99983896e-01 -8.04572100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.130385723 meters 0.017878727677925255 Centerline is valid? [True, True] Translation: X:117.75, Y:-115.89, Z:-8.05 [[ 2.46435685e-01 -9.69157584e-01 -1.74077141e-03 1.17745455e+02] [-9.69137723e-01 -2.46441783e-01 6.20655637e-03 -1.15890923e+02] [-6.44412999e-03 1.57530273e-04 -9.99979224e-01 -8.04514583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.160385723 meters 0.017925607024399284 Centerline is valid? [True, True] Translation: X:117.75, Y:-116.01, Z:-8.04 [[ 3.20362369e-01 -9.47292008e-01 -2.40898884e-03 1.17751926e+02] [-9.47269008e-01 -3.20371383e-01 6.60331794e-03 -1.16011414e+02] [-7.02704140e-03 1.66505892e-04 -9.99975296e-01 -8.04491460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.190385723 meters 0.020041094123298412 Centerline is valid? [True, True] Translation: X:117.77, Y:-116.13, Z:-8.04 [[ 3.92147195e-01 -9.19897186e-01 -3.12157552e-03 1.17767729e+02] [-9.19871496e-01 -3.92159580e-01 6.87712845e-03 -1.16131134e+02] [-7.55040686e-03 1.74601710e-04 -9.99971480e-01 -8.04296565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.220385723 meters 0.01801506381809036 Centerline is valid? [True, True] Translation: X:117.79, Y:-116.25, Z:-8.04 [[ 4.61191119e-01 -8.87294915e-01 -3.23816695e-03 1.17788574e+02] [-8.87275347e-01 -4.61202461e-01 5.89475258e-03 -1.16247826e+02] [-6.72383455e-03 1.54538168e-04 -9.99977383e-01 -8.04437850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.250385723 meters 0.017706051382559256 Centerline is valid? [True, True] Translation: X:117.82, Y:-116.36, Z:-8.04 [[ 5.27146045e-01 -8.49766341e-01 -3.76996669e-03 1.17820455e+02] [-8.49746737e-01 -5.27159502e-01 5.77438621e-03 -1.16362735e+02] [-6.89425281e-03 1.59572038e-04 -9.99976222e-01 -8.04382171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.280385723 meters 0.018309107258017203 Centerline is valid? [True, True] Translation: X:117.86, Y:-116.47, Z:-8.04 [[ 5.90130211e-01 -8.07295988e-01 -4.41828231e-03 1.17859428e+02] [-8.07275456e-01 -5.90146727e-01 5.76016766e-03 -1.16468242e+02] [-7.25759509e-03 1.67521913e-04 -9.99973649e-01 -8.04302787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.310385723 meters 0.017790146505535915 Centerline is valid? [True, True] Translation: X:117.90, Y:-116.57, Z:-8.04 [[ 6.50054486e-01 -7.59872648e-01 -4.76685694e-03 1.17900094e+02] [-7.59854002e-01 -6.50071944e-01 5.32574282e-03 -1.16565088e+02] [-7.14568626e-03 1.60092308e-04 -9.99974456e-01 -8.04464052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.340385723 meters 0.01782642688407003 Centerline is valid? [True, True] Translation: X:117.95, Y:-116.66, Z:-8.05 [[ 7.06184754e-01 -7.08013384e-01 -4.48787975e-03 1.17952415e+02] [-7.08000280e-01 -7.06199002e-01 4.30969245e-03 -1.16661609e+02] [-6.22065613e-03 1.33981021e-04 -9.99980643e-01 -8.04562291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.370385723 meters 0.016960791812720484 Centerline is valid? [True, True] Translation: X:117.95, Y:-116.68, Z:-8.05 [[ 7.61053004e-01 -6.48676954e-01 -4.06628460e-03 1.17947247e+02] [-6.48668391e-01 -7.61063860e-01 3.33468044e-03 -1.16679411e+02] [-5.25783261e-03 9.98017221e-05 -9.99986173e-01 -8.04667916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.400385723 meters 0.016410801663647497 Centerline is valid? [True, True] Translation: X:117.94, Y:-116.70, Z:-8.05 [[ 8.10610470e-01 -5.85570652e-01 -4.20459461e-03 1.17943379e+02] [-5.85563327e-01 -8.10621369e-01 2.93013834e-03 -1.16697882e+02] [-5.12413726e-03 8.68555965e-05 -9.99986868e-01 -8.04664853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43038572300003 meters 0.015985980769465443 Centerline is valid? [True, True] Translation: X:117.94, Y:-116.72, Z:-8.05 [[ 8.55280556e-01 -5.18146462e-01 -4.40611095e-03 1.17941243e+02] [-5.18140025e-01 -8.55291902e-01 2.58385651e-03 -1.16716435e+02] [-5.10732713e-03 7.30602034e-05 -9.99986955e-01 -8.04666208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.460385723 meters 0.015288952398360369 Centerline is valid? [True, True] Translation: X:117.94, Y:-116.74, Z:-8.05 [[ 8.96011929e-01 -4.44014521e-01 -3.70510348e-03 1.17940586e+02] [-4.44010877e-01 -8.96019589e-01 1.79924551e-03 -1.16736095e+02] [-4.11873643e-03 3.29608026e-05 -9.99991517e-01 -8.04790633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49038572300003 meters 0.015217718422908874 Centerline is valid? [True, True] Translation: X:117.94, Y:-116.75, Z:-8.05 [[ 9.29015201e-01 -3.70020243e-01 -3.97203285e-03 1.17942787e+02] [-3.70016962e-01 -9.29023692e-01 1.55827065e-03 -1.16751718e+02] [-4.26670431e-03 2.20624137e-05 -9.99990897e-01 -8.04856873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.520385723 meters 0.018351809040718307 Centerline is valid? [True, True] Translation: X:117.95, Y:-116.77, Z:-8.05 [[ 9.55893676e-01 -2.93674155e-01 -4.77195618e-03 1.17947155e+02] [-2.93670558e-01 -9.55905587e-01 1.45358152e-03 -1.16765635e+02] [-4.98841889e-03 1.19136540e-05 -9.99987558e-01 -8.04710386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.550385723 meters 0.015098043966360275 Centerline is valid? [True, True] Translation: X:117.95, Y:-116.78, Z:-8.05 [[ 9.76774759e-01 -2.14230899e-01 -4.02391793e-03 1.17952178e+02] [-2.14229056e-01 -9.76783047e-01 8.88803020e-04 -1.16783403e+02] [-4.12090389e-03 -6.12021757e-06 -9.99991509e-01 -8.04932236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.580385723 meters 0.01678061069696931 Centerline is valid? [True, True] Translation: X:117.96, Y:-116.80, Z:-8.05 [[ 9.90656253e-01 -1.36316616e-01 -4.23893527e-03 1.17958224e+02] [-1.36315325e-01 -9.90665322e-01 5.93504470e-04 -1.16796666e+02] [-4.28027070e-03 -1.01270767e-05 -9.99990840e-01 -8.04668666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.610385723 meters 0.015503333727671058 Centerline is valid? [True, True] Translation: X:117.96, Y:-116.81, Z:-8.05 [[ 9.98357178e-01 -5.71479352e-02 -4.13024373e-03 1.17963228e+02] [-5.71473860e-02 -9.98365721e-01 2.50958704e-04 -1.16810387e+02] [-4.13783554e-03 -1.45137905e-05 -9.99991439e-01 -8.04861434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.640385723 meters 0.01502341523581424 Centerline is valid? [True, True] Translation: X:117.97, Y:-116.82, Z:-8.05 [[ 9.99761588e-01 2.13274338e-02 -4.68066364e-03 1.17968151e+02] [ 2.13272802e-02 -9.99772544e-01 -8.27396216e-05 -1.16821185e+02] [-4.68136362e-03 -1.71059296e-05 -9.99989042e-01 -8.05020512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.670385723 meters 0.01543648047911823 Centerline is valid? [True, True] Translation: X:117.97, Y:-116.83, Z:-8.05 [[ 9.95092346e-01 9.88513252e-02 -4.43161723e-03 1.17974390e+02] [ 9.88504041e-02 -9.95102214e-01 -4.26939237e-04 -1.16830195e+02] [-4.45211562e-03 -1.32231870e-05 -9.99990089e-01 -8.05030528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.700385723 meters 0.016975261197955574 Centerline is valid? [True, True] Translation: X:117.98, Y:-116.84, Z:-8.05 [[ 9.84543163e-01 1.75061518e-01 -5.31269968e-03 1.17979878e+02] [ 1.75059017e-01 -9.84557497e-01 -9.35907180e-04 -1.16837929e+02] [-5.39449963e-03 -8.59496786e-06 -9.99985450e-01 -8.04932686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.730385723 meters 0.014978251203245127 Centerline is valid? [True, True] Translation: X:117.99, Y:-116.85, Z:-8.05 [[ 9.68611502e-01 2.48497234e-01 -6.39394168e-03 1.17988062e+02] [ 2.48491749e-01 -9.68632606e-01 -1.65098350e-03 -1.16847140e+02] [-6.60364523e-03 1.03198557e-05 -9.99978196e-01 -8.05033342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.760385723 meters 0.015033494465232796 Centerline is valid? [True, True] Translation: X:118.00, Y:-116.86, Z:-8.05 [[ 9.46856042e-01 3.21578919e-01 -7.11578515e-03 1.17995474e+02] [ 3.21569620e-01 -9.46882780e-01 -2.44568085e-03 -1.16855763e+02] [-7.52429383e-03 2.74873636e-05 -9.99971692e-01 -8.04915221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.790385723 meters 0.015012573525772536 Centerline is valid? [True, True] Translation: X:118.00, Y:-116.86, Z:-8.05 [[ 9.19447378e-01 3.93145217e-01 -7.30468805e-03 1.18004784e+02] [ 3.93132442e-01 -9.19476393e-01 -3.16956274e-03 -1.16863331e+02] [-7.96258665e-03 4.25362958e-05 -9.99968297e-01 -8.04918069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.820385723 meters 0.015099801514580036 Centerline is valid? [True, True] Translation: X:118.01, Y:-116.87, Z:-8.05 [[ 8.86611870e-01 4.62454799e-01 -7.41295870e-03 1.18014185e+02] [ 4.62438082e-01 -8.86642857e-01 -3.93244142e-03 -1.16869526e+02] [-8.39122328e-03 5.85148362e-05 -9.99964791e-01 -8.04942938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.850385723 meters 0.0153904389545001 Centerline is valid? [True, True] Translation: X:118.02, Y:-116.87, Z:-8.05 [[ 8.49337424e-01 5.27793239e-01 -7.76119892e-03 1.18020192e+02] [ 5.27770205e-01 -8.49372879e-01 -4.93183828e-03 -1.16871281e+02] [-9.19514278e-03 9.26652827e-05 -9.99957720e-01 -8.05070629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.880385723 meters 0.015615802082486568 Centerline is valid? [True, True] Translation: X:118.03, Y:-116.87, Z:-8.05 [[ 8.06241343e-01 5.91539321e-01 -7.49184862e-03 1.18028269e+02] [ 5.91512542e-01 -8.06276144e-01 -5.62961353e-03 -1.16874904e+02] [-9.37063658e-03 1.07304753e-04 -9.99956089e-01 -8.05137414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.910385723 meters 0.015657011980897858 Centerline is valid? [True, True] Translation: X:118.04, Y:-116.88, Z:-8.05 [[ 7.58564261e-01 6.51563699e-01 -6.70879867e-03 1.18039567e+02] [ 6.51536844e-01 -7.58593918e-01 -5.91688265e-03 -1.16881421e+02] [-8.94447981e-03 1.17306207e-04 -9.99959990e-01 -8.05270642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.940385723 meters 0.018016416192829784 Centerline is valid? [True, True] Translation: X:118.05, Y:-116.89, Z:-8.05 [[ 7.05603137e-01 7.08575240e-01 -6.73371059e-03 1.18052764e+02] [ 7.08541175e-01 -7.05635254e-01 -6.94919324e-03 -1.16888235e+02] [-9.67556985e-03 1.32261335e-04 -9.99953182e-01 -8.05086549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.970385723 meters 0.015565418734563748 Centerline is valid? [True, True] Translation: X:118.06, Y:-116.89, Z:-8.05 [[ 6.47749264e-01 7.61828822e-01 -6.14309606e-03 1.18064937e+02] [ 7.61792660e-01 -6.47778380e-01 -7.42382573e-03 -1.16893866e+02] [-9.63504922e-03 1.29012157e-04 -9.99953574e-01 -8.05250027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.000385723 meters 0.01561940116570476 Centerline is valid? [True, True] Translation: X:118.08, Y:-116.90, Z:-8.05 [[ 5.85808811e-01 8.10427879e-01 -5.88985445e-03 1.18076103e+02] [ 8.10384613e-01 -5.85838404e-01 -8.37514025e-03 -1.16897433e+02] [-1.02379501e-02 1.33183531e-04 -9.99947582e-01 -8.05262806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.030385723 meters 0.01561940116570476 Centerline is valid? [True, True] Translation: X:118.09, Y:-116.90, Z:-8.05 [[ 5.20542810e-01 8.53819640e-01 -5.21586846e-03 1.18088276e+02] [ 8.53774189e-01 -5.20568924e-01 -8.81071724e-03 -1.16901004e+02] [-1.02379825e-02 1.33181645e-04 -9.99947582e-01 -8.05262777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.060385723 meters 0.016286726572135545 Centerline is valid? [True, True] Translation: X:118.10, Y:-116.90, Z:-8.05 [[ 4.51866194e-01 8.92072936e-01 -4.77705327e-03 1.18101613e+02] [ 8.92019807e-01 -4.51891423e-01 -9.73678963e-03 -1.16903379e+02] [-1.08446359e-02 1.38499933e-04 -9.99941186e-01 -8.05297388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.090385723 meters 0.019371260379406417 Centerline is valid? [True, True] Translation: X:118.12, Y:-116.91, Z:-8.05 [[ 3.77943670e-01 9.25816586e-01 -4.71498846e-03 1.18115436e+02] [ 9.25740333e-01 -3.77973058e-01 -1.18828629e-02 -1.16906010e+02] [-1.27834902e-02 1.26197834e-04 -9.99918280e-01 -8.05027060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.120385723 meters 0.014950683204963577 Centerline is valid? [True, True] Translation: X:118.13, Y:-116.91, Z:-8.05 [[ 3.01827772e-01 9.53355955e-01 -3.52397524e-03 1.18132867e+02] [ 9.53287561e-01 -3.01848331e-01 -1.14197825e-02 -1.16908382e+02] [-1.19508237e-02 8.74457432e-05 -9.99928583e-01 -8.05302094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.150385723 meters 0.016229630470818414 Centerline is valid? [True, True] Translation: X:118.15, Y:-116.91, Z:-8.05 [[ 2.23863396e-01 9.74616054e-01 -2.95426918e-03 1.18148150e+02] [ 9.74527290e-01 -2.23882879e-01 -1.31535892e-02 -1.16909005e+02] [-1.34811095e-02 6.55912187e-05 -9.99909124e-01 -8.05063302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18038572300003 meters 0.016970868276846816 Centerline is valid? [True, True] Translation: X:118.16, Y:-116.91, Z:-8.05 [[ 1.44570890e-01 9.89492280e-01 -2.07002227e-03 1.18162164e+02] [ 9.89387105e-01 -1.44585704e-01 -1.44267451e-02 -1.16908606e+02] [-1.45744485e-02 3.76340281e-05 -9.99893786e-01 -8.04909252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.210385723 meters 0.014576011266797586 Centerline is valid? [True, True] Translation: X:118.18, Y:-116.91, Z:-8.05 [[ 6.36146329e-02 9.97974116e-01 -9.17938283e-04 1.18176527e+02] [ 9.97871838e-01 -6.36212550e-02 -1.42874209e-02 -1.16905702e+02] [-1.43168766e-02 -7.09572791e-06 -9.99897508e-01 -8.05197727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.240385723 meters 0.014648177710879296 Centerline is valid? [True, True] Translation: X:118.19, Y:-116.90, Z:-8.05 [[-1.48524597e-02 9.99889676e-01 1.98540944e-04 1.18188284e+02] [ 9.99792105e-01 1.48537839e-02 -1.39682812e-02 -1.16902896e+02] [-1.39696893e-02 -8.96366494e-06 -9.99902419e-01 -8.05224374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.270385723 meters 0.015214831956146955 Centerline is valid? [True, True] Translation: X:118.20, Y:-116.90, Z:-8.05 [[-9.28364067e-02 9.95680584e-01 1.25518927e-03 1.18198030e+02] [ 9.95588834e-01 9.28448915e-02 -1.35166361e-02 -1.16899248e+02] [-1.35747900e-02 -5.18349923e-06 -9.99907858e-01 -8.05170763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.300385723 meters 0.014735765597698743 Centerline is valid? [True, True] Translation: X:118.21, Y:-116.90, Z:-8.05 [[-1.69953321e-01 9.85449504e-01 2.26805381e-03 1.18207272e+02] [ 9.85361965e-01 1.69968454e-01 -1.31347645e-02 -1.16895256e+02] [-1.33291448e-02 2.55710279e-06 -9.99911163e-01 -8.05194674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.330385723 meters 0.014642029508482032 Centerline is valid? [True, True] Translation: X:118.22, Y:-116.89, Z:-8.05 [[-2.44853805e-01 9.69553855e-01 3.45504664e-03 1.18218517e+02] [ 9.69458910e-01 2.44878179e-01 -1.35682920e-02 -1.16889006e+02] [-1.40012554e-02 2.72778209e-05 -9.99901977e-01 -8.05271348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.360385723 meters 0.01468134856350484 Centerline is valid? [True, True] Translation: X:118.23, Y:-116.88, Z:-8.05 [[-3.19176834e-01 9.47683377e-01 4.72910879e-03 1.18227854e+02] [ 9.47581299e-01 3.19211864e-01 -1.39092396e-02 -1.16883092e+02] [-1.46911428e-02 4.17079963e-05 -9.99892078e-01 -8.05242560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.390385723 meters 0.014887114377293858 Centerline is valid? [True, True] Translation: X:118.23, Y:-116.88, Z:-8.05 [[-3.90628730e-01 9.20526884e-01 6.28097797e-03 1.18233903e+02] [ 9.20410995e-01 3.90679216e-01 -1.46065292e-02 -1.16877363e+02] [-1.58995504e-02 7.53512108e-05 -9.99873591e-01 -8.05276419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.420385723 meters 0.01483610854143956 Centerline is valid? [True, True] Translation: X:118.24, Y:-116.87, Z:-8.05 [[-4.61470081e-01 8.87125025e-01 7.38608083e-03 1.18243119e+02] [ 8.87014039e-01 4.61529180e-01 -1.40324883e-02 -1.16869240e+02] [-1.58574634e-02 7.59838869e-05 -9.99874260e-01 -8.05291813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.450385723 meters 0.014898340176036622 Centerline is valid? [True, True] Translation: X:118.25, Y:-116.86, Z:-8.05 [[-5.29784034e-01 8.48092102e-01 8.28631909e-03 1.18251740e+02] [ 8.47990416e-01 5.29848828e-01 -1.31329170e-02 -1.16860896e+02] [-1.55284197e-02 6.91094093e-05 -9.99879424e-01 -8.05244059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.480385723 meters 0.014786209689216246 Centerline is valid? [True, True] Translation: X:118.26, Y:-116.85, Z:-8.05 [[-5.96804391e-01 8.02330110e-01 9.53482913e-03 1.18259215e+02] [ 8.02228435e-01 5.96880552e-01 -1.27728310e-02 -1.16851295e+02] [-1.59391810e-02 2.62293997e-05 -9.99872963e-01 -8.05193108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.510385723 meters 0.01481086166522633 Centerline is valid? [True, True] Translation: X:118.27, Y:-116.84, Z:-8.05 [[-6.58969430e-01 7.52099117e-01 1.03058048e-02 1.18265571e+02] [ 7.52007193e-01 6.59050012e-01 -1.17585446e-02 -1.16841737e+02] [-1.56356318e-02 1.51789264e-06 -9.99877756e-01 -8.05190937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.540385723 meters 0.014817624363570096 Centerline is valid? [True, True] Translation: X:118.27, Y:-116.83, Z:-8.05 [[-7.16832524e-01 6.97163355e-01 1.06952804e-02 1.18271357e+02] [ 6.97085366e-01 7.16912308e-01 -1.04276385e-02 -1.16831642e+02] [-1.49373455e-02 -1.93469672e-05 -9.99888431e-01 -8.05247959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.570385723 meters 0.015136846356968214 Centerline is valid? [True, True] Translation: X:118.29, Y:-116.81, Z:-8.05 [[-7.65832356e-01 6.42949099e-01 1.08285743e-02 1.18287626e+02] [ 6.42883917e-01 7.65908907e-01 -9.15511089e-03 -1.16810023e+02] [-1.41799718e-02 -4.97638547e-05 -9.99899458e-01 -8.05449138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.600385723 meters 0.017284152409453052 Centerline is valid? [True, True] Translation: X:118.30, Y:-116.79, Z:-8.05 [[-8.09709545e-01 5.86703594e-01 1.22206986e-02 1.18301070e+02] [ 5.86635648e-01 8.09801759e-01 -8.92900621e-03 -1.16786275e+02] [-1.51350233e-02 -6.08040862e-05 -9.99885457e-01 -8.05401295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.630385723 meters 0.014713383710143855 Centerline is valid? [True, True] Translation: X:118.31, Y:-116.76, Z:-8.05 [[-8.49806322e-01 5.26957792e-01 1.20291652e-02 1.18311047e+02] [ 5.26903811e-01 8.49891452e-01 -7.54277144e-03 -1.16759077e+02] [-1.41982069e-02 -7.16818685e-05 -9.99899198e-01 -8.05498645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.660385723 meters 0.01476533917687893 Centerline is valid? [True, True] Translation: X:118.32, Y:-116.73, Z:-8.05 [[-8.85119403e-01 4.65199401e-01 1.23758085e-02 1.18320630e+02] [ 4.65152764e-01 8.85205915e-01 -6.58739404e-03 -1.16731365e+02] [-1.40195906e-02 -7.39887629e-05 -9.99901718e-01 -8.05411781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.690385723 meters 0.014705977350197108 Centerline is valid? [True, True] Translation: X:118.33, Y:-116.70, Z:-8.05 [[-9.15938480e-01 4.01110261e-01 1.29328499e-02 1.18329705e+02] [ 4.01069087e-01 9.16029777e-01 -5.74761427e-03 -1.16704568e+02] [-1.41523027e-02 -7.74947627e-05 -9.99899848e-01 -8.05382162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.720385723 meters 0.014599308042044934 Centerline is valid? [True, True] Translation: X:118.34, Y:-116.68, Z:-8.06 [[-9.41865914e-01 3.35748796e-01 1.27022392e-02 1.18335758e+02] [ 3.35717326e-01 9.41951560e-01 -4.59729820e-03 -1.16680201e+02] [-1.35084314e-02 -6.56766888e-05 -9.99908755e-01 -8.05609341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.750385723 meters 0.015113689469563003 Centerline is valid? [True, True] Translation: X:118.34, Y:-116.65, Z:-8.06 [[-9.63225987e-01 2.68367974e-01 1.32033374e-02 1.18336246e+02] [ 2.68341866e-01 9.63316473e-01 -3.74389525e-03 -1.16651892e+02] [-1.37237340e-02 -6.32090021e-05 -9.99905823e-01 -8.05578212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.780385723 meters 0.014656471199390354 Centerline is valid? [True, True] Translation: X:118.50, Y:-116.08, Z:-9.01 [[-9.39884206e-01 -3.41252420e-01 1.28243565e-02 1.18496074e+02] [ 3.41221476e-01 -9.39971692e-01 -4.59586115e-03 -1.16078910e+02] [ 1.36228808e-02 5.63685487e-05 9.99907203e-01 -9.01384775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.810385723 meters 0.014658470636006461 Centerline is valid? [True, True] Translation: X:118.29, Y:-116.65, Z:-8.06 [[-9.64133090e-01 2.65068507e-01 1.36407973e-02 1.18290110e+02] [ 2.65041113e-01 9.64229580e-01 -3.81118107e-03 -1.16645215e+02] [-1.41630843e-02 -5.91136820e-05 -9.99899697e-01 -8.05582646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.840385723 meters 0.014749193763172883 Centerline is valid? [True, True] Translation: X:118.29, Y:-116.62, Z:-8.06 [[-9.80541378e-01 1.95794872e-01 1.42468762e-02 1.18291172e+02] [ 1.95773196e-01 9.80644871e-01 -2.91414509e-03 -1.16617754e+02] [-1.45417008e-02 -6.82833521e-05 -9.99894262e-01 -8.05684143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.870385723 meters 0.014777222111880007 Centerline is valid? [True, True] Translation: X:118.29, Y:-116.59, Z:-8.06 [[-9.92023524e-01 1.25201586e-01 1.46249766e-02 1.18290197e+02] [ 1.25186842e-01 9.92131320e-01 -1.92294297e-03 -1.16589539e+02] [-1.47506528e-02 -7.67500308e-05 -9.99891200e-01 -8.05632273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.900385723 meters 0.014959865947516129 Centerline is valid? [True, True] Translation: X:118.28, Y:-116.56, Z:-8.06 [[-9.98451490e-01 5.34547493e-02 1.54016560e-02 1.18278241e+02] [ 5.34469309e-02 9.98570268e-01 -9.19089866e-04 -1.16562074e+02] [-1.54287655e-02 -9.44954009e-05 -9.99880965e-01 -8.05520302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93038572300003 meters 0.014824145897436039 Centerline is valid? [True, True] Translation: X:118.28, Y:-116.54, Z:-8.06 [[-9.99718993e-01 -1.79157074e-02 1.55229671e-02 1.18280400e+02] [-1.79150618e-02 9.99839496e-01 1.80658647e-04 -1.16535130e+02] [-1.55237122e-02 -9.74870330e-05 -9.99879495e-01 -8.05560898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.960385723 meters 0.014933597942623358 Centerline is valid? [True, True] Translation: X:118.27, Y:-115.92, Z:-9.02 [[-9.97966250e-01 -6.18853344e-02 1.52829677e-02 1.18269297e+02] [ 6.18793348e-02 -9.98083262e-01 -8.65585927e-04 -1.15915174e+02] [ 1.53072414e-02 8.18743350e-05 9.99882834e-01 -9.01506727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.990385723 meters 0.0149543638605952 Centerline is valid? [True, True] Translation: X:118.20, Y:-116.54, Z:-8.05 [[-9.99648392e-01 -2.18059809e-02 1.50861388e-02 1.18202932e+02] [-2.18047022e-02 9.99762218e-01 2.49256855e-04 -1.16541296e+02] [-1.50879868e-02 -7.97795492e-05 -9.99886167e-01 -8.05436656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.020385723 meters 0.015041075534054472 Centerline is valid? [True, True] Translation: X:118.19, Y:-116.51, Z:-8.05 [[-9.95595149e-01 -9.24665949e-02 1.54993075e-02 1.18193569e+02] [-9.24565566e-02 9.95715784e-01 1.36449788e-03 -1.16514884e+02] [-1.55590756e-02 -7.45251271e-05 -9.99878947e-01 -8.05426270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.050385723 meters 0.01516019165627882 Centerline is valid? [True, True] Translation: X:118.18, Y:-116.49, Z:-8.05 [[-9.86576529e-01 -1.62583185e-01 1.52794117e-02 1.18183633e+02] [-1.62564675e-01 9.86694838e-01 2.45411269e-03 -1.16488616e+02] [-1.54751141e-02 -6.27226157e-05 -9.99880251e-01 -8.05265858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.080385723 meters 0.015184410398435273 Centerline is valid? [True, True] Translation: X:118.07, Y:-115.86, Z:-9.02 [[-9.95953794e-01 8.83892178e-02 1.62291736e-02 1.18071401e+02] [-8.83755115e-02 -9.96086006e-01 1.56119703e-03 -1.15857832e+02] [ 1.63036457e-02 1.20618589e-04 9.99867079e-01 -9.01817974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.110385723 meters 0.01499983849733906 Centerline is valid? [True, True] Translation: X:118.06, Y:-116.51, Z:-8.05 [[-9.85801467e-01 -1.67154687e-01 1.59617957e-02 1.18064744e+02] [-1.67133488e-01 9.85930682e-01 2.66237830e-03 -1.16513622e+02] [-1.61822531e-02 -4.31741547e-05 -9.99869058e-01 -8.05347876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.140385723 meters 0.015216745914619587 Centerline is valid? [True, True] Translation: X:118.04, Y:-116.49, Z:-8.05 [[-9.71310768e-01 -2.37295003e-01 1.56994674e-02 1.18041383e+02] [-2.37264639e-01 9.71437636e-01 3.79617205e-03 -1.16490896e+02] [-1.61518662e-02 -3.76656853e-05 -9.99869549e-01 -8.05184804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.170385723 meters 0.015359240837416029 Centerline is valid? [True, True] Translation: X:118.00, Y:-116.47, Z:-8.05 [[-9.51562061e-01 -3.07085152e-01 1.51113356e-02 1.18000308e+02] [-3.07047061e-01 9.51682041e-01 4.83676661e-03 -1.16473902e+02] [-1.58664859e-02 -3.74075737e-05 -9.99874119e-01 -8.05187630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.200385723 meters 0.01510780606618507 Centerline is valid? [True, True] Translation: X:117.94, Y:-116.47, Z:-8.05 [[-9.26205116e-01 -3.76760813e-01 1.39775566e-02 1.17937965e+02] [-3.76718699e-01 9.26310578e-01 5.63332519e-03 -1.16467659e+02] [-1.50699747e-02 -4.79923407e-05 -9.99886440e-01 -8.05336612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.230385723 meters 0.015038295980035234 Centerline is valid? [True, True] Translation: X:117.87, Y:-116.47, Z:-8.05 [[-8.95622857e-01 -4.44619542e-01 1.31591089e-02 1.17869536e+02] [-4.44572478e-01 8.95719521e-01 6.46928447e-03 -1.16467745e+02] [-1.46632410e-02 -5.61385939e-05 -9.99892487e-01 -8.05368603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.260385723 meters 0.01528053527889559 Centerline is valid? [True, True] Translation: X:117.79, Y:-116.48, Z:-8.05 [[-8.58951657e-01 -5.11929393e-01 1.14169669e-02 1.17791013e+02] [-5.11885484e-01 8.59027526e-01 6.70531458e-03 -1.16480732e+02] [-1.32401364e-02 -8.46385561e-05 -9.99912342e-01 -8.05439172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.290385723 meters 0.015577779547789479 Centerline is valid? [True, True] Translation: X:117.71, Y:-116.50, Z:-8.05 [[-8.17246208e-01 -5.76189011e-01 1.07172512e-02 1.17710662e+02] [-5.76141192e-01 8.17316470e-01 7.42396363e-03 -1.16498368e+02] [-1.30369922e-02 -1.07443787e-04 -9.99915009e-01 -8.05477742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.320385723 meters 0.015531404911481646 Centerline is valid? [True, True] Translation: X:117.62, Y:-116.53, Z:-8.06 [[-7.70694570e-01 -6.37127566e-01 9.91689476e-03 1.17622581e+02] [-6.37076925e-01 7.70758359e-01 8.03385230e-03 -1.16529243e+02] [-1.27621183e-02 -1.26178477e-04 -9.99918553e-01 -8.05561219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.350385723 meters 0.016082922726916714 Centerline is valid? [True, True] Translation: X:117.53, Y:-116.57, Z:-8.05 [[-7.18365007e-01 -6.95608313e-01 8.98838783e-03 1.17534636e+02] [-6.95556660e-01 7.18421220e-01 8.47840811e-03 -1.16567528e+02] [-1.23550997e-02 -1.61341317e-04 -9.99923660e-01 -8.05455256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.380385723 meters 0.0165565226833517 Centerline is valid? [True, True] Translation: X:117.44, Y:-116.62, Z:-8.05 [[-6.62836115e-01 -7.48716809e-01 8.45132253e-03 1.17444383e+02] [-7.48659383e-01 6.62889966e-01 9.27475693e-03 -1.16618299e+02] [-1.25464633e-02 -1.79518058e-04 -9.99921274e-01 -8.05396751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.410385723 meters 0.01735793964538055 Centerline is valid? [True, True] Translation: X:117.36, Y:-116.68, Z:-8.05 [[-6.02479557e-01 -7.98093471e-01 8.07435729e-03 1.17358091e+02] [-7.98026547e-01 6.02533622e-01 1.03375526e-02 -1.16680659e+02] [-1.31154049e-02 -2.15387377e-04 -9.99913966e-01 -8.05436901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.440385723 meters 0.01658424155264348 Centerline is valid? [True, True] Translation: X:117.27, Y:-116.76, Z:-8.06 [[-5.39493827e-01 -8.41959809e-01 7.07741621e-03 1.17273009e+02] [-8.41892627e-01 5.39540204e-01 1.06383170e-02 -1.16757097e+02] [-1.27755860e-02 -2.19118158e-04 -9.99918365e-01 -8.05677136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.470385723 meters 0.01795525216010142 Centerline is valid? [True, True] Translation: X:117.19, Y:-116.83, Z:-8.06 [[-4.73154614e-01 -8.80958239e-01 6.10679518e-03 1.17192480e+02] [-8.80890831e-01 4.73193969e-01 1.09001115e-02 -1.16831796e+02] [-1.24922417e-02 -2.21981842e-04 -9.99921944e-01 -8.05502561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.500385723 meters 0.016749895027425122 Centerline is valid? [True, True] Translation: X:117.12, Y:-116.92, Z:-8.06 [[-4.04067982e-01 -9.14714957e-01 5.06089672e-03 1.17118835e+02] [-9.14649876e-01 4.04099615e-01 1.09135347e-02 -1.16921755e+02] [-1.20278799e-02 -2.19138603e-04 -9.99927638e-01 -8.05736101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.530385723 meters 0.01734459575255754 Centerline is valid? [True, True] Translation: X:117.04, Y:-117.03, Z:-8.06 [[-3.31882860e-01 -9.43313520e-01 3.65652353e-03 1.17043744e+02] [-9.43262792e-01 3.31902941e-01 9.78483426e-03 -1.17029182e+02] [-1.04437774e-02 -2.01643816e-04 -9.99945442e-01 -8.05704415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.560385723 meters 0.0181921510751355 Centerline is valid? [True, True] Translation: X:116.98, Y:-117.12, Z:-8.06 [[-2.57953345e-01 -9.66153138e-01 2.86105022e-03 1.16984605e+02] [-9.66102231e-01 2.57969129e-01 9.92008519e-03 -1.17117848e+02] [-1.03223841e-02 -2.05147844e-04 -9.99946702e-01 -8.05587242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.590385723 meters 0.018275809441027267 Centerline is valid? [True, True] Translation: X:116.93, Y:-117.22, Z:-8.06 [[-1.82971486e-01 -9.83115834e-01 2.16640946e-03 1.16931092e+02] [-9.83060042e-01 1.82984187e-01 1.04757556e-02 -1.17224257e+02] [-1.06952999e-02 -2.12946008e-04 -9.99942781e-01 -8.05549214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.620385723 meters 0.018863842325474816 Centerline is valid? [True, True] Translation: X:116.89, Y:-117.34, Z:-8.05 [[-1.06161177e-01 -9.94347648e-01 1.59996937e-03 1.16887140e+02] [-9.94268710e-01 1.06172913e-01 1.25317411e-02 -1.17336099e+02] [-1.26307807e-02 -2.60415105e-04 -9.99920195e-01 -8.05429032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.650385723 meters 0.016875077005244415 Centerline is valid? [True, True] Translation: X:116.85, Y:-117.45, Z:-8.06 [[-2.95960314e-02 -9.99561739e-01 6.35809429e-04 1.16853531e+02] [-9.99480909e-01 2.96017254e-02 1.27141998e-02 -1.17454634e+02] [-1.27274487e-02 -2.59189530e-04 -9.99918969e-01 -8.05674180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68038572300003 meters 0.0190417245381377 Centerline is valid? [True, True] Translation: X:116.82, Y:-117.57, Z:-8.05 [[ 4.67405440e-02 -9.98906999e-01 -3.59130445e-04 1.16822959e+02] [-9.98818369e-01 -4.67411817e-02 1.33089547e-02 -1.17573896e+02] [-1.33111942e-02 -2.63361698e-04 -9.99911367e-01 -8.05381628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.710385723 meters 0.016805756396025107 Centerline is valid? [True, True] Translation: X:116.81, Y:-117.69, Z:-8.06 [[ 1.22813239e-01 -9.92428819e-01 -1.39544798e-03 1.16808943e+02] [-9.92339018e-01 -1.22820902e-01 1.33528991e-02 -1.17693025e+02] [-1.34231920e-02 -2.55155312e-04 -9.99909872e-01 -8.05691513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.740385723 meters 0.017283527731834624 Centerline is valid? [True, True] Translation: X:116.80, Y:-117.82, Z:-8.06 [[ 1.97747678e-01 -9.80249703e-01 -2.52513795e-03 1.16800019e+02] [-9.80152898e-01 -1.97763642e-01 1.37781754e-02 -1.17817282e+02] [-1.40054328e-02 -2.49580905e-04 -9.99901888e-01 -8.05610054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.770385723 meters 0.016734801774659705 Centerline is valid? [True, True] Translation: X:116.80, Y:-117.95, Z:-8.06 [[ 2.71515377e-01 -9.62426406e-01 -3.84890748e-03 1.16802770e+02] [-9.62316244e-01 -2.71542540e-01 1.45634830e-02 -1.17946883e+02] [-1.50614227e-02 -2.50343372e-04 -9.99886539e-01 -8.05617896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.800385723 meters 0.016550056116464613 Centerline is valid? [True, True] Translation: X:116.82, Y:-118.07, Z:-8.05 [[ 3.42248601e-01 -9.39592218e-01 -5.68853062e-03 1.16816559e+02] [-9.39450657e-01 -3.42295790e-01 1.63111775e-02 -1.18068798e+02] [-1.72730155e-02 -2.38383854e-04 -9.99850782e-01 -8.05489472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.830385723 meters 0.016390265029063288 Centerline is valid? [True, True] Translation: X:116.84, Y:-118.19, Z:-8.05 [[ 4.11641335e-01 -9.11315436e-01 -7.45572491e-03 1.16835103e+02] [-9.11156326e-01 -4.11708792e-01 1.70299545e-02 -1.18185134e+02] [-1.85892479e-02 -2.16902295e-04 -9.99827181e-01 -8.05436755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.860385723 meters 0.016325623441241083 Centerline is valid? [True, True] Translation: X:116.86, Y:-118.30, Z:-8.05 [[ 4.78592966e-01 -8.77987857e-01 -9.27879704e-03 1.16864297e+02] [-8.77815241e-01 -4.78682868e-01 1.74101761e-02 -1.18301840e+02] [-1.97275244e-02 -1.87318352e-04 -9.99805376e-01 -8.05416697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.890385723 meters 0.016091385072027047 Centerline is valid? [True, True] Translation: X:116.91, Y:-118.42, Z:-8.05 [[ 5.39562469e-01 -8.41881137e-01 -1.04159994e-02 1.16909737e+02] [-8.41721935e-01 -5.39662993e-01 1.63718306e-02 -1.18419545e+02] [-1.94042648e-02 -6.62501859e-05 -9.99811717e-01 -8.05440868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.920385723 meters 0.016091385072027047 Centerline is valid? [True, True] Translation: X:116.95, Y:-118.53, Z:-8.05 [[ 6.02604278e-01 -7.97955223e-01 -1.16424288e-02 1.16951407e+02] [-7.97804210e-01 -6.02716731e-01 1.55236713e-02 -1.18530275e+02] [-1.94042812e-02 -6.62520569e-05 -9.99811717e-01 -8.05440786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.950385723 meters 0.01608930637879647 Centerline is valid? [True, True] Translation: X:117.00, Y:-118.63, Z:-8.06 [[ 6.60173104e-01 -7.51009135e-01 -1.25200581e-02 1.16996299e+02] [-7.50873583e-01 -6.60291813e-01 1.42682979e-02 -1.18625187e+02] [-1.89825139e-02 -1.85656858e-05 -9.99819816e-01 -8.05582127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.980385723 meters 0.01595336120790189 Centerline is valid? [True, True] Translation: X:117.05, Y:-118.73, Z:-8.06 [[ 7.14943299e-01 -6.99092651e-01 -1.12046751e-02 1.17053802e+02] [-6.99006864e-01 -7.15031094e-01 1.09516803e-02 -1.18725721e+02] [-1.56679303e-02 2.31435907e-06 -9.99877250e-01 -8.05843951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.010385723 meters 0.015837929309943332 Centerline is valid? [True, True] Translation: X:117.05, Y:-118.74, Z:-8.06 [[ 7.67835520e-01 -6.40551608e-01 -1.10567156e-02 1.17046731e+02] [-6.40485055e-01 -7.67915123e-01 9.23348341e-03 -1.18735147e+02] [-1.44051418e-02 -8.13545606e-06 -9.99896241e-01 -8.06118946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.040385723 meters 0.015873038003206833 Centerline is valid? [True, True] Translation: X:117.04, Y:-118.74, Z:-8.06 [[ 8.16503315e-01 -5.77228515e-01 -1.13832549e-02 1.17039158e+02] [-5.77171897e-01 -8.16582660e-01 8.08460208e-03 -1.18743766e+02] [-1.39620314e-02 -3.10095721e-05 -9.99902526e-01 -8.06175979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.070385723 meters 0.01596768339319051 Centerline is valid? [True, True] Translation: X:117.03, Y:-118.75, Z:-8.06 [[ 8.60668744e-01 -5.09014593e-01 -1.23877678e-02 1.17031824e+02] [-5.08960606e-01 -8.60757886e-01 7.41368976e-03 -1.18754722e+02] [-1.44365451e-02 -7.58452520e-05 -9.99895785e-01 -8.06325699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.100385723 meters 0.016035949146769125 Centerline is valid? [True, True] Translation: X:117.02, Y:-118.76, Z:-8.06 [[ 8.98176760e-01 -4.39427437e-01 -1.34920514e-02 1.17024775e+02] [-4.39376333e-01 -8.98278086e-01 6.70219498e-03 -1.18764187e+02] [-1.50647424e-02 -9.16677227e-05 -9.99886516e-01 -8.06277639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.130385723 meters 0.016142644492805502 Centerline is valid? [True, True] Translation: X:117.02, Y:-118.77, Z:-8.06 [[ 9.29958945e-01 -3.67366961e-01 -1.47606510e-02 1.17019410e+02] [-3.67318889e-01 -9.30076075e-01 5.94385647e-03 -1.18774563e+02] [-1.59121048e-02 -1.05676567e-04 -9.99873389e-01 -8.06223698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.160385723 meters 0.01640759749024884 Centerline is valid? [True, True] Translation: X:117.01, Y:-118.78, Z:-8.06 [[ 9.55949598e-01 -2.93031998e-01 -1.71059849e-02 1.17014007e+02] [-2.92982684e-01 -9.56102626e-01 5.37730346e-03 -1.18784062e+02] [-1.79307991e-02 -1.28673711e-04 -9.99839222e-01 -8.06009839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.190385723 meters 0.0164595848356239 Centerline is valid? [True, True] Translation: X:117.01, Y:-118.79, Z:-8.06 [[ 9.75843052e-01 -2.17682003e-01 -1.85710527e-02 1.17011296e+02] [-2.17640037e-01 -9.76019738e-01 4.27618214e-03 -1.18793139e+02] [-1.90565619e-02 -1.31078019e-04 -9.99818399e-01 -8.05972753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.220385723 meters 0.016501551243710024 Centerline is valid? [True, True] Translation: X:117.00, Y:-118.80, Z:-8.06 [[ 9.89815801e-01 -1.41094142e-01 -1.88976952e-02 1.17004471e+02] [-1.41066088e-01 -9.89996176e-01 2.81609859e-03 -1.18800143e+02] [-1.91059809e-02 -1.21594950e-04 -9.99817457e-01 -8.05951319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.250385723 meters 0.016549177087879712 Centerline is valid? [True, True] Translation: X:117.00, Y:-118.81, Z:-8.06 [[ 9.97643374e-01 -6.57672916e-02 -1.95540807e-02 1.16998248e+02] [-6.57532257e-02 -9.97834985e-01 1.36209534e-03 -1.18805966e+02] [-1.96013272e-02 -7.31415083e-05 -9.99807873e-01 -8.05900227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.280385723 meters 0.01634395774639808 Centerline is valid? [True, True] Translation: X:116.99, Y:-118.81, Z:-8.06 [[ 9.99741471e-01 1.13435889e-02 -1.97056883e-02 1.16993472e+02] [ 1.13423603e-02 -9.99935658e-01 -1.74113851e-04 -1.18811642e+02] [-1.97063955e-02 -4.94401795e-05 -9.99805809e-01 -8.06074410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.310385723 meters 0.01629088108916091 Centerline is valid? [True, True] Translation: X:116.99, Y:-118.82, Z:-8.06 [[ 9.95982603e-01 8.74925402e-02 -1.90711565e-02 1.16989262e+02] [ 8.74766465e-02 -9.96165175e-01 -1.66762235e-03 -1.18817051e+02] [-1.91439264e-02 -7.35796558e-06 -9.99816738e-01 -8.06096890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.340385723 meters 0.016492636782349794 Centerline is valid? [True, True] Translation: X:116.98, Y:-118.82, Z:-8.06 [[ 9.86821003e-01 1.60792456e-01 -1.81684734e-02 1.16983605e+02] [ 1.60763796e-01 -9.86988237e-01 -3.03674171e-03 -1.18819980e+02] [-1.84203547e-02 7.58877465e-05 -9.99830328e-01 -8.06192450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.370385723 meters 0.01670913877875487 Centerline is valid? [True, True] Translation: X:116.98, Y:-118.82, Z:-8.06 [[ 9.71806959e-01 2.35163269e-01 -1.70138333e-02 1.16979255e+02] [ 2.35125150e-01 -9.71955875e-01 -4.23560247e-03 -1.18823270e+02] [-1.75327534e-02 1.15807860e-04 -9.99846283e-01 -8.06256099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.400385723 meters 0.017193258083836673 Centerline is valid? [True, True] Translation: X:116.97, Y:-118.83, Z:-8.06 [[ 9.51756745e-01 3.06426218e-01 -1.61885909e-02 1.16974839e+02] [ 3.06378575e-01 -9.51894394e-01 -5.40652837e-03 -1.18825541e+02] [-1.70665310e-02 1.85862424e-04 -9.99854339e-01 -8.06418839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43038572300003 meters 0.01759713709695902 Centerline is valid? [True, True] Translation: X:116.97, Y:-118.83, Z:-8.06 [[ 9.25536128e-01 3.78332085e-01 -1.57387565e-02 1.16971142e+02] [ 3.78273411e-01 -9.25669912e-01 -6.66632658e-03 -1.18831305e+02] [-1.70909786e-02 2.16372968e-04 -9.99853915e-01 -8.06384228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.460385723 meters 0.017777467667030207 Centerline is valid? [True, True] Translation: X:116.97, Y:-118.84, Z:-8.06 [[ 8.93378923e-01 4.49052264e-01 -1.50387474e-02 1.16968333e+02] [ 4.48984387e-01 -8.93505463e-01 -7.81070024e-03 -1.18837426e+02] [-1.69446156e-02 2.25752183e-04 -9.99856404e-01 -8.06379854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.490385723 meters 0.01811380415134473 Centerline is valid? [True, True] Translation: X:116.96, Y:-118.84, Z:-8.06 [[ 8.55844706e-01 5.17044520e-01 -1.39572349e-02 1.16964393e+02] [ 5.16971375e-01 -8.55958476e-01 -8.69977288e-03 -1.18843379e+02] [-1.64449834e-02 2.30163666e-04 -9.99864746e-01 -8.06373966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.520385723 meters 0.018206572721734062 Centerline is valid? [True, True] Translation: X:116.96, Y:-118.85, Z:-8.06 [[ 8.13068154e-01 5.82023408e-01 -1.29973128e-02 1.16960804e+02] [ 5.81944417e-01 -8.13171997e-01 -9.59154497e-03 -1.18848672e+02] [-1.61515545e-02 2.34866141e-04 -9.99869528e-01 -8.06456874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.550385723 meters 0.018365039639915363 Centerline is valid? [True, True] Translation: X:116.96, Y:-118.85, Z:-8.07 [[ 7.65066345e-01 6.43839768e-01 -1.19933688e-02 1.16956873e+02] [ 6.43755890e-01 -7.65160310e-01 -1.03949513e-02 -1.18853803e+02] [-1.58695328e-02 2.32025655e-04 -9.99874044e-01 -8.06621999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.580385723 meters 0.017700046092231678 Centerline is valid? [True, True] Translation: X:116.96, Y:-118.86, Z:-8.07 [[ 7.12253040e-01 7.01834193e-01 -1.11522256e-02 1.16959116e+02] [ 7.01743069e-01 -7.12340307e-01 -1.13116493e-02 -1.18864130e+02] [-1.58830821e-02 2.30759606e-04 -9.99873829e-01 -8.06762098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.610385723 meters 0.017230579680073185 Centerline is valid? [True, True] Translation: X:116.96, Y:-118.88, Z:-8.07 [[ 6.54849806e-01 7.55678850e-01 -1.10094094e-02 1.16964748e+02] [ 7.55565796e-01 -6.54942300e-01 -1.30733124e-02 -1.18877297e+02] [-1.70897536e-02 2.42722875e-04 -9.99853930e-01 -8.06799117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.640385723 meters 0.017211004470341327 Centerline is valid? [True, True] Translation: X:116.97, Y:-118.89, Z:-8.07 [[ 5.93270820e-01 8.04938726e-01 -1.01677236e-02 1.16970604e+02] [ 8.04813540e-01 -5.93357894e-01 -1.41977110e-02 -1.18889010e+02] [-1.74613865e-02 2.39966000e-04 -9.99847510e-01 -8.06766631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.670385723 meters 0.017202727305643543 Centerline is valid? [True, True] Translation: X:116.98, Y:-118.90, Z:-8.07 [[ 5.27763747e-01 8.49339506e-01 -9.37182061e-03 1.16975970e+02] [ 8.49197606e-01 -5.27846899e-01 -1.55266698e-02 -1.18900812e+02] [-1.81343005e-02 2.35885801e-04 -9.99835532e-01 -8.06663949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.700385723 meters 0.017201320403680168 Centerline is valid? [True, True] Translation: X:116.98, Y:-118.91, Z:-8.07 [[ 4.59406525e-01 8.88187659e-01 -8.26598898e-03 1.16982143e+02] [ 8.88034595e-01 -4.59480823e-01 -1.64903286e-02 -1.18910681e+02] [-1.84445698e-02 2.35280373e-04 -9.99829857e-01 -8.06613846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.730385723 meters 0.017081448052354162 Centerline is valid? [True, True] Translation: X:116.99, Y:-118.92, Z:-8.07 [[ 3.88589851e-01 9.21386242e-01 -6.73209075e-03 1.16988518e+02] [ 9.21237549e-01 -3.88648093e-01 -1.65541211e-02 -1.18920347e+02] [-1.78691537e-02 2.30908676e-04 -9.99840307e-01 -8.06666599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.760385723 meters 0.017824558266849037 Centerline is valid? [True, True] Translation: X:116.99, Y:-118.93, Z:-8.07 [[ 3.15751335e-01 9.48826004e-01 -5.50535609e-03 1.16994863e+02] [ 9.48668024e-01 -3.15799232e-01 -1.73154553e-02 -1.18929094e+02] [-1.81679415e-02 2.44622845e-04 -9.99834919e-01 -8.06696497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.790385723 meters 0.016901077521914637 Centerline is valid? [True, True] Translation: X:117.00, Y:-118.94, Z:-8.07 [[ 2.41023773e-01 9.70512131e-01 -3.70734837e-03 1.17004410e+02] [ 9.70382366e-01 -2.41052176e-01 -1.58717130e-02 -1.18937614e+02] [-1.62973544e-02 2.27914672e-04 -9.99867163e-01 -8.06886790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.820385723 meters 0.017790810725296525 Centerline is valid? [True, True] Translation: X:117.01, Y:-118.95, Z:-8.07 [[ 1.65043201e-01 9.86283380e-01 -2.41592582e-03 1.17010696e+02] [ 9.86155749e-01 -1.65060713e-01 -1.58682254e-02 -1.18945849e+02] [-1.60493414e-02 2.36463572e-04 -9.99871173e-01 -8.06764027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.850385723 meters 0.01733835472883689 Centerline is valid? [True, True] Translation: X:117.02, Y:-118.95, Z:-8.07 [[ 8.84669808e-02 9.96078477e-01 -1.12256218e-03 1.17020074e+02] [ 9.95959155e-01 -8.84737604e-02 -1.54193295e-02 -1.18953373e+02] [-1.54581796e-02 2.46075450e-04 -9.99880485e-01 -8.06895328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.880385723 meters 0.017739398345567006 Centerline is valid? [True, True] Translation: X:117.03, Y:-118.96, Z:-8.07 [[ 1.26143177e-02 9.99920433e-01 8.20130652e-05 1.17027956e+02] [ 9.99818905e-01 -1.26118680e-02 -1.42512331e-02 -1.18960508e+02] [-1.42490648e-02 2.61767795e-04 -9.99898443e-01 -8.06922059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.910385723 meters 0.01753873212142705 Centerline is valid? [True, True] Translation: X:117.04, Y:-118.97, Z:-8.07 [[-6.45129428e-02 9.97916218e-01 1.14135119e-03 1.17040326e+02] [ 9.97824563e-01 6.45224892e-02 -1.35273514e-02 -1.18966308e+02] [-1.35728061e-02 2.66179009e-04 -9.99907850e-01 -8.06988003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.940385723 meters 0.018704599212261846 Centerline is valid? [True, True] Translation: X:117.05, Y:-118.97, Z:-8.07 [[-1.41197991e-01 9.89979286e-01 2.03504221e-03 1.17051041e+02] [ 9.89901587e-01 1.41212410e-01 -1.24058085e-02 -1.18971785e+02] [-1.25688667e-02 2.62816270e-04 -9.99920974e-01 -8.06841767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.970385723 meters 0.01778499644887593 Centerline is valid? [True, True] Translation: X:117.07, Y:-118.97, Z:-8.07 [[-2.17989689e-01 9.75946928e-01 2.84410307e-03 1.17066498e+02] [ 9.75878374e-01 2.18008095e-01 -1.15702323e-02 -1.18974983e+02] [-1.19119701e-02 2.53307341e-04 -9.99929018e-01 -8.07010355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.000385723 meters 0.01898070362491488 Centerline is valid? [True, True] Translation: X:117.08, Y:-118.98, Z:-8.07 [[-2.93845234e-01 9.55846617e-01 3.49625248e-03 1.17076884e+02] [ 9.55788195e-01 2.93865939e-01 -1.05705056e-02 -1.18979023e+02] [-1.11312115e-02 2.35584152e-04 -9.99938018e-01 -8.06864777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.030385723 meters 0.01892004719789779 Centerline is valid? [True, True] Translation: X:117.09, Y:-118.98, Z:-8.07 [[-3.68562805e-01 9.29593052e-01 4.26803670e-03 1.17086672e+02] [ 9.29537596e-01 3.68587448e-01 -1.01562987e-02 -1.18983038e+02] [-1.10143694e-02 2.24066658e-04 -9.99939315e-01 -8.06729302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.060385723 meters 0.0171259276746477 Centerline is valid? [True, True] Translation: X:117.11, Y:-118.98, Z:-8.07 [[-4.40932601e-01 8.97526474e-01 4.96688714e-03 1.17106348e+02] [ 8.97474845e-01 4.40960524e-01 -9.62904014e-03 -1.18980213e+02] [-1.08325196e-02 2.11898559e-04 -9.99941304e-01 -8.06763391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.090385723 meters 0.0184386443093596 Centerline is valid? [True, True] Translation: X:117.12, Y:-118.98, Z:-8.06 [[-5.11044662e-01 8.59535659e-01 5.63954571e-03 1.17118680e+02] [ 8.59487467e-01 5.11075741e-01 -9.10392905e-03 -1.18979995e+02] [-1.07073867e-02 1.94604516e-04 -9.99942655e-01 -8.06451788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.120385723 meters 0.018113643922809265 Centerline is valid? [True, True] Translation: X:117.13, Y:-118.98, Z:-8.06 [[-5.78246904e-01 8.15841411e-01 5.77151766e-03 1.17126519e+02] [ 8.15803512e-01 5.78275684e-01 -7.86528330e-03 -1.18983488e+02] [-9.75435215e-03 1.60348661e-04 -9.99952412e-01 -8.06412599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.150385723 meters 0.016366742904456496 Centerline is valid? [True, True] Translation: X:117.14, Y:-118.98, Z:-8.07 [[-6.40769343e-01 7.67709700e-01 6.03866887e-03 1.17142709e+02] [ 7.67677757e-01 6.40797780e-01 -7.00468321e-03 -1.18976161e+02] [-9.24712886e-03 1.47365511e-04 -9.99957234e-01 -8.06649721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18038572300003 meters 0.016385043662597982 Centerline is valid? [True, True] Translation: X:117.16, Y:-118.97, Z:-8.07 [[-6.99159881e-01 7.14943795e-01 5.55258586e-03 1.17156838e+02] [ 7.14922626e-01 6.99181919e-01 -5.50302447e-03 -1.18969457e+02] [-7.81662084e-03 1.22175332e-04 -9.99969442e-01 -8.06645171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.210385723 meters 0.016209761550924653 Centerline is valid? [True, True] Translation: X:117.18, Y:-118.95, Z:-8.07 [[-7.47931742e-01 6.63756214e-01 5.07924246e-03 1.17181081e+02] [ 6.63741857e-01 7.47948981e-01 -4.36684980e-03 -1.18948580e+02] [-6.69753791e-03 1.05200242e-04 -9.99977566e-01 -8.06607711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.240385723 meters 0.016407980171919103 Centerline is valid? [True, True] Translation: X:117.20, Y:-118.93, Z:-8.07 [[-7.93282532e-01 6.08832201e-01 5.11619545e-03 1.17200700e+02] [ 6.08820326e-01 7.93299024e-01 -3.80376647e-03 -1.18925962e+02] [-6.37452837e-03 9.73822901e-05 -9.99979678e-01 -8.06606308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.270385723 meters 0.016239686797143025 Centerline is valid? [True, True] Translation: X:117.22, Y:-118.90, Z:-8.07 [[-8.34568383e-01 5.50879769e-01 5.20519722e-03 1.17220678e+02] [ 5.50869742e-01 8.34584610e-01 -3.32505406e-03 -1.18902532e+02] [-6.17588250e-03 9.24006613e-05 -9.99980925e-01 -8.06627165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.300385723 meters 0.017391233450930417 Centerline is valid? [True, True] Translation: X:117.24, Y:-118.88, Z:-8.06 [[-8.71584656e-01 4.90212179e-01 5.67512749e-03 1.17235140e+02] [ 4.90202492e-01 8.71603127e-01 -3.08321966e-03 -1.18875017e+02] [-6.45789069e-03 9.46746870e-05 -9.99979143e-01 -8.06478136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.330385723 meters 0.01597550699827918 Centerline is valid? [True, True] Translation: X:117.25, Y:-118.85, Z:-8.06 [[-9.04262562e-01 4.26944937e-01 5.21924572e-03 1.17249388e+02] [ 4.26938348e-01 9.04277620e-01 -2.37347043e-03 -1.18846245e+02] [-5.73298828e-03 8.20556874e-05 -9.99983563e-01 -8.06476100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.360385723 meters 0.01608133204072504 Centerline is valid? [True, True] Translation: X:117.57, Y:-118.18, Z:-9.01 [[-8.87273330e-01 -4.61223529e-01 4.34665780e-03 1.17565597e+02] [ 4.61217338e-01 -8.87283969e-01 -2.39274394e-03 -1.18178697e+02] [ 4.96030959e-03 -1.18263947e-04 9.99987691e-01 -9.00584514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.390385723 meters 0.016369278120605877 Centerline is valid? [True, True] Translation: X:117.21, Y:-118.83, Z:-8.06 [[-9.04907449e-01 4.25591749e-01 3.76450037e-03 1.17214036e+02] [ 4.25588379e-01 9.04915277e-01 -1.69491601e-03 -1.18827327e+02] [-4.12789616e-03 6.83854888e-05 -9.99991478e-01 -8.06364991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.420385723 meters 0.016539340547621212 Centerline is valid? [True, True] Translation: X:117.23, Y:-118.80, Z:-8.06 [[-9.32528599e-01 3.61071864e-01 4.18584190e-03 1.17226668e+02] [ 3.61068596e-01 9.32537990e-01 -1.53807931e-03 -1.18799425e+02] [-4.45881375e-03 7.70731155e-05 -9.99990056e-01 -8.06273275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.450385723 meters 0.016985415445150826 Centerline is valid? [True, True] Translation: X:117.23, Y:-118.77, Z:-8.06 [[-9.55374471e-01 2.95371853e-01 3.88431363e-03 1.17233231e+02] [ 2.95369732e-01 9.55382365e-01 -1.12191840e-03 -1.18767657e+02] [-4.04238786e-03 7.54564783e-05 -9.99991827e-01 -8.06127629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.480385723 meters 0.01716790296637248 Centerline is valid? [True, True] Translation: X:117.44, Y:-118.07, Z:-9.01 [[-9.46204886e-01 -3.23550855e-01 3.34030788e-03 1.17441134e+02] [ 3.23548477e-01 -9.46210777e-01 -1.24418134e-03 -1.18074946e+02] [ 3.56319126e-03 -9.64989396e-05 9.99993647e-01 -9.00809353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.510385723 meters 0.01725165311957185 Centerline is valid? [True, True] Translation: X:117.19, Y:-118.75, Z:-8.06 [[-9.56035237e-01 2.93242633e-01 2.32021943e-03 1.17187815e+02] [ 2.93241894e-01 9.56038052e-01 -6.60101300e-04 -1.18754158e+02] [-2.41178790e-03 4.93054362e-05 -9.99997090e-01 -8.06224048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.540385723 meters 0.018035265075124436 Centerline is valid? [True, True] Translation: X:117.39, Y:-118.06, Z:-9.01 [[-9.48388198e-01 -3.17100324e-01 2.68540542e-03 1.17391762e+02] [ 3.17098958e-01 -9.48391999e-01 -9.31235000e-04 -1.18063838e+02] [ 2.84211193e-03 -3.16330229e-05 9.99995961e-01 -9.00899602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.570385723 meters 0.017809077583601833 Centerline is valid? [True, True] Translation: X:117.14, Y:-118.74, Z:-8.06 [[-9.56268923e-01 2.92473959e-01 2.95478459e-03 1.17143170e+02] [ 2.92472794e-01 9.56273485e-01 -8.28601372e-04 -1.18737666e+02] [-3.06792648e-03 7.18283617e-05 -9.99995291e-01 -8.05987735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.600385723 meters 0.018614332351454432 Centerline is valid? [True, True] Translation: X:117.33, Y:-118.05, Z:-9.01 [[-9.50169943e-01 -3.11718044e-01 2.98989569e-03 1.17334574e+02] [ 3.11716275e-01 -9.50174645e-01 -1.05231305e-03 -1.18051716e+02] [ 3.16894804e-03 -6.78770797e-05 9.99994977e-01 -9.01147003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.630385723 meters 0.019091252193123485 Centerline is valid? [True, True] Translation: X:117.10, Y:-118.72, Z:-8.06 [[-9.57009133e-01 2.90037530e-01 3.42788546e-03 1.17095392e+02] [ 2.90035997e-01 9.57015268e-01 -9.47142239e-04 -1.18723663e+02] [-3.55524552e-03 8.77864043e-05 -9.99993676e-01 -8.05836638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.660385723 meters 0.018272755586333813 Centerline is valid? [True, True] Translation: X:117.10, Y:-118.69, Z:-8.06 [[-9.75011360e-01 2.22146739e-01 1.91677613e-03 1.17102511e+02] [ 2.22146410e-01 9.75013243e-01 -3.85472779e-04 -1.18690539e+02] [-1.95451363e-03 4.99645977e-05 -9.99998089e-01 -8.05939704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.690385723 meters 0.01822527299035009 Centerline is valid? [True, True] Translation: X:117.24, Y:-118.01, Z:-9.01 [[-9.71222239e-01 -2.38171174e-01 1.36206687e-03 1.17244736e+02] [ 2.38170837e-01 -9.71223191e-01 -4.06606314e-04 -1.18005998e+02] [ 1.41971283e-03 -7.05004884e-05 9.99998990e-01 -9.00977724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.720385723 meters 0.0184568647372516 Centerline is valid? [True, True] Translation: X:117.05, Y:-118.68, Z:-8.06 [[-9.75761110e-01 2.18838100e-01 -3.76723301e-04 1.17047879e+02] [ 2.18838087e-01 9.75761183e-01 7.49793509e-05 -1.18675727e+02] [ 3.84000312e-04 -9.27947177e-06 -9.99999926e-01 -8.06085448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.750385723 meters 0.018568057067855283 Centerline is valid? [True, True] Translation: X:117.19, Y:-118.00, Z:-9.01 [[-9.72162249e-01 -2.34307309e-01 -8.03608355e-04 1.17186278e+02] [ 2.34307235e-01 -9.72162582e-01 1.85792886e-04 -1.18000515e+02] [-8.24770604e-04 -7.67042169e-06 9.99999660e-01 -9.00946026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.780385723 meters 0.019294858744867156 Centerline is valid? [True, True] Translation: X:117.00, Y:-118.66, Z:-8.06 [[-9.76833904e-01 2.13996180e-01 -1.07673832e-03 1.17000648e+02] [ 2.13996080e-01 9.76834497e-01 2.08737694e-04 -1.18659269e+02] [ 1.09646420e-03 -2.65157229e-05 -9.99999399e-01 -8.05864504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.810385723 meters 0.01856333655878546 Centerline is valid? [True, True] Translation: X:117.13, Y:-118.00, Z:-9.01 [[-9.72728859e-01 -2.31943909e-01 -7.68134543e-04 1.17128793e+02] [ 2.31943805e-01 -9.72729162e-01 2.22643187e-04 -1.17997582e+02] [-7.98827601e-04 3.84074046e-05 9.99999680e-01 -9.01162836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.840385723 meters 0.01856333655878546 Centerline is valid? [True, True] Translation: X:116.95, Y:-118.65, Z:-8.06 [[-9.77863014e-01 2.09244541e-01 -8.05058446e-04 1.16946346e+02] [ 2.09244486e-01 9.77863345e-01 1.52850447e-04 -1.18647232e+02] [ 8.19220267e-04 -1.89872412e-05 -9.99999664e-01 -8.05823099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.870385723 meters 0.01855487543577196 Centerline is valid? [True, True] Translation: X:116.95, Y:-118.62, Z:-8.06 [[-9.90320189e-01 1.38801708e-01 -1.00110877e-04 1.16945300e+02] [ 1.38801707e-01 9.90320194e-01 1.23445744e-05 -1.18615803e+02] [ 1.00855271e-04 -1.67047937e-06 -9.99999995e-01 -8.05749053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.900385723 meters 0.018113014949460764 Centerline is valid? [True, True] Translation: X:117.02, Y:-117.96, Z:-9.01 [[-9.87143977e-01 -1.59833365e-01 2.53274266e-04 1.17022077e+02] [ 1.59833365e-01 -9.87144009e-01 -2.41450506e-05 -1.17955603e+02] [ 2.53877359e-04 1.66470369e-05 9.99999968e-01 -9.01248364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93038572300003 meters 0.017988609916483607 Centerline is valid? [True, True] Translation: X:116.89, Y:-118.60, Z:-8.06 [[-9.91051833e-01 1.33472524e-01 -1.16133601e-03 1.16885471e+02] [ 1.33472463e-01 9.91052514e-01 1.30618872e-04 -1.18603581e+02] [ 1.16837900e-03 -2.55563046e-05 -9.99999317e-01 -8.05824520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.960385723 meters 0.01872071674545255 Centerline is valid? [True, True] Translation: X:116.96, Y:-117.95, Z:-9.01 [[-9.87698662e-01 -1.56361184e-01 -1.59176217e-03 1.16961541e+02] [ 1.56360971e-01 -9.87699944e-01 2.58516344e-04 -1.17951024e+02] [-1.61260532e-03 6.44676908e-06 9.99998700e-01 -9.01064317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.990385723 meters 0.017208816242652344 Centerline is valid? [True, True] Translation: X:116.83, Y:-118.59, Z:-8.06 [[-9.91850046e-01 1.27385384e-01 -2.53992562e-03 1.16828551e+02] [ 1.27385099e-01 9.91853296e-01 2.74239059e-04 -1.18588861e+02] [ 2.55416765e-03 -5.15446531e-05 -9.99996737e-01 -8.05842238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.020385723 meters 0.01699101433212235 Centerline is valid? [True, True] Translation: X:116.90, Y:-117.96, Z:-9.01 [[-9.87903689e-01 -1.55044309e-01 -2.75013479e-03 1.16897349e+02] [ 1.55043593e-01 -9.87907516e-01 4.72825007e-04 -1.17956244e+02] [-2.79018765e-03 4.07147904e-05 9.99996107e-01 -9.01192921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.050385723 meters 0.016404719023171595 Centerline is valid? [True, True] Translation: X:116.77, Y:-118.57, Z:-8.06 [[-9.92894924e-01 1.18954167e-01 -3.09435101e-03 1.16768390e+02] [ 1.18953744e-01 9.92899745e-01 3.21093872e-04 -1.18574595e+02] [ 3.11057578e-03 -4.92721633e-05 -9.99995161e-01 -8.05729020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.080385723 meters 0.01625156863449958 Centerline is valid? [True, True] Translation: X:116.83, Y:-117.96, Z:-9.01 [[-9.87953900e-01 -1.54731999e-01 -2.25833795e-03 1.16832876e+02] [ 1.54731387e-01 -9.87956477e-01 4.44393254e-04 -1.17957045e+02] [-2.29990146e-03 8.96042855e-05 9.99997351e-01 -9.01277027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.110385723 meters 0.015892995021079836 Centerline is valid? [True, True] Translation: X:116.71, Y:-118.57, Z:-8.06 [[-9.93566589e-01 1.13229418e-01 -2.12880466e-03 1.16710786e+02] [ 1.13229224e-01 9.93568869e-01 2.12038303e-04 -1.18565362e+02] [ 2.13912302e-03 -3.03687258e-05 -9.99997712e-01 -8.05657066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.140385723 meters 0.01614467911151736 Centerline is valid? [True, True] Translation: X:116.77, Y:-117.95, Z:-9.01 [[-9.88439356e-01 -1.51607644e-01 -1.66204722e-03 1.16770261e+02] [ 1.51607339e-01 -9.88440752e-01 3.08708017e-04 -1.17952842e+02] [-1.68963770e-03 5.31605966e-05 9.99998571e-01 -9.01367950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.170385723 meters 0.01602279422740227 Centerline is valid? [True, True] Translation: X:116.65, Y:-118.56, Z:-8.05 [[-9.94045041e-01 1.08966208e-01 -9.07049420e-04 1.16651164e+02] [ 1.08966174e-01 9.94045454e-01 8.66959451e-05 -1.18556723e+02] [ 9.11095281e-04 -1.26580309e-05 -9.99999585e-01 -8.05459427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.200385723 meters 0.015914418878451714 Centerline is valid? [True, True] Translation: X:116.65, Y:-118.53, Z:-8.05 [[-9.99291427e-01 3.76354026e-02 -4.69416912e-04 1.16645730e+02] [ 3.76354013e-02 9.99291537e-01 1.15337652e-05 -1.18525453e+02] [ 4.69518426e-04 -6.14110117e-06 -9.99999890e-01 -8.05358159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.230385723 meters 0.015678990016151508 Centerline is valid? [True, True] Translation: X:116.64, Y:-118.50, Z:-8.05 [[-9.99388131e-01 -3.49756635e-02 -2.57300093e-04 1.16636017e+02] [-3.49756616e-02 9.99388164e-01 -1.18305267e-05 -1.18496491e+02] [ 2.57556448e-04 -2.82404697e-06 -9.99999967e-01 -8.05423621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.260385723 meters 0.01572123839712767 Centerline is valid? [True, True] Translation: X:116.61, Y:-117.89, Z:-9.01 [[-9.99966226e-01 -8.21648378e-03 -1.91282828e-04 1.16607059e+02] [ 8.21648239e-03 -9.99966244e-01 8.01469280e-06 -1.17891150e+02] [-1.91342224e-04 6.44275011e-06 9.99999982e-01 -9.01488513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.290385723 meters 0.015614231510575182 Centerline is valid? [True, True] Translation: X:116.56, Y:-118.50, Z:-8.06 [[-9.99147981e-01 -4.12692747e-02 -3.97713913e-04 1.16559185e+02] [-4.12692698e-02 9.99148061e-01 -2.04793054e-05 -1.18500032e+02] [ 3.98220251e-04 -4.04849391e-06 -9.99999921e-01 -8.05517137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.320385723 meters 0.015609735208191743 Centerline is valid? [True, True] Translation: X:116.55, Y:-118.47, Z:-8.05 [[-9.93648334e-01 -1.12529038e-01 -4.51527442e-04 1.16548166e+02] [-1.12529025e-01 9.93648437e-01 -5.57540253e-05 -1.18470620e+02] [ 4.54933484e-04 -4.58995164e-06 -9.99999897e-01 -8.05474412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.350385723 meters 0.015558992703986812 Centerline is valid? [True, True] Translation: X:116.53, Y:-118.44, Z:-8.05 [[-9.83074928e-01 -1.83203749e-01 -2.70470741e-04 1.16527712e+02] [-1.83203741e-01 9.83074965e-01 -5.30840175e-05 -1.18442537e+02] [ 2.75618205e-04 -2.63431513e-06 -9.99999962e-01 -8.05317203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.380385723 meters 0.01563679324408551 Centerline is valid? [True, True] Translation: X:116.49, Y:-118.42, Z:-8.05 [[-9.67503212e-01 -2.52858682e-01 -1.45778794e-04 1.16494413e+02] [-2.52858679e-01 9.67503223e-01 -3.94844770e-05 -1.18421782e+02] [ 1.51025446e-04 -1.33992505e-06 -9.99999989e-01 -8.05328594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.410385723 meters 0.015766906314130955 Centerline is valid? [True, True] Translation: X:116.45, Y:-118.41, Z:-8.05 [[-9.46951161e-01 -3.21377094e-01 5.12784376e-04 1.16450783e+02] [-3.21377043e-01 9.46951299e-01 1.81630337e-04 -1.18408604e+02] [-5.43953661e-04 7.19793252e-06 -9.99999852e-01 -8.05359076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.440385723 meters 0.01586146383104436 Centerline is valid? [True, True] Translation: X:116.39, Y:-118.40, Z:-8.05 [[-9.21161713e-01 -3.89179921e-01 2.96882368e-04 1.16388545e+02] [-3.89179899e-01 9.21161760e-01 1.30501680e-04 -1.18402519e+02] [-3.24265319e-04 4.67250125e-06 -9.99999947e-01 -8.05401547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.470385723 meters 0.015902713433834436 Centerline is valid? [True, True] Translation: X:116.32, Y:-118.40, Z:-8.05 [[-8.90238747e-01 -4.55494132e-01 -2.62415647e-04 1.16318576e+02] [-4.55494111e-01 8.90238786e-01 -1.38414530e-04 -1.18403445e+02] [ 2.96659593e-04 -3.69319621e-06 -9.99999956e-01 -8.05375908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.500385723 meters 0.01932049806633707 Centerline is valid? [True, True] Translation: X:116.24, Y:-118.41, Z:-8.05 [[-8.54953527e-01 -5.18702869e-01 -1.34207286e-03 1.16243211e+02] [-5.18702185e-01 8.54954580e-01 -8.42618252e-04 -1.18413823e+02] [ 1.58447984e-03 -2.42633226e-05 -9.99998744e-01 -8.05153374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.530385723 meters 0.016526463528113967 Centerline is valid? [True, True] Translation: X:116.16, Y:-118.44, Z:-8.05 [[-8.13604001e-01 -5.81416532e-01 -1.82930903e-03 1.16160468e+02] [-5.81414969e-01 8.13606057e-01 -1.34865336e-03 -1.18436105e+02] [ 2.27246626e-03 -3.36821154e-05 -9.99997417e-01 -8.05445898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.560385723 meters 0.01744414161796436 Centerline is valid? [True, True] Translation: X:116.07, Y:-118.47, Z:-8.05 [[-7.68121527e-01 -6.40302672e-01 -1.34500458e-03 1.16074902e+02] [-6.40301628e-01 7.68122704e-01 -1.15645065e-03 -1.18467795e+02] [ 1.77360699e-03 -2.70860193e-05 -9.99998427e-01 -8.05353377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.590385723 meters 0.016156365192959064 Centerline is valid? [True, True] Translation: X:115.99, Y:-118.51, Z:-8.06 [[-7.17717514e-01 -6.96333923e-01 -7.99425195e-04 1.15987317e+02] [-6.96333464e-01 7.17717959e-01 -7.99235687e-04 -1.18512166e+02] [ 1.13029674e-03 -1.69589347e-05 -9.99999361e-01 -8.05605625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.620385723 meters 0.016271601431788758 Centerline is valid? [True, True] Translation: X:115.90, Y:-118.57, Z:-8.06 [[-6.62910424e-01 -7.48698448e-01 -6.35992976e-04 1.15897992e+02] [-7.48698082e-01 6.62910729e-01 -7.39845271e-04 -1.18565473e+02] [ 9.75527573e-04 -1.42844208e-05 -9.99999524e-01 -8.05564970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.650385723 meters 0.016311256203996018 Centerline is valid? [True, True] Translation: X:115.81, Y:-118.63, Z:-8.05 [[-6.03939122e-01 -7.97030417e-01 -2.25937559e-04 1.15809260e+02] [-7.97030358e-01 6.03939164e-01 -3.06664631e-04 -1.18627792e+02] [ 3.80873579e-04 -5.12767441e-06 -9.99999927e-01 -8.05466302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68038572300003 meters 0.01626610646259278 Centerline is valid? [True, True] Translation: X:115.72, Y:-118.70, Z:-8.05 [[-5.41178496e-01 -8.40907116e-01 1.02872869e-03 1.15724921e+02] [-8.40905500e-01 5.41179473e-01 1.64875034e-03 -1.18699513e+02] [-1.94317274e-03 2.72046176e-05 -9.99998112e-01 -8.05159352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.710385723 meters 0.01601205285426077 Centerline is valid? [True, True] Translation: X:115.65, Y:-118.78, Z:-8.05 [[-4.75735769e-01 -8.79587325e-01 1.27144637e-03 1.15646439e+02] [-8.79583965e-01 4.75737466e-01 2.43159197e-03 -1.18780183e+02] [-2.74367215e-03 3.84514334e-05 -9.99996235e-01 -8.05179629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.740385723 meters 0.017515253160048944 Centerline is valid? [True, True] Translation: X:115.57, Y:-118.87, Z:-8.05 [[-4.07589415e-01 -9.13164211e-01 1.41173895e-03 1.15574356e+02] [-9.13158296e-01 4.07591857e-01 3.28714004e-03 -1.18867953e+02] [-3.57711194e-03 5.06623527e-05 -9.99993601e-01 -8.05107524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.770385723 meters 0.018099027930809326 Centerline is valid? [True, True] Translation: X:115.51, Y:-118.96, Z:-8.05 [[-3.37495072e-01 -9.41326694e-01 1.06403143e-03 1.15509415e+02] [-9.41321570e-01 3.37496746e-01 3.10612105e-03 -1.18957571e+02] [-3.28298181e-03 4.67048119e-05 -9.99994610e-01 -8.05111700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.800385723 meters 0.016715095941643346 Centerline is valid? [True, True] Translation: X:115.45, Y:-119.06, Z:-8.05 [[-2.63814553e-01 -9.64572975e-01 9.26131403e-04 1.15448518e+02] [-9.64566357e-01 2.63816174e-01 3.57342544e-03 -1.19061184e+02] [-3.69115805e-03 4.94064415e-05 -9.99993186e-01 -8.05152914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.830385723 meters 0.01749133448136937 Centerline is valid? [True, True] Translation: X:115.39, Y:-119.17, Z:-8.05 [[-1.89299309e-01 -9.81919036e-01 8.81899914e-04 1.15393136e+02] [-9.81906675e-01 1.89301352e-01 4.92749090e-03 -1.19166876e+02] [-5.00534196e-03 6.68272119e-05 -9.99987471e-01 -8.04951708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.860385723 meters 0.015832523085005757 Centerline is valid? [True, True] Translation: X:115.35, Y:-119.28, Z:-8.05 [[-1.12445392e-01 -9.93657712e-01 6.21205652e-04 1.15349574e+02] [-9.93638713e-01 1.12447084e-01 6.14505520e-03 -1.19277451e+02] [-6.17593426e-03 7.37291587e-05 -9.99980926e-01 -8.05047187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.890385723 meters 0.01582099602973061 Centerline is valid? [True, True] Translation: X:115.31, Y:-119.40, Z:-8.05 [[-3.57037013e-02 -9.99362407e-01 1.59589774e-04 1.15314494e+02] [-9.99340630e-01 3.57039769e-02 6.59780902e-03 -1.19395469e+02] [-6.59930029e-03 7.60816571e-05 -9.99978222e-01 -8.05090048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.920385723 meters 0.0176778550875929 Centerline is valid? [True, True] Translation: X:114.68, Y:-119.49, Z:-9.02 [[-8.04207497e-02 9.96760825e-01 6.01192998e-04 1.14679440e+02] [-9.96740591e-01 -8.04229482e-02 6.35159334e-03 -1.19494505e+02] [ 6.37936913e-03 -8.84335663e-05 9.99979648e-01 -9.01920037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.950385723 meters 0.018760810595341668 Centerline is valid? [True, True] Translation: X:115.31, Y:-119.68, Z:-8.05 [[-2.66114903e-02 -9.99645847e-01 9.80421872e-05 1.15307632e+02] [-9.99624214e-01 2.66115594e-02 6.57691396e-03 -1.19677704e+02] [-6.57719378e-03 7.70161377e-05 -9.99978367e-01 -8.05024732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.980385723 meters 0.015661401494322557 Centerline is valid? [True, True] Translation: X:115.28, Y:-119.80, Z:-8.05 [[ 5.03125873e-02 -9.98733461e-01 -3.42291660e-04 1.15280991e+02] [-9.98718125e-01 -5.03137117e-02 5.53512164e-03 -1.19797121e+02] [-5.54533316e-03 6.33665946e-05 -9.99984623e-01 -8.05236801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.010385723 meters 0.015602187830700937 Centerline is valid? [True, True] Translation: X:115.26, Y:-119.92, Z:-8.05 [[ 1.26718996e-01 -9.91938235e-01 -9.13312878e-04 1.15264098e+02] [-9.91916578e-01 -1.26722265e-01 6.55516021e-03 -1.19918941e+02] [-6.61805112e-03 7.52668659e-05 -9.99978098e-01 -8.05212820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.040385723 meters 0.015605168660284753 Centerline is valid? [True, True] Translation: X:115.26, Y:-120.04, Z:-8.05 [[ 2.03239661e-01 -9.79127628e-01 -1.65200070e-03 1.15258648e+02] [-9.79098432e-01 -2.03246358e-01 7.56158215e-03 -1.20041903e+02] [-7.73951712e-03 8.06579097e-05 -9.99970046e-01 -8.05203656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.070385723 meters 0.015644473018393647 Centerline is valid? [True, True] Translation: X:115.26, Y:-120.16, Z:-8.05 [[ 2.77947511e-01 -9.60593539e-01 -2.28789097e-03 1.15262334e+02] [-9.60563320e-01 -2.77956915e-01 7.61978604e-03 -1.20164021e+02] [-7.95545236e-03 7.97635877e-05 -9.99968352e-01 -8.05256450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.100385723 meters 0.01536323541863876 Centerline is valid? [True, True] Translation: X:115.27, Y:-120.29, Z:-8.05 [[ 3.51144722e-01 -9.36316967e-01 -2.81456391e-03 1.15274332e+02] [-9.36288566e-01 -3.51155994e-01 7.29311410e-03 -1.20286089e+02] [-7.81701746e-03 7.43054816e-05 -9.99969444e-01 -8.05405209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.130385723 meters 0.015809065282555882 Centerline is valid? [True, True] Translation: X:115.30, Y:-120.40, Z:-8.05 [[ 4.22272387e-01 -9.06463021e-01 -3.28974160e-03 1.15295090e+02] [-9.06436760e-01 -4.22285196e-01 6.90019695e-03 -1.20404018e+02] [-7.64398255e-03 6.81800742e-05 -9.99970782e-01 -8.05359488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.160385723 meters 0.017110794658796273 Centerline is valid? [True, True] Translation: X:115.32, Y:-120.52, Z:-8.05 [[ 4.90305221e-01 -8.71540877e-01 -4.15820244e-03 1.15323667e+02] [-8.71510811e-01 -4.90322848e-01 7.23952187e-03 -1.20520103e+02] [-8.34840090e-03 7.43430169e-05 -9.99965149e-01 -8.05174168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.190385723 meters 0.015494092341430815 Centerline is valid? [True, True] Translation: X:115.36, Y:-120.63, Z:-8.05 [[ 5.55059758e-01 -8.31799461e-01 -4.28038107e-03 1.15361023e+02] [-8.31775706e-01 -5.55076257e-01 6.28673926e-03 -1.20631463e+02] [-7.60524423e-03 7.08010139e-05 -9.99971077e-01 -8.05351491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.220385723 meters 0.016262227259109134 Centerline is valid? [True, True] Translation: X:115.41, Y:-120.74, Z:-8.05 [[ 6.16635977e-01 -7.87232787e-01 -4.96093054e-03 1.15406803e+02] [-7.87208296e-01 -6.16655928e-01 6.21013249e-03 -1.20739049e+02] [-7.94800713e-03 7.58945599e-05 -9.99968411e-01 -8.05336291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.250385723 meters 0.015424678159924297 Centerline is valid? [True, True] Translation: X:115.46, Y:-120.84, Z:-8.05 [[ 6.74542826e-01 -7.38217242e-01 -5.22298126e-03 1.15455266e+02] [-7.38195970e-01 -6.74563042e-01 5.60461227e-03 -1.20836838e+02] [-7.66065154e-03 7.50327194e-05 -9.99970654e-01 -8.05487931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.280385723 meters 0.01603211778604037 Centerline is valid? [True, True] Translation: X:115.51, Y:-120.93, Z:-8.06 [[ 7.27888420e-01 -6.85671777e-01 -5.71517039e-03 1.15510803e+02] [-6.85651544e-01 -7.27910852e-01 5.26812478e-03 -1.20928130e+02] [-7.77233903e-03 8.40083772e-05 -9.99969791e-01 -8.05503157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.310385723 meters 0.01559672713519792 Centerline is valid? [True, True] Translation: X:115.51, Y:-120.94, Z:-8.06 [[ 7.79100618e-01 -6.26868554e-01 -6.16789074e-03 1.15507035e+02] [-6.26849789e-01 -7.79125027e-01 4.85120625e-03 -1.20937277e+02] [-7.84662668e-03 8.67632220e-05 -9.99969211e-01 -8.05534081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.340385723 meters 0.015660866880938488 Centerline is valid? [True, True] Translation: X:115.51, Y:-120.95, Z:-8.05 [[ 8.25535418e-01 -5.64307637e-01 -6.94015087e-03 1.15505311e+02] [-5.64288657e-01 -8.25564584e-01 4.62915440e-03 -1.20946869e+02] [-8.34180995e-03 9.47175086e-05 -9.99965202e-01 -8.05446570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.370385723 meters 0.01894963589659035 Centerline is valid? [True, True] Translation: X:115.50, Y:-120.96, Z:-8.05 [[ 8.66928001e-01 -4.98367125e-01 -8.12710429e-03 1.15504236e+02] [-4.98346406e-01 -8.66966087e-01 4.54568445e-03 -1.20955573e+02] [-9.31134350e-03 1.09332079e-04 -9.99956643e-01 -8.05040606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.400385723 meters 0.015493348722487891 Centerline is valid? [True, True] Translation: X:115.50, Y:-120.97, Z:-8.05 [[ 9.03442022e-01 -4.28636289e-01 -7.96523044e-03 1.15502284e+02] [-4.28620592e-01 -9.03477129e-01 3.66965162e-03 -1.20969068e+02] [-8.76934938e-03 9.87443038e-05 -9.99961544e-01 -8.05409821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43038572300003 meters 0.01667001509928634 Centerline is valid? [True, True] Translation: X:115.50, Y:-120.98, Z:-8.05 [[ 9.34394422e-01 -3.56134335e-01 -8.68329989e-03 1.15501755e+02] [-3.56119936e-01 -9.34434763e-01 3.20395081e-03 -1.20979954e+02] [-9.25501416e-03 9.85424363e-05 -9.99957167e-01 -8.05244304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.460385723 meters 0.017850777666218814 Centerline is valid? [True, True] Translation: X:115.50, Y:-120.99, Z:-8.05 [[ 9.59566315e-01 -2.81314321e-01 -9.73342332e-03 1.15501916e+02] [-2.81300911e-01 -9.59615674e-01 2.74860855e-03 -1.20991417e+02] [-1.01135685e-02 1.00548667e-04 -9.99948852e-01 -8.05165796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.490385723 meters 0.016965620540549772 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.00, Z:-8.05 [[ 9.78786122e-01 -2.04652639e-01 -9.74803976e-03 1.15503433e+02] [-2.04643409e-01 -9.78834659e-01 1.94572194e-03 -1.21003522e+02] [-9.93991630e-03 9.04264604e-05 -9.99950594e-01 -8.05288735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.520385723 meters 0.015001559697083952 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.02, Z:-8.05 [[ 9.92044548e-01 -1.25541480e-01 -9.32483426e-03 1.15501820e+02] [-1.25536579e-01 -9.92088369e-01 1.11137448e-03 -1.21015440e+02] [-9.39058321e-03 6.80747923e-05 -9.99955905e-01 -8.05410063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.550385723 meters 0.018196546459614715 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.03, Z:-8.05 [[ 9.98831668e-01 -4.72326689e-02 -1.02163443e-02 1.15500569e+02] [-4.72309297e-02 -9.98883912e-01 4.11576779e-04 -1.21025589e+02] [-1.02243819e-02 7.14315199e-05 -9.99947727e-01 -8.05099169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.580385723 meters 0.017408613607246146 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.03, Z:-8.05 [[ 9.99367748e-01 3.36581445e-02 -1.14556862e-02 1.15500741e+02] [ 3.36553496e-02 -9.99433403e-01 -4.36721152e-04 -1.21034501e+02] [-1.14638947e-02 5.08999103e-05 -9.99934286e-01 -8.05225772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.610385723 meters 0.014783201175756351 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.05, Z:-8.05 [[ 9.93510978e-01 1.13239234e-01 -1.06213291e-02 1.15501539e+02] [ 1.13232421e-01 -9.93567751e-01 -1.24263510e-03 -1.21045535e+02] [-1.06937251e-02 3.18928093e-05 -9.99942820e-01 -8.05464724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.640385723 meters 0.014968696069826112 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.06, Z:-8.05 [[ 9.81504068e-01 1.91147945e-01 -1.05937845e-02 1.15501214e+02] [ 1.91136515e-01 -9.81561237e-01 -2.09050771e-03 -1.21055758e+02] [-1.07980444e-02 2.69827750e-05 -9.99941699e-01 -8.05252249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.670385723 meters 0.014748544030719107 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.06, Z:-8.05 [[ 9.63565734e-01 2.67300753e-01 -9.55945833e-03 1.15502615e+02] [ 2.67287333e-01 -9.63613152e-01 -2.67862058e-03 -1.21064689e+02] [-9.92761707e-03 2.59048892e-05 -9.99950720e-01 -8.05414935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.700385723 meters 0.014881671513399215 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.07, Z:-8.05 [[ 9.39802383e-01 3.41594200e-01 -9.21323436e-03 1.15502856e+02] [ 3.41577487e-01 -9.39847542e-01 -3.37911516e-03 -1.21072215e+02] [-9.81332181e-03 2.86670342e-05 -9.99951848e-01 -8.05258011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.730385723 meters 0.014881671513399215 Centerline is valid? [True, True] Translation: X:115.50, Y:-121.07, Z:-8.05 [[ 9.10179559e-01 4.14117853e-01 -8.92045882e-03 1.15501428e+02] [ 4.14097657e-01 -9.10223271e-01 -4.08996990e-03 -1.21072825e+02] [-9.81333876e-03 2.86659048e-05 -9.99951848e-01 -8.05257996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.760385723 meters 0.014712711510266202 Centerline is valid? [True, True] Translation: X:115.51, Y:-121.08, Z:-8.06 [[ 8.75198123e-01 4.83694681e-01 -8.22807124e-03 1.15505652e+02] [ 4.83672964e-01 -8.75236799e-01 -4.58359182e-03 -1.21082372e+02] [-9.41856972e-03 3.18553535e-05 -9.99955644e-01 -8.05548343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.790385723 meters 0.01721060679424703 Centerline is valid? [True, True] Translation: X:115.51, Y:-121.09, Z:-8.05 [[ 8.35021257e-01 5.50150229e-01 -8.61543730e-03 1.15507406e+02] [ 5.50120425e-01 -8.35065700e-01 -5.72665497e-03 -1.21090313e+02] [-1.03449767e-02 4.23505984e-05 -9.99946488e-01 -8.05127703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.820385723 meters 0.01752882778281861 Centerline is valid? [True, True] Translation: X:115.51, Y:-121.10, Z:-8.05 [[ 7.89432656e-01 6.13782678e-01 -8.17958496e-03 1.15512156e+02] [ 6.13749168e-01 -7.89475030e-01 -6.41374053e-03 -1.21099809e+02] [-1.03942209e-02 4.30027556e-05 -9.99945978e-01 -8.05317696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.850385723 meters 0.014456748990707861 Centerline is valid? [True, True] Translation: X:115.52, Y:-121.11, Z:-8.06 [[ 7.38378603e-01 6.74354049e-01 -6.60721824e-03 1.15517637e+02] [ 6.74326701e-01 -7.38408163e-01 -6.07334486e-03 -1.21108941e+02] [-8.97440858e-03 2.90042128e-05 -9.99959729e-01 -8.05593080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.880385723 meters 0.014335242885968791 Centerline is valid? [True, True] Translation: X:115.52, Y:-121.12, Z:-8.06 [[ 6.82729175e-01 7.30646411e-01 -6.05769324e-03 1.15523050e+02] [ 7.30617373e-01 -6.82756049e-01 -6.51396756e-03 -1.21117265e+02] [-8.89533372e-03 2.14197819e-05 -9.99960436e-01 -8.05637576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.910385723 meters 0.014186811522496729 Centerline is valid? [True, True] Translation: X:115.53, Y:-121.12, Z:-8.06 [[ 6.22224595e-01 7.82820760e-01 -5.31137552e-03 1.15526298e+02] [ 7.82792137e-01 -6.22247264e-01 -6.69426772e-03 -1.21123786e+02] [-8.54540063e-03 7.63502463e-06 -9.99963487e-01 -8.05631054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.940385723 meters 0.014163735931944671 Centerline is valid? [True, True] Translation: X:115.53, Y:-121.13, Z:-8.06 [[ 5.58527746e-01 8.29472701e-01 -4.66848700e-03 1.15531282e+02] [ 8.29443692e-01 -5.58547257e-01 -6.93713850e-03 -1.21129839e+02] [-8.36173762e-03 2.33724121e-06 -9.99965040e-01 -8.05627712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.970385723 meters 0.014931358006830384 Centerline is valid? [True, True] Translation: X:115.53, Y:-121.14, Z:-8.06 [[ 4.90928390e-01 8.71191055e-01 -3.93223590e-03 1.15534886e+02] [ 8.71163213e-01 -4.90944138e-01 -6.96495418e-03 -1.21136251e+02] [-7.99831394e-03 -6.32551484e-06 -9.99968013e-01 -8.05556716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.000385723 meters 0.01499089721699342 Centerline is valid? [True, True] Translation: X:115.54, Y:-121.14, Z:-8.06 [[ 4.20742700e-01 9.07174265e-01 -3.23008371e-03 1.15539305e+02] [ 9.07147716e-01 -4.20755099e-01 -6.94033612e-03 -1.21141436e+02] [-7.65516851e-03 -1.00673028e-05 -9.99970699e-01 -8.05554839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.030385723 meters 0.014064257185935687 Centerline is valid? [True, True] Translation: X:115.54, Y:-121.15, Z:-8.06 [[ 3.47729130e-01 9.37591434e-01 -2.59898465e-03 1.15542911e+02] [ 9.37565570e-01 -3.47738842e-01 -6.96417319e-03 -1.21146343e+02] [-7.43331704e-03 -1.50726442e-05 -9.99972372e-01 -8.05655153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.060385723 meters 0.014087437186744113 Centerline is valid? [True, True] Translation: X:115.54, Y:-121.15, Z:-8.06 [[ 2.72997391e-01 9.62012112e-01 -2.26292608e-03 1.15542528e+02] [ 9.61979626e-01 -2.73006769e-01 -7.90594503e-03 -1.21150691e+02] [-8.22340901e-03 -1.85864151e-05 -9.99966187e-01 -8.05719564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.090385723 meters 0.013984824299462382 Centerline is valid? [True, True] Translation: X:115.54, Y:-121.15, Z:-8.06 [[ 1.97274492e-01 9.80346993e-01 -1.59599049e-03 1.15544520e+02] [ 9.80315505e-01 -1.97280948e-01 -7.85738451e-03 -1.21154937e+02] [-8.01782180e-03 -1.45126824e-05 -9.99967857e-01 -8.05766622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.120385723 meters 0.013865851812078568 Centerline is valid? [True, True] Translation: X:115.55, Y:-121.16, Z:-8.06 [[ 1.20856923e-01 9.92669507e-01 -9.24384485e-04 1.15546128e+02] [ 9.92640882e-01 -1.20860458e-01 -7.53854603e-03 -1.21159200e+02] [-7.59500630e-03 -6.49635131e-06 -9.99971158e-01 -8.05798468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.150385723 meters 0.013809945477373176 Centerline is valid? [True, True] Translation: X:115.55, Y:-121.16, Z:-8.06 [[ 4.59060118e-02 9.98945720e-01 -2.94107168e-04 1.15550936e+02] [ 9.98922996e-01 -4.59069513e-02 -6.73787480e-03 -1.21163683e+02] [-6.74427275e-03 1.55185468e-05 -9.99977257e-01 -8.05857474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18038572300003 meters 0.013859730024535515 Centerline is valid? [True, True] Translation: X:115.56, Y:-121.17, Z:-8.06 [[-3.07770424e-02 9.99526252e-01 2.12937190e-04 1.15557146e+02] [ 9.99507564e-01 3.07777691e-02 -6.11218813e-03 -1.21167909e+02] [-6.11584622e-03 2.47172587e-05 -9.99981298e-01 -8.05929927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.210385723 meters 0.01404865802873528 Centerline is valid? [True, True] Translation: X:115.56, Y:-121.17, Z:-8.06 [[-1.05556892e-01 9.94413083e-01 6.02008117e-04 1.15560165e+02] [ 9.94398993e-01 1.05558601e-01 -5.29378414e-03 -1.21172624e+02] [-5.32775535e-03 3.98408624e-05 -9.99985807e-01 -8.06128385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.240385723 meters 0.014573900778816996 Centerline is valid? [True, True] Translation: X:115.57, Y:-121.18, Z:-8.06 [[-1.81792110e-01 9.83336398e-01 1.07558491e-03 1.15566360e+02] [ 9.83320770e-01 1.81795285e-01 -5.54420223e-03 -1.21178485e+02] [-5.64735211e-03 4.97527645e-05 -9.99984052e-01 -8.06036432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.270385723 meters 0.014444616875514918 Centerline is valid? [True, True] Translation: X:115.58, Y:-121.18, Z:-8.06 [[-2.56766665e-01 9.66472343e-01 1.44558958e-03 1.15575985e+02] [ 9.66458233e-01 2.56770729e-01 -5.22270705e-03 -1.21182392e+02] [-5.41878701e-03 5.60848736e-05 -9.99985317e-01 -8.06022215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.300385723 meters 0.014583376544835736 Centerline is valid? [True, True] Translation: X:115.58, Y:-121.19, Z:-8.06 [[-3.30907022e-01 9.43661546e-01 1.85186840e-03 1.15584937e+02] [ 9.43647781e-01 3.30912198e-01 -5.09739625e-03 -1.21185202e+02] [-5.42302266e-03 6.07472967e-05 -9.99985293e-01 -8.05930349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.330385723 meters 0.014879325044226595 Centerline is valid? [True, True] Translation: X:115.59, Y:-121.19, Z:-8.06 [[-4.02761150e-01 9.15301667e-01 2.51275489e-03 1.15591629e+02] [ 9.15284999e-01 4.02768981e-01 -5.52429596e-03 -1.21190015e+02] [-6.06845703e-03 7.49150647e-05 -9.99981584e-01 -8.05786536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.360385723 meters 0.014673934893376372 Centerline is valid? [True, True] Translation: X:115.60, Y:-121.19, Z:-8.06 [[-4.73210675e-01 8.80943461e-01 3.20563116e-03 1.15600001e+02] [ 8.80924406e-01 4.73221525e-01 -5.79469670e-03 -1.21192861e+02] [-6.62177383e-03 8.18063914e-05 -9.99978072e-01 -8.05822848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.390385723 meters 0.014561851958410288 Centerline is valid? [True, True] Translation: X:115.61, Y:-121.19, Z:-8.06 [[-5.40310487e-01 8.41456899e-01 3.85563618e-03 1.15609184e+02] [ 8.41436654e-01 5.40324236e-01 -5.83765054e-03 -1.21194653e+02] [-6.99542499e-03 9.01298027e-05 -9.99975528e-01 -8.05860726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.420385723 meters 0.015561489259680207 Centerline is valid? [True, True] Translation: X:115.62, Y:-121.19, Z:-8.06 [[-6.04201865e-01 7.96819120e-01 4.40406517e-03 1.15620150e+02] [ 7.96799095e-01 6.04217908e-01 -5.65002089e-03 -1.21194049e+02] [-7.16305972e-03 9.54019772e-05 -9.99974340e-01 -8.05710554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.450385723 meters 0.014662432746477428 Centerline is valid? [True, True] Translation: X:115.63, Y:-121.19, Z:-8.06 [[-6.64997535e-01 7.46828961e-01 4.97816742e-03 1.15631389e+02] [ 7.46809106e-01 6.65016161e-01 -5.44658765e-03 -1.21192086e+02] [-7.37823118e-03 9.57734003e-05 -9.99972776e-01 -8.05738407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.480385723 meters 0.01472627739410747 Centerline is valid? [True, True] Translation: X:115.64, Y:-121.19, Z:-8.06 [[-7.21897126e-01 6.91972692e-01 6.19141233e-03 1.15641400e+02] [ 6.91948479e-01 7.21923668e-01 -5.78959704e-03 -1.21192495e+02] [-8.47597015e-03 1.04644880e-04 -9.99964073e-01 -8.05570780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.510385723 meters 0.014810626558410716 Centerline is valid? [True, True] Translation: X:115.66, Y:-121.17, Z:-8.06 [[-7.69221575e-01 6.38944692e-01 6.91729639e-03 1.15659777e+02] [ 6.38920103e-01 7.69252669e-01 -5.60647519e-03 -1.21173343e+02] [-8.90337627e-03 1.06978051e-04 -9.99960358e-01 -8.05509457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.540385723 meters 0.014384311473389743 Centerline is valid? [True, True] Translation: X:115.68, Y:-121.16, Z:-8.06 [[-8.12889320e-01 5.82373670e-01 7.20152035e-03 1.15684726e+02] [ 5.82351867e-01 8.12921213e-01 -5.04024147e-03 -1.21159413e+02] [-8.78957258e-03 9.66603558e-05 -9.99961366e-01 -8.05700832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.570385723 meters 0.014575248164112398 Centerline is valid? [True, True] Translation: X:115.70, Y:-121.14, Z:-8.06 [[-8.52667360e-01 5.22409058e-01 6.86652960e-03 1.15704834e+02] [ 5.22392864e-01 8.52695004e-01 -4.11418423e-03 -1.21138462e+02] [-8.00434260e-03 7.89954543e-05 -9.99967962e-01 -8.05682817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.600385723 meters 0.014146397363403812 Centerline is valid? [True, True] Translation: X:115.72, Y:-121.11, Z:-8.06 [[-8.87949723e-01 4.59903682e-01 5.82174946e-03 1.15723657e+02] [ 4.59894227e-01 8.87968806e-01 -2.94956906e-03 -1.21113333e+02] [-6.52604958e-03 5.83199360e-05 -9.99978703e-01 -8.05774465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.630385723 meters 0.013929529358911235 Centerline is valid? [True, True] Translation: X:115.74, Y:-121.09, Z:-8.06 [[-9.19004447e-01 3.94214898e-01 5.04389320e-03 1.15738584e+02] [ 3.94209194e-01 9.19018288e-01 -2.12106334e-03 -1.21085790e+02] [-5.47158486e-03 3.90824237e-05 -9.99985030e-01 -8.05708678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.660385723 meters 0.013858685057749497 Centerline is valid? [True, True] Translation: X:116.05, Y:-120.33, Z:-9.01 [[-8.96274127e-01 -4.43470991e-01 5.11561991e-03 1.16049554e+02] [ 4.43463605e-01 -8.96288726e-01 -2.55951440e-03 -1.20327811e+02] [ 5.72014284e-03 -2.54352854e-05 9.99983640e-01 -9.01318467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.690385723 meters 0.013801305191161387 Centerline is valid? [True, True] Translation: X:115.69, Y:-121.07, Z:-8.06 [[-9.21234470e-01 3.88970849e-01 5.35998968e-03 1.15694672e+02] [ 3.88964454e-01 9.21250062e-01 -2.23075698e-03 -1.21068054e+02] [-5.80559027e-03 2.97952347e-05 -9.99983147e-01 -8.05770418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.720385723 meters 0.013816637058915587 Centerline is valid? [True, True] Translation: X:115.71, Y:-121.04, Z:-8.06 [[-9.46467112e-01 3.22742362e-01 6.11340623e-03 1.15708038e+02] [ 3.22735854e-01 9.46486855e-01 -2.04989764e-03 -1.21043464e+02] [-6.44784744e-03 3.28546766e-05 -9.99979212e-01 -8.05863262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.750385723 meters 0.013791485445207748 Centerline is valid? [True, True] Translation: X:115.97, Y:-120.27, Z:-9.01 [[-9.26595321e-01 -3.76009766e-01 6.14549563e-03 1.15974057e+02] [ 3.76001339e-01 -9.26615700e-01 -2.51742990e-03 -1.20265431e+02] [ 6.64109096e-03 -2.19241824e-05 9.99977947e-01 -9.01090178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.780385723 meters 0.01394405873512887 Centerline is valid? [True, True] Translation: X:115.67, Y:-121.03, Z:-8.06 [[-9.47091376e-01 3.20897294e-01 6.54608378e-03 1.15667252e+02] [ 3.20889979e-01 9.47113998e-01 -2.16722547e-03 -1.21029112e+02] [-6.89534437e-03 4.80121384e-05 -9.99976226e-01 -8.05722594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.810385723 meters 0.013978970431923114 Centerline is valid? [True, True] Translation: X:115.67, Y:-121.00, Z:-8.06 [[-9.67214716e-01 2.53883860e-01 6.21914537e-03 1.15672645e+02] [ 2.53878951e-01 9.67234709e-01 -1.57973639e-03 -1.20999572e+02] [-6.41644284e-03 5.09658124e-05 -9.99979413e-01 -8.05722089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.840385723 meters 0.014233666958042852 Centerline is valid? [True, True] Translation: X:115.67, Y:-120.97, Z:-8.06 [[-9.82361298e-01 1.86913251e-01 5.45136329e-03 1.15666747e+02] [ 1.86910692e-01 9.82376421e-01 -9.79723708e-04 -1.20969478e+02] [-5.53841410e-03 5.64754321e-05 -9.99984661e-01 -8.05824373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.870385723 meters 0.01450364701441826 Centerline is valid? [True, True] Translation: X:115.68, Y:-120.94, Z:-8.06 [[-9.93024347e-01 1.17770058e-01 5.73225627e-03 1.15684136e+02] [ 1.17768474e-01 9.93040890e-01 -6.14288956e-04 -1.20943111e+02] [-5.76470972e-03 6.50751852e-05 -9.99983382e-01 -8.05804625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.900385723 meters 0.014821348565703177 Centerline is valid? [True, True] Translation: X:115.67, Y:-120.91, Z:-8.06 [[-9.98810544e-01 4.84067412e-02 5.85537058e-03 1.15666876e+02] [ 4.84063468e-02 9.98827704e-01 -2.09131027e-04 -1.20913698e+02] [-5.85862970e-03 7.45548238e-05 -9.99982835e-01 -8.05790817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93038572300003 meters 0.015044969789395981 Centerline is valid? [True, True] Translation: X:115.67, Y:-120.89, Z:-8.06 [[-9.99762112e-01 -2.11193314e-02 5.44911835e-03 1.15671238e+02] [-2.11185902e-02 9.99776959e-01 1.93533689e-04 -1.20885422e+02] [-5.45199027e-03 7.84099518e-05 -9.99985135e-01 -8.05773138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.960385723 meters 0.015376586712792087 Centerline is valid? [True, True] Translation: X:115.69, Y:-120.86, Z:-8.06 [[-9.95968416e-01 -8.95479996e-02 5.29806327e-03 1.15685608e+02] [-8.95462323e-02 9.95982503e-01 5.70330050e-04 -1.20855208e+02] [-5.32785023e-03 9.36091126e-05 -9.99985803e-01 -8.05720120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.990385723 meters 0.01566073163909876 Centerline is valid? [True, True] Translation: X:115.67, Y:-120.83, Z:-8.06 [[-9.87137864e-01 -1.59761221e-01 5.93216116e-03 1.15670572e+02] [-1.59757650e-01 9.87155682e-01 1.07411286e-03 -1.20827822e+02] [-6.02756817e-03 1.12589350e-04 -9.99981828e-01 -8.05697570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.020385723 meters 0.01633814104945634 Centerline is valid? [True, True] Translation: X:115.64, Y:-120.81, Z:-8.06 [[-9.73167237e-01 -2.29999221e-01 6.77401388e-03 1.15636496e+02] [-2.29992670e-01 9.73190803e-01 1.74118869e-03 -1.20805506e+02] [-6.99288005e-03 1.36494242e-04 -9.99975540e-01 -8.05636839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.050385723 meters 0.016000394297416995 Centerline is valid? [True, True] Translation: X:115.57, Y:-120.79, Z:-8.06 [[-9.53500619e-01 -3.01323779e-01 6.36793478e-03 1.15574923e+02] [-3.01316156e-01 9.53521874e-01 2.14717376e-03 -1.20791679e+02] [-6.71895962e-03 1.28569880e-04 -9.99977419e-01 -8.05687735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.080385723 meters 0.01624385817774922 Centerline is valid? [True, True] Translation: X:115.51, Y:-120.79, Z:-8.06 [[-9.28423283e-01 -3.71472199e-01 6.21389687e-03 1.15506148e+02] [-3.71462973e-01 9.28444069e-01 2.62100224e-03 -1.20786322e+02] [-6.74288516e-03 1.25166904e-04 -9.99977259e-01 -8.05659894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.110385723 meters 0.0157460531451387 Centerline is valid? [True, True] Translation: X:115.43, Y:-120.79, Z:-8.06 [[-8.97369863e-01 -4.41239130e-01 5.94640139e-03 1.15427822e+02] [-4.41228617e-01 8.97389557e-01 3.04790541e-03 -1.20787410e+02] [-6.68109364e-03 1.11375998e-04 -9.99977675e-01 -8.05721681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.140385723 meters 0.015606722545965646 Centerline is valid? [True, True] Translation: X:115.34, Y:-120.80, Z:-8.06 [[-8.61457077e-01 -5.07799905e-01 5.56423270e-03 1.15338757e+02] [-5.07788533e-01 8.61475041e-01 3.39995723e-03 -1.20802642e+02] [-6.51994556e-03 1.03463656e-04 -9.99978740e-01 -8.05695095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.170385723 meters 0.015476555535238808 Centerline is valid? [True, True] Translation: X:115.25, Y:-120.83, Z:-8.06 [[-8.20226319e-01 -5.72016093e-01 5.13573814e-03 1.15248890e+02] [-5.72004156e-01 8.20242391e-01 3.69663131e-03 -1.20826529e+02] [-6.32708273e-03 9.44107350e-05 -9.99979979e-01 -8.05741901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.200385723 meters 0.01495484865082567 Centerline is valid? [True, True] Translation: X:115.16, Y:-120.86, Z:-8.06 [[-7.73533197e-01 -6.33734029e-01 5.25101560e-03 1.15157053e+02] [-6.33718625e-01 7.73551014e-01 4.41957142e-03 -1.20858723e+02] [-6.86276125e-03 9.10188241e-05 -9.99976447e-01 -8.05869607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.230385723 meters 0.014879130901008257 Centerline is valid? [True, True] Translation: X:115.06, Y:-120.90, Z:-8.06 [[-7.22420387e-01 -6.91433272e-01 5.36793631e-03 1.15060725e+02] [-6.91413237e-01 7.22440324e-01 5.26431787e-03 -1.20904031e+02] [-7.51793818e-03 9.15883304e-05 -9.99971736e-01 -8.05805093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.260385723 meters 0.014381004042524952 Centerline is valid? [True, True] Translation: X:114.96, Y:-120.96, Z:-8.06 [[-6.65587395e-01 -7.46301051e-01 5.30680013e-03 1.14961264e+02] [-7.46276436e-01 6.65608546e-01 6.06177194e-03 -1.20959668e+02] [-8.05615828e-03 7.42991115e-05 -9.99967546e-01 -8.05703905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.290385723 meters 0.014558462234807527 Centerline is valid? [True, True] Translation: X:114.87, Y:-121.02, Z:-8.06 [[-6.05597411e-01 -7.95756294e-01 4.86786083e-03 1.14871311e+02] [-7.95729735e-01 6.05616971e-01 6.50172994e-03 -1.21023746e+02] [-8.12185166e-03 6.39292147e-05 -9.99967015e-01 -8.05713396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.320385723 meters 0.01437794119322843 Centerline is valid? [True, True] Translation: X:114.78, Y:-121.10, Z:-8.06 [[-5.42230527e-01 -8.40218319e-01 4.38552358e-03 1.14783351e+02] [-8.40189983e-01 5.42248259e-01 6.90061007e-03 -1.21098995e+02] [-8.17606151e-03 5.70484533e-05 -9.99966574e-01 -8.05904121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.350385723 meters 0.014528948121635157 Centerline is valid? [True, True] Translation: X:114.70, Y:-121.19, Z:-8.06 [[-4.75621122e-01 -8.79640552e-01 4.12894009e-03 1.14698585e+02] [-8.79606395e-01 4.75639041e-01 7.75197934e-03 -1.21188843e+02] [-8.78284048e-03 5.51630060e-05 -9.99961429e-01 -8.05931376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.380385723 meters 0.014758394031811051 Centerline is valid? [True, True] Translation: X:114.62, Y:-121.28, Z:-8.06 [[-4.06467197e-01 -9.13657195e-01 3.86622604e-03 1.14623944e+02] [-9.13614473e-01 4.06485579e-01 8.83567842e-03 -1.21277050e+02] [-9.64434630e-03 5.91733700e-05 -9.99953490e-01 -8.05850029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.410385723 meters 0.014514304477623207 Centerline is valid? [True, True] Translation: X:114.55, Y:-121.38, Z:-8.06 [[-3.35432484e-01 -9.42059047e-01 3.13065740e-03 1.14550872e+02] [-9.42016246e-01 3.35447087e-01 8.98026339e-03 -1.21377676e+02] [-9.51010827e-03 6.31419224e-05 -9.99954776e-01 -8.05986310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.440385723 meters 0.014887416742591947 Centerline is valid? [True, True] Translation: X:114.49, Y:-121.49, Z:-8.06 [[-2.64119458e-01 -9.64486240e-01 2.68429444e-03 1.14487220e+02] [-9.64432741e-01 2.64133081e-01 1.01588625e-02 -1.21486681e+02] [-1.05070940e-02 9.43318139e-05 -9.99944795e-01 -8.05871091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.470385723 meters 0.015226994184472884 Centerline is valid? [True, True] Translation: X:114.43, Y:-121.60, Z:-8.06 [[-1.91026176e-01 -9.81582966e-01 1.96997588e-03 1.14434899e+02] [-9.81524028e-01 1.91036295e-01 1.07571511e-02 -1.21598317e+02] [-1.09353732e-02 1.21318782e-04 -9.99940200e-01 -8.05885308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.500385723 meters 0.015646876065209356 Centerline is valid? [True, True] Translation: X:114.39, Y:-121.71, Z:-8.06 [[-1.17413099e-01 -9.93082404e-01 1.22633870e-03 1.14391281e+02] [-9.93012658e-01 1.17419388e-01 1.17706322e-02 -1.21713680e+02] [-1.18332036e-02 1.64256544e-04 -9.99929972e-01 -8.05890215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.530385723 meters 0.016950493862041244 Centerline is valid? [True, True] Translation: X:114.36, Y:-121.84, Z:-8.06 [[-4.60437057e-02 -9.98939382e-01 2.97958993e-04 1.14358455e+02] [-9.98875743e-01 4.60441363e-02 1.12777636e-02 -1.21835957e+02] [-1.12795215e-02 2.21646019e-04 -9.99936360e-01 -8.05912069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.560385723 meters 0.01713016835716854 Centerline is valid? [True, True] Translation: X:114.33, Y:-121.96, Z:-8.06 [[ 2.88986766e-02 -9.99582187e-01 -5.64302597e-04 1.14331198e+02] [-9.99521106e-01 -2.89031505e-02 1.10529178e-02 -1.21958126e+02] [-1.10646099e-02 2.44617658e-04 -9.99938755e-01 -8.05972388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.590385723 meters 0.0178505624079273 Centerline is valid? [True, True] Translation: X:114.31, Y:-122.09, Z:-8.06 [[ 1.04091512e-01 -9.94566770e-01 -1.37749403e-03 1.14314614e+02] [-9.94509511e-01 -1.04100305e-01 1.06751510e-02 -1.22085791e+02] [-1.07605480e-02 2.58738308e-04 -9.99942070e-01 -8.05953414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.620385723 meters 0.017698956621272126 Centerline is valid? [True, True] Translation: X:114.31, Y:-122.21, Z:-8.06 [[ 1.78679496e-01 -9.83904949e-01 -2.16541976e-03 1.14305971e+02] [-9.83850246e-01 -1.78692404e-01 1.03787090e-02 -1.22213911e+02] [-1.05986072e-02 2.75986264e-04 -9.99943795e-01 -8.06034069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.650385723 meters 0.017698956621272126 Centerline is valid? [True, True] Translation: X:114.31, Y:-122.34, Z:-8.06 [[ 2.54140472e-01 -9.67162786e-01 -2.96062692e-03 1.14307587e+02] [-9.67109244e-01 -2.54157567e-01 1.01804486e-02 -1.22342076e+02] [-1.05986168e-02 2.75985639e-04 -9.99943795e-01 -8.06034018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68038572300003 meters 0.01803929018171176 Centerline is valid? [True, True] Translation: X:114.32, Y:-122.48, Z:-8.06 [[ 3.27929936e-01 -9.44695137e-01 -3.61321027e-03 1.14321923e+02] [-9.44646462e-01 -3.27949732e-01 9.59353916e-03 -1.22478595e+02] [-1.02479211e-02 2.67197616e-04 -9.99947453e-01 -8.06009563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.710385723 meters 0.018859789513664283 Centerline is valid? [True, True] Translation: X:114.34, Y:-122.60, Z:-8.06 [[ 4.01257649e-01 -9.15956105e-01 -4.08805037e-03 1.14339798e+02] [-9.15914407e-01 -4.01278404e-01 8.74307278e-03 -1.22597284e+02] [-9.64871722e-03 2.36079400e-04 -9.99953422e-01 -8.05894715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.740385723 meters 0.017489113307273846 Centerline is valid? [True, True] Translation: X:114.36, Y:-122.72, Z:-8.06 [[ 4.71619209e-01 -8.81790039e-01 -4.65294173e-03 1.14364443e+02] [-8.81751634e-01 -4.71642110e-01 8.23262005e-03 -1.22716607e+02] [-9.45396561e-03 2.20077222e-04 -9.99955286e-01 -8.05986043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.770385723 meters 0.017455824001866585 Centerline is valid? [True, True] Translation: X:114.40, Y:-122.83, Z:-8.06 [[ 5.39132164e-01 -8.42206141e-01 -5.03256366e-03 1.14400857e+02] [-8.42172825e-01 -5.39155615e-01 7.49365054e-03 -1.22832826e+02] [-9.02453346e-03 1.98220322e-04 -9.99959258e-01 -8.05974697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.800385723 meters 0.017264294966386384 Centerline is valid? [True, True] Translation: X:114.44, Y:-122.94, Z:-8.06 [[ 6.03658772e-01 -7.97227477e-01 -4.94328243e-03 1.14442304e+02] [-7.97202886e-01 -6.03678991e-01 6.26371451e-03 -1.22943504e+02] [-7.97776107e-03 1.59652815e-04 -9.99968164e-01 -8.06028200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.830385723 meters 0.017163189708618867 Centerline is valid? [True, True] Translation: X:114.49, Y:-123.05, Z:-8.06 [[ 6.63422035e-01 -7.48227264e-01 -5.21208547e-03 1.14494047e+02] [-7.48205910e-01 -6.63442492e-01 5.65479627e-03 -1.23051855e+02] [-7.68899171e-03 1.48196703e-04 -9.99970428e-01 -8.06045505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.860385723 meters 0.016982953314915658 Centerline is valid? [True, True] Translation: X:114.55, Y:-123.15, Z:-8.06 [[ 7.19649838e-01 -6.94320216e-01 -4.85270162e-03 1.14547665e+02] [-6.94305526e-01 -7.19666189e-01 4.51812366e-03 -1.23151955e+02] [-6.62934988e-03 1.17790590e-04 -9.99978019e-01 -8.05990365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.890385723 meters 0.015980253574291108 Centerline is valid? [True, True] Translation: X:114.54, Y:-123.17, Z:-8.06 [[ 7.72169280e-01 -6.35397108e-01 -5.01185439e-03 1.14537875e+02] [-6.35384632e-01 -7.72185537e-01 3.98317752e-03 -1.23166829e+02] [-6.40098095e-03 1.08767933e-04 -9.99979508e-01 -8.06056360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.920385723 meters 0.01676594047437543 Centerline is valid? [True, True] Translation: X:114.53, Y:-123.18, Z:-8.06 [[ 8.20024393e-01 -5.72304568e-01 -5.24170215e-03 1.14531257e+02] [-5.72293662e-01 -8.20041140e-01 3.53460517e-03 -1.23176150e+02] [-6.32128209e-03 1.01330453e-04 -9.99980015e-01 -8.05925460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.950385723 meters 0.01574095657346672 Centerline is valid? [True, True] Translation: X:114.52, Y:-123.19, Z:-8.06 [[ 8.63050698e-01 -5.05095846e-01 -4.65616546e-03 1.14523780e+02] [-5.05088978e-01 -8.63063254e-01 2.63506824e-03 -1.23187903e+02] [-5.34952734e-03 7.75803745e-05 -9.99985688e-01 -8.06107877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.980385723 meters 0.015785781749832504 Centerline is valid? [True, True] Translation: X:114.52, Y:-123.20, Z:-8.06 [[ 9.00170339e-01 -4.35517690e-01 -4.20744206e-03 1.14518251e+02] [-4.35513266e-01 -9.00180170e-01 1.96406542e-03 -1.23198368e+02] [-4.64284115e-03 6.44033989e-05 -9.99989220e-01 -8.06128420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.010385723 meters 0.015862553440919965 Centerline is valid? [True, True] Translation: X:114.51, Y:-123.21, Z:-8.06 [[ 9.31605482e-01 -3.63451411e-01 -3.78129104e-03 1.14513263e+02] [-3.63448653e-01 -9.31613154e-01 1.41679001e-03 -1.23208100e+02] [-4.03763480e-03 5.44157955e-05 -9.99991847e-01 -8.06078701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.040385723 meters 0.0155017810435331 Centerline is valid? [True, True] Translation: X:114.51, Y:-123.22, Z:-8.06 [[ 9.57586484e-01 -2.88114593e-01 -4.25523939e-03 1.14510191e+02] [-2.88111994e-01 -9.57595937e-01 1.22491539e-03 -1.23220740e+02] [-4.42771595e-03 5.30230845e-05 -9.99990196e-01 -8.06036834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.070385723 meters 0.015457037027042864 Centerline is valid? [True, True] Translation: X:114.51, Y:-123.23, Z:-8.06 [[ 9.77366137e-01 -2.11499385e-01 -4.84191046e-03 1.14508443e+02] [-2.11497068e-01 -9.77378129e-01 9.91633897e-04 -1.23229912e+02] [-4.94210734e-03 5.48604719e-05 -9.99987786e-01 -8.06011312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.100385723 meters 0.015219069056762057 Centerline is valid? [True, True] Translation: X:114.50, Y:-123.24, Z:-8.06 [[ 9.91115403e-01 -1.32862303e-01 -6.15363506e-03 1.14503671e+02] [-1.32860113e-01 -9.91134504e-01 7.65025532e-04 -1.23240121e+02] [-6.20072308e-03 5.93440623e-05 -9.99980774e-01 -8.05898078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.130385723 meters 0.015213859467215974 Centerline is valid? [True, True] Translation: X:114.50, Y:-123.25, Z:-8.06 [[ 9.98498992e-01 -5.44656958e-02 -5.76636812e-03 1.14499789e+02] [-5.44650935e-02 -9.98515641e-01 2.61552386e-04 -1.23250445e+02] [-5.77205439e-03 5.29059843e-05 -9.99983340e-01 -8.05865874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.160385723 meters 0.015310545959683055 Centerline is valid? [True, True] Translation: X:114.50, Y:-123.26, Z:-8.06 [[ 9.99718058e-01 2.31633015e-02 -5.22176068e-03 1.14495424e+02] [ 2.31627159e-02 -9.99731693e-01 -1.72590616e-04 -1.23261070e+02] [-5.22435742e-03 5.15917963e-05 -9.99986352e-01 -8.05835084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.190385723 meters 0.015715474853770034 Centerline is valid? [True, True] Translation: X:114.49, Y:-123.28, Z:-8.06 [[ 9.94967540e-01 1.00037415e-01 -5.66655843e-03 1.14494359e+02] [ 1.00035427e-01 -9.94983674e-01 -6.33803617e-04 -1.23275651e+02] [-5.70153720e-03 6.37574306e-05 -9.99983744e-01 -8.05799516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.220385723 meters 0.015636515818219912 Centerline is valid? [True, True] Translation: X:114.49, Y:-123.29, Z:-8.06 [[ 9.84337565e-01 1.76193949e-01 -5.93728907e-03 1.14492126e+02] [ 1.76190275e-01 -9.84355468e-01 -1.14030927e-03 -1.23287649e+02] [-6.04531855e-03 7.63566491e-05 -9.99981724e-01 -8.05750273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.250385723 meters 0.015647971171647988 Centerline is valid? [True, True] Translation: X:114.49, Y:-123.30, Z:-8.06 [[ 9.67918740e-01 2.51195714e-01 -5.83317993e-03 1.14492503e+02] [ 2.51190618e-01 -9.67936313e-01 -1.60241568e-03 -1.23299964e+02] [-6.04866662e-03 8.57680940e-05 -9.99981703e-01 -8.05762842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.280385723 meters 0.0164347948350635 Centerline is valid? [True, True] Translation: X:114.49, Y:-123.31, Z:-8.06 [[ 9.46462400e-01 3.22757894e-01 -6.02228054e-03 1.14493256e+02] [ 3.22750591e-01 -9.46481552e-01 -2.17417251e-03 -1.23311074e+02] [-6.40170878e-03 1.14077928e-04 -9.99979502e-01 -8.05799856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.310385723 meters 0.01798955447921308 Centerline is valid? [True, True] Translation: X:114.49, Y:-123.32, Z:-8.06 [[ 9.19094055e-01 3.94003673e-01 -5.21767351e-03 1.14493513e+02] [ 3.93996619e-01 -9.19108858e-01 -2.36047491e-03 -1.23322347e+02] [-5.72564573e-03 1.13752737e-04 -9.99983602e-01 -8.05669252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.340385723 meters 0.017701233066224384 Centerline is valid? [True, True] Translation: X:114.50, Y:-123.33, Z:-8.06 [[ 8.86977757e-01 4.61796275e-01 -3.82878201e-03 1.14495267e+02] [ 4.61791475e-01 -8.86986015e-01 -2.10792486e-03 -1.23334223e+02] [-4.36950795e-03 1.01583574e-04 -9.99990449e-01 -8.05816106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.370385723 meters 0.019506415451336568 Centerline is valid? [True, True] Translation: X:114.50, Y:-123.34, Z:-8.06 [[ 8.48846394e-01 5.28625619e-01 -3.84110163e-03 1.14495399e+02] [ 5.28619599e-01 -8.48855077e-01 -2.52533454e-03 -1.23342667e+02] [-4.59549516e-03 1.13139510e-04 -9.99989434e-01 -8.05730330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.400385723 meters 0.018096625477497737 Centerline is valid? [True, True] Translation: X:114.50, Y:-123.36, Z:-8.06 [[ 8.05403990e-01 5.92713453e-01 -3.89549904e-03 1.14502429e+02] [ 5.92705757e-01 -8.05413401e-01 -3.02318544e-03 -1.23357350e+02] [-4.92936981e-03 1.26000908e-04 -9.99987843e-01 -8.05727381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43038572300003 meters 0.018338667763546774 Centerline is valid? [True, True] Translation: X:114.51, Y:-123.37, Z:-8.06 [[ 7.56784424e-01 6.53654031e-01 -3.70731233e-03 1.14506777e+02] [ 6.53645336e-01 -7.56793493e-01 -3.37401826e-03 -1.23368767e+02] [-5.01111048e-03 1.30137056e-04 -9.99987436e-01 -8.05739725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.460385723 meters 0.017668197691712715 Centerline is valid? [True, True] Translation: X:114.52, Y:-123.38, Z:-8.06 [[ 7.03197091e-01 7.10987819e-01 -3.18938840e-03 1.14515862e+02] [ 7.10979719e-01 -7.03204314e-01 -3.39598725e-03 -1.23381336e+02] [-4.65729725e-03 1.20457889e-04 -9.99989147e-01 -8.05827321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.490385723 meters 0.018271681122539893 Centerline is valid? [True, True] Translation: X:114.52, Y:-123.39, Z:-8.06 [[ 6.45081076e-01 7.64109317e-01 -2.71244613e-03 1.14523292e+02] [ 7.64101831e-01 -6.45086769e-01 -3.38420053e-03 -1.23392107e+02] [-4.33566226e-03 1.10498668e-04 -9.99990595e-01 -8.05786679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.520385723 meters 0.018046874443262598 Centerline is valid? [True, True] Translation: X:114.53, Y:-123.40, Z:-8.06 [[ 5.81989723e-01 8.13191551e-01 -2.73219868e-03 1.14533606e+02] [ 8.13181637e-01 -5.81996124e-01 -4.01712710e-03 -1.23402972e+02] [-4.85682286e-03 1.16152890e-04 -9.99988199e-01 -8.05694326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.550385723 meters 0.017530561179210376 Centerline is valid? [True, True] Translation: X:114.55, Y:-123.41, Z:-8.06 [[ 5.15838994e-01 8.56682458e-01 -2.30164754e-03 1.14545361e+02] [ 8.56672985e-01 -5.15844118e-01 -4.03035294e-03 -1.23413067e+02] [-4.64002401e-03 1.07253943e-04 -9.99989229e-01 -8.05648624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.580385723 meters 0.020651553522483858 Centerline is valid? [True, True] Translation: X:114.56, Y:-123.42, Z:-8.05 [[ 4.45797033e-01 8.95130989e-01 -2.34891162e-03 1.14555791e+02] [ 8.95117128e-01 -4.45803206e-01 -4.98284842e-03 -1.23422287e+02] [-5.50745437e-03 1.18788016e-04 -9.99984827e-01 -8.05203354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.610385723 meters 0.01781911720114097 Centerline is valid? [True, True] Translation: X:114.56, Y:-123.43, Z:-8.05 [[ 3.72706720e-01 9.27947037e-01 -1.99941948e-03 1.14562660e+02] [ 9.27932034e-01 -3.72712066e-01 -5.27789877e-03 -1.23429526e+02] [-5.64281829e-03 1.11782957e-04 -9.99984073e-01 -8.05448651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.640385723 meters 0.01689125441606925 Centerline is valid? [True, True] Translation: X:114.58, Y:-123.44, Z:-8.06 [[ 2.97483960e-01 9.54725266e-01 -1.72066655e-03 1.14575706e+02] [ 9.54707035e-01 -2.97488914e-01 -5.90104975e-03 -1.23435824e+02] [-6.14576052e-03 1.12735181e-04 -9.99981108e-01 -8.05501831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.670385723 meters 0.016786559313958973 Centerline is valid? [True, True] Translation: X:114.59, Y:-123.44, Z:-8.06 [[ 2.19377854e-01 9.75639396e-01 -1.06081705e-03 1.14588066e+02] [ 9.75626098e-01 -2.19380403e-01 -5.09458795e-03 -1.23441641e+02] [-5.20320319e-03 8.26789740e-05 -9.99986460e-01 -8.05534526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.700385723 meters 0.016271427740778745 Centerline is valid? [True, True] Translation: X:114.60, Y:-123.45, Z:-8.06 [[ 1.41428585e-01 9.89948263e-01 -6.25741072e-04 1.14602005e+02] [ 9.89936109e-01 -1.41429950e-01 -4.90607830e-03 -1.23445879e+02] [-4.94526222e-03 7.44160296e-05 -9.99987769e-01 -8.05578877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.730385723 meters 0.01596061496885649 Centerline is valid? [True, True] Translation: X:114.62, Y:-123.45, Z:-8.06 [[ 6.13031452e-02 9.98119174e-01 -1.95516384e-04 1.14618157e+02] [ 9.98111028e-01 -6.13034349e-02 -4.03300836e-03 -1.23449113e+02] [-4.03740880e-03 5.20890384e-05 -9.99991848e-01 -8.05641633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.760385723 meters 0.01606309690847951 Centerline is valid? [True, True] Translation: X:114.63, Y:-123.45, Z:-8.06 [[-1.80189238e-02 9.99837642e-01 9.06272278e-05 1.14629143e+02] [ 9.99833078e-01 1.80191154e-02 -3.02120222e-03 -1.23452205e+02] [-3.02234472e-03 3.61732878e-05 -9.99995432e-01 -8.05725371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.790385723 meters 0.017120746839129602 Centerline is valid? [True, True] Translation: X:114.64, Y:-123.45, Z:-8.06 [[-9.63686469e-02 9.95345660e-01 3.19405338e-04 1.14640501e+02] [ 9.95341331e-01 9.63691698e-02 -2.93571199e-03 -1.23452453e+02] [-2.95282902e-03 3.50067419e-05 -9.99995640e-01 -8.05678249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.820385723 meters 0.017331577641417514 Centerline is valid? [True, True] Translation: X:114.65, Y:-123.45, Z:-8.06 [[-1.73687401e-01 9.84800640e-01 6.22207960e-04 1.14650812e+02] [ 9.84795136e-01 1.73688510e-01 -3.29277430e-03 -1.23453377e+02] [-3.35079661e-03 4.08339635e-05 -9.99994385e-01 -8.05678060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.850385723 meters 0.016634991306283438 Centerline is valid? [True, True] Translation: X:114.66, Y:-123.45, Z:-8.06 [[-2.49786699e-01 9.68300373e-01 9.96270224e-04 1.14659392e+02] [ 9.68293426e-01 2.49788681e-01 -3.66834105e-03 -1.23454328e+02] [-3.80091303e-03 4.83791079e-05 -9.99992775e-01 -8.05724512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.880385723 meters 0.016929139267516838 Centerline is valid? [True, True] Translation: X:114.67, Y:-123.45, Z:-8.06 [[-3.21790701e-01 9.46809933e-01 1.30206166e-03 1.14668626e+02] [ 9.46802941e-01 3.21793329e-01 -3.63921139e-03 -1.23453487e+02] [-3.86463625e-03 6.17314288e-05 -9.99992530e-01 -8.05628331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.910385723 meters 0.01739268444723699 Centerline is valid? [True, True] Translation: X:114.68, Y:-123.45, Z:-8.06 [[-3.92985000e-01 9.19543649e-01 1.50563102e-03 1.14675287e+02] [ 9.19537538e-01 3.92987878e-01 -3.35307075e-03 -1.23452856e+02] [-3.67498965e-03 6.67777379e-05 -9.99993245e-01 -8.05624683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.940385723 meters 0.01811684023905648 Centerline is valid? [True, True] Translation: X:114.68, Y:-123.45, Z:-8.06 [[-4.61795473e-01 8.86984588e-01 1.81149126e-03 1.14681124e+02] [ 8.86978406e-01 4.61799020e-01 -3.31237749e-03 -1.23453235e+02] [-3.77457267e-03 7.71126977e-05 -9.99992873e-01 -8.05620068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.970385723 meters 0.018738081420989896 Centerline is valid? [True, True] Translation: X:114.69, Y:-123.45, Z:-8.06 [[-5.28032985e-01 8.49221262e-01 2.10110653e-03 1.14686306e+02] [ 8.49215180e-01 5.28037158e-01 -3.21520083e-03 -1.23452261e+02] [-3.83987922e-03 8.65594699e-05 -9.99992624e-01 -8.05642919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.000385723 meters 0.018097936030126025 Centerline is valid? [True, True] Translation: X:114.70, Y:-123.44, Z:-8.06 [[-5.90146184e-01 8.07293485e-01 2.17040767e-03 1.14699807e+02] [ 8.07288591e-01 5.90150168e-01 -2.81261547e-03 -1.23444196e+02] [-3.55147260e-03 9.22910626e-05 -9.99993689e-01 -8.05685893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.030385723 meters 0.020510564300177326 Centerline is valid? [True, True] Translation: X:114.71, Y:-123.44, Z:-8.06 [[-6.50757036e-01 7.59280735e-01 2.83648400e-03 1.14707419e+02] [ 7.59274275e-01 6.50763208e-01 -3.13405064e-03 -1.23440918e+02] [-4.22550370e-03 1.14163830e-04 -9.99991066e-01 -8.05563444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.060385723 meters 0.019443033227749873 Centerline is valid? [True, True] Translation: X:114.72, Y:-123.43, Z:-8.06 [[-7.06857473e-01 7.07343116e-01 4.26960492e-03 1.14718037e+02] [ 7.07331643e-01 7.06870347e-01 -4.03220839e-03 -1.23433055e+02] [-5.87021196e-03 1.69830029e-04 -9.99982756e-01 -8.05555162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.090385723 meters 0.021806395441863743 Centerline is valid? [True, True] Translation: X:114.74, Y:-123.42, Z:-8.05 [[-7.54997121e-01 6.55709211e-01 4.97784360e-03 1.14735186e+02] [ 6.55696575e-01 7.55013507e-01 -4.07496688e-03 -1.23415041e+02] [-6.43033248e-03 1.87366740e-04 -9.99979308e-01 -8.05455988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.120385723 meters 0.019816576666233085 Centerline is valid? [True, True] Translation: X:114.75, Y:-123.39, Z:-8.06 [[-7.99257759e-01 6.00967560e-01 5.00270249e-03 1.14754355e+02] [ 6.00957190e-01 7.99273395e-01 -3.53507343e-03 -1.23387208e+02] [-6.12299145e-03 1.80975159e-04 -9.99981238e-01 -8.05603686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.150385723 meters 0.019117693947679943 Centerline is valid? [True, True] Translation: X:114.77, Y:-123.36, Z:-8.06 [[-8.39869638e-01 5.42761703e-01 5.35960855e-03 1.14770761e+02] [ 5.42752041e-01 8.39886719e-01 -3.24378602e-03 -1.23359260e+02] [-6.26206686e-03 1.84581087e-04 -9.99980376e-01 -8.05625111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18038572300003 meters 0.01912430987138913 Centerline is valid? [True, True] Translation: X:114.79, Y:-123.33, Z:-8.06 [[-8.76385448e-01 4.81575735e-01 5.77556335e-03 1.14786282e+02] [ 4.81566686e-01 8.76404459e-01 -2.95820843e-03 -1.23332455e+02] [-6.48633087e-03 1.88788079e-04 -9.99978946e-01 -8.05539784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.210385723 meters 0.01912548355386892 Centerline is valid? [True, True] Translation: X:114.79, Y:-123.30, Z:-8.05 [[-9.08955128e-01 4.16835365e-01 6.98961757e-03 1.14791926e+02] [ 4.16824798e-01 9.08981977e-01 -2.97536898e-03 -1.23300804e+02] [-7.59367541e-03 2.08969039e-04 -9.99971146e-01 -8.05488990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.240385723 meters 0.019143171492947697 Centerline is valid? [True, True] Translation: X:115.06, Y:-122.68, Z:-9.02 [[-9.03359430e-01 -4.28824614e-01 7.15477922e-03 1.15057135e+02] [ 4.28809453e-01 -9.03387742e-01 -3.61111023e-03 -1.22681276e+02] [ 8.01207280e-03 -1.94093519e-04 9.99967884e-01 -9.01508654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.270385723 meters 0.019014381830720288 Centerline is valid? [True, True] Translation: X:114.75, Y:-123.28, Z:-8.05 [[-9.11784546e-01 4.10599156e-01 7.56798889e-03 1.14750165e+02] [ 4.10586824e-01 9.11815932e-01 -3.18858223e-03 -1.23280200e+02] [-8.20984201e-03 2.00016517e-04 -9.99966279e-01 -8.05463422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.300385723 meters 0.017795458686490958 Centerline is valid? [True, True] Translation: X:114.75, Y:-123.25, Z:-8.06 [[-9.39037887e-01 3.43734403e-01 7.38286981e-03 1.14753945e+02] [ 3.43725281e-01 9.39066892e-01 -2.51065102e-03 -1.23245804e+02] [-7.79600573e-03 1.80082571e-04 -9.99969594e-01 -8.05573487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.330385723 meters 0.017873161861866698 Centerline is valid? [True, True] Translation: X:114.77, Y:-123.22, Z:-8.06 [[-9.61282413e-01 2.75485406e-01 6.62679839e-03 1.14767769e+02] [ 2.75479951e-01 9.61305242e-01 -1.74036589e-03 -1.23217283e+02] [-6.84982143e-03 1.52566971e-04 -9.99976528e-01 -8.05604073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.360385723 meters 0.017967477402945752 Centerline is valid? [True, True] Translation: X:114.77, Y:-123.18, Z:-8.06 [[-9.78573960e-01 2.05775520e-01 7.03132553e-03 1.14767622e+02] [ 2.05771333e-01 9.78599209e-01 -1.32173220e-03 -1.23183629e+02] [-7.15282973e-03 1.53432512e-04 -9.99974406e-01 -8.05562233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.390385723 meters 0.01792554876025069 Centerline is valid? [True, True] Translation: X:114.89, Y:-122.55, Z:-9.01 [[-9.73180506e-01 -2.29907531e-01 7.88863242e-03 1.14890693e+02] [ 2.29899050e-01 -9.73212472e-01 -1.97781275e-03 -1.22549411e+02] [ 8.13202950e-03 -1.11179706e-04 9.99966928e-01 -9.01495883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.420385723 meters 0.017864034532673143 Centerline is valid? [True, True] Translation: X:114.71, Y:-123.17, Z:-8.05 [[-9.79382542e-01 2.01845389e-01 8.26287625e-03 1.14712565e+02] [ 2.01839744e-01 9.79417381e-01 -1.52019849e-03 -1.23171801e+02] [-8.39964967e-03 1.78920962e-04 -9.99964706e-01 -8.05435116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.450385723 meters 0.017920692967529336 Centerline is valid? [True, True] Translation: X:114.83, Y:-122.54, Z:-9.01 [[-9.73948546e-01 -2.26579894e-01 9.26183082e-03 1.14833515e+02] [ 2.26568387e-01 -9.73992574e-01 -2.28715731e-03 -1.22540390e+02] [ 9.53917831e-03 -1.29135468e-04 9.99954493e-01 -9.01456628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.480385723 meters 0.019453973613973673 Centerline is valid? [True, True] Translation: X:114.66, Y:-123.16, Z:-8.05 [[-9.80346775e-01 1.96965415e-01 1.11725179e-02 1.14662031e+02] [ 1.96955300e-01 9.80410410e-01 -2.00941972e-03 -1.23161392e+02] [-1.13494391e-02 2.30558479e-04 -9.99935566e-01 -8.05360918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.510385723 meters 0.017216646681392472 Centerline is valid? [True, True] Translation: X:114.77, Y:-122.54, Z:-9.01 [[-9.74456483e-01 -2.24378174e-01 9.43386560e-03 1.14774476e+02] [ 2.24364638e-01 -9.74502100e-01 -2.48315302e-03 -1.22538235e+02] [ 9.75048718e-03 -3.03098720e-04 9.99952417e-01 -9.01423862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.540385723 meters 0.017216646681392472 Centerline is valid? [True, True] Translation: X:114.61, Y:-123.15, Z:-8.06 [[-9.81397836e-01 1.91744638e-01 9.60627667e-03 1.14609540e+02] [ 1.91737300e-01 9.81444833e-01 -1.68772095e-03 -1.23145871e+02] [-9.75164204e-03 1.85555865e-04 -9.99952434e-01 -8.05546790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.570385723 meters 0.018155290278912436 Centerline is valid? [True, True] Translation: X:114.60, Y:-123.12, Z:-8.05 [[-9.92625085e-01 1.20795166e-01 1.01965338e-02 1.14604945e+02] [ 1.20790728e-01 9.92677436e-01 -1.05227441e-03 -1.23115056e+02] [-1.02489787e-02 1.87132760e-04 -9.99947460e-01 -8.05437714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.600385723 meters 0.01709301210737665 Centerline is valid? [True, True] Translation: X:114.60, Y:-123.09, Z:-8.06 [[-9.98742515e-01 4.92937217e-02 9.13876557e-03 1.14599436e+02] [ 4.92931324e-02 9.98784313e-01 -2.89853109e-04 -1.23085663e+02] [-9.14194363e-03 1.60989758e-04 -9.99958199e-01 -8.05611028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.630385723 meters 0.019746516063686624 Centerline is valid? [True, True] Translation: X:114.62, Y:-122.46, Z:-9.01 [[-9.96636995e-01 -8.12209782e-02 1.08560414e-02 1.14619817e+02] [ 8.12153227e-02 -9.96696116e-01 -9.61529082e-04 -1.22456046e+02] [ 1.08982706e-02 -7.66185497e-05 9.99940609e-01 -9.01404519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.660385723 meters 0.017103268417811027 Centerline is valid? [True, True] Translation: X:114.53, Y:-123.09, Z:-8.06 [[-9.98990224e-01 4.40213081e-02 8.98089811e-03 1.14528869e+02] [ 4.40208933e-02 9.99030581e-01 -2.43951254e-04 -1.23086995e+02] [-8.98293091e-03 1.51642240e-04 -9.99959641e-01 -8.05821862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.690385723 meters 0.019079559496464775 Centerline is valid? [True, True] Translation: X:114.54, Y:-122.46, Z:-9.02 [[-9.96841908e-01 -7.85719575e-02 1.15176865e-02 1.14539147e+02] [ 7.85664409e-02 -9.96908445e-01 -9.31353572e-04 -1.22456216e+02] [ 1.15552572e-02 -2.35086395e-05 9.99933236e-01 -9.01540500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.720385723 meters 0.01695751770108671 Centerline is valid? [True, True] Translation: X:114.46, Y:-123.08, Z:-8.05 [[-9.99287066e-01 3.60384257e-02 1.12513299e-02 1.14456100e+02] [ 3.60378519e-02 9.99350393e-01 -2.53802865e-04 -1.23082155e+02] [-1.12531676e-02 1.51851839e-04 -9.99936670e-01 -8.05497896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.750385723 meters 0.016712107052474705 Centerline is valid? [True, True] Translation: X:114.45, Y:-123.05, Z:-8.05 [[-9.99266679e-01 -3.64963323e-02 1.15811030e-02 1.14446134e+02] [-3.64922487e-02 9.99333777e-01 5.63796339e-04 -1.23052961e+02] [-1.15939639e-02 1.40762403e-04 -9.99932778e-01 -8.05442363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.780385723 meters 0.019638373319907636 Centerline is valid? [True, True] Translation: X:114.42, Y:-122.43, Z:-9.02 [[-9.99869431e-01 -8.65319504e-03 1.36471302e-02 1.14415132e+02] [ 8.65205432e-03 -9.99962560e-01 -1.42626126e-04 -1.22426009e+02] [ 1.36478534e-02 -2.45317911e-05 9.99906863e-01 -9.01661384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.810385723 meters 0.01601590404465237 Centerline is valid? [True, True] Translation: X:114.36, Y:-123.06, Z:-8.06 [[-9.98892198e-01 -4.60640034e-02 9.61687144e-03 1.14362812e+02] [-4.60611511e-02 9.98938488e-01 5.17986573e-04 -1.23058484e+02] [-9.63052355e-03 7.44485781e-05 -9.99953623e-01 -8.05780919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.840385723 meters 0.01604905643602561 Centerline is valid? [True, True] Translation: X:114.34, Y:-123.03, Z:-8.06 [[-9.92867445e-01 -1.18858631e-01 9.32003801e-03 1.14343585e+02] [-1.18852866e-01 9.92911186e-01 1.17192062e-03 -1.23032038e+02] [-9.39326288e-03 5.58486011e-05 -9.99955881e-01 -8.05825726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.870385723 meters 0.015926292873106557 Centerline is valid? [True, True] Translation: X:114.33, Y:-123.00, Z:-8.06 [[-9.81205408e-01 -1.92768118e-01 8.74072408e-03 1.14326996e+02] [-1.92760256e-01 9.81244339e-01 1.74120533e-03 -1.23004050e+02] [-8.91243489e-03 2.36158739e-05 -9.99960283e-01 -8.05739161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.900385723 meters 0.016680109483871212 Centerline is valid? [True, True] Translation: X:114.29, Y:-122.98, Z:-8.06 [[-9.64632438e-01 -2.63422213e-01 9.64355123e-03 1.14293254e+02] [-2.63408833e-01 9.64680640e-01 2.65502707e-03 -1.22981767e+02] [-1.00023403e-02 2.09286578e-05 -9.99949975e-01 -8.05561336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93038572300003 meters 0.015924860231870095 Centerline is valid? [True, True] Translation: X:114.25, Y:-122.97, Z:-8.06 [[-9.42515533e-01 -3.34026836e-01 9.51544254e-03 1.14246425e+02] [-3.34009733e-01 9.42563564e-01 3.38018425e-03 -1.22968663e+02] [-1.00979817e-02 7.62573284e-06 -9.99949014e-01 -8.05502385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.960385723 meters 0.015946594735565874 Centerline is valid? [True, True] Translation: X:114.18, Y:-122.97, Z:-8.06 [[-9.15632731e-01 -4.01898345e-01 9.71714281e-03 1.14182384e+02] [-4.01875549e-01 9.15684291e-01 4.28056888e-03 -1.22965951e+02] [-1.06181886e-02 1.43468719e-05 -9.99943625e-01 -8.05530035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.990385723 meters 0.016040978531883552 Centerline is valid? [True, True] Translation: X:114.11, Y:-122.97, Z:-8.06 [[-8.83971960e-01 -4.67438740e-01 9.72618096e-03 1.14110778e+02] [-4.67410102e-01 8.84025466e-01 5.17424221e-03 -1.22972221e+02] [-1.10168329e-02 2.77697936e-05 -9.99939312e-01 -8.05534823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.020385723 meters 0.0161339464895792 Centerline is valid? [True, True] Translation: X:114.03, Y:-122.99, Z:-8.06 [[-8.47568334e-01 -5.30596089e-01 9.78315539e-03 1.14032147e+02] [-5.30560101e-01 8.47624792e-01 6.17988420e-03 -1.22987778e+02] [-1.15714674e-02 4.73222392e-05 -9.99933047e-01 -8.05546208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.050385723 meters 0.01644548934598169 Centerline is valid? [True, True] Translation: X:113.95, Y:-123.01, Z:-8.06 [[-8.07844460e-01 -5.89332245e-01 8.65060400e-03 1.13948611e+02] [-5.89297318e-01 8.07890771e-01 6.41669322e-03 -1.23014745e+02] [-1.07703074e-02 8.59123366e-05 -9.99941995e-01 -8.05520868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.080385723 meters 0.016626924435152034 Centerline is valid? [True, True] Translation: X:113.86, Y:-123.05, Z:-8.05 [[-7.62488156e-01 -6.46955388e-01 7.78063328e-03 1.13861915e+02] [-6.46920348e-01 7.62527846e-01 6.73411303e-03 -1.23048761e+02] [-1.02896202e-02 1.01231442e-04 -9.99947055e-01 -8.05498502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.110385723 meters 0.01977800854066886 Centerline is valid? [True, True] Translation: X:113.78, Y:-123.10, Z:-8.05 [[-7.14392952e-01 -6.99703424e-01 7.60447291e-03 1.13775272e+02] [-6.99661513e-01 7.14433409e-01 7.65972924e-03 -1.23097545e+02] [-1.07924283e-02 1.51499560e-04 -9.99941749e-01 -8.05389210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.140385723 meters 0.017181288957860662 Centerline is valid? [True, True] Translation: X:113.69, Y:-123.15, Z:-8.06 [[-6.59292478e-01 -7.51866586e-01 5.48311944e-03 1.13688005e+02] [-7.51839096e-01 6.59315268e-01 6.43046928e-03 -1.23153088e+02] [-8.44995935e-03 1.17136464e-04 -9.99964292e-01 -8.05563672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.170385723 meters 0.017336765415914262 Centerline is valid? [True, True] Translation: X:113.60, Y:-123.22, Z:-8.06 [[-6.01394523e-01 -7.98937577e-01 4.83476190e-03 1.13600114e+02] [-7.98910068e-01 6.01413944e-01 6.63108584e-03 -1.23220410e+02] [-8.20551688e-03 1.25358750e-04 -9.99966326e-01 -8.05539951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.200385723 meters 0.01988111791559126 Centerline is valid? [True, True] Translation: X:113.52, Y:-123.30, Z:-8.05 [[-5.40065742e-01 -8.41606844e-01 5.18799929e-03 1.13519492e+02] [-8.41565004e-01 5.40090634e-01 8.39346907e-03 -1.23298292e+02] [-9.86599084e-03 1.66986459e-04 -9.99951316e-01 -8.05175084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.230385723 meters 0.017534092753665298 Centerline is valid? [True, True] Translation: X:113.44, Y:-123.38, Z:-8.05 [[-4.73810957e-01 -8.80617712e-01 3.95256131e-03 1.13438046e+02] [-8.80584551e-01 4.73827422e-01 7.64346992e-03 -1.23382084e+02] [-8.60380693e-03 1.40995363e-04 -9.99962977e-01 -8.05312381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.260385723 meters 0.017440435618504144 Centerline is valid? [True, True] Translation: X:113.36, Y:-123.48, Z:-8.05 [[-4.03023793e-01 -9.15183357e-01 3.35345195e-03 1.13361686e+02] [-9.15149129e-01 4.03037726e-01 7.91596584e-03 -1.23482467e+02] [-8.59612784e-03 1.21413950e-04 -9.99963045e-01 -8.05239567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.290385723 meters 0.017178596289666812 Centerline is valid? [True, True] Translation: X:113.29, Y:-123.58, Z:-8.05 [[-3.29758061e-01 -9.44062038e-01 2.54740572e-03 1.13294427e+02] [-9.44031568e-01 3.29767887e-01 7.58554566e-03 -1.23578327e+02] [-8.00127829e-03 9.65634183e-05 -9.99967985e-01 -8.05184268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.320385723 meters 0.016805766113680537 Centerline is valid? [True, True] Translation: X:113.23, Y:-123.68, Z:-8.05 [[-2.53968117e-01 -9.67211036e-01 1.73408514e-03 1.13232789e+02] [-9.67186675e-01 2.53974029e-01 6.86507840e-03 -1.23683924e+02] [-7.08039218e-03 6.63269953e-05 -9.99974932e-01 -8.05175698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.350385723 meters 0.016313498214017712 Centerline is valid? [True, True] Translation: X:113.18, Y:-123.80, Z:-8.05 [[-1.73125319e-01 -9.84899448e-01 8.36963269e-04 1.13178724e+02] [-9.84887484e-01 1.73127341e-01 4.85454812e-03 -1.23799365e+02] [-4.92614299e-03 1.61305425e-05 -9.99987866e-01 -8.05253220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.380385723 meters 0.01624870560493828 Centerline is valid? [True, True] Translation: X:113.13, Y:-123.91, Z:-8.05 [[-9.37876303e-02 -9.95592138e-01 4.17639652e-04 1.13134519e+02] [-9.95582253e-01 9.37885601e-02 4.43661672e-03 -1.23913806e+02] [-4.45623055e-03 3.05142817e-07 -9.99990071e-01 -8.05222013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.410385723 meters 0.017008643328362407 Centerline is valid? [True, True] Translation: X:113.10, Y:-124.05, Z:-8.05 [[-1.07280074e-02 -9.99942451e-01 7.20624918e-05 1.13097406e+02] [-9.99933496e-01 1.07282163e-02 4.23201460e-03 -1.24046991e+02] [-4.23254415e-03 -2.66566155e-05 -9.99991042e-01 -8.05094222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.440385723 meters 0.016672016326752186 Centerline is valid? [True, True] Translation: X:113.07, Y:-124.15, Z:-8.05 [[ 6.91181729e-02 -9.97608455e-01 -2.22512442e-04 1.13070280e+02] [-9.97601433e-01 -6.91185213e-02 3.74311536e-03 -1.24154208e+02] [-3.74954327e-03 -3.67385639e-05 -9.99992970e-01 -8.05076139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.470385723 meters 0.018918386965650034 Centerline is valid? [True, True] Translation: X:112.38, Y:-124.31, Z:-9.02 [[-2.01789267e-02 9.99796383e-01 6.02102813e-05 1.12378072e+02] [-9.99790620e-01 -2.01790148e-02 3.39455557e-03 -1.24313452e+02] [ 3.39507936e-03 8.30081338e-06 9.99994237e-01 -9.02169864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.500385723 meters 0.017412017599049173 Centerline is valid? [True, True] Translation: X:113.09, Y:-124.46, Z:-8.05 [[ 8.34464577e-02 -9.96512241e-01 -2.05795476e-04 1.13087259e+02] [-9.96507775e-01 -8.34466999e-02 2.98375362e-03 -1.24455467e+02] [-2.99051996e-03 -4.39068780e-05 -9.99995527e-01 -8.04926396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.530385723 meters 0.01762649332552564 Centerline is valid? [True, True] Translation: X:113.07, Y:-124.58, Z:-8.05 [[ 1.60491382e-01 -9.87037175e-01 -3.61401431e-04 1.13073623e+02] [-9.87034108e-01 -1.60491785e-01 2.46096482e-03 -1.24576800e+02] [-2.48706573e-03 -3.82481068e-05 -9.99996907e-01 -8.04935143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.560385723 meters 0.01814756373839438 Centerline is valid? [True, True] Translation: X:113.07, Y:-124.69, Z:-8.05 [[ 2.37342211e-01 -9.71426029e-01 -3.81630170e-04 1.13071159e+02] [-9.71424565e-01 -2.37342516e-01 1.68639119e-03 -1.24693762e+02] [-1.72878136e-03 -2.95268914e-05 -9.99998505e-01 -8.05007678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.590385723 meters 0.018276859795339703 Centerline is valid? [True, True] Translation: X:113.08, Y:-124.82, Z:-8.05 [[ 3.11974335e-01 -9.50090378e-01 -5.37454586e-04 1.13078357e+02] [-9.50088785e-01 -3.11974796e-01 1.73966263e-03 -1.24822438e+02] [-1.82050901e-03 -3.21005150e-05 -9.99998342e-01 -8.05024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.620385723 meters 0.018814324743941957 Centerline is valid? [True, True] Translation: X:113.09, Y:-124.94, Z:-8.05 [[ 3.84452318e-01 -9.23144776e-01 -3.72109093e-04 1.13093577e+02] [-9.23144295e-01 -3.84452498e-01 9.42660549e-04 -1.24943639e+02] [-1.01327043e-03 -1.88976464e-05 -9.99999486e-01 -8.04845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.650385723 meters 0.01876295775925154 Centerline is valid? [True, True] Translation: X:113.12, Y:-125.06, Z:-8.05 [[ 4.53647132e-01 -8.91181277e-01 -4.59617292e-04 1.13117379e+02] [-8.91180777e-01 -4.53647364e-01 9.44412335e-04 -1.25063088e+02] [-1.05014676e-03 -1.88278515e-05 -9.99999448e-01 -8.04749804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68038572300003 meters 0.018274992531150412 Centerline is valid? [True, True] Translation: X:113.15, Y:-125.17, Z:-8.05 [[ 5.18828032e-01 -8.54878070e-01 -9.79191912e-04 1.13150920e+02] [-8.54876441e-01 -5.18828956e-01 1.66887744e-03 -1.25168120e+02] [-1.93471984e-03 -2.87723010e-05 -9.99998128e-01 -8.04640444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.710385723 meters 0.01819497061701551 Centerline is valid? [True, True] Translation: X:113.20, Y:-125.29, Z:-8.05 [[ 5.82327969e-01 -8.12953020e-01 -1.23449537e-03 1.13199971e+02] [-8.12951082e-01 -5.82329277e-01 1.77542846e-03 -1.25288653e+02] [-2.16222272e-03 -3.02973051e-05 -9.99997662e-01 -8.04671204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.740385723 meters 0.017109859325389064 Centerline is valid? [True, True] Translation: X:113.26, Y:-125.40, Z:-8.05 [[ 6.41850024e-01 -7.66828194e-01 -1.75121724e-03 1.13259669e+02] [-7.66825194e-01 -6.41852412e-01 2.14552392e-03 -1.25403700e+02] [-2.76927125e-03 -3.42270844e-05 -9.99996165e-01 -8.04678507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.770385723 meters 0.017007157551081144 Centerline is valid? [True, True] Translation: X:113.30, Y:-125.48, Z:-8.04 [[ 6.97324615e-01 -7.16752063e-01 -2.20504161e-03 1.13297007e+02] [-7.16748329e-01 -6.97328101e-01 2.31367820e-03 -1.25480457e+02] [-3.19597110e-03 -3.29248714e-05 -9.99994892e-01 -8.04464475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.800385723 meters 0.017020945507557252 Centerline is valid? [True, True] Translation: X:113.36, Y:-125.57, Z:-8.04 [[ 7.49622383e-01 -6.61861927e-01 -2.25201759e-03 1.13356628e+02] [-6.61858822e-01 -7.49625766e-01 2.02757288e-03 -1.25574799e+02] [-3.03014370e-03 -2.93963078e-05 -9.99995409e-01 -8.04442791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.830385723 meters 0.016812986819127112 Centerline is valid? [True, True] Translation: X:113.35, Y:-125.58, Z:-8.04 [[ 7.98443973e-01 -6.02064306e-01 -2.40714723e-03 1.13353734e+02] [-6.02061469e-01 -7.98447601e-01 1.84829895e-03 -1.25579131e+02] [-3.03477575e-03 -2.65125573e-05 -9.99995395e-01 -8.04466258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.860385723 meters 0.01674167858803309 Centerline is valid? [True, True] Translation: X:113.35, Y:-125.58, Z:-8.05 [[ 8.42231159e-01 -5.39113480e-01 -1.82481290e-03 1.13351570e+02] [-5.39112173e-01 -8.42233136e-01 1.18727646e-03 -1.25579628e+02] [-2.17699464e-03 -1.61823824e-05 -9.99997630e-01 -8.04572441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.890385723 meters 0.016823562801964186 Centerline is valid? [True, True] Translation: X:113.35, Y:-125.58, Z:-8.05 [[ 8.81985340e-01 -4.71276589e-01 -4.86523133e-04 1.13346402e+02] [-4.71276514e-01 -8.81985474e-01 2.66288393e-04 -1.25583885e+02] [-5.54601821e-04 -5.57553296e-06 -9.99999846e-01 -8.04666285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.920385723 meters 0.016966095602918896 Centerline is valid? [True, True] Translation: X:113.34, Y:-125.59, Z:-8.05 [[ 9.16081371e-01 -4.00991003e-01 1.06610697e-03 1.13341664e+02] [-4.00990723e-01 -9.16081992e-01 -4.73755361e-04 -1.25587647e+02] [ 1.16661304e-03 6.49945430e-06 -9.99999320e-01 -8.04796268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.950385723 meters 0.017050725855805596 Centerline is valid? [True, True] Translation: X:113.34, Y:-125.59, Z:-8.05 [[ 9.44445115e-01 -3.28666054e-01 1.43195831e-03 1.13337893e+02] [-3.28665663e-01 -9.44446200e-01 -5.06881583e-04 -1.25591068e+02] [ 1.51900235e-03 8.08630871e-06 -9.99998846e-01 -8.04851540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.980385723 meters 0.016999779002689928 Centerline is valid? [True, True] Translation: X:113.34, Y:-125.59, Z:-8.05 [[ 9.66978035e-01 -2.54856095e-01 1.36035819e-03 1.13335407e+02] [-2.54855834e-01 -9.66978992e-01 -3.64638821e-04 -1.25593922e+02] [ 1.40836822e-03 5.90250936e-06 -9.99999008e-01 -8.04820577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.010385723 meters 0.016815948065269787 Centerline is valid? [True, True] Translation: X:113.33, Y:-125.60, Z:-8.05 [[ 9.83632468e-01 -1.80183907e-01 9.62799769e-04 1.13332992e+02] [-1.80183819e-01 -9.83632939e-01 -1.78306890e-04 -1.25597846e+02] [ 9.79169599e-04 1.90750720e-06 -9.99999521e-01 -8.04778844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.040385723 meters 0.01696775718170602 Centerline is valid? [True, True] Translation: X:113.33, Y:-125.60, Z:-8.05 [[ 9.94692718e-01 -1.02889150e-01 4.68594994e-04 1.13327127e+02] [-1.02889138e-01 -9.94692828e-01 -4.84071604e-05 -1.25601075e+02] [ 4.71088652e-04 -6.30852693e-08 -9.99999889e-01 -8.04741446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.070385723 meters 0.016820208331108994 Centerline is valid? [True, True] Translation: X:113.32, Y:-125.61, Z:-8.05 [[ 9.99646501e-01 -2.65869705e-02 8.20241447e-05 1.13321379e+02] [-2.65869706e-02 -9.99646504e-01 -6.70402987e-07 -1.25607641e+02] [ 8.20129736e-05 -1.51060751e-06 -9.99999997e-01 -8.04611828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.100385723 meters 0.016805357011975292 Centerline is valid? [True, True] Translation: X:113.31, Y:-125.62, Z:-8.05 [[ 9.98745378e-01 5.00766439e-02 2.25602042e-05 1.13314956e+02] [ 5.00766438e-02 -9.98745378e-01 2.75961821e-06 -1.25617518e+02] [ 2.26700922e-05 -1.62641661e-06 -1.00000000e+00 -8.04511880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.130385723 meters 0.016850663139580165 Centerline is valid? [True, True] Translation: X:113.31, Y:-125.63, Z:-8.05 [[ 9.92014906e-01 1.26120530e-01 -1.94109174e-04 1.13309397e+02] [ 1.26120527e-01 -9.92014925e-01 -2.35024660e-05 -1.25626219e+02] [-1.95523341e-04 -1.16635471e-06 -9.99999981e-01 -8.04530233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.160385723 meters 0.016956313290120102 Centerline is valid? [True, True] Translation: X:113.31, Y:-125.64, Z:-8.05 [[ 9.79903346e-01 1.99472308e-01 4.81368300e-04 1.13306005e+02] [ 1.99472282e-01 -9.79903464e-01 1.02795746e-04 -1.25635363e+02] [ 4.92199369e-04 -4.71026240e-06 -9.99999879e-01 -8.04552257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.190385723 meters 0.017103250570253702 Centerline is valid? [True, True] Translation: X:113.30, Y:-125.65, Z:-8.05 [[ 9.61887645e-01 2.73444378e-01 5.75142161e-04 1.13303588e+02] [ 2.73444325e-01 -9.61887817e-01 1.70446915e-04 -1.25647798e+02] [ 5.99829988e-04 -6.68142174e-06 -9.99999820e-01 -8.04614799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.220385723 meters 0.017488877561877614 Centerline is valid? [True, True] Translation: X:113.30, Y:-125.66, Z:-8.05 [[ 9.38730931e-01 3.44650845e-01 1.85167679e-04 1.13300602e+02] [ 3.44650837e-01 -9.38730949e-01 7.22161080e-05 -1.25659618e+02] [ 1.98711973e-04 -3.97329882e-06 -9.99999980e-01 -8.04648601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.250385723 meters 0.017460232379164255 Centerline is valid? [True, True] Translation: X:113.30, Y:-125.67, Z:-8.05 [[ 9.09205266e-01 4.16348150e-01 -5.25099111e-05 1.13300336e+02] [ 4.16348150e-01 -9.09205267e-01 -2.30954446e-05 -1.25671350e+02] [-5.73580333e-05 -8.63904498e-07 -9.99999998e-01 -8.04655749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.280385723 meters 0.017445239859744763 Centerline is valid? [True, True] Translation: X:113.30, Y:-125.68, Z:-8.05 [[ 8.74028084e-01 4.85875323e-01 -2.80564836e-04 1.13300623e+02] [ 4.85875297e-01 -8.74028129e-01 -1.59006285e-04 -1.25682124e+02] [-3.22478789e-04 2.65643574e-06 -9.99999948e-01 -8.04672886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.310385723 meters 0.01723471585493449 Centerline is valid? [True, True] Translation: X:113.30, Y:-125.70, Z:-8.05 [[ 8.33259634e-01 5.52881888e-01 -2.89850950e-05 1.13304920e+02] [ 5.52881887e-01 -8.33259634e-01 -1.78634710e-05 -1.25697412e+02] [-3.40284991e-05 -1.14042477e-06 -9.99999999e-01 -8.04770641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.340385723 meters 0.01732804985663314 Centerline is valid? [True, True] Translation: X:113.31, Y:-125.71, Z:-8.05 [[ 7.87402410e-01 6.16439326e-01 -4.62677451e-05 1.13308005e+02] [ 6.16439325e-01 -7.87402411e-01 -3.51796871e-05 -1.25710561e+02] [-5.81174765e-05 -8.20687158e-07 -9.99999998e-01 -8.04798377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.370385723 meters 0.01736436593618721 Centerline is valid? [True, True] Translation: X:113.31, Y:-125.72, Z:-8.05 [[ 7.36871526e-01 6.76032799e-01 -9.19257202e-05 1.13312956e+02] [ 6.76032794e-01 -7.36871532e-01 -8.44525619e-05 -1.25723755e+02] [-1.24830148e-04 8.58867210e-08 -9.99999992e-01 -8.04784792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.400385723 meters 0.017427326968008295 Centerline is valid? [True, True] Translation: X:113.32, Y:-125.73, Z:-8.05 [[ 6.82251673e-01 7.31117286e-01 -4.10804118e-04 1.13317689e+02] [ 7.31117147e-01 -6.82251797e-01 -4.50531646e-04 -1.25734595e+02] [-6.09663322e-04 7.03003406e-06 -9.99999814e-01 -8.04756760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43038572300003 meters 0.01759157495172117 Centerline is valid? [True, True] Translation: X:113.32, Y:-125.75, Z:-8.05 [[ 6.23410145e-01 7.81894956e-01 -2.61900480e-04 1.13321377e+02] [ 7.81894884e-01 -6.23410200e-01 -3.36045675e-04 -1.25745116e+02] [-4.26023849e-04 4.71563806e-06 -9.99999909e-01 -8.04761160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.460385723 meters 0.01759157495172117 Centerline is valid? [True, True] Translation: X:113.33, Y:-125.75, Z:-8.05 [[ 5.60292820e-01 8.28294574e-01 -2.34754268e-04 1.13325104e+02] [ 8.28294498e-01 -5.60292869e-01 -3.55467062e-04 -1.25754495e+02] [-4.25962581e-04 4.71997424e-06 -9.99999909e-01 -8.04761214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.490385723 meters 0.017866285728721353 Centerline is valid? [True, True] Translation: X:113.33, Y:-125.76, Z:-8.05 [[ 4.94965990e-01 8.68912093e-01 -6.66285775e-04 1.13329481e+02] [ 8.68911248e-01 -4.94966438e-01 -1.21173641e-03 -1.25763126e+02] [-1.38268152e-03 2.08251085e-05 -9.99999044e-01 -8.04820095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.520385723 meters 0.018208175048849685 Centerline is valid? [True, True] Translation: X:113.33, Y:-125.77, Z:-8.05 [[ 4.26082416e-01 9.04683762e-01 -1.03261861e-03 1.13332042e+02] [ 9.04680867e-01 -4.26083665e-01 -2.28879620e-03 -1.25771806e+02] [-2.51061868e-03 4.10255129e-05 -9.99996848e-01 -8.04886704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.550385723 meters 0.018686875217729295 Centerline is valid? [True, True] Translation: X:113.34, Y:-125.78, Z:-8.05 [[ 3.55249561e-01 9.34770852e-01 -1.09727142e-03 1.13336040e+02] [ 9.34765877e-01 -3.55251251e-01 -3.05041383e-03 -1.25779070e+02] [-3.24124498e-03 5.79662946e-05 -9.99994745e-01 -8.04985707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.580385723 meters 0.01876912352125241 Centerline is valid? [True, True] Translation: X:113.34, Y:-125.79, Z:-8.05 [[ 2.81544549e-01 9.59547785e-01 -8.45798616e-04 1.13340419e+02] [ 9.59542801e-01 -2.81545814e-01 -3.09306028e-03 -1.25786360e+02] [-3.20607020e-03 5.92542887e-05 -9.99994859e-01 -8.04996539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.610385723 meters 0.018086984987515018 Centerline is valid? [True, True] Translation: X:113.35, Y:-125.80, Z:-8.05 [[ 2.06257471e-01 9.78497642e-01 -4.69366284e-04 1.13353881e+02] [ 9.78494554e-01 -2.06257999e-01 -2.45866594e-03 -1.25795246e+02] [-2.50260937e-03 4.78458654e-05 -9.99996867e-01 -8.05049047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.640385723 meters 0.018709619035260885 Centerline is valid? [True, True] Translation: X:113.36, Y:-125.80, Z:-8.05 [[ 1.30893845e-01 9.91396343e-01 -3.04006200e-04 1.13363498e+02] [ 9.91392535e-01 -1.30894185e-01 -2.74858741e-03 -1.25803062e+02] [-2.76473215e-03 5.83836968e-05 -9.99996176e-01 -8.05121544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.670385723 meters 0.01927611873985238 Centerline is valid? [True, True] Translation: X:113.37, Y:-125.81, Z:-8.05 [[ 5.35833142e-02 9.98563374e-01 -1.31112627e-04 1.13370396e+02] [ 9.98554752e-01 -5.35833966e-02 -4.15046471e-03 -1.25810380e+02] [-4.15152751e-03 9.14725182e-05 -9.99991378e-01 -8.05057654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.700385723 meters 0.019557132255147915 Centerline is valid? [True, True] Translation: X:113.38, Y:-125.82, Z:-8.05 [[-2.30714614e-02 9.99733759e-01 3.43452581e-04 1.13379805e+02] [ 9.99707117e-01 2.30733547e-02 -7.30068826e-03 -1.25815601e+02] [-7.30666912e-03 1.74914443e-04 -9.99973291e-01 -8.04873238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.730385723 meters 0.0196028927254105 Centerline is valid? [True, True] Translation: X:113.39, Y:-125.82, Z:-8.05 [[-1.00784962e-01 9.94907695e-01 1.03391013e-03 1.13389705e+02] [ 9.94873938e-01 1.00790062e-01 -8.19825074e-03 -1.25820537e+02] [-8.26071062e-03 2.02349847e-04 -9.99965859e-01 -8.04797456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.760385723 meters 0.020161712509674093 Centerline is valid? [True, True] Translation: X:113.40, Y:-125.83, Z:-8.05 [[-1.77742983e-01 9.84074790e-01 2.05926481e-03 1.13398558e+02] [ 9.84024428e-01 1.77754727e-01 -9.95905712e-03 -1.25825728e+02] [-1.01665011e-02 2.56214349e-04 -9.99948287e-01 -8.04710477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.790385723 meters 0.019425277422868262 Centerline is valid? [True, True] Translation: X:113.41, Y:-125.83, Z:-8.05 [[-2.54208083e-01 9.67144921e-01 2.99205878e-03 1.13412151e+02] [ 9.67089958e-01 2.54225546e-01 -1.03143159e-02 -1.25827714e+02] [-1.07360960e-02 2.71607538e-04 -9.99942330e-01 -8.04801187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.820385723 meters 0.01893717054279639 Centerline is valid? [True, True] Translation: X:113.43, Y:-125.83, Z:-8.05 [[-3.29540827e-01 9.44133021e-01 3.96011297e-03 1.13429801e+02] [ 9.44074712e-01 3.29564502e-01 -1.04965302e-02 -1.25827480e+02] [-1.12152334e-02 2.79607275e-04 -9.99937068e-01 -8.04790193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.850385723 meters 0.01930015111889151 Centerline is valid? [True, True] Translation: X:113.44, Y:-125.83, Z:-8.05 [[-4.02845178e-01 9.15255041e-01 4.89623871e-03 1.13443308e+02] [ 9.15195750e-01 4.02874832e-01 -1.04215507e-02 -1.25827999e+02] [-1.15109482e-02 2.82745402e-04 -9.99933707e-01 -8.04732099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.880385723 meters 0.01905655282716771 Centerline is valid? [True, True] Translation: X:113.46, Y:-125.83, Z:-8.05 [[-4.73516223e-01 8.80764963e-01 5.95543014e-03 1.13455591e+02] [ 8.80702899e-01 4.73553582e-01 -1.04599009e-02 -1.25826555e+02] [-1.20329295e-02 2.92031836e-04 -9.99927559e-01 -8.04767844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.910385723 meters 0.01902950229798389 Centerline is valid? [True, True] Translation: X:113.47, Y:-125.82, Z:-8.05 [[-5.40931177e-01 8.41036759e-01 7.11559655e-03 1.13466770e+02] [ 8.40971391e-01 5.40977887e-01 -1.04902762e-02 -1.25824672e+02] [-1.26720883e-02 3.09495664e-04 -9.99919658e-01 -8.04963303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.940385723 meters 0.01947299215006274 Centerline is valid? [True, True] Translation: X:113.48, Y:-125.82, Z:-8.05 [[-6.04996195e-01 7.96184415e-01 8.36543341e-03 1.13479549e+02] [ 7.96115729e-01 6.05053938e-01 -1.04632004e-02 -1.25822492e+02] [-1.33921755e-02 3.29656694e-04 -9.99910266e-01 -8.04968771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.970385723 meters 0.019508610684809205 Centerline is valid? [True, True] Translation: X:113.49, Y:-125.82, Z:-8.05 [[-6.65804410e-01 7.46068791e-01 9.26531723e-03 1.13490851e+02] [ 7.46003320e-01 6.65868795e-01 -9.88916443e-03 -1.25817887e+02] [-1.35474826e-02 3.27708116e-04 -9.99908175e-01 -8.04925428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.000385723 meters 0.019560920316466737 Centerline is valid? [True, True] Translation: X:113.50, Y:-125.81, Z:-8.05 [[-7.22747401e-01 6.91032904e-01 1.04747471e-02 1.13500865e+02] [ 6.90966903e-01 7.22823226e-01 -9.55631320e-03 -1.25813469e+02] [-1.41751173e-02 3.30903011e-04 -9.99899473e-01 -8.04890727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.030385723 meters 0.019198579665914928 Centerline is valid? [True, True] Translation: X:113.52, Y:-125.79, Z:-8.05 [[-7.71484948e-01 6.36157560e-01 1.07020629e-02 1.13518801e+02] [ 6.36101396e-01 7.71559123e-01 -8.45780959e-03 -1.25787817e+02] [-1.36377738e-02 2.82524344e-04 -9.99906961e-01 -8.04954473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.060385723 meters 0.0187456461005788 Centerline is valid? [True, True] Translation: X:113.54, Y:-125.76, Z:-8.05 [[-8.15771635e-01 5.78267516e-01 1.11049758e-02 1.13536750e+02] [ 5.78218101e-01 8.15847178e-01 -7.56377305e-03 -1.25763235e+02] [-1.34338474e-02 2.50786488e-04 -9.99909730e-01 -8.05087755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.090385723 meters 0.017716564402256003 Centerline is valid? [True, True] Translation: X:113.56, Y:-125.74, Z:-8.05 [[-8.56741471e-01 5.15629163e-01 1.09826793e-02 1.13559531e+02] [ 5.15589534e-01 8.56811842e-01 -6.39527920e-03 -1.25739842e+02] [-1.27076821e-02 1.83453594e-04 -9.99919237e-01 -8.05377932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.120385723 meters 0.017028255793109345 Centerline is valid? [True, True] Translation: X:113.58, Y:-125.71, Z:-8.05 [[-8.92105875e-01 4.51679774e-01 1.15104290e-02 1.13579765e+02] [ 4.51644366e-01 8.92180116e-01 -5.65749730e-03 -1.25714811e+02] [-1.28247529e-02 1.51533816e-04 -9.99917748e-01 -8.05482425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.150385723 meters 0.016810303387046196 Centerline is valid? [True, True] Translation: X:113.59, Y:-125.69, Z:-8.05 [[-9.22775249e-01 3.85153838e-01 1.19315085e-02 1.13593223e+02] [ 3.85123344e-01 9.22852375e-01 -4.84804923e-03 -1.25686315e+02] [-1.28782657e-02 1.21442605e-04 -9.99917064e-01 -8.05384660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18038572300003 meters 0.016339402579833805 Centerline is valid? [True, True] Translation: X:113.60, Y:-125.65, Z:-8.05 [[-9.49104885e-01 3.14690236e-01 1.30373214e-02 1.13601427e+02] [ 3.14661565e-01 9.49194422e-01 -4.24846308e-03 -1.25653650e+02] [-1.37119026e-02 7.01068838e-05 -9.99905985e-01 -8.05191416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.210385723 meters 0.01645665619421778 Centerline is valid? [True, True] Translation: X:113.60, Y:-125.62, Z:-8.05 [[-9.69519448e-01 2.44657499e-01 1.32192239e-02 1.13601631e+02] [ 2.44635361e-01 9.69609564e-01 -3.29147507e-03 -1.25622747e+02] [-1.36227700e-02 4.27405279e-05 -9.99907205e-01 -8.04954747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.240385723 meters 0.016057446478305742 Centerline is valid? [True, True] Translation: X:113.78, Y:-124.92, Z:-9.02 [[-9.51766900e-01 -3.06526100e-01 1.34728851e-02 1.13782641e+02] [ 3.06495263e-01 -9.51862254e-01 -4.34784162e-03 -1.24917951e+02] [ 1.41570578e-02 -8.75625742e-06 9.99899784e-01 -9.01803200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.270385723 meters 0.016062137335700128 Centerline is valid? [True, True] Translation: X:113.55, Y:-125.61, Z:-8.05 [[-9.71445195e-01 2.36825968e-01 1.44116088e-02 1.13551373e+02] [ 2.36799679e-01 9.71552089e-01 -3.52863149e-03 -1.25609892e+02] [-1.48373002e-02 -1.52077724e-05 -9.99889921e-01 -8.05151424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.300385723 meters 0.01594877494067384 Centerline is valid? [True, True] Translation: X:113.73, Y:-124.91, Z:-9.02 [[-9.52922250e-01 -3.02911741e-01 1.35522389e-02 1.13732160e+02] [ 3.02880758e-01 -9.53018613e-01 -4.33237660e-03 -1.24905192e+02] [ 1.42278636e-02 -2.37056743e-05 9.99898779e-01 -9.01739068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.330385723 meters 0.016209315927438607 Centerline is valid? [True, True] Translation: X:113.50, Y:-125.60, Z:-8.05 [[-9.71940353e-01 2.34806230e-01 1.40707206e-02 1.13500363e+02] [ 2.34781800e-01 9.72042198e-01 -3.38705612e-03 -1.25600995e+02] [-1.44726360e-02 1.15325847e-05 -9.99895266e-01 -8.05094799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.360385723 meters 0.01613245940648764 Centerline is valid? [True, True] Translation: X:113.68, Y:-124.89, Z:-9.02 [[-9.54918524e-01 -2.96570925e-01 1.32777567e-02 1.13682017e+02] [ 2.96541598e-01 -9.55010829e-01 -4.17093382e-03 -1.24891176e+02] [ 1.39173791e-02 -4.54947870e-05 9.99903148e-01 -9.01768767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.390385723 meters 0.016094789911181046 Centerline is valid? [True, True] Translation: X:113.46, Y:-125.59, Z:-8.05 [[-9.71660738e-01 2.35940890e-01 1.43981498e-02 1.13456893e+02] [ 2.35916332e-01 9.71767405e-01 -3.40524782e-03 -1.25594679e+02] [-1.47950899e-02 8.80130876e-05 -9.99890543e-01 -8.05192578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.420385723 meters 0.016354666727835244 Centerline is valid? [True, True] Translation: X:113.46, Y:-125.57, Z:-8.05 [[-9.85630215e-01 1.68312647e-01 1.42805143e-02 1.13461402e+02] [ 1.68296655e-01 9.85733656e-01 -2.32291211e-03 -1.25568418e+02] [-1.44677590e-02 1.13830428e-04 -9.99895330e-01 -8.05115320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.450385723 meters 0.016723919390319454 Centerline is valid? [True, True] Translation: X:113.47, Y:-125.55, Z:-8.05 [[-9.94607785e-01 1.02761449e-01 1.39799104e-02 1.13465840e+02] [ 1.02753825e-01 9.94706013e-01 -1.26447307e-03 -1.25545285e+02] [-1.40358401e-02 1.78834508e-04 -9.99901477e-01 -8.05311388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.480385723 meters 0.016968677977087458 Centerline is valid? [True, True] Translation: X:113.47, Y:-125.52, Z:-8.05 [[-9.99296001e-01 3.46929700e-02 1.42793511e-02 1.13468710e+02] [ 3.46926200e-02 9.99397993e-01 -2.72293203e-04 -1.25518678e+02] [-1.42802015e-02 2.23286591e-04 -9.99898008e-01 -8.05383405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.510385723 meters 0.01778778992692997 Centerline is valid? [True, True] Translation: X:113.49, Y:-124.76, Z:-9.02 [[-9.97734537e-01 -6.58066082e-02 1.39744206e-02 1.13492338e+02] [ 6.57968523e-02 -9.97832368e-01 -1.15723957e-03 -1.24758107e+02] [ 1.40202832e-02 -2.35145002e-04 9.99901683e-01 -9.01739443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.540385723 meters 0.017978934050972572 Centerline is valid? [True, True] Translation: X:113.38, Y:-125.52, Z:-8.05 [[-9.99275116e-01 3.55849286e-02 1.35260741e-02 1.13382067e+02] [ 3.55857715e-02 9.99366610e-01 -1.78432290e-04 -1.25519338e+02] [-1.35238563e-02 3.03032833e-04 -9.99908503e-01 -8.05243425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.570385723 meters 0.01876198502358332 Centerline is valid? [True, True] Translation: X:113.38, Y:-125.49, Z:-8.05 [[-9.99315714e-01 -3.45036192e-02 1.33268378e-02 1.13376457e+02] [-3.44963581e-02 9.99404524e-01 7.74403356e-04 -1.25494355e+02] [-1.33456217e-02 3.14146074e-04 -9.99910894e-01 -8.05229248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.600385723 meters 0.018398797876765384 Centerline is valid? [True, True] Translation: X:113.34, Y:-124.72, Z:-9.02 [[-9.99805381e-01 1.40960291e-02 1.38022237e-02 1.13338040e+02] [-1.40987511e-02 -9.99900603e-01 -9.99251233e-05 -1.24722315e+02] [ 1.37994432e-02 -2.94499792e-04 9.99904740e-01 -9.01684462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.630385723 meters 0.018727025819235625 Centerline is valid? [True, True] Translation: X:113.27, Y:-125.50, Z:-8.05 [[-9.99021208e-01 -4.18933867e-02 1.41975354e-02 1.13272103e+02] [-4.18846013e-02 9.99122035e-01 9.15711403e-04 -1.25502538e+02] [-1.42234328e-02 3.20157000e-04 -9.99898791e-01 -8.05257016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.660385723 meters 0.01845329085528388 Centerline is valid? [True, True] Translation: X:113.26, Y:-125.47, Z:-8.05 [[-9.93217574e-01 -1.15317301e-01 1.48583912e-02 1.13258496e+02] [-1.15299813e-01 9.93328660e-01 2.03113695e-03 -1.25473649e+02] [-1.49934910e-02 3.04191186e-04 -9.99887545e-01 -8.05048004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.690385723 meters 0.018166925647963992 Centerline is valid? [True, True] Translation: X:113.23, Y:-125.45, Z:-8.05 [[-9.81892892e-01 -1.88843296e-01 1.49852578e-02 1.13228619e+02] [-1.88817079e-01 9.82007197e-01 3.15832105e-03 -1.25448272e+02] [-1.53120588e-02 2.71660370e-04 -9.99882727e-01 -8.04807696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.720385723 meters 0.0179812793451353 Centerline is valid? [True, True] Translation: X:113.19, Y:-125.43, Z:-8.05 [[-9.65321136e-01 -2.60674454e-01 1.42805126e-02 1.13185334e+02] [-2.60642077e-01 9.65426727e-01 4.11604844e-03 -1.25429733e+02] [-1.48597373e-02 2.51206087e-04 -9.99889556e-01 -8.04820321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.750385723 meters 0.017183410725689328 Centerline is valid? [True, True] Translation: X:113.13, Y:-125.42, Z:-8.05 [[-9.43445167e-01 -3.31283343e-01 1.27500146e-02 1.13126777e+02] [-3.31249850e-01 9.43531290e-01 4.71605168e-03 -1.25417850e+02] [-1.35923871e-02 2.25895740e-04 -9.99907594e-01 -8.04993949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.780385723 meters 0.017274999875305046 Centerline is valid? [True, True] Translation: X:113.05, Y:-125.42, Z:-8.05 [[-9.16392224e-01 -4.00143034e-01 1.05282283e-02 1.13054753e+02] [-4.00114204e-01 9.16452680e-01 4.80718743e-03 -1.25418576e+02] [-1.15721856e-02 1.92775487e-04 -9.99933021e-01 -8.05109301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.810385723 meters 0.017344085436480278 Centerline is valid? [True, True] Translation: X:112.97, Y:-125.43, Z:-8.05 [[-8.84336749e-01 -4.66757295e-01 9.28133552e-03 1.12974679e+02] [-4.66729412e-01 8.84385433e-01 5.10501233e-03 -1.25426414e+02] [-1.05910797e-02 1.82677732e-04 -9.99943896e-01 -8.05114981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.840385723 meters 0.017808623044913995 Centerline is valid? [True, True] Translation: X:112.89, Y:-125.45, Z:-8.05 [[-8.47255510e-01 -5.31119671e-01 8.36629277e-03 1.12890506e+02] [-5.31091659e-01 8.47296797e-01 5.45785500e-03 -1.25445220e+02] [-9.98750722e-03 1.80929418e-04 -9.99950107e-01 -8.05049322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.870385723 meters 0.017661051358388465 Centerline is valid? [True, True] Translation: X:112.80, Y:-125.48, Z:-8.05 [[-8.05210505e-01 -5.92939093e-01 7.69895677e-03 1.12798791e+02] [-5.92909819e-01 8.05247290e-01 5.89470803e-03 -1.25475564e+02] [-9.69476691e-03 1.81693766e-04 -9.99952988e-01 -8.05053149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.900385723 meters 0.017633428582748842 Centerline is valid? [True, True] Translation: X:112.71, Y:-125.52, Z:-8.05 [[-7.59160682e-01 -6.50865179e-01 7.04107534e-03 1.12705579e+02] [-6.50834799e-01 7.59193309e-01 6.29151016e-03 -1.25518140e+02] [-9.44046218e-03 1.93690293e-04 -9.99955419e-01 -8.05089264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93038572300003 meters 0.017630345466580447 Centerline is valid? [True, True] Translation: X:112.61, Y:-125.57, Z:-8.05 [[-7.08052920e-01 -7.06134770e-01 5.89481455e-03 1.12611302e+02] [-7.06108146e-01 7.08077435e-01 6.13458120e-03 -1.25568890e+02] [-8.50582625e-03 1.81231565e-04 -9.99963808e-01 -8.05130113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.960385723 meters 0.01737731229125546 Centerline is valid? [True, True] Translation: X:112.52, Y:-125.63, Z:-8.05 [[-6.52631641e-01 -7.57660803e-01 4.69555422e-03 1.12516879e+02] [-7.57639391e-01 6.52648513e-01 5.69839473e-03 -1.25630558e+02] [-7.38199680e-03 1.61415865e-04 -9.99972740e-01 -8.05180847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.990385723 meters 0.017716798208504126 Centerline is valid? [True, True] Translation: X:112.43, Y:-125.70, Z:-8.05 [[-5.93075865e-01 -8.05138907e-01 3.51558780e-03 1.12427385e+02] [-8.05123388e-01 5.93086269e-01 5.00070984e-03 -1.25703092e+02] [-6.11131290e-03 1.35318354e-04 -9.99981317e-01 -8.05198760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.020385723 meters 0.019124313726677306 Centerline is valid? [True, True] Translation: X:112.34, Y:-125.78, Z:-8.05 [[-5.30128859e-01 -8.47911805e-01 2.99395234e-03 1.12344926e+02] [-8.47896833e-01 5.30137297e-01 5.04057469e-03 -1.25779448e+02] [-5.86116858e-03 1.33591401e-04 -9.99982814e-01 -8.05095738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.050385723 meters 0.017453197266654282 Centerline is valid? [True, True] Translation: X:112.26, Y:-125.88, Z:-8.05 [[-4.62673212e-01 -8.86524825e-01 2.68954652e-03 1.12257160e+02] [-8.86508144e-01 4.62681010e-01 5.44000527e-03 -1.25877094e+02] [-6.06710182e-03 1.32639816e-04 -9.99981586e-01 -8.05072328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.080385723 meters 0.017808421844133282 Centerline is valid? [True, True] Translation: X:112.19, Y:-125.97, Z:-8.05 [[-3.92574106e-01 -9.19717149e-01 2.43643969e-03 1.12185773e+02] [-9.19697167e-01 3.92581642e-01 6.06421757e-03 -1.25966170e+02] [-6.53386639e-03 1.39868112e-04 -9.99978644e-01 -8.04989799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.110385723 meters 0.01765449619818569 Centerline is valid? [True, True] Translation: X:112.12, Y:-126.07, Z:-8.05 [[-3.20032288e-01 -9.47404782e-01 1.87454891e-03 1.12116631e+02] [-9.47386076e-01 3.20037751e-01 5.95493887e-03 -1.26073652e+02] [-6.24166398e-03 1.29851177e-04 -9.99980512e-01 -8.04962487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.140385723 meters 0.016681549863254576 Centerline is valid? [True, True] Translation: X:112.06, Y:-126.18, Z:-8.05 [[-2.45378420e-01 -9.69426479e-01 1.31612858e-03 1.12056015e+02] [-9.69409854e-01 2.45381921e-01 5.67871243e-03 -1.26181998e+02] [-5.82804836e-03 1.17565469e-04 -9.99983010e-01 -8.05066075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.170385723 meters 0.016708510839326663 Centerline is valid? [True, True] Translation: X:112.00, Y:-126.30, Z:-8.05 [[-1.70117687e-01 -9.85423389e-01 8.46848805e-04 1.12004036e+02] [-9.85407564e-01 1.70119756e-01 5.58582579e-03 -1.26299938e+02] [-5.64846909e-03 1.15756547e-04 -9.99984041e-01 -8.05061084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.200385723 meters 0.017549149959492024 Centerline is valid? [True, True] Translation: X:111.96, Y:-126.41, Z:-8.05 [[-9.51582092e-02 -9.95462117e-01 2.98089189e-04 1.11962725e+02] [-9.95453833e-01 9.51586337e-02 4.06214263e-03 -1.26413526e+02] [-4.07207486e-03 8.98121923e-05 -9.99991705e-01 -8.05054795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.230385723 meters 0.017812650683701543 Centerline is valid? [True, True] Translation: X:111.93, Y:-126.54, Z:-8.05 [[-1.80973995e-02 -9.99836229e-01 -1.22588391e-05 1.11928913e+02] [-9.99831456e-01 1.80972753e-02 3.09001625e-03 -1.26540151e+02] [-3.08928834e-03 6.81780316e-05 -9.99995226e-01 -8.05080533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.260385723 meters 0.017205447713993762 Centerline is valid? [True, True] Translation: X:111.90, Y:-126.67, Z:-8.05 [[ 5.86686363e-02 -9.98277501e-01 -1.51792544e-04 1.11904555e+02] [-9.98275750e-01 -5.86688178e-02 1.87017593e-03 -1.26668941e+02] [-1.87586005e-03 4.18101436e-05 -9.99998240e-01 -8.05167158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.290385723 meters 0.017156803626242032 Centerline is valid? [True, True] Translation: X:111.89, Y:-126.79, Z:-8.05 [[ 1.35635618e-01 -9.90758753e-01 -2.68807056e-04 1.11891109e+02] [-9.90757321e-01 -1.35635880e-01 1.68493427e-03 -1.26792349e+02] [-1.70582325e-03 3.77854577e-05 -9.99998544e-01 -8.05204489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.320385723 meters 0.017088001937740797 Centerline is valid? [True, True] Translation: X:111.89, Y:-126.92, Z:-8.05 [[ 2.11521881e-01 -9.77373188e-01 -3.80294479e-04 1.11887076e+02] [-9.77371904e-01 -2.11522219e-01 1.58487942e-03 -1.26919901e+02] [-1.62945938e-03 3.64524641e-05 -9.99998672e-01 -8.05174928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.350385723 meters 0.017088001937740797 Centerline is valid? [True, True] Translation: X:111.89, Y:-127.05, Z:-8.05 [[ 2.86332100e-01 -9.58130303e-01 -5.01481446e-04 1.11892488e+02] [-9.58129049e-01 -2.86332536e-01 1.55074159e-03 -1.27047442e+02] [-1.62940297e-03 3.64568437e-05 -9.99998672e-01 -8.05175226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.380385723 meters 0.017410264208057493 Centerline is valid? [True, True] Translation: X:111.91, Y:-127.17, Z:-8.05 [[ 3.59470717e-01 -9.33156288e-01 -3.81946556e-04 1.11907490e+02] [-9.33155824e-01 -3.59470919e-01 9.30797618e-04 -1.27174119e+02] [-1.00587833e-03 2.18211660e-05 -9.99999494e-01 -8.05057523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.410385723 meters 0.017402394752832867 Centerline is valid? [True, True] Translation: X:111.93, Y:-127.30, Z:-8.05 [[ 4.31275919e-01 -9.02219862e-01 -6.34216446e-04 1.11929569e+02] [-9.02218985e-01 -4.31276385e-01 1.25820162e-03 -1.27297716e+02] [-1.40869706e-03 2.95700600e-05 -9.99999007e-01 -8.04852165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.440385723 meters 0.017373683968566967 Centerline is valid? [True, True] Translation: X:111.96, Y:-127.42, Z:-8.05 [[ 4.99814876e-01 -8.66132103e-01 -5.18466916e-04 1.11964532e+02] [-8.66131678e-01 -4.99815145e-01 8.58202979e-04 -1.27421201e+02] [-1.00245477e-03 2.01180040e-05 -9.99999497e-01 -8.04850290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.470385723 meters 0.017342425668925476 Centerline is valid? [True, True] Translation: X:112.00, Y:-127.53, Z:-8.05 [[ 5.65274796e-01 -8.24902584e-01 -3.62474548e-04 1.12003785e+02] [-8.24902428e-01 -5.65274912e-01 5.08281304e-04 -1.27531418e+02] [-6.24180330e-04 1.16875244e-05 -9.99999805e-01 -8.04920976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.500385723 meters 0.01718718589619873 Centerline is valid? [True, True] Translation: X:112.06, Y:-127.64, Z:-8.05 [[ 6.27012084e-01 -7.79009526e-01 6.80973985e-05 1.12055585e+02] [-7.79009522e-01 -6.27012087e-01 -7.88722440e-05 -1.27643081e+02] [ 1.04140122e-04 -3.59467180e-06 -9.99999995e-01 -8.05109778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.530385723 meters 0.0174871010911121 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.75, Z:-8.05 [[ 6.84465750e-01 -7.29044580e-01 7.97846947e-04 1.12107268e+02] [-7.29044128e-01 -6.84466215e-01 -8.12418677e-04 -1.27746216e+02] [ 1.13838871e-03 -2.55928729e-05 -9.99999352e-01 -8.04985759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.560385723 meters 0.01766597484075388 Centerline is valid? [True, True] Translation: X:112.16, Y:-127.84, Z:-8.05 [[ 7.37967366e-01 -6.74835162e-01 1.29287362e-03 1.12159580e+02] [-6.74834216e-01 -7.37968497e-01 -1.13055419e-03 -1.27836688e+02] [ 1.71703772e-03 -3.81632597e-05 -9.99998525e-01 -8.04945692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.590385723 meters 0.01764091836012408 Centerline is valid? [True, True] Translation: X:112.15, Y:-127.84, Z:-8.05 [[ 7.88549543e-01 -6.14969195e-01 1.58319853e-03 1.12154882e+02] [-6.14968065e-01 -7.88551131e-01 -1.17974691e-03 -1.27842364e+02] [ 1.97394100e-03 -4.33276465e-05 -9.99998051e-01 -8.04943305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.620385723 meters 0.017808433883620224 Centerline is valid? [True, True] Translation: X:112.15, Y:-127.85, Z:-8.05 [[ 8.34117793e-01 -5.51581047e-01 2.41987306e-03 1.12151800e+02] [-5.51578941e-01 -8.34121301e-01 -1.52524292e-03 -1.27846226e+02] [ 2.85976275e-03 -6.25187593e-05 -9.99995909e-01 -8.05072388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.650385723 meters 0.018045563907117566 Centerline is valid? [True, True] Translation: X:112.15, Y:-127.85, Z:-8.05 [[ 8.74644103e-01 -4.84756258e-01 3.01068737e-03 1.12146692e+02] [-4.84753677e-01 -8.74649281e-01 -1.58367483e-03 -1.27850393e+02] [ 3.40099182e-03 -7.42899216e-05 -9.99994214e-01 -8.05112101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68038572300003 meters 0.018268961583061627 Centerline is valid? [True, True] Translation: X:112.14, Y:-127.86, Z:-8.05 [[ 9.09874285e-01 -4.14855685e-01 4.85243669e-03 1.12142262e+02] [-4.14850451e-01 -9.09887217e-01 -2.08685042e-03 -1.27855661e+02] [ 5.28091188e-03 -1.14264016e-04 -9.99986049e-01 -8.05091283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.710385723 meters 0.017409288893685752 Centerline is valid? [True, True] Translation: X:112.14, Y:-127.87, Z:-8.05 [[ 9.39607126e-01 -3.42212715e-01 5.37644380e-03 1.12137025e+02] [-3.42207848e-01 -9.39622500e-01 -1.82908619e-03 -1.27867378e+02] [ 5.67776412e-03 -1.21238847e-04 -9.99983874e-01 -8.04979148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.740385723 meters 0.01758281576898945 Centerline is valid? [True, True] Translation: X:112.13, Y:-127.87, Z:-8.05 [[ 9.63682584e-01 -2.66998117e-01 5.28033778e-03 1.12132700e+02] [-2.66994746e-01 -9.63697044e-01 -1.34638432e-03 -1.27874418e+02] [ 5.44812799e-03 -1.12335328e-04 -9.99985153e-01 -8.04976223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.770385723 meters 0.018656548028072244 Centerline is valid? [True, True] Translation: X:112.13, Y:-127.88, Z:-8.05 [[ 9.81672323e-01 -1.90510100e-01 5.03518434e-03 1.12128198e+02] [-1.90508137e-01 -9.81685230e-01 -8.71107522e-04 -1.27878504e+02] [ 5.10892087e-03 -1.04101442e-04 -9.99986944e-01 -8.05067756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.800385723 meters 0.016744675637006566 Centerline is valid? [True, True] Translation: X:112.12, Y:-127.90, Z:-8.05 [[ 9.93824709e-01 -1.10812320e-01 5.75131157e-03 1.12121210e+02] [-1.10811071e-01 -9.93841345e-01 -5.36372026e-04 -1.27895065e+02] [ 5.77532786e-03 -1.04249224e-04 -9.99983317e-01 -8.05049957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.830385723 meters 0.016866520799457614 Centerline is valid? [True, True] Translation: X:112.12, Y:-127.91, Z:-8.05 [[ 9.99491668e-01 -3.13104178e-02 6.00532302e-03 1.12115515e+02] [-3.13104547e-02 -9.99509704e-01 -8.78903887e-05 -1.27907499e+02] [ 6.00513052e-03 -1.00183684e-04 -9.99981964e-01 -8.05064346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.860385723 meters 0.016262795599681443 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.92, Z:-8.05 [[ 9.98806431e-01 4.84735647e-02 6.00220501e-03 1.12111473e+02] [ 4.84721395e-02 -9.98824462e-01 3.82783519e-04 -1.27922450e+02] [ 6.01370407e-03 -9.13869219e-05 -9.99981913e-01 -8.04986592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.890385723 meters 0.01618577569383382 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.94, Z:-8.05 [[ 9.91514467e-01 1.29839329e-01 6.38836321e-03 1.12107957e+02] [ 1.29836138e-01 -9.91535044e-01 9.13535754e-04 -1.27936810e+02] [ 6.45289886e-03 -7.63435111e-05 -9.99979177e-01 -8.05025943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.920385723 meters 0.01595289725480729 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.95, Z:-8.05 [[ 9.77922719e-01 2.08876614e-01 6.14132715e-03 1.12106199e+02] [ 2.08872092e-01 -9.77942000e-01 1.37595731e-03 -1.27950584e+02] [ 6.29326706e-03 -6.28280687e-05 -9.99980195e-01 -8.05012614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.950385723 meters 0.015911983160622124 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.97, Z:-8.05 [[ 9.58469562e-01 2.85135797e-01 5.80316614e-03 1.12106588e+02] [ 2.85130199e-01 -9.58487128e-01 1.78774660e-03 -1.27965747e+02] [ 6.07201059e-03 -5.88427845e-05 -9.99981563e-01 -8.04878513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.980385723 meters 0.01598674680507122 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.98, Z:-8.05 [[ 9.33197964e-01 3.59332124e-01 4.68887373e-03 1.12106528e+02] [ 3.59327324e-01 -9.33209742e-01 1.85790061e-03 -1.27979005e+02] [ 5.04330601e-03 -4.89486164e-05 -9.99987281e-01 -8.04761541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.010385723 meters 0.01619336113960124 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.99, Z:-8.05 [[ 9.02421758e-01 4.30843812e-01 2.92930260e-03 1.12107867e+02] [ 4.30841421e-01 -9.02426511e-01 1.43589588e-03 -1.27991050e+02] [ 3.26212718e-03 -3.37187869e-05 -9.99994679e-01 -8.04618510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.040385723 meters 0.016309738124263184 Centerline is valid? [True, True] Translation: X:112.11, Y:-128.00, Z:-8.05 [[ 8.66317682e-01 4.99486636e-01 2.60282197e-03 1.12109892e+02] [ 4.99484265e-01 -8.66321591e-01 1.53966128e-03 -1.28003129e+02] [ 3.02392110e-03 -3.37671735e-05 -9.99995427e-01 -8.04580265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.070385723 meters 0.016664540217370447 Centerline is valid? [True, True] Translation: X:112.11, Y:-128.01, Z:-8.05 [[ 8.25655553e-01 5.64167414e-01 2.83497188e-03 1.12111272e+02] [ 5.64163900e-01 -8.25660419e-01 1.99183062e-03 -1.28014094e+02] [ 3.46445000e-03 -4.51772236e-05 -9.99993998e-01 -8.04617365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.100385723 meters 0.01672504127759653 Centerline is valid? [True, True] Translation: X:112.12, Y:-128.03, Z:-8.05 [[ 7.79853071e-01 6.25958293e-01 2.32439796e-03 1.12115753e+02] [ 6.25955344e-01 -7.79856534e-01 1.92180095e-03 -1.28025880e+02] [ 3.01566418e-03 -4.37530433e-05 -9.99995452e-01 -8.04573603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.130385723 meters 0.017119298433617543 Centerline is valid? [True, True] Translation: X:112.12, Y:-128.04, Z:-8.05 [[ 7.29676171e-01 6.83791361e-01 1.43542583e-03 1.12119801e+02] [ 6.83789948e-01 -7.29677582e-01 1.39035041e-03 -1.28037609e+02] [ 1.99810765e-03 -3.29758072e-05 -9.99998003e-01 -8.04505423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.160385723 meters 0.017398379017648135 Centerline is valid? [True, True] Translation: X:112.12, Y:-128.05, Z:-8.05 [[ 6.74068371e-01 7.38668276e-01 1.00483156e-03 1.12123520e+02] [ 7.38667398e-01 -6.74069119e-01 1.13936856e-03 -1.28048214e+02] [ 1.51894133e-03 -2.57759940e-05 -9.99998846e-01 -8.04560576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.190385723 meters 0.017396068078965352 Centerline is valid? [True, True] Translation: X:112.13, Y:-128.06, Z:-8.05 [[ 6.14089402e-01 7.89235765e-01 1.05528965e-03 1.12128262e+02] [ 7.89234516e-01 -6.14090308e-01 1.40419250e-03 -1.28057273e+02] [ 1.75628209e-03 -2.94287173e-05 -9.99998457e-01 -8.04690261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.220385723 meters 0.017350372212026524 Centerline is valid? [True, True] Translation: X:112.13, Y:-128.07, Z:-8.05 [[ 5.50343612e-01 8.34937690e-01 9.81025118e-04 1.12134707e+02] [ 8.34936264e-01 -5.50344486e-01 1.54368278e-03 -1.28067177e+02] [ 1.82878070e-03 -3.04625115e-05 -9.99998327e-01 -8.04662745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.250385723 meters 0.017300812058305477 Centerline is valid? [True, True] Translation: X:112.14, Y:-128.08, Z:-8.05 [[ 4.82824478e-01 8.75716581e-01 9.97092544e-04 1.12144043e+02] [ 8.75714565e-01 -4.82825506e-01 1.87910038e-03 -1.28077369e+02] [ 2.12698107e-03 -3.41071973e-05 -9.99997737e-01 -8.04622418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.280385723 meters 0.01748225313193099 Centerline is valid? [True, True] Translation: X:112.15, Y:-128.09, Z:-8.05 [[ 4.12220286e-01 9.11083818e-01 8.44327504e-04 1.12153363e+02] [ 9.11081741e-01 -4.12221149e-01 1.94565863e-03 -1.28087447e+02] [ 2.12070774e-03 -3.27885823e-05 -9.99997751e-01 -8.04554100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.310385723 meters 0.017210928836925567 Centerline is valid? [True, True] Translation: X:112.16, Y:-128.09, Z:-8.05 [[ 3.39203525e-01 9.40712820e-01 5.99137945e-04 1.12162008e+02] [ 9.40711204e-01 -3.39204053e-01 1.74396339e-03 -1.28094670e+02] [ 1.84379874e-03 -2.79427530e-05 -9.99998300e-01 -8.04583806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.340385723 meters 0.017312558104416363 Centerline is valid? [True, True] Translation: X:112.17, Y:-128.10, Z:-8.05 [[ 2.64115546e-01 9.64491006e-01 2.80279312e-04 1.12168628e+02] [ 9.64490392e-01 -2.64115694e-01 1.08833182e-03 -1.28101492e+02] [ 1.12371241e-03 -1.71186484e-05 -9.99999369e-01 -8.04693896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.370385723 meters 0.0174762202208166 Centerline is valid? [True, True] Translation: X:112.17, Y:-128.11, Z:-8.05 [[ 1.87718915e-01 9.82222780e-01 1.42483448e-04 1.12174427e+02] [ 9.82222442e-01 -1.87718969e-01 8.14422494e-04 -1.28108347e+02] [ 8.26691172e-04 -1.29320663e-05 -9.99999658e-01 -8.04782988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.400385723 meters 0.017306874901454238 Centerline is valid? [True, True] Translation: X:112.18, Y:-128.11, Z:-8.05 [[ 1.09360636e-01 9.94002137e-01 5.62564674e-05 1.12184574e+02] [ 9.94001958e-01 -1.09360650e-01 5.95694143e-04 -1.28114070e+02] [ 5.98273495e-04 -9.22645180e-06 -9.99999821e-01 -8.04709918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43038572300003 meters 0.01723354600741673 Centerline is valid? [True, True] Translation: X:112.19, Y:-128.12, Z:-8.05 [[ 3.08662909e-02 9.99523523e-01 -9.12200711e-07 1.12192111e+02] [ 9.99523522e-01 -3.08662909e-02 2.29617733e-05 -1.28118809e+02] [ 2.29226763e-05 -1.62051083e-06 -1.00000000e+00 -8.04632874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.460385723 meters 0.017170784109573824 Centerline is valid? [True, True] Translation: X:112.20, Y:-128.12, Z:-8.05 [[-4.77245766e-02 9.98860532e-01 4.20551727e-05 1.12198444e+02] [ 9.98860275e-01 4.77245945e-02 -7.17000237e-04 -1.28122561e+02] [-7.18190304e-04 7.78870869e-06 -9.99999742e-01 -8.04572923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.490385723 meters 0.017328991338939715 Centerline is valid? [True, True] Translation: X:112.20, Y:-128.13, Z:-8.04 [[-1.26216394e-01 9.92002654e-01 3.95551500e-04 1.12204519e+02] [ 9.91998588e-01 1.26217010e-01 -2.84026525e-03 -1.28126252e+02] [-2.86747600e-03 3.38984902e-05 -9.99995888e-01 -8.04443985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.520385723 meters 0.01733053503934545 Centerline is valid? [True, True] Translation: X:112.21, Y:-128.13, Z:-8.04 [[-2.04091043e-01 9.78951445e-01 9.56658892e-04 1.12210338e+02] [ 9.78941827e-01 2.04093279e-01 -4.33973338e-03 -1.28130132e+02] [-4.44363591e-03 5.08126930e-05 -9.99990126e-01 -8.04409103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.550385723 meters 0.017528350540522666 Centerline is valid? [True, True] Translation: X:112.21, Y:-128.13, Z:-8.04 [[-2.80107790e-01 9.59967487e-01 1.43166419e-03 1.12214304e+02] [ 9.59955962e-01 2.80111443e-01 -4.70424532e-03 -1.28132803e+02] [-4.91694808e-03 5.66388197e-05 -9.99987910e-01 -8.04387275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.580385723 meters 0.017741265980781837 Centerline is valid? [True, True] Translation: X:112.22, Y:-128.14, Z:-8.04 [[-3.54492997e-01 9.35056555e-01 1.98841541e-03 1.12218479e+02] [ 9.35042822e-01 3.54498568e-01 -5.06825197e-03 -1.28136180e+02] [-5.44399265e-03 6.25937288e-05 -9.99985179e-01 -8.04397965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.610385723 meters 0.019610318228333347 Centerline is valid? [True, True] Translation: X:112.22, Y:-128.14, Z:-8.04 [[-4.25168222e-01 9.05109503e-01 2.96152595e-03 1.12221085e+02] [ 9.05088993e-01 4.25178526e-01 -6.09383771e-03 -1.28140466e+02] [-6.77476766e-03 8.95384016e-05 -9.99977047e-01 -8.04268611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.640385723 meters 0.018186801997142253 Centerline is valid? [True, True] Translation: X:112.22, Y:-128.14, Z:-8.05 [[-4.95182418e-01 8.68782741e-01 3.30475972e-03 1.12223227e+02] [ 8.68764500e-01 4.95193439e-01 -5.63040420e-03 -1.28144195e+02] [-6.52809333e-03 8.29807619e-05 -9.99978688e-01 -8.04586355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.670385723 meters 0.01767351414079291 Centerline is valid? [True, True] Translation: X:112.23, Y:-128.14, Z:-8.05 [[-5.61510426e-01 8.27458738e-01 4.25186953e-03 1.12232643e+02] [ 8.27436302e-01 5.61526515e-01 -6.09419527e-03 -1.28141946e+02] [-7.43023261e-03 9.61970191e-05 -9.99972391e-01 -8.04905100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.700385723 meters 0.018469662221546026 Centerline is valid? [True, True] Translation: X:112.24, Y:-128.14, Z:-8.05 [[-6.24717812e-01 7.80835329e-01 4.88300170e-03 1.12240171e+02] [ 7.80812700e-01 6.24736888e-01 -5.94543422e-03 -1.28141856e+02] [-7.69299638e-03 9.84910840e-05 -9.99970404e-01 -8.04765070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.730385723 meters 0.017634389470226056 Centerline is valid? [True, True] Translation: X:112.25, Y:-128.14, Z:-8.05 [[-6.84501337e-01 7.28987852e-01 5.88478645e-03 1.12250792e+02] [ 7.28962190e-01 6.84526625e-01 -6.11752877e-03 -1.28135952e+02] [-8.48789717e-03 1.02330194e-04 -9.99963972e-01 -8.04852438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.760385723 meters 0.017515253760084445 Centerline is valid? [True, True] Translation: X:112.26, Y:-128.13, Z:-8.05 [[-7.39899225e-01 6.72688438e-01 6.27707907e-03 1.12258970e+02] [ 6.72665327e-01 7.39925845e-01 -5.57694432e-03 -1.28131571e+02] [-8.39611900e-03 9.59966601e-05 -9.99964747e-01 -8.04876290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.790385723 meters 0.01806188770466425 Centerline is valid? [True, True] Translation: X:112.28, Y:-128.11, Z:-8.05 [[-7.86096524e-01 6.18059551e-01 7.39231744e-03 1.12275751e+02] [ 6.18033416e-01 7.86131275e-01 -5.68459360e-03 -1.28108872e+02] [-9.32474930e-03 1.00059936e-04 -9.99956519e-01 -8.04714945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.820385723 meters 0.017916269115336964 Centerline is valid? [True, True] Translation: X:112.71, Y:-127.54, Z:-9.02 [[-7.55945810e-01 -6.54576347e-01 8.70283235e-03 1.12714258e+02] [ 6.54533131e-01 -7.55995904e-01 -7.52157087e-03 -1.27544920e+02] [ 1.15027480e-02 1.03921311e-05 9.99933841e-01 -9.02337767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.850385723 meters 0.01789461071761217 Centerline is valid? [True, True] Translation: X:112.24, Y:-128.08, Z:-8.05 [[-7.90323531e-01 6.12595259e-01 1.07594588e-02 1.12240627e+02] [ 6.12540201e-01 7.90396761e-01 -8.21359905e-03 -1.28078780e+02] [-1.35358532e-02 9.92004309e-05 -9.99908381e-01 -8.04636259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.880385723 meters 0.017057855776151525 Centerline is valid? [True, True] Translation: X:112.26, Y:-128.05, Z:-8.05 [[-8.32178762e-01 5.54368651e-01 1.24059088e-02 1.12259580e+02] [ 5.54308768e-01 8.32271223e-01 -8.14862547e-03 -1.28052010e+02] [-1.48424234e-02 9.55909602e-05 -9.99889841e-01 -8.05004828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.910385723 meters 0.018476855215500885 Centerline is valid? [True, True] Translation: X:112.28, Y:-128.03, Z:-8.04 [[-8.69472833e-01 4.93803555e-01 1.32303176e-02 1.12275057e+02] [ 4.93748034e-01 8.69573482e-01 -7.40532505e-03 -1.28027757e+02] [-1.51615091e-02 9.37143281e-05 -9.99885053e-01 -8.04483864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.940385723 meters 0.016990268109385528 Centerline is valid? [True, True] Translation: X:112.29, Y:-128.00, Z:-8.05 [[-9.02339395e-01 4.30793059e-01 1.41759490e-02 1.12288772e+02] [ 4.30741533e-01 9.02450736e-01 -6.66331420e-03 -1.27999716e+02] [-1.56636051e-02 9.35991146e-05 -9.99877314e-01 -8.05075928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.970385723 meters 0.017079108194403697 Centerline is valid? [True, True] Translation: X:112.30, Y:-127.97, Z:-8.05 [[-9.30500160e-01 3.65959987e-01 1.55801315e-02 1.12300638e+02] [ 3.65910554e-01 9.30630581e-01 -6.01572748e-03 -1.27974985e+02] [-1.67008623e-02 1.03299156e-04 -9.99860526e-01 -8.05182793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.000385723 meters 0.01701987797976701 Centerline is valid? [True, True] Translation: X:112.56, Y:-127.32, Z:-9.02 [[-9.09220329e-01 -4.16033518e-01 1.53135802e-02 1.12555752e+02] [ 4.15972794e-01 -9.09349275e-01 -7.10852993e-03 -1.27317940e+02] [ 1.68827798e-02 -9.31871506e-05 9.99857471e-01 -9.01560799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.030385723 meters 0.016852509064546408 Centerline is valid? [True, True] Translation: X:112.25, Y:-127.96, Z:-8.05 [[-9.32106460e-01 3.61825321e-01 1.61240297e-02 1.12251588e+02] [ 3.61772953e-01 9.32245905e-01 -6.15651344e-03 -1.27958905e+02] [-1.72591431e-02 9.47118728e-05 -9.99851045e-01 -8.05497930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.060385723 meters 0.01684855324009224 Centerline is valid? [True, True] Translation: X:112.51, Y:-127.30, Z:-9.02 [[-9.10030237e-01 -4.14242688e-01 1.57468515e-02 1.12508095e+02] [ 4.14178974e-01 -9.10166462e-01 -7.26564706e-03 -1.27303732e+02] [ 1.73419973e-02 -8.99437131e-05 9.99849612e-01 -9.01674357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.090385723 meters 0.016974226338754502 Centerline is valid? [True, True] Translation: X:112.21, Y:-127.94, Z:-8.05 [[-9.34017936e-01 3.56791803e-01 1.76097663e-02 1.12207160e+02] [ 3.56729871e-01 9.34183924e-01 -6.64792420e-03 -1.27941037e+02] [-1.88226854e-02 7.26492076e-05 -9.99822835e-01 -8.05287470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.120385723 meters 0.0168014695841441 Centerline is valid? [True, True] Translation: X:112.46, Y:-127.28, Z:-9.02 [[-9.11049626e-01 -4.11922559e-01 1.75608489e-02 1.12457399e+02] [ 4.11845103e-01 -9.11218856e-01 -7.98798368e-03 -1.27282308e+02] [ 1.92922073e-02 -4.50999328e-05 9.99813887e-01 -9.01591852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.150385723 meters 0.016625649924241807 Centerline is valid? [True, True] Translation: X:112.16, Y:-127.93, Z:-8.06 [[-9.35199046e-01 3.53675396e-01 1.77893038e-02 1.12161497e+02] [ 3.53613071e-01 9.35368221e-01 -6.63990490e-03 -1.27929675e+02] [-1.89879204e-02 8.08975988e-05 -9.99819710e-01 -8.05627148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18038572300003 meters 0.01692438196672555 Centerline is valid? [True, True] Translation: X:112.41, Y:-127.26, Z:-9.01 [[-9.12973198e-01 -4.07636674e-01 1.76715164e-02 1.12414469e+02] [ 4.07559096e-01 -9.13144205e-01 -7.95262597e-03 -1.27262270e+02] [ 1.93784248e-02 -5.83470917e-05 9.99812219e-01 -9.01307909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.210385723 meters 0.017085959858084254 Centerline is valid? [True, True] Translation: X:112.11, Y:-127.92, Z:-8.06 [[-9.36429298e-01 3.50329584e-01 1.92185711e-02 1.12112505e+02] [ 3.50257811e-01 9.36626486e-01 -7.09165146e-03 -1.27915463e+02] [-2.04850380e-02 9.06244292e-05 -9.99790156e-01 -8.05595283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.240385723 meters 0.016948804268342783 Centerline is valid? [True, True] Translation: X:112.12, Y:-127.89, Z:-8.06 [[-9.59275472e-01 2.81719453e-01 2.06087207e-02 1.12123210e+02] [ 2.81655927e-01 9.59496819e-01 -5.98274128e-03 -1.27888777e+02] [-2.14594566e-02 6.54713779e-05 -9.99769717e-01 -8.05598657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.270385723 meters 0.016948804268342783 Centerline is valid? [True, True] Translation: X:112.33, Y:-127.20, Z:-9.01 [[-9.40285794e-01 -3.39791693e-01 2.01055232e-02 1.12327384e+02] [ 3.39712475e-01 -9.40500718e-01 -7.33712599e-03 -1.27200994e+02] [ 2.14023535e-02 -6.88982866e-05 9.99770941e-01 -9.01421409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.300385723 meters 0.017047050485632414 Centerline is valid? [True, True] Translation: X:112.07, Y:-127.88, Z:-8.06 [[-9.60589800e-01 2.77222931e-01 2.03637587e-02 1.12074918e+02] [ 2.77161696e-01 9.60805623e-01 -5.82664891e-03 -1.27876911e+02] [-2.11808946e-02 4.70344099e-05 -9.99775659e-01 -8.05507526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.330385723 meters 0.01796104437709407 Centerline is valid? [True, True] Translation: X:112.08, Y:-127.85, Z:-8.06 [[-9.77896039e-01 2.08054230e-01 2.08032122e-02 1.12076374e+02] [ 2.08008042e-01 9.78117291e-01 -4.38392354e-03 -1.27851584e+02] [-2.12600754e-02 4.02139854e-05 -9.99773978e-01 -8.05762545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.360385723 meters 0.016835689625243948 Centerline is valid? [True, True] Translation: X:112.08, Y:-127.82, Z:-8.06 [[-9.90323525e-01 1.37228604e-01 2.06791070e-02 1.12078103e+02] [ 1.37199141e-01 9.90539403e-01 -2.84356488e-03 -1.27823672e+02] [-2.08736888e-02 2.11065310e-05 -9.99782121e-01 -8.05917370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.390385723 meters 0.01673537005068456 Centerline is valid? [True, True] Translation: X:112.18, Y:-127.10, Z:-9.01 [[-9.79265111e-01 -2.01600356e-01 1.99283215e-02 1.12178713e+02] [ 2.01557504e-01 -9.79467862e-01 -4.15681305e-03 -1.27099598e+02] [ 2.03571654e-02 -5.39192564e-05 9.99792770e-01 -9.01074198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.420385723 meters 0.0195125563344644 Centerline is valid? [True, True] Translation: X:112.01, Y:-127.82, Z:-8.06 [[-9.90784317e-01 1.33650736e-01 2.19981465e-02 1.12011511e+02] [ 1.33618644e-01 9.91028496e-01 -2.92894287e-03 -1.27815771e+02] [-2.21922454e-02 3.74118297e-05 -9.99753721e-01 -8.05507015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.450385723 meters 0.016872028834593638 Centerline is valid? [True, True] Translation: X:112.12, Y:-127.09, Z:-9.01 [[-9.80014108e-01 -1.97743579e-01 2.16754374e-02 1.12118631e+02] [ 1.97694283e-01 -9.80253781e-01 -4.41536879e-03 -1.27089848e+02] [ 2.21205403e-02 -4.20136484e-05 9.99755310e-01 -9.01395949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.480385723 meters 0.016910511471197855 Centerline is valid? [True, True] Translation: X:111.95, Y:-127.82, Z:-8.06 [[-9.91423839e-01 1.28809294e-01 2.20666447e-02 1.11951695e+02] [ 1.28778008e-01 9.91669383e-01 -2.83894837e-03 -1.27815977e+02] [-2.22484989e-02 2.70974605e-05 -9.99752471e-01 -8.05672210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.510385723 meters 0.019438867777789366 Centerline is valid? [True, True] Translation: X:111.94, Y:-127.79, Z:-8.06 [[-9.97957140e-01 5.97455655e-02 2.26277108e-02 1.11944493e+02] [ 5.97317221e-02 9.98213636e-01 -1.28778345e-03 -1.27789805e+02] [-2.26642288e-02 6.64394466e-05 -9.99743131e-01 -8.05510519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.540385723 meters 0.016967871402574306 Centerline is valid? [True, True] Translation: X:111.96, Y:-127.76, Z:-8.06 [[-9.99702080e-01 -1.14229863e-02 2.15700524e-02 1.11956475e+02] [-1.14189604e-02 9.99934754e-01 3.09806280e-04 -1.27763239e+02] [-2.15721839e-02 6.34064092e-05 -9.99767291e-01 -8.05739115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.570385723 meters 0.017275093840417196 Centerline is valid? [True, True] Translation: X:111.95, Y:-127.00, Z:-9.01 [[-9.98615440e-01 -4.84592766e-02 2.04670840e-02 1.11952126e+02] [ 4.84464354e-02 -9.98825151e-01 -1.12306711e-03 -1.27001713e+02] [ 2.04974613e-02 -1.29954889e-04 9.99789897e-01 -9.01426846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.600385723 meters 0.017300261116105126 Centerline is valid? [True, True] Translation: X:111.86, Y:-127.77, Z:-8.06 [[-9.99673145e-01 -1.54565583e-02 2.03641272e-02 1.11856283e+02] [-1.54513247e-02 9.99880535e-01 4.14328460e-04 -1.27770051e+02] [-2.03680985e-02 9.95402927e-05 -9.99792544e-01 -8.05595960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.630385723 meters 0.01943295685241896 Centerline is valid? [True, True] Translation: X:111.85, Y:-127.74, Z:-8.05 [[-9.96114679e-01 -8.56259889e-02 2.05848776e-02 1.11847336e+02] [-8.56052003e-02 9.96327344e-01 1.89058637e-03 -1.27744536e+02] [-2.06711597e-02 1.21068269e-04 -9.99786321e-01 -8.05457453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.660385723 meters 0.01736155279199653 Centerline is valid? [True, True] Translation: X:111.84, Y:-127.72, Z:-8.06 [[-9.87338248e-01 -1.57476005e-01 1.90916712e-02 1.11838374e+02] [-1.57444616e-01 9.87522809e-01 3.14568241e-03 -1.27718817e+02] [-1.93488302e-02 9.99717321e-05 -9.99812789e-01 -8.05690278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.690385723 meters 0.017562010867320954 Centerline is valid? [True, True] Translation: X:111.81, Y:-127.70, Z:-8.06 [[-9.73668833e-01 -2.27291987e-01 1.75316081e-02 1.11811483e+02] [-2.27253160e-01 9.73826648e-01 4.20242181e-03 -1.27699537e+02] [-1.80279240e-02 1.07653796e-04 -9.99837478e-01 -8.05778307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.720385723 meters 0.01774768144435089 Centerline is valid? [True, True] Translation: X:111.76, Y:-127.69, Z:-8.06 [[-9.54920856e-01 -2.96359130e-01 1.72459784e-02 1.11756925e+02] [-2.96308295e-01 9.55076567e-01 5.49052812e-03 -1.27688089e+02] [-1.80983980e-02 1.32893339e-04 -9.99836202e-01 -8.05744812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.750385723 meters 0.01991205075218933 Centerline is valid? [True, True] Translation: X:111.69, Y:-127.68, Z:-8.06 [[-9.30867212e-01 -3.64952553e-01 1.72008082e-02 1.11690189e+02] [-3.64887165e-01 9.31026106e-01 6.90991199e-03 -1.27683082e+02] [-1.85361915e-02 1.55856374e-04 -9.99828178e-01 -8.05527046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.780385723 meters 0.017644021255621038 Centerline is valid? [True, True] Translation: X:111.63, Y:-127.68, Z:-8.06 [[-9.00401796e-01 -4.34770146e-01 1.58595511e-02 1.11627734e+02] [-4.34700342e-01 9.00541451e-01 7.79150134e-03 -1.27681627e+02] [-1.76696953e-02 1.21329538e-04 -9.99843871e-01 -8.05740603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.810385723 meters 0.017626862146379096 Centerline is valid? [True, True] Translation: X:111.54, Y:-127.70, Z:-8.06 [[-8.64814302e-01 -5.01862870e-01 1.51619180e-02 1.11544148e+02] [-5.01783696e-01 8.64947195e-01 8.91474452e-03 -1.27695037e+02] [-1.75882377e-02 1.01595305e-04 -9.99845310e-01 -8.05738823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.840385723 meters 0.019285997821286583 Centerline is valid? [True, True] Translation: X:111.46, Y:-127.72, Z:-8.06 [[-8.24145302e-01 -5.66190653e-01 1.45830772e-02 1.11455308e+02] [-5.66100140e-01 8.24274309e-01 1.01240058e-02 -1.27717509e+02] [-1.77525733e-02 8.81697905e-05 -9.99842407e-01 -8.05748785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.870385723 meters 0.01782303420284638 Centerline is valid? [True, True] Translation: X:111.35, Y:-127.76, Z:-8.06 [[-7.76414291e-01 -6.30085173e-01 1.31728507e-02 1.11348357e+02] [-6.29994344e-01 7.76526030e-01 1.06982155e-02 -1.27759107e+02] [-1.69698484e-02 7.42595054e-06 -9.99856002e-01 -8.05793084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.900385723 meters 0.017963239340766785 Centerline is valid? [True, True] Translation: X:111.25, Y:-127.81, Z:-8.06 [[-7.24787683e-01 -6.88852277e-01 1.28589973e-02 1.11246623e+02] [-6.88744743e-01 7.24901744e-01 1.21713199e-02 -1.27807139e+02] [-1.77057510e-02 -3.49440454e-05 -9.99843240e-01 -8.05618142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93038572300003 meters 0.019355297540263938 Centerline is valid? [True, True] Translation: X:111.16, Y:-127.85, Z:-8.06 [[-6.70093146e-01 -7.42173472e-01 1.23980731e-02 1.11161671e+02] [-7.42047487e-01 6.70207830e-01 1.36744539e-02 -1.27851926e+02] [-1.84581027e-02 -3.68011446e-05 -9.99829634e-01 -8.05503858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.960385723 meters 0.018575016332313683 Centerline is valid? [True, True] Translation: X:111.07, Y:-127.91, Z:-8.06 [[-6.10931326e-01 -7.91598725e-01 1.15919764e-02 1.11074066e+02] [-7.91457778e-01 6.11041289e-01 1.49375079e-02 -1.27910887e+02] [-1.89076884e-02 -4.87683469e-05 -9.99821233e-01 -8.05731576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.990385723 meters 0.01678541330387918 Centerline is valid? [True, True] Translation: X:110.97, Y:-128.00, Z:-8.06 [[-5.47990811e-01 -8.36416109e-01 1.06847811e-02 1.10973188e+02] [-8.36259541e-01 5.48094963e-01 1.61830365e-02 -1.28002889e+02] [-1.93920271e-02 -6.70947889e-05 -9.99811955e-01 -8.05832385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.020385723 meters 0.017851960224470064 Centerline is valid? [True, True] Translation: X:110.89, Y:-128.08, Z:-8.06 [[-4.82443603e-01 -8.75874122e-01 9.62770726e-03 1.10892587e+02] [-8.75702318e-01 4.82539656e-01 1.73473416e-02 -1.28082166e+02] [-1.98398381e-02 -6.18916002e-05 -9.99803169e-01 -8.05758883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.050385723 meters 0.01674235424772586 Centerline is valid? [True, True] Translation: X:110.83, Y:-128.14, Z:-8.06 [[-4.15225338e-01 -9.09680786e-01 8.29377027e-03 1.10829325e+02] [-9.09500547e-01 4.15308159e-01 1.81076643e-02 -1.28143375e+02] [-1.99166648e-02 -2.44275710e-05 -9.99801643e-01 -8.05841157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.080385723 meters 0.019571586673242696 Centerline is valid? [True, True] Translation: X:110.76, Y:-128.24, Z:-8.06 [[-3.46345887e-01 -9.38082132e-01 6.81468032e-03 1.10757892e+02] [-9.37899169e-01 3.46412922e-01 1.85266602e-02 -1.28241400e+02] [-1.97402223e-02 2.51495583e-05 -9.99805143e-01 -8.05603973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.110385723 meters 0.017965794816723765 Centerline is valid? [True, True] Translation: X:110.70, Y:-128.35, Z:-8.06 [[-2.77247019e-01 -9.60785849e-01 4.96422333e-03 1.10695285e+02] [-9.60625127e-01 2.77291439e-01 1.75733426e-02 -1.28345078e+02] [-1.82607555e-02 1.03399178e-04 -9.99833253e-01 -8.05789941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.140385723 meters 0.016991883430442677 Centerline is valid? [True, True] Translation: X:110.64, Y:-128.46, Z:-8.06 [[-2.04212435e-01 -9.78921027e-01 3.30223913e-03 1.10639544e+02] [-9.78782747e-01 2.04239093e-01 1.64537641e-02 -1.28459448e+02] [-1.67813819e-02 1.27888531e-04 -9.99859175e-01 -8.06040669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.170385723 meters 0.020562308709174613 Centerline is valid? [True, True] Translation: X:110.60, Y:-128.57, Z:-8.06 [[-1.31726281e-01 -9.91284593e-01 1.74456590e-03 1.10598543e+02] [-9.91180208e-01 1.31737729e-01 1.43863235e-02 -1.28573147e+02] [-1.44907660e-02 1.65877698e-04 -9.99894990e-01 -8.05772631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.200385723 meters 0.019790726360455414 Centerline is valid? [True, True] Translation: X:110.56, Y:-128.69, Z:-8.06 [[-5.59026535e-02 -9.98436053e-01 5.83844155e-04 1.10558082e+02] [-9.98345341e-01 5.59054452e-02 1.34596407e-02 -1.28692838e+02] [-1.34712306e-02 1.69551541e-04 -9.99909244e-01 -8.06161292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.230385723 meters 0.018718837385766594 Centerline is valid? [True, True] Translation: X:110.53, Y:-128.82, Z:-8.06 [[ 2.16405143e-02 -9.99765721e-01 -4.37608841e-04 1.10526387e+02] [-9.99683003e-01 -2.16443535e-02 1.28614035e-02 -1.28820725e+02] [-1.28678621e-02 1.59142733e-04 -9.99917193e-01 -8.06213127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.260385723 meters 0.017493094902985017 Centerline is valid? [True, True] Translation: X:110.50, Y:-128.95, Z:-8.06 [[ 9.98211536e-02 -9.95004277e-01 -1.49233690e-03 1.10504989e+02] [-9.94914855e-01 -9.98321908e-02 1.33403843e-02 -1.28948814e+02] [-1.34227227e-02 1.53095592e-04 -9.99909899e-01 -8.06130851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.290385723 meters 0.01965102944004168 Centerline is valid? [True, True] Translation: X:110.49, Y:-129.07, Z:-8.06 [[ 1.76750769e-01 -9.84251990e-01 -2.68065543e-03 1.10493029e+02] [-9.84152008e-01 -1.76771025e-01 1.40296211e-02 -1.29074979e+02] [-1.42825446e-02 1.58426115e-04 -9.99897987e-01 -8.05862065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.320385723 meters 0.017018728656989092 Centerline is valid? [True, True] Translation: X:110.50, Y:-129.22, Z:-8.06 [[ 2.56233347e-01 -9.66606677e-01 -4.00036650e-03 1.10495053e+02] [-9.66495175e-01 -2.56264552e-01 1.46818337e-02 -1.29219344e+02] [-1.52167107e-02 1.04359511e-04 -9.99884214e-01 -8.05923680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.350385723 meters 0.019563871742874293 Centerline is valid? [True, True] Translation: X:110.50, Y:-129.33, Z:-8.06 [[ 3.31102489e-01 -9.43580293e-01 -5.23182203e-03 1.10498185e+02] [-9.43466784e-01 -3.31143809e-01 1.46357342e-02 -1.29328307e+02] [-1.55424758e-02 9.01222892e-05 -9.99879204e-01 -8.05716988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.380385723 meters 0.0166135194023349 Centerline is valid? [True, True] Translation: X:110.52, Y:-129.46, Z:-8.06 [[ 4.05947856e-01 -9.13878428e-01 -5.70596166e-03 1.10517391e+02] [-9.13789312e-01 -4.05987954e-01 1.27622633e-02 -1.29458632e+02] [-1.39797088e-02 3.32333717e-05 -9.99902279e-01 -8.05903118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.410385723 meters 0.017644250098414693 Centerline is valid? [True, True] Translation: X:110.54, Y:-129.58, Z:-8.06 [[ 4.75201149e-01 -8.79853120e-01 -6.50800828e-03 1.10543354e+02] [-8.79771518e-01 -4.75245711e-01 1.19829192e-02 -1.29576789e+02] [-1.36361119e-02 3.12633359e-05 -9.99907023e-01 -8.05856601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.440385723 meters 0.016282325093227187 Centerline is valid? [True, True] Translation: X:110.58, Y:-129.69, Z:-8.06 [[ 5.41581598e-01 -8.40620258e-01 -6.85238324e-03 1.10576308e+02] [-8.40553619e-01 -5.41624946e-01 1.05845105e-02 -1.29689543e+02] [-1.26089756e-02 2.74194241e-05 -9.99920503e-01 -8.06112981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.470385723 meters 0.016216494792291262 Centerline is valid? [True, True] Translation: X:110.62, Y:-129.80, Z:-8.06 [[ 6.04136383e-01 -7.96847616e-01 -7.28748843e-03 1.10619869e+02] [-7.96790293e-01 -6.04180333e-01 9.55788472e-03 -1.29800928e+02] [-1.20191348e-02 3.23341467e-05 -9.99927767e-01 -8.06098343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.500385723 meters 0.016155362963359725 Centerline is valid? [True, True] Translation: X:110.68, Y:-129.91, Z:-8.06 [[ 6.62789246e-01 -7.48773096e-01 -7.01901222e-03 1.10675019e+02] [-7.48731714e-01 -6.62826410e-01 7.87210094e-03 -1.29909080e+02] [-1.05468041e-02 3.78132069e-05 -9.99944380e-01 -8.06243680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.530385723 meters 0.016185563754133787 Centerline is valid? [True, True] Translation: X:110.73, Y:-130.01, Z:-8.06 [[ 7.17949866e-01 -6.96056748e-01 -7.27962740e-03 1.10731512e+02] [-6.96021520e-01 -7.17986770e-01 7.00298897e-03 -1.30006984e+02] [-1.01011539e-02 3.89823360e-05 -9.99948981e-01 -8.06324025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.560385723 meters 0.016170065950704596 Centerline is valid? [True, True] Translation: X:110.73, Y:-130.01, Z:-8.06 [[ 7.69398512e-01 -6.38728617e-01 -7.18916490e-03 1.10725932e+02] [-6.38701300e-01 -7.69432097e-01 5.90739947e-03 -1.30013990e+02] [-9.30479932e-03 4.65846120e-05 -9.99956708e-01 -8.06355268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.590385723 meters 0.016167073674799026 Centerline is valid? [True, True] Translation: X:110.72, Y:-130.02, Z:-8.06 [[ 8.17201837e-01 -5.76308043e-01 -7.08504462e-03 1.10719092e+02] [-5.76286806e-01 -8.17232548e-01 4.94760183e-03 -1.30021739e+02] [-8.64147180e-03 3.98284304e-05 -9.99962661e-01 -8.06356703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.620385723 meters 0.017822618374042195 Centerline is valid? [True, True] Translation: X:110.71, Y:-130.03, Z:-8.06 [[ 8.59368375e-01 -5.11313261e-01 -6.68916503e-03 1.10712242e+02] [-5.11298146e-01 -8.59394407e-01 3.93183032e-03 -1.30030354e+02] [-7.75902800e-03 4.12670458e-05 -9.99969897e-01 -8.06209007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.650385723 meters 0.01586922470296219 Centerline is valid? [True, True] Translation: X:110.71, Y:-130.04, Z:-8.06 [[ 8.97779855e-01 -4.40418344e-01 -4.79734781e-03 1.10705166e+02] [-4.40412147e-01 -8.97792672e-01 2.33654037e-03 -1.30040268e+02] [-5.33607895e-03 1.51113758e-05 -9.99985763e-01 -8.06484381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68038572300003 meters 0.015822983710943275 Centerline is valid? [True, True] Translation: X:110.70, Y:-130.05, Z:-8.07 [[ 9.29844128e-01 -3.67923223e-01 -4.73289884e-03 1.10698771e+02] [-3.67918507e-01 -9.29856173e-01 1.86285792e-03 -1.30050904e+02] [-5.08630389e-03 9.15357399e-06 -9.99987065e-01 -8.06528199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.710385723 meters 0.015724939134309827 Centerline is valid? [True, True] Translation: X:110.69, Y:-130.06, Z:-8.06 [[ 9.56120429e-01 -2.92932586e-01 -4.92200978e-03 1.10693189e+02] [-2.92928721e-01 -9.56133097e-01 1.50474544e-03 -1.30061267e+02] [-5.14688543e-03 3.08017110e-06 -9.99986755e-01 -8.06428467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.740385723 meters 0.017076581781372738 Centerline is valid? [True, True] Translation: X:110.69, Y:-130.07, Z:-8.06 [[ 9.75915454e-01 -2.18082698e-01 -5.38179642e-03 1.10689842e+02] [-2.18079425e-01 -9.75930293e-01 1.19473876e-03 -1.30071178e+02] [-5.51281001e-03 7.69504987e-06 -9.99984804e-01 -8.06214733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.770385723 meters 0.015742927705260614 Centerline is valid? [True, True] Translation: X:110.68, Y:-130.08, Z:-8.06 [[ 9.89862372e-01 -1.41946787e-01 -4.85733332e-03 1.10682105e+02] [-1.41945134e-01 -9.89874290e-01 6.85258207e-04 -1.30078703e+02] [-4.90541957e-03 1.11635127e-05 -9.99987968e-01 -8.06192742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.800385723 meters 0.01654675117198112 Centerline is valid? [True, True] Translation: X:110.68, Y:-130.09, Z:-8.06 [[ 9.97846248e-01 -6.54684337e-02 -4.09268443e-03 1.10676118e+02] [-6.54679447e-02 -9.97854641e-01 2.53497140e-04 -1.30086356e+02] [-4.10050021e-03 1.49884671e-05 -9.99991593e-01 -8.06087832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.830385723 meters 0.016190567897155318 Centerline is valid? [True, True] Translation: X:110.67, Y:-130.09, Z:-8.06 [[ 9.99943517e-01 1.03390333e-02 -2.46318230e-03 1.10670301e+02] [ 1.03389659e-02 -9.99946551e-01 -4.00757736e-05 -1.30091929e+02] [-2.46346499e-03 1.46067522e-05 -9.99996966e-01 -8.06200544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.860385723 meters 0.015976221487623093 Centerline is valid? [True, True] Translation: X:110.67, Y:-130.10, Z:-8.06 [[ 9.96155839e-01 8.75846668e-02 -1.57175269e-03 1.10665089e+02] [ 8.75845412e-02 -9.96157079e-01 -1.48688358e-04 -1.30100826e+02] [-1.57873539e-03 1.04555373e-05 -9.99998754e-01 -8.06268500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.890385723 meters 0.01829577305501624 Centerline is valid? [True, True] Translation: X:110.66, Y:-130.11, Z:-8.06 [[ 9.86613775e-01 1.63071989e-01 -8.86173754e-04 1.10661412e+02] [ 1.63071916e-01 -9.86614173e-01 -1.53898792e-04 -1.30109598e+02] [-8.99408167e-04 7.32861627e-06 -9.99999596e-01 -8.06061257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.920385723 meters 0.016561082655294913 Centerline is valid? [True, True] Translation: X:110.66, Y:-130.12, Z:-8.06 [[ 9.71070049e-01 2.38790657e-01 1.40775676e-03 1.10658123e+02] [ 2.38790380e-01 -9.71071069e-01 3.63950066e-04 -1.30118171e+02] [ 1.45393974e-03 -1.72622355e-05 -9.99998943e-01 -8.06372469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.950385723 meters 0.01672462461125548 Centerline is valid? [True, True] Translation: X:110.66, Y:-130.13, Z:-8.06 [[ 9.49863980e-01 3.12654960e-01 2.30104363e-03 1.10655411e+02] [ 3.12653962e-01 -9.49866767e-01 7.90523584e-04 -1.30127340e+02] [ 2.43284599e-03 -3.14594696e-05 -9.99997040e-01 -8.06413883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.980385723 meters 0.017222562083324042 Centerline is valid? [True, True] Translation: X:110.65, Y:-130.14, Z:-8.06 [[ 9.23569433e-01 3.83412323e-01 3.80708350e-03 1.10653820e+02] [ 3.83408777e-01 -9.23577277e-01 1.65033217e-03 -1.30137642e+02] [ 4.14889350e-03 -6.45271197e-05 -9.99991391e-01 -8.06417941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.010385723 meters 0.017896853327451983 Centerline is valid? [True, True] Translation: X:110.65, Y:-130.15, Z:-8.06 [[ 8.91538957e-01 4.52928207e-01 3.78521940e-03 1.10651190e+02] [ 4.52923768e-01 -8.91546989e-01 2.00650424e-03 -1.30146262e+02] [ 4.28350333e-03 -7.44608652e-05 -9.99990823e-01 -8.06383027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.040385723 meters 0.018335611475207608 Centerline is valid? [True, True] Translation: X:110.65, Y:-130.16, Z:-8.06 [[ 8.55834361e-01 5.17234280e-01 4.03050387e-03 1.10653410e+02] [ 5.17227960e-01 -8.55843846e-01 2.55922625e-03 -1.30160185e+02] [ 4.77320148e-03 -1.05584472e-04 -9.99988603e-01 -8.06269104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.070385723 meters 0.019836474152616412 Centerline is valid? [True, True] Translation: X:110.65, Y:-130.17, Z:-8.06 [[ 8.13880432e-01 5.81017509e-01 4.15889004e-03 1.10652028e+02] [ 5.81009131e-01 -8.13891048e-01 3.12271305e-03 -1.30170200e+02] [ 5.19923433e-03 -1.25161959e-04 -9.99986476e-01 -8.06428840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.100385723 meters 0.019515402958671917 Centerline is valid? [True, True] Translation: X:110.65, Y:-130.18, Z:-8.06 [[ 7.67294581e-01 6.41278929e-01 4.51221100e-03 1.10654363e+02] [ 6.41266617e-01 -7.67307833e-01 3.97686717e-03 -1.30182133e+02] [ 6.01253596e-03 -1.57898348e-04 -9.99981912e-01 -8.06442542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.130385723 meters 0.020247180922642407 Centerline is valid? [True, True] Translation: X:110.66, Y:-130.19, Z:-8.07 [[ 7.17393789e-01 6.96645439e-01 5.59322019e-03 1.10657559e+02] [ 6.96621609e-01 -7.17415552e-01 5.76714904e-03 -1.30193724e+02] [ 8.03032122e-03 -2.40958861e-04 -9.99967727e-01 -8.06533815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.160385723 meters 0.020247180922642407 Centerline is valid? [True, True] Translation: X:110.66, Y:-130.21, Z:-8.07 [[ 6.60611087e-01 7.50710819e-01 5.12423255e-03 1.10660710e+02] [ 7.50685356e-01 -6.60630917e-01 6.18767070e-03 -1.30205127e+02] [ 8.03037778e-03 -2.40957531e-04 -9.99967727e-01 -8.06533865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.190385723 meters 0.020602779621890503 Centerline is valid? [True, True] Translation: X:110.67, Y:-130.22, Z:-8.06 [[ 6.00956138e-01 7.99267392e-01 4.83294054e-03 1.10665506e+02] [ 7.99237934e-01 -6.00975513e-01 6.86711550e-03 -1.30216908e+02] [ 8.39314041e-03 -2.64165792e-04 -9.99964742e-01 -8.06492719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.220385723 meters 0.021060498057599564 Centerline is valid? [True, True] Translation: X:110.67, Y:-130.23, Z:-8.06 [[ 5.38044719e-01 8.42904564e-01 4.44698859e-03 1.10674266e+02] [ 8.42871197e-01 -5.38063018e-01 7.50564676e-03 -1.30229760e+02] [ 8.71930402e-03 -2.90135007e-04 -9.99961944e-01 -8.06318491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.250385723 meters 0.02018623630062384 Centerline is valid? [True, True] Translation: X:110.69, Y:-130.24, Z:-8.06 [[ 4.69836281e-01 8.82745968e-01 3.66389508e-03 1.10686053e+02] [ 8.82714475e-01 -4.69850489e-01 7.46149060e-03 -1.30242351e+02] [ 8.30808364e-03 -2.71505776e-04 -9.99965450e-01 -8.06248755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.280385723 meters 0.019715635908044395 Centerline is valid? [True, True] Translation: X:110.70, Y:-130.25, Z:-8.06 [[ 3.96627598e-01 9.17974418e-01 3.08497206e-03 1.10700024e+02] [ 9.17941587e-01 -3.96639517e-01 7.76764594e-03 -1.30254425e+02] [ 8.35412208e-03 -2.49038605e-04 -9.99965073e-01 -8.06125027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.310385723 meters 0.019324819061544294 Centerline is valid? [True, True] Translation: X:110.71, Y:-130.27, Z:-8.06 [[ 3.21230095e-01 9.46998188e-01 2.37869861e-03 1.10711047e+02] [ 9.46966915e-01 -3.21238827e-01 7.69928793e-03 -1.30265057e+02] [ 8.05534206e-03 -2.20694112e-04 -9.99967531e-01 -8.06212113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.340385723 meters 0.018375368422170836 Centerline is valid? [True, True] Translation: X:110.73, Y:-130.27, Z:-8.06 [[ 2.43842651e-01 9.69813109e-01 1.81502991e-03 1.10726347e+02] [ 9.69779559e-01 -2.43849318e-01 8.06947288e-03 -1.30274253e+02] [ 8.26847439e-03 -2.07502756e-04 -9.99965794e-01 -8.06188733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.370385723 meters 0.01794892463256948 Centerline is valid? [True, True] Translation: X:110.74, Y:-130.28, Z:-8.06 [[ 1.63629263e-01 9.86521176e-01 1.19749489e-03 1.10742430e+02] [ 9.86486068e-01 -1.63633545e-01 8.32470220e-03 -1.30283195e+02] [ 8.40844534e-03 -1.80852858e-04 -9.99964632e-01 -8.06202345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.400385723 meters 0.01779407592723235 Centerline is valid? [True, True] Translation: X:110.76, Y:-130.29, Z:-8.06 [[ 8.33562262e-02 9.96519654e-01 5.63970933e-04 1.10757540e+02] [ 9.96481383e-01 -8.33579684e-02 8.73509317e-03 -1.30289676e+02] [ 8.75170350e-03 -1.66137866e-04 -9.99961689e-01 -8.06225975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43038572300003 meters 0.01793134835560581 Centerline is valid? [True, True] Translation: X:110.77, Y:-130.29, Z:-8.06 [[ 4.32353653e-03 9.99990645e-01 -1.31404939e-04 1.10768703e+02] [ 9.99946217e-01 -4.32210559e-03 9.42770758e-03 -1.30294120e+02] [ 9.42705144e-03 -1.72158909e-04 -9.99955550e-01 -8.06216566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.460385723 meters 0.017717366621538846 Centerline is valid? [True, True] Translation: X:110.78, Y:-130.30, Z:-8.06 [[-7.46041877e-02 9.97212754e-01 -9.69010134e-04 1.10777949e+02] [ 9.97157819e-01 7.46102505e-02 1.04687072e-02 -1.30298830e+02] [ 1.05118264e-02 -1.85246639e-04 -9.99944732e-01 -8.06427793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.490385723 meters 0.017627167039192416 Centerline is valid? [True, True] Translation: X:110.79, Y:-130.30, Z:-8.07 [[-1.51874857e-01 9.88397640e-01 -2.03318202e-03 1.10790721e+02] [ 9.88327281e-01 1.51888309e-01 1.17952240e-02 -1.30300819e+02] [ 1.19671881e-02 -2.18051311e-04 -9.99928367e-01 -8.06567026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.520385723 meters 0.01748599171532939 Centerline is valid? [True, True] Translation: X:110.81, Y:-130.30, Z:-8.06 [[-2.28090550e-01 9.73635060e-01 -3.07750204e-03 1.10806109e+02] [ 9.73559897e-01 2.28111188e-01 1.21000973e-02 -1.30301063e+02] [ 1.24830916e-02 -2.36214734e-04 -9.99922055e-01 -8.06434741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.550385723 meters 0.0177919979760339 Centerline is valid? [True, True] Translation: X:110.82, Y:-130.30, Z:-8.06 [[-3.02794394e-01 9.53048591e-01 -3.73338269e-03 1.10821507e+02] [ 9.52985251e-01 3.02817322e-01 1.09900724e-02 -1.30300694e+02] [ 1.16046060e-02 -2.30126332e-04 -9.99932638e-01 -8.06295352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.580385723 meters 0.01788223920773496 Centerline is valid? [True, True] Translation: X:110.83, Y:-130.30, Z:-8.06 [[-3.76549538e-01 9.26385454e-01 -4.52060721e-03 1.10834373e+02] [ 9.26325764e-01 3.76576604e-01 1.05185588e-02 -1.30299874e+02] [ 1.14465948e-02 -2.26796459e-04 -9.99934460e-01 -8.06251550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.610385723 meters 0.017644038992389862 Centerline is valid? [True, True] Translation: X:110.85, Y:-130.30, Z:-8.06 [[-4.49787083e-01 8.93123662e-01 -4.65883915e-03 1.10847984e+02] [ 8.93079778e-01 4.49811175e-01 8.85528411e-03 -1.30296525e+02] [ 1.00044617e-02 -1.77722620e-04 -9.99949938e-01 -8.06206388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.640385723 meters 0.017524197140648054 Centerline is valid? [True, True] Translation: X:110.86, Y:-130.29, Z:-8.06 [[-5.19147416e-01 8.54667717e-01 -5.39019800e-03 1.10859707e+02] [ 8.54625011e-01 5.19175370e-01 8.54553196e-03 -1.30293799e+02] [ 1.01020483e-02 -1.70207191e-04 -9.99948959e-01 -8.06158634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.670385723 meters 0.017076838015335865 Centerline is valid? [True, True] Translation: X:110.88, Y:-130.29, Z:-8.06 [[-5.85357147e-01 8.10754033e-01 -5.90833327e-03 1.10876755e+02] [ 8.10715391e-01 5.85386943e-01 7.91719931e-03 -1.30285133e+02] [ 9.87756243e-03 -1.55587519e-04 -9.99951204e-01 -8.05941859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.700385723 meters 0.018022630384102168 Centerline is valid? [True, True] Translation: X:110.89, Y:-130.28, Z:-8.06 [[-6.46668445e-01 7.62747165e-01 -6.05668343e-03 1.10887979e+02] [ 7.62715856e-01 6.46696791e-01 6.91257168e-03 -1.30278132e+02] [ 9.18938219e-03 -1.49386501e-04 -9.99957766e-01 -8.05744913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.730385723 meters 0.017094589842024274 Centerline is valid? [True, True] Translation: X:110.90, Y:-130.27, Z:-8.06 [[-7.04530091e-01 7.09649810e-01 -5.87347086e-03 1.10897659e+02] [ 7.09626704e-01 7.04554561e-01 5.72814857e-03 -1.30271410e+02] [ 8.20316023e-03 -1.32318733e-04 -9.99966345e-01 -8.05880073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.760385723 meters 0.017430456765405215 Centerline is valid? [True, True] Translation: X:110.92, Y:-130.25, Z:-8.06 [[-7.51968530e-01 6.59173089e-01 -5.84546531e-03 1.10918540e+02] [ 6.59154558e-01 7.51991237e-01 4.94449015e-03 -1.30251547e+02] [ 7.65501353e-03 -1.34964109e-04 -9.99970691e-01 -8.05956942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.790385723 meters 0.018187690742488345 Centerline is valid? [True, True] Translation: X:110.94, Y:-130.23, Z:-8.06 [[-7.96082477e-01 6.05153527e-01 -6.47298747e-03 1.10935192e+02] [ 6.05135044e-01 7.96108778e-01 4.73198615e-03 -1.30227826e+02] [ 8.01678025e-03 -1.49980307e-04 -9.99967854e-01 -8.06024195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.820385723 meters 0.01791705879616681 Centerline is valid? [True, True] Translation: X:110.96, Y:-130.20, Z:-8.06 [[-8.35854358e-01 5.48902858e-01 -7.29004676e-03 1.10957259e+02] [ 5.48883821e-01 8.35886129e-01 4.57495758e-03 -1.30201907e+02] [ 8.60485626e-03 -1.77390498e-04 -9.99962962e-01 -8.05835083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.850385723 meters 0.018038010565398166 Centerline is valid? [True, True] Translation: X:110.97, Y:-130.18, Z:-8.06 [[-8.72200095e-01 4.89097313e-01 -7.12827897e-03 1.10971721e+02] [ 4.89082595e-01 8.72229206e-01 3.79836477e-03 -1.30175485e+02] [ 8.07526311e-03 -1.73383055e-04 -9.99967380e-01 -8.05764929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.880385723 meters 0.019748086607724542 Centerline is valid? [True, True] Translation: X:110.98, Y:-130.15, Z:-8.06 [[-9.04110244e-01 4.27239355e-01 -7.15540065e-03 1.10982213e+02] [ 4.27227526e-01 9.04138541e-01 3.18424568e-03 -1.30153091e+02] [ 7.82990858e-03 -1.78074975e-04 -9.99969330e-01 -8.05934683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.910385723 meters 0.01875361982540924 Centerline is valid? [True, True] Translation: X:111.27, Y:-129.52, Z:-9.01 [[-8.94666751e-01 -4.46680058e-01 -6.95198596e-03 1.11271044e+02] [ 4.46665028e-01 -8.94693743e-01 3.66860093e-03 -1.29517630e+02] [-7.85858922e-03 1.76966277e-04 9.99969105e-01 -9.01112046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.940385723 meters 0.018624137093381683 Centerline is valid? [True, True] Translation: X:110.94, Y:-130.13, Z:-8.06 [[-9.05232258e-01 4.24850692e-01 -7.51324808e-03 1.10939318e+02] [ 4.24837835e-01 9.05263415e-01 3.31104067e-03 -1.30132655e+02] [ 8.20816654e-03 -1.94651220e-04 -9.99966294e-01 -8.05942727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.970385723 meters 0.018316947114497092 Centerline is valid? [True, True] Translation: X:110.95, Y:-130.10, Z:-8.06 [[-9.33036060e-01 3.59681969e-01 -8.52009701e-03 1.10951907e+02] [ 3.59669068e-01 9.33074935e-01 3.05400616e-03 -1.30102616e+02] [ 9.04835992e-03 -2.14917476e-04 -9.99959040e-01 -8.05967260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.000385723 meters 0.017960104785323217 Centerline is valid? [True, True] Translation: X:110.96, Y:-130.07, Z:-8.06 [[-9.56438748e-01 2.91821372e-01 -8.07520646e-03 1.10957747e+02] [ 2.91812660e-01 9.56472817e-01 2.26308650e-03 -1.30071075e+02] [ 8.38413248e-03 -1.91943855e-04 -9.99964834e-01 -8.05926206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.030385723 meters 0.017903342097415283 Centerline is valid? [True, True] Translation: X:111.15, Y:-129.41, Z:-9.01 [[-9.49212648e-01 -3.14573005e-01 -6.25892181e-03 1.11146092e+02] [ 3.14564319e-01 -9.49233246e-01 2.35252291e-03 -1.29414484e+02] [-6.68121687e-03 2.64211021e-04 9.99977646e-01 -9.01191604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.060385723 meters 0.017162715408485026 Centerline is valid? [True, True] Translation: X:110.91, Y:-130.06, Z:-8.06 [[-9.58571321e-01 2.84788486e-01 -6.04495743e-03 1.10907233e+02] [ 2.84783627e-01 9.58590373e-01 1.66810296e-03 -1.30055904e+02] [ 6.26969451e-03 -1.22509245e-04 -9.99980338e-01 -8.05841980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.090385723 meters 0.01721363691463017 Centerline is valid? [True, True] Translation: X:110.91, Y:-130.03, Z:-8.06 [[-9.77019358e-01 2.13035479e-01 -7.00414819e-03 1.10910793e+02] [ 2.13030863e-01 9.77044457e-01 1.40725396e-03 -1.30026860e+02] [ 7.14315919e-03 -1.17185375e-04 -9.99974480e-01 -8.05961259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.120385723 meters 0.016995558326754843 Centerline is valid? [True, True] Translation: X:110.91, Y:-130.00, Z:-8.06 [[-9.89904410e-01 1.41528140e-01 -7.68404556e-03 1.10913793e+02] [ 1.41524771e-01 9.89934226e-01 9.83117070e-04 -1.29996346e+02] [ 7.74583843e-03 -1.14290869e-04 -9.99969994e-01 -8.06011058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.150385723 meters 0.016728382810215024 Centerline is valid? [True, True] Translation: X:111.00, Y:-129.32, Z:-9.01 [[-9.83502065e-01 -1.80703699e-01 -8.35835899e-03 1.10998370e+02] [ 1.80696525e-01 -9.83537578e-01 1.61200341e-03 -1.29323990e+02] [-8.51205514e-03 7.50822617e-05 9.99963769e-01 -9.00996351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18038572300003 meters 0.01636804888006706 Centerline is valid? [True, True] Translation: X:110.85, Y:-129.99, Z:-8.06 [[-9.91075139e-01 1.32990780e-01 -9.13898596e-03 1.10854247e+02] [ 1.32986001e-01 9.91117270e-01 1.13130732e-03 -1.29987526e+02] [ 9.20826026e-03 -9.41466418e-05 -9.99957599e-01 -8.06125611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.210385723 meters 0.016258759268643307 Centerline is valid? [True, True] Translation: X:110.93, Y:-129.32, Z:-9.01 [[-9.83420547e-01 -1.81067488e-01 -9.92934230e-03 1.10932811e+02] [ 1.81057804e-01 -9.83470672e-01 1.87315764e-03 -1.29316642e+02] [-1.01043849e-02 4.43168001e-05 9.99948948e-01 -9.00854839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.240385723 meters 0.01602510112982622 Centerline is valid? [True, True] Translation: X:110.79, Y:-129.98, Z:-8.06 [[-9.92063766e-01 1.25233730e-01 -1.12248228e-02 1.10792976e+02] [ 1.25226547e-01 9.92127264e-01 1.34331540e-03 -1.29981968e+02] [ 1.13046811e-02 -7.29912569e-05 -9.99936097e-01 -8.06355506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.270385723 meters 0.018115249376999046 Centerline is valid? [True, True] Translation: X:110.88, Y:-129.31, Z:-9.01 [[-9.83698180e-01 -1.79436565e-01 -1.18494336e-02 1.10878526e+02] [ 1.79423187e-01 -9.83769545e-01 2.19131574e-03 -1.29307498e+02] [-1.20503141e-02 2.95301618e-05 9.99927392e-01 -9.00928345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.300385723 meters 0.015642469527287175 Centerline is valid? [True, True] Translation: X:110.73, Y:-129.98, Z:-8.06 [[-9.92623120e-01 1.20562110e-01 -1.28109271e-02 1.10734394e+02] [ 1.20553031e-01 9.92705783e-01 1.48142070e-03 -1.29977522e+02] [ 1.28960846e-02 -7.39036538e-05 -9.99916839e-01 -8.06294764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.330385723 meters 0.01562443030696529 Centerline is valid? [True, True] Translation: X:110.82, Y:-129.30, Z:-9.01 [[-9.84375899e-01 -1.75503569e-01 -1.42333277e-02 1.10816432e+02] [ 1.75485474e-01 -9.84478795e-01 2.52020680e-03 -1.29296741e+02] [-1.44547146e-02 -1.69114219e-05 9.99895525e-01 -9.00587214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.360385723 meters 0.015745611400537596 Centerline is valid? [True, True] Translation: X:110.68, Y:-129.98, Z:-8.06 [[-9.92896422e-01 1.17877299e-01 -1.61751859e-02 1.10681266e+02] [ 1.17863597e-01 9.93028161e-01 1.80115904e-03 -1.29979478e+02] [ 1.62747309e-02 -1.18101218e-04 -9.99867551e-01 -8.06494884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.390385723 meters 0.017563887620313707 Centerline is valid? [True, True] Translation: X:110.68, Y:-129.95, Z:-8.06 [[-9.98688501e-01 4.79529357e-02 -1.79386064e-02 1.10680812e+02] [ 4.79478374e-02 9.98849586e-01 7.14442236e-04 -1.29952971e+02] [ 1.79522292e-02 -1.46612137e-04 -9.99838835e-01 -8.06277772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.420385723 meters 0.01784677430707789 Centerline is valid? [True, True] Translation: X:110.71, Y:-129.25, Z:-9.01 [[-9.94919100e-01 -9.87804580e-02 -1.94526593e-02 1.10711669e+02] [ 9.87604920e-02 -9.95109249e-01 1.98674993e-03 -1.29247812e+02] [-1.95537732e-02 5.55012482e-05 9.99808805e-01 -9.00603501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.450385723 meters 0.01597727450366009 Centerline is valid? [True, True] Translation: X:110.61, Y:-129.96, Z:-8.07 [[-9.98831252e-01 4.29552166e-02 -2.21580763e-02 1.10609058e+02] [ 4.29484834e-02 9.99076984e-01 7.79883539e-04 -1.29959922e+02] [ 2.21711241e-02 -1.72683724e-04 -9.99754176e-01 -8.07047981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.480385723 meters 0.01601333207115084 Centerline is valid? [True, True] Translation: X:110.61, Y:-129.93, Z:-8.07 [[-9.99303922e-01 -2.87805131e-02 -2.37350688e-02 1.10606754e+02] [-2.87683353e-02 9.99585741e-01 -8.54440561e-04 -1.29934001e+02] [ 2.37498276e-02 -1.71027384e-04 -9.99717918e-01 -8.06962120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.510385723 meters 0.01606372949006052 Centerline is valid? [True, True] Translation: X:110.57, Y:-129.20, Z:-9.00 [[-9.99403399e-01 -2.47034527e-02 -2.41368282e-02 1.10574257e+02] [ 2.46926871e-02 -9.99694812e-01 7.44010974e-04 -1.29204139e+02] [-2.41478416e-02 1.47563949e-04 9.99708387e-01 -9.00098158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.540385723 meters 0.01635178583436275 Centerline is valid? [True, True] Translation: X:110.51, Y:-129.94, Z:-8.07 [[-9.99083049e-01 -3.48684250e-02 -2.48446007e-02 1.10512331e+02] [-3.48534320e-02 9.99391897e-01 -1.03637223e-03 -1.29942391e+02] [ 2.48656293e-02 -1.69502325e-04 -9.99690788e-01 -8.07101309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.570385723 meters 0.016222523123354267 Centerline is valid? [True, True] Translation: X:110.49, Y:-129.92, Z:-8.07 [[-9.94069977e-01 -1.05881311e-01 -2.47795920e-02 1.10491132e+02] [-1.05844194e-01 9.94378761e-01 -2.80840263e-03 -1.29922629e+02] [ 2.49376573e-02 -1.68972788e-04 -9.99688994e-01 -8.07159502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.600385723 meters 0.016320438926008554 Centerline is valid? [True, True] Translation: X:110.49, Y:-129.90, Z:-8.07 [[-9.84030740e-01 -1.76275762e-01 -2.47054345e-02 1.10488052e+02] [-1.76215609e-01 9.84340806e-01 -4.60828123e-03 -1.29897351e+02] [ 2.51308956e-02 -1.81207208e-04 -9.99684153e-01 -8.07230866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.630385723 meters 0.018450241840950652 Centerline is valid? [True, True] Translation: X:110.47, Y:-129.88, Z:-8.07 [[-9.69240886e-01 -2.44859567e-01 -2.48172863e-02 1.10466740e+02] [-2.44773219e-01 9.69558528e-01 -6.50636549e-03 -1.29876707e+02] [ 2.56549574e-02 -2.31628393e-04 -9.99670831e-01 -8.06736872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.660385723 meters 0.01825274009346715 Centerline is valid? [True, True] Translation: X:110.42, Y:-129.86, Z:-8.07 [[-9.49267001e-01 -3.13562201e-01 -2.38936774e-02 1.10421868e+02] [-3.13456281e-01 9.49567630e-01 -8.15331133e-03 -1.29861773e+02] [ 2.52452328e-02 -2.50046144e-04 -9.99681257e-01 -8.06632954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.690385723 meters 0.016347328002797784 Centerline is valid? [True, True] Translation: X:110.36, Y:-129.86, Z:-8.07 [[-9.24056216e-01 -3.81564817e-01 -2.29869705e-02 1.10356112e+02] [-3.81439370e-01 9.24342044e-01 -9.78738298e-03 -1.29858928e+02] [ 2.49823443e-02 -2.75956553e-04 -9.99687854e-01 -8.06758337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.720385723 meters 0.01756530498348122 Centerline is valid? [True, True] Translation: X:110.29, Y:-129.87, Z:-8.07 [[-8.94655058e-01 -4.46274645e-01 -2.07669811e-02 1.10291878e+02] [-4.46145692e-01 8.94895987e-01 -1.07328457e-02 -1.29868841e+02] [ 2.33740849e-02 -3.37095531e-04 -9.99726732e-01 -8.06891905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.750385723 meters 0.016958670601467017 Centerline is valid? [True, True] Translation: X:110.22, Y:-129.88, Z:-8.07 [[-8.59708757e-01 -5.10413401e-01 -1.94682552e-02 1.10217624e+02] [-5.10272687e-01 8.59929079e-01 -1.19901707e-02 -1.29880176e+02] [ 2.28612626e-02 -3.73935896e-04 -9.99738577e-01 -8.06680929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.780385723 meters 0.01725533423464314 Centerline is valid? [True, True] Translation: X:110.13, Y:-129.91, Z:-8.06 [[-8.20679766e-01 -5.71117496e-01 -1.75933956e-02 1.10134159e+02] [-5.70975156e-01 8.20868215e-01 -1.27571787e-02 -1.29906756e+02] [ 2.17277072e-02 -4.24166647e-04 -9.99763836e-01 -8.06422736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.810385723 meters 0.018304491394955054 Centerline is valid? [True, True] Translation: X:110.04, Y:-129.94, Z:-8.06 [[-7.75753038e-01 -6.30824671e-01 -1.63541742e-02 1.10044179e+02] [-6.30672515e-01 7.75925281e-01 -1.38613732e-02 -1.29944569e+02] [ 2.14337134e-02 -4.38874205e-04 -9.99770175e-01 -8.06466068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.840385723 meters 0.017508942806550902 Centerline is valid? [True, True] Translation: X:109.95, Y:-129.99, Z:-8.06 [[-7.26944441e-01 -6.86555392e-01 -1.39094436e-02 1.09949149e+02] [-6.86418127e-01 7.27077370e-01 -1.37350914e-02 -1.29991945e+02] [ 1.95431428e-02 -4.36954100e-04 -9.99808919e-01 -8.05850190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.870385723 meters 0.017999530083624468 Centerline is valid? [True, True] Translation: X:109.86, Y:-130.05, Z:-8.06 [[-6.73059289e-01 -7.39490899e-01 -1.20168056e-02 1.09855213e+02] [-7.39361742e-01 6.73166423e-01 -1.38268491e-02 -1.30052425e+02] [ 1.83141391e-02 -4.21522902e-04 -9.99832193e-01 -8.05782081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.900385723 meters 0.01758041195658907 Centerline is valid? [True, True] Translation: X:109.77, Y:-130.12, Z:-8.06 [[-6.14238097e-01 -7.89048350e-01 -1.06892797e-02 1.09765008e+02] [-7.88917245e-01 6.14330967e-01 -1.43890278e-02 -1.30116749e+02] [ 1.79203942e-02 -4.05332020e-04 -9.99839335e-01 -8.05628903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93038572300003 meters 0.0168915112756355 Centerline is valid? [True, True] Translation: X:109.67, Y:-130.20, Z:-8.05 [[-5.50000500e-01 -8.35116100e-01 -8.97493226e-03 1.09669832e+02] [-8.34994699e-01 5.50073616e-01 -1.42432139e-02 -1.30197638e+02] [ 1.68316107e-02 -3.39753894e-04 -9.99858281e-01 -8.05406152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.960385723 meters 0.016720585201266628 Centerline is valid? [True, True] Translation: X:109.59, Y:-130.28, Z:-8.05 [[-4.83293087e-01 -8.75428031e-01 -7.31809024e-03 1.09587198e+02] [-8.75318148e-01 4.83348397e-01 -1.38732044e-02 -1.30278277e+02] [ 1.56821792e-02 -2.99166587e-04 -9.99876982e-01 -8.05263768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.990385723 meters 0.016123149174861868 Centerline is valid? [True, True] Translation: X:109.50, Y:-130.38, Z:-8.05 [[-4.12284247e-01 -9.11041346e-01 -5.03646255e-03 1.09499732e+02] [-9.10967082e-01 4.12314956e-01 -1.16341398e-02 -1.30380506e+02] [ 1.26757912e-02 -2.08520991e-04 -9.99919637e-01 -8.04881883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.020385723 meters 0.01587532857206126 Centerline is valid? [True, True] Translation: X:109.43, Y:-130.49, Z:-8.05 [[-3.39714223e-01 -9.40521646e-01 -3.64415764e-03 1.09425164e+02] [-9.40462086e-01 3.39733726e-01 -1.05858281e-02 -1.30485700e+02] [ 1.11942437e-02 -1.68964260e-04 -9.99937328e-01 -8.04669794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.050385723 meters 0.01549221102476193 Centerline is valid? [True, True] Translation: X:109.36, Y:-130.58, Z:-8.04 [[-2.64627429e-01 -9.64349288e-01 -1.66567112e-03 1.09361906e+02] [-9.64328005e-01 2.64632656e-01 -6.40758311e-03 -1.30577170e+02] [ 6.61993919e-03 -8.93689401e-05 -9.99978084e-01 -8.04114886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.080385723 meters 0.01549221102476193 Centerline is valid? [True, True] Translation: X:109.31, Y:-130.69, Z:-8.04 [[-1.89526353e-01 -9.81874941e-01 -1.16693027e-03 1.09306984e+02] [-9.81853318e-01 1.89529924e-01 -6.51689326e-03 -1.30690936e+02] [ 6.61994239e-03 -8.93686567e-05 -9.99978084e-01 -8.04114903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.110385723 meters 0.015142847058726282 Centerline is valid? [True, True] Translation: X:109.26, Y:-130.81, Z:-8.04 [[-1.12427426e-01 -9.93659831e-01 -4.63651248e-04 1.09257575e+02] [-9.93649078e-01 1.12428366e-01 -4.62312793e-03 -1.30810824e+02] [ 4.64594407e-03 -5.90597371e-05 -9.99989206e-01 -8.03809442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.140385723 meters 0.015009006317519304 Centerline is valid? [True, True] Translation: X:109.22, Y:-130.94, Z:-8.03 [[-3.45567737e-02 -9.99402736e-01 -2.59160716e-05 1.09215847e+02] [-9.99402085e-01 3.45567808e-02 -1.14079740e-03 -1.30936272e+02] [ 1.14101162e-03 -1.35217016e-05 -9.99999349e-01 -8.03222790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.170385723 meters 0.01458754519283229 Centerline is valid? [True, True] Translation: X:109.19, Y:-131.05, Z:-8.03 [[ 4.28863042e-02 -9.99079957e-01 -6.32665904e-05 1.09185820e+02] [-9.99079272e-01 -4.28863489e-02 1.17001901e-03 -1.31047472e+02] [-1.17165581e-03 1.30305480e-05 -9.99999314e-01 -8.02976494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.200385723 meters 0.014857008945153925 Centerline is valid? [True, True] Translation: X:109.17, Y:-131.18, Z:-8.03 [[ 1.20257792e-01 -9.92742580e-01 -4.82979037e-04 1.09167773e+02] [-9.92735842e-01 -1.20258755e-01 3.65798320e-03 -1.31178258e+02] [-3.68951814e-03 3.95696190e-05 -9.99993193e-01 -8.02642440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.230385723 meters 0.01421320250202752 Centerline is valid? [True, True] Translation: X:109.15, Y:-131.31, Z:-8.02 [[ 1.98432288e-01 -9.80112776e-01 -1.89024259e-03 1.09153751e+02] [-9.80072034e-01 -1.98441276e-01 8.93688549e-03 -1.31306907e+02] [-9.13425780e-03 7.92072612e-05 -9.99958279e-01 -8.02066385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.260385723 meters 0.014246684361398875 Centerline is valid? [True, True] Translation: X:109.15, Y:-131.43, Z:-8.02 [[ 2.74748915e-01 -9.61510843e-01 -3.15167257e-03 1.09153060e+02] [-9.61450884e-01 -2.74766979e-01 1.07380127e-02 -1.31432452e+02] [-1.11906912e-02 7.99210322e-05 -9.99937379e-01 -8.01784937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.290385723 meters 0.013884726532305559 Centerline is valid? [True, True] Translation: X:109.16, Y:-131.56, Z:-8.01 [[ 3.51696763e-01 -9.36098255e-01 -5.42619181e-03 1.09159982e+02] [-9.35988918e-01 -3.51738616e-01 1.43070635e-02 -1.31563542e+02] [-1.53014184e-02 4.71074891e-05 -9.99882925e-01 -8.01358570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.320385723 meters 0.013940131149984379 Centerline is valid? [True, True] Translation: X:109.17, Y:-131.68, Z:-8.01 [[ 4.24345258e-01 -9.05471542e-01 -7.23807927e-03 1.09174835e+02] [-9.05340618e-01 -4.24406983e-01 1.53973463e-02 -1.31682548e+02] [-1.70137503e-02 1.91362703e-05 -9.99855256e-01 -8.01102560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.350385723 meters 0.014485335178024576 Centerline is valid? [True, True] Translation: X:109.20, Y:-131.81, Z:-8.00 [[ 4.94217847e-01 -8.69289060e-01 -9.23307015e-03 1.09203696e+02] [-8.69136821e-01 -4.94304086e-01 1.62682706e-02 -1.31809407e+02] [-1.87057740e-02 -1.52684445e-05 -9.99825032e-01 -8.00499839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.380385723 meters 0.014374641794070999 Centerline is valid? [True, True] Translation: X:109.23, Y:-131.92, Z:-8.00 [[ 5.62312659e-01 -8.26836844e-01 -1.20543689e-02 1.09234041e+02] [-8.26643254e-01 -5.62441841e-01 1.78915246e-02 -1.31922387e+02] [-2.15732532e-02 -9.59680478e-05 -9.99767266e-01 -8.00311295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.410385723 meters 0.014322855071446072 Centerline is valid? [True, True] Translation: X:109.28, Y:-132.03, Z:-8.00 [[ 6.24934085e-01 -7.80550144e-01 -1.41018557e-02 1.09276941e+02] [-7.80346635e-01 -6.25093157e-01 1.78234357e-02 -1.32031799e+02] [-2.27270589e-02 -1.34136823e-04 -9.99741698e-01 -8.00326552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.440385723 meters 0.01512225605539424 Centerline is valid? [True, True] Translation: X:109.33, Y:-132.14, Z:-8.00 [[ 6.84732618e-01 -7.28611983e-01 -1.63040033e-02 1.09326369e+02] [-7.28398115e-01 -6.84926663e-01 1.76536579e-02 -1.32140280e+02] [-2.40297133e-02 -2.12230146e-04 -9.99711222e-01 -7.99982944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.470385723 meters 0.014662881551677092 Centerline is valid? [True, True] Translation: X:109.38, Y:-132.23, Z:-8.00 [[ 7.39009014e-01 -6.73452623e-01 -1.80898270e-02 1.09375851e+02] [-6.73242615e-01 -7.39230344e-01 1.68190343e-02 -1.32233295e+02] [-2.46993718e-02 -2.50575533e-04 -9.99694893e-01 -8.00108689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.500385723 meters 0.01582282979876202 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.25, Z:-8.00 [[ 7.90030596e-01 -6.12735917e-01 -2.01582080e-02 1.09367187e+02] [-6.12527162e-01 -7.90287677e-01 1.59957336e-02 -1.32247389e+02] [-2.57319438e-02 -2.89668980e-04 -9.99668837e-01 -7.99535879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.530385723 meters 0.015827879351213006 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.25, Z:-7.99 [[ 8.35550093e-01 -5.49005737e-01 -2.11835571e-02 1.09367272e+02] [-5.48820569e-01 -8.35818531e-01 1.42606777e-02 -1.32252949e+02] [-2.55348035e-02 -2.89538771e-04 -9.99673892e-01 -7.99460573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.560385723 meters 0.01566776798146554 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.26, Z:-8.00 [[ 8.75157342e-01 -4.83327427e-01 -2.22311662e-02 1.09368643e+02] [-4.83164277e-01 -8.75439624e-01 1.25597168e-02 -1.32256363e+02] [-2.55324994e-02 -2.50423052e-04 -9.99673961e-01 -7.99524800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.590385723 meters 0.016435891179077945 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.26, Z:-8.00 [[ 9.09780463e-01 -4.14429374e-01 -2.34052193e-02 1.09368378e+02] [-4.14285921e-01 -9.10081449e-01 1.09056106e-02 -1.32264776e+02] [-2.58202612e-02 -2.25258665e-04 -9.99666576e-01 -7.99753008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.620385723 meters 0.014350833402188101 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.27, Z:-8.00 [[ 9.38985687e-01 -3.43173810e-01 -2.31865387e-02 1.09368026e+02] [-3.43064341e-01 -9.39271900e-01 8.66926287e-03 -1.32274973e+02] [-2.47535282e-02 -1.85839150e-04 -9.99693567e-01 -8.00035544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.650385723 meters 0.014252309603597425 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.29, Z:-8.00 [[ 9.62071008e-01 -2.71882557e-01 -2.23439412e-02 1.09367706e+02] [-2.71806904e-01 -9.62330435e-01 6.41414099e-03 -1.32285920e+02] [-2.32461477e-02 -9.76216085e-05 -9.99729767e-01 -7.99966304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68038572300003 meters 0.01418098999573281 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.29, Z:-8.00 [[ 9.80055299e-01 -1.97391704e-01 -2.29809788e-02 1.09369343e+02] [-1.97335998e-01 -9.80324697e-01 4.68959329e-03 -1.32294563e+02] [-2.34545079e-02 -6.10863639e-05 -9.99724903e-01 -7.99850974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.710385723 meters 0.016161949460660237 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.31, Z:-8.00 [[ 9.92167551e-01 -1.22606244e-01 -2.39010541e-02 1.09368065e+02] [-1.22570658e-01 -9.92455394e-01 2.95381724e-03 -1.32306360e+02] [-2.40828865e-02 -1.11369306e-06 -9.99709965e-01 -7.99733618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.740385723 meters 0.014304386962896213 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.31, Z:-8.00 [[ 9.98710273e-01 -4.50229598e-02 -2.34674882e-02 1.09365887e+02] [-4.50107688e-02 -9.98985952e-01 1.04771222e-03 -1.32314842e+02] [-2.34908622e-02 9.92872496e-06 -9.99724052e-01 -7.99829918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.770385723 meters 0.013710259646566728 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.33, Z:-8.00 [[ 9.99216542e-01 3.23168738e-02 -2.28456256e-02 1.09365532e+02] [ 3.23076832e-02 -9.99477673e-01 -7.71365897e-04 -1.32325545e+02] [-2.28586209e-02 3.26723272e-05 -9.99738707e-01 -8.00354232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.800385723 meters 0.013720546867300232 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.34, Z:-8.00 [[ 9.93637800e-01 1.10498869e-01 -2.17697585e-02 1.09365750e+02] [ 1.10471675e-01 -9.93876249e-01 -2.45154873e-03 -1.32338264e+02] [-2.19073393e-02 3.10097991e-05 -9.99760005e-01 -8.00370798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.830385723 meters 0.014087784066093982 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.35, Z:-8.00 [[ 9.81846223e-01 1.88544033e-01 -2.07157426e-02 1.09367298e+02] [ 1.88501705e-01 -9.82064737e-01 -3.99501893e-03 -1.32350540e+02] [-2.10974373e-02 1.75414491e-05 -9.99777424e-01 -8.00144652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.860385723 meters 0.013289224242839494 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.36, Z:-8.01 [[ 9.63352413e-01 2.67627974e-01 -1.80940608e-02 1.09370950e+02] [ 2.67581529e-01 -9.63522323e-01 -4.98589660e-03 -1.32364346e+02] [-1.87683969e-02 -3.84609266e-05 -9.99823857e-01 -8.00700530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.890385723 meters 0.0138688681967984 Centerline is valid? [True, True] Translation: X:109.37, Y:-132.38, Z:-8.01 [[ 9.38622923e-01 3.44533273e-01 -1.68473024e-02 1.09374696e+02] [ 3.44479329e-01 -9.38774103e-01 -6.09712129e-03 -1.32376008e+02] [-1.79164724e-02 -8.06496222e-05 -9.99839484e-01 -8.00619468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.920385723 meters 0.014442026695449844 Centerline is valid? [True, True] Translation: X:109.38, Y:-132.38, Z:-8.01 [[ 9.06717749e-01 4.21470342e-01 -1.50224890e-02 1.09376823e+02] [ 4.21415353e-01 -9.06842173e-01 -6.80978282e-03 -1.32381731e+02] [-1.64931481e-02 -1.56156577e-04 -9.99863967e-01 -8.00860035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.950385723 meters 0.01392515924417893 Centerline is valid? [True, True] Translation: X:109.38, Y:-132.39, Z:-8.01 [[ 8.69753652e-01 4.93288281e-01 -1.39734408e-02 1.09382324e+02] [ 4.93228124e-01 -8.69865872e-01 -7.70596127e-03 -1.32390574e+02] [-1.59562796e-02 -1.89806019e-04 -9.99872672e-01 -8.01200643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.980385723 meters 0.014773095959548996 Centerline is valid? [True, True] Translation: X:109.39, Y:-132.40, Z:-8.01 [[ 8.25884675e-01 5.63694238e-01 -1.27792869e-02 1.09389223e+02] [ 5.63631477e-01 -8.25983500e-01 -8.41522797e-03 -1.32400565e+02] [-1.52990957e-02 -2.52800561e-04 -9.99882930e-01 -8.01374974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.010385723 meters 0.015034996880752327 Centerline is valid? [True, True] Translation: X:109.40, Y:-132.41, Z:-8.01 [[ 7.78418772e-01 6.27635697e-01 -1.17323111e-02 1.09396690e+02] [ 6.27569505e-01 -7.78507137e-01 -9.11890349e-03 -1.32408443e+02] [-1.48570373e-02 -2.64515025e-04 -9.99889593e-01 -8.01464304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.040385723 meters 0.015266909329719996 Centerline is valid? [True, True] Translation: X:109.40, Y:-132.41, Z:-8.02 [[ 7.26320083e-01 6.87282022e-01 -1.01271865e-02 1.09402442e+02] [ 6.87220091e-01 -7.26390637e-01 -9.22982161e-03 -1.32414909e+02] [-1.36997839e-02 -2.55801229e-04 -9.99906121e-01 -8.01572027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.070385723 meters 0.01520651032118792 Centerline is valid? [True, True] Translation: X:109.41, Y:-132.42, Z:-8.02 [[ 6.71059160e-01 7.41365543e-01 -7.53227749e-03 1.09407881e+02] [ 7.41322066e-01 -6.71101404e-01 -8.03119866e-03 -1.32419747e+02] [-1.10089760e-02 -1.94434082e-04 -9.99939381e-01 -8.01852630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.100385723 meters 0.01499759980259696 Centerline is valid? [True, True] Translation: X:109.41, Y:-132.42, Z:-8.02 [[ 6.12145396e-01 7.90718521e-01 -6.49883594e-03 1.09411058e+02] [ 7.90676852e-01 -6.12179869e-01 -8.11934040e-03 -1.32423412e+02] [-1.03985694e-02 -1.68262297e-04 -9.99945919e-01 -8.01965906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.130385723 meters 0.01466695357231195 Centerline is valid? [True, True] Translation: X:109.41, Y:-132.42, Z:-8.02 [[ 5.50629855e-01 8.34729986e-01 -5.71074637e-03 1.09411388e+02] [ 8.34687647e-01 -5.50659451e-01 -8.40837864e-03 -1.32424540e+02] [-1.01634022e-02 -1.36785138e-04 -9.99948342e-01 -8.02073209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.160385723 meters 0.01414074276842462 Centerline is valid? [True, True] Translation: X:109.41, Y:-132.43, Z:-8.02 [[ 4.84776735e-01 8.74622336e-01 -5.22368545e-03 1.09413565e+02] [ 8.74574363e-01 -4.84804861e-01 -9.16132750e-03 -1.32425632e+02] [-1.05451698e-02 -1.27302946e-04 -9.99944390e-01 -8.02128397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.190385723 meters 0.013577379690109928 Centerline is valid? [True, True] Translation: X:109.42, Y:-132.43, Z:-8.02 [[ 4.16089775e-01 9.09310452e-01 -4.87862103e-03 1.09421617e+02] [ 9.09251347e-01 -4.16118357e-01 -1.03682828e-02 -1.32429849e+02] [-1.14580717e-02 -1.21756269e-04 -9.99934347e-01 -8.02278470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.220385723 meters 0.013368172522320533 Centerline is valid? [True, True] Translation: X:109.43, Y:-132.43, Z:-8.02 [[ 3.46585830e-01 9.38009727e-01 -4.00180664e-03 1.09429252e+02] [ 9.37949990e-01 -3.46608922e-01 -1.05863455e-02 -1.32434478e+02] [-1.13171569e-02 -8.44171692e-05 -9.99935955e-01 -8.02272103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.250385723 meters 0.013129885879677238 Centerline is valid? [True, True] Translation: X:109.44, Y:-132.44, Z:-8.02 [[ 2.73148355e-01 9.61967551e-01 -2.89950423e-03 1.09440777e+02] [ 9.61915889e-01 -2.73163736e-01 -9.96973251e-03 -1.32438865e+02] [-1.03825986e-02 -6.58631531e-05 -9.99946097e-01 -8.02456841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.280385723 meters 0.013106079516417467 Centerline is valid? [True, True] Translation: X:109.45, Y:-132.44, Z:-8.03 [[ 1.98051679e-01 9.80189629e-01 -1.95546942e-03 1.09452856e+02] [ 9.80144349e-01 -1.98061326e-01 -9.42157287e-03 -1.32444090e+02] [-9.62223088e-03 -5.06839685e-05 -9.99953704e-01 -8.02538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.310385723 meters 0.013173063508166858 Centerline is valid? [True, True] Translation: X:109.46, Y:-132.45, Z:-8.03 [[ 1.21103572e-01 9.92639147e-01 -1.20398885e-03 1.09462927e+02] [ 9.92593800e-01 -1.21109548e-01 -9.48822287e-03 -1.32447552e+02] [-9.56419599e-03 -4.60141882e-05 -9.99954261e-01 -8.02576624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.340385723 meters 0.013126611664152937 Centerline is valid? [True, True] Translation: X:109.47, Y:-132.45, Z:-8.03 [[ 4.35235353e-02 9.99052286e-01 -4.82429949e-04 1.09473174e+02] [ 9.99001462e-01 -4.35261873e-02 -1.00772309e-02 -1.32449412e+02] [-1.00886789e-02 -4.33515069e-05 -9.99949107e-01 -8.02588318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.370385723 meters 0.013223289455341907 Centerline is valid? [True, True] Translation: X:109.48, Y:-132.45, Z:-8.03 [[-3.34858335e-02 9.99439127e-01 3.62457244e-04 1.09479956e+02] [ 9.99368811e-01 3.34877771e-02 -1.18553028e-02 -1.32452873e+02] [-1.18607914e-02 -3.47562314e-05 -9.99929658e-01 -8.02632435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.400385723 meters 0.01317364593664036 Centerline is valid? [True, True] Translation: X:109.49, Y:-132.45, Z:-8.03 [[-1.08896282e-01 9.94052403e-01 1.19194642e-03 1.09486761e+02] [ 9.93992692e-01 1.08902805e-01 -1.08952544e-02 -1.32454508e+02] [-1.09602601e-02 -1.66666190e-06 -9.99939935e-01 -8.02781412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43038572300003 meters 0.013231834388345715 Centerline is valid? [True, True] Translation: X:109.50, Y:-132.46, Z:-8.03 [[-1.84509496e-01 9.82828869e-01 1.91295936e-03 1.09495795e+02] [ 9.82777071e-01 1.84519411e-01 -1.00904067e-02 -1.32455449e+02] [-1.02701211e-02 1.82367419e-05 -9.99947261e-01 -8.02842646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.460385723 meters 0.015165629760894585 Centerline is valid? [True, True] Translation: X:109.51, Y:-132.46, Z:-8.03 [[-2.58470269e-01 9.66015792e-01 2.57098338e-03 1.09505880e+02] [ 9.65969607e-01 2.58483052e-01 -9.44617415e-03 -1.32455533e+02] [-9.78970903e-03 4.19366320e-05 -9.99952079e-01 -8.02760018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.490385723 meters 0.013552029547064718 Centerline is valid? [True, True] Translation: X:109.51, Y:-132.46, Z:-8.03 [[-3.29628523e-01 9.44107733e-01 2.37167280e-03 1.09514920e+02] [ 9.44084547e-01 3.29637050e-01 -6.61693305e-03 -1.32457139e+02] [-7.02888888e-03 5.79297692e-05 -9.99975295e-01 -8.03139177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.520385723 meters 0.013907041607380877 Centerline is valid? [True, True] Translation: X:109.52, Y:-132.46, Z:-8.03 [[-4.00568586e-01 9.16262894e-01 2.66779413e-03 1.09522412e+02] [ 9.16243684e-01 4.00577464e-01 -5.93349031e-03 -1.32457540e+02] [-6.50529521e-03 6.75797000e-05 -9.99978838e-01 -8.03262169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.550385723 meters 0.014516281253148123 Centerline is valid? [True, True] Translation: X:109.53, Y:-132.46, Z:-8.04 [[-4.68108800e-01 8.83666897e-01 2.63951234e-03 1.09527295e+02] [ 8.83653748e-01 4.68116235e-01 -4.82116432e-03 -1.32459936e+02] [-5.49590189e-03 7.55855252e-05 -9.99984895e-01 -8.03519461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.580385723 meters 0.014352095194050821 Centerline is valid? [True, True] Translation: X:109.54, Y:-132.46, Z:-8.04 [[-5.34966021e-01 8.44867289e-01 3.25888926e-03 1.09539613e+02] [ 8.44852608e-01 5.34975940e-01 -4.98134736e-03 -1.32456404e+02] [-5.95200479e-03 8.84295111e-05 -9.99982283e-01 -8.03603329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.610385723 meters 0.014900774594575108 Centerline is valid? [True, True] Translation: X:109.55, Y:-132.45, Z:-8.03 [[-5.99156213e-01 8.00621422e-01 4.14382304e-03 1.09550498e+02] [ 8.00603457e-01 5.99170534e-01 -5.36430302e-03 -1.32453366e+02] [-6.77763257e-03 1.03503564e-04 -9.99977026e-01 -8.03481969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.640385723 meters 0.014464133249463829 Centerline is valid? [True, True] Translation: X:109.56, Y:-132.45, Z:-8.03 [[-6.60545324e-01 7.50771489e-01 4.69536050e-03 1.09564876e+02] [ 7.50753608e-01 6.60562004e-01 -5.18258877e-03 -1.32445775e+02] [-6.99251663e-03 1.01724065e-04 -9.99975547e-01 -8.03372074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.670385723 meters 0.013877123578946321 Centerline is valid? [True, True] Translation: X:109.58, Y:-132.44, Z:-8.03 [[-7.17971930e-01 6.96055663e-01 4.77728161e-03 1.09578768e+02] [ 6.96041079e-01 7.17987818e-01 -4.50665773e-03 -1.32435083e+02] [-6.56691463e-03 8.95305013e-05 -9.99978434e-01 -8.03469296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.700385723 meters 0.013833837955072547 Centerline is valid? [True, True] Translation: X:109.60, Y:-132.41, Z:-8.04 [[-7.66413800e-01 6.42333041e-01 4.26044132e-03 1.09596574e+02] [ 6.42323596e-01 7.66425639e-01 -3.48406154e-03 -1.32409931e+02] [-5.50323930e-03 6.63491408e-05 -9.99984855e-01 -8.03650952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.730385723 meters 0.01577617759206394 Centerline is valid? [True, True] Translation: X:109.61, Y:-132.38, Z:-8.04 [[-8.10217438e-01 5.86107577e-01 5.06084091e-03 1.09614277e+02] [ 5.86096689e-01 8.10233240e-01 -3.57319734e-03 -1.32384824e+02] [-6.19473956e-03 7.10753097e-05 -9.99980810e-01 -8.03586800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.760385723 meters 0.013612710947079762 Centerline is valid? [True, True] Translation: X:110.03, Y:-131.82, Z:-9.03 [[-7.82454914e-01 -6.22694766e-01 3.94148738e-03 1.10034422e+02] [ 6.22686057e-01 -7.82464832e-01 -3.29574001e-03 -1.31816248e+02] [ 5.13631531e-03 -1.24458733e-04 9.99986801e-01 -9.03256504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.790385723 meters 0.013092685893461013 Centerline is valid? [True, True] Translation: X:109.59, Y:-132.36, Z:-8.04 [[-8.14782102e-01 5.79751773e-01 4.24360380e-03 1.09587581e+02] [ 5.79744151e-01 8.14793152e-01 -2.97289464e-03 -1.32356653e+02] [-5.18120025e-03 3.79431393e-05 -9.99986577e-01 -8.03862507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.820385723 meters 0.013074268589055379 Centerline is valid? [True, True] Translation: X:109.99, Y:-131.80, Z:-9.03 [[-7.81994297e-01 -6.23270797e-01 4.29350299e-03 1.09986862e+02] [ 6.23261261e-01 -7.82006083e-01 -3.44774100e-03 -1.31795091e+02] [ 5.50642174e-03 -2.01397149e-05 9.99984839e-01 -9.03192101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.850385723 meters 0.012799182139244844 Centerline is valid? [True, True] Translation: X:109.55, Y:-132.32, Z:-8.04 [[-8.19720581e-01 5.72743268e-01 4.82892756e-03 1.09552990e+02] [ 5.72733428e-01 8.19734804e-01 -3.35723822e-03 -1.32324475e+02] [-5.88127557e-03 1.36909748e-05 -9.99982705e-01 -8.03958009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.880385723 meters 0.01279062072635905 Centerline is valid? [True, True] Translation: X:109.57, Y:-132.30, Z:-8.04 [[-8.58780970e-01 5.12321108e-01 4.72536962e-03 1.09571974e+02] [ 5.12313391e-01 8.58793970e-01 -2.81180591e-03 -1.32298498e+02] [-5.49866645e-03 6.14473274e-06 -9.99984882e-01 -8.03987426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.910385723 meters 0.012848266766926004 Centerline is valid? [True, True] Translation: X:109.58, Y:-132.27, Z:-8.04 [[-8.93178709e-01 4.49678413e-01 4.59555196e-03 1.09584682e+02] [ 4.49672476e-01 8.93190531e-01 -2.31072484e-03 -1.32268915e+02] [-5.14378657e-03 2.60300028e-06 -9.99986771e-01 -8.03987377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.940385723 meters 0.012681898389609288 Centerline is valid? [True, True] Translation: X:109.88, Y:-131.68, Z:-9.03 [[-8.61425953e-01 -5.07870767e-01 3.55119932e-03 1.09883747e+02] [ 5.07866150e-01 -8.61433271e-01 -2.16639716e-03 -1.31680941e+02] [ 4.15937104e-03 -6.26568115e-05 9.99991348e-01 -9.03030440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.970385723 meters 0.012681898389609288 Centerline is valid? [True, True] Translation: X:109.55, Y:-132.24, Z:-8.04 [[-8.94767031e-01 4.46517857e-01 3.70986752e-03 1.09545569e+02] [ 4.46514033e-01 8.94774722e-01 -1.84802810e-03 -1.32244847e+02] [-4.14467323e-03 2.95328779e-06 -9.99991411e-01 -8.04016508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.000385723 meters 0.012773953718974376 Centerline is valid? [True, True] Translation: X:109.84, Y:-131.66, Z:-9.03 [[-8.63390309e-01 -5.04522262e-01 3.80281062e-03 1.09840006e+02] [ 5.04517432e-01 -8.63398684e-01 -2.20777190e-03 -1.31662253e+02] [ 4.39721175e-03 1.24153836e-05 9.99990332e-01 -9.03006112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.030385723 meters 0.012739297806489224 Centerline is valid? [True, True] Translation: X:109.51, Y:-132.22, Z:-8.04 [[-8.95890037e-01 4.44254303e-01 4.37663327e-03 1.09507423e+02] [ 4.44249050e-01 8.95900728e-01 -2.16047736e-03 -1.32219999e+02] [-4.88083029e-03 8.76502933e-06 -9.99988089e-01 -8.04041508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.060385723 meters 0.012741492547333177 Centerline is valid? [True, True] Translation: X:109.79, Y:-131.65, Z:-9.03 [[-8.66020489e-01 -4.99987135e-01 4.62357267e-03 1.09793952e+02] [ 4.99980119e-01 -8.66032831e-01 -2.64875330e-03 -1.31647508e+02] [ 5.32850830e-03 1.78197840e-05 9.99985803e-01 -9.03016996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.090385723 meters 0.012947611042157175 Centerline is valid? [True, True] Translation: X:109.47, Y:-132.20, Z:-8.04 [[-8.96835059e-01 4.42331877e-01 5.42101797e-03 1.09469875e+02] [ 4.42323928e-01 8.96851443e-01 -2.65183514e-03 -1.32197444e+02] [-6.03483900e-03 1.95872375e-05 -9.99981790e-01 -8.03959564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.120385723 meters 0.013114769152344408 Centerline is valid? [True, True] Translation: X:109.48, Y:-132.17, Z:-8.04 [[-9.24958149e-01 3.80007340e-01 6.84426766e-03 1.09482994e+02] [ 3.79997278e-01 9.24983470e-01 -2.76572895e-03 -1.32165690e+02] [-7.38183175e-03 4.26195463e-05 -9.99972753e-01 -8.03810748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.150385723 meters 0.013254760650793574 Centerline is valid? [True, True] Translation: X:109.50, Y:-132.13, Z:-8.04 [[-9.48032539e-01 3.18077257e-01 7.82071091e-03 1.09497696e+02] [ 3.18066385e-01 9.48064797e-01 -2.62981568e-03 -1.32134673e+02] [-8.25102525e-03 -5.64558245e-06 -9.99965960e-01 -8.03700508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18038572300003 meters 0.013201328898933329 Centerline is valid? [True, True] Translation: X:109.50, Y:-132.10, Z:-8.04 [[-9.67909411e-01 2.51124669e-01 9.36868162e-03 1.09502338e+02] [ 2.51113692e-01 9.67954748e-01 -2.34924431e-03 -1.32099939e+02] [-9.65841306e-03 7.87485558e-05 -9.99953353e-01 -8.03651692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.210385723 meters 0.013265688599840142 Centerline is valid? [True, True] Translation: X:109.65, Y:-131.51, Z:-9.03 [[-9.53751262e-01 -3.00447053e-01 9.49199682e-03 1.09649875e+02] [ 3.00431535e-01 -9.53798493e-01 -3.05423903e-03 -1.31514340e+02] [ 9.97108938e-03 -6.12891564e-05 9.99950286e-01 -9.03345309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.240385723 meters 0.013114101535458366 Centerline is valid? [True, True] Translation: X:109.45, Y:-132.08, Z:-8.04 [[-9.69620440e-01 2.44415176e-01 9.87036543e-03 1.09448609e+02] [ 2.44403052e-01 9.69670676e-01 -2.43498369e-03 -1.32076493e+02] [-1.01661509e-02 5.13374799e-05 -9.99948322e-01 -8.03799859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.270385723 meters 0.012855976020795211 Centerline is valid? [True, True] Translation: X:109.45, Y:-132.04, Z:-8.04 [[-9.84924133e-01 1.72678674e-01 1.03212659e-02 1.09451856e+02] [ 1.72669497e-01 9.84978210e-01 -1.78047585e-03 -1.32041327e+02] [-1.04736722e-02 2.85341522e-05 -9.99945149e-01 -8.03810955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.300385723 meters 0.012873229544733373 Centerline is valid? [True, True] Translation: X:109.44, Y:-132.01, Z:-8.04 [[-9.95002451e-01 9.92680685e-02 1.07691278e-02 1.09442948e+02] [ 9.92622178e-02 9.95060727e-01 -1.07775709e-03 -1.32005271e+02] [-1.08229230e-02 -3.40344052e-06 -9.99941430e-01 -8.03738611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.330385723 meters 0.013256122546530308 Centerline is valid? [True, True] Translation: X:109.44, Y:-131.97, Z:-8.04 [[-9.99701240e-01 2.19417254e-02 1.07699124e-02 1.09437488e+02] [ 2.19396789e-02 9.99759249e-01 -3.08147479e-04 -1.31966255e+02] [-1.07740809e-02 -7.17669968e-05 -9.99941955e-01 -8.03754970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.360385723 meters 0.013394935412534772 Centerline is valid? [True, True] Translation: X:109.42, Y:-131.93, Z:-8.04 [[-9.98572802e-01 -5.22525288e-02 1.10467849e-02 1.09424203e+02] [-5.22505162e-02 9.98633898e-01 4.70922791e-04 -1.31933585e+02] [-1.10563008e-02 -1.06949523e-04 -9.99938872e-01 -8.03801645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.390385723 meters 0.014182288554206324 Centerline is valid? [True, True] Translation: X:109.40, Y:-131.90, Z:-8.04 [[-9.91705052e-01 -1.28049653e-01 1.11524275e-02 1.09402834e+02] [-1.28043408e-01 9.91767745e-01 1.27513358e-03 -1.31900376e+02] [-1.12238983e-02 -1.63438414e-04 -9.99936997e-01 -8.03785696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.420385723 meters 0.01451291015528551 Centerline is valid? [True, True] Translation: X:109.34, Y:-131.38, Z:-9.03 [[-9.99481383e-01 3.01243733e-02 1.13792256e-02 1.09341871e+02] [-3.01204023e-02 -9.99546142e-01 5.20231038e-04 -1.31383040e+02] [ 1.13897326e-02 1.77214386e-04 9.99935119e-01 -9.03284619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.450385723 meters 0.0171492429968287 Centerline is valid? [True, True] Translation: X:109.33, Y:-131.90, Z:-8.04 [[-9.90569084e-01 -1.36383610e-01 1.31301540e-02 1.09331196e+02] [-1.36374865e-01 9.90656072e-01 1.56330502e-03 -1.31901086e+02] [-1.32206760e-02 -2.42061354e-04 -9.99912574e-01 -8.03564366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.480385723 meters 0.015005291403702615 Centerline is valid? [True, True] Translation: X:109.31, Y:-131.87, Z:-8.04 [[-9.78074842e-01 -2.07929737e-01 1.16115722e-02 1.09312672e+02] [-2.07917888e-01 9.78143737e-01 2.23179435e-03 -1.31874567e+02] [-1.18218430e-02 -2.31391662e-04 -9.99930093e-01 -8.03844513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.510385723 meters 0.017130682112654873 Centerline is valid? [True, True] Translation: X:109.28, Y:-131.85, Z:-8.04 [[-9.60343698e-01 -2.78517782e-01 1.29547684e-02 1.09281962e+02] [-2.78496348e-01 9.60431032e-01 3.46653233e-03 -1.31850193e+02] [-1.34076525e-02 -2.78793218e-04 -9.99910075e-01 -8.03762659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.540385723 meters 0.01610124603317739 Centerline is valid? [True, True] Translation: X:109.25, Y:-131.83, Z:-8.04 [[-9.37582965e-01 -3.47571420e-01 1.15017761e-02 1.09248363e+02] [-3.47548672e-01 9.37653475e-01 3.98510600e-03 -1.31828034e+02] [-1.21697892e-02 -2.61059493e-04 -9.99925911e-01 -8.03810594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.570385723 meters 0.01694978859774413 Centerline is valid? [True, True] Translation: X:109.20, Y:-131.82, Z:-8.04 [[-9.09967555e-01 -4.14507857e-01 1.19283095e-02 1.09199816e+02] [-4.14476252e-01 9.10045690e-01 5.12626335e-03 -1.31815973e+02] [-1.29801831e-02 -2.79267684e-04 -9.99915715e-01 -8.03777659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.600385723 meters 0.018655966408674958 Centerline is valid? [True, True] Translation: X:109.14, Y:-131.82, Z:-8.04 [[-8.77031573e-01 -4.80270941e-01 1.24676937e-02 1.09136016e+02] [-4.80227322e-01 8.77120135e-01 6.47988259e-03 -1.31815829e+02] [-1.40477645e-02 -3.04265522e-04 -9.99901279e-01 -8.03727223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.630385723 meters 0.018474096458282307 Centerline is valid? [True, True] Translation: X:109.07, Y:-131.82, Z:-8.04 [[-8.39376583e-01 -5.43418729e-01 1.19597792e-02 1.09067040e+02] [-5.43368682e-01 8.39461728e-01 7.38116068e-03 -1.31821665e+02] [-1.40508379e-02 -3.02996018e-04 -9.99901236e-01 -8.03685671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.660385723 meters 0.017662929297530588 Centerline is valid? [True, True] Translation: X:108.99, Y:-131.84, Z:-8.04 [[-7.96874201e-01 -6.04031914e-01 1.17027602e-02 1.08992330e+02] [-6.03972504e-01 7.96960067e-01 8.47738779e-03 -1.31840502e+02] [-1.44472454e-02 -3.12733778e-04 -9.99895584e-01 -8.03832568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.690385723 meters 0.01792043781982556 Centerline is valid? [True, True] Translation: X:108.91, Y:-131.87, Z:-8.04 [[-7.50061028e-01 -6.61282846e-01 1.06513342e-02 1.08912691e+02] [-6.61221761e-01 7.50136593e-01 8.99304187e-03 -1.31866491e+02] [-1.39368999e-02 -2.97563698e-04 -9.99902832e-01 -8.03841800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.720385723 meters 0.01658245688495842 Centerline is valid? [True, True] Translation: X:108.83, Y:-131.91, Z:-8.04 [[-6.98920304e-01 -7.15147316e-01 8.64431384e-03 1.08831816e+02] [-7.15097094e-01 6.98973712e-01 8.47914907e-03 -1.31906253e+02] [-1.21059888e-02 -2.55274262e-04 -9.99926687e-01 -8.04166089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.750385723 meters 0.01627047936995016 Centerline is valid? [True, True] Translation: X:108.76, Y:-131.95, Z:-8.04 [[-6.43663041e-01 -7.65267862e-01 7.93657914e-03 1.08756479e+02] [-7.65214410e-01 6.43711921e-01 9.04812957e-03 -1.31948571e+02] [-1.20331134e-02 -2.49238130e-04 -9.99927568e-01 -8.04261611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.780385723 meters 0.01579366954525211 Centerline is valid? [True, True] Translation: X:108.68, Y:-132.01, Z:-8.04 [[-5.85308081e-01 -8.10772407e-01 7.90911924e-03 1.08677330e+02] [-8.10704242e-01 5.85361459e-01 1.05163609e-02 -1.32010368e+02] [-1.31560688e-02 -2.56645515e-04 -9.99913422e-01 -8.04402339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.810385723 meters 0.01584535656334852 Centerline is valid? [True, True] Translation: X:108.60, Y:-132.08, Z:-8.04 [[-5.22974151e-01 -8.52317469e-01 7.27802132e-03 1.08599759e+02] [-8.52241638e-01 5.23024729e-01 1.13720216e-02 -1.32075239e+02] [-1.34991578e-02 -2.55359474e-04 -9.99908850e-01 -8.04377672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.840385723 meters 0.016420652075213753 Centerline is valid? [True, True] Translation: X:108.52, Y:-132.15, Z:-8.04 [[-4.57595336e-01 -8.89135853e-01 6.62895175e-03 1.08524135e+02] [-8.89050526e-01 4.57643278e-01 1.23204175e-02 -1.32148162e+02] [-1.39882201e-02 -2.55707454e-04 -9.99902127e-01 -8.04253090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.870385723 meters 0.01601149786726791 Centerline is valid? [True, True] Translation: X:108.45, Y:-132.24, Z:-8.04 [[-3.89657544e-01 -9.20936829e-01 6.50807107e-03 1.08453697e+02] [-9.20820185e-01 3.89711789e-01 1.46597902e-02 -1.32238891e+02] [-1.60370127e-02 -2.80465352e-04 -9.99871360e-01 -8.04228972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.900385723 meters 0.017331204940189346 Centerline is valid? [True, True] Translation: X:108.39, Y:-132.33, Z:-8.04 [[-3.19324185e-01 -9.47626692e-01 5.97644999e-03 1.08391101e+02] [-9.47477733e-01 3.19379970e-01 1.68041645e-02 -1.32327504e+02] [-1.78328333e-02 -2.96577136e-04 -9.99840938e-01 -8.04207198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93038572300003 meters 0.017114259808907937 Centerline is valid? [True, True] Translation: X:108.33, Y:-132.43, Z:-8.04 [[-2.45921429e-01 -9.69278864e-01 4.59727785e-03 1.08332461e+02] [-9.69131514e-01 2.45964215e-01 1.69030445e-02 -1.32426455e+02] [-1.75145296e-02 -2.98545974e-04 -9.99846564e-01 -8.04176994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.960385723 meters 0.016098514525945153 Centerline is valid? [True, True] Translation: X:108.28, Y:-132.53, Z:-8.04 [[-1.71532577e-01 -9.85172871e-01 3.31512310e-03 1.08282460e+02] [-9.85020877e-01 1.71564352e-01 1.73073628e-02 -1.32533152e+02] [-1.76195013e-02 -2.96688918e-04 -9.99844721e-01 -8.04408532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.990385723 meters 0.01623494791992933 Centerline is valid? [True, True] Translation: X:108.24, Y:-132.64, Z:-8.04 [[-9.69680317e-02 -9.95285193e-01 2.14150377e-03 1.08241843e+02] [-9.95105947e-01 9.69912144e-02 1.88907138e-02 -1.32642718e+02] [-1.90093548e-02 -2.99227797e-04 -9.99819261e-01 -8.04314348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.020385723 meters 0.015473943806722786 Centerline is valid? [True, True] Translation: X:108.21, Y:-132.75, Z:-8.05 [[-2.15756998e-02 -9.99766982e-01 6.86402780e-04 1.08209556e+02] [-9.99590790e-01 2.15847849e-02 1.87709786e-02 -1.32748248e+02] [-1.87814205e-02 -2.81124897e-04 -9.99823574e-01 -8.04502863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.050385723 meters 0.015547308128657572 Centerline is valid? [True, True] Translation: X:108.18, Y:-132.86, Z:-8.05 [[ 5.45811609e-02 -9.98509045e-01 -7.64441442e-04 1.08184047e+02] [-9.98326395e-01 -5.45857992e-02 1.90997060e-02 -1.32863990e+02] [-1.91129568e-02 -2.79322056e-04 -9.99817292e-01 -8.04520656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.080385723 meters 0.01560439695637036 Centerline is valid? [True, True] Translation: X:108.17, Y:-132.98, Z:-8.05 [[ 1.29685290e-01 -9.91552795e-01 -2.18663061e-03 1.08171029e+02] [-9.91376216e-01 -1.29703464e-01 1.87138974e-02 -1.32980722e+02] [-1.88394308e-02 -2.59143628e-04 -9.99822489e-01 -8.04601328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.110385723 meters 0.015648067763699175 Centerline is valid? [True, True] Translation: X:108.16, Y:-133.10, Z:-8.05 [[ 2.05097296e-01 -9.78734863e-01 -3.62860832e-03 1.08163684e+02] [-9.78558683e-01 -2.05129230e-01 1.85715513e-02 -1.33099952e+02] [-1.89209584e-02 -2.58168773e-04 -9.99820949e-01 -8.04681544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.140385723 meters 0.015946830599558526 Centerline is valid? [True, True] Translation: X:108.17, Y:-133.22, Z:-8.05 [[ 2.79541098e-01 -9.60121233e-01 -4.89827618e-03 1.08166170e+02] [-9.59957630e-01 -2.79583896e-01 1.77255292e-02 -1.33218220e+02] [-1.83881361e-02 -2.52876316e-04 -9.99830892e-01 -8.04652558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.170385723 meters 0.01599949088275033 Centerline is valid? [True, True] Translation: X:108.18, Y:-133.34, Z:-8.05 [[ 3.52370099e-01 -9.35840648e-01 -6.13146072e-03 1.08177017e+02] [-9.35686288e-01 -3.52423350e-01 1.69985904e-02 -1.33338995e+02] [-1.80688418e-02 -2.52671258e-04 -9.99836713e-01 -8.04687968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.200385723 meters 0.015258903929161608 Centerline is valid? [True, True] Translation: X:108.20, Y:-133.45, Z:-8.05 [[ 4.23698270e-01 -9.05774127e-01 -7.28061552e-03 1.08197317e+02] [-9.05629600e-01 -4.23760737e-01 1.61822434e-02 -1.33454106e+02] [-1.77426964e-02 -2.62847603e-04 -9.99842551e-01 -8.05000979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.230385723 meters 0.016570550428979168 Centerline is valid? [True, True] Translation: X:108.23, Y:-133.57, Z:-8.05 [[ 4.93764101e-01 -8.69558143e-01 -8.10240406e-03 1.08227187e+02] [-8.69431299e-01 -4.93830490e-01 1.48547364e-02 -1.33570182e+02] [-1.69182712e-02 -2.90251894e-04 -9.99856834e-01 -8.04919058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.260385723 meters 0.016895071001802344 Centerline is valid? [True, True] Translation: X:108.26, Y:-133.68, Z:-8.05 [[ 5.59815209e-01 -8.28569271e-01 -8.93841197e-03 1.08263975e+02] [-8.28454911e-01 -5.59886481e-01 1.37691490e-02 -1.33681837e+02] [-1.64131898e-02 -3.03107743e-04 -9.99865249e-01 -8.04983620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.290385723 meters 0.01756870875136621 Centerline is valid? [True, True] Translation: X:108.31, Y:-133.79, Z:-8.05 [[ 6.23868422e-01 -7.81468885e-01 -9.72495943e-03 1.08310023e+02] [-7.81365168e-01 -6.23944118e-01 1.27362779e-02 -1.33788524e+02] [-1.60208361e-02 -3.47017039e-04 -9.99871598e-01 -8.04984292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.320385723 meters 0.01828066233258517 Centerline is valid? [True, True] Translation: X:108.36, Y:-133.89, Z:-8.05 [[ 6.82859161e-01 -7.30469580e-01 -1.08424588e-02 1.08359140e+02] [-7.30368560e-01 -6.82945128e-01 1.21539540e-02 -1.33891559e+02] [-1.62828981e-02 -3.80447786e-04 -9.99867352e-01 -8.04862264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.350385723 meters 0.018061853125094583 Centerline is valid? [True, True] Translation: X:108.42, Y:-133.99, Z:-8.05 [[ 7.37977098e-01 -6.74719244e-01 -1.19893462e-02 1.08418716e+02] [-6.74620718e-01 -7.38074359e-01 1.15380475e-02 -1.33985262e+02] [-1.66339717e-02 -4.26553504e-04 -9.99861555e-01 -8.04778347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.380385723 meters 0.01774903581051962 Centerline is valid? [True, True] Translation: X:108.42, Y:-133.99, Z:-8.05 [[ 7.88542880e-01 -6.14849044e-01 -1.26799121e-02 1.08417940e+02] [-6.14760848e-01 -7.88644707e-01 1.04223469e-02 -1.33991464e+02] [-1.64081155e-02 -4.23353924e-04 -9.99865288e-01 -8.04855998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.410385723 meters 0.017988253906077556 Centerline is valid? [True, True] Translation: X:108.42, Y:-133.99, Z:-8.05 [[ 8.34262001e-01 -5.51219521e-01 -1.28044502e-02 1.08420297e+02] [-5.51147091e-01 -8.34360160e-01 8.94474220e-03 -1.33993557e+02] [-1.56140396e-02 -4.05123047e-04 -9.99878011e-01 -8.04998958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.440385723 meters 0.017868947730223208 Centerline is valid? [True, True] Translation: X:108.42, Y:-134.00, Z:-8.05 [[ 8.74887082e-01 -4.84163088e-01 -1.25975404e-02 1.08419262e+02] [-4.84106575e-01 -8.74977690e-01 7.40711517e-03 -1.34000521e+02] [-1.46088186e-02 -3.81837233e-04 -9.99893213e-01 -8.05070812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.470385723 meters 0.017998487168808308 Centerline is valid? [True, True] Translation: X:108.42, Y:-134.00, Z:-8.05 [[ 9.10380560e-01 -4.13588593e-01 -1.23171126e-02 1.08419980e+02] [-4.13545233e-01 -9.10463805e-01 6.00005799e-03 -1.34004985e+02] [-1.36958408e-02 -3.68652952e-04 -9.99906140e-01 -8.05081599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.500385723 meters 0.01811992198847424 Centerline is valid? [True, True] Translation: X:108.42, Y:-134.01, Z:-8.05 [[ 9.39991858e-01 -3.40973085e-01 -1.23556198e-02 1.08418124e+02] [-3.40938577e-01 -9.40072990e-01 4.86422163e-03 -1.34012759e+02] [-1.32737531e-02 -3.59821294e-04 -9.99911835e-01 -8.05037601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.530385723 meters 0.01835495990940851 Centerline is valid? [True, True] Translation: X:108.42, Y:-134.02, Z:-8.05 [[ 9.63622041e-01 -2.67010838e-01 -1.17377598e-02 1.08417123e+02] [-2.66986906e-01 -9.63693471e-01 3.58959651e-03 -1.34016977e+02] [-1.22700636e-02 -3.25186144e-04 -9.99924667e-01 -8.04876689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.560385723 meters 0.01796462199591302 Centerline is valid? [True, True] Translation: X:108.42, Y:-134.02, Z:-8.05 [[ 9.81014830e-01 -1.93514340e-01 -1.27319781e-02 1.08416085e+02] [-1.93493929e-01 -9.81097398e-01 2.82769052e-03 -1.34021305e+02] [-1.30385092e-02 -3.10445882e-04 -9.99914947e-01 -8.04740526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.590385723 meters 0.016230480760662594 Centerline is valid? [True, True] Translation: X:108.41, Y:-134.02, Z:-8.05 [[ 9.92424054e-01 -1.22167224e-01 -1.30255903e-02 1.08413096e+02] [-1.22153615e-01 -9.92509504e-01 1.83825356e-03 -1.34018019e+02] [-1.31525965e-02 -2.33204100e-04 -9.99913474e-01 -8.04861632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.620385723 meters 0.018753692949819448 Centerline is valid? [True, True] Translation: X:108.41, Y:-134.02, Z:-8.05 [[ 9.98770514e-01 -4.76898632e-02 -1.35328456e-02 1.08408231e+02] [-4.76828854e-02 -9.98862173e-01 8.37993679e-04 -1.34022100e+02] [-1.35574113e-02 -1.91678253e-04 -9.99908076e-01 -8.04658576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.650385723 meters 0.015471183887427555 Centerline is valid? [True, True] Translation: X:108.40, Y:-134.03, Z:-8.05 [[ 9.99495694e-01 2.88373305e-02 -1.32953298e-02 1.08403700e+02] [ 2.88369628e-02 -9.99584104e-01 -2.19404441e-04 -1.34026925e+02] [-1.32961274e-02 -1.64103138e-04 -9.99911589e-01 -8.05010006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68038572300003 meters 0.01532316738130576 Centerline is valid? [True, True] Translation: X:108.40, Y:-134.03, Z:-8.05 [[ 9.94558199e-01 1.03342497e-01 -1.32029451e-02 1.08398967e+02] [ 1.03334931e-01 -9.94645824e-01 -1.25581360e-03 -1.34034873e+02] [-1.32620331e-02 -1.15345712e-04 -9.99912049e-01 -8.04791430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.710385723 meters 0.014997153912335857 Centerline is valid? [True, True] Translation: X:108.40, Y:-134.04, Z:-8.05 [[ 9.83635662e-01 1.79716917e-01 -1.27559729e-02 1.08396053e+02] [ 1.79703087e-01 -9.83718364e-01 -2.23165673e-03 -1.34043885e+02] [-1.29493512e-02 -9.71505556e-05 -9.99916149e-01 -8.04741573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.740385723 meters 0.014722862409881427 Centerline is valid? [True, True] Translation: X:108.39, Y:-134.06, Z:-8.04 [[ 9.66886496e-01 2.54915110e-01 -1.21980153e-02 1.08393689e+02] [ 2.54895841e-01 -9.66963433e-01 -3.13519671e-03 -1.34056987e+02] [-1.25942437e-02 -7.78440091e-05 -9.99920686e-01 -8.04468727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.770385723 meters 0.014682684266027613 Centerline is valid? [True, True] Translation: X:108.39, Y:-134.07, Z:-8.04 [[ 9.44080939e-01 3.29504889e-01 -1.17349248e-02 1.08392616e+02] [ 3.29480390e-01 -9.44153866e-01 -4.01871755e-03 -1.34065921e+02] [-1.24037617e-02 -7.24329448e-05 -9.99923068e-01 -8.04348891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.800385723 meters 0.014528505442570208 Centerline is valid? [True, True] Translation: X:108.39, Y:-134.07, Z:-8.04 [[ 9.15785900e-01 4.01503230e-01 -1.14604640e-02 1.08390319e+02] [ 4.01472623e-01 -9.15857605e-01 -4.95787505e-03 -1.34071313e+02] [-1.24867560e-02 -6.07104902e-05 -9.99922036e-01 -8.04411524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.830385723 meters 0.014584327987125728 Centerline is valid? [True, True] Translation: X:108.39, Y:-134.08, Z:-8.04 [[ 8.81685337e-01 4.71706515e-01 -1.11323708e-02 1.08386676e+02] [ 4.71669742e-01 -8.81755613e-01 -5.89014544e-03 -1.34076599e+02] [-1.25944504e-02 -5.75476192e-05 -9.99920685e-01 -8.04458971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.860385723 meters 0.014613476795689986 Centerline is valid? [True, True] Translation: X:108.38, Y:-134.08, Z:-8.04 [[ 8.42420273e-01 5.38711501e-01 -1.08628575e-02 1.08383769e+02] [ 5.38667485e-01 -8.42490306e-01 -6.88656455e-03 -1.34080262e+02] [-1.28617237e-02 -5.00865304e-05 -9.99917283e-01 -8.04436830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.890385723 meters 0.014613476795689986 Centerline is valid? [True, True] Translation: X:108.38, Y:-134.09, Z:-8.04 [[ 7.97659504e-01 6.03020252e-01 -1.02903478e-02 1.08380878e+02] [ 6.02970887e-01 -7.97725876e-01 -7.71593895e-03 -1.34085036e+02] [-1.28617442e-02 -5.00881087e-05 -9.99917283e-01 -8.04436811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.920385723 meters 0.014601489151478039 Centerline is valid? [True, True] Translation: X:108.38, Y:-134.09, Z:-8.04 [[ 7.48881991e-01 6.62621106e-01 -1.04419274e-02 1.08377923e+02] [ 6.62557356e-01 -7.48954784e-01 -9.19133614e-03 -1.34089369e+02] [-1.39109048e-02 -3.51496883e-05 -9.99903238e-01 -8.04308765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.950385723 meters 0.014433500297113693 Centerline is valid? [True, True] Translation: X:108.38, Y:-134.10, Z:-8.04 [[ 6.96352539e-01 7.17633527e-01 -9.76021657e-03 1.08378574e+02] [ 7.17563118e-01 -6.96420936e-01 -1.00524148e-02 -1.34097202e+02] [-1.40111691e-02 -3.54684048e-06 -9.99901839e-01 -8.04117201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.980385723 meters 0.014345173378363836 Centerline is valid? [True, True] Translation: X:108.38, Y:-134.11, Z:-8.04 [[ 6.38806113e-01 7.69319649e-01 -8.60397419e-03 1.08384063e+02] [ 7.69249658e-01 -6.38864053e-01 -1.03771998e-02 -1.34109157e+02] [-1.34801536e-02 1.04144922e-05 -9.99909139e-01 -8.04269686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.010385723 meters 0.01431574518325964 Centerline is valid? [True, True] Translation: X:108.39, Y:-134.12, Z:-8.04 [[ 5.77131386e-01 8.16619169e-01 -7.24539779e-03 1.08390558e+02] [ 8.16554447e-01 -5.77176864e-01 -1.02811744e-02 -1.34120198e+02] [-1.25776801e-02 1.73266338e-05 -9.99920898e-01 -8.04270713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.040385723 meters 0.014373451193813173 Centerline is valid? [True, True] Translation: X:108.40, Y:-134.13, Z:-8.04 [[ 5.11301916e-01 8.59384121e-01 -5.41147595e-03 1.08395817e+02] [ 8.59335723e-01 -5.11330552e-01 -9.12040964e-03 -1.34130811e+02] [-1.06049882e-02 1.30083250e-05 -9.99943765e-01 -8.04237326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.070385723 meters 0.01437930485996503 Centerline is valid? [True, True] Translation: X:108.39, Y:-134.14, Z:-8.04 [[ 4.40893524e-01 8.97550067e-01 -4.09609240e-03 1.08392360e+02] [ 8.97511427e-01 -4.40912551e-01 -8.32836249e-03 -1.34136645e+02] [-9.28114086e-03 -4.36864243e-06 -9.99956929e-01 -8.04417705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.100385723 meters 0.014292297295782904 Centerline is valid? [True, True] Translation: X:108.40, Y:-134.15, Z:-8.05 [[ 3.68036785e-01 9.29805002e-01 -3.40344811e-03 1.08399989e+02] [ 9.29765662e-01 -3.68052521e-01 -8.55306576e-03 -1.34145779e+02] [-9.20533098e-03 -1.65663668e-05 -9.99957630e-01 -8.04544271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.130385723 meters 0.014324901200079919 Centerline is valid? [True, True] Translation: X:108.41, Y:-134.15, Z:-8.04 [[ 2.92691910e-01 9.56203277e-01 -2.59595197e-03 1.08409558e+02] [ 9.56166527e-01 -2.92703420e-01 -8.38339231e-03 -1.34154931e+02] [-8.77607121e-03 -2.84112731e-05 -9.99961489e-01 -8.04443923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.160385723 meters 0.014638200323759114 Centerline is valid? [True, True] Translation: X:108.42, Y:-134.16, Z:-8.04 [[ 2.13967527e-01 9.76839090e-01 -1.81383093e-03 1.08421666e+02] [ 9.76806011e-01 -2.13975208e-01 -8.03904185e-03 -1.34163672e+02] [-8.24096517e-03 -5.16670554e-05 -9.99966041e-01 -8.04207987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.190385723 meters 0.014761515164952301 Centerline is valid? [True, True] Translation: X:108.43, Y:-134.17, Z:-8.04 [[ 1.35437921e-01 9.90785190e-01 -1.12962505e-03 1.08430553e+02] [ 9.90754357e-01 -1.35442618e-01 -7.81679309e-03 -1.34170241e+02] [-7.89776221e-03 -6.04907414e-05 -9.99968810e-01 -8.04158704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.220385723 meters 0.014866108934688756 Centerline is valid? [True, True] Translation: X:108.44, Y:-134.18, Z:-8.04 [[ 5.64299064e-02 9.98406450e-01 -4.76422051e-04 1.08438807e+02] [ 9.98379715e-01 -5.64318819e-02 -7.30665636e-03 -1.34175788e+02] [-7.32189823e-03 -6.33361769e-05 -9.99973193e-01 -8.04248968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.250385723 meters 0.014972728915277433 Centerline is valid? [True, True] Translation: X:108.45, Y:-134.18, Z:-8.04 [[-2.21041745e-02 9.99755668e-01 9.50614147e-05 1.08446858e+02] [ 9.99730212e-01 2.21042901e-02 -7.13471408e-03 -1.34180972e+02] [-7.13507211e-03 -6.26711968e-05 -9.99974543e-01 -8.04354450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.280385723 meters 0.01488937513528744 Centerline is valid? [True, True] Translation: X:108.45, Y:-134.19, Z:-8.04 [[-9.99847139e-02 9.94988784e-01 6.13138236e-04 1.08454545e+02] [ 9.94966466e-01 9.99865780e-02 -6.66457487e-03 -1.34185657e+02] [-6.69248284e-03 -5.63036280e-05 -9.99977604e-01 -8.04468277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.310385723 meters 0.014949981272540568 Centerline is valid? [True, True] Translation: X:108.46, Y:-134.19, Z:-8.04 [[-1.76613921e-01 9.84279637e-01 1.05821471e-03 1.08461682e+02] [ 9.84260368e-01 1.76617085e-01 -6.15895627e-03 -1.34191838e+02] [-6.24903404e-03 -4.61986168e-05 -9.99980474e-01 -8.04464053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.340385723 meters 0.014775510835884739 Centerline is valid? [True, True] Translation: X:108.47, Y:-134.20, Z:-8.04 [[-2.52390439e-01 9.67624312e-01 1.50221202e-03 1.08471823e+02] [ 9.67606221e-01 2.52394906e-01 -5.91716806e-03 -1.34195568e+02] [-6.10474634e-03 -3.98869524e-05 -9.99981365e-01 -8.04408962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.370385723 meters 0.014707385243205499 Centerline is valid? [True, True] Translation: X:108.48, Y:-134.20, Z:-8.04 [[-3.25693243e-01 9.45473632e-01 1.87707990e-03 1.08481157e+02] [ 9.45457443e-01 3.25698651e-01 -5.53292172e-03 -1.34200503e+02] [-5.84259399e-03 -2.73360541e-05 -9.99982932e-01 -8.04224095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.400385723 meters 0.014707876612690012 Centerline is valid? [True, True] Translation: X:108.49, Y:-134.20, Z:-8.04 [[-3.97901689e-01 9.17425250e-01 2.27102976e-03 1.08490269e+02] [ 9.17409995e-01 3.97908169e-01 -5.29048388e-03 -1.34204903e+02] [-5.75728479e-03 -2.16270695e-05 -9.99983426e-01 -8.04148434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43038572300003 meters 0.014568832542354911 Centerline is valid? [True, True] Translation: X:108.50, Y:-134.21, Z:-8.04 [[-4.67535667e-01 8.83971288e-01 2.27191190e-03 1.08500046e+02] [ 8.83960720e-01 4.67541187e-01 -4.32258526e-03 -1.34206727e+02] [-4.88325365e-03 -1.26819000e-05 -9.99988077e-01 -8.04337323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.460385723 meters 0.01457953975039686 Centerline is valid? [True, True] Translation: X:108.51, Y:-134.21, Z:-8.04 [[-5.35054666e-01 8.44815551e-01 1.78612068e-03 1.08511209e+02] [ 8.44810798e-01 5.35057647e-01 -2.83387980e-03 -1.34208582e+02] [-3.34978325e-03 -7.34657531e-06 -9.99994389e-01 -8.04401063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.490385723 meters 0.01458017374381999 Centerline is valid? [True, True] Translation: X:108.52, Y:-134.21, Z:-8.04 [[-5.98968465e-01 8.00771125e-01 1.54383807e-03 1.08520854e+02] [ 8.00768449e-01 5.98970455e-01 -2.06993632e-03 -1.34209605e+02] [-2.58225863e-03 -3.56975967e-06 -9.99996666e-01 -8.04491396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.520385723 meters 0.014554979879865855 Centerline is valid? [True, True] Translation: X:108.53, Y:-134.21, Z:-8.05 [[-6.59138949e-01 7.52019575e-01 1.55072929e-03 1.08534030e+02] [ 7.52017490e-01 6.59140773e-01 -1.77074494e-03 -1.34207079e+02] [-2.35378376e-03 -9.91409569e-07 -9.99997230e-01 -8.04507295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.550385723 meters 0.014516876316726851 Centerline is valid? [True, True] Translation: X:108.55, Y:-134.20, Z:-8.04 [[-7.15662210e-01 6.98443960e-01 1.90701653e-03 1.08547049e+02] [ 6.98441481e-01 7.15664751e-01 -1.86088569e-03 -1.34204629e+02] [-2.66450889e-03 1.73882973e-07 -9.99996450e-01 -8.04431238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.580385723 meters 0.01450630527723073 Centerline is valid? [True, True] Translation: X:108.57, Y:-134.18, Z:-8.04 [[-7.62929766e-01 6.46479173e-01 1.68853528e-03 1.08567921e+02] [ 6.46477594e-01 7.62931634e-01 -1.42908262e-03 -1.34183809e+02] [-2.21210913e-03 1.31056036e-06 -9.99997553e-01 -8.04467504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.610385723 meters 0.014516727962315049 Centerline is valid? [True, True] Translation: X:108.59, Y:-134.16, Z:-8.04 [[-8.06163888e-01 5.91689961e-01 1.66584606e-03 1.08589289e+02] [ 5.91688706e-01 8.06165610e-01 -1.21864473e-03 -1.34163640e+02] [-2.06400766e-03 3.23492854e-06 -9.99997870e-01 -8.04455877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.640385723 meters 0.014489461466744295 Centerline is valid? [True, True] Translation: X:109.07, Y:-133.53, Z:-9.03 [[-7.66859011e-01 -6.41814210e-01 1.33342828e-03 1.09071701e+02] [ 6.41813192e-01 -7.66860170e-01 -1.14314042e-03 -1.33526776e+02] [ 1.75623680e-03 -2.08156680e-05 9.99998458e-01 -9.02672723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.670385723 meters 0.014507050137411274 Centerline is valid? [True, True] Translation: X:108.56, Y:-134.14, Z:-8.04 [[-8.07328178e-01 5.90100741e-01 1.52638141e-03 1.08559439e+02] [ 5.90099700e-01 8.07329620e-01 -1.10813663e-03 -1.34140242e+02] [-1.88620517e-03 6.08728827e-06 -9.99998221e-01 -8.04275078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.700385723 meters 0.014478315385434013 Centerline is valid? [True, True] Translation: X:108.58, Y:-134.12, Z:-8.04 [[-8.46692563e-01 5.32079704e-01 1.70077494e-03 1.08583032e+02] [ 5.32078649e-01 8.46694271e-01 -1.05995302e-03 -1.34120140e+02] [-2.00401589e-03 7.49169121e-06 -9.99997992e-01 -8.04217239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.730385723 meters 0.014480548791624448 Centerline is valid? [True, True] Translation: X:108.60, Y:-134.10, Z:-8.04 [[-8.82241240e-01 4.70793804e-01 1.89413479e-03 1.08598551e+02] [ 4.70792738e-01 8.82243274e-01 -1.00173239e-03 -1.34095682e+02] [-2.14269708e-03 7.97527280e-06 -9.99997704e-01 -8.04205903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.760385723 meters 0.014439497296117192 Centerline is valid? [True, True] Translation: X:108.62, Y:-134.07, Z:-8.04 [[-9.13474262e-01 4.06888971e-01 2.47741703e-03 1.08616627e+02] [ 4.06887503e-01 9.13477621e-01 -1.09330862e-03 -1.34071698e+02] [-2.70792024e-03 9.32074106e-06 -9.99996334e-01 -8.04232980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.790385723 meters 0.014468778288881143 Centerline is valid? [True, True] Translation: X:108.62, Y:-134.04, Z:-8.04 [[-9.40042162e-01 3.41046059e-01 2.88440714e-03 1.08623803e+02] [ 3.41044486e-01 9.40046587e-01 -1.03564266e-03 -1.34043471e+02] [-3.06467893e-03 1.01633885e-05 -9.99995304e-01 -8.04222545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.820385723 meters 0.014532678816991175 Centerline is valid? [True, True] Translation: X:108.64, Y:-134.02, Z:-8.04 [[-9.61966337e-01 2.73142647e-01 3.72312942e-03 1.08640927e+02] [ 2.73140646e-01 9.61973541e-01 -1.04551276e-03 -1.34018670e+02] [-3.86712611e-03 1.11898989e-05 -9.99992523e-01 -8.04184600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.850385723 meters 0.014543815203672506 Centerline is valid? [True, True] Translation: X:108.64, Y:-133.99, Z:-8.04 [[-9.78959127e-01 2.04006586e-01 4.51013516e-03 1.08643583e+02] [ 2.04004478e-01 9.78969516e-01 -9.27386692e-04 -1.33989211e+02] [-4.60447783e-03 1.22141044e-05 -9.99989399e-01 -8.04058390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.880385723 meters 0.014533489648715045 Centerline is valid? [True, True] Translation: X:108.81, Y:-133.22, Z:-9.03 [[-9.64043950e-01 -2.65694353e-01 5.07684641e-03 1.08806954e+02] [ 2.65690823e-01 -9.64057317e-01 -1.36976466e-03 -1.33215143e+02] [ 5.25830966e-03 2.83581704e-05 9.99986175e-01 -9.03168513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.910385723 meters 0.014477293470383146 Centerline is valid? [True, True] Translation: X:108.60, Y:-133.98, Z:-8.04 [[-9.80120554e-01 1.98344752e-01 4.80192469e-03 1.08595896e+02] [ 1.98342393e-01 9.80132317e-01 -9.67271778e-04 -1.33977473e+02] [-4.89837485e-03 4.38228339e-06 -9.99988003e-01 -8.03784576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.940385723 meters 0.01440930257258829 Centerline is valid? [True, True] Translation: X:108.75, Y:-133.21, Z:-9.03 [[-9.64597223e-01 -2.63696542e-01 4.04124256e-03 1.08752708e+02] [ 2.63694015e-01 -9.64605687e-01 -1.15543583e-03 -1.33205074e+02] [ 4.20288999e-03 -4.88787132e-05 9.99991167e-01 -9.03042851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.970385723 meters 0.014577155687918321 Centerline is valid? [True, True] Translation: X:108.54, Y:-133.97, Z:-8.04 [[-9.81401334e-01 1.91940084e-01 3.22886797e-03 1.08541161e+02] [ 1.91939029e-01 9.81406646e-01 -6.36446614e-04 -1.33967282e+02] [-3.29099210e-03 -4.86377205e-06 -9.99994585e-01 -8.04095375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.000385723 meters 0.014534150045132366 Centerline is valid? [True, True] Translation: X:108.68, Y:-133.19, Z:-9.03 [[-9.65046059e-01 -2.62072157e-01 2.07073288e-03 1.08683984e+02] [ 2.62071399e-01 -9.65048278e-01 -6.34367993e-04 -1.33192542e+02] [ 2.16460739e-03 -6.95144701e-05 9.99997655e-01 -9.02852318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.030385723 meters 0.014712315267856836 Centerline is valid? [True, True] Translation: X:108.46, Y:-133.95, Z:-8.04 [[-9.82445758e-01 1.86537505e-01 2.02300250e-03 1.08462667e+02] [ 1.86537097e-01 9.82447841e-01 -3.89954036e-04 -1.33949985e+02] [-2.06023549e-03 -5.74367438e-06 -9.99997878e-01 -8.04173685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.060385723 meters 0.014728766856310402 Centerline is valid? [True, True] Translation: X:108.65, Y:-133.19, Z:-9.03 [[-9.66090675e-01 -2.58194941e-01 2.04474021e-03 1.08645033e+02] [ 2.58194383e-01 -9.66092838e-01 -5.36784284e-04 -1.33186294e+02] [ 2.11400386e-03 9.35814788e-06 9.99997765e-01 -9.02865344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.090385723 meters 0.014761429150038077 Centerline is valid? [True, True] Translation: X:108.44, Y:-133.95, Z:-8.04 [[-9.83001597e-01 1.83591706e-01 1.39472986e-03 1.08435357e+02] [ 1.83591518e-01 9.83002587e-01 -2.62855429e-04 -1.33948171e+02] [-1.41928113e-03 -2.32673507e-06 -9.99998993e-01 -8.04290736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.120385723 meters 0.014803393019407285 Centerline is valid? [True, True] Translation: X:108.44, Y:-133.92, Z:-8.05 [[-9.93405631e-01 1.14647121e-01 1.13562835e-03 1.08435421e+02] [ 1.14647046e-01 9.93406280e-01 -1.31284013e-04 -1.33921283e+02] [-1.14319167e-03 -2.21842799e-07 -9.99999347e-01 -8.04507165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.150385723 meters 0.014844069470835837 Centerline is valid? [True, True] Translation: X:108.52, Y:-133.13, Z:-9.03 [[-9.83184595e-01 -1.82612585e-01 8.34127926e-04 1.08522856e+02] [ 1.82612503e-01 -9.83184949e-01 -1.73793494e-04 -1.33132446e+02] [ 8.51838902e-04 -1.85488972e-05 9.99999637e-01 -9.02541422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18038572300003 meters 0.014843792375236049 Centerline is valid? [True, True] Translation: X:108.38, Y:-133.91, Z:-8.04 [[-9.93799051e-01 1.11189718e-01 5.42052211e-04 1.08375768e+02] [ 1.11189702e-01 9.93799198e-01 -5.94430187e-05 -1.33913947e+02] [-5.45300505e-04 1.19620822e-06 -9.99999851e-01 -8.04442358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.210385723 meters 0.014834931916591045 Centerline is valid? [True, True] Translation: X:108.45, Y:-133.13, Z:-9.03 [[-9.84533047e-01 -1.75187598e-01 1.99624098e-03 1.08453752e+02] [ 1.75187421e-01 -9.84535067e-01 -2.64554150e-04 -1.33125063e+02] [ 2.01171585e-03 8.92540064e-05 9.99997973e-01 -9.02733089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.240385723 meters 0.014897531469211888 Centerline is valid? [True, True] Translation: X:108.31, Y:-133.91, Z:-8.04 [[-9.93951347e-01 1.09786603e-01 2.76084493e-03 1.08305939e+02] [ 1.09786210e-01 9.93955181e-01 -2.93891893e-04 -1.33907431e+02] [-2.77642152e-03 1.09884588e-05 -9.99996146e-01 -8.04263482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.270385723 meters 0.015144554964631737 Centerline is valid? [True, True] Translation: X:108.31, Y:-133.88, Z:-8.04 [[-9.99145258e-01 4.12018457e-02 3.34089927e-03 1.08306856e+02] [ 4.12016848e-02 9.99150843e-01 -1.16996716e-04 -1.33880514e+02] [-3.34288281e-03 2.07539644e-05 -9.99994412e-01 -8.04290065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.300385723 meters 0.01517339146272465 Centerline is valid? [True, True] Translation: X:108.31, Y:-133.85, Z:-8.04 [[-9.99568419e-01 -2.91501107e-02 3.63970163e-03 1.08308780e+02] [-2.91498248e-02 9.99575045e-01 1.31600602e-04 -1.33851986e+02] [-3.64199109e-03 2.54471407e-05 -9.99993368e-01 -8.04250071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.330385723 meters 0.015197394689960043 Centerline is valid? [True, True] Translation: X:108.28, Y:-133.06, Z:-9.03 [[-9.99709064e-01 -2.37610694e-02 4.14722645e-03 1.08284157e+02] [ 2.37608827e-02 -9.99717666e-01 -9.42841286e-05 -1.33055267e+02] [ 4.14829584e-03 4.28506337e-06 9.99991396e-01 -9.02937505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.360385723 meters 0.015380303423348953 Centerline is valid? [True, True] Translation: X:108.20, Y:-133.85, Z:-8.04 [[-9.99399221e-01 -3.44289261e-02 3.98079582e-03 1.08201329e+02] [-3.44285280e-02 9.99407148e-01 1.68497444e-04 -1.33852731e+02] [-3.98423698e-03 3.13432737e-05 -9.99992062e-01 -8.03984113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.390385723 meters 0.015217723559663936 Centerline is valid? [True, True] Translation: X:108.20, Y:-133.82, Z:-8.04 [[-9.94393545e-01 -1.05668090e-01 3.96647858e-03 1.08198375e+02] [-1.05667126e-01 9.94401455e-01 4.52605744e-04 -1.33822208e+02] [-3.99209806e-03 3.09418396e-05 -9.99992031e-01 -8.03951019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.420385723 meters 0.015145374444013721 Centerline is valid? [True, True] Translation: X:108.18, Y:-133.80, Z:-8.04 [[-9.84134901e-01 -1.77367492e-01 4.38969615e-03 1.08184085e+02] [-1.77365587e-01 9.84144691e-01 8.22653317e-04 -1.33796621e+02] [-4.46600811e-03 3.10208076e-05 -9.99990027e-01 -8.04007322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.450385723 meters 0.015216279696104838 Centerline is valid? [True, True] Translation: X:108.16, Y:-133.77, Z:-8.04 [[-9.68774979e-01 -2.47918526e-01 3.38308578e-03 1.08155097e+02] [-2.47916928e-01 9.68780885e-01 8.90415144e-04 -1.33774602e+02] [-3.49821925e-03 2.38876771e-05 -9.99993881e-01 -8.04226820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.480385723 meters 0.015101956230005978 Centerline is valid? [True, True] Translation: X:108.10, Y:-133.76, Z:-8.04 [[-9.47995823e-01 -3.18265351e-01 3.32942718e-03 1.08099022e+02] [-3.18263302e-01 9.48001670e-01 1.14247814e-03 -1.33759938e+02] [-3.51991373e-03 2.34300149e-05 -9.99993805e-01 -8.04242727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.510385723 meters 0.015544804314604633 Centerline is valid? [True, True] Translation: X:108.04, Y:-133.75, Z:-8.04 [[-9.21810300e-01 -3.87631290e-01 2.78470699e-03 1.08036888e+02] [-3.87629460e-01 9.21814506e-01 1.19147407e-03 -1.33750795e+02] [-3.02883593e-03 1.88786025e-05 -9.99995413e-01 -8.04095893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.540385723 meters 0.014805148160088181 Centerline is valid? [True, True] Translation: X:107.96, Y:-133.75, Z:-8.04 [[-8.89073369e-01 -4.57755464e-01 2.91189457e-03 1.07961384e+02] [-4.57752971e-01 8.89078138e-01 1.51084129e-03 -1.33750413e+02] [-3.28049766e-03 1.03203688e-05 -9.99994619e-01 -8.04119084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.570385723 meters 0.014876068609295889 Centerline is valid? [True, True] Translation: X:107.88, Y:-133.76, Z:-8.04 [[-8.50664160e-01 -5.25696133e-01 3.75006838e-03 1.07876589e+02] [-5.25691029e-01 8.50672426e-01 2.31647241e-03 -1.33762706e+02] [-4.40784036e-03 -8.37248076e-07 -9.99990285e-01 -8.04165327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.600385723 meters 0.014826879089594583 Centerline is valid? [True, True] Translation: X:107.79, Y:-133.79, Z:-8.04 [[-8.07909952e-01 -5.89293033e-01 3.90264105e-03 1.07787351e+02] [-5.89286205e-01 8.07919378e-01 2.83675394e-03 -1.33785938e+02] [-4.82469866e-03 -7.93079458e-06 -9.99988361e-01 -8.04145263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.630385723 meters 0.014920361564313395 Centerline is valid? [True, True] Translation: X:107.69, Y:-133.82, Z:-8.04 [[-7.60617135e-01 -6.49191555e-01 3.44949346e-03 1.07694673e+02] [-6.49184946e-01 7.60624957e-01 2.92937443e-03 -1.33820108e+02] [-4.52549596e-03 -1.12268376e-05 -9.99989760e-01 -8.04196478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.660385723 meters 0.014909402635224148 Centerline is valid? [True, True] Translation: X:107.60, Y:-133.86, Z:-8.04 [[-7.09037332e-01 -7.05165737e-01 2.71030865e-03 1.07600148e+02] [-7.05160642e-01 7.09042512e-01 2.68061033e-03 -1.33861931e+02] [-3.81199861e-03 -1.05501923e-05 -9.99992734e-01 -8.04185326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.690385723 meters 0.014890752778997979 Centerline is valid? [True, True] Translation: X:107.51, Y:-133.92, Z:-8.04 [[-6.53371191e-01 -7.57035068e-01 1.99819783e-03 1.07506581e+02] [-7.57031567e-01 6.53374247e-01 2.30223627e-03 -1.33917221e+02] [-3.04844459e-03 -8.48397963e-06 -9.99995353e-01 -8.04223971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.720385723 meters 0.014910198134105067 Centerline is valid? [True, True] Translation: X:107.42, Y:-133.98, Z:-8.04 [[-5.94044826e-01 -8.04431212e-01 1.08149360e-03 1.07415591e+02] [-8.04429892e-01 5.94045811e-01 1.45724054e-03 -1.33981863e+02] [-1.81470652e-03 -4.31957814e-06 -9.99998353e-01 -8.04303099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.750385723 meters 0.014858116661915539 Centerline is valid? [True, True] Translation: X:107.33, Y:-134.05, Z:-8.04 [[-5.31320111e-01 -8.47170807e-01 7.50781239e-04 1.07331988e+02] [-8.47169967e-01 5.31320642e-01 1.19267025e-03 -1.34053401e+02] [-1.40930098e-03 -2.34963020e-06 -9.99999007e-01 -8.04458422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.780385723 meters 0.014858116661915539 Centerline is valid? [True, True] Translation: X:107.25, Y:-134.14, Z:-8.04 [[-4.64892400e-01 -8.85366943e-01 6.57262350e-04 1.07249861e+02] [-8.85366065e-01 4.64892865e-01 1.24666982e-03 -1.34137418e+02] [-1.40931682e-03 -2.35045663e-06 -9.99999007e-01 -8.04458343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.810385723 meters 0.014807814468556085 Centerline is valid? [True, True] Translation: X:107.18, Y:-134.23, Z:-8.05 [[-3.97289604e-01 -9.17693249e-01 2.68008428e-04 1.07175216e+02] [-9.17693039e-01 3.97289694e-01 6.19930294e-04 -1.34227616e+02] [-6.75382832e-04 3.42392077e-07 -9.99999772e-01 -8.04652306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.840385723 meters 0.014787276722866524 Centerline is valid? [True, True] Translation: X:107.10, Y:-134.33, Z:-8.05 [[-3.26787514e-01 -9.45097748e-01 4.08909185e-04 1.07104695e+02] [-9.45097001e-01 3.26787770e-01 1.18800278e-03 -1.34328607e+02] [-1.25640528e-03 1.76563141e-06 -9.99999211e-01 -8.04643011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.870385723 meters 0.014838843012204408 Centerline is valid? [True, True] Translation: X:107.04, Y:-134.44, Z:-8.05 [[-2.54350377e-01 -9.67112025e-01 4.66316364e-04 1.07041044e+02] [-9.67110365e-01 2.54350804e-01 1.79155284e-03 -1.34437343e+02] [-1.85124024e-03 4.70275108e-06 -9.99998286e-01 -8.04559434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.900385723 meters 0.014950490157704641 Centerline is valid? [True, True] Translation: X:106.98, Y:-134.55, Z:-8.04 [[-1.81405572e-01 -9.83408112e-01 7.10378334e-04 1.06984429e+02] [-9.83400153e-01 1.81406962e-01 3.95653197e-03 -1.34548171e+02] [-4.01975320e-03 1.91507821e-05 -9.99991921e-01 -8.04253416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93038572300003 meters 0.015020749189953237 Centerline is valid? [True, True] Translation: X:106.94, Y:-134.67, Z:-8.04 [[-1.06017372e-01 -9.94364169e-01 4.64587116e-04 1.06937641e+02] [-9.94353502e-01 1.06018387e-01 4.60604249e-03 -1.34671264e+02] [-4.62933839e-03 2.63566947e-05 -9.99989284e-01 -8.04171127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.960385723 meters 0.015175077949542665 Centerline is valid? [True, True] Translation: X:106.90, Y:-134.78, Z:-8.04 [[-3.37195272e-02 -9.99431323e-01 1.58049598e-04 1.06901208e+02] [-9.99413624e-01 3.37198707e-02 5.94792892e-03 -1.34781195e+02] [-5.94987588e-03 4.26044296e-05 -9.99982298e-01 -8.04243897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.990385723 meters 0.015372203323566433 Centerline is valid? [True, True] Translation: X:106.87, Y:-134.91, Z:-8.04 [[ 4.15883620e-02 -9.99134782e-01 -3.08851993e-04 1.06874015e+02] [-9.99116254e-01 -4.15894717e-02 6.08489412e-03 -1.34905138e+02] [-6.09247435e-03 5.55182675e-05 -9.99981439e-01 -8.04357563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.020385723 meters 0.015557940995928431 Centerline is valid? [True, True] Translation: X:106.85, Y:-135.03, Z:-8.04 [[ 1.17723454e-01 -9.93046185e-01 -6.79997661e-04 1.06854469e+02] [-9.93032108e-01 -1.17725406e-01 5.28774291e-03 -1.35025693e+02] [-5.33102593e-03 5.27681508e-05 -9.99985789e-01 -8.04373399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.050385723 meters 0.015376395397065043 Centerline is valid? [True, True] Translation: X:106.84, Y:-135.14, Z:-8.04 [[ 1.93367395e-01 -9.81125876e-01 -1.03251805e-03 1.06841174e+02] [-9.81113319e-01 -1.93370144e-01 4.96422645e-03 -1.35142267e+02] [-5.07018919e-03 5.30976763e-05 -9.99987145e-01 -8.04389995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.080385723 meters 0.015623781449413641 Centerline is valid? [True, True] Translation: X:106.84, Y:-135.27, Z:-8.04 [[ 2.68333784e-01 -9.63324793e-01 -1.52404191e-03 1.06840241e+02] [-9.63310445e-01 -2.68338106e-01 5.25809725e-03 -1.35268336e+02] [-5.47421397e-03 5.72003616e-05 -9.99985015e-01 -8.04209584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.110385723 meters 0.01531753764829234 Centerline is valid? [True, True] Translation: X:106.85, Y:-135.39, Z:-8.04 [[ 3.41644291e-01 -9.39827212e-01 -1.99762473e-03 1.06849144e+02] [-9.39812149e-01 -3.41650126e-01 5.32132524e-03 -1.35393426e+02] [-5.68361500e-03 5.93916065e-05 -9.99983846e-01 -8.04277475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.140385723 meters 0.015418658292657357 Centerline is valid? [True, True] Translation: X:106.87, Y:-135.51, Z:-8.04 [[ 4.12606624e-01 -9.10906156e-01 -2.39774930e-03 1.06868295e+02] [-9.10891628e-01 -4.12613587e-01 5.14498427e-03 -1.35514234e+02] [-5.67594178e-03 6.12351686e-05 -9.99983890e-01 -8.04436319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.170385723 meters 0.01545685633525877 Centerline is valid? [True, True] Translation: X:106.90, Y:-135.64, Z:-8.05 [[ 4.80845190e-01 -8.76802261e-01 -2.38719666e-03 1.06896453e+02] [-8.76792019e-01 -4.80851113e-01 4.23828236e-03 -1.35635056e+02] [-4.86402172e-03 5.51172969e-05 -9.99988169e-01 -8.04531534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.200385723 meters 0.015559435428155716 Centerline is valid? [True, True] Translation: X:106.93, Y:-135.75, Z:-8.04 [[ 5.46156236e-01 -8.37679637e-01 -2.48855756e-03 1.06928050e+02] [-8.37671382e-01 -5.46161902e-01 3.71917581e-03 -1.35749660e+02] [-4.47463317e-03 5.33423870e-05 -9.99989987e-01 -8.04499466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.230385723 meters 0.01597038687308799 Centerline is valid? [True, True] Translation: X:106.97, Y:-135.86, Z:-8.04 [[ 6.08588609e-01 -7.93480637e-01 -2.89549488e-03 1.06969064e+02] [-7.93472093e-01 -6.08595494e-01 3.68256901e-03 -1.35860289e+02] [-4.68423234e-03 5.63248367e-05 -9.99989027e-01 -8.04333505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.260385723 meters 0.015396044300661457 Centerline is valid? [True, True] Translation: X:107.02, Y:-135.97, Z:-8.04 [[ 6.68124579e-01 -7.44039834e-01 -3.77802735e-03 1.07020963e+02] [-7.44028455e-01 -6.68135257e-01 4.11540706e-03 -1.35969882e+02] [-5.58626006e-03 6.13552423e-05 -9.99984395e-01 -8.04325559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.290385723 meters 0.015252738795520512 Centerline is valid? [True, True] Translation: X:107.07, Y:-136.07, Z:-8.04 [[ 7.24330939e-01 -6.89433409e-01 -5.12491396e-03 1.07073468e+02] [-6.89416750e-01 -7.24349067e-01 4.79315857e-03 -1.36068289e+02] [-7.01679030e-03 6.13684796e-05 -9.99975380e-01 -8.04244259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.320385723 meters 0.014893242790235397 Centerline is valid? [True, True] Translation: X:107.07, Y:-136.08, Z:-8.04 [[ 7.78023133e-01 -6.28208901e-01 -5.79492105e-03 1.07066554e+02] [-6.28191867e-01 -7.78044712e-01 4.62638560e-03 -1.36079564e+02] [-7.41504430e-03 4.08872546e-05 -9.99972507e-01 -8.04369622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.350385723 meters 0.017526243138633345 Centerline is valid? [True, True] Translation: X:107.06, Y:-136.09, Z:-8.04 [[ 8.25273259e-01 -5.64694464e-01 -6.64906961e-03 1.07061247e+02] [-5.64676494e-01 -8.25300043e-01 4.50515115e-03 -1.36089907e+02] [-8.03151135e-03 3.65925399e-05 -9.99967746e-01 -8.03875786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.380385723 meters 0.014752518901370217 Centerline is valid? [True, True] Translation: X:107.06, Y:-136.10, Z:-8.04 [[ 8.68269807e-01 -4.96038038e-01 -7.33526571e-03 1.07057781e+02] [-4.96020482e-01 -8.68300791e-01 4.17334843e-03 -1.36099909e+02] [-8.43935660e-03 1.48495969e-05 -9.99964388e-01 -8.04194416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.410385723 meters 0.014640837634954714 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.12, Z:-8.04 [[ 9.05464720e-01 -4.24357101e-01 -7.39542186e-03 1.07052468e+02] [-4.24342890e-01 -9.05494920e-01 3.47289209e-03 -1.36116981e+02] [-8.17026335e-03 -6.38657742e-06 -9.99966623e-01 -8.04224197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.440385723 meters 0.014665501167273245 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.13, Z:-8.04 [[ 9.36287596e-01 -3.51179354e-01 -6.21280665e-03 1.07050806e+02] [-3.51171530e-01 -9.36308209e-01 2.34411971e-03 -1.36130751e+02] [-6.64030831e-03 -1.30093877e-05 -9.99977953e-01 -8.04395540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.470385723 meters 0.016244677760497643 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.14, Z:-8.04 [[ 9.60671866e-01 -2.77611276e-01 -6.44564436e-03 1.07050496e+02] [-2.77604968e-01 -9.60693489e-01 1.87135118e-03 -1.36141142e+02] [-6.71179675e-03 -8.41153190e-06 -9.99977476e-01 -8.04178751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.500385723 meters 0.014513918636854082 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.15, Z:-8.05 [[ 9.79590776e-01 -2.00891635e-01 -6.66809244e-03 1.07051503e+02] [-2.00886885e-01 -9.79613470e-01 1.38151739e-03 -1.36152310e+02] [-6.80968846e-03 -1.37893691e-05 -9.99976814e-01 -8.04557115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.530385723 meters 0.014723591363369447 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.16, Z:-8.05 [[ 9.92260113e-01 -1.23949180e-01 -7.51464487e-03 1.07051218e+02] [-1.23945532e-01 -9.92288567e-01 9.50999945e-04 -1.36161693e+02] [-7.57457185e-03 -1.22326581e-05 -9.99971312e-01 -8.04596909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.560385723 meters 0.014652915632782497 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.17, Z:-8.05 [[ 9.98875633e-01 -4.67031956e-02 -8.14128260e-03 1.07049039e+02] [-4.67015907e-02 -9.98908810e-01 3.87230358e-04 -1.36171384e+02] [-8.15048381e-03 -6.58412162e-06 -9.99966784e-01 -8.04514030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.590385723 meters 0.014672524598247952 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.18, Z:-8.04 [[ 9.99523800e-01 2.96754814e-02 -8.45813063e-03 1.07047653e+02] [ 2.96743338e-02 -9.99559586e-01 -2.61169114e-04 -1.36182567e+02] [-8.46215587e-03 1.00553533e-05 -9.99964195e-01 -8.04267129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.620385723 meters 0.016643262022851723 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.19, Z:-8.04 [[ 9.94371546e-01 1.05620194e-01 -8.34281825e-03 1.07048266e+02] [ 1.05616233e-01 -9.94406544e-01 -9.15192213e-04 -1.36192601e+02] [-8.39281584e-03 2.89040612e-05 -9.99964779e-01 -8.03976469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.650385723 meters 0.014958079403397058 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.20, Z:-8.04 [[ 9.83652661e-01 1.79875815e-01 -8.49320323e-03 1.07049403e+02] [ 1.79868598e-01 -9.83689325e-01 -1.61241232e-03 -1.36200656e+02] [-8.64470733e-03 5.83931123e-05 -9.99962632e-01 -8.04420645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68038572300003 meters 0.0151807575270796 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.21, Z:-8.04 [[ 9.67298849e-01 2.53475976e-01 -9.10307613e-03 1.07052244e+02] [ 2.53463863e-01 -9.67341678e-01 -2.47970247e-03 -1.36211580e+02] [-9.43432994e-03 9.13125014e-05 -9.99955492e-01 -8.04475283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.710385723 meters 0.017821308572851996 Centerline is valid? [True, True] Translation: X:107.05, Y:-136.22, Z:-8.04 [[ 9.46461560e-01 3.22665267e-01 -9.88135309e-03 1.07054397e+02] [ 3.22645848e-01 -9.46513126e-01 -3.54384632e-03 -1.36223746e+02] [-1.04963065e-02 1.65936763e-04 -9.99944899e-01 -8.04025070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.740385723 meters 0.016212862651936923 Centerline is valid? [True, True] Translation: X:107.06, Y:-136.24, Z:-8.04 [[ 9.18538327e-01 3.95223096e-01 -9.27608953e-03 1.07059019e+02] [ 3.95201107e-01 -9.18585149e-01 -4.17236794e-03 -1.36236481e+02] [-1.01698943e-02 1.66559017e-04 -9.99948271e-01 -8.04242213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.770385723 meters 0.01617525938314488 Centerline is valid? [True, True] Translation: X:107.06, Y:-136.25, Z:-8.04 [[ 8.84818066e-01 4.65835390e-01 -9.71487129e-03 1.07064950e+02] [ 4.65805042e-01 -8.84871378e-01 -5.32041850e-03 -1.36247249e+02] [-1.10748508e-02 1.82366375e-04 -9.99938655e-01 -8.04317880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.800385723 meters 0.016152483247659454 Centerline is valid? [True, True] Translation: X:107.07, Y:-136.26, Z:-8.04 [[ 8.45019215e-01 5.34651942e-01 -9.47766820e-03 1.07070962e+02] [ 5.34616006e-01 -8.45072346e-01 -6.20120909e-03 -1.36257182e+02] [-1.13248038e-02 1.73227713e-04 -9.99935857e-01 -8.04341263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.830385723 meters 0.015927436744147955 Centerline is valid? [True, True] Translation: X:107.08, Y:-136.27, Z:-8.04 [[ 7.98589142e-01 6.01808502e-01 -9.05041862e-03 1.07077812e+02] [ 6.01767898e-01 -7.98640412e-01 -6.99207046e-03 -1.36268097e+02] [-1.14359175e-02 1.37540165e-04 -9.99934598e-01 -8.04319213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.860385723 meters 0.01558826595296623 Centerline is valid? [True, True] Translation: X:107.09, Y:-136.28, Z:-8.04 [[ 7.47937605e-01 6.63719649e-01 -8.09734268e-03 1.07086085e+02] [ 6.63679110e-01 -7.47981427e-01 -7.33651568e-03 -1.36277700e+02] [-1.09260515e-02 1.13218783e-04 -9.99940303e-01 -8.04324645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.890385723 meters 0.016978998497929144 Centerline is valid? [True, True] Translation: X:107.10, Y:-136.29, Z:-8.04 [[ 6.92024381e-01 7.21835971e-01 -7.42207432e-03 1.07097251e+02] [ 7.21793098e-01 -6.92064176e-01 -7.86764749e-03 -1.36289210e+02] [-1.08157027e-02 8.74018653e-05 -9.99941505e-01 -8.04093308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.920385723 meters 0.015141874060831912 Centerline is valid? [True, True] Translation: X:107.11, Y:-136.30, Z:-8.04 [[ 6.31724148e-01 7.75162948e-01 -6.85606311e-03 1.07106623e+02] [ 7.75116177e-01 -6.31761348e-01 -8.51538517e-03 -1.36297104e+02] [-1.09322067e-02 6.51290125e-05 -9.99940240e-01 -8.04355094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.950385723 meters 0.01511871415491338 Centerline is valid? [True, True] Translation: X:107.11, Y:-136.30, Z:-8.04 [[ 5.67918853e-01 8.23057879e-01 -6.62601147e-03 1.07114422e+02] [ 8.23000777e-01 -5.67957503e-01 -9.69518568e-03 -1.36304610e+02] [-1.17429919e-02 5.28661443e-05 -9.99931047e-01 -8.04337837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.980385723 meters 0.015059640379559657 Centerline is valid? [True, True] Translation: X:107.12, Y:-136.31, Z:-8.04 [[ 4.99506811e-01 8.66287104e-01 -6.29279340e-03 1.07119678e+02] [ 8.66217746e-01 -4.99546447e-01 -1.09619539e-02 -1.36309630e+02] [-1.26397419e-02 2.46413331e-05 -9.99920115e-01 -8.04432903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.010385723 meters 0.015064774321672648 Centerline is valid? [True, True] Translation: X:107.13, Y:-136.31, Z:-8.04 [[ 4.28514764e-01 9.03519749e-01 -5.21148814e-03 1.07126932e+02] [ 9.03452881e-01 -4.28546453e-01 -1.09922746e-02 -1.36314178e+02] [-1.21651020e-02 2.01799863e-06 -9.99926002e-01 -8.04469947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.040385723 meters 0.015098143147444414 Centerline is valid? [True, True] Translation: X:107.14, Y:-136.32, Z:-8.04 [[ 3.55455856e-01 9.34682347e-01 -4.47716935e-03 1.07135502e+02] [ 9.34608615e-01 -3.55484051e-01 -1.17399324e-02 -1.36319115e+02] [-1.25646698e-02 -1.13733374e-05 -9.99921061e-01 -8.04405016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.070385723 meters 0.01512840976857938 Centerline is valid? [True, True] Translation: X:107.14, Y:-136.32, Z:-8.04 [[ 2.79816908e-01 9.60047111e-01 -3.47030230e-03 1.07144791e+02] [ 9.59974539e-01 -2.79838425e-01 -1.18042374e-02 -1.36322769e+02] [-1.23037479e-02 -2.83766504e-05 -9.99924306e-01 -8.04329316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.100385723 meters 0.015073821505779128 Centerline is valid? [True, True] Translation: X:107.15, Y:-136.33, Z:-8.04 [[ 2.01383469e-01 9.79509282e-01 -2.50310026e-03 1.07153070e+02] [ 9.79437154e-01 -2.01399016e-01 -1.18868833e-02 -1.36326106e+02] [-1.21474345e-02 -5.78075974e-05 -9.99926216e-01 -8.04445684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.130385723 meters 0.015119125477872792 Centerline is valid? [True, True] Translation: X:107.16, Y:-136.33, Z:-8.05 [[ 1.23334415e-01 9.92364020e-01 -1.50796160e-03 1.07161785e+02] [ 9.92296113e-01 -1.23343616e-01 -1.16093458e-02 -1.36328771e+02] [-1.17066945e-02 -6.45125567e-05 -9.99931472e-01 -8.04555220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.160385723 meters 0.015119831958646836 Centerline is valid? [True, True] Translation: X:107.17, Y:-136.33, Z:-8.05 [[ 4.52460057e-02 9.98975727e-01 -5.44677006e-04 1.07168041e+02] [ 9.98918279e-01 -4.52492451e-02 -1.07134465e-02 -1.36331082e+02] [-1.07271192e-02 -5.93471550e-05 -9.99942461e-01 -8.04713366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.190385723 meters 0.015253544450783167 Centerline is valid? [True, True] Translation: X:107.18, Y:-136.33, Z:-8.05 [[-3.25928093e-02 9.99468666e-01 3.06988756e-04 1.07176722e+02] [ 9.99406868e-01 3.25942079e-02 -1.11143876e-02 -1.36334166e+02] [-1.11184882e-02 -5.54424454e-05 -9.99938186e-01 -8.04586147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.220385723 meters 0.015088792189297309 Centerline is valid? [True, True] Translation: X:107.18, Y:-136.34, Z:-8.05 [[-1.10180506e-01 9.93910763e-01 1.28539689e-03 1.07183800e+02] [ 9.93837354e-01 1.10187991e-01 -1.20797478e-02 -1.36335891e+02] [-1.21478267e-02 -5.34772864e-05 -9.99926211e-01 -8.04797162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.250385723 meters 0.015201181126188103 Centerline is valid? [True, True] Translation: X:107.19, Y:-136.34, Z:-8.05 [[-1.87567463e-01 9.82249261e-01 2.19919708e-03 1.07193555e+02] [ 9.82178521e-01 1.87580349e-01 -1.17883705e-02 -1.36337641e+02] [-1.19916444e-02 -5.11106285e-05 -9.99928096e-01 -8.04782303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.280385723 meters 0.015143110947763428 Centerline is valid? [True, True] Translation: X:107.20, Y:-136.34, Z:-8.05 [[-2.63744705e-01 9.64587803e-01 3.01695986e-03 1.07202182e+02] [ 9.64522643e-01 2.63761955e-01 -1.12116712e-02 -1.36339303e+02] [-1.16104005e-02 -4.70928180e-05 -9.99932596e-01 -8.04814757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.310385723 meters 0.015116814738547334 Centerline is valid? [True, True] Translation: X:107.21, Y:-136.34, Z:-8.05 [[-3.37657960e-01 9.41260173e-01 4.04822077e-03 1.07210512e+02] [ 9.41191163e-01 3.37682225e-01 -1.13978112e-02 -1.36339798e+02] [-1.20953179e-02 -3.84120635e-05 -9.99926848e-01 -8.04872600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.340385723 meters 0.01650999085416092 Centerline is valid? [True, True] Translation: X:107.22, Y:-136.34, Z:-8.05 [[-4.08198494e-01 9.12875429e-01 5.69562438e-03 1.07217842e+02] [ 9.12786176e-01 4.08238228e-01 -1.27650458e-02 -1.36340734e+02] [-1.39780683e-02 -1.17852947e-05 -9.99902302e-01 -8.04639880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.370385723 meters 0.015217261812784003 Centerline is valid? [True, True] Translation: X:107.23, Y:-136.34, Z:-8.05 [[-4.77731662e-01 8.78478008e-01 6.98916161e-03 1.07227391e+02] [ 8.78383982e-01 4.77782785e-01 -1.28526627e-02 -1.36340951e+02] [-1.46300826e-02 -9.56304433e-07 -9.99892975e-01 -8.04816477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.400385723 meters 0.016994038199335156 Centerline is valid? [True, True] Translation: X:107.24, Y:-136.34, Z:-8.05 [[-5.43294839e-01 8.39501167e-01 8.27695261e-03 1.07236273e+02] [ 8.39404626e-01 5.43357883e-01 -1.27312293e-02 -1.36340731e+02] [-1.51852293e-02 3.09011387e-05 -9.99884697e-01 -8.04622499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43038572300003 meters 0.015588709546175136 Centerline is valid? [True, True] Translation: X:107.24, Y:-136.34, Z:-8.05 [[-6.04847599e-01 7.96289858e-01 9.04679201e-03 1.07242587e+02] [ 7.96202716e-01 6.04915247e-01 -1.17804089e-02 -1.36343211e+02] [-1.48531626e-02 7.77283207e-05 -9.99889683e-01 -8.04844684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.460385723 meters 0.015930246089560948 Centerline is valid? [True, True] Translation: X:107.25, Y:-136.34, Z:-8.05 [[-6.62841448e-01 7.48684836e-01 1.05939008e-02 1.07249019e+02] [ 7.48592494e-01 6.62926087e-01 -1.17593047e-02 -1.36344548e+02] [-1.58269863e-02 1.35960020e-04 -9.99874736e-01 -8.04804112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.490385723 meters 0.015988140764796852 Centerline is valid? [True, True] Translation: X:107.26, Y:-136.34, Z:-8.05 [[-7.18972054e-01 6.94945265e-01 1.14132916e-02 1.07258708e+02] [ 6.94860916e-01 7.19062624e-01 -1.08282188e-02 -1.36342117e+02] [-1.57318908e-02 1.45463567e-04 -9.99876236e-01 -8.04833972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.520385723 meters 0.016087644443641032 Centerline is valid? [True, True] Translation: X:107.80, Y:-135.78, Z:-9.02 [[-6.84362347e-01 -7.29060118e-01 1.09325846e-02 1.07801844e+02] [ 7.28964133e-01 -6.84449653e-01 -1.18306751e-02 -1.35778264e+02] [ 1.61080771e-02 -1.27006543e-04 9.99870248e-01 -9.02154600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.550385723 meters 0.016230482061333047 Centerline is valid? [True, True] Translation: X:107.79, Y:-135.75, Z:-9.02 [[-6.85489843e-01 -7.28015109e-01 9.88314254e-03 1.07789546e+02] [ 7.27936129e-01 -6.85561067e-01 -1.07245582e-02 -1.35754204e+02] [ 1.45831381e-02 -1.57279175e-04 9.99893648e-01 -9.01931834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.580385723 meters 0.016261394320170108 Centerline is valid? [True, True] Translation: X:107.77, Y:-135.73, Z:-9.02 [[-6.86436413e-01 -7.27133046e-01 9.08763650e-03 1.07772697e+02] [ 7.27066273e-01 -6.86496547e-01 -9.85526737e-03 -1.35733213e+02] [ 1.34047217e-02 -1.57700380e-04 9.99910140e-01 -9.01799777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.610385723 meters 0.016349982122780504 Centerline is valid? [True, True] Translation: X:107.75, Y:-135.71, Z:-9.02 [[-6.88156035e-01 -7.25512872e-01 8.50554685e-03 1.07754733e+02] [ 7.25454320e-01 -6.88208575e-01 -9.21886335e-03 -1.35711482e+02] [ 1.25419943e-02 -1.73630743e-04 9.99921331e-01 -9.01811932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.640385723 meters 0.01654016993999198 Centerline is valid? [True, True] Translation: X:107.74, Y:-135.69, Z:-9.02 [[-6.88718267e-01 -7.24976547e-01 8.72670171e-03 1.07738076e+02] [ 7.24914939e-01 -6.88773528e-01 -9.45299941e-03 -1.35689800e+02] [ 1.28639240e-02 -1.84336934e-04 9.99917239e-01 -9.01846110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.670385723 meters 0.016675680744656158 Centerline is valid? [True, True] Translation: X:107.72, Y:-135.67, Z:-9.02 [[-6.87630547e-01 -7.25996622e-01 9.65069728e-03 1.07724555e+02] [ 7.25921473e-01 -6.87698243e-01 -1.04471283e-02 -1.35666329e+02] [ 1.42213474e-02 -1.78116184e-04 9.99898856e-01 -9.01753918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.700385723 meters 0.01645503444881021 Centerline is valid? [True, True] Translation: X:107.71, Y:-135.65, Z:-9.02 [[-6.86405838e-01 -7.27148200e-01 1.01252066e-02 1.07706734e+02] [ 7.27065703e-01 -6.86480495e-01 -1.09541740e-02 -1.35645717e+02] [ 1.49160648e-02 -1.57318555e-04 9.99888737e-01 -9.01701198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.730385723 meters 0.01645503444881021 Centerline is valid? [True, True] Translation: X:107.69, Y:-135.63, Z:-9.02 [[-6.86624898e-01 -7.26941306e-01 1.01285070e-02 1.07688481e+02] [ 7.26858831e-01 -6.86699580e-01 -1.09511224e-02 -1.35626118e+02] [ 1.49160648e-02 -1.57318555e-04 9.99888737e-01 -9.01701191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.760385723 meters 0.015955692888339278 Centerline is valid? [True, True] Translation: X:107.67, Y:-135.61, Z:-9.02 [[-6.83866440e-01 -7.29542965e-01 9.68269412e-03 1.07666578e+02] [ 7.29467922e-01 -6.83934978e-01 -1.04640558e-02 -1.35607473e+02] [ 1.42563115e-02 -9.28018214e-05 9.99898369e-01 -9.01694312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.790385723 meters 0.015725735144495052 Centerline is valid? [True, True] Translation: X:107.65, Y:-135.59, Z:-9.02 [[-6.82687887e-01 -7.30653777e-01 9.07235633e-03 1.07646018e+02] [ 7.30588077e-01 -6.82748163e-01 -9.79837145e-03 -1.35589934e+02] [ 1.33533517e-02 -6.10741331e-05 9.99910838e-01 -9.01791808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.820385723 meters 0.015615730477744064 Centerline is valid? [True, True] Translation: X:107.63, Y:-135.57, Z:-9.02 [[-6.80880868e-01 -7.32346227e-01 8.38141596e-03 1.07625378e+02] [ 7.32290353e-01 -6.80932452e-01 -9.04624743e-03 -1.35573800e+02] [ 1.23321633e-02 -2.17867473e-05 9.99923956e-01 -9.01859143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.850385723 meters 0.015514530378776488 Centerline is valid? [True, True] Translation: X:107.61, Y:-135.55, Z:-9.02 [[-6.80810492e-01 -7.32415652e-01 8.02415245e-03 1.07606922e+02] [ 7.32364507e-01 -6.80857777e-01 -8.65540525e-03 -1.35553245e+02] [ 1.18026609e-02 -1.60862583e-05 9.99930346e-01 -9.01727138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.880385723 meters 0.015457252580224136 Centerline is valid? [True, True] Translation: X:107.59, Y:-135.53, Z:-9.02 [[-6.81650609e-01 -7.31632459e-01 8.14813135e-03 1.07588914e+02] [ 7.31579724e-01 -6.81699306e-01 -8.78428175e-03 -1.35531461e+02] [ 1.19814411e-02 -2.68033288e-05 9.99928220e-01 -9.01519055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.910385723 meters 0.015589821416284854 Centerline is valid? [True, True] Translation: X:107.57, Y:-135.51, Z:-9.01 [[-6.82871418e-01 -7.30491047e-01 8.33407709e-03 1.07571437e+02] [ 7.30435860e-01 -6.82922271e-01 -8.97919597e-03 -1.35510471e+02] [ 1.22507491e-02 -4.41275208e-05 9.99924956e-01 -9.01447143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.940385723 meters 0.015792745702423495 Centerline is valid? [True, True] Translation: X:107.55, Y:-135.49, Z:-9.01 [[-6.85179840e-01 -7.28319618e-01 8.89498205e-03 1.07553275e+02] [ 7.28256638e-01 -6.85237570e-01 -9.57824133e-03 -1.35489497e+02] [ 1.30711969e-02 -8.49881380e-05 9.99914565e-01 -9.01461764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.970385723 meters 0.01596954628556372 Centerline is valid? [True, True] Translation: X:107.53, Y:-135.47, Z:-9.02 [[-6.86554478e-01 -7.27023364e-01 8.94293410e-03 1.07534654e+02] [ 7.26959671e-01 -6.86612712e-01 -9.62395319e-03 -1.35469973e+02] [ 1.31371711e-02 -1.06215731e-04 9.99913698e-01 -9.01503975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.000385723 meters 0.01637101258223946 Centerline is valid? [True, True] Translation: X:107.52, Y:-135.45, Z:-9.02 [[-6.89085833e-01 -7.24629901e-01 8.49829759e-03 1.07515133e+02] [ 7.24572267e-01 -6.89138220e-01 -9.14018788e-03 -1.35451031e+02] [ 1.24797551e-02 -1.40743224e-04 9.99922115e-01 -9.01681837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.030385723 meters 0.016796775265983856 Centerline is valid? [True, True] Translation: X:107.50, Y:-135.43, Z:-9.02 [[-6.90738834e-01 -7.23055948e-01 8.36418843e-03 1.07495961e+02] [ 7.23000063e-01 -6.90789454e-01 -8.99110775e-03 -1.35430244e+02] [ 1.22789671e-02 -1.63198528e-04 9.99924597e-01 -9.01776565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.060385723 meters 0.017507053925860817 Centerline is valid? [True, True] Translation: X:107.48, Y:-135.41, Z:-9.02 [[-6.93631820e-01 -7.20283646e-01 8.14668117e-03 1.07478904e+02] [ 7.20230497e-01 -6.93679629e-01 -8.75231838e-03 -1.35408799e+02] [ 1.19553386e-02 -2.03398300e-04 9.99928512e-01 -9.01733147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.090385723 meters 0.018377107892970163 Centerline is valid? [True, True] Translation: X:107.46, Y:-135.39, Z:-9.02 [[-6.95758519e-01 -7.18226094e-01 8.44756260e-03 1.07463303e+02] [ 7.18168838e-01 -6.95809757e-01 -9.07205397e-03 -1.35386349e+02] [ 1.23936824e-02 -2.45182613e-04 9.99923165e-01 -9.01538726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.120385723 meters 0.021106713562893294 Centerline is valid? [True, True] Translation: X:107.44, Y:-135.36, Z:-9.02 [[-6.97554753e-01 -7.16473439e-01 9.12021139e-03 1.07444895e+02] [ 7.16406620e-01 -6.97614309e-01 -9.78932030e-03 -1.35364936e+02] [ 1.33761780e-02 -2.94807084e-04 9.99910491e-01 -9.01803861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.150385723 meters 0.019024924075730434 Centerline is valid? [True, True] Translation: X:107.43, Y:-135.35, Z:-9.02 [[-6.97425796e-01 -7.16601758e-01 8.89827762e-03 1.07425956e+02] [ 7.16538235e-01 -6.97482502e-01 -9.54552408e-03 -1.35345129e+02] [ 1.30467323e-02 -2.81338581e-04 9.99914848e-01 -9.01526477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18038572300003 meters 0.019122928532443833 Centerline is valid? [True, True] Translation: X:107.40, Y:-135.33, Z:-9.02 [[-6.97111971e-01 -7.16902527e-01 9.25563547e-03 1.07404698e+02] [ 7.16833908e-01 -6.97173355e-01 -9.92279898e-03 -1.35329305e+02] [ 1.35664621e-02 -2.82548616e-04 9.99907931e-01 -9.01828595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.210385723 meters 0.01885302296735269 Centerline is valid? [True, True] Translation: X:107.38, Y:-135.31, Z:-9.02 [[-6.96429443e-01 -7.17561703e-01 9.55163168e-03 1.07384027e+02] [ 7.17488769e-01 -6.96494887e-01 -1.02342232e-02 -1.35311619e+02] [ 1.39963492e-02 -2.74225877e-04 9.99902009e-01 -9.01987221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.240385723 meters 0.01795583559233111 Centerline is valid? [True, True] Translation: X:107.36, Y:-135.29, Z:-9.02 [[-6.94111617e-01 -7.19792237e-01 1.04018670e-02 1.07361522e+02] [ 7.19706077e-01 -6.94189509e-01 -1.11394926e-02 -1.35293726e+02] [ 1.52389872e-02 -2.45764353e-04 9.99883850e-01 -9.02122284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.270385723 meters 0.01670390731949723 Centerline is valid? [True, True] Translation: X:107.34, Y:-135.28, Z:-9.02 [[-6.92790618e-01 -7.21059426e-01 1.06988022e-02 1.07340131e+02] [ 7.20968526e-01 -6.92873189e-01 -1.14511663e-02 -1.35275618e+02] [ 1.56698846e-02 -2.19760961e-04 9.99877196e-01 -9.01885201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.300385723 meters 0.016899114623129968 Centerline is valid? [True, True] Translation: X:107.32, Y:-135.26, Z:-9.02 [[-6.90723344e-01 -7.23039049e-01 1.07608121e-02 1.07320670e+02] [ 7.22947419e-01 -6.90807139e-01 -1.15120100e-02 -1.35257602e+02] [ 1.57572786e-02 -1.72112754e-04 9.99875832e-01 -9.01990631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.330385723 meters 0.016554322991836436 Centerline is valid? [True, True] Translation: X:107.30, Y:-135.24, Z:-9.02 [[-6.90042938e-01 -7.23690354e-01 1.06308924e-02 1.07299502e+02] [ 7.23601097e-01 -6.90124807e-01 -1.13667634e-02 -1.35239108e+02] [ 1.55626595e-02 -1.51029388e-04 9.99878883e-01 -9.01916680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.360385723 meters 0.016530026551381683 Centerline is valid? [True, True] Translation: X:107.28, Y:-135.22, Z:-9.02 [[-6.89443308e-01 -7.24262218e-01 1.05907643e-02 1.07278910e+02] [ 7.24173804e-01 -6.89524634e-01 -1.13172618e-02 -1.35220349e+02] [ 1.54992580e-02 -1.33056322e-04 9.99879870e-01 -9.01998543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.390385723 meters 0.016263090677754926 Centerline is valid? [True, True] Translation: X:107.26, Y:-135.20, Z:-9.02 [[-6.87852489e-01 -7.25783209e-01 9.88369494e-03 1.07257481e+02] [ 7.25706448e-01 -6.87923488e-01 -1.05558676e-02 -1.35202147e+02] [ 1.44604973e-02 -8.82186363e-05 9.99895438e-01 -9.01935603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.420385723 meters 0.016080679480811627 Centerline is valid? [True, True] Translation: X:107.24, Y:-135.18, Z:-9.02 [[-6.86535832e-01 -7.27038670e-01 9.12817955e-03 1.07238681e+02] [ 7.26973392e-01 -6.86596511e-01 -9.74263967e-03 -1.35183378e+02] [ 1.33506520e-02 -5.27275817e-05 9.99910875e-01 -9.01741014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.450385723 meters 0.01611630591432616 Centerline is valid? [True, True] Translation: X:107.22, Y:-135.16, Z:-9.02 [[-6.85829675e-01 -7.27703861e-01 9.20583088e-03 1.07219529e+02] [ 7.27637607e-01 -6.85891456e-01 -9.81951987e-03 -1.35164252e+02] [ 1.34599033e-02 -3.60093715e-05 9.99909411e-01 -9.01725306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.480385723 meters 0.016073610956687197 Centerline is valid? [True, True] Translation: X:107.20, Y:-135.15, Z:-9.02 [[-6.84596752e-01 -7.28850664e-01 1.01979438e-02 1.07199478e+02] [ 7.28769585e-01 -6.84672703e-01 -1.08711656e-02 -1.35145637e+02] [ 1.49057100e-02 -1.04133725e-05 9.99888904e-01 -9.01880934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.510385723 meters 0.016081013781413158 Centerline is valid? [True, True] Translation: X:107.18, Y:-135.13, Z:-9.02 [[-6.84347643e-01 -7.29083905e-01 1.02451983e-02 1.07180919e+02] [ 7.29002203e-01 -6.84424328e-01 -1.09145922e-02 -1.35127684e+02] [ 1.49697165e-02 -6.03363792e-07 9.99887948e-01 -9.01960402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.540385723 meters 0.01610691458687167 Centerline is valid? [True, True] Translation: X:107.16, Y:-135.11, Z:-9.02 [[-6.83771365e-01 -7.29627016e-01 1.00567811e-02 1.07161018e+02] [ 7.29548446e-01 -6.83845317e-01 -1.07073128e-02 -1.35108609e+02] [ 1.46896273e-02 1.55551434e-05 9.99892102e-01 -9.01908062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.570385723 meters 0.016458853009792277 Centerline is valid? [True, True] Translation: X:107.14, Y:-135.09, Z:-9.02 [[-6.84217519e-01 -7.29216501e-01 9.46999841e-03 1.07142553e+02] [ 7.29146883e-01 -6.84283051e-01 -1.00761210e-02 -1.35089493e+02] [ 1.38278331e-02 1.07613274e-05 9.99904391e-01 -9.01961157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.600385723 meters 0.016055267938865348 Centerline is valid? [True, True] Translation: X:107.12, Y:-135.07, Z:-9.02 [[-6.84620009e-01 -7.28844963e-01 8.97015757e-03 1.07124557e+02] [ 7.28782544e-01 -6.84678772e-01 -9.53848677e-03 -1.35068451e+02] [ 1.30937545e-02 7.05535833e-06 9.99914273e-01 -9.01628941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.630385723 meters 0.01611367363854934 Centerline is valid? [True, True] Translation: X:107.11, Y:-135.05, Z:-9.02 [[-6.85193114e-01 -7.28296991e-01 9.68960019e-03 1.07106209e+02] [ 7.28224193e-01 -6.85261623e-01 -1.02971839e-02 -1.35048117e+02] [ 1.41393192e-02 6.41805359e-07 9.99900035e-01 -9.01591909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.660385723 meters 0.016246312114222353 Centerline is valid? [True, True] Translation: X:107.09, Y:-135.03, Z:-9.02 [[-6.86032089e-01 -7.27497317e-01 1.03742767e-02 1.07087825e+02] [ 7.27413878e-01 -6.86110526e-01 -1.10180135e-02 -1.35027937e+02] [ 1.51334757e-02 -1.23179583e-05 9.99885482e-01 -9.01614853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.690385723 meters 0.01783754285645612 Centerline is valid? [True, True] Translation: X:107.07, Y:-135.01, Z:-9.02 [[-6.88161290e-01 -7.25456624e-01 1.21130074e-02 1.07068633e+02] [ 7.25342678e-01 -6.88267886e-01 -1.28575785e-02 -1.35007239e+02] [ 1.76646095e-02 -6.20065884e-05 9.99843967e-01 -9.01780628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.720385723 meters 0.016527467847688125 Centerline is valid? [True, True] Translation: X:107.05, Y:-134.99, Z:-9.02 [[-6.88824106e-01 -7.24831599e-01 1.18534640e-02 1.07050190e+02] [ 7.24722524e-01 -6.88926084e-01 -1.25743772e-02 -1.34986919e+02] [ 1.72804665e-02 -7.10618053e-05 9.99850679e-01 -9.01630470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.750385723 meters 0.0165067264315442 Centerline is valid? [True, True] Translation: X:107.03, Y:-134.97, Z:-9.02 [[-6.90770962e-01 -7.22975732e-01 1.18982305e-02 1.07031173e+02] [ 7.22865677e-01 -6.90873416e-01 -1.26148751e-02 -1.34966845e+02] [ 1.73404197e-02 -1.13166999e-04 9.99849637e-01 -9.01557421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.780385723 meters 0.01667124106044813 Centerline is valid? [True, True] Translation: X:107.01, Y:-134.95, Z:-9.02 [[-6.92022354e-01 -7.21776362e-01 1.19976652e-02 1.07011672e+02] [ 7.21664403e-01 -6.92126335e-01 -1.27131930e-02 -1.34946155e+02] [ 1.74799822e-02 -1.39525872e-04 9.99847204e-01 -9.01526546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.810385723 meters 0.01738495368943845 Centerline is valid? [True, True] Translation: X:106.99, Y:-134.93, Z:-9.02 [[-6.94106336e-01 -7.19772811e-01 1.19789167e-02 1.06993920e+02] [ 7.19661034e-01 -6.94209670e-01 -1.26858508e-02 -1.34925735e+02] [ 1.74468103e-02 -1.84569808e-04 9.99847776e-01 -9.01724467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.840385723 meters 0.01709421059750723 Centerline is valid? [True, True] Translation: X:106.97, Y:-134.91, Z:-9.02 [[-6.95086932e-01 -7.18821414e-01 1.22446570e-02 1.06973843e+02] [ 7.18704602e-01 -6.95194744e-01 -1.29600876e-02 -1.34905485e+02] [ 1.78284097e-02 -2.08096197e-04 9.99841040e-01 -9.01506057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.870385723 meters 0.01767056843659224 Centerline is valid? [True, True] Translation: X:106.96, Y:-134.88, Z:-9.02 [[-6.96428698e-01 -7.17519897e-01 1.23396454e-02 1.06956233e+02] [ 7.17401155e-01 -6.96537968e-01 -1.30553500e-02 -1.34884976e+02] [ 1.79625049e-02 -2.39644574e-04 9.99838632e-01 -9.01568867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.900385723 meters 0.01754616609626834 Centerline is valid? [True, True] Translation: X:106.94, Y:-134.86, Z:-9.01 [[-6.98749218e-01 -7.15274905e-01 1.14603610e-02 1.06936711e+02] [ 7.15172293e-01 -6.98843141e-01 -1.21183907e-02 -1.34864588e+02] [ 1.66769755e-02 -2.71583396e-04 9.99860893e-01 -9.01305817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93038572300003 meters 0.017879688713405825 Centerline is valid? [True, True] Translation: X:106.92, Y:-134.85, Z:-9.01 [[-7.00226278e-01 -7.13849410e-01 1.01084021e-02 1.06918078e+02] [ 7.13769507e-01 -7.00299185e-01 -1.06836933e-02 -1.34845721e+02] [ 1.47054540e-02 -2.65933616e-04 9.99891834e-01 -9.01202474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.960385723 meters 0.01805122471962167 Centerline is valid? [True, True] Translation: X:106.90, Y:-134.83, Z:-9.01 [[-7.00788636e-01 -7.13300402e-01 9.89061025e-03 1.06898799e+02] [ 7.13223947e-01 -7.00858377e-01 -1.04468402e-02 -1.34827128e+02] [ 1.43836523e-02 -2.66806787e-04 9.99896514e-01 -9.01224580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.990385723 meters 0.018155945260949456 Centerline is valid? [True, True] Translation: X:106.88, Y:-134.81, Z:-9.01 [[-7.01235079e-01 -7.12857851e-01 1.01512575e-02 1.06878545e+02] [ 7.12777362e-01 -7.01308496e-01 -1.07157188e-02 -1.34808394e+02] [ 1.47579474e-02 -2.78651374e-04 9.99891057e-01 -9.01354338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.020385723 meters 0.01798470076524797 Centerline is valid? [True, True] Translation: X:106.86, Y:-134.79, Z:-9.02 [[-7.01187980e-01 -7.12898724e-01 1.05273996e-02 1.06856683e+02] [ 7.12812266e-01 -7.01266945e-01 -1.11060919e-02 -1.34791771e+02] [ 1.53000361e-02 -2.83398523e-04 9.99882907e-01 -9.01551103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.050385723 meters 0.018105948112647145 Centerline is valid? [True, True] Translation: X:106.84, Y:-134.77, Z:-9.02 [[-7.01121619e-01 -7.12970626e-01 1.00678036e-02 1.06836900e+02] [ 7.12891658e-01 -7.01193850e-01 -1.06145361e-02 -1.34774038e+02] [ 1.46273344e-02 -2.64827550e-04 9.99892980e-01 -9.01548573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.080385723 meters 0.01828550834112609 Centerline is valid? [True, True] Translation: X:106.82, Y:-134.76, Z:-9.02 [[-7.01540011e-01 -7.12565298e-01 9.60778520e-03 1.06817903e+02] [ 7.12493408e-01 -7.01605751e-01 -1.01249037e-02 -1.34755719e+02] [ 1.39555324e-02 -2.57541443e-04 9.99902584e-01 -9.01567059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.110385723 meters 0.01844013916575086 Centerline is valid? [True, True] Translation: X:106.80, Y:-134.74, Z:-9.02 [[-7.02228924e-01 -7.11893256e-01 9.08463983e-03 1.06798259e+02] [ 7.11828999e-01 -7.02287639e-01 -9.56803629e-03 -1.34737345e+02] [ 1.31914508e-02 -2.52241747e-04 9.99912957e-01 -9.01562230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.140385723 meters 0.018798414140382604 Centerline is valid? [True, True] Translation: X:106.78, Y:-134.72, Z:-9.02 [[-7.02909971e-01 -7.11224026e-01 8.82935687e-03 1.06777729e+02] [ 7.11163350e-01 -7.02965376e-01 -9.29349739e-03 -1.34720810e+02] [ 1.28164908e-02 -2.53376968e-04 9.99917833e-01 -9.01589230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.170385723 meters 0.018226936006829137 Centerline is valid? [True, True] Translation: X:106.76, Y:-134.70, Z:-9.02 [[-7.03289638e-01 -7.10849626e-01 8.74604539e-03 1.06755475e+02] [ 7.10790132e-01 -7.03343973e-01 -9.20022860e-03 -1.34703802e+02] [ 1.26914574e-02 -2.53822687e-04 9.99919428e-01 -9.01500224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.200385723 meters 0.016828402592079062 Centerline is valid? [True, True] Translation: X:106.73, Y:-134.69, Z:-9.01 [[-7.03155173e-01 -7.10992096e-01 7.93992374e-03 1.06732175e+02] [ 7.10943126e-01 -7.03199964e-01 -8.34759528e-03 -1.34687379e+02] [ 1.15184283e-02 -2.24820597e-04 9.99933635e-01 -9.01320236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.230385723 meters 0.017227385409303648 Centerline is valid? [True, True] Translation: X:106.71, Y:-134.67, Z:-9.01 [[-7.03285647e-01 -7.10870061e-01 7.28383673e-03 1.06712133e+02] [ 7.10828891e-01 -7.03323335e-01 -7.65338117e-03 -1.34668742e+02] [ 1.05634519e-02 -2.04951552e-04 9.99944184e-01 -9.01385721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.260385723 meters 0.016417680963230305 Centerline is valid? [True, True] Translation: X:106.69, Y:-134.65, Z:-9.01 [[-7.02244676e-01 -7.11905613e-01 6.54324284e-03 1.06688045e+02] [ 7.11872470e-01 -7.02275139e-01 -6.87141644e-03 -1.34653452e+02] [ 9.48695670e-03 -1.67461171e-04 9.99954984e-01 -9.01367831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.290385723 meters 0.016404808498675743 Centerline is valid? [True, True] Translation: X:106.67, Y:-134.64, Z:-9.01 [[-7.01726759e-01 -7.12417096e-01 6.43711804e-03 1.06667127e+02] [ 7.12385077e-01 -7.01756266e-01 -6.75613260e-03 -1.34635338e+02] [ 9.33047228e-03 -1.55252204e-04 9.99956458e-01 -9.01423802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.320385723 meters 0.01668705751206474 Centerline is valid? [True, True] Translation: X:106.65, Y:-134.62, Z:-9.02 [[-7.00546687e-01 -7.13573005e-01 6.92138132e-03 1.06646389e+02] [ 7.13536089e-01 -7.00580863e-01 -7.25974393e-03 -1.34619413e+02] [ 1.00293446e-02 -1.47134202e-04 9.99949694e-01 -9.01593393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.350385723 meters 0.01553130087257449 Centerline is valid? [True, True] Translation: X:106.62, Y:-134.60, Z:-9.01 [[-7.00325984e-01 -7.13791590e-01 6.71428385e-03 1.06623338e+02] [ 7.13756899e-01 -7.00358156e-01 -7.03860393e-03 -1.34602554e+02] [ 9.72649975e-03 -1.36950808e-04 9.99952687e-01 -9.01444910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.380385723 meters 0.01569254156680436 Centerline is valid? [True, True] Translation: X:106.60, Y:-134.58, Z:-9.01 [[-7.00139426e-01 -7.13978893e-01 6.23897846e-03 1.06603834e+02] [ 7.13948981e-01 -7.00167213e-01 -6.53657035e-03 -1.34584357e+02] [ 9.03530142e-03 -1.22198295e-04 9.99959173e-01 -9.01444243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.410385723 meters 0.01524178997269453 Centerline is valid? [True, True] Translation: X:106.58, Y:-134.57, Z:-9.01 [[-6.98991389e-01 -7.15105602e-01 5.91745970e-03 1.06579964e+02] [ 7.15078763e-01 -6.99016429e-01 -6.19632615e-03 -1.34568833e+02] [ 8.56742909e-03 -9.97288639e-05 9.99963294e-01 -9.01330945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.440385723 meters 0.014761749203399724 Centerline is valid? [True, True] Translation: X:106.56, Y:-134.55, Z:-9.01 [[-6.97493986e-01 -7.16570435e-01 5.38069925e-03 1.06556006e+02] [ 7.16548312e-01 -6.97514736e-01 -5.63115258e-03 -1.34552915e+02] [ 7.78823446e-03 -7.21640969e-05 9.99969669e-01 -9.01303293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.470385723 meters 0.014659420267088007 Centerline is valid? [True, True] Translation: X:106.53, Y:-134.53, Z:-9.01 [[-6.97073798e-01 -7.16979825e-01 5.29638909e-03 1.06534980e+02] [ 7.16958425e-01 -6.97093916e-01 -5.53985492e-03 -1.34534473e+02] [ 7.66404481e-03 -6.43969297e-05 9.99970629e-01 -9.01273963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.500385723 meters 0.014541635126918556 Centerline is valid? [True, True] Translation: X:106.51, Y:-134.52, Z:-9.01 [[-6.96971529e-01 -7.17080115e-01 5.17650683e-03 1.06514051e+02] [ 7.17059699e-01 -6.96990749e-01 -5.41144738e-03 -1.34515926e+02] [ 7.48841868e-03 -5.97603273e-05 9.99971960e-01 -9.01339040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.530385723 meters 0.014545506220048647 Centerline is valid? [True, True] Translation: X:106.49, Y:-134.50, Z:-9.01 [[-6.97343424e-01 -7.16717166e-01 5.35296018e-03 1.06492975e+02] [ 7.16695348e-01 -6.97363966e-01 -5.59262451e-03 -1.34498730e+02] [ 7.74129153e-03 -6.35382609e-05 9.99970034e-01 -9.01472999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.560385723 meters 0.014584151922750305 Centerline is valid? [True, True] Translation: X:106.47, Y:-134.48, Z:-9.01 [[-6.98070174e-01 -7.16007804e-01 5.55488974e-03 1.06472673e+02] [ 7.15984312e-01 -6.98092272e-01 -5.80040953e-03 -1.34479221e+02] [ 8.03096408e-03 -7.18789818e-05 9.99967749e-01 -9.01474157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.590385723 meters 0.014584151922750305 Centerline is valid? [True, True] Translation: X:106.45, Y:-134.46, Z:-9.01 [[-6.98266382e-01 -7.15816447e-01 5.55647928e-03 1.06453554e+02] [ 7.15792961e-01 -6.98288486e-01 -5.79888685e-03 -1.34459347e+02] [ 8.03096408e-03 -7.18789813e-05 9.99967749e-01 -9.01474150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.620385723 meters 0.014812281642573064 Centerline is valid? [True, True] Translation: X:106.43, Y:-134.44, Z:-9.01 [[-6.99474031e-01 -7.14635999e-01 5.60968801e-03 1.06434229e+02] [ 7.14612043e-01 -6.99496520e-01 -5.85207445e-03 -1.34440600e+02] [ 8.10606031e-03 -8.46235032e-05 9.99967142e-01 -9.01419846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.650385723 meters 0.014898733848801514 Centerline is valid? [True, True] Translation: X:106.41, Y:-134.42, Z:-9.01 [[-7.00410496e-01 -7.13721675e-01 5.14848615e-03 1.06414960e+02] [ 7.13701496e-01 -7.00429413e-01 -5.36768641e-03 -1.34421213e+02] [ 7.43718527e-03 -8.51016378e-05 9.99972340e-01 -9.01338453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68038572300003 meters 0.01681718940468705 Centerline is valid? [True, True] Translation: X:106.39, Y:-134.40, Z:-9.01 [[-7.01857435e-01 -7.12297718e-01 5.30105384e-03 1.06393460e+02] [ 7.12276307e-01 -7.01877447e-01 -5.52374196e-03 -1.34402524e+02] [ 7.65523893e-03 -1.01064309e-04 9.99970693e-01 -9.01461004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.710385723 meters 0.015333108356002222 Centerline is valid? [True, True] Translation: X:106.38, Y:-134.38, Z:-9.01 [[-7.02278485e-01 -7.11884073e-01 5.09864894e-03 1.06375613e+02] [ 7.11864280e-01 -7.02296986e-01 -5.30943038e-03 -1.34383642e+02] [ 7.36046471e-03 -9.91526687e-05 9.99972907e-01 -9.01370963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.740385723 meters 0.014925624103528665 Centerline is valid? [True, True] Translation: X:106.36, Y:-134.36, Z:-9.01 [[-7.02273096e-01 -7.11885978e-01 5.55450501e-03 1.06355684e+02] [ 7.11862513e-01 -7.02295054e-01 -5.78094412e-03 -1.34363818e+02] [ 8.01627445e-03 -1.05757624e-04 9.99967864e-01 -9.01320570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.770385723 meters 0.014813547731678587 Centerline is valid? [True, True] Translation: X:106.34, Y:-134.35, Z:-9.01 [[-7.01146457e-01 -7.12984145e-01 6.87417150e-03 1.06336395e+02] [ 7.12948300e-01 -7.01180145e-01 -7.15025185e-03 -1.34345317e+02] [ 9.91804878e-03 -1.12444871e-04 9.99950809e-01 -9.01416442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.800385723 meters 0.014637042221776721 Centerline is valid? [True, True] Translation: X:106.31, Y:-134.33, Z:-9.02 [[-7.00417179e-01 -7.13700115e-01 6.92252051e-03 1.06314982e+02] [ 7.13663823e-01 -7.00451380e-01 -7.19809476e-03 -1.34326328e+02] [ 9.98617010e-03 -1.01316780e-04 9.99950132e-01 -9.01530305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.830385723 meters 0.014833762404847994 Centerline is valid? [True, True] Translation: X:106.29, Y:-134.31, Z:-9.02 [[-6.99389226e-01 -7.14701531e-01 7.51215523e-03 1.06294453e+02] [ 7.14658904e-01 -6.99429563e-01 -7.80617707e-03 -1.34309122e+02] [ 1.08333102e-02 -9.09275094e-05 9.99941314e-01 -9.01923551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.860385723 meters 0.014278414078308755 Centerline is valid? [True, True] Translation: X:106.27, Y:-134.29, Z:-9.02 [[-6.99431344e-01 -7.14655430e-01 7.96311589e-03 1.06274322e+02] [ 7.14607583e-01 -6.99476667e-01 -8.27016641e-03 -1.34290076e+02] [ 1.14803331e-02 -9.39106099e-05 9.99934094e-01 -9.01793431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.890385723 meters 0.014391937139319683 Centerline is valid? [True, True] Translation: X:106.26, Y:-134.27, Z:-9.02 [[-6.99563698e-01 -7.14523918e-01 8.13657051e-03 1.06257795e+02] [ 7.14474013e-01 -6.99611007e-01 -8.44532694e-03 -1.34267714e+02] [ 1.17268224e-02 -9.46759627e-05 9.99931234e-01 -9.01753082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.920385723 meters 0.014358715090570288 Centerline is valid? [True, True] Translation: X:106.24, Y:-134.25, Z:-9.02 [[-6.99855481e-01 -7.14240339e-01 7.94004471e-03 1.06240413e+02] [ 7.14192858e-01 -6.99900514e-01 -8.23603108e-03 -1.34247740e+02] [ 1.14397470e-02 -9.33082734e-05 9.99934560e-01 -9.01706490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.950385723 meters 0.014128796941149005 Centerline is valid? [True, True] Translation: X:106.22, Y:-134.23, Z:-9.02 [[-6.99757956e-01 -7.14339423e-01 7.61526943e-03 1.06220693e+02] [ 7.14295801e-01 -6.99799387e-01 -7.89480124e-03 -1.34228101e+02] [ 1.09687286e-02 -8.48949997e-05 9.99939838e-01 -9.01671653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.980385723 meters 0.0141121796783183 Centerline is valid? [True, True] Translation: X:106.20, Y:-134.21, Z:-9.02 [[-6.99354963e-01 -7.14731394e-01 7.85310726e-03 1.06200548e+02] [ 7.14685079e-01 -6.99399049e-01 -8.13691291e-03 -1.34209047e+02] [ 1.13081629e-02 -7.80918459e-05 9.99936058e-01 -9.01736799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.010385723 meters 0.014030891530076878 Centerline is valid? [True, True] Translation: X:106.18, Y:-134.19, Z:-9.02 [[-6.98855354e-01 -7.15219344e-01 7.90468699e-03 1.06181877e+02] [ 7.15172510e-01 -6.98900054e-01 -8.18507055e-03 -1.34190745e+02] [ 1.13787070e-02 -6.69655405e-05 9.99935258e-01 -9.01826345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.040385723 meters 0.013787136418053814 Centerline is valid? [True, True] Translation: X:106.16, Y:-134.17, Z:-9.02 [[-6.97938882e-01 -7.16114041e-01 7.87389477e-03 1.06164254e+02] [ 7.16067678e-01 -6.97983294e-01 -8.14871166e-03 -1.34168589e+02] [ 1.13312538e-02 -4.90611484e-05 9.99935798e-01 -9.01711001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.070385723 meters 0.01521336676058417 Centerline is valid? [True, True] Translation: X:106.15, Y:-134.15, Z:-9.02 [[-6.97631556e-01 -7.16413304e-01 7.88606099e-03 1.06147512e+02] [ 7.16366869e-01 -6.97676125e-01 -8.15682272e-03 -1.34146277e+02] [ 1.13455728e-02 -4.11441059e-05 9.99935636e-01 -9.01645727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.100385723 meters 0.013558082861275165 Centerline is valid? [True, True] Translation: X:106.13, Y:-134.13, Z:-9.01 [[-6.97490803e-01 -7.16559793e-01 6.97441747e-03 1.06127906e+02] [ 7.16523520e-01 -6.97525671e-01 -7.20993464e-03 -1.34125712e+02] [ 1.00311845e-02 -3.15289521e-05 9.99949686e-01 -9.01499203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.130385723 meters 0.013562572001985455 Centerline is valid? [True, True] Translation: X:106.11, Y:-134.11, Z:-9.02 [[-6.97197826e-01 -7.16850516e-01 6.36615121e-03 1.06109459e+02] [ 7.16820346e-01 -6.97226890e-01 -6.57687983e-03 -1.34106671e+02] [ 9.15329151e-03 -2.19996126e-05 9.99958108e-01 -9.01631288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.160385723 meters 0.013398929057889357 Centerline is valid? [True, True] Translation: X:106.09, Y:-134.09, Z:-9.02 [[-6.95981856e-01 -7.18034868e-01 5.93164574e-03 1.06089998e+02] [ 7.18008750e-01 -6.96007132e-01 -6.12427105e-03 -1.34087483e+02] [ 8.52590790e-03 -3.40799292e-06 9.99963654e-01 -9.01682696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.190385723 meters 0.013368774716972677 Centerline is valid? [True, True] Translation: X:106.07, Y:-134.07, Z:-9.02 [[-6.95410596e-01 -7.18585306e-01 6.26585267e-03 1.06070662e+02] [ 7.18556216e-01 -6.95438824e-01 -6.46579862e-03 -1.34067338e+02] [ 9.00374509e-03 5.98251291e-06 9.99959465e-01 -9.01733439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.220385723 meters 0.013413843569572296 Centerline is valid? [True, True] Translation: X:106.05, Y:-134.05, Z:-9.02 [[-6.93480116e-01 -7.20443048e-01 6.86605805e-03 1.06052589e+02] [ 7.20408247e-01 -6.93514105e-01 -7.08128320e-03 -1.34045534e+02] [ 9.86336935e-03 3.56357419e-05 9.99951355e-01 -9.01754553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.250385723 meters 0.01336071518568267 Centerline is valid? [True, True] Translation: X:106.03, Y:-134.02, Z:-9.02 [[-6.93156502e-01 -7.20759333e-01 6.32839724e-03 1.06034572e+02] [ 7.20729815e-01 -6.93185389e-01 -6.52310109e-03 -1.34023958e+02] [ 9.08833849e-03 3.95346388e-05 9.99958699e-01 -9.01607468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.280385723 meters 0.013347698534132353 Centerline is valid? [True, True] Translation: X:106.02, Y:-134.00, Z:-9.02 [[-6.92842446e-01 -7.21069173e-01 5.34726054e-03 1.06016664e+02] [ 7.21048125e-01 -6.92863079e-01 -5.50951677e-03 -1.34003538e+02] [ 7.67766210e-03 3.84051126e-05 9.99970526e-01 -9.01578067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.310385723 meters 0.013355947658169002 Centerline is valid? [True, True] Translation: X:106.00, Y:-133.98, Z:-9.02 [[-6.92787684e-01 -7.21122265e-01 5.28232857e-03 1.05997522e+02] [ 7.21101750e-01 -6.92807821e-01 -5.43958886e-03 -1.33983232e+02] [ 7.58224719e-03 4.06162090e-05 9.99971254e-01 -9.01583182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.340385723 meters 0.013506171922282392 Centerline is valid? [True, True] Translation: X:105.98, Y:-133.96, Z:-9.02 [[-6.92197571e-01 -7.21688636e-01 5.29489167e-03 1.05979067e+02] [ 7.21668064e-01 -6.92217820e-01 -5.44932981e-03 -1.33963472e+02] [ 7.59793777e-03 4.91413602e-05 9.99971134e-01 -9.01757882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.370385723 meters 0.013249553713763535 Centerline is valid? [True, True] Translation: X:105.96, Y:-133.94, Z:-9.02 [[-6.91781693e-01 -7.22088994e-01 5.05706758e-03 1.05961419e+02] [ 7.22070260e-01 -6.91800175e-01 -5.20164908e-03 -1.33941963e+02] [ 7.25453379e-03 5.31524910e-05 9.99973684e-01 -9.01611391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.400385723 meters 0.013381456290852243 Centerline is valid? [True, True] Translation: X:105.94, Y:-133.92, Z:-9.02 [[-6.91613081e-01 -7.22249651e-01 5.17568791e-03 1.05943513e+02] [ 7.22230056e-01 -6.91632445e-01 -5.32051458e-03 -1.33921300e+02] [ 7.42241348e-03 5.82998833e-05 9.99972452e-01 -9.01587947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43038572300003 meters 0.01333920729359778 Centerline is valid? [True, True] Translation: X:105.93, Y:-133.90, Z:-9.02 [[-6.91809305e-01 -7.22062715e-01 5.03198879e-03 1.05927182e+02] [ 7.22044210e-01 -6.91827603e-01 -5.16976239e-03 -1.33899028e+02] [ 7.21416141e-03 5.68286482e-05 9.99973976e-01 -9.01597509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.460385723 meters 0.013326792034118696 Centerline is valid? [True, True] Translation: X:105.91, Y:-133.88, Z:-9.02 [[-6.92011043e-01 -7.21866222e-01 5.46568877e-03 1.05910625e+02] [ 7.21844412e-01 -6.92032625e-01 -5.61169463e-03 -1.33877901e+02] [ 7.83332775e-03 6.20222380e-05 9.99969317e-01 -9.01757549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.490385723 meters 0.013378501056117185 Centerline is valid? [True, True] Translation: X:105.89, Y:-133.86, Z:-9.02 [[-6.92262346e-01 -7.21623747e-01 5.65784621e-03 1.05893057e+02] [ 7.21600397e-01 -6.92285464e-01 -5.80543410e-03 -1.33857460e+02] [ 8.10618379e-03 6.38206404e-05 9.99967142e-01 -9.01811884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.520385723 meters 0.013342774990034785 Centerline is valid? [True, True] Translation: X:105.88, Y:-133.84, Z:-9.02 [[-6.92313964e-01 -7.21569316e-01 6.25278301e-03 1.05876639e+02] [ 7.21540832e-01 -6.92342196e-01 -6.41178223e-03 -1.33837390e+02] [ 8.95561084e-03 7.26718879e-05 9.99959895e-01 -9.01872336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.550385723 meters 0.013471985894808596 Centerline is valid? [True, True] Translation: X:105.86, Y:-133.81, Z:-9.02 [[-6.92209478e-01 -7.21656379e-01 7.62296519e-03 1.05861641e+02] [ 7.21614097e-01 -6.92251444e-01 -7.81236337e-03 -1.33814501e+02] [ 1.09148505e-02 9.30471760e-05 9.99940427e-01 -9.01963863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.580385723 meters 0.013413524576021942 Centerline is valid? [True, True] Translation: X:105.84, Y:-133.79, Z:-9.02 [[-6.92349403e-01 -7.21518359e-01 7.97253985e-03 1.05844030e+02] [ 7.21472160e-01 -6.92395298e-01 -8.16544166e-03 -1.33794284e+02] [ 1.14116652e-02 9.86268831e-05 9.99934880e-01 -9.02014829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.610385723 meters 0.013363732806912726 Centerline is valid? [True, True] Translation: X:105.83, Y:-133.77, Z:-9.02 [[-6.91611317e-01 -7.22227778e-01 7.79891263e-03 1.05826048e+02] [ 7.22183664e-01 -6.91655279e-01 -7.98312923e-03 -1.33772365e+02] [ 1.11597968e-02 1.11024775e-04 9.99937721e-01 -9.01958421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.640385723 meters 0.013290028491331252 Centerline is valid? [True, True] Translation: X:105.81, Y:-133.75, Z:-9.02 [[-6.91318723e-01 -7.22511513e-01 7.45225254e-03 1.05807531e+02] [ 7.22471297e-01 -6.91358880e-01 -7.62394951e-03 -1.33751090e+02] [ 1.06605723e-02 1.13459519e-04 9.99943168e-01 -9.01886111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.670385723 meters 0.013970474636327695 Centerline is valid? [True, True] Translation: X:105.79, Y:-133.73, Z:-9.02 [[-6.90968944e-01 -7.22849204e-01 7.13772503e-03 1.05790177e+02] [ 7.22812373e-01 -6.91005800e-01 -7.29781067e-03 -1.33730000e+02] [ 1.02074260e-02 1.16675439e-04 9.99947896e-01 -9.01989081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.700385723 meters 0.013577637488345728 Centerline is valid? [True, True] Translation: X:105.77, Y:-133.71, Z:-9.02 [[-6.91241452e-01 -7.22586005e-01 7.39733601e-03 1.05772796e+02] [ 7.22546475e-01 -6.91281022e-01 -7.55907113e-03 -1.33707673e+02] [ 1.05757170e-02 1.19775757e-04 9.99944068e-01 -9.01850118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.730385723 meters 0.013436399057693832 Centerline is valid? [True, True] Translation: X:105.76, Y:-133.68, Z:-9.02 [[-6.92117764e-01 -7.21748606e-01 7.20771610e-03 1.05755784e+02] [ 7.21711057e-01 -6.92155285e-01 -7.36277337e-03 -1.33684382e+02] [ 1.03029302e-02 1.05982163e-04 9.99946918e-01 -9.01847480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.760385723 meters 0.01335151497412627 Centerline is valid? [True, True] Translation: X:105.74, Y:-133.66, Z:-9.02 [[-6.92913218e-01 -7.20985683e-01 7.13569182e-03 1.05738081e+02] [ 7.20948882e-01 -6.92949952e-01 -7.28519524e-03 -1.33662912e+02] [ 1.01971988e-02 9.64609616e-05 9.99948003e-01 -9.01826769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.790385723 meters 0.013252963903713385 Centerline is valid? [True, True] Translation: X:105.72, Y:-133.64, Z:-9.02 [[-6.94116931e-01 -7.19827098e-01 7.11584964e-03 1.05720813e+02] [ 7.19790486e-01 -6.94153399e-01 -7.26043988e-03 -1.33641302e+02] [ 1.01657526e-02 8.23266246e-05 9.99948324e-01 -9.01820650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.820385723 meters 0.013035152281560007 Centerline is valid? [True, True] Translation: X:105.71, Y:-133.62, Z:-9.02 [[-6.97224983e-01 -7.16808883e-01 7.89604929e-03 1.05707528e+02] [ 7.16763667e-01 -6.97269692e-01 -8.05126785e-03 -1.33618102e+02] [ 1.12768962e-02 4.60561459e-05 9.99936413e-01 -9.01906326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.850385723 meters 0.013021903161119975 Centerline is valid? [True, True] Translation: X:105.69, Y:-133.60, Z:-9.02 [[-6.99083537e-01 -7.14996066e-01 7.92683791e-03 1.05691476e+02] [ 7.14950434e-01 -6.99128476e-01 -8.07778107e-03 -1.33595372e+02] [ 1.13174598e-02 2.02524460e-05 9.99935955e-01 -9.01844601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.880385723 meters 0.013265667552641261 Centerline is valid? [True, True] Translation: X:105.68, Y:-133.57, Z:-9.02 [[-7.02874699e-01 -7.11263789e-01 8.42492438e-03 1.05678832e+02] [ 7.11212036e-01 -7.02925188e-01 -8.58019574e-03 -1.33569789e+02] [ 1.20248741e-02 -3.88948794e-05 9.99927698e-01 -9.01747667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.910385723 meters 0.013431865463814053 Centerline is valid? [True, True] Translation: X:105.66, Y:-133.55, Z:-9.02 [[-7.04817658e-01 -7.09335887e-01 8.64106119e-03 1.05661101e+02] [ 7.09281359e-01 -7.04870622e-01 -8.79547980e-03 -1.33547707e+02] [ 1.23297796e-02 -7.02658553e-05 9.99923983e-01 -9.01754427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.940385723 meters 0.014171377304658462 Centerline is valid? [True, True] Translation: X:105.65, Y:-133.52, Z:-9.02 [[-7.07577029e-01 -7.06580249e-01 8.89379695e-03 1.05645146e+02] [ 7.06522332e-01 -7.07632911e-01 -9.04748770e-03 -1.33524822e+02] [ 1.26863195e-02 -1.18128303e-04 9.99919518e-01 -9.01999415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.970385723 meters 0.01450256187492914 Centerline is valid? [True, True] Translation: X:105.63, Y:-133.50, Z:-9.02 [[-7.08869501e-01 -7.05283709e-01 8.88372659e-03 1.05627442e+02] [ 7.05225888e-01 -7.08925152e-01 -9.03192818e-03 -1.33503998e+02] [ 1.26679690e-02 -1.37424451e-04 9.99919749e-01 -9.02082482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.000385723 meters 0.014517979222935604 Centerline is valid? [True, True] Translation: X:105.61, Y:-133.48, Z:-9.02 [[-7.10214264e-01 -7.03930977e-01 8.76804685e-03 1.05609483e+02] [ 7.03874612e-01 -7.10268369e-01 -8.90924416e-03 -1.33482936e+02] [ 1.24991593e-02 -1.55866712e-04 9.99921870e-01 -9.02011394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.030385723 meters 0.014651159153592512 Centerline is valid? [True, True] Translation: X:105.59, Y:-133.46, Z:-9.02 [[-7.12115750e-01 -7.02011935e-01 8.39055449e-03 1.05594652e+02] [ 7.01960242e-01 -7.12165157e-01 -8.52095418e-03 -1.33458432e+02] [ 1.19572721e-02 -1.78070007e-04 9.99928493e-01 -9.01736383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.060385723 meters 0.015436839760793374 Centerline is valid? [True, True] Translation: X:105.58, Y:-133.44, Z:-9.02 [[-7.12945381e-01 -7.01171008e-01 8.25235541e-03 1.05578847e+02] [ 7.01121005e-01 -7.12993116e-01 -8.37571436e-03 -1.33436346e+02] [ 1.17566807e-02 -1.85527144e-04 9.99930871e-01 -9.01749691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.090385723 meters 0.015168289394421889 Centerline is valid? [True, True] Translation: X:105.56, Y:-133.42, Z:-9.02 [[-7.13407164e-01 -7.00702085e-01 8.17353276e-03 1.05560628e+02] [ 7.00653061e-01 -7.13453960e-01 -8.29067497e-03 -1.33415971e+02] [ 1.16407326e-02 -1.87816167e-04 9.99932227e-01 -9.01730975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.120385723 meters 0.014734373400307506 Centerline is valid? [True, True] Translation: X:105.54, Y:-133.40, Z:-9.02 [[-7.13160985e-01 -7.00949550e-01 8.43435633e-03 1.05540676e+02] [ 7.00897421e-01 -7.13210834e-01 -8.55051915e-03 -1.33396460e+02] [ 1.20089569e-02 -1.86278052e-04 9.99927873e-01 -9.01737271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.150385723 meters 0.014849100764808859 Centerline is valid? [True, True] Translation: X:105.52, Y:-133.38, Z:-9.02 [[-7.11860414e-01 -7.02272139e-01 8.28213205e-03 1.05522902e+02] [ 7.02222019e-01 -7.11908574e-01 -8.39156265e-03 -1.33376476e+02] [ 1.17892815e-02 -1.57725772e-04 9.99930492e-01 -9.01824580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18038572300003 meters 0.014435438061005551 Centerline is valid? [True, True] Translation: X:105.50, Y:-133.36, Z:-9.02 [[-7.11495417e-01 -7.02648294e-01 7.72310639e-03 1.05503565e+02] [ 7.02604786e-01 -7.11537319e-01 -7.82037857e-03 -1.33356892e+02] [ 1.09902541e-02 -1.37871998e-04 9.99939596e-01 -9.01765353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.210385723 meters 0.014526483837413258 Centerline is valid? [True, True] Translation: X:105.49, Y:-133.34, Z:-9.02 [[-7.10892660e-01 -7.03259337e-01 7.61130140e-03 1.05486176e+02] [ 7.03217168e-01 -7.10933394e-01 -7.70223459e-03 -1.33337652e+02] [ 1.08277967e-02 -1.23064219e-04 9.99941370e-01 -9.01769269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.240385723 meters 0.014134396615372935 Centerline is valid? [True, True] Translation: X:105.47, Y:-133.32, Z:-9.02 [[-7.09622814e-01 -7.04547384e-01 6.96024364e-03 1.05466263e+02] [ 7.04512220e-01 -7.09656942e-01 -7.03965121e-03 -1.33317936e+02] [ 9.89915306e-03 -9.19204083e-05 9.99950998e-01 -9.01667681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.270385723 meters 0.013843477417848683 Centerline is valid? [True, True] Translation: X:105.45, Y:-133.30, Z:-9.02 [[-7.09331149e-01 -7.04843643e-01 6.69029913e-03 1.05446540e+02] [ 7.04811207e-01 -7.09362694e-01 -6.76242550e-03 -1.33299380e+02] [ 9.51230124e-03 -8.14012419e-05 9.99954754e-01 -9.01622264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.300385723 meters 0.01387602367635883 Centerline is valid? [True, True] Translation: X:105.43, Y:-133.28, Z:-9.02 [[-7.08573570e-01 -7.05606531e-01 6.55129110e-03 1.05428412e+02] [ 7.05575501e-01 -7.08603852e-01 -6.61761156e-03 -1.33280055e+02] [ 9.31170005e-03 -6.66341500e-05 9.99956643e-01 -9.01707878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.330385723 meters 0.013795142459767479 Centerline is valid? [True, True] Translation: X:105.41, Y:-133.26, Z:-9.02 [[-7.08668400e-01 -7.05508074e-01 6.88881821e-03 1.05409065e+02] [ 7.05473802e-01 -7.08701879e-01 -6.95428743e-03 -1.33261028e+02] [ 9.78842434e-03 -6.84029760e-05 9.99952090e-01 -9.01673718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.360385723 meters 0.014029544648367942 Centerline is valid? [True, True] Translation: X:105.39, Y:-133.24, Z:-9.02 [[-7.08702182e-01 -7.05480782e-01 6.17118565e-03 1.05390349e+02] [ 7.05453310e-01 -7.08729048e-01 -6.22604543e-03 -1.33241902e+02] [ 8.76605393e-03 -5.89286369e-05 9.99961576e-01 -9.01775757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.390385723 meters 0.013780597642507117 Centerline is valid? [True, True] Translation: X:105.37, Y:-133.22, Z:-9.02 [[-7.08892060e-01 -7.05292216e-01 5.91077678e-03 1.05370418e+02] [ 7.05267038e-01 -7.08916700e-01 -5.95963441e-03 -1.33223430e+02] [ 8.39353213e-03 -5.60614891e-05 9.99964772e-01 -9.01729272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.420385723 meters 0.013912989237145365 Centerline is valid? [True, True] Translation: X:105.35, Y:-133.20, Z:-9.02 [[-7.08962851e-01 -7.05225987e-01 5.28992085e-03 1.05352089e+02] [ 7.05205839e-01 -7.08982584e-01 -5.33109617e-03 -1.33204756e+02] [ 7.51008931e-03 -4.90660707e-05 9.99971798e-01 -9.01789703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.450385723 meters 0.013861198824956554 Centerline is valid? [True, True] Translation: X:105.33, Y:-133.18, Z:-9.02 [[-7.08736748e-01 -7.05455314e-01 5.00222394e-03 1.05332877e+02] [ 7.05437325e-01 -7.08754399e-01 -5.03808831e-03 -1.33184914e+02] [ 7.09949440e-03 -4.19228502e-05 9.99974797e-01 -9.01728404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.480385723 meters 0.013873155209653555 Centerline is valid? [True, True] Translation: X:105.31, Y:-133.17, Z:-9.02 [[-7.08649896e-01 -7.05540696e-01 5.25856277e-03 1.05313909e+02] [ 7.05520842e-01 -7.08669405e-01 -5.29305176e-03 -1.33165225e+02] [ 7.46104597e-03 -4.08949439e-05 9.99972165e-01 -9.01749494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.510385723 meters 0.013808765991991687 Centerline is valid? [True, True] Translation: X:105.30, Y:-133.15, Z:-9.02 [[-7.07816308e-01 -7.06375537e-01 5.44750474e-03 1.05295181e+02] [ 7.06354281e-01 -7.07837270e-01 -5.47988822e-03 -1.33147249e+02] [ 7.72680587e-03 -3.08859531e-05 9.99970147e-01 -9.01863024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.540385723 meters 0.013808765991991687 Centerline is valid? [True, True] Translation: X:105.28, Y:-133.13, Z:-9.02 [[-7.08032162e-01 -7.06159163e-01 5.44917934e-03 1.05276216e+02] [ 7.06137914e-01 -7.08053130e-01 -5.47822302e-03 -1.33128341e+02] [ 7.72680587e-03 -3.08859546e-05 9.99970147e-01 -9.01863017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.570385723 meters 0.013720633516014016 Centerline is valid? [True, True] Translation: X:105.26, Y:-133.11, Z:-9.02 [[-7.07658061e-01 -7.06535176e-01 5.30221385e-03 1.05255599e+02] [ 7.06515093e-01 -7.07677924e-01 -5.32721856e-03 -1.33109789e+02] [ 7.51612700e-03 -2.37550493e-05 9.99971753e-01 -9.01922341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.600385723 meters 0.013688675915504349 Centerline is valid? [True, True] Translation: X:105.23, Y:-133.09, Z:-9.02 [[-7.06245710e-01 -7.07946989e-01 5.29692591e-03 1.05234278e+02] [ 7.07927010e-01 -7.06265573e-01 -5.31873333e-03 -1.33092721e+02] [ 7.50641766e-03 -6.49568311e-06 9.99971826e-01 -9.02066574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.630385723 meters 0.013721438259784616 Centerline is valid? [True, True] Translation: X:105.21, Y:-133.07, Z:-9.02 [[-7.05723653e-01 -7.08465507e-01 5.54534574e-03 1.05214374e+02] [ 7.08443651e-01 -7.05745439e-01 -5.56487509e-03 -1.33074243e+02] [ 7.85612451e-03 1.30100936e-06 9.99969140e-01 -9.02118843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.660385723 meters 0.013709235855931215 Centerline is valid? [True, True] Translation: X:105.19, Y:-133.06, Z:-9.02 [[-7.05479134e-01 -7.08709316e-01 5.50431808e-03 1.05194783e+02] [ 7.08687815e-01 -7.05500606e-01 -5.52043267e-03 -1.33055077e+02] [ 7.79568181e-03 6.29309650e-06 9.99969613e-01 -9.02142881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.690385723 meters 0.013705105941140328 Centerline is valid? [True, True] Translation: X:105.18, Y:-133.04, Z:-9.02 [[-7.05229889e-01 -7.08959170e-01 5.26303002e-03 1.05175536e+02] [ 7.08939544e-01 -7.05249527e-01 -5.27518375e-03 -1.33036559e+02] [ 7.45163932e-03 1.09528546e-05 9.99972236e-01 -9.02112085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.720385723 meters 0.01365570882707701 Centerline is valid? [True, True] Translation: X:105.16, Y:-133.02, Z:-9.02 [[-7.05763941e-01 -7.08430272e-01 4.87953717e-03 1.05156407e+02] [ 7.08413409e-01 -7.05780809e-01 -4.88796195e-03 -1.33017203e+02] [ 6.90666391e-03 6.98227441e-06 9.99976149e-01 -9.02066113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.750385723 meters 0.01376383202107082 Centerline is valid? [True, True] Translation: X:105.14, Y:-133.00, Z:-9.02 [[-7.07251926e-01 -7.06945137e-01 4.82551870e-03 1.05139418e+02] [ 7.06928631e-01 -7.07268388e-01 -4.83090708e-03 -1.32997616e+02] [ 6.82812310e-03 -5.37100638e-06 9.99976688e-01 -9.02003562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.780385723 meters 0.013838506281033829 Centerline is valid? [True, True] Translation: X:105.12, Y:-132.98, Z:-9.02 [[-7.08107080e-01 -7.06090253e-01 4.57350179e-03 1.05120132e+02] [ 7.06075426e-01 -7.08121850e-01 -4.57581452e-03 -1.32977642e+02] [ 6.46953458e-03 -1.09294368e-05 9.99979072e-01 -9.01919381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.810385723 meters 0.013988363750902101 Centerline is valid? [True, True] Translation: X:105.10, Y:-132.96, Z:-9.02 [[-7.09102471e-01 -7.05091399e-01 4.45021832e-03 1.05101946e+02] [ 7.05077359e-01 -7.09116435e-01 -4.44962042e-03 -1.32958209e+02] [ 6.29311204e-03 -1.74886526e-05 9.99980198e-01 -9.01968250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.840385723 meters 0.013938087730504471 Centerline is valid? [True, True] Translation: X:104.54, Y:-133.55, Z:-8.05 [[-7.51935914e-01 6.59224224e-01 3.97543062e-03 1.04538567e+02] [ 6.59215209e-01 7.51946422e-01 -3.44764350e-03 -1.33553191e+02] [-5.26208094e-03 2.82573557e-05 -9.99986155e-01 -8.05282980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.870385723 meters 0.014267250154937707 Centerline is valid? [True, True] Translation: X:104.56, Y:-133.53, Z:-8.05 [[-7.96042893e-01 6.05227196e-01 3.96912236e-03 1.04557498e+02] [ 6.05219865e-01 7.96052787e-01 -2.97896452e-03 -1.33531615e+02] [-4.96258126e-03 3.08081717e-05 -9.99987686e-01 -8.05280997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.900385723 meters 0.01456149938698915 Centerline is valid? [True, True] Translation: X:104.59, Y:-133.52, Z:-8.05 [[-8.35659115e-01 5.49232650e-01 4.16414505e-03 1.04585429e+02] [ 5.49226081e-01 8.35669489e-01 -2.68664534e-03 -1.33516594e+02] [-4.95544230e-03 4.19374022e-05 -9.99987721e-01 -8.05336256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93038572300003 meters 0.014784436014488027 Centerline is valid? [True, True] Translation: X:104.60, Y:-133.49, Z:-8.05 [[-8.71807727e-01 4.89827852e-01 4.46784408e-03 1.04603442e+02] [ 4.89821710e-01 8.71819174e-01 -2.45350141e-03 -1.33494304e+02] [-5.09694546e-03 4.94655346e-05 -9.99987009e-01 -8.05333384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.960385723 meters 0.015382014760717188 Centerline is valid? [True, True] Translation: X:104.62, Y:-133.47, Z:-8.05 [[-9.03252188e-01 4.29078685e-01 5.19305345e-03 1.04615912e+02] [ 4.29072033e-01 9.03267113e-01 -2.39027169e-03 -1.33468977e+02] [-5.71632903e-03 6.91758615e-05 -9.99983659e-01 -8.05324076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.990385723 meters 0.015795698564242254 Centerline is valid? [True, True] Translation: X:104.61, Y:-133.43, Z:-8.05 [[-9.30942645e-01 3.65121187e-01 5.68429065e-03 1.04608219e+02] [ 3.65114907e-01 9.30959995e-01 -2.14289789e-03 -1.33434742e+02] [-6.07426462e-03 8.05042234e-05 -9.99981548e-01 -8.05280659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.020385723 meters 0.01580852082725297 Centerline is valid? [True, True] Translation: X:104.94, Y:-132.68, Z:-9.02 [[-9.15814650e-01 -4.01559974e-01 5.75445816e-03 1.04935664e+02] [ 4.01551573e-01 -9.15832726e-01 -2.59848792e-03 -1.32682010e+02] [ 6.31356984e-03 -6.90215861e-05 9.99980067e-01 -9.01688584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.050385723 meters 0.016108838286420055 Centerline is valid? [True, True] Translation: X:104.59, Y:-133.43, Z:-8.05 [[-9.31656297e-01 3.63284499e-01 6.39664272e-03 1.04589860e+02] [ 3.63276687e-01 9.31678251e-01 -2.38461686e-03 -1.33427825e+02] [-6.82590724e-03 1.02107858e-04 -9.99976698e-01 -8.05395521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.080385723 meters 0.01624110559923434 Centerline is valid? [True, True] Translation: X:104.61, Y:-133.40, Z:-8.05 [[-9.55059706e-01 2.96341610e-01 6.52748525e-03 1.04605002e+02] [ 2.96335415e-01 9.55082007e-01 -1.91885080e-03 -1.33402282e+02] [-6.80291905e-03 1.01707971e-04 -9.99976855e-01 -8.05477830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.110385723 meters 0.016403553958162103 Centerline is valid? [True, True] Translation: X:104.60, Y:-133.37, Z:-8.06 [[-9.73810695e-01 2.27278145e-01 6.11350443e-03 1.04599807e+02] [ 2.27274239e-01 9.73829881e-01 -1.33547220e-03 -1.33369725e+02] [-6.25703693e-03 8.89449574e-05 -9.99980421e-01 -8.05579523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.140385723 meters 0.016417966475931564 Centerline is valid? [True, True] Translation: X:104.75, Y:-132.57, Z:-9.01 [[-9.64082119e-01 -2.65539389e-01 5.87376640e-03 1.04750077e+02] [ 2.65533855e-01 -9.64100007e-01 -1.71704266e-03 -1.32567932e+02] [ 6.11884069e-03 -9.56862896e-05 9.99981275e-01 -9.01433234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.170385723 meters 0.0164163731063048 Centerline is valid? [True, True] Translation: X:104.51, Y:-133.34, Z:-8.06 [[-9.75024228e-01 2.22003913e-01 6.48206020e-03 1.04507928e+02] [ 2.21999584e-01 9.75045771e-01 -1.38903954e-03 -1.33343875e+02] [-6.62867760e-03 8.46674596e-05 -9.99978027e-01 -8.05544067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.200385723 meters 0.016370161682450004 Centerline is valid? [True, True] Translation: X:104.66, Y:-132.55, Z:-9.01 [[-9.64690008e-01 -2.63308082e-01 6.48398673e-03 1.04661380e+02] [ 2.63301584e-01 -9.64711795e-01 -1.85151977e-03 -1.32551857e+02] [ 6.74269860e-03 -7.88986453e-05 9.99977265e-01 -9.01463982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.230385723 meters 0.015971121503739673 Centerline is valid? [True, True] Translation: X:104.42, Y:-133.32, Z:-8.06 [[-9.76427330e-01 2.15730637e-01 7.06829596e-03 1.04420419e+02] [ 2.15725533e-01 9.76452911e-01 -1.48590915e-03 -1.33320240e+02] [-7.22241429e-03 7.39296057e-05 -9.99973915e-01 -8.05741562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.260385723 meters 0.015800050533133683 Centerline is valid? [True, True] Translation: X:104.42, Y:-133.29, Z:-8.06 [[-9.89390810e-01 1.45098844e-01 7.22151537e-03 1.04415148e+02] [ 1.45095487e-01 9.89417162e-01 -9.89517183e-04 -1.33291629e+02] [-7.28866904e-03 6.87900792e-05 -9.99973435e-01 -8.05888968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.290385723 meters 0.015653100669816167 Centerline is valid? [True, True] Translation: X:104.49, Y:-132.50, Z:-9.01 [[-9.80809405e-01 -1.94802947e-01 8.04510721e-03 1.04488855e+02] [ 1.94796243e-01 -9.80842399e-01 -1.61629372e-03 -1.32496246e+02] [ 8.20584104e-03 -1.81194204e-05 9.99966331e-01 -9.00916322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.320385723 meters 0.015640185522146945 Centerline is valid? [True, True] Translation: X:104.40, Y:-133.29, Z:-8.06 [[-9.90923803e-01 1.34172625e-01 8.22937507e-03 1.04404685e+02] [ 1.34168442e-01 9.90957973e-01 -1.06072633e-03 -1.33285749e+02] [-8.29728527e-03 5.30234657e-05 -9.99965576e-01 -8.06088807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.350385723 meters 0.015482526059995443 Centerline is valid? [True, True] Translation: X:104.40, Y:-133.25, Z:-8.06 [[-9.98147073e-01 5.99630411e-02 1.03370598e-02 1.04404857e+02] [ 5.99601339e-02 9.98200598e-01 -5.91209704e-04 -1.33251941e+02] [-1.03539100e-02 2.96972569e-05 -9.99946396e-01 -8.06190804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.380385723 meters 0.015488703581284725 Centerline is valid? [True, True] Translation: X:104.38, Y:-133.22, Z:-8.06 [[-9.99853059e-01 -1.25126540e-02 1.17172739e-02 1.04382709e+02] [-1.25115961e-02 9.99921714e-01 1.63589338e-04 -1.33221025e+02] [-1.17184035e-02 1.69635021e-05 -9.99931337e-01 -8.06150965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.410385723 meters 0.015638688027504344 Centerline is valid? [True, True] Translation: X:104.39, Y:-133.19, Z:-8.06 [[-9.96315961e-01 -8.47797456e-02 1.29189679e-02 1.04390344e+02] [-8.47725456e-02 9.96399716e-01 1.10490567e-03 -1.33190086e+02] [-1.29661296e-02 5.66135916e-06 -9.99915936e-01 -8.06029112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.440385723 meters 0.015768502978891978 Centerline is valid? [True, True] Translation: X:104.38, Y:-133.16, Z:-8.06 [[-9.87717163e-01 -1.55542567e-01 1.48766666e-02 1.04380413e+02] [-1.55524771e-01 9.87829191e-01 2.35285014e-03 -1.33160497e+02] [-1.50615739e-02 1.02603000e-05 -9.99886568e-01 -8.05881977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.470385723 meters 0.015896339293074845 Centerline is valid? [True, True] Translation: X:104.36, Y:-133.14, Z:-8.06 [[-9.74231002e-01 -2.25039950e-01 1.51979158e-02 1.04359407e+02] [-2.25012101e-01 9.74349537e-01 3.54040086e-03 -1.33136086e+02] [-1.56048139e-02 2.94533185e-05 -9.99878237e-01 -8.05948694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.500385723 meters 0.016285930594514567 Centerline is valid? [True, True] Translation: X:104.31, Y:-133.12, Z:-8.06 [[-9.56293928e-01 -2.91952966e-01 1.62907587e-02 1.04309879e+02] [-2.91908883e-01 9.56432672e-01 5.07418242e-03 -1.33124704e+02] [-1.70624365e-02 9.69926673e-05 -9.99854421e-01 -8.06244726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.530385723 meters 0.01657104869030931 Centerline is valid? [True, True] Translation: X:104.24, Y:-133.12, Z:-8.06 [[-9.32949636e-01 -3.59637005e-01 1.63156514e-02 1.04239463e+02] [-3.59579481e-01 9.33092282e-01 6.43352686e-03 -1.33121317e+02] [-1.75377427e-02 1.35383077e-04 -9.99846193e-01 -8.06309251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.560385723 meters 0.016902565306129335 Centerline is valid? [True, True] Translation: X:104.17, Y:-133.12, Z:-8.06 [[-9.04923428e-01 -4.25234461e-01 1.70071677e-02 1.04167122e+02] [-4.25155130e-01 9.05083207e-01 8.21607382e-03 -1.33121870e+02] [-1.88866596e-02 2.04233083e-04 -9.99821610e-01 -8.06261699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.590385723 meters 0.01694502067602016 Centerline is valid? [True, True] Translation: X:104.07, Y:-133.14, Z:-8.06 [[-8.71196744e-01 -4.90667990e-01 1.61603259e-02 1.04074601e+02] [-4.90578924e-01 8.71346587e-01 9.35113022e-03 -1.33137203e+02] [-1.86695451e-02 2.18758887e-04 -9.99825685e-01 -8.06235561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.620385723 meters 0.01691941240147037 Centerline is valid? [True, True] Translation: X:104.00, Y:-133.15, Z:-8.06 [[-8.32137489e-01 -5.54339408e-01 1.59693659e-02 1.04002007e+02] [-5.54231721e-01 8.32290672e-01 1.09287301e-02 -1.33148386e+02] [-1.93493800e-02 2.43476874e-04 -9.99812754e-01 -8.06270964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.650385723 meters 0.01765858765951925 Centerline is valid? [True, True] Translation: X:103.91, Y:-133.18, Z:-8.06 [[-7.89402947e-01 -6.13670441e-01 1.58611927e-02 1.03913398e+02] [-6.13538728e-01 7.89562217e-01 1.27174699e-02 -1.33181224e+02] [-2.03277338e-02 3.07752217e-04 -9.99793323e-01 -8.06240468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68038572300003 meters 0.017908073238100546 Centerline is valid? [True, True] Translation: X:103.82, Y:-133.23, Z:-8.06 [[-7.42427156e-01 -6.69761750e-01 1.48699977e-02 1.03818631e+02] [-6.69617564e-01 7.42575967e-01 1.39015266e-02 -1.33226094e+02] [-2.03528137e-02 3.63659278e-04 -9.99792794e-01 -8.06364633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.710385723 meters 0.01877133633260298 Centerline is valid? [True, True] Translation: X:103.72, Y:-133.28, Z:-8.06 [[-6.89773706e-01 -7.23897477e-01 1.35895950e-02 1.03722841e+02] [-7.23746363e-01 6.89907462e-01 1.47951564e-02 -1.33282842e+02] [-2.00857394e-02 3.69889878e-04 -9.99798193e-01 -8.06224074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.740385723 meters 0.018815153263880256 Centerline is valid? [True, True] Translation: X:103.63, Y:-133.34, Z:-8.06 [[-6.32751146e-01 -7.74252401e-01 1.26177111e-02 1.03632271e+02] [-7.74086273e-01 6.32876822e-01 1.60427685e-02 -1.33343222e+02] [-2.04066089e-02 3.83883156e-04 -9.99791690e-01 -8.06253115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.770385723 meters 0.017274204955656593 Centerline is valid? [True, True] Translation: X:103.53, Y:-133.42, Z:-8.07 [[-5.71719359e-01 -8.20370609e-01 1.13595140e-02 1.03534791e+02] [-8.20195214e-01 5.71832071e-01 1.69674431e-02 -1.33421145e+02] [-2.04153260e-02 3.83596679e-04 -9.99791512e-01 -8.06595409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.800385723 meters 0.017384698080665836 Centerline is valid? [True, True] Translation: X:103.45, Y:-133.50, Z:-8.07 [[-5.07105612e-01 -8.61829790e-01 9.65978389e-03 1.03454784e+02] [-8.61659345e-01 5.07197472e-01 1.71434139e-02 -1.33495467e+02] [-1.96741228e-02 3.70078350e-04 -9.99806377e-01 -8.06598357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.830385723 meters 0.01720337935331359 Centerline is valid? [True, True] Translation: X:103.37, Y:-133.59, Z:-8.07 [[-4.40013245e-01 -8.97955836e-01 7.97881283e-03 1.03373776e+02] [-8.97792840e-01 4.40085427e-01 1.71123911e-02 -1.33586149e+02] [-1.88775307e-02 3.66357685e-04 -9.99821736e-01 -8.06676219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.860385723 meters 0.01743591968778028 Centerline is valid? [True, True] Translation: X:103.30, Y:-133.68, Z:-8.07 [[-3.69906359e-01 -9.29044804e-01 6.71107190e-03 1.03300382e+02] [-9.28873025e-01 3.69967041e-01 1.78687302e-02 -1.33683416e+02] [-1.90837263e-02 3.76023246e-04 -9.99817818e-01 -8.06611761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.890385723 meters 0.017426397633081542 Centerline is valid? [True, True] Translation: X:103.23, Y:-133.79, Z:-8.06 [[-2.96992831e-01 -9.54865307e-01 5.24444744e-03 1.03230874e+02] [-9.54694152e-01 2.97038909e-01 1.80820999e-02 -1.33792345e+02] [-1.88237748e-02 3.63410738e-04 -9.99822751e-01 -8.06488805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.920385723 meters 0.017039738549079468 Centerline is valid? [True, True] Translation: X:103.17, Y:-133.90, Z:-8.07 [[-2.21905454e-01 -9.75060292e-01 3.92391386e-03 1.03172568e+02] [-9.74878037e-01 2.21939854e-01 1.88550646e-02 -1.33899914e+02] [-1.92556976e-02 3.58704218e-04 -9.99814528e-01 -8.06545386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.950385723 meters 0.017010021066329636 Centerline is valid? [True, True] Translation: X:103.12, Y:-134.02, Z:-8.07 [[-1.43514243e-01 -9.89645128e-01 2.48646545e-03 1.03121965e+02] [-9.89456562e-01 1.43535440e-01 1.93207033e-02 -1.34018762e+02] [-1.94775358e-02 3.12546536e-04 -9.99810246e-01 -8.06562452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.980385723 meters 0.01678105814962681 Centerline is valid? [True, True] Translation: X:103.08, Y:-134.14, Z:-8.07 [[-6.56229429e-02 -9.97844041e-01 9.48552949e-04 1.03080208e+02] [-9.97669687e-01 6.56292099e-02 1.86548302e-02 -1.34138172e+02] [-1.86768639e-02 2.77842333e-04 -9.99825534e-01 -8.06600012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.010385723 meters 0.016541053514952817 Centerline is valid? [True, True] Translation: X:103.05, Y:-134.26, Z:-8.07 [[ 1.28540895e-02 -9.99917275e-01 -4.64369341e-04 1.03047296e+02] [-9.99761850e-01 -1.28602795e-02 1.76311260e-02 -1.34263314e+02] [-1.76356394e-02 2.37626680e-04 -9.99844452e-01 -8.06576431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.040385723 meters 0.01585070520875085 Centerline is valid? [True, True] Translation: X:103.02, Y:-134.39, Z:-8.07 [[ 9.29487344e-02 -9.95669550e-01 -1.63681568e-03 1.03020881e+02] [-9.95544703e-01 -9.29630008e-02 1.57678452e-02 -1.34390755e+02] [-1.58517266e-02 1.63921932e-04 -9.99874340e-01 -8.06572500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.070385723 meters 0.01567267140745063 Centerline is valid? [True, True] Translation: X:103.01, Y:-134.52, Z:-8.07 [[ 1.71015606e-01 -9.85264625e-01 -2.69821241e-03 1.03007178e+02] [-9.85153781e-01 -1.71036840e-01 1.47792516e-02 -1.34517150e+02] [-1.50229675e-02 1.30671488e-04 -9.99887140e-01 -8.06504431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.100385723 meters 0.015472754771582652 Centerline is valid? [True, True] Translation: X:103.00, Y:-134.65, Z:-8.06 [[ 2.48976400e-01 -9.68502323e-01 -3.74206793e-03 1.03004779e+02] [-9.68398203e-01 -2.49004504e-01 1.42013372e-02 -1.34648292e+02] [-1.46858199e-02 8.80140414e-05 -9.99892154e-01 -8.06461245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.130385723 meters 0.015459343385042523 Centerline is valid? [True, True] Translation: X:103.01, Y:-134.77, Z:-8.06 [[ 3.23331557e-01 -9.46274141e-01 -4.68546005e-03 1.03011748e+02] [-9.46178240e-01 -3.23365495e-01 1.34720180e-02 -1.34771462e+02] [-1.42633383e-02 7.73517956e-05 -9.99898270e-01 -8.06442512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.160385723 meters 0.015314983057404077 Centerline is valid? [True, True] Translation: X:103.03, Y:-134.90, Z:-8.07 [[ 3.95293878e-01 -9.18540325e-01 -5.14012947e-03 1.03028558e+02] [-9.18464889e-01 -3.95327290e-01 1.17720384e-02 -1.34897646e+02] [-1.28451254e-02 6.76137404e-05 -9.99917496e-01 -8.06545593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.190385723 meters 0.015234535439368266 Centerline is valid? [True, True] Translation: X:103.05, Y:-135.01, Z:-8.07 [[ 4.64797087e-01 -8.85400682e-01 -5.41305516e-03 1.03051076e+02] [-8.85342120e-01 -4.64828602e-01 1.01833932e-02 -1.35012823e+02] [-1.15325262e-02 5.91942345e-05 -9.99933496e-01 -8.06548316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.220385723 meters 0.015134176393782008 Centerline is valid? [True, True] Translation: X:103.09, Y:-135.13, Z:-8.07 [[ 5.31526684e-01 -8.47020830e-01 -5.92433766e-03 1.03087391e+02] [-8.46969351e-01 -5.31559696e-01 9.33847310e-03 -1.35134621e+02] [-1.10590204e-02 5.40847846e-05 -9.99938846e-01 -8.06609745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.250385723 meters 0.01668335530433235 Centerline is valid? [True, True] Translation: X:103.13, Y:-135.24, Z:-8.07 [[ 5.95631210e-01 -8.03229075e-01 -6.82014923e-03 1.03125079e+02] [-8.03177278e-01 -5.95670254e-01 9.12191439e-03 -1.35241456e+02] [-1.13895469e-02 4.44919836e-05 -9.99935136e-01 -8.06500665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.280385723 meters 0.015070509464575782 Centerline is valid? [True, True] Translation: X:103.17, Y:-135.35, Z:-8.06 [[ 6.56868596e-01 -7.53966126e-01 -7.66351340e-03 1.03173582e+02] [-7.53915191e-01 -6.56913298e-01 8.76381893e-03 -1.35348727e+02] [-1.16418865e-02 2.09617317e-05 -9.99932231e-01 -8.06401520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.310385723 meters 0.015025709927573485 Centerline is valid? [True, True] Translation: X:103.23, Y:-135.45, Z:-8.06 [[ 7.13169011e-01 -7.00940149e-01 -8.53632011e-03 1.03228378e+02] [-7.00890096e-01 -7.13220098e-01 8.37651615e-03 -1.35450835e+02] [-1.19597115e-02 9.15047823e-06 -9.99928480e-01 -8.06293428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.340385723 meters 0.014999819826825803 Centerline is valid? [True, True] Translation: X:103.22, Y:-135.46, Z:-8.06 [[ 7.66501976e-01 -6.42178367e-01 -9.03688264e-03 1.03223004e+02] [-6.42133669e-01 -7.66555246e-01 7.57669540e-03 -1.35459787e+02] [-1.17928597e-02 -4.66539360e-06 -9.99930462e-01 -8.06218619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.370385723 meters 0.015065880718124296 Centerline is valid? [True, True] Translation: X:103.22, Y:-135.47, Z:-8.06 [[ 8.15475323e-01 -5.78711788e-01 -9.62624884e-03 1.03216507e+02] [-5.78671076e-01 -8.15532137e-01 6.86439378e-03 -1.35470421e+02] [-1.18230209e-02 -2.73119568e-05 -9.99930105e-01 -8.06105596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.400385723 meters 0.015065880718124296 Centerline is valid? [True, True] Translation: X:103.21, Y:-135.48, Z:-8.06 [[ 8.58226831e-01 -5.13170555e-01 -1.01335237e-02 1.03212065e+02] [-5.13134410e-01 -8.58286654e-01 6.09066417e-03 -1.35479767e+02] [-1.18230177e-02 -2.73116977e-05 -9.99930105e-01 -8.06105599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43038572300003 meters 0.014917718930805552 Centerline is valid? [True, True] Translation: X:103.21, Y:-135.49, Z:-8.06 [[ 8.95882655e-01 -4.44166154e-01 -1.05212087e-02 1.03207751e+02] [-4.44135108e-01 -8.95944433e-01 5.25158978e-03 -1.35492244e+02] [-1.17589968e-02 -3.19700411e-05 -9.99930860e-01 -8.06153015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.460385723 meters 0.014853528151812255 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.50, Z:-8.06 [[ 9.28081777e-01 -3.72245291e-01 -9.88222862e-03 1.03203776e+02] [-3.72223788e-01 -9.28134388e-01 4.00112796e-03 -1.35502692e+02] [-1.06614373e-02 -3.49733685e-05 -9.99943165e-01 -8.06234470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.490385723 meters 0.014848439183153176 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.51, Z:-8.06 [[ 9.54259732e-01 -2.98848972e-01 -8.81227503e-03 1.03201984e+02] [-2.98835963e-01 -9.54300420e-01 2.78855529e-03 -1.35512700e+02] [-9.24291465e-03 -2.75813293e-05 -9.99957283e-01 -8.06337884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.520385723 meters 0.0148684973916263 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.52, Z:-8.07 [[ 9.74354165e-01 -2.24912288e-01 -6.95874590e-03 1.03201198e+02] [-2.24906480e-01 -9.74379014e-01 1.61634182e-03 -1.35521246e+02] [-7.14399111e-03 -9.82233759e-06 -9.99974481e-01 -8.06505021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.550385723 meters 0.014801515266700295 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.53, Z:-8.06 [[ 9.88721350e-01 -1.49623510e-01 -6.54968475e-03 1.03198403e+02] [-1.49620243e-01 -9.88743043e-01 9.88764044e-04 -1.35530428e+02] [-6.62389758e-03 2.35330278e-06 -9.99978062e-01 -8.06481534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.580385723 meters 0.014836837741098499 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.54, Z:-8.06 [[ 9.97243271e-01 -7.38968135e-02 -6.71715072e-03 1.03195033e+02] [-7.38952501e-02 -9.97265893e-01 4.80978201e-04 -1.35538074e+02] [-6.73432807e-03 1.67132576e-05 -9.99977324e-01 -8.06439146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.610385723 meters 0.016235418668010374 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.54, Z:-8.06 [[ 9.99968430e-01 1.16620589e-03 -7.85994835e-03 1.03192166e+02] [ 1.16581404e-03 -9.99999319e-01 -5.44360492e-05 -1.35544789e+02] [-7.86000648e-03 4.52710926e-05 -9.99969109e-01 -8.06283880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.640385723 meters 0.015301301705603785 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.55, Z:-8.06 [[ 9.96915774e-01 7.80121696e-02 -8.54638461e-03 1.03189762e+02] [ 7.80087733e-02 -9.96952405e-01 -7.30536050e-04 -1.35553115e+02] [-8.57732939e-03 6.15899322e-05 -9.99963212e-01 -8.06257521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.670385723 meters 0.015296734910853656 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.56, Z:-8.06 [[ 9.87722934e-01 1.55960325e-01 -8.93208613e-03 1.03188348e+02] [ 1.55953362e-01 -9.87763318e-01 -1.47510050e-03 -1.35562809e+02] [-9.05284419e-03 6.40017351e-05 -9.99959020e-01 -8.06239326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.700385723 meters 0.015468126234824301 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.57, Z:-8.06 [[ 9.72495414e-01 2.32745055e-01 -9.07798458e-03 1.03187061e+02] [ 2.32734277e-01 -9.72537781e-01 -2.24086555e-03 -1.35572474e+02] [-9.35023335e-03 6.64732914e-05 -9.99956283e-01 -8.06188479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.730385723 meters 0.015587879502003958 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.58, Z:-8.06 [[ 9.51487745e-01 3.07570552e-01 -8.45142042e-03 1.03185721e+02] [ 3.07557774e-01 -9.51525276e-01 -2.80443569e-03 -1.35581411e+02] [-8.90430198e-03 6.90861333e-05 -9.99960354e-01 -8.06068763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.760385723 meters 0.015722339382675095 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.59, Z:-8.06 [[ 9.24538702e-01 3.81005464e-01 -7.93879937e-03 1.03185259e+02] [ 3.80990785e-01 -9.24572783e-01 -3.34512088e-03 -1.35588851e+02] [-8.61450716e-03 6.80843082e-05 -9.99962892e-01 -8.05934679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.790385723 meters 0.015983276888596236 Centerline is valid? [True, True] Translation: X:103.18, Y:-135.59, Z:-8.06 [[ 8.91886355e-01 4.52194326e-01 -7.68251709e-03 1.03184144e+02] [ 4.52176888e-01 -8.91919440e-01 -3.97173135e-03 -1.35594811e+02] [-8.64818072e-03 6.84763259e-05 -9.99962601e-01 -8.05884722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.820385723 meters 0.01622603358476111 Centerline is valid? [True, True] Translation: X:103.18, Y:-135.60, Z:-8.06 [[ 8.54402613e-01 5.19568149e-01 -6.71663192e-03 1.03181694e+02] [ 5.19551426e-01 -8.54429010e-01 -4.16914992e-03 -1.35596862e+02] [-7.90504267e-03 7.24968961e-05 -9.99968752e-01 -8.06020276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.850385723 meters 0.016263111788805493 Centerline is valid? [True, True] Translation: X:103.18, Y:-135.60, Z:-8.06 [[ 8.11270787e-01 5.84647009e-01 -5.25212404e-03 1.03181674e+02] [ 5.84634266e-01 -8.11287786e-01 -3.86052465e-03 -1.35602995e+02] [-6.51802827e-03 6.13591957e-05 -9.99978756e-01 -8.06106039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.880385723 meters 0.016279315059324805 Centerline is valid? [True, True] Translation: X:103.18, Y:-135.61, Z:-8.06 [[ 7.62871959e-01 6.46535905e-01 -4.20679826e-03 1.03182119e+02] [ 6.46525705e-01 -7.62883556e-01 -3.63212087e-03 -1.35609054e+02] [-5.55759377e-03 5.10399528e-05 -9.99984555e-01 -8.06137434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.910385723 meters 0.016396349330687572 Centerline is valid? [True, True] Translation: X:103.18, Y:-135.62, Z:-8.06 [[ 7.09203051e-01 7.05000382e-01 -2.34382597e-03 1.03181541e+02] [ 7.04996405e-01 -7.09206924e-01 -2.36822473e-03 -1.35615746e+02] [-3.33185694e-03 2.71633217e-05 -9.99994449e-01 -8.06169411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.940385723 meters 0.016220670068958217 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.63, Z:-8.06 [[ 6.51323640e-01 7.58798215e-01 -1.66894630e-03 1.03187177e+02] [ 7.58795648e-01 -6.51325778e-01 -1.97401380e-03 -1.35625910e+02] [-2.58490590e-03 1.93326655e-05 -9.99996659e-01 -8.06197126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.970385723 meters 0.016392591591949595 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.64, Z:-8.06 [[ 5.89253243e-01 8.07948252e-01 -4.87125789e-04 1.03190288e+02] [ 8.07947968e-01 -5.89253445e-01 -6.77241515e-04 -1.35635211e+02] [-8.34216647e-04 5.49446743e-06 -9.99999652e-01 -8.06163734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.000385723 meters 0.01667095573988822 Centerline is valid? [True, True] Translation: X:103.19, Y:-135.64, Z:-8.06 [[ 5.23672930e-01 8.51919393e-01 -9.78182398e-05 1.03192652e+02] [ 8.51919378e-01 -5.23672939e-01 -1.61176778e-04 -1.35644124e+02] [-1.88534388e-04 1.07066156e-06 -9.99999982e-01 -8.06161004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.030385723 meters 0.016677507460866037 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.65, Z:-8.06 [[ 4.54564214e-01 8.90713886e-01 -3.84592491e-04 1.03197988e+02] [ 8.90713560e-01 -4.54564377e-01 -7.63128915e-04 -1.35652851e+02] [-8.54551568e-04 4.32934871e-06 -9.99999635e-01 -8.05944769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.060385723 meters 0.01677184598563623 Centerline is valid? [True, True] Translation: X:103.20, Y:-135.66, Z:-8.06 [[ 3.83203247e-01 9.23663898e-01 -5.24331676e-04 1.03202582e+02] [ 9.23663009e-01 -3.83203605e-01 -1.28151553e-03 -1.35660949e+02] [-1.38461542e-03 6.77513925e-06 -9.99999041e-01 -8.05844641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.090385723 meters 0.016732517043489298 Centerline is valid? [True, True] Translation: X:103.21, Y:-135.67, Z:-8.06 [[ 3.09769510e-01 9.50811658e-01 -2.04096023e-04 1.03209077e+02] [ 9.50811445e-01 -3.09769577e-01 -6.37053421e-04 -1.35668736e+02] [-6.68940558e-04 3.28289123e-06 -9.99999776e-01 -8.05928086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.120385723 meters 0.016785017519536323 Centerline is valid? [True, True] Translation: X:103.22, Y:-135.68, Z:-8.06 [[ 2.34292186e-01 9.72166226e-01 -3.33973362e-05 1.03216078e+02] [ 9.72166216e-01 -2.34292188e-01 -1.41341641e-04 -1.35677378e+02] [-1.45232304e-04 6.47480002e-07 -9.99999989e-01 -8.05995255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.150385723 meters 0.01771881866689776 Centerline is valid? [True, True] Translation: X:103.23, Y:-135.68, Z:-8.06 [[ 1.58130806e-01 9.87418158e-01 1.69150110e-04 1.03225157e+02] [ 9.87417549e-01 -1.58130897e-01 1.09690134e-03 -1.35684547e+02] [ 1.10984815e-03 -6.43210600e-06 -9.99999384e-01 -8.06006301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18038572300003 meters 0.016692099886638626 Centerline is valid? [True, True] Translation: X:103.23, Y:-135.69, Z:-8.06 [[ 8.04731092e-02 9.96756774e-01 1.14656712e-04 1.03232783e+02] [ 9.96755593e-01 -8.04731903e-02 1.53411824e-03 -1.35690880e+02] [ 1.53836953e-03 -9.17054562e-06 -9.99998817e-01 -8.05960646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.210385723 meters 0.01661717390106066 Centerline is valid? [True, True] Translation: X:103.24, Y:-135.70, Z:-8.06 [[ 2.22267764e-03 9.99997530e-01 -5.76502824e-06 1.03241681e+02] [ 9.99996394e-01 -2.22266642e-03 1.50741612e-03 -1.35697569e+02] [ 1.50739958e-03 -9.11550754e-06 -9.99998864e-01 -8.05943107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.240385723 meters 0.016580787271003525 Centerline is valid? [True, True] Translation: X:103.25, Y:-135.70, Z:-8.06 [[-7.65390149e-02 9.97066585e-01 -7.15075061e-05 1.03247183e+02] [ 9.97066207e-01 7.65390481e-02 8.67190943e-04 -1.35704606e+02] [ 8.70120228e-04 -4.92377745e-06 -9.99999621e-01 -8.05962646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.270385723 meters 0.016619793648539483 Centerline is valid? [True, True] Translation: X:103.25, Y:-135.71, Z:-8.06 [[-1.54633082e-01 9.87971947e-01 -2.05976639e-04 1.03254333e+02] [ 9.87971129e-01 1.54633219e-01 1.27091001e-03 -1.35711231e+02] [ 1.28747427e-03 -6.97424190e-06 -9.99999171e-01 -8.05990505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.300385723 meters 0.016439788319085106 Centerline is valid? [True, True] Translation: X:103.26, Y:-135.72, Z:-8.06 [[-2.32183505e-01 9.72671841e-01 -5.57268575e-04 1.03263340e+02] [ 9.72669154e-01 2.32184173e-01 2.28613347e-03 -1.35716766e+02] [ 2.35304659e-03 -1.12354724e-05 -9.99997232e-01 -8.05994691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.330385723 meters 0.016499982599014893 Centerline is valid? [True, True] Translation: X:103.27, Y:-135.72, Z:-8.06 [[-3.07975093e-01 9.51394128e-01 -7.45444761e-04 1.03272895e+02] [ 9.51391423e-01 3.07975995e-01 2.26854247e-03 -1.35722442e+02] [ 2.38785707e-03 -1.05551754e-05 -9.99997149e-01 -8.05954830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.360385723 meters 0.01645933118364456 Centerline is valid? [True, True] Translation: X:103.28, Y:-135.73, Z:-8.06 [[-3.81411701e-01 9.24404970e-01 -7.51591576e-04 1.03281058e+02] [ 9.24403222e-01 3.81412442e-01 1.79810220e-03 -1.35727495e+02] [ 1.94884099e-03 -8.95645438e-06 -9.99998101e-01 -8.05908009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.390385723 meters 0.01637409309813578 Centerline is valid? [True, True] Translation: X:103.29, Y:-135.73, Z:-8.06 [[-4.52470156e-01 8.91779259e-01 -7.14246638e-04 1.03286711e+02] [ 8.91778174e-01 4.52470720e-01 1.39114561e-03 -1.35734042e+02] [ 1.56377049e-03 -7.49769028e-06 -9.99998777e-01 -8.05893621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.420385723 meters 0.016399454103981578 Centerline is valid? [True, True] Translation: X:103.29, Y:-135.74, Z:-8.06 [[-5.20507819e-01 8.53856543e-01 -7.84241400e-04 1.03293636e+02] [ 8.53855596e-01 5.20508410e-01 1.27129187e-03 -1.35738589e+02] [ 1.49370512e-03 -7.91155105e-06 -9.99998884e-01 -8.05887032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.450385723 meters 0.016381626893828317 Centerline is valid? [True, True] Translation: X:103.30, Y:-135.74, Z:-8.06 [[-5.84928002e-01 8.11084522e-01 -1.06344081e-03 1.03303506e+02] [ 8.11083217e-01 5.84928968e-01 1.45509324e-03 -1.35741043e+02] [ 1.80224094e-03 -1.14142087e-05 -9.99998376e-01 -8.05860679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.480385723 meters 0.016436188417183147 Centerline is valid? [True, True] Translation: X:103.31, Y:-135.74, Z:-8.06 [[-6.45745283e-01 7.63552055e-01 -1.13498331e-03 1.03313065e+02] [ 7.63550912e-01 6.45746280e-01 1.32172932e-03 -1.35743891e+02] [ 1.74212039e-03 -1.31170728e-05 -9.99998482e-01 -8.05800411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.510385723 meters 0.016737646892861807 Centerline is valid? [True, True] Translation: X:103.32, Y:-135.75, Z:-8.06 [[-7.01880534e-01 7.12293956e-01 -1.01800350e-03 1.03321889e+02] [ 7.12293236e-01 7.01881272e-01 1.01280420e-03 -1.35746560e+02] [ 1.43593190e-03 -1.42494579e-05 -9.99998969e-01 -8.05698206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.540385723 meters 0.01694521459151838 Centerline is valid? [True, True] Translation: X:103.91, Y:-135.18, Z:-9.01 [[-6.67616719e-01 -7.44504522e-01 -9.65642732e-04 1.03912217e+02] [ 7.44503715e-01 -6.67617418e-01 1.09640371e-03 -1.35175620e+02] [-1.46095743e-03 1.30528480e-05 9.99998933e-01 -9.01354352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.570385723 meters 0.016649284611028985 Centerline is valid? [True, True] Translation: X:103.89, Y:-135.16, Z:-9.01 [[-6.67963028e-01 -7.44194221e-01 -5.95593374e-04 1.03893869e+02] [ 7.44193913e-01 -6.67963293e-01 6.77808849e-04 -1.35155849e+02] [-9.02255940e-04 9.51428755e-06 9.99999593e-01 -9.01269430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.600385723 meters 0.016612046770234933 Centerline is valid? [True, True] Translation: X:103.88, Y:-135.14, Z:-9.01 [[-6.68178725e-01 -7.44000576e-01 -5.78543084e-04 1.03875356e+02] [ 7.44000285e-01 -6.68178976e-01 6.57997784e-04 -1.35135254e+02] [-8.76121056e-04 9.22390135e-06 9.99999616e-01 -9.01272907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.630385723 meters 0.01687299502637746 Centerline is valid? [True, True] Translation: X:103.86, Y:-135.12, Z:-9.01 [[-6.68990177e-01 -7.43271228e-01 -1.59847675e-04 1.03857889e+02] [ 7.43271206e-01 -6.68990196e-01 1.81713710e-04 -1.35115737e+02] [-2.41999100e-04 2.75451306e-06 9.99999971e-01 -9.01302138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.660385723 meters 0.01674882856244595 Centerline is valid? [True, True] Translation: X:103.84, Y:-135.10, Z:-9.01 [[-6.69415798e-01 -7.42887860e-01 -3.41953618e-04 1.03839152e+02] [ 7.42887759e-01 -6.69415885e-01 3.88490607e-04 -1.35096166e+02] [-5.17514140e-04 6.02859297e-06 9.99999866e-01 -9.01292476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.690385723 meters 0.017064736562359607 Centerline is valid? [True, True] Translation: X:103.82, Y:-135.08, Z:-9.01 [[-6.69975726e-01 -7.42382937e-01 -3.18679261e-04 1.03822373e+02] [ 7.42382849e-01 -6.69975802e-01 3.61815418e-04 -1.35075547e+02] [-4.82112986e-04 5.82552966e-06 9.99999884e-01 -9.01281736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.720385723 meters 0.017014673532147258 Centerline is valid? [True, True] Translation: X:103.80, Y:-135.05, Z:-9.01 [[-6.70467826e-01 -7.41938606e-01 -1.78091916e-05 1.03804245e+02] [ 7.41938605e-01 -6.70467826e-01 2.02081056e-05 -1.35054891e+02] [-2.69336637e-05 3.35557856e-07 1.00000000e+00 -9.01215413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.750385723 meters 0.016851742512543556 Centerline is valid? [True, True] Translation: X:103.79, Y:-135.03, Z:-9.01 [[-6.70920633e-01 -7.41529162e-01 7.99028387e-05 1.03786183e+02] [ 7.41529156e-01 -6.70920638e-01 -9.06086641e-05 -1.35034566e+02] [ 1.20797430e-04 -1.54093771e-06 9.99999993e-01 -9.01166881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.780385723 meters 0.01671516510507626 Centerline is valid? [True, True] Translation: X:103.77, Y:-135.02, Z:-9.01 [[-6.70806442e-01 -7.41632116e-01 7.22271992e-04 1.03768059e+02] [ 7.41631664e-01 -6.70806831e-01 -8.18527230e-04 -1.35015639e+02] [ 1.09155107e-03 -1.34135593e-05 9.99999404e-01 -9.01182880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.810385723 meters 0.01669292026936109 Centerline is valid? [True, True] Translation: X:103.75, Y:-135.00, Z:-9.01 [[-6.70560033e-01 -7.41854714e-01 9.08485833e-04 1.03750296e+02] [ 7.41854000e-01 -6.70560649e-01 -1.02890733e-03 -1.34996534e+02] [ 1.37249460e-03 -1.59802832e-05 9.99999058e-01 -9.01186454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.840385723 meters 0.01626804979590524 Centerline is valid? [True, True] Translation: X:103.73, Y:-134.98, Z:-9.01 [[-6.69173157e-01 -7.43106275e-01 5.91732659e-04 1.03730956e+02] [ 7.43105973e-01 -6.69173419e-01 -6.69765661e-04 -1.34977419e+02] [ 8.93678831e-04 -8.46912893e-06 9.99999601e-01 -9.01084940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.870385723 meters 0.016226363397128442 Centerline is valid? [True, True] Translation: X:103.71, Y:-134.96, Z:-9.01 [[-6.68797805e-01 -7.43444345e-01 3.67346972e-05 1.03713191e+02] [ 7.43444344e-01 -6.68797806e-01 -4.15525038e-05 -1.34958441e+02] [ 5.54600588e-05 -4.80020492e-07 9.99999998e-01 -9.01022240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.900385723 meters 0.01594486171483603 Centerline is valid? [True, True] Translation: X:103.69, Y:-134.94, Z:-9.01 [[-6.68348944e-01 -7.43847754e-01 -4.55302783e-04 1.03693709e+02] [ 7.43847576e-01 -6.68349099e-01 5.14701931e-04 -1.34939804e+02] [-6.87161080e-04 5.32462008e-06 9.99999764e-01 -9.01014716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93038572300003 meters 0.016041752886769275 Centerline is valid? [True, True] Translation: X:103.68, Y:-134.92, Z:-9.01 [[-6.68902627e-01 -7.43349935e-01 -3.86996887e-04 1.03675825e+02] [ 7.43349806e-01 -6.68902739e-01 4.37213750e-04 -1.34919861e+02] [-5.83866091e-04 4.77936514e-06 9.99999830e-01 -9.01010786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.960385723 meters 0.01616340356675132 Centerline is valid? [True, True] Translation: X:103.66, Y:-134.90, Z:-9.01 [[-6.69250083e-01 -7.43036988e-01 -6.01350562e-04 1.03659455e+02] [ 7.43036677e-01 -6.69250353e-01 6.78942995e-04 -1.34898808e+02] [-9.06933833e-04 7.55713221e-06 9.99999589e-01 -9.00914903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.990385723 meters 0.016058185872411007 Centerline is valid? [True, True] Translation: X:103.64, Y:-134.88, Z:-9.01 [[-6.69133821e-01 -7.43141471e-01 -8.27283370e-04 1.03640864e+02] [ 7.43140884e-01 -6.69134332e-01 9.33460513e-04 -1.34878644e+02] [-1.24725692e-03 9.82190448e-06 9.99999222e-01 -9.00852208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.020385723 meters 0.0158922669361465 Centerline is valid? [True, True] Translation: X:103.62, Y:-134.86, Z:-9.01 [[-6.68363206e-01 -7.43833922e-01 -1.31162239e-03 1.03620518e+02] [ 7.43832452e-01 -6.68364493e-01 1.47905596e-03 -1.34860111e+02] [-1.97681383e-03 1.29192862e-05 9.99998046e-01 -9.00795472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.050385723 meters 0.01583245934978207 Centerline is valid? [True, True] Translation: X:103.60, Y:-134.84, Z:-9.01 [[-6.67999304e-01 -7.44160501e-01 -1.44177148e-03 1.03601998e+02] [ 7.44158727e-01 -6.68000860e-01 1.62477634e-03 -1.34841981e+02] [-2.17219896e-03 1.24426327e-05 9.99997641e-01 -9.00807677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.080385723 meters 0.015710377312977468 Centerline is valid? [True, True] Translation: X:103.58, Y:-134.82, Z:-9.01 [[-6.66806322e-01 -7.45231041e-01 1.55946738e-04 1.03580839e+02] [ 7.45231021e-01 -6.66806340e-01 -1.75634409e-04 -1.34823843e+02] [ 2.34874487e-04 -8.97787917e-07 9.99999972e-01 -9.01057603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.110385723 meters 0.01559564070863752 Centerline is valid? [True, True] Translation: X:103.56, Y:-134.80, Z:-9.01 [[-6.66318528e-01 -7.45666514e-01 1.03361598e-03 1.03561124e+02] [ 7.45665607e-01 -6.66319330e-01 -1.16340260e-03 -1.34804433e+02] [ 1.55622867e-03 -4.46482520e-06 9.99998789e-01 -9.01224826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.140385723 meters 0.015460066024357273 Centerline is valid? [True, True] Translation: X:103.54, Y:-134.79, Z:-9.01 [[-6.64920032e-01 -7.46911789e-01 2.03235644e-03 1.03541134e+02] [ 7.46908291e-01 -6.64923138e-01 -2.28616870e-03 -1.34785475e+02] [ 3.05892718e-03 -2.13548645e-06 9.99995321e-01 -9.01400608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.170385723 meters 0.01548053056658574 Centerline is valid? [True, True] Translation: X:103.52, Y:-134.76, Z:-9.01 [[-6.64304317e-01 -7.47459038e-01 2.18211607e-03 1.03521544e+02] [ 7.47455012e-01 -6.64307901e-01 -2.45326707e-03 -1.34764994e+02] [ 3.28331359e-03 1.31769027e-06 9.99994610e-01 -9.01405695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.200385723 meters 0.015470288319520074 Centerline is valid? [True, True] Translation: X:103.50, Y:-134.75, Z:-9.01 [[-6.64173029e-01 -7.47575465e-01 2.26072546e-03 1.03502950e+02] [ 7.47571150e-01 -6.64176877e-01 -2.53997999e-03 -1.34745815e+02] [ 3.40034830e-03 3.06692752e-06 9.99994219e-01 -9.01478456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.230385723 meters 0.015372964288614224 Centerline is valid? [True, True] Translation: X:103.48, Y:-134.73, Z:-9.02 [[-6.64402181e-01 -7.47372359e-01 2.07347932e-03 1.03482910e+02] [ 7.47368733e-01 -6.64405416e-01 -2.32814054e-03 -1.34727950e+02] [ 3.11761878e-03 2.83196223e-06 9.99995140e-01 -9.01578096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.260385723 meters 0.016123998387159378 Centerline is valid? [True, True] Translation: X:103.46, Y:-134.71, Z:-9.02 [[-6.64659216e-01 -7.47143788e-01 2.07072042e-03 1.03463177e+02] [ 7.47140174e-01 -6.64662441e-01 -2.32366918e-03 -1.34708634e+02] [ 3.11244508e-03 2.67028250e-06 9.99995156e-01 -9.01764337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.290385723 meters 0.015351300252003692 Centerline is valid? [True, True] Translation: X:103.44, Y:-134.69, Z:-9.02 [[-6.64308949e-01 -7.47450433e-01 3.38678839e-03 1.03444813e+02] [ 7.47440783e-01 -6.64317582e-01 -3.79817167e-03 -1.34688563e+02] [ 5.08884814e-03 8.26433772e-06 9.99987052e-01 -9.01747826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.320385723 meters 0.015356877571505867 Centerline is valid? [True, True] Translation: X:103.43, Y:-134.67, Z:-9.02 [[-6.64323640e-01 -7.47434895e-01 3.89599157e-03 1.03427462e+02] [ 7.47422140e-01 -6.64335064e-01 -4.36655485e-03 -1.34667588e+02] [ 5.85195928e-03 1.11447432e-05 9.99982877e-01 -9.01697099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.350385723 meters 0.015356877571505867 Centerline is valid? [True, True] Translation: X:103.41, Y:-134.65, Z:-9.02 [[-6.64551105e-01 -7.47232654e-01 3.89732045e-03 1.03409560e+02] [ 7.47219903e-01 -6.64562533e-01 -4.36536881e-03 -1.34647682e+02] [ 5.85195928e-03 1.11447436e-05 9.99982877e-01 -9.01697101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.380385723 meters 0.015267067409881598 Centerline is valid? [True, True] Translation: X:103.39, Y:-134.63, Z:-9.01 [[-6.65029937e-01 -7.46809979e-01 3.16815818e-03 1.03392065e+02] [ 7.46801559e-01 -6.65037484e-01 -3.54644172e-03 -1.34627045e+02] [ 4.75546201e-03 7.49555842e-06 9.99988693e-01 -9.01394020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.410385723 meters 0.015220221793843003 Centerline is valid? [True, True] Translation: X:103.37, Y:-134.61, Z:-9.01 [[-6.65620256e-01 -7.46286587e-01 2.45062601e-03 1.03373113e+02] [ 7.46281551e-01 -6.65624767e-01 -2.74155186e-03 -1.34607132e+02] [ 3.67718074e-03 4.02453062e-06 9.99993239e-01 -9.01337350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.440385723 meters 0.015176573100136944 Centerline is valid? [True, True] Translation: X:103.35, Y:-134.59, Z:-9.01 [[-6.66916930e-01 -7.45130194e-01 1.67398935e-03 1.03352864e+02] [ 7.45127844e-01 -6.66919031e-01 -1.87157172e-03 -1.34588480e+02] [ 2.51097995e-03 -8.46794483e-07 9.99996848e-01 -9.01375595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.470385723 meters 0.01522218637441315 Centerline is valid? [True, True] Translation: X:103.33, Y:-134.57, Z:-9.01 [[-6.67695222e-01 -7.44433114e-01 1.55896907e-03 1.03333297e+02] [ 7.44431076e-01 -6.67697041e-01 -1.74200240e-03 -1.34567997e+02] [ 2.33772331e-03 -2.58166093e-06 9.99997268e-01 -9.01403994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.500385723 meters 0.01517379797531979 Centerline is valid? [True, True] Translation: X:103.32, Y:-134.55, Z:-9.01 [[-6.69846224e-01 -7.42497860e-01 1.72183508e-03 1.03315715e+02] [ 7.42495369e-01 -6.69848437e-01 -1.92320840e-03 -1.34546827e+02] [ 2.58134666e-03 -9.79931208e-06 9.99996668e-01 -9.01479772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.530385723 meters 0.015286201608107213 Centerline is valid? [True, True] Translation: X:103.30, Y:-134.53, Z:-9.01 [[-6.71165520e-01 -7.41304987e-01 1.93947694e-03 1.03298612e+02] [ 7.41301825e-01 -6.71168322e-01 -2.16497800e-03 -1.34525333e+02] [ 2.90662447e-03 -1.53207833e-05 9.99995776e-01 -9.01447919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.560385723 meters 0.01533791199684079 Centerline is valid? [True, True] Translation: X:103.28, Y:-134.50, Z:-9.01 [[-6.72415023e-01 -7.40171878e-01 1.90470833e-03 1.03281707e+02] [ 7.40168828e-01 -6.72417720e-01 -2.12485637e-03 -1.34503418e+02] [ 2.85351856e-03 -1.89796132e-05 9.99995929e-01 -9.01329916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.590385723 meters 0.015554237938650451 Centerline is valid? [True, True] Translation: X:103.26, Y:-134.48, Z:-9.01 [[-6.75317514e-01 -7.37523808e-01 2.21070288e-03 1.03264155e+02] [ 7.37519690e-01 -6.75321132e-01 -2.46485927e-03 -1.34481944e+02] [ 3.31082677e-03 -3.41257370e-05 9.99994519e-01 -9.01263348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.620385723 meters 0.016102375911300943 Centerline is valid? [True, True] Translation: X:103.24, Y:-134.46, Z:-9.02 [[-6.77768798e-01 -7.35268682e-01 3.06949381e-03 1.03243486e+02] [ 7.35260727e-01 -6.77775745e-01 -3.42086246e-03 -1.34464744e+02] [ 4.59568149e-03 -6.16755850e-05 9.99989438e-01 -9.01622925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.650385723 meters 0.01607895674572356 Centerline is valid? [True, True] Translation: X:103.22, Y:-134.45, Z:-9.02 [[-6.78567726e-01 -7.34529961e-01 3.40249774e-03 1.03224399e+02] [ 7.34520186e-01 -6.78576253e-01 -3.79015970e-03 -1.34445960e+02] [ 5.09284003e-03 -7.26767763e-05 9.99987029e-01 -9.01744810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68038572300003 meters 0.016373878798368657 Centerline is valid? [True, True] Translation: X:103.21, Y:-134.43, Z:-9.02 [[-6.79113933e-01 -7.34023383e-01 3.73353075e-03 1.03207424e+02] [ 7.34011620e-01 -6.79124191e-01 -4.15621542e-03 -1.34425356e+02] [ 5.58629035e-03 -8.20888437e-05 9.99984393e-01 -9.01771792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.710385723 meters 0.016230231279957034 Centerline is valid? [True, True] Translation: X:103.19, Y:-134.40, Z:-9.02 [[-6.79814686e-01 -7.33370693e-01 4.40679309e-03 1.03191362e+02] [ 7.33354312e-01 -6.79828962e-01 -4.90263980e-03 -1.34403642e+02] [ 6.59131791e-03 -1.01145821e-04 9.99978272e-01 -9.01540394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.740385723 meters 0.01651152755609657 Centerline is valid? [True, True] Translation: X:103.17, Y:-134.38, Z:-9.01 [[-6.80448563e-01 -7.32782882e-01 4.35906378e-03 1.03174347e+02] [ 7.32766858e-01 -6.80462517e-01 -4.84720829e-03 -1.34383024e+02] [ 6.51813078e-03 -1.04098444e-04 9.99978751e-01 -9.01489063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.770385723 meters 0.016569198054327616 Centerline is valid? [True, True] Translation: X:103.15, Y:-134.37, Z:-9.02 [[-6.81760781e-01 -7.31566715e-01 3.51840038e-03 1.03153382e+02] [ 7.31556272e-01 -6.81769854e-01 -3.91001045e-03 -1.34365188e+02] [ 5.25917281e-03 -9.17839135e-05 9.99986166e-01 -9.01590318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.800385723 meters 0.016648605951942452 Centerline is valid? [True, True] Translation: X:103.13, Y:-134.35, Z:-9.02 [[-6.82130575e-01 -7.31222325e-01 3.43367076e-03 1.03132970e+02] [ 7.31212386e-01 -6.82139211e-01 -3.81352531e-03 -1.34346306e+02] [ 5.13077631e-03 -9.05796244e-05 9.99986833e-01 -9.01702121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.830385723 meters 0.0162496536408773 Centerline is valid? [True, True] Translation: X:103.11, Y:-134.33, Z:-9.02 [[-6.81738736e-01 -7.31587352e-01 3.49904577e-03 1.03113613e+02] [ 7.31577048e-01 -6.81747709e-01 -3.88372289e-03 -1.34327516e+02] [ 5.22674898e-03 -8.78627579e-05 9.99986337e-01 -9.01734213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.860385723 meters 0.016266559686090316 Centerline is valid? [True, True] Translation: X:103.10, Y:-134.31, Z:-9.02 [[-6.80938849e-01 -7.32331170e-01 3.65264411e-03 1.03097228e+02] [ 7.32319967e-01 -6.80948640e-01 -4.05158094e-03 -1.34307134e+02] [ 5.45436205e-03 -8.39746498e-05 9.99985121e-01 -9.01642984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.890385723 meters 0.01591952096799363 Centerline is valid? [True, True] Translation: X:103.08, Y:-134.29, Z:-9.02 [[-6.79936901e-01 -7.33260779e-01 3.80019403e-03 1.03078955e+02] [ 7.33248682e-01 -6.79947516e-01 -4.21268041e-03 -1.34287460e+02] [ 5.67292581e-03 -7.78696024e-05 9.99983906e-01 -9.01537574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.920385723 meters 0.015422492521991345 Centerline is valid? [True, True] Translation: X:103.06, Y:-134.27, Z:-9.02 [[-6.77411979e-01 -7.35595597e-01 3.48248221e-03 1.03057287e+02] [ 7.35585480e-01 -6.77420929e-01 -3.85839411e-03 -1.34269352e+02] [ 5.19732406e-03 -5.20590439e-05 9.99986492e-01 -9.01570496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.950385723 meters 0.015067527657640661 Centerline is valid? [True, True] Translation: X:103.04, Y:-134.25, Z:-9.02 [[-6.74964239e-01 -7.37839656e-01 3.98981458e-03 1.03035804e+02] [ 7.37826432e-01 -6.74976030e-01 -4.41766163e-03 -1.34253234e+02] [ 5.95255514e-03 -3.79729680e-05 9.99982283e-01 -9.01839417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.980385723 meters 0.014895100425867665 Centerline is valid? [True, True] Translation: X:103.02, Y:-134.23, Z:-9.02 [[-6.74176633e-01 -7.38558963e-01 4.06516381e-03 1.03015879e+02] [ 7.38545264e-01 -6.74188889e-01 -4.49840224e-03 -1.34233933e+02] [ 6.06302356e-03 -3.04101954e-05 9.99981619e-01 -9.01910474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.010385723 meters 0.014812671107973775 Centerline is valid? [True, True] Translation: X:103.00, Y:-134.21, Z:-9.02 [[-6.73864731e-01 -7.38842483e-01 4.25544252e-03 1.02997158e+02] [ 7.38827495e-01 -6.73878167e-01 -4.70613621e-03 -1.34214592e+02] [ 6.34474317e-03 -2.72612767e-05 9.99979872e-01 -9.01885288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.040385723 meters 0.014725067036409014 Centerline is valid? [True, True] Translation: X:102.98, Y:-134.19, Z:-9.02 [[-6.73810003e-01 -7.38894264e-01 3.91748394e-03 1.02979233e+02] [ 7.38881579e-01 -6.73821390e-01 -4.32972848e-03 -1.34193710e+02] [ 5.83889601e-03 -2.28576400e-05 9.99982953e-01 -9.01717313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.070385723 meters 0.014723429033603207 Centerline is valid? [True, True] Translation: X:102.96, Y:-134.17, Z:-9.02 [[-6.74036930e-01 -7.38688709e-01 3.63437122e-03 1.02960992e+02] [ 7.38677801e-01 -6.74046728e-01 -4.01424207e-03 -1.34174324e+02] [ 5.41501132e-03 -2.11180641e-05 9.99985339e-01 -9.01626549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.100385723 meters 0.014724467112234019 Centerline is valid? [True, True] Translation: X:102.94, Y:-134.15, Z:-9.02 [[-6.74252925e-01 -7.38490360e-01 3.87067555e-03 1.02941480e+02] [ 7.38478000e-01 -6.74264034e-01 -4.27263019e-03 -1.34154755e+02] [ 5.76515352e-03 -2.24246633e-05 9.99983381e-01 -9.01656212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.130385723 meters 0.014667946641146744 Centerline is valid? [True, True] Translation: X:102.92, Y:-134.13, Z:-9.02 [[-6.74579078e-01 -7.38189925e-01 4.32465368e-03 1.02921847e+02] [ 7.38174507e-01 -6.74592940e-01 -4.77109573e-03 -1.34134816e+02] [ 6.43935564e-03 -2.61322641e-05 9.99979267e-01 -9.01725597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.160385723 meters 0.0146801362025465 Centerline is valid? [True, True] Translation: X:102.90, Y:-134.11, Z:-9.02 [[-6.75510897e-01 -7.37331609e-01 5.20819733e-03 1.02904354e+02] [ 7.37309248e-01 -6.75530974e-01 -5.74247886e-03 -1.34113874e+02] [ 7.75240979e-03 -3.90549874e-05 9.99969949e-01 -9.01782163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.190385723 meters 0.014726333689721646 Centerline is valid? [True, True] Translation: X:102.89, Y:-134.09, Z:-9.02 [[-6.76265598e-01 -7.36639670e-01 5.18043926e-03 1.02886826e+02] [ 7.36617554e-01 -6.76285438e-01 -5.70834704e-03 -1.34093480e+02] [ 7.70845052e-03 -4.43562256e-05 9.99970288e-01 -9.01713244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.220385723 meters 0.014879883833360716 Centerline is valid? [True, True] Translation: X:102.87, Y:-134.07, Z:-9.02 [[-6.77683397e-01 -7.35339268e-01 4.62328951e-03 1.02868893e+02] [ 7.35321645e-01 -6.77699166e-01 -5.09112763e-03 -1.34074087e+02] [ 6.87690551e-03 -5.05678209e-05 9.99976353e-01 -9.01643091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.250385723 meters 0.014923185356596662 Centerline is valid? [True, True] Translation: X:102.85, Y:-134.05, Z:-9.02 [[-6.78340360e-01 -7.34732440e-01 4.75383956e-03 1.02849579e+02] [ 7.34713815e-01 -6.78357015e-01 -5.23169855e-03 -1.34054359e+02] [ 7.06869904e-03 -5.61606765e-05 9.99975015e-01 -9.01701227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.280385723 meters 0.01504858086429287 Centerline is valid? [True, True] Translation: X:102.83, Y:-134.03, Z:-9.02 [[-6.79688279e-01 -7.33484536e-01 4.92741886e-03 1.02831173e+02] [ 7.33464518e-01 -6.79706136e-01 -5.41945086e-03 -1.34034812e+02] [ 7.32428023e-03 -6.94503277e-05 9.99973175e-01 -9.01752881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.310385723 meters 0.01497902180992425 Centerline is valid? [True, True] Translation: X:102.81, Y:-134.01, Z:-9.02 [[-6.80345973e-01 -7.32872024e-01 5.28711343e-03 1.02813552e+02] [ 7.32848988e-01 -6.80366511e-01 -5.81128446e-03 -1.34014649e+02] [ 7.85610273e-03 -7.90282565e-05 9.99969137e-01 -9.01685414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.340385723 meters 0.015186657449510647 Centerline is valid? [True, True] Translation: X:102.80, Y:-133.99, Z:-9.02 [[-6.81198473e-01 -7.32079305e-01 5.34145064e-03 1.02796658e+02] [ 7.32055798e-01 -6.81219409e-01 -5.86722257e-03 -1.33993938e+02] [ 7.93397207e-03 -8.65031467e-05 9.99968522e-01 -9.01673370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.370385723 meters 0.015353767515937514 Centerline is valid? [True, True] Translation: X:102.78, Y:-133.97, Z:-9.02 [[-6.82645503e-01 -7.30730392e-01 5.31151177e-03 1.02779614e+02] [ 7.30707132e-01 -6.82666159e-01 -5.83117003e-03 -1.33971273e+02] [ 7.88700249e-03 -9.94624668e-05 9.99968892e-01 -9.01520483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.400385723 meters 0.015491935107434162 Centerline is valid? [True, True] Translation: X:102.76, Y:-133.95, Z:-9.01 [[-6.83285254e-01 -7.30133502e-01 5.13136058e-03 1.02761450e+02] [ 7.30111803e-01 -6.83304514e-01 -5.62995837e-03 -1.33950388e+02] [ 7.61690307e-03 -1.00400607e-04 9.99970986e-01 -9.01447192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43038572300003 meters 0.015459360596781758 Centerline is valid? [True, True] Translation: X:102.74, Y:-133.93, Z:-9.01 [[-6.83646490e-01 -7.29795738e-01 5.06531011e-03 1.02742869e+02] [ 7.29774610e-01 -6.83665248e-01 -5.55409086e-03 -1.33930190e+02] [ 7.51632833e-03 -1.00500013e-04 9.99971747e-01 -9.01474916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.460385723 meters 0.01800684141675821 Centerline is valid? [True, True] Translation: X:102.73, Y:-133.91, Z:-9.02 [[-6.83707782e-01 -7.29732690e-01 5.81974911e-03 1.02725297e+02] [ 7.29704832e-01 -6.83732542e-01 -6.37724623e-03 -1.33910106e+02] [ 8.63283689e-03 -1.13473833e-04 9.99962730e-01 -9.01860033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.490385723 meters 0.015092002363444289 Centerline is valid? [True, True] Translation: X:102.71, Y:-133.89, Z:-9.02 [[-6.81275706e-01 -7.32004242e-01 5.76210053e-03 1.02705077e+02] [ 7.31977042e-01 -6.81300068e-01 -6.31089311e-03 -1.33889786e+02] [ 8.54532001e-03 -8.17328573e-05 9.99963485e-01 -9.01586781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.520385723 meters 0.014679006537653997 Centerline is valid? [True, True] Translation: X:102.69, Y:-133.87, Z:-9.02 [[-6.79620032e-01 -7.33537925e-01 6.22289951e-03 1.02686295e+02] [ 7.33506303e-01 -6.79648518e-01 -6.81143390e-03 -1.33870503e+02] [ 9.22582952e-03 -6.46509181e-05 9.99957439e-01 -9.01621808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.550385723 meters 0.014561717055971824 Centerline is valid? [True, True] Translation: X:102.67, Y:-133.85, Z:-9.02 [[-6.78139283e-01 -7.34903697e-01 6.60825652e-03 1.02667404e+02] [ 7.34868145e-01 -6.78171479e-01 -7.22880173e-03 -1.33851486e+02] [ 9.79400422e-03 -4.59372185e-05 9.99952037e-01 -9.01666588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.580385723 meters 0.014344646028784288 Centerline is valid? [True, True] Translation: X:102.65, Y:-133.83, Z:-9.02 [[-6.75478425e-01 -7.37350147e-01 6.60749263e-03 1.02647445e+02] [ 7.37314763e-01 -6.75510741e-01 -7.22349915e-03 -1.33832416e+02] [ 9.78968040e-03 -7.51595977e-06 9.99952080e-01 -9.01720215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.610385723 meters 0.014313370448800855 Centerline is valid? [True, True] Translation: X:102.63, Y:-133.81, Z:-9.02 [[-6.74883982e-01 -7.37895742e-01 6.44085020e-03 1.02629839e+02] [ 7.37862189e-01 -6.74914716e-01 -7.03675745e-03 -1.33813575e+02] [ 9.53941795e-03 3.46494242e-06 9.99954499e-01 -9.01701097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.640385723 meters 0.014322713510861566 Centerline is valid? [True, True] Translation: X:102.61, Y:-133.79, Z:-9.01 [[-6.73712111e-01 -7.38971792e-01 5.71689545e-03 1.02612505e+02] [ 7.38945429e-01 -6.73736366e-01 -6.24196483e-03 -1.33791937e+02] [ 8.46431630e-03 1.91864590e-05 9.99964177e-01 -9.01397385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.670385723 meters 0.01443514463360478 Centerline is valid? [True, True] Translation: X:102.59, Y:-133.77, Z:-9.01 [[-6.73519879e-01 -7.39150968e-01 5.17867451e-03 1.02594668e+02] [ 7.39129369e-01 -6.73539788e-01 -5.65065814e-03 -1.33772338e+02] [ 7.66473276e-03 2.18798350e-05 9.99970625e-01 -9.01318919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.700385723 meters 0.01440113196075689 Centerline is valid? [True, True] Translation: X:102.58, Y:-133.75, Z:-9.01 [[-6.72791341e-01 -7.39818658e-01 4.49060436e-03 1.02575327e+02] [ 7.39802452e-01 -6.72806327e-01 -4.89690040e-03 -1.33753242e+02] [ 6.64412530e-03 2.75679296e-05 9.99977927e-01 -9.01188607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.730385723 meters 0.014350847539010654 Centerline is valid? [True, True] Translation: X:102.56, Y:-133.73, Z:-9.01 [[-6.72683960e-01 -7.39915670e-01 4.59244236e-03 1.02557012e+02] [ 7.39898745e-01 -6.72699636e-01 -5.00476539e-03 -1.33734271e+02] [ 6.79243864e-03 3.13169375e-05 9.99976931e-01 -9.01237213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.760385723 meters 0.014428844345664006 Centerline is valid? [True, True] Translation: X:102.54, Y:-133.71, Z:-9.01 [[-6.72229863e-01 -7.40324742e-01 5.12709752e-03 1.02539311e+02] [ 7.40303684e-01 -6.72249414e-01 -5.58400728e-03 -1.33714045e+02] [ 7.58066705e-03 4.18727356e-05 9.99971265e-01 -9.01324808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.790385723 meters 0.016203161094367834 Centerline is valid? [True, True] Translation: X:102.52, Y:-133.69, Z:-9.02 [[-6.72333717e-01 -7.40223386e-01 6.05902648e-03 1.02521804e+02] [ 7.40194011e-01 -6.72361016e-01 -6.59475856e-03 -1.33694639e+02] [ 8.95544771e-03 5.09765780e-05 9.99959898e-01 -9.01605654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.820385723 meters 0.01452756142931529 Centerline is valid? [True, True] Translation: X:102.50, Y:-133.67, Z:-9.01 [[-6.72401934e-01 -7.40164739e-01 5.63898664e-03 1.02503741e+02] [ 7.40139324e-01 -6.72425577e-01 -6.13389184e-03 -1.33674378e+02] [ 8.33188930e-03 4.91950252e-05 9.99965288e-01 -9.01436770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.850385723 meters 0.014542237928967906 Centerline is valid? [True, True] Translation: X:102.49, Y:-133.65, Z:-9.01 [[-6.72959278e-01 -7.39653941e-01 6.15293889e-03 1.02485075e+02] [ 7.39623697e-01 -6.72987404e-01 -6.68887742e-03 -1.33653851e+02] [ 9.08830491e-03 4.95172903e-05 9.99958699e-01 -9.01495052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.880385723 meters 0.014444775015306366 Centerline is valid? [True, True] Translation: X:102.47, Y:-133.63, Z:-9.02 [[-6.74538644e-01 -7.38209309e-01 6.68088678e-03 1.02467174e+02] [ 7.38173621e-01 -6.74571727e-01 -7.25879295e-03 -1.33631827e+02] [ 9.86524586e-03 3.53180335e-05 9.99951337e-01 -9.01540709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.910385723 meters 0.014425206480893694 Centerline is valid? [True, True] Translation: X:102.45, Y:-133.61, Z:-9.01 [[-6.75820592e-01 -7.37036290e-01 6.63585510e-03 1.02451249e+02] [ 7.37001071e-01 -6.75853169e-01 -7.20517136e-03 -1.33611244e+02] [ 9.79533647e-03 2.12291468e-05 9.99952024e-01 -9.01495761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.940385723 meters 0.016903752535177716 Centerline is valid? [True, True] Translation: X:102.44, Y:-133.59, Z:-9.02 [[-6.78359572e-01 -7.34696776e-01 6.99563483e-03 1.02436722e+02] [ 7.34657557e-01 -6.78395642e-01 -7.59117281e-03 -1.33587125e+02] [ 1.03230184e-02 -1.01487364e-05 9.99946716e-01 -9.01544822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.970385723 meters 0.014359992856918186 Centerline is valid? [True, True] Translation: X:102.42, Y:-133.57, Z:-9.01 [[-6.79314706e-01 -7.33818765e-01 6.44597174e-03 1.02418758e+02] [ 7.33785466e-01 -6.79345287e-01 -6.99078125e-03 -1.33565163e+02] [ 9.50900699e-03 -1.89801326e-05 9.99954788e-01 -9.01136109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.000385723 meters 0.014478545371696369 Centerline is valid? [True, True] Translation: X:102.40, Y:-133.54, Z:-9.01 [[-6.80551718e-01 -7.32673049e-01 6.28992822e-03 1.02401327e+02] [ 7.32641331e-01 -6.80580783e-01 -6.81750697e-03 -1.33544416e+02] [ 9.27580790e-03 -3.14046968e-05 9.99956978e-01 -9.01229178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.030385723 meters 0.014561141651281397 Centerline is valid? [True, True] Translation: X:102.38, Y:-133.52, Z:-9.01 [[-6.81825754e-01 -7.31486401e-01 6.42549157e-03 1.02383160e+02] [ 7.31453284e-01 -6.81856028e-01 -6.96056421e-03 -1.33523144e+02] [ 9.47281822e-03 -4.59450221e-05 9.99955131e-01 -9.01250681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.060385723 meters 0.014529739570550922 Centerline is valid? [True, True] Translation: X:102.36, Y:-133.50, Z:-9.01 [[-6.82317383e-01 -7.31025194e-01 6.71972936e-03 1.02364945e+02] [ 7.30988993e-01 -6.82350470e-01 -7.27525477e-03 -1.33501637e+02] [ 9.90360502e-03 -5.19846023e-05 9.99950957e-01 -9.01239048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.090385723 meters 0.015015976740883204 Centerline is valid? [True, True] Translation: X:102.35, Y:-133.48, Z:-9.01 [[-6.83004464e-01 -7.30385170e-01 6.51196742e-03 1.02349095e+02] [ 7.30351183e-01 -6.83035504e-01 -7.04617942e-03 -1.33479234e+02] [ 9.59432990e-03 -5.65488852e-05 9.99953972e-01 -9.01137410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.120385723 meters 0.015445281084535944 Centerline is valid? [True, True] Translation: X:102.33, Y:-133.46, Z:-9.01 [[-6.83543177e-01 -7.29884865e-01 6.06703664e-03 1.02330527e+02] [ 7.29855381e-01 -6.83570099e-01 -6.56072033e-03 -1.33458710e+02] [ 8.93581531e-03 -5.64762776e-05 9.99960073e-01 -9.01064779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.150385723 meters 0.014468847355266833 Centerline is valid? [True, True] Translation: X:102.31, Y:-133.44, Z:-9.01 [[-6.83686244e-01 -7.29755495e-01 5.48058782e-03 1.02311014e+02] [ 7.29731458e-01 -6.83708209e-01 -5.92326795e-03 -1.33438919e+02] [ 8.06966022e-03 -5.02994762e-05 9.99967439e-01 -9.00865326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18038572300003 meters 0.014488500591328885 Centerline is valid? [True, True] Translation: X:102.29, Y:-133.42, Z:-9.01 [[-6.83960444e-01 -7.29496124e-01 5.78940211e-03 1.02292069e+02] [ 7.29469321e-01 -6.83984943e-01 -6.25352603e-03 -1.33417773e+02] [ 8.52178687e-03 -5.39732120e-05 9.99963687e-01 -9.00873733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.210385723 meters 0.014488500591328885 Centerline is valid? [True, True] Translation: X:102.27, Y:-133.40, Z:-9.01 [[-6.84163880e-01 -7.29305319e-01 5.79114611e-03 1.02273279e+02] [ 7.29278524e-01 -6.84188387e-01 -6.25191102e-03 -1.33397559e+02] [ 8.52178687e-03 -5.39732120e-05 9.99963687e-01 -9.00873735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.240385723 meters 0.01469469356308314 Centerline is valid? [True, True] Translation: X:102.26, Y:-133.38, Z:-9.01 [[-6.84657518e-01 -7.28837490e-01 6.32425071e-03 1.02255929e+02] [ 7.28805552e-01 -6.84686723e-01 -6.82340539e-03 -1.33377174e+02] [ 9.30328416e-03 -6.25467726e-05 9.99956722e-01 -9.00967649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.270385723 meters 0.014857572827336615 Centerline is valid? [True, True] Translation: X:102.24, Y:-133.36, Z:-9.01 [[-6.85332178e-01 -7.28199426e-01 6.73808998e-03 1.02237037e+02] [ 7.28163180e-01 -6.85365297e-01 -7.26585075e-03 -1.33355722e+02] [ 9.90904139e-03 -7.30922840e-05 9.99950902e-01 -9.01026328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.300385723 meters 0.014909428107917198 Centerline is valid? [True, True] Translation: X:102.22, Y:-133.34, Z:-9.01 [[-6.85688988e-01 -7.27865030e-01 6.56578637e-03 1.02219061e+02] [ 7.27830639e-01 -6.85720419e-01 -7.07588469e-03 -1.33335381e+02] [ 9.65258281e-03 -7.30757246e-05 9.99953410e-01 -9.01111270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.330385723 meters 0.015047300122361057 Centerline is valid? [True, True] Translation: X:102.20, Y:-133.32, Z:-9.01 [[-6.85842087e-01 -7.27718408e-01 6.82277532e-03 1.02201728e+02] [ 7.27681311e-01 -6.85876019e-01 -7.34822557e-03 -1.33316051e+02] [ 1.00270170e-02 -7.49162708e-05 9.99949725e-01 -9.01245447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.360385723 meters 0.014887817555174735 Centerline is valid? [True, True] Translation: X:102.18, Y:-133.30, Z:-9.01 [[-6.86019266e-01 -7.27554191e-01 6.51657691e-03 1.02182931e+02] [ 7.27520383e-01 -6.86050213e-01 -7.01413157e-03 -1.33296518e+02] [ 9.57385979e-03 -7.08868677e-05 9.99954167e-01 -9.01194350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.390385723 meters 0.01499585011695246 Centerline is valid? [True, True] Translation: X:102.17, Y:-133.28, Z:-9.01 [[-6.86415735e-01 -7.27181955e-01 6.31213681e-03 1.02165499e+02] [ 7.27150260e-01 -6.86444753e-01 -6.78970707e-03 -1.33276782e+02] [ 9.27028566e-03 -7.06898400e-05 9.99957028e-01 -9.01235324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.420385723 meters 0.015114916079245772 Centerline is valid? [True, True] Translation: X:102.15, Y:-133.26, Z:-9.01 [[-6.87176922e-01 -7.26470643e-01 5.31822061e-03 1.02148797e+02] [ 7.26448149e-01 -6.87197498e-01 -5.71718347e-03 -1.33255576e+02] [ 7.80803385e-03 -6.53050234e-05 9.99969515e-01 -9.01257911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.450385723 meters 0.015212656145505354 Centerline is valid? [True, True] Translation: X:102.13, Y:-133.23, Z:-9.01 [[-6.88077297e-01 -7.25622844e-01 4.59577638e-03 1.02131826e+02] [ 7.25606047e-01 -6.88092642e-01 -4.93755919e-03 -1.33233778e+02] [ 6.74512565e-03 -6.26992480e-05 9.99977249e-01 -9.01133646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.480385723 meters 0.015329611577329691 Centerline is valid? [True, True] Translation: X:102.11, Y:-133.21, Z:-9.01 [[-6.88366685e-01 -7.25349443e-01 4.41517426e-03 1.02113991e+02] [ 7.25333953e-01 -6.88380841e-01 -4.74065626e-03 -1.33213303e+02] [ 6.47795374e-03 -6.08340332e-05 9.99979016e-01 -9.01119805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.510385723 meters 0.015371992797954204 Centerline is valid? [True, True] Translation: X:102.10, Y:-133.19, Z:-9.01 [[-6.89000643e-01 -7.24749462e-01 4.04114597e-03 1.02095288e+02] [ 7.24736492e-01 -6.89012492e-01 -4.33636823e-03 -1.33193008e+02] [ 5.92718060e-03 -5.89945408e-05 9.99982432e-01 -9.01133142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.540385723 meters 0.015727419527560377 Centerline is valid? [True, True] Translation: X:102.08, Y:-133.17, Z:-9.01 [[-6.89975528e-01 -7.23827381e-01 2.77374350e-03 1.02077919e+02] [ 7.23821271e-01 -6.89981102e-01 -2.97444606e-03 -1.33173480e+02] [ 4.06681610e-03 -4.46004502e-05 9.99991729e-01 -9.01258920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.570385723 meters 0.015775917532078323 Centerline is valid? [True, True] Translation: X:102.06, Y:-133.15, Z:-9.01 [[-6.90690325e-01 -7.23147949e-01 1.97971836e-03 1.02058049e+02] [ 7.23144837e-01 -6.90693161e-01 -2.12179781e-03 -1.33153184e+02] [ 2.90175167e-03 -3.38821079e-05 9.99995789e-01 -9.01409402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.600385723 meters 0.015885440360088536 Centerline is valid? [True, True] Translation: X:102.04, Y:-133.13, Z:-9.02 [[-6.91180342e-01 -7.22679759e-01 1.92380333e-03 1.02039848e+02] [ 7.22676822e-01 -6.91183018e-01 -2.06059432e-03 -1.33133500e+02] [ 2.81885000e-03 -3.39542069e-05 9.99996026e-01 -9.01537100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.630385723 meters 0.016098703309926073 Centerline is valid? [True, True] Translation: X:102.02, Y:-133.11, Z:-9.02 [[-6.91557652e-01 -7.22319079e-01 1.77797654e-03 1.02021654e+02] [ 7.22316573e-01 -6.91559937e-01 -1.90322295e-03 -1.33113180e+02] [ 2.60431160e-03 -3.19264732e-05 9.99996608e-01 -9.01604527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.660385723 meters 0.01623996615327242 Centerline is valid? [True, True] Translation: X:102.00, Y:-133.09, Z:-9.02 [[-6.92650493e-01 -7.21272403e-01 1.18967967e-03 1.02004678e+02] [ 7.21271280e-01 -6.92651514e-01 -1.27269874e-03 -1.33091795e+02] [ 1.74199591e-03 -2.34536299e-05 9.99998482e-01 -9.01609061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.690385723 meters 0.017669921939300753 Centerline is valid? [True, True] Translation: X:101.99, Y:-133.07, Z:-9.02 [[-6.93586173e-01 -7.20373204e-01 8.17121858e-04 1.01986129e+02] [ 7.20372674e-01 -6.93586654e-01 -8.73657919e-04 -1.33070689e+02] [ 1.19610457e-03 -1.73247945e-05 9.99999285e-01 -9.01668291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.720385723 meters 0.01622341626822762 Centerline is valid? [True, True] Translation: X:101.97, Y:-133.05, Z:-9.01 [[-6.94250494e-01 -7.19732631e-01 -1.09113280e-03 1.01966790e+02] [ 7.19731687e-01 -6.94251351e-01 1.16597640e-03 -1.33049684e+02] [-1.59671168e-03 2.41568456e-05 9.99998725e-01 -9.01413807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.750385723 meters 0.016173599482572493 Centerline is valid? [True, True] Translation: X:101.95, Y:-133.03, Z:-9.01 [[-6.94116405e-01 -7.19861564e-01 -1.32085141e-03 1.01946790e+02] [ 7.19860183e-01 -6.94117661e-01 1.41066545e-03 -1.33029474e+02] [-1.93231013e-03 2.83376968e-05 9.99998133e-01 -9.01385097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.780385723 meters 0.015834420222031215 Centerline is valid? [True, True] Translation: X:101.93, Y:-133.01, Z:-9.01 [[-6.92096149e-01 -7.21804801e-01 -8.65918630e-04 1.01925948e+02] [ 7.21804209e-01 -6.92096691e-01 9.24291616e-04 -1.33011604e+02] [-1.26645754e-03 1.46749568e-05 9.99999198e-01 -9.01448931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.810385723 meters 0.015601438987858807 Centerline is valid? [True, True] Translation: X:101.91, Y:-132.99, Z:-9.02 [[-6.90498299e-01 -7.23333797e-01 -5.63227913e-04 1.01905320e+02] [ 7.23333548e-01 -6.90498528e-01 6.00863817e-04 -1.32992843e+02] [-8.23533152e-04 7.49379903e-06 9.99999661e-01 -9.01557928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.840385723 meters 0.015208238685756013 Centerline is valid? [True, True] Translation: X:101.88, Y:-132.98, Z:-9.02 [[-6.87790266e-01 -7.25909463e-01 4.58191264e-05 1.01883948e+02] [ 7.25909461e-01 -6.87790267e-01 -4.88485735e-05 -1.32976373e+02] [ 6.69735909e-05 -3.37036004e-07 9.99999998e-01 -9.01762128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.870385723 meters 0.015134314763995209 Centerline is valid? [True, True] Translation: X:101.86, Y:-132.96, Z:-9.02 [[-6.87393877e-01 -7.26284754e-01 3.36789346e-04 1.01863644e+02] [ 7.26284666e-01 -6.87393959e-01 -3.58860212e-04 -1.32957311e+02] [ 4.92141663e-04 -2.07337479e-06 9.99999879e-01 -9.01849044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.900385723 meters 0.015110943772001749 Centerline is valid? [True, True] Translation: X:101.84, Y:-132.94, Z:-9.02 [[-6.87838192e-01 -7.25863466e-01 9.21805785e-04 1.01844914e+02] [ 7.25862802e-01 -6.87838810e-01 -9.81573295e-04 -1.32938379e+02] [ 1.34654199e-03 -6.05907059e-06 9.99999093e-01 -9.01979926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93038572300003 meters 0.015202828071287781 Centerline is valid? [True, True] Translation: X:101.83, Y:-132.92, Z:-9.02 [[-6.88715313e-01 -7.25031409e-01 8.20978937e-04 1.01827655e+02] [ 7.25030883e-01 -6.88715802e-01 -8.73645955e-04 -1.32918165e+02] [ 1.19884192e-03 -6.45826463e-06 9.99999281e-01 -9.01942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.960385723 meters 0.015419613004284653 Centerline is valid? [True, True] Translation: X:101.81, Y:-132.90, Z:-9.02 [[-6.91132766e-01 -7.22727682e-01 4.44974688e-04 1.01811223e+02] [ 7.22727527e-01 -6.91132909e-01 -4.73265383e-04 -1.32895453e+02] [ 6.49578644e-04 -5.49375741e-06 9.99999789e-01 -9.01778069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.990385723 meters 0.0155590890026137 Centerline is valid? [True, True] Translation: X:101.79, Y:-132.88, Z:-9.02 [[-6.92383960e-01 -7.21529141e-01 3.88918350e-04 1.01794593e+02] [ 7.21529022e-01 -6.92384069e-01 -4.13382439e-04 -1.32875137e+02] [ 5.67548346e-04 -5.60349295e-06 9.99999839e-01 -9.01708283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.020385723 meters 0.01564153257549998 Centerline is valid? [True, True] Translation: X:101.78, Y:-132.86, Z:-9.02 [[-6.93332260e-01 -7.20617801e-01 6.01454347e-04 1.01776560e+02] [ 7.20617518e-01 -6.93332521e-01 -6.38872479e-04 -1.32855306e+02] [ 8.77390740e-04 -9.53236132e-06 9.99999615e-01 -9.01684230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.050385723 meters 0.015835811810752512 Centerline is valid? [True, True] Translation: X:101.76, Y:-132.84, Z:-9.02 [[-6.94208435e-01 -7.19773818e-01 5.47951672e-04 1.01758037e+02] [ 7.19773583e-01 -6.94208651e-01 -5.81684834e-04 -1.32835203e+02] [ 7.99074305e-04 -9.40938058e-06 9.99999681e-01 -9.01749378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.080385723 meters 0.015718628168190647 Centerline is valid? [True, True] Translation: X:101.74, Y:-132.82, Z:-9.02 [[-6.94391893e-01 -7.19596860e-01 5.07090294e-04 1.01738887e+02] [ 7.19596659e-01 -6.94392078e-01 -5.37977004e-04 -1.32815580e+02] [ 7.39246046e-04 -8.66638877e-06 9.99999727e-01 -9.01794858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.110385723 meters 0.015631437877593458 Centerline is valid? [True, True] Translation: X:101.72, Y:-132.80, Z:-9.02 [[-6.94676426e-01 -7.19322356e-01 1.03671445e-04 1.01719735e+02] [ 7.19322348e-01 -6.94676434e-01 -1.09918575e-04 -1.32795523e+02] [ 1.51084998e-04 -1.78465505e-06 9.99999989e-01 -9.01811311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.140385723 meters 0.01573434354934031 Centerline is valid? [True, True] Translation: X:101.70, Y:-132.78, Z:-9.02 [[-6.94722478e-01 -7.19277842e-01 -2.55685373e-04 1.01701654e+02] [ 7.19277791e-01 -6.94722525e-01 2.70921626e-04 -1.32776091e+02] [-3.72498310e-04 4.30653287e-06 9.99999931e-01 -9.01795733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.170385723 meters 0.015571295922557047 Centerline is valid? [True, True] Translation: X:101.68, Y:-132.76, Z:-9.02 [[-6.94949847e-01 -7.19058009e-01 -5.37465268e-04 1.01682748e+02] [ 7.19057784e-01 -6.94950055e-01 5.69147939e-04 -1.32757052e+02] [-7.82761902e-04 9.06068912e-06 9.99999694e-01 -9.01761787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.200385723 meters 0.015660277383917016 Centerline is valid? [True, True] Translation: X:101.66, Y:-132.74, Z:-9.02 [[-6.95070561e-01 -7.18940850e-01 -9.84138280e-04 1.01664690e+02] [ 7.18940096e-01 -6.95071258e-01 1.04149150e-03 -1.32737810e+02] [-1.43281702e-03 1.63736140e-05 9.99998973e-01 -9.01709665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.230385723 meters 0.01569723803761808 Centerline is valid? [True, True] Translation: X:101.65, Y:-132.72, Z:-9.02 [[-6.95101224e-01 -7.18911000e-01 -1.12325079e-03 1.01646160e+02] [ 7.18910019e-01 -6.95102132e-01 1.18800885e-03 -1.32717707e+02] [-1.63484665e-03 1.82701567e-05 9.99998663e-01 -9.01616549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.260385723 meters 0.01568963147524466 Centerline is valid? [True, True] Translation: X:101.63, Y:-132.70, Z:-9.01 [[-6.95417592e-01 -7.18603399e-01 -1.87816191e-03 1.01628980e+02] [ 7.18600657e-01 -6.95420128e-01 1.98521242e-03 -1.32698346e+02] [-2.73269199e-03 3.09032587e-05 9.99996266e-01 -9.01406260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.290385723 meters 0.015899607583985464 Centerline is valid? [True, True] Translation: X:101.61, Y:-132.68, Z:-9.01 [[-6.95839091e-01 -7.18191540e-01 -2.97847887e-03 1.01609483e+02] [ 7.18184650e-01 -6.95845464e-01 3.14641496e-03 -1.32679842e+02] [-4.33228962e-03 5.03007206e-05 9.99990614e-01 -9.01378120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.320385723 meters 0.015928279845533765 Centerline is valid? [True, True] Translation: X:101.59, Y:-132.66, Z:-9.01 [[-6.96126187e-01 -7.17912446e-01 -3.17041424e-03 1.01589634e+02] [ 7.17904645e-01 -6.96133404e-01 3.34723366e-03 -1.32660522e+02] [-4.61005196e-03 5.40418994e-05 9.99989372e-01 -9.01408960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.350385723 meters 0.015609308949436698 Centerline is valid? [True, True] Translation: X:101.57, Y:-132.64, Z:-9.02 [[-6.96353289e-01 -7.17692400e-01 -3.11702616e-03 1.01568339e+02] [ 7.17684866e-01 -6.96360263e-01 3.28903499e-03 -1.32641780e+02] [-4.53108857e-03 5.32878279e-05 9.99989733e-01 -9.01577197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.380385723 meters 0.016396555321015693 Centerline is valid? [True, True] Translation: X:101.55, Y:-132.62, Z:-9.02 [[-6.97169584e-01 -7.16903707e-01 -1.90938810e-03 1.01551398e+02] [ 7.16900881e-01 -6.97172198e-01 2.01342588e-03 -1.32621935e+02] [-2.77460477e-03 3.48572721e-05 9.99996150e-01 -9.01760819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.410385723 meters 0.015795991878120773 Centerline is valid? [True, True] Translation: X:101.53, Y:-132.60, Z:-9.02 [[-6.97517243e-01 -7.16567055e-01 -1.16269519e-03 1.01530689e+02] [ 7.16566007e-01 -6.97518212e-01 1.22528555e-03 -1.32603532e+02] [-1.68900033e-03 2.15099464e-05 9.99998573e-01 -9.01844319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.440385723 meters 0.015862288000301185 Centerline is valid? [True, True] Translation: X:101.51, Y:-132.58, Z:-9.02 [[-6.97952763e-01 -7.16143726e-01 -3.23429516e-04 1.01511736e+02] [ 7.16143645e-01 -6.97952837e-01 3.40631400e-04 -1.32584488e+02] [-4.69679588e-04 6.12263357e-06 9.99999890e-01 -9.01956274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.470385723 meters 0.015805145209509958 Centerline is valid? [True, True] Translation: X:101.49, Y:-132.57, Z:-9.02 [[-6.98185357e-01 -7.15917021e-01 -1.63837712e-04 1.01491969e+02] [ 7.15917000e-01 -6.98185376e-01 1.72444968e-04 -1.32565530e+02] [-2.37845382e-04 3.10434810e-06 9.99999972e-01 -9.01985815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.500385723 meters 0.015825124341514344 Centerline is valid? [True, True] Translation: X:101.47, Y:-132.55, Z:-9.02 [[-6.97974777e-01 -7.16122281e-01 2.98771437e-04 1.01472514e+02] [ 7.16122212e-01 -6.97974841e-01 -3.14262502e-04 -1.32547245e+02] [ 4.33585325e-04 -5.39043717e-06 9.99999906e-01 -9.02036808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.530385723 meters 0.016755906509090722 Centerline is valid? [True, True] Translation: X:101.45, Y:-132.53, Z:-9.02 [[-6.98044603e-01 -7.16054261e-01 1.67813233e-04 1.01452504e+02] [ 7.16054239e-01 -6.98044623e-01 -1.76416971e-04 -1.32528118e+02] [ 2.43465249e-04 -2.98353750e-06 9.99999970e-01 -9.02196056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.560385723 meters 0.016108846565636433 Centerline is valid? [True, True] Translation: X:101.43, Y:-132.51, Z:-9.02 [[-6.97724582e-01 -7.16366112e-01 3.04321510e-05 1.01431861e+02] [ 7.16366111e-01 -6.97724583e-01 -3.19745846e-05 -1.32509303e+02] [ 4.41387687e-05 -5.08892049e-07 9.99999999e-01 -9.02087120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.590385723 meters 0.015307107726757956 Centerline is valid? [True, True] Translation: X:101.41, Y:-132.49, Z:-9.02 [[-6.97562325e-01 -7.16524107e-01 8.48209037e-05 1.01412271e+02] [ 7.16524101e-01 -6.97562330e-01 -8.90626436e-05 -1.32491026e+02] [ 1.22983398e-04 -1.35052301e-06 9.99999992e-01 -9.02000692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.620385723 meters 0.015225104121042894 Centerline is valid? [True, True] Translation: X:101.39, Y:-132.47, Z:-9.02 [[-6.97700675e-01 -7.16389351e-01 -2.56592529e-04 1.01392092e+02] [ 7.16389301e-01 -6.97700722e-01 2.69261194e-04 -1.32472312e+02] [-3.71920645e-04 4.04357435e-06 9.99999931e-01 -9.02034422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.650385723 meters 0.015169901653106306 Centerline is valid? [True, True] Translation: X:101.37, Y:-132.45, Z:-9.02 [[-6.97259895e-01 -7.16817215e-01 -1.31159488e-03 1.01373050e+02] [ 7.16815895e-01 -6.97261128e-01 1.37570000e-03 -1.32454107e+02] [-1.90064957e-03 1.90483760e-05 9.99998194e-01 -9.01855732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68038572300003 meters 0.015071402586340352 Centerline is valid? [True, True] Translation: X:101.35, Y:-132.43, Z:-9.02 [[-6.97457364e-01 -7.16624611e-01 -1.54671530e-03 1.01353558e+02] [ 7.16622778e-01 -6.97459078e-01 1.62131499e-03 -1.32434532e+02] [-2.24064485e-03 2.23866669e-05 9.99997490e-01 -9.01745258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.710385723 meters 0.015239661717047236 Centerline is valid? [True, True] Translation: X:101.33, Y:-132.42, Z:-9.02 [[-6.98341941e-01 -7.15761752e-01 -1.90987497e-03 1.01334302e+02] [ 7.15758957e-01 -6.98344552e-01 2.00069974e-03 -1.32416521e+02] [-2.76577513e-03 3.01624184e-05 9.99996175e-01 -9.01734398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.740385723 meters 0.015315861285966592 Centerline is valid? [True, True] Translation: X:101.31, Y:-132.40, Z:-9.02 [[-6.99061386e-01 -7.15058866e-01 -1.99919827e-03 1.01314060e+02] [ 7.15055804e-01 -6.99064244e-01 2.09302268e-03 -1.32397679e+02] [-2.89420245e-03 3.36130105e-05 9.99995811e-01 -9.01792857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.770385723 meters 0.015310196448266472 Centerline is valid? [True, True] Translation: X:101.29, Y:-132.38, Z:-9.02 [[-6.99946807e-01 -7.14192661e-01 -1.81932680e-03 1.01293499e+02] [ 7.14190125e-01 -6.99949170e-01 1.90356882e-03 -1.32379836e+02] [-2.63295117e-03 3.30516832e-05 9.99996533e-01 -9.01844508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.800385723 meters 0.015363421828596789 Centerline is valid? [True, True] Translation: X:101.27, Y:-132.36, Z:-9.02 [[-7.00539861e-01 -7.13612603e-01 -9.77532421e-04 1.01273929e+02] [ 7.13611871e-01 -7.00540543e-01 1.02218713e-03 -1.32360256e+02] [-1.41424671e-03 1.85040920e-05 9.99999000e-01 -9.01931456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.830385723 meters 0.01563648205964515 Centerline is valid? [True, True] Translation: X:101.25, Y:-132.34, Z:-9.02 [[-7.01397843e-01 -7.12768993e-01 1.19552860e-03 1.01253746e+02] [ 7.12767898e-01 -7.01398861e-01 -1.24936096e-03 -1.32342892e+02] [ 1.72904815e-03 -2.41646775e-05 9.99998505e-01 -9.02206791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.860385723 meters 0.01572991562731872 Centerline is valid? [True, True] Translation: X:101.23, Y:-132.32, Z:-9.02 [[-7.02102951e-01 -7.12073284e-01 1.75613427e-03 1.01233868e+02] [ 7.12070923e-01 -7.02105147e-01 -1.83413416e-03 -1.32324637e+02] [ 2.53902885e-03 -3.72588573e-05 9.99996776e-01 -9.02320893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.890385723 meters 0.016225917258045827 Centerline is valid? [True, True] Translation: X:101.21, Y:-132.31, Z:-9.02 [[-7.03395111e-01 -7.10794619e-01 2.51550888e-03 1.01213598e+02] [ 7.10789771e-01 -7.03399607e-01 -2.62579318e-03 -1.32307096e+02] [ 3.63580762e-03 -5.89721044e-05 9.99993389e-01 -9.02401300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.920385723 meters 0.015314479104101655 Centerline is valid? [True, True] Translation: X:101.19, Y:-132.29, Z:-9.02 [[-7.04239662e-01 -7.09957901e-01 2.50557022e-03 1.01191193e+02] [ 7.09953092e-01 -7.04244116e-01 -2.61394568e-03 -1.32290042e+02] [ 3.62032447e-03 -6.20068977e-05 9.99993445e-01 -9.02355836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.950385723 meters 0.016816883996760044 Centerline is valid? [True, True] Translation: X:101.17, Y:-132.27, Z:-9.02 [[-7.05190747e-01 -7.09013990e-01 2.27435405e-03 1.01173550e+02] [ 7.09010025e-01 -7.05194412e-01 -2.37175332e-03 -1.32269474e+02] [ 3.28546805e-03 -5.99986768e-05 9.99994601e-01 -9.02389756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.980385723 meters 0.01899838811686498 Centerline is valid? [True, True] Translation: X:101.15, Y:-132.25, Z:-9.03 [[-7.07079169e-01 -7.07132871e-01 1.46681393e-03 1.01148078e+02] [ 7.07131220e-01 -7.07080689e-01 -1.52883063e-03 -1.32254385e+02] [ 2.11824220e-03 -4.37743695e-05 9.99997756e-01 -9.02629703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.010385723 meters 0.01583254345335492 Centerline is valid? [True, True] Translation: X:101.13, Y:-132.24, Z:-9.02 [[-7.06651796e-01 -7.07561198e-01 6.25517368e-04 1.01128507e+02] [ 7.07560898e-01 -7.06652072e-01 -6.51591918e-04 -1.32236105e+02] [ 9.03064302e-04 -1.78569686e-05 9.99999592e-01 -9.02200345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.040385723 meters 0.015312295306797369 Centerline is valid? [True, True] Translation: X:101.11, Y:-132.22, Z:-9.02 [[-7.06009221e-01 -7.08202426e-01 5.51147135e-04 1.01106996e+02] [ 7.08202193e-01 -7.06009436e-01 -5.73800641e-04 -1.32218013e+02] [ 7.95482083e-04 -1.47849338e-05 9.99999684e-01 -9.01906535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.070385723 meters 0.01524254220779247 Centerline is valid? [True, True] Translation: X:101.09, Y:-132.20, Z:-9.02 [[-7.05713697e-01 -7.08497050e-01 3.28083591e-04 1.01085973e+02] [ 7.08496968e-01 -7.05713774e-01 -3.41377476e-04 -1.32199632e+02] [ 4.73398044e-04 -8.46853162e-06 9.99999888e-01 -9.01861089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.100385723 meters 0.015028419267138377 Centerline is valid? [True, True] Translation: X:101.06, Y:-132.19, Z:-9.02 [[-7.04751641e-01 -7.09454060e-01 -2.47230428e-04 1.01062671e+02] [ 7.09454014e-01 -7.04751684e-01 2.57103130e-04 -1.32185025e+02] [-3.56638920e-04 5.79523361e-06 9.99999936e-01 -9.01940943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.130385723 meters 0.014908409330677878 Centerline is valid? [True, True] Translation: X:101.04, Y:-132.17, Z:-9.02 [[-7.04346532e-01 -7.09856169e-01 -4.27212687e-04 1.01040874e+02] [ 7.09856030e-01 -7.04346661e-01 4.44027490e-04 -1.32167402e+02] [-6.16101483e-04 9.48972111e-06 9.99999810e-01 -9.02035476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.160385723 meters 0.014908409330677878 Centerline is valid? [True, True] Translation: X:101.02, Y:-132.15, Z:-9.02 [[-7.04542294e-01 -7.09661873e-01 -4.27335140e-04 1.01021706e+02] [ 7.09661734e-01 -7.04542423e-01 4.43909642e-04 -1.32147563e+02] [-6.16101483e-04 9.48972135e-06 9.99999810e-01 -9.02035478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.190385723 meters 0.014632554016357425 Centerline is valid? [True, True] Translation: X:101.00, Y:-132.13, Z:-9.02 [[-7.03753695e-01 -7.10444041e-01 3.26596944e-05 1.01000882e+02] [ 7.10444040e-01 -7.03753696e-01 -3.39073592e-05 -1.32129014e+02] [ 4.70736619e-05 -6.59544141e-07 9.99999999e-01 -9.02073797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.220385723 meters 0.014494504295254873 Centerline is valid? [True, True] Translation: X:100.98, Y:-132.11, Z:-9.02 [[-7.02966485e-01 -7.11222540e-01 7.86996086e-04 1.00979905e+02] [ 7.11222071e-01 -7.02966925e-01 -8.16616158e-04 -1.32110878e+02] [ 1.13402804e-03 -1.43248037e-05 9.99999357e-01 -9.02097527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.250385723 meters 0.014508876837484594 Centerline is valid? [True, True] Translation: X:100.96, Y:-132.09, Z:-9.02 [[-7.02980167e-01 -7.11206602e-01 2.01344098e-03 1.00958062e+02] [ 7.11203538e-01 -7.02983050e-01 -2.08800090e-03 -1.32093835e+02] [ 2.90041490e-03 -3.58568790e-05 9.99995793e-01 -9.02244975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.280385723 meters 0.014308896407518444 Centerline is valid? [True, True] Translation: X:100.94, Y:-132.08, Z:-9.02 [[-7.03170380e-01 -7.11017463e-01 2.36288735e-03 1.00936281e+02] [ 7.11013247e-01 -7.03174349e-01 -2.44902079e-03 -1.32075540e+02] [ 3.40281832e-03 -4.20346760e-05 9.99994210e-01 -9.02251812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.310385723 meters 0.014625989037724765 Centerline is valid? [True, True] Translation: X:100.92, Y:-132.06, Z:-9.02 [[-7.03333864e-01 -7.10854246e-01 2.77791922e-03 1.00915131e+02] [ 7.10848424e-01 -7.03339348e-01 -2.87748328e-03 -1.32058289e+02] [ 3.99929110e-03 -4.91519298e-05 9.99992002e-01 -9.02361620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.340385723 meters 0.01432893043586215 Centerline is valid? [True, True] Translation: X:100.89, Y:-132.04, Z:-9.02 [[-7.03637096e-01 -7.10552966e-01 3.05285891e-03 1.00893917e+02] [ 7.10545939e-01 -7.03643717e-01 -3.16052887e-03 -1.32039884e+02] [ 4.39384815e-03 -5.46688553e-05 9.99990346e-01 -9.02346584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.370385723 meters 0.014807385767770779 Centerline is valid? [True, True] Translation: X:100.88, Y:-132.02, Z:-9.02 [[-7.04301476e-01 -7.09893195e-01 3.32924414e-03 1.00875106e+02] [ 7.09884840e-01 -7.04309341e-01 -3.44465530e-03 -1.32020564e+02] [ 4.79015510e-03 -6.26958637e-05 9.99988525e-01 -9.02430626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.400385723 meters 0.014921254678986235 Centerline is valid? [True, True] Translation: X:100.85, Y:-132.00, Z:-9.02 [[-7.05866514e-01 -7.08334389e-01 3.85458119e-03 1.00853812e+02] [ 7.08323178e-01 -7.05877034e-01 -3.98604895e-03 -1.32002591e+02] [ 5.54431588e-03 -8.33292733e-05 9.99984627e-01 -9.02486394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43038572300003 meters 0.015032500782662687 Centerline is valid? [True, True] Translation: X:100.83, Y:-131.98, Z:-9.03 [[-7.07877446e-01 -7.06324484e-01 3.90443031e-03 1.00831114e+02] [ 7.06312963e-01 -7.07888207e-01 -4.03550138e-03 -1.31984736e+02] [ 5.61427360e-03 -9.88906677e-05 9.99984235e-01 -9.02605986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.460385723 meters 0.015245708957986224 Centerline is valid? [True, True] Translation: X:100.81, Y:-131.97, Z:-9.03 [[-7.08835880e-01 -7.05363552e-01 3.73548692e-03 1.00811319e+02] [ 7.05353005e-01 -7.08845716e-01 -3.85876512e-03 -1.31965282e+02] [ 5.36971617e-03 -1.00394246e-04 9.99985578e-01 -9.02638397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.490385723 meters 0.015495921694989841 Centerline is valid? [True, True] Translation: X:100.79, Y:-131.95, Z:-9.03 [[-7.09662456e-01 -7.04530696e-01 3.96206895e-03 1.00791696e+02] [ 7.04518829e-01 -7.09673507e-01 -4.09059061e-03 -1.31945230e+02] [ 5.69372202e-03 -1.11586399e-04 9.99983784e-01 -9.02622400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.520385723 meters 0.015700453966291893 Centerline is valid? [True, True] Translation: X:100.77, Y:-131.93, Z:-9.03 [[-7.10818364e-01 -7.03363450e-01 4.13645678e-03 1.00770892e+02] [ 7.03350510e-01 -7.10830389e-01 -4.26829794e-03 -1.31926237e+02] [ 5.94248395e-03 -1.24605572e-04 9.99982336e-01 -9.02644448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.550385723 meters 0.015995939388606533 Centerline is valid? [True, True] Translation: X:100.75, Y:-131.91, Z:-9.03 [[-7.11262902e-01 -7.02912722e-01 4.33463103e-03 1.00751344e+02] [ 7.02898520e-01 -7.11276098e-01 -4.47020794e-03 -1.31907533e+02] [ 6.22528548e-03 -1.32687341e-04 9.99980614e-01 -9.02702086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.580385723 meters 0.01673577945628905 Centerline is valid? [True, True] Translation: X:100.73, Y:-131.89, Z:-9.03 [[-7.10338313e-01 -7.03841449e-01 5.16687432e-03 1.00728441e+02] [ 7.03821316e-01 -7.10357089e-01 -5.32557059e-03 -1.31890170e+02] [ 7.41868312e-03 -1.46400546e-04 9.99972470e-01 -9.02945774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.610385723 meters 0.01519372873403181 Centerline is valid? [True, True] Translation: X:100.71, Y:-131.87, Z:-9.03 [[-7.09184530e-01 -7.05003961e-01 5.16890618e-03 1.00707438e+02] [ 7.04983864e-01 -7.09203355e-01 -5.32476984e-03 -1.31871006e+02] [ 7.41978943e-03 -1.32248948e-04 9.99972464e-01 -9.02835995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.640385723 meters 0.014885693714257742 Centerline is valid? [True, True] Translation: X:100.69, Y:-131.85, Z:-9.03 [[-7.08351752e-01 -7.05839271e-01 5.35895718e-03 1.00687435e+02] [ 7.05817720e-01 -7.08372012e-01 -5.51717930e-03 -1.31852591e+02] [ 7.69037710e-03 -1.25656685e-04 9.99970421e-01 -9.02843017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.670385723 meters 0.014262567887306028 Centerline is valid? [True, True] Translation: X:100.67, Y:-131.83, Z:-9.03 [[-7.06223147e-01 -7.07973492e-01 4.73300226e-03 1.00665930e+02] [ 7.07956747e-01 -7.06239001e-01 -4.87011438e-03 -1.31834601e+02] [ 6.79054267e-03 -8.86266162e-05 9.99976940e-01 -9.02699591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.700385723 meters 0.01378379369335242 Centerline is valid? [True, True] Translation: X:100.64, Y:-131.82, Z:-9.03 [[-7.04517826e-01 -7.09675561e-01 3.90267123e-03 1.00644544e+02] [ 7.09664214e-01 -7.04528633e-01 -4.01358454e-03 -1.31817163e+02] [ 5.59788649e-03 -5.80557501e-05 9.99984330e-01 -9.02681133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.730385723 meters 0.013580881702927592 Centerline is valid? [True, True] Translation: X:100.62, Y:-131.80, Z:-9.03 [[-7.04310208e-01 -7.09879902e-01 4.20187880e-03 1.00623666e+02] [ 7.09866766e-01 -7.04322739e-01 -4.31894116e-03 -1.31797692e+02] [ 6.02540831e-03 -5.91002252e-05 9.99981845e-01 -9.02696940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.760385723 meters 0.013577103130628732 Centerline is valid? [True, True] Translation: X:100.61, Y:-131.78, Z:-9.03 [[-7.04139474e-01 -7.10048397e-01 4.34449965e-03 1.00605461e+02] [ 7.10034375e-01 -7.04152875e-01 -4.46267014e-03 -1.31779284e+02] [ 6.22790369e-03 -5.75981127e-05 9.99980605e-01 -9.02743255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.790385723 meters 0.013478258685178317 Centerline is valid? [True, True] Translation: X:100.59, Y:-131.76, Z:-9.03 [[-7.03928779e-01 -7.10260133e-01 3.84936397e-03 1.00586022e+02] [ 7.10249142e-01 -7.03939303e-01 -3.95156907e-03 -1.31760975e+02] [ 5.51636056e-03 -4.76157311e-05 9.99984784e-01 -9.02718818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.820385723 meters 0.013201439869014906 Centerline is valid? [True, True] Translation: X:100.57, Y:-131.74, Z:-9.03 [[-7.03876021e-01 -7.10314501e-01 3.44321501e-03 1.00565441e+02] [ 7.10305718e-01 -7.03884442e-01 -3.53268531e-03 -1.31741927e+02] [ 4.93294308e-03 -4.08371648e-05 9.99987832e-01 -9.02649629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.850385723 meters 0.013214100923231276 Centerline is valid? [True, True] Translation: X:100.55, Y:-131.72, Z:-9.03 [[-7.03723850e-01 -7.10465049e-01 3.48677316e-03 1.00546355e+02] [ 7.10456054e-01 -7.03732487e-01 -3.57529321e-03 -1.31722219e+02] [ 4.99387641e-03 -3.88200064e-05 9.99987530e-01 -9.02725253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.880385723 meters 0.013219790572418134 Centerline is valid? [True, True] Translation: X:100.53, Y:-131.70, Z:-9.03 [[-7.03377441e-01 -7.10806281e-01 3.82198487e-03 1.00527488e+02] [ 7.10795491e-01 -7.03387823e-01 -3.91662387e-03 -1.31702255e+02] [ 5.47229846e-03 -3.82152626e-05 9.99985026e-01 -9.02769893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.910385723 meters 0.013212089272173095 Centerline is valid? [True, True] Translation: X:100.51, Y:-131.68, Z:-9.03 [[-7.03323471e-01 -7.10857891e-01 4.14183901e-03 1.00508743e+02] [ 7.10845236e-01 -7.03335665e-01 -4.24182112e-03 -1.31683089e+02] [ 5.92843511e-03 -3.91658187e-05 9.99982426e-01 -9.02821862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.940385723 meters 0.013283144386351442 Centerline is valid? [True, True] Translation: X:100.49, Y:-131.66, Z:-9.03 [[-7.02972647e-01 -7.11207947e-01 3.56552888e-03 1.00490441e+02] [ 7.11198586e-01 -7.02981689e-01 -3.64927614e-03 -1.31664414e+02] [ 5.10189571e-03 -2.95422066e-05 9.99986985e-01 -9.02947344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.970385723 meters 0.01320906940492449 Centerline is valid? [True, True] Translation: X:100.47, Y:-131.65, Z:-9.03 [[-7.03353738e-01 -7.10833566e-01 3.02660760e-03 1.00470592e+02] [ 7.10826825e-01 -7.03360249e-01 -3.09584682e-03 -1.31645251e+02] [ 4.32942731e-03 -2.60815619e-05 9.99990628e-01 -9.02908163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.000385723 meters 0.013282158455910374 Centerline is valid? [True, True] Translation: X:100.45, Y:-131.63, Z:-9.03 [[-7.04540704e-01 -7.09654370e-01 3.61553337e-03 1.00450272e+02] [ 7.09644745e-01 -7.04549980e-01 -3.69620153e-03 -1.31625353e+02] [ 5.17034953e-03 -3.83801717e-05 9.99986633e-01 -9.02976326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.030385723 meters 0.013299175832062601 Centerline is valid? [True, True] Translation: X:100.43, Y:-131.60, Z:-9.03 [[-7.05236465e-01 -7.08960655e-01 4.03956006e-03 1.00430810e+02] [ 7.08948642e-01 -7.05248032e-01 -4.12740553e-03 -1.31604679e+02] [ 5.77505991e-03 -4.69562596e-05 9.99983323e-01 -9.03072307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.060385723 meters 0.01636800833250159 Centerline is valid? [True, True] Translation: X:100.41, Y:-131.58, Z:-9.03 [[-7.06303654e-01 -7.07879974e-01 6.41021564e-03 1.00413583e+02] [ 7.07849714e-01 -7.06332737e-01 -6.54579674e-03 -1.31583071e+02] [ 9.16138358e-03 -8.58508513e-05 9.99958030e-01 -9.03464248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.090385723 meters 0.013749233301832042 Centerline is valid? [True, True] Translation: X:100.40, Y:-131.56, Z:-9.03 [[-7.07014908e-01 -7.07174266e-01 5.87184508e-03 1.00395840e+02] [ 7.07148881e-01 -7.07039285e-01 -5.99237719e-03 -1.31562538e+02] [ 8.38928009e-03 -8.44313236e-05 9.99964806e-01 -9.03290989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.120385723 meters 0.013676368066860818 Centerline is valid? [True, True] Translation: X:100.38, Y:-131.54, Z:-9.03 [[-7.08324642e-01 -7.05869298e-01 4.97339854e-03 1.00377766e+02] [ 7.05851076e-01 -7.08342097e-01 -5.07264946e-03 -1.31541178e+02] [ 7.10349507e-03 -8.26039060e-05 9.99974766e-01 -9.03151603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.150385723 meters 0.013745159415638402 Centerline is valid? [True, True] Translation: X:100.36, Y:-131.52, Z:-9.03 [[-7.08723736e-01 -7.05472117e-01 4.44504786e-03 1.00357805e+02] [ 7.05457569e-01 -7.08737671e-01 -4.53123141e-03 -1.31520749e+02] [ 6.34703028e-03 -7.55985988e-05 9.99979855e-01 -9.03158336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18038572300003 meters 0.013827718779389871 Centerline is valid? [True, True] Translation: X:100.34, Y:-131.50, Z:-9.03 [[-7.08841800e-01 -7.05352409e-01 4.61330207e-03 1.00338296e+02] [ 7.05336753e-01 -7.08856808e-01 -4.70014366e-03 -1.31501227e+02] [ 6.58542823e-03 -7.77267839e-05 9.99978313e-01 -9.03247214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.210385723 meters 0.013648936043622429 Centerline is valid? [True, True] Translation: X:100.32, Y:-131.48, Z:-9.03 [[-7.08505817e-01 -7.05689312e-01 4.70125007e-03 1.00318678e+02] [ 7.05673079e-01 -7.08521411e-01 -4.78708498e-03 -1.31481216e+02] [ 6.70913103e-03 -7.41319406e-05 9.99977491e-01 -9.03305806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.240385723 meters 0.013596448079375443 Centerline is valid? [True, True] Translation: X:100.30, Y:-131.46, Z:-9.03 [[-7.07736783e-01 -7.06459132e-01 4.91330051e-03 1.00301538e+02] [ 7.06441440e-01 -7.07753834e-01 -5.00011110e-03 -1.31459542e+02] [ 7.00978143e-03 -6.78034539e-05 9.99975429e-01 -9.03299856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.270385723 meters 0.01371154238473102 Centerline is valid? [True, True] Translation: X:100.28, Y:-131.44, Z:-9.03 [[-7.07665530e-01 -7.06529144e-01 5.10553472e-03 1.00284038e+02] [ 7.06510066e-01 -7.07683944e-01 -5.19256958e-03 -1.31439239e+02] [ 7.28180668e-03 -6.74908353e-05 9.99973485e-01 -9.03297665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.300385723 meters 0.01375345655187522 Centerline is valid? [True, True] Translation: X:100.26, Y:-131.42, Z:-9.03 [[-7.07597637e-01 -7.06594333e-01 5.48022824e-03 1.00264809e+02] [ 7.06572377e-01 -7.07618855e-01 -5.57058929e-03 -1.31418825e+02] [ 7.81405965e-03 -6.95579250e-05 9.99969467e-01 -9.03329949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.330385723 meters 0.0137210322089808 Centerline is valid? [True, True] Translation: X:100.25, Y:-131.40, Z:-9.04 [[-7.07932744e-01 -7.06251410e-01 6.33845065e-03 1.00245780e+02] [ 7.06222058e-01 -7.07961114e-01 -6.43938804e-03 -1.31398544e+02] [ 9.03520347e-03 -8.22999872e-05 9.99959178e-01 -9.03509597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.360385723 meters 0.013976524927660846 Centerline is valid? [True, True] Translation: X:100.23, Y:-131.38, Z:-9.04 [[-7.08592535e-01 -7.05591797e-01 6.06921104e-03 1.00229381e+02] [ 7.05564893e-01 -7.08618522e-01 -6.16225324e-03 -1.31376981e+02] [ 8.64879069e-03 -8.43044115e-05 9.99962595e-01 -9.03522602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.390385723 meters 0.014878317361243914 Centerline is valid? [True, True] Translation: X:100.21, Y:-131.36, Z:-9.03 [[-7.09265287e-01 -7.04917705e-01 5.81226879e-03 1.00211601e+02] [ 7.04893035e-01 -7.09289096e-01 -5.89813579e-03 -1.31355258e+02] [ 8.28027922e-03 -8.63151901e-05 9.99965714e-01 -9.03488380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.420385723 meters 0.014331893153510874 Centerline is valid? [True, True] Translation: X:100.20, Y:-131.33, Z:-9.03 [[-7.10604209e-01 -7.03579041e-01 4.26503064e-03 1.00195737e+02] [ 7.03565748e-01 -7.10617005e-01 -4.32553566e-03 -1.31332667e+02] [ 6.07415953e-03 -7.30143749e-05 9.99981549e-01 -9.03262622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.450385723 meters 0.014412130530643089 Centerline is valid? [True, True] Translation: X:100.18, Y:-131.31, Z:-9.03 [[-7.11090781e-01 -7.03090462e-01 3.70183200e-03 1.00177183e+02] [ 7.03080453e-01 -7.11100414e-01 -3.75205700e-03 -1.31312839e+02] [ 5.27040976e-03 -6.53674204e-05 9.99986109e-01 -9.03305129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.480385723 meters 0.016123237182829146 Centerline is valid? [True, True] Translation: X:100.16, Y:-131.29, Z:-9.04 [[-7.11103171e-01 -7.03074792e-01 4.25638659e-03 1.00158819e+02] [ 7.03061577e-01 -7.11115906e-01 -4.31137691e-03 -1.31293790e+02] [ 6.05800463e-03 -7.33319215e-05 9.99981647e-01 -9.03525114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.510385723 meters 0.013986277749774687 Centerline is valid? [True, True] Translation: X:100.14, Y:-131.27, Z:-9.04 [[-7.09186478e-01 -7.05003973e-01 4.89257781e-03 1.00138712e+02] [ 7.04986576e-01 -7.09203352e-01 -4.95305137e-03 -1.31274345e+02] [ 6.96175347e-03 -6.34353777e-05 9.99975765e-01 -9.03502731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.540385723 meters 0.013801189329789559 Centerline is valid? [True, True] Translation: X:100.12, Y:-131.25, Z:-9.04 [[-7.08005554e-01 -7.06185803e-01 5.45410782e-03 1.00119820e+02] [ 7.06164244e-01 -7.08026559e-01 -5.51832722e-03 -1.31254286e+02] [ 7.75861754e-03 -5.55103959e-05 9.99969900e-01 -9.03564074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.570385723 meters 0.013511965510740832 Centerline is valid? [True, True] Translation: X:100.10, Y:-131.23, Z:-9.03 [[-7.05915194e-01 -7.08277460e-01 5.17475659e-03 1.00101402e+02] [ 7.08258132e-01 -7.05934160e-01 -5.23248128e-03 -1.31233561e+02] [ 7.35908599e-03 -2.86246014e-05 9.99972921e-01 -9.03477701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.600385723 meters 0.01349434772580419 Centerline is valid? [True, True] Translation: X:100.08, Y:-131.21, Z:-9.03 [[-7.05217490e-01 -7.08973906e-01 4.92868151e-03 1.00082447e+02] [ 7.08956411e-01 -7.05234713e-01 -4.98062192e-03 -1.31214010e+02] [ 7.00700827e-03 -1.82013319e-05 9.99975450e-01 -9.03414939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.630385723 meters 0.013424559859105435 Centerline is valid? [True, True] Translation: X:100.06, Y:-131.19, Z:-9.03 [[-7.04348848e-01 -7.09843771e-01 3.81074391e-03 1.00062517e+02] [ 7.09833336e-01 -7.04359157e-01 -3.84876516e-03 -1.31193740e+02] [ 5.41615434e-03 -5.88024388e-06 9.99985333e-01 -9.03354640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.660385723 meters 0.013456597575679642 Centerline is valid? [True, True] Translation: X:100.04, Y:-131.17, Z:-9.03 [[-7.04353696e-01 -7.09838465e-01 3.90175555e-03 1.00043452e+02] [ 7.09827539e-01 -7.04364503e-01 -3.93851105e-03 -1.31173150e+02] [ 5.54396475e-03 -4.53127501e-06 9.99984632e-01 -9.03386175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.690385723 meters 0.013447965155578787 Centerline is valid? [True, True] Translation: X:100.02, Y:-131.15, Z:-9.03 [[-7.04644681e-01 -7.09548293e-01 4.13437409e-03 1.00024837e+02] [ 7.09536034e-01 -7.04656810e-01 -4.17099906e-03 -1.31152036e+02] [ 5.87284013e-03 -5.58490928e-06 9.99982755e-01 -9.03418429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.720385723 meters 0.013496121063830956 Centerline is valid? [True, True] Translation: X:100.01, Y:-131.13, Z:-9.04 [[-7.05288144e-01 -7.08901814e-01 5.18194337e-03 1.00009218e+02] [ 7.08882560e-01 -7.05307180e-01 -5.22478031e-03 -1.31129688e+02] [ 7.35871810e-03 -1.15863258e-05 9.99972924e-01 -9.03522270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.750385723 meters 0.013598027256614414 Centerline is valid? [True, True] Translation: X:99.99, Y:-131.11, Z:-9.04 [[-7.06023900e-01 -7.08165138e-01 5.69121120e-03 9.99916765e+01] [ 7.08141916e-01 -7.06046838e-01 -5.73492204e-03 -1.31108485e+02] [ 8.07953353e-03 -1.88068171e-05 9.99967360e-01 -9.03635158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.780385723 meters 0.01373324719946972 Centerline is valid? [True, True] Translation: X:99.98, Y:-131.09, Z:-9.04 [[-7.07580466e-01 -7.06614592e-01 5.06987878e-03 9.99755106e+01] [ 7.06596146e-01 -7.07598628e-01 -5.10573706e-03 -1.31085860e+02] [ 7.19522758e-03 -3.03629981e-05 9.99974114e-01 -9.03563587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.810385723 meters 0.013781944621701306 Centerline is valid? [True, True] Translation: X:99.96, Y:-131.06, Z:-9.03 [[-7.08533096e-01 -7.05661548e-01 4.75728528e-03 9.99572299e+01] [ 7.05645303e-01 -7.08549066e-01 -4.78829524e-03 -1.31064704e+02] [ 6.74968587e-03 -3.57096445e-05 9.99977220e-01 -9.03467849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.840385723 meters 0.013953640606766685 Centerline is valid? [True, True] Translation: X:99.94, Y:-131.04, Z:-9.03 [[-7.09876855e-01 -7.04314458e-01 3.99949202e-03 9.99398490e+01] [ 7.04302967e-01 -7.09888120e-01 -4.02334520e-03 -1.31042308e+02] [ 5.67289206e-03 -3.92255364e-05 9.99983908e-01 -9.03438915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.870385723 meters 0.013939985145438977 Centerline is valid? [True, True] Translation: X:99.92, Y:-131.02, Z:-9.03 [[-7.10545003e-01 -7.03643283e-01 3.45379135e-03 9.99220020e+01] [ 7.03634716e-01 -7.10553396e-01 -3.47247015e-03 -1.31020058e+02] [ 4.89748347e-03 -3.71388191e-05 9.99988007e-01 -9.03370908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.900385723 meters 0.013915226446778818 Centerline is valid? [True, True] Translation: X:99.90, Y:-131.00, Z:-9.03 [[-7.10843721e-01 -7.03342673e-01 3.20769880e-03 9.99037430e+01] [ 7.03335288e-01 -7.10850957e-01 -3.22322447e-03 -1.30999049e+02] [ 4.54722707e-03 -3.51211154e-05 9.99989661e-01 -9.03317546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93038572300003 meters 0.015716012120596815 Centerline is valid? [True, True] Translation: X:99.89, Y:-130.98, Z:-9.03 [[-7.11293655e-01 -7.02886394e-01 3.47184400e-03 9.98864207e+01] [ 7.02877748e-01 -7.11302127e-01 -3.48656947e-03 -1.30977901e+02] [ 4.92019226e-03 -3.96928491e-05 9.99987895e-01 -9.03466630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.960385723 meters 0.014199590193737805 Centerline is valid? [True, True] Translation: X:99.87, Y:-130.96, Z:-9.03 [[-7.11872583e-01 -7.02300064e-01 3.47078930e-03 9.98693340e+01] [ 7.02291426e-01 -7.11881043e-01 -3.48345223e-03 -1.30956733e+02] [ 4.91721783e-03 -4.22685693e-05 9.99987910e-01 -9.03328359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.990385723 meters 0.014203021968905435 Centerline is valid? [True, True] Translation: X:99.85, Y:-130.94, Z:-9.03 [[-7.12957736e-01 -7.01198595e-01 3.43475210e-03 9.98515144e+01] [ 7.01190132e-01 -7.12966008e-01 -3.44536269e-03 -1.30935033e+02] [ 4.86474497e-03 -4.79837009e-05 9.99988166e-01 -9.03360591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.020385723 meters 0.014203021968905435 Centerline is valid? [True, True] Translation: X:99.83, Y:-130.92, Z:-9.03 [[-7.13153166e-01 -7.00999828e-01 3.43571237e-03 9.98319954e+01] [ 7.00991367e-01 -7.13161440e-01 -3.44440511e-03 -1.30915533e+02] [ 4.86474497e-03 -4.79837009e-05 9.99988166e-01 -9.03360594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.050385723 meters 0.01439053875533172 Centerline is valid? [True, True] Translation: X:99.81, Y:-130.89, Z:-9.03 [[-7.13626738e-01 -7.00516526e-01 3.67102558e-03 9.98146066e+01] [ 7.00506872e-01 -7.13636178e-01 -3.67815100e-03 -1.30894172e+02] [ 5.19638223e-03 -5.32482561e-05 9.99986497e-01 -9.03465269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.080385723 meters 0.014354475253081206 Centerline is valid? [True, True] Translation: X:99.80, Y:-130.87, Z:-9.04 [[-7.13887445e-01 -7.00247378e-01 4.28087342e-03 9.97966464e+01] [ 7.00234260e-01 -7.13900278e-01 -4.28654443e-03 -1.30873837e+02] [ 6.05775822e-03 -6.24960166e-05 9.99981650e-01 -9.03522694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.110385723 meters 0.01437457450562145 Centerline is valid? [True, True] Translation: X:99.78, Y:-130.85, Z:-9.04 [[-7.14113153e-01 -7.00013501e-01 4.84796890e-03 9.97776663e+01] [ 6.99996691e-01 -7.14129605e-01 -4.85170353e-03 -1.30852773e+02] [ 6.85833609e-03 -7.11031182e-05 9.99976479e-01 -9.03516305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.140385723 meters 0.014712544408587257 Centerline is valid? [True, True] Translation: X:99.76, Y:-130.83, Z:-9.04 [[-7.14453904e-01 -6.99662102e-01 5.34432825e-03 9.97620466e+01] [ 6.99641688e-01 -7.14473888e-01 -5.34532449e-03 -1.30830410e+02] [ 7.55830395e-03 -7.98731134e-05 9.99971432e-01 -9.03547600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.170385723 meters 0.016299005092363837 Centerline is valid? [True, True] Translation: X:99.74, Y:-130.81, Z:-9.04 [[-7.15374015e-01 -6.98719321e-01 5.59719425e-03 9.97430042e+01] [ 6.98696925e-01 -7.15395905e-01 -5.59516178e-03 -1.30809793e+02] [ 7.91365749e-03 -9.18909326e-05 9.99968682e-01 -9.03675452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.200385723 meters 0.014915896019548493 Centerline is valid? [True, True] Translation: X:99.21, Y:-131.34, Z:-8.03 [[-7.46976271e-01 6.64823773e-01 5.98354609e-03 9.92108830e+01] [ 6.64803533e-01 7.47000228e-01 -5.18861855e-03 -1.31343165e+02] [-7.91922726e-03 1.02107647e-04 -9.99968637e-01 -8.03425914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.230385723 meters 0.01519984229146771 Centerline is valid? [True, True] Translation: X:99.23, Y:-131.33, Z:-8.03 [[-7.91501146e-01 6.11126261e-01 7.11534012e-03 9.92287560e+01] [ 6.11102967e-01 7.91533118e-01 -5.33720080e-03 -1.31325373e+02] [-8.89373092e-03 1.23804910e-04 -9.99960442e-01 -8.03398825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.260385723 meters 0.015219196530641568 Centerline is valid? [True, True] Translation: X:99.24, Y:-131.30, Z:-8.03 [[-8.32837142e-01 5.53459654e-01 8.04407094e-03 9.92444008e+01] [ 5.53435363e-01 8.32875978e-01 -5.18701115e-03 -1.31303215e+02] [-9.57051484e-03 1.31937778e-04 -9.99954193e-01 -8.03417227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.290385723 meters 0.01544832851173647 Centerline is valid? [True, True] Translation: X:99.26, Y:-131.28, Z:-8.03 [[-8.69903092e-01 4.93143229e-01 8.85245380e-03 9.92605254e+01] [ 4.93119323e-01 8.69948123e-01 -4.85765443e-03 -1.31281048e+02] [-1.00966950e-02 1.39627414e-04 -9.99949017e-01 -8.03417522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.320385723 meters 0.015414902857989911 Centerline is valid? [True, True] Translation: X:99.62, Y:-130.60, Z:-9.04 [[-8.49720036e-01 -5.27162668e-01 8.68232740e-03 9.96154784e+01] [ 5.27133577e-01 -8.49764382e-01 -5.53955731e-03 -1.30597368e+02] [ 1.02981804e-02 -1.30326528e-04 9.99946964e-01 -9.03644739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.350385723 meters 0.015382036908829852 Centerline is valid? [True, True] Translation: X:99.22, Y:-131.26, Z:-8.03 [[-8.71813279e-01 4.89763110e-01 8.58506467e-03 9.92216735e+01] [ 4.89740870e-01 8.71855538e-01 -4.66924575e-03 -1.31261710e+02] [-9.77176049e-03 1.33746599e-04 -9.99952246e-01 -8.03403323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.380385723 meters 0.015167125547182862 Centerline is valid? [True, True] Translation: X:99.23, Y:-131.23, Z:-8.04 [[-9.04354109e-01 4.26734039e-01 6.45792998e-03 9.92263774e+01] [ 4.26723922e-01 9.04377162e-01 -2.94000783e-03 -1.31232358e+02] [-7.09500580e-03 9.69450467e-05 -9.99974825e-01 -8.03626093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.410385723 meters 0.015125418525893412 Centerline is valid? [True, True] Translation: X:99.54, Y:-130.53, Z:-9.03 [[-8.86603694e-01 -4.62497308e-01 5.48915317e-03 9.95445358e+01] [ 4.62487486e-01 -8.86620675e-01 -3.01716687e-03 -1.30527582e+02] [ 6.26222824e-03 -1.36366639e-04 9.99980383e-01 -9.03240334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.440385723 meters 0.014906092330592204 Centerline is valid? [True, True] Translation: X:99.17, Y:-131.21, Z:-8.04 [[-9.05927952e-01 4.23398014e-01 5.35420817e-03 9.91679174e+01] [ 4.23391142e-01 9.05943770e-01 -2.41371598e-03 -1.31208950e+02] [-5.87257409e-03 8.02715372e-05 -9.99982753e-01 -8.03935600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.470385723 meters 0.016232089004101703 Centerline is valid? [True, True] Translation: X:99.20, Y:-131.19, Z:-8.04 [[-9.33558201e-01 3.58366998e-01 6.49461280e-03 9.91993812e+01] [ 3.58359041e-01 9.33580787e-01 -2.39010112e-03 -1.31192311e+02] [-6.91977909e-03 9.61047093e-05 -9.99976053e-01 -8.03804311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.500385723 meters 0.015743948836138527 Centerline is valid? [True, True] Translation: X:99.22, Y:-131.17, Z:-8.04 [[-9.56803326e-01 2.90645396e-01 7.25601916e-03 9.92173983e+01] [ 2.90637827e-01 9.56830834e-01 -2.09995180e-03 -1.31169701e+02] [-7.55312419e-03 9.96327721e-05 -9.99971470e-01 -8.03723469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.530385723 meters 0.01500968549715926 Centerline is valid? [True, True] Translation: X:99.21, Y:-131.14, Z:-8.04 [[-9.75151419e-01 2.21335517e-01 9.50254043e-03 9.92144930e+01] [ 2.21326216e-01 9.75197710e-01 -2.03263562e-03 -1.31138141e+02] [-9.71675013e-03 1.21033809e-04 -9.99952784e-01 -8.03788474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.560385723 meters 0.01506311194319382 Centerline is valid? [True, True] Translation: X:99.23, Y:-131.11, Z:-8.04 [[-9.88403668e-01 1.51507990e-01 1.01744288e-02 9.92302003e+01] [ 1.51501285e-01 9.88456025e-01 -1.43101049e-03 -1.31112548e+02] [-1.02737850e-02 1.27023027e-04 -9.99947215e-01 -8.03773806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.590385723 meters 0.015540694564163422 Centerline is valid? [True, True] Translation: X:99.35, Y:-130.33, Z:-9.03 [[-9.81159217e-01 -1.92886162e-01 1.10236132e-02 9.93472761e+01] [ 1.92873110e-01 -9.81221138e-01 -2.24525264e-03 -1.30334882e+02] [ 1.12496804e-02 -7.67917698e-05 9.99936717e-01 -9.03221874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.620385723 meters 0.015757872778917954 Centerline is valid? [True, True] Translation: X:99.16, Y:-131.11, Z:-8.04 [[-9.88835360e-01 1.48622636e-01 1.07677201e-02 9.91646932e+01] [ 1.48615471e-01 9.88893973e-01 -1.46705460e-03 -1.31107870e+02] [-1.08661711e-02 1.49574339e-04 -9.99940950e-01 -8.03842921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.650385723 meters 0.0157884075093366 Centerline is valid? [True, True] Translation: X:99.28, Y:-130.32, Z:-9.03 [[-9.82183842e-01 -1.87626316e-01 1.05482729e-02 9.92822222e+01] [ 1.87613805e-01 -9.82240470e-01 -2.17221588e-03 -1.30324610e+02] [ 1.07685054e-02 -1.54513722e-04 9.99942006e-01 -9.03179743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68038572300003 meters 0.016208093081577144 Centerline is valid? [True, True] Translation: X:99.09, Y:-131.10, Z:-8.04 [[-9.89326923e-01 1.45297290e-01 1.09971091e-02 9.90872464e+01] [ 1.45290113e-01 9.89388029e-01 -1.45296117e-03 -1.31099322e+02] [-1.10915194e-02 1.60317625e-04 -9.99938474e-01 -8.03793823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.710385723 meters 0.016258023700009817 Centerline is valid? [True, True] Translation: X:99.10, Y:-131.07, Z:-8.04 [[-9.97131919e-01 7.48659097e-02 1.10919228e-02 9.90977978e+01] [ 7.48630951e-02 9.97193597e-01 -6.69324909e-04 -1.31072448e+02] [-1.11109040e-02 1.62970441e-04 -9.99938259e-01 -8.03913446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.740385723 meters 0.016211433406398384 Centerline is valid? [True, True] Translation: X:99.11, Y:-131.04, Z:-8.04 [[-9.99944114e-01 3.24658913e-03 1.00612258e-02 9.91125183e+01] [ 3.24785837e-03 9.99994720e-01 1.09815192e-04 -1.31044508e+02] [-1.00608161e-02 1.42486491e-04 -9.99949379e-01 -8.04100058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.770385723 meters 0.01570024249185845 Centerline is valid? [True, True] Translation: X:99.11, Y:-130.25, Z:-9.03 [[-9.99042104e-01 -4.25991897e-02 1.00091993e-02 9.91112816e+01] [ 4.25956036e-02 -9.99092232e-01 -5.71288691e-04 -1.30248637e+02] [ 1.00244497e-02 -1.44393572e-04 9.99949744e-01 -9.02857805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.800385723 meters 0.016277793985274906 Centerline is valid? [True, True] Translation: X:99.01, Y:-131.04, Z:-8.04 [[-9.99940319e-01 -3.28962665e-03 1.04180713e-02 9.90118530e+01] [-3.28795739e-03 9.99994579e-01 1.77350855e-04 -1.31043295e+02] [-1.04185982e-02 1.43086096e-04 -9.99945715e-01 -8.04021186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.830385723 meters 0.01568842321905964 Centerline is valid? [True, True] Translation: X:98.99, Y:-130.25, Z:-9.03 [[-9.99237813e-01 -3.72958566e-02 1.15243944e-02 9.89886764e+01] [ 3.72924058e-02 -9.99304264e-01 -5.14257045e-04 -1.30248877e+02] [ 1.15355561e-02 -8.40926928e-05 9.99933460e-01 -9.02866634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.860385723 meters 0.015929408179418614 Centerline is valid? [True, True] Translation: X:98.89, Y:-131.04, Z:-8.04 [[-9.99871794e-01 -1.02541804e-02 1.22982589e-02 9.88888795e+01] [-1.02514824e-02 9.99947412e-01 2.82402447e-04 -1.31043799e+02] [-1.23005080e-02 1.56290857e-04 -9.99924334e-01 -8.04193642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.890385723 meters 0.015966041245554157 Centerline is valid? [True, True] Translation: X:98.90, Y:-131.01, Z:-8.04 [[-9.96579081e-01 -8.16956814e-02 1.24880598e-02 9.89021301e+01] [-8.16872668e-02 9.96657308e-01 1.18326907e-03 -1.31013629e+02] [-1.25429841e-02 1.59105730e-04 -9.99921321e-01 -8.04184580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.920385723 meters 0.015834143743955108 Centerline is valid? [True, True] Translation: X:98.83, Y:-130.22, Z:-9.03 [[-9.99116498e-01 3.99200296e-02 1.31383211e-02 9.88308755e+01] [-3.99182467e-02 -9.99202870e-01 3.98021638e-04 -1.30224648e+02] [ 1.31437371e-02 -1.26788756e-04 9.99913609e-01 -9.02787729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.950385723 meters 0.01587733732653657 Centerline is valid? [True, True] Translation: X:98.79, Y:-131.02, Z:-8.04 [[-9.96027423e-01 -8.79956450e-02 1.36432821e-02 9.87892513e+01] [-8.79849591e-02 9.96120844e-01 1.38266169e-03 -1.31019813e+02] [-1.37120259e-02 1.76765346e-04 -9.99905970e-01 -8.04252108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.980385723 meters 0.01589579278352519 Centerline is valid? [True, True] Translation: X:98.77, Y:-130.99, Z:-8.04 [[-9.87140738e-01 -1.59257876e-01 1.37874163e-02 9.87727794e+01] [-1.59239825e-01 9.87237002e-01 2.40431750e-03 -1.30991615e+02] [-1.39943540e-02 1.77893994e-04 -9.99902058e-01 -8.04285214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.010385723 meters 0.015969797026482584 Centerline is valid? [True, True] Translation: X:98.74, Y:-130.97, Z:-8.04 [[-9.73021128e-01 -2.30269176e-01 1.43523903e-02 9.87416179e+01] [-2.30241316e-01 9.73126956e-01 3.58664873e-03 -1.30967168e+02] [-1.47925925e-02 1.85371763e-04 -9.99890566e-01 -8.04415295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.040385723 meters 0.016149811519354407 Centerline is valid? [True, True] Translation: X:98.68, Y:-130.95, Z:-8.04 [[-9.53698371e-01 -3.00450287e-01 1.37492517e-02 9.86843131e+01] [-3.00416195e-01 9.53797457e-01 4.52999750e-03 -1.30953454e+02] [-1.44750404e-02 1.89753348e-04 -9.99895213e-01 -8.04426212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.070385723 meters 0.01657248433068963 Centerline is valid? [True, True] Translation: X:98.61, Y:-130.95, Z:-8.04 [[-9.30001037e-01 -3.67317237e-01 1.32709735e-02 9.86079754e+01] [-3.67276349e-01 9.30095692e-01 5.48524358e-03 -1.30951270e+02] [-1.43580998e-02 2.27167531e-04 -9.99896891e-01 -8.04458181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.100385723 meters 0.01630823248327733 Centerline is valid? [True, True] Translation: X:98.54, Y:-130.95, Z:-8.05 [[-9.00782090e-01 -4.34084987e-01 1.27220161e-02 9.85361027e+01] [-4.34037771e-01 9.00871890e-01 6.40714988e-03 -1.30950852e+02] [-1.42421543e-02 2.49610324e-04 -9.99898544e-01 -8.04543418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.130385723 meters 0.016944939196776036 Centerline is valid? [True, True] Translation: X:98.46, Y:-130.96, Z:-8.05 [[-8.67316593e-01 -4.97589617e-01 1.29035025e-02 9.84576505e+01] [-4.97529156e-01 8.67412517e-01 7.76297910e-03 -1.30960558e+02] [-1.50554374e-02 3.13091877e-04 -9.99886611e-01 -8.04547870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.160385723 meters 0.01841528495471578 Centerline is valid? [True, True] Translation: X:98.37, Y:-130.99, Z:-8.04 [[-8.28270895e-01 -5.60198840e-01 1.20243064e-02 9.83693256e+01] [-5.60133995e-01 8.28358106e-01 8.52971104e-03 -1.30986607e+02] [-1.47387659e-02 3.29688593e-04 -9.99891324e-01 -8.04472833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.190385723 meters 0.01762340911517583 Centerline is valid? [True, True] Translation: X:98.27, Y:-131.02, Z:-8.05 [[-7.84486731e-01 -6.20053774e-01 1.06717537e-02 9.82708189e+01] [-6.19990647e-01 7.84559245e-01 8.85369735e-03 -1.31021309e+02] [-1.38623915e-02 3.29220606e-04 -9.99903858e-01 -8.04748354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.220385723 meters 0.017349848647055164 Centerline is valid? [True, True] Translation: X:98.18, Y:-131.06, Z:-8.05 [[-7.34817742e-01 -6.78190914e-01 9.99853683e-03 9.81776869e+01] [-6.78122084e-01 7.34885692e-01 9.66743071e-03 -1.31062341e+02] [-1.39041453e-02 3.23570968e-04 -9.99903280e-01 -8.04778191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.250385723 meters 0.017458114444077837 Centerline is valid? [True, True] Translation: X:98.08, Y:-131.12, Z:-8.05 [[-6.79679072e-01 -7.33451375e-01 9.24330137e-03 9.80774837e+01] [-7.33377568e-01 6.79741857e-01 1.04091598e-02 -1.31121678e+02] [-1.39176714e-02 2.96058210e-04 -9.99903101e-01 -8.04699266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.280385723 meters 0.01733669346385597 Centerline is valid? [True, True] Translation: X:97.99, Y:-131.18, Z:-8.05 [[-6.20633249e-01 -7.84054657e-01 8.52432252e-03 9.79889918e+01] [-7.83974418e-01 6.20691723e-01 1.12203592e-02 -1.31181672e+02] [-1.40883514e-02 2.80877235e-04 -9.99900715e-01 -8.04708281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.310385723 meters 0.017027129817262916 Centerline is valid? [True, True] Translation: X:97.90, Y:-131.26, Z:-8.05 [[-5.57457794e-01 -8.30171682e-01 7.46901356e-03 9.78980653e+01] [-8.30091069e-01 5.57507772e-01 1.15715709e-02 -1.31257158e+02] [-1.37704236e-02 2.50700941e-04 -9.99905152e-01 -8.04704220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.340385723 meters 0.016311670759260398 Centerline is valid? [True, True] Translation: X:97.81, Y:-131.34, Z:-8.05 [[-4.89353889e-01 -8.72067207e-01 5.61762762e-03 9.78085253e+01] [-8.72005597e-01 4.89386101e-01 1.03673650e-02 -1.31340738e+02] [-1.17902279e-02 1.74707664e-04 -9.99930478e-01 -8.04695605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.370385723 meters 0.015748348710606437 Centerline is valid? [True, True] Translation: X:97.73, Y:-131.43, Z:-8.05 [[-4.17753046e-01 -9.08551913e-01 3.97667805e-03 9.77260276e+01] [-9.08508269e-01 4.17771960e-01 8.90585157e-03 -1.31433700e+02] [-9.75277306e-03 1.07601732e-04 -9.99952435e-01 -8.04837645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.400385723 meters 0.01538646226801104 Centerline is valid? [True, True] Translation: X:97.65, Y:-131.54, Z:-8.05 [[-3.44986682e-01 -9.38602603e-01 3.05665287e-03 9.76500775e+01] [-9.38563616e-01 3.45000213e-01 8.55525667e-03 -1.31539212e+02] [-9.08453207e-03 8.25864454e-05 -9.99958731e-01 -8.04935781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43038572300003 meters 0.015374458885543825 Centerline is valid? [True, True] Translation: X:97.58, Y:-131.65, Z:-8.05 [[-2.70406830e-01 -9.62743775e-01 2.13804769e-03 9.75827584e+01] [-9.62711873e-01 2.70415275e-01 7.83758877e-03 -1.31653469e+02] [-8.12375055e-03 6.10136358e-05 -9.99967000e-01 -8.04964177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.460385723 meters 0.01521620396395158 Centerline is valid? [True, True] Translation: X:97.53, Y:-131.74, Z:-8.05 [[-1.92644155e-01 -9.81267606e-01 1.45461691e-03 9.75294980e+01] [-9.81238212e-01 1.92649643e-01 7.59514169e-03 -1.31744272e+02] [-7.73309793e-03 3.58339568e-05 -9.99970099e-01 -8.05010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.490385723 meters 0.01516466406134294 Centerline is valid? [True, True] Translation: X:97.48, Y:-131.86, Z:-8.05 [[-1.15565592e-01 -9.93299460e-01 8.81045668e-04 9.74809048e+01] [-9.93268697e-01 1.15568947e-01 7.81757065e-03 -1.31860274e+02] [-7.86701023e-03 2.83270946e-05 -9.99969054e-01 -8.04934990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.520385723 meters 0.015137765868460072 Centerline is valid? [True, True] Translation: X:97.44, Y:-131.98, Z:-8.05 [[-3.76541852e-02 -9.99290782e-01 3.08613854e-04 9.74394651e+01] [-9.99252354e-01 3.76554436e-02 8.76360298e-03 -1.31979614e+02] [-8.76900866e-03 2.16032091e-05 -9.99961551e-01 -8.04652950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.550385723 meters 0.015100633267025085 Centerline is valid? [True, True] Translation: X:97.41, Y:-132.10, Z:-8.05 [[ 3.91425530e-02 -9.99233564e-01 -3.81284337e-04 9.74092686e+01] [-9.99191918e-01 -3.91444027e-02 9.12281869e-03 -1.32104453e+02] [-9.13075178e-03 2.38858139e-05 -9.99958314e-01 -8.04541460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.580385723 meters 0.015322952806026592 Centerline is valid? [True, True] Translation: X:97.39, Y:-132.22, Z:-8.04 [[ 1.14408709e-01 -9.93433308e-01 -9.53949602e-04 9.73871963e+01] [-9.93401172e-01 -1.14412681e-01 7.99065323e-03 -1.32222364e+02] [-8.04732501e-03 3.34543301e-05 -9.99967619e-01 -8.04401228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.610385723 meters 0.015370825788451187 Centerline is valid? [True, True] Translation: X:97.38, Y:-132.35, Z:-8.04 [[ 1.88822448e-01 -9.82010012e-01 -1.55550004e-03 9.73777456e+01] [-9.81978696e-01 -1.88828849e-01 7.84259199e-03 -1.32348632e+02] [-7.99522714e-03 4.66104841e-05 -9.99968037e-01 -8.04454523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.640385723 meters 0.015684638707295574 Centerline is valid? [True, True] Translation: X:97.38, Y:-132.47, Z:-8.04 [[ 2.59965771e-01 -9.65615150e-01 -2.27575374e-03 9.73789052e+01] [-9.65580904e-01 -2.59975719e-01 8.13282723e-03 -1.32469628e+02] [-8.44482190e-03 8.31676534e-05 -9.99964338e-01 -8.04470275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.670385723 meters 0.016069211736131857 Centerline is valid? [True, True] Translation: X:97.39, Y:-132.60, Z:-8.04 [[ 3.31416234e-01 -9.43480500e-01 -2.79736307e-03 9.73897002e+01] [-9.43449340e-01 -3.31428025e-01 7.66858009e-03 -1.32596315e+02] [-8.16228030e-03 9.76784111e-05 -9.99966683e-01 -8.04434930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.700385723 meters 0.01605725504355181 Centerline is valid? [True, True] Translation: X:97.40, Y:-132.72, Z:-8.04 [[ 4.00534762e-01 -9.16275840e-01 -3.23889104e-03 9.74029885e+01] [-9.16248144e-01 -4.00547841e-01 7.12499200e-03 -1.32715356e+02] [-7.82578884e-03 1.13820930e-04 -9.99969372e-01 -8.04437923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.730385723 meters 0.016209686391707622 Centerline is valid? [True, True] Translation: X:97.43, Y:-132.84, Z:-8.04 [[ 4.69265318e-01 -8.83050508e-01 -3.44410848e-03 9.74311856e+01] [-8.83028365e-01 -4.69277945e-01 6.25443534e-03 -1.32841865e+02] [-7.13922645e-03 1.06255891e-04 -9.99974510e-01 -8.04354121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.760385723 meters 0.01631902432592991 Centerline is valid? [True, True] Translation: X:97.46, Y:-132.95, Z:-8.04 [[ 5.35449151e-01 -8.44560564e-01 -3.41479951e-03 9.74580781e+01] [-8.44544488e-01 -5.35460031e-01 5.21173926e-03 -1.32950936e+02] [-6.23011810e-03 9.33287466e-05 -9.99980588e-01 -8.04178349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.790385723 meters 0.016391428878919756 Centerline is valid? [True, True] Translation: X:97.50, Y:-133.07, Z:-8.04 [[ 5.98189329e-01 -8.01346171e-01 -3.72038326e-03 9.75044902e+01] [-8.01331627e-01 -5.98200891e-01 4.82884071e-03 -1.33068093e+02] [-6.09510959e-03 9.26997885e-05 -9.99981420e-01 -8.04178536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.820385723 meters 0.016538663867682633 Centerline is valid? [True, True] Translation: X:97.55, Y:-133.16, Z:-8.04 [[ 6.57234808e-01 -7.53677355e-01 -3.58495883e-03 9.75457035e+01] [-7.53666833e-01 -6.57244580e-01 3.98347018e-03 -1.33164603e+02] [-5.35844603e-03 8.37893099e-05 -9.99985640e-01 -8.04235131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.850385723 meters 0.0164927606125051 Centerline is valid? [True, True] Translation: X:97.60, Y:-133.26, Z:-8.04 [[ 7.12020143e-01 -7.02153150e-01 -2.87583796e-03 9.75961905e+01] [-7.02147791e-01 -7.12025947e-01 2.74405039e-03 -1.33263417e+02] [-3.97441487e-03 6.54441151e-05 -9.99992100e-01 -8.04240500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.880385723 meters 0.01642146599850441 Centerline is valid? [True, True] Translation: X:97.59, Y:-133.28, Z:-8.04 [[ 7.65097987e-01 -6.43904598e-01 -3.45519987e-03 9.75888418e+01] [-6.43898448e-01 -7.65105786e-01 2.81521199e-03 -1.33276195e+02] [-4.45632136e-03 7.08848104e-05 -9.99990068e-01 -8.04216206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.910385723 meters 0.016063498547223016 Centerline is valid? [True, True] Translation: X:97.58, Y:-133.29, Z:-8.04 [[ 8.15038751e-01 -5.79391350e-01 -4.18305004e-03 9.75807212e+01] [-5.79384121e-01 -8.15049483e-01 2.89492788e-03 -1.33291829e+02] [-5.08668894e-03 6.41143654e-05 -9.99987061e-01 -8.03997195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.940385723 meters 0.015650162714104136 Centerline is valid? [True, True] Translation: X:97.58, Y:-133.31, Z:-8.04 [[ 8.59114007e-01 -5.11766728e-01 -4.23536556e-03 9.75754264e+01] [-5.11760792e-01 -8.59124446e-01 2.46542216e-03 -1.33307439e+02] [-4.90042712e-03 4.94153196e-05 -9.99987992e-01 -8.03925382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.970385723 meters 0.015650162714104136 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.32, Z:-8.04 [[ 8.96482277e-01 -4.43057597e-01 -4.41506918e-03 9.75734284e+01] [-4.43052495e-01 -8.96493147e-01 2.12685777e-03 -1.33319064e+02] [-4.90039976e-03 4.94171189e-05 -9.99987992e-01 -8.03925410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.000385723 meters 0.01547930804983576 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.33, Z:-8.04 [[ 9.29355976e-01 -3.69163268e-01 -3.99398874e-03 9.75710270e+01] [-3.69160006e-01 -9.29364557e-01 1.55230428e-03 -1.33333432e+02] [-4.28492530e-03 3.17776492e-05 -9.99990819e-01 -8.03801958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.030385723 meters 0.014916935401720326 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.35, Z:-8.04 [[ 9.57004286e-01 -2.90054965e-01 -3.30356521e-03 9.75693998e+01] [-2.90053259e-01 -9.57009988e-01 9.94857696e-04 -1.33352312e+02] [-3.45010831e-03 6.12677552e-06 -9.99994048e-01 -8.03732469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.060385723 meters 0.01486742415190088 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.37, Z:-8.04 [[ 9.77670918e-01 -2.10122266e-01 -2.86509788e-03 9.75701912e+01] [-2.10121341e-01 -9.77675116e-01 6.23639316e-04 -1.33370487e+02] [-2.93217541e-03 -7.69581539e-06 -9.99995701e-01 -8.03704533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.090385723 meters 0.01499954823507192 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.39, Z:-8.04 [[ 9.91400138e-01 -1.30819913e-01 -3.45212173e-03 9.75730855e+01] [-1.30819061e-01 -9.91406148e-01 4.72505196e-04 -1.33386494e+02] [-3.48426780e-03 -1.68383938e-05 -9.99993930e-01 -8.03700967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.120385723 meters 0.015002496842890576 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.40, Z:-8.04 [[ 9.98708788e-01 -5.06930851e-02 -3.31174452e-03 9.75734970e+01] [-5.06927299e-02 -9.98714279e-01 1.91155619e-04 -1.33401721e+02] [-3.31717681e-03 -2.30274265e-05 -9.99994498e-01 -8.03689137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.150385723 meters 0.015424886379088011 Centerline is valid? [True, True] Translation: X:97.57, Y:-133.42, Z:-8.04 [[ 9.99474546e-01 3.22864930e-02 -2.86596867e-03 9.75747444e+01] [ 3.22864556e-02 -9.99478655e-01 -5.93315846e-05 -1.33418662e+02] [-2.86639012e-03 -3.32315616e-05 -9.99995891e-01 -8.03694933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18038572300003 meters 0.01566308876707417 Centerline is valid? [True, True] Translation: X:97.58, Y:-133.43, Z:-8.04 [[ 9.93648576e-01 1.12510486e-01 -1.97438407e-03 9.75780014e+01] [ 1.12510319e-01 -9.93650537e-01 -1.95999616e-04 -1.33430999e+02] [-1.98389980e-03 -2.73838417e-05 -9.99998032e-01 -8.03735418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.210385723 meters 0.016425416709124497 Centerline is valid? [True, True] Translation: X:97.58, Y:-133.44, Z:-8.04 [[ 9.81084139e-01 1.93581487e-01 -3.46823033e-04 9.75823089e+01] [ 1.93581477e-01 -9.81084200e-01 -6.15726038e-05 -1.33443710e+02] [-3.52181914e-04 -6.73061012e-06 -9.99999938e-01 -8.03818237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.240385723 meters 0.016952914040588497 Centerline is valid? [True, True] Translation: X:97.59, Y:-133.45, Z:-8.04 [[ 9.62609177e-01 2.70893925e-01 -2.31426327e-04 9.75867446e+01] [ 2.70893919e-01 -9.62609205e-01 -5.98721340e-05 -1.33453972e+02] [-2.38992110e-04 -5.05851876e-06 -9.99999971e-01 -8.03786435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.270385723 meters 0.017023088511191588 Centerline is valid? [True, True] Translation: X:97.59, Y:-133.46, Z:-8.04 [[ 9.38097926e-01 3.46369323e-01 -7.56727454e-04 9.75922389e+01] [ 3.46369224e-01 -9.38098231e-01 -2.62179189e-04 -1.33462254e+02] [-8.00695515e-04 -1.61573480e-05 -9.99999679e-01 -8.03617914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.300385723 meters 0.017210871383840254 Centerline is valid? [True, True] Translation: X:97.60, Y:-133.47, Z:-8.04 [[ 9.07950060e-01 4.19077663e-01 -7.75819352e-04 9.75983690e+01] [ 4.19077526e-01 -9.07950391e-01 -3.38993178e-04 -1.33468339e+02] [-8.46469953e-04 -1.73395783e-05 -9.99999642e-01 -8.03546012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.330385723 meters 0.017287839905908823 Centerline is valid? [True, True] Translation: X:97.60, Y:-133.47, Z:-8.04 [[ 8.72441585e-01 4.88717483e-01 -9.50534598e-04 9.76027413e+01] [ 4.88717220e-01 -8.72442102e-01 -5.07647434e-04 -1.33473210e+02] [-1.07738258e-03 -2.16498944e-05 -9.99999419e-01 -8.03506515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.360385723 meters 0.017317658410121405 Centerline is valid? [True, True] Translation: X:97.61, Y:-133.48, Z:-8.04 [[ 8.32166906e-01 5.54524742e-01 -7.42755833e-04 9.76057245e+01] [ 5.54524539e-01 -8.32167237e-01 -4.74796898e-04 -1.33475063e+02] [-8.81383696e-04 -1.67660704e-05 -9.99999611e-01 -8.03544309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.390385723 meters 0.01611756821508431 Centerline is valid? [True, True] Translation: X:97.61, Y:-133.48, Z:-8.04 [[ 7.87283904e-01 6.16590499e-01 4.58437838e-04 9.76108669e+01] [ 6.16590401e-01 -7.87284038e-01 3.47826889e-04 -1.33478396e+02] [ 5.75387548e-04 8.82985914e-06 -9.99999834e-01 -8.03651184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.420385723 meters 0.019366419866277275 Centerline is valid? [True, True] Translation: X:97.62, Y:-133.49, Z:-8.04 [[ 7.37475871e-01 6.75371827e-01 1.49494758e-03 9.76187729e+01] [ 6.75370521e-01 -7.37477386e-01 1.32870884e-03 -1.33485624e+02] [ 1.99986255e-03 2.97528149e-05 -9.99998000e-01 -8.03503116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.450385723 meters 0.015812396668599044 Centerline is valid? [True, True] Translation: X:97.63, Y:-133.49, Z:-8.04 [[ 6.82460852e-01 7.30921852e-01 6.57495882e-04 9.76258682e+01] [ 7.30921532e-01 -6.82461169e-01 6.84244812e-04 -1.33489128e+02] [ 9.48844894e-04 1.36075997e-05 -9.99999550e-01 -8.03689888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.480385723 meters 0.015695864396884942 Centerline is valid? [True, True] Translation: X:97.63, Y:-133.49, Z:-8.04 [[ 6.24423666e-01 7.81085591e-01 6.20804186e-04 9.76314677e+01] [ 7.81085225e-01 -6.24423974e-01 7.56598200e-04 -1.33491857e+02] [ 9.78612970e-04 1.24631555e-05 -9.99999521e-01 -8.03708297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.510385723 meters 0.01559226177519837 Centerline is valid? [True, True] Translation: X:97.64, Y:-133.50, Z:-8.04 [[ 5.62280095e-01 8.26946512e-01 7.48528126e-04 9.76398645e+01] [ 8.26945816e-01 -5.62280593e-01 1.07333154e-03 -1.33496623e+02] [ 1.30847061e-03 1.54792420e-05 -9.99999144e-01 -8.03714207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.540385723 meters 0.015425625570742514 Centerline is valid? [True, True] Translation: X:97.65, Y:-133.50, Z:-8.04 [[ 4.97430092e-01 8.67503851e-01 6.10384905e-04 9.76477952e+01] [ 8.67503227e-01 -4.97430466e-01 1.04037277e-03 -1.33500095e+02] [ 1.20615143e-03 1.19981506e-05 -9.99999273e-01 -8.03579344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.570385723 meters 0.01534035570127462 Centerline is valid? [True, True] Translation: X:97.66, Y:-133.51, Z:-8.04 [[ 4.29108920e-01 9.03252686e-01 3.45529235e-04 9.76555076e+01] [ 9.03252406e-01 -4.29109059e-01 7.11850190e-04 -1.33505140e+02] [ 7.91250321e-04 6.63884679e-06 -9.99999687e-01 -8.03524622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.600385723 meters 0.015233655318546816 Centerline is valid? [True, True] Translation: X:97.66, Y:-133.51, Z:-8.04 [[ 3.58526566e-01 9.33519485e-01 2.70629053e-04 9.76617804e+01] [ 9.33519229e-01 -3.58526669e-01 6.90622580e-04 -1.33507461e+02] [ 7.41737368e-04 5.03088301e-06 -9.99999725e-01 -8.03559089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.630385723 meters 0.015049038350514816 Centerline is valid? [True, True] Translation: X:97.67, Y:-133.51, Z:-8.04 [[ 2.87230669e-01 9.57861440e-01 6.50014931e-05 9.76658543e+01] [ 9.57861416e-01 -2.87230676e-01 2.15427326e-04 -1.33509862e+02] [ 2.25019951e-04 3.85087412e-07 -9.99999975e-01 -8.03546413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.660385723 meters 0.014956405939536486 Centerline is valid? [True, True] Translation: X:97.67, Y:-133.51, Z:-8.04 [[ 2.13553999e-01 9.76931205e-01 3.30650830e-04 9.76735673e+01] [ 9.76930056e-01 -2.13554255e-01 1.49878646e-03 -1.33512612e+02] [ 1.53482315e-03 2.95089212e-06 -9.99998822e-01 -8.03570638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.690385723 meters 0.01494700003207193 Centerline is valid? [True, True] Translation: X:97.68, Y:-133.52, Z:-8.04 [[ 1.36659059e-01 9.90618113e-01 2.38157510e-04 9.76831422e+01] [ 9.90616645e-01 -1.36659266e-01 1.70502166e-03 -1.33516635e+02] [ 1.72157177e-03 2.91613800e-06 -9.99998518e-01 -8.03632746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.720385723 meters 0.014960262210629575 Centerline is valid? [True, True] Translation: X:97.69, Y:-133.52, Z:-8.04 [[ 5.86036295e-02 9.98281325e-01 1.06361149e-04 9.76935541e+01] [ 9.98279774e-01 -5.86037260e-02 1.75946224e-03 -1.33519611e+02] [ 1.76267146e-03 3.06731081e-06 -9.99998447e-01 -8.03606319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.750385723 meters 0.014910906712946639 Centerline is valid? [True, True] Translation: X:97.70, Y:-133.52, Z:-8.04 [[-2.08153084e-02 9.99783338e-01 -2.91842171e-05 9.77014766e+01] [ 9.99782032e-01 2.08153284e-02 1.61544771e-03 -1.33523387e+02] [ 1.61570518e-03 4.44818654e-06 -9.99998695e-01 -8.03598536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.780385723 meters 0.015075553836443923 Centerline is valid? [True, True] Translation: X:97.71, Y:-133.53, Z:-8.04 [[-9.94885949e-02 9.95038677e-01 -2.25671985e-04 9.77107508e+01] [ 9.95035936e-01 9.94888505e-02 2.33543407e-03 -1.33525723e+02] [ 2.34629907e-03 7.79731890e-06 -9.99997247e-01 -8.03651312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.810385723 meters 0.015136673982675484 Centerline is valid? [True, True] Translation: X:97.72, Y:-133.53, Z:-8.04 [[-1.77968213e-01 9.84036031e-01 -6.36983967e-04 9.77175034e+01] [ 9.84029408e-01 1.77969353e-01 3.61020538e-03 -1.33527431e+02] [ 3.66593580e-03 1.56908449e-05 -9.99993280e-01 -8.03685575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.840385723 meters 0.015219345825815231 Centerline is valid? [True, True] Translation: X:97.73, Y:-133.53, Z:-8.04 [[-2.54898283e-01 9.66967444e-01 -9.09712966e-04 9.77257947e+01] [ 9.66961045e-01 2.54899906e-01 3.51785286e-03 -1.33528639e+02] [ 3.63353494e-03 1.70376546e-05 -9.99993399e-01 -8.03630995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.870385723 meters 0.015316400593986448 Centerline is valid? [True, True] Translation: X:97.73, Y:-133.53, Z:-8.04 [[-3.30781217e-01 9.43707143e-01 -7.84570337e-04 9.77310495e+01] [ 9.43704391e-01 3.30782147e-01 2.27892854e-03 -1.33531579e+02] [ 2.41016300e-03 1.34242823e-05 -9.99997095e-01 -8.03572938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.900385723 meters 0.015312895680516872 Centerline is valid? [True, True] Translation: X:97.74, Y:-133.53, Z:-8.04 [[-4.04046005e-01 9.14738110e-01 -1.00828511e-03 9.77389947e+01] [ 9.14735168e-01 4.04047263e-01 2.32004167e-03 -1.33532749e+02] [ 2.52962537e-03 1.50897216e-05 -9.99996800e-01 -8.03612463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93038572300003 meters 0.015404348553565246 Centerline is valid? [True, True] Translation: X:97.75, Y:-133.53, Z:-8.04 [[-4.75287560e-01 8.79829422e-01 -1.38686766e-03 9.77470524e+01] [ 8.79825551e-01 4.75289583e-01 2.61020118e-03 -1.33533207e+02] [ 2.95569555e-03 2.03945457e-05 -9.99995632e-01 -8.03672469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.960385723 meters 0.015655365929574196 Centerline is valid? [True, True] Translation: X:97.75, Y:-133.53, Z:-8.04 [[-5.43653370e-01 8.39307349e-01 -2.04637091e-03 9.77533776e+01] [ 8.39301190e-01 5.43657220e-01 3.21553761e-03 -1.33534586e+02] [ 3.81134867e-03 3.06163221e-05 -9.99992736e-01 -8.03779673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.990385723 meters 0.01560716429299656 Centerline is valid? [True, True] Translation: X:97.76, Y:-133.53, Z:-8.04 [[-6.07728179e-01 7.94142317e-01 -2.10718052e-03 9.77629490e+01] [ 7.94137383e-01 6.07731832e-01 2.79971892e-03 -1.33532492e+02] [ 3.50397595e-03 2.80772586e-05 -9.99993861e-01 -8.03636051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.020385723 meters 0.015757855149169504 Centerline is valid? [True, True] Translation: X:97.77, Y:-133.53, Z:-8.04 [[-6.67959403e-01 7.44194258e-01 -2.26770924e-03 9.77747936e+01] [ 7.44189831e-01 6.67963252e-01 2.56707934e-03 -1.33529878e+02] [ 3.42515215e-03 2.70986269e-05 -9.99994134e-01 -8.03521992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.050385723 meters 0.015734838064047255 Centerline is valid? [True, True] Translation: X:97.78, Y:-133.53, Z:-8.03 [[-7.23779632e-01 6.90028340e-01 -1.98341643e-03 9.77809252e+01] [ 6.90025673e-01 7.23782349e-01 1.91856781e-03 -1.33530595e+02] [ 2.75942797e-03 2.00120463e-05 -9.99996193e-01 -8.03439394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.080385723 meters 0.01561869823676103 Centerline is valid? [True, True] Translation: X:98.32, Y:-132.98, Z:-9.03 [[-6.65797281e-01 -7.46131268e-01 -1.45305590e-03 9.83235634e+01] [ 7.46129439e-01 -6.65798867e-01 1.65232090e-03 -1.32983832e+02] [-2.20029126e-03 1.59429819e-05 9.99997579e-01 -9.03494305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.110385723 meters 0.015592775540088224 Centerline is valid? [True, True] Translation: X:98.31, Y:-132.96, Z:-9.03 [[-6.66959036e-01 -7.45092946e-01 -1.46494295e-03 9.83084453e+01] [ 7.45091182e-01 -6.66960645e-01 1.62130070e-03 -1.32961326e+02] [-2.18507901e-03 -1.01749278e-05 9.99997613e-01 -9.03440164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.140385723 meters 0.01552046529520226 Centerline is valid? [True, True] Translation: X:98.29, Y:-132.94, Z:-9.03 [[-6.69788688e-01 -7.42550341e-01 -1.45082541e-03 9.82942579e+01] [ 7.42548607e-01 -6.69790259e-01 1.60463666e-03 -1.32938848e+02] [-2.16327223e-03 -2.54089982e-06 9.99997660e-01 -9.03376066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.170385723 meters 0.015558639284376806 Centerline is valid? [True, True] Translation: X:98.28, Y:-132.92, Z:-9.03 [[-6.71205461e-01 -7.41270285e-01 -1.26224058e-03 9.82766690e+01] [ 7.41268972e-01 -6.71206648e-01 1.39527878e-03 -1.32917307e+02] [-1.88150297e-03 8.58957631e-07 9.99998230e-01 -9.03403440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.200385723 meters 0.0155773319733652 Centerline is valid? [True, True] Translation: X:98.26, Y:-132.90, Z:-9.03 [[-6.72294924e-01 -7.40282363e-01 -1.24845729e-03 9.82592786e+01] [ 7.40281078e-01 -6.72296083e-01 1.37913359e-03 -1.32897425e+02] [-1.86028122e-03 2.97519653e-06 9.99998270e-01 -9.03444465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.230385723 meters 0.01568863945714836 Centerline is valid? [True, True] Translation: X:98.24, Y:-132.88, Z:-9.04 [[-6.73589529e-01 -7.39104577e-01 -1.25317393e-03 9.82401880e+01] [ 7.39103282e-01 -6.73590695e-01 1.38349169e-03 -1.32878084e+02] [-1.86667134e-03 5.68055413e-06 9.99998258e-01 -9.03623617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.260385723 meters 0.01577389633643174 Centerline is valid? [True, True] Translation: X:98.22, Y:-132.86, Z:-9.04 [[-6.74254430e-01 -7.38498343e-01 -1.07751042e-03 9.82219907e+01] [ 7.38497386e-01 -6.74255291e-01 1.18882461e-03 -1.32857935e+02] [-1.60446210e-03 5.83163308e-06 9.99998713e-01 -9.03626281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.290385723 meters 0.0158449321304325 Centerline is valid? [True, True] Translation: X:98.20, Y:-132.84, Z:-9.03 [[-6.75258679e-01 -7.37579634e-01 -1.41413387e-03 9.82038740e+01] [ 7.37577986e-01 -6.75260160e-01 1.55926112e-03 -1.32837115e+02] [-2.10498751e-03 9.87059500e-06 9.99997784e-01 -9.03456266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.320385723 meters 0.01589518614335022 Centerline is valid? [True, True] Translation: X:98.18, Y:-132.82, Z:-9.03 [[-6.75936729e-01 -7.36957924e-01 -1.59901399e-03 9.81849016e+01] [ 7.36955818e-01 -6.75938620e-01 1.76203695e-03 -1.32816949e+02] [-2.37938240e-03 1.26228335e-05 9.99997169e-01 -9.03399834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.350385723 meters 0.015909875526506644 Centerline is valid? [True, True] Translation: X:98.16, Y:-132.80, Z:-9.04 [[-6.76087584e-01 -7.36819637e-01 -1.54948571e-03 9.81648146e+01] [ 7.36817662e-01 -6.76089359e-01 1.70636687e-03 -1.32800021e+02] [-2.30487543e-03 1.19650159e-05 9.99997344e-01 -9.03527384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.380385723 meters 0.015849235865212048 Centerline is valid? [True, True] Translation: X:98.14, Y:-132.78, Z:-9.04 [[-6.75819826e-01 -7.37065605e-01 -1.36258723e-03 9.81448348e+01] [ 7.37064080e-01 -6.75821199e-01 1.49963566e-03 -1.32781435e+02] [-2.02619520e-03 9.16940882e-06 9.99997947e-01 -9.03596582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.410385723 meters 0.015832531377531087 Centerline is valid? [True, True] Translation: X:98.12, Y:-132.76, Z:-9.04 [[-6.74386646e-01 -7.38378354e-01 -2.41870187e-04 9.81240595e+01] [ 7.38378306e-01 -6.74386689e-01 2.66040374e-04 -1.32763911e+02] [-3.59552488e-04 8.22376670e-07 9.99999935e-01 -9.03663966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.440385723 meters 0.015779975841539545 Centerline is valid? [True, True] Translation: X:98.10, Y:-132.75, Z:-9.04 [[-6.74074188e-01 -7.38663647e-01 7.25954557e-05 9.81048589e+01] [ 7.38663643e-01 -6.74074192e-01 -7.97953328e-05 -1.32745083e+02] [ 1.07876635e-04 -1.64350407e-07 9.99999994e-01 -9.03668495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.470385723 meters 0.015828801286020263 Centerline is valid? [True, True] Translation: X:98.08, Y:-132.73, Z:-9.04 [[-6.74344216e-01 -7.38416845e-01 6.64184468e-04 9.80843386e+01] [ 7.38416485e-01 -6.74344543e-01 -7.29644787e-04 -1.32726749e+02] [ 9.86671173e-04 -1.58698161e-06 9.99999513e-01 -9.03777405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.500385723 meters 0.015881743129937564 Centerline is valid? [True, True] Translation: X:98.06, Y:-132.71, Z:-9.04 [[-6.75060568e-01 -7.37761649e-01 9.88869629e-04 9.80649183e+01] [ 7.37760851e-01 -6.75061293e-01 -1.08566936e-03 -1.32707122e+02] [ 1.46851283e-03 -3.34327764e-06 9.99998922e-01 -9.03820979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.530385723 meters 0.01583417529476665 Centerline is valid? [True, True] Translation: X:98.05, Y:-132.69, Z:-9.04 [[-6.75799746e-01 -7.37084716e-01 9.08328373e-04 9.80461055e+01] [ 7.37084042e-01 -6.75800356e-01 -9.96639286e-04 -1.32687561e+02] [ 1.34845622e-03 -4.01422685e-06 9.99999091e-01 -9.03834701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.560385723 meters 0.015960335254633362 Centerline is valid? [True, True] Translation: X:98.03, Y:-132.67, Z:-9.04 [[-6.77791988e-01 -7.35253366e-01 7.12486078e-04 9.80276590e+01] [ 7.35252951e-01 -6.77792363e-01 -7.81282786e-04 -1.32666841e+02] [ 1.05735842e-03 -5.68972130e-06 9.99999441e-01 -9.03764051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.590385723 meters 0.015902728819723173 Centerline is valid? [True, True] Translation: X:98.01, Y:-132.65, Z:-9.04 [[-6.78909656e-01 -7.34221624e-01 5.33962166e-04 9.80079957e+01] [ 7.34221391e-01 -6.78909866e-01 -5.85193142e-04 -1.32646134e+02] [ 7.92173642e-04 -5.24683069e-06 9.99999686e-01 -9.03715478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.620385723 meters 0.016019537227309335 Centerline is valid? [True, True] Translation: X:97.99, Y:-132.63, Z:-9.04 [[-6.80420631e-01 -7.32821740e-01 2.50312116e-04 9.79887368e+01] [ 7.32821688e-01 -6.80420677e-01 -2.74171733e-04 -1.32625887e+02] [ 3.71236546e-04 -3.11795624e-06 9.99999931e-01 -9.03652927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.650385723 meters 0.01619529871506601 Centerline is valid? [True, True] Translation: X:97.97, Y:-132.61, Z:-9.04 [[-6.80779236e-01 -7.32488347e-01 6.73674983e-04 9.79707270e+01] [ 7.32487975e-01 -6.80779569e-01 -7.37459295e-04 -1.32605735e+02] [ 9.98804504e-04 -8.58815110e-06 9.99999501e-01 -9.03651783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68038572300003 meters 0.016188494433806606 Centerline is valid? [True, True] Translation: X:97.95, Y:-132.59, Z:-9.04 [[-6.81096765e-01 -7.32192913e-01 8.57166592e-04 9.79519019e+01] [ 7.32192313e-01 -6.81097304e-01 -9.37747278e-04 -1.32586308e+02] [ 1.27042577e-03 -1.10858471e-05 9.99999193e-01 -9.03707825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.710385723 meters 0.01608844030022004 Centerline is valid? [True, True] Translation: X:97.93, Y:-132.57, Z:-9.04 [[-6.81448763e-01 -7.31864956e-01 1.12707382e-03 9.79310098e+01] [ 7.31863918e-01 -6.81449695e-01 -1.23234716e-03 -1.32567032e+02] [ 1.66995582e-03 -1.49167850e-05 9.99998606e-01 -9.03757961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.740385723 meters 0.016024498313850624 Centerline is valid? [True, True] Translation: X:97.91, Y:-132.55, Z:-9.04 [[-6.81726906e-01 -7.31606534e-01 5.51706840e-04 9.79113760e+01] [ 7.31606286e-01 -6.81727130e-01 -6.02902385e-04 -1.32547458e+02] [ 8.17200845e-04 -7.38258577e-06 9.99999666e-01 -9.03760991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.770385723 meters 0.016009955428739214 Centerline is valid? [True, True] Translation: X:97.89, Y:-132.53, Z:-9.04 [[-6.81425402e-01 -7.31887415e-01 4.82197677e-04 9.78925042e+01] [ 7.31887226e-01 -6.81425573e-01 -5.26635085e-04 -1.32528378e+02] [ 7.14019419e-04 -5.94820497e-06 9.99999745e-01 -9.03712968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.800385723 meters 0.01597500540975835 Centerline is valid? [True, True] Translation: X:97.87, Y:-132.51, Z:-9.04 [[-6.81395407e-01 -7.31915373e-01 4.32567810e-04 9.78742819e+01] [ 7.31915220e-01 -6.81395544e-01 -4.72139754e-04 -1.32508240e+02] [ 6.40316123e-04 -5.11089560e-06 9.99999795e-01 -9.03684581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.830385723 meters 0.01597500540975835 Centerline is valid? [True, True] Translation: X:97.86, Y:-132.49, Z:-9.04 [[-6.81620241e-01 -7.31705993e-01 4.32712848e-04 9.78561283e+01] [ 7.31705841e-01 -6.81620378e-01 -4.72006833e-04 -1.32488564e+02] [ 6.40316123e-04 -5.11089319e-06 9.99999795e-01 -9.03684607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.860385723 meters 0.015997703410938674 Centerline is valid? [True, True] Translation: X:97.84, Y:-132.47, Z:-9.04 [[-6.81505805e-01 -7.31812387e-01 6.84133983e-04 9.78379283e+01] [ 7.31812007e-01 -6.81506149e-01 -7.45801751e-04 -1.32468510e+02] [ 1.01202848e-03 -7.61076076e-06 9.99999488e-01 -9.03641453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.890385723 meters 0.015950023770965598 Centerline is valid? [True, True] Translation: X:97.82, Y:-132.45, Z:-9.04 [[-6.81014021e-01 -7.32269864e-01 8.66118899e-04 9.78175570e+01] [ 7.32269256e-01 -6.81014572e-01 -9.43609220e-04 -1.32449742e+02] [ 1.28081619e-03 -8.37886710e-06 9.99999180e-01 -9.03693541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.920385723 meters 0.01585303481099507 Centerline is valid? [True, True] Translation: X:97.80, Y:-132.43, Z:-9.04 [[-6.80845199e-01 -7.32426707e-01 9.66250698e-04 9.77955873e+01] [ 7.32425952e-01 -6.80845884e-01 -1.05211721e-03 -1.32431271e+02] [ 1.42846656e-03 -8.62186582e-06 9.99998980e-01 -9.03849024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.950385723 meters 0.01586929857078154 Centerline is valid? [True, True] Translation: X:97.78, Y:-132.41, Z:-9.04 [[-6.81116976e-01 -7.32173522e-01 1.26452620e-03 9.77768596e+01] [ 7.32172228e-01 -6.81118150e-01 -1.37609581e-03 -1.32412000e+02] [ 1.86883266e-03 -1.14312477e-05 9.99998254e-01 -9.03891142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.980385723 meters 0.01587498548846362 Centerline is valid? [True, True] Translation: X:97.76, Y:-132.39, Z:-9.04 [[-6.81897931e-01 -7.31445451e-01 1.66265605e-03 9.77584595e+01] [ 7.31443216e-01 -6.81899957e-01 -1.80824550e-03 -1.32392344e+02] [ 2.45639804e-03 -1.69003720e-05 9.99996983e-01 -9.03907439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.010385723 meters 0.015978477031086027 Centerline is valid? [True, True] Translation: X:97.74, Y:-132.37, Z:-9.04 [[-6.83200630e-01 -7.30227960e-01 2.00648899e-03 9.77403106e+01] [ 7.30224703e-01 -6.83203576e-01 -2.18097968e-03 -1.32371123e+02] [ 2.96345280e-03 -2.48588590e-05 9.99995609e-01 -9.03901053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.040385723 meters 0.01667097656894629 Centerline is valid? [True, True] Translation: X:97.73, Y:-132.35, Z:-9.04 [[-6.86371866e-01 -7.27248232e-01 1.91587166e-03 9.77253867e+01] [ 7.27245254e-01 -6.86374539e-01 -2.08155269e-03 -1.32348789e+02] [ 2.82881104e-03 -3.54106294e-05 9.99995998e-01 -9.03764800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.070385723 meters 0.017011060268079733 Centerline is valid? [True, True] Translation: X:97.71, Y:-132.33, Z:-9.04 [[-6.89447043e-01 -7.24334285e-01 1.61821780e-03 9.77056607e+01] [ 7.24332154e-01 -6.89448941e-01 -1.75713384e-03 -1.32329425e+02] [ 2.38843083e-03 -3.93235513e-05 9.99997147e-01 -9.03729545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.100385723 meters 0.01698305258520497 Centerline is valid? [True, True] Translation: X:97.69, Y:-132.31, Z:-9.04 [[-6.90556745e-01 -7.23275951e-01 1.81123394e-03 9.76850249e+01] [ 7.23273281e-01 -6.90559119e-01 -1.96562178e-03 -1.32310014e+02] [ 2.67245108e-03 -4.73562602e-05 9.99996428e-01 -9.03797147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.130385723 meters 0.01725744883789295 Centerline is valid? [True, True] Translation: X:97.67, Y:-132.29, Z:-9.04 [[-6.91183691e-01 -7.22675925e-01 2.14782155e-03 9.76661507e+01] [ 7.22672171e-01 -6.91187025e-01 -2.32995487e-03 -1.32290051e+02] [ 3.16834868e-03 -5.82559383e-05 9.99994979e-01 -9.03865497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.160385723 meters 0.01725999868324334 Centerline is valid? [True, True] Translation: X:97.65, Y:-132.27, Z:-9.04 [[-6.91205684e-01 -7.22653138e-01 2.67298880e-03 9.76473870e+01] [ 7.22647331e-01 -6.91210849e-01 -2.89787681e-03 -1.32269927e+02] [ 3.94175863e-03 -7.14007017e-05 9.99992229e-01 -9.03835237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.190385723 meters 0.017491890140171017 Centerline is valid? [True, True] Translation: X:97.63, Y:-132.25, Z:-9.04 [[-6.91219456e-01 -7.22638441e-01 3.05740917e-03 9.76291259e+01] [ 7.22630853e-01 -6.91226213e-01 -3.31251129e-03 -1.32251245e+02] [ 4.50710935e-03 -8.02940487e-05 9.99989840e-01 -9.03864671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.220385723 meters 0.01708834494634511 Centerline is valid? [True, True] Translation: X:97.61, Y:-132.23, Z:-9.04 [[-6.90857154e-01 -7.22984524e-01 3.12580173e-03 9.76074720e+01] [ 7.22976606e-01 -6.90864221e-01 -3.38453778e-03 -1.32233623e+02] [ 4.60647301e-03 -7.83506107e-05 9.99989387e-01 -9.04036487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.250385723 meters 0.01685651900135029 Centerline is valid? [True, True] Translation: X:97.59, Y:-132.21, Z:-9.04 [[-6.90304437e-01 -7.23510112e-01 3.59198215e-03 9.75876201e+01] [ 7.23499676e-01 -6.90313777e-01 -3.88691752e-03 -1.32214921e+02] [ 5.29181890e-03 -8.43584892e-05 9.99985995e-01 -9.04105064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.280385723 meters 0.01682629213471987 Centerline is valid? [True, True] Translation: X:97.57, Y:-132.20, Z:-9.04 [[-6.90114137e-01 -7.23690714e-01 3.77194358e-03 9.75674265e+01] [ 7.23679223e-01 -6.90124440e-01 -4.07916542e-03 -1.32196114e+02] [ 5.55516459e-03 -8.54125269e-05 9.99984566e-01 -9.04168463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.310385723 meters 0.01648073798839048 Centerline is valid? [True, True] Translation: X:97.55, Y:-132.18, Z:-9.04 [[-6.89273847e-01 -7.24489372e-01 4.08833129e-03 9.75456015e+01] [ 7.24475902e-01 -6.89285966e-01 -4.41861160e-03 -1.32179653e+02] [ 6.01926653e-03 -8.37359169e-05 9.99981881e-01 -9.04272155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.340385723 meters 0.016362390684698736 Centerline is valid? [True, True] Translation: X:97.53, Y:-132.16, Z:-9.04 [[-6.89011089e-01 -7.24739661e-01 4.01773711e-03 9.75260203e+01] [ 7.24726673e-01 -6.89022799e-01 -4.33965907e-03 -1.32160364e+02] [ 5.91343551e-03 -7.83119755e-05 9.99982512e-01 -9.04303534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.370385723 meters 0.016210383254496544 Centerline is valid? [True, True] Translation: X:97.51, Y:-132.14, Z:-9.04 [[-6.88194448e-01 -7.25516727e-01 3.72555738e-03 9.75079171e+01] [ 7.25505584e-01 -6.88204530e-01 -4.02160944e-03 -1.32140308e+02] [ 5.48169038e-03 -6.47366128e-05 9.99984973e-01 -9.04130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.400385723 meters 0.016026781140126182 Centerline is valid? [True, True] Translation: X:97.49, Y:-132.12, Z:-9.04 [[-6.87763448e-01 -7.25926709e-01 3.44277990e-03 9.74891166e+01] [ 7.25917210e-01 -6.87772062e-01 -3.71409483e-03 -1.32120947e+02] [ 5.06400847e-03 -5.52454863e-05 9.99987176e-01 -9.04065576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43038572300003 meters 0.015939314818839256 Centerline is valid? [True, True] Translation: X:97.47, Y:-132.10, Z:-9.04 [[-6.86886164e-01 -7.26760488e-01 2.56745491e-03 9.74676507e+01] [ 7.26755217e-01 -6.86890961e-01 -2.76809400e-03 -1.32103862e+02] [ 3.77530291e-03 -3.54542186e-05 9.99992873e-01 -9.04021162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.460385723 meters 0.015716769797936625 Centerline is valid? [True, True] Translation: X:97.45, Y:-132.09, Z:-9.04 [[-6.86912081e-01 -7.26736865e-01 2.30686069e-03 9.74471561e+01] [ 7.26732615e-01 -6.86915954e-01 -2.48554422e-03 -1.32086392e+02] [ 3.39095602e-03 -3.08794467e-05 9.99994250e-01 -9.04086277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.490385723 meters 0.0156726924466851 Centerline is valid? [True, True] Translation: X:97.43, Y:-132.07, Z:-9.04 [[-6.86707038e-01 -7.26931065e-01 2.16125442e-03 9.74268190e+01] [ 7.26927340e-01 -6.86710438e-01 -2.32724259e-03 -1.32068397e+02] [ 3.17590091e-03 -2.70589351e-05 9.99994956e-01 -9.04142690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.520385723 meters 0.015565769108952254 Centerline is valid? [True, True] Translation: X:97.41, Y:-132.05, Z:-9.04 [[-6.86500914e-01 -7.27124851e-01 2.43840629e-03 9.74074549e+01] [ 7.27120117e-01 -6.86505244e-01 -2.62407523e-03 -1.32048905e+02] [ 3.58200902e-03 -2.84157764e-05 9.99993584e-01 -9.04142585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.550385723 meters 0.015480591018105979 Centerline is valid? [True, True] Translation: X:97.39, Y:-132.03, Z:-9.04 [[-6.86896443e-01 -7.26750812e-01 2.55621412e-03 9.73895770e+01] [ 7.26745613e-01 -6.86901199e-01 -2.74917027e-03 -1.32028184e+02] [ 3.75382826e-03 -3.06778810e-05 9.99992954e-01 -9.04031787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.580385723 meters 0.015671468523204297 Centerline is valid? [True, True] Translation: X:97.37, Y:-132.01, Z:-9.04 [[-6.88073967e-01 -7.25638083e-01 1.89446849e-03 9.73719564e+01] [ 7.25635227e-01 -6.88076574e-01 -2.03616277e-03 -1.32009009e+02] [ 2.78105664e-03 -2.63375192e-05 9.99996133e-01 -9.03869406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.610385723 meters 0.01573528039205295 Centerline is valid? [True, True] Translation: X:97.35, Y:-131.99, Z:-9.04 [[-6.88738795e-01 -7.25007641e-01 1.67108142e-03 9.73529327e+01] [ 7.25005420e-01 -6.88740822e-01 -1.79492645e-03 -1.31991216e+02] [ 2.45227738e-03 -2.46923943e-05 9.99996993e-01 -9.03911368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.640385723 meters 0.015740401391037464 Centerline is valid? [True, True] Translation: X:97.33, Y:-131.97, Z:-9.04 [[-6.88951786e-01 -7.24804333e-01 2.02883859e-03 9.73324012e+01] [ 7.24801061e-01 -6.88954772e-01 -2.17789954e-03 -1.31972743e+02] [ 2.97632905e-03 -2.99634184e-05 9.99995570e-01 -9.03975221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.670385723 meters 0.015729158899007403 Centerline is valid? [True, True] Translation: X:97.31, Y:-131.96, Z:-9.04 [[-6.88933957e-01 -7.24820698e-01 2.22683790e-03 9.73122811e+01] [ 7.24816762e-01 -6.88937555e-01 -2.38895394e-03 -1.31956007e+02] [ 3.26571552e-03 -3.17820534e-05 9.99994667e-01 -9.04058745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.700385723 meters 0.01564455516242412 Centerline is valid? [True, True] Translation: X:97.29, Y:-131.94, Z:-9.04 [[-6.89187780e-01 -7.24580915e-01 1.64376610e-03 9.72934942e+01] [ 7.24578772e-01 -6.89189739e-01 -1.76238532e-03 -1.31936801e+02] [ 2.40985750e-03 -2.35763995e-05 9.99997096e-01 -9.03885272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.730385723 meters 0.015530662414087567 Centerline is valid? [True, True] Translation: X:97.27, Y:-131.92, Z:-9.04 [[-6.89472416e-01 -7.24310582e-01 1.40334046e-03 9.72743199e+01] [ 7.24309021e-01 -6.89473843e-01 -1.50370967e-03 -1.31917084e+02] [ 2.05671937e-03 -2.03141816e-05 9.99997885e-01 -9.03786364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.760385723 meters 0.015602557729397145 Centerline is valid? [True, True] Translation: X:97.26, Y:-131.90, Z:-9.04 [[-6.90013577e-01 -7.23795779e-01 9.66400661e-04 9.72551772e+01] [ 7.23795039e-01 -6.90014254e-01 -1.03490197e-03 -1.31898198e+02] [ 1.41588791e-03 -1.46204060e-05 9.99998998e-01 -9.03744991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.790385723 meters 0.015589888620456039 Centerline is valid? [True, True] Translation: X:97.23, Y:-131.88, Z:-9.04 [[-6.90656286e-01 -7.23181071e-01 1.74154811e-03 9.72340883e+01] [ 7.23178670e-01 -6.90658481e-01 -1.86388103e-03 -1.31881247e+02] [ 2.55073845e-03 -2.78507083e-05 9.99996746e-01 -9.03856452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.820385723 meters 0.01557652878409629 Centerline is valid? [True, True] Translation: X:97.21, Y:-131.86, Z:-9.04 [[-6.90912009e-01 -7.22935549e-01 2.18813379e-03 9.72139301e+01] [ 7.22931761e-01 -6.90915473e-01 -2.34044318e-03 -1.31862292e+02] [ 3.20380507e-03 -3.51688833e-05 9.99994867e-01 -9.03953419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.850385723 meters 0.01530734929427669 Centerline is valid? [True, True] Translation: X:97.19, Y:-131.84, Z:-9.04 [[-6.90733951e-01 -7.23103506e-01 2.81579439e-03 9.71945045e+01] [ 7.23097243e-01 -6.90739689e-01 -3.00996414e-03 -1.31843258e+02] [ 4.12149657e-03 -4.29912633e-05 9.99991506e-01 -9.03933031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.880385723 meters 0.015507546692414638 Centerline is valid? [True, True] Translation: X:97.18, Y:-131.82, Z:-9.04 [[-6.90977181e-01 -7.22868453e-01 3.42550454e-03 9.71774812e+01] [ 7.22859193e-01 -6.90985670e-01 -3.65938756e-03 -1.31823785e+02] [ 5.01223038e-03 -5.23958598e-05 9.99987437e-01 -9.03931779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.910385723 meters 0.01535753298316197 Centerline is valid? [True, True] Translation: X:97.16, Y:-131.81, Z:-9.04 [[-6.90882363e-01 -7.22957066e-01 3.82638873e-03 9.71572021e+01] [ 7.22945526e-01 -6.90892957e-01 -4.08512655e-03 -1.31806474e+02] [ 5.59699613e-03 -5.60712696e-05 9.99984335e-01 -9.03980524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.940385723 meters 0.015015606452326772 Centerline is valid? [True, True] Translation: X:97.14, Y:-131.79, Z:-9.04 [[-6.90919180e-01 -7.22920480e-01 4.08234303e-03 9.71352551e+01] [ 7.22907360e-01 -6.90931238e-01 -4.35572519e-03 -1.31789421e+02] [ 5.96946126e-03 -5.82982561e-05 9.99982181e-01 -9.04013316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.970385723 meters 0.015063545236595359 Centerline is valid? [True, True] Translation: X:97.11, Y:-131.77, Z:-9.04 [[-6.90648338e-01 -7.23174127e-01 4.90459341e-03 9.71149104e+01] [ 7.23155221e-01 -6.90665749e-01 -5.22968947e-03 -1.31772155e+02] [ 7.16941080e-03 -6.50940115e-05 9.99974297e-01 -9.04245764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.000385723 meters 0.01506902527110377 Centerline is valid? [True, True] Translation: X:97.10, Y:-131.75, Z:-9.04 [[-6.90807773e-01 -7.23019331e-01 5.26002778e-03 9.70961821e+01] [ 7.22997605e-01 -6.90827795e-01 -5.60538583e-03 -1.31752158e+02] [ 7.68657570e-03 -6.92566106e-05 9.99970455e-01 -9.04227298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.030385723 meters 0.014768321122282114 Centerline is valid? [True, True] Translation: X:97.08, Y:-131.73, Z:-9.04 [[-6.91049274e-01 -7.22789913e-01 5.06383278e-03 9.70765778e+01] [ 7.22769794e-01 -6.91067824e-01 -5.39329565e-03 -1.31732307e+02] [ 7.39767159e-03 -6.70476660e-05 9.99972635e-01 -9.04019932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.060385723 meters 0.015069320264023373 Centerline is valid? [True, True] Translation: X:97.06, Y:-131.71, Z:-9.04 [[-6.92250728e-01 -7.21643089e-01 4.49235153e-03 9.70596040e+01] [ 7.21627249e-01 -6.92265301e-01 -4.78181256e-03 -1.31711631e+02] [ 6.56066108e-03 -6.84099455e-05 9.99978476e-01 -9.03936914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.090385723 meters 0.0149725089305837 Centerline is valid? [True, True] Translation: X:97.04, Y:-131.69, Z:-9.04 [[-6.93198481e-01 -7.20731911e-01 4.62375827e-03 9.70395339e+01] [ 7.20715129e-01 -6.93213897e-01 -4.91898000e-03 -1.31691687e+02] [ 6.75051935e-03 -7.74169226e-05 9.99977212e-01 -9.03919669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.120385723 meters 0.015085593476758157 Centerline is valid? [True, True] Translation: X:97.02, Y:-131.67, Z:-9.04 [[-6.93981518e-01 -7.19973808e-01 5.23159739e-03 9.70180087e+01] [ 7.19952325e-01 -6.94001230e-01 -5.56258966e-03 -1.31673513e+02] [ 7.63565388e-03 -9.38337054e-05 9.99970844e-01 -9.04004577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.150385723 meters 0.014879626157710893 Centerline is valid? [True, True] Translation: X:97.00, Y:-131.65, Z:-9.04 [[-6.94295674e-01 -7.19670389e-01 5.29598637e-03 9.69970398e+01] [ 7.19648390e-01 -6.94315866e-01 -5.62790385e-03 -1.31654080e+02] [ 7.72732312e-03 -9.61812335e-05 9.99970139e-01 -9.03993625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18038572300003 meters 0.015031747178823931 Centerline is valid? [True, True] Translation: X:96.98, Y:-131.63, Z:-9.04 [[-6.94382836e-01 -7.19586652e-01 5.24673347e-03 9.69778253e+01] [ 7.19565075e-01 -6.94402651e-01 -5.57329247e-03 -1.31634561e+02] [ 7.65381250e-03 -9.46324684e-05 9.99970705e-01 -9.04008460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.210385723 meters 0.015191051372785742 Centerline is valid? [True, True] Translation: X:96.96, Y:-131.62, Z:-9.04 [[-6.94644851e-01 -7.19335082e-01 5.05669137e-03 9.69601453e+01] [ 7.19315059e-01 -6.94663250e-01 -5.36796179e-03 -1.31615189e+02] [ 7.37406089e-03 -9.14727665e-05 9.99972807e-01 -9.03987081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.240385723 meters 0.01531781202241018 Centerline is valid? [True, True] Translation: X:96.94, Y:-131.59, Z:-9.04 [[-6.94865516e-01 -7.19123048e-01 4.89450063e-03 9.69413849e+01] [ 7.19104305e-01 -6.94882749e-01 -5.19269182e-03 -1.31594778e+02] [ 7.13528842e-03 -8.85660132e-05 9.99974540e-01 -9.03927962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.270385723 meters 0.015378206982497125 Centerline is valid? [True, True] Translation: X:96.92, Y:-131.58, Z:-9.04 [[-6.95597406e-01 -7.18412650e-01 5.24528048e-03 9.69230274e+01] [ 7.18391131e-01 -6.95617175e-01 -5.56135099e-03 -1.31575340e+02] [ 7.64405209e-03 -1.00298344e-04 9.99970779e-01 -9.03987364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.300385723 meters 0.015452557873016592 Centerline is valid? [True, True] Translation: X:96.90, Y:-131.56, Z:-9.04 [[-6.95737286e-01 -7.18270638e-01 6.07615359e-03 9.69033787e+01] [ 7.18241790e-01 -6.95763809e-01 -6.43846072e-03 -1.31556071e+02] [ 8.85212505e-03 -1.15329763e-04 9.99960813e-01 -9.04123142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.330385723 meters 0.014937492096917377 Centerline is valid? [True, True] Translation: X:96.88, Y:-131.54, Z:-9.04 [[-6.95795766e-01 -7.18209849e-01 6.54708815e-03 9.68812939e+01] [ 7.18176390e-01 -6.95826557e-01 -6.93361486e-03 -1.31538037e+02] [ 9.53542829e-03 -1.22415722e-04 9.99954529e-01 -9.04198470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.360385723 meters 0.014998295997975879 Centerline is valid? [True, True] Translation: X:96.86, Y:-131.52, Z:-9.04 [[-6.95434351e-01 -7.18560640e-01 6.45529561e-03 9.68634645e+01] [ 7.18528153e-01 -6.95464301e-01 -6.83362881e-03 -1.31518233e+02] [ 9.39980434e-03 -1.14028583e-04 9.99955814e-01 -9.04176489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.390385723 meters 0.014637853664517602 Centerline is valid? [True, True] Translation: X:96.84, Y:-131.50, Z:-9.04 [[-6.94965342e-01 -7.19016175e-01 6.23803379e-03 9.68444118e+01] [ 7.18985891e-01 -6.94993330e-01 -6.59996870e-03 -1.31497514e+02] [ 9.08087613e-03 -1.01691226e-04 9.99958763e-01 -9.03962872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.420385723 meters 0.01442310146686456 Centerline is valid? [True, True] Translation: X:96.83, Y:-131.48, Z:-9.04 [[-6.92972325e-01 -7.20937588e-01 6.19280983e-03 9.68273390e+01] [ 7.20907851e-01 -6.92999992e-01 -6.54845626e-03 -1.31476901e+02] [ 9.01264542e-03 -7.34537392e-05 9.99959383e-01 -9.03753255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.450385723 meters 0.014058941035053124 Centerline is valid? [True, True] Translation: X:96.81, Y:-131.46, Z:-9.04 [[-6.91756130e-01 -7.22100549e-01 6.65240035e-03 9.68072000e+01] [ 7.22066325e-01 -6.91788113e-01 -7.03054771e-03 -1.31457206e+02] [ 9.67881385e-03 -5.99501992e-05 9.99953157e-01 -9.03712642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.480385723 meters 0.013977634831827457 Centerline is valid? [True, True] Translation: X:96.79, Y:-131.44, Z:-9.04 [[-6.88561110e-01 -7.25141703e-01 7.28752289e-03 9.67857407e+01] [ 7.25100849e-01 -6.88599673e-01 -7.69729892e-03 -1.31439771e+02] [ 1.05998183e-02 -1.58716490e-05 9.99943820e-01 -9.03919828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.510385723 meters 0.013929205379119415 Centerline is valid? [True, True] Translation: X:96.77, Y:-131.42, Z:-9.04 [[-6.87235653e-01 -7.26395096e-01 7.57111592e-03 9.67659430e+01] [ 7.26351126e-01 -6.87277356e-01 -7.99239014e-03 -1.31420146e+02] [ 1.10090895e-02 6.63311633e-06 9.99939398e-01 -9.03957528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.540385723 meters 0.013925402495904116 Centerline is valid? [True, True] Translation: X:96.75, Y:-131.40, Z:-9.04 [[-6.85895708e-01 -7.27655613e-01 8.02417117e-03 9.67470246e+01] [ 7.27606349e-01 -6.85942642e-01 -8.46719468e-03 -1.31400113e+02] [ 1.16653229e-02 3.08253992e-05 9.99931957e-01 -9.03951745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.570385723 meters 0.01446931916536838 Centerline is valid? [True, True] Translation: X:96.73, Y:-131.38, Z:-9.04 [[-6.83763860e-01 -7.29652961e-01 8.57555020e-03 9.67297032e+01] [ 7.29596917e-01 -6.83817630e-01 -9.04371076e-03 -1.31379484e+02] [ 1.24628828e-02 7.29324096e-05 9.99922333e-01 -9.04090548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.600385723 meters 0.014206995596765819 Centerline is valid? [True, True] Translation: X:96.71, Y:-131.36, Z:-9.04 [[-6.82589554e-01 -7.30742367e-01 9.33246187e-03 9.67134886e+01] [ 7.30676167e-01 -6.82653340e-01 -9.83649517e-03 -1.31355796e+02] [ 1.35587800e-02 1.04718613e-04 9.99908070e-01 -9.03771761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.630385723 meters 0.014392608082078972 Centerline is valid? [True, True] Translation: X:96.69, Y:-131.34, Z:-9.04 [[-6.82248821e-01 -7.31062871e-01 9.14471973e-03 9.66949695e+01] [ 7.30999411e-01 -6.82310095e-01 -9.63298587e-03 -1.31335973e+02] [ 1.32818529e-02 1.12691495e-04 9.99911786e-01 -9.03738171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.660385723 meters 0.014457242967737654 Centerline is valid? [True, True] Translation: X:96.68, Y:-131.32, Z:-9.04 [[-6.81878905e-01 -7.31407986e-01 9.13869134e-03 9.66756726e+01] [ 7.31344712e-01 -6.81940131e-01 -9.62135464e-03 -1.31315160e+02] [ 1.32691760e-02 1.22934809e-04 9.99911953e-01 -9.03722694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.690385723 meters 0.014573427948836357 Centerline is valid? [True, True] Translation: X:96.66, Y:-131.29, Z:-9.04 [[-6.80933094e-01 -7.32282304e-01 9.63057704e-03 9.66576873e+01] [ 7.32212198e-01 -6.81001178e-01 -1.01337533e-02 -1.31292565e+02] [ 1.39792025e-02 1.51218024e-04 9.99902275e-01 -9.03625534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.720385723 meters 0.014574830863788094 Centerline is valid? [True, True] Translation: X:96.64, Y:-131.27, Z:-9.04 [[-6.80735310e-01 -7.32466687e-01 9.59112200e-03 9.66402686e+01] [ 7.32397257e-01 -6.80802855e-01 -1.00861731e-02 -1.31272195e+02] [ 1.39174490e-02 1.58497276e-04 9.99903135e-01 -9.03568332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.750385723 meters 0.0149778883701186 Centerline is valid? [True, True] Translation: X:96.62, Y:-131.25, Z:-9.04 [[-6.80215335e-01 -7.32945681e-01 9.88572288e-03 9.66233571e+01] [ 7.32872045e-01 -6.80287144e-01 -1.03907856e-02 -1.31250566e+02] [ 1.43410116e-02 1.76998263e-04 9.99897147e-01 -9.03525932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.780385723 meters 0.0149778883701186 Centerline is valid? [True, True] Translation: X:96.60, Y:-131.23, Z:-9.04 [[-6.80416172e-01 -7.32759203e-01 9.88857054e-03 9.66042965e+01] [ 7.32685587e-01 -6.80488001e-01 -1.03880756e-02 -1.31230629e+02] [ 1.43410116e-02 1.76998506e-04 9.99897147e-01 -9.03525959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.810385723 meters 0.015166806227357166 Centerline is valid? [True, True] Translation: X:96.59, Y:-131.21, Z:-9.04 [[-6.80404304e-01 -7.32761681e-01 1.05024854e-02 9.65871904e+01] [ 7.32678743e-01 -6.80485328e-01 -1.10262246e-02 -1.31209757e+02] [ 1.52263821e-02 1.92657171e-04 9.99884053e-01 -9.03505702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.840385723 meters 0.014963423282680327 Centerline is valid? [True, True] Translation: X:96.57, Y:-131.19, Z:-9.03 [[-6.81277501e-01 -7.31930158e-01 1.17987491e-02 9.65714061e+01] [ 7.31825475e-01 -6.81379633e-01 -1.23802635e-02 -1.31186242e+02] [ 1.71009156e-02 2.00230213e-04 9.99853749e-01 -9.03488949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.870385723 meters 0.01511260529883333 Centerline is valid? [True, True] Translation: X:96.55, Y:-131.17, Z:-9.04 [[-6.81775167e-01 -7.31447080e-01 1.29534572e-02 9.65544346e+01] [ 7.31320929e-01 -6.81898178e-01 -1.35858048e-02 -1.31165648e+02] [ 1.87702361e-02 2.10670025e-04 9.99823801e-01 -9.03550031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.900385723 meters 0.015181163357513348 Centerline is valid? [True, True] Translation: X:96.54, Y:-131.14, Z:-9.04 [[-6.83004609e-01 -7.30291939e-01 1.33561992e-02 9.65393156e+01] [ 7.30157728e-01 -6.83135161e-01 -1.40015713e-02 -1.31144265e+02] [ 1.93493239e-02 1.88994333e-04 9.99812766e-01 -9.03598768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93038572300003 meters 0.015144639127549521 Centerline is valid? [True, True] Translation: X:96.52, Y:-131.12, Z:-9.04 [[-6.83743718e-01 -7.29592171e-01 1.37765064e-02 9.65218926e+01] [ 7.29449395e-01 -6.83882469e-01 -1.44342680e-02 -1.31121924e+02] [ 1.99526401e-02 1.79924142e-04 9.99800910e-01 -9.03507195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.960385723 meters 0.014886355908303872 Centerline is valid? [True, True] Translation: X:96.51, Y:-131.10, Z:-9.03 [[-6.85995178e-01 -7.27464573e-01 1.43496130e-02 9.65066044e+01] [ 7.27309379e-01 -6.86145232e-01 -1.50262517e-02 -1.31097035e+02] [ 2.07769843e-02 1.28671902e-04 9.99784127e-01 -9.03390528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.990385723 meters 0.014913710695257995 Centerline is valid? [True, True] Translation: X:96.49, Y:-131.07, Z:-9.03 [[-6.87059724e-01 -7.26463095e-01 1.41530273e-02 9.64896752e+01] [ 7.26312084e-01 -6.87205473e-01 -1.48119643e-02 -1.31074593e+02] [ 2.04863833e-02 1.02810677e-04 9.99790127e-01 -9.03282342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.020385723 meters 0.014903689587331745 Centerline is valid? [True, True] Translation: X:96.47, Y:-131.05, Z:-9.03 [[-6.88890099e-01 -7.24741637e-01 1.34160441e-02 9.64741793e+01] [ 7.24605773e-01 -6.89020723e-01 -1.40327255e-02 -1.31050250e+02] [ 1.94140328e-02 5.43374044e-05 9.99811528e-01 -9.03127000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.050385723 meters 0.014976850041109544 Centerline is valid? [True, True] Translation: X:96.46, Y:-131.03, Z:-9.03 [[-6.89921455e-01 -7.23772728e-01 1.27052783e-02 9.64567781e+01] [ 7.23650857e-01 -6.90038432e-01 -1.32815858e-02 -1.31029386e+02] [ 1.83799799e-02 3.09345538e-05 9.99831073e-01 -9.03169720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.080385723 meters 0.015017145060203444 Centerline is valid? [True, True] Translation: X:96.44, Y:-131.01, Z:-9.03 [[-6.90762527e-01 -7.22970793e-01 1.26635154e-02 9.64384643e+01] [ 7.22849722e-01 -6.90878595e-01 -1.32305236e-02 -1.31008514e+02] [ 1.83142338e-02 1.46686530e-05 9.99832280e-01 -9.03219367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.110385723 meters 0.015053523153085897 Centerline is valid? [True, True] Translation: X:96.42, Y:-130.99, Z:-9.03 [[-6.92532119e-01 -7.21300330e-01 1.11847119e-02 9.64210457e+01] [ 7.21205774e-01 -6.92622432e-01 -1.16789944e-02 -1.30986142e+02] [ 1.61708449e-02 -2.15999672e-05 9.99869243e-01 -9.03324805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.140385723 meters 0.015370180637528862 Centerline is valid? [True, True] Translation: X:96.41, Y:-130.96, Z:-9.03 [[-6.93461820e-01 -7.20416098e-01 1.05522728e-02 9.64061859e+01] [ 7.20331928e-01 -6.93542100e-01 -1.10122197e-02 -1.30962885e+02] [ 1.52518258e-02 -3.54149221e-05 9.99883684e-01 -9.03363464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.170385723 meters 0.015398254023402638 Centerline is valid? [True, True] Translation: X:96.39, Y:-130.94, Z:-9.03 [[-6.94000576e-01 -7.19897995e-01 1.04917760e-02 9.63897075e+01] [ 7.19814830e-01 -6.94079877e-01 -1.09423768e-02 -1.30941483e+02] [ 1.51595257e-02 -4.18798535e-05 9.99885087e-01 -9.03325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.200385723 meters 0.015547001352692456 Centerline is valid? [True, True] Translation: X:96.37, Y:-130.92, Z:-9.03 [[-6.94194819e-01 -7.19719073e-01 9.89999592e-03 9.63718815e+01] [ 7.19645097e-01 -6.94265407e-01 -1.03188935e-02 -1.30920342e+02] [ 1.42999291e-02 -3.88388686e-05 9.99897750e-01 -9.03334445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.230385723 meters 0.015437372855793172 Centerline is valid? [True, True] Translation: X:96.35, Y:-130.90, Z:-9.03 [[-6.93572665e-01 -7.20330718e-01 8.97852809e-03 9.63526360e+01] [ 7.20269982e-01 -6.93630778e-01 -9.35403259e-03 -1.30902151e+02] [ 1.29657804e-02 -2.07370533e-05 9.99915941e-01 -9.03457370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.260385723 meters 0.015541831753491572 Centerline is valid? [True, True] Translation: X:96.33, Y:-130.88, Z:-9.04 [[-6.93043810e-01 -7.20847664e-01 8.30197098e-03 9.63334222e+01] [ 7.20795822e-01 -6.93093532e-01 -8.64514119e-03 -1.30884395e+02] [ 1.19858722e-02 -7.43558322e-06 9.99928167e-01 -9.03605902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.290385723 meters 0.01563920366885226 Centerline is valid? [True, True] Translation: X:96.31, Y:-130.86, Z:-9.04 [[-6.91899180e-01 -7.21952827e-01 7.72271869e-03 9.63144211e+01] [ 7.21908089e-01 -6.91942277e-01 -8.03715230e-03 -1.30864718e+02] [ 1.11461204e-02 1.41940104e-05 9.99937880e-01 -9.03699727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.320385723 meters 0.015566566976406874 Centerline is valid? [True, True] Translation: X:96.30, Y:-130.84, Z:-9.04 [[-6.91758520e-01 -7.22092426e-01 7.25796728e-03 9.62967918e+01] [ 7.22052967e-01 -6.91796594e-01 -7.54889075e-03 -1.30844067e+02] [ 1.04720339e-02 1.86273140e-05 9.99945167e-01 -9.03557652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.350385723 meters 0.01575793904989595 Centerline is valid? [True, True] Translation: X:96.28, Y:-130.82, Z:-9.03 [[-6.92225552e-01 -7.21655079e-01 6.14266374e-03 9.62812885e+01] [ 7.21626834e-01 -6.92252806e-01 -6.38480146e-03 -1.30823097e+02] [ 8.85990061e-03 1.29882758e-05 9.99960750e-01 -9.03394465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.380385723 meters 0.01569231780329621 Centerline is valid? [True, True] Translation: X:96.26, Y:-130.80, Z:-9.03 [[-6.92555187e-01 -7.21339831e-01 6.01340980e-03 9.62624013e+01] [ 7.21312781e-01 -6.92581293e-01 -6.24695059e-03 -1.30802097e+02] [ 8.67094942e-03 1.11913099e-05 9.99962407e-01 -9.03326624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.410385723 meters 0.015888898074285864 Centerline is valid? [True, True] Translation: X:96.24, Y:-130.78, Z:-9.04 [[-6.93731401e-01 -7.20207569e-01 6.14818164e-03 9.62431569e+01] [ 7.20179282e-01 -6.93758645e-01 -6.38318342e-03 -1.30782778e+02] [ 8.86257118e-03 -4.21735338e-07 9.99960727e-01 -9.03657572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.440385723 meters 0.015779464810924175 Centerline is valid? [True, True] Translation: X:96.22, Y:-130.76, Z:-9.04 [[-6.94049861e-01 -7.19901959e-01 5.99663786e-03 9.62244138e+01] [ 7.19875070e-01 -6.94075766e-01 -6.22209724e-03 -1.30763249e+02] [ 8.64142101e-03 -1.61562561e-06 9.99962662e-01 -9.03685416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.470385723 meters 0.0157680839191012 Centerline is valid? [True, True] Translation: X:96.21, Y:-130.74, Z:-9.04 [[-6.94713301e-01 -7.19260949e-01 6.09229615e-03 9.62056811e+01] [ 7.19233204e-01 -6.94740014e-01 -6.31754684e-03 -1.30742812e+02] [ 8.77652665e-03 -7.10214210e-06 9.99961486e-01 -9.03714270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.500385723 meters 0.015773471871387452 Centerline is valid? [True, True] Translation: X:96.19, Y:-130.72, Z:-9.04 [[-6.96158693e-01 -7.17865340e-01 5.69460625e-03 9.61890983e+01] [ 7.17841081e-01 -6.96181983e-01 -5.90151167e-03 -1.30721284e+02] [ 8.20097295e-03 -2.05663426e-05 9.99966371e-01 -9.03578264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.530385723 meters 0.015856601463147605 Centerline is valid? [True, True] Translation: X:96.17, Y:-130.70, Z:-9.04 [[-6.97124501e-01 -7.16928475e-01 5.56706405e-03 9.61708305e+01] [ 7.16905290e-01 -6.97146728e-01 -5.76577614e-03 -1.30700609e+02] [ 8.01470959e-03 -2.84061470e-05 9.99967881e-01 -9.03602772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.560385723 meters 0.016374887616447887 Centerline is valid? [True, True] Translation: X:96.15, Y:-130.68, Z:-9.04 [[-6.99013454e-01 -7.15080898e-01 6.28491125e-03 9.61527507e+01] [ 7.15051308e-01 -6.99041705e-01 -6.50547739e-03 -1.30680977e+02] [ 9.04535769e-03 -5.33822139e-05 9.99959089e-01 -9.03882862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.590385723 meters 0.016082321811368983 Centerline is valid? [True, True] Translation: X:96.13, Y:-130.66, Z:-9.04 [[-6.99819696e-01 -7.14289854e-01 6.51129803e-03 9.61337299e+01] [ 7.14258097e-01 -6.99849984e-01 -6.73572619e-03 -1.30661368e+02] [ 9.36819270e-03 -6.30465074e-05 9.99956116e-01 -9.03960261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.620385723 meters 0.016397988903129566 Centerline is valid? [True, True] Translation: X:96.12, Y:-130.64, Z:-9.04 [[-7.00665238e-01 -7.13458434e-01 6.72955826e-03 9.61161521e+01] [ 7.13424517e-01 -7.00697551e-01 -6.95710089e-03 -1.30641482e+02] [ 9.67898730e-03 -7.35669049e-05 9.99953155e-01 -9.04132251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.650385723 meters 0.01678699558678571 Centerline is valid? [True, True] Translation: X:96.10, Y:-130.62, Z:-9.04 [[-7.02392716e-01 -7.11761098e-01 6.37280162e-03 9.60996099e+01] [ 7.11730639e-01 -7.02421619e-01 -6.58533099e-03 -1.30620324e+02] [ 9.16357605e-03 -8.97703459e-05 9.99958010e-01 -9.04041914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68038572300003 meters 0.01737958660415563 Centerline is valid? [True, True] Translation: X:96.08, Y:-130.60, Z:-9.04 [[-7.03264387e-01 -7.10901882e-01 6.14137340e-03 9.60809905e+01] [ 7.10873597e-01 -7.03291195e-01 -6.34221329e-03 -1.30601089e+02] [ 8.82786520e-03 -9.45125379e-05 9.99961029e-01 -9.03998520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.710385723 meters 0.017050104073228368 Centerline is valid? [True, True] Translation: X:96.06, Y:-130.58, Z:-9.04 [[-7.04514322e-01 -7.09664740e-01 5.96038550e-03 9.60629393e+01] [ 7.09638087e-01 -7.04539527e-01 -6.15148664e-03 -1.30581855e+02] [ 8.56482035e-03 -1.04093879e-04 9.99963316e-01 -9.03915813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.740385723 meters 0.017388101241650824 Centerline is valid? [True, True] Translation: X:96.04, Y:-130.56, Z:-9.04 [[-7.04859836e-01 -7.09323397e-01 5.73852739e-03 9.60447808e+01] [ 7.09298709e-01 -7.04883188e-01 -5.91889231e-03 -1.30562524e+02] [ 8.24340028e-03 -1.01659397e-04 9.99966017e-01 -9.04018883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.770385723 meters 0.017146482841105058 Centerline is valid? [True, True] Translation: X:96.02, Y:-130.54, Z:-9.04 [[-7.05019136e-01 -7.09167358e-01 5.44758623e-03 9.60242476e+01] [ 7.09145130e-01 -7.05040176e-01 -5.61556814e-03 -1.30544787e+02] [ 7.82314477e-03 -9.59537565e-05 9.99969394e-01 -9.03980030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.800385723 meters 0.01674552204348189 Centerline is valid? [True, True] Translation: X:96.00, Y:-130.53, Z:-9.04 [[-7.04793547e-01 -7.09390639e-01 5.56578155e-03 9.60036797e+01] [ 7.09367471e-01 -7.04815517e-01 -5.73388294e-03 -1.30526798e+02] [ 7.99041208e-03 -9.30193123e-05 9.99968072e-01 -9.03887783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.830385723 meters 0.016580664847489896 Centerline is valid? [True, True] Translation: X:95.98, Y:-130.51, Z:-9.04 [[-7.03837936e-01 -7.10337646e-01 5.70868438e-03 9.59841533e+01] [ 7.10313336e-01 -7.03861081e-01 -5.87731339e-03 -1.30509284e+02] [ 8.19299772e-03 -8.17214783e-05 9.99966434e-01 -9.03948164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.860385723 meters 0.016327453343869664 Centerline is valid? [True, True] Translation: X:95.96, Y:-130.49, Z:-9.04 [[-7.03561071e-01 -7.10615105e-01 5.29067419e-03 9.59629219e+01] [ 7.10594256e-01 -7.03580960e-01 -5.44394865e-03 -1.30490491e+02] [ 7.59096977e-03 -7.06276560e-05 9.99971186e-01 -9.03905763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.890385723 meters 0.016466431137673838 Centerline is valid? [True, True] Translation: X:95.94, Y:-130.47, Z:-9.04 [[-7.03496353e-01 -7.10685104e-01 4.42314211e-03 9.59432657e+01] [ 7.10670550e-01 -7.03510255e-01 -4.54866471e-03 -1.30471463e+02] [ 6.34439408e-03 -5.65721975e-05 9.99979873e-01 -9.03937442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.920385723 meters 0.016342623042306215 Centerline is valid? [True, True] Translation: X:95.92, Y:-130.45, Z:-9.04 [[-7.03746962e-01 -7.10443439e-01 3.21459857e-03 9.59240014e+01] [ 7.10435758e-01 -7.03754303e-01 -3.30380734e-03 -1.30452781e+02] [ 4.60945582e-03 -4.12786046e-05 9.99989376e-01 -9.03767775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.950385723 meters 0.016375858396451858 Centerline is valid? [True, True] Translation: X:95.91, Y:-130.43, Z:-9.04 [[-7.03634385e-01 -7.10555917e-01 2.99020577e-03 9.59052087e+01] [ 7.10549280e-01 -7.03640737e-01 -3.07130940e-03 -1.30433221e+02] [ 4.28636767e-03 -3.63903406e-05 9.99990813e-01 -9.03644256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.980385723 meters 0.016384864434203682 Centerline is valid? [True, True] Translation: X:95.88, Y:-130.41, Z:-9.03 [[-7.02814462e-01 -7.11365186e-01 3.37689887e-03 9.58848853e+01] [ 7.11356740e-01 -7.02822574e-01 -3.46658294e-03 -1.30413465e+02] [ 4.83936717e-03 -3.41848492e-05 9.99988290e-01 -9.03443763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.010385723 meters 0.01634506952821467 Centerline is valid? [True, True] Translation: X:95.87, Y:-130.40, Z:-9.04 [[-7.02774250e-01 -7.11402895e-01 3.77825392e-03 9.58658434e+01] [ 7.11392336e-01 -7.02784405e-01 -3.87607993e-03 -1.30395030e+02] [ 5.41275241e-03 -3.61882812e-05 9.99985350e-01 -9.03504815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.040385723 meters 0.016114481100547265 Centerline is valid? [True, True] Translation: X:95.84, Y:-130.38, Z:-9.04 [[-7.02833368e-01 -7.11338460e-01 4.78028152e-03 9.58438097e+01] [ 7.11321576e-01 -7.02849623e-01 -4.90132889e-03 -1.30377873e+02] [ 6.84632281e-03 -4.45001046e-05 9.99976563e-01 -9.03606309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.070385723 meters 0.016347962277945025 Centerline is valid? [True, True] Translation: X:95.83, Y:-130.36, Z:-9.04 [[-7.03411060e-01 -7.10761926e-01 5.51045244e-03 9.58250656e+01] [ 7.10739498e-01 -7.03432641e-01 -5.64667816e-03 -1.30358947e+02] [ 7.88967596e-03 -5.54396657e-05 9.99968875e-01 -9.03747721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.100385723 meters 0.01626217732456052 Centerline is valid? [True, True] Translation: X:95.81, Y:-130.34, Z:-9.04 [[-7.05200231e-01 -7.08980132e-01 6.30921756e-03 9.58053324e+01] [ 7.08950693e-01 -7.05228449e-01 -6.46142777e-03 -1.30339589e+02] [ 9.03046363e-03 -8.36761980e-05 9.99959221e-01 -9.03719485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.130385723 meters 0.01643353174302702 Centerline is valid? [True, True] Translation: X:95.79, Y:-130.32, Z:-9.04 [[-7.06360313e-01 -7.07821691e-01 6.60011540e-03 9.57863320e+01] [ 7.07789463e-01 -7.06391140e-01 -6.75519027e-03 -1.30320424e+02] [ 9.44373325e-03 -1.00106180e-04 9.99955402e-01 -9.03697990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.160385723 meters 0.016862788940914364 Centerline is valid? [True, True] Translation: X:95.77, Y:-130.30, Z:-9.04 [[-7.08420270e-01 -7.05759268e-01 6.67658852e-03 9.57668739e+01] [ 7.05726234e-01 -7.08451720e-01 -6.82953205e-03 -1.30302000e+02] [ 9.55004616e-03 -1.26335265e-04 9.99954389e-01 -9.03805976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.190385723 meters 0.016840901407427715 Centerline is valid? [True, True] Translation: X:95.75, Y:-130.28, Z:-9.04 [[-7.09567737e-01 -7.04608775e-01 6.33252327e-03 9.57465787e+01] [ 7.04579044e-01 -7.09595982e-01 -6.47401925e-03 -1.30282421e+02] [ 9.05518383e-03 -1.31991996e-04 9.99958992e-01 -9.03695254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.220385723 meters 0.016857958573198845 Centerline is valid? [True, True] Translation: X:95.73, Y:-130.26, Z:-9.03 [[-7.11012549e-01 -7.03166013e-01 4.32583734e-03 9.57272207e+01] [ 7.03152130e-01 -7.11025701e-01 -4.41977347e-03 -1.30262696e+02] [ 6.18361602e-03 -1.00792659e-04 9.99980876e-01 -9.03362256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.250385723 meters 0.016762495147674205 Centerline is valid? [True, True] Translation: X:95.71, Y:-130.25, Z:-9.03 [[-7.10847139e-01 -7.03340787e-01 2.84302532e-03 9.57059043e+01] [ 7.03334799e-01 -7.10852821e-01 -2.90297391e-03 -1.30245635e+02] [ 4.06275252e-03 -6.39720552e-05 9.99991745e-01 -9.03223211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.280385723 meters 0.0165819488447688 Centerline is valid? [True, True] Translation: X:95.69, Y:-130.23, Z:-9.03 [[-7.10329995e-01 -7.03864121e-01 2.56856600e-03 9.56853296e+01] [ 7.03859243e-01 -7.10334637e-01 -2.62103803e-03 -1.30229271e+02] [ 3.66939603e-03 -5.38930169e-05 9.99993266e-01 -9.03288671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.310385723 meters 0.01624201916710546 Centerline is valid? [True, True] Translation: X:95.66, Y:-130.21, Z:-9.03 [[-7.09774001e-01 -7.04425111e-01 2.47591641e-03 9.56632623e+01] [ 7.04420588e-01 -7.09778318e-01 -2.52495042e-03 -1.30212605e+02] [ 3.53599027e-03 -4.80576714e-05 9.99993747e-01 -9.03402840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.340385723 meters 0.01579648948683351 Centerline is valid? [True, True] Translation: X:95.64, Y:-130.20, Z:-9.04 [[-7.07784126e-01 -7.06424240e-01 2.53449908e-03 9.56395245e+01] [ 7.06419518e-01 -7.07788663e-01 -2.58329338e-03 -1.30196936e+02] [ 3.61879078e-03 -3.79944270e-05 9.99993451e-01 -9.03533610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.370385723 meters 0.015604191514862942 Centerline is valid? [True, True] Translation: X:95.62, Y:-130.18, Z:-9.04 [[-7.06996427e-01 -7.07211288e-01 2.87171276e-03 9.56206648e+01] [ 7.07205240e-01 -7.07002258e-01 -2.92512757e-03 -1.30179294e+02] [ 4.09899064e-03 -3.71644291e-05 9.99991598e-01 -9.03501159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.400385723 meters 0.015317374989486172 Centerline is valid? [True, True] Translation: X:95.60, Y:-130.16, Z:-9.03 [[-7.05850013e-01 -7.08355182e-01 2.94874529e-03 9.56012167e+01] [ 7.08348823e-01 -7.05856172e-01 -3.00168599e-03 -1.30161220e+02] [ 4.20764988e-03 -2.99998391e-05 9.99991147e-01 -9.03358856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43038572300003 meters 0.01520406807218466 Centerline is valid? [True, True] Translation: X:95.58, Y:-130.14, Z:-9.03 [[-7.05667148e-01 -7.08538358e-01 2.69651055e-03 9.55815473e+01] [ 7.08533048e-01 -7.05672299e-01 -2.74319542e-03 -1.30144160e+02] [ 3.84651198e-03 -2.52160433e-05 9.99992602e-01 -9.03323393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.460385723 meters 0.014993318148490377 Centerline is valid? [True, True] Translation: X:95.56, Y:-130.13, Z:-9.03 [[-7.05430598e-01 -7.08775992e-01 2.06511673e-03 9.55566232e+01] [ 7.08772883e-01 -7.05433620e-01 -2.09969234e-03 -1.30129617e+02] [ 2.94501429e-03 -1.74884859e-05 9.99995663e-01 -9.03387585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.490385723 meters 0.014947365910461466 Centerline is valid? [True, True] Translation: X:95.54, Y:-130.11, Z:-9.03 [[-7.05392808e-01 -7.08813103e-01 2.22978246e-03 9.55355099e+01] [ 7.08809482e-01 -7.05396332e-01 -2.26577418e-03 -1.30111791e+02] [ 3.17889080e-03 -1.77698602e-05 9.99994947e-01 -9.03473389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.520385723 meters 0.014818732569125985 Centerline is valid? [True, True] Translation: X:95.51, Y:-130.09, Z:-9.03 [[-7.05301805e-01 -7.08902523e-01 2.56452261e-03 9.55148276e+01] [ 7.08897739e-01 -7.05306467e-01 -2.60445478e-03 -1.30092889e+02] [ 3.65507895e-03 -1.89423764e-05 9.99993320e-01 -9.03490863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.550385723 meters 0.014780033040839892 Centerline is valid? [True, True] Translation: X:95.50, Y:-130.07, Z:-9.03 [[-7.05225014e-01 -7.08976523e-01 3.15750478e-03 9.54967262e+01] [ 7.08969280e-01 -7.05232082e-01 -3.20477183e-03 -1.30072822e+02] [ 4.49888166e-03 -2.15113665e-05 9.99989880e-01 -9.03269111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.580385723 meters 0.01489956853184554 Centerline is valid? [True, True] Translation: X:95.48, Y:-130.05, Z:-9.03 [[-7.06842332e-01 -7.07366311e-01 2.61154592e-03 9.54768999e+01] [ 7.07361351e-01 -7.06847156e-01 -2.64916839e-03 -1.30053155e+02] [ 3.71989628e-03 -2.52377091e-05 9.99993081e-01 -9.03023488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.610385723 meters 0.01511449996453918 Centerline is valid? [True, True] Translation: X:95.46, Y:-130.04, Z:-9.03 [[-7.08237185e-01 -7.05969104e-01 2.77739972e-03 9.54561135e+01] [ 7.05963489e-01 -7.08242630e-01 -2.81576487e-03 -1.30035044e+02] [ 3.95491588e-03 -3.34865937e-05 9.99992179e-01 -9.03150780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.640385723 meters 0.01511449996453918 Centerline is valid? [True, True] Translation: X:95.44, Y:-130.02, Z:-9.03 [[-7.08453425e-01 -7.05752099e-01 2.77826230e-03 9.54372563e+01] [ 7.05746486e-01 -7.08458872e-01 -2.81491378e-03 -1.30016059e+02] [ 3.95491589e-03 -3.34864538e-05 9.99992179e-01 -9.03150806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.670385723 meters 0.01527323535298904 Centerline is valid? [True, True] Translation: X:95.42, Y:-130.00, Z:-9.03 [[-7.10129124e-01 -7.04063356e-01 3.37922412e-03 9.54151095e+01] [ 7.04055042e-01 -7.10137162e-01 -3.42194415e-03 -1.29998099e+02] [ 4.80897811e-03 -5.08624210e-05 9.99988436e-01 -9.03366259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.700385723 meters 0.01578042986183723 Centerline is valid? [True, True] Translation: X:95.39, Y:-129.98, Z:-9.04 [[-7.13057439e-01 -7.01090470e-01 4.60886239e-03 9.53937836e+01] [ 7.01074958e-01 -7.13072328e-01 -4.66459998e-03 -1.29979768e+02] [ 6.55675883e-03 -9.49697094e-05 9.99978500e-01 -9.03656502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.730385723 meters 0.015634708028435293 Centerline is valid? [True, True] Translation: X:95.37, Y:-129.96, Z:-9.04 [[-7.14259960e-01 -6.99862018e-01 5.08580717e-03 9.53735360e+01] [ 6.99843119e-01 -7.14278057e-01 -5.14456419e-03 -1.29959626e+02] [ 7.23316554e-03 -1.15289060e-04 9.99973834e-01 -9.03594456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.760385723 meters 0.01644295670316652 Centerline is valid? [True, True] Translation: X:95.36, Y:-129.94, Z:-9.04 [[-7.16228505e-01 -6.97839593e-01 6.05237901e-03 9.53564592e+01] [ 6.97812768e-01 -7.16254059e-01 -6.12082132e-03 -1.29938542e+02] [ 8.60639249e-03 -1.60479352e-04 9.99962951e-01 -9.03515016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.790385723 meters 0.01653709243641492 Centerline is valid? [True, True] Translation: X:95.34, Y:-129.92, Z:-9.03 [[-7.17327051e-01 -6.96705201e-01 6.61555387e-03 9.53359860e+01] [ 6.96673137e-01 -7.17357532e-01 -6.68667203e-03 -1.29919591e+02] [ 9.40435658e-03 -1.87652057e-04 9.99955760e-01 -9.03491641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.820385723 meters 0.016985651753677163 Centerline is valid? [True, True] Translation: X:95.31, Y:-129.90, Z:-9.04 [[-7.18867675e-01 -6.95113879e-01 6.77951364e-03 9.53125861e+01] [ 6.95080172e-01 -7.18899611e-01 -6.84863517e-03 -1.29903582e+02] [ 9.63437108e-03 -2.10956932e-04 9.99953566e-01 -9.03567173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.850385723 meters 0.01711591264568542 Centerline is valid? [True, True] Translation: X:95.29, Y:-129.89, Z:-9.04 [[-7.19324154e-01 -6.94641039e-01 6.82555401e-03 9.52909546e+01] [ 6.94606888e-01 -7.19356504e-01 -6.89137972e-03 -1.29885585e+02] [ 9.69704184e-03 -2.16059058e-04 9.99952959e-01 -9.03592975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.880385723 meters 0.01834501479144759 Centerline is valid? [True, True] Translation: X:95.27, Y:-129.87, Z:-9.04 [[-7.19624226e-01 -6.94325069e-01 7.32610586e-03 9.52687162e+01] [ 6.94285753e-01 -7.19661479e-01 -7.39255231e-03 -1.29868488e+02] [ 1.04051506e-02 -2.33448808e-04 9.99945838e-01 -9.03690303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.910385723 meters 0.01644175728273657 Centerline is valid? [True, True] Translation: X:95.25, Y:-129.85, Z:-9.03 [[-7.18243788e-01 -6.95751048e-01 7.50603837e-03 9.52482719e+01] [ 6.95709883e-01 -7.18282975e-01 -7.57137860e-03 -1.29850869e+02] [ 1.06592542e-02 -2.16070569e-04 9.99943165e-01 -9.03370325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.940385723 meters 0.01605278864015965 Centerline is valid? [True, True] Translation: X:95.23, Y:-129.83, Z:-9.03 [[-7.15498842e-01 -6.98562873e-01 8.44515410e-03 9.52255034e+01] [ 6.98510992e-01 -7.15548653e-01 -8.51576137e-03 -1.29834960e+02] [ 1.19917134e-02 -1.93984421e-04 9.99928078e-01 -9.03427412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.970385723 meters 0.015820244603790223 Centerline is valid? [True, True] Translation: X:95.20, Y:-129.82, Z:-9.04 [[-7.13846399e-01 -7.00249108e-01 8.63169784e-03 9.52024751e+01] [ 7.00195092e-01 -7.13898564e-01 -8.69906440e-03 -1.29818385e+02] [ 1.22536688e-02 -1.65923331e-04 9.99924907e-01 -9.03529582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.000385723 meters 0.015427675959384494 Centerline is valid? [True, True] Translation: X:95.18, Y:-129.80, Z:-9.04 [[-7.11986834e-01 -7.02134399e-01 9.05729093e-03 9.51790962e+01] [ 7.02075142e-01 -7.12044428e-01 -9.12292956e-03 -1.29801623e+02] [ 1.28547162e-02 -1.36506916e-04 9.99917365e-01 -9.03588640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.030385723 meters 0.016514900955047637 Centerline is valid? [True, True] Translation: X:95.16, Y:-129.79, Z:-9.04 [[-7.09099543e-01 -7.05057009e-01 8.51185146e-03 9.51558530e+01] [ 7.05004941e-01 -7.09150625e-01 -8.56881791e-03 -1.29785550e+02] [ 1.20776899e-02 -7.52475241e-05 9.99927059e-01 -9.03602172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.060385723 meters 0.015133051622645294 Centerline is valid? [True, True] Translation: X:95.14, Y:-129.77, Z:-9.03 [[-7.07564269e-01 -7.06607321e-01 7.67456209e-03 9.51360012e+01] [ 7.06565131e-01 -7.07605888e-01 -7.72159992e-03 -1.29767432e+02] [ 1.08867044e-02 -4.09502361e-05 9.99940737e-01 -9.03378644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.090385723 meters 0.014979145929462128 Centerline is valid? [True, True] Translation: X:95.11, Y:-129.75, Z:-9.03 [[-7.05336414e-01 -7.08832793e-01 7.52421922e-03 9.51146146e+01] [ 7.08792418e-01 -7.05376546e-01 -7.56546681e-03 -1.29752047e+02] [ 1.06700587e-02 -3.08969217e-06 9.99943073e-01 -9.03338065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.120385723 meters 0.014984372818021955 Centerline is valid? [True, True] Translation: X:95.09, Y:-129.73, Z:-9.03 [[-7.04139009e-01 -7.10020724e-01 7.66987524e-03 9.50940792e+01] [ 7.09978893e-01 -7.04180780e-01 -7.70720892e-03 -1.29734717e+02] [ 1.08732568e-02 1.85030819e-05 9.99940884e-01 -9.03343703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.150385723 meters 0.015154924698399552 Centerline is valid? [True, True] Translation: X:95.07, Y:-129.72, Z:-9.03 [[-7.01184087e-01 -7.12935278e-01 8.01037120e-03 9.50710304e+01] [ 7.12889888e-01 -7.01229838e-01 -8.04505305e-03 -1.29717451e+02] [ 1.13527134e-02 6.94494481e-05 9.99935553e-01 -9.03268483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18038572300003 meters 0.01529736216204344 Centerline is valid? [True, True] Translation: X:95.05, Y:-129.70, Z:-9.03 [[-6.99788040e-01 -7.14303539e-01 8.19471750e-03 9.50498336e+01] [ 7.14256184e-01 -6.99836012e-01 -8.22552548e-03 -1.29699378e+02] [ 1.16104804e-02 9.70032981e-05 9.99932591e-01 -9.03241381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.210385723 meters 0.015629551183085042 Centerline is valid? [True, True] Translation: X:95.03, Y:-129.68, Z:-9.03 [[-6.98511591e-01 -7.15551425e-01 8.22893245e-03 9.50284221e+01] [ 7.15503808e-01 -6.98560050e-01 -8.25570762e-03 -1.29681744e+02] [ 1.16557868e-02 1.21125039e-04 9.99932062e-01 -9.03337827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.240385723 meters 0.015812749112019894 Centerline is valid? [True, True] Translation: X:95.01, Y:-129.66, Z:-9.03 [[-6.96612987e-01 -7.17406932e-01 7.59209755e-03 9.50069605e+01] [ 7.17366554e-01 -6.96654343e-01 -7.61275735e-03 -1.29663152e+02] [ 1.07505126e-02 1.43171221e-04 9.99942201e-01 -9.03309718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.270385723 meters 0.01598506475374784 Centerline is valid? [True, True] Translation: X:94.99, Y:-129.64, Z:-9.03 [[-6.96125678e-01 -7.17883184e-01 7.26462904e-03 9.49864303e+01] [ 7.17846282e-01 -6.96163568e-01 -7.28032113e-03 -1.29643835e+02] [ 1.02837902e-02 1.46868461e-04 9.99947110e-01 -9.03323664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.300385723 meters 0.01653099705451308 Centerline is valid? [True, True] Translation: X:94.96, Y:-129.63, Z:-9.03 [[-6.95523958e-01 -7.18466066e-01 7.27570785e-03 9.49649113e+01] [ 7.18429120e-01 -6.95561994e-01 -7.28780318e-03 -1.29626280e+02] [ 1.02967451e-02 1.58238679e-04 9.99946975e-01 -9.03488375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.330385723 meters 0.016192380823813406 Centerline is valid? [True, True] Translation: X:94.95, Y:-129.61, Z:-9.03 [[-6.95969881e-01 -7.18031164e-01 7.56126474e-03 9.49460186e+01] [ 7.17991280e-01 -6.96010935e-01 -7.56965526e-03 -1.29605958e+02] [ 1.06979713e-02 1.60670088e-04 9.99942762e-01 -9.03477456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.360385723 meters 0.01599933913978696 Centerline is valid? [True, True] Translation: X:94.93, Y:-129.59, Z:-9.04 [[-6.97630587e-01 -7.16423989e-01 6.94492744e-03 9.49285621e+01] [ 7.16390300e-01 -6.97665143e-01 -6.94882227e-03 -1.29585641e+02] [ 9.82353677e-03 1.27567689e-04 9.99951740e-01 -9.03509008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.390385723 meters 0.01579377405007974 Centerline is valid? [True, True] Translation: X:94.91, Y:-129.57, Z:-9.04 [[-6.98816432e-01 -7.15270290e-01 6.63369715e-03 9.49102345e+01] [ 7.15239539e-01 -6.98847909e-01 -6.63336821e-03 -1.29565435e+02] [ 9.38059659e-03 1.09175791e-04 9.99955995e-01 -9.03507315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.420385723 meters 0.01575768159330681 Centerline is valid? [True, True] Translation: X:94.50, Y:-129.97, Z:-8.03 [[-7.61357816e-01 6.48302948e-01 6.12889886e-03 9.45007190e+01] [ 6.48281146e-01 7.61382480e-01 -5.31733136e-03 -1.29966211e+02] [-8.11367781e-03 -7.51422104e-05 -9.99967081e-01 -8.03403659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.450385723 meters 0.015545784311903852 Centerline is valid? [True, True] Translation: X:94.52, Y:-129.94, Z:-8.03 [[-8.05042019e-01 5.93182794e-01 6.44372234e-03 9.45156005e+01] [ 5.93163088e-01 8.05067804e-01 -4.83559490e-03 -1.29942677e+02] [-8.05602508e-03 -7.06788459e-05 -9.99967547e-01 -8.03368426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.480385723 meters 0.015371349888945073 Centerline is valid? [True, True] Translation: X:94.53, Y:-129.92, Z:-8.03 [[-8.44161874e-01 5.36048763e-01 6.51563241e-03 9.45288150e+01] [ 5.36032287e-01 8.44187017e-01 -4.20317042e-03 -1.29920292e+02] [-7.75351660e-03 -5.55668780e-05 -9.99969940e-01 -8.03271193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.510385723 meters 0.015264007557056912 Centerline is valid? [True, True] Translation: X:94.54, Y:-129.90, Z:-8.03 [[-8.79316733e-01 4.76193506e-01 6.46740544e-03 9.45391915e+01] [ 4.76180276e-01 8.79340516e-01 -3.54988628e-03 -1.29895827e+02] [-7.37748443e-03 -4.18234949e-05 -9.99972785e-01 -8.03255780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.540385723 meters 0.015218334641474861 Centerline is valid? [True, True] Translation: X:94.82, Y:-129.38, Z:-9.04 [[-8.40877537e-01 -5.41200672e-01 5.17683297e-03 9.48236221e+01] [ 5.41190158e-01 -8.40893472e-01 -3.37373213e-03 -1.29378668e+02] [ 6.17903115e-03 -3.52445132e-05 9.99980909e-01 -9.03751726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.570385723 meters 0.015196566684357704 Centerline is valid? [True, True] Translation: X:94.50, Y:-129.88, Z:-8.03 [[-8.78839159e-01 4.77088133e-01 5.35213789e-03 9.44979635e+01] [ 4.77079242e-01 8.78855456e-01 -2.91265956e-03 -1.29881922e+02] [-6.09335090e-03 -6.36539149e-06 -9.99981435e-01 -8.03246487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.600385723 meters 0.015264016681012866 Centerline is valid? [True, True] Translation: X:94.51, Y:-129.86, Z:-8.03 [[-9.09486795e-01 4.15689198e-01 6.02168792e-03 9.45056170e+01] [ 4.15680146e-01 9.09506729e-01 -2.74316526e-03 -1.29855383e+02] [-6.61706985e-03 8.22353087e-06 -9.99978107e-01 -8.02965891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.630385723 meters 0.017841971666815563 Centerline is valid? [True, True] Translation: X:94.51, Y:-129.83, Z:-8.03 [[-9.36276056e-01 3.51194426e-01 7.04435848e-03 9.45141931e+01] [ 3.51184628e-01 9.36302555e-01 -2.62335058e-03 -1.29828787e+02] [-7.51695694e-03 1.76900848e-05 -9.99971747e-01 -8.02633406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.660385723 meters 0.015340608471577125 Centerline is valid? [True, True] Translation: X:94.73, Y:-129.26, Z:-9.04 [[-9.12523362e-01 -4.08991538e-01 5.19957599e-03 9.47284977e+01] [ 4.08984121e-01 -9.12538167e-01 -2.46628747e-03 -1.29259871e+02] [ 5.75350225e-03 -1.24000924e-04 9.99983441e-01 -9.04113656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.690385723 meters 0.015293869461681152 Centerline is valid? [True, True] Translation: X:94.47, Y:-129.82, Z:-8.03 [[-9.37677567e-01 3.47476589e-01 4.56072402e-03 9.44683682e+01] [ 3.47472534e-01 9.37688658e-01 -1.67887303e-03 -1.29818893e+02] [-4.85990826e-03 1.04847533e-05 -9.99988191e-01 -8.03016916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.720385723 meters 0.015365038501569374 Centerline is valid? [True, True] Translation: X:94.68, Y:-129.24, Z:-9.04 [[-9.13773423e-01 -4.06206059e-01 3.84316104e-03 9.46827255e+01] [ 4.06202240e-01 -9.13781503e-01 -1.76203518e-03 -1.29240198e+02] [ 4.22755884e-03 -4.90002935e-05 9.99991063e-01 -9.04024169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.750385723 meters 0.015442154397991776 Centerline is valid? [True, True] Translation: X:94.42, Y:-129.80, Z:-8.03 [[-9.39242504e-01 3.43235730e-01 3.57107756e-03 9.44210176e+01] [ 3.43233271e-01 9.39249293e-01 -1.29920545e-03 -1.29803203e+02] [-3.80006580e-03 5.44365673e-06 -9.99992780e-01 -8.02865438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.780385723 meters 0.015473503902160029 Centerline is valid? [True, True] Translation: X:94.43, Y:-129.78, Z:-8.03 [[-9.61339748e-01 2.75329442e-01 4.42565241e-03 9.44251996e+01] [ 2.75326545e-01 9.61349935e-01 -1.26299556e-03 -1.29776342e+02] [-4.60234052e-03 4.33175495e-06 -9.99989409e-01 -8.02679839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.810385723 meters 0.015449826109303635 Centerline is valid? [True, True] Translation: X:94.43, Y:-129.75, Z:-8.03 [[-9.78442598e-01 2.06469770e-01 4.50727696e-03 9.44275981e+01] [ 2.06467600e-01 9.78452980e-01 -9.46533139e-04 -1.29749120e+02] [-4.60558905e-03 4.47831357e-06 -9.99989394e-01 -8.02685248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.840385723 meters 0.015572434294742206 Centerline is valid? [True, True] Translation: X:94.43, Y:-129.72, Z:-8.03 [[-9.90591519e-01 1.36795952e-01 3.91279187e-03 9.44266640e+01] [ 1.36794905e-01 9.90599247e-01 -5.35326300e-04 -1.29721297e+02] [-3.94923915e-03 4.96029806e-06 -9.99992202e-01 -8.02754920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.870385723 meters 0.015580654707243896 Centerline is valid? [True, True] Translation: X:94.42, Y:-129.70, Z:-8.03 [[-9.97720053e-01 6.74660421e-02 1.74034044e-03 9.44235379e+01] [ 6.74659478e-02 9.97721571e-01 -1.12943370e-04 -1.29695005e+02] [-1.74399504e-03 4.72785245e-06 -9.99998479e-01 -8.02931153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.900385723 meters 0.015623689269546588 Centerline is valid? [True, True] Translation: X:94.47, Y:-129.06, Z:-9.04 [[-9.91690214e-01 -1.28645485e-01 9.26529317e-04 9.44689902e+01] [ 1.28645377e-01 -9.91690645e-01 -1.75099416e-04 -1.29060414e+02] [ 9.41356206e-04 -5.44506640e-05 9.99999555e-01 -9.04098818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93038572300003 meters 0.015773219854497467 Centerline is valid? [True, True] Translation: X:94.36, Y:-129.69, Z:-8.03 [[-9.97942477e-01 6.40783336e-02 2.18614780e-03 9.43605934e+01] [ 6.40781978e-02 9.97944872e-01 -1.32182165e-04 -1.29694627e+02] [-2.19012500e-03 8.17421335e-06 -9.99997602e-01 -8.02756590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.960385723 meters 0.015716364325127824 Centerline is valid? [True, True] Translation: X:94.36, Y:-129.67, Z:-8.03 [[-9.99963724e-01 -7.58683612e-03 3.87188616e-03 9.43566235e+01] [-7.58673275e-03 9.99971220e-01 4.13849958e-05 -1.29670721e+02] [-3.87208870e-03 1.20085290e-05 -9.99992503e-01 -8.02674692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.990385723 meters 0.01585281961431059 Centerline is valid? [True, True] Translation: X:94.35, Y:-129.02, Z:-9.04 [[-9.98525963e-01 -5.41565837e-02 3.60070540e-03 9.43488691e+01] [ 5.41561278e-02 -9.98532455e-01 -2.24077227e-04 -1.29016175e+02] [ 3.60755646e-03 -2.87466671e-05 9.99993492e-01 -9.04350186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.020385723 meters 0.015850185406537976 Centerline is valid? [True, True] Translation: X:94.28, Y:-129.67, Z:-8.03 [[-9.99915926e-01 -1.26677555e-02 2.76926292e-03 9.42788663e+01] [-1.26676843e-02 9.99919761e-01 4.32319292e-05 -1.29674549e+02] [-2.76958837e-03 8.14814608e-06 -9.99996165e-01 -8.02709347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.050385723 meters 0.015799071819562832 Centerline is valid? [True, True] Translation: X:94.27, Y:-129.65, Z:-8.03 [[-9.96463393e-01 -8.40183450e-02 1.27449934e-03 9.42743500e+01] [-8.40182714e-02 9.96464208e-01 1.11276225e-04 -1.29647352e+02] [-1.27934222e-03 3.80145311e-06 -9.99999182e-01 -8.02763240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.080385723 meters 0.01594506056582783 Centerline is valid? [True, True] Translation: X:94.26, Y:-129.62, Z:-8.03 [[-9.87932533e-01 -1.54873546e-01 1.86967954e-03 9.42615528e+01] [-1.54873259e-01 9.87934302e-01 2.98453911e-04 -1.29623358e+02] [-1.89334317e-03 5.28896442e-06 -9.99998208e-01 -8.02850847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.110385723 meters 0.015893670376237304 Centerline is valid? [True, True] Translation: X:94.15, Y:-128.96, Z:-9.04 [[-9.95679863e-01 9.28302737e-02 2.03716201e-03 9.41487313e+01] [-9.28300701e-02 -9.95681947e-01 1.94485617e-04 -1.28961054e+02] [ 2.04641959e-03 4.53551997e-06 9.99997906e-01 -9.04179248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.140385723 meters 0.015924628828219094 Centerline is valid? [True, True] Translation: X:94.15, Y:-129.65, Z:-8.03 [[-9.86940345e-01 -1.61067449e-01 2.45606122e-03 9.41483324e+01] [-1.61066933e-01 9.86943401e-01 4.07537107e-04 -1.29645416e+02] [-2.48963438e-03 6.62456452e-06 -9.99996901e-01 -8.02851023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.170385723 meters 0.016018462663578807 Centerline is valid? [True, True] Translation: X:94.12, Y:-129.62, Z:-8.03 [[-9.72936292e-01 -2.31063837e-01 2.11561458e-03 9.41234487e+01] [-2.31063275e-01 9.72938592e-01 5.09600737e-04 -1.29624884e+02] [-2.17611337e-03 6.96821778e-06 -9.99997632e-01 -8.02879024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.200385723 meters 0.016015314617171355 Centerline is valid? [True, True] Translation: X:94.08, Y:-129.61, Z:-8.03 [[-9.53888538e-01 -3.00155244e-01 1.86707010e-03 9.40838823e+01] [-3.00154654e-01 9.53890366e-01 5.95065854e-04 -1.29607417e+02] [-1.95959232e-03 7.21671758e-06 -9.99998080e-01 -8.02839033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.230385723 meters 0.01626637916527697 Centerline is valid? [True, True] Translation: X:94.03, Y:-129.60, Z:-8.03 [[-9.29862256e-01 -3.67906199e-01 1.10183530e-03 9.40289575e+01] [-3.67905932e-01 9.29862909e-01 4.43098295e-04 -1.29598769e+02] [-1.18757439e-03 6.64863553e-06 -9.99999295e-01 -8.02765287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.260385723 meters 0.01635381964987604 Centerline is valid? [True, True] Translation: X:93.96, Y:-129.60, Z:-8.03 [[-9.00479889e-01 -4.34896603e-01 9.55926613e-04 9.39596360e+01] [-4.34896350e-01 9.00480397e-01 4.69225237e-04 -1.29599828e+02] [-1.06485764e-03 6.79889461e-06 -9.99999433e-01 -8.02752817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.290385723 meters 0.016532244767480105 Centerline is valid? [True, True] Translation: X:93.88, Y:-129.62, Z:-8.03 [[-8.66598990e-01 -4.99004125e-01 1.03640786e-03 9.38765465e+01] [-4.99003755e-01 8.66599610e-01 6.07886996e-04 -1.29616913e+02] [-1.20148876e-03 9.62284577e-06 -9.99999278e-01 -8.02856288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.320385723 meters 0.016595973346239915 Centerline is valid? [True, True] Translation: X:93.80, Y:-129.63, Z:-8.03 [[-8.27062437e-01 -5.62109547e-01 7.63426349e-04 9.38017396e+01] [-5.62109299e-01 8.27062789e-01 5.28598891e-04 -1.29632495e+02] [-9.28532009e-04 8.05523747e-06 -9.99999569e-01 -8.02903049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.350385723 meters 0.016660732854297134 Centerline is valid? [True, True] Translation: X:93.71, Y:-129.67, Z:-8.03 [[-7.82636183e-01 -6.22479013e-01 6.94932715e-04 9.37082770e+01] [-6.22478758e-01 7.82636492e-01 5.62860133e-04 -1.29668542e+02] [-8.94248322e-04 7.93385286e-06 -9.99999600e-01 -8.02916164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.380385723 meters 0.016628095772795545 Centerline is valid? [True, True] Translation: X:93.62, Y:-129.70, Z:-8.03 [[-7.32935247e-01 -6.80297832e-01 8.84678941e-04 9.36241145e+01] [-6.80297321e-01 7.32935781e-01 8.34604962e-04 -1.29704288e+02] [-1.21619280e-03 9.86668092e-06 -9.99999260e-01 -8.02899972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.410385723 meters 0.01657010137336504 Centerline is valid? [True, True] Translation: X:93.53, Y:-129.76, Z:-8.03 [[-6.78947481e-01 -7.34186264e-01 9.20520545e-04 9.35317487e+01] [-7.34185569e-01 6.78948105e-01 1.01063869e-03 -1.29756862e+02] [-1.36698272e-03 1.03376919e-05 -9.99999066e-01 -8.02873360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.440385723 meters 0.01653618529351682 Centerline is valid? [True, True] Translation: X:93.44, Y:-129.83, Z:-8.03 [[-6.19729177e-01 -7.84815367e-01 7.66912603e-04 9.34362501e+01] [-7.84814752e-01 6.19729651e-01 9.82517327e-04 -1.29826738e+02] [-1.24637318e-03 7.01033020e-06 -9.99999223e-01 -8.02768797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.470385723 meters 0.016291980182047295 Centerline is valid? [True, True] Translation: X:93.36, Y:-129.89, Z:-8.03 [[-5.56006630e-01 -8.31177013e-01 1.18361879e-03 9.33559402e+01] [-8.31175105e-01 5.56007889e-01 1.78088577e-03 -1.29891930e+02] [-2.13833270e-03 6.38982315e-06 -9.99997714e-01 -8.02775760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.500385723 meters 0.016284350344337336 Centerline is valid? [True, True] Translation: X:93.27, Y:-129.98, Z:-8.03 [[-4.89886177e-01 -8.71785358e-01 1.35033964e-03 9.32727928e+01] [-8.71782018e-01 4.89888038e-01 2.41317990e-03 -1.29975431e+02] [-2.76529014e-03 4.98165967e-06 -9.99996177e-01 -8.02811120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.530385723 meters 0.016354073504570073 Centerline is valid? [True, True] Translation: X:93.20, Y:-130.06, Z:-8.03 [[-4.19703179e-01 -9.07660659e-01 1.17013630e-03 9.31966170e+01] [-9.07657140e-01 4.19704810e-01 2.52777813e-03 -1.30063931e+02] [-2.78547660e-03 -1.16605027e-06 -9.99996121e-01 -8.02900335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.560385723 meters 0.016364644701769574 Centerline is valid? [True, True] Translation: X:93.12, Y:-130.16, Z:-8.03 [[-3.48117938e-01 -9.37450444e-01 7.51812187e-04 9.31232061e+01] [-9.37448274e-01 3.48118750e-01 2.01732530e-03 -1.30163993e+02] [-2.15286241e-03 -2.51791367e-06 -9.99997683e-01 -8.02879649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.590385723 meters 0.016364644701769574 Centerline is valid? [True, True] Translation: X:93.06, Y:-130.27, Z:-8.03 [[-2.75104356e-01 -9.61414187e-01 5.94690843e-04 9.30585160e+01] [-9.61411961e-01 2.75104999e-01 2.06912079e-03 -1.30267313e+02] [-2.15288451e-03 -2.51874716e-06 -9.99997683e-01 -8.02879537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.620385723 meters 0.0162784403103534 Centerline is valid? [True, True] Translation: X:93.00, Y:-130.38, Z:-8.03 [[-1.99823716e-01 -9.79831757e-01 4.59258358e-04 9.30023500e+01] [-9.79829215e-01 1.99824244e-01 2.23195997e-03 -1.30375681e+02] [-2.27871621e-03 -3.99622085e-06 -9.99997404e-01 -8.02881671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.650385723 meters 0.016318226893331657 Centerline is valid? [True, True] Translation: X:92.96, Y:-130.49, Z:-8.03 [[-1.23452395e-01 -9.92350490e-01 1.02587832e-04 9.29571939e+01] [-9.92350157e-01 1.23452438e-01 8.13416117e-04 -1.30491225e+02] [-8.19858600e-04 -1.38488306e-06 -9.99999664e-01 -8.02998518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68038572300003 meters 0.01633075718695514 Centerline is valid? [True, True] Translation: X:92.92, Y:-130.61, Z:-8.03 [[-4.67567068e-02 -9.98906305e-01 6.33483993e-05 9.29194329e+01] [-9.98905454e-01 4.67567497e-02 1.30375141e-03 -1.30609426e+02] [-1.30528747e-03 -2.31993927e-06 -9.99999148e-01 -8.03031127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.710385723 meters 0.01626918741277316 Centerline is valid? [True, True] Translation: X:92.89, Y:-130.73, Z:-8.03 [[ 2.91913512e-02 -9.99573841e-01 -2.82910461e-05 9.28927990e+01] [-9.99573358e-01 -2.91913649e-02 9.82684740e-04 -1.30733034e+02] [-9.83091814e-04 -4.06919399e-07 -9.99999517e-01 -8.03069190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.740385723 meters 0.01632739085487307 Centerline is valid? [True, True] Translation: X:92.87, Y:-130.86, Z:-8.03 [[ 1.04904010e-01 -9.94482345e-01 -1.23343188e-04 9.28740270e+01] [-9.94481667e-01 -1.04904082e-01 1.16084943e-03 -1.30858999e+02] [-1.16738347e-03 8.84779094e-07 -9.99999319e-01 -8.03055125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.770385723 meters 0.01628765988991109 Centerline is valid? [True, True] Translation: X:92.87, Y:-131.01, Z:-8.03 [[ 1.80604112e-01 -9.83555823e-01 -3.14153257e-04 9.28682941e+01] [-9.83554356e-01 -1.80604385e-01 1.69875250e-03 -1.31005426e+02] [-1.72755536e-03 2.18511777e-06 -9.99998508e-01 -8.03027277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.800385723 meters 0.016354508117222864 Centerline is valid? [True, True] Translation: X:92.87, Y:-131.11, Z:-8.03 [[ 2.54822841e-01 -9.66987647e-01 -4.58416026e-04 9.28665685e+01] [-9.66986113e-01 -2.54823254e-01 1.72247321e-03 -1.31110986e+02] [-1.78242538e-03 4.35641357e-06 -9.99998411e-01 -8.03029712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.830385723 meters 0.01638084153906104 Centerline is valid? [True, True] Translation: X:92.87, Y:-131.23, Z:-8.03 [[ 3.28399072e-01 -9.44538798e-01 -7.13050252e-04 9.28747283e+01] [-9.44536609e-01 -3.28399846e-01 2.03349582e-03 -1.31231705e+02] [-2.15488129e-03 5.70392898e-06 -9.99997678e-01 -8.03073823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.860385723 meters 0.016365651243612594 Centerline is valid? [True, True] Translation: X:92.90, Y:-131.36, Z:-8.03 [[ 3.99845320e-01 -9.16582380e-01 -6.79318324e-04 9.28966909e+01] [-9.16581079e-01 -3.99845897e-01 1.54422685e-03 -1.31358908e+02] [-1.68703376e-03 5.19844320e-06 -9.99998577e-01 -8.03152569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.890385723 meters 0.01628754453235118 Centerline is valid? [True, True] Translation: X:92.92, Y:-131.47, Z:-8.03 [[ 4.69006867e-01 -8.83193896e-01 -1.04901187e-03 9.29207042e+01] [-8.83191722e-01 -4.69008040e-01 1.95977371e-03 -1.31471458e+02] [-2.22285518e-03 7.33127002e-06 -9.99997529e-01 -8.03174196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.920385723 meters 0.016393690385508402 Centerline is valid? [True, True] Translation: X:92.96, Y:-131.59, Z:-8.03 [[ 5.34909061e-01 -8.44907510e-01 -1.89619751e-03 9.29593938e+01] [-8.44902293e-01 -5.34912422e-01 2.96911230e-03 -1.31589006e+02] [-3.52292488e-03 1.38965548e-05 -9.99993794e-01 -8.03067013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.950385723 meters 0.016379244298703036 Centerline is valid? [True, True] Translation: X:93.00, Y:-131.70, Z:-8.03 [[ 5.98543556e-01 -8.01086641e-01 -2.40961048e-03 9.30021851e+01] [-8.01080241e-01 -5.98548406e-01 3.20207385e-03 -1.31700139e+02] [-4.00740709e-03 1.37106740e-05 -9.99991970e-01 -8.03043266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.980385723 meters 0.016370674899072953 Centerline is valid? [True, True] Translation: X:93.05, Y:-131.81, Z:-8.03 [[ 6.58784059e-01 -7.52326514e-01 -2.89475618e-03 9.30534494e+01] [-7.52319328e-01 -6.58790419e-01 3.28832899e-03 -1.31808709e+02] [-4.38093472e-03 1.14823031e-05 -9.99990404e-01 -8.03036280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.010385723 meters 0.01636411062535389 Centerline is valid? [True, True] Translation: X:93.11, Y:-131.91, Z:-8.03 [[ 7.15804948e-01 -6.98293226e-01 -3.13783745e-03 9.31061912e+01] [-6.98286532e-01 -7.15811826e-01 3.05757887e-03 -1.31905847e+02] [-4.38118777e-03 2.47954699e-06 -9.99990403e-01 -8.03034769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.040385723 meters 0.016418711471975815 Centerline is valid? [True, True] Translation: X:93.10, Y:-131.92, Z:-8.03 [[ 7.68839549e-01 -6.39430869e-01 -3.72985967e-03 9.30996413e+01] [-6.39423330e-01 -7.68848596e-01 3.10510470e-03 -1.31915253e+02] [-4.85319716e-03 -2.36800644e-06 -9.99988223e-01 -8.03041133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.070385723 meters 0.016437796319204608 Centerline is valid? [True, True] Translation: X:93.09, Y:-131.93, Z:-8.03 [[ 8.17158099e-01 -5.76399603e-01 -4.01726778e-03 9.30925699e+01] [-5.76392588e-01 -8.17167974e-01 2.84382485e-03 -1.31925305e+02] [-4.92196209e-03 -8.33113835e-06 -9.99987887e-01 -8.03035035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.100385723 meters 0.016440576509988425 Centerline is valid? [True, True] Translation: X:93.09, Y:-131.94, Z:-8.03 [[ 8.59780782e-01 -5.10650987e-01 -3.54641114e-03 9.30852822e+01] [-5.10646607e-01 -8.59788096e-01 2.11510230e-03 -1.31936343e+02] [-4.12924116e-03 -7.56149065e-06 -9.99991475e-01 -8.03120802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.130385723 meters 0.016456820959424422 Centerline is valid? [True, True] Translation: X:93.08, Y:-131.95, Z:-8.03 [[ 8.96909518e-01 -4.42204855e-01 -2.86065551e-03 9.30800750e+01] [-4.42202590e-01 -8.96914079e-01 1.41550167e-03 -1.31946325e+02] [-3.19170391e-03 -4.58764433e-06 -9.99994907e-01 -8.03386619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.160385723 meters 0.01643877716159487 Centerline is valid? [True, True] Translation: X:93.08, Y:-131.95, Z:-8.03 [[ 9.28443156e-01 -3.71464044e-01 -2.78763317e-03 9.30756394e+01] [-3.71462363e-01 -9.28447341e-01 1.11732391e-03 -1.31954516e+02] [-3.00321626e-03 -1.87093394e-06 -9.99995490e-01 -8.03473787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.190385723 meters 0.016556721167875214 Centerline is valid? [True, True] Translation: X:93.07, Y:-131.96, Z:-8.03 [[ 9.54022978e-01 -2.99716301e-01 -3.20879095e-03 9.30712803e+01] [-2.99714623e-01 -9.54028374e-01 1.00298330e-03 -1.31962415e+02] [-3.36188806e-03 4.85245687e-06 -9.99994349e-01 -8.03394984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.220385723 meters 0.016589768813720283 Centerline is valid? [True, True] Translation: X:93.07, Y:-131.97, Z:-8.03 [[ 9.74256658e-01 -2.25395859e-01 -4.54664317e-03 9.30688986e+01] [-2.25393463e-01 -9.74267266e-01 1.03935007e-03 -1.31969134e+02] [-4.66391081e-03 1.21899288e-05 -9.99989124e-01 -8.03284384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.250385723 meters 0.01659717913884224 Centerline is valid? [True, True] Translation: X:93.06, Y:-131.98, Z:-8.03 [[ 9.88735904e-01 -1.49569280e-01 -5.50844233e-03 9.30637720e+01] [-1.49567077e-01 -9.88751248e-01 8.12001479e-04 -1.31976604e+02] [-5.56792971e-03 2.10266022e-05 -9.99984499e-01 -8.03146030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.280385723 meters 0.016857842538906403 Centerline is valid? [True, True] Translation: X:93.06, Y:-131.98, Z:-8.03 [[ 9.97227299e-01 -7.39970315e-02 -7.88375512e-03 9.30583205e+01] [-7.39950983e-02 -9.97258461e-01 5.37008983e-04 -1.31982687e+02] [-7.90187857e-03 4.78392174e-05 -9.99968779e-01 -8.03034098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.310385723 meters 0.016884275593436554 Centerline is valid? [True, True] Translation: X:93.05, Y:-131.99, Z:-8.03 [[ 9.99963629e-01 2.63360037e-03 -8.11198580e-03 9.30542130e+01] [ 2.63300471e-03 -9.99996530e-01 -8.41086378e-05 -1.31989315e+02] [-8.11217916e-03 6.27466819e-05 -9.99967094e-01 -8.03066998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.340385723 meters 0.017323173448452675 Centerline is valid? [True, True] Translation: X:93.05, Y:-132.00, Z:-8.03 [[ 9.96934438e-01 7.78423965e-02 -7.89223379e-03 9.30488797e+01] [ 7.78392765e-02 -9.96965673e-01 -7.02186396e-04 -1.31995849e+02] [-7.92294605e-03 8.57080319e-05 -9.99968609e-01 -8.03185666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.370385723 meters 0.017577551596905633 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.00, Z:-8.03 [[ 9.87981133e-01 1.54379241e-01 -7.76723357e-03 9.30449055e+01] [ 1.54373711e-01 -9.88011660e-01 -1.31020400e-03 -1.32003092e+02] [-7.87638563e-03 9.54001668e-05 -9.99968976e-01 -8.03180652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.400385723 meters 0.01771600286366127 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.01, Z:-8.03 [[ 9.73024663e-01 2.30577729e-01 -7.54429509e-03 9.30419219e+01] [ 2.30570004e-01 -9.73053904e-01 -1.89009924e-03 -1.32011520e+02] [-7.77682058e-03 9.96250267e-05 -9.99969755e-01 -8.03154005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43038572300003 meters 0.017848011263595167 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.02, Z:-8.03 [[ 9.51982493e-01 3.06079406e-01 -6.68806647e-03 9.30388417e+01] [ 3.06071187e-01 -9.52005982e-01 -2.24476383e-03 -1.32019315e+02] [-7.05415526e-03 8.99514245e-05 -9.99975115e-01 -8.03252332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.460385723 meters 0.017873490687032142 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.03, Z:-8.03 [[ 9.24950903e-01 3.80028985e-01 -6.61793900e-03 9.30367285e+01] [ 3.80018571e-01 -9.24974574e-01 -2.81487477e-03 -1.32025288e+02] [-7.19115931e-03 8.86812413e-05 -9.99974139e-01 -8.03368347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.490385723 meters 0.0174202211936356 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.04, Z:-8.03 [[ 8.91726598e-01 4.52521072e-01 -6.95365015e-03 9.30385382e+01] [ 4.52506564e-01 -8.91753706e-01 -3.62460288e-03 -1.32039837e+02] [-7.84115247e-03 8.55824599e-05 -9.99969254e-01 -8.03473157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.520385723 meters 0.01734092415107872 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.05, Z:-8.03 [[ 8.53315251e-01 5.21347572e-01 -7.05630470e-03 9.30410150e+01] [ 5.21328906e-01 -8.53344422e-01 -4.41248407e-03 -1.32051324e+02] [-8.32189611e-03 8.65843519e-05 -9.99965369e-01 -8.03439229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.550385723 meters 0.01770249377697753 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.06, Z:-8.03 [[ 8.09803068e-01 5.86657973e-01 -7.17030445e-03 9.30424950e+01] [ 5.86633970e-01 -8.09834807e-01 -5.30764249e-03 -1.32061597e+02] [-8.92053291e-03 9.18010063e-05 -9.99960207e-01 -8.03291922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.580385723 meters 0.017839824977750867 Centerline is valid? [True, True] Translation: X:93.04, Y:-132.07, Z:-8.03 [[ 7.60848813e-01 6.48886096e-01 -7.47787051e-03 9.30418449e+01] [ 6.48853545e-01 -7.60885554e-01 -6.50015056e-03 -1.32068524e+02] [-9.90766096e-03 9.35890513e-05 -9.99950914e-01 -8.03181373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.610385723 meters 0.017452867452709492 Centerline is valid? [True, True] Translation: X:93.05, Y:-132.08, Z:-8.03 [[ 7.07661477e-01 7.06515668e-01 -7.13054312e-03 9.30474729e+01] [ 7.06478441e-01 -7.07697394e-01 -7.25331431e-03 -1.32079571e+02] [-1.01708470e-02 9.53161344e-05 -9.99948271e-01 -8.03398659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.640385723 meters 0.017423669456026202 Centerline is valid? [True, True] Translation: X:93.05, Y:-132.09, Z:-8.04 [[ 6.50385494e-01 7.59579913e-01 -6.08818338e-03 9.30508156e+01] [ 7.59545311e-01 -6.50413982e-01 -7.25065575e-03 -1.32087402e+02] [-9.46729206e-03 9.14701770e-05 -9.99955180e-01 -8.03520386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.670385723 meters 0.01748097427076897 Centerline is valid? [True, True] Translation: X:93.06, Y:-132.10, Z:-8.04 [[ 5.89344967e-01 8.07862711e-01 -5.50900938e-03 9.30560965e+01] [ 8.07825878e-01 -5.89370707e-01 -7.71490915e-03 -1.32096373e+02] [-9.47943618e-03 9.64225323e-05 -9.99955065e-01 -8.03684885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.700385723 meters 0.017620994031975395 Centerline is valid? [True, True] Translation: X:93.06, Y:-132.11, Z:-8.04 [[ 5.24827958e-01 8.51186396e-01 -6.11018228e-03 9.30634930e+01] [ 8.51125839e-01 -5.24863509e-01 -1.01539477e-02 -1.32106166e+02] [-1.18499139e-02 1.28541634e-04 -9.99929779e-01 -8.03636975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.730385723 meters 0.017650641400960107 Centerline is valid? [True, True] Translation: X:93.07, Y:-132.12, Z:-8.04 [[ 4.56939875e-01 8.89478760e-01 -5.78675944e-03 9.30717614e+01] [ 8.89403345e-01 -4.56976492e-01 -1.15833863e-02 -1.32115271e+02] [-1.29475891e-02 1.46147872e-04 -9.99916166e-01 -8.03530393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.760385723 meters 0.017765544692309017 Centerline is valid? [True, True] Translation: X:93.08, Y:-132.12, Z:-8.03 [[ 3.87064322e-01 9.22038769e-01 -5.07139019e-03 9.30821698e+01] [ 9.21953785e-01 -3.87097506e-01 -1.25195149e-02 -1.32124639e+02] [-1.35066006e-02 1.70270146e-04 -9.99908767e-01 -8.03499155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.790385723 meters 0.019368055173964234 Centerline is valid? [True, True] Translation: X:93.09, Y:-132.13, Z:-8.03 [[ 3.14184492e-01 9.49353296e-01 -4.05278245e-03 9.30872934e+01] [ 9.49266934e-01 -3.14210581e-01 -1.28062084e-02 -1.32132126e+02] [-1.34310433e-02 1.76339708e-04 -9.99909784e-01 -8.03136349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.820385723 meters 0.017830343884973468 Centerline is valid? [True, True] Translation: X:93.10, Y:-132.14, Z:-8.04 [[ 2.39717035e-01 9.70838140e-01 -3.00799854e-03 9.31017662e+01] [ 9.70751703e-01 -2.39735835e-01 -1.29561196e-02 -1.32140217e+02] [-1.32994201e-02 1.85782867e-04 -9.99911542e-01 -8.03614421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.850385723 meters 0.0180873645381714 Centerline is valid? [True, True] Translation: X:93.11, Y:-132.15, Z:-8.04 [[ 1.64868840e-01 9.86313880e-01 -1.78782837e-03 9.31124095e+01] [ 9.86242684e-01 -1.64878423e-01 -1.18521936e-02 -1.32146111e+02] [-1.19847573e-02 1.90824751e-04 -9.99928162e-01 -8.03843477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.880385723 meters 0.018411274759886485 Centerline is valid? [True, True] Translation: X:93.12, Y:-132.15, Z:-8.04 [[ 8.84536034e-02 9.96079944e-01 -8.40065958e-04 9.31236950e+01] [ 9.96010493e-01 -8.84573576e-02 -1.17640686e-02 -1.32151274e+02] [-1.17922628e-02 2.03859748e-04 -9.99930448e-01 -8.03972443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.910385723 meters 0.01870547110772492 Centerline is valid? [True, True] Translation: X:93.13, Y:-132.16, Z:-8.04 [[ 1.05420507e-02 9.99944427e-01 8.75040178e-05 9.31344513e+01] [ 9.99868769e-01 -1.05401765e-02 -1.23024510e-02 -1.32157090e+02] [-1.23008450e-02 2.17185597e-04 -9.99924318e-01 -8.03906253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.940385723 meters 0.018396941518802064 Centerline is valid? [True, True] Translation: X:93.15, Y:-132.16, Z:-8.04 [[-6.79755485e-02 9.97686403e-01 1.08029134e-03 9.31482985e+01] [ 9.97606882e-01 6.79837718e-02 -1.25982268e-02 -1.32160387e+02] [-1.26425219e-02 2.21334696e-04 -9.99920056e-01 -8.03928563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.970385723 meters 0.018369397104389302 Centerline is valid? [True, True] Translation: X:93.16, Y:-132.16, Z:-8.04 [[-1.48083197e-01 9.88972675e-01 2.10129335e-03 9.31627178e+01] [ 9.88891147e-01 1.48097974e-01 -1.27000066e-02 -1.32163581e+02] [-1.28711567e-02 1.97292814e-04 -9.99917144e-01 -8.03864082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.000385723 meters 0.01786733889708501 Centerline is valid? [True, True] Translation: X:93.18, Y:-132.16, Z:-8.04 [[-2.26434402e-01 9.74020963e-01 3.25964625e-03 9.31790233e+01] [ 9.73931783e-01 2.26457783e-01 -1.31815859e-02 -1.32163481e+02] [-1.35773132e-02 1.89908580e-04 -9.99907806e-01 -8.03861375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.030385723 meters 0.017729302037453057 Centerline is valid? [True, True] Translation: X:93.20, Y:-132.16, Z:-8.04 [[-3.04674009e-01 9.52445795e-01 4.55582887e-03 9.31966051e+01] [ 9.52347138e-01 3.04708027e-01 -1.37094150e-02 -1.32162967e+02] [-1.44456723e-02 1.61828160e-04 -9.99895643e-01 -8.03681496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.060385723 meters 0.017530123817201145 Centerline is valid? [True, True] Translation: X:93.21, Y:-132.16, Z:-8.04 [[-3.79594727e-01 9.25133784e-01 5.94349032e-03 9.32098483e+01] [ 9.25026537e-01 3.79641224e-01 -1.40871139e-02 -1.32160747e+02] [-1.52888589e-02 1.50492113e-04 -9.99883107e-01 -8.03638159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.090385723 meters 0.01771096035041937 Centerline is valid? [True, True] Translation: X:93.22, Y:-132.16, Z:-8.04 [[-4.50894819e-01 8.92549495e-01 7.01866126e-03 9.32207197e+01] [ 8.92446526e-01 4.50949417e-01 -1.35580707e-02 -1.32160042e+02] [-1.52663104e-02 1.50516010e-04 -9.99883452e-01 -8.03611206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.120385723 meters 0.017646078061336813 Centerline is valid? [True, True] Translation: X:93.23, Y:-132.16, Z:-8.04 [[-5.19292991e-01 8.54558330e-01 8.05292978e-03 9.32305678e+01] [ 8.54460116e-01 5.19355405e-01 -1.29565805e-02 -1.32157375e+02] [-1.52544864e-02 1.52645848e-04 -9.99883632e-01 -8.03640252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.150385723 meters 0.017364190062406987 Centerline is valid? [True, True] Translation: X:93.24, Y:-132.15, Z:-8.04 [[-5.84401013e-01 8.11416303e-01 8.89039916e-03 9.32434209e+01] [ 8.11326421e-01 5.84468612e-01 -1.20780667e-02 -1.32150891e+02] [-1.49964995e-02 1.54581333e-04 -9.99887534e-01 -8.03840050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18038572300003 meters 0.017341605675462713 Centerline is valid? [True, True] Translation: X:93.25, Y:-132.14, Z:-8.04 [[-6.46300721e-01 7.63019926e-01 9.79651271e-03 9.32549025e+01] [ 7.62935807e-01 6.46374946e-01 -1.13306749e-02 -1.32144353e+02] [-1.49777511e-02 1.51086968e-04 -9.99887816e-01 -8.03921265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.210385723 meters 0.01716964848096947 Centerline is valid? [True, True] Translation: X:93.27, Y:-132.14, Z:-8.04 [[-7.04115411e-01 7.10005357e-01 1.06715359e-02 9.32662290e+01] [ 7.09927038e-01 7.04196259e-01 -1.05465768e-02 -1.32135026e+02] [-1.50029817e-02 1.50004640e-04 -9.99887438e-01 -8.03944852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.240385723 meters 0.017396690825468242 Centerline is valid? [True, True] Translation: X:93.29, Y:-132.11, Z:-8.04 [[-7.52689969e-01 6.58279238e-01 1.12363433e-02 9.32879229e+01] [ 6.58208777e-01 7.52773820e-01 -9.63235774e-03 -1.32114761e+02] [-1.47992062e-02 1.45680729e-04 -9.99890475e-01 -8.03857045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.270385723 meters 0.01712791772565595 Centerline is valid? [True, True] Translation: X:93.31, Y:-132.09, Z:-8.04 [[-7.96542635e-01 6.04500902e-01 9.92421356e-03 9.33088086e+01] [ 6.04456162e-01 7.96604444e-01 -7.35582868e-03 -1.32091452e+02] [-1.23522777e-02 1.39520879e-04 -9.99923698e-01 -8.04089350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.300385723 meters 0.01744476087457695 Centerline is valid? [True, True] Translation: X:93.33, Y:-132.07, Z:-8.04 [[-8.36790871e-01 5.47435345e-01 9.77659602e-03 9.33264551e+01] [ 5.47399966e-01 8.36847969e-01 -6.22525450e-03 -1.32067989e+02] [-1.15894489e-02 1.42472204e-04 -9.99932830e-01 -8.04101496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.330385723 meters 0.017219397814297255 Centerline is valid? [True, True] Translation: X:93.34, Y:-132.04, Z:-8.04 [[-8.72963678e-01 4.87686033e-01 9.83612736e-03 9.33415102e+01] [ 4.87656994e-01 8.73019078e-01 -5.32403428e-03 -1.32040545e+02] [-1.11835840e-02 1.48967749e-04 -9.99937451e-01 -8.04197588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.360385723 meters 0.017487902627902667 Centerline is valid? [True, True] Translation: X:93.36, Y:-132.01, Z:-8.04 [[-9.04537911e-01 4.26246985e-01 1.11658195e-02 9.33556333e+01] [ 4.26217035e-01 9.04606806e-01 -5.05624456e-03 -1.32011615e+02] [-1.22558853e-02 1.85497599e-04 -9.99924877e-01 -8.04093740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.390385723 meters 0.017859571786634085 Centerline is valid? [True, True] Translation: X:93.63, Y:-131.40, Z:-9.03 [[-8.88955049e-01 -4.57857527e-01 1.11984659e-02 9.36334642e+01] [ 4.57818837e-01 -8.89025566e-01 -5.95442142e-03 -1.31397220e+02] [ 1.26819991e-02 -1.66344374e-04 9.99919566e-01 -9.03001828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.420385723 meters 0.01805326041030914 Centerline is valid? [True, True] Translation: X:93.32, Y:-131.99, Z:-8.04 [[-9.04855418e-01 4.25567745e-01 1.13476059e-02 9.33155001e+01] [ 4.25537393e-01 9.04926541e-01 -5.08757392e-03 -1.31990858e+02] [-1.24338571e-02 2.25311794e-04 -9.99922671e-01 -8.04022356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.450385723 meters 0.017606209071368464 Centerline is valid? [True, True] Translation: X:93.33, Y:-131.96, Z:-8.04 [[-9.32342549e-01 3.61396113e-01 1.14114309e-02 9.33267182e+01] [ 3.61372088e-01 9.32412353e-01 -4.17358057e-03 -1.31960363e+02] [-1.21484750e-02 2.32565874e-04 -9.99926178e-01 -8.04056111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.480385723 meters 0.017606209071368464 Centerline is valid? [True, True] Translation: X:93.33, Y:-131.93, Z:-8.04 [[-9.55615823e-01 2.94384119e-01 1.16786078e-02 9.33329797e+01] [ 2.94365103e-01 9.55687154e-01 -3.35407670e-03 -1.31931626e+02] [-1.21484823e-02 2.32565807e-04 -9.99926177e-01 -8.04056103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.510385723 meters 0.01807909326841286 Centerline is valid? [True, True] Translation: X:93.34, Y:-131.90, Z:-8.04 [[-9.73859953e-01 2.26803731e-01 1.25243450e-02 9.33371411e+01] [ 2.26788372e-01 9.73940450e-01 -2.65200038e-03 -1.31899293e+02] [-1.27994498e-02 2.57698857e-04 -9.99918051e-01 -8.03924167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.540385723 meters 0.018196416647824405 Centerline is valid? [True, True] Translation: X:93.47, Y:-131.26, Z:-9.03 [[-9.67334256e-01 -2.53187569e-01 1.26685201e-02 9.34726819e+01] [ 2.53162577e-01 -9.67417178e-01 -3.56557610e-03 -1.31258355e+02] [ 1.31585035e-02 -2.41908705e-04 9.99913394e-01 -9.03216901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.570385723 meters 0.017942568882801983 Centerline is valid? [True, True] Translation: X:93.29, Y:-131.88, Z:-8.04 [[-9.74820173e-01 2.22549755e-01 1.40440969e-02 9.32851536e+01] [ 2.22530831e-01 9.74921292e-01 -2.91592921e-03 -1.31882794e+02] [-1.43408284e-02 2.82737927e-04 -9.99897125e-01 -8.03664679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.600385723 meters 0.017854729275155846 Centerline is valid? [True, True] Translation: X:93.28, Y:-131.85, Z:-8.04 [[-9.88199600e-01 1.52559961e-01 1.36750951e-02 9.32828873e+01] [ 1.52549109e-01 9.88294180e-01 -1.83933324e-03 -1.31851048e+02] [-1.37956255e-02 2.68495202e-04 -9.99904800e-01 -8.03644271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.630385723 meters 0.017962976116204322 Centerline is valid? [True, True] Translation: X:93.37, Y:-131.22, Z:-9.03 [[-9.83279705e-01 -1.81662290e-01 1.26425555e-02 9.33718049e+01] [ 1.81643221e-01 -9.83360929e-01 -2.65023046e-03 -1.31218771e+02] [ 1.29136421e-02 -3.09483326e-04 9.99916568e-01 -9.03367468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.660385723 meters 0.01741031414261544 Centerline is valid? [True, True] Translation: X:93.23, Y:-131.84, Z:-8.04 [[-9.89175753e-01 1.46201084e-01 1.25128854e-02 9.32274653e+01] [ 1.46192152e-01 9.89254869e-01 -1.63049700e-03 -1.31838266e+02] [-1.26168132e-02 2.16437542e-04 -9.99920381e-01 -8.03751930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.690385723 meters 0.017249417319595322 Centerline is valid? [True, True] Translation: X:93.31, Y:-131.22, Z:-9.03 [[-9.83505558e-01 -1.80472545e-01 1.21028316e-02 9.33091323e+01] [ 1.80456002e-01 -9.83579996e-01 -2.45425086e-03 -1.31216064e+02] [ 1.23470280e-02 -2.29740747e-04 9.99923746e-01 -9.03304583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.720385723 meters 0.017154495662143217 Centerline is valid? [True, True] Translation: X:93.17, Y:-131.82, Z:-8.04 [[-9.90450040e-01 1.37419180e-01 1.11663690e-02 9.31693178e+01] [ 1.37412036e-01 9.90512973e-01 -1.40816039e-03 -1.31824268e+02] [-1.12539416e-02 1.39680988e-04 -9.99936663e-01 -8.03606122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.750385723 meters 0.0165858203760797 Centerline is valid? [True, True] Translation: X:93.16, Y:-131.79, Z:-8.04 [[-9.97894297e-01 6.40767586e-02 1.00569228e-02 9.31647638e+01] [ 6.40744982e-02 9.97944968e-01 -5.47135039e-04 -1.31790000e+02] [-1.00713141e-02 9.84093448e-05 -9.99949278e-01 -8.03764818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.780385723 meters 0.01647119343230673 Centerline is valid? [True, True] Translation: X:93.19, Y:-131.19, Z:-9.03 [[-9.93519408e-01 -1.13304047e-01 9.02107948e-03 9.31942659e+01] [ 1.13297968e-01 -9.93560350e-01 -1.18379464e-03 -1.31185415e+02] [ 9.09711561e-03 -1.54052977e-04 9.99958609e-01 -9.03261961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.810385723 meters 0.016378394113161884 Centerline is valid? [True, True] Translation: X:93.10, Y:-131.78, Z:-8.04 [[-9.98328813e-01 5.72108572e-02 8.15466576e-03 9.30976492e+01] [ 5.72094361e-02 9.98362116e-01 -4.07617879e-04 -1.31782715e+02] [-8.16462953e-03 5.95871559e-05 -9.99966667e-01 -8.03789499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.840385723 meters 0.016197755469033064 Centerline is valid? [True, True] Translation: X:93.13, Y:-131.19, Z:-9.03 [[-9.93696656e-01 -1.11869564e-01 7.22192772e-03 9.31263706e+01] [ 1.11865784e-01 -9.93722893e-01 -9.26477110e-04 -1.31188734e+02] [ 7.28023950e-03 -1.12750597e-04 9.99973492e-01 -9.03265717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.870385723 meters 0.016061524882811002 Centerline is valid? [True, True] Translation: X:93.03, Y:-131.77, Z:-8.04 [[-9.98724590e-01 5.00043584e-02 6.98268320e-03 9.30331185e+01] [ 5.00033520e-02 9.98748999e-01 -3.18734331e-04 -1.31773521e+02] [-6.98988596e-03 3.08297524e-05 -9.99975570e-01 -8.03869843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.900385723 meters 0.01604489361659223 Centerline is valid? [True, True] Translation: X:93.03, Y:-131.74, Z:-8.04 [[-9.99748779e-01 -2.12736582e-02 7.05762387e-03 9.30256274e+01] [-2.12729153e-02 9.99773690e-01 1.80313979e-04 -1.31743518e+02] [-7.05986260e-03 3.01324454e-05 -9.99975078e-01 -8.03935443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93038572300003 meters 0.016058621915684863 Centerline is valid? [True, True] Translation: X:93.01, Y:-131.71, Z:-8.04 [[-9.95733547e-01 -9.20440252e-02 6.52686284e-03 9.30131476e+01] [-9.20418496e-02 9.95754938e-01 6.33566528e-04 -1.31714014e+02] [-6.55747191e-03 3.01189194e-05 -9.99978499e-01 -8.03987177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.960385723 meters 0.01612067124950383 Centerline is valid? [True, True] Translation: X:93.00, Y:-131.69, Z:-8.04 [[-9.86846503e-01 -1.61543510e-01 6.13788306e-03 9.29986451e+01] [-1.61540155e-01 9.86865590e-01 1.04181259e-03 -1.31686240e+02] [-6.22556365e-03 3.65945296e-05 -9.99980620e-01 -8.03983352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.990385723 meters 0.016178282595092425 Centerline is valid? [True, True] Translation: X:92.97, Y:-131.66, Z:-8.04 [[-9.72935024e-01 -2.30999951e-01 6.03840595e-03 9.29716937e+01] [-2.30995233e-01 9.72953761e-01 1.47702170e-03 -1.31662211e+02] [-6.21628172e-03 4.22031500e-05 -9.99980678e-01 -8.03918228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.020385723 meters 0.01631353289158331 Centerline is valid? [True, True] Translation: X:92.93, Y:-131.64, Z:-8.04 [[-9.54397761e-01 -2.98461689e-01 6.74794358e-03 9.29348662e+01] [-2.98453756e-01 9.54421613e-01 2.17708028e-03 -1.31642591e+02] [-7.09015825e-03 6.38514357e-05 -9.99974862e-01 -8.03809174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.050385723 meters 0.016770451520103997 Centerline is valid? [True, True] Translation: X:92.88, Y:-131.63, Z:-8.04 [[-9.30499229e-01 -3.66229164e-01 6.88362547e-03 9.28785621e+01] [-3.66218547e-01 9.30524688e-01 2.78959642e-03 -1.31632205e+02] [-7.42701500e-03 7.48060006e-05 -9.99972417e-01 -8.03699538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.080385723 meters 0.01652313236404702 Centerline is valid? [True, True] Translation: X:92.81, Y:-131.63, Z:-8.04 [[-9.01473670e-01 -4.32778074e-01 6.95413350e-03 9.28096110e+01] [-4.32764460e-01 9.01500489e-01 3.43386635e-03 -1.31632305e+02] [-7.75525681e-03 8.60382775e-05 -9.99969924e-01 -8.03676317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.110385723 meters 0.016556693049677353 Centerline is valid? [True, True] Translation: X:92.74, Y:-131.64, Z:-8.04 [[-8.67956089e-01 -4.96600424e-01 6.34406606e-03 9.27372994e+01] [-4.96586349e-01 8.67979268e-01 3.74016206e-03 -1.31639692e+02] [-7.36388388e-03 9.59198303e-05 -9.99972882e-01 -8.03744738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.140385723 meters 0.016665343834982773 Centerline is valid? [True, True] Translation: X:92.66, Y:-131.66, Z:-8.04 [[-8.29273047e-01 -5.58809139e-01 6.20968114e-03 9.26563374e+01] [-5.58792504e-01 8.29296289e-01 4.31299985e-03 -1.31658353e+02] [-7.55980926e-03 1.06731257e-04 -9.99971419e-01 -8.03697068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.170385723 meters 0.017069328767770994 Centerline is valid? [True, True] Translation: X:92.57, Y:-131.69, Z:-8.04 [[-7.86513721e-01 -6.17539765e-01 6.38790675e-03 9.25732352e+01] [-6.17518011e-01 7.86539650e-01 5.18521793e-03 -1.31687474e+02] [-8.22642020e-03 1.33597585e-04 -9.99966154e-01 -8.03554004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.200385723 meters 0.016958291363409976 Centerline is valid? [True, True] Translation: X:92.49, Y:-131.73, Z:-8.04 [[-7.38521663e-01 -6.74203159e-01 5.98770442e-03 9.24851445e+01] [-6.74179454e-01 7.38545923e-01 5.65545534e-03 -1.31725548e+02] [-8.23512055e-03 1.39888987e-04 -9.99966081e-01 -8.03609708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.230385723 meters 0.019861831431932587 Centerline is valid? [True, True] Translation: X:92.40, Y:-131.77, Z:-8.03 [[-6.86034144e-01 -7.27550251e-01 5.27123086e-03 9.24027041e+01] [-7.27527286e-01 6.86054382e-01 5.78213411e-03 -1.31772672e+02] [-7.82314415e-03 1.31777141e-04 -9.99969390e-01 -8.03402372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.260385723 meters 0.016781637689421647 Centerline is valid? [True, True] Translation: X:92.32, Y:-131.83, Z:-8.04 [[-6.28957957e-01 -7.77425694e-01 4.60214707e-03 9.23189458e+01] [-7.77403419e-01 6.28974781e-01 5.88631762e-03 -1.31826581e+02] [-7.47080900e-03 1.24521435e-04 -9.99972085e-01 -8.03799013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.290385723 meters 0.017190826695473314 Centerline is valid? [True, True] Translation: X:92.23, Y:-131.90, Z:-8.04 [[-5.68215876e-01 -8.22870723e-01 3.80687771e-03 9.22349403e+01] [-8.22850895e-01 5.68228617e-01 5.71341185e-03 -1.31895329e+02] [-6.86457619e-03 1.13958586e-04 -9.99976432e-01 -8.03773315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.320385723 meters 0.017278200921117443 Centerline is valid? [True, True] Translation: X:92.15, Y:-131.97, Z:-8.04 [[-5.04276991e-01 -8.63536826e-01 2.97767193e-03 9.21534007e+01] [-8.63520563e-01 5.04285772e-01 5.30075158e-03 -1.31973859e+02] [-6.07899179e-03 1.01766115e-04 -9.99981518e-01 -8.03833059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.350385723 meters 0.017067728800838622 Centerline is valid? [True, True] Translation: X:92.08, Y:-132.06, Z:-8.04 [[-4.37255697e-01 -8.99334774e-01 2.10236037e-03 9.20777369e+01] [-8.99323437e-01 4.37260743e-01 4.51638597e-03 -1.32057923e+02] [-4.98102261e-03 8.41135389e-05 -9.99987591e-01 -8.03941644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.380385723 meters 0.017256259306966 Centerline is valid? [True, True] Translation: X:92.01, Y:-132.15, Z:-8.04 [[-3.67828920e-01 -9.29892505e-01 1.34691631e-03 9.20089190e+01] [-9.29885594e-01 3.67831380e-01 3.58582333e-03 -1.32151097e+02] [-3.82986832e-03 6.64914536e-05 -9.99992664e-01 -8.04004881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.410385723 meters 0.01755455115122589 Centerline is valid? [True, True] Translation: X:91.95, Y:-132.25, Z:-8.04 [[-2.96684960e-01 -9.54974485e-01 1.32922206e-03 9.19456188e+01] [-9.54963553e-01 2.96687925e-01 4.57024885e-03 -1.32251867e+02] [-4.75883518e-03 8.65654782e-05 -9.99988673e-01 -8.03949285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.440385723 meters 0.01753339145192856 Centerline is valid? [True, True] Translation: X:91.89, Y:-132.36, Z:-8.04 [[-2.22887230e-01 -9.74843784e-01 9.37900835e-04 9.18897016e+01] [-9.74833523e-01 2.22889188e-01 4.47360784e-03 -1.32356346e+02] [-4.57011675e-03 8.28128870e-05 -9.99989554e-01 -8.03966085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.470385723 meters 0.017491747853206965 Centerline is valid? [True, True] Translation: X:91.84, Y:-132.47, Z:-8.04 [[-1.48052029e-01 -9.88979442e-01 5.08940119e-04 9.18414439e+01] [-9.88971811e-01 1.48052886e-01 3.88597886e-03 -1.32466086e+02] [-3.91850326e-03 7.19996258e-05 -9.99992320e-01 -8.04008516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.500385723 meters 0.017710531485476674 Centerline is valid? [True, True] Translation: X:91.80, Y:-132.59, Z:-8.04 [[-7.27883308e-02 -9.97347388e-01 2.17209445e-04 9.18028179e+01] [-9.97339217e-01 7.27886139e-02 4.03793255e-03 -1.32586298e+02] [-4.04303185e-03 7.72828721e-05 -9.99991824e-01 -8.04041315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.530385723 meters 0.01787778340644248 Centerline is valid? [True, True] Translation: X:91.77, Y:-132.70, Z:-8.04 [[ 3.27557067e-03 -9.99994629e-01 -1.10228725e-04 9.17730832e+01] [-9.99982973e-01 -3.27606481e-03 4.82928604e-03 -1.32700675e+02] [-4.82962122e-03 9.44081803e-05 -9.99988333e-01 -8.04011266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.560385723 meters 0.017521587637746045 Centerline is valid? [True, True] Translation: X:91.75, Y:-132.82, Z:-8.04 [[ 8.03229674e-02 -9.96768741e-01 -5.45293878e-04 9.17512617e+01] [-9.96753725e-01 -8.03247510e-02 5.47224232e-03 -1.32819403e+02] [-5.49836068e-03 1.03976963e-04 -9.99984879e-01 -8.03968087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.590385723 meters 0.01754521775399369 Centerline is valid? [True, True] Translation: X:91.74, Y:-132.94, Z:-8.04 [[ 1.56477144e-01 -9.87681061e-01 -1.01221462e-03 9.17376508e+01] [-9.87664655e-01 -1.56480380e-01 5.69389401e-03 -1.32941743e+02] [-5.78214300e-03 1.08764330e-04 -9.99983277e-01 -8.03894401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.620385723 meters 0.017275331382004475 Centerline is valid? [True, True] Translation: X:91.73, Y:-133.07, Z:-8.04 [[ 2.31445391e-01 -9.72846748e-01 -1.49544487e-03 9.17325006e+01] [-9.72829481e-01 -2.31450195e-01 5.79719408e-03 -1.33066290e+02] [-5.98590241e-03 1.13079008e-04 -9.99982078e-01 -8.03817150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.650385723 meters 0.0171707140563461 Centerline is valid? [True, True] Translation: X:91.74, Y:-133.19, Z:-8.04 [[ 3.05551722e-01 -9.52173290e-01 -2.04220218e-03 9.17388874e+01] [-9.52154503e-01 -3.05558525e-01 5.98258652e-03 -1.33187725e+02] [-6.32047137e-03 1.16502390e-04 -9.99980019e-01 -8.03728452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68038572300003 meters 0.017646504625829333 Centerline is valid? [True, True] Translation: X:91.76, Y:-133.31, Z:-8.04 [[ 3.78413112e-01 -9.25632973e-01 -2.66772890e-03 9.17571483e+01] [-9.25612110e-01 -3.78422497e-01 6.21577945e-03 -1.33307083e+02] [-6.76305904e-03 1.17149735e-04 -9.99977123e-01 -8.03732652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.710385723 meters 0.017064728699996187 Centerline is valid? [True, True] Translation: X:91.78, Y:-133.43, Z:-8.04 [[ 4.48623279e-01 -8.93716202e-01 -2.91622110e-03 9.17792968e+01] [-8.93698809e-01 -4.48632745e-01 5.57657168e-03 -1.33425320e+02] [-6.29218474e-03 1.04443446e-04 -9.99980199e-01 -8.03807118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.740385723 meters 0.016786047174576598 Centerline is valid? [True, True] Translation: X:91.81, Y:-133.54, Z:-8.04 [[ 5.15984894e-01 -8.56591969e-01 -3.12855305e-03 9.18093330e+01] [-8.56577316e-01 -5.15994370e-01 5.01112602e-03 -1.33539563e+02] [-5.90680606e-03 9.41822488e-05 -9.99982550e-01 -8.03862267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.770385723 meters 0.017272168379499048 Centerline is valid? [True, True] Translation: X:91.85, Y:-133.65, Z:-8.04 [[ 5.80238902e-01 -8.14440159e-01 -3.16909975e-03 9.18490875e+01] [-8.14428773e-01 -5.80247551e-01 4.30740245e-03 -1.33646960e+02] [-5.34698390e-03 8.16835535e-05 -9.99985701e-01 -8.03839819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.800385723 meters 0.017398098204898745 Centerline is valid? [True, True] Translation: X:91.89, Y:-133.75, Z:-8.04 [[ 6.40361299e-01 -7.68066828e-01 -3.27936582e-03 9.18947726e+01] [-7.68057370e-01 -6.40369691e-01 3.81248813e-03 -1.33751373e+02] [-5.02825215e-03 7.73712347e-05 -9.99987355e-01 -8.03864048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.830385723 meters 0.01671545953548138 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.85, Z:-8.04 [[ 6.97174444e-01 -7.16897270e-01 -2.46981015e-03 9.19447172e+01] [-7.16893033e-01 -6.97178816e-01 2.46531907e-03 -1.33850546e+02] [-3.48927983e-03 5.18322355e-05 -9.99993911e-01 -8.04105461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.860385723 meters 0.016509965838224575 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.86, Z:-8.04 [[ 7.51707972e-01 -6.59493370e-01 -1.90268695e-03 9.19395534e+01] [-6.59491376e-01 -7.51710379e-01 1.62237492e-03 -1.33864994e+02] [-2.50021503e-03 3.52534717e-05 -9.99996874e-01 -8.04219099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.890385723 meters 0.016428786820930377 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.88, Z:-8.04 [[ 8.01776763e-01 -5.97620844e-01 -1.82991398e-03 9.19356558e+01] [-5.97619370e-01 -8.01778851e-01 1.32791747e-03 -1.33877931e+02] [-2.26077749e-03 2.88986725e-05 -9.99997444e-01 -8.04269056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.920385723 meters 0.01614716899350969 Centerline is valid? [True, True] Translation: X:91.93, Y:-133.89, Z:-8.04 [[ 8.47737115e-01 -5.30409835e-01 -2.68151602e-03 9.19324008e+01] [-5.30407292e-01 -8.47741356e-01 1.64273794e-03 -1.33894655e+02] [-3.14455638e-03 2.96857307e-05 -9.99995055e-01 -8.04154372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.950385723 meters 0.01602043680041357 Centerline is valid? [True, True] Translation: X:91.93, Y:-133.91, Z:-8.04 [[ 8.87515298e-01 -4.60768073e-01 -3.06250608e-03 9.19304509e+01] [-4.60765429e-01 -8.87520581e-01 1.56104801e-03 -1.33909405e+02] [-3.43731826e-03 2.56429438e-05 -9.99994092e-01 -8.04008799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.980385723 meters 0.015787683656433033 Centerline is valid? [True, True] Translation: X:91.93, Y:-133.92, Z:-8.04 [[ 9.22495088e-01 -3.85990883e-01 -3.72174588e-03 9.19304721e+01] [-3.85987796e-01 -9.22502595e-01 1.54385229e-03 -1.33923900e+02] [-4.02923314e-03 1.23523336e-05 -9.99991883e-01 -8.03939464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.010385723 meters 0.015776409993509728 Centerline is valid? [True, True] Translation: X:91.93, Y:-133.94, Z:-8.04 [[ 9.50427149e-01 -3.10922959e-01 -3.89195784e-03 9.19336820e+01] [-3.10920373e-01 -9.50435118e-01 1.26802136e-03 -1.33935131e+02] [-4.09331036e-03 4.92706084e-06 -9.99991622e-01 -8.03962900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.040385723 meters 0.015750610948098688 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.95, Z:-8.04 [[ 9.72080681e-01 -2.34604029e-01 -4.48322581e-03 9.19371479e+01] [-2.34601536e-01 -9.72091019e-01 1.08160616e-03 -1.33945274e+02] [-4.61185271e-03 3.63208746e-07 -9.99989365e-01 -8.03968276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.070385723 meters 0.015812956053196835 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.96, Z:-8.04 [[ 9.87567950e-01 -1.57122026e-01 -4.71309237e-03 9.19413614e+01] [-1.57120221e-01 -9.87579196e-01 7.53182224e-04 -1.33955630e+02] [-4.77289349e-03 -3.29651142e-06 -9.99988610e-01 -8.03959619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.100385723 meters 0.015895447078256894 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.97, Z:-8.04 [[ 9.96796644e-01 -7.98323819e-02 -4.82095034e-03 9.19420808e+01] [-7.98314432e-02 -9.96808302e-01 3.87147132e-04 -1.33965406e+02] [-4.83647020e-03 -1.04353861e-06 -9.99988304e-01 -8.03891979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.130385723 meters 0.016705421727019797 Centerline is valid? [True, True] Translation: X:91.94, Y:-133.97, Z:-8.03 [[ 9.99969425e-01 -2.71268319e-03 -7.33414551e-03 9.19436437e+01] [-2.71265553e-03 -9.99996321e-01 1.37182586e-05 -1.33971416e+02] [-7.33415574e-03 6.17717129e-06 -9.99973105e-01 -8.03493004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.160385723 meters 0.0159699717218039 Centerline is valid? [True, True] Translation: X:91.95, Y:-133.98, Z:-8.04 [[ 9.97132817e-01 7.52437403e-02 -8.03267747e-03 9.19455358e+01] [ 7.52412225e-02 -9.97165172e-01 -6.15615337e-04 -1.33975782e+02] [-8.05622741e-03 9.46178305e-06 -9.99967548e-01 -8.03573760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.190385723 meters 0.015930244173512714 Centerline is valid? [True, True] Translation: X:91.95, Y:-133.98, Z:-8.04 [[ 9.88328729e-01 1.52078435e-01 -8.85847445e-03 9.19482260e+01] [ 1.52072152e-01 -9.88368428e-01 -1.38251367e-03 -1.33978163e+02] [-8.96568698e-03 1.92507040e-05 -9.99959807e-01 -8.03554839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.220385723 meters 0.01617289128362449 Centerline is valid? [True, True] Translation: X:91.95, Y:-133.98, Z:-8.04 [[ 9.73941441e-01 2.26613310e-01 -9.19116137e-03 9.19517947e+01] [ 2.26602804e-01 -9.73984808e-01 -2.18253140e-03 -1.33983528e+02] [-9.44664221e-03 4.29148312e-05 -9.99955379e-01 -8.03619178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.250385723 meters 0.01629991957243643 Centerline is valid? [True, True] Translation: X:91.95, Y:-133.99, Z:-8.03 [[ 9.53585311e-01 3.00999603e-01 -8.61936059e-03 9.19544373e+01] [ 3.00986812e-01 -9.53624264e-01 -2.77537573e-03 -1.33990728e+02] [-9.05501839e-03 5.22436660e-05 -9.99959001e-01 -8.03469309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.280385723 meters 0.016249052278247265 Centerline is valid? [True, True] Translation: X:91.96, Y:-134.00, Z:-8.04 [[ 9.27811128e-01 3.72952843e-01 -8.52569920e-03 9.19600157e+01] [ 3.72936396e-01 -9.27850296e-01 -3.50325071e-03 -1.33999784e+02] [-9.21711984e-03 7.08114611e-05 -9.99957519e-01 -8.03533184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.310385723 meters 0.016629262248046898 Centerline is valid? [True, True] Translation: X:91.96, Y:-134.01, Z:-8.03 [[ 8.96098730e-01 4.43776244e-01 -8.34938509e-03 9.19641136e+01] [ 4.43756159e-01 -8.96137623e-01 -4.22280102e-03 -1.34006308e+02] [-9.35617689e-03 7.89555693e-05 -9.99956227e-01 -8.03352353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.340385723 meters 0.016805223858550947 Centerline is valid? [True, True] Translation: X:91.97, Y:-134.01, Z:-8.03 [[ 8.58999708e-01 5.11910895e-01 -8.16934073e-03 9.19659042e+01] [ 5.11886772e-01 -8.59038549e-01 -4.97035643e-03 -1.34005848e+02] [-9.56215821e-03 8.77572638e-05 -9.99954278e-01 -8.03359355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.370385723 meters 0.016370865156162404 Centerline is valid? [True, True] Translation: X:91.97, Y:-134.01, Z:-8.04 [[ 8.16407069e-01 5.77426407e-01 -7.63169503e-03 9.19731227e+01] [ 5.77400164e-01 -8.16442734e-01 -5.50576056e-03 -1.34013884e+02] [-9.41001349e-03 8.83998788e-05 -9.99955721e-01 -8.03724815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.400385723 meters 0.016370865156162404 Centerline is valid? [True, True] Translation: X:91.98, Y:-134.02, Z:-8.04 [[ 7.68680910e-01 6.39592173e-01 -7.17711640e-03 9.19822104e+01] [ 6.39563218e-01 -7.68714410e-01 -6.08655195e-03 -1.34023965e+02] [-9.41006379e-03 8.83966363e-05 -9.99955720e-01 -8.03724769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43038572300003 meters 0.016455842114087904 Centerline is valid? [True, True] Translation: X:91.99, Y:-134.03, Z:-8.04 [[ 7.16206709e-01 6.97857763e-01 -6.51866722e-03 9.19910736e+01] [ 6.97827763e-01 -7.16236369e-01 -6.47134329e-03 -1.34031568e+02] [-9.18498369e-03 8.59125205e-05 -9.99957813e-01 -8.03795070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.460385723 meters 0.016854208733134975 Centerline is valid? [True, True] Translation: X:92.00, Y:-134.04, Z:-8.04 [[ 6.58406377e-01 7.52641757e-01 -5.60619041e-03 9.19985602e+01] [ 7.52613576e-01 -6.58430240e-01 -6.51337063e-03 -1.34038693e+02] [-8.59352001e-03 6.91497457e-05 -9.99963073e-01 -8.03604612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.490385723 meters 0.016672991496637306 Centerline is valid? [True, True] Translation: X:92.00, Y:-134.04, Z:-8.04 [[ 5.96582472e-01 8.02535231e-01 -5.15336772e-03 9.20001050e+01] [ 8.02504405e-01 -5.96604726e-01 -7.03425331e-03 -1.34040073e+02] [-8.71975964e-03 6.09119313e-05 -9.99961980e-01 -8.03641410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.520385723 meters 0.016225432043179982 Centerline is valid? [True, True] Translation: X:92.01, Y:-134.05, Z:-8.04 [[ 5.30780774e-01 8.47497135e-01 -4.51395676e-03 9.20117330e+01] [ 8.47465706e-01 -5.30799966e-01 -7.29884905e-03 -1.34046742e+02] [-8.58176175e-03 4.86651950e-05 -9.99963175e-01 -8.03866173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.550385723 meters 0.016222993460756903 Centerline is valid? [True, True] Translation: X:92.02, Y:-134.05, Z:-8.04 [[ 4.60192010e-01 8.87812323e-01 -3.54852584e-03 9.20192127e+01] [ 8.87785570e-01 -4.60205691e-01 -6.89224167e-03 -1.34051201e+02] [-7.75206887e-03 2.14245119e-05 -9.99969952e-01 -8.03916614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.580385723 meters 0.016117117402002366 Centerline is valid? [True, True] Translation: X:92.03, Y:-134.06, Z:-8.04 [[ 3.87700700e-01 9.21780160e-01 -3.08275096e-03 9.20279424e+01] [ 9.21750852e-01 -3.87712956e-01 -7.35058323e-03 -1.34055141e+02] [-7.97084427e-03 8.29793888e-06 -9.99968232e-01 -8.04050442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.610385723 meters 0.01613412776052186 Centerline is valid? [True, True] Translation: X:92.04, Y:-134.06, Z:-8.04 [[ 3.12843883e-01 9.49801389e-01 -2.45480958e-03 9.20387420e+01] [ 9.49772253e-01 -3.12853514e-01 -7.43952329e-03 -1.34058974e+02] [-7.83406536e-03 -4.10066611e-06 -9.99969313e-01 -8.04096466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.640385723 meters 0.016356659684471964 Centerline is valid? [True, True] Translation: X:92.05, Y:-134.06, Z:-8.04 [[ 2.34981643e-01 9.71997501e-01 -2.11792996e-03 9.20492801e+01] [ 9.71959091e-01 -2.34991186e-01 -8.64110761e-03 -1.34061816e+02] [-8.89682987e-03 -2.80396095e-05 -9.99960422e-01 -8.04016358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.670385723 meters 0.0163965429335229 Centerline is valid? [True, True] Translation: X:92.06, Y:-134.07, Z:-8.04 [[ 1.56961550e-01 9.87603511e-01 -1.54195396e-03 9.20603285e+01] [ 9.87558419e-01 -1.56969118e-01 -9.43743143e-03 -1.34065416e+02] [-9.56247956e-03 -4.14557499e-05 -9.99954278e-01 -8.03903863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.700385723 meters 0.016614748595088567 Centerline is valid? [True, True] Translation: X:92.07, Y:-134.07, Z:-8.04 [[ 7.70976728e-02 9.97023173e-01 -8.61080397e-04 9.20696198e+01] [ 9.96970227e-01 -7.71024527e-02 -1.02751253e-02 -1.34066627e+02] [-1.03109294e-02 -6.62832728e-05 -9.99946839e-01 -8.03897376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.730385723 meters 0.01657811956048663 Centerline is valid? [True, True] Translation: X:92.08, Y:-134.07, Z:-8.04 [[-1.48109901e-03 9.99998902e-01 -5.56920410e-05 9.20789096e+01] [ 9.99941726e-01 1.48041878e-03 -1.06935564e-02 -1.34069041e+02] [-1.06934622e-02 -7.15270114e-05 -9.99942821e-01 -8.03869203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.760385723 meters 0.01666484775182877 Centerline is valid? [True, True] Translation: X:92.09, Y:-134.07, Z:-8.04 [[-7.97751264e-02 9.96812580e-01 7.80532228e-04 9.20883280e+01] [ 9.96755819e-01 7.97789134e-02 -1.06378071e-02 -1.34069620e+02] [-1.06661700e-02 -7.06323694e-05 -9.99943112e-01 -8.03896264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.790385723 meters 0.016699060328016255 Centerline is valid? [True, True] Translation: X:92.10, Y:-134.07, Z:-8.04 [[-1.56235035e-01 9.87718707e-01 1.53923049e-03 9.20952293e+01] [ 9.87667359e-01 1.56242608e-01 -1.00715155e-02 -1.34071234e+02] [-1.01883177e-02 -5.32758758e-05 -9.99948096e-01 -8.03926170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.820385723 meters 0.016594963379702444 Centerline is valid? [True, True] Translation: X:92.11, Y:-134.07, Z:-8.04 [[-2.32208137e-01 9.72663312e-01 2.33717065e-03 9.21051922e+01] [ 9.72612138e-01 2.32219894e-01 -9.97742760e-03 -1.34070815e+02] [-1.02474153e-02 -4.36793250e-05 -9.99947493e-01 -8.04051874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.850385723 meters 0.0166976633584617 Centerline is valid? [True, True] Translation: X:92.11, Y:-134.07, Z:-8.04 [[-3.06401089e-01 9.51896569e-01 3.36072336e-03 9.21125003e+01] [ 9.51838137e-01 3.06419517e-01 -1.05470894e-02 -1.34071206e+02] [-1.10695295e-02 -3.27750196e-05 -9.99938730e-01 -8.03955650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.880385723 meters 0.016765440998433693 Centerline is valid? [True, True] Translation: X:92.12, Y:-134.07, Z:-8.04 [[-3.79322332e-01 9.25254517e-01 4.31830535e-03 9.21215276e+01] [ 9.25193795e-01 3.79346910e-01 -1.06001829e-02 -1.34070021e+02] [-1.14460029e-02 -2.56167647e-05 -9.99934492e-01 -8.03935321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.910385723 meters 0.0168497981497463 Centerline is valid? [True, True] Translation: X:92.13, Y:-134.07, Z:-8.04 [[-4.50314827e-01 8.92853680e-01 5.37238735e-03 9.21303779e+01] [ 8.92789533e-01 4.50346872e-01 -1.07025759e-02 -1.34069230e+02] [-1.19752721e-02 -2.31174303e-05 -9.99928294e-01 -8.03819348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.940385723 meters 0.017649438032439905 Centerline is valid? [True, True] Translation: X:92.14, Y:-134.07, Z:-8.04 [[-5.18107180e-01 8.55291229e-01 6.47022753e-03 9.21382718e+01] [ 8.55224216e-01 5.18147579e-01 -1.07064124e-02 -1.34068237e+02] [-1.25096333e-02 -1.35738583e-05 -9.99921751e-01 -8.03684088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.970385723 meters 0.01689947464381118 Centerline is valid? [True, True] Translation: X:92.14, Y:-134.07, Z:-8.04 [[-5.82702065e-01 8.12651294e-01 7.49520624e-03 9.21448208e+01] [ 8.12584040e-01 5.82750267e-01 -1.04548308e-02 -1.34066884e+02] [-1.28639653e-02 -1.56654382e-06 -9.99917256e-01 -8.03798533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.000385723 meters 0.017025274318777768 Centerline is valid? [True, True] Translation: X:92.15, Y:-134.07, Z:-8.04 [[-6.43839751e-01 7.65114354e-01 8.39049341e-03 9.21520094e+01] [ 7.65049603e-01 6.43894420e-01 -9.95391728e-03 -1.34065033e+02] [-1.30184769e-02 1.04160280e-05 -9.99915256e-01 -8.03686166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.030385723 meters 0.017090051802855694 Centerline is valid? [True, True] Translation: X:92.16, Y:-134.06, Z:-8.04 [[-7.01530081e-01 7.12578429e-01 9.35561156e-03 9.21609544e+01] [ 7.12515354e-01 7.01592461e-01 -9.48097259e-03 -1.34062393e+02] [-1.33197631e-02 1.48294167e-05 -9.99911288e-01 -8.03566645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.060385723 meters 0.017117223750140152 Centerline is valid? [True, True] Translation: X:92.17, Y:-134.06, Z:-8.04 [[-7.54975360e-01 6.55677440e-01 9.96499035e-03 9.21683262e+01] [ 6.55620654e-01 7.55041121e-01 -8.62924530e-03 -1.34058908e+02] [-1.31819790e-02 1.83859117e-05 -9.99913114e-01 -8.03631502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.090385723 meters 0.01706491598457475 Centerline is valid? [True, True] Translation: X:92.17, Y:-134.03, Z:-8.04 [[-7.99788638e-01 6.00191112e-01 1.04289408e-02 9.21744272e+01] [ 6.00140280e-01 7.99856630e-01 -7.81123779e-03 -1.34033417e+02] [-1.30298930e-02 1.14882448e-05 -9.99915107e-01 -8.03725994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.120385723 meters 0.017554412459747117 Centerline is valid? [True, True] Translation: X:92.19, Y:-134.01, Z:-8.04 [[-8.40174735e-01 5.42212093e-01 1.06047585e-02 9.21903865e+01] [ 5.42169100e-01 8.40241659e-01 -6.82797756e-03 -1.34012388e+02] [-1.26127719e-02 1.28781153e-05 -9.99920456e-01 -8.03690045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.150385723 meters 0.01716557720251145 Centerline is valid? [True, True] Translation: X:92.19, Y:-133.98, Z:-8.04 [[-8.76669667e-01 4.80971135e-01 1.08195224e-02 9.21889193e+01] [ 4.80934606e-01 8.76736430e-01 -5.92768699e-03 -1.33979964e+02] [-1.23369157e-02 6.85933263e-06 -9.99923897e-01 -8.03809316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18038572300003 meters 0.017236055104971636 Centerline is valid? [True, True] Translation: X:92.20, Y:-133.96, Z:-8.04 [[-9.08431834e-01 4.17893642e-01 1.07938295e-02 9.21966349e+01] [ 4.17864267e-01 9.08495957e-01 -4.95477264e-03 -1.33955817e+02] [-1.18767184e-02 9.28244859e-06 -9.99929469e-01 -8.03735284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.210385723 meters 0.01735912401253826 Centerline is valid? [True, True] Translation: X:92.52, Y:-133.26, Z:-9.03 [[-8.78995227e-01 -4.76713607e-01 1.05607088e-02 9.25247953e+01] [ 4.76679190e-01 -8.79058665e-01 -5.72820382e-03 -1.33259886e+02] [ 1.20141953e-02 -9.93685857e-07 9.99927827e-01 -9.03361264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.240385723 meters 0.01733124585151619 Centerline is valid? [True, True] Translation: X:92.18, Y:-133.96, Z:-8.04 [[-9.10145899e-01 4.14122205e-01 1.17150342e-02 9.21824926e+01] [ 4.14087979e-01 9.10221292e-01 -5.32409785e-03 -1.33958120e+02] [-1.28681007e-02 5.34902317e-06 -9.99917203e-01 -8.03718654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.270385723 meters 0.01732568831916662 Centerline is valid? [True, True] Translation: X:92.20, Y:-133.94, Z:-8.04 [[-9.37210934e-01 3.48559427e-01 1.19159754e-02 9.22048812e+01] [ 3.48531330e-01 9.37286683e-01 -4.42567705e-03 -1.33938444e+02] [-1.27112965e-02 5.29782296e-06 -9.99919208e-01 -8.03737808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.300385723 meters 0.018504251785533582 Centerline is valid? [True, True] Translation: X:92.47, Y:-133.20, Z:-9.03 [[-9.12293537e-01 -4.09381668e-01 1.12761538e-02 9.24739308e+01] [ 4.09350050e-01 -9.12363222e-01 -5.08799264e-03 -1.33199501e+02] [ 1.23708789e-02 -2.58486945e-05 9.99923477e-01 -9.03472799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.330385723 meters 0.017254485111269556 Centerline is valid? [True, True] Translation: X:92.14, Y:-133.92, Z:-8.04 [[-9.38055776e-01 3.46328383e-01 1.03928581e-02 9.21407079e+01] [ 3.46307363e-01 9.38113347e-01 -3.81572672e-03 -1.33920346e+02] [-1.10711733e-02 1.97587867e-05 -9.99938713e-01 -8.03919781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.360385723 meters 0.018179736780547278 Centerline is valid? [True, True] Translation: X:92.44, Y:-133.18, Z:-9.03 [[-9.14395164e-01 -4.04697550e-01 1.00686394e-02 9.24414977e+01] [ 4.04672744e-01 -9.14450596e-01 -4.48086720e-03 -1.33184181e+02] [ 1.10206693e-02 -2.27793601e-05 9.99939270e-01 -9.03364884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.390385723 meters 0.017556810676796306 Centerline is valid? [True, True] Translation: X:92.11, Y:-133.92, Z:-8.04 [[-9.39057465e-01 3.43600456e-01 1.04787661e-02 9.21128691e+01] [ 3.43579415e-01 9.39115928e-01 -3.80264997e-03 -1.33915558e+02] [-1.11473684e-02 2.93814783e-05 -9.99937866e-01 -8.03767228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.420385723 meters 0.017484104184194684 Centerline is valid? [True, True] Translation: X:92.40, Y:-133.17, Z:-9.03 [[-9.15910043e-01 -4.01245659e-01 1.05220683e-02 9.23960844e+01] [ 4.01219072e-01 -9.15970480e-01 -4.61903183e-03 -1.33165783e+02] [ 1.14912704e-02 -8.96316326e-06 9.99933973e-01 -9.03101540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.450385723 meters 0.017646022038880448 Centerline is valid? [True, True] Translation: X:92.05, Y:-133.90, Z:-8.04 [[-9.40173045e-01 3.40516277e-01 1.11045628e-02 9.20519115e+01] [ 3.40492987e-01 9.40238621e-01 -3.98271228e-03 -1.33896524e+02] [-1.17971172e-02 3.65870342e-05 -9.99930411e-01 -8.03749313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.480385723 meters 0.017549766049208135 Centerline is valid? [True, True] Translation: X:92.35, Y:-133.15, Z:-9.03 [[-9.17587728e-01 -3.97375420e-01 1.12043224e-02 9.23457544e+01] [ 3.97345641e-01 -9.17656132e-01 -4.86473888e-03 -1.33146139e+02] [ 1.22148428e-02 -1.18360334e-05 9.99925396e-01 -9.03096644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.510385723 meters 0.01904075126936112 Centerline is valid? [True, True] Translation: X:92.02, Y:-133.89, Z:-8.04 [[-9.41099818e-01 3.37909003e-01 1.21917443e-02 9.20245254e+01] [ 3.37881379e-01 9.41178784e-01 -4.32096485e-03 -1.33888406e+02] [-1.29347040e-02 5.29041364e-05 -9.99916342e-01 -8.03827185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.540385723 meters 0.019088218187894183 Centerline is valid? [True, True] Translation: X:92.04, Y:-133.86, Z:-8.04 [[-9.62503185e-01 2.70981741e-01 1.25105799e-02 9.20357882e+01] [ 2.70959689e-01 9.62584486e-01 -3.45750803e-03 -1.33860983e+02] [-1.29794116e-02 6.20003464e-05 -9.99915762e-01 -8.03727534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.570385723 meters 0.017641104647793088 Centerline is valid? [True, True] Translation: X:92.26, Y:-133.09, Z:-9.03 [[-9.45143939e-01 -3.26426712e-01 1.21875446e-02 9.22585644e+01] [ 3.26398679e-01 -9.45222512e-01 -4.27836480e-03 -1.33089486e+02] [ 1.29165140e-02 -6.56721078e-05 9.99916576e-01 -9.03086562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.600385723 meters 0.01806427083127465 Centerline is valid? [True, True] Translation: X:91.99, Y:-133.84, Z:-8.04 [[-9.63258943e-01 2.68236200e-01 1.34740226e-02 9.19892465e+01] [ 2.68211139e-01 9.63353172e-01 -3.66749366e-03 -1.33844376e+02] [-1.39639969e-02 8.11368684e-05 -9.99902495e-01 -8.03780056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.630385723 meters 0.017770569848790534 Centerline is valid? [True, True] Translation: X:91.99, Y:-133.82, Z:-8.04 [[-9.79839970e-01 1.99271120e-01 1.43057438e-02 9.19942964e+01] [ 1.99251147e-01 9.79944393e-01 -2.82254916e-03 -1.33815430e+02] [-1.45812859e-02 8.47893711e-05 -9.99893684e-01 -8.03827964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.660385723 meters 0.017817180446200235 Centerline is valid? [True, True] Translation: X:92.00, Y:-133.79, Z:-8.04 [[-9.91397560e-01 1.29997651e-01 1.52147393e-02 9.20044294e+01] [ 1.29983902e-01 9.91514297e-01 -1.89333664e-03 -1.33787070e+02] [-1.53317609e-02 1.00621854e-04 -9.99882457e-01 -8.03891029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.690385723 meters 0.017924968121322514 Centerline is valid? [True, True] Translation: X:92.01, Y:-133.76, Z:-8.04 [[-9.98057788e-01 6.03212501e-02 1.55563236e-02 9.20072286e+01] [ 6.03157807e-02 9.98179008e-01 -8.20948166e-04 -1.33758183e+02] [-1.55775163e-02 1.18938095e-04 -9.99878656e-01 -8.03892621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.720385723 meters 0.0180672324782784 Centerline is valid? [True, True] Translation: X:92.05, Y:-132.96, Z:-9.03 [[-9.93712478e-01 -1.10896172e-01 1.54126483e-02 9.20507007e+01] [ 1.10880930e-01 -9.93831990e-01 -1.84262233e-03 -1.32964428e+02] [ 1.55219226e-02 -1.22068023e-04 9.99879520e-01 -9.03137748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.750385723 meters 0.018215852589958174 Centerline is valid? [True, True] Translation: X:91.92, Y:-133.75, Z:-8.04 [[-9.98129386e-01 5.93536673e-02 1.46584769e-02 9.19209082e+01] [ 5.93499035e-02 9.98237001e-01 -6.92034285e-04 -1.33753209e+02] [-1.46737088e-02 1.79239431e-04 -9.99892319e-01 -8.03988934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.780385723 meters 0.019067401991707675 Centerline is valid? [True, True] Translation: X:91.97, Y:-132.96, Z:-9.03 [[-9.94804926e-01 -1.00835162e-01 1.39795913e-02 9.19663278e+01] [ 1.00822232e-01 -9.94903124e-01 -1.62844106e-03 -1.32961438e+02] [ 1.40725432e-02 -2.10527595e-04 9.99900955e-01 -9.03104210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.810385723 meters 0.018519065582821247 Centerline is valid? [True, True] Translation: X:91.84, Y:-133.75, Z:-8.04 [[-9.98388781e-01 5.51153718e-02 1.34958376e-02 9.18387610e+01] [ 5.51127636e-02 9.98479977e-01 -5.65381536e-04 -1.33747007e+02] [-1.35064849e-02 1.79322327e-04 -9.99908767e-01 -8.03984602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.840385723 meters 0.01836400435981259 Centerline is valid? [True, True] Translation: X:91.83, Y:-133.72, Z:-8.04 [[-9.99740786e-01 -1.78583898e-02 1.41222641e-02 9.18299810e+01] [-1.78543280e-02 9.99840513e-01 4.13650361e-04 -1.33716967e+02] [-1.41273989e-02 1.61399602e-04 -9.99900190e-01 -8.03979866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.870385723 meters 0.02064767002658032 Centerline is valid? [True, True] Translation: X:91.83, Y:-133.69, Z:-8.04 [[-9.95902320e-01 -8.91797553e-02 1.50180237e-02 9.18311869e+01] [-8.91670275e-02 9.96015533e-01 1.51631295e-03 -1.33688060e+02] [-1.50934093e-02 1.70987054e-04 -9.99886073e-01 -8.03741014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.900385723 meters 0.018214506846663113 Centerline is valid? [True, True] Translation: X:91.75, Y:-132.90, Z:-9.03 [[-9.99008620e-01 4.19347401e-02 1.49416872e-02 9.17525361e+01] [-4.19327358e-02 -9.99120336e-01 4.47548435e-04 -1.32904135e+02] [ 1.49473113e-02 -1.79441075e-04 9.99888267e-01 -9.02953106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93038572300003 meters 0.019519140590706002 Centerline is valid? [True, True] Translation: X:91.72, Y:-133.69, Z:-8.04 [[-9.94876556e-01 -9.99344626e-02 1.52886399e-02 9.17168142e+01] [-9.99209533e-02 9.94994016e-01 1.64686685e-03 -1.33693125e+02] [-1.53766839e-02 1.10773746e-04 -9.99881766e-01 -8.03686922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.960385723 meters 0.019232304680698198 Centerline is valid? [True, True] Translation: X:91.70, Y:-133.66, Z:-8.04 [[-9.84953696e-01 -1.72196301e-01 1.46509277e-02 9.17000785e+01] [-1.72175941e-01 9.85062651e-01 2.64934441e-03 -1.33663506e+02] [-1.48882890e-02 8.69443049e-05 -9.99889160e-01 -8.03734669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.990385723 meters 0.018543875324670035 Centerline is valid? [True, True] Translation: X:91.67, Y:-133.64, Z:-8.04 [[-9.69332420e-01 -2.45336285e-01 1.43096765e-02 9.16684250e+01] [-2.45308873e-01 9.69438036e-01 3.66764730e-03 -1.33640417e+02] [-1.47721516e-02 4.48788199e-05 -9.99890885e-01 -8.03753418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.020385723 meters 0.0194659945920329 Centerline is valid? [True, True] Translation: X:91.61, Y:-133.63, Z:-8.04 [[-9.48590535e-01 -3.16190881e-01 1.41182038e-02 9.16129896e+01] [-3.16155242e-01 9.48695591e-01 4.74742821e-03 -1.33627267e+02] [-1.48949712e-02 3.98213125e-05 -9.99889063e-01 -8.03914886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.050385723 meters 0.017690366851035137 Centerline is valid? [True, True] Translation: X:91.55, Y:-133.62, Z:-8.04 [[-9.22171522e-01 -3.86566576e-01 1.28828042e-02 9.15484760e+01] [-3.86528595e-01 9.22261504e-01 5.41873994e-03 -1.33620111e+02] [-1.39760181e-02 1.74354583e-05 -9.99902331e-01 -8.04218614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.080385723 meters 0.018405470252919717 Centerline is valid? [True, True] Translation: X:91.47, Y:-133.62, Z:-8.04 [[-8.91089948e-01 -4.53651978e-01 1.25931637e-02 9.14694852e+01] [-4.53606335e-01 8.91178929e-01 6.43504415e-03 -1.33624749e+02] [-1.41420327e-02 2.18643083e-05 -9.99899996e-01 -8.04182641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.110385723 meters 0.017759108969419294 Centerline is valid? [True, True] Translation: X:91.39, Y:-133.63, Z:-8.04 [[-8.54602437e-01 -5.19141457e-01 1.21169963e-02 9.13896654e+01] [-5.19088939e-01 8.54688333e-01 7.38420272e-03 -1.33634936e+02] [-1.41897011e-02 2.07589019e-05 -9.99899321e-01 -8.04147533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.140385723 meters 0.017703358453913257 Centerline is valid? [True, True] Translation: X:91.30, Y:-133.66, Z:-8.04 [[-8.13433123e-01 -5.81531756e-01 1.21396353e-02 9.13008408e+01] [-5.81466482e-01 8.13523703e-01 8.71290289e-03 -1.33659626e+02] [-1.49427108e-02 2.85727566e-05 -9.99888351e-01 -8.04214736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.170385723 meters 0.0178300261944122 Centerline is valid? [True, True] Translation: X:91.21, Y:-133.70, Z:-8.04 [[-7.68611201e-01 -6.39605508e-01 1.19002704e-02 9.12118150e+01] [-6.39527553e-01 7.68703318e-01 9.98590218e-03 -1.33696601e+02] [-1.55348153e-02 6.47254785e-05 -9.99879325e-01 -8.04255304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.200385723 meters 0.019985132213713567 Centerline is valid? [True, True] Translation: X:91.12, Y:-133.74, Z:-8.04 [[-7.19727450e-01 -6.94153757e-01 1.19565918e-02 9.11212406e+01] [-6.94055375e-01 7.19826749e-01 1.16870789e-02 -1.33742481e+02] [-1.67193044e-02 1.12974658e-04 -9.99860216e-01 -8.04049027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.230385723 meters 0.01987547968368186 Centerline is valid? [True, True] Translation: X:91.03, Y:-133.80, Z:-8.04 [[-6.65942532e-01 -7.45923052e-01 1.09244546e-02 9.10298906e+01] [-7.45819310e-01 6.66032117e-01 1.24408700e-02 -1.33798361e+02] [-1.65559694e-02 1.37235305e-04 -9.99862931e-01 -8.04068338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.260385723 meters 0.018087590721254657 Centerline is valid? [True, True] Translation: X:90.94, Y:-133.86, Z:-8.04 [[-6.08129657e-01 -7.93778526e-01 9.69387604e-03 9.09396250e+01] [-7.93673581e-01 6.08206895e-01 1.29081026e-02 -1.33863883e+02] [-1.61420569e-02 1.56026712e-04 -9.99869696e-01 -8.04340915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.290385723 meters 0.018087590721254657 Centerline is valid? [True, True] Translation: X:90.85, Y:-133.94, Z:-8.04 [[-5.45564470e-01 -8.38023938e-01 8.67693220e-03 9.08512838e+01] [-8.37913386e-01 5.45633445e-01 1.36125882e-02 -1.33940014e+02] [-1.61420991e-02 1.56026813e-04 -9.99869696e-01 -8.04340706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.320385723 meters 0.01807791731840338 Centerline is valid? [True, True] Translation: X:90.77, Y:-134.03, Z:-8.04 [[-4.79930479e-01 -8.77276336e-01 7.27769968e-03 9.07682532e+01] [-8.77170610e-01 4.79985631e-01 1.36204098e-02 -1.34025723e+02] [-1.54420545e-02 1.53065515e-04 -9.99880753e-01 -8.04393955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.350385723 meters 0.019160244196043015 Centerline is valid? [True, True] Translation: X:90.69, Y:-134.12, Z:-8.04 [[-4.11888947e-01 -9.11213779e-01 6.07825974e-03 9.06911877e+01] [-9.11108681e-01 4.11933761e-01 1.38400921e-02 -1.34120582e+02] [-1.51151230e-02 1.62625761e-04 -9.99885747e-01 -8.04379911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.380385723 meters 0.017975754156720404 Centerline is valid? [True, True] Translation: X:90.62, Y:-134.23, Z:-8.05 [[-3.40435268e-01 -9.40257928e-01 4.34249814e-03 9.06185311e+01] [-9.40176139e-01 3.40462934e-01 1.24023489e-02 -1.34225524e+02] [-1.31398666e-02 1.39483855e-04 -9.99913659e-01 -8.04697485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.410385723 meters 0.017896081337399596 Centerline is valid? [True, True] Translation: X:90.56, Y:-134.33, Z:-8.05 [[-2.67214398e-01 -9.63630672e-01 3.52046786e-03 9.05555190e+01] [-9.63539528e-01 2.67237546e-01 1.32541083e-02 -1.34328753e+02] [-1.37128665e-02 1.49578630e-04 -9.99905963e-01 -8.04716353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.440385723 meters 0.020430578916435245 Centerline is valid? [True, True] Translation: X:90.50, Y:-134.44, Z:-8.04 [[-1.92855649e-01 -9.81223180e-01 2.78752123e-03 9.05005808e+01] [-9.81106866e-01 1.92875711e-01 1.51088884e-02 -1.34440095e+02] [-1.53628367e-02 1.78978278e-04 -9.99881969e-01 -8.04316539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.470385723 meters 0.01800093520772855 Centerline is valid? [True, True] Translation: X:90.45, Y:-134.57, Z:-8.05 [[-1.15593500e-01 -9.93295258e-01 1.63519350e-03 9.04509518e+01] [-9.93175016e-01 1.15604951e-01 1.54558561e-02 -1.34573716e+02] [-1.55412650e-02 1.62563167e-04 -9.99879214e-01 -8.04587694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.500385723 meters 0.017857606542109928 Centerline is valid? [True, True] Translation: X:90.41, Y:-134.69, Z:-8.05 [[-3.81066512e-02 -9.99273587e-01 4.26110975e-04 9.04131978e+01] [-9.99158718e-01 3.81087318e-02 1.51518988e-02 -1.34694884e+02] [-1.51571308e-02 1.51635625e-04 -9.99885113e-01 -8.04613584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.530385723 meters 0.01767049922776652 Centerline is valid? [True, True] Translation: X:90.38, Y:-134.81, Z:-8.05 [[ 4.05053839e-02 -9.99179061e-01 -7.19275884e-04 9.03835074e+01] [-9.99072352e-01 -4.05115702e-02 1.46030045e-02 -1.34807235e+02] [-1.46201553e-02 1.27108347e-04 -9.99893112e-01 -8.04634177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.560385723 meters 0.017555328263753577 Centerline is valid? [True, True] Translation: X:90.36, Y:-134.94, Z:-8.05 [[ 1.17711928e-01 -9.93046145e-01 -1.80457414e-03 9.03649539e+01] [-9.92944105e-01 -1.17725702e-01 1.42360249e-02 -1.34944228e+02] [-1.43494744e-02 1.16091320e-04 -9.99897034e-01 -8.04659316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.590385723 meters 0.017475801560315862 Centerline is valid? [True, True] Translation: X:90.35, Y:-135.05, Z:-8.05 [[ 1.94514910e-01 -9.80895517e-01 -2.81670347e-03 9.03511588e+01] [-9.80800489e-01 -1.94535273e-01 1.36538557e-02 -1.35046401e+02] [-1.39409540e-02 1.06745634e-04 -9.99902815e-01 -8.04682074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.620385723 meters 0.017485410279231263 Centerline is valid? [True, True] Translation: X:90.35, Y:-135.18, Z:-8.05 [[ 2.70656043e-01 -9.62668837e-01 -3.74388414e-03 9.03518834e+01] [-9.62581221e-01 -2.70681922e-01 1.29880879e-02 -1.35176857e+02] [-1.35166292e-02 8.84880838e-05 -9.99908642e-01 -8.04638159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.650385723 meters 0.017194776101647453 Centerline is valid? [True, True] Translation: X:90.36, Y:-135.30, Z:-8.05 [[ 3.44463095e-01 -9.38787671e-01 -4.78377458e-03 9.03604472e+01] [-9.38700456e-01 -3.44496301e-01 1.27965661e-02 -1.35298358e+02] [-1.36612511e-02 8.25866182e-05 -9.99906677e-01 -8.04755798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68038572300003 meters 0.017063676889838064 Centerline is valid? [True, True] Translation: X:90.38, Y:-135.42, Z:-8.05 [[ 4.16879593e-01 -9.08945890e-01 -5.36414901e-03 9.03812630e+01] [-9.08872529e-01 -4.16914098e-01 1.15481556e-02 -1.35423979e+02] [-1.27330379e-02 6.11372607e-05 -9.99918930e-01 -8.04862859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.710385723 meters 0.016973905248416174 Centerline is valid? [True, True] Translation: X:90.41, Y:-135.54, Z:-8.05 [[ 4.86081420e-01 -8.73895642e-01 -5.59116748e-03 9.04082485e+01] [-8.73838957e-01 -4.86113573e-01 9.95352029e-03 -1.35541679e+02] [-1.14162804e-02 4.75586841e-05 -9.99934831e-01 -8.04957320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.740385723 meters 0.017606320554980546 Centerline is valid? [True, True] Translation: X:90.44, Y:-135.66, Z:-8.05 [[ 5.52185426e-01 -8.33700846e-01 -5.84410991e-03 9.04442412e+01] [-8.33654892e-01 -5.52216350e-01 8.75346546e-03 -1.35657479e+02] [-1.05249846e-02 3.84347645e-05 -9.99944610e-01 -8.04910782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.770385723 meters 0.016674145692831616 Centerline is valid? [True, True] Translation: X:90.49, Y:-135.77, Z:-8.05 [[ 6.16888839e-01 -7.87028666e-01 -5.83423342e-03 9.04892746e+01] [-7.86993551e-01 -6.16916428e-01 7.43448379e-03 -1.35773907e+02] [-9.45038630e-03 5.25399793e-06 -9.99955344e-01 -8.05053364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.800385723 meters 0.01665028759839734 Centerline is valid? [True, True] Translation: X:90.54, Y:-135.87, Z:-8.05 [[ 6.76256476e-01 -7.36640703e-01 -6.13627665e-03 9.05352432e+01] [-7.36610284e-01 -6.76284315e-01 6.69432614e-03 -1.35874361e+02] [-9.08118076e-03 -7.03691884e-06 -9.99958765e-01 -8.05091803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.830385723 meters 0.016663875339291454 Centerline is valid? [True, True] Translation: X:90.59, Y:-135.98, Z:-8.05 [[ 7.31354070e-01 -6.81965858e-01 -6.61763953e-03 9.05943972e+01] [-6.81937708e-01 -7.31384009e-01 6.19623493e-03 -1.35976416e+02] [-9.06565640e-03 -1.88236958e-05 -9.99958906e-01 -8.05003443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.860385723 meters 0.016588522551338393 Centerline is valid? [True, True] Translation: X:90.59, Y:-135.99, Z:-8.05 [[ 7.83531062e-01 -6.21323516e-01 -6.01366681e-03 9.05878701e+01] [-6.21304924e-01 -7.83554139e-01 4.80665326e-03 -1.35985625e+02] [-7.69852022e-03 -2.98413368e-05 -9.99970366e-01 -8.05099865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.890385723 meters 0.016708086788200627 Centerline is valid? [True, True] Translation: X:90.58, Y:-135.99, Z:-8.05 [[ 8.30095202e-01 -5.57593347e-01 -5.62267185e-03 9.05815048e+01] [-5.57580302e-01 -8.30114244e-01 3.81426854e-03 -1.35994623e+02] [-6.79427075e-03 -3.11149527e-05 -9.99976918e-01 -8.05005667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.920385723 meters 0.016644742937347634 Centerline is valid? [True, True] Translation: X:90.58, Y:-136.00, Z:-8.05 [[ 8.71238316e-01 -4.90827225e-01 -5.69495986e-03 9.05786347e+01] [-4.90816503e-01 -8.71256928e-01 3.24444042e-03 -1.36001073e+02] [-6.55423292e-03 -3.15005275e-05 -9.99978520e-01 -8.04996262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.950385723 meters 0.016608795343536174 Centerline is valid? [True, True] Translation: X:90.58, Y:-136.01, Z:-8.05 [[ 9.07003530e-01 -4.21076486e-01 -6.26018510e-03 9.05757950e+01] [-4.21066196e-01 -9.07025133e-01 2.94385322e-03 -1.36008694e+02] [-6.91773259e-03 -3.41329353e-05 -9.99976072e-01 -8.04895031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.980385723 meters 0.016623810926724162 Centerline is valid? [True, True] Translation: X:90.57, Y:-136.02, Z:-8.05 [[ 9.36986573e-01 -3.49313512e-01 -6.01930759e-03 9.05719806e+01] [-3.49306105e-01 -9.37005907e-01 2.27491805e-03 -1.36018786e+02] [-6.43478638e-03 -2.89867765e-05 -9.99979296e-01 -8.04916748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.010385723 meters 0.016378610622867353 Centerline is valid? [True, True] Translation: X:90.57, Y:-136.03, Z:-8.05 [[ 9.61024711e-01 -2.76419130e-01 -4.89586848e-03 9.05693859e+01] [-2.76415463e-01 -9.61037181e-01 1.42397481e-03 -1.36029134e+02] [-5.09872552e-03 -1.51812306e-05 -9.99987001e-01 -8.04991132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.040385723 meters 0.016296279122354696 Centerline is valid? [True, True] Translation: X:90.57, Y:-136.04, Z:-8.05 [[ 9.79495273e-01 -2.01431564e-01 -3.78624528e-03 9.05670124e+01] [-2.01430031e-01 -9.79502591e-01 7.86083819e-04 -1.36039743e+02] [-3.86697915e-03 -7.30188218e-06 -9.99992523e-01 -8.05029461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.070385723 meters 0.01619505169961547 Centerline is valid? [True, True] Translation: X:90.56, Y:-136.05, Z:-8.05 [[ 9.92127240e-01 -1.25199988e-01 -2.91582514e-03 9.05620678e+01] [-1.25199441e-01 -9.92131525e-01 3.70095693e-04 -1.36050881e+02] [-2.93921802e-03 -2.12234261e-06 -9.99995681e-01 -8.05069006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.100385723 meters 0.016146502190908844 Centerline is valid? [True, True] Translation: X:90.56, Y:-136.06, Z:-8.05 [[ 9.98810270e-01 -4.87058140e-02 -2.40578663e-03 9.05569568e+01] [-4.87056779e-02 -9.98813168e-01 1.15161844e-04 -1.36061152e+02] [-2.40854041e-03 2.15063567e-06 -9.99997099e-01 -8.05099762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.130385723 meters 0.016229663607221143 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.07, Z:-8.05 [[ 9.99647321e-01 2.64607317e-02 -2.25019324e-03 9.05540523e+01] [ 2.64606439e-02 -9.99649854e-01 -6.87508894e-05 -1.36069880e+02] [-2.25122454e-03 9.18508038e-06 -9.99997466e-01 -8.05109844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.160385723 meters 0.016205435874856036 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.08, Z:-8.05 [[ 9.94708055e-01 1.02714458e-01 -2.37166536e-03 9.05500586e+01] [ 1.02714132e-01 -9.94710883e-01 -2.59311639e-04 -1.36079389e+02] [-2.38575639e-03 1.43358275e-05 -9.99997154e-01 -8.05088573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.190385723 meters 0.016432622638472484 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.09, Z:-8.05 [[ 9.84349588e-01 1.76222670e-01 -1.20826417e-03 9.05477747e+01] [ 1.76222521e-01 -9.84350329e-01 -2.29424775e-04 -1.36089761e+02] [-1.22978508e-03 1.29108231e-05 -9.99999244e-01 -8.05138599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.220385723 meters 0.016758964108046146 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.10, Z:-8.05 [[ 9.67963228e-01 2.51091154e-01 -6.48981368e-04 9.05455180e+01] [ 2.51091092e-01 -9.67963446e-01 -1.77307276e-04 -1.36100360e+02] [-6.72710530e-04 8.67348270e-06 -9.99999774e-01 -8.05221600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.250385723 meters 0.016785504318704476 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.11, Z:-8.05 [[ 9.45852812e-01 3.24595801e-01 -1.51137330e-04 9.05462527e+01] [ 3.24595797e-01 -9.45852825e-01 -5.51491079e-05 -1.36113824e+02] [-1.60854839e-04 3.10439686e-06 -9.99999987e-01 -8.05199088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.280385723 meters 0.01695575083608486 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.13, Z:-8.05 [[ 9.18634992e-01 3.95107093e-01 -3.68924200e-04 9.05479710e+01] [ 3.95107058e-01 -9.18635066e-01 -1.66714011e-04 -1.36127977e+02] [-4.04776595e-04 7.38476892e-06 -9.99999918e-01 -8.05159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.310385723 meters 0.017100893808894815 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.14, Z:-8.05 [[ 8.85175449e-01 4.65257044e-01 -5.53811019e-04 9.05493653e+01] [ 4.65256945e-01 -8.85175623e-01 -3.03888934e-04 -1.36140655e+02] [-6.31606480e-04 1.13306008e-05 -9.99999800e-01 -8.05160622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.340385723 meters 0.0171793081633473 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.15, Z:-8.05 [[ 8.46227644e-01 5.32821496e-01 1.66840230e-04 9.05520322e+01] [ 5.32821485e-01 -8.46227661e-01 1.07769954e-04 -1.36152803e+02] [ 1.98606966e-04 -2.30185562e-06 -9.99999980e-01 -8.05181554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.370385723 meters 0.017317224588725835 Centerline is valid? [True, True] Translation: X:90.55, Y:-136.16, Z:-8.05 [[ 8.01981883e-01 5.97348356e-01 4.10498492e-05 9.05548686e+01] [ 5.97348355e-01 -8.01981884e-01 3.03874039e-05 -1.36164354e+02] [ 5.10731012e-05 1.50912545e-07 -9.99999999e-01 -8.05182953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.400385723 meters 0.016996258503076685 Centerline is valid? [True, True] Translation: X:90.56, Y:-136.18, Z:-8.05 [[ 7.52641585e-01 6.58430306e-01 4.21625579e-04 9.05622085e+01] [ 6.58430196e-01 -7.52641703e-01 3.80087541e-04 -1.36178179e+02] [ 5.67594150e-04 -8.45867627e-06 -9.99999839e-01 -8.05186386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43038572300003 meters 0.017264790290334075 Centerline is valid? [True, True] Translation: X:90.57, Y:-136.19, Z:-8.05 [[ 6.98693396e-01 7.15420912e-01 6.76006945e-04 9.05673148e+01] [ 7.15420556e-01 -6.98693723e-01 7.14049972e-04 -1.36189934e+02] [ 9.83168091e-04 -1.52727357e-05 -9.99999517e-01 -8.05157051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.460385723 meters 0.016789592034037917 Centerline is valid? [True, True] Translation: X:90.58, Y:-136.20, Z:-8.05 [[ 6.40375204e-01 7.68061899e-01 7.19691513e-04 9.05779157e+01] [ 7.68061382e-01 -6.40375608e-01 8.90930733e-04 -1.36204218e+02] [ 1.14516284e-03 -1.77626919e-05 -9.99999344e-01 -8.05122214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.490385723 meters 0.016895235375470073 Centerline is valid? [True, True] Translation: X:90.59, Y:-136.22, Z:-8.05 [[ 5.77990141e-01 8.16043472e-01 6.69920252e-04 9.05862501e+01] [ 8.16042887e-01 -5.77990529e-01 9.76968433e-04 -1.36215692e+02] [ 1.18445627e-03 -1.79944661e-05 -9.99999298e-01 -8.05046165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.520385723 meters 0.016648542685923813 Centerline is valid? [True, True] Translation: X:90.60, Y:-136.23, Z:-8.05 [[ 5.12284028e-01 8.58816020e-01 3.43912915e-04 9.05971144e+01] [ 8.58815813e-01 -5.12284143e-01 5.96111379e-04 -1.36225678e+02] [ 6.88131135e-04 -1.00204888e-05 -9.99999763e-01 -8.04983822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.550385723 meters 0.01638918277608168 Centerline is valid? [True, True] Translation: X:90.61, Y:-136.24, Z:-8.05 [[ 4.42807518e-01 8.96616677e-01 1.92494773e-04 9.06112078e+01] [ 8.96616586e-01 -4.42807559e-01 4.02940094e-04 -1.36235709e+02] [ 4.46520948e-04 -5.83089625e-06 -9.99999900e-01 -8.05045802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.580385723 meters 0.01668473608999322 Centerline is valid? [True, True] Translation: X:90.62, Y:-136.24, Z:-8.05 [[ 3.70679401e-01 9.28760857e-01 2.26648343e-04 9.06208128e+01] [ 9.28760670e-01 -3.70679471e-01 5.90214772e-04 -1.36244071e+02] [ 6.32182265e-04 -8.27839174e-06 -9.99999800e-01 -8.05139054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.610385723 meters 0.01613405578090556 Centerline is valid? [True, True] Translation: X:90.64, Y:-136.25, Z:-8.05 [[ 2.96214677e-01 9.55121368e-01 1.94584740e-04 9.06366375e+01] [ 9.55121142e-01 -2.96214741e-01 6.56508552e-04 -1.36251855e+02] [ 6.84684215e-04 -8.61546943e-06 -9.99999766e-01 -8.05198517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.640385723 meters 0.015922631905637162 Centerline is valid? [True, True] Translation: X:90.66, Y:-136.26, Z:-8.05 [[ 2.19331062e-01 9.75650357e-01 5.15391514e-04 9.06568704e+01] [ 9.75647323e-01 -2.19331665e-01 2.43339237e-03 -1.36260511e+02] [ 2.48718181e-03 -3.08781799e-05 -9.99996907e-01 -8.05105894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.670385723 meters 0.015696789098285608 Centerline is valid? [True, True] Translation: X:90.67, Y:-136.26, Z:-8.05 [[ 1.41996222e-01 9.89867108e-01 4.25963506e-04 9.06749169e+01] [ 9.89861766e-01 -1.41996855e-01 3.25224231e-03 -1.36264907e+02] [ 3.27977316e-03 -4.01611321e-05 -9.99994621e-01 -8.05071326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.700385723 meters 0.015683636545827145 Centerline is valid? [True, True] Translation: X:90.69, Y:-136.27, Z:-8.05 [[ 6.39220664e-02 9.97954881e-01 1.56499072e-04 9.06900852e+01] [ 9.97950327e-01 -6.39222475e-02 3.01499470e-03 -1.36268475e+02] [ 3.01883245e-03 -3.65463916e-05 -9.99995443e-01 -8.05133068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.730385723 meters 0.015556365089428608 Centerline is valid? [True, True] Translation: X:90.71, Y:-136.27, Z:-8.05 [[-1.35990461e-02 9.99907526e-01 -7.61390962e-05 9.07097378e+01] [ 9.99903418e-01 1.35992085e-02 2.86625608e-03 -1.36269122e+02] [ 2.86702645e-03 -3.71533939e-05 -9.99995889e-01 -8.05175279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.760385723 meters 0.015680352036447513 Centerline is valid? [True, True] Translation: X:90.73, Y:-136.27, Z:-8.05 [[-9.07986171e-02 9.95869239e-01 -2.66158191e-04 9.07263735e+01] [ 9.95866032e-01 9.07990003e-02 2.52723535e-03 -1.36268396e+02] [ 2.54096284e-03 -3.55884266e-05 -9.99996771e-01 -8.05123172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.790385723 meters 0.01598239080442127 Centerline is valid? [True, True] Translation: X:90.74, Y:-136.27, Z:-8.05 [[-1.67511680e-01 9.85870037e-01 -3.27029137e-04 9.07422868e+01] [ 9.85868457e-01 1.67511997e-01 1.76526816e-03 -1.36267806e+02] [ 1.79510629e-03 -2.67046764e-05 -9.99998388e-01 -8.05061839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.820385723 meters 0.016124741867663078 Centerline is valid? [True, True] Translation: X:90.76, Y:-136.26, Z:-8.05 [[-2.42692730e-01 9.70103186e-01 -2.17472998e-04 9.07612242e+01] [ 9.70102844e-01 2.42692827e-01 8.14311857e-04 -1.36263186e+02] [ 8.42745664e-04 -1.33436060e-05 -9.99999645e-01 -8.04839268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.850385723 meters 0.015987091673062313 Centerline is valid? [True, True] Translation: X:90.78, Y:-136.26, Z:-8.05 [[-3.17560213e-01 9.48238088e-01 -2.00748838e-04 9.07772461e+01] [ 9.48237917e-01 3.17560276e-01 5.69498371e-04 -1.36258024e+02] [ 6.03769902e-04 -9.50763570e-06 -9.99999818e-01 -8.04753919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.880385723 meters 0.016267581260496173 Centerline is valid? [True, True] Translation: X:90.79, Y:-136.25, Z:-8.05 [[-3.89984845e-01 9.20821000e-01 -7.12638227e-04 9.07938065e+01] [ 9.20819605e-01 3.89985494e-01 1.60285412e-03 -1.36251366e+02] [ 1.75386031e-03 -3.11224339e-05 -9.99998462e-01 -8.04754427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.910385723 meters 0.01650515541109822 Centerline is valid? [True, True] Translation: X:90.81, Y:-136.25, Z:-8.05 [[-4.60659050e-01 8.87576791e-01 -8.24734853e-04 9.08051031e+01] [ 8.87575487e-01 4.60659787e-01 1.52146869e-03 -1.36246000e+02] [ 1.73034247e-03 -3.11361201e-05 -9.99998502e-01 -8.04820201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.940385723 meters 0.016611562282201398 Centerline is valid? [True, True] Translation: X:90.82, Y:-136.24, Z:-8.05 [[-5.28120527e-01 8.49169120e-01 -7.17345412e-04 9.08152055e+01] [ 8.49168399e-01 5.28121014e-01 1.10709981e-03 -1.36238143e+02] [ 1.31896016e-03 -2.44649176e-05 -9.99999130e-01 -8.04813547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.970385723 meters 0.01658097919647784 Centerline is valid? [True, True] Translation: X:90.83, Y:-136.23, Z:-8.05 [[-5.92798936e-01 8.05350395e-01 -4.03112858e-04 9.08251956e+01] [ 8.05350222e-01 5.92799073e-01 5.27440442e-04 -1.36228440e+02] [ 6.63739297e-04 -1.19808968e-05 -9.99999780e-01 -8.04790058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.000385723 meters 0.01599701302273559 Centerline is valid? [True, True] Translation: X:90.84, Y:-136.21, Z:-8.05 [[-6.54674181e-01 7.55911109e-01 3.34813870e-04 9.08404635e+01] [ 7.55911018e-01 6.54674266e-01 -3.70906957e-04 -1.36212299e+02] [-4.99566714e-04 1.02662847e-05 -9.99999875e-01 -8.04683447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.030385723 meters 0.01589282066759193 Centerline is valid? [True, True] Translation: X:90.85, Y:-136.20, Z:-8.05 [[-7.12479565e-01 7.01692651e-01 5.40993857e-04 9.08508886e+01] [ 7.01692464e-01 7.12479770e-01 -5.12893347e-04 -1.36198318e+02] [-7.45340672e-04 1.41852837e-05 -9.99999722e-01 -8.04611049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.060385723 meters 0.015754349208264476 Centerline is valid? [True, True] Translation: X:90.87, Y:-136.17, Z:-8.05 [[-7.61254825e-01 6.48452765e-01 3.20333031e-04 9.08686828e+01] [ 6.48452712e-01 7.61254893e-01 -2.62788724e-04 -1.36169583e+02] [-4.14261162e-04 7.67163845e-06 -9.99999914e-01 -8.04629694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.090385723 meters 0.015348634199948146 Centerline is valid? [True, True] Translation: X:91.22, Y:-135.73, Z:-9.02 [[-7.36383612e-01 -6.76564194e-01 -2.58430118e-04 9.12247187e+01] [ 6.76564171e-01 -7.36383657e-01 1.80259801e-04 -1.35734578e+02] [-3.12261042e-04 -4.21041949e-05 9.99999950e-01 -9.02213590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.120385723 meters 0.015105019195419728 Centerline is valid? [True, True] Translation: X:90.84, Y:-136.13, Z:-8.05 [[-7.66508804e-01 6.42233745e-01 -2.64800443e-04 9.08376364e+01] [ 6.42233708e-01 7.66508850e-01 2.17953096e-04 -1.36131275e+02] [ 3.42948717e-04 -3.00080325e-06 -9.99999941e-01 -8.04840088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.150385723 meters 0.014762340809692482 Centerline is valid? [True, True] Translation: X:90.85, Y:-136.10, Z:-8.05 [[-8.11753250e-01 5.84000564e-01 4.96585752e-05 9.08532049e+01] [ 5.84000563e-01 8.11753252e-01 -3.37462622e-05 -1.36096891e+02] [-6.00183461e-05 1.60699782e-06 -9.99999998e-01 -8.04748396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18038572300003 meters 0.014637589423818058 Centerline is valid? [True, True] Translation: X:90.87, Y:-136.07, Z:-8.05 [[-8.51157387e-01 5.24910559e-01 8.62135852e-05 9.08719558e+01] [ 5.24910556e-01 8.51157392e-01 -5.10061553e-05 -1.36069206e+02] [-1.00155000e-04 1.84015510e-06 -9.99999995e-01 -8.04711039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.210385723 meters 0.014637589423818058 Centerline is valid? [True, True] Translation: X:90.88, Y:-136.04, Z:-8.05 [[-8.86126903e-01 4.63442666e-01 8.96405501e-05 9.08823248e+01] [ 4.63442663e-01 8.86126907e-01 -4.47943132e-05 -1.36041603e+02] [-1.00192499e-04 1.84980928e-06 -9.99999995e-01 -8.04711002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.240385723 meters 0.014695947409965875 Centerline is valid? [True, True] Translation: X:90.89, Y:-136.01, Z:-8.05 [[-9.17227261e-01 3.98364221e-01 -3.15236226e-04 9.08883755e+01] [ 3.98364198e-01 9.17227315e-01 1.35579474e-04 -1.36009370e+02] [ 3.43153288e-04 -1.22163682e-06 -9.99999941e-01 -8.04678286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.270385723 meters 0.014397694212073446 Centerline is valid? [True, True] Translation: X:90.89, Y:-135.98, Z:-8.05 [[-9.43422034e-01 3.31594348e-01 -2.31374248e-04 9.08906672e+01] [ 3.31594338e-01 9.43422063e-01 8.09289775e-05 -1.35975120e+02] [ 2.45119162e-04 -3.72210149e-07 -9.99999970e-01 -8.04665864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.300385723 meters 0.014365890860225135 Centerline is valid? [True, True] Translation: X:90.89, Y:-135.94, Z:-8.05 [[-9.64920654e-01 2.62541628e-01 1.55552678e-04 9.08919412e+01] [ 2.62541625e-01 9.64920667e-01 -4.04765904e-05 -1.35941301e+02] [-1.60722784e-04 1.78235485e-06 -9.99999987e-01 -8.04655786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.330385723 meters 0.014419019994454422 Centerline is valid? [True, True] Translation: X:90.89, Y:-135.91, Z:-8.05 [[-9.81292309e-01 1.92521604e-01 9.14534301e-04 9.08883764e+01] [ 1.92521525e-01 9.81292735e-01 -1.74889502e-04 -1.35908641e+02] [-9.31095873e-04 4.44981420e-06 -9.99999567e-01 -8.04592864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.360385723 meters 0.014290734547469692 Centerline is valid? [True, True] Translation: X:90.88, Y:-135.87, Z:-8.04 [[-9.92859936e-01 1.19275584e-01 1.57565815e-03 9.08813269e+01] [ 1.19275437e-01 9.92861186e-01 -1.87360524e-04 -1.35871890e+02] [-1.58675735e-03 1.91455616e-06 -9.99998741e-01 -8.04450808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.390385723 meters 0.014271178265330812 Centerline is valid? [True, True] Translation: X:90.87, Y:-135.84, Z:-8.04 [[-9.98919248e-01 4.64127273e-02 2.48909550e-03 9.08688689e+01] [ 4.64125768e-02 9.98922349e-01 -1.18214732e-04 -1.35839614e+02] [-2.49189979e-03 -2.56163498e-06 -9.99996895e-01 -8.04414600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.420385723 meters 0.014429859028900678 Centerline is valid? [True, True] Translation: X:90.86, Y:-135.81, Z:-8.04 [[-9.99631569e-01 -2.69850833e-02 2.92077059e-03 9.08579148e+01] [-2.69849966e-02 9.99635836e-01 6.90874872e-05 -1.35808684e+02] [-2.92157128e-03 -9.75495125e-06 -9.99995732e-01 -8.04364869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.450385723 meters 0.014648831177452297 Centerline is valid? [True, True] Translation: X:90.84, Y:-135.33, Z:-9.03 [[-9.98677251e-01 -5.13776625e-02 2.02078606e-03 9.08371681e+01] [ 5.13774444e-02 -9.98679294e-01 -1.59735629e-04 -1.35330509e+02] [ 2.02632404e-03 -5.57015154e-05 9.99997945e-01 -9.02589522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.480385723 meters 0.015073960171101906 Centerline is valid? [True, True] Translation: X:90.79, Y:-135.81, Z:-8.04 [[-9.99357632e-01 -3.57811616e-02 2.00805331e-03 9.07927667e+01] [-3.57811206e-02 9.99359649e-01 5.63558454e-05 -1.35805266e+02] [-2.00878393e-03 -1.55307535e-05 -9.99997982e-01 -8.04403034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.510385723 meters 0.014864080123455227 Centerline is valid? [True, True] Translation: X:90.78, Y:-135.34, Z:-9.03 [[-9.98782358e-01 -4.92891436e-02 2.09313113e-03 9.07772625e+01] [ 4.92890815e-02 -9.98784551e-01 -8.12679133e-05 -1.35335009e+02] [ 2.09459266e-03 2.19995527e-05 9.99997806e-01 -9.02621141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.540385723 meters 0.014905941747568643 Centerline is valid? [True, True] Translation: X:90.74, Y:-135.81, Z:-8.04 [[-9.99161341e-01 -4.08923855e-02 2.10429403e-03 9.07364876e+01] [-4.08923334e-02 9.99163556e-01 6.78019053e-05 -1.35807555e+02] [-2.10530649e-03 -1.83044504e-05 -9.99997784e-01 -8.04355100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.570385723 meters 0.014895744080221285 Centerline is valid? [True, True] Translation: X:90.72, Y:-135.78, Z:-8.04 [[-9.93756443e-01 -1.11555836e-01 1.85108720e-03 9.07193547e+01] [-1.11555672e-01 9.93758167e-01 1.92334882e-04 -1.35780041e+02] [-1.86098911e-03 -1.53652479e-05 -9.99998268e-01 -8.04339515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.600385723 meters 0.014748785214183636 Centerline is valid? [True, True] Translation: X:90.67, Y:-135.31, Z:-9.03 [[-9.99622934e-01 2.73917310e-02 1.91919235e-03 9.06656278e+01] [-2.73916425e-02 -9.99624776e-01 7.24001114e-05 -1.35310549e+02] [ 1.92045539e-03 1.98029810e-05 9.99998156e-01 -9.02658133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.630385723 meters 0.014585694924096148 Centerline is valid? [True, True] Translation: X:90.65, Y:-135.79, Z:-8.04 [[-9.93579788e-01 -1.13115996e-01 1.99398189e-03 9.06520344e+01] [-1.13115790e-01 9.93581789e-01 2.16284917e-04 -1.35792717e+02] [-2.00564938e-03 -1.06545135e-05 -9.99997989e-01 -8.04439356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.660385723 meters 0.01447770171237606 Centerline is valid? [True, True] Translation: X:90.64, Y:-135.77, Z:-8.04 [[-9.83234549e-01 -1.82335990e-01 1.84623659e-03 9.06359474e+01] [-1.82335683e-01 9.83236282e-01 3.34864441e-04 -1.35767846e+02] [-1.87634464e-03 -7.38452155e-06 -9.99998240e-01 -8.04461907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.690385723 meters 0.014406486397437418 Centerline is valid? [True, True] Translation: X:90.61, Y:-135.75, Z:-8.04 [[-9.68084472e-01 -2.50616502e-01 1.95546652e-03 9.06126099e+01] [-2.50616000e-01 9.68086447e-01 5.01285507e-04 -1.35745491e+02] [-2.01869105e-03 -4.78448155e-06 -9.99997962e-01 -8.04357625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.720385723 meters 0.014312084989443844 Centerline is valid? [True, True] Translation: X:90.58, Y:-135.73, Z:-8.04 [[-9.47478114e-01 -3.19815346e-01 1.83521692e-03 9.05759272e+01] [-3.19814756e-01 9.47479891e-01 6.14247635e-04 -1.35727100e+02] [-1.93527695e-03 -4.94326263e-06 -9.99998127e-01 -8.04379256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.750385723 meters 0.01441995513832385 Centerline is valid? [True, True] Translation: X:90.53, Y:-135.71, Z:-8.04 [[-9.21756576e-01 -3.87766330e-01 1.44484626e-03 9.05317428e+01] [-3.87765861e-01 9.21757709e-01 6.02956523e-04 -1.35713569e+02] [-1.56560441e-03 -4.48291293e-06 -9.99998774e-01 -8.04386986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.780385723 meters 0.014518722731603149 Centerline is valid? [True, True] Translation: X:90.47, Y:-135.71, Z:-8.04 [[-8.89949923e-01 -4.56055310e-01 1.63982573e-03 9.04711721e+01] [-4.56054556e-01 8.89951434e-01 8.29375439e-04 -1.35712103e+02] [-1.83760633e-03 -9.74738650e-06 -9.99998312e-01 -8.04437141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.810385723 meters 0.014745077185820389 Centerline is valid? [True, True] Translation: X:90.40, Y:-135.72, Z:-8.04 [[-8.53092661e-01 -5.21756807e-01 1.65723256e-03 9.03998637e+01] [-5.21755853e-01 8.53094270e-01 9.97682114e-04 -1.35719074e+02] [-1.93432304e-03 -1.35555011e-05 -9.99998129e-01 -8.04458052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.840385723 meters 0.014861926170367376 Centerline is valid? [True, True] Translation: X:90.33, Y:-135.73, Z:-8.04 [[-8.11376857e-01 -5.84520923e-01 1.69924338e-03 9.03253354e+01] [-5.84519687e-01 8.11378636e-01 1.20197885e-03 -1.35734124e+02] [-2.08131156e-03 -1.79833873e-05 -9.99997834e-01 -8.04492426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.870385723 meters 0.015309816957512495 Centerline is valid? [True, True] Translation: X:90.25, Y:-135.76, Z:-8.05 [[-7.63863606e-01 -6.45375236e-01 1.78797516e-03 9.02480677e+01] [-6.45373551e-01 7.63865698e-01 1.47488837e-03 -1.35758919e+02] [-2.31762932e-03 -2.72983256e-05 -9.99997314e-01 -8.04519910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.900385723 meters 0.0156174974573767 Centerline is valid? [True, True] Translation: X:90.17, Y:-135.79, Z:-8.04 [[-7.12773447e-01 -7.01391237e-01 2.08479210e-03 9.01666299e+01] [-7.01388393e-01 7.12776495e-01 1.99788880e-03 -1.35794368e+02] [-2.88729250e-03 -3.82068944e-05 -9.99995831e-01 -8.04498181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93038572300003 meters 0.015976516839950754 Centerline is valid? [True, True] Translation: X:90.09, Y:-135.84, Z:-8.04 [[-6.57055980e-01 -7.53835036e-01 3.19025466e-03 9.00864525e+01] [-7.53826678e-01 6.57063721e-01 3.55043385e-03 -1.35840291e+02] [-4.77264203e-03 -7.20652850e-05 -9.99988608e-01 -8.04375581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.960385723 meters 0.015603022281599113 Centerline is valid? [True, True] Translation: X:90.01, Y:-135.90, Z:-8.04 [[-5.98394355e-01 -8.01195159e-01 3.24224577e-03 9.00070608e+01] [-8.01184133e-01 5.98403133e-01 4.20415402e-03 -1.35895944e+02] [-5.30851788e-03 -8.18938359e-05 -9.99985906e-01 -8.04341388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.990385723 meters 0.016175268782739602 Centerline is valid? [True, True] Translation: X:89.93, Y:-135.96, Z:-8.04 [[-5.36319061e-01 -8.44008324e-01 3.43696492e-03 8.99277052e+01] [-8.43992141e-01 5.36330065e-01 5.22757019e-03 -1.35959328e+02] [-6.25546037e-03 -9.71258445e-05 -9.99980430e-01 -8.04258405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.020385723 meters 0.01611067501386246 Centerline is valid? [True, True] Translation: X:89.86, Y:-136.04, Z:-8.04 [[-4.71970178e-01 -8.81607580e-01 3.49661281e-03 8.98556664e+01] [-8.81585002e-01 4.71983119e-01 6.31029743e-03 -1.36035814e+02] [-7.21354827e-03 -1.04289208e-04 -9.99973977e-01 -8.04295183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.050385723 meters 0.015981698524577592 Centerline is valid? [True, True] Translation: X:89.78, Y:-136.12, Z:-8.04 [[-4.04752287e-01 -9.14420634e-01 3.23890402e-03 8.97837319e+01] [-9.14393406e-01 4.04765233e-01 7.05727189e-03 -1.36121098e+02] [-7.76431078e-03 -1.05185536e-04 -9.99969852e-01 -8.04307711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.080385723 meters 0.015539736483595539 Centerline is valid? [True, True] Translation: X:89.72, Y:-136.21, Z:-8.04 [[-3.35315096e-01 -9.42101791e-01 2.82866517e-03 8.97209843e+01] [-9.42070755e-01 3.35327011e-01 7.64771987e-03 -1.36206873e+02] [-8.15345842e-03 -1.00406815e-04 -9.99966755e-01 -8.04293685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.110385723 meters 0.01511593065352201 Centerline is valid? [True, True] Translation: X:89.66, Y:-136.30, Z:-8.04 [[-2.64883207e-01 -9.64278065e-01 2.16783876e-03 8.96649815e+01] [-9.64248168e-01 2.64892066e-01 7.59372037e-03 -1.36304743e+02] [-7.89670128e-03 -7.88855505e-05 -9.99968817e-01 -8.04351604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.140385723 meters 0.01506152526773656 Centerline is valid? [True, True] Translation: X:89.61, Y:-136.41, Z:-8.04 [[-1.91886917e-01 -9.81415849e-01 1.53063989e-03 8.96130935e+01] [-9.81387347e-01 1.91893010e-01 7.47984875e-03 -1.36407640e+02] [-7.63456120e-03 -6.68655087e-05 -9.99970854e-01 -8.04415773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.170385723 meters 0.014943073997643677 Centerline is valid? [True, True] Translation: X:89.57, Y:-136.52, Z:-8.05 [[-1.18471732e-01 -9.92956906e-01 1.01524734e-03 8.95718230e+01] [-9.92924289e-01 1.18476069e-01 8.04843156e-03 -1.36521527e+02] [-8.11202822e-03 -5.45521225e-05 -9.99967095e-01 -8.04545143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.200385723 meters 0.014935014424888439 Centerline is valid? [True, True] Translation: X:89.54, Y:-136.63, Z:-8.05 [[-4.32853076e-02 -9.99062661e-01 4.25057396e-04 8.95359409e+01] [-9.99025027e-01 4.32873665e-02 8.67175871e-03 -1.36630354e+02] [-8.68202996e-03 -4.92832333e-05 -9.99962309e-01 -8.04526039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.230385723 meters 0.015057240484539016 Centerline is valid? [True, True] Translation: X:88.94, Y:-136.71, Z:-9.03 [[-1.21623470e-01 9.92575762e-01 1.04314336e-03 8.89403757e+01] [-9.92531695e-01 -1.21627900e-01 9.35347473e-03 -1.36708563e+02] [ 9.41090764e-03 1.02249197e-04 9.99955711e-01 -9.02522006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.260385723 meters 0.014976038258023083 Centerline is valid? [True, True] Translation: X:89.52, Y:-136.90, Z:-8.05 [[-3.57303958e-02 -9.99361378e-01 4.19159989e-04 8.95243519e+01] [-9.99306285e-01 3.57328273e-02 1.04935267e-02 -1.36904928e+02] [-1.05018030e-02 -4.39313508e-05 -9.99944854e-01 -8.04509140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.290385723 meters 0.01515953411793684 Centerline is valid? [True, True] Translation: X:89.50, Y:-137.02, Z:-8.04 [[ 3.92487147e-02 -9.99229376e-01 -4.38371933e-04 8.95007901e+01] [-9.99157935e-01 -3.92511505e-02 1.19485929e-02 -1.37022070e+02] [-1.19565916e-02 -3.09641179e-05 -9.99928517e-01 -8.04398609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.320385723 meters 0.015118182852706896 Centerline is valid? [True, True] Translation: X:89.48, Y:-137.14, Z:-8.04 [[ 1.14757907e-01 -9.93392444e-01 -1.44074678e-03 8.94838345e+01] [-9.93311756e-01 -1.14766949e-01 1.26610915e-02 -1.37139411e+02] [-1.27427827e-02 -2.18496476e-05 -9.99918807e-01 -8.04485272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.350385723 meters 0.015219581414194508 Centerline is valid? [True, True] Translation: X:89.48, Y:-137.26, Z:-8.05 [[ 1.87836643e-01 -9.82197097e-01 -2.50149417e-03 8.94811205e+01] [-9.82110974e-01 -1.87853299e-01 1.30066482e-02 -1.37264717e+02] [-1.32450060e-02 1.36197433e-05 -9.99912281e-01 -8.04600307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.380385723 meters 0.015255415327054874 Centerline is valid? [True, True] Translation: X:89.48, Y:-137.38, Z:-8.05 [[ 2.60809266e-01 -9.65384038e-01 -3.49077669e-03 8.94820894e+01] [-9.65299506e-01 -2.60832623e-01 1.27752360e-02 -1.37381468e+02] [-1.32435174e-02 3.77450877e-05 -9.99912300e-01 -8.04653116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.410385723 meters 0.015222332823952389 Centerline is valid? [True, True] Translation: X:89.49, Y:-137.50, Z:-8.05 [[ 3.32110196e-01 -9.43230185e-01 -4.43130641e-03 8.94929961e+01] [-9.43148757e-01 -3.32139752e-01 1.23938215e-02 -1.37503894e+02] [-1.31620395e-02 6.32666565e-05 -9.99913375e-01 -8.04644688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.440385723 meters 0.01556315530967987 Centerline is valid? [True, True] Translation: X:89.51, Y:-137.62, Z:-8.05 [[ 4.00263631e-01 -9.16383115e-01 -5.56892791e-03 8.95123970e+01] [-9.16298270e-01 -4.00302354e-01 1.24702248e-02 -1.37616287e+02] [-1.36567584e-02 1.11421541e-04 -9.99906736e-01 -8.04550456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.470385723 meters 0.01574471147833821 Centerline is valid? [True, True] Translation: X:89.54, Y:-137.73, Z:-8.05 [[ 4.68108445e-01 -8.83646555e-01 -6.57639151e-03 8.95406625e+01] [-8.83563215e-01 -4.68154620e-01 1.21366149e-02 -1.37731290e+02] [-1.38032460e-02 1.29405698e-04 -9.99904722e-01 -8.04522731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.500385723 meters 0.016059153127421788 Centerline is valid? [True, True] Translation: X:89.58, Y:-137.84, Z:-8.05 [[ 5.33433297e-01 -8.45811270e-01 -7.22586626e-03 8.95794695e+01] [-8.45737156e-01 -5.33482217e-01 1.11976527e-02 -1.37841025e+02] [-1.33259720e-02 1.37982761e-04 -9.99911196e-01 -8.04679264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.530385723 meters 0.01610136524831771 Centerline is valid? [True, True] Translation: X:89.62, Y:-137.95, Z:-8.05 [[ 5.96496660e-01 -8.02579806e-01 -7.57558404e-03 8.96215021e+01] [-8.02517816e-01 -5.96544750e-01 9.97575588e-03 -1.37947787e+02] [-1.25255151e-02 1.29036097e-04 -9.99921544e-01 -8.04738899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.560385723 meters 0.01608140105472577 Centerline is valid? [True, True] Translation: X:89.68, Y:-138.06, Z:-8.05 [[ 6.56029530e-01 -7.54692211e-01 -8.05741906e-03 8.96758535e+01] [-7.54637568e-01 -6.56078998e-01 9.08237716e-03 -1.38057160e+02] [-1.21407027e-02 1.22123509e-04 -9.99926292e-01 -8.04758147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.590385723 meters 0.015865796231580888 Centerline is valid? [True, True] Translation: X:89.72, Y:-138.15, Z:-8.05 [[ 7.12339927e-01 -7.01791096e-01 -7.81575629e-03 8.97244009e+01] [-7.01750345e-01 -7.12382796e-01 7.56337284e-03 -1.38148532e+02] [-1.08757180e-02 9.70172177e-05 -9.99940853e-01 -8.04711310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.620385723 meters 0.015848048675416285 Centerline is valid? [True, True] Translation: X:89.72, Y:-138.16, Z:-8.05 [[ 7.65751399e-01 -6.43081846e-01 -8.39848844e-03 8.97218720e+01] [-6.43044379e-01 -7.65797449e-01 6.94217723e-03 -1.38156990e+02] [-1.08959292e-02 8.46188616e-05 -9.99940634e-01 -8.04665555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.650385723 meters 0.015633051072090755 Centerline is valid? [True, True] Translation: X:89.72, Y:-138.16, Z:-8.05 [[ 8.15376282e-01 -5.78855024e-01 -9.40111000e-03 8.97204341e+01] [-5.78817332e-01 -8.15430474e-01 6.60585189e-03 -1.38164738e+02] [-1.14897821e-02 5.52704604e-05 -9.99933989e-01 -8.04768455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68038572300003 meters 0.01569839429947736 Centerline is valid? [True, True] Translation: X:89.72, Y:-138.17, Z:-8.05 [[ 8.58911866e-01 -5.12024738e-01 -1.00535428e-02 8.97188804e+01] [-5.11990189e-01 -8.58970701e-01 5.94813403e-03 -1.38173795e+02] [-1.16812905e-02 3.83924071e-05 -9.99931771e-01 -8.04755925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.710385723 meters 0.01564050914861087 Centerline is valid? [True, True] Translation: X:89.72, Y:-138.18, Z:-8.05 [[ 8.96760656e-01 -4.42393739e-01 -1.03973957e-02 8.97160812e+01] [-4.42364343e-01 -8.96820929e-01 5.09995787e-03 -1.38184970e+02] [-1.15807915e-02 2.59955722e-05 -9.99932940e-01 -8.04759496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.740385723 meters 0.015647955087014324 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.20, Z:-8.05 [[ 9.28784209e-01 -3.70459420e-01 -1.09412263e-02 8.97135934e+01] [-3.70433980e-01 -9.28848652e-01 4.34148730e-03 -1.38196796e+02] [-1.17710881e-02 2.06971401e-05 -9.99930718e-01 -8.04641240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.770385723 meters 0.016996142996172022 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.21, Z:-8.04 [[ 9.55109171e-01 -2.96040459e-01 -1.12479943e-02 8.97122485e+01] [-2.96020088e-01 -9.55175401e-01 3.47284076e-03 -1.38206752e+02] [-1.17719088e-02 1.26902075e-05 -9.99930709e-01 -8.04208021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.800385723 meters 0.01739913351369062 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.21, Z:-8.04 [[ 9.75378467e-01 -2.20225290e-01 -1.17332116e-02 8.97128720e+01] [-2.20209484e-01 -9.75449036e-01 2.63849358e-03 -1.38214705e+02] [-1.20262129e-02 1.02346361e-05 -9.99927682e-01 -8.04223207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.830385723 meters 0.01575594880474567 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.22, Z:-8.05 [[ 9.89679063e-01 -1.42859606e-01 -1.12465282e-02 8.97113319e+01] [-1.42850455e-01 -9.89742963e-01 1.61693249e-03 -1.38220791e+02] [-1.13621665e-02 6.32744162e-06 -9.99935449e-01 -8.04506758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.860385723 meters 0.015850009290401687 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.23, Z:-8.05 [[ 9.97753530e-01 -6.60004225e-02 -1.14820287e-02 8.97092577e+01] [-6.59962639e-02 -9.97819595e-01 7.41116048e-04 -1.38228686e+02] [-1.15059072e-02 1.83198447e-05 -9.99933805e-01 -8.04700298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.890385723 meters 0.015923393439597047 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.24, Z:-8.05 [[ 9.99861455e-01 1.17654100e-02 -1.17747713e-02 8.97067630e+01] [ 1.17642930e-02 -9.99930785e-01 -1.64125163e-04 -1.38239502e+02] [-1.17758873e-02 2.55805650e-05 -9.99930662e-01 -8.04526923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.920385723 meters 0.015913193690335274 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.25, Z:-8.05 [[ 9.95988602e-01 8.87178857e-02 -1.16551056e-02 8.97059432e+01] [ 8.87113325e-02 -9.96056793e-01 -1.07907547e-03 -1.38250031e+02] [-1.17048804e-02 4.08069273e-05 -9.99931495e-01 -8.04587320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.950385723 meters 0.016186785923750422 Centerline is valid? [True, True] Translation: X:89.70, Y:-138.26, Z:-8.04 [[ 9.86107312e-01 1.65690968e-01 -1.17844039e-02 8.97039785e+01] [ 1.65678527e-01 -9.86177723e-01 -2.03101389e-03 -1.38260413e+02] [-1.19580372e-02 5.03749727e-05 -9.99928499e-01 -8.04353803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.980385723 meters 0.016088798555428777 Centerline is valid? [True, True] Translation: X:89.70, Y:-138.27, Z:-8.05 [[ 9.70241610e-01 2.41870716e-01 -1.13918443e-02 8.97035199e+01] [ 2.41853369e-01 -9.70308484e-01 -2.89729627e-03 -1.38270028e+02] [-1.17543743e-02 5.59214773e-05 -9.99930913e-01 -8.04584988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.010385723 meters 0.016010355164965254 Centerline is valid? [True, True] Translation: X:89.70, Y:-138.28, Z:-8.05 [[ 9.48618982e-01 3.16249902e-01 -1.03936274e-02 8.97036126e+01] [ 3.16230199e-01 -9.48675917e-01 -3.53067777e-03 -1.38279070e+02] [-1.09767605e-02 6.24890859e-05 -9.99939752e-01 -8.04696851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.040385723 meters 0.016081446312751168 Centerline is valid? [True, True] Translation: X:89.70, Y:-138.29, Z:-8.05 [[ 9.21159494e-01 3.89064709e-01 -9.68701950e-03 8.97032198e+01] [ 3.89042451e-01 -9.21210425e-01 -4.16216304e-03 -1.38286206e+02] [-1.05431341e-02 6.53541883e-05 -9.99944418e-01 -8.04846759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.070385723 meters 0.016118022451607088 Centerline is valid? [True, True] Translation: X:89.70, Y:-138.30, Z:-8.05 [[ 8.87974838e-01 4.59810932e-01 -8.63682914e-03 8.97034878e+01] [ 4.59788501e-01 -8.88016837e-01 -4.54217980e-03 -1.38296358e+02] [-9.75819362e-03 6.22266518e-05 -9.99952386e-01 -8.04821303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.100385723 meters 0.016118022451607088 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.31, Z:-8.05 [[ 8.49247276e-01 5.27930796e-01 -8.25469652e-03 8.97058238e+01] [ 5.27905145e-01 -8.49287390e-01 -5.20451604e-03 -1.38307606e+02] [-9.75823396e-03 6.22243090e-05 -9.99952385e-01 -8.04821266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.130385723 meters 0.01603689241036096 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.32, Z:-8.05 [[ 8.04694616e-01 5.93642100e-01 -7.45869101e-03 8.97065015e+01] [ 5.93616024e-01 -8.04729181e-01 -5.56427460e-03 -1.38316880e+02] [-9.30541396e-03 4.99433106e-05 -9.99956702e-01 -8.04724221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.160385723 meters 0.01862895925117485 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.32, Z:-8.04 [[ 7.55197357e-01 6.55458158e-01 -7.18015563e-03 8.97072879e+01] [ 6.55427992e-01 -7.55231488e-01 -6.28861825e-03 -1.38324094e+02] [-9.54460576e-03 4.30728945e-05 -9.99954448e-01 -8.04321169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.190385723 meters 0.01583325342724026 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.33, Z:-8.05 [[ 7.00100112e-01 7.14014553e-01 -6.56132578e-03 8.97120817e+01] [ 7.13982887e-01 -7.00130858e-01 -6.72449408e-03 -1.38334365e+02] [-9.39517327e-03 2.31447372e-05 -9.99955864e-01 -8.04791182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.220385723 meters 0.015879127662554435 Centerline is valid? [True, True] Translation: X:89.71, Y:-138.34, Z:-8.05 [[ 6.39158181e-01 7.69045488e-01 -6.77177933e-03 8.97148887e+01] [ 7.69002559e-01 -6.39194052e-01 -8.12570968e-03 -1.38343200e+02] [-1.05775214e-02 -1.39018197e-05 -9.99944056e-01 -8.04714521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.250385723 meters 0.01590586854479681 Centerline is valid? [True, True] Translation: X:89.72, Y:-138.35, Z:-8.05 [[ 5.75505266e-01 8.17771174e-01 -6.63293801e-03 8.97202290e+01] [ 8.17717582e-01 -5.75543487e-01 -9.36221128e-03 -1.38352369e+02] [-1.14736908e-02 -3.58681445e-05 -9.99934174e-01 -8.04689616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.280385723 meters 0.01605212723719514 Centerline is valid? [True, True] Translation: X:89.73, Y:-138.36, Z:-8.05 [[ 5.07804679e-01 8.61450022e-01 -6.18615713e-03 8.97253848e+01] [ 8.61387647e-01 -5.07842354e-01 -1.03665622e-02 -1.38361147e+02] [-1.20718679e-02 -6.44905328e-05 -9.99927130e-01 -8.04611184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.310385723 meters 0.016576110609043744 Centerline is valid? [True, True] Translation: X:89.73, Y:-138.37, Z:-8.04 [[ 4.34611670e-01 9.00598695e-01 -5.88952702e-03 8.97299109e+01] [ 9.00520116e-01 -4.34651553e-01 -1.18973850e-02 -1.38369389e+02] [-1.32746615e-02 -1.32895195e-04 -9.99911879e-01 -8.04483537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.340385723 meters 0.016760705476958522 Centerline is valid? [True, True] Translation: X:89.73, Y:-138.38, Z:-8.05 [[ 3.60476187e-01 9.32754413e-01 -5.11104916e-03 8.97341001e+01] [ 9.32667296e-01 -3.60512379e-01 -1.27490906e-02 -1.38376235e+02] [-1.37343670e-02 -1.71164831e-04 -9.99905665e-01 -8.04509891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.370385723 meters 0.017491823744112563 Centerline is valid? [True, True] Translation: X:89.74, Y:-138.39, Z:-8.04 [[ 2.82411202e-01 9.59284708e-01 -4.09421586e-03 8.97436569e+01] [ 9.59195247e-01 -2.82440787e-01 -1.31026657e-02 -1.38385694e+02] [-1.37255604e-02 -2.26812821e-04 -9.99905774e-01 -8.04413854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.400385723 meters 0.01781951358421645 Centerline is valid? [True, True] Translation: X:89.75, Y:-138.39, Z:-8.04 [[ 2.04920609e-01 9.78774505e-01 -2.83052995e-03 8.97524270e+01] [ 9.78696003e-01 -2.04940028e-01 -1.23983161e-02 -1.38392996e+02] [-1.27152446e-02 -2.29557868e-04 -9.99919132e-01 -8.04367677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43038572300003 meters 0.01783161560101658 Centerline is valid? [True, True] Translation: X:89.76, Y:-138.40, Z:-8.04 [[ 1.26963808e-01 9.91905771e-01 -1.76985877e-03 8.97603908e+01] [ 9.91832823e-01 -1.26975939e-01 -1.20316811e-02 -1.38399685e+02] [-1.21590234e-02 -2.27815973e-04 -9.99926050e-01 -8.04448122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.460385723 meters 0.018206377065434633 Centerline is valid? [True, True] Translation: X:89.77, Y:-138.41, Z:-8.05 [[ 4.96586122e-02 9.98765956e-01 -7.66184298e-04 8.97698587e+01] [ 9.98702002e-01 -4.96641043e-02 -1.13043476e-02 -1.38406220e+02] [-1.13284494e-02 -2.03831577e-04 -9.99935810e-01 -8.04540699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.490385723 meters 0.017539735048196215 Centerline is valid? [True, True] Translation: X:89.78, Y:-138.41, Z:-8.05 [[-2.77723851e-02 9.99614266e-01 1.15362472e-04 8.97756735e+01] [ 9.99556844e-01 2.77720264e-02 -1.07158658e-02 -1.38411464e+02] [-1.07149361e-02 -1.82293802e-04 -9.99942577e-01 -8.04658005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.520385723 meters 0.016994095222108086 Centerline is valid? [True, True] Translation: X:89.78, Y:-138.42, Z:-8.05 [[-1.04409864e-01 9.94533980e-01 8.61604450e-04 8.97849034e+01] [ 9.94487317e-01 1.04413312e-01 -9.63516978e-03 -1.38416077e+02] [-9.67246673e-03 -1.49152069e-04 -9.99953210e-01 -8.04761224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.550385723 meters 0.016406606056728307 Centerline is valid? [True, True] Translation: X:89.79, Y:-138.42, Z:-8.05 [[-1.77767014e-01 9.84071936e-01 1.14573894e-03 8.97932440e+01] [ 9.84048644e-01 1.77770690e-01 -6.77108129e-03 -1.38420950e+02] [-6.86690988e-03 -7.62120568e-05 -9.99976420e-01 -8.04926740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.580385723 meters 0.01624875585843819 Centerline is valid? [True, True] Translation: X:89.80, Y:-138.43, Z:-8.05 [[-2.52800601e-01 9.67517371e-01 1.41180421e-03 8.98002573e+01] [ 9.67501044e-01 2.52804537e-01 -5.62098681e-03 -1.38425392e+02] [-5.79531289e-03 -5.50667976e-05 -9.99983206e-01 -8.05054246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.610385723 meters 0.016251281893259577 Centerline is valid? [True, True] Translation: X:89.81, Y:-138.43, Z:-8.05 [[-3.27017925e-01 9.45016258e-01 1.88367657e-03 8.98076375e+01] [ 9.44999668e-01 3.27023346e-01 -5.59988384e-03 -1.38430038e+02] [-5.90798749e-03 -5.11886658e-05 -9.99982546e-01 -8.05074778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.640385723 meters 0.01614835217096294 Centerline is valid? [True, True] Translation: X:89.82, Y:-138.43, Z:-8.05 [[-3.99839458e-01 9.16580336e-01 2.98240649e-03 8.98161631e+01] [ 9.16553625e-01 3.99850576e-01 -6.99777191e-03 -1.38432327e+02] [-7.60653709e-03 -6.44498524e-05 -9.99971068e-01 -8.04962644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.670385723 meters 0.016022032273698597 Centerline is valid? [True, True] Translation: X:89.83, Y:-138.43, Z:-8.05 [[-4.70140190e-01 8.82583815e-01 3.74321171e-03 8.98280527e+01] [ 8.82554713e-01 4.70155086e-01 -7.16755866e-03 -1.38432897e+02] [-8.08586129e-03 -6.61682457e-05 -9.99967307e-01 -8.04882147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.700385723 meters 0.01589360275876786 Centerline is valid? [True, True] Translation: X:89.84, Y:-138.43, Z:-8.05 [[-5.36637912e-01 8.43795885e-01 5.31569825e-03 8.98419524e+01] [ 8.43753223e-01 5.36664234e-01 -8.48519767e-03 -1.38432523e+02] [-1.00125200e-02 -6.83412259e-05 -9.99949871e-01 -8.04583052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.730385723 meters 0.01588498418257462 Centerline is valid? [True, True] Translation: X:89.85, Y:-138.43, Z:-8.05 [[-6.00068873e-01 7.99923090e-01 6.35592208e-03 8.98525205e+01] [ 7.99877171e-01 6.00102530e-01 -8.57113807e-03 -1.38431459e+02] [-1.06704562e-02 -5.93161886e-05 -9.99943067e-01 -8.04500280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.760385723 meters 0.015785302728841665 Centerline is valid? [True, True] Translation: X:89.86, Y:-138.43, Z:-8.05 [[-6.59624535e-01 7.51561150e-01 7.16318989e-03 8.98631737e+01] [ 7.51516135e-01 6.59663426e-01 -8.22575150e-03 -1.38429726e+02] [-1.09074496e-02 -4.26547314e-05 -9.99940511e-01 -8.04631724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.790385723 meters 0.01570178552308919 Centerline is valid? [True, True] Translation: X:89.87, Y:-138.43, Z:-8.05 [[-7.15209165e-01 6.98865074e-01 7.96617186e-03 8.98735825e+01] [ 6.98821360e-01 7.15253527e-01 -7.81655677e-03 -1.38426818e+02] [-1.11605510e-02 -2.35419831e-05 -9.99937719e-01 -8.04830236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.820385723 meters 0.01565033149711156 Centerline is valid? [True, True] Translation: X:89.90, Y:-138.41, Z:-8.05 [[-7.60527100e-01 6.49257111e-01 7.98335505e-03 8.98959389e+01] [ 6.49221555e-01 7.60569000e-01 -6.79473695e-03 -1.38414078e+02] [-1.04834236e-02 1.53845961e-05 -9.99945047e-01 -8.05023037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.850385723 meters 0.01577847246004312 Centerline is valid? [True, True] Translation: X:89.91, Y:-138.39, Z:-8.05 [[-8.02762193e-01 5.96243605e-01 8.15013761e-03 8.99145709e+01] [ 5.96213451e-01 8.02803563e-01 -5.99661544e-03 -1.38391688e+02] [-1.01184031e-02 4.53655174e-05 -9.99948807e-01 -8.04979374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.880385723 meters 0.01569564807941126 Centerline is valid? [True, True] Translation: X:89.94, Y:-138.37, Z:-8.05 [[-8.42529423e-01 5.38587604e-01 8.21976722e-03 8.99363354e+01] [ 5.38562559e-01 8.42569517e-01 -5.19423493e-03 -1.38370493e+02] [-9.72327584e-03 5.05631106e-05 -9.99952727e-01 -8.05027118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.910385723 meters 0.015751068581014483 Centerline is valid? [True, True] Translation: X:89.97, Y:-138.35, Z:-8.05 [[-8.77828492e-01 4.78900415e-01 8.45760617e-03 8.99656777e+01] [ 4.78878793e-01 8.77869233e-01 -4.55098997e-03 -1.38354018e+02] [-9.60414323e-03 5.51795768e-05 -9.99953878e-01 -8.05045098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.940385723 meters 0.01725732264724725 Centerline is valid? [True, True] Translation: X:89.98, Y:-138.33, Z:-8.05 [[-9.09382877e-01 4.15865033e-01 8.89144493e-03 8.99806106e+01] [ 4.15845794e-01 9.09426341e-01 -4.00060863e-03 -1.38330208e+02] [-9.74982747e-03 5.93849968e-05 -9.99952468e-01 -8.04831034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.970385723 meters 0.015797396367954526 Centerline is valid? [True, True] Translation: X:90.32, Y:-137.60, Z:-9.02 [[-8.85009309e-01 -4.65486712e-01 8.98017548e-03 9.03155353e+01] [ 4.65462332e-01 -8.85054868e-01 -4.76422560e-03 -1.37603011e+02] [ 1.01656317e-02 -3.64505878e-05 9.99948328e-01 -9.01888198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.000385723 meters 0.015646736876553064 Centerline is valid? [True, True] Translation: X:89.94, Y:-138.31, Z:-8.05 [[-9.11397873e-01 4.11450130e-01 7.91879690e-03 8.99370955e+01] [ 4.11435008e-01 9.11432273e-01 -3.52779514e-03 -1.38310018e+02] [-8.66895883e-03 4.28452823e-05 -9.99962423e-01 -8.05159519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.030385723 meters 0.015572495768656023 Centerline is valid? [True, True] Translation: X:90.25, Y:-137.58, Z:-9.02 [[-8.85554408e-01 -4.64470701e-01 7.76904876e-03 9.02546060e+01] [ 4.64452472e-01 -8.85588486e-01 -4.11512285e-03 -1.37580091e+02] [ 8.79153412e-03 -3.58112807e-05 9.99961353e-01 -9.01831514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.060385723 meters 0.015432490456124036 Centerline is valid? [True, True] Translation: X:89.88, Y:-138.28, Z:-8.05 [[-9.14267584e-01 4.05020050e-01 8.57574479e-03 8.98843653e+01] [ 4.05002392e-01 9.14307803e-01 -3.78195641e-03 -1.38284885e+02] [-9.37263855e-03 1.54770023e-05 -9.99956076e-01 -8.05272396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.090385723 meters 0.017010509249266524 Centerline is valid? [True, True] Translation: X:90.20, Y:-137.56, Z:-9.02 [[-8.84625346e-01 -4.66216381e-01 8.96010449e-03 9.01969581e+01] [ 4.66192824e-01 -8.84670722e-01 -4.68673798e-03 -1.37556319e+02] [ 1.01117761e-02 3.11292050e-05 9.99948874e-01 -9.01863747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.120385723 meters 0.015497877877637666 Centerline is valid? [True, True] Translation: X:89.85, Y:-138.27, Z:-8.05 [[-9.17845346e-01 3.96834826e-01 9.05770006e-03 8.98519884e+01] [ 3.96815129e-01 9.17890037e-01 -3.95395980e-03 -1.38269816e+02] [-9.88304159e-03 -3.48911760e-05 -9.99951161e-01 -8.05423675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.150385723 meters 0.01559704357339579 Centerline is valid? [True, True] Translation: X:89.86, Y:-138.24, Z:-8.05 [[-9.43880032e-01 3.30171620e-01 8.78562064e-03 8.98616925e+01] [ 3.30156934e-01 9.43920918e-01 -3.11428251e-03 -1.38241034e+02] [-9.32117880e-03 -3.88754955e-05 -9.99956556e-01 -8.05422522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18038572300003 meters 0.01553489473158014 Centerline is valid? [True, True] Translation: X:90.12, Y:-137.50, Z:-9.02 [[-9.16289157e-01 -4.00445173e-01 7.60554649e-03 9.01214149e+01] [ 4.00431130e-01 -9.16320720e-01 -3.35365365e-03 -1.37500976e+02] [ 8.31207426e-03 -2.74188971e-05 9.99965454e-01 -9.01670402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.210385723 meters 0.015524531685312298 Centerline is valid? [True, True] Translation: X:89.79, Y:-138.21, Z:-8.05 [[-9.44895593e-01 3.27272901e-01 8.04779557e-03 8.97920280e+01] [ 3.27260762e-01 9.44929864e-01 -2.81896388e-03 -1.38214727e+02] [-8.52717286e-03 -2.98988356e-05 -9.99963643e-01 -8.05322103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.240385723 meters 0.015563932590839788 Centerline is valid? [True, True] Translation: X:90.07, Y:-137.48, Z:-9.01 [[-9.18415367e-01 -3.95538106e-01 7.92589060e-03 9.00660198e+01] [ 3.95523711e-01 -9.18449566e-01 -3.37468259e-03 -1.37477457e+02] [ 8.61434635e-03 3.55173143e-05 9.99962895e-01 -9.01453803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.270385723 meters 0.01568612257339943 Centerline is valid? [True, True] Translation: X:89.77, Y:-138.21, Z:-8.06 [[-9.45447827e-01 3.25668111e-01 8.28778294e-03 8.97656243e+01] [ 3.25655484e-01 9.45484152e-01 -2.86779547e-03 -1.38212050e+02] [-8.76991696e-03 -1.23890302e-05 -9.99961543e-01 -8.05636452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.300385723 meters 0.015657219283669078 Centerline is valid? [True, True] Translation: X:89.79, Y:-138.19, Z:-8.06 [[-9.65993612e-01 2.58436673e-01 8.17476639e-03 8.97876369e+01] [ 2.58427366e-01 9.66028202e-01 -2.19329056e-03 -1.38188626e+02] [-8.46388158e-03 -6.12132396e-06 -9.99964181e-01 -8.05605105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.330385723 meters 0.015638174935331383 Centerline is valid? [True, True] Translation: X:89.80, Y:-138.16, Z:-8.06 [[-9.81769902e-01 1.89910282e-01 7.87049341e-03 8.97960824e+01] [ 1.89904175e-01 9.81801449e-01 -1.52304495e-03 -1.38160079e+02] [-8.01650373e-03 -6.40131474e-07 -9.99967867e-01 -8.05511491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.360385723 meters 0.015702490278545266 Centerline is valid? [True, True] Translation: X:89.80, Y:-138.13, Z:-8.05 [[-9.92729967e-01 1.20054645e-01 8.60788077e-03 8.97984001e+01] [ 1.20050147e-01 9.92767285e-01 -1.03923618e-03 -1.38130253e+02] [-8.67038755e-03 1.69645070e-06 -9.99962412e-01 -8.05399985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.390385723 meters 0.015687604548615397 Centerline is valid? [True, True] Translation: X:89.80, Y:-138.10, Z:-8.05 [[-9.98723110e-01 4.96671150e-02 9.23726971e-03 8.98047204e+01] [ 4.96650410e-02 9.98765827e-01 -4.53919895e-04 -1.38102546e+02] [-9.24841421e-03 5.42908964e-06 -9.99957233e-01 -8.05357846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.420385723 meters 0.01581706701647534 Centerline is valid? [True, True] Translation: X:89.80, Y:-138.08, Z:-8.05 [[-9.99716487e-01 -2.11018433e-02 1.10298238e-02 8.97980713e+01] [-2.11004464e-02 9.99777331e-01 2.43013906e-04 -1.38075012e+02] [-1.10324958e-02 1.02108034e-05 -9.99939140e-01 -8.05334710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.450385723 meters 0.01571996747037415 Centerline is valid? [True, True] Translation: X:89.79, Y:-138.05, Z:-8.05 [[-9.95676295e-01 -9.22366849e-02 1.10049586e-02 8.97917556e+01] [-9.22309419e-02 9.95737111e-01 1.02931105e-03 -1.38046382e+02] [-1.10529859e-02 9.86291347e-06 -9.99938914e-01 -8.05403193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.480385723 meters 0.015849856292067765 Centerline is valid? [True, True] Translation: X:89.78, Y:-138.02, Z:-8.05 [[-9.86522070e-01 -1.63206964e-01 1.17342272e-02 8.97773480e+01] [-1.63195309e-01 9.86591854e-01 1.95041319e-03 -1.38019283e+02] [-1.18952140e-02 9.15482641e-06 -9.99929249e-01 -8.05351871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.510385723 meters 0.015991773480814046 Centerline is valid? [True, True] Translation: X:89.74, Y:-138.00, Z:-8.05 [[-9.72241768e-01 -2.33612348e-01 1.30849565e-02 8.97395385e+01] [-2.33591084e-01 9.72329816e-01 3.15196300e-03 -1.37997278e+02] [-1.34592308e-02 7.94091998e-06 -9.99909420e-01 -8.05257873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.540385723 meters 0.015973616444056912 Centerline is valid? [True, True] Translation: X:89.71, Y:-137.98, Z:-8.05 [[-9.52273073e-01 -3.04940812e-01 1.36782635e-02 8.97076092e+01] [-3.04909282e-01 9.52371304e-01 4.38507947e-03 -1.37975449e+02] [-1.43639753e-02 5.16361182e-06 -9.99896833e-01 -8.05231974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.570385723 meters 0.01597868898899379 Centerline is valid? [True, True] Translation: X:89.64, Y:-137.97, Z:-8.05 [[-9.27102919e-01 -3.74557748e-01 1.36627390e-02 8.96436730e+01] [-3.74517076e-01 9.27203588e-01 5.51961815e-03 -1.37966610e+02] [-1.47355563e-02 3.25051635e-07 -9.99891426e-01 -8.05180056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.600385723 meters 0.016074808598522727 Centerline is valid? [True, True] Translation: X:89.57, Y:-137.97, Z:-8.05 [[-8.97056203e-01 -4.41723472e-01 1.30592228e-02 8.95706638e+01] [-4.41676518e-01 8.97151255e-01 6.44040285e-03 -1.37967475e+02] [-1.45609753e-02 9.45126035e-06 -9.99893983e-01 -8.05135676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.630385723 meters 0.01602530005588854 Centerline is valid? [True, True] Translation: X:89.49, Y:-137.98, Z:-8.05 [[-8.61820026e-01 -5.07061002e-01 1.24652569e-02 8.94876281e+01] [-5.07007689e-01 8.61910169e-01 7.35280756e-03 -1.37979478e+02] [-1.44722536e-02 1.68157366e-05 -9.99895271e-01 -8.05215616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.660385723 meters 0.01601561176859004 Centerline is valid? [True, True] Translation: X:89.40, Y:-138.00, Z:-8.05 [[-8.21949167e-01 -5.69436127e-01 1.19190718e-02 8.94015824e+01] [-5.69375660e-01 8.22035581e-01 8.29828515e-03 -1.38000074e+02] [-1.45232444e-02 3.43392135e-05 -9.99894532e-01 -8.05249996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.690385723 meters 0.016024381102847284 Centerline is valid? [True, True] Translation: X:89.30, Y:-138.04, Z:-8.05 [[-7.76839876e-01 -6.29600751e-01 1.10770800e-02 8.93028949e+01] [-6.29536066e-01 7.76918846e-01 9.02488762e-03 -1.38037730e+02] [-1.42880683e-02 3.74711786e-05 -9.99897920e-01 -8.05297804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.720385723 meters 0.01584611307074559 Centerline is valid? [True, True] Translation: X:89.20, Y:-138.09, Z:-8.05 [[-7.27029056e-01 -6.86538581e-01 9.67097940e-03 8.92016305e+01] [-6.86477189e-01 7.27093374e-01 9.18118219e-03 -1.38087692e+02] [-1.33349408e-02 3.60794665e-05 -9.99911085e-01 -8.05497219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.750385723 meters 0.01586298672614454 Centerline is valid? [True, True] Translation: X:89.10, Y:-138.15, Z:-8.06 [[-6.72417863e-01 -7.40120710e-01 8.69207572e-03 8.90972677e+01] [-7.40058354e-01 6.72474039e-01 9.60724223e-03 -1.38153257e+02] [-1.29557142e-02 2.74380351e-05 -9.99916071e-01 -8.05531656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.780385723 meters 0.01579574774488523 Centerline is valid? [True, True] Translation: X:89.01, Y:-138.21, Z:-8.06 [[-6.13788295e-01 -7.89430381e-01 7.97509681e-03 8.90080195e+01] [-7.89363214e-01 6.13840104e-01 1.02977334e-02 -1.38214644e+02] [-1.30247779e-02 2.53801771e-05 -9.99915174e-01 -8.05613656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.810385723 meters 0.015743371412851894 Centerline is valid? [True, True] Translation: X:88.93, Y:-138.27, Z:-8.06 [[-5.50563120e-01 -8.34761182e-01 7.34979391e-03 8.89309386e+01] [-8.34686528e-01 5.50612176e-01 1.11638432e-02 -1.38270306e+02] [-1.33660290e-02 1.16263942e-05 -9.99910671e-01 -8.05598959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.840385723 meters 0.015612427280665671 Centerline is valid? [True, True] Translation: X:88.86, Y:-138.33, Z:-8.06 [[-4.84618253e-01 -8.74702336e-01 6.40089671e-03 8.88589654e+01] [-8.74625817e-01 4.84660523e-01 1.15696937e-02 -1.38331860e+02] [-1.32223000e-02 8.49522606e-06 -9.99912582e-01 -8.05677366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.870385723 meters 0.015572648973279148 Centerline is valid? [True, True] Translation: X:88.78, Y:-138.42, Z:-8.06 [[-4.16838997e-01 -9.08960439e-01 6.01417871e-03 8.87799509e+01] [-9.08865063e-01 4.16882381e-01 1.31672913e-02 -1.38421607e+02] [-1.44757521e-02 2.25636025e-05 -9.99895221e-01 -8.05596720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.900385723 meters 0.015539381706287502 Centerline is valid? [True, True] Translation: X:88.71, Y:-138.52, Z:-8.06 [[-3.46430059e-01 -9.38062341e-01 5.02582938e-03 8.87061929e+01] [-9.37962254e-01 3.46466511e-01 1.37028001e-02 -1.38523713e+02] [-1.45953623e-02 3.30235767e-05 -9.99893482e-01 -8.05526743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.930385723 meters 0.015469787053743144 Centerline is valid? [True, True] Translation: X:88.64, Y:-138.63, Z:-8.06 [[-2.74358856e-01 -9.61619148e-01 3.97905292e-03 8.86430480e+01] [-9.61515301e-01 2.74387704e-01 1.41320153e-02 -1.38625452e+02] [-1.46814197e-02 5.13232805e-05 -9.99892221e-01 -8.05717515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.960385723 meters 0.015741293717419166 Centerline is valid? [True, True] Translation: X:88.59, Y:-138.74, Z:-8.06 [[-2.01326601e-01 -9.79520081e-01 2.83022272e-03 8.85882912e+01] [-9.79417749e-01 2.01346478e-01 1.41586878e-02 -1.38737001e+02] [-1.44385744e-02 7.85501084e-05 -9.99895755e-01 -8.05641305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.990385723 meters 0.015741293717419166 Centerline is valid? [True, True] Translation: X:88.54, Y:-138.85, Z:-8.06 [[-1.25195471e-01 -9.92130587e-01 1.72989926e-03 8.85401247e+01] [-9.92027026e-01 1.25207397e-01 1.43348213e-02 -1.38853819e+02] [-1.44386108e-02 7.85478749e-05 -9.99895755e-01 -8.05641115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.020385723 meters 0.015797772652329782 Centerline is valid? [True, True] Translation: X:88.50, Y:-138.98, Z:-8.06 [[-5.27876291e-02 -9.98605598e-01 5.70605410e-04 8.85024041e+01] [-9.98516767e-01 5.27905445e-02 1.33200942e-02 -1.38977707e+02] [-1.33316432e-02 1.33377124e-04 -9.99911121e-01 -8.05865508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.050385723 meters 0.016593415123357165 Centerline is valid? [True, True] Translation: X:88.47, Y:-139.09, Z:-8.06 [[ 2.18597361e-02 -9.99760955e-01 -4.29220162e-04 8.84736438e+01] [-9.99683742e-01 -2.18633826e-02 1.24261136e-02 -1.39094175e+02] [-1.24325274e-02 1.57452853e-04 -9.99922701e-01 -8.05673569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.080385723 meters 0.016695976591607743 Centerline is valid? [True, True] Translation: X:88.45, Y:-139.23, Z:-8.06 [[ 9.38662413e-02 -9.95584172e-01 -1.13376455e-03 8.84521164e+01] [-9.95532885e-01 -9.38729156e-02 1.01070011e-02 -1.39233302e+02] [-1.01688001e-02 1.79993692e-04 -9.99948280e-01 -8.05757787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.110385723 meters 0.01716983114113565 Centerline is valid? [True, True] Translation: X:88.44, Y:-139.35, Z:-8.06 [[ 1.68566634e-01 -9.85688662e-01 -1.77546656e-03 8.84409941e+01] [-9.85644987e-01 -1.68575882e-01 9.28075851e-03 -1.39350856e+02] [-9.44723927e-03 1.85553488e-04 -9.99955357e-01 -8.05822981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.140385723 meters 0.017114448968324623 Centerline is valid? [True, True] Translation: X:88.44, Y:-139.47, Z:-8.06 [[ 2.42323067e-01 -9.70192982e-01 -2.26015826e-03 8.84369354e+01] [-9.70157618e-01 -2.42333537e-01 8.28570889e-03 -1.39465770e+02] [-8.58644876e-03 1.84891359e-04 -9.99963119e-01 -8.05915900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.170385723 meters 0.017945015773390673 Centerline is valid? [True, True] Translation: X:88.45, Y:-139.60, Z:-8.06 [[ 3.13599403e-01 -9.49552085e-01 -2.50056287e-03 8.84468919e+01] [-9.49526356e-01 -3.13609320e-01 6.99238967e-03 -1.39597003e+02] [-7.42383800e-03 1.81541123e-04 -9.99972426e-01 -8.05985748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.200385723 meters 0.0182785783141643 Centerline is valid? [True, True] Translation: X:88.46, Y:-139.72, Z:-8.06 [[ 3.85055354e-01 -9.22889516e-01 -2.70482383e-03 8.84613884e+01] [-9.22869711e-01 -3.85064817e-01 6.04842217e-03 -1.39715491e+02] [-6.62355790e-03 1.67222649e-04 -9.99978050e-01 -8.05967842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.230385723 meters 0.018444456855196825 Centerline is valid? [True, True] Translation: X:88.49, Y:-139.84, Z:-8.06 [[ 4.54746592e-01 -8.90616879e-01 -2.66683400e-03 8.84865697e+01] [-8.90603354e-01 -4.54754389e-01 4.91040708e-03 -1.39838242e+02] [-5.58604589e-03 1.42100422e-04 -9.99984388e-01 -8.05949787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.260385723 meters 0.01838886683232148 Centerline is valid? [True, True] Translation: X:88.52, Y:-139.96, Z:-8.06 [[ 5.22638921e-01 -8.52548375e-01 -3.13457581e-03 8.85156797e+01] [-8.52534626e-01 -5.22648302e-01 4.84391480e-03 -1.39955382e+02] [-5.76795242e-03 1.40716010e-04 -9.99983355e-01 -8.05795076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.290385723 meters 0.01796142412528657 Centerline is valid? [True, True] Translation: X:88.56, Y:-140.07, Z:-8.06 [[ 5.87625179e-01 -8.09122722e-01 -4.13163840e-03 8.85571460e+01] [-8.09104552e-01 -5.87639683e-01 5.42462057e-03 -1.40070963e+02] [-6.81709844e-03 1.55283800e-04 -9.99976751e-01 -8.05745091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.320385723 meters 0.017078012651912937 Centerline is valid? [True, True] Translation: X:88.60, Y:-140.18, Z:-8.06 [[ 6.50175001e-01 -7.59766878e-01 -5.17292806e-03 8.85999622e+01] [-7.59744664e-01 -6.50195561e-01 5.81187751e-03 -1.40179165e+02] [-7.77908689e-03 1.51367023e-04 -9.99969731e-01 -8.05635678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.350385723 meters 0.01679524957748306 Centerline is valid? [True, True] Translation: X:88.65, Y:-140.28, Z:-8.06 [[ 7.07149192e-01 -7.07042460e-01 -5.56603717e-03 8.86511719e+01] [-7.07022102e-01 -7.07171083e-01 5.36722569e-03 -1.40279437e+02] [-7.73099699e-03 1.39881986e-04 -9.99970106e-01 -8.05639048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.380385723 meters 0.01662243228575256 Centerline is valid? [True, True] Translation: X:88.64, Y:-140.29, Z:-8.06 [[ 7.61069683e-01 -6.48644628e-01 -5.75188735e-03 8.86428611e+01] [-6.48627337e-01 -7.61091408e-01 4.73777176e-03 -1.40290808e+02] [-7.45084225e-03 1.25056926e-04 -9.99972234e-01 -8.05613909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.410385723 meters 0.01627226948819179 Centerline is valid? [True, True] Translation: X:88.64, Y:-140.30, Z:-8.06 [[ 8.10200032e-01 -5.86118804e-01 -6.37612642e-03 8.86363773e+01] [-5.86101818e-01 -8.10225113e-01 4.46378265e-03 -1.40303325e+02] [-7.78240470e-03 1.20502443e-04 -9.99969709e-01 -8.05614258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.440385723 meters 0.01603387971591345 Centerline is valid? [True, True] Translation: X:88.63, Y:-140.32, Z:-8.05 [[ 8.54370681e-01 -5.19615412e-01 -7.11074762e-03 8.86294620e+01] [-5.19598529e-01 -8.54400263e-01 4.19034684e-03 -1.40317498e+02] [-8.25279345e-03 1.14624517e-04 -9.99965939e-01 -8.05462868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.470385723 meters 0.015923047711409816 Centerline is valid? [True, True] Translation: X:88.63, Y:-140.33, Z:-8.05 [[ 8.92648530e-01 -4.50694155e-01 -7.30625910e-03 8.86257897e+01] [-4.50680046e-01 -8.92678423e-01 3.56771947e-03 -1.40328754e+02] [-8.13009017e-03 1.08065652e-04 -9.99966944e-01 -8.05441663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.500385723 meters 0.015885818630994867 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.34, Z:-8.05 [[ 9.25172286e-01 -3.79480343e-01 -7.13516649e-03 8.86238914e+01] [-3.79469904e-01 -9.25199794e-01 2.81654791e-03 -1.40339854e+02] [-7.67027913e-03 1.01788877e-04 -9.99970578e-01 -8.05466743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.530385723 meters 0.017807273013051513 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.35, Z:-8.05 [[ 9.51956166e-01 -3.06120000e-01 -8.36681919e-03 8.86224912e+01] [-3.06109254e-01 -9.51992927e-01 2.56757750e-03 -1.40352718e+02] [-8.75113950e-03 1.16939551e-04 -9.99961701e-01 -8.05493006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.560385723 meters 0.015658877437653502 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.36, Z:-8.06 [[ 9.72983173e-01 -2.30794287e-01 -6.14350449e-03 8.86213799e+01] [-2.30790235e-01 -9.73002564e-01 1.37028716e-03 -1.40363627e+02] [-6.29390007e-03 8.45944930e-05 -9.99980190e-01 -8.05624203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.590385723 meters 0.015410866707157335 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.38, Z:-8.06 [[ 9.88028954e-01 -1.54143142e-01 -6.21919146e-03 8.86178850e+01] [-1.54140636e-01 -9.88048523e-01 8.83155589e-04 -1.40378481e+02] [-6.28099532e-03 8.60468328e-05 -9.99980271e-01 -8.05586550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.620385723 meters 0.015526059406652352 Centerline is valid? [True, True] Translation: X:88.61, Y:-140.39, Z:-8.05 [[ 9.96986100e-01 -7.73044869e-02 -6.53702338e-03 8.86146895e+01] [-7.73034578e-02 -9.97007526e-01 4.10340191e-04 -1.40393448e+02] [-6.54918264e-03 9.62310438e-05 -9.99978549e-01 -8.05408598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.650385723 meters 0.01890526462680439 Centerline is valid? [True, True] Translation: X:88.61, Y:-140.40, Z:-8.05 [[ 9.99961641e-01 3.34917437e-04 -8.75235974e-03 8.86139113e+01] [ 3.33735765e-04 -9.99999935e-01 -1.36472056e-04 -1.40403728e+02] [-8.75240488e-03 1.33545845e-04 -9.99961688e-01 -8.05257824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.680385723 meters 0.015944650092120656 Centerline is valid? [True, True] Translation: X:88.61, Y:-140.41, Z:-8.06 [[ 9.96986085e-01 7.73602970e-02 -5.84218680e-03 8.86133083e+01] [ 7.73583963e-02 -9.97003197e-01 -5.50956037e-04 -1.40411286e+02] [-5.86730104e-03 9.73533006e-05 -9.99982783e-01 -8.05548888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.710385723 meters 0.01584460491394445 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.42, Z:-8.06 [[ 9.87964515e-01 1.54559256e-01 -6.12808269e-03 8.86150775e+01] [ 1.54555611e-01 -9.87983515e-01 -1.06690059e-03 -1.40422793e+02] [-6.21934403e-03 1.06930366e-04 -9.99980654e-01 -8.05549239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.740385723 meters 0.01597886133780329 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.43, Z:-8.05 [[ 9.72895771e-01 2.31158646e-01 -6.28479556e-03 8.86169817e+01] [ 2.31153070e-01 -9.72916064e-01 -1.60950786e-03 -1.40434691e+02] [-6.48663022e-03 1.13133600e-04 -9.99978955e-01 -8.05474176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.770385723 meters 0.01660153955010962 Centerline is valid? [True, True] Translation: X:88.62, Y:-140.45, Z:-8.05 [[ 9.51389116e-01 3.07908251e-01 -7.15947174e-03 8.86205070e+01] [ 3.07898568e-01 -9.51416047e-01 -2.44491060e-03 -1.40447946e+02] [-7.56444444e-03 1.21670243e-04 -9.99971382e-01 -8.05188972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.800385723 meters 0.01541488335810535 Centerline is valid? [True, True] Translation: X:88.63, Y:-140.46, Z:-8.05 [[ 9.23891871e-01 3.82605590e-01 -6.06416753e-03 8.86253191e+01] [ 3.82596649e-01 -9.23911767e-01 -2.61756295e-03 -1.40459910e+02] [-6.60424995e-03 9.82149574e-05 -9.99978187e-01 -8.05202573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.830385723 meters 0.015250802214764957 Centerline is valid? [True, True] Translation: X:88.63, Y:-140.47, Z:-8.05 [[ 8.90520404e-01 4.54899770e-01 -6.29356946e-03 8.86295565e+01] [ 4.54887640e-01 -8.90542638e-01 -3.32345350e-03 -1.40469829e+02] [-7.11653018e-03 9.67361950e-05 -9.99974673e-01 -8.05176046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.860385723 meters 0.016826016721302326 Centerline is valid? [True, True] Translation: X:88.63, Y:-140.48, Z:-8.05 [[ 8.51518803e-01 5.24276665e-01 -7.05028192e-03 8.86337103e+01] [ 5.24257693e-01 -8.51547984e-01 -4.46120696e-03 -1.40478704e+02] [-8.34256006e-03 1.02637077e-04 -9.99965195e-01 -8.05059479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.890385723 meters 0.01469215087567712 Centerline is valid? [True, True] Translation: X:88.64, Y:-140.49, Z:-8.05 [[ 8.06375176e-01 5.91382974e-01 -5.02523447e-03 8.86407328e+01] [ 5.91371014e-01 -8.06390832e-01 -3.76153690e-03 -1.40489275e+02] [-6.27681188e-03 6.14319808e-05 -9.99980299e-01 -8.05146908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.920385723 meters 0.014631167453494258 Centerline is valid? [True, True] Translation: X:88.65, Y:-140.50, Z:-8.05 [[ 7.56685233e-01 6.53764583e-01 -4.39640095e-03 8.86473311e+01] [ 6.53753172e-01 -7.56698003e-01 -3.86307145e-03 -1.40498454e+02] [-5.85228712e-03 4.89680536e-05 -9.99982874e-01 -8.05086384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.950385723 meters 0.014296916113310779 Centerline is valid? [True, True] Translation: X:88.66, Y:-140.51, Z:-8.05 [[ 7.01867248e-01 7.12300540e-01 -3.21062894e-03 8.86569913e+01] [ 7.12292889e-01 -7.01874590e-01 -3.30140799e-03 -1.40507595e+02] [-4.60505356e-03 3.02419699e-05 -9.99989396e-01 -8.04951066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.980385723 meters 0.014180437838671033 Centerline is valid? [True, True] Translation: X:88.67, Y:-140.52, Z:-8.05 [[ 6.43520926e-01 7.65421916e-01 -3.17945365e-03 8.86669480e+01] [ 7.65412344e-01 -6.43528779e-01 -3.82801840e-03 -1.40516161e+02] [-4.97611910e-03 2.98168687e-05 -9.99987619e-01 -8.04938887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.010385723 meters 0.014142370913820469 Centerline is valid? [True, True] Translation: X:88.68, Y:-140.52, Z:-8.05 [[ 5.81081882e-01 8.13839537e-01 -3.00915343e-03 8.86755224e+01] [ 8.13828374e-01 -5.81089673e-01 -4.26272085e-03 -1.40522733e+02] [-5.21775874e-03 2.80554166e-05 -9.99986387e-01 -8.04955312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.040385723 meters 0.01408779015015256 Centerline is valid? [True, True] Translation: X:88.68, Y:-140.53, Z:-8.05 [[ 5.14374299e-01 8.57562164e-01 -2.49331816e-03 8.86840391e+01] [ 8.57551904e-01 -5.14380341e-01 -4.19488555e-03 -1.40528046e+02] [-4.87988898e-03 1.95915756e-05 -9.99988093e-01 -8.05025315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.070385723 meters 0.014093310037085048 Centerline is valid? [True, True] Translation: X:88.70, Y:-140.53, Z:-8.05 [[ 4.44722923e-01 8.95666003e-01 -1.98326494e-03 8.86958534e+01] [ 8.95656961e-01 -4.44727345e-01 -4.02462922e-03 -1.40533898e+02] [-4.48673572e-03 1.35198227e-05 -9.99989934e-01 -8.04993556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.100385723 meters 0.014105074265228688 Centerline is valid? [True, True] Translation: X:88.71, Y:-140.54, Z:-8.05 [[ 3.72483238e-01 9.28037301e-01 -1.73348504e-03 8.87074650e+01] [ 9.28027122e-01 -3.72487272e-01 -4.34673036e-03 -1.40539558e+02] [-4.67962902e-03 1.03630671e-05 -9.99989050e-01 -8.04889966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.130385723 meters 0.015503343209970887 Centerline is valid? [True, True] Translation: X:88.72, Y:-140.54, Z:-8.05 [[ 2.97858368e-01 9.54609082e-01 -1.37578977e-03 8.87211153e+01] [ 9.54598800e-01 -2.97861545e-01 -4.43068674e-03 -1.40544473e+02] [-4.63936867e-03 6.38985734e-06 -9.99989238e-01 -8.04625350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.160385723 meters 0.01420582745040257 Centerline is valid? [True, True] Translation: X:88.73, Y:-140.55, Z:-8.05 [[ 2.21599625e-01 9.75137376e-01 -8.38902859e-04 8.87322640e+01] [ 9.75130334e-01 -2.21601213e-01 -3.70604533e-03 -1.40547993e+02] [-3.79980521e-03 3.21862991e-06 -9.99992781e-01 -8.04584103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.190385723 meters 0.014265480376333862 Centerline is valid? [True, True] Translation: X:88.74, Y:-140.55, Z:-8.05 [[ 1.43013678e-01 9.89720604e-01 -4.62204364e-04 8.87385847e+01] [ 9.89715482e-01 -1.43014425e-01 -3.18420392e-03 -1.40549872e+02] [-3.21757412e-03 -2.06609945e-06 -9.99994824e-01 -8.04731222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.220385723 meters 0.014340716914256839 Centerline is valid? [True, True] Translation: X:88.75, Y:-140.55, Z:-8.05 [[ 6.45917284e-02 9.97911753e-01 -2.06787535e-04 8.87481460e+01] [ 9.97906814e-01 -6.45920594e-02 -3.13953065e-03 -1.40551061e+02] [-3.14633137e-03 -3.56697912e-06 -9.99995050e-01 -8.04867026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.250385723 meters 0.014405678714569735 Centerline is valid? [True, True] Translation: X:88.76, Y:-140.55, Z:-8.05 [[-1.44555662e-02 9.99895512e-01 3.70348618e-05 8.87578095e+01] [ 9.99891240e-01 1.44556127e-02 -2.92292338e-03 -1.40552386e+02] [-2.92315333e-03 -5.22167841e-06 -9.99995728e-01 -8.04920267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.280385723 meters 0.014426487082869682 Centerline is valid? [True, True] Translation: X:88.77, Y:-140.55, Z:-8.05 [[-9.30720611e-02 9.95659328e-01 3.05668219e-04 8.87685013e+01] [ 9.95653699e-01 9.30725628e-02 -3.34815938e-03 -1.40553601e+02] [-3.36207544e-03 -7.28040122e-06 -9.99994348e-01 -8.04896687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.310385723 meters 0.01652873273892472 Centerline is valid? [True, True] Translation: X:88.78, Y:-140.55, Z:-8.05 [[-1.70470456e-01 9.85362500e-01 7.53115386e-04 8.87793094e+01] [ 9.85352656e-01 1.70472119e-01 -4.40455416e-03 -1.40552677e+02] [-4.46846767e-03 -8.76210939e-06 -9.99990016e-01 -8.04666127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.340385723 meters 0.014422816269474805 Centerline is valid? [True, True] Translation: X:88.79, Y:-140.55, Z:-8.05 [[-2.47435796e-01 9.68903953e-01 8.10205978e-04 8.87903040e+01] [ 9.68898662e-01 2.47437123e-01 -3.20196453e-03 -1.40550768e+02] [-3.30287113e-03 -7.27315506e-06 -9.99994546e-01 -8.04692758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.370385723 meters 0.014446063669906549 Centerline is valid? [True, True] Translation: X:88.80, Y:-140.55, Z:-8.05 [[-3.22437284e-01 9.46590231e-01 1.06374102e-03 8.87969608e+01] [ 9.46585011e-01 3.22439039e-01 -3.14369753e-03 -1.40549174e+02] [-3.31878501e-03 -6.72399203e-06 -9.99994493e-01 -8.04791173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.400385723 meters 0.014367230344768386 Centerline is valid? [True, True] Translation: X:88.80, Y:-140.55, Z:-8.05 [[-3.95294587e-01 9.18553884e-01 9.75114243e-04 8.88048516e+01] [ 9.18551065e-01 3.95295790e-01 -2.27603425e-03 -1.40546781e+02] [-2.47611865e-03 -4.01179208e-06 -9.99996934e-01 -8.04915348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.430385723 meters 0.016752130756300155 Centerline is valid? [True, True] Translation: X:88.81, Y:-140.55, Z:-8.05 [[-4.65191830e-01 8.85209198e-01 1.11243249e-03 8.88133302e+01] [ 8.85206658e-01 4.65193161e-01 -2.12040361e-03 -1.40545267e+02] [-2.39449676e-03 -1.66179374e-06 -9.99997133e-01 -8.04829165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.460385723 meters 0.014521526709439903 Centerline is valid? [True, True] Translation: X:88.82, Y:-140.54, Z:-8.05 [[-5.33311205e-01 8.45918737e-01 8.05508940e-04 8.88216229e+01] [ 8.45917769e-01 5.33311813e-01 -1.27977946e-03 -1.40542272e+02] [-1.51217686e-03 -1.12639962e-06 -9.99998857e-01 -8.04793980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.490385723 meters 0.014642571363043765 Centerline is valid? [True, True] Translation: X:88.83, Y:-140.54, Z:-8.05 [[-5.98006494e-01 8.01489168e-01 1.82955044e-03 8.88311906e+01] [ 8.01485399e-01 5.98009292e-01 -2.45786123e-03 -1.40537517e+02] [-3.06403731e-03 -3.45901306e-06 -9.99995306e-01 -8.04700526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.520385723 meters 0.014656970676011719 Centerline is valid? [True, True] Translation: X:88.84, Y:-140.54, Z:-8.05 [[-6.59027263e-01 7.52108104e-01 4.05798517e-03 8.88374845e+01] [ 7.52093767e-01 6.59039756e-01 -4.64386516e-03 -1.40535685e+02] [-6.16706218e-03 -8.44839825e-06 -9.99980983e-01 -8.04615274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.550385723 meters 0.014804380061848761 Centerline is valid? [True, True] Translation: X:88.84, Y:-140.53, Z:-8.05 [[-7.15941479e-01 6.98143624e-01 4.82481452e-03 8.88438877e+01] [ 6.98127682e-01 7.15957736e-01 -4.71806209e-03 -1.40531221e+02] [-6.74824825e-03 -9.51977723e-06 -9.99977230e-01 -8.04753208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.580385723 meters 0.014738196583091888 Centerline is valid? [True, True] Translation: X:88.85, Y:-140.51, Z:-8.05 [[-7.63378128e-01 6.45932931e-01 4.94804865e-03 8.88547939e+01] [ 6.45919293e-01 7.63394164e-01 -4.19744018e-03 -1.40505052e+02] [-6.48857630e-03 -8.19394677e-06 -9.99978949e-01 -8.04840452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.610385723 meters 0.014639060715379845 Centerline is valid? [True, True] Translation: X:88.88, Y:-140.49, Z:-8.05 [[-8.07038445e-01 5.90477375e-01 5.04162365e-03 8.88760637e+01] [ 5.90465804e-01 8.07054193e-01 -3.69658076e-03 -1.40486122e+02] [-6.25161081e-03 -6.37643116e-06 -9.99980458e-01 -8.04823740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.640385723 meters 0.014734548423178496 Centerline is valid? [True, True] Translation: X:88.89, Y:-140.46, Z:-8.05 [[-8.46445148e-01 5.32450600e-01 5.19327427e-03 8.88880633e+01] [ 5.32440564e-01 8.46461080e-01 -3.26904017e-03 -1.40460991e+02] [-6.13650694e-03 -1.95331020e-06 -9.99981171e-01 -8.04650705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.670385723 meters 0.014697013792763593 Centerline is valid? [True, True] Translation: X:88.91, Y:-140.45, Z:-8.05 [[-8.81722485e-01 4.71733865e-01 5.71140290e-03 8.89140626e+01] [ 4.71723982e-01 8.81740983e-01 -3.05355987e-03 -1.40445730e+02] [-6.47644560e-03 1.81332100e-06 -9.99979028e-01 -8.04637748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.700385723 meters 0.014689398888168583 Centerline is valid? [True, True] Translation: X:88.93, Y:-140.42, Z:-8.05 [[-9.12671815e-01 4.08647625e-01 6.10547089e-03 8.89256551e+01] [ 4.08638522e-01 9.12692236e-01 -2.72769141e-03 -1.40423581e+02] [-6.68708050e-03 5.44352538e-06 -9.99977641e-01 -8.04693498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.730385723 meters 0.014754503780547268 Centerline is valid? [True, True] Translation: X:89.22, Y:-139.76, Z:-9.02 [[-8.84407326e-01 -4.66680940e-01 5.70804181e-03 8.92232886e+01] [ 4.66671084e-01 -8.84425746e-01 -3.03306961e-03 -1.39759606e+02] [ 6.46381491e-03 -1.86909240e-05 9.99979109e-01 -9.02093880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.760385723 meters 0.014935385954657638 Centerline is valid? [True, True] Translation: X:88.88, Y:-140.41, Z:-8.05 [[-9.13416682e-01 4.06993445e-01 5.12851029e-03 8.88765541e+01] [ 4.06987123e-01 9.13431079e-01 -2.26851660e-03 -1.40412725e+02] [-5.60781207e-03 1.51367434e-05 -9.99984276e-01 -8.04883557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.790385723 meters 0.01507177595241836 Centerline is valid? [True, True] Translation: X:88.89, Y:-140.39, Z:-8.05 [[-9.39695905e-01 3.41978636e-01 4.71365469e-03 8.88866931e+01] [ 3.41974427e-01 9.39707727e-01 -1.69665241e-03 -1.40386586e+02] [-5.00967661e-03 1.76120355e-05 -9.99987451e-01 -8.04818585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.820385723 meters 0.01522077796670376 Centerline is valid? [True, True] Translation: X:89.14, Y:-139.69, Z:-9.02 [[-9.17173513e-01 -3.98467920e-01 4.00798754e-03 8.91424788e+01] [ 3.98463857e-01 -9.17182269e-01 -1.80007732e-03 -1.39688972e+02] [ 4.39332817e-03 -5.39450640e-05 9.99990348e-01 -9.02169428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.850385723 meters 0.015362969856046885 Centerline is valid? [True, True] Translation: X:88.84, Y:-140.37, Z:-8.05 [[-9.41174590e-01 3.37891058e-01 4.47480944e-03 8.88372001e+01] [ 3.37887309e-01 9.41185228e-01 -1.59170084e-03 -1.40374260e+02] [-4.74944603e-03 1.39129337e-05 -9.99988721e-01 -8.04818337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.880385723 meters 0.015550690358170515 Centerline is valid? [True, True] Translation: X:88.85, Y:-140.35, Z:-8.05 [[-9.62979147e-01 2.69519201e-01 5.52831760e-03 8.88483413e+01] [ 2.69514831e-01 9.62995016e-01 -1.53487609e-03 -1.40352789e+02] [-5.73742087e-03 1.19099164e-05 -9.99983541e-01 -8.04764925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.910385723 meters 0.015550690358170515 Centerline is valid? [True, True] Translation: X:88.86, Y:-140.32, Z:-8.05 [[-9.79664674e-01 2.00562973e-01 5.62326203e-03 8.88557703e+01] [ 2.00559739e-01 9.79680812e-01 -1.13905544e-03 -1.40324863e+02] [-5.73745426e-03 1.19075830e-05 -9.99983541e-01 -8.04764887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.940385723 meters 0.01571417265626306 Centerline is valid? [True, True] Translation: X:88.86, Y:-140.30, Z:-8.05 [[-9.91497272e-01 1.29974209e-01 6.31378295e-03 8.88635144e+01] [ 1.29971636e-01 9.91517375e-01 -8.17935450e-04 -1.40298850e+02] [-6.36653601e-03 9.63193077e-06 -9.99979733e-01 -8.04584086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.970385723 meters 0.015824581827694657 Centerline is valid? [True, True] Translation: X:88.86, Y:-140.27, Z:-8.05 [[-9.98244499e-01 5.87884630e-02 7.19973386e-03 8.88642979e+01] [ 5.87869875e-02 9.98270463e-01 -4.16578617e-04 -1.40270980e+02] [-7.21177167e-03 7.40335166e-06 -9.99973995e-01 -8.04541217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.000385723 meters 0.015804337511674704 Centerline is valid? [True, True] Translation: X:88.87, Y:-140.24, Z:-8.04 [[-9.99878504e-01 -1.31571857e-02 8.35851950e-03 8.88653585e+01] [-1.31567122e-02 9.99913441e-01 1.11637467e-04 -1.40243174e+02] [-8.35926482e-03 1.65326859e-06 -9.99965061e-01 -8.04399380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.030385723 meters 0.016073302357788 Centerline is valid? [True, True] Translation: X:88.85, Y:-140.22, Z:-8.04 [[-9.96236426e-01 -8.61172468e-02 9.83884281e-03 8.88454431e+01] [-8.61132104e-02 9.96285009e-01 8.33934930e-04 -1.40217907e+02] [-9.87410777e-03 -1.64579864e-05 -9.99951250e-01 -8.04191447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.060385723 meters 0.016087177960709846 Centerline is valid? [True, True] Translation: X:88.84, Y:-140.19, Z:-8.04 [[-9.87390400e-01 -1.57989860e-01 9.97009313e-03 8.88414915e+01] [-1.57982075e-01 9.87440734e-01 1.56860722e-03 -1.40190965e+02] [-1.00927001e-02 -2.62682896e-05 -9.99949067e-01 -8.04183979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.090385723 meters 0.016108159760865902 Centerline is valid? [True, True] Translation: X:88.82, Y:-140.17, Z:-8.04 [[-9.73216058e-01 -2.29675616e-01 9.98081620e-03 8.88165459e+01] [-2.29663934e-01 9.73267235e-01 2.31672344e-03 -1.40168427e+02] [-1.02460963e-02 -3.75610600e-05 -9.99947507e-01 -8.04316559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.120385723 meters 0.016284711612537018 Centerline is valid? [True, True] Translation: X:88.77, Y:-140.15, Z:-8.04 [[-9.53605313e-01 -3.00903916e-01 9.68195140e-03 8.87733412e+01] [-3.00888932e-01 9.53654461e-01 3.00328498e-03 -1.40151509e+02] [-1.01369364e-02 -4.92434973e-05 -9.99948619e-01 -8.04337559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.150385723 meters 0.016521547514288977 Centerline is valid? [True, True] Translation: X:88.71, Y:-140.14, Z:-8.04 [[-9.28317735e-01 -3.71698345e-01 8.15624035e-03 8.87091090e+01] [-3.71684530e-01 9.28353563e-01 3.20515229e-03 -1.40144610e+02] [-8.76322459e-03 -5.61486422e-05 -9.99961601e-01 -8.04365693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.180385723 meters 0.016435693351040597 Centerline is valid? [True, True] Translation: X:88.64, Y:-140.14, Z:-8.04 [[-8.97761914e-01 -4.40418377e-01 7.42952740e-03 8.86439958e+01] [-4.40403851e-01 8.97792654e-01 3.57753913e-03 -1.40141632e+02] [-8.24578910e-03 -6.02141056e-05 -9.99966001e-01 -8.04400623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.210385723 meters 0.016741865656254556 Centerline is valid? [True, True] Translation: X:88.56, Y:-140.15, Z:-8.04 [[-8.61678797e-01 -5.07409835e-01 6.70149560e-03 8.85639717e+01] [-5.07395107e-01 8.61704853e-01 3.86668922e-03 -1.40151542e+02] [-7.73670742e-03 -6.84619615e-05 -9.99970069e-01 -8.04399236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.240385723 meters 0.01694437870564885 Centerline is valid? [True, True] Translation: X:88.48, Y:-140.17, Z:-8.04 [[-8.20790479e-01 -5.71198656e-01 5.92326699e-03 8.84808019e+01] [-5.71184383e-01 8.20811849e-01 4.03851497e-03 -1.40169490e+02] [-7.16868205e-03 -6.85029605e-05 -9.99974302e-01 -8.04416904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.270385723 meters 0.016849307701247797 Centerline is valid? [True, True] Translation: X:88.39, Y:-140.20, Z:-8.05 [[-7.75143172e-01 -6.31761819e-01 5.48329842e-03 8.83892399e+01] [-6.31746652e-01 7.75162563e-01 4.37825379e-03 -1.40201649e+02] [-7.01646123e-03 -7.02818820e-05 -9.99975382e-01 -8.04519277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.300385723 meters 0.017292728134118987 Centerline is valid? [True, True] Translation: X:88.28, Y:-140.26, Z:-8.05 [[-7.24703945e-01 -6.89043381e-01 4.83840198e-03 8.82807856e+01] [-6.89028686e-01 7.24720093e-01 4.50076891e-03 -1.40255069e+02] [-6.60771216e-03 -7.20727744e-05 -9.99978166e-01 -8.04507872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.330385723 meters 0.016972713417046 Centerline is valid? [True, True] Translation: X:88.18, Y:-140.31, Z:-8.05 [[-6.70324195e-01 -7.42054445e-01 4.54689808e-03 8.81829670e+01] [-7.42038110e-01 6.70339612e-01 4.92423669e-03 -1.40313951e+02] [-6.70201762e-03 -7.31366648e-05 -9.99977539e-01 -8.04571247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.360385723 meters 0.01686783929796 Centerline is valid? [True, True] Translation: X:88.10, Y:-140.37, Z:-8.05 [[-6.11992711e-01 -7.90853861e-01 3.88485735e-03 8.80975713e+01] [-7.90838606e-01 6.12005038e-01 4.91251133e-03 -1.40368827e+02] [-6.26263083e-03 -6.58740454e-05 -9.99980387e-01 -8.04556176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.390385723 meters 0.016790004862343666 Centerline is valid? [True, True] Translation: X:88.02, Y:-140.42, Z:-8.04 [[-5.50836565e-01 -8.34605721e-01 3.51703930e-03 8.80248020e+01] [-8.34589361e-01 5.50847790e-01 5.22588134e-03 -1.40416199e+02] [-6.29890379e-03 -5.66770583e-05 -9.99980160e-01 -8.04446015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.420385723 meters 0.016509508940585744 Centerline is valid? [True, True] Translation: X:87.95, Y:-140.49, Z:-8.04 [[-4.86537512e-01 -8.73655226e-01 2.79195152e-03 8.79457401e+01] [-8.73641339e-01 4.86545521e-01 4.92610737e-03 -1.40490887e+02] [-5.66213095e-03 -4.24282415e-05 -9.99983969e-01 -8.04465680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.450385723 meters 0.01630585154486374 Centerline is valid? [True, True] Translation: X:87.86, Y:-140.60, Z:-8.04 [[-4.19823040e-01 -9.07603124e-01 2.27697757e-03 8.78594613e+01] [-9.07590166e-01 4.19829214e-01 4.84991995e-03 -1.40597557e+02] [-5.35774420e-03 -3.04543127e-05 -9.99985647e-01 -8.04470433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.480385723 meters 0.016273385911339318 Centerline is valid? [True, True] Translation: X:87.79, Y:-140.68, Z:-8.05 [[-3.50798117e-01 -9.36449386e-01 1.79668647e-03 8.77941864e+01] [-9.36437359e-01 3.50802718e-01 4.74609405e-03 -1.40684286e+02] [-5.07475935e-03 -1.75634747e-05 -9.99987123e-01 -8.04519631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.510385723 meters 0.016380795635367332 Centerline is valid? [True, True] Translation: X:87.74, Y:-140.78, Z:-8.04 [[-2.82299416e-01 -9.59325233e-01 1.46172873e-03 8.77372551e+01] [-9.59312228e-01 2.82303200e-01 4.99532995e-03 -1.40775582e+02] [-5.20479677e-03 7.92448958e-06 -9.99986455e-01 -8.04476405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.540385723 meters 0.016414265238502593 Centerline is valid? [True, True] Translation: X:87.68, Y:-140.89, Z:-8.04 [[-2.09864657e-01 -9.77729810e-01 1.11584417e-03 8.76796099e+01] [-9.77715446e-01 2.09867622e-01 5.29973481e-03 -1.40892763e+02] [-5.41588827e-03 2.12489505e-05 -9.99985334e-01 -8.04446996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.570385723 meters 0.016537467860170466 Centerline is valid? [True, True] Translation: X:87.63, Y:-141.00, Z:-8.04 [[-1.35703907e-01 -9.90749129e-01 7.82837487e-04 8.76323261e+01] [-9.90731104e-01 1.35706161e-01 5.97642688e-03 -1.41004084e+02] [-6.02737559e-03 3.54430313e-05 -9.99981835e-01 -8.04394253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.600385723 meters 0.016939896994390784 Centerline is valid? [True, True] Translation: X:87.59, Y:-141.11, Z:-8.04 [[-6.28541801e-02 -9.98022658e-01 3.54170808e-04 8.75930222e+01] [-9.98000983e-01 6.28551493e-02 6.57784743e-03 -1.41110777e+02] [-6.58710224e-03 5.99823926e-05 -9.99978303e-01 -8.04194922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.630385723 meters 0.01701956383802857 Centerline is valid? [True, True] Translation: X:87.56, Y:-141.23, Z:-8.04 [[ 1.33474581e-02 -9.99910908e-01 -1.47796880e-04 8.75614005e+01] [-9.99891276e-01 -1.33481223e-02 6.26606937e-03 -1.41234238e+02] [-6.26748392e-03 6.41447126e-05 -9.99980357e-01 -8.04161726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.660385723 meters 0.017399043663548153 Centerline is valid? [True, True] Translation: X:87.54, Y:-141.36, Z:-8.04 [[ 8.80209439e-02 -9.96118516e-01 -4.65324887e-04 8.75409616e+01] [-9.96107877e-01 -8.80221546e-02 4.60400114e-03 -1.41359828e+02] [-4.62708968e-03 5.82652597e-05 -9.99989293e-01 -8.04248364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.690385723 meters 0.0175146213446436 Centerline is valid? [True, True] Translation: X:87.53, Y:-141.49, Z:-8.04 [[ 1.63892057e-01 -9.86478079e-01 -6.27064442e-04 8.75290601e+01] [-9.86471929e-01 -1.63893250e-01 3.48376230e-03 -1.41487936e+02] [-3.53942677e-03 4.76205006e-05 -9.99993735e-01 -8.04344705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.720385723 meters 0.01760384760465487 Centerline is valid? [True, True] Translation: X:87.53, Y:-141.61, Z:-8.04 [[ 2.39126990e-01 -9.70987979e-01 -7.91818344e-04 8.75254331e+01] [-9.70983245e-01 -2.39128297e-01 3.03249818e-03 -1.41609778e+02] [-3.13386545e-03 4.36901842e-05 -9.99995089e-01 -8.04402645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.750385723 meters 0.017395323276332583 Centerline is valid? [True, True] Translation: X:87.53, Y:-141.74, Z:-8.04 [[ 3.12781200e-01 -9.49824776e-01 -9.03577955e-04 8.75313575e+01] [-9.49821177e-01 -3.12782503e-01 2.61476037e-03 -1.41735667e+02] [-2.76618756e-03 4.03895889e-05 -9.99996173e-01 -8.04434498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.780385723 meters 0.017437232344268704 Centerline is valid? [True, True] Translation: X:87.56, Y:-141.89, Z:-8.04 [[ 3.85377199e-01 -9.22758534e-01 -1.05016774e-03 8.75600455e+01] [-9.22755368e-01 -3.85378628e-01 2.41747591e-03 -1.41893527e+02] [-2.63545873e-03 3.74078215e-05 -9.99996527e-01 -8.04430766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.810385723 meters 0.01770224676852583 Centerline is valid? [True, True] Translation: X:87.58, Y:-142.01, Z:-8.04 [[ 4.55490823e-01 -8.90239534e-01 -1.29725329e-03 8.75814689e+01] [-8.90236163e-01 -4.55492668e-01 2.45032680e-03 -1.42006144e+02] [-2.77226715e-03 3.87604181e-05 -9.99996157e-01 -8.04369910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.840385723 meters 0.017391812656126094 Centerline is valid? [True, True] Translation: X:87.60, Y:-142.10, Z:-8.04 [[ 5.22840512e-01 -8.52429511e-01 -1.31469541e-03 8.76022962e+01] [-8.52426977e-01 -5.22842163e-01 2.07880338e-03 -1.42104686e+02] [-2.45941154e-03 3.37992135e-05 -9.99996975e-01 -8.04332337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.870385723 meters 0.017510996593551223 Centerline is valid? [True, True] Translation: X:87.65, Y:-142.22, Z:-8.04 [[ 5.86777874e-01 -8.09747436e-01 -9.03695357e-04 8.76463666e+01] [-8.09746530e-01 -5.86778570e-01 1.21134710e-03 -1.42222597e+02] [-1.51115428e-03 2.09725010e-05 -9.99998858e-01 -8.04396233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.900385723 meters 0.01748247831718636 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.32, Z:-8.04 [[ 6.46979402e-01 -7.62507301e-01 -5.18834255e-04 8.76868730e+01] [-7.62507070e-01 -6.46979610e-01 5.93720342e-04 -1.42321020e+02] [-7.88391279e-04 1.14899560e-05 -9.99999689e-01 -8.04437118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.930385723 meters 0.017571153971350652 Centerline is valid? [True, True] Translation: X:87.74, Y:-142.42, Z:-8.04 [[ 7.03199640e-01 -7.10992209e-01 -5.87721514e-04 8.77391377e+01] [-7.10991975e-01 -7.03199885e-01 5.77022921e-04 -1.42420535e+02] [-8.23544502e-04 1.21029705e-05 -9.99999661e-01 -8.04384663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.960385723 meters 0.017875768175771176 Centerline is valid? [True, True] Translation: X:87.73, Y:-142.43, Z:-8.04 [[ 7.56439526e-01 -6.54063553e-01 -3.34433840e-04 8.77323579e+01] [-6.54063493e-01 -7.56439600e-01 2.79965248e-04 -1.42430476e+02] [-4.36094065e-04 6.96418654e-06 -9.99999905e-01 -8.04344996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.990385723 meters 0.01796717562319606 Centerline is valid? [True, True] Translation: X:87.73, Y:-142.44, Z:-8.04 [[ 8.05118246e-01 -5.93114331e-01 2.53173526e-05 8.77262730e+01] [-5.93114330e-01 -8.05118247e-01 -1.92595775e-05 -1.42437449e+02] [ 3.18065940e-05 4.90152662e-07 -1.00000000e+00 -8.04369433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.020385723 meters 0.018016539961688352 Centerline is valid? [True, True] Translation: X:87.72, Y:-142.45, Z:-8.04 [[ 8.49026261e-01 -5.28350610e-01 2.01334390e-04 8.77212951e+01] [-5.28350596e-01 -8.49026285e-01 -1.22502131e-04 -1.42445808e+02] [ 2.35662265e-04 -2.36761838e-06 -9.99999972e-01 -8.04410592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.050385723 meters 0.01789115337147413 Centerline is valid? [True, True] Translation: X:87.72, Y:-142.45, Z:-8.04 [[ 8.88136920e-01 -4.59578600e-01 5.67267819e-04 8.77156633e+01] [-4.59578511e-01 -8.88137101e-01 -2.85196302e-04 -1.42454170e+02] [ 6.34881714e-04 -7.41073443e-06 -9.99999798e-01 -8.04405502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.080385723 meters 0.017794275762765994 Centerline is valid? [True, True] Translation: X:87.71, Y:-142.46, Z:-8.04 [[ 9.21650088e-01 -3.88021931e-01 3.10105931e-04 8.77124344e+01] [-3.88021910e-01 -9.21650140e-01 -1.27063574e-04 -1.42462757e+02] [ 3.35112628e-04 -3.21974160e-06 -9.99999944e-01 -8.04404042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.110385723 meters 0.017783734012776393 Centerline is valid? [True, True] Translation: X:87.71, Y:-142.47, Z:-8.04 [[ 9.49483193e-01 -3.13816974e-01 7.57490655e-04 8.77097173e+01] [-3.13816881e-01 -9.49483495e-01 -2.41846949e-04 -1.42470915e+02] [ 7.95120552e-04 -8.08374111e-06 -9.99999684e-01 -8.04397568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.140385723 meters 0.017598624679849087 Centerline is valid? [True, True] Translation: X:87.71, Y:-142.48, Z:-8.04 [[ 9.71334358e-01 -2.37711962e-01 1.60861916e-03 8.77076962e+01] [-2.37711664e-01 -9.71335690e-01 -3.76971296e-04 -1.42478915e+02] [ 1.65211979e-03 -1.62223646e-05 -9.99998635e-01 -8.04402487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.170385723 meters 0.017536025475168696 Centerline is valid? [True, True] Translation: X:87.70, Y:-142.49, Z:-8.04 [[ 9.87165948e-01 -1.59683705e-01 2.12247473e-03 8.77043204e+01] [-1.59683377e-01 -9.87168230e-01 -3.24377258e-04 -1.42489762e+02] [ 2.14703739e-03 -1.87097492e-05 -9.99997695e-01 -8.04442840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.200385723 meters 0.017438644501550384 Centerline is valid? [True, True] Translation: X:87.70, Y:-142.50, Z:-8.04 [[ 9.96615718e-01 -8.21653855e-02 2.44119142e-03 8.77003865e+01] [-8.21651931e-02 -9.96618708e-01 -1.79166538e-04 -1.42500885e+02] [ 2.44765832e-03 -2.20207765e-05 -9.99997004e-01 -8.04440023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.230385723 meters 0.01757860826158848 Centerline is valid? [True, True] Translation: X:87.70, Y:-142.51, Z:-8.04 [[ 9.99987409e-01 -4.09872386e-03 2.89535993e-03 8.76963174e+01] [-4.09878430e-03 -9.99991600e-01 1.49400330e-05 -1.42510456e+02] [ 2.89527437e-03 -2.68073007e-05 -9.99995808e-01 -8.04433252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.260385723 meters 0.01775821685037467 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.52, Z:-8.04 [[ 9.97291080e-01 7.35306749e-02 1.93428311e-03 8.76931580e+01] [ 7.35304998e-02 -9.97292956e-01 1.61580034e-04 -1.42518063e+02] [ 1.94092801e-03 -1.89135227e-05 -9.99998116e-01 -8.04401694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.290385723 meters 0.01765517751843518 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.53, Z:-8.04 [[ 9.88557264e-01 1.50839043e-01 1.45569589e-03 8.76915451e+01] [ 1.50838857e-01 -9.88558336e-01 2.37216752e-04 -1.42530088e+02] [ 1.47482185e-03 -1.49268393e-05 -9.99998912e-01 -8.04352467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.320385723 meters 0.01784597889841323 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.54, Z:-8.04 [[ 9.73851029e-01 2.27182459e-01 1.51781220e-03 8.76902410e+01] [ 2.27182157e-01 -9.73852212e-01 3.71333444e-04 -1.42541278e+02] [ 1.56248522e-03 -1.68036067e-05 -9.99998779e-01 -8.04283802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.350385723 meters 0.017854777193598244 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.55, Z:-8.04 [[ 9.53196420e-01 3.02349244e-01 1.23264685e-03 8.76904176e+01] [ 3.02348972e-01 -9.53197217e-01 4.06001448e-04 -1.42553066e+02] [ 1.29770978e-03 -1.43096182e-05 -9.99999158e-01 -8.04226782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.380385723 meters 0.018077771304397503 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.56, Z:-8.04 [[ 9.26714345e-01 3.75765489e-01 9.05455754e-04 8.76906655e+01] [ 3.75765299e-01 -9.26714787e-01 3.78952720e-04 -1.42563165e+02] [ 9.81496591e-04 -1.09420702e-05 -9.99999518e-01 -8.04147320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.410385723 meters 0.018042603973055845 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.57, Z:-8.04 [[ 8.94596389e-01 4.46874882e-01 -3.76138497e-04 8.76921136e+01] [ 4.46874839e-01 -8.94596468e-01 -1.94762151e-04 -1.42571473e+02] [-4.23526484e-04 6.14668609e-06 -9.99999910e-01 -8.03994493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.440385723 meters 0.01795432072640429 Centerline is valid? [True, True] Translation: X:87.69, Y:-142.58, Z:-8.04 [[ 8.56848075e-01 5.15568335e-01 -8.17574033e-04 8.76930947e+01] [ 5.15568086e-01 -8.56848465e-01 -5.06834151e-04 -1.42577973e+02] [-9.61844694e-04 1.27647873e-05 -9.99999537e-01 -8.04022838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.470385723 meters 0.017832050670626747 Centerline is valid? [True, True] Translation: X:87.70, Y:-142.59, Z:-8.04 [[ 8.13776196e-01 5.81177997e-01 -6.61831164e-04 8.76960632e+01] [ 5.81177794e-01 -8.13776465e-01 -4.86075362e-04 -1.42586904e+02] [-8.21078931e-04 1.09149833e-05 -9.99999663e-01 -8.04057534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.500385723 meters 0.017586570485885127 Centerline is valid? [True, True] Translation: X:87.70, Y:-142.60, Z:-8.04 [[ 7.65555162e-01 6.43369754e-01 -8.08346349e-04 8.77013361e+01] [ 6.43369377e-01 -7.65555589e-01 -6.97021077e-04 -1.42597450e+02] [-1.06727634e-03 1.35427966e-05 -9.99999430e-01 -8.04126653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.530385723 meters 0.017512036149071503 Centerline is valid? [True, True] Translation: X:87.71, Y:-142.61, Z:-8.04 [[ 7.12053210e-01 7.02124649e-01 -1.09684095e-03 8.77063561e+01] [ 7.02123778e-01 -7.12054055e-01 -1.10626714e-03 -1.42608495e+02] [-1.55774748e-03 1.76029591e-05 -9.99998787e-01 -8.04152974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.560385723 meters 0.017187829026060145 Centerline is valid? [True, True] Translation: X:87.72, Y:-142.62, Z:-8.04 [[ 6.54463232e-01 7.56092742e-01 -1.28173498e-03 8.77155534e+01] [ 7.56091229e-01 -6.54464487e-01 -1.51295671e-03 -1.42619914e+02] [-1.98278562e-03 2.10659598e-05 -9.99998034e-01 -8.04148772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.590385723 meters 0.017107003690318163 Centerline is valid? [True, True] Translation: X:87.72, Y:-142.63, Z:-8.04 [[ 5.92248067e-01 8.05753919e-01 -1.68796174e-03 8.77236446e+01] [ 8.05750518e-01 -5.92250472e-01 -2.34145030e-03 -1.42630907e+02] [-2.88632890e-03 2.66433668e-05 -9.99995834e-01 -8.04103501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.620385723 meters 0.018782801206603035 Centerline is valid? [True, True] Translation: X:87.73, Y:-142.64, Z:-8.04 [[ 5.27030149e-01 8.49845300e-01 -1.47882859e-03 8.77288927e+01] [ 8.49841820e-01 -5.27032224e-01 -2.43245393e-03 -1.42638446e+02] [-2.84659986e-03 2.52061725e-05 -9.99995948e-01 -8.03891390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.650385723 meters 0.017040927976663386 Centerline is valid? [True, True] Translation: X:87.74, Y:-142.65, Z:-8.04 [[ 4.58456096e-01 8.88715361e-01 -1.73670473e-03 8.77361914e+01] [ 8.88708716e-01 -4.58459384e-01 -3.43672330e-03 -1.42645370e+02] [-3.85047737e-03 3.21621219e-05 -9.99992586e-01 -8.04051263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.680385723 meters 0.016839984501525726 Centerline is valid? [True, True] Translation: X:87.75, Y:-142.65, Z:-8.04 [[ 3.87194415e-01 9.21996684e-01 -1.61257318e-03 8.77454991e+01] [ 9.21988317e-01 -3.87197771e-01 -3.92811773e-03 -1.42653049e+02] [-4.24609626e-03 3.41716104e-05 -9.99990985e-01 -8.04070651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.710385723 meters 0.01681407421189658 Centerline is valid? [True, True] Translation: X:87.75, Y:-142.66, Z:-8.04 [[ 3.13581022e-01 9.49560361e-01 -1.43640504e-03 8.77548559e+01] [ 9.49549858e-01 -3.13584310e-01 -4.46640040e-03 -1.42659964e+02] [-4.69155086e-03 3.66402049e-05 -9.99988994e-01 -8.04076295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.740385723 meters 0.01675658774674523 Centerline is valid? [True, True] Translation: X:87.76, Y:-142.67, Z:-8.04 [[ 2.38003584e-01 9.71263651e-01 -1.10197852e-03 8.77637080e+01] [ 9.71252525e-01 -2.38006133e-01 -4.64895051e-03 -1.42666283e+02] [-4.77763429e-03 3.61674649e-05 -9.99988586e-01 -8.04121567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.770385723 meters 0.016638595964223964 Centerline is valid? [True, True] Translation: X:87.77, Y:-142.67, Z:-8.04 [[ 1.60811475e-01 9.86984924e-01 -6.55433554e-04 8.77718750e+01] [ 9.86975929e-01 -1.60812808e-01 -4.21390570e-03 -1.42671171e+02] [-4.26446351e-03 3.07472502e-05 -9.99990907e-01 -8.04253303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.800385723 meters 0.016638595964223964 Centerline is valid? [True, True] Translation: X:87.78, Y:-142.68, Z:-8.04 [[ 8.30022825e-02 9.96549305e-01 -3.23327239e-04 8.77804327e+01] [ 9.96540233e-01 -8.30029066e-02 -4.25233380e-03 -1.42675831e+02] [-4.26449740e-03 3.07448101e-05 -9.99990907e-01 -8.04253274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.830385723 meters 0.01656752688648723 Centerline is valid? [True, True] Translation: X:87.79, Y:-142.68, Z:-8.04 [[ 4.47808205e-03 9.99989973e-01 9.02685168e-06 8.77905006e+01] [ 9.99983921e-01 -4.47802354e-03 -3.47929927e-03 -1.42679395e+02] [-3.47922396e-03 2.46072942e-05 -9.99993947e-01 -8.04352150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.860385723 meters 0.01651011011208928 Centerline is valid? [True, True] Translation: X:87.80, Y:-142.68, Z:-8.04 [[-7.41066406e-02 9.97250284e-01 2.78970277e-04 8.78033638e+01] [ 9.97244365e-01 7.41071619e-02 -3.43592434e-03 -1.42681893e+02] [-3.44715022e-03 2.35767261e-05 -9.99994058e-01 -8.04453717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.890385723 meters 0.016522546649255277 Centerline is valid? [True, True] Translation: X:87.82, Y:-142.68, Z:-8.04 [[-1.52434357e-01 9.88313484e-01 4.73351967e-04 8.78160514e+01] [ 9.88309101e-01 1.52435091e-01 -2.94353826e-03 -1.42684429e+02] [-2.98129400e-03 1.91216936e-05 -9.99995556e-01 -8.04440479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.920385723 meters 0.01639912883781174 Centerline is valid? [True, True] Translation: X:87.83, Y:-142.68, Z:-8.04 [[-2.29424228e-01 9.73326237e-01 7.48907405e-04 8.78281957e+01] [ 9.73321333e-01 2.29425450e-01 -3.08960210e-03 -1.42684944e+02] [-3.17900921e-03 2.00979759e-05 -9.99994947e-01 -8.04442219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.950385723 meters 0.016301153391575247 Centerline is valid? [True, True] Translation: X:87.84, Y:-142.68, Z:-8.04 [[-3.05171869e-01 9.52296755e-01 1.00991334e-03 8.78395986e+01] [ 9.52291753e-01 3.05173540e-01 -3.08677136e-03 -1.42684856e+02] [-3.24772118e-03 1.97363631e-05 -9.99994726e-01 -8.04394563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.980385723 meters 0.016207206600589677 Centerline is valid? [True, True] Translation: X:87.85, Y:-142.68, Z:-8.04 [[-3.78879213e-01 9.25444997e-01 1.44919422e-03 8.78503047e+01] [ 9.25438454e-01 3.78881984e-01 -3.48001578e-03 -1.42684488e+02] [-3.76963677e-03 2.26344125e-05 -9.99992895e-01 -8.04426845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.010385723 meters 0.016279304805789346 Centerline is valid? [True, True] Translation: X:87.86, Y:-142.69, Z:-8.04 [[-4.49283429e-01 8.93386699e-01 2.14614058e-03 8.78578688e+01] [ 8.93376855e-01 4.49288554e-01 -4.19400289e-03 -1.42686010e+02] [-4.71110280e-03 3.30163241e-05 -9.99988902e-01 -8.04391537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.040385723 meters 0.0162261965265515 Centerline is valid? [True, True] Translation: X:87.87, Y:-142.68, Z:-8.04 [[-5.16985105e-01 8.55990236e-01 2.66772299e-03 8.78676091e+01] [ 8.55979246e-01 5.16991986e-01 -4.33786860e-03 -1.42684052e+02] [-5.09236457e-03 4.09020656e-05 -9.99987033e-01 -8.04458526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.070385723 meters 0.016595224349133145 Centerline is valid? [True, True] Translation: X:87.88, Y:-142.68, Z:-8.04 [[-5.79947703e-01 8.14649435e-01 2.63832511e-03 8.78772749e+01] [ 8.14641392e-01 5.79953702e-01 -3.62026591e-03 -1.42683179e+02] [-4.47935399e-03 4.97239494e-05 -9.99989966e-01 -8.04483824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.100385723 meters 0.016813609061560975 Centerline is valid? [True, True] Translation: X:87.89, Y:-142.68, Z:-8.04 [[-6.40633246e-01 7.67841330e-01 2.95547791e-03 8.78851110e+01] [ 7.67833577e-01 6.40640061e-01 -3.45121162e-03 -1.42681025e+02] [-4.54338047e-03 5.83542760e-05 -9.99989677e-01 -8.04465455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.130385723 meters 0.01707743553882534 Centerline is valid? [True, True] Translation: X:87.89, Y:-142.68, Z:-8.04 [[-6.97593608e-01 7.16486240e-01 3.25985934e-03 8.78919583e+01] [ 7.16478862e-01 6.97601221e-01 -3.25222128e-03 -1.42678750e+02] [-4.60425365e-03 6.68915273e-05 -9.99989398e-01 -8.04484126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.160385723 meters 0.017687957848017865 Centerline is valid? [True, True] Translation: X:87.91, Y:-142.66, Z:-8.05 [[-7.44904337e-01 6.67160665e-01 3.76506798e-03 8.79132251e+01] [ 6.67152710e-01 7.44913848e-01 -3.25903408e-03 -1.42663533e+02] [-4.97895062e-03 8.42066822e-05 -9.99987601e-01 -8.04505157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.190385723 meters 0.01787358504008193 Centerline is valid? [True, True] Translation: X:87.92, Y:-142.63, Z:-8.05 [[-7.89634377e-01 6.13564159e-01 4.07101378e-03 8.79234159e+01] [ 6.13556596e-01 7.89644866e-01 -3.04778747e-03 -1.42634778e+02] [-5.08466829e-03 9.11595943e-05 -9.99987069e-01 -8.04543561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.220385723 meters 0.01794752454582251 Centerline is valid? [True, True] Translation: X:87.95, Y:-142.62, Z:-8.05 [[-8.30844298e-01 5.56492826e-01 3.67242978e-03 8.79495486e+01] [ 5.56487814e-01 8.30852411e-01 -2.36323288e-03 -1.42616244e+02] [-4.36636928e-03 8.01838618e-05 -9.99990464e-01 -8.04555047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.250385723 meters 0.017964780767872838 Centerline is valid? [True, True] Translation: X:88.36, Y:-142.00, Z:-9.02 [[-8.13146728e-01 -5.82050446e-01 3.11065270e-03 8.83574037e+01] [ 5.82045712e-01 -8.13152672e-01 -2.34967186e-03 -1.42002152e+02] [ 3.89706311e-03 -1.00085918e-04 9.99992401e-01 -9.02427048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.280385723 meters 0.017667139349801773 Centerline is valid? [True, True] Translation: X:87.91, Y:-142.59, Z:-8.05 [[-8.33398935e-01 5.52663369e-01 3.06840720e-03 8.79123807e+01] [ 5.52659902e-01 8.33404581e-01 -1.95864229e-03 -1.42588977e+02] [-3.63969447e-03 6.34552248e-05 -9.99993374e-01 -8.04574406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.310385723 meters 0.017497137394529842 Centerline is valid? [True, True] Translation: X:87.93, Y:-142.57, Z:-8.05 [[-8.70757130e-01 4.91705850e-01 2.71606170e-03 8.79319711e+01] [ 4.91703644e-01 8.70761365e-01 -1.47407354e-03 -1.42565832e+02] [-3.08985217e-03 5.19373920e-05 -9.99995225e-01 -8.04609784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.340385723 meters 0.01717199159443971 Centerline is valid? [True, True] Translation: X:88.28, Y:-141.92, Z:-9.02 [[-8.52482842e-01 -5.22748865e-01 2.57453298e-03 8.82751032e+01] [ 5.22746290e-01 -8.52486728e-01 -1.64162788e-03 -1.41922514e+02] [ 3.05291431e-03 -5.36320331e-05 9.99995338e-01 -9.02267387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.370385723 meters 0.016910724442495546 Centerline is valid? [True, True] Translation: X:87.89, Y:-142.54, Z:-8.05 [[-8.74141485e-01 4.85666567e-01 2.15620704e-03 8.78916669e+01] [ 4.85665184e-01 8.74144144e-01 -1.15973129e-03 -1.42541619e+02] [-2.44807848e-03 3.34254581e-05 -9.99997003e-01 -8.04703501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.400385723 meters 0.01644827837504877 Centerline is valid? [True, True] Translation: X:87.91, Y:-142.51, Z:-8.05 [[-9.07197723e-01 4.20696966e-01 2.52062536e-03 8.79060249e+01] [ 4.20695440e-01 9.07201225e-01 -1.13355933e-03 -1.42512848e+02] [-2.76359938e-03 3.20531451e-05 -9.99996181e-01 -8.04663995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.430385723 meters 0.015587288252868918 Centerline is valid? [True, True] Translation: X:87.91, Y:-142.48, Z:-8.05 [[-9.36293997e-01 3.51208967e-01 2.41086472e-03 8.79139570e+01] [ 3.51207853e-01 9.36297101e-01 -8.84767310e-04 -1.42477732e+02] [-2.56802386e-03 1.83123000e-05 -9.99996702e-01 -8.04517151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.460385723 meters 0.015280943034975313 Centerline is valid? [True, True] Translation: X:88.16, Y:-141.82, Z:-9.03 [[-9.14970862e-01 -4.03510587e-01 2.74379291e-03 8.81607957e+01] [ 4.03508794e-01 -9.14974976e-01 -1.20282077e-03 -1.41819779e+02] [ 2.99585276e-03 6.59861299e-06 9.99995512e-01 -9.02529862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.490385723 meters 0.015076506650948944 Centerline is valid? [True, True] Translation: X:87.87, Y:-142.46, Z:-8.04 [[-9.39297828e-01 3.43086963e-01 3.30562719e-03 8.78697205e+01] [ 3.43084866e-01 9.39303644e-01 -1.19949689e-03 -1.42457221e+02] [-3.51651941e-03 7.42583840e-06 -9.99993817e-01 -8.04390147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.520385723 meters 0.014955390212245892 Centerline is valid? [True, True] Translation: X:87.88, Y:-142.42, Z:-8.04 [[-9.62130301e-01 2.72575749e-01 2.78298134e-03 8.78755112e+01] [ 2.72574599e-01 9.62134326e-01 -7.91528222e-04 -1.42424938e+02] [-2.89335328e-03 -2.98326257e-06 -9.99995814e-01 -8.04414321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.550385723 meters 0.014947124432947632 Centerline is valid? [True, True] Translation: X:88.07, Y:-141.76, Z:-9.02 [[-9.40293190e-01 -3.40359250e-01 2.07297530e-03 8.80685822e+01] [ 3.40358326e-01 -9.40295475e-01 -7.94168430e-04 -1.41764691e+02] [ 2.21951187e-03 -4.11967633e-05 9.99997536e-01 -9.02448534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.580385723 meters 0.015048719962157736 Centerline is valid? [True, True] Translation: X:87.83, Y:-142.41, Z:-8.04 [[-9.63687418e-01 2.67025725e-01 1.95494943e-03 8.78294135e+01] [ 2.67025164e-01 9.63689401e-01 -5.47517474e-04 -1.42410520e+02] [-2.03016530e-03 -5.61500794e-06 -9.99997939e-01 -8.04498797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.610385723 meters 0.014952453571472882 Centerline is valid? [True, True] Translation: X:87.83, Y:-142.38, Z:-8.04 [[-9.80128516e-01 1.98345458e-01 2.67805677e-03 8.78300524e+01] [ 1.98344698e-01 9.80132174e-01 -5.49060642e-04 -1.42378744e+02] [-2.73375329e-03 -6.97163122e-06 -9.99996263e-01 -8.04320965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.640385723 meters 0.014777763488679757 Centerline is valid? [True, True] Translation: X:87.83, Y:-142.35, Z:-8.04 [[-9.91598491e-01 1.29331817e-01 2.39027706e-03 8.78252542e+01] [ 1.29331433e-01 9.91601372e-01 -3.15395492e-04 -1.42348617e+02] [-2.41099268e-03 -3.60773670e-06 -9.99997094e-01 -8.04288398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.670385723 meters 0.014681776205530276 Centerline is valid? [True, True] Translation: X:87.84, Y:-142.32, Z:-8.04 [[-9.98059033e-01 6.22576862e-02 1.46535772e-03 8.78389335e+01] [ 6.22576245e-02 9.98060109e-01 -8.77150761e-05 -1.42324468e+02] [-1.46797602e-03 3.68486652e-06 -9.99998923e-01 -8.04377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.700385723 meters 0.01485390394269524 Centerline is valid? [True, True] Translation: X:87.83, Y:-142.30, Z:-8.04 [[-9.99980026e-01 -6.18221910e-03 1.31435902e-03 8.78256311e+01] [-6.18220475e-03 9.99980890e-01 1.49810869e-05 -1.42297828e+02] [-1.31442652e-03 6.85515105e-06 -9.99999136e-01 -8.04403342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.730385723 meters 0.015212283411525262 Centerline is valid? [True, True] Translation: X:87.83, Y:-141.60, Z:-9.03 [[-9.98788235e-01 -4.91897938e-02 1.55725129e-03 8.78323190e+01] [ 4.91897457e-02 -9.98789449e-01 -6.91687382e-05 -1.41602909e+02] [ 1.55876855e-03 7.51587292e-06 9.99998785e-01 -9.02595522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.760385723 meters 0.016327188004177547 Centerline is valid? [True, True] Translation: X:87.75, Y:-142.30, Z:-8.04 [[-9.99992934e-01 -3.08204617e-03 2.15263839e-03 8.77518396e+01] [-3.08197603e-03 9.99995250e-01 3.59013616e-05 -1.42304405e+02] [-2.15273881e-03 2.92667280e-05 -9.99997682e-01 -8.04183151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.790385723 meters 0.01692759248327601 Centerline is valid? [True, True] Translation: X:87.74, Y:-141.60, Z:-9.03 [[-9.99346922e-01 -3.60219854e-02 2.85421788e-03 8.77430233e+01] [ 3.60218575e-02 -9.99350998e-01 -9.62478988e-05 -1.41599591e+02] [ 2.85583252e-03 6.62918819e-06 9.99995922e-01 -9.02904368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.820385723 meters 0.016274797966683296 Centerline is valid? [True, True] Translation: X:87.66, Y:-142.31, Z:-8.04 [[-9.99979079e-01 -5.62680153e-03 3.19080935e-03 8.76641083e+01] [-5.62660550e-03 9.99984168e-01 7.04101876e-05 -1.42305099e+02] [-3.19115501e-03 5.24552892e-05 -9.99994907e-01 -8.04089814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.850385723 meters 0.016472925155156665 Centerline is valid? [True, True] Translation: X:87.65, Y:-141.60, Z:-9.03 [[-9.99560917e-01 -2.94140908e-02 3.57558528e-03 8.76491827e+01] [ 2.94137842e-02 -9.99567312e-01 -1.38330049e-04 -1.41599601e+02] [ 3.57810702e-03 -3.30978170e-05 9.99993598e-01 -9.02844399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.880385723 meters 0.015741755555705016 Centerline is valid? [True, True] Translation: X:87.57, Y:-142.31, Z:-8.04 [[-9.99919295e-01 -1.21468206e-02 3.72262622e-03 8.75731883e+01] [-1.21465219e-02 9.99926223e-01 1.02841290e-04 -1.42307765e+02] [-3.72360077e-03 5.76160299e-05 -9.99993066e-01 -8.04162297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.910385723 meters 0.015477694795984018 Centerline is valid? [True, True] Translation: X:87.56, Y:-141.60, Z:-9.03 [[-9.99658642e-01 -2.58144348e-02 4.02673923e-03 8.75552226e+01] [ 2.58140574e-02 -9.99666751e-01 -1.45680870e-04 -1.41603783e+02] [ 4.02915800e-03 -4.16846632e-05 9.99991882e-01 -9.02828348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.940385723 meters 0.015090831990722548 Centerline is valid? [True, True] Translation: X:87.48, Y:-142.30, Z:-8.04 [[-9.99763222e-01 -2.14174711e-02 3.84607814e-03 8.74824695e+01] [-2.14171414e-02 9.99770619e-01 1.26906908e-04 -1.42304889e+02] [-3.84791394e-03 4.45048598e-05 -9.99992596e-01 -8.03986465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.970385723 meters 0.01624902411539989 Centerline is valid? [True, True] Translation: X:87.46, Y:-141.61, Z:-9.03 [[-9.99697086e-01 -2.42224242e-02 4.36006304e-03 8.74629342e+01] [ 2.42221253e-02 -9.99706594e-01 -1.21357978e-04 -1.41611197e+02] [ 4.36172336e-03 -1.57112237e-05 9.99990488e-01 -9.03261405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.000385723 meters 0.014899252050808106 Centerline is valid? [True, True] Translation: X:87.39, Y:-142.31, Z:-8.04 [[-9.99551998e-01 -2.94962027e-02 5.07721182e-03 8.73938447e+01] [-2.94955909e-02 9.99564891e-01 1.95348350e-04 -1.42305051e+02] [-5.08076472e-03 4.55054706e-05 -9.99987092e-01 -8.03791320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.030385723 meters 0.014679795732052048 Centerline is valid? [True, True] Translation: X:87.37, Y:-141.61, Z:-9.03 [[-9.99752275e-01 -2.13186697e-02 6.39557584e-03 8.73665733e+01] [ 2.13184357e-02 -9.99772731e-01 -1.04765575e-04 -1.41612472e+02] [ 6.39635579e-03 3.16040503e-05 9.99979543e-01 -9.03117285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.060385723 meters 0.014562896197522823 Centerline is valid? [True, True] Translation: X:87.30, Y:-142.31, Z:-8.04 [[-9.99307881e-01 -3.67057967e-02 6.03678317e-03 8.72995187e+01] [-3.67048534e-02 9.99326114e-01 2.67015818e-04 -1.42311657e+02] [-6.04251609e-03 4.52517703e-05 -9.99981743e-01 -8.03980421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.090385723 meters 0.016435484412089946 Centerline is valid? [True, True] Translation: X:87.29, Y:-142.28, Z:-8.04 [[-9.94170968e-01 -1.07636919e-01 6.19509363e-03 8.72907966e+01] [-1.07634531e-01 9.94190269e-01 7.18646119e-04 -1.42284025e+02] [-6.23645465e-03 4.76511129e-05 -9.99980552e-01 -8.03804370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.120385723 meters 0.014442737290587407 Centerline is valid? [True, True] Translation: X:87.27, Y:-142.26, Z:-8.04 [[-9.83825382e-01 -1.79060055e-01 5.01138466e-03 8.72732624e+01] [-1.79057547e-01 9.83838145e-01 9.48242829e-04 -1.42256106e+02] [-5.10018380e-03 3.55791166e-05 -9.99986993e-01 -8.04059652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.150385723 meters 0.01430268025302066 Centerline is valid? [True, True] Translation: X:87.24, Y:-142.23, Z:-8.04 [[-9.67997897e-01 -2.50923936e-01 4.15326182e-03 8.72410380e+01] [-2.50921523e-01 9.68006807e-01 1.10076757e-03 -1.42231755e+02] [-4.29659464e-03 2.33979070e-05 -9.99990769e-01 -8.04039864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.180385723 meters 0.015046598150638755 Centerline is valid? [True, True] Translation: X:87.19, Y:-142.22, Z:-8.04 [[-9.47021760e-01 -3.21145895e-01 3.88586192e-03 8.71926657e+01] [-3.21143106e-01 9.47029732e-01 1.33868774e-03 -1.42216485e+02] [-4.10994085e-03 1.98486513e-05 -9.99991554e-01 -8.03895900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.210385723 meters 0.014046330323755343 Centerline is valid? [True, True] Translation: X:87.13, Y:-142.21, Z:-8.04 [[-9.20359779e-01 -3.91055833e-01 3.63493114e-03 8.71281672e+01] [-3.91052722e-01 9.20366957e-01 1.56011273e-03 -1.42212693e+02] [-3.95556170e-03 1.44152944e-05 -9.99992177e-01 -8.04097597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.240385723 meters 0.014028928002519833 Centerline is valid? [True, True] Translation: X:87.06, Y:-142.22, Z:-8.04 [[-8.88780842e-01 -4.58319228e-01 3.47843027e-03 8.70576824e+01] [-4.58315659e-01 8.88787649e-01 1.80872065e-03 -1.42215193e+02] [-3.92055731e-03 1.33371941e-05 -9.99992315e-01 -8.04151763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.270385723 meters 0.014099465403209634 Centerline is valid? [True, True] Translation: X:86.98, Y:-142.23, Z:-8.04 [[-8.52292756e-01 -5.23055464e-01 3.16850716e-03 8.69784814e+01] [-5.23051791e-01 8.52298646e-01 1.96022108e-03 -1.42228215e+02] [-3.72581871e-03 1.33888850e-05 -9.99993059e-01 -8.04119616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.300385723 meters 0.014033367934439857 Centerline is valid? [True, True] Translation: X:86.89, Y:-142.25, Z:-8.04 [[-8.11206369e-01 -5.84747407e-01 3.83360845e-03 8.68934433e+01] [-5.84740755e-01 8.11215427e-01 2.78928666e-03 -1.42252040e+02] [-4.74091046e-03 2.10200098e-05 -9.99988762e-01 -8.04022381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.330385723 meters 0.014186164753261347 Centerline is valid? [True, True] Translation: X:86.80, Y:-142.29, Z:-8.04 [[-7.65311636e-01 -6.43648216e-01 3.88261331e-03 8.68041586e+01] [-6.43639762e-01 7.65321484e-01 3.29892550e-03 -1.42286485e+02] [-5.09479489e-03 2.57017668e-05 -9.99987021e-01 -8.03947695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.360385723 meters 0.014137767798915438 Centerline is valid? [True, True] Translation: X:86.72, Y:-142.33, Z:-8.04 [[-7.15237217e-01 -6.98871653e-01 3.75983815e-03 8.67153433e+01] [-6.98861757e-01 7.15247098e-01 3.71924835e-03 -1.42331376e+02] [-5.28849057e-03 3.25377429e-05 -9.99986015e-01 -8.03998022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.390385723 meters 0.014154129011226606 Centerline is valid? [True, True] Translation: X:86.62, Y:-142.39, Z:-8.04 [[-6.60783426e-01 -7.50570416e-01 3.05185393e-03 8.66242349e+01] [-7.50562186e-01 6.60790473e-01 3.51515915e-03 -1.42389148e+02] [-4.65501047e-03 3.21527495e-05 -9.99989165e-01 -8.04069076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.420385723 meters 0.014166915266340374 Centerline is valid? [True, True] Translation: X:86.53, Y:-142.46, Z:-8.04 [[-6.02319386e-01 -7.98251000e-01 2.58799644e-03 8.65336215e+01] [-7.98243396e-01 6.02324945e-01 3.48442544e-03 -1.42458376e+02] [-4.34026090e-03 3.28859246e-05 -9.99990581e-01 -8.04158536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.450385723 meters 0.01453275641507165 Centerline is valid? [True, True] Translation: X:86.45, Y:-142.54, Z:-8.04 [[-5.40751767e-01 -8.41179397e-01 2.17921648e-03 8.64452199e+01] [-8.41172295e-01 5.40756157e-01 3.45666521e-03 -1.42542209e+02] [-4.08610028e-03 3.61012923e-05 -9.99991651e-01 -8.04130895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.480385723 meters 0.014418512131844023 Centerline is valid? [True, True] Translation: X:86.36, Y:-142.63, Z:-8.04 [[-4.75282940e-01 -8.79830689e-01 2.02142493e-03 8.63620605e+01] [-8.79822365e-01 4.75287237e-01 3.82738521e-03 -1.42627821e+02] [-4.32820843e-03 4.05960372e-05 -9.99990632e-01 -8.04096418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.510385723 meters 0.014434787478754287 Centerline is valid? [True, True] Translation: X:86.30, Y:-142.70, Z:-8.04 [[-4.06357738e-01 -9.13712204e-01 1.84310478e-03 8.62960649e+01] [-9.13702312e-01 4.06361915e-01 4.25201743e-03 -1.42701976e+02] [-4.63408781e-03 4.37910808e-05 -9.99989262e-01 -8.03944668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.540385723 meters 0.014331703054457629 Centerline is valid? [True, True] Translation: X:86.23, Y:-142.80, Z:-8.04 [[-3.34951701e-01 -9.42234045e-01 1.53711851e-03 8.62280312e+01] [-9.42223510e-01 3.34955225e-01 4.45589595e-03 -1.42799992e+02] [-4.71336274e-03 4.42007324e-05 -9.99988891e-01 -8.03939014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.570385723 meters 0.014388364494511644 Centerline is valid? [True, True] Translation: X:86.17, Y:-142.91, Z:-8.04 [[-2.61285407e-01 -9.65260829e-01 1.21160819e-03 8.61663958e+01] [-9.65249661e-01 2.61288213e-01 4.64338073e-03 -1.42907446e+02] [-4.79865248e-03 4.37432311e-05 -9.99988485e-01 -8.03936432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.600385723 meters 0.014852566114397357 Centerline is valid? [True, True] Translation: X:86.11, Y:-143.02, Z:-8.04 [[-1.85999972e-01 -9.82549394e-01 8.35526452e-04 8.61140552e+01] [-9.82538442e-01 1.86001844e-01 4.63935443e-03 -1.43021725e+02] [-4.71380434e-03 4.19829360e-05 -9.99988889e-01 -8.03831748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.630385723 meters 0.014427568709106565 Centerline is valid? [True, True] Translation: X:86.07, Y:-143.14, Z:-8.04 [[-1.09246380e-01 -9.94014568e-01 5.16417028e-04 8.60676790e+01] [-9.94001553e-01 1.09247593e-01 5.08683294e-03 -1.43138386e+02] [-5.11280337e-03 4.23987578e-05 -9.99986929e-01 -8.03818290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.660385723 meters 0.014464898149662102 Centerline is valid? [True, True] Translation: X:85.32, Y:-143.18, Z:-9.03 [[-1.60346434e-01 9.87060430e-01 8.54044480e-04 8.53175815e+01] [-9.87047946e-01 -1.60348702e-01 4.96454420e-03 -1.43178518e+02] [ 5.03725005e-03 -4.69358887e-05 9.99987312e-01 -9.03213703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.690385723 meters 0.014439805399204727 Centerline is valid? [True, True] Translation: X:86.04, Y:-143.44, Z:-8.04 [[-9.86874967e-02 -9.95118370e-01 4.55710858e-04 8.60350336e+01] [-9.95105936e-01 9.86885418e-02 4.97474520e-03 -1.43435910e+02] [-4.99543377e-03 3.74645706e-05 -9.99987522e-01 -8.03709102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.720385723 meters 0.014439805399204727 Centerline is valid? [True, True] Translation: X:86.00, Y:-143.56, Z:-8.04 [[-2.17894622e-02 -9.99762579e-01 7.13933375e-05 8.59993415e+01] [-9.99750101e-01 2.17895469e-02 4.99506521e-03 -1.43557203e+02] [-4.99543491e-03 3.74642881e-05 -9.99987522e-01 -8.03709096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.750385723 meters 0.014431543503671393 Centerline is valid? [True, True] Translation: X:85.97, Y:-143.68, Z:-8.04 [[ 5.55067825e-02 -9.98458272e-01 -2.74746036e-04 8.59736894e+01] [-9.98448723e-01 -5.55074533e-02 4.36683589e-03 -1.43682500e+02] [-4.37535388e-03 3.19308183e-05 -9.99990428e-01 -8.03691720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.780385723 meters 0.014363966448650862 Centerline is valid? [True, True] Translation: X:85.96, Y:-143.81, Z:-8.04 [[ 1.32790076e-01 -9.91143987e-01 -6.26451521e-04 8.59591315e+01] [-9.91134015e-01 -1.32791550e-01 4.44608698e-03 -1.43807677e+02] [-4.48989984e-03 3.05011828e-05 -9.99989920e-01 -8.03784075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.810385723 meters 0.014471932709606016 Centerline is valid? [True, True] Translation: X:85.23, Y:-144.04, Z:-9.03 [[ 7.92266808e-02 9.96856565e-01 -3.49762487e-04 8.52346695e+01] [-9.96845713e-01 7.92274503e-02 4.65149269e-03 -1.44040956e+02] [ 4.66458181e-03 -1.98630908e-05 9.99989121e-01 -9.03206515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.840385723 meters 0.014588052020728248 Centerline is valid? [True, True] Translation: X:86.00, Y:-144.10, Z:-8.04 [[ 1.41478981e-01 -9.89941019e-01 -6.90248046e-04 8.59999091e+01] [-9.89930442e-01 -1.41480660e-01 4.57627642e-03 -1.44100409e+02] [-4.62790050e-03 3.58506285e-05 -9.99989291e-01 -8.03780825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.870385723 meters 0.014577327979151494 Centerline is valid? [True, True] Translation: X:86.00, Y:-144.24, Z:-8.04 [[ 2.17069613e-01 -9.76155641e-01 -9.73628053e-04 8.59972342e+01] [-9.76146526e-01 -2.17071794e-01 4.21855138e-03 -1.44240857e+02] [-4.32930991e-03 3.46843254e-05 -9.99990628e-01 -8.03773614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.900385723 meters 0.014575848523024106 Centerline is valid? [True, True] Translation: X:86.00, Y:-144.36, Z:-8.04 [[ 2.91389690e-01 -9.56603461e-01 -1.36605105e-03 8.59990085e+01] [-9.56593553e-01 -2.91392890e-01 4.35401679e-03 -1.44355963e+02] [-4.56312509e-03 3.80400236e-05 -9.99989588e-01 -8.03750933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.930385723 meters 0.015033975529678832 Centerline is valid? [True, True] Translation: X:86.01, Y:-144.47, Z:-8.04 [[ 3.62594215e-01 -9.31945685e-01 -1.63534777e-03 8.60134640e+01] [-9.31936748e-01 -3.62597901e-01 4.08179360e-03 -1.44473691e+02] [-4.39698361e-03 4.40059313e-05 -9.99990332e-01 -8.03657352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.960385723 meters 0.014664173983129882 Centerline is valid? [True, True] Translation: X:86.04, Y:-144.60, Z:-8.04 [[ 4.32312804e-01 -9.01721243e-01 -2.10722177e-03 8.60362026e+01] [-9.01711115e-01 -4.32317936e-01 4.27396010e-03 -1.44596114e+02] [-4.76491038e-03 5.24176221e-05 -9.99988646e-01 -8.03732451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.990385723 meters 0.01484881372371992 Centerline is valid? [True, True] Translation: X:86.07, Y:-144.71, Z:-8.04 [[ 4.99796427e-01 -8.66139222e-01 -2.52566916e-03 8.60689885e+01] [-8.66128739e-01 -4.99802805e-01 4.26192180e-03 -1.44713890e+02] [-4.95375416e-03 5.74613579e-05 -9.99987728e-01 -8.03722025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.020385723 meters 0.014968974061091 Centerline is valid? [True, True] Translation: X:86.11, Y:-144.83, Z:-8.04 [[ 5.63909731e-01 -8.25829413e-01 -3.40517188e-03 8.61135847e+01] [-8.25815154e-01 -5.63920007e-01 4.85349193e-03 -1.44831357e+02] [-5.92840094e-03 7.51112104e-05 -9.99982424e-01 -8.03699916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.050385723 meters 0.01510216446398183 Centerline is valid? [True, True] Translation: X:86.16, Y:-144.93, Z:-8.04 [[ 6.25606317e-01 -7.80127652e-01 -4.19318705e-03 8.61560354e+01] [-7.80111005e-01 -6.25620364e-01 5.09716072e-03 -1.44934318e+02] [-6.59977923e-03 8.23354140e-05 -9.99978218e-01 -8.03656259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.080385723 meters 0.01511614490570369 Centerline is valid? [True, True] Translation: X:86.21, Y:-145.04, Z:-8.04 [[ 6.83689802e-01 -7.29756844e-01 -4.81699323e-03 8.62077383e+01] [-7.29739593e-01 -6.83706766e-01 5.01844080e-03 -1.45036936e+02] [-6.95565238e-03 8.40938756e-05 -9.99975806e-01 -8.03586069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.110385723 meters 0.014736523437400709 Centerline is valid? [True, True] Translation: X:86.27, Y:-145.14, Z:-8.03 [[ 7.38469878e-01 -6.74265405e-01 -5.32943496e-03 8.62673737e+01] [-6.74248569e-01 -7.38489105e-01 4.76530465e-03 -1.45136501e+02] [-7.14880972e-03 7.43299480e-05 -9.99974444e-01 -8.03484342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.140385723 meters 0.014792094063626582 Centerline is valid? [True, True] Translation: X:86.26, Y:-145.14, Z:-8.03 [[ 7.88952476e-01 -6.14429817e-01 -5.47635218e-03 8.62625902e+01] [-6.14415639e-01 -7.88971479e-01 4.17463766e-03 -1.45142067e+02] [-6.88570754e-03 7.11657084e-05 -9.99976291e-01 -8.03490269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.170385723 meters 0.015269118601288 Centerline is valid? [True, True] Translation: X:86.26, Y:-145.14, Z:-8.04 [[ 8.34185672e-01 -5.51457531e-01 -5.37178279e-03 8.62601684e+01] [-5.51446638e-01 -8.34202965e-01 3.46680968e-03 -1.45144678e+02] [-6.39295543e-03 7.02885917e-05 -9.99979562e-01 -8.03570605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.200385723 meters 0.015229159729540977 Centerline is valid? [True, True] Translation: X:86.26, Y:-145.15, Z:-8.04 [[ 8.74362603e-01 -4.85244762e-01 -5.24968953e-03 8.62574547e+01] [-4.85236498e-01 -8.74378360e-01 2.83299099e-03 -1.45149176e+02] [-5.96490896e-03 7.02795806e-05 -9.99982207e-01 -8.03655802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.230385723 meters 0.01502059229413911 Centerline is valid? [True, True] Translation: X:86.25, Y:-145.16, Z:-8.04 [[ 9.09503717e-01 -4.15665011e-01 -5.05842838e-03 8.62517361e+01] [-4.15658988e-01 -9.09517781e-01 2.23851308e-03 -1.45159342e+02] [-5.53120212e-03 6.66452539e-05 -9.99984701e-01 -8.03751273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.260385723 meters 0.014999739838417665 Centerline is valid? [True, True] Translation: X:86.25, Y:-145.17, Z:-8.04 [[ 9.39288908e-01 -3.43106485e-01 -3.77983980e-03 8.62470091e+01] [-3.43103909e-01 -9.39296512e-01 1.33022847e-03 -1.45170822e+02] [-4.00680036e-03 4.74089685e-05 -9.99991972e-01 -8.03756619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.290385723 meters 0.01527137403472477 Centerline is valid? [True, True] Translation: X:86.24, Y:-145.18, Z:-8.04 [[ 9.63450123e-01 -2.67861253e-01 -3.76947992e-03 8.62431524e+01] [-2.67859376e-01 -9.63457496e-01 1.00357307e-03 -1.45179896e+02] [-3.90055203e-03 4.27979395e-05 -9.99992392e-01 -8.03724118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.320385723 meters 0.014847235161508383 Centerline is valid? [True, True] Translation: X:86.24, Y:-145.19, Z:-8.04 [[ 9.81658941e-01 -1.90603247e-01 -4.01564341e-03 8.62394786e+01] [-1.90601821e-01 -9.81667154e-01 7.38536791e-04 -1.45191264e+02] [-4.08279275e-03 4.03976998e-05 -9.99991665e-01 -8.03783430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.350385723 meters 0.014757396013358515 Centerline is valid? [True, True] Translation: X:86.23, Y:-145.20, Z:-8.04 [[ 9.93828856e-01 -1.10834360e-01 -4.46644308e-03 8.62334605e+01] [-1.10833394e-01 -9.93838892e-01 4.63983359e-04 -1.45199978e+02] [-4.49035014e-03 3.39109962e-05 -9.99989918e-01 -8.03832411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.380385723 meters 0.014630501500766495 Centerline is valid? [True, True] Translation: X:86.23, Y:-145.21, Z:-8.04 [[ 9.99494474e-01 -3.15387822e-02 -4.01260175e-03 8.62288764e+01] [-3.15386314e-02 -9.99502529e-01 1.00866371e-04 -1.45212306e+02] [-4.01378680e-03 2.57365867e-05 -9.99991944e-01 -8.03836121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.410385723 meters 0.014634637658053635 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.22, Z:-8.04 [[ 9.98807341e-01 4.86629687e-02 -3.97625328e-03 8.62248407e+01] [ 4.86625105e-02 -9.98815256e-01 -2.11965570e-04 -1.45224961e+02] [-3.98185731e-03 1.82183004e-05 -9.99992072e-01 -8.03784027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.440385723 meters 0.015496194257997054 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.23, Z:-8.04 [[ 9.91860141e-01 1.27253674e-01 -4.46801704e-03 8.62210334e+01] [ 1.27252300e-01 -9.91870204e-01 -5.91636383e-04 -1.45234669e+02] [-4.50698088e-03 1.82551002e-05 -9.99989843e-01 -8.03528865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.470385723 meters 0.014572605647812131 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.25, Z:-8.04 [[ 9.78705814e-01 2.05218385e-01 -4.51040121e-03 8.62197198e+01] [ 2.05216133e-01 -9.78716207e-01 -9.61419950e-04 -1.45245226e+02] [-4.61170381e-03 1.53402003e-05 -9.99989366e-01 -8.03637353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.500385723 meters 0.014439942567443848 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.26, Z:-8.04 [[ 9.59555495e-01 2.81471779e-01 -5.18562181e-03 8.62189582e+01] [ 2.81467577e-01 -9.59569506e-01 -1.53811739e-03 -1.45255403e+02] [-5.40890120e-03 1.63245881e-05 -9.99985372e-01 -8.03570804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.530385723 meters 0.014547357514057573 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.27, Z:-8.04 [[ 9.34926707e-01 3.54798956e-01 -5.45467157e-03 8.62193236e+01] [ 3.54792772e-01 -9.34942619e-01 -2.09493593e-03 -1.45266650e+02] [-5.84308601e-03 2.33335029e-05 -9.99982929e-01 -8.03591284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.560385723 meters 0.014652733381942805 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.28, Z:-8.04 [[ 9.04770693e-01 4.25864243e-01 -5.44430626e-03 8.62199937e+01] [ 4.25856327e-01 -9.04787072e-01 -2.59684020e-03 -1.45277477e+02] [-6.03183931e-03 3.10526408e-05 -9.99981808e-01 -8.03617387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.590385723 meters 0.014769170463836467 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.29, Z:-8.04 [[ 8.69513037e-01 4.93881195e-01 -5.33325161e-03 8.62218764e+01] [ 4.93871604e-01 -8.69529392e-01 -3.07813539e-03 -1.45288235e+02] [-6.15765221e-03 4.25373292e-05 -9.99981041e-01 -8.03569802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.620385723 meters 0.01515599063726283 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.30, Z:-8.03 [[ 8.30040573e-01 5.57670211e-01 -6.04837565e-03 8.62232014e+01] [ 5.57654746e-01 -8.30062606e-01 -4.15378405e-03 -1.45299508e+02] [-7.33697208e-03 7.49038995e-05 -9.99973081e-01 -8.03340392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.650385723 meters 0.015531353778343112 Centerline is valid? [True, True] Translation: X:86.23, Y:-145.31, Z:-8.03 [[ 7.84833419e-01 6.19677555e-01 -6.01933544e-03 8.62252933e+01] [ 6.19658434e-01 -7.84856496e-01 -4.86883171e-03 -1.45309199e+02] [-7.74142025e-03 9.12898638e-05 -9.99970031e-01 -8.03184565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.680385723 meters 0.016829867727837414 Centerline is valid? [True, True] Translation: X:86.22, Y:-145.31, Z:-8.03 [[ 7.35530466e-01 6.77471051e-01 -5.28291992e-03 8.62230208e+01] [ 6.77452559e-01 -7.35549431e-01 -5.00646894e-03 -1.45313841e+02] [-7.27758651e-03 1.03482818e-04 -9.99973513e-01 -8.03169832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.710385723 meters 0.01609895438520851 Centerline is valid? [True, True] Translation: X:86.23, Y:-145.32, Z:-8.03 [[ 6.81046441e-01 7.32226717e-01 -4.44742827e-03 8.62276885e+01] [ 7.32210120e-01 -6.81060955e-01 -4.93107190e-03 -1.45324071e+02] [-6.63963234e-03 1.01836982e-04 -9.99977952e-01 -8.03395655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.740385723 meters 0.01625614166443344 Centerline is valid? [True, True] Translation: X:86.23, Y:-145.33, Z:-8.04 [[ 6.22318482e-01 7.82757148e-01 -3.30958187e-03 8.62312285e+01] [ 7.82745320e-01 -6.22327277e-01 -4.30397281e-03 -1.45332520e+02] [-5.42860856e-03 8.78821101e-05 -9.99985261e-01 -8.03510584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.770385723 meters 0.016417309049865474 Centerline is valid? [True, True] Translation: X:86.24, Y:-145.34, Z:-8.04 [[ 5.59634689e-01 8.28735852e-01 -2.42941759e-03 8.62356357e+01] [ 8.28727455e-01 -5.59639957e-01 -3.73140725e-03 -1.45341206e+02] [-4.45195012e-03 7.48998802e-05 -9.99990087e-01 -8.03610078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.800385723 meters 0.016045107192314972 Centerline is valid? [True, True] Translation: X:86.25, Y:-145.35, Z:-8.04 [[ 4.92786823e-01 8.70149022e-01 -1.35139985e-03 8.62462509e+01] [ 8.70145486e-01 -4.92788674e-01 -2.48112972e-03 -1.45353015e+02] [-2.82490714e-03 4.67535527e-05 -9.99996009e-01 -8.03695389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.830385723 meters 0.015893552764440072 Centerline is valid? [True, True] Translation: X:86.26, Y:-145.36, Z:-8.04 [[ 4.22273067e-01 9.06468077e-01 -1.04047376e-03 8.62562634e+01] [ 9.06465090e-01 -4.22274347e-01 -2.32756448e-03 -1.45362818e+02] [-2.54922828e-03 3.97146555e-05 -9.99996750e-01 -8.03705265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.860385723 meters 0.015416517144126441 Centerline is valid? [True, True] Translation: X:86.27, Y:-145.37, Z:-8.04 [[ 3.46700171e-01 9.37975783e-01 -6.49616010e-04 8.62691378e+01] [ 9.37974008e-01 -3.46700779e-01 -1.82502044e-03 -1.45372268e+02] [-1.93704735e-03 2.34119653e-05 -9.99998124e-01 -8.03791044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.890385723 meters 0.015162661141375254 Centerline is valid? [True, True] Translation: X:86.28, Y:-145.38, Z:-8.04 [[ 2.70261922e-01 9.62786678e-01 -5.52888514e-04 8.62802646e+01] [ 9.62784498e-01 -2.70262487e-01 -2.04906395e-03 -1.45380123e+02] [-2.12223650e-03 2.14714727e-05 -9.99997748e-01 -8.03850207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.920385723 meters 0.015342570381771182 Centerline is valid? [True, True] Translation: X:86.29, Y:-145.39, Z:-8.04 [[ 1.92386348e-01 9.81319137e-01 -4.93601308e-04 8.62897026e+01] [ 9.81315598e-01 -1.92386980e-01 -2.63581244e-03 -1.45387718e+02] [-2.68153565e-03 2.27156671e-05 -9.99996404e-01 -8.03844853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.950385723 meters 0.014989751160827574 Centerline is valid? [True, True] Translation: X:86.31, Y:-145.39, Z:-8.04 [[ 1.12877778e-01 9.93608855e-01 -2.26772825e-04 8.63057265e+01] [ 9.93606602e-01 -1.12878005e-01 -2.11591991e-03 -1.45394395e+02] [-2.12799443e-03 1.35173623e-05 -9.99997736e-01 -8.03779768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.980385723 meters 0.014996409320385973 Centerline is valid? [True, True] Translation: X:86.32, Y:-145.40, Z:-8.04 [[ 3.39990080e-02 9.99421865e-01 -4.89936047e-05 8.63185299e+01] [ 9.99420376e-01 -3.39990419e-02 -1.72526478e-03 -1.45400625e+02] [-1.72593308e-03 9.69208411e-06 -9.99998511e-01 -8.03688690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.010385723 meters 0.014978895801942957 Centerline is valid? [True, True] Translation: X:86.33, Y:-145.40, Z:-8.04 [[-4.52196301e-02 9.98977066e-01 8.48620780e-05 8.63296878e+01] [ 9.98975628e-01 4.52197090e-02 -1.69501633e-03 -1.45404430e+02] [-1.69711987e-03 8.12713639e-06 -9.99998560e-01 -8.03652743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.040385723 meters 0.015030453190334393 Centerline is valid? [True, True] Translation: X:86.34, Y:-145.41, Z:-8.04 [[-1.23836904e-01 9.92302541e-01 2.98620719e-04 8.63389207e+01] [ 9.92299848e-01 1.23837263e-01 -2.31171810e-03 -1.45409219e+02] [-2.33090412e-03 1.00452820e-05 -9.99997283e-01 -8.03649853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.070385723 meters 0.014987819903735025 Centerline is valid? [True, True] Translation: X:86.35, Y:-145.41, Z:-8.04 [[-2.00811584e-01 9.79629797e-01 4.09922412e-04 8.63468879e+01] [ 9.79627851e-01 2.00812002e-01 -1.95290529e-03 -1.45412233e+02] [-1.99544156e-03 9.40540577e-06 -9.99998009e-01 -8.03773722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.100385723 meters 0.0151907760828063 Centerline is valid? [True, True] Translation: X:86.36, Y:-145.41, Z:-8.04 [[-2.76020207e-01 9.61151735e-01 4.33487880e-04 8.63572696e+01] [ 9.61150598e-01 2.76020547e-01 -1.47811379e-03 -1.45413807e+02] [-1.54034320e-03 8.65786099e-06 -9.99998814e-01 -8.03872612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.130385723 meters 0.015581919948255987 Centerline is valid? [True, True] Translation: X:86.37, Y:-145.42, Z:-8.04 [[-3.47779847e-01 9.37575802e-01 8.91183133e-04 8.63658706e+01] [ 9.37572879e-01 3.47780988e-01 -2.34124653e-03 -1.45416945e+02] [-2.50503264e-03 2.13107776e-05 -9.99996862e-01 -8.03859357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.160385723 meters 0.01578178978517918 Centerline is valid? [True, True] Translation: X:86.38, Y:-145.42, Z:-8.04 [[-4.18632629e-01 9.08154915e-01 1.17169721e-03 8.63770676e+01] [ 9.08151542e-01 4.18634267e-01 -2.47534777e-03 -1.45416585e+02] [-2.73851184e-03 2.78172806e-05 -9.99996250e-01 -8.03764869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.190385723 meters 0.015935309652139473 Centerline is valid? [True, True] Translation: X:86.39, Y:-145.42, Z:-8.04 [[-4.86976028e-01 8.73413635e-01 1.72361364e-03 8.63876945e+01] [ 8.73408461e-01 4.86979077e-01 -3.00659374e-03 -1.45415664e+02] [-3.46536374e-03 4.12796597e-05 -9.99993995e-01 -8.03638871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.220385723 meters 0.016182025565848666 Centerline is valid? [True, True] Translation: X:86.40, Y:-145.41, Z:-8.04 [[-5.53050878e-01 8.33145125e-01 1.98173041e-03 8.63973977e+01] [ 8.33140068e-01 5.53054426e-01 -2.90330660e-03 -1.45414174e+02] [-3.51488052e-03 4.53827485e-05 -9.99993822e-01 -8.03588974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.250385723 meters 0.016467177372145682 Centerline is valid? [True, True] Translation: X:86.41, Y:-145.41, Z:-8.04 [[-6.15181938e-01 7.88382344e-01 2.11249632e-03 8.64061904e+01] [ 7.88377970e-01 6.15185563e-01 -2.62661017e-03 -1.45412833e+02] [-3.37035032e-03 4.96024259e-05 -9.99994319e-01 -8.03641496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.280385723 meters 0.016862877383096764 Centerline is valid? [True, True] Translation: X:86.41, Y:-145.41, Z:-8.04 [[-6.74051914e-01 7.38680306e-01 2.32860498e-03 8.64147851e+01] [ 7.38676175e-01 6.74055934e-01 -2.47110234e-03 -1.45412067e+02] [-3.39496464e-03 5.44337529e-05 -9.99994236e-01 -8.03652460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.310385723 meters 0.016585737288202403 Centerline is valid? [True, True] Translation: X:86.43, Y:-145.40, Z:-8.04 [[-7.27928509e-01 6.85647941e-01 2.64341394e-03 8.64282498e+01] [ 6.85643752e-01 7.27933305e-01 -2.39774460e-03 -1.45403962e+02] [-3.56823769e-03 6.70536007e-05 -9.99993632e-01 -8.03645090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.340385723 meters 0.016831429246331155 Centerline is valid? [True, True] Translation: X:86.45, Y:-145.38, Z:-8.04 [[-7.74062543e-01 6.33103090e-01 2.76715048e-03 8.64501072e+01] [ 6.33099362e-01 7.74067486e-01 -2.17381508e-03 -1.45383951e+02] [-3.51821026e-03 6.92123769e-05 -9.99993809e-01 -8.03671282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.370385723 meters 0.01674841562030276 Centerline is valid? [True, True] Translation: X:86.47, Y:-145.36, Z:-8.04 [[-8.16594442e-01 5.77204685e-01 2.87535369e-03 8.64696291e+01] [ 5.77201408e-01 8.16599502e-01 -1.94633073e-03 -1.45361132e+02] [-3.47144361e-03 7.02953445e-05 -9.99993972e-01 -8.03712044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.400385723 meters 0.016975120020924103 Centerline is valid? [True, True] Translation: X:86.89, Y:-144.75, Z:-9.03 [[-8.00619468e-01 -5.99167976e-01 2.49083429e-03 8.68915812e+01] [ 5.99164753e-01 -8.00623338e-01 -1.96689310e-03 -1.44748947e+02] [ 3.17271942e-03 -8.23127969e-05 9.99994964e-01 -9.03248675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.430385723 meters 0.016711682173169252 Centerline is valid? [True, True] Translation: X:86.87, Y:-144.78, Z:-9.03 [[-7.57841431e-01 -6.52436080e-01 1.87788695e-03 8.68701193e+01] [ 6.52433920e-01 -7.57843756e-01 -1.67956494e-03 -1.44775833e+02] [ 2.51895367e-03 -4.76467521e-05 9.99996826e-01 -9.03281481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.460385723 meters 0.01621408211210103 Centerline is valid? [True, True] Translation: X:86.85, Y:-144.81, Z:-9.03 [[-7.11068343e-01 -7.03121035e-01 1.61906227e-03 8.68542171e+01] [ 7.03119083e-01 -7.11070186e-01 -1.65729676e-03 -1.44808330e+02] [ 2.31654712e-03 -4.00576810e-05 9.99997316e-01 -9.03281680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.490385723 meters 0.015577974189671969 Centerline is valid? [True, True] Translation: X:86.83, Y:-144.79, Z:-9.03 [[-7.08835947e-01 -7.05369724e-01 2.27004241e-03 8.68313517e+01] [ 7.05365902e-01 -7.08839581e-01 -2.32244726e-03 -1.44791082e+02] [ 3.24727989e-03 -4.50235923e-05 9.99994727e-01 -9.03318201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.520385723 meters 0.015263971698363502 Centerline is valid? [True, True] Translation: X:86.81, Y:-144.77, Z:-9.03 [[-7.08150495e-01 -7.06058182e-01 2.17249791e-03 8.68099034e+01] [ 7.06054689e-01 -7.08153826e-01 -2.22139080e-03 -1.44772626e+02] [ 3.10689386e-03 -3.91766582e-05 9.99995173e-01 -9.03285974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.550385723 meters 0.015235940132500222 Centerline is valid? [True, True] Translation: X:86.79, Y:-144.75, Z:-9.03 [[-7.07609010e-01 -7.06602295e-01 1.63841398e-03 8.67888131e+01] [ 7.06600312e-01 -7.07610907e-01 -1.67430181e-03 -1.44754941e+02] [ 2.34242511e-03 -2.70472168e-05 9.99997256e-01 -9.03257671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.580385723 meters 0.015245462149182447 Centerline is valid? [True, True] Translation: X:86.77, Y:-144.74, Z:-9.03 [[-7.07450093e-01 -7.06761920e-01 1.39795011e-03 8.67681067e+01] [ 7.06760478e-01 -7.07451474e-01 -1.42778949e-03 -1.44735655e+02] [ 1.99808911e-03 -2.20739176e-05 9.99998004e-01 -9.03183213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.610385723 meters 0.015245462149182447 Centerline is valid? [True, True] Translation: X:86.75, Y:-144.72, Z:-9.03 [[-7.07643587e-01 -7.06568184e-01 1.39834101e-03 8.67487629e+01] [ 7.06566742e-01 -7.07644968e-01 -1.42740666e-03 -1.44715987e+02] [ 1.99808911e-03 -2.20739179e-05 9.99998004e-01 -9.03183211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.640385723 meters 0.015234666702386962 Centerline is valid? [True, True] Translation: X:86.73, Y:-144.70, Z:-9.03 [[-7.07662233e-01 -7.06550112e-01 1.05057136e-03 8.67284575e+01] [ 7.06549299e-01 -7.07663012e-01 -1.07175026e-03 -1.44697950e+02] [ 1.50069576e-03 -1.61567251e-05 9.99998874e-01 -9.03196557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.670385723 meters 0.014999891952074117 Centerline is valid? [True, True] Translation: X:86.71, Y:-144.68, Z:-9.03 [[-7.07175059e-01 -7.07038258e-01 5.81271296e-04 8.67054763e+01] [ 7.07038010e-01 -7.07175298e-01 -5.92661923e-04 -1.44680905e+02] [ 8.30095355e-04 -8.13482981e-06 9.99999655e-01 -9.03206818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.700385723 meters 0.01490690073536819 Centerline is valid? [True, True] Translation: X:86.69, Y:-144.66, Z:-9.03 [[-7.07291549e-01 -7.06921528e-01 7.86206939e-04 8.66857618e+01] [ 7.06921074e-01 -7.07291986e-01 -8.01092220e-04 -1.44663111e+02] [ 1.12238720e-03 -1.08195035e-05 9.99999370e-01 -9.03176956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.730385723 meters 0.014896421785576939 Centerline is valid? [True, True] Translation: X:86.67, Y:-144.64, Z:-9.03 [[-7.07654252e-01 -7.06558738e-01 4.56155323e-04 8.66654979e+01] [ 7.06558586e-01 -7.07654399e-01 -4.64507646e-04 -1.44644381e+02] [ 6.51002258e-04 -6.41035055e-06 9.99999788e-01 -9.03176619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.760385723 meters 0.015226927185569566 Centerline is valid? [True, True] Translation: X:86.64, Y:-144.63, Z:-9.03 [[-7.09267806e-01 -7.04939119e-01 1.30984068e-04 8.66443884e+01] [ 7.04939107e-01 -7.09267818e-01 -1.33306336e-04 -1.44626792e+02] [ 1.86875635e-04 -2.21410096e-06 9.99999983e-01 -9.03234179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.790385723 meters 0.015300006063287845 Centerline is valid? [True, True] Translation: X:86.62, Y:-144.61, Z:-9.03 [[-7.10111367e-01 -7.04089319e-01 2.78303535e-04 8.66241296e+01] [ 7.04089262e-01 -7.10111421e-01 -2.83066564e-04 -1.44608210e+02] [ 3.96930663e-04 -5.05825465e-06 9.99999921e-01 -9.03263625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.820385723 meters 0.01537201541991798 Centerline is valid? [True, True] Translation: X:86.60, Y:-144.59, Z:-9.03 [[-7.10789788e-01 -7.03404082e-01 7.58407355e-04 8.66042304e+01] [ 7.03403659e-01 -7.10790192e-01 -7.70923351e-04 -1.44589724e+02] [ 1.08133914e-03 -1.44979358e-05 9.99999415e-01 -9.03311815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.850385723 meters 0.015491267265932186 Centerline is valid? [True, True] Translation: X:86.58, Y:-144.57, Z:-9.03 [[-7.11628799e-01 -7.02553116e-01 1.88967084e-03 8.65833545e+01] [ 7.02550495e-01 -7.11631307e-01 -1.91969305e-03 -1.44571859e+02] [ 2.69343526e-03 -3.85196800e-05 9.99996372e-01 -9.03379342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.880385723 meters 0.015458822811296685 Centerline is valid? [True, True] Translation: X:86.56, Y:-144.55, Z:-9.03 [[-7.11788242e-01 -7.02390671e-01 2.20099531e-03 8.65631014e+01] [ 7.02387117e-01 -7.11791644e-01 -2.23461149e-03 -1.44553930e+02] [ 3.13622034e-03 -4.46194338e-05 9.99995081e-01 -9.03440374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.910385723 meters 0.015184315451516509 Centerline is valid? [True, True] Translation: X:86.54, Y:-144.54, Z:-9.04 [[-7.11356011e-01 -7.02827740e-01 2.40690063e-03 8.65403749e+01] [ 7.02823498e-01 -7.11360082e-01 -2.44215960e-03 -1.44538682e+02] [ 3.42859055e-03 -4.56185928e-05 9.99994121e-01 -9.03529782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.940385723 meters 0.015105177098470288 Centerline is valid? [True, True] Translation: X:86.52, Y:-144.52, Z:-9.04 [[-7.11156309e-01 -7.03028546e-01 2.75088291e-03 8.65196868e+01] [ 7.03023014e-01 -7.11161628e-01 -2.78947417e-03 -1.44520633e+02] [ 3.91740234e-03 -4.98181621e-05 9.99992326e-01 -9.03589511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.970385723 meters 0.014821098230305295 Centerline is valid? [True, True] Translation: X:86.50, Y:-144.50, Z:-9.04 [[-7.10837282e-01 -7.03347391e-01 3.57854243e-03 8.64982828e+01] [ 7.03338043e-01 -7.10846287e-01 -3.62674269e-03 -1.44502329e+02] [ 5.09465361e-03 -6.10988806e-05 9.99987020e-01 -9.03663311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.000385723 meters 0.014755518020732142 Centerline is valid? [True, True] Translation: X:86.48, Y:-144.48, Z:-9.04 [[-7.09958781e-01 -7.04227543e-01 4.70079930e-03 8.64762889e+01] [ 7.04211449e-01 -7.09974340e-01 -4.76150167e-03 -1.44484879e+02] [ 6.69062750e-03 -7.01132386e-05 9.99977615e-01 -9.03815091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.030385723 meters 0.014678650640552017 Centerline is valid? [True, True] Translation: X:86.46, Y:-144.47, Z:-9.04 [[-7.09647037e-01 -7.04540940e-01 4.81105745e-03 8.64563469e+01] [ 7.04524108e-01 -7.09663342e-01 -4.87052679e-03 -1.44465835e+02] [ 6.84571663e-03 -6.68489460e-05 9.99976566e-01 -9.03827003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.060385723 meters 0.014685637122368572 Centerline is valid? [True, True] Translation: X:86.44, Y:-144.45, Z:-9.04 [[-7.09591780e-01 -7.04598649e-01 4.50001824e-03 8.64366096e+01] [ 7.04583942e-01 -7.09606046e-01 -4.55285738e-03 -1.44446999e+02] [ 6.40117730e-03 -6.00295841e-05 9.99979510e-01 -9.03776876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.090385723 meters 0.014650780022014512 Centerline is valid? [True, True] Translation: X:86.42, Y:-144.43, Z:-9.04 [[-7.09373837e-01 -7.04821380e-01 3.94739680e-03 8.64178036e+01] [ 7.04810077e-01 -7.09384818e-01 -3.99186197e-03 -1.44428709e+02] [ 5.61377302e-03 -4.95573957e-05 9.99984241e-01 -9.03662592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.120385723 meters 0.014386260737877405 Centerline is valid? [True, True] Translation: X:86.40, Y:-144.41, Z:-9.04 [[-7.09577625e-01 -7.04620803e-01 3.01964503e-03 8.63964905e+01] [ 7.04614195e-01 -7.09584049e-01 -3.05196589e-03 -1.44409793e+02] [ 4.29317060e-03 -3.79219499e-05 9.99990784e-01 -9.03538052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.150385723 meters 0.014266963028243956 Centerline is valid? [True, True] Translation: X:86.38, Y:-144.39, Z:-9.03 [[-7.09328879e-01 -7.04874580e-01 2.08996443e-03 8.63755432e+01] [ 7.04871418e-01 -7.09331957e-01 -2.11147937e-03 -1.44392059e+02] [ 2.97080670e-03 -2.45771029e-05 9.99995587e-01 -9.03425763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.180385723 meters 0.014221737325059377 Centerline is valid? [True, True] Translation: X:86.36, Y:-144.37, Z:-9.03 [[-7.09499060e-01 -7.04703513e-01 2.01055140e-03 8.63552184e+01] [ 7.04700590e-01 -7.09501908e-01 -2.03013720e-03 -1.44372899e+02] [ 2.85713487e-03 -2.35436749e-05 9.99995918e-01 -9.03423276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.210385723 meters 0.014149977534052376 Centerline is valid? [True, True] Translation: X:86.33, Y:-144.35, Z:-9.03 [[-7.09319277e-01 -7.04884802e-01 1.89167655e-03 8.63335109e+01] [ 7.04882217e-01 -7.09321799e-01 -1.90911441e-03 -1.44354192e+02] [ 2.68751315e-03 -2.07624944e-05 9.99996388e-01 -9.03409748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.240385723 meters 0.014070483918350479 Centerline is valid? [True, True] Translation: X:86.31, Y:-144.34, Z:-9.03 [[-7.08987349e-01 -7.05218378e-01 1.99469109e-03 8.63133117e+01] [ 7.05215508e-01 -7.08990155e-01 -2.01197180e-03 -1.44335360e+02] [ 2.83309583e-03 -1.97754629e-05 9.99995987e-01 -9.03437992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.270385723 meters 0.014006053259128156 Centerline is valid? [True, True] Translation: X:86.29, Y:-144.32, Z:-9.03 [[-7.08543086e-01 -7.05663574e-01 2.36985725e-03 8.62937353e+01] [ 7.05659530e-01 -7.08547049e-01 -2.38900272e-03 -1.44316768e+02] [ 3.36498756e-03 -2.03990074e-05 9.99994338e-01 -9.03464259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.300385723 meters 0.013820788859135551 Centerline is valid? [True, True] Translation: X:86.27, Y:-144.30, Z:-9.04 [[-7.07552177e-01 -7.06652606e-01 3.46564601e-03 8.62722959e+01] [ 7.06643980e-01 -7.07560664e-01 -3.49165039e-03 -1.44297964e+02] [ 4.91953864e-03 -2.15469450e-05 9.99987899e-01 -9.03517039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.330385723 meters 0.013771797346624681 Centerline is valid? [True, True] Translation: X:86.25, Y:-144.28, Z:-9.04 [[-7.07583896e-01 -7.06617787e-01 4.04142387e-03 8.62525568e+01] [ 7.06606070e-01 -7.07595437e-01 -4.06929878e-03 -1.44279197e+02] [ 5.73513199e-03 -2.36756471e-05 9.99983554e-01 -9.03602211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.360385723 meters 0.013838224244539626 Centerline is valid? [True, True] Translation: X:86.23, Y:-144.26, Z:-9.04 [[-7.07688108e-01 -7.06509127e-01 4.73240155e-03 8.62339379e+01] [ 7.06493078e-01 -7.07703930e-01 -4.76219701e-03 -1.44260104e+02] [ 6.71367483e-03 -2.67412567e-05 9.99977463e-01 -9.03726403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.390385723 meters 0.013759915680294419 Centerline is valid? [True, True] Translation: X:86.21, Y:-144.24, Z:-9.04 [[-7.07995007e-01 -7.06201276e-01 4.77779138e-03 8.62141541e+01] [ 7.06184929e-01 -7.08011128e-01 -4.80520194e-03 -1.44240274e+02] [ 6.77616921e-03 -2.80547220e-05 9.99977041e-01 -9.03670421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.420385723 meters 0.013754045761079126 Centerline is valid? [True, True] Translation: X:86.19, Y:-144.22, Z:-9.04 [[-7.08099867e-01 -7.06095078e-01 4.93154305e-03 8.61944645e+01] [ 7.06077677e-01 -7.08117039e-01 -4.95708660e-03 -1.44220341e+02] [ 6.99228411e-03 -2.80598987e-05 9.99975553e-01 -9.03677445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.450385723 meters 0.013675086460812816 Centerline is valid? [True, True] Translation: X:86.17, Y:-144.20, Z:-9.04 [[-7.07437464e-01 -7.06752159e-01 5.79837689e-03 8.61743934e+01] [ 7.06728153e-01 -7.07461225e-01 -5.82517626e-03 -1.44200090e+02] [ 8.21908272e-03 -2.30717277e-05 9.99966223e-01 -9.03807606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.480385723 meters 0.01363688618839677 Centerline is valid? [True, True] Translation: X:86.15, Y:-144.18, Z:-9.04 [[-7.07202681e-01 -7.06982372e-01 6.34777044e-03 8.61549572e+01] [ 7.06953642e-01 -7.07231169e-01 -6.37353482e-03 -1.44180015e+02] [ 8.99531787e-03 -1.98014752e-05 9.99959541e-01 -9.03835770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.510385723 meters 0.013669796340840137 Centerline is valid? [True, True] Translation: X:86.14, Y:-144.16, Z:-9.04 [[-7.06847126e-01 -7.07333594e-01 6.80642607e-03 8.61369286e+01] [ 7.07300606e-01 -7.06879895e-01 -6.83125686e-03 -1.44160423e+02] [ 9.64330322e-03 -1.44649876e-05 9.99953502e-01 -9.03953957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.540385723 meters 0.01368013142736077 Centerline is valid? [True, True] Translation: X:86.12, Y:-144.14, Z:-9.04 [[-7.06617768e-01 -7.07560491e-01 7.03429434e-03 8.61195988e+01] [ 7.07525311e-01 -7.06652780e-01 -7.05566345e-03 -1.44139237e+02] [ 9.96311235e-03 -8.71586537e-06 9.99950367e-01 -9.03916232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.570385723 meters 0.013726611789589827 Centerline is valid? [True, True] Translation: X:86.10, Y:-144.12, Z:-9.04 [[-7.06328919e-01 -7.07849203e-01 6.99742313e-03 8.61006769e+01] [ 7.07814444e-01 -7.06363579e-01 -7.01480632e-03 -1.44118621e+02] [ 9.90814991e-03 -1.88339256e-06 9.99950913e-01 -9.03833961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.600385723 meters 0.013697161896458969 Centerline is valid? [True, True] Translation: X:86.08, Y:-144.10, Z:-9.04 [[-7.05514198e-01 -7.08660582e-01 7.06366373e-03 8.60811528e+01] [ 7.08625241e-01 -7.05549558e-01 -7.07730307e-03 -1.44098126e+02] [ 9.99917054e-03 1.23526138e-05 9.99950007e-01 -9.03815261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.630385723 meters 0.013750019294170109 Centerline is valid? [True, True] Translation: X:86.06, Y:-144.08, Z:-9.04 [[-7.03391065e-01 -7.10765633e-01 7.29557876e-03 8.60617447e+01] [ 7.10728088e-01 -7.03428897e-01 -7.30565064e-03 -1.44077381e+02] [ 1.03245263e-02 4.64433595e-05 9.99946700e-01 -9.03894733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.660385723 meters 0.013879854589580978 Centerline is valid? [True, True] Translation: X:86.04, Y:-144.06, Z:-9.04 [[-7.02434825e-01 -7.11711055e-01 7.25883492e-03 8.60436310e+01] [ 7.11673986e-01 -7.02472327e-01 -7.26414177e-03 -1.44058692e+02] [ 1.02691007e-02 6.33378301e-05 9.99947269e-01 -9.03912838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.690385723 meters 0.014168920957236793 Centerline is valid? [True, True] Translation: X:86.03, Y:-144.04, Z:-9.04 [[-7.00893637e-01 -7.13223984e-01 7.72386688e-03 8.60259243e+01] [ 7.13182153e-01 -7.00936188e-01 -7.72508373e-03 -1.44038223e+02] [ 1.09236528e-02 9.40619763e-05 9.99940331e-01 -9.04016013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.720385723 meters 0.014414824112970064 Centerline is valid? [True, True] Translation: X:86.01, Y:-144.02, Z:-9.04 [[-7.00301487e-01 -7.13805032e-01 7.75914480e-03 8.60085894e+01] [ 7.13762907e-01 -7.00344462e-01 -7.75548433e-03 -1.44018816e+02] [ 1.09699778e-02 1.07012542e-04 9.99939822e-01 -9.04035492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.750385723 meters 0.014506310012222346 Centerline is valid? [True, True] Translation: X:85.55, Y:-144.47, Z:-8.03 [[-7.62212547e-01 6.47269968e-01 8.58023726e-03 8.55457624e+01] [ 6.47227224e-01 7.62260831e-01 -7.43950657e-03 -1.44474366e+02] [-1.13557480e-02 -1.17122112e-04 -9.99935515e-01 -8.02969445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.780385723 meters 0.014374321794850533 Centerline is valid? [True, True] Translation: X:85.56, Y:-144.45, Z:-8.03 [[-8.06490248e-01 5.91185444e-01 8.55869821e-03 8.55582822e+01] [ 5.91150605e-01 8.06535651e-01 -6.41912688e-03 -1.44453889e+02] [-1.06977896e-02 -1.17483601e-04 -9.99942770e-01 -8.03119452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.810385723 meters 0.014551875603254993 Centerline is valid? [True, True] Translation: X:85.94, Y:-143.91, Z:-9.04 [[-7.50355899e-01 -6.60992634e-01 7.40017564e-03 8.59406243e+01] [ 6.60961209e-01 -7.50392387e-01 -6.44554821e-03 -1.43913400e+02] [ 9.81349536e-03 5.47739159e-05 9.99951845e-01 -9.03830112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.840385723 meters 0.014475215237198337 Centerline is valid? [True, True] Translation: X:85.51, Y:-144.43, Z:-8.03 [[-8.09021119e-01 5.87729211e-01 7.69436719e-03 8.55095726e+01] [ 5.87701317e-01 8.09057700e-01 -5.72712325e-03 -1.44426029e+02] [-9.59118465e-03 -1.11373935e-04 -9.99953997e-01 -8.03215035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.870385723 meters 0.014714318068433221 Centerline is valid? [True, True] Translation: X:85.53, Y:-144.41, Z:-8.03 [[-8.48608314e-01 5.28962435e-01 7.91661925e-03 8.55289523e+01] [ 5.28938209e-01 8.48645233e-01 -5.06356839e-03 -1.44407573e+02] [-9.39683864e-03 -1.09583824e-04 -9.99955843e-01 -8.03194632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.900385723 meters 0.014364097694847712 Centerline is valid? [True, True] Translation: X:85.54, Y:-144.39, Z:-8.03 [[-8.83846264e-01 4.67695630e-01 8.75098200e-03 8.55432411e+01] [ 4.67671419e-01 8.83889577e-01 -4.76019536e-03 -1.44386695e+02] [-9.96122435e-03 -1.14696717e-04 -9.99950379e-01 -8.03202089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.930385723 meters 0.014527201389781745 Centerline is valid? [True, True] Translation: X:85.88, Y:-143.79, Z:-9.04 [[-8.38295160e-01 -5.45146806e-01 8.72834434e-03 8.58795949e+01] [ 5.45118997e-01 -8.38340587e-01 -5.50806302e-03 -1.43787146e+02] [ 1.03200283e-02 1.40603741e-04 9.99946737e-01 -9.03918238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.960385723 meters 0.014648837276868066 Centerline is valid? [True, True] Translation: X:85.51, Y:-144.38, Z:-8.03 [[-8.85034693e-01 4.65428973e-01 9.45848532e-03 8.55087927e+01] [ 4.65401037e-01 8.85085227e-01 -5.10058410e-03 -1.44376632e+02] [-1.07455252e-02 -1.12205004e-04 -9.99942259e-01 -8.02980706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.990385723 meters 0.014286364648165083 Centerline is valid? [True, True] Translation: X:85.52, Y:-144.36, Z:-8.03 [[-9.15405080e-01 4.02408355e-01 1.00526324e-02 8.55214571e+01] [ 4.02382830e-01 9.15460269e-01 -4.53359293e-03 -1.44355211e+02] [-1.10271412e-02 -1.05067337e-04 -9.99939194e-01 -8.02999604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.020385723 meters 0.014295278560754356 Centerline is valid? [True, True] Translation: X:85.53, Y:-144.34, Z:-8.03 [[-9.40842002e-01 3.38663056e-01 1.11203374e-02 8.55282284e+01] [ 3.38638321e-01 9.40907715e-01 -4.09394803e-03 -1.44335204e+02] [-1.18496802e-02 -8.59858695e-05 -9.99929786e-01 -8.02921665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.050385723 meters 0.01412560945979211 Centerline is valid? [True, True] Translation: X:85.54, Y:-144.31, Z:-8.03 [[-9.62022724e-01 2.72718188e-01 1.17075988e-02 8.55378499e+01] [ 2.72697105e-01 9.62093959e-01 -3.39175556e-03 -1.44312718e+02] [-1.21888035e-02 -7.03176201e-05 -9.99925711e-01 -8.03017621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.080385723 meters 0.01385762347674053 Centerline is valid? [True, True] Translation: X:85.55, Y:-144.29, Z:-8.03 [[-9.78278767e-01 2.06902006e-01 1.27363355e-02 8.55498667e+01] [ 2.06884028e-01 9.78361671e-01 -2.72768400e-03 -1.44292463e+02] [-1.30251058e-02 -3.34909350e-05 -9.99915169e-01 -8.03104550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.110385723 meters 0.013908302810176259 Centerline is valid? [True, True] Translation: X:85.54, Y:-144.26, Z:-8.03 [[-9.90310933e-01 1.38313068e-01 1.23996211e-02 8.55422497e+01] [ 1.38302037e-01 9.90388558e-01 -1.74681011e-03 -1.44264685e+02] [-1.25220496e-02 -1.49922857e-05 -9.99921596e-01 -8.03095862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.140385723 meters 0.014008088223929793 Centerline is valid? [True, True] Translation: X:85.55, Y:-144.24, Z:-8.03 [[-9.97554249e-01 6.87608021e-02 1.25487974e-02 8.55470688e+01] [ 6.87553538e-02 9.97633175e-01 -8.65574011e-04 -1.44239908e+02] [-1.25786142e-02 -6.60024094e-07 -9.99920886e-01 -8.03136791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.170385723 meters 0.01409084054368333 Centerline is valid? [True, True] Translation: X:85.61, Y:-143.48, Z:-9.04 [[-9.90943585e-01 -1.33577451e-01 1.37067683e-02 8.56139621e+01] [ 1.33565779e-01 -9.91038374e-01 -1.76759087e-03 -1.43482177e+02] [ 1.38200437e-02 7.91723647e-05 9.99904496e-01 -9.03709184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.200385723 meters 0.014157533788573306 Centerline is valid? [True, True] Translation: X:85.48, Y:-144.25, Z:-8.03 [[-9.97633535e-01 6.72834824e-02 1.41514373e-02 8.54834332e+01] [ 6.72773882e-02 9.97733898e-01 -9.06798221e-04 -1.44246067e+02] [-1.41803813e-02 4.74194288e-05 -9.99899452e-01 -8.03295014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.230385723 meters 0.014233778561529268 Centerline is valid? [True, True] Translation: X:85.48, Y:-144.22, Z:-8.03 [[-9.99893099e-01 -2.99483080e-03 1.43115703e-02 8.54834274e+01] [-2.99366124e-03 9.99995514e-01 1.03144062e-04 -1.44219740e+02] [-1.43118150e-02 6.02890425e-05 -9.99897579e-01 -8.03335553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.260385723 meters 0.014550134064237318 Centerline is valid? [True, True] Translation: X:85.48, Y:-143.44, Z:-9.04 [[-9.98351019e-01 -5.55896039e-02 1.43191632e-02 8.54784825e+01] [ 5.55830498e-02 -9.98453701e-01 -8.55588171e-04 -1.43435813e+02] [ 1.43445833e-02 -5.82745584e-05 9.99897110e-01 -9.03556061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.290385723 meters 0.014667131410477628 Centerline is valid? [True, True] Translation: X:85.38, Y:-144.23, Z:-8.03 [[-9.99847538e-01 -9.26957325e-03 1.47978486e-02 8.53811688e+01] [-9.26765702e-03 9.99957035e-01 1.98064151e-04 -1.44225379e+02] [-1.47990487e-02 6.08925681e-05 -9.99890486e-01 -8.03408411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.320385723 meters 0.014932979034950552 Centerline is valid? [True, True] Translation: X:85.37, Y:-143.43, Z:-9.04 [[-9.98578799e-01 -5.11426346e-02 1.49937735e-02 8.53671686e+01] [ 5.11361607e-02 -9.98691358e-01 -8.15085970e-04 -1.43433360e+02] [ 1.50158377e-02 -4.72035567e-05 9.99887255e-01 -9.03504137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.350385723 meters 0.014823196458274478 Centerline is valid? [True, True] Translation: X:85.27, Y:-144.23, Z:-8.04 [[-9.99736746e-01 -1.79587367e-02 1.42801247e-02 8.52746588e+01] [-1.79565585e-02 9.99838729e-01 2.80748975e-04 -1.44225531e+02] [-1.42828637e-02 2.42531712e-05 -9.99897994e-01 -8.03612051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.380385723 meters 0.014907024497934337 Centerline is valid? [True, True] Translation: X:85.26, Y:-143.44, Z:-9.03 [[-9.98782235e-01 -4.73468076e-02 1.38682268e-02 8.52603031e+01] [ 4.73415442e-02 -9.98878510e-01 -7.07752117e-04 -1.43435717e+02] [ 1.38861835e-02 -5.03469689e-05 9.99903581e-01 -9.03287674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.410385723 meters 0.015090210719304416 Centerline is valid? [True, True] Translation: X:85.16, Y:-144.23, Z:-8.04 [[-9.99552154e-01 -2.64194736e-02 1.40535769e-02 8.51631643e+01] [-2.64171460e-02 9.99650945e-01 3.51272560e-04 -1.44225821e+02] [-1.40579518e-02 -2.01401474e-05 -9.99901182e-01 -8.03782231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.440385723 meters 0.015264232986433661 Centerline is valid? [True, True] Translation: X:85.13, Y:-144.20, Z:-8.04 [[-9.95083247e-01 -9.80098540e-02 1.42618555e-02 8.51311178e+01] [-9.80002054e-02 9.95185444e-01 1.37552300e-03 -1.44199680e+02] [-1.43280058e-02 -2.89048703e-05 -9.99897348e-01 -8.03717497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.470385723 meters 0.015419476239845563 Centerline is valid? [True, True] Translation: X:85.14, Y:-144.17, Z:-8.04 [[-9.85230159e-01 -1.70594879e-01 1.47959577e-02 8.51393961e+01] [-1.70576309e-01 9.85341253e-01 2.51744453e-03 -1.44168145e+02] [-1.50085306e-02 -4.35775755e-05 -9.99887365e-01 -8.03840748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.500385723 meters 0.015478212065391262 Centerline is valid? [True, True] Translation: X:85.12, Y:-144.14, Z:-8.04 [[-9.70410943e-01 -2.41002922e-01 1.48389397e-02 8.51152256e+01] [-2.40975448e-01 9.70524389e-01 3.63921282e-03 -1.44142459e+02] [-1.52786138e-02 -4.42882089e-05 -9.99883274e-01 -8.03795764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.530385723 meters 0.015478212065391262 Centerline is valid? [True, True] Translation: X:85.07, Y:-144.13, Z:-8.04 [[-9.50214093e-01 -3.11258666e-01 1.45334315e-02 8.50651400e+01] [-3.11222978e-01 9.50325229e-01 4.71351444e-03 -1.44126826e+02] [-1.52786088e-02 -4.42899780e-05 -9.99883274e-01 -8.03795778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.560385723 meters 0.015432277861993958 Centerline is valid? [True, True] Translation: X:85.00, Y:-144.12, Z:-8.04 [[-9.24789048e-01 -3.80219210e-01 1.40914871e-02 8.50049520e+01] [-3.80175711e-01 9.24896400e-01 5.75133932e-03 -1.44117025e+02] [-1.52199353e-02 -3.84654991e-05 -9.99884169e-01 -8.03873172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.590385723 meters 0.01549391023539021 Centerline is valid? [True, True] Translation: X:84.93, Y:-144.12, Z:-8.04 [[-8.94248343e-01 -4.47350252e-01 1.40589431e-02 8.49328232e+01] [-4.47295510e-01 8.94358849e-01 6.99826669e-03 -1.44117481e+02] [-1.57044166e-02 -3.03137349e-05 -9.99876678e-01 -8.03865946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.620385723 meters 0.015614423385537755 Centerline is valid? [True, True] Translation: X:84.85, Y:-144.13, Z:-8.04 [[-8.59381552e-01 -5.11159642e-01 1.33854202e-02 8.48474572e+01] [-5.11097618e-01 8.59485788e-01 7.96266713e-03 -1.44132559e+02] [-1.55747725e-02 1.71287054e-06 -9.99878706e-01 -8.04036749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.650385723 meters 0.015631348295414623 Centerline is valid? [True, True] Translation: X:84.76, Y:-144.15, Z:-8.04 [[-8.19313877e-01 -5.73213926e-01 1.22705473e-02 8.47616705e+01] [-5.73149250e-01 8.19405757e-01 8.61063080e-03 -1.44154995e+02] [-1.49902906e-02 2.19542918e-05 -9.99887639e-01 -8.04147995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.680385723 meters 0.015898719687674753 Centerline is valid? [True, True] Translation: X:84.68, Y:-144.18, Z:-8.04 [[-7.75700833e-01 -6.31009068e-01 1.07598580e-02 8.46803215e+01] [-6.30947162e-01 7.75775452e-01 8.83897838e-03 -1.44182868e+02] [-1.39247092e-02 6.75010036e-05 -9.99903044e-01 -8.04334631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.710385723 meters 0.015965012209398204 Centerline is valid? [True, True] Translation: X:84.59, Y:-144.23, Z:-8.04 [[-7.26603930e-01 -6.86986760e-01 9.79387834e-03 8.45865429e+01] [-6.86922773e-01 7.26669928e-01 9.37654055e-03 -1.44227511e+02] [-1.35584761e-02 8.53931396e-05 -9.99908076e-01 -8.04365621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.740385723 meters 0.016099763790107212 Centerline is valid? [True, True] Translation: X:84.49, Y:-144.28, Z:-8.04 [[-6.73160179e-01 -7.39441386e-01 9.04492826e-03 8.44917265e+01] [-7.39372596e-01 6.73220934e-01 1.00865472e-02 -1.44283551e+02] [-1.35476455e-02 1.02289833e-04 -9.99908221e-01 -8.04322101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.770385723 meters 0.01639677099407337 Centerline is valid? [True, True] Translation: X:84.40, Y:-144.35, Z:-8.04 [[-6.16451705e-01 -7.87353554e-01 7.85342498e-03 8.44003321e+01] [-7.87287067e-01 6.16501716e-01 1.02327281e-02 -1.44345875e+02] [-1.28984248e-02 1.25082741e-04 -9.99916804e-01 -8.04120008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.800385723 meters 0.016954560095282584 Centerline is valid? [True, True] Translation: X:84.31, Y:-144.42, Z:-8.04 [[-5.55189862e-01 -8.31692563e-01 7.19016834e-03 8.43129362e+01] [-8.31619521e-01 5.55236401e-01 1.10231910e-02 -1.44418351e+02] [-1.31601491e-02 1.40479513e-04 -9.99913392e-01 -8.03991228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.830385723 meters 0.016747178060718272 Centerline is valid? [True, True] Translation: X:84.23, Y:-144.50, Z:-8.04 [[-4.90943316e-01 -8.71170523e-01 6.04822132e-03 8.42295696e+01] [-8.71100588e-01 4.90980547e-01 1.10393548e-02 -1.44500685e+02] [-1.25867195e-02 1.51088282e-04 -9.99920773e-01 -8.03914466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.860385723 meters 0.01688696696556145 Centerline is valid? [True, True] Translation: X:84.15, Y:-144.59, Z:-8.04 [[-4.23245647e-01 -9.06001083e-01 5.01600226e-03 8.41527606e+01] [-9.05933053e-01 4.23275341e-01 1.11035955e-02 -1.44590229e+02] [-1.21830196e-02 1.55386216e-04 -9.99925772e-01 -8.03915748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.890385723 meters 0.01719819298377663 Centerline is valid? [True, True] Translation: X:84.08, Y:-144.70, Z:-8.04 [[-3.53856588e-01 -9.35292251e-01 3.73098275e-03 8.40765617e+01] [-9.35235505e-01 3.53876222e-01 1.03038747e-02 -1.44700890e+02] [-1.09574402e-02 1.56746399e-04 -9.99939953e-01 -8.03920840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.920385723 meters 0.01726811040449377 Centerline is valid? [True, True] Translation: X:84.01, Y:-144.80, Z:-8.04 [[-2.81478170e-01 -9.59563948e-01 2.65886862e-03 8.40144477e+01] [-9.59515992e-01 2.81490688e-01 9.59449027e-03 -1.44799881e+02] [-9.95497372e-03 1.49412603e-04 -9.99950437e-01 -8.03915336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.950385723 meters 0.019355799736428436 Centerline is valid? [True, True] Translation: X:83.96, Y:-144.91, Z:-8.04 [[-2.07812349e-01 -9.78166532e-01 2.06462857e-03 8.39590534e+01] [-9.78109591e-01 2.07822532e-01 1.05557599e-02 -1.44908294e+02] [-1.07543674e-02 1.74184251e-04 -9.99942155e-01 -8.03848385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.980385723 meters 0.017528205662847008 Centerline is valid? [True, True] Translation: X:83.91, Y:-145.02, Z:-8.04 [[-1.32216428e-01 -9.91220428e-01 9.37377450e-04 8.39115990e+01] [-9.91187876e-01 1.32219683e-01 8.03423490e-03 -1.45023077e+02] [-8.08763751e-03 1.33140674e-04 -9.99967286e-01 -8.03943770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.010385723 meters 0.01785820754775935 Centerline is valid? [True, True] Translation: X:83.87, Y:-145.14, Z:-8.04 [[-5.54100850e-02 -9.98463627e-01 3.29960479e-04 8.38738725e+01] [-9.98427552e-01 5.54108883e-02 8.48863181e-03 -1.45143272e+02] [-8.49387351e-03 1.40914177e-04 -9.99963917e-01 -8.03896879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.040385723 meters 0.017829161587731013 Centerline is valid? [True, True] Translation: X:83.84, Y:-145.26, Z:-8.04 [[ 2.16941551e-02 -9.99764596e-01 -3.40869713e-04 8.38441930e+01] [-9.99725298e-01 -2.16963251e-02 8.86551728e-03 -1.45264773e+02] [-8.87082592e-03 1.48446169e-04 -9.99960642e-01 -8.03806304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.070385723 meters 0.018363023141825235 Centerline is valid? [True, True] Translation: X:83.82, Y:-145.39, Z:-8.03 [[ 9.92854976e-02 -9.95058226e-01 -1.23148604e-03 8.38232443e+01] [-9.95001810e-01 -9.92929837e-02 1.05972017e-02 -1.45392926e+02] [-1.06671107e-02 1.73182395e-04 -9.99943090e-01 -8.03484041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.100385723 meters 0.017789072216218976 Centerline is valid? [True, True] Translation: X:83.81, Y:-145.52, Z:-8.03 [[ 1.76647401e-01 -9.84271939e-01 -2.10841424e-03 8.38127863e+01] [-9.84212805e-01 -1.76659903e-01 1.07904403e-02 -1.45520628e+02] [-1.09931998e-02 1.69025058e-04 -9.99939559e-01 -8.03390655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.130385723 meters 0.017789823711208658 Centerline is valid? [True, True] Translation: X:83.81, Y:-145.65, Z:-8.03 [[ 2.52979821e-01 -9.67467114e-01 -2.93134359e-03 8.38131083e+01] [-9.67409232e-01 -2.52996754e-01 1.05839298e-02 -1.45651648e+02] [-1.09812244e-02 1.58288189e-04 -9.99939692e-01 -8.03266792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.160385723 meters 0.01779266979451326 Centerline is valid? [True, True] Translation: X:83.83, Y:-145.80, Z:-8.03 [[ 3.26900615e-01 -9.45051694e-01 -3.64478777e-03 8.38286584e+01] [-9.44998066e-01 -3.26920897e-01 1.00688630e-02 -1.45795285e+02] [-1.07071533e-02 1.52799889e-04 -9.99942665e-01 -8.03271580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.190385723 meters 0.01775314238668198 Centerline is valid? [True, True] Translation: X:83.84, Y:-145.91, Z:-8.03 [[ 3.99028451e-01 -9.16928961e-01 -4.19229084e-03 8.38430291e+01] [-9.16882047e-01 -3.99050448e-01 9.27645836e-03 -1.45907272e+02] [-1.01787889e-02 1.42265397e-04 -9.99948185e-01 -8.03301046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.220385723 meters 0.017756240876871946 Centerline is valid? [True, True] Translation: X:83.87, Y:-146.02, Z:-8.03 [[ 4.68392211e-01 -8.83508202e-01 -4.68974506e-03 8.38662620e+01] [-8.83466807e-01 -4.68415668e-01 8.55353519e-03 -1.46017949e+02] [-9.75386856e-03 1.36824840e-04 -9.99952421e-01 -8.03369478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.250385723 meters 0.01750433555347473 Centerline is valid? [True, True] Translation: X:83.90, Y:-146.14, Z:-8.04 [[ 5.34590148e-01 -8.45098202e-01 -4.73320740e-03 8.39025177e+01] [-8.45067123e-01 -5.34611087e-01 7.24868487e-03 -1.46135745e+02] [-8.65627570e-03 1.24802441e-04 -9.99962526e-01 -8.03556568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.280385723 meters 0.01750656519866064 Centerline is valid? [True, True] Translation: X:83.94, Y:-146.24, Z:-8.04 [[ 5.97799404e-01 -8.01630579e-01 -4.92827585e-03 8.39441767e+01] [-8.01604942e-01 -5.97819706e-01 6.41218600e-03 -1.46244759e+02] [-8.08642479e-03 1.17329313e-04 -9.99967297e-01 -8.03582883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.310385723 meters 0.017322062338645486 Centerline is valid? [True, True] Translation: X:83.99, Y:-146.35, Z:-8.04 [[ 6.58071786e-01 -7.52940826e-01 -4.65155209e-03 8.39933216e+01] [-7.52923024e-01 -6.58088219e-01 5.17840788e-03 -1.46350899e+02] [-6.96016633e-03 9.44965381e-05 -9.99975773e-01 -8.03687732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.340385723 meters 0.01710024381001536 Centerline is valid? [True, True] Translation: X:84.05, Y:-146.45, Z:-8.04 [[ 7.14385339e-01 -6.99735314e-01 -4.90688814e-03 8.40506620e+01] [-6.99719622e-01 -7.14402185e-01 4.68707549e-03 -1.46453080e+02] [-6.78520385e-03 8.50679061e-05 -9.99976977e-01 -8.03737612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.370385723 meters 0.016899620166306317 Centerline is valid? [True, True] Translation: X:84.04, Y:-146.46, Z:-8.04 [[ 7.67578002e-01 -6.40935209e-01 -5.10570332e-03 8.40447021e+01] [-6.40921681e-01 -7.67594979e-01 4.16489040e-03 -1.46461523e+02] [-6.58853713e-03 7.54776983e-05 -9.99978293e-01 -8.03779993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.400385723 meters 0.016633160011683277 Centerline is valid? [True, True] Translation: X:84.04, Y:-146.47, Z:-8.04 [[ 8.17058398e-01 -5.76526483e-01 -5.72616049e-03 8.40376863e+01] [-5.76512830e-01 -8.17078461e-01 3.96818193e-03 -1.46470418e+02] [-6.96648437e-03 5.89686194e-05 -9.99975732e-01 -8.03713485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.430385723 meters 0.016460048162169047 Centerline is valid? [True, True] Translation: X:84.03, Y:-146.48, Z:-8.04 [[ 8.60525070e-01 -5.09373894e-01 -5.90250992e-03 8.40328140e+01] [-5.09362276e-01 -8.60545312e-01 3.44057941e-03 -1.46478901e+02] [-6.83191857e-03 4.58110571e-05 -9.99976661e-01 -8.03626964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.460385723 meters 0.01641706329638704 Centerline is valid? [True, True] Translation: X:84.03, Y:-146.49, Z:-8.04 [[ 8.98317068e-01 -4.39297182e-01 -6.66562271e-03 8.40284395e+01] [-4.39285414e-01 -8.98341797e-01 3.21581713e-03 -1.46487569e+02] [-7.40070689e-03 3.92874095e-05 -9.99972614e-01 -8.03556727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.490385723 meters 0.01621028332063004 Centerline is valid? [True, True] Translation: X:84.03, Y:-146.49, Z:-8.04 [[ 9.30706037e-01 -3.65699912e-01 -7.06024152e-03 8.40251703e+01] [-3.65689585e-01 -9.30732815e-01 2.74847058e-03 -1.46494532e+02] [-7.57631391e-03 2.38386303e-05 -9.99971299e-01 -8.03556473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.520385723 meters 0.016291136184171863 Centerline is valid? [True, True] Translation: X:84.02, Y:-146.50, Z:-8.04 [[ 9.56586729e-01 -2.91363130e-01 -7.02535129e-03 8.40240781e+01] [-2.91355421e-01 -9.56612527e-01 2.11962173e-03 -1.46497810e+02] [-7.33811867e-03 1.92721661e-05 -9.99973075e-01 -8.03619231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.550385723 meters 0.016183239732907907 Centerline is valid? [True, True] Translation: X:84.02, Y:-146.51, Z:-8.04 [[ 9.76318812e-01 -2.16264596e-01 -5.58591316e-03 8.40220815e+01] [-2.16261165e-01 -9.76334791e-01 1.21844023e-03 -1.46509138e+02] [-5.71722684e-03 1.84299665e-05 -9.99983656e-01 -8.03848565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.580385723 meters 0.016338320534693942 Centerline is valid? [True, True] Translation: X:84.02, Y:-146.52, Z:-8.04 [[ 9.90180414e-01 -1.39713036e-01 -4.79743102e-03 8.40162974e+01] [-1.39711485e-01 -9.90192036e-01 6.58550867e-04 -1.46518131e+02] [-4.84238613e-03 1.81720410e-05 -9.99988275e-01 -8.03727670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.610385723 meters 0.01631006385232295 Centerline is valid? [True, True] Translation: X:84.01, Y:-146.53, Z:-8.04 [[ 9.98027933e-01 -6.26068711e-02 -4.54137192e-03 8.40120107e+01] [-6.26063178e-02 -9.98038265e-01 2.64043165e-04 -1.46530365e+02] [-4.54899387e-03 2.07961197e-05 -9.99989653e-01 -8.03766237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.640385723 meters 0.016301125209720893 Centerline is valid? [True, True] Translation: X:84.01, Y:-146.54, Z:-8.04 [[ 9.99873286e-01 1.51713501e-02 -4.82100739e-03 8.40075120e+01] [ 1.51710541e-02 -9.99884908e-01 -9.79588196e-05 -1.46540220e+02] [-4.82193870e-03 2.48066428e-05 -9.99988374e-01 -8.03790603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.670385723 meters 0.016420686691783513 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.55, Z:-8.04 [[ 9.95739346e-01 9.20640599e-02 -5.23112360e-03 8.40033347e+01] [ 9.20626095e-02 -9.95753086e-01 -5.17901032e-04 -1.46548015e+02] [-5.25658753e-03 3.41035453e-05 -9.99986183e-01 -8.03804205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.700385723 meters 0.016491846750034626 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.56, Z:-8.04 [[ 9.85558201e-01 1.69264405e-01 -4.95915938e-03 8.40008684e+01] [ 1.69262082e-01 -9.85570677e-01 -8.87498834e-04 -1.46557432e+02] [-5.03782403e-03 3.52841119e-05 -9.99987309e-01 -8.03815582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.730385723 meters 0.01653665014190257 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.57, Z:-8.04 [[ 9.69464922e-01 2.45184947e-01 -4.70189482e-03 8.39985249e+01] [ 2.45181875e-01 -9.69476323e-01 -1.22800892e-03 -1.46568516e+02] [-4.85946500e-03 3.76921872e-05 -9.99988192e-01 -8.03768492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.760385723 meters 0.01658214516281612 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.58, Z:-8.04 [[ 9.47689896e-01 3.19159656e-01 -4.57975669e-03 8.39986251e+01] [ 3.19155708e-01 -9.47700961e-01 -1.58815566e-03 -1.46580115e+02] [-4.84711503e-03 4.34235810e-05 -9.99988252e-01 -8.03752216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.790385723 meters 0.016604999159302827 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.59, Z:-8.04 [[ 9.19891627e-01 3.92145582e-01 -4.60833501e-03 8.39987333e+01] [ 3.92140408e-01 -9.19903169e-01 -2.01500743e-03 -1.46590433e+02] [-5.02939824e-03 4.64740935e-05 -9.99987351e-01 -8.03735605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.820385723 meters 0.016634251025803896 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.60, Z:-8.04 [[ 8.86541506e-01 4.62625980e-01 -4.62176437e-03 8.40000110e+01] [ 4.62619397e-01 -8.86553552e-01 -2.46861345e-03 -1.46600874e+02] [-5.23948633e-03 5.04104403e-05 -9.99986273e-01 -8.03724809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.850385723 meters 0.016846628664830113 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.61, Z:-8.04 [[ 8.48045832e-01 5.29900208e-01 -4.90264160e-03 8.40002847e+01] [ 5.29890937e-01 -8.48060001e-01 -3.13509592e-03 -1.46610228e+02] [-5.81902222e-03 6.08396771e-05 -9.99983068e-01 -8.03751347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.880385723 meters 0.016845136365236133 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.62, Z:-8.04 [[ 8.04252969e-01 5.94266107e-01 -4.99550277e-03 8.40017678e+01] [ 5.94254114e-01 -8.04268481e-01 -3.77616882e-03 -1.46618359e+02] [-6.26177457e-03 6.83969127e-05 -9.99980393e-01 -8.03800939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.910385723 meters 0.017069879658281054 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.63, Z:-8.04 [[ 7.55376794e-01 6.55268456e-01 -5.39902387e-03 8.40021652e+01] [ 6.55250954e-01 -7.55396085e-01 -4.78991808e-03 -1.46626304e+02] [-7.21708371e-03 8.04774248e-05 -9.99973953e-01 -8.03817836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.940385723 meters 0.01682140122365156 Centerline is valid? [True, True] Translation: X:84.01, Y:-146.64, Z:-8.04 [[ 7.01831047e-01 7.12325140e-01 -5.10659602e-03 8.40080297e+01] [ 7.12305420e-01 -7.01849619e-01 -5.30100189e-03 -1.46637464e+02] [-7.36009939e-03 8.29516794e-05 -9.99972911e-01 -8.03852520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.970385723 meters 0.016732541503895127 Centerline is valid? [True, True] Translation: X:84.02, Y:-146.65, Z:-8.04 [[ 6.43697277e-01 7.65265931e-01 -4.67654807e-03 8.40150549e+01] [ 7.65244814e-01 -6.43714260e-01 -5.68560519e-03 -1.46649616e+02] [-7.36136063e-03 8.11044206e-05 -9.99972902e-01 -8.03830338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.000385723 meters 0.01678357503098174 Centerline is valid? [True, True] Translation: X:84.02, Y:-146.66, Z:-8.04 [[ 5.81166638e-01 8.13773769e-01 -4.19422160e-03 8.40208132e+01] [ 8.13751637e-01 -5.81181767e-01 -6.00223584e-03 -1.46659948e+02] [-7.32206720e-03 7.52445324e-05 -9.99973191e-01 -8.03775054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.030385723 meters 0.01659503454583231 Centerline is valid? [True, True] Translation: X:84.03, Y:-146.67, Z:-8.04 [[ 5.14981766e-01 8.57193738e-01 -3.56050699e-03 8.40272421e+01] [ 8.57172348e-01 -5.14994070e-01 -6.05593556e-03 -1.46668976e+02] [-7.02475002e-03 6.67282514e-05 -9.99975324e-01 -8.03922293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.060385723 meters 0.016564879636532585 Centerline is valid? [True, True] Translation: X:84.03, Y:-146.68, Z:-8.04 [[ 4.45374648e-01 8.95340063e-01 -2.75585994e-03 8.40337427e+01] [ 8.95322175e-01 -4.45383170e-01 -5.65995309e-03 -1.46677211e+02] [-6.29499640e-03 5.34171009e-05 -9.99980185e-01 -8.04169983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.090385723 meters 0.01648814924129218 Centerline is valid? [True, True] Translation: X:84.04, Y:-146.69, Z:-8.04 [[ 3.73228831e-01 9.27736145e-01 -2.42601243e-03 8.40437248e+01] [ 9.27715642e-01 -3.73236712e-01 -6.16807681e-03 -1.46686268e+02] [-6.62782471e-03 5.14544231e-05 -9.99978034e-01 -8.04233451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.120385723 meters 0.016507999217588363 Centerline is valid? [True, True] Translation: X:84.06, Y:-146.69, Z:-8.04 [[ 2.98602798e-01 9.54375024e-01 -2.16401120e-03 8.40554917e+01] [ 9.54348712e-01 -2.98610635e-01 -7.08695778e-03 -1.46694647e+02] [-7.40981226e-03 5.09641205e-05 -9.99972546e-01 -8.04205357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.150385723 meters 0.01652980392281006 Centerline is valid? [True, True] Translation: X:84.07, Y:-146.70, Z:-8.04 [[ 2.21226894e-01 9.75220292e-01 -2.01095667e-03 8.40680868e+01] [ 9.75178014e-01 -2.21236029e-01 -9.08074631e-03 -1.46702013e+02] [-9.30062413e-03 4.78645720e-05 -9.99956747e-01 -8.04149930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.180385723 meters 0.016517044582954093 Centerline is valid? [True, True] Translation: X:84.08, Y:-146.71, Z:-8.04 [[ 1.43247360e-01 9.89685995e-01 -1.35126797e-03 8.40782859e+01] [ 9.89639227e-01 -1.43253728e-01 -9.62134868e-03 -1.46709098e+02] [-9.71568821e-03 4.09650135e-05 -9.99952801e-01 -8.04044630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.210385723 meters 0.016355363322610235 Centerline is valid? [True, True] Translation: X:84.09, Y:-146.71, Z:-8.04 [[ 6.47104329e-02 9.97903888e-01 -6.24755718e-04 8.40919981e+01] [ 9.97851701e-01 -6.47134382e-02 -1.02056033e-02 -1.46714480e+02] [-1.02246413e-02 3.69954549e-05 -9.99947726e-01 -8.04263510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.240385723 meters 0.01634610835821594 Centerline is valid? [True, True] Translation: X:84.10, Y:-146.72, Z:-8.04 [[-1.33690678e-02 9.99910615e-01 1.74466285e-04 8.41047597e+01] [ 9.99859318e-01 1.33701491e-02 -1.01282967e-02 -1.46720216e+02] [-1.01297240e-02 3.90358558e-05 -9.99948692e-01 -8.04350200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.270385723 meters 0.01671468337073898 Centerline is valid? [True, True] Translation: X:84.12, Y:-146.72, Z:-8.04 [[-9.07606238e-02 9.95872264e-01 9.71101640e-04 8.41176152e+01] [ 9.95820777e-01 9.07658062e-02 -1.01265861e-02 -1.46723887e+02] [-1.01729291e-02 4.79479166e-05 -9.99948253e-01 -8.04386987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.300385723 meters 0.016227156791489592 Centerline is valid? [True, True] Translation: X:84.13, Y:-146.73, Z:-8.04 [[-1.68144439e-01 9.85760849e-01 1.73073261e-03 8.41322273e+01] [ 9.85711667e-01 1.68153339e-01 -9.84705907e-03 -1.46725833e+02] [-9.99787377e-03 5.02751011e-05 -9.99950019e-01 -8.04421644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.330385723 meters 0.01623665227822811 Centerline is valid? [True, True] Translation: X:84.15, Y:-146.73, Z:-8.04 [[-2.44405082e-01 9.69669730e-01 2.60211391e-03 8.41466864e+01] [ 9.69617248e-01 2.44418927e-01 -1.00886281e-02 -1.46727850e+02] [-1.04186432e-02 5.73425458e-05 -9.99945723e-01 -8.04344844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.360385723 meters 0.016183355640194852 Centerline is valid? [True, True] Translation: X:84.16, Y:-146.73, Z:-8.04 [[-3.19303406e-01 9.47645822e-01 3.56803494e-03 8.41578436e+01] [ 9.47588870e-01 3.19323334e-01 -1.03895142e-02 -1.46728797e+02] [-1.09849366e-02 6.36229103e-05 -9.99939662e-01 -8.04362974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.390385723 meters 0.016078890767018034 Centerline is valid? [True, True] Translation: X:84.17, Y:-146.73, Z:-8.04 [[-3.91376659e-01 9.20220224e-01 4.36469992e-03 8.41694665e+01] [ 9.20165189e-01 3.91400988e-01 -1.00643420e-02 -1.46728633e+02] [-1.09697589e-02 7.72964062e-05 -9.99939827e-01 -8.04491167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.420385723 meters 0.016078890767018034 Centerline is valid? [True, True] Translation: X:84.18, Y:-146.73, Z:-8.04 [[-4.62236965e-01 8.86741548e-01 5.13947735e-03 8.41808852e+01] [ 8.86688588e-01 4.62265530e-01 -9.69160736e-03 -1.46728144e+02] [-1.09697541e-02 7.72967409e-05 -9.99939827e-01 -8.04491171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.450385723 meters 0.01603751786604349 Centerline is valid? [True, True] Translation: X:84.19, Y:-146.72, Z:-8.05 [[-5.29522009e-01 8.48276900e-01 5.72218625e-03 8.41942621e+01] [ 8.48229085e-01 5.29552920e-01 -9.00693343e-03 -1.46724692e+02] [-1.06705740e-02 8.43553184e-05 -9.99943064e-01 -8.04587439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.480385723 meters 0.0160934897501693 Centerline is valid? [True, True] Translation: X:84.21, Y:-146.72, Z:-8.05 [[-5.93689719e-01 8.04670474e-01 6.16003507e-03 8.42066090e+01] [ 8.04628715e-01 5.93721670e-01 -8.19815508e-03 -1.46720244e+02] [-1.02541596e-02 8.93807097e-05 -9.99947421e-01 -8.04635047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.510385723 meters 0.016192921623942407 Centerline is valid? [True, True] Translation: X:84.22, Y:-146.71, Z:-8.05 [[-6.53348751e-01 7.57030976e-01 6.28581833e-03 8.42198316e+01] [ 7.56997440e-01 6.53378980e-01 -7.12629231e-03 -1.46713653e+02] [-9.50184559e-03 1.02394205e-04 -9.99954851e-01 -8.04719010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.540385723 meters 0.01621188998643299 Centerline is valid? [True, True] Translation: X:84.23, Y:-146.71, Z:-8.05 [[-7.10194747e-01 7.03974460e-01 6.58647652e-03 8.42318242e+01] [ 7.03945545e-01 7.10225281e-01 -6.38121188e-03 -1.46707004e+02] [-9.17009232e-03 1.04617653e-04 -9.99957948e-01 -8.04745786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.570385723 meters 0.016231030886512943 Centerline is valid? [True, True] Translation: X:84.25, Y:-146.69, Z:-8.05 [[-7.57973214e-01 6.52251157e-01 6.71083223e-03 8.42543975e+01] [ 6.52226796e-01 7.58002914e-01 -5.63822123e-03 -1.46685770e+02] [-8.76436670e-03 1.03363934e-04 -9.99961587e-01 -8.04769186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.600385723 meters 0.0161461562143893 Centerline is valid? [True, True] Translation: X:84.28, Y:-146.66, Z:-8.05 [[-8.01954095e-01 5.97334856e-01 7.79100966e-03 8.42761104e+01] [ 5.97308088e-01 8.01991930e-01 -5.65613940e-03 -1.46661808e+02] [-9.62693609e-03 1.17668928e-04 -9.99953653e-01 -8.04691838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.630385723 meters 0.016209044881863578 Centerline is valid? [True, True] Translation: X:84.29, Y:-146.64, Z:-8.05 [[-8.42238565e-01 5.39041710e-01 8.26037025e-03 8.42937513e+01] [ 5.39017163e-01 8.42279063e-01 -5.14558291e-03 -1.46636604e+02] [-9.73122073e-03 1.18672972e-04 -9.99952644e-01 -8.04665150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.660385723 meters 0.01607696884561715 Centerline is valid? [True, True] Translation: X:84.68, Y:-146.03, Z:-9.02 [[-8.18798325e-01 -5.74036495e-01 7.16975316e-03 8.46795039e+01] [ 5.74012770e-01 -8.18829700e-01 -5.22140254e-03 -1.46027008e+02] [ 8.86808244e-03 -1.59745785e-04 9.99960665e-01 -9.02293522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.690385723 meters 0.016210067568645507 Centerline is valid? [True, True] Translation: X:84.26, Y:-146.61, Z:-8.05 [[-8.43197065e-01 5.37554848e-01 7.31402168e-03 8.42601496e+01] [ 5.37535865e-01 8.43228777e-01 -4.51914420e-03 -1.46607794e+02] [-8.59668143e-03 1.21019850e-04 -9.99963041e-01 -8.04683484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.720385723 meters 0.01619057357216572 Centerline is valid? [True, True] Translation: X:84.27, Y:-146.58, Z:-8.05 [[-8.78555560e-01 4.77589704e-01 6.94277954e-03 8.42724031e+01] [ 4.77575870e-01 8.78582984e-01 -3.63704880e-03 -1.46578247e+02] [-7.83682503e-03 1.20354531e-04 -9.99969284e-01 -8.04672220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.750385723 meters 0.018309311100796623 Centerline is valid? [True, True] Translation: X:84.29, Y:-146.55, Z:-8.04 [[-9.08752133e-01 4.17272787e-01 7.27885520e-03 8.42931336e+01] [ 4.17260712e-01 9.08781271e-01 -3.17799227e-03 -1.46550834e+02] [-7.94097697e-03 1.49173044e-04 -9.99968459e-01 -8.04451622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.780385723 meters 0.016926684486753506 Centerline is valid? [True, True] Translation: X:84.30, Y:-146.52, Z:-8.04 [[-9.35879562e-01 3.52252769e-01 6.88709004e-03 8.43029048e+01] [ 3.52244335e-01 9.35904892e-01 -2.44167311e-03 -1.46519962e+02] [-7.30574738e-03 1.40826488e-04 -9.99973303e-01 -8.04489484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.810385723 meters 0.016983859499222435 Centerline is valid? [True, True] Translation: X:84.31, Y:-146.49, Z:-8.04 [[-9.58192093e-01 2.86048055e-01 6.66504936e-03 8.43129766e+01] [ 2.86042154e-01 9.58215263e-01 -1.84269939e-03 -1.46488911e+02] [-6.91365260e-03 1.40825086e-04 -9.99976091e-01 -8.04473113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.840385723 meters 0.017793325650183822 Centerline is valid? [True, True] Translation: X:84.32, Y:-146.46, Z:-8.04 [[-9.75659106e-01 2.19235524e-01 5.00945819e-03 8.43178791e+01] [ 2.19233233e-01 9.75671959e-01 -1.00888571e-03 -1.46455425e+02] [-5.10877147e-03 1.13911185e-04 -9.99986944e-01 -8.04476516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.870385723 meters 0.017969505319758293 Centerline is valid? [True, True] Translation: X:84.32, Y:-146.42, Z:-8.05 [[-9.88552809e-01 1.50825273e-01 3.88349368e-03 8.43232333e+01] [ 1.50824477e-01 9.88560432e-01 -4.98556537e-04 -1.46423417e+02] [-3.91426311e-03 9.28764387e-05 -9.99992335e-01 -8.04517062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.900385723 meters 0.018990336703549455 Centerline is valid? [True, True] Translation: X:84.32, Y:-146.39, Z:-8.05 [[-9.96471721e-01 8.38663833e-02 3.24650643e-03 8.43242747e+01] [ 8.38662286e-02 9.96477005e-01 -1.84004987e-04 -1.46387550e+02] [-3.25050084e-03 8.89164846e-05 -9.99994713e-01 -8.04507055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.930385723 meters 0.019763823466785763 Centerline is valid? [True, True] Translation: X:84.31, Y:-146.35, Z:-8.04 [[-9.99887990e-01 1.46770338e-02 2.93128471e-03 8.43146728e+01] [ 1.46772217e-02 9.99892283e-01 4.25813377e-05 -1.46354784e+02] [-2.93034399e-03 8.55996836e-05 -9.99995703e-01 -8.04447898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.960385723 meters 0.01866730902952818 Centerline is valid? [True, True] Translation: X:84.31, Y:-145.71, Z:-9.03 [[-9.99748728e-01 -2.22199818e-02 2.95860964e-03 8.43057298e+01] [ 2.22196343e-02 -9.99753102e-01 -1.50278327e-04 -1.45711432e+02] [ 2.96121835e-03 -8.45013422e-05 9.99995612e-01 -9.02514457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.990385723 meters 0.02097736327523503 Centerline is valid? [True, True] Translation: X:84.24, Y:-146.35, Z:-8.04 [[-9.99925270e-01 1.20410821e-02 2.11355339e-03 8.42367774e+01] [ 1.20411979e-02 9.99927501e-01 4.21050163e-05 -1.46349860e+02] [-2.11289317e-03 6.75515846e-05 -9.99997766e-01 -8.04422271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.020385723 meters 0.019709256102707604 Centerline is valid? [True, True] Translation: X:84.23, Y:-146.31, Z:-8.04 [[-9.98343263e-01 -5.75320205e-02 8.92438813e-04 8.42266411e+01] [-5.75319704e-02 9.98343661e-01 8.16602086e-05 -1.46309947e+02] [-8.95658709e-04 3.01811557e-05 -9.99999598e-01 -8.04400649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.050385723 meters 0.020015413731664114 Centerline is valid? [True, True] Translation: X:84.21, Y:-146.28, Z:-8.04 [[-9.91744898e-01 -1.28226565e-01 7.95623407e-05 8.42063243e+01] [-1.28226564e-01 9.91744901e-01 1.31258822e-05 -1.46278748e+02] [-8.05886324e-05 2.81552116e-06 -9.99999997e-01 -8.04358353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.080385723 meters 0.021133721986270924 Centerline is valid? [True, True] Translation: X:84.18, Y:-146.25, Z:-8.04 [[-9.79939939e-01 -1.99291472e-01 -7.90842663e-04 8.41759233e+01] [-1.99291384e-01 9.79940258e-01 -1.88755496e-04 -1.46248844e+02] [ 8.12595923e-04 -2.73609200e-05 -9.99999669e-01 -8.04349234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.110385723 meters 0.020332595088012655 Centerline is valid? [True, True] Translation: X:84.14, Y:-146.22, Z:-8.04 [[-9.62910014e-01 -2.69822218e-01 -5.24369360e-04 8.41361256e+01] [-2.69822168e-01 9.62910157e-01 -1.65954325e-04 -1.46223078e+02] [ 5.49698747e-04 -1.83126043e-05 -9.99999849e-01 -8.04249849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.140385723 meters 0.019425735522413917 Centerline is valid? [True, True] Translation: X:84.08, Y:-146.21, Z:-8.04 [[-9.40367284e-01 -3.40160776e-01 -1.31583503e-04 8.40765976e+01] [-3.40160772e-01 9.40367293e-01 -5.23713468e-05 -1.46205619e+02] [ 1.41551501e-04 -4.48875508e-06 -9.99999990e-01 -8.04112109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.170385723 meters 0.01892516759813579 Centerline is valid? [True, True] Translation: X:84.00, Y:-146.19, Z:-8.04 [[-9.10980453e-01 -4.12448272e-01 1.01870925e-03 8.40035069e+01] [-4.12447975e-01 9.10981022e-01 4.95845951e-04 -1.46193566e+02] [-1.13253560e-03 3.15414015e-05 -9.99999358e-01 -8.03810983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.200385723 meters 0.018301597551496872 Centerline is valid? [True, True] Translation: X:83.93, Y:-146.20, Z:-8.04 [[-8.76822571e-01 -4.80813760e-01 5.54128263e-04 8.39257376e+01] [-4.80813652e-01 8.76822746e-01 3.22217468e-04 -1.46196083e+02] [-6.40798858e-04 1.60951147e-05 -9.99999795e-01 -8.03797896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.230385723 meters 0.017395362104882735 Centerline is valid? [True, True] Translation: X:83.84, Y:-146.20, Z:-8.04 [[-8.36318904e-01 -5.48243258e-01 1.44861380e-04 8.38429007e+01] [-5.48243249e-01 8.36318916e-01 9.92942862e-05 -1.46202111e+02] [-1.75587735e-04 3.62241505e-06 -9.99999985e-01 -8.03735378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.260385723 meters 0.01694673542499892 Centerline is valid? [True, True] Translation: X:83.76, Y:-146.22, Z:-8.04 [[-7.92083161e-01 -6.10413187e-01 8.81960163e-05 8.37606161e+01] [-6.10413183e-01 7.92083165e-01 7.06538229e-05 -1.46220277e+02] [-1.12986605e-04 2.12769233e-06 -9.99999994e-01 -8.03689535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.290385723 meters 0.016722483653724342 Centerline is valid? [True, True] Translation: X:83.67, Y:-146.25, Z:-8.04 [[-7.43706562e-01 -6.68506194e-01 1.33875889e-04 8.36737127e+01] [-6.68506182e-01 7.43706575e-01 1.24629648e-04 -1.46250025e+02] [-1.82880071e-04 3.19102761e-06 -9.99999983e-01 -8.03660169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.320385723 meters 0.016696167695857356 Centerline is valid? [True, True] Translation: X:83.59, Y:-146.29, Z:-8.04 [[-6.90474801e-01 -7.23356371e-01 3.30978709e-04 8.35861576e+01] [-7.23356283e-01 6.90474880e-01 3.57608748e-04 -1.46287763e+02] [-4.87211051e-04 7.50430063e-06 -9.99999881e-01 -8.03624190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.350385723 meters 0.01654759330359341 Centerline is valid? [True, True] Translation: X:83.50, Y:-146.34, Z:-8.04 [[-6.33970971e-01 -7.73356479e-01 7.52091090e-04 8.35026976e+01] [-7.73355901e-01 6.33971416e-01 9.45410432e-04 -1.46335488e+02] [-1.20794354e-03 1.77286864e-05 -9.99999270e-01 -8.03614997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.380385723 meters 0.016341202110469466 Centerline is valid? [True, True] Translation: X:83.42, Y:-146.39, Z:-8.04 [[-5.74700048e-01 -8.18363841e-01 6.91107359e-04 8.34191869e+01] [-8.18363210e-01 5.74700463e-01 1.01679085e-03 -1.46390514e+02] [-1.22928458e-03 1.87729130e-05 -9.99999244e-01 -8.03620854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.410385723 meters 0.01653007329299119 Centerline is valid? [True, True] Translation: X:83.34, Y:-146.46, Z:-8.04 [[-5.12243979e-01 -8.58839905e-01 3.52892515e-04 8.33406407e+01] [-8.58839685e-01 5.12244100e-01 6.13797991e-04 -1.46458508e+02] [-7.07921317e-04 1.13362281e-05 -9.99999749e-01 -8.03638081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.440385723 meters 0.01741977399313096 Centerline is valid? [True, True] Translation: X:83.27, Y:-146.53, Z:-8.04 [[-4.46796700e-01 -8.94635475e-01 2.73857220e-04 8.32687653e+01] [-8.94635293e-01 4.46796784e-01 5.72077430e-04 -1.46532694e+02] [-6.34159289e-04 1.05999733e-05 -9.99999799e-01 -8.03639597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.470385723 meters 0.016941155477823745 Centerline is valid? [True, True] Translation: X:83.20, Y:-146.61, Z:-8.04 [[-3.80227883e-01 -9.24892741e-01 -4.18025537e-04 8.31977580e+01] [-9.24892118e-01 3.80228113e-01 -1.07373457e-03 -1.46612207e+02] [ 1.15203437e-03 -2.16352991e-05 -9.99999336e-01 -8.03758398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.500385723 meters 0.018527101838962307 Centerline is valid? [True, True] Translation: X:83.14, Y:-146.70, Z:-8.04 [[-3.10329843e-01 -9.50628844e-01 -4.35364952e-04 8.31377603e+01] [-9.50627770e-01 3.10330147e-01 -1.42912658e-03 -1.46704230e+02] [ 1.49367582e-03 -2.96306140e-05 -9.99998884e-01 -8.03887766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.530385723 meters 0.01796389125497431 Centerline is valid? [True, True] Translation: X:83.08, Y:-146.80, Z:-8.04 [[-2.39603357e-01 -9.70870806e-01 -3.31985454e-04 8.30783362e+01] [-9.70869673e-01 2.39603584e-01 -1.48347553e-03 -1.46799668e+02] [ 1.51980799e-03 -3.31311075e-05 -9.99998845e-01 -8.03908252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.560385723 meters 0.017423200639984735 Centerline is valid? [True, True] Translation: X:83.03, Y:-146.90, Z:-8.04 [[-1.65982189e-01 -9.86128724e-01 -2.28152411e-04 8.30267002e+01] [-9.86127479e-01 1.65982342e-01 -1.56786973e-03 -1.46901264e+02] [ 1.58399065e-03 -3.52510885e-05 -9.99998745e-01 -8.03840593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.590385723 meters 0.0174603140694826 Centerline is valid? [True, True] Translation: X:82.98, Y:-147.00, Z:-8.04 [[-9.03984505e-02 -9.95905676e-01 -7.46818743e-05 8.29847101e+01] [-9.95905087e-01 9.03984782e-02 -1.08331924e-03 -1.47002382e+02] [ 1.08563490e-03 -2.35543218e-05 -9.99999410e-01 -8.03808688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.620385723 meters 0.017186875789166528 Centerline is valid? [True, True] Translation: X:82.95, Y:-147.11, Z:-8.04 [[-1.38891327e-02 -9.99903541e-01 -4.06508764e-07 8.29497110e+01] [-9.99903540e-01 1.38891327e-02 4.96602707e-05 -1.47108151e+02] [-4.96498345e-05 1.09620765e-06 -9.99999999e-01 -8.03769308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.650385723 meters 0.0169457357041983 Centerline is valid? [True, True] Translation: X:82.92, Y:-147.22, Z:-8.04 [[ 6.31705010e-02 -9.98002741e-01 -1.26524016e-04 8.29221529e+01] [-9.98001565e-01 -6.31706208e-02 1.53282641e-03 -1.47223635e+02] [-1.53775756e-03 2.94417534e-05 -9.99998817e-01 -8.03693075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.680385723 meters 0.017085605071003616 Centerline is valid? [True, True] Translation: X:82.90, Y:-147.33, Z:-8.04 [[ 1.38952978e-01 -9.90298897e-01 -4.06350962e-04 8.29042709e+01] [-9.90295597e-01 -1.38953564e-01 2.55689504e-03 -1.47326289e+02] [-2.58855425e-03 4.71193875e-05 -9.99996649e-01 -8.03661275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.710385723 meters 0.01701503126931356 Centerline is valid? [True, True] Translation: X:82.89, Y:-147.44, Z:-8.04 [[ 2.13441962e-01 -9.76955616e-01 -5.03573612e-04 8.28948360e+01] [-9.76953316e-01 -2.13442553e-01 2.12014378e-03 -1.47436844e+02] [-2.17877041e-03 3.94402621e-05 -9.99997626e-01 -8.03668792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.740385723 meters 0.01696403406432768 Centerline is valid? [True, True] Translation: X:82.89, Y:-147.55, Z:-8.04 [[ 2.87561015e-01 -9.57762066e-01 -6.98758766e-04 8.28935928e+01] [-9.57759560e-01 -2.87561861e-01 2.19117740e-03 -1.47546745e+02] [-2.29956297e-03 3.91456914e-05 -9.99997355e-01 -8.03723648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.770385723 meters 0.01710649100328311 Centerline is valid? [True, True] Translation: X:82.90, Y:-147.66, Z:-8.04 [[ 3.59638926e-01 -9.33091134e-01 -8.82606714e-04 8.29040546e+01] [-9.33088580e-01 -3.59640007e-01 2.18323306e-03 -1.47662834e+02] [-2.35457610e-03 3.83746518e-05 -9.99997227e-01 -8.03759683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.800385723 meters 0.016598026875424225 Centerline is valid? [True, True] Translation: X:82.91, Y:-147.77, Z:-8.04 [[ 4.29964094e-01 -9.02845435e-01 -9.99429863e-04 8.29135240e+01] [-9.02843177e-01 -4.29965254e-01 2.01939677e-03 -1.47765427e+02] [-2.25292327e-03 3.40603292e-05 -9.99997462e-01 -8.03853082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.830385723 meters 0.017438072462286465 Centerline is valid? [True, True] Translation: X:82.94, Y:-147.87, Z:-8.04 [[ 4.97552755e-01 -8.67432147e-01 -1.65090639e-03 8.29394354e+01] [-8.67427673e-01 -4.97555492e-01 2.78645263e-03 -1.47871831e+02] [-3.23847613e-03 4.56347072e-05 -9.99994755e-01 -8.03777586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.860385723 meters 0.01701383267536124 Centerline is valid? [True, True] Translation: X:82.97, Y:-147.97, Z:-8.04 [[ 5.61671356e-01 -8.27357846e-01 -2.06939933e-03 8.29662224e+01] [-8.27352549e-01 -5.61675166e-01 2.96088144e-03 -1.47970857e+02] [-3.61203870e-03 4.90805132e-05 -9.99993475e-01 -8.03806064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.890385723 meters 0.016584002020531917 Centerline is valid? [True, True] Translation: X:83.00, Y:-148.07, Z:-8.04 [[ 6.22856449e-01 -7.82332503e-01 -2.38724858e-03 8.30016359e+01] [-7.82327047e-01 -6.22861022e-01 2.92209861e-03 -1.48069833e+02] [-3.77297681e-03 4.75611673e-05 -9.99992881e-01 -8.03946626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.920385723 meters 0.017041343307321613 Centerline is valid? [True, True] Translation: X:83.04, Y:-148.16, Z:-8.04 [[ 6.80186847e-01 -7.33034561e-01 -2.48716756e-03 8.30420231e+01] [-7.33029890e-01 -6.80191392e-01 2.61727390e-03 -1.48158706e+02] [-3.61030219e-03 4.29328847e-05 -9.99993482e-01 -8.03950746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.950385723 meters 0.016605922754225386 Centerline is valid? [True, True] Translation: X:83.09, Y:-148.25, Z:-8.04 [[ 7.33436582e-01 -6.79753759e-01 -2.36814808e-03 8.30852497e+01] [-6.79750373e-01 -7.33440404e-01 2.14568529e-03 -1.48245280e+02] [-3.19543312e-03 3.60254540e-05 -9.99994894e-01 -8.04045830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.980385723 meters 0.016577102083042368 Centerline is valid? [True, True] Translation: X:83.09, Y:-148.26, Z:-8.04 [[ 7.85150505e-01 -6.19295637e-01 -3.40563723e-03 8.30881644e+01] [-6.19290046e-01 -7.85157890e-01 2.63190313e-03 -1.48262333e+02] [-4.30388907e-03 4.26371632e-05 -9.99990737e-01 -8.04023321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.010385723 meters 0.016525280075160794 Centerline is valid? [True, True] Translation: X:83.09, Y:-148.28, Z:-8.04 [[ 8.31265439e-01 -5.55861931e-01 -3.90931581e-03 8.30938788e+01] [-5.55856040e-01 -8.31274630e-01 2.55969761e-03 -1.48278050e+02] [-4.67255351e-03 4.52286498e-05 -9.99989083e-01 -8.04032254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.040385723 meters 0.016565723147760635 Centerline is valid? [True, True] Translation: X:83.10, Y:-148.29, Z:-8.04 [[ 8.72184026e-01 -4.89168152e-01 -3.08947576e-03 8.31022459e+01] [-4.89165221e-01 -8.72189497e-01 1.69376357e-03 -1.48292681e+02] [-3.52314350e-03 3.39905656e-05 -9.99993793e-01 -8.04216667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.070385723 meters 0.01656209099038368 Centerline is valid? [True, True] Translation: X:83.11, Y:-148.31, Z:-8.04 [[ 9.07704511e-01 -4.19601709e-01 -2.63185874e-03 8.31103900e+01] [-4.19600035e-01 -9.07708326e-01 1.18561228e-03 -1.48305172e+02] [-2.88644503e-03 2.81423995e-05 -9.99995834e-01 -8.04283123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.100385723 meters 0.016278415309977236 Centerline is valid? [True, True] Translation: X:83.12, Y:-148.33, Z:-8.04 [[ 9.37914623e-01 -3.46855737e-01 -2.69390918e-03 8.31171327e+01] [-3.46854387e-01 -9.37918492e-01 9.68050092e-04 -1.48325686e+02] [-2.86244096e-03 2.64458782e-05 -9.99995903e-01 -8.04337427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.130385723 meters 0.0165134605448606 Centerline is valid? [True, True] Translation: X:83.13, Y:-148.34, Z:-8.04 [[ 9.62237704e-01 -2.72198880e-01 -2.52393653e-03 8.31258743e+01] [-2.72198007e-01 -9.62241014e-01 6.89682479e-04 -1.48342014e+02] [-2.61636605e-03 2.33720095e-05 -9.99996577e-01 -8.04290846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.160385723 meters 0.01633660651813514 Centerline is valid? [True, True] Translation: X:83.14, Y:-148.35, Z:-8.04 [[ 9.80717665e-01 -1.95400366e-01 -3.39989325e-03 8.31377113e+01] [-1.95399292e-01 -9.80723558e-01 6.48502136e-04 -1.48352870e+02] [-3.46107296e-03 2.83392326e-05 -9.99994010e-01 -8.04351834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.190385723 meters 0.016633357636774575 Centerline is valid? [True, True] Translation: X:83.15, Y:-148.36, Z:-8.04 [[ 9.92827221e-01 -1.19484618e-01 -4.18752896e-03 8.31495620e+01] [-1.19483726e-01 -9.92836051e-01 4.63616967e-04 -1.48359762e+02] [-4.21292481e-03 4.00500160e-05 -9.99991125e-01 -8.04260587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.220385723 meters 0.01643106628637214 Centerline is valid? [True, True] Translation: X:83.16, Y:-148.37, Z:-8.04 [[ 9.99069519e-01 -4.29113393e-02 -4.32590876e-03 8.31586044e+01] [-4.29111444e-02 -9.99078883e-01 1.37904377e-04 -1.48373915e+02] [-4.32784175e-03 4.78536353e-05 -9.99990634e-01 -8.04354331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.250385723 meters 0.017221759221978376 Centerline is valid? [True, True] Translation: X:83.17, Y:-148.38, Z:-8.04 [[ 9.99427328e-01 3.35524647e-02 -4.38724582e-03 8.31676527e+01] [ 3.35518920e-02 -9.99436956e-01 -2.04110715e-04 -1.48382387e+02] [-4.39162402e-03 5.67934285e-05 -9.99990355e-01 -8.04254933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.280385723 meters 0.017843898426006755 Centerline is valid? [True, True] Translation: X:83.18, Y:-148.38, Z:-8.04 [[ 9.93961650e-01 1.09630728e-01 -4.61964759e-03 8.31772680e+01] [ 1.09629217e-01 -9.93972383e-01 -5.79826487e-04 -1.48382309e+02] [-4.65536892e-03 6.98769435e-05 -9.99989161e-01 -8.04196862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.310385723 meters 0.01740068863445085 Centerline is valid? [True, True] Translation: X:83.19, Y:-148.39, Z:-8.04 [[ 9.83079947e-01 1.83091784e-01 -5.58717526e-03 8.31890709e+01] [ 1.83088196e-01 -9.83095818e-01 -1.15136604e-03 -1.48393243e+02] [-5.70353430e-03 1.08939024e-04 -9.99983729e-01 -8.04236264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.340385723 meters 0.01740068863445085 Centerline is valid? [True, True] Translation: X:83.20, Y:-148.40, Z:-8.04 [[ 9.65728332e-01 2.59497129e-01 -5.47988718e-03 8.32012352e+01] [ 2.59492310e-01 -9.65743873e-01 -1.58525684e-03 -1.48404164e+02] [-5.70353706e-03 1.08938860e-04 -9.99983729e-01 -8.04236262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.370385723 meters 0.017920710290640966 Centerline is valid? [True, True] Translation: X:83.21, Y:-148.41, Z:-8.04 [[ 9.42974971e-01 3.32823255e-01 -5.18514793e-03 8.32127181e+01] [ 3.32817552e-01 -9.42989220e-01 -1.95167543e-03 -1.48410863e+02] [-5.53910157e-03 1.14672842e-04 -9.99984653e-01 -8.04205696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.400385723 meters 0.018247125710096762 Centerline is valid? [True, True] Translation: X:83.23, Y:-148.42, Z:-8.04 [[ 9.14811581e-01 4.03839033e-01 -5.81433321e-03 8.32255157e+01] [ 4.03829861e-01 -9.14830047e-01 -2.72554617e-03 -1.48415956e+02] [-6.41980865e-03 1.45359829e-04 -9.99979382e-01 -8.04115595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.430385723 meters 0.018544500659687102 Centerline is valid? [True, True] Translation: X:83.24, Y:-148.42, Z:-8.04 [[ 8.80697090e-01 4.73650877e-01 -5.24243754e-03 8.32373260e+01] [ 4.73641533e-01 -8.80712681e-01 -2.97844235e-03 -1.48421157e+02] [-6.02782305e-03 1.40069364e-04 -9.99981823e-01 -8.04095757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.460385723 meters 0.01829654246537167 Centerline is valid? [True, True] Translation: X:83.25, Y:-148.43, Z:-8.04 [[ 8.41213628e-01 5.40683852e-01 -4.53924496e-03 8.32516264e+01] [ 5.40675137e-01 -8.41225865e-01 -3.07263158e-03 -1.48426845e+02] [-5.47985255e-03 1.30482673e-04 -9.99984977e-01 -8.04144014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.490385723 meters 0.018464146069172436 Centerline is valid? [True, True] Translation: X:83.26, Y:-148.43, Z:-8.04 [[ 7.96221063e-01 6.04997112e-01 -3.24252677e-03 8.32645722e+01] [ 6.04991589e-01 -7.96227659e-01 -2.58692193e-03 -1.48430872e+02] [-4.14686980e-03 9.80603046e-05 -9.99991397e-01 -8.04236052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.520385723 meters 0.018220502800031572 Centerline is valid? [True, True] Translation: X:83.28, Y:-148.43, Z:-8.04 [[ 7.45795311e-01 6.66168118e-01 -3.06473193e-03 8.32793423e+01] [ 6.66161964e-01 -7.45801602e-01 -2.86511505e-03 -1.48434352e+02] [-4.19433028e-03 9.51815312e-05 -9.99991199e-01 -8.04230643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.550385723 meters 0.017969526700965112 Centerline is valid? [True, True] Translation: X:83.29, Y:-148.44, Z:-8.04 [[ 6.89393571e-01 7.24382036e-01 -2.67763694e-03 8.32930176e+01] [ 7.24376121e-01 -6.89398767e-01 -2.92847109e-03 -1.48436686e+02] [-3.96729146e-03 7.92528819e-05 -9.99992127e-01 -8.04241569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.580385723 meters 0.01732247826191951 Centerline is valid? [True, True] Translation: X:83.31, Y:-148.44, Z:-8.04 [[ 6.29271638e-01 7.77183010e-01 -1.94284304e-03 8.33093505e+01] [ 7.77179020e-01 -6.29274634e-01 -2.49116944e-03 -1.48437311e+02] [-3.15867641e-03 5.76854228e-05 -9.99995010e-01 -8.04288899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.610385723 meters 0.017122158148015786 Centerline is valid? [True, True] Translation: X:83.32, Y:-148.44, Z:-8.04 [[ 5.65034166e-01 8.25066230e-01 -1.45134889e-03 8.33246586e+01] [ 8.25063309e-01 -5.65036029e-01 -2.19596891e-03 -1.48436459e+02] [-2.63188420e-03 4.33427401e-05 -9.99996536e-01 -8.04280381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.640385723 meters 0.01710863717561723 Centerline is valid? [True, True] Translation: X:83.34, Y:-148.43, Z:-8.04 [[ 4.95754410e-01 8.68460971e-01 -1.76259349e-03 8.33377825e+01] [ 8.68455138e-01 -4.95757541e-01 -3.18331976e-03 -1.48434737e+02] [-3.63840799e-03 4.74114337e-05 -9.99993380e-01 -8.04119150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.670385723 meters 0.016611528387312446 Centerline is valid? [True, True] Translation: X:83.35, Y:-148.43, Z:-8.04 [[ 4.24774012e-01 9.05297659e-01 -1.78521086e-03 8.33509589e+01] [ 9.05289170e-01 -4.24777761e-01 -3.92075479e-03 -1.48431247e+02] [-4.30776801e-03 4.93026805e-05 -9.99990720e-01 -8.04049999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.700385723 meters 0.01623670572389526 Centerline is valid? [True, True] Translation: X:83.36, Y:-148.43, Z:-8.04 [[ 3.49551594e-01 9.36916235e-01 -1.28493278e-03 8.33628453e+01] [ 9.36909577e-01 -3.49553954e-01 -3.53223742e-03 -1.48426405e+02] [-3.75856392e-03 3.08333959e-05 -9.99992936e-01 -8.04061097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.730385723 meters 0.016156681799052497 Centerline is valid? [True, True] Translation: X:83.38, Y:-148.42, Z:-8.04 [[ 2.74143755e-01 9.61688419e-01 -7.65675208e-04 8.33763459e+01] [ 9.61684456e-01 -2.74144824e-01 -2.76092379e-03 -1.48420998e+02] [-2.86505433e-03 2.05520709e-05 -9.99995896e-01 -8.04127472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.760385723 meters 0.016160425480458953 Centerline is valid? [True, True] Translation: X:83.39, Y:-148.42, Z:-8.04 [[ 1.97361513e-01 9.80330703e-01 -3.82170793e-04 8.33866316e+01] [ 9.80328734e-01 -1.97361882e-01 -1.96470439e-03 -1.48415069e+02] [-2.00148598e-03 1.31040213e-05 -9.99997997e-01 -8.04195907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.790385723 meters 0.01611708073764617 Centerline is valid? [True, True] Translation: X:83.40, Y:-148.41, Z:-8.04 [[ 1.19789780e-01 9.92799263e-01 -1.80834909e-04 8.33972651e+01] [ 9.92798000e-01 -1.19789916e-01 -1.58345726e-03 -1.48408090e+02] [-1.59371740e-03 1.01494619e-05 -9.99998730e-01 -8.04237956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.820385723 meters 0.01611106254520953 Centerline is valid? [True, True] Translation: X:83.40, Y:-148.40, Z:-8.04 [[ 4.11135131e-02 9.99154481e-01 -4.94212474e-05 8.34043614e+01] [ 9.99153501e-01 -4.11135420e-02 -1.39951757e-03 -1.48400624e+02] [-1.40036613e-03 8.15967137e-06 -9.99999019e-01 -8.04262382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.850385723 meters 0.01605857862127835 Centerline is valid? [True, True] Translation: X:83.41, Y:-148.39, Z:-8.04 [[-3.74472451e-02 9.99298604e-01 6.86158264e-05 8.34121273e+01] [ 9.99297336e-01 3.74473069e-02 -1.59166391e-03 -1.48392509e+02] [-1.59311700e-03 8.96418412e-06 -9.99998731e-01 -8.04250156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.880385723 meters 0.016032931431189747 Centerline is valid? [True, True] Translation: X:83.42, Y:-148.39, Z:-8.04 [[-1.16097051e-01 9.93237872e-01 6.11940065e-05 8.34173369e+01] [ 9.93237746e-01 1.16097067e-01 -5.00902762e-04 -1.48385127e+02] [-5.04620039e-04 2.62686370e-06 -9.99999873e-01 -8.04250940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.910385723 meters 0.015812138937215742 Centerline is valid? [True, True] Translation: X:83.43, Y:-148.37, Z:-8.04 [[-1.93586844e-01 9.81083143e-01 2.29842396e-05 8.34292831e+01] [ 9.81083136e-01 1.93586845e-01 -1.13149514e-04 -1.48374567e+02] [-1.15458527e-04 6.45192632e-07 -9.99999993e-01 -8.04318490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.940385723 meters 0.015926438308104692 Centerline is valid? [True, True] Translation: X:83.44, Y:-148.37, Z:-8.04 [[-2.69666272e-01 9.62953839e-01 -8.16756729e-05 8.34385408e+01] [ 9.62953796e-01 2.69666284e-01 2.86198413e-04 -1.48365092e+02] [ 2.97621036e-04 -1.47184021e-06 -9.99999956e-01 -8.04360060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.970385723 meters 0.015861767325093156 Centerline is valid? [True, True] Translation: X:83.45, Y:-148.35, Z:-8.04 [[-3.43131358e-01 9.39287326e-01 -4.35731049e-04 8.34472947e+01] [ 9.39286598e-01 3.43131634e-01 1.16964422e-03 -1.48354420e+02] [ 1.24814510e-03 -7.93472404e-06 -9.99999221e-01 -8.04378113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.000385723 meters 0.01588572359006046 Centerline is valid? [True, True] Translation: X:83.46, Y:-148.34, Z:-8.04 [[-4.14651870e-01 9.09979561e-01 -1.01234573e-03 8.34552560e+01] [ 9.09976954e-01 4.14653105e-01 2.17845425e-03 -1.48343999e+02] [ 2.40212114e-03 -1.79111591e-05 -9.99997115e-01 -8.04428989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.030385723 meters 0.015936071761036775 Centerline is valid? [True, True] Translation: X:83.46, Y:-148.33, Z:-8.04 [[-4.83580998e-01 8.75298083e-01 -1.63836330e-03 8.34603451e+01] [ 8.75293260e-01 4.83583773e-01 2.90577582e-03 -1.48332905e+02] [ 3.33570591e-03 -2.88703832e-05 -9.99994436e-01 -8.04468860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.060385723 meters 0.01614332646885319 Centerline is valid? [True, True] Translation: X:83.46, Y:-148.32, Z:-8.05 [[-5.48398731e-01 8.36214138e-01 -2.17907603e-03 8.34619053e+01] [ 8.36207856e-01 5.48403058e-01 3.24166310e-03 -1.48323829e+02] [ 3.90573647e-03 -4.44365609e-05 -9.99992372e-01 -8.04551275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.090385723 meters 0.01624492847049126 Centerline is valid? [True, True] Translation: X:83.47, Y:-148.31, Z:-8.05 [[-6.10917742e-01 7.91690030e-01 -2.53171172e-03 8.34656850e+01] [ 7.91683588e-01 6.10922985e-01 3.19408289e-03 -1.48312482e+02] [ 4.07540446e-03 -5.29927096e-05 -9.99991694e-01 -8.04561588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.120385723 meters 0.016786439476650438 Centerline is valid? [True, True] Translation: X:83.47, Y:-148.30, Z:-8.05 [[-6.68408477e-01 7.43786392e-01 -3.45122795e-03 8.34668045e+01] [ 7.43777118e-01 6.68417382e-01 3.71507201e-03 -1.48304952e+02] [ 5.07008076e-03 -8.37587586e-05 -9.99987144e-01 -8.04582450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.150385723 meters 0.016876643499488073 Centerline is valid? [True, True] Translation: X:83.47, Y:-148.29, Z:-8.05 [[-7.23546280e-01 6.90266503e-01 -3.59662194e-03 8.34699317e+01] [ 6.90258577e-01 7.23555214e-01 3.30902051e-03 -1.48292966e+02] [ 4.88646057e-03 -8.83696608e-05 -9.99988057e-01 -8.04522000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.180385723 meters 0.01751505908467901 Centerline is valid? [True, True] Translation: X:83.48, Y:-148.27, Z:-8.04 [[-7.69785410e-01 6.38291854e-01 -3.73252190e-03 8.34847632e+01] [ 6.38284929e-01 7.69794453e-01 2.97471499e-03 -1.48271437e+02] [ 4.77201100e-03 -9.25202764e-05 -9.99988610e-01 -8.04453789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.210385723 meters 0.017520248385177465 Centerline is valid? [True, True] Translation: X:83.50, Y:-148.24, Z:-8.04 [[-8.12571672e-01 5.82852516e-01 -3.19719157e-03 8.34952588e+01] [ 5.82848382e-01 8.12577958e-01 2.19672539e-03 -1.48244061e+02] [ 3.87833431e-03 -7.84811094e-05 -9.99992476e-01 -8.04352243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.240385723 meters 0.018052684685457013 Centerline is valid? [True, True] Translation: X:83.50, Y:-148.22, Z:-8.04 [[-8.51158619e-01 5.24903069e-01 -2.40292696e-03 8.35037630e+01] [ 5.24901175e-01 8.51162008e-01 1.41151845e-03 -1.48219696e+02] [ 2.78619050e-03 -5.98730928e-05 -9.99996117e-01 -8.04250804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.270385723 meters 0.01708953669929864 Centerline is valid? [True, True] Translation: X:83.51, Y:-148.19, Z:-8.04 [[-8.85986277e-01 4.63702680e-01 -2.85336380e-03 8.35110014e+01] [ 4.63700528e-01 8.85990869e-01 1.41439340e-03 -1.48189604e+02] [ 3.18391229e-03 -6.99731602e-05 -9.99994929e-01 -8.04213279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.300385723 meters 0.0187498093721523 Centerline is valid? [True, True] Translation: X:83.51, Y:-148.16, Z:-8.04 [[-9.16133574e-01 4.00860534e-01 -3.17925261e-03 8.35132457e+01] [ 4.00858421e-01 9.16139087e-01 1.30409338e-03 -1.48163779e+02] [ 3.43539715e-03 -7.97064518e-05 -9.99994096e-01 -8.04167989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.330385723 meters 0.017718113139194514 Centerline is valid? [True, True] Translation: X:83.52, Y:-148.13, Z:-8.04 [[-9.42075951e-01 3.35369712e-01 -4.47865262e-03 8.35180520e+01] [ 3.35366484e-01 9.42086590e-01 1.47564645e-03 -1.48133614e+02] [ 4.71416570e-03 -1.11818950e-04 -9.99988882e-01 -8.04279811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.360385723 meters 0.01743195599930106 Centerline is valid? [True, True] Translation: X:83.52, Y:-148.10, Z:-8.04 [[-9.63375044e-01 2.68111351e-01 -4.98275331e-03 8.35182234e+01] [ 2.68108429e-01 9.63387922e-01 1.25778794e-03 -1.48102385e+02] [ 5.13755158e-03 -1.24196648e-04 -9.99986795e-01 -8.04259107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.390385723 meters 0.018003502068331945 Centerline is valid? [True, True] Translation: X:83.52, Y:-148.07, Z:-8.04 [[-9.79842657e-01 1.99699702e-01 -5.32892096e-03 8.35178551e+01] [ 1.99697492e-01 9.79857138e-01 9.48909137e-04 -1.48074732e+02] [ 5.41107812e-03 -1.34390505e-04 -9.99985351e-01 -8.04249803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.420385723 meters 0.019623529704368887 Centerline is valid? [True, True] Translation: X:83.61, Y:-147.54, Z:-9.03 [[-9.76267058e-01 -2.16516772e-01 -4.80830577e-03 8.36097673e+01] [ 2.16513376e-01 -9.76278887e-01 1.22214559e-03 -1.47543521e+02] [-4.95886242e-03 1.52077961e-04 9.99987693e-01 -9.02642153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.450385723 meters 0.021253386345346525 Centerline is valid? [True, True] Translation: X:83.46, Y:-148.07, Z:-8.04 [[-9.79961864e-01 1.99160692e-01 -3.12484422e-03 8.34649914e+01] [ 1.99159969e-01 9.79966842e-01 5.43792425e-04 -1.48070836e+02] [ 3.17054579e-03 -8.94480398e-05 -9.99994970e-01 -8.03883975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.480385723 meters 0.01884794307323716 Centerline is valid? [True, True] Translation: X:83.56, Y:-147.54, Z:-9.03 [[-9.77833447e-01 -2.09364658e-01 -2.86184110e-03 8.35551561e+01] [ 2.09363468e-01 -9.77837630e-01 7.12372845e-04 -1.47535208e+02] [-2.94756161e-03 9.74170165e-05 9.99995651e-01 -9.02864830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.510385723 meters 0.019573494285570033 Centerline is valid? [True, True] Translation: X:83.41, Y:-148.06, Z:-8.04 [[-9.80440177e-01 1.96799623e-01 -2.63966794e-03 8.34113372e+01] [ 1.96799128e-01 9.80443727e-01 4.48644466e-04 -1.48061929e+02] [ 2.67633894e-03 -7.96152898e-05 -9.99996415e-01 -8.04030638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.540385723 meters 0.02017764870671319 Centerline is valid? [True, True] Translation: X:83.50, Y:-147.53, Z:-9.03 [[-9.79139609e-01 -2.03171093e-01 -2.67088186e-03 8.35032249e+01] [ 2.03170121e-01 -9.79143248e-01 6.33207562e-04 -1.47527444e+02] [-2.74382541e-03 7.73552125e-05 9.99996233e-01 -9.02980946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.570385723 meters 0.019359431341092997 Centerline is valid? [True, True] Translation: X:83.36, Y:-148.05, Z:-8.04 [[-9.80752909e-01 1.95225388e-01 -3.28317241e-03 8.33629772e+01] [ 1.95224656e-01 9.80758399e-01 5.45121513e-04 -1.48052501e+02] [ 3.32642047e-03 -1.06326694e-04 -9.99994462e-01 -8.04035234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.600385723 meters 0.023233012448672638 Centerline is valid? [True, True] Translation: X:83.36, Y:-148.03, Z:-8.04 [[-9.91764509e-01 1.28032719e-01 -3.28366364e-03 8.33586006e+01] [ 1.28032401e-01 9.91769938e-01 3.07609521e-04 -1.48025823e+02] [ 3.29602297e-03 -1.15339136e-04 -9.99994561e-01 -8.03936840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.630385723 meters 0.021658454096391926 Centerline is valid? [True, True] Translation: X:83.35, Y:-148.00, Z:-8.04 [[-9.98293029e-01 5.82893975e-02 -3.65716965e-03 8.33511305e+01] [ 5.82894894e-02 9.98299719e-01 8.15537693e-05 -1.47996096e+02] [ 3.65570515e-03 -1.31759992e-04 -9.99993309e-01 -8.04195706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.660385723 meters 0.021657611003898694 Centerline is valid? [True, True] Translation: X:83.36, Y:-147.45, Z:-9.03 [[-9.98617144e-01 -5.24462914e-02 -3.63137649e-03 8.33561491e+01] [ 5.24454631e-02 -9.98623738e-01 3.23008511e-04 -1.47449604e+02] [-3.64331936e-03 1.32112615e-04 9.99993354e-01 -9.02703752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.690385723 meters 0.021790808657776238 Centerline is valid? [True, True] Translation: X:83.28, Y:-147.99, Z:-8.04 [[-9.98394985e-01 5.65375832e-02 -3.31007360e-03 8.32832191e+01] [ 5.65376978e-02 9.98400463e-01 5.90142689e-05 -1.47991755e+02] [ 3.30811554e-03 -1.28224390e-04 -9.99994520e-01 -8.04189272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.720385723 meters 0.023317865495438232 Centerline is valid? [True, True] Translation: X:83.29, Y:-147.45, Z:-9.03 [[-9.99023963e-01 -4.40538318e-02 -3.22207646e-03 8.32902818e+01] [ 4.40531822e-02 -9.99029150e-01 2.72344725e-04 -1.47454361e+02] [-3.23094613e-03 1.30136186e-04 9.99994772e-01 -9.02853807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.750385723 meters 0.025744979515699908 Centerline is valid? [True, True] Translation: X:83.22, Y:-147.99, Z:-8.04 [[-9.98425268e-01 5.60344592e-02 -2.66884642e-03 8.32192346e+01] [ 5.60345639e-02 9.98428829e-01 3.55766945e-05 -1.47988087e+02] [ 2.66664673e-03 -1.14026975e-04 -9.99996438e-01 -8.03801180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.780385723 meters 0.02432567028457512 Centerline is valid? [True, True] Translation: X:83.21, Y:-147.96, Z:-8.04 [[-9.99875247e-01 -1.54931170e-02 -3.07471760e-03 8.32073183e+01] [-1.54926423e-02 9.99879966e-01 -1.78135252e-04 -1.47957246e+02] [ 3.07710840e-03 -1.30477529e-04 -9.99995257e-01 -8.04181579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.810385723 meters 0.022839391599194833 Centerline is valid? [True, True] Translation: X:83.17, Y:-147.43, Z:-9.03 [[-9.99464684e-01 3.25999035e-02 -2.75518678e-03 8.31719645e+01] [-3.26001610e-02 -9.99468472e-01 4.86039725e-05 -1.47430581e+02] [-2.75213784e-03 1.38397487e-04 9.99996203e-01 -9.02755001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.840385723 meters 0.022903899827169463 Centerline is valid? [True, True] Translation: X:83.13, Y:-147.96, Z:-8.04 [[-9.99782516e-01 -2.07130044e-02 -2.42756096e-03 8.31323583e+01] [-2.07126964e-02 9.99785458e-01 -1.51956241e-04 -1.47955451e+02] [ 2.43018762e-03 -1.01641859e-04 -9.99997042e-01 -8.04150486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.870385723 meters 0.021585854081628362 Centerline is valid? [True, True] Translation: X:83.11, Y:-147.92, Z:-8.04 [[-9.95508654e-01 -9.46231170e-02 -2.99765478e-03 8.31140162e+01] [-9.46223307e-02 9.95513160e-01 -4.03389447e-04 -1.47919562e+02] [ 3.02237475e-03 -1.17932603e-04 -9.99995426e-01 -8.04092786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.900385723 meters 0.021967121165398184 Centerline is valid? [True, True] Translation: X:83.09, Y:-147.89, Z:-8.04 [[-9.85897359e-01 -1.67323413e-01 -3.04502423e-03 8.30882892e+01] [-1.67322252e-01 9.85902055e-01 -6.33836485e-04 -1.47890541e+02] [ 3.10815133e-03 -1.15397404e-04 -9.99995163e-01 -8.03955215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.930385723 meters 0.020283927644396797 Centerline is valid? [True, True] Translation: X:82.97, Y:-147.41, Z:-9.03 [[-9.85278528e-01 1.70922468e-01 -3.42522385e-03 8.29726078e+01] [-1.70921801e-01 -9.85284476e-01 -4.88605942e-04 -1.47410685e+02] [-3.45833362e-03 1.04032486e-04 9.99994015e-01 -9.02829114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.960385723 meters 0.019015319569242944 Centerline is valid? [True, True] Translation: X:82.99, Y:-147.90, Z:-8.04 [[-9.83703128e-01 -1.79762740e-01 -3.67609981e-03 8.29914963e+01] [-1.79761065e-01 9.83709990e-01 -7.84022322e-04 -1.47900445e+02] [ 3.75715411e-03 -1.10425596e-04 -9.99992936e-01 -8.04197072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.990385723 meters 0.018553613165689577 Centerline is valid? [True, True] Translation: X:82.96, Y:-147.88, Z:-8.04 [[-9.67755790e-01 -2.51858428e-01 -4.00776817e-03 8.29591182e+01] [-2.51855781e-01 9.67764082e-01 -1.16023610e-03 -1.47875625e+02] [ 4.17078932e-03 -1.13445620e-04 -9.99991296e-01 -8.04265868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.020385723 meters 0.018357689272194812 Centerline is valid? [True, True] Translation: X:82.92, Y:-147.85, Z:-8.04 [[-9.45696398e-01 -3.25029254e-01 -3.78229448e-03 8.29181549e+01] [-3.25026266e-01 9.45703958e-01 -1.39690740e-03 -1.47853713e+02] [ 4.03096663e-03 -9.17052465e-05 -9.99991871e-01 -8.04288251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.050385723 meters 0.017580385279772046 Centerline is valid? [True, True] Translation: X:82.87, Y:-147.84, Z:-8.04 [[-9.18894401e-01 -3.94490495e-01 -3.21402501e-03 8.28653879e+01] [-3.94487804e-01 9.18900019e-01 -1.45891906e-03 -1.47839411e+02] [ 3.52889734e-03 -7.26988876e-05 -9.99993771e-01 -8.04237312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.080385723 meters 0.017254305313461532 Centerline is valid? [True, True] Translation: X:82.80, Y:-147.84, Z:-8.04 [[-8.86641124e-01 -4.62449639e-01 -2.80160385e-03 8.27998670e+01] [-4.62447121e-01 8.86645548e-01 -1.52702349e-03 -1.47836548e+02] [ 3.19020104e-03 -5.83281827e-05 -9.99994910e-01 -8.04242639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.110385723 meters 0.016537556215350493 Centerline is valid? [True, True] Translation: X:82.72, Y:-147.84, Z:-8.04 [[-8.48509244e-01 -5.29176580e-01 -2.05184067e-03 8.27229858e+01] [-5.29174927e-01 8.48511724e-01 -1.32303282e-03 -1.47842005e+02] [ 2.44112884e-03 -3.68229382e-05 -9.99997020e-01 -8.04153979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.140385723 meters 0.016530275098778125 Centerline is valid? [True, True] Translation: X:82.65, Y:-147.86, Z:-8.04 [[-8.06869046e-01 -5.90726779e-01 -2.05317606e-03 8.26480593e+01] [-5.90724750e-01 8.06871657e-01 -1.54888554e-03 -1.47857142e+02] [ 2.57161774e-03 -3.68858839e-05 -9.99996693e-01 -8.04141652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.170385723 meters 0.01659545670194445 Centerline is valid? [True, True] Translation: X:82.57, Y:-147.88, Z:-8.04 [[-7.60659378e-01 -6.49148586e-01 -1.85041643e-03 8.25709665e+01] [-6.49146556e-01 7.60661628e-01 -1.62396797e-03 -1.47881567e+02] [ 2.46173729e-03 -3.40950097e-05 -9.99996969e-01 -8.04123265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.200385723 meters 0.017220782543161263 Centerline is valid? [True, True] Translation: X:82.49, Y:-147.92, Z:-8.04 [[-7.10207904e-01 -7.03990923e-01 -1.23054135e-03 8.24910823e+01] [-7.03989807e-01 7.10208970e-01 -1.25329357e-03 -1.47915746e+02] [ 1.75624879e-03 -2.38104321e-05 -9.99998458e-01 -8.04001012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.230385723 meters 0.017220782543161263 Centerline is valid? [True, True] Translation: X:82.41, Y:-147.96, Z:-8.04 [[-6.55856621e-01 -7.54884632e-01 -1.13387724e-03 8.24112759e+01] [-7.54883441e-01 6.55857600e-01 -1.34138417e-03 -1.47959659e+02] [ 1.75625230e-03 -2.38105329e-05 -9.99998458e-01 -8.04001025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.260385723 meters 0.017099527882394504 Centerline is valid? [True, True] Translation: X:82.33, Y:-148.02, Z:-8.04 [[-5.97031797e-01 -8.02216829e-01 -1.09238684e-03 8.23328823e+01] [-8.02215412e-01 5.97032796e-01 -1.50764322e-03 -1.48015677e+02] [ 1.86164753e-03 -2.37813822e-05 -9.99998267e-01 -8.04214246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.290385723 meters 0.016128706552344628 Centerline is valid? [True, True] Translation: X:82.25, Y:-148.08, Z:-8.04 [[-5.34265765e-01 -8.45316547e-01 -1.64689093e-04 8.22523219e+01] [-8.45316505e-01 5.34265791e-01 -2.67474848e-04 -1.48076634e+02] [ 3.14088663e-04 -3.68824596e-06 -9.99999951e-01 -8.04105423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.320385723 meters 0.01632766393178127 Centerline is valid? [True, True] Translation: X:82.18, Y:-148.15, Z:-8.04 [[-4.68596480e-01 -8.83412278e-01 -2.91999422e-04 8.21792885e+01] [-8.83412098e-01 4.68596571e-01 -5.65019587e-04 -1.48146246e+02] [ 6.35975169e-04 -6.81036771e-06 -9.99999798e-01 -8.04114590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.350385723 meters 0.016221705026798094 Centerline is valid? [True, True] Translation: X:82.11, Y:-148.23, Z:-8.04 [[-4.00295626e-01 -9.16386054e-01 -1.09884683e-04 8.21088545e+01] [-9.16386018e-01 4.00295641e-01 -2.58692093e-04 -1.48225314e+02] [ 2.81048186e-04 -2.85652610e-06 -9.99999961e-01 -8.04138597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.380385723 meters 0.016113657914836155 Centerline is valid? [True, True] Translation: X:82.05, Y:-148.31, Z:-8.04 [[-3.29334595e-01 -9.44213262e-01 -2.02266094e-04 8.20456938e+01] [-9.44213073e-01 3.29334657e-01 -5.97177712e-04 -1.48307835e+02] [ 6.30476350e-04 -5.68898989e-06 -9.99999801e-01 -8.04151518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.410385723 meters 0.01612696109604089 Centerline is valid? [True, True] Translation: X:81.99, Y:-148.40, Z:-8.04 [[-2.56211391e-01 -9.66620775e-01 3.59721417e-05 8.19888011e+01] [-9.66620765e-01 2.56211394e-01 1.39724400e-04 -1.48401265e+02] [-1.44276980e-04 1.02756381e-06 -9.99999990e-01 -8.04100331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.440385723 meters 0.016069474576075788 Centerline is valid? [True, True] Translation: X:81.94, Y:-148.50, Z:-8.04 [[-1.82072342e-01 -9.83285136e-01 6.57628854e-05 8.19391603e+01] [-9.83285066e-01 1.82072354e-01 3.69602051e-04 -1.48498373e+02] [-3.75397807e-04 2.63064791e-06 -9.99999930e-01 -8.04064222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.470385723 meters 0.016039343153153033 Centerline is valid? [True, True] Translation: X:81.90, Y:-148.60, Z:-8.04 [[-1.06985558e-01 -9.94260571e-01 8.30238668e-05 8.18968788e+01] [-9.94260230e-01 1.06985590e-01 8.24185908e-04 -1.48600352e+02] [-8.28337909e-04 5.62866048e-06 -9.99999657e-01 -8.04052774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.500385723 meters 0.016017440948033423 Centerline is valid? [True, True] Translation: X:81.86, Y:-148.71, Z:-8.04 [[-3.11047171e-02 -9.99516131e-01 9.28257455e-07 8.18639777e+01] [-9.99516131e-01 3.11047171e-02 3.39072659e-05 -1.48710525e+02] [-3.39197324e-05 1.26867619e-07 -9.99999999e-01 -8.04134639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.530385723 meters 0.015967456754571178 Centerline is valid? [True, True] Translation: X:81.84, Y:-148.82, Z:-8.04 [[ 4.49938607e-02 -9.98987263e-01 7.26991075e-06 8.18370104e+01] [-9.98987254e-01 -4.49938613e-02 -1.40353765e-04 -1.48816015e+02] [ 1.40538725e-04 -9.47490392e-07 -9.99999990e-01 -8.04149227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.560385723 meters 0.015869698438843092 Centerline is valid? [True, True] Translation: X:81.82, Y:-148.93, Z:-8.04 [[ 1.21589748e-01 -9.92580437e-01 -1.01584228e-04 8.18200642e+01] [-9.92580116e-01 -1.21589790e-01 7.97307777e-04 -1.48929315e+02] [-8.03743706e-04 3.88603347e-06 -9.99999677e-01 -8.04039017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.590385723 meters 0.015814569374739084 Centerline is valid? [True, True] Translation: X:81.81, Y:-149.04, Z:-8.04 [[ 1.96906753e-01 -9.80422154e-01 -3.60465473e-04 8.18108312e+01] [-9.80420583e-01 -1.96907083e-01 1.75514246e-03 -1.49040663e+02] [-1.79175876e-03 7.80836601e-06 -9.99998395e-01 -8.03971784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.620385723 meters 0.01580666580987641 Centerline is valid? [True, True] Translation: X:81.81, Y:-149.15, Z:-8.04 [[ 2.70877634e-01 -9.62613572e-01 -6.46437591e-04 8.18100121e+01] [-9.62610913e-01 -2.70878405e-01 2.26276686e-03 -1.49151976e+02] [-2.35327608e-03 9.33494690e-06 -9.99997231e-01 -8.03944209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.650385723 meters 0.015833176103314944 Centerline is valid? [True, True] Translation: X:81.82, Y:-149.27, Z:-8.04 [[ 3.43791809e-01 -9.39045303e-01 -1.05380399e-03 8.18203331e+01] [-9.39040974e-01 -3.43793424e-01 2.85135661e-03 -1.49265757e+02] [-3.03984391e-03 9.29208061e-06 -9.99995380e-01 -8.03940697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.680385723 meters 0.01573491411570142 Centerline is valid? [True, True] Translation: X:81.84, Y:-149.38, Z:-8.04 [[ 4.14695893e-01 -9.09959233e-01 -1.22925448e-03 8.18372282e+01] [-9.09955279e-01 -4.14697715e-01 2.68237464e-03 -1.49378299e+02] [-2.95062060e-03 6.19685634e-06 -9.99995647e-01 -8.03959433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.710385723 meters 0.016666535125468344 Centerline is valid? [True, True] Translation: X:81.86, Y:-149.49, Z:-8.04 [[ 4.82705580e-01 -8.75781864e-01 -1.20394323e-03 8.18617731e+01] [-8.75779161e-01 -4.82707081e-01 2.17607787e-03 -1.49486938e+02] [-2.48692145e-03 3.98346126e-06 -9.99996908e-01 -8.03835230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.740385723 meters 0.015711827682490905 Centerline is valid? [True, True] Translation: X:81.89, Y:-149.59, Z:-8.04 [[ 5.49313066e-01 -8.35616277e-01 -7.70366523e-04 8.18935255e+01] [-8.35615453e-01 -5.49313606e-01 1.17339163e-03 -1.49586426e+02] [-1.40367796e-03 -8.29185211e-07 -9.99999015e-01 -8.04169254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.770385723 meters 0.015822510694558697 Centerline is valid? [True, True] Translation: X:81.93, Y:-149.69, Z:-8.04 [[ 6.11400208e-01 -7.91321243e-01 -6.90454299e-04 8.19322884e+01] [-7.91320735e-01 -6.11400598e-01 8.96208957e-04 -1.49686746e+02] [-1.13133336e-03 -1.57153982e-06 -9.99999360e-01 -8.04204907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.800385723 meters 0.01577399818091857 Centerline is valid? [True, True] Translation: X:81.98, Y:-149.78, Z:-8.04 [[ 6.70302211e-01 -7.42086230e-01 -1.72426116e-03 8.19782448e+01] [-7.42083749e-01 -6.70304428e-01 1.91926708e-03 -1.49782551e+02] [-2.58004157e-03 -6.94277903e-06 -9.99996672e-01 -8.04087054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.830385723 meters 0.015736086897788347 Centerline is valid? [True, True] Translation: X:82.03, Y:-149.87, Z:-8.04 [[ 7.24506249e-01 -6.89262514e-01 -2.80757641e-03 8.20261980e+01] [-6.89257274e-01 -7.24511688e-01 2.68778122e-03 -1.49872208e+02] [-3.88670877e-03 -1.21718205e-05 -9.99992447e-01 -8.03958416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.860385723 meters 0.01575880613935601 Centerline is valid? [True, True] Translation: X:82.03, Y:-149.88, Z:-8.04 [[ 7.76103399e-01 -6.30594230e-01 -3.79891981e-03 8.20308711e+01] [-6.30586581e-01 -7.76112696e-01 3.10604532e-03 -1.49883168e+02] [-4.90704416e-03 -1.50644761e-05 -9.99987960e-01 -8.03879533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.890385723 meters 0.015580875141330015 Centerline is valid? [True, True] Translation: X:82.04, Y:-149.89, Z:-8.04 [[ 8.21492326e-01 -5.70198767e-01 -4.87074658e-03 8.20355757e+01] [-5.70188728e-01 -8.21506766e-01 3.38355749e-03 -1.49893625e+02] [-5.93065158e-03 -2.32171996e-06 -9.99982414e-01 -8.03966981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.920385723 meters 0.015635533712196954 Centerline is valid? [True, True] Translation: X:82.04, Y:-149.91, Z:-8.04 [[ 8.62753726e-01 -5.05598534e-01 -5.11186535e-03 8.20391744e+01] [-5.05589707e-01 -8.62768869e-01 2.98760879e-03 -1.49906851e+02] [-5.92088891e-03 6.93588702e-06 -9.99982471e-01 -8.04000666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.950385723 meters 0.015694349038011562 Centerline is valid? [True, True] Translation: X:82.04, Y:-149.92, Z:-8.04 [[ 8.98729307e-01 -4.38464591e-01 -5.86808550e-03 8.20427929e+01] [-4.38455399e-01 -8.98748464e-01 2.83924440e-03 -1.49918846e+02] [-6.51884096e-03 2.11816171e-05 -9.99978752e-01 -8.03997833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.980385723 meters 0.015708385301905933 Centerline is valid? [True, True] Translation: X:82.05, Y:-149.93, Z:-8.04 [[ 9.29011048e-01 -3.70006784e-01 -5.78388165e-03 8.20486181e+01] [-3.69999888e-01 -9.29029051e-01 2.25939147e-03 -1.49929197e+02] [-6.20938425e-03 4.10359238e-05 -9.99980721e-01 -8.04067326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.010385723 meters 0.015745736008272154 Centerline is valid? [True, True] Translation: X:82.05, Y:-149.94, Z:-8.04 [[ 9.54735749e-01 -2.97402606e-01 -5.59822090e-03 8.20530384e+01] [-2.97397775e-01 -9.54752160e-01 1.69585313e-03 -1.49940791e+02] [-5.84926464e-03 4.58068288e-05 -9.99982892e-01 -8.04103563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.040385723 meters 0.015934127158750998 Centerline is valid? [True, True] Translation: X:82.06, Y:-149.95, Z:-8.04 [[ 9.74446568e-01 -2.24563379e-01 -5.01743668e-03 8.20599024e+01] [-2.24560689e-01 -9.74459484e-01 1.10042567e-03 -1.49950130e+02] [-5.13640406e-03 5.44130225e-05 -9.99986807e-01 -8.04219697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.070385723 meters 0.016191334684597204 Centerline is valid? [True, True] Translation: X:82.07, Y:-149.96, Z:-8.04 [[ 9.88797772e-01 -1.49192067e-01 -4.54896844e-03 8.20655578e+01] [-1.49190746e-01 -9.88808234e-01 6.30187221e-04 -1.49960270e+02] [-4.59207639e-03 5.55362760e-05 -9.99989455e-01 -8.04247627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.100385723 meters 0.01628435546809599 Centerline is valid? [True, True] Translation: X:82.07, Y:-149.97, Z:-8.04 [[ 9.97309217e-01 -7.31590243e-02 -4.69928501e-03 8.20690474e+01] [-7.31585218e-02 -9.97320286e-01 2.78963752e-04 -1.49970360e+02] [-4.70710099e-03 6.55796234e-05 -9.99988919e-01 -8.04245490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.130385723 meters 0.016612339085514377 Centerline is valid? [True, True] Translation: X:82.07, Y:-149.98, Z:-8.04 [[ 9.99985362e-01 3.55360368e-03 -4.08023972e-03 8.20733194e+01] [ 3.55331631e-03 -9.99993684e-01 -7.76777403e-05 -1.49979301e+02] [-4.08048999e-03 6.31782209e-05 -9.99991673e-01 -8.04199598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.160385723 meters 0.01855746232681185 Centerline is valid? [True, True] Translation: X:82.08, Y:-149.98, Z:-8.04 [[ 9.96943543e-01 7.79193966e-02 -5.66911541e-03 8.20773942e+01] [ 7.79175064e-02 -9.96959656e-01 -5.53854856e-04 -1.49984017e+02] [-5.69503539e-03 1.10438686e-04 -9.99983777e-01 -8.03880233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.190385723 meters 0.017721891219239613 Centerline is valid? [True, True] Translation: X:82.08, Y:-149.99, Z:-8.04 [[ 9.88019415e-01 1.54216345e-01 -5.91219149e-03 8.20817993e+01] [ 1.54212822e-01 -9.88037096e-01 -1.05006001e-03 -1.49990908e+02] [-6.00340093e-03 1.25743950e-04 -9.99981972e-01 -8.04116648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.220385723 meters 0.018343880670318113 Centerline is valid? [True, True] Translation: X:82.09, Y:-150.00, Z:-8.04 [[ 9.73456449e-01 2.28789679e-01 -6.15015108e-03 8.20864064e+01] [ 2.28784149e-01 -9.73475866e-01 -1.59760788e-03 -1.49996980e+02] [-6.35253984e-03 1.48144612e-04 -9.99979811e-01 -8.04078097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.250385723 meters 0.02023963974731045 Centerline is valid? [True, True] Translation: X:82.09, Y:-150.00, Z:-8.04 [[ 9.54072750e-01 2.99522682e-01 -5.59918773e-03 8.20882966e+01] [ 2.99516487e-01 -9.54089165e-01 -1.93369234e-03 -1.49998462e+02] [-5.92130907e-03 1.67834129e-04 -9.99982455e-01 -8.04180021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.280385723 meters 0.019000601555712017 Centerline is valid? [True, True] Translation: X:82.10, Y:-150.01, Z:-8.04 [[ 9.28584244e-01 3.71089971e-01 -4.85137131e-03 8.20961544e+01] [ 3.71083987e-01 -9.28596902e-01 -2.11361317e-03 -1.50010883e+02] [-5.28930902e-03 1.62401674e-04 -9.99985998e-01 -8.04330269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.310385723 meters 0.019693717590351757 Centerline is valid? [True, True] Translation: X:82.10, Y:-150.02, Z:-8.04 [[ 8.97750140e-01 4.40481126e-01 -4.58955156e-03 8.21029805e+01] [ 4.40474382e-01 -8.97761855e-01 -2.44360855e-03 -1.50018995e+02] [-5.19668777e-03 1.72170036e-04 -9.99986482e-01 -8.04396944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.340385723 meters 0.021181891606927666 Centerline is valid? [True, True] Translation: X:82.11, Y:-150.03, Z:-8.04 [[ 8.62590785e-01 5.05888793e-01 -3.69692876e-03 8.21074641e+01] [ 5.05883327e-01 -8.62598692e-01 -2.35727530e-03 -1.50025400e+02] [-4.38148507e-03 1.63149328e-04 -9.99990388e-01 -8.04477635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.370385723 meters 0.02192597916906135 Centerline is valid? [True, True] Translation: X:82.11, Y:-150.03, Z:-8.04 [[ 8.21152460e-01 5.70698811e-01 -3.39182945e-03 8.21136866e+01] [ 5.70693106e-01 -8.21159449e-01 -2.55695011e-03 -1.50032972e+02] [-4.24448119e-03 1.63952192e-04 -9.99990979e-01 -8.04499515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.400385723 meters 0.022507665808815122 Centerline is valid? [True, True] Translation: X:82.12, Y:-150.04, Z:-8.04 [[ 7.74795632e-01 6.32204261e-01 -3.08254627e-03 8.21210440e+01] [ 6.32198398e-01 -7.74801746e-01 -2.72753993e-03 -1.50039383e+02] [-4.11272459e-03 1.64505207e-04 -9.99991529e-01 -8.04489453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.430385723 meters 0.022837006277162394 Centerline is valid? [True, True] Translation: X:82.13, Y:-150.05, Z:-8.04 [[ 7.24534239e-01 6.89229322e-01 -3.61632370e-03 8.21293645e+01] [ 6.89219189e-01 -7.24543231e-01 -3.74377657e-03 -1.50046184e+02] [-5.20050345e-03 2.20054620e-04 -9.99986453e-01 -8.04437952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.460385723 meters 0.023495491842809538 Centerline is valid? [True, True] Translation: X:82.14, Y:-150.05, Z:-8.04 [[ 6.69242878e-01 7.43034339e-01 -3.73390716e-03 8.21408338e+01] [ 7.43020592e-01 -6.69253246e-01 -4.52698070e-03 -1.50054254e+02] [-5.86263160e-03 2.55279689e-04 -9.99982782e-01 -8.04115022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.490385723 meters 0.024872046654499925 Centerline is valid? [True, True] Translation: X:82.15, Y:-150.06, Z:-8.04 [[ 6.09114204e-01 7.93073634e-01 -3.75463820e-03 8.21483483e+01] [ 7.93055590e-01 -6.09125709e-01 -5.35736971e-03 -1.50059648e+02] [-6.53583532e-03 2.85613172e-04 -9.99978600e-01 -8.04241654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.520385723 meters 0.02252164950521058 Centerline is valid? [True, True] Translation: X:82.17, Y:-150.07, Z:-8.04 [[ 5.45952280e-01 8.37810437e-01 -3.12729406e-03 8.21652939e+01] [ 8.37793705e-01 -5.45961167e-01 -5.30202956e-03 -1.50068867e+02] [-6.14947682e-03 2.74627846e-04 -9.99981054e-01 -8.04258568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.550385723 meters 0.02261076254575026 Centerline is valid? [True, True] Translation: X:82.18, Y:-150.07, Z:-8.04 [[ 4.78761801e-01 8.77941735e-01 -2.33413352e-03 8.21781529e+01] [ 8.77928772e-01 -4.78767432e-01 -4.77683725e-03 -1.50074713e+02] [-5.31129189e-03 2.37764232e-04 -9.99985867e-01 -8.04312755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.580385723 meters 0.02245155914321646 Centerline is valid? [True, True] Translation: X:82.19, Y:-150.08, Z:-8.04 [[ 4.08112929e-01 9.12929920e-01 -1.67281222e-03 8.21917186e+01] [ 9.12920115e-01 -4.08116307e-01 -4.23595262e-03 -1.50079947e+02] [-4.54982983e-03 2.01603103e-04 -9.99989629e-01 -8.04356799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.610385723 meters 0.021692188893848326 Centerline is valid? [True, True] Translation: X:82.21, Y:-150.08, Z:-8.04 [[ 3.32969955e-01 9.42936668e-01 -1.20380779e-03 8.22082426e+01] [ 9.42928522e-01 -3.32972087e-01 -3.92325220e-03 -1.50084467e+02] [-4.10021275e-03 1.71220407e-04 -9.99991579e-01 -8.04455333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.640385723 meters 0.021227080553544546 Centerline is valid? [True, True] Translation: X:82.22, Y:-150.09, Z:-8.04 [[ 2.56450719e-01 9.66556935e-01 -8.48323553e-04 8.22234373e+01] [ 9.66549458e-01 -2.56452075e-01 -3.80505080e-03 -1.50087454e+02] [-3.89535257e-03 1.55861343e-04 -9.99992401e-01 -8.04450075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.670385723 meters 0.021202665652041246 Centerline is valid? [True, True] Translation: X:82.24, Y:-150.09, Z:-8.04 [[ 1.77782097e-01 9.84069726e-01 -5.48655198e-04 8.22373388e+01] [ 9.84062139e-01 -1.77782883e-01 -3.86689388e-03 -1.50090005e+02] [-3.90283470e-03 1.47553695e-04 -9.99992373e-01 -8.04415011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.700385723 meters 0.02028185389885462 Centerline is valid? [True, True] Translation: X:82.25, Y:-150.09, Z:-8.04 [[ 9.52216405e-02 9.95456059e-01 -2.69936362e-04 8.22532657e+01] [ 9.95446744e-01 -9.52219178e-02 -4.30892523e-03 -1.50091195e+02] [-4.31504959e-03 1.41595657e-04 -9.99990680e-01 -8.04340025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.730385723 meters 0.01939012284032707 Centerline is valid? [True, True] Translation: X:82.27, Y:-150.09, Z:-8.04 [[ 1.38938438e-02 9.99903473e-01 7.36612504e-05 8.22674012e+01] [ 9.99892647e-01 -1.38933504e-02 -4.65506204e-03 -1.50089890e+02] [-4.65358930e-03 1.38330047e-04 -9.99989162e-01 -8.04330341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.760385723 meters 0.01778077654141781 Centerline is valid? [True, True] Translation: X:82.28, Y:-150.09, Z:-8.04 [[-7.06657916e-02 9.97499979e-01 3.70362911e-04 8.22831948e+01] [ 9.97492288e-01 7.06667016e-02 -3.91834737e-03 -1.50087021e+02] [-3.93472374e-03 9.25410290e-05 -9.99992255e-01 -8.04321725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.790385723 meters 0.016547277505518283 Centerline is valid? [True, True] Translation: X:82.30, Y:-150.08, Z:-8.04 [[-1.51854415e-01 9.88402703e-01 5.77503792e-04 8.23009287e+01] [ 9.88397158e-01 1.51855497e-01 -3.31160202e-03 -1.50081651e+02] [-3.36089351e-03 6.79217211e-05 -9.99994350e-01 -8.04385249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.820385723 meters 0.01674229623037515 Centerline is valid? [True, True] Translation: X:82.31, Y:-150.08, Z:-8.04 [[-2.31494389e-01 9.72835955e-01 7.43416924e-04 8.23144728e+01] [ 9.72831637e-01 2.31495576e-01 -2.89890357e-03 -1.50076713e+02] [-2.99225535e-03 5.21395940e-05 -9.99995522e-01 -8.04294705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.850385723 meters 0.016533920666635404 Centerline is valid? [True, True] Translation: X:82.32, Y:-150.07, Z:-8.04 [[-3.09903346e-01 9.50767567e-01 9.74181480e-04 8.23234002e+01] [ 9.50763299e-01 3.09904875e-01 -2.84918886e-03 -1.50072143e+02] [-3.01081995e-03 4.32428355e-05 -9.99995467e-01 -8.04174619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.880385723 meters 0.015099123331331567 Centerline is valid? [True, True] Translation: X:82.34, Y:-150.06, Z:-8.04 [[-3.88632907e-01 9.21391911e-01 1.18696887e-03 8.23432005e+01] [ 9.21387817e-01 3.88634719e-01 -2.74685481e-03 -1.50060685e+02] [-2.99222712e-03 2.61404815e-05 -9.99995523e-01 -8.04119270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.910385723 meters 0.01512750741842269 Centerline is valid? [True, True] Translation: X:82.35, Y:-150.05, Z:-8.04 [[-4.61682459e-01 8.87044187e-01 1.38475356e-03 8.23546993e+01] [ 8.87040319e-01 4.61684535e-01 -2.61970195e-03 -1.50052468e+02] [-2.96311069e-03 1.88617997e-05 -9.99995610e-01 -8.04128383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.940385723 meters 0.014982773808614378 Centerline is valid? [True, True] Translation: X:82.36, Y:-150.05, Z:-8.04 [[-5.32681049e-01 8.46313201e-01 2.20601068e-03 8.23600731e+01] [ 8.46306036e-01 5.32685617e-01 -3.48250331e-03 -1.50046529e+02] [-4.12239868e-03 1.18966348e-05 -9.99991503e-01 -8.04111246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.970385723 meters 0.014948649401955994 Centerline is valid? [True, True] Translation: X:82.37, Y:-150.04, Z:-8.04 [[-5.98401304e-01 8.01192016e-01 2.68931424e-03 8.23686406e+01] [ 8.01183978e-01 5.98407347e-01 -3.58887944e-03 -1.50036074e+02] [-4.48468696e-03 7.04534188e-06 -9.99989944e-01 -8.04146589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.000385723 meters 0.014891383474904478 Centerline is valid? [True, True] Translation: X:82.38, Y:-150.03, Z:-8.04 [[-6.60143295e-01 7.51131341e-01 3.54103195e-03 8.23763038e+01] [ 7.51120554e-01 6.60152792e-01 -4.02546792e-03 -1.50026761e+02] [-5.36127724e-03 2.35622555e-06 -9.99985628e-01 -8.03964703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.030385723 meters 0.014996513586628587 Centerline is valid? [True, True] Translation: X:82.38, Y:-150.02, Z:-8.04 [[-7.18745435e-01 6.95254066e-01 5.17534600e-03 8.23814476e+01] [ 6.95235887e-01 7.18764067e-01 -5.02770460e-03 -1.50017366e+02] [-7.21538481e-03 -1.55534628e-05 -9.99973969e-01 -8.03847405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.060385723 meters 0.01498359293116043 Centerline is valid? [True, True] Translation: X:82.40, Y:-150.00, Z:-8.04 [[-7.67027918e-01 6.41588421e-01 5.69841227e-03 8.23992389e+01] [ 6.41570463e-01 7.67049084e-01 -4.80036101e-03 -1.49996216e+02] [-7.45081795e-03 -2.60779054e-05 -9.99972242e-01 -8.03872701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.090385723 meters 0.015147468844034447 Centerline is valid? [True, True] Translation: X:82.41, Y:-149.97, Z:-8.04 [[-8.11360488e-01 5.84513859e-01 6.14066228e-03 8.24105310e+01] [ 5.84496770e-01 8.11383724e-01 -4.46974053e-03 -1.49970800e+02] [-7.59505871e-03 -3.73735919e-05 -9.99971156e-01 -8.03863237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.120385723 meters 0.015546968970204873 Centerline is valid? [True, True] Translation: X:82.42, Y:-149.95, Z:-8.04 [[-8.51584063e-01 5.24169237e-01 7.15509969e-03 8.24221952e+01] [ 5.24150183e-01 8.51614119e-01 -4.46954329e-03 -1.49947100e+02] [-8.43618102e-03 -5.58450227e-05 -9.99964413e-01 -8.03670053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.150385723 meters 0.015546968970204873 Centerline is valid? [True, True] Translation: X:82.44, Y:-149.92, Z:-8.04 [[-8.84915255e-01 4.65692650e-01 7.43955444e-03 8.24395990e+01] [ 4.65675662e-01 8.84946525e-01 -3.97809502e-03 -1.49920978e+02] [-8.43617746e-03 -5.58575320e-05 -9.99964413e-01 -8.03670054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.180385723 meters 0.015361656730176832 Centerline is valid? [True, True] Translation: X:82.44, Y:-149.89, Z:-8.04 [[-9.16128029e-01 4.00805185e-01 8.03974898e-03 8.24437092e+01] [ 4.00789101e-01 9.16163304e-01 -3.59135243e-03 -1.49894836e+02] [-8.80515566e-03 -6.78948588e-05 -9.99961232e-01 -8.03816339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.210385723 meters 0.015509060069464876 Centerline is valid? [True, True] Translation: X:82.45, Y:-149.87, Z:-8.04 [[-9.42693777e-01 3.33541031e-01 8.87827390e-03 8.24484366e+01] [ 3.33525378e-01 9.42735580e-01 -3.23240741e-03 -1.49867585e+02] [-9.44800519e-03 -8.60406868e-05 -9.99955363e-01 -8.03755678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.240385723 meters 0.01580415044061865 Centerline is valid? [True, True] Translation: X:82.45, Y:-149.84, Z:-8.04 [[-9.64762523e-01 2.62926199e-01 1.01532379e-02 8.24515875e+01] [ 2.62910238e-01 9.64815940e-01 -2.89988144e-03 -1.49841412e+02] [-1.05584605e-02 -1.28306749e-04 -9.99944250e-01 -8.03686581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.270385723 meters 0.016425210350080162 Centerline is valid? [True, True] Translation: X:82.62, Y:-149.26, Z:-9.03 [[-9.36008124e-01 -3.51832496e-01 1.01334248e-02 8.26168874e+01] [ 3.51813549e-01 -9.36062965e-01 -3.65415692e-03 -1.49260608e+02] [ 1.07711748e-02 1.44755555e-04 9.99941979e-01 -9.03413759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.300385723 meters 0.016497008775185517 Centerline is valid? [True, True] Translation: X:82.40, Y:-149.83, Z:-8.04 [[-9.66716164e-01 2.55624868e-01 1.07603792e-02 8.24023583e+01] [ 2.55606982e-01 9.66776032e-01 -3.02903134e-03 -1.49831008e+02] [-1.11771725e-02 -1.77785489e-04 -9.99937518e-01 -8.03633727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.330385723 meters 0.017001605757513725 Centerline is valid? [True, True] Translation: X:82.56, Y:-149.24, Z:-9.03 [[-9.35743346e-01 -3.52549880e-01 9.64224265e-03 8.25649646e+01] [ 3.52532299e-01 -9.35793018e-01 -3.52224884e-03 -1.49238395e+02] [ 1.02649117e-02 1.03281059e-04 9.99947309e-01 -9.03150806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.360385723 meters 0.017623131131874643 Centerline is valid? [True, True] Translation: X:82.35, Y:-149.83, Z:-8.04 [[-9.68505759e-01 2.48805066e-01 9.62468688e-03 8.23506582e+01] [ 2.48790816e-01 9.68553562e-01 -2.66971932e-03 -1.49825600e+02] [-9.98626446e-03 -1.91104837e-04 -9.99950118e-01 -8.03850083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.390385723 meters 0.017524959057489117 Centerline is valid? [True, True] Translation: X:82.52, Y:-149.22, Z:-9.03 [[-9.36600837e-01 -3.50263373e-01 9.71813880e-03 8.25163433e+01] [ 3.50246911e-01 -9.36651228e-01 -3.40279246e-03 -1.49218257e+02] [ 1.02943802e-02 2.16689826e-04 9.99946988e-01 -9.03057017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.420385723 meters 0.017401164019807642 Centerline is valid? [True, True] Translation: X:82.30, Y:-149.82, Z:-8.04 [[-9.69620205e-01 2.44328766e-01 1.18369406e-02 8.23000659e+01] [ 2.44307472e-01 9.69692423e-01 -3.23490693e-03 -1.49823864e+02] [-1.22685724e-02 -2.44778088e-04 -9.99924708e-01 -8.03813727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.450385723 meters 0.017569669683690645 Centerline is valid? [True, True] Translation: X:82.29, Y:-149.80, Z:-8.04 [[-9.84510781e-01 1.74870307e-01 1.26055096e-02 8.22919366e+01] [ 1.74852627e-01 9.84591443e-01 -2.49984131e-03 -1.49796033e+02] [-1.28484249e-02 -2.57014263e-04 -9.99917423e-01 -8.03708075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.480385723 meters 0.017480046343359396 Centerline is valid? [True, True] Translation: X:82.30, Y:-149.77, Z:-8.04 [[-9.94352657e-01 1.05277188e-01 1.33980054e-02 8.23007600e+01] [ 1.05264106e-01 9.94442882e-01 -1.67982510e-03 -1.49772380e+02] [-1.35003984e-02 -2.60009488e-04 -9.99908832e-01 -8.03652974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.510385723 meters 0.017419522203032372 Centerline is valid? [True, True] Translation: X:82.30, Y:-149.75, Z:-8.04 [[-9.99296264e-01 3.55379389e-02 1.20013199e-02 8.22970088e+01] [ 3.55327571e-02 9.99368304e-01 -6.44792183e-04 -1.49751780e+02] [-1.20166533e-02 -2.17898434e-04 -9.99927774e-01 -8.03712692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.540385723 meters 0.01691338768068457 Centerline is valid? [True, True] Translation: X:82.30, Y:-149.73, Z:-8.04 [[-9.99334453e-01 -3.48662831e-02 1.07234723e-02 8.22962048e+01] [-3.48662780e-02 9.99391969e-01 1.87486964e-04 -1.49729163e+02] [-1.07234891e-02 -1.86525385e-04 -9.99942484e-01 -8.03926912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.570385723 meters 0.017230706341298446 Centerline is valid? [True, True] Translation: X:82.29, Y:-149.03, Z:-9.03 [[-9.97738669e-01 -6.64520588e-02 1.00832384e-02 8.22896690e+01] [ 6.64500288e-02 -9.97789610e-01 -5.36586178e-04 -1.49034701e+02] [ 1.00966078e-02 1.34658705e-04 9.99949019e-01 -9.03028787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.600385723 meters 0.01667145113547585 Centerline is valid? [True, True] Translation: X:82.22, Y:-149.74, Z:-8.04 [[-9.99247885e-01 -3.77891610e-02 8.69730094e-03 8.22156339e+01] [-3.77888585e-02 9.99285726e-01 1.99163371e-04 -1.49744864e+02] [-8.69861491e-03 -1.29647497e-04 -9.99962158e-01 -8.04290427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.630385723 meters 0.016656300498028003 Centerline is valid? [True, True] Translation: X:82.20, Y:-149.02, Z:-9.03 [[-9.98240028e-01 -5.87958646e-02 7.73905178e-03 8.22008234e+01] [ 5.87945126e-02 -9.98270025e-01 -4.02293717e-04 -1.49022181e+02] [ 7.74931662e-03 5.34280855e-05 9.99969972e-01 -9.02609923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.660385723 meters 0.016880198096619815 Centerline is valid? [True, True] Translation: X:82.13, Y:-149.75, Z:-8.04 [[-9.99088687e-01 -4.21318849e-02 6.83377663e-03 8.21260039e+01] [-4.21315430e-02 9.99112054e-01 1.94053352e-04 -1.49754803e+02] [-6.83588444e-03 -9.40410453e-05 -9.99976631e-01 -8.04331446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.690385723 meters 0.017287846390279634 Centerline is valid? [True, True] Translation: X:82.08, Y:-149.73, Z:-8.04 [[-9.93561585e-01 -1.13099719e-01 6.62044893e-03 8.20813877e+01] [-1.13097827e-01 9.93583638e-01 6.60686063e-04 -1.49731782e+02] [-6.65269314e-03 -9.23260941e-05 -9.99977866e-01 -8.04299203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.720385723 meters 0.017186779974069248 Centerline is valid? [True, True] Translation: X:82.10, Y:-149.71, Z:-8.04 [[-9.82886204e-01 -1.84072486e-01 7.21317189e-03 8.20950183e+01] [-1.84068271e-01 9.82912666e-01 1.24968987e-03 -1.49706723e+02] [-7.31995154e-03 -9.94131414e-05 -9.99973204e-01 -8.04401065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.750385723 meters 0.017099446871173336 Centerline is valid? [True, True] Translation: X:82.07, Y:-149.69, Z:-8.04 [[-9.67578282e-01 -2.52436718e-01 8.24443634e-03 8.20738851e+01] [-2.52428423e-01 9.67613401e-01 2.04877184e-03 -1.49689849e+02] [-8.49461233e-03 -9.87829326e-05 -9.99963915e-01 -8.04346258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.780385723 meters 0.017201391064366273 Centerline is valid? [True, True] Translation: X:82.03, Y:-149.68, Z:-8.04 [[-9.47244901e-01 -3.20397302e-01 8.52446030e-03 8.20274420e+01] [-3.20385137e-01 9.47283253e-01 2.79324553e-03 -1.49676151e+02] [-8.97002682e-03 -8.52227970e-05 -9.99959765e-01 -8.04213099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.810385723 meters 0.016586469833503686 Centerline is valid? [True, True] Translation: X:81.97, Y:-149.67, Z:-8.04 [[-9.21964403e-01 -3.87182034e-01 8.46831431e-03 8.19657585e+01] [-3.87166367e-01 9.22003291e-01 3.48370863e-03 -1.49673450e+02] [-9.15664305e-03 -6.67911429e-05 -9.99958075e-01 -8.04271175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.840385723 meters 0.0164181902765864 Centerline is valid? [True, True] Translation: X:81.90, Y:-149.67, Z:-8.04 [[-8.91908818e-01 -4.52151044e-01 7.62188479e-03 8.18993348e+01] [-4.52134897e-01 8.91941384e-01 3.82133459e-03 -1.49672762e+02] [-8.52609489e-03 -3.78380805e-05 -9.99963652e-01 -8.04167381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.870385723 meters 0.016371058667875606 Centerline is valid? [True, True] Translation: X:81.82, Y:-149.68, Z:-8.04 [[-8.56235212e-01 -5.16529103e-01 7.67774341e-03 8.18159623e+01] [-5.16508650e-01 8.56269633e-01 4.59669011e-03 -1.49684217e+02] [-8.94854276e-03 -2.97729527e-05 -9.99959961e-01 -8.04043540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.900385723 meters 0.016185314618260883 Centerline is valid? [True, True] Translation: X:81.73, Y:-149.70, Z:-8.04 [[-8.16487939e-01 -5.77297374e-01 8.67111389e-03 8.17289561e+01] [-5.77264922e-01 8.16533981e-01 6.12110047e-03 -1.49704070e+02] [-1.06139544e-02 -7.72517104e-06 -9.99943670e-01 -8.03934513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.930385723 meters 0.016226927496089533 Centerline is valid? [True, True] Translation: X:81.64, Y:-149.73, Z:-8.04 [[-7.71518657e-01 -6.36155872e-01 8.04175147e-03 8.16399357e+01] [-6.36121221e-01 7.71560566e-01 6.63962621e-03 -1.49733852e+02] [-1.04285355e-02 7.06672640e-06 -9.99945621e-01 -8.03779500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.960385723 meters 0.0160878445044379 Centerline is valid? [True, True] Translation: X:81.55, Y:-149.78, Z:-8.04 [[-7.21980420e-01 -6.91873758e-01 7.41465334e-03 8.15455775e+01] [-6.91836991e-01 7.22018492e-01 7.13271269e-03 -1.49777553e+02] [-1.02884536e-02 1.99474473e-05 -9.99947072e-01 -8.03926401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.990385723 meters 0.01606193616121328 Centerline is valid? [True, True] Translation: X:81.45, Y:-149.83, Z:-8.04 [[-6.68031600e-01 -7.44105471e-01 6.38980349e-03 8.14528709e+01] [-7.44071024e-01 6.68062158e-01 7.15986921e-03 -1.49831450e+02] [-9.59648376e-03 2.85512507e-05 -9.99953952e-01 -8.03905687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.020385723 meters 0.01609041897017242 Centerline is valid? [True, True] Translation: X:81.36, Y:-149.90, Z:-8.04 [[-6.11334165e-01 -7.91355328e-01 5.22342625e-03 8.13644367e+01] [-7.91325778e-01 6.11356478e-01 6.83889849e-03 -1.49895016e+02] [-8.60537423e-03 4.74204631e-05 -9.99962972e-01 -8.03917891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.050385723 meters 0.016138877079488273 Centerline is valid? [True, True] Translation: X:81.28, Y:-149.97, Z:-8.04 [[-5.49760106e-01 -8.35307075e-01 5.09071123e-03 8.12783555e+01] [-8.35270260e-01 5.49783672e-01 7.84255801e-03 -1.49967855e+02] [-9.34973412e-03 5.94058289e-05 -9.99956289e-01 -8.03845406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.080385723 meters 0.016425190814435008 Centerline is valid? [True, True] Translation: X:81.20, Y:-150.05, Z:-8.04 [[-4.86307016e-01 -8.73771776e-01 5.32635592e-03 8.11953346e+01] [-8.73717126e-01 4.86336174e-01 9.77285914e-03 -1.50052777e+02] [-1.11296480e-02 9.88815831e-05 -9.99938059e-01 -8.03599871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.110385723 meters 0.016532905423360934 Centerline is valid? [True, True] Translation: X:81.12, Y:-150.14, Z:-8.03 [[-4.18947118e-01 -9.07999396e-01 4.51755125e-03 8.11177006e+01] [-9.07943695e-01 4.18971459e-01 1.00579773e-02 -1.50142522e+02] [-1.10253623e-02 1.12078415e-04 -9.99939213e-01 -8.03453585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.140385723 meters 0.01663647244285988 Centerline is valid? [True, True] Translation: X:81.04, Y:-150.24, Z:-8.03 [[-3.49008718e-01 -9.37113324e-01 3.39605309e-03 8.10438580e+01] [-9.37065732e-01 3.49025222e-01 9.44499729e-03 -1.50240653e+02] [-1.00363410e-02 1.14061420e-04 -9.99949628e-01 -8.03295346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.170385723 meters 0.01661079471505027 Centerline is valid? [True, True] Translation: X:80.98, Y:-150.35, Z:-8.03 [[-2.75971216e-01 -9.61162678e-01 2.48881354e-03 8.09788153e+01] [-9.61119987e-01 2.75982417e-01 9.05958736e-03 -1.50348551e+02] [-9.39460603e-03 1.08136908e-04 -9.99955864e-01 -8.03309484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.200385723 meters 0.016049088216691466 Centerline is valid? [True, True] Translation: X:80.92, Y:-150.46, Z:-8.04 [[-2.00612481e-01 -9.79669389e-01 1.58771375e-03 8.09221458e+01] [-9.79634956e-01 2.00618742e-01 8.21420880e-03 -1.50459058e+02] [-8.36573405e-03 9.24929199e-05 -9.99965002e-01 -8.03547833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.230385723 meters 0.015718062180945198 Centerline is valid? [True, True] Translation: X:80.88, Y:-150.58, Z:-8.04 [[-1.22346784e-01 -9.92487183e-01 6.75217133e-04 8.08754620e+01] [-9.92469588e-01 1.22348636e-01 5.90997117e-03 -1.50577108e+02] [-5.94818254e-03 5.29334992e-05 -9.99982308e-01 -8.03835750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.260385723 meters 0.015848199565873824 Centerline is valid? [True, True] Translation: X:80.84, Y:-150.70, Z:-8.04 [[-4.44084614e-02 -9.99013443e-01 1.72891438e-04 8.08374537e+01] [-9.99002220e-01 4.44087821e-02 4.73549128e-03 -1.50702045e+02] [-4.73849734e-03 3.75769518e-05 -9.99988773e-01 -8.03860083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.290385723 meters 0.0155146450987239 Centerline is valid? [True, True] Translation: X:80.81, Y:-150.83, Z:-8.04 [[ 3.39195274e-02 -9.99424552e-01 -1.76436399e-04 8.08067938e+01] [-9.99415196e-01 -3.39199733e-02 4.32449636e-03 -1.50827147e+02] [-4.32799255e-03 2.96483456e-05 -9.99990634e-01 -8.03916178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.320385723 meters 0.015467728681150815 Centerline is valid? [True, True] Translation: X:80.79, Y:-150.95, Z:-8.04 [[ 1.11765438e-01 -9.93734518e-01 -4.40862201e-04 8.07860698e+01] [-9.93727568e-01 -1.11766305e-01 3.71661989e-03 -1.50949811e+02] [-3.74260702e-03 2.27072719e-05 -9.99992996e-01 -8.03855988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.350385723 meters 0.015291270205495734 Centerline is valid? [True, True] Translation: X:80.78, Y:-151.09, Z:-8.04 [[ 1.89097477e-01 -9.81958050e-01 -7.29447792e-04 8.07769874e+01] [-9.81951126e-01 -1.89098883e-01 3.68765380e-03 -1.51085983e+02] [-3.75905910e-03 1.89560512e-05 -9.99992935e-01 -8.03669774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.380385723 meters 0.015312965577672583 Centerline is valid? [True, True] Translation: X:80.78, Y:-151.20, Z:-8.04 [[ 2.64218033e-01 -9.64462346e-01 -1.10211145e-03 8.07752737e+01] [-9.64454282e-01 -2.64220330e-01 3.94404807e-03 -1.51202919e+02] [-4.09508611e-03 2.08474865e-05 -9.99991615e-01 -8.03605188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.410385723 meters 0.015260519437230226 Centerline is valid? [True, True] Translation: X:80.79, Y:-151.33, Z:-8.04 [[ 3.37353836e-01 -9.41376637e-01 -1.55480930e-03 8.07862025e+01] [-9.41366973e-01 -3.37357418e-01 4.26547329e-03 -1.51327993e+02] [-4.53994335e-03 2.46723503e-05 -9.99989694e-01 -8.03586451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.440385723 meters 0.015424470283588057 Centerline is valid? [True, True] Translation: X:80.81, Y:-151.45, Z:-8.04 [[ 4.07325918e-01 -9.13281141e-01 -1.77574090e-03 8.08078145e+01] [-9.13272789e-01 -4.07329788e-01 3.90603718e-03 -1.51448806e+02] [-4.29062226e-03 3.07056617e-05 -9.99990795e-01 -8.03630163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.470385723 meters 0.01549830201213242 Centerline is valid? [True, True] Translation: X:80.84, Y:-151.57, Z:-8.04 [[ 4.75636342e-01 -8.79639825e-01 -1.96174798e-03 8.08390969e+01] [-8.79632624e-01 -4.75640387e-01 3.55935836e-03 -1.51573249e+02] [-4.06403993e-03 3.26573338e-05 -9.99991741e-01 -8.03641219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.500385723 meters 0.01564570574816184 Centerline is valid? [True, True] Translation: X:80.88, Y:-151.69, Z:-8.04 [[ 5.40844354e-01 -8.41119507e-01 -2.31495716e-03 8.08760837e+01] [-8.41112109e-01 -5.40849307e-01 3.52807192e-03 -1.51689410e+02] [-4.21957309e-03 3.90007210e-05 -9.99991097e-01 -8.03555227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.530385723 meters 0.0160271127135445 Centerline is valid? [True, True] Translation: X:80.92, Y:-151.79, Z:-8.03 [[ 6.01443910e-01 -7.98910652e-01 -2.64448017e-03 8.09156826e+01] [-7.98903313e-01 -6.01449721e-01 3.42492973e-03 -1.51793300e+02] [-4.32673470e-03 5.27808474e-05 -9.99990638e-01 -8.03328493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.560385723 meters 0.016450797089105584 Centerline is valid? [True, True] Translation: X:80.97, Y:-151.90, Z:-8.03 [[ 6.59519859e-01 -7.51680296e-01 -3.20740831e-03 8.09663990e+01] [-7.51671896e-01 -6.59527655e-01 3.55424490e-03 -1.51898183e+02] [-4.78703034e-03 6.68235883e-05 -9.99988540e-01 -8.03236348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.590385723 meters 0.01626094171971152 Centerline is valid? [True, True] Translation: X:81.02, Y:-152.00, Z:-8.03 [[ 7.13866839e-01 -7.00274134e-01 -3.20507198e-03 8.10198970e+01] [-7.00267507e-01 -7.13874031e-01 3.04728491e-03 -1.51995019e+02] [-4.42195246e-03 6.90521161e-05 -9.99990221e-01 -8.03227552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.620385723 meters 0.016425372618435116 Centerline is valid? [True, True] Translation: X:81.01, Y:-152.00, Z:-8.03 [[ 7.64450606e-01 -6.44669889e-01 -4.00065224e-03 8.10146280e+01] [-6.44661712e-01 -7.64461069e-01 3.24836879e-03 -1.52003185e+02] [-5.15246844e-03 9.58498306e-05 -9.99986721e-01 -8.03265399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.650385723 meters 0.0167145966259701 Centerline is valid? [True, True] Translation: X:81.01, Y:-152.01, Z:-8.03 [[ 8.12245627e-01 -5.83296485e-01 -4.71716055e-03 8.10078226e+01] [-5.83287423e-01 -8.12259317e-01 3.25324681e-03 -1.52010538e+02] [-5.72916504e-03 1.09024927e-04 -9.99983582e-01 -8.03239565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.680385723 meters 0.017495835603199027 Centerline is valid? [True, True] Translation: X:81.00, Y:-152.02, Z:-8.03 [[ 8.55062446e-01 -5.18492795e-01 -5.78231763e-03 8.10012772e+01] [-5.18481966e-01 -8.55081987e-01 3.35361238e-03 -1.52018140e+02] [-6.68317951e-03 1.30479413e-04 -9.99977659e-01 -8.03088968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.710385723 meters 0.016686494004651737 Centerline is valid? [True, True] Translation: X:80.99, Y:-152.03, Z:-8.03 [[ 8.93289026e-01 -4.49438061e-01 -6.33604881e-03 8.09946310e+01] [-4.49427801e-01 -8.93311486e-01 3.03971334e-03 -1.52030536e+02] [-7.02622805e-03 1.32253915e-04 -9.99975307e-01 -8.03062212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.740385723 meters 0.016474573343258567 Centerline is valid? [True, True] Translation: X:80.99, Y:-152.04, Z:-8.03 [[ 9.26029814e-01 -3.77392868e-01 -6.58845793e-03 8.09891158e+01] [-3.77384285e-01 -9.26053242e-01 2.54841340e-03 -1.52040642e+02] [-7.06301587e-03 1.26473702e-04 -9.99975049e-01 -8.03002136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.770385723 meters 0.016105868785017092 Centerline is valid? [True, True] Translation: X:80.98, Y:-152.05, Z:-8.03 [[ 9.53344413e-01 -3.01834170e-01 -5.52845826e-03 8.09844283e+01] [-3.01829649e-01 -9.53360438e-01 1.65450429e-03 -1.52053256e+02] [-5.76999932e-03 9.13401916e-05 -9.99983349e-01 -8.02978274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.800385723 meters 0.01617259413569602 Centerline is valid? [True, True] Translation: X:80.98, Y:-152.06, Z:-8.03 [[ 9.74137054e-01 -2.25898072e-01 -5.20196562e-03 8.09811173e+01] [-2.25895298e-01 -9.74150940e-01 1.12244630e-03 -1.52062443e+02] [-5.32105816e-03 8.16830376e-05 -9.99985840e-01 -8.02985368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.830385723 meters 0.015893624058630023 Centerline is valid? [True, True] Translation: X:80.98, Y:-152.07, Z:-8.03 [[ 9.88868376e-01 -1.48705544e-01 -5.09857774e-03 8.09759202e+01] [-1.48703972e-01 -9.88881517e-01 6.88171743e-04 -1.52072363e+02] [-5.14422424e-03 7.76674895e-05 -9.99986765e-01 -8.03043271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.860385723 meters 0.015614061201211272 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.09, Z:-8.03 [[ 9.97491326e-01 -7.06325280e-02 -4.70120742e-03 8.09718186e+01] [-7.06320747e-02 -9.97502402e-01 2.62598913e-04 -1.52085055e+02] [-4.70801371e-03 7.01158958e-05 -9.99988915e-01 -8.03150595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.890385723 meters 0.015418272980062661 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.10, Z:-8.03 [[ 9.99961139e-01 7.82754781e-03 -4.05574351e-03 8.09691006e+01] [ 7.82724030e-03 -9.99969363e-01 -9.16861965e-05 -1.52098700e+02] [-4.05633694e-03 5.99373545e-05 -9.99991771e-01 -8.03201537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.920385723 meters 0.015508210969923622 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.11, Z:-8.03 [[ 9.96209537e-01 8.69440096e-02 -2.70124873e-03 8.09657149e+01] [ 8.69435864e-02 -9.96213199e-01 -2.73942868e-04 -1.52112503e+02] [-2.71483733e-03 3.80482461e-05 -9.99996314e-01 -8.03342345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.950385723 meters 0.015420806426280556 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.13, Z:-8.03 [[ 9.86283247e-01 1.65044755e-01 -2.36328744e-03 8.09650423e+01] [ 1.65044201e-01 -9.86286078e-01 -4.28828745e-04 -1.52125047e+02] [-2.40165344e-03 3.28997191e-05 -9.99997116e-01 -8.03423788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.980385723 meters 0.015375099580310608 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.14, Z:-8.03 [[ 9.70234209e-01 2.42159776e-01 -2.05484030e-03 8.09657317e+01] [ 2.42159171e-01 -9.70236385e-01 -5.42009008e-04 -1.52137399e+02] [-2.12493360e-03 2.82772594e-05 -9.99997742e-01 -8.03447836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.010385723 meters 0.01547505901629095 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.15, Z:-8.03 [[ 9.47932163e-01 3.18459829e-01 -2.81993791e-03 8.09651981e+01] [ 3.18458307e-01 -9.47936356e-01 -9.85297041e-04 -1.52148992e+02] [-2.98689920e-03 3.59621022e-05 -9.99995539e-01 -8.03434049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.040385723 meters 0.01547505901629095 Centerline is valid? [True, True] Translation: X:80.96, Y:-152.16, Z:-8.03 [[ 9.20105752e-01 3.91660477e-01 -2.73421675e-03 8.09648356e+01] [ 3.91658631e-01 -9.20109814e-01 -1.20294839e-03 -1.52155345e+02] [-2.98692700e-03 3.59601383e-05 -9.99995539e-01 -8.03434024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.070385723 meters 0.015228687663765356 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.17, Z:-8.03 [[ 8.86574880e-01 4.62577337e-01 -2.68136990e-03 8.09675469e+01] [ 4.62575097e-01 -8.86578934e-01 -1.43982643e-03 -1.52165216e+02] [-3.04327714e-03 3.61790052e-05 -9.99995369e-01 -8.03469770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.100385723 meters 0.015289433798803298 Centerline is valid? [True, True] Translation: X:80.97, Y:-152.18, Z:-8.03 [[ 8.47457267e-01 5.30856235e-01 -2.79968473e-03 8.09721661e+01] [ 5.30853187e-01 -8.47461891e-01 -1.79908427e-03 -1.52176006e+02] [-3.32768121e-03 3.84254752e-05 -9.99994463e-01 -8.03489382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.130385723 meters 0.01514852305473416 Centerline is valid? [True, True] Translation: X:80.98, Y:-152.19, Z:-8.04 [[ 8.02857086e-01 5.96167320e-01 -2.24189660e-03 8.09765552e+01] [ 5.96164889e-01 -8.02860215e-01 -1.70278566e-03 -1.52187079e+02] [-2.81507475e-03 3.05534972e-05 -9.99996037e-01 -8.03544942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.160385723 meters 0.014952271287281892 Centerline is valid? [True, True] Translation: X:80.98, Y:-152.20, Z:-8.04 [[ 7.53527449e-01 6.57413401e-01 -2.00091155e-03 8.09830591e+01] [ 6.57410983e-01 -7.53530105e-01 -1.78322356e-03 -1.52197574e+02] [-2.68006215e-03 2.82866738e-05 -9.99996408e-01 -8.03635002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.190385723 meters 0.015179892077257338 Centerline is valid? [True, True] Translation: X:80.99, Y:-152.21, Z:-8.04 [[ 6.99473215e-01 7.14655833e-01 -2.06453277e-03 8.09880446e+01] [ 7.14652591e-01 -6.99476261e-01 -2.15266522e-03 -1.52206733e+02] [-2.98250642e-03 3.03079667e-05 -9.99995552e-01 -8.03674872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.220385723 meters 0.014862763144454916 Centerline is valid? [True, True] Translation: X:81.00, Y:-152.22, Z:-8.04 [[ 6.40544805e-01 7.67918551e-01 -1.85796797e-03 8.09965490e+01] [ 7.67915199e-01 -6.40547499e-01 -2.26900783e-03 -1.52217170e+02] [-2.93252994e-03 2.66393317e-05 -9.99995700e-01 -8.03786014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.250385723 meters 0.014927805967678327 Centerline is valid? [True, True] Translation: X:81.00, Y:-152.23, Z:-8.04 [[ 5.78137121e-01 8.15938011e-01 -1.62197008e-03 8.10047093e+01] [ 8.15934679e-01 -5.78139396e-01 -2.33199161e-03 -1.52226565e+02] [-2.84048540e-03 2.47892838e-05 -9.99995966e-01 -8.03802835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.280385723 meters 0.015145350428088627 Centerline is valid? [True, True] Translation: X:81.01, Y:-152.24, Z:-8.04 [[ 5.12661728e-01 8.58589333e-01 -1.51981477e-03 8.10126414e+01] [ 8.58585403e-01 -5.12663980e-01 -2.59780173e-03 -1.52235000e+02] [-3.00959915e-03 2.69027503e-05 -9.99995471e-01 -8.03825359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.310385723 meters 0.015205621806917619 Centerline is valid? [True, True] Translation: X:81.02, Y:-152.24, Z:-8.04 [[ 4.44711260e-01 8.95672755e-01 -1.48721555e-03 8.10195285e+01] [ 8.95667490e-01 -4.44713745e-01 -3.07119231e-03 -1.52241574e+02] [-3.41216847e-03 3.37431840e-05 -9.99994178e-01 -8.03816883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.340385723 meters 0.015290400715578587 Centerline is valid? [True, True] Translation: X:81.03, Y:-152.25, Z:-8.04 [[ 3.74088477e-01 9.27391509e-01 -1.67345848e-03 8.10275914e+01] [ 9.27381629e-01 -3.74092216e-01 -4.28118599e-03 -1.52248132e+02] [-4.59636333e-03 4.96076976e-05 -9.99989435e-01 -8.03805854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.370385723 meters 0.015407694037734523 Centerline is valid? [True, True] Translation: X:81.04, Y:-152.25, Z:-8.04 [[ 3.01719206e-01 9.53395852e-01 -1.36751787e-03 8.10355137e+01] [ 9.53385174e-01 -3.01722300e-01 -4.51270663e-03 -1.52253697e+02] [-4.71500642e-03 5.77989956e-05 -9.99988883e-01 -8.03757670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.400385723 meters 0.015712071188651363 Centerline is valid? [True, True] Translation: X:81.05, Y:-152.26, Z:-8.04 [[ 2.28199986e-01 9.73613416e-01 -1.29749446e-03 8.10461478e+01] [ 9.73595446e-01 -2.28203658e-01 -5.91595048e-03 -1.52258999e+02] [-6.05594173e-03 8.67851158e-05 -9.99981659e-01 -8.03763986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.430385723 meters 0.01591903951242257 Centerline is valid? [True, True] Translation: X:81.06, Y:-152.26, Z:-8.04 [[ 1.52621680e-01 9.88284292e-01 -8.83987521e-04 8.10574643e+01] [ 9.88263654e-01 -1.52624206e-01 -6.38769936e-03 -1.52263712e+02] [-6.44778084e-03 1.01288671e-04 -9.99979208e-01 -8.03774119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.460385723 meters 0.016016109467925 Centerline is valid? [True, True] Translation: X:81.07, Y:-152.27, Z:-8.04 [[ 7.57923249e-02 9.97123545e-01 -3.98988883e-04 8.10703334e+01] [ 9.97100770e-01 -7.57932908e-02 -6.74026935e-03 -1.52266995e+02] [-6.75112195e-03 1.13028561e-04 -9.99977205e-01 -8.03805411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.490385723 meters 0.016811668601820345 Centerline is valid? [True, True] Translation: X:81.08, Y:-152.27, Z:-8.04 [[-1.04348719e-04 9.99999988e-01 1.14488104e-04 8.10838540e+01] [ 9.99982476e-01 1.05024558e-04 -5.91910504e-03 -1.52270833e+02] [-5.91911699e-03 1.13868447e-04 -9.99982475e-01 -8.03820088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.520385723 meters 0.016384517242666385 Centerline is valid? [True, True] Translation: X:81.10, Y:-152.27, Z:-8.04 [[-7.72653277e-02 9.97010437e-01 5.07549622e-04 8.11009433e+01] [ 9.96997007e-01 7.72669218e-02 -5.17606147e-03 -1.52271780e+02] [-5.19980411e-03 1.06095368e-04 -9.99986475e-01 -8.03901252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.550385723 meters 0.016676221150842455 Centerline is valid? [True, True] Translation: X:81.12, Y:-152.27, Z:-8.04 [[-1.53328965e-01 9.88174794e-01 8.97334102e-04 8.11168526e+01] [ 9.88161940e-01 1.53331549e-01 -5.04149965e-03 -1.52271686e+02] [-5.11947251e-03 1.13703484e-04 -9.99986889e-01 -8.03908876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.580385723 meters 0.016917539569155756 Centerline is valid? [True, True] Translation: X:81.13, Y:-152.27, Z:-8.04 [[-2.29844409e-01 9.73226186e-01 1.52954497e-03 8.11312320e+01] [ 9.73208438e-01 2.29849457e-01 -5.87907196e-03 -1.52270321e+02] [-6.07323186e-03 1.37294252e-04 -9.99981548e-01 -8.03864907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.610385723 meters 0.01704835481238253 Centerline is valid? [True, True] Translation: X:81.14, Y:-152.27, Z:-8.04 [[-3.05453407e-01 9.52204207e-01 2.31604424e-03 8.11449934e+01] [ 9.52180657e-01 3.05462146e-01 -6.69876927e-03 -1.52268272e+02] [-7.08606012e-03 1.59130625e-04 -9.99974881e-01 -8.03832742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.640385723 meters 0.016729922374955276 Centerline is valid? [True, True] Translation: X:81.16, Y:-152.26, Z:-8.04 [[-3.79578380e-01 9.25155386e-01 2.78682562e-03 8.11610577e+01] [ 9.25133334e-01 3.79588579e-01 -6.38946841e-03 -1.52263161e+02] [-6.96909829e-03 1.52881206e-04 -9.99975704e-01 -8.03865746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.670385723 meters 0.016634608153873638 Centerline is valid? [True, True] Translation: X:81.18, Y:-152.26, Z:-8.04 [[-4.52021165e-01 8.92001538e-01 3.18154886e-03 8.11790493e+01] [ 8.91981577e-01 4.52032340e-01 -5.96903635e-03 -1.52256161e+02] [-6.76255258e-03 1.39752208e-04 -9.99977124e-01 -8.03818087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.700385723 meters 0.016669634875442353 Centerline is valid? [True, True] Translation: X:81.19, Y:-152.25, Z:-8.04 [[-5.21228317e-01 8.53410668e-01 3.35755846e-03 8.11926905e+01] [ 8.53394468e-01 5.21239116e-01 -5.25992929e-03 -1.52248722e+02] [-6.23897058e-03 1.23697726e-04 -9.99980530e-01 -8.03787302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.730385723 meters 0.016643790717242576 Centerline is valid? [True, True] Translation: X:81.21, Y:-152.24, Z:-8.04 [[-5.87247724e-01 8.09397705e-01 3.93273250e-03 8.12068460e+01] [ 8.09380941e-01 5.87260879e-01 -5.21077185e-03 -1.52240363e+02] [-6.52712673e-03 1.23064821e-04 -9.99978691e-01 -8.03670532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.760385723 meters 0.01680717970002876 Centerline is valid? [True, True] Translation: X:81.22, Y:-152.23, Z:-8.04 [[-6.48647057e-01 7.61075124e-01 4.65311887e-03 8.12167768e+01] [ 7.61057009e-01 6.48663733e-01 -5.25262495e-03 -1.52233831e+02] [-7.01595163e-03 1.34189017e-04 -9.99975379e-01 -8.03650502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.790385723 meters 0.01744903257415175 Centerline is valid? [True, True] Translation: X:81.23, Y:-152.23, Z:-8.04 [[-7.04409111e-01 7.09779085e-01 4.63200364e-03 8.12254817e+01] [ 7.09765032e-01 7.04424326e-01 -4.46855267e-03 -1.52225321e+02] [-6.43458126e-03 1.39944996e-04 -9.99979288e-01 -8.03729215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.820385723 meters 0.01782596866523343 Centerline is valid? [True, True] Translation: X:81.24, Y:-152.20, Z:-8.04 [[-7.51801556e-01 6.59374890e-01 4.37891957e-03 8.12440321e+01] [ 6.59364729e-01 7.51814297e-01 -3.66292179e-03 -1.52200518e+02] [-5.70737299e-03 1.33514819e-04 -9.99983704e-01 -8.03808157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.850385723 meters 0.01856973076466319 Centerline is valid? [True, True] Translation: X:81.26, Y:-152.17, Z:-8.04 [[-7.95411664e-01 6.06058285e-01 3.69325581e-03 8.12568741e+01] [ 6.06052421e-01 7.95420230e-01 -2.66850373e-03 -1.52171952e+02] [-4.55495918e-03 1.15747629e-04 -9.99989619e-01 -8.03855210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.880385723 meters 0.01926164391494563 Centerline is valid? [True, True] Translation: X:81.29, Y:-152.15, Z:-8.04 [[-8.34278723e-01 5.51336409e-01 2.67891085e-03 8.12850586e+01] [ 5.51333917e-01 8.34283019e-01 -1.66015871e-03 -1.52150963e+02] [-3.15027577e-03 9.19393255e-05 -9.99995034e-01 -8.03959473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.910385723 meters 0.020032376521779652 Centerline is valid? [True, True] Translation: X:81.62, Y:-151.62, Z:-9.03 [[-8.30278771e-01 -5.57344726e-01 2.00450331e-03 8.16206407e+01] [ 5.57342772e-01 -8.30281183e-01 -1.48033624e-03 -1.51616568e+02] [ 2.48935898e-03 -1.11896319e-04 9.99996895e-01 -9.02957402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.940385723 meters 0.019324786571509083 Centerline is valid? [True, True] Translation: X:81.25, Y:-152.12, Z:-8.04 [[-8.34166226e-01 5.51509752e-01 1.92396272e-03 8.12490248e+01] [ 5.51508490e-01 8.34168441e-01 -1.18212300e-03 -1.52123457e+02] [-2.25686134e-03 7.49946890e-05 -9.99997451e-01 -8.04008151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.970385723 meters 0.019830055446253218 Centerline is valid? [True, True] Translation: X:81.26, Y:-152.09, Z:-8.04 [[-8.69660857e-01 4.93644931e-01 2.16230952e-03 8.12641841e+01] [ 4.93643655e-01 8.69663541e-01 -1.12591038e-03 -1.52093212e+02] [-2.43628171e-03 8.82501832e-05 -9.99997028e-01 -8.03984521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.000385723 meters 0.01998910315791555 Centerline is valid? [True, True] Translation: X:81.28, Y:-152.06, Z:-8.04 [[-9.02028334e-01 4.31669061e-01 2.58959399e-03 8.12759279e+01] [ 4.31667613e-01 9.02032045e-01 -1.12315009e-03 -1.52063569e+02] [-2.82072591e-03 1.04730648e-04 -9.99996016e-01 -8.03979517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.030385723 meters 0.020158936989119403 Centerline is valid? [True, True] Translation: X:81.29, Y:-152.03, Z:-8.04 [[-9.30072998e-01 3.67360068e-01 3.28615344e-03 8.12855168e+01] [ 3.67358273e-01 9.30078794e-01 -1.15618427e-03 -1.52029679e+02] [-3.48111756e-03 1.31859881e-04 -9.99993932e-01 -8.03862820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.060385723 meters 0.020408614096904486 Centerline is valid? [True, True] Translation: X:81.48, Y:-151.47, Z:-9.03 [[-9.32748992e-01 -3.60511657e-01 3.26534601e-03 8.14812909e+01] [ 3.60508956e-01 -9.32754699e-01 -1.40147560e-03 -1.51467495e+02] [ 3.55101512e-03 -1.30038475e-04 9.99993687e-01 -9.03191593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.090385723 meters 0.02053832837766906 Centerline is valid? [True, True] Translation: X:81.24, Y:-152.01, Z:-8.04 [[-9.31924777e-01 3.62628944e-01 4.05691160e-03 8.12396567e+01] [ 3.62626235e-01 9.31933595e-01 -1.41042425e-03 -1.52008788e+02] [-4.29223287e-03 1.56733275e-04 -9.99990776e-01 -8.03695673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.120385723 meters 0.02467106185088569 Centerline is valid? [True, True] Translation: X:81.43, Y:-151.45, Z:-9.03 [[-9.33512602e-01 -3.58513169e-01 4.74646519e-03 8.14286570e+01] [ 3.58507805e-01 -9.33524659e-01 -1.96577891e-03 -1.51449002e+02] [ 5.13569993e-03 -1.33434571e-04 9.99986803e-01 -9.03485310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.150385723 meters 0.02029846488170657 Centerline is valid? [True, True] Translation: X:81.19, Y:-151.98, Z:-8.03 [[-9.34559999e-01 3.55747972e-01 6.40229823e-03 8.11910285e+01] [ 3.55741241e-01 9.34581902e-01 -2.19952989e-03 -1.51982293e+02] [-6.76595035e-03 2.21968864e-04 -9.99977086e-01 -8.03329505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.180385723 meters 0.02010860558810843 Centerline is valid? [True, True] Translation: X:81.19, Y:-151.95, Z:-8.03 [[-9.57790559e-01 2.87390492e-01 6.62947144e-03 8.11941079e+01] [ 2.87385167e-01 9.57813478e-01 -1.76284129e-03 -1.51948818e+02] [-6.85642092e-03 2.16779013e-04 -9.99976471e-01 -8.03292244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.210385723 meters 0.023260605673440717 Centerline is valid? [True, True] Translation: X:81.19, Y:-151.92, Z:-8.03 [[-9.76365180e-01 2.16056143e-01 5.54773536e-03 8.11905344e+01] [ 2.16053602e-01 9.76380928e-01 -1.06057692e-03 -1.51917684e+02] [-5.64584715e-03 1.63097833e-04 -9.99984049e-01 -8.03218369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.240385723 meters 0.01946043467463934 Centerline is valid? [True, True] Translation: X:81.19, Y:-151.88, Z:-8.03 [[-9.89391501e-01 1.45166248e-01 5.58738948e-03 8.11854586e+01] [ 1.45164826e-01 9.89407265e-01 -6.61344500e-04 -1.51878415e+02] [-5.62420865e-03 1.56763795e-04 -9.99984172e-01 -8.03341981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.270385723 meters 0.019096687201364156 Centerline is valid? [True, True] Translation: X:81.24, Y:-151.34, Z:-9.04 [[-9.87302614e-01 -1.58715408e-01 6.55494811e-03 8.12441505e+01] [ 1.58711127e-01 -9.87324367e-01 -1.17151716e-03 -1.51343802e+02] [ 6.65779782e-03 -1.16298753e-04 9.99977830e-01 -9.03718551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.300385723 meters 0.01874794245185945 Centerline is valid? [True, True] Translation: X:81.13, Y:-151.86, Z:-8.03 [[-9.90336311e-01 1.38534765e-01 6.48920075e-03 8.11296112e+01] [ 1.38532874e-01 9.90357558e-01 -7.42096819e-04 -1.51862981e+02] [-6.52943521e-03 1.64042204e-04 -9.99978670e-01 -8.03178962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.330385723 meters 0.01820667694940402 Centerline is valid? [True, True] Translation: X:81.12, Y:-151.83, Z:-8.03 [[-9.97682514e-01 6.77543089e-02 6.24146003e-03 8.11204922e+01] [ 6.77539666e-02 9.97702024e-01 -2.66518460e-04 -1.51829247e+02] [-6.24517508e-03 1.56982868e-04 -9.99980486e-01 -8.03218846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.360385723 meters 0.018630627222252488 Centerline is valid? [True, True] Translation: X:81.11, Y:-151.80, Z:-8.03 [[-9.99975574e-01 -3.59577908e-03 5.99343009e-03 8.11095003e+01] [-3.59481699e-03 9.99993524e-01 1.71289203e-04 -1.51798735e+02] [-5.99400719e-03 1.49739735e-04 -9.99982025e-01 -8.03206885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.390385723 meters 0.01884999475037724 Centerline is valid? [True, True] Translation: X:81.09, Y:-151.77, Z:-8.03 [[-9.97245104e-01 -7.39643871e-02 5.61007775e-03 8.10947905e+01] [-7.39623954e-02 9.97260873e-01 5.61944802e-04 -1.51767745e+02] [-5.63627493e-03 1.45461914e-04 -9.99984106e-01 -8.03371084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.420385723 meters 0.01885072334510741 Centerline is valid? [True, True] Translation: X:81.07, Y:-151.74, Z:-8.03 [[-9.89580236e-01 -1.43885209e-01 5.29184371e-03 8.10725646e+01] [-1.43882371e-01 9.89594374e-01 9.15149458e-04 -1.51737894e+02] [-5.36845524e-03 1.44210795e-04 -9.99985579e-01 -8.03360921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.450385723 meters 0.0198282539134779 Centerline is valid? [True, True] Translation: X:81.04, Y:-151.71, Z:-8.03 [[-9.77040386e-01 -2.12986832e-01 5.35660959e-03 8.10439929e+01] [-2.12982749e-01 9.77055057e-01 1.32805000e-03 -1.51714016e+02] [-5.51655965e-03 1.56693051e-04 -9.99984771e-01 -8.03422861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.480385723 meters 0.01825397207228616 Centerline is valid? [True, True] Translation: X:81.00, Y:-151.69, Z:-8.03 [[-9.59360733e-01 -2.82134825e-01 5.18892828e-03 8.10023962e+01] [-2.82129801e-01 9.59374753e-01 1.69110043e-03 -1.51689703e+02] [-5.45524511e-03 1.58424044e-04 -9.99985108e-01 -8.03471197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.510385723 meters 0.018133555895826263 Centerline is valid? [True, True] Translation: X:80.82, Y:-151.23, Z:-9.03 [[-9.61958863e-01 2.73148230e-01 5.01911054e-03 8.08166466e+01] [-2.73145425e-01 -9.61971941e-01 1.24935831e-03 -1.51233101e+02] [ 5.16950352e-03 -1.69115777e-04 9.99986624e-01 -9.03458321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.540385723 meters 0.020353558741802554 Centerline is valid? [True, True] Translation: X:80.87, Y:-151.73, Z:-8.03 [[-9.57308490e-01 -2.89022817e-01 5.12502790e-03 8.08724145e+01] [-2.89017828e-01 9.57322197e-01 1.70489110e-03 -1.51727432e+02] [-5.39905540e-03 1.50882299e-04 -9.99985414e-01 -8.03300743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.570385723 meters 0.018172911117837903 Centerline is valid? [True, True] Translation: X:80.82, Y:-151.71, Z:-8.04 [[-9.33160787e-01 -3.59424132e-01 5.02397046e-03 8.08203503e+01] [-3.59418103e-01 9.33174300e-01 2.08642895e-03 -1.51714081e+02] [-5.43815303e-03 1.41267748e-04 -9.99985203e-01 -8.03548924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.600385723 meters 0.01786411515890929 Centerline is valid? [True, True] Translation: X:80.75, Y:-151.71, Z:-8.04 [[-9.03593682e-01 -4.28359003e-01 5.19830956e-03 8.07536074e+01] [-4.28351014e-01 9.03608624e-01 2.62005632e-03 -1.51711052e+02] [-5.81956206e-03 1.40765170e-04 -9.99983056e-01 -8.03612824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.630385723 meters 0.016722810766744374 Centerline is valid? [True, True] Translation: X:80.67, Y:-151.71, Z:-8.04 [[-8.68078795e-01 -4.96405376e-01 4.57246517e-03 8.06735716e+01] [-4.96397812e-01 8.68090831e-01 2.74273438e-03 -1.51713555e+02] [-5.33082318e-03 1.11147854e-04 -9.99985785e-01 -8.03610568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.660385723 meters 0.016757755116322548 Centerline is valid? [True, True] Translation: X:80.59, Y:-151.73, Z:-8.04 [[-8.28397258e-01 -5.60123428e-01 4.44173419e-03 8.05939250e+01] [-5.60114688e-01 8.28409159e-01 3.13074965e-03 -1.51728048e+02] [-5.43317951e-03 1.05623860e-04 -9.99985235e-01 -8.03531719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.690385723 meters 0.0159386945910078 Centerline is valid? [True, True] Translation: X:80.52, Y:-151.74, Z:-8.04 [[-7.83047764e-01 -6.21947384e-01 4.20120600e-03 8.05177144e+01] [-6.21937797e-01 7.83059029e-01 3.45454726e-03 -1.51744929e+02] [-5.43833892e-03 9.21867001e-05 -9.99985208e-01 -8.03592458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.720385723 meters 0.015936628875622225 Centerline is valid? [True, True] Translation: X:80.44, Y:-151.78, Z:-8.04 [[-7.34138257e-01 -6.78990476e-01 3.59916782e-03 8.04357436e+01] [-6.78981778e-01 7.34147075e-01 3.43772781e-03 -1.51777874e+02] [-4.97650297e-03 7.99981369e-05 -9.99987614e-01 -8.03627445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.750385723 meters 0.016101995846159355 Centerline is valid? [True, True] Translation: X:80.36, Y:-151.82, Z:-8.04 [[-6.80893539e-01 -7.32375904e-01 3.08590966e-03 8.03550562e+01] [-7.32367912e-01 6.80900529e-01 3.42223366e-03 -1.51819503e+02] [-4.60755899e-03 7.01555814e-05 -9.99989383e-01 -8.03665767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.780385723 meters 0.015994309997754707 Centerline is valid? [True, True] Translation: X:80.27, Y:-151.87, Z:-8.04 [[-6.23297112e-01 -7.81981940e-01 2.22620956e-03 8.02730943e+01] [-7.81976659e-01 6.23301086e-01 2.87411754e-03 -1.51869527e+02] [-3.63510685e-03 5.05852525e-05 -9.99993392e-01 -8.03685417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.810385723 meters 0.015923534835591405 Centerline is valid? [True, True] Translation: X:80.19, Y:-151.93, Z:-8.04 [[-5.62681275e-01 -8.26671678e-01 1.92848322e-03 8.01940401e+01] [-8.26666532e-01 5.62684578e-01 2.91732316e-03 -1.51928346e+02] [-3.49679620e-03 4.73105787e-05 -9.99993885e-01 -8.03659874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.840385723 meters 0.015654628510359255 Centerline is valid? [True, True] Translation: X:80.12, Y:-152.00, Z:-8.04 [[-4.98552156e-01 -8.66857254e-01 2.06147143e-03 8.01169230e+01] [-8.66849386e-01 4.98556415e-01 3.69375139e-03 -1.51996417e+02] [-4.22971499e-03 5.45424728e-05 -9.99991053e-01 -8.03652322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.870385723 meters 0.01568666537259267 Centerline is valid? [True, True] Translation: X:80.05, Y:-152.07, Z:-8.04 [[-4.31382212e-01 -9.02167166e-01 1.94723591e-03 8.00452808e+01] [-9.02157374e-01 4.31386603e-01 4.20376157e-03 -1.52073929e+02] [-4.63250715e-03 5.67147298e-05 -9.99989268e-01 -8.03601278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.900385723 meters 0.015464175606391196 Centerline is valid? [True, True] Translation: X:79.98, Y:-152.16, Z:-8.04 [[-3.62159014e-01 -9.32114708e-01 1.73784529e-03 7.99787413e+01] [-9.32103162e-01 3.62163178e-01 4.63986378e-03 -1.52156908e+02] [-4.95426884e-03 6.05173993e-05 -9.99987726e-01 -8.03634201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.930385723 meters 0.015464175606391196 Centerline is valid? [True, True] Translation: X:79.92, Y:-152.25, Z:-8.04 [[-2.90823039e-01 -9.56775861e-01 1.38293488e-03 7.99177910e+01] [-9.56764033e-01 2.90826321e-01 4.75773624e-03 -1.52247304e+02] [-4.95428104e-03 6.05169634e-05 -9.99987726e-01 -8.03634148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.960385723 meters 0.015570068007231829 Centerline is valid? [True, True] Translation: X:79.86, Y:-152.34, Z:-8.04 [[-2.17807279e-01 -9.75991301e-01 9.85093199e-04 7.98643191e+01] [-9.75980060e-01 2.17809499e-01 4.68442359e-03 -1.52344038e+02] [-4.78651933e-03 5.88702375e-05 -9.99988543e-01 -8.03617028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.990385723 meters 0.015477408343273536 Centerline is valid? [True, True] Translation: X:79.82, Y:-152.45, Z:-8.04 [[-1.42879556e-01 -9.89739929e-01 5.52132225e-04 7.98174143e+01] [-9.89731142e-01 1.42880615e-01 4.17098390e-03 -1.52452038e+02] [-4.20707830e-03 4.94858724e-05 -9.99991149e-01 -8.03636182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.020385723 meters 0.015593081547605374 Centerline is valid? [True, True] Translation: X:79.78, Y:-152.55, Z:-8.04 [[-6.73293785e-02 -9.97730771e-01 2.53150637e-04 7.97792654e+01] [-9.97720531e-01 6.73298345e-02 4.52049517e-03 -1.52551835e+02] [-4.52728172e-03 5.17885417e-05 -9.99989750e-01 -8.03604412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.050385723 meters 0.01547247454266167 Centerline is valid? [True, True] Translation: X:79.75, Y:-152.66, Z:-8.04 [[ 8.59624413e-03 -9.99963045e-01 -1.15446628e-04 7.97496177e+01] [-9.99946038e-01 -8.59677129e-03 5.83242823e-03 -1.52659833e+02] [-5.83320516e-03 6.53034211e-05 -9.99982985e-01 -8.03589967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.080385723 meters 0.01553299165636865 Centerline is valid? [True, True] Translation: X:79.73, Y:-152.77, Z:-8.04 [[ 8.40687523e-02 -9.96459772e-01 -6.05807361e-04 7.97283044e+01] [-9.96439749e-01 -8.40709037e-02 6.31735768e-03 -1.52770978e+02] [-6.34592357e-03 7.25581571e-05 -9.99979862e-01 -8.03544120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.110385723 meters 0.01962001473188281 Centerline is valid? [True, True] Translation: X:79.72, Y:-152.88, Z:-8.03 [[ 1.58093518e-01 -9.87423151e-01 -1.39998355e-03 7.97160821e+01] [-9.87390018e-01 -1.58099682e-01 8.08968700e-03 -1.52883128e+02] [-8.20928119e-03 1.03402710e-04 -9.99966298e-01 -8.03164008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.140385723 meters 0.015680568071392873 Centerline is valid? [True, True] Translation: X:79.71, Y:-153.00, Z:-8.04 [[ 2.31979539e-01 -9.72719108e-01 -1.74085609e-03 7.97108317e+01] [-9.72694644e-01 -2.31986052e-01 6.89934354e-03 -1.52995111e+02] [-7.11497763e-03 9.28148560e-05 -9.99974684e-01 -8.03557568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.170385723 meters 0.016746731146113105 Centerline is valid? [True, True] Translation: X:79.72, Y:-153.11, Z:-8.03 [[ 3.04119297e-01 -9.52630807e-01 -2.44915851e-03 7.97156678e+01] [-9.52602705e-01 -3.04129140e-01 7.31793153e-03 -1.53108817e+02] [-7.71614749e-03 1.07550827e-04 -9.99970224e-01 -8.03441188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.200385723 meters 0.01632007670552676 Centerline is valid? [True, True] Translation: X:79.73, Y:-153.22, Z:-8.04 [[ 3.73207426e-01 -9.27743603e-01 -2.83279624e-03 7.97293098e+01] [-9.27719241e-01 -3.73218158e-01 6.72432646e-03 -1.53219613e+02] [-7.29570185e-03 1.18471006e-04 -9.99973379e-01 -8.03533693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.230385723 meters 0.016509438355211875 Centerline is valid? [True, True] Translation: X:79.75, Y:-153.33, Z:-8.04 [[ 4.41219285e-01 -8.97392263e-01 -3.55938775e-03 7.97485828e+01] [-8.97365501e-01 -4.41233621e-01 6.93180999e-03 -1.53327100e+02] [-7.79107420e-03 1.35623518e-04 -9.99969640e-01 -8.03519338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.260385723 meters 0.017481590737026733 Centerline is valid? [True, True] Translation: X:79.78, Y:-153.43, Z:-8.03 [[ 5.05590817e-01 -8.62760637e-01 -4.69141766e-03 7.97785623e+01] [-8.62726728e-01 -5.05612551e-01 7.65123184e-03 -1.53430950e+02] [-8.97322130e-03 1.79018844e-04 -9.99959724e-01 -8.03412442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.290385723 meters 0.016975387799513082 Centerline is valid? [True, True] Translation: X:79.81, Y:-153.53, Z:-8.04 [[ 5.68437111e-01 -8.22711771e-01 -4.95918146e-03 7.98109892e+01] [-8.22683145e-01 -5.68458715e-01 6.86532568e-03 -1.53533177e+02] [-8.46727416e-03 1.77329108e-04 -9.99964136e-01 -8.03505982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.320385723 meters 0.019512519741478582 Centerline is valid? [True, True] Translation: X:79.85, Y:-153.63, Z:-8.03 [[ 6.28020573e-01 -7.78173132e-01 -6.06100628e-03 7.98539455e+01] [-7.78140011e-01 -6.28049786e-01 7.18257835e-03 -1.53630567e+02] [-9.39590319e-03 2.05504520e-04 -9.99955836e-01 -8.03326667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.350385723 meters 0.017217261872483423 Centerline is valid? [True, True] Translation: X:79.90, Y:-153.72, Z:-8.04 [[ 6.85070233e-01 -7.28450238e-01 -6.24718916e-03 7.98973250e+01] [-7.28422461e-01 -6.85098690e-01 6.36418312e-03 -1.53722913e+02] [-8.91593181e-03 1.90680491e-04 -9.99960234e-01 -8.03561938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.380385723 meters 0.018098246505440767 Centerline is valid? [True, True] Translation: X:79.95, Y:-153.81, Z:-8.03 [[ 7.38173209e-01 -6.74571186e-01 -7.35041094e-03 7.99469332e+01] [-6.74540456e-01 -7.38209776e-01 6.44200117e-03 -1.53809116e+02] [-9.77173359e-03 2.02836865e-04 -9.99952235e-01 -8.03417801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.410385723 meters 0.01718198211896301 Centerline is valid? [True, True] Translation: X:79.95, Y:-153.82, Z:-8.04 [[ 7.89375834e-01 -6.13853936e-01 -8.31492792e-03 7.99488734e+01] [-6.13822568e-01 -7.89419600e-01 6.20892254e-03 -1.53824454e+02] [-1.03753386e-02 2.02717001e-04 -9.99946154e-01 -8.03503064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.440385723 meters 0.0167503133432547 Centerline is valid? [True, True] Translation: X:79.95, Y:-153.84, Z:-8.03 [[ 8.36433856e-01 -5.47980472e-01 -9.78809717e-03 7.99519987e+01] [-5.47945657e-01 -8.36491102e-01 6.18004320e-03 -1.53839695e+02] [-1.15741992e-02 1.94147966e-04 -9.99932998e-01 -8.03468609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.470385723 meters 0.016874816329224846 Centerline is valid? [True, True] Translation: X:79.96, Y:-153.85, Z:-8.03 [[ 8.77225519e-01 -4.79981304e-01 -9.66109032e-03 7.99557323e+01] [-4.79954342e-01 -8.77278701e-01 5.09031777e-03 -1.53852863e+02] [-1.09187261e-02 1.71525597e-04 -9.99940374e-01 -8.03446341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.500385723 meters 0.018748945328264786 Centerline is valid? [True, True] Translation: X:79.96, Y:-153.87, Z:-8.03 [[ 9.13173345e-01 -4.07447918e-01 -1.00317770e-02 7.99609457e+01] [-4.07425040e-01 -9.13228435e-01 4.32005263e-03 -1.53867073e+02] [-1.09215005e-02 1.42240232e-04 -9.99940349e-01 -8.03298054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.530385723 meters 0.016148082829014504 Centerline is valid? [True, True] Translation: X:79.97, Y:-153.88, Z:-8.04 [[ 9.42637201e-01 -3.33697461e-01 -9.00620230e-03 7.99684826e+01] [-3.33683368e-01 -9.42680217e-01 3.06882861e-03 -1.53879028e+02] [-9.51402905e-03 1.12427908e-04 -9.99954734e-01 -8.03537229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.560385723 meters 0.016020812970845375 Centerline is valid? [True, True] Translation: X:79.98, Y:-153.89, Z:-8.04 [[ 9.66092998e-01 -2.58020725e-01 -9.46701585e-03 7.99761849e+01] [-2.58009410e-01 -9.66139376e-01 2.41874013e-03 -1.53889244e+02] [-9.77054187e-03 1.05851272e-04 -9.99952262e-01 -8.03530409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.590385723 meters 0.01591438681713792 Centerline is valid? [True, True] Translation: X:79.99, Y:-153.90, Z:-8.03 [[ 9.83454823e-01 -1.80844140e-01 -1.05833497e-02 7.99850583e+01] [-1.80834836e-01 -9.83511762e-01 1.83759376e-03 -1.53897104e+02] [-1.07411669e-02 1.06647855e-04 -9.99942306e-01 -8.03448204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.620385723 meters 0.015676348621460463 Centerline is valid? [True, True] Translation: X:79.99, Y:-153.91, Z:-8.03 [[ 9.94612755e-01 -1.03022485e-01 -1.14819494e-02 7.99929625e+01] [-1.03016913e-01 -9.94679021e-01 1.07725704e-03 -1.53909642e+02] [-1.15318358e-02 1.11381392e-04 -9.99933500e-01 -8.03464307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.650385723 meters 0.015849066417102972 Centerline is valid? [True, True] Translation: X:80.00, Y:-153.92, Z:-8.03 [[ 9.99625695e-01 -2.47501619e-02 -1.16576334e-02 7.99984436e+01] [-2.47497846e-02 -9.99693662e-01 1.76647211e-04 -1.53919147e+02] [-1.16584342e-02 1.11942825e-04 -9.99932032e-01 -8.03369466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.680385723 meters 0.015842143766497254 Centerline is valid? [True, True] Translation: X:80.01, Y:-153.93, Z:-8.04 [[ 9.98534127e-01 5.31897783e-02 -1.00222319e-02 8.00055290e+01] [ 5.31860898e-02 -9.98584417e-01 -6.34393169e-04 -1.53925062e+02] [-1.00417879e-02 1.00419900e-04 -9.99949575e-01 -8.03509210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.710385723 meters 0.01563905540258692 Centerline is valid? [True, True] Translation: X:80.01, Y:-153.94, Z:-8.04 [[ 9.91313609e-01 1.31198350e-01 -9.18271670e-03 8.00126350e+01] [ 1.31191851e-01 -9.91356134e-01 -1.30919074e-03 -1.53935292e+02] [-9.27510619e-03 9.31209962e-05 -9.99956981e-01 -8.03574374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.740385723 meters 0.018047109798789904 Centerline is valid? [True, True] Translation: X:80.02, Y:-153.95, Z:-8.03 [[ 9.77987287e-01 2.08407788e-01 -1.03470078e-02 8.00214489e+01] [ 2.08394970e-01 -9.78042015e-01 -2.31383720e-03 -1.53945957e+02] [-1.06020300e-02 1.06638991e-04 -9.99943791e-01 -8.03379692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.770385723 meters 0.01887068866515581 Centerline is valid? [True, True] Translation: X:80.03, Y:-153.95, Z:-8.03 [[ 9.58982986e-01 2.83258773e-01 -1.07749476e-02 8.00285879e+01] [ 2.83239419e-01 -9.59043509e-01 -3.31361924e-03 -1.53952465e+02] [-1.12722553e-02 1.25814566e-04 -9.99936458e-01 -8.03118607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.800385723 meters 0.01648895998379895 Centerline is valid? [True, True] Translation: X:80.04, Y:-153.96, Z:-8.03 [[ 9.34163632e-01 3.56727251e-01 -9.16388181e-03 8.00360338e+01] [ 3.56708851e-01 -9.34208571e-01 -3.62503073e-03 -1.53955102e+02] [-9.85412418e-03 1.17534119e-04 -9.99951440e-01 -8.03340913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.830385723 meters 0.016304369912421523 Centerline is valid? [True, True] Translation: X:80.05, Y:-153.96, Z:-8.03 [[ 9.04532545e-01 4.26315879e-01 -8.69752403e-03 8.00450898e+01] [ 4.26294662e-01 -9.04574348e-01 -4.25556539e-03 -1.53961907e+02] [-9.68177223e-03 1.41589318e-04 -9.99953121e-01 -8.03452120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.860385723 meters 0.01801787111980809 Centerline is valid? [True, True] Translation: X:80.05, Y:-153.97, Z:-8.03 [[ 8.69164096e-01 4.94446317e-01 -8.75291446e-03 8.00533812e+01] [ 4.94419333e-01 -8.69208153e-01 -5.16820441e-03 -1.53967052e+02] [-1.01635042e-02 1.64407588e-04 -9.99948337e-01 -8.03303303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.890385723 meters 0.016867915103659255 Centerline is valid? [True, True] Translation: X:80.06, Y:-153.97, Z:-8.03 [[ 8.28593335e-01 5.59801621e-01 -7.43166810e-03 8.00627395e+01] [ 5.59777366e-01 -8.28626647e-01 -5.21350425e-03 -1.53972246e+02] [-9.07660635e-03 1.59795283e-04 -9.99958794e-01 -8.03485550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.920385723 meters 0.01753681128438328 Centerline is valid? [True, True] Translation: X:80.07, Y:-153.98, Z:-8.03 [[ 7.83601984e-01 6.21229293e-01 -6.48806304e-03 8.00710931e+01] [ 6.21206226e-01 -7.83628826e-01 -5.35606402e-03 -1.53975707e+02] [-8.41157709e-03 1.66597241e-04 -9.99964608e-01 -8.03476110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.950385723 meters 0.01966796897734832 Centerline is valid? [True, True] Translation: X:80.08, Y:-153.98, Z:-8.03 [[ 7.33128284e-01 6.80059547e-01 -6.47546159e-03 8.00790889e+01] [ 6.80030761e-01 -7.33156858e-01 -6.25988979e-03 -1.53978875e+02] [-9.00462689e-03 1.85789191e-04 -9.99959440e-01 -8.03242075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.980385723 meters 0.01820232247788201 Centerline is valid? [True, True] Translation: X:80.09, Y:-153.98, Z:-8.03 [[ 6.78171921e-01 7.34881730e-01 -5.62924016e-03 8.00904545e+01] [ 7.34854167e-01 -6.78195260e-01 -6.36738808e-03 -1.53983481e+02] [-8.49700116e-03 1.81513218e-04 -9.99963883e-01 -8.03370165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.010385723 meters 0.018267375246972067 Centerline is valid? [True, True] Translation: X:80.10, Y:-153.98, Z:-8.03 [[ 6.20296494e-01 7.84348388e-01 -5.46496739e-03 8.00983293e+01] [ 7.84314861e-01 -6.20320530e-01 -7.25526834e-03 -1.53983849e+02] [-9.08068950e-03 2.14162371e-04 -9.99958747e-01 -8.03387757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.040385723 meters 0.02103400289914759 Centerline is valid? [True, True] Translation: X:80.11, Y:-153.99, Z:-8.03 [[ 5.58122938e-01 8.29741499e-01 -5.27548951e-03 8.01055133e+01] [ 8.29700210e-01 -5.58147816e-01 -8.28115180e-03 -1.53985484e+02] [-9.81571826e-03 2.44826020e-04 -9.99951795e-01 -8.03166994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.070385723 meters 0.020250291527453473 Centerline is valid? [True, True] Translation: X:80.12, Y:-153.99, Z:-8.03 [[ 4.93001212e-01 8.70019315e-01 -4.02458184e-03 8.01182159e+01] [ 8.69986446e-01 -4.93017586e-01 -7.56592903e-03 -1.53988819e+02] [-8.56669401e-03 2.28680533e-04 -9.99963279e-01 -8.03284376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.100385723 meters 0.01977703472742172 Centerline is valid? [True, True] Translation: X:80.13, Y:-153.99, Z:-8.03 [[ 4.23675593e-01 9.05809128e-01 -2.96927059e-03 8.01287161e+01] [ 9.05783451e-01 -4.23685949e-01 -6.82318363e-03 -1.53990637e+02] [-7.43854024e-03 2.01300203e-04 -9.99972313e-01 -8.03350964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.130385723 meters 0.019150957050528807 Centerline is valid? [True, True] Translation: X:80.14, Y:-153.99, Z:-8.03 [[ 3.51517014e-01 9.36177771e-01 -2.64002780e-03 8.01402274e+01] [ 9.36146493e-01 -3.51526859e-01 -7.65577712e-03 -1.53992117e+02] [-8.09520904e-03 2.19683146e-04 -9.99967209e-01 -8.03307505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.160385723 meters 0.019092154906270177 Centerline is valid? [True, True] Translation: X:80.15, Y:-153.99, Z:-8.03 [[ 2.77116176e-01 9.60833687e-01 -2.29163533e-03 8.01539562e+01] [ 9.60793068e-01 -2.77125541e-01 -8.83832647e-03 -1.53992337e+02] [-9.12723249e-03 2.47455896e-04 -9.99958315e-01 -8.03232371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.190385723 meters 0.019709518029757258 Centerline is valid? [True, True] Translation: X:80.16, Y:-153.99, Z:-8.03 [[ 2.00581327e-01 9.79675369e-01 -1.81717778e-03 8.01641714e+01] [ 9.79621677e-01 -2.00589366e-01 -1.02603834e-02 -1.53992764e+02] [-1.04163514e-02 2.77894572e-04 -9.99945710e-01 -8.03098128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.220385723 meters 0.018484559688011614 Centerline is valid? [True, True] Translation: X:80.18, Y:-153.99, Z:-8.03 [[ 1.23023242e-01 9.92403366e-01 -9.16654749e-04 8.01773212e+01] [ 9.92358570e-01 -1.23026402e-01 -9.43259133e-03 -1.53991674e+02] [-9.47370812e-03 2.50777771e-04 -9.99955092e-01 -8.03253608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.250385723 meters 0.01795918872807462 Centerline is valid? [True, True] Translation: X:80.19, Y:-153.99, Z:-8.03 [[ 4.48202456e-02 9.98995056e-01 -1.55506272e-04 8.01927500e+01] [ 9.98959558e-01 -4.48199644e-02 -8.42453599e-03 -1.53988985e+02] [-8.42303958e-03 2.22245296e-04 -9.99964501e-01 -8.03358990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.280385723 meters 0.019110872129755263 Centerline is valid? [True, True] Translation: X:80.20, Y:-153.99, Z:-8.03 [[-3.36988621e-02 9.99431931e-01 4.49163616e-04 8.02031780e+01] [ 9.99403935e-01 3.37012812e-02 -7.48319989e-03 -1.53986859e+02] [-7.49408630e-03 1.96720564e-04 -9.99971900e-01 -8.03385062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.310385723 meters 0.01864534735913093 Centerline is valid? [True, True] Translation: X:80.21, Y:-153.98, Z:-8.04 [[-1.12880749e-01 9.93608258e-01 7.52815182e-04 8.02134932e+01] [ 9.93593562e-01 1.12883176e-01 -5.40569480e-03 -1.53982941e+02] [-5.45612316e-03 1.37793439e-04 -9.99985106e-01 -8.03535262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.340385723 meters 0.017865623820467826 Centerline is valid? [True, True] Translation: X:80.23, Y:-153.98, Z:-8.04 [[-1.91152768e-01 9.81559677e-01 1.10451249e-03 8.02286992e+01] [ 9.81546869e-01 1.91155918e-01 -5.01586072e-03 -1.53977074e+02] [-5.13450073e-03 1.25335115e-04 -9.99986811e-01 -8.03587020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.370385723 meters 0.01962921967395022 Centerline is valid? [True, True] Translation: X:80.24, Y:-153.97, Z:-8.03 [[-2.70706641e-01 9.62660056e-01 1.87903281e-03 8.02413334e+01] [ 9.62640227e-01 2.70713129e-01 -6.18022321e-03 -1.53971074e+02] [-6.45813287e-03 1.35805108e-04 -9.99979137e-01 -8.03315216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.400385723 meters 0.016885746215382816 Centerline is valid? [True, True] Translation: X:80.26, Y:-153.96, Z:-8.04 [[-3.47258440e-01 9.37766360e-01 2.41465416e-03 8.02569275e+01] [ 9.37746134e-01 3.47266813e-01 -6.16032821e-03 -1.53962931e+02] [-6.61547781e-03 1.25106632e-04 -9.99978110e-01 -8.03501765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.430385723 meters 0.017054130920757814 Centerline is valid? [True, True] Translation: X:80.27, Y:-153.96, Z:-8.03 [[-4.21249559e-01 9.06938620e-01 3.33908142e-03 8.02687281e+01] [ 9.06912545e-01 4.21262772e-01 -6.87843273e-03 -1.53955233e+02] [-7.64494698e-03 1.30718081e-04 -9.99970768e-01 -8.03410395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.460385723 meters 0.016643752245657974 Centerline is valid? [True, True] Translation: X:80.28, Y:-153.95, Z:-8.03 [[-4.93171320e-01 8.69924899e-01 3.56650113e-03 8.02804753e+01] [ 8.69903638e-01 4.93184205e-01 -6.08280932e-03 -1.53945967e+02] [-7.05052931e-03 1.02645203e-04 -9.99975139e-01 -8.03477510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.490385723 meters 0.016539901225393866 Centerline is valid? [True, True] Translation: X:80.29, Y:-153.94, Z:-8.04 [[-5.60436854e-01 8.28188292e-01 3.83224806e-03 8.02905826e+01] [ 8.28170047e-01 5.60449948e-01 -5.49803681e-03 -1.53936569e+02] [-6.70119294e-03 9.24506049e-05 -9.99977543e-01 -8.03550943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.520385723 meters 0.016359028845758187 Centerline is valid? [True, True] Translation: X:80.30, Y:-153.93, Z:-8.04 [[-6.24588996e-01 7.80949308e-01 2.60069608e-03 8.03003033e+01] [ 7.80942878e-01 6.24594409e-01 -3.16953187e-03 -1.53925182e+02] [-4.09962395e-03 5.13403507e-05 -9.99991595e-01 -8.03698147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.550385723 meters 0.016344273649114234 Centerline is valid? [True, True] Translation: X:80.31, Y:-153.92, Z:-8.04 [[-6.84491203e-01 7.29016886e-01 2.48474752e-03 8.03082485e+01] [ 7.29012302e-01 6.84495711e-01 -2.58535745e-03 -1.53915394e+02] [-3.58556826e-03 4.17570813e-05 -9.99993571e-01 -8.03742357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.580385723 meters 0.016248884438389715 Centerline is valid? [True, True] Translation: X:80.31, Y:-153.90, Z:-8.04 [[-7.40147350e-01 6.72440647e-01 2.34023882e-03 8.03144574e+01] [ 6.72437428e-01 7.40151049e-01 -2.08093758e-03 -1.53904676e+02] [-3.13143723e-03 3.34637392e-05 -9.99995097e-01 -8.03797401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.610385723 meters 0.016189722476526447 Centerline is valid? [True, True] Translation: X:80.71, Y:-153.46, Z:-9.03 [[-7.07728838e-01 -7.06481484e-01 1.95063698e-03 8.07087128e+01] [ 7.06478604e-01 -7.07731524e-01 -2.01771518e-03 -1.53463984e+02] [ 2.80600569e-03 -4.99119302e-05 9.99996062e-01 -9.03100703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.640385723 meters 0.016159271030697024 Centerline is valid? [True, True] Translation: X:80.69, Y:-153.44, Z:-9.03 [[-7.07741291e-01 -7.06468124e-01 2.24855223e-03 8.06914259e+01] [ 7.06464421e-01 -7.07744862e-01 -2.28735071e-03 -1.53443632e+02] [ 3.20734165e-03 -3.03303889e-05 9.99994856e-01 -9.03103338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.670385723 meters 0.019180910977828612 Centerline is valid? [True, True] Translation: X:80.68, Y:-153.42, Z:-9.03 [[-7.08507472e-01 -7.05693462e-01 3.72829817e-03 8.06750562e+01] [ 7.05683284e-01 -7.08517280e-01 -3.79043665e-03 -1.53422322e+02] [ 5.31645003e-03 -5.45549911e-05 9.99985866e-01 -9.03446261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.700385723 meters 0.01642517430100888 Centerline is valid? [True, True] Translation: X:80.66, Y:-153.40, Z:-9.03 [[-7.09222613e-01 -7.04978901e-01 2.83437739e-03 8.06563912e+01] [ 7.04973020e-01 -7.09228276e-01 -2.87987382e-03 -1.53402762e+02] [ 4.04047087e-03 -4.43120423e-05 9.99991836e-01 -9.03262782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.730385723 meters 0.01660650492719156 Centerline is valid? [True, True] Translation: X:80.64, Y:-153.38, Z:-9.03 [[-7.09666871e-01 -7.04531589e-01 2.85860790e-03 8.06394908e+01] [ 7.04525611e-01 -7.09672627e-01 -2.90265304e-03 -1.53382594e+02] [ 4.07368654e-03 -4.59542190e-05 9.99991701e-01 -9.03307273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.760385723 meters 0.016711109745158402 Centerline is valid? [True, True] Translation: X:80.62, Y:-153.36, Z:-9.03 [[-7.10496813e-01 -7.03694873e-01 2.79358031e-03 8.06222836e+01] [ 7.03689165e-01 -7.10502303e-01 -2.83493577e-03 -1.53361517e+02] [ 3.97977501e-03 -4.84006315e-05 9.99992080e-01 -9.03263100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.790385723 meters 0.017039702806758147 Centerline is valid? [True, True] Translation: X:80.61, Y:-153.34, Z:-9.03 [[-7.11960911e-01 -7.02211790e-01 3.20352533e-03 8.06064654e+01] [ 7.02204276e-01 -7.11968115e-01 -3.24923452e-03 -1.53337986e+02] [ 4.56245868e-03 -6.37987852e-05 9.99989590e-01 -9.03227752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.820385723 meters 0.017196479335114007 Centerline is valid? [True, True] Translation: X:80.59, Y:-153.31, Z:-9.03 [[-7.13520047e-01 -7.00626284e-01 3.45710225e-03 8.05898156e+01] [ 7.00617524e-01 -7.13528418e-01 -3.50455043e-03 -1.53314936e+02] [ 4.92212085e-03 -7.84605751e-05 9.99987883e-01 -9.03202079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.850385723 meters 0.017196479335114007 Centerline is valid? [True, True] Translation: X:80.57, Y:-153.30, Z:-9.03 [[-7.13731243e-01 -7.00411133e-01 3.45815855e-03 8.05709571e+01] [ 7.00402375e-01 -7.13739616e-01 -3.50350812e-03 -1.53295959e+02] [ 4.92212084e-03 -7.84607476e-05 9.99987883e-01 -9.03202065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.880385723 meters 0.01736248056522639 Centerline is valid? [True, True] Translation: X:80.55, Y:-153.28, Z:-9.03 [[-7.14517681e-01 -6.99607724e-01 3.67635456e-03 8.05531010e+01] [ 6.99597827e-01 -7.14527134e-01 -3.72233030e-03 -1.53275127e+02] [ 5.23102611e-03 -8.77011560e-05 9.99986314e-01 -9.03232133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.910385723 meters 0.0171426982834465 Centerline is valid? [True, True] Translation: X:80.53, Y:-153.25, Z:-9.03 [[-7.14875485e-01 -6.99239621e-01 4.12231153e-03 8.05342522e+01] [ 6.99227184e-01 -7.14887364e-01 -4.17159047e-03 -1.53254222e+02] [ 5.86392976e-03 -9.97354812e-05 9.99982802e-01 -9.03236523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.940385723 meters 0.017461163621472965 Centerline is valid? [True, True] Translation: X:80.52, Y:-153.23, Z:-9.03 [[-7.15229081e-01 -6.98875180e-01 4.56563642e-03 8.05170796e+01] [ 6.98859936e-01 -7.15243644e-01 -4.61725158e-03 -1.53233617e+02] [ 6.49242495e-03 -1.11652226e-04 9.99978918e-01 -9.03264601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.970385723 meters 0.01772939751053002 Centerline is valid? [True, True] Translation: X:80.50, Y:-153.21, Z:-9.03 [[-7.14878601e-01 -6.99234514e-01 4.43616839e-03 8.05014641e+01] [ 6.99220148e-01 -7.14892358e-01 -4.48349121e-03 -1.53212406e+02] [ 6.30639468e-03 -1.03293604e-04 9.99980109e-01 -9.03294224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.000385723 meters 0.017526185492886665 Centerline is valid? [True, True] Translation: X:80.48, Y:-153.19, Z:-9.03 [[-7.14542400e-01 -6.99578239e-01 4.40982096e-03 8.04827388e+01] [ 6.99564065e-01 -7.14556001e-01 -4.45423633e-03 -1.53192327e+02] [ 6.26715084e-03 -9.77884436e-05 9.99980356e-01 -9.03262381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.030385723 meters 0.016788844330924677 Centerline is valid? [True, True] Translation: X:80.46, Y:-153.17, Z:-9.03 [[-7.12885054e-01 -7.01265967e-01 4.57633109e-03 8.04639588e+01] [ 7.01250754e-01 -7.12899738e-01 -4.61995210e-03 -1.53171982e+02] [ 6.50228041e-03 -8.43391824e-05 9.99978856e-01 -9.03248202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.060385723 meters 0.01724666812903175 Centerline is valid? [True, True] Translation: X:80.45, Y:-153.15, Z:-9.03 [[-7.12224901e-01 -7.01935408e-01 4.73003482e-03 8.04476435e+01] [ 7.01919191e-01 -7.12240603e-01 -4.77211426e-03 -1.53151725e+02] [ 6.71863883e-03 -7.87163910e-05 9.99977427e-01 -9.03327936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.090385723 meters 0.016616189801476187 Centerline is valid? [True, True] Translation: X:80.43, Y:-153.13, Z:-9.03 [[-7.11493944e-01 -7.02676059e-01 4.76684447e-03 8.04281643e+01] [ 7.02659624e-01 -7.11509909e-01 -4.80638514e-03 -1.53132727e+02] [ 6.76898884e-03 -7.02447738e-05 9.99977088e-01 -9.03237089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.120385723 meters 0.016329633665829894 Centerline is valid? [True, True] Translation: X:80.41, Y:-153.11, Z:-9.03 [[-7.10800311e-01 -7.03374894e-01 5.16481232e-03 8.04104740e+01] [ 7.03355643e-01 -7.10819072e-01 -5.20446912e-03 -1.53111362e+02] [ 7.33194002e-03 -6.66383822e-05 9.99973119e-01 -9.03150503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.150385723 meters 0.01629023327794482 Centerline is valid? [True, True] Translation: X:80.39, Y:-153.09, Z:-9.03 [[-7.10715600e-01 -7.03455166e-01 5.84519227e-03 8.03922896e+01] [ 7.03430537e-01 -7.10739632e-01 -5.88685401e-03 -1.53090086e+02] [ 8.29554767e-03 -7.21922441e-05 9.99965589e-01 -9.03098635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.180385723 meters 0.01621999235194603 Centerline is valid? [True, True] Translation: X:80.37, Y:-153.07, Z:-9.03 [[-7.10631565e-01 -7.03536816e-01 6.22312100e-03 8.03746166e+01] [ 7.03508933e-01 -7.10658809e-01 -6.26401327e-03 -1.53067611e+02] [ 8.82947972e-03 -7.33843395e-05 9.99961017e-01 -9.03052982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.210385723 meters 0.0162741306523496 Centerline is valid? [True, True] Translation: X:80.36, Y:-153.05, Z:-9.03 [[-7.10549508e-01 -7.03618556e-01 6.35017668e-03 8.03559847e+01] [ 7.03589560e-01 -7.10577879e-01 -6.38817816e-03 -1.53047433e+02] [ 9.00713578e-03 -7.11988347e-05 9.99959432e-01 -9.03115967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.240385723 meters 0.016130984984966228 Centerline is valid? [True, True] Translation: X:80.34, Y:-153.03, Z:-9.03 [[-7.10367580e-01 -7.03800896e-01 6.49614454e-03 8.03368664e+01] [ 7.03770593e-01 -7.10397279e-01 -6.53139154e-03 -1.53026766e+02] [ 9.21164262e-03 -6.78933049e-05 9.99957570e-01 -9.03142465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.270385723 meters 0.016289954971676606 Centerline is valid? [True, True] Translation: X:80.32, Y:-153.01, Z:-9.03 [[-7.10189069e-01 -7.03982808e-01 6.30017697e-03 8.03205938e+01] [ 7.03954346e-01 -7.10217010e-01 -6.33065980e-03 -1.53005063e+02] [ 8.93116851e-03 -6.09284286e-05 9.99960114e-01 -9.03176102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.300385723 meters 0.016145961937557157 Centerline is valid? [True, True] Translation: X:80.30, Y:-152.98, Z:-9.03 [[-7.10535197e-01 -7.03632635e-01 6.39130307e-03 8.03020054e+01] [ 7.03603362e-01 -7.10563938e-01 -6.41864421e-03 -1.52983522e+02] [ 9.05779702e-03 -6.37303008e-05 9.99958975e-01 -9.03106388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.330385723 meters 0.016221209085823602 Centerline is valid? [True, True] Translation: X:80.28, Y:-152.96, Z:-9.03 [[-7.10792011e-01 -7.03368658e-01 6.87364027e-03 8.02845283e+01] [ 7.03334825e-01 -7.10825243e-01 -6.89919395e-03 -1.52961878e+02] [ 9.73863380e-03 -6.94213744e-05 9.99952576e-01 -9.03092693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.360385723 meters 0.0163273317707793 Centerline is valid? [True, True] Translation: X:80.27, Y:-152.94, Z:-9.03 [[-7.11383561e-01 -7.02766571e-01 7.25093043e-03 8.02673748e+01] [ 7.02728933e-01 -7.11420509e-01 -7.27360538e-03 -1.52940119e+02] [ 1.02701073e-02 -7.88846935e-05 9.99947258e-01 -9.03111581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.390385723 meters 0.01637900075222838 Centerline is valid? [True, True] Translation: X:80.25, Y:-152.92, Z:-9.03 [[-7.12681314e-01 -7.01452906e-01 7.01181459e-03 8.02518253e+01] [ 7.01417685e-01 -7.12715800e-01 -7.02988492e-03 -1.52915645e+02] [ 9.92856426e-03 -9.18568601e-05 9.99950706e-01 -9.03086690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.420385723 meters 0.016477576473437668 Centerline is valid? [True, True] Translation: X:80.24, Y:-152.89, Z:-9.03 [[-7.13290063e-01 -7.00833880e-01 7.01124087e-03 8.02353217e+01] [ 7.00798680e-01 -7.13324514e-01 -7.02476644e-03 -1.52894723e+02] [ 9.92448431e-03 -9.72277492e-05 9.99950746e-01 -9.03066444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.450385723 meters 0.016653644900541463 Centerline is valid? [True, True] Translation: X:80.22, Y:-152.87, Z:-9.03 [[-7.13886922e-01 -7.00228538e-01 6.74223629e-03 8.02182359e+01] [ 7.00195999e-01 -7.13918753e-01 -6.75112019e-03 -1.52873189e+02] [ 9.54073594e-03 -9.86495373e-05 9.99954481e-01 -9.03003115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.480385723 meters 0.016765669138404552 Centerline is valid? [True, True] Translation: X:80.20, Y:-152.85, Z:-9.03 [[-7.15044485e-01 -6.99051729e-01 6.16966167e-03 8.02033918e+01] [ 6.99024471e-01 -7.15071094e-01 -6.17405010e-03 -1.52849355e+02] [ 8.72772712e-03 -1.01975985e-04 9.99961907e-01 -9.02838175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.510385723 meters 0.01683398997883362 Centerline is valid? [True, True] Translation: X:80.19, Y:-152.83, Z:-9.03 [[-7.15956807e-01 -6.98118573e-01 6.02568464e-03 8.01863032e+01] [ 6.98092571e-01 -7.15982155e-01 -6.02632372e-03 -1.52828258e+02] [ 8.52137119e-03 -1.08101805e-04 9.99963687e-01 -9.02729293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.540385723 meters 0.017075032609632963 Centerline is valid? [True, True] Translation: X:80.17, Y:-152.81, Z:-9.03 [[-7.16911361e-01 -6.97142747e-01 5.48551995e-03 8.01710806e+01] [ 6.97121196e-01 -7.16932339e-01 -5.48262462e-03 -1.52806494e+02] [ 7.75491863e-03 -1.06483646e-04 9.99969925e-01 -9.02637350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.570385723 meters 0.017216108690896535 Centerline is valid? [True, True] Translation: X:80.16, Y:-152.83, Z:-9.03 [[-6.68566186e-01 -7.43636148e-01 4.95313536e-03 8.01572741e+01] [ 7.43614569e-01 -6.68584526e-01 -5.66613913e-03 -1.52834529e+02] [ 7.52513554e-03 -1.04965420e-04 9.99971680e-01 -9.02630595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.600385723 meters 0.01678340034545262 Centerline is valid? [True, True] Translation: X:80.14, Y:-152.81, Z:-9.03 [[-6.68669563e-01 -7.43542110e-01 5.11337190e-03 8.01389121e+01] [ 7.43519131e-01 -6.68689105e-01 -5.84660541e-03 -1.52812790e+02] [ 7.76645340e-03 -1.07557256e-04 9.99969835e-01 -9.02569305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.630385723 meters 0.01668567902866234 Centerline is valid? [True, True] Translation: X:80.12, Y:-152.79, Z:-9.03 [[-6.68393955e-01 -7.43786537e-01 5.57743938e-03 8.01228740e+01] [ 7.43759236e-01 -6.68417216e-01 -6.37366092e-03 -1.52789419e+02] [ 8.46869969e-03 -1.11844380e-04 9.99964134e-01 -9.02616826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.660385723 meters 0.016896404982036133 Centerline is valid? [True, True] Translation: X:80.11, Y:-152.77, Z:-9.03 [[-6.68081954e-01 -7.44063229e-01 6.03439892e-03 8.01065925e+01] [ 7.44031320e-01 -6.68109196e-01 -6.89179872e-03 -1.52768218e+02] [ 9.15957142e-03 -1.14504562e-04 9.99958044e-01 -9.02750891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.690385723 meters 0.016787003801923328 Centerline is valid? [True, True] Translation: X:80.09, Y:-152.75, Z:-9.03 [[-6.67822437e-01 -7.44296573e-01 5.98370923e-03 8.00898461e+01] [ 7.44265247e-01 -6.67849235e-01 -6.82952154e-03 -1.52747708e+02] [ 9.07940510e-03 -1.07440893e-04 9.99958776e-01 -9.02791360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.720385723 meters 0.016728769802758215 Centerline is valid? [True, True] Translation: X:80.07, Y:-152.73, Z:-9.03 [[-6.67320234e-01 -7.44747366e-01 5.92165346e-03 8.00733842e+01] [ 7.44716742e-01 -6.67346500e-01 -6.75457060e-03 -1.52726180e+02] [ 8.98224338e-03 -9.75071654e-05 9.99959654e-01 -9.02696092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.750385723 meters 0.016639416923355962 Centerline is valid? [True, True] Translation: X:80.06, Y:-152.71, Z:-9.03 [[-6.67202687e-01 -7.44857705e-01 5.25113454e-03 8.00555818e+01] [ 7.44833655e-01 -6.67223345e-01 -5.98609009e-03 -1.52705243e+02] [ 7.96246488e-03 -8.27136574e-05 9.99968296e-01 -9.02616244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.780385723 meters 0.01659164819760419 Centerline is valid? [True, True] Translation: X:80.04, Y:-152.69, Z:-9.02 [[-6.66937306e-01 -7.45102877e-01 4.04137982e-03 8.00382600e+01] [ 7.45088654e-01 -6.66949548e-01 -4.60407654e-03 -1.52685077e+02] [ 6.12590712e-03 -5.94441538e-05 9.99981235e-01 -9.02450541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.810385723 meters 0.016475502066684664 Centerline is valid? [True, True] Translation: X:80.02, Y:-152.66, Z:-9.02 [[-6.67433799e-01 -7.44659317e-01 3.82431348e-03 8.00200198e+01] [ 7.44646590e-01 -6.67444753e-01 -4.35409259e-03 -1.52664879e+02] [ 5.79483358e-03 -5.83065625e-05 9.99983208e-01 -9.02399017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.840385723 meters 0.016509179506986615 Centerline is valid? [True, True] Translation: X:80.00, Y:-152.64, Z:-9.02 [[-6.67692695e-01 -7.44425216e-01 4.19080323e-03 8.00024291e+01] [ 7.44409947e-01 -6.67705843e-01 -4.76840076e-03 -1.52644378e+02] [ 6.34794157e-03 -6.41507461e-05 9.99979850e-01 -9.02418645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.870385723 meters 0.016443793165117265 Centerline is valid? [True, True] Translation: X:79.98, Y:-152.62, Z:-9.03 [[-6.68147345e-01 -7.44011315e-01 5.12717571e-03 7.99832743e+01] [ 7.43988473e-01 -6.68167012e-01 -5.83059258e-03 -1.52623823e+02] [ 7.76383653e-03 -8.11353295e-05 9.99969858e-01 -9.02537342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.900385723 meters 0.016495126530279784 Centerline is valid? [True, True] Translation: X:79.97, Y:-152.60, Z:-9.03 [[-6.68496149e-01 -7.43697275e-01 5.22128117e-03 7.99651697e+01] [ 7.43673607e-01 -6.68516534e-01 -5.93373148e-03 -1.52604104e+02] [ 7.90341272e-03 -8.37476434e-05 9.99968764e-01 -9.02667967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.930385723 meters 0.016504607177862823 Centerline is valid? [True, True] Translation: X:79.95, Y:-152.58, Z:-9.03 [[-6.69327979e-01 -7.42946701e-01 5.50048893e-03 7.99456601e+01] [ 7.42920438e-01 -6.69350574e-01 -6.24756324e-03 -1.52583943e+02] [ 8.32336192e-03 -9.52432336e-05 9.99965356e-01 -9.02714119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.960385723 meters 0.01677038671369184 Centerline is valid? [True, True] Translation: X:79.93, Y:-152.56, Z:-9.03 [[-6.71099861e-01 -7.41343699e-01 5.87338473e-03 7.99278093e+01] [ 7.41313717e-01 -6.71125551e-01 -6.66842608e-03 -1.52564234e+02] [ 8.88537422e-03 -1.21159143e-04 9.99960517e-01 -9.02756830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.990385723 meters 0.016935387062361407 Centerline is valid? [True, True] Translation: X:79.91, Y:-152.54, Z:-9.03 [[-6.72310446e-01 -7.40246144e-01 5.85742379e-03 7.99089614e+01] [ 7.40216316e-01 -6.72335949e-01 -6.64661005e-03 -1.52542774e+02] [ 8.85828405e-03 -1.32824708e-04 9.99960756e-01 -9.02730638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.020385723 meters 0.017384417770156882 Centerline is valid? [True, True] Translation: X:79.89, Y:-152.52, Z:-9.03 [[-6.74546499e-01 -7.38206321e-01 6.20065415e-03 7.98923999e+01] [ 7.38172847e-01 -6.74574977e-01 -7.03196814e-03 -1.52521536e+02] [ 9.37384946e-03 -1.66234966e-04 9.99956051e-01 -9.02671631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.050385723 meters 0.018059231095326984 Centerline is valid? [True, True] Translation: X:79.88, Y:-152.50, Z:-9.03 [[-6.75798646e-01 -7.37060231e-01 6.19723453e-03 7.98751745e+01] [ 7.37026784e-01 -6.75827036e-01 -7.02403235e-03 -1.52500452e+02] [ 9.36539355e-03 -1.79303719e-04 9.99956128e-01 -9.02715899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.080385723 meters 0.017851408869759992 Centerline is valid? [True, True] Translation: X:79.86, Y:-152.48, Z:-9.03 [[-6.76801843e-01 -7.36139112e-01 6.20269831e-03 7.98553602e+01] [ 7.36105603e-01 -6.76830239e-01 -7.02637027e-03 -1.52480402e+02] [ 9.37055975e-03 -1.89619369e-04 9.99956077e-01 -9.02680133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.110385723 meters 0.01889114883379317 Centerline is valid? [True, True] Translation: X:79.84, Y:-152.46, Z:-9.03 [[-6.77991147e-01 -7.35043790e-01 6.21546476e-03 7.98378438e+01] [ 7.35010135e-01 -6.78019606e-01 -7.03676465e-03 -1.52459454e+02] [ 9.38653712e-03 -2.02434550e-04 9.99955925e-01 -9.02852310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.140385723 meters 0.018556804490903307 Centerline is valid? [True, True] Translation: X:79.82, Y:-152.44, Z:-9.03 [[-6.78473855e-01 -7.34595353e-01 6.54943226e-03 7.98188142e+01] [ 7.34558007e-01 -6.78505432e-01 -7.41038781e-03 -1.52440098e+02] [ 9.88746181e-03 -2.16816477e-04 9.99951094e-01 -9.02859622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.170385723 meters 0.019168038555169173 Centerline is valid? [True, True] Translation: X:79.80, Y:-152.42, Z:-9.03 [[-6.78543526e-01 -7.34527602e-01 6.91993231e-03 7.98013901e+01] [ 7.34485945e-01 -6.78578773e-01 -7.82594299e-03 -1.52420107e+02] [ 1.04440903e-02 -2.27649924e-04 9.99945433e-01 -9.02958835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.200385723 meters 0.019268273622724843 Centerline is valid? [True, True] Translation: X:79.78, Y:-152.40, Z:-9.03 [[-6.78498468e-01 -7.34570068e-01 6.82970050e-03 7.97836685e+01] [ 7.34529542e-01 -6.78532805e-01 -7.71915960e-03 -1.52400296e+02] [ 1.03044394e-02 -2.20821184e-04 9.99946884e-01 -9.03034706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.230385723 meters 0.018897113219317772 Centerline is valid? [True, True] Translation: X:79.76, Y:-152.38, Z:-9.03 [[-6.78663028e-01 -7.34420879e-01 6.51661162e-03 7.97640781e+01] [ 7.34384020e-01 -6.78694282e-01 -7.36093025e-03 -1.52380591e+02] [ 9.82880791e-03 -2.09895780e-04 9.99951674e-01 -9.02986074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.260385723 meters 0.017804303281802727 Centerline is valid? [True, True] Translation: X:79.74, Y:-152.36, Z:-9.03 [[-6.77527286e-01 -7.35476551e-01 5.56956067e-03 7.97430169e+01] [ 7.35449691e-01 -6.77550158e-01 -6.28772689e-03 -1.52361609e+02] [ 8.39813240e-03 -1.63974866e-04 9.99964722e-01 -9.02844277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.290385723 meters 0.01744424229581118 Centerline is valid? [True, True] Translation: X:79.72, Y:-152.34, Z:-9.03 [[-6.76939698e-01 -7.36019738e-01 5.25267860e-03 7.97232560e+01] [ 7.35995890e-01 -6.76960061e-01 -5.92667387e-03 -1.52341071e+02] [ 7.91800257e-03 -1.46050958e-04 9.99968641e-01 -9.02770704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.320385723 meters 0.018070648411451173 Centerline is valid? [True, True] Translation: X:79.71, Y:-152.32, Z:-9.03 [[-6.76371042e-01 -7.36546048e-01 4.70443835e-03 7.97069260e+01] [ 7.36526953e-01 -6.76387392e-01 -5.30505635e-03 -1.52319892e+02] [ 7.08944108e-03 -1.23240845e-04 9.99974862e-01 -9.02806088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.350385723 meters 0.017140516709579733 Centerline is valid? [True, True] Translation: X:79.69, Y:-152.30, Z:-9.03 [[-6.75108300e-01 -7.37707400e-01 4.07138867e-03 7.96860339e+01] [ 7.37693135e-01 -6.75120570e-01 -4.58851711e-03 -1.52301371e+02] [ 6.13366127e-03 -9.43105136e-05 9.99981185e-01 -9.02681402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.380385723 meters 0.01676000878521764 Centerline is valid? [True, True] Translation: X:79.67, Y:-152.28, Z:-9.03 [[-6.74517459e-01 -7.38247789e-01 4.04953731e-03 7.96657484e+01] [ 7.38233703e-01 -6.74529609e-01 -4.56135210e-03 -1.52281485e+02] [ 6.09894092e-03 -8.72067080e-05 9.99981398e-01 -9.02681305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.410385723 meters 0.016525448257198146 Centerline is valid? [True, True] Translation: X:79.65, Y:-152.26, Z:-9.03 [[-6.73062197e-01 -7.39569578e-01 4.91107766e-03 7.96451786e+01] [ 7.39548918e-01 -6.73080108e-01 -5.52869162e-03 -1.52262106e+02] [ 7.39440081e-03 -8.91711589e-05 9.99972657e-01 -9.02848375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.440385723 meters 0.01648907477259623 Centerline is valid? [True, True] Translation: X:79.63, Y:-152.24, Z:-9.03 [[-6.72154323e-01 -7.40392020e-01 5.31259315e-03 7.96261203e+01] [ 7.40367897e-01 -6.72175312e-01 -5.97721501e-03 -1.52242269e+02] [ 7.99647625e-03 -8.43374925e-05 9.99968024e-01 -9.02913313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.470385723 meters 0.016271376189305894 Centerline is valid? [True, True] Translation: X:79.61, Y:-152.22, Z:-9.03 [[-6.71740154e-01 -7.40766596e-01 5.47864023e-03 7.96068474e+01] [ 7.40740983e-01 -6.71762491e-01 -6.16059934e-03 -1.52222373e+02] [ 8.24391120e-03 -8.00686017e-05 9.99966015e-01 -9.02892407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.500385723 meters 0.016236166335130343 Centerline is valid? [True, True] Translation: X:79.59, Y:-152.20, Z:-9.03 [[-6.71211705e-01 -7.41246154e-01 5.38382630e-03 7.95893233e+01] [ 7.41221459e-01 -6.71233293e-01 -6.05105337e-03 -1.52203422e+02] [ 8.09912350e-03 -7.09302691e-05 9.99967199e-01 -9.02891581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.530385723 meters 0.016095761921309643 Centerline is valid? [True, True] Translation: X:79.57, Y:-152.18, Z:-9.03 [[-6.70434573e-01 -7.41951755e-01 5.00777464e-03 7.95717662e+01] [ 7.41930434e-01 -6.70453273e-01 -5.62494017e-03 -1.52183181e+02] [ 7.53091312e-03 -5.57339437e-05 9.99971641e-01 -9.02797529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.560385723 meters 0.01597771478192186 Centerline is valid? [True, True] Translation: X:79.55, Y:-152.16, Z:-9.03 [[-6.70482911e-01 -7.41908436e-01 4.95372150e-03 7.95536953e+01] [ 7.41887597e-01 -6.70501208e-01 -5.56086423e-03 -1.52162923e+02] [ 7.44712834e-03 -5.33598968e-05 9.99972268e-01 -9.02726648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.590385723 meters 0.016131485426415054 Centerline is valid? [True, True] Translation: X:79.53, Y:-152.14, Z:-9.03 [[-6.70410952e-01 -7.41974652e-01 4.77200160e-03 7.95348135e+01] [ 7.41955339e-01 -6.70427933e-01 -5.35364069e-03 -1.52142745e+02] [ 7.17154886e-03 -4.85272887e-05 9.99974283e-01 -9.02777225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.620385723 meters 0.016098079341695038 Centerline is valid? [True, True] Translation: X:79.52, Y:-152.12, Z:-9.03 [[-6.70252799e-01 -7.42115054e-01 5.14121391e-03 7.95156604e+01] [ 7.42092665e-01 -6.70272515e-01 -5.76464144e-03 -1.52122017e+02] [ 7.72404157e-03 -4.85099312e-05 9.99970168e-01 -9.02748611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.650385723 meters 0.016220479427906845 Centerline is valid? [True, True] Translation: X:79.50, Y:-152.10, Z:-9.03 [[-6.70369596e-01 -7.42003346e-01 5.96995669e-03 7.94987783e+01] [ 7.41973189e-01 -6.70396175e-01 -6.68994669e-03 -1.52101242e+02] [ 8.96619896e-03 -5.51890518e-05 9.99959801e-01 -9.02810035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.680385723 meters 0.01628111026105559 Centerline is valid? [True, True] Translation: X:79.48, Y:-152.08, Z:-9.03 [[-6.70844531e-01 -7.41570380e-01 6.40214480e-03 7.94807748e+01] [ 7.41535721e-01 -6.70875077e-01 -7.16983948e-03 -1.52080515e+02] [ 9.61197997e-03 -6.24285489e-05 9.99953802e-01 -9.02816167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.710385723 meters 0.01614445205035083 Centerline is valid? [True, True] Translation: X:79.46, Y:-152.06, Z:-9.03 [[-6.71522182e-01 -7.40955345e-01 6.56787535e-03 7.94626594e+01] [ 7.40918883e-01 -6.71554296e-01 -7.35090076e-03 -1.52060435e+02] [ 9.85737411e-03 -7.00300462e-05 9.99951412e-01 -9.02820802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.740385723 meters 0.01614445205035083 Centerline is valid? [True, True] Translation: X:79.44, Y:-152.04, Z:-9.03 [[-6.71749603e-01 -7.40749151e-01 6.57013167e-03 7.94447524e+01] [ 7.40712700e-01 -6.71781728e-01 -7.34888416e-03 -1.52040533e+02] [ 9.85737411e-03 -7.00300466e-05 9.99951412e-01 -9.02820789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.770385723 meters 0.016461502328526882 Centerline is valid? [True, True] Translation: X:79.43, Y:-152.02, Z:-9.03 [[-6.73538679e-01 -7.39122341e-01 6.61912506e-03 7.94276784e+01] [ 7.39085308e-01 -6.73571196e-01 -7.39939725e-03 -1.52019969e+02] [ 9.92751181e-03 -9.16821612e-05 9.99950717e-01 -9.02845148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.800385723 meters 0.016640734499322865 Centerline is valid? [True, True] Translation: X:79.41, Y:-152.00, Z:-9.03 [[-6.74976744e-01 -7.37811144e-01 6.41180579e-03 7.94104507e+01] [ 7.37776377e-01 -6.75007189e-01 -7.16323198e-03 -1.51998210e+02] [ 9.61312738e-03 -1.04536152e-04 9.99953787e-01 -9.02796540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.830385723 meters 0.01697747532897299 Centerline is valid? [True, True] Translation: X:79.39, Y:-151.98, Z:-9.03 [[-6.76538946e-01 -7.36376930e-01 6.63860881e-03 7.93944585e+01] [ 7.36339621e-01 -6.76571504e-01 -7.41366108e-03 -1.51976415e+02] [ 9.95074254e-03 -1.27359754e-04 9.99950482e-01 -9.02752421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.860385723 meters 0.01762983968374029 Centerline is valid? [True, True] Translation: X:79.38, Y:-151.95, Z:-9.03 [[-6.79663006e-01 -7.33492356e-01 6.86749953e-03 7.93784680e+01] [ 7.33452327e-01 -6.79697678e-01 -7.66490037e-03 -1.51953805e+02] [ 1.02899693e-02 -1.72565713e-04 9.99947042e-01 -9.02735206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.890385723 meters 0.018015332832698856 Centerline is valid? [True, True] Translation: X:79.36, Y:-151.93, Z:-9.03 [[-6.80812544e-01 -7.32422431e-01 7.18772933e-03 7.93607781e+01] [ 7.32378571e-01 -6.80850457e-01 -8.01773923e-03 -1.51932587e+02] [ 1.07661409e-02 -1.94438505e-04 9.99942025e-01 -9.02746037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.920385723 meters 0.01857533900273523 Centerline is valid? [True, True] Translation: X:79.34, Y:-151.91, Z:-9.03 [[-6.82326061e-01 -7.31007668e-01 7.67698190e-03 7.93440785e+01] [ 7.30957582e-01 -6.82369209e-01 -8.56014144e-03 -1.51911370e+02] [ 1.14960651e-02 -2.29259467e-04 9.99933892e-01 -9.02782977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.950385723 meters 0.018848349277338056 Centerline is valid? [True, True] Translation: X:79.33, Y:-151.89, Z:-9.03 [[-6.82761249e-01 -7.30595540e-01 8.19957562e-03 7.93268426e+01] [ 7.30538444e-01 -6.82810438e-01 -9.13715634e-03 -1.51892108e+02] [ 1.22743215e-02 -2.48391069e-04 9.99924637e-01 -9.02815203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.980385723 meters 0.018997888374839032 Centerline is valid? [True, True] Translation: X:79.31, Y:-151.87, Z:-9.03 [[-6.83077901e-01 -7.30302160e-01 7.95835730e-03 7.93084023e+01] [ 7.30248416e-01 -6.83124217e-01 -8.86314677e-03 -1.51872386e+02] [ 1.19093218e-02 -2.42641885e-04 9.99929052e-01 -9.02879362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.010385723 meters 0.017821548337299927 Centerline is valid? [True, True] Translation: X:79.29, Y:-151.85, Z:-9.03 [[-6.82763164e-01 -7.30591274e-01 8.41738755e-03 7.92869076e+01] [ 7.30531238e-01 -6.82815003e-01 -9.36913957e-03 -1.51853304e+02] [ 1.25925301e-02 -2.47738826e-04 9.99920680e-01 -9.02737750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.040385723 meters 0.01857873601251702 Centerline is valid? [True, True] Translation: X:79.27, Y:-151.83, Z:-9.03 [[-6.82511280e-01 -7.30828993e-01 8.20587841e-03 7.92695606e+01] [ 7.30771999e-01 -6.82560567e-01 -9.12999640e-03 -1.51832188e+02] [ 1.22734751e-02 -2.34699349e-04 9.99924651e-01 -9.02849786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.070385723 meters 0.019214260488809205 Centerline is valid? [True, True] Translation: X:79.25, Y:-151.81, Z:-9.03 [[-6.82795845e-01 -7.30562375e-01 8.27340290e-03 7.92531935e+01] [ 7.30504473e-01 -6.82845926e-01 -9.20090304e-03 -1.51812143e+02] [ 1.23712930e-02 -2.38580546e-04 9.99923444e-01 -9.02883109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.100385723 meters 0.018078046084738363 Centerline is valid? [True, True] Translation: X:79.23, Y:-151.79, Z:-9.03 [[-6.83469345e-01 -7.29942432e-01 7.32801035e-03 7.92327137e+01] [ 7.29897026e-01 -6.83508594e-01 -8.14452013e-03 -1.51793745e+02] [ 1.09537889e-02 -2.17836885e-04 9.99939982e-01 -9.02629100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.130385723 meters 0.0176507398410588 Centerline is valid? [True, True] Translation: X:79.21, Y:-151.77, Z:-9.03 [[-6.83885444e-01 -7.29551271e-01 7.45943067e-03 7.92126457e+01] [ 7.29504250e-01 -6.83926087e-01 -8.28594047e-03 -1.51773755e+02] [ 1.11467176e-02 -2.24947695e-04 9.99937848e-01 -9.02549012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.160385723 meters 0.018100652576669058 Centerline is valid? [True, True] Translation: X:79.19, Y:-151.75, Z:-9.03 [[-6.84501250e-01 -7.28975947e-01 7.21848442e-03 7.91949090e+01] [ 7.28931922e-01 -6.84539274e-01 -8.01467128e-03 -1.51753969e+02] [ 1.07838387e-02 -2.24268790e-04 9.99941828e-01 -9.02606570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.190385723 meters 0.018183050641636743 Centerline is valid? [True, True] Translation: X:79.18, Y:-151.73, Z:-9.03 [[-6.85459817e-01 -7.28079642e-01 6.69878001e-03 7.91763223e+01] [ 7.28041731e-01 -6.85492514e-01 -7.43308953e-03 -1.51734162e+02] [ 1.00038447e-02 -2.18092794e-04 9.99949937e-01 -9.02546343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.220385723 meters 0.017726791643170908 Centerline is valid? [True, True] Translation: X:79.16, Y:-151.71, Z:-9.02 [[-6.85830142e-01 -7.27735192e-01 6.20530761e-03 7.91560542e+01] [ 7.27702683e-01 -6.85858184e-01 -6.88165676e-03 -1.51714029e+02] [ 9.26398482e-03 -2.04028635e-04 9.99957068e-01 -9.02424516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.250385723 meters 0.018611941055858474 Centerline is valid? [True, True] Translation: X:79.14, Y:-151.69, Z:-9.02 [[-6.86507701e-01 -7.27097337e-01 6.05298512e-03 7.91387093e+01] [ 7.27066415e-01 -6.86534355e-01 -6.70876210e-03 -1.51693724e+02] [ 9.03350530e-03 -2.04694655e-04 9.99959176e-01 -9.02494821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.280385723 meters 0.018879212083322786 Centerline is valid? [True, True] Translation: X:79.12, Y:-151.67, Z:-9.03 [[-6.86943532e-01 -7.26683856e-01 6.25757532e-03 7.91211270e+01] [ 7.26650832e-01 -6.86971999e-01 -6.93114512e-03 -1.51674615e+02] [ 9.33553029e-03 -2.14232995e-04 9.99956400e-01 -9.02544847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.310385723 meters 0.018125502529745666 Centerline is valid? [True, True] Translation: X:79.10, Y:-151.66, Z:-9.03 [[-6.87282165e-01 -7.26362434e-01 6.39059164e-03 7.91007985e+01] [ 7.26328015e-01 -6.87311840e-01 -7.07459097e-03 -1.51655635e+02] [ 9.53104642e-03 -2.20574461e-04 9.99954554e-01 -9.02518824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.340385723 meters 0.017956088316962975 Centerline is valid? [True, True] Translation: X:79.08, Y:-151.64, Z:-9.03 [[-6.86907613e-01 -7.26717098e-01 6.33963441e-03 7.90807450e+01] [ 7.26683281e-01 -6.86936835e-01 -7.01385798e-03 -1.51636765e+02] [ 9.45201891e-03 -2.10966112e-04 9.99955306e-01 -9.02519043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.370385723 meters 0.017812082346803173 Centerline is valid? [True, True] Translation: X:79.06, Y:-151.62, Z:-9.02 [[-6.86282178e-01 -7.27309242e-01 6.16756243e-03 7.90614391e+01] [ 7.27277298e-01 -6.86309863e-01 -6.81931144e-03 -1.51617093e+02] [ 9.19260717e-03 -1.94443764e-04 9.99957728e-01 -9.02478066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.400385723 meters 0.01704419828564824 Centerline is valid? [True, True] Translation: X:79.04, Y:-151.60, Z:-9.02 [[-6.84217048e-01 -7.29251556e-01 6.26086504e-03 7.90398290e+01] [ 7.29218752e-01 -6.84245672e-01 -6.91895362e-03 -1.51598072e+02] [ 9.32962750e-03 -1.68525831e-04 9.99956464e-01 -9.02421265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.430385723 meters 0.01640596040301322 Centerline is valid? [True, True] Translation: X:79.02, Y:-151.58, Z:-9.02 [[-6.83184984e-01 -7.30216883e-01 6.44832959e-03 7.90182940e+01] [ 7.30182167e-01 -6.83215397e-01 -7.12212626e-03 -1.51579542e+02] [ 9.60629491e-03 -1.57274446e-04 9.99953846e-01 -9.02446867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.460385723 meters 0.016383653394410426 Centerline is valid? [True, True] Translation: X:79.00, Y:-151.56, Z:-9.03 [[-6.82160312e-01 -7.31170384e-01 6.86857704e-03 7.89993520e+01] [ 7.31131088e-01 -6.82194874e-01 -7.58191229e-03 -1.51560596e+02] [ 1.02293778e-02 -1.50249449e-04 9.99947667e-01 -9.02558040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.490385723 meters 0.01580172135278165 Centerline is valid? [True, True] Translation: X:78.98, Y:-151.54, Z:-9.03 [[-6.81210244e-01 -7.32054415e-01 6.99543481e-03 7.89775605e+01] [ 7.32013746e-01 -6.81246148e-01 -7.71760385e-03 -1.51541916e+02] [ 1.04153190e-02 -1.36556361e-04 9.99945750e-01 -9.02538899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.520385723 meters 0.0158758707336175 Centerline is valid? [True, True] Translation: X:78.96, Y:-151.52, Z:-9.03 [[-6.81462335e-01 -7.31820486e-01 6.91831160e-03 7.89586331e+01] [ 7.31780743e-01 -6.81497438e-01 -7.62799441e-03 -1.51522181e+02] [ 1.02971342e-02 -1.35503681e-04 9.99946974e-01 -9.02533316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.550385723 meters 0.01599676810063577 Centerline is valid? [True, True] Translation: X:78.94, Y:-151.50, Z:-9.02 [[-6.82946337e-01 -7.30442158e-01 6.20924616e-03 7.89383181e+01] [ 7.30410122e-01 -6.82974550e-01 -6.84238215e-03 -1.51503271e+02] [ 9.23872148e-03 -1.37683578e-04 9.99957313e-01 -9.02479518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.580385723 meters 0.0161378626713067 Centerline is valid? [True, True] Translation: X:78.92, Y:-151.48, Z:-9.02 [[-6.83867497e-01 -7.29582378e-01 5.89915637e-03 7.89193192e+01] [ 7.29553462e-01 -6.83892926e-01 -6.49705933e-03 -1.51482660e+02] [ 8.77453131e-03 -1.39377749e-04 9.99961493e-01 -9.02435787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.610385723 meters 0.01635586623690593 Centerline is valid? [True, True] Translation: X:78.90, Y:-151.46, Z:-9.02 [[-6.86071779e-01 -7.27514173e-01 5.35183515e-03 7.89001855e+01] [ 7.27490336e-01 -6.86092637e-01 -5.89113595e-03 -1.51461514e+02] [ 7.95773959e-03 -1.48333776e-04 9.99968326e-01 -9.02244215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.640385723 meters 0.01740504790214794 Centerline is valid? [True, True] Translation: X:78.88, Y:-151.44, Z:-9.02 [[-6.87406927e-01 -7.26254701e-01 5.08199371e-03 7.88827197e+01] [ 7.26233193e-01 -6.87425695e-01 -5.59128483e-03 -1.51440440e+02] [ 7.55418996e-03 -1.52775403e-04 9.99971455e-01 -9.02330887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.670385723 meters 0.017414637497929382 Centerline is valid? [True, True] Translation: X:78.86, Y:-151.42, Z:-9.02 [[-6.88671421e-01 -7.25054672e-01 5.23416384e-03 7.88623610e+01] [ 7.25031847e-01 -6.88691291e-01 -5.75556973e-03 -1.51420456e+02] [ 7.77782578e-03 -1.68760913e-04 9.99969738e-01 -9.02315436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.700385723 meters 0.0174140717424618 Centerline is valid? [True, True] Translation: X:78.84, Y:-151.40, Z:-9.02 [[-6.89855532e-01 -7.23928658e-01 5.16164618e-03 7.88420955e+01] [ 7.23906454e-01 -6.89874819e-01 -5.67268147e-03 -1.51401264e+02] [ 7.66750641e-03 -1.76781716e-04 9.99970589e-01 -9.02343017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.730385723 meters 0.017808062686523997 Centerline is valid? [True, True] Translation: X:78.82, Y:-151.38, Z:-9.02 [[-6.91562630e-01 -7.22298611e-01 5.08379687e-03 7.88219669e+01] [ 7.22277052e-01 -6.91581290e-01 -5.58382950e-03 -1.51382366e+02] [ 7.54905109e-03 -1.89657997e-04 9.99971488e-01 -9.02374579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.760385723 meters 0.018274909318546778 Centerline is valid? [True, True] Translation: X:78.80, Y:-151.36, Z:-9.02 [[-6.92475268e-01 -7.21421443e-01 5.39484153e-03 7.88027661e+01] [ 7.21397167e-01 -6.92496251e-01 -5.92199800e-03 -1.51362708e+02] [ 8.00816388e-03 -2.09013756e-04 9.99967912e-01 -9.02403991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.790385723 meters 0.018535428117036373 Centerline is valid? [True, True] Translation: X:78.78, Y:-151.35, Z:-9.02 [[-6.93322223e-01 -7.20602725e-01 6.00057502e-03 7.87808917e+01] [ 7.20572693e-01 -6.93348148e-01 -6.58332032e-03 -1.51345089e+02] [ 8.90444615e-03 -2.40511778e-04 9.99960326e-01 -9.02497874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.820385723 meters 0.018470852479996483 Centerline is valid? [True, True] Translation: X:78.76, Y:-151.33, Z:-9.03 [[-6.93347979e-01 -7.20576901e-01 6.12449839e-03 7.87599859e+01] [ 7.20545647e-01 -6.93374986e-01 -6.71560720e-03 -1.51325729e+02] [ 9.08568541e-03 -2.43272026e-04 9.99958695e-01 -9.02509363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.850385723 meters 0.018518629884407025 Centerline is valid? [True, True] Translation: X:78.74, Y:-151.31, Z:-9.03 [[-6.93117450e-01 -7.20796405e-01 6.38298489e-03 7.87397569e+01] [ 7.20762508e-01 -6.93146796e-01 -6.99476675e-03 -1.51307104e+02] [ 9.46614825e-03 -2.47578695e-04 9.99955164e-01 -9.02528112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.880385723 meters 0.01808342811515711 Centerline is valid? [True, True] Translation: X:78.72, Y:-151.29, Z:-9.03 [[-6.92402876e-01 -7.21478677e-01 6.83927696e-03 7.87167406e+01] [ 7.21439834e-01 -6.92436607e-01 -7.49070721e-03 -1.51290372e+02] [ 1.01401513e-02 -2.52460378e-04 9.99948556e-01 -9.02616498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.910385723 meters 0.01832134290209869 Centerline is valid? [True, True] Translation: X:78.70, Y:-151.27, Z:-9.03 [[-6.92355549e-01 -7.21527349e-01 6.48678444e-03 7.86980620e+01] [ 7.21492453e-01 -6.92385896e-01 -7.10007357e-03 -1.51272062e+02] [ 9.61425532e-03 -2.35609322e-04 9.99953754e-01 -9.02639480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.940385723 meters 0.018468731786973884 Centerline is valid? [True, True] Translation: X:78.68, Y:-151.25, Z:-9.03 [[-6.92394261e-01 -7.21489695e-01 6.54274052e-03 7.86795867e+01] [ 7.21454225e-01 -6.92425133e-01 -7.15796023e-03 -1.51253912e+02] [ 9.69475252e-03 -2.35842796e-04 9.99952977e-01 -9.02640846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.970385723 meters 0.018018728141470805 Centerline is valid? [True, True] Translation: X:78.66, Y:-151.24, Z:-9.03 [[-6.92103788e-01 -7.21763118e-01 7.09558415e-03 7.86572194e+01] [ 7.21721465e-01 -6.92140116e-01 -7.75806264e-03 -1.51236858e+02] [ 1.05106219e-02 -2.48349161e-04 9.99944731e-01 -9.02685780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.000385723 meters 0.018027976581112395 Centerline is valid? [True, True] Translation: X:78.64, Y:-151.22, Z:-9.03 [[-6.91947257e-01 -7.21906913e-01 7.70731749e-03 7.86367906e+01] [ 7.21857835e-01 -6.91990130e-01 -8.42177358e-03 -1.51217956e+02] [ 1.14131242e-02 -2.63835611e-04 9.99934833e-01 -9.02745700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.030385723 meters 0.01724559128377379 Centerline is valid? [True, True] Translation: X:78.61, Y:-151.20, Z:-9.03 [[-6.91678696e-01 -7.22154928e-01 8.53470212e-03 7.86147850e+01] [ 7.22094832e-01 -6.91731291e-01 -9.32062560e-03 -1.51200513e+02] [ 1.26346562e-02 -2.84013875e-04 9.99920139e-01 -9.02721034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.060385723 meters 0.017246955195003823 Centerline is valid? [True, True] Translation: X:78.60, Y:-151.18, Z:-9.03 [[-6.91535218e-01 -7.22292969e-01 8.47993238e-03 7.85954036e+01] [ 7.22233717e-01 -6.91587154e-01 -9.25566403e-03 -1.51179865e+02] [ 1.25499133e-02 -2.76124567e-04 9.99921209e-01 -9.02649030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.090385723 meters 0.017041786514077225 Centerline is valid? [True, True] Translation: X:78.58, Y:-151.16, Z:-9.03 [[-6.91542987e-01 -7.22293665e-01 7.75627376e-03 7.85757536e+01] [ 7.22244149e-01 -6.91586437e-01 -8.46105630e-03 -1.51160174e+02] [ 1.14755011e-02 -2.49260803e-04 9.99934123e-01 -9.02535820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.120385723 meters 0.017098894662861436 Centerline is valid? [True, True] Translation: X:78.56, Y:-151.14, Z:-9.02 [[-6.91882902e-01 -7.21979263e-01 6.63281845e-03 7.85550536e+01] [ 7.21943078e-01 -6.91914661e-01 -7.23146650e-03 -1.51141553e+02] [ 9.81031318e-03 -2.14810659e-04 9.99951855e-01 -9.02398346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.150385723 meters 0.017358726731715218 Centerline is valid? [True, True] Translation: X:78.54, Y:-151.12, Z:-9.02 [[-6.92283124e-01 -7.21595930e-01 6.58711456e-03 7.85361656e+01] [ 7.21560266e-01 -6.92314428e-01 -7.17739626e-03 -1.51121992e+02] [ 9.73953438e-03 -2.15790173e-04 9.99952546e-01 -9.02418470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.180385723 meters 0.017659924738148217 Centerline is valid? [True, True] Translation: X:78.52, Y:-151.10, Z:-9.02 [[-6.93159623e-01 -7.20755379e-01 6.43583219e-03 7.85167759e+01] [ 7.20721338e-01 -6.93189465e-01 -7.00847093e-03 -1.51102667e+02] [ 9.51264419e-03 -2.19547484e-04 9.99954730e-01 -9.02453943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.210385723 meters 0.017098544565719586 Centerline is valid? [True, True] Translation: X:78.50, Y:-151.08, Z:-9.02 [[-6.93747067e-01 -7.20192501e-01 6.14557466e-03 7.84963264e+01] [ 7.20161473e-01 -6.93774254e-01 -6.68861876e-03 -1.51083635e+02] [ 9.08073455e-03 -2.14403554e-04 9.99958746e-01 -9.02359296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.240385723 meters 0.01752098318656364 Centerline is valid? [True, True] Translation: X:78.48, Y:-151.06, Z:-9.02 [[-6.94250499e-01 -7.19711531e-01 5.61753882e-03 7.84778485e+01] [ 7.19685621e-01 -6.94273197e-01 -6.11029464e-03 -1.51063757e+02] [ 8.29775615e-03 -1.99213182e-04 9.99965553e-01 -9.02352067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.270385723 meters 0.0182997361613182 Centerline is valid? [True, True] Translation: X:78.46, Y:-151.04, Z:-9.02 [[-6.95453693e-01 -7.18549784e-01 5.51072749e-03 7.84592089e+01] [ 7.18524841e-01 -6.95475496e-01 -5.99062542e-03 -1.51044649e+02] [ 8.13713854e-03 -2.06607980e-04 9.99966872e-01 -9.02432167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.300385723 meters 0.01867477043117437 Centerline is valid? [True, True] Translation: X:78.44, Y:-151.02, Z:-9.02 [[-6.96120771e-01 -7.17901170e-01 5.81234785e-03 7.84395013e+01] [ 7.17873428e-01 -6.96145000e-01 -6.31512673e-03 -1.51024251e+02] [ 8.57987376e-03 -2.23560808e-04 9.99963167e-01 -9.02497486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.330385723 meters 0.01808258201803373 Centerline is valid? [True, True] Translation: X:78.42, Y:-151.01, Z:-9.03 [[-6.97046469e-01 -7.16996281e-01 6.52330686e-03 7.84178813e+01] [ 7.16961335e-01 -6.97076944e-01 -7.08367824e-03 -1.51006288e+02] [ 9.62621776e-03 -2.60694111e-04 9.99953633e-01 -9.02598523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.360385723 meters 0.018347731851439595 Centerline is valid? [True, True] Translation: X:78.40, Y:-150.99, Z:-9.03 [[-6.97105197e-01 -7.16936620e-01 6.79907145e-03 7.83983943e+01] [ 7.16898695e-01 -6.97138301e-01 -7.37909184e-03 -1.50985641e+02] [ 1.00302343e-02 -2.69757819e-04 9.99949660e-01 -9.02643141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.390385723 meters 0.018333381664495454 Centerline is valid? [True, True] Translation: X:78.38, Y:-150.97, Z:-9.03 [[-6.96834392e-01 -7.17199281e-01 6.85719961e-03 7.83782428e+01] [ 7.17160759e-01 -6.96868080e-01 -7.43813031e-03 -1.50965626e+02] [ 1.01131852e-02 -2.65430536e-04 9.99948825e-01 -9.02659581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.420385723 meters 0.01828812214496391 Centerline is valid? [True, True] Translation: X:78.36, Y:-150.95, Z:-9.03 [[-6.96358188e-01 -7.17660808e-01 6.94540039e-03 7.83592099e+01] [ 7.17621358e-01 -6.96392776e-01 -7.52922859e-03 -1.50946569e+02] [ 1.02401589e-02 -2.58872317e-04 9.99947535e-01 -9.02706945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.450385723 meters 0.018195461650117088 Centerline is valid? [True, True] Translation: X:78.34, Y:-150.93, Z:-9.03 [[-6.95804000e-01 -7.18193422e-01 7.41638358e-03 7.83406436e+01] [ 7.18148525e-01 -6.95843473e-01 -8.03468464e-03 -1.50928052e+02] [ 1.09310998e-02 -2.64500784e-04 9.99940219e-01 -9.02782211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.480385723 meters 0.017915359651391016 Centerline is valid? [True, True] Translation: X:78.32, Y:-150.91, Z:-9.03 [[-6.94242766e-01 -7.19694738e-01 8.15272189e-03 7.83211600e+01] [ 7.19640643e-01 -6.94290585e-01 -8.82777449e-03 -1.50909029e+02] [ 1.20136609e-02 -2.61588556e-04 9.99927799e-01 -9.02837753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.510385723 meters 0.01730084493454327 Centerline is valid? [True, True] Translation: X:78.30, Y:-150.89, Z:-9.03 [[-6.94075157e-01 -7.19854202e-01 8.34294492e-03 7.83009125e+01] [ 7.19797625e-01 -6.94125248e-01 -9.02883245e-03 -1.50889289e+02] [ 1.22904917e-02 -2.61456362e-04 9.99924435e-01 -9.02782025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.540385723 meters 0.01847274436853976 Centerline is valid? [True, True] Translation: X:78.28, Y:-150.87, Z:-9.03 [[-6.93607367e-01 -7.20295166e-01 9.14850584e-03 7.82837729e+01] [ 7.20227259e-01 -6.93667643e-01 -9.89427168e-03 -1.50869721e+02] [ 1.34728185e-02 -2.73736439e-04 9.99909200e-01 -9.02837868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.570385723 meters 0.01792146947302848 Centerline is valid? [True, True] Translation: X:78.27, Y:-150.85, Z:-9.03 [[-6.93446236e-01 -7.20454448e-01 8.81511904e-03 7.82673532e+01] [ 7.20391471e-01 -6.93502215e-01 -9.52923429e-03 -1.50848859e+02] [ 1.29786838e-02 -2.57675074e-04 9.99915740e-01 -9.02832863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.600385723 meters 0.017356083483804765 Centerline is valid? [True, True] Translation: X:78.25, Y:-150.83, Z:-9.03 [[-6.93699976e-01 -7.20210433e-01 8.79059519e-03 7.82487989e+01] [ 7.20147861e-01 -6.93755624e-01 -9.49698318e-03 -1.50829039e+02] [ 1.29383512e-02 -2.57528688e-04 9.99916263e-01 -9.02724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.630385723 meters 0.021367202197649572 Centerline is valid? [True, True] Translation: X:78.23, Y:-150.81, Z:-9.03 [[-6.94424074e-01 -7.19489096e-01 1.05188561e-02 7.82335073e+01] [ 7.19399486e-01 -6.94503662e-01 -1.13596770e-02 -1.50806293e+02] [ 1.54785478e-02 -3.21173465e-04 9.99880149e-01 -9.02980240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.660385723 meters 0.021367202197649572 Centerline is valid? [True, True] Translation: X:78.22, Y:-150.79, Z:-9.03 [[-6.94631487e-01 -7.19288803e-01 1.05221309e-02 7.82152452e+01] [ 7.19199216e-01 -6.94711102e-01 -1.13566436e-02 -1.50786742e+02] [ 1.54785478e-02 -3.21173945e-04 9.99880149e-01 -9.02980226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.690385723 meters 0.01952011004472459 Centerline is valid? [True, True] Translation: X:78.20, Y:-150.77, Z:-9.03 [[-6.95130026e-01 -7.18813300e-01 1.00840236e-02 7.81955143e+01] [ 7.18731056e-01 -6.95203094e-01 -1.08778345e-02 -1.50767351e+02] [ 1.48295766e-02 -3.13808462e-04 9.99889987e-01 -9.02725869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.720385723 meters 0.017336997248242624 Centerline is valid? [True, True] Translation: X:78.18, Y:-150.75, Z:-9.02 [[-6.95597442e-01 -7.18381323e-01 8.51313817e-03 7.81777801e+01] [ 7.18322739e-01 -6.95649482e-01 -9.17828004e-03 -1.50745936e+02] [ 1.25156651e-02 -2.69207383e-04 9.99921640e-01 -9.02471279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.750385723 meters 0.017598754250601457 Centerline is valid? [True, True] Translation: X:78.16, Y:-150.73, Z:-9.02 [[-6.95742830e-01 -7.18243760e-01 8.23502652e-03 7.81607775e+01] [ 7.18189001e-01 -6.95791516e-01 -8.87273215e-03 -1.50726089e+02] [ 1.21026461e-02 -2.58834308e-04 9.99926727e-01 -9.02492228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.780385723 meters 0.017532486833109463 Centerline is valid? [True, True] Translation: X:78.14, Y:-150.71, Z:-9.02 [[-6.95712911e-01 -7.18272402e-01 8.26451187e-03 7.81425626e+01] [ 7.18217317e-01 -6.95761950e-01 -8.89907802e-03 -1.50706102e+02] [ 1.21420950e-02 -2.55487926e-04 9.99926249e-01 -9.02472818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.810385723 meters 0.017276213765720826 Centerline is valid? [True, True] Translation: X:78.12, Y:-150.69, Z:-9.03 [[-6.95588018e-01 -7.18390204e-01 8.53372808e-03 7.81244030e+01] [ 7.18331544e-01 -6.95640315e-01 -9.18393003e-03 -1.50685140e+02] [ 1.25340507e-02 -2.58185616e-04 9.99921412e-01 -9.02502793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.840385723 meters 0.017425405331164063 Centerline is valid? [True, True] Translation: X:78.11, Y:-150.66, Z:-9.03 [[-6.95597252e-01 -7.18376061e-01 8.96097791e-03 7.81057025e+01] [ 7.18311448e-01 -6.95654917e-01 -9.63845835e-03 -1.50664016e+02] [ 1.31577861e-02 -2.67712118e-04 9.99913397e-01 -9.02548101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.870385723 meters 0.017805370464227453 Centerline is valid? [True, True] Translation: X:78.09, Y:-150.64, Z:-9.03 [[-6.95489212e-01 -7.18467528e-01 9.95821843e-03 7.80886827e+01] [ 7.18387844e-01 -6.95560440e-01 -1.07041916e-02 -1.50643674e+02] [ 1.46171569e-02 -2.90786723e-04 9.99893121e-01 -9.02667532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.900385723 meters 0.018724545869920207 Centerline is valid? [True, True] Translation: X:78.07, Y:-150.62, Z:-9.03 [[-6.95766644e-01 -7.18190092e-01 1.05721104e-02 7.80691292e+01] [ 7.18100336e-01 -6.95846891e-01 -1.13583502e-02 -1.50623897e+02] [ 1.55140247e-02 -3.10925167e-04 9.99879602e-01 -9.02629030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.930385723 meters 0.018308678004899357 Centerline is valid? [True, True] Translation: X:78.05, Y:-150.60, Z:-9.03 [[-6.96336360e-01 -7.17648775e-01 9.79336454e-03 7.80522066e+01] [ 7.17571791e-01 -6.96405162e-01 -1.05154727e-02 -1.50602252e+02] [ 1.43665657e-02 -2.94863835e-04 9.99896752e-01 -9.02716839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.960385723 meters 0.018986549337248658 Centerline is valid? [True, True] Translation: X:78.03, Y:-150.58, Z:-9.03 [[-6.98134763e-01 -7.15908962e-01 9.06703356e-03 7.80346931e+01] [ 7.15842900e-01 -6.98193574e-01 -9.73012743e-03 -1.50581178e+02] [ 1.32964300e-02 -3.02368615e-04 9.99911553e-01 -9.02715392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.990385723 meters 0.018715995559739004 Centerline is valid? [True, True] Translation: X:78.02, Y:-150.56, Z:-9.03 [[-6.99286041e-01 -7.14783261e-01 9.16092645e-03 7.80152125e+01] [ 7.14715799e-01 -6.99345970e-01 -9.82556966e-03 -1.50561064e+02] [ 1.34298097e-02 -3.23424844e-04 9.99909764e-01 -9.02657622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.020385723 meters 0.019044011654614154 Centerline is valid? [True, True] Translation: X:78.00, Y:-150.54, Z:-9.03 [[-7.00830537e-01 -7.13260371e-01 9.80826945e-03 7.79972567e+01] [ 7.13182970e-01 -7.00899068e-01 -1.05141446e-02 -1.50539257e+02] [ 1.43739296e-02 -3.73542867e-04 9.99896620e-01 -9.02721192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.050385723 meters 0.02039453429578177 Centerline is valid? [True, True] Translation: X:77.98, Y:-150.52, Z:-9.03 [[-7.01687868e-01 -7.12404722e-01 1.06605768e-02 7.79788040e+01] [ 7.12313284e-01 -7.01768719e-01 -1.14215044e-02 -1.50517711e+02] [ 1.56179930e-02 -4.20660623e-04 9.99877943e-01 -9.02717065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.080385723 meters 0.019641707820033372 Centerline is valid? [True, True] Translation: X:77.96, Y:-150.50, Z:-9.03 [[-7.02239981e-01 -7.11868246e-01 1.01296470e-02 7.79616994e+01] [ 7.11785727e-01 -7.02312918e-01 -1.08463870e-02 -1.50496201e+02] [ 1.48353804e-02 -4.06628506e-04 9.99889867e-01 -9.02673803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.110385723 meters 0.01914290479782498 Centerline is valid? [True, True] Translation: X:77.94, Y:-150.48, Z:-9.03 [[-7.02338362e-01 -7.11766046e-01 1.04843297e-02 7.79427103e+01] [ 7.11677730e-01 -7.02416486e-01 -1.12199944e-02 -1.50475726e+02] [ 1.53503771e-02 -4.18768540e-04 9.99882088e-01 -9.02579031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.140385723 meters 0.01932894691541214 Centerline is valid? [True, True] Translation: X:77.92, Y:-150.46, Z:-9.03 [[-7.01958275e-01 -7.12139099e-01 1.06058549e-02 7.79241923e+01] [ 7.12048865e-01 -7.02038272e-01 -1.13436458e-02 -1.50455836e+02] [ 1.55239698e-02 -4.10879106e-04 9.99879412e-01 -9.02624072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.170385723 meters 0.01936009496302406 Centerline is valid? [True, True] Translation: X:77.91, Y:-150.44, Z:-9.03 [[-7.01709715e-01 -7.12387456e-01 1.03725168e-02 7.79053533e+01] [ 7.12301279e-01 -7.01786263e-01 -1.10873407e-02 -1.50436589e+02] [ 1.51777722e-02 -3.91737692e-04 9.99884734e-01 -9.02688792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.200385723 meters 0.01997575219939129 Centerline is valid? [True, True] Translation: X:77.89, Y:-150.42, Z:-9.03 [[-7.00391028e-01 -7.13680713e-01 1.05946817e-02 7.78867825e+01] [ 7.13591021e-01 -7.00471059e-01 -1.13203381e-02 -1.50417018e+02] [ 1.55003749e-02 -3.68393548e-04 9.99879794e-01 -9.02798975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.230385723 meters 0.018495784030421843 Centerline is valid? [True, True] Translation: X:77.87, Y:-150.40, Z:-9.03 [[-6.99669166e-01 -7.14396398e-01 1.00421113e-02 7.78670049e+01] [ 7.14315973e-01 -6.99741150e-01 -1.07244402e-02 -1.50396514e+02] [ 1.46883799e-02 -3.30319613e-04 9.99892065e-01 -9.02600376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.260385723 meters 0.018825656930625212 Centerline is valid? [True, True] Translation: X:77.85, Y:-150.37, Z:-9.02 [[-6.98129239e-01 -7.15913935e-01 9.09964284e-03 7.78502151e+01] [ 7.15848094e-01 -6.98188489e-01 -9.71291470e-03 -1.50374923e+02] [ 1.33068769e-02 -2.66907769e-04 9.99911424e-01 -9.02488745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.290385723 meters 0.01810328583889008 Centerline is valid? [True, True] Translation: X:77.83, Y:-150.36, Z:-9.02 [[-6.97499630e-01 -7.16529069e-01 8.96436093e-03 7.78307638e+01] [ 7.16465297e-01 -6.97557189e-01 -9.56273133e-03 -1.50356285e+02] [ 1.31051294e-02 -2.47348047e-04 9.99914094e-01 -9.02388503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.320385723 meters 0.01784724544889235 Centerline is valid? [True, True] Translation: X:77.81, Y:-150.34, Z:-9.02 [[-6.97011151e-01 -7.17007000e-01 8.74164107e-03 7.78111898e+01] [ 7.16946464e-01 -6.97065929e-01 -9.31982222e-03 -1.50336639e+02] [ 1.27758779e-02 -2.28731366e-04 9.99918359e-01 -9.02383996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.350385723 meters 0.01751528027058763 Centerline is valid? [True, True] Translation: X:77.79, Y:-150.32, Z:-9.02 [[-6.96381848e-01 -7.17622803e-01 8.35673181e-03 7.77919208e+01] [ 7.17567591e-01 -6.96431958e-01 -8.90400937e-03 -1.50317539e+02] [ 1.22096153e-02 -2.04070594e-04 9.99925439e-01 -9.02376376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.380385723 meters 0.01947817131611566 Centerline is valid? [True, True] Translation: X:77.77, Y:-150.30, Z:-9.02 [[-6.96732124e-01 -7.17277048e-01 8.83086330e-03 7.77744813e+01] [ 7.17215438e-01 -6.96788052e-01 -9.40348043e-03 -1.50296643e+02] [ 1.28981407e-02 -2.18075401e-04 9.99916792e-01 -9.02452412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.410385723 meters 0.017796043023286582 Centerline is valid? [True, True] Translation: X:77.76, Y:-150.28, Z:-9.02 [[-6.97265201e-01 -7.16771890e-01 7.70055283e-03 7.77588225e+01] [ 7.16725071e-01 -6.97307694e-01 -8.19466224e-03 -1.50275729e+02] [ 1.12433583e-02 -1.94673537e-04 9.99936773e-01 -9.02278887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.440385723 meters 0.018071192118421373 Centerline is valid? [True, True] Translation: X:77.74, Y:-150.26, Z:-9.02 [[-6.97922731e-01 -7.16130909e-01 7.77065669e-03 7.77420744e+01] [ 7.16083253e-01 -6.97965959e-01 -8.26406836e-03 -1.50255345e+02] [ 1.13418086e-02 -2.03244035e-04 9.99935659e-01 -9.02300515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.470385723 meters 0.01824179954103503 Centerline is valid? [True, True] Translation: X:77.72, Y:-150.24, Z:-9.02 [[-6.98414895e-01 -7.15651321e-01 7.73447657e-03 7.77246190e+01] [ 7.15604136e-01 -6.98457690e-01 -8.22047423e-03 -1.50235201e+02] [ 1.12851979e-02 -2.06478222e-04 9.99936299e-01 -9.02291019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.500385723 meters 0.0179204106736057 Centerline is valid? [True, True] Translation: X:77.71, Y:-150.22, Z:-9.02 [[-6.97748717e-01 -7.16302233e-01 7.60519406e-03 7.77059740e+01] [ 7.16256703e-01 -6.97790137e-01 -8.07829898e-03 -1.50215364e+02] [ 1.10933330e-02 -1.89351524e-04 9.99938449e-01 -9.02357075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.530385723 meters 0.01779795861589311 Centerline is valid? [True, True] Translation: X:77.69, Y:-150.20, Z:-9.02 [[-6.97322297e-01 -7.16715911e-01 7.74058932e-03 7.76872976e+01] [ 7.16668826e-01 -6.97365234e-01 -8.21729715e-03 -1.50196082e+02] [ 1.12874855e-02 -1.82665464e-04 9.99936278e-01 -9.02424040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.560385723 meters 0.017370723441552847 Centerline is valid? [True, True] Translation: X:77.67, Y:-150.18, Z:-9.03 [[-6.95567746e-01 -7.18405105e-01 8.92276365e-03 7.76684012e+01] [ 7.18342750e-01 -6.95624952e-01 -9.46674829e-03 -1.50175849e+02] [ 1.30078573e-02 -1.75162188e-04 9.99915379e-01 -9.02593124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.590385723 meters 0.017235036332604113 Centerline is valid? [True, True] Translation: X:77.65, Y:-150.16, Z:-9.03 [[-6.94762245e-01 -7.19177868e-01 9.41360296e-03 7.76506810e+01] [ 7.19108597e-01 -6.94825997e-01 -9.98300419e-03 -1.50156210e+02] [ 1.37203717e-02 -1.66411592e-04 9.99905857e-01 -9.02684750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.620385723 meters 0.017039472236972983 Centerline is valid? [True, True] Translation: X:77.63, Y:-150.14, Z:-9.03 [[-6.93857636e-01 -7.20043328e-01 9.95921186e-03 7.76321332e+01] [ 7.19965971e-01 -6.93929090e-01 -1.05555132e-02 -1.50135964e+02] [ 1.45114137e-02 -1.53729785e-04 9.99894692e-01 -9.02732155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.650385723 meters 0.0167477755606143 Centerline is valid? [True, True] Translation: X:77.62, Y:-150.12, Z:-9.03 [[-6.92404480e-01 -7.21436218e-01 1.02868838e-02 7.76155936e+01] [ 7.21353939e-01 -6.92480879e-01 -1.08962080e-02 -1.50115369e+02] [ 1.49843894e-02 -1.24099089e-04 9.99887720e-01 -9.02740004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.680385723 meters 0.016228152877018225 Centerline is valid? [True, True] Translation: X:77.60, Y:-150.10, Z:-9.02 [[-6.92016224e-01 -7.21812960e-01 9.97979955e-03 7.75970531e+01] [ 7.21735652e-01 -6.92088173e-01 -1.05645615e-02 -1.50095253e+02] [ 1.45325386e-02 -1.08070812e-04 9.99894391e-01 -9.02492311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.710385723 meters 0.01668731986328012 Centerline is valid? [True, True] Translation: X:77.58, Y:-150.07, Z:-9.03 [[-6.92391068e-01 -7.21453060e-01 1.00045598e-02 7.75801609e+01] [ 7.21375427e-01 -6.92463335e-01 -1.05840846e-02 -1.50074446e+02] [ 1.45637111e-02 -1.11282070e-04 9.99893937e-01 -9.02690134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.740385723 meters 0.016372221481157623 Centerline is valid? [True, True] Translation: X:77.56, Y:-150.05, Z:-9.02 [[-6.93337614e-01 -7.20545294e-01 9.87074650e-03 7.75621899e+01] [ 7.20469722e-01 -6.93407862e-01 -1.04362950e-02 -1.50053429e+02] [ 1.43642765e-02 -1.24301914e-04 9.99896821e-01 -9.02475679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.770385723 meters 0.016341414750562572 Centerline is valid? [True, True] Translation: X:77.55, Y:-150.03, Z:-9.02 [[-6.96032394e-01 -7.17949861e-01 9.32226934e-03 7.75475149e+01] [ 7.17882294e-01 -6.96094800e-01 -9.85096298e-03 -1.50029155e+02] [ 1.35616807e-02 -1.64297243e-04 9.99908023e-01 -9.02100527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.800385723 meters 0.016485876237212076 Centerline is valid? [True, True] Translation: X:77.53, Y:-150.01, Z:-9.02 [[-6.97697635e-01 -7.16338252e-01 8.80442799e-03 7.75306127e+01] [ 7.16277921e-01 -6.97753162e-01 -9.29861365e-03 -1.50006871e+02] [ 1.28042701e-02 -1.81203379e-04 9.99918006e-01 -9.01991145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.830385723 meters 0.017269023930714084 Centerline is valid? [True, True] Translation: X:77.52, Y:-149.98, Z:-9.02 [[-7.00983527e-01 -7.13130923e-01 8.14748099e-03 7.75159651e+01] [ 7.13079101e-01 -7.01030840e-01 -8.59978321e-03 -1.49983628e+02] [ 1.18444068e-02 -2.18507945e-04 9.99929829e-01 -9.01942709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.860385723 meters 0.017765105674477165 Centerline is valid? [True, True] Translation: X:77.50, Y:-149.96, Z:-9.02 [[-7.02683340e-01 -7.11452583e-01 8.44663830e-03 7.74982314e+01] [ 7.11396824e-01 -7.02734060e-01 -8.91071541e-03 -1.49961608e+02] [ 1.22752919e-02 -2.52499610e-04 9.99924624e-01 -9.01960832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.890385723 meters 0.01784553527331135 Centerline is valid? [True, True] Translation: X:77.48, Y:-149.94, Z:-9.02 [[-7.04507228e-01 -7.09646749e-01 8.42957673e-03 7.74799224e+01] [ 7.09591145e-01 -7.04557601e-01 -8.88781713e-03 -1.49940298e+02] [ 1.22463329e-02 -2.79978398e-04 9.99924972e-01 -9.01973302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.920385723 meters 0.019727823011437367 Centerline is valid? [True, True] Translation: X:77.47, Y:-149.92, Z:-9.02 [[-7.07302996e-01 -7.06840312e-01 9.96222746e-03 7.74658422e+01] [ 7.06762459e-01 -7.07373046e-01 -1.04976146e-02 -1.49916268e+02] [ 1.44671483e-02 -3.84065842e-04 9.99895272e-01 -9.02149502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.950385723 meters 0.01935575911219872 Centerline is valid? [True, True] Translation: X:77.45, Y:-149.90, Z:-9.02 [[-7.08725539e-01 -7.05411090e-01 1.01638806e-02 7.74477493e+01] [ 7.05329993e-01 -7.08798293e-01 -1.07042885e-02 -1.49895086e+02] [ 1.47550650e-02 -4.17512762e-04 9.99891051e-01 -9.02110740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.980385723 meters 0.019927138625034063 Centerline is valid? [True, True] Translation: X:77.43, Y:-149.87, Z:-9.02 [[-7.11250268e-01 -7.02850232e-01 1.11627966e-02 7.74310149e+01] [ 7.02752199e-01 -7.11337676e-01 -1.17498083e-02 -1.49872125e+02] [ 1.61988733e-02 -5.12374510e-04 9.99868658e-01 -9.02135958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.010385723 meters 0.020732392031368885 Centerline is valid? [True, True] Translation: X:77.41, Y:-149.85, Z:-9.02 [[-7.12461504e-01 -7.01618401e-01 1.14115798e-02 7.74145617e+01] [ 7.01515878e-01 -7.12552677e-01 -1.20064590e-02 -1.49851004e+02] [ 1.65553043e-02 -5.48735416e-04 9.99862801e-01 -9.02201534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.040385723 meters 0.021084264094757908 Centerline is valid? [True, True] Translation: X:77.40, Y:-149.83, Z:-9.02 [[-7.13464931e-01 -7.00590271e-01 1.18770543e-02 7.73970050e+01] [ 7.00479155e-01 -7.13563537e-01 -1.24912520e-02 -1.49829558e+02] [ 1.72262825e-02 -5.92441320e-04 9.99851441e-01 -9.02235447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.070385723 meters 0.02110542092705928 Centerline is valid? [True, True] Translation: X:77.38, Y:-149.81, Z:-9.02 [[-7.14279822e-01 -6.99752356e-01 1.22872729e-02 7.73784511e+01] [ 6.99633433e-01 -7.14385222e-01 -1.29156727e-02 -1.49808350e+02] [ 1.78156186e-02 -6.28817446e-04 9.99841092e-01 -9.02248215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.100385723 meters 0.021513363886412788 Centerline is valid? [True, True] Translation: X:77.36, Y:-149.79, Z:-9.02 [[-7.14454019e-01 -6.99557904e-01 1.31982162e-02 7.73613698e+01] [ 6.99420811e-01 -7.14575596e-01 -1.38652736e-02 -1.49787043e+02] [ 1.91306849e-02 -6.74993358e-04 9.99816764e-01 -9.02404629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.130385723 meters 0.021453020912413 Centerline is valid? [True, True] Translation: X:77.34, Y:-149.77, Z:-9.02 [[-7.14071882e-01 -6.99939986e-01 1.36148430e-02 7.73430225e+01] [ 6.99794339e-01 -7.14201340e-01 -1.42943538e-02 -1.49766779e+02] [ 1.97289290e-02 -6.79606065e-04 9.99805135e-01 -9.02448844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.160385723 meters 0.020593875412493638 Centerline is valid? [True, True] Translation: X:77.32, Y:-149.75, Z:-9.02 [[-7.13096536e-01 -7.00932015e-01 1.36981990e-02 7.73239952e+01] [ 7.00784915e-01 -7.13227795e-01 -1.43741232e-02 -1.49746589e+02] [ 1.98452194e-02 -6.50646204e-04 9.99802853e-01 -9.02415276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.190385723 meters 0.02046853468293901 Centerline is valid? [True, True] Translation: X:77.31, Y:-149.73, Z:-9.02 [[-7.12613538e-01 -7.01436321e-01 1.30012835e-02 7.73050071e+01] [ 7.01304032e-01 -7.12731877e-01 -1.36354844e-02 -1.49725392e+02] [ 1.88308532e-02 -5.98978250e-04 9.99822504e-01 -9.02359966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.220385723 meters 0.01922863350209159 Centerline is valid? [True, True] Translation: X:77.29, Y:-149.71, Z:-9.02 [[-7.12060962e-01 -7.02010453e-01 1.22682659e-02 7.72856332e+01] [ 7.01892872e-01 -7.12166432e-01 -1.28596273e-02 -1.49705352e+02] [ 1.77646399e-02 -5.45830193e-04 9.99842047e-01 -9.02174922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.250385723 meters 0.019506744936168618 Centerline is valid? [True, True] Translation: X:77.27, Y:-149.68, Z:-9.02 [[-7.11697367e-01 -7.02420920e-01 9.57650262e-03 7.72697339e+01] [ 7.02349392e-01 -7.11761674e-01 -1.00325310e-02 -1.49682789e+02] [ 1.38632472e-02 -4.14075138e-04 9.99903815e-01 -9.01854187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.280385723 meters 0.018219302696331284 Centerline is valid? [True, True] Translation: X:77.25, Y:-149.66, Z:-9.02 [[-7.11636440e-01 -7.02496886e-01 8.46770509e-03 7.72494551e+01] [ 7.02441028e-01 -7.11686725e-01 -8.86616031e-03 -1.49663580e+02] [ 1.22548033e-02 -3.61419290e-04 9.99924842e-01 -9.01621232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.310385723 meters 0.018204012032042725 Centerline is valid? [True, True] Translation: X:77.23, Y:-149.64, Z:-9.02 [[-7.10754041e-01 -7.03407117e-01 6.86447561e-03 7.72315844e+01] [ 7.03370480e-01 -7.10787134e-01 -7.18455214e-03 -1.49643735e+02] [ 9.93284605e-03 -2.78179958e-04 9.99950629e-01 -9.01502877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.340385723 meters 0.018232092376153912 Centerline is valid? [True, True] Translation: X:77.21, Y:-149.62, Z:-9.01 [[-7.10580009e-01 -7.03584991e-01 6.64916541e-03 7.72127087e+01] [ 7.03550660e-01 -7.10611069e-01 -6.95539729e-03 -1.49622666e+02] [ 9.61868368e-03 -2.64341562e-04 9.99953704e-01 -9.01466798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.370385723 meters 0.018154669709720322 Centerline is valid? [True, True] Translation: X:77.19, Y:-149.60, Z:-9.01 [[-7.10717463e-01 -7.03449973e-01 6.23085404e-03 7.71946335e+01] [ 7.03419858e-01 -7.10744732e-01 -6.51380878e-03 -1.49602402e+02] [ 9.01068529e-03 -2.46571189e-04 9.99959373e-01 -9.01398827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.400385723 meters 0.01847886993056796 Centerline is valid? [True, True] Translation: X:77.18, Y:-149.58, Z:-9.01 [[-7.10931884e-01 -7.03237370e-01 5.74962369e-03 7.71783709e+01] [ 7.03211752e-01 -7.10955097e-01 -6.00685929e-03 -1.49582134e+02] [ 8.31197220e-03 -2.27264839e-04 9.99965429e-01 -9.01342158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.430385723 meters 0.018771568877835706 Centerline is valid? [True, True] Translation: X:77.16, Y:-149.56, Z:-9.01 [[-7.11362419e-01 -7.02801063e-01 5.84593662e-03 7.71598719e+01] [ 7.02774595e-01 -7.11386401e-01 -6.10380632e-03 -1.49561662e+02] [ 8.44848138e-03 -2.33642687e-04 9.99964284e-01 -9.01365660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.460385723 meters 0.019275286426734085 Centerline is valid? [True, True] Translation: X:77.14, Y:-149.54, Z:-9.01 [[-7.12192537e-01 -7.01955323e-01 6.36508691e-03 7.71417338e+01] [ 7.01923947e-01 -7.12220932e-01 -6.64210306e-03 -1.49541940e+02] [ 9.19580772e-03 -2.62649307e-04 9.99957683e-01 -9.01472249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.490385723 meters 0.01967516117908702 Centerline is valid? [True, True] Translation: X:77.12, Y:-149.52, Z:-9.02 [[-7.12973447e-01 -7.01155599e-01 7.04914075e-03 7.71225420e+01] [ 7.01117119e-01 -7.13008230e-01 -7.35180549e-03 -1.49522067e+02] [ 1.01808550e-02 -2.99368852e-04 9.99948129e-01 -9.01598271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.520385723 meters 0.0200823327275211 Centerline is valid? [True, True] Translation: X:77.10, Y:-149.50, Z:-9.02 [[-7.13752019e-01 -7.00360015e-01 7.34199565e-03 7.71033301e+01] [ 7.00318272e-01 -7.13789708e-01 -7.65321518e-03 -1.49501765e+02] [ 1.06006468e-02 -3.20764088e-04 9.99943760e-01 -9.01702468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.550385723 meters 0.0200823327275211 Centerline is valid? [True, True] Translation: X:77.08, Y:-149.48, Z:-9.02 [[-7.13958477e-01 -7.00149523e-01 7.34425176e-03 7.70847122e+01] [ 7.00107791e-01 -7.13996178e-01 -7.65105018e-03 -1.49482511e+02] [ 1.06006468e-02 -3.20764255e-04 9.99943760e-01 -9.01702455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.580385723 meters 0.02112655491392122 Centerline is valid? [True, True] Translation: X:77.07, Y:-149.46, Z:-9.02 [[-7.15212231e-01 -6.98855824e-01 8.48538470e-03 7.70683166e+01] [ 6.98800071e-01 -7.15262459e-01 -8.83600450e-03 -1.49461308e+02] [ 1.22443703e-02 -3.90031058e-04 9.99924959e-01 -9.01825532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.610385723 meters 0.021685094856534443 Centerline is valid? [True, True] Translation: X:77.05, Y:-149.44, Z:-9.02 [[-7.15999913e-01 -6.98042895e-01 8.95779404e-03 7.70502370e+01] [ 6.97980764e-01 -7.16055821e-01 -9.32282227e-03 -1.49440325e+02] [ 1.29220104e-02 -4.22772011e-04 9.99916418e-01 -9.01838813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.640385723 meters 0.022079056287608027 Centerline is valid? [True, True] Translation: X:77.03, Y:-149.42, Z:-9.02 [[-7.16786964e-01 -6.97233369e-01 9.05971152e-03 7.70315655e+01] [ 6.97169815e-01 -7.16844081e-01 -9.42403912e-03 -1.49419247e+02] [ 1.30651551e-02 -4.38870986e-04 9.99914551e-01 -9.01822485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.670385723 meters 0.023266018384019 Centerline is valid? [True, True] Translation: X:77.01, Y:-149.40, Z:-9.02 [[-7.18166735e-01 -6.95809253e-01 9.27491681e-03 7.70134584e+01] [ 6.95742595e-01 -7.18226469e-01 -9.64266067e-03 -1.49398551e+02] [ 1.33709433e-02 -4.72083446e-04 9.99910494e-01 -9.01959021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.700385723 meters 0.02420778273650094 Centerline is valid? [True, True] Translation: X:77.00, Y:-149.38, Z:-9.02 [[-7.18881821e-01 -6.95069954e-01 9.31060238e-03 7.69969588e+01] [ 6.95002798e-01 -7.18941949e-01 -9.67396401e-03 -1.49378357e+02] [ 1.34178643e-02 -4.83542159e-04 9.99909860e-01 -9.01980562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.730385723 meters 0.02467501120852873 Centerline is valid? [True, True] Translation: X:76.98, Y:-149.36, Z:-9.02 [[-7.19138291e-01 -6.94811917e-01 8.74752285e-03 7.69796671e+01] [ 6.94752687e-01 -7.19191347e-01 -9.08352186e-03 -1.49358400e+02] [ 1.26024820e-02 -4.54943372e-04 9.99920482e-01 -9.01860640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.760385723 meters 0.02411251000959664 Centerline is valid? [True, True] Translation: X:76.96, Y:-149.34, Z:-9.02 [[-7.19110264e-01 -6.94853145e-01 7.71582992e-03 7.69605369e+01] [ 6.94807116e-01 -7.19151548e-01 -8.00768231e-03 -1.49338685e+02] [ 1.11130143e-02 -3.97393007e-04 9.99938170e-01 -9.01670832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.790385723 meters 0.024383865085745277 Centerline is valid? [True, True] Translation: X:76.94, Y:-149.32, Z:-9.02 [[-7.18807314e-01 -6.95168251e-01 7.55964627e-03 7.69428841e+01] [ 6.95124134e-01 -7.18846964e-01 -7.84097045e-03 -1.49319438e+02] [ 1.08850225e-02 -3.81254338e-04 9.99940684e-01 -9.01597592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.820385723 meters 0.019745301191336703 Centerline is valid? [True, True] Translation: X:76.92, Y:-149.30, Z:-9.01 [[-7.17814148e-01 -6.96196704e-01 7.27999605e-03 7.69179901e+01] [ 6.96155886e-01 -7.17850978e-01 -7.54683859e-03 -1.49304767e+02] [ 1.04800364e-02 -3.49215409e-04 9.99945022e-01 -9.01327144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.850385723 meters 0.01953210603227703 Centerline is valid? [True, True] Translation: X:76.90, Y:-149.29, Z:-9.01 [[-7.16880128e-01 -6.97156436e-01 7.46897869e-03 7.68967994e+01] [ 6.97113568e-01 -7.16918955e-01 -7.73859150e-03 -1.49286532e+02] [ 1.07496613e-02 -3.40916081e-04 9.99942163e-01 -9.01337161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.880385723 meters 0.017891595722998963 Centerline is valid? [True, True] Translation: X:76.87, Y:-149.27, Z:-9.01 [[-7.16859097e-01 -6.97179731e-01 7.31146351e-03 7.68742992e+01] [ 6.97138698e-01 -7.16896306e-01 -7.57113185e-03 -1.49269041e+02] [ 1.05200009e-02 -3.30330590e-04 9.99944609e-01 -9.01242528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.910385723 meters 0.01977424581847998 Centerline is valid? [True, True] Translation: X:76.86, Y:-149.25, Z:-9.01 [[-7.17350582e-01 -6.96677430e-01 6.97857445e-03 7.68573197e+01] [ 6.96640068e-01 -7.17384455e-01 -7.22214062e-03 -1.49247618e+02] [ 1.00378232e-02 -3.19252203e-04 9.99949569e-01 -9.01264202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.940385723 meters 0.02021770683109505 Centerline is valid? [True, True] Translation: X:76.84, Y:-149.23, Z:-9.01 [[-7.17986208e-01 -6.96026421e-01 6.55948728e-03 7.68384287e+01] [ 6.95993422e-01 -7.18016106e-01 -6.78438905e-03 -1.49227788e+02] [ 9.43193154e-03 -3.05737765e-04 9.99955472e-01 -9.01161434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.970385723 meters 0.018673565522286162 Centerline is valid? [True, True] Translation: X:76.82, Y:-149.21, Z:-9.01 [[-7.19331940e-01 -6.94637897e-01 6.30488322e-03 7.68153538e+01] [ 6.94607388e-01 -7.19359505e-01 -6.51765109e-03 -1.49210046e+02] [ 9.06288511e-03 -3.08936138e-04 9.99958884e-01 -9.00964113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.000385723 meters 0.019432009232084185 Centerline is valid? [True, True] Translation: X:76.79, Y:-149.19, Z:-9.01 [[-7.20453798e-01 -6.93475955e-01 6.11761676e-03 7.67945559e+01] [ 6.93447222e-01 -7.20479704e-01 -6.32034707e-03 -1.49192129e+02] [ 8.79062743e-03 -3.11273702e-04 9.99961313e-01 -9.00981472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.030385723 meters 0.019510274565717106 Centerline is valid? [True, True] Translation: X:76.77, Y:-149.17, Z:-9.01 [[-7.20912611e-01 -6.92999776e-01 6.02641309e-03 7.67731640e+01] [ 6.92971907e-01 -7.20937733e-01 -6.22269375e-03 -1.49173221e+02] [ 8.65699397e-03 -3.09883431e-04 9.99962480e-01 -9.01005731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.060385723 meters 0.019403491752380174 Centerline is valid? [True, True] Translation: X:76.75, Y:-149.15, Z:-9.01 [[-7.21251062e-01 -6.92646822e-01 6.10625114e-03 7.67523906e+01] [ 6.92618227e-01 -7.21276841e-01 -6.30164489e-03 -1.49154753e+02] [ 8.76911183e-03 -3.15767230e-04 9.99961501e-01 -9.01032525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.090385723 meters 0.019481293503982332 Centerline is valid? [True, True] Translation: X:76.73, Y:-149.14, Z:-9.01 [[-7.21724588e-01 -6.92152104e-01 6.25177959e-03 7.67315835e+01] [ 6.92122143e-01 -7.21751591e-01 -6.44826645e-03 -1.49135192e+02] [ 8.97541305e-03 -3.26877355e-04 9.99959667e-01 -9.01059424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.120385723 meters 0.020304416045634672 Centerline is valid? [True, True] Translation: X:76.71, Y:-149.12, Z:-9.01 [[-7.22866378e-01 -6.90955959e-01 6.63791861e-03 7.67110133e+01] [ 6.90922171e-01 -7.22896765e-01 -6.84255929e-03 -1.49117052e+02] [ 9.52643701e-03 -3.59970914e-04 9.99954558e-01 -9.01100958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.150385723 meters 0.020791022400341624 Centerline is valid? [True, True] Translation: X:76.69, Y:-149.10, Z:-9.01 [[-7.23420886e-01 -6.90376973e-01 6.46962664e-03 7.66914183e+01] [ 6.90344889e-01 -7.23449728e-01 -6.66523136e-03 -1.49098296e+02] [ 9.28197188e-03 -3.55493891e-04 9.99956858e-01 -9.01138123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.180385723 meters 0.020818731965490115 Centerline is valid? [True, True] Translation: X:76.67, Y:-149.08, Z:-9.01 [[-7.24042612e-01 -6.89726775e-01 6.26674833e-03 7.66695453e+01] [ 6.89696681e-01 -7.24069647e-01 -6.45249255e-03 -1.49081048e+02] [ 8.98801913e-03 -3.49724038e-04 9.99959546e-01 -9.01129257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.210385723 meters 0.021233967619985656 Centerline is valid? [True, True] Translation: X:76.65, Y:-149.06, Z:-9.01 [[-7.24149705e-01 -6.89614296e-01 6.27120191e-03 7.66507601e+01] [ 6.89584192e-01 -7.24176775e-01 -6.45294908e-03 -1.49063289e+02] [ 8.99150471e-03 -3.48379464e-04 9.99959515e-01 -9.01110017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.240385723 meters 0.021705088223650068 Centerline is valid? [True, True] Translation: X:76.63, Y:-149.05, Z:-9.01 [[-7.24177383e-01 -6.89592275e-01 5.44174900e-03 7.66318230e+01] [ 6.89569635e-01 -7.24197766e-01 -5.59590358e-03 -1.49045558e+02] [ 7.79979435e-03 -2.99961947e-04 9.99969536e-01 -9.01097264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.270385723 meters 0.0218415524380626 Centerline is valid? [True, True] Translation: X:76.61, Y:-149.03, Z:-9.01 [[-7.23693633e-01 -6.90107433e-01 4.38825368e-03 7.66092030e+01] [ 6.90092735e-01 -7.23706899e-01 -4.51018084e-03 -1.49029227e+02] [ 6.28831878e-03 -2.35687176e-04 9.99980201e-01 -9.01022695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.300385723 meters 0.02039568471874558 Centerline is valid? [True, True] Translation: X:76.59, Y:-149.01, Z:-9.01 [[-7.23147412e-01 -6.90683917e-01 3.68066861e-03 7.65862450e+01] [ 6.90673595e-01 -7.23156753e-01 -3.78090892e-03 -1.49012708e+02] [ 5.27311334e-03 -1.92013878e-04 9.99986079e-01 -9.00984933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.330385723 meters 0.020884752812487674 Centerline is valid? [True, True] Translation: X:76.56, Y:-149.00, Z:-9.01 [[-7.21914687e-01 -6.91973776e-01 3.38784931e-03 7.65644827e+01] [ 6.91965054e-01 -7.21922617e-01 -3.47824639e-03 -1.48995710e+02] [ 4.85262033e-03 -1.66723823e-04 9.99988212e-01 -9.00991437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.360385723 meters 0.019112657636204667 Centerline is valid? [True, True] Translation: X:76.54, Y:-148.98, Z:-9.01 [[-7.21681621e-01 -6.92216997e-01 3.35660346e-03 7.65417333e+01] [ 6.92208448e-01 -7.21689409e-01 -3.44406540e-03 -1.48980075e+02] [ 4.80646578e-03 -1.62049433e-04 9.99988436e-01 -9.01001971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.390385723 meters 0.018601811570869337 Centerline is valid? [True, True] Translation: X:76.52, Y:-148.97, Z:-9.01 [[-7.21658437e-01 -6.92241285e-01 3.33230530e-03 7.65171451e+01] [ 6.92232868e-01 -7.21666113e-01 -3.41725919e-03 -1.48965096e+02] [ 4.77037971e-03 -1.59362664e-04 9.99988609e-01 -9.01050166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.420385723 meters 0.018134833773697328 Centerline is valid? [True, True] Translation: X:76.49, Y:-148.95, Z:-9.01 [[-7.21970613e-01 -6.91916467e-01 3.16813117e-03 7.64938717e+01] [ 6.91908865e-01 -7.21977548e-01 -3.24709124e-03 -1.48947984e+02] [ 4.53403547e-03 -1.52246413e-04 9.99989710e-01 -9.01153534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.450385723 meters 0.01853636035005271 Centerline is valid? [True, True] Translation: X:76.47, Y:-148.93, Z:-9.01 [[-7.22310155e-01 -6.91561180e-01 3.34289190e-03 7.64725737e+01] [ 6.91552721e-01 -7.22317872e-01 -3.42419626e-03 -1.48930299e+02] [ 4.78267177e-03 -1.61545746e-04 9.99988550e-01 -9.01252938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.480385723 meters 0.019088245343195115 Centerline is valid? [True, True] Translation: X:76.45, Y:-148.92, Z:-9.01 [[-7.22019263e-01 -6.91861218e-01 4.02970362e-03 7.64500663e+01] [ 6.91848945e-01 -7.22030483e-01 -4.12537425e-03 -1.48915037e+02] [ 5.76375531e-03 -1.90653473e-04 9.99983371e-01 -9.01434512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.510385723 meters 0.018616334269787253 Centerline is valid? [True, True] Translation: X:76.43, Y:-148.90, Z:-9.02 [[-7.21706249e-01 -6.92188930e-01 3.81774027e-03 7.64271651e+01] [ 6.92177931e-01 -7.21716325e-01 -3.90625398e-03 -1.48897574e+02] [ 5.45919124e-03 -1.76612348e-04 9.99985083e-01 -9.01500367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.540385723 meters 0.018520173621643456 Centerline is valid? [True, True] Translation: X:76.40, Y:-148.88, Z:-9.02 [[-7.20485070e-01 -6.93461565e-01 3.51015050e-03 7.64039276e+01] [ 6.93452291e-01 -7.20493605e-01 -3.58967880e-03 -1.48881955e+02] [ 5.01834527e-03 -1.52188073e-04 9.99987396e-01 -9.01586932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.570385723 meters 0.017916078492634907 Centerline is valid? [True, True] Translation: X:76.38, Y:-148.86, Z:-9.02 [[-7.19982058e-01 -6.93983105e-01 3.64503835e-03 7.63817992e+01] [ 6.93973122e-01 -7.19991268e-01 -3.72559977e-03 -1.48864081e+02] [ 5.20989909e-03 -1.52806345e-04 9.99986417e-01 -9.01607861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.600385723 meters 0.017955499903163363 Centerline is valid? [True, True] Translation: X:76.36, Y:-148.85, Z:-9.02 [[-7.19711671e-01 -6.94265774e-01 3.18521361e-03 7.63612810e+01] [ 6.94258163e-01 -7.19718707e-01 -3.25353117e-03 -1.48846859e+02] [ 4.55127316e-03 -1.30243804e-04 9.99989634e-01 -9.01609281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.630385723 meters 0.016648704769665672 Centerline is valid? [True, True] Translation: X:76.34, Y:-148.83, Z:-9.02 [[-7.18578887e-01 -6.95443291e-01 1.73565230e-03 7.63359909e+01] [ 6.95441037e-01 -7.18580980e-01 -1.77194257e-03 -1.48832331e+02] [ 2.47949230e-03 -6.62366835e-05 9.99996924e-01 -9.01573973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.660385723 meters 0.016271485158766447 Centerline is valid? [True, True] Translation: X:76.31, Y:-148.81, Z:-9.02 [[-7.18004709e-01 -6.96036221e-01 1.67861178e-03 7.63143845e+01] [ 6.96034116e-01 -7.18006668e-01 -1.71275781e-03 -1.48814646e+02] [ 2.39739592e-03 -6.13971108e-05 9.99997124e-01 -9.01581308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.690385723 meters 0.015669324423332895 Centerline is valid? [True, True] Translation: X:76.29, Y:-148.80, Z:-9.02 [[-7.16834489e-01 -6.97241658e-01 1.54465767e-03 7.62915020e+01] [ 6.97239881e-01 -7.16836151e-01 -1.57523203e-03 -1.48797376e+02] [ 2.20558385e-03 -5.21837118e-05 9.99997566e-01 -9.01528921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.720385723 meters 0.015711383337225333 Centerline is valid? [True, True] Translation: X:76.27, Y:-148.78, Z:-9.02 [[-7.16828246e-01 -6.97248538e-01 1.31964315e-03 7.62705987e+01] [ 6.97247242e-01 -7.16829460e-01 -1.34501428e-03 -1.48778535e+02] [ 1.88376832e-03 -4.40266767e-05 9.99998225e-01 -9.01518310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.750385723 meters 0.015559640814816169 Centerline is valid? [True, True] Translation: X:76.25, Y:-148.76, Z:-9.02 [[-7.16609609e-01 -6.97473038e-01 1.42477409e-03 7.62491021e+01] [ 6.97471529e-01 -7.16611024e-01 -1.45135424e-03 -1.48759895e+02] [ 2.03328927e-03 -4.63150251e-05 9.99997932e-01 -9.01543476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.780385723 meters 0.017758792834733975 Centerline is valid? [True, True] Translation: X:76.23, Y:-148.74, Z:-9.02 [[-7.16471485e-01 -6.97613787e-01 1.90135861e-03 7.62270863e+01] [ 6.97611104e-01 -7.16474006e-01 -1.93575202e-03 -1.48742112e+02] [ 2.71268132e-03 -6.05022470e-05 9.99996319e-01 -9.01717074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.810385723 meters 0.015482657021236747 Centerline is valid? [True, True] Translation: X:76.21, Y:-148.72, Z:-9.02 [[-7.15914289e-01 -6.98187919e-01 5.99929696e-04 7.62058175e+01] [ 6.98187653e-01 -7.15914540e-01 -6.10444305e-04 -1.48723321e+02] [ 8.55703231e-04 -1.81622944e-05 9.99999634e-01 -9.01573905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.840385723 meters 0.015305881443260155 Centerline is valid? [True, True] Translation: X:76.18, Y:-148.71, Z:-9.01 [[-7.14826568e-01 -6.99301736e-01 -2.44844006e-04 7.61849570e+01] [ 6.99301692e-01 -7.14826610e-01 2.49036110e-04 -1.48705807e+02] [-3.49172395e-04 6.79780019e-06 9.99999939e-01 -9.01494607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.870385723 meters 0.015180615863778316 Centerline is valid? [True, True] Translation: X:76.16, Y:-148.69, Z:-9.02 [[-7.14546169e-01 -6.99587874e-01 -7.60456343e-04 7.61635913e+01] [ 6.99587447e-01 -7.14546574e-01 7.73053339e-04 -1.48686852e+02] [-1.08420022e-03 2.03765902e-05 9.99999412e-01 -9.01516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.900385723 meters 0.015239506533707153 Centerline is valid? [True, True] Translation: X:76.14, Y:-148.67, Z:-9.02 [[-7.14001055e-01 -7.00144489e-01 -4.33596770e-04 7.61436198e+01] [ 7.00144350e-01 -7.14001187e-01 4.40529535e-04 -1.48668621e+02] [-6.18022934e-04 1.09582243e-05 9.99999809e-01 -9.01555893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.930385723 meters 0.0149783559494183 Centerline is valid? [True, True] Translation: X:76.12, Y:-148.65, Z:-9.02 [[-7.13139468e-01 -7.01022180e-01 5.02898467e-05 7.61214957e+01] [ 7.01022178e-01 -7.13139470e-01 -5.10699968e-05 -1.48650323e+02] [ 7.16648751e-05 -1.16573254e-06 9.99999997e-01 -9.01650602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.960385723 meters 0.015220926962188353 Centerline is valid? [True, True] Translation: X:76.10, Y:-148.63, Z:-9.02 [[-7.13564929e-01 -7.00589078e-01 1.87660444e-04 7.61028911e+01] [ 7.00589053e-01 -7.13564954e-01 -1.90444807e-04 -1.48631816e+02] [ 2.67331468e-04 -4.42188222e-06 9.99999964e-01 -9.01684047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.990385723 meters 0.01526916092904741 Centerline is valid? [True, True] Translation: X:76.08, Y:-148.61, Z:-9.02 [[-7.15737672e-01 -6.98369133e-01 -3.74488486e-04 7.60826589e+01] [ 6.98369029e-01 -7.15737770e-01 3.79840443e-04 -1.48612055e+02] [-5.33304394e-04 1.03349535e-05 9.99999858e-01 -9.01592034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.020385723 meters 0.016831656385029297 Centerline is valid? [True, True] Translation: X:76.07, Y:-148.59, Z:-9.02 [[-7.17733552e-01 -6.96317665e-01 -5.08428837e-04 7.60663555e+01] [ 6.96317474e-01 -7.17733732e-01 5.15425902e-04 -1.48590073e+02] [-7.23816687e-04 1.59105801e-05 9.99999738e-01 -9.01579078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.050385723 meters 0.017635955902584002 Centerline is valid? [True, True] Translation: X:76.05, Y:-148.57, Z:-9.02 [[-7.20114532e-01 -6.93855165e-01 -2.67272997e-04 7.60459325e+01] [ 6.93855112e-01 -7.20114581e-01 2.70810296e-04 -1.48569771e+02] [-3.80370305e-04 9.56569409e-06 9.99999928e-01 -9.01687065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.080385723 meters 0.017750198204223244 Centerline is valid? [True, True] Translation: X:76.03, Y:-148.55, Z:-9.02 [[-7.23525744e-01 -6.90297236e-01 4.72071713e-04 7.60281405e+01] [ 6.90297071e-01 -7.23525898e-01 -4.78130363e-04 -1.48549242e+02] [ 6.71608178e-04 -2.00699065e-05 9.99999774e-01 -9.01707054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.110385723 meters 0.01882687376005532 Centerline is valid? [True, True] Translation: X:76.01, Y:-148.53, Z:-9.02 [[-7.25656321e-01 -6.88056198e-01 1.25401573e-03 7.60096503e+01] [ 6.88055029e-01 -7.25657402e-01 -1.26954570e-03 -1.48530067e+02] [ 1.78350459e-03 -5.84220333e-05 9.99998408e-01 -9.01896497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.140385723 meters 0.01886394539685643 Centerline is valid? [True, True] Translation: X:75.99, Y:-148.51, Z:-9.02 [[-7.26308707e-01 -6.87367072e-01 1.47303202e-03 7.59897858e+01] [ 6.87365460e-01 -7.26310198e-01 -1.49046218e-03 -1.48510074e+02] [ 2.09437280e-03 -7.00243216e-05 9.99997804e-01 -9.01947154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.170385723 meters 0.019206782747958184 Centerline is valid? [True, True] Translation: X:75.97, Y:-148.49, Z:-9.02 [[-7.26697623e-01 -6.86955898e-01 1.46947237e-03 7.59704262e+01] [ 6.86954294e-01 -7.26699105e-01 -1.48605521e-03 -1.48489828e+02] [ 2.08871865e-03 -7.04524352e-05 9.99997816e-01 -9.01931980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.200385723 meters 0.019253283657417644 Centerline is valid? [True, True] Translation: X:75.95, Y:-148.47, Z:-9.02 [[-7.26895405e-01 -6.86746749e-01 1.40494648e-03 7.59504905e+01] [ 6.86745284e-01 -7.26896759e-01 -1.42003221e-03 -1.48469639e+02] [ 1.99645355e-03 -6.73745134e-05 9.99998005e-01 -9.01873259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.230385723 meters 0.017822846753609695 Centerline is valid? [True, True] Translation: X:75.93, Y:-148.45, Z:-9.02 [[-7.26339611e-01 -6.87334657e-01 1.35618595e-03 7.59276979e+01] [ 6.87333294e-01 -7.26340874e-01 -1.37000916e-03 -1.48451852e+02] [ 1.92670806e-03 -6.29401606e-05 9.99998142e-01 -9.01820084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.260385723 meters 0.017472982167936368 Centerline is valid? [True, True] Translation: X:75.91, Y:-148.43, Z:-9.02 [[-7.25943190e-01 -6.87753040e-01 1.49731092e-03 7.59066415e+01] [ 6.87751382e-01 -7.25944731e-01 -1.51172219e-03 -1.48432916e+02] [ 2.12665650e-03 -6.76467744e-05 9.99997736e-01 -9.01867223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.290385723 meters 0.017523511294829548 Centerline is valid? [True, True] Translation: X:75.89, Y:-148.41, Z:-9.02 [[-7.25294646e-01 -6.88436172e-01 1.82019922e-03 7.58857255e+01] [ 6.88433726e-01 -7.25296926e-01 -1.83673068e-03 -1.48413290e+02] [ 2.58465673e-03 -7.90843985e-05 9.99996657e-01 -9.01871163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.320385723 meters 0.019532768343427463 Centerline is valid? [True, True] Translation: X:75.87, Y:-148.39, Z:-9.02 [[-7.25296073e-01 -6.88433333e-01 2.27016576e-03 7.58676189e+01] [ 6.88429533e-01 -7.25299619e-01 -2.28943771e-03 -1.48393261e+02] [ 3.22267559e-03 -9.76710327e-05 9.99994802e-01 -9.02006796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.350385723 meters 0.018202614061043305 Centerline is valid? [True, True] Translation: X:75.85, Y:-148.37, Z:-9.02 [[-7.25127089e-01 -6.88612158e-01 2.00020690e-03 7.58488737e+01] [ 6.88609212e-01 -7.25129842e-01 -2.01604779e-03 -1.48374329e+02] [ 2.83868473e-03 -8.45299677e-05 9.99995967e-01 -9.01896467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.380385723 meters 0.01796331746210157 Centerline is valid? [True, True] Translation: X:75.83, Y:-148.35, Z:-9.02 [[-7.25561587e-01 -6.88154776e-01 1.84075547e-03 7.58290304e+01] [ 6.88152282e-01 -7.25563918e-01 -1.85431341e-03 -1.48354074e+02] [ 2.61164038e-03 -7.86985002e-05 9.99996587e-01 -9.01796333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.410385723 meters 0.02072168507849083 Centerline is valid? [True, True] Translation: X:75.81, Y:-148.33, Z:-9.02 [[-7.26575564e-01 -6.87083570e-01 2.02915460e-03 7.58092536e+01] [ 6.87080538e-01 -7.26578392e-01 -2.04304168e-03 -1.48333376e+02] [ 2.87808025e-03 -9.02315278e-05 9.99995854e-01 -9.01938013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.440385723 meters 0.01896413478586417 Centerline is valid? [True, True] Translation: X:75.79, Y:-148.31, Z:-9.02 [[-7.27047943e-01 -6.86586148e-01 8.66585007e-04 7.57909586e+01] [ 6.86585595e-01 -7.27048458e-01 -8.72166739e-04 -1.48313466e+02] [ 1.22886689e-03 -3.91222508e-05 9.99999244e-01 -9.01639109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.470385723 meters 0.01896413478586417 Centerline is valid? [True, True] Translation: X:75.77, Y:-148.29, Z:-9.02 [[-7.27233662e-01 -6.86389430e-01 8.66820671e-04 7.57714752e+01] [ 6.86388878e-01 -7.27234177e-01 -8.71932520e-04 -1.48293945e+02] [ 1.22886688e-03 -3.91226113e-05 9.99999244e-01 -9.01639095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.500385723 meters 0.019465670647176383 Centerline is valid? [True, True] Translation: X:75.75, Y:-148.27, Z:-9.02 [[-7.28015560e-01 -6.85560510e-01 3.62715354e-04 7.57517349e+01] [ 6.85560413e-01 -7.28015651e-01 -3.64659163e-04 -1.48273812e+02] [ 5.14058376e-04 -1.68142571e-05 9.99999868e-01 -9.01616869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.530385723 meters 0.01967394394362705 Centerline is valid? [True, True] Translation: X:75.73, Y:-148.25, Z:-9.02 [[-7.28590566e-01 -6.84949476e-01 4.85893966e-05 7.57324836e+01] [ 6.84949474e-01 -7.28590568e-01 -4.88222433e-05 -1.48254860e+02] [ 6.88425460e-05 -2.29014421e-06 9.99999998e-01 -9.01609842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.560385723 meters 0.02012106386365259 Centerline is valid? [True, True] Translation: X:75.71, Y:-148.24, Z:-9.02 [[-7.28550395e-01 -6.84992185e-01 -1.68872942e-04 7.57139398e+01] [ 6.84992164e-01 -7.28550414e-01 1.69564999e-04 -1.48236868e+02] [-2.39183151e-04 7.86000515e-06 9.99999971e-01 -9.01635395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.590385723 meters 0.018356635532386548 Centerline is valid? [True, True] Translation: X:75.69, Y:-148.22, Z:-9.02 [[-7.28144988e-01 -6.85423136e-01 3.13158624e-05 7.56917934e+01] [ 6.85423135e-01 -7.28144989e-01 -3.14292219e-05 -1.48219735e+02] [ 4.43448042e-05 -1.42041385e-06 9.99999999e-01 -9.01652434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.620385723 meters 0.017829778832744628 Centerline is valid? [True, True] Translation: X:75.67, Y:-148.20, Z:-9.02 [[-7.26202207e-01 -6.87481122e-01 2.47042636e-04 7.56701917e+01] [ 6.87481077e-01 -7.26202249e-01 -2.47785936e-04 -1.48201285e+02] [ 3.49751071e-04 -1.01055560e-05 9.99999939e-01 -9.01675224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.650385723 meters 0.01789332122206115 Centerline is valid? [True, True] Translation: X:75.65, Y:-148.18, Z:-9.02 [[-7.25045148e-01 -6.88701336e-01 -4.99716807e-05 7.56497162e+01] [ 6.88701334e-01 -7.25045150e-01 5.01027582e-05 -1.48182989e+02] [-7.07375612e-05 1.91119861e-06 9.99999998e-01 -9.01731399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.680385723 meters 0.01693174693204748 Centerline is valid? [True, True] Translation: X:75.63, Y:-148.17, Z:-9.02 [[-7.23744201e-01 -6.90068227e-01 -4.17511897e-04 7.56272649e+01] [ 6.90068100e-01 -7.23744321e-01 4.18392766e-04 -1.48165340e+02] [-5.90891419e-04 1.46976962e-05 9.99999825e-01 -9.01774209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.710385723 meters 0.016406102879591516 Centerline is valid? [True, True] Translation: X:75.61, Y:-148.15, Z:-9.02 [[-7.20889319e-01 -6.93050033e-01 -4.91752692e-04 7.56057782e+01] [ 6.93049858e-01 -7.20889486e-01 4.92512031e-04 -1.48148324e+02] [-6.95834825e-04 1.42375290e-05 9.99999758e-01 -9.01813107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.740385723 meters 0.016744694592012686 Centerline is valid? [True, True] Translation: X:75.59, Y:-148.13, Z:-9.02 [[-7.19956148e-01 -6.94019449e-01 -3.86415977e-04 7.55871538e+01] [ 6.94019341e-01 -7.19956252e-01 3.86797874e-04 -1.48128702e+02] [-5.46647846e-04 1.02973455e-05 9.99999851e-01 -9.01801418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.770385723 meters 0.016280942976672787 Centerline is valid? [True, True] Translation: X:75.57, Y:-148.11, Z:-9.02 [[-7.19268151e-01 -6.94732549e-01 1.12033517e-04 7.55671137e+01] [ 6.94732540e-01 -7.19268160e-01 -1.12086118e-04 -1.48109240e+02] [ 1.58452016e-04 -2.78664513e-06 9.99999987e-01 -9.01816150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.800385723 meters 0.016364567443898942 Centerline is valid? [True, True] Translation: X:75.55, Y:-148.09, Z:-9.02 [[-7.19534132e-01 -6.94457059e-01 1.62216191e-04 7.55475753e+01] [ 6.94457040e-01 -7.19534151e-01 -1.62203765e-04 -1.48089313e+02] [ 2.29363639e-04 -4.05896989e-06 9.99999974e-01 -9.01825994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.830385723 meters 0.016531411153163478 Centerline is valid? [True, True] Translation: X:75.15, Y:-148.48, Z:-8.05 [[-7.43498822e-01 6.68737114e-01 -4.17340349e-04 7.51503892e+01] [ 6.68737016e-01 7.43498939e-01 3.62442363e-04 -1.48476418e+02] [ 5.52670767e-04 -9.61546961e-06 -9.99999847e-01 -8.05076714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.860385723 meters 0.0159520150369235 Centerline is valid? [True, True] Translation: X:75.16, Y:-148.45, Z:-8.05 [[-7.89476094e-01 6.13781306e-01 -7.13253265e-05 7.51643309e+01] [ 6.13781304e-01 7.89476097e-01 5.39516259e-05 -1.48447676e+02] [ 8.94241398e-05 -1.18463297e-06 -9.99999996e-01 -8.05065023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.890385723 meters 0.016298719853033935 Centerline is valid? [True, True] Translation: X:75.17, Y:-148.42, Z:-8.05 [[-8.31364848e-01 5.55726596e-01 6.62597494e-04 7.51749533e+01] [ 5.55726433e-01 8.31365112e-01 -4.26777492e-04 -1.48420577e+02] [-7.88032043e-04 1.34151372e-05 -9.99999689e-01 -8.04987784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.920385723 meters 0.019115460476341627 Centerline is valid? [True, True] Translation: X:75.19, Y:-148.39, Z:-8.05 [[-8.69358117e-01 4.94177066e-01 2.34356042e-03 7.51850220e+01] [ 4.94175396e-01 8.69361275e-01 -1.28520480e-03 -1.48392741e+02] [-2.67251941e-03 4.08266762e-05 -9.99996428e-01 -8.04602295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.950385723 meters 0.01565255144984938 Centerline is valid? [True, True] Translation: X:75.19, Y:-148.36, Z:-8.05 [[-9.02588520e-01 4.30498746e-01 2.18920396e-03 7.51906909e+01] [ 4.30497572e-01 9.02591175e-01 -1.00587978e-03 -1.48362597e+02] [-2.40898616e-03 3.45514442e-05 -9.99997098e-01 -8.04918238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.980385723 meters 0.015881743654697505 Centerline is valid? [True, True] Translation: X:75.20, Y:-148.34, Z:-8.05 [[-9.31013516e-01 3.64979203e-01 2.00371461e-03 7.51956756e+01] [ 3.64978426e-01 9.31015672e-01 -7.53579333e-04 -1.48335087e+02] [-2.14053049e-03 2.97200587e-05 -9.99997709e-01 -8.04917388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.010385723 meters 0.01576366262051568 Centerline is valid? [True, True] Translation: X:75.20, Y:-148.31, Z:-8.05 [[-9.54450372e-01 2.98364971e-01 1.68300303e-03 7.52032262e+01] [ 2.98364552e-01 9.54451855e-01 -5.00462070e-04 -1.48305983e+02] [-1.75566571e-03 2.44822363e-05 -9.99998459e-01 -8.04912481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.040385723 meters 0.015792013416749896 Centerline is valid? [True, True] Translation: X:75.20, Y:-148.28, Z:-8.05 [[-9.73195442e-01 2.29973617e-01 1.66352997e-03 7.52027889e+01] [ 2.29973323e-01 9.73196863e-01 -3.68556933e-04 -1.48275785e+02] [-1.70370052e-03 2.38895871e-05 -9.99998548e-01 -8.04874971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.070385723 meters 0.015998866864531426 Centerline is valid? [True, True] Translation: X:75.32, Y:-147.73, Z:-9.02 [[-9.63468927e-01 -2.67816805e-01 1.33612261e-03 7.53205709e+01] [ 2.67816491e-01 -9.63469853e-01 -4.11948414e-04 -1.47734064e+02] [ 1.39764057e-03 -3.90638271e-05 9.99999023e-01 -9.02091536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.100385723 meters 0.01575188441041637 Centerline is valid? [True, True] Translation: X:75.15, Y:-148.27, Z:-8.05 [[-9.73793741e-01 2.27427748e-01 1.53934567e-03 7.51521653e+01] [ 2.27427503e-01 9.73794957e-01 -3.34724687e-04 -1.48268843e+02] [-1.57513273e-03 2.41367360e-05 -9.99998759e-01 -8.04899623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.130385723 meters 0.016051753686124444 Centerline is valid? [True, True] Translation: X:75.15, Y:-148.24, Z:-8.05 [[-9.87441932e-01 1.57979799e-01 9.01794937e-04 7.51466420e+01] [ 1.57979746e-01 9.87442344e-01 -1.29720102e-04 -1.48240546e+02] [-9.10963662e-04 1.43742678e-05 -9.99999585e-01 -8.04951774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.160385723 meters 0.019180448238655827 Centerline is valid? [True, True] Translation: X:75.23, Y:-147.68, Z:-9.02 [[-9.81013549e-01 -1.93934833e-01 1.30287838e-03 7.52294174e+01] [ 1.93934670e-01 -9.81014414e-01 -2.51341515e-04 -1.47682784e+02] [ 1.32688634e-03 6.10385652e-06 9.99999120e-01 -9.02338732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.190385723 meters 0.015921526755150014 Centerline is valid? [True, True] Translation: X:75.10, Y:-148.23, Z:-8.05 [[-9.87960439e-01 1.54704965e-01 7.38725310e-04 7.50956234e+01] [ 1.54704931e-01 9.87960715e-01 -1.03319689e-04 -1.48234735e+02] [-7.45815654e-04 1.22086826e-05 -9.99999722e-01 -8.04866119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.220385723 meters 0.016364420663063046 Centerline is valid? [True, True] Translation: X:75.17, Y:-147.67, Z:-9.02 [[-9.81981382e-01 -1.88975287e-01 9.52566258e-04 7.51749463e+01] [ 1.88975197e-01 -9.81981844e-01 -1.84745911e-04 -1.47672688e+02] [ 9.70315181e-04 -1.40564944e-06 9.99999529e-01 -9.02097674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.250385723 meters 0.01640477681904551 Centerline is valid? [True, True] Translation: X:75.04, Y:-148.23, Z:-8.05 [[-9.88455425e-01 1.51507350e-01 1.18118036e-03 7.50403469e+01] [ 1.51507266e-01 9.88456131e-01 -1.60702285e-04 -1.48231427e+02] [-1.19189255e-03 2.01103623e-05 -9.99999290e-01 -8.04794916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.280385723 meters 0.01652607366260757 Centerline is valid? [True, True] Translation: X:75.12, Y:-147.66, Z:-9.02 [[-9.82660353e-01 -1.85407666e-01 1.62138106e-03 7.51168630e+01] [ 1.85407418e-01 -9.82661690e-01 -3.03833845e-04 -1.47662097e+02] [ 1.64960218e-03 2.05060184e-06 9.99998639e-01 -9.02196166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.310385723 meters 0.016564540353636383 Centerline is valid? [True, True] Translation: X:74.99, Y:-148.23, Z:-8.05 [[-9.89131291e-01 1.47027036e-01 1.52976833e-03 7.49861814e+01] [ 1.47026899e-01 9.89132474e-01 -2.02146765e-04 -1.48228227e+02] [-1.54286457e-03 2.49674028e-05 -9.99998810e-01 -8.04743390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.340385723 meters 0.016231831821846406 Centerline is valid? [True, True] Translation: X:75.06, Y:-147.65, Z:-9.02 [[-9.83285706e-01 -1.82060742e-01 1.76246065e-03 7.50588200e+01] [ 1.82060427e-01 -9.83287286e-01 -3.39177063e-04 -1.47654193e+02] [ 1.79475598e-03 -1.26336186e-05 9.99998389e-01 -9.02208681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.370385723 meters 0.016068465390003814 Centerline is valid? [True, True] Translation: X:74.93, Y:-148.22, Z:-8.05 [[-9.89800680e-01 1.42451342e-01 1.49278182e-03 7.49306941e+01] [ 1.42451215e-01 9.89801806e-01 -1.91211059e-04 -1.48221321e+02] [-1.50479641e-03 2.33877479e-05 -9.99998868e-01 -8.04731367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.400385723 meters 0.01620075089717957 Centerline is valid? [True, True] Translation: X:75.00, Y:-147.65, Z:-9.02 [[-9.83874066e-01 -1.78852979e-01 1.85310157e-03 7.50006074e+01] [ 1.78852653e-01 -9.83875811e-01 -3.41450300e-04 -1.47645799e+02] [ 1.88429121e-03 -4.51196321e-06 9.99998225e-01 -9.02258789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.430385723 meters 0.016286162622536786 Centerline is valid? [True, True] Translation: X:74.87, Y:-148.22, Z:-8.05 [[-9.90491730e-01 1.37570165e-01 7.62611926e-04 7.48700199e+01] [ 1.37570133e-01 9.90492024e-01 -9.46734806e-05 -1.48218250e+02] [-7.68385277e-04 1.11393245e-05 -9.99999705e-01 -8.04806779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.460385723 meters 0.016143957842081245 Centerline is valid? [True, True] Translation: X:74.87, Y:-148.19, Z:-8.05 [[-9.97779826e-01 6.65983078e-02 2.90360248e-04 7.48704046e+01] [ 6.65983061e-02 9.97779868e-01 -1.52655669e-05 -1.48190291e+02] [-2.90732271e-04 4.10582600e-06 -9.99999958e-01 -8.04888211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.490385723 meters 0.015982373944123447 Centerline is valid? [True, True] Translation: X:74.90, Y:-147.60, Z:-9.02 [[-9.94418866e-01 -1.05504010e-01 1.50635814e-04 7.48978927e+01] [ 1.05504007e-01 -9.94418877e-01 -2.72489740e-05 -1.47598734e+02] [ 1.52669973e-04 -1.12042119e-05 9.99999988e-01 -9.02018974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.520385723 meters 0.016042238388273747 Centerline is valid? [True, True] Translation: X:74.80, Y:-148.19, Z:-8.05 [[-9.98099706e-01 6.16195492e-02 -8.90790654e-05 7.48040782e+01] [ 6.16195491e-02 9.98099710e-01 4.23439090e-06 -1.48191552e+02] [ 8.91707106e-05 -1.26266752e-06 -9.99999996e-01 -8.04908921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.550385723 meters 0.015903865101444807 Centerline is valid? [True, True] Translation: X:74.79, Y:-148.16, Z:-8.05 [[-9.99943996e-01 -1.05832177e-02 1.14300004e-05 7.47919931e+01] [-1.05832177e-02 9.99943996e-01 2.29884264e-07 -1.48163609e+02] [-1.14317932e-05 1.08905216e-07 -1.00000000e+00 -8.04858438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.580385723 meters 0.01583736560316582 Centerline is valid? [True, True] Translation: X:74.78, Y:-147.56, Z:-9.02 [[-9.99477914e-01 -3.23088337e-02 1.95312064e-04 7.47790820e+01] [ 3.23088350e-02 -9.99477933e-01 3.56687176e-06 -1.47562425e+02] [ 1.95094857e-04 9.87531480e-06 9.99999981e-01 -9.02143680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.610385723 meters 0.015732704905973185 Centerline is valid? [True, True] Translation: X:74.72, Y:-148.17, Z:-8.05 [[-9.99830616e-01 -1.84031652e-02 2.50010171e-04 7.47214819e+01] [-1.84031641e-02 9.99830647e-01 6.90228834e-06 -1.48169201e+02] [-2.50094855e-04 2.30014103e-06 -9.99999969e-01 -8.04842481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.640385723 meters 0.015558444120238822 Centerline is valid? [True, True] Translation: X:74.71, Y:-148.14, Z:-8.05 [[-9.95921331e-01 -9.02257057e-02 1.57818484e-04 7.47100948e+01] [-9.02257043e-02 9.95921343e-01 1.56163801e-05 -1.48141529e+02] [-1.58583796e-04 1.31340211e-06 -9.99999987e-01 -8.04896500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.670385723 meters 0.015607239049572811 Centerline is valid? [True, True] Translation: X:74.69, Y:-148.12, Z:-8.05 [[-9.86817871e-01 -1.61833922e-01 5.20065055e-04 7.46936168e+01] [-1.61833897e-01 9.86818008e-01 8.95011851e-05 -1.48116259e+02] [-5.27693890e-04 4.15721435e-06 -9.99999861e-01 -8.04900607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.700385723 meters 0.015621176236941599 Centerline is valid? [True, True] Translation: X:74.67, Y:-148.09, Z:-8.05 [[-9.72512027e-01 -2.32850447e-01 1.01324508e-03 7.46681835e+01] [-2.32850313e-01 9.72512555e-01 2.50456047e-04 -1.48094896e+02] [-1.04371237e-03 7.63708322e-06 -9.99999455e-01 -8.04830008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.730385723 meters 0.015534635998443097 Centerline is valid? [True, True] Translation: X:74.63, Y:-148.08, Z:-8.05 [[-9.53005773e-01 -3.02941276e-01 2.56499839e-03 7.46304250e+01] [-3.02940126e-01 9.53009225e-01 8.34737452e-04 -1.48078121e+02] [-2.69734355e-03 1.84686757e-05 -9.99996362e-01 -8.04759210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.760385723 meters 0.015558104841212454 Centerline is valid? [True, True] Translation: X:74.57, Y:-148.07, Z:-8.05 [[-9.28176024e-01 -3.72126545e-01 3.33208802e-03 7.45723733e+01] [-3.72124059e-01 9.28182005e-01 1.36062790e-03 -1.48070385e+02] [-3.59910990e-03 2.29520798e-05 -9.99993523e-01 -8.04725808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.790385723 meters 0.015505575362251717 Centerline is valid? [True, True] Translation: X:74.51, Y:-148.07, Z:-8.05 [[-8.98032520e-01 -4.39912273e-01 3.84518975e-03 7.45054205e+01] [-4.39908120e-01 8.98040751e-01 1.91180332e-03 -1.48071078e+02] [-4.29416284e-03 2.53313622e-05 -9.99990780e-01 -8.04727094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.820385723 meters 0.015474876533783228 Centerline is valid? [True, True] Translation: X:74.43, Y:-148.08, Z:-8.05 [[-8.62828792e-01 -5.05479131e-01 4.16208432e-03 7.44298004e+01] [-5.05473097e-01 8.62838830e-01 2.47000127e-03 -1.48084724e+02] [-4.83974207e-03 2.73665585e-05 -9.99988288e-01 -8.04720507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.850385723 meters 0.015562757113042752 Centerline is valid? [True, True] Translation: X:74.35, Y:-148.11, Z:-8.05 [[-8.22790950e-01 -5.68329810e-01 4.03472866e-03 7.43495513e+01] [-5.68322807e-01 8.22800842e-01 2.82146051e-03 -1.48105220e+02] [-4.92329825e-03 2.84438534e-05 -9.99987880e-01 -8.04699846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.880385723 meters 0.01558419159381819 Centerline is valid? [True, True] Translation: X:74.26, Y:-148.14, Z:-8.05 [[-7.77958838e-01 -6.28301036e-01 4.22541062e-03 7.42637529e+01] [-6.28291543e-01 7.77970312e-01 3.45406234e-03 -1.48139450e+02] [-5.45743497e-03 3.23285713e-05 -9.99985108e-01 -8.04655736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.910385723 meters 0.015548268589466766 Centerline is valid? [True, True] Translation: X:74.18, Y:-148.18, Z:-8.05 [[-7.28339579e-01 -6.85204650e-01 4.00552324e-03 7.41751743e+01] [-6.85194050e-01 7.28350593e-01 3.81155293e-03 -1.48181311e+02] [-5.52911902e-03 3.15441659e-05 -9.99984714e-01 -8.04626752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.940385723 meters 0.01563003767244357 Centerline is valid? [True, True] Translation: X:74.09, Y:-148.23, Z:-8.05 [[-6.74424334e-01 -7.38332267e-01 4.15715703e-03 7.40887939e+01] [-7.38317921e-01 6.74437145e-01 4.60266186e-03 -1.48232281e+02] [-6.20203488e-03 3.48436235e-05 -9.99980767e-01 -8.04588383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.970385723 meters 0.01830778104316692 Centerline is valid? [True, True] Translation: X:74.01, Y:-148.30, Z:-8.04 [[-6.17086593e-01 -7.86883945e-01 4.21829537e-03 7.40057405e+01] [-7.86865075e-01 6.17101010e-01 5.44959587e-03 -1.48296592e+02] [-6.89131382e-03 4.36432479e-05 -9.99976254e-01 -8.04401674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.000385723 meters 0.015655273865559427 Centerline is valid? [True, True] Translation: X:73.92, Y:-148.37, Z:-8.05 [[-5.55457495e-01 -8.31537181e-01 3.58997915e-03 7.39213118e+01] [-8.31519329e-01 5.55469095e-01 5.44889610e-03 -1.48369551e+02] [-6.52508217e-03 4.14931274e-05 -9.99978711e-01 -8.04802102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.030385723 meters 0.015747162832749694 Centerline is valid? [True, True] Translation: X:73.84, Y:-148.45, Z:-8.05 [[-4.91307135e-01 -8.70980888e-01 3.09718143e-03 7.38422653e+01] [-8.70962971e-01 4.91316895e-01 5.58673186e-03 -1.48452333e+02] [-6.38763423e-03 4.72708832e-05 -9.99979598e-01 -8.04835316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.060385723 meters 0.017051434236893 Centerline is valid? [True, True] Translation: X:73.77, Y:-148.54, Z:-8.05 [[-4.24317252e-01 -9.05509943e-01 2.57140399e-03 7.37672897e+01] [-9.05492551e-01 4.24325040e-01 5.61254784e-03 -1.48541941e+02] [-6.17332898e-03 5.31137237e-05 -9.99980943e-01 -8.04642046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.090385723 meters 0.015862409070557786 Centerline is valid? [True, True] Translation: X:73.70, Y:-148.64, Z:-8.05 [[-3.54233570e-01 -9.35154636e-01 2.09387173e-03 7.36969366e+01] [-9.35137364e-01 3.54239755e-01 5.68394797e-03 -1.48642024e+02] [-6.05710291e-03 5.53874931e-05 -9.99981654e-01 -8.04825852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.120385723 meters 0.0161606018786753 Centerline is valid? [True, True] Translation: X:73.64, Y:-148.74, Z:-8.05 [[-2.83251819e-01 -9.59043574e-01 1.95727296e-03 7.36379896e+01] [-9.59018708e-01 2.83258570e-01 6.90658535e-03 -1.48744900e+02] [-7.17813064e-03 7.92414801e-05 -9.99974234e-01 -8.04803927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.150385723 meters 0.01644287974813572 Centerline is valid? [True, True] Translation: X:73.58, Y:-148.86, Z:-8.05 [[-2.10001549e-01 -9.77700006e-01 1.43066224e-03 7.35825673e+01] [-9.77674338e-01 2.10006404e-01 7.08519460e-03 -1.48861850e+02] [-7.22764303e-03 8.91800901e-05 -9.99973876e-01 -8.04760248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.180385723 meters 0.016445493210764717 Centerline is valid? [True, True] Translation: X:73.54, Y:-148.97, Z:-8.05 [[-1.37189491e-01 -9.90544493e-01 8.06758040e-04 7.35391433e+01] [-9.90522734e-01 1.37191826e-01 6.56636212e-03 -1.48968680e+02] [-6.61495445e-03 1.01723700e-04 -9.99978116e-01 -8.04859531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.210385723 meters 0.01684683693379381 Centerline is valid? [True, True] Translation: X:73.50, Y:-149.09, Z:-8.05 [[-6.21386712e-02 -9.98067472e-01 3.26376047e-04 7.35024415e+01] [-9.98041387e-01 6.21394072e-02 7.21686872e-03 -1.49089187e+02] [-7.22320273e-03 1.22709830e-04 -9.99973905e-01 -8.04809123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.240385723 meters 0.017363508338265728 Centerline is valid? [True, True] Translation: X:73.48, Y:-149.21, Z:-8.05 [[ 1.13452958e-02 -9.99935592e-01 -3.08637618e-04 7.34773180e+01] [-9.99889104e-01 -1.13477450e-02 9.64411242e-03 -1.49209081e+02] [-9.64699361e-03 1.99188084e-04 -9.99953447e-01 -8.04718352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.270385723 meters 0.01748645859374487 Centerline is valid? [True, True] Translation: X:73.46, Y:-149.34, Z:-8.05 [[ 8.65688620e-02 -9.96245170e-01 -1.18080098e-03 7.34587856e+01] [-9.96186924e-01 -8.65765723e-02 1.07754633e-02 -1.49336589e+02] [-1.08372330e-02 2.43478894e-04 -9.99941246e-01 -8.04708641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.300385723 meters 0.01779355224009162 Centerline is valid? [True, True] Translation: X:73.45, Y:-149.46, Z:-8.05 [[ 1.61920377e-01 -9.86801624e-01 -2.08498778e-03 7.34497400e+01] [-9.86739689e-01 -1.61933581e-01 1.10590038e-02 -1.49461824e+02] [-1.12506724e-02 2.66662131e-04 -9.99936674e-01 -8.04649956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.330385723 meters 0.018912858508031292 Centerline is valid? [True, True] Translation: X:73.45, Y:-149.59, Z:-8.05 [[ 2.35301529e-01 -9.71916522e-01 -3.38586182e-03 7.34529014e+01] [-9.71835517e-01 -2.35325647e-01 1.25525692e-02 -1.49587865e+02] [-1.29968295e-02 3.36862043e-04 -9.99915481e-01 -8.04505399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.360385723 meters 0.018912858508031292 Centerline is valid? [True, True] Translation: X:73.46, Y:-149.71, Z:-8.05 [[ 3.09347093e-01 -9.50939288e-01 -4.34123291e-03 7.34608874e+01] [-9.50860378e-01 -3.09377370e-01 1.22549849e-02 -1.49712448e+02] [-1.29968259e-02 3.36862396e-04 -9.99915481e-01 -8.04505418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.390385723 meters 0.019299423353590327 Centerline is valid? [True, True] Translation: X:73.48, Y:-149.83, Z:-8.05 [[ 3.78692731e-01 -9.25507323e-01 -5.29244023e-03 7.34811178e+01] [-9.25430496e-01 -3.78729521e-01 1.19309437e-02 -1.49832549e+02] [-1.30465791e-02 3.79623932e-04 -9.99914818e-01 -8.04577687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.420385723 meters 0.019818520237539834 Centerline is valid? [True, True] Translation: X:73.51, Y:-149.95, Z:-8.05 [[ 4.46830857e-01 -8.94596650e-01 -6.24661250e-03 7.35110890e+01] [-8.94521714e-01 -4.46874329e-01 1.15860423e-02 -1.49954718e+02] [-1.31562854e-02 4.10729334e-04 -9.99913368e-01 -8.04645593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.450385723 meters 0.020683875916346836 Centerline is valid? [True, True] Translation: X:73.55, Y:-150.07, Z:-8.05 [[ 5.12097450e-01 -8.58898521e-01 -7.03794866e-03 7.35478335e+01] [-8.58828846e-01 -5.12145624e-01 1.09486830e-02 -1.50069926e+02] [-1.30082622e-02 4.37600675e-04 -9.99915293e-01 -8.04676568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.480385723 meters 0.022296684190441514 Centerline is valid? [True, True] Translation: X:73.59, Y:-150.17, Z:-8.05 [[ 5.71826354e-01 -8.20336082e-01 -7.95822552e-03 7.35879938e+01] [-8.20268893e-01 -5.71881496e-01 1.05118270e-02 -1.50173269e+02] [-1.31743929e-02 5.16945149e-04 -9.99913080e-01 -8.04628993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.510385723 meters 0.0231930323238211 Centerline is valid? [True, True] Translation: X:73.64, Y:-150.28, Z:-8.05 [[ 6.30625335e-01 -7.76039509e-01 -8.62363006e-03 7.36364980e+01] [-7.75978528e-01 -6.30684058e-01 9.74385686e-03 -1.50276343e+02] [-1.30004039e-02 5.47028760e-04 -9.99915342e-01 -8.04643359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.540385723 meters 0.026321597337258758 Centerline is valid? [True, True] Translation: X:73.70, Y:-150.37, Z:-8.05 [[ 6.84213740e-01 -7.29230743e-01 -8.60706025e-03 7.36961692e+01] [-7.29183228e-01 -6.84267639e-01 8.34378724e-03 -1.50372049e+02] [-1.19740790e-02 5.67190115e-04 -9.99928147e-01 -8.04813043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.570385723 meters 0.0277586825630124 Centerline is valid? [True, True] Translation: X:73.69, Y:-150.37, Z:-8.05 [[ 7.37091568e-01 -6.75738040e-01 -8.60938514e-03 7.36908901e+01] [-6.75700668e-01 -7.37141631e-01 7.12904358e-03 -1.50374398e+02] [-1.11637021e-02 5.62609377e-04 -9.99937526e-01 -8.04909971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.600385723 meters 0.030400607144807218 Centerline is valid? [True, True] Translation: X:73.69, Y:-150.38, Z:-8.05 [[ 7.84688601e-01 -6.19833752e-01 -8.36180321e-03 7.36860505e+01] [-6.19806063e-01 -7.84732949e-01 5.88586507e-03 -1.50376559e+02] [-1.02100403e-02 5.64125094e-04 -9.99947717e-01 -8.05060913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.630385723 meters 0.031544110527787404 Centerline is valid? [True, True] Translation: X:73.68, Y:-150.38, Z:-8.05 [[ 8.29723094e-01 -5.58110201e-01 -8.52001301e-03 7.36816631e+01] [-5.58087634e-01 -8.29766645e-01 5.05052788e-03 -1.50380350e+02] [-9.88837374e-03 5.64374276e-04 -9.99950950e-01 -8.05124507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.660385723 meters 0.03381170446631974 Centerline is valid? [True, True] Translation: X:73.68, Y:-150.38, Z:-8.05 [[ 8.69421062e-01 -4.93986595e-01 -9.17939317e-03 7.36762823e+01] [-4.93966370e-01 -8.69469303e-01 4.51173109e-03 -1.50384695e+02] [-1.02099353e-02 6.11717490e-04 -9.99947690e-01 -8.05101216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.690385723 meters 0.034176009637801846 Centerline is valid? [True, True] Translation: X:73.67, Y:-150.39, Z:-8.05 [[ 9.05088818e-01 -4.25112836e-01 -9.65960534e-03 7.36732811e+01] [-4.25095933e-01 -9.05140145e-01 3.84263440e-03 -1.50389796e+02] [-1.03768498e-02 6.28333514e-04 -9.99945962e-01 -8.05107705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.720385723 meters 0.03495255896567028 Centerline is valid? [True, True] Translation: X:73.67, Y:-150.40, Z:-8.05 [[ 9.35284944e-01 -3.53774396e-01 -9.26011112e-03 7.36699203e+01] [-3.53763265e-01 -9.35330597e-01 2.86832092e-03 -1.50397716e+02] [-9.67600376e-03 5.93189767e-04 -9.99953010e-01 -8.05109492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.750385723 meters 0.03553149540379748 Centerline is valid? [True, True] Translation: X:73.67, Y:-150.40, Z:-8.05 [[ 9.59995307e-01 -2.79867777e-01 -9.11249230e-03 7.36681033e+01] [-2.79860801e-01 -9.60038383e-01 2.05790018e-03 -1.50403407e+02] [-9.32428232e-03 5.74654878e-04 -9.99956363e-01 -8.05098313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.780385723 meters 0.030906744545126083 Centerline is valid? [True, True] Translation: X:73.66, Y:-150.42, Z:-8.05 [[ 9.78911148e-01 -2.04091157e-01 -8.93105694e-03 7.36608627e+01] [-2.04087825e-01 -9.78951730e-01 1.29258342e-03 -1.50420886e+02] [-9.00687849e-03 5.57395665e-04 -9.99959282e-01 -8.05198248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.810385723 meters 0.037839519346180246 Centerline is valid? [True, True] Translation: X:73.66, Y:-150.43, Z:-8.05 [[ 9.91846664e-01 -1.27076356e-01 -9.58094273e-03 7.36554798e+01] [-1.27076203e-01 -9.91892759e-01 6.27204195e-04 -1.50425607e+02] [-9.58297054e-03 5.95419433e-04 -9.99953905e-01 -8.05005731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.840385723 meters 0.028376257466409146 Centerline is valid? [True, True] Translation: X:73.65, Y:-150.46, Z:-8.05 [[ 9.98732064e-01 -4.95012179e-02 -9.15930867e-03 7.36511545e+01] [-4.95043849e-02 -9.98773899e-01 -1.19227935e-04 -1.50457816e+02] [-9.14217651e-03 5.72502703e-04 -9.99958046e-01 -8.05191427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.870385723 meters 0.0267789075643534 Centerline is valid? [True, True] Translation: X:73.65, Y:-150.48, Z:-8.05 [[ 9.99563674e-01 2.82342440e-02 -8.67690719e-03 7.36504379e+01] [ 2.82284011e-02 -9.99601183e-01 -7.95148695e-04 -1.50477584e+02] [-8.69589712e-03 5.49866534e-04 -9.99962039e-01 -8.05267420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.900385723 meters 0.029455106916990905 Centerline is valid? [True, True] Translation: X:73.65, Y:-150.49, Z:-8.05 [[ 9.94348981e-01 1.05828409e-01 -8.39361198e-03 7.36497085e+01] [ 1.05820020e-01 -9.94384259e-01 -1.43855753e-03 -1.50490531e+02] [-8.49871588e-03 5.42216022e-04 -9.99963738e-01 -8.05285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.930385723 meters 0.029094619358427786 Centerline is valid? [True, True] Translation: X:73.65, Y:-150.51, Z:-8.05 [[ 9.83051647e-01 1.83160989e-01 -7.84290645e-03 7.36513482e+01] [ 1.83150940e-01 -9.83082797e-01 -1.98700808e-03 -1.50506156e+02] [-8.07416877e-03 5.16895870e-04 -9.99967270e-01 -8.05323505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.960385723 meters 0.028787209433207412 Centerline is valid? [True, True] Translation: X:73.66, Y:-150.53, Z:-8.05 [[ 9.65354046e-01 2.60809190e-01 -8.37452091e-03 7.36556504e+01] [ 2.60794360e-01 -9.65390211e-01 -2.83571567e-03 -1.50525365e+02] [-8.82426122e-03 5.53441769e-04 -9.99960912e-01 -8.05279490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.990385723 meters 0.026405588737290746 Centerline is valid? [True, True] Translation: X:73.66, Y:-150.55, Z:-8.05 [[ 9.40449736e-01 3.39811290e-01 -9.08745139e-03 7.36642237e+01] [ 3.39789460e-01 -9.40493465e-01 -3.89430081e-03 -1.50548105e+02] [-9.87001602e-03 5.74573967e-04 -9.99951125e-01 -8.05168420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.020385723 meters 0.024382490816811337 Centerline is valid? [True, True] Translation: X:73.67, Y:-150.57, Z:-8.05 [[ 9.09509926e-01 4.15588496e-01 -8.82589726e-03 7.36733292e+01] [ 4.15563050e-01 -9.09552585e-01 -4.63092504e-03 -1.50565709e+02] [-9.95217685e-03 5.44155501e-04 -9.99950328e-01 -8.05247950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.050385723 meters 0.02311469952887453 Centerline is valid? [True, True] Translation: X:73.68, Y:-150.58, Z:-8.05 [[ 8.72387355e-01 4.88736586e-01 -8.76651973e-03 7.36836328e+01] [ 4.88705746e-01 -8.72431242e-01 -5.51569112e-03 -1.50583038e+02] [-1.03439057e-02 5.27570629e-04 -9.99946361e-01 -8.05256402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.080385723 meters 0.021628481573651468 Centerline is valid? [True, True] Translation: X:73.70, Y:-150.60, Z:-8.05 [[ 8.26521179e-01 5.62854289e-01 -7.60199553e-03 7.36973072e+01] [ 5.62825975e-01 -8.26556042e-01 -5.65962400e-03 -1.50602208e+02] [-9.46901897e-03 3.99198555e-04 -9.99955088e-01 -8.05217378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.110385723 meters 0.02039453325394396 Centerline is valid? [True, True] Translation: X:73.71, Y:-150.62, Z:-8.05 [[ 7.76986923e-01 6.29478533e-01 -6.93526392e-03 7.37106041e+01] [ 6.29449433e-01 -7.77017797e-01 -6.06244187e-03 -1.50615186e+02] [-9.20500051e-03 3.45040116e-04 -9.99957574e-01 -8.05233042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.140385723 meters 0.018801996243111525 Centerline is valid? [True, True] Translation: X:73.73, Y:-150.63, Z:-8.05 [[ 7.19155375e-01 6.94820172e-01 -6.36195506e-03 7.37258318e+01] [ 6.94789743e-01 -7.19183468e-01 -6.50788193e-03 -1.50629384e+02] [-9.09722055e-03 2.59957156e-04 -9.99958586e-01 -8.05179747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.170385723 meters 0.017945956927807555 Centerline is valid? [True, True] Translation: X:73.74, Y:-150.64, Z:-8.05 [[ 6.59591393e-01 7.51600318e-01 -6.01303583e-03 7.37376097e+01] [ 7.51565849e-01 -6.59618760e-01 -7.20180339e-03 -1.50636630e+02] [-9.37918896e-03 2.31055152e-04 -9.99955988e-01 -8.05177390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.200385723 meters 0.01690712955150425 Centerline is valid? [True, True] Translation: X:73.75, Y:-150.64, Z:-8.05 [[ 5.96007095e-01 8.02961021e-01 -5.39830141e-03 7.37501020e+01] [ 8.02925035e-01 -5.96031509e-01 -7.60454192e-03 -1.50643497e+02] [-9.32370848e-03 1.97929590e-04 -9.99956514e-01 -8.05221415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.230385723 meters 0.016069503154467413 Centerline is valid? [True, True] Translation: X:73.76, Y:-150.65, Z:-8.05 [[ 5.26435981e-01 8.50201552e-01 -4.74122418e-03 7.37637183e+01] [ 8.50164597e-01 -5.26457312e-01 -7.92822527e-03 -1.50649575e+02] [-9.23664156e-03 1.42882107e-04 -9.99957331e-01 -8.05340679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.260385723 meters 0.01512639709115379 Centerline is valid? [True, True] Translation: X:73.78, Y:-150.66, Z:-8.05 [[ 4.55960494e-01 8.89991993e-01 -3.77896537e-03 7.37804466e+01] [ 8.89959409e-01 -4.55976141e-01 -7.61635593e-03 -1.50655514e+02] [-8.50161383e-03 1.09631626e-04 -9.99963855e-01 -8.05463955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.290385723 meters 0.014652209498954877 Centerline is valid? [True, True] Translation: X:73.80, Y:-150.66, Z:-8.05 [[ 3.80796900e-01 9.24654169e-01 -2.89639607e-03 7.37997410e+01] [ 9.24626090e-01 -3.80807909e-01 -7.20620453e-03 -1.50660391e+02] [-7.76621759e-03 6.60169660e-05 -9.99969840e-01 -8.05430250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.320385723 meters 0.014567930597947077 Centerline is valid? [True, True] Translation: X:73.81, Y:-150.66, Z:-8.05 [[ 3.05426806e-01 9.52212746e-01 -2.31350689e-03 7.38139841e+01] [ 9.52184150e-01 -3.05435563e-01 -7.37983447e-03 -1.50662408e+02] [-7.73379973e-03 5.11146777e-05 -9.99970092e-01 -8.05391697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.350385723 meters 0.014408635340827501 Centerline is valid? [True, True] Translation: X:73.82, Y:-150.66, Z:-8.05 [[ 2.28100735e-01 9.73636205e-01 -1.61111713e-03 7.38249932e+01] [ 9.73610852e-01 -2.28106422e-01 -7.02625935e-03 -1.50662955e+02] [-7.20852665e-03 3.40937934e-05 -9.99974018e-01 -8.05417179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.380385723 meters 0.01424420588042964 Centerline is valid? [True, True] Translation: X:73.84, Y:-150.66, Z:-8.06 [[ 1.50799212e-01 9.88563943e-01 -9.63881797e-04 7.38378881e+01] [ 9.88542503e-01 -1.50802290e-01 -6.51066343e-03 -1.50661570e+02] [-6.58156269e-03 2.89647906e-05 -9.99978341e-01 -8.05541106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.410385723 meters 0.014226037381369034 Centerline is valid? [True, True] Translation: X:73.85, Y:-150.66, Z:-8.06 [[ 7.23233754e-02 9.97381117e-01 -4.86733295e-04 7.38495499e+01] [ 9.97355947e-01 -7.23250081e-02 -7.08572236e-03 -1.50659986e+02] [-7.10236867e-03 2.70170107e-05 -9.99974778e-01 -8.05540443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.440385723 meters 0.01426159672520903 Centerline is valid? [True, True] Translation: X:73.86, Y:-150.66, Z:-8.05 [[-6.79964922e-03 9.99976879e-01 8.19143659e-05 7.38609717e+01] [ 9.99942025e-01 6.80009613e-03 -8.34895668e-03 -1.50656940e+02] [-8.34932067e-03 2.51396402e-05 -9.99965144e-01 -8.05423982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.470385723 meters 0.014218654489357588 Centerline is valid? [True, True] Translation: X:73.87, Y:-150.65, Z:-8.05 [[-8.62812830e-02 9.96270550e-01 7.29072887e-04 7.38694945e+01] [ 9.96236454e-01 8.62843619e-02 -8.24237455e-03 -1.50653920e+02] [-8.27454262e-03 1.51663364e-05 -9.99965765e-01 -8.05340733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.500385723 meters 0.014141830135066834 Centerline is valid? [True, True] Translation: X:73.88, Y:-150.65, Z:-8.05 [[-1.64890056e-01 9.86310832e-01 1.48716131e-03 7.38787638e+01] [ 9.86271187e-01 1.64896762e-01 -8.84327930e-03 -1.50649219e+02] [-8.96745025e-03 8.57553759e-06 -9.99959792e-01 -8.05431395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.530385723 meters 0.015144087366186295 Centerline is valid? [True, True] Translation: X:73.89, Y:-150.65, Z:-8.05 [[-2.42283834e-01 9.70202754e-01 2.27166721e-03 7.38864298e+01] [ 9.70160205e-01 2.42294483e-01 -9.08623367e-03 -1.50645092e+02] [-9.36590136e-03 2.43360093e-06 -9.99956139e-01 -8.05331803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.560385723 meters 0.014231577239981379 Centerline is valid? [True, True] Translation: X:73.89, Y:-150.64, Z:-8.06 [[-3.19524858e-01 9.47574068e-01 2.69260898e-03 7.38917220e+01] [ 9.47540016e-01 3.19536203e-01 -8.03329415e-03 -1.50641720e+02] [-8.47252726e-03 -1.54824149e-05 -9.99964107e-01 -8.05618494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.590385723 meters 0.014240673931813054 Centerline is valid? [True, True] Translation: X:73.90, Y:-150.64, Z:-8.06 [[-3.94112275e-01 9.19057422e-01 2.99494571e-03 7.38979343e+01] [ 9.19030395e-01 3.94123653e-01 -7.04836233e-03 -1.50636619e+02] [-7.65822866e-03 -2.53999747e-05 -9.99970675e-01 -8.05671009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.620385723 meters 0.014252563786558993 Centerline is valid? [True, True] Translation: X:73.90, Y:-150.63, Z:-8.06 [[-4.64810072e-01 8.85403575e-01 3.47928534e-03 7.39041092e+01] [ 8.85378375e-01 4.64823093e-01 -6.68023237e-03 -1.50632702e+02] [-7.53195380e-03 -2.45552925e-05 -9.99971634e-01 -8.05591856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.650385723 meters 0.014171917440083738 Centerline is valid? [True, True] Translation: X:73.91, Y:-150.63, Z:-8.06 [[-5.30824340e-01 8.47471114e-01 4.26975905e-03 7.39089185e+01] [ 8.47443574e-01 5.30841512e-01 -6.83210611e-03 -1.50626999e+02] [-8.05657793e-03 -8.26834180e-06 -9.99967545e-01 -8.05654116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.680385723 meters 0.014230434328015552 Centerline is valid? [True, True] Translation: X:73.92, Y:-150.62, Z:-8.06 [[-5.93984012e-01 8.04462647e-01 4.77947038e-03 7.39152824e+01] [ 8.04436709e-01 5.94003240e-01 -6.45997307e-03 -1.50621659e+02] [-8.03582793e-03 7.66069823e-06 -9.99967712e-01 -8.05645199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.710385723 meters 0.014354562335987373 Centerline is valid? [True, True] Translation: X:73.92, Y:-150.62, Z:-8.06 [[-6.53727213e-01 7.56714221e-01 4.93139471e-03 7.39170220e+01] [ 7.56692941e-01 6.53745813e-01 -5.67505189e-03 -1.50619860e+02] [-7.51827111e-03 2.16157035e-05 -9.99971737e-01 -8.05714307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.740385723 meters 0.014836639571467122 Centerline is valid? [True, True] Translation: X:73.91, Y:-150.62, Z:-8.06 [[-7.08132070e-01 7.06064962e-01 4.60879837e-03 7.39145434e+01] [ 7.06050419e-01 7.08147066e-01 -4.53196759e-03 -1.50621130e+02] [-6.46357056e-03 4.48124315e-05 -9.99979110e-01 -8.05816064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.770385723 meters 0.014651410807100177 Centerline is valid? [True, True] Translation: X:73.94, Y:-150.60, Z:-8.06 [[-7.55498153e-01 6.55134893e-01 4.56225330e-03 7.39350932e+01] [ 6.55123339e-01 7.55511926e-01 -3.89102550e-03 -1.50601478e+02] [-5.99598335e-03 4.91760382e-05 -9.99982023e-01 -8.05915357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.800385723 meters 0.014713001589496854 Centerline is valid? [True, True] Translation: X:73.95, Y:-150.58, Z:-8.06 [[-7.99685024e-01 6.00402871e-01 4.50061432e-03 7.39506891e+01] [ 6.00393704e-01 7.99697687e-01 -3.31803693e-03 -1.50582839e+02] [-5.59128975e-03 4.87560627e-05 -9.99984367e-01 -8.05944872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.830385723 meters 0.01474771517669596 Centerline is valid? [True, True] Translation: X:73.96, Y:-150.56, Z:-8.06 [[-8.40296445e-01 5.42104885e-01 4.91718772e-03 7.39609430e+01] [ 5.42095947e-01 8.40310830e-01 -3.11333320e-03 -1.50558864e+02] [-5.81971923e-03 4.94647164e-05 -9.99983064e-01 -8.05965162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.860385723 meters 0.014801771087404342 Centerline is valid? [True, True] Translation: X:73.97, Y:-150.54, Z:-8.06 [[-8.76680551e-01 4.81038474e-01 5.76177828e-03 7.39723388e+01] [ 4.81028491e-01 8.76699483e-01 -3.09952896e-03 -1.50539632e+02] [-6.54234072e-03 5.42827601e-05 -9.99978597e-01 -8.06023879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.890385723 meters 0.014806309386471476 Centerline is valid? [True, True] Translation: X:74.30, Y:-149.94, Z:-9.01 [[-8.51303280e-01 -5.24644958e-01 5.51304376e-03 7.42991666e+01] [ 5.24633530e-01 -8.51321129e-01 -3.46327353e-03 -1.49941441e+02] [ 6.51035963e-03 -5.59685040e-05 9.99978806e-01 -9.00889802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.920385723 meters 0.01502042339720553 Centerline is valid? [True, True] Translation: X:73.93, Y:-150.53, Z:-8.06 [[-8.78036805e-01 4.78570026e-01 4.70107003e-03 7.39305500e+01] [ 4.78563463e-01 8.78049388e-01 -2.50664833e-03 -1.50525226e+02] [-5.32737842e-03 4.88308697e-05 -9.99985808e-01 -8.06032025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.950385723 meters 0.015003854236269633 Centerline is valid? [True, True] Translation: X:73.93, Y:-150.50, Z:-8.06 [[-9.09754370e-01 4.15121836e-01 4.56599555e-03 7.39349698e+01] [ 4.15116857e-01 9.09765827e-01 -2.03357180e-03 -1.50496821e+02] [-4.99816678e-03 4.53708962e-05 -9.99987508e-01 -8.06023251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.980385723 meters 0.014931751979071895 Centerline is valid? [True, True] Translation: X:73.95, Y:-150.47, Z:-8.06 [[-9.36884902e-01 3.49605715e-01 4.74607593e-03 7.39519150e+01] [ 3.49601476e-01 9.36896922e-01 -1.72215501e-03 -1.50473948e+02] [-5.04865916e-03 4.57741246e-05 -9.99987254e-01 -8.06023722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.010385723 meters 0.015017409750399483 Centerline is valid? [True, True] Translation: X:74.20, Y:-149.81, Z:-9.01 [[-9.18664169e-01 -3.95004619e-01 5.24356494e-03 7.41953723e+01] [ 3.94998119e-01 -9.18679134e-01 -2.26610996e-03 -1.49813638e+02] [ 5.71227760e-03 -1.05957440e-05 9.99983685e-01 -9.00890356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.040385723 meters 0.01499922529268826 Centerline is valid? [True, True] Translation: X:73.90, Y:-150.47, Z:-8.06 [[-9.37637772e-01 3.47584887e-01 4.48944424e-03 7.39013135e+01] [ 3.47581160e-01 9.37648518e-01 -1.61044850e-03 -1.50467762e+02] [-4.76928831e-03 5.04288882e-05 -9.99988626e-01 -8.06166170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.070385723 meters 0.015402083891157653 Centerline is valid? [True, True] Translation: X:73.91, Y:-150.44, Z:-8.06 [[-9.59726935e-01 2.80909115e-01 3.77868419e-03 7.39104101e+01] [ 2.80907119e-01 9.59734373e-01 -1.05986572e-03 -1.50442808e+02] [-3.92425904e-03 4.42776056e-05 -9.99992299e-01 -8.06141100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.100385723 meters 0.015348144244693421 Centerline is valid? [True, True] Translation: X:74.11, Y:-149.75, Z:-9.01 [[-9.46582334e-01 -3.22449508e-01 2.86333231e-03 7.41104520e+01] [ 3.22447750e-01 -9.46586661e-01 -1.06860195e-03 -1.49745903e+02] [ 3.05496235e-03 -8.82446691e-05 9.99995330e-01 -9.00792832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.130385723 meters 0.01550932189691612 Centerline is valid? [True, True] Translation: X:73.86, Y:-150.44, Z:-8.06 [[-9.60016540e-01 2.79927930e-01 2.93196681e-03 7.38635188e+01] [ 2.79926762e-01 9.60021016e-01 -8.09850787e-04 -1.50436081e+02] [-3.04144961e-03 4.32658248e-05 -9.99995374e-01 -8.06166013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.160385723 meters 0.017995896746052696 Centerline is valid? [True, True] Translation: X:73.87, Y:-150.41, Z:-8.06 [[-9.77099414e-01 2.12758322e-01 3.26060031e-03 7.38673305e+01] [ 2.12757318e-01 9.77104853e-01 -6.55898514e-04 -1.50411277e+02] [-3.32549626e-03 5.28385224e-05 -9.99994469e-01 -8.05778660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.190385723 meters 0.015781457266393267 Centerline is valid? [True, True] Translation: X:73.87, Y:-150.38, Z:-8.06 [[-9.89805166e-01 1.42389171e-01 3.32519335e-03 7.38724938e+01] [ 1.42388542e-01 9.89810750e-01 -4.26235817e-04 -1.50383798e+02] [-3.35200349e-03 5.15790193e-05 -9.99994381e-01 -8.06120758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.220385723 meters 0.01575011681057746 Centerline is valid? [True, True] Translation: X:73.87, Y:-150.36, Z:-8.06 [[-9.97410632e-01 7.18482619e-02 3.13981938e-03 7.38721765e+01] [ 7.18480596e-02 9.97415573e-01 -1.77322020e-04 -1.50355671e+02] [-3.14444502e-03 4.87270623e-05 -9.99995055e-01 -8.06110663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.250385723 meters 0.015852560835764282 Centerline is valid? [True, True] Translation: X:73.86, Y:-150.33, Z:-8.06 [[-9.99994660e-01 1.91161380e-04 3.26254428e-03 7.38623563e+01] [ 1.91319008e-04 9.99999981e-01 4.80023994e-05 -1.50329195e+02] [-3.26253504e-03 4.86263298e-05 -9.99994677e-01 -8.06057450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.280385723 meters 0.015852560835764282 Centerline is valid? [True, True] Translation: X:73.86, Y:-150.30, Z:-8.06 [[-9.97468454e-01 -7.10360209e-02 3.25083750e-03 7.38565026e+01] [-7.10354847e-02 9.97473750e-01 2.80260631e-04 -1.50300436e+02] [-3.26253368e-03 4.86263205e-05 -9.99994677e-01 -8.06057452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.310385723 meters 0.015705661740217754 Centerline is valid? [True, True] Translation: X:73.85, Y:-150.27, Z:-8.06 [[-9.89749041e-01 -1.42783932e-01 3.09582596e-03 7.38496393e+01] [-1.42783092e-01 9.89753882e-01 4.91725719e-04 -1.50272414e+02] [-3.13431630e-03 4.46534549e-05 -9.99995087e-01 -8.06043312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.340385723 meters 0.01563821765674688 Centerline is valid? [True, True] Translation: X:73.82, Y:-150.25, Z:-8.06 [[-9.76811275e-01 -2.14088138e-01 2.44991846e-03 7.38222744e+01] [-2.14087375e-01 9.76814347e-01 5.72433638e-04 -1.50250408e+02] [-2.51566675e-03 3.46630197e-05 -9.99996835e-01 -8.06059109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.370385723 meters 0.01575247050984931 Centerline is valid? [True, True] Translation: X:73.78, Y:-150.23, Z:-8.06 [[-9.58626956e-01 -2.84659812e-01 1.77500559e-03 7.37791145e+01] [-2.84659275e-01 9.58628599e-01 5.53683991e-04 -1.50233292e+02] [-1.85918270e-03 2.55045952e-05 -9.99998271e-01 -8.06081447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.400385723 meters 0.01583271730794054 Centerline is valid? [True, True] Translation: X:73.72, Y:-150.23, Z:-8.06 [[-9.35074792e-01 -3.54445241e-01 1.92470465e-03 7.37163270e+01] [-3.54444427e-01 9.35076773e-01 7.59887007e-04 -1.50227608e+02] [-2.06908495e-03 2.83503464e-05 -9.99997859e-01 -8.06060068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.430385723 meters 0.01578915884978648 Centerline is valid? [True, True] Translation: X:73.64, Y:-150.23, Z:-8.06 [[-9.06156135e-01 -4.22936072e-01 2.47732840e-03 7.36439389e+01] [-4.22934379e-01 9.06159521e-01 1.19740463e-03 -1.50228857e+02] [-2.75128033e-03 3.72882078e-05 -9.99996215e-01 -8.06017587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.460385723 meters 0.01595402565283173 Centerline is valid? [True, True] Translation: X:73.56, Y:-150.24, Z:-8.06 [[-8.72128000e-01 -4.89269354e-01 2.87258322e-03 7.35617543e+01] [-4.89266529e-01 8.72132729e-01 1.66322182e-03 -1.50240833e+02] [-3.31903731e-03 4.50834981e-05 -9.99994491e-01 -8.05830677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.490385723 meters 0.015996973324358073 Centerline is valid? [True, True] Translation: X:73.47, Y:-150.27, Z:-8.06 [[-8.33003033e-01 -5.53261282e-01 2.81075774e-03 7.34704703e+01] [-5.53257945e-01 8.33007774e-01 1.92226197e-03 -1.50265424e+02] [-3.40489617e-03 4.61760071e-05 -9.99994202e-01 -8.05747301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.520385723 meters 0.016017076063447624 Centerline is valid? [True, True] Translation: X:73.38, Y:-150.30, Z:-8.06 [[-7.89395455e-01 -6.13877214e-01 3.09552900e-03 7.33820089e+01] [-6.13872208e-01 7.89401522e-01 2.47976109e-03 -1.50299092e+02] [-3.96588413e-03 5.72529158e-05 -9.99992134e-01 -8.05749447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.550385723 meters 0.016429178353043087 Centerline is valid? [True, True] Translation: X:73.30, Y:-150.34, Z:-8.06 [[-7.40882468e-01 -6.71625274e-01 3.55801134e-03 7.32960000e+01] [-6.71617056e-01 7.40891008e-01 3.32335687e-03 -1.50339115e+02] [-4.86814908e-03 7.25957457e-05 -9.99988148e-01 -8.05699240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.580385723 meters 0.016323216020998038 Centerline is valid? [True, True] Translation: X:73.20, Y:-150.40, Z:-8.06 [[-6.88157383e-01 -7.25550610e-01 3.96588306e-03 7.32022116e+01] [-7.25537787e-01 6.88168805e-01 4.31458127e-03 -1.50395441e+02] [-5.85964408e-03 9.17129407e-05 -9.99982828e-01 -8.05576143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.610385723 meters 0.016383499646846995 Centerline is valid? [True, True] Translation: X:73.11, Y:-150.46, Z:-8.06 [[-6.31217900e-01 -7.75597804e-01 3.46550082e-03 7.31084917e+01] [-7.75585320e-01 6.31227406e-01 4.40155148e-03 -1.50461641e+02] [-5.60135276e-03 9.05465176e-05 -9.99984308e-01 -8.05518352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.640385723 meters 0.0163426343712508 Centerline is valid? [True, True] Translation: X:73.02, Y:-150.53, Z:-8.06 [[-5.70672035e-01 -8.21173331e-01 2.79087640e-03 7.30243223e+01] [-8.21162774e-01 5.70678854e-01 4.16478376e-03 -1.50530815e+02] [-5.01270350e-03 8.49618196e-05 -9.99987433e-01 -8.05536575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.670385723 meters 0.016930273064501945 Centerline is valid? [True, True] Translation: X:72.94, Y:-150.63, Z:-8.06 [[-5.07838586e-01 -8.61449380e-01 2.22192365e-03 7.29379845e+01] [-8.61440381e-01 5.07843440e-01 3.93835156e-03 -1.50625174e+02] [-4.52107986e-03 8.59921343e-05 -9.99989776e-01 -8.05582921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.700385723 meters 0.017723223077657092 Centerline is valid? [True, True] Translation: X:72.86, Y:-150.72, Z:-8.06 [[-4.42142376e-01 -8.96942798e-01 1.93303167e-03 7.28622213e+01] [-8.96933241e-01 4.42146591e-01 4.14165913e-03 -1.50722624e+02] [-4.56951468e-03 9.74026504e-05 -9.99989555e-01 -8.05667695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.730385723 meters 0.018083160030525323 Centerline is valid? [True, True] Translation: X:72.80, Y:-150.81, Z:-8.06 [[-3.72943439e-01 -9.27852343e-01 1.79471202e-03 7.27958785e+01] [-9.27840060e-01 3.72947739e-01 4.77561667e-03 -1.50811373e+02] [-5.10040091e-03 1.15829197e-04 -9.99986986e-01 -8.05668401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.760385723 meters 0.017559249902982157 Centerline is valid? [True, True] Translation: X:72.73, Y:-150.91, Z:-8.06 [[-3.01585129e-01 -9.53438035e-01 1.52450601e-03 7.27306962e+01] [-9.53423549e-01 3.01588953e-01 5.25727636e-03 -1.50914251e+02] [-5.47226141e-03 1.32016435e-04 -9.99985018e-01 -8.05651907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.790385723 meters 0.018525672216329104 Centerline is valid? [True, True] Translation: X:72.68, Y:-151.03, Z:-8.06 [[-2.29530987e-01 -9.73300823e-01 1.01713615e-03 7.26759381e+01] [-9.73288526e-01 2.29533202e-01 4.89435594e-03 -1.51029524e+02] [-4.99714718e-03 1.33439400e-04 -9.99987505e-01 -8.05542645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.820385723 meters 0.018377495503400478 Centerline is valid? [True, True] Translation: X:72.63, Y:-151.15, Z:-8.06 [[-1.54019660e-01 -9.88067657e-01 4.98715704e-04 7.26288163e+01] [-9.88060005e-01 1.54020431e-01 3.89019422e-03 -1.51146074e+02] [-3.92058750e-03 1.06405352e-04 -9.99992309e-01 -8.05712536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.850385723 meters 0.01838291423882729 Centerline is valid? [True, True] Translation: X:72.59, Y:-151.27, Z:-8.06 [[-7.66041433e-02 -9.97061572e-01 1.61650310e-04 7.25886609e+01] [-9.97056364e-01 7.66042659e-02 3.22384884e-03 -1.51272093e+02] [-3.22675889e-03 8.57857080e-05 -9.99994790e-01 -8.05811065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.880385723 meters 0.018520972537606352 Centerline is valid? [True, True] Translation: X:72.56, Y:-151.39, Z:-8.06 [[ 1.48264601e-03 -9.99998898e-01 -7.34210239e-05 7.25577000e+01] [-9.99995175e-01 -1.48284090e-03 2.72960529e-03 -1.51391191e+02] [-2.72971115e-03 6.93736313e-05 -9.99996272e-01 -8.05825526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.910385723 meters 0.017343510697180865 Centerline is valid? [True, True] Translation: X:72.53, Y:-151.51, Z:-8.06 [[ 8.23964629e-02 -9.96599563e-01 -3.66344462e-04 7.25313080e+01] [-9.96593364e-01 -8.23972428e-02 3.51594259e-03 -1.51510473e+02] [-3.53417263e-03 7.53952260e-05 -9.99993752e-01 -8.05686658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.940385723 meters 0.016976000002625627 Centerline is valid? [True, True] Translation: X:72.52, Y:-151.65, Z:-8.06 [[ 1.60888600e-01 -9.86972304e-01 -7.28195003e-04 7.25207403e+01] [-9.86964305e-01 -1.60890229e-01 3.97421495e-03 -1.51650787e+02] [-4.03959955e-03 7.92965930e-05 -9.99991838e-01 -8.05637372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.970385723 meters 0.016534869148502798 Centerline is valid? [True, True] Translation: X:72.52, Y:-151.78, Z:-8.06 [[ 2.39133818e-01 -9.70985989e-01 -1.10762131e-03 7.25181963e+01] [-9.70976965e-01 -2.39136372e-01 4.18668446e-03 -1.51776840e+02] [-4.33008449e-03 7.42969419e-05 -9.99990622e-01 -8.05703266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.000385723 meters 0.01618892900928022 Centerline is valid? [True, True] Translation: X:72.52, Y:-151.89, Z:-8.06 [[ 3.13744584e-01 -9.49506744e-01 -1.13085590e-03 7.25222153e+01] [-9.49501220e-01 -3.13746616e-01 3.23934285e-03 -1.51894024e+02] [-3.43058009e-03 5.74227852e-05 -9.99994114e-01 -8.05765223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.030385723 meters 0.016159865314426605 Centerline is valid? [True, True] Translation: X:72.54, Y:-152.02, Z:-8.06 [[ 3.85785489e-01 -9.22587932e-01 -1.03166959e-03 7.25395550e+01] [-9.22584931e-01 -3.85786866e-01 2.35363840e-03 -1.52020356e+02] [-2.56944296e-03 4.38032772e-05 -9.99996698e-01 -8.05825059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.060385723 meters 0.0164733708408753 Centerline is valid? [True, True] Translation: X:72.56, Y:-152.14, Z:-8.06 [[ 4.53890896e-01 -8.91057055e-01 -6.16488072e-04 7.25630446e+01] [-8.91056307e-01 -4.53891314e-01 1.15505931e-03 -1.52140493e+02] [-1.30904233e-03 2.50546785e-05 -9.99999143e-01 -8.05801515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.090385723 meters 0.01753778832026087 Centerline is valid? [True, True] Translation: X:72.60, Y:-152.27, Z:-8.06 [[ 5.17491654e-01 -8.55687694e-01 -9.78678455e-04 7.26046878e+01] [-8.55686317e-01 -5.17492578e-01 1.53588946e-03 -1.52266253e+02] [-1.82070055e-03 4.26317859e-05 -9.99998342e-01 -8.05682609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.120385723 meters 0.01815590724702304 Centerline is valid? [True, True] Translation: X:72.64, Y:-152.37, Z:-8.06 [[ 5.79322715e-01 -8.15096675e-01 -1.61287113e-03 7.26442165e+01] [-8.15093851e-01 -5.79324956e-01 2.14680710e-03 -1.52372067e+02] [-2.68423182e-03 7.09472257e-05 -9.99996395e-01 -8.05673045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.150385723 meters 0.018622573455616232 Centerline is valid? [True, True] Translation: X:72.69, Y:-152.47, Z:-8.06 [[ 6.38061046e-01 -7.69982007e-01 -2.41043497e-03 7.26894540e+01] [-7.69977131e-01 -6.38065590e-01 2.74233722e-03 -1.52472441e+02] [-3.64956593e-03 1.06201251e-04 -9.99993335e-01 -8.05655468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.180385723 meters 0.019933632878083557 Centerline is valid? [True, True] Translation: X:72.75, Y:-152.58, Z:-8.06 [[ 6.92082436e-01 -7.21810996e-01 -3.28436549e-03 7.27473236e+01] [-7.21803897e-01 -6.92090213e-01 3.20485737e-03 -1.52575761e+02] [-4.58637850e-03 1.52642309e-04 -9.99989471e-01 -8.05536307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.210385723 meters 0.02060879113334787 Centerline is valid? [True, True] Translation: X:72.74, Y:-152.58, Z:-8.05 [[ 7.45419543e-01 -6.66585614e-01 -3.65035649e-03 7.27391697e+01] [-6.66578687e-01 -7.45428462e-01 3.04332016e-03 -1.52583180e+02] [-4.74971306e-03 1.64699517e-04 -9.99988707e-01 -8.05441670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.240385723 meters 0.021429101875407117 Centerline is valid? [True, True] Translation: X:72.73, Y:-152.59, Z:-8.05 [[ 7.94025920e-01 -6.07871591e-01 -3.86882416e-03 7.27306268e+01] [-6.07865427e-01 -7.94035326e-01 2.74296051e-03 -1.52592193e+02] [-4.73935082e-03 1.73742712e-04 -9.99988754e-01 -8.05302625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.270385723 meters 0.021873496239815743 Centerline is valid? [True, True] Translation: X:72.72, Y:-152.60, Z:-8.05 [[ 8.38832142e-01 -5.44371863e-01 -4.46226170e-03 7.27239790e+01] [-5.44365371e-01 -8.38843989e-01 2.66555197e-03 -1.52599184e+02] [-5.19419289e-03 1.93150071e-04 -9.99986491e-01 -8.05245300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.300385723 meters 0.021236172774707254 Centerline is valid? [True, True] Translation: X:72.72, Y:-152.61, Z:-8.05 [[ 8.78546532e-01 -4.77637602e-01 -4.27942110e-03 7.27164107e+01] [-4.77632925e-01 -8.78556936e-01 2.12137884e-03 -1.52609548e+02] [-4.77296539e-03 1.80262390e-04 -9.99988593e-01 -8.05335441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.330385723 meters 0.02248421736719421 Centerline is valid? [True, True] Translation: X:72.71, Y:-152.62, Z:-8.05 [[ 9.13463824e-01 -4.06897677e-01 -4.25699020e-03 7.27100190e+01] [-4.06894121e-01 -9.13473728e-01 1.70979473e-03 -1.52616158e+02] [-4.58436021e-03 1.70308653e-04 -9.99989477e-01 -8.05330113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.360385723 meters 0.02169405654146357 Centerline is valid? [True, True] Translation: X:72.70, Y:-152.63, Z:-8.05 [[ 9.43501411e-01 -3.31326665e-01 -5.26574115e-03 7.27048272e+01] [-3.31322610e-01 -9.43516087e-01 1.65008445e-03 -1.52626861e+02] [-5.51502846e-03 1.87802095e-04 -9.99984775e-01 -8.05187797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.390385723 meters 0.021203754371979786 Centerline is valid? [True, True] Translation: X:72.70, Y:-152.64, Z:-8.05 [[ 9.67010006e-01 -2.54673553e-01 -5.74722355e-03 7.27012120e+01] [-2.54670212e-01 -9.67027066e-01 1.31814774e-03 -1.52635630e+02] [-5.89341809e-03 1.88984587e-04 -9.99982616e-01 -8.05126269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.420385723 meters 0.017985217692595475 Centerline is valid? [True, True] Translation: X:72.69, Y:-152.66, Z:-8.05 [[ 9.84770967e-01 -1.73765709e-01 -5.62333799e-03 7.26931815e+01] [-1.73763783e-01 -9.84787009e-01 8.33019130e-04 -1.52655274e+02] [-5.68254036e-03 1.56799426e-04 -9.99983842e-01 -8.05173584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.450385723 meters 0.01793227500403659 Centerline is valid? [True, True] Translation: X:72.69, Y:-152.67, Z:-8.05 [[ 9.95498740e-01 -9.46385167e-02 -5.08043072e-03 7.26867190e+01] [-9.46379635e-02 -9.95511694e-01 3.49737012e-04 -1.52666543e+02] [-5.09072679e-03 1.32638862e-04 -9.99987033e-01 -8.05217182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.480385723 meters 0.016797589515148814 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.68, Z:-8.05 [[ 9.99893097e-01 -1.42418654e-02 -3.31111820e-03 7.26823083e+01] [-1.42420489e-02 -9.99898576e-01 -3.18296872e-05 -1.52683791e+02] [-3.31032906e-03 7.89833918e-05 -9.99994518e-01 -8.05330594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.510385723 meters 0.01709712334086786 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.70, Z:-8.05 [[ 9.97919080e-01 6.44008588e-02 -3.16848032e-03 7.26788524e+01] [ 6.44002958e-02 -9.97924107e-01 -2.79479027e-04 -1.52696756e+02] [-3.17990159e-03 7.48463838e-05 -9.99994941e-01 -8.05298066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.540385723 meters 0.01732314820453091 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.71, Z:-8.05 [[ 9.89823056e-01 1.42241768e-01 -4.19482506e-03 7.26763440e+01] [ 1.42240059e-01 -9.89831940e-01 -7.04350837e-04 -1.52709168e+02] [-4.25235994e-03 1.00510533e-04 -9.99990954e-01 -8.05204723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.570385723 meters 0.017470685149547006 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.72, Z:-8.05 [[ 9.75803893e-01 2.18615752e-01 -3.73024837e-03 7.26756403e+01] [ 2.18613787e-01 -9.75811019e-01 -9.31653404e-04 -1.52720042e+02] [-3.84369157e-03 9.36272966e-05 -9.99992609e-01 -8.05190580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.600385723 meters 0.018518336315256755 Centerline is valid? [True, True] Translation: X:72.67, Y:-152.73, Z:-8.05 [[ 9.56322759e-01 2.92293006e-01 -3.40286455e-03 7.26741077e+01] [ 2.92290801e-01 -9.56328808e-01 -1.13951018e-03 -1.52729212e+02] [-3.58732826e-03 9.51135105e-05 -9.99993561e-01 -8.05260192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.630385723 meters 0.017770608712012158 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.74, Z:-8.05 [[ 9.30946835e-01 3.65141043e-01 -3.16364101e-03 7.26762899e+01] [ 3.65138585e-01 -9.30952206e-01 -1.34318379e-03 -1.52744104e+02] [-3.43565011e-03 9.52653014e-05 -9.99994094e-01 -8.05332577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.660385723 meters 0.018234763240537043 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.76, Z:-8.05 [[ 9.00165474e-01 4.35540879e-01 -2.50247001e-03 7.26780771e+01] [ 4.35538939e-01 -9.00168949e-01 -1.30243061e-03 -1.52758437e+02] [-2.81990757e-03 8.24799366e-05 -9.99996021e-01 -8.05287400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.690385723 meters 0.018433372085277483 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.77, Z:-8.05 [[ 8.63498480e-01 5.04344878e-01 -2.57270600e-03 7.26810576e+01] [ 5.04342327e-01 -8.63502308e-01 -1.60660878e-03 -1.52770566e+02] [-3.03182248e-03 8.97797118e-05 -9.99995400e-01 -8.05250522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.720385723 meters 0.018822122663155347 Centerline is valid? [True, True] Translation: X:72.68, Y:-152.78, Z:-8.05 [[ 8.21432393e-01 5.70299779e-01 -2.64298791e-03 7.26846377e+01] [ 5.70296441e-01 -8.21436639e-01 -1.95364444e-03 -1.52782286e+02] [-3.28521010e-03 9.75002301e-05 -9.99994599e-01 -8.05254594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.750385723 meters 0.018757435553730765 Centerline is valid? [True, True] Translation: X:72.69, Y:-152.79, Z:-8.05 [[ 7.74018881e-01 6.33157305e-01 -2.56893724e-03 7.26888724e+01] [ 6.33153386e-01 -7.74023137e-01 -2.23014283e-03 -1.52793275e+02] [-3.40044809e-03 9.96413462e-05 -9.99994214e-01 -8.05273814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.780385723 meters 0.018583302373188115 Centerline is valid? [True, True] Translation: X:72.70, Y:-152.80, Z:-8.05 [[ 7.21376931e-01 6.92538194e-01 -2.48454486e-03 7.26950729e+01] [ 6.92533601e-01 -7.21381202e-01 -2.52426357e-03 -1.52804075e+02] [-3.54045290e-03 1.00314710e-04 -9.99993728e-01 -8.05288130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.810385723 meters 0.01853973810390296 Centerline is valid? [True, True] Translation: X:72.70, Y:-152.81, Z:-8.05 [[ 6.64650633e-01 7.47150410e-01 -2.40842527e-03 7.27005209e+01] [ 7.47144926e-01 -6.64654988e-01 -2.86459949e-03 -1.52813028e+02] [-3.74105856e-03 1.04515138e-04 -9.99992997e-01 -8.05294672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.840385723 meters 0.017438190204404482 Centerline is valid? [True, True] Translation: X:72.71, Y:-152.82, Z:-8.05 [[ 6.02975900e-01 7.97751633e-01 -3.52078280e-03 7.27118070e+01] [ 7.97736451e-01 -6.02986157e-01 -4.92438762e-03 -1.52824855e+02] [-6.05142156e-03 1.60630275e-04 -9.99981677e-01 -8.05174524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.870385723 meters 0.01881801917558897 Centerline is valid? [True, True] Translation: X:72.72, Y:-152.83, Z:-8.05 [[ 5.38464315e-01 8.42641130e-01 -3.47967591e-03 7.27177122e+01] [ 8.42621365e-01 -5.38475529e-01 -5.77401964e-03 -1.52833889e+02] [-6.73914676e-03 1.77054263e-04 -9.99977276e-01 -8.05024093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.900385723 meters 0.017328629617467735 Centerline is valid? [True, True] Translation: X:72.73, Y:-152.84, Z:-8.05 [[ 4.70410312e-01 8.82441386e-01 -3.36737975e-03 7.27320483e+01] [ 8.82415749e-01 -4.70422324e-01 -6.72920474e-03 -1.52844777e+02] [-7.52221936e-03 1.94058379e-04 -9.99971689e-01 -8.04928526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.930385723 meters 0.01876087152026501 Centerline is valid? [True, True] Translation: X:72.74, Y:-152.85, Z:-8.05 [[ 3.99789275e-01 9.16602788e-01 -2.80445067e-03 7.27389911e+01] [ 9.16576768e-01 -3.99799065e-01 -6.90907885e-03 -1.52852330e+02] [-7.45409769e-03 1.91681296e-04 -9.99972199e-01 -8.04831342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.960385723 meters 0.01809478507916533 Centerline is valid? [True, True] Translation: X:72.75, Y:-152.86, Z:-8.05 [[ 3.27772578e-01 9.44753932e-01 -2.26835637e-03 7.27500435e+01] [ 9.44726891e-01 -3.27780366e-01 -7.15068925e-03 -1.52858873e+02] [-7.49916446e-03 2.00822592e-04 -9.99971861e-01 -8.04899589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.990385723 meters 0.018664814527837564 Centerline is valid? [True, True] Translation: X:72.76, Y:-152.87, Z:-8.05 [[ 2.53742699e-01 9.67270244e-01 -1.70838030e-03 7.27573893e+01] [ 9.67242441e-01 -2.53748363e-01 -7.33684315e-03 -1.52865106e+02] [-7.53020876e-03 2.09252443e-04 -9.99971626e-01 -8.04914444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.020385723 meters 0.01886895827909266 Centerline is valid? [True, True] Translation: X:72.77, Y:-152.87, Z:-8.05 [[ 1.78560115e-01 9.83928412e-01 -1.07945253e-03 7.27667260e+01] [ 9.83902645e-01 -1.78563254e-01 -7.12388082e-03 -1.52869908e+02] [-7.20213930e-03 2.09964778e-04 -9.99974042e-01 -8.04944501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.050385723 meters 0.01925995071633394 Centerline is valid? [True, True] Translation: X:72.78, Y:-152.87, Z:-8.05 [[ 1.03343047e-01 9.94645653e-01 -4.90056714e-04 7.27788938e+01] [ 9.94622454e-01 -1.03343986e-01 -6.79665873e-03 -1.52873917e+02] [-6.81091147e-03 2.14966014e-04 -9.99976782e-01 -8.04983133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.080385723 meters 0.0205343348820603 Centerline is valid? [True, True] Translation: X:72.79, Y:-152.88, Z:-8.05 [[ 2.58672192e-02 9.99665387e-01 4.38382915e-05 7.27881873e+01] [ 9.99642156e-01 -2.58663190e-02 -6.81867927e-03 -1.52878246e+02] [-6.81526371e-03 2.20202875e-04 -9.99976752e-01 -8.04895554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.110385723 meters 0.02051377508722263 Centerline is valid? [True, True] Translation: X:72.80, Y:-152.88, Z:-8.05 [[-5.18992761e-02 9.98652131e-01 6.21293831e-04 7.28005332e+01] [ 9.98625455e-01 5.19024334e-02 -7.30331734e-03 -1.52880610e+02] [-7.32572009e-03 2.41402951e-04 -9.99973137e-01 -8.04877324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.140385723 meters 0.019136297375453446 Centerline is valid? [True, True] Translation: X:72.82, Y:-152.88, Z:-8.05 [[-1.29981234e-01 9.91515715e-01 1.21062740e-03 7.28168484e+01] [ 9.91488518e-01 1.29986640e-01 -7.34790096e-03 -1.52881146e+02] [-7.44292466e-03 2.45233930e-04 -9.99972271e-01 -8.04953722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.170385723 meters 0.019136297375453446 Centerline is valid? [True, True] Translation: X:72.83, Y:-152.88, Z:-8.05 [[-2.07273371e-01 9.78281438e-01 1.78267709e-03 7.28291013e+01] [ 9.78254748e-01 2.07280892e-01 -7.23044323e-03 -1.52881105e+02] [-7.44292329e-03 2.45233986e-04 -9.99972271e-01 -8.04953723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.200385723 meters 0.019606023334132038 Centerline is valid? [True, True] Translation: X:72.84, Y:-152.88, Z:-8.05 [[-2.83368424e-01 9.59008887e-01 2.07147878e-03 7.28447126e+01] [ 9.58988561e-01 2.83375913e-01 -6.24749197e-03 -1.52879964e+02] [-6.57840751e-03 2.16182508e-04 -9.99978339e-01 -8.04986005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.230385723 meters 0.021318803644601616 Centerline is valid? [True, True] Translation: X:72.86, Y:-152.88, Z:-8.05 [[-3.57578494e-01 9.33880734e-01 2.09630879e-03 7.28552876e+01] [ 9.33867482e-01 3.57584595e-01 -4.97833986e-03 -1.52878652e+02] [-5.39878341e-03 1.77527340e-04 -9.99985411e-01 -8.04901012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.260385723 meters 0.021275141791432868 Centerline is valid? [True, True] Translation: X:72.87, Y:-152.88, Z:-8.05 [[-4.30600966e-01 9.02539545e-01 2.27550426e-03 7.28652313e+01] [ 9.02528818e-01 4.30606949e-01 -4.40324203e-03 -1.52876325e+02] [-4.95394801e-03 1.57667897e-04 -9.99987717e-01 -8.04816590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.290385723 meters 0.02005283508917842 Centerline is valid? [True, True] Translation: X:72.88, Y:-152.87, Z:-8.05 [[-5.00409145e-01 8.65783914e-01 2.98350054e-03 7.28763610e+01] [ 8.65770583e-01 5.00418008e-01 -4.80774647e-03 -1.52871645e+02] [-5.65546695e-03 1.77186701e-04 -9.99983992e-01 -8.04809797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.320385723 meters 0.01984375432576777 Centerline is valid? [True, True] Translation: X:72.89, Y:-152.87, Z:-8.05 [[-5.68063466e-01 8.22977579e-01 3.43549553e-03 7.28859943e+01] [ 8.22964324e-01 5.68073828e-01 -4.67408980e-03 -1.52866876e+02] [-5.79828621e-03 1.72110603e-04 -9.99983175e-01 -8.04689343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.350385723 meters 0.019759426162735332 Centerline is valid? [True, True] Translation: X:72.89, Y:-152.86, Z:-8.05 [[-6.31470960e-01 7.75389312e-01 3.98024885e-03 7.28927879e+01] [ 7.75375628e-01 6.31483479e-01 -4.60981846e-03 -1.52861979e+02] [-6.08786535e-03 1.75221471e-04 -9.99981453e-01 -8.04677177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.380385723 meters 0.018135149120530714 Centerline is valid? [True, True] Translation: X:72.91, Y:-152.85, Z:-8.05 [[-6.91151470e-01 7.22694642e-01 4.70097433e-03 7.29052357e+01] [ 7.22679693e-01 6.91167433e-01 -4.65195242e-03 -1.52850301e+02] [-6.61110145e-03 1.82094929e-04 -9.99978130e-01 -8.04686386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.410385723 meters 0.017510540485856395 Centerline is valid? [True, True] Translation: X:72.93, Y:-152.83, Z:-8.05 [[-7.40949452e-01 6.71541489e-01 5.09289977e-03 7.29259366e+01] [ 6.71527286e-01 7.40966933e-01 -4.37129642e-03 -1.52825992e+02] [-6.70917723e-03 1.81111469e-04 -9.99977477e-01 -8.04702899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.440385723 meters 0.01758910231190031 Centerline is valid? [True, True] Translation: X:72.94, Y:-152.80, Z:-8.05 [[-7.87468854e-01 6.16331131e-01 5.36105808e-03 7.29416255e+01] [ 6.16318312e-01 7.87487084e-01 -3.97884604e-03 -1.52799828e+02] [-6.67405067e-03 1.70900936e-04 -9.99977714e-01 -8.04719192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.470385723 meters 0.016941107532482774 Centerline is valid? [True, True] Translation: X:72.96, Y:-152.77, Z:-8.05 [[-8.29582837e-01 5.58356877e-01 5.46940930e-03 7.29583811e+01] [ 5.58346011e-01 8.29600851e-01 -3.48713427e-03 -1.52773613e+02] [-6.48449201e-03 1.60956133e-04 -9.99978963e-01 -8.04763295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.500385723 meters 0.016680486875610995 Centerline is valid? [True, True] Translation: X:72.97, Y:-152.75, Z:-8.05 [[-8.68285209e-01 4.96041450e-01 4.86582422e-03 7.29711151e+01] [ 4.96034452e-01 8.68298834e-01 -2.63769413e-03 -1.52745229e+02] [-5.53339511e-03 1.23345650e-04 -9.99984683e-01 -8.04797747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.530385723 meters 0.016449518708805032 Centerline is valid? [True, True] Translation: X:72.98, Y:-152.71, Z:-8.05 [[-9.01832007e-01 4.32057254e-01 5.05572192e-03 7.29778816e+01] [ 4.32051184e-01 9.01846171e-01 -2.29317825e-03 -1.52714681e+02] [-5.55026775e-03 1.16269100e-04 -9.99984590e-01 -8.04808747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.560385723 meters 0.016389725821045545 Centerline is valid? [True, True] Translation: X:73.24, Y:-152.14, Z:-9.02 [[-8.90090756e-01 -4.55758487e-01 4.75889167e-03 7.32428768e+01] [ 4.55751235e-01 -8.90103470e-01 -2.57400624e-03 -1.52135298e+02] [ 5.40903118e-03 -1.22228401e-04 9.99985364e-01 -9.02153114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.590385723 meters 0.01636143802321792 Centerline is valid? [True, True] Translation: X:72.94, Y:-152.69, Z:-8.05 [[-9.04017238e-01 4.27484637e-01 3.11735820e-03 7.29381928e+01] [ 4.27482349e-01 9.04022611e-01 -1.40025798e-03 -1.52694550e+02] [-3.41675108e-03 6.67582507e-05 -9.99994161e-01 -8.04762079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.620385723 meters 0.016561201471470038 Centerline is valid? [True, True] Translation: X:72.95, Y:-152.67, Z:-8.05 [[-9.31772132e-01 3.63037201e-01 2.16454780e-03 7.29467919e+01] [ 3.63036338e-01 9.31774645e-01 -7.93132279e-04 -1.52666759e+02] [-2.30480728e-03 4.67909522e-05 -9.99997343e-01 -8.04817589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.650385723 meters 0.0169951726073876 Centerline is valid? [True, True] Translation: X:73.17, Y:-152.07, Z:-9.02 [[-9.22299699e-01 -3.86474645e-01 7.83622498e-04 7.31667857e+01] [ 3.86474407e-01 -9.22300026e-01 -4.41662624e-04 -1.52070122e+02] [ 8.93426456e-04 -1.04495265e-04 9.99999595e-01 -9.02014374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.680385723 meters 0.017442225809696392 Centerline is valid? [True, True] Translation: X:72.90, Y:-152.66, Z:-8.05 [[-9.32220227e-01 3.61890728e-01 7.41430144e-04 7.29001154e+01] [ 3.61890629e-01 9.32220522e-01 -2.68017724e-04 -1.52655018e+02] [-7.88169524e-04 1.84650775e-05 -9.99999689e-01 -8.04949831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.710385723 meters 0.01810834961692922 Centerline is valid? [True, True] Translation: X:73.12, Y:-152.05, Z:-9.02 [[-9.25011819e-01 -3.79935353e-01 1.50421390e-03 7.31219051e+01] [ 3.79934873e-01 -9.25013042e-01 -6.03788498e-04 -1.52052646e+02] [ 1.62081807e-03 1.29918194e-05 9.99998686e-01 -9.02113938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.740385723 meters 0.018596155914105433 Centerline is valid? [True, True] Translation: X:72.85, Y:-152.64, Z:-8.05 [[-9.32350339e-01 3.61549146e-01 2.24939903e-03 7.28548664e+01] [ 3.61548255e-01 9.32353051e-01 -8.04874402e-04 -1.52640945e+02] [-2.38823570e-03 6.28413721e-05 -9.99997146e-01 -8.04739549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.770385723 meters 0.019874422441168316 Centerline is valid? [True, True] Translation: X:72.85, Y:-152.61, Z:-8.05 [[-9.54703944e-01 2.97539950e-01 3.21835611e-03 7.28545808e+01] [ 2.97538605e-01 9.54709364e-01 -9.00047868e-04 -1.52612997e+02] [-3.34039491e-03 9.83059360e-05 -9.99994416e-01 -8.04583457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.800385723 meters 0.019953514846810044 Centerline is valid? [True, True] Translation: X:73.04, Y:-151.99, Z:-9.02 [[-9.52723750e-01 -3.03815761e-01 3.66600674e-03 7.30387665e+01] [ 3.03813183e-01 -9.52730800e-01 -1.25415791e-03 -1.51989243e+02] [ 3.87375047e-03 -8.10848478e-05 9.99992494e-01 -9.02374284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.830385723 meters 0.020915719733141252 Centerline is valid? [True, True] Translation: X:72.82, Y:-152.61, Z:-8.05 [[-9.53529378e-01 3.01252641e-01 5.34529643e-03 7.28153279e+01] [ 3.01249112e-01 9.53544338e-01 -1.47256616e-03 -1.52606574e+02] [-5.54059159e-03 2.06130707e-04 -9.99984630e-01 -8.04517948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.860385723 meters 0.02206822630259643 Centerline is valid? [True, True] Translation: X:72.82, Y:-152.58, Z:-8.04 [[-9.71725616e-01 2.36037306e-01 5.97644504e-03 7.28192138e+01] [ 2.36034396e-01 9.71743963e-01 -1.19759982e-03 -1.52578132e+02] [-6.09025263e-03 2.46908181e-04 -9.99981424e-01 -8.04467326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.890385723 meters 0.02225594378565834 Centerline is valid? [True, True] Translation: X:72.82, Y:-152.55, Z:-8.04 [[-9.85445204e-01 1.69867612e-01 6.53798006e-03 7.28236091e+01] [ 1.69865818e-01 9.85466849e-01 -8.32763453e-04 -1.52547779e+02] [-6.58442215e-03 2.89936579e-04 -9.99978280e-01 -8.04454735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.920385723 meters 0.024524844671712745 Centerline is valid? [True, True] Translation: X:72.91, Y:-151.90, Z:-9.02 [[-9.89890988e-01 -1.41726943e-01 5.41338140e-03 7.29113521e+01] [ 1.41723136e-01 -9.89905744e-01 -1.08240733e-03 -1.51895285e+02] [ 5.51214362e-03 -3.04263867e-04 9.99984762e-01 -9.02408234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.950385723 meters 0.026640841615594234 Centerline is valid? [True, True] Translation: X:72.76, Y:-152.55, Z:-8.05 [[-9.84145852e-01 1.77289220e-01 5.04730480e-03 7.27634227e+01] [ 1.77288369e-01 9.84158753e-01 -6.19212010e-04 -1.52547073e+02] [-5.07712881e-03 2.85433502e-04 -9.99987071e-01 -8.04615923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.980385723 meters 0.02766908534881541 Centerline is valid? [True, True] Translation: X:72.76, Y:-152.52, Z:-8.05 [[-9.93457302e-01 1.14159850e-01 3.18097693e-03 7.27612657e+01] [ 1.14159914e-01 9.93462374e-01 -1.62069983e-04 -1.52517525e+02] [-3.17868277e-03 2.02130444e-04 -9.99994928e-01 -8.04811596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.010385723 meters 0.031060685000531156 Centerline is valid? [True, True] Translation: X:72.80, Y:-151.85, Z:-9.02 [[-9.98665568e-01 -5.16254070e-02 1.37850405e-03 7.28007385e+01] [ 5.16250788e-02 -9.98666499e-01 -2.72577825e-04 -1.51846653e+02] [ 1.39073775e-03 -2.01048708e-04 9.99999013e-01 -9.02101967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.040385723 meters 0.02843624771026227 Centerline is valid? [True, True] Translation: X:72.69, Y:-152.51, Z:-8.05 [[-9.93022120e-01 1.17928165e-01 -1.34290878e-04 7.26887916e+01] [ 1.17928165e-01 9.93022129e-01 6.82124718e-06 -1.52507032e+02] [ 1.34158230e-04 -9.06302743e-06 -9.99999991e-01 -8.04872779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.070385723 meters 0.03048702322506526 Centerline is valid? [True, True] Translation: X:72.72, Y:-151.85, Z:-9.02 [[-9.99220128e-01 -3.94805668e-02 -6.48885304e-04 7.27197436e+01] [ 3.94805499e-02 -9.99220338e-01 3.89016149e-05 -1.51852144e+02] [-6.49915251e-04 1.32529280e-05 9.99999789e-01 -9.02062719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.100385723 meters 0.028667356284094486 Centerline is valid? [True, True] Translation: X:72.61, Y:-152.50, Z:-8.05 [[-9.93121235e-01 1.17085312e-01 -1.11471759e-03 7.26145071e+01] [ 1.17085333e-01 9.93121857e-01 4.67441366e-05 -1.52498417e+02] [ 1.11252345e-03 -8.40944850e-05 -9.99999378e-01 -8.04903937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.130385723 meters 0.034864978651868175 Centerline is valid? [True, True] Translation: X:72.64, Y:-151.85, Z:-9.02 [[-9.99547400e-01 -3.00245531e-02 -1.87667937e-03 7.26392173e+01] [ 3.00243240e-02 -9.99549157e-01 1.50139575e-04 -1.51851792e+02] [-1.88034115e-03 9.37255928e-05 9.99998228e-01 -9.01915521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.160385723 meters 0.03209227767141127 Centerline is valid? [True, True] Translation: X:72.54, Y:-152.49, Z:-8.05 [[-9.93461888e-01 1.14152155e-01 -1.66187794e-03 7.25399902e+01] [ 1.14152212e-01 9.93463270e-01 6.13002938e-05 -1.52485953e+02] [ 1.65801226e-03 -1.28807537e-04 -9.99998617e-01 -8.04970550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.190385723 meters 0.032853766972997585 Centerline is valid? [True, True] Translation: X:72.53, Y:-152.45, Z:-8.05 [[-9.99125069e-01 4.18092316e-02 -1.04192322e-03 7.25311049e+01] [ 4.18092912e-02 9.99125609e-01 -3.55223236e-05 -1.52452221e+02] [ 1.03952701e-03 -7.90533153e-05 -9.99999457e-01 -8.04909973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.220385723 meters 0.03244615256738614 Centerline is valid? [True, True] Translation: X:72.51, Y:-151.84, Z:-9.02 [[-9.99103403e-01 4.23365790e-02 6.77329785e-05 7.25052482e+01] [-4.23365741e-02 -9.99103403e-01 7.29659761e-05 -1.51839616e+02] [ 7.07613791e-05 7.00329728e-05 9.99999995e-01 -9.02152118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.250385723 meters 0.029152154783688485 Centerline is valid? [True, True] Translation: X:72.44, Y:-152.43, Z:-8.05 [[-9.99574612e-01 2.90975218e-02 1.98208290e-03 7.24437731e+01] [ 2.90977380e-02 9.99576568e-01 8.03216905e-05 -1.52433719e+02] [-1.97890646e-03 1.37961652e-04 -9.99998032e-01 -8.04585307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.280385723 meters 0.02660176009603493 Centerline is valid? [True, True] Translation: X:72.42, Y:-152.39, Z:-8.05 [[-9.98784524e-01 -4.91698245e-02 3.43555121e-03 7.24209439e+01] [-4.91687893e-02 9.98790409e-01 3.85183999e-04 -1.52392408e+02] [-3.45033503e-03 2.15793923e-04 -9.99994024e-01 -8.04529366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.310385723 meters 0.02443231593251429 Centerline is valid? [True, True] Translation: X:72.39, Y:-152.36, Z:-8.05 [[-9.92259401e-01 -1.24114903e-01 4.09533789e-03 7.23931080e+01] [-1.24112827e-01 9.92267822e-01 7.58390761e-04 -1.52358980e+02] [-4.15779961e-03 2.44236401e-04 -9.99991327e-01 -8.04554844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.340385723 meters 0.025169272367086853 Centerline is valid? [True, True] Translation: X:72.36, Y:-152.33, Z:-8.05 [[-9.80078980e-01 -1.98564538e-01 4.16132257e-03 7.23558530e+01] [-1.98561714e-01 9.80087786e-01 1.08527660e-03 -1.52333597e+02] [-4.29395888e-03 2.37377440e-04 -9.99990753e-01 -8.04519536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.370385723 meters 0.024006991288305992 Centerline is valid? [True, True] Translation: X:72.31, Y:-152.31, Z:-8.04 [[-9.61393648e-01 -2.75126328e-01 5.26849706e-03 7.23054278e+01] [-2.75120652e-01 9.61408046e-01 1.78759737e-03 -1.52306105e+02] [-5.55699056e-03 2.69112414e-04 -9.99984524e-01 -8.04443998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.400385723 meters 0.022869989748978803 Centerline is valid? [True, True] Translation: X:72.25, Y:-152.29, Z:-8.04 [[-9.37745004e-01 -3.47281131e-01 5.48846738e-03 7.22452064e+01] [-3.47273486e-01 9.37761027e-01 2.31999215e-03 -1.52290682e+02] [-5.95256030e-03 2.69561851e-04 -9.99982247e-01 -8.04405455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.430385723 meters 0.021035404780584452 Centerline is valid? [True, True] Translation: X:72.17, Y:-152.28, Z:-8.04 [[-9.07771152e-01 -4.19431777e-01 5.34038986e-03 7.21703511e+01] [-4.19422943e-01 9.07786829e-01 2.73280530e-03 -1.52281531e+02] [-5.99416095e-03 2.40879783e-04 -9.99982006e-01 -8.04387814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.460385723 meters 0.02215565968653173 Centerline is valid? [True, True] Translation: X:72.09, Y:-152.29, Z:-8.04 [[-8.73664925e-01 -4.86503385e-01 4.90454225e-03 7.20945355e+01] [-4.86494283e-01 8.73678664e-01 2.98419473e-03 -1.52287417e+02] [-5.73681476e-03 2.21154500e-04 -9.99983520e-01 -8.04334470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.490385723 meters 0.020859208397574425 Centerline is valid? [True, True] Translation: X:72.02, Y:-152.30, Z:-8.05 [[-8.34151857e-01 -5.51520180e-01 4.02126774e-03 7.20171649e+01] [-5.51512723e-01 8.34161530e-01 2.87362807e-03 -1.52298742e+02] [-4.93925072e-03 1.79261869e-04 -9.99987786e-01 -8.04525488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.520385723 meters 0.019704819397175666 Centerline is valid? [True, True] Translation: X:71.93, Y:-152.32, Z:-8.05 [[-7.88659853e-01 -6.14817663e-01 3.85712816e-03 7.19309050e+01] [-6.14809293e-01 7.88669268e-01 3.21221262e-03 -1.52318357e+02] [-5.01692351e-03 1.61944894e-04 -9.99987402e-01 -8.04607958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.550385723 meters 0.01912735053754421 Centerline is valid? [True, True] Translation: X:71.85, Y:-152.35, Z:-8.05 [[-7.39427928e-01 -6.73225241e-01 3.75686630e-03 7.18472386e+01] [-6.73215455e-01 7.39437455e-01 3.63336626e-03 -1.52347635e+02] [-5.22404153e-03 1.57432030e-04 -9.99986342e-01 -8.04596979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.580385723 meters 0.018510492239923133 Centerline is valid? [True, True] Translation: X:71.76, Y:-152.39, Z:-8.05 [[-6.84161833e-01 -7.29322890e-01 3.27225119e-03 7.17594286e+01] [-7.29313654e-01 6.84169647e-01 3.67252975e-03 -1.52385793e+02] [-4.91723496e-03 1.26107215e-04 -9.99987902e-01 -8.04619052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.610385723 meters 0.017643518647780118 Centerline is valid? [True, True] Translation: X:71.68, Y:-152.43, Z:-8.05 [[-6.26607751e-01 -7.79329789e-01 2.79400120e-03 7.16765532e+01] [-7.79321248e-01 6.26613970e-01 3.65038948e-03 -1.52434230e+02] [-4.59561744e-03 1.09937837e-04 -9.99989434e-01 -8.04723437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.640385723 meters 0.017027076458046433 Centerline is valid? [True, True] Translation: X:71.60, Y:-152.49, Z:-8.05 [[-5.64458687e-01 -8.25459938e-01 1.51048253e-03 7.15972111e+01] [-8.25456699e-01 5.64460705e-01 2.31286994e-03 -1.52489362e+02] [-2.76178950e-03 5.86816081e-05 -9.99996185e-01 -8.04931757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.670385723 meters 0.017245286046770326 Centerline is valid? [True, True] Translation: X:71.52, Y:-152.55, Z:-8.05 [[-5.00411868e-01 -8.65786820e-01 1.06967136e-03 7.15233436e+01] [-8.65784645e-01 5.00413009e-01 1.94119267e-03 -1.52554591e+02] [-2.21593649e-03 4.52908157e-05 -9.99997544e-01 -8.05017315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.700385723 meters 0.017085664891499902 Centerline is valid? [True, True] Translation: X:71.45, Y:-152.63, Z:-8.05 [[-4.33986828e-01 -9.00918666e-01 9.95194798e-04 7.14510493e+01] [-9.00916037e-01 4.33987967e-01 2.17713406e-03 -1.52629906e+02] [-2.39332328e-03 4.82605523e-05 -9.99997135e-01 -8.05065203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.730385723 meters 0.01700620690667698 Centerline is valid? [True, True] Translation: X:71.39, Y:-152.71, Z:-8.05 [[-3.65042181e-01 -9.30990516e-01 9.29702171e-04 7.13862631e+01] [-9.30987112e-01 3.65043361e-01 2.51816870e-03 -1.52707769e+02] [-2.68377278e-03 5.36970538e-05 -9.99996397e-01 -8.05004163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.760385723 meters 0.0171810260549246 Centerline is valid? [True, True] Translation: X:71.33, Y:-152.80, Z:-8.05 [[-2.93706366e-01 -9.55895244e-01 9.23463314e-04 7.13261995e+01] [-9.55889790e-01 2.93707811e-01 3.22967425e-03 -1.52796716e+02] [-3.35845864e-03 6.58467355e-05 -9.99994358e-01 -8.04961598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.790385723 meters 0.016537980793917998 Centerline is valid? [True, True] Translation: X:71.27, Y:-152.89, Z:-8.05 [[-2.19855106e-01 -9.75532289e-01 6.96647511e-04 7.12698593e+01] [-9.75526435e-01 2.19856200e-01 3.38032039e-03 -1.52892284e+02] [-3.45077396e-03 6.35826348e-05 -9.99994044e-01 -8.04886434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.820385723 meters 0.016177257263771044 Centerline is valid? [True, True] Translation: X:71.22, Y:-152.99, Z:-8.05 [[-1.44888626e-01 -9.89447885e-01 4.10758716e-04 7.12230874e+01] [-9.89442734e-01 1.44889198e-01 3.19323103e-03 -1.52988256e+02] [-3.21905019e-03 5.62406311e-05 -9.99994817e-01 -8.04890011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.850385723 meters 0.016488760079505223 Centerline is valid? [True, True] Translation: X:71.19, Y:-153.09, Z:-8.05 [[-6.77512485e-02 -9.97702226e-01 1.93031300e-04 7.11872749e+01] [-9.97695486e-01 6.77515004e-02 3.66772999e-03 -1.53090352e+02] [-3.67238053e-03 5.59068289e-05 -9.99993255e-01 -8.04823127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.880385723 meters 0.016423791846383123 Centerline is valid? [True, True] Translation: X:71.16, Y:-153.20, Z:-8.05 [[ 8.73408547e-03 -9.99961852e-01 -1.05408372e-04 7.11574680e+01] [-9.99951129e-01 -8.73448000e-03 4.63115070e-03 -1.53199006e+02] [-4.63189472e-03 6.49543548e-05 -9.99989271e-01 -8.04714130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.910385723 meters 0.015889294851454346 Centerline is valid? [True, True] Translation: X:71.13, Y:-153.30, Z:-8.05 [[ 8.46538512e-02 -9.96410284e-01 -5.21047401e-04 7.11337743e+01] [-9.96396244e-01 -8.46554246e-02 5.28992976e-03 -1.53304306e+02] [-5.31504990e-03 7.13567473e-05 -9.99985873e-01 -8.04705536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.940385723 meters 0.016147972278838553 Centerline is valid? [True, True] Translation: X:71.12, Y:-153.42, Z:-8.05 [[ 1.60702881e-01 -9.87002391e-01 -9.29472781e-04 7.11214924e+01] [-9.86988168e-01 -1.60705556e-01 5.29905166e-03 -1.53416105e+02] [-5.37954809e-03 6.58057670e-05 -9.99985528e-01 -8.04637850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.970385723 meters 0.015506101266483895 Centerline is valid? [True, True] Translation: X:71.11, Y:-153.52, Z:-8.05 [[ 2.35213834e-01 -9.71942750e-01 -1.32054829e-03 7.11123556e+01] [-9.71928887e-01 -2.35217532e-01 5.19148482e-03 -1.53523368e+02] [-5.35644214e-03 6.23699824e-05 -9.99985652e-01 -8.04749220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.000385723 meters 0.015455127407507641 Centerline is valid? [True, True] Translation: X:71.12, Y:-153.64, Z:-8.05 [[ 3.09136226e-01 -9.51016560e-01 -1.51553660e-03 7.11186814e+01] [-9.51005886e-01 -3.09139938e-01 4.50602027e-03 -1.53640127e+02] [-4.75381278e-03 4.83101266e-05 -9.99988699e-01 -8.04842480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.030385723 meters 0.015598858963702226 Centerline is valid? [True, True] Translation: X:71.13, Y:-153.74, Z:-8.05 [[ 3.80323082e-01 -9.24851971e-01 -1.78478080e-03 7.11290735e+01] [-9.24842330e-01 -3.80327267e-01 4.22320006e-03 -1.53743960e+02] [-4.58463570e-03 4.44603704e-05 -9.99989490e-01 -8.04859387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.060385723 meters 0.015899480101756295 Centerline is valid? [True, True] Translation: X:71.15, Y:-153.85, Z:-8.05 [[ 4.48163163e-01 -8.93949112e-01 -2.18287170e-03 7.11495729e+01] [-8.93939046e-01 -4.48168476e-01 4.24257177e-03 -1.53845425e+02] [-4.77093755e-03 4.99898555e-05 -9.99988618e-01 -8.04844842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.090385723 meters 0.015899480101756295 Centerline is valid? [True, True] Translation: X:71.17, Y:-153.95, Z:-8.05 [[ 5.14130382e-01 -8.57708413e-01 -2.49579974e-03 7.11740100e+01] [-8.57698775e-01 -5.14136437e-01 4.06639397e-03 -1.53948546e+02] [-4.77096190e-03 4.99876973e-05 -9.99988618e-01 -8.04844739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.120385723 meters 0.015511175922024395 Centerline is valid? [True, True] Translation: X:71.20, Y:-154.05, Z:-8.05 [[ 5.76943677e-01 -8.16779927e-01 -2.55848097e-03 7.12039668e+01] [-8.16772250e-01 -5.76949347e-01 3.54140192e-03 -1.54046117e+02] [-4.36865993e-03 4.65068212e-05 -9.99990456e-01 -8.04961143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.150385723 meters 0.015448183699854458 Centerline is valid? [True, True] Translation: X:71.24, Y:-154.14, Z:-8.05 [[ 6.36631091e-01 -7.71164693e-01 -2.42296028e-03 7.12416525e+01] [-7.71159345e-01 -6.36635700e-01 2.87231737e-03 -1.54139474e+02] [-3.75757276e-03 3.98819231e-05 -9.99992940e-01 -8.04963619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.180385723 meters 0.015423195484585227 Centerline is valid? [True, True] Translation: X:71.29, Y:-154.23, Z:-8.05 [[ 6.93670019e-01 -7.20288859e-01 -2.42139711e-03 7.12904490e+01] [-7.20284629e-01 -6.93674245e-01 2.46874342e-03 -1.54231347e+02] [-3.45786919e-03 3.16018227e-05 -9.99994021e-01 -8.04976857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.210385723 meters 0.015220816214478535 Centerline is valid? [True, True] Translation: X:71.34, Y:-154.31, Z:-8.05 [[ 7.46589291e-01 -6.65280067e-01 -2.61971699e-03 7.13370324e+01] [-6.65276096e-01 -7.46593886e-01 2.29890430e-03 -1.54313460e+02] [-3.48527990e-03 2.64977599e-05 -9.99993926e-01 -8.04978965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.240385723 meters 0.016304748014223765 Centerline is valid? [True, True] Translation: X:71.34, Y:-154.33, Z:-8.05 [[ 7.98669746e-01 -6.01758954e-01 -3.57735164e-03 7.13410639e+01] [-6.01753010e-01 -7.98677758e-01 2.67490294e-03 -1.54329400e+02] [-4.46679798e-03 1.63180636e-05 -9.99990024e-01 -8.04764541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.270385723 meters 0.01484195270096657 Centerline is valid? [True, True] Translation: X:71.35, Y:-154.34, Z:-8.05 [[ 8.44768214e-01 -5.35119239e-01 -3.75030699e-03 7.13450030e+01] [-5.35113986e-01 -8.44776539e-01 2.37098087e-03 -1.54344498e+02] [-4.43692884e-03 3.91245110e-06 -9.99990157e-01 -8.04957741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.300385723 meters 0.015010876133294155 Centerline is valid? [True, True] Translation: X:71.35, Y:-154.36, Z:-8.05 [[ 8.86351680e-01 -4.62993826e-01 -4.17341307e-03 7.13521269e+01] [-4.62988589e-01 -8.86361505e-01 2.20219249e-03 -1.54357806e+02] [-4.71875422e-03 -1.96743810e-05 -9.99988866e-01 -8.04973142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.330385723 meters 0.015059716986183882 Centerline is valid? [True, True] Translation: X:71.36, Y:-154.37, Z:-8.05 [[ 9.20691290e-01 -3.90270077e-01 -4.10065811e-03 7.13585231e+01] [-3.90266069e-01 -9.20700422e-01 1.76896442e-03 -1.54373703e+02] [-4.46585153e-03 -2.83224171e-05 -9.99990028e-01 -8.05027704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.360385723 meters 0.015295425755526282 Centerline is valid? [True, True] Translation: X:71.36, Y:-154.39, Z:-8.05 [[ 9.49070765e-01 -3.15036269e-01 -4.10277628e-03 7.13649047e+01] [-3.15033157e-01 -9.49079632e-01 1.40066327e-03 -1.54388254e+02] [-4.33512113e-03 -3.68179913e-05 -9.99990603e-01 -8.05069950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.390385723 meters 0.016098910043347656 Centerline is valid? [True, True] Translation: X:71.37, Y:-154.40, Z:-8.05 [[ 9.71557422e-01 -2.36761010e-01 -4.51656170e-03 7.13746157e+01] [-2.36758190e-01 -9.71567919e-01 1.15696941e-03 -1.54398083e+02] [-4.66207170e-03 -5.47292512e-05 -9.99989131e-01 -8.05044423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.420385723 meters 0.015970273056054193 Centerline is valid? [True, True] Translation: X:71.38, Y:-154.41, Z:-8.05 [[ 9.87223190e-01 -1.59282592e-01 -4.40785164e-03 7.13841113e+01] [-1.59280751e-01 -9.87233029e-01 7.68010737e-04 -1.54408835e+02] [-4.47390747e-03 -5.61120902e-05 -9.99989990e-01 -8.05100553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.450385723 meters 0.015666496008793725 Centerline is valid? [True, True] Translation: X:71.40, Y:-154.41, Z:-8.05 [[ 9.96554928e-01 -8.28631929e-02 -3.45944505e-03 7.13951617e+01] [-8.28625574e-02 -9.96560931e-01 3.26887068e-04 -1.54411400e+02] [-3.47463469e-03 -3.91024536e-05 -9.99993963e-01 -8.05230740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.480385723 meters 0.015509530871748166 Centerline is valid? [True, True] Translation: X:71.40, Y:-154.42, Z:-8.05 [[ 9.99979992e-01 -5.71526419e-03 -2.71141383e-03 7.14024014e+01] [-5.71516897e-03 -9.99983667e-01 4.28644325e-05 -1.54416554e+02] [-2.71161453e-03 -2.73673866e-05 -9.99996323e-01 -8.05326452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.510385723 meters 0.015314502919003534 Centerline is valid? [True, True] Translation: X:71.41, Y:-154.42, Z:-8.05 [[ 9.97474162e-01 7.09996902e-02 -2.08335276e-03 7.14097782e+01] [ 7.09995720e-02 -9.97476337e-01 -1.30722234e-04 -1.54422012e+02] [-2.08737632e-03 -1.75251041e-05 -9.99997821e-01 -8.05384779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.540385723 meters 0.015162406529230076 Centerline is valid? [True, True] Translation: X:71.42, Y:-154.42, Z:-8.05 [[ 9.89251595e-01 1.46215899e-01 -1.48065208e-03 7.14152846e+01] [ 1.46215747e-01 -9.89252703e-01 -2.10397098e-04 -1.54423035e+02] [-1.49550247e-03 -8.35898541e-06 -9.99998882e-01 -8.05489446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.570385723 meters 0.014961372138842403 Centerline is valid? [True, True] Translation: X:71.42, Y:-154.42, Z:-8.06 [[ 9.75417380e-01 2.20358100e-01 -1.80059352e-03 7.14199935e+01] [ 2.20357735e-01 -9.75419042e-01 -4.01604755e-04 -1.54419785e+02] [-1.84483007e-03 -5.04245144e-06 -9.99998298e-01 -8.05553926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.600385723 meters 0.014903600014371434 Centerline is valid? [True, True] Translation: X:71.43, Y:-154.43, Z:-8.06 [[ 9.55572156e-01 2.94746024e-01 -2.57591768e-03 7.14278009e+01] [ 2.94744965e-01 -9.55575628e-01 -7.90213311e-04 -1.54426685e+02] [-2.69439639e-03 -4.13292868e-06 -9.99996370e-01 -8.05616874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.630385723 meters 0.015126845664436103 Centerline is valid? [True, True] Translation: X:71.43, Y:-154.43, Z:-8.06 [[ 9.29949435e-01 3.67679863e-01 -2.35917150e-03 7.14339953e+01] [ 3.67678683e-01 -9.29952428e-01 -9.31467538e-04 -1.54433672e+02] [-2.53639912e-03 -1.19936185e-06 -9.99996783e-01 -8.05579976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.660385723 meters 0.01498052701151037 Centerline is valid? [True, True] Translation: X:71.44, Y:-154.44, Z:-8.06 [[ 8.98856935e-01 4.38233388e-01 -2.77622702e-03 7.14408765e+01] [ 4.38231290e-01 -8.98861223e-01 -1.35604128e-03 -1.54437705e+02] [-3.08970538e-03 2.25756025e-06 -9.99995227e-01 -8.05675126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.690385723 meters 0.014974996197421491 Centerline is valid? [True, True] Translation: X:71.45, Y:-154.44, Z:-8.06 [[ 8.62112492e-01 5.06706570e-01 -3.24088071e-03 7.14468693e+01] [ 5.06702968e-01 -8.62118583e-01 -1.91048793e-03 -1.54441911e+02] [-3.76208028e-03 4.89163578e-06 -9.99992923e-01 -8.05578431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.720385723 meters 0.015039683400222034 Centerline is valid? [True, True] Translation: X:71.45, Y:-154.45, Z:-8.05 [[ 8.20121271e-01 5.72175363e-01 -4.05640101e-03 7.14546112e+01] [ 5.72168309e-01 -8.20131303e-01 -2.84121970e-03 -1.54447112e+02] [-4.95245736e-03 9.20060474e-06 -9.99987736e-01 -8.05499410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.750385723 meters 0.015201149997551634 Centerline is valid? [True, True] Translation: X:71.46, Y:-154.45, Z:-8.05 [[ 7.73821412e-01 6.33373012e-01 -6.24904986e-03 7.14619954e+01] [ 6.33352066e-01 -7.73846643e-01 -5.15104629e-03 -1.54450667e+02] [-8.09833995e-03 2.81412741e-05 -9.99967208e-01 -8.05272165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.780385723 meters 0.015421504118558606 Centerline is valid? [True, True] Translation: X:71.47, Y:-154.46, Z:-8.05 [[ 7.22713161e-01 6.91118470e-01 -6.39902364e-03 7.14711704e+01] [ 6.91090867e-01 -7.22741488e-01 -6.17695199e-03 -1.54455710e+02] [-8.89384548e-03 4.18577049e-05 -9.99960448e-01 -8.05212206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.810385723 meters 0.017797070461924386 Centerline is valid? [True, True] Translation: X:71.48, Y:-154.46, Z:-8.05 [[ 6.67449313e-01 7.44621708e-01 -7.06591461e-03 7.14785679e+01] [ 7.44578941e-01 -6.67486710e-01 -7.98074797e-03 -1.54461157e+02] [-1.06590423e-02 6.56135303e-05 -9.99943189e-01 -8.04846412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.840385723 meters 0.015737330605021818 Centerline is valid? [True, True] Translation: X:71.49, Y:-154.47, Z:-8.05 [[ 6.08700489e-01 7.93368293e-01 -7.10400323e-03 7.14876958e+01] [ 7.93312404e-01 -6.08741934e-01 -9.41738474e-03 -1.54465920e+02] [-1.17959591e-02 9.66728172e-05 -9.99930421e-01 -8.04991367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.870385723 meters 0.01616608281004244 Centerline is valid? [True, True] Translation: X:71.49, Y:-154.47, Z:-8.05 [[ 5.47637012e-01 8.36686656e-01 -7.01019329e-03 7.14927630e+01] [ 8.36614519e-01 -5.47681857e-01 -1.09877089e-02 -1.54468973e+02] [-1.30326251e-02 1.52446583e-04 -9.99915060e-01 -8.04896174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.900385723 meters 0.016954635270472113 Centerline is valid? [True, True] Translation: X:71.50, Y:-154.47, Z:-8.05 [[ 4.82253229e-01 8.76011242e-01 -6.01055922e-03 7.14978231e+01] [ 8.75938614e-01 -4.82290652e-01 -1.12814755e-02 -1.54471795e+02] [-1.27815359e-02 1.75647069e-04 -9.99918297e-01 -8.04889772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.930385723 meters 0.01753092970207681 Centerline is valid? [True, True] Translation: X:71.50, Y:-154.47, Z:-8.05 [[ 4.15832688e-01 9.09429197e-01 -4.65948946e-03 7.14998029e+01] [ 9.09366414e-01 -4.15858741e-01 -1.06879603e-02 -1.54472745e+02] [-1.16576326e-02 2.07220054e-04 -9.99932026e-01 -8.05038694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.960385723 meters 0.017185098111115526 Centerline is valid? [True, True] Translation: X:71.51, Y:-154.48, Z:-8.05 [[ 3.44711011e-01 9.38702338e-01 -3.49850550e-03 7.15118821e+01] [ 9.38647757e-01 -3.44728702e-01 -1.01246901e-02 -1.54477270e+02] [-1.07101056e-02 2.06227820e-04 -9.99942624e-01 -8.05177044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.990385723 meters 0.017407798718251814 Centerline is valid? [True, True] Translation: X:71.52, Y:-154.48, Z:-8.05 [[ 2.71624588e-01 9.62399891e-01 -2.55613796e-03 7.15222917e+01] [ 9.62349663e-01 -2.71636532e-01 -9.83462507e-03 -1.54480260e+02] [-1.01591825e-02 2.11427475e-04 -9.99948372e-01 -8.05214562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.020385723 meters 0.017949929434178544 Centerline is valid? [True, True] Translation: X:71.53, Y:-154.48, Z:-8.05 [[ 1.98035473e-01 9.80193309e-01 -1.74044966e-03 7.15314179e+01] [ 9.80144418e-01 -1.98042983e-01 -9.79269382e-03 -1.54482679e+02] [-9.94341680e-03 2.33408733e-04 -9.99950536e-01 -8.05336212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.050385723 meters 0.018991443334043488 Centerline is valid? [True, True] Translation: X:71.54, Y:-154.49, Z:-8.05 [[ 1.23314856e-01 9.92367030e-01 -1.06026490e-03 7.15393832e+01] [ 9.92307856e-01 -1.23319085e-01 -1.08407380e-02 -1.54485767e+02] [-1.08887419e-02 2.84714861e-04 -9.99940675e-01 -8.05308477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.080385723 meters 0.01926582670759914 Centerline is valid? [True, True] Translation: X:71.55, Y:-154.49, Z:-8.05 [[ 4.64192440e-02 9.98922025e-01 -2.03379651e-04 7.15491422e+01] [ 9.98865451e-01 -4.64187803e-02 -1.06351789e-02 -1.54487349e+02] [-1.06331551e-02 2.90528058e-04 -9.99943424e-01 -8.05346619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.110385723 meters 0.01885434905168599 Centerline is valid? [True, True] Translation: X:71.56, Y:-154.49, Z:-8.06 [[-3.09695992e-02 9.99520144e-01 6.05125447e-04 7.15621979e+01] [ 9.99468164e-01 3.09741624e-02 -1.01976087e-02 -1.54488273e+02] [-1.02114586e-02 2.88987765e-04 -9.99947820e-01 -8.05516343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.140385723 meters 0.019044825160521642 Centerline is valid? [True, True] Translation: X:71.57, Y:-154.49, Z:-8.05 [[-1.09751283e-01 9.93957926e-01 1.51600734e-03 7.15749976e+01] [ 9.93897720e-01 1.09761327e-01 -1.09440684e-02 -1.54489083e+02] [-1.10443425e-02 3.05630697e-04 -9.99938963e-01 -8.05468142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.170385723 meters 0.01929867825364738 Centerline is valid? [True, True] Translation: X:71.59, Y:-154.49, Z:-8.05 [[-1.88240137e-01 9.82119959e-01 2.45723114e-03 7.15871060e+01] [ 9.82056185e-01 1.88255926e-01 -1.11962745e-02 -1.54489428e+02] [-1.14586730e-02 3.05550790e-04 -9.99934301e-01 -8.05346924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.200385723 meters 0.01847849619897328 Centerline is valid? [True, True] Translation: X:71.60, Y:-154.49, Z:-8.05 [[-2.67643799e-01 9.63510621e-01 3.75222263e-03 7.15999452e+01] [ 9.63431220e-01 2.67669928e-01 -1.23731191e-02 -1.54487119e+02] [-1.29259888e-02 3.03419829e-04 -9.99916410e-01 -8.05308394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.230385723 meters 0.018155740447318647 Centerline is valid? [True, True] Translation: X:71.61, Y:-154.49, Z:-8.05 [[-3.44956094e-01 9.38604922e-01 5.10813938e-03 7.16098035e+01] [ 9.38514123e-01 3.44993792e-01 -1.30585416e-02 -1.54486362e+02] [-1.40190878e-02 2.89437449e-04 -9.99901686e-01 -8.05358123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.260385723 meters 0.017953811553347198 Centerline is valid? [True, True] Translation: X:71.62, Y:-154.48, Z:-8.05 [[-4.17911699e-01 9.08469040e-01 5.81506315e-03 7.16190709e+01] [ 9.08389849e-01 4.17952068e-01 -1.19979597e-02 -1.54484134e+02] [-1.33301926e-02 2.68256609e-04 -9.99911113e-01 -8.05428888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.290385723 meters 0.017410360262261688 Centerline is valid? [True, True] Translation: X:71.63, Y:-154.48, Z:-8.06 [[-4.87684708e-01 8.72995521e-01 6.51503357e-03 7.16316945e+01] [ 8.72924646e-01 4.87728154e-01 -1.11270478e-02 -1.54478830e+02] [-1.28914282e-02 2.60642329e-04 -9.99916868e-01 -8.05534536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.320385723 meters 0.017651160311530793 Centerline is valid? [True, True] Translation: X:71.64, Y:-154.47, Z:-8.05 [[-5.53811112e-01 8.32610428e-01 7.28884401e-03 7.16422425e+01] [ 8.32544633e-01 5.53859010e-01 -1.04705266e-02 -1.54472447e+02] [-1.27548615e-02 2.69593997e-04 -9.99918617e-01 -8.05491473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.350385723 meters 0.01748753467246377 Centerline is valid? [True, True] Translation: X:71.65, Y:-154.46, Z:-8.06 [[-6.16775081e-01 7.87099087e-01 7.97041757e-03 7.16536173e+01] [ 7.87039037e-01 6.16826517e-01 -9.72632755e-03 -1.54464999e+02] [-1.25719484e-02 2.74073312e-04 -9.99920932e-01 -8.05556257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.380385723 meters 0.018309762681922026 Centerline is valid? [True, True] Translation: X:71.66, Y:-154.46, Z:-8.06 [[-6.75206389e-01 7.37578434e-01 8.62477616e-03 7.16615280e+01] [ 7.37523749e-01 6.75261407e-01 -8.98619032e-03 -1.54460448e+02] [-1.24519987e-02 2.93444134e-04 -9.99922428e-01 -8.05663497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.410385723 meters 0.019189713342569567 Centerline is valid? [True, True] Translation: X:71.67, Y:-154.46, Z:-8.06 [[-7.29950486e-01 6.83438007e-01 9.20751006e-03 7.16684494e+01] [ 6.83388895e-01 7.30008491e-01 -8.19887380e-03 -1.54456782e+02] [-1.23249825e-02 3.07538213e-04 -9.99923997e-01 -8.05693998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.440385723 meters 0.01973506883465155 Centerline is valid? [True, True] Translation: X:71.69, Y:-154.44, Z:-8.06 [[-7.75082178e-01 6.31780394e-01 1.00574339e-02 7.16876696e+01] [ 6.31732909e-01 7.75147351e-01 -7.75344142e-03 -1.54435338e+02] [-1.26944655e-02 3.44057707e-04 -9.99919363e-01 -8.05680823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.470385723 meters 0.020537310650670444 Centerline is valid? [True, True] Translation: X:72.11, Y:-153.89, Z:-9.01 [[-7.67251342e-01 -6.41272824e-01 9.72339693e-03 7.21098210e+01] [ 6.41215728e-01 -7.67312878e-01 -8.56371681e-03 -1.53894949e+02] [ 1.29525665e-02 -3.35728171e-04 9.99916056e-01 -9.01351609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.500385723 meters 0.020867131514392307 Centerline is valid? [True, True] Translation: X:71.65, Y:-154.41, Z:-8.05 [[-7.77151142e-01 6.29211705e-01 1.13460760e-02 7.16511666e+01] [ 6.29151917e-01 7.77233863e-01 -8.68263373e-03 -1.54409280e+02] [-1.42817692e-02 3.90686727e-04 -9.99897934e-01 -8.05405686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.530385723 meters 0.018869233730958335 Centerline is valid? [True, True] Translation: X:71.67, Y:-154.38, Z:-8.06 [[-8.20285319e-01 5.71809512e-01 1.28793293e-02 7.16691992e+01] [ 5.71746744e-01 8.20386322e-01 -8.48192670e-03 -1.54382037e+02] [-1.54160719e-02 4.06114624e-04 -9.99881083e-01 -8.05502107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.560385723 meters 0.018669016234907 Centerline is valid? [True, True] Translation: X:71.67, Y:-154.35, Z:-8.05 [[-8.60055490e-01 5.09994750e-01 1.44882279e-02 7.16722540e+01] [ 5.09930058e-01 8.60177424e-01 -8.13235230e-03 -1.54350090e+02] [-1.66099036e-02 3.93708672e-04 -9.99861969e-01 -8.05378196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.590385723 meters 0.01978740824894846 Centerline is valid? [True, True] Translation: X:71.69, Y:-154.33, Z:-8.05 [[-8.94670976e-01 4.46454011e-01 1.55775833e-02 7.16911686e+01] [ 4.46393773e-01 8.94806498e-01 -7.34373057e-03 -1.54328943e+02] [-1.72175607e-02 3.83513595e-04 -9.99851693e-01 -8.05153774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.620385723 meters 0.018056423077162827 Centerline is valid? [True, True] Translation: X:71.99, Y:-153.72, Z:-9.02 [[-8.82990515e-01 -4.69143209e-01 1.52446320e-02 7.19851213e+01] [ 4.69065969e-01 -8.83122024e-01 -8.52098828e-03 -1.53716824e+02] [ 1.74604340e-02 -3.73213767e-04 9.99847485e-01 -9.01772505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.650385723 meters 0.017167428966450852 Centerline is valid? [True, True] Translation: X:71.65, Y:-154.30, Z:-8.05 [[-8.98181739e-01 4.39328470e-01 1.61263417e-02 7.16469740e+01] [ 4.39264054e-01 8.98326440e-01 -7.52983614e-03 -1.54301572e+02] [-1.77947905e-02 3.20560896e-04 -9.99841609e-01 -8.05231309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.680385723 meters 0.017466633053126592 Centerline is valid? [True, True] Translation: X:71.66, Y:-154.28, Z:-8.05 [[-9.27818284e-01 3.72637073e-01 1.71710037e-02 7.16558233e+01] [ 3.72579092e-01 9.27977115e-01 -6.57980801e-03 -1.54275296e+02] [-1.83861789e-02 2.92690785e-04 -9.99830917e-01 -8.05062909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.710385723 meters 0.01681646769535809 Centerline is valid? [True, True] Translation: X:71.67, Y:-154.25, Z:-8.05 [[-9.52150996e-01 3.05105991e-01 1.78553994e-02 7.16653287e+01] [ 3.05057897e-01 9.52318358e-01 -5.42445171e-03 -1.54247014e+02] [-1.86590574e-02 2.82033492e-04 -9.99825865e-01 -8.05184050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.740385723 meters 0.017503828059908973 Centerline is valid? [True, True] Translation: X:71.67, Y:-154.22, Z:-8.05 [[-9.71507736e-01 2.36331411e-01 1.78936384e-02 7.16704193e+01] [ 2.36296410e-01 9.71672472e-01 -4.07605304e-03 -1.54220449e+02] [-1.83500552e-02 2.68285449e-04 -9.99831588e-01 -8.04989371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.770385723 meters 0.016813777098702277 Centerline is valid? [True, True] Translation: X:71.67, Y:-154.19, Z:-8.05 [[-9.85851332e-01 1.66675740e-01 1.77862134e-02 7.16739031e+01] [ 1.66653397e-01 9.86011729e-01 -2.74148226e-03 -1.54190636e+02] [-1.79943536e-02 2.61438943e-04 -9.99838054e-01 -8.05201001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.800385723 meters 0.01906830843590016 Centerline is valid? [True, True] Translation: X:71.78, Y:-153.52, Z:-9.02 [[-9.78922660e-01 -2.03565620e-01 1.64761803e-02 7.17782450e+01] [ 2.03531358e-01 -9.79061254e-01 -3.74796412e-03 -1.53518447e+02] [ 1.68941464e-02 -3.15547655e-04 9.99857234e-01 -9.02092231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.830385723 meters 0.01769568913468678 Centerline is valid? [True, True] Translation: X:71.61, Y:-154.19, Z:-8.05 [[-9.86301932e-01 1.64173465e-01 1.59866143e-02 7.16137179e+01] [ 1.64156201e-01 9.86431450e-01 -2.39515886e-03 -1.54185738e+02] [-1.61629206e-02 2.61952060e-04 -9.99869337e-01 -8.05218627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.860385723 meters 0.018667028330859415 Centerline is valid? [True, True] Translation: X:71.62, Y:-154.16, Z:-8.05 [[-9.95319313e-01 9.52904838e-02 1.60993329e-02 7.16158164e+01] [ 9.52826884e-02 9.95449467e-01 -1.25230665e-03 -1.54161272e+02] [-1.61454053e-02 2.87542729e-04 -9.99869613e-01 -8.05261146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.890385723 meters 0.018974064172133345 Centerline is valid? [True, True] Translation: X:71.67, Y:-153.47, Z:-9.02 [[-9.91828479e-01 -1.26537086e-01 1.62675915e-02 7.16698906e+01] [ 1.26515536e-01 -9.91961839e-01 -2.35124912e-03 -1.53469855e+02] [ 1.64343502e-02 -2.73932771e-04 9.99864909e-01 -9.01702424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.920385723 meters 0.01752605023873365 Centerline is valid? [True, True] Translation: X:71.54, Y:-154.16, Z:-8.06 [[-9.95687886e-01 9.11642529e-02 1.71671753e-02 7.15436687e+01] [ 9.11561320e-02 9.95835820e-01 -1.25659273e-03 -1.54157051e+02] [-1.72102445e-02 3.13719143e-04 -9.99851844e-01 -8.05503337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.950385723 meters 0.017450141814585835 Centerline is valid? [True, True] Translation: X:71.54, Y:-154.13, Z:-8.06 [[-9.99652252e-01 1.95663768e-02 1.76785931e-02 7.15417736e+01] [ 1.95688397e-02 9.99808511e-01 -3.36785986e-05 -1.54128558e+02] [-1.76758668e-02 3.12282667e-04 -9.99843721e-01 -8.05526926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.980385723 meters 0.017450141814585835 Centerline is valid? [True, True] Translation: X:71.55, Y:-153.43, Z:-9.01 [[-9.98505549e-01 -5.17200521e-02 1.76551713e-02 7.15451364e+01] [ 5.17064549e-02 -9.98661574e-01 -1.22607355e-03 -1.53432857e+02] [ 1.76949537e-02 -3.11354925e-04 9.99843384e-01 -9.01413074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.010385723 meters 0.017557005908573012 Centerline is valid? [True, True] Translation: X:71.45, Y:-154.13, Z:-8.05 [[-9.99748830e-01 1.32435990e-02 1.80799494e-02 7.14528221e+01] [ 1.32468980e-02 9.99912254e-01 6.27159411e-05 -1.54129997e+02] [-1.80775323e-02 3.02203435e-04 -9.99836542e-01 -8.05478598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.040385723 meters 0.01764256808214306 Centerline is valid? [True, True] Translation: X:71.46, Y:-153.43, Z:-9.01 [[-9.98717729e-01 -4.72154179e-02 1.82647554e-02 7.14558171e+01] [ 4.72021910e-02 -9.98884688e-01 -1.15484157e-03 -1.53429012e+02] [ 1.82989108e-02 -2.91224277e-04 9.99832519e-01 -9.01468218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.070385723 meters 0.017896480399181205 Centerline is valid? [True, True] Translation: X:71.36, Y:-154.14, Z:-8.05 [[-9.99794142e-01 8.02059945e-03 1.86371473e-02 7.13626127e+01] [ 8.02509729e-03 9.99967785e-01 1.66559886e-04 -1.54135668e+02] [-1.86352110e-02 3.16090518e-04 -9.99826299e-01 -8.05477680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.100385723 meters 0.01814869438277807 Centerline is valid? [True, True] Translation: X:71.36, Y:-154.11, Z:-8.05 [[-9.97868580e-01 -6.27909926e-02 1.77648239e-02 7.13580596e+01] [-6.27754963e-02 9.98026650e-01 1.42915051e-03 -1.54109017e+02] [-1.78195055e-02 3.10908747e-04 -9.99841172e-01 -8.05495841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.130385723 meters 0.018480849610946492 Centerline is valid? [True, True] Translation: X:71.35, Y:-154.08, Z:-8.06 [[-9.90958406e-01 -1.33028638e-01 1.74590898e-02 7.13454341e+01] [-1.33002201e-01 9.91112141e-01 2.67187966e-03 -1.54084040e+02] [-1.76593524e-02 3.25624231e-04 -9.99844008e-01 -8.05516984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.160385723 meters 0.018678325377061863 Centerline is valid? [True, True] Translation: X:71.32, Y:-154.06, Z:-8.05 [[-9.78865247e-01 -2.03802378e-01 1.69534118e-02 7.13176838e+01] [-2.03766076e-01 9.79011995e-01 3.86010791e-03 -1.54061225e+02] [-1.73842927e-02 3.23995290e-04 -9.99848829e-01 -8.05467963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.190385723 meters 0.018984135402126134 Centerline is valid? [True, True] Translation: X:71.27, Y:-154.05, Z:-8.06 [[-9.61593312e-01 -2.74068282e-01 1.49959525e-02 7.12701791e+01] [-2.74030086e-01 9.61710189e-01 4.58533754e-03 -1.54047929e+02] [-1.56784559e-02 2.99887752e-04 -9.99877041e-01 -8.05520780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.220385723 meters 0.019092349521200043 Centerline is valid? [True, True] Translation: X:71.21, Y:-154.04, Z:-8.06 [[-9.38861833e-01 -3.44043953e-01 1.31231879e-02 7.12069231e+01] [-3.44006322e-01 9.38953506e-01 5.09553855e-03 -1.54041566e+02] [-1.40751525e-02 2.69547050e-04 -9.99900904e-01 -8.05632388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.250385723 meters 0.01744600266295244 Centerline is valid? [True, True] Translation: X:71.13, Y:-154.04, Z:-8.06 [[-9.10682622e-01 -4.12973552e-01 1.04884640e-02 7.11322986e+01] [-4.12943415e-01 9.10742993e-01 4.99374515e-03 -1.54041838e+02] [-1.16145798e-02 2.16574766e-04 -9.99932525e-01 -8.05905016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.280385723 meters 0.01718502179620084 Centerline is valid? [True, True] Translation: X:71.05, Y:-154.05, Z:-8.06 [[-8.76865568e-01 -4.80645961e-01 9.28631562e-03 7.10539423e+01] [-4.80616725e-01 8.76914719e-01 5.30465746e-03 -1.54049826e+02] [-1.06929690e-02 1.88312883e-04 -9.99942811e-01 -8.05894361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.310385723 meters 0.017025405905574123 Centerline is valid? [True, True] Translation: X:70.97, Y:-154.07, Z:-8.06 [[-8.38004412e-01 -5.45597312e-01 8.49583068e-03 7.09663183e+01] [-5.45567171e-01 8.38047459e-01 5.73745599e-03 -1.54070316e+02] [-1.02502499e-02 1.72967117e-04 -9.99947450e-01 -8.05829915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.340385723 meters 0.016977152534354948 Centerline is valid? [True, True] Translation: X:70.88, Y:-154.10, Z:-8.06 [[-7.93694521e-01 -6.08267229e-01 7.74505528e-03 7.08773932e+01] [-6.08236389e-01 7.93732295e-01 6.12695183e-03 -1.54102814e+02] [-9.87432450e-03 1.52103639e-04 -9.99951236e-01 -8.05749063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.370385723 meters 0.01672026443763829 Centerline is valid? [True, True] Translation: X:70.79, Y:-154.15, Z:-8.06 [[-7.44512453e-01 -6.67583205e-01 5.81996913e-03 7.07858439e+01] [-6.67561638e-01 7.44535192e-01 5.36732925e-03 -1.54146996e+02] [-7.91631069e-03 1.10855340e-04 -9.99968659e-01 -8.05872641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.400385723 meters 0.01671314536699321 Centerline is valid? [True, True] Translation: X:70.69, Y:-154.20, Z:-8.06 [[-6.90941035e-01 -7.22894407e-01 4.91555572e-03 7.06947408e+01] [-7.22875147e-01 6.90958514e-01 5.27770474e-03 -1.54197664e+02] [-7.21166831e-03 9.32497130e-05 -9.99973991e-01 -8.05843750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.430385723 meters 0.016600166836390887 Centerline is valid? [True, True] Translation: X:70.60, Y:-154.26, Z:-8.06 [[-6.32874060e-01 -7.74242089e-01 4.42848960e-03 7.06022469e+01] [-7.74222222e-01 6.32889549e-01 5.54707565e-03 -1.54261075e+02] [-7.09752422e-03 8.19652330e-05 -9.99974809e-01 -8.05788828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.460385723 meters 0.016322038670706657 Centerline is valid? [True, True] Translation: X:70.51, Y:-154.34, Z:-8.06 [[-5.69766117e-01 -8.21793484e-01 4.69481833e-03 7.05103677e+01] [-8.21764516e-01 5.69785454e-01 6.90041331e-03 -1.54336637e+02] [-8.34575389e-03 7.35865838e-05 -9.99965171e-01 -8.05537914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.490385723 meters 0.01618981666703146 Centerline is valid? [True, True] Translation: X:70.43, Y:-154.41, Z:-8.05 [[-5.04023222e-01 -8.63678138e-01 4.54589522e-03 7.04287715e+01] [-8.63641784e-01 5.04043717e-01 7.92470246e-03 -1.54413425e+02] [-9.13572219e-03 6.82090122e-05 -9.99958266e-01 -8.05368734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.520385723 meters 0.016236041558323443 Centerline is valid? [True, True] Translation: X:70.35, Y:-154.51, Z:-8.05 [[-4.35509129e-01 -9.00175960e-01 3.87806209e-03 7.03498341e+01] [-9.00139051e-01 4.35526391e-01 8.15175425e-03 -1.54507370e+02] [-9.02701160e-03 5.93682613e-05 -9.99959254e-01 -8.05200867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.550385723 meters 0.01618742170532919 Centerline is valid? [True, True] Translation: X:70.27, Y:-154.62, Z:-8.05 [[-3.65792346e-01 -9.30692864e-01 2.59854444e-03 7.02720849e+01] [-9.30668358e-01 3.65801573e-01 6.75407470e-03 -1.54623787e+02] [-7.23652077e-03 5.22057472e-05 -9.99973815e-01 -8.05354434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.580385723 meters 0.01628921697971706 Centerline is valid? [True, True] Translation: X:70.22, Y:-154.71, Z:-8.05 [[-2.93887055e-01 -9.55838297e-01 1.88375490e-03 7.02158199e+01] [-9.55817473e-01 2.93893087e-01 6.30964520e-03 -1.54707983e+02] [-6.58462307e-03 5.37971949e-05 -9.99978320e-01 -8.05408544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.610385723 meters 0.016471775861018532 Centerline is valid? [True, True] Translation: X:70.16, Y:-154.82, Z:-8.05 [[-2.20526365e-01 -9.75380130e-01 1.31322186e-03 7.01600066e+01] [-9.75361234e-01 2.20530268e-01 6.07163556e-03 -1.54818229e+02] [-6.21175785e-03 5.80900301e-05 -9.99980705e-01 -8.05453254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.640385723 meters 0.01693917853019435 Centerline is valid? [True, True] Translation: X:70.12, Y:-154.93, Z:-8.06 [[-1.48204252e-01 -9.88956602e-01 5.83212299e-04 7.01172436e+01] [-9.88947393e-01 1.48205389e-01 4.26811344e-03 -1.54931446e+02] [-4.30741416e-03 5.57862750e-05 -9.99990722e-01 -8.05523093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.670385723 meters 0.017224890009369505 Centerline is valid? [True, True] Translation: X:70.08, Y:-155.05, Z:-8.06 [[-7.31672642e-02 -9.97319663e-01 2.01198788e-04 7.00793420e+01] [-9.97313742e-01 7.31675232e-02 3.43696467e-03 -1.55049672e+02] [-3.44247367e-03 5.08149861e-05 -9.99994073e-01 -8.05570263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.700385723 meters 0.01761870547056224 Centerline is valid? [True, True] Translation: X:70.05, Y:-155.17, Z:-8.06 [[ 1.58631039e-03 -9.99998741e-01 -4.50781636e-05 7.00528383e+01] [-9.99995913e-01 -1.58641311e-03 2.37833199e-03 -1.55174291e+02] [-2.37840051e-03 4.13052067e-05 -9.99997171e-01 -8.05634376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.730385723 meters 0.019793341292211924 Centerline is valid? [True, True] Translation: X:70.03, Y:-155.30, Z:-8.05 [[ 7.75413428e-02 -9.96989118e-01 -1.95157568e-04 7.00342669e+01] [-9.96987076e-01 -7.75415791e-02 2.01826093e-03 -1.55299763e+02] [-2.02731701e-03 3.80709106e-05 -9.99997944e-01 -8.05463083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.760385723 meters 0.01825069941161631 Centerline is valid? [True, True] Translation: X:70.03, Y:-155.44, Z:-8.05 [[ 1.53392820e-01 -9.88165074e-01 -6.55133919e-04 7.00258662e+01] [-9.88158017e-01 -1.53394201e-01 3.73533842e-03 -1.55440995e+02] [-3.79162471e-03 7.44017414e-05 -9.99992809e-01 -8.05410689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.790385723 meters 0.018520226430854998 Centerline is valid? [True, True] Translation: X:70.03, Y:-155.57, Z:-8.05 [[ 2.29119354e-01 -9.73397729e-01 -1.08740300e-03 7.00253558e+01] [-9.73388496e-01 -2.29121918e-01 4.24050953e-03 -1.55570158e+02] [-4.37685021e-03 8.68827692e-05 -9.99990418e-01 -8.05275628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.820385723 meters 0.018181576835114625 Centerline is valid? [True, True] Translation: X:70.03, Y:-155.69, Z:-8.05 [[ 3.04915720e-01 -9.52378140e-01 -1.51069116e-03 7.00290407e+01] [-9.52367824e-01 -3.04919450e-01 4.43363646e-03 -1.55685738e+02] [-4.68313756e-03 8.68482019e-05 -9.99989030e-01 -8.05210358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.850385723 meters 0.017466103238536902 Centerline is valid? [True, True] Translation: X:70.05, Y:-155.83, Z:-8.05 [[ 3.78400032e-01 -9.25639720e-01 -2.12721312e-03 7.00512196e+01] [-9.25626471e-01 -3.78406000e-01 4.95328712e-03 -1.55829160e+02] [-5.38990951e-03 9.46807681e-05 -9.99985470e-01 -8.05234089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.880385723 meters 0.018906227274529074 Centerline is valid? [True, True] Translation: X:70.07, Y:-155.94, Z:-8.05 [[ 4.49797003e-01 -8.93126980e-01 -2.61787619e-03 7.00711541e+01] [-8.93113027e-01 -4.49804612e-01 4.99328354e-03 -1.55940752e+02] [-5.63716903e-03 9.20953607e-05 -9.99984107e-01 -8.05061429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.910385723 meters 0.017124883214567788 Centerline is valid? [True, True] Translation: X:70.10, Y:-156.05, Z:-8.05 [[ 5.17150905e-01 -8.55888462e-01 -3.14357134e-03 7.00989191e+01] [-8.55873779e-01 -5.17160450e-01 5.01431987e-03 -1.56050761e+02] [-5.91742929e-03 9.73402251e-05 -9.99982487e-01 -8.05214806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.940385723 meters 0.01823229246027529 Centerline is valid? [True, True] Translation: X:70.14, Y:-156.17, Z:-8.05 [[ 5.80597885e-01 -8.14182259e-01 -3.65309385e-03 7.01434705e+01] [-8.14167289e-01 -5.80609368e-01 4.93829852e-03 -1.56167347e+02] [-6.14169556e-03 1.07063842e-04 -9.99981134e-01 -8.05028734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.970385723 meters 0.017746217324876763 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.27, Z:-8.05 [[ 6.40925852e-01 -7.67590131e-01 -4.40938843e-03 7.01839178e+01] [-7.67573253e-01 -6.40941009e-01 5.09167436e-03 -1.56268586e+02] [-6.73447686e-03 1.21142891e-04 -9.99977316e-01 -8.05003864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.000385723 meters 0.017938412865964617 Centerline is valid? [True, True] Translation: X:70.24, Y:-156.37, Z:-8.05 [[ 6.96702342e-01 -7.17346326e-01 -4.48278815e-03 7.02391823e+01] [-7.17332600e-01 -6.96716753e-01 4.43936922e-03 -1.56372143e+02] [-6.30779880e-03 1.22731152e-04 -9.99980098e-01 -8.05038143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.030385723 meters 0.017904321057393164 Centerline is valid? [True, True] Translation: X:70.23, Y:-156.38, Z:-8.05 [[ 7.50196268e-01 -6.61199338e-01 -4.58212777e-03 7.02329956e+01] [-6.61187978e-01 -7.50210251e-01 3.87766162e-03 -1.56379978e+02] [-6.00146652e-03 1.20640525e-04 -9.99981984e-01 -8.05082544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.060385723 meters 0.018126437787447394 Centerline is valid? [True, True] Translation: X:70.23, Y:-156.39, Z:-8.05 [[ 7.99146098e-01 -6.01120271e-01 -4.46476304e-03 7.02259062e+01] [-6.01111682e-01 -7.99158562e-01 3.21535905e-03 -1.56387274e+02] [-5.50087111e-03 1.14279585e-04 -9.99984864e-01 -8.05122703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.090385723 meters 0.018085898763452877 Centerline is valid? [True, True] Translation: X:70.22, Y:-156.40, Z:-8.05 [[ 8.43712453e-01 -5.36779554e-01 -4.12404477e-03 7.02193928e+01] [-5.36773719e-01 -8.43722526e-01 2.50483860e-03 -1.56395091e+02] [-4.82409562e-03 1.00315327e-04 -9.99988359e-01 -8.05098674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.120385723 meters 0.01790790490409572 Centerline is valid? [True, True] Translation: X:70.21, Y:-156.40, Z:-8.05 [[ 8.83748217e-01 -4.67947166e-01 -3.81288211e-03 7.02131535e+01] [-4.67943214e-01 -8.83756438e-01 1.92497743e-03 -1.56403748e+02] [-4.27044685e-03 8.30169354e-05 -9.99990878e-01 -8.05087406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.150385723 meters 0.017972287402743734 Centerline is valid? [True, True] Translation: X:70.21, Y:-156.41, Z:-8.05 [[ 9.17827712e-01 -3.96962501e-01 -3.61440557e-03 7.02090132e+01] [-3.96959739e-01 -9.17834826e-01 1.48270987e-03 -1.56409819e+02] [-3.90600752e-03 7.39012822e-05 -9.99992369e-01 -8.05101315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.180385723 meters 0.017788316995755435 Centerline is valid? [True, True] Translation: X:70.21, Y:-156.42, Z:-8.05 [[ 9.46246017e-01 -3.23429404e-01 -3.44912820e-03 7.02057895e+01] [-3.23427510e-01 -9.46252301e-01 1.10884224e-03 -1.56415626e+02] [-3.62237768e-03 6.63053895e-05 -9.99993437e-01 -8.05155323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.210385723 meters 0.017578438398252242 Centerline is valid? [True, True] Translation: X:70.20, Y:-156.42, Z:-8.05 [[ 9.68783621e-01 -2.47890796e-01 -2.90680169e-03 7.02031500e+01] [-2.47889844e-01 -9.68787980e-01 6.89042796e-04 -1.56421880e+02] [-2.98688191e-03 5.30332427e-05 -9.99995538e-01 -8.05279314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.240385723 meters 0.017643512313965302 Centerline is valid? [True, True] Translation: X:70.20, Y:-156.43, Z:-8.05 [[ 9.85235394e-01 -1.71180497e-01 -2.90793383e-03 7.01977479e+01] [-1.71179907e-01 -9.85239684e-01 4.52478677e-04 -1.56427348e+02] [-2.94246733e-03 5.19818343e-05 -9.99995670e-01 -8.05288583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.270385723 meters 0.017684337850925318 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.43, Z:-8.05 [[ 9.95667445e-01 -9.29020006e-02 -3.94415588e-03 7.01920393e+01] [-9.29015384e-02 -9.95675255e-01 3.00616030e-04 -1.56433641e+02] [-3.95502624e-03 6.71045549e-05 -9.99992177e-01 -8.05151793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.300385723 meters 0.017381204869855078 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.44, Z:-8.05 [[ 9.99891522e-01 -1.40635504e-02 -4.37741791e-03 7.01876768e+01] [-1.40637287e-02 -9.99901101e-01 -9.96407880e-06 -1.56440593e+02] [-4.37684486e-03 7.15258161e-05 -9.99990419e-01 -8.05081202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.330385723 meters 0.01654791011112902 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.45, Z:-8.05 [[ 9.97778726e-01 6.64076931e-02 -5.25673328e-03 7.01842356e+01] [ 6.64063766e-02 -9.97792570e-01 -4.24770901e-04 -1.56453405e+02] [-5.27333746e-03 7.47467582e-05 -9.99986093e-01 -8.05086293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.360385723 meters 0.01697360023523267 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.46, Z:-8.05 [[ 9.89348076e-01 1.45476332e-01 -5.19822284e-03 7.01799101e+01] [ 1.45473960e-01 -9.89361730e-01 -8.33567274e-04 -1.56462163e+02] [-5.26418705e-03 6.84821170e-05 -9.99986142e-01 -8.05058950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.390385723 meters 0.016410625510333753 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.47, Z:-8.05 [[ 9.74745263e-01 2.23281617e-01 -4.12208061e-03 7.01782062e+01] [ 2.23279395e-01 -9.74753978e-01 -9.97486350e-04 -1.56473289e+02] [-4.24073483e-03 5.19194300e-05 -9.99991007e-01 -8.05125185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.420385723 meters 0.016230930476822218 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.48, Z:-8.05 [[ 9.54208493e-01 2.99119423e-01 -3.70426648e-03 7.01770768e+01] [ 2.99116978e-01 -9.54215682e-01 -1.21028359e-03 -1.56483651e+02] [-3.89668850e-03 4.68538870e-05 -9.99992407e-01 -8.05182458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.450385723 meters 0.01630335587777419 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.50, Z:-8.05 [[ 9.27764159e-01 3.73150275e-01 -3.54079962e-03 7.01765129e+01] [ 3.73147372e-01 -9.27770915e-01 -1.47273712e-03 -1.56495539e+02] [-3.83460316e-03 4.51126427e-05 -9.99992647e-01 -8.05213026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.480385723 meters 0.016139029038974146 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.51, Z:-8.05 [[ 8.95403184e-01 4.45241007e-01 -3.68563544e-03 7.01752655e+01] [ 4.45237024e-01 -8.95410768e-01 -1.88390339e-03 -1.56505505e+02] [-4.13894870e-03 4.58717391e-05 -9.99991433e-01 -8.05324211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.510385723 meters 0.01594102401425909 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.52, Z:-8.05 [[ 8.57575199e-01 5.14348259e-01 -3.26285071e-03 7.01775967e+01] [ 5.14344354e-01 -8.57581406e-01 -2.00455736e-03 -1.56518178e+02] [-3.82920069e-03 4.08298348e-05 -9.99992668e-01 -8.05434250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.540385723 meters 0.015954252597090414 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.53, Z:-8.06 [[ 8.14461421e-01 5.80211133e-01 -2.76311416e-03 7.01783008e+01] [ 5.80207647e-01 -8.14466108e-01 -2.01151233e-03 -1.56529132e+02] [-3.41756468e-03 3.51192259e-05 -9.99994160e-01 -8.05506601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.570385723 meters 0.01596959881424616 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.54, Z:-8.05 [[ 7.66607031e-01 6.42108559e-01 -3.20292926e-03 7.01812530e+01] [ 6.42102716e-01 -7.66613721e-01 -2.73962934e-03 -1.56541099e+02] [-4.21454896e-03 4.36095352e-05 -9.99991118e-01 -8.05488908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.600385723 meters 0.016068023618705327 Centerline is valid? [True, True] Translation: X:70.18, Y:-156.55, Z:-8.05 [[ 7.14189034e-01 6.99945834e-01 -3.13917994e-03 7.01835993e+01] [ 6.99938779e-01 -7.14195931e-01 -3.14284671e-03 -1.56553042e+02] [-4.44181200e-03 4.73528792e-05 -9.99990134e-01 -8.05395034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.630385723 meters 0.01625786446257165 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.56, Z:-8.05 [[ 6.57974739e-01 7.53033712e-01 -3.07742979e-03 7.01850286e+01] [ 7.53025079e-01 -6.57981934e-01 -3.60625253e-03 -1.56561486e+02] [-4.74052293e-03 5.54412590e-05 -9.99988762e-01 -8.05325195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.660385723 meters 0.01634521408470815 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.57, Z:-8.05 [[ 5.97225172e-01 8.02068933e-01 -2.74233777e-03 7.01869938e+01] [ 8.02060045e-01 -5.97231465e-01 -3.77631642e-03 -1.56569821e+02] [-4.66667649e-03 5.57916672e-05 -9.99989109e-01 -8.05370822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.690385723 meters 0.016369553992435896 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.58, Z:-8.06 [[ 5.33539869e-01 8.45772794e-01 -1.89458801e-03 7.01900243e+01] [ 8.45767141e-01 -5.33543231e-01 -3.09254474e-03 -1.56578435e+02] [-3.62643482e-03 4.76156263e-05 -9.99993423e-01 -8.05573033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.720385723 meters 0.016524106045904933 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.59, Z:-8.06 [[ 4.66125779e-01 8.84717334e-01 -1.41303281e-03 7.01933833e+01] [ 8.84712989e-01 -4.66127918e-01 -2.77325326e-03 -1.56588714e+02] [-3.11219928e-03 4.25563530e-05 -9.99995156e-01 -8.05612178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.750385723 meters 0.016493137546515615 Centerline is valid? [True, True] Translation: X:70.20, Y:-156.60, Z:-8.06 [[ 3.95600228e-01 9.18422002e-01 -1.21894500e-03 7.02000191e+01] [ 9.18417292e-01 -3.95602103e-01 -2.94164887e-03 -1.56598850e+02] [-3.18389225e-03 4.42167931e-05 -9.99994930e-01 -8.05521749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.780385723 meters 0.016402049863125982 Centerline is valid? [True, True] Translation: X:70.21, Y:-156.61, Z:-8.05 [[ 3.22315606e-01 9.46631324e-01 -1.33668034e-03 7.02074594e+01] [ 9.46622408e-01 -3.22318372e-01 -4.10892017e-03 -1.56608566e+02] [-4.32046917e-03 5.90375348e-05 -9.99990665e-01 -8.05469202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.810385723 meters 0.016349571340136367 Centerline is valid? [True, True] Translation: X:70.22, Y:-156.62, Z:-8.05 [[ 2.46994549e-01 9.69016193e-01 -1.14457649e-03 7.02155186e+01] [ 9.69004518e-01 -2.46997192e-01 -4.75727296e-03 -1.56617200e+02] [-4.89258172e-03 6.59207011e-05 -9.99988029e-01 -8.05475588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.840385723 meters 0.016379468483795564 Centerline is valid? [True, True] Translation: X:70.22, Y:-156.63, Z:-8.05 [[ 1.70138338e-01 9.85419869e-01 -7.92406416e-04 7.02229448e+01] [ 9.85407269e-01 -1.70140170e-01 -4.98363239e-03 -1.56626460e+02] [-5.04579054e-03 6.70638893e-05 -9.99987268e-01 -8.05486181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.870385723 meters 0.01640796092449874 Centerline is valid? [True, True] Translation: X:70.23, Y:-156.63, Z:-8.05 [[ 9.33868315e-02 9.95629830e-01 -3.76454553e-04 7.02342927e+01] [ 9.95618541e-01 -9.33875655e-02 -4.74163277e-03 -1.56634052e+02] [-4.75606720e-03 6.80009271e-05 -9.99988688e-01 -8.05429624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.900385723 meters 0.01640796092449874 Centerline is valid? [True, True] Translation: X:70.24, Y:-156.64, Z:-8.05 [[ 1.50728580e-02 9.99886398e-01 -3.69608034e-06 7.02441154e+01] [ 9.99875087e-01 -1.50727051e-02 -4.75657366e-03 -1.56641381e+02] [-4.75608901e-03 6.79995407e-05 -9.99988687e-01 -8.05429605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.930385723 meters 0.01664975607786023 Centerline is valid? [True, True] Translation: X:70.25, Y:-156.65, Z:-8.05 [[-6.23912236e-02 9.98051709e-01 3.47292900e-04 7.02545523e+01] [ 9.98041730e-01 6.23921530e-02 -4.46374909e-03 -1.56647400e+02] [-4.47672076e-03 6.81140389e-05 -9.99989977e-01 -8.05387072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.960385723 meters 0.016899767459648694 Centerline is valid? [True, True] Translation: X:70.26, Y:-156.65, Z:-8.05 [[-1.39343910e-01 9.90243775e-01 7.34719768e-04 7.02645875e+01] [ 9.90232770e-01 1.39345826e-01 -4.66920989e-03 -1.56654021e+02] [-4.72603616e-03 7.69176271e-05 -9.99988829e-01 -8.05365487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.990385723 meters 0.017529992875608365 Centerline is valid? [True, True] Translation: X:70.27, Y:-156.66, Z:-8.05 [[-2.14043881e-01 9.76823395e-01 1.12811198e-03 7.02732955e+01] [ 9.76811986e-01 2.14046834e-01 -4.72187415e-03 -1.56660509e+02] [-4.85390593e-03 9.12650389e-05 -9.99988216e-01 -8.05406396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.020385723 meters 0.017858462793154686 Centerline is valid? [True, True] Translation: X:70.28, Y:-156.67, Z:-8.05 [[-2.88753463e-01 9.57402483e-01 1.38644655e-03 7.02823409e+01] [ 9.57392901e-01 2.88756778e-01 -4.28446390e-03 -1.56665440e+02] [-4.50230222e-03 9.02202953e-05 -9.99989861e-01 -8.05477989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.050385723 meters 0.018531898282932696 Centerline is valid? [True, True] Translation: X:70.29, Y:-156.67, Z:-8.06 [[-3.60492611e-01 9.32760931e-01 1.45701814e-03 7.02915410e+01] [ 9.32754254e-01 3.60495545e-01 -3.53028313e-03 -1.56669931e+02] [-3.81815873e-03 8.63988881e-05 -9.99992707e-01 -8.05520935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.080385723 meters 0.01904079915686417 Centerline is valid? [True, True] Translation: X:70.30, Y:-156.67, Z:-8.05 [[-4.31561855e-01 9.02081585e-01 1.78278826e-03 7.03010357e+01] [ 9.02074758e-01 4.31565528e-01 -3.51089350e-03 -1.56674385e+02] [-3.93650233e-03 9.30405741e-05 -9.99992248e-01 -8.05460385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.110385723 meters 0.01947573268069378 Centerline is valid? [True, True] Translation: X:70.31, Y:-156.68, Z:-8.05 [[-4.99673980e-01 8.66210538e-01 2.28437294e-03 7.03111001e+01] [ 8.66202468e-01 4.99679190e-01 -3.74047226e-03 -1.56676434e+02] [-4.38149011e-03 1.09712819e-04 -9.99990395e-01 -8.05361813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.140385723 meters 0.01812425252094313 Centerline is valid? [True, True] Translation: X:70.33, Y:-156.67, Z:-8.05 [[-5.65483265e-01 8.24755671e-01 2.60001136e-03 7.03277097e+01] [ 8.24747860e-01 5.65489231e-01 -3.59126413e-03 -1.56672318e+02] [-4.43219388e-03 1.13554039e-04 -9.99990171e-01 -8.05413313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.170385723 meters 0.018526494539331084 Centerline is valid? [True, True] Translation: X:70.34, Y:-156.67, Z:-8.05 [[-6.28236079e-01 7.78017242e-01 2.93271616e-03 7.03409922e+01] [ 7.78009616e-01 6.28242913e-01 -3.44658976e-03 -1.56670407e+02] [-4.52396440e-03 1.16409343e-04 -9.99989760e-01 -8.05420353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.200385723 meters 0.01834689360920237 Centerline is valid? [True, True] Translation: X:70.35, Y:-156.67, Z:-8.05 [[-6.87972349e-01 7.25730578e-01 3.02902273e-03 7.03544523e+01] [ 7.25724215e-01 6.87979009e-01 -3.04091392e-03 -1.56665644e+02] [-4.29078827e-03 1.06170450e-04 -9.99990789e-01 -8.05499043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.230385723 meters 0.017701148169304255 Centerline is valid? [True, True] Translation: X:70.37, Y:-156.66, Z:-8.05 [[-7.43791246e-01 6.68401530e-01 3.73851476e-03 7.03694872e+01] [ 6.68393847e-01 7.43800633e-01 -3.20677220e-03 -1.56657168e+02] [-4.92412109e-03 1.13631169e-04 -9.99987870e-01 -8.05394697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.260385723 meters 0.017777993649732458 Centerline is valid? [True, True] Translation: X:70.39, Y:-156.63, Z:-8.05 [[-7.89967096e-01 6.13134017e-01 4.32027513e-03 7.03896640e+01] [ 6.13125655e-01 7.89978901e-01 -3.20442893e-03 -1.56632853e+02] [-5.37767058e-03 1.17478104e-04 -9.99985533e-01 -8.05314967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.290385723 meters 0.01679991645737422 Centerline is valid? [True, True] Translation: X:70.41, Y:-156.61, Z:-8.05 [[-8.32298292e-01 5.54307874e-01 4.72588407e-03 7.04089944e+01] [ 5.54299707e-01 8.32311701e-01 -3.01106572e-03 -1.56605418e+02] [-5.60246605e-03 1.13451296e-04 -9.99984300e-01 -8.05367810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.320385723 meters 0.016459960194422685 Centerline is valid? [True, True] Translation: X:70.43, Y:-156.58, Z:-8.05 [[-8.70778097e-01 4.91655722e-01 4.48957461e-03 7.04300044e+01] [ 4.91649711e-01 8.70789666e-01 -2.43282678e-03 -1.56579343e+02] [-5.10558838e-03 8.88457874e-05 -9.99986962e-01 -8.05406746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.350385723 meters 0.016294963990968515 Centerline is valid? [True, True] Translation: X:70.45, Y:-156.55, Z:-8.05 [[-9.03584379e-01 4.28385203e-01 4.62473120e-03 7.04474783e+01] [ 4.28380064e-01 9.03596210e-01 -2.09990898e-03 -1.56552894e+02] [-5.07845952e-03 8.36976974e-05 -9.99987101e-01 -8.05417256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.380385723 meters 0.01597758455979767 Centerline is valid? [True, True] Translation: X:70.75, Y:-155.87, Z:-9.02 [[-8.87605826e-01 -4.60581321e-01 4.55456847e-03 7.07548574e+01] [ 4.60574797e-01 -8.87617508e-01 -2.45273602e-03 -1.55873078e+02] [ 5.17239911e-03 -7.93433383e-05 9.99986620e-01 -9.01537922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.410385723 meters 0.01633713720636379 Centerline is valid? [True, True] Translation: X:70.41, Y:-156.53, Z:-8.05 [[-9.05995982e-01 4.23259937e-01 4.72294403e-03 7.04080124e+01] [ 4.23254617e-01 9.06008289e-01 -2.12347503e-03 -1.56527893e+02] [-5.17780835e-03 7.51480199e-05 -9.99986592e-01 -8.05325008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.440385723 meters 0.01620959193332241 Centerline is valid? [True, True] Translation: X:70.72, Y:-155.86, Z:-9.02 [[-8.88900220e-01 -4.58077176e-01 4.65840545e-03 7.07152932e+01] [ 4.58070469e-01 -8.88912423e-01 -2.47982831e-03 -1.55860372e+02] [ 5.27686722e-03 -7.04419592e-05 9.99986075e-01 -9.01598860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.470385723 meters 0.016347717967355197 Centerline is valid? [True, True] Translation: X:70.37, Y:-156.51, Z:-8.05 [[-9.07432038e-01 4.20169631e-01 4.95761469e-03 7.03660353e+01] [ 4.20163842e-01 9.07445577e-01 -2.20708339e-03 -1.56506127e+02] [-5.42611493e-03 8.02322569e-05 -9.99985275e-01 -8.05452100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.500385723 meters 0.01829723175641399 Centerline is valid? [True, True] Translation: X:70.67, Y:-155.84, Z:-9.02 [[-8.91591449e-01 -4.52810593e-01 5.22056325e-03 7.06673963e+01] [ 4.52802440e-01 -8.91606731e-01 -2.71789512e-03 -1.55844918e+02] [ 5.88538104e-03 -5.93682722e-05 9.99982679e-01 -9.01616074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.530385723 meters 0.01684462529006148 Centerline is valid? [True, True] Translation: X:70.33, Y:-156.48, Z:-8.06 [[-9.08238669e-01 4.18425756e-01 4.73357005e-03 7.03268750e+01] [ 4.18420564e-01 9.08251000e-01 -2.08636240e-03 -1.56483105e+02] [-5.17225750e-03 8.57080354e-05 -9.99986620e-01 -8.05555274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.560385723 meters 0.01698378148179256 Centerline is valid? [True, True] Translation: X:70.34, Y:-156.45, Z:-8.06 [[-9.35390424e-01 3.53587956e-01 4.50694230e-03 7.03404677e+01] [ 3.53584274e-01 9.35401278e-01 -1.61574494e-03 -1.56454888e+02] [-4.78710754e-03 8.22315731e-05 -9.99988538e-01 -8.05575694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.590385723 meters 0.017827780574667742 Centerline is valid? [True, True] Translation: X:70.35, Y:-156.42, Z:-8.05 [[-9.57816345e-01 2.87330709e-01 5.37706141e-03 7.03493580e+01] [ 2.87326775e-01 9.57831433e-01 -1.50701450e-03 -1.56424314e+02] [-5.58332998e-03 1.01530589e-04 -9.99984408e-01 -8.05484910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.620385723 meters 0.017660518328542964 Centerline is valid? [True, True] Translation: X:70.36, Y:-156.39, Z:-8.05 [[-9.75660999e-01 2.19222836e-01 5.19262684e-03 7.03565285e+01] [ 2.19220273e-01 9.75674812e-01 -1.06476269e-03 -1.56392689e+02] [-5.29973551e-03 9.94816388e-05 -9.99985951e-01 -8.05464679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.650385723 meters 0.018246922389646866 Centerline is valid? [True, True] Translation: X:70.50, Y:-155.71, Z:-9.01 [[-9.69070170e-01 -2.46745243e-01 4.44863112e-03 7.04973739e+01] [ 2.46742030e-01 -9.69080373e-01 -1.26570037e-03 -1.55707577e+02] [ 4.62338665e-03 -1.28888200e-04 9.99989304e-01 -9.01433491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.680385723 meters 0.018200506484674795 Centerline is valid? [True, True] Translation: X:70.30, Y:-156.38, Z:-8.06 [[-9.76041235e-01 2.17552936e-01 3.77183687e-03 7.03046435e+01] [ 2.17551633e-01 9.76048520e-01 -7.57464287e-04 -1.56377881e+02] [-3.84628437e-03 8.12528901e-05 -9.99992600e-01 -8.05587065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.710385723 meters 0.018676551927557523 Centerline is valid? [True, True] Translation: X:70.44, Y:-155.70, Z:-9.01 [[-9.70518133e-01 -2.41003612e-01 3.43704277e-03 7.04439738e+01] [ 2.41001760e-01 -9.70524214e-01 -9.49337974e-04 -1.55703495e+02] [ 3.56452711e-03 -9.30163604e-05 9.99993643e-01 -9.01346309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.740385723 meters 0.017657075086814855 Centerline is valid? [True, True] Translation: X:70.26, Y:-156.36, Z:-8.06 [[-9.76523309e-01 2.15370922e-01 4.19442295e-03 7.02555671e+01] [ 2.15369364e-01 9.76532312e-01 -8.25041307e-04 -1.56359268e+02] [-4.27367945e-03 9.76781367e-05 -9.99990863e-01 -8.05616202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.770385723 meters 0.017866135340662063 Centerline is valid? [True, True] Translation: X:70.26, Y:-156.33, Z:-8.06 [[-9.89310427e-01 1.45771370e-01 3.94797355e-03 7.02577375e+01] [ 1.45770580e-01 9.89318300e-01 -4.88597787e-04 -1.56327449e+02] [-3.97702605e-03 9.21235102e-05 -9.99992087e-01 -8.05587813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.800385723 meters 0.019547441225960062 Centerline is valid? [True, True] Translation: X:70.34, Y:-155.67, Z:-9.01 [[-9.86177552e-01 -1.65638466e-01 4.21127259e-03 7.03424866e+01] [ 1.65636610e-01 -9.86186540e-01 -7.88106779e-04 -1.55665665e+02] [ 4.28364115e-03 -7.96722990e-05 9.99990822e-01 -9.01431340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.830385723 meters 0.01862444617822262 Centerline is valid? [True, True] Translation: X:70.20, Y:-156.31, Z:-8.05 [[-9.89538366e-01 1.44205395e-01 4.31578853e-03 7.01968544e+01] [ 1.44204514e-01 9.89547771e-01 -5.16189184e-04 -1.56311442e+02] [-4.34511619e-03 1.11567185e-04 -9.99990554e-01 -8.05485914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.860385723 meters 0.01844556693488664 Centerline is valid? [True, True] Translation: X:70.19, Y:-156.28, Z:-8.06 [[-9.97252668e-01 7.39493924e-02 4.31329932e-03 7.01911997e+01] [ 7.39491898e-02 9.97261989e-01 -2.06667342e-04 -1.56278859e+02] [-4.31677238e-03 1.12865431e-04 -9.99990676e-01 -8.05512788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.890385723 meters 0.01908640159723602 Centerline is valid? [True, True] Translation: X:70.23, Y:-155.64, Z:-9.01 [[-9.96022997e-01 -8.89913153e-02 4.32839370e-03 7.02267480e+01] [ 8.89899887e-02 -9.96032396e-01 -4.98500856e-04 -1.55635301e+02] [ 4.35558259e-03 -1.11334610e-04 9.99990508e-01 -9.01400379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.920385723 meters 0.018657608986293237 Centerline is valid? [True, True] Translation: X:70.13, Y:-156.27, Z:-8.05 [[-9.97585953e-01 6.92790622e-02 4.76212410e-03 7.01253179e+01] [ 6.92788671e-02 9.97597312e-01 -2.06112321e-04 -1.56266795e+02] [-4.76496147e-03 1.24299806e-04 -9.99988640e-01 -8.05474884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.950385723 meters 0.01862709901511307 Centerline is valid? [True, True] Translation: X:70.15, Y:-155.64, Z:-9.02 [[-9.96363281e-01 -8.50700910e-02 4.82617649e-03 7.01523087e+01] [ 8.50685055e-02 -9.96374962e-01 -5.33224644e-04 -1.55643735e+02] [ 4.85404289e-03 -1.20729834e-04 9.99988212e-01 -9.01504722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.980385723 meters 0.018358898820346702 Centerline is valid? [True, True] Translation: X:70.06, Y:-156.25, Z:-8.05 [[-9.98018733e-01 6.27353658e-02 4.78356013e-03 7.00598552e+01] [ 6.27351978e-02 9.98030190e-01 -1.85307967e-04 -1.56254024e+02] [-4.78576279e-03 1.15156769e-04 -9.99988542e-01 -8.05464848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.010385723 meters 0.018044624241203403 Centerline is valid? [True, True] Translation: X:70.08, Y:-155.65, Z:-9.01 [[-9.96538156e-01 -8.30103231e-02 4.58139278e-03 7.00813283e+01] [ 8.30088790e-02 -9.96548680e-01 -5.04787222e-04 -1.55649959e+02] [ 4.60748348e-03 -1.22743448e-04 9.99989378e-01 -9.01407812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.040385723 meters 0.018043454730898516 Centerline is valid? [True, True] Translation: X:69.99, Y:-156.24, Z:-8.06 [[-9.98417420e-01 5.60738516e-02 4.28705885e-03 6.99906564e+01] [ 5.60737389e-02 9.98426619e-01 -1.46562402e-04 -1.56244586e+02] [-4.28853199e-03 9.40609636e-05 -9.99990800e-01 -8.05554839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.070385723 meters 0.017994783821720213 Centerline is valid? [True, True] Translation: X:69.98, Y:-156.21, Z:-8.06 [[-9.99864887e-01 -1.58208690e-02 4.46192385e-03 6.99785992e+01] [-1.58202892e-02 9.99874838e-01 1.65208291e-04 -1.56212193e+02] [-4.46397913e-03 9.45970430e-05 -9.99990032e-01 -8.05510785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.100385723 meters 0.017840970124580264 Centerline is valid? [True, True] Translation: X:69.96, Y:-155.63, Z:-9.02 [[-9.99931117e-01 -1.06411319e-02 4.95245631e-03 6.99564092e+01] [ 1.06406457e-02 -9.99943379e-01 -1.24510003e-04 -1.55629358e+02] [ 4.95350082e-03 -7.18040936e-05 9.99987729e-01 -9.01515035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.130385723 meters 0.017698044981439596 Centerline is valid? [True, True] Translation: X:69.90, Y:-156.21, Z:-8.05 [[-9.99699633e-01 -2.38877113e-02 5.47919706e-03 6.99033620e+01] [-2.38868206e-02 9.99714643e-01 2.27939314e-04 -1.56205839e+02] [-5.48307848e-03 9.69902510e-05 -9.99984963e-01 -8.05288186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.160385723 meters 0.017535178128035067 Centerline is valid? [True, True] Translation: X:69.89, Y:-156.17, Z:-8.05 [[-9.95264678e-01 -9.70359168e-02 5.67901339e-03 6.98919050e+01] [-9.70338233e-02 9.95280876e-01 6.43673076e-04 -1.56173719e+02] [-5.71467283e-03 8.95686952e-05 -9.99983667e-01 -8.05314470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.190385723 meters 0.017034416889671538 Centerline is valid? [True, True] Translation: X:69.83, Y:-155.62, Z:-9.02 [[-9.98183893e-01 5.99602754e-02 5.80362250e-03 6.98259415e+01] [-5.99597548e-02 -9.98200761e-01 2.63803263e-04 -1.55619438e+02] [ 5.80899810e-03 -8.46596142e-05 9.99983124e-01 -9.01506987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.220385723 meters 0.016460990026264024 Centerline is valid? [True, True] Translation: X:69.81, Y:-156.18, Z:-8.06 [[-9.94572309e-01 -1.03891933e-01 5.69116705e-03 6.98068234e+01] [-1.03889768e-01 9.94588588e-01 6.75557902e-04 -1.56176861e+02] [-5.73055482e-03 8.06371566e-05 -9.99983577e-01 -8.05532322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.250385723 meters 0.01634780107128838 Centerline is valid? [True, True] Translation: X:69.74, Y:-155.64, Z:-9.01 [[-9.97975944e-01 6.33307200e-02 5.76491705e-03 6.97362378e+01] [-6.33301171e-02 -9.97992592e-01 2.87248913e-04 -1.55636203e+02] [ 5.77153619e-03 -7.84253670e-05 9.99983342e-01 -9.01436271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.280385723 meters 0.016188213708684222 Centerline is valid? [True, True] Translation: X:69.72, Y:-156.18, Z:-8.05 [[-9.93819406e-01 -1.10773878e-01 7.22054715e-03 6.97203783e+01] [-1.10770298e-01 9.93845632e-01 8.95076214e-04 -1.56180082e+02] [-7.27526031e-03 8.97219531e-05 -9.99973531e-01 -8.05440520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.310385723 meters 0.01640212639870851 Centerline is valid? [True, True] Translation: X:69.70, Y:-156.15, Z:-8.05 [[-9.83375142e-01 -1.81442385e-01 7.21050139e-03 6.97017443e+01] [-1.81436828e-01 9.83401572e-01 1.42291860e-03 -1.56153947e+02] [-7.34899615e-03 9.10122753e-05 -9.99972992e-01 -8.05381403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.340385723 meters 0.01647203578740524 Centerline is valid? [True, True] Translation: X:69.67, Y:-156.13, Z:-8.05 [[-9.67888417e-01 -2.51283248e-01 6.98154404e-03 6.96694064e+01] [-2.51276024e-01 9.67913592e-01 1.90756180e-03 -1.56131088e+02] [-7.23686969e-03 9.20123413e-05 -9.99973809e-01 -8.05345573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.370385723 meters 0.01638869741682003 Centerline is valid? [True, True] Translation: X:69.63, Y:-156.11, Z:-8.05 [[-9.47644637e-01 -3.19277083e-01 5.63794378e-03 6.96281972e+01] [-3.19270915e-01 9.47661404e-01 1.98629853e-03 -1.56112332e+02] [-5.97704132e-03 8.22736822e-05 -9.99982134e-01 -8.05414472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.400385723 meters 0.016757389745305638 Centerline is valid? [True, True] Translation: X:69.57, Y:-156.11, Z:-8.05 [[-9.22067425e-01 -3.86992859e-01 5.30941858e-03 6.95694227e+01] [-3.86985918e-01 9.22082708e-01 2.31942225e-03 -1.56105705e+02] [-5.79332291e-03 8.39934778e-05 -9.99983215e-01 -8.05396357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.430385723 meters 0.01656136541374411 Centerline is valid? [True, True] Translation: X:69.50, Y:-156.11, Z:-8.05 [[-8.91414947e-01 -4.53170127e-01 4.02845192e-03 6.94988561e+01] [-4.53165147e-01 8.91424047e-01 2.12558540e-03 -1.56107020e+02] [-4.55431072e-03 6.92245853e-05 -9.99989627e-01 -8.05479963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.460385723 meters 0.016557167785795354 Centerline is valid? [True, True] Translation: X:69.42, Y:-156.12, Z:-8.05 [[-8.55658656e-01 -5.17528128e-01 3.59170221e-03 6.94239386e+01] [-5.17523247e-01 8.55666192e-01 2.24870817e-03 -1.56116508e+02] [-4.23706788e-03 6.53372244e-05 -9.99991021e-01 -8.05456360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.490385723 meters 0.016549657794049887 Centerline is valid? [True, True] Translation: X:69.35, Y:-156.13, Z:-8.05 [[-8.14881324e-01 -5.79618738e-01 3.24756208e-03 6.93461123e+01] [-5.79613832e-01 8.14887793e-01 2.38559948e-03 -1.56133622e+02] [-4.02913686e-03 6.16485583e-05 -9.99991881e-01 -8.05470354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.520385723 meters 0.016498224611003472 Centerline is valid? [True, True] Translation: X:69.26, Y:-156.16, Z:-8.05 [[-7.69118983e-01 -6.39101742e-01 2.22548271e-03 6.92628069e+01] [-6.39098903e-01 7.69122202e-01 1.90540362e-03 -1.56162332e+02] [-2.92941494e-03 4.31785322e-05 -9.99995708e-01 -8.05476556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.550385723 meters 0.016514116399730876 Centerline is valid? [True, True] Translation: X:69.18, Y:-156.20, Z:-8.06 [[-7.19005347e-01 -6.95002600e-01 1.64254438e-03 6.91790381e+01] [-6.95000678e-01 7.19007222e-01 1.63453577e-03 -1.56200897e+02] [-2.31700788e-03 3.36704970e-05 -9.99997315e-01 -8.05513118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.580385723 meters 0.01874109536544562 Centerline is valid? [True, True] Translation: X:69.09, Y:-156.25, Z:-8.05 [[-6.65348722e-01 -7.46530145e-01 1.95487239e-03 6.90946077e+01] [-7.46526721e-01 6.65351592e-01 2.26147678e-03 -1.56250056e+02] [-2.98893804e-03 4.53062069e-05 -9.99995532e-01 -8.05248528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.610385723 meters 0.01655772692441916 Centerline is valid? [True, True] Translation: X:69.01, Y:-156.31, Z:-8.06 [[-6.06740015e-01 -7.94898959e-01 1.48318929e-03 6.90101975e+01] [-7.94896437e-01 6.06741827e-01 2.00251386e-03 -1.56307912e+02] [-2.49170916e-03 3.60234057e-05 -9.99996895e-01 -8.05509395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.640385723 meters 0.016516222316293537 Centerline is valid? [True, True] Translation: X:68.93, Y:-156.37, Z:-8.05 [[-5.44619036e-01 -8.38682655e-01 1.22852557e-03 6.89300170e+01] [-8.38680389e-01 5.44620421e-01 1.95011606e-03 -1.56373709e+02] [-2.30460863e-03 3.17300263e-05 -9.99997344e-01 -8.05465696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.670385723 meters 0.01646593927905659 Centerline is valid? [True, True] Translation: X:68.85, Y:-156.45, Z:-8.05 [[-4.79546518e-01 -8.77515603e-01 1.22598544e-03 6.88546337e+01] [-8.77512543e-01 4.79548084e-01 2.31787597e-03 -1.56451286e+02] [-2.62189130e-03 3.57117498e-05 -9.99996562e-01 -8.05410547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.700385723 meters 0.0166324007761067 Centerline is valid? [True, True] Translation: X:68.78, Y:-156.54, Z:-8.05 [[-4.11777560e-01 -9.11283470e-01 1.29558670e-03 6.87828157e+01] [-9.11278614e-01 4.11779596e-01 2.97536302e-03 -1.56536381e+02] [-3.24489530e-03 4.45472663e-05 -9.99994734e-01 -8.05385430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.730385723 meters 0.0180013831454954 Centerline is valid? [True, True] Translation: X:68.72, Y:-156.63, Z:-8.05 [[-3.42157090e-01 -9.39641974e-01 1.21926793e-03 6.87158988e+01] [-9.39635439e-01 3.42159258e-01 3.50489070e-03 -1.56630494e+02] [-3.71052623e-03 5.35558432e-05 -9.99993115e-01 -8.05177528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.760385723 meters 0.016707298007894323 Centerline is valid? [True, True] Translation: X:68.65, Y:-156.73, Z:-8.05 [[-2.69064874e-01 -9.63121424e-01 1.10262416e-03 6.86548350e+01] [-9.63112418e-01 2.69067127e-01 4.16548703e-03 -1.56732362e+02] [-4.30854971e-03 5.88352248e-05 -9.99990716e-01 -8.05169704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.790385723 meters 0.016707298007894323 Centerline is valid? [True, True] Translation: X:68.60, Y:-156.84, Z:-8.05 [[-1.94968985e-01 -9.80809096e-01 7.82337326e-04 6.86013328e+01] [-9.80799945e-01 1.94970546e-01 4.23734878e-03 -1.56836979e+02] [-4.30856296e-03 5.88351834e-05 -9.99990716e-01 -8.05169641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.820385723 meters 0.016726552008618934 Centerline is valid? [True, True] Translation: X:68.56, Y:-156.94, Z:-8.05 [[-1.19280640e-01 -9.92860387e-01 6.17694894e-04 6.85574004e+01] [-9.92843532e-01 1.19282215e-01 5.78561803e-03 -1.56943793e+02] [-5.81799097e-03 7.68378419e-05 -9.99983072e-01 -8.05037905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.850385723 meters 0.016237782497296238 Centerline is valid? [True, True] Translation: X:68.52, Y:-157.06, Z:-8.05 [[-4.17377875e-02 -9.99128576e-01 2.14077799e-04 6.85225486e+01] [-9.99103201e-01 4.17382534e-02 7.12118333e-03 -1.57060047e+02] [-7.12391299e-03 8.33366229e-05 -9.99974621e-01 -8.05015288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.880385723 meters 0.01627455540669146 Centerline is valid? [True, True] Translation: X:68.50, Y:-157.18, Z:-8.05 [[ 3.56050937e-02 -9.99365883e-01 -3.31050404e-04 6.84965339e+01] [-9.99340331e-01 -3.56065508e-02 7.14682633e-03 -1.57176690e+02] [-7.15408196e-03 7.63685987e-05 -9.99974406e-01 -8.04996724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.910385723 meters 0.015771098960234417 Centerline is valid? [True, True] Translation: X:68.48, Y:-157.30, Z:-8.05 [[ 1.12981867e-01 -9.93596749e-01 -7.73713814e-04 6.84785474e+01] [-9.93576924e-01 -1.12984501e-01 6.27676934e-03 -1.57296516e+02] [-6.32399527e-03 5.95830715e-05 -9.99980002e-01 -8.05096811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.940385723 meters 0.015268047699910327 Centerline is valid? [True, True] Translation: X:68.47, Y:-157.42, Z:-8.05 [[ 1.89282457e-01 -9.81921937e-01 -1.20887388e-03 6.84676728e+01] [-9.81903649e-01 -1.89286310e-01 5.99313865e-03 -1.57416300e+02] [-6.11361759e-03 5.26016660e-05 -9.99981310e-01 -8.05208678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.970385723 meters 0.015148829289507747 Centerline is valid? [True, True] Translation: X:68.47, Y:-157.54, Z:-8.05 [[ 2.64022912e-01 -9.64515308e-01 -1.45688766e-03 6.84688111e+01] [-9.64501527e-01 -2.64026928e-01 5.15616622e-03 -1.57537962e+02] [-5.35785882e-03 4.38243540e-05 -9.99985646e-01 -8.05230568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.000385723 meters 0.015058603052858529 Centerline is valid? [True, True] Translation: X:68.48, Y:-157.65, Z:-8.05 [[ 3.37581938e-01 -9.41294934e-01 -1.51061693e-03 6.84796415e+01] [-9.41285935e-01 -3.37585317e-01 4.11619826e-03 -1.57654668e+02] [-4.38451866e-03 3.23682834e-05 -9.99990387e-01 -8.05362412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.030385723 meters 0.014928645474122084 Centerline is valid? [True, True] Translation: X:68.50, Y:-157.77, Z:-8.05 [[ 4.09054808e-01 -9.12508058e-01 -1.79097931e-03 6.84995923e+01] [-9.12499614e-01 -4.09058727e-01 3.92577520e-03 -1.57769994e+02] [-4.31491723e-03 2.84107094e-05 -9.99990690e-01 -8.05378136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.060385723 meters 0.01488862143194517 Centerline is valid? [True, True] Translation: X:68.53, Y:-157.88, Z:-8.05 [[ 4.77958709e-01 -8.78379757e-01 -2.11555647e-03 6.85264709e+01] [-8.78371391e-01 -4.77963390e-01 3.83367994e-03 -1.57884916e+02] [-4.37858539e-03 2.59035653e-05 -9.99990414e-01 -8.05409174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.090385723 meters 0.014665868546187946 Centerline is valid? [True, True] Translation: X:68.56, Y:-157.99, Z:-8.05 [[ 5.44852752e-01 -8.38528334e-01 -2.39000313e-03 6.85622271e+01] [-8.38520413e-01 -5.44857994e-01 3.64470704e-03 -1.57994476e+02] [-4.35840243e-03 1.82377527e-05 -9.99990502e-01 -8.05451223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.120385723 meters 0.01461139540137465 Centerline is valid? [True, True] Translation: X:68.60, Y:-158.10, Z:-8.05 [[ 6.07658517e-01 -7.94193638e-01 -2.75530296e-03 6.86042162e+01] [-7.94185586e-01 -6.07664764e-01 3.57635067e-03 -1.58100909e+02] [-4.51461548e-03 1.50219529e-05 -9.99989809e-01 -8.05443883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.150385723 meters 0.01454380903679906 Centerline is valid? [True, True] Translation: X:68.65, Y:-158.20, Z:-8.05 [[ 6.67014692e-01 -7.45038069e-01 -3.11071592e-03 6.86500901e+01] [-7.45030035e-01 -6.67021946e-01 3.45988791e-03 -1.58199140e+02] [-4.65266399e-03 9.78072724e-06 -9.99989176e-01 -8.05453482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.180385723 meters 0.014485468573965874 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.29, Z:-8.05 [[ 7.22418401e-01 -6.91447014e-01 -3.56095265e-03 6.87054843e+01] [-6.91438639e-01 -7.22427177e-01 3.40314210e-03 -1.58294386e+02] [-4.92562142e-03 3.68778009e-06 -9.99987869e-01 -8.05453010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.210385723 meters 0.014433695470482956 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.30, Z:-8.05 [[ 7.74222478e-01 -6.32901696e-01 -3.87278799e-03 6.87034647e+01] [-6.32893803e-01 -7.74232164e-01 3.16076883e-03 -1.58304525e+02] [-4.99889298e-03 3.92524449e-06 -9.99987505e-01 -8.05328173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.240385723 meters 0.014373337871527999 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.32, Z:-8.05 [[ 8.21051058e-01 -5.70838534e-01 -4.30448659e-03 6.87021801e+01] [-5.70830731e-01 -8.21062341e-01 2.98462999e-03 -1.58317177e+02] [-5.23799365e-03 6.59961697e-06 -9.99986282e-01 -8.05313256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.270385723 meters 0.014368073247311632 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.33, Z:-8.05 [[ 8.62619417e-01 -5.05831801e-01 -4.68306338e-03 6.87006323e+01] [-5.05824426e-01 -8.62632128e-01 2.73145755e-03 -1.58330612e+02] [-5.42141903e-03 1.25995281e-05 -9.99985304e-01 -8.05355840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.300385723 meters 0.01450992940203124 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.34, Z:-8.05 [[ 8.98673259e-01 -4.38575004e-01 -6.19188317e-03 6.87013182e+01] [-4.38564815e-01 -8.98694590e-01 2.98954033e-03 -1.58339141e+02] [-6.87574957e-03 2.89221464e-05 -9.99976361e-01 -8.05374074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.330385723 meters 0.014542076520231423 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.35, Z:-8.05 [[ 9.29837137e-01 -3.67912801e-01 -6.56268952e-03 6.87011627e+01] [-3.67903917e-01 -9.29860296e-01 2.55701465e-03 -1.58349557e+02] [-7.04314284e-03 3.68319970e-05 -9.99975196e-01 -8.05354186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.360385723 meters 0.014716690993781574 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.36, Z:-8.05 [[ 9.55160020e-01 -2.96027631e-01 -6.08096596e-03 6.87038538e+01] [-2.96021938e-01 -9.55179376e-01 1.83646561e-03 -1.58357314e+02] [-6.35205783e-03 4.59808023e-05 -9.99979824e-01 -8.05271325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.390385723 meters 0.014866832991792027 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.36, Z:-8.05 [[ 9.74979320e-01 -2.22195211e-01 -6.67937249e-03 6.87069748e+01] [-2.22190427e-01 -9.75002197e-01 1.45921680e-03 -1.58362674e+02] [-6.83663383e-03 6.13864254e-05 -9.99976628e-01 -8.05262724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.420385723 meters 0.014900064002798785 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.37, Z:-8.05 [[ 9.89263592e-01 -1.45982975e-01 -6.82033055e-03 6.87065442e+01] [-1.45979979e-01 -9.89287100e-01 9.37669529e-04 -1.58369861e+02] [-6.88414882e-03 6.80293865e-05 -9.99976302e-01 -8.05313096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.450385723 meters 0.01705441877098007 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.38, Z:-8.05 [[ 9.97550194e-01 -6.95042592e-02 -7.92264517e-03 6.87053745e+01] [-6.95027817e-02 -9.97581651e-01 4.61992562e-04 -1.58379735e+02] [-7.93559590e-03 8.97851083e-05 -9.99968509e-01 -8.05150508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.480385723 meters 0.015253502513803934 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.39, Z:-8.05 [[ 9.99936323e-01 8.49855785e-03 -7.42463964e-03 6.87038477e+01] [ 8.49768240e-03 -9.99963883e-01 -1.49451411e-04 -1.58385413e+02] [-7.42564160e-03 8.63496651e-05 -9.99972426e-01 -8.05381749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.510385723 meters 0.015056553397473062 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.40, Z:-8.05 [[ 9.96201992e-01 8.67273098e-02 -7.74376489e-03 6.87038918e+01] [ 8.67239814e-02 -9.96232084e-01 -7.65218659e-04 -1.58397587e+02] [-7.78095239e-03 9.07422298e-05 -9.99969724e-01 -8.05412615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.540385723 meters 0.015282090046815747 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.41, Z:-8.05 [[ 9.86338350e-01 1.64598342e-01 -6.63663640e-03 6.87036241e+01] [ 1.64594087e-01 -9.86360674e-01 -1.18609679e-03 -1.58406540e+02] [-6.74134672e-03 7.75416485e-05 -9.99977274e-01 -8.05260063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.570385723 meters 0.015068791954229475 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.42, Z:-8.05 [[ 9.70350382e-01 2.41618757e-01 -6.36491376e-03 6.87043937e+01] [ 2.41613061e-01 -9.70371254e-01 -1.66067318e-03 -1.58417476e+02] [-6.57757914e-03 7.35885633e-05 -9.99978365e-01 -8.05330399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.600385723 meters 0.015048595968951434 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.42, Z:-8.05 [[ 9.48319055e-01 3.17266413e-01 -5.74406962e-03 6.87048895e+01] [ 3.17260175e-01 -9.48336448e-01 -1.99045359e-03 -1.58423958e+02] [-6.07881465e-03 6.52205305e-05 -9.99981522e-01 -8.05468544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.630385723 meters 0.014962058465030136 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.43, Z:-8.05 [[ 9.20453894e-01 3.90812659e-01 -5.48578313e-03 6.87068732e+01] [ 3.90805315e-01 -9.20470239e-01 -2.39677559e-03 -1.58433211e+02] [-5.98619035e-03 6.22482205e-05 -9.99982081e-01 -8.05478193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.660385723 meters 0.014863167758300839 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.44, Z:-8.05 [[ 8.86487248e-01 4.62725527e-01 -5.04431017e-03 6.87097035e+01] [ 4.62717698e-01 -8.86501598e-01 -2.69226706e-03 -1.58443179e+02] [-5.71756972e-03 5.25688269e-05 -9.99983653e-01 -8.05404698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.690385723 meters 0.014767504028348572 Centerline is valid? [True, True] Translation: X:68.71, Y:-158.45, Z:-8.05 [[ 8.46962822e-01 5.31632352e-01 -4.58487741e-03 6.87130375e+01] [ 5.31624280e-01 -8.46975230e-01 -2.92981474e-03 -1.58452822e+02] [-5.44086190e-03 4.40120100e-05 -9.99985197e-01 -8.05313778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.720385723 meters 0.01455795303982204 Centerline is valid? [True, True] Translation: X:68.72, Y:-158.46, Z:-8.05 [[ 8.02133745e-01 5.97127338e-01 -4.51648032e-03 6.87176057e+01] [ 5.97117590e-01 -8.02146459e-01 -3.41215393e-03 -1.58463514e+02] [-5.66036908e-03 4.01339698e-05 -9.99983979e-01 -8.05288664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.750385723 meters 0.014448974320115349 Centerline is valid? [True, True] Translation: X:68.72, Y:-158.47, Z:-8.05 [[ 7.51724465e-01 6.59462833e-01 -4.37041005e-03 6.87210560e+01] [ 6.59451450e-01 -7.51737169e-01 -3.87486924e-03 -1.58471008e+02] [-5.84073192e-03 3.07607638e-05 -9.99982942e-01 -8.05258435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.780385723 meters 0.014405865506929107 Centerline is valid? [True, True] Translation: X:68.72, Y:-158.48, Z:-8.05 [[ 6.96580994e-01 7.17467159e-01 -3.97410242e-03 6.87234089e+01] [ 7.17455313e-01 -6.96592330e-01 -4.12292747e-03 -1.58478793e+02] [-5.72639433e-03 2.07120177e-05 -9.99983604e-01 -8.05228211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.810385723 meters 0.014405563870801162 Centerline is valid? [True, True] Translation: X:68.73, Y:-158.49, Z:-8.05 [[ 6.37763271e-01 7.70225017e-01 -3.38141007e-03 6.87272711e+01] [ 7.70214060e-01 -6.37772235e-01 -4.10832716e-03 -1.58486999e+02] [-5.32090582e-03 1.57305890e-05 -9.99985844e-01 -8.05246963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.840385723 meters 0.014347287573001487 Centerline is valid? [True, True] Translation: X:68.73, Y:-158.50, Z:-8.05 [[ 5.74698828e-01 8.18359435e-01 -3.01546094e-03 6.87319828e+01] [ 8.18348076e-01 -5.74706739e-01 -4.31168473e-03 -1.58495508e+02] [-5.26151360e-03 1.02235003e-05 -9.99986158e-01 -8.05208516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.870385723 meters 0.014213002489463842 Centerline is valid? [True, True] Translation: X:68.74, Y:-158.50, Z:-8.05 [[ 5.07518189e-01 8.61635897e-01 -2.97793837e-03 6.87369830e+01] [ 8.61621036e-01 -5.07526926e-01 -5.06062938e-03 -1.58503191e+02] [-5.87180384e-03 2.50711938e-06 -9.99982761e-01 -8.05026723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.900385723 meters 0.01412539652888743 Centerline is valid? [True, True] Translation: X:68.74, Y:-158.51, Z:-8.05 [[ 4.37789236e-01 8.99072495e-01 -3.03856349e-03 6.87416142e+01] [ 8.99050876e-01 -4.37799781e-01 -6.23490837e-03 -1.58510013e+02] [-6.93591706e-03 -2.24739841e-06 -9.99975946e-01 -8.04983718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.930385723 meters 0.014107578454947612 Centerline is valid? [True, True] Translation: X:68.75, Y:-158.52, Z:-8.05 [[ 3.66568745e-01 9.30387804e-01 -2.42691256e-03 6.87471732e+01] [ 9.30367385e-01 -3.66576779e-01 -6.16393953e-03 -1.58518893e+02] [-6.62450395e-03 1.58729007e-06 -9.99978058e-01 -8.04967255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.960385723 meters 0.014119633534504754 Centerline is valid? [True, True] Translation: X:68.75, Y:-158.53, Z:-8.05 [[ 2.93419658e-01 9.55981717e-01 -1.96509586e-03 6.87513660e+01] [ 9.55960102e-01 -2.93426238e-01 -6.42860406e-03 -1.58526056e+02] [-6.72223863e-03 7.72556080e-06 -9.99977406e-01 -8.05046426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.990385723 meters 0.014134411055642926 Centerline is valid? [True, True] Translation: X:68.76, Y:-158.53, Z:-8.05 [[ 2.18496420e-01 9.75836776e-01 -1.37862953e-03 6.87566698e+01] [ 9.75816976e-01 -2.18500769e-01 -6.21640644e-03 -1.58534253e+02] [-6.36742963e-03 1.29724563e-05 -9.99979728e-01 -8.05057017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.020385723 meters 0.014127964174998817 Centerline is valid? [True, True] Translation: X:68.76, Y:-158.54, Z:-8.05 [[ 1.42096135e-01 9.89852438e-01 -9.16660434e-04 6.87641218e+01] [ 9.89831018e-01 -1.42099090e-01 -6.51182520e-03 -1.58541161e+02] [-6.57600266e-03 1.79662600e-05 -9.99978378e-01 -8.05060009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.050385723 meters 0.014168306173558552 Centerline is valid? [True, True] Translation: X:68.77, Y:-158.55, Z:-8.05 [[ 6.51989254e-02 9.97872216e-01 -3.75736248e-04 6.87700700e+01] [ 9.97853525e-01 -6.52000039e-02 -6.10756447e-03 -1.58548796e+02] [-6.11906690e-03 2.32769012e-05 -9.99981278e-01 -8.05030443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.080385723 meters 0.014111150788152204 Centerline is valid? [True, True] Translation: X:68.78, Y:-158.56, Z:-8.05 [[-1.27351438e-02 9.99918899e-01 1.10536702e-04 6.87759664e+01] [ 9.99897679e-01 1.27355936e-02 -6.51431293e-03 -1.58555451e+02] [-6.51519236e-03 2.75646800e-05 -9.99978776e-01 -8.05072168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.110385723 meters 0.014229737072354509 Centerline is valid? [True, True] Translation: X:68.78, Y:-158.56, Z:-8.05 [[-9.06693947e-02 9.95880843e-01 6.38014643e-04 6.87838376e+01] [ 9.95858524e-01 9.06716342e-02 -6.66741981e-03 -1.58561804e+02] [-6.69780549e-03 3.08414024e-05 -9.99977569e-01 -8.05062966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.140385723 meters 0.014297092283268078 Centerline is valid? [True, True] Translation: X:68.79, Y:-158.57, Z:-8.05 [[-1.67810842e-01 9.85818406e-01 1.26168444e-03 6.87938077e+01] [ 9.85792225e-01 1.67815580e-01 -7.18469392e-03 -1.58567232e+02] [-7.29453381e-03 3.80891812e-05 -9.99973394e-01 -8.04951723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.170385723 meters 0.014418092100335352 Centerline is valid? [True, True] Translation: X:68.80, Y:-158.57, Z:-8.05 [[-2.44338101e-01 9.69687911e-01 2.06096816e-03 6.88043069e+01] [ 9.69654939e-01 2.44346789e-01 -7.99658070e-03 -1.58572982e+02] [-8.25777858e-03 4.45586180e-05 -9.99965903e-01 -8.04848242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.200385723 meters 0.014297708633996634 Centerline is valid? [True, True] Translation: X:68.82, Y:-158.58, Z:-8.05 [[-3.19543218e-01 9.47567355e-01 2.87033907e-03 6.88162544e+01] [ 9.47530455e-01 3.19556106e-01 -8.36258300e-03 -1.58576317e+02] [-8.84134503e-03 4.75269979e-05 -9.99960913e-01 -8.04838448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.230385723 meters 0.014339199868984421 Centerline is valid? [True, True] Translation: X:68.83, Y:-158.58, Z:-8.05 [[-3.92849912e-01 9.19596234e-01 3.42233600e-03 6.88286290e+01] [ 9.19562349e-01 3.92864816e-01 -7.89446338e-03 -1.58579713e+02] [-8.60423420e-03 4.57120860e-05 -9.99962982e-01 -8.04784086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.260385723 meters 0.01434228956313392 Centerline is valid? [True, True] Translation: X:68.84, Y:-158.58, Z:-8.05 [[-4.63072158e-01 8.86311272e-01 4.06279220e-03 6.88389091e+01] [ 8.86278136e-01 4.63089978e-01 -7.66404230e-03 -1.58582082e+02] [-8.67416543e-03 5.17592880e-05 -9.99962377e-01 -8.04832116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.290385723 meters 0.014614939644907588 Centerline is valid? [True, True] Translation: X:68.85, Y:-158.58, Z:-8.05 [[-5.28751820e-01 8.48764614e-01 4.48806580e-03 6.88498582e+01] [ 8.48735207e-01 5.28770862e-01 -7.06567297e-03 -1.58583846e+02] [-8.37025161e-03 7.31920201e-05 -9.99964966e-01 -8.04928354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.320385723 meters 0.014989281092391733 Centerline is valid? [True, True] Translation: X:68.86, Y:-158.59, Z:-8.05 [[-5.92021865e-01 8.05906170e-01 5.03554259e-03 6.88605005e+01] [ 8.05878298e-01 5.92043273e-01 -6.70315977e-03 -1.58585606e+02] [-8.38337693e-03 8.96173451e-05 -9.99964855e-01 -8.04926632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.350385723 meters 0.015419539818708536 Centerline is valid? [True, True] Translation: X:68.87, Y:-158.58, Z:-8.05 [[-6.50303742e-01 7.59652338e-01 5.77653896e-03 6.88729405e+01] [ 7.59624107e-01 6.50329385e-01 -6.55040707e-03 -1.58584046e+02] [-8.73268507e-03 1.28244015e-04 -9.99961861e-01 -8.04906364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.380385723 meters 0.015935665675061546 Centerline is valid? [True, True] Translation: X:68.88, Y:-158.58, Z:-8.05 [[-7.06667389e-01 7.07512310e-01 6.89438017e-03 6.88844157e+01] [ 7.07480778e-01 7.06701003e-01 -6.68146753e-03 -1.58583149e+02] [-9.59948591e-03 1.56066222e-04 -9.99953912e-01 -8.04806110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.410385723 meters 0.01618006558060022 Centerline is valid? [True, True] Translation: X:68.91, Y:-158.57, Z:-8.05 [[-7.53989891e-01 6.56841002e-01 7.69040556e-03 6.89128588e+01] [ 6.56809228e-01 7.54029088e-01 -6.46308998e-03 -1.58570092e+02] [-1.00440120e-02 1.78024830e-04 -9.99949542e-01 -8.04757922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.440385723 meters 0.016316013151894668 Centerline is valid? [True, True] Translation: X:68.93, Y:-158.55, Z:-8.05 [[-7.98600387e-01 6.01802748e-01 8.41865275e-03 6.89343463e+01] [ 6.01771720e-01 7.98644739e-01 -6.11382908e-03 -1.58549924e+02] [-1.04028319e-02 1.83600867e-04 -9.99945872e-01 -8.04721937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.470385723 meters 0.016346734374588022 Centerline is valid? [True, True] Translation: X:68.96, Y:-158.53, Z:-8.05 [[-8.39269199e-01 5.43654407e-01 8.19126885e-03 6.89551997e+01] [ 5.43630465e-01 8.39309155e-01 -5.10487665e-03 -1.58527105e+02] [-9.65029562e-03 1.68657560e-04 -9.99953421e-01 -8.04673563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.500385723 meters 0.016338564701087396 Centerline is valid? [True, True] Translation: X:68.97, Y:-158.50, Z:-8.05 [[-8.75830969e-01 4.82546390e-01 8.31232984e-03 6.89738197e+01] [ 4.82526393e-01 8.75870399e-01 -4.39590568e-03 -1.58502769e+02] [-9.40175207e-03 1.60848203e-04 -9.99955790e-01 -8.04645854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.530385723 meters 0.01627337172741819 Centerline is valid? [True, True] Translation: X:69.35, Y:-157.79, Z:-9.02 [[-8.58772243e-01 -5.12305053e-01 7.33264173e-03 6.93540883e+01] [ 5.12284435e-01 -8.58803525e-01 -4.60024269e-03 -1.57789775e+02] [ 8.65402615e-03 -1.94162506e-04 9.99962534e-01 -9.02276302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.560385723 meters 0.016170307243556524 Centerline is valid? [True, True] Translation: X:68.93, Y:-158.48, Z:-8.05 [[-8.78569554e-01 4.77558220e-01 7.32703539e-03 6.89325741e+01] [ 4.77542798e-01 8.78600097e-01 -3.84001523e-03 -1.58479896e+02] [-8.27136485e-03 1.25252507e-04 -9.99965784e-01 -8.04692635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.590385723 meters 0.015862592979594702 Centerline is valid? [True, True] Translation: X:69.31, Y:-157.77, Z:-9.02 [[-8.59495374e-01 -5.11108167e-01 6.01200512e-03 6.93103867e+01] [ 5.11094187e-01 -8.59516381e-01 -3.78453158e-03 -1.57767945e+02] [ 7.10172188e-03 -1.80086511e-04 9.99974766e-01 -9.02014149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.620385723 meters 0.015077390553957438 Centerline is valid? [True, True] Translation: X:68.89, Y:-158.46, Z:-8.05 [[-8.81336922e-01 4.72452960e-01 5.78180966e-03 6.88924502e+01] [ 4.72443431e-01 8.81355883e-01 -3.00201658e-03 -1.58457613e+02] [-6.51414358e-03 8.57899410e-05 -9.99978779e-01 -8.05049516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.650385723 meters 0.015041420103619267 Centerline is valid? [True, True] Translation: X:68.91, Y:-158.43, Z:-8.05 [[-9.12831933e-01 4.08285691e-01 6.37616636e-03 6.89081285e+01] [ 4.08276395e-01 9.12854198e-01 -2.75652846e-03 -1.58430360e+02] [-6.94596135e-03 8.69910110e-05 -9.99975873e-01 -8.04883577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.680385723 meters 0.015183499357835516 Centerline is valid? [True, True] Translation: X:68.92, Y:-158.40, Z:-8.05 [[-9.39581526e-01 3.42258655e-01 6.75048548e-03 6.89221234e+01] [ 3.42250486e-01 9.39605771e-01 -2.36626140e-03 -1.58404253e+02] [-7.15266856e-03 8.70614380e-05 -9.99974416e-01 -8.04773710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.710385723 meters 0.015183499357835516 Centerline is valid? [True, True] Translation: X:69.19, Y:-157.65, Z:-9.02 [[-9.23904605e-01 -3.82565968e-01 6.60001869e-03 6.91927676e+01] [ 3.82555542e-01 -9.23928175e-01 -2.82563727e-03 -1.57654885e+02] [ 7.17893588e-03 -8.57455601e-05 9.99974227e-01 -9.02152679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.740385723 meters 0.015526941278088596 Centerline is valid? [True, True] Translation: X:68.88, Y:-158.39, Z:-8.05 [[-9.40800531e-01 3.38886028e-01 7.11489852e-03 6.88764629e+01] [ 3.38877084e-01 9.40827429e-01 -2.46383958e-03 -1.58390209e+02] [-7.52885249e-03 9.30944807e-05 -9.99971653e-01 -8.04634911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.770385723 meters 0.015099766515683226 Centerline is valid? [True, True] Translation: X:69.14, Y:-157.64, Z:-9.02 [[-9.25257848e-01 -3.79265683e-01 7.44693772e-03 6.91425264e+01] [ 3.79252828e-01 -9.25287813e-01 -3.12332854e-03 -1.57637505e+02] [ 8.07513205e-03 -6.56120455e-05 9.99967393e-01 -9.02172282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.800385723 meters 0.01556536701560632 Centerline is valid? [True, True] Translation: X:68.83, Y:-158.38, Z:-8.05 [[-9.42117104e-01 3.35198417e-01 7.57514592e-03 6.88296907e+01] [ 3.35188415e-01 9.42147553e-01 -2.59126148e-03 -1.58376805e+02] [-8.00549194e-03 9.78293928e-05 -9.99967951e-01 -8.04725303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.830385723 meters 0.015440446334530943 Centerline is valid? [True, True] Translation: X:69.09, Y:-157.62, Z:-9.02 [[-9.27276324e-01 -3.74325444e-01 6.25151511e-03 6.90906561e+01] [ 3.74315796e-01 -9.27297384e-01 -2.69207466e-03 -1.57617295e+02] [ 6.80472565e-03 -1.56256242e-04 9.99976835e-01 -9.02093788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.860385723 meters 0.015893134977938646 Centerline is valid? [True, True] Translation: X:68.78, Y:-158.36, Z:-8.05 [[-9.42184001e-01 3.35046842e-01 5.73774051e-03 6.87825321e+01] [ 3.35041253e-01 9.42201467e-01 -1.93779955e-03 -1.58362691e+02] [-6.05536114e-03 9.66160284e-05 -9.99981662e-01 -8.04785012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.890385723 meters 0.016241728658720995 Centerline is valid? [True, True] Translation: X:68.79, Y:-158.34, Z:-8.05 [[-9.63340537e-01 2.68222314e-01 5.63915909e-03 6.87884694e+01] [ 2.68218311e-01 9.63357037e-01 -1.46867663e-03 -1.58335262e+02] [-5.82645544e-03 9.76899935e-05 -9.99983021e-01 -8.04760528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.920385723 meters 0.016467546233738112 Centerline is valid? [True, True] Translation: X:69.01, Y:-157.56, Z:-9.02 [[-9.53815682e-01 -3.00335907e-01 5.82985738e-03 6.90066145e+01] [ 3.00329762e-01 -9.53833495e-01 -1.92305438e-03 -1.57557505e+02] [ 6.13827552e-03 -8.33597429e-05 9.99981157e-01 -9.02138741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.950385723 meters 0.01693871802076457 Centerline is valid? [True, True] Translation: X:68.74, Y:-158.33, Z:-8.05 [[-9.63920185e-01 2.66128703e-01 5.77844271e-03 6.87449704e+01] [ 2.66124604e-01 9.63937499e-01 -1.48108708e-03 -1.58327309e+02] [-5.96421740e-03 1.10136046e-04 -9.99982208e-01 -8.04835179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.980385723 meters 0.017369204494094043 Centerline is valid? [True, True] Translation: X:68.96, Y:-157.54, Z:-9.02 [[-9.55594583e-01 -2.94640303e-01 5.10737100e-03 6.89553349e+01] [ 2.94635335e-01 -9.55608222e-01 -1.71646666e-03 -1.57544102e+02] [ 5.38638598e-03 -1.35434277e-04 9.99985484e-01 -9.02163214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.010385723 meters 0.017621629061207417 Centerline is valid? [True, True] Translation: X:68.69, Y:-158.31, Z:-8.05 [[-9.64670029e-01 2.63405970e-01 5.38794476e-03 6.86919673e+01] [ 2.63402488e-01 9.64685069e-01 -1.35864191e-03 -1.58313585e+02] [-5.55554425e-03 1.08556927e-04 -9.99984562e-01 -8.04710055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.040385723 meters 0.017706024140929203 Centerline is valid? [True, True] Translation: X:68.70, Y:-158.29, Z:-8.05 [[-9.80921189e-01 1.94312692e-01 6.01651457e-03 6.87036841e+01] [ 1.94309781e-01 9.80939633e-01 -1.07013520e-03 -1.58285115e+02] [-6.10977844e-03 1.19349337e-04 -9.99981328e-01 -8.04603777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.070385723 meters 0.01710551630104661 Centerline is valid? [True, True] Translation: X:68.85, Y:-157.49, Z:-9.02 [[-9.74994000e-01 -2.22153323e-01 5.88230680e-03 6.88475484e+01] [ 2.22148526e-01 -9.75011737e-01 -1.46489680e-03 -1.57492626e+02] [ 6.06074986e-03 -1.21519803e-04 9.99981626e-01 -9.02303611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.100385723 meters 0.01717433493472701 Centerline is valid? [True, True] Translation: X:68.64, Y:-158.27, Z:-8.05 [[-9.81670178e-01 1.90481428e-01 6.36296619e-03 6.86444054e+01] [ 1.90478274e-01 9.81690791e-01 -1.10369088e-03 -1.58271854e+02] [-6.45669793e-03 1.28546395e-04 -9.99979147e-01 -8.04599366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.130385723 meters 0.016678377309940103 Centerline is valid? [True, True] Translation: X:68.79, Y:-157.49, Z:-9.02 [[-9.76107070e-01 -2.17209399e-01 5.92153932e-03 6.87881360e+01] [ 2.17204504e-01 -9.76125021e-01 -1.46540242e-03 -1.57485941e+02] [ 6.09846187e-03 -1.44204658e-04 9.99981394e-01 -9.02286984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.160385723 meters 0.017341683814636268 Centerline is valid? [True, True] Translation: X:68.59, Y:-158.26, Z:-8.05 [[-9.82249004e-01 1.87469705e-01 6.48100239e-03 6.85878205e+01] [ 1.87466558e-01 9.82270375e-01 -1.09516273e-03 -1.58260177e+02] [-6.57140649e-03 1.39248708e-04 -9.99978398e-01 -8.04609351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.190385723 meters 0.01701002833301228 Centerline is valid? [True, True] Translation: X:68.73, Y:-157.48, Z:-9.02 [[-9.77191500e-01 -2.12240040e-01 7.13711968e-03 6.87281172e+01] [ 2.12233581e-01 -9.77217557e-01 -1.65929853e-03 -1.57477724e+02] [ 7.32668825e-03 -1.06715955e-04 9.99973154e-01 -9.02293485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.220385723 meters 0.016833250904015953 Centerline is valid? [True, True] Translation: X:68.53, Y:-158.25, Z:-8.05 [[-9.83070537e-01 1.83072995e-01 7.52310393e-03 6.85288736e+01] [ 1.83068873e-01 9.83099310e-01 -1.23875998e-03 -1.58248034e+02] [-7.62274178e-03 1.59457720e-04 -9.99970934e-01 -8.04612327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.250385723 meters 0.017247586764809766 Centerline is valid? [True, True] Translation: X:68.65, Y:-157.47, Z:-9.02 [[-9.77775237e-01 -2.09508375e-01 7.86301576e-03 6.86483313e+01] [ 2.09500450e-01 -9.77806843e-01 -1.82760455e-03 -1.57466260e+02] [ 8.07140907e-03 -1.39681133e-04 9.99967416e-01 -9.02409987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.280385723 meters 0.017124689957105848 Centerline is valid? [True, True] Translation: X:68.46, Y:-158.23, Z:-8.05 [[-9.84122437e-01 1.77337847e-01 7.37006530e-03 6.84605726e+01] [ 1.77333984e-01 9.84150022e-01 -1.17964593e-03 -1.58234313e+02] [-7.46244580e-03 1.46047015e-04 -9.99972145e-01 -8.04538549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.310385723 meters 0.016974246359474168 Centerline is valid? [True, True] Translation: X:68.47, Y:-158.20, Z:-8.05 [[-9.94367762e-01 1.05807366e-01 6.12824432e-03 6.84688310e+01] [ 1.05806056e-01 9.94386639e-01 -5.38350198e-04 -1.58204756e+02] [-6.15080569e-03 1.13087282e-04 -9.99981077e-01 -8.04706282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.340385723 meters 0.016896344024642223 Centerline is valid? [True, True] Translation: X:68.54, Y:-157.43, Z:-9.02 [[-9.90581858e-01 -1.36802322e-01 5.71901113e-03 6.85430000e+01] [ 1.36799283e-01 -9.90598359e-01 -9.21045524e-04 -1.57425014e+02] [ 5.79124420e-03 -1.30014366e-04 9.99983222e-01 -9.02140747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.370385723 meters 0.016651965873162564 Centerline is valid? [True, True] Translation: X:68.40, Y:-158.20, Z:-8.05 [[-9.95005112e-01 9.96464635e-02 5.95059056e-03 6.83975014e+01] [ 9.96452842e-02 9.95022900e-01 -4.95071432e-04 -1.58195859e+02] [-5.97030600e-03 1.00349683e-04 -9.99982173e-01 -8.04821655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.400385723 meters 0.01578689503360891 Centerline is valid? [True, True] Translation: X:68.39, Y:-158.16, Z:-8.05 [[-9.99612945e-01 2.73189282e-02 5.25702738e-03 6.83943272e+01] [ 2.73189772e-02 9.99626765e-01 -6.24995294e-05 -1.58162615e+02] [-5.25677270e-03 8.11412725e-05 -9.99986180e-01 -8.04924535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.430385723 meters 0.01629432235420943 Centerline is valid? [True, True] Translation: X:68.39, Y:-158.14, Z:-8.05 [[-9.98994004e-01 -4.45517822e-02 5.11060327e-03 6.83900732e+01] [-4.45508127e-02 9.99007074e-01 3.03431308e-04 -1.58135067e+02] [-5.11904722e-03 7.54445282e-05 -9.99986895e-01 -8.04930180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.460385723 meters 0.016108318823148362 Centerline is valid? [True, True] Translation: X:68.39, Y:-158.11, Z:-8.05 [[-9.93234921e-01 -1.16044686e-01 4.24535343e-03 6.83854183e+01] [-1.16043360e-01 9.93243992e-01 5.58173635e-04 -1.58105833e+02] [-4.28144487e-03 6.17524700e-05 -9.99990833e-01 -8.05031900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.490385723 meters 0.01617698141064286 Centerline is valid? [True, True] Translation: X:68.28, Y:-157.34, Z:-9.02 [[-9.97036614e-01 7.68308412e-02 3.87450882e-03 6.82796356e+01] [-7.68305840e-02 -9.97044139e-01 2.15392829e-04 -1.57341283e+02] [ 3.87960512e-03 -8.29262378e-05 9.99992471e-01 -9.01843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.520385723 meters 0.016365610270385997 Centerline is valid? [True, True] Translation: X:68.26, Y:-158.12, Z:-8.05 [[-9.92486804e-01 -1.22284564e-01 4.05329718e-03 6.82617902e+01] [-1.22283296e-01 9.92495079e-01 5.60142025e-04 -1.58118814e+02] [-4.09137423e-03 6.02830284e-05 -9.99991629e-01 -8.05052871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.550385723 meters 0.01626496801639135 Centerline is valid? [True, True] Translation: X:68.15, Y:-157.36, Z:-9.02 [[-9.96414777e-01 8.44619227e-02 4.87612220e-03 6.81476375e+01] [-8.44610047e-02 -9.96426707e-01 3.94259652e-04 -1.57360597e+02] [ 4.89199832e-03 -1.89960369e-05 9.99988034e-01 -9.01902715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.580385723 meters 0.016171287109013967 Centerline is valid? [True, True] Translation: X:68.13, Y:-158.13, Z:-8.05 [[-9.91920542e-01 -1.26736930e-01 5.60262995e-03 6.81330877e+01] [-1.26734370e-01 9.91936360e-01 8.11124990e-04 -1.58132532e+02] [-5.66025184e-03 9.45257643e-05 -9.99983976e-01 -8.05119529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.610385723 meters 0.01656635508842678 Centerline is valid? [True, True] Translation: X:68.01, Y:-157.38, Z:-9.02 [[-9.95584581e-01 9.37014482e-02 5.60182937e-03 6.80113568e+01] [-9.37005106e-02 -9.95600336e-01 4.30178805e-04 -1.57378157e+02] [ 5.61749158e-03 -9.66148872e-05 9.99984217e-01 -9.01841952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.640385723 meters 0.016738194312506758 Centerline is valid? [True, True] Translation: X:68.00, Y:-158.15, Z:-8.05 [[-9.91398701e-01 -1.30757617e-01 5.57324186e-03 6.79981848e+01] [-1.30754934e-01 9.91414360e-01 8.44538370e-04 -1.58150960e+02] [-5.63582184e-03 1.08545369e-04 -9.99984113e-01 -8.05096704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.670385723 meters 0.017022896322045768 Centerline is valid? [True, True] Translation: X:67.98, Y:-158.12, Z:-8.05 [[-9.79883671e-01 -1.99503054e-01 5.14993715e-03 6.79760613e+01] [-1.99499687e-01 9.79897198e-01 1.16458267e-03 -1.58124074e+02] [-5.27874679e-03 1.13744691e-04 -9.99986061e-01 -8.05131653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.700385723 meters 0.017796143134785294 Centerline is valid? [True, True] Translation: X:67.93, Y:-158.11, Z:-8.05 [[-9.62960068e-01 -2.69590190e-01 5.38858558e-03 6.79292034e+01] [-2.69585238e-01 9.62975137e-01 1.63876952e-03 -1.58106396e+02] [-5.63087012e-03 1.25386482e-04 -9.99984139e-01 -8.05064487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.730385723 meters 0.017525638268243344 Centerline is valid? [True, True] Translation: X:67.86, Y:-158.10, Z:-8.05 [[-9.40597370e-01 -3.39465873e-01 6.28552799e-03 6.78641573e+01] [-3.39457214e-01 9.40618359e-01 2.42939716e-03 -1.58095461e+02] [-6.73698045e-03 1.51416764e-04 -9.99977295e-01 -8.05012110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.760385723 meters 0.017581496521524537 Centerline is valid? [True, True] Translation: X:67.78, Y:-158.10, Z:-8.05 [[-9.12940011e-01 -4.08049402e-01 6.01837396e-03 6.77797609e+01] [-4.08039457e-01 9.12959837e-01 2.85276837e-03 -1.58100078e+02] [-6.65860413e-03 1.48672342e-04 -9.99977820e-01 -8.05058459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.790385723 meters 0.017237802644320694 Centerline is valid? [True, True] Translation: X:67.71, Y:-158.10, Z:-8.05 [[-8.79394544e-01 -4.76064445e-01 5.28015130e-03 6.77072122e+01] [-4.76054972e-01 8.79410386e-01 3.00596241e-03 -1.58103938e+02] [-6.07445172e-03 1.29784666e-04 -9.99981542e-01 -8.05275132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.820385723 meters 0.017339523477289835 Centerline is valid? [True, True] Translation: X:67.62, Y:-158.13, Z:-8.05 [[-8.41087238e-01 -5.40878496e-01 4.76559071e-03 6.76154946e+01] [-5.40868997e-01 8.41100730e-01 3.20780402e-03 -1.58125417e+02] [-5.74337404e-03 1.20482752e-04 -9.99983499e-01 -8.05291397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.850385723 meters 0.017175648032183424 Centerline is valid? [True, True] Translation: X:67.53, Y:-158.15, Z:-8.05 [[-7.97516012e-01 -6.03282570e-01 4.28391197e-03 6.75307251e+01] [-6.03273112e-01 7.97527510e-01 3.37984705e-03 -1.58147295e+02] [-5.45554046e-03 1.11113237e-04 -9.99985112e-01 -8.05244842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.880385723 meters 0.017222816912792156 Centerline is valid? [True, True] Translation: X:67.44, Y:-158.19, Z:-8.05 [[-7.49729817e-01 -6.61733601e-01 3.72052808e-03 6.74352105e+01] [-6.61724761e-01 7.49739042e-01 3.42195780e-03 -1.58188072e+02] [-5.05384962e-03 1.03578245e-04 -9.99987224e-01 -8.05219711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.910385723 meters 0.01730272766777467 Centerline is valid? [True, True] Translation: X:67.34, Y:-158.24, Z:-8.05 [[-6.97661750e-01 -7.16418892e-01 3.47177535e-03 6.73400511e+01] [-7.16409257e-01 6.97670381e-01 3.71699662e-03 -1.58238576e+02] [-5.08508143e-03 1.05994366e-04 -9.99987065e-01 -8.05202895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.940385723 meters 0.01750811122759793 Centerline is valid? [True, True] Translation: X:67.25, Y:-158.30, Z:-8.05 [[-6.41325226e-01 -7.67262869e-01 3.10542574e-03 6.72506392e+01] [-7.67253072e-01 6.41332736e-01 3.87877356e-03 -1.58295874e+02] [-4.96765012e-03 1.04907892e-04 -9.99987656e-01 -8.05211661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.970385723 meters 0.017782444004432716 Centerline is valid? [True, True] Translation: X:67.16, Y:-158.37, Z:-8.05 [[-5.81271620e-01 -8.13704612e-01 2.84745296e-03 6.71606257e+01] [-8.13693917e-01 5.81278584e-01 4.17339835e-03 -1.58365730e+02] [-5.05107691e-03 1.08922867e-04 -9.99987237e-01 -8.05231530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.000385723 meters 0.017528159344983908 Centerline is valid? [True, True] Translation: X:67.07, Y:-158.45, Z:-8.05 [[-5.17193957e-01 -8.55864042e-01 2.67448115e-03 6.70737120e+01] [-8.55851433e-01 5.17200859e-01 4.64717587e-03 -1.58445047e+02] [-5.36059467e-03 1.14532747e-04 -9.99985625e-01 -8.05216162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.030385723 meters 0.018463474965420338 Centerline is valid? [True, True] Translation: X:66.99, Y:-158.54, Z:-8.05 [[-4.50481112e-01 -8.92782406e-01 2.51856303e-03 6.69904457e+01] [-8.92766845e-01 4.50488134e-01 5.27275327e-03 -1.58535737e+02] [-5.84200411e-03 1.26786184e-04 -9.99982927e-01 -8.05054003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.060385723 meters 0.016780261446131175 Centerline is valid? [True, True] Translation: X:66.91, Y:-158.63, Z:-8.05 [[-3.80691618e-01 -9.24699200e-01 2.29809202e-03 6.69109380e+01] [-9.24680103e-01 3.80698530e-01 5.94455079e-03 -1.58632090e+02] [-6.37180162e-03 1.38040700e-04 -9.99979690e-01 -8.05117554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.090385723 meters 0.017169637069346134 Centerline is valid? [True, True] Translation: X:66.84, Y:-158.73, Z:-8.05 [[-3.08958935e-01 -9.51073274e-01 2.00109642e-03 6.68442464e+01] [-9.51050004e-01 3.08965377e-01 6.65470034e-03 -1.58729223e+02] [-6.94737714e-03 1.52886373e-04 -9.99975855e-01 -8.05036252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.120385723 meters 0.01895469613933466 Centerline is valid? [True, True] Translation: X:66.79, Y:-158.84, Z:-8.05 [[-2.35586741e-01 -9.71852087e-01 1.55219066e-03 6.67873317e+01] [-9.71826150e-01 2.35591797e-01 7.10208318e-03 -1.58839655e+02] [-7.26785775e-03 1.64697157e-04 -9.99973575e-01 -8.04972679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.150385723 meters 0.019258415741431712 Centerline is valid? [True, True] Translation: X:66.74, Y:-158.95, Z:-8.05 [[-1.61120736e-01 -9.86934247e-01 9.48814064e-04 6.67359513e+01] [-9.86910700e-01 1.61123447e-01 6.81951858e-03 -1.58953028e+02] [-6.88329263e-03 1.62371097e-04 -9.99976297e-01 -8.05020987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.180385723 meters 0.018053209318421894 Centerline is valid? [True, True] Translation: X:66.69, Y:-159.07, Z:-8.05 [[-8.70065515e-02 -9.96207664e-01 3.87468312e-04 6.66869776e+01] [-9.96187711e-01 8.70072620e-02 6.30712976e-03 -1.59070137e+02] [-6.31692356e-03 1.62770439e-04 -9.99980035e-01 -8.05186410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.210385723 meters 0.018356578633546262 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.19, Z:-8.05 [[-1.14008717e-02 -9.99935003e-01 -9.65595167e-05 6.66527846e+01] [-9.99915718e-01 1.14000519e-02 6.21259973e-03 -1.59193110e+02] [-6.21109515e-03 1.67380431e-04 -9.99980697e-01 -8.05170190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.240385723 meters 0.018645094582661635 Centerline is valid? [True, True] Translation: X:66.63, Y:-159.31, Z:-8.05 [[ 6.39022629e-02 -9.97955919e-01 -6.96224083e-04 6.66260871e+01] [-9.97927645e-01 -6.39056953e-02 7.51509040e-03 -1.59313133e+02] [-7.54422163e-03 2.14549978e-04 -9.99971519e-01 -8.05104976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.270385723 meters 0.01894210959037081 Centerline is valid? [True, True] Translation: X:66.61, Y:-159.44, Z:-8.05 [[ 1.40113716e-01 -9.90134525e-01 -1.33027414e-03 6.66113803e+01] [-9.90103940e-01 -1.40119848e-01 7.78562138e-03 -1.59438663e+02] [-7.89521033e-03 2.26237320e-04 -9.99968807e-01 -8.05069853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.300385723 meters 0.018984803695509644 Centerline is valid? [True, True] Translation: X:66.60, Y:-159.57, Z:-8.05 [[ 2.15862066e-01 -9.76421973e-01 -1.92320497e-03 6.66029606e+01] [-9.76391957e-01 -2.15870516e-01 7.65938383e-03 -1.59565695e+02] [-7.89395392e-03 2.24431452e-04 -9.99968817e-01 -8.05035018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.330385723 meters 0.018927539389100443 Centerline is valid? [True, True] Translation: X:66.60, Y:-159.69, Z:-8.05 [[ 2.90390028e-01 -9.56905477e-01 -2.35357000e-03 6.66049458e+01] [-9.56879617e-01 -2.90399491e-01 7.03800361e-03 -1.59688558e+02] [-7.41817973e-03 2.08317093e-04 -9.99972463e-01 -8.05022417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.360385723 meters 0.017844903089319013 Centerline is valid? [True, True] Translation: X:66.61, Y:-159.82, Z:-8.05 [[ 3.63702113e-01 -9.31511524e-01 -2.65601505e-03 6.66137314e+01] [-9.31490278e-01 -3.63711764e-01 6.29402658e-03 -1.59815848e+02] [-6.82898220e-03 1.84901433e-04 -9.99976665e-01 -8.05085198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.390385723 meters 0.01772268104008127 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.94, Z:-8.05 [[ 4.34729344e-01 -9.00555202e-01 -3.27494811e-03 6.66356165e+01] [-9.00532797e-01 -4.34741640e-01 6.35517143e-03 -1.59937145e+02] [-7.14693900e-03 1.86418677e-04 -9.99974443e-01 -8.05093703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.420385723 meters 0.01780633286266597 Centerline is valid? [True, True] Translation: X:66.66, Y:-160.05, Z:-8.05 [[ 5.02923767e-01 -8.64321104e-01 -4.08816409e-03 6.66634282e+01] [-8.64295658e-01 -5.02940345e-01 6.63512465e-03 -1.60048967e+02] [-7.79098092e-03 1.96420592e-04 -9.99969631e-01 -8.05082673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.450385723 meters 0.016986450635948037 Centerline is valid? [True, True] Translation: X:66.70, Y:-160.16, Z:-8.05 [[ 5.68807299e-01 -8.22455170e-01 -5.07454412e-03 6.66966293e+01] [-8.22425552e-01 -5.68829898e-01 6.98272836e-03 -1.60162352e+02] [-8.62953345e-03 2.01607894e-04 -9.99962745e-01 -8.05038589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.480385723 meters 0.0173336780057212 Centerline is valid? [True, True] Translation: X:66.74, Y:-160.27, Z:-8.05 [[ 6.30983093e-01 -7.75772566e-01 -6.10427692e-03 6.67377489e+01] [-7.75739340e-01 -6.31012587e-01 7.18278108e-03 -1.60270511e+02] [-9.42408008e-03 2.03114328e-04 -9.99955572e-01 -8.04897434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.510385723 meters 0.01673711109778604 Centerline is valid? [True, True] Translation: X:66.78, Y:-160.37, Z:-8.05 [[ 6.88298145e-01 -7.25396816e-01 -6.71735727e-03 6.67840750e+01] [-7.25365090e-01 -6.88330894e-01 6.78730860e-03 -1.60371192e+02] [-9.54725658e-03 2.00844540e-04 -9.99954404e-01 -8.04905049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.540385723 meters 0.016958860607659373 Centerline is valid? [True, True] Translation: X:66.84, Y:-160.47, Z:-8.05 [[ 7.41350837e-01 -6.71076849e-01 -7.40258972e-03 6.68396896e+01] [-6.71046100e-01 -7.41387767e-01 6.42729839e-03 -1.60466504e+02] [-9.80140062e-03 2.02595915e-04 -9.99951945e-01 -8.04827578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.570385723 meters 0.016861239126098146 Centerline is valid? [True, True] Translation: X:66.83, Y:-160.48, Z:-8.05 [[ 7.91583703e-01 -6.11013573e-01 -7.59303604e-03 6.68346016e+01] [-6.10987807e-01 -7.91620095e-01 5.61467369e-03 -1.60483100e+02] [-9.44144174e-03 1.94768243e-04 -9.99955410e-01 -8.04909834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.600385723 meters 0.016861239126098146 Centerline is valid? [True, True] Translation: X:66.83, Y:-160.50, Z:-8.05 [[ 8.36904173e-01 -5.47290844e-01 -8.00856178e-03 6.68324805e+01] [-5.47268000e-01 -8.36942468e-01 5.00423363e-03 -1.60497422e+02] [-9.44147671e-03 1.94765580e-04 -9.99955409e-01 -8.04909797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.630385723 meters 0.016876368603277674 Centerline is valid? [True, True] Translation: X:66.83, Y:-160.51, Z:-8.05 [[ 8.76390447e-01 -4.81529428e-01 -8.31831753e-03 6.68309619e+01] [-4.81509977e-01 -8.76429899e-01 4.33302851e-03 -1.60514306e+02] [-9.37690293e-03 2.07928091e-04 -9.99956014e-01 -8.05039826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.660385723 meters 0.017541044663842823 Centerline is valid? [True, True] Translation: X:66.83, Y:-160.53, Z:-8.05 [[ 9.10822508e-01 -4.12708127e-01 -8.62324841e-03 6.68307532e+01] [-4.12691904e-01 -9.10863301e-01 3.66591327e-03 -1.60529534e+02] [-9.36755271e-03 2.19748478e-04 -9.99956099e-01 -8.04990675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.690385723 meters 0.017797329160540727 Centerline is valid? [True, True] Translation: X:66.83, Y:-160.55, Z:-8.05 [[ 9.39855968e-01 -3.41449772e-01 -9.10008970e-03 6.68326998e+01] [-3.41436205e-01 -9.39899993e-01 3.05315843e-03 -1.60545331e+02] [-9.59567449e-03 2.37570919e-04 -9.99953932e-01 -8.04936897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.720385723 meters 0.018566153961058186 Centerline is valid? [True, True] Translation: X:66.84, Y:-160.56, Z:-8.05 [[ 9.63116461e-01 -2.68910427e-01 -9.68838035e-03 6.68353976e+01] [-2.68899610e-01 -9.63165152e-01 2.42683796e-03 -1.60558807e+02] [-9.98411237e-03 2.67874110e-04 -9.99950122e-01 -8.04905184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.750385723 meters 0.018423215058771175 Centerline is valid? [True, True] Translation: X:66.84, Y:-160.57, Z:-8.05 [[ 9.80948498e-01 -1.94013773e-01 -9.93479492e-03 6.68393833e+01] [-1.94006734e-01 -9.80998765e-01 1.67661861e-03 -1.60573289e+02] [-1.00713086e-02 2.82740603e-04 -9.99949243e-01 -8.05016828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.780385723 meters 0.019133447365355556 Centerline is valid? [True, True] Translation: X:66.84, Y:-160.59, Z:-8.05 [[ 9.93029281e-01 -1.17498182e-01 -9.32873248e-03 6.68403374e+01] [-1.17495557e-01 -9.93073061e-01 8.30855037e-04 -1.60585313e+02] [-9.36173687e-03 2.71021239e-04 -9.99956141e-01 -8.05111854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.810385723 meters 0.018379468086445885 Centerline is valid? [True, True] Translation: X:66.84, Y:-160.60, Z:-8.05 [[ 9.99202591e-01 -3.88304667e-02 -9.29393372e-03 6.68428207e+01] [-3.88312415e-02 -9.99245778e-01 9.71409398e-05 -1.60602219e+02] [-9.29069606e-03 2.63831506e-04 -9.99956806e-01 -8.05212702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.840385723 meters 0.01833022897833282 Centerline is valid? [True, True] Translation: X:66.85, Y:-160.62, Z:-8.05 [[ 9.99060030e-01 4.23404694e-02 -9.29196130e-03 6.68464278e+01] [ 4.23364203e-02 -9.99103212e-01 -6.32118188e-04 -1.60617920e+02] [-9.31039256e-03 2.38135637e-04 -9.99956629e-01 -8.05176936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.870385723 meters 0.017585688289043666 Centerline is valid? [True, True] Translation: X:66.85, Y:-160.63, Z:-8.05 [[ 9.92468247e-01 1.22114558e-01 -9.73721181e-03 6.68518862e+01] [ 1.22106358e-01 -9.92515985e-01 -1.43449084e-03 -1.60633302e+02] [-9.83951059e-03 2.34711142e-04 -9.99951563e-01 -8.05199825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.900385723 meters 0.017564502640256333 Centerline is valid? [True, True] Translation: X:66.86, Y:-160.65, Z:-8.05 [[ 9.79085712e-01 2.03224681e-01 -9.53406556e-03 6.68571923e+01] [ 2.03213098e-01 -9.79132111e-01 -2.17857504e-03 -1.60646588e+02] [-9.77784995e-03 1.95564696e-04 -9.99952177e-01 -8.05136815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.930385723 meters 0.016320473274261258 Centerline is valid? [True, True] Translation: X:66.87, Y:-160.66, Z:-8.05 [[ 9.59766177e-01 2.80665297e-01 -8.71070095e-03 6.68664301e+01] [ 2.80652132e-01 -9.59805690e-01 -2.72368391e-03 -1.60663817e+02] [-9.12502389e-03 1.69422896e-04 -9.99958352e-01 -8.05301997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.960385723 meters 0.016224087686789377 Centerline is valid? [True, True] Translation: X:66.88, Y:-160.68, Z:-8.05 [[ 9.33867708e-01 3.57525050e-01 -8.18180860e-03 6.68752872e+01] [ 3.57510020e-01 -9.33903538e-01 -3.28127808e-03 -1.60678136e+02] [-8.81415911e-03 1.39201090e-04 -9.99961145e-01 -8.05325328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.990385723 meters 0.01621274777637501 Centerline is valid? [True, True] Translation: X:66.88, Y:-160.69, Z:-8.05 [[ 9.02580984e-01 4.30443183e-01 -8.13839336e-03 6.68835849e+01] [ 4.30424338e-01 -9.02617665e-01 -4.02995946e-03 -1.60688465e+02] [-9.08052619e-03 1.34402192e-04 -9.99958762e-01 -8.05293996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.020385723 meters 0.016101277319572727 Centerline is valid? [True, True] Translation: X:66.89, Y:-160.70, Z:-8.05 [[ 8.65620363e-01 5.00628811e-01 -8.49589360e-03 6.68932662e+01] [ 5.00603144e-01 -8.65662044e-01 -5.07117165e-03 -1.60696749e+02] [-9.89334725e-03 1.36638400e-04 -9.99951050e-01 -8.05329775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.050385723 meters 0.01580639406463812 Centerline is valid? [True, True] Translation: X:66.91, Y:-160.71, Z:-8.05 [[ 8.23578040e-01 5.67142377e-01 -8.29073824e-03 6.69053045e+01] [ 5.67111960e-01 -8.23619758e-01 -5.87531425e-03 -1.60706579e+02] [-1.01605555e-02 1.37002980e-04 -9.99948371e-01 -8.05412411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.080385723 meters 0.015757238206368228 Centerline is valid? [True, True] Translation: X:66.92, Y:-160.71, Z:-8.05 [[ 7.76595379e-01 6.29953003e-01 -7.67016300e-03 6.69179667e+01] [ 6.29920566e-01 -7.76633245e-01 -6.39406875e-03 -1.60714856e+02] [-9.98486639e-03 1.34010830e-04 -9.99950141e-01 -8.05466237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.110385723 meters 0.016074406646373794 Centerline is valid? [True, True] Translation: X:66.93, Y:-160.72, Z:-8.06 [[ 7.25226871e-01 6.88479874e-01 -6.43809402e-03 6.69288214e+01] [ 6.88451204e-01 -7.25255436e-01 -6.28429798e-03 -1.60721076e+02] [-8.99587536e-03 1.25228185e-04 -9.99959528e-01 -8.05546579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.140385723 meters 0.015901191893557334 Centerline is valid? [True, True] Translation: X:66.94, Y:-160.73, Z:-8.06 [[ 6.69592701e-01 7.42703005e-01 -6.15320732e-03 6.69415356e+01] [ 7.42669762e-01 -6.69620958e-01 -7.02832135e-03 -1.60727484e+02] [-9.34027197e-03 1.36311660e-04 -9.99956369e-01 -8.05563749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.170385723 meters 0.016175137831981642 Centerline is valid? [True, True] Translation: X:66.95, Y:-160.73, Z:-8.05 [[ 6.09712276e-01 7.92602031e-01 -5.74119491e-03 6.69526517e+01] [ 7.92564655e-01 -6.09739289e-01 -7.69860495e-03 -1.60732289e+02] [-9.60256202e-03 1.43665787e-04 -9.99953884e-01 -8.05456954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.200385723 meters 0.016044617475967842 Centerline is valid? [True, True] Translation: X:66.96, Y:-160.74, Z:-8.06 [[ 5.46502888e-01 8.37442065e-01 -5.03795629e-03 6.69637863e+01] [ 8.37403938e-01 -5.46526088e-01 -7.99249814e-03 -1.60735057e+02] [-9.44662870e-03 1.49118878e-04 -9.99955369e-01 -8.05522224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.230385723 meters 0.018426690635379772 Centerline is valid? [True, True] Translation: X:66.97, Y:-160.74, Z:-8.05 [[ 4.80135236e-01 8.77181135e-01 -4.83861424e-03 6.69741662e+01] [ 8.77132871e-01 -4.80159584e-01 -9.20329437e-03 -1.60737990e+02] [-1.03962632e-02 1.74718312e-04 -9.99945942e-01 -8.05407407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.260385723 meters 0.016513407058953166 Centerline is valid? [True, True] Translation: X:66.98, Y:-160.74, Z:-8.06 [[ 4.10903334e-01 9.11674375e-01 -2.87825959e-03 6.69847221e+01] [ 9.11649751e-01 -4.10913394e-01 -6.70180824e-03 -1.60738945e+02] [-7.29258226e-03 1.29830708e-04 -9.99973400e-01 -8.05647493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.290385723 meters 0.01630502729127476 Centerline is valid? [True, True] Translation: X:67.00, Y:-160.74, Z:-8.06 [[ 3.38967027e-01 9.40795823e-01 -2.13879241e-03 6.69994385e+01] [ 9.40774732e-01 -3.38973752e-01 -6.30071828e-03 -1.60740702e+02] [-6.65268393e-03 1.23613891e-04 -9.99977863e-01 -8.05709564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.320385723 meters 0.016954283254178682 Centerline is valid? [True, True] Translation: X:67.01, Y:-160.74, Z:-8.06 [[ 2.64496272e-01 9.64385350e-01 -1.61822267e-03 6.70115207e+01] [ 9.64364329e-01 -2.64501193e-01 -6.36864323e-03 -1.60742148e+02] [-6.56984806e-03 1.23926174e-04 -9.99978411e-01 -8.05620698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.350385723 meters 0.01642177620297573 Centerline is valid? [True, True] Translation: X:67.03, Y:-160.74, Z:-8.06 [[ 1.87860983e-01 9.82194766e-01 -1.30091658e-03 6.70267175e+01] [ 9.82165708e-01 -1.87865434e-01 -7.55651009e-03 -1.60742414e+02] [-7.66636192e-03 1.41857765e-04 -9.99970603e-01 -8.05540561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.380385723 meters 0.017082235683010753 Centerline is valid? [True, True] Translation: X:67.04, Y:-160.74, Z:-8.05 [[ 1.10216069e-01 9.93907384e-01 -7.27652893e-04 6.70370536e+01] [ 9.93876156e-01 -1.10218376e-01 -7.88012109e-03 -1.60742029e+02] [-7.91231126e-03 1.45319113e-04 -9.99968687e-01 -8.05457135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.410385723 meters 0.01632201611865749 Centerline is valid? [True, True] Translation: X:67.05, Y:-160.74, Z:-8.06 [[ 3.18973601e-02 9.99491144e-01 -1.03583641e-04 6.70497506e+01] [ 9.99462635e-01 -3.18972328e-02 -7.55031809e-03 -1.60739808e+02] [-7.54978010e-03 1.37307236e-04 -9.99971491e-01 -8.05703446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.440385723 meters 0.016553652666492242 Centerline is valid? [True, True] Translation: X:67.06, Y:-160.74, Z:-8.06 [[-4.69611352e-02 9.98896596e-01 4.92626906e-04 6.70622286e+01] [ 9.98867649e-01 4.69635252e-02 -7.60572737e-03 -1.60738117e+02] [-7.62047068e-03 1.34895489e-04 -9.99970955e-01 -8.05664298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.470385723 meters 0.01616342646718887 Centerline is valid? [True, True] Translation: X:67.08, Y:-160.73, Z:-8.06 [[-1.26382978e-01 9.91980944e-01 1.07199736e-03 6.70768753e+01] [ 9.91953051e-01 1.26387464e-01 -7.43995710e-03 -1.60734440e+02] [-7.51578270e-03 1.23087116e-04 -9.99971749e-01 -8.05559042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.500385723 meters 0.015858346162936354 Centerline is valid? [True, True] Translation: X:67.09, Y:-160.73, Z:-8.06 [[-2.04493310e-01 9.78866840e-01 1.48167416e-03 6.70888705e+01] [ 9.78844740e-01 2.04498650e-01 -6.57852288e-03 -1.60729919e+02] [-6.74249827e-03 1.05065041e-04 -9.99977264e-01 -8.05531633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.530385723 meters 0.016126936245774565 Centerline is valid? [True, True] Translation: X:67.10, Y:-160.73, Z:-8.05 [[-2.80805645e-01 9.59762764e-01 1.90445423e-03 6.70981925e+01] [ 9.59743019e-01 2.80812086e-01 -6.15706869e-03 -1.60725846e+02] [-6.44411903e-03 9.88470037e-05 -9.99979232e-01 -8.05497149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.560385723 meters 0.015915158259374722 Centerline is valid? [True, True] Translation: X:67.11, Y:-160.72, Z:-8.06 [[-3.55269535e-01 9.34760558e-01 2.50146445e-03 6.71060521e+01] [ 9.34739386e-01 3.55278326e-01 -6.29217673e-03 -1.60720862e+02] [-6.77039473e-03 1.02798638e-04 -9.99977075e-01 -8.05559700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.590385723 meters 0.016251935823131374 Centerline is valid? [True, True] Translation: X:67.11, Y:-160.72, Z:-8.06 [[-4.26657273e-01 9.04410752e-01 2.18235028e-03 6.71118034e+01] [ 9.04399859e-01 4.26662847e-01 -4.43967295e-03 -1.60717546e+02] [-4.94641574e-03 7.94985287e-05 -9.99987763e-01 -8.05673932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.620385723 meters 0.016115042164901002 Centerline is valid? [True, True] Translation: X:67.12, Y:-160.71, Z:-8.06 [[-4.95557458e-01 8.68572431e-01 2.17679860e-03 6.71220205e+01] [ 8.68564678e-01 4.95562234e-01 -3.67051929e-03 -1.60710022e+02] [-4.26685104e-03 7.17371668e-05 -9.99990894e-01 -8.05670753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.650385723 meters 0.016882284365750625 Centerline is valid? [True, True] Translation: X:67.13, Y:-160.70, Z:-8.05 [[-5.61802119e-01 8.27266244e-01 2.98990641e-03 6.71306281e+01] [ 8.27255359e-01 5.61810068e-01 -4.24468160e-03 -1.60703941e+02] [-5.19124133e-03 8.87449836e-05 -9.99986522e-01 -8.05420906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.680385723 meters 0.016898440638560205 Centerline is valid? [True, True] Translation: X:67.14, Y:-160.70, Z:-8.05 [[-6.24969171e-01 7.80643627e-01 3.01056319e-03 6.71368308e+01] [ 7.80635180e-01 6.24976417e-01 -3.63233060e-03 -1.60697425e+02] [-4.71708673e-03 8.00568959e-05 -9.99988871e-01 -8.05354697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.710385723 meters 0.017218938613948045 Centerline is valid? [True, True] Translation: X:67.14, Y:-160.69, Z:-8.05 [[-6.84050243e-01 7.29429471e-01 2.81283465e-03 6.71399899e+01] [ 7.29423718e-01 6.84056023e-01 -2.89781433e-03 -1.60693726e+02] [-4.03788765e-03 6.94977129e-05 -9.99991845e-01 -8.05429877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.740385723 meters 0.017038623156260216 Centerline is valid? [True, True] Translation: X:67.14, Y:-160.69, Z:-8.06 [[-7.38834083e-01 6.73881634e-01 2.78236477e-03 6.71448881e+01] [ 6.73877186e-01 7.38839319e-01 -2.44945709e-03 -1.60686988e+02] [-3.70636464e-03 6.52297616e-05 -9.99993129e-01 -8.05521392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.770385723 meters 0.017028561686141506 Centerline is valid? [True, True] Translation: X:67.16, Y:-160.66, Z:-8.06 [[-7.84030047e-01 6.20717326e-01 2.62439989e-03 6.71617790e+01] [ 6.20714109e-01 7.84034437e-01 -1.99908294e-03 -1.60664642e+02] [-3.29848531e-03 6.16609496e-05 -9.99994558e-01 -8.05577814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.800385723 meters 0.01745944734941197 Centerline is valid? [True, True] Translation: X:67.17, Y:-160.64, Z:-8.05 [[-8.24724335e-01 5.65529388e-01 2.50666850e-03 6.71737201e+01] [ 5.65527005e-01 8.24728142e-01 -1.64268001e-03 -1.60638310e+02] [-2.99630388e-03 6.28305488e-05 -9.99995509e-01 -8.05459047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.830385723 meters 0.016957589695898785 Centerline is valid? [True, True] Translation: X:67.52, Y:-160.12, Z:-9.02 [[-8.10500726e-01 -5.85727367e-01 3.46766556e-03 6.75203643e+01] [ 5.85721942e-01 -8.10508144e-01 -2.52083928e-03 -1.60122424e+02] [ 4.28709574e-03 -1.20542603e-05 9.99990810e-01 -9.01604816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.860385723 meters 0.0172282576753349 Centerline is valid? [True, True] Translation: X:67.15, Y:-160.62, Z:-8.05 [[-8.25677281e-01 5.64127296e-01 4.17394080e-03 6.71456581e+01] [ 5.64120759e-01 8.25687823e-01 -2.71800397e-03 -1.60620798e+02] [-4.97967232e-03 1.10412525e-04 -9.99987595e-01 -8.05245221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.890385723 meters 0.01724377485689106 Centerline is valid? [True, True] Translation: X:67.16, Y:-160.60, Z:-8.05 [[-8.63297810e-01 5.04672149e-01 4.78674875e-03 6.71593090e+01] [ 5.04665174e-01 8.63311072e-01 -2.65621497e-03 -1.60597239e+02] [-5.47297092e-03 1.22600821e-04 -9.99985016e-01 -8.05248420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.920385723 meters 0.01731523042935039 Centerline is valid? [True, True] Translation: X:67.46, Y:-160.05, Z:-9.02 [[-8.51429528e-01 -5.24449967e-01 4.47112206e-03 6.74633009e+01] [ 5.24441939e-01 -8.51441258e-01 -2.90463659e-03 -1.60047962e+02] [ 5.33023436e-03 -1.28249437e-04 9.99985786e-01 -9.01661759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.950385723 meters 0.016764964910268732 Centerline is valid? [True, True] Translation: X:67.12, Y:-160.58, Z:-8.05 [[-8.65655555e-01 5.00616870e-01 4.81759863e-03 6.71181927e+01] [ 5.00609868e-01 8.65668953e-01 -2.65031426e-03 -1.60576309e+02] [-5.49723759e-03 1.17478149e-04 -9.99984883e-01 -8.05328641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.980385723 meters 0.016529958190437673 Centerline is valid? [True, True] Translation: X:67.41, Y:-160.02, Z:-9.02 [[-8.51770330e-01 -5.23890673e-01 5.08605903e-03 6.74142899e+01] [ 5.23880665e-01 -8.51785510e-01 -3.23960166e-03 -1.60023075e+02] [ 6.02942848e-03 -9.49085878e-05 9.99981818e-01 -9.01610464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.010385723 meters 0.017243132884230485 Centerline is valid? [True, True] Translation: X:67.07, Y:-160.55, Z:-8.05 [[-8.70062209e-01 4.92901855e-01 6.28595341e-03 6.70749449e+01] [ 4.92889943e-01 8.70084908e-01 -3.42873870e-03 -1.60552227e+02] [-7.15934486e-03 1.15067244e-04 -9.99974365e-01 -8.05123130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.040385723 meters 0.01611518420098114 Centerline is valid? [True, True] Translation: X:67.08, Y:-160.52, Z:-8.05 [[-9.03482140e-01 4.28570738e-01 6.86625621e-03 6.70812321e+01] [ 4.28559279e-01 9.03508224e-01 -3.13590173e-03 -1.60524239e+02] [-7.54767467e-03 1.09366601e-04 -9.99971510e-01 -8.05135363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.070385723 meters 0.0158085483973937 Centerline is valid? [True, True] Translation: X:67.09, Y:-160.50, Z:-8.05 [[-9.31941880e-01 3.62539793e-01 7.01643541e-03 6.70913655e+01] [ 3.62530335e-01 9.31968287e-01 -2.62069258e-03 -1.60497767e+02] [-7.48920064e-03 1.01337514e-04 -9.99971950e-01 -8.05160312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.100385723 meters 0.016293729322356103 Centerline is valid? [True, True] Translation: X:67.09, Y:-160.47, Z:-8.05 [[-9.55553039e-01 2.94724116e-01 7.48905577e-03 6.70939134e+01] [ 2.94715876e-01 9.55582380e-01 -2.20611031e-03 -1.60472184e+02] [-7.80660365e-03 9.90882142e-05 -9.99969523e-01 -8.05152031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.130385723 meters 0.015711329936778245 Centerline is valid? [True, True] Translation: X:67.10, Y:-160.44, Z:-8.05 [[-9.74131578e-01 2.25864957e-01 7.25875016e-03 6.70977743e+01] [ 2.25859390e-01 9.74158618e-01 -1.58856677e-03 -1.60442973e+02] [-7.42997559e-03 9.19838261e-05 -9.99972393e-01 -8.05280023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.160385723 meters 0.015625653283084722 Centerline is valid? [True, True] Translation: X:67.23, Y:-159.82, Z:-9.02 [[-9.63404985e-01 -2.67976583e-01 6.27576859e-03 6.72326270e+01] [ 2.67969963e-01 -9.63425416e-01 -1.88862201e-03 -1.59815708e+02] [ 6.55234144e-03 -1.37790383e-04 9.99978524e-01 -9.01521841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.190385723 meters 0.01568840192527972 Centerline is valid? [True, True] Translation: X:67.04, Y:-160.44, Z:-8.05 [[-9.75311781e-01 2.20753478e-01 5.90192054e-03 6.70446902e+01] [ 2.20749852e-01 9.75329635e-01 -1.26693403e-03 -1.60436955e+02] [-6.03599810e-03 6.71923999e-05 -9.99981781e-01 -8.05405404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.220385723 meters 0.015550671897477884 Centerline is valid? [True, True] Translation: X:67.18, Y:-159.80, Z:-9.01 [[-9.64191357e-01 -2.65152872e-01 5.38350663e-03 6.71818781e+01] [ 2.65148217e-01 -9.64206382e-01 -1.57379093e-03 -1.59802536e+02] [ 5.60810663e-03 -9.00084320e-05 9.99984270e-01 -9.01424657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.250385723 meters 0.015564018210956711 Centerline is valid? [True, True] Translation: X:66.99, Y:-160.43, Z:-8.05 [[-9.76341932e-01 2.16182685e-01 4.63442691e-03 6.69929481e+01] [ 2.16180489e-01 9.76352930e-01 -9.75585050e-04 -1.60430475e+02] [-4.73574089e-03 4.93680830e-05 -9.99988785e-01 -8.05494414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.280385723 meters 0.015531781728708739 Centerline is valid? [True, True] Translation: X:66.99, Y:-160.40, Z:-8.06 [[-9.89262810e-01 1.46071177e-01 4.72268168e-03 6.69905573e+01] [ 1.46069747e-01 9.89274082e-01 -6.48326384e-04 -1.60401725e+02] [-4.76672838e-03 4.84757361e-05 -9.99988638e-01 -8.05506297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.310385723 meters 0.015861649528161388 Centerline is valid? [True, True] Translation: X:67.08, Y:-159.75, Z:-9.01 [[-9.81414752e-01 -1.91853407e-01 4.16580801e-03 6.70828887e+01] [ 1.91851351e-01 -9.81423591e-01 -8.91486591e-04 -1.59748034e+02] [ 4.25945699e-03 -7.57021992e-05 9.99990926e-01 -9.01400160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.340385723 meters 0.017875199851489255 Centerline is valid? [True, True] Translation: X:66.93, Y:-160.40, Z:-8.05 [[-9.89610118e-01 1.43717188e-01 4.14539642e-03 6.69348462e+01] [ 1.43716140e-01 9.89618799e-01 -5.51242204e-04 -1.60398685e+02] [-4.18158521e-03 5.02455076e-05 -9.99991256e-01 -8.05427787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.370385723 meters 0.01609354563046361 Centerline is valid? [True, True] Translation: X:67.03, Y:-159.74, Z:-9.01 [[-9.82613611e-01 -1.85642928e-01 2.68237191e-03 6.70272786e+01] [ 1.85641891e-01 -9.82617264e-01 -6.32869632e-04 -1.59736394e+02] [ 2.75323272e-03 -1.23905722e-04 9.99996202e-01 -9.01319460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.400385723 meters 0.018479337763497184 Centerline is valid? [True, True] Translation: X:66.88, Y:-160.40, Z:-8.05 [[-9.89875453e-01 1.41890638e-01 3.69252894e-03 6.68789196e+01] [ 1.41889854e-01 9.89882338e-01 -4.74860153e-04 -1.60396745e+02] [-3.72254739e-03 5.38799831e-05 -9.99993070e-01 -8.05482758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.430385723 meters 0.016675248562571722 Centerline is valid? [True, True] Translation: X:66.88, Y:-160.37, Z:-8.06 [[-9.97315975e-01 7.31938397e-02 1.87320278e-03 6.68786620e+01] [ 7.31937699e-02 9.97317733e-01 -1.05858912e-04 -1.60370742e+02] [-1.87592657e-03 3.15319889e-05 -9.99998240e-01 -8.05505385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.460385723 meters 0.016879424434110217 Centerline is valid? [True, True] Translation: X:66.87, Y:-160.34, Z:-8.05 [[-9.99994527e-01 3.03803565e-03 1.30995008e-03 6.68743554e+01] [ 3.03806402e-03 9.99995385e-01 1.96670688e-05 -1.60342711e+02] [-1.30988429e-03 2.36466733e-05 -9.99999142e-01 -8.05472369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.490385723 meters 0.017256662855708243 Centerline is valid? [True, True] Translation: X:66.86, Y:-160.32, Z:-8.05 [[-9.97803782e-01 -6.62349618e-02 7.37065004e-04 6.68641055e+01] [-6.62349324e-02 9.97804054e-01 6.42942297e-05 -1.60317392e+02] [-7.39704975e-04 1.53335748e-05 -9.99999726e-01 -8.05396022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.520385723 meters 0.017256662855708243 Centerline is valid? [True, True] Translation: X:66.85, Y:-160.29, Z:-8.05 [[-9.90535022e-01 -1.37258282e-01 7.30644365e-04 6.68504834e+01] [-1.37258233e-01 9.90535292e-01 1.16725868e-04 -1.60289624e+02] [-7.39750621e-04 1.53341059e-05 -9.99999726e-01 -8.05395956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.550385723 meters 0.017142767004918624 Centerline is valid? [True, True] Translation: X:66.82, Y:-160.27, Z:-8.05 [[-9.78249874e-01 -2.07427375e-01 1.03363945e-03 6.68229045e+01] [-2.07427235e-01 9.78250420e-01 2.41857064e-04 -1.60266792e+02] [-1.06132601e-03 2.21916673e-05 -9.99999437e-01 -8.05375387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.580385723 meters 0.017257672019893394 Centerline is valid? [True, True] Translation: X:66.78, Y:-160.25, Z:-8.05 [[-9.60839484e-01 -2.77096269e-01 2.26809627e-03 6.67799535e+01] [-2.77095373e-01 9.60842160e-01 7.06401151e-04 -1.60252255e+02] [-2.37502364e-03 5.02591364e-05 -9.99997178e-01 -8.05323061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.610385723 meters 0.017227063681434587 Centerline is valid? [True, True] Translation: X:66.72, Y:-160.24, Z:-8.05 [[-9.38098633e-01 -3.46360191e-01 2.36058555e-03 6.67230640e+01] [-3.46358949e-01 9.38101602e-01 9.29221971e-04 -1.60241980e+02] [-2.53631459e-03 5.40919292e-05 -9.99996782e-01 -8.05290962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.640385723 meters 0.017526335164580496 Centerline is valid? [True, True] Translation: X:66.65, Y:-160.24, Z:-8.05 [[-9.09744244e-01 -4.15166798e-01 1.39290469e-03 6.66517962e+01] [-4.15166256e-01 9.09745310e-01 6.71598508e-04 -1.60242678e+02] [-1.54601391e-03 3.26958526e-05 -9.99998804e-01 -8.05212967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.670385723 meters 0.01677043142670709 Centerline is valid? [True, True] Translation: X:66.57, Y:-160.25, Z:-8.05 [[-8.76088620e-01 -4.82148061e-01 1.40603243e-03 6.65693802e+01] [-4.82147379e-01 8.76089748e-01 8.11657177e-04 -1.60251337e+02] [-1.62314953e-03 3.31687647e-05 -9.99998682e-01 -8.05209108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.700385723 meters 0.017048302977601883 Centerline is valid? [True, True] Translation: X:66.49, Y:-160.27, Z:-8.05 [[-8.37082936e-01 -5.47074621e-01 1.23140721e-03 6.64887241e+01] [-5.47073978e-01 8.37083842e-01 8.39846372e-04 -1.60269295e+02] [-1.49024971e-03 2.93502266e-05 -9.99998889e-01 -8.05162904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.730385723 meters 0.01671327219941571 Centerline is valid? [True, True] Translation: X:66.40, Y:-160.30, Z:-8.05 [[-7.92881441e-01 -6.09374006e-01 1.52996353e-03 6.63996991e+01] [-6.09372784e-01 7.92882917e-01 1.22096804e-03 -1.60300453e+02] [-1.95710813e-03 3.57647616e-05 -9.99998084e-01 -8.05148208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.760385723 meters 0.016772077200436664 Centerline is valid? [True, True] Translation: X:66.31, Y:-160.34, Z:-8.05 [[-7.44573894e-01 -6.67538193e-01 1.57394533e-03 6.63085584e+01] [-6.67536590e-01 7.44575557e-01 1.46332711e-03 -1.60342254e+02] [-2.14874795e-03 3.88890704e-05 -9.99997691e-01 -8.05059991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.790385723 meters 0.01662872654451771 Centerline is valid? [True, True] Translation: X:66.22, Y:-160.39, Z:-8.05 [[-6.92186286e-01 -7.21717244e-01 1.53807197e-03 6.62165990e+01] [-7.21715326e-01 6.92187993e-01 1.66434698e-03 -1.60393063e+02] [-2.26582286e-03 4.19880390e-05 -9.99997432e-01 -8.05020862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.820385723 meters 0.01705052501351613 Centerline is valid? [True, True] Translation: X:66.12, Y:-160.46, Z:-8.05 [[-6.35861996e-01 -7.71801652e-01 1.31648417e-03 6.61248349e+01] [-7.71799863e-01 6.35863357e-01 1.66195087e-03 -1.60458266e+02] [-2.11980047e-03 4.07090938e-05 -9.99997752e-01 -8.04996113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.850385723 meters 0.018903494186671043 Centerline is valid? [True, True] Translation: X:66.04, Y:-160.53, Z:-8.05 [[-5.76900913e-01 -8.16812660e-01 1.55424478e-03 6.60428530e+01] [-8.16809415e-01 5.76903003e-01 2.30299463e-03 -1.60527390e+02] [-2.77776365e-03 5.90779377e-05 -9.99996140e-01 -8.04937446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.880385723 meters 0.0178878153033444 Centerline is valid? [True, True] Translation: X:65.96, Y:-160.61, Z:-8.05 [[-5.15371805e-01 -8.56966524e-01 5.28648354e-04 6.59583861e+01] [-8.56966019e-01 5.15372075e-01 9.30904634e-04 -1.60614064e+02] [-1.07020471e-03 2.67283260e-05 -9.99999427e-01 -8.05157188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.910385723 meters 0.01833046316895302 Centerline is valid? [True, True] Translation: X:65.88, Y:-160.70, Z:-8.05 [[-4.50014915e-01 -8.93021036e-01 7.98433749e-05 6.58837535e+01] [-8.93021019e-01 4.50014922e-01 1.72253253e-04 -1.60697181e+02] [-1.89756488e-04 6.21472077e-06 -9.99999982e-01 -8.05177407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.940385723 meters 0.019143646851987883 Centerline is valid? [True, True] Translation: X:65.81, Y:-160.80, Z:-8.05 [[-3.83592650e-01 -9.23502396e-01 6.26199719e-05 6.58103321e+01] [-9.23502381e-01 3.83592655e-01 1.67958549e-04 -1.60800536e+02] [-1.79130684e-04 6.59797172e-06 -9.99999984e-01 -8.05089189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.970385723 meters 0.019553051542017703 Centerline is valid? [True, True] Translation: X:65.75, Y:-160.90, Z:-8.05 [[-3.12907006e-01 -9.49783743e-01 2.16538507e-04 6.57471617e+01] [-9.49783457e-01 3.12907079e-01 7.37633257e-04 -1.60899734e+02] [-7.68348508e-04 2.51459222e-05 -9.99999705e-01 -8.05015674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.000385723 meters 0.020400687817293768 Centerline is valid? [True, True] Translation: X:65.69, Y:-161.01, Z:-8.05 [[-2.40082360e-01 -9.70752489e-01 2.57171121e-04 6.56907822e+01] [-9.70751734e-01 2.40082494e-01 1.21131324e-03 -1.61010135e+02] [-1.23762763e-03 4.11656297e-05 -9.99999233e-01 -8.04931243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.030385723 meters 0.021070816443860718 Centerline is valid? [True, True] Translation: X:65.64, Y:-161.13, Z:-8.05 [[-1.67030835e-01 -9.85951638e-01 2.61729166e-04 6.56422877e+01] [-9.85949686e-01 1.67031025e-01 1.96281612e-03 -1.61125730e+02] [-1.97895866e-03 6.97990263e-05 -9.99998039e-01 -8.04803536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.060385723 meters 0.02139190053719955 Centerline is valid? [True, True] Translation: X:65.60, Y:-161.25, Z:-8.05 [[-9.18912161e-02 -9.95769040e-01 1.52536085e-04 6.56017362e+01] [-9.95765282e-01 9.18912886e-02 2.73768230e-03 -1.61248717e+02] [-2.74011601e-03 9.96788182e-05 -9.99996241e-01 -8.04668364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.090385723 meters 0.021184833257576294 Centerline is valid? [True, True] Translation: X:65.57, Y:-161.37, Z:-8.05 [[-1.52595773e-02 -9.99883564e-01 -6.04144416e-05 6.55695666e+01] [-9.99879601e-01 1.52593466e-02 2.81698527e-03 -1.61370658e+02] [-2.81573539e-03 1.03393172e-04 -9.99996031e-01 -8.04634368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.120385723 meters 0.021423404845129813 Centerline is valid? [True, True] Translation: X:65.55, Y:-161.50, Z:-8.05 [[ 6.18387494e-02 -9.98086097e-01 -3.35060332e-04 6.55480290e+01] [-9.98080346e-01 -6.18395313e-02 3.39046180e-03 -1.61502945e+02] [-3.40469276e-03 1.24755215e-04 -9.99994196e-01 -8.04595630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.150385723 meters 0.022407539600333655 Centerline is valid? [True, True] Translation: X:65.54, Y:-161.63, Z:-8.05 [[ 1.38935236e-01 -9.90301305e-01 -5.70718822e-04 6.55367960e+01] [-9.90296091e-01 -1.38936357e-01 3.21573213e-03 -1.61627304e+02] [-3.26383732e-03 1.18402116e-04 -9.99994667e-01 -8.04561230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.180385723 meters 0.020395994415944488 Centerline is valid? [True, True] Translation: X:65.53, Y:-161.75, Z:-8.05 [[ 2.15244364e-01 -9.76559986e-01 -6.76393450e-04 6.55309011e+01] [-9.76556481e-01 -2.15245405e-01 2.61828153e-03 -1.61754376e+02] [-2.70249956e-03 9.69660637e-05 -9.99996344e-01 -8.04603912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.210385723 meters 0.0210254894473109 Centerline is valid? [True, True] Translation: X:65.54, Y:-161.88, Z:-8.05 [[ 2.89958957e-01 -9.57038827e-01 -6.97395416e-04 6.55394338e+01] [-9.57036664e-01 -2.89959786e-01 2.03635329e-03 -1.61881314e+02] [-2.15108579e-03 7.69741059e-05 -9.99997683e-01 -8.04682570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.240385723 meters 0.020364448578937846 Centerline is valid? [True, True] Translation: X:65.55, Y:-162.00, Z:-8.05 [[ 3.63371327e-01 -9.31643951e-01 -9.09677594e-04 6.55533091e+01] [-9.31641562e-01 -3.63372457e-01 2.11123496e-03 -1.62004015e+02] [-2.29747106e-03 8.03312068e-05 -9.99997358e-01 -8.04695167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.270385723 meters 0.019822691222393583 Centerline is valid? [True, True] Translation: X:65.58, Y:-162.13, Z:-8.05 [[ 4.35069150e-01 -9.00396810e-01 -6.47935544e-04 6.55772460e+01] [-9.00395968e-01 -4.35069630e-01 1.23240581e-03 -1.62128978e+02] [-1.39155134e-03 4.72168011e-05 -9.99999031e-01 -8.04652448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.300385723 meters 0.01960538230234611 Centerline is valid? [True, True] Translation: X:65.61, Y:-162.25, Z:-8.05 [[ 5.03443349e-01 -8.64027578e-01 -1.06688327e-03 6.56132016e+01] [-8.64025909e-01 -5.03444475e-01 1.69980507e-03 -1.62253129e+02] [-2.00579494e-03 6.60592281e-05 -9.99997986e-01 -8.04622445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.330385723 meters 0.02018414359825422 Centerline is valid? [True, True] Translation: X:65.65, Y:-162.36, Z:-8.05 [[ 5.69502846e-01 -8.21988479e-01 -1.20404033e-03 6.56490263e+01] [-8.21986871e-01 -5.69504115e-01 1.62700292e-03 -1.62358571e+02] [-2.02308358e-03 6.31225500e-05 -9.99997952e-01 -8.04569038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.360385723 meters 0.019446879430640728 Centerline is valid? [True, True] Translation: X:65.70, Y:-162.47, Z:-8.05 [[ 6.31474020e-01 -7.75396089e-01 -1.21158211e-03 6.56954560e+01] [-7.75394828e-01 -6.31475180e-01 1.39938232e-03 -1.62466909e+02] [-1.85015961e-03 5.57809184e-05 -9.99998287e-01 -8.04562424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.390385723 meters 0.019084119455325652 Centerline is valid? [True, True] Translation: X:65.75, Y:-162.57, Z:-8.05 [[ 6.90898792e-01 -7.22949335e-01 -1.76579144e-03 6.57496797e+01] [-7.22947218e-01 -6.90901045e-01 1.75079657e-03 -1.62571175e+02] [-2.48572437e-03 6.69507733e-05 -9.99996908e-01 -8.04519986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.420385723 meters 0.018323478571918593 Centerline is valid? [True, True] Translation: X:65.74, Y:-162.58, Z:-8.04 [[ 7.48122612e-01 -6.63555640e-01 -2.54373969e-03 6.57410558e+01] [-6.63552142e-01 -7.48126933e-01 2.15574643e-03 -1.62582388e+02] [-3.33349787e-03 7.51412701e-05 -9.99994441e-01 -8.04450652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.450385723 meters 0.01795048242935949 Centerline is valid? [True, True] Translation: X:65.74, Y:-162.59, Z:-8.04 [[ 7.98784459e-01 -6.01612755e-01 -2.34143536e-03 6.57355413e+01] [-6.01610388e-01 -7.98787888e-01 1.68846251e-03 -1.62593858e+02] [-2.88611079e-03 5.99142260e-05 -9.99995833e-01 -8.04439090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.480385723 meters 0.017583936533898906 Centerline is valid? [True, True] Translation: X:65.73, Y:-162.60, Z:-8.04 [[ 8.44562321e-01 -5.35450896e-01 -2.61229820e-03 6.57313732e+01] [-5.35448540e-01 -8.44566359e-01 1.58933408e-03 -1.62604721e+02] [-3.05726954e-03 5.64595774e-05 -9.99995325e-01 -8.04401789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.510385723 meters 0.016869248517419895 Centerline is valid? [True, True] Translation: X:65.73, Y:-162.62, Z:-8.04 [[ 8.85559217e-01 -4.64516371e-01 -3.06829339e-03 6.57271943e+01] [-4.64513780e-01 -8.85564531e-01 1.55235882e-03 -1.62616347e+02] [-3.43826788e-03 5.05588983e-05 -9.99994088e-01 -8.04428405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.540385723 meters 0.016754098169148846 Centerline is valid? [True, True] Translation: X:65.73, Y:-162.63, Z:-8.04 [[ 9.19664571e-01 -3.92693116e-01 -3.03203913e-03 6.57253427e+01] [-3.92691139e-01 -9.19669568e-01 1.24677625e-03 -1.62625109e+02] [-3.27807457e-03 4.40389582e-05 -9.99994626e-01 -8.04458865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.570385723 meters 0.016446202325686384 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.63, Z:-8.05 [[ 9.48312063e-01 -3.17328858e-01 -2.57438644e-03 6.57239375e+01] [-3.17327774e-01 -9.48315557e-01 8.29751589e-04 -1.62633779e+02] [-2.70463484e-03 3.00608795e-05 -9.99996342e-01 -8.04519362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.600385723 meters 0.016060905155214633 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.65, Z:-8.05 [[ 9.70416897e-01 -2.41423139e-01 -2.43206051e-03 6.57231433e+01] [-2.41422447e-01 -9.70419944e-01 5.78440125e-04 -1.62647756e+02] [-2.49976886e-03 2.58259303e-05 -9.99996875e-01 -8.04556141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.630385723 meters 0.016031078988549618 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.66, Z:-8.05 [[ 9.86422367e-01 -1.64213412e-01 -2.20684609e-03 6.57224855e+01] [-1.64213050e-01 -9.86424835e-01 3.45204870e-04 -1.62659340e+02] [-2.23357506e-03 2.18751229e-05 -9.99997505e-01 -8.04554430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.660385723 meters 0.016029774507201736 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.67, Z:-8.05 [[ 9.96212062e-01 -8.69315362e-02 -2.10629753e-03 6.57205912e+01] [-8.69313880e-02 -9.96214288e-01 1.62000904e-04 -1.62668796e+02] [-2.11240668e-03 2.17161129e-05 -9.99997769e-01 -8.04540272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.690385723 meters 0.016239120460632188 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.68, Z:-8.05 [[ 9.99947526e-01 -9.87397573e-03 -2.72956068e-03 6.57186377e+01] [-9.87402376e-03 -9.99951251e-01 -4.12152678e-06 -1.62675000e+02] [-2.72938692e-03 3.10730575e-05 -9.99996275e-01 -8.04518251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.720385723 meters 0.016201766605551563 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.68, Z:-8.05 [[ 9.97714424e-01 6.74940727e-02 -3.23694099e-03 6.57183561e+01] [ 6.74935882e-02 -9.97719674e-01 -2.58820223e-04 -1.62684902e+02] [-3.24702854e-03 3.97559071e-05 -9.99994728e-01 -8.04553904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.750385723 meters 0.0165986680328831 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.69, Z:-8.05 [[ 9.89526542e-01 1.44314532e-01 -3.24627853e-03 6.57169350e+01] [ 1.44313610e-01 -9.89531866e-01 -5.17693093e-04 -1.62693089e+02] [-3.28700669e-03 4.37888829e-05 -9.99994597e-01 -8.04540773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.780385723 meters 0.01679504990936136 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.70, Z:-8.05 [[ 9.75773218e-01 2.18768930e-01 -2.60431333e-03 6.57173909e+01] [ 2.18768033e-01 -9.75776692e-01 -6.27862545e-04 -1.62701495e+02] [-2.67858507e-03 4.29109500e-05 -9.99996412e-01 -8.04558429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.810385723 meters 0.017149071845657206 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.71, Z:-8.04 [[ 9.56164512e-01 2.92816188e-01 -2.84710435e-03 6.57164328e+01] [ 2.92814724e-01 -9.56168750e-01 -9.27423962e-04 -1.62708596e+02] [-2.99387695e-03 5.30958066e-05 -9.99995517e-01 -8.04496957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.840385723 meters 0.017210792448767574 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.72, Z:-8.04 [[ 9.30512072e-01 3.66247691e-01 -3.14839619e-03 6.57173248e+01] [ 3.66245368e-01 -9.30517396e-01 -1.30590820e-03 -1.62715967e+02] [-3.40792329e-03 6.20778197e-05 -9.99994191e-01 -8.04471535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.870385723 meters 0.017256772009279275 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.72, Z:-8.04 [[ 8.98951316e-01 4.38035704e-01 -3.35459186e-03 6.57189065e+01] [ 4.38032370e-01 -8.98957573e-01 -1.71044210e-03 -1.62722360e+02] [-3.76487046e-03 6.81843516e-05 -9.99992911e-01 -8.04466447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.900385723 meters 0.017280900391407162 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.73, Z:-8.04 [[ 8.61818362e-01 5.07205716e-01 -3.38717033e-03 6.57195113e+01] [ 5.07201472e-01 -8.61825015e-01 -2.07610140e-03 -1.62728420e+02] [-3.97215862e-03 7.12445286e-05 -9.99992108e-01 -8.04456852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.930385723 meters 0.017177013937302536 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.74, Z:-8.04 [[ 8.19230680e-01 5.73452126e-01 -3.70842279e-03 6.57212745e+01] [ 5.73445804e-01 -8.19239070e-01 -2.69376696e-03 -1.62735163e+02] [-4.58283122e-03 8.02370458e-05 -9.99989496e-01 -8.04410989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.960385723 meters 0.01692171829557055 Centerline is valid? [True, True] Translation: X:65.72, Y:-162.74, Z:-8.04 [[ 7.71384465e-01 6.36353573e-01 -4.48741895e-03 6.57240803e+01] [ 6.36342055e-01 -7.71397511e-01 -3.83012464e-03 -1.62742275e+02] [-5.89889731e-03 9.89652567e-05 -9.99982596e-01 -8.04273964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.990385723 meters 0.01638160863764992 Centerline is valid? [True, True] Translation: X:65.73, Y:-162.75, Z:-8.04 [[ 7.18595408e-01 6.95412344e-01 -4.72350866e-03 6.57306341e+01] [ 6.95396345e-01 -7.18610924e-01 -4.71839999e-03 -1.62752000e+02] [-6.67559852e-03 1.05909911e-04 -9.99977712e-01 -8.04259366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.020385723 meters 0.01590649727954497 Centerline is valid? [True, True] Translation: X:65.74, Y:-162.76, Z:-8.04 [[ 6.60100463e-01 7.51160474e-01 -5.03204443e-03 6.57363698e+01] [ 7.51137443e-01 -6.60119635e-01 -5.88298316e-03 -1.62760736e+02] [-7.74081575e-03 1.03602922e-04 -9.99970034e-01 -8.04266252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.050385723 meters 0.015873120044760033 Centerline is valid? [True, True] Translation: X:65.74, Y:-162.77, Z:-8.04 [[ 5.98524863e-01 8.01090613e-01 -4.67095010e-03 6.57413686e+01] [ 8.01064922e-01 -5.98543081e-01 -6.41652151e-03 -1.62769265e+02] [-7.93598002e-03 9.87133810e-05 -9.99968505e-01 -8.04255946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.080385723 meters 0.01544417592651611 Centerline is valid? [True, True] Translation: X:65.75, Y:-162.78, Z:-8.04 [[ 5.32459452e-01 8.46445814e-01 -4.05173120e-03 6.57478534e+01] [ 8.46420114e-01 -5.32474861e-01 -6.59649602e-03 -1.62776924e+02] [-7.74102145e-03 8.28998682e-05 -9.99970034e-01 -8.04248985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.110385723 meters 0.015337069923988084 Centerline is valid? [True, True] Translation: X:65.75, Y:-162.78, Z:-8.04 [[ 4.64198371e-01 8.85723341e-01 -3.74642773e-03 6.57548328e+01] [ 8.85693010e-01 -4.64213481e-01 -7.33051143e-03 -1.62783856e+02] [-8.23194733e-03 8.46266139e-05 -9.99966113e-01 -8.04251721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.140385723 meters 0.015260857070260677 Centerline is valid? [True, True] Translation: X:65.76, Y:-162.79, Z:-8.04 [[ 3.92995072e-01 9.19534762e-01 -3.27041195e-03 6.57580974e+01] [ 9.19501132e-01 -3.93008671e-01 -7.86465413e-03 -1.62790092e+02] [-8.51712312e-03 8.36228258e-05 -9.99963725e-01 -8.04211821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.170385723 meters 0.015171565043453421 Centerline is valid? [True, True] Translation: X:65.76, Y:-162.80, Z:-8.04 [[ 3.20029507e-01 9.47404166e-01 -2.54183227e-03 6.57635621e+01] [ 9.47372206e-01 -3.20039590e-01 -7.78233169e-03 -1.62795654e+02] [-8.18650042e-03 8.25145241e-05 -9.99966487e-01 -8.04286385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.200385723 meters 0.015533378091637755 Centerline is valid? [True, True] Translation: X:65.77, Y:-162.80, Z:-8.04 [[ 2.46554367e-01 9.69127318e-01 -1.78489981e-03 6.57650521e+01] [ 9.69099219e-01 -2.46560811e-01 -7.38039673e-03 -1.62801083e+02] [-7.59263044e-03 8.99240297e-05 -9.99971172e-01 -8.04319030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.230385723 meters 0.015715948318807578 Centerline is valid? [True, True] Translation: X:65.77, Y:-162.81, Z:-8.04 [[ 1.70966059e-01 9.85276204e-01 -1.18697896e-03 6.57669297e+01] [ 9.85248376e-01 -1.70970152e-01 -7.40570417e-03 -1.62807484e+02] [-7.49960206e-03 9.66549641e-05 -9.99971873e-01 -8.04321237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.260385723 meters 0.016058381856494965 Centerline is valid? [True, True] Translation: X:65.77, Y:-162.81, Z:-8.04 [[ 9.52695739e-02 9.95451322e-01 -6.11558858e-04 6.57696267e+01] [ 9.95422482e-01 -9.52714695e-02 -7.57822277e-03 -1.62812415e+02] [-7.60201599e-03 1.13214618e-04 -9.99971098e-01 -8.04345238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.290385723 meters 0.01589698469990691 Centerline is valid? [True, True] Translation: X:65.78, Y:-162.82, Z:-8.04 [[ 1.77461903e-02 9.99842524e-01 -1.71488801e-05 6.57767770e+01] [ 9.99810095e-01 -1.77457528e-02 -8.05371185e-03 -1.62817420e+02] [-8.05274790e-03 1.25777080e-04 -9.99967568e-01 -8.04371952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.320385723 meters 0.016020385499191877 Centerline is valid? [True, True] Translation: X:65.78, Y:-162.82, Z:-8.04 [[-5.99463351e-02 9.98201400e-01 6.34437159e-04 6.57813911e+01] [ 9.98166909e-01 5.99495385e-02 -8.29904076e-03 -1.62822502e+02] [-8.32214832e-03 1.35777100e-04 -9.99965361e-01 -8.04377532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.350385723 meters 0.01632213711578019 Centerline is valid? [True, True] Translation: X:65.79, Y:-162.83, Z:-8.04 [[-1.37853875e-01 9.90451802e-01 1.23990234e-03 6.57877626e+01] [ 9.90419895e-01 1.37859388e-01 -7.95115617e-03 -1.62828442e+02] [-8.04616914e-03 1.31926256e-04 -9.99967620e-01 -8.04380026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.380385723 meters 0.016178572112739594 Centerline is valid? [True, True] Translation: X:65.79, Y:-162.83, Z:-8.04 [[-2.15596598e-01 9.76480512e-01 1.97892320e-03 6.57940091e+01] [ 9.76444942e-01 2.15605637e-01 -8.33567597e-03 -1.62832685e+02] [-8.56629214e-03 1.35166167e-04 -9.99963300e-01 -8.04289200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.410385723 meters 0.016178572112739594 Centerline is valid? [True, True] Translation: X:65.80, Y:-162.84, Z:-8.04 [[-2.91412802e-01 9.56593793e-01 2.62573323e-03 6.58021814e+01] [ 9.56559040e-01 2.91424600e-01 -8.15511725e-03 -1.62837045e+02] [-8.56633779e-03 1.35163291e-04 -9.99963299e-01 -8.04289161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.440385723 meters 0.016168559419978756 Centerline is valid? [True, True] Translation: X:65.81, Y:-162.84, Z:-8.04 [[-3.65972933e-01 9.30619656e-01 3.29679985e-03 6.58092500e+01] [ 9.30585080e-01 3.65987758e-01 -8.02313394e-03 -1.62841029e+02] [-8.67307453e-03 1.31702895e-04 -9.99962380e-01 -8.04172470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.470385723 meters 0.016191581557466587 Centerline is valid? [True, True] Translation: X:65.82, Y:-162.84, Z:-8.04 [[-4.38119180e-01 8.98907493e-01 4.11133506e-03 6.58158879e+01] [ 8.98870756e-01 4.38138449e-01 -8.12799312e-03 -1.62844972e+02] [-9.10764789e-03 1.34529171e-04 -9.99958516e-01 -8.04127148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.500385723 meters 0.016291886445454613 Centerline is valid? [True, True] Translation: X:65.82, Y:-162.85, Z:-8.04 [[-5.07049091e-01 8.61905572e-01 4.47260344e-03 6.58200497e+01] [ 8.61874256e-01 5.07068801e-01 -7.34833761e-03 -1.62851280e+02] [-8.60149079e-03 1.28853855e-04 -9.99962998e-01 -8.04141167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.530385723 meters 0.015393335907656128 Centerline is valid? [True, True] Translation: X:65.83, Y:-162.85, Z:-8.04 [[-5.71929232e-01 8.20289461e-01 4.70677271e-03 6.58329579e+01] [ 8.20263545e-01 5.71948584e-01 -6.52185069e-03 -1.62848875e+02] [-8.04183737e-03 1.30757007e-04 -9.99967655e-01 -8.04343331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.560385723 meters 0.015607640596742784 Centerline is valid? [True, True] Translation: X:65.84, Y:-162.85, Z:-8.04 [[-6.34355187e-01 7.73027815e-01 4.63623896e-03 6.58439739e+01] [ 7.73008509e-01 6.34372118e-01 -5.46451050e-03 -1.62849160e+02] [-7.16531934e-03 1.17411583e-04 -9.99974322e-01 -8.04328608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.590385723 meters 0.015607640596742784 Centerline is valid? [True, True] Translation: X:65.86, Y:-162.85, Z:-8.04 [[-6.92936846e-01 7.20980600e-01 5.04992353e-03 6.58570326e+01] [ 7.20962679e-01 6.92955237e-01 -5.08473209e-03 -1.62845892e+02] [-7.16536415e-03 1.17408176e-04 -9.99974322e-01 -8.04328569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.620385723 meters 0.015479503392213784 Centerline is valid? [True, True] Translation: X:65.87, Y:-162.84, Z:-8.04 [[-7.47828867e-01 6.63867874e-01 5.60637664e-03 6.58686182e+01] [ 6.63850361e-01 7.47849873e-01 -4.82343379e-03 -1.62842141e+02] [-7.39485080e-03 1.14692132e-04 -9.99972651e-01 -8.04339175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.650385723 meters 0.015452159186229546 Centerline is valid? [True, True] Translation: X:65.89, Y:-162.82, Z:-8.04 [[-7.93602233e-01 6.08409868e-01 5.73836319e-03 6.58890394e+01] [ 6.08394897e-01 7.93622972e-01 -4.26932455e-03 -1.62822216e+02] [-7.15159604e-03 1.03045384e-04 -9.99974422e-01 -8.04323633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.680385723 meters 0.01522269214432801 Centerline is valid? [True, True] Translation: X:65.91, Y:-162.80, Z:-8.04 [[-8.35467464e-01 5.49507147e-01 6.00101396e-03 6.59113191e+01] [ 5.49493738e-01 8.35489011e-01 -3.83983840e-03 -1.62802995e+02] [-7.12379987e-03 8.94595438e-05 -9.99974621e-01 -8.04283941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.710385723 meters 0.01510426666047848 Centerline is valid? [True, True] Translation: X:65.93, Y:-162.78, Z:-8.04 [[-8.72613253e-01 4.88371343e-01 6.28830590e-03 6.59298026e+01] [ 4.88359361e-01 8.72635906e-01 -3.42198490e-03 -1.62781100e+02] [-7.15860088e-03 8.48836791e-05 -9.99974373e-01 -8.04185547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.740385723 meters 0.01595394510781934 Centerline is valid? [True, True] Translation: X:66.32, Y:-162.07, Z:-9.03 [[-8.50171880e-01 -5.26470428e-01 6.05498132e-03 6.63248547e+01] [ 5.26456369e-01 -8.50193438e-01 -3.84841479e-03 -1.62067317e+02] [ 7.17398196e-03 -8.41305613e-05 9.99974263e-01 -9.02862718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.770385723 meters 0.016040462437437824 Centerline is valid? [True, True] Translation: X:65.88, Y:-162.76, Z:-8.04 [[-8.74506387e-01 4.84975136e-01 6.13983018e-03 6.58848493e+01] [ 4.84963832e-01 8.74527936e-01 -3.31219711e-03 -1.62762516e+02] [-6.97578626e-03 8.10580409e-05 -9.99975666e-01 -8.04039906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.800385723 meters 0.01524450554867758 Centerline is valid? [True, True] Translation: X:66.28, Y:-162.04, Z:-9.03 [[-8.52532462e-01 -5.22646257e-01 5.41220425e-03 6.62798324e+01] [ 5.22634917e-01 -8.52549634e-01 -3.44462903e-03 -1.62042312e+02] [ 6.41449522e-03 -1.08051145e-04 9.99979421e-01 -9.02656850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.830385723 meters 0.015254036855818439 Centerline is valid? [True, True] Translation: X:65.84, Y:-162.74, Z:-8.04 [[-8.75737714e-01 4.82758062e-01 5.30189029e-03 6.58391284e+01] [ 4.82749742e-01 8.75753760e-01 -2.83531193e-03 -1.62739621e+02] [-6.01192005e-03 7.64965785e-05 -9.99981925e-01 -8.04282561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.860385723 meters 0.015340248226171587 Centerline is valid? [True, True] Translation: X:65.86, Y:-162.72, Z:-8.04 [[-9.07275790e-01 4.20504402e-01 5.16604970e-03 6.58594681e+01] [ 4.20498073e-01 9.07290495e-01 -2.30851782e-03 -1.62717774e+02] [-5.65784970e-03 7.78516089e-05 -9.99983991e-01 -8.04259095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.890385723 meters 0.015409075608696608 Centerline is valid? [True, True] Translation: X:66.21, Y:-161.97, Z:-9.03 [[-8.89769334e-01 -4.56388810e-01 4.44824663e-03 6.62095611e+01] [ 4.56382505e-01 -8.89780446e-01 -2.40131306e-03 -1.61972365e+02] [ 5.05389528e-03 -1.06512778e-04 9.99987223e-01 -9.02659758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.920385723 meters 0.015449438229148935 Centerline is valid? [True, True] Translation: X:65.82, Y:-162.70, Z:-8.04 [[-9.08455998e-01 4.17957862e-01 4.35040887e-03 6.58184791e+01] [ 4.17953437e-01 9.08466411e-01 -1.92450624e-03 -1.62701238e+02] [-4.75656285e-03 6.99391047e-05 -9.99988685e-01 -8.04234276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.950385723 meters 0.015841790300001237 Centerline is valid? [True, True] Translation: X:65.84, Y:-162.68, Z:-8.04 [[-9.35354006e-01 3.53675029e-01 5.18251135e-03 6.58429845e+01] [ 3.53670103e-01 9.35368359e-01 -1.86859663e-03 -1.62682019e+02] [-5.50843310e-03 8.50999767e-05 -9.99984825e-01 -8.04258693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.980385723 meters 0.01591066074604743 Centerline is valid? [True, True] Translation: X:65.86, Y:-162.66, Z:-8.04 [[-9.57872770e-01 2.87137345e-01 5.64823451e-03 6.58567422e+01] [ 2.87132934e-01 9.57889418e-01 -1.59438641e-03 -1.62655437e+02] [-5.86819195e-03 9.45748239e-05 -9.99982778e-01 -8.04235628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.010385723 meters 0.01638150751311415 Centerline is valid? [True, True] Translation: X:65.87, Y:-162.63, Z:-8.04 [[-9.75808664e-01 2.18560213e-01 5.37436837e-03 6.58657424e+01] [ 2.18557400e-01 9.75823460e-01 -1.11249821e-03 -1.62628019e+02] [-5.48758258e-03 8.90225904e-05 -9.99984939e-01 -8.04208652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.040385723 meters 0.016064024254692146 Centerline is valid? [True, True] Translation: X:66.04, Y:-161.82, Z:-9.03 [[-9.67463774e-01 -2.52965623e-01 4.71596923e-03 6.60415213e+01] [ 2.52962028e-01 -9.67475261e-01 -1.35372644e-03 -1.61819158e+02] [ 4.90502981e-03 -1.16720145e-04 9.99987963e-01 -9.02659776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.070385723 meters 0.016016518354411143 Centerline is valid? [True, True] Translation: X:65.81, Y:-162.61, Z:-8.04 [[-9.76792794e-01 2.14144714e-01 4.22843509e-03 6.58132230e+01] [ 2.14143011e-01 9.76801943e-01 -8.56966907e-04 -1.62614605e+02] [-4.31385855e-03 6.84107213e-05 -9.99990693e-01 -8.04205253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.100385723 meters 0.015660633805193648 Centerline is valid? [True, True] Translation: X:65.82, Y:-162.58, Z:-8.04 [[-9.89584876e-01 1.43879857e-01 4.51214489e-03 6.58152049e+01] [ 1.43878684e-01 9.89595161e-01 -5.85220198e-04 -1.62583621e+02] [-4.54939815e-03 7.00764120e-05 -9.99989649e-01 -8.04229106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.130385723 meters 0.015864654666460417 Centerline is valid? [True, True] Translation: X:65.92, Y:-161.77, Z:-9.03 [[-9.83336799e-01 -1.81725495e-01 4.95828538e-03 6.59157953e+01] [ 1.81722955e-01 -9.83349298e-01 -9.62031524e-04 -1.61770942e+02] [ 5.05055210e-03 -4.49667305e-05 9.99987245e-01 -9.02745060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.160385723 meters 0.015813299536550664 Centerline is valid? [True, True] Translation: X:65.73, Y:-162.57, Z:-8.04 [[-9.90428406e-01 1.37921126e-01 5.41620939e-03 6.57287552e+01] [ 1.37919474e-01 9.90443213e-01 -6.79229229e-04 -1.62569820e+02] [-5.45812789e-03 7.42728259e-05 -9.99985102e-01 -8.04102098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.190385723 meters 0.015588047033884497 Centerline is valid? [True, True] Translation: X:65.76, Y:-162.54, Z:-8.04 [[-9.97713551e-01 6.72722389e-02 6.48969984e-03 6.57604064e+01] [ 6.72713942e-02 9.97734653e-01 -3.48608697e-04 -1.62539892e+02] [-6.49845011e-03 8.87595351e-05 -9.99978881e-01 -8.04000068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.220385723 meters 0.017348621351241333 Centerline is valid? [True, True] Translation: X:65.80, Y:-161.74, Z:-9.03 [[-9.94361627e-01 -1.05861408e-01 6.19015611e-03 6.57952057e+01] [ 1.05858719e-01 -9.94380889e-01 -7.61385364e-04 -1.61735868e+02] [ 6.23597426e-03 -1.01810392e-04 9.99980551e-01 -9.03120989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.250385723 meters 0.015606394245353693 Centerline is valid? [True, True] Translation: X:65.66, Y:-162.53, Z:-8.04 [[-9.97893508e-01 6.46274426e-02 5.64274448e-03 6.56607104e+01] [ 6.46269202e-02 9.97909458e-01 -2.75066809e-04 -1.62531249e+02] [-5.64872495e-03 9.01858147e-05 -9.99984042e-01 -8.04036620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.280385723 meters 0.015467677495350756 Centerline is valid? [True, True] Translation: X:65.68, Y:-162.50, Z:-8.04 [[-9.99966754e-01 -5.78269386e-03 5.74910780e-03 6.56787659e+01] [-5.78204545e-03 9.99983275e-01 1.29399049e-04 -1.62501676e+02] [-5.74975993e-03 9.61531438e-05 -9.99983465e-01 -8.04090586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.310385723 meters 0.016652564537493898 Centerline is valid? [True, True] Translation: X:65.68, Y:-162.47, Z:-8.04 [[-9.97131379e-01 -7.54513922e-02 6.00834011e-03 6.56845060e+01] [-7.54493521e-02 9.97149475e-01 5.65822678e-04 -1.62473112e+02] [-6.03390530e-03 1.10874179e-04 -9.99981790e-01 -8.04059368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.340385723 meters 0.016320981850399072 Centerline is valid? [True, True] Translation: X:65.67, Y:-162.44, Z:-8.04 [[-9.89369847e-01 -1.45310755e-01 5.66489633e-03 6.56683671e+01] [-1.45307721e-01 9.89386058e-01 9.45675020e-04 -1.62443378e+02] [-5.74218620e-03 1.12469175e-04 -9.99983507e-01 -8.04090256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.370385723 meters 0.016613773845874567 Centerline is valid? [True, True] Translation: X:65.64, Y:-162.42, Z:-8.04 [[-9.76497046e-01 -2.15470346e-01 5.10390922e-03 6.56415458e+01] [-2.15466823e-01 9.76510378e-01 1.23679710e-03 -1.62418016e+02] [-5.25051342e-03 1.08005609e-04 -9.99986210e-01 -8.04116622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.400385723 meters 0.01674036914159282 Centerline is valid? [True, True] Translation: X:65.59, Y:-162.40, Z:-8.04 [[-9.58435270e-01 -2.85287990e-01 3.54923719e-03 6.55875181e+01] [-2.85285723e-01 9.58441838e-01 1.14017476e-03 -1.62399907e+02] [-3.72701558e-03 8.02370031e-05 -9.99993051e-01 -8.04171480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.430385723 meters 0.016845760145365134 Centerline is valid? [True, True] Translation: X:65.52, Y:-162.39, Z:-8.04 [[-9.34792757e-01 -3.55175902e-01 3.54690149e-03 6.55220096e+01] [-3.55173010e-01 9.34799482e-01 1.43550714e-03 -1.62391774e+02] [-3.82549922e-03 8.21379967e-05 -9.99992679e-01 -8.04186885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.460385723 meters 0.016296107976910352 Centerline is valid? [True, True] Translation: X:65.45, Y:-162.39, Z:-8.04 [[-9.05250704e-01 -4.24858123e-01 4.09126070e-03 6.54488193e+01] [-4.24853325e-01 9.05259944e-01 2.02130447e-03 -1.62389330e+02] [-4.56242206e-03 9.16015814e-05 -9.99989588e-01 -8.04236584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.490385723 meters 0.01603094712660402 Centerline is valid? [True, True] Translation: X:65.36, Y:-162.40, Z:-8.04 [[-8.69942351e-01 -4.93139982e-01 3.64206246e-03 6.53625151e+01] [-4.93135295e-01 8.69949971e-01 2.15141680e-03 -1.62398231e+02] [-4.22936177e-03 7.55790407e-05 -9.99991053e-01 -8.04184467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.520385723 meters 0.015860907157822075 Centerline is valid? [True, True] Translation: X:65.27, Y:-162.42, Z:-8.04 [[-8.30077027e-01 -5.57641137e-01 2.91409635e-03 6.52709212e+01] [-5.57637441e-01 8.30082140e-01 2.03113628e-03 -1.62419383e+02] [-3.55158448e-03 6.09903315e-05 -9.99993691e-01 -8.04152606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.550385723 meters 0.015750690525031162 Centerline is valid? [True, True] Translation: X:65.18, Y:-162.45, Z:-8.04 [[-7.84917864e-01 -6.19594253e-01 2.62827259e-03 6.51811645e+01] [-6.19590547e-01 7.84922263e-01 2.14386042e-03 -1.62447973e+02] [-3.39131327e-03 5.43014958e-05 -9.99994248e-01 -8.04078657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.580385723 meters 0.01537476339225287 Centerline is valid? [True, True] Translation: X:65.08, Y:-162.49, Z:-8.04 [[-7.34406958e-01 -6.78704596e-01 2.54788764e-03 6.50824986e+01] [-6.78700279e-01 7.34411376e-01 2.42118821e-03 -1.62492443e+02] [-3.51446923e-03 4.88854170e-05 -9.99993823e-01 -8.04059959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.610385723 meters 0.01522180895094985 Centerline is valid? [True, True] Translation: X:64.99, Y:-162.54, Z:-8.04 [[-6.80069217e-01 -7.33144089e-01 2.36754891e-03 6.49913945e+01] [-7.33139408e-01 6.80073337e-01 2.62004709e-03 -1.62543213e+02] [-3.53097893e-03 4.60699648e-05 -9.99993765e-01 -8.04117510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.640385723 meters 0.014763201035436215 Centerline is valid? [True, True] Translation: X:64.90, Y:-162.60, Z:-8.04 [[-6.20997878e-01 -7.83809938e-01 1.90147452e-03 6.48977393e+01] [-7.83806086e-01 6.21000788e-01 2.45755627e-03 -1.62604788e+02] [-3.10707421e-03 3.57499307e-05 -9.99995172e-01 -8.04206081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.670385723 meters 0.016047689800049163 Centerline is valid? [True, True] Translation: X:64.80, Y:-162.69, Z:-8.04 [[-5.59697608e-01 -8.28695549e-01 1.50829758e-03 6.48020776e+01] [-8.28692381e-01 5.59699640e-01 2.29161879e-03 -1.62687004e+02] [-2.74324790e-03 3.26988475e-05 -9.99996237e-01 -8.04002704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.700385723 meters 0.014776909380272846 Centerline is valid? [True, True] Translation: X:64.73, Y:-162.76, Z:-8.04 [[-4.94246661e-01 -8.69321032e-01 1.08741677e-03 6.47258955e+01] [-8.69318810e-01 4.94247856e-01 1.96557505e-03 -1.62755516e+02] [-2.24616914e-03 2.61670479e-05 -9.99997477e-01 -8.04193343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.730385723 meters 0.01483625939596668 Centerline is valid? [True, True] Translation: X:64.65, Y:-162.85, Z:-8.04 [[-4.26932384e-01 -9.04283070e-01 9.32060511e-04 6.46467558e+01] [-9.04280770e-01 4.26933401e-01 2.03965827e-03 -1.62845317e+02] [-2.24235620e-03 2.79517708e-05 -9.99997486e-01 -8.04198567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.760385723 meters 0.015031752726810987 Centerline is valid? [True, True] Translation: X:64.57, Y:-162.94, Z:-8.04 [[-3.56277279e-01 -9.34380016e-01 6.96559491e-04 6.45746904e+01] [-9.34378089e-01 3.56277959e-01 1.89826354e-03 -1.62943189e+02] [-2.02186832e-03 2.54582454e-05 -9.99997956e-01 -8.04210818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.790385723 meters 0.014948098244207654 Centerline is valid? [True, True] Translation: X:64.51, Y:-163.05, Z:-8.04 [[-2.83405606e-01 -9.59000032e-01 4.49689052e-04 6.45080045e+01] [-9.58998704e-01 2.83405962e-01 1.59606845e-03 -1.63050363e+02] [-1.65807425e-03 2.10835265e-05 -9.99998625e-01 -8.04242271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.820385723 meters 0.015006549956497856 Centerline is valid? [True, True] Translation: X:64.45, Y:-163.16, Z:-8.04 [[-2.08711821e-01 -9.77977136e-01 3.11381908e-04 6.44501881e+01] [-9.77975900e-01 2.08712052e-01 1.55515228e-03 -1.63163304e+02] [-1.58589253e-03 2.00546622e-05 -9.99998742e-01 -8.04313903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.850385723 meters 0.014723208789778485 Centerline is valid? [True, True] Translation: X:64.40, Y:-163.27, Z:-8.04 [[-1.32053780e-01 -9.91242543e-01 1.43955779e-04 6.43998121e+01] [-9.91241828e-01 1.32053858e-01 1.19078087e-03 -1.63274773e+02] [-1.19936257e-03 1.45521250e-05 -9.99999281e-01 -8.04387880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.880385723 meters 0.014657330969349918 Centerline is valid? [True, True] Translation: X:64.36, Y:-163.39, Z:-8.04 [[-5.49348419e-02 -9.98489940e-01 5.41274932e-05 6.43595971e+01] [-9.98489159e-01 5.49348667e-02 1.24913642e-03 -1.63394783e+02] [-1.25022364e-03 1.45753967e-05 -9.99999218e-01 -8.04400789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.910385723 meters 0.014716811643631119 Centerline is valid? [True, True] Translation: X:64.33, Y:-163.52, Z:-8.04 [[ 2.26516771e-02 -9.99743417e-01 -4.76625882e-05 6.43289948e+01] [-9.99742413e-01 -2.26517219e-02 1.41664927e-03 -1.63519073e+02] [-1.41736542e-03 1.55608292e-05 -9.99998995e-01 -8.04409077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.940385723 meters 0.014666585001259223 Centerline is valid? [True, True] Translation: X:64.31, Y:-163.65, Z:-8.04 [[ 1.00464384e-01 -9.94940644e-01 -1.49675890e-04 6.43067802e+01] [-9.94939734e-01 -1.00464495e-01 1.34596527e-03 -1.63646127e+02] [-1.35419267e-03 1.36969175e-05 -9.99999083e-01 -8.04401232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.970385723 meters 0.014655292791755195 Centerline is valid? [True, True] Translation: X:64.30, Y:-163.77, Z:-8.04 [[ 1.77549876e-01 -9.84111774e-01 -2.40508959e-04 6.42955705e+01] [-9.84110961e-01 -1.77550039e-01 1.26537217e-03 -1.63773925e+02] [-1.28797003e-03 1.20208304e-05 -9.99999171e-01 -8.04371352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.000385723 meters 0.014477386198697682 Centerline is valid? [True, True] Translation: X:64.29, Y:-163.90, Z:-8.04 [[ 2.54553069e-01 -9.67058662e-01 -5.29467675e-04 6.42925115e+01] [-9.67056685e-01 -2.54553619e-01 1.95530167e-03 -1.63898561e+02] [-2.02566933e-03 1.42972129e-05 -9.99997948e-01 -8.04321035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.030385723 meters 0.01438411948457478 Centerline is valid? [True, True] Translation: X:64.30, Y:-164.02, Z:-8.04 [[ 3.29416484e-01 -9.44184029e-01 -1.13988705e-03 6.43000172e+01] [-9.44178571e-01 -3.29418456e-01 3.21050222e-03 -1.64022976e+02] [-3.40680475e-03 1.86645687e-05 -9.99994197e-01 -8.04262739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.060385723 meters 0.01443471005515924 Centerline is valid? [True, True] Translation: X:64.32, Y:-164.15, Z:-8.04 [[ 4.01399510e-01 -9.15902127e-01 -1.31401964e-03 6.43181733e+01] [-9.15897354e-01 -4.01401660e-01 2.95712187e-03 -1.64147706e+02] [-3.23588388e-03 1.65198448e-05 -9.99994764e-01 -8.04261541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.090385723 meters 0.014519324698796864 Centerline is valid? [True, True] Translation: X:64.34, Y:-164.27, Z:-8.04 [[ 4.70586916e-01 -8.82352312e-01 -1.53400863e-03 6.43445844e+01] [-8.82347736e-01 -4.70589416e-01 2.84160774e-03 -1.64267740e+02] [-3.22918738e-03 1.63056148e-05 -9.99994786e-01 -8.04276869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.120385723 meters 0.01449606648511626 Centerline is valid? [True, True] Translation: X:64.38, Y:-164.38, Z:-8.04 [[ 5.36949170e-01 -8.43611632e-01 -2.23688494e-03 6.43796082e+01] [-8.43604468e-01 -5.36953829e-01 3.47677761e-03 -1.64384537e+02] [-4.13415397e-03 2.01932789e-05 -9.99991454e-01 -8.04215166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.150385723 meters 0.015024186446616065 Centerline is valid? [True, True] Translation: X:64.43, Y:-164.50, Z:-8.04 [[ 5.99425995e-01 -8.00423671e-01 -3.22855629e-03 6.44291312e+01] [-8.00412322e-01 -5.99434689e-01 4.26245231e-03 -1.64504392e+02] [-5.34707636e-03 2.91515209e-05 -9.99985704e-01 -8.04131974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.180385723 meters 0.014706841319738798 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.61, Z:-8.04 [[ 6.58359702e-01 -7.52695625e-01 -3.43500219e-03 6.44758745e+01] [-7.52685632e-01 -6.58368662e-01 3.87871414e-03 -1.64605382e+02] [-5.18098896e-03 3.18877107e-05 -9.99986578e-01 -8.04261380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.210385723 meters 0.014896215799648942 Centerline is valid? [True, True] Translation: X:64.52, Y:-164.69, Z:-8.04 [[ 7.12192721e-01 -7.01972648e-01 -3.99122371e-03 6.45225018e+01] [-7.01961995e-01 -7.12203903e-01 3.86760659e-03 -1.64692489e+02] [-5.55751914e-03 4.72060934e-05 -9.99984556e-01 -8.04306212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.240385723 meters 0.015205519019285723 Centerline is valid? [True, True] Translation: X:64.52, Y:-164.70, Z:-8.04 [[ 7.63922372e-01 -6.45294286e-01 -4.23000311e-03 6.45185989e+01] [-6.45284789e-01 -7.63934082e-01 3.50151394e-03 -1.64698954e+02] [-5.49095048e-03 5.46718267e-05 -9.99984923e-01 -8.04329207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.270385723 meters 0.015343057047412297 Centerline is valid? [True, True] Translation: X:64.51, Y:-164.71, Z:-8.04 [[ 8.11232366e-01 -5.84706402e-01 -4.52458873e-03 6.45149532e+01] [-5.84697737e-01 -8.11244981e-01 3.18376021e-03 -1.64705704e+02] [-5.53211488e-03 6.27474589e-05 -9.99984696e-01 -8.04370410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.300385723 meters 0.015526385958509064 Centerline is valid? [True, True] Translation: X:64.51, Y:-164.71, Z:-8.04 [[ 8.53080092e-01 -5.21767096e-01 -3.66796047e-03 6.45107509e+01] [-5.21762574e-01 -8.53087976e-01 2.17305344e-03 -1.64714726e+02] [-4.26292075e-03 6.00158636e-05 -9.99990912e-01 -8.04498845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.330385723 meters 0.015526385958509064 Centerline is valid? [True, True] Translation: X:64.51, Y:-164.73, Z:-8.04 [[ 8.91252892e-01 -4.53490507e-01 -3.82663938e-03 6.45060162e+01] [-4.53486615e-01 -8.91261105e-01 1.87973326e-03 -1.64725234e+02] [-4.26297602e-03 6.00120342e-05 -9.99990912e-01 -8.04498787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.360385723 meters 0.01571374257928573 Centerline is valid? [True, True] Translation: X:64.50, Y:-164.74, Z:-8.05 [[ 9.23298051e-01 -3.84069410e-01 -3.37602198e-03 6.45024550e+01] [-3.84067070e-01 -9.23304221e-01 1.34178472e-03 -1.64736575e+02] [-3.63243381e-03 5.77516543e-05 -9.99993401e-01 -8.04578577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.390385723 meters 0.015830683325119492 Centerline is valid? [True, True] Translation: X:64.50, Y:-164.75, Z:-8.05 [[ 9.50235827e-01 -3.11512239e-01 -3.46376532e-03 6.45000513e+01] [-3.11510401e-01 -9.50242138e-01 1.07173279e-03 -1.64747716e+02] [-3.62527364e-03 6.06000334e-05 -9.99993427e-01 -8.04583340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.420385723 meters 0.016117632546767412 Centerline is valid? [True, True] Translation: X:64.50, Y:-164.76, Z:-8.05 [[ 9.71405072e-01 -2.37399644e-01 -3.68726874e-03 6.44982009e+01] [-2.37398197e-01 -9.71412067e-01 8.31629557e-04 -1.64758175e+02] [-3.77928591e-03 6.75017833e-05 -9.99992856e-01 -8.04522511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.450385723 meters 0.016076589364207996 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.77, Z:-8.04 [[ 9.86936287e-01 -1.61057008e-01 -4.17199563e-03 6.44931800e+01] [-1.61055899e-01 -9.86945102e-01 6.02763531e-04 -1.64771284e+02] [-4.21460994e-03 7.70353034e-05 -9.99991116e-01 -8.04468632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.480385723 meters 0.016091958787344585 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.78, Z:-8.04 [[ 9.96560692e-01 -8.27142930e-02 -5.01334221e-03 6.44895887e+01] [-8.27136926e-02 -9.96573298e-01 3.27330730e-04 -1.64783448e+02] [-5.02323791e-03 8.84671078e-05 -9.99987380e-01 -8.04383730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.510385723 meters 0.015975231463272403 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.80, Z:-8.04 [[ 9.99981364e-01 -3.35454528e-03 -5.10076773e-03 6.44869328e+01] [-3.35493203e-03 -9.99994370e-01 -6.72682161e-05 -1.64796259e+02] [-5.10051336e-03 8.43796915e-05 -9.99986989e-01 -8.04399925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.540385723 meters 0.01589944091451232 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.81, Z:-8.04 [[ 9.97100899e-01 7.58763318e-02 -5.70778200e-03 6.44838416e+01] [ 7.58745769e-02 -9.97117232e-01 -5.23690383e-04 -1.64808211e+02] [-5.73106349e-03 8.90966082e-05 -9.99983573e-01 -8.04399904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.570385723 meters 0.01563578113934956 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.82, Z:-8.04 [[ 9.87642770e-01 1.56584113e-01 -6.57077497e-03 6.44831010e+01] [ 1.56580080e-01 -9.87664623e-01 -1.12695681e-03 -1.64819883e+02] [-6.66618552e-03 8.41782767e-05 -9.99977777e-01 -8.04333852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.600385723 meters 0.01540096400724381 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.83, Z:-8.04 [[ 9.72066193e-01 2.34603176e-01 -6.97610581e-03 6.44831457e+01] [ 2.34596529e-01 -9.72091222e-01 -1.76791732e-03 -1.64832601e+02] [-7.19617024e-03 8.19624517e-05 -9.99974104e-01 -8.04309372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.630385723 meters 0.015320968053461774 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.84, Z:-8.04 [[ 9.49990096e-01 3.12189731e-01 -7.50931797e-03 6.44823913e+01] [ 3.12179379e-01 -9.50019772e-01 -2.54343249e-03 -1.64844020e+02] [-7.92803405e-03 7.19814533e-05 -9.99968570e-01 -8.04189807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.660385723 meters 0.01527383412497412 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.85, Z:-8.04 [[ 9.22164527e-01 3.86720970e-01 -7.71206149e-03 6.44835000e+01] [ 3.86706848e-01 -9.22196773e-01 -3.30546771e-03 -1.64854151e+02] [-8.39033189e-03 6.58780774e-05 -9.99964798e-01 -8.04122818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.690385723 meters 0.015111412596272748 Centerline is valid? [True, True] Translation: X:64.48, Y:-164.86, Z:-8.04 [[ 8.88289253e-01 4.59217088e-01 -7.86575912e-03 6.44842174e+01] [ 4.59198541e-01 -8.88324076e-01 -4.12751153e-03 -1.64864065e+02] [-8.88276702e-03 5.44790219e-05 -9.99960546e-01 -8.04040688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.720385723 meters 0.015079326758001003 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.87, Z:-8.04 [[ 8.49301340e-01 5.27858636e-01 -7.24527469e-03 6.44860075e+01] [ 5.27838954e-01 -8.49332243e-01 -4.55861639e-03 -1.64872849e+02] [-8.55995043e-03 4.73008032e-05 -9.99963362e-01 -8.04103136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.750385723 meters 0.0151207070856076 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.88, Z:-8.04 [[ 8.04885731e-01 5.93393993e-01 -6.52149197e-03 6.44858005e+01] [ 5.93374127e-01 -8.04912149e-01 -4.85560205e-03 -1.64879875e+02] [-8.13051321e-03 3.85201944e-05 -9.99966946e-01 -8.04199197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.780385723 meters 0.015092999476507012 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.89, Z:-8.04 [[ 7.55792470e-01 6.54783715e-01 -6.00234826e-03 6.44877194e+01] [ 6.54762693e-01 -7.55816304e-01 -5.24701087e-03 -1.64887144e+02] [-7.97232994e-03 3.55375974e-05 -9.99968220e-01 -8.04229650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.810385723 meters 0.0150957388247341 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.89, Z:-8.04 [[ 7.01833275e-01 7.12318892e-01 -5.64358485e-03 6.44891193e+01] [ 7.12295501e-01 -7.01855965e-01 -5.77273391e-03 -1.64894822e+02] [-8.07301111e-03 3.15966472e-05 -9.99967412e-01 -8.04203556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.840385723 meters 0.015203768119639497 Centerline is valid? [True, True] Translation: X:64.49, Y:-164.90, Z:-8.04 [[ 6.44047993e-01 7.64968047e-01 -5.10590930e-03 6.44894527e+01] [ 7.64943606e-01 -6.44068231e-01 -6.11498425e-03 -1.64900581e+02] [-7.96632153e-03 3.26106562e-05 -9.99968268e-01 -8.04185956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.870385723 meters 0.01512726114290837 Centerline is valid? [True, True] Translation: X:64.50, Y:-164.91, Z:-8.04 [[ 5.82495830e-01 8.12821946e-01 -4.36938011e-03 6.44951736e+01] [ 8.12798642e-01 -5.82512216e-01 -6.15510314e-03 -1.64909374e+02] [-7.54822020e-03 3.38956956e-05 -9.99971511e-01 -8.04290255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.900385723 meters 0.01512709271247135 Centerline is valid? [True, True] Translation: X:64.50, Y:-164.92, Z:-8.04 [[ 5.17282351e-01 8.55804885e-01 -4.11932550e-03 6.45040294e+01] [ 8.55777158e-01 -5.17298751e-01 -6.88893371e-03 -1.64919655e+02] [-8.02650505e-03 3.82991539e-05 -9.99967786e-01 -8.04324096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.930385723 meters 0.01525126846311703 Centerline is valid? [True, True] Translation: X:64.51, Y:-164.93, Z:-8.04 [[ 4.49016400e-01 8.93516045e-01 -3.65373625e-03 6.45111386e+01] [ 8.93485697e-01 -4.49031263e-01 -7.36432824e-03 -1.64928601e+02] [-8.22078725e-03 4.21430796e-05 -9.99966208e-01 -8.04226129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.960385723 meters 0.015288718978669439 Centerline is valid? [True, True] Translation: X:64.52, Y:-164.94, Z:-8.04 [[ 3.78014848e-01 9.25793818e-01 -3.25280852e-03 6.45195716e+01] [ 9.25758450e-01 -3.78028839e-01 -8.09247996e-03 -1.64937126e+02] [-8.72162335e-03 4.77626062e-05 -9.99961965e-01 -8.04246824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.990385723 meters 0.015356588338315215 Centerline is valid? [True, True] Translation: X:64.53, Y:-164.95, Z:-8.04 [[ 3.04617611e-01 9.52470691e-01 -2.77364768e-03 6.45293400e+01] [ 9.52429598e-01 -3.04630233e-01 -8.84765964e-03 -1.64945020e+02] [-9.27207343e-03 5.34487924e-05 -9.99957012e-01 -8.04261664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.020385723 meters 0.015490997422342195 Centerline is valid? [True, True] Translation: X:64.54, Y:-164.95, Z:-8.04 [[ 2.29392693e-01 9.73331782e-01 -2.05781357e-03 6.45371632e+01] [ 9.73290409e-01 -2.29401916e-01 -8.97448722e-03 -1.64953089e+02] [-9.20722001e-03 5.58315766e-05 -9.99957611e-01 -8.04214850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.050385723 meters 0.015468728008944466 Centerline is valid? [True, True] Translation: X:64.54, Y:-164.96, Z:-8.04 [[ 1.52462301e-01 9.88308311e-01 -1.38859415e-03 6.45437966e+01] [ 9.88263824e-01 -1.52468614e-01 -9.37742247e-03 -1.64960350e+02] [-9.47950159e-03 5.74060453e-05 -9.99955067e-01 -8.04200545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.080385723 meters 0.01742542036219487 Centerline is valid? [True, True] Translation: X:64.55, Y:-164.97, Z:-8.04 [[ 7.40985098e-02 9.97250721e-01 -6.40295183e-04 6.45521111e+01] [ 9.97207122e-01 -7.41012576e-02 -9.32520905e-03 -1.64966154e+02] [-9.34701813e-03 5.24771774e-05 -9.99956314e-01 -8.03994186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.110385723 meters 0.015442236675401799 Centerline is valid? [True, True] Translation: X:64.56, Y:-164.97, Z:-8.04 [[-5.11036435e-03 9.99986938e-01 8.78712290e-05 6.45620470e+01] [ 9.99947230e-01 5.11094450e-03 -8.91151805e-03 -1.64972472e+02] [-8.91185076e-03 4.23254879e-05 -9.99960288e-01 -8.04226669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.140385723 meters 0.015308805671091887 Centerline is valid? [True, True] Translation: X:64.57, Y:-164.98, Z:-8.04 [[-8.44507791e-02 9.96427377e-01 7.40245547e-04 6.45716680e+01] [ 9.96392256e-01 8.44540176e-02 -8.36603132e-03 -1.64977508e+02] [-8.39865936e-03 3.10570671e-05 -9.99964730e-01 -8.04184307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.170385723 meters 0.015301540500790215 Centerline is valid? [True, True] Translation: X:64.58, Y:-164.98, Z:-8.04 [[-1.62564546e-01 9.86696943e-01 1.38250020e-03 6.45819684e+01] [ 9.86662721e-01 1.62570422e-01 -8.21782572e-03 -1.64981967e+02] [-8.33325716e-03 2.81342998e-05 -9.99965277e-01 -8.04163812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.200385723 meters 0.015276317760857997 Centerline is valid? [True, True] Translation: X:64.59, Y:-164.99, Z:-8.04 [[-2.40001259e-01 9.70770546e-01 1.98587289e-03 6.45907116e+01] [ 9.70738082e-01 2.40009474e-01 -7.93902271e-03 -1.64985269e+02] [-8.18359772e-03 2.23869972e-05 -9.99966514e-01 -8.04207869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.230385723 meters 0.015180775597936564 Centerline is valid? [True, True] Translation: X:64.60, Y:-164.99, Z:-8.04 [[-3.15671078e-01 9.48865257e-01 2.54854365e-03 6.45986923e+01] [ 9.48834822e-01 3.15681365e-01 -7.59975670e-03 -1.64988633e+02] [-8.01567283e-03 1.91235669e-05 -9.99967874e-01 -8.04277282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.260385723 meters 0.015229334657772696 Centerline is valid? [True, True] Translation: X:64.61, Y:-164.99, Z:-8.04 [[-3.88893935e-01 9.21278251e-01 2.80928785e-03 6.46060035e+01] [ 9.21254553e-01 3.88904081e-01 -6.60787279e-03 -1.64993215e+02] [-7.18023299e-03 1.83075708e-05 -9.99974222e-01 -8.04322854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.290385723 meters 0.015200748294064821 Centerline is valid? [True, True] Translation: X:64.62, Y:-164.99, Z:-8.04 [[-4.59610383e-01 8.88115665e-01 2.97668086e-03 6.46174260e+01] [ 8.88097301e-01 4.59620022e-01 -5.71140206e-03 -1.64994250e+02] [-6.44052777e-03 1.85625404e-05 -9.99979259e-01 -8.04424900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.320385723 meters 0.01721368299450358 Centerline is valid? [True, True] Translation: X:64.63, Y:-165.00, Z:-8.04 [[-5.26759496e-01 8.50008063e-01 3.27521980e-03 6.46286381e+01] [ 8.49991927e-01 5.26769677e-01 -5.23757385e-03 -1.64995603e+02] [-6.17726648e-03 2.49686281e-05 -9.99980920e-01 -8.04174501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.350385723 meters 0.015310027051701567 Centerline is valid? [True, True] Translation: X:64.64, Y:-165.00, Z:-8.04 [[-5.91828399e-01 8.06055149e-01 3.77395520e-03 6.46397031e+01] [ 8.06039028e-01 5.91840431e-01 -5.09791565e-03 -1.64996890e+02] [-6.34278044e-03 2.48639275e-05 -9.99979884e-01 -8.04336300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.380385723 meters 0.015378201299910143 Centerline is valid? [True, True] Translation: X:64.65, Y:-165.00, Z:-8.04 [[-6.52820614e-01 7.57498533e-01 4.60634200e-03 6.46493492e+01] [ 7.57480004e-01 6.52836864e-01 -5.29832370e-03 -1.64996918e+02] [-7.02066230e-03 3.03570278e-05 -9.99975354e-01 -8.04287262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.410385723 meters 0.015403703066094537 Centerline is valid? [True, True] Translation: X:64.66, Y:-165.00, Z:-8.04 [[-7.09868293e-01 7.04314650e-01 5.28023002e-03 6.46591549e+01] [ 7.04295528e-01 7.09887930e-01 -5.18995246e-03 -1.64995396e+02] [-7.40373111e-03 3.46596955e-05 -9.99972591e-01 -8.04295973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.440385723 meters 0.015482126843940708 Centerline is valid? [True, True] Translation: X:64.69, Y:-164.98, Z:-8.04 [[-7.57282478e-01 6.53061331e-01 5.84356853e-03 6.46875289e+01] [ 6.53042324e-01 7.57305022e-01 -4.98261134e-03 -1.64984362e+02] [-7.67931459e-03 4.28533180e-05 -9.99970513e-01 -8.04247760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.470385723 meters 0.015544831632651928 Centerline is valid? [True, True] Translation: X:64.70, Y:-164.96, Z:-8.04 [[-8.01318534e-01 5.98202403e-01 6.51863783e-03 6.47032692e+01] [ 5.98183104e-01 8.01345046e-01 -4.80536695e-03 -1.64960440e+02] [-8.09826019e-03 4.87094185e-05 -9.99967207e-01 -8.04241634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.500385723 meters 0.01555476226030204 Centerline is valid? [True, True] Translation: X:65.19, Y:-164.32, Z:-9.03 [[-7.67325453e-01 -6.41228627e-01 6.12350436e-03 6.51896387e+01] [ 6.41207660e-01 -7.67349885e-01 -5.18563083e-03 -1.64323360e+02] [ 8.02404529e-03 -5.26286211e-05 9.99967805e-01 -9.02597383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.530385723 meters 0.015724721226191993 Centerline is valid? [True, True] Translation: X:64.67, Y:-164.94, Z:-8.04 [[-8.02738629e-01 5.96298526e-01 6.22588019e-03 6.46704821e+01] [ 5.96281104e-01 8.02762770e-01 -4.55843808e-03 -1.64936533e+02] [-7.71609473e-03 5.31403785e-05 -9.99970229e-01 -8.04188895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.560385723 meters 0.015639635342411747 Centerline is valid? [True, True] Translation: X:64.70, Y:-164.92, Z:-8.04 [[-8.42727644e-01 5.38311710e-01 5.53369977e-03 6.46961600e+01] [ 5.38300474e-01 8.42745810e-01 -3.47840786e-03 -1.64916863e+02] [-6.53596998e-03 4.74427499e-05 -9.99978639e-01 -8.04214712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.590385723 meters 0.01563684190313401 Centerline is valid? [True, True] Translation: X:64.71, Y:-164.89, Z:-8.04 [[-8.78362828e-01 4.77954473e-01 6.18581179e-03 6.47110539e+01] [ 4.77943050e-01 8.78384608e-01 -3.30485068e-03 -1.64892020e+02] [-7.01309003e-03 5.36077667e-05 -9.99975407e-01 -8.04215932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.620385723 meters 0.015935770930004173 Centerline is valid? [True, True] Translation: X:65.07, Y:-164.18, Z:-9.03 [[-8.52593230e-01 -5.22544489e-01 5.66040364e-03 6.50719837e+01] [ 5.22532422e-01 -8.52612017e-01 -3.55199006e-03 -1.64179071e+02] [ 6.68220099e-03 -7.06582563e-05 9.99977671e-01 -9.02626262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.650385723 meters 0.01598961967536207 Centerline is valid? [True, True] Translation: X:64.66, Y:-164.87, Z:-8.04 [[-8.79608926e-01 4.75662774e-01 5.74992627e-03 6.46612103e+01] [ 4.75653034e-01 8.79627718e-01 -3.04457491e-03 -1.64866557e+02] [-6.50598547e-03 5.69346073e-05 -9.99978834e-01 -8.04252904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.680385723 meters 0.01580598392764825 Centerline is valid? [True, True] Translation: X:64.70, Y:-164.85, Z:-8.04 [[-9.11391202e-01 4.11502563e-01 5.63184161e-03 6.47000832e+01] [ 4.11495043e-01 9.11408601e-01 -2.48834100e-03 -1.64851384e+02] [-6.15686758e-03 4.96228140e-05 -9.99981045e-01 -8.04253042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.710385723 meters 0.015741612974429085 Centerline is valid? [True, True] Translation: X:64.72, Y:-164.82, Z:-8.04 [[-9.38435759e-01 3.45402923e-01 5.92846494e-03 6.47160760e+01] [ 3.45396348e-01 9.38454484e-01 -2.13158598e-03 -1.64824952e+02] [-6.29985054e-03 4.73136296e-05 -9.99980155e-01 -8.04233709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.740385723 meters 0.015285086238675534 Centerline is valid? [True, True] Translation: X:64.73, Y:-164.79, Z:-8.04 [[-9.61078074e-01 2.76215593e-01 5.82080408e-03 6.47259691e+01] [ 2.76210741e-01 9.61095700e-01 -1.63738174e-03 -1.64793734e+02] [-6.04662014e-03 3.41169198e-05 -9.99981718e-01 -8.04291816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.770385723 meters 0.015429165092641898 Centerline is valid? [True, True] Translation: X:64.72, Y:-164.76, Z:-8.04 [[-9.78443267e-01 2.06445135e-01 5.40181402e-03 6.47161214e+01] [ 2.06442136e-01 9.78458178e-01 -1.11318170e-03 -1.64761062e+02] [-5.51526005e-03 2.59768843e-05 -9.99984791e-01 -8.04212205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.800385723 meters 0.015304519689013397 Centerline is valid? [True, True] Translation: X:64.73, Y:-164.73, Z:-8.04 [[-9.90955055e-01 1.34074306e-01 5.67101571e-03 6.47311351e+01] [ 1.34072187e-01 9.90971281e-01 -7.53888326e-04 -1.64731104e+02] [-5.72089075e-03 1.32560309e-05 -9.99983636e-01 -8.04307197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.830385723 meters 0.015251249062494228 Centerline is valid? [True, True] Translation: X:64.74, Y:-164.70, Z:-8.04 [[-9.98011079e-01 6.27446507e-02 6.08235802e-03 6.47377598e+01] [ 6.27435482e-02 9.98029613e-01 -3.72098611e-04 -1.64701714e+02] [-6.09372062e-03 1.02701870e-05 -9.99981433e-01 -8.04313458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.860385723 meters 0.015155607314634346 Centerline is valid? [True, True] Translation: X:64.79, Y:-163.93, Z:-9.03 [[-9.91806197e-01 -1.27610890e-01 5.99408286e-03 6.47864967e+01] [ 1.27608478e-01 -9.91824309e-01 -7.84715497e-04 -1.63930288e+02] [ 6.04521533e-03 -1.33899049e-05 9.99981727e-01 -9.02548732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.890385723 meters 0.01512980067343108 Centerline is valid? [True, True] Translation: X:64.67, Y:-164.69, Z:-8.04 [[-9.98372893e-01 5.67235654e-02 5.83123742e-03 6.46650309e+01] [ 5.67226212e-02 9.98389922e-01 -3.27316200e-04 -1.64694734e+02] [-5.84041522e-03 3.97944934e-06 -9.99982945e-01 -8.04320169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.920385723 meters 0.015096241942423583 Centerline is valid? [True, True] Translation: X:64.71, Y:-163.93, Z:-9.02 [[-9.92408243e-01 -1.22886222e-01 4.98554868e-03 6.47102747e+01] [ 1.22884386e-01 -9.92420764e-01 -6.74076335e-04 -1.63927796e+02] [ 5.03059672e-03 -5.63128208e-05 9.99987345e-01 -9.02462991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.950385723 meters 0.01521142037204355 Centerline is valid? [True, True] Translation: X:64.59, Y:-164.69, Z:-8.04 [[-9.98625840e-01 5.22110663e-02 4.52073061e-03 6.45863033e+01] [ 5.22105496e-02 9.98636072e-01 -2.32326049e-04 -1.64688201e+02] [-4.52669465e-03 4.02303352e-06 -9.99989754e-01 -8.04428670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.980385723 meters 0.015208745495637095 Centerline is valid? [True, True] Translation: X:64.63, Y:-163.93, Z:-9.02 [[-9.93038411e-01 -1.17691102e-01 4.84969338e-03 6.46331474e+01] [ 1.17689791e-01 -9.93050253e-01 -5.55862057e-04 -1.63925587e+02] [ 4.88140926e-03 1.87670255e-05 9.99988086e-01 -9.02494320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.010385723 meters 0.015194457586704263 Centerline is valid? [True, True] Translation: X:64.52, Y:-164.68, Z:-8.04 [[-9.98830369e-01 4.80878681e-02 5.04490115e-03 6.45180555e+01] [ 4.80873018e-02 9.98843109e-01 -2.33575199e-04 -1.64682815e+02] [-5.05029689e-03 9.29368168e-06 -9.99987247e-01 -8.04380394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.040385723 meters 0.015238826143174025 Centerline is valid? [True, True] Translation: X:64.52, Y:-164.65, Z:-8.04 [[-9.99751962e-01 -2.17556361e-02 4.76521581e-03 6.45166401e+01] [-2.17553168e-02 9.99763318e-01 1.18838730e-04 -1.64653618e+02] [-4.76667338e-03 1.51404740e-05 -9.99988639e-01 -8.04336835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.070385723 meters 0.015341820958047415 Centerline is valid? [True, True] Translation: X:64.50, Y:-163.89, Z:-9.03 [[-9.99231504e-01 -3.88736735e-02 5.02389034e-03 6.45008060e+01] [ 3.88731878e-02 -9.99244133e-01 -1.94317930e-04 -1.63892986e+02] [ 5.02764680e-03 1.12603496e-06 9.99987361e-01 -9.02537178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.100385723 meters 0.015494721646865753 Centerline is valid? [True, True] Translation: X:64.41, Y:-164.66, Z:-8.04 [[-9.99696882e-01 -2.40163948e-02 5.41819328e-03 6.44105189e+01] [-2.40158669e-02 9.99711564e-01 1.62480146e-04 -1.64655111e+02] [-5.42053267e-03 3.23082863e-05 -9.99985308e-01 -8.04254534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.130385723 meters 0.015625836338445404 Centerline is valid? [True, True] Translation: X:64.42, Y:-164.63, Z:-8.04 [[-9.95537620e-01 -9.41506058e-02 6.36481259e-03 6.44159490e+01] [-9.41483948e-02 9.95557965e-01 6.46768280e-04 -1.64625625e+02] [-6.39743349e-03 4.46452655e-05 -9.99979535e-01 -8.04202642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.160385723 meters 0.015941813816478585 Centerline is valid? [True, True] Translation: X:64.41, Y:-164.60, Z:-8.04 [[-9.86521255e-01 -1.63442191e-01 7.90340099e-03 6.44104847e+01] [-1.63436353e-01 9.86552910e-01 1.38339031e-03 -1.64596383e+02] [-8.02322760e-03 7.30409059e-05 -9.99967811e-01 -8.04101611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.190385723 meters 0.016144583069624265 Centerline is valid? [True, True] Translation: X:64.38, Y:-164.57, Z:-8.04 [[-9.72492074e-01 -2.32783567e-01 8.42480746e-03 6.43807725e+01] [-2.32774029e-01 9.72528561e-01 2.10913371e-03 -1.64573126e+02] [-8.68433754e-03 9.00394334e-05 -9.99962286e-01 -8.04043956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.220385723 meters 0.016144583069624265 Centerline is valid? [True, True] Translation: X:64.33, Y:-164.56, Z:-8.04 [[-9.52876866e-01 -3.03245191e-01 8.24815106e-03 6.43279947e+01] [-3.03233011e-01 9.52912560e-01 2.71931044e-03 -1.64558041e+02] [-8.68438456e-03 9.00563303e-05 -9.99962286e-01 -8.04043822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.250385723 meters 0.01650188880992223 Centerline is valid? [True, True] Translation: X:64.27, Y:-164.55, Z:-8.04 [[-9.28417692e-01 -3.71443560e-01 8.38279039e-03 6.42666017e+01] [-3.71427388e-01 9.28455530e-01 3.46765139e-03 -1.64549993e+02] [-9.07108487e-03 1.05830960e-04 -9.99958851e-01 -8.04040296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.280385723 meters 0.016574605229263146 Centerline is valid? [True, True] Translation: X:64.19, Y:-164.55, Z:-8.04 [[-8.98554233e-01 -4.38785380e-01 8.22683010e-03 6.41913180e+01] [-4.38765837e-01 8.98591886e-01 4.14274946e-03 -1.64551801e+02] [-9.21034067e-03 1.12833067e-04 -9.99957578e-01 -8.04102806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.310385723 meters 0.016875092206870786 Centerline is valid? [True, True] Translation: X:64.10, Y:-164.56, Z:-8.04 [[-8.63902943e-01 -5.03605213e-01 7.31395034e-03 6.41032880e+01] [-5.03586046e-01 8.63933896e-01 4.39518840e-03 -1.64564847e+02] [-8.53220940e-03 1.13812865e-04 -9.99963594e-01 -8.04126905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.340385723 meters 0.016436914842940194 Centerline is valid? [True, True] Translation: X:64.02, Y:-164.58, Z:-8.04 [[-8.23940506e-01 -5.66630543e-01 7.20211266e-03 6.40198487e+01] [-5.66607589e-01 8.23971973e-01 5.10177495e-03 -1.64581061e+02] [-8.82516050e-03 1.22787343e-04 -9.99961050e-01 -8.04174279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.370385723 meters 0.01663426345725954 Centerline is valid? [True, True] Translation: X:63.93, Y:-164.61, Z:-8.04 [[-7.79646045e-01 -6.26175375e-01 7.51291035e-03 6.39291556e+01] [-6.26144468e-01 7.79682229e-01 6.22313243e-03 -1.64612248e+02] [-9.75445497e-03 1.47673336e-04 -9.99952413e-01 -8.04104979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.400385723 meters 0.016989299316672063 Centerline is valid? [True, True] Translation: X:63.84, Y:-164.66, Z:-8.04 [[-7.30572550e-01 -6.82794575e-01 7.43758766e-03 6.38358087e+01] [-6.82756887e-01 7.30610390e-01 7.17581836e-03 -1.64657703e+02] [-1.03335887e-02 1.64391723e-04 -9.99946594e-01 -8.04115707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.430385723 meters 0.017386848682693426 Centerline is valid? [True, True] Translation: X:63.73, Y:-164.72, Z:-8.04 [[-6.77716240e-01 -7.35294408e-01 6.54460150e-03 6.37345904e+01] [-7.35257678e-01 6.77747818e-01 7.35135340e-03 -1.64721853e+02] [-9.84099843e-03 1.70163075e-04 -9.99951562e-01 -8.04230174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.460385723 meters 0.017624070519158024 Centerline is valid? [True, True] Translation: X:63.65, Y:-164.77, Z:-8.04 [[-6.19947050e-01 -7.84624206e-01 5.52370197e-03 6.36518120e+01] [-7.84590712e-01 6.19971636e-01 7.25152060e-03 -1.64774091e+02] [-9.11425714e-03 1.61713538e-04 -9.99958451e-01 -8.04268242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.490385723 meters 0.01701208649200884 Centerline is valid? [True, True] Translation: X:63.56, Y:-164.85, Z:-8.04 [[-5.58171325e-01 -8.29711790e-01 4.80812049e-03 6.35597312e+01] [-8.29678572e-01 5.58192012e-01 7.42596319e-03 -1.64847979e+02] [-8.84526366e-03 1.55765171e-04 -9.99960868e-01 -8.04331125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.520385723 meters 0.01667301827056029 Centerline is valid? [True, True] Translation: X:63.47, Y:-164.93, Z:-8.04 [[-4.91672011e-01 -8.70770167e-01 4.23662300e-03 6.34732910e+01] [-8.70735324e-01 4.91690243e-01 7.79099844e-03 -1.64926319e+02] [-8.86727521e-03 1.41638567e-04 -9.99960675e-01 -8.04345743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.550385723 meters 0.016586739133943568 Centerline is valid? [True, True] Translation: X:63.39, Y:-165.02, Z:-8.04 [[-4.22355783e-01 -9.06423312e-01 3.51754912e-03 6.33939739e+01] [-9.06389346e-01 4.22370411e-01 7.84787854e-03 -1.65017196e+02] [-8.59920873e-03 1.26327837e-04 -9.99963018e-01 -8.04398740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.580385723 meters 0.016031963478399046 Centerline is valid? [True, True] Translation: X:63.32, Y:-165.11, Z:-8.05 [[-3.48324297e-01 -9.37370241e-01 2.68624439e-03 6.33191252e+01] [-9.37340380e-01 3.48334643e-01 7.48251084e-03 -1.65114915e+02] [-7.94959497e-03 8.84149928e-05 -9.99968398e-01 -8.04617089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.610385723 meters 0.015721828321994476 Centerline is valid? [True, True] Translation: X:63.25, Y:-165.22, Z:-8.05 [[-2.71644881e-01 -9.62395200e-01 2.13008471e-03 6.32489896e+01] [-9.62363926e-01 2.71653226e-01 7.75884560e-03 -1.65220059e+02] [-8.04572014e-03 5.77340050e-05 -9.99967631e-01 -8.04627694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.640385723 meters 0.01566292714495825 Centerline is valid? [True, True] Translation: X:63.19, Y:-165.33, Z:-8.05 [[-1.95528788e-01 -9.80696826e-01 1.49286615e-03 6.31892835e+01] [-9.80666478e-01 1.95534482e-01 7.71520406e-03 -1.65331603e+02] [-7.85818294e-03 4.45407145e-05 -9.99969123e-01 -8.04558603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.670385723 meters 0.015601056579278 Centerline is valid? [True, True] Translation: X:63.14, Y:-165.44, Z:-8.04 [[-1.18298688e-01 -9.92977609e-01 9.42387450e-04 6.31394172e+01] [-9.92943699e-01 1.18302437e-01 8.20635361e-03 -1.65443128e+02] [-8.26021212e-03 3.50631874e-05 -9.99965883e-01 -8.04491714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.700385723 meters 0.015643345945265664 Centerline is valid? [True, True] Translation: X:63.10, Y:-165.56, Z:-8.04 [[-4.06260621e-02 -9.99174362e-01 3.42088142e-04 6.30976261e+01] [-9.99133374e-01 4.06274941e-02 9.05025547e-03 -1.65556223e+02] [-9.05668142e-03 2.58845613e-05 -9.99958987e-01 -8.04423530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.730385723 meters 0.0156710411981311 Centerline is valid? [True, True] Translation: X:63.07, Y:-165.68, Z:-8.04 [[ 3.47150073e-02 -9.99397179e-01 -3.83479614e-04 6.30681898e+01] [-9.99349159e-01 -3.47170985e-02 9.79698630e-03 -1.65677599e+02] [-9.80439377e-03 4.31275789e-05 -9.99951935e-01 -8.04445906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.760385723 meters 0.015719177000360837 Centerline is valid? [True, True] Translation: X:63.05, Y:-165.80, Z:-8.04 [[ 1.09865668e-01 -9.93945761e-01 -1.16621565e-03 6.30486206e+01] [-9.93895379e-01 -1.09871842e-01 1.00076749e-02 -1.65800548e+02] [-1.00752203e-02 5.95964544e-05 -9.99949242e-01 -8.04465239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.790385723 meters 0.016131750840091098 Centerline is valid? [True, True] Translation: X:63.04, Y:-165.92, Z:-8.04 [[ 1.82257429e-01 -9.83248795e-01 -2.00936678e-03 6.30373645e+01] [-9.83195004e-01 -1.82268477e-01 1.02852934e-02 -1.65924328e+02] [-1.04792466e-02 1.01028236e-04 -9.99945086e-01 -8.04301039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.820385723 meters 0.016204367382266206 Centerline is valid? [True, True] Translation: X:63.04, Y:-166.05, Z:-8.04 [[ 2.55696587e-01 -9.66753236e-01 -2.72691617e-03 6.30362348e+01] [-9.66702935e-01 -2.55711102e-01 9.86246172e-03 -1.66050482e+02] [-1.02318695e-02 1.14320067e-04 -9.99947647e-01 -8.04255889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.850385723 meters 0.018458007935253068 Centerline is valid? [True, True] Translation: X:63.05, Y:-166.18, Z:-8.04 [[ 3.27604983e-01 -9.44807118e-01 -3.80600624e-03 6.30456184e+01] [-9.44748340e-01 -3.27627059e-01 1.05396847e-02 -1.66176563e+02] [-1.12049198e-02 1.42864850e-04 -9.99937213e-01 -8.04075869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.880385723 meters 0.01671585673575174 Centerline is valid? [True, True] Translation: X:63.06, Y:-166.29, Z:-8.04 [[ 3.97646143e-01 -9.17531007e-01 -3.79422241e-03 6.30611521e+01] [-9.17492368e-01 -3.97664222e-01 8.42146142e-03 -1.66292738e+02] [-9.23577848e-03 1.32408452e-04 -9.99957341e-01 -8.04354026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.910385723 meters 0.016857470754321507 Centerline is valid? [True, True] Translation: X:63.08, Y:-166.41, Z:-8.04 [[ 4.66135380e-01 -8.84703856e-01 -4.11041683e-03 6.30828642e+01] [-8.84671868e-01 -4.66153485e-01 7.52426937e-03 -1.66405478e+02] [-8.57283525e-03 1.29041974e-04 -9.99963244e-01 -8.04316733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.940385723 meters 0.016552954748538528 Centerline is valid? [True, True] Translation: X:63.12, Y:-166.52, Z:-8.04 [[ 5.32405612e-01 -8.46477026e-01 -4.57260099e-03 6.31154701e+01] [-8.46447818e-01 -5.32425233e-01 7.03290314e-03 -1.66522328e+02] [-8.38775908e-03 1.26111027e-04 -9.99964814e-01 -8.04327479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.970385723 meters 0.01654602191848658 Centerline is valid? [True, True] Translation: X:63.16, Y:-166.64, Z:-8.04 [[ 5.95819695e-01 -8.03101601e-01 -5.16808077e-03 6.31578715e+01] [-8.03073168e-01 -5.95842095e-01 6.75900726e-03 -1.66635626e+02] [-8.50752963e-03 1.23197359e-04 -9.99963803e-01 -8.04230349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.000385723 meters 0.016343577248281917 Centerline is valid? [True, True] Translation: X:63.20, Y:-166.74, Z:-8.04 [[ 6.55322425e-01 -7.55322972e-01 -6.30300734e-03 6.31998579e+01] [-7.55290016e-01 -6.55352722e-01 7.05707607e-03 -1.66735981e+02] [-9.46106469e-03 1.35938308e-04 -9.99955234e-01 -8.04133727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.030385723 meters 0.016778862077263586 Centerline is valid? [True, True] Translation: X:63.25, Y:-166.83, Z:-8.04 [[ 7.10839781e-01 -7.03319543e-01 -6.95890981e-03 6.32517773e+01] [-7.03287725e-01 -7.10873829e-01 6.69139398e-03 -1.66832424e+02] [-9.65309502e-03 1.37606816e-04 -9.99953398e-01 -8.04002304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.060385723 meters 0.016630020154886255 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.85, Z:-8.04 [[ 7.63630818e-01 -6.45606385e-01 -7.76973569e-03 6.32446290e+01] [-6.45574870e-01 -7.63670331e-01 6.38057400e-03 -1.66847034e+02] [-1.00528559e-02 1.43543166e-04 -9.99949459e-01 -8.03958863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.090385723 meters 0.01680407922992733 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.86, Z:-8.04 [[ 8.11561485e-01 -5.84204678e-01 -8.53524001e-03 6.32409074e+01] [-5.84174336e-01 -8.11606352e-01 5.95601315e-03 -1.66859856e+02] [-1.04067858e-02 1.52397285e-04 -9.99945836e-01 -8.03895304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.120385723 meters 0.016960565962625393 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.87, Z:-8.04 [[ 8.54410120e-01 -5.19515819e-01 -9.30915332e-03 6.32383768e+01] [-5.19487084e-01 -8.54460816e-01 5.46660835e-03 -1.66871436e+02] [-1.07942963e-02 1.65259409e-04 -9.99941726e-01 -8.03816390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.150385723 meters 0.017008813794576354 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.88, Z:-8.04 [[ 8.92415807e-01 -4.51106553e-01 -9.84400337e-03 6.32372217e+01] [-4.51081174e-01 -8.92470083e-01 4.78799930e-03 -1.66883953e+02] [-1.09453764e-02 1.67558340e-04 -9.99940084e-01 -8.03819635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.180385723 meters 0.01701083141670576 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.90, Z:-8.04 [[ 9.24933686e-01 -3.79991814e-01 -1.01930265e-02 6.32374011e+01] [-3.79970735e-01 -9.24989834e-01 4.00590377e-03 -1.66896184e+02] [-1.09506565e-02 1.67856421e-04 -9.99940026e-01 -8.03758138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.210385723 meters 0.01688726613030767 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.91, Z:-8.04 [[ 9.52330782e-01 -3.04895204e-01 -1.02467620e-02 6.32370846e+01] [-3.04879198e-01 -9.52385895e-01 3.12748942e-03 -1.66908213e+02] [-1.07124282e-02 1.45620145e-04 -9.99942610e-01 -8.03702534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.240385723 meters 0.016546857109519322 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.92, Z:-8.04 [[ 9.73895472e-01 -2.26802311e-01 -9.39795268e-03 6.32383329e+01] [-2.26792782e-01 -9.73940810e-01 2.08164937e-03 -1.66920320e+02] [-9.62517253e-03 1.04078936e-04 -9.99953672e-01 -8.03733587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.270385723 meters 0.016262658666396576 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.93, Z:-8.04 [[ 9.88895107e-01 -1.48334778e-01 -9.12478630e-03 6.32412903e+01] [-1.48329255e-01 -9.88937200e-01 1.28279986e-03 -1.66931117e+02] [-9.21412445e-03 8.49182544e-05 -9.99957545e-01 -8.03773971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.300385723 meters 0.015999665963714216 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.94, Z:-8.04 [[ 9.97596349e-01 -6.87846134e-02 -8.37861081e-03 6.32411810e+01] [-6.87827215e-02 -9.97631532e-01 5.14090655e-04 -1.66940859e+02] [-8.39412786e-03 6.34486932e-05 -9.99964767e-01 -8.03830772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.330385723 meters 0.01573411694878571 Centerline is valid? [True, True] Translation: X:63.24, Y:-166.95, Z:-8.04 [[ 9.99900522e-01 1.23565607e-02 -6.80153843e-03 6.32427243e+01] [ 1.23560539e-02 -9.99923654e-01 -1.16540870e-04 -1.66954592e+02] [-6.80245921e-03 3.24891017e-05 -9.99976863e-01 -8.03975602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.360385723 meters 0.01566510084489945 Centerline is valid? [True, True] Translation: X:63.25, Y:-166.97, Z:-8.04 [[ 9.95756242e-01 9.17970452e-02 -6.54289067e-03 6.32453698e+01] [ 9.17949080e-02 -9.95777737e-01 -6.26850305e-04 -1.66968067e+02] [-6.57280787e-03 2.35860575e-05 -9.99978399e-01 -8.03999099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.390385723 meters 0.015731889832698104 Centerline is valid? [True, True] Translation: X:63.25, Y:-166.98, Z:-8.04 [[ 9.85465087e-01 1.69768093e-01 -6.11202337e-03 6.32479462e+01] [ 1.69764698e-01 -9.85484041e-01 -1.07384118e-03 -1.66979642e+02] [-6.20560546e-03 2.06271971e-05 -9.99980745e-01 -8.03970894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.420385723 meters 0.015725066805496252 Centerline is valid? [True, True] Translation: X:63.25, Y:-166.99, Z:-8.04 [[ 9.69210810e-01 2.46171264e-01 -5.48765698e-03 6.32528674e+01] [ 2.46167200e-01 -9.69226345e-01 -1.41468339e-03 -1.66992399e+02] [-5.66703612e-03 2.02452814e-05 -9.99983942e-01 -8.03999442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.450385723 meters 0.015858425488208556 Centerline is valid? [True, True] Translation: X:63.26, Y:-167.00, Z:-8.04 [[ 9.47016340e-01 3.21135448e-01 -5.66353378e-03 6.32571098e+01] [ 3.21129563e-01 -9.47033275e-01 -1.94427463e-03 -1.67003680e+02] [-5.98793044e-03 2.25317138e-05 -9.99982072e-01 -8.03856017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.480385723 meters 0.015817535503036963 Centerline is valid? [True, True] Translation: X:63.26, Y:-167.01, Z:-8.04 [[ 9.19370340e-01 3.93357423e-01 -5.30241437e-03 6.32627259e+01] [ 3.93350708e-01 -9.19385630e-01 -2.29860263e-03 -1.67013247e+02] [-5.77913598e-03 2.75586295e-05 -9.99983300e-01 -8.03863681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.510385723 meters 0.015823280777259648 Centerline is valid? [True, True] Translation: X:63.27, Y:-167.02, Z:-8.04 [[ 8.86191248e-01 4.63295122e-01 -4.76465966e-03 6.32693722e+01] [ 4.63288239e-01 -8.86204056e-01 -2.52554941e-03 -1.67023477e+02] [-5.39253544e-03 3.07089945e-05 -9.99985460e-01 -8.03898522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.540385723 meters 0.015914641702099875 Centerline is valid? [True, True] Translation: X:63.28, Y:-167.03, Z:-8.04 [[ 8.47483249e-01 5.30803273e-01 -4.47527915e-03 6.32769222e+01] [ 5.30795666e-01 -8.47495064e-01 -2.84194077e-03 -1.67033178e+02] [-5.30128846e-03 3.30384188e-05 -9.99985948e-01 -8.03861351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.570385723 meters 0.0159264406296094 Centerline is valid? [True, True] Translation: X:63.28, Y:-167.04, Z:-8.04 [[ 8.03790163e-01 5.94897196e-01 -4.32427706e-03 6.32840760e+01] [ 5.94888333e-01 -8.03801794e-01 -3.24767947e-03 -1.67041697e+02] [-5.40789707e-03 3.79908436e-05 -9.99985377e-01 -8.03798093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.600385723 meters 0.016120748625323627 Centerline is valid? [True, True] Translation: X:63.29, Y:-167.05, Z:-8.04 [[ 7.55126999e-01 6.55565159e-01 -4.18776943e-03 6.32914971e+01] [ 6.55554766e-01 -7.55138610e-01 -3.69152475e-03 -1.67048955e+02] [-5.58238139e-03 4.22577962e-05 -9.99984418e-01 -8.03766155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.630385723 meters 0.016251447584174357 Centerline is valid? [True, True] Translation: X:63.30, Y:-167.05, Z:-8.04 [[ 7.02989943e-01 7.11187528e-01 -4.17617325e-03 6.32964507e+01] [ 7.11174487e-01 -7.03002345e-01 -4.30719909e-03 -1.67053701e+02] [-5.99908586e-03 5.79297772e-05 -9.99982004e-01 -8.03798392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.660385723 meters 0.016647421785244653 Centerline is valid? [True, True] Translation: X:63.30, Y:-167.06, Z:-8.04 [[ 6.46816352e-01 7.62636511e-01 -3.76277053e-03 6.33011049e+01] [ 7.62622975e-01 -6.46827293e-01 -4.54432924e-03 -1.67058045e+02] [-5.89953407e-03 6.97712038e-05 -9.99982595e-01 -8.03800151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.690385723 meters 0.016739948930860674 Centerline is valid? [True, True] Translation: X:63.31, Y:-167.06, Z:-8.04 [[ 5.85967338e-01 8.10328527e-01 -3.15560161e-03 6.33089228e+01] [ 8.10316123e-01 -5.85975831e-01 -4.48414653e-03 -1.67063418e+02] [-5.48273813e-03 7.05285467e-05 -9.99984967e-01 -8.03814118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.720385723 meters 0.019140751552753438 Centerline is valid? [True, True] Translation: X:63.32, Y:-167.07, Z:-8.04 [[ 5.22154497e-01 8.52845274e-01 -3.10169687e-03 6.33163791e+01] [ 8.52829209e-01 -5.22163702e-01 -5.23528929e-03 -1.67068192e+02] [-6.08448524e-03 8.84121574e-05 -9.99981485e-01 -8.03612418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.750385723 meters 0.01726548779445073 Centerline is valid? [True, True] Translation: X:63.32, Y:-167.07, Z:-8.04 [[ 4.54927513e-01 8.90524707e-01 -2.58917140e-03 6.33221990e+01] [ 8.90509103e-01 -4.54934871e-01 -5.27252879e-03 -1.67072031e+02] [-5.87322151e-03 9.29377120e-05 -9.99982748e-01 -8.03749682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.780385723 meters 0.017538117046550318 Centerline is valid? [True, True] Translation: X:63.33, Y:-167.08, Z:-8.04 [[ 3.84528949e-01 9.23110233e-01 -2.23279632e-03 6.33281816e+01] [ 9.23093125e-01 -3.84535418e-01 -5.62089256e-03 -1.67075176e+02] [-6.04729271e-03 1.00316974e-04 -9.99981710e-01 -8.03745439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.810385723 meters 0.017972715179167147 Centerline is valid? [True, True] Translation: X:63.33, Y:-167.08, Z:-8.04 [[ 3.12192687e-01 9.50017203e-01 -1.74344404e-03 6.33317573e+01] [ 9.50000458e-01 -3.12197538e-01 -5.64148323e-03 -1.67078136e+02] [-5.90380506e-03 1.04957173e-04 -9.99982567e-01 -8.03749132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.840385723 meters 0.018378903736614476 Centerline is valid? [True, True] Translation: X:63.34, Y:-167.08, Z:-8.04 [[ 2.37386314e-01 9.71414349e-01 -1.37886871e-03 6.33361841e+01] [ 9.71395037e-01 -2.37390291e-01 -6.12640311e-03 -1.67081114e+02] [-6.27860593e-03 1.14898027e-04 -9.99980283e-01 -8.03722535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.870385723 meters 0.017881366337662265 Centerline is valid? [True, True] Translation: X:63.35, Y:-167.08, Z:-8.04 [[ 1.60723818e-01 9.86998992e-01 -9.18423562e-04 6.33457416e+01] [ 9.86978385e-01 -1.60726398e-01 -6.37915084e-03 -1.67083918e+02] [-6.44383037e-03 1.18817273e-04 -9.99979231e-01 -8.03747011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.900385723 meters 0.018409659791911066 Centerline is valid? [True, True] Translation: X:63.35, Y:-167.09, Z:-8.04 [[ 8.29380414e-02 9.96554603e-01 -4.52911983e-04 6.33523448e+01] [ 9.96530028e-01 -8.29391774e-02 -6.99975282e-03 -1.67087266e+02] [-7.01320004e-03 1.29205398e-04 -9.99975399e-01 -8.03658158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.930385723 meters 0.01806523167668018 Centerline is valid? [True, True] Translation: X:63.36, Y:-167.09, Z:-8.04 [[ 2.90462577e-03 9.99995775e-01 1.11369231e-04 6.33569522e+01] [ 9.99963100e-01 -2.90363043e-03 -8.08507806e-03 -1.67090233e+02] [-8.08472053e-03 1.34849248e-04 -9.99967309e-01 -8.03546460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.960385723 meters 0.017629960345140278 Centerline is valid? [True, True] Translation: X:63.36, Y:-167.09, Z:-8.03 [[-7.92865885e-02 9.96851407e-01 9.53264976e-04 6.33619595e+01] [ 9.96798057e-01 7.92922082e-02 -1.03140337e-02 -1.67092724e+02] [-1.03571455e-02 1.32448133e-04 -9.99946355e-01 -8.03387127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.990385723 meters 0.01654410172042011 Centerline is valid? [True, True] Translation: X:63.38, Y:-167.09, Z:-8.04 [[-1.58796814e-01 9.87309727e-01 1.75348227e-03 6.33781080e+01] [ 9.87257246e-01 1.58806453e-01 -1.01803595e-02 -1.67091906e+02] [-1.03296322e-02 1.14529435e-04 -9.99946641e-01 -8.03586960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.020385723 meters 0.0166058161032941 Centerline is valid? [True, True] Translation: X:63.39, Y:-167.09, Z:-8.04 [[-2.37440620e-01 9.71398668e-01 2.56515324e-03 6.33902940e+01] [ 9.71346262e-01 2.37454456e-01 -1.00906357e-02 -1.67091024e+02] [-1.04111372e-02 9.57252015e-05 -9.99945798e-01 -8.03596043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.050385723 meters 0.01644370850121974 Centerline is valid? [True, True] Translation: X:63.40, Y:-167.09, Z:-8.04 [[-3.14811193e-01 9.49148935e-01 3.19551417e-03 6.34012019e+01] [ 9.49102286e-01 3.14827403e-01 -9.41050952e-03 -1.67088665e+02] [-9.93801052e-03 7.03360684e-05 -9.99950614e-01 -8.03718911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.080385723 meters 0.017188590236962193 Centerline is valid? [True, True] Translation: X:63.41, Y:-167.09, Z:-8.04 [[-3.88258613e-01 9.21542372e-01 3.86088120e-03 6.34091485e+01] [ 9.21498554e-01 3.88277803e-01 -8.98675533e-03 -1.67087487e+02] [-9.78077030e-03 6.86112851e-05 -9.99952165e-01 -8.03532514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.110385723 meters 0.016252813071186784 Centerline is valid? [True, True] Translation: X:63.42, Y:-167.08, Z:-8.04 [[-4.59026910e-01 8.88412393e-01 4.20900361e-03 6.34189165e+01] [ 8.88376355e-01 4.59046202e-01 -8.00234098e-03 -1.67083725e+02] [-9.04150602e-03 6.58894278e-05 -9.99959123e-01 -8.03917260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.140385723 meters 0.016252813071186784 Centerline is valid? [True, True] Translation: X:63.43, Y:-167.08, Z:-8.04 [[-5.27195680e-01 8.49730225e-01 4.82284892e-03 6.34298141e+01] [ 8.49695808e-01 5.27217735e-01 -7.64814420e-03 -1.67079291e+02] [-9.04155078e-03 6.58859266e-05 -9.99959122e-01 -8.03917221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.170385723 meters 0.016343514607839085 Centerline is valid? [True, True] Translation: X:63.44, Y:-167.07, Z:-8.04 [[-5.91674925e-01 8.06160054e-01 5.17205302e-03 6.34398636e+01] [ 8.06130254e-01 5.91697526e-01 -6.93195975e-03 -1.67073182e+02] [-8.64856003e-03 6.78816532e-05 -9.99962598e-01 -8.04044366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.200385723 meters 0.016376023248992594 Centerline is valid? [True, True] Translation: X:63.45, Y:-167.07, Z:-8.04 [[-6.51485809e-01 7.58641697e-01 5.38674493e-03 6.34473808e+01] [ 7.58616778e-01 6.51508073e-01 -6.14934274e-03 -1.67070625e+02] [-8.17465562e-03 8.02655522e-05 -9.99966584e-01 -8.04273555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.230385723 meters 0.016564657920921395 Centerline is valid? [True, True] Translation: X:63.46, Y:-167.06, Z:-8.04 [[-7.07989545e-01 7.06197187e-01 6.02795249e-03 6.34561391e+01] [ 7.06172708e-01 7.08015200e-01 -5.88074650e-03 -1.67064344e+02] [-8.42084863e-03 9.32684910e-05 -9.99964540e-01 -8.04331700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.260385723 meters 0.017046779907132416 Centerline is valid? [True, True] Translation: X:63.47, Y:-167.05, Z:-8.04 [[-7.54595990e-01 6.56156769e-01 6.57161711e-03 6.34736912e+01] [ 6.56133218e-01 7.54624596e-01 -5.56049692e-03 -1.67046366e+02] [-8.60766160e-03 1.15927606e-04 -9.99962947e-01 -8.04321091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.290385723 meters 0.017177089709083024 Centerline is valid? [True, True] Translation: X:63.49, Y:-167.03, Z:-8.04 [[-7.98270270e-01 6.02261790e-01 6.73143629e-03 6.34926275e+01] [ 6.02241681e-01 7.98298641e-01 -4.92305737e-03 -1.67026674e+02] [-8.33866578e-03 1.24021176e-04 -9.99965225e-01 -8.04382536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.320385723 meters 0.017437458038590172 Centerline is valid? [True, True] Translation: X:63.51, Y:-167.01, Z:-8.04 [[-8.38261313e-01 5.45218798e-01 7.37783385e-03 6.35084798e+01] [ 5.45199143e-01 8.38293769e-01 -4.63158916e-03 -1.67005122e+02] [-8.71002161e-03 1.39906684e-04 -9.99962057e-01 -8.04418290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.350385723 meters 0.017954724062616573 Centerline is valid? [True, True] Translation: X:63.52, Y:-166.98, Z:-8.04 [[-8.73701858e-01 4.86380587e-01 8.88752001e-03 6.35199744e+01] [ 4.86357544e-01 8.73747041e-01 -4.73799926e-03 -1.66982740e+02] [-1.00699152e-02 1.82913645e-04 -9.99949280e-01 -8.04399559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.380385723 meters 0.01852444078653421 Centerline is valid? [True, True] Translation: X:63.54, Y:-166.96, Z:-8.04 [[-9.05194747e-01 4.24858543e-01 1.08484662e-02 6.35374366e+01] [ 4.24831153e-01 9.05259721e-01 -4.82999274e-03 -1.66963228e+02] [-1.18727432e-02 2.36682362e-04 -9.99929489e-01 -8.04287066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.410385723 meters 0.018642438649129848 Centerline is valid? [True, True] Translation: X:63.55, Y:-166.94, Z:-8.04 [[-9.32818779e-01 3.60150770e-01 1.18553464e-02 6.35500125e+01] [ 3.60125192e-01 9.32894076e-01 -4.29995522e-03 -1.66938376e+02] [-1.26084146e-02 2.58329929e-04 -9.99920477e-01 -8.04266059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.440385723 meters 0.018398406815714217 Centerline is valid? [True, True] Translation: X:63.56, Y:-166.91, Z:-8.04 [[-9.55905011e-01 2.93393960e-01 1.28682995e-02 6.35579956e+01] [ 2.93371280e-01 9.55991583e-01 -3.65856925e-03 -1.66911160e+02] [-1.33753882e-02 2.77944833e-04 -9.99910507e-01 -8.04314140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.470385723 meters 0.01837698537286242 Centerline is valid? [True, True] Translation: X:63.77, Y:-166.20, Z:-9.02 [[-9.47917789e-01 -3.18225939e-01 1.35689642e-02 6.37651498e+01] [ 3.18189788e-01 -9.48014871e-01 -4.80230208e-03 -1.66199459e+02] [ 1.43917970e-02 -2.34681717e-04 9.99896405e-01 -9.02469045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.500385723 meters 0.018232984357420077 Centerline is valid? [True, True] Translation: X:63.51, Y:-166.90, Z:-8.04 [[-9.57094614e-01 2.89438328e-01 1.39768933e-02 6.35077880e+01] [ 2.89411993e-01 9.57196618e-01 -3.91568181e-03 -1.66901937e+02] [-1.45119834e-02 2.97402568e-04 -9.99894651e-01 -8.04450189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.530385723 meters 0.018442911553019886 Centerline is valid? [True, True] Translation: X:63.51, Y:-166.88, Z:-8.04 [[-9.75125017e-01 2.21145159e-01 1.50339473e-02 6.35140733e+01] [ 2.21123924e-01 9.75240851e-01 -3.08120661e-03 -1.66876482e+02] [-1.53431135e-02 3.19803762e-04 -9.99882236e-01 -8.04490256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.560385723 meters 0.018483466771249353 Centerline is valid? [True, True] Translation: X:63.67, Y:-166.14, Z:-9.02 [[-9.69086980e-01 -2.46259596e-01 1.50544270e-02 6.36681192e+01] [ 2.46224934e-01 -9.69203857e-01 -4.14310123e-03 -1.66138608e+02] [ 1.56110872e-02 -3.08250154e-04 9.99878092e-01 -9.02347604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.590385723 meters 0.01881859302220779 Centerline is valid? [True, True] Translation: X:63.46, Y:-166.87, Z:-8.05 [[-9.75858795e-01 2.17864484e-01 1.53192075e-02 6.34557649e+01] [ 2.17843040e-01 9.75978972e-01 -3.07512925e-03 -1.66869690e+02] [-1.56211858e-02 3.36290797e-04 -9.99877925e-01 -8.04500491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.620385723 meters 0.018478616518972063 Centerline is valid? [True, True] Translation: X:63.46, Y:-166.84, Z:-8.05 [[-9.88801559e-01 1.48422497e-01 1.55640151e-02 6.34614081e+01] [ 1.48409584e-01 9.88923983e-01 -1.98786979e-03 -1.66841576e+02] [-1.56866724e-02 3.44240256e-04 -9.99876897e-01 -8.04577206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.650385723 meters 0.018463084015224476 Centerline is valid? [True, True] Translation: X:63.56, Y:-166.08, Z:-9.02 [[-9.85109750e-01 -1.71302542e-01 1.46362465e-02 6.35640973e+01] [ 1.71277945e-01 -9.85218401e-01 -2.92719191e-03 -1.66083354e+02] [ 1.49213348e-02 -3.76739068e-04 9.99888600e-01 -9.02145883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.680385723 meters 0.018172316821349406 Centerline is valid? [True, True] Translation: X:63.39, Y:-166.84, Z:-8.05 [[-9.89428299e-01 1.44283609e-01 1.46247005e-02 6.33930904e+01] [ 1.44272769e-01 9.89536321e-01 -1.79907975e-03 -1.66835769e+02] [-1.47312501e-02 3.29885628e-04 -9.99891435e-01 -8.04751102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.710385723 meters 0.018229153349380346 Centerline is valid? [True, True] Translation: X:63.39, Y:-166.81, Z:-8.05 [[-9.97182062e-01 7.33847300e-02 1.55761651e-02 6.33944245e+01] [ 7.33811881e-02 9.97303646e-01 -7.99577171e-04 -1.66807350e+02] [-1.55928430e-02 3.45673489e-04 -9.99878365e-01 -8.04727216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.740385723 meters 0.01792606377670569 Centerline is valid? [True, True] Translation: X:63.39, Y:-166.78, Z:-8.05 [[-9.99871330e-01 1.72253497e-03 1.59485388e-02 6.33880990e+01] [ 1.72782435e-03 9.99998457e-01 3.17880042e-04 -1.66778159e+02] [-1.59479666e-02 3.45395414e-04 -9.99872763e-01 -8.04752590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.770385723 meters 0.018318894153929993 Centerline is valid? [True, True] Translation: X:63.38, Y:-166.75, Z:-8.05 [[-9.97398343e-01 -7.04539303e-02 1.52574463e-02 6.33842217e+01] [-7.04408178e-02 9.97514984e-01 1.39578581e-03 -1.66749886e+02] [-1.53178699e-02 3.17407463e-04 -9.99882624e-01 -8.04711770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.800385723 meters 0.017563739538231 Centerline is valid? [True, True] Translation: X:63.37, Y:-166.72, Z:-8.05 [[-9.89694223e-01 -1.42477853e-01 1.43320312e-02 6.33695091e+01] [-1.42458686e-01 9.89797948e-01 2.35474321e-03 -1.66721859e+02] [-1.45213138e-02 2.88753430e-04 -9.99894519e-01 -8.04820234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.830385723 meters 0.01762158472838957 Centerline is valid? [True, True] Translation: X:63.34, Y:-166.70, Z:-8.05 [[-9.76633349e-01 -2.14451947e-01 1.40593281e-02 6.33417378e+01] [-2.14425718e-01 9.76734503e-01 3.36494946e-03 -1.66698301e+02] [-1.44538508e-02 2.71640339e-04 -9.99895501e-01 -8.04755080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.860385723 meters 0.01857311697481701 Centerline is valid? [True, True] Translation: X:63.29, Y:-166.68, Z:-8.05 [[-9.58452552e-01 -2.84866920e-01 1.48169700e-02 6.32855151e+01] [-2.84828046e-01 9.58567029e-01 4.71550082e-03 -1.66682843e+02] [-1.55463491e-02 2.99295185e-04 -9.99879103e-01 -8.04670655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.890385723 meters 0.017601313895456303 Centerline is valid? [True, True] Translation: X:63.22, Y:-166.68, Z:-8.05 [[-9.35048026e-01 -3.54248879e-01 1.38896301e-02 6.32201427e+01] [-3.54205106e-01 9.35151135e-01 5.57656678e-03 -1.66676170e+02] [-1.49643958e-02 2.94579872e-04 -9.99887984e-01 -8.04701908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.920385723 meters 0.0176570276202305 Centerline is valid? [True, True] Translation: X:63.15, Y:-166.68, Z:-8.05 [[-9.06441982e-01 -4.22116498e-01 1.34385390e-02 6.31471482e+01] [-4.22065080e-01 9.06541542e-01 6.59547298e-03 -1.66677881e+02] [-1.49666519e-02 3.06475550e-04 -9.99887946e-01 -8.04705840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.950385723 meters 0.01758474292290604 Centerline is valid? [True, True] Translation: X:63.06, Y:-166.69, Z:-8.05 [[-8.73511452e-01 -4.86640036e-01 1.26181384e-02 6.30639649e+01] [-4.86583706e-01 8.73602520e-01 7.41171114e-03 -1.66690752e+02] [-1.46300729e-02 3.34434007e-04 -9.99892919e-01 -8.04818984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.980385723 meters 0.018882511521522732 Centerline is valid? [True, True] Translation: X:62.97, Y:-166.72, Z:-8.05 [[-8.35248977e-01 -5.49752719e-01 1.14496421e-02 6.29726161e+01] [-5.49695481e-01 8.35327381e-01 7.94006917e-03 -1.66717653e+02] [-1.39292742e-02 3.38118121e-04 -9.99902926e-01 -8.04721585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.010385723 meters 0.019481194897994065 Centerline is valid? [True, True] Translation: X:62.88, Y:-166.75, Z:-8.05 [[-7.92900117e-01 -6.09275160e-01 9.65320526e-03 6.28822710e+01] [-6.09224832e-01 7.92958806e-01 7.83811121e-03 -1.66750487e+02] [-1.24301606e-02 3.33866931e-04 -9.99922687e-01 -8.04786322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.040385723 meters 0.018195903992733388 Centerline is valid? [True, True] Translation: X:62.79, Y:-166.79, Z:-8.05 [[-7.45648077e-01 -6.66286661e-01 8.42794600e-03 6.27868181e+01] [-6.66238989e-01 7.45695631e-01 7.97717185e-03 -1.66792403e+02] [-1.15997657e-02 3.33136630e-04 -9.99932665e-01 -8.04924858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.070385723 meters 0.01948030520930714 Centerline is valid? [True, True] Translation: X:62.69, Y:-166.85, Z:-8.05 [[-6.93066248e-01 -7.20837786e-01 7.21534936e-03 6.26936906e+01] [-7.20793958e-01 6.93103736e-01 7.95498640e-03 -1.66848073e+02] [-1.07352404e-02 3.12552354e-04 -9.99942327e-01 -8.04856114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.100385723 meters 0.018743367090284437 Centerline is valid? [True, True] Translation: X:62.60, Y:-166.91, Z:-8.05 [[-6.35870248e-01 -7.71768478e-01 6.51490569e-03 6.25978920e+01] [-7.71722945e-01 6.35903548e-01 8.38890141e-03 -1.66913484e+02] [-1.06171413e-02 3.06550618e-04 -9.99943590e-01 -8.04878510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.130385723 meters 0.01839719545281011 Centerline is valid? [True, True] Translation: X:62.50, Y:-167.00, Z:-8.05 [[-5.74087484e-01 -8.18773791e-01 5.74809894e-03 6.24994531e+01] [-8.18727619e-01 5.74116187e-01 8.69998658e-03 -1.66997700e+02] [-1.04233976e-02 2.88426045e-04 -9.99945633e-01 -8.04847391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.160385723 meters 0.018531719486795845 Centerline is valid? [True, True] Translation: X:62.42, Y:-167.07, Z:-8.05 [[-5.08629048e-01 -8.60971095e-01 5.02649260e-03 6.24228931e+01] [-8.60923573e-01 5.08653810e-01 9.04999477e-03 -1.67066393e+02] [-1.03485285e-02 2.75664253e-04 -9.99946415e-01 -8.04817457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.190385723 meters 0.01735390207889471 Centerline is valid? [True, True] Translation: X:62.34, Y:-167.16, Z:-8.05 [[-4.38596944e-01 -8.98672103e-01 4.60134063e-03 6.23354181e+01] [-8.98616207e-01 4.38621001e-01 1.00265130e-02 -1.67163971e+02] [-1.10287922e-02 2.62758687e-04 -9.99939147e-01 -8.04750086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.220385723 meters 0.016955580021621685 Centerline is valid? [True, True] Translation: X:62.26, Y:-167.26, Z:-8.05 [[-3.66930134e-01 -9.30240103e-01 3.95330580e-03 6.22632023e+01] [-9.30178356e-01 3.66951340e-01 1.07210422e-02 -1.67255878e+02] [-1.14238142e-02 2.56593943e-04 -9.99934713e-01 -8.04671986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.250385723 meters 0.01679368542341617 Centerline is valid? [True, True] Translation: X:62.20, Y:-167.36, Z:-8.05 [[-2.92701543e-01 -9.56198650e-01 3.15420091e-03 6.21956235e+01] [-9.56133961e-01 2.92718439e-01 1.11249675e-02 -1.67363994e+02] [-1.15609716e-02 2.40456538e-04 -9.99933141e-01 -8.04595977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.280385723 meters 0.016402411984574823 Centerline is valid? [True, True] Translation: X:62.14, Y:-167.47, Z:-8.05 [[-2.17616665e-01 -9.76031655e-01 2.27931631e-03 6.21376729e+01] [-9.75966380e-01 2.17628477e-01 1.12902882e-02 -1.67473236e+02] [-1.15157228e-02 2.32418773e-04 -9.99933665e-01 -8.04640083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.310385723 meters 0.01585256202096709 Centerline is valid? [True, True] Translation: X:62.09, Y:-167.60, Z:-8.05 [[-1.41777309e-01 -9.89897528e-01 1.44164019e-03 6.20859532e+01] [-9.89827980e-01 1.41784440e-01 1.17364135e-02 -1.67595976e+02] [-1.18222488e-02 2.36981314e-04 -9.99930087e-01 -8.04672222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.340385723 meters 0.016115451161484308 Centerline is valid? [True, True] Translation: X:62.05, Y:-167.71, Z:-8.05 [[-6.52775053e-02 -9.97867014e-01 5.19524956e-04 6.20467929e+01] [-9.97800836e-01 6.52791605e-02 1.14944313e-02 -1.67712804e+02] [-1.15038280e-02 2.31945367e-04 -9.99933802e-01 -8.04624451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.370385723 meters 0.01621366542806889 Centerline is valid? [True, True] Translation: X:62.02, Y:-167.83, Z:-8.05 [[ 1.16710509e-02 -9.99931827e-01 -3.56967977e-04 6.20159331e+01] [-9.99869623e-01 -1.16743074e-02 1.11556452e-02 -1.67830404e+02] [-1.11590520e-02 2.26723333e-04 -9.99937710e-01 -8.04634991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.400385723 meters 0.015817679358373683 Centerline is valid? [True, True] Translation: X:61.99, Y:-167.96, Z:-8.05 [[ 8.88548184e-02 -9.96043982e-01 -1.09881598e-03 6.19928962e+01] [-9.95993529e-01 -8.88613794e-02 1.00271963e-02 -1.67958973e+02] [-1.00851708e-02 2.03448905e-04 -9.99949123e-01 -8.04683984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.430385723 meters 0.016222818002643958 Centerline is valid? [True, True] Translation: X:61.98, Y:-168.09, Z:-8.05 [[ 1.65693044e-01 -9.86175763e-01 -1.78324009e-03 6.19825949e+01] [-9.86130395e-01 -1.65702530e-01 9.46124838e-03 -1.68088137e+02] [-9.62594123e-03 1.90844214e-04 -9.99953651e-01 -8.04683064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.460385723 meters 0.015824772235614293 Centerline is valid? [True, True] Translation: X:61.98, Y:-168.22, Z:-8.05 [[ 2.41386580e-01 -9.70425740e-01 -2.53024510e-03 6.19811926e+01] [-9.70380397e-01 -2.41399766e-01 9.38284027e-03 -1.68220876e+02] [-9.71615029e-03 1.90408513e-04 -9.99952779e-01 -8.04723577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.490385723 meters 0.015706244303976654 Centerline is valid? [True, True] Translation: X:61.99, Y:-168.34, Z:-8.05 [[ 3.15396472e-01 -9.48953766e-01 -3.43736114e-03 6.19852225e+01] [-9.48904166e-01 -3.15415139e-01 9.70435771e-03 -1.68337843e+02] [-1.02931825e-02 2.01006111e-04 -9.99947004e-01 -8.04665961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.520385723 meters 0.01577088577755921 Centerline is valid? [True, True] Translation: X:62.00, Y:-168.46, Z:-8.05 [[ 3.88075412e-01 -9.21617738e-01 -4.26846837e-03 6.20011321e+01] [-9.21567454e-01 -3.88098835e-01 9.62917813e-03 -1.68463674e+02] [-1.05310090e-02 1.96834258e-04 -9.99944528e-01 -8.04552494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.550385723 meters 0.015878759215272882 Centerline is valid? [True, True] Translation: X:62.02, Y:-168.58, Z:-8.05 [[ 4.57651599e-01 -8.89118643e-01 -4.80144770e-03 6.20239416e+01] [-8.89073977e-01 -4.57676746e-01 8.91398085e-03 -1.68579175e+02] [-1.01230975e-02 1.89344614e-04 -9.99948742e-01 -8.04555307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.580385723 meters 0.01599799839285478 Centerline is valid? [True, True] Translation: X:62.06, Y:-168.70, Z:-8.05 [[ 5.23625775e-01 -8.51935549e-01 -4.67642615e-03 6.20571359e+01] [-8.51904429e-01 -5.23646629e-01 7.28366961e-03 -1.68695713e+02] [-8.65401186e-03 1.69951007e-04 -9.99962539e-01 -8.04685003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.610385723 meters 0.016406444589975037 Centerline is valid? [True, True] Translation: X:62.10, Y:-168.81, Z:-8.05 [[ 5.86749495e-01 -8.09753736e-01 -4.89055437e-03 6.21009162e+01] [-8.09727915e-01 -5.86769853e-01 6.46867935e-03 -1.68809032e+02] [-8.10766714e-03 1.64524058e-04 -9.99967119e-01 -8.04712271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.640385723 meters 0.016924968616121878 Centerline is valid? [True, True] Translation: X:62.14, Y:-168.91, Z:-8.05 [[ 6.46027567e-01 -7.63293477e-01 -5.60816155e-03 6.21447384e+01] [-7.63267119e-01 -6.46051883e-01 6.34580021e-03 -1.68909328e+02] [-8.46687123e-03 1.80963441e-04 -9.99964139e-01 -8.04703664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.670385723 meters 0.016788564637434847 Centerline is valid? [True, True] Translation: X:62.20, Y:-169.01, Z:-8.05 [[ 7.02344727e-01 -7.11809633e-01 -6.23937066e-03 6.21971835e+01] [-7.11783868e-01 -7.02372417e-01 6.05914347e-03 -1.69008592e+02] [-8.69531854e-03 1.85475917e-04 -9.99962178e-01 -8.04641811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.700385723 meters 0.01596394667092036 Centerline is valid? [True, True] Translation: X:62.19, Y:-169.02, Z:-8.05 [[ 7.56142040e-01 -6.54371961e-01 -6.82296371e-03 6.21889803e+01] [-6.54347512e-01 -7.56172800e-01 5.65960295e-03 -1.69021406e+02] [-8.86282505e-03 1.85125609e-04 -9.99960707e-01 -8.04615506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.730385723 meters 0.015501405876209972 Centerline is valid? [True, True] Translation: X:62.18, Y:-169.03, Z:-8.05 [[ 8.05320948e-01 -5.92795231e-01 -7.21004285e-03 6.21822486e+01] [-5.92773451e-01 -8.05353203e-01 5.08466182e-03 -1.69034537e+02] [-8.82079438e-03 1.79137306e-04 -9.99961080e-01 -8.04635942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.760385723 meters 0.016219548705080057 Centerline is valid? [True, True] Translation: X:62.18, Y:-169.05, Z:-8.05 [[ 8.50126889e-01 -5.26527626e-01 -7.27541944e-03 6.21769503e+01] [-5.26509914e-01 -8.50158005e-01 4.32162037e-03 -1.69045721e+02] [-8.46070859e-03 1.56654786e-04 -9.99964195e-01 -8.04505163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.790385723 meters 0.016945772133096847 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.06, Z:-8.04 [[ 8.88965075e-01 -4.57891573e-01 -8.74089956e-03 6.21709548e+01] [-4.57871357e-01 -8.89008030e-01 4.30624924e-03 -1.69061289e+02] [-9.74252514e-03 1.74102363e-04 -9.99952525e-01 -8.04397739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.820385723 meters 0.01467785477773625 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.07, Z:-8.04 [[ 9.23384883e-01 -3.83782015e-01 -8.46897837e-03 6.21669997e+01] [-3.83767171e-01 -9.23423710e-01 3.37793366e-03 -1.69074810e+02] [-9.11684561e-03 1.30983000e-04 -9.99958432e-01 -8.04428764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.850385723 meters 0.014256210079193558 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.09, Z:-8.04 [[ 9.50994722e-01 -3.09077056e-01 -8.96725227e-03 6.21645260e+01] [-3.09064521e-01 -9.51036991e-01 2.78631974e-03 -1.69088976e+02] [-9.38937612e-03 1.21684153e-04 -9.99955911e-01 -8.04405415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.880385723 meters 0.01413150231836903 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.10, Z:-8.04 [[ 9.72614757e-01 -2.32252754e-01 -8.89906243e-03 6.21632156e+01] [-2.32244007e-01 -9.72655462e-01 2.01831714e-03 -1.69102180e+02] [-9.12448139e-03 1.03708879e-04 -9.99958366e-01 -8.04385651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.910385723 meters 0.014117021543857468 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.11, Z:-8.04 [[ 9.87864698e-01 -1.55114648e-01 -7.92365656e-03 6.21613481e+01] [-1.55110381e-01 -9.87896471e-01 1.15401434e-03 -1.69112491e+02] [-8.00675688e-03 8.90313613e-05 -9.99967941e-01 -8.04424383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.940385723 meters 0.015597984479423276 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.12, Z:-8.04 [[ 9.96978185e-01 -7.73006751e-02 -7.68799023e-03 6.21594444e+01] [-7.72990392e-02 -9.97007823e-01 5.10144113e-04 -1.69123402e+02] [-7.70442088e-03 8.56717062e-05 -9.99970317e-01 -8.04330166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.970385723 meters 0.013873927333908112 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.14, Z:-8.04 [[ 9.99972055e-01 1.15861771e-03 -7.38555924e-03 6.21591870e+01] [ 1.15799041e-03 -9.99999326e-01 -8.92115597e-05 -1.69135071e+02] [-7.38565762e-03 8.06566599e-05 -9.99972722e-01 -8.04399653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.000385723 meters 0.013954299232797125 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.15, Z:-8.04 [[ 9.96837135e-01 7.90933825e-02 -7.74358314e-03 6.21586751e+01] [ 7.90903122e-02 -9.96867207e-01 -7.02408198e-04 -1.69145123e+02] [-7.77487994e-03 8.77441677e-05 -9.99969771e-01 -8.04361164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.030385723 meters 0.013954299232797125 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.16, Z:-8.04 [[ 9.87584625e-01 1.56900790e-01 -7.66484825e-03 6.21591433e+01] [ 1.56895375e-01 -9.87614365e-01 -1.30654235e-03 -1.69155909e+02] [-7.77491177e-03 8.77418973e-05 -9.99969771e-01 -8.04361135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.060385723 meters 0.014236696187663427 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.16, Z:-8.04 [[ 9.72557344e-01 2.32539204e-01 -7.59808693e-03 6.21597433e+01] [ 2.32531317e-01 -9.72587019e-01 -1.91778624e-03 -1.69164394e+02] [-7.83576120e-03 9.83639358e-05 -9.99969295e-01 -8.04386831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.090385723 meters 0.014581363090500843 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.17, Z:-8.04 [[ 9.51701011e-01 3.06943292e-01 -7.14148784e-03 6.21614006e+01] [ 3.06933838e-01 -9.51727800e-01 -2.41126138e-03 -1.69173266e+02] [-7.53687301e-03 1.02835625e-04 -9.99971592e-01 -8.04405072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.120385723 meters 0.0147453022143099 Centerline is valid? [True, True] Translation: X:62.16, Y:-169.18, Z:-8.04 [[ 9.25168978e-01 3.79503880e-01 -6.25839788e-03 6.21636351e+01] [ 3.79494462e-01 -9.25190140e-01 -2.67552104e-03 -1.69182193e+02] [-6.80557863e-03 1.00281733e-04 -9.99976837e-01 -8.04421293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.150385723 meters 0.015417503691619733 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.19, Z:-8.04 [[ 8.93469581e-01 4.49084338e-01 -5.94679909e-03 6.21654953e+01] [ 4.49073558e-01 -8.93489365e-01 -3.11361431e-03 -1.69189363e+02] [-6.71167716e-03 1.11369443e-04 -9.99977470e-01 -8.04463558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.180385723 meters 0.015536490478996648 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.20, Z:-8.04 [[ 8.55722412e-01 5.17399425e-01 -6.08173897e-03 6.21677751e+01] [ 5.17385346e-01 -8.55744015e-01 -3.81886057e-03 -1.69195616e+02] [-7.18028799e-03 1.21281962e-04 -9.99974214e-01 -8.04453151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.210385723 meters 0.0158645611145097 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.20, Z:-8.04 [[ 8.12688251e-01 5.82658860e-01 -6.81613175e-03 6.21692202e+01] [ 5.82636867e-01 -8.12716822e-01 -5.06449697e-03 -1.69201770e+02] [-8.49045896e-03 1.44527537e-04 -9.99963945e-01 -8.04397414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.240385723 meters 0.016045516420447086 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.21, Z:-8.04 [[ 7.64561282e-01 6.44516972e-01 -6.62712192e-03 6.21713641e+01] [ 6.44491059e-01 -7.64589988e-01 -5.78142447e-03 -1.69206986e+02] [-8.79325727e-03 1.49132483e-04 -9.99961327e-01 -8.04401402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.270385723 meters 0.016029510023144337 Centerline is valid? [True, True] Translation: X:62.17, Y:-169.21, Z:-8.05 [[ 7.11217086e-01 7.02950239e-01 -5.58732314e-03 6.21730280e+01] [ 7.02927108e-01 -7.11239021e-01 -5.70402383e-03 -1.69212237e+02] [-7.98356715e-03 1.29318308e-04 -9.99968122e-01 -8.04505144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.300385723 meters 0.01586573454737462 Centerline is valid? [True, True] Translation: X:62.19, Y:-169.22, Z:-8.05 [[ 6.53932444e-01 7.56532355e-01 -5.58170791e-03 6.21857757e+01] [ 7.56502952e-01 -6.53956250e-01 -6.67133074e-03 -1.69224862e+02] [-8.69727033e-03 1.40021109e-04 -9.99962168e-01 -8.04627340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.330385723 meters 0.015840337979285378 Centerline is valid? [True, True] Translation: X:62.19, Y:-169.23, Z:-8.05 [[ 5.91981928e-01 8.05937259e-01 -4.74678030e-03 6.21930754e+01] [ 8.05909647e-01 -5.92000946e-01 -6.67245636e-03 -1.69233153e+02] [-8.18767961e-03 1.24497545e-04 -9.99966473e-01 -8.04570151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.360385723 meters 0.014760769251080882 Centerline is valid? [True, True] Translation: X:62.21, Y:-169.24, Z:-8.05 [[ 5.26921341e-01 8.49901734e-01 -4.57634304e-03 6.22054366e+01] [ 8.49867452e-01 -5.26941196e-01 -7.63477385e-03 -1.69242432e+02] [-8.90027121e-03 1.33640275e-04 -9.99960383e-01 -8.04754227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.390385723 meters 0.014971845937725936 Centerline is valid? [True, True] Translation: X:62.21, Y:-169.25, Z:-8.05 [[ 4.58653267e-01 8.88605038e-01 -4.27392161e-03 6.22141401e+01] [ 8.88563512e-01 -4.58673158e-01 -8.59182682e-03 -1.69249969e+02] [-9.59507372e-03 1.43018641e-04 -9.99953956e-01 -8.04848507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.420385723 meters 0.015154060146936451 Centerline is valid? [True, True] Translation: X:62.22, Y:-169.26, Z:-8.05 [[ 3.88098977e-01 9.21610741e-01 -3.58125742e-03 6.22239004e+01] [ 9.21567939e-01 -3.88115472e-01 -8.88332131e-03 -1.69256508e+02] [-9.57690575e-03 1.47235899e-04 -9.99954130e-01 -8.04860167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.450385723 meters 0.015569962856431654 Centerline is valid? [True, True] Translation: X:62.23, Y:-169.26, Z:-8.05 [[ 3.15250112e-01 9.49004593e-01 -2.76584553e-03 6.22329947e+01] [ 9.48963885e-01 -3.15262210e-01 -8.79115439e-03 -1.69262648e+02] [-9.21481247e-03 1.46724884e-04 -9.99957532e-01 -8.04906698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.480385723 meters 0.01569133040918507 Centerline is valid? [True, True] Translation: X:62.24, Y:-169.27, Z:-8.05 [[ 2.40217740e-01 9.70716808e-01 -2.07751870e-03 6.22421789e+01] [ 9.70674922e-01 -2.40226677e-01 -9.01886788e-03 -1.69267433e+02] [-9.25384205e-03 1.49896759e-04 -9.99957171e-01 -8.04940326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.510385723 meters 0.015783804361125642 Centerline is valid? [True, True] Translation: X:62.25, Y:-169.27, Z:-8.05 [[ 1.63615935e-01 9.86523115e-01 -1.40308634e-03 6.22524318e+01] [ 9.86478254e-01 -1.63621877e-01 -9.40936154e-03 -1.69271123e+02] [-9.51212828e-03 1.55407326e-04 -9.99954747e-01 -8.04932714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.540385723 meters 0.01612608447220338 Centerline is valid? [True, True] Translation: X:62.26, Y:-169.28, Z:-8.05 [[ 8.65408874e-02 9.96248031e-01 -7.31954804e-04 6.22603932e+01] [ 9.96192800e-01 -8.65437981e-02 -1.04916863e-02 -1.69275073e+02] [-1.05156680e-02 1.78791739e-04 -9.99944693e-01 -8.04906615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.570385723 meters 0.0164387268028096 Centerline is valid? [True, True] Translation: X:62.27, Y:-169.28, Z:-8.05 [[ 8.75370974e-03 9.99961681e-01 9.85871161e-05 6.22675505e+01] [ 9.99898571e-01 -8.75204950e-03 -1.12360686e-02 -1.69278646e+02] [-1.12347752e-02 1.96934400e-04 -9.99936869e-01 -8.04898976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.600385723 meters 0.016760236319165567 Centerline is valid? [True, True] Translation: X:62.28, Y:-169.28, Z:-8.05 [[-6.86275013e-02 9.97641856e-01 9.96305358e-04 6.22758333e+01] [ 9.97576757e-01 6.86344066e-02 -1.13987685e-02 -1.69280285e+02] [-1.14402694e-02 2.11622065e-04 -9.99934536e-01 -8.04890493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.630385723 meters 0.01759959136921134 Centerline is valid? [True, True] Translation: X:62.28, Y:-169.28, Z:-8.05 [[-1.44465520e-01 9.89508063e-01 1.87250295e-03 6.22826396e+01] [ 9.89444656e-01 1.44477465e-01 -1.12042346e-02 -1.69283390e+02] [-1.13572150e-02 2.34112454e-04 -9.99935477e-01 -8.04831074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.660385723 meters 0.017929892348276102 Centerline is valid? [True, True] Translation: X:62.29, Y:-169.28, Z:-8.05 [[-2.20599292e-01 9.75360521e-01 2.79390869e-03 6.22885339e+01] [ 9.75296007e-01 2.20616843e-01 -1.12208141e-02 -1.69284430e+02] [-1.15607224e-02 2.49584346e-04 -9.99933142e-01 -8.04813351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.690385723 meters 0.018110764456992785 Centerline is valid? [True, True] Translation: X:62.30, Y:-169.29, Z:-8.05 [[-2.95899899e-01 9.55210718e-01 3.96671106e-03 6.22955608e+01] [ 9.55136982e-01 2.95926357e-01 -1.18716954e-02 -1.69285666e+02] [-1.25138250e-02 2.75918958e-04 -9.99921661e-01 -8.04856766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.720385723 meters 0.018344933648589464 Centerline is valid? [True, True] Translation: X:62.30, Y:-169.29, Z:-8.05 [[-3.70030257e-01 9.29006364e-01 4.97849494e-03 6.23026290e+01] [ 9.28932154e-01 3.70063642e-01 -1.17454323e-02 -1.69286621e+02] [-1.27539414e-02 2.78518679e-04 -9.99918626e-01 -8.04831697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.750385723 meters 0.018399397503538917 Centerline is valid? [True, True] Translation: X:62.31, Y:-169.29, Z:-8.05 [[-4.42153761e-01 8.96921315e-01 5.67503922e-03 6.23098294e+01] [ 8.96854882e-01 4.42190102e-01 -1.09194641e-02 -1.69286855e+02] [-1.23033463e-02 2.61604497e-04 -9.99924277e-01 -8.04858699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.780385723 meters 0.017534659832043553 Centerline is valid? [True, True] Translation: X:62.32, Y:-169.28, Z:-8.05 [[-5.11202982e-01 8.59438184e-01 6.12523475e-03 6.23204681e+01] [ 8.59382119e-01 5.11239619e-01 -9.81969914e-03 -1.69283066e+02] [-1.15708871e-02 2.44057733e-04 -9.99933025e-01 -8.05000785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.810385723 meters 0.018626479700121764 Centerline is valid? [True, True] Translation: X:62.33, Y:-169.28, Z:-8.05 [[-5.77639954e-01 8.16270864e-01 5.82755043e-03 6.23281970e+01] [ 8.16232752e-01 5.77669314e-01 -7.89040213e-03 -1.69281102e+02] [-9.80710243e-03 1.98825997e-04 -9.99951889e-01 -8.04985440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.840385723 meters 0.017814144657537705 Centerline is valid? [True, True] Translation: X:62.34, Y:-169.28, Z:-8.05 [[-6.39904560e-01 7.68432033e-01 5.86211774e-03 6.23366608e+01] [ 7.68402345e-01 6.39931385e-01 -6.75716197e-03 -1.69277065e+02] [-8.94377284e-03 1.80526255e-04 -9.99959987e-01 -8.05080570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.870385723 meters 0.01725376432476107 Centerline is valid? [True, True] Translation: X:62.35, Y:-169.27, Z:-8.05 [[-6.99775145e-01 7.14339607e-01 5.80272322e-03 6.23450008e+01] [ 7.14316758e-01 6.99799189e-01 -5.71535789e-03 -1.69271517e+02] [-8.14344751e-03 1.45517034e-04 -9.99966831e-01 -8.05183900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.900385723 meters 0.017032913433435545 Centerline is valid? [True, True] Translation: X:62.37, Y:-169.25, Z:-8.05 [[-7.49501042e-01 6.61970064e-01 6.61987510e-03 6.23654626e+01] [ 6.61945917e-01 7.49530263e-01 -5.65589481e-03 -1.69249004e+02] [-8.70582977e-03 1.42900233e-04 -9.99962093e-01 -8.05146476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.930385723 meters 0.016958343549283963 Centerline is valid? [True, True] Translation: X:62.38, Y:-169.22, Z:-8.05 [[-7.95648446e-01 6.05710351e-01 7.64994273e-03 6.23837945e+01] [ 6.05684013e-01 7.95685209e-01 -5.65019246e-03 -1.69223822e+02] [-9.50932634e-03 1.37881165e-04 -9.99954776e-01 -8.05010610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.960385723 meters 0.017157507851628867 Centerline is valid? [True, True] Translation: X:62.40, Y:-169.20, Z:-8.05 [[-8.36797254e-01 5.47454440e-01 7.99948881e-03 6.24002211e+01] [ 5.47430937e-01 8.36835479e-01 -5.07452321e-03 -1.69199128e+02] [-9.47232632e-03 1.32820565e-04 -9.99955128e-01 -8.04942942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.990385723 meters 0.01655690959122751 Centerline is valid? [True, True] Translation: X:62.42, Y:-169.17, Z:-8.05 [[-8.73054656e-01 4.87560915e-01 7.74093358e-03 6.24153137e+01] [ 4.87543074e-01 8.73088963e-01 -4.17300772e-03 -1.69171337e+02] [-8.79311913e-03 1.30774736e-04 -9.99961331e-01 -8.05121932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.020385723 meters 0.017971941565248253 Centerline is valid? [True, True] Translation: X:62.43, Y:-169.15, Z:-8.05 [[-9.04777365e-01 4.25812337e-01 7.85961187e-03 6.24271892e+01] [ 4.25797610e-01 9.04811491e-01 -3.54417664e-03 -1.69148423e+02] [-8.62062127e-03 1.39913147e-04 -9.99962832e-01 -8.05001013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.050385723 meters 0.018373538547870473 Centerline is valid? [True, True] Translation: X:62.44, Y:-169.12, Z:-8.05 [[-9.31464255e-01 3.63751801e-01 7.67909468e-03 6.24381641e+01] [ 3.63740852e-01 9.31495895e-01 -2.82681859e-03 -1.69122084e+02] [-8.18130552e-03 1.60119967e-04 -9.99966520e-01 -8.05160248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.080385723 meters 0.018749017473418072 Centerline is valid? [True, True] Translation: X:62.68, Y:-168.48, Z:-9.02 [[-9.21279542e-01 -3.88827813e-01 7.54568645e-03 6.26761250e+01] [ 3.88813370e-01 -9.21310429e-01 -3.35495426e-03 -1.68478202e+02] [ 8.25641915e-03 -1.56986942e-04 9.99965903e-01 -9.01696920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.110385723 meters 0.018609201258307933 Centerline is valid? [True, True] Translation: X:62.40, Y:-169.11, Z:-8.05 [[-9.31476360e-01 3.63697791e-01 8.70096460e-03 6.23962704e+01] [ 3.63684077e-01 9.31516973e-01 -3.16571293e-03 -1.69105521e+02] [-9.25645900e-03 2.15615530e-04 -9.99957135e-01 -8.05075633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.140385723 meters 0.01858509272558071 Centerline is valid? [True, True] Translation: X:62.63, Y:-168.47, Z:-9.02 [[-9.24090577e-01 -3.82073767e-01 8.73170469e-03 6.26297854e+01] [ 3.82054607e-01 -9.24131806e-01 -3.83187700e-03 -1.68465437e+02] [ 9.53330571e-03 -2.05013424e-04 9.99954536e-01 -9.01780071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.170385723 meters 0.018955193724241006 Centerline is valid? [True, True] Translation: X:62.35, Y:-169.09, Z:-8.05 [[-9.31934318e-01 3.62525052e-01 8.60315390e-03 6.23506419e+01] [ 3.62511929e-01 9.31973997e-01 -3.09355001e-03 -1.69087241e+02] [-9.13940511e-03 2.35760497e-04 -9.99958207e-01 -8.05048799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.200385723 meters 0.01902893137088263 Centerline is valid? [True, True] Translation: X:62.36, Y:-169.06, Z:-8.05 [[-9.55305797e-01 2.95494281e-01 8.60029174e-03 6.23594929e+01] [ 2.95484467e-01 9.55344481e-01 -2.41925923e-03 -1.69058563e+02] [-8.93111852e-03 2.30120257e-04 -9.99960090e-01 -8.05022563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.230385723 meters 0.0189804346178954 Centerline is valid? [True, True] Translation: X:62.36, Y:-169.03, Z:-8.05 [[-9.74290737e-01 2.25077312e-01 9.88749752e-03 6.23618279e+01] [ 2.25068221e-01 9.74340878e-01 -2.03721677e-03 -1.69027141e+02] [-1.00923243e-02 2.40520042e-04 -9.99949042e-01 -8.04901760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.260385723 meters 0.018525571002175598 Centerline is valid? [True, True] Translation: X:62.37, Y:-169.00, Z:-8.05 [[-9.88002166e-01 1.54085533e-01 1.04579083e-02 6.23663248e+01] [ 1.54079397e-01 9.88057485e-01 -1.39475261e-03 -1.68996840e+02] [-1.05479258e-02 2.33329600e-04 -9.99944342e-01 -8.04935410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.290385723 meters 0.01748167918307875 Centerline is valid? [True, True] Translation: X:62.45, Y:-168.33, Z:-9.02 [[-9.83645144e-01 -1.79823280e-01 1.02868480e-02 6.24514224e+01] [ 1.79810939e-01 -9.83698903e-01 -2.11984609e-03 -1.68334547e+02] [ 1.05003588e-02 -2.35488513e-04 9.99944842e-01 -9.01735090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.320385723 meters 0.017805582651570003 Centerline is valid? [True, True] Translation: X:62.30, Y:-168.99, Z:-8.05 [[-9.89199306e-01 1.46230316e-01 1.00711012e-02 6.23038689e+01] [ 1.46224661e-01 9.89250555e-01 -1.29962396e-03 -1.68987166e+02] [-1.01528869e-02 1.87056236e-04 -9.99948441e-01 -8.05126880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.350385723 meters 0.017441225470933727 Centerline is valid? [True, True] Translation: X:62.30, Y:-168.96, Z:-8.05 [[-9.97157311e-01 7.47776290e-02 9.25218178e-03 6.23016445e+01] [ 7.47759294e-02 9.97200220e-01 -5.29978151e-04 -1.68957119e+02] [-9.26590822e-03 1.63368904e-04 -9.99957057e-01 -8.05242053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.380385723 meters 0.01731833793046663 Centerline is valid? [True, True] Translation: X:62.29, Y:-168.93, Z:-8.05 [[-9.99949286e-01 3.26700414e-03 9.52643053e-03 6.22924556e+01] [ 3.26841732e-03 9.99994650e-01 1.32778690e-04 -1.68927731e+02] [-9.52594578e-03 1.63908307e-04 -9.99954614e-01 -8.05291204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.410385723 meters 0.01689549135667067 Centerline is valid? [True, True] Translation: X:62.28, Y:-168.90, Z:-8.05 [[-9.97628312e-01 -6.81440579e-02 9.70247855e-03 6.22848398e+01] [-6.81392146e-02 9.97675478e-01 8.29263270e-04 -1.68898871e+02] [-9.73643429e-03 1.66177248e-04 -9.99952586e-01 -8.05423273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.440385723 meters 0.017282220140544917 Centerline is valid? [True, True] Translation: X:62.27, Y:-168.87, Z:-8.05 [[-9.90255634e-01 -1.38933910e-01 9.54716933e-03 6.22683248e+01] [-1.38925819e-01 9.90301641e-01 1.50869661e-03 -1.68872773e+02] [-9.66418658e-03 1.67647003e-04 -9.99953287e-01 -8.05401415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.470385723 meters 0.017588546907022422 Centerline is valid? [True, True] Translation: X:62.15, Y:-168.21, Z:-9.01 [[-9.94169297e-01 1.07497838e-01 8.46302373e-03 6.21501570e+01] [-1.07495860e-01 -9.94205293e-01 6.89576154e-04 -1.68214798e+02] [ 8.48811093e-03 -2.24184575e-04 9.99963950e-01 -9.01381640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.500385723 meters 0.01763536910533602 Centerline is valid? [True, True] Translation: X:62.15, Y:-168.89, Z:-8.05 [[-9.89730189e-01 -1.42758208e-01 7.36524263e-03 6.21454625e+01] [-1.42753141e-01 9.89757582e-01 1.21195181e-03 -1.68891603e+02] [-7.46282081e-03 1.48093778e-04 -9.99972142e-01 -8.05469375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.530385723 meters 0.017760797628744277 Centerline is valid? [True, True] Translation: X:62.12, Y:-168.87, Z:-8.06 [[-9.77174831e-01 -2.12330305e-01 6.72241190e-03 6.21169861e+01] [-2.12324251e-01 9.77197943e-01 1.61011220e-03 -1.68868480e+02] [-6.91100270e-03 1.46030050e-04 -9.99976108e-01 -8.05530481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.560385723 meters 0.01761249763359098 Centerline is valid? [True, True] Translation: X:62.07, Y:-168.85, Z:-8.06 [[-9.59831990e-01 -2.80506411e-01 6.22127355e-03 6.20706393e+01] [-2.80499490e-01 9.59852140e-01 1.97639231e-03 -1.68853060e+02] [-6.52589345e-03 1.51940508e-04 -9.99978695e-01 -8.05629551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.590385723 meters 0.017983634945836886 Centerline is valid? [True, True] Translation: X:62.01, Y:-168.85, Z:-8.06 [[-9.36689799e-01 -3.50103536e-01 6.30354762e-03 6.20086523e+01] [-3.50094451e-01 9.36710995e-01 2.52716888e-03 -1.68845800e+02] [-6.78937313e-03 1.60336268e-04 -9.99976939e-01 -8.05638025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.620385723 meters 0.017831896136875563 Centerline is valid? [True, True] Translation: X:61.94, Y:-168.85, Z:-8.06 [[-9.07990922e-01 -4.18939164e-01 6.51639648e-03 6.19382229e+01] [-4.18927050e-01 9.08014289e-01 3.19018940e-03 -1.68845402e+02] [-7.25347640e-03 1.66768262e-04 -9.99973679e-01 -8.05550657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.650385723 meters 0.017554887915194457 Centerline is valid? [True, True] Translation: X:61.85, Y:-168.86, Z:-8.06 [[-8.74106369e-01 -4.85694407e-01 6.24486074e-03 6.18522119e+01] [-4.85680688e-01 8.74128662e-01 3.65409070e-03 -1.68857593e+02] [-7.23358317e-03 1.61055696e-04 -9.99973824e-01 -8.05538248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.680385723 meters 0.017308815431611054 Centerline is valid? [True, True] Translation: X:61.77, Y:-168.87, Z:-8.05 [[-8.34063368e-01 -5.51628263e-01 6.67513476e-03 6.17710470e+01] [-5.51609032e-01 8.34090063e-01 4.60896109e-03 -1.68873084e+02] [-8.11009678e-03 1.62100985e-04 -9.99967100e-01 -8.05443283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.710385723 meters 0.017001913180206742 Centerline is valid? [True, True] Translation: X:61.68, Y:-168.90, Z:-8.05 [[-7.89570994e-01 -6.13624265e-01 6.55039739e-03 6.16808005e+01] [-6.13601480e-01 7.89598149e-01 5.29032213e-03 -1.68902343e+02] [-8.41845168e-03 1.57751374e-04 -9.99964552e-01 -8.05395524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.740385723 meters 0.01697639653191144 Centerline is valid? [True, True] Translation: X:61.59, Y:-168.94, Z:-8.05 [[-7.40012692e-01 -6.72561660e-01 6.48305754e-03 6.15908448e+01] [-6.72534041e-01 7.40041074e-01 6.09698533e-03 -1.68943391e+02] [-8.89832744e-03 1.51769640e-04 -9.99960398e-01 -8.05280259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.770385723 meters 0.017308777927239023 Centerline is valid? [True, True] Translation: X:61.50, Y:-169.00, Z:-8.05 [[-6.86886304e-01 -7.26741203e-01 5.86768120e-03 6.14990323e+01] [-7.26712855e-01 6.86911350e-01 6.42052181e-03 -1.68996678e+02] [-8.69663456e-03 1.46049135e-04 -9.99962173e-01 -8.05203314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.800385723 meters 0.017061144280016687 Centerline is valid? [True, True] Translation: X:61.41, Y:-169.06, Z:-8.05 [[-6.29915259e-01 -7.76644305e-01 5.51275629e-03 6.14098851e+01] [-7.76612434e-01 6.29939363e-01 7.03755645e-03 -1.69056937e+02] [-8.93838032e-03 1.51789111e-04 -9.99960040e-01 -8.05204857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.830385723 meters 0.017321076184336367 Centerline is valid? [True, True] Translation: X:61.33, Y:-169.13, Z:-8.05 [[-5.69861506e-01 -8.21731705e-01 3.85607201e-03 6.13254037e+01] [-8.21711386e-01 5.69874539e-01 5.78005965e-03 -1.69127064e+02] [-6.94713553e-03 1.25255225e-04 -9.99975861e-01 -8.05179222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.860385723 meters 0.017156886256466188 Centerline is valid? [True, True] Translation: X:61.24, Y:-169.21, Z:-8.05 [[-5.06119405e-01 -8.62458212e-01 2.99675860e-03 6.12424914e+01] [-8.62441737e-01 5.06128264e-01 5.33211143e-03 -1.69206767e+02] [-6.11546752e-03 1.14155375e-04 -9.99981294e-01 -8.05242130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.890385723 meters 0.017318701240295567 Centerline is valid? [True, True] Translation: X:61.16, Y:-169.30, Z:-8.05 [[-4.39841813e-01 -8.98073614e-01 1.72166693e-03 6.11649698e+01] [-8.98065995e-01 4.39845175e-01 3.70019331e-03 -1.69296861e+02] [-4.08031286e-03 8.13292127e-05 -9.99991672e-01 -8.05269327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.920385723 meters 0.01743295683885524 Centerline is valid? [True, True] Translation: X:61.09, Y:-169.39, Z:-8.05 [[-3.70545504e-01 -9.28813454e-01 1.26380682e-03 6.10937896e+01] [-9.28807348e-01 3.70547652e-01 3.36878475e-03 -1.69392436e+02] [-3.59727324e-03 7.44549862e-05 -9.99993527e-01 -8.05266742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.950385723 meters 0.017647885021365158 Centerline is valid? [True, True] Translation: X:61.03, Y:-169.50, Z:-8.05 [[-2.98551858e-01 -9.54393096e-01 7.78406586e-04 6.10302978e+01] [-9.54389322e-01 2.98552867e-01 2.68477525e-03 -1.69495874e+02] [-2.79472648e-03 5.86417036e-05 -9.99996093e-01 -8.05279630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.980385723 meters 0.017647885021365158 Centerline is valid? [True, True] Translation: X:60.97, Y:-169.60, Z:-8.05 [[-2.24513280e-01 -9.74470863e-01 5.70319872e-04 6.09728367e+01] [-9.74467022e-01 2.24513996e-01 2.73658111e-03 -1.69604979e+02] [-2.79476335e-03 5.86408919e-05 -9.99996093e-01 -8.05279444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.010385723 meters 0.017621699982513814 Centerline is valid? [True, True] Translation: X:60.92, Y:-169.72, Z:-8.05 [[-1.48871463e-01 -9.88856522e-01 2.56232653e-04 6.09242034e+01] [-9.88854536e-01 1.48871677e-01 1.98256486e-03 -1.69719641e+02] [-1.99861798e-03 4.17705095e-05 -9.99998002e-01 -8.05300075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.040385723 meters 0.017581408499934458 Centerline is valid? [True, True] Translation: X:60.88, Y:-169.83, Z:-8.05 [[-7.23569265e-02 -9.97378799e-01 8.22540019e-05 6.08841711e+01] [-9.97377553e-01 7.23569661e-02 1.57688200e-03 -1.69829389e+02] [-1.57870032e-03 3.20600397e-05 -9.99998753e-01 -8.05258586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.070385723 meters 0.017678874117836016 Centerline is valid? [True, True] Translation: X:60.85, Y:-169.95, Z:-8.05 [[ 4.29102662e-03 -9.99990793e-01 -1.37217044e-05 6.08526790e+01] [-9.99990654e-01 -4.29103327e-03 5.27761075e-04 -1.69952388e+02] [-5.27815096e-04 1.14569393e-05 -9.99999861e-01 -8.05231599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.100385723 meters 0.017971779137011524 Centerline is valid? [True, True] Translation: X:60.83, Y:-170.07, Z:-8.05 [[ 8.05859352e-02 -9.96747665e-01 -1.91001351e-05 6.08311371e+01] [-9.96747649e-01 -8.05859374e-02 1.78781824e-04 -1.70072469e+02] [-1.79739568e-04 4.63071434e-06 -9.99999984e-01 -8.05169319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.130385723 meters 0.018225040324564012 Centerline is valid? [True, True] Translation: X:60.82, Y:-170.20, Z:-8.05 [[ 1.56524928e-01 -9.87674003e-01 1.01894558e-04 6.08205478e+01] [-9.87673838e-01 -1.56524961e-01 -5.71494719e-04 -1.70200784e+02] [ 5.80399518e-04 -1.11854191e-05 -9.99999832e-01 -8.05161524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.160385723 meters 0.017455244753283444 Centerline is valid? [True, True] Translation: X:60.82, Y:-170.33, Z:-8.05 [[ 2.31126405e-01 -9.72923639e-01 4.21731860e-04 6.08169920e+01] [-9.72922287e-01 -2.31126787e-01 -1.62201551e-03 -1.70325516e+02] [ 1.67557076e-03 -3.54217116e-05 -9.99998596e-01 -8.05149175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.190385723 meters 0.017176602756779086 Centerline is valid? [True, True] Translation: X:60.82, Y:-170.45, Z:-8.05 [[ 3.05107390e-01 -9.52317663e-01 7.41066984e-04 6.08227277e+01] [-9.52315229e-01 -3.05108286e-01 -2.15387306e-03 -1.70447966e+02] [ 2.27727703e-03 -4.85667876e-05 -9.99997406e-01 -8.05105491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.220385723 meters 0.017931928838217724 Centerline is valid? [True, True] Translation: X:60.84, Y:-170.57, Z:-8.05 [[ 3.77537173e-01 -9.25994055e-01 8.32307549e-04 6.08400718e+01] [-9.25992056e-01 -3.77538088e-01 -1.92485254e-03 -1.70570865e+02] [ 2.09662981e-03 -4.40067918e-05 -9.99997801e-01 -8.05042379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.250385723 meters 0.016903764909711315 Centerline is valid? [True, True] Translation: X:60.86, Y:-170.69, Z:-8.05 [[ 4.48759256e-01 -8.93652204e-01 9.32284537e-04 6.08628325e+01] [-8.93650452e-01 -4.48760222e-01 -1.77000966e-03 -1.70692931e+02] [ 2.00014525e-03 -3.88282782e-05 -9.99997999e-01 -8.04902742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.280385723 meters 0.016985496770881972 Centerline is valid? [True, True] Translation: X:60.90, Y:-170.81, Z:-8.05 [[ 5.17062716e-01 -8.55946931e-01 9.99198410e-04 6.08984298e+01] [-8.55945457e-01 -5.17063681e-01 -1.58899325e-03 -1.70811743e+02] [ 1.87674310e-03 -3.36501731e-05 -9.99998238e-01 -8.04878248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.310385723 meters 0.017073621875877992 Centerline is valid? [True, True] Translation: X:60.94, Y:-170.92, Z:-8.05 [[ 5.83841548e-01 -8.11866370e-01 1.42981931e-03 6.09399979e+01] [-8.11864080e-01 -5.83843298e-01 -1.92873641e-03 -1.70920289e+02] [ 2.40066665e-03 -3.47424883e-05 -9.99997118e-01 -8.04896468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.340385723 meters 0.015904265510720668 Centerline is valid? [True, True] Translation: X:60.99, Y:-171.03, Z:-8.05 [[ 6.45835758e-01 -7.63475356e-01 1.24665884e-03 6.09877222e+01] [-7.63474001e-01 -6.45836961e-01 -1.43852250e-03 -1.71030535e+02] [ 1.90341483e-03 -2.27423450e-05 -9.99998188e-01 -8.04849123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.370385723 meters 0.01539514050859252 Centerline is valid? [True, True] Translation: X:61.04, Y:-171.13, Z:-8.05 [[ 7.05084967e-01 -7.09121882e-01 1.16027805e-03 6.10390542e+01] [-7.09120951e-01 -7.05085921e-01 -1.14935274e-03 -1.71129302e+02] [ 1.63312690e-03 -1.23861351e-05 -9.99998666e-01 -8.04688887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.400385723 meters 0.015156837398383477 Centerline is valid? [True, True] Translation: X:61.03, Y:-171.14, Z:-8.05 [[ 7.59799734e-01 -6.50156557e-01 9.03437348e-04 6.10333935e+01] [-6.50156107e-01 -7.59800271e-01 -7.65058143e-04 -1.71141618e+02] [ 1.18383951e-03 -6.08433484e-06 -9.99999299e-01 -8.04588651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.430385723 meters 0.015050800361938566 Centerline is valid? [True, True] Translation: X:61.03, Y:-171.15, Z:-8.04 [[ 8.09171440e-01 -5.87572344e-01 5.66330387e-04 6.10291495e+01] [-5.87572202e-01 -8.09171638e-01 -4.08577676e-04 -1.71152026e+02] [ 6.98327430e-04 -2.15060637e-06 -9.99999756e-01 -8.04482110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.460385723 meters 0.014821408392936662 Centerline is valid? [True, True] Translation: X:61.03, Y:-171.16, Z:-8.05 [[ 8.53907442e-01 -5.20424758e-01 3.89786324e-04 6.10286677e+01] [-5.20424704e-01 -8.53907531e-01 -2.37606565e-04 -1.71159691e+02] [ 4.56497816e-04 3.95823314e-08 -9.99999896e-01 -8.04502383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.490385723 meters 0.014710253803761867 Centerline is valid? [True, True] Translation: X:61.03, Y:-171.17, Z:-8.05 [[ 8.92090360e-01 -4.51854646e-01 1.47277325e-03 6.10276466e+01] [-4.51854034e-01 -8.92091575e-01 -7.43854994e-04 -1.71167828e+02] [ 1.64996294e-03 -1.89266501e-06 -9.99998639e-01 -8.04714611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.520385723 meters 0.014686042324548478 Centerline is valid? [True, True] Translation: X:61.03, Y:-171.18, Z:-8.05 [[ 9.24410170e-01 -3.81391976e-01 2.44925569e-03 6.10258632e+01] [-3.81390653e-01 -9.24413414e-01 -1.00463942e-03 -1.71177091e+02] [ 2.64728623e-03 -5.42433317e-06 -9.99996496e-01 -8.04774049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.550385723 meters 0.014793163972406187 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.18, Z:-8.05 [[ 9.51248168e-01 -3.08416168e-01 2.52812677e-03 6.10244567e+01] [-3.08415097e-01 -9.51251527e-01 -8.12718831e-04 -1.71184482e+02] [ 2.65554007e-03 -6.61516232e-06 -9.99996474e-01 -8.04859813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.580385723 meters 0.01469939536589506 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.19, Z:-8.05 [[ 9.72135457e-01 -2.34407632e-01 2.39069339e-03 6.10242390e+01] [-2.34406947e-01 -9.72138397e-01 -5.66939196e-04 -1.71192938e+02] [ 2.45697971e-03 -9.25344292e-06 -9.99996982e-01 -8.04738304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.610385723 meters 0.01464276678186176 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.20, Z:-8.05 [[ 9.87496279e-01 -1.57619750e-01 2.66705219e-03 6.10223436e+01] [-1.57619204e-01 -9.87499881e-01 -4.14995530e-04 -1.71203218e+02] [ 2.69912521e-03 -1.05721000e-05 -9.99996357e-01 -8.04737291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.640385723 meters 0.014544148415115414 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.21, Z:-8.05 [[ 9.96814376e-01 -7.96918885e-02 3.20985119e-03 6.10190095e+01] [-7.96915156e-02 -9.96819544e-01 -2.44104786e-04 -1.71211356e+02] [ 3.21909557e-03 -1.24707462e-05 -9.99994819e-01 -8.04783724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.670385723 meters 0.014534120450703153 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.22, Z:-8.05 [[ 9.99994893e-01 -1.08779650e-03 3.00500512e-03 6.10165397e+01] [-1.08782330e-03 -9.99999408e-01 7.28284018e-06 -1.71221711e+02] [ 3.00499542e-03 -1.05517176e-05 -9.99995485e-01 -8.04796710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.700385723 meters 0.014355815783893692 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.23, Z:-8.05 [[ 9.96990734e-01 7.75024371e-02 1.68797679e-03 6.10143242e+01] [ 7.75023175e-02 -9.96992163e-01 1.36290582e-04 -1.71230842e+02] [ 1.69346248e-03 -5.05833450e-06 -9.99998566e-01 -8.04715265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.730385723 meters 0.014414319153103077 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.24, Z:-8.05 [[ 9.87871489e-01 1.55272157e-01 6.91645237e-04 6.10132220e+01] [ 1.55272118e-01 -9.87871731e-01 1.10339397e-04 -1.71241537e+02] [ 7.00389414e-04 -1.60792328e-06 -9.99999755e-01 -8.04685121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.760385723 meters 0.014400957964647887 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.25, Z:-8.05 [[ 9.72841571e-01 2.31471971e-01 -6.70545401e-05 6.10120536e+01] [ 2.31471970e-01 -9.72841573e-01 -1.71906106e-05 -1.71250612e+02] [-6.92125889e-05 1.20249413e-06 -9.99999998e-01 -8.04602274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.790385723 meters 0.014417585212539805 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.26, Z:-8.05 [[ 9.51942727e-01 3.06275750e-01 -4.58459075e-04 6.10107911e+01] [ 3.06275713e-01 -9.51942837e-01 -1.50943936e-04 -1.71259906e+02] [-4.82657299e-04 3.27510166e-06 -9.99999884e-01 -8.04596701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.820385723 meters 0.014575441000534277 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.27, Z:-8.05 [[ 9.26004328e-01 3.77511882e-01 -8.73626076e-04 6.10092935e+01] [ 3.77511706e-01 -9.26004740e-01 -3.64746629e-04 -1.71266207e+02] [-9.46678075e-04 7.95288682e-06 -9.99999552e-01 -8.04658158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.850385723 meters 0.014740498098531864 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.27, Z:-8.05 [[ 8.94404803e-01 4.47256973e-01 -1.11731344e-03 6.10082451e+01] [ 4.47256606e-01 -8.94405501e-01 -5.72714999e-04 -1.71274589e+02] [-1.25548206e-03 1.25132287e-05 -9.99999212e-01 -8.04716325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.880385723 meters 0.014991310922487629 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.28, Z:-8.05 [[ 8.57806200e-01 5.13972162e-01 -1.06757855e-03 6.10087210e+01] [ 5.13971742e-01 -8.57806864e-01 -6.57503936e-04 -1.71283665e+02] [-1.25371493e-03 1.53057463e-05 -9.99999214e-01 -8.04735510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.910385723 meters 0.015568305794673722 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.29, Z:-8.05 [[ 8.17353984e-01 5.76134504e-01 -1.22428204e-03 6.10086935e+01] [ 5.76133812e-01 -8.17354900e-01 -8.93092488e-04 -1.71292132e+02] [-1.51521432e-03 2.46224267e-05 -9.99998852e-01 -8.04776673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.940385723 meters 0.015727969919402056 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.30, Z:-8.05 [[ 7.70777423e-01 6.37103078e-01 -1.35410166e-03 6.10112729e+01] [ 6.37102021e-01 -7.70778611e-01 -1.16046946e-03 -1.71302690e+02] [-1.78305126e-03 3.17627524e-05 -9.99998410e-01 -8.04821489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.970385723 meters 0.016076272587079745 Centerline is valid? [True, True] Translation: X:61.01, Y:-171.31, Z:-8.05 [[ 7.20097027e-01 6.93871435e-01 -1.64402299e-03 6.10130398e+01] [ 6.93869478e-01 -7.20098903e-01 -1.64865021e-03 -1.71312244e+02] [-2.32781044e-03 4.64507421e-05 -9.99997290e-01 -8.04855672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.000385723 meters 0.016145345124371383 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.32, Z:-8.05 [[ 6.64296424e-01 7.47467696e-01 -1.51801794e-03 6.10165942e+01] [ 7.47465573e-01 -6.64298157e-01 -1.78198379e-03 -1.71322687e+02] [-2.34039184e-03 4.90993079e-05 -9.99997260e-01 -8.04866547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.030385723 meters 0.01909792028053058 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.33, Z:-8.05 [[ 6.05262456e-01 7.96024236e-01 -1.66553858e-03 6.10161256e+01] [ 7.96020924e-01 -6.05264744e-01 -2.29747283e-03 -1.71331386e+02] [-2.83693584e-03 6.47704850e-05 -9.99995974e-01 -8.04738799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.060385723 meters 0.01678968135827089 Centerline is valid? [True, True] Translation: X:61.02, Y:-171.34, Z:-8.05 [[ 5.41557906e-01 8.40661555e-01 -1.78455226e-03 6.10223324e+01] [ 8.40656496e-01 -5.41560841e-01 -2.91756483e-03 -1.71343716e+02] [-3.41912821e-03 7.98348535e-05 -9.99994152e-01 -8.04908788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.090385723 meters 0.016696521243749204 Centerline is valid? [True, True] Translation: X:61.03, Y:-171.35, Z:-8.05 [[ 4.73824983e-01 8.80616951e-01 -1.91627038e-03 6.10285844e+01] [ 8.80608899e-01 -4.73828848e-01 -3.76700107e-03 -1.71354640e+02] [-4.22526918e-03 9.74144700e-05 -9.99991069e-01 -8.04877163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12038572299997 meters 0.01633642441000074 Centerline is valid? [True, True] Translation: X:61.04, Y:-171.37, Z:-8.05 [[ 4.02723720e-01 9.15320367e-01 -1.49365105e-03 6.10378158e+01] [ 9.15313245e-01 -4.02726481e-01 -3.61170920e-03 -1.71366189e+02] [-3.90740382e-03 8.73623772e-05 -9.99992362e-01 -8.04872013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.150385723 meters 0.016008534097698913 Centerline is valid? [True, True] Translation: X:61.05, Y:-171.38, Z:-8.05 [[ 3.27154397e-01 9.44969905e-01 -1.37071953e-03 6.10468376e+01] [ 9.44960466e-01 -3.27157257e-01 -4.22445801e-03 -1.71377483e+02] [-4.44042653e-03 8.67742448e-05 -9.99990138e-01 -8.04860088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.180385723 meters 0.015733294067068724 Centerline is valid? [True, True] Translation: X:61.05, Y:-171.39, Z:-8.05 [[ 2.50674949e-01 9.68070628e-01 -1.15336411e-03 6.10544470e+01] [ 9.68058682e-01 -2.50677586e-01 -4.80994785e-03 -1.71386497e+02] [-4.94549177e-03 8.92092943e-05 -9.99987767e-01 -8.04831833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.210385723 meters 0.015345241967943284 Centerline is valid? [True, True] Translation: X:61.06, Y:-171.40, Z:-8.05 [[ 1.72661631e-01 9.84980902e-01 -7.64888814e-04 6.10627663e+01] [ 9.84969050e-01 -1.72663306e-01 -4.83261439e-03 -1.71395218e+02] [-4.89210111e-03 8.10152720e-05 -9.99988030e-01 -8.04832520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.240385723 meters 0.014790439573112947 Centerline is valid? [True, True] Translation: X:61.07, Y:-171.40, Z:-8.05 [[ 9.12983062e-02 9.95823507e-01 -4.03165042e-04 6.10724372e+01] [ 9.95810334e-01 -9.12991724e-02 -5.12243021e-03 -1.71403980e+02] [-5.13784505e-03 6.61932868e-05 -9.99986799e-01 -8.04871652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.270385723 meters 0.014218096255265404 Centerline is valid? [True, True] Translation: X:61.08, Y:-171.41, Z:-8.05 [[ 9.42123332e-03 9.99955619e-01 -8.98901827e-07 6.10846537e+01] [ 9.99939669e-01 -9.42108812e-03 -5.64807093e-03 -1.71411509e+02] [-5.64782874e-03 5.23129465e-05 -9.99984050e-01 -8.04839233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.300385723 meters 0.01402506629053642 Centerline is valid? [True, True] Translation: X:61.09, Y:-171.42, Z:-8.05 [[-7.03871739e-02 9.97519620e-01 5.02812841e-04 6.10944295e+01] [ 9.97499001e-01 7.03889520e-02 -6.41386994e-03 -1.71417296e+02] [-6.43335358e-03 5.01011272e-05 -9.99979305e-01 -8.04791591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.330385723 meters 0.013893996937936774 Centerline is valid? [True, True] Translation: X:61.10, Y:-171.42, Z:-8.05 [[-1.49118122e-01 9.88818902e-01 9.81793952e-04 6.11035646e+01] [ 9.88799362e-01 1.49121348e-01 -6.21661133e-03 -1.71422674e+02] [-6.29350923e-03 4.37878268e-05 -9.99980195e-01 -8.04722573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.360385723 meters 0.01374421972032921 Centerline is valid? [True, True] Translation: X:61.12, Y:-171.43, Z:-8.05 [[-2.25759560e-01 9.74181773e-01 1.57912583e-03 6.11153466e+01] [ 9.74159454e-01 2.25765077e-01 -6.59453728e-03 -1.71426862e+02] [-6.78078949e-03 4.95405239e-05 -9.99977009e-01 -8.04809094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.390385723 meters 0.013981401356427538 Centerline is valid? [True, True] Translation: X:61.13, Y:-171.43, Z:-8.05 [[-3.00612627e-01 9.53744286e-01 1.97115201e-03 6.11263655e+01] [ 9.53724904e-01 3.00619085e-01 -6.08062927e-03 -1.71431427e+02] [-6.39193134e-03 5.20228235e-05 -9.99979570e-01 -8.04835603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.420385723 meters 0.014263869562349915 Centerline is valid? [True, True] Translation: X:61.14, Y:-171.43, Z:-8.05 [[-3.71191911e-01 9.28553371e-01 2.28088846e-03 6.11369354e+01] [ 9.28536968e-01 3.71198913e-01 -5.51958082e-03 -1.71434330e+02] [-5.97188869e-03 6.90654972e-05 -9.99982166e-01 -8.04978645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.450385723 meters 0.015133257399158303 Centerline is valid? [True, True] Translation: X:61.15, Y:-171.44, Z:-8.05 [[-4.39122763e-01 8.98422705e-01 2.80042123e-03 6.11465145e+01] [ 8.98405817e-01 4.39131682e-01 -5.50955310e-03 -1.71436361e+02] [-6.17966129e-03 9.65445383e-05 -9.99980901e-01 -8.05012955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.480385723 meters 0.015821168246982337 Centerline is valid? [True, True] Translation: X:61.16, Y:-171.44, Z:-8.05 [[-5.05954619e-01 8.62555115e-01 2.93206901e-03 6.11568960e+01] [ 8.62541783e-01 5.05963105e-01 -4.79673140e-03 -1.71438655e+02] [-5.62096394e-03 1.02103630e-04 -9.99984197e-01 -8.05009855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.510385723 meters 0.016117566150026363 Centerline is valid? [True, True] Translation: X:61.17, Y:-171.44, Z:-8.05 [[-5.70082502e-01 8.21581706e-01 3.07261042e-03 6.11683864e+01] [ 8.21570771e-01 5.70090772e-01 -4.24021092e-03 -1.71438562e+02] [-5.23534657e-03 1.07096865e-04 -9.99986290e-01 -8.05078007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.540385723 meters 0.016865431947264784 Centerline is valid? [True, True] Translation: X:61.18, Y:-171.44, Z:-8.05 [[-6.29513980e-01 7.76983141e-01 3.05744434e-03 6.11812797e+01] [ 7.76974857e-01 6.29521394e-01 -3.58969928e-03 -1.71436296e+02] [-4.71386244e-03 1.15791495e-04 -9.99988883e-01 -8.05254964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.570385723 meters 0.017693879506065355 Centerline is valid? [True, True] Translation: X:61.19, Y:-171.43, Z:-8.05 [[-6.87314789e-01 7.26350749e-01 3.60137814e-03 6.11934327e+01] [ 7.26341779e-01 6.87324211e-01 -3.61225507e-03 -1.71434782e+02] [-5.09907857e-03 1.33075079e-04 -9.99986991e-01 -8.05284483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.600385723 meters 0.018069271795804826 Centerline is valid? [True, True] Translation: X:61.21, Y:-171.43, Z:-8.05 [[-7.40740791e-01 6.71772407e-01 4.99136633e-03 6.12063797e+01] [ 6.71758814e-01 7.40757585e-01 -4.27747747e-03 -1.71429085e+02] [-6.57088381e-03 1.84492281e-04 -9.99978395e-01 -8.05232029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.630385723 meters 0.01972622457630435 Centerline is valid? [True, True] Translation: X:61.23, Y:-171.41, Z:-8.05 [[-7.86331855e-01 6.17774085e-01 6.11504458e-03 6.12307028e+01] [ 6.17757502e-01 7.86355603e-01 -4.53149842e-03 -1.71413440e+02] [-7.60804185e-03 2.14353108e-04 -9.99971035e-01 -8.05060022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.660385723 meters 0.018039237578366618 Centerline is valid? [True, True] Translation: X:61.25, Y:-171.39, Z:-8.05 [[-8.28775828e-01 5.59511982e-01 8.77317201e-03 6.12536419e+01] [ 5.59484176e-01 8.28822215e-01 -5.58505829e-03 -1.71387669e+02] [-1.03963069e-02 2.79689604e-04 -9.99945918e-01 -8.05008797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.690385723 meters 0.017755494336206927 Centerline is valid? [True, True] Translation: X:61.27, Y:-171.36, Z:-8.05 [[-8.66829375e-01 4.98516960e-01 9.36350768e-03 6.12733503e+01] [ 4.98491281e-01 8.66879902e-01 -5.06729732e-03 -1.71363631e+02] [-1.06431703e-02 2.75144772e-04 -9.99943322e-01 -8.05031607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.720385723 meters 0.01823783856504678 Centerline is valid? [True, True] Translation: X:61.29, Y:-171.34, Z:-8.05 [[-9.00712039e-01 4.34317448e-01 9.28319729e-03 6.12904729e+01] [ 4.34297144e-01 9.00759843e-01 -4.20656526e-03 -1.71337927e+02] [-1.01889160e-02 2.42762094e-04 -9.99948062e-01 -8.05074557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.750385723 meters 0.017252331394520388 Centerline is valid? [True, True] Translation: X:61.31, Y:-171.31, Z:-8.05 [[-9.29429580e-01 3.68875595e-01 9.56301651e-03 6.13071695e+01] [ 3.68858681e-01 9.29478746e-01 -3.54034463e-03 -1.71309484e+02] [-1.01945673e-02 2.36900632e-04 -9.99948006e-01 -8.05175731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.780385723 meters 0.016848913739041804 Centerline is valid? [True, True] Translation: X:61.32, Y:-171.28, Z:-8.05 [[-9.53533466e-01 3.01141561e-01 9.36429845e-03 6.13180217e+01] [ 3.01129266e-01 9.53579421e-01 -2.72980459e-03 -1.71278390e+02] [-9.75165991e-03 2.16904295e-04 -9.99952428e-01 -8.05212482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.810385723 meters 0.017795788043212073 Centerline is valid? [True, True] Translation: X:61.33, Y:-171.25, Z:-8.05 [[-9.72549745e-01 2.32481676e-01 9.96311101e-03 6.13289847e+01] [ 2.32471825e-01 9.72600751e-01 -2.15179021e-03 -1.71249864e+02] [-1.01903810e-02 2.23419584e-04 -9.99948052e-01 -8.05110021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.840385723 meters 0.017795788043212073 Centerline is valid? [True, True] Translation: X:61.50, Y:-170.49, Z:-9.02 [[-9.66771712e-01 -2.55452756e-01 9.81556575e-03 6.15001563e+01] [ 2.55437247e-01 -9.66821514e-01 -2.82363400e-03 -1.70486076e+02] [ 1.02112052e-02 -2.22548382e-04 9.99947840e-01 -9.01718261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87038572299997 meters 0.017173811591239284 Centerline is valid? [True, True] Translation: X:61.27, Y:-171.24, Z:-8.05 [[-9.73724500e-01 2.27493788e-01 1.03525429e-02 6.12726646e+01] [ 2.27483327e-01 9.73779507e-01 -2.19268990e-03 -1.71237802e+02] [-1.05799174e-02 2.19955020e-04 -9.99944007e-01 -8.05210267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.900385723 meters 0.016659298016815007 Centerline is valid? [True, True] Translation: X:61.28, Y:-171.21, Z:-8.05 [[-9.87496657e-01 1.57309455e-01 1.02023677e-02 6.12803160e+01] [ 1.57303241e-01 9.87549336e-01 -1.41367051e-03 -1.71208789e+02] [-1.02977252e-02 2.08870602e-04 -9.99946955e-01 -8.05278479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.930385723 meters 0.016740313774591436 Centerline is valid? [True, True] Translation: X:61.28, Y:-171.18, Z:-8.05 [[-9.96320001e-01 8.51797313e-02 9.53249951e-03 6.12794518e+01] [ 8.51775467e-02 9.96365586e-01 -6.35667062e-04 -1.71176927e+02] [-9.55200042e-03 1.78627114e-04 -9.99954363e-01 -8.05286620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.960385723 meters 0.016652793950484718 Centerline is valid? [True, True] Translation: X:61.28, Y:-171.15, Z:-8.05 [[-9.99869211e-01 1.35578470e-02 8.81739562e-03 6.12800091e+01] [ 1.35587276e-02 9.99908075e-01 4.00928246e-05 -1.71145791e+02] [-8.81604152e-03 1.59640246e-04 -9.99961125e-01 -8.05282798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.990385723 meters 0.01653292589896908 Centerline is valid? [True, True] Translation: X:61.27, Y:-171.11, Z:-8.05 [[-9.98204543e-01 -5.92198527e-02 8.98333658e-03 6.12729290e+01] [-5.92161132e-02 9.98244953e-01 6.81926860e-04 -1.71114432e+02] [-9.00795402e-03 1.48744214e-04 -9.99959417e-01 -8.05203822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.020385723 meters 0.01656088480505291 Centerline is valid? [True, True] Translation: X:61.26, Y:-171.09, Z:-8.05 [[-9.91330889e-01 -1.31094876e-01 8.78647895e-03 6.12571189e+01] [-1.31088477e-01 9.91369817e-01 1.30277018e-03 -1.71087000e+02] [-8.88143652e-03 1.39670177e-04 -9.99960550e-01 -8.05250418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.050385723 meters 0.016445210054992016 Centerline is valid? [True, True] Translation: X:61.24, Y:-171.06, Z:-8.05 [[-9.79069240e-01 -2.03347985e-01 8.54522298e-03 6.12369069e+01] [-2.03339108e-01 9.79106522e-01 1.90429062e-03 -1.71061024e+02] [-8.75391721e-03 1.26854347e-04 -9.99961676e-01 -8.05377100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.080385723 meters 0.017397419630715585 Centerline is valid? [True, True] Translation: X:61.19, Y:-171.04, Z:-8.05 [[-9.61638558e-01 -2.74158814e-01 9.39298575e-03 6.11926327e+01] [-2.74144314e-01 9.61684421e-01 2.82313713e-03 -1.71040137e+02] [-9.80707599e-03 1.39803893e-04 -9.99951900e-01 -8.05343086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.110385723 meters 0.01663337755697229 Centerline is valid? [True, True] Translation: X:61.13, Y:-171.03, Z:-8.05 [[-9.38758072e-01 -3.44472522e-01 8.48311608e-03 6.11303729e+01] [-3.44457234e-01 9.38796392e-01 3.24790028e-03 -1.71031003e+02] [-9.08273117e-03 1.26921911e-04 -9.99958743e-01 -8.05322149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.140385723 meters 0.016872198560864183 Centerline is valid? [True, True] Translation: X:61.06, Y:-171.03, Z:-8.05 [[-9.10968453e-01 -4.12389169e-01 8.46471459e-03 6.10573146e+01] [-4.12369957e-01 9.11007769e-01 3.98297084e-03 -1.71028022e+02] [-9.35395479e-03 1.37766789e-04 -9.99956241e-01 -8.05116356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.170385723 meters 0.016627422755184113 Centerline is valid? [True, True] Translation: X:60.98, Y:-171.03, Z:-8.05 [[-8.78902475e-01 -4.76933665e-01 8.04476378e-03 6.09754524e+01] [-4.76912020e-01 8.78939278e-01 4.54651790e-03 -1.71034794e+02] [-9.23924631e-03 1.59301293e-04 -9.99957305e-01 -8.05133797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.200385723 meters 0.016669524584395867 Centerline is valid? [True, True] Translation: X:60.89, Y:-171.05, Z:-8.05 [[-8.41490926e-01 -5.40216441e-01 7.69536687e-03 6.08889837e+01] [-5.40191957e-01 8.41526094e-01 5.14618128e-03 -1.71053609e+02] [-9.25590376e-03 1.73489561e-04 -9.99957148e-01 -8.05132143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.230385723 meters 0.01733443906162424 Centerline is valid? [True, True] Translation: X:60.80, Y:-171.08, Z:-8.05 [[-7.99253937e-01 -6.00950662e-01 7.17256174e-03 6.07988971e+01] [-6.00924385e-01 7.99286099e-01 5.62282744e-03 -1.71083573e+02] [-9.11197077e-03 1.83899718e-04 -9.99958468e-01 -8.05081076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.260385723 meters 0.017811303851884362 Centerline is valid? [True, True] Translation: X:60.70, Y:-171.12, Z:-8.05 [[-7.53142880e-01 -6.57834095e-01 5.48680913e-03 6.07036195e+01] [-6.57814996e-01 7.53162848e-01 5.01555048e-03 -1.71123857e+02] [-7.43186090e-03 1.68120814e-04 -9.99972369e-01 -8.05077524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.290385723 meters 0.01763011756735046 Centerline is valid? [True, True] Translation: X:60.61, Y:-171.17, Z:-8.05 [[-7.01824226e-01 -7.12333562e-01 4.86337120e-03 6.06086169e+01] [-7.12314776e-01 7.01841057e-01 5.17606346e-03 -1.71173799e+02] [-7.10039730e-03 1.68435564e-04 -9.99974778e-01 -8.05070899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.320385723 meters 0.018313960826242235 Centerline is valid? [True, True] Translation: X:60.51, Y:-171.24, Z:-8.05 [[-6.46234293e-01 -7.63128689e-01 3.98029736e-03 6.05132718e+01] [-7.63112707e-01 6.46246532e-01 4.94126818e-03 -1.71235427e+02] [-6.34307687e-03 1.55801455e-04 -9.99979870e-01 -8.04932485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.350385723 meters 0.01822126313017895 Centerline is valid? [True, True] Translation: X:60.42, Y:-171.30, Z:-8.05 [[-5.86245431e-01 -8.10127033e-01 3.23813002e-03 6.04235819e+01] [-8.10113320e-01 5.86254356e-01 4.71572386e-03 -1.71303448e+02] [-5.71870321e-03 1.41319305e-04 -9.99983638e-01 -8.04894676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.380385723 meters 0.018315225407277133 Centerline is valid? [True, True] Translation: X:60.34, Y:-171.38, Z:-8.05 [[-5.22360972e-01 -8.52719299e-01 2.96835614e-03 6.03365022e+01] [-8.52703927e-01 5.22369386e-01 5.12227985e-03 -1.71382484e+02] [-5.91844526e-03 1.44550146e-04 -9.99982475e-01 -8.04832400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.410385723 meters 0.018500046181280896 Centerline is valid? [True, True] Translation: X:60.26, Y:-171.47, Z:-8.05 [[-4.55784000e-01 -8.90087254e-01 2.37178185e-03 6.02564326e+01] [-8.90073627e-01 4.55790151e-01 4.92708282e-03 -1.71468771e+02] [-5.46656842e-03 1.34625041e-04 -9.99985049e-01 -8.04806301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.440385723 meters 0.018654699552449316 Centerline is valid? [True, True] Translation: X:60.18, Y:-171.56, Z:-8.05 [[-3.85530143e-01 -9.22693632e-01 1.72360886e-03 6.01795839e+01] [-9.22683053e-01 3.85533979e-01 4.41982769e-03 -1.71562875e+02] [-4.74265664e-03 1.13632110e-04 -9.99988747e-01 -8.04748851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.470385723 meters 0.018416073605293903 Centerline is valid? [True, True] Translation: X:60.11, Y:-171.67, Z:-8.05 [[-3.13249232e-01 -9.49670124e-01 1.25482966e-03 6.01100813e+01] [-9.49661150e-01 3.13251729e-01 4.12978125e-03 -1.71665255e+02] [-4.31500743e-03 1.01987829e-04 -9.99990685e-01 -8.04707942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.500385723 meters 0.017946800213459114 Centerline is valid? [True, True] Translation: X:60.05, Y:-171.77, Z:-8.05 [[-2.37690641e-01 -9.71340363e-01 1.02903996e-03 6.00462156e+01] [-9.71329272e-01 2.37692846e-01 4.64299844e-03 -1.71774830e+02] [-4.75452722e-03 1.04060638e-04 -9.99988692e-01 -8.04610105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.530385723 meters 0.01757684651061264 Centerline is valid? [True, True] Translation: X:59.99, Y:-171.89, Z:-8.05 [[-1.61061966e-01 -9.86944060e-01 6.82942731e-04 5.99937685e+01] [-9.86932378e-01 1.61063383e-01 4.80291450e-03 -1.71888375e+02] [-4.85020500e-03 9.95485594e-05 -9.99988233e-01 -8.04606270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.560385723 meters 0.016753700180691857 Centerline is valid? [True, True] Translation: X:59.95, Y:-172.01, Z:-8.05 [[-8.28785306e-02 -9.96559621e-01 2.65758192e-04 5.99466278e+01] [-9.96551082e-01 8.28789208e-02 4.12625564e-03 -1.72007768e+02] [-4.13408551e-03 7.71363906e-05 -9.99991452e-01 -8.04660512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.590385723 meters 0.01671710235608097 Centerline is valid? [True, True] Translation: X:59.91, Y:-172.12, Z:-8.05 [[-6.44468046e-03 -9.99979232e-01 -4.45458221e-05 5.99119855e+01] [-9.99972205e-01 6.44446816e-03 3.74929758e-03 -1.72118518e+02] [-3.74893264e-03 6.87076089e-05 -9.99992970e-01 -8.04610592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62038572299997 meters 0.016756694378714687 Centerline is valid? [True, True] Translation: X:59.89, Y:-172.24, Z:-8.04 [[ 6.97429449e-02 -9.97564958e-01 -2.77503870e-04 5.98853436e+01] [-9.97560093e-01 -6.97434716e-02 3.11593034e-03 -1.72242001e+02] [-3.12769700e-03 5.95126286e-05 -9.99995107e-01 -8.04494575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.650385723 meters 0.017085307595011832 Centerline is valid? [True, True] Translation: X:59.87, Y:-172.36, Z:-8.04 [[ 1.45115561e-01 -9.89414567e-01 -5.36630892e-04 5.98708978e+01] [-9.89409364e-01 -1.45116539e-01 3.20955177e-03 -1.72364315e+02] [-3.25345129e-03 6.51917237e-05 -9.99994705e-01 -8.04461539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.680385723 meters 0.017816369636871957 Centerline is valid? [True, True] Translation: X:59.87, Y:-172.48, Z:-8.05 [[ 2.17371678e-01 -9.76088761e-01 -5.33778996e-04 5.98661212e+01] [-9.76086377e-01 -2.17372328e-01 2.15769192e-03 -1.72484819e+02] [-2.22212761e-03 5.19932930e-05 -9.99997530e-01 -8.04549723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.710385723 meters 0.018137935759786512 Centerline is valid? [True, True] Translation: X:59.87, Y:-172.61, Z:-8.05 [[ 2.90168035e-01 -9.56975569e-01 -5.22357979e-04 5.98706438e+01] [-9.56974267e-01 -2.90168502e-01 1.57914436e-03 -1.72608424e+02] [-1.66277440e-03 4.16659283e-05 -9.99998617e-01 -8.04537012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.740385723 meters 0.019062652946352572 Centerline is valid? [True, True] Translation: X:59.88, Y:-172.73, Z:-8.05 [[ 3.60213476e-01 -9.32869892e-01 -1.27479724e-04 5.98834428e+01] [-9.32869843e-01 -3.60213499e-01 3.03248551e-04 -1.72731024e+02] [-3.28811360e-04 9.68777509e-06 -9.99999946e-01 -8.04520549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.770385723 meters 0.01951150084337301 Centerline is valid? [True, True] Translation: X:59.91, Y:-172.85, Z:-8.05 [[ 4.29756711e-01 -9.02944719e-01 6.69432524e-05 5.99053111e+01] [-9.02944709e-01 -4.29756716e-01 -1.32617703e-04 -1.72849646e+02] [ 1.48515767e-04 -3.45270762e-06 -9.99999989e-01 -8.04518696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.800385723 meters 0.020785270363156957 Centerline is valid? [True, True] Translation: X:59.94, Y:-172.97, Z:-8.04 [[ 4.96685400e-01 -8.67930560e-01 3.95384065e-04 5.99363951e+01] [-8.67930318e-01 -4.96685557e-01 -6.47768617e-04 -1.72965596e+02] [ 7.58599733e-04 -2.14286020e-05 -9.99999712e-01 -8.04496013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.830385723 meters 0.02003144093305306 Centerline is valid? [True, True] Translation: X:59.97, Y:-173.08, Z:-8.04 [[ 5.61636465e-01 -8.27383926e-01 5.64929131e-04 5.99742409e+01] [-8.27383556e-01 -5.61636749e-01 -7.83633210e-04 -1.73080204e+02] [ 9.65650482e-04 -2.72960865e-05 -9.99999533e-01 -8.04471177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.860385723 meters 0.018758412185346882 Centerline is valid? [True, True] Translation: X:60.01, Y:-173.19, Z:-8.04 [[ 6.24074189e-01 -7.81364749e-01 7.31562338e-04 6.00142783e+01] [-7.81364269e-01 -6.24074617e-01 -8.67123117e-04 -1.73186191e+02] [ 1.13408892e-03 -3.04675144e-05 -9.99999356e-01 -8.04357661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.890385723 meters 0.018741684309861947 Centerline is valid? [True, True] Translation: X:60.07, Y:-173.29, Z:-8.04 [[ 6.82389331e-01 -7.30987842e-01 1.25502064e-03 6.00654503e+01] [-7.30986730e-01 -6.82390484e-01 -1.27592081e-03 -1.73287878e+02] [ 1.78909674e-03 -4.67286862e-05 -9.99998399e-01 -8.04333027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.920385723 meters 0.01816445931821741 Centerline is valid? [True, True] Translation: X:60.12, Y:-173.38, Z:-8.04 [[ 7.37558850e-01 -6.75278830e-01 2.33320780e-03 6.01184922e+01] [-6.75275762e-01 -7.37562537e-01 -2.03691989e-03 -1.73384262e+02] [ 3.09637554e-03 -7.32103784e-05 -9.99995204e-01 -8.04316707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.950385723 meters 0.017847446401297273 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.40, Z:-8.04 [[ 7.89154596e-01 -6.14190286e-01 2.30576233e-03 6.01147752e+01] [-6.14187895e-01 -7.89157962e-01 -1.71491179e-03 -1.73396185e+02] [ 2.87289286e-03 -6.28407960e-05 -9.99995871e-01 -8.04291523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.980385723 meters 0.01743054376874979 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.41, Z:-8.04 [[ 8.36089872e-01 -5.48585541e-01 2.76215449e-03 6.01121258e+01] [-5.48582797e-01 -8.36094432e-01 -1.73648660e-03 -1.73408756e+02] [ 3.26203343e-03 -6.34115759e-05 -9.99994678e-01 -8.04261766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.010385723 meters 0.017152598757194867 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.42, Z:-8.04 [[ 8.76930562e-01 -4.80604912e-01 3.42173269e-03 6.01105109e+01] [-4.80601568e-01 -8.76937235e-01 -1.79423396e-03 -1.73420914e+02] [ 3.86296246e-03 -7.10715020e-05 -9.99992536e-01 -8.04286472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.040385723 meters 0.016430183071425422 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.44, Z:-8.04 [[ 9.12531807e-01 -4.08993961e-01 3.10506622e-03 6.01085053e+01] [-4.08991802e-01 -9.12537088e-01 -1.33003754e-03 -1.73437321e+02] [ 3.37746540e-03 -5.62450672e-05 -9.99994295e-01 -8.04188245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.070385723 meters 0.016699746147369177 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.45, Z:-8.04 [[ 9.41913551e-01 -3.35843675e-01 2.80862125e-03 6.01082989e+01] [-3.35842332e-01 -9.41917737e-01 -9.50885169e-04 -1.73450119e+02] [ 2.96483894e-03 -4.76022830e-05 -9.99995604e-01 -8.04127716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.100385723 meters 0.01631735568604539 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.47, Z:-8.04 [[ 9.65326739e-01 -2.61032717e-01 2.49166909e-03 6.01097904e+01] [-2.61031956e-01 -9.65329953e-01 -6.31580867e-04 -1.73466308e+02] [ 2.57014607e-03 -4.07233572e-05 -9.99996696e-01 -8.04013826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.130385723 meters 0.01634673707779389 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.48, Z:-8.04 [[ 9.82775365e-01 -1.84791602e-01 2.15531438e-03 6.01132176e+01] [-1.84791235e-01 -9.82777728e-01 -3.70042943e-04 -1.73480471e+02] [ 2.18657580e-03 -3.46141171e-05 -9.99997609e-01 -8.03972511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.160385723 meters 0.016443628584040765 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.49, Z:-8.04 [[ 9.94110792e-01 -1.08335375e-01 2.67961228e-03 6.01137649e+01] [-1.08335106e-01 -9.94114402e-01 -2.46117794e-04 -1.73493740e+02] [ 2.69050443e-03 -4.56277244e-05 -9.99996380e-01 -8.03973002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.190385723 meters 0.016983003403023677 Centerline is valid? [True, True] Translation: X:60.11, Y:-173.50, Z:-8.04 [[ 9.99517110e-01 -3.09404370e-02 2.86991682e-03 6.01140353e+01] [-3.09404557e-02 -9.99521229e-01 -3.79050987e-05 -1.73504898e+02] [ 2.86971558e-03 -5.09097394e-05 -9.99995881e-01 -8.04003943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.220385723 meters 0.016932625674421383 Centerline is valid? [True, True] Translation: X:60.12, Y:-173.52, Z:-8.04 [[ 9.98955605e-01 4.55461651e-02 3.63958579e-03 6.01165245e+01] [ 4.55456015e-02 -9.98962232e-01 2.37623813e-04 -1.73518473e+02] [ 3.64663160e-03 -7.16085159e-05 -9.99993348e-01 -8.03972172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.250385723 meters 0.0169180368967953 Centerline is valid? [True, True] Translation: X:60.12, Y:-173.53, Z:-8.04 [[ 9.92438768e-01 1.22692483e-01 3.44183975e-03 6.01200261e+01] [ 1.22691494e-01 -9.92444734e-01 4.97569098e-04 -1.73531483e+02] [ 3.47688373e-03 -7.15223996e-05 -9.99993953e-01 -8.03886350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.280385723 meters 0.017172806313680556 Centerline is valid? [True, True] Translation: X:60.12, Y:-173.54, Z:-8.04 [[ 9.79870794e-01 1.99606349e-01 3.24532587e-03 6.01235861e+01] [ 1.99605017e-01 -9.79876166e-01 7.32352390e-04 -1.73542744e+02] [ 3.32619965e-03 -6.98273923e-05 -9.99994466e-01 -8.03855189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.310385723 meters 0.01723526280206913 Centerline is valid? [True, True] Translation: X:60.13, Y:-173.55, Z:-8.04 [[ 9.61438932e-01 2.75000757e-01 3.12460006e-03 6.01284974e+01] [ 2.74999063e-01 -9.61444007e-01 9.67652436e-04 -1.73554814e+02] [ 3.27023315e-03 -7.10766365e-05 -9.99994650e-01 -8.03784536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.340385723 meters 0.017307524568494284 Centerline is valid? [True, True] Translation: X:60.13, Y:-173.56, Z:-8.04 [[ 9.36835346e-01 3.49759341e-01 2.81729602e-03 6.01343685e+01] [ 3.49757551e-01 -9.36839580e-01 1.12089306e-03 -1.73564979e+02] [ 3.03139724e-03 -6.47216826e-05 -9.99995403e-01 -8.03786280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37038572299997 meters 0.01720853068510513 Centerline is valid? [True, True] Translation: X:60.14, Y:-173.58, Z:-8.04 [[ 9.06309083e-01 4.22612082e-01 1.69550624e-03 6.01417566e+01] [ 4.22611262e-01 -9.06310668e-01 8.33424233e-04 -1.73575182e+02] [ 1.88887054e-03 -3.87999207e-05 -9.99998215e-01 -8.03699302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.400385723 meters 0.01825590942756152 Centerline is valid? [True, True] Translation: X:60.15, Y:-173.59, Z:-8.03 [[ 8.70179760e-01 4.92732262e-01 1.45042166e-03 6.01508440e+01] [ 4.92731513e-01 -8.70180968e-01 8.59889072e-04 -1.73586991e+02] [ 1.68582441e-03 -3.35896083e-05 -9.99998578e-01 -8.03438241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.430385723 meters 0.01677074983820298 Centerline is valid? [True, True] Translation: X:60.16, Y:-173.60, Z:-8.04 [[ 8.28398100e-01 5.60139782e-01 1.10936484e-04 6.01601487e+01] [ 5.60139777e-01 -8.28398108e-01 7.73285763e-05 -1.73597203e+02] [ 1.35214385e-04 -1.91890831e-06 -9.99999991e-01 -8.03516940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.460385723 meters 0.01681859396431446 Centerline is valid? [True, True] Translation: X:60.17, Y:-173.61, Z:-8.04 [[ 7.81393223e-01 6.24038966e-01 -1.97525167e-05 6.01687852e+01] [ 6.24038966e-01 -7.81393223e-01 -1.72837758e-05 -1.73605329e+02] [-2.62202323e-05 1.17908523e-06 -1.00000000e+00 -8.03508780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.490385723 meters 0.016234129203323046 Centerline is valid? [True, True] Translation: X:60.18, Y:-173.61, Z:-8.03 [[ 7.28823057e-01 6.84702068e-01 -1.71842383e-04 6.01799724e+01] [ 6.84702048e-01 -7.28823077e-01 -1.67810308e-04 -1.73613230e+02] [-2.40142759e-04 4.64319014e-06 -9.99999971e-01 -8.03488779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.520385723 meters 0.016176611396897734 Centerline is valid? [True, True] Translation: X:60.19, Y:-173.62, Z:-8.03 [[ 6.72221120e-01 7.40350375e-01 -2.97661408e-04 6.01890054e+01] [ 7.40350297e-01 -6.72221186e-01 -3.39215506e-04 -1.73620454e+02] [-4.51232632e-04 7.65411559e-06 -9.99999898e-01 -8.03476116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.550385723 meters 0.01619706143709956 Centerline is valid? [True, True] Translation: X:60.20, Y:-173.63, Z:-8.03 [[ 6.11551794e-01 7.91204296e-01 -4.07187845e-04 6.01988824e+01] [ 7.91204109e-01 -6.11551929e-01 -5.44172567e-04 -1.73625225e+02] [-6.79568185e-04 1.06210131e-05 -9.99999769e-01 -8.03462110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.580385723 meters 0.015781676692771786 Centerline is valid? [True, True] Translation: X:60.21, Y:-173.63, Z:-8.03 [[ 5.45606153e-01 8.38041388e-01 -7.47195157e-04 6.02096074e+01] [ 8.38040557e-01 -5.45606664e-01 -1.17985384e-03 -1.73630002e+02] [-1.39644101e-03 1.75556698e-05 -9.99999025e-01 -8.03400092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.610385723 meters 0.01541552476548559 Centerline is valid? [True, True] Translation: X:60.22, Y:-173.63, Z:-8.03 [[ 4.75316695e-01 8.79814549e-01 -6.31593894e-04 6.02206449e+01] [ 8.79813737e-01 -4.75317115e-01 -1.19511978e-03 -1.73633541e+02] [-1.35169116e-03 1.23754004e-05 -9.99999086e-01 -8.03356946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.640385723 meters 0.01525143293488804 Centerline is valid? [True, True] Translation: X:60.23, Y:-173.64, Z:-8.03 [[ 4.03387414e-01 9.15029208e-01 -3.78344694e-04 6.02308806e+01] [ 9.15028788e-01 -4.03387591e-01 -8.76306407e-04 -1.73636327e+02] [-9.54465512e-04 7.29468905e-06 -9.99999545e-01 -8.03365955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.670385723 meters 0.015123729497965123 Centerline is valid? [True, True] Translation: X:60.24, Y:-173.64, Z:-8.03 [[ 3.29225754e-01 9.44251204e-01 -2.59708272e-04 6.02395889e+01] [ 9.44250897e-01 -3.29225856e-01 -7.60553070e-04 -1.73638860e+02] [-8.03655830e-04 5.16388914e-06 -9.99999677e-01 -8.03384556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.700385723 meters 0.014966871753206693 Centerline is valid? [True, True] Translation: X:60.25, Y:-173.64, Z:-8.03 [[ 2.52017045e-01 9.67722789e-01 -1.12828233e-04 6.02460547e+01] [ 9.67722688e-01 -2.52017070e-01 -4.41769230e-04 -1.73640040e+02] [-4.55944792e-04 2.14693515e-06 -9.99999896e-01 -8.03466192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.730385723 meters 0.014906755011475663 Centerline is valid? [True, True] Translation: X:60.25, Y:-173.64, Z:-8.03 [[ 1.74184100e-01 9.84713105e-01 -1.49656476e-05 6.02531900e+01] [ 9.84713101e-01 -1.74184100e-01 -8.95275268e-05 -1.73640237e+02] [-9.07657068e-05 8.57402396e-07 -9.99999996e-01 -8.03469457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.760385723 meters 0.014837790110749727 Centerline is valid? [True, True] Translation: X:60.26, Y:-173.64, Z:-8.03 [[ 9.42169027e-02 9.95551694e-01 -1.80506996e-05 6.02634624e+01] [ 9.95551674e-01 -9.42169044e-02 -1.97116708e-04 -1.73640551e+02] [-1.97940554e-04 6.01321507e-07 -9.99999980e-01 -8.03476008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.790385723 meters 0.014837790110749727 Centerline is valid? [True, True] Translation: X:60.27, Y:-173.64, Z:-8.03 [[ 1.59832873e-02 9.99872259e-01 -2.56503181e-06 6.02746525e+01] [ 9.99872240e-01 -1.59832875e-02 -1.97951282e-04 -1.73640335e+02] [-1.97966993e-04 5.99208121e-07 -9.99999980e-01 -8.03475985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.820385723 meters 0.014842257787312123 Centerline is valid? [True, True] Translation: X:60.29, Y:-173.64, Z:-8.03 [[-6.43029209e-02 9.97930426e-01 9.52674971e-07 6.02858698e+01] [ 9.97930426e-01 6.43029209e-02 -4.48183442e-06 -1.73638380e+02] [-4.53381876e-06 6.62508305e-07 -1.00000000e+00 -8.03483617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.850385723 meters 0.014884580363943398 Centerline is valid? [True, True] Translation: X:60.30, Y:-173.64, Z:-8.04 [[-1.42813827e-01 9.89749570e-01 -1.91908992e-05 6.02970124e+01] [ 9.89749560e-01 1.42813828e-01 1.40477248e-04 -1.73637144e+02] [ 1.41778022e-04 1.06790938e-06 -9.99999990e-01 -8.03547354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.880385723 meters 0.01484073913525297 Centerline is valid? [True, True] Translation: X:60.31, Y:-173.63, Z:-8.04 [[-2.20264174e-01 9.75440256e-01 3.85009090e-05 6.03071353e+01] [ 9.75440241e-01 2.20264177e-01 -1.70007678e-04 -1.73633822e+02] [-1.74312704e-04 1.08735196e-07 -9.99999985e-01 -8.03580953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.910385723 meters 0.014919000455246101 Centerline is valid? [True, True] Translation: X:60.32, Y:-173.63, Z:-8.04 [[-2.96016255e-01 9.55182894e-01 1.23432660e-04 6.03164410e+01] [ 9.55182810e-01 2.96016281e-01 -4.00590559e-04 -1.73631415e+02] [-4.19175326e-04 -6.80562140e-07 -9.99999912e-01 -8.03611793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.940385723 meters 0.014861703142779412 Centerline is valid? [True, True] Translation: X:60.32, Y:-173.63, Z:-8.03 [[-3.68943173e-01 9.29451542e-01 8.74908262e-04 6.03225320e+01] [ 9.29448900e-01 3.68944210e-01 -2.21649825e-03 -1.73628980e+02] [-2.38292006e-03 -4.57937715e-06 -9.99997161e-01 -8.03392717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.970385723 meters 0.014841337009953062 Centerline is valid? [True, True] Translation: X:60.33, Y:-173.63, Z:-8.03 [[-4.38961327e-01 8.98504774e-01 1.45763362e-03 6.03265883e+01] [ 8.98499816e-01 4.38963747e-01 -2.98473900e-03 -1.73628732e+02] [-3.32165056e-03 -5.01457216e-07 -9.99994483e-01 -8.03285254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.000385723 meters 0.014800486889586467 Centerline is valid? [True, True] Translation: X:60.33, Y:-173.63, Z:-8.03 [[-5.06815275e-01 8.62052963e-01 1.72233152e-03 6.03330384e+01] [ 8.62048012e-01 5.06818202e-01 -2.92156495e-03 -1.73625184e+02] [-3.39145269e-03 4.03871601e-06 -9.99994249e-01 -8.03323366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.030385723 meters 0.01486070206100988 Centerline is valid? [True, True] Translation: X:60.34, Y:-173.62, Z:-8.03 [[-5.71750565e-01 8.20424605e-01 2.18169016e-03 6.03394687e+01] [ 8.20418694e-01 5.71754727e-01 -3.11432429e-03 -1.73621792e+02] [-3.80245993e-03 9.28272511e-06 -9.99992771e-01 -8.03333077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.060385723 meters 0.01503841708967272 Centerline is valid? [True, True] Translation: X:60.34, Y:-173.62, Z:-8.03 [[-6.31336071e-01 7.75505820e-01 2.34276050e-03 6.03415213e+01] [ 7.75500615e-01 6.31340417e-01 -2.84161163e-03 -1.73622307e+02] [-3.68276575e-03 2.28002881e-05 -9.99993218e-01 -8.03369777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.090385723 meters 0.015092294650566091 Centerline is valid? [True, True] Translation: X:60.35, Y:-173.62, Z:-8.03 [[-6.88890482e-01 7.24861663e-01 2.33953997e-03 6.03471683e+01] [ 7.24857614e-01 6.88894454e-01 -2.42299258e-03 -1.73619665e+02] [-3.36803054e-03 2.66568263e-05 -9.99994328e-01 -8.03446108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12038572299997 meters 0.015416929821735079 Centerline is valid? [True, True] Translation: X:60.35, Y:-173.62, Z:-8.04 [[-7.41211541e-01 6.71267128e-01 2.42786707e-03 6.03523519e+01] [ 6.71263689e-01 7.41215516e-01 -2.14889241e-03 -1.73617621e+02] [-3.24205358e-03 3.69551560e-05 -9.99994744e-01 -8.03539910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.150385723 meters 0.015628247573080623 Centerline is valid? [True, True] Translation: X:60.37, Y:-173.60, Z:-8.04 [[-7.85910398e-01 6.18334881e-01 2.61166573e-03 6.03717217e+01] [ 6.18331645e-01 7.85914737e-01 -2.00084800e-03 -1.73600837e+02] [-3.28974069e-03 4.23883184e-05 -9.99994588e-01 -8.03577404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.180385723 meters 0.015728013621368435 Centerline is valid? [True, True] Translation: X:60.39, Y:-173.58, Z:-8.04 [[-8.27114396e-01 5.62024946e-01 3.12021958e-03 6.03876747e+01] [ 5.62021184e-01 8.27120280e-01 -2.05718884e-03 -1.73580628e+02] [-3.73698834e-03 5.20989947e-05 -9.99993016e-01 -8.03564501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.210385723 meters 0.017592797335698553 Centerline is valid? [True, True] Translation: X:60.40, Y:-173.56, Z:-8.03 [[-8.63541042e-01 5.04264079e-01 3.82200141e-03 6.04017754e+01] [ 5.04259501e-01 8.63549497e-01 -2.14989286e-03 -1.73563398e+02] [-4.38460113e-03 7.07598046e-05 -9.99990385e-01 -8.03306581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.240385723 meters 0.016102084371974072 Centerline is valid? [True, True] Translation: X:60.42, Y:-173.54, Z:-8.04 [[-8.96971013e-01 4.42065966e-01 4.54805924e-03 6.04197372e+01] [ 4.42060746e-01 8.96982539e-01 -2.14981905e-03 -1.73542331e+02] [-5.02989156e-03 8.21930896e-05 -9.99987347e-01 -8.03555126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.270385723 meters 0.016057478225793297 Centerline is valid? [True, True] Translation: X:60.44, Y:-173.52, Z:-8.03 [[-9.25645090e-01 3.78357915e-01 5.14350577e-03 6.04363138e+01] [ 3.78352633e-01 9.25659375e-01 -2.00155947e-03 -1.73521185e+02] [-5.51844020e-03 9.33252534e-05 -9.99984769e-01 -8.03491600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.300385723 meters 0.01634052077642079 Centerline is valid? [True, True] Translation: X:60.44, Y:-173.49, Z:-8.03 [[-9.50162890e-01 3.11709120e-01 5.28272663e-03 6.04380860e+01] [ 3.11704845e-01 9.50177571e-01 -1.63511193e-03 -1.73494016e+02] [-5.52920765e-03 9.30288100e-05 -9.99984710e-01 -8.03472944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.330385723 meters 0.016166235266314933 Centerline is valid? [True, True] Translation: X:60.46, Y:-173.47, Z:-8.04 [[-9.69907643e-01 2.43410329e-01 5.52950356e-03 6.04559151e+01] [ 2.43406923e-01 9.69923401e-01 -1.29113196e-03 -1.73470929e+02] [-5.67746975e-03 9.36406877e-05 -9.99983879e-01 -8.03533344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.360385723 meters 0.016240437375669093 Centerline is valid? [True, True] Translation: X:60.46, Y:-173.45, Z:-8.04 [[-9.84838722e-01 1.73360942e-01 6.21892467e-03 6.04571056e+01] [ 1.73358123e-01 9.84858352e-01 -9.93605743e-04 -1.73446432e+02] [-6.29701233e-03 9.95597005e-05 -9.99980169e-01 -8.03604111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.390385723 meters 0.016223621202499188 Centerline is valid? [True, True] Translation: X:60.46, Y:-173.42, Z:-8.04 [[-9.94716552e-01 1.02424795e-01 6.93850426e-03 6.04609899e+01] [ 1.02423032e-01 9.94740745e-01 -6.09885742e-04 -1.73418765e+02] [-6.96448032e-03 1.03999201e-04 -9.99975742e-01 -8.03548222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.420385723 meters 0.015928128925105846 Centerline is valid? [True, True] Translation: X:60.47, Y:-173.39, Z:-8.03 [[-9.99540213e-01 2.90598942e-02 8.65363055e-03 6.04668117e+01] [ 2.90597433e-02 9.99577666e-01 -1.43195954e-04 -1.73390911e+02] [-8.65413709e-03 1.08342169e-04 -9.99962546e-01 -8.03337762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.450385723 meters 0.015609807517928093 Centerline is valid? [True, True] Translation: X:60.48, Y:-172.61, Z:-9.04 [[-9.97288715e-01 -7.29436809e-02 9.71799310e-03 6.04779587e+01] [ 7.29397431e-02 -9.97336060e-01 -7.59490067e-04 -1.72612628e+02] [ 9.74750496e-03 -4.86029522e-05 9.99952491e-01 -9.03523181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.480385723 meters 0.0156776723011451 Centerline is valid? [True, True] Translation: X:60.37, Y:-173.39, Z:-8.03 [[-9.99730390e-01 2.06365270e-02 1.06433688e-02 6.03679133e+01] [ 2.06364412e-02 9.99787039e-01 -1.17898676e-04 -1.73391287e+02] [-1.06435352e-02 1.01774365e-04 -9.99943351e-01 -8.03220305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.510385723 meters 0.015501411553198686 Centerline is valid? [True, True] Translation: X:60.37, Y:-173.37, Z:-8.03 [[-9.98539152e-01 -5.28624240e-02 1.11859781e-02 6.03684646e+01] [-5.28581945e-02 9.98601801e-01 6.73621930e-04 -1.73365607e+02] [-1.12059471e-02 8.13672675e-05 -9.99937208e-01 -8.03275769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.540385723 meters 0.015555117753949431 Centerline is valid? [True, True] Translation: X:60.36, Y:-173.34, Z:-8.03 [[-9.92082134e-01 -1.25106334e-01 1.10201936e-02 6.03604811e+01] [-1.25097861e-01 9.92143337e-01 1.45762080e-03 -1.73339069e+02] [-1.11159693e-02 6.74769055e-05 -9.99938213e-01 -8.03297643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.570385723 meters 0.0153543746840808 Centerline is valid? [True, True] Translation: X:60.34, Y:-173.31, Z:-8.03 [[-9.80409471e-01 -1.96679545e-01 1.06970296e-02 6.03399498e+01] [-1.96667181e-01 9.80467824e-01 2.20607083e-03 -1.73312877e+02] [-1.09219824e-02 5.90980755e-05 -9.99940352e-01 -8.03421389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.600385723 meters 0.015292146983866483 Centerline is valid? [True, True] Translation: X:60.30, Y:-173.29, Z:-8.03 [[-9.63397691e-01 -2.67879936e-01 1.02580818e-02 6.03010836e+01] [-2.67864199e-01 9.63452302e-01 2.90396534e-03 -1.73292573e+02] [-1.06610866e-02 4.99006257e-05 -9.99943168e-01 -8.03443190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.630385723 meters 0.015371149004996695 Centerline is valid? [True, True] Translation: X:60.24, Y:-173.28, Z:-8.04 [[-9.40890394e-01 -3.38579708e-01 9.43649624e-03 6.02385415e+01] [-3.38562236e-01 9.40937713e-01 3.43985726e-03 -1.73283317e+02] [-1.00438211e-02 4.16873802e-05 -9.99949559e-01 -8.03571368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.660385723 meters 0.015339457373270688 Centerline is valid? [True, True] Translation: X:60.17, Y:-173.28, Z:-8.04 [[-9.13372373e-01 -4.07043469e-01 8.15615848e-03 6.01737289e+01] [-4.07026841e-01 9.13408787e-01 3.67941486e-03 -1.73278996e+02] [-8.94758862e-03 4.09004557e-05 -9.99959969e-01 -8.03650969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.690385723 meters 0.015492150403983227 Centerline is valid? [True, True] Translation: X:60.09, Y:-173.29, Z:-8.04 [[-8.80964715e-01 -4.73123753e-01 7.42196992e-03 6.00923283e+01] [-4.73106520e-01 8.80995978e-01 4.03830756e-03 -1.73288380e+02] [-8.44934487e-03 4.62241097e-05 -9.99964303e-01 -8.03774920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.720385723 meters 0.015602703065911093 Centerline is valid? [True, True] Translation: X:60.01, Y:-173.30, Z:-8.04 [[-8.43060114e-01 -5.37768296e-01 7.40976210e-03 6.00098452e+01] [-5.37747009e-01 8.43092674e-01 4.78499190e-03 -1.73303354e+02] [-8.82033309e-03 4.94584033e-05 -9.99961099e-01 -8.03728291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.750385723 meters 0.015438970324997511 Centerline is valid? [True, True] Translation: X:59.92, Y:-173.33, Z:-8.04 [[-8.00152565e-01 -5.99753239e-01 7.20589759e-03 5.99188200e+01] [-5.99728344e-01 8.00185010e-01 5.46479360e-03 -1.73331142e+02] [-9.04357889e-03 5.10875899e-05 -9.99959105e-01 -8.03697550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.780385723 meters 0.01775162049596687 Centerline is valid? [True, True] Translation: X:59.82, Y:-173.37, Z:-8.03 [[-7.53514371e-01 -6.57398777e-01 6.55300296e-03 5.98249580e+01] [-6.57373184e-01 7.53542862e-01 5.80112365e-03 -1.73370079e+02] [-8.75162019e-03 6.34616197e-05 -9.99961702e-01 -8.03374508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.810385723 meters 0.015608937682851431 Centerline is valid? [True, True] Translation: X:59.73, Y:-173.42, Z:-8.04 [[-7.01358153e-01 -7.12785140e-01 5.83826209e-03 5.97319515e+01] [-7.12759721e-01 7.01382449e-01 6.02001159e-03 -1.73418744e+02] [-8.38582937e-03 6.09061570e-05 -9.99964836e-01 -8.03786133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.840385723 meters 0.015884306865495704 Centerline is valid? [True, True] Translation: X:59.64, Y:-173.48, Z:-8.04 [[-6.46629694e-01 -7.62783032e-01 5.66441729e-03 5.96392466e+01] [-7.62752626e-01 6.46654498e-01 6.81118908e-03 -1.73479474e+02] [-8.85838037e-03 8.37679442e-05 -9.99960760e-01 -8.03825556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87038572299997 meters 0.016165637499852892 Centerline is valid? [True, True] Translation: X:59.55, Y:-173.55, Z:-8.04 [[-5.87401810e-01 -8.09277149e-01 5.44145213e-03 5.95508386e+01] [-8.09240822e-01 5.87427004e-01 7.66855675e-03 -1.73547496e+02] [-9.40244367e-03 1.01078914e-04 -9.99955791e-01 -8.03805085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.900385723 meters 0.016440757615387307 Centerline is valid? [True, True] Translation: X:59.46, Y:-173.63, Z:-8.04 [[-5.24739752e-01 -8.51246432e-01 5.26351983e-03 5.94638376e+01] [-8.51201242e-01 5.24766135e-01 8.77205514e-03 -1.73627758e+02] [-1.02292976e-02 1.22731423e-04 -9.99947672e-01 -8.03806048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.930385723 meters 0.017081734029248487 Centerline is valid? [True, True] Translation: X:59.38, Y:-173.71, Z:-8.04 [[-4.59844683e-01 -8.87985417e-01 4.97662454e-03 5.93823212e+01] [-8.87929622e-01 4.59871584e-01 9.95557847e-03 -1.73714949e+02] [-1.11290167e-02 1.59127478e-04 -9.99938058e-01 -8.03670642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.960385723 meters 0.017352807761264005 Centerline is valid? [True, True] Translation: X:59.31, Y:-173.81, Z:-8.04 [[-3.91098813e-01 -9.20338230e-01 4.38865198e-03 5.93074843e+01] [-9.20275080e-01 3.91123395e-01 1.07827744e-02 -1.73808213e+02] [-1.16403040e-02 1.78363216e-04 -9.99932233e-01 -8.03660415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.990385723 meters 0.01825302533126039 Centerline is valid? [True, True] Translation: X:59.24, Y:-173.91, Z:-8.04 [[-3.21893691e-01 -9.46769228e-01 3.53279453e-03 5.92376887e+01] [-9.46704761e-01 3.21913006e-01 1.10504309e-02 -1.73914487e+02] [-1.15994604e-02 2.12550574e-04 -9.99932701e-01 -8.03641755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.020385723 meters 0.01865138490621962 Centerline is valid? [True, True] Translation: X:59.18, Y:-174.02, Z:-8.04 [[-2.49443917e-01 -9.68385376e-01 2.73784755e-03 5.91773957e+01] [-9.68316201e-01 2.49458829e-01 1.15770605e-02 -1.74022443e+02] [-1.18940364e-02 2.36725184e-04 -9.99929235e-01 -8.03666157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.050385723 meters 0.019224071966676113 Centerline is valid? [True, True] Translation: X:59.13, Y:-174.14, Z:-8.04 [[-1.76127196e-01 -9.84365869e-01 1.74548699e-03 5.91256444e+01] [-9.84302511e-01 1.76135669e-01 1.11710669e-02 -1.74135518e+02] [-1.13038595e-02 2.49441464e-04 -9.99936078e-01 -8.03720616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.080385723 meters 0.020798217397115074 Centerline is valid? [True, True] Translation: X:59.08, Y:-174.25, Z:-8.04 [[-1.02970129e-01 -9.94684080e-01 8.56856633e-04 5.90834306e+01] [-9.94623143e-01 1.02973308e-01 1.10136665e-02 -1.74253796e+02] [-1.10433521e-02 2.81829216e-04 -9.99938981e-01 -8.03773963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.110385723 meters 0.021184210931161376 Centerline is valid? [True, True] Translation: X:59.05, Y:-174.38, Z:-8.04 [[-2.65521293e-02 -9.99647430e-01 3.20308570e-06 5.90485615e+01] [-9.99590595e-01 2.65506538e-02 1.06632662e-02 -1.74376586e+02] [-1.06595917e-02 2.79930649e-04 -9.99943146e-01 -8.03810335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.140385723 meters 0.02117645910906031 Centerline is valid? [True, True] Translation: X:59.02, Y:-174.50, Z:-8.04 [[ 5.02728232e-02 -9.98735264e-01 -7.17982590e-04 5.90205584e+01] [-9.98690960e-01 -5.02773581e-02 9.41033688e-03 -1.74496716e+02] [-9.43453356e-03 2.43958519e-04 -9.99955464e-01 -8.03888535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.170385723 meters 0.01986611635312442 Centerline is valid? [True, True] Translation: X:59.00, Y:-174.63, Z:-8.04 [[ 1.28257904e-01 -9.91739902e-01 -1.36989351e-03 5.90016779e+01] [-9.91700350e-01 -1.28265027e-01 8.85995877e-03 -1.74625084e+02] [-8.96248408e-03 2.22164124e-04 -9.99959811e-01 -8.03957835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.200385723 meters 0.020307290181085163 Centerline is valid? [True, True] Translation: X:58.24, Y:-174.86, Z:-9.03 [[ 1.08331123e-01 9.94114587e-01 -7.45094027e-04 5.82423786e+01] [-9.94074758e-01 1.08333455e-01 8.90154177e-03 -1.74860758e+02] [ 8.92987113e-03 -2.23634853e-04 9.99960103e-01 -9.02920470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.230385723 meters 0.01756365620139073 Centerline is valid? [True, True] Translation: X:59.03, Y:-174.93, Z:-8.04 [[ 1.44707646e-01 -9.89473415e-01 -1.43495215e-03 5.90348517e+01] [-9.89435013e-01 -1.44714674e-01 8.71886914e-03 -1.74930135e+02] [-8.83474785e-03 1.58104875e-04 -9.99960960e-01 -8.03936689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.260385723 meters 0.01648738974248091 Centerline is valid? [True, True] Translation: X:59.03, Y:-175.06, Z:-8.04 [[ 2.23505509e-01 -9.74700197e-01 -2.19393870e-03 5.90274385e+01] [-9.74659052e-01 -2.23516235e-01 8.95689856e-03 -1.75062664e+02] [-9.22067171e-03 1.36426044e-04 -9.99957479e-01 -8.04000407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.290385723 meters 0.015954278442611502 Centerline is valid? [True, True] Translation: X:59.03, Y:-175.19, Z:-8.04 [[ 3.03481345e-01 -9.52833398e-01 -2.75477459e-03 5.90298285e+01] [-9.52796462e-01 -3.03493837e-01 8.39006955e-03 -1.75192835e+02] [-8.83039559e-03 7.85098879e-05 -9.99961008e-01 -8.04055625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.320385723 meters 0.015703262215175963 Centerline is valid? [True, True] Translation: X:59.04, Y:-175.31, Z:-8.04 [[ 3.78109324e-01 -9.25754851e-01 -3.36076370e-03 5.90399108e+01] [-9.25719605e-01 -3.78124255e-01 8.07844826e-03 -1.75310099e+02] [-8.74944894e-03 5.65882368e-05 -9.99961721e-01 -8.04144703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.350385723 meters 0.015517691990934763 Centerline is valid? [True, True] Translation: X:59.06, Y:-175.44, Z:-8.04 [[ 4.50478083e-01 -8.92779170e-01 -3.85373921e-03 5.90635189e+01] [-8.92747112e-01 -4.50494565e-01 7.56577684e-03 -1.75438288e+02] [-8.49065653e-03 3.21979050e-05 -9.99963953e-01 -8.04147290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.380385723 meters 0.015476427781977992 Centerline is valid? [True, True] Translation: X:59.09, Y:-175.56, Z:-8.04 [[ 5.18600040e-01 -8.55006304e-01 -4.26837544e-03 5.90938452e+01] [-8.54977698e-01 -5.18617604e-01 6.99407844e-03 -1.75555194e+02] [-8.19363580e-03 2.22364440e-05 -9.99966431e-01 -8.04114065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.410385723 meters 0.015424968700745624 Centerline is valid? [True, True] Translation: X:59.13, Y:-175.67, Z:-8.04 [[ 5.83056329e-01 -8.12419566e-01 -4.44595448e-03 5.91328091e+01] [-8.12396160e-01 -5.83073279e-01 6.16687971e-03 -1.75668505e+02] [-7.60241099e-03 1.62381023e-05 -9.99971101e-01 -8.04194156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.440385723 meters 0.015506645368533013 Centerline is valid? [True, True] Translation: X:59.18, Y:-175.78, Z:-8.04 [[ 6.43834375e-01 -7.65150390e-01 -4.70938362e-03 5.91803712e+01] [-7.65130059e-01 -6.43851598e-01 5.57786956e-03 -1.75777907e+02] [-7.30005324e-03 1.20668029e-05 -9.99973354e-01 -8.04163489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.470385723 meters 0.015540348712246693 Centerline is valid? [True, True] Translation: X:59.23, Y:-175.87, Z:-8.04 [[ 7.00056867e-01 -7.14068486e-01 -5.15564031e-03 5.92279999e+01] [-7.14049279e-01 -7.00075851e-01 5.23736385e-03 -1.75873205e+02] [-7.34917576e-03 1.49287160e-05 -9.99972994e-01 -8.04126510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.500385723 meters 0.015695947643699144 Centerline is valid? [True, True] Translation: X:59.28, Y:-175.96, Z:-8.04 [[ 7.50586423e-01 -6.60753629e-01 -4.96632526e-03 5.92847569e+01] [-6.60739441e-01 -7.50602852e-01 4.33008116e-03 -1.75964775e+02] [-6.58885474e-03 3.13468451e-05 -9.99978293e-01 -8.04141648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.530385723 meters 0.01576435919522388 Centerline is valid? [True, True] Translation: X:59.28, Y:-175.97, Z:-8.04 [[ 7.98712773e-01 -6.01692721e-01 -4.87602137e-03 5.92808579e+01] [-6.01681823e-01 -7.98727656e-01 3.62162165e-03 -1.75972543e+02] [-6.07371651e-03 4.11779520e-05 -9.99981554e-01 -8.04149414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.560385723 meters 0.016314968568285376 Centerline is valid? [True, True] Translation: X:59.28, Y:-175.98, Z:-8.04 [[ 8.40728466e-01 -5.41437314e-01 -4.61327382e-03 5.92775008e+01] [-5.41429572e-01 -8.40741120e-01 2.89615169e-03 -1.75979710e+02] [-5.44665359e-03 6.28857030e-05 -9.99985165e-01 -8.04219873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.590385723 meters 0.01678121126931452 Centerline is valid? [True, True] Translation: X:59.27, Y:-175.99, Z:-8.04 [[ 8.79391714e-01 -4.76076240e-01 -4.65041747e-03 5.92732225e+01] [-4.76070020e-01 -8.79404008e-01 2.43471521e-03 -1.75986822e+02] [-5.24870582e-03 7.28559594e-05 -9.99986223e-01 -8.04154120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62038572299997 meters 0.01703741570667255 Centerline is valid? [True, True] Translation: X:59.27, Y:-176.00, Z:-8.04 [[ 9.12961622e-01 -4.08015307e-01 -4.95848778e-03 5.92703549e+01] [-4.08009808e-01 -9.12975083e-01 2.12011218e-03 -1.75995388e+02] [-5.39201402e-03 8.75305923e-05 -9.99985459e-01 -8.04139707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.650385723 meters 0.01703741570667255 Centerline is valid? [True, True] Translation: X:59.27, Y:-176.01, Z:-8.04 [[ 9.42046288e-01 -3.35444018e-01 -5.10897650e-03 5.92676775e+01] [-3.35439587e-01 -9.42060138e-01 1.72626720e-03 -1.76005006e+02] [-5.39202911e-03 8.75293572e-05 -9.99985459e-01 -8.04139691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.680385723 meters 0.01802877895671439 Centerline is valid? [True, True] Translation: X:59.27, Y:-176.01, Z:-8.04 [[ 9.64407936e-01 -2.64346858e-01 -6.17016945e-03 5.92661389e+01] [-2.64342286e-01 -9.64427666e-01 1.55986153e-03 -1.76011143e+02] [-6.36302661e-03 1.26693862e-04 -9.99979748e-01 -8.04066668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.710385723 meters 0.017740394194861803 Centerline is valid? [True, True] Translation: X:59.26, Y:-176.02, Z:-8.04 [[ 9.81819332e-01 -1.89701552e-01 -6.64236515e-03 5.92607062e+01] [-1.89698213e-01 -9.81841790e-01 1.13492869e-03 -1.76024527e+02] [-6.73704942e-03 1.45749875e-04 -9.99977295e-01 -8.04053370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.740385723 meters 0.018144979353790416 Centerline is valid? [True, True] Translation: X:59.26, Y:-176.04, Z:-8.04 [[ 9.93459106e-01 -1.13937665e-01 -7.56399545e-03 5.92560370e+01] [-1.13935719e-01 -9.93487885e-01 6.89108765e-04 -1.76036083e+02] [-7.59325329e-03 1.77207885e-04 -9.99971155e-01 -8.03978552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.770385723 meters 0.02001970073005073 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.04, Z:-8.04 [[ 9.99193951e-01 -3.92633865e-02 -8.35674650e-03 5.92517275e+01] [-3.92638837e-02 -9.99228871e-01 1.04618081e-04 -1.76044970e+02] [-8.35441003e-03 2.23584569e-04 -9.99965076e-01 -8.03783482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.800385723 meters 0.019106645334047854 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.06, Z:-8.04 [[ 9.99237498e-01 3.79663390e-02 -9.10937230e-03 5.92491045e+01] [ 3.79624396e-02 -9.99278986e-01 -6.00650494e-04 -1.76058946e+02] [-9.12560882e-03 2.54378501e-04 -9.99958328e-01 -8.03855484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.830385723 meters 0.020831326274071117 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.07, Z:-8.04 [[ 9.93279730e-01 1.15401074e-01 -8.83005064e-03 5.92461461e+01] [ 1.15394229e-01 -9.93318945e-01 -1.28247224e-03 -1.76068475e+02] [-8.91905527e-03 2.54916792e-04 -9.99960192e-01 -8.03772360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.860385723 meters 0.01960588665024954 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.08, Z:-8.04 [[ 9.81216442e-01 1.92733795e-01 -8.24490547e-03 5.92460365e+01] [ 1.92724911e-01 -9.81251051e-01 -1.86632388e-03 -1.76082319e+02] [-8.45002584e-03 2.42269006e-04 -9.99964269e-01 -8.03886550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.890385723 meters 0.01876446719275952 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.10, Z:-8.04 [[ 9.63034904e-01 2.69263762e-01 -7.79751919e-03 5.92477723e+01] [ 2.69252982e-01 -9.63066443e-01 -2.42048038e-03 -1.76097825e+02] [-8.16127672e-03 2.31501791e-04 -9.99966669e-01 -8.03951274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.920385723 meters 0.018874416192424595 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.11, Z:-8.04 [[ 9.38303776e-01 3.45737460e-01 -7.18558118e-03 5.92493903e+01] [ 3.45725653e-01 -9.38331267e-01 -2.86462246e-03 -1.76112055e+02] [-7.73286279e-03 2.03646322e-04 -9.99970080e-01 -8.03926609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.950385723 meters 0.018301755170419137 Centerline is valid? [True, True] Translation: X:59.25, Y:-176.13, Z:-8.04 [[ 9.07828672e-01 4.19287508e-01 -6.71476839e-03 5.92534580e+01] [ 4.19274504e-01 -9.07853485e-01 -3.30752215e-03 -1.76126372e+02] [-7.48282861e-03 1.87332250e-04 -9.99971986e-01 -8.03909961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.980385723 meters 0.018274089144064025 Centerline is valid? [True, True] Translation: X:59.26, Y:-176.14, Z:-8.04 [[ 8.71192405e-01 4.90901392e-01 -6.29411218e-03 5.92572846e+01] [ 4.90887180e-01 -8.71215126e-01 -3.73921882e-03 -1.76139125e+02] [-7.31911346e-03 1.67880062e-04 -9.99973201e-01 -8.03901164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.010385723 meters 0.01762582829551357 Centerline is valid? [True, True] Translation: X:59.26, Y:-176.15, Z:-8.04 [[ 8.29646698e-01 5.58259947e-01 -5.67350653e-03 5.92635099e+01] [ 5.58245616e-01 -8.29666082e-01 -4.00299330e-03 -1.76152162e+02] [-6.94182676e-03 1.53860029e-04 -9.99975893e-01 -8.03939656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.040385723 meters 0.017757155475405545 Centerline is valid? [True, True] Translation: X:59.27, Y:-176.16, Z:-8.04 [[ 7.83002239e-01 6.21993700e-01 -5.59735036e-03 5.92686947e+01] [ 6.21976364e-01 -7.83022230e-01 -4.64646384e-03 -1.76163467e+02] [-7.27292099e-03 1.56771962e-04 -9.99973540e-01 -8.03921692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.070385723 meters 0.01768442491314368 Centerline is valid? [True, True] Translation: X:59.27, Y:-176.17, Z:-8.04 [[ 7.31390621e-01 6.81938550e-01 -5.25100015e-03 5.92742970e+01] [ 6.81919466e-01 -7.31409455e-01 -5.10407711e-03 -1.76173631e+02] [-7.32129810e-03 1.52314914e-04 -9.99973187e-01 -8.03918953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.100385723 meters 0.017948960690847292 Centerline is valid? [True, True] Translation: X:59.28, Y:-176.18, Z:-8.04 [[ 6.75134050e-01 7.37679475e-01 -4.79649447e-03 5.92801371e+01] [ 7.37659318e-01 -6.75151073e-01 -5.45526535e-03 -1.76183441e+02] [-7.26259567e-03 1.44856557e-04 -9.99973617e-01 -8.03888903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.130385723 meters 0.01717474443669937 Centerline is valid? [True, True] Translation: X:59.29, Y:-176.20, Z:-8.04 [[ 6.14819337e-01 7.88657646e-01 -4.03731775e-03 5.92910479e+01] [ 7.88639234e-01 -6.14832579e-01 -5.39065237e-03 -1.76195153e+02] [-6.73365369e-03 1.30290139e-04 -9.99977320e-01 -8.03950235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.160385723 meters 0.018074594171862024 Centerline is valid? [True, True] Translation: X:59.30, Y:-176.20, Z:-8.04 [[ 5.51069508e-01 8.34451476e-01 -3.62363525e-03 5.92979094e+01] [ 8.34431864e-01 -5.51081407e-01 -5.72255530e-03 -1.76203660e+02] [-6.77211273e-03 1.29849017e-04 -9.99977061e-01 -8.03894515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.190385723 meters 0.017275299928005125 Centerline is valid? [True, True] Translation: X:59.31, Y:-176.21, Z:-8.04 [[ 4.84247891e-01 8.74925262e-01 -3.12502188e-03 5.93100317e+01] [ 8.74905284e-01 -4.84257957e-01 -5.91398791e-03 -1.76213002e+02] [-6.68761413e-03 1.29738020e-04 -9.99977629e-01 -8.03954822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.220385723 meters 0.018004661737259037 Centerline is valid? [True, True] Translation: X:59.32, Y:-176.22, Z:-8.04 [[ 4.16089829e-01 9.09318973e-01 -2.87401622e-03 5.93178392e+01] [ 9.09294640e-01 -4.16099726e-01 -6.65394444e-03 -1.76220804e+02] [-7.24643529e-03 1.55311066e-04 -9.99973732e-01 -8.03870939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.250385723 meters 0.017938160197030716 Centerline is valid? [True, True] Translation: X:59.33, Y:-176.23, Z:-8.04 [[ 3.44666329e-01 9.38722281e-01 -2.36659260e-03 5.93279796e+01] [ 9.38696756e-01 -3.44674415e-01 -6.92443414e-03 -1.76227355e+02] [-7.31582453e-03 1.65106499e-04 -9.99973225e-01 -8.03898553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.280385723 meters 0.01819015578940075 Centerline is valid? [True, True] Translation: X:59.34, Y:-176.23, Z:-8.04 [[ 2.71044065e-01 9.62565082e-01 -1.89158647e-03 5.93368182e+01] [ 9.62536814e-01 -2.71050606e-01 -7.37903972e-03 -1.76233032e+02] [-7.61552163e-03 1.79323307e-04 -9.99970985e-01 -8.03918011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.310385723 meters 0.018186030784833263 Centerline is valid? [True, True] Translation: X:59.35, Y:-176.24, Z:-8.04 [[ 1.95397686e-01 9.80723216e-01 -1.31046963e-03 5.93477201e+01] [ 9.80694417e-01 -1.95401994e-01 -7.51801397e-03 -1.76238017e+02] [-7.62915922e-03 1.83832283e-04 -9.99970881e-01 -8.03941676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.340385723 meters 0.01782424918789368 Centerline is valid? [True, True] Translation: X:59.36, Y:-176.24, Z:-8.04 [[ 1.18315220e-01 9.92975821e-01 -7.26460252e-04 5.93626340e+01] [ 9.92946045e-01 -1.18317300e-01 -7.69203428e-03 -1.76242264e+02] [-7.72395687e-03 1.88748896e-04 -9.99970152e-01 -8.03962812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37038572299997 meters 0.01815728802131331 Centerline is valid? [True, True] Translation: X:59.38, Y:-176.25, Z:-8.04 [[ 4.02250478e-02 9.99190638e-01 -1.20783081e-04 5.93750242e+01] [ 9.99161227e-01 -4.02247908e-02 -7.66866935e-03 -1.76246219e+02] [-7.66732109e-03 1.87790820e-04 -9.99970588e-01 -8.03978752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.400385723 meters 0.02006119860838498 Centerline is valid? [True, True] Translation: X:59.39, Y:-176.25, Z:-8.04 [[-3.86218334e-02 9.99253792e-01 4.61586965e-04 5.93878815e+01] [ 9.99226724e-01 3.86241857e-02 -7.35702164e-03 -1.76248735e+02] [-7.36936019e-03 1.77088366e-04 -9.99972830e-01 -8.03697684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.430385723 meters 0.017948514886230078 Centerline is valid? [True, True] Translation: X:59.40, Y:-176.25, Z:-8.04 [[-1.18174963e-01 9.92992366e-01 9.16408642e-04 5.94004911e+01] [ 9.92971398e-01 1.18178425e-01 -6.45473205e-03 -1.76251232e+02] [-6.51779938e-03 1.47179849e-04 -9.99978748e-01 -8.04077509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.460385723 meters 0.017798784311452286 Centerline is valid? [True, True] Translation: X:59.41, Y:-176.25, Z:-8.04 [[-1.96572018e-01 9.80488528e-01 1.29940311e-03 5.94118139e+01] [ 9.80471228e-01 1.96576270e-01 -5.82593669e-03 -1.76251986e+02] [-5.96769590e-03 1.28811238e-04 -9.99982185e-01 -8.04154602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.490385723 meters 0.017507815092208775 Centerline is valid? [True, True] Translation: X:59.42, Y:-176.25, Z:-8.04 [[-2.75335801e-01 9.61346887e-01 1.53631334e-03 5.94244352e+01] [ 9.61333869e-01 2.75340069e-01 -5.00394547e-03 -1.76253240e+02] [-5.23353602e-03 9.91447111e-05 -9.99986300e-01 -8.04204271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.520385723 meters 0.01706708616647623 Centerline is valid? [True, True] Translation: X:59.44, Y:-176.25, Z:-8.04 [[-3.51057948e-01 9.36351963e-01 1.82191970e-03 5.94380300e+01] [ 9.36340614e-01 3.51062665e-01 -4.61077353e-03 -1.76251545e+02] [-4.95691483e-03 8.72887113e-05 -9.99987711e-01 -8.04211865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.550385723 meters 0.01777027318711458 Centerline is valid? [True, True] Translation: X:59.45, Y:-176.25, Z:-8.04 [[-4.25908515e-01 9.04763186e-01 2.34815848e-03 5.94527817e+01] [ 9.04750439e-01 4.25914980e-01 -4.80337035e-03 -1.76247539e+02] [-5.34602854e-03 7.87010858e-05 -9.99985707e-01 -8.03973821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.580385723 meters 0.01652674274833393 Centerline is valid? [True, True] Translation: X:59.46, Y:-176.24, Z:-8.04 [[-4.97351379e-01 8.67545153e-01 2.64841838e-03 5.94644283e+01] [ 8.67533546e-01 4.97358426e-01 -4.48814112e-03 -1.76244538e+02] [-5.21087827e-03 6.54086126e-05 -9.99986421e-01 -8.04240007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.610385723 meters 0.01599073899626189 Centerline is valid? [True, True] Translation: X:59.48, Y:-176.24, Z:-8.04 [[-5.64945183e-01 8.25123416e-01 2.87896498e-03 5.94783496e+01] [ 8.25113202e-01 5.64952515e-01 -4.10609297e-03 -1.76237927e+02] [-5.01451197e-03 5.57545691e-05 -9.99987426e-01 -8.04353075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.640385723 meters 0.015945561270981637 Centerline is valid? [True, True] Translation: X:59.49, Y:-176.23, Z:-8.04 [[-6.29653185e-01 7.76870645e-01 2.97782289e-03 5.94903067e+01] [ 7.76862265e-01 6.29660225e-01 -3.60861912e-03 -1.76231980e+02] [-4.67844690e-03 4.11797101e-05 -9.99989055e-01 -8.04334098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.670385723 meters 0.015844154896789187 Centerline is valid? [True, True] Translation: X:59.50, Y:-176.23, Z:-8.04 [[-6.89046804e-01 7.24710204e-01 3.10207815e-03 5.95009299e+01] [ 7.24703095e-01 6.89053786e-01 -3.21011108e-03 -1.76225411e+02] [-4.46389895e-03 3.61688547e-05 -9.99990036e-01 -8.04308910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.700385723 meters 0.015754606810801604 Centerline is valid? [True, True] Translation: X:59.51, Y:-176.22, Z:-8.04 [[-7.43634862e-01 6.68577193e-01 3.42467094e-03 5.95105886e+01] [ 6.68570334e-01 7.43642747e-01 -3.02881843e-03 -1.76217909e+02] [-4.57173063e-03 3.72984161e-05 -9.99989549e-01 -8.04284782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.730385723 meters 0.01586843645535748 Centerline is valid? [True, True] Translation: X:59.53, Y:-176.20, Z:-8.04 [[-7.88025198e-01 6.15632696e-01 3.55950116e-03 5.95290705e+01] [ 6.15626669e-01 7.88033236e-01 -2.72454153e-03 -1.76197696e+02] [-4.48232206e-03 4.43164618e-05 -9.99989953e-01 -8.04230917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.760385723 meters 0.016032849817942486 Centerline is valid? [True, True] Translation: X:59.55, Y:-176.18, Z:-8.04 [[-8.28736851e-01 5.59626584e-01 3.64939032e-03 5.95481481e+01] [ 5.59621425e-01 8.28744885e-01 -2.40355307e-03 -1.76177938e+02] [-4.36950576e-03 5.03640084e-05 -9.99990452e-01 -8.04283077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.790385723 meters 0.016585759530013754 Centerline is valid? [True, True] Translation: X:59.56, Y:-176.16, Z:-8.04 [[-8.64250397e-01 5.03047933e-01 3.74553596e-03 5.95630134e+01] [ 5.03043541e-01 8.64258511e-01 -2.10294037e-03 -1.76157533e+02] [-4.29499113e-03 6.67006271e-05 -9.99990774e-01 -8.04381479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.820385723 meters 0.017179905738660538 Centerline is valid? [True, True] Translation: X:59.58, Y:-176.14, Z:-8.04 [[-8.96824518e-01 4.42368227e-01 4.01694281e-03 5.95789531e+01] [ 4.42364177e-01 8.96833511e-01 -1.89446236e-03 -1.76135128e+02] [-4.44057888e-03 7.79513053e-05 -9.99990138e-01 -8.04374884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.850385723 meters 0.017276583523797982 Centerline is valid? [True, True] Translation: X:59.90, Y:-175.48, Z:-9.02 [[-8.82900602e-01 -4.69544700e-01 3.78186387e-03 5.98950154e+01] [ 4.69539989e-01 -8.82908698e-01 -2.10495730e-03 -1.75480333e+02] [ 4.32741205e-03 -8.27317492e-05 9.99990633e-01 -9.02448122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.880385723 meters 0.017933209820660805 Centerline is valid? [True, True] Translation: X:59.54, Y:-176.12, Z:-8.04 [[-8.96625356e-01 4.42772393e-01 3.94710221e-03 5.95352128e+01] [ 4.42768564e-01 8.96634038e-01 -1.84378572e-03 -1.76118271e+02] [-4.35548361e-03 9.44677480e-05 -9.99990510e-01 -8.04341303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.910385723 meters 0.017924606244035877 Centerline is valid? [True, True] Translation: X:59.55, Y:-176.09, Z:-8.04 [[-9.25397386e-01 3.78977856e-01 3.93227625e-03 5.95487509e+01] [ 3.78974870e-01 9.25405736e-01 -1.50751551e-03 -1.76091087e+02] [-4.21026599e-03 9.51829692e-05 -9.99991132e-01 -8.04269728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.940385723 meters 0.01784827208246964 Centerline is valid? [True, True] Translation: X:59.56, Y:-176.06, Z:-8.04 [[-9.49878843e-01 3.12599140e-01 3.45857279e-03 5.95572236e+01] [ 3.12597383e-01 9.49885136e-01 -1.05143177e-03 -1.76063203e+02] [-3.61392355e-03 8.24080135e-05 -9.99993466e-01 -8.04368408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.970385723 meters 0.017290797553850257 Centerline is valid? [True, True] Translation: X:59.78, Y:-175.37, Z:-9.02 [[-9.42728245e-01 -3.33548274e-01 3.00078491e-03 5.97770801e+01] [ 3.33546250e-01 -9.42733016e-01 -1.16613195e-03 -1.75369135e+02] [ 3.21790031e-03 -9.84449703e-05 9.99994818e-01 -9.02404924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.000385723 meters 0.017767811164855644 Centerline is valid? [True, True] Translation: X:59.51, Y:-176.05, Z:-8.04 [[-9.51239130e-01 3.08440015e-01 2.97906923e-03 5.95121051e+01] [ 3.08438729e-01 9.51243792e-01 -8.93233852e-04 -1.76049444e+02] [-3.10933017e-03 6.91813346e-05 -9.99995164e-01 -8.04375689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.030385723 meters 0.017012602022788682 Centerline is valid? [True, True] Translation: X:59.51, Y:-176.02, Z:-8.04 [[-9.71088620e-01 2.38702797e-01 2.80487739e-03 5.95132932e+01] [ 2.38701978e-01 9.71092669e-01 -6.28117603e-04 -1.76017471e+02] [-2.87372930e-03 5.95719246e-05 -9.99995869e-01 -8.04449916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.060385723 meters 0.016279598731917425 Centerline is valid? [True, True] Translation: X:59.52, Y:-175.99, Z:-8.04 [[-9.85751403e-01 1.68178548e-01 3.18553487e-03 5.95201227e+01] [ 1.68177878e-01 9.85756548e-01 -4.79042534e-04 -1.75987042e+02] [-3.22072654e-03 6.35196450e-05 -9.99994811e-01 -8.04482885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.090385723 meters 0.016738548805400977 Centerline is valid? [True, True] Translation: X:59.63, Y:-175.27, Z:-9.02 [[-9.80375563e-01 -1.97113276e-01 3.17992896e-03 5.96302168e+01] [ 1.97112034e-01 -9.80380718e-01 -7.02485309e-04 -1.75274665e+02] [ 3.25601022e-03 -6.18971650e-05 9.99994697e-01 -9.02375703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12038572299997 meters 0.017813976514314635 Centerline is valid? [True, True] Translation: X:59.46, Y:-175.98, Z:-8.04 [[-9.86842147e-01 1.61643137e-01 3.75143336e-03 5.94623600e+01] [ 1.61642220e-01 9.86849275e-01 -5.48227080e-04 -1.75975420e+02] [-3.79071644e-03 6.53764299e-05 -9.99992813e-01 -8.04116886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.150385723 meters 0.015610727340271484 Centerline is valid? [True, True] Translation: X:59.56, Y:-175.27, Z:-9.02 [[-9.80598057e-01 -1.96009013e-01 2.81374445e-03 5.95614607e+01] [ 1.96007885e-01 -9.80602088e-01 -6.73918273e-04 -1.75270017e+02] [ 2.89125773e-03 -1.09326851e-04 9.99995814e-01 -9.02410056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.180385723 meters 0.015256179243382764 Centerline is valid? [True, True] Translation: X:59.40, Y:-175.96, Z:-8.04 [[-9.88030260e-01 1.54223906e-01 3.34544739e-03 5.93980359e+01] [ 1.54223183e-01 9.88035923e-01 -4.74403118e-04 -1.75963921e+02] [-3.37858650e-03 4.72209116e-05 -9.99994291e-01 -8.04315239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.210385723 meters 0.015097842705824515 Centerline is valid? [True, True] Translation: X:59.40, Y:-175.94, Z:-8.04 [[-9.96536017e-01 8.30902704e-02 3.46031313e-03 5.94015559e+01] [ 8.30899313e-02 9.96542024e-01 -2.41896938e-04 -1.75935190e+02] [-3.46844673e-03 4.64581698e-05 -9.99993984e-01 -8.04313869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.240385723 meters 0.01509429185616606 Centerline is valid? [True, True] Translation: X:59.45, Y:-175.23, Z:-9.02 [[-9.92232809e-01 -1.24334164e-01 3.88192100e-03 5.94531632e+01] [ 1.24333122e-01 -9.92240402e-01 -5.09639208e-04 -1.75228578e+02] [ 3.91516442e-03 -2.30293858e-05 9.99992335e-01 -9.02481632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.270385723 meters 0.015036286088085818 Centerline is valid? [True, True] Translation: X:59.33, Y:-175.93, Z:-8.04 [[-9.96961376e-01 7.78154456e-02 3.57380555e-03 5.93294891e+01] [ 7.78151083e-02 9.96967780e-01 -2.33530598e-04 -1.75929162e+02] [-3.58114127e-03 4.52750791e-05 -9.99993587e-01 -8.04271073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.300385723 meters 0.014940365535421725 Centerline is valid? [True, True] Translation: X:59.37, Y:-175.22, Z:-9.03 [[-9.92745038e-01 -1.20188512e-01 3.46573285e-03 5.93706279e+01] [ 1.20187605e-01 -9.92751086e-01 -4.69649512e-04 -1.75223899e+02] [ 3.49705653e-03 -4.97040929e-05 9.99993884e-01 -9.02573898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.330385723 meters 0.014804199482343256 Centerline is valid? [True, True] Translation: X:59.26, Y:-175.92, Z:-8.04 [[-9.97327229e-01 7.29772212e-02 3.56708453e-03 5.92596539e+01] [ 7.29769151e-02 9.97333607e-01 -2.16076089e-04 -1.75924378e+02] [-3.57334191e-03 4.48162581e-05 -9.99993615e-01 -8.04233151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.360385723 meters 0.014863624138286267 Centerline is valid? [True, True] Translation: X:59.30, Y:-175.22, Z:-9.03 [[-9.93288624e-01 -1.15613505e-01 3.35079856e-03 5.93043779e+01] [ 1.15612660e-01 -9.93294274e-01 -4.45465165e-04 -1.75218822e+02] [ 3.37983081e-03 -5.50807460e-05 9.99994287e-01 -9.02556162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.390385723 meters 0.01486107012744174 Centerline is valid? [True, True] Translation: X:59.19, Y:-175.92, Z:-8.04 [[-9.97666553e-01 6.82082637e-02 3.01368596e-03 5.91895380e+01] [ 6.82080662e-02 9.97671104e-01 -1.68366527e-04 -1.75921949e+02] [-3.01815139e-03 3.75840391e-05 -9.99995445e-01 -8.04292028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.420385723 meters 0.014815072506115426 Centerline is valid? [True, True] Translation: X:59.18, Y:-175.89, Z:-8.04 [[-9.99991655e-01 -3.37494026e-03 2.30225651e-03 5.91818860e+01] [-3.37486755e-03 9.99994305e-01 3.54670586e-05 -1.75893427e+02] [-2.30236309e-03 2.76969518e-05 -9.99997349e-01 -8.04271130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.450385723 meters 0.01472984641718104 Centerline is valid? [True, True] Translation: X:59.17, Y:-175.18, Z:-9.03 [[-9.99160348e-01 -4.09042620e-02 2.33260471e-03 5.91731598e+01] [ 4.09040901e-02 -9.99163070e-01 -1.21392935e-04 -1.75182771e+02] [ 2.33561798e-03 -2.58779335e-05 9.99997272e-01 -9.02587781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.480385723 meters 0.01530281112688817 Centerline is valid? [True, True] Translation: X:59.09, Y:-175.89, Z:-8.04 [[-9.99946281e-01 -9.95512663e-03 2.88641970e-03 5.90948868e+01] [-9.95499342e-03 9.99950446e-01 6.05157029e-05 -1.75894997e+02] [-2.88687911e-03 3.17781629e-05 -9.99995832e-01 -8.04083360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.510385723 meters 0.014666272208554007 Centerline is valid? [True, True] Translation: X:59.08, Y:-175.18, Z:-9.03 [[-9.99323191e-01 -3.66747423e-02 2.85029955e-03 5.90786218e+01] [ 3.66744971e-02 -9.99327255e-01 -1.38277858e-04 -1.75183289e+02] [ 2.85345333e-03 -3.36509682e-05 9.99995928e-01 -9.02687151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.540385723 meters 0.014356058872897776 Centerline is valid? [True, True] Translation: X:59.00, Y:-175.90, Z:-8.04 [[-9.99834886e-01 -1.79959752e-02 2.51921902e-03 5.90039177e+01] [-1.79958629e-02 9.99838059e-01 6.72518422e-05 -1.75896263e+02] [-2.52002132e-03 2.19052179e-05 -9.99996825e-01 -8.04079675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.570385723 meters 0.014421857227997163 Centerline is valid? [True, True] Translation: X:58.99, Y:-175.87, Z:-8.04 [[-9.95968078e-01 -8.96660434e-02 2.75457808e-03 5.89921398e+01] [-8.96656378e-02 9.95971887e-01 2.70625716e-04 -1.75868612e+02] [-2.76774826e-03 2.25435738e-05 -9.99996170e-01 -8.04017722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.600385723 meters 0.014421857227997163 Centerline is valid? [True, True] Translation: X:58.98, Y:-175.84, Z:-8.04 [[-9.87024471e-01 -1.60546722e-01 2.72825222e-03 5.89786979e+01] [-1.60546046e-01 9.87028242e-01 4.66608371e-04 -1.75841149e+02] [-2.76777443e-03 2.25437757e-05 -9.99996169e-01 -8.04017684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.630385723 meters 0.014318005219445876 Centerline is valid? [True, True] Translation: X:58.95, Y:-175.82, Z:-8.04 [[-9.72730027e-01 -2.31895670e-01 4.54898643e-03 5.89525646e+01] [-2.31892970e-01 9.72740663e-01 1.11938785e-03 -1.75817796e+02] [-4.68456527e-03 3.39841988e-05 -9.99989027e-01 -8.03889810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.660385723 meters 0.014226131359872557 Centerline is valid? [True, True] Translation: X:58.75, Y:-175.13, Z:-9.03 [[-9.83700881e-01 1.79741570e-01 5.05428581e-03 5.87543887e+01] [-1.79739234e-01 -9.83713865e-01 9.16319158e-04 -1.75129685e+02] [ 5.13667167e-03 -7.06949842e-06 9.99986807e-01 -9.03016458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.690385723 meters 0.01436317466279167 Centerline is valid? [True, True] Translation: X:58.80, Y:-175.86, Z:-8.04 [[-9.71209516e-01 -2.38140152e-01 6.42990385e-03 5.88002571e+01] [-2.38134578e-01 9.71230799e-01 1.63025111e-03 -1.75857259e+02] [-6.63314890e-03 5.21329551e-05 -9.99977999e-01 -8.03666149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.720385723 meters 0.014461972774666147 Centerline is valid? [True, True] Translation: X:58.76, Y:-175.84, Z:-8.04 [[-9.51615726e-01 -3.07217359e-01 6.70855849e-03 5.87576541e+01] [-3.07209283e-01 9.51639370e-01 2.22828733e-03 -1.75841613e+02] [-7.06869692e-03 5.95418161e-05 -9.99975015e-01 -8.03675173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.750385723 meters 0.014563084775054639 Centerline is valid? [True, True] Translation: X:58.70, Y:-175.84, Z:-8.04 [[-9.26650402e-01 -3.75865704e-01 6.63368988e-03 5.86980187e+01] [-3.75855567e-01 9.26674144e-01 2.76119437e-03 -1.75835207e+02] [-7.18510716e-03 6.53526023e-05 -9.99974185e-01 -8.03689274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.780385723 meters 0.01574610881904963 Centerline is valid? [True, True] Translation: X:58.63, Y:-175.84, Z:-8.04 [[-8.97658177e-01 -4.40658243e-01 5.48734001e-03 5.86255133e+01] [-4.40649499e-01 8.97674945e-01 2.77700826e-03 -1.75840957e+02] [-6.14955923e-03 7.48105406e-05 -9.99981089e-01 -8.03604859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.810385723 meters 0.015199971824287456 Centerline is valid? [True, True] Translation: X:58.55, Y:-175.85, Z:-8.04 [[-8.62803504e-01 -5.05520149e-01 4.41507759e-03 5.85474768e+01] [-5.05513122e-01 8.62814797e-01 2.66629587e-03 -1.75852837e+02] [-5.15726056e-03 6.86097582e-05 -9.99986699e-01 -8.03736292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.840385723 meters 0.0152458879105488 Centerline is valid? [True, True] Translation: X:58.46, Y:-175.88, Z:-8.04 [[-8.23057618e-01 -5.67942767e-01 4.14381202e-03 5.84580804e+01] [-5.67935121e-01 8.23068046e-01 2.94801079e-03 -1.75879026e+02] [-5.08494066e-03 7.29663551e-05 -9.99987069e-01 -8.03764417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87038572299997 meters 0.015965114597909513 Centerline is valid? [True, True] Translation: X:58.37, Y:-175.91, Z:-8.04 [[-7.79183191e-01 -6.26782872e-01 4.09719241e-03 5.83706300e+01] [-6.26773610e-01 7.79193958e-01 3.40845083e-03 -1.75914763e+02] [-5.32886617e-03 8.77955109e-05 -9.99985798e-01 -8.03679765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.900385723 meters 0.01608965642196695 Centerline is valid? [True, True] Translation: X:58.28, Y:-175.96, Z:-8.04 [[-7.29926779e-01 -6.83515764e-01 3.61904461e-03 5.82786817e+01] [-6.83506771e-01 7.29935746e-01 3.50725401e-03 -1.75959863e+02] [-5.03893343e-03 8.63971232e-05 -9.99987301e-01 -8.03627927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.930385723 meters 0.01585724231820651 Centerline is valid? [True, True] Translation: X:58.19, Y:-176.02, Z:-8.04 [[-6.76479215e-01 -7.36455697e-01 2.97970028e-03 5.81856178e+01] [-7.36448021e-01 6.76485772e-01 3.36338799e-03 -1.76017561e+02] [-4.49271109e-03 8.08676975e-05 -9.99989904e-01 -8.03685813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.960385723 meters 0.01559565188857767 Centerline is valid? [True, True] Translation: X:58.10, Y:-176.08, Z:-8.04 [[-6.18626042e-01 -7.85681880e-01 2.40895876e-03 5.80955296e+01] [-7.85675457e-01 6.18630728e-01 3.17784432e-03 -1.76082135e+02] [-3.98703062e-03 7.32374795e-05 -9.99992049e-01 -8.03735428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.990385723 meters 0.01572821899149173 Centerline is valid? [True, True] Translation: X:58.01, Y:-176.16, Z:-8.04 [[-5.56765979e-01 -8.30666307e-01 2.26516517e-03 5.80093381e+01] [-8.30658866e-01 5.56770582e-01 3.51664047e-03 -1.76156602e+02] [-4.18233208e-03 7.63662441e-05 -9.99991251e-01 -8.03733747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.020385723 meters 0.01582453075026907 Centerline is valid? [True, True] Translation: X:57.93, Y:-176.24, Z:-8.04 [[-4.90958488e-01 -8.71180193e-01 2.19889499e-03 5.79263258e+01] [-8.71170701e-01 4.90963405e-01 4.06749687e-03 -1.76242007e+02] [-4.62309968e-03 8.13592199e-05 -9.99989310e-01 -8.03598651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.050385723 meters 0.01591271684913719 Centerline is valid? [True, True] Translation: X:57.85, Y:-176.34, Z:-8.04 [[-4.22033227e-01 -9.06578379e-01 1.89664905e-03 5.78478115e+01] [-9.06568371e-01 4.22037482e-01 4.26060033e-03 -1.76338028e+02] [-4.66302513e-03 7.86728671e-05 -9.99989125e-01 -8.03530422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.080385723 meters 0.015687989120442322 Centerline is valid? [True, True] Translation: X:57.78, Y:-176.44, Z:-8.03 [[-3.49534798e-01 -9.36921824e-01 1.70921912e-03 5.77773302e+01] [-9.36909518e-01 3.49538968e-01 4.80250607e-03 -1.76437528e+02] [-5.09701144e-03 7.72593320e-05 -9.99987007e-01 -8.03468102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.110385723 meters 0.015602755718730646 Centerline is valid? [True, True] Translation: X:57.71, Y:-176.54, Z:-8.03 [[-2.75460215e-01 -9.61311647e-01 1.25950597e-03 5.77142632e+01] [-9.61300433e-01 2.75463086e-01 4.64392663e-03 -1.76542612e+02] [-4.81120816e-03 6.84534004e-05 -9.99988424e-01 -8.03467835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.140385723 meters 0.015211485383601387 Centerline is valid? [True, True] Translation: X:57.66, Y:-176.66, Z:-8.04 [[-1.99541385e-01 -9.79889036e-01 8.43794346e-04 5.76570513e+01] [-9.79878980e-01 1.99543161e-01 4.43980284e-03 -1.76656175e+02] [-4.51888752e-03 5.91080663e-05 -9.99989788e-01 -8.03545303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.170385723 meters 0.01512018627068526 Centerline is valid? [True, True] Translation: X:57.61, Y:-176.77, Z:-8.03 [[-1.21980487e-01 -9.92532395e-01 4.52651394e-04 5.76100743e+01] [-9.92524026e-01 1.21981317e-01 4.07639171e-03 -1.76772956e+02] [-4.10116584e-03 4.79728608e-05 -9.99991589e-01 -8.03489195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.200385723 meters 0.01516038188073359 Centerline is valid? [True, True] Translation: X:57.57, Y:-176.90, Z:-8.03 [[-4.45210433e-02 -9.99008439e-01 1.26484515e-04 5.75719505e+01] [-9.99001253e-01 4.45212029e-02 3.78938869e-03 -1.76898983e+02] [-3.79126252e-03 4.23493489e-05 -9.99992812e-01 -8.03442572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.230385723 meters 0.015263134149645164 Centerline is valid? [True, True] Translation: X:57.54, Y:-177.01, Z:-8.03 [[ 3.24502330e-02 -9.99473335e-01 -1.85900616e-04 5.75446631e+01] [-9.99464272e-01 -3.24507305e-02 4.25660076e-03 -1.77013943e+02] [-4.26039157e-03 4.76733376e-05 -9.99990923e-01 -8.03367990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.260385723 meters 0.017110716124358327 Centerline is valid? [True, True] Translation: X:57.53, Y:-177.14, Z:-8.03 [[ 1.08068113e-01 -9.94143377e-01 -4.78914468e-04 5.75268687e+01] [-9.94135558e-01 -1.08069163e-01 3.94316092e-03 -1.77137703e+02] [-3.97182320e-03 4.99759423e-05 -9.99992111e-01 -8.03150851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.290385723 meters 0.015721036517181663 Centerline is valid? [True, True] Translation: X:57.52, Y:-177.27, Z:-8.03 [[ 1.83410215e-01 -9.83036238e-01 -6.69817204e-04 5.75194297e+01] [-9.83030576e-01 -1.83411432e-01 3.33660708e-03 -1.77267910e+02] [-3.40285780e-03 4.64829699e-05 -9.99994209e-01 -8.03345328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.320385723 meters 0.015962611816657594 Centerline is valid? [True, True] Translation: X:57.52, Y:-177.40, Z:-8.03 [[ 2.57288252e-01 -9.66334425e-01 -7.31623067e-04 5.75228079e+01] [-9.66330957e-01 -2.57289288e-01 2.58932332e-03 -1.77399895e+02] [-2.69039104e-03 4.07875484e-05 -9.99996380e-01 -8.03366475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.350385723 meters 0.01662303311553858 Centerline is valid? [True, True] Translation: X:57.53, Y:-177.52, Z:-8.03 [[ 3.28702203e-01 -9.44433426e-01 -6.04148881e-04 5.75324263e+01] [-9.44432001e-01 -3.28702757e-01 1.64125171e-03 -1.77515712e+02] [-1.74863838e-03 3.10944814e-05 -9.99998471e-01 -8.03400526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.380385723 meters 0.01691107719023828 Centerline is valid? [True, True] Translation: X:57.55, Y:-177.64, Z:-8.03 [[ 3.99505491e-01 -9.16730675e-01 -4.81633548e-04 5.75524815e+01] [-9.16730074e-01 -3.99505781e-01 1.05008339e-03 -1.77638912e+02] [-1.15505904e-03 2.20138767e-05 -9.99999333e-01 -8.03349138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.410385723 meters 0.01664199849416449 Centerline is valid? [True, True] Translation: X:57.58, Y:-177.76, Z:-8.03 [[ 4.68259023e-01 -8.83591150e-01 -4.09129957e-04 5.75785801e+01] [-8.83590843e-01 -4.68259202e-01 7.36186661e-04 -1.77757136e+02] [-8.42066885e-04 1.67774361e-05 -9.99999645e-01 -8.03314759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.440385723 meters 0.017172425151986675 Centerline is valid? [True, True] Translation: X:57.62, Y:-177.88, Z:-8.03 [[ 5.35045517e-01 -8.44823170e-01 -3.25694549e-04 5.76198354e+01] [-8.44823026e-01 -5.35045616e-01 4.92292570e-04 -1.77880174e+02] [-5.90161611e-04 1.17553217e-05 -9.99999826e-01 -8.03310156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.470385723 meters 0.01714124589804919 Centerline is valid? [True, True] Translation: X:57.67, Y:-178.00, Z:-8.03 [[ 5.98957378e-01 -8.00780904e-01 5.71251845e-05 5.76715925e+01] [-8.00780900e-01 -5.98957381e-01 -7.45089748e-05 -1.78003855e+02] [ 9.38809150e-05 -1.11705646e-06 -9.99999996e-01 -8.03261672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.500385723 meters 0.016768040981837463 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.09, Z:-8.03 [[ 6.59982538e-01 -7.51280932e-01 -1.02229492e-04 5.77063009e+01] [-7.51280924e-01 -6.59982546e-01 1.11775115e-04 -1.78094984e+02] [-1.51444193e-04 3.03344311e-06 -9.99999989e-01 -8.03136051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.530385723 meters 0.01670537755553384 Centerline is valid? [True, True] Translation: X:57.76, Y:-178.20, Z:-8.03 [[ 7.15889418e-01 -6.98213509e-01 -4.86219183e-04 5.77619300e+01] [-6.98213358e-01 -7.15889583e-01 4.58905551e-04 -1.78195025e+02] [-6.68493303e-04 1.09591003e-05 -9.99999777e-01 -8.03058688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.560385723 meters 0.016218500812396897 Centerline is valid? [True, True] Translation: X:57.75, Y:-178.21, Z:-8.03 [[ 7.68745178e-01 -6.39554170e-01 -1.14660868e-03 5.77536128e+01] [-6.39553502e-01 -7.68746033e-01 9.24879052e-04 -1.78207814e+02] [-1.47296113e-03 2.23212866e-05 -9.99998915e-01 -8.02894947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.590385723 meters 0.01612836170110879 Centerline is valid? [True, True] Translation: X:57.75, Y:-178.22, Z:-8.03 [[ 8.16225811e-01 -5.77730787e-01 -1.60090816e-03 5.77474023e+01] [-5.77729747e-01 -8.16227381e-01 1.09679396e-03 -1.78218900e+02] [-1.94035671e-03 2.96607314e-05 -9.99998117e-01 -8.02839261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62038572299997 meters 0.016566944431848345 Centerline is valid? [True, True] Translation: X:57.74, Y:-178.23, Z:-8.03 [[ 8.58143249e-01 -5.13408372e-01 -1.41695811e-03 5.77412779e+01] [-5.13407725e-01 -8.58144419e-01 8.15729322e-04 -1.78226964e+02] [-1.63475696e-03 2.74646284e-05 -9.99998663e-01 -8.02871104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.650385723 meters 0.01670727518020919 Centerline is valid? [True, True] Translation: X:57.74, Y:-178.24, Z:-8.03 [[ 8.95351489e-01 -4.45358070e-01 -1.37885836e-03 5.77368824e+01] [-4.45357587e-01 -8.95352550e-01 6.56020740e-04 -1.78235513e+02] [-1.52672848e-03 2.67158876e-05 -9.99998834e-01 -8.02910866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.680385723 meters 0.016838784204832733 Centerline is valid? [True, True] Translation: X:57.73, Y:-178.25, Z:-8.03 [[ 9.27096342e-01 -3.74821086e-01 -1.23511439e-03 5.77325351e+01] [-3.74820788e-01 -9.27097165e-01 4.73113234e-04 -1.78245612e+02] [-1.32240387e-03 2.43250022e-05 -9.99999125e-01 -8.02929014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.710385723 meters 0.01708869712008975 Centerline is valid? [True, True] Translation: X:57.73, Y:-178.26, Z:-8.03 [[ 9.53307065e-01 -3.01999739e-01 -1.34101046e-03 5.77285046e+01] [-3.01999479e-01 -9.53308008e-01 3.96699967e-04 -1.78255706e+02] [-1.39819929e-03 2.68075784e-05 -9.99999022e-01 -8.02861338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.740385723 meters 0.0172987845666131 Centerline is valid? [True, True] Translation: X:57.73, Y:-178.26, Z:-8.03 [[ 9.74010312e-01 -2.26501371e-01 -1.02049782e-03 5.77258128e+01] [-2.26501268e-01 -9.74010846e-01 2.16685422e-04 -1.78263985e+02] [-1.04305549e-03 2.00902149e-05 -9.99999456e-01 -8.02873579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.770385723 meters 0.016695614459843213 Centerline is valid? [True, True] Translation: X:57.72, Y:-178.28, Z:-8.03 [[ 9.88673802e-01 -1.50078964e-01 -6.46980115e-04 5.77197518e+01] [-1.50078941e-01 -9.88674013e-01 8.49380799e-05 -1.78279718e+02] [-6.52399846e-04 1.31220361e-05 -9.99999787e-01 -8.02898016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.800385723 meters 0.018638770953585234 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.29, Z:-8.03 [[ 9.97317718e-01 -7.31939425e-02 -1.24841572e-04 5.77143739e+01] [-7.31939424e-02 -9.97317726e-01 6.05611905e-06 -1.78291205e+02] [-1.24949984e-04 3.09777201e-06 -9.99999992e-01 -8.02699239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.830385723 meters 0.019905033538854002 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.30, Z:-8.03 [[ 9.99990187e-01 4.38266023e-03 6.47370032e-04 5.77110629e+01] [ 4.38265092e-03 -9.99990396e-01 1.57921630e-05 -1.78303811e+02] [ 6.47433027e-04 -1.29548112e-05 -9.99999790e-01 -8.02600673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.860385723 meters 0.017065662708071375 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.32, Z:-8.03 [[ 9.96575775e-01 8.26797476e-02 8.85139430e-04 5.77092482e+01] [ 8.26796989e-02 -9.96576168e-01 9.14841241e-05 -1.78320003e+02] [ 8.89672746e-04 -1.79878004e-05 -9.99999604e-01 -8.02958539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.890385723 meters 0.01742324882696194 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.33, Z:-8.03 [[ 9.87051532e-01 1.60402210e-01 6.36037403e-04 5.77070828e+01] [ 1.60402169e-01 -9.87051737e-01 1.16460117e-04 -1.78332579e+02] [ 6.46482283e-04 -1.29303586e-05 -9.99999791e-01 -8.02921946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.920385723 meters 0.017356984715936163 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.35, Z:-8.03 [[ 9.71497352e-01 2.37049707e-01 5.75431506e-04 5.77073054e+01] [ 2.37049658e-01 -9.71497523e-01 1.52721423e-04 -1.78345897e+02] [ 5.95232851e-04 -1.19626162e-05 -9.99999823e-01 -8.02941673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.950385723 meters 0.01929571249764679 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.36, Z:-8.03 [[ 9.50177655e-01 3.11707922e-01 7.71380776e-04 5.77089935e+01] [ 3.11707804e-01 -9.50177968e-01 2.71209624e-04 -1.78360982e+02] [ 8.17487207e-04 -1.72519167e-05 -9.99999666e-01 -8.02674683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.980385723 meters 0.017543059389387626 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.37, Z:-8.03 [[ 9.22754834e-01 3.85386636e-01 8.11156652e-04 5.77102483e+01] [ 3.85386469e-01 -9.22755190e-01 3.58837656e-04 -1.78374706e+02] [ 8.86790248e-04 -1.85103828e-05 -9.99999607e-01 -8.02984074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.010385723 meters 0.018912567488350036 Centerline is valid? [True, True] Translation: X:57.71, Y:-178.39, Z:-8.03 [[ 8.90185716e-01 4.55597151e-01 7.92041352e-04 5.77136210e+01] [ 4.55596951e-01 -8.90186068e-01 4.27420341e-04 -1.78388702e+02] [ 8.99795666e-04 -1.96318578e-05 -9.99999595e-01 -8.02736319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.040385723 meters 0.01770657001732883 Centerline is valid? [True, True] Translation: X:57.72, Y:-178.40, Z:-8.03 [[ 8.52245767e-01 5.23141344e-01 5.35912250e-04 5.77178528e+01] [ 5.23141229e-01 -8.52245935e-01 3.45732150e-04 -1.78402913e+02] [ 6.37595818e-04 -1.42909682e-05 -9.99999797e-01 -8.02859888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.070385723 meters 0.01772476119520838 Centerline is valid? [True, True] Translation: X:57.72, Y:-178.41, Z:-8.03 [[ 8.09117637e-01 5.87646705e-01 1.51127529e-05 5.77227571e+01] [ 5.87646704e-01 -8.09117637e-01 1.08374735e-05 -1.78414395e+02] [ 1.85966005e-05 1.12168521e-07 -1.00000000e+00 -8.02813609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.100385723 meters 0.020561784801437305 Centerline is valid? [True, True] Translation: X:57.73, Y:-178.43, Z:-8.02 [[ 7.61467775e-01 6.48202375e-01 -7.13797565e-04 5.77268855e+01] [ 6.48202059e-01 -7.61468109e-01 -6.40273852e-04 -1.78425338e+02] [-9.58561113e-04 2.48628544e-05 -9.99999540e-01 -8.02431188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.130385723 meters 0.020295234086869986 Centerline is valid? [True, True] Translation: X:57.73, Y:-178.43, Z:-8.02 [[ 7.08430547e-01 7.05780110e-01 -7.71753023e-04 5.77327523e+01] [ 7.05779646e-01 -7.08430967e-01 -8.09848372e-04 -1.78434902e+02] [-1.11830861e-03 2.90337498e-05 -9.99999374e-01 -8.02437334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.160385723 meters 0.018434684449064848 Centerline is valid? [True, True] Translation: X:57.74, Y:-178.44, Z:-8.03 [[ 6.50515522e-01 7.59492253e-01 -1.03591351e-03 5.77389828e+01] [ 7.59491187e-01 -6.50516346e-01 -1.27295360e-03 -1.78444411e+02] [-1.64067707e-03 4.13088946e-05 -9.99998653e-01 -8.02699116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.190385723 meters 0.018677007801242308 Centerline is valid? [True, True] Translation: X:57.74, Y:-178.45, Z:-8.03 [[ 5.89140860e-01 8.08029465e-01 -1.19655157e-03 5.77449913e+01] [ 8.08027612e-01 -5.89142072e-01 -1.73111574e-03 -1.78453701e+02] [-2.10373139e-03 5.30243039e-05 -9.99997786e-01 -8.02687843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.220385723 meters 0.019783618901423525 Centerline is valid? [True, True] Translation: X:57.75, Y:-178.46, Z:-8.03 [[ 5.24547749e-01 8.51380481e-01 -9.66708004e-04 5.77507761e+01] [ 8.51378858e-01 -5.24548638e-01 -1.66360378e-03 -1.78461183e+02] [-1.92344515e-03 4.96048621e-05 -9.99998149e-01 -8.02502862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.250385723 meters 0.018846041386593765 Centerline is valid? [True, True] Translation: X:57.76, Y:-178.47, Z:-8.03 [[ 4.56169469e-01 8.89892600e-01 -7.59119065e-04 5.77582337e+01] [ 8.89891199e-01 -4.56170099e-01 -1.57965739e-03 -1.78468675e+02] [-1.75201284e-03 4.50580970e-05 -9.99998464e-01 -8.02663667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.280385723 meters 0.018331147494414626 Centerline is valid? [True, True] Translation: X:57.77, Y:-178.48, Z:-8.03 [[ 3.85139686e-01 9.22858150e-01 -5.06946071e-04 5.77692909e+01] [ 9.22857222e-01 -3.85140018e-01 -1.30899285e-03 -1.78476925e+02] [-1.40325994e-03 3.63062509e-05 -9.99999015e-01 -8.02685695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.310385723 meters 0.019240555026929913 Centerline is valid? [True, True] Translation: X:57.78, Y:-178.48, Z:-8.03 [[ 3.11921581e-01 9.50107787e-01 -3.47511892e-04 5.77806606e+01] [ 9.50107079e-01 -3.11921773e-01 -1.16009080e-03 -1.78483150e+02] [-1.21060783e-03 3.16838477e-05 -9.99999267e-01 -8.02515051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.340385723 meters 0.01939628031299581 Centerline is valid? [True, True] Translation: X:57.79, Y:-178.49, Z:-8.03 [[ 2.35191054e-01 9.71949082e-01 -3.86492055e-04 5.77917485e+01] [ 9.71947437e-01 -2.35191368e-01 -1.78872587e-03 -1.78489602e+02] [-1.82945006e-03 4.50423608e-05 -9.99998326e-01 -8.02533165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37038572299997 meters 0.02109601378757419 Centerline is valid? [True, True] Translation: X:57.80, Y:-178.49, Z:-8.02 [[ 1.58057038e-01 9.87429946e-01 -2.74150315e-04 5.78011596e+01] [ 9.87427867e-01 -1.58057268e-01 -2.02652507e-03 -1.78494448e+02] [-2.04438299e-03 4.96028903e-05 -9.99997909e-01 -8.02362346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.400385723 meters 0.017331512920168504 Centerline is valid? [True, True] Translation: X:57.82, Y:-178.50, Z:-8.03 [[ 7.83988234e-02 9.96922072e-01 -7.81363040e-05 5.78185971e+01] [ 9.96921095e-01 -7.83988560e-02 -1.39616491e-03 -1.78498044e+02] [-1.39799341e-03 3.15619562e-05 -9.99999022e-01 -8.02707637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.430385723 meters 0.019241407974186216 Centerline is valid? [True, True] Translation: X:57.83, Y:-178.50, Z:-8.02 [[ 1.06165959e-05 1.00000000e+00 3.06800376e-05 5.78283904e+01] [ 9.99999074e-01 -1.05748310e-05 -1.36099249e-03 -1.78501850e+02] [-1.36099216e-03 3.06944583e-05 -9.99999073e-01 -8.02459987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.460385723 meters 0.019241407974186216 Centerline is valid? [True, True] Translation: X:57.84, Y:-178.50, Z:-8.02 [[-7.82859570e-02 9.96930936e-01 1.37147018e-04 5.78379875e+01] [ 9.96930016e-01 7.82860711e-02 -1.35443342e-03 -1.78503986e+02] [-1.36101328e-03 3.06928626e-05 -9.99999073e-01 -8.02459969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.490385723 meters 0.017425442767626625 Centerline is valid? [True, True] Translation: X:57.85, Y:-178.51, Z:-8.03 [[-1.57003918e-01 9.87597947e-01 2.53640701e-04 5.78491078e+01] [ 9.87596957e-01 1.57004120e-01 -1.39919668e-03 -1.78505119e+02] [-1.42166641e-03 3.08154226e-05 -9.99998989e-01 -8.02729956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.520385723 meters 0.016650628578072372 Centerline is valid? [True, True] Translation: X:57.87, Y:-178.50, Z:-8.03 [[-2.34231676e-01 9.72180721e-01 4.10471373e-04 5.78658677e+01] [ 9.72179474e-01 2.34232033e-01 -1.55744013e-03 -1.78503300e+02] [-1.61025882e-03 3.42500299e-05 -9.99998703e-01 -8.02824589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.550385723 meters 0.01681245590432732 Centerline is valid? [True, True] Translation: X:57.88, Y:-178.50, Z:-8.03 [[-3.09667412e-01 9.50844717e-01 6.46824841e-04 5.78798951e+01] [ 9.50842914e-01 3.09668085e-01 -1.85190486e-03 -1.78500254e+02] [-1.96117496e-03 4.15542333e-05 -9.99998076e-01 -8.02774399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.580385723 meters 0.01675590279700872 Centerline is valid? [True, True] Translation: X:57.89, Y:-178.50, Z:-8.03 [[-3.83127293e-01 9.23695021e-01 9.93164766e-04 5.78937422e+01] [ 9.23692263e-01 3.83128576e-01 -2.25783078e-03 -1.78496712e+02] [-2.46605685e-03 5.23420173e-05 -9.99996958e-01 -8.02699111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.610385723 meters 0.01693028592417 Centerline is valid? [True, True] Translation: X:57.91, Y:-178.49, Z:-8.03 [[-4.54139161e-01 8.90929507e-01 1.49571071e-03 5.79072899e+01] [ 8.90925155e-01 4.54141619e-01 -2.78551972e-03 -1.78492600e+02] [-3.16096619e-03 6.75527117e-05 -9.99995002e-01 -8.02639186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.640385723 meters 0.01990999333903987 Centerline is valid? [True, True] Translation: X:57.92, Y:-178.49, Z:-8.02 [[-5.21525574e-01 8.53233487e-01 1.92129139e-03 5.79169418e+01] [ 8.53228254e-01 5.21529107e-01 -2.98962402e-03 -1.78490073e+02] [-3.55285671e-03 8.01347159e-05 -9.99993685e-01 -8.02271255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.670385723 meters 0.018000631671838983 Centerline is valid? [True, True] Translation: X:57.93, Y:-178.48, Z:-8.03 [[-5.86627095e-01 8.09854238e-01 2.18290781e-03 5.79284559e+01] [ 8.09849142e-01 5.86631151e-01 -2.87401803e-03 -1.78483314e+02] [-3.60809740e-03 8.18491657e-05 -9.99993487e-01 -8.02518108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.700385723 meters 0.019169273928484627 Centerline is valid? [True, True] Translation: X:57.94, Y:-178.48, Z:-8.02 [[-6.47905049e-01 7.61717438e-01 2.36451833e-03 5.79383491e+01] [ 7.61712822e-01 6.47909359e-01 -2.65311779e-03 -1.78478018e+02] [-3.55291964e-03 8.21155177e-05 -9.99993685e-01 -8.02433655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.730385723 meters 0.019088306263399305 Centerline is valid? [True, True] Translation: X:57.95, Y:-178.47, Z:-8.02 [[-7.05680001e-01 7.08526176e-01 2.52872079e-03 5.79482968e+01] [ 7.08522030e-01 7.05684527e-01 -2.42514762e-03 -1.78470108e+02] [-3.50275970e-03 8.02762136e-05 -9.99993862e-01 -8.02429041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.760385723 meters 0.019616922391952476 Centerline is valid? [True, True] Translation: X:58.42, Y:-177.98, Z:-9.04 [[-6.89210113e-01 -7.24558247e-01 2.18334340e-03 5.84243280e+01] [ 7.24554194e-01 -6.89213565e-01 -2.42504370e-03 -1.77984756e+02] [ 3.26187530e-03 -8.94140260e-05 9.99994676e-01 -9.04417209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.790385723 meters 0.017106362815372714 Centerline is valid? [True, True] Translation: X:58.40, Y:-177.97, Z:-9.04 [[-6.88325631e-01 -7.25399337e-01 1.90471440e-03 5.84039400e+01] [ 7.25396329e-01 -6.88328264e-01 -2.08976481e-03 -1.77965935e+02] [ 2.82698277e-03 -5.67658526e-05 9.99996003e-01 -9.04081541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.820385723 meters 0.016899961976587736 Centerline is valid? [True, True] Translation: X:58.38, Y:-177.95, Z:-9.04 [[-6.87006302e-01 -7.26649148e-01 1.83201929e-03 5.83843490e+01] [ 7.26646373e-01 -6.87008743e-01 -2.00893630e-03 -1.77946440e+02] [ 2.71840512e-03 -4.89217249e-05 9.99996304e-01 -9.04003798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.850385723 meters 0.016263780122646048 Centerline is valid? [True, True] Translation: X:58.36, Y:-177.93, Z:-9.04 [[-6.86485466e-01 -7.27141629e-01 1.66019505e-03 5.83634525e+01] [ 7.27139353e-01 -6.86487473e-01 -1.81958132e-03 -1.77926855e+02] [ 2.46279643e-03 -4.19229752e-05 9.99996966e-01 -9.03928435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.880385723 meters 0.01623225832301135 Centerline is valid? [True, True] Translation: X:58.34, Y:-177.91, Z:-9.04 [[-6.84610323e-01 -7.28906671e-01 1.94163350e-03 5.83442118e+01] [ 7.28903569e-01 -6.84613076e-01 -2.12688537e-03 -1.77908092e+02] [ 2.87956862e-03 -4.08240956e-05 9.99995853e-01 -9.03979393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.910385723 meters 0.01698187835989027 Centerline is valid? [True, True] Translation: X:58.32, Y:-177.89, Z:-9.04 [[-6.83815165e-01 -7.29651262e-01 2.41998364e-03 5.83235966e+01] [ 7.29646453e-01 -6.83819446e-01 -2.64942443e-03 -1.77889040e+02] [ 3.58798775e-03 -4.59841239e-05 9.99993562e-01 -9.04221749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.940385723 meters 0.015490559738055382 Centerline is valid? [True, True] Translation: X:58.30, Y:-177.87, Z:-9.04 [[-6.82398879e-01 -7.30975385e-01 2.59917926e-03 5.83035043e+01] [ 7.30969854e-01 -6.82403828e-01 -2.84386482e-03 -1.77870431e+02] [ 3.85248506e-03 -4.07284833e-05 9.99992578e-01 -9.04047944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.970385723 meters 0.01557777742572175 Centerline is valid? [True, True] Translation: X:58.28, Y:-177.85, Z:-9.04 [[-6.80017124e-01 -7.33189852e-01 3.05802605e-03 5.82830343e+01] [ 7.33182228e-01 -6.80023999e-01 -3.34386592e-03 -1.77852329e+02] [ 4.53121966e-03 -3.17957369e-05 9.99989734e-01 -9.04179357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.000385723 meters 0.015850213898764755 Centerline is valid? [True, True] Translation: X:58.26, Y:-177.83, Z:-9.04 [[-6.79192565e-01 -7.33954074e-01 2.97939743e-03 5.82629477e+01] [ 7.33946852e-01 -6.79199099e-01 -3.25603505e-03 -1.77832363e+02] [ 4.41338424e-03 -2.47554271e-05 9.99990261e-01 -9.04189055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.030385723 meters 0.014877355029015209 Centerline is valid? [True, True] Translation: X:58.24, Y:-177.81, Z:-9.04 [[-6.77126402e-01 -7.35861244e-01 2.84007249e-03 5.82441276e+01] [ 7.35854706e-01 -6.77132358e-01 -3.10193976e-03 -1.77813257e+02] [ 4.20570224e-03 -1.05246016e-05 9.99991156e-01 -9.03972008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.060385723 meters 0.014860376740420919 Centerline is valid? [True, True] Translation: X:58.22, Y:-177.79, Z:-9.04 [[-6.76269580e-01 -7.36646894e-01 3.28769895e-03 5.82246425e+01] [ 7.36638152e-01 -6.76277572e-01 -3.58883850e-03 -1.77793093e+02] [ 4.86710380e-03 -5.17782405e-06 9.99988156e-01 -9.03949775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.090385723 meters 0.014875303953724002 Centerline is valid? [True, True] Translation: X:58.20, Y:-177.77, Z:-9.04 [[-6.75771954e-01 -7.37103860e-01 3.18839897e-03 5.82049947e+01] [ 7.37095653e-01 -6.75779475e-01 -3.47849477e-03 -1.77772826e+02] [ 4.71866651e-03 -5.14190910e-07 9.99988867e-01 -9.03956190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12038572299997 meters 0.014848271377848847 Centerline is valid? [True, True] Translation: X:58.19, Y:-177.75, Z:-9.04 [[-6.75347667e-01 -7.37491643e-01 3.40661415e-03 5.81854744e+01] [ 7.37482289e-01 -6.75356259e-01 -3.71437360e-03 -1.77753316e+02] [ 5.03999768e-03 3.82405501e-06 9.99987299e-01 -9.03936477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.150385723 meters 0.01484549406081324 Centerline is valid? [True, True] Translation: X:58.17, Y:-177.73, Z:-9.04 [[-6.75185594e-01 -7.37639547e-01 3.50894682e-03 5.81667738e+01] [ 7.37629637e-01 -6.75194712e-01 -3.82359971e-03 -1.77733573e+02] [ 5.18966070e-03 6.66372896e-06 9.99986534e-01 -9.03906830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.180385723 meters 0.014807110505166877 Centerline is valid? [True, True] Translation: X:58.15, Y:-177.71, Z:-9.04 [[-6.74930523e-01 -7.37871348e-01 3.82934225e-03 5.81478987e+01] [ 7.37859562e-01 -6.74941386e-01 -4.17042786e-03 -1.77712947e+02] [ 5.66182079e-03 1.07677378e-05 9.99983972e-01 -9.03862770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.210385723 meters 0.015231110382976983 Centerline is valid? [True, True] Translation: X:58.13, Y:-177.69, Z:-9.04 [[-6.75004961e-01 -7.37803171e-01 3.84494037e-03 5.81294278e+01] [ 7.37791302e-01 -6.75015911e-01 -4.18510021e-03 -1.77692437e+02] [ 5.68317614e-03 1.18001598e-05 9.99983851e-01 -9.03936789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.240385723 meters 0.01486080114646145 Centerline is valid? [True, True] Translation: X:58.11, Y:-177.67, Z:-9.04 [[-6.75148792e-01 -7.37670520e-01 4.03890127e-03 5.81105781e+01] [ 7.37657435e-01 -6.75160873e-01 -4.39377785e-03 -1.77671819e+02] [ 5.96806850e-03 1.28717357e-05 9.99982191e-01 -9.03848068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.270385723 meters 0.014887961992446045 Centerline is valid? [True, True] Translation: X:58.09, Y:-177.65, Z:-9.04 [[-6.75318789e-01 -7.37509017e-01 4.99827249e-03 5.80925250e+01] [ 7.37488995e-01 -6.75337286e-01 -5.43443858e-03 -1.77650867e+02] [ 7.38346723e-03 1.61924741e-05 9.99972742e-01 -9.03890942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.300385723 meters 0.014900009815924235 Centerline is valid? [True, True] Translation: X:58.07, Y:-177.63, Z:-9.04 [[-6.75649770e-01 -7.37204855e-01 5.13710894e-03 5.80745221e+01] [ 7.37183720e-01 -6.75669299e-01 -5.58231955e-03 -1.77629774e+02] [ 7.58629987e-03 1.53001572e-05 9.99971224e-01 -9.03908777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.330385723 meters 0.014838571116452514 Centerline is valid? [True, True] Translation: X:58.06, Y:-177.61, Z:-9.04 [[-6.76605157e-01 -7.36327241e-01 5.25883382e-03 5.80584483e+01] [ 7.36305087e-01 -6.76625593e-01 -5.71186582e-03 -1.77608357e+02] [ 7.76406396e-03 7.42822440e-06 9.99969859e-01 -9.03854849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.360385723 meters 0.014906964609666937 Centerline is valid? [True, True] Translation: X:58.04, Y:-177.59, Z:-9.04 [[-6.77716857e-01 -7.35303649e-01 5.32968726e-03 5.80420725e+01] [ 7.35280891e-01 -6.77737814e-01 -5.78511104e-03 -1.77588188e+02] [ 7.86594385e-03 -1.85007731e-06 9.99969063e-01 -9.03874201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.390385723 meters 0.014926861808908837 Centerline is valid? [True, True] Translation: X:58.02, Y:-177.57, Z:-9.04 [[-6.78910637e-01 -7.34199334e-01 5.62893016e-03 5.80247444e+01] [ 7.34173942e-01 -6.78933971e-01 -6.10621245e-03 -1.77566671e+02] [ 8.30484902e-03 -1.29587392e-05 9.99965514e-01 -9.03841294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.420385723 meters 0.017375899234410075 Centerline is valid? [True, True] Translation: X:58.01, Y:-177.54, Z:-9.04 [[-6.82014925e-01 -7.31312384e-01 6.15137735e-03 5.80093890e+01] [ 7.31281974e-01 -6.82042663e-01 -6.66937495e-03 -1.77543104e+02] [ 9.07289829e-03 -5.02218877e-05 9.99958839e-01 -9.04218361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.450385723 meters 0.015303226070797775 Centerline is valid? [True, True] Translation: X:57.99, Y:-177.52, Z:-9.04 [[-6.83069550e-01 -7.30327510e-01 6.14157839e-03 5.79935756e+01] [ 7.30297184e-01 -6.83097156e-01 -6.65564150e-03 -1.77522428e+02] [ 9.05609281e-03 -6.10886416e-05 9.99958991e-01 -9.03881275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.480385723 meters 0.01670643162484966 Centerline is valid? [True, True] Translation: X:57.98, Y:-177.50, Z:-9.04 [[-6.85859988e-01 -7.27705907e-01 6.33952107e-03 5.79783154e+01] [ 7.27673517e-01 -6.85889280e-01 -6.86651633e-03 -1.77498595e+02] [ 9.34501403e-03 -9.63672179e-05 9.99956330e-01 -9.04015676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.510385723 meters 0.016022058086129012 Centerline is valid? [True, True] Translation: X:57.96, Y:-177.48, Z:-9.04 [[-6.86871873e-01 -7.26751622e-01 6.25375351e-03 5.79620169e+01] [ 7.26720102e-01 -6.86900334e-01 -6.76938909e-03 -1.77477834e+02] [ 9.21536988e-03 -1.04974582e-04 9.99957532e-01 -9.03838446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.540385723 meters 0.015622286769413147 Centerline is valid? [True, True] Translation: X:57.94, Y:-177.46, Z:-9.04 [[-6.87816925e-01 -7.25856087e-01 6.38894584e-03 5.79426585e+01] [ 7.25823187e-01 -6.87846587e-01 -6.91184685e-03 -1.77456897e+02] [ 9.41162070e-03 -1.16840217e-04 9.99955703e-01 -9.03692062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.570385723 meters 0.016089274518921604 Centerline is valid? [True, True] Translation: X:57.93, Y:-177.43, Z:-9.04 [[-6.89474853e-01 -7.24277015e-01 6.87252262e-03 5.79257635e+01] [ 7.24238906e-01 -6.89509089e-01 -7.43123769e-03 -1.77434632e+02] [ 1.01209415e-02 -1.46303251e-04 9.99948771e-01 -9.03805676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.600385723 meters 0.01719248433819109 Centerline is valid? [True, True] Translation: X:57.91, Y:-177.41, Z:-9.04 [[-6.90144540e-01 -7.23635774e-01 7.19583928e-03 5.79097309e+01] [ 7.23594008e-01 -6.90182035e-01 -7.77630221e-03 -1.77412146e+02] [ 1.05936495e-02 -1.59906328e-04 9.99943873e-01 -9.04018293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.630385723 meters 0.018667947692407146 Centerline is valid? [True, True] Translation: X:57.89, Y:-177.39, Z:-9.04 [[-6.90975760e-01 -7.22833570e-01 8.00802866e-03 5.78911279e+01] [ 7.22781845e-01 -6.91022137e-01 -8.64931448e-03 -1.77390998e+02] [ 1.17857399e-02 -1.88408914e-04 9.99930528e-01 -9.04257223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.660385723 meters 0.01616409621557271 Centerline is valid? [True, True] Translation: X:57.87, Y:-177.37, Z:-9.04 [[-6.90610268e-01 -7.23186350e-01 7.67855589e-03 5.78720878e+01] [ 7.23138867e-01 -6.90652933e-01 -8.28884515e-03 -1.77370190e+02] [ 1.12975968e-02 -1.71699367e-04 9.99936165e-01 -9.03872726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.690385723 meters 0.01625844425956691 Centerline is valid? [True, True] Translation: X:57.85, Y:-177.35, Z:-9.04 [[-6.90623516e-01 -7.23172238e-01 7.81487653e-03 5.78548511e+01] [ 7.23123111e-01 -6.90667709e-01 -8.43104979e-03 -1.77348889e+02] [ 1.14945840e-02 -1.71563428e-04 9.99933920e-01 -9.03881776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.720385723 meters 0.01617887565758105 Centerline is valid? [True, True] Translation: X:57.84, Y:-177.33, Z:-9.04 [[-6.89823793e-01 -7.23938706e-01 7.47554383e-03 5.78376804e+01] [ 7.23893852e-01 -6.89864282e-01 -8.06001470e-03 -1.77327901e+02] [ 1.09920673e-02 -1.48489697e-04 9.99939574e-01 -9.03793165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.750385723 meters 0.015984764186197317 Centerline is valid? [True, True] Translation: X:57.82, Y:-177.31, Z:-9.04 [[-6.89369535e-01 -7.24373679e-01 7.24000430e-03 5.78191131e+01] [ 7.24331682e-01 -6.89407539e-01 -7.80126753e-03 -1.77308007e+02] [ 1.06423464e-02 -1.33791680e-04 9.99943360e-01 -9.03731295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.780385723 meters 0.01560431670237636 Centerline is valid? [True, True] Translation: X:57.80, Y:-177.29, Z:-9.04 [[-6.87689391e-01 -7.25977085e-01 6.36971634e-03 5.77999340e+01] [ 7.25944681e-01 -6.87718884e-01 -6.85979071e-03 -1.77288110e+02] [ 9.36062507e-03 -9.33436010e-05 9.99956184e-01 -9.03642441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.810385723 meters 0.01540256338826104 Centerline is valid? [True, True] Translation: X:57.78, Y:-177.27, Z:-9.04 [[-6.86760128e-01 -7.26860244e-01 5.89182459e-03 5.77813537e+01] [ 7.26832585e-01 -6.86785397e-01 -6.34127845e-03 -1.77268386e+02] [ 8.65564228e-03 -7.25670995e-05 9.99962537e-01 -9.03601995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.840385723 meters 0.01524059656186627 Centerline is valid? [True, True] Translation: X:57.76, Y:-177.25, Z:-9.03 [[-6.86000164e-01 -7.27579027e-01 5.70392388e-03 5.77620769e+01] [ 7.27553158e-01 -6.86023874e-01 -6.13565109e-03 -1.77247577e+02] [ 8.37719901e-03 -5.91498243e-05 9.99964909e-01 -9.03499041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87038572299997 meters 0.015012116465109141 Centerline is valid? [True, True] Translation: X:57.74, Y:-177.23, Z:-9.03 [[-6.84720519e-01 -7.28785240e-01 5.46669683e-03 5.77434118e+01] [ 7.28761543e-01 -6.84742340e-01 -5.87717576e-03 -1.77226238e+02] [ 8.02647773e-03 -4.03044182e-05 9.99967787e-01 -9.03409616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.900385723 meters 0.01511388279199279 Centerline is valid? [True, True] Translation: X:57.72, Y:-177.21, Z:-9.03 [[-6.84295885e-01 -7.29182025e-01 5.71979422e-03 5.77243742e+01] [ 7.29156126e-01 -6.84319789e-01 -6.14584572e-03 -1.77205810e+02] [ 8.39560860e-03 -3.49539467e-05 9.99964756e-01 -9.03454461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.930385723 meters 0.014979384257263232 Centerline is valid? [True, True] Translation: X:57.71, Y:-177.19, Z:-9.03 [[-6.83862234e-01 -7.29586381e-01 6.01313508e-03 5.77050746e+01] [ 7.29557804e-01 -6.83888670e-01 -6.45746430e-03 -1.77185140e+02] [ 8.82359296e-03 -2.90863400e-05 9.99961071e-01 -9.03498440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.960385723 meters 0.014974307687504271 Centerline is valid? [True, True] Translation: X:57.69, Y:-177.16, Z:-9.04 [[-6.82790249e-01 -7.30584367e-01 6.63012076e-03 5.76867945e+01] [ 7.30549710e-01 -6.82822438e-01 -7.11612667e-03 -1.77164325e+02] [ 9.72612612e-03 -1.51891070e-05 9.99952700e-01 -9.03559203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.990385723 meters 0.015022776189935281 Centerline is valid? [True, True] Translation: X:57.67, Y:-177.14, Z:-9.04 [[-6.82636482e-01 -7.30725400e-01 6.91543577e-03 5.76683126e+01] [ 7.30687745e-01 -6.82671509e-01 -7.41824711e-03 -1.77143086e+02] [ 1.01416726e-02 -1.09419360e-05 9.99948572e-01 -9.03576859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.020385723 meters 0.015060293279736986 Centerline is valid? [True, True] Translation: X:57.65, Y:-177.12, Z:-9.04 [[-6.82628582e-01 -7.30730313e-01 7.17145513e-03 5.76525568e+01] [ 7.30689856e-01 -6.82666251e-01 -7.68918870e-03 -1.77121382e+02] [ 1.05144337e-02 -8.75045955e-06 9.99944722e-01 -9.03535092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.050385723 meters 0.014985238851138085 Centerline is valid? [True, True] Translation: X:57.63, Y:-177.10, Z:-9.03 [[-6.83189084e-01 -7.30206558e-01 7.14547081e-03 5.76346938e+01] [ 7.30166410e-01 -6.83226450e-01 -7.65711135e-03 -1.77099166e+02] [ 1.04732476e-02 -1.38721185e-05 9.99945154e-01 -9.03423922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.080385723 meters 0.014983575921952501 Centerline is valid? [True, True] Translation: X:57.62, Y:-177.08, Z:-9.03 [[-6.83446951e-01 -7.29967356e-01 6.92277685e-03 5.76182176e+01] [ 7.29929708e-01 -6.83482011e-01 -7.41365960e-03 -1.77078567e+02] [ 1.01433229e-02 -1.37025731e-05 9.99948555e-01 -9.03381612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.110385723 meters 0.015061010001278042 Centerline is valid? [True, True] Translation: X:57.60, Y:-177.06, Z:-9.03 [[-6.83679172e-01 -7.29745093e-01 7.40868976e-03 5.76011574e+01] [ 7.29702009e-01 -6.83719313e-01 -7.92961446e-03 -1.77055881e+02] [ 1.08520615e-02 -1.51764497e-05 9.99941115e-01 -9.03255468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.140385723 meters 0.015216102418676896 Centerline is valid? [True, True] Translation: X:57.58, Y:-177.04, Z:-9.03 [[-6.83694239e-01 -7.29727089e-01 7.78220612e-03 5.75830564e+01] [ 7.29679606e-01 -6.83738528e-01 -8.32450450e-03 -1.77035360e+02] [ 1.13956106e-02 -1.28986754e-05 9.99935068e-01 -9.03316918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.170385723 meters 0.015143113371124804 Centerline is valid? [True, True] Translation: X:57.57, Y:-177.02, Z:-9.03 [[-6.83375181e-01 -7.30017988e-01 8.49108796e-03 5.75665215e+01] [ 7.29961556e-01 -6.83427931e-01 -9.07687264e-03 -1.77015104e+02] [ 1.24293270e-02 -4.74170144e-06 9.99922753e-01 -9.03405167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.200385723 meters 0.015135330516073632 Centerline is valid? [True, True] Translation: X:57.55, Y:-176.99, Z:-9.03 [[-6.83292038e-01 -7.30093996e-01 8.64574470e-03 5.75491236e+01] [ 7.30035567e-01 -6.83346733e-01 -9.23649705e-03 -1.76994313e+02] [ 1.26515524e-02 4.76248797e-07 9.99919966e-01 -9.03380818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.230385723 meters 0.015232154313263767 Centerline is valid? [True, True] Translation: X:57.53, Y:-176.97, Z:-9.03 [[-6.83422403e-01 -7.29968525e-01 8.93149356e-03 5.75318493e+01] [ 7.29906237e-01 -6.83480762e-01 -9.53588450e-03 -1.76973150e+02] [ 1.30653996e-02 2.11575221e-06 9.99914644e-01 -9.03328246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.260385723 meters 0.01735212689582245 Centerline is valid? [True, True] Translation: X:57.52, Y:-176.95, Z:-9.03 [[-6.84488352e-01 -7.28959345e-01 9.69377227e-03 5.75156585e+01] [ 7.28885950e-01 -6.84556990e-01 -1.03440300e-02 -1.76949660e+02] [ 1.41763169e-02 -1.47136454e-05 9.99899511e-01 -9.03446231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.290385723 meters 0.01525651716948025 Centerline is valid? [True, True] Translation: X:57.50, Y:-176.93, Z:-9.03 [[-6.84615511e-01 -7.28853751e-01 8.59136663e-03 5.74990565e+01] [ 7.28796167e-01 -6.84669416e-01 -9.16169897e-03 -1.76929252e+02] [ 1.25597846e-02 -1.08861525e-05 9.99921123e-01 -9.03109013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.320385723 meters 0.015273627383409172 Centerline is valid? [True, True] Translation: X:57.48, Y:-176.91, Z:-9.03 [[-6.85749257e-01 -7.27790464e-01 8.30649535e-03 5.74835794e+01] [ 7.27736609e-01 -6.85799563e-01 -8.85371028e-03 -1.76907825e+02] [ 1.21402368e-02 -2.64844851e-05 9.99926304e-01 -9.02972032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.350385723 meters 0.0154164799381313 Centerline is valid? [True, True] Translation: X:57.47, Y:-176.89, Z:-9.03 [[-6.86663781e-01 -7.26931808e-01 7.93719303e-03 5.74669154e+01] [ 7.26882640e-01 -6.86709652e-01 -8.45468621e-03 -1.76887501e+02] [ 1.15965274e-02 -3.61189681e-05 9.99932757e-01 -9.02979305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.380385723 meters 0.015371928780495044 Centerline is valid? [True, True] Translation: X:57.45, Y:-176.87, Z:-9.03 [[-6.87592906e-01 -7.26051743e-01 8.05367959e-03 5.74495395e+01] [ 7.26001123e-01 -6.87640069e-01 -8.57350230e-03 -1.76866562e+02] [ 1.17628391e-02 -4.80989392e-05 9.99930814e-01 -9.02902957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.410385723 meters 0.015371928780495044 Centerline is valid? [True, True] Translation: X:57.43, Y:-176.85, Z:-9.03 [[-6.87816214e-01 -7.25840169e-01 8.05631667e-03 5.74311367e+01] [ 7.25789564e-01 -6.87863392e-01 -8.57102434e-03 -1.76847114e+02] [ 1.17628391e-02 -4.80989493e-05 9.99930814e-01 -9.02902936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.440385723 meters 0.015604515910711197 Centerline is valid? [True, True] Translation: X:57.42, Y:-176.82, Z:-9.03 [[-6.89349591e-01 -7.24375195e-01 8.81583597e-03 5.74165030e+01] [ 7.24314547e-01 -6.89405956e-01 -9.37364872e-03 -1.76824269e+02] [ 1.28677284e-02 -7.62826738e-05 9.99917204e-01 -9.02924261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.470385723 meters 0.015794651272113984 Centerline is valid? [True, True] Translation: X:57.40, Y:-176.80, Z:-9.03 [[-6.90297135e-01 -7.23466516e-01 9.27716609e-03 5.73993648e+01] [ 7.23399353e-01 -6.90359465e-01 -9.85826163e-03 -1.76802357e+02] [ 1.35367016e-02 -9.40338173e-05 9.99908370e-01 -9.02967534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.500385723 meters 0.01601122392840008 Centerline is valid? [True, True] Translation: X:57.38, Y:-176.78, Z:-9.03 [[-6.91784306e-01 -7.22032178e-01 1.01983728e-02 5.73822791e+01] [ 7.21950945e-01 -6.91859463e-01 -1.08312981e-02 -1.76779617e+02] [ 1.48763865e-02 -1.30197122e-04 9.99889332e-01 -9.03009856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.530385723 meters 0.016407391500465184 Centerline is valid? [True, True] Translation: X:57.36, Y:-176.76, Z:-9.03 [[-6.92312721e-01 -7.21513716e-01 1.10024594e-02 5.73649531e+01] [ 7.21419208e-01 -6.92400127e-01 -1.16786041e-02 -1.76759005e+02] [ 1.60443774e-02 -1.47860620e-04 9.99871270e-01 -9.03166623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.560385723 meters 0.01649785275496065 Centerline is valid? [True, True] Translation: X:57.35, Y:-176.74, Z:-9.03 [[-6.92794497e-01 -7.21045061e-01 1.13931673e-02 5.73470973e+01] [ 7.20943785e-01 -6.92888154e-01 -1.20856963e-02 -1.76738998e+02] [ 1.66085223e-02 -1.59070746e-04 9.99862056e-01 -9.03247838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.590385723 meters 0.016115768159652176 Centerline is valid? [True, True] Translation: X:57.33, Y:-176.72, Z:-9.03 [[-6.92891918e-01 -7.20951772e-01 1.13724093e-02 5.73283008e+01] [ 7.20850977e-01 -6.92985222e-01 -1.20561831e-02 -1.76719444e+02] [ 1.65728382e-02 -1.55819463e-04 9.99862649e-01 -9.03068964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62038572299997 meters 0.01662888363397502 Centerline is valid? [True, True] Translation: X:57.31, Y:-176.70, Z:-9.03 [[-6.92878286e-01 -7.20966053e-01 1.12973956e-02 5.73107917e+01] [ 7.20866679e-01 -6.92970365e-01 -1.19709372e-02 -1.76699283e+02] [ 1.64593997e-02 -1.50486367e-04 9.99864524e-01 -9.03198423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.650385723 meters 0.016181374218170428 Centerline is valid? [True, True] Translation: X:57.29, Y:-176.68, Z:-9.03 [[-6.92649433e-01 -7.21198216e-01 1.04831409e-02 5.72907080e+01] [ 7.21112781e-01 -6.92728747e-01 -1.11013670e-02 -1.76681091e+02] [ 1.52682591e-02 -1.29828679e-04 9.99883425e-01 -9.02906966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.680385723 meters 0.016090666167652545 Centerline is valid? [True, True] Translation: X:57.27, Y:-176.66, Z:-9.03 [[-6.92740810e-01 -7.21116479e-01 1.00595012e-02 5.72707641e+01] [ 7.21037898e-01 -6.92813834e-01 -1.06461778e-02 -1.76662692e+02] [ 1.46464959e-02 -1.21760242e-04 9.99892727e-01 -9.02850903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.710385723 meters 0.016199789949495322 Centerline is valid? [True, True] Translation: X:57.25, Y:-176.64, Z:-9.03 [[-6.92597938e-01 -7.21262828e-01 9.38239132e-03 5.72518187e+01] [ 7.21194571e-01 -6.92661477e-01 -9.92316207e-03 -1.76644382e+02] [ 1.36560290e-02 -1.06231897e-04 9.99906746e-01 -9.02949662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.740385723 meters 0.015949036957705182 Centerline is valid? [True, True] Translation: X:57.23, Y:-176.63, Z:-9.03 [[-6.92039930e-01 -7.21814983e-01 7.99152896e-03 5.72301523e+01] [ 7.21765553e-01 -6.92086067e-01 -8.44761782e-03 -1.76626291e+02] [ 1.16284430e-02 -7.80785236e-05 9.99932384e-01 -9.02803938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.770385723 meters 0.016043800802192403 Centerline is valid? [True, True] Translation: X:57.21, Y:-176.61, Z:-9.03 [[-6.92492606e-01 -7.21383697e-01 7.71700928e-03 5.72112199e+01] [ 7.21337636e-01 -6.92535599e-01 -8.15229361e-03 -1.76607838e+02] [ 1.12252353e-02 -7.88338158e-05 9.99936992e-01 -9.02808079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.800385723 meters 0.016006091567036636 Centerline is valid? [True, True] Translation: X:57.19, Y:-176.59, Z:-9.03 [[-6.92993330e-01 -7.20906349e-01 7.36751299e-03 5.71918216e+01] [ 7.20864389e-01 -6.93032488e-01 -7.77836456e-03 -1.76589153e+02] [ 1.07133983e-02 -7.93770026e-05 9.99942607e-01 -9.02788001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.830385723 meters 0.016317035967445544 Centerline is valid? [True, True] Translation: X:57.17, Y:-176.57, Z:-9.03 [[-6.93942385e-01 -7.19993111e-01 7.34071459e-03 5.71733058e+01] [ 7.19951458e-01 -6.93981204e-01 -7.74515103e-03 -1.76570603e+02] [ 1.06707733e-02 -8.97304099e-05 9.99943062e-01 -9.02885356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.860385723 meters 0.016360714640071893 Centerline is valid? [True, True] Translation: X:57.15, Y:-176.55, Z:-9.03 [[-6.94750839e-01 -7.19214133e-01 7.23204967e-03 5.71539278e+01] [ 7.19173710e-01 -6.94788472e-01 -7.62591522e-03 -1.76551269e+02] [ 1.05094107e-02 -9.70110082e-05 9.99944770e-01 -9.02900270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.890385723 meters 0.016471357345796998 Centerline is valid? [True, True] Translation: X:57.13, Y:-176.53, Z:-9.03 [[-6.95642107e-01 -7.18355227e-01 6.91573260e-03 5.71345390e+01] [ 7.18318267e-01 -6.95676475e-01 -7.28765874e-03 -1.76532751e+02] [ 1.00462402e-02 -1.01905223e-04 9.99949530e-01 -9.02876566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.920385723 meters 0.016672889006557026 Centerline is valid? [True, True] Translation: X:57.12, Y:-176.51, Z:-9.03 [[-6.96302284e-01 -7.17712967e-01 7.15729200e-03 5.71165071e+01] [ 7.17673396e-01 -6.96339059e-01 -7.53736752e-03 -1.76513124e+02] [ 1.03935684e-02 -1.11688164e-04 9.99945979e-01 -9.02861431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.950385723 meters 0.01660550409042592 Centerline is valid? [True, True] Translation: X:57.10, Y:-176.49, Z:-9.03 [[-6.97099633e-01 -7.16942264e-01 6.77432389e-03 5.70970218e+01] [ 7.16906821e-01 -6.97132539e-01 -7.12974099e-03 -1.76494422e+02] [ 9.83421426e-03 -1.13580826e-04 9.99951637e-01 -9.02802969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.980385723 meters 0.01664968847664864 Centerline is valid? [True, True] Translation: X:57.08, Y:-176.48, Z:-9.03 [[-6.97422063e-01 -7.16632053e-01 6.40058460e-03 5.70787523e+01] [ 7.16600439e-01 -6.97451424e-01 -6.73211937e-03 -1.76475614e+02] [ 9.28854936e-03 -1.08466841e-04 9.99956855e-01 -9.02855199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.010385723 meters 0.016660451533599196 Centerline is valid? [True, True] Translation: X:57.06, Y:-176.46, Z:-9.03 [[-6.97704899e-01 -7.16356121e-01 6.46390256e-03 5.70592964e+01] [ 7.16323905e-01 -6.97734832e-01 -6.79462596e-03 -1.76456001e+02] [ 9.37746187e-03 -1.10395896e-04 9.99956025e-01 -9.02863940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.040385723 meters 0.016914026885361554 Centerline is valid? [True, True] Translation: X:57.04, Y:-176.44, Z:-9.03 [[-6.98784481e-01 -7.15303070e-01 6.46267404e-03 5.70407983e+01] [ 7.15270862e-01 -6.98814355e-01 -6.78905183e-03 -1.76436772e+02] [ 9.37243901e-03 -1.21521632e-04 9.99956070e-01 -9.02932178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.070385723 meters 0.016490224785100625 Centerline is valid? [True, True] Translation: X:57.02, Y:-176.42, Z:-9.03 [[-6.99270104e-01 -7.14830235e-01 6.24963039e-03 5.70204277e+01] [ 7.14800129e-01 -6.99298020e-01 -6.56158126e-03 -1.76417842e+02] [ 9.06077083e-03 -1.21081002e-04 9.99958943e-01 -9.02837545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.100385723 meters 0.017174524316800777 Centerline is valid? [True, True] Translation: X:57.00, Y:-176.40, Z:-9.03 [[-7.00183173e-01 -7.13940606e-01 5.68644995e-03 5.70022409e+01] [ 7.13915681e-01 -7.00206254e-01 -5.96677385e-03 -1.76397127e+02] [ 8.24160995e-03 -1.18188856e-04 9.99966030e-01 -9.02929230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.130385723 meters 0.016656230500285876 Centerline is valid? [True, True] Translation: X:56.98, Y:-176.38, Z:-9.03 [[-7.00506481e-01 -7.13624554e-01 5.53773931e-03 5.69817758e+01] [ 7.13600932e-01 -7.00528360e-01 -5.80753888e-03 -1.76378025e+02] [ 8.02374577e-03 -1.16482691e-04 9.99967802e-01 -9.02839316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.160385723 meters 0.016762641643524725 Centerline is valid? [True, True] Translation: X:56.96, Y:-176.36, Z:-9.03 [[-7.00677884e-01 -7.13459187e-01 5.14697414e-03 5.69622840e+01] [ 7.13438799e-01 -7.00696780e-01 -5.39476038e-03 -1.76358236e+02] [ 7.45540956e-03 -1.07938243e-04 9.99972202e-01 -9.02823449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.190385723 meters 0.016679334888944505 Centerline is valid? [True, True] Translation: X:56.94, Y:-176.34, Z:-9.03 [[-7.00519607e-01 -7.13616807e-01 4.83046050e-03 5.69434445e+01] [ 7.13598876e-01 -7.00536255e-01 -5.05972344e-03 -1.76340394e+02] [ 6.99461639e-03 -9.74242939e-05 9.99975533e-01 -9.02788583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.220385723 meters 0.016690501198579982 Centerline is valid? [True, True] Translation: X:56.93, Y:-176.32, Z:-9.03 [[-7.00269408e-01 -7.13863061e-01 4.72088985e-03 5.69251130e+01] [ 7.13845962e-01 -7.00285315e-01 -4.94177417e-03 -1.76322089e+02] [ 6.83371987e-03 -9.05851153e-05 9.99976646e-01 -9.02825235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.250385723 meters 0.016479982904135916 Centerline is valid? [True, True] Translation: X:56.90, Y:-176.30, Z:-9.03 [[-6.99722884e-01 -7.14400645e-01 4.42757936e-03 5.69044440e+01] [ 7.14385634e-01 -6.99736887e-01 -4.63193405e-03 -1.76303952e+02] [ 6.40719727e-03 -7.80711644e-05 9.99979471e-01 -9.02830362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.280385723 meters 0.016202207185897943 Centerline is valid? [True, True] Translation: X:56.88, Y:-176.29, Z:-9.03 [[-6.99482836e-01 -7.14639697e-01 3.72379994e-03 5.68841093e+01] [ 7.14629094e-01 -6.99492745e-01 -3.89327570e-03 -1.76286024e+02] [ 5.38706041e-03 -6.21437534e-05 9.99985488e-01 -9.02798920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.310385723 meters 0.016157909872856292 Centerline is valid? [True, True] Translation: X:56.86, Y:-176.27, Z:-9.03 [[-6.98988469e-01 -7.15125337e-01 3.29747545e-03 5.68641805e+01] [ 7.15117038e-01 -6.98996245e-01 -3.44543905e-03 -1.76267932e+02] [ 4.76884372e-03 -5.02412887e-05 9.99988628e-01 -9.02786915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.340385723 meters 0.01607166415098103 Centerline is valid? [True, True] Translation: X:56.84, Y:-176.25, Z:-9.03 [[-6.97595448e-01 -7.16486432e-01 2.78986601e-03 5.68439284e+01] [ 7.16480510e-01 -6.97601026e-01 -2.91318203e-03 -1.76251342e+02] [ 4.03346879e-03 -3.33379062e-05 9.99991865e-01 -9.02721125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37038572299997 meters 0.015871910889584492 Centerline is valid? [True, True] Translation: X:56.82, Y:-176.23, Z:-9.03 [[-6.96983894e-01 -7.17081614e-01 2.72233490e-03 5.68229684e+01] [ 7.17075986e-01 -6.96989210e-01 -2.84110797e-03 -1.76232539e+02] [ 3.93474434e-03 -2.80855115e-05 9.99992259e-01 -9.02674846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.400385723 meters 0.01582150481457304 Centerline is valid? [True, True] Translation: X:56.80, Y:-176.22, Z:-9.03 [[-6.96210949e-01 -7.17832835e-01 2.51699779e-03 5.68021112e+01] [ 7.17828034e-01 -6.96215498e-01 -2.62555819e-03 -1.76215704e+02] [ 3.63708475e-03 -2.11707876e-05 9.99993386e-01 -9.02782652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.430385723 meters 0.015840531499357786 Centerline is valid? [True, True] Translation: X:56.78, Y:-176.20, Z:-9.03 [[-6.96275295e-01 -7.17770488e-01 2.49802410e-03 5.67824495e+01] [ 7.17765762e-01 -6.96279776e-01 -2.60458963e-03 -1.76197603e+02] [ 3.60882124e-03 -2.05152403e-05 9.99993488e-01 -9.02841191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.460385723 meters 0.015824784728672762 Centerline is valid? [True, True] Translation: X:56.76, Y:-176.18, Z:-9.03 [[-6.96852625e-01 -7.17210159e-01 2.45071993e-03 5.67623692e+01] [ 7.17205613e-01 -6.96856934e-01 -2.55369788e-03 -1.76179527e+02] [ 3.53933924e-03 -2.18809814e-05 9.99993736e-01 -9.02824201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.490385723 meters 0.015975237493825505 Centerline is valid? [True, True] Translation: X:56.74, Y:-176.16, Z:-9.03 [[-6.98056256e-01 -7.16039085e-01 2.34355148e-03 5.67418720e+01] [ 7.16034925e-01 -6.98060190e-01 -2.44067710e-03 -1.76160422e+02] [ 3.38356019e-03 -2.56652064e-05 9.99994275e-01 -9.02897365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.520385723 meters 0.015945098422405754 Centerline is valid? [True, True] Translation: X:56.72, Y:-176.14, Z:-9.03 [[-6.99056112e-01 -7.15062908e-01 2.36435006e-03 5.67227649e+01] [ 7.15058674e-01 -6.99060110e-01 -2.46090398e-03 -1.76140731e+02] [ 3.41252397e-03 -2.96609551e-05 9.99994177e-01 -9.02964232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.550385723 meters 0.016387831224676103 Centerline is valid? [True, True] Translation: X:56.70, Y:-176.12, Z:-9.03 [[-7.01086327e-01 -7.13071486e-01 2.64910588e-03 5.67033182e+01] [ 7.13066162e-01 -7.01091331e-01 -2.75578941e-03 -1.76120877e+02] [ 3.82234002e-03 -4.30585097e-05 9.99992694e-01 -9.03055820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.580385723 meters 0.016563337668694975 Centerline is valid? [True, True] Translation: X:56.68, Y:-176.10, Z:-9.03 [[-7.02147221e-01 -7.12027188e-01 2.56182461e-03 5.66847369e+01] [ 7.12022209e-01 -7.02151893e-01 -2.66337811e-03 -1.76101456e+02] [ 3.69518762e-03 -4.60075246e-05 9.99993172e-01 -9.03066509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.610385723 meters 0.016815436838836302 Centerline is valid? [True, True] Translation: X:56.67, Y:-176.08, Z:-9.03 [[-7.03399229e-01 -7.10789297e-01 2.84601113e-03 5.66656991e+01] [ 7.10783148e-01 -7.03404984e-01 -2.95714201e-03 -1.76081425e+02] [ 4.10380330e-03 -5.71546607e-05 9.99991578e-01 -9.03085567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.640385723 meters 0.01726843168272798 Centerline is valid? [True, True] Translation: X:56.65, Y:-176.06, Z:-9.03 [[-7.05293750e-01 -7.08912087e-01 2.09251835e-03 5.66466040e+01] [ 7.08908758e-01 -7.05296852e-01 -2.17337639e-03 -1.76062180e+02] [ 3.01657940e-03 -4.94641983e-05 9.99995449e-01 -9.03007374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.670385723 meters 0.01692319184391785 Centerline is valid? [True, True] Translation: X:56.63, Y:-176.04, Z:-9.03 [[-7.06100762e-01 -7.08108438e-01 2.03812020e-03 5.66250596e+01] [ 7.08105279e-01 -7.06103701e-01 -2.11570307e-03 -1.76043283e+02] [ 2.93727142e-03 -5.06958773e-05 9.99995685e-01 -9.02962571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.700385723 meters 0.01741052635149114 Centerline is valid? [True, True] Translation: X:56.61, Y:-176.02, Z:-9.03 [[-7.07281278e-01 -7.06929192e-01 2.07630604e-03 5.66052452e+01] [ 7.06925912e-01 -7.07284324e-01 -2.15408380e-03 -1.76024365e+02] [ 2.99132344e-03 -5.57486009e-05 9.99995524e-01 -9.02994164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.730385723 meters 0.017397897027621293 Centerline is valid? [True, True] Translation: X:56.58, Y:-176.01, Z:-9.03 [[-7.07770374e-01 -7.06438834e-01 2.29598352e-03 5.65849843e+01] [ 7.06434826e-01 -7.07774095e-01 -2.38054960e-03 -1.76005671e+02] [ 3.30675034e-03 -6.29197647e-05 9.99994531e-01 -9.03035101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.760385723 meters 0.017792281906622392 Centerline is valid? [True, True] Translation: X:56.56, Y:-175.99, Z:-9.03 [[-7.08637004e-01 -7.05568551e-01 2.57207105e-03 5.65634244e+01] [ 7.05563521e-01 -7.08641668e-01 -2.66529429e-03 -1.75988670e+02] [ 3.70322455e-03 -7.39666543e-05 9.99993140e-01 -9.03186451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.790385723 meters 0.017360900570573125 Centerline is valid? [True, True] Translation: X:56.54, Y:-175.97, Z:-9.03 [[-7.08944907e-01 -7.05259332e-01 2.52868299e-03 5.65425763e+01] [ 7.05254473e-01 -7.08949413e-01 -2.61872924e-03 -1.75971575e+02] [ 3.63959155e-03 -7.31697649e-05 9.99993374e-01 -9.03153814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.820385723 meters 0.01748369345612501 Centerline is valid? [True, True] Translation: X:56.52, Y:-175.95, Z:-9.03 [[-7.09413158e-01 -7.04788502e-01 2.47775831e-03 5.65233380e+01] [ 7.04783840e-01 -7.09417481e-01 -2.56434377e-03 -1.75954208e+02] [ 3.56508506e-03 -7.28951961e-05 9.99993642e-01 -9.03101610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.850385723 meters 0.017453418515000183 Centerline is valid? [True, True] Translation: X:56.50, Y:-175.94, Z:-9.03 [[-7.09935441e-01 -7.04265374e-01 1.39718211e-03 5.65014974e+01] [ 7.04263893e-01 -7.09936815e-01 -1.44513061e-03 -1.75937451e+02] [ 2.00966646e-03 -4.19645260e-05 9.99997980e-01 -9.03015057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.880385723 meters 0.017473628142837063 Centerline is valid? [True, True] Translation: X:56.48, Y:-175.92, Z:-9.03 [[-7.10344745e-01 -7.03853189e-01 1.01577710e-03 5.64815270e+01] [ 7.03852407e-01 -7.10345470e-01 -1.04999810e-03 -1.75919238e+02] [ 1.46059718e-03 -3.09034782e-05 9.99998933e-01 -9.02954143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.910385723 meters 0.018750530339401845 Centerline is valid? [True, True] Translation: X:56.46, Y:-175.90, Z:-9.03 [[-7.10995082e-01 -7.03196780e-01 5.31404933e-04 5.64612766e+01] [ 7.03196566e-01 -7.10995280e-01 -5.48959268e-04 -1.75901772e+02] [ 7.63852788e-04 -1.66252157e-05 9.99999708e-01 -9.02996841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.940385723 meters 0.016744149594391754 Centerline is valid? [True, True] Translation: X:56.44, Y:-175.88, Z:-9.03 [[-7.10662357e-01 -7.03532764e-01 8.15355335e-04 5.64385587e+01] [ 7.03532261e-01 -7.10662824e-01 -8.41809337e-04 -1.75884847e+02] [ 1.17168317e-03 -2.46134249e-05 9.99999313e-01 -9.02881963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.970385723 meters 0.01710852251621078 Centerline is valid? [True, True] Translation: X:56.42, Y:-175.87, Z:-9.03 [[-7.10235295e-01 -7.03963651e-01 1.00165645e-03 5.64190021e+01] [ 7.03962893e-01 -7.10236001e-01 -1.03354975e-03 -1.75866522e+02] [ 1.43899393e-03 -2.89345349e-05 9.99998964e-01 -9.02927049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.000385723 meters 0.016621765504983056 Centerline is valid? [True, True] Translation: X:56.40, Y:-175.85, Z:-9.03 [[-7.09625690e-01 -7.04576842e-01 1.68945832e-03 5.63955116e+01] [ 7.04574689e-01 -7.09627699e-01 -1.74227429e-03 -1.75850208e+02] [ 2.42645254e-03 -4.60130201e-05 9.99997055e-01 -9.03035556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.030385723 meters 0.016569859474433107 Centerline is valid? [True, True] Translation: X:56.37, Y:-175.83, Z:-9.03 [[-7.09919548e-01 -7.04280796e-01 1.67203172e-03 5.63749235e+01] [ 7.04278689e-01 -7.09921516e-01 -1.72333314e-03 -1.75831323e+02] [ 2.40072173e-03 -4.58515754e-05 9.99997117e-01 -9.03102035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.060385723 meters 0.016894977511761205 Centerline is valid? [True, True] Translation: X:56.35, Y:-175.81, Z:-9.03 [[-7.10990566e-01 -7.03196582e-01 2.64239878e-03 5.63547433e+01] [ 7.03191317e-01 -7.10995472e-01 -2.72209689e-03 -1.75813255e+02] [ 3.79290280e-03 -7.72733299e-05 9.99992804e-01 -9.03169540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.090385723 meters 0.017061082850462605 Centerline is valid? [True, True] Translation: X:56.33, Y:-175.79, Z:-9.03 [[-7.11946546e-01 -7.02227082e-01 3.04002655e-03 5.63343365e+01] [ 7.02220112e-01 -7.11953030e-01 -3.13006261e-03 -1.75794004e+02] [ 4.36237085e-03 -9.36694770e-05 9.99990480e-01 -9.03211632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12038572299997 meters 0.01736784122392742 Centerline is valid? [True, True] Translation: X:56.31, Y:-175.77, Z:-9.03 [[-7.12897187e-01 -7.01260612e-01 3.33984235e-03 5.63139524e+01] [ 7.01252198e-01 -7.12905002e-01 -3.43694425e-03 -1.75774336e+02] [ 4.79118394e-03 -1.08116103e-04 9.99988516e-01 -9.03239681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.150385723 meters 0.017457317660735425 Centerline is valid? [True, True] Translation: X:56.29, Y:-175.76, Z:-9.03 [[-7.14265558e-01 -6.99866692e-01 3.36543879e-03 5.62926363e+01] [ 6.99858142e-01 -7.14273477e-01 -3.46149504e-03 -1.75755949e+02] [ 4.82642875e-03 -1.17096943e-04 9.99988346e-01 -9.03212818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.180385723 meters 0.018174440532186496 Centerline is valid? [True, True] Translation: X:56.27, Y:-175.74, Z:-9.03 [[-7.15078713e-01 -6.99037022e-01 3.11059741e-03 5.62738003e+01] [ 6.99029717e-01 -7.15085470e-01 -3.19778636e-03 -1.75736673e+02] [ 4.45971406e-03 -1.12268932e-04 9.99990049e-01 -9.03219229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.210385723 meters 0.01857499287573006 Centerline is valid? [True, True] Translation: X:56.25, Y:-175.72, Z:-9.03 [[-7.16963260e-01 -6.97105713e-01 2.70347705e-03 5.62523274e+01] [ 6.97100187e-01 -7.16968349e-01 -2.77773271e-03 -1.75718215e+02] [ 3.87468082e-03 -1.06937940e-04 9.99992488e-01 -9.03171150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.240385723 meters 0.01902352857405401 Centerline is valid? [True, True] Translation: X:56.23, Y:-175.70, Z:-9.03 [[-7.17745220e-01 -6.96300563e-01 2.70650547e-03 5.62329170e+01] [ 6.96295023e-01 -7.17750314e-01 -2.77973419e-03 -1.75699405e+02] [ 3.87812564e-03 -1.10614639e-04 9.99992474e-01 -9.03206555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.270385723 meters 0.01902352857405401 Centerline is valid? [True, True] Translation: X:56.21, Y:-175.68, Z:-9.03 [[-7.17934364e-01 -6.96105538e-01 2.70726016e-03 5.62136284e+01] [ 6.96099999e-01 -7.17939460e-01 -2.77899918e-03 -1.75679684e+02] [ 3.87812562e-03 -1.10615214e-04 9.99992474e-01 -9.03206534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.300385723 meters 0.01909955312002454 Centerline is valid? [True, True] Translation: X:56.19, Y:-175.66, Z:-9.03 [[-7.18405520e-01 -6.95618475e-01 2.90609930e-03 5.61927961e+01] [ 6.95612096e-01 -7.18411388e-01 -2.98148492e-03 -1.75660417e+02] [ 4.16175082e-03 -1.20397394e-04 9.99991333e-01 -9.03213145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.330385723 meters 0.019359473265637108 Centerline is valid? [True, True] Translation: X:56.17, Y:-175.64, Z:-9.03 [[-7.18710565e-01 -6.95302880e-01 3.00471170e-03 5.61723364e+01] [ 6.95296067e-01 -7.18716835e-01 -3.08068413e-03 -1.75643996e+02] [ 4.30154543e-03 -1.24956007e-04 9.99990741e-01 -9.03210238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.360385723 meters 0.019482998753231225 Centerline is valid? [True, True] Translation: X:56.15, Y:-175.63, Z:-9.03 [[-7.18648774e-01 -6.95368034e-01 2.69005519e-03 5.61515394e+01] [ 6.95362580e-01 -7.18653800e-01 -2.75641390e-03 -1.75625845e+02] [ 3.84994050e-03 -1.10329752e-04 9.99992583e-01 -9.03197308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.390385723 meters 0.01886851296598355 Centerline is valid? [True, True] Translation: X:56.13, Y:-175.61, Z:-9.03 [[-7.18251172e-01 -6.95779780e-01 2.39832655e-03 5.61299359e+01] [ 6.95775452e-01 -7.18255170e-01 -2.45599484e-03 -1.75608493e+02] [ 3.43144199e-03 -9.53244366e-05 9.99994108e-01 -9.03171536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.420385723 meters 0.01883418265797926 Centerline is valid? [True, True] Translation: X:56.11, Y:-175.59, Z:-9.03 [[-7.16778047e-01 -6.97296983e-01 2.47957143e-03 5.61079791e+01] [ 6.97292370e-01 -7.16782331e-01 -2.53788715e-03 -1.75592087e+02] [ 3.54697404e-03 -9.01155535e-05 9.99993705e-01 -9.03193207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.450385723 meters 0.01772200664401701 Centerline is valid? [True, True] Translation: X:56.09, Y:-175.58, Z:-9.03 [[-7.15892326e-01 -6.98203611e-01 3.14566190e-03 5.60853198e+01] [ 6.98196204e-01 -7.15899229e-01 -3.21788537e-03 -1.75575150e+02] [ 4.49871612e-03 -1.07370242e-04 9.99989875e-01 -9.03199289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.480385723 meters 0.01724183991131278 Centerline is valid? [True, True] Translation: X:56.06, Y:-175.56, Z:-9.03 [[-7.13733488e-01 -7.00408101e-01 3.60559117e-03 5.60632079e+01] [ 7.00398407e-01 -7.13742588e-01 -3.68646740e-03 -1.75558831e+02] [ 5.15549560e-03 -1.05804930e-04 9.99986705e-01 -9.03248473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.510385723 meters 0.01686856573298652 Centerline is valid? [True, True] Translation: X:56.04, Y:-175.54, Z:-9.03 [[-7.12825398e-01 -7.01331759e-01 3.70347527e-03 5.60416136e+01] [ 7.01321555e-01 -7.12835011e-01 -3.78462103e-03 -1.75540086e+02] [ 5.29424176e-03 -1.00446952e-04 9.99985980e-01 -9.03257847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.540385723 meters 0.016570904251687845 Centerline is valid? [True, True] Translation: X:56.02, Y:-175.52, Z:-9.03 [[-7.12089781e-01 -7.02073882e-01 4.51764341e-03 5.60201335e+01] [ 7.02058730e-01 -7.12104102e-01 -4.61382157e-03 -1.75522930e+02] [ 6.45627602e-03 -1.13804192e-04 9.99979152e-01 -9.03284791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.570385723 meters 0.01599698624542767 Centerline is valid? [True, True] Translation: X:56.00, Y:-175.51, Z:-9.03 [[-7.12229588e-01 -7.01931432e-01 4.61284338e-03 5.59987881e+01] [ 7.01915650e-01 -7.12244516e-01 -4.70839053e-03 -1.75505062e+02] [ 6.59043971e-03 -1.15628092e-04 9.99978276e-01 -9.03236608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.600385723 meters 0.0167223736050695 Centerline is valid? [True, True] Translation: X:55.98, Y:-175.49, Z:-9.03 [[-7.12500515e-01 -7.01654874e-01 4.84288314e-03 5.59802263e+01] [ 7.01637493e-01 -7.12516963e-01 -4.94025560e-03 -1.75485077e+02] [ 6.91699081e-03 -1.21986272e-04 9.99976070e-01 -9.03269435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.630385723 meters 0.01681016533063254 Centerline is valid? [True, True] Translation: X:55.96, Y:-175.47, Z:-9.03 [[-7.13002126e-01 -7.01143761e-01 5.03936197e-03 5.59615092e+01] [ 7.01124945e-01 -7.13019922e-01 -5.13828510e-03 -1.75466770e+02] [ 7.19584202e-03 -1.30385814e-04 9.99974101e-01 -9.03250254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.660385723 meters 0.016333220396950763 Centerline is valid? [True, True] Translation: X:55.94, Y:-175.45, Z:-9.03 [[-7.13955738e-01 -7.00173789e-01 4.88559863e-03 5.59399920e+01] [ 7.00156100e-01 -7.13972442e-01 -4.97872635e-03 -1.75448382e+02] [ 6.97415648e-03 -1.33908566e-04 9.99975671e-01 -9.03120697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.690385723 meters 0.016578919888483937 Centerline is valid? [True, True] Translation: X:55.92, Y:-175.43, Z:-9.03 [[-7.14466183e-01 -6.99654136e-01 4.70781767e-03 5.59212511e+01] [ 6.99637719e-01 -7.14481682e-01 -4.79473788e-03 -1.75429434e+02] [ 6.71830767e-03 -1.31911253e-04 9.99977423e-01 -9.03106456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.720385723 meters 0.01687502570580231 Centerline is valid? [True, True] Translation: X:55.90, Y:-175.41, Z:-9.03 [[-7.15525775e-01 -6.98573704e-01 4.20061763e-03 5.59014577e+01] [ 6.98560630e-01 -7.15538094e-01 -4.27569654e-03 -1.75410337e+02] [ 5.99259110e-03 -1.24984978e-04 9.99982036e-01 -9.03044213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.750385723 meters 0.016994023713843356 Centerline is valid? [True, True] Translation: X:55.88, Y:-175.39, Z:-9.03 [[-7.15896084e-01 -6.98193794e-01 4.26886938e-03 5.58819664e+01] [ 6.98180295e-01 -7.15908800e-01 -4.34343008e-03 -1.75390877e+02] [ 6.08867708e-03 -1.29004108e-04 9.99981456e-01 -9.03060008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.780385723 meters 0.016777715128412113 Centerline is valid? [True, True] Translation: X:55.86, Y:-175.37, Z:-9.03 [[-7.16262125e-01 -6.97816644e-01 4.52766894e-03 5.58614932e+01] [ 6.97801468e-01 -7.16276422e-01 -4.60421033e-03 -1.75371661e+02] [ 6.45595711e-03 -1.38407445e-04 9.99979151e-01 -9.03070897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.810385723 meters 0.016560892527096454 Centerline is valid? [True, True] Translation: X:55.84, Y:-175.35, Z:-9.03 [[-7.16490318e-01 -6.97577766e-01 5.18510935e-03 5.58393653e+01] [ 6.97557878e-01 -7.16509062e-01 -5.26983703e-03 -1.75353804e+02] [ 7.39129897e-03 -1.58873333e-04 9.99972671e-01 -9.03186140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.840385723 meters 0.01700686532662263 Centerline is valid? [True, True] Translation: X:55.82, Y:-175.34, Z:-9.03 [[-7.16378309e-01 -6.97691701e-01 5.32991844e-03 5.58199790e+01] [ 6.97670714e-01 -7.16398119e-01 -5.41385355e-03 -1.75335055e+02] [ 7.59554424e-03 -1.59839249e-04 9.99971141e-01 -9.03306993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87038572299997 meters 0.016387452741901003 Centerline is valid? [True, True] Translation: X:55.80, Y:-175.32, Z:-9.03 [[-7.16249874e-01 -6.97819532e-01 5.83256826e-03 5.57981957e+01] [ 6.97794432e-01 -7.16273601e-01 -5.92113097e-03 -1.75316714e+02] [ 8.30959551e-03 -1.71075654e-04 9.99965460e-01 -9.03317372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.900385723 meters 0.016487653545061588 Centerline is valid? [True, True] Translation: X:55.78, Y:-175.30, Z:-9.03 [[-7.15871893e-01 -6.98207721e-01 5.78020580e-03 5.57787251e+01] [ 6.98183109e-01 -7.15895210e-01 -5.86461935e-03 -1.75297675e+02] [ 8.23274415e-03 -1.62674099e-04 9.99966097e-01 -9.03291267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.930385723 meters 0.016555446591801713 Centerline is valid? [True, True] Translation: X:55.76, Y:-175.28, Z:-9.03 [[-7.15644298e-01 -6.98442746e-01 5.56511397e-03 5.57591954e+01] [ 6.98419964e-01 -7.15665919e-01 -5.64319800e-03 -1.75278372e+02] [ 7.92421311e-03 -1.51735769e-04 9.99968591e-01 -9.03234732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.960385723 meters 0.01642712762926902 Centerline is valid? [True, True] Translation: X:55.74, Y:-175.26, Z:-9.03 [[-7.15206423e-01 -6.98889780e-01 5.73134689e-03 5.57391276e+01] [ 6.98865660e-01 -7.15229371e-01 -5.80826606e-03 -1.75259372e+02] [ 8.15856542e-03 -1.48667663e-04 9.99966707e-01 -9.03227148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.990385723 meters 0.015582377750840133 Centerline is valid? [True, True] Translation: X:55.72, Y:-175.24, Z:-9.03 [[-7.13325857e-01 -7.00808708e-01 5.77723384e-03 5.57164190e+01] [ 7.00784289e-01 -7.13349241e-01 -5.85156329e-03 -1.75242336e+02] [ 8.22201188e-03 -1.25476688e-04 9.99966191e-01 -9.03218718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.020385723 meters 0.01536059617202012 Centerline is valid? [True, True] Translation: X:55.70, Y:-175.22, Z:-9.03 [[-7.12460525e-01 -7.01684420e-01 6.24304415e-03 5.56954743e+01] [ 7.01655969e-01 -7.12487867e-01 -6.31991536e-03 -1.75224059e+02] [ 8.88267936e-03 -1.22221022e-04 9.99960541e-01 -9.03271134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.050385723 meters 0.015275774265412663 Centerline is valid? [True, True] Translation: X:55.68, Y:-175.21, Z:-9.03 [[-7.11429019e-01 -7.02727937e-01 6.49596899e-03 5.56751405e+01] [ 7.02697211e-01 -7.11458666e-01 -6.57239620e-03 -1.75205388e+02] [ 9.24021986e-03 -1.11094085e-04 9.99957302e-01 -9.03350743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.080385723 meters 0.014671791237269157 Centerline is valid? [True, True] Translation: X:55.65, Y:-175.19, Z:-9.03 [[-7.09379364e-01 -7.04793010e-01 6.90880794e-03 5.56535229e+01] [ 7.04758389e-01 -7.09413001e-01 -6.98622186e-03 -1.75186876e+02] [ 9.82503850e-03 -8.68412626e-05 9.99951729e-01 -9.03308469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.110385723 meters 0.01457310663566041 Centerline is valid? [True, True] Translation: X:55.63, Y:-175.17, Z:-9.03 [[-7.08542843e-01 -7.05634398e-01 6.86553211e-03 5.56347116e+01] [ 7.05600277e-01 -7.08576101e-01 -6.93965361e-03 -1.75167861e+02] [ 9.76161027e-03 -7.27205429e-05 9.99952352e-01 -9.03341202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.140385723 meters 0.014433141949712725 Centerline is valid? [True, True] Translation: X:55.61, Y:-175.15, Z:-9.03 [[-7.08101245e-01 -7.06071955e-01 7.41769543e-03 5.56149360e+01] [ 7.06032191e-01 -7.08140092e-01 -7.49364276e-03 -1.75148455e+02] [ 1.05438185e-02 -6.91260070e-05 9.99944410e-01 -9.03331498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.170385723 meters 0.01449360522662654 Centerline is valid? [True, True] Translation: X:55.60, Y:-175.13, Z:-9.03 [[-7.08411715e-01 -7.05761503e-01 7.31737372e-03 5.55952077e+01] [ 7.05722834e-01 -7.08449502e-01 -7.38819746e-03 -1.75128523e+02] [ 1.03982951e-02 -6.98479183e-05 9.99945934e-01 -9.03347837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.200385723 meters 0.014704542429957826 Centerline is valid? [True, True] Translation: X:55.58, Y:-175.11, Z:-9.03 [[-7.08945764e-01 -7.05223209e-01 7.49194954e-03 5.55770064e+01] [ 7.05182690e-01 -7.08985345e-01 -7.56004328e-03 -1.75108296e+02] [ 1.06432004e-02 -7.64675363e-05 9.99943357e-01 -9.03456096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.230385723 meters 0.014679131051557147 Centerline is valid? [True, True] Translation: X:55.56, Y:-175.09, Z:-9.03 [[-7.10299033e-01 -7.03860510e-01 7.46091560e-03 5.55583734e+01] [ 7.03820295e-01 -7.10338210e-01 -7.52458593e-03 -1.75087660e+02] [ 1.05960323e-02 -9.35622926e-05 9.99943856e-01 -9.03278298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.260385723 meters 0.014800517752779165 Centerline is valid? [True, True] Translation: X:55.54, Y:-175.07, Z:-9.03 [[-7.11056604e-01 -7.03097094e-01 7.27888030e-03 5.55405109e+01] [ 7.03058808e-01 -7.11093852e-01 -7.33805465e-03 -1.75066859e+02] [ 1.03353319e-02 -1.00291312e-04 9.99946584e-01 -9.03255664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.290385723 meters 0.014867325804735152 Centerline is valid? [True, True] Translation: X:55.52, Y:-175.04, Z:-9.03 [[-7.12406509e-01 -7.01729738e-01 7.23473710e-03 5.55224888e+01] [ 7.01691885e-01 -7.12443234e-01 -7.28952678e-03 -1.75044874e+02] [ 1.02696172e-02 -1.16550003e-04 9.99947259e-01 -9.03062719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.320385723 meters 0.014936256093369658 Centerline is valid? [True, True] Translation: X:55.50, Y:-175.02, Z:-9.03 [[-7.12870422e-01 -7.01260616e-01 7.02210496e-03 5.55030765e+01] [ 7.01224971e-01 -7.12904997e-01 -7.07138947e-03 -1.75024330e+02] [ 9.96498065e-03 -1.16909050e-04 9.99950342e-01 -9.03065204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.350385723 meters 0.01485099941850699 Centerline is valid? [True, True] Translation: X:55.48, Y:-175.00, Z:-9.03 [[-7.13087485e-01 -7.01036027e-01 7.39783912e-03 5.54830796e+01] [ 7.00996497e-01 -7.13125847e-01 -7.44562489e-03 -1.75004389e+02] [ 1.04952416e-02 -1.23522616e-04 9.99944916e-01 -9.03087436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.380385723 meters 0.0169181641272771 Centerline is valid? [True, True] Translation: X:55.47, Y:-174.98, Z:-9.03 [[-7.13314218e-01 -7.00797303e-01 8.12204331e-03 5.54654322e+01] [ 7.00749694e-01 -7.13360443e-01 -8.16972449e-03 -1.74984264e+02] [ 1.15192653e-02 -1.36061266e-04 9.99933642e-01 -9.03386329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.410385723 meters 0.015046462587830087 Centerline is valid? [True, True] Translation: X:55.45, Y:-174.96, Z:-9.03 [[-7.13588036e-01 -7.00522798e-01 7.74109784e-03 5.54460608e+01] [ 7.00479581e-01 -7.13630011e-01 -7.78228208e-03 -1.74964413e+02] [ 1.09759458e-02 -1.30862415e-04 9.99939754e-01 -9.03229282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.440385723 meters 0.015308288451091947 Centerline is valid? [True, True] Translation: X:55.43, Y:-174.94, Z:-9.03 [[-7.13580879e-01 -7.00522510e-01 8.39891251e-03 5.54295222e+01] [ 7.00471676e-01 -7.13630292e-01 -8.44023327e-03 -1.74943218e+02] [ 1.19062918e-02 -1.39588756e-04 9.99929108e-01 -9.03285735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.470385723 meters 0.015786354419394553 Centerline is valid? [True, True] Translation: X:55.41, Y:-174.92, Z:-9.03 [[-7.13620119e-01 -7.00479673e-01 8.63439250e-03 5.54115545e+01] [ 7.00426009e-01 -7.13672339e-01 -8.67166503e-03 -1.74923147e+02] [ 1.22364522e-02 -1.40521559e-04 9.99925122e-01 -9.03362754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.500385723 meters 0.015918396898942703 Centerline is valid? [True, True] Translation: X:55.39, Y:-174.90, Z:-9.03 [[-7.13946978e-01 -7.00142998e-01 8.91602260e-03 5.53940190e+01] [ 7.00085821e-01 -7.14002634e-01 -8.94888802e-03 -1.74903511e+02] [ 1.26315649e-02 -1.47050556e-04 9.99920208e-01 -9.03393733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.530385723 meters 0.015017556959432393 Centerline is valid? [True, True] Translation: X:55.37, Y:-174.88, Z:-9.03 [[-7.14061788e-01 -7.00025235e-01 8.96846405e-03 5.53737228e+01] [ 6.99967437e-01 -7.14118092e-01 -8.99656350e-03 -1.74883567e+02] [ 1.27023639e-02 -1.46469419e-04 9.99919311e-01 -9.03249215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.560385723 meters 0.01592334852950434 Centerline is valid? [True, True] Translation: X:55.35, Y:-174.86, Z:-9.03 [[-7.13874712e-01 -7.00205187e-01 9.77711409e-03 5.53548652e+01] [ 7.00136587e-01 -7.13941646e-01 -9.80234072e-03 -1.74862249e+02] [ 1.38439387e-02 -1.52327867e-04 9.99904157e-01 -9.03414812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.590385723 meters 0.015067335849732277 Centerline is valid? [True, True] Translation: X:55.34, Y:-174.84, Z:-9.03 [[-7.13595358e-01 -7.00491629e-01 9.65104178e-03 5.53368976e+01] [ 7.00424890e-01 -7.13660604e-01 -9.67036539e-03 -1.74842370e+02] [ 1.36615783e-02 -1.40897976e-04 9.99906666e-01 -9.03354081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62038572299997 meters 0.014947021312333664 Centerline is valid? [True, True] Translation: X:55.32, Y:-174.82, Z:-9.03 [[-7.13603980e-01 -7.00481610e-01 9.74028922e-03 5.53177105e+01] [ 7.00413703e-01 -7.13670439e-01 -9.75449271e-03 -1.74821741e+02] [ 1.37841992e-02 -1.38612786e-04 9.99904984e-01 -9.03352155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.650385723 meters 0.01847949566384847 Centerline is valid? [True, True] Translation: X:55.30, Y:-174.80, Z:-9.04 [[-7.13593630e-01 -7.00486852e-01 1.01144101e-02 5.53017267e+01] [ 7.00413721e-01 -7.13665294e-01 -1.01226813e-02 -1.74801304e+02] [ 1.43091086e-02 -1.39209288e-04 9.99897610e-01 -9.03723332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.680385723 meters 0.015007984082163361 Centerline is valid? [True, True] Translation: X:55.28, Y:-174.78, Z:-9.03 [[-7.13909937e-01 -7.00175153e-01 9.34645417e-03 5.52827217e+01] [ 7.00112754e-01 -7.13971104e-01 -9.34849466e-03 -1.74781476e+02] [ 1.32186819e-02 -1.30411468e-04 9.99912621e-01 -9.03409257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.710385723 meters 0.015045898254532453 Centerline is valid? [True, True] Translation: X:55.26, Y:-174.76, Z:-9.03 [[-7.14893884e-01 -6.99179957e-01 8.60942172e-03 5.52644357e+01] [ 6.99127002e-01 -7.14945711e-01 -8.60610007e-03 -1.74761241e+02] [ 1.21724818e-02 -1.33369111e-04 9.99925904e-01 -9.03416886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.740385723 meters 0.015371674028220782 Centerline is valid? [True, True] Translation: X:54.85, Y:-175.18, Z:-8.03 [[-7.47768564e-01 6.63902685e-01 8.68330466e-03 5.48482098e+01] [ 6.63860026e-01 7.47818966e-01 -7.52725827e-03 -1.75177018e+02] [-1.14909069e-02 1.35851752e-04 -9.99933968e-01 -8.03357681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.770385723 meters 0.01563879605972386 Centerline is valid? [True, True] Translation: X:54.86, Y:-175.15, Z:-8.03 [[-7.91978556e-01 6.10486721e-01 8.71382116e-03 5.48627848e+01] [ 6.10451782e-01 7.92026478e-01 -6.53295957e-03 -1.75153762e+02] [-1.08898622e-02 1.45403780e-04 -9.99940693e-01 -8.03427871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.800385723 meters 0.01557367136880147 Centerline is valid? [True, True] Translation: X:54.87, Y:-175.13, Z:-8.04 [[-8.31755274e-01 5.55079423e-01 8.36650011e-03 5.48738655e+01] [ 5.55053262e-01 8.31797336e-01 -5.39144560e-03 -1.75128860e+02] [-9.95191302e-03 1.59489865e-04 -9.99950466e-01 -8.03660787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.830385723 meters 0.01858729775874739 Centerline is valid? [True, True] Translation: X:55.20, Y:-174.63, Z:-9.03 [[-8.12574619e-01 -5.82791174e-01 8.77130095e-03 5.52021301e+01] [ 5.82755638e-01 -8.12621950e-01 -6.43684906e-03 -1.74628650e+02] [ 1.08790905e-02 -1.18895087e-04 9.99940814e-01 -9.03377610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.860385723 meters 0.016109334974490176 Centerline is valid? [True, True] Translation: X:54.84, Y:-175.11, Z:-8.04 [[-8.31692773e-01 5.55169500e-01 8.59989251e-03 5.48366468e+01] [ 5.55142309e-01 8.31737210e-01 -5.49821833e-03 -1.75110172e+02] [-1.02052937e-02 2.01335744e-04 -9.99947904e-01 -8.03697293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.890385723 meters 0.016393146966167584 Centerline is valid? [True, True] Translation: X:54.85, Y:-175.08, Z:-8.04 [[-8.68533135e-01 4.95554099e-01 8.73663932e-03 5.48465567e+01] [ 4.95531384e-01 8.68577051e-01 -4.74910769e-03 -1.75083076e+02] [-9.94188419e-03 2.04521587e-04 -9.99950557e-01 -8.03688583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.920385723 meters 0.016541433887092217 Centerline is valid? [True, True] Translation: X:54.86, Y:-175.06, Z:-8.04 [[-9.01278927e-01 4.33149658e-01 8.81308468e-03 5.48561755e+01] [ 4.33131143e-01 9.01321992e-01 -4.01002364e-03 -1.75055830e+02] [-9.68036740e-03 2.03071638e-04 -9.99953124e-01 -8.03702539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.950385723 meters 0.01630461784980982 Centerline is valid? [True, True] Translation: X:54.86, Y:-175.03, Z:-8.04 [[-9.29747359e-01 3.68095802e-01 8.67926557e-03 5.48597942e+01] [ 3.68081698e-01 9.29787849e-01 -3.22805483e-03 -1.75025861e+02] [-9.25810909e-03 1.93403351e-04 -9.99957124e-01 -8.03709960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.980385723 meters 0.01623543685272456 Centerline is valid? [True, True] Translation: X:55.08, Y:-174.46, Z:-9.03 [[-9.19674909e-01 -3.92591663e-01 8.35750931e-03 5.50765636e+01] [ 3.92573497e-01 -9.19712861e-01 -3.78185516e-03 -1.74459567e+02] [ 9.17123360e-03 -1.97140644e-04 9.99957924e-01 -9.03109827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.010385723 meters 0.0157342714066277 Centerline is valid? [True, True] Translation: X:54.82, Y:-175.01, Z:-8.04 [[-9.31920005e-01 3.62553499e-01 8.94784040e-03 5.48191862e+01] [ 3.62538613e-01 9.31962944e-01 -3.29016997e-03 -1.75010867e+02] [-9.53191831e-03 1.77762436e-04 -9.99954554e-01 -8.03668421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.040385723 meters 0.01575654757107654 Centerline is valid? [True, True] Translation: X:55.02, Y:-174.44, Z:-9.03 [[-9.19563744e-01 -3.92844400e-01 8.70619114e-03 5.50241681e+01] [ 3.92824962e-01 -9.19604940e-01 -3.91191152e-03 -1.74441130e+02] [ 9.54302892e-03 -1.77242794e-04 9.99954449e-01 -9.03256392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.070385723 meters 0.01635255036079297 Centerline is valid? [True, True] Translation: X:54.77, Y:-174.99, Z:-8.03 [[-9.34673437e-01 3.55389082e-01 9.17421044e-03 5.47679573e+01] [ 3.55373469e-01 9.34718449e-01 -3.33433876e-03 -1.74992972e+02] [-9.76029135e-03 1.43753118e-04 -9.99952357e-01 -8.03449633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.100385723 meters 0.015165180733671891 Centerline is valid? [True, True] Translation: X:54.77, Y:-174.96, Z:-8.04 [[-9.58005587e-01 2.86602442e-01 9.18342612e-03 5.47747203e+01] [ 2.86590522e-01 9.58049594e-01 -2.61681727e-03 -1.74964499e+02] [-9.54816388e-03 1.24957323e-04 -9.99954407e-01 -8.03563362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.130385723 meters 0.014570736934742418 Centerline is valid? [True, True] Translation: X:54.77, Y:-174.93, Z:-8.04 [[-9.76441721e-01 2.15573443e-01 9.46868703e-03 5.47743720e+01] [ 2.15564336e-01 9.76487624e-01 -1.98424365e-03 -1.74933758e+02] [-9.67380593e-03 1.03612949e-04 -9.99953202e-01 -8.03595518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.160385723 meters 0.014547984771901931 Centerline is valid? [True, True] Translation: X:54.77, Y:-174.90, Z:-8.04 [[-9.89364638e-01 1.45150204e-01 9.43567724e-03 5.47732051e+01] [ 1.45144533e-01 9.89409627e-01 -1.28672628e-03 -1.74904365e+02] [-9.52251848e-03 9.64954853e-05 -9.99954655e-01 -8.03546791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.190385723 meters 0.01449229672079909 Centerline is valid? [True, True] Translation: X:54.85, Y:-174.30, Z:-9.03 [[-9.81393330e-01 -1.91789915e-01 9.15212661e-03 5.48529298e+01] [ 1.91780566e-01 -9.81435998e-01 -1.89664797e-03 -1.74304253e+02] [ 9.34598446e-03 -1.06157646e-04 9.99956320e-01 -9.03210200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.220385723 meters 0.01449229672079909 Centerline is valid? [True, True] Translation: X:54.72, Y:-174.90, Z:-8.04 [[-9.89964968e-01 1.41009699e-01 9.25343993e-03 5.47156589e+01] [ 1.41004423e-01 9.90008210e-01 -1.22336338e-03 -1.74897609e+02] [-9.33348761e-03 9.36890747e-05 -9.99956438e-01 -8.03584908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.250385723 meters 0.014564108463193216 Centerline is valid? [True, True] Translation: X:54.71, Y:-174.87, Z:-8.04 [[-9.97438409e-01 7.10907547e-02 7.91988852e-03 5.47087626e+01] [ 7.10891960e-02 9.97469848e-01 -4.78505882e-04 -1.74870426e+02] [-7.93386735e-03 8.57383617e-05 -9.99968523e-01 -8.03702792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.280385723 meters 0.014810306066384196 Centerline is valid? [True, True] Translation: X:54.71, Y:-174.84, Z:-8.04 [[-9.99972313e-01 8.93622250e-04 7.38741619e-03 5.47069663e+01] [ 8.94240214e-04 9.99999597e-01 8.03482567e-05 -1.74843327e+02] [-7.38734141e-03 8.69521567e-05 -9.99972709e-01 -8.03726508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.310385723 meters 0.014833010401567393 Centerline is valid? [True, True] Translation: X:54.70, Y:-174.82, Z:-8.04 [[-9.97611962e-01 -6.87765986e-02 6.33655555e-03 5.46971301e+01] [-6.87746722e-02 9.97632083e-01 5.21670597e-04 -1.74816194e+02] [-6.35742984e-03 8.46302968e-05 -9.99979788e-01 -8.03833587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.340385723 meters 0.015294291071975146 Centerline is valid? [True, True] Translation: X:54.68, Y:-174.79, Z:-8.04 [[-9.90618334e-01 -1.36567355e-01 4.96725044e-03 5.46823006e+01] [-1.36565216e-01 9.90630784e-01 7.68744722e-04 -1.74791945e+02] [-5.02569663e-03 8.31789838e-05 -9.99987368e-01 -8.04017611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37038572299997 meters 0.015489736931298107 Centerline is valid? [True, True] Translation: X:54.66, Y:-174.77, Z:-8.04 [[-9.78522948e-01 -2.06078440e-01 4.95152531e-03 5.46564534e+01] [-2.06075333e-01 9.78535471e-01 1.13519750e-03 -1.74768650e+02] [-5.07918289e-03 9.04295780e-05 -9.99987097e-01 -8.04024533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.400385723 meters 0.01796278719220314 Centerline is valid? [True, True] Translation: X:54.62, Y:-174.75, Z:-8.04 [[-9.61420096e-01 -2.75027791e-01 5.57800578e-03 5.46185031e+01] [-2.75022489e-01 9.61436270e-01 1.71125697e-03 -1.74753662e+02] [-5.83354030e-03 1.11159805e-04 -9.99982979e-01 -8.03789362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.430385723 meters 0.01615502576848114 Centerline is valid? [True, True] Translation: X:54.56, Y:-174.74, Z:-8.04 [[-9.39264197e-01 -3.43138842e-01 6.20516425e-03 5.45557794e+01] [-3.43130376e-01 9.39284683e-01 2.41434642e-03 -1.74741837e+02] [-6.65687177e-03 1.38528801e-04 -9.99977833e-01 -8.03811776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.460385723 meters 0.015808170195609723 Centerline is valid? [True, True] Translation: X:54.49, Y:-174.74, Z:-8.04 [[-9.11903199e-01 -4.10350030e-01 6.73855240e-03 5.44854543e+01] [-4.10337498e-01 9.11928082e-01 3.21118540e-03 -1.74739665e+02] [-7.46278519e-03 1.63209509e-04 -9.99972140e-01 -8.03838892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.490385723 meters 0.016294022954457376 Centerline is valid? [True, True] Translation: X:54.41, Y:-174.75, Z:-8.04 [[-8.79524832e-01 -4.75802584e-01 6.92607023e-03 5.44109059e+01] [-4.75786175e-01 8.79552083e-01 3.95591574e-03 -1.74747046e+02] [-7.97407444e-03 1.83997670e-04 -9.99968190e-01 -8.03749674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.520385723 meters 0.016391930934467308 Centerline is valid? [True, True] Translation: X:54.33, Y:-174.77, Z:-8.04 [[-8.41893351e-01 -5.39597057e-01 7.11353603e-03 5.43251119e+01] [-5.39575762e-01 8.41923379e-01 4.79805601e-03 -1.74766035e+02] [-8.57806919e-03 2.01159831e-04 -9.99963187e-01 -8.03719572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.550385723 meters 0.016474881550655792 Centerline is valid? [True, True] Translation: X:54.24, Y:-174.79, Z:-8.04 [[-7.99087644e-01 -6.01174439e-01 6.94488568e-03 5.42387843e+01] [-6.01149463e-01 7.99117796e-01 5.48371828e-03 -1.74793283e+02] [-8.84645300e-03 2.07057219e-04 -9.99960848e-01 -8.03670509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.580385723 meters 0.016258919472219056 Centerline is valid? [True, True] Translation: X:54.15, Y:-174.83, Z:-8.04 [[-7.51573942e-01 -6.59610883e-01 7.07768077e-03 5.41502799e+01] [-6.59578796e-01 7.51607233e-01 6.50996595e-03 -1.74830494e+02] [-9.61368044e-03 2.24432609e-04 -9.99953762e-01 -8.03667183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.610385723 meters 0.016697685902689125 Centerline is valid? [True, True] Translation: X:54.06, Y:-174.88, Z:-8.04 [[-6.99163039e-01 -7.14927810e-01 7.01932942e-03 5.40609954e+01] [-7.14888399e-01 6.99198235e-01 7.51034912e-03 -1.74880580e+02] [-1.02772602e-02 2.32921345e-04 -9.99947160e-01 -8.03604436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.640385723 meters 0.016817388680906216 Centerline is valid? [True, True] Translation: X:53.97, Y:-174.94, Z:-8.04 [[-6.42909887e-01 -7.65911157e-01 6.85393322e-03 5.39701802e+01] [-7.65863503e-01 6.42946373e-01 8.54733149e-03 -1.74941164e+02] [-1.09532081e-02 2.45986617e-04 -9.99939982e-01 -8.03547320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.670385723 meters 0.016902236549087315 Centerline is valid? [True, True] Translation: X:53.88, Y:-175.01, Z:-8.04 [[-5.83142153e-01 -8.12344461e-01 6.45796385e-03 5.38829438e+01] [-8.12289636e-01 5.83177853e-01 9.44131753e-03 -1.75009167e+02] [-1.14357435e-02 2.59893128e-04 -9.99934576e-01 -8.03509838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.700385723 meters 0.017420445638989562 Centerline is valid? [True, True] Translation: X:53.80, Y:-175.09, Z:-8.03 [[-5.20511012e-01 -8.53831553e-01 6.32184334e-03 5.38006539e+01] [-8.53761451e-01 5.20549316e-01 1.09450818e-02 -1.75086483e+02] [-1.26360874e-02 2.99689481e-04 -9.99920117e-01 -8.03447129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.730385723 meters 0.01726360814737346 Centerline is valid? [True, True] Translation: X:53.72, Y:-175.17, Z:-8.04 [[-4.54906406e-01 -8.90520869e-01 5.72222541e-03 5.37228813e+01] [-8.90441111e-01 4.54942276e-01 1.19227830e-02 -1.75171523e+02] [-1.32207694e-02 3.28445633e-04 -9.99912548e-01 -8.03519192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.760385723 meters 0.017552026053865407 Centerline is valid? [True, True] Translation: X:53.65, Y:-175.27, Z:-8.04 [[-3.86911072e-01 -9.22104457e-01 4.81593333e-03 5.36512739e+01] [-9.22021443e-01 3.86940886e-01 1.23777637e-02 -1.75266443e+02] [-1.32770726e-02 3.48700030e-04 -9.99911795e-01 -8.03664656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.790385723 meters 0.01894664993995797 Centerline is valid? [True, True] Translation: X:53.59, Y:-175.37, Z:-8.04 [[-3.18268108e-01 -9.47993596e-01 3.68156916e-03 5.35886731e+01] [-9.47915941e-01 3.18289181e-01 1.21394315e-02 -1.75368805e+02] [-1.26799069e-02 3.73775805e-04 -9.99919537e-01 -8.03783959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.820385723 meters 0.0181545006971548 Centerline is valid? [True, True] Translation: X:53.53, Y:-175.48, Z:-8.04 [[-2.45713588e-01 -9.69338565e-01 2.75292523e-03 5.35291034e+01] [-9.69258864e-01 2.45728704e-01 1.24361535e-02 -1.75475018e+02] [-1.27313159e-02 3.87434712e-04 -9.99918878e-01 -8.03921523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.850385723 meters 0.0187577412354716 Centerline is valid? [True, True] Translation: X:53.48, Y:-175.59, Z:-8.04 [[-1.71560564e-01 -9.85171950e-01 1.78925102e-03 5.34794651e+01] [-9.85091629e-01 1.71569436e-01 1.25861446e-02 -1.75588822e+02] [-1.27064974e-02 3.96709860e-04 -9.99919191e-01 -8.03930565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.880385723 meters 0.01867051466718558 Centerline is valid? [True, True] Translation: X:53.44, Y:-175.71, Z:-8.04 [[-9.61027327e-02 -9.95371079e-01 8.24914790e-04 5.34375496e+01] [-9.95289065e-01 9.61054090e-02 1.27838482e-02 -1.75705403e+02] [-1.28039515e-02 4.07534075e-04 -9.99917943e-01 -8.03969127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.910385723 meters 0.01925892915900905 Centerline is valid? [True, True] Translation: X:53.41, Y:-175.82, Z:-8.04 [[-2.05402032e-02 -9.99789015e-01 -1.58412781e-04 5.34056898e+01] [-9.99701483e-01 2.05363076e-02 1.32365115e-02 -1.75823660e+02] [-1.32304655e-02 4.30246128e-04 -9.99912381e-01 -8.04006785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.940385723 meters 0.019978786997246333 Centerline is valid? [True, True] Translation: X:53.38, Y:-175.94, Z:-8.04 [[ 5.60636085e-02 -9.98426555e-01 -1.13401221e-03 5.33823555e+01] [-9.98345024e-01 -5.60735301e-02 1.27660892e-02 -1.75942800e+02] [-1.28095905e-02 4.16422419e-04 -9.99917867e-01 -8.04078243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.970385723 meters 0.018548016073550954 Centerline is valid? [True, True] Translation: X:53.36, Y:-176.06, Z:-8.04 [[ 1.32416027e-01 -9.91192030e-01 -2.08698261e-03 5.33648199e+01] [-9.91113204e-01 -1.32431830e-01 1.25071104e-02 -1.76064301e+02] [-1.26733311e-02 4.12294160e-04 -9.99919605e-01 -8.04265184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.000385723 meters 0.0203979187224609 Centerline is valid? [True, True] Translation: X:53.36, Y:-176.19, Z:-8.04 [[ 2.08077287e-01 -9.78108054e-01 -2.91156500e-03 5.33628805e+01] [-9.78037034e-01 -2.08097284e-01 1.17932036e-02 -1.76188468e+02] [-1.21409162e-02 3.93720582e-04 -9.99926219e-01 -8.04181979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.030385723 meters 0.019880571300247278 Centerline is valid? [True, True] Translation: X:53.37, Y:-176.31, Z:-8.04 [[ 2.82717472e-01 -9.59194681e-01 -4.04901348e-03 5.33667355e+01] [-9.59116278e-01 -2.82746161e-01 1.22708448e-02 -1.76314089e+02] [-1.29149720e-02 4.14292524e-04 -9.99916512e-01 -8.04238627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.060385723 meters 0.018629562239105835 Centerline is valid? [True, True] Translation: X:53.38, Y:-176.44, Z:-8.04 [[ 3.55304423e-01 -9.34735172e-01 -5.37832481e-03 5.33778887e+01] [-9.34646395e-01 -3.55344846e-01 1.28901928e-02 -1.76437835e+02] [-1.39600766e-02 4.46889372e-04 -9.99902454e-01 -8.04341232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.090385723 meters 0.018463961842907932 Centerline is valid? [True, True] Translation: X:53.40, Y:-176.55, Z:-8.04 [[ 4.25622450e-01 -9.04877557e-01 -6.49127257e-03 5.33981103e+01] [-9.04788180e-01 -4.25671702e-01 1.27260501e-02 -1.76553879e+02] [-1.42786682e-02 4.56734082e-04 -9.99897950e-01 -8.04373658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12038572299997 meters 0.019469969913967287 Centerline is valid? [True, True] Translation: X:53.43, Y:-176.67, Z:-8.04 [[ 4.93538471e-01 -8.69691562e-01 -7.50757042e-03 5.34309716e+01] [-8.69604718e-01 -4.93595356e-01 1.22987533e-02 -1.76671495e+02] [-1.44018238e-02 4.58710768e-04 -9.99896183e-01 -8.04303744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.150385723 meters 0.019010928433520816 Centerline is valid? [True, True] Translation: X:53.46, Y:-176.78, Z:-8.04 [[ 5.58221105e-01 -8.29647585e-01 -8.60711853e-03 5.34645498e+01] [-8.29561685e-01 -5.58287259e-01 1.19477103e-02 -1.76778444e+02] [-1.47176336e-02 4.70671722e-04 -9.99891579e-01 -8.04327997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.180385723 meters 0.01836615152256172 Centerline is valid? [True, True] Translation: X:53.51, Y:-176.88, Z:-8.04 [[ 6.19654541e-01 -7.84817530e-01 -9.47070393e-03 5.35067780e+01] [-7.84737236e-01 -6.19726734e-01 1.12359458e-02 -1.76883327e+02] [-1.46874156e-02 4.69609191e-04 -9.99892024e-01 -8.04353584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.210385723 meters 0.01987662682726847 Centerline is valid? [True, True] Translation: X:53.56, Y:-176.98, Z:-8.04 [[ 6.76382372e-01 -7.36472035e-01 -1.07623388e-02 5.35605193e+01] [-7.36390627e-01 -6.76467797e-01 1.09619609e-02 -1.76982329e+02] [-1.53535533e-02 5.10808345e-04 -9.99881997e-01 -8.04303069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.240385723 meters 0.020045986586958383 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.07, Z:-8.04 [[ 7.29448201e-01 -6.83936105e-01 -1.16929575e-02 5.36122174e+01] [-6.83859746e-01 -7.29541720e-01 1.02335978e-02 -1.77069990e+02] [-1.55296273e-02 5.31463461e-04 -9.99879267e-01 -8.04374481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.270385723 meters 0.020783470789651773 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.08, Z:-8.04 [[ 7.79289089e-01 -6.26555932e-01 -1.16695739e-02 5.36097594e+01] [-6.26495734e-01 -7.79376278e-01 8.70128314e-03 -1.77081309e+02] [-1.45468296e-02 5.30123237e-04 -9.99894049e-01 -8.04442231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.300385723 meters 0.02186441664089716 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.09, Z:-8.05 [[ 8.23589481e-01 -5.67076585e-01 -1.11585310e-02 5.36080210e+01] [-5.67033209e-01 -8.23664896e-01 7.03409951e-03 -1.77092548e+02] [-1.31797634e-02 5.34047252e-04 -9.99913001e-01 -8.04593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.330385723 meters 0.02144634383740777 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.11, Z:-8.05 [[ 8.64452648e-01 -5.02591057e-01 -1.11287612e-02 5.36051650e+01] [-5.02557247e-01 -8.64524115e-01 5.85381265e-03 -1.77108022e+02] [-1.25631563e-02 5.32495754e-04 -9.99920939e-01 -8.04660864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.360385723 meters 0.022008149112974423 Centerline is valid? [True, True] Translation: X:53.60, Y:-177.12, Z:-8.05 [[ 9.00480365e-01 -4.34762609e-01 -1.07975098e-02 5.36034133e+01] [-4.34738140e-01 -9.00544951e-01 4.64117016e-03 -1.77122629e+02] [-1.17414502e-02 5.14806733e-04 -9.99930934e-01 -8.04716450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.390385723 meters 0.021956866265910625 Centerline is valid? [True, True] Translation: X:53.60, Y:-177.14, Z:-8.05 [[ 9.31958768e-01 -3.62409938e-01 -1.05779042e-02 5.36033071e+01] [-3.62392413e-01 -9.32018672e-01 3.59644029e-03 -1.77138005e+02] [-1.11621899e-02 4.81618159e-04 -9.99937585e-01 -8.04758717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.420385723 meters 0.025379021648538447 Centerline is valid? [True, True] Translation: X:53.60, Y:-177.15, Z:-8.05 [[ 9.57738759e-01 -2.87459726e-01 -1.01674150e-02 5.36042167e+01] [-2.87448392e-01 -9.57792624e-01 2.59051579e-03 -1.77147379e+02] [-1.04829440e-02 4.41569720e-04 -9.99944955e-01 -8.04602066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.450385723 meters 0.02255104804375698 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.17, Z:-8.05 [[ 9.77931538e-01 -2.08706517e-01 -9.56543178e-03 5.36051763e+01] [-2.08700306e-01 -9.77978244e-01 1.65404446e-03 -1.77165430e+02] [-9.69999403e-03 3.78766294e-04 -9.99952882e-01 -8.04596025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.480385723 meters 0.022233252193163387 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.18, Z:-8.05 [[ 9.91499085e-01 -1.29784915e-01 -9.24339553e-03 5.36056504e+01] [-1.29782523e-01 -9.91542110e-01 8.60731443e-04 -1.77176840e+02] [-9.27692586e-03 3.46216751e-04 -9.99956909e-01 -8.04564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.510385723 meters 0.019764215576345917 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.20, Z:-8.05 [[ 9.98721004e-01 -4.97759566e-02 -8.87185328e-03 5.36064746e+01] [-4.97767767e-02 -9.98760360e-01 1.28487398e-04 -1.77197017e+02] [-8.86725096e-03 3.13289196e-04 -9.99960636e-01 -8.04587412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.540385723 meters 0.019554210560352586 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.21, Z:-8.05 [[ 9.99517260e-01 2.98528041e-02 -8.60562710e-03 5.36096045e+01] [ 2.98491723e-02 -9.99554263e-01 -5.50188000e-04 -1.77212880e+02] [-8.61821590e-03 2.93051557e-04 -9.99962820e-01 -8.04525516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.570385723 meters 0.01930707434025853 Centerline is valid? [True, True] Translation: X:53.61, Y:-177.23, Z:-8.04 [[ 9.93776799e-01 1.11080392e-01 -8.29582023e-03 5.36128548e+01] [ 1.11074344e-01 -9.93811390e-01 -1.18764262e-03 -1.77229192e+02] [-8.37640444e-03 2.58798891e-04 -9.99964884e-01 -8.04367019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.600385723 meters 0.01993917204752628 Centerline is valid? [True, True] Translation: X:53.62, Y:-177.24, Z:-8.04 [[ 9.81874278e-01 1.89367266e-01 -7.93359091e-03 5.36181345e+01] [ 1.89359071e-01 -9.81906299e-01 -1.77856743e-03 -1.77241713e+02] [-8.12684533e-03 2.44032205e-04 -9.99966947e-01 -8.04242984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.630385723 meters 0.01861311850411287 Centerline is valid? [True, True] Translation: X:53.63, Y:-177.26, Z:-8.04 [[ 9.63578470e-01 2.67335085e-01 -6.96315042e-03 5.36257960e+01] [ 2.67326554e-01 -9.63603606e-01 -2.14553351e-03 -1.77256471e+02] [-7.28329324e-03 2.05954889e-04 -9.99973455e-01 -8.04339022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.660385723 meters 0.019261293483997244 Centerline is valid? [True, True] Translation: X:53.63, Y:-177.27, Z:-8.04 [[ 9.39506640e-01 3.42469985e-01 -6.44847415e-03 5.36315341e+01] [ 3.42460506e-01 -9.39528750e-01 -2.55530844e-03 -1.77266144e+02] [-6.93364330e-03 1.92381528e-04 -9.99975944e-01 -8.04291858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.690385723 meters 0.019435189520611084 Centerline is valid? [True, True] Translation: X:53.64, Y:-177.27, Z:-8.04 [[ 9.09661662e-01 4.15300632e-01 -6.40674059e-03 5.36383368e+01] [ 4.15288809e-01 -9.09684202e-01 -3.13975920e-03 -1.77273726e+02] [-7.13205468e-03 1.95470896e-04 -9.99974548e-01 -8.04295865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.720385723 meters 0.01834324224774247 Centerline is valid? [True, True] Translation: X:53.65, Y:-177.29, Z:-8.04 [[ 8.73558052e-01 4.86677869e-01 -6.40167407e-03 5.36487499e+01] [ 4.86663183e-01 -8.73581487e-01 -3.78571766e-03 -1.77286640e+02] [-7.43480896e-03 1.91585066e-04 -9.99972343e-01 -8.04193269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.750385723 meters 0.019831455266108588 Centerline is valid? [True, True] Translation: X:53.66, Y:-177.29, Z:-8.04 [[ 8.32132479e-01 5.54543469e-01 -6.08918306e-03 5.36558316e+01] [ 5.54526999e-01 -8.32154738e-01 -4.27780477e-03 -1.77292966e+02] [-7.43937122e-03 1.83083879e-04 -9.99972311e-01 -8.04061109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.780385723 meters 0.018025558300343875 Centerline is valid? [True, True] Translation: X:53.67, Y:-177.30, Z:-8.04 [[ 7.85415925e-01 6.18939252e-01 -6.00221889e-03 5.36672930e+01] [ 6.18919391e-01 -7.85438839e-01 -4.96165647e-03 -1.77303146e+02] [-7.78533977e-03 1.82074351e-04 -9.99969677e-01 -8.04092883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.810385723 meters 0.016810282352888138 Centerline is valid? [True, True] Translation: X:53.68, Y:-177.31, Z:-8.04 [[ 7.32734872e-01 6.80493130e-01 -5.35784088e-03 5.36819970e+01] [ 6.80473385e-01 -7.32754444e-01 -5.18618167e-03 -1.77313643e+02] [-7.45514271e-03 1.54228043e-04 -9.99972198e-01 -8.04125883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.840385723 meters 0.016851299381350673 Centerline is valid? [True, True] Translation: X:53.69, Y:-177.32, Z:-8.04 [[ 6.76277638e-01 7.36631314e-01 -4.78156090e-03 5.36937722e+01] [ 7.36611420e-01 -6.76294527e-01 -5.41555563e-03 -1.77320401e+02] [-7.22301133e-03 1.40266806e-04 -9.99973904e-01 -8.04109457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87038572299997 meters 0.016641837390667352 Centerline is valid? [True, True] Translation: X:53.71, Y:-177.33, Z:-8.04 [[ 6.15303722e-01 7.88278857e-01 -4.21590053e-03 5.37060594e+01] [ 7.88258943e-01 -6.15318152e-01 -5.60444245e-03 -1.77325467e+02] [-7.01198361e-03 1.25213001e-04 -9.99975408e-01 -8.04122275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.900385723 meters 0.016715940874609227 Centerline is valid? [True, True] Translation: X:53.72, Y:-177.33, Z:-8.04 [[ 5.51162253e-01 8.34389518e-01 -3.78178991e-03 5.37167333e+01] [ 8.34368345e-01 -5.51175214e-01 -5.94536478e-03 -1.77329211e+02] [-7.04517892e-03 1.21454864e-04 -9.99975175e-01 -8.04104777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.930385723 meters 0.01665356242122686 Centerline is valid? [True, True] Translation: X:53.73, Y:-177.33, Z:-8.04 [[ 4.84146573e-01 8.74981664e-01 -3.03048581e-03 5.37275358e+01] [ 8.74963057e-01 -4.84156045e-01 -5.70733565e-03 -1.77331390e+02] [-6.46104207e-03 1.11623866e-04 -9.99979121e-01 -8.04067740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.960385723 meters 0.01685950883710863 Centerline is valid? [True, True] Translation: X:53.74, Y:-177.33, Z:-8.04 [[ 4.14108311e-01 9.10223141e-01 -2.85322389e-03 5.37363226e+01] [ 9.10199444e-01 -4.14118122e-01 -6.56906687e-03 -1.77332802e+02] [-7.16088839e-03 1.23302385e-04 -9.99974353e-01 -8.03954993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.990385723 meters 0.016398232816440008 Centerline is valid? [True, True] Translation: X:53.75, Y:-177.33, Z:-8.04 [[ 3.42159519e-01 9.39638034e-01 -2.68865306e-03 5.37498494e+01] [ 9.39605557e-01 -3.42170051e-01 -7.81362638e-03 -1.77334593e+02] [-8.26195708e-03 1.47233292e-04 -9.99965859e-01 -8.03978016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.020385723 meters 0.016303392821464948 Centerline is valid? [True, True] Translation: X:53.76, Y:-177.33, Z:-8.04 [[ 2.67664322e-01 9.63509524e-01 -2.28202741e-03 5.37632262e+01] [ 9.63469113e-01 -2.67674000e-01 -8.82596670e-03 -1.77334702e+02] [-9.11474238e-03 1.63733466e-04 -9.99958447e-01 -8.03954532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.050385723 meters 0.016617516758843265 Centerline is valid? [True, True] Translation: X:53.77, Y:-177.34, Z:-8.04 [[ 1.92712781e-01 9.81253751e-01 -1.69142880e-03 5.37742655e+01] [ 9.81206920e-01 -1.92720112e-01 -9.58842256e-03 -1.77335113e+02] [-9.73464794e-03 1.88169932e-04 -9.99952600e-01 -8.03881945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.080385723 meters 0.016617516758843265 Centerline is valid? [True, True] Translation: X:53.79, Y:-177.33, Z:-8.04 [[ 1.15290672e-01 9.93331358e-01 -9.35446330e-04 5.37869545e+01] [ 9.93284097e-01 -1.15294313e-01 -9.69144126e-03 -1.77334517e+02] [-9.73466415e-03 1.88168808e-04 -9.99952599e-01 -8.03881931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.110385723 meters 0.01679049950375309 Centerline is valid? [True, True] Translation: X:53.80, Y:-177.33, Z:-8.04 [[ 3.81264016e-02 9.99272909e-01 -1.74339322e-04 5.37987895e+01] [ 9.99225100e-01 -3.81262832e-02 -9.77679171e-03 -1.77332371e+02] [-9.77633001e-03 1.98549661e-04 -9.99952191e-01 -8.03889690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.140385723 meters 0.016999492743272088 Centerline is valid? [True, True] Translation: X:53.81, Y:-177.33, Z:-8.04 [[-3.69570399e-02 9.99316718e-01 5.23442288e-04 5.38098263e+01] [ 9.99279449e-01 3.69601835e-02 -8.63288864e-03 -1.77329061e+02] [-8.64633647e-03 2.04019112e-04 -9.99962599e-01 -8.03920289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.170385723 meters 0.01780114722369793 Centerline is valid? [True, True] Translation: X:53.82, Y:-177.33, Z:-8.04 [[-1.13645056e-01 9.93520621e-01 1.25607170e-03 5.38196358e+01] [ 9.93480053e-01 1.13651770e-01 -8.98102116e-03 -1.77327244e+02] [-9.06558449e-03 2.27233529e-04 -9.99958881e-01 -8.03854145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.200385723 meters 0.018180622379957257 Centerline is valid? [True, True] Translation: X:53.83, Y:-177.32, Z:-8.04 [[-1.89568583e-01 9.81865496e-01 1.97488124e-03 5.38279607e+01] [ 9.81824805e-01 1.89578713e-01 -8.94229392e-03 -1.77323798e+02] [-9.15452530e-03 2.43809400e-04 -9.99958067e-01 -8.03835918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.230385723 meters 0.01886399697234197 Centerline is valid? [True, True] Translation: X:53.84, Y:-177.32, Z:-8.04 [[-2.64585844e-01 9.64358231e-01 2.74467168e-03 5.38350542e+01] [ 9.64316188e-01 2.64599949e-01 -9.00867170e-03 -1.77321615e+02] [-9.41382669e-03 2.63164327e-04 -9.99955654e-01 -8.03820153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.260385723 meters 0.018906687428232975 Centerline is valid? [True, True] Translation: X:53.84, Y:-177.32, Z:-8.04 [[-3.37051434e-01 9.41479187e-01 3.64299202e-03 5.38429490e+01] [ 9.41433521e-01 3.37070985e-01 -9.27772069e-03 -1.77316930e+02] [-9.96272784e-03 3.02565746e-04 -9.99950325e-01 -8.03823471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.290385723 meters 0.019392107557574333 Centerline is valid? [True, True] Translation: X:53.85, Y:-177.31, Z:-8.04 [[-4.08725657e-01 9.12646414e-01 4.45658288e-03 5.38510072e+01] [ 9.12600447e-01 4.08749826e-01 -9.16529524e-03 -1.77311836e+02] [-1.01863013e-02 3.20988215e-04 -9.99948067e-01 -8.03795823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.320385723 meters 0.020207120550573405 Centerline is valid? [True, True] Translation: X:53.86, Y:-177.31, Z:-8.04 [[-4.77539266e-01 8.78594238e-01 5.33059264e-03 5.38568237e+01] [ 8.78547412e-01 4.77568890e-01 -9.07749210e-03 -1.77308378e+02] [-1.05211575e-02 3.48319449e-04 -9.99944590e-01 -8.03784218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.350385723 meters 0.020227481348174085 Centerline is valid? [True, True] Translation: X:53.86, Y:-177.30, Z:-8.04 [[-5.44652750e-01 8.38640761e-01 5.92081366e-03 5.38634629e+01] [ 8.38597931e-01 5.44684822e-01 -8.48268400e-03 -1.77302832e+02] [-1.03389019e-02 3.45064918e-04 -9.99946493e-01 -8.03850642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.380385723 meters 0.018962792830966694 Centerline is valid? [True, True] Translation: X:53.87, Y:-177.29, Z:-8.04 [[-6.08574650e-01 7.93469124e-01 6.60638117e-03 5.38746307e+01] [ 7.93428457e-01 6.08610407e-01 -8.04089058e-03 -1.77293214e+02] [-1.04009107e-02 3.48208646e-04 -9.99945848e-01 -8.03993016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.410385723 meters 0.0188390414338961 Centerline is valid? [True, True] Translation: X:53.88, Y:-177.29, Z:-8.04 [[-6.69557384e-01 7.42730750e-01 6.62886269e-03 5.38822422e+01] [ 7.42698865e-01 6.69590125e-01 -6.88908797e-03 -1.77285470e+02] [-9.55535847e-03 3.10609078e-04 -9.99954298e-01 -8.04151633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.440385723 meters 0.01869438151972678 Centerline is valid? [True, True] Translation: X:53.89, Y:-177.28, Z:-8.04 [[-7.26227115e-01 6.87421274e-01 6.79480468e-03 5.38897235e+01] [ 6.87394840e-01 7.26258844e-01 -6.03533225e-03 -1.77275567e+02] [-9.08360278e-03 2.87691748e-04 -9.99958702e-01 -8.04229825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.470385723 meters 0.018470774034100225 Centerline is valid? [True, True] Translation: X:53.90, Y:-177.25, Z:-8.04 [[-7.74637205e-01 6.32369793e-01 6.75618781e-03 5.39024678e+01] [ 6.32348507e-01 7.74666627e-01 -5.19449846e-03 -1.77249123e+02] [-8.51863714e-03 2.48413504e-04 -9.99963685e-01 -8.04255934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.500385723 meters 0.018461637852912768 Centerline is valid? [True, True] Translation: X:54.29, Y:-176.75, Z:-9.02 [[-7.67932953e-01 -6.40500557e-01 6.16574708e-03 5.42948712e+01] [ 6.40477185e-01 -7.67957662e-01 -5.47766276e-03 -1.76746064e+02] [ 8.24347875e-03 -2.57457400e-04 9.99965989e-01 -9.02499141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.530385723 meters 0.018357153864775638 Centerline is valid? [True, True] Translation: X:53.87, Y:-177.23, Z:-8.04 [[-7.76075987e-01 6.30603784e-01 6.70304882e-03 5.38718942e+01] [ 6.30582769e-01 7.76104900e-01 -5.15320496e-03 -1.77226974e+02] [-8.45189958e-03 2.27548460e-04 -9.99964256e-01 -8.04359216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.560385723 meters 0.018285021218259093 Centerline is valid? [True, True] Translation: X:53.88, Y:-177.20, Z:-8.04 [[-8.18973428e-01 5.73789242e-01 6.95915369e-03 5.38838444e+01] [ 5.73770806e-01 8.19002965e-01 -4.60502642e-03 -1.77202491e+02] [-8.34188213e-03 2.21564944e-04 -9.99965181e-01 -8.04448191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.590385723 meters 0.017608023912633053 Centerline is valid? [True, True] Translation: X:53.90, Y:-177.18, Z:-8.05 [[-8.57110547e-01 5.15082176e-01 7.20154686e-03 5.39019988e+01] [ 5.15066178e-01 8.57140771e-01 -4.06574409e-03 -1.77178305e+02] [-8.26693174e-03 2.24481077e-04 -9.99965803e-01 -8.04545259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62038572299997 meters 0.017942834258416567 Centerline is valid? [True, True] Translation: X:53.91, Y:-177.15, Z:-8.05 [[-8.90399261e-01 4.55121302e-01 7.33185553e-03 5.39130021e+01] [ 4.55108070e-01 8.90429415e-01 -3.47874639e-03 -1.77153395e+02] [-8.11175142e-03 2.39313399e-04 -9.99967071e-01 -8.04681830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.650385723 meters 0.020332285630349327 Centerline is valid? [True, True] Translation: X:53.92, Y:-177.13, Z:-8.05 [[-9.20232213e-01 3.91300791e-01 7.50766154e-03 5.39224366e+01] [ 3.91289898e-01 9.20262806e-01 -2.92974406e-03 -1.77130804e+02] [-8.05543284e-03 2.41627257e-04 -9.99967525e-01 -8.04663587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.680385723 meters 0.018005166569447905 Centerline is valid? [True, True] Translation: X:53.93, Y:-177.10, Z:-8.05 [[-9.45750701e-01 3.24811923e-01 7.26824408e-03 5.39277889e+01] [ 3.24804160e-01 9.45778602e-01 -2.25702394e-03 -1.77097812e+02] [-7.60725801e-03 2.26173942e-04 -9.99971039e-01 -8.04845506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.710385723 meters 0.01799782941428696 Centerline is valid? [True, True] Translation: X:53.93, Y:-177.07, Z:-8.05 [[-9.66612777e-01 2.56144434e-01 7.05472242e-03 5.39311462e+01] [ 2.56139190e-01 9.66638498e-01 -1.65242000e-03 -1.77068401e+02] [-7.24262446e-03 2.09740603e-04 -9.99973750e-01 -8.04878423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.740385723 meters 0.01774218823051746 Centerline is valid? [True, True] Translation: X:53.93, Y:-177.04, Z:-8.05 [[-9.82780681e-01 1.84600584e-01 8.04721322e-03 5.39334712e+01] [ 1.84596197e-01 9.82813603e-01 -1.29103759e-03 -1.77037859e+02] [-8.14723691e-03 2.16678155e-04 -9.99966787e-01 -8.04774388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.770385723 meters 0.017587678480614013 Centerline is valid? [True, True] Translation: X:54.03, Y:-176.40, Z:-9.02 [[-9.79767410e-01 -1.99933519e-01 9.07805748e-03 5.40343045e+01] [ 1.99923313e-01 -9.79809450e-01 -2.02736162e-03 -1.76395929e+02] [ 9.30010405e-03 -1.71427515e-04 9.99956738e-01 -9.02095294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.800385723 meters 0.017486490943721733 Centerline is valid? [True, True] Translation: X:53.87, Y:-177.03, Z:-8.05 [[-9.84066389e-01 1.77492483e-01 1.04766735e-02 5.38748976e+01] [ 1.77485098e-01 9.84122125e-01 -1.63795569e-03 -1.77026301e+02] [-1.06010511e-02 2.47596290e-04 -9.99943777e-01 -8.04543663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.830385723 meters 0.017477803890173626 Centerline is valid? [True, True] Translation: X:53.87, Y:-177.00, Z:-8.05 [[-9.94213716e-01 1.06916985e-01 1.03848438e-02 5.38713526e+01] [ 1.06913680e-01 9.94267922e-01 -8.74423438e-04 -1.76996342e+02] [-1.04188078e-02 2.40918094e-04 -9.99945694e-01 -8.04539618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.860385723 meters 0.017686896646267655 Centerline is valid? [True, True] Translation: X:53.87, Y:-176.97, Z:-8.05 [[-9.99310025e-01 3.56365528e-02 1.04646708e-02 5.38664860e+01] [ 3.56371016e-02 9.99364788e-01 -1.34077749e-04 -1.76967787e+02] [-1.04628016e-02 2.38945299e-04 -9.99945235e-01 -8.04542500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.890385723 meters 0.017767111331154734 Centerline is valid? [True, True] Translation: X:53.86, Y:-176.94, Z:-8.05 [[-9.99300826e-01 -3.57681741e-02 1.08856404e-02 5.38563756e+01] [-3.57633623e-02 9.99360084e-01 6.36434867e-04 -1.76939818e+02] [-1.09014386e-02 2.46682786e-04 -9.99940547e-01 -8.04575544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.920385723 meters 0.01784987155048726 Centerline is valid? [True, True] Translation: X:53.84, Y:-176.91, Z:-8.05 [[-9.94173762e-01 -1.07235700e-01 1.09103805e-02 5.38441462e+01] [-1.07226530e-01 9.94233597e-01 1.42367786e-03 -1.76911272e+02] [-1.10001360e-02 2.45500921e-04 -9.99939467e-01 -8.04574416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.950385723 meters 0.01684370886474421 Centerline is valid? [True, True] Translation: X:53.82, Y:-176.88, Z:-8.05 [[-9.83768812e-01 -1.79100443e-01 1.10433698e-02 5.38204995e+01] [-1.79086397e-01 9.83830764e-01 2.25592714e-03 -1.76882850e+02] [-1.12688445e-02 2.41593446e-04 -9.99936475e-01 -8.04641964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.980385723 meters 0.016616471624290998 Centerline is valid? [True, True] Translation: X:53.79, Y:-176.86, Z:-8.05 [[-9.68089956e-01 -2.50352164e-01 1.12085501e-02 5.37854693e+01] [-2.50332521e-01 9.68154810e-01 3.14518442e-03 -1.76859721e+02] [-1.16390154e-02 2.38956855e-04 -9.99932236e-01 -8.04634797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.010385723 meters 0.01637948952166348 Centerline is valid? [True, True] Translation: X:53.73, Y:-176.85, Z:-8.05 [[-9.46735287e-01 -3.21816420e-01 1.12466727e-02 5.37290855e+01] [-3.21790867e-01 9.46802060e-01 4.06169266e-03 -1.76845497e+02] [-1.19554922e-02 2.26271221e-04 -9.99928505e-01 -8.04597120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.040385723 meters 0.01634796924847276 Centerline is valid? [True, True] Translation: X:53.66, Y:-176.84, Z:-8.05 [[-9.20461547e-01 -3.90685381e-01 1.07458764e-02 5.36614934e+01] [-3.90655940e-01 9.20524244e-01 4.80131087e-03 -1.76841468e+02] [-1.17676417e-02 2.21481605e-04 -9.99930734e-01 -8.04641707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.070385723 meters 0.016429767288706352 Centerline is valid? [True, True] Translation: X:53.59, Y:-176.85, Z:-8.05 [[-8.88698528e-01 -4.58397801e-01 9.29417753e-03 5.35870510e+01] [-4.58370483e-01 8.88747107e-01 5.00811733e-03 -1.76846515e+02] [-1.05558834e-02 1.90529862e-04 -9.99944267e-01 -8.04693037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.100385723 meters 0.015476183517236038 Centerline is valid? [True, True] Translation: X:53.50, Y:-176.86, Z:-8.05 [[-8.51783408e-01 -5.23818783e-01 8.88302063e-03 5.35041257e+01] [-5.23788048e-01 8.51829706e-01 5.67736615e-03 -1.76858560e+02] [-1.05407319e-02 1.83066258e-04 -9.99944428e-01 -8.04778555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.130385723 meters 0.016534342323198142 Centerline is valid? [True, True] Translation: X:53.42, Y:-176.88, Z:-8.05 [[-8.09923508e-01 -5.86472238e-01 8.61540715e-03 5.34192371e+01] [-5.86436708e-01 8.09969310e-01 6.45791690e-03 -1.76883398e+02] [-1.07656044e-02 1.78027700e-04 -9.99942033e-01 -8.04569869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.160385723 meters 0.016550226203226662 Centerline is valid? [True, True] Translation: X:53.33, Y:-176.91, Z:-8.04 [[-7.62622725e-01 -6.46788362e-01 8.44954968e-03 5.33324875e+01] [-6.46746195e-01 7.62669513e-01 7.38732270e-03 -1.76914057e+02] [-1.12222483e-02 1.69026060e-04 -9.99937014e-01 -8.04433352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.190385723 meters 0.017872927067620562 Centerline is valid? [True, True] Translation: X:53.24, Y:-176.96, Z:-8.05 [[-7.11524309e-01 -7.02591163e-01 9.94060631e-03 5.32394687e+01] [-7.02518463e-01 7.11593714e-01 1.01091484e-02 -1.76957481e+02] [-1.41762713e-02 2.09445400e-04 -9.99899490e-01 -8.04533442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.220385723 meters 0.016628998675953074 Centerline is valid? [True, True] Translation: X:53.15, Y:-177.01, Z:-8.04 [[-6.56090314e-01 -7.54645675e-01 7.44348779e-03 5.31510612e+01] [-7.54594234e-01 6.56132515e-01 8.81272992e-03 -1.77013845e+02] [-1.15344029e-02 1.65133769e-04 -9.99933463e-01 -8.04353505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.250385723 meters 0.015611686268501776 Centerline is valid? [True, True] Translation: X:53.06, Y:-177.08, Z:-8.05 [[-5.97828987e-01 -8.01594204e-01 6.87271765e-03 5.30615660e+01] [-8.01537742e-01 5.97868463e-01 9.51574301e-03 -1.77076304e+02] [-1.17367456e-02 1.80044420e-04 -9.99931106e-01 -8.04553438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.280385723 meters 0.0156411196897409 Centerline is valid? [True, True] Translation: X:52.98, Y:-177.15, Z:-8.05 [[-5.36249193e-01 -8.44034347e-01 6.54409052e-03 5.29790912e+01] [-8.43966725e-01 5.36289082e-01 1.06858696e-02 -1.77148031e+02] [-1.25287652e-02 2.07294284e-04 -9.99921490e-01 -8.04550961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.310385723 meters 0.016151286348929213 Centerline is valid? [True, True] Translation: X:52.90, Y:-177.23, Z:-8.05 [[-4.71568397e-01 -8.81808497e-01 6.08450349e-03 5.28997576e+01] [-8.81728496e-01 4.71607589e-01 1.18803116e-02 -1.77232023e+02] [-1.33456577e-02 2.37499381e-04 -9.99910915e-01 -8.04518086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.340385723 meters 0.016669997959098883 Centerline is valid? [True, True] Translation: X:52.83, Y:-177.32, Z:-8.04 [[-4.05699588e-01 -9.13988866e-01 5.67427996e-03 5.28273661e+01] [-9.13888701e-01 4.05739153e-01 1.35344561e-02 -1.77321715e+02] [-1.46726197e-02 3.05262910e-04 -9.99892305e-01 -8.04496278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37038572299997 meters 0.017524126424837687 Centerline is valid? [True, True] Translation: X:52.76, Y:-177.42, Z:-8.04 [[-3.36186751e-01 -9.41783803e-01 4.66224048e-03 5.27592032e+01] [-9.41679172e-01 3.36218915e-01 1.40419961e-02 -1.77423861e+02] [-1.47920579e-02 3.30398290e-04 -9.99890537e-01 -8.04398557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.400385723 meters 0.01731761524622481 Centerline is valid? [True, True] Translation: X:52.70, Y:-177.53, Z:-8.04 [[-2.64619188e-01 -9.64346197e-01 3.61914542e-03 5.26975146e+01] [-9.64236718e-01 2.64643696e-01 1.45350167e-02 -1.77529247e+02] [-1.49745721e-02 3.56531421e-04 -9.99887811e-01 -8.04433249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.430385723 meters 0.018781078337528918 Centerline is valid? [True, True] Translation: X:52.65, Y:-177.63, Z:-8.04 [[-1.92636877e-01 -9.81267284e-01 2.35590950e-03 5.26491445e+01] [-9.81168229e-01 1.92650917e-01 1.39473926e-02 -1.77633089e+02] [-1.41399881e-02 3.75238589e-04 -9.99899955e-01 -8.04386534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.460385723 meters 0.018190944925585595 Centerline is valid? [True, True] Translation: X:52.60, Y:-177.75, Z:-8.05 [[-1.18076214e-01 -9.93003697e-01 1.29049707e-03 5.26039003e+01] [-9.92902338e-01 1.18082607e-01 1.41931328e-02 -1.77750460e+02] [-1.42462186e-02 3.94533830e-04 -9.99898440e-01 -8.04530276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.490385723 meters 0.019109562105262365 Centerline is valid? [True, True] Translation: X:52.57, Y:-177.87, Z:-8.05 [[-4.41721910e-02 -9.99023917e-01 1.77138127e-04 5.25712448e+01] [-9.98942991e-01 4.41708685e-02 1.27214422e-02 -1.77867436e+02] [-1.27168494e-02 3.84983086e-04 -9.99919064e-01 -8.04643717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.520385723 meters 0.019485930289985225 Centerline is valid? [True, True] Translation: X:52.54, Y:-177.99, Z:-8.05 [[ 3.16284673e-02 -9.99499393e-01 -7.77231301e-04 5.25449609e+01] [-9.99423084e-01 -3.16356613e-02 1.23565388e-02 -1.77987329e+02] [-1.23749412e-02 3.85964520e-04 -9.99923353e-01 -8.04697031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.550385723 meters 0.01903652613298555 Centerline is valid? [True, True] Translation: X:51.90, Y:-178.14, Z:-9.02 [[ 2.64718193e-02 9.99649558e-01 6.89456120e-05 5.19042378e+01] [-9.99575060e-01 2.64690043e-02 1.22103169e-02 -1.78142423e+02] [ 1.22042130e-02 -3.92145616e-04 9.99925449e-01 -9.02046898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.580385723 meters 0.020105326767079743 Centerline is valid? [True, True] Translation: X:52.56, Y:-178.27, Z:-8.05 [[ 4.01457133e-02 -9.99193427e-01 -9.04446333e-04 5.25612100e+01] [-9.99114954e-01 -4.01539013e-02 1.25288889e-02 -1.78274806e+02] [-1.25551005e-02 4.00664674e-04 -9.99921101e-01 -8.04672560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.610385723 meters 0.019791367719361304 Centerline is valid? [True, True] Translation: X:52.54, Y:-178.40, Z:-8.05 [[ 1.16162238e-01 -9.93228260e-01 -1.98941487e-03 5.25444268e+01] [-9.93139743e-01 -1.16178459e-01 1.32671432e-02 -1.78395300e+02] [-1.34084288e-02 4.34625921e-04 -9.99910009e-01 -8.04717952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.640385723 meters 0.020492958281891238 Centerline is valid? [True, True] Translation: X:52.54, Y:-178.52, Z:-8.05 [[ 1.90770656e-01 -9.81629621e-01 -3.13759588e-03 5.25397089e+01] [-9.81534502e-01 -1.90795874e-01 1.36731777e-02 -1.78518481e+02] [-1.40206365e-02 4.71217540e-04 -9.99901595e-01 -8.04733558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.670385723 meters 0.02043328058895245 Centerline is valid? [True, True] Translation: X:52.54, Y:-178.64, Z:-8.05 [[ 2.64615758e-01 -9.64344274e-01 -4.31539250e-03 5.25435806e+01] [-9.64245049e-01 -2.64650475e-01 1.38424231e-02 -1.78644860e+02] [-1.44909321e-02 4.98172584e-04 -9.99894877e-01 -8.04737810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.700385723 meters 0.020600908749949406 Centerline is valid? [True, True] Translation: X:52.55, Y:-178.76, Z:-8.05 [[ 3.36346854e-01 -9.41722752e-01 -5.39002908e-03 5.25535639e+01] [-9.41625509e-01 -3.36389638e-01 1.35429995e-02 -1.78762042e+02] [-1.45669007e-02 5.20243604e-04 -9.99893762e-01 -8.04760365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.730385723 meters 0.022326062440425676 Centerline is valid? [True, True] Translation: X:52.58, Y:-178.88, Z:-8.05 [[ 4.06029891e-01 -9.13835843e-01 -6.61667277e-03 5.25766211e+01] [-9.13736099e-01 -4.06083415e-01 1.35129860e-02 -1.78880911e+02] [-1.50355720e-02 5.59216541e-04 -9.99886803e-01 -8.04675041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.760385723 meters 0.021776267399424912 Centerline is valid? [True, True] Translation: X:52.60, Y:-179.00, Z:-8.05 [[ 4.74097832e-01 -8.80436356e-01 -7.94154046e-03 5.26041799e+01] [-8.80333067e-01 -4.74163972e-01 1.34988560e-02 -1.78996719e+02] [-1.56504760e-02 5.91422295e-04 -9.99877349e-01 -8.04671316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.790385723 meters 0.023198238979295505 Centerline is valid? [True, True] Translation: X:52.64, Y:-179.11, Z:-8.04 [[ 5.38503198e-01 -8.42567064e-01 -9.74927139e-03 5.26433125e+01] [-8.42450920e-01 -5.38591025e-01 1.40055332e-02 -1.79108243e+02] [-1.70514710e-02 6.71258250e-04 -9.99854388e-01 -8.04478228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.820385723 meters 0.021608856512164952 Centerline is valid? [True, True] Translation: X:52.68, Y:-179.21, Z:-8.05 [[ 6.00385550e-01 -7.99635146e-01 -1.09920357e-02 5.26834913e+01] [-7.99521900e-01 -6.00485759e-01 1.34753412e-02 -1.79213546e+02] [-1.73759174e-02 6.97973165e-04 -9.99848784e-01 -8.04578259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.850385723 meters 0.021218808196362206 Centerline is valid? [True, True] Translation: X:52.73, Y:-179.31, Z:-8.05 [[ 6.59029966e-01 -7.52021861e-01 -1.19425535e-02 5.27319669e+01] [-7.51917281e-01 -6.59137791e-01 1.25608110e-02 -1.79312957e+02] [-1.73177928e-02 7.01861548e-04 -9.99849789e-01 -8.04603821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.880385723 meters 0.025362169416828177 Centerline is valid? [True, True] Translation: X:52.79, Y:-179.40, Z:-8.04 [[ 7.13884317e-01 -7.00146855e-01 -1.27891759e-02 5.27908758e+01] [-7.00051807e-01 -7.13998521e-01 1.15576722e-02 -1.79402697e+02] [-1.72235205e-02 7.02244730e-04 -9.99851418e-01 -8.04389557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.910385723 meters 0.02193677233376125 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.42, Z:-8.05 [[ 7.66549846e-01 -6.42040474e-01 -1.36148232e-02 5.27833493e+01] [-6.41955091e-01 -7.66670428e-01 1.04936471e-02 -1.79418310e+02] [-1.71754285e-02 6.96201504e-04 -9.99852249e-01 -8.04577589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.940385723 meters 0.022343538814795755 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.43, Z:-8.05 [[ 8.15012359e-01 -5.79269816e-01 -1.41892529e-02 5.27801058e+01] [-5.79196116e-01 -8.15135593e-01 9.26416797e-03 -1.79428616e+02] [-1.69326179e-02 6.67948753e-04 -9.99856410e-01 -8.04521677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.970385723 meters 0.02262123105147785 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.44, Z:-8.04 [[ 8.58221948e-01 -5.13075257e-01 -1.44522928e-02 5.27784199e+01] [-5.13014845e-01 -8.58343391e-01 7.89884861e-03 -1.79438355e+02] [-1.64577338e-02 6.35275501e-04 -9.99864361e-01 -8.04496579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.000385723 meters 0.02194688028677517 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.45, Z:-8.05 [[ 8.96179195e-01 -4.43478006e-01 -1.37879874e-02 5.27777261e+01] [-4.43435174e-01 -8.96285075e-01 6.18955123e-03 -1.79450712e+02] [-1.51028972e-02 5.67131558e-04 -9.99885784e-01 -8.04562227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.030385723 meters 0.02194688028677517 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.46, Z:-8.05 [[ 9.28100150e-01 -3.72058637e-01 -1.42296405e-02 5.27774707e+01] [-3.72024212e-01 -9.28209055e-01 5.09281200e-03 -1.79461609e+02] [-1.51029059e-02 5.67131230e-04 -9.99885784e-01 -8.04562218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.060385723 meters 0.020830374432284828 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.48, Z:-8.05 [[ 9.54825815e-01 -2.96896037e-01 -1.26651363e-02 5.27784460e+01] [-2.96876450e-01 -9.54909692e-01 3.44290632e-03 -1.79475811e+02] [-1.31162467e-02 4.72604880e-04 -9.99913867e-01 -8.04648374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.090385723 meters 0.022295110189933468 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.48, Z:-8.05 [[ 9.75174022e-01 -2.21159851e-01 -1.11331226e-02 5.27800846e+01] [-2.21150174e-01 -9.75237487e-01 2.10833871e-03 -1.79484569e+02] [-1.13237184e-02 4.06094867e-04 -9.99935802e-01 -8.04602391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12038572299997 meters 0.02050618320335459 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.50, Z:-8.05 [[ 9.89475339e-01 -1.44398173e-01 -9.36592625e-03 5.27780384e+01] [-1.44394953e-01 -9.89519606e-01 1.02267253e-03 -1.79500339e+02] [-9.41543970e-03 3.40483233e-04 -9.99955616e-01 -8.04741232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.150385723 meters 0.02180114888468012 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.51, Z:-8.05 [[ 9.97714697e-01 -6.69536122e-02 -9.08825345e-03 5.27768251e+01] [-6.69538711e-02 -9.97756034e-01 2.76108286e-04 -1.79510287e+02] [-9.08634616e-03 3.33016455e-04 -9.99958663e-01 -8.04667870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.180385723 meters 0.020929662605586492 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.52, Z:-8.05 [[ 9.99895205e-01 1.11243507e-02 -9.26429913e-03 5.27776150e+01] [ 1.11207068e-02 -9.99938064e-01 -4.44748466e-04 -1.79523902e+02] [-9.26867287e-03 3.41676304e-04 -9.99956987e-01 -8.04706363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.210385723 meters 0.021738451402425744 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.54, Z:-8.05 [[ 9.96029134e-01 8.85796254e-02 -8.92269354e-03 5.27783213e+01] [ 8.85730262e-02 -9.96069042e-01 -1.13283605e-03 -1.79535612e+02] [-8.98796499e-03 3.38027738e-04 -9.99959550e-01 -8.04757717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.240385723 meters 0.02309579503529638 Centerline is valid? [True, True] Translation: X:52.78, Y:-179.54, Z:-8.05 [[ 9.86087643e-01 1.66012176e-01 -8.43312816e-03 5.27794061e+01] [ 1.66003268e-01 -9.86123649e-01 -1.75047369e-03 -1.79544455e+02] [-8.60670706e-03 3.26193644e-04 -9.99962908e-01 -8.04707418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.270385723 meters 0.0213683267870975 Centerline is valid? [True, True] Translation: X:52.79, Y:-179.56, Z:-8.05 [[ 9.70423535e-01 2.41259734e-01 -8.47953442e-03 5.27850344e+01] [ 2.41247378e-01 -9.70460519e-01 -2.46635895e-03 -1.79561072e+02] [-8.82408648e-03 3.47747322e-04 -9.99961007e-01 -8.04733748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.300385723 meters 0.02298040956464447 Centerline is valid? [True, True] Translation: X:52.79, Y:-179.57, Z:-8.05 [[ 9.48798521e-01 3.15767315e-01 -8.50698776e-03 5.27887859e+01] [ 3.15751151e-01 -9.48836588e-01 -3.21570757e-03 -1.79570114e+02] [-9.08715658e-03 3.64967408e-04 -9.99958644e-01 -8.04658921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.330385723 meters 0.023973276828513312 Centerline is valid? [True, True] Translation: X:52.79, Y:-179.58, Z:-8.05 [[ 9.21368807e-01 3.88593009e-01 -8.65991782e-03 5.27924692e+01] [ 3.88571839e-01 -9.21409421e-01 -4.07485679e-03 -1.79577774e+02] [-9.56279073e-03 3.89445756e-04 -9.99954200e-01 -8.04543341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.360385723 meters 0.022125436360232103 Centerline is valid? [True, True] Translation: X:52.80, Y:-179.59, Z:-8.04 [[ 8.88114077e-01 4.59542828e-01 -8.58926052e-03 5.28026196e+01] [ 4.59516914e-01 -8.88155520e-01 -4.89680357e-03 -1.79593091e+02] [-9.87889010e-03 4.02009700e-04 -9.99951122e-01 -8.04400378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.390385723 meters 0.022428116817936328 Centerline is valid? [True, True] Translation: X:52.81, Y:-179.60, Z:-8.04 [[ 8.49320997e-01 5.27805534e-01 -8.66959177e-03 5.28090669e+01] [ 5.27772871e-01 -8.49365138e-01 -5.88720279e-03 -1.79602933e+02] [-1.04709472e-02 4.24549609e-04 -9.99945088e-01 -8.04336197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.420385723 meters 0.021897899744226137 Centerline is valid? [True, True] Translation: X:52.82, Y:-179.61, Z:-8.04 [[ 8.04375645e-01 5.94059133e-01 -8.57723124e-03 5.28187601e+01] [ 5.94019637e-01 -8.04421261e-01 -6.86336007e-03 -1.79613388e+02] [-1.09769489e-02 4.25675894e-04 -9.99939661e-01 -8.04281111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.450385723 meters 0.02216138758692231 Centerline is valid? [True, True] Translation: X:52.83, Y:-179.62, Z:-8.04 [[ 7.54305183e-01 6.56476112e-01 -7.92497961e-03 5.28266533e+01] [ 6.56434182e-01 -7.54346706e-01 -7.43043601e-03 -1.79621460e+02] [-1.08560860e-02 4.02588881e-04 -9.99940990e-01 -8.04213625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.480385723 meters 0.020953387312807555 Centerline is valid? [True, True] Translation: X:52.84, Y:-179.63, Z:-8.04 [[ 6.99223265e-01 7.14867151e-01 -7.19601477e-03 5.28376953e+01] [ 7.14823675e-01 -6.99260192e-01 -7.89294438e-03 -1.79629797e+02] [-1.06742933e-02 3.75048618e-04 -9.99942958e-01 -8.04230539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.510385723 meters 0.019409826747761177 Centerline is valid? [True, True] Translation: X:52.85, Y:-179.64, Z:-8.04 [[ 6.37448396e-01 7.70466786e-01 -6.36199697e-03 5.28503064e+01] [ 7.70423399e-01 -6.37480065e-01 -8.18243364e-03 -1.79637932e+02] [-1.03599396e-02 3.14447862e-04 -9.99946285e-01 -8.04325469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.540385723 meters 0.018133520273353076 Centerline is valid? [True, True] Translation: X:52.87, Y:-179.65, Z:-8.04 [[ 5.73589032e-01 8.19125111e-01 -5.44737154e-03 5.28656213e+01] [ 8.19083419e-01 -5.73614830e-01 -8.26925389e-03 -1.79645262e+02] [-9.89824661e-03 2.81301633e-04 -9.99950972e-01 -8.04446877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.570385723 meters 0.01752205497472426 Centerline is valid? [True, True] Translation: X:52.88, Y:-179.65, Z:-8.05 [[ 5.04689692e-01 8.63293416e-01 -3.57672445e-03 5.28808466e+01] [ 8.63269089e-01 -5.04702333e-01 -6.48352502e-03 -1.79651414e+02] [-7.40236563e-03 1.84492597e-04 -9.99972585e-01 -8.04564063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.600385723 meters 0.0172849133445285 Centerline is valid? [True, True] Translation: X:52.89, Y:-179.65, Z:-8.05 [[ 4.34117039e-01 9.00852763e-01 -2.58758516e-03 5.28938848e+01] [ 9.00834703e-01 -4.34124726e-01 -5.70619888e-03 -1.79654995e+02] [-6.26377973e-03 1.46171655e-04 -9.99980372e-01 -8.04537156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.630385723 meters 0.01706237316153562 Centerline is valid? [True, True] Translation: X:52.91, Y:-179.66, Z:-8.05 [[ 3.59926509e-01 9.32979166e-01 -1.66840988e-03 5.29075143e+01] [ 9.32967789e-01 -3.59930362e-01 -4.60864208e-03 -1.79658533e+02] [-4.90027842e-03 1.02199784e-04 -9.99987988e-01 -8.04503303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.660385723 meters 0.01691582719481628 Centerline is valid? [True, True] Translation: X:52.92, Y:-179.66, Z:-8.05 [[ 2.85058212e-01 9.58509356e-01 -1.27656786e-03 5.29199876e+01] [ 9.58498172e-01 -2.85061054e-01 -4.63137808e-03 -1.79659525e+02] [-4.80311900e-03 9.66243969e-05 -9.99988460e-01 -8.04507431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.690385723 meters 0.01695168940507636 Centerline is valid? [True, True] Translation: X:52.93, Y:-179.66, Z:-8.05 [[ 2.08772818e-01 9.77963707e-01 -9.47310910e-04 5.29301362e+01] [ 9.77951381e-01 -2.08774944e-01 -4.91108446e-03 -1.79660444e+02] [-5.00063714e-03 9.88769287e-05 -9.99987492e-01 -8.04521776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.720385723 meters 0.016971185727763703 Centerline is valid? [True, True] Translation: X:52.94, Y:-179.66, Z:-8.05 [[ 1.31855364e-01 9.91268801e-01 -5.72584255e-04 5.29405611e+01] [ 9.91255767e-01 -1.31856567e-01 -5.08438960e-03 -1.79659587e+02] [-5.11549577e-03 1.02826596e-04 -9.99986911e-01 -8.04547425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.750385723 meters 0.01733769260875946 Centerline is valid? [True, True] Translation: X:52.95, Y:-179.66, Z:-8.05 [[ 5.46445381e-02 9.98505861e-01 -1.39990661e-04 5.29509496e+01] [ 9.98497266e-01 -5.46446486e-02 -4.14392023e-03 -1.79658517e+02] [-4.14537838e-03 8.66623145e-05 -9.99991404e-01 -8.04591908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.780385723 meters 0.01749162916345787 Centerline is valid? [True, True] Translation: X:52.96, Y:-179.66, Z:-8.05 [[-2.29840893e-02 9.99735824e-01 1.18201219e-04 5.29614597e+01] [ 9.99732333e-01 2.29843215e-02 -2.64276229e-03 -1.79656164e+02] [-2.64478091e-03 5.74280962e-05 -9.99996501e-01 -8.04647524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.810385723 meters 0.0179292102995018 Centerline is valid? [True, True] Translation: X:52.97, Y:-179.65, Z:-8.05 [[-1.00984214e-01 9.94887982e-01 3.03661516e-04 5.29695839e+01] [ 9.94884956e-01 1.00984656e-01 -2.45439605e-03 -1.79654095e+02] [-2.47251428e-03 5.42530183e-05 -9.99996942e-01 -8.04643703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.840385723 meters 0.018073946882241048 Centerline is valid? [True, True] Translation: X:52.98, Y:-179.65, Z:-8.05 [[-1.78729823e-01 9.83898030e-01 5.63795528e-04 5.29762981e+01] [ 9.83894161e-01 1.78730701e-01 -2.75972653e-03 -1.79651394e+02] [-2.81605706e-03 6.14696956e-05 -9.99996033e-01 -8.04628805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87038572299997 meters 0.017795895968894016 Centerline is valid? [True, True] Translation: X:52.98, Y:-179.65, Z:-8.04 [[-2.56280605e-01 9.66601655e-01 1.22124493e-03 5.29832826e+01] [ 9.66592321e-01 2.56283499e-01 -4.24882501e-03 -1.79647727e+02] [-4.41990621e-03 9.15545263e-05 -9.99990228e-01 -8.04454888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.900385723 meters 0.017906800911916324 Centerline is valid? [True, True] Translation: X:52.99, Y:-179.64, Z:-8.04 [[-3.31597836e-01 9.43419185e-01 1.76516786e-03 5.29884079e+01] [ 9.43407413e-01 3.31602519e-01 -4.71408610e-03 -1.79643326e+02] [-5.03269338e-03 1.02091692e-04 -9.99987331e-01 -8.04341198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.930385723 meters 0.017857153070959402 Centerline is valid? [True, True] Translation: X:52.99, Y:-179.64, Z:-8.04 [[-4.05070397e-01 9.14282873e-01 2.19116227e-03 5.29932724e+01] [ 9.14270825e-01 4.05076311e-01 -4.69477008e-03 -1.79638399e+02] [-5.17993580e-03 1.01603361e-04 -9.99986579e-01 -8.04236868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.960385723 meters 0.017846896550520134 Centerline is valid? [True, True] Translation: X:53.00, Y:-179.63, Z:-8.04 [[-4.75501863e-01 8.79711832e-01 2.25174189e-03 5.29972607e+01] [ 8.79702843e-01 4.75507186e-01 -3.97788577e-03 -1.79633822e+02] [-4.57011263e-03 8.93716434e-05 -9.99989553e-01 -8.04255725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.990385723 meters 0.018016312071713426 Centerline is valid? [True, True] Translation: X:53.00, Y:-179.63, Z:-8.04 [[-5.42724504e-01 8.39907715e-01 2.26785688e-03 5.29999530e+01] [ 8.39900993e-01 5.42729236e-01 -3.36144934e-03 -1.79630685e+02] [-4.05413947e-03 8.04343241e-05 -9.99991779e-01 -8.04274178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.020385723 meters 0.018688492941101493 Centerline is valid? [True, True] Translation: X:53.00, Y:-179.63, Z:-8.04 [[-6.05893710e-01 7.95544164e-01 1.51512602e-03 5.29999230e+01] [ 7.95541885e-01 6.05895602e-01 -1.90477951e-03 -1.79629484e+02] [-2.43334442e-03 5.12522886e-05 -9.99997038e-01 -8.04430882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.050385723 meters 0.018931271596543522 Centerline is valid? [True, True] Translation: X:53.00, Y:-179.63, Z:-8.05 [[-6.65909731e-01 7.46031811e-01 8.76077142e-04 5.29991619e+01] [ 7.46031220e-01 6.65910307e-01 -9.39604399e-04 -1.79628184e+02] [-1.28436357e-03 2.78891869e-05 -9.99999175e-01 -8.04535094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.080385723 meters 0.01762092888207667 Centerline is valid? [True, True] Translation: X:53.01, Y:-179.62, Z:-8.05 [[-7.21423224e-01 6.92494391e-01 2.22588761e-04 5.30055934e+01] [ 6.92494361e-01 7.21423258e-01 -2.03836791e-04 -1.79618785e+02] [-3.01736544e-04 7.08886678e-06 -9.99999954e-01 -8.04641314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.110385723 meters 0.019795115390683612 Centerline is valid? [True, True] Translation: X:53.41, Y:-179.18, Z:-9.02 [[-7.06178415e-01 -7.08033863e-01 3.09416928e-04 5.34103437e+01] [ 7.08033794e-01 -7.06178483e-01 -3.12919089e-04 -1.79180907e+02] [ 4.40060888e-04 -1.89906494e-06 9.99999903e-01 -9.02191554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.140385723 meters 0.018249913263325684 Centerline is valid? [True, True] Translation: X:53.39, Y:-179.16, Z:-9.02 [[-7.06361016e-01 -7.07851626e-01 4.36766778e-04 5.33886311e+01] [ 7.07851478e-01 -7.06361151e-01 -4.58018778e-04 -1.79163581e+02] [ 6.32724421e-04 -1.43605998e-05 9.99999800e-01 -9.02275760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.170385723 meters 0.01726033506021513 Centerline is valid? [True, True] Translation: X:53.37, Y:-179.15, Z:-9.02 [[-7.05924956e-01 -7.08286236e-01 7.51923970e-04 5.33681930e+01] [ 7.08285798e-01 -7.05925356e-01 -7.88031626e-04 -1.79145520e+02] [ 1.08895415e-03 -2.37141214e-05 9.99999407e-01 -9.02356248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.200385723 meters 0.018813617723681127 Centerline is valid? [True, True] Translation: X:53.35, Y:-179.12, Z:-9.03 [[-7.04310922e-01 -7.09890633e-01 1.18930783e-03 5.33514167e+01] [ 7.09889540e-01 -7.04311926e-01 -1.24575070e-03 -1.79123525e+02] [ 1.72199044e-03 -3.31186363e-05 9.99998517e-01 -9.02503579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.230385723 meters 0.016665481019446707 Centerline is valid? [True, True] Translation: X:53.33, Y:-179.11, Z:-9.02 [[-7.03524316e-01 -7.10670656e-01 8.68768430e-04 5.33290561e+01] [ 7.10670075e-01 -7.03524852e-01 -9.09621410e-04 -1.79106525e+02] [ 1.25764143e-03 -2.25330552e-05 9.99999209e-01 -9.02479110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.260385723 meters 0.016252223381158688 Centerline is valid? [True, True] Translation: X:53.31, Y:-179.09, Z:-9.02 [[-7.01880876e-01 -7.12294240e-01 3.89578428e-04 5.33093730e+01] [ 7.12294123e-01 -7.01880984e-01 -4.07739556e-04 -1.79087704e+02] [ 5.63868228e-04 -8.69017174e-06 9.99999841e-01 -9.02471206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.290385723 meters 0.01607884616828164 Centerline is valid? [True, True] Translation: X:53.29, Y:-179.07, Z:-9.03 [[-7.01188243e-01 -7.12975886e-01 6.58496089e-04 5.32904047e+01] [ 7.12975554e-01 -7.01188552e-01 -6.88766123e-04 -1.79069068e+02] [ 9.52803556e-04 -1.34630943e-05 9.99999546e-01 -9.02558194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.320385723 meters 0.01582725019943032 Centerline is valid? [True, True] Translation: X:53.27, Y:-179.05, Z:-9.03 [[-7.00576579e-01 -7.13576775e-01 8.02612479e-04 5.32709892e+01] [ 7.13576281e-01 -7.00577038e-01 -8.39016574e-04 -1.79049974e+02] [ 1.16099461e-03 -1.50701328e-05 9.99999326e-01 -9.02627316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.350385723 meters 0.015510828418310207 Centerline is valid? [True, True] Translation: X:53.25, Y:-179.03, Z:-9.03 [[-6.99615639e-01 -7.14518921e-01 8.17922028e-04 5.32520317e+01] [ 7.14518410e-01 -6.99616117e-01 -8.54524274e-04 -1.79030088e+02] [ 1.18280520e-03 -1.34181989e-05 9.99999300e-01 -9.02691659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.380385723 meters 0.015434659867738308 Centerline is valid? [True, True] Translation: X:53.23, Y:-179.01, Z:-9.03 [[-6.99465258e-01 -7.14666131e-01 8.21700834e-04 5.32332801e+01] [ 7.14665616e-01 -6.99465740e-01 -8.57974207e-04 -1.79009797e+02] [ 1.18791669e-03 -1.28818168e-05 9.99999294e-01 -9.02740173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.410385723 meters 0.015106365806348514 Centerline is valid? [True, True] Translation: X:53.21, Y:-178.99, Z:-9.03 [[-7.00413274e-01 -7.13736861e-01 9.68841676e-04 5.32145681e+01] [ 7.13736145e-01 -7.00413944e-01 -1.01104711e-03 -1.78988689e+02] [ 1.40021181e-03 -1.66534948e-05 9.99999020e-01 -9.02722910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.440385723 meters 0.015384809892944691 Centerline is valid? [True, True] Translation: X:53.20, Y:-178.97, Z:-9.03 [[-7.01569584e-01 -7.12600107e-01 1.09808854e-03 5.31967405e+01] [ 7.12599187e-01 -7.01570443e-01 -1.14528988e-03 -1.78966673e+02] [ 1.58652015e-03 -2.10035413e-05 9.99998741e-01 -9.02702671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.470385723 meters 0.016042208920639938 Centerline is valid? [True, True] Translation: X:53.18, Y:-178.94, Z:-9.03 [[-7.04702496e-01 -7.09502899e-01 1.69842675e-04 5.31819781e+01] [ 7.09502877e-01 -7.04702517e-01 -1.77064205e-04 -1.78944105e+02] [ 2.45316128e-04 -4.27372081e-06 9.99999970e-01 -9.02649626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.500385723 meters 0.016467389176892118 Centerline is valid? [True, True] Translation: X:53.16, Y:-178.92, Z:-9.03 [[-7.06546751e-01 -7.07666096e-01 -6.21229969e-04 5.31639474e+01] [ 7.07665800e-01 -7.06547023e-01 6.47286812e-04 -1.78922550e+02] [-8.96991116e-04 1.77151910e-05 9.99999598e-01 -9.02600421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.530385723 meters 0.01769203739032688 Centerline is valid? [True, True] Translation: X:53.15, Y:-178.90, Z:-9.02 [[-7.10586099e-01 -7.03608885e-01 -1.39008540e-03 5.31492899e+01] [ 7.03607397e-01 -7.10587457e-01 1.44780820e-03 -1.78899520e+02] [-2.00646796e-03 5.07180083e-05 9.99997986e-01 -9.02474200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.560385723 meters 0.0181429219248028 Centerline is valid? [True, True] Translation: X:53.13, Y:-178.88, Z:-9.02 [[-7.12600616e-01 -7.01567011e-01 -2.02294941e-03 5.31313101e+01] [ 7.01563855e-01 -7.12603482e-01 2.10580067e-03 -1.78877404e+02] [-2.91892108e-03 8.13666720e-05 9.99995737e-01 -9.02404230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.590385723 meters 0.02111783407738318 Centerline is valid? [True, True] Translation: X:53.12, Y:-178.86, Z:-9.02 [[-7.14660007e-01 -6.99469049e-01 -2.03048958e-03 5.31154833e+01] [ 6.99465864e-01 -7.14662886e-01 2.11267039e-03 -1.78855859e+02] [-2.92886310e-03 8.95828846e-05 9.99995707e-01 -9.02451160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62038572299997 meters 0.020216033740076522 Centerline is valid? [True, True] Translation: X:53.10, Y:-178.83, Z:-9.02 [[-7.17417792e-01 -6.96639525e-01 -2.25491874e-03 5.30980821e+01] [ 6.96635588e-01 -7.17421327e-01 2.34482812e-03 -1.78834642e+02] [-3.25122674e-03 1.11364771e-04 9.99994709e-01 -9.02334232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.650385723 meters 0.02074390218492427 Centerline is valid? [True, True] Translation: X:53.08, Y:-178.81, Z:-9.02 [[-7.17927574e-01 -6.96114020e-01 -2.29557765e-03 5.30806877e+01] [ 6.96109942e-01 -7.17931234e-01 2.38559854e-03 -1.78814969e+02] [-3.30871549e-03 1.14712546e-04 9.99994520e-01 -9.02346085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.680385723 meters 0.018456018283658792 Centerline is valid? [True, True] Translation: X:53.06, Y:-178.80, Z:-9.02 [[-7.18385164e-01 -6.95641850e-01 -2.27435608e-03 5.30577713e+01] [ 6.95637848e-01 -7.18388756e-01 2.36220946e-03 -1.78797629e+02] [-3.27712359e-03 1.14848062e-04 9.99994624e-01 -9.02403774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.710385723 meters 0.01988389511580438 Centerline is valid? [True, True] Translation: X:53.04, Y:-178.78, Z:-9.02 [[-7.18532347e-01 -6.95490637e-01 -2.00993187e-03 5.30406121e+01] [ 6.95487515e-01 -7.18535151e-01 2.08632791e-03 -1.78777013e+02] [-2.89522822e-03 1.01211567e-04 9.99995804e-01 -9.02427169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.740385723 meters 0.02033873053181134 Centerline is valid? [True, True] Translation: X:53.02, Y:-178.76, Z:-9.02 [[-7.18816493e-01 -6.95197190e-01 -1.92793225e-03 5.30226133e+01] [ 6.95194320e-01 -7.18819072e-01 1.99993198e-03 -1.78757629e+02] [-2.77618156e-03 9.72965374e-05 9.99996142e-01 -9.02454315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.770385723 meters 0.018727920375071663 Centerline is valid? [True, True] Translation: X:53.00, Y:-178.74, Z:-9.03 [[-7.18568684e-01 -6.95454979e-01 -1.19080047e-03 5.30003557e+01] [ 6.95453886e-01 -7.18569669e-01 1.23458517e-03 -1.78740026e+02] [-1.71427150e-03 5.89874312e-05 9.99998529e-01 -9.02579798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.800385723 meters 0.018837324008198403 Centerline is valid? [True, True] Translation: X:52.98, Y:-178.72, Z:-9.03 [[-7.18511960e-01 -6.95513583e-01 -1.19157685e-03 5.29803323e+01] [ 6.95512489e-01 -7.18512945e-01 1.23470855e-03 -1.78720455e+02] [-1.71491996e-03 5.83962829e-05 9.99998528e-01 -9.02605162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.830385723 meters 0.018760251969377664 Centerline is valid? [True, True] Translation: X:52.96, Y:-178.70, Z:-9.03 [[-7.17901194e-01 -6.96144144e-01 -1.09859297e-03 5.29606260e+01] [ 6.96143216e-01 -7.17902033e-01 1.13773518e-03 -1.78701184e+02] [-1.58070981e-03 5.20034023e-05 9.99998749e-01 -9.02563576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.860385723 meters 0.018166261361818425 Centerline is valid? [True, True] Translation: X:52.94, Y:-178.68, Z:-9.02 [[-7.16481962e-01 -6.97604267e-01 -1.37318636e-03 5.29387271e+01] [ 6.97602822e-01 -7.16483275e-01 1.42135343e-03 -1.78682603e+02] [-1.97540727e-03 6.04354169e-05 9.99998047e-01 -9.02469190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.890385723 meters 0.018166261361818425 Centerline is valid? [True, True] Translation: X:52.92, Y:-178.66, Z:-9.02 [[-7.16673586e-01 -6.97407402e-01 -1.37357680e-03 5.29195199e+01] [ 6.97405957e-01 -7.16674900e-01 1.42097611e-03 -1.78662803e+02] [-1.97540727e-03 6.04354009e-05 9.99998047e-01 -9.02469185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.920385723 meters 0.018113610089233786 Centerline is valid? [True, True] Translation: X:52.90, Y:-178.64, Z:-9.02 [[-7.16014490e-01 -6.98084923e-01 -8.30396581e-04 5.28986390e+01] [ 6.98084396e-01 -7.16014971e-01 8.58612537e-04 -1.78643234e+02] [-1.19396085e-03 3.50921219e-05 9.99999287e-01 -9.02489451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.950385723 meters 0.01787356478453883 Centerline is valid? [True, True] Translation: X:52.88, Y:-178.62, Z:-9.02 [[-7.15242148e-01 -6.98876079e-01 -9.46137502e-04 5.28774487e+01] [ 6.98875397e-01 -7.15242773e-01 9.77755556e-04 -1.78624759e+02] [-1.36004798e-03 3.80997621e-05 9.99999074e-01 -9.02467336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.980385723 meters 0.016848651530722642 Centerline is valid? [True, True] Translation: X:52.86, Y:-178.61, Z:-9.02 [[-7.15270143e-01 -6.98846736e-01 -1.36457362e-03 5.28562900e+01] [ 6.98845317e-01 -7.15271442e-01 1.40938240e-03 -1.78606481e+02] [-1.96098283e-03 5.44632681e-05 9.99998076e-01 -9.02488978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.010385723 meters 0.017029040071079887 Centerline is valid? [True, True] Translation: X:52.84, Y:-178.59, Z:-9.02 [[-7.15356866e-01 -6.98757468e-01 -1.59852829e-03 5.28368279e+01] [ 6.98755522e-01 -7.15358649e-01 1.65009875e-03 -1.78586182e+02] [-2.29653986e-03 6.34289983e-05 9.99997361e-01 -9.02453113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.040385723 meters 0.018109654622149144 Centerline is valid? [True, True] Translation: X:52.82, Y:-178.57, Z:-9.02 [[-7.16038061e-01 -6.98060008e-01 -1.31142486e-03 5.28184123e+01] [ 6.98058699e-01 -7.16039260e-01 1.35306285e-03 -1.78566542e+02] [-1.88355075e-03 5.33929748e-05 9.99998225e-01 -9.02431058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.070385723 meters 0.017638056016410646 Centerline is valid? [True, True] Translation: X:52.80, Y:-178.55, Z:-9.03 [[-7.16718218e-01 -6.97361796e-01 -1.23340230e-03 5.27970631e+01] [ 6.97360638e-01 -7.16719277e-01 1.27189385e-03 -1.78547749e+02] [-1.77097339e-03 5.14632769e-05 9.99998431e-01 -9.02520154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.100385723 meters 0.017870815922017808 Centerline is valid? [True, True] Translation: X:52.78, Y:-178.53, Z:-9.03 [[-7.18362672e-01 -6.95668070e-01 -1.00444958e-03 5.27756329e+01] [ 6.95667301e-01 -7.18363373e-01 1.03525691e-03 -1.78529028e+02] [-1.44175497e-03 4.49271927e-05 9.99998960e-01 -9.02627541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.130385723 meters 0.019618129249649712 Centerline is valid? [True, True] Translation: X:52.76, Y:-178.51, Z:-9.03 [[-7.19490125e-01 -6.94501723e-01 -1.14787417e-03 5.27576477e+01] [ 6.94500718e-01 -7.19491038e-01 1.18267625e-03 -1.78507949e+02] [-1.64725588e-03 5.37244445e-05 9.99998642e-01 -9.02596910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.160385723 meters 0.020308344107418528 Centerline is valid? [True, True] Translation: X:52.74, Y:-178.49, Z:-9.03 [[-7.20346675e-01 -6.93613068e-01 -1.25664400e-03 5.27354709e+01] [ 6.93611864e-01 -7.20347769e-01 1.29406744e-03 -1.78489239e+02] [-1.80280279e-03 6.05539857e-05 9.99998373e-01 -9.02676784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.190385723 meters 0.02072606010840415 Centerline is valid? [True, True] Translation: X:52.71, Y:-178.47, Z:-9.03 [[-7.21954717e-01 -6.91934925e-01 -2.72893011e-03 5.27139109e+01] [ 6.91929238e-01 -7.21959861e-01 2.80875697e-03 -1.78470335e+02] [-3.91365505e-03 1.39568813e-04 9.99992332e-01 -9.02630795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.220385723 meters 0.019229643554135527 Centerline is valid? [True, True] Translation: X:52.69, Y:-178.45, Z:-9.03 [[-7.22447555e-01 -6.91420596e-01 -2.66258753e-03 5.26921221e+01] [ 6.91415185e-01 -7.22452449e-01 2.73896047e-03 -1.78451975e+02] [-3.81736656e-03 1.37801851e-04 9.99992704e-01 -9.02592917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.250385723 meters 0.019792413210880384 Centerline is valid? [True, True] Translation: X:52.67, Y:-178.44, Z:-9.03 [[-7.22359507e-01 -6.91513897e-01 -2.29630027e-03 5.26704928e+01] [ 6.91509877e-01 -7.22363147e-01 2.36082045e-03 -1.78435771e+02] [-3.29130284e-03 1.17446773e-04 9.99994577e-01 -9.02784711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.280385723 meters 0.01998138799442607 Centerline is valid? [True, True] Translation: X:52.65, Y:-178.42, Z:-9.03 [[-7.22248764e-01 -6.91630181e-01 -2.10151685e-03 5.26502923e+01] [ 6.91626818e-01 -7.22251813e-01 2.15935113e-03 -1.78418129e+02] [-3.01129677e-03 1.06123273e-04 9.99995460e-01 -9.02868173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.310385723 meters 0.018853780108034065 Centerline is valid? [True, True] Translation: X:52.63, Y:-178.40, Z:-9.03 [[-7.21898103e-01 -6.91996276e-01 -2.06937541e-03 5.26283123e+01] [ 6.91993021e-01 -7.21901062e-01 2.12515241e-03 -1.78400559e+02] [-2.96448187e-03 1.02150152e-04 9.99995601e-01 -9.02907122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.340385723 meters 0.019324703587592095 Centerline is valid? [True, True] Translation: X:52.61, Y:-178.38, Z:-9.03 [[-7.21550056e-01 -6.92357308e-01 -2.62193944e-03 5.26077424e+01] [ 6.92352088e-01 -7.21554809e-01 2.69152314e-03 -1.78382404e+02] [-3.75536873e-03 1.26763427e-04 9.99992941e-01 -9.02900150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37038572299997 meters 0.019175085772985212 Centerline is valid? [True, True] Translation: X:52.59, Y:-178.36, Z:-9.03 [[-7.21697568e-01 -6.92201948e-01 -3.01369641e-03 5.25869943e+01] [ 6.92195058e-01 -7.21703846e-01 3.09199057e-03 -1.78363360e+02] [-4.31527819e-03 1.45416311e-04 9.99990679e-01 -9.02876797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.400385723 meters 0.01942954553531401 Centerline is valid? [True, True] Translation: X:52.57, Y:-178.34, Z:-9.03 [[-7.21706157e-01 -6.92191070e-01 -3.42722063e-03 5.25654261e+01] [ 6.92182168e-01 -7.21714276e-01 3.51434595e-03 -1.78344682e+02] [-4.90607294e-03 1.64064106e-04 9.99987952e-01 -9.02880671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.430385723 meters 0.01910417760888104 Centerline is valid? [True, True] Translation: X:52.54, Y:-178.33, Z:-9.03 [[-7.21931663e-01 -6.91954931e-01 -3.61211056e-03 5.25441284e+01] [ 6.91945050e-01 -7.21940679e-01 3.70190573e-03 -1.78325895e+02] [-5.16928148e-03 1.73140934e-04 9.99986624e-01 -9.02904969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.460385723 meters 0.0198014588168592 Centerline is valid? [True, True] Translation: X:52.52, Y:-178.31, Z:-9.03 [[-7.21824458e-01 -6.92067769e-01 -3.41403961e-03 5.25230956e+01] [ 6.92058952e-01 -7.21832514e-01 3.49711285e-03 -1.78306541e+02] [-4.88460388e-03 1.61584913e-04 9.99988057e-01 -9.02982386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.490385723 meters 0.020120434152983875 Centerline is valid? [True, True] Translation: X:52.50, Y:-178.29, Z:-9.03 [[-7.21449019e-01 -6.92456853e-01 -3.84960031e-03 5.25023376e+01] [ 6.92445660e-01 -7.21459268e-01 3.94106988e-03 -1.78289230e+02] [-5.50635067e-03 1.77641975e-04 9.99984824e-01 -9.02924888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.520385723 meters 0.01979542531792194 Centerline is valid? [True, True] Translation: X:52.48, Y:-178.27, Z:-9.03 [[-7.22077682e-01 -6.91802153e-01 -3.68807729e-03 5.24802696e+01] [ 6.91791882e-01 -7.22087080e-01 3.77367700e-03 -1.78271664e+02] [-5.27375083e-03 1.73506010e-04 9.99986079e-01 -9.02916581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.550385723 meters 0.020529124065434907 Centerline is valid? [True, True] Translation: X:52.46, Y:-178.25, Z:-9.03 [[-7.23214520e-01 -6.90614982e-01 -3.42129403e-03 5.24601817e+01] [ 6.90606136e-01 -7.23222593e-01 3.49932977e-03 -1.78252875e+02] [-4.89104671e-03 1.67999446e-04 9.99988025e-01 -9.02987139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.580385723 meters 0.02041729498221513 Centerline is valid? [True, True] Translation: X:52.44, Y:-178.23, Z:-9.03 [[-7.24924495e-01 -6.88821764e-01 -3.00902645e-03 5.24382446e+01] [ 6.88814913e-01 -7.24930723e-01 3.07598471e-03 -1.78234584e+02] [-4.30014093e-03 1.57194374e-04 9.99990742e-01 -9.03059652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.610385723 meters 0.021819911915729802 Centerline is valid? [True, True] Translation: X:52.42, Y:-178.22, Z:-9.03 [[-7.28841767e-01 -6.84677929e-01 -2.41080542e-03 5.24168867e+01] [ 6.84673514e-01 -7.28845740e-01 2.46307084e-03 -1.78216419e+02] [-3.44351551e-03 1.44574285e-04 9.99994061e-01 -9.03131123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.640385723 meters 0.022763544157409797 Centerline is valid? [True, True] Translation: X:52.40, Y:-178.20, Z:-9.03 [[-7.31542201e-01 -6.81792893e-01 -2.11181395e-03 5.23964609e+01] [ 6.81789496e-01 -7.31545236e-01 2.15639347e-03 -1.78197412e+02] [-3.01510118e-03 1.37680255e-04 9.99995445e-01 -9.03152599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.670385723 meters 0.025589856487825646 Centerline is valid? [True, True] Translation: X:52.38, Y:-178.18, Z:-9.03 [[-7.37172635e-01 -6.75701505e-01 -1.99535311e-03 5.23773392e+01] [ 6.75698453e-01 -7.37175320e-01 2.03655659e-03 -1.78179443e+02] [-2.84702942e-03 1.53036781e-04 9.99995936e-01 -9.03123603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.700385723 meters 0.027283293133177337 Centerline is valid? [True, True] Translation: X:52.36, Y:-178.16, Z:-9.03 [[-7.40203510e-01 -6.72380663e-01 -1.73410548e-03 5.23576827e+01] [ 6.72378352e-01 -7.40205528e-01 1.76890594e-03 -1.78160623e+02] [-2.47297261e-03 1.43375402e-04 9.99996932e-01 -9.03115690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.730385723 meters 0.029758365280854376 Centerline is valid? [True, True] Translation: X:52.34, Y:-178.14, Z:-9.03 [[-7.43044247e-01 -6.69240631e-01 -1.49170528e-03 5.23390882e+01] [ 6.69238916e-01 -7.43045732e-01 1.52073154e-03 -1.78141962e+02] [-2.12614058e-03 1.31663600e-04 9.99997731e-01 -9.03131670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.760385723 meters 0.03360654651297024 Centerline is valid? [True, True] Translation: X:52.32, Y:-178.12, Z:-9.03 [[-7.47660540e-01 -6.64080721e-01 -7.15686627e-04 5.23182164e+01] [ 6.64080324e-01 -7.47660880e-01 7.29320475e-04 -1.78124621e+02] [-1.01941856e-03 7.00107332e-05 9.99999478e-01 -9.03167686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.790385723 meters 0.03421259889594667 Centerline is valid? [True, True] Translation: X:52.30, Y:-178.11, Z:-9.03 [[-7.49136347e-01 -6.62415627e-01 -5.20983137e-04 5.22963635e+01] [ 6.62415417e-01 -7.49136526e-01 5.30609217e-04 -1.78107758e+02] [-7.41771335e-04 5.23913885e-05 9.99999724e-01 -9.03191414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.820385723 meters 0.03168564617725764 Centerline is valid? [True, True] Translation: X:52.27, Y:-178.09, Z:-9.03 [[-7.49739620e-01 -6.61732807e-01 -4.40269084e-04 5.22709570e+01] [ 6.61732657e-01 -7.49739748e-01 4.48164358e-04 -1.78093939e+02] [-6.26652290e-04 4.46661448e-05 9.99999803e-01 -9.03178863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.850385723 meters 0.03456051293315515 Centerline is valid? [True, True] Translation: X:52.25, Y:-178.08, Z:-9.03 [[-7.48801484e-01 -6.62791452e-01 -1.95654284e-03 5.22474464e+01] [ 6.62788491e-01 -7.48804015e-01 1.99065966e-03 -1.78079908e+02] [-2.78445934e-03 1.93834827e-04 9.99996105e-01 -9.03026172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.880385723 meters 0.02979493113811006 Centerline is valid? [True, True] Translation: X:52.22, Y:-178.07, Z:-9.03 [[-7.47529931e-01 -6.64222470e-01 -2.74087537e-03 5.22189902e+01] [ 6.64216674e-01 -7.47534910e-01 2.78719453e-03 -1.78068261e+02] [-3.90021726e-03 2.62976213e-04 9.99992360e-01 -9.02960178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.910385723 meters 0.03201670111563965 Centerline is valid? [True, True] Translation: X:52.19, Y:-178.05, Z:-9.03 [[-7.43824225e-01 -6.68365484e-01 -3.61961230e-03 5.21947338e+01] [ 6.68355434e-01 -7.43832964e-01 3.67901083e-03 -1.78054677e+02] [-5.15131080e-03 3.17349828e-04 9.99986682e-01 -9.02825606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.940385723 meters 0.027400211977209037 Centerline is valid? [True, True] Translation: X:52.17, Y:-178.04, Z:-9.03 [[-7.41623807e-01 -6.70805386e-01 -3.77663772e-03 5.21663358e+01] [ 6.70794487e-01 -7.41633358e-01 3.83652125e-03 -1.78043102e+02] [-5.37443963e-03 3.11907733e-04 9.99985509e-01 -9.02847761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.970385723 meters 0.027584561763988574 Centerline is valid? [True, True] Translation: X:52.14, Y:-178.03, Z:-9.03 [[-7.39408144e-01 -6.73244665e-01 -4.14936101e-03 5.21439938e+01] [ 6.73231562e-01 -7.39419717e-01 4.21263594e-03 -1.78027712e+02] [-5.90425402e-03 3.21376523e-04 9.99982518e-01 -9.02846298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.000385723 meters 0.02519004886017814 Centerline is valid? [True, True] Translation: X:52.12, Y:-178.01, Z:-9.03 [[-7.37180688e-01 -6.75683380e-01 -4.07470213e-03 5.21183264e+01] [ 6.75670794e-01 -7.37191891e-01 4.13459590e-03 -1.78014034e+02] [-5.79751510e-03 2.94787026e-04 9.99983151e-01 -9.02854138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.030385723 meters 0.026767635321743467 Centerline is valid? [True, True] Translation: X:52.09, Y:-178.00, Z:-9.03 [[-7.32709371e-01 -6.80530416e-01 -3.91539869e-03 5.20937860e+01] [ 6.80518876e-01 -7.32719792e-01 3.97074647e-03 -1.78000696e+02] [-5.57110386e-03 2.44900438e-04 9.99984451e-01 -9.02872490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.060385723 meters 0.023739473393337106 Centerline is valid? [True, True] Translation: X:52.06, Y:-177.99, Z:-9.03 [[-7.28754156e-01 -6.84769344e-01 -2.88545949e-03 5.20639335e+01] [ 6.84763114e-01 -7.28759852e-01 2.92501243e-03 -1.77991563e+02] [-4.10576587e-03 1.55758736e-04 9.99991559e-01 -9.03003989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.090385723 meters 0.024323103604179167 Centerline is valid? [True, True] Translation: X:52.04, Y:-177.98, Z:-9.03 [[-7.27168614e-01 -6.86454901e-01 -2.33997258e-03 5.20391977e+01] [ 6.86450817e-01 -7.27172370e-01 2.37084757e-03 -1.77976388e+02] [-3.32904334e-03 1.17729856e-04 9.99994452e-01 -9.03359416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12038572299997 meters 0.023487109773277413 Centerline is valid? [True, True] Translation: X:52.02, Y:-177.96, Z:-9.03 [[-7.25392233e-01 -6.88330925e-01 -2.57811481e-03 5.20176496e+01] [ 6.88325984e-01 -7.25396804e-01 2.61090493e-03 -1.77959985e+02] [-3.66732285e-03 1.19346741e-04 9.99993268e-01 -9.03161621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.150385723 meters 0.022593975060813426 Centerline is valid? [True, True] Translation: X:51.99, Y:-177.94, Z:-9.03 [[-7.23869210e-01 -6.89930897e-01 -2.95369502e-03 5.19941206e+01] [ 6.89924432e-01 -7.23875225e-01 2.98956138e-03 -1.77944580e+02] [-4.20069741e-03 1.26225079e-04 9.99991169e-01 -9.03119272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.180385723 meters 0.01965251084497543 Centerline is valid? [True, True] Translation: X:51.97, Y:-177.93, Z:-9.03 [[-7.20541791e-01 -6.93405858e-01 -2.80074000e-03 5.19667334e+01] [ 6.93400077e-01 -7.20547227e-01 2.83310606e-03 -1.77933713e+02] [-3.98255778e-03 9.93379783e-05 9.99992065e-01 -9.02952848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.210385723 meters 0.0183589199504762 Centerline is valid? [True, True] Translation: X:51.94, Y:-177.92, Z:-9.03 [[-7.17420373e-01 -6.96636164e-01 -2.46250069e-03 5.19407000e+01] [ 6.96631719e-01 -7.17424596e-01 2.48952376e-03 -1.77920909e+02] [-3.50095084e-03 7.05789754e-05 9.99993869e-01 -9.03013560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.240385723 meters 0.01690444755703165 Centerline is valid? [True, True] Translation: X:51.92, Y:-177.91, Z:-9.03 [[-7.15787885e-01 -6.98315101e-01 -1.92960615e-03 5.19156443e+01] [ 6.98312380e-01 -7.15790485e-01 1.94978317e-03 -1.77905725e+02] [-2.74275675e-03 4.81633092e-05 9.99996238e-01 -9.03170771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.270385723 meters 0.016488237161339923 Centerline is valid? [True, True] Translation: X:51.89, Y:-177.89, Z:-9.03 [[-7.14176025e-01 -6.99965072e-01 -1.22615300e-03 5.18926237e+01] [ 6.99963977e-01 -7.14177077e-01 1.23834032e-03 -1.77888346e+02] [-1.74248533e-03 2.61300381e-05 9.99998482e-01 -9.03261500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.300385723 meters 0.01821307189691159 Centerline is valid? [True, True] Translation: X:51.87, Y:-177.87, Z:-9.04 [[-7.13056688e-01 -7.01106246e-01 -4.36574316e-04 5.18710647e+01] [ 7.01106108e-01 -7.13056822e-01 4.40673574e-04 -1.77870139e+02] [-6.20261289e-04 8.14031985e-06 9.99999808e-01 -9.03628838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.330385723 meters 0.015805156401562277 Centerline is valid? [True, True] Translation: X:51.85, Y:-177.85, Z:-9.03 [[-7.10300221e-01 -7.03898802e-01 2.69696871e-04 5.18477736e+01] [ 7.03898749e-01 -7.10300272e-01 -2.72137952e-04 -1.77853090e+02] [ 3.83123339e-04 -3.46035782e-06 9.99999927e-01 -9.03459707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.360385723 meters 0.01576413233453406 Centerline is valid? [True, True] Translation: X:51.83, Y:-177.84, Z:-9.03 [[-7.09890910e-01 -7.04311535e-01 3.98534543e-04 5.18284489e+01] [ 7.04311420e-01 -7.09891021e-01 -4.01883895e-04 -1.77835141e+02] [ 5.65967557e-04 -4.60129392e-06 9.99999840e-01 -9.03474539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.390385723 meters 0.015754780582076102 Centerline is valid? [True, True] Translation: X:51.81, Y:-177.82, Z:-9.04 [[-7.09584763e-01 -7.04619748e-01 6.89417309e-04 5.18077283e+01] [ 7.04619406e-01 -7.09585097e-01 -6.94828004e-04 -1.77816476e+02] [ 9.78789782e-04 -7.26254979e-06 9.99999521e-01 -9.03527715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.420385723 meters 0.015812218528954484 Centerline is valid? [True, True] Translation: X:51.79, Y:-177.80, Z:-9.04 [[-7.09992193e-01 -7.04208802e-01 1.02414711e-03 5.17892176e+01] [ 7.04208047e-01 -7.09992931e-01 -1.03151565e-03 -1.77798081e+02] [ 1.45353961e-03 -1.11554234e-05 9.99998944e-01 -9.03524226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.450385723 meters 0.015824039721896402 Centerline is valid? [True, True] Translation: X:51.77, Y:-177.78, Z:-9.03 [[-7.10454733e-01 -7.03742346e-01 8.85228382e-04 5.17699498e+01] [ 7.03741782e-01 -7.10455284e-01 -8.91054757e-04 -1.77778383e+02] [ 1.25598815e-03 -1.00818700e-05 9.99999211e-01 -9.03488659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.480385723 meters 0.015935559548957177 Centerline is valid? [True, True] Translation: X:51.75, Y:-177.76, Z:-9.03 [[-7.11515939e-01 -7.02669955e-01 -5.95016361e-05 5.17523593e+01] [ 7.02669952e-01 -7.11515941e-01 5.98557180e-05 -1.77758180e+02] [-8.43951773e-05 7.78285574e-07 9.99999996e-01 -9.03339387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.510385723 meters 0.016019965915203938 Centerline is valid? [True, True] Translation: X:51.73, Y:-177.74, Z:-9.03 [[-7.12488245e-01 -7.01683925e-01 -4.12919179e-04 5.17331897e+01] [ 7.01683802e-01 -7.12488364e-01 4.15154390e-04 -1.77737365e+02] [-5.85507272e-04 6.05392331e-06 9.99999829e-01 -9.03325731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.540385723 meters 0.016186991482477285 Centerline is valid? [True, True] Translation: X:51.71, Y:-177.72, Z:-9.03 [[-7.13789363e-01 -7.00360321e-01 -4.06914404e-04 5.17143021e+01] [ 7.00360202e-01 -7.13789479e-01 4.08893884e-04 -1.77716039e+02] [-5.76824273e-04 6.87745098e-06 9.99999834e-01 -9.03297562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.570385723 meters 0.017327861170563143 Centerline is valid? [True, True] Translation: X:51.70, Y:-177.69, Z:-9.03 [[-7.17587825e-01 -6.96468025e-01 -6.20035863e-05 5.16988490e+01] [ 6.96468022e-01 -7.17587828e-01 6.22686741e-05 -1.77693707e+02] [-8.78611592e-05 1.49972729e-06 9.99999996e-01 -9.03305255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.600385723 meters 0.018275453641317604 Centerline is valid? [True, True] Translation: X:51.68, Y:-177.67, Z:-9.03 [[-7.19819739e-01 -6.94161018e-01 -1.56806964e-04 5.16821384e+01] [ 6.94161000e-01 -7.19819756e-01 1.57412293e-04 -1.77672748e+02] [-2.22142228e-04 4.45919707e-06 9.99999975e-01 -9.03274833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.630385723 meters 0.01830782698670018 Centerline is valid? [True, True] Translation: X:51.66, Y:-177.65, Z:-9.03 [[-7.21935442e-01 -6.91960204e-01 -5.41713925e-04 5.16628907e+01] [ 6.91959991e-01 -7.21935645e-01 5.43514745e-04 -1.77652296e+02] [-7.67173165e-04 1.75381952e-05 9.99999706e-01 -9.03245644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.660385723 meters 0.019436530095386904 Centerline is valid? [True, True] Translation: X:51.65, Y:-177.63, Z:-9.03 [[-7.25088195e-01 -6.88655320e-01 -9.79743900e-04 5.16455804e+01] [ 6.88654620e-01 -7.25088856e-01 9.82472626e-04 -1.77629696e+02] [-1.38698638e-03 3.76741391e-05 9.99999037e-01 -9.03172440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.690385723 meters 0.019334511156809134 Centerline is valid? [True, True] Translation: X:51.63, Y:-177.61, Z:-9.03 [[-7.25930407e-01 -6.87767604e-01 -8.76297618e-04 5.16259815e+01] [ 6.87767044e-01 -7.25930935e-01 8.78264987e-04 -1.77609579e+02] [-1.24017375e-03 3.48706365e-05 9.99999230e-01 -9.03138234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.720385723 meters 0.019517517547969727 Centerline is valid? [True, True] Translation: X:51.61, Y:-177.59, Z:-9.03 [[-7.26195347e-01 -6.87487994e-01 -7.59484966e-04 5.16071804e+01] [ 6.87487573e-01 -7.26195744e-01 7.60731161e-04 -1.77590092e+02] [-1.07452829e-03 3.03029532e-05 9.99999422e-01 -9.03090891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.750385723 meters 0.018599934837025874 Centerline is valid? [True, True] Translation: X:51.59, Y:-177.57, Z:-9.03 [[-7.24666195e-01 -6.89099647e-01 -7.63248142e-04 5.15859995e+01] [ 6.89099223e-01 -7.24666597e-01 7.64111262e-04 -1.77571104e+02] [-1.07964923e-03 2.77718991e-05 9.99999417e-01 -9.03073654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.780385723 meters 0.01904460210495775 Centerline is valid? [True, True] Translation: X:51.57, Y:-177.55, Z:-9.03 [[-7.23066595e-01 -6.90778061e-01 -6.08242297e-04 5.15681698e+01] [ 6.90777793e-01 -7.23066850e-01 6.08687544e-04 -1.77551037e+02] [-8.60267844e-04 1.99613581e-05 9.99999630e-01 -9.03052436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.810385723 meters 0.017293934942782502 Centerline is valid? [True, True] Translation: X:51.55, Y:-177.53, Z:-9.03 [[-7.18938571e-01 -6.95073612e-01 -6.79292743e-05 5.15460754e+01] [ 6.95073609e-01 -7.18938575e-01 6.79389703e-05 -1.77534192e+02] [-9.60595610e-05 1.62810038e-06 9.99999995e-01 -9.03139845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.840385723 meters 0.017293934942782502 Centerline is valid? [True, True] Translation: X:51.53, Y:-177.52, Z:-9.03 [[-7.19144773e-01 -6.94860267e-01 -6.79494403e-05 5.15271282e+01] [ 6.94860264e-01 -7.19144776e-01 6.79188013e-05 -1.77515389e+02] [-9.60595614e-05 1.62808490e-06 9.99999995e-01 -9.03139840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87038572299997 meters 0.01631108769929449 Centerline is valid? [True, True] Translation: X:51.34, Y:-177.67, Z:-8.04 [[-7.46745946e-01 6.65109302e-01 3.29442289e-04 5.13383500e+01] [ 6.65109241e-01 7.46746018e-01 -2.85354386e-04 -1.77673567e+02] [-4.35801575e-04 6.02788011e-06 -9.99999905e-01 -8.03607166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.900385723 meters 0.016105069054328257 Centerline is valid? [True, True] Translation: X:51.33, Y:-177.63, Z:-8.04 [[-7.93976881e-01 6.07947260e-01 9.17454694e-04 5.13349872e+01] [ 6.07946872e-01 7.93977411e-01 -6.87404090e-04 -1.77631228e+02] [-1.14634374e-03 1.19807562e-05 -9.99999343e-01 -8.03545679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.930385723 meters 0.015791360753174045 Centerline is valid? [True, True] Translation: X:51.34, Y:-177.60, Z:-8.04 [[-8.36977913e-01 5.47234576e-01 1.51371826e-03 5.13393858e+01] [ 5.47233709e-01 8.36979282e-01 -9.74687238e-04 -1.77597382e+02] [-1.80033338e-03 1.25659678e-05 -9.99998379e-01 -8.03500702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.960385723 meters 0.015478262114077468 Centerline is valid? [True, True] Translation: X:51.33, Y:-177.56, Z:-8.04 [[-8.77011692e-01 4.80467109e-01 1.35973833e-03 5.13349323e+01] [ 4.80466532e-01 8.77012746e-01 -7.44699822e-04 -1.77559525e+02] [-1.55031162e-03 1.98309490e-07 -9.99998798e-01 -8.03540934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.990385723 meters 0.018003275163792153 Centerline is valid? [True, True] Translation: X:51.33, Y:-177.52, Z:-8.03 [[-9.09976634e-01 4.14656571e-01 1.56651756e-03 5.13284524e+01] [ 4.14655949e-01 9.09977982e-01 -7.18483732e-04 -1.77523853e+02] [-1.72342049e-03 -4.23758507e-06 -9.99998515e-01 -8.03235640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.020385723 meters 0.016005611009473487 Centerline is valid? [True, True] Translation: X:51.32, Y:-177.49, Z:-8.04 [[-9.39574738e-01 3.42336057e-01 2.30980098e-03 5.13157187e+01] [ 3.42334961e-01 9.39577577e-01 -8.66795537e-04 -1.77486862e+02] [-2.46697257e-03 -2.36935638e-05 -9.99996957e-01 -8.03596028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.050385723 meters 0.016405230842814197 Centerline is valid? [True, True] Translation: X:51.30, Y:-177.45, Z:-8.04 [[-9.62354188e-01 2.71779070e-01 3.24874230e-03 5.13045696e+01] [ 2.71777370e-01 9.62359670e-01 -9.62256753e-04 -1.77453215e+02] [-3.38797982e-03 -4.30971781e-05 -9.99994260e-01 -8.03536300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.080385723 meters 0.01794758420917114 Centerline is valid? [True, True] Translation: X:51.29, Y:-177.42, Z:-8.03 [[-9.80334115e-01 1.97296403e-01 4.37635232e-03 5.12901287e+01] [ 1.97294064e-01 9.80343880e-01 -9.64287122e-04 -1.77420439e+02] [-4.48058059e-03 -8.18952284e-05 -9.99989959e-01 -8.03415700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.110385723 meters 0.01924233523431715 Centerline is valid? [True, True] Translation: X:51.33, Y:-177.19, Z:-9.04 [[-9.53945746e-01 -2.99954409e-01 3.85566377e-03 5.13252764e+01] [ 2.99952142e-01 -9.53953537e-01 -1.16695088e-03 -1.77188001e+02] [ 4.02815615e-03 4.33067814e-05 9.99991886e-01 -9.03538840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.140385723 meters 0.019440342107229534 Centerline is valid? [True, True] Translation: X:51.24, Y:-177.41, Z:-8.03 [[-9.81905070e-01 1.89347837e-01 3.13528746e-03 5.12361662e+01] [ 1.89346636e-01 9.81910073e-01 -6.78343143e-04 -1.77412557e+02] [-3.20701315e-03 -7.24124371e-05 -9.99994855e-01 -8.03459021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.170385723 meters 0.019262581387886654 Centerline is valid? [True, True] Translation: X:51.21, Y:-177.38, Z:-8.04 [[-9.93110454e-01 1.17149117e-01 2.77688128e-03 5.12145130e+01] [ 1.17148465e-01 9.93114334e-01 -3.96869021e-04 -1.77384030e+02] [-2.80425346e-03 -6.88273955e-05 -9.99996066e-01 -8.03548560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.200385723 meters 0.02057125481863107 Centerline is valid? [True, True] Translation: X:51.20, Y:-177.36, Z:-8.04 [[-9.99081985e-01 4.27145832e-02 3.26371621e-03 5.11995739e+01] [ 4.27140544e-02 9.99087311e-01 -2.31600447e-04 -1.77359580e+02] [-3.27063017e-03 -9.19812830e-05 -9.99994647e-01 -8.03547571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.230385723 meters 0.021530406572534758 Centerline is valid? [True, True] Translation: X:51.21, Y:-177.10, Z:-9.03 [[-9.85862265e-01 -1.67523331e-01 3.39537428e-03 5.12059419e+01] [ 1.67522710e-01 -9.85868106e-01 -4.68610168e-04 -1.77097350e+02] [ 3.42589435e-03 1.06817220e-04 9.99994126e-01 -9.03295716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.260385723 meters 0.021999657680462255 Centerline is valid? [True, True] Translation: X:51.15, Y:-177.37, Z:-8.03 [[-9.99409516e-01 3.40078475e-02 4.90780653e-03 5.11457938e+01] [ 3.40066370e-02 9.99421553e-01 -3.29922593e-04 -1.77367396e+02] [-4.91618758e-03 -1.62829784e-04 -9.99987902e-01 -8.03426564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.290385723 meters 0.021199540634387774 Centerline is valid? [True, True] Translation: X:51.13, Y:-177.34, Z:-8.03 [[-9.99234987e-01 -3.87319723e-02 5.41061894e-03 5.11278863e+01] [-3.87324209e-02 9.99249618e-01 2.18795613e-05 -1.77344785e+02] [-5.40740634e-03 -1.87703547e-04 -9.99985362e-01 -8.03458367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.320385723 meters 0.024127998838998136 Centerline is valid? [True, True] Translation: X:51.11, Y:-177.05, Z:-9.03 [[-9.95051719e-01 -9.92120326e-02 5.38964446e-03 5.11118390e+01] [ 9.92115919e-02 -9.95066298e-01 -3.49725223e-04 -1.77050610e+02] [ 5.39775051e-03 1.86720523e-04 9.99985415e-01 -9.03334562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.350385723 meters 0.022204544740896077 Centerline is valid? [True, True] Translation: X:51.07, Y:-177.36, Z:-8.04 [[-9.98941273e-01 -4.56876545e-02 5.38252506e-03 5.10718364e+01] [-4.56880856e-02 9.98955753e-01 4.28947129e-05 -1.77360547e+02] [-5.37886414e-03 -2.03067967e-04 -9.99985513e-01 -8.03679751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.380385723 meters 0.024034952702031848 Centerline is valid? [True, True] Translation: X:51.06, Y:-177.03, Z:-9.03 [[-9.95160278e-01 -9.81149941e-02 5.42863028e-03 5.10569039e+01] [ 9.81146771e-02 -9.95175062e-01 -3.25325791e-04 -1.77034140e+02] [ 5.43435681e-03 2.08877003e-04 9.99985212e-01 -9.03107063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.410385723 meters 0.022746266115126 Centerline is valid? [True, True] Translation: X:51.02, Y:-177.37, Z:-8.04 [[-9.98693605e-01 -5.07857526e-02 5.64714528e-03 5.10161815e+01] [-5.07861838e-02 9.98709547e-01 6.71054193e-05 -1.77372411e+02] [-5.64326590e-03 -2.19779205e-04 -9.99984053e-01 -8.03721288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.440385723 meters 0.024204416477383497 Centerline is valid? [True, True] Translation: X:51.00, Y:-177.35, Z:-8.04 [[-9.92428745e-01 -1.22691892e-01 5.64668500e-03 5.10025205e+01] [-1.22691199e-01 9.92444784e-01 4.70334105e-04 -1.77354186e+02] [-5.66172925e-03 -2.26025466e-04 -9.99983947e-01 -8.03731804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.470385723 meters 0.02398157914975749 Centerline is valid? [True, True] Translation: X:50.96, Y:-176.99, Z:-9.03 [[-9.99674656e-01 -2.49351355e-02 5.36862500e-03 5.09610580e+01] [ 2.49358194e-02 -9.99689052e-01 6.04909106e-05 -1.76985955e+02] [ 5.36544729e-03 1.94342294e-04 9.99985587e-01 -9.03054535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.500385723 meters 0.024202943706002344 Centerline is valid? [True, True] Translation: X:50.95, Y:-177.38, Z:-8.04 [[-9.91754008e-01 -1.27965521e-01 6.98670749e-03 5.09456677e+01] [-1.27964390e-01 9.91778575e-01 6.10563313e-04 -1.77378096e+02] [-7.00739785e-03 -2.88521148e-04 -9.99975406e-01 -8.03626272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.530385723 meters 0.023280854301162935 Centerline is valid? [True, True] Translation: X:50.90, Y:-176.97, Z:-9.03 [[-9.99730868e-01 -2.16422327e-02 8.35502026e-03 5.09031996e+01] [ 2.16450958e-02 -9.99765686e-01 2.52396742e-04 -1.76971071e+02] [ 8.34760013e-03 4.33174027e-04 9.99965064e-01 -9.03220637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.560385723 meters 0.023483220151051254 Centerline is valid? [True, True] Translation: X:50.89, Y:-177.40, Z:-8.03 [[-9.91155680e-01 -1.32355461e-01 9.61508084e-03 5.08881244e+01] [-1.32353130e-01 9.91202236e-01 8.81137597e-04 -1.77397952e+02] [-9.64711300e-03 -3.99241508e-04 -9.99953386e-01 -8.03470925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.590385723 meters 0.022717308816011094 Centerline is valid? [True, True] Translation: X:50.87, Y:-177.39, Z:-8.04 [[-9.79256041e-01 -2.02338535e-01 1.08038838e-02 5.08712223e+01] [-2.02331263e-01 9.79315534e-01 1.77333590e-03 -1.77385699e+02] [-1.09392254e-02 -4.49413562e-04 -9.99940064e-01 -8.03528616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62038572299997 meters 0.023116695221249116 Centerline is valid? [True, True] Translation: X:50.79, Y:-176.93, Z:-9.03 [[-9.98450111e-01 5.45068463e-02 1.12418743e-02 5.07854076e+01] [-5.44978974e-02 -9.98513278e-01 1.10106760e-03 -1.76929799e+02] [ 1.12851765e-02 4.86702559e-04 9.99936202e-01 -9.03240994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.650385723 meters 0.022991591804420203 Centerline is valid? [True, True] Translation: X:50.80, Y:-177.41, Z:-8.04 [[-9.78422396e-01 -2.06262827e-01 1.20524763e-02 5.07974650e+01] [-2.06253342e-01 9.78496502e-01 2.03824464e-03 -1.77410798e+02] [-1.22137201e-02 -4.91599323e-04 -9.99925289e-01 -8.03654954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.680385723 meters 0.02265191274674359 Centerline is valid? [True, True] Translation: X:50.78, Y:-177.40, Z:-8.04 [[-9.61460909e-01 -2.74672910e-01 1.21536917e-02 5.07785565e+01] [-2.74657381e-01 9.61537598e-01 2.96168823e-03 -1.77399902e+02] [-1.24997271e-02 -4.90553676e-04 -9.99921755e-01 -8.03837638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.710385723 meters 0.022849828334407803 Centerline is valid? [True, True] Translation: X:50.75, Y:-177.38, Z:-8.04 [[-9.39487513e-01 -3.42369575e-01 1.20948930e-02 5.07490394e+01] [-3.42347844e-01 9.39565238e-01 3.88818637e-03 -1.77384509e+02] [-1.26951377e-02 -4.87758000e-04 -9.99919295e-01 -8.03858187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.740385723 meters 0.02278989369719904 Centerline is valid? [True, True] Translation: X:50.71, Y:-177.38, Z:-8.04 [[-9.12654749e-01 -4.08555451e-01 1.19896765e-02 5.07095019e+01] [-4.08527103e-01 9.12733373e-01 4.83698464e-03 -1.77382133e+02] [-1.29195543e-02 -4.83610786e-04 -9.99916422e-01 -8.04008532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.770385723 meters 0.022967962953506945 Centerline is valid? [True, True] Translation: X:50.65, Y:-177.38, Z:-8.04 [[-8.80121355e-01 -4.74610423e-01 1.14606299e-02 5.06502505e+01] [-4.74577267e-01 8.80195838e-01 5.63075183e-03 -1.77384049e+02] [-1.27600122e-02 -4.83209478e-04 -9.99918471e-01 -8.04088862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.800385723 meters 0.0225759291231865 Centerline is valid? [True, True] Translation: X:50.58, Y:-177.39, Z:-8.04 [[-8.42643289e-01 -5.38356463e-01 1.11627756e-02 5.05844314e+01] [-5.38316889e-01 8.42717080e-01 6.54609743e-03 -1.77393951e+02] [-1.29311955e-02 -4.93085581e-04 -9.99916267e-01 -8.04168683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.830385723 meters 0.024192071095637445 Centerline is valid? [True, True] Translation: X:50.51, Y:-177.42, Z:-8.04 [[-8.00027337e-01 -5.99853627e-01 1.14841970e-02 5.05111262e+01] [-5.99801401e-01 8.00109576e-01 7.93385226e-03 -1.77417842e+02] [-1.39477660e-02 -5.40938730e-04 -9.99902579e-01 -8.03976113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.860385723 meters 0.023547872354903635 Centerline is valid? [True, True] Translation: X:50.44, Y:-177.44, Z:-8.04 [[-7.52458102e-01 -6.58566832e-01 9.82509593e-03 5.04351233e+01] [-6.58519248e-01 7.52522077e-01 7.93241749e-03 -1.77444235e+02] [-1.26176287e-02 -5.01202983e-04 -9.99920269e-01 -8.04283193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.890385723 meters 0.02338430361551019 Centerline is valid? [True, True] Translation: X:50.35, Y:-177.48, Z:-8.04 [[-7.00895523e-01 -7.13206841e-01 9.02596796e-03 5.03535564e+01] [-7.13156606e-01 7.00953464e-01 8.47918608e-03 -1.77484388e+02] [-1.23741970e-02 -4.93905118e-04 -9.99923315e-01 -8.04359177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.920385723 meters 0.02261140044914081 Centerline is valid? [True, True] Translation: X:50.28, Y:-177.54, Z:-8.04 [[-6.45644283e-01 -7.63578289e-01 9.57379283e-03 5.02753276e+01] [-7.63506858e-01 6.45715020e-01 1.04589993e-02 -1.77538603e+02] [-1.41682066e-02 -5.56863396e-04 -9.99899471e-01 -8.04353760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.950385723 meters 0.022808340131282072 Centerline is valid? [True, True] Translation: X:50.20, Y:-177.60, Z:-8.04 [[-5.86616242e-01 -8.09811323e-01 9.32765484e-03 5.01951743e+01] [-8.09724341e-01 5.86690108e-01 1.18831424e-02 -1.77597046e+02] [-1.50955461e-02 -5.81984824e-04 -9.99885886e-01 -8.04326058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.980385723 meters 0.02224145045617448 Centerline is valid? [True, True] Translation: X:50.12, Y:-177.67, Z:-8.04 [[-5.25825940e-01 -8.50548054e-01 8.66539507e-03 5.01202549e+01] [-8.50449521e-01 5.25897042e-01 1.29581539e-02 -1.77672463e+02] [-1.55786382e-02 -5.55747629e-04 -9.99878491e-01 -8.04434292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.010385723 meters 0.021199847456202507 Centerline is valid? [True, True] Translation: X:50.04, Y:-177.76, Z:-8.05 [[-4.60750805e-01 -8.87497466e-01 7.54604203e-03 5.00413957e+01] [-8.87396609e-01 4.60812293e-01 1.33898758e-02 -1.77759637e+02] [-1.53607898e-02 -5.26936048e-04 -9.99881877e-01 -8.04548934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.040385723 meters 0.020898417426208047 Centerline is valid? [True, True] Translation: X:49.98, Y:-177.84, Z:-8.05 [[-3.92724929e-01 -9.19634751e-01 6.24944943e-03 4.99750401e+01] [-9.19537363e-01 3.92774347e-01 1.33921840e-02 -1.77837773e+02] [-1.47705413e-02 -4.87157722e-04 -9.99890791e-01 -8.04642917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.070385723 meters 0.02207137252913114 Centerline is valid? [True, True] Translation: X:49.91, Y:-177.95, Z:-8.04 [[-3.23426134e-01 -9.46238406e-01 5.33056054e-03 4.99069124e+01] [-9.46132542e-01 3.23469727e-01 1.41614982e-02 -1.77945988e+02] [-1.51244285e-02 -4.63218177e-04 -9.99885512e-01 -8.04494323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.100385723 meters 0.0212473934520197 Centerline is valid? [True, True] Translation: X:49.85, Y:-178.04, Z:-8.05 [[-2.50663866e-01 -9.68065538e-01 4.09139717e-03 4.98506655e+01] [-9.67963491e-01 2.50696877e-01 1.40625508e-02 -1.78039466e+02] [-1.46391713e-02 -4.35349719e-04 -9.99892747e-01 -8.04594915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.130385723 meters 0.01983877763792125 Centerline is valid? [True, True] Translation: X:49.80, Y:-178.16, Z:-8.05 [[-1.77506818e-01 -9.84114758e-01 3.07774202e-03 4.98028131e+01] [-9.84004795e-01 1.77533010e-01 1.47171319e-02 -1.78160573e+02] [-1.50297475e-02 -4.16121648e-04 -9.99886960e-01 -8.04605542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.160385723 meters 0.018847813369094267 Centerline is valid? [True, True] Translation: X:49.76, Y:-178.27, Z:-8.05 [[-1.03235677e-01 -9.94655131e-01 1.88847233e-03 4.97620189e+01] [-9.94548559e-01 1.03252268e-01 1.45647924e-02 -1.78269294e+02] [-1.46819346e-02 -3.74571227e-04 -9.99892144e-01 -8.04678243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.190385723 meters 0.01810181712228263 Centerline is valid? [True, True] Translation: X:49.73, Y:-178.37, Z:-8.05 [[-2.89689076e-02 -9.99580018e-01 7.68669696e-04 4.97300555e+01] [-9.99469259e-01 2.89771432e-02 1.48837056e-02 -1.78375000e+02] [-1.48997286e-02 -3.37097038e-04 -9.99888936e-01 -8.04741631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.220385723 meters 0.01693995209096145 Centerline is valid? [True, True] Translation: X:49.71, Y:-178.49, Z:-8.05 [[ 4.06257816e-02 -9.99174354e-01 -3.94731511e-04 4.97070852e+01] [-9.99050713e-01 -4.06269648e-02 1.57201467e-02 -1.78490771e+02] [-1.57232042e-02 -2.44286451e-04 -9.99876353e-01 -8.04682617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.250385723 meters 0.016747681652361155 Centerline is valid? [True, True] Translation: X:49.69, Y:-178.62, Z:-8.05 [[ 1.14864355e-01 -9.93379944e-01 -1.57060830e-03 4.96868137e+01] [-9.93261601e-01 -1.14874916e-01 1.53344895e-02 -1.78623607e+02] [-1.54133979e-02 -2.01361340e-04 -9.99881186e-01 -8.04599908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.280385723 meters 0.01653829571904134 Centerline is valid? [True, True] Translation: X:49.68, Y:-178.78, Z:-8.05 [[ 1.88707902e-01 -9.82029762e-01 -2.62205637e-03 4.96801169e+01] [-9.81923240e-01 -1.88726054e-01 1.44647049e-02 -1.78780076e+02] [-1.46996210e-02 -1.54946021e-04 -9.99891943e-01 -8.04511298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.310385723 meters 0.016202654729390333 Centerline is valid? [True, True] Translation: X:49.66, Y:-178.85, Z:-8.04 [[ 2.59854662e-01 -9.65640501e-01 -3.73872097e-03 4.96647638e+01] [-9.65535528e-01 -2.59881541e-01 1.42382806e-02 -1.78849751e+02] [-1.47206850e-02 -9.00156685e-05 -9.99891641e-01 -8.04353108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.340385723 meters 0.015953420104185736 Centerline is valid? [True, True] Translation: X:49.67, Y:-178.98, Z:-8.04 [[ 3.32177331e-01 -9.43203944e-01 -4.95395998e-03 4.96729562e+01] [-9.43095878e-01 -3.32214262e-01 1.42775751e-02 -1.78976724e+02] [-1.51124413e-02 -7.06275647e-05 -9.99885798e-01 -8.04489643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37038572299997 meters 0.01774172871205038 Centerline is valid? [True, True] Translation: X:49.68, Y:-179.08, Z:-8.04 [[ 4.01250718e-01 -9.15946831e-01 -6.26618869e-03 4.96835626e+01] [-9.15834053e-01 -4.01299642e-01 1.43730396e-02 -1.79082404e+02] [-1.56795594e-02 -2.84034760e-05 -9.99877068e-01 -8.04413875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.400385723 meters 0.015769608982889264 Centerline is valid? [True, True] Translation: X:49.71, Y:-179.20, Z:-8.05 [[ 4.70346450e-01 -8.82454465e-01 -6.95228605e-03 4.97107092e+01] [-8.82357334e-01 -4.70397828e-01 1.30926829e-02 -1.79203648e+02] [-1.48240368e-02 -2.36963617e-05 -9.99890118e-01 -8.04641453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.430385723 meters 0.01574715494180081 Centerline is valid? [True, True] Translation: X:49.75, Y:-179.33, Z:-8.05 [[ 5.36269700e-01 -8.44007174e-01 -8.16699431e-03 4.97483707e+01] [-8.43908857e-01 -5.36331885e-01 1.28822105e-02 -1.79326010e+02] [-1.52528975e-02 -1.61403358e-05 -9.99883668e-01 -8.04613497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.460385723 meters 0.015765327186932854 Centerline is valid? [True, True] Translation: X:49.79, Y:-179.43, Z:-8.04 [[ 5.98684419e-01 -8.00929057e-01 -9.46639215e-03 4.97862233e+01] [-8.00828884e-01 -5.98759256e-01 1.26669835e-02 -1.79433694e+02] [-1.58134451e-02 -2.56541620e-06 -9.99874960e-01 -8.04480142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.490385723 meters 0.01589097965875166 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.54, Z:-8.04 [[ 6.56463906e-01 -7.54269273e-01 -1.15327432e-02 4.98292406e+01] [-7.54153939e-01 -6.56565200e-01 1.31898961e-02 -1.79536267e+02] [-1.75207312e-02 3.87730026e-05 -9.99846499e-01 -8.04061236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.520385723 meters 0.01594067480132535 Centerline is valid? [True, True] Translation: X:49.88, Y:-179.64, Z:-8.04 [[ 7.11157464e-01 -7.02907809e-01 -1.32542066e-02 4.98834434e+01] [-7.02787504e-01 -7.11280963e-01 1.30044876e-02 -1.79636201e+02] [-1.85684207e-02 6.66523657e-05 -9.99827590e-01 -8.03972068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.550385723 meters 0.016197898771824218 Centerline is valid? [True, True] Translation: X:49.88, Y:-179.64, Z:-8.04 [[ 7.62197436e-01 -6.47187886e-01 -1.42446304e-02 4.98777298e+01] [-6.47077715e-01 -7.62330524e-01 1.19416628e-02 -1.79643203e+02] [-1.85876161e-02 1.15478097e-04 -9.99827229e-01 -8.03909227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.580385723 meters 0.016146784666838304 Centerline is valid? [True, True] Translation: X:49.87, Y:-179.65, Z:-8.04 [[ 8.09845446e-01 -5.86455714e-01 -1.48340489e-02 4.98729142e+01] [-5.86360323e-01 -8.09981283e-01 1.05779606e-02 -1.79650932e+02] [-1.82188074e-02 1.31584526e-04 -9.99834015e-01 -8.04104302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.610385723 meters 0.0162204539508126 Centerline is valid? [True, True] Translation: X:49.87, Y:-179.66, Z:-8.04 [[ 8.52924223e-01 -5.21838227e-01 -1.43225177e-02 4.98688400e+01] [-5.21767224e-01 -8.53044458e-01 8.60908860e-03 -1.79658487e+02] [-1.67102958e-02 1.30120071e-04 -9.99860365e-01 -8.04328624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.640385723 meters 0.015983604976166278 Centerline is valid? [True, True] Translation: X:49.86, Y:-179.67, Z:-8.05 [[ 8.91190746e-01 -4.53459849e-01 -1.23782128e-02 4.98637994e+01] [-4.53417763e-01 -8.91276699e-01 6.17881676e-03 -1.79668091e+02] [-1.38342579e-02 1.05997231e-04 -9.99904296e-01 -8.04634047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.670385723 meters 0.015973508014401915 Centerline is valid? [True, True] Translation: X:49.86, Y:-179.68, Z:-8.05 [[ 9.24168466e-01 -3.81796964e-01 -1.19885441e-02 4.98584638e+01] [-3.81766116e-01 -9.24246217e-01 4.85415661e-03 -1.79677349e+02] [-1.29336688e-02 9.07614461e-05 -9.99916353e-01 -8.04611266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.700385723 meters 0.01573195263715973 Centerline is valid? [True, True] Translation: X:49.85, Y:-179.69, Z:-8.04 [[ 9.51897391e-01 -3.06173658e-01 -1.22085531e-02 4.98547931e+01] [-3.06149288e-01 -9.51975676e-01 3.86342836e-03 -1.79688275e+02] [-1.28051256e-02 6.00524523e-05 -9.99918009e-01 -8.04474805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.730385723 meters 0.01573195263715973 Centerline is valid? [True, True] Translation: X:49.85, Y:-179.70, Z:-8.04 [[ 9.72918099e-01 -2.30813328e-01 -1.24732186e-02 4.98523459e+01] [-2.30795152e-01 -9.72998049e-01 2.89716646e-03 -1.79697457e+02] [-1.28051220e-02 6.00526973e-05 -9.99918009e-01 -8.04474809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.760385723 meters 0.01561427925927415 Centerline is valid? [True, True] Translation: X:49.85, Y:-179.71, Z:-8.04 [[ 9.88217168e-01 -1.52541151e-01 -1.25708514e-02 4.98467625e+01] [-1.52529355e-01 -9.88297119e-01 1.89750748e-03 -1.79705923e+02] [-1.27131842e-02 4.22743827e-05 -9.99919183e-01 -8.04347027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.790385723 meters 0.015672619211580457 Centerline is valid? [True, True] Translation: X:49.84, Y:-179.71, Z:-8.04 [[ 9.97314155e-01 -7.19336547e-02 -1.37849481e-02 4.98419535e+01] [-7.19268904e-02 -9.97409419e-01 9.86497893e-04 -1.79712531e+02] [-1.38201995e-02 7.66013949e-06 -9.99904496e-01 -8.04287872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.820385723 meters 0.015624166337627905 Centerline is valid? [True, True] Translation: X:49.84, Y:-179.72, Z:-8.04 [[ 9.99873661e-01 7.45264148e-03 -1.40399794e-02 4.98382561e+01] [ 7.45200940e-03 -9.99972229e-01 -9.73361075e-05 -1.79718986e+02] [-1.40403149e-02 -7.30224835e-06 -9.99901430e-01 -8.04271937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.850385723 meters 0.01565337959636293 Centerline is valid? [True, True] Translation: X:49.84, Y:-179.72, Z:-8.04 [[ 9.96131775e-01 8.67533840e-02 -1.39762936e-02 4.98357879e+01] [ 8.67451563e-02 -9.96229818e-01 -1.19498246e-03 -1.79724769e+02] [-1.40272692e-02 -2.20157701e-05 -9.99901613e-01 -8.04280224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.880385723 meters 0.015757249708320153 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.73, Z:-8.04 [[ 9.86081245e-01 1.65655975e-01 -1.42083084e-02 4.98318449e+01] [ 1.65639367e-01 -9.86183602e-01 -2.34602424e-03 -1.79729362e+02] [-1.44006337e-02 -4.00847099e-05 -9.99896305e-01 -8.04285939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.910385723 meters 0.01566259542517701 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.73, Z:-8.04 [[ 9.70023009e-01 2.42614327e-01 -1.39158327e-02 4.98289704e+01] [ 2.42590006e-01 -9.70122820e-01 -3.43549298e-03 -1.79733583e+02] [-1.43335666e-02 -4.33346875e-05 -9.99897268e-01 -8.04261335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.940385723 meters 0.015808021390064847 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.74, Z:-8.04 [[ 9.48061783e-01 3.17779512e-01 -1.39655708e-02 4.98255693e+01] [ 3.17745716e-01 -9.48164638e-01 -4.63464171e-03 -1.79737837e+02] [-1.47144545e-02 -4.35735962e-05 -9.99891736e-01 -8.04088824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.970385723 meters 0.01569413165193741 Centerline is valid? [True, True] Translation: X:49.82, Y:-179.74, Z:-8.04 [[ 9.20475337e-01 3.90560739e-01 -1.36917297e-02 4.98247691e+01] [ 3.90518123e-01 -9.20577160e-01 -5.76957447e-03 -1.79744429e+02] [-1.48576629e-02 -3.61175633e-05 -9.99889618e-01 -8.04174937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.000385723 meters 0.015777067617973616 Centerline is valid? [True, True] Translation: X:49.82, Y:-179.75, Z:-8.04 [[ 8.87510733e-01 4.60589472e-01 -1.34921082e-02 4.98227240e+01] [ 4.60536643e-01 -8.87613282e-01 -6.97586041e-03 -1.79750889e+02] [-1.51887823e-02 -2.24592309e-05 -9.99884644e-01 -8.04129003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.030385723 meters 0.017132486952842755 Centerline is valid? [True, True] Translation: X:49.82, Y:-179.76, Z:-8.04 [[ 8.49515687e-01 5.27399248e-01 -1.31579520e-02 4.98243952e+01] [ 5.27336002e-01 -8.49617581e-01 -8.16743651e-03 -1.79760668e+02] [-1.54867272e-02 -2.96356338e-07 -9.99880073e-01 -8.04133692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.060385723 meters 0.01567228468933359 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.77, Z:-8.04 [[ 8.07132612e-01 5.90249508e-01 -1.19358793e-02 4.98257513e+01] [ 5.90184289e-01 -8.07220860e-01 -8.77428821e-03 -1.79770242e+02] [-1.48139100e-02 3.76457190e-05 -9.99890267e-01 -8.04314651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.090385723 meters 0.015788581346427934 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.78, Z:-8.04 [[ 7.59790829e-01 6.50076337e-01 -1.08928115e-02 4.98274471e+01] [ 6.50008295e-01 -7.59868905e-01 -9.40556806e-03 -1.79780490e+02] [-1.43914460e-02 6.58465165e-05 -9.99896436e-01 -8.04297766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12038572299997 meters 0.015745490580972014 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.79, Z:-8.04 [[ 7.07167439e-01 7.06975333e-01 -1.00045914e-02 4.98300833e+01] [ 7.06903051e-01 -7.07238201e-01 -1.01095623e-02 -1.79790416e+02] [-1.42228404e-02 7.68770627e-05 -9.99898847e-01 -8.04336165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.150385723 meters 0.01586763896434059 Centerline is valid? [True, True] Translation: X:49.83, Y:-179.80, Z:-8.04 [[ 6.50177411e-01 7.59733249e-01 -8.64438025e-03 4.98339883e+01] [ 7.59664421e-01 -6.50234868e-01 -1.02265862e-02 -1.79799804e+02] [-1.33903550e-02 8.22672311e-05 -9.99910342e-01 -8.04347161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.180385723 meters 0.015849755995690003 Centerline is valid? [True, True] Translation: X:49.84, Y:-179.81, Z:-8.04 [[ 5.89237213e-01 8.07926879e-01 -7.32565288e-03 4.98401277e+01] [ 8.07862637e-01 -5.89282743e-01 -1.01886088e-02 -1.79810735e+02] [-1.25485318e-02 8.53862252e-05 -9.99921260e-01 -8.04416369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.210385723 meters 0.015842043204777882 Centerline is valid? [True, True] Translation: X:49.85, Y:-179.82, Z:-8.04 [[ 5.24760119e-01 8.51225457e-01 -6.48374143e-03 4.98468521e+01] [ 8.51158265e-01 -5.24800164e-01 -1.06955662e-02 -1.79822385e+02] [-1.25070068e-02 9.39164961e-05 -9.99921780e-01 -8.04322769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.240385723 meters 0.015885962382381897 Centerline is valid? [True, True] Translation: X:49.85, Y:-179.83, Z:-8.04 [[ 4.56466182e-01 8.89721745e-01 -5.81732390e-03 4.98535816e+01] [ 8.89646793e-01 -4.56503239e-01 -1.15488564e-02 -1.79832063e+02] [-1.29308959e-02 9.62988273e-05 -9.99916388e-01 -8.04268025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.270385723 meters 0.015834916440227293 Centerline is valid? [True, True] Translation: X:49.86, Y:-179.84, Z:-8.04 [[ 3.85519359e-01 9.22686407e-01 -4.96163120e-03 4.98616371e+01] [ 9.22606653e-01 -3.85551273e-01 -1.21317431e-02 -1.79841039e+02] [-1.31067577e-02 9.93878649e-05 -9.99914098e-01 -8.04213757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.300385723 meters 0.015836296434311403 Centerline is valid? [True, True] Translation: X:49.87, Y:-179.85, Z:-8.04 [[ 3.12177394e-01 9.50014801e-01 -4.14152805e-03 4.98714078e+01] [ 9.49926700e-01 -3.12204847e-01 -1.29382536e-02 -1.79849833e+02] [-1.35845376e-02 1.04882223e-04 -9.99907720e-01 -8.04239189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.330385723 meters 0.01593968756014136 Centerline is valid? [True, True] Translation: X:49.88, Y:-179.86, Z:-8.04 [[ 2.37163939e-01 9.71464527e-01 -3.15252759e-03 4.98803260e+01] [ 9.71372415e-01 -2.37184865e-01 -1.33779877e-02 -1.79858548e+02] [-1.37439723e-02 1.10497909e-04 -9.99905541e-01 -8.04124058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.360385723 meters 0.01589565647533888 Centerline is valid? [True, True] Translation: X:49.89, Y:-179.87, Z:-8.04 [[ 1.61352581e-01 9.86894766e-01 -2.01617237e-03 4.98930876e+01] [ 9.86808205e-01 -1.61365133e-01 -1.30713612e-02 -1.79865553e+02] [-1.32253979e-02 1.19522434e-04 -9.99912534e-01 -8.04167216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.390385723 meters 0.015917917512536614 Centerline is valid? [True, True] Translation: X:49.90, Y:-179.87, Z:-8.04 [[ 8.41536525e-02 9.96452322e-01 -9.65369958e-04 4.99036492e+01] [ 9.96368737e-01 -8.41590977e-02 -1.29068508e-02 -1.79872192e+02] [-1.29423062e-02 1.24294195e-04 -9.99916237e-01 -8.04174313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.420385723 meters 0.015988290457916714 Centerline is valid? [True, True] Translation: X:49.91, Y:-179.88, Z:-8.04 [[ 6.43001434e-03 9.99979326e-01 4.87767380e-05 4.99145545e+01] [ 9.99896699e-01 -6.42885598e-03 -1.28553875e-02 -1.79877658e+02] [-1.28548081e-02 1.31432025e-04 -9.99917365e-01 -8.04214057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.450385723 meters 0.01608251524236184 Centerline is valid? [True, True] Translation: X:49.93, Y:-179.88, Z:-8.04 [[-7.09561314e-02 9.97478933e-01 1.00269468e-03 4.99257930e+01] [ 9.97404748e-01 7.09630837e-02 -1.21659254e-02 -1.79881820e+02] [-1.22064086e-02 1.36845437e-04 -9.99925490e-01 -8.04203406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.480385723 meters 0.0162103497597908 Centerline is valid? [True, True] Translation: X:49.94, Y:-179.89, Z:-8.04 [[-1.48163922e-01 9.88960835e-01 1.97984144e-03 4.99359392e+01] [ 9.88885348e-01 1.48177076e-01 -1.22197382e-02 -1.79885714e+02] [-1.23782096e-02 1.47311855e-04 -9.99923376e-01 -8.04152235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.510385723 meters 0.016118698832112973 Centerline is valid? [True, True] Translation: X:49.95, Y:-179.89, Z:-8.04 [[-2.23592347e-01 9.74678401e-01 2.91168755e-03 4.99500631e+01] [ 9.74605196e-01 2.23611243e-01 -1.19467351e-02 -1.79887267e+02] [-1.22953107e-02 1.66547277e-04 -9.99924396e-01 -8.04226504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.540385723 meters 0.016355226636088394 Centerline is valid? [True, True] Translation: X:49.96, Y:-179.89, Z:-8.04 [[-2.98427041e-01 9.54424733e-01 3.83797817e-03 4.99624975e+01] [ 9.54353271e-01 2.98451667e-01 -1.16806104e-02 -1.79889633e+02] [-1.22937145e-02 1.76977015e-04 -9.99924414e-01 -8.04190326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.570385723 meters 0.016577195167526874 Centerline is valid? [True, True] Translation: X:49.97, Y:-179.89, Z:-8.04 [[-3.71478415e-01 9.28430240e-01 4.59099737e-03 4.99746313e+01] [ 9.28365274e-01 3.71506739e-01 -1.09845572e-02 -1.79891090e+02] [-1.19039815e-02 1.81596645e-04 -9.99929129e-01 -8.04163344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.600385723 meters 0.01669512749106553 Centerline is valid? [True, True] Translation: X:49.99, Y:-179.89, Z:-8.04 [[-4.41816765e-01 8.97094205e-01 4.46472093e-03 4.99866647e+01] [ 8.97052061e-01 4.41839293e-01 -8.69705220e-03 -1.79890678e+02] [-9.77476427e-03 1.62583644e-04 -9.99952213e-01 -8.04322008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.630385723 meters 0.017028725189498318 Centerline is valid? [True, True] Translation: X:50.00, Y:-179.89, Z:-8.04 [[-5.10467240e-01 8.59884364e-01 4.69862288e-03 4.99975662e+01] [ 8.59850630e-01 5.10488841e-01 -7.61818557e-03 -1.79890716e+02] [-8.94935321e-03 1.51279684e-04 -9.99959942e-01 -8.04365019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.660385723 meters 0.016583275450334906 Centerline is valid? [True, True] Translation: X:50.01, Y:-179.89, Z:-8.04 [[-5.76396207e-01 8.17160065e-01 4.10378582e-03 5.00102430e+01] [ 8.17140775e-01 5.76410804e-01 -5.61592059e-03 -1.79888243e+02] [-6.95457252e-03 1.16375406e-04 -9.99975810e-01 -8.04484495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.690385723 meters 0.016527557649242224 Centerline is valid? [True, True] Translation: X:50.02, Y:-179.88, Z:-8.05 [[-6.39095145e-01 7.69115206e-01 4.38121332e-03 5.00219355e+01] [ 7.69098287e-01 6.39110153e-01 -5.10271525e-03 -1.79885000e+02] [-6.72465381e-03 1.08463114e-04 -9.99977383e-01 -8.04508979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.720385723 meters 0.01640490527617468 Centerline is valid? [True, True] Translation: X:50.03, Y:-179.88, Z:-8.05 [[-6.98166168e-01 7.15922908e-01 4.28863716e-03 5.00326939e+01] [ 7.15910194e-01 6.98179333e-01 -4.26756908e-03 -1.79881449e+02] [-6.04948830e-03 9.08067172e-05 -9.99981698e-01 -8.04507792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.750385723 meters 0.01598495427334718 Centerline is valid? [True, True] Translation: X:50.06, Y:-179.86, Z:-8.05 [[-7.48359428e-01 6.63279780e-01 4.25438507e-03 5.00593012e+01] [ 6.63269609e-01 7.48371518e-01 -3.67389349e-03 -1.79862783e+02] [-5.62067988e-03 7.24114913e-05 -9.99984201e-01 -8.04555481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.780385723 meters 0.015926832954655565 Centerline is valid? [True, True] Translation: X:50.56, Y:-179.30, Z:-9.02 [[-7.19467668e-01 -6.94514511e-01 3.98344231e-03 5.05555826e+01] [ 6.94503301e-01 -7.19478692e-01 -3.94676068e-03 -1.79295594e+02] [ 5.60708443e-03 -7.30528732e-05 9.99984278e-01 -9.02268981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.810385723 meters 0.015757821126853575 Centerline is valid? [True, True] Translation: X:50.03, Y:-179.83, Z:-8.04 [[-7.52510370e-01 6.58562789e-01 4.81622701e-03 5.00302335e+01] [ 6.58549845e-01 7.52525780e-01 -4.12945985e-03 -1.79833735e+02] [-6.34384358e-03 6.42641893e-05 -9.99979876e-01 -8.04425778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.840385723 meters 0.01591888818655633 Centerline is valid? [True, True] Translation: X:50.05, Y:-179.81, Z:-8.04 [[-7.97454963e-01 6.03356196e-01 5.18486303e-03 5.00451749e+01] [ 6.03343953e-01 7.97471816e-01 -3.84412119e-03 -1.79806320e+02] [-6.45415647e-03 6.27422350e-05 -9.99979170e-01 -8.04408607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87038572299997 meters 0.015490790937639403 Centerline is valid? [True, True] Translation: X:50.07, Y:-179.79, Z:-8.04 [[-8.38338532e-01 5.45122985e-01 5.42551603e-03 5.00679711e+01] [ 5.45112035e-01 8.38356086e-01 -3.45568870e-03 -1.79785745e+02] [-6.43228972e-03 6.04770917e-05 -9.99979311e-01 -8.04440127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.900385723 meters 0.01566971597427859 Centerline is valid? [True, True] Translation: X:50.08, Y:-179.76, Z:-8.04 [[-8.74411887e-01 4.85164479e-01 4.39094547e-03 5.00796727e+01] [ 4.85158656e-01 8.74422910e-01 -2.37756387e-03 -1.79757652e+02] [-4.99305285e-03 5.13350925e-05 -9.99987533e-01 -8.04464489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.930385723 meters 0.015858169229054156 Centerline is valid? [True, True] Translation: X:50.10, Y:-179.74, Z:-8.04 [[-9.06067576e-01 4.23109992e-01 4.41397285e-03 5.01022549e+01] [ 4.23105270e-01 9.06078325e-01 -1.99985255e-03 -1.79736507e+02] [-4.84556272e-03 5.55736206e-05 -9.99988259e-01 -8.04422867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.960385723 meters 0.01631013684455611 Centerline is valid? [True, True] Translation: X:50.11, Y:-179.71, Z:-8.04 [[-9.32719628e-01 3.60559855e-01 5.53955423e-03 5.01069793e+01] [ 3.60554036e-01 9.32736074e-01 -2.05024361e-03 -1.79708346e+02] [-5.90617761e-03 8.50061800e-05 -9.99982555e-01 -8.04343788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.990385723 meters 0.016700129252039547 Centerline is valid? [True, True] Translation: X:50.12, Y:-179.68, Z:-8.04 [[-9.55524863e-01 2.94853610e-01 5.79527613e-03 5.01169731e+01] [ 2.94848791e-01 9.55542432e-01 -1.68841195e-03 -1.79682123e+02] [-6.03546661e-03 9.54105700e-05 -9.99981782e-01 -8.04333460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.020385723 meters 0.016814314559171876 Centerline is valid? [True, True] Translation: X:50.13, Y:-179.66, Z:-8.04 [[-9.73716586e-01 2.27696170e-01 5.51941872e-03 5.01331688e+01] [ 2.27693077e-01 9.73732224e-01 -1.19077715e-03 -1.79655872e+02] [-5.64557127e-03 9.72539708e-05 -9.99984059e-01 -8.04336084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.050385723 meters 0.018414697287383208 Centerline is valid? [True, True] Translation: X:50.14, Y:-179.63, Z:-8.04 [[-9.87082895e-01 1.60140953e-01 4.71534147e-03 5.01378938e+01] [ 1.60139572e-01 9.87094153e-01 -6.71441868e-04 -1.79627180e+02] [-4.76201134e-03 9.23439813e-05 -9.99988657e-01 -8.04274311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.080385723 meters 0.017520961235338986 Centerline is valid? [True, True] Translation: X:50.24, Y:-178.89, Z:-9.02 [[-9.82172011e-01 -1.87941915e-01 3.99722969e-03 5.02426511e+01] [ 1.87939851e-01 -9.82180137e-01 -8.89244267e-04 -1.78890892e+02] [ 4.09312587e-03 -1.22152080e-04 9.99991616e-01 -9.02411549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.110385723 meters 0.017645034113455842 Centerline is valid? [True, True] Translation: X:50.08, Y:-179.62, Z:-8.04 [[-9.87741264e-01 1.56056989e-01 3.66220095e-03 5.00761706e+01] [ 1.56056189e-01 9.87748050e-01 -5.04983758e-04 -1.79618516e+02] [-3.69613809e-03 7.27158292e-05 -9.99993167e-01 -8.04420990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.140385723 meters 0.017658311180780862 Centerline is valid? [True, True] Translation: X:50.18, Y:-178.88, Z:-9.02 [[-9.82892674e-01 -1.84157781e-01 2.81116925e-03 5.01815946e+01] [ 1.84156708e-01 -9.82896688e-01 -6.38187672e-04 -1.78882919e+02] [ 2.88061617e-03 -1.09574314e-04 9.99995845e-01 -9.02306456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.170385723 meters 0.017198430952114666 Centerline is valid? [True, True] Translation: X:50.01, Y:-179.61, Z:-8.05 [[-9.88548943e-01 1.50881298e-01 2.41259003e-03 5.00148193e+01] [ 1.50880962e-01 9.88551886e-01 -3.21790058e-04 -1.79608993e+02] [-2.43352252e-03 4.59086810e-05 -9.99997038e-01 -8.04549379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.200385723 meters 0.017476780101505957 Centerline is valid? [True, True] Translation: X:50.12, Y:-178.88, Z:-9.02 [[-9.83458378e-01 -1.81119989e-01 2.27338960e-03 5.01167638e+01] [ 1.81119384e-01 -9.83461004e-01 -4.70678889e-04 -1.78875764e+02] [ 2.32103938e-03 -5.11381706e-05 9.99997305e-01 -9.02186306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.230385723 meters 0.016697828352154713 Centerline is valid? [True, True] Translation: X:49.95, Y:-179.60, Z:-8.05 [[-9.89440283e-01 1.44926289e-01 2.07275250e-03 4.99469836e+01] [ 1.44926046e-01 9.89442454e-01 -2.67620759e-04 -1.79597034e+02] [-2.08965461e-03 3.56010651e-05 -9.99997816e-01 -8.04604319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.260385723 meters 0.01641510580651497 Centerline is valid? [True, True] Translation: X:49.96, Y:-179.57, Z:-8.05 [[-9.97274823e-01 7.37431852e-02 2.20695958e-03 4.99571961e+01] [ 7.37430856e-02 9.97277264e-01 -1.26558719e-04 -1.79567485e+02] [-2.21028346e-03 3.65341856e-05 -9.99997557e-01 -8.04615283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.290385723 meters 0.01823506744085006 Centerline is valid? [True, True] Translation: X:50.00, Y:-178.84, Z:-9.02 [[-9.94170687e-01 -1.07787857e-01 2.53457884e-03 5.00002560e+01] [ 1.07787455e-01 -9.94173917e-01 -2.94935251e-04 -1.78838019e+02] [ 2.55160262e-03 -2.00201780e-05 9.99996744e-01 -9.02309521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.320385723 meters 0.016836294255379188 Centerline is valid? [True, True] Translation: X:49.89, Y:-179.56, Z:-8.05 [[-9.97605905e-01 6.91257730e-02 2.02122781e-03 4.98856285e+01] [ 6.91256996e-02 9.97607952e-01 -1.06262298e-04 -1.79563042e+02] [-2.02373840e-03 3.37108902e-05 -9.99997952e-01 -8.04663863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.350385723 meters 0.016576656516330113 Centerline is valid? [True, True] Translation: X:49.93, Y:-178.84, Z:-9.02 [[-9.94613500e-01 -1.03635979e-01 1.88925269e-03 4.99254756e+01] [ 1.03635716e-01 -9.94615294e-01 -2.36672848e-04 -1.78836053e+02] [ 1.90360745e-03 -3.96039533e-05 9.99998187e-01 -9.02120355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.380385723 meters 0.01622984299601254 Centerline is valid? [True, True] Translation: X:49.81, Y:-179.55, Z:-8.05 [[-9.97962976e-01 6.37799891e-02 1.41837705e-03 4.98149234e+01] [ 6.37799572e-02 9.97963984e-01 -6.78036263e-05 -1.79553279e+02] [-1.41981373e-03 2.27985189e-05 -9.99998992e-01 -8.04597706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.410385723 meters 0.01598777573534396 Centerline is valid? [True, True] Translation: X:49.81, Y:-179.52, Z:-8.05 [[-9.99970429e-01 -7.59008731e-03 1.23775528e-03 4.98102309e+01] [-7.59005727e-03 9.99971195e-01 2.89642947e-05 -1.79522433e+02] [-1.23793946e-03 1.95688048e-05 -9.99999234e-01 -8.04620078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.440385723 meters 0.016164437565532035 Centerline is valid? [True, True] Translation: X:49.80, Y:-178.81, Z:-9.02 [[-9.99584149e-01 -2.88092180e-02 1.24807698e-03 4.97950590e+01] [ 2.88091718e-02 -9.99584928e-01 -5.49800357e-05 -1.78808377e+02] [ 1.24914287e-03 -1.90011080e-05 9.99999220e-01 -9.02129031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.470385723 meters 0.01633308034296959 Centerline is valid? [True, True] Translation: X:49.72, Y:-179.52, Z:-8.05 [[-9.99925078e-01 -1.21605516e-02 1.39995137e-03 4.97188660e+01] [-1.21605065e-02 9.99926058e-01 4.07484621e-05 -1.79521559e+02] [-1.40034338e-03 2.37212914e-05 -9.99999019e-01 -8.04663394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.500385723 meters 0.01654319930470096 Centerline is valid? [True, True] Translation: X:49.71, Y:-179.49, Z:-8.05 [[-9.96599294e-01 -8.23890532e-02 1.37499446e-03 4.97107833e+01] [-8.23889405e-02 9.96600243e-01 1.38519378e-04 -1.79492349e+02] [-1.38173230e-03 2.47639778e-05 -9.99999045e-01 -8.04626420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.530385723 meters 0.016815292106537174 Centerline is valid? [True, True] Translation: X:49.69, Y:-179.46, Z:-8.05 [[-9.88537567e-01 -1.50968811e-01 1.37744241e-03 4.96917645e+01] [-1.50968625e-01 9.88538526e-01 2.39112736e-04 -1.79464319e+02] [-1.39775345e-03 2.84213358e-05 -9.99999023e-01 -8.04667917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.560385723 meters 0.017822518504013698 Centerline is valid? [True, True] Translation: X:49.67, Y:-179.44, Z:-8.05 [[-9.75321807e-01 -2.20778783e-01 2.02542948e-03 4.96673489e+01] [-2.20778212e-01 9.75323909e-01 5.04109197e-04 -1.79439414e+02] [-2.08674641e-03 4.44979945e-05 -9.99997822e-01 -8.04601777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.590385723 meters 0.017422612525691963 Centerline is valid? [True, True] Translation: X:49.62, Y:-179.42, Z:-8.05 [[-9.56984287e-01 -2.90134456e-01 1.75262972e-03 4.96181411e+01] [-2.90133890e-01 9.56985891e-01 5.74602914e-04 -1.79422635e+02] [-1.84395402e-03 4.13886820e-05 -9.99998299e-01 -8.04673606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62038572299997 meters 0.017422612525691963 Centerline is valid? [True, True] Translation: X:49.55, Y:-179.42, Z:-8.05 [[-9.33050599e-01 -3.59741116e-01 1.70562830e-03 4.95527421e+01] [-3.59740433e-01 9.33052157e-01 7.01972168e-04 -1.79415418e+02] [-1.84396841e-03 4.13920891e-05 -9.99998299e-01 -8.04673560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.650385723 meters 0.01827171377236088 Centerline is valid? [True, True] Translation: X:49.47, Y:-179.42, Z:-8.05 [[-9.04266864e-01 -4.26963370e-01 1.92876185e-03 4.94722362e+01] [-4.26962280e-01 9.04268919e-01 9.65816870e-04 -1.79420733e+02] [-2.15648782e-03 4.98476327e-05 -9.99997674e-01 -8.04619301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.680385723 meters 0.01823991131186813 Centerline is valid? [True, True] Translation: X:49.40, Y:-179.42, Z:-8.05 [[-8.70477606e-01 -4.92205171e-01 1.67563934e-03 4.93996923e+01] [-4.92204153e-01 8.70479217e-01 1.00205244e-03 -1.79424754e+02] [-1.95182461e-03 4.75075708e-05 -9.99998094e-01 -8.04627853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.710385723 meters 0.018306065866799046 Centerline is valid? [True, True] Translation: X:49.31, Y:-179.44, Z:-8.05 [[-8.31298281e-01 -5.55823555e-01 1.82846999e-03 4.93124910e+01] [-5.55822065e-01 8.31300290e-01 1.28827435e-03 -1.79444926e+02] [-2.23606087e-03 5.46362849e-05 -9.99997499e-01 -8.04602758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.740385723 meters 0.018375867378397633 Centerline is valid? [True, True] Translation: X:49.22, Y:-179.47, Z:-8.04 [[-7.86686047e-01 -6.17348732e-01 2.36783916e-03 4.92207706e+01] [-6.17345655e-01 7.86689607e-01 1.95037979e-03 -1.79474897e+02] [-3.06681895e-03 7.25613467e-05 -9.99995295e-01 -8.04498243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.770385723 meters 0.01820414650090045 Centerline is valid? [True, True] Translation: X:49.13, Y:-179.52, Z:-8.04 [[-7.37395836e-01 -6.75455714e-01 2.63799179e-03 4.91270955e+01] [-6.75450982e-01 7.37400550e-01 2.52970063e-03 -1.79517403e+02] [-3.65395734e-03 8.35565632e-05 -9.99993321e-01 -8.04465981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.800385723 meters 0.0181715384866886 Centerline is valid? [True, True] Translation: X:49.03, Y:-179.57, Z:-8.04 [[-6.83592606e-01 -7.29858935e-01 2.66143664e-03 4.90330815e+01] [-7.29852898e-01 6.83597781e-01 2.96999820e-03 -1.79570847e+02] [-3.98703191e-03 8.78115722e-05 -9.99992048e-01 -8.04450411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.830385723 meters 0.01785381564517535 Centerline is valid? [True, True] Translation: X:48.94, Y:-179.63, Z:-8.04 [[-6.24678553e-01 -7.80877669e-01 2.60218576e-03 4.89382212e+01] [-7.80870316e-01 6.24683967e-01 3.38977219e-03 -1.79634933e+02] [-4.27254113e-03 8.55483744e-05 -9.99990869e-01 -8.04350317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.860385723 meters 0.01759086584318883 Centerline is valid? [True, True] Translation: X:48.85, Y:-179.70, Z:-8.04 [[-5.62641904e-01 -8.26696637e-01 2.59950537e-03 4.88535984e+01] [-8.26687057e-01 5.62647902e-01 3.98089313e-03 -1.79701283e+02] [-4.75359721e-03 9.08398426e-05 -9.99988698e-01 -8.04340076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.890385723 meters 0.01575853997793511 Centerline is valid? [True, True] Translation: X:48.76, Y:-179.78, Z:-8.04 [[-4.96016945e-01 -8.68309264e-01 2.49241949e-03 4.87646589e+01] [-8.68297408e-01 4.96023199e-01 4.53839708e-03 -1.79782316e+02] [-5.17703012e-03 8.69604681e-05 -9.99986595e-01 -8.04452903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.920385723 meters 0.017056855703357954 Centerline is valid? [True, True] Translation: X:48.69, Y:-179.87, Z:-8.04 [[-4.27603199e-01 -9.03963924e-01 2.17473230e-03 4.86900543e+01] [-9.03951205e-01 4.27608720e-01 4.79598806e-03 -1.79871858e+02] [-5.26533468e-03 8.49279569e-05 -9.99986134e-01 -8.04367787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.950385723 meters 0.016872376112856108 Centerline is valid? [True, True] Translation: X:48.62, Y:-179.97, Z:-8.04 [[-3.56709497e-01 -9.34213562e-01 1.83170417e-03 4.86175923e+01] [-9.34200025e-01 3.56714191e-01 5.02987068e-03 -1.79971018e+02] [-5.35236827e-03 8.30245565e-05 -9.99985673e-01 -8.04393304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.980385723 meters 0.01534501906135988 Centerline is valid? [True, True] Translation: X:48.55, Y:-180.07, Z:-8.05 [[-2.83786078e-01 -9.58886705e-01 1.32247518e-03 4.85498084e+01] [-9.58875037e-01 2.83789150e-01 4.73100421e-03 -1.80070041e+02] [-4.91180114e-03 7.45046955e-05 -9.99987934e-01 -8.04517791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.010385723 meters 0.01535170329865291 Centerline is valid? [True, True] Translation: X:48.49, Y:-180.18, Z:-8.04 [[-2.09543563e-01 -9.77798784e-01 1.01628305e-03 4.84938374e+01] [-9.77785374e-01 2.09546013e-01 5.12168508e-03 -1.80177204e+02] [-5.22093551e-03 7.95094365e-05 -9.99986368e-01 -8.04478577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.040385723 meters 0.015422709024242146 Centerline is valid? [True, True] Translation: X:48.45, Y:-180.29, Z:-8.04 [[-1.34410999e-01 -9.90925465e-01 6.36928174e-04 4.84457763e+01] [-9.90911186e-01 1.34412482e-01 5.32043033e-03 -1.80293647e+02] [-5.35776099e-03 8.39851034e-05 -9.99985644e-01 -8.04422726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.070385723 meters 0.015395940528795699 Centerline is valid? [True, True] Translation: X:48.41, Y:-180.41, Z:-8.04 [[-5.92627259e-02 -9.98242394e-01 2.30230171e-04 4.84072783e+01] [-9.98227647e-01 5.92631020e-02 5.42683461e-03 -1.80408034e+02] [-5.43094053e-03 9.17868904e-05 -9.99985248e-01 -8.04429197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.100385723 meters 0.015918451203369783 Centerline is valid? [True, True] Translation: X:48.38, Y:-180.53, Z:-8.04 [[ 1.64747626e-02 -9.99864266e-01 -1.79072159e-04 4.83795160e+01] [-9.99850789e-01 -1.64754705e-02 5.19214625e-03 -1.80529437e+02] [-5.19439179e-03 9.35060622e-05 -9.99986505e-01 -8.04407767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.130385723 meters 0.015929748130515228 Centerline is valid? [True, True] Translation: X:48.36, Y:-180.65, Z:-8.04 [[ 9.11873007e-02 -9.95833630e-01 -5.07234031e-04 4.83593252e+01] [-9.95823244e-01 -9.11886667e-02 4.54906493e-03 -1.80645721e+02] [-4.57636584e-03 9.02984868e-05 -9.99989524e-01 -8.04485958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.160385723 meters 0.016083862157570485 Centerline is valid? [True, True] Translation: X:48.35, Y:-180.77, Z:-8.04 [[ 1.66501829e-01 -9.86040822e-01 -7.99688721e-04 4.83493190e+01] [-9.86031851e-01 -1.66503726e-01 4.20691191e-03 -1.80771267e+02] [-4.28133803e-03 8.80600240e-05 -9.99990831e-01 -8.04492273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.190385723 meters 0.01625775800956579 Centerline is valid? [True, True] Translation: X:48.35, Y:-180.89, Z:-8.04 [[ 2.41146412e-01 -9.70488200e-01 -1.03051123e-03 4.83478652e+01] [-9.70480757e-01 -2.41148599e-01 3.80172939e-03 -1.80894437e+02] [-3.93803985e-03 8.33179178e-05 -9.99992242e-01 -8.04494733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.220385723 meters 0.016410830572108022 Centerline is valid? [True, True] Translation: X:48.36, Y:-181.02, Z:-8.04 [[ 3.14583307e-01 -9.49229044e-01 -1.25101370e-03 4.83569732e+01] [-9.49222522e-01 -3.14585784e-01 3.51969942e-03 -1.81019614e+02] [-3.73455204e-03 8.02516944e-05 -9.99993023e-01 -8.04495520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.250385723 meters 0.01631971935524938 Centerline is valid? [True, True] Translation: X:48.37, Y:-181.14, Z:-8.04 [[ 3.86354777e-01 -9.22348933e-01 -1.55922707e-03 4.83737616e+01] [-9.22342264e-01 -3.86357915e-01 3.50863342e-03 -1.81140914e+02] [-3.83860401e-03 8.25637357e-05 -9.99992629e-01 -8.04468153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.280385723 meters 0.01620136325778006 Centerline is valid? [True, True] Translation: X:48.40, Y:-181.26, Z:-8.04 [[ 4.56145045e-01 -8.89903591e-01 -1.81568080e-03 4.83990052e+01] [-8.89897233e-01 -4.56148652e-01 3.36494062e-03 -1.81258251e+02] [-3.82269309e-03 8.08683247e-05 -9.99992690e-01 -8.04434827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.310385723 meters 0.01637354017548103 Centerline is valid? [True, True] Translation: X:48.43, Y:-181.37, Z:-8.04 [[ 5.23831586e-01 -8.51817811e-01 -2.62421212e-03 4.84333329e+01] [-8.51808035e-01 -5.23838150e-01 4.08220836e-03 -1.81373953e+02] [-4.85196021e-03 9.69352918e-05 -9.99988225e-01 -8.04301705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.340385723 meters 0.01667901862853851 Centerline is valid? [True, True] Translation: X:48.47, Y:-181.48, Z:-8.04 [[ 5.87916212e-01 -8.08915098e-01 -3.30035818e-03 4.84736180e+01] [-8.08903341e-01 -5.87925466e-01 4.36253968e-03 -1.81483395e+02] [-5.46928883e-03 1.04862948e-04 -9.99985038e-01 -8.04232036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37038572299997 meters 0.017077442246648696 Centerline is valid? [True, True] Translation: X:48.52, Y:-181.59, Z:-8.04 [[ 6.48512361e-01 -7.61194587e-01 -3.81031160e-03 4.85219414e+01] [-7.61182387e-01 -6.48523546e-01 4.31083203e-03 -1.81587919e+02] [-5.75245880e-03 1.04714223e-04 -9.99983449e-01 -8.04140827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.400385723 meters 0.01595781646503115 Centerline is valid? [True, True] Translation: X:48.58, Y:-181.69, Z:-8.04 [[ 7.05960431e-01 -7.08240568e-01 -3.89459933e-03 4.85771132e+01] [-7.08230468e-01 -7.05971168e-01 3.78325563e-03 -1.81687722e+02] [-5.42892996e-03 8.74451341e-05 -9.99985259e-01 -8.04158324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.430385723 meters 0.01537302940749616 Centerline is valid? [True, True] Translation: X:48.57, Y:-181.70, Z:-8.04 [[ 7.59811759e-01 -6.50128972e-01 -4.29083651e-03 4.85713669e+01] [-6.50119228e-01 -7.59823870e-01 3.56042391e-03 -1.81699954e+02] [-5.57501474e-03 8.43033666e-05 -9.99984456e-01 -8.04134561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.460385723 meters 0.015057925709096006 Centerline is valid? [True, True] Translation: X:48.57, Y:-181.71, Z:-8.04 [[ 8.09735106e-01 -5.86778803e-01 -4.43783422e-03 4.85677158e+01] [-5.86770455e-01 -8.09747264e-01 3.13070046e-03 -1.81710357e+02] [-5.43055279e-03 6.89519409e-05 -9.99985252e-01 -8.04131272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.490385723 meters 0.014819336808613625 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.72, Z:-8.04 [[ 8.53528706e-01 -5.21026916e-01 -4.43860104e-03 4.85635721e+01] [-5.21020245e-01 -8.53540244e-01 2.63728669e-03 -1.81724538e+02] [-5.16262197e-03 6.16011070e-05 -9.99986672e-01 -8.04150307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.520385723 meters 0.014762565993962144 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.74, Z:-8.04 [[ 8.91961824e-01 -4.52087045e-01 -4.62692581e-03 4.85613666e+01] [-4.52081298e-01 -8.91973823e-01 2.28020899e-03 -1.81737673e+02] [-5.15794965e-03 5.78872536e-05 -9.99986696e-01 -8.04182996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.550385723 meters 0.017764767606193176 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.75, Z:-8.04 [[ 9.24395299e-01 -3.81397224e-01 -5.43038113e-03 4.85602290e+01] [-3.81391075e-01 -9.24411246e-01 2.16680292e-03 -1.81747977e+02] [-5.84631801e-03 6.81164681e-05 -9.99982908e-01 -8.03946007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.580385723 meters 0.015176833160037085 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.76, Z:-8.04 [[ 9.51219960e-01 -3.08478444e-01 -4.65152709e-03 4.85608019e+01] [-3.08475059e-01 -9.51231332e-01 1.44620486e-03 -1.81758888e+02] [-4.87080133e-03 5.92211646e-05 -9.99988136e-01 -8.04149825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.610385723 meters 0.015533239167257564 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.77, Z:-8.04 [[ 9.72042523e-01 -2.34754504e-01 -4.86371145e-03 4.85616782e+01] [-2.34751919e-01 -9.72054689e-01 1.10396402e-03 -1.81767781e+02] [-4.98695405e-03 6.86656223e-05 -9.99987563e-01 -8.04124241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.640385723 meters 0.015633965642822337 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.78, Z:-8.04 [[ 9.87356335e-01 -1.58448060e-01 -4.65610352e-03 4.85612299e+01] [-1.58446621e-01 -9.87367311e-01 6.78736614e-04 -1.81777915e+02] [-4.70482891e-03 6.75889735e-05 -9.99988930e-01 -8.04095903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.670385723 meters 0.01557420459854094 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.79, Z:-8.04 [[ 9.96678213e-01 -8.13271993e-02 -4.29249586e-03 4.85591936e+01] [-8.13267241e-02 -9.96687455e-01 2.85433316e-04 -1.81788462e+02] [-4.30149027e-03 6.46094595e-05 -9.99990747e-01 -8.04123838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.700385723 meters 0.015860594924897282 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.80, Z:-8.04 [[ 9.99986316e-01 -3.50578246e-03 -3.88304420e-03 4.85574681e+01] [-3.50598931e-03 -9.99993853e-01 -4.64666804e-05 -1.81797392e+02] [-3.88285743e-03 6.00799560e-05 -9.99992460e-01 -8.04102752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.730385723 meters 0.016029095166731806 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.81, Z:-8.04 [[ 9.97234869e-01 7.42129554e-02 -3.87977403e-03 4.85573857e+01] [ 7.42121493e-02 -9.97242415e-01 -3.51515718e-04 -1.81805624e+02] [-3.89516224e-03 6.26173620e-05 -9.99992412e-01 -8.04075860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.760385723 meters 0.016211484904432104 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.81, Z:-8.04 [[ 9.88373279e-01 1.51999066e-01 -3.81370990e-03 4.85578934e+01] [ 1.51997691e-01 -9.88380635e-01 -6.49654337e-04 -1.81814232e+02] [-3.86814387e-03 6.24258879e-05 -9.99992517e-01 -8.04029323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.790385723 meters 0.019348064189297996 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.82, Z:-8.04 [[ 9.73538514e-01 2.28466277e-01 -5.09143980e-03 4.85587941e+01] [ 2.28462684e-01 -9.73551823e-01 -1.28415550e-03 -1.81821757e+02] [-5.25016673e-03 8.69708304e-05 -9.99986214e-01 -8.03620289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.820385723 meters 0.019027897897018906 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.83, Z:-8.04 [[ 9.52691647e-01 3.03890460e-01 -5.40505035e-03 4.85604151e+01] [ 3.03885002e-01 -9.52706975e-01 -1.82380678e-03 -1.81830359e+02] [-5.70366665e-03 9.50117483e-05 -9.99983729e-01 -8.03569412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.850385723 meters 0.01633443452220044 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.84, Z:-8.04 [[ 9.26105370e-01 3.77235393e-01 -4.72250984e-03 4.85620756e+01] [ 3.77230006e-01 -9.26117407e-01 -2.01793618e-03 -1.81839152e+02] [-5.13483551e-03 8.73491157e-05 -9.99986813e-01 -8.03728729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.880385723 meters 0.019407303625181924 Centerline is valid? [True, True] Translation: X:48.56, Y:-181.85, Z:-8.03 [[ 8.94039930e-01 4.47965501e-01 -4.41748425e-03 4.85632679e+01] [ 4.47959544e-01 -8.94050839e-01 -2.31201565e-03 -1.81846442e+02] [-4.98515875e-03 8.81800759e-05 -9.99987570e-01 -8.03459346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.910385723 meters 0.016863662178524426 Centerline is valid? [True, True] Translation: X:48.57, Y:-181.85, Z:-8.04 [[ 8.56132468e-01 5.16743864e-01 -3.60226651e-03 4.85656333e+01] [ 5.16738922e-01 -8.56140043e-01 -2.26119438e-03 -1.81853157e+02] [-4.25250292e-03 7.44506086e-05 -9.99990955e-01 -8.03739646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.940385723 meters 0.016246180263163566 Centerline is valid? [True, True] Translation: X:48.57, Y:-181.86, Z:-8.04 [[ 8.12819758e-01 5.82509062e-01 -2.68957765e-03 4.85702389e+01] [ 5.82505639e-01 -8.12824206e-01 -1.99801383e-03 -1.81862277e+02] [-3.35001498e-03 5.73309659e-05 -9.99994387e-01 -8.03863155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.970385723 meters 0.016241433416638976 Centerline is valid? [True, True] Translation: X:48.57, Y:-181.87, Z:-8.04 [[ 7.64297870e-01 6.44861076e-01 -1.71980781e-03 4.85748873e+01] [ 6.44859332e-01 -7.64299804e-01 -1.50026713e-03 -1.81871039e+02] [-2.28191265e-03 3.76168510e-05 -9.99997396e-01 -8.03886439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.000385723 meters 0.01663312092670962 Centerline is valid? [True, True] Translation: X:48.58, Y:-181.88, Z:-8.04 [[ 7.10743707e-01 7.03450768e-01 -6.32633112e-04 4.85774416e+01] [ 7.03450471e-01 -7.10743988e-01 -6.46099292e-04 -1.81879227e+02] [-9.04139225e-04 1.41849449e-05 -9.99999591e-01 -8.03850252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.030385723 meters 0.016089705813352635 Centerline is valid? [True, True] Translation: X:48.58, Y:-181.89, Z:-8.04 [[ 6.52944940e-01 7.57405190e-01 -5.32573715e-04 4.85815723e+01] [ 7.57404922e-01 -6.52945157e-01 -6.36903447e-04 -1.81886134e+02] [-8.30135404e-04 1.24889301e-05 -9.99999655e-01 -8.03871133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.060385723 meters 0.01762065255814542 Centerline is valid? [True, True] Translation: X:48.58, Y:-181.89, Z:-8.04 [[ 5.91693795e-01 8.06162535e-01 -6.47773947e-04 4.85847653e+01] [ 8.06162021e-01 -5.91694150e-01 -9.10926511e-04 -1.81893025e+02] [-1.11763888e-03 1.67788104e-05 -9.99999375e-01 -8.03684675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.090385723 meters 0.016745591810333454 Centerline is valid? [True, True] Translation: X:48.59, Y:-181.90, Z:-8.04 [[ 5.26207604e-01 8.50355892e-01 -6.42974702e-04 4.85925699e+01] [ 8.50355215e-01 -5.26207997e-01 -1.07316160e-03 -1.81902268e+02] [-1.25090772e-03 1.79489018e-05 -9.99999217e-01 -8.03677842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12038572299997 meters 0.015618074318755422 Centerline is valid? [True, True] Translation: X:48.60, Y:-181.91, Z:-8.04 [[ 4.57232565e-01 8.89347028e-01 -4.95948337e-04 4.85998330e+01] [ 8.89346468e-01 -4.57232834e-01 -9.97542042e-04 -1.81911802e+02] [-1.11392491e-03 1.50388050e-05 -9.99999380e-01 -8.03785312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.150385723 meters 0.015393558572083544 Centerline is valid? [True, True] Translation: X:48.61, Y:-181.92, Z:-8.04 [[ 3.85509909e-01 9.22703634e-01 -3.38063143e-04 4.86071284e+01] [ 9.22703252e-01 -3.85510057e-01 -8.39326721e-04 -1.81918785e+02] [-9.04776557e-04 1.16368064e-05 -9.99999591e-01 -8.03757299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.180385723 meters 0.015259118055040325 Centerline is valid? [True, True] Translation: X:48.62, Y:-181.93, Z:-8.04 [[ 3.11707734e-01 9.50178012e-01 -1.85772035e-04 4.86150785e+01] [ 9.50177828e-01 -3.11707790e-01 -5.91464719e-04 -1.81925881e+02] [-6.19903361e-04 7.84765914e-06 -9.99999808e-01 -8.03733472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.210385723 meters 0.015318819704218433 Centerline is valid? [True, True] Translation: X:48.62, Y:-181.93, Z:-8.04 [[ 2.36220418e-01 9.71699489e-01 -1.34083035e-04 4.86221856e+01] [ 9.71699314e-01 -2.36220455e-01 -5.83455350e-04 -1.81932755e+02] [-5.98616421e-04 7.53567359e-06 -9.99999821e-01 -8.03687764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.240385723 meters 0.015113443914458617 Centerline is valid? [True, True] Translation: X:48.63, Y:-181.94, Z:-8.04 [[ 1.59302768e-01 9.87229768e-01 -1.18562128e-04 4.86332529e+01] [ 9.87229446e-01 -1.59302812e-01 -7.97301485e-04 -1.81939361e+02] [-8.06007040e-04 9.96430983e-06 -9.99999675e-01 -8.03662937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.270385723 meters 0.015330544925914714 Centerline is valid? [True, True] Translation: X:48.64, Y:-181.95, Z:-8.04 [[ 8.25375407e-02 9.96587953e-01 -7.37187249e-05 4.86408112e+01] [ 9.96587388e-01 -8.25375724e-02 -1.06160921e-03 -1.81946219e+02] [-1.06407151e-03 1.41554615e-05 -9.99999434e-01 -8.03557128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.300385723 meters 0.015186614895462 Centerline is valid? [True, True] Translation: X:48.65, Y:-181.95, Z:-8.04 [[ 5.10299628e-03 9.99986980e-01 1.23444588e-05 4.86516800e+01] [ 9.99986039e-01 -5.10297454e-03 -1.37200434e-03 -1.81951048e+02] [-1.37192348e-03 1.93456195e-05 -9.99999059e-01 -8.03521078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.330385723 meters 0.01881344117336236 Centerline is valid? [True, True] Translation: X:48.66, Y:-181.96, Z:-8.03 [[-6.96892504e-02 9.97568697e-01 3.20391290e-04 4.86566070e+01] [ 9.97561971e-01 6.96899572e-02 -3.66374841e-03 -1.81956743e+02] [-3.67716879e-03 6.42862858e-05 -9.99993237e-01 -8.03126753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.360385723 meters 0.0159802259181752 Centerline is valid? [True, True] Translation: X:48.67, Y:-181.96, Z:-8.03 [[-1.46796895e-01 9.89166532e-01 4.93751939e-04 4.86680125e+01] [ 9.89162126e-01 1.46797715e-01 -2.95292136e-03 -1.81961056e+02] [-2.99341264e-03 5.49210301e-05 -9.99995518e-01 -8.03324569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.390385723 meters 0.016295213359126485 Centerline is valid? [True, True] Translation: X:48.68, Y:-181.97, Z:-8.03 [[-2.22842010e-01 9.74854263e-01 7.77879520e-04 4.86771839e+01] [ 9.74849261e-01 2.22843359e-01 -3.12352819e-03 -1.81965433e+02] [-3.21833006e-03 6.22619741e-05 -9.99994819e-01 -8.03292774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.420385723 meters 0.016578988586956864 Centerline is valid? [True, True] Translation: X:48.68, Y:-181.97, Z:-8.03 [[-2.96893035e-01 9.54910457e-01 7.37912217e-04 4.86847999e+01] [ 9.54907905e-01 2.96893948e-01 -2.20813009e-03 -1.81969775e+02] [-2.32764819e-03 4.90597643e-05 -9.99997290e-01 -8.03329715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.450385723 meters 0.01623456314207317 Centerline is valid? [True, True] Translation: X:48.70, Y:-181.97, Z:-8.03 [[-3.70421000e-01 9.28863770e-01 6.16555041e-04 4.86986613e+01] [ 9.28862632e-01 3.70421512e-01 -1.45426119e-03 -1.81971503e+02] [-1.57919578e-03 3.40060537e-05 -9.99998753e-01 -8.03378677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.480385723 meters 0.017951870455279156 Centerline is valid? [True, True] Translation: X:48.71, Y:-181.97, Z:-8.03 [[-4.41452370e-01 8.97283992e-01 1.11510261e-03 4.87103656e+01] [ 8.97281428e-01 4.41453775e-01 -2.14545805e-03 -1.81973935e+02] [-2.41735142e-03 5.34433226e-05 -9.99997077e-01 -8.03205206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.510385723 meters 0.017206316432923915 Centerline is valid? [True, True] Translation: X:48.72, Y:-181.98, Z:-8.03 [[-5.11059758e-01 8.59544928e-01 6.63898343e-04 4.87212627e+01] [ 8.59544269e-01 5.11060189e-01 -1.06400105e-03 -1.81976617e+02] [-1.25384871e-03 2.68818991e-05 -9.99999214e-01 -8.03339612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.540385723 meters 0.017206316432923915 Centerline is valid? [True, True] Translation: X:48.73, Y:-181.98, Z:-8.03 [[-5.76819065e-01 8.16871600e-01 7.45210726e-04 4.87304799e+01] [ 8.16870977e-01 5.76819546e-01 -1.00873891e-03 -1.81979200e+02] [-1.25386228e-03 2.68811808e-05 -9.99999214e-01 -8.03339600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.570385723 meters 0.016903156317333468 Centerline is valid? [True, True] Translation: X:48.74, Y:-181.98, Z:-8.03 [[-6.39617519e-01 7.68692643e-01 1.02410654e-03 4.87395953e+01] [ 7.68691738e-01 6.39618338e-01 -1.18042373e-03 -1.81980714e+02] [-1.56242036e-03 3.22025330e-05 -9.99998779e-01 -8.03367892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.600385723 meters 0.01606348318060856 Centerline is valid? [True, True] Translation: X:48.75, Y:-181.98, Z:-8.03 [[-6.99538794e-01 7.14594058e-01 8.98828461e-04 4.87512941e+01] [ 7.14593510e-01 6.99539371e-01 -8.85165970e-04 -1.81978644e+02] [-1.26130024e-03 2.30890496e-05 -9.99999204e-01 -8.03428991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.630385723 meters 0.015680580259038852 Centerline is valid? [True, True] Translation: X:48.77, Y:-181.95, Z:-8.03 [[-7.49555265e-01 6.61941232e-01 8.42920431e-04 4.87690438e+01] [ 6.61940841e-01 7.49555738e-01 -7.20136653e-04 -1.81954723e+02] [-1.10850399e-03 1.81812389e-05 -9.99999385e-01 -8.03463120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.660385723 meters 0.016787434003656697 Centerline is valid? [True, True] Translation: X:48.80, Y:-181.94, Z:-8.03 [[-7.96499272e-01 6.04637742e-01 1.45291387e-03 4.87966397e+01] [ 6.04636790e-01 7.96500597e-01 -1.07338362e-03 -1.81936392e+02] [-1.80625501e-03 2.35359076e-05 -9.99998368e-01 -8.03341590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.690385723 meters 0.014553394347987114 Centerline is valid? [True, True] Translation: X:48.82, Y:-181.91, Z:-8.03 [[-8.38728135e-01 5.44550031e-01 6.15424472e-04 4.88187855e+01] [ 5.44549891e-01 8.38728361e-01 -3.90324007e-04 -1.81913466e+02] [-7.28724909e-04 7.75360227e-06 -9.99999734e-01 -8.03462562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.720385723 meters 0.014255223871808703 Centerline is valid? [True, True] Translation: X:48.83, Y:-181.88, Z:-8.03 [[-8.76021627e-01 4.82271199e-01 7.74203851e-04 4.88251007e+01] [ 4.82271019e-01 8.76021969e-01 -4.17401109e-04 -1.81880774e+02] [-8.79520116e-04 7.72368126e-06 -9.99999613e-01 -8.03381252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.750385723 meters 0.013937352941259019 Centerline is valid? [True, True] Translation: X:49.21, Y:-181.19, Z:-9.03 [[-8.49746098e-01 -5.27190739e-01 1.22218991e-03 4.92068828e+01] [ 5.27190230e-01 -8.49746976e-01 -7.32968850e-04 -1.81185733e+02] [ 1.42496657e-03 2.14891628e-05 9.99998985e-01 -9.03483461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.780385723 meters 0.01379148879939245 Centerline is valid? [True, True] Translation: X:48.79, Y:-181.86, Z:-8.03 [[-8.79041026e-01 4.76742462e-01 1.87051906e-03 4.87948093e+01] [ 4.76741413e-01 8.79043016e-01 -1.00043441e-03 -1.81860946e+02] [-2.12121628e-03 1.23310051e-05 -9.99997750e-01 -8.03210538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.810385723 meters 0.013809392266881819 Centerline is valid? [True, True] Translation: X:48.81, Y:-181.84, Z:-8.03 [[-9.10445065e-01 4.13625721e-01 1.88313489e-03 4.88125270e+01] [ 4.13624865e-01 9.10447013e-01 -8.41542324e-04 -1.81838051e+02] [-2.06257809e-03 1.27333584e-05 -9.99997873e-01 -8.03239975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.840385723 meters 0.013962550326405272 Centerline is valid? [True, True] Translation: X:49.14, Y:-181.12, Z:-9.04 [[-8.87289914e-01 -4.61208152e-01 1.91046366e-03 4.91413066e+01] [ 4.61207064e-01 -8.87291970e-01 -1.00175203e-03 -1.81119986e+02] [ 2.15715526e-03 -7.72513276e-06 9.99997673e-01 -9.03523997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87038572299997 meters 0.014175114213447877 Centerline is valid? [True, True] Translation: X:48.77, Y:-181.82, Z:-8.03 [[-9.10417933e-01 4.13682861e-01 2.38290406e-03 4.87678839e+01] [ 4.13681518e-01 9.10421051e-01 -1.05455912e-03 -1.81821474e+02] [-2.60569905e-03 2.56738302e-05 -9.99996605e-01 -8.03229732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.900385723 meters 0.014390837693381033 Centerline is valid? [True, True] Translation: X:48.79, Y:-181.80, Z:-8.03 [[-9.36842545e-01 3.49742455e-01 2.50236273e-03 4.87863925e+01] [ 3.49741294e-01 9.36845886e-01 -9.01911281e-04 -1.81797741e+02] [-2.65976490e-03 3.02307198e-05 -9.99996462e-01 -8.03188869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.930385723 meters 0.01663304229568417 Centerline is valid? [True, True] Translation: X:48.80, Y:-181.77, Z:-8.03 [[-9.58256338e-01 2.85892496e-01 3.20493889e-03 4.87989030e+01] [ 2.85891070e-01 9.58261696e-01 -9.04170436e-04 -1.81771082e+02] [-3.32966572e-03 4.98363574e-05 -9.99994455e-01 -8.02945383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.960385723 meters 0.015284480279392257 Centerline is valid? [True, True] Translation: X:48.81, Y:-181.74, Z:-8.03 [[-9.75867186e-01 2.18351196e-01 2.44747122e-03 4.88082630e+01] [ 2.18350613e-01 9.75870255e-01 -5.06267493e-04 -1.81742738e+02] [-2.49895848e-03 4.03570064e-05 -9.99996877e-01 -8.03054724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.990385723 meters 0.015963814146819907 Centerline is valid? [True, True] Translation: X:48.81, Y:-181.72, Z:-8.03 [[-9.88520357e-01 1.51068054e-01 2.43851300e-03 4.88149000e+01] [ 1.51067709e-01 9.88523364e-01 -3.26164064e-04 -1.81715109e+02] [-2.45980004e-03 4.59607557e-05 -9.99996974e-01 -8.03060806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.020385723 meters 0.018223280643036566 Centerline is valid? [True, True] Translation: X:48.81, Y:-181.69, Z:-8.03 [[-9.96661621e-01 8.15499325e-02 3.90143756e-03 4.88138880e+01] [ 8.15496107e-02 9.96669254e-01 -2.41761479e-04 -1.81686791e+02] [-3.90815850e-03 7.72063265e-05 -9.99992360e-01 -8.02879534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.050385723 meters 0.016825427040979994 Centerline is valid? [True, True] Translation: X:48.82, Y:-181.66, Z:-8.03 [[-9.99933227e-01 1.09876440e-02 3.57959572e-03 4.88193119e+01] [ 1.09878329e-02 9.99939631e-01 3.31166675e-05 -1.81657965e+02] [-3.57901576e-03 7.24464559e-05 -9.99993593e-01 -8.02975076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.080385723 meters 0.01945294748680475 Centerline is valid? [True, True] Translation: X:48.82, Y:-180.86, Z:-9.04 [[-9.99299761e-01 -3.68734182e-02 6.35124892e-03 4.88188582e+01] [ 3.68730076e-02 -9.99319943e-01 -1.81776551e-04 -1.80863480e+02] [ 6.35363243e-03 5.25403852e-05 9.99979814e-01 -9.04160759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.110385723 meters 0.01580906496119989 Centerline is valid? [True, True] Translation: X:48.72, Y:-181.65, Z:-8.03 [[-9.99971630e-01 5.54287228e-03 5.10050002e-03 4.87205109e+01] [ 5.54333793e-03 9.99984633e-01 7.71622950e-05 -1.81654437e+02] [-5.09999394e-03 1.05433901e-04 -9.99986989e-01 -8.02811803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.140385723 meters 0.015658474692849342 Centerline is valid? [True, True] Translation: X:48.71, Y:-180.87, Z:-9.04 [[-9.99457162e-01 -3.25679290e-02 4.97103910e-03 4.87120762e+01] [ 3.25669728e-02 -9.99469518e-01 -2.73198629e-04 -1.80866761e+02] [ 4.97729957e-03 -1.11158631e-04 9.99987607e-01 -9.03922520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.170385723 meters 0.015514272632081707 Centerline is valid? [True, True] Translation: X:48.61, Y:-181.65, Z:-8.03 [[-9.99986130e-01 -2.28225214e-03 4.74678442e-03 4.86145998e+01] [-2.28180360e-03 9.99997392e-01 9.99074405e-05 -1.81654898e+02] [-4.74700005e-03 8.90748249e-05 -9.99988729e-01 -8.02891796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.200385723 meters 0.015389979891655026 Centerline is valid? [True, True] Translation: X:48.61, Y:-180.87, Z:-9.04 [[-9.99569421e-01 -2.90365517e-02 4.22512881e-03 4.86072912e+01] [ 2.90358078e-02 -9.99578344e-01 -2.37308391e-04 -1.80867019e+02] [ 4.23023787e-03 -1.14526183e-04 9.99991046e-01 -9.03832032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.230385723 meters 0.01691656059715779 Centerline is valid? [True, True] Translation: X:48.52, Y:-181.66, Z:-8.03 [[-9.99930057e-01 -1.08335921e-02 4.74487398e-03 4.85150499e+01] [-1.08331003e-02 9.99941312e-01 1.29336736e-04 -1.81656293e+02] [-4.74599669e-03 7.79259938e-05 -9.99988735e-01 -8.02844800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.260385723 meters 0.017645661930489505 Centerline is valid? [True, True] Translation: X:48.49, Y:-180.87, Z:-9.04 [[-9.99675474e-01 -2.50021660e-02 4.88248612e-03 4.84939002e+01] [ 2.50015219e-02 -9.99687395e-01 -1.92903338e-04 -1.80868148e+02] [ 4.88578283e-03 -7.07711522e-05 9.99988062e-01 -9.03969846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.290385723 meters 0.014674324400642591 Centerline is valid? [True, True] Translation: X:48.41, Y:-181.66, Z:-8.03 [[-9.99758599e-01 -2.17352158e-02 3.21306151e-03 4.84138408e+01] [-2.17349823e-02 9.99763762e-01 1.07575869e-04 -1.81657241e+02] [-3.21464065e-03 3.77140648e-05 -9.99994832e-01 -8.03041232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.320385723 meters 0.014676612744538518 Centerline is valid? [True, True] Translation: X:48.39, Y:-180.87, Z:-9.04 [[-9.99728767e-01 -2.31398454e-02 2.63455363e-03 4.83909766e+01] [ 2.31395808e-02 -9.99732236e-01 -1.30869644e-04 -1.80872234e+02] [ 2.63687649e-03 -6.98716807e-05 9.99996521e-01 -9.03740079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.350385723 meters 0.014144391853672321 Centerline is valid? [True, True] Translation: X:48.31, Y:-181.66, Z:-8.03 [[-9.99517490e-01 -3.09188239e-02 2.96888614e-03 4.83092819e+01] [-3.09186095e-02 9.99521899e-01 1.18107186e-04 -1.81657388e+02] [-2.97111845e-03 2.62563672e-05 -9.99995586e-01 -8.03034681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.380385723 meters 0.014251567984989449 Centerline is valid? [True, True] Translation: X:48.27, Y:-180.88, Z:-9.04 [[-9.99818663e-01 -1.88289263e-02 2.84835766e-03 4.82741760e+01] [ 1.88287552e-02 -9.99822720e-01 -8.68923640e-05 -1.80876756e+02] [ 2.84948879e-03 -3.32455782e-05 9.99995940e-01 -9.03762418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.410385723 meters 0.014216357692236357 Centerline is valid? [True, True] Translation: X:48.20, Y:-181.66, Z:-8.03 [[-9.99327704e-01 -3.65464051e-02 2.91537749e-03 4.82046482e+01] [-3.65461692e-02 9.99331957e-01 1.34147892e-04 -1.81660755e+02] [-2.91833251e-03 2.75118257e-05 -9.99995741e-01 -8.02951875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.440385723 meters 0.016487715942914385 Centerline is valid? [True, True] Translation: X:48.17, Y:-180.88, Z:-9.04 [[-9.99931909e-01 -1.09429162e-02 4.05330404e-03 4.81715741e+01] [ 1.09429730e-02 -9.99940124e-01 -8.18103060e-06 -1.80880117e+02] [ 4.05315086e-03 3.61747229e-05 9.99991785e-01 -9.04017005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.470385723 meters 0.015611653929704716 Centerline is valid? [True, True] Translation: X:48.10, Y:-181.66, Z:-8.03 [[-9.99136835e-01 -4.13966740e-02 3.44968293e-03 4.81039744e+01] [-4.13963001e-02 9.99142790e-01 1.79750458e-04 -1.81664923e+02] [-3.45416689e-03 3.67911939e-05 -9.99994034e-01 -8.02816170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.500385723 meters 0.014558117180667171 Centerline is valid? [True, True] Translation: X:48.10, Y:-181.64, Z:-8.03 [[-9.93806644e-01 -1.11088061e-01 2.79222082e-03 4.80954595e+01] [-1.11087526e-01 9.93810566e-01 3.46247568e-04 -1.81636228e+02] [-2.81340253e-03 3.39222303e-05 -9.99996042e-01 -8.02930972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.530385723 meters 0.014570153579823693 Centerline is valid? [True, True] Translation: X:48.08, Y:-181.61, Z:-8.03 [[-9.83394279e-01 -1.81460405e-01 2.79512076e-03 4.80761671e+01] [-1.81459568e-01 9.83398251e-01 5.52487339e-04 -1.81609444e+02] [-2.84897144e-03 3.61114849e-05 -9.99995941e-01 -8.02927862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.560385723 meters 0.014697380101607324 Centerline is valid? [True, True] Translation: X:48.05, Y:-181.59, Z:-8.03 [[-9.67877873e-01 -2.51404953e-01 2.82363994e-03 4.80453799e+01] [-2.51403766e-01 9.67881991e-01 7.73540693e-04 -1.81586394e+02] [-2.92742221e-03 3.88192068e-05 -9.99995714e-01 -8.02881852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.590385723 meters 0.014875571855934744 Centerline is valid? [True, True] Translation: X:47.98, Y:-181.57, Z:-8.03 [[-9.47029971e-01 -3.21126712e-01 3.44510775e-03 4.79828148e+01] [-3.21124390e-01 9.47036236e-01 1.22221155e-03 -1.81574307e+02] [-3.65512665e-03 5.11628437e-05 -9.99993319e-01 -8.02773271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62038572299997 meters 0.015064450387834605 Centerline is valid? [True, True] Translation: X:47.92, Y:-181.57, Z:-8.03 [[-9.20890583e-01 -3.89806222e-01 3.41225929e-03 4.79176954e+01] [-3.89803328e-01 9.20896903e-01 1.50302093e-03 -1.81568552e+02] [-3.72822592e-03 5.40077994e-05 -9.99993049e-01 -8.02731061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.650385723 meters 0.015101317213679005 Centerline is valid? [True, True] Translation: X:47.84, Y:-181.57, Z:-8.03 [[-8.89560938e-01 -4.56805450e-01 3.18087230e-03 4.78416799e+01] [-4.56802314e-01 8.89566624e-01 1.69354458e-03 -1.81571707e+02] [-3.60321823e-03 5.34812835e-05 -9.99993507e-01 -8.02735183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.680385723 meters 0.015090738992596173 Centerline is valid? [True, True] Translation: X:47.76, Y:-181.59, Z:-8.03 [[-8.53113262e-01 -5.21716837e-01 3.05031796e-03 4.77561297e+01] [-5.21713270e-01 8.53118713e-01 1.93021690e-03 -1.81586634e+02] [-3.60930999e-03 5.53022804e-05 -9.99993485e-01 -8.02765909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.710385723 meters 0.015195522139747708 Centerline is valid? [True, True] Translation: X:47.67, Y:-181.61, Z:-8.03 [[-8.11670957e-01 -5.84108882e-01 2.65911724e-03 4.76670745e+01] [-5.84105537e-01 8.11675311e-01 1.97763989e-03 -1.81612289e+02] [-3.31349684e-03 5.19877620e-05 -9.99994509e-01 -8.02816991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.740385723 meters 0.015187384577986894 Centerline is valid? [True, True] Translation: X:47.57, Y:-181.65, Z:-8.03 [[-7.65365348e-01 -6.43592794e-01 2.04933096e-03 4.75726856e+01] [-6.43590335e-01 7.65368090e-01 1.77963681e-03 -1.81650017e+02] [-2.71385395e-03 4.31427428e-05 -9.99996317e-01 -8.02853035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.770385723 meters 0.015150188783306942 Centerline is valid? [True, True] Translation: X:47.48, Y:-181.70, Z:-8.03 [[-7.14276691e-01 -6.99860647e-01 1.97078303e-03 4.74750244e+01] [-6.99857811e-01 7.14279408e-01 1.99278624e-03 -1.81700426e+02] [-2.80236240e-03 4.41328627e-05 -9.99996072e-01 -8.02909249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.800385723 meters 0.015245028462705913 Centerline is valid? [True, True] Translation: X:47.39, Y:-181.75, Z:-8.03 [[-6.57971567e-01 -7.53040461e-01 1.86564594e-03 4.73855769e+01] [-7.53037253e-01 6.57974211e-01 2.19863526e-03 -1.81753867e+02] [-2.88320822e-03 4.17385968e-05 -9.99995843e-01 -8.02844740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.830385723 meters 0.014890108851593581 Centerline is valid? [True, True] Translation: X:47.29, Y:-181.82, Z:-8.03 [[-5.97844565e-01 -8.01610858e-01 1.38188517e-03 4.72920915e+01] [-8.01608592e-01 5.97846161e-01 1.90594883e-03 -1.81823125e+02] [-2.35398403e-03 3.17301204e-05 -9.99997229e-01 -8.02839776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.860385723 meters 0.014901162608745975 Centerline is valid? [True, True] Translation: X:47.21, Y:-181.90, Z:-8.03 [[-5.33781189e-01 -8.45621937e-01 1.08700796e-03 4.72068678e+01] [-8.45620086e-01 5.33782296e-01 1.76975676e-03 -1.81896661e+02] [-2.07677074e-03 2.54671013e-05 -9.99997843e-01 -8.02845929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.890385723 meters 0.01454492738868158 Centerline is valid? [True, True] Translation: X:47.12, Y:-181.98, Z:-8.03 [[-4.66377860e-01 -8.84584921e-01 1.09982372e-03 4.71220821e+01] [-8.84582325e-01 4.66379156e-01 2.14320660e-03 -1.81983871e+02] [-2.40878309e-03 2.66594871e-05 -9.99997099e-01 -8.02832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.920385723 meters 0.014126690183880745 Centerline is valid? [True, True] Translation: X:47.04, Y:-182.08, Z:-8.03 [[-3.94881256e-01 -9.18731570e-01 1.04675022e-03 4.70435700e+01] [-9.18728184e-01 3.94882643e-01 2.49450573e-03 -1.82076021e+02] [-2.70512466e-03 2.33546268e-05 -9.99996341e-01 -8.02851017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.950385723 meters 0.013976420814781022 Centerline is valid? [True, True] Translation: X:46.97, Y:-182.19, Z:-8.03 [[-3.21616823e-01 -9.46869586e-01 7.78893478e-04 4.69700955e+01] [-9.46866679e-01 3.21617766e-01 2.34641906e-03 -1.82186534e+02] [-2.47225882e-03 1.71395634e-05 -9.99996944e-01 -8.02925863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.980385723 meters 0.013578556849748884 Centerline is valid? [True, True] Translation: X:46.91, Y:-182.29, Z:-8.03 [[-2.45954108e-01 -9.69281223e-01 6.97718398e-04 4.69079141e+01] [-9.69277151e-01 2.45955097e-01 2.80974887e-03 -1.82285918e+02] [-2.89504422e-03 1.47867768e-05 -9.99995809e-01 -8.03017500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.010385723 meters 0.013700850036157402 Centerline is valid? [True, True] Translation: X:46.85, Y:-182.40, Z:-8.03 [[-1.69883418e-01 -9.85464082e-01 4.09106855e-04 4.68541329e+01] [-9.85461073e-01 1.69883911e-01 2.43519513e-03 -1.82399101e+02] [-2.46929800e-03 1.05403921e-05 -9.99996951e-01 -8.02939507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.040385723 meters 0.013605994251664949 Centerline is valid? [True, True] Translation: X:46.81, Y:-182.51, Z:-8.03 [[-9.33962037e-02 -9.95628986e-01 2.66731348e-04 4.68072044e+01] [-9.95624531e-01 9.33965837e-02 2.97834913e-03 -1.82514864e+02] [-2.99024252e-03 1.26022285e-05 -9.99995529e-01 -8.02957515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.070385723 meters 0.013562196421487415 Centerline is valid? [True, True] Translation: X:46.77, Y:-182.64, Z:-8.03 [[-1.67375092e-02 -9.99859917e-01 3.97724089e-05 4.67712566e+01] [-9.99854573e-01 1.67375498e-02 3.26904381e-03 -1.82636415e+02] [-3.26925156e-03 1.49490258e-05 -9.99994656e-01 -8.02920901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.100385723 meters 0.013541206731809459 Centerline is valid? [True, True] Translation: X:46.75, Y:-182.76, Z:-8.03 [[ 6.00242872e-02 -9.98196885e-01 -2.51503481e-04 4.67450733e+01] [-9.98189407e-01 -6.00248111e-02 3.86379472e-03 -1.82764098e+02] [-3.87192430e-03 1.91265864e-05 -9.99992504e-01 -8.02913172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.130385723 meters 0.01362734024465856 Centerline is valid? [True, True] Translation: X:46.73, Y:-182.89, Z:-8.03 [[ 1.36162252e-01 -9.90686417e-01 -5.14577081e-04 4.67282938e+01] [-9.90679892e-01 -1.36163223e-01 3.59552179e-03 -1.82885295e+02] [-3.63210107e-03 2.02068226e-05 -9.99993404e-01 -8.02911845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.160385723 meters 0.013658281409238502 Centerline is valid? [True, True] Translation: X:46.72, Y:-183.02, Z:-8.03 [[ 2.11048813e-01 -9.77475240e-01 -7.43968467e-04 4.67231757e+01] [-9.77469538e-01 -2.11050123e-01 3.33872299e-03 -1.83016100e+02] [-3.42053370e-03 2.25729892e-05 -9.99994150e-01 -8.03050828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.190385723 meters 0.014053584248406756 Centerline is valid? [True, True] Translation: X:46.73, Y:-183.14, Z:-8.03 [[ 2.84107465e-01 -9.58791721e-01 -1.17660668e-03 4.67262932e+01] [-9.58783978e-01 -2.84109900e-01 3.85349449e-03 -1.83140015e+02] [-4.02898422e-03 3.33050751e-05 -9.99991883e-01 -8.03067911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.220385723 meters 0.014225159188822598 Centerline is valid? [True, True] Translation: X:46.74, Y:-183.27, Z:-8.03 [[ 3.55953776e-01 -9.34502060e-01 -1.67589577e-03 4.67423060e+01] [-9.34492271e-01 -3.55957719e-01 4.27760280e-03 -1.83272880e+02] [-4.59397667e-03 4.34827718e-05 -9.99989447e-01 -8.03083193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.250385723 meters 0.014475193140671761 Centerline is valid? [True, True] Translation: X:46.76, Y:-183.38, Z:-8.03 [[ 4.26044286e-01 -9.04699673e-01 -2.18338552e-03 4.67585179e+01] [-9.04688411e-01 -4.26049878e-01 4.51457535e-03 -1.83380655e+02] [-5.01456598e-03 5.18745421e-05 -9.99987426e-01 -8.03061135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.280385723 meters 0.01504320859623255 Centerline is valid? [True, True] Translation: X:46.79, Y:-183.50, Z:-8.03 [[ 4.92329955e-01 -8.70403384e-01 -3.02719668e-03 4.67897854e+01] [-8.70387865e-01 -4.92339256e-01 5.19829112e-03 -1.83499566e+02] [-6.01501794e-03 7.55608189e-05 -9.99981907e-01 -8.03054217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.310385723 meters 0.015154320610008924 Centerline is valid? [True, True] Translation: X:46.83, Y:-183.61, Z:-8.03 [[ 5.57222251e-01 -8.30356086e-01 -3.48323687e-03 4.68260828e+01] [-8.30340754e-01 -5.57233132e-01 5.04673700e-03 -1.83611635e+02] [-6.13156378e-03 8.01193733e-05 -9.99981199e-01 -8.03103955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.340385723 meters 0.014974979898326543 Centerline is valid? [True, True] Translation: X:46.87, Y:-183.72, Z:-8.03 [[ 6.18045627e-01 -7.86133085e-01 -3.79165041e-03 4.68689987e+01] [-7.86119144e-01 -6.18057251e-01 4.68244388e-03 -1.83722667e+02] [-6.02448108e-03 8.67250123e-05 -9.99981849e-01 -8.03223478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37038572299997 meters 0.014999895377903713 Centerline is valid? [True, True] Translation: X:46.92, Y:-183.83, Z:-8.03 [[ 6.75990709e-01 -7.36897530e-01 -4.31176940e-03 4.69186529e+01] [-7.36883407e-01 -6.76004454e-01 4.56318972e-03 -1.83825627e+02] [-6.27737855e-03 9.25974686e-05 -9.99980293e-01 -8.03257080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.400385723 meters 0.016268649644492022 Centerline is valid? [True, True] Translation: X:46.98, Y:-183.92, Z:-8.03 [[ 7.30040652e-01 -6.83385326e-01 -5.01430142e-03 4.69775959e+01] [-6.83370150e-01 -7.30057865e-01 4.55544447e-03 -1.83921515e+02] [-6.77385409e-03 1.00964257e-04 -9.99977052e-01 -8.03163437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.430385723 meters 0.016268649644492022 Centerline is valid? [True, True] Translation: X:46.98, Y:-183.92, Z:-8.03 [[ 7.81230706e-01 -6.24219439e-01 -5.35505912e-03 4.69760734e+01] [-6.24205655e-01 -7.81249052e-01 4.14949116e-03 -1.83924729e+02] [-6.77382791e-03 1.00948285e-04 -9.99977052e-01 -8.03163463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.460385723 meters 0.015523121452414386 Centerline is valid? [True, True] Translation: X:46.97, Y:-183.94, Z:-8.03 [[ 8.27501932e-01 -5.61430162e-01 -6.06017372e-03 4.69676976e+01] [-5.61416075e-01 -8.27524115e-01 3.97864378e-03 -1.83938623e+02] [-7.24867052e-03 1.09943530e-04 -9.99973722e-01 -8.03449054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.490385723 meters 0.0170078507420762 Centerline is valid? [True, True] Translation: X:46.96, Y:-183.95, Z:-8.03 [[ 8.68710019e-01 -4.95283184e-01 -6.12135211e-03 4.69634173e+01] [-4.95271761e-01 -8.68731579e-01 3.36554003e-03 -1.83947041e+02] [-6.98470726e-03 1.08054496e-04 -9.99975601e-01 -8.03429506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.520385723 meters 0.01744332714690686 Centerline is valid? [True, True] Translation: X:46.96, Y:-183.95, Z:-8.04 [[ 9.04461313e-01 -4.26513868e-01 -5.97099780e-03 4.69628238e+01] [-4.26505345e-01 -9.04481016e-01 2.69844546e-03 -1.83951373e+02] [-6.55157857e-03 1.06022953e-04 -9.99978533e-01 -8.03596808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.550385723 meters 0.01659826099286929 Centerline is valid? [True, True] Translation: X:46.96, Y:-183.96, Z:-8.04 [[ 9.34971261e-01 -3.54668029e-01 -6.27132694e-03 4.69598282e+01] [-3.54660830e-01 -9.34992287e-01 2.26247333e-03 -1.83964940e+02] [-6.66606928e-03 1.08846475e-04 -9.99977776e-01 -8.03737746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.580385723 meters 0.017036147701718306 Centerline is valid? [True, True] Translation: X:46.96, Y:-183.98, Z:-8.04 [[ 9.59735166e-01 -2.80796637e-01 -7.85233109e-03 4.69578820e+01] [-2.80788391e-01 -9.59767279e-01 2.15630162e-03 -1.83975287e+02] [-8.14189269e-03 1.35364913e-04 -9.99966845e-01 -8.03779951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.610385723 meters 0.017120645300971463 Centerline is valid? [True, True] Translation: X:46.96, Y:-183.99, Z:-8.04 [[ 9.78691096e-01 -2.05141192e-01 -8.99059459e-03 4.69577287e+01] [-2.05133979e-01 -9.78732378e-01 1.72705998e-03 -1.83985551e+02] [-9.15367716e-03 1.54018218e-04 -9.99958092e-01 -8.03817651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.640385723 meters 0.01687487929577286 Centerline is valid? [True, True] Translation: X:46.95, Y:-184.00, Z:-8.04 [[ 9.91723232e-01 -1.28011697e-01 -9.90132522e-03 4.69543535e+01] [-1.28007012e-01 -9.91772644e-01 1.10800343e-03 -1.83999360e+02] [-9.96170089e-03 1.68606318e-04 -9.99950367e-01 -8.03872587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.670385723 meters 0.017857829796216335 Centerline is valid? [True, True] Translation: X:46.95, Y:-184.01, Z:-8.04 [[ 9.98683008e-01 -4.99440152e-02 -1.17407774e-02 4.69510149e+01] [-4.99428957e-02 -9.98751999e-01 3.88710592e-04 -1.84011147e+02] [-1.17455387e-02 1.98169759e-04 -9.99930999e-01 -8.03758036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.700385723 meters 0.017426794280133003 Centerline is valid? [True, True] Translation: X:46.95, Y:-184.02, Z:-8.04 [[ 9.99519451e-01 2.83531054e-02 -1.25286917e-02 4.69499711e+01] [ 2.83482222e-02 -9.99597947e-01 -5.67220640e-04 -1.84024019e+02] [-1.25397369e-02 2.11781928e-04 -9.99921352e-01 -8.03879478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.730385723 meters 0.01752426843621598 Centerline is valid? [True, True] Translation: X:46.95, Y:-184.04, Z:-8.04 [[ 9.94236887e-01 1.06428992e-01 -1.28795549e-02 4.69495631e+01] [ 1.06417188e-01 -9.94320281e-01 -1.60037013e-03 -1.84035161e+02] [-1.29767284e-02 2.20541011e-04 -9.99915774e-01 -8.03906807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.760385723 meters 0.01768242169605353 Centerline is valid? [True, True] Translation: X:46.95, Y:-184.05, Z:-8.04 [[ 9.82773612e-01 1.84246404e-01 -1.44668650e-02 4.69513236e+01] [ 1.84222750e-01 -9.82880055e-01 -2.96249134e-03 -1.84048679e+02] [-1.47650214e-02 2.46332661e-04 -9.99890961e-01 -8.04015020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.790385723 meters 0.017698464627499813 Centerline is valid? [True, True] Translation: X:46.95, Y:-184.06, Z:-8.04 [[ 9.65235004e-01 2.60990318e-01 -1.43332275e-02 4.69531713e+01] [ 2.60957806e-01 -9.65341388e-01 -4.12656099e-03 -1.84060546e+02] [-1.49134502e-02 2.42733517e-04 -9.99888759e-01 -8.04039385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.820385723 meters 0.01786882646151305 Centerline is valid? [True, True] Translation: X:46.96, Y:-184.07, Z:-8.04 [[ 9.41508830e-01 3.36598639e-01 -1.62012332e-02 4.69552186e+01] [ 3.36543939e-01 -9.41648175e-01 -6.07387648e-03 -1.84072403e+02] [-1.73003203e-02 2.66181482e-04 -9.99850303e-01 -8.04050319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.850385723 meters 0.01799255334398833 Centerline is valid? [True, True] Translation: X:46.96, Y:-184.08, Z:-8.04 [[ 9.12172288e-01 4.09495071e-01 -1.59845069e-02 4.69580551e+01] [ 4.09427078e-01 -9.12312291e-01 -7.46670921e-03 -1.84081969e+02] [-1.76404427e-02 2.66435264e-04 -9.99844360e-01 -8.04087559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.880385723 meters 0.017730703647400193 Centerline is valid? [True, True] Translation: X:46.96, Y:-184.09, Z:-8.04 [[ 8.77196423e-01 4.79870465e-01 -1.58358025e-02 4.69631850e+01] [ 4.79786697e-01 -8.77339309e-01 -8.97004467e-03 -1.84093880e+02] [-1.81978316e-02 2.70683708e-04 -9.99834369e-01 -8.04228566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.910385723 meters 0.018085818563720036 Centerline is valid? [True, True] Translation: X:46.97, Y:-184.10, Z:-8.04 [[ 8.36785221e-01 5.47297990e-01 -1.59813519e-02 4.69673398e+01] [ 5.47191732e-01 -8.36937770e-01 -1.07878558e-02 -1.84104672e+02] [-1.92795688e-02 2.82254654e-04 -9.99814092e-01 -8.04341121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.940385723 meters 0.01841994731719898 Centerline is valid? [True, True] Translation: X:46.97, Y:-184.11, Z:-8.04 [[ 7.91623128e-01 6.10809796e-01 -1.56274461e-02 4.69718583e+01] [ 6.10683274e-01 -7.91777307e-01 -1.24352702e-02 -1.84113058e+02] [-1.99690421e-02 3.00627535e-04 -9.99800554e-01 -8.04355728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.970385723 meters 0.018179824349765002 Centerline is valid? [True, True] Translation: X:46.98, Y:-184.12, Z:-8.05 [[ 7.42044990e-01 6.70178059e-01 -1.51856084e-02 4.69805206e+01] [ 6.70028502e-01 -7.42200282e-01 -1.41615160e-02 -1.84123617e+02] [-2.07615001e-02 3.33691520e-04 -9.99784401e-01 -8.04580019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.000385723 meters 0.019053398947298565 Centerline is valid? [True, True] Translation: X:46.99, Y:-184.13, Z:-8.04 [[ 6.87878924e-01 7.25691059e-01 -1.39668587e-02 4.69863819e+01] [ 7.25531132e-01 -6.88020614e-01 -1.52385071e-02 -1.84131451e+02] [-2.06679350e-02 3.48857053e-04 -9.99786335e-01 -8.04406373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.030385723 meters 0.019373995232415567 Centerline is valid? [True, True] Translation: X:46.99, Y:-184.14, Z:-8.04 [[ 6.29504276e-01 7.76885536e-01 -1.31617056e-02 4.69899407e+01] [ 7.76703181e-01 -6.29641742e-01 -1.68358360e-02 -1.84136391e+02] [-2.13666767e-02 3.75492145e-04 -9.99771636e-01 -8.04432223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.060385723 meters 0.018867232197356365 Centerline is valid? [True, True] Translation: X:47.00, Y:-184.14, Z:-8.05 [[ 5.67414804e-01 8.23339640e-01 -1.23400647e-02 4.69991606e+01] [ 8.23129016e-01 -5.67548824e-01 -1.86267627e-02 -1.84144776e+02] [-2.23397413e-02 4.11635572e-04 -9.99750352e-01 -8.04604222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.090385723 meters 0.020270947366537985 Centerline is valid? [True, True] Translation: X:47.00, Y:-184.15, Z:-8.04 [[ 5.01753657e-01 8.64940191e-01 -1.10333235e-02 4.70046296e+01] [ 8.64711852e-01 -5.01874764e-01 -1.98779903e-02 -1.84151163e+02] [-2.27306194e-02 4.33208725e-04 -9.99741532e-01 -8.04325310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12038572299997 meters 0.018623810878892887 Centerline is valid? [True, True] Translation: X:47.02, Y:-184.16, Z:-8.05 [[ 4.33088586e-01 9.01299858e-01 -9.63545837e-03 4.70180859e+01] [ 9.01052910e-01 -4.33195518e-01 -2.11020510e-02 -1.84159605e+02] [-2.31933129e-02 4.56999632e-04 -9.99730895e-01 -8.04632871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.150385723 meters 0.01912087248336147 Centerline is valid? [True, True] Translation: X:47.03, Y:-184.17, Z:-8.05 [[ 3.61403674e-01 9.32374340e-01 -8.09162947e-03 4.70278927e+01] [ 9.32110843e-01 -3.61493941e-01 -2.21699733e-02 -1.84165864e+02] [-2.35957893e-02 4.70014251e-04 -9.99721470e-01 -8.04552026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.180385723 meters 0.020454609305293178 Centerline is valid? [True, True] Translation: X:47.03, Y:-184.17, Z:-8.04 [[ 2.87028674e-01 9.57900973e-01 -6.34552772e-03 4.70343530e+01] [ 9.57629976e-01 -2.87098433e-01 -2.27885781e-02 -1.84170878e+02] [-2.36509922e-02 4.64307807e-04 -9.99720168e-01 -8.04229856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.210385723 meters 0.019031318892863067 Centerline is valid? [True, True] Translation: X:47.05, Y:-184.18, Z:-8.05 [[ 2.10971588e-01 9.77481403e-01 -4.59297808e-03 4.70463459e+01] [ 9.77199492e-01 -2.11021066e-01 -2.34789832e-02 -1.84175190e+02] [-2.39194846e-02 4.65142533e-04 -9.99713780e-01 -8.04537527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.240385723 meters 0.0191357746129671 Centerline is valid? [True, True] Translation: X:47.06, Y:-184.18, Z:-8.04 [[ 1.33447405e-01 9.91052133e-01 -2.73131456e-03 4.70559650e+01] [ 9.90769085e-01 -1.33474577e-01 -2.36887834e-02 -1.84179354e+02] [-2.38413804e-02 4.55104641e-04 -9.99715650e-01 -8.04479277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.270385723 meters 0.018956387889858237 Centerline is valid? [True, True] Translation: X:47.07, Y:-184.18, Z:-8.04 [[ 5.38124751e-02 9.98550676e-01 -8.74854667e-04 4.70663957e+01] [ 9.98262102e-01 -5.38179581e-02 -2.40083978e-02 -1.84182266e+02] [-2.40206848e-02 4.18617052e-04 -9.99711374e-01 -8.04348571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.300385723 meters 0.01858183449454955 Centerline is valid? [True, True] Translation: X:47.08, Y:-184.18, Z:-8.04 [[-2.53106311e-02 9.99679096e-01 1.03758708e-03 4.70786218e+01] [ 9.99374272e-01 2.53285382e-02 -2.46886553e-02 -1.84183408e+02] [-2.47070132e-02 4.12052381e-04 -9.99694650e-01 -8.04377084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.330385723 meters 0.018647735212745098 Centerline is valid? [True, True] Translation: X:47.09, Y:-184.18, Z:-8.04 [[-1.03940579e-01 9.94578806e-01 3.05847401e-03 4.70892900e+01] [ 9.94257509e-01 1.03984746e-01 -2.52819796e-02 -1.84184146e+02] [-2.54629558e-02 4.13087155e-04 -9.99675681e-01 -8.04300139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.360385723 meters 0.018824167992830793 Centerline is valid? [True, True] Translation: X:47.10, Y:-184.19, Z:-8.04 [[-1.82047534e-01 9.83275877e-01 5.21958971e-03 4.70974597e+01] [ 9.82934465e-01 1.82121877e-01 -2.59125422e-02 -1.84185370e+02] [-2.64297791e-02 4.13200214e-04 -9.99650587e-01 -8.04216086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.390385723 meters 0.019015649896595016 Centerline is valid? [True, True] Translation: X:47.11, Y:-184.18, Z:-8.04 [[-2.58206201e-01 9.66062764e-01 7.23145401e-03 4.71059290e+01] [ 9.65728409e-01 2.58307102e-01 -2.54181333e-02 -1.84184897e+02] [-2.64234481e-02 4.20500939e-04 -9.99650751e-01 -8.04173004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.420385723 meters 0.019365156597880337 Centerline is valid? [True, True] Translation: X:47.11, Y:-184.19, Z:-8.04 [[-3.32688475e-01 9.42992499e-01 9.13920227e-03 4.71132190e+01] [ 9.42671367e-01 3.32813708e-01 -2.46115899e-02 -1.84185438e+02] [-2.62501965e-02 4.27271966e-04 -9.99655313e-01 -8.04079572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.450385723 meters 0.019526329820711348 Centerline is valid? [True, True] Translation: X:47.12, Y:-184.18, Z:-8.04 [[-4.05436943e-01 9.14057930e-01 1.09080997e-02 4.71204183e+01] [ 9.13754917e-01 4.05583433e-01 -2.35378601e-02 -1.84184738e+02] [-2.59391122e-02 4.24211687e-04 -9.99663435e-01 -8.04036802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.480385723 meters 0.019558608618321666 Centerline is valid? [True, True] Translation: X:47.13, Y:-184.18, Z:-8.04 [[-4.76096442e-01 8.79303483e-01 1.25523856e-02 4.71279345e+01] [ 8.79020328e-01 4.76261711e-01 -2.23169500e-02 -1.84183316e+02] [-2.56015925e-02 4.08781635e-04 -9.99672142e-01 -8.04046758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.510385723 meters 0.01860502721901747 Centerline is valid? [True, True] Translation: X:47.14, Y:-184.18, Z:-8.04 [[-5.44545020e-01 8.38624852e-01 1.33820376e-02 4.71391939e+01] [ 8.38387535e-01 5.44709310e-01 -1.99526539e-02 -1.84178976e+02] [-2.40221119e-02 3.54215188e-04 -9.99711365e-01 -8.04273345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.540385723 meters 0.018229422747066546 Centerline is valid? [True, True] Translation: X:47.15, Y:-184.17, Z:-8.04 [[-6.10245071e-01 7.92085326e-01 1.42052602e-02 4.71505845e+01] [ 7.91881693e-01 6.10410316e-01 -1.79619088e-02 -1.84172412e+02] [-2.28984018e-02 2.87719152e-04 -9.99737756e-01 -8.04414543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.570385723 meters 0.018923284570808295 Centerline is valid? [True, True] Translation: X:47.16, Y:-184.17, Z:-8.04 [[-6.71192327e-01 7.41134570e-01 1.48461858e-02 4.71604782e+01] [ 7.40961572e-01 6.71356452e-01 -1.60144491e-02 -1.84167853e+02] [-2.18359445e-02 2.51677764e-04 -9.99761536e-01 -8.04160934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.600385723 meters 0.018216835632617227 Centerline is valid? [True, True] Translation: X:47.17, Y:-184.16, Z:-8.04 [[-7.27556611e-01 6.85872994e-01 1.54794594e-02 4.71693366e+01] [ 6.85724518e-01 7.27721226e-01 -1.42724288e-02 -1.84161045e+02] [-2.10538047e-02 2.30644908e-04 -9.99778318e-01 -8.04351248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.630385723 meters 0.01798063326929269 Centerline is valid? [True, True] Translation: X:47.18, Y:-184.14, Z:-8.04 [[-7.74936865e-01 6.31848532e-01 1.55012013e-02 4.71840765e+01] [ 6.31727211e-01 7.75091861e-01 -1.23829415e-02 -1.84136451e+02] [-1.98389984e-02 1.96532794e-04 -9.99803168e-01 -8.04433702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.660385723 meters 0.01803425126960036 Centerline is valid? [True, True] Translation: X:47.63, Y:-183.59, Z:-9.02 [[-7.43865575e-01 -6.68178697e-01 1.41857682e-02 4.76315044e+01] [ 6.68051427e-01 -7.44000792e-01 -1.30427426e-02 -1.83590321e+02] [ 1.92691055e-02 -2.25224532e-04 9.99814308e-01 -9.02399189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.690385723 meters 0.018282138680960878 Centerline is valid? [True, True] Translation: X:47.15, Y:-184.12, Z:-8.04 [[-7.77343608e-01 6.28906743e-01 1.46022265e-02 4.71520873e+01] [ 6.28800137e-01 7.77480724e-01 -1.15806210e-02 -1.84118141e+02] [-1.86360802e-02 1.79760356e-04 -9.99826317e-01 -8.04249814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.720385723 meters 0.017842721712825246 Centerline is valid? [True, True] Translation: X:47.17, Y:-184.10, Z:-8.04 [[-8.19847459e-01 5.72398780e-01 1.44838024e-02 4.71719224e+01] [ 5.72313100e-01 8.19975370e-01 -9.90491983e-03 -1.84096129e+02] [-1.75459253e-02 1.68746531e-04 -9.99846044e-01 -8.04426047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.750385723 meters 0.017840412700966927 Centerline is valid? [True, True] Translation: X:47.19, Y:-184.07, Z:-8.04 [[-8.58461967e-01 5.12696530e-01 1.36132067e-02 4.71855418e+01] [ 5.12634808e-01 8.58569884e-01 -7.95661625e-03 -1.84071825e+02] [-1.57672189e-02 1.48151164e-04 -9.99875679e-01 -8.04376475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.780385723 meters 0.017755906140269572 Centerline is valid? [True, True] Translation: X:47.21, Y:-184.05, Z:-8.04 [[-8.92441951e-01 4.50954244e-01 1.36979528e-02 4.72054607e+01] [ 4.50903605e-01 8.92547057e-01 -6.75942636e-03 -1.84050163e+02] [-1.52742595e-02 1.44060658e-04 -9.99883331e-01 -8.04451494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.810385723 meters 0.01765713397916117 Centerline is valid? [True, True] Translation: X:47.22, Y:-184.03, Z:-8.05 [[-9.22571092e-01 3.85600434e-01 1.32244244e-02 4.72161562e+01] [ 3.85562676e-01 9.22665861e-01 -5.39737348e-03 -1.84025439e+02] [-1.42829545e-02 1.19383716e-04 -9.99897986e-01 -8.04518841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.840385723 meters 0.017583299893444686 Centerline is valid? [True, True] Translation: X:47.23, Y:-184.00, Z:-8.05 [[-9.47775402e-01 3.18659148e-01 1.33466875e-02 4.72267344e+01] [ 3.18629177e-01 9.47869366e-01 -4.37173304e-03 -1.83998961e+02] [-1.40440089e-02 1.09223014e-04 -9.99901372e-01 -8.04556041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87038572299997 meters 0.01921834498196878 Centerline is valid? [True, True] Translation: X:47.23, Y:-183.97, Z:-8.04 [[-9.67900542e-01 2.50999107e-01 1.29610376e-02 4.72314139e+01] [ 2.50978107e-01 9.67987312e-01 -3.24861294e-03 -1.83970336e+02] [-1.33615189e-02 1.08602464e-04 -9.99910725e-01 -8.04413966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.900385723 meters 0.017492811688239858 Centerline is valid? [True, True] Translation: X:47.24, Y:-183.94, Z:-8.04 [[-9.83276004e-01 1.81735013e-01 1.18610518e-02 4.72391714e+01] [ 1.81722996e-01 9.83347536e-01 -2.09221316e-03 -1.83944156e+02] [-1.20437644e-02 9.82028647e-05 -9.99927466e-01 -8.04474526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.930385723 meters 0.017534704059998706 Centerline is valid? [True, True] Translation: X:47.23, Y:-183.91, Z:-8.05 [[-9.93616335e-01 1.12237581e-01 1.13712375e-02 4.72296906e+01] [ 1.12231402e-01 9.93681395e-01 -1.18205907e-03 -1.83914532e+02] [-1.14320586e-02 1.01696720e-04 -9.99934647e-01 -8.04501033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.960385723 meters 0.017558029453080767 Centerline is valid? [True, True] Translation: X:47.24, Y:-183.89, Z:-8.05 [[-9.99013973e-01 4.33236026e-02 9.70291881e-03 4.72421118e+01] [ 4.33225842e-02 9.99061086e-01 -3.15211195e-04 -1.83889255e+02] [-9.70746469e-03 1.05455129e-04 -9.99952876e-01 -8.04531561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.990385723 meters 0.017796753177230583 Centerline is valid? [True, True] Translation: X:47.27, Y:-183.15, Z:-9.02 [[-9.96088438e-01 -8.78841241e-02 9.17628299e-03 4.72680492e+01] [ 8.78791784e-02 -9.96130696e-01 -9.41577119e-04 -1.83153015e+02] [ 9.22352684e-03 -1.31489872e-04 9.99957454e-01 -9.02249826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.020385723 meters 0.01790565287281704 Centerline is valid? [True, True] Translation: X:47.16, Y:-183.89, Z:-8.05 [[-9.99145807e-01 4.03579339e-02 8.88220141e-03 4.71590961e+01] [ 4.03573778e-02 9.99185280e-01 -2.41908200e-04 -1.83891080e+02] [-8.88472782e-03 1.16760794e-04 -9.99960523e-01 -8.04537330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.050385723 meters 0.019470766334553878 Centerline is valid? [True, True] Translation: X:47.19, Y:-183.14, Z:-9.02 [[-9.96898569e-01 -7.82928240e-02 7.96725108e-03 4.71866814e+01] [ 7.82890364e-02 -9.96930393e-01 -7.86650304e-04 -1.83144666e+02] [ 8.00438382e-03 -1.60462153e-04 9.99967952e-01 -9.02422279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.080385723 meters 0.018747217158681793 Centerline is valid? [True, True] Translation: X:47.08, Y:-183.89, Z:-8.04 [[-9.99219904e-01 3.87105851e-02 7.81498948e-03 4.70771952e+01] [ 3.87104342e-02 9.99250456e-01 -1.70624036e-04 -1.83893585e+02] [-7.81573675e-03 1.32030703e-04 -9.99969448e-01 -8.04394706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.110385723 meters 0.01916325355209535 Centerline is valid? [True, True] Translation: X:47.10, Y:-183.14, Z:-9.02 [[-9.97447438e-01 -7.10422218e-02 7.18412036e-03 4.70981515e+01] [ 7.10392175e-02 -9.97473296e-01 -6.72828044e-04 -1.83137212e+02] [ 7.21376742e-03 -1.60756320e-04 9.99973968e-01 -9.02449349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.140385723 meters 0.019290024058102675 Centerline is valid? [True, True] Translation: X:46.99, Y:-183.90, Z:-8.04 [[-9.99374110e-01 3.46338746e-02 7.20297838e-03 4.69894746e+01] [ 3.46339284e-02 9.99400059e-01 -1.17304486e-04 -1.83896188e+02] [-7.20271973e-03 1.32236371e-04 -9.99974051e-01 -8.04330315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.170385723 meters 0.019039958374584647 Centerline is valid? [True, True] Translation: X:46.99, Y:-183.87, Z:-8.04 [[-9.99287107e-01 -3.72516115e-02 6.13155130e-03 4.69874534e+01] [-3.72502444e-02 9.99305912e-01 3.37050797e-04 -1.83868131e+02] [-6.13985115e-03 1.08408731e-04 -9.99981145e-01 -8.04371231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.200385723 meters 0.018376047077130822 Centerline is valid? [True, True] Translation: X:46.95, Y:-183.10, Z:-9.02 [[-9.99978504e-01 2.90379161e-03 5.87868286e-03 4.69452406e+01] [-2.90445729e-03 -9.99995777e-01 -1.04701443e-04 -1.83104301e+02] [ 5.87835400e-03 -1.21773576e-04 9.99982715e-01 -9.02437615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.230385723 meters 0.018064435806431033 Centerline is valid? [True, True] Translation: X:46.88, Y:-183.87, Z:-8.04 [[-9.98889882e-01 -4.67624743e-02 5.68107764e-03 4.68809531e+01] [-4.67612522e-02 9.98906034e-01 3.47819822e-04 -1.83872036e+02] [-5.69112765e-03 8.17793963e-05 -9.99983802e-01 -8.04279295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.260385723 meters 0.01766176353046902 Centerline is valid? [True, True] Translation: X:46.84, Y:-183.11, Z:-9.03 [[-9.99963312e-01 5.35364242e-03 6.68682711e-03 4.68370315e+01] [-5.35370341e-03 -9.99985669e-01 8.77845578e-06 -1.83109020e+02] [ 6.68677828e-03 -2.70211554e-05 9.99977643e-01 -9.02701670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.290385723 meters 0.017672972626600367 Centerline is valid? [True, True] Translation: X:46.77, Y:-183.88, Z:-8.04 [[-9.98381670e-01 -5.64570850e-02 6.82925311e-03 4.67680508e+01] [-5.64552539e-02 9.98405024e-01 4.60751612e-04 -1.83879756e+02] [-6.84437331e-03 7.44587456e-05 -9.99976574e-01 -8.04027410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.320385723 meters 0.017441359050440797 Centerline is valid? [True, True] Translation: X:46.72, Y:-183.11, Z:-9.03 [[-9.99932596e-01 9.83010684e-03 6.17837277e-03 4.67150231e+01] [-9.83061306e-03 -9.99951677e-01 -5.15700107e-05 -1.83111785e+02] [ 6.17756728e-03 -1.12303727e-04 9.99980912e-01 -9.02768474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.350385723 meters 0.017441359050440797 Centerline is valid? [True, True] Translation: X:46.66, Y:-183.89, Z:-8.04 [[-9.97949522e-01 -6.37091629e-02 6.15580005e-03 4.66588472e+01] [-6.37075723e-02 9.97968506e-01 4.54332282e-04 -1.83888026e+02] [-6.17223971e-03 6.12296071e-05 -9.99980950e-01 -8.04020072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.380385723 meters 0.01730901248759636 Centerline is valid? [True, True] Translation: X:46.66, Y:-183.86, Z:-8.04 [[-9.90843195e-01 -1.34884066e-01 6.00425705e-03 4.66558878e+01] [-1.34881224e-01 9.90861385e-01 8.77787740e-04 -1.83859923e+02] [-6.06778604e-03 5.98884723e-05 -9.99981589e-01 -8.04074397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.410385723 meters 0.017231642192620765 Centerline is valid? [True, True] Translation: X:46.63, Y:-183.84, Z:-8.04 [[-9.78644777e-01 -2.05494481e-01 5.13994372e-03 4.66317384e+01] [-2.05491356e-01 9.78658273e-01 1.13450824e-03 -1.83836392e+02] [-5.26338363e-03 5.40665616e-05 -9.99986147e-01 -8.04111177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.440385723 meters 0.017657794370402723 Centerline is valid? [True, True] Translation: X:46.59, Y:-183.82, Z:-8.04 [[-9.61632613e-01 -2.74324244e-01 2.98787322e-03 4.65898935e+01] [-2.74322805e-01 9.61637254e-01 8.89450676e-04 -1.83821329e+02] [-3.11724809e-03 3.56830142e-05 -9.99995141e-01 -8.04131072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.470385723 meters 0.017853765814259973 Centerline is valid? [True, True] Translation: X:46.54, Y:-183.81, Z:-8.04 [[-9.39177093e-01 -3.43428286e-01 1.84426378e-03 4.65423207e+01] [-3.43427571e-01 9.39178903e-01 7.00890839e-04 -1.83808606e+02] [-1.97279937e-03 2.48895903e-05 -9.99998054e-01 -8.04190386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.500385723 meters 0.018155312675101714 Centerline is valid? [True, True] Translation: X:46.47, Y:-183.81, Z:-8.04 [[-9.11856395e-01 -4.10509034e-01 4.98297323e-04 4.64744562e+01] [-4.10508968e-01 9.11856531e-01 2.33189985e-04 -1.83810089e+02] [-5.50102264e-04 8.08025960e-06 -9.99999849e-01 -8.04339743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.530385723 meters 0.017368253707335055 Centerline is valid? [True, True] Translation: X:46.39, Y:-183.82, Z:-8.04 [[-8.78975099e-01 -4.76867636e-01 1.80073197e-04 4.63922347e+01] [-4.76867625e-01 8.78975118e-01 1.01419444e-04 -1.83817547e+02] [-2.06643510e-04 3.27408846e-06 -9.99999979e-01 -8.04361116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.560385723 meters 0.017907467436086056 Centerline is valid? [True, True] Translation: X:46.31, Y:-183.84, Z:-8.04 [[-8.40992035e-01 -5.41047406e-01 -3.19995919e-04 4.63075122e+01] [-5.41047364e-01 8.40992095e-01 -2.12597168e-04 -1.83838160e+02] [ 3.84139185e-04 -5.65957567e-06 -9.99999926e-01 -8.04365051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.590385723 meters 0.018500939847343432 Centerline is valid? [True, True] Translation: X:46.22, Y:-183.87, Z:-8.04 [[-7.97974694e-01 -6.02690940e-01 -1.38431906e-04 4.62159051e+01] [-6.02690930e-01 7.97974706e-01 -1.07712928e-04 -1.83870943e+02] [ 1.75382766e-04 -2.52053683e-06 -9.99999985e-01 -8.04363903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62038572299997 meters 0.017756593367795837 Centerline is valid? [True, True] Translation: X:46.12, Y:-183.91, Z:-8.04 [[-7.50181292e-01 -6.61231866e-01 -6.69866397e-04 4.61209877e+01] [-6.61231585e-01 7.50181591e-01 -6.09208567e-04 -1.83910427e+02] [ 9.05349557e-04 -1.40800505e-05 -9.99999590e-01 -8.04384433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.650385723 meters 0.017601892526987767 Centerline is valid? [True, True] Translation: X:46.03, Y:-183.96, Z:-8.04 [[-6.97652254e-01 -7.16435963e-01 -9.18606563e-04 4.60271985e+01] [-7.16435302e-01 6.97652858e-01 -9.73124751e-04 -1.83960879e+02] [ 1.33805006e-03 -2.07805054e-05 -9.99999105e-01 -8.04340719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.680385723 meters 0.01750069953668577 Centerline is valid? [True, True] Translation: X:45.94, Y:-184.02, Z:-8.04 [[-6.40997122e-01 -7.67542327e-01 -1.21068066e-03 4.59363241e+01] [-7.67540869e-01 6.40998264e-01 -1.49636152e-03 -1.84019867e+02] [ 1.92456500e-03 -2.99165460e-05 -9.99998148e-01 -8.04347857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.710385723 meters 0.019124972036847494 Centerline is valid? [True, True] Translation: X:45.84, Y:-184.10, Z:-8.04 [[-5.79573310e-01 -8.14919635e-01 -8.75670455e-04 4.58447078e+01] [-8.14918646e-01 5.79573971e-01 -1.26960086e-03 -1.84097427e+02] [ 1.54213848e-03 -2.22265936e-05 -9.99998811e-01 -8.04182017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.740385723 meters 0.017319762443501318 Centerline is valid? [True, True] Translation: X:45.76, Y:-184.17, Z:-8.04 [[-5.14979062e-01 -8.57202451e-01 -7.24135682e-04 4.57596799e+01] [-8.57201548e-01 5.14979570e-01 -1.24420379e-03 -1.84172277e+02] [ 1.43944962e-03 -2.00086726e-05 -9.99998964e-01 -8.04261416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.770385723 meters 0.017382409389776365 Centerline is valid? [True, True] Translation: X:45.68, Y:-184.27, Z:-8.04 [[-4.46723338e-01 -8.94671950e-01 -6.00591519e-04 4.56768522e+01] [-8.94671088e-01 4.46723741e-01 -1.24245517e-03 -1.84266327e+02] [ 1.37988828e-03 -1.77018526e-05 -9.99999048e-01 -8.04231857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.800385723 meters 0.0171212861471526 Centerline is valid? [True, True] Translation: X:45.60, Y:-184.36, Z:-8.04 [[-3.74692428e-01 -9.27148991e-01 -5.77324514e-04 4.56021135e+01] [-9.27147819e-01 3.74692872e-01 -1.47421021e-03 -1.84361650e+02] [ 1.58313189e-03 -1.71102380e-05 -9.99998747e-01 -8.04198964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.830385723 meters 0.016835078730891004 Centerline is valid? [True, True] Translation: X:45.53, Y:-184.47, Z:-8.04 [[-3.00350338e-01 -9.53828771e-01 -5.91208907e-04 4.55319134e+01] [-9.53826805e-01 3.00350919e-01 -1.93702779e-03 -1.84469920e+02] [ 2.02516298e-03 -1.78760505e-05 -9.99997949e-01 -8.04240194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.860385723 meters 0.016791249551115373 Centerline is valid? [True, True] Translation: X:45.47, Y:-184.59, Z:-8.04 [[-2.25133682e-01 -9.74327751e-01 -5.09163250e-04 4.54708684e+01] [-9.74325066e-01 2.25134257e-01 -2.28730496e-03 -1.84586180e+02] [ 2.34321479e-03 -1.88588693e-05 -9.99997255e-01 -8.04251768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.890385723 meters 0.01671801857996835 Centerline is valid? [True, True] Translation: X:45.42, Y:-184.69, Z:-8.04 [[-1.48165349e-01 -9.88962552e-01 -3.15383836e-04 4.54207141e+01] [-9.88960085e-01 1.48165684e-01 -2.20929689e-03 -1.84691771e+02] [ 2.23164095e-03 -1.54392190e-05 -9.99997510e-01 -8.04235957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.920385723 meters 0.016603907566060682 Centerline is valid? [True, True] Translation: X:45.38, Y:-184.82, Z:-8.04 [[-7.03711476e-02 -9.97520869e-01 -1.30173445e-04 4.53770671e+01] [-9.97518840e-01 7.03712670e-02 -2.01201918e-03 -1.84815861e+02] [ 2.01619159e-03 -1.17376350e-05 -9.99997967e-01 -8.04163165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.950385723 meters 0.018440985570701146 Centerline is valid? [True, True] Translation: X:45.34, Y:-184.95, Z:-8.04 [[ 8.28589844e-03 -9.99965671e-01 2.09842667e-05 4.53435149e+01] [-9.99964280e-01 -8.28592192e-03 -1.66800581e-03 -1.84947011e+02] [ 1.66812242e-03 -7.16259040e-06 -9.99998609e-01 -8.03905983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.980385723 meters 0.016433391600956138 Centerline is valid? [True, True] Translation: X:45.32, Y:-185.06, Z:-8.04 [[ 8.59261829e-02 -9.96301483e-01 2.15074903e-04 4.53189698e+01] [-9.96298633e-01 -8.59264515e-02 -2.38296480e-03 -1.85057431e+02] [ 2.39263199e-03 -9.51976251e-06 -9.99997138e-01 -8.04163301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.010385723 meters 0.01642100395688338 Centerline is valid? [True, True] Translation: X:45.31, Y:-185.19, Z:-8.04 [[ 1.62339132e-01 -9.86734949e-01 3.83039322e-04 4.53055859e+01] [-9.86732340e-01 -1.62339584e-01 -2.26898033e-03 -1.85186491e+02] [ 2.30106464e-03 -9.61298765e-06 -9.99997353e-01 -8.04184523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.040385723 meters 0.016312849056269972 Centerline is valid? [True, True] Translation: X:45.30, Y:-185.31, Z:-8.04 [[ 2.37875848e-01 -9.71295437e-01 5.05752879e-04 4.53016442e+01] [-9.71293321e-01 -2.37876386e-01 -2.02703323e-03 -1.85314375e+02] [ 2.08915479e-03 -9.05214499e-06 -9.99997818e-01 -8.04148059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.070385723 meters 0.01640566712796789 Centerline is valid? [True, True] Translation: X:45.31, Y:-185.44, Z:-8.04 [[ 3.11809569e-01 -9.50144402e-01 6.38316893e-04 4.53061956e+01] [-9.50142472e-01 -3.11810222e-01 -1.91525246e-03 -1.85438645e+02] [ 2.01880014e-03 -9.29794570e-06 -9.99997962e-01 -8.04068491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.100385723 meters 0.016441725555770875 Centerline is valid? [True, True] Translation: X:45.32, Y:-185.56, Z:-8.04 [[ 3.83180967e-01 -9.23673179e-01 4.51816826e-04 4.53208411e+01] [-9.23672557e-01 -3.83181234e-01 -1.07227316e-03 -1.85562810e+02] [ 1.16355769e-03 -6.45613591e-06 -9.99999323e-01 -8.04020474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.130385723 meters 0.016327639705928022 Centerline is valid? [True, True] Translation: X:45.35, Y:-185.69, Z:-8.04 [[ 4.51788642e-01 -8.92124879e-01 4.72993444e-04 4.53468919e+01] [-8.92124406e-01 -4.51788890e-01 -9.17947126e-04 -1.85687838e+02] [ 1.03261665e-03 -7.25090982e-06 -9.99999467e-01 -8.04041404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.160385723 meters 0.016420592925693537 Centerline is valid? [True, True] Translation: X:45.38, Y:-185.80, Z:-8.04 [[ 5.18437997e-01 -8.55115164e-01 3.15733312e-04 4.53777349e+01] [-8.55115010e-01 -5.18438094e-01 -5.11989625e-04 -1.85802762e+02] [ 6.01498268e-04 -4.55341875e-06 -9.99999819e-01 -8.03969605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.190385723 meters 0.01642963196240153 Centerline is valid? [True, True] Translation: X:45.42, Y:-185.91, Z:-8.04 [[ 5.81768112e-01 -8.13354693e-01 -8.56262752e-05 4.54164764e+01] [-8.13354684e-01 -5.81768119e-01 1.17164706e-04 -1.85913968e+02] [-1.45111100e-04 1.48184236e-06 -9.99999990e-01 -8.03902436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.220385723 meters 0.016529670012024225 Centerline is valid? [True, True] Translation: X:45.46, Y:-186.02, Z:-8.04 [[ 6.41885939e-01 -7.66799744e-01 -7.70291709e-04 4.54635691e+01] [-7.66799213e-01 -6.41886401e-01 9.02494553e-04 -1.86021944e+02] [-1.18647237e-03 1.13605127e-05 -9.99999296e-01 -8.03824936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.250385723 meters 0.01658113981385648 Centerline is valid? [True, True] Translation: X:45.52, Y:-186.13, Z:-8.04 [[ 6.97814081e-01 -7.16276777e-01 -1.75735811e-03 4.55167502e+01] [-7.16274600e-01 -6.97816293e-01 1.76607220e-03 -1.86125521e+02] [-2.49130962e-03 2.63609240e-05 -9.99996896e-01 -8.03684426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.280385723 meters 0.018944356817288333 Centerline is valid? [True, True] Translation: X:45.58, Y:-186.22, Z:-8.03 [[ 7.48929282e-01 -6.62642615e-01 -3.11376388e-03 4.55773600e+01] [-6.62637176e-01 -7.48935753e-01 2.68520262e-03 -1.86222036e+02] [-4.11133878e-03 5.22688331e-05 -9.99991547e-01 -8.03432765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.310385723 meters 0.016953396988285345 Centerline is valid? [True, True] Translation: X:45.57, Y:-186.23, Z:-8.04 [[ 7.98036802e-01 -6.02601129e-01 -3.02340668e-03 4.55721722e+01] [-6.02597042e-01 -7.98042528e-01 2.22000858e-03 -1.86228949e+02] [-3.75058679e-03 5.02473775e-05 -9.99992965e-01 -8.03624494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.340385723 meters 0.01705295647562814 Centerline is valid? [True, True] Translation: X:45.57, Y:-186.24, Z:-8.04 [[ 8.41935379e-01 -5.39570298e-01 -2.95156059e-03 4.55658688e+01] [-5.39567195e-01 -8.41940551e-01 1.83046408e-03 -1.86239050e+02] [-3.47270260e-03 5.14327976e-05 -9.99993969e-01 -8.03676764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37038572299997 meters 0.018216629872918267 Centerline is valid? [True, True] Translation: X:45.56, Y:-186.25, Z:-8.04 [[ 8.79993793e-01 -4.74972249e-01 -3.50521607e-03 4.55614115e+01] [-4.74968802e-01 -8.80000771e-01 1.81108680e-03 -1.86246904e+02] [-3.94480881e-03 7.11231296e-05 -9.99992217e-01 -8.03657159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.400385723 meters 0.017914934270234977 Centerline is valid? [True, True] Translation: X:45.56, Y:-186.26, Z:-8.04 [[ 9.13788660e-01 -4.06177098e-01 -3.23258542e-03 4.55567728e+01] [-4.06174822e-01 -9.13794375e-01 1.36145437e-03 -1.86257293e+02] [-3.50690996e-03 6.89132419e-05 -9.99993848e-01 -8.03700732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.430385723 meters 0.018433270122943986 Centerline is valid? [True, True] Translation: X:45.55, Y:-186.27, Z:-8.04 [[ 9.41807725e-01 -3.36137447e-01 -3.13461785e-03 4.55532753e+01] [-3.36135846e-01 -9.41812939e-01 1.03999175e-03 -1.86268730e+02] [-3.30180382e-03 7.41851574e-05 -9.99994546e-01 -8.03715551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.460385723 meters 0.0192025028446159 Centerline is valid? [True, True] Translation: X:45.55, Y:-186.28, Z:-8.04 [[ 9.64943739e-01 -2.62444266e-01 -2.56673199e-03 4.55509524e+01] [-2.62443508e-01 -9.64947151e-01 6.33751866e-04 -1.86277580e+02] [-2.64308526e-03 6.20872523e-05 -9.99996505e-01 -8.03737748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.490385723 meters 0.019129514590811317 Centerline is valid? [True, True] Translation: X:45.55, Y:-186.29, Z:-8.04 [[ 9.82385941e-01 -1.86850231e-01 -2.20321256e-03 4.55471591e+01] [-1.86849884e-01 -9.82388410e-01 3.63775803e-04 -1.86287444e+02] [-2.23238208e-03 5.43017785e-05 -9.99997507e-01 -8.03800983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.520385723 meters 0.019590749747180097 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.30, Z:-8.04 [[ 9.93952773e-01 -1.09803662e-01 -1.02011197e-03 4.55423591e+01] [-1.09803630e-01 -9.93953296e-01 8.71033491e-05 -1.86298054e+02] [-1.02350792e-03 2.54353823e-05 -9.99999476e-01 -8.03825853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.550385723 meters 0.01962946943475462 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.31, Z:-8.04 [[ 9.99501468e-01 -3.15525316e-02 -1.11911343e-03 4.55385278e+01] [-3.15525428e-02 -9.99502095e-01 7.65032002e-06 -1.86307181e+02] [-1.11879760e-03 2.76643682e-05 -9.99999374e-01 -8.03885330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.580385723 meters 0.019723216208778566 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.31, Z:-8.04 [[ 9.98882920e-01 4.72318981e-02 -1.43501400e-03 4.55359822e+01] [ 4.72317992e-02 -9.98883951e-01 -1.02766488e-04 -1.86314442e+02] [-1.43826631e-03 3.48733962e-05 -9.99998965e-01 -8.03864538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.610385723 meters 0.018405001218579287 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.33, Z:-8.04 [[ 9.92003674e-01 1.26201967e-01 -1.33198650e-03 4.55358723e+01] [ 1.26201810e-01 -9.92004568e-01 -2.01100821e-04 -1.86329655e+02] [-1.34671601e-03 3.13936452e-05 -9.99999093e-01 -8.03856522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.640385723 meters 0.018453071002336945 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.34, Z:-8.04 [[ 9.78853158e-01 2.04559056e-01 -1.44471319e-03 4.55352252e+01] [ 2.04558783e-01 -9.78854224e-01 -3.35521125e-04 -1.86341937e+02] [-1.48279749e-03 3.28971409e-05 -9.99998900e-01 -8.03778585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.670385723 meters 0.017552403031346087 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.36, Z:-8.04 [[ 9.59021463e-01 2.83322455e-01 -2.49417338e-03 4.55381903e+01] [ 2.83321360e-01 -9.59024705e-01 -7.89365129e-04 -1.86358785e+02] [-2.61561876e-03 5.03655063e-05 -9.99996578e-01 -8.03609225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.700385723 meters 0.01737813152095745 Centerline is valid? [True, True] Translation: X:45.54, Y:-186.37, Z:-8.03 [[ 9.32901162e-01 3.60120608e-01 -2.92743289e-03 4.55408723e+01] [ 3.60118660e-01 -9.32905754e-01 -1.18573926e-03 -1.86372458e+02] [-3.15802813e-03 5.19543237e-05 -9.99995012e-01 -8.03436207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.730385723 meters 0.016926045725190086 Centerline is valid? [True, True] Translation: X:45.55, Y:-186.38, Z:-8.03 [[ 9.01368297e-01 4.33037915e-01 -3.65478466e-03 4.55453428e+01] [ 4.33034073e-01 -9.01375704e-01 -1.82531933e-03 -1.86383474e+02] [-4.08476657e-03 6.26386891e-05 -9.99991655e-01 -8.03390390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.760385723 meters 0.01670153564991561 Centerline is valid? [True, True] Translation: X:45.55, Y:-186.39, Z:-8.03 [[ 8.64130340e-01 5.03253030e-01 -3.89141766e-03 4.55502702e+01] [ 5.03247590e-01 -8.64139100e-01 -2.34086944e-03 -1.86392802e+02] [-4.54077579e-03 6.44697445e-05 -9.99989689e-01 -8.03351484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.790385723 meters 0.017827574453306145 Centerline is valid? [True, True] Translation: X:45.56, Y:-186.41, Z:-8.03 [[ 8.20840863e-01 5.71134678e-01 -5.04550608e-03 4.55614358e+01] [ 5.71123329e-01 -8.20856366e-01 -3.60131372e-03 -1.86408734e+02] [-6.19847094e-03 7.44992369e-05 -9.99980787e-01 -8.03277279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.820385723 meters 0.01609988762800662 Centerline is valid? [True, True] Translation: X:45.57, Y:-186.42, Z:-8.03 [[ 7.72637122e-01 6.34836068e-01 -3.87872327e-03 4.55692194e+01] [ 6.34827722e-01 -7.72646856e-01 -3.25555781e-03 -1.86419992e+02] [-5.06362886e-03 5.30437626e-05 -9.99987178e-01 -8.03365990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.850385723 meters 0.015808106940714335 Centerline is valid? [True, True] Translation: X:45.58, Y:-186.43, Z:-8.03 [[ 7.19100231e-01 6.94897981e-01 -3.41367116e-03 4.55754321e+01] [ 6.94889885e-01 -7.19108333e-01 -3.35451415e-03 -1.86428639e+02] [-4.78584449e-03 4.01063376e-05 -9.99988547e-01 -8.03396597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.880385723 meters 0.015803060500848325 Centerline is valid? [True, True] Translation: X:45.58, Y:-186.43, Z:-8.03 [[ 6.61892572e-01 7.49591852e-01 -3.20601503e-03 4.55797550e+01] [ 7.49582786e-01 -6.61900335e-01 -3.68694291e-03 -1.86434024e+02] [-4.88576478e-03 3.71864469e-05 -9.99988064e-01 -8.03371528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.910385723 meters 0.01554174856400106 Centerline is valid? [True, True] Translation: X:45.59, Y:-186.45, Z:-8.04 [[ 6.00088436e-01 7.99927614e-01 -3.11157859e-03 4.55941291e+01] [ 7.99916576e-01 -6.00096502e-01 -4.20237661e-03 -1.86445277e+02] [-5.22884452e-03 3.27943157e-05 -9.99986329e-01 -8.03504755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.940385723 meters 0.01575303334935378 Centerline is valid? [True, True] Translation: X:45.61, Y:-186.45, Z:-8.04 [[ 5.35803568e-01 8.44338532e-01 -2.64188532e-03 4.56053900e+01] [ 8.44327970e-01 -5.35810080e-01 -4.22332984e-03 -1.86453742e+02] [-4.98146891e-03 3.22575298e-05 -9.99987592e-01 -8.03502182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.970385723 meters 0.015684078825942156 Centerline is valid? [True, True] Translation: X:45.62, Y:-186.46, Z:-8.04 [[ 4.68302726e-01 8.83564564e-01 -2.49371400e-03 4.56187610e+01] [ 8.83551617e-01 -4.68309364e-01 -4.78320657e-03 -1.86460170e+02] [-5.39410145e-03 3.66636414e-05 -9.99985451e-01 -8.03507616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.000385723 meters 0.01582081664469377 Centerline is valid? [True, True] Translation: X:45.63, Y:-186.47, Z:-8.03 [[ 3.98759718e-01 9.17051953e-01 -2.53038764e-03 4.56314321e+01] [ 9.17032666e-01 -3.98767743e-01 -5.94785386e-03 -1.86466748e+02] [-6.46352796e-03 5.13164069e-05 -9.99979110e-01 -8.03465895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.030385723 meters 0.015782205904776598 Centerline is valid? [True, True] Translation: X:45.65, Y:-186.47, Z:-8.04 [[ 3.26441207e-01 9.45215057e-01 -2.15302093e-03 4.56472036e+01] [ 9.45193288e-01 -3.26448301e-01 -6.41514627e-03 -1.86471474e+02] [-6.76654286e-03 5.91471586e-05 -9.99977105e-01 -8.03531751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.060385723 meters 0.016084334225475765 Centerline is valid? [True, True] Translation: X:45.66, Y:-186.48, Z:-8.03 [[ 2.52729485e-01 9.67535713e-01 -1.56578969e-03 4.56619300e+01] [ 9.67515514e-01 -2.52734327e-01 -6.25220084e-03 -1.86475795e+02] [-6.44495640e-03 6.51896766e-05 -9.99979229e-01 -8.03482080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.090385723 meters 0.01613728426984816 Centerline is valid? [True, True] Translation: X:45.68, Y:-186.48, Z:-8.04 [[ 1.77247174e-01 9.84165870e-01 -9.89692427e-04 4.56767326e+01] [ 9.84148356e-01 -1.77249925e-01 -5.87178386e-03 -1.86478325e+02] [-5.95423218e-03 6.67529218e-05 -9.99982271e-01 -8.03555761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12038572299997 meters 0.016170439378579128 Centerline is valid? [True, True] Translation: X:45.69, Y:-186.48, Z:-8.04 [[ 9.98700926e-02 9.95000308e-01 -5.92885810e-04 4.56887205e+01] [ 9.94977909e-01 -9.98718228e-02 -6.67680876e-03 -1.86480370e+02] [-6.70263936e-03 7.69052254e-05 -9.99977534e-01 -8.03550770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.150385723 meters 0.016238181301784872 Centerline is valid? [True, True] Translation: X:45.70, Y:-186.48, Z:-8.04 [[ 2.20197467e-02 9.99757533e-01 -7.27337652e-05 4.57011676e+01] [ 9.99732002e-01 -2.20197042e-02 -7.14540913e-03 -1.86480691e+02] [-7.14527818e-03 8.46258264e-05 -9.99974469e-01 -8.03511991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.180385723 meters 0.01820503248356052 Centerline is valid? [True, True] Translation: X:45.72, Y:-186.48, Z:-8.03 [[-5.60178445e-02 9.98429578e-01 6.15192245e-04 4.57150806e+01] [ 9.98389023e-01 5.60211144e-02 -8.99959345e-03 -1.86479345e+02] [-9.01992405e-03 1.10063358e-04 -9.99959314e-01 -8.03293700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.210385723 meters 0.016328000524359038 Centerline is valid? [True, True] Translation: X:45.73, Y:-186.48, Z:-8.03 [[-1.35239247e-01 9.90812224e-01 1.21787688e-03 4.57275313e+01] [ 9.90777922e-01 1.35244700e-01 -8.24504745e-03 -1.86478274e+02] [-8.33400519e-03 9.15915163e-05 -9.99965267e-01 -8.03389165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.240385723 meters 0.016328000524359038 Centerline is valid? [True, True] Translation: X:45.74, Y:-186.48, Z:-8.03 [[-2.12444004e-01 9.77171472e-01 1.86007581e-03 4.57384844e+01] [ 9.77137702e-01 2.12452127e-01 -8.12430142e-03 -1.86476061e+02] [-8.33401263e-03 9.15910787e-05 -9.99965267e-01 -8.03389158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.270385723 meters 0.016337725067874533 Centerline is valid? [True, True] Translation: X:45.75, Y:-186.47, Z:-8.03 [[-2.89028280e-01 9.57317059e-01 2.58897284e-03 4.57487033e+01] [ 9.57281361e-01 2.89039861e-01 -8.26774161e-03 -1.86472706e+02] [-8.66316643e-03 8.87643112e-05 -9.99962470e-01 -8.03399124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.300385723 meters 0.01644823816865537 Centerline is valid? [True, True] Translation: X:45.76, Y:-186.47, Z:-8.03 [[-3.64532345e-01 9.31185234e-01 3.19834991e-03 4.57581214e+01] [ 9.31151179e-01 3.64546368e-01 -7.96416739e-03 -1.86470283e+02] [-8.58206192e-03 7.49506795e-05 -9.99963171e-01 -8.03305497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.330385723 meters 0.017392570436278218 Centerline is valid? [True, True] Translation: X:45.77, Y:-186.47, Z:-8.03 [[-4.37227235e-01 8.99342749e-01 3.86853722e-03 4.57674991e+01] [ 8.99308905e-01 4.37244344e-01 -7.80240745e-03 -1.86465072e+02] [-8.70853458e-03 6.75849349e-05 -9.99962078e-01 -8.03309203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.360385723 meters 0.015957052892772335 Centerline is valid? [True, True] Translation: X:45.78, Y:-186.46, Z:-8.03 [[-5.07530110e-01 8.61624550e-01 4.04005816e-03 4.57769955e+01] [ 8.61598032e-01 5.07546187e-01 -6.76009688e-03 -1.86458820e+02] [-7.87518155e-03 4.99534473e-05 -9.99968989e-01 -8.03417007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.390385723 meters 0.01577820086540528 Centerline is valid? [True, True] Translation: X:45.79, Y:-186.45, Z:-8.03 [[-5.75970905e-01 8.17459874e-01 4.10738918e-03 4.57852482e+01] [ 8.17439378e-01 5.75985550e-01 -5.78875753e-03 -1.86453371e+02] [-7.09787382e-03 2.33857433e-05 -9.99974810e-01 -8.03439010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.420385723 meters 0.015784983807365715 Centerline is valid? [True, True] Translation: X:45.79, Y:-186.45, Z:-8.04 [[-6.39140373e-01 7.69077537e-01 4.39617828e-03 4.57920985e+01] [ 7.69059502e-01 6.39155491e-01 -5.26682856e-03 -1.86446072e+02] [-6.86044103e-03 1.46799131e-05 -9.99976467e-01 -8.03523336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.450385723 meters 0.01588159998853324 Centerline is valid? [True, True] Translation: X:45.80, Y:-186.44, Z:-8.04 [[-6.98574520e-01 7.15521858e-01 4.70218755e-03 4.58001644e+01] [ 7.15505681e-01 6.98590345e-01 -4.81155802e-03 -1.86437264e+02] [-6.72767776e-03 3.21006951e-06 -9.99977369e-01 -8.03509777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.480385723 meters 0.016814945056151276 Centerline is valid? [True, True] Translation: X:45.81, Y:-186.43, Z:-8.03 [[-7.52517606e-01 6.58551501e-01 5.21292140e-03 4.58068563e+01] [ 6.58535722e-01 7.52535661e-01 -4.55863687e-03 -1.86428954e+02] [-6.92500640e-03 2.44046198e-06 -9.99976022e-01 -8.03331675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.510385723 meters 0.01594368497089595 Centerline is valid? [True, True] Translation: X:45.83, Y:-186.41, Z:-8.03 [[-7.97232605e-01 6.03646830e-01 5.53878660e-03 4.58256611e+01] [ 6.03632283e-01 7.97251846e-01 -4.19061443e-03 -1.86409117e+02] [-6.94545896e-03 2.49594326e-06 -9.99975880e-01 -8.03348617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.540385723 meters 0.015914174292631138 Centerline is valid? [True, True] Translation: X:45.84, Y:-186.39, Z:-8.03 [[-8.37757348e-01 5.46014308e-01 5.56790087e-03 4.58404347e+01] [ 5.46002286e-01 8.37775851e-01 -3.62322034e-03 -1.86385742e+02] [-6.64298303e-03 4.70713646e-06 -9.99977935e-01 -8.03346456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.570385723 meters 0.01789316824081709 Centerline is valid? [True, True] Translation: X:45.85, Y:-186.36, Z:-8.03 [[-8.73590262e-01 4.86617048e-01 6.62591315e-03 4.58513816e+01] [ 4.86603198e-01 8.73615390e-01 -3.67130972e-03 -1.86361786e+02] [-7.57502159e-03 1.69701049e-05 -9.99971309e-01 -8.03194552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.600385723 meters 0.01606708312283227 Centerline is valid? [True, True] Translation: X:45.86, Y:-186.34, Z:-8.03 [[-9.05605442e-01 4.24076966e-01 6.12459615e-03 4.58625936e+01] [ 4.24067414e-01 9.05626152e-01 -2.84635208e-03 -1.86336517e+02] [-6.75366680e-03 1.95697188e-05 -9.99977194e-01 -8.03359587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.630385723 meters 0.016185609193526383 Centerline is valid? [True, True] Translation: X:46.13, Y:-185.76, Z:-9.03 [[-8.78701163e-01 -4.77337165e-01 5.78769056e-03 4.61324692e+01] [ 4.77326599e-01 -8.78720223e-01 -3.17611513e-03 -1.85756572e+02] [ 6.60183853e-03 -2.82374080e-05 9.99978207e-01 -9.03397326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.660385723 meters 0.01637254260316683 Centerline is valid? [True, True] Translation: X:45.82, Y:-186.32, Z:-8.03 [[-9.05921273e-01 4.23400839e-01 6.19485557e-03 4.58196665e+01] [ 4.23391240e-01 9.05942453e-01 -2.85128928e-03 -1.86322381e+02] [-6.81942092e-03 3.98039592e-05 -9.99976747e-01 -8.03314823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.690385723 meters 0.01639439796054686 Centerline is valid? [True, True] Translation: X:46.09, Y:-185.74, Z:-9.03 [[-8.81230529e-01 -4.72647052e-01 6.12526304e-03 4.60929129e+01] [ 4.72635386e-01 -8.81251816e-01 -3.32102586e-03 -1.85736959e+02] [ 6.96757226e-03 -3.15733125e-05 9.99975726e-01 -9.03484644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.720385723 meters 0.016712073754294295 Centerline is valid? [True, True] Translation: X:45.78, Y:-186.31, Z:-8.03 [[-9.06551778e-01 4.22045490e-01 6.44038732e-03 4.57765285e+01] [ 4.22035282e-01 9.06574653e-01 -2.93590423e-03 -1.86307440e+02] [-7.07777704e-03 5.65214745e-05 -9.99974951e-01 -8.03229291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.750385723 meters 0.01853450559616091 Centerline is valid? [True, True] Translation: X:45.78, Y:-186.28, Z:-8.03 [[-9.33855700e-01 3.57578617e-01 7.14590990e-03 4.57838358e+01] [ 3.57568705e-01 9.33883038e-01 -2.66323459e-03 -1.86281156e+02] [-7.62575979e-03 6.80769459e-05 -9.99970921e-01 -8.03030641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.780385723 meters 0.01717553751908639 Centerline is valid? [True, True] Translation: X:45.79, Y:-186.25, Z:-8.03 [[-9.56623104e-01 2.91232374e-01 7.47935148e-03 4.57905639e+01] [ 2.91224093e-01 9.56652340e-01 -2.19747476e-03 -1.86254946e+02] [-7.79511488e-03 7.60122237e-05 -9.99969615e-01 -8.03104807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.810385723 meters 0.016799238315891724 Centerline is valid? [True, True] Translation: X:45.80, Y:-186.23, Z:-8.03 [[-9.74695779e-01 2.23409343e-01 7.51027594e-03 4.57983007e+01] [ 2.23403353e-01 9.74724709e-01 -1.63799955e-03 -1.86226395e+02] [-7.68639593e-03 8.12695811e-05 -9.99970456e-01 -8.03232591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.840385723 meters 0.017205157445947306 Centerline is valid? [True, True] Translation: X:45.80, Y:-186.20, Z:-8.03 [[-9.87883259e-01 1.55043003e-01 6.95224294e-03 4.57952380e+01] [ 1.55039763e-01 9.87907719e-01 -1.00574197e-03 -1.86200416e+02] [-7.02410771e-03 8.43184437e-05 -9.99975327e-01 -8.03219735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87038572299997 meters 0.01711519155511193 Centerline is valid? [True, True] Translation: X:45.80, Y:-186.17, Z:-8.03 [[-9.96387356e-01 8.46491495e-02 6.83795872e-03 4.57971942e+01] [ 8.46477325e-02 9.96410816e-01 -4.96891536e-04 -1.86171973e+02] [-6.85547747e-03 8.37212561e-05 -9.99976497e-01 -8.03262853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.900385723 meters 0.017035019964912183 Centerline is valid? [True, True] Translation: X:45.79, Y:-186.14, Z:-8.03 [[-9.99882941e-01 1.36319555e-02 6.94803030e-03 4.57940773e+01] [ 1.36322192e-02 9.99907077e-01 -9.40491058e-06 -1.86143869e+02] [-6.94751287e-03 8.53132622e-05 -9.99975862e-01 -8.03279449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.930385723 meters 0.01721046718658915 Centerline is valid? [True, True] Translation: X:45.79, Y:-186.12, Z:-8.03 [[-9.98283589e-01 -5.80803730e-02 7.51972850e-03 4.57853923e+01] [-5.80780543e-02 9.98311906e-01 5.26535319e-04 -1.86117634e+02] [-7.53761586e-03 8.89003680e-05 -9.99971588e-01 -8.03229385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.960385723 meters 0.017384043003823887 Centerline is valid? [True, True] Translation: X:45.74, Y:-185.44, Z:-9.04 [[-9.99873485e-01 1.39237831e-02 7.69042390e-03 4.57356283e+01] [-1.39239903e-02 -9.99903056e-01 2.66045123e-05 -1.85441893e+02] [ 7.69004880e-03 -8.04802413e-05 9.99970428e-01 -9.03540529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.990385723 meters 0.016957716048080152 Centerline is valid? [True, True] Translation: X:45.68, Y:-186.13, Z:-8.03 [[-9.97874198e-01 -6.48071852e-02 6.86391546e-03 4.56842034e+01] [-6.48051255e-02 9.97897802e-01 5.22302236e-04 -1.86125122e+02] [-6.88333509e-03 7.63750224e-05 -9.99976307e-01 -8.03297735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.020385723 meters 0.01686142941292368 Centerline is valid? [True, True] Translation: X:45.67, Y:-186.10, Z:-8.03 [[-9.90561317e-01 -1.36934589e-01 6.09880896e-03 4.56721808e+01] [-1.36931612e-01 9.90580090e-01 9.04904983e-04 -1.86098541e+02] [-6.16527152e-03 6.12441279e-05 -9.99980993e-01 -8.03393546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.050385723 meters 0.016725318931820155 Centerline is valid? [True, True] Translation: X:45.57, Y:-185.42, Z:-9.03 [[-9.96039160e-01 8.87488033e-02 5.44438945e-03 4.55653861e+01] [-8.87480370e-02 -9.96054034e-01 3.82664641e-04 -1.85424379e+02] [ 5.45686711e-03 -1.02029909e-04 9.99985106e-01 -9.03344188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.080385723 meters 0.016704917092610058 Centerline is valid? [True, True] Translation: X:45.55, Y:-186.12, Z:-8.03 [[-9.89235836e-01 -1.46242160e-01 5.06859956e-03 4.55528513e+01] [-1.46240063e-01 9.89248821e-01 7.83960011e-04 -1.86115675e+02] [-5.12875414e-03 3.42890181e-05 -9.99986847e-01 -8.03449898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.110385723 meters 0.01666189255633279 Centerline is valid? [True, True] Translation: X:45.44, Y:-185.44, Z:-9.03 [[-9.95835833e-01 9.10176942e-02 5.17421143e-03 4.54412108e+01] [-9.10166240e-02 -9.95849275e-01 4.42433992e-04 -1.85441172e+02] [ 5.19300402e-03 -3.03476329e-05 9.99986516e-01 -9.03396546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.140385723 meters 0.01661879262970112 Centerline is valid? [True, True] Translation: X:45.44, Y:-186.13, Z:-8.03 [[-9.87740207e-01 -1.55983846e-01 6.19055551e-03 4.54362292e+01] [-1.55980666e-01 9.87759606e-01 9.96189238e-04 -1.86132363e+02] [-6.27017010e-03 1.83691928e-05 -9.99980342e-01 -8.03373791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.170385723 meters 0.01669410483925323 Centerline is valid? [True, True] Translation: X:45.41, Y:-186.11, Z:-8.03 [[-9.73740092e-01 -2.27572396e-01 6.40611817e-03 4.54128492e+01] [-2.27567388e-01 9.73761164e-01 1.50980676e-03 -1.86107788e+02] [-6.58161942e-03 1.23357907e-05 -9.99978341e-01 -8.03355190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.200385723 meters 0.016712493662545503 Centerline is valid? [True, True] Translation: X:45.38, Y:-186.09, Z:-8.03 [[-9.54555491e-01 -2.97953105e-01 6.91103799e-03 4.53785649e+01] [-2.97945239e-01 9.54580509e-01 2.16502058e-03 -1.86088518e+02] [-7.24221676e-03 7.52141804e-06 -9.99973775e-01 -8.03346245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.230385723 meters 0.016737997967747744 Centerline is valid? [True, True] Translation: X:45.32, Y:-186.08, Z:-8.03 [[-9.30327131e-01 -3.66661187e-01 7.14161702e-03 4.53152880e+01] [-3.66650282e-01 9.30354542e-01 2.82790217e-03 -1.86080862e+02] [-7.68111780e-03 1.23982191e-05 -9.99970500e-01 -8.03277730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.260385723 meters 0.016927973639032617 Centerline is valid? [True, True] Translation: X:45.25, Y:-186.08, Z:-8.03 [[-9.01501012e-01 -4.32710666e-01 7.57658829e-03 4.52483849e+01] [-4.32695113e-01 9.01532849e-01 3.66884796e-03 -1.86081201e+02] [-8.41809288e-03 2.91174217e-05 -9.99964567e-01 -8.03141247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.290385723 meters 0.016865320468135086 Centerline is valid? [True, True] Translation: X:45.17, Y:-186.09, Z:-8.03 [[-8.67457634e-01 -4.97460627e-01 7.08367796e-03 4.51715585e+01] [-4.97443681e-01 8.67486555e-01 4.10617182e-03 -1.86090796e+02] [-8.18765420e-03 3.81992522e-05 -9.99966480e-01 -8.03186537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.320385723 meters 0.0171265294289349 Centerline is valid? [True, True] Translation: X:45.09, Y:-186.11, Z:-8.03 [[-8.29010201e-01 -5.59188639e-01 7.08181585e-03 4.50894779e+01] [-5.59167636e-01 8.29040447e-01 4.84694720e-03 -1.86114030e+02] [-8.58146958e-03 5.82464547e-05 -9.99963177e-01 -8.03222679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.350385723 meters 0.017192037072278274 Centerline is valid? [True, True] Translation: X:45.00, Y:-186.15, Z:-8.03 [[-7.85111978e-01 -6.19313605e-01 7.05979329e-03 4.50014473e+01] [-6.19287784e-01 7.85143716e-01 5.65565232e-03 -1.86145689e+02] [-9.04557476e-03 6.82766428e-05 -9.99959086e-01 -8.03236190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.380385723 meters 0.01731762029822458 Centerline is valid? [True, True] Translation: X:44.91, Y:-186.19, Z:-8.03 [[-7.36725603e-01 -6.76158791e-01 6.68393378e-03 4.49114640e+01] [-6.76130011e-01 7.36755919e-01 6.23892128e-03 -1.86189259e+02] [-9.14292924e-03 7.71648155e-05 -9.99958200e-01 -8.03185705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.410385723 meters 0.01738975782091584 Centerline is valid? [True, True] Translation: X:44.82, Y:-186.24, Z:-8.03 [[-6.83427589e-01 -7.29992290e-01 6.16340099e-03 4.48212082e+01] [-7.29961581e-01 6.83455376e-01 6.69622589e-03 -1.86240583e+02] [-9.10060282e-03 7.73395835e-05 -9.99958586e-01 -8.03173188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.440385723 meters 0.01932379343594019 Centerline is valid? [True, True] Translation: X:44.73, Y:-186.30, Z:-8.03 [[-6.25990013e-01 -7.79813545e-01 5.22872745e-03 4.47328790e+01] [-7.79785371e-01 6.26011845e-01 6.62916145e-03 -1.86304572e+02] [-8.44275521e-03 7.25036881e-05 -9.99964357e-01 -8.03075427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.470385723 meters 0.018920019853056788 Centerline is valid? [True, True] Translation: X:44.65, Y:-186.38, Z:-8.03 [[-5.64486509e-01 -8.25428739e-01 4.73051985e-03 4.46458541e+01] [-8.25398705e-01 5.64506326e-01 7.04171535e-03 -1.86376831e+02] [-8.48284260e-03 7.03883541e-05 -9.99964018e-01 -8.03178626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.500385723 meters 0.017191800120705744 Centerline is valid? [True, True] Translation: X:44.56, Y:-186.46, Z:-8.03 [[-4.99237535e-01 -8.66455910e-01 4.00497612e-03 4.45625489e+01] [-8.66427017e-01 4.99253595e-01 7.07617283e-03 -1.86462034e+02] [-8.13069049e-03 6.26715688e-05 -9.99966943e-01 -8.03417116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.530385723 meters 0.01708763126133141 Centerline is valid? [True, True] Translation: X:44.49, Y:-186.55, Z:-8.03 [[-4.29824815e-01 -9.02905986e-01 3.37780990e-03 4.44861395e+01] [-9.02877233e-01 4.29838084e-01 7.20574155e-03 -1.86549916e+02] [-7.95801851e-03 4.74588674e-05 -9.99968333e-01 -8.03483631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.560385723 meters 0.01694558405817162 Centerline is valid? [True, True] Translation: X:44.41, Y:-186.65, Z:-8.04 [[-3.58258085e-01 -9.33618192e-01 2.86620695e-03 4.44142527e+01] [-9.33587443e-01 3.58269548e-01 7.57737841e-03 -1.86646305e+02] [-8.10125300e-03 3.88022596e-05 -9.99967184e-01 -8.03527642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.590385723 meters 0.016979881902723523 Centerline is valid? [True, True] Translation: X:44.35, Y:-186.76, Z:-8.04 [[-2.84583213e-01 -9.58648707e-01 2.24737876e-03 4.43478034e+01] [-9.58617958e-01 2.84592085e-01 7.67822098e-03 -1.86755907e+02] [-8.00030282e-03 3.07151515e-05 -9.99967997e-01 -8.03529170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62038572299997 meters 0.016873497849420733 Centerline is valid? [True, True] Translation: X:44.29, Y:-186.86, Z:-8.04 [[-2.08402718e-01 -9.78041646e-01 1.68726308e-03 4.42936001e+01] [-9.78008877e-01 2.08409547e-01 8.00602891e-03 -1.86861529e+02] [-8.18187143e-03 1.83199096e-05 -9.99966528e-01 -8.03590650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.650385723 meters 0.016816091844549227 Centerline is valid? [True, True] Translation: X:44.24, Y:-186.98, Z:-8.04 [[-1.31917299e-01 -9.91260156e-01 1.06297141e-03 4.42447415e+01] [-9.91227160e-01 1.31921581e-01 8.08793355e-03 -1.86980243e+02] [-8.15747514e-03 1.32922159e-05 -9.99966727e-01 -8.03669642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.680385723 meters 0.01681880270869096 Centerline is valid? [True, True] Translation: X:44.21, Y:-187.10, Z:-8.04 [[-5.43321261e-02 -9.98522831e-01 4.20757017e-04 4.42051239e+01] [-9.98491947e-01 5.43337549e-02 7.85335880e-03 -1.87099844e+02] [-7.86461937e-03 6.56718835e-06 -9.99969073e-01 -8.03654604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.710385723 meters 0.01674975394084969 Centerline is valid? [True, True] Translation: X:44.18, Y:-187.21, Z:-8.04 [[ 2.35257674e-02 -9.99723208e-01 -2.12734385e-04 4.41756311e+01] [-9.99681024e-01 -2.35267290e-02 9.18384767e-03 -1.87212603e+02] [-9.18631060e-03 -3.39053623e-06 -9.99957805e-01 -8.03565084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.740385723 meters 0.016773910053071866 Centerline is valid? [True, True] Translation: X:44.16, Y:-187.34, Z:-8.03 [[ 1.00581502e-01 -9.94928297e-01 -1.02207565e-03 4.41565625e+01] [-9.94876519e-01 -1.00586695e-01 1.01503085e-02 -1.87337290e+02] [-1.02016363e-02 -4.09420689e-06 -9.99947962e-01 -8.03447103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.770385723 meters 0.019062516829317793 Centerline is valid? [True, True] Translation: X:44.15, Y:-187.47, Z:-8.03 [[ 1.76347209e-01 -9.84326087e-01 -1.95327468e-03 4.41479639e+01] [-9.84265915e-01 -1.76358027e-01 1.08837184e-02 -1.87467182e+02] [-1.10576036e-02 3.22832561e-06 -9.99938863e-01 -8.03232060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.800385723 meters 0.01687442402308744 Centerline is valid? [True, True] Translation: X:44.15, Y:-187.59, Z:-8.03 [[ 2.51669119e-01 -9.67809395e-01 -2.76221049e-03 4.41459919e+01] [-9.67751290e-01 -2.51684277e-01 1.06049464e-02 -1.87588763e+02] [-1.09587718e-02 4.19523499e-06 -9.99939951e-01 -8.03479231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.830385723 meters 0.016730843211514673 Centerline is valid? [True, True] Translation: X:44.16, Y:-187.72, Z:-8.04 [[ 3.24518578e-01 -9.45873213e-01 -3.39956075e-03 4.41583499e+01] [-9.45821790e-01 -3.24536383e-01 9.86293345e-03 -1.87721269e+02] [-1.04323657e-02 1.46735011e-05 -9.99945581e-01 -8.03513121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.860385723 meters 0.016614862985654223 Centerline is valid? [True, True] Translation: X:44.18, Y:-187.85, Z:-8.04 [[ 3.95755542e-01 -9.18348951e-01 -3.57146590e-03 4.41788209e+01] [-9.18311998e-01 -3.95771657e-01 8.23829250e-03 -1.87845671e+02] [-8.97911224e-03 1.93700720e-05 -9.99959687e-01 -8.03731325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.890385723 meters 0.016624769623946423 Centerline is valid? [True, True] Translation: X:44.20, Y:-187.95, Z:-8.04 [[ 4.64813430e-01 -8.85399403e-01 -4.04628453e-03 4.42001164e+01] [-8.85366296e-01 -4.64831041e-01 7.65672496e-03 -1.87954343e+02] [-8.66009836e-03 2.34953571e-05 -9.99962500e-01 -8.03866924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.920385723 meters 0.016622337416347766 Centerline is valid? [True, True] Translation: X:44.24, Y:-188.08, Z:-8.04 [[ 5.31001203e-01 -8.47360875e-01 -4.15558262e-03 4.42410470e+01] [-8.47335307e-01 -5.31017463e-01 6.58261060e-03 -1.88080335e+02] [-7.78453362e-03 2.57977259e-05 -9.99969700e-01 -8.03823553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.950385723 meters 0.01674952085083287 Centerline is valid? [True, True] Translation: X:44.28, Y:-188.18, Z:-8.04 [[ 5.94302777e-01 -8.04231094e-01 -4.06893666e-03 4.42773187e+01] [-8.04212525e-01 -5.94316706e-01 5.46521577e-03 -1.88182500e+02] [-6.81353349e-03 2.42969157e-05 -9.99976787e-01 -8.03879024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.980385723 meters 0.016628246802618724 Centerline is valid? [True, True] Translation: X:44.32, Y:-188.29, Z:-8.04 [[ 6.54376282e-01 -7.56157006e-01 -4.27356605e-03 4.43249325e+01] [-7.56141098e-01 -6.54390236e-01 4.90499851e-03 -1.88287625e+02] [-6.50552888e-03 2.17042320e-05 -9.99978839e-01 -8.03963828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.010385723 meters 0.017305247047605533 Centerline is valid? [True, True] Translation: X:44.38, Y:-188.39, Z:-8.04 [[ 7.10558347e-01 -7.03623566e-01 -4.55121930e-03 4.43816400e+01] [-7.03609304e-01 -7.10572922e-01 4.47994764e-03 -1.88389201e+02] [-6.38616993e-03 1.90160514e-05 -9.99979608e-01 -8.03928524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.040385723 meters 0.016563619866657282 Centerline is valid? [True, True] Translation: X:44.37, Y:-188.40, Z:-8.04 [[ 7.63761933e-01 -6.45477574e-01 -5.13907921e-03 4.43747957e+01] [-6.45463100e-01 -7.63779223e-01 4.32271302e-03 -1.88400279e+02] [-6.71533624e-03 1.55623458e-05 -9.99977452e-01 -8.04040609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.070385723 meters 0.01657772412242493 Centerline is valid? [True, True] Translation: X:44.37, Y:-188.41, Z:-8.04 [[ 8.12136945e-01 -5.83436355e-01 -5.96675612e-03 4.43671750e+01] [-5.83420730e-01 -8.12158863e-01 4.26997107e-03 -1.88409439e+02] [-7.33721023e-03 1.33279517e-05 -9.99973082e-01 -8.04006820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.100385723 meters 0.01648864722156531 Centerline is valid? [True, True] Translation: X:44.36, Y:-188.42, Z:-8.04 [[ 8.55226514e-01 -5.18210006e-01 -6.78230678e-03 4.43596077e+01] [-5.18193849e-01 -8.55253406e-01 4.09219432e-03 -1.88419410e+02] [-7.92120702e-03 1.47965705e-05 -9.99968627e-01 -8.03903463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.130385723 meters 0.016491397734324013 Centerline is valid? [True, True] Translation: X:44.35, Y:-188.43, Z:-8.04 [[ 8.92882155e-01 -4.50235466e-01 -7.03438474e-03 4.43541712e+01] [-4.50221662e-01 -8.92909864e-01 3.52571237e-03 -1.88429682e+02] [-7.86847227e-03 1.89867324e-05 -9.99969043e-01 -8.03888907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.160385723 meters 0.016491397734324013 Centerline is valid? [True, True] Translation: X:44.35, Y:-188.44, Z:-8.04 [[ 9.25346437e-01 -3.79052567e-01 -7.28849615e-03 4.43497295e+01] [-3.79040971e-01 -9.25375141e-01 2.96500078e-03 -1.88438976e+02] [-7.86848431e-03 1.89857549e-05 -9.99969043e-01 -8.03888894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.190385723 meters 0.01646150273820129 Centerline is valid? [True, True] Translation: X:44.35, Y:-188.45, Z:-8.04 [[ 9.51852665e-01 -3.06476945e-01 -6.95599575e-03 4.43460166e+01] [-3.06468949e-01 -9.51878081e-01 2.21390711e-03 -1.88449178e+02] [-7.29977137e-03 2.44833256e-05 -9.99973356e-01 -8.03929201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.220385723 meters 0.016729391646641858 Centerline is valid? [True, True] Translation: X:44.34, Y:-188.46, Z:-8.04 [[ 9.72243246e-01 -2.33866049e-01 -7.05276639e-03 4.43433066e+01] [-2.33860228e-01 -9.72268826e-01 1.65059539e-03 -1.88457724e+02] [-7.24320311e-03 4.45813368e-05 -9.99973767e-01 -8.04006938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.250385723 meters 0.01679468725800425 Centerline is valid? [True, True] Translation: X:44.34, Y:-188.47, Z:-8.04 [[ 9.86964296e-01 -1.60745609e-01 -7.89473931e-03 4.43379663e+01] [-1.60741107e-01 -9.86995868e-01 1.20570599e-03 -1.88466048e+02] [-7.98588702e-03 7.90203677e-05 -9.99968109e-01 -8.04033777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.280385723 meters 0.017080853757108414 Centerline is valid? [True, True] Translation: X:44.33, Y:-188.48, Z:-8.04 [[ 9.96397711e-01 -8.43991240e-02 -8.26975305e-03 4.43320078e+01] [-8.43969967e-02 -9.96432024e-01 6.06498000e-04 -1.88475049e+02] [-8.29143467e-03 9.36291017e-05 -9.99965621e-01 -8.03965422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.310385723 meters 0.01716186058535774 Centerline is valid? [True, True] Translation: X:44.33, Y:-188.49, Z:-8.04 [[ 9.99933694e-01 -7.07825120e-03 -9.08332125e-03 4.43282699e+01] [-7.07897062e-03 -9.99974943e-01 -4.70535847e-05 -1.88485318e+02] [-9.08276059e-03 1.11351029e-04 -9.99958745e-01 -8.03909535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.340385723 meters 0.017170063092941078 Centerline is valid? [True, True] Translation: X:44.32, Y:-188.50, Z:-8.04 [[ 9.97429941e-01 7.10680094e-02 -9.10226828e-03 4.43249425e+01] [ 7.10640114e-02 -9.97471466e-01 -7.62319021e-04 -1.88496354e+02] [-9.13342937e-03 1.13516119e-04 -9.99958283e-01 -8.03910120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37038572299997 meters 0.01711369816628872 Centerline is valid? [True, True] Translation: X:44.32, Y:-188.51, Z:-8.04 [[ 9.88752374e-01 1.49306780e-01 -8.73093677e-03 4.43228077e+01] [ 1.49300004e-01 -9.88790915e-01 -1.42641727e-03 -1.88507608e+02] [-8.84604473e-03 1.06844563e-04 -9.99960867e-01 -8.03945439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.400385723 meters 0.017407602207769508 Centerline is valid? [True, True] Translation: X:44.32, Y:-188.52, Z:-8.04 [[ 9.73944402e-01 2.26638890e-01 -8.19241912e-03 4.43224112e+01] [ 2.26630020e-01 -9.73978852e-01 -2.00747161e-03 -1.88519575e+02] [-8.43421411e-03 9.85176210e-05 -9.99964427e-01 -8.03980625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.430385723 meters 0.01692528150307554 Centerline is valid? [True, True] Translation: X:44.32, Y:-188.53, Z:-8.04 [[ 9.52935021e-01 3.03045611e-01 -8.84330644e-03 4.43226229e+01] [ 3.03031584e-01 -9.52976048e-01 -2.91748526e-03 -1.88531931e+02] [-9.31159033e-03 1.00372724e-04 -9.99956641e-01 -8.03993741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.460385723 meters 0.01680478199596897 Centerline is valid? [True, True] Translation: X:44.32, Y:-188.54, Z:-8.04 [[ 9.26129985e-01 3.77099428e-01 -8.90348619e-03 4.43233463e+01] [ 3.77080964e-01 -9.26172776e-01 -3.73298068e-03 -1.88543097e+02] [-9.65387141e-03 9.98901894e-05 -9.99953395e-01 -8.03921111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.490385723 meters 0.016798017068567723 Centerline is valid? [True, True] Translation: X:44.33, Y:-188.55, Z:-8.04 [[ 8.93431024e-01 4.49107210e-01 -9.14980303e-03 4.43253720e+01] [ 4.49082527e-01 -8.93477870e-01 -4.70949049e-03 -1.88553736e+02] [-1.02902127e-02 9.85882448e-05 -9.99947050e-01 -8.03869674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.520385723 meters 0.016759571822039014 Centerline is valid? [True, True] Translation: X:44.33, Y:-188.57, Z:-8.04 [[ 8.55224329e-01 5.18166714e-01 -9.72645292e-03 4.43283752e+01] [ 5.18131836e-01 -8.55279630e-01 -6.01285618e-03 -1.88565610e+02] [-1.14344990e-02 1.02755978e-04 -9.99934619e-01 -8.03865928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.550385723 meters 0.01661036575550567 Centerline is valid? [True, True] Translation: X:44.33, Y:-188.58, Z:-8.04 [[ 8.11891280e-01 5.83738194e-01 -9.07026868e-03 4.43331234e+01] [ 5.83700414e-01 -8.11941938e-01 -6.64192505e-03 -1.88576948e+02] [-1.12416769e-02 9.82014492e-05 -9.99936806e-01 -8.03869940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.580385723 meters 0.018715937267871283 Centerline is valid? [True, True] Translation: X:44.34, Y:-188.59, Z:-8.04 [[ 7.64346570e-01 6.44747178e-01 -8.68315264e-03 4.43393156e+01] [ 6.44703914e-01 -7.64395882e-01 -7.46991184e-03 -1.88589085e+02] [-1.14535707e-02 1.11539005e-04 -9.99934400e-01 -8.03650406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.610385723 meters 0.01669362914861587 Centerline is valid? [True, True] Translation: X:44.34, Y:-188.60, Z:-8.04 [[ 7.10876071e-01 7.03271733e-01 -8.00510340e-03 4.43449204e+01] [ 7.03225549e-01 -7.10921135e-01 -8.06019027e-03 -1.88599406e+02] [-1.13595012e-02 1.00403162e-04 -9.99935474e-01 -8.03925007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.640385723 meters 0.01677375556986753 Centerline is valid? [True, True] Translation: X:44.35, Y:-188.61, Z:-8.04 [[ 6.53701824e-01 7.56723763e-01 -6.56285105e-03 4.43490742e+01] [ 7.56684230e-01 -6.53734761e-01 -7.73554286e-03 -1.88608524e+02] [-1.01440330e-02 9.07325850e-05 -9.99948544e-01 -8.04104402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.670385723 meters 0.01669683703466636 Centerline is valid? [True, True] Translation: X:44.35, Y:-188.62, Z:-8.04 [[ 5.92562229e-01 8.05504972e-01 -5.63422207e-03 4.43538973e+01] [ 8.05467156e-01 -5.92589008e-01 -7.80559076e-03 -1.88615695e+02] [-9.62622023e-03 8.71174334e-05 -9.99953663e-01 -8.04193479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.700385723 meters 0.016692335297728032 Centerline is valid? [True, True] Translation: X:44.36, Y:-188.62, Z:-8.04 [[ 5.27589530e-01 8.49486652e-01 -4.66004909e-03 4.43592550e+01] [ 8.49452161e-01 -5.27610104e-01 -7.65531491e-03 -1.88624182e+02] [-8.96177681e-03 8.03752323e-05 -9.99959839e-01 -8.04194515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.730385723 meters 0.01664265361956682 Centerline is valid? [True, True] Translation: X:44.37, Y:-188.63, Z:-8.04 [[ 4.58986654e-01 8.88433864e-01 -4.06466244e-03 4.43651175e+01] [ 8.88397555e-01 -4.59004645e-01 -8.03241651e-03 -1.88631206e+02] [-9.00196977e-03 7.57358013e-05 -9.99959479e-01 -8.04147152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.760385723 meters 0.016421302125572267 Centerline is valid? [True, True] Translation: X:44.37, Y:-188.64, Z:-8.04 [[ 3.87076929e-01 9.22040811e-01 -3.49198864e-03 4.43716506e+01] [ 9.22001702e-01 -3.87092674e-01 -8.49251857e-03 -1.88637944e+02] [-9.18217193e-03 6.76385327e-05 -9.99957841e-01 -8.04090872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.790385723 meters 0.016316855259453634 Centerline is valid? [True, True] Translation: X:44.38, Y:-188.64, Z:-8.04 [[ 3.13119206e-01 9.49709360e-01 -2.91438057e-03 4.43781582e+01] [ 9.49666286e-01 -3.13132762e-01 -9.04531956e-03 -1.88643945e+02] [-9.50301269e-03 6.45743043e-05 -9.99954843e-01 -8.04071441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.820385723 meters 0.016314697741705884 Centerline is valid? [True, True] Translation: X:44.38, Y:-188.65, Z:-8.04 [[ 2.37337328e-01 9.71424751e-01 -2.22390787e-03 4.43837470e+01] [ 9.71379666e-01 -2.37347739e-01 -9.35926637e-03 -1.88649038e+02] [-9.61966251e-03 6.10443918e-05 -9.99953728e-01 -8.04071232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.850385723 meters 0.016327981122289156 Centerline is valid? [True, True] Translation: X:44.39, Y:-188.65, Z:-8.04 [[ 1.61236475e-01 9.86914612e-01 -1.53199363e-03 4.43878781e+01] [ 9.86865846e-01 -1.61243738e-01 -9.81116871e-03 -1.88653010e+02] [-9.92981014e-03 7.00460670e-05 -9.99950696e-01 -8.04064543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.880385723 meters 0.016604307765223213 Centerline is valid? [True, True] Translation: X:44.39, Y:-188.66, Z:-8.04 [[ 8.58451394e-02 9.96308128e-01 -8.52693920e-04 4.43911201e+01] [ 9.96246066e-01 -8.58493098e-02 -1.11208171e-02 -1.88657721e+02] [-1.11529636e-02 1.05175130e-04 -9.99937798e-01 -8.03992326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.910385723 meters 0.016759542053516627 Centerline is valid? [True, True] Translation: X:44.40, Y:-188.66, Z:-8.04 [[ 8.69192328e-03 9.99962224e-01 2.17552023e-05 4.43951103e+01] [ 9.99895630e-01 -8.69109334e-03 -1.15409789e-02 -1.88662014e+02] [-1.15403539e-02 1.22066235e-04 -9.99933400e-01 -8.04002360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.940385723 meters 0.01739128591078301 Centerline is valid? [True, True] Translation: X:44.40, Y:-188.67, Z:-8.04 [[-6.67378915e-02 9.97770073e-01 9.66984053e-04 4.43976157e+01] [ 9.97697725e-01 6.67446980e-02 -1.20164590e-02 -1.88666791e+02] [-1.20542042e-02 1.62804655e-04 -9.99927332e-01 -8.03934792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.970385723 meters 0.01779543974568872 Centerline is valid? [True, True] Translation: X:44.40, Y:-188.67, Z:-8.04 [[-1.43341531e-01 9.89671304e-01 1.97872464e-03 4.44003674e+01] [ 9.89594103e-01 1.43355067e-01 -1.23627181e-02 -1.88672005e+02] [-1.25186875e-02 1.86043300e-04 -9.99921621e-01 -8.03866567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.000385723 meters 0.018617107578991893 Centerline is valid? [True, True] Translation: X:44.40, Y:-188.68, Z:-8.04 [[-2.18049304e-01 9.75932031e-01 3.34233414e-03 4.44021392e+01] [ 9.75834061e-01 2.18074780e-01 -1.38302438e-02 -1.88676003e+02] [-1.42262567e-02 2.45888451e-04 -9.99898772e-01 -8.03720452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.030385723 meters 0.017568123278843058 Centerline is valid? [True, True] Translation: X:44.41, Y:-188.68, Z:-8.04 [[-2.93115068e-01 9.56065687e-01 4.68617471e-03 4.44147096e+01] [ 9.55957956e-01 2.93152399e-01 -1.43546825e-02 -1.88676174e+02] [-1.50977827e-02 2.72212282e-04 -9.99885985e-01 -8.03853074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.060385723 meters 0.017317107136067617 Centerline is valid? [True, True] Translation: X:44.43, Y:-188.68, Z:-8.04 [[-3.66890365e-01 9.30246352e-01 5.76057210e-03 4.44269474e+01] [ 9.30143175e-01 3.66935484e-01 -1.38573082e-02 -1.88675914e+02] [-1.50044687e-02 2.74043966e-04 -9.99887389e-01 -8.03901768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.090385723 meters 0.01715637898046839 Centerline is valid? [True, True] Translation: X:44.44, Y:-188.67, Z:-8.04 [[-4.39315518e-01 8.98309048e-01 6.53686416e-03 4.44384744e+01] [ 8.98217988e-01 4.39364077e-01 -1.27927404e-02 -1.88674002e+02] [-1.43638977e-02 2.51479600e-04 -9.99896802e-01 -8.03982426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12038572299997 meters 0.01654873515345049 Centerline is valid? [True, True] Translation: X:44.45, Y:-188.67, Z:-8.04 [[-5.10142206e-01 8.60059476e-01 7.25455779e-03 4.44523134e+01] [ 8.59978397e-01 5.10193741e-01 -1.18111617e-02 -1.88669946e+02] [-1.38595315e-02 2.13390897e-04 -9.99903929e-01 -8.04214106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.150385723 meters 0.016634266481128805 Centerline is valid? [True, True] Translation: X:44.46, Y:-188.67, Z:-8.04 [[-5.77144760e-01 8.16600179e-01 8.25064792e-03 4.44643732e+01] [ 8.16521538e-01 5.77203698e-01 -1.13344306e-02 -1.88666450e+02] [-1.40180025e-02 1.95224519e-04 -9.99901724e-01 -8.04147920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.180385723 meters 0.0160162256846375 Centerline is valid? [True, True] Translation: X:44.48, Y:-188.66, Z:-8.04 [[-6.42095374e-01 7.66566380e-01 9.46130093e-03 4.44763607e+01] [ 7.66486595e-01 6.42165059e-01 -1.10606396e-02 -1.88661029e+02] [-1.45544313e-02 1.49974795e-04 -9.99894067e-01 -8.04157534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.210385723 meters 0.015588269950151636 Centerline is valid? [True, True] Translation: X:44.49, Y:-188.65, Z:-8.04 [[-7.01606343e-01 7.12491534e-01 1.02153692e-02 4.44884031e+01] [ 7.12418485e-01 7.01680697e-01 -1.02030380e-02 -1.88653103e+02] [-1.44375055e-02 1.19101697e-04 -9.99895767e-01 -8.04264391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.240385723 meters 0.015360385775422068 Centerline is valid? [True, True] Translation: X:44.51, Y:-188.63, Z:-8.04 [[-7.53197169e-01 6.57700192e-01 1.11571547e-02 4.45106297e+01] [ 6.57629143e-01 7.53279798e-01 -9.66729080e-03 -1.88627497e+02] [-1.47626383e-02 5.58940264e-05 -9.99891025e-01 -8.04107890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.270385723 meters 0.015041394245066552 Centerline is valid? [True, True] Translation: X:44.53, Y:-188.60, Z:-8.04 [[-7.99231985e-01 6.00914359e-01 1.14091100e-02 4.45290172e+01] [ 6.00853529e-01 7.99313413e-01 -8.55012095e-03 -1.88601733e+02] [-1.42573451e-02 2.16738737e-05 -9.99898359e-01 -8.04198935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.300385723 meters 0.015187456272434648 Centerline is valid? [True, True] Translation: X:44.55, Y:-188.57, Z:-8.04 [[-8.42036039e-01 5.39278266e-01 1.24202105e-02 4.45453219e+01] [ 5.39218919e-01 8.42127633e-01 -8.00040543e-03 -1.88574089e+02] [-1.47738473e-02 -3.94171901e-05 -9.99890860e-01 -8.04062507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.330385723 meters 0.015200664423200934 Centerline is valid? [True, True] Translation: X:44.56, Y:-188.55, Z:-8.04 [[-8.78757335e-01 4.77066503e-01 1.38959552e-02 4.45583862e+01] [ 4.77005697e-01 8.78867196e-01 -7.61691647e-03 -1.88546614e+02] [-1.58464749e-02 -6.49714059e-05 -9.99874435e-01 -8.04084567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.360385723 meters 0.01536131369754977 Centerline is valid? [True, True] Translation: X:44.57, Y:-188.52, Z:-8.04 [[-9.10859570e-01 4.12462343e-01 1.44795876e-02 4.45737695e+01] [ 4.12408735e-01 9.10974647e-01 -6.65037639e-03 -1.88520894e+02] [-1.59335671e-02 -8.60505638e-05 -9.99873049e-01 -8.04234680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.390385723 meters 0.01497927766300985 Centerline is valid? [True, True] Translation: X:44.87, Y:-187.89, Z:-9.02 [[-8.75708456e-01 -4.82650515e-01 1.35344599e-02 4.48684125e+01] [ 4.82593791e-01 -8.75813038e-01 -7.39963695e-03 -1.87891856e+02] [ 1.54250950e-02 5.17216696e-05 9.99881025e-01 -9.02455005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.420385723 meters 0.015006509866913419 Centerline is valid? [True, True] Translation: X:44.53, Y:-188.50, Z:-8.04 [[-9.12482079e-01 4.08874724e-01 1.40682652e-02 4.45329345e+01] [ 4.08824659e-01 9.12590517e-01 -6.39891148e-03 -1.88501969e+02] [-1.54549186e-02 -8.74383144e-05 -9.99880562e-01 -8.04262519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.450385723 meters 0.014646373192222693 Centerline is valid? [True, True] Translation: X:44.54, Y:-188.48, Z:-8.04 [[-9.38737538e-01 3.44353683e-01 1.38699381e-02 4.45417270e+01] [ 3.44315075e-01 9.38839995e-01 -5.15679457e-03 -1.88475146e+02] [-1.47974138e-02 -6.52478718e-05 -9.99890510e-01 -8.04467425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.480385723 meters 0.014732679739861533 Centerline is valid? [True, True] Translation: X:44.54, Y:-188.45, Z:-8.04 [[-9.60579295e-01 2.77624409e-01 1.45638177e-02 4.45449037e+01] [ 2.77591625e-01 9.60689692e-01 -4.26677819e-03 -1.88446001e+02] [-1.51758713e-02 -5.57849729e-05 -9.99884838e-01 -8.04408466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.510385723 meters 0.014695746783490796 Centerline is valid? [True, True] Translation: X:44.56, Y:-188.42, Z:-8.04 [[-9.77303516e-01 2.11286467e-01 1.53579495e-02 4.45581866e+01] [ 2.11260095e-01 9.77424181e-01 -3.33818537e-03 -1.88422275e+02] [-1.57165446e-02 -1.78984332e-05 -9.99876487e-01 -8.04403422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.540385723 meters 0.014748806355867072 Centerline is valid? [True, True] Translation: X:44.56, Y:-188.40, Z:-8.04 [[-9.89576199e-01 1.43132405e-01 1.58764595e-02 4.45617497e+01] [ 1.43114142e-01 9.89703549e-01 -2.28644734e-03 -1.88395356e+02] [-1.60402531e-02 9.53201696e-06 -9.99871347e-01 -8.04424241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.570385723 meters 0.014941002749941168 Centerline is valid? [True, True] Translation: X:44.56, Y:-188.37, Z:-8.04 [[-9.96941167e-01 7.66626490e-02 1.52035589e-02 4.45641920e+01] [ 7.66548494e-02 9.97057086e-01 -1.09595562e-03 -1.88368570e+02] [-1.52428350e-02 7.28232407e-05 -9.99883819e-01 -8.04369831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.600385723 meters 0.016910521739921185 Centerline is valid? [True, True] Translation: X:44.62, Y:-187.66, Z:-9.03 [[-9.91156404e-01 -1.31819484e-01 1.52514182e-02 4.46173111e+01] [ 1.31802887e-01 -9.91273736e-01 -2.09271106e-03 -1.87662038e+02] [ 1.53941904e-02 -6.40230054e-05 9.99881500e-01 -9.02590474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.630385723 meters 0.015294474662294914 Centerline is valid? [True, True] Translation: X:44.50, Y:-188.37, Z:-8.04 [[-9.97018283e-01 7.57747104e-02 1.45855278e-02 4.44973740e+01] [ 7.57684291e-02 9.97124956e-01 -9.83561253e-04 -1.88365472e+02] [-1.46181228e-02 1.24493975e-04 -9.99893142e-01 -8.04336961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.660385723 meters 0.01567019580169371 Centerline is valid? [True, True] Translation: X:44.49, Y:-188.34, Z:-8.04 [[-9.99869543e-01 7.69187593e-03 1.42032096e-02 4.44933941e+01] [ 7.69341926e-03 9.99970404e-01 5.40242003e-05 -1.88338137e+02] [-1.42023737e-02 1.63288399e-04 -9.99899128e-01 -8.04365637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.690385723 meters 0.01538252687011718 Centerline is valid? [True, True] Translation: X:44.49, Y:-188.31, Z:-8.05 [[-9.97923165e-01 -6.28189421e-02 1.42526461e-02 4.44912295e+01] [-6.28100238e-02 9.98024924e-01 1.07294088e-03 -1.88308406e+02] [-1.42918971e-02 1.75503519e-04 -9.99897850e-01 -8.04544137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.720385723 meters 0.015587553960167195 Centerline is valid? [True, True] Translation: X:44.48, Y:-188.28, Z:-8.05 [[-9.90989911e-01 -1.33254800e-01 1.34964956e-02 4.44758766e+01] [-1.33240025e-01 9.91081797e-01 1.99206108e-03 -1.88281180e+02] [-1.36415828e-02 1.75839027e-04 -9.99906934e-01 -8.04556894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.750385723 meters 0.016335030226747017 Centerline is valid? [True, True] Translation: X:44.45, Y:-188.26, Z:-8.04 [[-9.78857272e-01 -2.04096439e-01 1.35309081e-02 4.44511711e+01] [-2.04074385e-01 9.78950770e-01 3.00576418e-03 -1.88257262e+02] [-1.38595586e-02 1.80902380e-04 -9.99903935e-01 -8.04334268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.780385723 meters 0.015790225870566634 Centerline is valid? [True, True] Translation: X:44.41, Y:-188.24, Z:-8.04 [[-9.61500668e-01 -2.74428555e-01 1.43329851e-02 4.44055465e+01] [-2.74395025e-01 9.61607472e-01 4.29426209e-03 -1.88236222e+02] [-1.49611737e-02 1.96036055e-04 -9.99888056e-01 -8.04298834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.810385723 meters 0.01688254336679645 Centerline is valid? [True, True] Translation: X:44.34, Y:-188.23, Z:-8.04 [[-9.38737689e-01 -3.44301324e-01 1.51046124e-02 4.43391549e+01] [-3.44253093e-01 9.38859176e-01 5.76671204e-03 -1.88227664e+02] [-1.61665906e-02 2.13620382e-04 -9.99869289e-01 -8.04099803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.840385723 meters 0.01606675058808466 Centerline is valid? [True, True] Translation: X:44.27, Y:-188.22, Z:-8.04 [[-9.10394865e-01 -4.13443984e-01 1.56608526e-02 4.42708151e+01] [-4.13378695e-01 9.10529530e-01 7.35050379e-03 -1.88224752e+02] [-1.72986904e-02 2.17998073e-04 -9.99850343e-01 -8.04078777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87038572299997 meters 0.015962340450639153 Centerline is valid? [True, True] Translation: X:44.19, Y:-188.23, Z:-8.04 [[-8.77022709e-01 -4.80217839e-01 1.48995182e-02 4.41886064e+01] [-4.80144464e-01 8.77149236e-01 8.39706718e-03 -1.88234319e+02] [-1.71015225e-02 2.10497399e-04 -9.99853736e-01 -8.04076146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.900385723 meters 0.016040009753161992 Centerline is valid? [True, True] Translation: X:44.10, Y:-188.25, Z:-8.04 [[-8.38429948e-01 -5.44824660e-01 1.41884471e-02 4.41016844e+01] [-5.44742552e-01 8.38549968e-01 9.46062442e-03 -1.88253225e+02] [-1.70521034e-02 2.03019954e-04 -9.99854582e-01 -8.04002846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.930385723 meters 0.015441340287089695 Centerline is valid? [True, True] Translation: X:44.01, Y:-188.28, Z:-8.04 [[-7.95091286e-01 -6.06338530e-01 1.35438176e-02 4.40125419e+01] [-6.06246187e-01 7.95206606e-01 1.05837281e-02 -1.88279286e+02] [-1.71874554e-02 2.04142256e-04 -9.99852264e-01 -8.04139621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.960385723 meters 0.018117555890746716 Centerline is valid? [True, True] Translation: X:43.92, Y:-188.32, Z:-8.04 [[-7.48073205e-01 -6.63499066e-01 1.24687224e-02 4.39173732e+01] [-6.63401867e-01 7.48177077e-01 1.13588740e-02 -1.88321978e+02] [-1.68654146e-02 2.25495599e-04 -9.99857743e-01 -8.03867186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.990385723 meters 0.015746710341635092 Centerline is valid? [True, True] Translation: X:43.83, Y:-188.37, Z:-8.04 [[-6.95657833e-01 -7.18292471e-01 1.07752336e-02 4.38279382e+01] [-7.18201635e-01 6.95741247e-01 1.14249400e-02 -1.88370108e+02] [-1.57032228e-02 2.09058561e-04 -9.99876675e-01 -8.04119928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.020385723 meters 0.015414509477284554 Centerline is valid? [True, True] Translation: X:43.74, Y:-188.42, Z:-8.04 [[-6.39811771e-01 -7.68476942e-01 9.16988746e-03 4.37414314e+01] [-7.68393337e-01 6.39877446e-01 1.13373109e-02 -1.88424426e+02] [-1.45800662e-02 2.07664539e-04 -9.99893684e-01 -8.04346854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.050385723 meters 0.015414509477284554 Centerline is valid? [True, True] Translation: X:43.65, Y:-188.49, Z:-8.04 [[-5.79432045e-01 -8.14978496e-01 8.27980008e-03 4.36527423e+01] [-8.14890131e-01 5.79491162e-01 1.20027741e-02 -1.88494078e+02] [-1.45800738e-02 2.07664575e-04 -9.99893684e-01 -8.04346818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.080385723 meters 0.015481499336014453 Centerline is valid? [True, True] Translation: X:43.57, Y:-188.58, Z:-8.04 [[-5.15694491e-01 -8.56743728e-01 7.02687705e-03 4.35661130e+01] [-8.56658841e-01 5.15742324e-01 1.20617444e-02 -1.88576280e+02] [-1.39578818e-02 2.00538794e-04 -9.99902564e-01 -8.04375004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.110385723 meters 0.01676693355597252 Centerline is valid? [True, True] Translation: X:43.49, Y:-188.66, Z:-8.04 [[-4.48503424e-01 -8.93759043e-01 6.28101808e-03 4.34877638e+01] [-8.93664931e-01 4.48547356e-01 1.29715012e-02 -1.88659387e+02] [-1.44107305e-02 2.04637096e-04 -9.99896139e-01 -8.04231366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.140385723 meters 0.015225253357865119 Centerline is valid? [True, True] Translation: X:43.41, Y:-188.76, Z:-8.04 [[-3.77740503e-01 -9.25897423e-01 5.10630936e-03 4.34118706e+01] [-9.25806213e-01 3.77774972e-01 1.29971981e-02 -1.88756956e+02] [-1.39631081e-02 1.82115211e-04 -9.99902495e-01 -8.04304965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.170385723 meters 0.01707727422854339 Centerline is valid? [True, True] Translation: X:43.34, Y:-188.86, Z:-8.04 [[-3.05409511e-01 -9.52211204e-01 4.34200673e-03 4.33448290e+01] [-9.52105981e-01 3.05440316e-01 1.41568181e-02 -1.88856608e+02] [-1.48065047e-02 1.89576330e-04 -9.99890360e-01 -8.04130996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.200385723 meters 0.01482442134898839 Centerline is valid? [True, True] Translation: X:43.28, Y:-188.97, Z:-8.04 [[-2.29124171e-01 -9.73392531e-01 3.01588131e-03 4.32844051e+01] [-9.73299813e-01 2.29143974e-01 1.34355221e-02 -1.88970703e+02] [-1.37691079e-02 1.43046146e-04 -9.99905191e-01 -8.04258382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.230385723 meters 0.01601788436582987 Centerline is valid? [True, True] Translation: X:43.23, Y:-189.08, Z:-8.04 [[-1.52887258e-01 -9.88241516e-01 2.04735452e-03 4.32337450e+01] [-9.88140569e-01 1.52900904e-01 1.41254837e-02 -1.89081091e+02] [-1.42724318e-02 1.36532403e-04 -9.99898134e-01 -8.04088785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.260385723 meters 0.014511907189227048 Centerline is valid? [True, True] Translation: X:43.19, Y:-189.20, Z:-8.04 [[-7.53967605e-02 -9.97153214e-01 8.91927564e-04 4.31910981e+01] [-9.97064610e-01 7.54019513e-02 1.32932252e-02 -1.89199508e+02] [-1.33226353e-02 1.12956705e-04 -9.99911243e-01 -8.04152743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.290385723 meters 0.01458837163524663 Centerline is valid? [True, True] Translation: X:43.16, Y:-189.32, Z:-8.04 [[ 2.45649162e-03 -9.99996973e-01 -1.40392677e-04 4.31593988e+01] [-9.99898060e-01 -2.45822328e-03 1.40651227e-02 -1.89319330e+02] [-1.40654253e-02 1.05827509e-04 -9.99901071e-01 -8.03958996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.320385723 meters 0.014376231921380081 Centerline is valid? [True, True] Translation: X:43.14, Y:-189.44, Z:-8.04 [[ 7.95840719e-02 -9.96827418e-01 -1.21455965e-03 4.31366748e+01] [-9.96729982e-01 -7.95932747e-02 1.39374691e-02 -1.89444048e+02] [-1.39899221e-02 1.01387478e-04 -9.99902131e-01 -8.04035304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.350385723 meters 0.014221218785053572 Centerline is valid? [True, True] Translation: X:43.12, Y:-189.57, Z:-8.04 [[ 1.56075887e-01 -9.87742413e-01 -2.28965320e-03 4.31243147e+01] [-9.87645414e-01 -1.56092649e-01 1.38427320e-02 -1.89568102e+02] [-1.40304516e-02 1.00848799e-04 -9.99901563e-01 -8.04050834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.380385723 meters 0.01637470162723635 Centerline is valid? [True, True] Translation: X:43.12, Y:-189.70, Z:-8.04 [[ 2.30826964e-01 -9.72988583e-01 -3.48269024e-03 4.31213892e+01] [-9.72885233e-01 -2.30853208e-01 1.41816751e-02 -1.89695948e+02] [-1.46025982e-02 1.14744901e-04 -9.99893370e-01 -8.03949820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.410385723 meters 0.01413577674479853 Centerline is valid? [True, True] Translation: X:43.13, Y:-189.82, Z:-8.04 [[ 3.04972248e-01 -9.52352546e-01 -4.06884642e-03 4.31298578e+01] [-9.52272213e-01 -3.04999372e-01 1.23699741e-02 -1.89821941e+02] [-1.30215720e-02 1.02150560e-04 -9.99915211e-01 -8.04128084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.440385723 meters 0.014214610633758317 Centerline is valid? [True, True] Translation: X:43.15, Y:-189.94, Z:-8.04 [[ 3.76982315e-01 -9.26208242e-01 -4.75674653e-03 4.31458372e+01] [-9.26137840e-01 -3.77012311e-01 1.14201120e-02 -1.89944802e+02] [-1.23707538e-02 1.00222708e-04 -9.99923474e-01 -8.04117084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.470385723 meters 0.014236404232160495 Centerline is valid? [True, True] Translation: X:43.17, Y:-190.06, Z:-8.04 [[ 4.46685399e-01 -8.94676034e-01 -5.19123361e-03 4.31670777e+01] [-8.94618105e-01 -4.46715553e-01 1.01814357e-02 -1.90055967e+02] [-1.14280913e-02 9.62729228e-05 -9.99934693e-01 -8.04068474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.500385723 meters 0.014308938779906443 Centerline is valid? [True, True] Translation: X:43.20, Y:-190.17, Z:-8.04 [[ 5.14093131e-01 -8.57714255e-01 -5.87449826e-03 4.31998957e+01] [-8.57660315e-01 -5.14126686e-01 9.61952245e-03 -1.90172173e+02] [-1.12710378e-02 9.29936085e-05 -9.99936476e-01 -8.04071969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.530385723 meters 0.01387612795807341 Centerline is valid? [True, True] Translation: X:43.24, Y:-190.28, Z:-8.04 [[ 5.78827988e-01 -8.15426831e-01 -6.10278779e-03 4.32410715e+01] [-8.15382937e-01 -5.78860153e-01 8.46107204e-03 -1.90284021e+02] [-1.04320458e-02 7.86037266e-05 -9.99945582e-01 -8.04235966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.560385723 meters 0.014173701272262052 Centerline is valid? [True, True] Translation: X:43.29, Y:-190.39, Z:-8.04 [[ 6.40004859e-01 -7.68343481e-01 -6.48660916e-03 4.32882631e+01] [-7.68305103e-01 -6.40037726e-01 7.67969811e-03 -1.90388807e+02] [-1.00523206e-02 6.86508125e-05 -9.99949472e-01 -8.04133348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.590385723 meters 0.013854617585632629 Centerline is valid? [True, True] Translation: X:43.35, Y:-190.49, Z:-8.04 [[ 6.97889335e-01 -7.16171206e-01 -7.01997134e-03 4.33450649e+01] [-7.16135721e-01 -6.97924638e-01 7.12938787e-03 -1.90493583e+02] [-1.00052733e-02 5.17284831e-05 -9.99949945e-01 -8.04148927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62038572299997 meters 0.01383179566492897 Centerline is valid? [True, True] Translation: X:43.40, Y:-190.58, Z:-8.04 [[ 7.51049381e-01 -6.60202919e-01 -7.54542544e-03 4.33987914e+01] [-6.60170156e-01 -7.51087281e-01 6.57729762e-03 -1.90583954e+02] [-1.00096242e-02 4.13893831e-05 -9.99949902e-01 -8.04087359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.650385723 meters 0.013592144599600063 Centerline is valid? [True, True] Translation: X:43.40, Y:-190.59, Z:-8.04 [[ 8.01799523e-01 -5.97536285e-01 -8.24094939e-03 4.33969016e+01] [-5.97504950e-01 -8.01841872e-01 6.11935151e-03 -1.90589012e+02] [-1.02644729e-02 1.75149340e-05 -9.99947319e-01 -8.03980364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.680385723 meters 0.017141033006509845 Centerline is valid? [True, True] Translation: X:43.40, Y:-190.59, Z:-8.04 [[ 8.46404849e-01 -5.32442460e-01 -1.01910847e-02 4.33955070e+01] [-5.32404041e-01 -8.46466199e-01 6.39609597e-03 -1.90593408e+02] [-1.20319618e-02 1.20880458e-05 -9.99927613e-01 -8.03606811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.710385723 meters 0.013603193074294318 Centerline is valid? [True, True] Translation: X:43.40, Y:-190.60, Z:-8.04 [[ 8.86819358e-01 -4.62017543e-01 -9.55070938e-03 4.33951775e+01] [-4.61990492e-01 -8.86870785e-01 4.99960481e-03 -1.90598036e+02] [-1.07801503e-02 -2.14094017e-05 -9.99941892e-01 -8.04030948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.740385723 meters 0.013548697664835562 Centerline is valid? [True, True] Translation: X:43.39, Y:-190.61, Z:-8.04 [[ 9.20554132e-01 -3.90495918e-01 -9.64510432e-03 4.33926005e+01] [-3.90474145e-01 -9.20604658e-01 4.12376647e-03 -1.90606194e+02] [-1.04896419e-02 -2.99864081e-05 -9.99944982e-01 -8.04055871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.770385723 meters 0.013507718590312552 Centerline is valid? [True, True] Translation: X:43.39, Y:-190.61, Z:-8.04 [[ 9.48535589e-01 -3.16528417e-01 -9.48673629e-03 4.33917084e+01] [-3.16512194e-01 -9.48583028e-01 3.20488482e-03 -1.90612917e+02] [-1.00133941e-02 -3.72796030e-05 -9.99949864e-01 -8.04054242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.800385723 meters 0.01519729911280011 Centerline is valid? [True, True] Translation: X:43.39, Y:-190.62, Z:-8.04 [[ 9.70304630e-01 -2.41675106e-01 -1.01029042e-02 4.33911073e+01] [-2.41661617e-01 -9.70357224e-01 2.55356661e-03 -1.90619790e+02] [-1.04205595e-02 -3.62533420e-05 -9.99945704e-01 -8.04006512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.830385723 meters 0.013631956983765028 Centerline is valid? [True, True] Translation: X:43.39, Y:-190.63, Z:-8.04 [[ 9.86338158e-01 -1.64461393e-01 -9.45982851e-03 4.33897215e+01] [-1.64453447e-01 -9.86383520e-01 1.61717939e-03 -1.90627158e+02] [-9.59698252e-03 -3.93843341e-05 -9.99953947e-01 -8.04087676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.860385723 meters 0.013399053672731464 Centerline is valid? [True, True] Translation: X:43.39, Y:-190.63, Z:-8.04 [[ 9.96141828e-01 -8.73822484e-02 -8.11175077e-03 4.33858605e+01] [-8.73791228e-02 -9.96174855e-01 7.39597800e-04 -1.90633258e+02] [-8.14534987e-03 -2.79466374e-05 -9.99966826e-01 -8.04182862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.890385723 meters 0.013352783983771512 Centerline is valid? [True, True] Translation: X:43.38, Y:-190.64, Z:-8.04 [[ 9.99930081e-01 -9.51627245e-03 -7.01948902e-03 4.33825404e+01] [-9.51588814e-03 -9.99954719e-01 8.81468160e-05 -1.90640615e+02] [-7.02001000e-03 -2.13439805e-05 -9.99975359e-01 -8.04202614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.920385723 meters 0.014087431971322593 Centerline is valid? [True, True] Translation: X:43.38, Y:-190.65, Z:-8.04 [[ 9.97653531e-01 6.81333179e-02 -6.72923185e-03 4.33798265e+01] [ 6.81318749e-02 -9.97676225e-01 -4.43702750e-04 -1.90649434e+02] [-6.74382557e-03 -1.58135678e-05 -9.99977260e-01 -8.04219810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.950385723 meters 0.01330210097874407 Centerline is valid? [True, True] Translation: X:43.38, Y:-190.66, Z:-8.04 [[ 9.89276258e-01 1.45949672e-01 -5.58369562e-03 4.33779704e+01] [ 1.45947420e-01 -9.89292016e-01 -8.10881981e-04 -1.90659677e+02] [-5.64225346e-03 -1.27396789e-05 -9.99984082e-01 -8.04331265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.980385723 meters 0.013204418472098859 Centerline is valid? [True, True] Translation: X:43.38, Y:-190.67, Z:-8.04 [[ 9.74880898e-01 2.22664789e-01 -5.25609186e-03 4.33755502e+01] [ 2.22661611e-01 -9.74895067e-01 -1.18968839e-03 -1.90670385e+02] [-5.38903974e-03 -1.05253933e-05 -9.99985479e-01 -8.04315772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.010385723 meters 0.014565783498702953 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.68, Z:-8.04 [[ 9.54768764e-01 2.97292444e-01 -5.81457057e-03 4.33739006e+01] [ 2.97286967e-01 -9.54786470e-01 -1.80460566e-03 -1.90677552e+02] [-6.08816893e-03 -5.61493586e-06 -9.99981467e-01 -8.04286131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.040385723 meters 0.01314366953861063 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.68, Z:-8.04 [[ 9.29435083e-01 3.68934531e-01 -6.14317589e-03 4.33726521e+01] [ 3.68926406e-01 -9.29455385e-01 -2.44846684e-03 -1.90684176e+02] [-6.61313187e-03 9.31117510e-06 -9.99978133e-01 -8.04350242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.070385723 meters 0.015720082697138024 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.69, Z:-8.04 [[ 8.98582458e-01 4.38752493e-01 -6.76875882e-03 4.33727765e+01] [ 4.38739830e-01 -8.98607951e-01 -3.33354074e-03 -1.90694831e+02] [-7.54505981e-03 2.57371415e-05 -9.99971535e-01 -8.04156790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.100385723 meters 0.013408469151966307 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.70, Z:-8.04 [[ 8.62685549e-01 5.05707504e-01 -5.79347507e-03 4.33731365e+01] [ 5.05695797e-01 -8.62705001e-01 -3.44115531e-03 -1.90703647e+02] [-6.73827798e-03 3.88989655e-05 -9.99977297e-01 -8.04234408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.130385723 meters 0.015228770570706792 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.71, Z:-8.04 [[ 8.21264598e-01 5.70519344e-01 -5.66905393e-03 4.33733275e+01] [ 5.70505331e-01 -8.21284163e-01 -3.99892628e-03 -1.90712164e+02] [-6.93736901e-03 4.99510929e-05 -9.99975935e-01 -8.04131644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.160385723 meters 0.013812029788883054 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.72, Z:-8.04 [[ 7.74954262e-01 6.31996539e-01 -5.12509683e-03 4.33721727e+01] [ 6.31982230e-01 -7.74971207e-01 -4.25321347e-03 -1.90720338e+02] [-6.65981867e-03 5.70757766e-05 -9.99977822e-01 -8.04222755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.190385723 meters 0.014756532160825167 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.73, Z:-8.04 [[ 7.23626334e-01 6.90173693e-01 -5.02021768e-03 4.33727873e+01] [ 6.90156454e-01 -7.23643745e-01 -4.87851735e-03 -1.90729512e+02] [-6.99987346e-03 6.54879886e-05 -9.99975498e-01 -8.04121095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.220385723 meters 0.014019026661779378 Centerline is valid? [True, True] Translation: X:43.37, Y:-190.74, Z:-8.04 [[ 6.67743095e-01 7.44378467e-01 -4.45608601e-03 4.33739848e+01] [ 7.44361225e-01 -6.67757960e-01 -5.06695075e-03 -1.90738058e+02] [-6.74731594e-03 6.64837363e-05 -9.99977234e-01 -8.04167800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.250385723 meters 0.013699108638332354 Centerline is valid? [True, True] Translation: X:43.38, Y:-190.75, Z:-8.04 [[ 6.07682842e-01 7.94169996e-01 -3.94731828e-03 4.33815664e+01] [ 7.94152521e-01 -6.07695659e-01 -5.26880599e-03 -1.90750107e+02] [-6.58309582e-03 6.69902401e-05 -9.99978329e-01 -8.04279346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.280385723 meters 0.013859135715180756 Centerline is valid? [True, True] Translation: X:43.39, Y:-190.76, Z:-8.04 [[ 5.44195570e-01 8.38953131e-01 -2.97071024e-03 4.33884406e+01] [ 8.38940022e-01 -5.44203675e-01 -4.69037349e-03 -1.90761520e+02] [-5.55167496e-03 6.02327638e-05 -9.99984588e-01 -8.04333109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.310385723 meters 0.013894891522393716 Centerline is valid? [True, True] Translation: X:43.40, Y:-190.77, Z:-8.04 [[ 4.76992964e-01 8.78903729e-01 -2.43871659e-03 4.33966204e+01] [ 8.78891618e-01 -4.76999195e-01 -4.61435859e-03 -1.90772358e+02] [-5.21884282e-03 5.76490136e-05 -9.99986380e-01 -8.04280423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.340385723 meters 0.013896575608378973 Centerline is valid? [True, True] Translation: X:43.41, Y:-190.78, Z:-8.04 [[ 4.06477875e-01 9.13658319e-01 -2.05271015e-03 4.34056999e+01] [ 9.13645965e-01 -4.06483055e-01 -4.75147596e-03 -1.90782579e+02] [-5.17561743e-03 5.59195098e-05 -9.99986605e-01 -8.04167443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37038572299997 meters 0.014909386052703259 Centerline is valid? [True, True] Translation: X:43.41, Y:-190.79, Z:-8.04 [[ 3.33912670e-01 9.42602155e-01 -1.87240940e-03 4.34126778e+01] [ 9.42586244e-01 -3.33917914e-01 -5.47722516e-03 -1.90792589e+02] [-5.78807528e-03 6.40075400e-05 -9.99983247e-01 -8.04034418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.400385723 meters 0.014112736290193108 Centerline is valid? [True, True] Translation: X:43.42, Y:-190.80, Z:-8.04 [[ 2.58920683e-01 9.65897330e-01 -1.55810140e-03 4.34211971e+01] [ 9.65878216e-01 -2.58925362e-01 -6.07684763e-03 -1.90801054e+02] [-6.27304287e-03 6.84853378e-05 -9.99980322e-01 -8.04000632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.430385723 meters 0.015120673931900235 Centerline is valid? [True, True] Translation: X:43.43, Y:-190.81, Z:-8.04 [[ 1.83283645e-01 9.83059446e-01 -1.10947943e-03 4.34293632e+01] [ 9.83038844e-01 -1.83286987e-01 -6.36486909e-03 -1.90808601e+02] [-6.46039782e-03 7.59150305e-05 -9.99979129e-01 -8.03878197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.460385723 meters 0.01452601209692526 Centerline is valid? [True, True] Translation: X:43.44, Y:-190.82, Z:-8.04 [[ 1.06221331e-01 9.94342353e-01 -5.60612922e-04 4.34358739e+01] [ 9.94324625e-01 -1.06222786e-01 -5.93801955e-03 -1.90816762e+02] [-5.96397419e-03 7.33131085e-05 -9.99982213e-01 -8.03966190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.490385723 meters 0.014999089338371092 Centerline is valid? [True, True] Translation: X:43.44, Y:-190.82, Z:-8.04 [[ 2.88039945e-02 9.99585075e-01 -8.65224274e-05 4.34428634e+01] [ 9.99569928e-01 -2.88040344e-02 -5.50333345e-03 -1.90823291e+02] [-5.50354217e-03 7.20327699e-05 -9.99984853e-01 -8.04001674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.520385723 meters 0.014467077607137526 Centerline is valid? [True, True] Translation: X:43.46, Y:-190.83, Z:-8.04 [[-4.77625165e-02 9.98858667e-01 3.24279496e-04 4.34572154e+01] [ 9.98845303e-01 4.77635551e-02 -5.16759719e-03 -1.90828435e+02] [-5.17718798e-03 7.70876053e-05 -9.99986595e-01 -8.04123780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.550385723 meters 0.014817540998032199 Centerline is valid? [True, True] Translation: X:43.47, Y:-190.83, Z:-8.04 [[-1.25350477e-01 9.92112244e-01 7.44265573e-04 4.34697231e+01] [ 9.92098415e-01 1.25352660e-01 -5.23877283e-03 -1.90833622e+02] [-5.29074633e-03 8.17020233e-05 -9.99986001e-01 -8.04052847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.580385723 meters 0.015610602207265959 Centerline is valid? [True, True] Translation: X:43.48, Y:-190.84, Z:-8.04 [[-2.02000442e-01 9.79384604e-01 1.27211661e-03 4.34800178e+01] [ 9.79368013e-01 2.02004426e-01 -5.70143882e-03 -1.90838051e+02] [-5.84087459e-03 9.41771548e-05 -9.99982938e-01 -8.03932941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.610385723 meters 0.015107569481106767 Centerline is valid? [True, True] Translation: X:43.49, Y:-190.84, Z:-8.04 [[-2.77710239e-01 9.60663274e-01 1.76009642e-03 4.34939658e+01] [ 9.60646176e-01 2.77715799e-01 -5.73240793e-03 -1.90839660e+02] [-5.99572035e-03 9.88815234e-05 -9.99982021e-01 -8.03966677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.640385723 meters 0.015203283604119436 Centerline is valid? [True, True] Translation: X:43.51, Y:-190.84, Z:-8.04 [[-3.51785682e-01 9.36078271e-01 2.07454944e-03 4.35071312e+01] [ 9.36063554e-01 3.51791786e-01 -5.24993113e-03 -1.90840609e+02] [-5.64415591e-03 9.50595207e-05 -9.99984067e-01 -8.03957112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.670385723 meters 0.0162814069633634 Centerline is valid? [True, True] Translation: X:43.52, Y:-190.84, Z:-8.04 [[-4.23621713e-01 9.05836446e-01 2.23079280e-03 4.35197252e+01] [ 9.05824958e-01 4.23627578e-01 -4.56289705e-03 -1.90841809e+02] [-5.07826380e-03 8.77655301e-05 -9.99987102e-01 -8.03878740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.700385723 meters 0.017009453452857044 Centerline is valid? [True, True] Translation: X:43.53, Y:-190.84, Z:-8.04 [[-4.93376681e-01 8.69812181e-01 2.49409054e-03 4.35311245e+01] [ 8.69801919e-01 4.93382978e-01 -4.22605778e-03 -1.90841788e+02] [-4.90641836e-03 8.43263790e-05 -9.99987960e-01 -8.03872290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.730385723 meters 0.015522416515169743 Centerline is valid? [True, True] Translation: X:43.54, Y:-190.84, Z:-8.04 [[-5.60306293e-01 8.28282111e-01 2.36707118e-03 4.35418651e+01] [ 8.28275235e-01 5.60311289e-01 -3.37557590e-03 -1.90841144e+02] [-4.12222584e-03 6.92300177e-05 -9.99991501e-01 -8.04039122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.760385723 meters 0.01501273657650948 Centerline is valid? [True, True] Translation: X:43.56, Y:-190.84, Z:-8.04 [[-6.24430249e-01 7.81077386e-01 2.23194701e-03 4.35564369e+01] [ 7.81072706e-01 6.24434235e-01 -2.70434071e-03 -1.90835514e+02] [-3.50600349e-03 5.46407477e-05 -9.99993853e-01 -8.04166239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.790385723 meters 0.015315876333824866 Centerline is valid? [True, True] Translation: X:43.57, Y:-190.83, Z:-8.04 [[-6.84699781e-01 7.28821368e-01 2.37137343e-03 4.35699773e+01] [ 7.28817240e-01 6.84703886e-01 -2.45342015e-03 -1.90830867e+02] [-3.41179363e-03 4.84415958e-05 -9.99994179e-01 -8.04188591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.820385723 meters 0.01611365605506826 Centerline is valid? [True, True] Translation: X:43.58, Y:-190.82, Z:-8.04 [[-7.39931019e-01 6.72678305e-01 2.44665604e-03 4.35816480e+01] [ 6.72674827e-01 7.39935062e-01 -2.16339766e-03 -1.90824158e+02] [-3.26563726e-03 4.50388924e-05 -9.99994667e-01 -8.04137020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.850385723 meters 0.01680980267797662 Centerline is valid? [True, True] Translation: X:43.61, Y:-190.80, Z:-8.04 [[-7.86630517e-01 6.17417015e-01 2.94281031e-03 4.36064850e+01] [ 6.17412909e-01 7.86636020e-01 -2.25204955e-03 -1.90800454e+02] [-3.70537430e-03 4.53981790e-05 -9.99993134e-01 -8.04010054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.880385723 meters 0.014737297752857021 Centerline is valid? [True, True] Translation: X:43.63, Y:-190.78, Z:-8.04 [[-8.29034106e-01 5.59187153e-01 3.48996683e-03 4.36252086e+01] [ 5.59182431e-01 8.29041450e-01 -2.29830251e-03 -1.90775267e+02] [-4.17850840e-03 4.61569747e-05 -9.99991269e-01 -8.04178411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.910385723 meters 0.01750741635011414 Centerline is valid? [True, True] Translation: X:44.04, Y:-190.16, Z:-9.03 [[-8.02725021e-01 -5.96338285e-01 3.63203620e-03 4.40382140e+01] [ 5.96332022e-01 -8.02733237e-01 -2.73309834e-03 -1.90160443e+02] [ 4.54540735e-03 -2.80269234e-05 9.99989669e-01 -9.02860378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.940385723 meters 0.014845680499546612 Centerline is valid? [True, True] Translation: X:43.59, Y:-190.75, Z:-8.04 [[-8.31718298e-01 5.55178997e-01 4.57762401e-03 4.35896230e+01] [ 5.55170942e-01 8.31730893e-01 -2.99109295e-03 -1.90746637e+02] [-5.46794329e-03 5.36170964e-05 -9.99985049e-01 -8.04172094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.970385723 meters 0.014845680499546612 Centerline is valid? [True, True] Translation: X:43.61, Y:-190.72, Z:-8.04 [[-8.68951947e-01 4.94873403e-01 4.77798667e-03 4.36057628e+01] [ 4.94866261e-01 8.68965081e-01 -2.65935010e-03 -1.90722412e+02] [-5.46794520e-03 5.36169531e-05 -9.99985049e-01 -8.04172092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.000385723 meters 0.014398845366344941 Centerline is valid? [True, True] Translation: X:43.62, Y:-190.69, Z:-8.04 [[-9.02032632e-01 4.31640205e-01 4.88515683e-03 4.36187564e+01] [ 4.31634176e-01 9.02045859e-01 -2.28192935e-03 -1.90690192e+02] [-5.39160794e-03 5.02259052e-05 -9.99985464e-01 -8.04284124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.030385723 meters 0.016041935547039785 Centerline is valid? [True, True] Translation: X:43.93, Y:-190.04, Z:-9.03 [[-8.79908214e-01 -4.75118328e-01 4.91017602e-03 4.39295380e+01] [ 4.75110681e-01 -8.79921913e-01 -2.69587612e-03 -1.90041303e+02] [ 5.60143163e-03 -3.92464666e-05 9.99984311e-01 -9.02624516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.060385723 meters 0.014705898122445615 Centerline is valid? [True, True] Translation: X:43.58, Y:-190.67, Z:-8.04 [[-9.03603958e-01 4.28340932e-01 4.89210810e-03 4.35758766e+01] [ 4.28334953e-01 9.03617200e-01 -2.26357737e-03 -1.90666813e+02] [-5.39017586e-03 5.00834276e-05 -9.99985472e-01 -8.04438676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.090385723 meters 0.0170905937957994 Centerline is valid? [True, True] Translation: X:43.60, Y:-190.64, Z:-8.04 [[-9.31398247e-01 3.63973072e-01 4.57261135e-03 4.35964083e+01] [ 3.63968946e-01 9.31409470e-01 -1.73379684e-03 -1.90642053e+02] [-4.89002887e-03 4.94331993e-05 -9.99988043e-01 -8.04281716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12038572299997 meters 0.016406852690434008 Centerline is valid? [True, True] Translation: X:43.60, Y:-190.61, Z:-8.04 [[-9.54715687e-01 2.97483264e-01 4.65452855e-03 4.36009198e+01] [ 2.97479990e-01 9.54727032e-01 -1.39649298e-03 -1.90611308e+02] [-4.85923751e-03 5.13753552e-05 -9.99988193e-01 -8.04366367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.150385723 meters 0.015280637878066793 Centerline is valid? [True, True] Translation: X:43.81, Y:-189.94, Z:-9.02 [[-9.40442056e-01 -3.39921213e-01 4.72309759e-03 4.38113483e+01] [ 3.39916700e-01 -9.40453916e-01 -1.75208428e-03 -1.89939300e+02] [ 5.03742624e-03 -4.22739914e-05 9.99987311e-01 -9.02237301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.180385723 meters 0.01738996463674491 Centerline is valid? [True, True] Translation: X:43.56, Y:-190.60, Z:-8.04 [[-9.55101644e-01 2.96245893e-01 4.38412222e-03 4.35614133e+01] [ 2.96243060e-01 9.55111704e-01 -1.29706319e-03 -1.90596312e+02] [-4.57157609e-03 5.99385953e-05 -9.99989549e-01 -8.04348430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.210385723 meters 0.015651439801160766 Centerline is valid? [True, True] Translation: X:43.56, Y:-190.56, Z:-8.05 [[-9.73641712e-01 2.28039825e-01 4.43332507e-03 4.35635473e+01] [ 2.28037745e-01 9.73651803e-01 -9.75926233e-04 -1.90562321e+02] [-4.53906500e-03 6.07629650e-05 -9.99989697e-01 -8.04547860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.240385723 meters 0.015790093790834413 Centerline is valid? [True, True] Translation: X:43.72, Y:-189.89, Z:-9.02 [[-9.63583160e-01 -2.67374524e-01 4.28454879e-03 4.37183701e+01] [ 2.67371583e-01 -9.63592683e-01 -1.25583741e-03 -1.89891910e+02] [ 4.46433880e-03 -6.45371849e-05 9.99990033e-01 -9.02271756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.270385723 meters 0.01576862761719997 Centerline is valid? [True, True] Translation: X:43.51, Y:-190.55, Z:-8.05 [[-9.74642499e-01 2.23713187e-01 4.94055734e-03 4.35143689e+01] [ 2.23710650e-01 9.74655019e-01 -1.06745390e-03 -1.90545884e+02] [-5.05414252e-03 6.48693564e-05 -9.99987226e-01 -8.04511932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.300385723 meters 0.018362526079344563 Centerline is valid? [True, True] Translation: X:43.52, Y:-190.52, Z:-8.04 [[-9.88044145e-01 1.54091297e-01 4.96381607e-03 4.35189714e+01] [ 1.54089682e-01 9.88056612e-01 -7.08340124e-04 -1.90515321e+02] [-5.01368033e-03 6.50015282e-05 -9.99987429e-01 -8.04252956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.330385723 meters 0.01835634179203018 Centerline is valid? [True, True] Translation: X:43.52, Y:-190.48, Z:-8.04 [[-9.96409493e-01 8.44456472e-02 6.08725400e-03 4.35194377e+01] [ 8.44445916e-02 9.96428083e-01 -4.30674506e-04 -1.90482984e+02] [-6.10187942e-03 8.49075116e-05 -9.99981380e-01 -8.04191718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.360385723 meters 0.017188624632499594 Centerline is valid? [True, True] Translation: X:43.51, Y:-190.45, Z:-8.04 [[-9.99875582e-01 1.42386716e-02 6.78823971e-03 4.35132699e+01] [ 1.42390235e-02 9.99898620e-01 3.50751045e-06 -1.90452428e+02] [-6.78750157e-03 1.00164979e-04 -9.99976960e-01 -8.04277478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.390385723 meters 0.01719358405049898 Centerline is valid? [True, True] Translation: X:43.51, Y:-190.42, Z:-8.04 [[-9.98449676e-01 -5.52765095e-02 6.53850322e-03 4.35074307e+01] [-5.52746165e-02 9.98471079e-01 4.70000903e-04 -1.90419022e+02] [-6.55448637e-03 1.07858992e-04 -9.99978513e-01 -8.04285717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.420385723 meters 0.018894786146763 Centerline is valid? [True, True] Translation: X:43.49, Y:-190.39, Z:-8.04 [[-9.92060190e-01 -1.25607099e-01 6.27975469e-03 4.34933034e+01] [-1.25603885e-01 9.92080060e-01 9.05196023e-04 -1.90389497e+02] [-6.34371846e-03 1.09247352e-04 -9.99979872e-01 -8.04190293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.450385723 meters 0.018916437554055924 Centerline is valid? [True, True] Translation: X:43.39, Y:-189.75, Z:-9.02 [[-9.95591734e-01 9.35727177e-02 6.42233842e-03 4.33923533e+01] [-9.35714476e-02 -9.95612442e-01 4.98623083e-04 -1.89746878e+02] [ 6.44081756e-03 -1.04522483e-04 9.99979252e-01 -9.02487964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.480385723 meters 0.016932779678614635 Centerline is valid? [True, True] Translation: X:43.38, Y:-190.40, Z:-8.04 [[-9.91363627e-01 -1.30980773e-01 6.49591602e-03 4.33846468e+01] [-1.30977178e-01 9.91384902e-01 9.77600728e-04 -1.90396818e+02] [-6.56799996e-03 1.18341054e-04 -9.99978423e-01 -8.04494097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.510385723 meters 0.016243943203613186 Centerline is valid? [True, True] Translation: X:43.36, Y:-190.37, Z:-8.05 [[-9.79424330e-01 -2.01701567e-01 6.66778642e-03 4.33584273e+01] [-2.01696032e-01 9.79447019e-01 1.49940592e-03 -1.90368487e+02] [-6.83317606e-03 1.23688573e-04 -9.99976646e-01 -8.04610045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.540385723 meters 0.016761497529496475 Centerline is valid? [True, True] Translation: X:43.32, Y:-190.35, Z:-8.05 [[-9.62330178e-01 -2.71809285e-01 6.35145590e-03 4.33222679e+01] [-2.71802540e-01 9.62351130e-01 1.91861289e-03 -1.90346915e+02] [-6.63382756e-03 1.19997240e-04 -9.99977989e-01 -8.04581618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.570385723 meters 0.016206732360644655 Centerline is valid? [True, True] Translation: X:43.27, Y:-190.33, Z:-8.05 [[-9.39759069e-01 -3.41795925e-01 5.33280326e-03 4.32675276e+01] [-3.41789828e-01 9.39774194e-01 2.04387868e-03 -1.90327719e+02] [-5.71022029e-03 9.80556104e-05 -9.99983692e-01 -8.04707888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.600385723 meters 0.016185864827795687 Centerline is valid? [True, True] Translation: X:43.20, Y:-190.32, Z:-8.05 [[-9.11759225e-01 -4.10699588e-01 4.57864775e-03 4.31984226e+01] [-4.10693950e-01 9.11770718e-01 2.15368075e-03 -1.90322343e+02] [-5.05919274e-03 8.32153644e-05 -9.99987199e-01 -8.04734974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.630385723 meters 0.016046351090058343 Centerline is valid? [True, True] Translation: X:43.12, Y:-190.32, Z:-8.05 [[-8.78185300e-01 -4.78298332e-01 4.61353079e-03 4.31229865e+01] [-4.78291257e-01 8.78197415e-01 2.60273636e-03 -1.90324337e+02] [-5.29647527e-03 7.90733639e-05 -9.99985970e-01 -8.04765458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.660385723 meters 0.0159787438709326 Centerline is valid? [True, True] Translation: X:43.04, Y:-190.34, Z:-8.05 [[-8.40004708e-01 -5.42558492e-01 4.73007548e-03 4.30385507e+01] [-5.42549339e-01 8.40018021e-01 3.15259416e-03 -1.90339376e+02] [-5.68381537e-03 8.18946088e-05 -9.99983844e-01 -8.04746596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.690385723 meters 0.015974239599331953 Centerline is valid? [True, True] Translation: X:42.95, Y:-190.36, Z:-8.05 [[-7.96808748e-01 -6.04214657e-01 4.52405960e-03 4.29541411e+01] [-6.04204351e-01 7.96821587e-01 3.52996003e-03 -1.90361624e+02] [-5.73772194e-03 7.92465362e-05 -9.99983536e-01 -8.04747369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.720385723 meters 0.01587122039741884 Centerline is valid? [True, True] Translation: X:42.86, Y:-190.39, Z:-8.05 [[-7.48497729e-01 -6.63125157e-01 4.02199428e-03 4.28645638e+01] [-6.63115094e-01 7.48508532e-01 3.65380674e-03 -1.90394243e+02] [-5.43342820e-03 6.78209330e-05 -9.99985237e-01 -8.04746206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.750385723 meters 0.01584576361014606 Centerline is valid? [True, True] Translation: X:42.78, Y:-190.44, Z:-8.05 [[-6.96033642e-01 -7.18000078e-01 3.61354244e-03 4.27758999e+01] [-7.17989940e-01 6.96043019e-01 3.81594825e-03 -1.90435630e+02] [-5.25503213e-03 6.15412338e-05 -9.99986190e-01 -8.04700429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.780385723 meters 0.015798484699392237 Centerline is valid? [True, True] Translation: X:42.69, Y:-190.49, Z:-8.05 [[-6.40020273e-01 -7.68349962e-01 3.51938677e-03 4.26897176e+01] [-7.68337778e-01 6.40029946e-01 4.32745985e-03 -1.90486872e+02] [-5.57751653e-03 6.55842260e-05 -9.99984443e-01 -8.04644136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.810385723 meters 0.01603053269939094 Centerline is valid? [True, True] Translation: X:42.60, Y:-190.55, Z:-8.05 [[-5.80166819e-01 -8.14489595e-01 3.62774717e-03 4.26026741e+01] [-8.14472862e-01 5.80178157e-01 5.22154310e-03 -1.90553573e+02] [-6.35763219e-03 7.46644327e-05 -9.99979787e-01 -8.04543813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.840385723 meters 0.0159300082837109 Centerline is valid? [True, True] Translation: X:42.52, Y:-190.62, Z:-8.05 [[-5.17502774e-01 -8.55674491e-01 3.47061274e-03 4.25218125e+01] [-8.55654133e-01 5.17514405e-01 5.90303729e-03 -1.90620503e+02] [-6.84717051e-03 8.51940377e-05 -9.99976554e-01 -8.04577261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87038572299997 meters 0.016087188802755555 Centerline is valid? [True, True] Translation: X:42.44, Y:-190.70, Z:-8.05 [[-4.51396624e-01 -8.92318133e-01 3.07203757e-03 4.24434252e+01] [-8.92296114e-01 4.51407069e-01 6.26917788e-03 -1.90701726e+02] [-6.98084058e-03 8.87185483e-05 -9.99975630e-01 -8.04554792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.900385723 meters 0.01628028729818469 Centerline is valid? [True, True] Translation: X:42.37, Y:-190.79, Z:-8.05 [[-3.82483462e-01 -9.23958457e-01 2.67787131e-03 4.23702543e+01] [-9.23934083e-01 3.82492824e-01 6.71185747e-03 -1.90791183e+02] [-7.22574404e-03 9.29979074e-05 -9.99973890e-01 -8.04517143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.930385723 meters 0.01610257345241671 Centerline is valid? [True, True] Translation: X:42.30, Y:-190.88, Z:-8.05 [[-3.10751283e-01 -9.50489106e-01 2.02487637e-03 4.23047379e+01] [-9.50467117e-01 3.10757868e-01 6.46587378e-03 -1.90884541e+02] [-6.77498885e-03 8.47001659e-05 -9.99977046e-01 -8.04554570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.960385723 meters 0.016036091592374714 Centerline is valid? [True, True] Translation: X:42.25, Y:-190.99, Z:-8.05 [[-2.37203093e-01 -9.71458919e-01 1.50397467e-03 4.22453640e+01] [-9.71437161e-01 2.37207847e-01 6.50228635e-03 -1.90986439e+02] [-6.67345866e-03 8.13455529e-05 -9.99977729e-01 -8.04557287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.990385723 meters 0.015929829296818004 Centerline is valid? [True, True] Translation: X:42.19, Y:-191.10, Z:-8.05 [[-1.61747442e-01 -9.86831762e-01 9.15243841e-04 4.21923189e+01] [-9.86813453e-01 1.61750017e-01 6.01182247e-03 -1.91095889e+02] [-6.08069807e-03 6.92219717e-05 -9.99981510e-01 -8.04639925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.020385723 meters 0.015748953782009276 Centerline is valid? [True, True] Translation: X:42.15, Y:-191.20, Z:-8.05 [[-8.56380340e-02 -9.96326228e-01 4.17398759e-04 4.21493300e+01] [-9.96310663e-01 8.56390293e-02 5.56943530e-03 -1.91203009e+02] [-5.58472009e-03 6.10966546e-05 -9.99984404e-01 -8.04697225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.050385723 meters 0.01571194793386968 Centerline is valid? [True, True] Translation: X:41.59, Y:-191.27, Z:-9.02 [[-1.32667425e-01 9.91160315e-01 7.64085496e-04 4.15865090e+01] [-9.91147551e-01 -1.32669595e-01 5.03089214e-03 -1.91268548e+02] [ 5.08779156e-03 -8.98859629e-05 9.99987053e-01 -9.02065290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.080385723 meters 0.0156773088717704 Centerline is valid? [True, True] Translation: X:42.13, Y:-191.47, Z:-8.05 [[-7.45246289e-02 -9.97219121e-01 3.24343910e-04 4.21251052e+01] [-9.97207044e-01 7.45253227e-02 4.90796429e-03 -1.91471161e+02] [-4.91848766e-03 4.23261855e-05 -9.99987903e-01 -8.04679581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.110385723 meters 0.015457070221439483 Centerline is valid? [True, True] Translation: X:42.09, Y:-191.59, Z:-8.05 [[ 3.85119215e-03 -9.99992583e-01 -4.97776422e-05 4.20909292e+01] [-9.99980791e-01 -3.85138848e-03 4.85640870e-03 -1.91587292e+02] [-4.85656440e-03 3.10737230e-05 -9.99988206e-01 -8.04691257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.140385723 meters 0.01543256159591358 Centerline is valid? [True, True] Translation: X:42.07, Y:-191.70, Z:-8.05 [[ 8.14698415e-02 -9.96675719e-01 -4.20624023e-04 4.20665750e+01] [-9.96663920e-01 -8.14709237e-02 4.84961423e-03 -1.91703940e+02] [-4.86776137e-03 2.41234854e-05 -9.99988152e-01 -8.04668955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.170385723 meters 0.015203669905448797 Centerline is valid? [True, True] Translation: X:42.05, Y:-191.83, Z:-8.05 [[ 1.59712767e-01 -9.87163186e-01 -8.22569592e-04 4.20513171e+01] [-9.87150474e-01 -1.59714885e-01 5.00975283e-03 -1.91827013e+02] [-5.07682017e-03 1.18784742e-05 -9.99987113e-01 -8.04645171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.200385723 meters 0.01516302766321165 Centerline is valid? [True, True] Translation: X:42.05, Y:-191.95, Z:-8.05 [[ 2.35099579e-01 -9.71970295e-01 -1.39064822e-03 4.20458663e+01] [-9.71953540e-01 -2.35103692e-01 5.70698523e-03 -1.91946612e+02] [-5.87396665e-03 9.93563427e-06 -9.99982748e-01 -8.04594584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.230385723 meters 0.015148905951066854 Centerline is valid? [True, True] Translation: X:42.05, Y:-192.06, Z:-8.05 [[ 3.09494794e-01 -9.50898641e-01 -2.17854275e-03 4.20496702e+01] [-9.50875184e-01 -3.09502462e-01 6.67916370e-03 -1.92063173e+02] [-7.02547203e-03 4.35583843e-06 -9.99975321e-01 -8.04575585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.260385723 meters 0.015125095418958902 Centerline is valid? [True, True] Translation: X:42.06, Y:-192.18, Z:-8.05 [[ 3.81106224e-01 -9.24526678e-01 -2.90984597e-03 4.20632601e+01] [-9.24499796e-01 -3.81117333e-01 7.05027927e-03 -1.92182185e+02] [-7.62716401e-03 3.24669117e-06 -9.99970913e-01 -8.04523397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.290385723 meters 0.01509998108827072 Centerline is valid? [True, True] Translation: X:42.08, Y:-192.29, Z:-8.04 [[ 4.50318906e-01 -8.92860198e-01 -3.68107831e-03 4.20829326e+01] [-8.92830428e-01 -4.50333951e-01 7.29108562e-03 -1.92293480e+02] [-8.16763469e-03 3.26502673e-06 -9.99966644e-01 -8.04496830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.320385723 meters 0.015540638401056886 Centerline is valid? [True, True] Translation: X:42.11, Y:-192.40, Z:-8.04 [[ 5.16966377e-01 -8.55992933e-01 -4.67593570e-03 4.21113873e+01] [-8.55957958e-01 -5.16987523e-01 7.73793047e-03 -1.92402245e+02] [-9.04101421e-03 2.15449295e-06 -9.99959129e-01 -8.04390469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.350385723 meters 0.015949269135859017 Centerline is valid? [True, True] Translation: X:42.15, Y:-192.51, Z:-8.04 [[ 5.80047028e-01 -8.14566542e-01 -5.17635737e-03 4.21474451e+01] [-8.14534198e-01 -5.80070125e-01 7.25891039e-03 -1.92506796e+02] [-8.91551580e-03 5.81070059e-06 -9.99960256e-01 -8.04406685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.380385723 meters 0.015106273565715794 Centerline is valid? [True, True] Translation: X:42.19, Y:-192.61, Z:-8.05 [[ 6.39938755e-01 -7.68409519e-01 -5.02002926e-03 4.21883697e+01] [-7.68385950e-01 -6.39958444e-01 6.01838195e-03 -1.92606563e+02] [-7.83719210e-03 5.92409807e-06 -9.99969289e-01 -8.04530440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.410385723 meters 0.01508821834305175 Centerline is valid? [True, True] Translation: X:42.24, Y:-192.70, Z:-8.05 [[ 6.95687566e-01 -7.18325223e-01 -5.26168914e-03 4.22378167e+01] [-7.18304793e-01 -6.95707463e-01 5.41753442e-03 -1.92703621e+02] [-7.55214802e-03 1.05851983e-05 -9.99971482e-01 -8.04583476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.440385723 meters 0.015106976414608985 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.79, Z:-8.05 [[ 7.46159863e-01 -6.65743745e-01 -5.54303957e-03 4.22889890e+01] [-6.65725672e-01 -7.46180451e-01 4.90553425e-03 -1.92787359e+02] [-7.40193651e-03 2.98309796e-05 -9.99972605e-01 -8.04582456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.470385723 meters 0.01522197646809933 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.80, Z:-8.05 [[ 7.94855665e-01 -6.06768699e-01 -6.01815168e-03 4.22888779e+01] [-6.06751721e-01 -7.94878446e-01 4.53929386e-03 -1.92801174e+02] [-7.53800049e-03 4.34404445e-05 -9.99971588e-01 -8.04563045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.500385723 meters 0.015353004855660185 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.81, Z:-8.05 [[ 8.38181775e-01 -5.45348602e-01 -6.79811280e-03 4.22903410e+01] [-5.45331351e-01 -8.38209340e-01 4.33817043e-03 -1.92811353e+02] [-8.06405682e-03 7.10486476e-05 -9.99967482e-01 -8.04527760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.530385723 meters 0.015447517433636586 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.82, Z:-8.05 [[ 8.77716334e-01 -4.79126656e-01 -7.18915064e-03 4.22913063e+01] [-4.79111336e-01 -8.77745773e-01 3.83226294e-03 -1.92823793e+02] [-8.14638591e-03 8.07637910e-05 -9.99966814e-01 -8.04531531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.560385723 meters 0.015470264231097446 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.84, Z:-8.05 [[ 9.12020204e-01 -4.10094935e-01 -6.42587079e-03 4.22918820e+01] [-4.10085355e-01 -9.12042838e-01 2.80409943e-03 -1.92838842e+02] [-7.01061641e-03 7.77601729e-05 -9.99975422e-01 -8.04629599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.590385723 meters 0.016417960688159268 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.85, Z:-8.04 [[ 9.41418193e-01 -3.37193696e-01 -5.67430298e-03 4.22938159e+01] [-3.37187981e-01 -9.41435291e-01 1.96423593e-03 -1.92850322e+02] [-6.00431706e-03 6.41393246e-05 -9.99981972e-01 -8.04403084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62038572299997 meters 0.015474799302277506 Centerline is valid? [True, True] Translation: X:42.30, Y:-192.87, Z:-8.05 [[ 9.65044674e-01 -2.62028166e-01 -5.47873340e-03 4.22965374e+01] [-2.62024280e-01 -9.65060225e-01 1.42825499e-03 -1.92865870e+02] [-5.66155072e-03 5.72313006e-05 -9.99983972e-01 -8.04516277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.650385723 meters 0.017841813940676996 Centerline is valid? [True, True] Translation: X:42.30, Y:-192.88, Z:-8.04 [[ 9.82736196e-01 -1.84877663e-01 -7.05822084e-03 4.23010558e+01] [-1.84873376e-01 -9.82761540e-01 1.26085880e-03 -1.92879054e+02] [-7.16965262e-03 6.57855305e-05 -9.99974296e-01 -8.04307286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.680385723 meters 0.01660015389806987 Centerline is valid? [True, True] Translation: X:42.30, Y:-192.89, Z:-8.04 [[ 9.94442348e-01 -1.05024158e-01 -7.37176866e-03 4.23036423e+01] [-1.05021651e-01 -9.94469670e-01 7.27449516e-04 -1.92891336e+02] [-7.40740012e-03 5.07887128e-05 -9.99972564e-01 -8.04226246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.710385723 meters 0.015088635359207738 Centerline is valid? [True, True] Translation: X:42.31, Y:-192.90, Z:-8.04 [[ 9.99649986e-01 -2.54434568e-02 -7.24816807e-03 4.23059505e+01] [-2.54430732e-02 -9.99676262e-01 1.45136390e-04 -1.92902856e+02] [-7.24951434e-03 3.93300810e-05 -9.99973721e-01 -8.04264857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.740385723 meters 0.014950424056498005 Centerline is valid? [True, True] Translation: X:42.31, Y:-192.91, Z:-8.04 [[ 9.98478478e-01 5.46056553e-02 -7.67801745e-03 4.23100696e+01] [ 5.46038223e-02 -9.98507998e-01 -4.48314628e-04 -1.92913992e+02] [-7.69104234e-03 2.83834075e-05 -9.99970423e-01 -8.04138543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.770385723 meters 0.017191766641555382 Centerline is valid? [True, True] Translation: X:42.31, Y:-192.92, Z:-8.04 [[ 9.91081808e-01 1.32990595e-01 -8.38753105e-03 4.23136655e+01] [ 1.32985592e-01 -9.91117299e-01 -1.15393097e-03 -1.92923173e+02] [-8.46648908e-03 2.82192112e-05 -9.99964158e-01 -8.03959303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.800385723 meters 0.014900498541878263 Centerline is valid? [True, True] Translation: X:42.32, Y:-192.93, Z:-8.04 [[ 9.77431262e-01 2.11137140e-01 -7.01692468e-03 4.23194240e+01] [ 2.11131576e-01 -9.77456448e-01 -1.53284898e-03 -1.92933024e+02] [-7.18237962e-03 1.67601445e-05 -9.99974206e-01 -8.04152763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.830385723 meters 0.014837528722094035 Centerline is valid? [True, True] Translation: X:42.33, Y:-192.94, Z:-8.04 [[ 9.57312323e-01 2.89013282e-01 -4.94354676e-03 4.23259998e+01] [ 2.89009421e-01 -9.57325088e-01 -1.49388175e-03 -1.92943059e+02] [-5.16433300e-03 1.37982351e-06 -9.99986665e-01 -8.04260306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.860385723 meters 0.014837528722094035 Centerline is valid? [True, True] Translation: X:42.33, Y:-192.95, Z:-8.04 [[ 9.31737813e-01 3.63099847e-01 -4.81137056e-03 4.23322539e+01] [ 3.63094998e-01 -9.31750235e-01 -1.87645510e-03 -1.92952513e+02] [-5.16433621e-03 1.37958196e-06 -9.99986665e-01 -8.04260303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.890385723 meters 0.014823350734658826 Centerline is valid? [True, True] Translation: X:42.34, Y:-192.96, Z:-8.04 [[ 8.99553153e-01 4.36790731e-01 -4.24059098e-03 4.23400452e+01] [ 4.36785922e-01 -8.99563148e-01 -2.04963739e-03 -1.92961942e+02] [-4.70994198e-03 -8.47266261e-06 -9.99988908e-01 -8.04315917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.920385723 meters 0.014907997656343137 Centerline is valid? [True, True] Translation: X:42.35, Y:-192.97, Z:-8.04 [[ 8.61963805e-01 5.06952577e-01 -4.18130523e-03 4.23477030e+01] [ 5.06946695e-01 -8.61973947e-01 -2.44216277e-03 -1.92971328e+02] [-4.84223688e-03 -1.46429522e-05 -9.99988276e-01 -8.04235688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.950385723 meters 0.014953764897276133 Centerline is valid? [True, True] Translation: X:42.36, Y:-192.98, Z:-8.04 [[ 8.18925501e-01 5.73887081e-01 -3.82653437e-03 4.23568225e+01] [ 5.73880929e-01 -8.18934440e-01 -2.65738082e-03 -1.92979177e+02] [-4.65871731e-03 -1.97781852e-05 -9.99989148e-01 -8.04225960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.980385723 meters 0.01889001985816655 Centerline is valid? [True, True] Translation: X:42.37, Y:-192.99, Z:-8.04 [[ 7.69919530e-01 6.38122826e-01 -4.81422189e-03 4.23662899e+01] [ 6.38110689e-01 -7.69934580e-01 -3.93593026e-03 -1.92985998e+02] [-6.21824285e-03 -4.16568692e-05 -9.99980666e-01 -8.03908434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.010385723 meters 0.01760304993686026 Centerline is valid? [True, True] Translation: X:42.38, Y:-192.99, Z:-8.04 [[ 7.16678891e-01 6.97391842e-01 -3.99831107e-03 4.23764073e+01] [ 6.97381334e-01 -7.16690042e-01 -3.82869638e-03 -1.92991353e+02] [-5.53565135e-03 -4.44016320e-05 -9.99984677e-01 -8.03940911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.040385723 meters 0.015311476076532007 Centerline is valid? [True, True] Translation: X:42.39, Y:-193.00, Z:-8.04 [[ 6.58074794e-01 7.52945678e-01 -3.22051149e-03 4.23866931e+01] [ 7.52937036e-01 -6.58082672e-01 -3.60795776e-03 -1.92996076e+02] [-4.83595900e-03 -5.05363171e-05 -9.99988305e-01 -8.04103686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.070385723 meters 0.015848217539407256 Centerline is valid? [True, True] Translation: X:42.40, Y:-193.00, Z:-8.04 [[ 5.96317839e-01 8.02742499e-01 -3.08455806e-03 4.23968488e+01] [ 8.02732261e-01 -5.96325814e-01 -4.05479864e-03 -1.93001701e+02] [-5.09436079e-03 -5.81254966e-05 -9.99987022e-01 -8.04023600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.100385723 meters 0.01729244301287151 Centerline is valid? [True, True] Translation: X:42.40, Y:-193.00, Z:-8.04 [[ 5.30460545e-01 8.47703151e-01 -3.31322325e-03 4.23983940e+01] [ 8.47687528e-01 -5.30470886e-01 -5.14715084e-03 -1.93000112e+02] [-6.12082446e-03 -7.82175848e-05 -9.99981265e-01 -8.03933322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.130385723 meters 0.01558493430302773 Centerline is valid? [True, True] Translation: X:42.41, Y:-193.00, Z:-8.04 [[ 4.62328704e-01 8.86704791e-01 -2.60449393e-03 4.24053448e+01] [ 8.86691575e-01 -4.62336035e-01 -4.84166107e-03 -1.93001369e+02] [-5.49727546e-03 -7.09439345e-05 -9.99984887e-01 -8.04087209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.160385723 meters 0.01874182207595387 Centerline is valid? [True, True] Translation: X:42.41, Y:-193.00, Z:-8.04 [[ 3.91616522e-01 9.20123919e-01 -2.91096157e-03 4.24129026e+01] [ 9.20100219e-01 -3.91627330e-01 -6.60462933e-03 -1.93002399e+02] [-7.21708953e-03 -9.18944088e-05 -9.99973952e-01 -8.03795336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.190385723 meters 0.01547062298583233 Centerline is valid? [True, True] Translation: X:42.42, Y:-193.00, Z:-8.04 [[ 3.19052943e-01 9.47734506e-01 -2.12728020e-03 4.24172187e+01] [ 9.47715029e-01 -3.19060025e-01 -6.07658816e-03 -1.93003268e+02] [-6.43772235e-03 -7.73020867e-05 -9.99979275e-01 -8.03899134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.220385723 meters 0.015297101939454896 Centerline is valid? [True, True] Translation: X:42.42, Y:-193.00, Z:-8.04 [[ 2.46103494e-01 9.69241930e-01 -1.77535797e-03 4.24194427e+01] [ 9.69218653e-01 -2.46109888e-01 -6.71755445e-03 -1.93003134e+02] [-6.94786859e-03 -6.74964427e-05 -9.99975861e-01 -8.03827117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.250385723 meters 0.01708963876454062 Centerline is valid? [True, True] Translation: X:42.42, Y:-193.00, Z:-8.04 [[ 1.70638124e-01 9.85332773e-01 -1.39916583e-03 4.24222324e+01] [ 9.85302755e-01 -1.70643848e-01 -7.69138824e-03 -1.93002599e+02] [-7.81733594e-03 -6.61578839e-05 -9.99969442e-01 -8.03750826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.280385723 meters 0.014841168612847407 Centerline is valid? [True, True] Translation: X:42.43, Y:-193.00, Z:-8.04 [[ 9.35581386e-02 9.95613613e-01 -6.39601112e-04 4.24262548e+01] [ 9.95593830e-01 -9.35603117e-02 -6.27651082e-03 -1.93002695e+02] [-6.30882089e-03 -4.95642514e-05 -9.99980098e-01 -8.03975813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.310385723 meters 0.014648593899140317 Centerline is valid? [True, True] Translation: X:42.43, Y:-193.00, Z:-8.04 [[ 1.66112558e-02 9.99862018e-01 -1.06193276e-04 4.24269936e+01] [ 9.99851466e-01 -1.66115684e-02 -4.59364726e-03 -1.93003675e+02] [-4.59477746e-03 -2.98712532e-05 -9.99989444e-01 -8.04089353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.340385723 meters 0.01454283532313107 Centerline is valid? [True, True] Translation: X:42.43, Y:-193.00, Z:-8.04 [[-6.14849220e-02 9.98107981e-01 2.49264536e-04 4.24316533e+01] [ 9.98097815e-01 6.14854208e-02 -4.50492360e-03 -1.93004061e+02] [-4.51172634e-03 -2.81944871e-05 -9.99989822e-01 -8.04134824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37038572299997 meters 0.014491543862528865 Centerline is valid? [True, True] Translation: X:42.43, Y:-193.00, Z:-8.04 [[-1.38873383e-01 9.90310021e-01 4.95560236e-04 4.24339513e+01] [ 9.90303165e-01 1.38874265e-01 -3.68513594e-03 -1.93004901e+02] [-3.71824761e-03 -2.10124223e-05 -9.99993087e-01 -8.04132484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.400385723 meters 0.014433828916366149 Centerline is valid? [True, True] Translation: X:42.44, Y:-193.01, Z:-8.04 [[-2.15581688e-01 9.76485467e-01 8.17833862e-04 4.24352680e+01] [ 9.76478081e-01 2.15583238e-01 -3.79796343e-03 -1.93005687e+02] [-3.88496736e-03 -2.01745254e-05 -9.99992453e-01 -8.04090451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.430385723 meters 0.014373310018608039 Centerline is valid? [True, True] Translation: X:42.43, Y:-193.01, Z:-8.04 [[-2.91015883e-01 9.56716776e-01 1.66340247e-03 4.24343933e+01] [ 9.56700597e-01 2.91020635e-01 -5.56391466e-03 -1.93008337e+02] [-5.80717493e-03 -2.78093994e-05 -9.99983138e-01 -8.03897188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.460385723 meters 0.01696526414421707 Centerline is valid? [True, True] Translation: X:42.44, Y:-193.01, Z:-8.04 [[-3.64572304e-01 9.31172060e-01 2.37256140e-03 4.24407696e+01] [ 9.31151841e-01 3.64580023e-01 -6.13644933e-03 -1.93007461e+02] [-6.57907866e-03 -2.79645570e-05 -9.99978357e-01 -8.03728946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.490385723 meters 0.014037755116695784 Centerline is valid? [True, True] Translation: X:42.45, Y:-193.00, Z:-8.04 [[-4.35970438e-01 8.99957566e-01 2.48115956e-03 4.24506247e+01] [ 8.99942709e-01 4.35977497e-01 -5.17131142e-03 -1.93004744e+02] [-5.73569057e-03 -2.16374472e-05 -9.99983551e-01 -8.03975481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.520385723 meters 0.013991699462991752 Centerline is valid? [True, True] Translation: X:42.46, Y:-193.00, Z:-8.04 [[-5.03558915e-01 8.63957902e-01 2.27221440e-03 4.24572669e+01] [ 8.63949029e-01 5.03564041e-01 -3.91565567e-03 -1.93003519e+02] [-4.52716712e-03 -8.68589175e-06 -9.99989752e-01 -8.04102111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.550385723 meters 0.013921577852341108 Centerline is valid? [True, True] Translation: X:42.46, Y:-193.00, Z:-8.04 [[-5.67954844e-01 8.23056466e-01 2.31280705e-03 4.24648987e+01] [ 8.23049646e-01 5.67959553e-01 -3.35055879e-03 -1.93000066e+02] [-4.07127994e-03 5.88931042e-07 -9.99991712e-01 -8.04113226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.580385723 meters 0.013922589521365644 Centerline is valid? [True, True] Translation: X:42.47, Y:-193.00, Z:-8.04 [[-6.29910880e-01 7.76662571e-01 2.74484182e-03 4.24749845e+01] [ 7.76655231e-01 6.29916860e-01 -3.37661099e-03 -1.92996719e+02] [-4.35150951e-03 4.83175805e-06 -9.99990532e-01 -8.04069448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.610385723 meters 0.013957643349823207 Centerline is valid? [True, True] Translation: X:42.48, Y:-192.99, Z:-8.04 [[-6.87735379e-01 7.25951769e-01 3.75200346e-03 4.24815042e+01] [ 7.25941078e-01 6.87745613e-01 -3.93989641e-03 -1.92993640e+02] [-5.44059869e-03 1.41272840e-05 -9.99985200e-01 -8.04039846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.640385723 meters 0.014114183491963686 Centerline is valid? [True, True] Translation: X:42.49, Y:-192.99, Z:-8.04 [[-7.42223954e-01 6.70138015e-01 4.31762139e-03 4.24898304e+01] [ 6.70126813e-01 7.42236512e-01 -3.87482359e-03 -1.92990205e+02] [-5.80136283e-03 1.73669780e-05 -9.99983172e-01 -8.03850876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.670385723 meters 0.013984362593679243 Centerline is valid? [True, True] Translation: X:42.51, Y:-192.97, Z:-8.04 [[-7.87556611e-01 6.16225188e-01 4.59365943e-03 4.25091766e+01] [ 6.16214851e-01 7.87570008e-01 -3.56940207e-03 -1.92969430e+02] [-5.81738386e-03 1.95749592e-05 -9.99983079e-01 -8.03982542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.700385723 meters 0.014087152011650957 Centerline is valid? [True, True] Translation: X:42.53, Y:-192.95, Z:-8.04 [[-8.28696398e-01 5.59675419e-01 5.07008155e-03 4.25288594e+01] [ 5.59665119e-01 8.28711907e-01 -3.39555074e-03 -1.92951716e+02] [-6.10204323e-03 2.36671305e-05 -9.99981382e-01 -8.03984342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.730385723 meters 0.014147630448272483 Centerline is valid? [True, True] Translation: X:42.54, Y:-192.93, Z:-8.04 [[-8.66059501e-01 4.99913075e-01 5.27799288e-03 4.25447795e+01] [ 4.99903972e-01 8.66075584e-01 -3.01692611e-03 -1.92932291e+02] [-6.07934157e-03 2.56520845e-05 -9.99981520e-01 -8.03956875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.760385723 meters 0.016527836148641933 Centerline is valid? [True, True] Translation: X:42.92, Y:-192.29, Z:-9.03 [[-8.35417216e-01 -5.49589704e-01 5.40672509e-03 4.29158468e+01] [ 5.49578167e-01 -8.35434711e-01 -3.56114061e-03 -1.92288837e+02] [ 6.47413203e-03 -3.62010707e-06 9.99979043e-01 -9.02992038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.790385723 meters 0.014238482399660171 Centerline is valid? [True, True] Translation: X:42.50, Y:-192.91, Z:-8.04 [[-8.67760388e-01 4.96954235e-01 5.32899581e-03 4.25009649e+01] [ 4.96945054e-01 8.67776750e-01 -3.02086001e-03 -1.92912275e+02] [-6.12560784e-03 2.68354635e-05 -9.99981238e-01 -8.03949752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.820385723 meters 0.014241238921355941 Centerline is valid? [True, True] Translation: X:42.88, Y:-192.26, Z:-9.03 [[-8.37146081e-01 -5.46951492e-01 5.52304255e-03 4.28788991e+01] [ 5.46939587e-01 -8.37164300e-01 -3.60872207e-03 -1.92261962e+02] [ 6.59748997e-03 -2.56925834e-07 9.99978236e-01 -9.02840537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.850385723 meters 0.014274100820279507 Centerline is valid? [True, True] Translation: X:42.87, Y:-192.29, Z:-9.03 [[-7.98290809e-01 -6.02247784e-01 5.42137170e-03 4.28651014e+01] [ 6.02233658e-01 -7.98309217e-01 -4.12501253e-03 -1.92288405e+02] [ 6.81221066e-03 -2.80270787e-05 9.99976796e-01 -9.02830990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.880385723 meters 0.01434250209845628 Centerline is valid? [True, True] Translation: X:42.40, Y:-192.90, Z:-8.04 [[-8.32797403e-01 5.53543838e-01 6.14039682e-03 4.24039820e+01] [ 5.53529020e-01 8.32820040e-01 -4.05032356e-03 -1.92897541e+02] [-7.35587717e-03 2.57888947e-05 -9.99972945e-01 -8.03972179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.910385723 meters 0.016058075313499485 Centerline is valid? [True, True] Translation: X:42.40, Y:-192.87, Z:-8.04 [[-8.69886377e-01 4.93209954e-01 6.45229765e-03 4.24011988e+01] [ 4.93196610e-01 8.69910306e-01 -3.62821231e-03 -1.92865136e+02] [-7.40239065e-03 2.61188692e-05 -9.99972602e-01 -8.03793613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.940385723 meters 0.016292323106553153 Centerline is valid? [True, True] Translation: X:42.44, Y:-192.86, Z:-8.04 [[-9.02806337e-01 4.29994236e-01 6.75831265e-03 4.24410528e+01] [ 4.29982382e-01 9.02831633e-01 -3.19283941e-03 -1.92857597e+02] [-7.47452099e-03 2.34397201e-05 -9.99972065e-01 -8.03912596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.970385723 meters 0.014448195105326949 Centerline is valid? [True, True] Translation: X:42.46, Y:-192.83, Z:-8.04 [[-9.31213715e-01 3.64405375e-01 7.05265821e-03 4.24560911e+01] [ 3.64395079e-01 9.31240421e-01 -2.73937118e-03 -1.92834360e+02] [-7.56596198e-03 1.90139251e-05 -9.99971378e-01 -8.04075368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.000385723 meters 0.01442005486891669 Centerline is valid? [True, True] Translation: X:42.75, Y:-192.11, Z:-9.03 [[-9.06442932e-01 -4.22266490e-01 7.22643871e-03 4.27473061e+01] [ 4.22253117e-01 -9.06471738e-01 -3.36061656e-03 -1.92105616e+02] [ 7.96963822e-03 5.17914422e-06 9.99968242e-01 -9.02714678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.030385723 meters 0.014838550196307781 Centerline is valid? [True, True] Translation: X:42.40, Y:-192.82, Z:-8.04 [[-9.33046331e-01 3.59657754e-01 8.41689804e-03 4.23995046e+01] [ 3.59643217e-01 9.33084294e-01 -3.23370395e-03 -1.92819296e+02] [-9.01670207e-03 9.88467995e-06 -9.99959349e-01 -8.03999218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.060385723 meters 0.014438671020515702 Centerline is valid? [True, True] Translation: X:42.41, Y:-192.79, Z:-8.04 [[-9.56284366e-01 2.92303938e-01 8.86680459e-03 4.24113207e+01] [ 2.92291442e-01 9.56325472e-01 -2.70276955e-03 -1.92794320e+02] [-9.26958127e-03 7.07483434e-06 -9.99957037e-01 -8.03990085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.090385723 meters 0.014456976233241301 Centerline is valid? [True, True] Translation: X:42.43, Y:-192.77, Z:-8.04 [[-9.74533735e-01 2.24024465e-01 9.85084352e-03 4.24275814e+01] [ 2.24013134e-01 9.74583521e-01 -2.25320514e-03 -1.92772033e+02] [-1.01052428e-02 1.08939010e-05 -9.99948941e-01 -8.03854052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12038572299997 meters 0.014527119460156985 Centerline is valid? [True, True] Translation: X:42.62, Y:-191.99, Z:-9.03 [[-9.57914732e-01 -2.86890541e-01 9.65314817e-03 4.26157526e+01] [ 2.86875844e-01 -9.57963370e-01 -2.90389943e-03 -1.91989135e+02] [ 1.00804636e-02 -1.24330125e-05 9.99949191e-01 -9.02887401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.150385723 meters 0.014482633780132481 Centerline is valid? [True, True] Translation: X:42.37, Y:-192.76, Z:-8.04 [[-9.75483712e-01 2.19860663e-01 9.63414690e-03 4.23742052e+01] [ 2.19850017e-01 9.75531285e-01 -2.16362321e-03 -1.92763410e+02] [-9.87410734e-03 7.48816206e-06 -9.99951250e-01 -8.04081222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.180385723 meters 0.014450951998563092 Centerline is valid? [True, True] Translation: X:42.54, Y:-191.97, Z:-9.03 [[-9.58814662e-01 -2.83887732e-01 9.06643303e-03 4.25439306e+01] [ 2.83874715e-01 -9.58857526e-01 -2.71872118e-03 -1.91972015e+02] [ 9.46522913e-03 -3.30186324e-05 9.99955203e-01 -9.02634343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.210385723 meters 0.014527753754869865 Centerline is valid? [True, True] Translation: X:42.32, Y:-192.75, Z:-8.04 [[-9.76484063e-01 2.15410149e-01 8.79443263e-03 4.23233767e+01] [ 2.15401447e-01 9.76523665e-01 -1.93630242e-03 -1.92752565e+02] [-9.00507077e-03 3.56505206e-06 -9.99959454e-01 -8.04157603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.240385723 meters 0.014633454669361085 Centerline is valid? [True, True] Translation: X:42.50, Y:-191.96, Z:-9.03 [[-9.60245987e-01 -2.79043513e-01 7.89700986e-03 4.25037705e+01] [ 2.79033639e-01 -9.60278457e-01 -2.34799433e-03 -1.91963516e+02] [ 8.23852103e-03 -5.11207309e-05 9.99966062e-01 -9.02575570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.270385723 meters 0.014636303638422995 Centerline is valid? [True, True] Translation: X:42.26, Y:-192.74, Z:-8.04 [[-9.77049042e-01 2.12866663e-01 7.93427045e-03 4.22627583e+01] [ 2.12859763e-01 9.77081257e-01 -1.71395415e-03 -1.92740201e+02] [-8.11727065e-03 1.42696670e-05 -9.99967054e-01 -8.04269344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.300385723 meters 0.014836629235195974 Centerline is valid? [True, True] Translation: X:42.28, Y:-192.71, Z:-8.04 [[-9.89680348e-01 1.43061661e-01 8.13448339e-03 4.22759753e+01] [ 1.43056954e-01 9.89713777e-01 -1.16057982e-03 -1.92713691e+02] [-8.21684476e-03 1.50913776e-05 -9.99966241e-01 -8.04214969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.330385723 meters 0.015285963457604234 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.69, Z:-8.04 [[-9.97303921e-01 7.28490389e-02 8.82647558e-03 4.22913936e+01] [ 7.28463323e-02 9.97342979e-01 -6.28181530e-04 -1.92686381e+02] [-8.84878587e-03 1.64884700e-05 -9.99960849e-01 -8.04203722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.360385723 meters 0.014952580655721064 Centerline is valid? [True, True] Translation: X:42.29, Y:-192.66, Z:-8.04 [[-9.99953962e-01 1.42636606e-03 9.48895740e-03 4.22908287e+01] [ 1.42643881e-03 9.99998983e-01 8.99037602e-07 -1.92656669e+02] [-9.48894647e-03 1.44344133e-05 -9.99954979e-01 -8.04191106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.390385723 meters 0.015081164735057894 Centerline is valid? [True, True] Translation: X:42.30, Y:-191.85, Z:-9.03 [[-9.97745001e-01 -6.63054576e-02 1.04163436e-02 4.22955976e+01] [ 6.63023378e-02 -9.97799371e-01 -6.44929861e-04 -1.91849026e+02] [ 1.04361834e-02 4.71523850e-05 9.99945540e-01 -9.02674275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.420385723 meters 0.017109022054927533 Centerline is valid? [True, True] Translation: X:42.19, Y:-192.65, Z:-8.04 [[-9.99935068e-01 -3.81372288e-03 1.07385006e-02 4.21894402e+01] [-3.81330021e-03 9.99992728e-01 5.98357923e-05 -1.92653186e+02] [-1.07386507e-02 1.88827805e-05 -9.99942339e-01 -8.04064870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.450385723 meters 0.015281864897676032 Centerline is valid? [True, True] Translation: X:42.21, Y:-191.85, Z:-9.02 [[-9.98127383e-01 -6.02690076e-02 1.04582536e-02 4.22068614e+01] [ 6.02653244e-02 -9.98182171e-01 -6.67254486e-04 -1.91850392e+02] [ 1.04794571e-02 -3.57349250e-05 9.99945088e-01 -9.02499352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.480385723 meters 0.01536428059530378 Centerline is valid? [True, True] Translation: X:42.11, Y:-192.65, Z:-8.04 [[-9.99904490e-01 -9.42756756e-03 1.01060403e-02 4.21055478e+01] [-9.42688372e-03 9.99955559e-01 1.15300408e-04 -1.92652581e+02] [-1.01066782e-02 2.00209288e-05 -9.99948926e-01 -8.04350478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.510385723 meters 0.015521808372607991 Centerline is valid? [True, True] Translation: X:42.11, Y:-192.62, Z:-8.04 [[-9.96809574e-01 -7.92425808e-02 9.55444604e-03 4.21106834e+01] [-7.92386290e-02 9.96855362e-01 7.92049305e-04 -1.92623549e+02] [-9.58716480e-03 3.24411252e-05 -9.99954042e-01 -8.04437302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.540385723 meters 0.015690336907494832 Centerline is valid? [True, True] Translation: X:42.10, Y:-192.60, Z:-8.05 [[-9.89040369e-01 -1.47407988e-01 8.36859441e-03 4.20990276e+01] [-1.47402261e-01 9.89075772e-01 1.30047048e-03 -1.92597208e+02] [-8.46887372e-03 5.26680631e-05 -9.99964137e-01 -8.04538026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.570385723 meters 0.015894388182277355 Centerline is valid? [True, True] Translation: X:42.08, Y:-192.57, Z:-8.05 [[-9.76180298e-01 -2.16818251e-01 7.86584221e-03 4.20784595e+01] [-2.16810703e-01 9.76211986e-01 1.81017308e-03 -1.92572153e+02] [-8.07120801e-03 6.16565204e-05 -9.99967425e-01 -8.04551417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.600385723 meters 0.016044378331274624 Centerline is valid? [True, True] Translation: X:42.03, Y:-192.56, Z:-8.05 [[-9.58064559e-01 -2.86440838e-01 7.99667667e-03 4.20298946e+01] [-2.86430234e-01 9.58097929e-01 2.46567413e-03 -1.92555158e+02] [-8.36786912e-03 7.17850233e-05 -9.99964986e-01 -8.04553340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.630385723 meters 0.016243400621499263 Centerline is valid? [True, True] Translation: X:41.97, Y:-192.54, Z:-8.04 [[-9.34485055e-01 -3.55899380e-01 8.56236056e-03 4.19696801e+01] [-3.55883630e-01 9.34524277e-01 3.34923981e-03 -1.92544689e+02] [-9.19372619e-03 8.26105923e-05 -9.99957733e-01 -8.04426933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.660385723 meters 0.015964574853716395 Centerline is valid? [True, True] Translation: X:41.89, Y:-192.54, Z:-8.05 [[-9.05439323e-01 -4.24395578e-01 8.24783366e-03 4.18945418e+01] [-4.24377158e-01 9.05476884e-01 3.95477125e-03 -1.92543357e+02] [-9.14661015e-03 8.06131906e-05 -9.99958166e-01 -8.04526057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.690385723 meters 0.01599752004365771 Centerline is valid? [True, True] Translation: X:41.81, Y:-192.55, Z:-8.05 [[-8.70927669e-01 -4.91353286e-01 7.54615918e-03 4.18088612e+01] [-4.91334145e-01 8.70960357e-01 4.33753089e-03 -1.92554219e+02] [-8.70366555e-03 6.99899916e-05 -9.99962120e-01 -8.04526483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.720385723 meters 0.01616971071599862 Centerline is valid? [True, True] Translation: X:41.72, Y:-192.58, Z:-8.05 [[-8.31451495e-01 -5.55554393e-01 6.90849215e-03 4.17188047e+01] [-5.55534567e-01 8.31480193e-01 4.69394079e-03 -1.92577044e+02] [-8.35201381e-03 6.48778902e-05 -9.99965119e-01 -8.04538783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.750385723 meters 0.015961575101717595 Centerline is valid? [True, True] Translation: X:41.63, Y:-192.61, Z:-8.05 [[-7.86823226e-01 -6.17151590e-01 5.75547777e-03 4.16281363e+01] [-6.17134584e-01 7.86844274e-01 4.58176731e-03 -1.92606756e+02] [-7.35630971e-03 5.31365593e-05 -9.99972941e-01 -8.04806720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.780385723 meters 0.015961575101717595 Centerline is valid? [True, True] Translation: X:41.54, Y:-192.65, Z:-8.05 [[-7.37806395e-01 -6.74990853e-01 5.39180780e-03 4.15351840e+01] [-6.74972302e-01 7.37826094e-01 5.00464259e-03 -1.92648445e+02] [-7.35630446e-03 5.31363889e-05 -9.99972941e-01 -8.04806744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.810385723 meters 0.015946049045928664 Centerline is valid? [True, True] Translation: X:41.44, Y:-192.71, Z:-8.05 [[-6.84277238e-01 -7.29204558e-01 5.03729024e-03 4.14359562e+01] [-7.29184235e-01 6.84295777e-01 5.44430427e-03 -1.92707162e+02] [-7.41700792e-03 5.23008567e-05 -9.99972492e-01 -8.04774592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.840385723 meters 0.016106863437848104 Centerline is valid? [True, True] Translation: X:41.35, Y:-192.77, Z:-8.05 [[-6.27056275e-01 -7.78958476e-01 4.91128278e-03 4.13475309e+01] [-7.78933822e-01 6.27075505e-01 6.19768988e-03 -1.92766566e+02] [-7.90748819e-03 6.07360641e-05 -9.99968734e-01 -8.04729968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87038572299997 meters 0.016138879300572243 Centerline is valid? [True, True] Translation: X:41.26, Y:-192.83, Z:-8.05 [[-5.66325431e-01 -8.24168977e-01 4.58300744e-03 4.12649536e+01] [-8.24141024e-01 5.66343970e-01 6.78817353e-03 -1.92832096e+02] [-8.19016066e-03 6.72708542e-05 -9.99966458e-01 -8.04740497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.900385723 meters 0.016346227365658193 Centerline is valid? [True, True] Translation: X:41.19, Y:-192.91, Z:-8.05 [[-5.02753692e-01 -8.64419333e-01 4.23593840e-03 4.11860622e+01] [-8.64387232e-01 5.02771529e-01 7.44998949e-03 -1.92906989e+02] [-8.56962416e-03 8.40186522e-05 -9.99963277e-01 -8.04785824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.930385723 meters 0.016448368310429305 Centerline is valid? [True, True] Translation: X:41.11, Y:-193.00, Z:-8.05 [[-4.35264128e-01 -9.00294989e-01 3.75135344e-03 4.11074807e+01] [-9.00259739e-01 4.35280283e-01 7.96729137e-03 -1.92997015e+02] [-8.80580269e-03 9.06836574e-05 -9.99961224e-01 -8.04804301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.960385723 meters 0.017452651214772776 Centerline is valid? [True, True] Translation: X:41.04, Y:-193.09, Z:-8.05 [[-3.66417267e-01 -9.30445631e-01 3.05178813e-03 4.10367194e+01] [-9.30410945e-01 3.66429961e-01 8.03478804e-03 -1.93089951e+02] [-8.59420004e-03 1.04668000e-04 -9.99963064e-01 -8.04684979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.990385723 meters 0.016842653338645593 Centerline is valid? [True, True] Translation: X:40.97, Y:-193.20, Z:-8.05 [[-2.93845814e-01 -9.55850162e-01 2.25970264e-03 4.09682283e+01] [-9.55819249e-01 2.93854486e-01 7.68794380e-03 -1.93201347e+02] [-8.01254608e-03 9.92028306e-05 -9.99967894e-01 -8.04755051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.020385723 meters 0.016828861947821027 Centerline is valid? [True, True] Translation: X:40.91, Y:-193.31, Z:-8.05 [[-2.20003486e-01 -9.75497798e-01 1.58515599e-03 4.09119822e+01] [-9.75469055e-01 2.20009173e-01 7.48912813e-03 -1.93305938e+02] [-7.65437686e-03 1.01363681e-04 -9.99970700e-01 -8.04799901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.050385723 meters 0.01898934041565725 Centerline is valid? [True, True] Translation: X:40.86, Y:-193.43, Z:-8.05 [[-1.45735608e-01 -9.89323097e-01 9.70916005e-04 4.08635140e+01] [-9.89295772e-01 1.45738800e-01 7.35379557e-03 -1.93427957e+02] [-7.41677994e-03 1.11186772e-04 -9.99972489e-01 -8.04545806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.080385723 meters 0.017249916275212312 Centerline is valid? [True, True] Translation: X:40.82, Y:-193.55, Z:-8.05 [[-6.84801771e-02 -9.97652394e-01 4.08685575e-04 4.08228431e+01] [-9.97623674e-01 6.84813071e-02 7.57075949e-03 -1.93548406e+02] [-7.58097365e-03 1.10732546e-04 -9.99971258e-01 -8.04706665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.110385723 meters 0.017305111108155292 Centerline is valid? [True, True] Translation: X:40.79, Y:-193.67, Z:-8.05 [[ 8.45194188e-03 -9.99964266e-01 -1.77460248e-04 4.07915999e+01] [-9.99934385e-01 -8.45306135e-03 7.73126007e-03 -1.93667373e+02] [-7.73248388e-03 1.12104443e-04 -9.99970098e-01 -8.04636314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.140385723 meters 0.017301920444907946 Centerline is valid? [True, True] Translation: X:40.77, Y:-193.81, Z:-8.05 [[ 8.59690447e-02 -9.96297475e-01 -8.14939787e-04 4.07707871e+01] [-9.96264559e-01 -8.59728295e-02 8.09947387e-03 -1.93808628e+02] [-8.13954805e-03 1.15591597e-04 -9.99966867e-01 -8.04600511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.170385723 meters 0.01707673366104281 Centerline is valid? [True, True] Translation: X:40.75, Y:-193.92, Z:-8.05 [[ 1.63524770e-01 -9.86538221e-01 -1.40991150e-03 4.07548160e+01] [-9.86506971e-01 -1.63530813e-01 7.85303048e-03 -1.93918224e+02] [-7.97787870e-03 1.06722517e-04 -9.99968171e-01 -8.04609603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.200385723 meters 0.016571538958391734 Centerline is valid? [True, True] Translation: X:40.75, Y:-194.04, Z:-8.05 [[ 2.40018121e-01 -9.70766664e-01 -1.84003560e-03 4.07502189e+01] [-9.70741000e-01 -2.40025157e-01 7.05940151e-03 -1.94043447e+02] [-7.29468649e-03 9.18137063e-05 -9.99973389e-01 -8.04646063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.230385723 meters 0.016951613076251437 Centerline is valid? [True, True] Translation: X:40.76, Y:-194.17, Z:-8.05 [[ 3.14691244e-01 -9.49190638e-01 -2.56004997e-03 4.07580582e+01] [-9.49161652e-01 -3.14701643e-01 7.41856804e-03 -1.94167855e+02] [-7.84728726e-03 9.53428509e-05 -9.99969205e-01 -8.04554234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.260385723 meters 0.01643213804321287 Centerline is valid? [True, True] Translation: X:40.77, Y:-194.29, Z:-8.05 [[ 3.87291982e-01 -9.21951719e-01 -3.15412655e-03 4.07737679e+01] [-9.21923073e-01 -3.87304815e-01 7.26827740e-03 -1.94293995e+02] [-7.92260924e-03 9.29164777e-05 -9.99968611e-01 -8.04608112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.290385723 meters 0.0169275073679376 Centerline is valid? [True, True] Translation: X:40.80, Y:-194.41, Z:-8.04 [[ 4.57578923e-01 -8.89160005e-01 -4.00177880e-03 4.07996664e+01] [-8.89127826e-01 -4.57596411e-01 7.56530257e-03 -1.94414890e+02] [-8.55796409e-03 9.63698794e-05 -9.99963375e-01 -8.04361656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.320385723 meters 0.01757762855787004 Centerline is valid? [True, True] Translation: X:40.83, Y:-194.53, Z:-8.04 [[ 5.24338493e-01 -8.51496245e-01 -4.82596576e-03 4.08323182e+01] [-8.51462000e-01 -5.24360691e-01 7.63727308e-03 -1.94533176e+02] [-9.03365609e-03 1.04610205e-04 -9.99959190e-01 -8.04220779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.350385723 meters 0.016427063177694393 Centerline is valid? [True, True] Translation: X:40.87, Y:-194.65, Z:-8.04 [[ 5.88839451e-01 -8.08230251e-01 -5.65359041e-03 4.08734883e+01] [-8.08194630e-01 -5.88866583e-01 7.58870467e-03 -1.94646619e+02] [-9.46263114e-03 1.00672713e-04 -9.99955223e-01 -8.04338394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.380385723 meters 0.01642085456850287 Centerline is valid? [True, True] Translation: X:40.92, Y:-194.75, Z:-8.04 [[ 6.49225555e-01 -7.60574075e-01 -5.76677886e-03 4.09213142e+01] [-7.60545308e-01 -6.49251160e-01 6.61562761e-03 -1.94752983e+02] [-8.77576272e-03 9.08620990e-05 -9.99961488e-01 -8.04358790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.410385723 meters 0.016191281275967598 Centerline is valid? [True, True] Translation: X:40.98, Y:-194.86, Z:-8.04 [[ 7.06247346e-01 -7.07944516e-01 -5.40813698e-03 4.09785393e+01] [-7.07924515e-01 -7.06268049e-01 5.32200247e-03 -1.94858272e+02] [-7.58727682e-03 6.99026299e-05 -9.99971214e-01 -8.04465416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.440385723 meters 0.017978708294371003 Centerline is valid? [True, True] Translation: X:40.97, Y:-194.86, Z:-8.04 [[ 7.59435341e-01 -6.50558359e-01 -5.63779214e-03 4.09741023e+01] [-6.50541093e-01 -7.59456264e-01 4.74014055e-03 -1.94863048e+02] [-7.36539461e-03 6.77852058e-05 -9.99972873e-01 -8.04213233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.470385723 meters 0.01606952050895581 Centerline is valid? [True, True] Translation: X:40.97, Y:-194.87, Z:-8.04 [[ 8.08615468e-01 -5.88311974e-01 -5.48146552e-03 4.09697709e+01] [-5.88298913e-01 -8.08634045e-01 3.92061991e-03 -1.94868440e+02] [-6.73904727e-03 5.44662985e-05 -9.99977291e-01 -8.04451682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.500385723 meters 0.01573312082306633 Centerline is valid? [True, True] Translation: X:40.96, Y:-194.88, Z:-8.04 [[ 8.53020006e-01 -5.21838543e-01 -6.43454473e-03 4.09630105e+01] [-5.21824119e-01 -8.53044273e-01 3.88028219e-03 -1.94877963e+02] [-7.51383234e-03 4.77422926e-05 -9.99971770e-01 -8.04489340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.530385723 meters 0.01584697727011016 Centerline is valid? [True, True] Translation: X:40.96, Y:-194.89, Z:-8.04 [[ 8.91524780e-01 -4.52921977e-01 -6.72672705e-03 4.09585296e+01] [-4.52909444e-01 -8.91550156e-01 3.36968176e-03 -1.94885196e+02] [-7.52341748e-03 4.24434177e-05 -9.99971698e-01 -8.04406072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.560385723 meters 0.01568789444202815 Centerline is valid? [True, True] Translation: X:40.96, Y:-194.89, Z:-8.04 [[ 9.24333441e-01 -3.81519895e-01 -7.08942150e-03 4.09556627e+01] [-3.81509010e-01 -9.24360627e-01 2.88223793e-03 -1.94891900e+02] [-7.65281321e-03 4.05292735e-05 -9.99970716e-01 -8.04417372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.590385723 meters 0.016482095951479696 Centerline is valid? [True, True] Translation: X:40.95, Y:-194.90, Z:-8.04 [[ 9.51238779e-01 -3.08372494e-01 -7.15476621e-03 4.09530946e+01] [-3.08364104e-01 -9.51265685e-01 2.27510950e-03 -1.94899601e+02] [-7.50766477e-03 4.21006897e-05 -9.99971816e-01 -8.04320032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62038572299997 meters 0.016233614852503145 Centerline is valid? [True, True] Translation: X:40.95, Y:-194.91, Z:-8.04 [[ 9.72261935e-01 -2.33768813e-01 -7.67285451e-03 4.09502494e+01] [-2.33761938e-01 -9.72292209e-01 1.79349302e-03 -1.94907687e+02] [-7.87951940e-03 4.98763459e-05 -9.99968955e-01 -8.04304568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.650385723 meters 0.015756958769674683 Centerline is valid? [True, True] Translation: X:40.95, Y:-194.92, Z:-8.04 [[ 9.87450750e-01 -1.57730074e-01 -7.88923814e-03 4.09450241e+01] [-1.57725499e-01 -9.87482263e-01 1.20266008e-03 -1.94918560e+02] [-7.98017840e-03 5.67664230e-05 -9.99968156e-01 -8.04405722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.680385723 meters 0.016078178213753493 Centerline is valid? [True, True] Translation: X:40.94, Y:-194.93, Z:-8.04 [[ 9.96549424e-01 -8.26376088e-02 -7.76341713e-03 4.09398860e+01] [-8.26356966e-02 -9.96579661e-01 5.67304348e-04 -1.94926852e+02] [-7.78374429e-03 7.61885613e-05 -9.99969703e-01 -8.04412505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.710385723 meters 0.016582462028358672 Centerline is valid? [True, True] Translation: X:40.94, Y:-194.93, Z:-8.04 [[ 9.99946626e-01 -6.29996207e-03 -8.18870005e-03 4.09354991e+01] [-6.30053458e-03 -9.99980151e-01 -4.41198618e-05 -1.94933445e+02] [-8.18825956e-03 9.57106949e-05 -9.99966471e-01 -8.04354803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.740385723 meters 0.016432373986021143 Centerline is valid? [True, True] Translation: X:40.93, Y:-194.95, Z:-8.04 [[ 9.97575337e-01 6.90960010e-02 -8.31800598e-03 4.09329789e+01] [ 6.90925773e-02 -9.97610008e-01 -6.98606665e-04 -1.94948070e+02] [-8.34639694e-03 1.22200309e-04 -9.99965161e-01 -8.04451821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.770385723 meters 0.016629420520774738 Centerline is valid? [True, True] Translation: X:40.93, Y:-194.96, Z:-8.04 [[ 9.89258108e-01 1.45920684e-01 -8.69194618e-03 4.09306282e+01] [ 1.45913823e-01 -9.89296283e-01 -1.42179493e-03 -1.94960637e+02] [-8.80637933e-03 1.38247073e-04 -9.99961214e-01 -8.04426699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.800385723 meters 0.018254990160819787 Centerline is valid? [True, True] Translation: X:40.93, Y:-194.97, Z:-8.04 [[ 9.75415868e-01 2.20199449e-01 -8.72278723e-03 4.09295031e+01] [ 2.20189120e-01 -9.75454856e-01 -2.13914239e-03 -1.94973276e+02] [-8.97972313e-03 1.65890588e-04 -9.99959668e-01 -8.04271598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.830385723 meters 0.017315982815551672 Centerline is valid? [True, True] Translation: X:40.93, Y:-194.99, Z:-8.04 [[ 9.55402722e-01 2.95178987e-01 -8.66049433e-03 4.09298401e+01] [ 2.95165194e-01 -9.55441958e-01 -2.85889550e-03 -1.94985477e+02] [-9.11848554e-03 1.75120057e-04 -9.99958410e-01 -8.04433728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.860385723 meters 0.017741832969966592 Centerline is valid? [True, True] Translation: X:40.93, Y:-195.00, Z:-8.04 [[ 9.29965583e-01 3.67553400e-01 -8.27730172e-03 4.09293727e+01] [ 3.67537043e-01 -9.30002400e-01 -3.47249037e-03 -1.94997158e+02] [-8.97423610e-03 1.87081523e-04 -9.99959713e-01 -8.04397176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.890385723 meters 0.01839934389058093 Centerline is valid? [True, True] Translation: X:40.93, Y:-195.01, Z:-8.04 [[ 8.99389431e-01 4.37070522e-01 -8.24688066e-03 4.09298106e+01] [ 4.37049940e-01 -8.99427213e-01 -4.24709098e-03 -1.95008087e+02] [-9.27374716e-03 2.15490041e-04 -9.99956975e-01 -8.04379625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.920385723 meters 0.017866038386401075 Centerline is valid? [True, True] Translation: X:40.94, Y:-195.02, Z:-8.05 [[ 8.63518351e-01 5.04271893e-01 -6.77605517e-03 4.09354608e+01] [ 5.04254517e-01 -8.63544913e-01 -4.19112714e-03 -1.95023656e+02] [-7.96489559e-03 2.02258775e-04 -9.99968259e-01 -8.04583043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.950385723 meters 0.017988375967254715 Centerline is valid? [True, True] Translation: X:40.94, Y:-195.04, Z:-8.05 [[ 8.21812666e-01 5.69722787e-01 -6.31578453e-03 4.09406261e+01] [ 5.69704031e-01 -8.21836909e-01 -4.62733325e-03 -1.95037094e+02] [-7.82684203e-03 2.04673161e-04 -9.99969349e-01 -8.04630238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.980385723 meters 0.01874736569144278 Centerline is valid? [True, True] Translation: X:40.95, Y:-195.05, Z:-8.05 [[ 7.75015267e-01 6.31914208e-01 -5.98081080e-03 4.09450029e+01] [ 6.31893276e-01 -7.75038315e-01 -5.14758817e-03 -1.95049249e+02] [-7.88819163e-03 2.10225295e-04 -9.99968866e-01 -8.04630184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.010385723 meters 0.018625125794725264 Centerline is valid? [True, True] Translation: X:40.95, Y:-195.06, Z:-8.05 [[ 7.23063943e-01 6.90754739e-01 -6.03538120e-03 4.09534442e+01] [ 6.90728022e-01 -7.23089095e-01 -6.07954515e-03 -1.95062561e+02] [-8.56359295e-03 2.27092964e-04 -9.99963306e-01 -8.04560700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.040385723 meters 0.0181193361179135 Centerline is valid? [True, True] Translation: X:40.96, Y:-195.07, Z:-8.05 [[ 6.66470405e-01 7.45510235e-01 -5.62923663e-03 4.09630107e+01] [ 7.45480717e-01 -6.66494139e-01 -6.63802057e-03 -1.95074662e+02] [-8.70056550e-03 2.27556903e-04 -9.99962124e-01 -8.04568811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.070385723 meters 0.017720125826629976 Centerline is valid? [True, True] Translation: X:40.97, Y:-195.09, Z:-8.05 [[ 6.04605674e-01 7.96509866e-01 -4.90024981e-03 4.09743523e+01] [ 7.96480930e-01 -6.04625497e-01 -6.79239165e-03 -1.95087065e+02] [-8.37302294e-03 2.03763005e-04 -9.99964925e-01 -8.04580022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.100385723 meters 0.01729879821409458 Centerline is valid? [True, True] Translation: X:40.99, Y:-195.10, Z:-8.05 [[ 5.39082982e-01 8.42241599e-01 -4.31588254e-03 4.09858397e+01] [ 8.42211750e-01 -5.39100225e-01 -7.09332968e-03 -1.95097708e+02] [-8.30099058e-03 1.89006331e-04 -9.99965528e-01 -8.04644544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.130385723 meters 0.017261333114335742 Centerline is valid? [True, True] Translation: X:41.00, Y:-195.11, Z:-8.05 [[ 4.67711238e-01 8.83873774e-01 -3.65385292e-03 4.09982488e+01] [ 8.83844255e-01 -4.67725486e-01 -7.22515356e-03 -1.95108369e+02] [-8.09512387e-03 1.49848605e-04 -9.99967223e-01 -8.04615613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.160385723 meters 0.016234062075503316 Centerline is valid? [True, True] Translation: X:41.01, Y:-195.12, Z:-8.05 [[ 3.94938931e-01 9.18701136e-01 -3.38585680e-03 4.10138221e+01] [ 9.18664184e-01 -3.94953418e-01 -8.24103073e-03 -1.95118033e+02] [-8.90830000e-03 1.44238497e-04 -9.99960310e-01 -8.04679027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.190385723 meters 0.016427786306899988 Centerline is valid? [True, True] Translation: X:41.03, Y:-195.13, Z:-8.05 [[ 3.19323461e-01 9.47641173e-01 -2.95563454e-03 4.10268972e+01] [ 9.47596685e-01 -3.19337112e-01 -9.18321628e-03 -1.95125780e+02] [-9.64623764e-03 1.31666906e-04 -9.99953465e-01 -8.04590868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.220385723 meters 0.015741136590057055 Centerline is valid? [True, True] Translation: X:41.04, Y:-195.13, Z:-8.05 [[ 2.39621417e-01 9.70863958e-01 -2.17958557e-03 4.10424748e+01] [ 9.70820522e-01 -2.39631315e-01 -9.18411595e-03 -1.95132031e+02] [-9.43882412e-03 8.47244774e-05 -9.99955450e-01 -8.04559273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.250385723 meters 0.015520838344702543 Centerline is valid? [True, True] Translation: X:41.05, Y:-195.14, Z:-8.05 [[ 1.58687956e-01 9.87327712e-01 -1.45636283e-03 4.10541729e+01] [ 9.87283473e-01 -1.58694633e-01 -9.34654002e-03 -1.95137163e+02] [-9.45921494e-03 4.53403792e-05 -9.99955260e-01 -8.04561038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.280385723 meters 0.01548708712193413 Centerline is valid? [True, True] Translation: X:41.07, Y:-195.14, Z:-8.05 [[ 7.97564787e-02 9.96814095e-01 -7.51164050e-04 4.10680067e+01] [ 9.96765464e-01 -7.97600076e-02 -9.84634296e-03 -1.95139955e+02] [-9.87488630e-03 3.65752603e-05 -9.99951241e-01 -8.04634550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.310385723 meters 0.015608874608789474 Centerline is valid? [True, True] Translation: X:41.08, Y:-195.14, Z:-8.05 [[ 6.53961319e-04 9.99999786e-01 2.24575974e-05 4.10808433e+01] [ 9.99950125e-01 -6.53705030e-04 -9.96599904e-03 -1.95142086e+02] [-9.96598223e-03 2.89738553e-05 -9.99950338e-01 -8.04645194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.340385723 meters 0.017156119103061973 Centerline is valid? [True, True] Translation: X:41.09, Y:-195.14, Z:-8.04 [[-7.71662618e-02 9.97017864e-01 8.63723414e-04 4.10939291e+01] [ 9.96960605e-01 7.71710869e-02 -1.06852840e-02 -1.95143069e+02] [-1.07200735e-02 3.65547920e-05 -9.99942538e-01 -8.04464530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37038572299997 meters 0.015540454813187018 Centerline is valid? [True, True] Translation: X:41.11, Y:-195.14, Z:-8.05 [[-1.55059578e-01 9.87903834e-01 1.59417427e-03 4.11083112e+01] [ 9.87853844e-01 1.55067769e-01 -9.93828398e-03 -1.95142753e+02] [-1.00652739e-02 3.37850588e-05 -9.99949343e-01 -8.04663961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.400385723 meters 0.015823133613287056 Centerline is valid? [True, True] Translation: X:41.12, Y:-195.14, Z:-8.05 [[-2.30166527e-01 9.73148062e-01 2.49392614e-03 4.11198834e+01] [ 9.73093507e-01 2.30180031e-01 -1.03044018e-02 -1.95142609e+02] [-1.06017607e-02 5.50949594e-05 -9.99943798e-01 -8.04618754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.430385723 meters 0.01721776734534652 Centerline is valid? [True, True] Translation: X:41.13, Y:-195.14, Z:-8.05 [[-3.03430747e-01 9.52846876e-01 3.55134839e-03 4.11304120e+01] [ 9.52784898e-01 3.03451517e-01 -1.08681069e-02 -1.95141057e+02] [-1.14333038e-02 8.59533150e-05 -9.99934634e-01 -8.04515311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.460385723 meters 0.01669832927233942 Centerline is valid? [True, True] Translation: X:41.14, Y:-195.14, Z:-8.05 [[-3.74320045e-01 9.27289216e-01 4.38328874e-03 4.11396061e+01] [ 9.27229368e-01 3.74345689e-01 -1.05358853e-02 -1.95140276e+02] [-1.14106781e-02 1.20520970e-04 -9.99934889e-01 -8.04725688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.490385723 meters 0.020591040938862725 Centerline is valid? [True, True] Translation: X:41.15, Y:-195.14, Z:-8.04 [[-4.43438319e-01 8.96285946e-01 5.82753994e-03 4.11495912e+01] [ 8.96213494e-01 4.43476577e-01 -1.13973093e-02 -1.95138053e+02] [-1.27996256e-02 1.68716264e-04 -9.99918067e-01 -8.04434551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.520385723 meters 0.016884472555491914 Centerline is valid? [True, True] Translation: X:41.16, Y:-195.13, Z:-8.05 [[-5.11690881e-01 8.59149834e-01 5.83136944e-03 4.11600810e+01] [ 8.59097451e-01 5.11724085e-01 -9.48842690e-03 -1.95134784e+02] [-1.11360326e-02 1.54573102e-04 -9.99937981e-01 -8.04809117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.550385723 meters 0.017632992757625213 Centerline is valid? [True, True] Translation: X:41.17, Y:-195.13, Z:-8.05 [[-5.76495323e-01 8.17071094e-01 6.92609945e-03 4.11690566e+01] [ 8.17015770e-01 5.76536900e-01 -9.50974502e-03 -1.95132350e+02] [-1.17632897e-02 1.76408949e-04 -9.99930795e-01 -8.04738485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.580385723 meters 0.018002922018281985 Centerline is valid? [True, True] Translation: X:41.18, Y:-195.13, Z:-8.05 [[-6.38482013e-01 7.69595374e-01 7.97992456e-03 4.11769581e+01] [ 7.69538908e-01 6.38531851e-01 -9.32432883e-03 -1.95128373e+02] [-1.22713963e-02 1.87446191e-04 -9.99924686e-01 -8.04699690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.610385723 meters 0.01708386193628335 Centerline is valid? [True, True] Translation: X:41.18, Y:-195.12, Z:-8.05 [[-6.97465273e-01 7.16572157e-01 8.15700107e-03 4.11846100e+01] [ 7.16525905e-01 6.97512951e-01 -8.14312715e-03 -1.95123534e+02] [-1.15247521e-02 1.65154168e-04 -9.99933574e-01 -8.04779989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.640385723 meters 0.0168253842383056 Centerline is valid? [True, True] Translation: X:41.21, Y:-195.10, Z:-8.05 [[-7.47008175e-01 6.64751309e-01 9.19151759e-03 4.12052550e+01] [ 6.64703642e-01 7.47064703e-01 -7.96225418e-03 -1.95102468e+02] [-1.21595773e-02 1.61766261e-04 -9.99926057e-01 -8.04828363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.670385723 meters 0.0168253842383056 Centerline is valid? [True, True] Translation: X:41.22, Y:-195.08, Z:-8.05 [[-7.92183868e-01 6.10204889e-01 9.73204811e-03 4.12239266e+01] [ 6.10161343e-01 7.92243629e-01 -7.29168257e-03 -1.95080120e+02] [-1.21595735e-02 1.61766244e-04 -9.99926057e-01 -8.04828367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.700385723 meters 0.017233413939368915 Centerline is valid? [True, True] Translation: X:41.24, Y:-195.06, Z:-8.05 [[-8.33770500e-01 5.52013005e-01 1.04113757e-02 4.12398573e+01] [ 5.51972303e-01 8.33835486e-01 -6.70508025e-03 -1.95055713e+02] [-1.23826660e-02 1.56292935e-04 -9.99923320e-01 -8.04741460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.730385723 meters 0.016202656876002402 Centerline is valid? [True, True] Translation: X:41.26, Y:-195.03, Z:-8.05 [[-8.71765940e-01 4.89801788e-01 1.08790918e-02 4.12585194e+01] [ 4.89765367e-01 8.71833811e-01 -5.97428210e-03 -1.95029478e+02] [-1.24109741e-02 1.20026714e-04 -9.99922974e-01 -8.04871973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.760385723 meters 0.01862871000684536 Centerline is valid? [True, True] Translation: X:41.28, Y:-195.01, Z:-8.05 [[-9.04403974e-01 4.26502583e-01 1.22065200e-02 4.12765984e+01] [ 4.26465605e-01 9.04486335e-01 -5.61754643e-03 -1.95005681e+02] [-1.34365286e-02 1.25129624e-04 -9.99909718e-01 -8.04639713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.790385723 meters 0.01610390038399492 Centerline is valid? [True, True] Translation: X:41.57, Y:-194.38, Z:-9.02 [[-8.80269935e-01 -4.74353462e-01 1.06599855e-02 4.15678471e+01] [ 4.74315988e-01 -8.80334456e-01 -5.96559540e-03 -1.94378638e+02] [ 1.22141534e-02 -1.95132711e-04 9.99925385e-01 -9.01857616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.820385723 meters 0.015904722710767663 Centerline is valid? [True, True] Translation: X:41.23, Y:-194.98, Z:-8.05 [[-9.08775154e-01 4.17135985e-01 1.11932693e-02 4.12299272e+01] [ 4.17104800e-01 9.08844084e-01 -5.10067094e-03 -1.94982241e+02] [-1.23006100e-02 3.34033447e-05 -9.99924344e-01 -8.04999875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.850385723 meters 0.01587138952399289 Centerline is valid? [True, True] Translation: X:41.24, Y:-194.95, Z:-8.05 [[-9.36537635e-01 3.50375728e-01 1.15804714e-02 4.12385104e+01] [ 3.50349164e-01 9.36609230e-01 -4.31449492e-03 -1.94953661e+02] [-1.23580707e-02 1.65216158e-05 -9.99923636e-01 -8.04980202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.880385723 meters 0.015866369856515457 Centerline is valid? [True, True] Translation: X:41.25, Y:-194.93, Z:-8.05 [[-9.59652171e-01 2.80940276e-01 1.18436613e-02 4.12486171e+01] [ 2.80918741e-01 9.59725253e-01 -3.47841129e-03 -1.94925495e+02] [-1.23438866e-02 -1.09585266e-05 -9.99923811e-01 -8.04976787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.910385723 meters 0.016701463126069682 Centerline is valid? [True, True] Translation: X:41.44, Y:-194.27, Z:-9.02 [[-9.37919722e-01 -3.46657345e-01 1.16310113e-02 4.14437980e+01] [ 3.46630882e-01 -9.37991836e-01 -4.28337260e-03 -1.94269735e+02] [ 1.23946563e-02 1.42080739e-05 9.99923183e-01 -9.01899700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.940385723 meters 0.015833101123856736 Centerline is valid? [True, True] Translation: X:41.20, Y:-194.91, Z:-8.05 [[-9.60953970e-01 2.76500358e-01 1.07247574e-02 4.11970078e+01] [ 2.76482915e-01 9.61013815e-01 -3.10580921e-03 -1.94910187e+02] [-1.11653974e-02 -1.93275030e-05 -9.99937665e-01 -8.04974799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.970385723 meters 0.01578900361338383 Centerline is valid? [True, True] Translation: X:41.39, Y:-194.25, Z:-9.02 [[-9.38981330e-01 -3.43811005e-01 1.03949527e-02 4.13892515e+01] [ 3.43790091e-01 -9.39038866e-01 -3.79224652e-03 -1.94254108e+02] [ 1.10650807e-02 1.28330597e-05 9.99938780e-01 -9.01763638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.000385723 meters 0.015845524542879286 Centerline is valid? [True, True] Translation: X:41.15, Y:-194.90, Z:-8.05 [[-9.61914178e-01 2.73155167e-01 1.03618676e-02 4.11518958e+01] [ 2.73139157e-01 9.61969986e-01 -2.95739779e-03 -1.94899633e+02] [-1.07756342e-02 -1.45310651e-05 -9.99941941e-01 -8.04955981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.030385723 meters 0.01577041766671445 Centerline is valid? [True, True] Translation: X:41.16, Y:-194.87, Z:-8.05 [[-9.78844268e-01 2.04333666e-01 1.05665649e-02 4.11557703e+01] [ 2.04321608e-01 9.78901299e-01 -2.21984982e-03 -1.94871933e+02] [-1.07972141e-02 -1.39097406e-05 -9.99941708e-01 -8.05038657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.060385723 meters 0.015726074177457867 Centerline is valid? [True, True] Translation: X:41.15, Y:-194.84, Z:-8.05 [[-9.90773585e-01 1.35088925e-01 1.08942560e-02 4.11542374e+01] [ 1.35080697e-01 9.90833479e-01 -1.49098849e-03 -1.94844194e+02] [-1.09958096e-02 -5.62832596e-06 -9.99939544e-01 -8.04937974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.090385723 meters 0.01575062680575352 Centerline is valid? [True, True] Translation: X:41.25, Y:-194.16, Z:-9.02 [[-9.79251124e-01 -2.02355433e-01 1.09323272e-02 4.12549067e+01] [ 2.02343009e-01 -9.79312146e-01 -2.24231893e-03 -1.94158469e+02] [ 1.11599062e-02 1.62866483e-05 9.99937726e-01 -9.01800495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12038572299997 meters 0.015729333435999075 Centerline is valid? [True, True] Translation: X:41.10, Y:-194.84, Z:-8.05 [[-9.91224391e-01 1.31771072e-01 1.05162018e-02 4.11012154e+01] [ 1.31763694e-01 9.91280175e-01 -1.39443804e-03 -1.94840633e+02] [-1.06082490e-02 3.45260114e-06 -9.99943731e-01 -8.04887813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.150385723 meters 0.017711480493741626 Centerline is valid? [True, True] Translation: X:41.10, Y:-194.81, Z:-8.05 [[-9.98019672e-01 6.18570744e-02 1.14209319e-02 4.11005923e+01] [ 6.18531729e-02 9.98085018e-01 -6.94850676e-04 -1.94813936e+02] [-1.14420425e-02 1.29462332e-05 -9.99934538e-01 -8.04760554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.180385723 meters 0.01569261840831905 Centerline is valid? [True, True] Translation: X:41.09, Y:-194.79, Z:-8.05 [[-9.99892272e-01 -9.69005040e-03 1.10248748e-02 4.10948669e+01] [-9.68937633e-03 9.99953050e-01 1.14554218e-04 -1.94785650e+02] [-1.10254673e-02 7.71771635e-06 -9.99939218e-01 -8.04907738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.210385723 meters 0.015652051378947783 Centerline is valid? [True, True] Translation: X:41.09, Y:-194.76, Z:-8.05 [[-9.96658518e-01 -8.09432352e-02 1.09540898e-02 4.10898282e+01] [-8.09382722e-02 9.96718713e-01 8.96369041e-04 -1.94757426e+02] [-1.09907013e-02 6.76873529e-06 -9.99939600e-01 -8.04901737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.240385723 meters 0.017269688863387707 Centerline is valid? [True, True] Translation: X:41.04, Y:-194.05, Z:-9.02 [[-9.99828594e-01 1.49514292e-02 1.09195670e-02 4.10359208e+01] [-1.49506620e-02 -9.99888221e-01 1.51889121e-04 -1.94051992e+02] [ 1.09206174e-02 -1.13916693e-05 9.99940368e-01 -9.02095810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.270385723 meters 0.01560382913113493 Centerline is valid? [True, True] Translation: X:40.98, Y:-194.77, Z:-8.05 [[-9.96132466e-01 -8.72368578e-02 1.04804899e-02 4.09843981e+01] [-8.72319869e-02 9.96187598e-01 9.21873032e-04 -1.94768076e+02] [-1.05209553e-02 4.07370375e-06 -9.99944653e-01 -8.04797039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.300385723 meters 0.015624178760729874 Centerline is valid? [True, True] Translation: X:40.93, Y:-194.06, Z:-9.02 [[-9.99732304e-01 2.10215404e-02 9.66513000e-03 4.09315882e+01] [-2.10211428e-02 -9.99779021e-01 1.42730463e-04 -1.94056218e+02] [ 9.66599463e-03 -6.04798234e-05 9.99953281e-01 -9.01982980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.330385723 meters 0.015541524613796922 Centerline is valid? [True, True] Translation: X:40.89, Y:-194.78, Z:-8.05 [[-9.95643801e-01 -9.28301062e-02 8.71738590e-03 4.08869397e+01] [-9.28264698e-02 9.95681963e-01 8.21712410e-04 -1.94779298e+02] [-8.75602356e-03 8.92870915e-06 -9.99961665e-01 -8.04893921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.360385723 meters 0.0155805505239984 Centerline is valid? [True, True] Translation: X:40.88, Y:-194.75, Z:-8.05 [[-9.86488814e-01 -1.63653003e-01 7.58386824e-03 4.08764975e+01] [-1.63648102e-01 9.86517965e-01 1.26659072e-03 -1.94753770e+02] [-7.68890363e-03 8.39193863e-06 -9.99970440e-01 -8.04903186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.390385723 meters 0.015446123328996773 Centerline is valid? [True, True] Translation: X:40.85, Y:-194.73, Z:-8.05 [[-9.72218473e-01 -2.33957804e-01 7.41535356e-03 4.08451065e+01] [-2.33950934e-01 9.72246752e-01 1.79286719e-03 -1.94731757e+02] [-7.62900868e-03 8.22970958e-06 -9.99970899e-01 -8.04901654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.420385723 meters 0.015549993139397221 Centerline is valid? [True, True] Translation: X:40.80, Y:-194.72, Z:-8.05 [[-9.52670110e-01 -3.03931462e-01 6.73260606e-03 4.08020433e+01] [-3.03923808e-01 9.52693899e-01 2.15701005e-03 -1.94716470e+02] [-7.06969594e-03 8.71972955e-06 -9.99975009e-01 -8.04883390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.450385723 meters 0.01550127762786518 Centerline is valid? [True, True] Translation: X:40.75, Y:-194.71, Z:-8.05 [[-9.27806501e-01 -3.73003477e-01 6.59564108e-03 4.07475986e+01] [-3.72993987e-01 9.27829945e-01 2.66078706e-03 -1.94706477e+02] [-7.11211612e-03 8.56107066e-06 -9.99974709e-01 -8.04868227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.480385723 meters 0.015612067379691253 Centerline is valid? [True, True] Translation: X:40.68, Y:-194.71, Z:-8.05 [[-8.97644517e-01 -4.40660133e-01 7.27797694e-03 4.06780331e+01] [-4.40645562e-01 8.97674021e-01 3.58349853e-03 -1.94708263e+02] [-8.11235576e-03 9.69956632e-06 -9.99967094e-01 -8.04762861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.510385723 meters 0.017488862839931976 Centerline is valid? [True, True] Translation: X:40.60, Y:-194.72, Z:-8.04 [[-8.62554132e-01 -5.05883582e-01 9.06478799e-03 4.05982605e+01] [-5.05855428e-01 8.62601763e-01 5.33704831e-03 -1.94722317e+02] [-1.05192272e-02 1.80208666e-05 -9.99944671e-01 -8.04406480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.540385723 meters 0.015631893700680834 Centerline is valid? [True, True] Translation: X:40.51, Y:-194.75, Z:-8.05 [[-8.22391151e-01 -5.68841637e-01 9.59103125e-03 4.05104888e+01] [-5.68802630e-01 8.22447075e-01 6.66157313e-03 -1.94745920e+02] [-1.16774958e-02 2.30149991e-05 -9.99931816e-01 -8.04550077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.570385723 meters 0.015633547376304565 Centerline is valid? [True, True] Translation: X:40.42, Y:-194.78, Z:-8.05 [[-7.77632042e-01 -6.28649658e-01 9.38159887e-03 4.04214119e+01] [-6.28603411e-01 7.77688631e-01 7.62534770e-03 -1.94779187e+02] [-1.20896350e-02 3.24096580e-05 -9.99926917e-01 -8.04505833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.600385723 meters 0.015711120863264556 Centerline is valid? [True, True] Translation: X:40.33, Y:-194.83, Z:-8.05 [[-7.29264210e-01 -6.84176938e-01 8.69654310e-03 4.03315663e+01] [-6.84127348e-01 7.29316059e-01 8.23752801e-03 -1.94826430e+02] [-1.19784552e-02 5.77913873e-05 -9.99928254e-01 -8.04565344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.630385723 meters 0.01601980189100024 Centerline is valid? [True, True] Translation: X:40.25, Y:-194.88, Z:-8.05 [[-6.77266933e-01 -7.35698485e-01 7.56580124e-03 4.02471783e+01] [-7.35651129e-01 6.77309185e-01 8.34771059e-03 -1.94879845e+02] [-1.12657847e-02 8.78381193e-05 -9.99936535e-01 -8.04652329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.660385723 meters 0.01620801781815247 Centerline is valid? [True, True] Translation: X:40.16, Y:-194.94, Z:-8.05 [[-6.20750662e-01 -7.83982836e-01 6.28722184e-03 4.01591819e+01] [-7.83940976e-01 6.20782492e-01 8.10204886e-03 -1.94944996e+02] [-1.02548645e-02 1.00541363e-04 -9.99947412e-01 -8.04675330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.690385723 meters 0.01620486412018249 Centerline is valid? [True, True] Translation: X:40.07, Y:-195.02, Z:-8.05 [[-5.60196183e-01 -8.28341758e-01 5.49257638e-03 4.00697339e+01] [-8.28299960e-01 5.60223097e-01 8.32208307e-03 -1.95023743e+02] [-9.97059707e-03 1.12498373e-04 -9.99950286e-01 -8.04829193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.720385723 meters 0.016795249378558554 Centerline is valid? [True, True] Translation: X:39.99, Y:-195.11, Z:-8.05 [[-4.96691680e-01 -8.67912767e-01 4.98039381e-03 3.99882206e+01] [-8.67866363e-01 4.96716630e-01 8.97579500e-03 -1.95113692e+02] [-1.02640515e-02 1.35886429e-04 -9.99947314e-01 -8.04832477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.750385723 meters 0.016839914422052946 Centerline is valid? [True, True] Translation: X:39.91, Y:-195.22, Z:-8.05 [[-4.29013115e-01 -9.03287416e-01 4.42621145e-03 3.99061503e+01] [-9.03235785e-01 4.29035923e-01 9.65888075e-03 -1.95216157e+02] [-1.06237491e-02 1.45873949e-04 -9.99943556e-01 -8.04842459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.780385723 meters 0.017138009100974044 Centerline is valid? [True, True] Translation: X:39.85, Y:-195.30, Z:-8.05 [[-3.57875799e-01 -9.33760981e-01 3.91693732e-03 3.98457499e+01] [-9.33700292e-01 3.57897201e-01 1.06469465e-02 -1.95298244e+02] [-1.13435641e-02 1.53038968e-04 -9.99935648e-01 -8.04771637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.810385723 meters 0.017633655714012954 Centerline is valid? [True, True] Translation: X:39.78, Y:-195.42, Z:-8.05 [[-2.84801202e-01 -9.58581316e-01 3.18370849e-03 3.97769259e+01] [-9.58515137e-01 2.84818954e-01 1.12648262e-02 -1.95418153e+02] [-1.17050324e-02 1.56603268e-04 -9.99931482e-01 -8.04729755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.840385723 meters 0.016686344770486944 Centerline is valid? [True, True] Translation: X:39.72, Y:-195.52, Z:-8.05 [[-2.08087913e-01 -9.78107075e-01 2.44343682e-03 3.97242430e+01] [-9.78031341e-01 2.08102209e-01 1.21723473e-02 -1.95516910e+02] [-1.24143436e-02 1.43160553e-04 -9.99922929e-01 -8.04807085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87038572299997 meters 0.016649399373569653 Centerline is valid? [True, True] Translation: X:39.68, Y:-195.63, Z:-8.05 [[-1.31140999e-01 -9.91362586e-01 1.50391349e-03 3.96767011e+01] [-9.91285172e-01 1.31149554e-01 1.23896464e-02 -1.95634810e+02] [-1.24798695e-02 1.33983466e-04 -9.99922114e-01 -8.04840680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.900385723 meters 0.016583076215953483 Centerline is valid? [True, True] Translation: X:39.64, Y:-195.76, Z:-8.05 [[-5.22103609e-02 -9.98635950e-01 5.63086056e-04 3.96390128e+01] [-9.98551942e-01 5.22132727e-02 1.29534962e-02 -1.95758573e+02] [-1.29652275e-02 1.14036036e-04 -9.99915941e-01 -8.04875516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.930385723 meters 0.016477195138329473 Centerline is valid? [True, True] Translation: X:39.61, Y:-195.88, Z:-8.05 [[ 2.64300980e-02 -9.99650568e-01 -4.38861924e-04 3.96087634e+01] [-9.99567181e-01 -2.64335619e-02 1.29119498e-02 -1.95882979e+02] [-1.29190386e-02 9.74078769e-05 -9.99916541e-01 -8.04838370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.960385723 meters 0.01646906832955185 Centerline is valid? [True, True] Translation: X:39.59, Y:-196.02, Z:-8.05 [[ 1.05782419e-01 -9.94388199e-01 -1.47967604e-03 3.95876574e+01] [-9.94300143e-01 -1.05792743e-01 1.32333632e-02 -1.96019961e+02] [-1.33156392e-02 7.13849217e-05 -9.99911340e-01 -8.04744111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.990385723 meters 0.017901332418918826 Centerline is valid? [True, True] Translation: X:39.57, Y:-196.14, Z:-8.05 [[ 1.82504815e-01 -9.83201746e-01 -2.51396440e-03 3.95749124e+01] [-9.83113362e-01 -1.82522117e-01 1.31831279e-02 -1.96136560e+02] [-1.34205284e-02 6.55276846e-05 -9.99909939e-01 -8.04543542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.020385723 meters 0.016294400709140962 Centerline is valid? [True, True] Translation: X:39.58, Y:-196.28, Z:-8.05 [[ 2.59963748e-01 -9.65612104e-01 -3.48055060e-03 3.95762692e+01] [-9.65527446e-01 -2.59987044e-01 1.27862405e-02 -1.96276947e+02] [-1.32514466e-02 3.66081415e-05 -9.99912195e-01 -8.04732608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.050385723 meters 0.0163862963307795 Centerline is valid? [True, True] Translation: X:39.59, Y:-196.41, Z:-8.05 [[ 3.35977461e-01 -9.41859719e-01 -4.40635192e-03 3.95865384e+01] [-9.41778919e-01 -3.36006355e-01 1.23368375e-02 -1.96412186e+02] [-1.31001326e-02 4.90999336e-06 -9.99914190e-01 -8.04785801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.080385723 meters 0.016335426984689524 Centerline is valid? [True, True] Translation: X:39.59, Y:-196.52, Z:-8.05 [[ 4.08949236e-01 -9.12541747e-01 -5.29929977e-03 3.95945102e+01] [-9.12464707e-01 -4.08983569e-01 1.18574306e-02 -1.96516369e+02] [-1.29877269e-02 -1.36631546e-05 -9.99915656e-01 -8.04682004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.110385723 meters 0.01637205839808317 Centerline is valid? [True, True] Translation: X:39.62, Y:-196.64, Z:-8.05 [[ 4.78048094e-01 -8.78313484e-01 -5.95349943e-03 3.96193588e+01] [-8.78245018e-01 -4.78085164e-01 1.09665283e-02 -1.96635154e+02] [-1.24783295e-02 -1.38967577e-05 -9.99922143e-01 -8.04646825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.140385723 meters 0.01653339476723848 Centerline is valid? [True, True] Translation: X:39.66, Y:-196.77, Z:-8.05 [[ 5.43629516e-01 -8.39301006e-01 -6.38522888e-03 3.96613179e+01] [-8.39243001e-01 -5.43667014e-01 9.86729501e-03 -1.96765561e+02] [-1.17530689e-02 -5.39415947e-06 -9.99930930e-01 -8.04555240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.170385723 meters 0.01637629769763725 Centerline is valid? [True, True] Translation: X:39.69, Y:-196.86, Z:-8.05 [[ 6.06028810e-01 -7.95413381e-01 -6.82894069e-03 3.96937049e+01] [-7.95362917e-01 -6.06067285e-01 8.95976692e-03 -1.96862478e+02] [-1.12655160e-02 1.60929616e-06 -9.99936542e-01 -8.04655240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.200385723 meters 0.016302830086852942 Centerline is valid? [True, True] Translation: X:39.74, Y:-196.97, Z:-8.05 [[ 6.64073908e-01 -7.47627808e-01 -7.64896488e-03 3.97438848e+01] [-7.47578551e-01 -6.64117957e-01 8.58195127e-03 -1.96967777e+02] [-1.14959203e-02 1.91521638e-05 -9.99933920e-01 -8.04634733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.230385723 meters 0.016299799140396348 Centerline is valid? [True, True] Translation: X:39.80, Y:-197.06, Z:-8.05 [[ 7.18510946e-01 -6.95469336e-01 -8.02635299e-03 3.97969578e+01] [-6.95426437e-01 -7.18555775e-01 7.72458541e-03 -1.97064070e+02] [-1.11395946e-02 3.15388873e-05 -9.99937952e-01 -8.04720850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.260385723 meters 0.016334385813564292 Centerline is valid? [True, True] Translation: X:39.79, Y:-197.07, Z:-8.05 [[ 7.68871423e-01 -6.39345778e-01 -8.58547462e-03 3.97910118e+01] [-6.39306820e-01 -7.68919353e-01 7.05820381e-03 -1.97072380e+02] [-1.11141704e-02 6.19012622e-05 -9.99938234e-01 -8.04754366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.290385723 meters 0.016473168992176587 Centerline is valid? [True, True] Translation: X:39.78, Y:-197.08, Z:-8.05 [[ 8.15812646e-01 -5.78243890e-01 -9.15044075e-03 3.97845112e+01] [-5.78208550e-01 -8.15863958e-01 6.39337965e-03 -1.97080246e+02] [-1.11624475e-02 7.50631118e-05 -9.99937695e-01 -8.04736897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.320385723 meters 0.016395034285142208 Centerline is valid? [True, True] Translation: X:39.78, Y:-197.09, Z:-8.05 [[ 8.57362724e-01 -5.14642504e-01 -8.50008977e-03 3.97773359e+01] [-5.14618238e-01 -8.57404855e-01 4.99846793e-03 -1.97089449e+02] [-9.86044229e-03 8.88011328e-05 -9.99951381e-01 -8.04800161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.350385723 meters 0.016426980982536254 Centerline is valid? [True, True] Translation: X:39.77, Y:-197.10, Z:-8.05 [[ 8.94709832e-01 -4.46558632e-01 -8.92780423e-03 3.97719205e+01] [-4.46537461e-01 -8.94754368e-01 4.34928556e-03 -1.97098837e+02] [-9.93040284e-03 9.52504893e-05 -9.99950688e-01 -8.04826963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.380385723 meters 0.016469097095224528 Centerline is valid? [True, True] Translation: X:39.77, Y:-197.11, Z:-8.05 [[ 9.26743085e-01 -3.75586253e-01 -9.06757281e-03 3.97665395e+01] [-3.75569299e-01 -9.26787439e-01 3.56994317e-03 -1.97107364e+02] [-9.74453416e-03 9.70818146e-05 -9.99952516e-01 -8.04839024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.410385723 meters 0.016324451887605538 Centerline is valid? [True, True] Translation: X:39.76, Y:-197.12, Z:-8.05 [[ 9.53032953e-01 -3.02759455e-01 -8.05628456e-03 3.97615060e+01] [-3.02749440e-01 -9.53066999e-01 2.46420088e-03 -1.97119840e+02] [-8.42423906e-03 9.05710021e-05 -9.99964511e-01 -8.04903494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.440385723 meters 0.016283220768524027 Centerline is valid? [True, True] Translation: X:39.76, Y:-197.13, Z:-8.05 [[ 9.73640387e-01 -2.27951714e-01 -7.90021205e-03 3.97578522e+01] [-2.27944980e-01 -9.73672433e-01 1.75460923e-03 -1.97131823e+02] [-8.09218488e-03 9.24552659e-05 -9.99967254e-01 -8.04869249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.470385723 meters 0.01642206440658329 Centerline is valid? [True, True] Translation: X:39.75, Y:-197.14, Z:-8.05 [[ 9.88485864e-01 -1.51117100e-01 -7.70189545e-03 3.97503305e+01] [-1.51113219e-01 -9.88515864e-01 1.08668946e-03 -1.97141662e+02] [-7.77766320e-03 8.96810461e-05 -9.99969750e-01 -8.04864124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.500385723 meters 0.01620089520204795 Centerline is valid? [True, True] Translation: X:39.74, Y:-197.15, Z:-8.05 [[ 9.97339003e-01 -7.25380425e-02 -7.29016196e-03 3.97442713e+01] [-7.25366842e-02 -9.97365643e-01 4.50903744e-04 -1.97151429e+02] [-7.30366475e-03 7.91002854e-05 -9.99973325e-01 -8.04845236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.530385723 meters 0.016071688366405153 Centerline is valid? [True, True] Translation: X:39.74, Y:-197.16, Z:-8.05 [[ 9.99955028e-01 5.84046104e-03 -7.47207109e-03 3.97394081e+01] [ 5.83969556e-03 -9.99982941e-01 -1.24258299e-04 -1.97162579e+02] [-7.47266935e-03 8.06180906e-05 -9.99972076e-01 -8.04854042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.560385723 meters 0.016193914334752563 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.17, Z:-8.05 [[ 9.96475868e-01 8.35735675e-02 -7.16261228e-03 3.97346842e+01] [ 8.35708197e-02 -9.96501607e-01 -6.82596897e-04 -1.97172294e+02] [-7.19460170e-03 8.16059570e-05 -9.99974115e-01 -8.04792092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.590385723 meters 0.016193914334752563 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.18, Z:-8.05 [[ 9.86874954e-01 1.61330704e-01 -7.08721990e-03 3.97308400e+01] [ 1.61325950e-01 -9.86900399e-01 -1.24124773e-03 -1.97182781e+02] [-7.19463152e-03 8.16038196e-05 -9.99974115e-01 -8.04792064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62038572299997 meters 0.015927608974201757 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.20, Z:-8.05 [[ 9.71231757e-01 2.38020881e-01 -7.41179565e-03 3.97285587e+01] [ 2.38013263e-01 -9.71260034e-01 -1.90632232e-03 -1.97196021e+02] [-7.65252541e-03 8.73751100e-05 -9.99970715e-01 -8.04836187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.650385723 meters 0.015969479818314536 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.21, Z:-8.05 [[ 9.49372843e-01 3.14066553e-01 -7.30784181e-03 3.97259502e+01] [ 3.14056581e-01 -9.49400966e-01 -2.50409957e-03 -1.97208776e+02] [-7.72452599e-03 8.22483178e-05 -9.99970162e-01 -8.04848014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.680385723 meters 0.015992185712325562 Centerline is valid? [True, True] Translation: X:39.72, Y:-197.22, Z:-8.05 [[ 9.21584506e-01 3.88118735e-01 -6.77099781e-03 3.97239232e+01] [ 3.88107678e-01 -9.21609376e-01 -2.93063838e-03 -1.97220348e+02] [-7.37765073e-03 7.29546905e-05 -9.99972782e-01 -8.04842400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.710385723 meters 0.015601427284157154 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.24, Z:-8.05 [[ 8.87474938e-01 4.60812728e-01 -6.31382605e-03 3.97261445e+01] [ 4.60800609e-01 -8.87497395e-01 -3.34249584e-03 -1.97235892e+02] [-7.14376880e-03 5.69664021e-05 -9.99974481e-01 -8.04946848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.740385723 meters 0.01569851945315111 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.25, Z:-8.05 [[ 8.48109204e-01 5.29786284e-01 -6.10510755e-03 3.97276977e+01] [ 5.29772133e-01 -8.48131176e-01 -3.87256502e-03 -1.97249210e+02] [-7.22956387e-03 5.00421894e-05 -9.99973865e-01 -8.04832795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.770385723 meters 0.015358991551629219 Centerline is valid? [True, True] Translation: X:39.73, Y:-197.26, Z:-8.05 [[ 8.03543177e-01 5.95221123e-01 -5.49349729e-03 3.97318920e+01] [ 5.95206854e-01 -8.03561954e-01 -4.12154613e-03 -1.97262689e+02] [-6.86759673e-03 4.20730300e-05 -9.99976417e-01 -8.04915673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.800385723 meters 0.01520150391193585 Centerline is valid? [True, True] Translation: X:39.74, Y:-197.28, Z:-8.05 [[ 7.54033918e-01 6.56816001e-01 -5.05879610e-03 3.97350294e+01] [ 6.56800891e-01 -7.54050887e-01 -4.45528353e-03 -1.97275545e+02] [-6.74089119e-03 3.68131115e-05 -9.99977279e-01 -8.04936637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.830385723 meters 0.015213631060513775 Centerline is valid? [True, True] Translation: X:39.74, Y:-197.29, Z:-8.05 [[ 7.00219627e-01 7.13912536e-01 -4.62218708e-03 3.97387248e+01] [ 7.13896647e-01 -7.00234882e-01 -4.76319042e-03 -1.97286603e+02] [-6.63711797e-03 3.55155637e-05 -9.99977974e-01 -8.04973329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.860385723 meters 0.0151940852550564 Centerline is valid? [True, True] Translation: X:39.74, Y:-197.30, Z:-8.05 [[ 6.42612760e-01 7.66181150e-01 -3.90964883e-03 3.97427377e+01] [ 7.66166623e-01 -6.42624652e-01 -4.71838075e-03 -1.97297111e+02] [-6.12757112e-03 3.66492376e-05 -9.99981226e-01 -8.05065573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.890385723 meters 0.015192241775194706 Centerline is valid? [True, True] Translation: X:39.75, Y:-197.31, Z:-8.05 [[ 5.81309234e-01 8.13674570e-01 -3.64254366e-03 3.97478080e+01] [ 8.13658132e-01 -5.81320645e-01 -5.17218836e-03 -1.97307374e+02] [-6.32596397e-03 4.28555863e-05 -9.99979990e-01 -8.05005349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.920385723 meters 0.015381205216632544 Centerline is valid? [True, True] Translation: X:39.75, Y:-197.32, Z:-8.05 [[ 5.16229218e-01 8.56441120e-01 -4.00022111e-03 3.97526149e+01] [ 8.56414552e-01 -5.16244714e-01 -6.74617737e-03 -1.97317651e+02] [-7.84279670e-03 5.67263000e-05 -9.99969243e-01 -8.04820232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.950385723 meters 0.015156364246259069 Centerline is valid? [True, True] Translation: X:39.76, Y:-197.33, Z:-8.05 [[ 4.47865265e-01 8.94093137e-01 -3.76401002e-03 3.97600306e+01] [ 8.94060348e-01 -4.47881077e-01 -7.65739237e-03 -1.97327278e+02] [-8.53225082e-03 6.42279463e-05 -9.99963598e-01 -8.04826125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.980385723 meters 0.015145073616396422 Centerline is valid? [True, True] Translation: X:39.77, Y:-197.34, Z:-8.05 [[ 3.76750312e-01 9.26309026e-01 -3.28483946e-03 3.97669623e+01] [ 9.26272188e-01 -3.76764625e-01 -8.26139368e-03 -1.97336105e+02] [-8.89021484e-03 6.98272157e-05 -9.99960479e-01 -8.04753355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.010385723 meters 0.015216202755179813 Centerline is valid? [True, True] Translation: X:39.77, Y:-197.35, Z:-8.05 [[ 3.03829422e-01 9.52722646e-01 -2.69098094e-03 3.97725196e+01] [ 9.52682941e-01 -3.03841328e-01 -8.69830147e-03 -1.97345623e+02] [-9.10470002e-03 7.91482736e-05 -9.99958548e-01 -8.04743790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.040385723 meters 0.01523714368819891 Centerline is valid? [True, True] Translation: X:39.78, Y:-197.35, Z:-8.05 [[ 2.29208428e-01 9.73375213e-01 -2.04737075e-03 3.97786121e+01] [ 9.73332802e-01 -2.29217554e-01 -9.08677726e-03 -1.97353377e+02] [-9.31413707e-03 8.99928276e-05 -9.99956618e-01 -8.04718593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.070385723 meters 0.015306458966334565 Centerline is valid? [True, True] Translation: X:39.78, Y:-197.36, Z:-8.05 [[ 1.52666883e-01 9.88276810e-01 -1.33064847e-03 3.97838629e+01] [ 9.88233731e-01 -1.52672653e-01 -9.22792444e-03 -1.97361637e+02] [-9.32289736e-03 9.38067522e-05 -9.99956536e-01 -8.04703551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.100385723 meters 0.015239072187843046 Centerline is valid? [True, True] Translation: X:39.79, Y:-197.37, Z:-8.05 [[ 7.55809863e-02 9.97139485e-01 -6.02113591e-04 3.97918459e+01] [ 9.97096344e-01 -7.55833175e-02 -9.27597602e-03 -1.97368673e+02] [-9.29495169e-03 1.00722156e-04 -9.99956796e-01 -8.04783982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.130385723 meters 0.015070062427089762 Centerline is valid? [True, True] Translation: X:39.80, Y:-197.38, Z:-8.05 [[-2.04045557e-03 9.99997912e-01 1.10707207e-04 3.98030991e+01] [ 9.99964899e-01 2.04128782e-03 -8.12606958e-03 -1.97375123e+02] [-8.12627860e-03 9.41224369e-05 -9.99966977e-01 -8.04976028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.160385723 meters 0.015285419381900355 Centerline is valid? [True, True] Translation: X:39.81, Y:-197.38, Z:-8.05 [[-7.94319095e-02 9.96840032e-01 7.22484702e-04 3.98128568e+01] [ 9.96809278e-01 7.94351345e-02 -7.83090950e-03 -1.97382053e+02] [-7.86355475e-03 9.81553588e-05 -9.99969077e-01 -8.04950758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.190385723 meters 0.015236802196112882 Centerline is valid? [True, True] Translation: X:39.82, Y:-197.39, Z:-8.05 [[-1.56456027e-01 9.87684045e-01 1.31845132e-03 3.98235196e+01] [ 9.87654341e-01 1.56461548e-01 -7.66078136e-03 -1.97386916e+02] [-7.77271846e-03 1.03598753e-04 -9.99969787e-01 -8.04956855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.220385723 meters 0.015606580471883425 Centerline is valid? [True, True] Translation: X:39.83, Y:-197.39, Z:-8.05 [[-2.32329713e-01 9.72635038e-01 1.99658227e-03 3.98345664e+01] [ 9.72603315e-01 2.32338263e-01 -7.85646345e-03 -1.97391939e+02] [-8.10535408e-03 1.16592634e-04 -9.99967144e-01 -8.04850452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.250385723 meters 0.015351844915411994 Centerline is valid? [True, True] Translation: X:39.85, Y:-197.39, Z:-8.05 [[-3.07513696e-01 9.51539959e-01 2.65197109e-03 3.98465532e+01] [ 9.51507894e-01 3.07525107e-01 -7.81257111e-03 -1.97393991e+02] [-8.24952129e-03 1.20898812e-04 -9.99965965e-01 -8.04884145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.280385723 meters 0.01538428176990534 Centerline is valid? [True, True] Translation: X:39.86, Y:-197.40, Z:-8.05 [[-3.80839370e-01 9.24635378e-01 3.28522194e-03 3.98589185e+01] [ 9.24603742e-01 3.80853519e-01 -7.64960235e-03 -1.97395250e+02] [-8.32428130e-03 1.24258760e-04 -9.99965345e-01 -8.04893164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.310385723 meters 0.01574530621100184 Centerline is valid? [True, True] Translation: X:39.87, Y:-197.40, Z:-8.05 [[-4.51946709e-01 8.92037020e-01 3.75867950e-03 3.98700802e+01] [ 8.92008382e-01 4.51962323e-01 -7.14879809e-03 -1.97397160e+02] [-8.07577406e-03 1.21897840e-04 -9.99967383e-01 -8.04910652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.340385723 meters 0.01579015741696448 Centerline is valid? [True, True] Translation: X:39.88, Y:-197.40, Z:-8.05 [[-5.20191802e-01 8.54038863e-01 4.25568994e-03 3.98806436e+01] [ 8.54012193e-01 5.20209195e-01 -6.75043123e-03 -1.97397817e+02] [-7.97897965e-03 1.22892113e-04 -9.99968160e-01 -8.04977666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37038572299997 meters 0.015934148514187528 Centerline is valid? [True, True] Translation: X:39.89, Y:-197.40, Z:-8.05 [[-5.85305384e-01 8.10801694e-01 4.26860578e-03 3.98914126e+01] [ 8.10781509e-01 5.85320938e-01 -5.72220881e-03 -1.97397961e+02] [-7.13808094e-03 1.11667013e-04 -9.99974517e-01 -8.04967759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.400385723 meters 0.015876698320898552 Centerline is valid? [True, True] Translation: X:39.90, Y:-197.40, Z:-8.05 [[-6.47016309e-01 7.62463589e-01 4.37851477e-03 3.98997865e+01] [ 7.62447207e-01 6.47031116e-01 -4.99914078e-03 -1.97397761e+02] [-6.64469812e-03 1.03860745e-04 -9.99977918e-01 -8.05020189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.430385723 meters 0.015533658490519438 Centerline is valid? [True, True] Translation: X:39.91, Y:-197.39, Z:-8.05 [[-7.05520462e-01 7.08673166e-01 4.81889334e-03 3.99101656e+01] [ 7.08657577e-01 7.05536912e-01 -4.70148820e-03 -1.97394060e+02] [-6.73172566e-03 9.79491513e-05 -9.99977337e-01 -8.05056097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.460385723 meters 0.015300557761498561 Centerline is valid? [True, True] Translation: X:39.93, Y:-197.37, Z:-8.05 [[-7.54497272e-01 6.56278883e-01 5.64748662e-03 3.99299900e+01] [ 6.56261493e-01 7.54518401e-01 -4.77868794e-03 -1.97368815e+02] [-7.39728456e-03 1.00720981e-04 -9.99972635e-01 -8.05008404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.490385723 meters 0.014878733928961324 Centerline is valid? [True, True] Translation: X:39.96, Y:-197.35, Z:-8.05 [[-7.99599427e-01 6.00502221e-01 6.15136451e-03 3.99553754e+01] [ 6.00485378e-01 7.99623082e-01 -4.49854474e-03 -1.97347429e+02] [-7.62015915e-03 9.67706475e-05 -9.99970962e-01 -8.04980832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.520385723 meters 0.014710616744009157 Centerline is valid? [True, True] Translation: X:39.97, Y:-197.32, Z:-8.05 [[-8.40875528e-01 5.41185508e-01 6.82593804e-03 3.99743440e+01] [ 5.41168547e-01 8.40903228e-01 -4.28549540e-03 -1.97319759e+02] [-8.05920133e-03 9.04147659e-05 -9.99967520e-01 -8.04942318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.550385723 meters 0.01419359285242215 Centerline is valid? [True, True] Translation: X:40.37, Y:-196.70, Z:-9.02 [[-8.14678013e-01 -5.79883786e-01 5.87612894e-03 4.03657685e+01] [ 5.79867554e-01 -8.14699195e-01 -4.34068072e-03 -1.96704082e+02] [ 7.30436789e-03 -1.28880626e-04 9.99973314e-01 -9.01706209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.580385723 meters 0.013941187874147023 Centerline is valid? [True, True] Translation: X:39.94, Y:-197.29, Z:-8.05 [[-8.44239780e-01 5.35932570e-01 5.95597024e-03 3.99365435e+01] [ 5.35919739e-01 8.44260787e-01 -3.70899155e-03 -1.97286406e+02] [-7.01616150e-03 6.06438090e-05 -9.99975385e-01 -8.05128561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.610385723 meters 0.01375235388605511 Centerline is valid? [True, True] Translation: X:40.32, Y:-196.69, Z:-9.02 [[-8.14958038e-01 -5.79496229e-01 5.24556631e-03 4.03186989e+01] [ 5.79483521e-01 -8.14974915e-01 -3.83875297e-03 -1.96687015e+02] [ 6.49954783e-03 -8.87033524e-05 9.99978874e-01 -9.01669088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.640385723 meters 0.01343166572090678 Centerline is valid? [True, True] Translation: X:39.91, Y:-197.26, Z:-8.05 [[-8.47828996e-01 5.30238059e-01 5.79615093e-03 3.99058363e+01] [ 5.30225974e-01 8.47848807e-01 -3.58001596e-03 -1.97256526e+02] [-6.81252037e-03 3.80284348e-05 -9.99976794e-01 -8.05148196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.670385723 meters 0.013313116322456613 Centerline is valid? [True, True] Translation: X:39.92, Y:-197.23, Z:-8.05 [[-8.83668472e-01 4.68069246e-01 6.41963921e-03 3.99195071e+01] [ 4.68057172e-01 8.83691790e-01 -3.36218619e-03 -1.97226919e+02] [-7.24671842e-03 3.37002365e-05 -9.99973742e-01 -8.05132236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.700385723 meters 0.01333137289922619 Centerline is valid? [True, True] Translation: X:39.93, Y:-197.19, Z:-8.05 [[-9.14892012e-01 4.03631635e-01 7.35587629e-03 3.99307910e+01] [ 4.03618864e-01 9.14921583e-01 -3.21095679e-03 -1.97192806e+02] [-8.02609371e-03 3.12917167e-05 -9.99967790e-01 -8.05028518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.730385723 meters 0.01323624715666549 Centerline is valid? [True, True] Translation: X:39.94, Y:-197.16, Z:-8.05 [[-9.41165510e-01 3.37865890e-01 7.35688595e-03 3.99440851e+01] [ 3.37855829e-01 9.41194262e-01 -2.60760198e-03 -1.97163533e+02] [-7.80527861e-03 3.13817504e-05 -9.99969538e-01 -8.05001600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.760385723 meters 0.013301544715676013 Centerline is valid? [True, True] Translation: X:39.95, Y:-197.13, Z:-8.05 [[-9.62374255e-01 2.71639544e-01 6.91027300e-03 3.99500252e+01] [ 2.71632830e-01 9.62399063e-01 -1.91019446e-03 -1.97130851e+02] [-7.16932461e-03 3.87350451e-05 -9.99974299e-01 -8.05067326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.790385723 meters 0.013395920439975567 Centerline is valid? [True, True] Translation: X:39.96, Y:-197.10, Z:-8.05 [[-9.78744262e-01 2.04993367e-01 6.11468257e-03 3.99599532e+01] [ 2.04989677e-01 9.78763361e-01 -1.23105655e-03 -1.97098851e+02] [-6.23718569e-03 4.85572686e-05 -9.99980547e-01 -8.05205247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.820385723 meters 0.01347790061857086 Centerline is valid? [True, True] Translation: X:39.96, Y:-197.07, Z:-8.05 [[-9.90765605e-01 1.35453393e-01 5.99120833e-03 3.99587243e+01] [ 1.35451221e-01 9.90783718e-01 -7.68646517e-04 -1.97066048e+02] [-6.04010744e-03 4.99679538e-05 -9.99981757e-01 -8.05203148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.850385723 meters 0.013634886681799302 Centerline is valid? [True, True] Translation: X:40.04, Y:-196.43, Z:-9.02 [[-9.82755042e-01 -1.84786839e-01 6.80822193e-03 4.00439141e+01] [ 1.84782400e-01 -9.82778624e-01 -1.28080943e-03 -1.96429651e+02] [ 6.92765171e-03 -6.82337015e-07 9.99976004e-01 -9.01698671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.880385723 meters 0.013821974515855652 Centerline is valid? [True, True] Translation: X:39.91, Y:-197.05, Z:-8.05 [[-9.91013482e-01 1.33568206e-01 7.19813181e-03 3.99064367e+01] [ 1.33565236e-01 9.91039620e-01 -8.93859298e-04 -1.97052386e+02] [-7.25302500e-03 7.55935607e-05 -9.99973694e-01 -8.05043953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.910385723 meters 0.014293557653302057 Centerline is valid? [True, True] Translation: X:39.90, Y:-197.02, Z:-8.05 [[-9.97830465e-01 6.53688132e-02 7.82824289e-03 3.99010374e+01] [ 6.53676014e-02 9.97861167e-01 -4.10828982e-04 -1.97019444e+02] [-7.83835499e-03 1.01775787e-04 -9.99969274e-01 -8.05005534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.940385723 meters 0.014655220882566862 Centerline is valid? [True, True] Translation: X:39.94, Y:-196.40, Z:-9.02 [[-9.94424387e-01 -1.05161078e-01 7.82851192e-03 3.99382832e+01] [ 1.05157031e-01 -9.94455197e-01 -9.27908111e-04 -1.96396176e+02] [ 7.88268418e-03 -9.95113857e-05 9.99968926e-01 -9.01768773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.970385723 meters 0.016104040822022925 Centerline is valid? [True, True] Translation: X:39.84, Y:-197.01, Z:-8.05 [[-9.97900467e-01 6.42540947e-02 8.12832393e-03 3.98375109e+01] [ 6.42530596e-02 9.97933562e-01 -3.88686080e-04 -1.97014152e+02] [-8.13650192e-03 1.34399661e-04 -9.99966889e-01 -8.04916198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.000385723 meters 0.016061274807067125 Centerline is valid? [True, True] Translation: X:39.83, Y:-196.98, Z:-8.05 [[-9.99953197e-01 -4.20064377e-03 8.71542947e-03 3.98297594e+01] [-4.19902503e-03 9.99991163e-01 2.04022135e-04 -1.96981885e+02] [-8.71620948e-03 1.67416280e-04 -9.99961999e-01 -8.04956402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.030385723 meters 0.016570465596708252 Centerline is valid? [True, True] Translation: X:39.82, Y:-196.95, Z:-8.05 [[-9.97176390e-01 -7.45302711e-02 9.19160707e-03 3.98177766e+01] [-7.45253892e-02 9.97218734e-01 8.72975559e-04 -1.96951158e+02] [-9.23110588e-03 1.85502522e-04 -9.99957375e-01 -8.04879358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.060385723 meters 0.016814003515419815 Centerline is valid? [True, True] Translation: X:39.80, Y:-196.92, Z:-8.05 [[-9.89360649e-01 -1.45187914e-01 9.27227840e-03 3.98017531e+01] [-1.45179707e-01 9.89404079e-01 1.55566873e-03 -1.96919113e+02] [-9.39989437e-03 1.92970763e-04 -9.99955801e-01 -8.04882189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.090385723 meters 0.016889675186562217 Centerline is valid? [True, True] Translation: X:39.69, Y:-196.33, Z:-9.02 [[-9.92918406e-01 1.18441596e-01 9.19934867e-03 3.96887565e+01] [-1.18438380e-01 -9.92961000e-01 8.95525031e-04 -1.96329847e+02] [ 9.24066187e-03 -2.00372668e-04 9.99957284e-01 -9.01855797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12038572299997 meters 0.016796641170495258 Centerline is valid? [True, True] Translation: X:39.69, Y:-196.93, Z:-8.05 [[-9.88355259e-01 -1.51926154e-01 8.50444278e-03 3.96851253e+01] [-1.51919039e-01 9.88391832e-01 1.48027052e-03 -1.96930763e+02] [-8.63061359e-03 1.71046378e-04 -9.99962741e-01 -8.04928574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.150385723 meters 0.014932738308282702 Centerline is valid? [True, True] Translation: X:39.57, Y:-196.36, Z:-9.02 [[-9.92323950e-01 1.23376438e-01 8.45175677e-03 3.95711877e+01] [-1.23373484e-01 -9.92359926e-01 8.71900474e-04 -1.96359011e+02] [ 8.49475670e-03 -1.77514959e-04 9.99963903e-01 -9.01701023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.180385723 meters 0.013961358422190841 Centerline is valid? [True, True] Translation: X:39.57, Y:-196.94, Z:-8.05 [[-9.87075979e-01 -1.60008266e-01 8.85246242e-03 3.95683981e+01] [-1.60000391e-01 9.87115662e-01 1.59536198e-03 -1.96938748e+02] [-8.99367541e-03 1.58346042e-04 -9.99959544e-01 -8.05125725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.210385723 meters 0.01643933886740734 Centerline is valid? [True, True] Translation: X:39.54, Y:-196.92, Z:-8.05 [[-9.72789280e-01 -2.31477423e-01 9.96088702e-03 3.95371033e+01] [-2.31463492e-01 9.72840261e-01 2.54521638e-03 -1.96918743e+02] [-1.02795121e-02 1.70377512e-04 -9.99947150e-01 -8.04791078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.240385723 meters 0.013877051606536088 Centerline is valid? [True, True] Translation: X:39.49, Y:-196.89, Z:-8.05 [[-9.52847588e-01 -3.03257415e-01 1.07895884e-02 3.94945570e+01] [-3.03236061e-01 9.52908660e-01 3.60236967e-03 -1.96891611e+02] [-1.13739375e-02 1.60716970e-04 -9.99935302e-01 -8.05000478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.270385723 meters 0.01569348603081311 Centerline is valid? [True, True] Translation: X:39.44, Y:-196.88, Z:-8.05 [[-9.27992922e-01 -3.72453902e-01 1.03551069e-02 3.94380815e+01] [-3.72428897e-01 9.28050682e-01 4.31835420e-03 -1.96878445e+02] [-1.12184519e-02 1.50861081e-04 -9.99937060e-01 -8.04889976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.300385723 meters 0.013306471804515295 Centerline is valid? [True, True] Translation: X:39.37, Y:-196.88, Z:-8.05 [[-8.97042107e-01 -4.41862988e-01 8.51810670e-03 3.93652662e+01] [-4.41841947e-01 8.97082543e-01 4.31333185e-03 -1.96875475e+02] [-9.54734652e-03 1.05583443e-04 -9.99954418e-01 -8.05185464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.330385723 meters 0.013007388910456956 Centerline is valid? [True, True] Translation: X:39.29, Y:-196.88, Z:-8.05 [[-8.61080373e-01 -5.08417453e-01 7.23077015e-03 3.92901240e+01] [-5.08398775e-01 8.61110729e-01 4.35873768e-03 -1.96879084e+02] [-8.44255207e-03 7.71087797e-05 -9.99964358e-01 -8.05316542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.360385723 meters 0.01282836833290509 Centerline is valid? [True, True] Translation: X:39.21, Y:-196.89, Z:-8.05 [[-8.20873290e-01 -5.71069486e-01 6.83250674e-03 3.92104705e+01] [-5.71048956e-01 8.20901722e-01 4.84284656e-03 -1.96894100e+02] [-8.37441844e-03 7.36675455e-05 -9.99964931e-01 -8.05361277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.390385723 meters 0.013146140785588355 Centerline is valid? [True, True] Translation: X:39.13, Y:-196.92, Z:-8.05 [[-7.76576541e-01 -6.29984567e-01 6.95144242e-03 3.91254378e+01] [-6.29958341e-01 7.76607648e-01 5.74895809e-03 -1.96922104e+02] [-9.02029821e-03 8.53868533e-05 -9.99959313e-01 -8.05295215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.420385723 meters 0.013418202147067652 Centerline is valid? [True, True] Translation: X:39.04, Y:-196.96, Z:-8.05 [[-7.27740470e-01 -6.85820482e-01 6.63894920e-03 3.90427357e+01] [-6.85790771e-01 7.27770746e-01 6.38433711e-03 -1.96956112e+02] [-9.21014216e-03 9.32103953e-05 -9.99957581e-01 -8.05258756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.450385723 meters 0.013580139521621118 Centerline is valid? [True, True] Translation: X:38.96, Y:-197.00, Z:-8.05 [[-6.76780730e-01 -7.36160230e-01 5.99655475e-03 3.89589378e+01] [-7.36129729e-01 6.76807285e-01 6.70231482e-03 -1.96998380e+02] [-8.99248956e-03 1.21755296e-04 -9.99959559e-01 -8.05298751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.480385723 meters 0.013580139521621118 Centerline is valid? [True, True] Translation: X:38.87, Y:-197.05, Z:-8.05 [[-6.19539591e-01 -7.84946310e-01 5.47587452e-03 3.88745701e+01] [-7.84913900e-01 6.19563778e-01 7.13408033e-03 -1.97054111e+02] [-8.99252354e-03 1.21755184e-04 -9.99959559e-01 -8.05298608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.510385723 meters 0.013764950143298286 Centerline is valid? [True, True] Translation: X:38.79, Y:-197.12, Z:-8.05 [[-5.60351748e-01 -8.28240899e-01 4.78870162e-03 3.87917159e+01] [-8.28208555e-01 5.60372193e-01 7.32090958e-03 -1.97120150e+02] [-8.74693197e-03 1.36240832e-04 -9.99961736e-01 -8.05359221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.540385723 meters 0.014132245476454914 Centerline is valid? [True, True] Translation: X:38.71, Y:-197.19, Z:-8.05 [[-4.97940791e-01 -8.67200964e-01 4.17810138e-03 3.87143951e+01] [-8.67167829e-01 4.97958296e-01 7.58233031e-03 -1.97192225e+02] [-8.65592439e-03 1.52436451e-04 -9.99962525e-01 -8.05391653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.570385723 meters 0.015078670477733497 Centerline is valid? [True, True] Translation: X:38.64, Y:-197.27, Z:-8.05 [[-4.33887335e-01 -9.00960876e-01 3.35851778e-03 3.86417223e+01] [-9.00930789e-01 4.33900300e-01 7.36500596e-03 -1.97273265e+02] [-8.09284409e-03 1.69790741e-04 -9.99967238e-01 -8.05431936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.600385723 meters 0.015837636928578338 Centerline is valid? [True, True] Translation: X:38.57, Y:-197.36, Z:-8.05 [[-3.67130041e-01 -9.30166150e-01 2.54310262e-03 3.85745378e+01] [-9.30140384e-01 3.67138806e-01 6.92552947e-03 -1.97361237e+02] [-7.37556474e-03 1.77127474e-04 -9.99972785e-01 -8.05495590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.630385723 meters 0.016237723171968185 Centerline is valid? [True, True] Translation: X:38.51, Y:-197.46, Z:-8.05 [[-2.96439488e-01 -9.55049259e-01 2.13154087e-03 3.85120186e+01] [-9.55019626e-01 2.96447087e-01 7.52579835e-03 -1.97458838e+02] [-7.81939722e-03 1.95280444e-04 -9.99969409e-01 -8.05473152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.660385723 meters 0.01702020607132871 Centerline is valid? [True, True] Translation: X:38.46, Y:-197.56, Z:-8.05 [[-2.24050294e-01 -9.74576064e-01 1.72090235e-03 3.84573972e+01] [-9.74539080e-01 2.24056789e-01 8.49335131e-03 -1.97559639e+02] [-8.66299675e-03 2.25851266e-04 -9.99962450e-01 -8.05359382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.690385723 meters 0.016600468047277876 Centerline is valid? [True, True] Translation: X:38.41, Y:-197.67, Z:-8.05 [[-1.49179175e-01 -9.88809592e-01 1.07892997e-03 3.84086129e+01] [-9.88771620e-01 1.49182905e-01 8.66857433e-03 -1.97668555e+02] [-8.73252736e-03 2.26355434e-04 -9.99961845e-01 -8.05408297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.720385723 meters 0.016348210882335682 Centerline is valid? [True, True] Translation: X:38.37, Y:-197.78, Z:-8.05 [[-7.19096208e-02 -9.97411056e-01 4.37048924e-04 3.83671920e+01] [-9.97369174e-01 7.19106076e-02 9.14309468e-03 -1.97781233e+02] [-9.15085218e-03 2.21577347e-04 -9.99958106e-01 -8.05404268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.750385723 meters 0.01534918454043261 Centerline is valid? [True, True] Translation: X:38.33, Y:-197.90, Z:-8.05 [[ 6.11809400e-03 -9.99981252e-01 -2.53731114e-04 3.83332046e+01] [-9.99941036e-01 -6.12012405e-03 8.97037851e-03 -1.97898454e+02] [-8.97176320e-03 1.98834535e-04 -9.99959733e-01 -8.05426310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.780385723 meters 0.014342504873750056 Centerline is valid? [True, True] Translation: X:38.31, Y:-198.01, Z:-8.05 [[ 8.74495896e-02 -9.96168572e-01 -8.63308478e-04 3.83059489e+01] [-9.96134395e-01 -8.74537415e-02 8.25285623e-03 -1.98013295e+02] [-8.29673557e-03 1.38262378e-04 -9.99965572e-01 -8.05450909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.810385723 meters 0.01423189321573724 Centerline is valid? [True, True] Translation: X:38.29, Y:-198.13, Z:-8.05 [[ 1.66573954e-01 -9.86027681e-01 -1.59078579e-03 3.82914956e+01] [-9.85989029e-01 -1.66581511e-01 8.73129829e-03 -1.98132171e+02] [-8.87429730e-03 1.14090456e-04 -9.99960616e-01 -8.05350002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.840385723 meters 0.012998571391713584 Centerline is valid? [True, True] Translation: X:38.28, Y:-198.26, Z:-8.05 [[ 2.49131385e-01 -9.68466416e-01 -2.52071474e-03 3.82819830e+01] [-9.68418552e-01 -2.49144134e-01 9.62853102e-03 -1.98256272e+02] [-9.95293022e-03 4.23376484e-05 -9.99950468e-01 -8.05351959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87038572299997 meters 0.012833381919926022 Centerline is valid? [True, True] Translation: X:38.28, Y:-198.37, Z:-8.05 [[ 3.25903976e-01 -9.45397279e-01 -3.25325986e-03 3.82837844e+01] [-9.45350144e-01 -3.25920213e-01 9.44030363e-03 -1.98372135e+02] [-9.98514051e-03 -1.16281557e-06 -9.99950147e-01 -8.05370804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.900385723 meters 0.013051128659085793 Centerline is valid? [True, True] Translation: X:38.29, Y:-198.49, Z:-8.06 [[ 4.03160662e-01 -9.15123160e-01 -3.32912066e-03 3.82925139e+01] [-9.15090682e-01 -4.03174402e-01 7.71006302e-03 -1.98487580e+02] [-8.39787346e-03 -6.19468060e-05 -9.99964735e-01 -8.05505537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.930385723 meters 0.013951921428925172 Centerline is valid? [True, True] Translation: X:38.31, Y:-198.60, Z:-8.05 [[ 4.73654729e-01 -8.80703491e-01 -3.54383011e-03 3.83097264e+01] [-8.80677596e-01 -4.73667979e-01 6.75409412e-03 -1.98599909e+02] [-7.62695312e-03 -7.81368358e-05 -9.99970911e-01 -8.05391260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.960385723 meters 0.014087726632021836 Centerline is valid? [True, True] Translation: X:38.34, Y:-198.71, Z:-8.06 [[ 5.41991329e-01 -8.40375758e-01 -3.73955349e-03 3.83382271e+01] [-8.40354479e-01 -5.42004221e-01 5.98113949e-03 -1.98708040e+02] [-7.05325841e-03 -9.91752166e-05 -9.99975121e-01 -8.05581498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.990385723 meters 0.014410515791354654 Centerline is valid? [True, True] Translation: X:38.37, Y:-198.81, Z:-8.06 [[ 6.04872168e-01 -7.96312733e-01 -3.96119347e-03 3.83723760e+01] [-7.96294534e-01 -6.04885130e-01 5.38474005e-03 -1.98809381e+02] [-6.68400410e-03 -1.02802683e-04 -9.99977657e-01 -8.05622572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.020385723 meters 0.014858911265751059 Centerline is valid? [True, True] Translation: X:38.41, Y:-198.90, Z:-8.06 [[ 6.64135203e-01 -7.47601271e-01 -4.09543641e-03 3.84126845e+01] [-7.47586072e-01 -6.64147822e-01 4.76824604e-03 -1.98904072e+02] [-6.28472197e-03 -1.05068829e-04 -9.99980245e-01 -8.05712654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.050385723 meters 0.016377557214612846 Centerline is valid? [True, True] Translation: X:38.46, Y:-198.99, Z:-8.06 [[ 7.18494706e-01 -6.95515676e-01 -4.82713485e-03 3.84588648e+01] [-6.95498901e-01 -7.18510912e-01 4.83199947e-03 -1.98993267e+02] [-6.82908044e-03 -1.14499055e-04 -9.99976675e-01 -8.05530468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.080385723 meters 0.014873299400187443 Centerline is valid? [True, True] Translation: X:38.51, Y:-199.08, Z:-8.06 [[ 7.68938341e-01 -6.39308562e-01 -4.28836754e-03 3.85063769e+01] [-6.39297908e-01 -7.68950293e-01 3.69221164e-03 -1.99077787e+02] [-5.65800399e-03 -9.75387006e-05 -9.99983989e-01 -8.05719097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.110385723 meters 0.015298292010017405 Centerline is valid? [True, True] Translation: X:38.51, Y:-199.09, Z:-8.06 [[ 8.16653323e-01 -5.77109384e-01 -4.70195242e-03 3.85108533e+01] [-5.77099099e-01 -8.16666853e-01 3.44697428e-03 -1.99090351e+02] [-5.82920989e-03 -1.01490498e-04 -9.99983005e-01 -8.05693135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.140385723 meters 0.015002578859155052 Centerline is valid? [True, True] Translation: X:38.52, Y:-199.10, Z:-8.06 [[ 8.58762784e-01 -5.12335171e-01 -6.25733677e-03 3.85185223e+01] [-5.12320537e-01 -8.58785572e-01 3.87420784e-03 -1.99100480e+02] [-7.35860347e-03 -1.21263377e-04 -9.99972918e-01 -8.05601584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.170385723 meters 0.014912252572399918 Centerline is valid? [True, True] Translation: X:38.52, Y:-199.11, Z:-8.06 [[ 8.95816164e-01 -4.44366774e-01 -7.18133138e-03 3.85248786e+01] [-4.44351359e-01 -8.95844939e-01 3.70340442e-03 -1.99109534e+02] [-8.07902925e-03 -1.26535184e-04 -9.99967356e-01 -8.05550699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.200385723 meters 0.014196736878021914 Centerline is valid? [True, True] Translation: X:38.53, Y:-199.12, Z:-8.06 [[ 9.26985426e-01 -3.74998841e-01 -8.59587458e-03 3.85331208e+01] [-3.74981457e-01 -9.27025271e-01 3.61300306e-03 -1.99117518e+02] [-9.32346492e-03 -1.25907606e-04 -9.99956528e-01 -8.05612800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.230385723 meters 0.014047377382459083 Centerline is valid? [True, True] Translation: X:38.54, Y:-199.13, Z:-8.06 [[ 9.53105529e-01 -3.02505745e-01 -8.95126444e-03 3.85402353e+01] [-3.02491259e-01 -9.53147555e-01 2.96260052e-03 -1.99128704e+02] [-9.42807949e-03 -1.15991679e-04 -9.99955548e-01 -8.05577942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.260385723 meters 0.013806213554299953 Centerline is valid? [True, True] Translation: X:38.55, Y:-199.14, Z:-8.06 [[ 9.73161136e-01 -2.29944007e-01 -9.11902960e-03 3.85491791e+01] [-2.29933065e-01 -9.73203856e-01 2.24488589e-03 -1.99135679e+02] [-9.39087283e-03 -8.78692797e-05 -9.99955901e-01 -8.05560369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.290385723 meters 0.013788433303584603 Centerline is valid? [True, True] Translation: X:38.56, Y:-199.14, Z:-8.06 [[ 9.87937980e-01 -1.54593347e-01 -8.91317904e-03 3.85561296e+01] [-1.54586402e-01 -9.87978184e-01 1.46705298e-03 -1.99144116e+02] [-9.03282308e-03 -7.15010788e-05 -9.99959201e-01 -8.05536146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.320385723 meters 0.0136034993922776 Centerline is valid? [True, True] Translation: X:38.56, Y:-199.14, Z:-8.06 [[ 9.96798115e-01 -7.95013730e-02 -8.54686830e-03 3.85642493e+01] [-7.94980617e-02 -9.96834755e-01 7.27011443e-04 -1.99144199e+02] [-8.57761378e-03 -4.52241726e-05 -9.99963211e-01 -8.05615307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.350385723 meters 0.013536444068710695 Centerline is valid? [True, True] Translation: X:38.57, Y:-199.15, Z:-8.06 [[ 9.99957998e-01 -2.10057765e-03 -8.92131236e-03 3.85692915e+01] [-2.10014623e-03 -9.99997793e-01 5.77259280e-05 -1.99149559e+02] [-8.92141393e-03 -3.89874429e-05 -9.99960203e-01 -8.05665723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.380385723 meters 0.013685019138305264 Centerline is valid? [True, True] Translation: X:38.57, Y:-199.15, Z:-8.06 [[ 9.97123449e-01 7.52295403e-02 -9.23816272e-03 3.85734789e+01] [ 7.52266065e-02 -9.97166243e-01 -6.65135105e-04 -1.99151607e+02] [-9.26202182e-03 -3.17338228e-05 -9.99957106e-01 -8.05610504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.410385723 meters 0.013745814930055177 Centerline is valid? [True, True] Translation: X:38.58, Y:-199.16, Z:-8.06 [[ 9.88193878e-01 1.52911790e-01 -9.53118332e-03 3.85780097e+01] [ 1.52904985e-01 -9.88239841e-01 -1.44294048e-03 -1.99156328e+02] [-9.63973770e-03 -3.14604970e-05 -9.99953536e-01 -8.05510850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.440385723 meters 0.013816258436444169 Centerline is valid? [True, True] Translation: X:38.58, Y:-199.16, Z:-8.06 [[ 9.73156022e-01 2.29927864e-01 -1.00266757e-02 3.85824754e+01] [ 2.29916033e-01 -9.73207674e-01 -2.33267842e-03 -1.99157954e+02] [-1.02943855e-02 -3.52334483e-05 -9.99947011e-01 -8.05588647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.470385723 meters 0.014016224008901677 Centerline is valid? [True, True] Translation: X:38.59, Y:-199.16, Z:-8.06 [[ 9.52116507e-01 3.05589678e-01 -9.43958953e-03 3.85867050e+01] [ 3.05575032e-01 -9.52163299e-01 -2.99209310e-03 -1.99161309e+02] [-9.90238347e-03 -3.56816426e-05 -9.99950970e-01 -8.05548253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.500385723 meters 0.013844301799786324 Centerline is valid? [True, True] Translation: X:38.59, Y:-199.16, Z:-8.06 [[ 9.25517869e-01 3.78604735e-01 -8.66771145e-03 3.85909061e+01] [ 3.78588415e-01 -9.25558455e-01 -3.51541502e-03 -1.99160912e+02] [-9.35342639e-03 -2.79157253e-05 -9.99956255e-01 -8.05673962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.530385723 meters 0.01394471470257571 Centerline is valid? [True, True] Translation: X:38.59, Y:-199.16, Z:-8.06 [[ 8.93351912e-01 4.49280566e-01 -8.32675407e-03 3.85944044e+01] [ 4.49261278e-01 -8.93390717e-01 -4.16312712e-03 -1.99162352e+02] [-9.30945690e-03 -2.17506021e-05 -9.99956666e-01 -8.05639856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.560385723 meters 0.01385898319597292 Centerline is valid? [True, True] Translation: X:38.60, Y:-199.16, Z:-8.06 [[ 8.56146111e-01 5.16684799e-01 -7.11723815e-03 3.85974774e+01] [ 5.16667026e-01 -8.56175694e-01 -4.28553585e-03 -1.99160428e+02] [-8.30787754e-03 -8.19742109e-06 -9.99965489e-01 -8.05669207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.590385723 meters 0.013861258387422195 Centerline is valid? [True, True] Translation: X:38.60, Y:-199.16, Z:-8.06 [[ 8.13437151e-01 5.81616123e-01 -6.53351119e-03 3.85996344e+01] [ 5.81597392e-01 -8.13463389e-01 -4.66782105e-03 -1.99160772e+02] [-8.02965213e-03 -2.89400883e-06 -9.99967762e-01 -8.05722598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62038572299997 meters 0.014007456691427767 Centerline is valid? [True, True] Translation: X:38.60, Y:-199.16, Z:-8.06 [[ 7.66198824e-01 6.42573997e-01 -6.16603957e-03 3.86007064e+01] [ 6.42553116e-01 -7.66223635e-01 -5.18021852e-03 -1.99157099e+02] [-8.05323897e-03 7.06940184e-06 -9.99967572e-01 -8.05753546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.650385723 meters 0.013921707697904281 Centerline is valid? [True, True] Translation: X:38.61, Y:-199.16, Z:-8.06 [[ 7.13956069e-01 7.00169589e-01 -5.41096121e-03 3.86081062e+01] [ 7.00149365e-01 -7.13976573e-01 -5.32168154e-03 -1.99161058e+02] [-7.58937912e-03 1.09657748e-05 -9.99971200e-01 -8.05918181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.680385723 meters 0.014028458439777448 Centerline is valid? [True, True] Translation: X:38.61, Y:-199.16, Z:-8.06 [[ 6.56577738e-01 7.54248100e-01 -3.93423276e-03 3.86130869e+01] [ 7.54234507e-01 -6.56589525e-01 -4.52826993e-03 -1.99164463e+02] [-5.99861501e-03 5.82711727e-06 -9.99982008e-01 -8.05954462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.710385723 meters 0.013943500723990103 Centerline is valid? [True, True] Translation: X:38.62, Y:-199.17, Z:-8.06 [[ 5.94955634e-01 8.03751426e-01 -3.38202398e-03 3.86236188e+01] [ 8.03738426e-01 -5.94965247e-01 -4.57140912e-03 -1.99170890e+02] [-5.68646333e-03 1.52298353e-06 -9.99983832e-01 -8.06124650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.740385723 meters 0.014153940166492818 Centerline is valid? [True, True] Translation: X:38.63, Y:-199.18, Z:-8.06 [[ 5.28693085e-01 8.48808543e-01 -2.77108401e-03 3.86322885e+01] [ 8.48796962e-01 -5.28700347e-01 -4.43394397e-03 -1.99175706e+02] [-5.22864260e-03 -7.89217137e-06 -9.99986331e-01 -8.06032044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.770385723 meters 0.014224761581737905 Centerline is valid? [True, True] Translation: X:38.63, Y:-199.17, Z:-8.06 [[ 4.59966150e-01 8.87933679e-01 -2.21880481e-03 3.86306132e+01] [ 8.87923460e-01 -4.59971501e-01 -4.25990445e-03 -1.99173580e+02] [-4.80309961e-03 -1.07169955e-05 -9.99988465e-01 -8.06058847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.800385723 meters 0.014164925250706775 Centerline is valid? [True, True] Translation: X:38.64, Y:-199.18, Z:-8.06 [[ 3.87497111e-01 9.21868589e-01 -2.07228509e-03 3.86399511e+01] [ 9.21855689e-01 -3.87502652e-01 -4.87679538e-03 -1.99177293e+02] [-5.29878044e-03 -2.06036766e-05 -9.99985961e-01 -8.06168141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.830385723 meters 0.014287354468349814 Centerline is valid? [True, True] Translation: X:38.65, Y:-199.18, Z:-8.06 [[ 3.13567349e-01 9.49564594e-01 -1.61224083e-03 3.86496076e+01] [ 9.49552411e-01 -3.13571493e-01 -4.81017388e-03 -1.99181754e+02] [-5.07312358e-03 -2.25936939e-05 -9.99987131e-01 -8.06111278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.860385723 meters 0.014351673140095689 Centerline is valid? [True, True] Translation: X:38.66, Y:-199.18, Z:-8.06 [[ 2.38346232e-01 9.71179341e-01 -1.32693918e-03 3.86599553e+01] [ 9.71164841e-01 -2.38349924e-01 -5.30714842e-03 -1.99184668e+02] [-5.47046876e-03 -2.37378471e-05 -9.99985037e-01 -8.06091700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.890385723 meters 0.014438160776444081 Centerline is valid? [True, True] Translation: X:38.67, Y:-199.19, Z:-8.06 [[ 1.62424083e-01 9.86720541e-01 -9.96000127e-04 3.86669441e+01] [ 9.86702764e-01 -1.62427136e-01 -5.92288518e-03 -1.99186284e+02] [-6.00600991e-03 -2.07368824e-05 -9.99981964e-01 -8.06070123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.920385723 meters 0.014513708935155674 Centerline is valid? [True, True] Translation: X:38.67, Y:-199.19, Z:-8.06 [[ 8.61743158e-02 9.96279891e-01 -6.04922362e-04 3.86738222e+01] [ 9.96256422e-01 -8.61764379e-02 -6.83842263e-03 -1.99187717e+02] [-6.86511301e-03 -1.33613958e-05 -9.99976435e-01 -8.06066132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.950385723 meters 0.01457654918893077 Centerline is valid? [True, True] Translation: X:38.68, Y:-199.19, Z:-8.06 [[ 8.58314703e-03 9.99963161e-01 -7.82625286e-05 3.86818319e+01] [ 9.99931424e-01 -8.58349815e-03 -7.96687712e-03 -1.99188569e+02] [-7.96725540e-03 -9.87628385e-06 -9.99968261e-01 -8.05988359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.980385723 meters 0.0146363722837768 Centerline is valid? [True, True] Translation: X:38.69, Y:-199.19, Z:-8.06 [[-6.95902684e-02 9.97575514e-01 5.37165571e-04 3.86917122e+01] [ 9.97544893e-01 6.95923411e-02 -7.81622010e-03 -1.99188813e+02] [-7.83465240e-03 -8.08608290e-06 -9.99969309e-01 -8.05960325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.010385723 meters 0.01463941539155366 Centerline is valid? [True, True] Translation: X:38.70, Y:-199.19, Z:-8.06 [[-1.47564342e-01 9.89051828e-01 1.11606851e-03 3.87020581e+01] [ 9.89023128e-01 1.47568562e-01 -7.53464263e-03 -1.99188826e+02] [-7.61684870e-03 -8.02701475e-06 -9.99970991e-01 -8.05952517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.040385723 meters 0.014641900487040534 Centerline is valid? [True, True] Translation: X:38.71, Y:-199.19, Z:-8.06 [[-2.25100406e-01 9.74334171e-01 1.65228584e-03 3.87128980e+01] [ 9.74307542e-01 2.25106470e-01 -7.20347789e-03 -1.99187668e+02] [-7.39053489e-03 -1.16712469e-05 -9.99972690e-01 -8.05994113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.070385723 meters 0.014763655604871253 Centerline is valid? [True, True] Translation: X:38.72, Y:-199.19, Z:-8.06 [[-3.01159602e-01 9.53570890e-01 2.33503953e-03 3.87226864e+01] [ 9.53541809e-01 3.01168654e-01 -7.44713421e-03 -1.99187756e+02] [-7.80461111e-03 -1.62181660e-05 -9.99969543e-01 -8.05980447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.100385723 meters 0.014808389193863816 Centerline is valid? [True, True] Translation: X:38.73, Y:-199.19, Z:-8.06 [[-3.74837114e-01 9.27085930e-01 2.96906619e-03 3.87324071e+01] [ 9.27056513e-01 3.74848873e-01 -7.38546830e-03 -1.99185446e+02] [-7.95991487e-03 -1.58554825e-05 -9.99968319e-01 -8.06059384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.130385723 meters 0.014910536820372897 Centerline is valid? [True, True] Translation: X:38.74, Y:-199.18, Z:-8.06 [[-4.45037197e-01 8.95505076e-01 3.54292310e-03 3.87404004e+01] [ 8.95476618e-01 4.45051299e-01 -7.13921823e-03 -1.99184150e+02] [-7.96998869e-03 -4.61286789e-06 -9.99968239e-01 -8.06118747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.160385723 meters 0.014941899100901128 Centerline is valid? [True, True] Translation: X:38.75, Y:-199.18, Z:-8.06 [[-5.13110817e-01 8.58311966e-01 4.22586651e-03 3.87496919e+01] [ 8.58282892e-01 5.13128218e-01 -7.06464976e-03 -1.99181554e+02] [-8.23208478e-03 2.04072319e-06 -9.99966116e-01 -8.06133923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.190385723 meters 0.015040124085220393 Centerline is valid? [True, True] Translation: X:38.76, Y:-199.18, Z:-8.06 [[-5.76847600e-01 8.16837273e-01 4.87000124e-03 3.87578033e+01] [ 8.16808480e-01 5.76868156e-01 -6.85835649e-03 -1.99178903e+02] [-8.41150985e-03 2.16318266e-05 -9.99964622e-01 -8.06133534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.220385723 meters 0.015121144363689306 Centerline is valid? [True, True] Translation: X:38.77, Y:-199.17, Z:-8.06 [[-6.38185829e-01 7.69865769e-01 5.05426277e-03 3.87681884e+01] [ 7.69841989e-01 6.38205843e-01 -6.05101859e-03 -1.99173510e+02] [-7.88413211e-03 2.93093828e-05 -9.99968919e-01 -8.06215058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.250385723 meters 0.015180426357812664 Centerline is valid? [True, True] Translation: X:38.78, Y:-199.17, Z:-8.06 [[-6.96116351e-01 7.17910566e-01 5.14245317e-03 3.87778138e+01] [ 7.17891313e-01 6.96135345e-01 -5.25780495e-03 -1.99167994e+02] [-7.35447713e-03 3.16784631e-05 -9.99972955e-01 -8.06235345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.280385723 meters 0.01506172260704317 Centerline is valid? [True, True] Translation: X:38.79, Y:-199.16, Z:-8.06 [[-7.49997975e-01 6.61416901e-01 5.54266619e-03 3.87862788e+01] [ 6.61399173e-01 7.50018455e-01 -4.84269029e-03 -1.99161271e+02] [-7.36013913e-03 3.39069290e-05 -9.99972913e-01 -8.06253269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.310385723 meters 0.01514016783529064 Centerline is valid? [True, True] Translation: X:39.27, Y:-198.64, Z:-9.00 [[-7.10071517e-01 -7.04112077e-01 4.96214356e-03 3.92687952e+01] [ 7.04094375e-01 -7.10088854e-01 -4.99307876e-03 -1.98637603e+02] [ 7.03924989e-03 -5.16256372e-05 9.99975223e-01 -9.00460703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.340385723 meters 0.015130359466839325 Centerline is valid? [True, True] Translation: X:39.25, Y:-198.62, Z:-9.01 [[-7.10310334e-01 -7.03871676e-01 4.88807030e-03 3.92502619e+01] [ 7.03854712e-01 -7.10327152e-01 -4.88680125e-03 -1.98618214e+02] [ 6.91181004e-03 -3.06541202e-05 9.99976113e-01 -9.00504188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37038572299997 meters 0.015130359466839325 Centerline is valid? [True, True] Translation: X:38.74, Y:-199.13, Z:-8.06 [[-7.52546479e-01 6.58518568e-01 5.20506169e-03 3.87429456e+01] [ 6.58503105e-01 7.52564479e-01 -4.51293212e-03 -1.99125003e+02] [-6.88899413e-03 3.13581057e-05 -9.99976270e-01 -8.06255759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.400385723 meters 0.015211552145960748 Centerline is valid? [True, True] Translation: X:38.76, Y:-199.10, Z:-8.06 [[-7.97481267e-01 6.03313873e-01 6.00006448e-03 3.87589623e+01] [ 6.03297094e-01 7.97503837e-01 -4.49954283e-03 -1.99101925e+02] [-7.49971105e-03 3.15203498e-05 -9.99971876e-01 -8.06261285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.430385723 meters 0.015207664794892726 Centerline is valid? [True, True] Translation: X:39.19, Y:-198.53, Z:-9.01 [[-7.60121329e-01 -6.49755670e-01 5.75622707e-03 3.91899659e+01] [ 6.49736779e-01 -7.60143124e-01 -4.95474919e-03 -1.98528640e+02] [ 7.59493281e-03 -2.61781103e-05 9.99971158e-01 -9.00509560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.460385723 meters 0.015109278648689942 Centerline is valid? [True, True] Translation: X:38.73, Y:-199.08, Z:-8.06 [[-8.00213410e-01 5.99682922e-01 6.23627337e-03 3.87250872e+01] [ 5.99664954e-01 8.00237710e-01 -4.64224107e-03 -1.99078515e+02] [-7.77437381e-03 2.48910264e-05 -9.99969779e-01 -8.06234087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.490385723 meters 0.015118131143629159 Centerline is valid? [True, True] Translation: X:38.74, Y:-199.05, Z:-8.06 [[-8.41442474e-01 5.40294591e-01 7.50451257e-03 3.87419039e+01] [ 5.40273266e-01 8.41475939e-01 -4.80027950e-03 -1.99054880e+02] [-8.90843181e-03 1.53284590e-05 -9.99960319e-01 -8.06143084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.520385723 meters 0.015242611147943258 Centerline is valid? [True, True] Translation: X:38.76, Y:-199.03, Z:-8.06 [[-8.77709772e-01 4.79119907e-01 8.34688624e-03 3.87554667e+01] [ 4.79098389e-01 8.77749460e-01 -4.54089006e-03 -1.99030073e+02] [-9.50210571e-03 1.33961740e-05 -9.99954854e-01 -8.06070806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.550385723 meters 0.015222839669955817 Centerline is valid? [True, True] Translation: X:38.77, Y:-199.01, Z:-8.06 [[-9.09368854e-01 4.15898102e-01 8.77821314e-03 3.87703323e+01] [ 4.15878885e-01 9.09411221e-01 -3.99803657e-03 -1.99006241e+02] [-9.64578135e-03 1.49835550e-05 -9.99953478e-01 -8.05971527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.580385723 meters 0.015118974034665124 Centerline is valid? [True, True] Translation: X:38.78, Y:-198.98, Z:-8.06 [[-9.36418421e-01 3.50770859e-01 8.96353208e-03 3.87824914e+01] [ 3.50754946e-01 9.36461320e-01 -3.34122091e-03 -1.98980719e+02] [-9.56600402e-03 1.52223947e-05 -9.99954245e-01 -8.06100278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.610385723 meters 0.015102729857013638 Centerline is valid? [True, True] Translation: X:38.79, Y:-198.95, Z:-8.06 [[-9.59013898e-01 2.83206415e-01 9.29890604e-03 3.87934604e+01] [ 2.83193230e-01 9.59058980e-01 -2.73276134e-03 -1.98954073e+02] [-9.69213488e-03 1.26311361e-05 -9.99953030e-01 -8.06012621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.640385723 meters 0.015029271022000353 Centerline is valid? [True, True] Translation: X:38.80, Y:-198.93, Z:-8.06 [[-9.76923872e-01 2.13362535e-01 9.80703236e-03 3.87992681e+01] [ 2.13351801e-01 9.76973095e-01 -2.14022767e-03 -1.98925642e+02] [-1.00378512e-02 1.50851462e-06 -9.99949620e-01 -8.05952106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.670385723 meters 0.0150785084400932 Centerline is valid? [True, True] Translation: X:38.80, Y:-198.90, Z:-8.06 [[-9.89638589e-01 1.43219111e-01 1.01857400e-02 3.88025363e+01] [ 1.43211513e-01 9.89691005e-01 -1.47522703e-03 -1.98897307e+02] [-1.02920160e-02 -1.22635317e-06 -9.99947036e-01 -8.05895595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.700385723 meters 0.014981473031540994 Centerline is valid? [True, True] Translation: X:38.80, Y:-198.87, Z:-8.06 [[-9.97372923e-01 7.17433255e-02 1.00073929e-02 3.88010718e+01] [ 7.17396172e-02 9.97423127e-01 -7.29501179e-04 -1.98869900e+02] [-1.00339420e-02 -9.65818795e-06 -9.99949659e-01 -8.06026856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.730385723 meters 0.014960333822380436 Centerline is valid? [True, True] Translation: X:38.80, Y:-198.84, Z:-8.06 [[-9.99951157e-01 3.14266752e-04 9.87850563e-03 3.88004565e+01] [ 3.14123331e-04 9.99999951e-01 -1.60700301e-05 -1.98842201e+02] [-9.87851020e-03 -1.29661761e-05 -9.99951206e-01 -8.06094402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.760385723 meters 0.01487797573479103 Centerline is valid? [True, True] Translation: X:38.80, Y:-198.82, Z:-8.06 [[-9.97391369e-01 -7.15094177e-02 9.84173496e-03 3.87961733e+01] [-7.15061308e-02 9.97439924e-01 6.85901458e-04 -1.98815188e+02] [-9.86558779e-03 -1.96321930e-05 -9.99951334e-01 -8.06122471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.790385723 meters 0.014867590639859287 Centerline is valid? [True, True] Translation: X:38.79, Y:-198.79, Z:-8.06 [[-9.89723515e-01 -1.42638077e-01 1.00867291e-02 3.87861323e+01] [-1.42630903e-01 9.89774913e-01 1.43068190e-03 -1.98787984e+02] [-1.01876612e-02 -2.26997665e-05 -9.99948104e-01 -8.06100784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.820385723 meters 0.014905674213018735 Centerline is valid? [True, True] Translation: X:38.77, Y:-198.76, Z:-8.06 [[-9.76813226e-01 -2.13842367e-01 1.03616804e-02 3.87659310e+01] [-2.13830656e-01 9.76868180e-01 2.23813747e-03 -1.98763842e+02] [-1.06006045e-02 -2.94026300e-05 -9.99943812e-01 -8.05994025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.850385723 meters 0.014930752953492735 Centerline is valid? [True, True] Translation: X:38.73, Y:-198.74, Z:-8.06 [[-9.58844831e-01 -2.83724100e-01 1.08270968e-02 3.87293652e+01] [-2.83706383e-01 9.58905957e-01 3.17085485e-03 -1.98744247e+02] [-1.12818155e-02 -3.13586789e-05 -9.99936358e-01 -8.05953132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.880385723 meters 0.014907254747203624 Centerline is valid? [True, True] Translation: X:38.67, Y:-198.74, Z:-8.06 [[-9.35494710e-01 -3.53172169e-01 1.09117624e-02 3.86715369e+01] [-3.53148495e-01 9.35558346e-01 4.08927332e-03 -1.98736111e+02] [-1.16528079e-02 -2.79788938e-05 -9.99932103e-01 -8.05889309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.910385723 meters 0.014829331849858182 Centerline is valid? [True, True] Translation: X:38.60, Y:-198.74, Z:-8.06 [[-9.07290901e-01 -4.20374049e-01 1.04345617e-02 3.86021173e+01] [-4.20346452e-01 9.07350901e-01 4.81686751e-03 -1.98735599e+02] [-1.14926951e-02 -1.58309334e-05 -9.99933957e-01 -8.05955822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.940385723 meters 0.014766549375723524 Centerline is valid? [True, True] Translation: X:38.52, Y:-198.75, Z:-8.06 [[-8.74490179e-01 -4.84961486e-01 8.90417074e-03 3.85242496e+01] [-4.84936277e-01 8.74535509e-01 4.94470235e-03 -1.98746410e+02] [-1.01850037e-02 6.13823347e-06 -9.99948132e-01 -8.06006629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.970385723 meters 0.014607721077212442 Centerline is valid? [True, True] Translation: X:38.44, Y:-198.76, Z:-8.06 [[-8.36193324e-01 -5.48377569e-01 7.92257804e-03 3.84415116e+01] [-5.48352799e-01 8.36230854e-01 5.21211670e-03 -1.98764616e+02] [-9.48331208e-03 1.39693416e-05 -9.99955032e-01 -8.06231218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.000385723 meters 0.014670036124207255 Centerline is valid? [True, True] Translation: X:38.34, Y:-198.80, Z:-8.06 [[-7.93720307e-01 -6.08248649e-01 6.45405919e-03 3.83430622e+01] [-6.08228273e-01 7.93746547e-01 4.97873423e-03 -1.98804250e+02] [-8.15119556e-03 2.61811971e-05 -9.99966778e-01 -8.06378330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.030385723 meters 0.014740544165896487 Centerline is valid? [True, True] Translation: X:38.27, Y:-198.83, Z:-8.06 [[-7.45477774e-01 -6.66504818e-01 5.84952563e-03 3.82663611e+01] [-6.66484012e-01 7.45500722e-01 5.26637233e-03 -1.98833076e+02] [-7.87088812e-03 2.73482081e-05 -9.99969024e-01 -8.06480642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.060385723 meters 0.014660218322857495 Centerline is valid? [True, True] Translation: X:38.17, Y:-198.89, Z:-8.06 [[-6.92649955e-01 -7.21252391e-01 5.57033239e-03 3.81746670e+01] [-7.21228747e-01 6.92672353e-01 5.84001242e-03 -1.98885426e+02] [-8.07053816e-03 2.76004897e-05 -9.99967432e-01 -8.06427382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.090385723 meters 0.014708358715625107 Centerline is valid? [True, True] Translation: X:38.08, Y:-198.94, Z:-8.06 [[-6.35588321e-01 -7.72010478e-01 5.22572646e-03 3.80843336e+01] [-7.71984031e-01 6.35609803e-01 6.39023148e-03 -1.98944450e+02] [-8.25484862e-03 2.73791233e-05 -9.99965928e-01 -8.06371012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12038572299997 meters 0.014700445981400556 Centerline is valid? [True, True] Translation: X:38.00, Y:-199.02, Z:-8.06 [[-5.73928505e-01 -8.18889341e-01 5.13016120e-03 3.79950646e+01] [-8.18856310e-01 5.73951432e-01 7.35508360e-03 -1.99015654e+02] [-8.96746293e-03 2.04272647e-05 -9.99959791e-01 -8.06259707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.150385723 meters 0.014676505483307883 Centerline is valid? [True, True] Translation: X:37.91, Y:-199.10, Z:-8.06 [[-5.09209045e-01 -8.60629352e-01 4.82367384e-03 3.79092383e+01] [-8.60590422e-01 5.09231891e-01 8.18580846e-03 -1.99096545e+02] [-9.50131558e-03 1.70802025e-05 -9.99954861e-01 -8.06237134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.180385723 meters 0.014697660937130293 Centerline is valid? [True, True] Translation: X:37.83, Y:-199.19, Z:-8.06 [[-4.40771141e-01 -8.97608413e-01 4.46520753e-03 3.78285657e+01] [-8.97562170e-01 4.40793758e-01 9.11125099e-03 -1.99189594e+02] [-1.01465711e-02 8.17513455e-06 -9.99948522e-01 -8.06151688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.210385723 meters 0.014679211923250703 Centerline is valid? [True, True] Translation: X:37.75, Y:-199.30, Z:-8.06 [[-3.70184904e-01 -9.28950132e-01 3.84558620e-03 3.77492309e+01] [-9.28899885e-01 3.70204878e-01 9.66188081e-03 -1.99300826e+02] [-1.03990602e-02 4.51783604e-06 -9.99945928e-01 -8.06189262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.240385723 meters 0.014535661515137006 Centerline is valid? [True, True] Translation: X:37.69, Y:-199.38, Z:-8.06 [[-2.96948272e-01 -9.54888915e-01 2.98067474e-03 3.76909225e+01] [-9.54840840e-01 2.96963231e-01 9.58178677e-03 -1.99384033e+02] [-1.00346928e-02 -7.74949457e-07 -9.99949651e-01 -8.06224315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.270385723 meters 0.014527719685626569 Centerline is valid? [True, True] Translation: X:37.63, Y:-199.50, Z:-8.06 [[-2.22226266e-01 -9.74992784e-01 2.13488752e-03 3.76318419e+01] [-9.74947908e-01 2.22236520e-01 9.35445442e-03 -1.99498679e+02] [-9.59497554e-03 -2.59864692e-06 -9.99953967e-01 -8.06191922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.300385723 meters 0.014593241069964622 Centerline is valid? [True, True] Translation: X:37.58, Y:-199.61, Z:-8.06 [[-1.46018018e-01 -9.89280921e-01 1.41319052e-03 3.75832402e+01] [-9.89234944e-01 1.46024857e-01 9.53767084e-03 -1.99606949e+02] [-9.64179674e-03 -5.30565034e-06 -9.99953517e-01 -8.06236233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.330385723 meters 0.014618146429574385 Centerline is valid? [True, True] Translation: X:37.54, Y:-199.73, Z:-8.06 [[-6.86256342e-02 -9.97642258e-01 6.69142375e-04 3.75420347e+01] [-9.97596335e-01 6.86288956e-02 9.57219846e-03 -1.99728765e+02] [-9.59555218e-03 -1.06357908e-05 -9.99953962e-01 -8.06273393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.360385723 meters 0.014609272939289049 Centerline is valid? [True, True] Translation: X:37.51, Y:-199.85, Z:-8.06 [[ 9.66325186e-03 -9.99953308e-01 -6.36812374e-05 3.75111637e+01] [-9.99917515e-01 -9.66344478e-03 8.46050324e-03 -1.99852719e+02] [-8.46072358e-03 -1.80799890e-05 -9.99964207e-01 -8.06380742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.390385723 meters 0.014618222777013265 Centerline is valid? [True, True] Translation: X:37.49, Y:-199.98, Z:-8.06 [[ 8.73806681e-02 -9.96174768e-01 -6.71534610e-04 3.74882842e+01] [-9.96143539e-01 -8.73832461e-02 7.88784714e-03 -1.99976107e+02] [-7.91635517e-03 -2.03004900e-05 -9.99968665e-01 -8.06426297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.420385723 meters 0.014661184603662022 Centerline is valid? [True, True] Translation: X:37.48, Y:-200.10, Z:-8.06 [[ 1.65380525e-01 -9.86229061e-01 -1.23315819e-03 3.74756252e+01] [-9.86200317e-01 -1.65385120e-01 7.52972000e-03 -2.00104352e+02] [-7.62997470e-03 -2.91280530e-05 -9.99970891e-01 -8.06401614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.450385723 meters 0.014721299969443541 Centerline is valid? [True, True] Translation: X:37.47, Y:-200.23, Z:-8.06 [[ 2.41604795e-01 -9.70373108e-01 -1.77613495e-03 3.74713446e+01] [-9.70345893e-01 -2.41611321e-01 7.26757765e-03 -2.00228719e+02] [-7.48139622e-03 -3.24163530e-05 -9.99972013e-01 -8.06300209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.480385723 meters 0.014784733140520595 Centerline is valid? [True, True] Translation: X:37.48, Y:-200.36, Z:-8.06 [[ 3.16865029e-01 -9.48467351e-01 -2.49742361e-03 3.74796878e+01] [-9.48436796e-01 -3.16874868e-01 7.61331310e-03 -2.00359822e+02] [-8.01234969e-03 -4.37442262e-05 -9.99967900e-01 -8.06277117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.510385723 meters 0.014787722288958978 Centerline is valid? [True, True] Translation: X:37.50, Y:-200.49, Z:-8.06 [[ 3.89587445e-01 -9.20982923e-01 -3.47538978e-03 3.75001135e+01] [-9.20945030e-01 -3.89602942e-01 8.35460147e-03 -2.00491975e+02] [-9.04846737e-03 -5.42048939e-05 -9.99959060e-01 -8.06216617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.540385723 meters 0.014833685455923631 Centerline is valid? [True, True] Translation: X:37.52, Y:-200.60, Z:-8.06 [[ 4.59575002e-01 -8.88127375e-01 -4.53683365e-03 3.75206374e+01] [-8.88082796e-01 -4.59597391e-01 8.89861307e-03 -2.00602740e+02] [-9.98821878e-03 -6.04962026e-05 -9.99950115e-01 -8.06146870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.570385723 meters 0.01490506185762454 Centerline is valid? [True, True] Translation: X:37.56, Y:-200.72, Z:-8.06 [[ 5.26624091e-01 -8.50077866e-01 -5.88974813e-03 3.75555837e+01] [-8.50023241e-01 -5.26657021e-01 9.63697956e-03 -2.00723315e+02] [-1.12940602e-02 -6.86428047e-05 -9.99936218e-01 -8.06080046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.600385723 meters 0.01485393380267234 Centerline is valid? [True, True] Translation: X:37.60, Y:-200.84, Z:-8.06 [[ 5.89799018e-01 -8.07516407e-01 -7.37365106e-03 3.76008473e+01] [-8.07451873e-01 -5.89845105e-01 1.02090417e-02 -2.00840996e+02] [-1.25932807e-02 -6.74144143e-05 -9.99920699e-01 -8.05892674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.630385723 meters 0.014856615965316513 Centerline is valid? [True, True] Translation: X:37.64, Y:-200.94, Z:-8.06 [[ 6.49921758e-01 -7.59955417e-01 -8.33501212e-03 3.76446117e+01] [-7.59891627e-01 -6.49975200e-01 9.84660628e-03 -2.00942217e+02] [-1.29005329e-02 -6.58177489e-05 -9.99916783e-01 -8.05872938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.660385723 meters 0.015151017780729446 Centerline is valid? [True, True] Translation: X:37.70, Y:-201.05, Z:-8.06 [[ 7.06157821e-01 -7.07994465e-01 -9.21784323e-03 3.77032722e+01] [-7.07932945e-01 -7.06217978e-01 9.33340661e-03 -2.01046553e+02] [-1.31178068e-02 -6.52431740e-05 -9.99913956e-01 -8.05813409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.690385723 meters 0.01490946838971929 Centerline is valid? [True, True] Translation: X:37.79, Y:-201.17, Z:-8.06 [[ 7.57599447e-01 -6.52654053e-01 -9.26100580e-03 3.77941689e+01] [-6.52604504e-01 -7.57656047e-01 8.04213897e-03 -2.01167438e+02] [-1.22653916e-02 -4.89459387e-05 -9.99924776e-01 -8.06019914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.720385723 meters 0.014766826166731332 Centerline is valid? [True, True] Translation: X:37.79, Y:-201.17, Z:-8.06 [[ 8.05964048e-01 -5.91890093e-01 -9.38457748e-03 3.77891616e+01] [-5.91849383e-01 -8.06018682e-01 6.94206790e-03 -2.01173872e+02] [-1.16730860e-02 -4.08007618e-05 -9.99931866e-01 -8.06127809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.750385723 meters 0.014822300105436292 Centerline is valid? [True, True] Translation: X:37.78, Y:-201.18, Z:-8.06 [[ 8.49537898e-01 -5.27449177e-01 -9.09540574e-03 3.77832322e+01] [-5.27418534e-01 -8.49586585e-01 5.68550926e-03 -2.01178155e+02] [-1.07261519e-02 -3.29700219e-05 -9.99942473e-01 -8.06209326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.780385723 meters 0.014668402265836796 Centerline is valid? [True, True] Translation: X:37.78, Y:-201.19, Z:-8.06 [[ 8.87943529e-01 -4.59863217e-01 -9.06149208e-03 3.77769177e+01] [-4.59838968e-01 -8.87989764e-01 4.72254342e-03 -2.01185041e+02] [-1.02182362e-02 -2.65247101e-05 -9.99947792e-01 -8.06266062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.810385723 meters 0.014626212493443886 Centerline is valid? [True, True] Translation: X:37.77, Y:-201.19, Z:-8.06 [[ 9.20733751e-01 -3.90096570e-01 -8.60384048e-03 3.77709985e+01] [-3.90079400e-01 -9.20773949e-01 3.66002540e-03 -2.01192808e+02] [-9.34995553e-03 -1.37279856e-05 -9.99956288e-01 -8.06427438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.840385723 meters 0.014583660178358744 Centerline is valid? [True, True] Translation: X:37.77, Y:-201.20, Z:-8.06 [[ 9.48280459e-01 -3.17315428e-01 -8.66548632e-03 3.77658016e+01] [-3.17302084e-01 -9.48320051e-01 2.91010969e-03 -2.01201674e+02] [-9.14107713e-03 -1.00232833e-05 -9.99958219e-01 -8.06436552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87038572299997 meters 0.01462796904809631 Centerline is valid? [True, True] Translation: X:37.76, Y:-201.21, Z:-8.06 [[ 9.69698782e-01 -2.44127363e-01 -9.27918700e-03 3.77607513e+01] [-2.44116265e-01 -9.69743178e-01 2.32777293e-03 -2.01210447e+02] [-9.56670135e-03 7.96189888e-06 -9.99954238e-01 -8.06412266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.900385723 meters 0.014629691589591364 Centerline is valid? [True, True] Translation: X:37.75, Y:-201.22, Z:-8.06 [[ 9.85721892e-01 -1.68095536e-01 -9.81031641e-03 3.77531234e+01] [-1.68087360e-01 -9.85770709e-01 1.65795874e-03 -2.01217326e+02] [-9.94941802e-03 1.47039645e-05 -9.99950503e-01 -8.06411547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.930385723 meters 0.014696395273717421 Centerline is valid? [True, True] Translation: X:37.74, Y:-201.23, Z:-8.06 [[ 9.95771687e-01 -9.11914091e-02 -1.10848661e-02 3.77449889e+01] [-9.11860414e-02 -9.95833383e-01 9.89742249e-04 -2.01225776e+02] [-1.11289357e-02 2.52277488e-05 -9.99938071e-01 -8.06394579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.960385723 meters 0.014707759437129242 Centerline is valid? [True, True] Translation: X:37.74, Y:-201.24, Z:-8.06 [[ 9.99848782e-01 -1.31698445e-02 -1.13564331e-02 3.77390281e+01] [-1.31693161e-02 -9.99913273e-01 1.21313782e-04 -2.01236323e+02] [-1.13570459e-02 2.82610205e-05 -9.99935506e-01 -8.06293541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.990385723 meters 0.014897831482842924 Centerline is valid? [True, True] Translation: X:37.73, Y:-201.25, Z:-8.06 [[ 9.97836615e-01 6.46039595e-02 -1.21826785e-02 3.77327594e+01] [ 6.45986915e-02 -9.97910982e-01 -8.25843690e-04 -2.01247397e+02] [-1.22105814e-02 3.70719847e-05 -9.99925447e-01 -8.06122594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.020385723 meters 0.014839186707548607 Centerline is valid? [True, True] Translation: X:37.73, Y:-201.26, Z:-8.06 [[ 9.89726300e-01 1.42474326e-01 -1.19548245e-02 3.77287712e+01] [ 1.42463480e-01 -9.89798497e-01 -1.75841996e-03 -2.01258834e+02] [-1.20833970e-02 3.72285899e-05 -9.99926992e-01 -8.06120595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.050385723 meters 0.014756787295083658 Centerline is valid? [True, True] Translation: X:37.73, Y:-201.27, Z:-8.06 [[ 9.75593383e-01 2.19241448e-01 -1.22775555e-02 3.77254122e+01] [ 2.19223539e-01 -9.75670634e-01 -2.80250848e-03 -2.01271446e+02] [-1.25932764e-02 4.25795544e-05 -9.99920701e-01 -8.06190529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.080385723 meters 0.014824720065706062 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.28, Z:-8.06 [[ 9.55480335e-01 2.94800398e-01 -1.22497166e-02 3.77221615e+01] [ 2.94775565e-01 -9.55558854e-01 -3.82662595e-03 -2.01283412e+02] [-1.28334160e-02 4.53487016e-05 -9.99917647e-01 -8.06175531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.110385723 meters 0.014968675106379557 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.29, Z:-8.06 [[ 9.29615355e-01 3.68346477e-01 -1.16689566e-02 3.77196828e+01] [ 3.68316794e-01 -9.29688588e-01 -4.67635971e-03 -2.01294501e+02] [-1.25710164e-02 4.93430949e-05 -9.99920980e-01 -8.06147354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.140385723 meters 0.01494020837998138 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.30, Z:-8.06 [[ 8.97975807e-01 4.39903912e-01 -1.11354421e-02 3.77175604e+01] [ 4.39869399e-01 -8.98044846e-01 -5.51056374e-03 -2.01304888e+02] [-1.24242449e-02 5.02127259e-05 -9.99922815e-01 -8.06168039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.170385723 meters 0.015004793424303605 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.31, Z:-8.06 [[ 8.60811713e-01 5.08816381e-01 -1.04443758e-02 3.77150727e+01] [ 5.08778231e-01 -8.60875071e-01 -6.23080967e-03 -2.01314534e+02] [-1.21616408e-02 4.96828920e-05 -9.99926043e-01 -8.06143492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.200385723 meters 0.015245929891546491 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.33, Z:-8.06 [[ 8.18483446e-01 5.74447542e-01 -9.74013948e-03 3.77177973e+01] [ 5.74406116e-01 -8.18541397e-01 -6.89892540e-03 -2.01328209e+02] [-1.19357781e-02 5.18605338e-05 -9.99928765e-01 -8.06257020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.230385723 meters 0.014977444838747996 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.34, Z:-8.06 [[ 7.71739091e-01 6.35873815e-01 -9.12506643e-03 3.77192522e+01] [ 6.35828370e-01 -7.71793034e-01 -7.60242796e-03 -2.01341613e+02] [-1.18768476e-02 6.51147267e-05 -9.99929466e-01 -8.06261995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.260385723 meters 0.015067442028198716 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.35, Z:-8.06 [[ 7.19950028e-01 6.93976915e-01 -8.24611661e-03 3.77213342e+01] [ 6.93930296e-01 -7.19997248e-01 -8.04412741e-03 -2.01352525e+02] [-1.15196200e-02 6.91396151e-05 -9.99933645e-01 -8.06244874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.290385723 meters 0.015067442028198716 Centerline is valid? [True, True] Translation: X:37.72, Y:-201.36, Z:-8.06 [[ 6.63386738e-01 7.48238208e-01 -7.59075461e-03 3.77240196e+01] [ 7.48188034e-01 -6.63430161e-01 -8.66530670e-03 -2.01363930e+02] [-1.15196491e-02 6.91377783e-05 -9.99933644e-01 -8.06244848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.320385723 meters 0.01518845951669468 Centerline is valid? [True, True] Translation: X:37.73, Y:-201.37, Z:-8.06 [[ 6.04183285e-01 7.96820046e-01 -6.35393898e-03 3.77268613e+01] [ 7.96774535e-01 -6.04216689e-01 -8.51660758e-03 -2.01374371e+02] [-1.06253596e-02 8.29351693e-05 -9.99943546e-01 -8.06343784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.350385723 meters 0.015236784408764434 Centerline is valid? [True, True] Translation: X:37.73, Y:-201.39, Z:-8.06 [[ 5.40654569e-01 8.41224707e-01 -5.79908167e-03 3.77324324e+01] [ 8.41174437e-01 -5.40685661e-01 -9.19683626e-03 -2.01385716e+02] [-1.08720862e-02 9.42722860e-05 -9.99940893e-01 -8.06460296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.380385723 meters 0.015333234821177159 Centerline is valid? [True, True] Translation: X:37.74, Y:-201.40, Z:-8.07 [[ 4.73829845e-01 8.80603688e-01 -4.73536418e-03 3.77384833e+01] [ 8.80557670e-01 -4.73853497e-01 -9.00300844e-03 -2.01396805e+02] [-1.01719513e-02 9.61328439e-05 -9.99948260e-01 -8.06515277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.410385723 meters 0.015565342650441159 Centerline is valid? [True, True] Translation: X:37.74, Y:-201.41, Z:-8.06 [[ 4.04042540e-01 9.14731378e-01 -4.01639780e-03 3.77441261e+01] [ 9.14683620e-01 -4.04062489e-01 -9.34775769e-03 -2.01407967e+02] [-1.01735630e-02 1.03158483e-04 -9.99948243e-01 -8.06478390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.440385723 meters 0.015513241214712216 Centerline is valid? [True, True] Translation: X:37.75, Y:-201.42, Z:-8.06 [[ 3.30954971e-01 9.43640332e-01 -3.42506601e-03 3.77526765e+01] [ 9.43586447e-01 -3.30972676e-01 -1.00848817e-02 -2.01418364e+02] [-1.06501044e-02 1.05795871e-04 -9.99943280e-01 -8.06416858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.470385723 meters 0.01551970474653738 Centerline is valid? [True, True] Translation: X:37.76, Y:-201.43, Z:-8.06 [[ 2.55477568e-01 9.66811226e-01 -2.69539101e-03 3.77601727e+01] [ 9.66753122e-01 -2.55491765e-01 -1.05999981e-02 -2.01428442e+02] [-1.09368473e-02 1.02284044e-04 -9.99940186e-01 -8.06345283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.500385723 meters 0.016153950220132274 Centerline is valid? [True, True] Translation: X:37.77, Y:-201.44, Z:-8.06 [[ 1.77270510e-01 9.84160085e-01 -2.02324164e-03 3.77699924e+01] [ 9.84089978e-01 -1.77282032e-01 -1.17472289e-02 -2.01437140e+02] [-1.19198382e-02 9.13854330e-05 -9.99928952e-01 -8.06269399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.530385723 meters 0.015227968664915355 Centerline is valid? [True, True] Translation: X:37.78, Y:-201.45, Z:-8.06 [[ 9.86470259e-02 9.95121952e-01 -1.03217477e-03 3.77800681e+01] [ 9.95059325e-01 -9.86523977e-02 -1.11644138e-02 -2.01445261e+02] [-1.12117798e-02 7.42610856e-05 -9.99937143e-01 -8.06347108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.560385723 meters 0.015175745730334504 Centerline is valid? [True, True] Translation: X:37.79, Y:-201.45, Z:-8.06 [[ 1.81835670e-02 9.99834653e-01 -1.57964324e-04 3.77922437e+01] [ 9.99768752e-01 -1.81841821e-02 -1.14794343e-02 -2.01452186e+02] [-1.14804086e-02 5.08092666e-05 -9.99934097e-01 -8.06262125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.590385723 meters 0.016657223603563205 Centerline is valid? [True, True] Translation: X:37.81, Y:-201.46, Z:-8.06 [[-6.11098571e-02 9.98130718e-01 8.09432863e-04 3.78077986e+01] [ 9.98052402e-01 6.11152019e-02 -1.25034237e-02 -2.01457672e+02] [-1.25295200e-02 4.37739751e-05 -9.99921502e-01 -8.06189349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62038572299997 meters 0.015189153758663835 Centerline is valid? [True, True] Translation: X:37.82, Y:-201.46, Z:-8.06 [[-1.40777761e-01 9.90039842e-01 1.65319182e-03 3.78214281e+01] [ 9.89973350e-01 1.40787466e-01 -1.14741252e-02 -2.01464062e+02] [-1.15925897e-02 2.13142003e-05 -9.99932803e-01 -8.06363187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.650385723 meters 0.015154157185759234 Centerline is valid? [True, True] Translation: X:37.84, Y:-201.47, Z:-8.06 [[-2.18807927e-01 9.75764857e-01 2.45645783e-03 3.78353015e+01] [ 9.75703895e-01 2.18821715e-01 -1.09071392e-02 -2.01469134e+02] [-1.11803294e-02 1.02069627e-05 -9.99937498e-01 -8.06319136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.680385723 meters 0.015306602664928018 Centerline is valid? [True, True] Translation: X:37.85, Y:-201.47, Z:-8.06 [[-2.95389282e-01 9.55372089e-01 3.05688093e-03 3.78481092e+01] [ 9.55320962e-01 2.95405098e-01 -9.88373203e-03 -2.01472059e+02] [-1.03456599e-02 7.53931223e-07 -9.99946482e-01 -8.06445364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.710385723 meters 0.015407083844403894 Centerline is valid? [True, True] Translation: X:37.86, Y:-201.48, Z:-8.06 [[-3.69487936e-01 9.29228268e-01 3.67317342e-03 3.78600984e+01] [ 9.29182327e-01 3.69506193e-01 -9.23989734e-03 -2.01475440e+02] [-9.94323413e-03 -9.82765438e-07 -9.99950565e-01 -8.06440131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.740385723 meters 0.015528306771251289 Centerline is valid? [True, True] Translation: X:37.87, Y:-201.48, Z:-8.06 [[-4.40685844e-01 8.97652305e-01 4.04054005e-03 3.78727335e+01] [ 8.97614660e-01 4.40704367e-01 -8.22084692e-03 -2.01476781e+02] [-9.16014583e-03 4.03711930e-06 -9.99958045e-01 -8.06454324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.770385723 meters 0.015535322969175785 Centerline is valid? [True, True] Translation: X:37.89, Y:-201.48, Z:-8.06 [[-5.09306181e-01 8.60573758e-01 4.47447781e-03 3.78861950e+01] [ 8.60540672e-01 5.09325836e-01 -7.54620517e-03 -2.01476760e+02] [-8.77303329e-03 7.14119891e-06 -9.99961516e-01 -8.06463836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.800385723 meters 0.015600062177775636 Centerline is valid? [True, True] Translation: X:37.90, Y:-201.47, Z:-8.06 [[-5.74686539e-01 8.18358740e-01 4.93499710e-03 3.78995818e+01] [ 8.18328740e-01 5.74707728e-01 -7.00723100e-03 -2.01474793e+02] [-8.57060970e-03 1.14886300e-05 -9.99963272e-01 -8.06467866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.830385723 meters 0.01591933863748129 Centerline is valid? [True, True] Translation: X:37.91, Y:-201.47, Z:-8.06 [[-6.36049904e-01 7.71630004e-01 5.25901339e-03 3.79123686e+01] [ 7.71603909e-01 6.36071644e-01 -6.34597935e-03 -2.01473844e+02] [-8.24185736e-03 2.15157338e-05 -9.99966035e-01 -8.06362394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.860385723 meters 0.015860518820613827 Centerline is valid? [True, True] Translation: X:37.93, Y:-201.47, Z:-8.06 [[-6.94032111e-01 7.19923782e-01 5.40159986e-03 3.79254782e+01] [ 7.19902266e-01 6.94053130e-01 -5.56592334e-03 -2.01470071e+02] [-7.75603787e-03 2.56944556e-05 -9.99969921e-01 -8.06423109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.890385723 meters 0.016116582581842506 Centerline is valid? [True, True] Translation: X:37.94, Y:-201.46, Z:-8.06 [[-7.47193694e-01 6.64583962e-01 5.45356882e-03 3.79381394e+01] [ 6.64566612e-01 7.47213595e-01 -4.80232676e-03 -2.01464364e+02] [-7.26653010e-03 3.59914830e-05 -9.99973598e-01 -8.06341129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.920385723 meters 0.016168898271507616 Centerline is valid? [True, True] Translation: X:37.97, Y:-201.45, Z:-8.06 [[-7.91748851e-01 6.10816572e-01 6.07233294e-03 3.79656615e+01] [ 6.10799044e-01 7.91772135e-01 -4.62754840e-03 -2.01448365e+02] [-7.63448726e-03 4.51190316e-05 -9.99970856e-01 -8.06341003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.950385723 meters 0.01698157894739138 Centerline is valid? [True, True] Translation: X:38.46, Y:-200.82, Z:-9.01 [[-7.57568916e-01 -6.52722617e-01 6.52094529e-03 3.84561001e+01] [ 6.52698496e-01 -7.57596981e-01 -5.61142233e-03 -2.00822505e+02] [ 8.60295073e-03 5.17204664e-06 9.99962994e-01 -9.00565772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.980385723 meters 0.016747504996587958 Centerline is valid? [True, True] Translation: X:38.44, Y:-200.85, Z:-9.01 [[-7.12791674e-01 -7.01347322e-01 6.32163236e-03 3.84395436e+01] [ 7.01318783e-01 -7.12819702e-01 -6.32748985e-03 -2.00850649e+02] [ 8.94395216e-03 -7.67025684e-05 9.99959999e-01 -9.00514792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.010385723 meters 0.01711654375762065 Centerline is valid? [True, True] Translation: X:38.42, Y:-200.83, Z:-9.01 [[-7.15031862e-01 -6.99058550e-01 6.82498758e-03 3.84200098e+01] [ 6.99025216e-01 -7.15064425e-01 -6.82761697e-03 -2.00831055e+02] [ 9.65320984e-03 -1.11125255e-04 9.99953401e-01 -9.00581335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.040385723 meters 0.01732100462910284 Centerline is valid? [True, True] Translation: X:38.40, Y:-200.81, Z:-9.01 [[-7.16052160e-01 -6.98012788e-01 6.88856921e-03 3.84008255e+01] [ 6.97978823e-01 -7.16085283e-01 -6.88697456e-03 -2.00811799e+02] [ 9.73999934e-03 -1.23357578e-04 9.99952558e-01 -9.00600055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.070385723 meters 0.017939902286396858 Centerline is valid? [True, True] Translation: X:37.85, Y:-201.38, Z:-8.06 [[-7.45711451e-01 6.66234348e-01 6.79888134e-03 3.78467140e+01] [ 6.66208275e-01 7.45742432e-01 -5.89566288e-03 -2.01382642e+02] [-8.99810742e-03 1.33007692e-04 -9.99959507e-01 -8.06125022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.100385723 meters 0.01776786791133524 Centerline is valid? [True, True] Translation: X:37.87, Y:-201.36, Z:-8.06 [[-7.90877676e-01 6.11937475e-01 6.71030833e-03 3.78676298e+01] [ 6.11916788e-01 7.90906133e-01 -5.03319546e-03 -2.01361096e+02] [-8.38722493e-03 1.25508392e-04 -9.99964819e-01 -8.06168444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.130385723 meters 0.017917374672321993 Centerline is valid? [True, True] Translation: X:37.89, Y:-201.34, Z:-8.06 [[-8.31954455e-01 5.54805275e-01 6.54922036e-03 3.78874940e+01] [ 5.54789213e-01 8.31980224e-01 -4.22333062e-03 -2.01338508e+02] [-7.79194793e-03 1.19818081e-04 -9.99969635e-01 -8.06165127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.160385723 meters 0.018073991108869515 Centerline is valid? [True, True] Translation: X:38.32, Y:-200.68, Z:-9.00 [[-8.11366140e-01 -5.84515565e-01 5.15191321e-03 3.83170185e+01] [ 5.84502377e-01 -8.11382476e-01 -3.93041256e-03 -2.00678093e+02] [ 6.47755941e-03 -1.77698147e-04 9.99979005e-01 -9.00490464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.190385723 meters 0.018011860384295985 Centerline is valid? [True, True] Translation: X:37.85, Y:-201.31, Z:-8.06 [[-8.33946216e-01 5.51830122e-01 4.15027647e-03 3.78528585e+01] [ 5.51823741e-01 8.33956540e-01 -2.65472043e-03 -2.01312755e+02] [-4.92610490e-03 7.63270328e-05 -9.99987864e-01 -8.06366602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.220385723 meters 0.018148385090896245 Centerline is valid? [True, True] Translation: X:37.88, Y:-201.29, Z:-8.06 [[-8.70737129e-01 4.91734397e-01 3.75963395e-03 3.78768065e+01] [ 4.91730130e-01 8.70745243e-01 -2.04958752e-03 -2.01290822e+02] [-4.28153606e-03 6.40733390e-05 -9.99990832e-01 -8.06410025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.250385723 meters 0.019068735443348903 Centerline is valid? [True, True] Translation: X:37.89, Y:-201.26, Z:-8.06 [[-9.04058552e-01 4.27386143e-01 4.38402473e-03 3.78884183e+01] [ 4.27381463e-01 9.04069179e-01 -2.00121974e-03 -2.01260237e+02] [-4.81875523e-03 6.44310817e-05 -9.99988388e-01 -8.06302074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.280385723 meters 0.017873631404247605 Centerline is valid? [True, True] Translation: X:37.91, Y:-201.23, Z:-8.06 [[-9.32415081e-01 3.61366053e-01 4.08556840e-03 3.79108273e+01] [ 3.61362830e-01 9.32424031e-01 -1.52724390e-03 -2.01234986e+02] [-4.36137626e-03 5.23473116e-05 -9.99990488e-01 -8.06394204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.310385723 meters 0.0175910086671117 Centerline is valid? [True, True] Translation: X:38.18, Y:-200.52, Z:-9.00 [[-9.14517606e-01 -4.04521705e-01 4.44289816e-03 3.81816204e+01] [ 4.04516796e-01 -9.14528398e-01 -1.99288494e-03 -2.00524625e+02] [ 4.86932175e-03 -2.53014351e-05 9.99988145e-01 -9.00450784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.340385723 meters 0.01747986928494069 Centerline is valid? [True, True] Translation: X:37.87, Y:-201.21, Z:-8.06 [[-9.35395876e-01 3.53569693e-01 4.79873848e-03 3.78672211e+01] [ 3.53565246e-01 9.35408184e-01 -1.77379507e-03 -2.01209292e+02] [-5.11593943e-03 3.74665576e-05 -9.99986913e-01 -8.06260048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37038572299997 meters 0.018500797119536932 Centerline is valid? [True, True] Translation: X:38.12, Y:-200.51, Z:-9.01 [[-9.14692610e-01 -4.04109719e-01 5.72396697e-03 3.81242602e+01] [ 4.04101987e-01 -9.14710519e-01 -2.49990624e-03 -2.00513885e+02] [ 6.24600921e-03 2.64206636e-05 9.99980493e-01 -9.00769026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.400385723 meters 0.01750286249088669 Centerline is valid? [True, True] Translation: X:37.81, Y:-201.18, Z:-8.06 [[-9.37745284e-01 3.47282162e-01 5.37431675e-03 3.78130853e+01] [ 3.47276607e-01 9.37760683e-01 -1.96434373e-03 -2.01181387e+02] [-5.72200448e-03 2.43204150e-05 -9.99983629e-01 -8.06042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.430385723 meters 0.017485725189142442 Centerline is valid? [True, True] Translation: X:37.83, Y:-201.15, Z:-8.06 [[-9.60196742e-01 2.79267168e-01 5.66261905e-03 3.78337563e+01] [ 2.79262441e-01 9.60213439e-01 -1.62497908e-03 -2.01154309e+02] [-5.89112622e-03 2.10572041e-05 -9.99982647e-01 -8.06148927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.460385723 meters 0.01926762553489545 Centerline is valid? [True, True] Translation: X:37.84, Y:-201.12, Z:-8.06 [[-9.77521860e-01 2.10732143e-01 6.55569334e-03 3.78403412e+01] [ 2.10727581e-01 9.77543842e-01 -1.38686726e-03 -2.01124864e+02] [-6.70073517e-03 2.57723354e-05 -9.99977550e-01 -8.05999221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.490385723 meters 0.017552729082507625 Centerline is valid? [True, True] Translation: X:37.84, Y:-201.09, Z:-8.06 [[-9.90119172e-01 1.40144465e-01 4.85332556e-03 3.78428395e+01] [ 1.40142859e-01 9.90131066e-01 -6.71193597e-04 -2.01091704e+02] [-4.89949248e-03 1.55972689e-05 -9.99987997e-01 -8.06315482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.520385723 meters 0.01760764097174506 Centerline is valid? [True, True] Translation: X:37.84, Y:-201.06, Z:-8.06 [[-9.97571162e-01 6.95096955e-02 4.49202160e-03 3.78418091e+01] [ 6.95090567e-02 9.97581276e-01 -2.98347270e-04 -2.01060969e+02] [-4.50189467e-03 1.46135518e-05 -9.99989866e-01 -8.06299988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.550385723 meters 0.01752278818370861 Centerline is valid? [True, True] Translation: X:37.84, Y:-201.03, Z:-8.06 [[-9.99987999e-01 -1.14895131e-03 4.76255335e-03 3.78399012e+01] [-1.14885460e-03 9.99999340e-01 2.30437440e-05 -2.01027931e+02] [-4.76257668e-03 1.75719862e-05 -9.99988659e-01 -8.06322528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.580385723 meters 0.017550209432537864 Centerline is valid? [True, True] Translation: X:37.83, Y:-201.00, Z:-8.06 [[-9.97383511e-01 -7.20899593e-02 5.40099138e-03 3.78349946e+01] [-7.20887877e-02 9.97398134e-01 4.11541298e-04 -2.00997435e+02] [-5.41660672e-03 2.11135834e-05 -9.99985330e-01 -8.06227054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.610385723 meters 0.01778926683998378 Centerline is valid? [True, True] Translation: X:37.82, Y:-200.97, Z:-8.06 [[-9.89978458e-01 -1.41067106e-01 6.53640545e-03 3.78232796e+01] [-1.41063770e-01 9.90000035e-01 9.70944540e-04 -2.00967709e+02] [-6.60800996e-03 3.91641848e-05 -9.99978166e-01 -8.06160008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.640385723 meters 0.017726912361420055 Centerline is valid? [True, True] Translation: X:37.71, Y:-200.28, Z:-9.01 [[-9.96212587e-01 8.67293741e-02 6.20459855e-03 3.77142833e+01] [-8.67280806e-02 -9.96231907e-01 4.77740807e-04 -2.00280643e+02] [ 6.22265321e-03 -6.21815185e-05 9.99980637e-01 -9.00540704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.670385723 meters 0.018924101131959872 Centerline is valid? [True, True] Translation: X:37.71, Y:-200.98, Z:-8.06 [[-9.89644814e-01 -1.43413007e-01 5.98765591e-03 3.77081986e+01] [-1.43410015e-01 9.89662925e-01 9.28365012e-04 -2.00982029e+02] [-6.05890068e-03 6.00617990e-05 -9.99981643e-01 -8.06218796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.700385723 meters 0.020590533859610228 Centerline is valid? [True, True] Translation: X:37.68, Y:-200.96, Z:-8.06 [[-9.76988230e-01 -2.13200230e-01 6.29770170e-03 3.76817438e+01] [-2.13195335e-01 9.77008525e-01 1.44649567e-03 -2.00957724e+02] [-6.46130146e-03 7.05686231e-05 -9.99979123e-01 -8.06118098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.730385723 meters 0.018671248433620283 Centerline is valid? [True, True] Translation: X:37.64, Y:-200.93, Z:-8.06 [[-9.59030343e-01 -2.83245384e-01 5.73183543e-03 3.76405835e+01] [-2.83239921e-01 9.59047469e-01 1.76022038e-03 -2.00934578e+02] [-5.99567656e-03 6.46201339e-05 -9.99982024e-01 -8.06346131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.760385723 meters 0.017925968319347868 Centerline is valid? [True, True] Translation: X:37.58, Y:-200.92, Z:-8.06 [[-9.35369598e-01 -3.53625148e-01 5.74193163e-03 3.75788050e+01] [-3.53618072e-01 9.35387220e-01 2.23781820e-03 -2.00922763e+02] [-6.16227825e-03 6.27363159e-05 -9.99981011e-01 -8.06444840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.790385723 meters 0.017705174786211572 Centerline is valid? [True, True] Translation: X:37.51, Y:-200.92, Z:-8.06 [[-9.06077914e-01 -4.23063828e-01 6.30957024e-03 3.75065307e+01] [-4.23053116e-01 9.06099881e-01 3.01124624e-03 -2.00917470e+02] [-6.99105020e-03 5.91403651e-05 -9.99975561e-01 -8.06406891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.820385723 meters 0.017789741187876358 Centerline is valid? [True, True] Translation: X:37.43, Y:-200.92, Z:-8.06 [[-8.71431113e-01 -4.90476491e-01 6.37386400e-03 3.74305377e+01] [-4.90462941e-01 8.71454422e-01 3.64609914e-03 -2.00922327e+02] [-7.34285788e-03 5.11801444e-05 -9.99973040e-01 -8.06387864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.850385723 meters 0.017588893618709262 Centerline is valid? [True, True] Translation: X:37.34, Y:-200.94, Z:-8.06 [[-8.30898902e-01 -5.56388056e-01 6.27264900e-03 3.73433164e+01] [-5.56371924e-01 8.30922578e-01 4.23700590e-03 -2.00936705e+02] [-7.56950516e-03 3.05977581e-05 -9.99971350e-01 -8.06475733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.880385723 meters 0.017535725091185166 Centerline is valid? [True, True] Translation: X:37.25, Y:-200.96, Z:-8.07 [[-7.85896920e-01 -6.18329926e-01 5.84244192e-03 3.72542993e+01] [-6.18312675e-01 7.85918636e-01 4.61875186e-03 -2.00960874e+02] [-7.44759647e-03 1.74069651e-05 -9.99972266e-01 -8.06526322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.910385723 meters 0.018371021863924905 Centerline is valid? [True, True] Translation: X:37.17, Y:-201.00, Z:-8.06 [[-7.37438285e-01 -6.75392704e-01 5.42871358e-03 3.71651412e+01] [-6.75374209e-01 7.37458266e-01 4.99833171e-03 -2.00997994e+02] [-7.37928648e-03 1.95480237e-05 -9.99972773e-01 -8.06410073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.940385723 meters 0.017489087077344773 Centerline is valid? [True, True] Translation: X:37.08, Y:-201.04, Z:-8.07 [[-6.84243213e-01 -7.29235534e-01 5.17316480e-03 3.70766515e+01] [-7.29214483e-01 6.84262768e-01 5.54086683e-03 -2.01043145e+02] [-7.58040104e-03 1.89538238e-05 -9.99971268e-01 -8.06606378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.970385723 meters 0.017451106958139936 Centerline is valid? [True, True] Translation: X:36.98, Y:-201.11, Z:-8.07 [[-6.27550626e-01 -7.78562884e-01 4.47751350e-03 3.69828095e+01] [-7.78542826e-01 6.27566598e-01 5.58860856e-03 -2.01105202e+02] [-7.16102111e-03 2.11987815e-05 -9.99974359e-01 -8.06711792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.000385723 meters 0.017499093154293422 Centerline is valid? [True, True] Translation: X:36.90, Y:-201.17, Z:-8.07 [[-5.66465209e-01 -8.24076263e-01 3.93442008e-03 3.69001431e+01] [-8.24056152e-01 5.66478872e-01 5.75736518e-03 -2.01166242e+02] [-6.97327383e-03 1.91639946e-05 -9.99975686e-01 -8.06762232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.030385723 meters 0.01733523147841928 Centerline is valid? [True, True] Translation: X:36.82, Y:-201.24, Z:-8.07 [[-5.00939963e-01 -8.65474449e-01 3.62369720e-03 3.68150355e+01] [-8.65451670e-01 5.00953070e-01 6.27927613e-03 -2.01240175e+02] [-7.24985528e-03 9.40556222e-06 -9.99973719e-01 -8.06782191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.060385723 meters 0.017402787741467623 Centerline is valid? [True, True] Translation: X:36.73, Y:-201.33, Z:-8.07 [[-4.32529455e-01 -9.01613595e-01 3.34605279e-03 3.67336953e+01] [-9.01586601e-01 4.32542397e-01 6.97675026e-03 -2.01327821e+02] [-7.73764258e-03 8.93624618e-07 -9.99970064e-01 -8.06764797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.090385723 meters 0.017429166343192328 Centerline is valid? [True, True] Translation: X:36.66, Y:-201.42, Z:-8.07 [[-3.60290543e-01 -9.32834371e-01 3.28029479e-03 3.66595636e+01] [-9.32796250e-01 3.60305475e-01 8.43335703e-03 -2.01417336e+02] [-9.04883348e-03 -2.13878953e-05 -9.99959058e-01 -8.06683243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12038572299997 meters 0.01721788984621216 Centerline is valid? [True, True] Translation: X:36.60, Y:-201.51, Z:-8.07 [[-2.86148531e-01 -9.58181608e-01 2.65025583e-03 3.65950868e+01] [-9.58141783e-01 2.86160801e-01 8.73612548e-03 -2.01511321e+02] [-9.12919409e-03 -3.94913659e-05 -9.99958327e-01 -8.06788166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.150385723 meters 0.017308312702520166 Centerline is valid? [True, True] Translation: X:36.54, Y:-201.62, Z:-8.07 [[-2.11770173e-01 -9.77317485e-01 1.98175456e-03 3.65365396e+01] [-9.77276577e-01 2.11779441e-01 8.94208062e-03 -2.01618303e+02] [-9.15894661e-03 -4.30563527e-05 -9.99958055e-01 -8.06822666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.180385723 meters 0.017308312702520166 Centerline is valid? [True, True] Translation: X:36.49, Y:-201.73, Z:-8.07 [[-1.36414162e-01 -9.90651052e-01 1.29212065e-03 3.64871679e+01] [-9.90609555e-01 1.36420274e-01 9.06746063e-03 -2.01727893e+02] [-9.15896086e-03 -4.30570193e-05 -9.99958055e-01 -8.06822597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.210385723 meters 0.017279949411722798 Centerline is valid? [True, True] Translation: X:36.45, Y:-201.84, Z:-8.07 [[-5.95772540e-02 -9.98223515e-01 6.04542658e-04 3.64453878e+01] [-9.98180179e-01 5.95803007e-02 9.30154162e-03 -2.01840281e+02] [-9.32103640e-03 -4.92821914e-05 -9.99956557e-01 -8.06842398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.240385723 meters 0.017323149621719516 Centerline is valid? [True, True] Translation: X:36.41, Y:-201.95, Z:-8.07 [[ 1.84209983e-02 -9.99830313e-01 -1.07537437e-04 3.64109794e+01] [-9.99787779e-01 -1.84212066e-02 9.22259316e-03 -2.01954929e+02] [-9.22300918e-03 -6.23747576e-05 -9.99957465e-01 -8.06869203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.270385723 meters 0.0172784780143796 Centerline is valid? [True, True] Translation: X:36.39, Y:-202.08, Z:-8.07 [[ 9.51326785e-02 -9.95464251e-01 -8.35806475e-04 3.63875783e+01] [-9.95419319e-01 -9.51363258e-02 9.45826816e-03 -2.02078658e+02] [-9.49488338e-03 -6.78124717e-05 -9.99954920e-01 -8.06863679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.300385723 meters 0.017364941584113315 Centerline is valid? [True, True] Translation: X:36.37, Y:-202.20, Z:-8.07 [[ 1.71299285e-01 -9.85217620e-01 -1.67208567e-03 3.63737595e+01] [-9.85166300e-01 -1.71307429e-01 1.00561496e-02 -2.02196265e+02] [-1.01939365e-02 -7.53287858e-05 -9.99948038e-01 -8.06875412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.330385723 meters 0.01727343628041763 Centerline is valid? [True, True] Translation: X:36.37, Y:-202.32, Z:-8.07 [[ 2.45758000e-01 -9.69328189e-01 -2.42236941e-03 3.63690726e+01] [-9.69278241e-01 -2.45769928e-01 9.84047646e-03 -2.02315450e+02] [-1.01339968e-02 -7.04258557e-05 -9.99948647e-01 -8.06924088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.360385723 meters 0.017043098706620387 Centerline is valid? [True, True] Translation: X:36.37, Y:-202.44, Z:-8.07 [[ 3.18056218e-01 -9.48067017e-01 -3.02866571e-03 3.63748600e+01] [-9.48022350e-01 -3.18070633e-01 9.20311051e-03 -2.02437465e+02] [-9.68849515e-03 -5.58637374e-05 -9.99953064e-01 -8.06970089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.390385723 meters 0.016912058467311725 Centerline is valid? [True, True] Translation: X:36.39, Y:-202.56, Z:-8.07 [[ 3.89341602e-01 -9.21085555e-01 -3.81019056e-03 3.63885378e+01] [-9.21040077e-01 -3.89360242e-01 9.15308217e-03 -2.02556120e+02] [-9.91430849e-03 -5.43374686e-05 -9.99950851e-01 -8.07018425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.420385723 meters 0.016899047744040364 Centerline is valid? [True, True] Translation: X:36.41, Y:-202.67, Z:-8.07 [[ 4.58191616e-01 -8.88840922e-01 -4.71802352e-03 3.64118423e+01] [-8.88792613e-01 -4.58215903e-01 9.26700500e-03 -2.02671709e+02] [-1.03987667e-02 -5.27195385e-05 -9.99945930e-01 -8.07153043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.450385723 meters 0.01686095858645016 Centerline is valid? [True, True] Translation: X:36.44, Y:-202.78, Z:-8.07 [[ 5.24458066e-01 -8.51418237e-01 -5.54278511e-03 3.64416183e+01] [-8.51369646e-01 -5.24487353e-01 9.09632553e-03 -2.02783273e+02] [-1.06518981e-02 -5.16823068e-05 -9.99943266e-01 -8.07205883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.480385723 meters 0.016683971293108866 Centerline is valid? [True, True] Translation: X:36.48, Y:-202.89, Z:-8.07 [[ 5.87185132e-01 -8.09426931e-01 -6.45478782e-03 3.64803107e+01] [-8.09377182e-01 -5.87220607e-01 8.97420109e-03 -2.02891722e+02] [-1.10543445e-02 -4.51594785e-05 -9.99938898e-01 -8.07220265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.510385723 meters 0.016645242321482186 Centerline is valid? [True, True] Translation: X:36.52, Y:-203.00, Z:-8.07 [[ 6.47134792e-01 -7.62339950e-01 -7.37296979e-03 3.65249456e+01] [-7.62289625e-01 -6.47176790e-01 8.75952445e-03 -2.02995615e+02] [-1.14493504e-02 -4.82546524e-05 -9.99934453e-01 -8.07205010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.540385723 meters 0.01664868390267596 Centerline is valid? [True, True] Translation: X:36.57, Y:-203.09, Z:-8.07 [[ 7.04103369e-01 -7.10043827e-01 -8.72981406e-03 3.65748362e+01] [-7.09988020e-01 -7.04157481e-01 8.90243803e-03 -2.03093248e+02] [-1.24682850e-02 -7.01732082e-05 -9.99922265e-01 -8.07251073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.570385723 meters 0.016661591491240878 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.19, Z:-8.07 [[ 7.57038127e-01 -6.53296074e-01 -9.87491935e-03 3.66325981e+01] [-6.53238803e-01 -7.57102523e-01 8.65075772e-03 -2.03188614e+02] [-1.31278324e-02 -9.82729190e-05 -9.99913822e-01 -8.07208276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.600385723 meters 0.016752255639362643 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.20, Z:-8.07 [[ 8.06346291e-01 -5.91350189e-01 -1.05172521e-02 3.66300298e+01] [-5.91298095e-01 -8.06414870e-01 7.84989511e-03 -2.03200962e+02] [-1.31233054e-02 -1.10902696e-04 -9.99913880e-01 -8.07173475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.630385723 meters 0.016666404756127705 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.21, Z:-8.07 [[ 8.50591232e-01 -5.25700216e-01 -1.15689051e-02 3.66289799e+01] [-5.25649538e-01 -8.50669893e-01 7.30049493e-03 -2.03213243e+02] [-1.36791910e-02 -1.28547352e-04 -9.99906427e-01 -8.07188138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.660385723 meters 0.01651086833564165 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.23, Z:-8.07 [[ 8.89297752e-01 -4.57171250e-01 -1.19982270e-02 3.66273518e+01] [-4.57127618e-01 -8.89378677e-01 6.31742986e-03 -2.03226729e+02] [-1.35591145e-02 -1.33355243e-04 -9.99908062e-01 -8.07258410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.690385723 meters 0.016562242338295525 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.24, Z:-8.07 [[ 9.22648595e-01 -3.85440631e-01 -1.24535283e-02 3.66265960e+01] [-3.85403388e-01 -9.22732626e-01 5.35997915e-03 -2.03238836e+02] [-1.35572306e-02 -1.45745225e-04 -9.99908086e-01 -8.07297027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.720385723 meters 0.016701920952843646 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.25, Z:-8.07 [[ 9.50112889e-01 -3.11674615e-01 -1.20180418e-02 3.66268019e+01] [-3.11647787e-01 -9.50188883e-01 4.09178006e-03 -2.03251789e+02] [-1.26947137e-02 -1.42256851e-04 -9.99919409e-01 -8.07253760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.750385723 meters 0.01696808092164729 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.26, Z:-8.07 [[ 9.71713811e-01 -2.35874880e-01 -1.16322961e-02 3.66280693e+01] [-2.35856234e-01 -9.71783423e-01 2.96915976e-03 -2.03262736e+02] [-1.20044228e-02 -1.41623985e-04 -9.99927934e-01 -8.07123270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.780385723 meters 0.016568945927323157 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.27, Z:-8.07 [[ 9.87281835e-01 -1.58546349e-01 -1.17317000e-02 3.66315338e+01] [-1.58533369e-01 -9.87351525e-01 2.03412682e-03 -2.03272153e+02] [-1.19058153e-02 -1.48390524e-04 -9.99929112e-01 -8.07271554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.810385723 meters 0.017194110557750435 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.28, Z:-8.07 [[ 9.96778377e-01 -7.92985651e-02 -1.20251678e-02 3.66314167e+01] [-7.92907607e-02 -9.96850896e-01 1.12513513e-03 -2.03282227e+02] [-1.20765209e-02 -1.68025668e-04 -9.99927062e-01 -8.07112349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.840385723 meters 0.01661645373207424 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.29, Z:-8.07 [[ 9.99919937e-01 -4.61291038e-04 -1.26454026e-02 3.66328481e+01] [-4.58938997e-04 -9.99999877e-01 1.88900930e-04 -2.03292018e+02] [-1.26454881e-02 -1.83082338e-04 -9.99920026e-01 -8.07194726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87038572299997 meters 0.016818669666832355 Centerline is valid? [True, True] Translation: X:36.64, Y:-203.30, Z:-8.07 [[ 9.96759628e-01 7.94720353e-02 -1.24274160e-02 3.66350665e+01] [ 7.94683667e-02 -9.96837076e-01 -7.89513548e-04 -2.03302781e+02] [-1.24508532e-02 -2.00631221e-04 -9.99922465e-01 -8.07097539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.900385723 meters 0.01672141162398828 Centerline is valid? [True, True] Translation: X:36.64, Y:-203.32, Z:-8.07 [[ 9.87381142e-01 1.57884726e-01 -1.22838847e-02 3.66374695e+01] [ 1.57875115e-01 -9.87457528e-01 -1.75428321e-03 -2.03315217e+02] [-1.24067889e-02 -2.07173549e-04 -9.99923011e-01 -8.07110942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.930385723 meters 0.01728175145504343 Centerline is valid? [True, True] Translation: X:36.64, Y:-203.33, Z:-8.07 [[ 9.71645666e-01 2.36157961e-01 -1.15808683e-02 3.66400351e+01] [ 2.36143829e-01 -9.71714655e-01 -2.59254378e-03 -2.03327254e+02] [-1.18655493e-02 -2.15716659e-04 -9.99929579e-01 -8.06974120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.960385723 meters 0.01733894294660787 Centerline is valid? [True, True] Translation: X:36.64, Y:-203.34, Z:-8.07 [[ 9.49877585e-01 3.12460331e-01 -1.00555589e-02 3.66434474e+01] [ 3.12445064e-01 -9.49930787e-01 -3.09536109e-03 -2.03335990e+02] [-1.05192626e-02 -2.01595626e-04 -9.99944651e-01 -8.06952395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.990385723 meters 0.017061139333583903 Centerline is valid? [True, True] Translation: X:36.65, Y:-203.35, Z:-8.07 [[ 9.22368658e-01 3.86198957e-01 -9.29644039e-03 3.66479278e+01] [ 3.86181472e-01 -9.22415485e-01 -3.68011774e-03 -2.03346531e+02] [-9.99643821e-03 -1.95687772e-04 -9.99950015e-01 -8.06944573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.020385723 meters 0.017127180236421395 Centerline is valid? [True, True] Translation: X:36.65, Y:-203.36, Z:-8.07 [[ 8.89389171e-01 4.57073647e-01 -8.40141494e-03 3.66534904e+01] [ 4.57055173e-01 -8.89428833e-01 -4.11352917e-03 -2.03356689e+02] [-9.35264647e-03 -1.81381855e-04 -9.99956247e-01 -8.06895608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.050385723 meters 0.01709872969503814 Centerline is valid? [True, True] Translation: X:36.66, Y:-203.36, Z:-8.07 [[ 8.51422309e-01 5.24432055e-01 -7.14639645e-03 3.66575391e+01] [ 5.24415079e-01 -8.51452287e-01 -4.22238235e-03 -2.03364089e+02] [-8.29916825e-03 -1.52647524e-04 -9.99965550e-01 -8.06829185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.080385723 meters 0.016976028229369604 Centerline is valid? [True, True] Translation: X:36.66, Y:-203.37, Z:-8.07 [[ 8.08451173e-01 5.88530185e-01 -6.23878196e-03 3.66627890e+01] [ 5.88513908e-01 -8.08475234e-01 -4.37908798e-03 -2.03370843e+02] [-7.62112616e-03 -1.31331139e-04 -9.99970950e-01 -8.06818920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.110385723 meters 0.016528717810867722 Centerline is valid? [True, True] Translation: X:36.66, Y:-203.37, Z:-8.07 [[ 7.61945964e-01 6.47618872e-01 -5.30520060e-03 3.66644689e+01] [ 6.47604054e-01 -7.61964426e-01 -4.38195881e-03 -2.03374663e+02] [-6.88021336e-03 -9.68535902e-05 -9.99976326e-01 -8.06818920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.140385723 meters 0.016163261168781622 Centerline is valid? [True, True] Translation: X:36.67, Y:-203.38, Z:-8.07 [[ 7.09941025e-01 7.04244944e-01 -4.77489666e-03 3.66688258e+01] [ 7.04229804e-01 -7.09957077e-01 -4.61859526e-03 -2.03380688e+02] [-6.64259404e-03 -8.36942844e-05 -9.99977934e-01 -8.06817740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.170385723 meters 0.015891793517360205 Centerline is valid? [True, True] Translation: X:36.67, Y:-203.39, Z:-8.07 [[ 6.54738003e-01 7.55842182e-01 -4.55448792e-03 3.66716563e+01] [ 7.55824607e-01 -6.54753840e-01 -5.15487268e-03 -2.03385294e+02] [-6.87833867e-03 -6.73030040e-05 -9.99976342e-01 -8.06691034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.200385723 meters 0.015592768429275386 Centerline is valid? [True, True] Translation: X:36.68, Y:-203.39, Z:-8.07 [[ 5.95068154e-01 8.03661851e-01 -4.63906748e-03 3.66767272e+01] [ 8.03638222e-01 -5.95086234e-01 -6.16304517e-03 -2.03390837e+02] [-7.71364948e-03 -6.07000250e-05 -9.99970248e-01 -8.06606536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.230385723 meters 0.015528379528689474 Centerline is valid? [True, True] Translation: X:36.68, Y:-203.40, Z:-8.07 [[ 5.30909496e-01 8.47417837e-01 -4.25634078e-03 3.66839436e+01] [ 8.47391456e-01 -5.30926554e-01 -6.68686904e-03 -2.03399319e+02] [-7.92637644e-03 -5.66645385e-05 -9.99968584e-01 -8.06550738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.260385723 meters 0.015544384361342485 Centerline is valid? [True, True] Translation: X:36.69, Y:-203.41, Z:-8.06 [[ 4.63830644e-01 8.85916230e-01 -3.68344171e-03 3.66901783e+01] [ 8.85889115e-01 -4.63845267e-01 -6.93141393e-03 -2.03406928e+02] [-7.84919910e-03 -4.81187298e-05 -9.99969193e-01 -8.06415634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.290385723 meters 0.015359232483835255 Centerline is valid? [True, True] Translation: X:36.69, Y:-203.41, Z:-8.06 [[ 3.95284537e-01 9.18553063e-01 -3.22577410e-03 3.66885038e+01] [ 9.18523087e-01 -3.95297698e-01 -7.42080292e-03 -2.03409471e+02] [-8.09154232e-03 -2.96193436e-05 -9.99967263e-01 -8.06238478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.320385723 meters 0.01505452589535401 Centerline is valid? [True, True] Translation: X:36.69, Y:-203.41, Z:-8.06 [[ 3.26059745e-01 9.45345185e-01 -2.74295147e-03 3.66901188e+01] [ 9.45311637e-01 -3.26071282e-01 -7.96420651e-03 -2.03413246e+02] [-8.42332198e-03 3.86320205e-06 -9.99964523e-01 -8.06286880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.350385723 meters 0.015083679262322427 Centerline is valid? [True, True] Translation: X:36.70, Y:-203.42, Z:-8.06 [[ 2.53147655e-01 9.67425377e-01 -2.09864603e-03 3.66951145e+01] [ 9.67391407e-01 -2.53156353e-01 -8.10715705e-03 -2.03418890e+02] [-8.37435505e-03 2.20956546e-05 -9.99964934e-01 -8.06304277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.380385723 meters 0.01512582687582834 Centerline is valid? [True, True] Translation: X:36.70, Y:-203.42, Z:-8.06 [[ 1.78362874e-01 9.83963716e-01 -1.44592465e-03 3.67028913e+01] [ 9.83929686e-01 -1.78368731e-01 -8.18347605e-03 -2.03424575e+02] [-8.31015125e-03 3.69401165e-05 -9.99965469e-01 -8.06297614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.410385723 meters 0.015314764440957696 Centerline is valid? [True, True] Translation: X:36.71, Y:-203.43, Z:-8.06 [[ 1.03873024e-01 9.94590244e-01 -8.01347256e-04 3.67088738e+01] [ 9.94555794e-01 -1.03876096e-01 -8.27828049e-03 -2.03430065e+02] [-8.31673784e-03 6.29054716e-05 -9.99965413e-01 -8.06231578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.440385723 meters 0.015349823379756981 Centerline is valid? [True, True] Translation: X:36.72, Y:-203.44, Z:-8.06 [[ 2.64813895e-02 9.99649294e-01 -1.57428978e-04 3.67174623e+01] [ 9.99611315e-01 -2.64817557e-02 -8.71411613e-03 -2.03436850e+02] [-8.71522904e-03 7.33941150e-05 -9.99962019e-01 -8.06192543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.470385723 meters 0.01531478195156849 Centerline is valid? [True, True] Translation: X:36.73, Y:-203.44, Z:-8.06 [[-5.00501384e-02 9.98746569e-01 5.24175878e-04 3.67255117e+01] [ 9.98708931e-01 5.00528031e-02 -8.67110229e-03 -2.03441755e+02] [-8.68647013e-03 8.95092614e-05 -9.99962268e-01 -8.06123986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.500385723 meters 0.015494897811349814 Centerline is valid? [True, True] Translation: X:36.73, Y:-203.45, Z:-8.06 [[-1.26561612e-01 9.91958091e-01 1.14199188e-03 3.67321713e+01] [ 9.91924397e-01 1.26566727e-01 -8.17646711e-03 -2.03448388e+02] [-8.25525088e-03 9.79427412e-05 -9.99965920e-01 -8.06137591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.530385723 meters 0.01568097492930212 Centerline is valid? [True, True] Translation: X:36.74, Y:-203.45, Z:-8.06 [[-2.02945346e-01 9.79188603e-01 1.69329309e-03 3.67411559e+01] [ 9.79158550e-01 2.02952384e-01 -7.67222700e-03 -2.03452932e+02] [-7.85621511e-03 1.00959647e-04 -9.99969134e-01 -8.06191809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.560385723 meters 0.015631429508189933 Centerline is valid? [True, True] Translation: X:36.75, Y:-203.46, Z:-8.06 [[-2.77654656e-01 9.60678696e-01 2.08204455e-03 3.67507425e+01] [ 9.60654378e-01 2.77662443e-01 -6.83623745e-03 -2.03457376e+02] [-7.14553325e-03 1.02012063e-04 -9.99974465e-01 -8.06303293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.590385723 meters 0.015944052158029864 Centerline is valid? [True, True] Translation: X:36.76, Y:-203.46, Z:-8.06 [[-3.51664392e-01 9.36122907e-01 2.46144765e-03 3.67615619e+01] [ 9.36101912e-01 3.51672992e-01 -6.27036378e-03 -2.03462154e+02] [-6.73545583e-03 9.91021811e-05 -9.99977312e-01 -8.06290943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62038572299997 meters 0.01575073971278193 Centerline is valid? [True, True] Translation: X:36.77, Y:-203.46, Z:-8.06 [[-4.23506952e-01 9.05888201e-01 2.90341341e-03 3.67737967e+01] [ 9.05868512e-01 4.23516892e-01 -5.97337466e-03 -2.03464505e+02] [-6.64085425e-03 1.00345087e-04 -9.99977944e-01 -8.06354152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.650385723 meters 0.015912879014879845 Centerline is valid? [True, True] Translation: X:36.78, Y:-203.47, Z:-8.06 [[-4.92856289e-01 8.70103796e-01 3.47326890e-03 3.67844248e+01] [ 8.70083683e-01 4.92868516e-01 -5.91693566e-03 -2.03467900e+02] [-6.86021307e-03 1.05835643e-04 -9.99976463e-01 -8.06335364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.680385723 meters 0.015784918029781714 Centerline is valid? [True, True] Translation: X:36.80, Y:-203.47, Z:-8.06 [[-5.59531331e-01 8.28800316e-01 3.83745176e-03 3.67982473e+01] [ 8.28782075e-01 5.59544480e-01 -5.49973352e-03 -2.03467757e+02] [-6.70540583e-03 1.03138017e-04 -9.99977513e-01 -8.06308317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.710385723 meters 0.015815226399696302 Centerline is valid? [True, True] Translation: X:36.81, Y:-203.47, Z:-8.06 [[-6.23027994e-01 7.82190556e-01 3.74867152e-03 3.68100778e+01] [ 7.82177246e-01 6.23039265e-01 -4.56399050e-03 -2.03469010e+02] [-5.90547982e-03 8.86317159e-05 -9.99982559e-01 -8.06301302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.740385723 meters 0.016065490842422425 Centerline is valid? [True, True] Translation: X:36.82, Y:-203.47, Z:-8.06 [[-6.82843811e-01 7.30552644e-01 4.14291909e-03 3.68206279e+01] [ 7.30539954e-01 6.82856373e-01 -4.30679391e-03 -2.03470532e+02] [-5.97535838e-03 8.57003581e-05 -9.99982144e-01 -8.06285503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.770385723 meters 0.016059190625885532 Centerline is valid? [True, True] Translation: X:36.83, Y:-203.47, Z:-8.06 [[-7.38219492e-01 6.74546012e-01 4.43390562e-03 3.68306883e+01] [ 6.74534513e-01 7.38232802e-01 -3.93951480e-03 -2.03471150e+02] [-5.93063857e-03 8.25957551e-05 -9.99982410e-01 -8.06277298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.800385723 meters 0.01563778178314304 Centerline is valid? [True, True] Translation: X:36.85, Y:-203.45, Z:-8.06 [[-7.84742770e-01 6.19802799e-01 4.82433735e-03 3.68546595e+01] [ 6.19791699e-01 7.84757595e-01 -3.71027389e-03 -2.03452235e+02] [-6.08557352e-03 7.84736285e-05 -9.99981480e-01 -8.06278022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.830385723 meters 0.015125780537449222 Centerline is valid? [True, True] Translation: X:36.87, Y:-203.42, Z:-8.06 [[-8.28157776e-01 5.60468932e-01 5.41054268e-03 3.68688692e+01] [ 5.60457490e-01 8.28175448e-01 -3.58178770e-03 -2.03424635e+02] [-6.48835933e-03 6.60938330e-05 -9.99978948e-01 -8.06251018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.860385723 meters 0.016078040079185098 Centerline is valid? [True, True] Translation: X:36.89, Y:-203.40, Z:-8.06 [[-8.66464601e-01 4.99203808e-01 5.88676399e-03 3.68914766e+01] [ 4.99192748e-01 8.66484596e-01 -3.32343756e-03 -2.03403317e+02] [-6.75986300e-03 5.89888906e-05 -9.99977150e-01 -8.06141775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.890385723 meters 0.014528494778429516 Centerline is valid? [True, True] Translation: X:37.28, Y:-202.67, Z:-9.01 [[-8.38064773e-01 -5.45537775e-01 5.99773112e-03 3.72777210e+01] [ 5.45523498e-01 -8.38086233e-01 -3.94694783e-03 -2.02669011e+02] [ 7.17982502e-03 -3.58946767e-05 9.99974224e-01 -9.00633529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.920385723 meters 0.014510120516184517 Centerline is valid? [True, True] Translation: X:36.82, Y:-203.36, Z:-8.06 [[-8.71463206e-01 4.90426904e-01 5.77339195e-03 3.68241256e+01] [ 4.90416253e-01 8.71482330e-01 -3.23229223e-03 -2.03359512e+02] [-6.61661214e-03 1.45414975e-05 -9.99978110e-01 -8.06050773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.950385723 meters 0.01443128749415442 Centerline is valid? [True, True] Translation: X:37.25, Y:-202.66, Z:-9.01 [[-8.38984403e-01 -5.44127496e-01 5.51716520e-03 3.72491398e+01] [ 5.44115604e-01 -8.39002543e-01 -3.59753039e-03 -2.02656612e+02] [ 6.58643083e-03 -1.62962119e-05 9.99978309e-01 -9.00598993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.980385723 meters 0.014420793736436061 Centerline is valid? [True, True] Translation: X:36.82, Y:-203.36, Z:-8.06 [[-8.72440101e-01 4.88686674e-01 5.79700721e-03 3.68186293e+01] [ 4.88676081e-01 8.72459360e-01 -3.21773818e-03 -2.03359057e+02] [-6.63011897e-03 2.55749401e-05 -9.99978020e-01 -8.06175590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.010385723 meters 0.014410529448348645 Centerline is valid? [True, True] Translation: X:36.84, Y:-203.34, Z:-8.06 [[-9.04392247e-01 4.26667777e-01 5.41029591e-03 3.68366855e+01] [ 4.26660338e-01 9.04408429e-01 -2.51976314e-03 -2.03336393e+02] [-5.96821897e-03 2.95044314e-05 -9.99982190e-01 -8.06273244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.040385723 meters 0.014511541886785283 Centerline is valid? [True, True] Translation: X:36.85, Y:-203.31, Z:-8.06 [[-9.31829932e-01 3.62858637e-01 5.15632845e-03 3.68520906e+01] [ 3.62853289e-01 9.31844198e-01 -1.97023776e-03 -2.03312740e+02] [-5.51981253e-03 3.50642222e-05 -9.99984765e-01 -8.06309376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.070385723 meters 0.01481920095136276 Centerline is valid? [True, True] Translation: X:37.16, Y:-202.54, Z:-9.00 [[-9.11820408e-01 -4.10558206e-01 5.05002644e-03 3.71585501e+01] [ 4.10551707e-01 -9.11834392e-01 -2.31032700e-03 -2.02544705e+02] [ 5.55331150e-03 -3.33063309e-05 9.99984580e-01 -9.00432374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.100385723 meters 0.01481920095136276 Centerline is valid? [True, True] Translation: X:36.81, Y:-203.30, Z:-8.06 [[-9.32102569e-01 3.62157251e-01 5.18897924e-03 3.68104288e+01] [ 3.62151949e-01 9.32117011e-01 -1.96040301e-03 -2.03298674e+02] [-5.54670998e-03 5.19022598e-05 -9.99984616e-01 -8.06310643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.130385723 meters 0.015126333800420859 Centerline is valid? [True, True] Translation: X:37.07, Y:-202.51, Z:-9.01 [[-9.14266711e-01 -4.05079818e-01 5.16932299e-03 3.70684636e+01] [ 4.05073060e-01 -9.14281324e-01 -2.34025086e-03 -2.02508930e+02] [ 5.67420386e-03 -4.56599728e-05 9.99983901e-01 -9.00587302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.160385723 meters 0.015382439196731866 Centerline is valid? [True, True] Translation: X:36.72, Y:-203.26, Z:-8.06 [[-9.32351375e-01 3.61511174e-01 5.53034805e-03 3.67181577e+01] [ 3.61505281e-01 9.32367774e-01 -2.06543192e-03 -2.03263826e+02] [-5.90299502e-03 7.35417377e-05 -9.99982575e-01 -8.06135412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.190385723 meters 0.015811612881847528 Centerline is valid? [True, True] Translation: X:36.73, Y:-203.24, Z:-8.06 [[-9.55104992e-01 2.96198719e-01 6.38542557e-03 3.67329106e+01] [ 2.96192761e-01 9.55126332e-01 -1.88120008e-03 -2.03240293e+02] [-6.65609716e-03 9.45732457e-05 -9.99977844e-01 -8.06103367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.220385723 meters 0.01592829278280866 Centerline is valid? [True, True] Translation: X:37.00, Y:-202.45, Z:-9.01 [[-9.42988483e-01 -3.32750424e-01 7.06231549e-03 3.70023424e+01] [ 3.32740669e-01 -9.43014927e-01 -2.54840238e-03 -2.02453846e+02] [ 7.50785090e-03 -5.31945098e-05 9.99971814e-01 -9.00652811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.250385723 meters 0.015345835379295337 Centerline is valid? [True, True] Translation: X:36.71, Y:-203.23, Z:-8.06 [[-9.55981769e-01 2.93332732e-01 7.40036891e-03 3.67098928e+01] [ 2.93324877e-01 9.56010405e-01 -2.14975324e-03 -2.03233675e+02] [-7.70542267e-03 1.15587398e-04 -9.99970306e-01 -8.06129676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.280385723 meters 0.015526301820411394 Centerline is valid? [True, True] Translation: X:36.71, Y:-203.20, Z:-8.06 [[-9.74230590e-01 2.25411801e-01 8.01726469e-03 3.67080052e+01] [ 2.25405247e-01 9.74263570e-01 -1.72376557e-03 -2.03203126e+02] [-8.19948602e-03 1.27788371e-04 -9.99966376e-01 -8.06098028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.310385723 meters 0.015656538594231856 Centerline is valid? [True, True] Translation: X:36.92, Y:-202.40, Z:-9.01 [[-9.65660352e-01 -2.59677184e-01 8.23676352e-03 3.69199041e+01] [ 2.59666760e-01 -9.65695474e-01 -2.32936540e-03 -2.02404992e+02] [ 8.55908830e-03 -1.10562120e-04 9.99963364e-01 -9.00734423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.340385723 meters 0.015781379864954433 Centerline is valid? [True, True] Translation: X:36.69, Y:-203.20, Z:-8.06 [[-9.74903191e-01 2.22469603e-01 8.42870404e-03 3.66919817e+01] [ 2.22462561e-01 9.74939616e-01 -1.77595681e-03 -2.03199757e+02] [-8.61257389e-03 1.43685129e-04 -9.99962901e-01 -8.05961521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37038572299997 meters 0.016216680280730696 Centerline is valid? [True, True] Translation: X:36.70, Y:-203.17, Z:-8.06 [[-9.88126691e-01 1.53383609e-01 8.89446386e-03 3.66975066e+01] [ 1.53378816e-01 9.88166709e-01 -1.22257424e-03 -2.03172937e+02] [-8.97673592e-03 1.56164100e-04 -9.99959696e-01 -8.06032908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.400385723 meters 0.016290044809373256 Centerline is valid? [True, True] Translation: X:36.82, Y:-202.36, Z:-9.01 [[-9.82675690e-01 -1.85132652e-01 8.62497139e-03 3.68226013e+01] [ 1.85124054e-01 -9.82713526e-01 -1.79181620e-03 -2.02355033e+02] [ 8.80759973e-03 -1.64084548e-04 9.99961199e-01 -9.00630570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.430385723 meters 0.016398645834163766 Centerline is valid? [True, True] Translation: X:36.63, Y:-203.16, Z:-8.06 [[-9.88797239e-01 1.49033977e-01 8.30019951e-03 3.66329653e+01] [ 1.49029973e-01 9.88832065e-01 -1.10234962e-03 -2.03164018e+02] [-8.37179097e-03 1.46978248e-04 -9.99964945e-01 -8.06100219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.460385723 meters 0.016386846835171595 Centerline is valid? [True, True] Translation: X:36.73, Y:-202.34, Z:-9.01 [[-9.83302152e-01 -1.81803288e-01 8.02758956e-03 3.67307439e+01] [ 1.81795937e-01 -9.83334908e-01 -1.64227668e-03 -2.02344126e+02] [ 8.19238034e-03 -1.55471032e-04 9.99966430e-01 -9.00682104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.490385723 meters 0.016281487777779942 Centerline is valid? [True, True] Translation: X:36.54, Y:-203.15, Z:-8.06 [[-9.89777522e-01 1.42368532e-01 8.46507114e-03 3.65442658e+01] [ 1.42364455e-01 9.89813712e-01 -1.08527762e-03 -2.03149215e+02] [-8.53335287e-03 1.30941844e-04 -9.99963582e-01 -8.06037514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.520385723 meters 0.015708336258297945 Centerline is valid? [True, True] Translation: X:36.55, Y:-203.12, Z:-8.06 [[-9.97578543e-01 6.88946826e-02 9.51699484e-03 3.65455392e+01] [ 6.88926902e-02 9.97623931e-01 -5.37423036e-04 -2.03118637e+02] [-9.53140739e-03 1.19529688e-04 -9.99954568e-01 -8.06041269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.550385723 meters 0.015099673996580892 Centerline is valid? [True, True] Translation: X:36.63, Y:-202.31, Z:-9.01 [[-9.93342887e-01 -1.14717408e-01 1.04797669e-02 3.66253193e+01] [ 1.14710378e-01 -9.93398164e-01 -1.27139800e-03 -2.02308746e+02] [ 1.05564327e-02 -6.07961336e-05 9.99944278e-01 -9.00738835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.580385723 meters 0.0144846346404956 Centerline is valid? [True, True] Translation: X:36.49, Y:-203.11, Z:-8.06 [[-9.98254653e-01 5.81050956e-02 1.05568233e-02 3.64928216e+01] [ 5.81025873e-02 9.98310469e-01 -5.44398313e-04 -2.03109573e+02] [-1.05706196e-02 6.99306010e-05 -9.99944127e-01 -8.06136446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.610385723 meters 0.014334379863430138 Centerline is valid? [True, True] Translation: X:36.50, Y:-203.08, Z:-8.06 [[-9.99830769e-01 -1.49584652e-02 1.07087546e-02 3.64953753e+01] [-1.49570656e-02 9.99888115e-01 2.10777907e-04 -2.03079117e+02] [-1.07107093e-02 5.05706921e-05 -9.99942637e-01 -8.06107399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.640385723 meters 0.01425292880365716 Centerline is valid? [True, True] Translation: X:36.47, Y:-202.28, Z:-9.01 [[-9.98840420e-01 -4.67606381e-02 1.14568053e-02 3.64717787e+01] [ 4.67575470e-02 -9.98906123e-01 -5.37664352e-04 -2.02279772e+02] [ 1.14694145e-02 -1.34877465e-06 9.99934224e-01 -9.00552411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.670385723 meters 0.014351995896670692 Centerline is valid? [True, True] Translation: X:36.38, Y:-203.08, Z:-8.06 [[-9.99538498e-01 -2.80165727e-02 1.17414788e-02 3.63806583e+01] [-2.80149698e-02 9.99607458e-01 3.00998682e-04 -2.03076671e+02] [-1.17453027e-02 -2.80774033e-05 -9.99931021e-01 -8.06120922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.700385723 meters 0.014422613926496219 Centerline is valid? [True, True] Translation: X:36.38, Y:-203.05, Z:-8.06 [[-9.94853831e-01 -1.00627439e-01 1.18310110e-02 3.63847662e+01] [-1.00620874e-01 9.94924176e-01 1.15035009e-03 -2.03046769e+02] [-1.18867157e-02 -4.60164741e-05 -9.99929349e-01 -8.06150757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.730385723 meters 0.014511752194674082 Centerline is valid? [True, True] Translation: X:36.35, Y:-203.02, Z:-8.06 [[-9.84728248e-01 -1.73753092e-01 1.09608836e-02 3.63519811e+01] [-1.73743140e-01 9.84789245e-01 1.86104284e-03 -2.03021152e+02] [-1.11175222e-02 -7.17568669e-05 -9.99938196e-01 -8.06250047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.760385723 meters 0.0145160901745089 Centerline is valid? [True, True] Translation: X:36.34, Y:-202.99, Z:-8.06 [[-9.69141180e-01 -2.46280808e-01 1.05421528e-02 3.63358291e+01] [-2.46267182e-01 9.69198512e-01 2.59205513e-03 -2.02994989e+02] [-1.08558123e-02 -8.41188982e-05 -9.99941070e-01 -8.06288048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.790385723 meters 0.014883863450207752 Centerline is valid? [True, True] Translation: X:36.29, Y:-202.98, Z:-8.06 [[-9.48130217e-01 -3.17724531e-01 1.00106751e-02 3.62923140e+01] [-3.17707943e-01 9.48183058e-01 3.24825714e-03 -2.02977049e+02] [-1.05240036e-02 -1.00700261e-04 -9.99944616e-01 -8.06264996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.820385723 meters 0.014862333380063713 Centerline is valid? [True, True] Translation: X:36.23, Y:-202.97, Z:-8.06 [[-9.22059349e-01 -3.86926491e-01 9.71843019e-03 3.62296315e+01] [-3.86906186e-01 9.22110557e-01 3.96533881e-03 -2.02970123e+02] [-1.04957617e-02 -1.03843038e-04 -9.99944913e-01 -8.06305651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.850385723 meters 0.01537536216035158 Centerline is valid? [True, True] Translation: X:36.15, Y:-202.97, Z:-8.06 [[-8.90850457e-01 -4.54194013e-01 9.65725143e-03 3.61539596e+01] [-4.54168626e-01 8.90902793e-01 4.80333079e-03 -2.02972485e+02] [-1.07853164e-02 -1.06971189e-04 -9.99941831e-01 -8.06145635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.880385723 meters 0.014929607772892713 Centerline is valid? [True, True] Translation: X:36.08, Y:-202.98, Z:-8.06 [[-8.54544656e-01 -5.19292371e-01 9.42681060e-03 3.60805437e+01] [-5.19262128e-01 8.54596643e-01 5.60535222e-03 -2.02982195e+02] [-1.09669373e-02 -1.04961939e-04 -9.99939856e-01 -8.06250889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.910385723 meters 0.014817984396278317 Centerline is valid? [True, True] Translation: X:35.99, Y:-203.01, Z:-8.06 [[-8.13698048e-01 -5.81210600e-01 9.47232638e-03 3.59912714e+01] [-5.81172649e-01 8.13753174e-01 6.64249461e-03 -2.03009984e+02] [-1.15688239e-02 -1.00072120e-04 -9.99933074e-01 -8.06320036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.940385723 meters 0.014918017485578949 Centerline is valid? [True, True] Translation: X:35.90, Y:-203.04, Z:-8.06 [[-7.68052202e-01 -6.40326429e-01 8.82496357e-03 3.59016351e+01] [-6.40285487e-01 7.68102895e-01 7.24144134e-03 -2.03042909e+02] [-1.14153663e-02 -8.86911305e-05 -9.99934839e-01 -8.06237344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.970385723 meters 0.015001849177569332 Centerline is valid? [True, True] Translation: X:35.81, Y:-203.09, Z:-8.06 [[-7.17825617e-01 -6.96167350e-01 8.79801543e-03 3.58070118e+01] [-6.96116520e-01 7.17879526e-01 8.41289446e-03 -2.03091841e+02] [-1.21726976e-02 -8.54527262e-05 -9.99925906e-01 -8.06157298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.000385723 meters 0.014997090448621304 Centerline is valid? [True, True] Translation: X:35.71, Y:-203.15, Z:-8.06 [[-6.63331618e-01 -7.48278874e-01 8.36005479e-03 3.57131355e+01] [-7.48220921e-01 6.63384293e-01 9.31305014e-03 -2.03149390e+02] [-1.25146877e-02 -7.75272772e-05 -9.99921685e-01 -8.06078290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.030385723 meters 0.015095801183377585 Centerline is valid? [True, True] Translation: X:35.61, Y:-203.23, Z:-8.06 [[-6.05280931e-01 -7.95970348e-01 8.13625870e-03 3.56141802e+01] [-7.95899902e-01 6.05335610e-01 1.05899189e-02 -2.03227612e+02] [-1.33544286e-02 -6.57715034e-05 -9.99910824e-01 -8.05939916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.060385723 meters 0.015034337008472677 Centerline is valid? [True, True] Translation: X:35.53, Y:-203.31, Z:-8.06 [[-5.42953874e-01 -8.39730124e-01 7.37630446e-03 3.55255071e+01] [-8.39654123e-01 5.43003974e-01 1.12977555e-02 -2.03306485e+02] [-1.34924283e-02 -5.93843151e-05 -9.99908971e-01 -8.05929670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.090385723 meters 0.015069473182794387 Centerline is valid? [True, True] Translation: X:35.45, Y:-203.39, Z:-8.06 [[-4.78397210e-01 -8.78119645e-01 6.48058896e-03 3.54462203e+01] [-8.78040048e-01 4.78441102e-01 1.18231442e-02 -2.03389270e+02] [-1.34827153e-02 -3.40574350e-05 -9.99909104e-01 -8.05870122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12038572299997 meters 0.015057031172761219 Centerline is valid? [True, True] Translation: X:35.38, Y:-203.47, Z:-8.06 [[-4.10075000e-01 -9.12038246e-01 4.97323068e-03 3.53752304e+01] [-9.11971778e-01 4.10105155e-01 1.10108292e-02 -2.03469806e+02] [-1.20818449e-02 -2.01802414e-05 -9.99927012e-01 -8.06078411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.150385723 meters 0.015048814785265168 Centerline is valid? [True, True] Translation: X:35.31, Y:-203.54, Z:-8.06 [[-3.38737455e-01 -9.40873112e-01 3.83708571e-03 3.53146093e+01] [-9.40813238e-01 3.38759187e-01 1.06143397e-02 -2.03542409e+02] [-1.12865948e-02 -1.45066309e-05 -9.99936304e-01 -8.06103185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.180385723 meters 0.015044226572520613 Centerline is valid? [True, True] Translation: X:35.25, Y:-203.65, Z:-8.06 [[-2.65368171e-01 -9.64142794e-01 2.89940006e-03 3.52496450e+01] [-9.64085743e-01 2.65384010e-01 1.04884581e-02 -2.03649807e+02] [-1.08818258e-02 -1.19673090e-05 -9.99940791e-01 -8.06162055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.210385723 meters 0.015123076723836773 Centerline is valid? [True, True] Translation: X:35.19, Y:-203.76, Z:-8.06 [[-1.90853379e-01 -9.81616564e-01 1.97709584e-03 3.51916419e+01] [-9.81564071e-01 1.90863619e-01 1.01515033e-02 -2.03763502e+02] [-1.03422394e-02 -3.19753744e-06 -9.99946518e-01 -8.06140723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.240385723 meters 0.015084044583114799 Centerline is valid? [True, True] Translation: X:35.14, Y:-203.88, Z:-8.06 [[-1.14253700e-01 -9.93450914e-01 1.17180723e-03 3.51440369e+01] [-9.93399064e-01 1.14259709e-01 1.01498189e-02 -2.03878654e+02] [-1.02172373e-02 -4.41784393e-06 -9.99947803e-01 -8.06182355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.270385723 meters 0.015137041455580829 Centerline is valid? [True, True] Translation: X:35.10, Y:-204.00, Z:-8.06 [[-3.73215225e-02 -9.99303224e-01 4.13366333e-04 3.51046523e+01] [-9.99242580e-01 3.73238116e-02 1.10090354e-02 -2.04004566e+02] [-1.10167930e-02 -2.17927833e-06 -9.99939313e-01 -8.06225766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.300385723 meters 0.015186910976290458 Centerline is valid? [True, True] Translation: X:35.07, Y:-204.12, Z:-8.06 [[ 3.91985970e-02 -9.99231335e-01 -4.56479976e-04 3.50739639e+01] [-9.99165996e-01 -3.92012539e-02 1.14268834e-02 -2.04117365e+02] [-1.14359946e-02 8.18147184e-06 -9.99934607e-01 -8.06141325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.330385723 meters 0.015264294063344862 Centerline is valid? [True, True] Translation: X:35.05, Y:-204.25, Z:-8.06 [[ 1.15463937e-01 -9.93310821e-01 -1.30104266e-03 3.50544938e+01] [-9.93249512e-01 -1.15471265e-01 1.10360048e-02 -2.04246458e+02] [-1.11124160e-02 1.79994321e-05 -9.99938255e-01 -8.06066853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.360385723 meters 0.015155170804399026 Centerline is valid? [True, True] Translation: X:35.04, Y:-204.37, Z:-8.06 [[ 1.91128915e-01 -9.81562624e-01 -2.13372187e-03 3.50442571e+01] [-9.81503030e-01 -1.91140823e-01 1.08160825e-02 -2.04370844e+02] [-1.10245037e-02 2.69883770e-05 -9.99939228e-01 -8.06120820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.390385723 meters 0.015402831094529697 Centerline is valid? [True, True] Translation: X:35.04, Y:-204.49, Z:-8.06 [[ 2.63978316e-01 -9.64523136e-01 -3.25103071e-03 3.50441322e+01] [-9.64452771e-01 -2.63998328e-01 1.16505392e-02 -2.04492718e+02] [-1.20954813e-02 5.99758587e-05 -9.99926845e-01 -8.06098408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.420385723 meters 0.0155730960556744 Centerline is valid? [True, True] Translation: X:35.05, Y:-204.62, Z:-8.06 [[ 3.35828449e-01 -9.41913747e-01 -4.21264195e-03 3.50545193e+01] [-9.41842819e-01 -3.35854859e-01 1.15593470e-02 -2.04617578e+02] [-1.23027441e-02 8.56889971e-05 -9.99924315e-01 -8.06057988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.450385723 meters 0.015997097059897887 Centerline is valid? [True, True] Translation: X:35.07, Y:-204.74, Z:-8.06 [[ 4.04150787e-01 -9.14678559e-01 -5.02737333e-03 3.50747778e+01] [-9.14611737e-01 -4.04182034e-01 1.10568834e-02 -2.04740264e+02] [-1.21454681e-02 1.29446531e-04 -9.99926233e-01 -8.06044928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.480385723 meters 0.016186227174003528 Centerline is valid? [True, True] Translation: X:35.10, Y:-204.86, Z:-8.06 [[ 4.71886175e-01 -8.81641170e-01 -5.68202408e-03 3.51019953e+01] [-8.81580960e-01 -4.71920359e-01 1.03046478e-02 -2.04859699e+02] [-1.17664646e-02 1.46543416e-04 -9.99930762e-01 -8.06098859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.510385723 meters 0.016666758592794248 Centerline is valid? [True, True] Translation: X:35.14, Y:-204.97, Z:-8.06 [[ 5.35571065e-01 -8.44472000e-01 -5.53860632e-03 3.51367321e+01] [-8.44429867e-01 -5.35599679e-01 8.43698261e-03 -2.04972472e+02] [-1.00912713e-02 1.58360836e-04 -9.99949069e-01 -8.06209183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.540385723 meters 0.016460204190607716 Centerline is valid? [True, True] Translation: X:35.18, Y:-205.09, Z:-8.06 [[ 5.97578469e-01 -8.01792025e-01 -5.43354855e-03 3.51819587e+01] [-8.01761189e-01 -5.97603151e-01 7.03353032e-03 -2.05087349e+02] [-8.88653425e-03 1.53322064e-04 -9.99960502e-01 -8.06299389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.570385723 meters 0.016987249313434986 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.19, Z:-8.06 [[ 6.55600032e-01 -7.55094738e-01 -4.53149710e-03 3.52311852e+01] [-7.55078075e-01 -6.55615680e-01 5.01812620e-03 -2.05192328e+02] [-6.76008124e-03 1.31750405e-04 -9.99977142e-01 -8.06396900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.600385723 meters 0.017153694860984368 Centerline is valid? [True, True] Translation: X:35.29, Y:-205.30, Z:-8.06 [[ 7.10779401e-01 -7.03402774e-01 -4.14502459e-03 3.52900123e+01] [-7.03391760e-01 -7.10791477e-01 3.93802335e-03 -2.05295689e+02] [-5.71626470e-03 1.16510262e-04 -9.99983655e-01 -8.06428865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.630385723 meters 0.017339562573414933 Centerline is valid? [True, True] Translation: X:35.28, Y:-205.30, Z:-8.06 [[ 7.63244748e-01 -6.46098758e-01 -3.72148217e-03 3.52814956e+01] [-6.46091711e-01 -7.63253814e-01 3.01927340e-03 -2.05304195e+02] [-4.79118426e-03 9.99742170e-05 -9.99988517e-01 -8.06376323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.660385723 meters 0.017145726422107252 Centerline is valid? [True, True] Translation: X:35.27, Y:-205.31, Z:-8.06 [[ 8.11731248e-01 -5.84019865e-01 -3.63018492e-03 3.52749364e+01] [-5.84014515e-01 -8.11739360e-01 2.50149774e-03 -2.05312457e+02] [-4.40768836e-03 8.95367980e-05 -9.99990282e-01 -8.06403699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.690385723 meters 0.016837802993920258 Centerline is valid? [True, True] Translation: X:35.27, Y:-205.32, Z:-8.06 [[ 8.56061159e-01 -5.16866837e-01 -2.82207728e-03 3.52671804e+01] [-5.16864254e-01 -8.56065809e-01 1.63507703e-03 -2.05320750e+02] [-3.26100097e-03 5.89049326e-05 -9.99994681e-01 -8.06442587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.720385723 meters 0.016775499537180296 Centerline is valid? [True, True] Translation: X:35.26, Y:-205.33, Z:-8.06 [[ 8.94376691e-01 -4.47304360e-01 -3.02402559e-03 3.52593509e+01] [-4.47302016e-01 -8.94381801e-01 1.44911536e-03 -2.05334590e+02] [-3.35282907e-03 5.65977458e-05 -9.99994378e-01 -8.06391105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.750385723 meters 0.01568336083093653 Centerline is valid? [True, True] Translation: X:35.25, Y:-205.35, Z:-8.06 [[ 9.27433255e-01 -3.73977323e-01 -2.91887822e-03 3.52521893e+01] [-3.73975627e-01 -9.27437847e-01 1.12742544e-03 -2.05349414e+02] [-3.12870968e-03 4.59774689e-05 -9.99995105e-01 -8.06392518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.780385723 meters 0.015502065689437445 Centerline is valid? [True, True] Translation: X:35.25, Y:-205.37, Z:-8.06 [[ 9.55140833e-01 -2.96116839e-01 -4.56152184e-03 3.52454502e+01] [-2.96113708e-01 -9.55151724e-01 1.36275852e-03 -2.05366111e+02] [-4.76048119e-03 4.91028358e-05 -9.99988668e-01 -8.06068358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.810385723 meters 0.015287046494807657 Centerline is valid? [True, True] Translation: X:35.24, Y:-205.38, Z:-8.06 [[ 9.75826948e-01 -2.18470768e-01 -5.68257097e-03 3.52432038e+01] [-2.18467348e-01 -9.75843492e-01 1.22336523e-03 -2.05375502e+02] [-5.81256944e-03 4.76634534e-05 -9.99983106e-01 -8.05939208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.840385723 meters 0.01488880756843994 Centerline is valid? [True, True] Translation: X:35.24, Y:-205.39, Z:-8.06 [[ 9.90400642e-01 -1.38071072e-01 -6.55344046e-03 3.52389038e+01] [-1.38068264e-01 -9.90422323e-01 8.81193735e-04 -2.05386247e+02] [-6.61234109e-03 3.20873040e-05 -9.99978138e-01 -8.05848789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87038572299997 meters 0.014740958922965652 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.40, Z:-8.06 [[ 9.98239685e-01 -5.89179950e-02 -6.79709870e-03 3.52345251e+01] [-5.89167988e-02 -9.98262826e-01 3.76263171e-04 -2.05398088e+02] [-6.80745962e-03 2.48624673e-05 -9.99976829e-01 -8.05888500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.900385723 meters 0.014733631420880352 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.41, Z:-8.06 [[ 9.99763512e-01 2.05494900e-02 -7.11608559e-03 3.52311272e+01] [ 2.05488416e-02 -9.99788837e-01 -1.64227054e-04 -2.05414024e+02] [-7.11795772e-03 1.79609007e-05 -9.99974667e-01 -8.05914201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.930385723 meters 0.014765411001780724 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.43, Z:-8.06 [[ 9.95083792e-01 9.88000102e-02 -6.84137003e-03 3.52288123e+01] [ 9.87975562e-02 -9.95107310e-01 -6.96558856e-04 -2.05427021e+02] [-6.87671734e-03 1.72237883e-05 -9.99976355e-01 -8.05797296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.960385723 meters 0.014643226738426362 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.44, Z:-8.06 [[ 9.84356045e-01 1.76061711e-01 -6.74171046e-03 3.52281132e+01] [ 1.76057445e-01 -9.84379131e-01 -1.22576127e-03 -2.05440475e+02] [-6.85220871e-03 1.96571964e-05 -9.99976523e-01 -8.05901249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.990385723 meters 0.014643226738426362 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.45, Z:-8.06 [[ 9.67561603e-01 2.52548318e-01 -6.62511190e-03 3.52280526e+01] [ 2.52542258e-01 -9.67584284e-01 -1.74953117e-03 -2.05452130e+02] [-6.85219530e-03 1.96584645e-05 -9.99976523e-01 -8.05901262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.020385723 meters 0.015528398179623237 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.47, Z:-8.06 [[ 9.45379214e-01 3.25919504e-01 -5.88380020e-03 3.52300139e+01] [ 3.25913007e-01 -9.45397523e-01 -2.05815101e-03 -2.05465156e+02] [-6.23332169e-03 2.81261748e-05 -9.99980572e-01 -8.05873913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.050385723 meters 0.014835945986047505 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.48, Z:-8.06 [[ 9.17539906e-01 3.97615729e-01 -4.71731003e-03 3.52313976e+01] [ 3.97610303e-01 -9.17552032e-01 -2.07745225e-03 -2.05477967e+02] [-5.15440509e-03 3.04942780e-05 -9.99986716e-01 -8.06070651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.080385723 meters 0.014867547274832305 Centerline is valid? [True, True] Translation: X:35.23, Y:-205.49, Z:-8.06 [[ 8.83979433e-01 4.67505367e-01 -4.36968773e-03 3.52345435e+01] [ 4.67499468e-01 -8.83990232e-01 -2.34885171e-03 -2.05489597e+02] [-4.96086206e-03 3.35099136e-05 -9.99987694e-01 -8.06117503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.110385723 meters 0.01504932623941998 Centerline is valid? [True, True] Translation: X:35.24, Y:-205.50, Z:-8.06 [[ 8.45971939e-01 5.33205781e-01 -4.80345965e-03 3.52395760e+01] [ 5.33196831e-01 -8.45985575e-01 -3.08980559e-03 -2.05501970e+02] [-5.71115977e-03 5.26993676e-05 -9.99983690e-01 -8.06087432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.140385723 meters 0.0152136775009378 Centerline is valid? [True, True] Translation: X:35.25, Y:-205.51, Z:-8.06 [[ 8.02386976e-01 5.96783139e-01 -5.00250901e-03 3.52453894e+01] [ 5.96771027e-01 -8.02402568e-01 -3.80279433e-03 -2.05512915e+02] [-6.28346961e-03 6.59602074e-05 -9.99980257e-01 -8.06023986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.170385723 meters 0.016074611575996427 Centerline is valid? [True, True] Translation: X:35.25, Y:-205.52, Z:-8.06 [[ 7.55209237e-01 6.55462555e-01 -5.27699118e-03 3.52503749e+01] [ 6.55445663e-01 -7.55227667e-01 -4.70677770e-03 -2.05524264e+02] [-7.07044628e-03 9.58210191e-05 -9.99975000e-01 -8.05916593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.200385723 meters 0.015861537285328478 Centerline is valid? [True, True] Translation: X:35.26, Y:-205.53, Z:-8.06 [[ 7.02425855e-01 7.11742737e-01 -4.49378493e-03 3.52562914e+01] [ 7.11727293e-01 -7.02440223e-01 -4.68974019e-03 -2.05533224e+02] [-6.49450380e-03 9.58453792e-05 -9.99978906e-01 -8.05969461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.230385723 meters 0.016478681947464265 Centerline is valid? [True, True] Translation: X:35.26, Y:-205.54, Z:-8.06 [[ 6.46206028e-01 7.63152386e-01 -4.02549241e-03 3.52614299e+01] [ 7.63136532e-01 -6.46218557e-01 -4.92029824e-03 -2.05542315e+02] [-6.35628524e-03 1.07526061e-04 -9.99979793e-01 -8.06031213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.260385723 meters 0.016706150222505652 Centerline is valid? [True, True] Translation: X:35.27, Y:-205.55, Z:-8.06 [[ 5.85162706e-01 8.10906894e-01 -3.82325668e-03 3.52671434e+01] [ 8.10888238e-01 -5.85175184e-01 -5.50180868e-03 -2.05548922e+02] [-6.69872952e-03 1.19219383e-04 -9.99977556e-01 -8.06011639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.290385723 meters 0.01950636602943445 Centerline is valid? [True, True] Translation: X:35.27, Y:-205.56, Z:-8.06 [[ 5.21035594e-01 8.53525555e-01 -4.00459772e-03 3.52731356e+01] [ 8.53498068e-01 -5.21050961e-01 -6.85147596e-03 -2.05555346e+02] [-7.93450931e-03 1.51946432e-04 -9.99968510e-01 -8.05806241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.320385723 meters 0.017224242678883762 Centerline is valid? [True, True] Translation: X:35.28, Y:-205.56, Z:-8.06 [[ 4.52726425e-01 8.91642921e-01 -3.41830632e-03 3.52807986e+01] [ 8.91614928e-01 -4.52739305e-01 -7.06701178e-03 -2.05561840e+02] [-7.84885265e-03 1.51610040e-04 -9.99969186e-01 -8.05860265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.350385723 meters 0.01762057626295114 Centerline is valid? [True, True] Translation: X:35.29, Y:-205.57, Z:-8.06 [[ 3.82124265e-01 9.24106173e-01 -2.97092094e-03 3.52872372e+01] [ 9.24074842e-01 -3.82135779e-01 -7.61137105e-03 -2.05567916e+02] [-8.16901016e-03 1.63136273e-04 -9.99966620e-01 -8.05818308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.380385723 meters 0.0167725930637565 Centerline is valid? [True, True] Translation: X:35.30, Y:-205.57, Z:-8.06 [[ 3.08770026e-01 9.51133675e-01 -2.40909409e-03 3.53000644e+01] [ 9.51100347e-01 -3.08779379e-01 -7.96403725e-03 -2.05574004e+02] [-8.31874259e-03 1.67765767e-04 -9.99965385e-01 -8.05907108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.410385723 meters 0.019366115498522244 Centerline is valid? [True, True] Translation: X:35.31, Y:-205.58, Z:-8.06 [[ 2.33604038e-01 9.72329736e-01 -2.00969952e-03 3.53107367e+01] [ 9.72286340e-01 -2.33612603e-01 -9.18832508e-03 -2.05578865e+02] [-9.40357283e-03 1.92426445e-04 -9.99955767e-01 -8.05809757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.440385723 meters 0.017632769155042638 Centerline is valid? [True, True] Translation: X:35.32, Y:-205.58, Z:-8.06 [[ 1.56565460e-01 9.87666862e-01 -1.19460798e-03 3.53220307e+01] [ 9.87628817e-01 -1.56569917e-01 -8.67067556e-03 -2.05584124e+02] [-8.75077859e-03 1.77699045e-04 -9.99961695e-01 -8.05926381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.470385723 meters 0.01651387239447752 Centerline is valid? [True, True] Translation: X:35.34, Y:-205.59, Z:-8.06 [[ 7.88342409e-02 9.96887613e-01 -4.98783282e-04 3.53357893e+01] [ 9.96851269e-01 -7.88356268e-02 -8.51418011e-03 -2.05587385e+02] [-8.52700258e-03 1.73996178e-04 -9.99963629e-01 -8.06033563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.500385723 meters 0.01836400074003958 Centerline is valid? [True, True] Translation: X:35.35, Y:-205.59, Z:-8.06 [[ 9.04081052e-04 9.99999576e-01 1.75008385e-04 3.53477035e+01] [ 9.99960872e-01 -9.02505982e-04 -8.80002371e-03 -2.05590010e+02] [-8.79986204e-03 1.82957472e-04 -9.99961264e-01 -8.05937080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.530385723 meters 0.018805653059376815 Centerline is valid? [True, True] Translation: X:35.36, Y:-205.59, Z:-8.06 [[-7.74412158e-02 9.96996524e-01 8.88760070e-04 3.53574069e+01] [ 9.96955802e-01 7.74460872e-02 -9.01286069e-03 -2.05590766e+02] [-9.05462177e-03 1.88087619e-04 -9.99958988e-01 -8.05966010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.560385723 meters 0.016690445178638973 Centerline is valid? [True, True] Translation: X:35.37, Y:-205.59, Z:-8.06 [[-1.56087549e-01 9.87742193e-01 1.42746058e-03 3.53700813e+01] [ 9.87709864e-01 1.56093992e-01 -7.99312848e-03 -2.05590971e+02] [-8.11796827e-03 1.62289061e-04 -9.99967036e-01 -8.06207217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.590385723 meters 0.018340646920855783 Centerline is valid? [True, True] Translation: X:35.39, Y:-205.59, Z:-8.06 [[-2.33185813e-01 9.72429573e-01 2.25894980e-03 3.53859338e+01] [ 9.72391025e-01 2.33196687e-01 -8.66022650e-03 -2.05588357e+02] [-8.94823996e-03 1.77140558e-04 -9.99959948e-01 -8.06137255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62038572299997 meters 0.016521466263010407 Centerline is valid? [True, True] Translation: X:35.40, Y:-205.59, Z:-8.06 [[-3.09177963e-01 9.50999961e-01 2.83918971e-03 3.54009540e+01] [ 9.50964677e-01 3.09190954e-01 -8.19373361e-03 -2.05585042e+02] [-8.67009212e-03 1.66647260e-04 -9.99962400e-01 -8.06203531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.650385723 meters 0.015826517069125787 Centerline is valid? [True, True] Translation: X:35.42, Y:-205.58, Z:-8.06 [[-3.84017601e-01 9.23320721e-01 3.05414322e-03 3.54163597e+01] [ 9.23294276e-01 3.84029722e-01 -6.98943716e-03 -2.05579700e+02] [-7.62637393e-03 1.35806062e-04 -9.99970910e-01 -8.06215082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.680385723 meters 0.015752000735738306 Centerline is valid? [True, True] Translation: X:35.43, Y:-205.57, Z:-8.06 [[-4.56937470e-01 8.89490657e-01 3.81040207e-03 3.54291711e+01] [ 8.89462034e-01 4.56953339e-01 -7.13690528e-03 -2.05574815e+02] [-8.08938652e-03 1.28088530e-04 -9.99967272e-01 -8.06205296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.710385723 meters 0.01560191331172815 Centerline is valid? [True, True] Translation: X:35.44, Y:-205.57, Z:-8.06 [[-5.25878408e-01 8.50547910e-01 4.48913939e-03 3.54393516e+01] [ 8.50518933e-01 5.25897554e-01 -7.02188271e-03 -2.05569195e+02] [-8.33327509e-03 1.25441539e-04 -9.99965270e-01 -8.06193618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.740385723 meters 0.017423768583025575 Centerline is valid? [True, True] Translation: X:35.45, Y:-205.56, Z:-8.06 [[-5.91353528e-01 8.06392076e-01 5.72931345e-03 3.54486178e+01] [ 8.06356466e-01 5.91381265e-01 -7.57953555e-03 -2.05563467e+02] [-9.50028604e-03 1.37683856e-04 -9.99954862e-01 -8.06020718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.770385723 meters 0.015293126226251518 Centerline is valid? [True, True] Translation: X:35.46, Y:-205.55, Z:-8.06 [[-6.53653558e-01 7.56771885e-01 5.77412399e-03 3.54595428e+01] [ 7.56743903e-01 6.53679050e-01 -6.50883905e-03 -2.05554172e+02] [-8.70013029e-03 1.15007324e-04 -9.99962147e-01 -8.06125280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.800385723 meters 0.015131367519804326 Centerline is valid? [True, True] Translation: X:35.47, Y:-205.54, Z:-8.06 [[-7.11520846e-01 7.02640662e-01 5.84682119e-03 3.54696416e+01] [ 7.02618090e-01 7.11544862e-01 -5.63291850e-03 -2.05544587e+02] [-8.11819316e-03 1.00143394e-04 -9.99967042e-01 -8.06123878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.830385723 meters 0.014958268880948089 Centerline is valid? [True, True] Translation: X:35.49, Y:-205.52, Z:-8.06 [[-7.59589089e-01 6.50375679e-01 5.99100050e-03 3.54892700e+01] [ 6.50356427e-01 7.59612709e-01 -5.00505352e-03 -2.05522254e+02] [-7.80600520e-03 9.45016344e-05 -9.99969528e-01 -8.06150010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.860385723 meters 0.014919357610268693 Centerline is valid? [True, True] Translation: X:35.51, Y:-205.50, Z:-8.06 [[-8.04240515e-01 5.94273940e-01 5.97317536e-03 3.55052579e+01] [ 5.94258310e-01 8.04262692e-01 -4.31085288e-03 -2.05497832e+02] [-7.36582962e-03 8.26465611e-05 -9.99972869e-01 -8.06160008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.890385723 meters 0.01484937818040667 Centerline is valid? [True, True] Translation: X:35.52, Y:-205.47, Z:-8.06 [[-8.44540965e-01 5.35456985e-01 6.03122313e-03 3.55194334e+01] [ 5.35443975e-01 8.44562497e-01 -3.73332865e-03 -2.05471965e+02] [-7.09278177e-03 7.64331076e-05 -9.99974843e-01 -8.06162845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.920385723 meters 0.014665853188340013 Centerline is valid? [True, True] Translation: X:35.53, Y:-205.45, Z:-8.06 [[-8.80816577e-01 4.73420871e-01 5.90221517e-03 3.55330181e+01] [ 4.73410738e-01 8.80836349e-01 -3.09816757e-03 -2.05445250e+02] [-6.66562285e-03 6.52546888e-05 -9.99977782e-01 -8.06169045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.950385723 meters 0.014547212525799052 Centerline is valid? [True, True] Translation: X:35.54, Y:-205.42, Z:-8.06 [[-9.13039667e-01 4.07831335e-01 5.67174369e-03 3.55434639e+01] [ 4.07823788e-01 9.13057282e-01 -2.48163130e-03 -2.05415973e+02] [-6.19071389e-03 4.72441817e-05 -9.99980836e-01 -8.06152324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.980385723 meters 0.014492216677697432 Centerline is valid? [True, True] Translation: X:35.80, Y:-204.82, Z:-9.01 [[-8.89894406e-01 -4.56133113e-01 5.52539288e-03 3.58026660e+01] [ 4.56124007e-01 -8.89911558e-01 -2.88259020e-03 -2.04824405e+02] [ 6.23195582e-03 -4.49365514e-05 9.99980580e-01 -9.00608672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.010385723 meters 0.014257340598975092 Centerline is valid? [True, True] Translation: X:35.49, Y:-205.39, Z:-8.06 [[-9.16461936e-01 4.00081554e-01 5.68075721e-03 3.54926154e+01] [ 4.00073986e-01 9.16479542e-01 -2.46086045e-03 -2.05392551e+02] [-6.19084263e-03 1.74382463e-05 -9.99980836e-01 -8.06138283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.040385723 meters 0.014236997882767605 Centerline is valid? [True, True] Translation: X:35.50, Y:-205.36, Z:-8.06 [[-9.43077466e-01 3.32523883e-01 5.72369440e-03 3.55008311e+01] [ 3.32517803e-01 9.43094835e-01 -2.01096199e-03 -2.05364505e+02] [-6.06667951e-03 6.73735132e-06 -9.99981598e-01 -8.06155853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.070385723 meters 0.014376415008652626 Centerline is valid? [True, True] Translation: X:35.49, Y:-205.33, Z:-8.06 [[-9.65295616e-01 2.61102160e-01 5.48058292e-03 3.54855652e+01] [ 2.61097858e-01 9.65311174e-01 -1.49883248e-03 -2.05328612e+02] [-5.68181633e-03 -1.58479616e-05 -9.99983858e-01 -8.06156132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.100385723 meters 0.014732399169493883 Centerline is valid? [True, True] Translation: X:35.67, Y:-204.72, Z:-9.01 [[-9.42483312e-01 -3.34209660e-01 5.39543761e-03 3.56731302e+01] [ 3.34204295e-01 -9.42498755e-01 -1.89370317e-03 -2.04716967e+02] [ 5.71808712e-03 1.83947863e-05 9.99983651e-01 -9.00638575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.130385723 meters 0.01501927891807441 Centerline is valid? [True, True] Translation: X:35.45, Y:-205.32, Z:-8.06 [[-9.67693581e-01 2.52068087e-01 5.55088552e-03 3.54518944e+01] [ 2.52063653e-01 9.67709501e-01 -1.49577593e-03 -2.05318882e+02] [-5.74868203e-03 -4.82762828e-05 -9.99983475e-01 -8.06051632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.160385723 meters 0.015291119603902248 Centerline is valid? [True, True] Translation: X:35.62, Y:-204.70, Z:-9.01 [[-9.42559720e-01 -3.33992570e-01 5.48981898e-03 3.56230414e+01] [ 3.33987229e-01 -9.42575705e-01 -1.88960989e-03 -2.04704964e+02] [ 5.80568566e-03 5.24592549e-05 9.99983146e-01 -9.00782835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.190385723 meters 0.015782680513997133 Centerline is valid? [True, True] Translation: X:35.40, Y:-205.31, Z:-8.06 [[-9.69730062e-01 2.44118884e-01 5.43861540e-03 3.54032805e+01] [ 2.44114627e-01 9.69745310e-01 -1.44336903e-03 -2.05307915e+02] [-5.62642542e-03 -7.20327655e-05 -9.99984169e-01 -8.05875516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.220385723 meters 0.016268321243314197 Centerline is valid? [True, True] Translation: X:35.41, Y:-205.28, Z:-8.06 [[-9.85058843e-01 1.72145266e-01 5.00826387e-03 3.54073330e+01] [ 1.72142636e-01 9.85071572e-01 -9.54819721e-04 -2.05281926e+02] [-5.09786605e-03 -7.84178670e-05 -9.99987003e-01 -8.05879554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.250385723 meters 0.016611783992261712 Centerline is valid? [True, True] Translation: X:35.41, Y:-205.25, Z:-8.06 [[-9.94874432e-01 1.00997340e-01 4.93982261e-03 3.54071074e+01] [ 1.00995688e-01 9.94886692e-01 -5.83309849e-04 -2.05253954e+02] [-4.97347652e-03 -8.14192716e-05 -9.99987629e-01 -8.05859021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.280385723 meters 0.01709136003913057 Centerline is valid? [True, True] Translation: X:35.41, Y:-205.23, Z:-8.06 [[-9.99592362e-01 2.81210769e-02 4.93097601e-03 3.54067239e+01] [ 2.81202885e-02 9.99604520e-01 -2.29174973e-04 -2.05227416e+02] [-4.93547056e-03 -9.04210844e-05 -9.99987816e-01 -8.05788470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.310385723 meters 0.016957925426478216 Centerline is valid? [True, True] Translation: X:35.44, Y:-204.57, Z:-9.01 [[-9.91203866e-01 -1.32263034e-01 4.62449618e-03 3.54377037e+01] [ 1.32261909e-01 -9.91214652e-01 -5.49523330e-04 -2.04573853e+02] [ 4.65654999e-03 6.69550447e-05 9.99989156e-01 -9.00985037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.340385723 meters 0.017029079990634723 Centerline is valid? [True, True] Translation: X:35.34, Y:-205.23, Z:-8.06 [[-9.99727658e-01 2.29625708e-02 4.16297729e-03 3.53392216e+01] [ 2.29620416e-02 9.99736322e-01 -1.74890986e-04 -2.05229789e+02] [-4.16589556e-03 -7.92528978e-05 -9.99991320e-01 -8.05776548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37038572299997 meters 0.01705481902478403 Centerline is valid? [True, True] Translation: X:35.36, Y:-204.56, Z:-9.01 [[-9.91886319e-01 -1.27075378e-01 3.65758661e-03 3.53649415e+01] [ 1.27074659e-01 -9.91893062e-01 -4.29256988e-04 -2.04560745e+02] [ 3.68248278e-03 3.90124378e-05 9.99993219e-01 -9.00870636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.400385723 meters 0.016898469259688517 Centerline is valid? [True, True] Translation: X:35.27, Y:-205.24, Z:-8.06 [[-9.99773185e-01 2.11430347e-02 2.55954883e-03 3.52715583e+01] [ 2.11428592e-02 9.99776460e-01 -9.56204427e-05 -2.05240425e+02] [-2.56099837e-03 -4.14825740e-05 -9.99996720e-01 -8.05925820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.430385723 meters 0.016777272856013437 Centerline is valid? [True, True] Translation: X:35.25, Y:-205.21, Z:-8.06 [[-9.98802381e-01 -4.88855556e-02 2.00131139e-03 3.52499515e+01] [-4.88855182e-02 9.98804386e-01 6.76301652e-05 -2.05214618e+02] [-2.00222473e-03 -3.02859741e-05 -9.99997995e-01 -8.05926194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.460385723 meters 0.01633212129410776 Centerline is valid? [True, True] Translation: X:35.26, Y:-205.19, Z:-8.06 [[-9.92944362e-01 -1.18573182e-01 1.37653452e-03 3.52626646e+01] [-1.18573094e-01 9.92945316e-01 1.45326914e-04 -2.05188877e+02] [-1.38405538e-03 -1.89184168e-05 -9.99999042e-01 -8.05887880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.490385723 meters 0.01600477218124236 Centerline is valid? [True, True] Translation: X:35.25, Y:-205.17, Z:-8.06 [[-9.82500459e-01 -1.86253602e-01 1.56362110e-03 3.52525760e+01] [-1.86253393e-01 9.82501703e-01 2.79031067e-04 -2.05170004e+02] [-1.58823093e-03 -1.70815841e-05 -9.99998739e-01 -8.05853523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.520385723 meters 0.015892778656546314 Centerline is valid? [True, True] Translation: X:35.22, Y:-205.15, Z:-8.06 [[-9.67065077e-01 -2.54521669e-01 1.96375861e-03 3.52241808e+01] [-2.54521183e-01 9.67067071e-01 4.97978439e-04 -2.05151178e+02] [-2.02583259e-03 -1.82406066e-05 -9.99997948e-01 -8.05835731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.550385723 meters 0.015554597783788168 Centerline is valid? [True, True] Translation: X:35.18, Y:-205.14, Z:-8.06 [[-9.47249489e-01 -3.20491970e-01 1.81732090e-03 3.51820968e+01] [-3.20491398e-01 9.47251232e-01 6.05327247e-04 -2.05142012e+02] [-1.91546199e-03 -9.03979198e-06 -9.99998166e-01 -8.05771623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.580385723 meters 0.015546819411487991 Centerline is valid? [True, True] Translation: X:35.12, Y:-205.14, Z:-8.06 [[-9.21829717e-01 -3.87593172e-01 1.22690146e-03 3.51197741e+01] [-3.87592834e-01 9.21830534e-01 5.11802059e-04 -2.05138047e+02] [-1.32936621e-03 -3.74386551e-06 -9.99999116e-01 -8.05729085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.610385723 meters 0.01564676705075225 Centerline is valid? [True, True] Translation: X:35.05, Y:-205.15, Z:-8.06 [[-8.92141268e-01 -4.51756393e-01 3.46400982e-04 3.50457931e+01] [-4.51756359e-01 8.92141335e-01 1.75715270e-04 -2.05147797e+02] [-3.88419131e-04 2.73997221e-07 -9.99999925e-01 -8.05712934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.640385723 meters 0.015597972774556925 Centerline is valid? [True, True] Translation: X:34.97, Y:-205.16, Z:-8.06 [[-8.56665330e-01 -5.15872488e-01 2.97606014e-04 3.49742292e+01] [-5.15872456e-01 8.56665382e-01 1.80183480e-04 -2.05157669e+02] [-3.47900470e-04 8.30195272e-07 -9.99999940e-01 -8.05670929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.670385723 meters 0.015773015159057855 Centerline is valid? [True, True] Translation: X:34.89, Y:-205.19, Z:-8.06 [[-8.16950478e-01 -5.76707426e-01 6.79867092e-04 3.48859006e+01] [-5.76707222e-01 8.16950760e-01 4.84697614e-04 -2.05188357e+02] [-8.34946651e-04 3.88968510e-06 -9.99999651e-01 -8.05583812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.700385723 meters 0.017579298139554306 Centerline is valid? [True, True] Translation: X:34.80, Y:-205.22, Z:-8.05 [[-7.72062872e-01 -6.35545005e-01 1.21170795e-03 3.47984801e+01] [-6.35544203e-01 7.72063823e-01 1.01014912e-03 -2.05222426e+02] [-1.57751109e-03 9.80466643e-06 -9.99998756e-01 -8.05442355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.730385723 meters 0.019623085153266315 Centerline is valid? [True, True] Translation: X:34.71, Y:-205.27, Z:-8.05 [[-7.22715202e-01 -6.91145272e-01 9.75200457e-04 3.47079840e+01] [-6.91144623e-01 7.22715859e-01 9.47215305e-04 -2.05272771e+02] [-1.35945622e-03 1.05623479e-05 -9.99999076e-01 -8.05359213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.760385723 meters 0.016689602467027814 Centerline is valid? [True, True] Translation: X:34.61, Y:-205.33, Z:-8.06 [[-6.67730728e-01 -7.44402662e-01 5.93060585e-04 3.46116573e+01] [-7.44402360e-01 6.67730991e-01 6.71087730e-04 -2.05334458e+02] [-8.95564425e-04 6.63019899e-06 -9.99999599e-01 -8.05536881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.790385723 meters 0.016166983521765568 Centerline is valid? [True, True] Translation: X:34.53, Y:-205.39, Z:-8.06 [[-6.08312532e-01 -7.93696925e-01 1.02702233e-03 3.45314054e+01] [-7.93695762e-01 6.08313399e-01 1.35876199e-03 -2.05392538e+02] [-1.70319666e-03 1.14086746e-05 -9.99998550e-01 -8.05559513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.820385723 meters 0.01597984537487982 Centerline is valid? [True, True] Translation: X:34.44, Y:-205.47, Z:-8.06 [[-5.44329671e-01 -8.38870890e-01 9.15926401e-04 3.44418632e+01] [-8.38869676e-01 5.44330442e-01 1.42714913e-03 -2.05468592e+02] [-1.69576048e-03 8.49673184e-06 -9.99998562e-01 -8.05565390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.850385723 meters 0.018693020998652728 Centerline is valid? [True, True] Translation: X:34.35, Y:-205.56, Z:-8.05 [[-4.75628940e-01 -8.79644616e-01 1.56872312e-03 3.43524954e+01] [-8.79639791e-01 4.75631527e-01 2.91363449e-03 -2.05559361e+02] [-3.30909707e-03 5.89761139e-06 -9.99994525e-01 -8.05473325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.880385723 meters 0.017345117663718147 Centerline is valid? [True, True] Translation: X:34.26, Y:-205.67, Z:-8.06 [[-4.04473175e-01 -9.14549022e-01 1.24004838e-03 3.42632271e+01] [-9.14544741e-01 4.04475076e-01 2.79829111e-03 -2.05674566e+02] [-3.06074306e-03 -2.24603328e-06 -9.99995316e-01 -8.05588197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.910385723 meters 0.017345117663718147 Centerline is valid? [True, True] Translation: X:34.19, Y:-205.77, Z:-8.06 [[-3.32920767e-01 -9.42954251e-01 1.02110891e-03 3.41943843e+01] [-9.42949837e-01 3.32922333e-01 2.88539666e-03 -2.05770890e+02] [-3.06074701e-03 -2.24601228e-06 -9.99995316e-01 -8.05588177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.940385723 meters 0.016939712354297035 Centerline is valid? [True, True] Translation: X:34.13, Y:-205.87, Z:-8.06 [[-2.55362392e-01 -9.66844969e-01 9.24660199e-04 3.41291574e+01] [-9.66838867e-01 2.55364066e-01 3.43493511e-03 -2.05874789e+02] [-3.55717472e-03 -1.68441718e-05 -9.99993673e-01 -8.05603064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.970385723 meters 0.018437950940529555 Centerline is valid? [True, True] Translation: X:34.07, Y:-205.99, Z:-8.06 [[-1.78675053e-01 -9.83907808e-01 8.06639199e-04 3.40727422e+01] [-9.83898437e-01 1.78676872e-01 4.29434624e-03 -2.05989478e+02] [-4.36936856e-03 -2.63585064e-05 -9.99990454e-01 -8.05569685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.000385723 meters 0.016882177586579467 Centerline is valid? [True, True] Translation: X:34.03, Y:-206.07, Z:-8.06 [[-9.87609098e-02 -9.95111106e-01 4.11360088e-04 3.40281317e+01] [-9.95103905e-01 9.87617602e-02 3.78594329e-03 -2.06069872e+02] [-3.80806086e-03 -3.54428258e-05 -9.99992749e-01 -8.05627389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.030385723 meters 0.01661455388591338 Centerline is valid? [True, True] Translation: X:33.99, Y:-206.20, Z:-8.06 [[-2.08460826e-02 -9.99782691e-01 1.10035894e-04 3.39894476e+01] [-9.99776399e-01 2.08463418e-02 3.54722836e-03 -2.06200178e+02] [-3.54875136e-03 -3.60654743e-05 -9.99993703e-01 -8.05687833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.060385723 meters 0.016610674752799044 Centerline is valid? [True, True] Translation: X:33.96, Y:-206.31, Z:-8.06 [[ 5.57987994e-02 -9.98442019e-01 -1.67058304e-04 3.39596836e+01] [-9.98435517e-01 -5.57990389e-02 3.60347315e-03 -2.06313959e+02] [-3.60718070e-03 -3.42725310e-05 -9.99993494e-01 -8.05659148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.090385723 meters 0.01628629093389286 Centerline is valid? [True, True] Translation: X:33.94, Y:-206.44, Z:-8.06 [[ 1.31765671e-01 -9.91280794e-01 -4.41111042e-04 3.39421425e+01] [-9.91274445e-01 -1.31766406e-01 3.54805416e-03 -2.06436829e+02] [-3.57524156e-03 -3.02496337e-05 -9.99993608e-01 -8.05717563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12038572299997 meters 0.01616175360995293 Centerline is valid? [True, True] Translation: X:33.94, Y:-206.58, Z:-8.06 [[ 2.04692584e-01 -9.78826077e-01 -6.75668952e-04 3.39361561e+01] [-9.78820454e-01 -2.04693699e-01 3.31804063e-03 -2.06575399e+02] [-3.38608987e-03 -1.78197211e-05 -9.99994267e-01 -8.05746778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.150385723 meters 0.01819896401943296 Centerline is valid? [True, True] Translation: X:33.94, Y:-206.70, Z:-8.06 [[ 2.74445184e-01 -9.61601822e-01 -1.33301838e-03 3.39380237e+01] [-9.61590498e-01 -2.74448421e-01 4.66668695e-03 -2.06695106e+02] [-4.85333947e-03 1.06805074e-06 -9.99988223e-01 -8.05724892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.180385723 meters 0.017732022388911625 Centerline is valid? [True, True] Translation: X:33.95, Y:-206.82, Z:-8.06 [[ 3.45357363e-01 -9.38469998e-01 -1.53419427e-03 3.39501576e+01] [-9.38460901e-01 -3.45360771e-01 4.13228586e-03 -2.06821539e+02] [-4.40787682e-03 1.26659842e-05 -9.99990285e-01 -8.05736147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.210385723 meters 0.019487960063134496 Centerline is valid? [True, True] Translation: X:33.97, Y:-206.95, Z:-8.05 [[ 4.11249481e-01 -9.11519244e-01 -2.55587266e-03 3.39746097e+01] [-9.11502445e-01 -4.11257420e-01 5.53422519e-03 -2.06951304e+02] [-6.09567435e-03 5.37369390e-05 -9.99981420e-01 -8.05490968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.240385723 meters 0.017846312799535007 Centerline is valid? [True, True] Translation: X:33.99, Y:-207.05, Z:-8.06 [[ 4.78294944e-01 -8.78194337e-01 -2.94156282e-03 3.39944543e+01] [-8.78178581e-01 -4.78303985e-01 5.26093085e-03 -2.07051375e+02] [-6.02708090e-03 6.69408371e-05 -9.99981835e-01 -8.05517100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.270385723 meters 0.018079174371747837 Centerline is valid? [True, True] Translation: X:34.03, Y:-207.17, Z:-8.05 [[ 5.40492069e-01 -8.41339561e-01 -4.00822006e-03 3.40335399e+01] [-8.41317976e-01 -5.40506919e-01 6.02770870e-03 -2.07167624e+02] [-7.23782047e-03 1.14258846e-04 -9.99973800e-01 -8.05440380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.300385723 meters 0.020006652928552155 Centerline is valid? [True, True] Translation: X:34.07, Y:-207.27, Z:-8.05 [[ 6.01364490e-01 -7.98956270e-01 -5.44325948e-03 3.40702760e+01] [-7.98925962e-01 -6.01389102e-01 6.96096978e-03 -2.07268150e+02] [-8.83502738e-03 1.62681276e-04 -9.99960957e-01 -8.05316812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.330385723 meters 0.01933421776910994 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.37, Z:-8.05 [[ 6.59672245e-01 -7.51529726e-01 -5.96661233e-03 3.41216937e+01] [-7.51501369e-01 -6.59699205e-01 6.53086888e-03 -2.07371348e+02] [-8.84431150e-03 1.75684400e-04 -9.99960873e-01 -8.05316600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.360385723 meters 0.01894466179219254 Centerline is valid? [True, True] Translation: X:34.18, Y:-207.47, Z:-8.05 [[ 7.14045206e-01 -7.00070596e-01 -6.37218108e-03 3.41778373e+01] [-7.00045043e-01 -7.14073613e-01 5.98431515e-03 -2.07468258e+02] [-8.73964945e-03 1.87742241e-04 -9.99961791e-01 -8.05351132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.390385723 meters 0.018517383724301437 Centerline is valid? [True, True] Translation: X:34.17, Y:-207.48, Z:-8.05 [[ 7.66662217e-01 -6.42014073e-01 -6.85384499e-03 3.41698692e+01] [-6.41990584e-01 -7.66692829e-01 5.49508962e-03 -2.07476957e+02] [-8.78271868e-03 1.87226361e-04 -9.99961414e-01 -8.05400993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.420385723 meters 0.02013322961552194 Centerline is valid? [True, True] Translation: X:34.16, Y:-207.48, Z:-8.05 [[ 8.14737768e-01 -5.79775089e-01 -7.95080131e-03 3.41635811e+01] [-5.79749869e-01 -8.14776538e-01 5.41146024e-03 -2.07484906e+02] [-9.61555621e-03 2.00554976e-04 -9.99953749e-01 -8.05282027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.450385723 meters 0.01739672780140385 Centerline is valid? [True, True] Translation: X:34.15, Y:-207.50, Z:-8.05 [[ 8.59145944e-01 -5.11680490e-01 -7.16403498e-03 3.41539473e+01] [-5.11664121e-01 -8.59175800e-01 4.09542069e-03 -2.07498819e+02] [-8.25071235e-03 1.47015587e-04 -9.99965952e-01 -8.05430992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.480385723 meters 0.017849721904104988 Centerline is valid? [True, True] Translation: X:34.15, Y:-207.51, Z:-8.05 [[ 8.97058695e-01 -4.41844076e-01 -7.71427152e-03 3.41465337e+01] [-4.41829086e-01 -8.97091853e-01 3.64227535e-03 -2.07509551e+02] [-8.52972792e-03 1.41054766e-04 -9.99963611e-01 -8.05385675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.510385723 meters 0.016878900912499974 Centerline is valid? [True, True] Translation: X:34.14, Y:-207.52, Z:-8.05 [[ 9.29524489e-01 -3.68683793e-01 -7.51564718e-03 3.41413942e+01] [-3.68672771e-01 -9.29554865e-01 2.85333954e-03 -2.07520903e+02] [-8.03818644e-03 1.18565494e-04 -9.99967686e-01 -8.05457149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.540385723 meters 0.016423629382666963 Centerline is valid? [True, True] Translation: X:34.14, Y:-207.53, Z:-8.06 [[ 9.56238359e-01 -2.92502203e-01 -7.11777981e-03 3.41373640e+01] [-2.92494806e-01 -9.56264845e-01 2.08219900e-03 -2.07532585e+02] [-7.41553040e-03 9.08350667e-05 -9.99972501e-01 -8.05615137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.570385723 meters 0.016198192341767965 Centerline is valid? [True, True] Translation: X:34.13, Y:-207.54, Z:-8.06 [[ 9.76463905e-01 -2.15603817e-01 -5.76515526e-03 3.41338479e+01] [-2.15600450e-01 -9.76480921e-01 1.20666904e-03 -2.07542945e+02] [-5.88972658e-03 6.47013033e-05 -9.99982653e-01 -8.05815445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.600385723 meters 0.016295137125333467 Centerline is valid? [True, True] Translation: X:34.13, Y:-207.55, Z:-8.06 [[ 9.90364417e-01 -1.38395585e-01 -4.99831601e-03 3.41271980e+01] [-1.38394102e-01 -9.90377029e-01 6.43032790e-04 -2.07551335e+02] [-5.03921026e-03 5.49006615e-05 -9.99987302e-01 -8.05838005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.630385723 meters 0.01591709536611423 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.57, Z:-8.06 [[ 9.98181551e-01 -6.01270084e-02 -4.28175838e-03 3.41217715e+01] [-6.01266501e-02 -9.98190734e-01 2.12463953e-04 -2.07565509e+02] [-4.28678636e-03 4.53701896e-05 -9.99990811e-01 -8.05839356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.660385723 meters 0.015806489115613716 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.58, Z:-8.06 [[ 9.99818537e-01 1.85066006e-02 -4.51658355e-03 3.41184916e+01] [ 1.85062021e-02 -9.99828737e-01 -1.30014092e-04 -2.07579189e+02] [-4.51821614e-03 4.64056911e-05 -9.99989792e-01 -8.05775693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.690385723 meters 0.015760619250360916 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.59, Z:-8.06 [[ 9.95267589e-01 9.70420626e-02 -5.02627563e-03 3.41162084e+01] [ 9.70405696e-02 -9.95280280e-01 -5.40657647e-04 -2.07591450e+02] [-5.05501955e-03 5.03463829e-05 -9.99987222e-01 -8.05720729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.720385723 meters 0.015647330304802583 Centerline is valid? [True, True] Translation: X:34.11, Y:-207.60, Z:-8.06 [[ 9.84525894e-01 1.75144011e-01 -5.77404277e-03 3.41148895e+01] [ 1.75140668e-01 -9.84542824e-01 -1.08355077e-03 -2.07604397e+02] [-5.87456981e-03 5.55140864e-05 -9.99982743e-01 -8.05665048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.750385723 meters 0.015683440532357037 Centerline is valid? [True, True] Translation: X:34.11, Y:-207.62, Z:-8.06 [[ 9.67812741e-01 2.51606255e-01 -5.72640687e-03 3.41144784e+01] [ 2.51601505e-01 -9.67829680e-01 -1.54693602e-03 -2.07616070e+02] [-5.93140531e-03 5.63718010e-05 -9.99982408e-01 -8.05641423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.780385723 meters 0.015735795473313274 Centerline is valid? [True, True] Translation: X:34.11, Y:-207.63, Z:-8.06 [[ 9.45312143e-01 3.26126389e-01 -5.15086288e-03 3.41141081e+01] [ 3.26121231e-01 -9.45326174e-01 -1.83500160e-03 -2.07628817e+02] [-5.46768795e-03 5.48435517e-05 -9.99985051e-01 -8.05578025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81038572299997 meters 0.01748932910546752 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.64, Z:-8.05 [[ 9.16903284e-01 3.99061250e-01 -6.20374657e-03 3.41152061e+01] [ 3.99051607e-01 -9.16924269e-01 -2.77501322e-03 -2.07639657e+02] [-6.79576603e-03 6.88036929e-05 -9.99976906e-01 -8.05441200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.840385723 meters 0.01578531686933882 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.65, Z:-8.05 [[ 8.83004620e-01 4.69338759e-01 -4.89589826e-03 3.41165876e+01] [ 4.69331177e-01 -8.83018191e-01 -2.66835687e-03 -2.07648783e+02] [-5.57553053e-03 5.83737506e-05 -9.99984455e-01 -8.05497870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87038572299997 meters 0.017523082823069597 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.66, Z:-8.05 [[ 8.43770926e-01 5.36669280e-01 -6.05869577e-03 3.41183533e+01] [ 5.36654772e-01 -8.43792674e-01 -3.94691041e-03 -2.07657046e+02] [-7.23046868e-03 7.88602502e-05 -9.99973857e-01 -8.05353680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.900385723 meters 0.016290099087997816 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.66, Z:-8.05 [[ 8.00475201e-01 5.99342601e-01 -5.28195419e-03 3.41186736e+01] [ 5.99328833e-01 -8.00492623e-01 -4.06338626e-03 -2.07664738e+02] [-6.66352585e-03 8.70124888e-05 -9.99977795e-01 -8.05356835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.930385723 meters 0.016483333366566065 Centerline is valid? [True, True] Translation: X:34.12, Y:-207.67, Z:-8.05 [[ 7.52893707e-01 6.58118573e-01 -5.56875473e-03 3.41233521e+01] [ 6.58099398e-01 -7.52914292e-01 -5.02509965e-03 -2.07674577e+02] [-7.49990643e-03 1.18571763e-04 -9.99971868e-01 -8.05315322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.960385723 meters 0.016413346758461973 Centerline is valid? [True, True] Translation: X:34.13, Y:-207.69, Z:-8.05 [[ 6.99822824e-01 7.14298545e-01 -5.06006149e-03 3.41294901e+01] [ 7.14278579e-01 -6.99841106e-01 -5.34217572e-03 -2.07685183e+02] [-7.35714738e-03 1.24282964e-04 -9.99972928e-01 -8.05330152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.990385723 meters 0.016731492339403194 Centerline is valid? [True, True] Translation: X:34.13, Y:-207.70, Z:-8.05 [[ 6.42348179e-01 7.66399121e-01 -4.60475287e-03 3.41341813e+01] [ 7.66377970e-01 -6.42364671e-01 -5.69536551e-03 -2.07695044e+02] [-7.32285368e-03 1.29426509e-04 -9.99973179e-01 -8.05318399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.020385723 meters 0.0166619351103869 Centerline is valid? [True, True] Translation: X:34.14, Y:-207.70, Z:-8.05 [[ 5.80845220e-01 8.14004535e-01 -3.93033755e-03 3.41419140e+01] [ 8.13984404e-01 -5.80858503e-01 -5.72624923e-03 -2.07704815e+02] [-6.94416283e-03 1.26831022e-04 -9.99975881e-01 -8.05319665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.050385723 meters 0.01654606297903923 Centerline is valid? [True, True] Translation: X:34.15, Y:-207.71, Z:-8.05 [[ 5.15336224e-01 8.56981997e-01 -3.22990898e-03 3.41500088e+01] [ 8.56963704e-01 -5.15346332e-01 -5.60074910e-03 -2.07714171e+02] [-6.46426290e-03 1.18354129e-04 -9.99979099e-01 -8.05339880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.080385723 meters 0.016753584608467556 Centerline is valid? [True, True] Translation: X:34.16, Y:-207.72, Z:-8.05 [[ 4.46023791e-01 8.95016668e-01 -2.81814265e-03 3.41575547e+01] [ 8.94997140e-01 -4.46032679e-01 -5.91345991e-03 -2.07723225e+02] [-6.54962890e-03 1.15314189e-04 -9.99978544e-01 -8.05340344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.110385723 meters 0.01626161846641107 Centerline is valid? [True, True] Translation: X:34.17, Y:-207.73, Z:-8.05 [[ 3.74028082e-01 9.27414372e-01 -2.36156188e-03 3.41670843e+01] [ 9.27393948e-01 -3.74035521e-01 -6.15585473e-03 -2.07731446e+02] [-6.59233617e-03 1.12364343e-04 -9.99978264e-01 -8.05351950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.140385723 meters 0.015548072703894487 Centerline is valid? [True, True] Translation: X:34.18, Y:-207.74, Z:-8.05 [[ 2.99147814e-01 9.54204262e-01 -2.19345544e-03 3.41836219e+01] [ 9.54175533e-01 -2.99155830e-01 -7.40550658e-03 -2.07740186e+02] [-7.72255093e-03 1.22399593e-04 -9.99970173e-01 -8.05238240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.170385723 meters 0.015585094086385172 Centerline is valid? [True, True] Translation: X:34.20, Y:-207.75, Z:-8.05 [[ 2.23048825e-01 9.74805720e-01 -1.74080246e-03 3.41962913e+01] [ 9.74771356e-01 -2.23055581e-01 -8.18607856e-03 -2.07747686e+02] [-8.36813191e-03 1.29010836e-04 -9.99964978e-01 -8.05186627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.200385723 meters 0.017214900490097426 Centerline is valid? [True, True] Translation: X:34.21, Y:-207.75, Z:-8.05 [[ 1.45032809e-01 9.89426014e-01 -1.28350738e-03 3.42102611e+01] [ 9.89378156e-01 -1.45038420e-01 -9.73249920e-03 -2.07752478e+02] [-9.81574577e-03 1.41657540e-04 -9.99951814e-01 -8.05069795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.230385723 meters 0.015279351262431264 Centerline is valid? [True, True] Translation: X:34.22, Y:-207.76, Z:-8.05 [[ 6.68442096e-02 9.97763325e-01 -4.47102847e-04 3.42222551e+01] [ 9.97727319e-01 -6.68455962e-02 -8.47721877e-03 -2.07755956e+02] [-8.48814484e-03 1.20566264e-04 -9.99963968e-01 -8.05105362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.260385723 meters 0.015325593818454164 Centerline is valid? [True, True] Translation: X:34.23, Y:-207.76, Z:-8.05 [[-1.10944072e-02 9.99938426e-01 2.41383627e-04 3.42341406e+01] [ 9.99894419e-01 1.10961838e-02 -9.38223227e-03 -2.07758494e+02] [-9.38433301e-03 1.37267836e-04 -9.99955957e-01 -8.05090853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.290385723 meters 0.015605548735367151 Centerline is valid? [True, True] Translation: X:34.24, Y:-207.76, Z:-8.05 [[-8.88404577e-02 9.96045394e-01 9.73192748e-04 3.42439555e+01] [ 9.96001852e-01 8.88456747e-02 -9.31432184e-03 -2.07761682e+02] [-9.36395133e-03 1.41813164e-04 -9.99956147e-01 -8.05050874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.320385723 meters 0.015932362427546195 Centerline is valid? [True, True] Translation: X:34.25, Y:-207.76, Z:-8.05 [[-1.65152269e-01 9.86266622e-01 1.69669425e-03 3.42536490e+01] [ 9.86223790e-01 1.65160911e-01 -9.19287523e-03 -2.07764180e+02] [-9.34685356e-03 1.55096038e-04 -9.99956305e-01 -8.04999946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.350385723 meters 0.016194225177298006 Centerline is valid? [True, True] Translation: X:34.26, Y:-207.77, Z:-8.05 [[-2.40724486e-01 9.70590754e-01 2.30428077e-03 3.42624283e+01] [ 9.70552407e-01 2.40735461e-01 -8.62914954e-03 -2.07765921e+02] [-8.93009486e-03 1.59177668e-04 -9.99960113e-01 -8.04952797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.380385723 meters 0.016352769368521567 Centerline is valid? [True, True] Translation: X:34.27, Y:-207.77, Z:-8.05 [[-3.15699482e-01 9.48855249e-01 2.74820175e-03 3.42705198e+01] [ 9.48823325e-01 3.15711408e-01 -7.78491155e-03 -2.07766418e+02] [-8.25439283e-03 1.49865381e-04 -9.99965921e-01 -8.04928040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.410385723 meters 0.015687554716137534 Centerline is valid? [True, True] Translation: X:34.28, Y:-207.76, Z:-8.05 [[-3.88690151e-01 9.21362446e-01 3.34815222e-03 3.42848663e+01] [ 9.21331583e-01 3.88704541e-01 -7.54280646e-03 -2.07763947e+02] [-8.25110058e-03 1.52943804e-04 -9.99965947e-01 -8.04967939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.440385723 meters 0.015801170371510395 Centerline is valid? [True, True] Translation: X:34.30, Y:-207.76, Z:-8.05 [[-4.59717650e-01 8.88056648e-01 3.88226633e-03 3.42967677e+01] [ 8.88027703e-01 4.59734018e-01 -7.17154901e-03 -2.07760821e+02] [-8.15355167e-03 1.50672387e-04 -9.99966748e-01 -8.04943105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.470385723 meters 0.015799345389663527 Centerline is valid? [True, True] Translation: X:34.31, Y:-207.76, Z:-8.05 [[-5.28204588e-01 8.49107808e-01 3.98031849e-03 3.43080668e+01] [ 8.49085564e-01 5.28219569e-01 -6.14761066e-03 -2.07756459e+02] [-7.32246633e-03 1.32434810e-04 -9.99973182e-01 -8.04907283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.500385723 meters 0.015419161533599587 Centerline is valid? [True, True] Translation: X:34.32, Y:-207.75, Z:-8.05 [[-5.93083871e-01 8.05129378e-01 4.26695754e-03 3.43208323e+01] [ 8.05110062e-01 5.93099207e-01 -5.57846867e-03 -2.07749892e+02] [-7.02211813e-03 1.26870653e-04 -9.99975337e-01 -8.04968938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.530385723 meters 0.015919082000639784 Centerline is valid? [True, True] Translation: X:34.33, Y:-207.74, Z:-8.05 [[-6.54845010e-01 7.55749932e-01 4.47816643e-03 3.43319847e+01] [ 7.55733467e-01 6.54860311e-01 -4.99003605e-03 -2.07744362e+02] [-6.70379287e-03 1.16600034e-04 -9.99977523e-01 -8.04935192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56038572299997 meters 0.016392624745985164 Centerline is valid? [True, True] Translation: X:34.34, Y:-207.74, Z:-8.05 [[-7.13509432e-01 7.00628399e-01 4.91293649e-03 3.43404958e+01] [ 7.00612785e-01 7.13526338e-01 -4.67873234e-03 -2.07740474e+02] [-6.78356233e-03 1.03746459e-04 -9.99976986e-01 -8.04742651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.590385723 meters 0.015024787767698167 Centerline is valid? [True, True] Translation: X:34.37, Y:-207.72, Z:-8.05 [[-7.62639559e-01 6.46801114e-01 5.40569444e-03 3.43676559e+01] [ 6.46785724e-01 7.62658711e-01 -4.46286618e-03 -2.07720439e+02] [-7.00928677e-03 9.27677020e-05 -9.99975430e-01 -8.04743898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62038572299997 meters 0.0147310151112975 Centerline is valid? [True, True] Translation: X:34.39, Y:-207.70, Z:-8.05 [[-8.07200713e-01 5.90252739e-01 5.35842762e-03 3.43862584e+01] [ 5.90240383e-01 8.07218495e-01 -3.81999415e-03 -2.07697000e+02] [-6.58018389e-03 7.92583652e-05 -9.99978347e-01 -8.04738243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.650385723 meters 0.014500171173158318 Centerline is valid? [True, True] Translation: X:34.39, Y:-207.67, Z:-8.05 [[-8.47902447e-01 5.30125489e-01 5.32968760e-03 3.43929371e+01] [ 5.30115489e-01 8.47919195e-01 -3.25679075e-03 -2.07665818e+02] [-6.24565221e-03 6.39091030e-05 -9.99980494e-01 -8.04689939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.680385723 meters 0.014530295982998782 Centerline is valid? [True, True] Translation: X:34.76, Y:-207.06, Z:-9.02 [[-8.21815260e-01 -5.69731495e-01 5.06979766e-03 3.47581352e+01] [ 5.69720161e-01 -8.21830895e-01 -3.59431879e-03 -2.07064146e+02] [ 6.21431296e-03 -6.55000921e-05 9.99980689e-01 -9.02076924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.710385723 meters 0.014185064410878388 Centerline is valid? [True, True] Translation: X:34.36, Y:-207.65, Z:-8.05 [[-8.50447238e-01 5.26031389e-01 5.52024529e-03 3.43646783e+01] [ 5.26020752e-01 8.50465152e-01 -3.34575395e-03 -2.07648636e+02] [-6.45474784e-03 5.83763707e-05 -9.99979166e-01 -8.04669763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.740385723 meters 0.014078751282037966 Centerline is valid? [True, True] Translation: X:34.73, Y:-207.05, Z:-9.02 [[-8.23358645e-01 -5.67495556e-01 5.41623073e-03 3.47323925e+01] [ 5.67482876e-01 -8.23376458e-01 -3.79395474e-03 -2.07051768e+02] [ 6.61264933e-03 -5.01672424e-05 9.99978135e-01 -9.02135465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.770385723 meters 0.014060976331975518 Centerline is valid? [True, True] Translation: X:34.32, Y:-207.63, Z:-8.05 [[-8.52603069e-01 5.22528462e-01 5.65799466e-03 3.43240929e+01] [ 5.22517392e-01 8.52621841e-01 -3.40178749e-03 -2.07625869e+02] [-6.60166061e-03 5.60261579e-05 -9.99978207e-01 -8.04616593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.800385723 meters 0.014060976331975518 Centerline is valid? [True, True] Translation: X:34.34, Y:-207.60, Z:-8.05 [[-8.87443315e-01 4.60879306e-01 5.88455106e-03 3.43387221e+01] [ 4.60869592e-01 8.87462823e-01 -2.99284998e-03 -2.07600685e+02] [-6.60166292e-03 5.60259302e-05 -9.99978207e-01 -8.04616590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.830385723 meters 0.014171851080889253 Centerline is valid? [True, True] Translation: X:34.66, Y:-206.98, Z:-9.02 [[-8.62945758e-01 -5.05264635e-01 5.68046342e-03 3.46622837e+01] [ 5.05253266e-01 -8.62964452e-01 -3.39001055e-03 -2.06975914e+02] [ 6.61489045e-03 -5.53225259e-05 9.99978120e-01 -9.02100855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.860385723 meters 0.014264991090155957 Centerline is valid? [True, True] Translation: X:34.29, Y:-207.58, Z:-8.05 [[-8.89436484e-01 4.57009176e-01 6.73447534e-03 3.42935423e+01] [ 4.56996574e-01 8.89461978e-01 -3.39432064e-03 -2.07581414e+02] [-7.54129544e-03 5.85995448e-05 -9.99971562e-01 -8.04607442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.890385723 meters 0.014371389762446106 Centerline is valid? [True, True] Translation: X:34.62, Y:-206.95, Z:-9.02 [[-8.64435274e-01 -5.02690079e-01 7.37168055e-03 3.46174308e+01] [ 5.02671749e-01 -8.64466706e-01 -4.29278861e-03 -2.06952051e+02] [ 8.53051464e-03 -5.30234146e-06 9.99963615e-01 -9.02207538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.920385723 meters 0.014269407844618852 Centerline is valid? [True, True] Translation: X:34.26, Y:-207.57, Z:-8.05 [[-8.91001926e-01 4.53937003e-01 7.53432042e-03 3.42552402e+01] [ 4.53921410e-01 8.91033778e-01 -3.76311402e-03 -2.07565309e+02] [-8.42155069e-03 6.70475052e-05 -9.99964536e-01 -8.04560975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.950385723 meters 0.014394115456760904 Centerline is valid? [True, True] Translation: X:34.58, Y:-206.93, Z:-9.02 [[-8.66873096e-01 -4.98475741e-01 7.27820565e-03 3.45781327e+01] [ 4.98457528e-01 -8.66903646e-01 -4.26161355e-03 -2.06929480e+02] [ 8.43381398e-03 -6.64017341e-05 9.99964433e-01 -9.02109287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.980385723 meters 0.014615714726982344 Centerline is valid? [True, True] Translation: X:34.21, Y:-207.55, Z:-8.05 [[-8.91333117e-01 4.53294546e-01 7.02348558e-03 3.42103436e+01] [ 4.53281227e-01 8.91360784e-01 -3.47586371e-03 -2.07549742e+02] [-7.83604967e-03 8.54617286e-05 -9.99969294e-01 -8.04710475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.010385723 meters 0.0154753576605926 Centerline is valid? [True, True] Translation: X:34.54, Y:-206.90, Z:-9.02 [[-8.70220580e-01 -4.92618011e-01 6.60594535e-03 3.45367473e+01] [ 4.92602986e-01 -8.70245647e-01 -3.84851371e-03 -2.06902017e+02] [ 7.64464236e-03 -9.49474268e-05 9.99970775e-01 -9.02146555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.040385723 meters 0.015272621448101122 Centerline is valid? [True, True] Translation: X:34.17, Y:-207.54, Z:-8.05 [[-8.91666096e-01 4.52649239e-01 6.34353047e-03 3.41707541e+01] [ 4.52638563e-01 8.91688655e-01 -3.11027010e-03 -2.07537707e+02] [-7.06431555e-03 9.80041234e-05 -9.99975043e-01 -8.04770861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.070385723 meters 0.015437372175482193 Centerline is valid? [True, True] Translation: X:34.18, Y:-207.51, Z:-8.05 [[-9.21131539e-01 3.89197970e-01 6.45197843e-03 3.41815925e+01] [ 3.89189205e-01 9.21154129e-01 -2.61410282e-03 -2.07512484e+02] [-6.96067008e-03 1.03107795e-04 -9.99975769e-01 -8.04837517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.100385723 meters 0.015652535897171815 Centerline is valid? [True, True] Translation: X:34.19, Y:-207.49, Z:-8.05 [[-9.46042138e-01 3.23985669e-01 6.12863550e-03 3.41891350e+01] [ 3.23979570e-01 9.46061983e-01 -1.99057407e-03 -2.07486724e+02] [-6.44298652e-03 1.02385745e-04 -9.99979239e-01 -8.04851004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.130385723 meters 0.015530111090338106 Centerline is valid? [True, True] Translation: X:34.42, Y:-206.78, Z:-9.02 [[-9.33848437e-01 -3.57627275e-01 5.46162324e-03 3.44244684e+01] [ 3.57620353e-01 -9.33864399e-01 -2.22862781e-03 -2.06782161e+02] [ 5.89743360e-03 -1.28012966e-04 9.99982602e-01 -9.01824564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.160385723 meters 0.016749569379923973 Centerline is valid? [True, True] Translation: X:34.14, Y:-207.47, Z:-8.05 [[-9.47443470e-01 3.19877267e-01 5.42264449e-03 3.41410756e+01] [ 3.19872556e-01 9.47458984e-01 -1.73832876e-03 -2.07473659e+02] [-5.69378510e-03 8.75869176e-05 -9.99983786e-01 -8.04911548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.190385723 meters 0.014945199861115315 Centerline is valid? [True, True] Translation: X:34.38, Y:-206.77, Z:-9.02 [[-9.34365474e-01 -3.56280672e-01 5.02423207e-03 3.43765146e+01] [ 3.56274936e-01 -9.34378977e-01 -2.02418787e-03 -2.06767191e+02] [ 5.41571583e-03 -1.01323304e-04 9.99985330e-01 -9.01813555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.220385723 meters 0.015183739138753795 Centerline is valid? [True, True] Translation: X:34.10, Y:-207.46, Z:-8.05 [[-9.49572315e-01 3.13494138e-01 5.81764554e-03 3.40957849e+01] [ 3.13488746e-01 9.49590133e-01 -1.84023999e-03 -2.07461315e+02] [-6.10128325e-03 7.63254551e-05 -9.99981384e-01 -8.04806780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.250385723 meters 0.015019698327726394 Centerline is valid? [True, True] Translation: X:34.32, Y:-206.75, Z:-9.02 [[-9.35146777e-01 -3.54212939e-01 5.80519085e-03 3.43231155e+01] [ 3.54205651e-01 -9.35164793e-01 -2.27322588e-03 -2.06749106e+02] [ 6.23401612e-03 -6.95684542e-05 9.99980566e-01 -9.01982486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.280385723 meters 0.014854412051913747 Centerline is valid? [True, True] Translation: X:34.05, Y:-207.45, Z:-8.05 [[-9.51450354e-01 3.07749490e-01 5.69866659e-03 3.40472715e+01] [ 3.07744356e-01 9.51467418e-01 -1.77871177e-03 -2.07449038e+02] [-5.96949323e-03 6.13765341e-05 -9.99982181e-01 -8.04738071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31038572299997 meters 0.014480188565412071 Centerline is valid? [True, True] Translation: X:34.27, Y:-206.73, Z:-9.02 [[-9.35575522e-01 -3.53089949e-01 5.09220674e-03 3.42736790e+01] [ 3.53084207e-01 -9.35589376e-01 -2.01560923e-03 -2.06731715e+02] [ 5.47590589e-03 -8.77768773e-05 9.99985003e-01 -9.01920621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.340385723 meters 0.014471816173170974 Centerline is valid? [True, True] Translation: X:34.00, Y:-207.44, Z:-8.05 [[-9.53222620e-01 3.02225701e-01 5.12474224e-03 3.39980734e+01] [ 3.02221586e-01 9.53236394e-01 -1.57782740e-03 -2.07435568e+02] [-5.36195081e-03 4.47869598e-05 -9.99985624e-01 -8.04802973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37038572299997 meters 0.01453144028371709 Centerline is valid? [True, True] Translation: X:34.00, Y:-207.41, Z:-8.05 [[-9.72472404e-01 2.32951404e-01 5.57375688e-03 3.40003056e+01] [ 2.32947826e-01 9.72488376e-01 -1.29177055e-03 -2.07406272e+02] [-5.72133354e-03 4.21833358e-05 -9.99983632e-01 -8.04630243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.400385723 meters 0.014388082576927846 Centerline is valid? [True, True] Translation: X:34.01, Y:-207.38, Z:-8.05 [[-9.86532208e-01 1.63462302e-01 5.85474316e-03 3.40108433e+01] [ 1.63459690e-01 9.86549580e-01 -9.25181087e-04 -2.07378734e+02] [-5.92722664e-03 4.42935616e-05 -9.99982433e-01 -8.04576327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.430385723 meters 0.014345901752992855 Centerline is valid? [True, True] Translation: X:34.01, Y:-207.35, Z:-8.05 [[-9.95616457e-01 9.33268854e-02 6.16135031e-03 3.40109437e+01] [ 9.33253989e-02 9.95635521e-01 -5.28961283e-04 -2.07350187e+02] [-6.18382554e-03 4.83679166e-05 -9.99980879e-01 -8.04532642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.460385723 meters 0.014569612658320909 Centerline is valid? [True, True] Translation: X:34.08, Y:-206.59, Z:-9.02 [[-9.89656286e-01 -1.43363774e-01 5.22148975e-03 3.40842227e+01] [ 1.43361253e-01 -9.89670056e-01 -8.55697411e-04 -2.06594362e+02] [ 5.29022806e-03 -9.82870057e-05 9.99986002e-01 -9.02199977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.490385723 meters 0.014639925881733072 Centerline is valid? [True, True] Translation: X:33.94, Y:-207.35, Z:-8.05 [[-9.95782598e-01 9.16234392e-02 4.70784177e-03 3.39435063e+01] [ 9.16226565e-02 9.95793725e-01 -3.82111783e-04 -2.07350495e+02] [-4.72304968e-03 5.08447052e-05 -9.99988845e-01 -8.04583700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.520385723 meters 0.014856480453569961 Centerline is valid? [True, True] Translation: X:34.01, Y:-206.59, Z:-9.02 [[-9.90886801e-01 -1.34652743e-01 3.46218405e-03 3.40147764e+01] [ 1.34651519e-01 -9.90892843e-01 -5.85149189e-04 -2.06585022e+02] [ 3.50944534e-03 -1.13628265e-04 9.99993835e-01 -9.02129562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.550385723 meters 0.015392119808546156 Centerline is valid? [True, True] Translation: X:33.88, Y:-207.35, Z:-8.05 [[-9.95726252e-01 9.22998901e-02 3.15632373e-03 3.38763848e+01] [ 9.22995893e-02 9.95731253e-01 -2.41139267e-04 -2.07350333e+02] [-3.16510731e-03 5.12186850e-05 -9.99994990e-01 -8.04571162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.580385723 meters 0.015487093771982438 Centerline is valid? [True, True] Translation: X:33.88, Y:-207.32, Z:-8.05 [[-9.99739395e-01 2.26216366e-02 3.06662546e-03 3.38812506e+01] [ 2.26216949e-02 9.99744097e-01 -1.56916925e-05 -2.07322193e+02] [-3.06619567e-03 5.36846623e-05 -9.99995298e-01 -8.04559151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.610385723 meters 0.016042397923302577 Centerline is valid? [True, True] Translation: X:33.88, Y:-207.30, Z:-8.05 [[-9.98908123e-01 -4.66219537e-02 2.99248889e-03 3.38792895e+01] [-4.66215695e-02 9.98912604e-01 1.98083202e-04 -2.07296576e+02] [-2.99846989e-03 5.83523910e-05 -9.99995503e-01 -8.04542435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.640385723 meters 0.01634314827500171 Centerline is valid? [True, True] Translation: X:33.87, Y:-207.27, Z:-8.05 [[-9.93140155e-01 -1.16904775e-01 2.43017175e-03 3.38679081e+01] [-1.16904302e-01 9.93143127e-01 3.36414008e-04 -2.07269972e+02] [-2.45283678e-03 5.00087284e-05 -9.99996991e-01 -8.04538519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.670385723 meters 0.016695632631288666 Centerline is valid? [True, True] Translation: X:33.85, Y:-207.25, Z:-8.04 [[-9.82285489e-01 -1.87370170e-01 2.76352734e-03 3.38466411e+01] [-1.87369257e-01 9.82289375e-01 5.87688739e-04 -2.07245464e+02] [-2.82469888e-03 5.94780558e-05 -9.99996009e-01 -8.04472974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.700385723 meters 0.01655350950774679 Centerline is valid? [True, True] Translation: X:33.80, Y:-207.23, Z:-8.04 [[-9.66196017e-01 -2.57788594e-01 3.20914124e-03 3.38029621e+01] [-2.57786925e-01 9.66201343e-01 9.30342984e-04 -2.07226002e+02] [-3.34050838e-03 7.16190339e-05 -9.99994418e-01 -8.04371233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.730385723 meters 0.016997077743520304 Centerline is valid? [True, True] Translation: X:33.74, Y:-207.22, Z:-8.04 [[-9.44666040e-01 -3.28019840e-01 3.00958760e-03 3.37414301e+01] [-3.28017941e-01 9.44670831e-01 1.11837129e-03 -2.07216396e+02] [-3.20991759e-03 6.92886462e-05 -9.99994846e-01 -8.04285155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.760385723 meters 0.016726005882587686 Centerline is valid? [True, True] Translation: X:33.67, Y:-207.22, Z:-8.04 [[-9.17681539e-01 -3.97309977e-01 2.31864054e-03 3.36679690e+01] [-3.97308558e-01 9.17684466e-01 1.06312206e-03 -2.07215736e+02] [-2.55016940e-03 5.43917606e-05 -9.99996747e-01 -8.04334622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.790385723 meters 0.016116125719267904 Centerline is valid? [True, True] Translation: X:33.59, Y:-207.22, Z:-8.04 [[-8.85024601e-01 -4.65541664e-01 1.55408669e-03 3.35878777e+01] [-4.65540874e-01 8.85025964e-01 8.58513928e-04 -2.07223029e+02] [-1.77508107e-03 3.63150704e-05 -9.99998424e-01 -8.04437372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.820385723 meters 0.016910181768074472 Centerline is valid? [True, True] Translation: X:33.50, Y:-207.24, Z:-8.04 [[-8.47284576e-01 -5.31137867e-01 1.18905083e-03 3.35015785e+01] [-5.31137297e-01 8.47285409e-01 7.78805540e-04 -2.07242560e+02] [-1.42111853e-03 2.83206767e-05 -9.99998990e-01 -8.04439831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.850385723 meters 0.01666635562388374 Centerline is valid? [True, True] Translation: X:33.41, Y:-207.27, Z:-8.04 [[-8.04127229e-01 -5.94457171e-01 2.65854306e-04 3.34095663e+01] [-5.94457136e-01 8.04127273e-01 2.05154488e-04 -2.07269554e+02] [-3.35736255e-04 6.93132116e-06 -9.99999944e-01 -8.04400004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.880385723 meters 0.015732954775142263 Centerline is valid? [True, True] Translation: X:33.32, Y:-207.31, Z:-8.04 [[-7.56608526e-01 -6.53868118e-01 1.52898964e-04 3.33158465e+01] [-6.53868103e-01 7.56608541e-01 1.38113144e-04 -2.07305182e+02] [-2.05992443e-04 4.52182656e-06 -9.99999979e-01 -8.04335967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.910385723 meters 0.01558065247066152 Centerline is valid? [True, True] Translation: X:33.22, Y:-207.36, Z:-8.04 [[-7.04232009e-01 -7.09969838e-01 -3.28239502e-04 3.32210945e+01] [-7.09969756e-01 7.04232085e-01 -3.41184017e-04 -2.07355056e+02] [ 4.73387150e-04 -7.23258612e-06 -9.99999888e-01 -8.04287931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.940385723 meters 0.015647294254335746 Centerline is valid? [True, True] Translation: X:33.13, Y:-207.42, Z:-8.04 [[-6.47793769e-01 -7.61815685e-01 -3.08418918e-04 3.31278165e+01] [-7.61815593e-01 6.47793843e-01 -3.73868523e-04 -2.07416519e+02] [ 4.84610781e-04 -7.23135887e-06 -9.99999883e-01 -8.04345323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.970385723 meters 0.015040363554429267 Centerline is valid? [True, True] Translation: X:33.03, Y:-207.49, Z:-8.04 [[-5.87040633e-01 -8.09557416e-01 -2.92423254e-04 3.30333365e+01] [-8.09557310e-01 5.87040705e-01 -4.15468079e-04 -2.07488653e+02] [ 5.08009618e-04 -7.16326147e-06 -9.99999871e-01 -8.04350510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.000385723 meters 0.014804532740139532 Centerline is valid? [True, True] Translation: X:32.95, Y:-207.57, Z:-8.04 [[-5.22889929e-01 -8.52400183e-01 -2.25300712e-04 3.29471601e+01] [-8.52400099e-01 5.22889978e-01 -3.78499057e-04 -2.07565479e+02] [ 4.40440149e-04 -5.86699563e-06 -9.99999903e-01 -8.04315862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.030385723 meters 0.014674105842264158 Centerline is valid? [True, True] Translation: X:32.86, Y:-207.66, Z:-8.04 [[-4.54521078e-01 -8.90735970e-01 1.45665051e-04 3.28590289e+01] [-8.90735920e-01 4.54521101e-01 2.97189014e-04 -2.07661727e+02] [-3.30924784e-04 5.32957766e-06 -9.99999945e-01 -8.04171035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06038572299997 meters 0.014597403041903212 Centerline is valid? [True, True] Translation: X:32.78, Y:-207.76, Z:-8.04 [[-3.83656811e-01 -9.23475682e-01 3.41820083e-04 3.27808211e+01] [-9.23475286e-01 3.83656963e-01 8.54659789e-04 -2.07761841e+02] [-9.20399186e-04 1.22336499e-05 -9.99999576e-01 -8.04066324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.090385723 meters 0.014104446385732489 Centerline is valid? [True, True] Translation: X:32.71, Y:-207.87, Z:-8.04 [[-3.08842766e-01 -9.51113050e-01 3.33537881e-04 3.27089703e+01] [-9.51112455e-01 3.08842946e-01 1.06436356e-03 -2.07868288e+02] [-1.11534089e-03 1.14889520e-05 -9.99999378e-01 -8.03953025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12038572299997 meters 0.0140114330532268 Centerline is valid? [True, True] Translation: X:32.65, Y:-207.96, Z:-8.04 [[-2.33271046e-01 -9.72411726e-01 2.31307012e-04 3.26543477e+01] [-9.72411208e-01 2.33271161e-01 1.00389499e-03 -2.07955059e+02] [-1.03015652e-03 9.25410478e-06 -9.99999469e-01 -8.03930153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.150385723 meters 0.013746774296010194 Centerline is valid? [True, True] Translation: X:32.60, Y:-208.10, Z:-8.04 [[-1.55721002e-01 -9.87801032e-01 3.00329067e-04 3.25959877e+01] [-9.87799032e-01 1.55721291e-01 1.98808306e-03 -2.08100266e+02] [-2.01059813e-03 1.29215249e-05 -9.99997979e-01 -8.03906754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.180385723 meters 0.013706988640397745 Centerline is valid? [True, True] Translation: X:32.55, Y:-208.23, Z:-8.04 [[-7.83387876e-02 -9.96926777e-01 1.88742543e-04 3.25522143e+01] [-9.96923419e-01 7.83390136e-02 2.58774671e-03 -2.08229126e+02] [-2.59457989e-03 1.45590789e-05 -9.99996634e-01 -8.03855803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.210385723 meters 0.013691168188692157 Centerline is valid? [True, True] Translation: X:32.52, Y:-208.31, Z:-8.04 [[-6.99227828e-04 -9.99999755e-01 -1.43577133e-05 3.25194988e+01] [-9.99993561e-01 6.99172961e-04 3.51981855e-03 -2.08308936e+02] [-3.51980765e-03 1.68187760e-05 -9.99993805e-01 -8.03762981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.240385723 meters 0.013751315524593941 Centerline is valid? [True, True] Translation: X:32.49, Y:-208.42, Z:-8.04 [[ 7.69784549e-02 -9.97032705e-01 -3.19791826e-04 3.24949559e+01] [-9.97024981e-01 -7.69791173e-02 3.92472468e-03 -2.08423004e+02] [-3.93769616e-03 1.67211973e-05 -9.99992247e-01 -8.03767762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.270385723 meters 0.013882318119151407 Centerline is valid? [True, True] Translation: X:32.48, Y:-208.55, Z:-8.04 [[ 1.53845244e-01 -9.88094669e-01 -7.51904992e-04 3.24804789e+01] [-9.88083460e-01 -1.53847080e-01 4.70665699e-03 -2.08547197e+02] [-4.76630107e-03 1.88480935e-05 -9.99988641e-01 -8.03658303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.300385723 meters 0.013944153345097635 Centerline is valid? [True, True] Translation: X:32.48, Y:-208.68, Z:-8.04 [[ 2.29407230e-01 -9.73329717e-01 -1.25924651e-03 3.24773518e+01] [-9.73315570e-01 -2.29410685e-01 5.24772121e-03 -2.08679766e+02] [-5.39664761e-03 2.17790468e-05 -9.99985438e-01 -8.03576612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.330385723 meters 0.014263315324543188 Centerline is valid? [True, True] Translation: X:32.49, Y:-208.82, Z:-8.03 [[ 3.02379277e-01 -9.53185177e-01 -2.18863413e-03 3.24882673e+01] [-9.53161117e-01 -3.02387196e-01 6.77267998e-03 -2.08819656e+02] [-7.11743311e-03 3.82028686e-05 -9.99974670e-01 -8.03400266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.360385723 meters 0.014514794926038287 Centerline is valid? [True, True] Translation: X:32.50, Y:-208.93, Z:-8.03 [[ 3.73985101e-01 -9.27430199e-01 -2.89319146e-03 3.24977812e+01] [-9.27403452e-01 -3.73996288e-01 7.04372895e-03 -2.08925348e+02] [-7.61460981e-03 4.89060677e-05 -9.99971007e-01 -8.03348892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.390385723 meters 0.015136523081558152 Centerline is valid? [True, True] Translation: X:32.52, Y:-209.04, Z:-8.03 [[ 4.41569636e-01 -8.97220976e-01 -3.28268691e-03 3.25223560e+01] [-8.97197335e-01 -4.41581833e-01 6.51366502e-03 -2.09040376e+02] [-7.29377179e-03 6.89812523e-05 -9.99973398e-01 -8.03416576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.420385723 meters 0.015479260093677099 Centerline is valid? [True, True] Translation: X:32.55, Y:-209.16, Z:-8.03 [[ 5.07979841e-01 -8.61361292e-01 -3.63391054e-03 3.25546431e+01] [-8.61340319e-01 -5.07992833e-01 6.01133098e-03 -2.09156134e+02] [-7.02392833e-03 7.63987043e-05 -9.99975329e-01 -8.03483662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.450385723 meters 0.016030995811332622 Centerline is valid? [True, True] Translation: X:32.60, Y:-209.27, Z:-8.04 [[ 5.71337094e-01 -8.20707706e-01 -3.57574671e-03 3.25976888e+01] [-8.20692465e-01 -5.71348278e-01 5.00227764e-03 -2.09269988e+02] [-6.14840453e-03 7.66016152e-05 -9.99981095e-01 -8.03727220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.480385723 meters 0.016372795520477847 Centerline is valid? [True, True] Translation: X:32.65, Y:-209.38, Z:-8.04 [[ 6.31990033e-01 -7.74969765e-01 -3.23446105e-03 3.26457652e+01] [-7.74960149e-01 -6.31998306e-01 3.86114928e-03 -2.09377796e+02] [-5.03644786e-03 6.63705560e-05 -9.99987315e-01 -8.03891770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.510385723 meters 0.015412890012069124 Centerline is valid? [True, True] Translation: X:32.70, Y:-209.48, Z:-8.04 [[ 6.89166943e-01 -7.24594952e-01 -3.32863149e-03 3.26978818e+01] [-7.24586946e-01 -6.89174979e-01 3.40687782e-03 -2.09482739e+02] [-4.76261601e-03 6.39753524e-05 -9.99988657e-01 -8.04018806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.540385723 meters 0.015402457317280694 Centerline is valid? [True, True] Translation: X:32.76, Y:-209.58, Z:-8.04 [[ 7.42719609e-01 -6.69592179e-01 -3.72765329e-03 3.27567294e+01] [-6.69584178e-01 -7.42728961e-01 3.27399026e-03 -2.09578937e+02] [-4.96087433e-03 6.43208986e-05 -9.99987693e-01 -8.04042580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.570385723 meters 0.015298339874355959 Centerline is valid? [True, True] Translation: X:32.75, Y:-209.58, Z:-8.04 [[ 7.93551295e-01 -6.08491610e-01 -3.78194356e-03 3.27506427e+01] [-6.08485031e-01 -7.93560305e-01 2.83010337e-03 -2.09584662e+02] [-4.72329444e-03 5.54238514e-05 -9.99988844e-01 -8.04039685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.600385723 meters 0.015203801236493963 Centerline is valid? [True, True] Translation: X:32.75, Y:-209.59, Z:-8.04 [[ 8.39551863e-01 -5.43260867e-01 -4.50549967e-03 3.27460858e+01] [-5.43253389e-01 -8.39563951e-01 2.85096423e-03 -2.09591330e+02] [-5.33147241e-03 5.40956321e-05 -9.99985786e-01 -8.04030140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.630385723 meters 0.015098509068652184 Centerline is valid? [True, True] Translation: X:32.74, Y:-209.60, Z:-8.04 [[ 8.79791521e-01 -4.75333938e-01 -4.95243014e-03 3.27422537e+01] [-4.75326744e-01 -8.79805458e-01 2.61570035e-03 -2.09596564e+02] [-5.60050622e-03 5.27515050e-05 -9.99984316e-01 -8.04008588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.660385723 meters 0.014963044811594812 Centerline is valid? [True, True] Translation: X:32.74, Y:-209.61, Z:-8.04 [[ 9.14435361e-01 -4.04698121e-01 -5.23459814e-03 3.27365154e+01] [-4.04691811e-01 -9.14450342e-01 2.26058658e-03 -2.09609058e+02] [-5.70163520e-03 5.12386929e-05 -9.99983744e-01 -8.04138895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.690385723 meters 0.015143224571059747 Centerline is valid? [True, True] Translation: X:32.73, Y:-209.62, Z:-8.04 [[ 9.43189374e-01 -3.32212026e-01 -5.38287328e-03 3.27312491e+01] [-3.32206933e-01 -9.43204732e-01 1.84015952e-03 -2.09619337e+02] [-5.68847468e-03 5.26089211e-05 -9.99983819e-01 -8.04145991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.720385723 meters 0.015143224571059747 Centerline is valid? [True, True] Translation: X:32.73, Y:-209.63, Z:-8.04 [[ 9.66274274e-01 -2.57456140e-01 -5.51029018e-03 3.27280184e+01] [-2.57452264e-01 -9.66289984e-01 1.41370831e-03 -2.09630046e+02] [-5.68850609e-03 5.26067095e-05 -9.99983819e-01 -8.04145958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.750385723 meters 0.015429018222560117 Centerline is valid? [True, True] Translation: X:32.72, Y:-209.64, Z:-8.04 [[ 9.83308324e-01 -1.81875671e-01 -5.09709869e-03 3.27225802e+01] [-1.81873504e-01 -9.83321533e-01 8.89336163e-04 -2.09641219e+02] [-5.17383551e-03 5.25355456e-05 -9.99986614e-01 -8.04269559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.780385723 meters 0.01560481526799814 Centerline is valid? [True, True] Translation: X:32.72, Y:-209.65, Z:-8.04 [[ 9.94455155e-01 -1.05050880e-01 -4.82266740e-03 3.27171782e+01] [-1.05049901e-01 -9.94466847e-01 4.56587226e-04 -2.09650793e+02] [-4.84394773e-03 5.25652110e-05 -9.99988267e-01 -8.04287823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81038572299997 meters 0.01574462827422163 Centerline is valid? [True, True] Translation: X:32.71, Y:-209.66, Z:-8.04 [[ 9.99598675e-01 -2.80293146e-02 -4.10453677e-03 3.27130814e+01] [-2.80292817e-02 -9.99607100e-01 6.55692457e-05 -2.09663623e+02] [-4.10476196e-03 4.95042862e-05 -9.99991574e-01 -8.04383500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.840385723 meters 0.015947335446411012 Centerline is valid? [True, True] Translation: X:32.71, Y:-209.67, Z:-8.04 [[ 9.98754725e-01 4.97382398e-02 -3.88682816e-03 3.27092428e+01] [ 4.97376713e-02 -9.98762287e-01 -2.42859958e-04 -2.09674674e+02] [-3.89409680e-03 4.92357492e-05 -9.99992417e-01 -8.04398522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87038572299997 meters 0.016563176753603283 Centerline is valid? [True, True] Translation: X:32.71, Y:-209.68, Z:-8.04 [[ 9.91958310e-01 1.26534545e-01 -2.77843260e-03 3.27056790e+01] [ 1.26533938e-01 -9.91962201e-01 -3.93922941e-04 -2.09683407e+02] [-2.80594497e-03 3.91891175e-05 -9.99996063e-01 -8.04462755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.900385723 meters 0.01653080575692007 Centerline is valid? [True, True] Translation: X:32.70, Y:-209.69, Z:-8.05 [[ 9.79167219e-01 2.03043543e-01 -2.20826055e-03 3.27038967e+01] [ 2.03042950e-01 -9.79169709e-01 -4.92143546e-04 -2.09694657e+02] [-2.26218841e-03 3.35190901e-05 -9.99997441e-01 -8.04511953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.930385723 meters 0.01660947203395053 Centerline is valid? [True, True] Translation: X:32.70, Y:-209.71, Z:-8.05 [[ 9.60628595e-01 2.77832176e-01 -1.40895712e-03 3.27041069e+01] [ 2.77831840e-01 -9.60629628e-01 -4.32475917e-04 -2.09708916e+02] [-1.47364168e-03 2.39955813e-05 -9.99998914e-01 -8.04525101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.960385723 meters 0.017083691850176247 Centerline is valid? [True, True] Translation: X:32.70, Y:-209.72, Z:-8.04 [[ 9.36173184e-01 3.51535800e-01 -1.53333686e-03 3.27038591e+01] [ 3.51535279e-01 -9.36174439e-01 -6.05558186e-04 -2.09721065e+02] [-1.64834616e-03 2.78853337e-05 -9.99998641e-01 -8.04473812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.990385723 meters 0.016846010955182063 Centerline is valid? [True, True] Translation: X:32.71, Y:-209.74, Z:-8.04 [[ 9.05791467e-01 4.23716459e-01 -2.48594354e-03 3.27067067e+01] [ 4.23714722e-01 -9.05794877e-01 -1.21414040e-03 -2.09736027e+02] [-2.76620620e-03 4.64271418e-05 -9.99996173e-01 -8.04350792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.020385723 meters 0.01698187371083504 Centerline is valid? [True, True] Translation: X:32.71, Y:-209.75, Z:-8.04 [[ 8.69825270e-01 4.93350299e-01 -3.07923546e-03 3.27091496e+01] [ 4.93346964e-01 -8.69830718e-01 -1.81498001e-03 -2.09748046e+02] [-3.57383452e-03 5.95840143e-05 -9.99993612e-01 -8.04310228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.050385723 meters 0.017149159863183338 Centerline is valid? [True, True] Translation: X:32.71, Y:-209.76, Z:-8.04 [[ 8.28858606e-01 5.59446020e-01 -3.68262416e-03 3.27136111e+01] [ 5.59440082e-01 -8.28866784e-01 -2.57882957e-03 -2.09759292e+02] [-4.49512078e-03 7.72775212e-05 -9.99989894e-01 -8.04257363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.080385723 meters 0.01710666477215374 Centerline is valid? [True, True] Translation: X:32.72, Y:-209.77, Z:-8.04 [[ 7.82629331e-01 6.22476046e-01 -3.86029415e-03 3.27199169e+01] [ 6.22467924e-01 -7.82638847e-01 -3.18116586e-03 -2.09772240e+02] [-5.00141571e-03 8.67644200e-05 -9.99987489e-01 -8.04271342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.110385723 meters 0.0173775987050476 Centerline is valid? [True, True] Translation: X:32.73, Y:-209.79, Z:-8.04 [[ 7.32412034e-01 6.80847772e-01 -4.35024767e-03 3.27276818e+01] [ 6.80834836e-01 -7.32424944e-01 -4.19844481e-03 -2.09785039e+02] [-6.04473170e-03 1.13191336e-04 -9.99981724e-01 -8.04204080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.140385723 meters 0.017545773705833878 Centerline is valid? [True, True] Translation: X:32.74, Y:-209.80, Z:-8.04 [[ 6.77408656e-01 7.35595447e-01 -4.10493929e-03 3.27351338e+01] [ 7.35580852e-01 -6.77421083e-01 -4.63539922e-03 -2.09795878e+02] [-6.19055098e-03 1.20544818e-04 -9.99980831e-01 -8.04214788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.170385723 meters 0.01790371938498145 Centerline is valid? [True, True] Translation: X:32.74, Y:-209.81, Z:-8.04 [[ 6.18463348e-01 7.85808133e-01 -2.94369779e-03 3.27431860e+01] [ 7.85798452e-01 -6.18470346e-01 -3.90181204e-03 -2.09806937e+02] [-4.88666542e-03 9.99745671e-05 -9.99988055e-01 -8.04342721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.200385723 meters 0.017882471089406802 Centerline is valid? [True, True] Translation: X:32.75, Y:-209.82, Z:-8.04 [[ 5.54794732e-01 8.31984288e-01 -2.22486446e-03 3.27518072e+01] [ 8.31976985e-01 -5.54799186e-01 -3.48701881e-03 -2.09816297e+02] [-4.13549786e-03 8.35436393e-05 -9.99991445e-01 -8.04440637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.230385723 meters 0.017788458885589355 Centerline is valid? [True, True] Translation: X:32.76, Y:-209.83, Z:-8.05 [[ 4.86933903e-01 8.73437872e-01 -1.28737949e-03 3.27620655e+01] [ 8.73434530e-01 -4.86935602e-01 -2.41689980e-03 -2.09827295e+02] [-2.73788272e-03 5.24287574e-05 -9.99996251e-01 -8.04565995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.260385723 meters 0.017739791260388094 Centerline is valid? [True, True] Translation: X:32.77, Y:-209.84, Z:-8.05 [[ 4.16459327e-01 9.09153847e-01 -9.54524167e-04 3.27718890e+01] [ 9.09151211e-01 -4.16460418e-01 -2.18997209e-03 -2.09835363e+02] [-2.38854309e-03 4.42275009e-05 -9.99997146e-01 -8.04554564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.290385723 meters 0.017484608671292395 Centerline is valid? [True, True] Translation: X:32.78, Y:-209.84, Z:-8.05 [[ 3.42254240e-01 9.39607186e-01 -6.09127779e-04 3.27846615e+01] [ 9.39605531e-01 -3.42254780e-01 -1.76378609e-03 -2.09843503e+02] [-1.86574298e-03 3.13234347e-05 -9.99998259e-01 -8.04602868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.320385723 meters 0.017319620098309226 Centerline is valid? [True, True] Translation: X:32.80, Y:-209.85, Z:-8.05 [[ 2.67046327e-01 9.63683631e-01 -3.44224810e-04 3.27977262e+01] [ 9.63682719e-01 -2.67046548e-01 -1.32607390e-03 -2.09849942e+02] [-1.36983976e-03 2.23996643e-05 -9.99999062e-01 -8.04652710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.350385723 meters 0.017646022453483803 Centerline is valid? [True, True] Translation: X:32.81, Y:-209.86, Z:-8.05 [[ 1.90272956e-01 9.81731193e-01 -2.58675882e-04 3.28100934e+01] [ 9.81730111e-01 -1.90273130e-01 -1.45748593e-03 -2.09855662e+02] [-1.48007847e-03 2.33702531e-05 -9.99998904e-01 -8.04682031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.380385723 meters 0.018189785688481123 Centerline is valid? [True, True] Translation: X:32.82, Y:-209.86, Z:-8.05 [[ 1.13440343e-01 9.93544766e-01 -2.94695174e-04 3.28243834e+01] [ 9.93540198e-01 -1.13440716e-01 -3.01323873e-03 -2.09859698e+02] [-3.02721800e-03 4.90313356e-05 -9.99995417e-01 -8.04571868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.410385723 meters 0.017656325474639425 Centerline is valid? [True, True] Translation: X:32.84, Y:-209.86, Z:-8.05 [[ 3.51453220e-02 9.99382210e-01 -6.60065874e-05 3.28364169e+01] [ 9.99376233e-01 -3.51453401e-02 -3.45696201e-03 -2.09862180e+02] [-3.45714616e-03 5.55306282e-05 -9.99994023e-01 -8.04598590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.440385723 meters 0.017800592967932016 Centerline is valid? [True, True] Translation: X:32.85, Y:-209.87, Z:-8.05 [[-4.26176938e-02 9.99091428e-01 2.24297180e-04 3.28477638e+01] [ 9.99084279e-01 4.26182375e-02 -3.78012865e-03 -2.09865036e+02] [-3.78625329e-03 6.29914205e-05 -9.99992830e-01 -8.04543285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.470385723 meters 0.017986112446689247 Centerline is valid? [True, True] Translation: X:32.86, Y:-209.86, Z:-8.05 [[-1.18462589e-01 9.92958302e-01 6.52964841e-04 3.28636517e+01] [ 9.92947112e-01 1.18464354e-01 -4.71473573e-03 -2.09864829e+02] [-4.75888904e-03 8.98397545e-05 -9.99988672e-01 -8.04546065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.500385723 meters 0.017971371977513306 Centerline is valid? [True, True] Translation: X:32.88, Y:-209.86, Z:-8.05 [[-1.94656445e-01 9.80870941e-01 1.03238601e-03 3.28775849e+01] [ 9.80859661e-01 1.94659159e-01 -4.70500930e-03 -2.09863674e+02] [-4.81597029e-03 9.67654043e-05 -9.99988399e-01 -8.04565151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.530385723 meters 0.01878038694993936 Centerline is valid? [True, True] Translation: X:32.89, Y:-209.86, Z:-8.05 [[-2.67402449e-01 9.63583721e-01 1.53027974e-03 3.28911037e+01] [ 9.63570512e-01 2.67406799e-01 -5.04703960e-03 -2.09862171e+02] [-5.27245241e-03 1.24941679e-04 -9.99986093e-01 -8.04580019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56038572299997 meters 0.020605938990340363 Centerline is valid? [True, True] Translation: X:32.91, Y:-209.86, Z:-8.04 [[-3.38461087e-01 9.40978205e-01 2.02720298e-03 3.29054852e+01] [ 9.40963937e-01 3.38467123e-01 -5.18409596e-03 -2.09858638e+02] [-5.56426287e-03 1.52910149e-04 -9.99984508e-01 -8.04446082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.590385723 meters 0.020025052063649216 Centerline is valid? [True, True] Translation: X:32.92, Y:-209.86, Z:-8.05 [[-4.10287987e-01 9.11953845e-01 1.98819522e-03 3.29181005e+01] [ 9.11944623e-01 4.10292784e-01 -4.10325201e-03 -2.09855761e+02] [-4.55771860e-03 1.29608936e-04 -9.99989605e-01 -8.04540284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62038572299997 meters 0.020035281353521547 Centerline is valid? [True, True] Translation: X:32.93, Y:-209.85, Z:-8.05 [[-4.79120719e-01 8.77746880e-01 1.93685689e-03 3.29326669e+01] [ 8.77740653e-01 4.79124620e-01 -3.30834882e-03 -2.09849246e+02] [-3.83188867e-03 1.14959569e-04 -9.99992652e-01 -8.04662110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.650385723 meters 0.019892739525806037 Centerline is valid? [True, True] Translation: X:32.94, Y:-209.84, Z:-8.05 [[-5.46277985e-01 8.37601603e-01 1.97926420e-03 3.29446366e+01] [ 8.37596782e-01 5.46281560e-01 -2.84379234e-03 -2.09841803e+02] [-3.46320056e-03 1.04324178e-04 -9.99993998e-01 -8.04707441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.680385723 meters 0.020301876953196612 Centerline is valid? [True, True] Translation: X:32.96, Y:-209.83, Z:-8.05 [[-6.10837648e-01 7.91752135e-01 2.43407778e-03 3.29573669e+01] [ 7.91746569e-01 6.10842488e-01 -2.97079564e-03 -2.09834295e+02] [-3.83897191e-03 1.12498907e-04 -9.99992625e-01 -8.04701848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.710385723 meters 0.019784047743551365 Centerline is valid? [True, True] Translation: X:32.97, Y:-209.82, Z:-8.05 [[-6.71807287e-01 7.40719695e-01 3.05004284e-03 3.29684209e+01] [ 7.40712885e-01 6.71814200e-01 -3.17858245e-03 -2.09824855e+02] [-4.40350071e-03 1.23811176e-04 -9.99990297e-01 -8.04690412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.740385723 meters 0.019634513376188812 Centerline is valid? [True, True] Translation: X:32.98, Y:-209.81, Z:-8.05 [[-7.29145564e-01 6.84349499e-01 3.53700873e-03 3.29800673e+01] [ 6.84342259e-01 7.29154132e-01 -3.15026989e-03 -2.09814511e+02] [-4.73491015e-03 1.23519230e-04 -9.99988783e-01 -8.04589225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.770385723 meters 0.018966850593462484 Centerline is valid? [True, True] Translation: X:33.41, Y:-209.33, Z:-9.02 [[-7.17484572e-01 -6.96566200e-01 3.37916317e-03 3.34064361e+01] [ 6.96557675e-01 -7.17492519e-01 -3.44824330e-03 -2.09333862e+02] [ 4.82645403e-03 -1.20279327e-04 9.99988345e-01 -9.02132999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.800385723 meters 0.018531888416758645 Centerline is valid? [True, True] Translation: X:33.38, Y:-209.32, Z:-9.02 [[-7.15381780e-01 -6.98723833e-01 3.73012911e-03 3.33841180e+01] [ 6.98713502e-01 -7.15391496e-01 -3.80127431e-03 -2.09317583e+02] [ 5.32454360e-03 -1.13070811e-04 9.99985818e-01 -9.02150144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.830385723 meters 0.01818879262262894 Centerline is valid? [True, True] Translation: X:33.36, Y:-209.30, Z:-9.02 [[-7.14308694e-01 -6.99818770e-01 4.09627503e-03 3.33624149e+01] [ 6.99806342e-01 -7.14320430e-01 -4.17215914e-03 -2.09299780e+02] [ 5.84580822e-03 -1.13610301e-04 9.99982907e-01 -9.02180830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.860385723 meters 0.017863866138389122 Centerline is valid? [True, True] Translation: X:33.34, Y:-209.28, Z:-9.02 [[-7.12378346e-01 -7.01778987e-01 4.83170271e-03 3.33398792e+01] [ 7.01761759e-01 -7.12394723e-01 -4.91862733e-03 -2.09284293e+02] [ 6.89386881e-03 -1.13219415e-04 9.99976231e-01 -9.02305208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.890385723 meters 0.01764930973581025 Centerline is valid? [True, True] Translation: X:33.32, Y:-209.27, Z:-9.02 [[-7.11804480e-01 -7.02359488e-01 5.05295506e-03 3.33189938e+01] [ 7.02340683e-01 -7.11822406e-01 -5.14078131e-03 -2.09266933e+02] [ 7.20748316e-03 -1.10335258e-04 9.99974020e-01 -9.02350336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.920385723 meters 0.01736942246416244 Centerline is valid? [True, True] Translation: X:33.30, Y:-209.25, Z:-9.02 [[-7.10669039e-01 -7.03508048e-01 5.09347255e-03 3.32975671e+01] [ 7.03488992e-01 -7.10687285e-01 -5.17891052e-03 -2.09249242e+02] [ 7.26327140e-03 -9.72894952e-05 9.99973617e-01 -9.02347121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.950385723 meters 0.01973761249688382 Centerline is valid? [True, True] Translation: X:33.28, Y:-209.23, Z:-9.02 [[-7.11288235e-01 -7.02874391e-01 6.05286436e-03 3.32779912e+01] [ 7.02847485e-01 -7.11313979e-01 -6.15113490e-03 -2.09229572e+02] [ 8.62896223e-03 -1.20989395e-04 9.99962763e-01 -9.02468952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.980385723 meters 0.01714051463443368 Centerline is valid? [True, True] Translation: X:33.26, Y:-209.21, Z:-9.02 [[-7.11312860e-01 -7.02853813e-01 5.52566227e-03 3.32573968e+01] [ 7.02831414e-01 -7.11334314e-01 -5.61227685e-03 -2.09211009e+02] [ 7.87520337e-03 -1.08475669e-04 9.99968984e-01 -9.02233657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.010385723 meters 0.017155895989165518 Centerline is valid? [True, True] Translation: X:33.24, Y:-209.19, Z:-9.02 [[-7.11582366e-01 -7.02580425e-01 5.59305611e-03 3.32385414e+01] [ 7.02557494e-01 -7.11604338e-01 -5.67742169e-03 -2.09192075e+02] [ 7.96888834e-03 -1.10509678e-04 9.99968242e-01 -9.02267955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.040385723 meters 0.017141900168595493 Centerline is valid? [True, True] Translation: X:33.22, Y:-209.17, Z:-9.02 [[-7.11728547e-01 -7.02436575e-01 5.03322531e-03 3.32187124e+01] [ 7.02418024e-01 -7.11746337e-01 -5.10603181e-03 -2.09173702e+02] [ 7.16904317e-03 -9.86804285e-05 9.99974297e-01 -9.02260583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.070385723 meters 0.016719375465129138 Centerline is valid? [True, True] Translation: X:33.20, Y:-209.16, Z:-9.02 [[-7.11699775e-01 -7.02468217e-01 4.67279579e-03 3.31979838e+01] [ 7.02452246e-01 -7.11715109e-01 -4.73769851e-03 -2.09155104e+02] [ 6.65378199e-03 -8.94030674e-05 9.99977859e-01 -9.02158855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.100385723 meters 0.017375704212200874 Centerline is valid? [True, True] Translation: X:33.18, Y:-209.13, Z:-9.02 [[-7.11530662e-01 -7.02641899e-01 4.29866862e-03 3.31808646e+01] [ 7.02628402e-01 -7.11543643e-01 -4.35579242e-03 -2.09134261e+02] [ 6.11925258e-03 -7.89131960e-05 9.99981274e-01 -9.02219232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.130385723 meters 0.016516886522859073 Centerline is valid? [True, True] Translation: X:33.16, Y:-209.12, Z:-9.02 [[-7.11299829e-01 -7.02876639e-01 4.12105196e-03 3.31595197e+01] [ 7.02864252e-01 -7.11311764e-01 -4.17348304e-03 -2.09116220e+02] [ 5.86479647e-03 -7.20576746e-05 9.99982799e-01 -9.02104042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.160385723 meters 0.016861818183202513 Centerline is valid? [True, True] Translation: X:33.14, Y:-209.10, Z:-9.02 [[-7.09853171e-01 -7.04334683e-01 4.59674264e-03 3.31411770e+01] [ 7.04319315e-01 -7.09868051e-01 -4.65332312e-03 -2.09096800e+02] [ 6.54057760e-03 -6.56015495e-05 9.99978608e-01 -9.02277150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.190385723 meters 0.016097684342609206 Centerline is valid? [True, True] Translation: X:33.12, Y:-209.08, Z:-9.02 [[-7.08850389e-01 -7.05342598e-01 4.79015469e-03 3.31192955e+01] [ 7.05325950e-01 -7.08866571e-01 -4.84642110e-03 -2.09079296e+02] [ 6.81396778e-03 -5.67670697e-05 9.99976783e-01 -9.02208893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.220385723 meters 0.01594348847112039 Centerline is valid? [True, True] Translation: X:33.10, Y:-209.06, Z:-9.02 [[-7.07734229e-01 -7.06459037e-01 5.28108221e-03 3.30989661e+01] [ 7.06438856e-01 -7.07753931e-01 -5.34005954e-03 -2.09060289e+02] [ 7.51024002e-03 -4.85812485e-05 9.99971797e-01 -9.02214934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.250385723 meters 0.015784817155194534 Centerline is valid? [True, True] Translation: X:33.08, Y:-209.04, Z:-9.02 [[-7.06109603e-01 -7.08077267e-01 5.98440265e-03 3.30799175e+01] [ 7.08051441e-01 -7.06134961e-01 -6.04758435e-03 -2.09041314e+02] [ 8.50795293e-03 -3.29924647e-05 9.99963806e-01 -9.02264009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.280385723 meters 0.015577141830350574 Centerline is valid? [True, True] Translation: X:33.06, Y:-209.02, Z:-9.02 [[-7.06112412e-01 -7.08074464e-01 5.98451250e-03 3.30609117e+01] [ 7.08048666e-01 -7.06137772e-01 -6.04430166e-03 -2.09020610e+02] [ 8.50570598e-03 -3.06303340e-05 9.99963825e-01 -9.02209460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31038572299997 meters 0.015646833895201346 Centerline is valid? [True, True] Translation: X:33.04, Y:-209.00, Z:-9.02 [[-7.06500129e-01 -7.07684452e-01 6.34703581e-03 3.30424612e+01] [ 7.07655442e-01 -7.06528638e-01 -6.40782024e-03 -2.09000350e+02] [ 9.01907732e-03 -3.56113980e-05 9.99959327e-01 -9.02217070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.340385723 meters 0.01567110919972419 Centerline is valid? [True, True] Translation: X:33.02, Y:-208.98, Z:-9.02 [[-7.07300559e-01 -7.06877279e-01 7.10159147e-03 3.30243951e+01] [ 7.06840960e-01 -7.07336208e-01 -7.16565063e-03 -2.08978953e+02] [ 1.00884484e-02 -4.85729647e-05 9.99949109e-01 -9.02224982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37038572299997 meters 0.015685779704279066 Centerline is valid? [True, True] Translation: X:33.01, Y:-208.96, Z:-9.02 [[-7.07788663e-01 -7.06391751e-01 6.77514467e-03 3.30052855e+01] [ 7.06358708e-01 -7.07821088e-01 -6.83248824e-03 -2.08958777e+02] [ 9.62200360e-03 -5.02752775e-05 9.99953706e-01 -9.02189794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.400385723 meters 0.015764348168874082 Centerline is valid? [True, True] Translation: X:32.99, Y:-208.94, Z:-9.02 [[-7.08164501e-01 -7.06016631e-01 6.59972768e-03 3.29867769e+01] [ 7.05985298e-01 -7.08195251e-01 -6.65171845e-03 -2.08938888e+02] [ 9.37011966e-03 -5.12001635e-05 9.99956098e-01 -9.02135318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.430385723 meters 0.015682054114007336 Centerline is valid? [True, True] Translation: X:32.97, Y:-208.92, Z:-9.02 [[-7.08886864e-01 -7.05295149e-01 6.17792985e-03 3.29681646e+01] [ 7.05267696e-01 -7.08913781e-01 -6.22315200e-03 -2.08917567e+02] [ 8.76877853e-03 -5.44163552e-05 9.99961552e-01 -9.01985617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.460385723 meters 0.015863189979104075 Centerline is valid? [True, True] Translation: X:32.95, Y:-208.90, Z:-9.02 [[-7.09711796e-01 -7.04464316e-01 6.26053879e-03 3.29503603e+01] [ 7.04436124e-01 -7.09739405e-01 -6.30268598e-03 -2.08897466e+02] [ 8.88336844e-03 -6.29409120e-05 9.99960540e-01 -9.01990495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.490385723 meters 0.01581693087765458 Centerline is valid? [True, True] Translation: X:32.93, Y:-208.88, Z:-9.02 [[-7.10902517e-01 -7.03260357e-01 6.51781535e-03 3.29325502e+01] [ 7.03229783e-01 -7.10932391e-01 -6.55804761e-03 -2.08876035e+02] [ 9.24574095e-03 -7.86106834e-05 9.99957254e-01 -9.01948801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.520385723 meters 0.015939148735432555 Centerline is valid? [True, True] Translation: X:32.91, Y:-208.85, Z:-9.02 [[-7.11833907e-01 -7.02313256e-01 6.96988542e-03 3.29148716e+01] [ 7.02278287e-01 -7.11868022e-01 -7.00901148e-03 -2.08854150e+02] [ 9.88416023e-03 -9.44528289e-05 9.99951146e-01 -9.01926141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.550385723 meters 0.015850651053591357 Centerline is valid? [True, True] Translation: X:32.90, Y:-208.83, Z:-9.02 [[-7.11986623e-01 -7.02157431e-01 7.07048682e-03 3.28957461e+01] [ 7.02121477e-01 -7.12021723e-01 -7.10619012e-03 -2.08833553e+02] [ 1.00240044e-02 -9.51716521e-05 9.99949754e-01 -9.01887909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.580385723 meters 0.01585448567658033 Centerline is valid? [True, True] Translation: X:32.88, Y:-208.81, Z:-9.02 [[-7.11937956e-01 -7.02204571e-01 7.28601848e-03 3.28761674e+01] [ 7.02166437e-01 -7.11975232e-01 -7.31870979e-03 -2.08812951e+02] [ 1.03266962e-02 -9.44696531e-05 9.99946674e-01 -9.01847579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.610385723 meters 0.01585448567658033 Centerline is valid? [True, True] Translation: X:32.86, Y:-208.79, Z:-9.02 [[-7.12134562e-01 -7.02005164e-01 7.28806771e-03 3.28566732e+01] [ 7.01967040e-01 -7.12171848e-01 -7.31666914e-03 -2.08793445e+02] [ 1.03266962e-02 -9.44696531e-05 9.99946674e-01 -9.01847553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.640385723 meters 0.015759653725739863 Centerline is valid? [True, True] Translation: X:32.84, Y:-208.77, Z:-9.02 [[-7.12214132e-01 -7.01927289e-01 7.00796310e-03 3.28375447e+01] [ 7.01892075e-01 -7.12248603e-01 -7.03149332e-03 -2.08772808e+02] [ 9.92700897e-03 -8.90951463e-05 9.99950722e-01 -9.01784940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.670385723 meters 0.01580672331377908 Centerline is valid? [True, True] Translation: X:32.82, Y:-208.75, Z:-9.02 [[-7.12454618e-01 -7.01682263e-01 7.10072306e-03 3.28193635e+01] [ 7.01646141e-01 -7.12489996e-01 -7.12032218e-03 -2.08752955e+02] [ 1.00553979e-02 -9.07114859e-05 9.99949439e-01 -9.01814300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.700385723 meters 0.015860781259911267 Centerline is valid? [True, True] Translation: X:32.80, Y:-208.73, Z:-9.02 [[-7.13474300e-01 -7.00647394e-01 6.90311472e-03 3.28011944e+01] [ 7.00613246e-01 -7.13507688e-01 -6.91809638e-03 -2.08732101e+02] [ 9.77257162e-03 -9.94703669e-05 9.99952242e-01 -9.01789897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.730385723 meters 0.015994332874242522 Centerline is valid? [True, True] Translation: X:32.78, Y:-208.71, Z:-9.02 [[-7.14224176e-01 -6.99883799e-01 6.81862056e-03 3.27821721e+01] [ 6.99850484e-01 -7.14256716e-01 -6.82962798e-03 -2.08711442e+02] [ 9.65019151e-03 -1.05870522e-04 9.99953430e-01 -9.01800526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.760385723 meters 0.01615057795737617 Centerline is valid? [True, True] Translation: X:32.76, Y:-208.69, Z:-9.02 [[-7.15349363e-01 -6.98721639e-01 7.95984680e-03 3.27642253e+01] [ 6.98676213e-01 -7.15393634e-01 -7.96851694e-03 -2.08689532e+02] [ 1.12621989e-02 -1.38917899e-04 9.99936570e-01 -9.01828794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.790385723 meters 0.016341162813441678 Centerline is valid? [True, True] Translation: X:32.75, Y:-208.67, Z:-9.02 [[-7.15904397e-01 -6.98149329e-01 8.27093721e-03 3.27461694e+01] [ 6.98100302e-01 -7.15952157e-01 -8.27509489e-03 -2.08669195e+02] [ 1.16988473e-02 -1.50233058e-04 9.99931555e-01 -9.01886841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.820385723 meters 0.01644101563705061 Centerline is valid? [True, True] Translation: X:32.73, Y:-208.65, Z:-9.02 [[-7.16587159e-01 -6.97446150e-01 8.46831514e-03 3.27271401e+01] [ 6.97394761e-01 -7.16637176e-01 -8.46793095e-03 -2.08648903e+02] [ 1.19746353e-02 -1.62251966e-04 9.99928288e-01 -9.01885258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.850385723 meters 0.016570564362704886 Centerline is valid? [True, True] Translation: X:32.27, Y:-209.10, Z:-8.05 [[-7.45685635e-01 6.66237854e-01 8.94735306e-03 3.22672278e+01] [ 6.66192687e-01 7.45739292e-01 -7.75962418e-03 -2.09102970e+02] [-1.18421481e-02 1.74420886e-04 -9.99929864e-01 -8.04830852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.880385723 meters 0.016622704728966962 Centerline is valid? [True, True] Translation: X:32.29, Y:-209.08, Z:-8.05 [[-7.90561865e-01 6.12306053e-01 9.65586936e-03 3.22857176e+01] [ 6.12263232e-01 7.90620809e-01 -7.24375373e-03 -2.09082741e+02] [-1.20695255e-02 1.85298327e-04 -9.99927144e-01 -8.04878745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.910385723 meters 0.016986177942220883 Centerline is valid? [True, True] Translation: X:32.30, Y:-209.06, Z:-8.05 [[-8.32018246e-01 5.54650931e-01 1.03914615e-02 3.23004882e+01] [ 5.54610483e-01 8.32083115e-01 -6.70092519e-03 -2.09059159e+02] [-1.23632340e-02 1.87921446e-04 -9.99923555e-01 -8.04838983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.940385723 meters 0.019433093355773576 Centerline is valid? [True, True] Translation: X:32.32, Y:-209.03, Z:-8.05 [[-8.69238684e-01 4.94265204e-01 1.12257494e-02 3.23150651e+01] [ 4.94226848e-01 8.69311147e-01 -6.16049864e-03 -2.09034152e+02] [-1.28035892e-02 1.93123022e-04 -9.99918012e-01 -8.04733804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.970385723 meters 0.016792290408019238 Centerline is valid? [True, True] Translation: X:32.63, Y:-208.46, Z:-9.02 [[-8.49305022e-01 -5.27818300e-01 9.42450698e-03 3.26252959e+01] [ 5.27782290e-01 -8.49357269e-01 -6.17118430e-03 -2.08460324e+02] [ 1.12620375e-02 -2.67129935e-04 9.99936546e-01 -9.01771056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.000385723 meters 0.01601238119657531 Centerline is valid? [True, True] Translation: X:32.27, Y:-209.01, Z:-8.05 [[-8.72956744e-01 4.87709651e-01 9.26383729e-03 3.22729345e+01] [ 4.87683629e-01 8.73005889e-01 -5.03946737e-03 -2.09010059e+02] [-1.05451814e-02 1.18584760e-04 -9.99944391e-01 -8.05005927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.030385723 meters 0.01581750708642992 Centerline is valid? [True, True] Translation: X:32.28, Y:-208.98, Z:-8.05 [[-9.05923102e-01 4.23340108e-01 9.29982236e-03 3.22808969e+01] [ 4.23318943e-01 9.05970829e-01 -4.23435798e-03 -2.08980692e+02] [-1.02179413e-02 1.00788253e-04 -9.99947790e-01 -8.05018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06038572299997 meters 0.015638422308627747 Centerline is valid? [True, True] Translation: X:32.29, Y:-208.95, Z:-8.05 [[-9.34097348e-01 3.56879782e-01 9.94819304e-03 3.22851305e+01] [ 3.56860583e-01 9.34150316e-01 -3.70286524e-03 -2.08950734e+02] [-1.06145854e-02 9.12813699e-05 -9.99943660e-01 -8.05046016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.090385723 meters 0.015348953420519357 Centerline is valid? [True, True] Translation: X:32.52, Y:-208.35, Z:-9.02 [[-9.13556355e-01 -4.06609998e-01 9.11573521e-03 3.25152890e+01] [ 4.06588390e-01 -9.13601825e-01 -4.19362991e-03 -2.08347232e+02] [ 1.00333242e-02 -1.24765147e-04 9.99949657e-01 -9.01622527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12038572299997 meters 0.015251463005751772 Centerline is valid? [True, True] Translation: X:32.24, Y:-208.93, Z:-8.05 [[-9.37204493e-01 3.48653367e-01 9.41108056e-03 3.22413186e+01] [ 3.48636177e-01 9.37251742e-01 -3.46239745e-03 -2.08932545e+02] [-1.00277282e-02 3.60686979e-05 -9.99949720e-01 -8.05147852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.150385723 meters 0.015136329462548826 Centerline is valid? [True, True] Translation: X:32.25, Y:-208.90, Z:-8.05 [[-9.60610057e-01 2.77718102e-01 1.00486106e-02 3.22487930e+01] [ 2.77702886e-01 9.60662613e-01 -2.90708171e-03 -2.08901589e+02] [-1.04606737e-02 -2.04376694e-06 -9.99945286e-01 -8.05071208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.180385723 meters 0.01521741782279727 Centerline is valid? [True, True] Translation: X:32.25, Y:-208.87, Z:-8.05 [[-9.78283830e-01 2.07010625e-01 1.03609710e-02 3.22500899e+01] [ 2.06998776e-01 9.78338694e-01 -2.21491778e-03 -2.08870895e+02] [-1.05950504e-02 -2.21099257e-05 -9.99943871e-01 -8.04983804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.210385723 meters 0.015208027504442953 Centerline is valid? [True, True] Translation: X:32.38, Y:-208.25, Z:-9.02 [[-9.60279141e-01 -2.78829183e-01 1.08746397e-02 3.23825659e+01] [ 2.78812136e-01 -9.60340711e-01 -3.08398901e-03 -2.08250994e+02] [ 1.13032654e-02 7.04912017e-05 9.99936114e-01 -9.01738695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.240385723 meters 0.015220364355374105 Centerline is valid? [True, True] Translation: X:32.20, Y:-208.86, Z:-8.05 [[-9.79616786e-01 2.00573797e-01 1.10047433e-02 3.21979421e+01] [ 2.00560525e-01 9.79678595e-01 -2.30796796e-03 -2.08859889e+02] [-1.12440293e-02 -5.38070652e-05 -9.99936783e-01 -8.04907271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.270385723 meters 0.0164139349254154 Centerline is valid? [True, True] Translation: X:32.33, Y:-208.24, Z:-9.02 [[-9.61182883e-01 -2.75685687e-01 1.11744330e-02 3.23273547e+01] [ 2.75668007e-01 -9.61247833e-01 -3.12313341e-03 -2.08239492e+02] [ 1.16024027e-02 7.85313033e-05 9.99932687e-01 -9.01896010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.300385723 meters 0.015041730318462253 Centerline is valid? [True, True] Translation: X:32.15, Y:-208.85, Z:-8.05 [[-9.80477346e-01 1.96370530e-01 1.01385445e-02 3.21469663e+01] [ 1.96359468e-01 9.80529761e-01 -2.08493980e-03 -2.08851423e+02] [-1.03505653e-02 -5.34370312e-05 -9.99946430e-01 -8.04985222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.330385723 meters 0.014998163911955862 Centerline is valid? [True, True] Translation: X:32.28, Y:-208.23, Z:-9.02 [[-9.62452503e-01 -2.71240959e-01 1.06546184e-02 3.22758821e+01] [ 2.71225496e-01 -9.62511471e-01 -2.89798646e-03 -2.08226585e+02] [ 1.10412450e-02 1.00629820e-04 9.99939039e-01 -9.01786199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.360385723 meters 0.014942269670550096 Centerline is valid? [True, True] Translation: X:32.09, Y:-208.84, Z:-8.05 [[-9.80906922e-01 1.94153007e-01 1.12347884e-02 3.20946433e+01] [ 1.94139798e-01 9.80971258e-01 -2.26503626e-03 -2.08844940e+02] [-1.14607681e-02 -4.06701943e-05 -9.99934322e-01 -8.04926686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.390385723 meters 0.014933452131912186 Centerline is valid? [True, True] Translation: X:32.23, Y:-208.21, Z:-9.02 [[-9.63844430e-01 -2.66238799e-01 1.09917033e-02 3.22255147e+01] [ 2.66221916e-01 -9.63907102e-01 -2.99850373e-03 -2.08214182e+02] [ 1.13932989e-02 3.61411863e-05 9.99935094e-01 -9.01794398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.420385723 meters 0.014962982083173891 Centerline is valid? [True, True] Translation: X:32.04, Y:-208.84, Z:-8.05 [[-9.81314858e-01 1.92105295e-01 1.08030309e-02 3.20433018e+01] [ 1.92093442e-01 9.81374320e-01 -2.13400457e-03 -2.08838957e+02] [-1.10117707e-02 -1.89389991e-05 -9.99939368e-01 -8.04743190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.450385723 meters 0.014919211038664119 Centerline is valid? [True, True] Translation: X:32.17, Y:-208.20, Z:-9.02 [[-9.65333423e-01 -2.60796907e-01 1.07868286e-02 3.21700026e+01] [ 2.60780962e-01 -9.65393688e-01 -2.88397939e-03 -2.08199774e+02] [ 1.11656691e-02 2.89978456e-05 9.99937662e-01 -9.01843002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.480385723 meters 0.01573698333674172 Centerline is valid? [True, True] Translation: X:31.99, Y:-208.84, Z:-8.05 [[-9.81786453e-01 1.89684281e-01 1.07347596e-02 3.19928370e+01] [ 1.89672919e-01 9.81845137e-01 -2.07614609e-03 -2.08835257e+02] [-1.09336838e-02 -2.23892777e-06 -9.99940226e-01 -8.04903371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.510385723 meters 0.015785718933015377 Centerline is valid? [True, True] Translation: X:32.12, Y:-208.18, Z:-9.02 [[-9.66488171e-01 -2.56508713e-01 1.01928843e-02 3.21206386e+01] [ 2.56494203e-01 -9.66541918e-01 -2.72840454e-03 -2.08184027e+02] [ 1.05517095e-02 -2.25549665e-05 9.99944329e-01 -9.01804834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.540385723 meters 0.014874352942900201 Centerline is valid? [True, True] Translation: X:31.94, Y:-208.83, Z:-8.05 [[-9.82717109e-01 1.84900107e-01 8.89007463e-03 3.19388965e+01] [ 1.84892452e-01 9.82757320e-01 -1.68255994e-03 -2.08830113e+02] [-9.04789143e-03 -9.77275010e-06 -9.99959067e-01 -8.05068604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.570385723 meters 0.014860596080470969 Centerline is valid? [True, True] Translation: X:31.94, Y:-208.80, Z:-8.05 [[-9.93432687e-01 1.14110281e-01 8.38697253e-03 3.19351077e+01] [ 1.14106094e-01 9.93468089e-01 -9.77588167e-04 -2.08801375e+02] [-8.44374243e-03 -1.41633634e-05 -9.99964351e-01 -8.05132519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.600385723 meters 0.014965769076423673 Centerline is valid? [True, True] Translation: X:31.94, Y:-208.77, Z:-8.05 [[-9.99104821e-01 4.14633784e-02 8.38724032e-03 3.19423287e+01] [ 4.14616502e-02 9.99140024e-01 -3.79906020e-04 -2.08774429e+02] [-8.39577968e-03 -3.18171114e-05 -9.99964754e-01 -8.05154338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.630385723 meters 0.015044086094714085 Centerline is valid? [True, True] Translation: X:31.93, Y:-208.75, Z:-8.05 [[-9.99484478e-01 -3.09241495e-02 8.62995625e-03 3.19343556e+01] [-3.09233723e-02 9.99521733e-01 2.23512787e-04 -2.08746158e+02] [-8.63274077e-03 -4.34697894e-05 -9.99962736e-01 -8.05089348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.660385723 meters 0.015200032736776802 Centerline is valid? [True, True] Translation: X:31.92, Y:-208.72, Z:-8.05 [[-9.94476573e-01 -1.04503560e-01 9.76484691e-03 3.19240557e+01] [-1.04499254e-01 9.94524510e-01 9.51588515e-04 -2.08720751e+02] [-9.81082397e-03 -7.40867303e-05 -9.99951870e-01 -8.05025059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.690385723 meters 0.015303027062382835 Centerline is valid? [True, True] Translation: X:31.91, Y:-208.70, Z:-8.05 [[-9.84328835e-01 -1.76067362e-01 9.85031522e-03 3.19121349e+01] [-1.76059401e-01 9.84378117e-01 1.67644423e-03 -2.08695364e+02] [-9.99160186e-03 -8.40681995e-05 -9.99950079e-01 -8.05070991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.720385723 meters 0.015533094645583528 Centerline is valid? [True, True] Translation: X:31.89, Y:-208.67, Z:-8.05 [[-9.68742303e-01 -2.47902269e-01 9.10027132e-03 3.18862761e+01] [-2.47892252e-01 9.68785041e-01 2.23047975e-03 -2.08673565e+02] [-9.36914772e-03 -9.51266676e-05 -9.99956104e-01 -8.05056101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.750385723 meters 0.01605866431701024 Centerline is valid? [True, True] Translation: X:31.85, Y:-208.65, Z:-8.05 [[-9.48169327e-01 -3.17636296e-01 9.06148416e-03 3.18509610e+01] [-3.17622816e-01 9.48212620e-01 2.92805472e-03 -2.08652901e+02] [-9.52227009e-03 -1.01842439e-04 -9.99954657e-01 -8.04893600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.780385723 meters 0.015764369745758205 Centerline is valid? [True, True] Translation: X:31.79, Y:-208.65, Z:-8.05 [[-9.22072062e-01 -3.86886731e-01 1.00881056e-02 3.17879103e+01] [-3.86865057e-01 9.22127237e-01 4.09707169e-03 -2.08649228e+02] [-1.08876196e-02 -1.24940216e-04 -9.99940720e-01 -8.04805923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81038572299997 meters 0.01580664862927824 Centerline is valid? [True, True] Translation: X:31.72, Y:-208.65, Z:-8.05 [[-8.90909706e-01 -4.54059205e-01 1.04944776e-02 3.17233279e+01] [-4.54029474e-01 8.90971504e-01 5.19776007e-03 -2.08649132e+02] [-1.17103713e-02 -1.34067238e-04 -9.99931422e-01 -8.04772901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.840385723 meters 0.018254797630763417 Centerline is valid? [True, True] Translation: X:31.65, Y:-208.66, Z:-8.05 [[-8.55615772e-01 -5.17503906e-01 1.05526264e-02 3.16467458e+01] [-5.17466245e-01 8.55680836e-01 6.24435103e-03 -2.08664254e+02] [-1.22611562e-02 -1.17862734e-04 -9.99924822e-01 -8.04588660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87038572299997 meters 0.015532089535527292 Centerline is valid? [True, True] Translation: X:31.57, Y:-208.69, Z:-8.05 [[-8.14997360e-01 -5.79395272e-01 8.96782845e-03 3.15656831e+01] [-5.79361485e-01 8.15046692e-01 6.25778862e-03 -2.08685969e+02] [-1.09349320e-02 -9.55332037e-05 -9.99940207e-01 -8.04905738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.900385723 meters 0.015320659574036352 Centerline is valid? [True, True] Translation: X:31.48, Y:-208.72, Z:-8.05 [[-7.70867318e-01 -6.36943937e-01 8.12399875e-03 3.14826012e+01] [-6.36909411e-01 7.70910123e-01 6.63205687e-03 -2.08719273e+02] [-1.04871213e-02 -6.18153632e-05 -9.99945007e-01 -8.04970131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.930385723 meters 0.015268044055181984 Centerline is valid? [True, True] Translation: X:31.39, Y:-208.76, Z:-8.05 [[-7.21129875e-01 -6.92759868e-01 7.44772754e-03 3.13942508e+01] [-6.92723654e-01 7.21168331e-01 7.08360418e-03 -2.08761446e+02] [-1.02783019e-02 -5.10184401e-05 -9.99947176e-01 -8.04988540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.960385723 meters 0.015315770338208431 Centerline is valid? [True, True] Translation: X:31.30, Y:-208.82, Z:-8.05 [[-6.67863465e-01 -7.44254077e-01 6.65282707e-03 3.13003752e+01] [-7.44217630e-01 6.67896599e-01 7.36561332e-03 -2.08822299e+02] [-9.92528832e-03 -3.19271560e-05 -9.99950743e-01 -8.04887602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.990385723 meters 0.015388924723705788 Centerline is valid? [True, True] Translation: X:31.21, Y:-208.89, Z:-8.05 [[-6.09728024e-01 -7.92586423e-01 6.20477782e-03 3.12131816e+01] [-7.92545839e-01 6.09759593e-01 8.02072129e-03 -2.08885753e+02] [-1.01405376e-02 -2.71122975e-05 -9.99948583e-01 -8.04956106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.020385723 meters 0.015364522538685 Centerline is valid? [True, True] Translation: X:31.13, Y:-208.96, Z:-8.05 [[-5.48204677e-01 -8.36324315e-01 5.76812025e-03 3.11331321e+01] [-8.36278358e-01 5.48235022e-01 8.76749619e-03 -2.08955409e+02] [-1.04947558e-02 -1.73717125e-05 -9.99944928e-01 -8.04891514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.050385723 meters 0.015445819054701236 Centerline is valid? [True, True] Translation: X:31.05, Y:-209.04, Z:-8.05 [[-4.82257315e-01 -8.76013048e-01 5.38728319e-03 3.10513748e+01] [-8.75958918e-01 4.82287404e-01 9.73827082e-03 -2.09039493e+02] [-1.11290711e-02 -2.26864196e-05 -9.99938070e-01 -8.04757902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.080385723 meters 0.015464720428722977 Centerline is valid? [True, True] Translation: X:30.97, Y:-209.13, Z:-8.05 [[-4.13367625e-01 -9.10550653e-01 4.97141781e-03 3.09722888e+01] [-9.10485634e-01 4.13397517e-01 1.08813163e-02 -2.09134108e+02] [-1.19631614e-02 -2.84206438e-05 -9.99928438e-01 -8.04666901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.110385723 meters 0.015638660304409243 Centerline is valid? [True, True] Translation: X:30.90, Y:-209.25, Z:-8.04 [[-3.41430069e-01 -9.39895307e-01 4.72439716e-03 3.08971968e+01] [-9.39807134e-01 3.41462750e-01 1.28740662e-02 -2.09248035e+02] [-1.37134801e-02 -4.44288508e-05 -9.99905965e-01 -8.04477537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.140385723 meters 0.015848530317141875 Centerline is valid? [True, True] Translation: X:30.84, Y:-209.33, Z:-8.04 [[-2.67546246e-01 -9.63536959e-01 3.94136504e-03 3.08412167e+01] [-9.63435372e-01 2.67575270e-01 1.39914035e-02 -2.09331729e+02] [-1.45358462e-02 -5.39030064e-05 -9.99894348e-01 -8.04277808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.170385723 meters 0.015798511973890334 Centerline is valid? [True, True] Translation: X:30.79, Y:-209.44, Z:-8.04 [[-1.92343327e-01 -9.81323115e-01 2.99795882e-03 3.07862579e+01] [-9.81208685e-01 1.92366680e-01 1.49859177e-02 -2.09444177e+02] [-1.52827348e-02 -5.91819701e-05 -9.99883210e-01 -8.04327741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.200385723 meters 0.016876361129622833 Centerline is valid? [True, True] Translation: X:30.74, Y:-209.57, Z:-8.04 [[-1.17044026e-01 -9.93124821e-01 1.94551129e-03 3.07410019e+01] [-9.92994226e-01 1.17060185e-01 1.61052916e-02 -2.09566297e+02] [-1.62223067e-02 -4.68533122e-05 -9.99868409e-01 -8.04027939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.230385723 meters 0.016140661894703093 Centerline is valid? [True, True] Translation: X:30.70, Y:-209.68, Z:-8.04 [[-4.03403581e-02 -9.99185763e-01 6.82848551e-04 3.07049993e+01] [-9.99059114e-01 4.03461168e-02 1.59084167e-02 -2.09680466e+02] [-1.59230137e-02 -4.04548424e-05 -9.99873220e-01 -8.04109127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.260385723 meters 0.0158945331596878 Centerline is valid? [True, True] Translation: X:30.68, Y:-209.81, Z:-8.04 [[ 3.61499790e-02 -9.99346226e-01 -5.47370972e-04 3.06805487e+01] [-9.99220106e-01 -3.61541128e-02 1.58763811e-02 -2.09805884e+02] [-1.58857912e-02 -2.69867624e-05 -9.99873813e-01 -8.04423067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.290385723 meters 0.01608130396791372 Centerline is valid? [True, True] Translation: X:30.66, Y:-209.93, Z:-8.04 [[ 1.13101733e-01 -9.93582125e-01 -1.60000143e-03 3.06640528e+01] [-9.93480005e-01 -1.13113047e-01 1.42449549e-02 -2.09927884e+02] [-1.43345136e-02 -2.15596572e-05 -9.99897255e-01 -8.04392413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.320385723 meters 0.015710987032726 Centerline is valid? [True, True] Translation: X:30.66, Y:-210.06, Z:-8.05 [[ 1.89543226e-01 -9.81869069e-01 -2.54898597e-03 3.06558099e+01] [-9.81778849e-01 -1.89560364e-01 1.33101609e-02 -2.10057114e+02] [-1.35520220e-02 -2.03103173e-05 -9.99908167e-01 -8.04696927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.350385723 meters 0.016053899995831886 Centerline is valid? [True, True] Translation: X:30.66, Y:-210.19, Z:-8.05 [[ 2.63973251e-01 -9.64523984e-01 -3.40683158e-03 3.06587242e+01] [-9.64443280e-01 -2.63995234e-01 1.24769819e-02 -2.10185210e+02] [-1.29337356e-02 -7.89366196e-06 -9.99916356e-01 -8.04503367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.380385723 meters 0.01572869204842058 Centerline is valid? [True, True] Translation: X:30.67, Y:-210.32, Z:-8.05 [[ 3.37456159e-01 -9.41331841e-01 -4.20785453e-03 3.06729789e+01] [-9.41258492e-01 -3.37482392e-01 1.17509777e-02 -2.10318758e+02] [-1.24816463e-02 -4.76097705e-06 -9.99922101e-01 -8.04842359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.410385723 meters 0.015687578564591798 Centerline is valid? [True, True] Translation: X:30.69, Y:-210.43, Z:-8.05 [[ 4.08980065e-01 -9.12529358e-01 -5.04755030e-03 3.06905958e+01] [-9.12459778e-01 -4.09011212e-01 1.12686564e-02 -2.10434057e+02] [-1.23474844e-02 -2.96918957e-06 -9.99923767e-01 -8.04951249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.440385723 meters 0.01600990387664703 Centerline is valid? [True, True] Translation: X:30.74, Y:-210.59, Z:-8.05 [[ 4.79003302e-01 -8.77794644e-01 -5.69209798e-03 3.07361353e+01] [-8.77732293e-01 -4.79037121e-01 1.04622555e-02 -2.10591239e+02] [-1.19104380e-02 -1.53166980e-05 -9.99929068e-01 -8.04820405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.470385723 meters 0.015900103253528787 Centerline is valid? [True, True] Translation: X:30.77, Y:-210.70, Z:-8.05 [[ 5.46916659e-01 -8.37162245e-01 -6.44542649e-03 3.07651499e+01] [-8.37103274e-01 -5.46954636e-01 9.93654943e-03 -2.10700452e+02] [-1.18438599e-02 -3.89768014e-05 -9.99929858e-01 -8.04829669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.500385723 meters 0.018906009579845475 Centerline is valid? [True, True] Translation: X:30.79, Y:-210.79, Z:-8.04 [[ 6.09956449e-01 -7.92392705e-01 -8.18116292e-03 3.07919270e+01] [-7.92320369e-01 -6.10011310e-01 1.07067954e-02 -2.10789940e+02] [-1.34745885e-02 -4.85768581e-05 -9.99909212e-01 -8.04383337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.530385723 meters 0.018906009579845475 Centerline is valid? [True, True] Translation: X:30.84, Y:-210.89, Z:-8.04 [[ 6.68961721e-01 -7.43242624e-01 -8.97871950e-03 3.08415028e+01] [-7.43174710e-01 -6.69021973e-01 1.00474230e-02 -2.10894896e+02] [-1.34746337e-02 -4.85841143e-05 -9.99909212e-01 -8.04383113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56038572299997 meters 0.015913678082429123 Centerline is valid? [True, True] Translation: X:30.90, Y:-211.00, Z:-8.05 [[ 7.24616052e-01 -6.89091615e-01 -9.18278222e-03 3.09035478e+01] [-6.89035249e-01 -7.24674233e-01 8.81376967e-03 -2.11000940e+02] [-1.27280204e-02 -5.93383532e-05 -9.99918994e-01 -8.04825084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.590385723 meters 0.016315945763170595 Centerline is valid? [True, True] Translation: X:30.90, Y:-211.01, Z:-8.05 [[ 7.76038514e-01 -6.30606507e-01 -9.98286283e-03 3.08972528e+01] [-6.30553413e-01 -7.76102719e-01 8.18314106e-03 -2.11006032e+02] [-1.29080690e-02 -5.57044020e-05 -9.99916686e-01 -8.04523287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62038572299997 meters 0.01594981036842886 Centerline is valid? [True, True] Translation: X:30.89, Y:-211.01, Z:-8.05 [[ 8.22392419e-01 -5.68821119e-01 -1.06415750e-02 3.08939385e+01] [-5.68772818e-01 -8.22461265e-01 7.41277468e-03 -2.11009029e+02] [-1.29688260e-02 -4.35711232e-05 -9.99915900e-01 -8.04809130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.650385723 meters 0.017281610288649885 Centerline is valid? [True, True] Translation: X:30.89, Y:-211.01, Z:-8.05 [[ 8.62793521e-01 -5.05429756e-01 -1.13181924e-02 3.08898618e+01] [-5.05386209e-01 -8.62867754e-01 6.63463363e-03 -2.11010457e+02] [-1.31194445e-02 -4.26056200e-06 -9.99913936e-01 -8.04753709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.680385723 meters 0.015850790177152994 Centerline is valid? [True, True] Translation: X:30.89, Y:-211.01, Z:-8.05 [[ 8.99240439e-01 -4.37306057e-01 -1.14037756e-02 3.08867662e+01] [-4.37271016e-01 -8.99312745e-01 5.53590660e-03 -2.11013250e+02] [-1.26764462e-02 8.42944465e-06 -9.99919651e-01 -8.04872045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.710385723 meters 0.015871419747788388 Centerline is valid? [True, True] Translation: X:30.88, Y:-211.02, Z:-8.05 [[ 9.29640741e-01 -3.68242239e-01 -1.28742230e-02 3.08813704e+01] [-3.68207638e-01 -9.29729881e-01 5.04813866e-03 -2.11021098e+02] [-1.38284877e-02 4.74318973e-05 -9.99904381e-01 -8.04981796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.740385723 meters 0.016896931888087947 Centerline is valid? [True, True] Translation: X:30.88, Y:-211.03, Z:-8.05 [[ 9.55081635e-01 -2.96036096e-01 -1.34796260e-02 3.08758433e+01] [-2.96007682e-01 -9.55176750e-01 4.10213882e-03 -2.11030773e+02] [-1.40898065e-02 7.21953925e-05 -9.99900731e-01 -8.04882521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.770385723 meters 0.01610419315217304 Centerline is valid? [True, True] Translation: X:30.87, Y:-211.04, Z:-8.05 [[ 9.74892297e-01 -2.22157340e-01 -1.52028426e-02 3.08714329e+01] [-2.22132042e-01 -9.75010823e-01 3.35428505e-03 -2.11041410e+02] [-1.55681151e-02 1.06971816e-04 -9.99878804e-01 -8.04824164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.800385723 meters 0.01814785904384649 Centerline is valid? [True, True] Translation: X:30.86, Y:-211.05, Z:-8.05 [[ 9.89020324e-01 -1.46803912e-01 -1.69531908e-02 3.08635385e+01] [-1.46784887e-01 -9.89165603e-01 2.36791148e-03 -2.11049718e+02] [-1.71171319e-02 1.46559624e-04 -9.99853480e-01 -8.04573590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.830385723 meters 0.01653992080600583 Centerline is valid? [True, True] Translation: X:30.86, Y:-211.06, Z:-8.05 [[ 9.97398665e-01 -7.01322868e-02 -1.66542813e-02 3.08572533e+01] [-7.01252453e-02 -9.97537686e-01 1.00712982e-03 -2.11059074e+02] [-1.66839055e-02 1.63375621e-04 -9.99860801e-01 -8.04795886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.860385723 meters 0.016485938104230023 Centerline is valid? [True, True] Translation: X:30.85, Y:-211.07, Z:-8.05 [[ 9.99837679e-01 7.53167492e-03 -1.63673245e-02 3.08516853e+01] [ 7.52787328e-03 -9.99971622e-01 -2.93868022e-04 -2.11069167e+02] [-1.63690733e-02 1.70609177e-04 -9.99866003e-01 -8.04875446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.890385723 meters 0.016491145452624173 Centerline is valid? [True, True] Translation: X:30.85, Y:-211.08, Z:-8.05 [[ 9.96214708e-01 8.54264493e-02 -1.60803251e-02 3.08469816e+01] [ 8.54124962e-02 -9.96344464e-01 -1.55375485e-03 -2.11081073e+02] [-1.61542747e-02 1.74412721e-04 -9.99869496e-01 -8.05006596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.920385723 meters 0.01768631978858105 Centerline is valid? [True, True] Translation: X:30.84, Y:-211.09, Z:-8.05 [[ 9.86542557e-01 1.62711099e-01 -1.60897735e-02 3.08435590e+01] [ 1.62686431e-01 -9.86673738e-01 -2.83910331e-03 -2.11094319e+02] [-1.63373106e-02 1.83308407e-04 -9.99866520e-01 -8.04993899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.950385723 meters 0.01649897266103469 Centerline is valid? [True, True] Translation: X:30.84, Y:-211.11, Z:-8.05 [[ 9.70534596e-01 2.40469349e-01 -1.53977130e-02 3.08406177e+01] [ 2.40436449e-01 -9.70656719e-01 -3.98097458e-03 -2.11106963e+02] [-1.59031959e-02 1.61502126e-04 -9.99873523e-01 -8.05087430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.980385723 meters 0.016302657286808485 Centerline is valid? [True, True] Translation: X:30.84, Y:-211.12, Z:-8.05 [[ 9.48391514e-01 3.16761662e-01 -1.46828358e-02 3.08400323e+01] [ 3.16721402e-01 -9.48505155e-01 -5.05210665e-03 -2.11121153e+02] [-1.55270591e-02 1.41006749e-04 -9.99879438e-01 -8.05163096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.010385723 meters 0.01789710165247093 Centerline is valid? [True, True] Translation: X:30.84, Y:-211.14, Z:-8.05 [[ 9.20277475e-01 3.90986233e-01 -1.48031943e-02 3.08404976e+01] [ 3.90933376e-01 -9.20396517e-01 -6.43017243e-03 -2.11135221e+02] [-1.61389174e-02 1.30480118e-04 -9.99869751e-01 -8.05067748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.040385723 meters 0.01711369454992595 Centerline is valid? [True, True] Translation: X:30.84, Y:-211.15, Z:-8.05 [[ 8.86234497e-01 4.63013331e-01 -1.43899483e-02 3.08426818e+01] [ 4.62950283e-01 -8.86351309e-01 -7.64150902e-03 -2.11148836e+02] [-1.62926700e-02 1.10338286e-04 -9.99867260e-01 -8.05114102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.070385723 meters 0.017337394555744012 Centerline is valid? [True, True] Translation: X:30.84, Y:-211.16, Z:-8.05 [[ 8.46766456e-01 5.31784062e-01 -1.38665060e-02 3.08442370e+01] [ 5.31710913e-01 -8.46879981e-01 -8.82059063e-03 -2.11161956e+02] [-1.64339159e-02 9.60076911e-05 -9.99864950e-01 -8.04981555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.100385723 meters 0.01784133307042175 Centerline is valid? [True, True] Translation: X:30.85, Y:-211.17, Z:-8.05 [[ 8.01240866e-01 5.98191935e-01 -1.33971975e-02 3.08469295e+01] [ 5.98107032e-01 -8.01352860e-01 -1.00783100e-02 -2.11173099e+02] [-1.67646463e-02 6.21957986e-05 -9.99859462e-01 -8.04962877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.130385723 meters 0.01584767340579298 Centerline is valid? [True, True] Translation: X:30.85, Y:-211.18, Z:-8.05 [[ 7.50847199e-01 6.60370173e-01 -1.18202162e-02 3.08492504e+01] [ 6.60287689e-01 -7.50940233e-01 -1.04371473e-02 -2.11182871e+02] [-1.57686566e-02 3.19595954e-05 -9.99875667e-01 -8.05225095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.160385723 meters 0.015896545240990125 Centerline is valid? [True, True] Translation: X:30.85, Y:-211.19, Z:-8.05 [[ 6.96127610e-01 7.17832103e-01 -1.11095466e-02 3.08535403e+01] [ 7.17740338e-01 -6.96216254e-01 -1.14776182e-02 -2.11193745e+02] [-1.59736497e-02 1.61172510e-05 -9.99872413e-01 -8.05362209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.190385723 meters 0.018398450745295208 Centerline is valid? [True, True] Translation: X:30.86, Y:-211.20, Z:-8.05 [[ 6.38375429e-01 7.69642898e-01 -1.12525807e-02 3.08577066e+01] [ 7.69522506e-01 -6.38474595e-01 -1.36126825e-02 -2.11203682e+02] [-1.76613913e-02 3.08878857e-05 -9.99844025e-01 -8.05154001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.220385723 meters 0.017961036321793595 Centerline is valid? [True, True] Translation: X:30.86, Y:-211.21, Z:-8.05 [[ 5.76315099e-01 8.17163513e-01 -1.02323329e-02 3.08645536e+01] [ 8.17033663e-01 -5.76405927e-01 -1.45671385e-02 -2.11214611e+02] [-1.78017114e-02 3.51014189e-05 -9.99841536e-01 -8.05263119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.250385723 meters 0.01708352188061361 Centerline is valid? [True, True] Translation: X:30.87, Y:-211.23, Z:-8.05 [[ 5.12096901e-01 8.58882303e-01 -8.82914170e-03 3.08712025e+01] [ 8.58752488e-01 -5.12173004e-01 -1.49324460e-02 -2.11225435e+02] [-1.73472616e-02 6.48119269e-05 -9.99849523e-01 -8.05310600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.280385723 meters 0.018705802964128042 Centerline is valid? [True, True] Translation: X:30.88, Y:-211.23, Z:-8.05 [[ 4.46546554e-01 8.94726938e-01 -7.73830708e-03 3.08758802e+01] [ 8.94587532e-01 -4.46613580e-01 -1.57942373e-02 -2.11233704e+02] [-1.75875626e-02 1.30269189e-04 -9.99845318e-01 -8.05323202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31038572299997 meters 0.01743260278036817 Centerline is valid? [True, True] Translation: X:30.88, Y:-211.24, Z:-8.06 [[ 3.76560640e-01 9.26371971e-01 -6.08739020e-03 3.08830362e+01] [ 9.26244494e-01 -3.76609811e-01 -1.53684144e-02 -2.11242360e+02] [-1.65294392e-02 1.48728301e-04 -9.99863368e-01 -8.05537917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.340385723 meters 0.01646400572020613 Centerline is valid? [True, True] Translation: X:30.89, Y:-211.25, Z:-8.06 [[ 3.04339054e-01 9.52552743e-01 -4.58399829e-03 3.08901576e+01] [ 9.52436452e-01 -3.04373530e-01 -1.48848502e-02 -2.11250869e+02] [-1.55738527e-02 1.64074163e-04 -9.99878707e-01 -8.05742318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37038572299997 meters 0.017579846895545117 Centerline is valid? [True, True] Translation: X:30.90, Y:-211.26, Z:-8.06 [[ 2.32905125e-01 9.72494314e-01 -3.16427773e-03 3.08979276e+01] [ 9.72391728e-01 -2.32926522e-01 -1.41266899e-02 -2.11258472e+02] [-1.44751698e-02 2.13260981e-04 -9.99895207e-01 -8.05758481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.400385723 meters 0.017886003753955475 Centerline is valid? [True, True] Translation: X:30.91, Y:-211.27, Z:-8.06 [[ 1.57389483e-01 9.87534633e-01 -1.97458309e-03 3.09056188e+01] [ 9.87437989e-01 -1.57401708e-01 -1.38173732e-02 -2.11266987e+02] [-1.39559373e-02 2.24930866e-04 -9.99902586e-01 -8.05766260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.430385723 meters 0.017396018368115832 Centerline is valid? [True, True] Translation: X:30.92, Y:-211.27, Z:-8.06 [[ 8.07834125e-02 9.96731294e-01 -8.76049204e-04 3.09150484e+01] [ 9.96636165e-01 -8.07878075e-02 -1.37726230e-02 -2.11273428e+02] [-1.37983784e-02 2.39497166e-04 -9.99904769e-01 -8.05880157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.460385723 meters 0.01849378608283498 Centerline is valid? [True, True] Translation: X:30.92, Y:-211.28, Z:-8.06 [[ 3.06448093e-03 9.99995281e-01 2.19045700e-04 3.09231845e+01] [ 9.99887307e-01 -3.06093070e-03 -1.46970665e-02 -2.11280515e+02] [-1.46963267e-02 2.64059896e-04 -9.99891968e-01 -8.05777640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.490385723 meters 0.01715633294838296 Centerline is valid? [True, True] Translation: X:30.94, Y:-211.29, Z:-8.06 [[-7.61826427e-02 9.97092983e-01 1.33730842e-03 3.09358162e+01] [ 9.96990627e-01 7.61939863e-02 -1.42886993e-02 -2.11285316e+02] [-1.43490566e-02 2.44733092e-04 -9.99897017e-01 -8.05967486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.520385723 meters 0.016578909861454865 Centerline is valid? [True, True] Translation: X:30.95, Y:-211.29, Z:-8.06 [[-1.56682112e-01 9.87645733e-01 2.57322124e-03 3.09511412e+01] [ 9.87534340e-01 1.56703090e-01 -1.48347182e-02 -2.11288397e+02] [-1.50546778e-02 2.16809371e-04 -9.99886648e-01 -8.06019538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.550385723 meters 0.016644645882813405 Centerline is valid? [True, True] Translation: X:30.96, Y:-211.29, Z:-8.06 [[-2.35240899e-01 9.71929252e-01 3.90487413e-03 3.09645609e+01] [ 9.71809121e-01 2.35273221e-01 -1.52821362e-02 -2.11291631e+02] [-1.57718676e-02 1.99808824e-04 -9.99875596e-01 -8.05944609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.580385723 meters 0.016852177758131595 Centerline is valid? [True, True] Translation: X:30.98, Y:-211.29, Z:-8.06 [[-3.14540773e-01 9.49227646e-01 5.56582684e-03 3.09779884e+01] [ 9.49087278e-01 3.14589979e-01 -1.63243492e-02 -2.11293881e+02] [-1.72464769e-02 1.47782020e-04 -9.99851258e-01 -8.05806317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.610385723 meters 0.015481143479451563 Centerline is valid? [True, True] Translation: X:30.99, Y:-211.29, Z:-8.06 [[-3.90641164e-01 9.20517302e-01 6.88314359e-03 3.09938480e+01] [ 9.20378787e-01 3.90701788e-01 -1.59687806e-02 -2.11292438e+02] [-1.73887953e-02 9.70363113e-05 -9.99848799e-01 -8.06152555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.640385723 meters 0.017544306565081116 Centerline is valid? [True, True] Translation: X:31.01, Y:-211.29, Z:-8.06 [[-4.64480891e-01 8.85542404e-01 8.49420041e-03 3.10096684e+01] [ 8.85395991e-01 4.64558552e-01 -1.61025042e-02 -2.11290683e+02] [-1.82055037e-02 4.14255055e-05 -9.99834265e-01 -8.05851267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.670385723 meters 0.01730945789059285 Centerline is valid? [True, True] Translation: X:31.02, Y:-211.29, Z:-8.06 [[-5.34171494e-01 8.45320729e-01 9.67888953e-03 3.10185761e+01] [ 8.45182139e-01 5.34259175e-01 -1.53064296e-02 -2.11292252e+02] [-1.81098777e-02 4.16619778e-06 -9.99836003e-01 -8.05847764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.700385723 meters 0.01830875922533841 Centerline is valid? [True, True] Translation: X:31.03, Y:-211.29, Z:-8.06 [[-5.99661625e-01 8.00181406e-01 1.07542623e-02 3.10315108e+01] [ 8.00052255e-01 5.99758050e-01 -1.43760944e-02 -2.11287292e+02] [-1.79534388e-02 -1.68203075e-05 -9.99838824e-01 -8.06007726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.730385723 meters 0.0170202350202153 Centerline is valid? [True, True] Translation: X:31.04, Y:-211.28, Z:-8.06 [[-6.62348672e-01 7.49107266e-01 1.15126119e-02 3.10439780e+01] [ 7.48992558e-01 6.62448715e-01 -1.31090936e-02 -2.11282684e+02] [-1.74466322e-02 -5.99300667e-05 -9.99847794e-01 -8.06112595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.760385723 meters 0.01797501596144049 Centerline is valid? [True, True] Translation: X:31.05, Y:-211.28, Z:-8.06 [[-7.18791657e-01 6.95108521e-01 1.27553071e-02 3.10539962e+01] [ 6.94997703e-01 7.18904820e-01 -1.24117905e-02 -2.11278778e+02] [-1.77973931e-02 -5.65822925e-05 -9.99841612e-01 -8.05844446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.790385723 meters 0.015382037031170864 Centerline is valid? [True, True] Translation: X:31.57, Y:-210.73, Z:-9.00 [[-6.65724513e-01 -7.46118371e-01 1.08742720e-02 3.15652649e+01] [ 7.46018089e-01 -6.65813319e-01 -1.22325097e-02 -2.10734297e+02] [ 1.63671353e-02 -3.10779383e-05 9.99866049e-01 -9.00305476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.820385723 meters 0.015310289210345818 Centerline is valid? [True, True] Translation: X:31.55, Y:-210.71, Z:-9.00 [[-6.66826524e-01 -7.45138208e-01 1.05564127e-02 3.15467695e+01] [ 7.45045559e-01 -6.66910076e-01 -1.17501119e-02 -2.10712547e+02] [ 1.57956353e-02 2.97221357e-05 9.99875241e-01 -9.00222908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.850385723 meters 0.015258158952771605 Centerline is valid? [True, True] Translation: X:31.53, Y:-210.69, Z:-9.00 [[-6.67783551e-01 -7.44285225e-01 1.02289790e-02 3.15289719e+01] [ 7.44198237e-01 -6.67861889e-01 -1.13789746e-02 -2.10691667e+02] [ 1.53007479e-02 1.36960613e-05 9.99882937e-01 -9.00225915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.880385723 meters 0.015265868678563402 Centerline is valid? [True, True] Translation: X:31.51, Y:-210.67, Z:-9.00 [[-6.68601725e-01 -7.43551421e-01 1.01497967e-02 3.15113197e+01] [ 7.43465796e-01 -6.68678760e-01 -1.12838536e-02 -2.10670855e+02] [ 1.51770789e-02 1.62272947e-06 9.99884822e-01 -9.00113294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.910385723 meters 0.015323020310841992 Centerline is valid? [True, True] Translation: X:31.49, Y:-210.65, Z:-9.00 [[-6.68818971e-01 -7.43358652e-01 9.95480274e-03 3.14930544e+01] [ 7.43276367e-01 -6.68893051e-01 -1.10602348e-02 -2.10650969e+02] [ 1.48804196e-02 1.87477642e-06 9.99889280e-01 -9.00152010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.940385723 meters 0.015358705720962665 Centerline is valid? [True, True] Translation: X:31.47, Y:-210.63, Z:-9.00 [[-6.68857171e-01 -7.43320249e-01 1.02514807e-02 3.14747461e+01] [ 7.43233088e-01 -6.68935728e-01 -1.13828512e-02 -2.10630564e+02] [ 1.53186855e-02 5.73799580e-06 9.99882662e-01 -9.00259628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.970385723 meters 0.01582727930344244 Centerline is valid? [True, True] Translation: X:31.46, Y:-210.61, Z:-9.00 [[-6.69349433e-01 -7.42870312e-01 1.07255137e-02 3.14562646e+01] [ 7.42774962e-01 -6.69435359e-01 -1.19019175e-02 -2.10609878e+02] [ 1.60216193e-02 1.01272393e-07 9.99871646e-01 -9.00364439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.000385723 meters 0.015319889949799628 Centerline is valid? [True, True] Translation: X:31.44, Y:-210.59, Z:-9.00 [[-6.69772322e-01 -7.42483195e-01 1.11239201e-02 3.14374281e+01] [ 7.42380691e-01 -6.69864691e-01 -1.23371458e-02 -2.10588439e+02] [ 1.66116447e-02 -4.89530012e-06 9.99862017e-01 -9.00399865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.030385723 meters 0.015825645825260286 Centerline is valid? [True, True] Translation: X:31.42, Y:-210.57, Z:-9.00 [[-6.70478954e-01 -7.41842290e-01 1.13131998e-02 3.14192135e+01] [ 7.41736294e-01 -6.70574393e-01 -1.25401160e-02 -2.10567293e+02] [ 1.68891305e-02 -1.64730251e-05 9.99857368e-01 -9.00478853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06038572299997 meters 0.015499413124027962 Centerline is valid? [True, True] Translation: X:31.40, Y:-210.55, Z:-9.00 [[-6.71399992e-01 -7.41017055e-01 1.07598370e-02 3.14028947e+01] [ 7.40921188e-01 -6.71486205e-01 -1.19193526e-02 -2.10545840e+02] [ 1.60575256e-02 -3.04620143e-05 9.99871069e-01 -9.00419389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.090385723 meters 0.015524277689734294 Centerline is valid? [True, True] Translation: X:31.38, Y:-210.52, Z:-9.00 [[-6.72234313e-01 -7.40272010e-01 9.91868637e-03 3.13847034e+01] [ 7.40190555e-01 -6.72307482e-01 -1.09814157e-02 -2.10524607e+02] [ 1.47976417e-02 -4.03664856e-05 9.99890508e-01 -9.00326528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12038572299997 meters 0.015593125905708476 Centerline is valid? [True, True] Translation: X:31.37, Y:-210.50, Z:-9.00 [[-6.73187261e-01 -7.39426904e-01 8.17095344e-03 3.13674258e+01] [ 7.39371610e-01 -6.73236846e-01 -9.04272365e-03 -2.10503635e+02] [ 1.21874201e-02 -4.60753634e-05 9.99925730e-01 -9.00323195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.150385723 meters 0.015596869881300636 Centerline is valid? [True, True] Translation: X:31.35, Y:-210.48, Z:-9.00 [[-6.73838223e-01 -7.38839117e-01 7.66873365e-03 3.13488661e+01] [ 7.38790428e-01 -6.73881857e-01 -8.48213424e-03 -2.10482610e+02] [ 1.14347530e-02 -4.99992405e-05 9.99934620e-01 -9.00256521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.180385723 meters 0.0157149003312453 Centerline is valid? [True, True] Translation: X:31.33, Y:-210.46, Z:-9.00 [[-6.74738627e-01 -7.38018001e-01 7.56413349e-03 3.13315996e+01] [ 7.37970636e-01 -6.74781022e-01 -8.36144184e-03 -2.10462144e+02] [ 1.12750283e-02 -5.96793872e-05 9.99936433e-01 -9.00414357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.210385723 meters 0.01589180685466297 Centerline is valid? [True, True] Translation: X:31.31, Y:-210.44, Z:-9.01 [[-6.76137257e-01 -7.36740926e-01 7.15663536e-03 3.13147107e+01] [ 7.36698510e-01 -6.76175127e-01 -7.90592916e-03 -2.10441777e+02] [ 1.06637604e-02 -7.32106537e-05 9.99943138e-01 -9.00526024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.240385723 meters 0.016039836156576906 Centerline is valid? [True, True] Translation: X:31.30, Y:-210.42, Z:-9.01 [[-6.77125460e-01 -7.35836462e-01 6.76844435e-03 3.12979424e+01] [ 7.35798525e-01 -6.77159283e-01 -7.47239235e-03 -2.10421848e+02] [ 1.00817737e-02 -7.95357430e-05 9.99949175e-01 -9.00593176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.270385723 meters 0.015928934400519942 Centerline is valid? [True, True] Translation: X:31.28, Y:-210.40, Z:-9.01 [[-6.77546372e-01 -7.35451287e-01 6.50518972e-03 3.12790487e+01] [ 7.35416268e-01 -6.77577596e-01 -7.17735053e-03 -2.10402160e+02] [ 9.68636250e-03 -7.89654652e-05 9.99953083e-01 -9.00592417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.300385723 meters 0.016132023732152462 Centerline is valid? [True, True] Translation: X:31.26, Y:-210.38, Z:-9.01 [[-6.77686857e-01 -7.35323415e-01 6.32456086e-03 3.12617546e+01] [ 7.35290350e-01 -6.77716364e-01 -6.97357072e-03 -2.10382587e+02] [ 9.41408822e-03 -7.55086454e-05 9.99955684e-01 -9.00747441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.330385723 meters 0.015752171952142128 Centerline is valid? [True, True] Translation: X:31.24, Y:-210.36, Z:-9.01 [[-6.78074983e-01 -7.34969632e-01 5.82728006e-03 3.12426810e+01] [ 7.34941584e-01 -6.78100018e-01 -6.42133388e-03 -2.10363548e+02] [ 8.67096412e-03 -7.14354276e-05 9.99962404e-01 -9.00717536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.360385723 meters 0.015587699634241984 Centerline is valid? [True, True] Translation: X:31.22, Y:-210.34, Z:-9.01 [[-6.77981099e-01 -7.35062091e-01 5.03505688e-03 3.12227987e+01] [ 7.35041176e-01 -6.77999793e-01 -5.54527821e-03 -2.10343682e+02] [ 7.48989132e-03 -5.86196846e-05 9.99971949e-01 -9.00723012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.390385723 meters 0.015497197216017935 Centerline is valid? [True, True] Translation: X:31.21, Y:-210.32, Z:-9.01 [[-6.77849171e-01 -7.35190274e-01 3.97007120e-03 3.12050676e+01] [ 7.35177291e-01 -6.77860796e-01 -4.36952241e-03 -2.10324668e+02] [ 5.90358601e-03 -4.31709556e-05 9.99982573e-01 -9.00713663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.420385723 meters 0.015497197216017935 Centerline is valid? [True, True] Translation: X:31.19, Y:-210.30, Z:-9.01 [[-6.78073779e-01 -7.34983114e-01 3.97140643e-03 3.11869947e+01] [ 7.34970134e-01 -6.78085407e-01 -4.36830887e-03 -2.10304918e+02] [ 5.90358601e-03 -4.31705865e-05 9.99982573e-01 -9.00713612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.450385723 meters 0.01553656769191221 Centerline is valid? [True, True] Translation: X:31.17, Y:-210.28, Z:-9.01 [[-6.78189828e-01 -7.34879693e-01 3.22403903e-03 3.11685527e+01] [ 7.34871148e-01 -6.78197490e-01 -3.54407606e-03 -2.10284745e+02] [ 4.79100471e-03 -3.43030677e-05 9.99988523e-01 -9.00681758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.480385723 meters 0.015561804443239976 Centerline is valid? [True, True] Translation: X:31.15, Y:-210.27, Z:-9.01 [[-6.78448065e-01 -7.34642378e-01 2.96655325e-03 3.11505101e+01] [ 7.34635150e-01 -6.78454549e-01 -3.25893690e-03 -2.10265615e+02] [ 4.40682471e-03 -3.16851421e-05 9.99990289e-01 -9.00657235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.510385723 meters 0.015591593540223256 Centerline is valid? [True, True] Translation: X:31.13, Y:-210.25, Z:-9.01 [[-6.78944183e-01 -7.34187262e-01 1.96464758e-03 3.11322982e+01] [ 7.34184094e-01 -6.78947025e-01 -2.15697816e-03 -2.10245896e+02] [ 2.91751752e-03 -2.20547748e-05 9.99995744e-01 -9.00670722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.540385723 meters 0.015842394708413993 Centerline is valid? [True, True] Translation: X:31.12, Y:-210.23, Z:-9.01 [[-6.79929381e-01 -7.33276179e-01 1.44283486e-03 3.11154628e+01] [ 7.33274470e-01 -6.79930912e-01 -1.58308154e-03 -2.10226203e+02] [ 2.14186401e-03 -1.83896841e-05 9.99997706e-01 -9.00641104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.570385723 meters 0.015922653992799577 Centerline is valid? [True, True] Translation: X:31.10, Y:-210.20, Z:-9.01 [[-6.82054085e-01 -7.31301495e-01 5.90159247e-04 3.10970037e+01] [ 7.31301209e-01 -6.82054340e-01 -6.47178606e-04 -2.10204745e+02] [ 8.75803358e-04 -9.82664144e-06 9.99999616e-01 -9.00613807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.600385723 meters 0.016278574999020953 Centerline is valid? [True, True] Translation: X:31.08, Y:-210.19, Z:-9.01 [[-6.82962644e-01 -7.30453302e-01 -2.42230132e-05 3.10804113e+01] [ 7.30453302e-01 -6.82962644e-01 2.65426690e-05 -2.10185040e+02] [-3.59315932e-05 4.33871459e-07 9.99999999e-01 -9.00600101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.630385723 meters 0.016458390179125374 Centerline is valid? [True, True] Translation: X:31.06, Y:-210.16, Z:-9.01 [[-6.84107428e-01 -7.29381263e-01 2.20708719e-06 3.10620687e+01] [ 7.29381263e-01 -6.84107428e-01 -2.42594189e-06 -2.10164544e+02] [ 3.27932144e-06 -4.97968350e-08 1.00000000e+00 -9.00642987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.660385723 meters 0.016494611273538136 Centerline is valid? [True, True] Translation: X:31.04, Y:-210.14, Z:-9.01 [[-6.85891602e-01 -7.27703418e-01 -6.67985323e-04 3.10429565e+01] [ 7.27703050e-01 -6.85891927e-01 7.31280399e-04 -2.10144555e+02] [-9.90320986e-04 1.54841272e-05 9.99999510e-01 -9.00717913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.690385723 meters 0.01697332666999623 Centerline is valid? [True, True] Translation: X:31.03, Y:-210.12, Z:-9.01 [[-6.86733840e-01 -7.26908361e-01 -9.31002625e-04 3.10259290e+01] [ 7.26907648e-01 -6.86734471e-01 1.01856354e-03 -2.10124120e+02] [-1.37975395e-03 2.27291260e-05 9.99999048e-01 -9.00725243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.720385723 meters 0.01676461101839137 Centerline is valid? [True, True] Translation: X:31.01, Y:-210.10, Z:-9.01 [[-6.88408917e-01 -7.25319979e-01 -2.02277292e-03 3.10056609e+01] [ 7.25316609e-01 -6.88411886e-01 2.21180127e-03 -2.10104990e+02] [-2.99676457e-03 5.54729252e-05 9.99995508e-01 -9.00787566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.750385723 meters 0.01698753751919133 Centerline is valid? [True, True] Translation: X:30.99, Y:-210.08, Z:-9.01 [[-6.89611267e-01 -7.24175694e-01 -2.42190661e-03 3.09866483e+01] [ 7.24170860e-01 -6.89615516e-01 2.64677621e-03 -2.10084551e+02] [-3.58691537e-03 7.13725000e-05 9.99993565e-01 -9.00821101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.780385723 meters 0.017461345866148004 Centerline is valid? [True, True] Translation: X:30.97, Y:-210.06, Z:-9.01 [[-6.90579334e-01 -7.23251556e-01 -2.71475892e-03 3.09684958e+01] [ 7.23245481e-01 -6.90584665e-01 2.96563166e-03 -2.10064021e+02] [-4.01966859e-03 8.45668190e-05 9.99991918e-01 -9.00849235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81038572299997 meters 0.01775670456860139 Centerline is valid? [True, True] Translation: X:30.95, Y:-210.04, Z:-9.01 [[-6.92063077e-01 -7.21830763e-01 -3.00784664e-03 3.09488137e+01] [ 7.21823300e-01 -6.92069606e-01 3.28401585e-03 -2.10044183e+02] [-4.45214291e-03 1.01612328e-04 9.99990084e-01 -9.00927759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.840385723 meters 0.01775692016327238 Centerline is valid? [True, True] Translation: X:30.93, Y:-210.03, Z:-9.01 [[-6.92656814e-01 -7.21260003e-01 -3.24749821e-03 3.09296462e+01] [ 7.21251305e-01 -6.92664418e-01 3.54397326e-03 -2.10025462e+02] [-4.80555262e-03 1.12494899e-04 9.99988447e-01 -9.01011832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87038572299997 meters 0.018113250326031526 Centerline is valid? [True, True] Translation: X:30.91, Y:-210.01, Z:-9.01 [[-6.93032758e-01 -7.20900798e-01 -2.76339752e-03 3.09115267e+01] [ 7.20894505e-01 -6.93038261e-01 3.01373002e-03 -2.10006501e+02] [-4.08774059e-03 9.64955431e-05 9.99991641e-01 -9.01067727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.900385723 meters 0.01831095867368643 Centerline is valid? [True, True] Translation: X:30.89, Y:-209.99, Z:-9.01 [[-6.92877257e-01 -7.21049413e-01 -2.97495718e-03 3.08916393e+01] [ 7.21042130e-01 -6.92883637e-01 3.24240537e-03 -2.09989056e+02] [-4.39923364e-03 1.01519480e-04 9.99990318e-01 -9.01238345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.930385723 meters 0.018159756427534014 Centerline is valid? [True, True] Translation: X:30.87, Y:-209.97, Z:-9.01 [[-6.93090230e-01 -7.20842837e-01 -3.39662130e-03 3.08716936e+01] [ 7.20833352e-01 -6.93098544e-01 3.69976561e-03 -2.09970850e+02] [-5.02114281e-03 1.15873483e-04 9.99987387e-01 -9.01328393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.960385723 meters 0.018181323697641957 Centerline is valid? [True, True] Translation: X:30.85, Y:-209.95, Z:-9.01 [[-6.93094795e-01 -7.20834316e-01 -4.18254532e-03 3.08509830e+01] [ 7.20819950e-01 -6.93107401e-01 4.55313008e-03 -2.09953471e+02] [-6.18100552e-03 1.40888654e-04 9.99980888e-01 -9.01397085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.990385723 meters 0.017453461430164338 Centerline is valid? [True, True] Translation: X:30.83, Y:-209.94, Z:-9.01 [[-6.93342607e-01 -7.20595726e-01 -4.22236008e-03 3.08300357e+01] [ 7.20581098e-01 -6.93355449e-01 4.59364240e-03 -2.09935027e+02] [-6.23775545e-03 1.42415138e-04 9.99980535e-01 -9.01438047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.020385723 meters 0.016945505609549688 Centerline is valid? [True, True] Translation: X:30.81, Y:-209.92, Z:-9.01 [[-6.92941871e-01 -7.20972210e-01 -5.53487572e-03 3.08087345e+01] [ 7.20947114e-01 -6.92963952e-01 6.01821153e-03 -2.09916905e+02] [-8.17443263e-03 1.79918083e-04 9.99966573e-01 -9.01489053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.050385723 meters 0.017186247649961375 Centerline is valid? [True, True] Translation: X:30.79, Y:-209.90, Z:-9.01 [[-6.92500770e-01 -7.21393913e-01 -5.78843208e-03 3.07894537e+01] [ 7.21366511e-01 -6.92524938e-01 6.29027474e-03 -2.09897296e+02] [-8.54639947e-03 1.80439047e-04 9.99963463e-01 -9.01474345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.080385723 meters 0.016621543360324686 Centerline is valid? [True, True] Translation: X:30.77, Y:-209.88, Z:-9.02 [[-6.91862735e-01 -7.22006002e-01 -5.76966001e-03 3.07683017e+01] [ 7.21978828e-01 -6.91886771e-01 6.26638502e-03 -2.09879076e+02] [-8.51631903e-03 1.69905902e-04 9.99963721e-01 -9.01552328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.110385723 meters 0.016635301428104134 Centerline is valid? [True, True] Translation: X:30.75, Y:-209.86, Z:-9.02 [[-6.90441381e-01 -7.23360044e-01 -6.39889127e-03 3.07475383e+01] [ 7.23326714e-01 -6.90471012e-01 6.94591583e-03 -2.09861785e+02] [-9.44264691e-03 1.67258715e-04 9.99955403e-01 -9.01560764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.140385723 meters 0.016324783173479573 Centerline is valid? [True, True] Translation: X:30.73, Y:-209.84, Z:-9.02 [[-6.89764089e-01 -7.24002542e-01 -6.76903853e-03 3.07270479e+01] [ 7.23965316e-01 -6.89797283e-01 7.34367524e-03 -2.09842923e+02] [-9.98610393e-03 1.64854340e-04 9.99950124e-01 -9.01581718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.170385723 meters 0.016054715240131027 Centerline is valid? [True, True] Translation: X:30.70, Y:-209.83, Z:-9.02 [[-6.88746403e-01 -7.24967707e-01 -7.08638521e-03 3.07043465e+01] [ 7.24927004e-01 -6.88782840e-01 7.68368048e-03 -2.09825590e+02] [-1.04514007e-02 1.54995294e-04 9.99945371e-01 -9.01732696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.200385723 meters 0.01607090923678767 Centerline is valid? [True, True] Translation: X:30.68, Y:-209.81, Z:-9.02 [[-6.88537475e-01 -7.25164317e-01 -7.27033812e-03 3.06849545e+01] [ 7.25121534e-01 -6.88575842e-01 7.87850288e-03 -2.09807181e+02] [-1.07193884e-02 1.52765750e-04 9.99942534e-01 -9.01750058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.230385723 meters 0.016055874020473895 Centerline is valid? [True, True] Translation: X:30.67, Y:-209.79, Z:-9.02 [[-6.88492841e-01 -7.25205818e-01 -7.35725597e-03 3.06651099e+01] [ 7.25162056e-01 -6.88532133e-01 7.96832046e-03 -2.09787680e+02] [-1.08443795e-02 1.50928727e-04 9.99941187e-01 -9.01763410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.260385723 meters 0.016204259014949162 Centerline is valid? [True, True] Translation: X:30.65, Y:-209.77, Z:-9.02 [[-6.88825913e-01 -7.24884460e-01 -7.83464451e-03 3.06453003e+01] [ 7.24834874e-01 -6.88870447e-01 8.48014883e-03 -2.09768664e+02] [-1.15441832e-02 1.62522692e-04 9.99933351e-01 -9.01707084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.290385723 meters 0.01633300835966633 Centerline is valid? [True, True] Translation: X:30.63, Y:-209.75, Z:-9.02 [[-6.89127329e-01 -7.24598823e-01 -7.75048967e-03 3.06262470e+01] [ 7.24550336e-01 -6.89170893e-01 8.38394060e-03 -2.09748786e+02] [-1.14164054e-02 1.61982703e-04 9.99934818e-01 -9.01683942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.320385723 meters 0.016583683671855014 Centerline is valid? [True, True] Translation: X:30.61, Y:-209.73, Z:-9.02 [[-6.89787900e-01 -7.23967386e-01 -7.99232305e-03 3.06071041e+01] [ 7.23915849e-01 -6.89834179e-01 8.64001255e-03 -2.09731322e+02] [-1.17684649e-02 1.74006786e-04 9.99930734e-01 -9.01750410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.350385723 meters 0.016622810024627635 Centerline is valid? [True, True] Translation: X:30.59, Y:-209.71, Z:-9.02 [[-6.90076623e-01 -7.23689260e-01 -8.25285172e-03 3.05873338e+01] [ 7.23634354e-01 -6.90125946e-01 8.91628420e-03 -2.09712208e+02] [-1.21481262e-02 1.80872260e-04 9.99926192e-01 -9.01771979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.380385723 meters 0.01627574766683971 Centerline is valid? [True, True] Translation: X:30.57, Y:-209.69, Z:-9.02 [[-6.90633374e-01 -7.23156831e-01 -8.35112773e-03 3.05663463e+01] [ 7.23100632e-01 -6.90683837e-01 9.01743765e-03 -2.09693334e+02] [-1.22890106e-02 1.89037648e-04 9.99924469e-01 -9.01954355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.410385723 meters 0.016921026567219045 Centerline is valid? [True, True] Translation: X:30.55, Y:-209.67, Z:-9.02 [[-6.91139505e-01 -7.22677804e-01 -7.93581461e-03 3.05479624e+01] [ 7.22627083e-01 -6.91185039e-01 8.56396073e-03 -2.09672935e+02] [-1.16741007e-02 1.84257017e-04 9.99931838e-01 -9.01926301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.440385723 meters 0.016938306359071467 Centerline is valid? [True, True] Translation: X:30.53, Y:-209.65, Z:-9.02 [[-6.91389821e-01 -7.22440973e-01 -7.69128524e-03 3.05295887e+01] [ 7.22393371e-01 -6.91432577e-01 8.29516367e-03 -2.09652941e+02] [-1.13107713e-02 1.79058251e-04 9.99936015e-01 -9.01941894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.470385723 meters 0.016615928962876836 Centerline is valid? [True, True] Translation: X:30.51, Y:-209.63, Z:-9.02 [[-6.91921831e-01 -7.21927353e-01 -8.06697551e-03 3.05104872e+01] [ 7.21875015e-01 -6.91968828e-01 8.69503196e-03 -2.09633731e+02] [-1.18592770e-02 1.92934370e-04 9.99929658e-01 -9.02017216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.500385723 meters 0.016933101038541443 Centerline is valid? [True, True] Translation: X:30.49, Y:-209.61, Z:-9.02 [[-6.93109262e-01 -7.20794606e-01 -7.39506179e-03 3.04926466e+01] [ 7.20750614e-01 -6.93148685e-01 7.96569303e-03 -2.09614809e+02] [-1.08675059e-02 1.91100298e-04 9.99940929e-01 -9.02146699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.530385723 meters 0.01717188190366403 Centerline is valid? [True, True] Translation: X:30.47, Y:-209.60, Z:-9.02 [[-6.94037220e-01 -7.19904932e-01 -7.01612134e-03 3.04737354e+01] [ 7.19865335e-01 -6.94072656e-01 7.55295915e-03 -2.09595693e+02] [-1.03071105e-02 1.91372236e-04 9.99946862e-01 -9.02301266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56038572299997 meters 0.01737931069369292 Centerline is valid? [True, True] Translation: X:30.46, Y:-209.58, Z:-9.02 [[-6.94471960e-01 -7.19487606e-01 -6.80300568e-03 3.04554115e+01] [ 7.19450402e-01 -6.94505255e-01 7.31914398e-03 -2.09575859e+02] [-9.99075657e-03 1.88515095e-04 9.99950073e-01 -9.02286497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.590385723 meters 0.01759385995692855 Centerline is valid? [True, True] Translation: X:30.44, Y:-209.56, Z:-9.02 [[-6.94885407e-01 -7.19088873e-01 -6.74272669e-03 3.04376138e+01] [ 7.19052352e-01 -6.94918094e-01 7.24972967e-03 -2.09556364e+02] [-9.89884271e-03 1.89357861e-04 9.99950987e-01 -9.02254327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.62038572299997 meters 0.017745093927277644 Centerline is valid? [True, True] Translation: X:30.42, Y:-209.54, Z:-9.02 [[-6.95018706e-01 -7.18957410e-01 -7.01713260e-03 3.04187921e+01] [ 7.18917898e-01 -6.95054101e-01 7.54007857e-03 -2.09537663e+02] [-1.02982822e-02 1.95753433e-04 9.99946952e-01 -9.02207168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.650385723 meters 0.017064871952712796 Centerline is valid? [True, True] Translation: X:30.40, Y:-209.52, Z:-9.02 [[-6.94962554e-01 -7.19011443e-01 -7.04223003e-03 3.03986945e+01] [ 7.18971698e-01 -6.94998207e-01 7.56243218e-03 -2.09519139e+02] [-1.03318125e-02 1.92443105e-04 9.99946607e-01 -9.02240514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.680385723 meters 0.01696125699005966 Centerline is valid? [True, True] Translation: X:30.38, Y:-209.50, Z:-9.02 [[-6.94890070e-01 -7.19082466e-01 -6.94237104e-03 3.03795136e+01] [ 7.19043890e-01 -6.94924724e-01 7.45065650e-03 -2.09499531e+02] [-1.01820617e-02 1.85517737e-04 9.99948144e-01 -9.02256619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.710385723 meters 0.01694898234250097 Centerline is valid? [True, True] Translation: X:30.36, Y:-209.48, Z:-9.02 [[-6.94177575e-01 -7.19778672e-01 -6.01321746e-03 3.03599030e+01] [ 7.19749787e-01 -6.94203603e-01 6.45001036e-03 -2.09480046e+02] [-8.81697711e-03 1.49440566e-04 9.99961119e-01 -9.02342693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.740385723 meters 0.0165562562192958 Centerline is valid? [True, True] Translation: X:30.34, Y:-209.46, Z:-9.02 [[-6.93968502e-01 -7.19986025e-01 -5.27661331e-03 3.03401390e+01] [ 7.19963816e-01 -6.93988550e-01 5.65643294e-03 -2.09461387e+02] [-7.73446189e-03 1.26415633e-04 9.99970081e-01 -9.02475743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.770385723 meters 0.016289019292586412 Centerline is valid? [True, True] Translation: X:30.32, Y:-209.44, Z:-9.03 [[-6.93479595e-01 -7.20460420e-01 -4.77864501e-03 3.03203113e+01] [ 7.20442236e-01 -6.93496050e-01 5.11979441e-03 -2.09441953e+02] [-7.00258067e-03 1.07735251e-04 9.99975476e-01 -9.02566167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.800385723 meters 0.016099686346280517 Centerline is valid? [True, True] Translation: X:30.30, Y:-209.42, Z:-9.03 [[-6.92504465e-01 -7.21401647e-01 -4.15096803e-03 3.03005162e+01] [ 7.21387958e-01 -6.92516900e-01 4.44484941e-03 -2.09422177e+02] [-6.08113720e-03 8.36197102e-05 9.99981506e-01 -9.02611881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.830385723 meters 0.016046143631585706 Centerline is valid? [True, True] Translation: X:30.28, Y:-209.40, Z:-9.03 [[-6.92354101e-01 -7.21547776e-01 -3.82168650e-03 3.02812994e+01] [ 7.21536188e-01 -6.92364645e-01 4.08999867e-03 -2.09401967e+02] [-5.59713006e-03 7.42422448e-05 9.99984333e-01 -9.02622471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.860385723 meters 0.01615927058906981 Centerline is valid? [True, True] Translation: X:30.26, Y:-209.38, Z:-9.03 [[-6.92330167e-01 -7.21570132e-01 -3.93492830e-03 3.02633024e+01] [ 7.21557862e-01 -6.92341345e-01 4.20874138e-03 -2.09381052e+02] [-5.76121563e-03 7.45601763e-05 9.99983401e-01 -9.02572186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.890385723 meters 0.016191287506571433 Centerline is valid? [True, True] Translation: X:30.25, Y:-209.36, Z:-9.03 [[-6.92453935e-01 -7.21452315e-01 -3.75575077e-03 3.02455775e+01] [ 7.21441148e-01 -6.92464117e-01 4.01463848e-03 -2.09360729e+02] [-5.49709286e-03 7.03990611e-05 9.99984888e-01 -9.02512250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.920385723 meters 0.01611278570086813 Centerline is valid? [True, True] Translation: X:30.23, Y:-209.34, Z:-9.02 [[-6.92033018e-01 -7.21856887e-01 -3.59669789e-03 3.02289637e+01] [ 7.21846661e-01 -6.92042362e-01 3.84280727e-03 -2.09340680e+02] [-5.26302420e-03 6.30851460e-05 9.99986148e-01 -9.02471657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.950385723 meters 0.016036039525581424 Centerline is valid? [True, True] Translation: X:30.21, Y:-209.32, Z:-9.02 [[-6.91704584e-01 -7.22172290e-01 -3.45728004e-03 3.02108600e+01] [ 7.22162856e-01 -6.91713222e-01 3.69160505e-03 -2.09320947e+02] [-5.05742119e-03 5.67809030e-05 9.99987210e-01 -9.02449421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.980385723 meters 0.016012810945012897 Centerline is valid? [True, True] Translation: X:30.19, Y:-209.30, Z:-9.02 [[-6.91003852e-01 -7.22846149e-01 -2.66875145e-03 3.01934804e+01] [ 7.22840540e-01 -6.91009004e-01 2.84781554e-03 -2.09300980e+02] [-3.90266378e-03 3.87697665e-05 9.99992384e-01 -9.02468649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.010385723 meters 0.01604375429446553 Centerline is valid? [True, True] Translation: X:30.18, Y:-209.28, Z:-9.03 [[-6.90799612e-01 -7.23043547e-01 -1.98112445e-03 3.01752135e+01] [ 7.23040461e-01 -6.90802452e-01 2.11279107e-03 -2.09280845e+02] [-2.89620558e-03 2.70821196e-05 9.99995806e-01 -9.02524097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.040385723 meters 0.01588423437160043 Centerline is valid? [True, True] Translation: X:30.16, Y:-209.26, Z:-9.03 [[-6.91026377e-01 -7.22828266e-01 -1.35793687e-03 3.01570543e+01] [ 7.22826818e-01 -6.91027711e-01 1.44731291e-03 -2.09260900e+02] [-1.98453069e-03 1.85782121e-05 9.99998031e-01 -9.02537812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.070385723 meters 0.016285852000420886 Centerline is valid? [True, True] Translation: X:30.14, Y:-209.24, Z:-9.03 [[-6.91939109e-01 -7.21955408e-01 -8.10935878e-04 3.01406819e+01] [ 7.21954892e-01 -6.91939584e-01 8.63761263e-04 -2.09239739e+02] [-1.18471575e-03 1.22110742e-05 9.99999298e-01 -9.02530488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.100385723 meters 0.016037422935016348 Centerline is valid? [True, True] Translation: X:30.12, Y:-209.22, Z:-9.03 [[-6.92823212e-01 -7.21107043e-01 -7.93797447e-04 3.01216743e+01] [ 7.21106548e-01 -6.92823666e-01 8.45013600e-04 -2.09219727e+02] [-1.15930692e-03 1.30324998e-05 9.99999328e-01 -9.02528314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.130385723 meters 0.01641976695236907 Centerline is valid? [True, True] Translation: X:30.11, Y:-209.20, Z:-9.02 [[-6.93637676e-01 -7.20323544e-01 -8.75499653e-04 3.01053416e+01] [ 7.20322942e-01 -6.93638228e-01 9.31384736e-04 -2.09199457e+02] [-1.27817838e-03 1.54010581e-05 9.99999183e-01 -9.02467855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.160385723 meters 0.016334564260909117 Centerline is valid? [True, True] Translation: X:30.09, Y:-209.18, Z:-9.02 [[-6.94694074e-01 -7.19304842e-01 -8.29064133e-04 3.00879479e+01] [ 7.19304303e-01 -6.94694568e-01 8.81447555e-04 -2.09178347e+02] [-1.20997584e-03 1.59869950e-05 9.99999268e-01 -9.02379847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.190385723 meters 0.017646801945417935 Centerline is valid? [True, True] Translation: X:30.07, Y:-209.16, Z:-9.03 [[-6.95584261e-01 -7.18444224e-01 -6.58047962e-04 3.00697905e+01] [ 7.18443884e-01 -6.95584572e-01 6.99200868e-04 -2.09158014e+02] [-9.60064835e-04 1.35825845e-05 9.99999539e-01 -9.02549863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.220385723 meters 0.016663911456538547 Centerline is valid? [True, True] Translation: X:30.05, Y:-209.14, Z:-9.02 [[-6.96399131e-01 -7.17654574e-01 -4.04844396e-04 3.00520828e+01] [ 7.17654445e-01 -6.96399248e-01 4.29900201e-04 -2.09136958e+02] [-5.90453178e-04 8.84374594e-06 9.99999826e-01 -9.02423943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.250385723 meters 0.016532304369442176 Centerline is valid? [True, True] Translation: X:30.03, Y:-209.12, Z:-9.02 [[-6.96812356e-01 -7.17253390e-01 -3.41142721e-04 3.00340091e+01] [ 7.17253298e-01 -6.96812439e-01 3.62033175e-04 -2.09116937e+02] [-4.97382013e-04 7.58344752e-06 9.99999876e-01 -9.02422134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.280385723 meters 0.016318981096608513 Centerline is valid? [True, True] Translation: X:30.02, Y:-209.10, Z:-9.02 [[-6.96843718e-01 -7.17223001e-01 -1.05042960e-05 3.00151653e+01] [ 7.17223001e-01 -6.96843718e-01 1.11339122e-05 -2.09096606e+02] [-1.53053505e-05 2.24674096e-07 1.00000000e+00 -9.02382088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31038572299997 meters 0.016537201574255634 Centerline is valid? [True, True] Translation: X:30.00, Y:-209.08, Z:-9.02 [[-6.95698657e-01 -7.18333716e-01 2.24078213e-04 2.99982373e+01] [ 7.18333677e-01 -6.95698693e-01 -2.37546990e-04 -2.09075699e+02] [ 3.26528932e-04 -4.29819554e-06 9.99999947e-01 -9.02365159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.340385723 meters 0.016537201574255634 Centerline is valid? [True, True] Translation: X:29.98, Y:-209.06, Z:-9.02 [[-6.95908902e-01 -7.18130037e-01 2.24147587e-04 2.99797934e+01] [ 7.18129998e-01 -6.95908938e-01 -2.37481530e-04 -2.09056312e+02] [ 3.26528929e-04 -4.29840448e-06 9.99999947e-01 -9.02365108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37038572299997 meters 0.01609154277316812 Centerline is valid? [True, True] Translation: X:29.96, Y:-209.04, Z:-9.02 [[-6.94914012e-01 -7.19092791e-01 2.72543393e-04 2.99601824e+01] [ 7.19092733e-01 -6.94914065e-01 -2.88578617e-04 -2.09037762e+02] [ 3.96909040e-04 -4.55335147e-06 9.99999921e-01 -9.02315817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.400385723 meters 0.015620468329764185 Centerline is valid? [True, True] Translation: X:29.94, Y:-209.02, Z:-9.02 [[-6.92103633e-01 -7.21798013e-01 4.35281695e-04 2.99395764e+01] [ 7.21797866e-01 -6.92103770e-01 -4.60631887e-04 -2.09019102e+02] [ 6.33743283e-04 -4.61960384e-06 9.99999799e-01 -9.02333372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.430385723 meters 0.015469456528585382 Centerline is valid? [True, True] Translation: X:29.92, Y:-209.00, Z:-9.02 [[-6.90612680e-01 -7.23224644e-01 4.89453004e-04 2.99196358e+01] [ 7.23224459e-01 -6.90612854e-01 -5.17673023e-04 -2.08998881e+02] [ 7.12416424e-04 -3.52716978e-06 9.99999746e-01 -9.02307792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.460385723 meters 0.015450843008016316 Centerline is valid? [True, True] Translation: X:29.90, Y:-208.98, Z:-9.02 [[-6.89115111e-01 -7.24651485e-01 7.67762975e-04 2.99015447e+01] [ 7.24651031e-01 -6.89115538e-01 -8.11501077e-04 -2.08980104e+02] [ 1.11713286e-03 -2.85742317e-06 9.99999376e-01 -9.02303736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.490385723 meters 0.015406314407206613 Centerline is valid? [True, True] Translation: X:29.88, Y:-208.96, Z:-9.02 [[-6.87050501e-01 -7.26608329e-01 1.39465045e-03 2.98835752e+01] [ 7.26606835e-01 -6.87051917e-01 -1.47340091e-03 -2.08960354e+02] [ 2.02878264e-03 1.06171856e-06 9.99997942e-01 -9.02272415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.520385723 meters 0.015529401598107164 Centerline is valid? [True, True] Translation: X:29.86, Y:-208.94, Z:-9.02 [[-6.86541918e-01 -7.27088055e-01 1.77612269e-03 2.98649938e+01] [ 7.27085637e-01 -6.86544216e-01 -1.87527868e-03 -2.08940112e+02] [ 2.58287949e-03 3.93587176e-06 9.99996664e-01 -9.02258940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.550385723 meters 0.015562755433631045 Centerline is valid? [True, True] Translation: X:29.85, Y:-208.92, Z:-9.02 [[-6.86362252e-01 -7.27255585e-01 2.48445754e-03 2.98478224e+01] [ 7.27250859e-01 -6.86366749e-01 -2.62192701e-03 -2.08920541e+02] [ 3.61206010e-03 7.23214861e-06 9.99993477e-01 -9.02325998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.580385723 meters 0.015663452033099795 Centerline is valid? [True, True] Translation: X:29.83, Y:-208.90, Z:-9.02 [[-6.86615143e-01 -7.27014977e-01 2.97807777e-03 2.98293719e+01] [ 7.27008192e-01 -6.86621601e-01 -3.14099254e-03 -2.08900267e+02] [ 4.32836114e-03 8.43388983e-06 9.99990633e-01 -9.02340777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.610385723 meters 0.015609736888972485 Centerline is valid? [True, True] Translation: X:29.81, Y:-208.88, Z:-9.02 [[-6.86840274e-01 -7.26802594e-01 2.90306803e-03 2.98111266e+01] [ 7.26796152e-01 -6.86846409e-01 -3.06006928e-03 -2.08879650e+02] [ 4.21802814e-03 8.15984860e-06 9.99991104e-01 -9.02355217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.640385723 meters 0.015580522357282224 Centerline is valid? [True, True] Translation: X:29.79, Y:-208.86, Z:-9.02 [[-6.87138189e-01 -7.26521799e-01 2.68048010e-03 2.97928804e+01] [ 7.26516312e-01 -6.87143417e-01 -2.82378324e-03 -2.08858843e+02] [ 3.89341433e-03 7.08321249e-06 9.99992421e-01 -9.02291076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.670385723 meters 0.015735317424472286 Centerline is valid? [True, True] Translation: X:29.78, Y:-208.84, Z:-9.02 [[-6.87479531e-01 -7.26201043e-01 1.98487086e-03 2.97756574e+01] [ 7.26198036e-01 -6.87482396e-01 -2.08976487e-03 -2.08837726e+02] [ 2.88215320e-03 4.73874832e-06 9.99995847e-01 -9.02220654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.700385723 meters 0.015678116943071592 Centerline is valid? [True, True] Translation: X:29.76, Y:-208.82, Z:-9.02 [[-6.88272504e-01 -7.25449601e-01 1.95904978e-03 2.97582184e+01] [ 7.25446672e-01 -6.88275292e-01 -2.06131407e-03 -2.08817058e+02] [ 2.84374503e-03 2.44034959e-06 9.99995957e-01 -9.02231795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.730385723 meters 0.01574772712159082 Centerline is valid? [True, True] Translation: X:29.74, Y:-208.80, Z:-9.02 [[-6.88977425e-01 -7.24779077e-01 2.32330792e-03 2.97408953e+01] [ 7.24774960e-01 -6.88981342e-01 -2.44301816e-03 -2.08797092e+02] [ 3.37136425e-03 6.91044537e-07 9.99994317e-01 -9.02302939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.760385723 meters 0.015758042127264747 Centerline is valid? [True, True] Translation: X:29.72, Y:-208.78, Z:-9.02 [[-6.89406432e-01 -7.24369171e-01 2.84169321e-03 2.97228773e+01] [ 7.24363016e-01 -6.89412289e-01 -2.98629286e-03 -2.08776039e+02] [ 4.12227671e-03 -3.52044938e-07 9.99991503e-01 -9.02287486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.790385723 meters 0.01581875201370335 Centerline is valid? [True, True] Translation: X:29.71, Y:-208.76, Z:-9.02 [[-6.89737117e-01 -7.24054021e-01 2.91277509e-03 2.97051606e+01] [ 7.24047559e-01 -6.89743267e-01 -3.05913416e-03 -2.08755534e+02] [ 4.22404540e-03 -1.01067677e-06 9.99991079e-01 -9.02291606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.820385723 meters 0.01572033905821146 Centerline is valid? [True, True] Translation: X:29.69, Y:-208.73, Z:-9.02 [[-6.90028528e-01 -7.23774467e-01 3.33945517e-03 2.96875336e+01] [ 7.23765979e-01 -6.90036609e-01 -3.50511898e-03 -2.08734416e+02] [ 4.84126195e-03 -1.64804833e-06 9.99988281e-01 -9.02371046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.850385723 meters 0.015796862229191154 Centerline is valid? [True, True] Translation: X:29.67, Y:-208.71, Z:-9.02 [[-6.90167825e-01 -7.23638597e-01 3.94389560e-03 2.96695909e+01] [ 7.23626772e-01 -6.90179094e-01 -4.13690234e-03 -2.08714957e+02] [ 5.71561649e-03 -1.24844878e-06 9.99983666e-01 -9.02461531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.880385723 meters 0.01659265377259079 Centerline is valid? [True, True] Translation: X:29.65, Y:-208.69, Z:-9.03 [[-6.90478157e-01 -7.23336443e-01 4.93010328e-03 2.96512510e+01] [ 7.23317979e-01 -6.90495757e-01 -5.16825763e-03 -2.08694211e+02] [ 7.14260449e-03 -2.53666625e-06 9.99974491e-01 -9.02722628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.910385723 meters 0.01589654194362424 Centerline is valid? [True, True] Translation: X:29.63, Y:-208.67, Z:-9.03 [[-6.91039451e-01 -7.22798521e-01 5.17458778e-03 2.96329539e+01] [ 7.22778190e-01 -6.91058824e-01 -5.42121799e-03 -2.08673355e+02] [ 7.49439289e-03 -6.19630811e-06 9.99971917e-01 -9.02633200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.940385723 meters 0.015919284665996115 Centerline is valid? [True, True] Translation: X:29.62, Y:-208.65, Z:-9.03 [[-6.92395913e-01 -7.21491728e-01 6.13075292e-03 2.96175740e+01] [ 7.21463166e-01 -6.92423054e-01 -6.41990571e-03 -2.08651738e+02] [ 8.87698352e-03 -2.20040657e-05 9.99960599e-01 -9.02653629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.970385723 meters 0.016005301729831597 Centerline is valid? [True, True] Translation: X:29.60, Y:-208.63, Z:-9.03 [[-6.93427956e-01 -7.20501123e-01 5.98341443e-03 2.96006763e+01] [ 7.20473915e-01 -6.93453769e-01 -6.26165384e-03 -2.08630865e+02] [ 8.66074992e-03 -3.11118062e-05 9.99962495e-01 -9.02664325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.000385723 meters 0.01619345191772225 Centerline is valid? [True, True] Translation: X:29.58, Y:-208.61, Z:-9.03 [[-6.94526601e-01 -7.19443676e-01 5.79631328e-03 2.95826998e+01] [ 7.19418136e-01 -6.94550787e-01 -6.06222974e-03 -2.08609687e+02] [ 8.38726680e-03 -4.04069192e-05 9.99964825e-01 -9.02650615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.030385723 meters 0.016255716651199487 Centerline is valid? [True, True] Translation: X:29.57, Y:-208.59, Z:-9.03 [[-6.96065261e-01 -7.17952756e-01 6.08221722e-03 2.95659874e+01] [ 7.17924603e-01 -6.96091831e-01 -6.35829570e-03 -2.08588647e+02] [ 8.79873764e-03 -5.92153779e-05 9.99961289e-01 -9.02719301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06038572299997 meters 0.016305711554916474 Centerline is valid? [True, True] Translation: X:29.55, Y:-208.57, Z:-9.03 [[-6.96341635e-01 -7.17682771e-01 6.30613598e-03 2.95489915e+01] [ 7.17652534e-01 -6.96370186e-01 -6.58826476e-03 -2.08569064e+02] [ 9.11968920e-03 -6.20685925e-05 9.99958413e-01 -9.02754196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.090385723 meters 0.016228453070752578 Centerline is valid? [True, True] Translation: X:29.53, Y:-208.55, Z:-9.03 [[-6.96130792e-01 -7.17894380e-01 5.43867175e-03 2.95316869e+01] [ 7.17871922e-01 -6.96152035e-01 -5.67866983e-03 -2.08547598e+02] [ 7.86282757e-03 -4.88271782e-05 9.99969086e-01 -9.02638431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.12038572299997 meters 0.016141781688723992 Centerline is valid? [True, True] Translation: X:29.51, Y:-208.53, Z:-9.02 [[-6.95973001e-01 -7.18051629e-01 4.84158454e-03 2.95130488e+01] [ 7.18033857e-01 -6.95989840e-01 -5.05212747e-03 -2.08527450e+02] [ 6.99738201e-03 -3.97226941e-05 9.99975517e-01 -9.02452505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.150385723 meters 0.01617765450332539 Centerline is valid? [True, True] Translation: X:29.50, Y:-208.51, Z:-9.02 [[-6.95673451e-01 -7.18343503e-01 4.58925082e-03 2.94952344e+01] [ 7.18327562e-01 -6.95688588e-01 -4.78573537e-03 -2.08507579e+02] [ 6.63049133e-03 -3.27236939e-05 9.99978018e-01 -9.02386182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.180385723 meters 0.016047737941964024 Centerline is valid? [True, True] Translation: X:29.48, Y:-208.49, Z:-9.02 [[-6.95039062e-01 -7.18955858e-01 4.81425317e-03 2.94768250e+01] [ 7.18938351e-01 -6.95055734e-01 -5.01731067e-03 -2.08487008e+02] [ 6.95339917e-03 -2.60756675e-05 9.99975825e-01 -9.02345556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.210385723 meters 0.016057305642326943 Centerline is valid? [True, True] Translation: X:29.46, Y:-208.47, Z:-9.02 [[-6.94793669e-01 -7.19191985e-01 4.96461300e-03 2.94589711e+01] [ 7.19173397e-01 -6.94811405e-01 -5.17070409e-03 -2.08468179e+02] [ 7.16819867e-03 -2.21548673e-05 9.99974308e-01 -9.02385922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.240385723 meters 0.01607163096331675 Centerline is valid? [True, True] Translation: X:29.44, Y:-208.45, Z:-9.02 [[-6.94176073e-01 -7.19786714e-01 5.16394834e-03 2.94415345e+01] [ 7.19766646e-01 -6.94195280e-01 -5.37489325e-03 -2.08448818e+02] [ 7.45356532e-03 -1.42845123e-05 9.99972222e-01 -9.02478370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.270385723 meters 0.016120011043982845 Centerline is valid? [True, True] Translation: X:29.42, Y:-208.43, Z:-9.03 [[-6.93998388e-01 -7.19956224e-01 5.41042972e-03 2.94234121e+01] [ 7.19934226e-01 -6.94019477e-01 -5.62808795e-03 -2.08428385e+02] [ 7.80692056e-03 -1.07304301e-05 9.99969526e-01 -9.02501646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.300385723 meters 0.016123929734596816 Centerline is valid? [True, True] Translation: X:29.41, Y:-208.41, Z:-9.02 [[-6.94214923e-01 -7.19746669e-01 5.51126599e-03 2.94055714e+01] [ 7.19723863e-01 -6.94236799e-01 -5.72955981e-03 -2.08407633e+02] [ 7.94995525e-03 -1.09562671e-05 9.99968399e-01 -9.02485764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.330385723 meters 0.01613201861061998 Centerline is valid? [True, True] Translation: X:29.39, Y:-208.39, Z:-9.03 [[-6.94846446e-01 -7.19137749e-01 5.41422906e-03 2.93892978e+01] [ 7.19115749e-01 -6.94867540e-01 -5.62516853e-03 -2.08387082e+02] [ 7.80744307e-03 -1.51709774e-05 9.99969521e-01 -9.02506754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.360385723 meters 0.01614321410910382 Centerline is valid? [True, True] Translation: X:29.37, Y:-208.37, Z:-9.03 [[-6.95292241e-01 -7.18703813e-01 5.79034974e-03 2.93708095e+01] [ 7.18678664e-01 -6.95316351e-01 -6.01241830e-03 -2.08366390e+02] [ 8.34727282e-03 -1.89869773e-05 9.99965161e-01 -9.02564879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.390385723 meters 0.016118586500387083 Centerline is valid? [True, True] Translation: X:29.35, Y:-208.34, Z:-9.02 [[-6.95994965e-01 -7.18025256e-01 5.54436468e-03 2.93533041e+01] [ 7.18002202e-01 -6.96017048e-01 -5.75383125e-03 -2.08344070e+02] [ 7.99036850e-03 -2.37715260e-05 9.99968076e-01 -9.02478650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.420385723 meters 0.016171767908133246 Centerline is valid? [True, True] Translation: X:29.34, Y:-208.32, Z:-9.03 [[-6.96124634e-01 -7.17901135e-01 5.33424842e-03 2.93368638e+01] [ 7.17879812e-01 -6.96145071e-01 -5.53313090e-03 -2.08323746e+02] [ 7.68565170e-03 -2.23994723e-05 9.99970465e-01 -9.02530118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.450385723 meters 0.016071614200948308 Centerline is valid? [True, True] Translation: X:29.32, Y:-208.30, Z:-9.02 [[-6.96239854e-01 -7.17790143e-01 5.23231010e-03 2.93192220e+01] [ 7.17769647e-01 -6.96259514e-01 -5.42426526e-03 -2.08303145e+02] [ 7.53652983e-03 -2.09962790e-05 9.99971600e-01 -9.02470070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.480385723 meters 0.016098893500903624 Centerline is valid? [True, True] Translation: X:29.30, Y:-208.28, Z:-9.02 [[-6.95980478e-01 -7.18044519e-01 4.82105305e-03 2.93023434e+01] [ 7.18027141e-01 -6.95997175e-01 -4.99569915e-03 -2.08283471e+02] [ 6.94257370e-03 -1.52621465e-05 9.99975900e-01 -9.02429597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.510385723 meters 0.01598712996810294 Centerline is valid? [True, True] Translation: X:29.28, Y:-208.26, Z:-9.02 [[-6.95773237e-01 -7.18245018e-01 4.86794228e-03 2.92833336e+01] [ 7.18227326e-01 -6.95790265e-01 -5.04124730e-03 -2.08264437e+02] [ 7.00791761e-03 -1.12757821e-05 9.99975444e-01 -9.02363370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.540385723 meters 0.016039013184954227 Centerline is valid? [True, True] Translation: X:29.26, Y:-208.25, Z:-9.03 [[-6.94960671e-01 -7.19030281e-01 5.01204829e-03 2.92639326e+01] [ 7.19011570e-01 -6.94978744e-01 -5.18722497e-03 -2.08246655e+02] [ 7.21303885e-03 -1.19663631e-06 9.99973986e-01 -9.02566093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.570385723 meters 0.015996699275133537 Centerline is valid? [True, True] Translation: X:29.24, Y:-208.23, Z:-9.03 [[-6.94761858e-01 -7.19221674e-01 5.11324160e-03 2.92446555e+01] [ 7.19202229e-01 -6.94780673e-01 -5.28868997e-03 -2.08228799e+02] [ 7.35632190e-03 3.07468375e-06 9.99972942e-01 -9.02630307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.600385723 meters 0.015978606550799447 Centerline is valid? [True, True] Translation: X:29.23, Y:-208.21, Z:-9.03 [[-6.94727281e-01 -7.19253622e-01 5.31347949e-03 2.92254779e+01] [ 7.19232651e-01 -6.94747600e-01 -5.49239572e-03 -2.08210663e+02] [ 7.64195264e-03 5.91079983e-06 9.99970800e-01 -9.02704346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.630385723 meters 0.01607154352493597 Centerline is valid? [True, True] Translation: X:29.21, Y:-208.19, Z:-9.03 [[-6.94896954e-01 -7.19090271e-01 5.23500846e-03 2.92068718e+01] [ 7.19069936e-01 -6.94916672e-01 -5.40794975e-03 -2.08192394e+02] [ 7.52669872e-03 6.36939069e-06 9.99971674e-01 -9.02753576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.660385723 meters 0.016063763153106106 Centerline is valid? [True, True] Translation: X:29.19, Y:-208.17, Z:-9.03 [[-6.96003357e-01 -7.18023240e-01 4.68542724e-03 2.91882761e+01] [ 7.18006946e-01 -6.96019128e-01 -4.83723584e-03 -2.08172553e+02] [ 6.73439473e-03 -2.56307797e-06 9.99977324e-01 -9.02518566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.690385723 meters 0.016095240173100277 Centerline is valid? [True, True] Translation: X:29.17, Y:-208.15, Z:-9.03 [[-6.96784868e-01 -7.17266987e-01 4.34925162e-03 2.91699942e+01] [ 7.17252951e-01 -6.96798442e-01 -4.48725774e-03 -2.08153092e+02] [ 6.24911360e-03 -7.13974042e-06 9.99980474e-01 -9.02629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.720385723 meters 0.016118321980876277 Centerline is valid? [True, True] Translation: X:29.15, Y:-208.13, Z:-9.03 [[-6.98363881e-01 -7.15729585e-01 4.36477559e-03 2.91502363e+01] [ 7.15715435e-01 -6.98377521e-01 -4.50053896e-03 -2.08134707e+02] [ 6.26943004e-03 -1.90765888e-05 9.99980347e-01 -9.02514344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.750385723 meters 0.016175880468998163 Centerline is valid? [True, True] Translation: X:29.13, Y:-208.12, Z:-9.03 [[-6.99044680e-01 -7.15064837e-01 4.33765395e-03 2.91307541e+01] [ 7.15050866e-01 -6.99058137e-01 -4.46986397e-03 -2.08116087e+02] [ 6.22851484e-03 -2.29914100e-05 9.99980602e-01 -9.02594675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.780385723 meters 0.016286136881239924 Centerline is valid? [True, True] Translation: X:29.11, Y:-208.10, Z:-9.03 [[-6.99542710e-01 -7.14576831e-01 4.46641849e-03 2.91118271e+01] [ 7.14562028e-01 -6.99556968e-01 -4.59963247e-03 -2.08097911e+02] [ 6.41130497e-03 -2.61063159e-05 9.99979447e-01 -9.02636403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81038572299997 meters 0.016165323264026435 Centerline is valid? [True, True] Translation: X:29.09, Y:-208.08, Z:-9.03 [[-7.00134631e-01 -7.13996781e-01 4.48274480e-03 2.90910508e+01] [ 7.13981874e-01 -7.00148981e-01 -4.61388694e-03 -2.08078417e+02] [ 6.43288963e-03 -2.97434979e-05 9.99979308e-01 -9.02502037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.840385723 meters 0.016303869576836962 Centerline is valid? [True, True] Translation: X:29.07, Y:-208.06, Z:-9.03 [[-7.00262195e-01 -7.13870140e-01 4.72029570e-03 2.90723541e+01] [ 7.13853629e-01 -7.00278104e-01 -4.85522859e-03 -2.08059634e+02] [ 6.77152243e-03 -3.03328141e-05 9.99977073e-01 -9.02576156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87038572299997 meters 0.016055420141194144 Centerline is valid? [True, True] Translation: X:29.05, Y:-208.04, Z:-9.03 [[-7.00448608e-01 -7.13683624e-01 5.23770460e-03 2.90507437e+01] [ 7.13663312e-01 -7.00468189e-01 -5.38446442e-03 -2.08040861e+02] [ 7.51164954e-03 -3.35829926e-05 9.99971787e-01 -9.02522614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.900385723 meters 0.016184521910438326 Centerline is valid? [True, True] Translation: X:29.03, Y:-208.02, Z:-9.03 [[-7.00653953e-01 -7.13482816e-01 5.12935660e-03 2.90310024e+01] [ 7.13463355e-01 -7.00672727e-01 -5.26983454e-03 -2.08021517e+02] [ 7.35393667e-03 -3.27224314e-05 9.99972959e-01 -9.02509604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.930385723 meters 0.01627701115828265 Centerline is valid? [True, True] Translation: X:29.01, Y:-208.00, Z:-9.03 [[-7.00910566e-01 -7.13225088e-01 5.86103577e-03 2.90118412e+01] [ 7.13199701e-01 -7.00935070e-01 -6.01785376e-03 -2.08002288e+02] [ 8.40028979e-03 -3.78883296e-05 9.99964716e-01 -9.02522618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.960385723 meters 0.01628934149922256 Centerline is valid? [True, True] Translation: X:28.99, Y:-207.98, Z:-9.03 [[-7.01606690e-01 -7.12539551e-01 5.95319989e-03 2.89925756e+01] [ 7.12513366e-01 -7.01631945e-01 -6.10871694e-03 -2.07982676e+02] [ 8.52965765e-03 -4.41821775e-05 9.99963621e-01 -9.02554859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.990385723 meters 0.016363640436509314 Centerline is valid? [True, True] Translation: X:28.97, Y:-207.96, Z:-9.03 [[-7.02046667e-01 -7.12103777e-01 6.21997931e-03 2.89743334e+01] [ 7.12075203e-01 -7.02074219e-01 -6.37942642e-03 -2.07963451e+02] [ 8.90970076e-03 -4.95620283e-05 9.99960307e-01 -9.02583673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.020385723 meters 0.016411575547317564 Centerline is valid? [True, True] Translation: X:28.96, Y:-207.94, Z:-9.03 [[-7.02741005e-01 -7.11417128e-01 6.38356415e-03 2.89558484e+01] [ 7.11387040e-01 -7.02769996e-01 -6.54302990e-03 -2.07944494e+02] [ 9.14100089e-03 -5.68706036e-05 9.99958219e-01 -9.02554209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.050385723 meters 0.016349226244058657 Centerline is valid? [True, True] Translation: X:28.94, Y:-207.92, Z:-9.02 [[-7.02813133e-01 -7.11346523e-01 6.31067025e-03 2.89357598e+01] [ 7.11317149e-01 -7.02841463e-01 -6.46466338e-03 -2.07924523e+02] [ 9.03401652e-03 -5.45623552e-05 9.99959191e-01 -9.02457418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.080385723 meters 0.016372819212216044 Centerline is valid? [True, True] Translation: X:28.92, Y:-207.90, Z:-9.02 [[-7.03300438e-01 -7.10867516e-01 5.98896620e-03 2.89174060e+01] [ 7.10841065e-01 -7.03325935e-01 -6.13256446e-03 -2.07904723e+02] [ 8.57163612e-03 -5.58321540e-05 9.99963261e-01 -9.02426548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.110385723 meters 0.016546174883457058 Centerline is valid? [True, True] Translation: X:28.90, Y:-207.88, Z:-9.02 [[-7.04143212e-01 -7.10031665e-01 6.11318951e-03 2.89001224e+01] [ 7.10004106e-01 -7.04169745e-01 -6.25609480e-03 -2.07884348e+02] [ 8.74674851e-03 -6.47970347e-05 9.99961744e-01 -9.02326543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.140385723 meters 0.016644678202852488 Centerline is valid? [True, True] Translation: X:28.88, Y:-207.86, Z:-9.02 [[-7.04671694e-01 -7.09503865e-01 6.48612711e-03 2.88815551e+01] [ 7.09472856e-01 -7.04701540e-01 -6.63364840e-03 -2.07864204e+02] [ 9.27738294e-03 -7.28131287e-05 9.99956962e-01 -9.02283943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.170385723 meters 0.016760658771726732 Centerline is valid? [True, True] Translation: X:28.86, Y:-207.84, Z:-9.02 [[-7.05296927e-01 -7.08875262e-01 7.21861693e-03 2.88628079e+01] [ 7.08836864e-01 -7.05333861e-01 -7.37870765e-03 -2.07842990e+02] [ 1.03221183e-02 -8.73580439e-05 9.99946722e-01 -9.02172076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.200385723 meters 0.017096984027961375 Centerline is valid? [True, True] Translation: X:28.85, Y:-207.82, Z:-9.02 [[-7.05499485e-01 -7.08667690e-01 7.78344578e-03 2.88454725e+01] [ 7.08623092e-01 -7.05542413e-01 -7.95089569e-03 -2.07822844e+02] [ 1.11260940e-02 -9.38234009e-05 9.99938099e-01 -9.02297697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.230385723 meters 0.017096984027961375 Centerline is valid? [True, True] Translation: X:28.83, Y:-207.80, Z:-9.02 [[-7.05706629e-01 -7.08461386e-01 7.78577043e-03 2.88266633e+01] [ 7.08416801e-01 -7.05749570e-01 -7.94861934e-03 -2.07803794e+02] [ 1.11260940e-02 -9.38227844e-05 9.99938099e-01 -9.02297646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.260385723 meters 0.016939735629536913 Centerline is valid? [True, True] Translation: X:28.81, Y:-207.78, Z:-9.02 [[-7.05939721e-01 -7.08221130e-01 8.48183961e-03 2.88072626e+01] [ 7.08168263e-01 -7.05990666e-01 -8.65394511e-03 -2.07784655e+02] [ 1.21170064e-02 -1.02593965e-04 9.99926581e-01 -9.02194798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.290385723 meters 0.017019563460127618 Centerline is valid? [True, True] Translation: X:28.79, Y:-207.76, Z:-9.02 [[-7.06399180e-01 -7.07760115e-01 8.70737732e-03 2.87885310e+01] [ 7.07704431e-01 -7.06452835e-01 -8.87862336e-03 -2.07764782e+02] [ 1.24352869e-02 -1.09602746e-04 9.99922673e-01 -9.02181317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.320385723 meters 0.017302866031301316 Centerline is valid? [True, True] Translation: X:28.77, Y:-207.74, Z:-9.02 [[-7.07441524e-01 -7.06708357e-01 9.47562039e-03 2.87705717e+01] [ 7.06642394e-01 -7.07504968e-01 -9.65644541e-03 -2.07744403e+02] [ 1.35283392e-02 -1.35495381e-04 9.99908479e-01 -9.02204924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.350385723 meters 0.01739114194669475 Centerline is valid? [True, True] Translation: X:28.75, Y:-207.72, Z:-9.02 [[-7.08274603e-01 -7.05869028e-01 9.79801126e-03 2.87511985e+01] [ 7.05798505e-01 -7.08342355e-01 -9.97888930e-03 -2.07724560e+02] [ 1.39841353e-02 -1.52372154e-04 9.99902206e-01 -9.02162164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.380385723 meters 0.017695078415497216 Centerline is valid? [True, True] Translation: X:28.73, Y:-207.70, Z:-9.02 [[-7.09829881e-01 -7.04296826e-01 1.03691767e-02 2.87325570e+01] [ 7.04217763e-01 -7.09905588e-01 -1.05545537e-02 -2.07704283e+02] [ 1.47946752e-02 -1.89779176e-04 9.99890535e-01 -9.02188553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.410385723 meters 0.017532476104140642 Centerline is valid? [True, True] Translation: X:28.71, Y:-207.68, Z:-9.02 [[-7.10545673e-01 -7.03575062e-01 1.03430196e-02 2.87129101e+01] [ 7.03496416e-01 -7.10620920e-01 -1.05214547e-02 -2.07684899e+02] [ 1.47525992e-02 -1.99696960e-04 9.99891155e-01 -9.02088253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.440385723 meters 0.01775127480293936 Centerline is valid? [True, True] Translation: X:28.69, Y:-207.67, Z:-9.02 [[-7.10866684e-01 -7.03248442e-01 1.04970302e-02 2.86948737e+01] [ 7.03167503e-01 -7.10944152e-01 -1.06712551e-02 -2.07666125e+02] [ 1.49673457e-02 -2.04669265e-04 9.99887962e-01 -9.02122757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.470385723 meters 0.017386281275398936 Centerline is valid? [True, True] Translation: X:28.67, Y:-207.65, Z:-9.02 [[-7.10703227e-01 -7.03412421e-01 1.05777574e-02 2.86748217e+01] [ 7.03330350e-01 -7.10781912e-01 -1.07467309e-02 -2.07648210e+02] [ 1.50778626e-02 -1.98078543e-04 9.99886303e-01 -9.01990267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.500385723 meters 0.017210240875216613 Centerline is valid? [True, True] Translation: X:28.66, Y:-207.63, Z:-9.02 [[-7.10436002e-01 -7.03685614e-01 1.03559097e-02 2.86553168e+01] [ 7.03607078e-01 -7.10511452e-01 -1.05145839e-02 -2.07630022e+02] [ 1.47569539e-02 -1.83447633e-04 9.99891093e-01 -9.01978579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.530385723 meters 0.017136932265809732 Centerline is valid? [True, True] Translation: X:28.64, Y:-207.61, Z:-9.02 [[-7.10155571e-01 -7.03971616e-01 1.01503001e-02 2.86350895e+01] [ 7.03896267e-01 -7.10228086e-01 -1.03009883e-02 -2.07612760e+02] [ 1.44606316e-02 -1.70545902e-04 9.99895425e-01 -9.02066221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56038572299997 meters 0.016949487272485245 Centerline is valid? [True, True] Translation: X:28.61, Y:-207.59, Z:-9.02 [[-7.10150467e-01 -7.03976008e-01 1.02026257e-02 2.86144401e+01] [ 7.03899972e-01 -7.10223734e-01 -1.03477974e-02 -2.07594306e+02] [ 1.45307480e-02 -1.66865190e-04 9.99894409e-01 -9.02022101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.590385723 meters 0.01693527321892901 Centerline is valid? [True, True] Translation: X:28.59, Y:-207.58, Z:-9.02 [[-7.10000283e-01 -7.04123706e-01 1.04596622e-02 2.85940567e+01] [ 7.04043902e-01 -7.10077306e-01 -1.06020922e-02 -2.07575696e+02] [ 1.48923532e-02 -1.63427108e-04 9.99889089e-01 -9.02053160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.62038572299997 meters 0.018007784281292027 Centerline is valid? [True, True] Translation: X:28.57, Y:-207.56, Z:-9.02 [[-7.10481923e-01 -7.03627813e-01 1.11057349e-02 2.85742739e+01] [ 7.03537880e-01 -7.10568693e-01 -1.12509623e-02 -2.07555683e+02] [ 1.58078775e-02 -1.80300154e-04 9.99875031e-01 -9.02174389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.650385723 meters 0.017007108528400896 Centerline is valid? [True, True] Translation: X:28.55, Y:-207.54, Z:-9.02 [[-7.10741885e-01 -7.03370053e-01 1.07954551e-02 2.85546020e+01] [ 7.03285140e-01 -7.10823844e-01 -1.09304259e-02 -2.07536082e+02] [ 1.53618011e-02 -1.76428326e-04 9.99881985e-01 -9.02099194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.680385723 meters 0.01909911794613412 Centerline is valid? [True, True] Translation: X:28.54, Y:-207.52, Z:-9.02 [[-7.12311954e-01 -7.01769192e-01 1.14752242e-02 2.85359248e+01] [ 7.01673147e-01 -7.12404346e-01 -1.16121534e-02 -2.07516060e+02] [ 1.63240511e-02 -2.19619045e-04 9.99866730e-01 -9.02158334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.710385723 meters 0.01857047264932706 Centerline is valid? [True, True] Translation: X:28.52, Y:-207.50, Z:-9.02 [[-7.12961045e-01 -7.01119336e-01 1.08731535e-02 2.85177171e+01] [ 7.01033108e-01 -7.13043918e-01 -1.09978344e-02 -2.07497606e+02] [ 1.54638303e-02 -2.18586966e-04 9.99880404e-01 -9.02119168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.740385723 meters 0.019104252012383 Centerline is valid? [True, True] Translation: X:28.50, Y:-207.48, Z:-9.02 [[-7.14769005e-01 -6.99278431e-01 1.07212617e-02 2.84972766e+01] [ 6.99194482e-01 -7.14849364e-01 -1.08380520e-02 -2.07479002e+02] [ 1.52429031e-02 -2.50456632e-04 9.99883789e-01 -9.02057321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.770385723 meters 0.01730511670076205 Centerline is valid? [True, True] Translation: X:28.48, Y:-207.46, Z:-9.02 [[-7.15746391e-01 -6.98301083e-01 9.09406793e-03 2.84772850e+01] [ 6.98240677e-01 -7.15804126e-01 -9.18752942e-03 -2.07460189e+02] [ 1.29252331e-02 -2.26092874e-04 9.99916440e-01 -9.01889037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.800385723 meters 0.01865363378299872 Centerline is valid? [True, True] Translation: X:28.46, Y:-207.44, Z:-9.02 [[-7.17733612e-01 -6.96275892e-01 7.63834553e-03 2.84603699e+01] [ 6.96233211e-01 -7.17774222e-01 -7.71243559e-03 -2.07438276e+02] [ 1.08525905e-02 -2.17404414e-04 9.99941085e-01 -9.01822190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.830385723 meters 0.019395107567157673 Centerline is valid? [True, True] Translation: X:28.44, Y:-207.42, Z:-9.02 [[-7.18916162e-01 -6.95043212e-01 8.63043533e-03 2.84391687e+01] [ 6.94988693e-01 -7.18967916e-01 -8.70934644e-03 -2.07420153e+02] [ 1.22583782e-02 -2.63234943e-04 9.99924829e-01 -9.01721479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.860385723 meters 0.018481865735852657 Centerline is valid? [True, True] Translation: X:28.42, Y:-207.40, Z:-9.02 [[-7.19231559e-01 -6.94727119e-01 7.75853327e-03 2.84217343e+01] [ 6.94683097e-01 -7.19273365e-01 -7.82438956e-03 -2.07400300e+02] [ 1.10163220e-02 -2.37825985e-04 9.99939290e-01 -9.01726546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.890385723 meters 0.018190443820294357 Centerline is valid? [True, True] Translation: X:28.40, Y:-207.38, Z:-9.02 [[-7.19542375e-01 -6.94406733e-01 7.61970728e-03 2.84010786e+01] [ 6.94364305e-01 -7.19582680e-01 -7.67977245e-03 -2.07382792e+02] [ 1.08158951e-02 -2.35068960e-04 9.99941479e-01 -9.01771127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.920385723 meters 0.017606297929364818 Centerline is valid? [True, True] Translation: X:28.38, Y:-207.36, Z:-9.02 [[-7.19521233e-01 -6.94429546e-01 7.53662875e-03 2.83804227e+01] [ 6.94388089e-01 -7.19560667e-01 -7.59138892e-03 -2.07364719e+02] [ 1.06947464e-02 -2.28820277e-04 9.99942783e-01 -9.01773233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.950385723 meters 0.017566047067297207 Centerline is valid? [True, True] Translation: X:28.36, Y:-207.35, Z:-9.02 [[-7.18661576e-01 -6.95313148e-01 8.07251684e-03 2.83593042e+01] [ 6.95265698e-01 -7.18706877e-01 -8.12621911e-03 -2.07347475e+02] [ 1.14520404e-02 -2.27457380e-04 9.99934397e-01 -9.01907292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.980385723 meters 0.017422016561755002 Centerline is valid? [True, True] Translation: X:28.34, Y:-207.33, Z:-9.02 [[-7.18312827e-01 -6.95673193e-01 8.09270899e-03 2.83392892e+01] [ 6.95625581e-01 -7.18358379e-01 -8.14188450e-03 -2.07328224e+02] [ 1.14775561e-02 -2.18924674e-04 9.99934107e-01 -9.01934160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.010385723 meters 0.01769179723463993 Centerline is valid? [True, True] Translation: X:28.32, Y:-207.31, Z:-9.02 [[-7.18327558e-01 -6.95657066e-01 8.17100091e-03 2.83200967e+01] [ 6.95608585e-01 -7.18373996e-01 -8.21568437e-03 -2.07309350e+02] [ 1.15851335e-02 -2.17734107e-04 9.99932866e-01 -9.01892178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.040385723 meters 0.01750913616181442 Centerline is valid? [True, True] Translation: X:28.30, Y:-207.29, Z:-9.02 [[-7.18121836e-01 -6.95868954e-01 8.21149521e-03 2.83014262e+01] [ 6.95820066e-01 -7.18168751e-01 -8.25116971e-03 -2.07291476e+02] [ 1.16389721e-02 -2.11621996e-04 9.99932243e-01 -9.01834693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.070385723 meters 0.017556906130045055 Centerline is valid? [True, True] Translation: X:28.28, Y:-207.27, Z:-9.02 [[-7.18065033e-01 -6.95931543e-01 7.86743384e-03 2.82816951e+01] [ 6.95886722e-01 -7.18108103e-01 -7.90076538e-03 -2.07273011e+02] [ 1.11480598e-02 -1.98420602e-04 9.99937839e-01 -9.01829945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.100385723 meters 0.01673943021576594 Centerline is valid? [True, True] Translation: X:28.26, Y:-207.26, Z:-9.02 [[-7.17722161e-01 -6.96293677e-01 7.07216703e-03 2.82584275e+01] [ 6.96257516e-01 -7.17756983e-01 -7.09822037e-03 -2.07256579e+02] [ 1.00185432e-02 -1.70500618e-04 9.99949799e-01 -9.01737829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.130385723 meters 0.017467501761533572 Centerline is valid? [True, True] Translation: X:28.24, Y:-207.24, Z:-9.02 [[-7.17578739e-01 -6.96440768e-01 7.14213731e-03 2.82398089e+01] [ 6.96403943e-01 -7.17614262e-01 -7.16380400e-03 -2.07237472e+02] [ 1.01144647e-02 -1.66780856e-04 9.99948834e-01 -9.01876472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.160385723 meters 0.016824443615055355 Centerline is valid? [True, True] Translation: X:28.22, Y:-207.22, Z:-9.02 [[-7.17534533e-01 -6.96486684e-01 7.10575944e-03 2.82187801e+01] [ 6.96450279e-01 -7.17569698e-01 -7.12298235e-03 -2.07220102e+02] [ 1.00599400e-02 -1.62177669e-04 9.99949384e-01 -9.01856979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.190385723 meters 0.016528001550383063 Centerline is valid? [True, True] Translation: X:28.20, Y:-207.20, Z:-9.02 [[-7.16860067e-01 -6.97175575e-01 7.60665739e-03 2.81967863e+01] [ 6.97133940e-01 -7.16900406e-01 -7.62087490e-03 -2.07202190e+02] [ 1.07663036e-02 -1.60241858e-04 9.99942029e-01 -9.01884458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.220385723 meters 0.01670128527645945 Centerline is valid? [True, True] Translation: X:28.18, Y:-207.18, Z:-9.02 [[-7.16739520e-01 -6.97301674e-01 7.40512161e-03 2.81770232e+01] [ 6.97262254e-01 -7.16777756e-01 -7.41596149e-03 -2.07183176e+02] [ 1.04789888e-02 -1.52000889e-04 9.99945082e-01 -9.01953914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.250385723 meters 0.016541107169332117 Centerline is valid? [True, True] Translation: X:28.15, Y:-207.17, Z:-9.02 [[-7.16515585e-01 -6.97539790e-01 6.60739307e-03 2.81541395e+01] [ 6.97508448e-01 -7.16546038e-01 -6.61366717e-03 -2.07165602e+02] [ 9.34779733e-03 -1.30083113e-04 9.99956300e-01 -9.02004079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.280385723 meters 0.016445515592427074 Centerline is valid? [True, True] Translation: X:28.13, Y:-207.15, Z:-9.02 [[-7.16615254e-01 -6.97443303e-01 5.95131727e-03 2.81333302e+01] [ 6.97417900e-01 -7.16639956e-01 -5.95369817e-03 -2.07147364e+02] [ 8.41731866e-03 -1.15955732e-04 9.99964567e-01 -9.02040011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31038572299997 meters 0.01651486683770104 Centerline is valid? [True, True] Translation: X:28.11, Y:-207.13, Z:-9.02 [[-7.16997053e-01 -6.97055217e-01 5.40835297e-03 2.81115704e+01] [ 6.97034250e-01 -7.17017442e-01 -5.40754354e-03 -2.07129850e+02] [ 7.64723985e-03 -1.07385523e-04 9.99970754e-01 -9.02018524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.340385723 meters 0.016612935013937097 Centerline is valid? [True, True] Translation: X:28.09, Y:-207.16, Z:-9.02 [[-6.68780426e-01 -7.43445122e-01 4.70028503e-03 2.80910136e+01] [ 7.43425677e-01 -6.68796935e-01 -5.37794447e-03 -2.07156612e+02] [ 7.14174280e-03 -1.02351411e-04 9.99974492e-01 -9.02017711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37038572299997 meters 0.016571887661509032 Centerline is valid? [True, True] Translation: X:28.07, Y:-207.14, Z:-9.02 [[-6.69395570e-01 -7.42895286e-01 4.02052392e-03 2.80708332e+01] [ 7.42881057e-01 -6.69407638e-01 -4.59893134e-03 -2.07136895e+02] [ 6.10789384e-03 -9.17332059e-05 9.99981342e-01 -9.02006917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.400385723 meters 0.01692331912201294 Centerline is valid? [True, True] Translation: X:28.05, Y:-207.12, Z:-9.02 [[-6.70157118e-01 -7.42213274e-01 2.98202792e-03 2.80506622e+01] [ 7.42205449e-01 -6.70163749e-01 -3.40903509e-03 -2.07118592e+02] [ 4.52867811e-03 -7.13117623e-05 9.99989743e-01 -9.02033756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.430385723 meters 0.01666649679222112 Centerline is valid? [True, True] Translation: X:28.03, Y:-207.10, Z:-9.02 [[-6.71059471e-01 -7.41400020e-01 2.27963335e-03 2.80303390e+01] [ 7.41395447e-01 -6.71063341e-01 -2.60458768e-03 -2.07099142e+02] [ 3.46081972e-03 -5.77234440e-05 9.99994010e-01 -9.02054555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.460385723 meters 0.017958008895973647 Centerline is valid? [True, True] Translation: X:28.01, Y:-207.08, Z:-9.02 [[-6.72200551e-01 -7.40365001e-01 2.46671699e-03 2.80090100e+01] [ 7.40359645e-01 -6.72205074e-01 -2.81683307e-03 -2.07080285e+02] [ 3.74362430e-03 -6.72190296e-05 9.99992990e-01 -9.02167775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.490385723 meters 0.017355062121765415 Centerline is valid? [True, True] Translation: X:27.99, Y:-207.06, Z:-9.02 [[-6.72409982e-01 -7.40175499e-01 2.24668437e-03 2.79905247e+01] [ 7.40171060e-01 -6.72413732e-01 -2.56405055e-03 -2.07061049e+02] [ 3.40854882e-03 -6.11624320e-05 9.99994189e-01 -9.02249439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.520385723 meters 0.017035450217975902 Centerline is valid? [True, True] Translation: X:27.97, Y:-207.04, Z:-9.02 [[-6.72310391e-01 -7.40266345e-01 2.11583923e-03 2.79681685e+01] [ 7.40262413e-01 -6.72313718e-01 -2.41338914e-03 -2.07043343e+02] [ 3.20905850e-03 -5.62703427e-05 9.99994849e-01 -9.02343224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.550385723 meters 0.018739994885027502 Centerline is valid? [True, True] Translation: X:27.95, Y:-207.02, Z:-9.02 [[-6.72570618e-01 -7.40029695e-01 2.19429866e-03 2.79491650e+01] [ 7.40025470e-01 -6.72574195e-01 -2.50133867e-03 -2.07023918e+02] [ 3.32689355e-03 -5.84899933e-05 9.99994464e-01 -9.02444368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.580385723 meters 0.017040006279936737 Centerline is valid? [True, True] Translation: X:27.93, Y:-207.01, Z:-9.02 [[-6.72127104e-01 -7.40433623e-01 1.79056242e-03 2.79307510e+01] [ 7.40430814e-01 -6.72129488e-01 -2.04013590e-03 -2.07005755e+02] [ 2.71407502e-03 -4.54430442e-05 9.99996316e-01 -9.02400923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.610385723 meters 0.0168541798952236 Centerline is valid? [True, True] Translation: X:27.91, Y:-206.99, Z:-9.02 [[-6.72111477e-01 -7.40449030e-01 1.18178932e-03 2.79087033e+01] [ 7.40447808e-01 -6.72112515e-01 -1.34568675e-03 -2.06989140e+02] [ 1.79070785e-03 -2.93981984e-05 9.99998396e-01 -9.02457497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.640385723 meters 0.017453814640245303 Centerline is valid? [True, True] Translation: X:27.89, Y:-206.97, Z:-9.03 [[-6.72147514e-01 -7.40416026e-01 1.35204228e-03 2.78876314e+01] [ 7.40414428e-01 -6.72148873e-01 -1.53867877e-03 -2.06970809e+02] [ 2.04803612e-03 -3.31475008e-05 9.99997902e-01 -9.02529953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.670385723 meters 0.01625070275036209 Centerline is valid? [True, True] Translation: X:27.87, Y:-206.95, Z:-9.03 [[-6.71273602e-01 -7.41208757e-01 1.15321703e-03 2.78662196e+01] [ 7.41207597e-01 -6.71274592e-01 -1.31165106e-03 -2.06953942e+02] [ 1.74633254e-03 -2.57035052e-05 9.99998475e-01 -9.02534134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.700385723 meters 0.01606299890292477 Centerline is valid? [True, True] Translation: X:27.85, Y:-206.93, Z:-9.03 [[-6.70889463e-01 -7.41556443e-01 1.17103466e-03 2.78456718e+01] [ 7.41555248e-01 -6.70890484e-01 -1.33117572e-03 -2.06934516e+02] [ 1.77277795e-03 -2.46848649e-05 9.99998428e-01 -9.02579453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.730385723 meters 0.016057901474596056 Centerline is valid? [True, True] Translation: X:27.83, Y:-206.92, Z:-9.03 [[-6.70877974e-01 -7.41566174e-01 1.53422686e-03 2.78252070e+01] [ 7.41564126e-01 -6.70879727e-01 -1.74306744e-03 -2.06915095e+02] [ 2.32188155e-03 -3.16579558e-05 9.99997304e-01 -9.02644413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.760385723 meters 0.01585095903962969 Centerline is valid? [True, True] Translation: X:27.80, Y:-206.90, Z:-9.03 [[-6.70624382e-01 -7.41794708e-01 1.88387747e-03 2.78026907e+01] [ 7.41791625e-01 -6.70627027e-01 -2.13912276e-03 -2.06897334e+02] [ 2.85016909e-03 -3.71033559e-05 9.99995938e-01 -9.02725084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.790385723 meters 0.016711775743785726 Centerline is valid? [True, True] Translation: X:27.78, Y:-206.88, Z:-9.03 [[-6.70918763e-01 -7.41528855e-01 1.72354061e-03 2.77828767e+01] [ 7.41526275e-01 -6.70920976e-01 -1.95626708e-03 -2.06878117e+02] [ 2.60698804e-03 -3.44456409e-05 9.99996601e-01 -9.02806170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.820385723 meters 0.015739161932969023 Centerline is valid? [True, True] Translation: X:27.76, Y:-206.86, Z:-9.03 [[-6.71111263e-01 -7.41354955e-01 1.58218377e-03 2.77603293e+01] [ 7.41352783e-01 -6.71113128e-01 -1.79483519e-03 -2.06860468e+02] [ 2.39243426e-03 -3.15777757e-05 9.99997138e-01 -9.02864104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.850385723 meters 0.015840143042427073 Centerline is valid? [True, True] Translation: X:27.74, Y:-206.84, Z:-9.03 [[-6.71615408e-01 -7.40899142e-01 1.09799362e-03 2.77417175e+01] [ 7.40898097e-01 -6.71616305e-01 -1.24484673e-03 -2.06840885e+02] [ 1.65973629e-03 -2.25568630e-05 9.99998622e-01 -9.02889930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.880385723 meters 0.015985961338461967 Centerline is valid? [True, True] Translation: X:27.72, Y:-206.82, Z:-9.03 [[-6.72908122e-01 -7.39725070e-01 1.21687445e-03 2.77219164e+01] [ 7.39723785e-01 -6.72909221e-01 -1.37887657e-03 -2.06821195e+02] [ 1.83883560e-03 -2.77062661e-05 9.99998309e-01 -9.02876168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.910385723 meters 0.016160331482803453 Centerline is valid? [True, True] Translation: X:27.70, Y:-206.80, Z:-9.03 [[-6.73847501e-01 -7.38869470e-01 1.20529016e-03 2.77036704e+01] [ 7.38868210e-01 -6.73848578e-01 -1.36487732e-03 -2.06801729e+02] [ 1.82064924e-03 -2.91685845e-05 9.99998342e-01 -9.02878052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.940385723 meters 0.01796291352829674 Centerline is valid? [True, True] Translation: X:27.69, Y:-206.78, Z:-9.03 [[-6.75571436e-01 -7.37293977e-01 9.09747307e-04 2.76853252e+01] [ 7.37293258e-01 -6.75572048e-01 -1.02961911e-03 -2.06782128e+02] [ 1.37373182e-03 -2.48307032e-05 9.99999056e-01 -9.02918624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.970385723 meters 0.016760743900101835 Centerline is valid? [True, True] Translation: X:27.67, Y:-206.76, Z:-9.03 [[-6.76395535e-01 -7.36538242e-01 7.06669152e-04 2.76661866e+01] [ 7.36537808e-01 -6.76395903e-01 -7.99303296e-04 -2.06762979e+02] [ 1.06670556e-03 -2.01566319e-05 9.99999431e-01 -9.02802380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.000385723 meters 0.016795685772279113 Centerline is valid? [True, True] Translation: X:27.65, Y:-206.74, Z:-9.03 [[-6.77089358e-01 -7.35900338e-01 8.33073629e-04 2.76475498e+01] [ 7.35899735e-01 -6.77089870e-01 -9.41706985e-04 -2.06743496e+02] [ 1.25706820e-03 -2.45611154e-05 9.99999210e-01 -9.02786174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.030385723 meters 0.017172839799277983 Centerline is valid? [True, True] Translation: X:27.63, Y:-206.72, Z:-9.03 [[-6.77285806e-01 -7.35719723e-01 6.52453876e-04 2.76292154e+01] [ 7.35719354e-01 -6.77286120e-01 -7.37069863e-04 -2.06724412e+02] [ 9.84174790e-04 -1.91840123e-05 9.99999516e-01 -9.02794852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06038572299997 meters 0.016264136826717374 Centerline is valid? [True, True] Translation: X:27.61, Y:-206.71, Z:-9.03 [[-6.77222442e-01 -7.35778273e-01 3.11845375e-04 2.76079198e+01] [ 7.35778189e-01 -6.77222513e-01 -3.52098036e-04 -2.06705534e+02] [ 4.70254794e-04 -8.99966633e-06 9.99999889e-01 -9.02746793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.090385723 meters 0.015737109241672785 Centerline is valid? [True, True] Translation: X:27.59, Y:-206.69, Z:-9.03 [[-6.76283602e-01 -7.36640949e-01 7.75746612e-04 2.75874727e+01] [ 7.36640430e-01 -6.76284046e-01 -8.75381669e-04 -2.06686275e+02] [ 1.16946704e-03 -2.05599505e-05 9.99999316e-01 -9.02796964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.12038572299997 meters 0.015713550233867415 Centerline is valid? [True, True] Translation: X:27.57, Y:-206.67, Z:-9.03 [[-6.75953072e-01 -7.36943572e-01 1.27125500e-03 2.75680160e+01] [ 7.36942178e-01 -6.75954266e-01 -1.43373610e-03 -2.06665772e+02] [ 1.91589285e-03 -3.22968952e-05 9.99998164e-01 -9.02881427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.150385723 meters 0.015713550233867415 Centerline is valid? [True, True] Translation: X:27.55, Y:-206.65, Z:-9.03 [[-6.76154831e-01 -7.36758459e-01 1.27164753e-03 2.75496786e+01] [ 7.36757066e-01 -6.76156026e-01 -1.43338796e-03 -2.06645181e+02] [ 1.91589285e-03 -3.22968971e-05 9.99998164e-01 -9.02881375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.180385723 meters 0.015621410851827661 Centerline is valid? [True, True] Translation: X:27.53, Y:-206.62, Z:-9.03 [[-6.75997003e-01 -7.36902576e-01 1.62646116e-03 2.75304905e+01] [ 7.36900299e-01 -6.75998958e-01 -1.83231991e-03 -2.06624834e+02] [ 2.44972731e-03 -4.01030552e-05 9.99996999e-01 -9.02977903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.210385723 meters 0.015115658593065623 Centerline is valid? [True, True] Translation: X:27.51, Y:-206.60, Z:-9.03 [[-6.74974341e-01 -7.37839272e-01 1.68782225e-03 2.75099890e+01] [ 7.37836825e-01 -6.74976450e-01 -1.90037576e-03 -2.06604976e+02] [ 2.54141214e-03 -3.73674669e-05 9.99996770e-01 -9.03021195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.240385723 meters 0.015298937076402373 Centerline is valid? [True, True] Translation: X:27.49, Y:-206.58, Z:-9.03 [[-6.74697610e-01 -7.38092820e-01 1.45765856e-03 2.74928659e+01] [ 7.38090998e-01 -6.74699184e-01 -1.64026041e-03 -2.06584501e+02] [ 2.19414547e-03 -3.07951152e-05 9.99997592e-01 -9.03014755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.270385723 meters 0.014685023036115004 Centerline is valid? [True, True] Translation: X:27.47, Y:-206.56, Z:-9.03 [[-6.73656500e-01 -7.39043876e-01 1.03426969e-03 2.74747432e+01] [ 7.39042961e-01 -6.73657293e-01 -1.16317686e-03 -2.06563576e+02] [ 1.55638206e-03 -1.92119177e-05 9.99998789e-01 -9.02880843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.300385723 meters 0.014772669217118352 Centerline is valid? [True, True] Translation: X:27.46, Y:-206.54, Z:-9.03 [[-6.73075627e-01 -7.39572454e-01 1.33634828e-03 2.74578476e+01] [ 7.39570929e-01 -6.73076953e-01 -1.50201554e-03 -2.06542145e+02] [ 2.01031455e-03 -2.26457141e-05 9.99997979e-01 -9.02859846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.330385723 meters 0.014366082394476348 Centerline is valid? [True, True] Translation: X:27.44, Y:-206.52, Z:-9.03 [[-6.72280028e-01 -7.40295576e-01 1.42290142e-03 2.74387995e+01] [ 7.40293851e-01 -6.72281533e-01 -1.59840460e-03 -2.06521796e+02] [ 2.13988220e-03 -2.12103121e-05 9.99997710e-01 -9.02852377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.360385723 meters 0.01416293823611413 Centerline is valid? [True, True] Translation: X:27.42, Y:-206.50, Z:-9.03 [[-6.71025825e-01 -7.41432451e-01 1.50409592e-03 2.74203076e+01] [ 7.41430528e-01 -6.71027511e-01 -1.68867499e-03 -2.06500391e+02] [ 2.26132818e-03 -1.79619025e-05 9.99997443e-01 -9.02840379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.390385723 meters 0.014055869473828881 Centerline is valid? [True, True] Translation: X:27.40, Y:-206.48, Z:-9.03 [[-6.70687156e-01 -7.41739757e-01 9.33309349e-04 2.74022705e+01] [ 7.41739018e-01 -6.70687806e-01 -1.04726686e-03 -2.06479244e+02] [ 1.40275867e-03 -1.01164753e-05 9.99999016e-01 -9.02807076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.420385723 meters 0.013967947821573064 Centerline is valid? [True, True] Translation: X:27.38, Y:-206.46, Z:-9.03 [[-6.70574063e-01 -7.41842412e-01 5.10666981e-04 2.73839766e+01] [ 7.41842191e-01 -6.70574258e-01 -5.72707326e-04 -2.06457820e+02] [ 7.67298716e-04 -5.20836652e-06 9.99999706e-01 -9.02808600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.450385723 meters 0.013904087568646115 Centerline is valid? [True, True] Translation: X:27.37, Y:-206.44, Z:-9.03 [[-6.69960285e-01 -7.42396578e-01 7.33347238e-04 2.73675760e+01] [ 7.42396123e-01 -6.69960686e-01 -8.21960831e-04 -2.06435614e+02] [ 1.10153473e-03 -6.24696635e-06 9.99999393e-01 -9.02846136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.480385723 meters 0.013837485936117827 Centerline is valid? [True, True] Translation: X:27.35, Y:-206.41, Z:-9.03 [[-6.69961036e-01 -7.42395585e-01 1.00287579e-03 2.73502359e+01] [ 7.42394735e-01 -6.69961786e-01 -1.12340386e-03 -2.06414377e+02] [ 1.50589852e-03 -8.10710277e-06 9.99998866e-01 -9.02919491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.510385723 meters 0.013633493637940189 Centerline is valid? [True, True] Translation: X:27.33, Y:-206.39, Z:-9.03 [[-6.70170194e-01 -7.42205612e-01 1.65570930e-03 2.73334299e+01] [ 7.42203297e-01 -6.70172239e-01 -1.85364529e-03 -2.06391855e+02] [ 2.48539634e-03 -1.33849247e-05 9.99996911e-01 -9.02919716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.540385723 meters 0.013475929673547838 Centerline is valid? [True, True] Translation: X:27.32, Y:-206.37, Z:-9.03 [[-6.70552982e-01 -7.41859038e-01 1.96623089e-03 2.73155521e+01] [ 7.41855776e-01 -6.70555864e-01 -2.20004621e-03 -2.06369526e+02] [ 2.95059182e-03 -1.65878019e-05 9.99995647e-01 -9.02964941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.570385723 meters 0.013502795501687643 Centerline is valid? [True, True] Translation: X:27.30, Y:-206.35, Z:-9.03 [[-6.70759016e-01 -7.41672545e-01 2.04408279e-03 2.73001259e+01] [ 7.41669023e-01 -6.70762131e-01 -2.28579458e-03 -2.06347247e+02] [ 3.06640441e-03 -1.71844425e-05 9.99995298e-01 -9.03041812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.600385723 meters 0.013374243491645165 Centerline is valid? [True, True] Translation: X:27.28, Y:-206.33, Z:-9.03 [[-6.70890031e-01 -7.41553093e-01 2.36158371e-03 2.72836713e+01] [ 7.41548396e-01 -6.70894187e-01 -2.63928754e-03 -2.06325939e+02] [ 3.54154462e-03 -1.94430859e-05 9.99993729e-01 -9.03041565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.630385723 meters 0.013392770447735966 Centerline is valid? [True, True] Translation: X:27.27, Y:-206.30, Z:-9.03 [[-6.71198556e-01 -7.41269373e-01 3.49517797e-03 2.72687095e+01] [ 7.41259092e-01 -6.71207655e-01 -3.90403531e-03 -2.06301692e+02] [ 5.23993201e-03 -2.95504106e-05 9.99986271e-01 -9.03103562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.660385723 meters 0.013468767258100141 Centerline is valid? [True, True] Translation: X:27.25, Y:-206.28, Z:-9.03 [[-6.71786034e-01 -7.40735082e-01 3.88106625e-03 2.72530096e+01] [ 7.40722414e-01 -6.71797244e-01 -4.33226126e-03 -2.06280186e+02] [ 5.81634751e-03 -3.55598463e-05 9.99983084e-01 -9.03191030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.690385723 meters 0.013706033146141437 Centerline is valid? [True, True] Translation: X:27.24, Y:-206.26, Z:-9.03 [[-6.73512926e-01 -7.39163310e-01 4.23556717e-03 2.72398872e+01] [ 7.39148208e-01 -6.73526242e-01 -4.72526573e-03 -2.06256149e+02] [ 6.34550870e-03 -5.18156671e-05 9.99979866e-01 -9.03246976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.720385723 meters 0.013841911018903152 Centerline is valid? [True, True] Translation: X:27.22, Y:-206.23, Z:-9.03 [[-6.74426245e-01 -7.38328576e-01 4.48928787e-03 2.72243711e+01] [ 7.38311612e-01 -6.74441183e-01 -5.00530971e-03 -2.06233830e+02] [ 6.72332382e-03 -6.12188686e-05 9.99977396e-01 -9.03298161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.750385723 meters 0.01396447806031431 Centerline is valid? [True, True] Translation: X:27.21, Y:-206.21, Z:-9.03 [[-6.75315497e-01 -7.37513189e-01 4.82443180e-03 2.72084596e+01] [ 7.37493600e-01 -6.75332726e-01 -5.37573784e-03 -2.06211088e+02] [ 7.22277424e-03 -7.23314959e-05 9.99973913e-01 -9.03332787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.780385723 meters 0.014154877382180112 Centerline is valid? [True, True] Translation: X:27.20, Y:-206.19, Z:-9.03 [[-6.76367170e-01 -7.36547654e-01 5.00052153e-03 2.71960254e+01] [ 7.36526609e-01 -6.76385649e-01 -5.56843446e-03 -2.06187405e+02] [ 7.48369834e-03 -8.32890863e-05 9.99971993e-01 -9.03340735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81038572299997 meters 0.013896511472121498 Centerline is valid? [True, True] Translation: X:27.18, Y:-206.17, Z:-9.03 [[-6.77060980e-01 -7.35910692e-01 4.88704447e-03 2.71791262e+01] [ 7.35890597e-01 -6.77078611e-01 -5.43906616e-03 -2.06165027e+02] [ 7.31158023e-03 -8.62493902e-05 9.99973266e-01 -9.03236241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.840385723 meters 0.014088038538834682 Centerline is valid? [True, True] Translation: X:27.16, Y:-206.14, Z:-9.03 [[-6.78258878e-01 -7.34807927e-01 4.71210955e-03 2.71649500e+01] [ 7.34789239e-01 -6.78275240e-01 -5.24144689e-03 -2.06139673e+02] [ 7.04756396e-03 -9.26504965e-05 9.99975161e-01 -9.03167823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87038572299997 meters 0.014163052375756664 Centerline is valid? [True, True] Translation: X:27.15, Y:-206.12, Z:-9.03 [[-6.78676632e-01 -7.34422589e-01 4.63577182e-03 2.71480967e+01] [ 7.34404512e-01 -6.78692458e-01 -5.15366860e-03 -2.06116894e+02] [ 6.93123400e-03 -9.31427041e-05 9.99975974e-01 -9.03136125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.900385723 meters 0.014073785318113869 Centerline is valid? [True, True] Translation: X:27.13, Y:-206.09, Z:-9.03 [[-6.78611088e-01 -7.34482419e-01 4.75065325e-03 2.71308671e+01] [ 7.34463457e-01 -6.78627710e-01 -5.27844440e-03 -2.06094713e+02] [ 7.10084954e-03 -9.28296792e-05 9.99974784e-01 -9.03129465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.930385723 meters 0.013898180516140786 Centerline is valid? [True, True] Translation: X:27.12, Y:-206.07, Z:-9.03 [[-6.77072619e-01 -7.35900315e-01 4.83677108e-03 2.71157068e+01] [ 7.35880718e-01 -6.77089891e-01 -5.37109787e-03 -2.06072043e+02] [ 7.22752142e-03 -7.73367268e-05 9.99973878e-01 -9.03167874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.960385723 meters 0.013631818156400253 Centerline is valid? [True, True] Translation: X:27.10, Y:-206.05, Z:-9.03 [[-6.75185205e-01 -7.37633231e-01 4.70700619e-03 2.70996993e+01] [ 7.37614733e-01 -6.75201610e-01 -5.22412886e-03 -2.06048128e+02] [ 7.03166921e-03 -5.52974056e-05 9.99975276e-01 -9.03105814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.990385723 meters 0.013516165682730888 Centerline is valid? [True, True] Translation: X:27.08, Y:-206.03, Z:-9.03 [[-6.74375979e-01 -7.38374407e-01 4.50268832e-03 2.70838242e+01] [ 7.38357513e-01 -6.74391009e-01 -4.99497674e-03 -2.06027636e+02] [ 6.72473550e-03 -4.38985809e-05 9.99977388e-01 -9.03116552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.020385723 meters 0.01341554082523181 Centerline is valid? [True, True] Translation: X:27.07, Y:-206.01, Z:-9.03 [[-6.73735450e-01 -7.38958585e-01 4.55560922e-03 2.70668511e+01] [ 7.38941326e-01 -6.73750850e-01 -5.05059744e-03 -2.06005924e+02] [ 6.80152793e-03 -3.64386205e-05 9.99976869e-01 -9.03127066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.050385723 meters 0.013416499185012117 Centerline is valid? [True, True] Translation: X:27.05, Y:-205.98, Z:-9.03 [[-6.72038067e-01 -7.40497456e-01 5.32491748e-03 2.70515016e+01] [ 7.40473953e-01 -6.72059162e-01 -5.89984206e-03 -2.05983554e+02] [ 7.94747761e-03 -2.19557577e-05 9.99968418e-01 -9.03217814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.080385723 meters 0.01342378177729664 Centerline is valid? [True, True] Translation: X:27.04, Y:-205.96, Z:-9.03 [[-6.71444602e-01 -7.41032136e-01 5.78964130e-03 2.70351932e+01] [ 7.41004408e-01 -6.71469562e-01 -6.41056994e-03 -2.05962442e+02] [ 8.63800625e-03 -1.41928578e-05 9.99962692e-01 -9.03405535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.110385723 meters 0.013417902898509386 Centerline is valid? [True, True] Translation: X:27.02, Y:-205.94, Z:-9.03 [[-6.69746280e-01 -7.42565876e-01 5.98669982e-03 2.70200736e+01] [ 7.42536324e-01 -6.69773036e-01 -6.62471115e-03 -2.05939024e+02] [ 8.92901455e-03 8.46643452e-06 9.99960136e-01 -9.03303334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.140385723 meters 0.013433265816091621 Centerline is valid? [True, True] Translation: X:27.00, Y:-205.92, Z:-9.03 [[-6.69368700e-01 -7.42908072e-01 5.75672433e-03 2.70038116e+01] [ 7.42880794e-01 -6.69393454e-01 -6.36635867e-03 -2.05917081e+02] [ 8.58313283e-03 1.51187096e-05 9.99963164e-01 -9.03242788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.170385723 meters 0.013492475580716966 Centerline is valid? [True, True] Translation: X:26.99, Y:-205.90, Z:-9.03 [[-6.68928488e-01 -7.43308696e-01 5.18279377e-03 2.69875028e+01] [ 7.43286625e-01 -6.68948565e-01 -5.72810980e-03 -2.05895422e+02] [ 7.72477627e-03 2.06054595e-05 9.99970163e-01 -9.03175716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.200385723 meters 0.01356468592630009 Centerline is valid? [True, True] Translation: X:26.97, Y:-205.87, Z:-9.03 [[-6.68884445e-01 -7.43349820e-01 4.96434885e-03 2.69724235e+01] [ 7.43329596e-01 -6.68902867e-01 -5.48332382e-03 -2.05872475e+02] [ 7.39669495e-03 2.24374109e-05 9.99972644e-01 -9.03171052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.230385723 meters 0.013590297693245821 Centerline is valid? [True, True] Translation: X:26.96, Y:-205.85, Z:-9.03 [[-6.69200058e-01 -7.43065928e-01 4.93042784e-03 2.69559845e+01] [ 7.43045997e-01 -6.69218220e-01 -5.44247230e-03 -2.05850673e+02] [ 7.34364787e-03 2.14318946e-05 9.99973035e-01 -9.03208545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.260385723 meters 0.013693194989834923 Centerline is valid? [True, True] Translation: X:26.94, Y:-205.83, Z:-9.03 [[-6.70039540e-01 -7.42304918e-01 5.51574604e-03 2.69420527e+01] [ 7.42279980e-01 -6.70062242e-01 -6.08458660e-03 -2.05827234e+02] [ 8.21251171e-03 1.73142568e-05 9.99966277e-01 -9.03298212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.290385723 meters 0.013759100671978764 Centerline is valid? [True, True] Translation: X:26.93, Y:-205.81, Z:-9.03 [[-6.70808822e-01 -7.41609951e-01 5.49585750e-03 2.69260547e+01] [ 7.41585201e-01 -6.70831335e-01 -6.05882905e-03 -2.05805098e+02] [ 8.18008134e-03 1.13306088e-05 9.99966543e-01 -9.03245412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.320385723 meters 0.013729608453449898 Centerline is valid? [True, True] Translation: X:26.91, Y:-205.78, Z:-9.03 [[-6.71255531e-01 -7.41208010e-01 5.16699076e-03 2.69092437e+01] [ 7.41186150e-01 -6.71275417e-01 -5.69255194e-03 -2.05784255e+02] [ 7.68783897e-03 8.54501453e-06 9.99970448e-01 -9.03198871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.350385723 meters 0.013796487863026403 Centerline is valid? [True, True] Translation: X:26.89, Y:-205.76, Z:-9.03 [[-6.71818835e-01 -7.40704719e-01 3.99638318e-03 2.68909696e+01] [ 7.40691650e-01 -6.71830722e-01 -4.40018126e-03 -2.05763635e+02] [ 5.94412802e-03 3.96299673e-06 9.99982334e-01 -9.03104382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.380385723 meters 0.01373334000782721 Centerline is valid? [True, True] Translation: X:26.87, Y:-205.74, Z:-9.03 [[-6.72438738e-01 -7.40141459e-01 4.09437024e-03 2.68724933e+01] [ 7.40127747e-01 -6.72451203e-01 -4.50531558e-03 -2.05743272e+02] [ 6.08783504e-03 8.08299238e-07 9.99981469e-01 -9.03100090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.410385723 meters 0.013789047960551665 Centerline is valid? [True, True] Translation: X:26.85, Y:-205.72, Z:-9.03 [[-6.73882899e-01 -7.38829272e-01 3.62551515e-03 2.68534254e+01] [ 7.38818515e-01 -6.73892652e-01 -3.98695750e-03 -2.05723415e+02] [ 5.38888893e-03 -8.14476006e-06 9.99985480e-01 -9.03101832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.440385723 meters 0.01384995631612413 Centerline is valid? [True, True] Translation: X:26.84, Y:-205.70, Z:-9.03 [[-6.74775974e-01 -7.38013038e-01 3.76034424e-03 2.68362707e+01] [ 7.38001468e-01 -6.74786452e-01 -4.13257311e-03 -2.05703309e+02] [ 5.58732219e-03 -1.34214792e-05 9.99984391e-01 -9.03113665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.470385723 meters 0.013965479015340513 Centerline is valid? [True, True] Translation: X:26.82, Y:-205.68, Z:-9.03 [[-6.75440023e-01 -7.37403810e-01 4.04921984e-03 2.68188302e+01] [ 7.37390399e-01 -6.75452160e-01 -4.44729584e-03 -2.05682608e+02] [ 6.01450718e-03 -1.80257702e-05 9.99981913e-01 -9.03056355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.500385723 meters 0.014195469590028376 Centerline is valid? [True, True] Translation: X:26.80, Y:-205.66, Z:-9.03 [[-6.77335844e-01 -7.35663322e-01 3.95376736e-03 2.68022646e+01] [ 7.35650522e-01 -6.77347382e-01 -4.33967063e-03 -2.05662683e+02] [ 5.87061048e-03 -3.08234435e-05 9.99982767e-01 -9.03125092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.530385723 meters 0.014313616498376602 Centerline is valid? [True, True] Translation: X:26.78, Y:-205.64, Z:-9.03 [[-6.78364655e-01 -7.34713999e-01 4.09086257e-03 2.67833116e+01] [ 7.34700296e-01 -6.78376988e-01 -4.48742774e-03 -2.05642485e+02] [ 6.07212301e-03 -3.85544331e-05 9.99981564e-01 -9.03184660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56038572299997 meters 0.01456177321907186 Centerline is valid? [True, True] Translation: X:26.76, Y:-205.62, Z:-9.03 [[-6.80102116e-01 -7.33101209e-01 4.87133251e-03 2.67645604e+01] [ 7.33081758e-01 -6.80119559e-01 -5.34060960e-03 -2.05621973e+02] [ 7.22829587e-03 -6.10748854e-05 9.99973874e-01 -9.03325450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.590385723 meters 0.014749560743059567 Centerline is valid? [True, True] Translation: X:26.75, Y:-205.60, Z:-9.03 [[-6.81143821e-01 -7.32132672e-01 4.98454648e-03 2.67469472e+01] [ 7.32112307e-01 -6.81162055e-01 -5.46116553e-03 -2.05602860e+02] [ 7.39358164e-03 -7.05913347e-05 9.99972665e-01 -9.03322851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.62038572299997 meters 0.01490827088542573 Centerline is valid? [True, True] Translation: X:26.73, Y:-205.58, Z:-9.03 [[-6.81921210e-01 -7.31406288e-01 5.32020782e-03 2.67291316e+01] [ 7.31383096e-01 -6.81941958e-01 -5.82519179e-03 -2.05583557e+02] [ 7.88865485e-03 -8.12117734e-05 9.99968881e-01 -9.03360519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.650385723 meters 0.015308630865345051 Centerline is valid? [True, True] Translation: X:26.71, Y:-205.56, Z:-9.03 [[-6.83161762e-01 -7.30246569e-01 5.47317646e-03 2.67099634e+01] [ 7.30222014e-01 -6.83183679e-01 -5.98926014e-03 -2.05563898e+02] [ 8.11282150e-03 -9.49995751e-05 9.99967086e-01 -9.03372324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.680385723 meters 0.015273547398603727 Centerline is valid? [True, True] Translation: X:26.69, Y:-205.54, Z:-9.03 [[-6.83515544e-01 -7.29915097e-01 5.51834129e-03 2.66909654e+01] [ 7.29890154e-01 -6.83537813e-01 -6.03504884e-03 -2.05544895e+02] [ 8.17706820e-03 -9.72667249e-05 9.99966563e-01 -9.03344440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.710385723 meters 0.015453545428965132 Centerline is valid? [True, True] Translation: X:26.67, Y:-205.53, Z:-9.03 [[-6.83980042e-01 -7.29486654e-01 4.53025540e-03 2.66717919e+01] [ 7.29469855e-01 -6.83995040e-01 -4.95132867e-03 -2.05527473e+02] [ 6.71060041e-03 -8.19252467e-05 9.99977480e-01 -9.03338651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.740385723 meters 0.015504294168686688 Centerline is valid? [True, True] Translation: X:26.65, Y:-205.51, Z:-9.03 [[-6.84175310e-01 -7.29303714e-01 4.49860481e-03 2.66524177e+01] [ 7.29287165e-01 -6.84190095e-01 -4.91382301e-03 -2.05508096e+02] [ 6.66157022e-03 -8.11416346e-05 9.99977808e-01 -9.03361981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.770385723 meters 0.015758583164462277 Centerline is valid? [True, True] Translation: X:26.63, Y:-205.49, Z:-9.03 [[-6.84849659e-01 -7.28673653e-01 3.95634145e-03 2.66333893e+01] [ 7.28660858e-01 -6.84861082e-01 -4.31882834e-03 -2.05489749e+02] [ 5.85656071e-03 -7.49169574e-05 9.99982847e-01 -9.03369655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.800385723 meters 0.015842915372739734 Centerline is valid? [True, True] Translation: X:26.61, Y:-205.47, Z:-9.03 [[-6.85041525e-01 -7.28494758e-01 3.67372116e-03 2.66145869e+01] [ 7.28483736e-01 -6.85051372e-01 -4.00798332e-03 -2.05470282e+02] [ 5.43648256e-03 -6.93888935e-05 9.99985220e-01 -9.03315366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.830385723 meters 0.01593666418882456 Centerline is valid? [True, True] Translation: X:26.60, Y:-205.45, Z:-9.03 [[-6.85457279e-01 -7.28104586e-01 3.46848668e-03 2.65957046e+01] [ 7.28094768e-01 -6.85466051e-01 -3.78188618e-03 -2.05450899e+02] [ 5.13113854e-03 -6.69344094e-05 9.99986833e-01 -9.03252122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.860385723 meters 0.016108474476849183 Centerline is valid? [True, True] Translation: X:26.58, Y:-205.43, Z:-9.03 [[-6.86010095e-01 -7.27585249e-01 3.13936132e-03 2.65768266e+01] [ 7.27577209e-01 -6.86017275e-01 -3.42094979e-03 -2.05432225e+02] [ 4.64268870e-03 -6.26783415e-05 9.99989221e-01 -9.03205875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.890385723 meters 0.015121560191169666 Centerline is valid? [True, True] Translation: X:26.55, Y:-205.41, Z:-9.03 [[-6.86221490e-01 -7.27386132e-01 3.07942867e-03 2.65548314e+01] [ 7.27378403e-01 -6.86228396e-01 -3.35373232e-03 -2.05413940e+02] [ 4.55264977e-03 -6.14932852e-05 9.99989635e-01 -9.03113743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.920385723 meters 0.01627215096145463 Centerline is valid? [True, True] Translation: X:26.54, Y:-205.39, Z:-9.03 [[-6.86302789e-01 -7.27309734e-01 3.00533738e-03 2.65370904e+01] [ 7.27302381e-01 -6.86309367e-01 -3.27107787e-03 -2.05392889e+02] [ 4.44167798e-03 -5.91608342e-05 9.99990134e-01 -9.03193375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.950385723 meters 0.015452772115517682 Centerline is valid? [True, True] Translation: X:26.52, Y:-205.38, Z:-9.03 [[-6.86590115e-01 -7.27038170e-01 3.08447556e-03 2.65156151e+01] [ 7.27030431e-01 -6.86597040e-01 -3.35514140e-03 -2.05375384e+02] [ 4.55710765e-03 -6.10993250e-05 9.99989615e-01 -9.03144144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.980385723 meters 0.015613744727653546 Centerline is valid? [True, True] Translation: X:26.49, Y:-205.36, Z:-9.03 [[-6.86783456e-01 -7.26855898e-01 2.99795797e-03 2.64948465e+01] [ 7.26848594e-01 -6.86789997e-01 -3.25919361e-03 -2.05355884e+02] [ 4.42793164e-03 -5.92987146e-05 9.99990195e-01 -9.03214790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.010385723 meters 0.015488002042275234 Centerline is valid? [True, True] Translation: X:26.48, Y:-205.34, Z:-9.03 [[-6.87145314e-01 -7.26513788e-01 3.00564793e-03 2.64755807e+01] [ 7.26506451e-01 -6.87151885e-01 -3.26561286e-03 -2.05336435e+02] [ 4.43784941e-03 -6.03279686e-05 9.99990151e-01 -9.03166346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.040385723 meters 0.015488002042275234 Centerline is valid? [True, True] Translation: X:26.46, Y:-205.32, Z:-9.03 [[-6.87346681e-01 -7.26323276e-01 3.00655333e-03 2.64568499e+01] [ 7.26315941e-01 -6.87353254e-01 -3.26477931e-03 -2.05316170e+02] [ 4.43784941e-03 -6.03276101e-05 9.99990151e-01 -9.03166294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.070385723 meters 0.015575614046470518 Centerline is valid? [True, True] Translation: X:26.44, Y:-205.30, Z:-9.03 [[-6.87620078e-01 -7.26064281e-01 3.04766838e-03 2.64374476e+01] [ 7.26056750e-01 -6.87626829e-01 -3.30757620e-03 -2.05296196e+02] [ 4.49717149e-03 -6.15756047e-05 9.99989886e-01 -9.03180681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.100385723 meters 0.01584372585847189 Centerline is valid? [True, True] Translation: X:26.42, Y:-205.28, Z:-9.03 [[-6.88562992e-01 -7.25166804e-01 3.75662752e-03 2.64181120e+01] [ 7.25155361e-01 -6.88573235e-01 -4.07459461e-03 -2.05276942e+02] [ 5.54147392e-03 -8.14764682e-05 9.99984643e-01 -9.03230826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.130385723 meters 0.01597854281099263 Centerline is valid? [True, True] Translation: X:26.40, Y:-205.26, Z:-9.03 [[-6.89117481e-01 -7.24639252e-01 3.87962801e-03 2.63988904e+01] [ 7.24627053e-01 -6.89128397e-01 -4.20568923e-03 -2.05256414e+02] [ 5.72116933e-03 -8.69305593e-05 9.99983630e-01 -9.03240763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.160385723 meters 0.01610895437715198 Centerline is valid? [True, True] Translation: X:26.38, Y:-205.24, Z:-9.03 [[-6.89900139e-01 -7.23893352e-01 4.02657112e-03 2.63798440e+01] [ 7.23880213e-01 -6.89911883e-01 -4.36242378e-03 -2.05236402e+02] [ 5.93590884e-03 -9.48816110e-05 9.99982378e-01 -9.03230329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.190385723 meters 0.01638495110686176 Centerline is valid? [True, True] Translation: X:26.36, Y:-205.22, Z:-9.03 [[-6.91110721e-01 -7.22738459e-01 3.88472559e-03 2.63602132e+01] [ 7.22726225e-01 -6.91121632e-01 -4.20641901e-03 -2.05216628e+02] [ 5.72495868e-03 -9.95082145e-05 9.99983607e-01 -9.03198495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.220385723 meters 0.016887564815709473 Centerline is valid? [True, True] Translation: X:26.34, Y:-205.20, Z:-9.03 [[-6.91304268e-01 -7.22554089e-01 3.74137809e-03 2.63416352e+01] [ 7.22542751e-01 -6.91314385e-01 -4.04883848e-03 -2.05196750e+02] [ 5.51197329e-03 -9.56737021e-05 9.99984804e-01 -9.03219113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.250385723 meters 0.01703673164944891 Centerline is valid? [True, True] Translation: X:26.32, Y:-205.18, Z:-9.03 [[-6.91254863e-01 -7.22601156e-01 3.77950004e-03 2.63235829e+01] [ 7.22589601e-01 -6.91265188e-01 -4.08751947e-03 -2.05177864e+02] [ 5.56628310e-03 -9.44902831e-05 9.99984504e-01 -9.03223871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.280385723 meters 0.016468155478961955 Centerline is valid? [True, True] Translation: X:26.30, Y:-205.16, Z:-9.03 [[-6.91121623e-01 -7.22728247e-01 3.84490683e-03 2.63032106e+01] [ 7.22716305e-01 -6.91132312e-01 -4.15570428e-03 -2.05159133e+02] [ 5.66078421e-03 -9.33202284e-05 9.99983973e-01 -9.03152898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31038572299997 meters 0.01629973045698973 Centerline is valid? [True, True] Translation: X:26.28, Y:-205.14, Z:-9.03 [[-6.90225549e-01 -7.23584118e-01 3.83620657e-03 2.62821047e+01] [ 7.23572258e-01 -6.90236204e-01 -4.14375219e-03 -2.05141081e+02] [ 5.64624193e-03 -8.43509769e-05 9.99984056e-01 -9.03102425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.340385723 meters 0.016181624683605105 Centerline is valid? [True, True] Translation: X:26.26, Y:-205.12, Z:-9.03 [[-6.89845575e-01 -7.23946286e-01 3.85471290e-03 2.62622053e+01] [ 7.23934331e-01 -6.89856340e-01 -4.16118753e-03 -2.05122152e+02] [ 5.67167438e-03 -8.00177994e-05 9.99983913e-01 -9.03112959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37038572299997 meters 0.01601030226451699 Centerline is valid? [True, True] Translation: X:26.24, Y:-205.10, Z:-9.03 [[-6.88485354e-01 -7.25238725e-01 4.08771705e-03 2.62419307e+01] [ 7.25225316e-01 -6.88497485e-01 -4.41062313e-03 -2.05104841e+02] [ 6.01313760e-03 -7.21335357e-05 9.99981918e-01 -9.03112867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.400385723 meters 0.01573015500784306 Centerline is valid? [True, True] Translation: X:26.22, Y:-205.09, Z:-9.03 [[-6.87998662e-01 -7.25700004e-01 4.16485313e-03 2.62216641e+01] [ 7.25686108e-01 -6.88011265e-01 -4.49138902e-03 -2.05085774e+02] [ 6.12486690e-03 -6.76935803e-05 9.99981241e-01 -9.03065911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.430385723 meters 0.01582888026399007 Centerline is valid? [True, True] Translation: X:26.20, Y:-205.07, Z:-9.03 [[-6.87792758e-01 -7.25894976e-01 4.19600264e-03 2.62017271e+01] [ 7.25880891e-01 -6.87805554e-01 -4.52249518e-03 -2.05065964e+02] [ 6.16889045e-03 -6.47412983e-05 9.99980970e-01 -9.03033949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.460385723 meters 0.01573622805957384 Centerline is valid? [True, True] Translation: X:26.18, Y:-205.05, Z:-9.03 [[-6.87825590e-01 -7.25863777e-01 4.21121273e-03 2.61816428e+01] [ 7.25849605e-01 -6.87838479e-01 -4.53638650e-03 -2.05046662e+02] [ 6.18943280e-03 -6.35356286e-05 9.99980843e-01 -9.03008819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.490385723 meters 0.01581401017710706 Centerline is valid? [True, True] Translation: X:26.16, Y:-205.03, Z:-9.03 [[-6.88402135e-01 -7.25316174e-01 4.35298404e-03 2.61616757e+01] [ 7.25301036e-01 -6.88415894e-01 -4.68650539e-03 -2.05026415e+02] [ 6.39586156e-03 -6.89764806e-05 9.99979544e-01 -9.03030641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.520385723 meters 0.016239689401793784 Centerline is valid? [True, True] Translation: X:26.14, Y:-205.01, Z:-9.03 [[-6.90074545e-01 -7.23721839e-01 4.88080796e-03 2.61437852e+01] [ 7.23702790e-01 -6.90091799e-01 -5.25169899e-03 -2.05006547e+02] [ 7.16897480e-03 -9.18094530e-05 9.99974298e-01 -9.03025293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.550385723 meters 0.016468614086614434 Centerline is valid? [True, True] Translation: X:26.13, Y:-204.99, Z:-9.03 [[-6.91137301e-01 -7.22705510e-01 5.09678619e-03 2.61255925e+01] [ 7.22684735e-01 -6.91156086e-01 -5.48071792e-03 -2.04986662e+02] [ 7.48361984e-03 -1.04559015e-04 9.99971992e-01 -9.03020423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.580385723 meters 0.017520883499069242 Centerline is valid? [True, True] Translation: X:26.11, Y:-204.97, Z:-9.03 [[-6.92157556e-01 -7.21723289e-01 5.78037085e-03 2.61071088e+01] [ 7.21696555e-01 -6.92181680e-01 -6.21331599e-03 -2.04966417e+02] [ 8.48536165e-03 -1.28919884e-04 9.99963990e-01 -9.03113915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.610385723 meters 0.017098510092344976 Centerline is valid? [True, True] Translation: X:26.09, Y:-204.95, Z:-9.03 [[-6.93275114e-01 -7.20649768e-01 5.79034619e-03 2.60870156e+01] [ 7.20622932e-01 -6.93299281e-01 -6.22069327e-03 -2.04946332e+02] [ 8.49738400e-03 -1.39995587e-04 9.99963887e-01 -9.03016997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.640385723 meters 0.018405418629078688 Centerline is valid? [True, True] Translation: X:26.07, Y:-204.93, Z:-9.03 [[-6.94079928e-01 -7.19870200e-01 6.32044271e-03 2.60674994e+01] [ 7.19838219e-01 -6.94108686e-01 -6.78748392e-03 -2.04926794e+02] [ 9.27318160e-03 -1.61360123e-04 9.99956990e-01 -9.03142652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.670385723 meters 0.018327729964316926 Centerline is valid? [True, True] Translation: X:26.05, Y:-204.91, Z:-9.03 [[-6.94603455e-01 -7.19364189e-01 6.41902110e-03 2.60483618e+01] [ 7.19331220e-01 -6.94633094e-01 -6.88916660e-03 -2.04906975e+02] [ 9.41468423e-03 -1.67836647e-04 9.99955667e-01 -9.03143281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.700385723 meters 0.017632486058164008 Centerline is valid? [True, True] Translation: X:26.03, Y:-204.89, Z:-9.03 [[-6.95379615e-01 -7.18614475e-01 6.35827487e-03 2.60304537e+01] [ 7.18582136e-01 -6.95408661e-01 -6.81963773e-03 -2.04888373e+02] [ 9.32228980e-03 -1.73294317e-04 9.99956532e-01 -9.03062860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.730385723 meters 0.01774803484341482 Centerline is valid? [True, True] Translation: X:26.01, Y:-204.87, Z:-9.03 [[-6.95840516e-01 -7.18167577e-01 6.42704377e-03 2.60122609e+01] [ 7.18134555e-01 -6.95870174e-01 -6.88928213e-03 -2.04868472e+02] [ 9.42004713e-03 -1.78359416e-04 9.99955615e-01 -9.03041872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.760385723 meters 0.01833204470332047 Centerline is valid? [True, True] Translation: X:25.99, Y:-204.85, Z:-9.03 [[-6.96842261e-01 -7.17197298e-01 6.23697494e-03 2.59944681e+01] [ 7.17166195e-01 -6.96870148e-01 -6.68180261e-03 -2.04848174e+02] [ 9.13853242e-03 -1.83214851e-04 9.99958226e-01 -9.02983851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.790385723 meters 0.018573798359589253 Centerline is valid? [True, True] Translation: X:25.98, Y:-204.83, Z:-9.03 [[-6.97542558e-01 -7.16518367e-01 5.98417407e-03 2.59757236e+01] [ 7.16489742e-01 -6.97568203e-01 -6.40720862e-03 -2.04828376e+02] [ 8.76525220e-03 -1.81701352e-04 9.99961568e-01 -9.02985364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.820385723 meters 0.01890201899852223 Centerline is valid? [True, True] Translation: X:25.96, Y:-204.81, Z:-9.03 [[-6.98197014e-01 -7.15879973e-01 6.06588113e-03 2.59578398e+01] [ 7.15850572e-01 -6.98223338e-01 -6.49069810e-03 -2.04809162e+02] [ 8.88190054e-03 -1.89521550e-04 9.99960537e-01 -9.02969865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.850385723 meters 0.017373720036992918 Centerline is valid? [True, True] Translation: X:25.94, Y:-204.79, Z:-9.03 [[-6.98955131e-01 -7.15136471e-01 6.44615921e-03 2.59355332e+01] [ 7.15103272e-01 -6.98984824e-01 -6.89388807e-03 -2.04791145e+02] [ 9.43583825e-03 -2.08848900e-04 9.99955460e-01 -9.02801025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.880385723 meters 0.017824299769382206 Centerline is valid? [True, True] Translation: X:25.92, Y:-204.77, Z:-9.03 [[-6.99388462e-01 -7.14714049e-01 6.29350197e-03 2.59174479e+01] [ 7.14682424e-01 -6.99416747e-01 -6.72660837e-03 -2.04770863e+02] [ 9.20938217e-03 -2.06657036e-04 9.99957571e-01 -9.02834805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.910385723 meters 0.017797732060816314 Centerline is valid? [True, True] Translation: X:25.90, Y:-204.75, Z:-9.03 [[-6.99372509e-01 -7.14737095e-01 5.38323317e-03 2.58977574e+01] [ 7.14713982e-01 -6.99393205e-01 -5.75053804e-03 -2.04751131e+02] [ 7.87511955e-03 -1.74296202e-04 9.99968976e-01 -9.02765364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.940385723 meters 0.017559431107507788 Centerline is valid? [True, True] Translation: X:25.88, Y:-204.73, Z:-9.03 [[-6.99136909e-01 -7.14970775e-01 4.93690546e-03 2.58774624e+01] [ 7.14951363e-01 -6.99154322e-01 -5.27084743e-03 -2.04731702e+02] [ 7.22016066e-03 -1.55396688e-04 9.99973922e-01 -9.02768761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.970385723 meters 0.01750294824797599 Centerline is valid? [True, True] Translation: X:25.86, Y:-204.71, Z:-9.03 [[-6.98913315e-01 -7.15190625e-01 4.74846131e-03 2.58574267e+01] [ 7.15172691e-01 -6.98929430e-01 -5.06687046e-03 -2.04712423e+02] [ 6.94261761e-03 -1.45333375e-04 9.99975889e-01 -9.02776868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.000385723 meters 0.01703441293371703 Centerline is valid? [True, True] Translation: X:25.84, Y:-204.69, Z:-9.03 [[-6.98088475e-01 -7.15995201e-01 4.83247505e-03 2.58363945e+01] [ 7.15976667e-01 -6.98105187e-01 -5.15364335e-03 -2.04694212e+02] [ 7.06355981e-03 -1.37759648e-04 9.99975043e-01 -9.02863911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.030385723 meters 0.017290062881054367 Centerline is valid? [True, True] Translation: X:25.82, Y:-204.67, Z:-9.03 [[-6.97937653e-01 -7.16140498e-01 5.08134996e-03 2.58177207e+01] [ 7.16120031e-01 -6.97956136e-01 -5.41606139e-03 -2.04673923e+02] [ 7.42522028e-03 -1.41216681e-04 9.99972423e-01 -9.02920403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06038572299997 meters 0.01714772112306172 Centerline is valid? [True, True] Translation: X:25.80, Y:-204.65, Z:-9.03 [[-6.98040988e-01 -7.16040195e-01 5.02182994e-03 2.57982714e+01] [ 7.16020224e-01 -6.98059038e-01 -5.34967008e-03 -2.04653848e+02] [ 7.33611259e-03 -1.38557187e-04 9.99973081e-01 -9.02855256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.090385723 meters 0.017176934348158413 Centerline is valid? [True, True] Translation: X:25.78, Y:-204.63, Z:-9.03 [[-6.98199487e-01 -7.15887145e-01 4.80333787e-03 2.57792076e+01] [ 7.15868891e-01 -6.98215997e-01 -5.11394209e-03 -2.04634359e+02] [ 7.01477274e-03 -1.31991583e-04 9.99975388e-01 -9.02835470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.12038572299997 meters 0.017216106001255685 Centerline is valid? [True, True] Translation: X:25.76, Y:-204.62, Z:-9.03 [[-6.98499559e-01 -7.15595233e-01 4.67210714e-03 2.57604490e+01] [ 7.15577977e-01 -6.98515172e-01 -4.97116785e-03 -2.04615069e+02] [ 6.82088174e-03 -1.29101574e-04 9.99976729e-01 -9.02833393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.150385723 meters 0.017467081916864132 Centerline is valid? [True, True] Translation: X:25.74, Y:-204.60, Z:-9.03 [[-6.99067962e-01 -7.15039555e-01 4.73487320e-03 2.57413710e+01] [ 7.15021841e-01 -6.99083984e-01 -5.03486855e-03 -2.04595130e+02] [ 6.91020419e-03 -1.34177548e-04 9.99976115e-01 -9.02900590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.180385723 meters 0.017641152446982007 Centerline is valid? [True, True] Translation: X:25.72, Y:-204.57, Z:-9.03 [[-6.99671982e-01 -7.14448570e-01 4.72841697e-03 2.57227081e+01] [ 7.14430912e-01 -6.99687946e-01 -5.02494556e-03 -2.04574739e+02] [ 6.89848153e-03 -1.37686368e-04 9.99976196e-01 -9.02924084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.210385723 meters 0.01744346180439188 Centerline is valid? [True, True] Translation: X:25.70, Y:-204.55, Z:-9.03 [[-7.00115269e-01 -7.14013958e-01 4.76204865e-03 2.57031250e+01] [ 7.13996057e-01 -7.00131450e-01 -5.05791273e-03 -2.04554145e+02] [ 6.94548031e-03 -1.41037974e-04 9.99975870e-01 -9.02926197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.240385723 meters 0.017786418712525613 Centerline is valid? [True, True] Translation: X:25.69, Y:-204.53, Z:-9.03 [[-7.00939170e-01 -7.13207375e-01 4.41830049e-03 2.56864699e+01] [ 7.13191968e-01 -7.00953082e-01 -4.68977941e-03 -2.04534298e+02] [ 6.44180660e-03 -1.36153665e-04 9.99979242e-01 -9.02911053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.270385723 meters 0.017794669708903338 Centerline is valid? [True, True] Translation: X:25.67, Y:-204.51, Z:-9.03 [[-7.01282409e-01 -7.12870801e-01 4.26659504e-03 2.56674681e+01] [ 7.12856446e-01 -7.01295375e-01 -4.52598938e-03 -2.04514222e+02] [ 6.21858905e-03 -1.32526955e-04 9.99980656e-01 -9.02918319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.300385723 meters 0.01700600436105133 Centerline is valid? [True, True] Translation: X:25.65, Y:-204.50, Z:-9.03 [[-7.01047921e-01 -7.13100592e-01 4.39968567e-03 2.56469893e+01] [ 7.13085349e-01 -7.01061714e-01 -4.66454961e-03 -2.04495273e+02] [ 6.41074427e-03 -1.32721422e-04 9.99979442e-01 -9.02919114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.330385723 meters 0.01818614115331144 Centerline is valid? [True, True] Translation: X:25.63, Y:-204.48, Z:-9.03 [[-7.01068910e-01 -7.13079412e-01 4.48730731e-03 2.56289500e+01] [ 7.13063573e-01 -7.01083258e-01 -4.75462742e-03 -2.04475229e+02] [ 6.53640296e-03 -1.33586079e-04 9.99978629e-01 -9.03004604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.360385723 meters 0.017478328994049656 Centerline is valid? [True, True] Translation: X:25.61, Y:-204.45, Z:-9.03 [[-7.00773911e-01 -7.13372510e-01 3.94818214e-03 2.56114408e+01] [ 7.13360263e-01 -7.00785023e-01 -4.18169398e-03 -2.04454576e+02] [ 5.74993244e-03 -1.13945799e-04 9.99983463e-01 -9.02901254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.390385723 meters 0.019728061315129507 Centerline is valid? [True, True] Translation: X:25.59, Y:-204.44, Z:-9.03 [[-7.00741155e-01 -7.13407010e-01 3.50306362e-03 2.55937503e+01] [ 7.13397378e-01 -7.00749904e-01 -3.70851910e-03 -2.04435779e+02] [ 5.10045502e-03 -9.96355613e-05 9.99986988e-01 -9.02994870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.420385723 meters 0.017895461587124115 Centerline is valid? [True, True] Translation: X:25.57, Y:-204.42, Z:-9.03 [[-7.00338457e-01 -7.13805348e-01 2.82323719e-03 2.55736917e+01] [ 7.13799101e-01 -7.00344144e-01 -2.98718763e-03 -2.04416584e+02] [ 4.10950814e-03 -7.68182101e-05 9.99991553e-01 -9.02869884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.450385723 meters 0.018101813295312744 Centerline is valid? [True, True] Translation: X:25.55, Y:-204.40, Z:-9.03 [[-7.00311222e-01 -7.13833317e-01 2.48736712e-03 2.55543349e+01] [ 7.13828474e-01 -7.00315636e-01 -2.63036599e-03 -2.04396755e+02] [ 3.61958497e-03 -6.65213478e-05 9.99993447e-01 -9.02913153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.480385723 meters 0.01774300180463111 Centerline is valid? [True, True] Translation: X:25.54, Y:-204.38, Z:-9.03 [[-6.99590781e-01 -7.14540363e-01 2.19281698e-03 2.55350521e+01] [ 7.14536606e-01 -6.99594216e-01 -2.31760807e-03 -2.04376626e+02] [ 3.19010658e-03 -5.45292351e-05 9.99994910e-01 -9.02858959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.510385723 meters 0.016506962201695934 Centerline is valid? [True, True] Translation: X:25.52, Y:-204.36, Z:-9.03 [[-6.99097664e-01 -7.15023881e-01 1.81816868e-03 2.55158716e+01] [ 7.15021303e-01 -6.99100027e-01 -1.92058640e-03 -2.04356050e+02] [ 2.64434691e-03 -4.26481307e-05 9.99996503e-01 -9.02747367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.540385723 meters 0.01631937246791552 Centerline is valid? [True, True] Translation: X:25.50, Y:-204.34, Z:-9.03 [[-6.98771653e-01 -7.15342997e-01 1.60436473e-03 2.54967428e+01] [ 7.15340993e-01 -6.98773494e-01 -1.69379494e-03 -2.04335341e+02] [ 2.33273190e-03 -3.59080307e-05 9.99997279e-01 -9.02724843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.570385723 meters 0.01636839547574416 Centerline is valid? [True, True] Translation: X:25.48, Y:-204.32, Z:-9.03 [[-6.98878317e-01 -7.15238311e-01 1.80424536e-03 2.54791040e+01] [ 7.15235779e-01 -6.98880645e-01 -1.90369431e-03 -2.04315322e+02] [ 2.62254727e-03 -3.99898393e-05 9.99996560e-01 -9.02701424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.600385723 meters 0.016362673673440527 Centerline is valid? [True, True] Translation: X:25.46, Y:-204.30, Z:-9.03 [[-6.99349638e-01 -7.14777963e-01 1.59621460e-03 2.54602338e+01] [ 7.14775981e-01 -6.99351459e-01 -1.68326412e-03 -2.04295112e+02] [ 2.31947511e-03 -3.62542919e-05 9.99997309e-01 -9.02709464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.630385723 meters 0.01656708858983318 Centerline is valid? [True, True] Translation: X:25.44, Y:-204.28, Z:-9.03 [[-6.99864944e-01 -7.14274528e-01 9.78885055e-04 2.54425849e+01] [ 7.14273783e-01 -6.99865629e-01 -1.03166966e-03 -2.04275040e+02] [ 1.42198336e-03 -2.28374944e-05 9.99998989e-01 -9.02688236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.660385723 meters 0.016678099869871215 Centerline is valid? [True, True] Translation: X:25.42, Y:-204.26, Z:-9.03 [[-6.99839841e-01 -7.14298668e-01 1.26918263e-03 2.54247863e+01] [ 7.14297417e-01 -6.99840991e-01 -1.33698086e-03 -2.04255698e+02] [ 1.84322968e-03 -2.90985969e-05 9.99998301e-01 -9.02689530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.690385723 meters 0.016783405494242364 Centerline is valid? [True, True] Translation: X:25.41, Y:-204.24, Z:-9.03 [[-6.99993809e-01 -7.14147971e-01 1.15864311e-03 2.54065383e+01] [ 7.14146930e-01 -6.99994768e-01 -1.21979643e-03 -2.04235410e+02] [ 1.68215926e-03 -2.64085305e-05 9.99998585e-01 -9.02718100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.720385723 meters 0.016880587004227097 Centerline is valid? [True, True] Translation: X:25.39, Y:-204.22, Z:-9.03 [[-7.00159388e-01 -7.13984907e-01 1.54374354e-03 2.53881474e+01] [ 7.13983061e-01 -7.00161089e-01 -1.62422763e-03 -2.04215115e+02] [ 2.24054318e-03 -3.50114885e-05 9.99997489e-01 -9.02729262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.750385723 meters 0.01901180755745027 Centerline is valid? [True, True] Translation: X:25.37, Y:-204.19, Z:-9.03 [[-7.01065755e-01 -7.13093726e-01 2.03599348e-03 2.53702864e+01] [ 7.13090514e-01 -7.01068710e-01 -2.14091265e-03 -2.04194688e+02] [ 2.95404270e-03 -4.90729036e-05 9.99995636e-01 -9.02929776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.780385723 meters 0.020429990587300367 Centerline is valid? [True, True] Translation: X:25.35, Y:-204.17, Z:-9.03 [[-7.02420856e-01 -7.11758534e-01 2.17495075e-03 2.53525238e+01] [ 7.11754865e-01 -7.02424220e-01 -2.28612829e-03 -2.04173561e+02] [ 3.15490941e-03 -5.77924099e-05 9.99995022e-01 -9.03021810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81038572299997 meters 0.01778776899851275 Centerline is valid? [True, True] Translation: X:25.33, Y:-204.15, Z:-9.03 [[-7.03067705e-01 -7.11120240e-01 1.95081579e-03 2.53347184e+01] [ 7.11117289e-01 -7.03070410e-01 -2.04931449e-03 -2.04152706e+02] [ 2.82886987e-03 -5.35480038e-05 9.99995997e-01 -9.02809426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.840385723 meters 0.01854826188050362 Centerline is valid? [True, True] Translation: X:25.32, Y:-204.13, Z:-9.03 [[-7.04327135e-01 -7.09871258e-01 2.46660677e-03 2.53161593e+01] [ 7.09866538e-01 -7.04331451e-01 -2.58964203e-03 -2.04132347e+02] [ 3.57562117e-03 -7.29935415e-05 9.99993605e-01 -9.02857530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87038572299997 meters 0.020415277175997174 Centerline is valid? [True, True] Translation: X:25.30, Y:-204.11, Z:-9.03 [[-7.06907875e-01 -7.07298117e-01 3.26053143e-03 2.52996246e+01] [ 7.07289851e-01 -7.06915385e-01 -3.42130993e-03 -2.04109661e+02] [ 4.72480590e-03 -1.12410139e-04 9.99988832e-01 -9.02957166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.900385723 meters 0.022050369102460332 Centerline is valid? [True, True] Translation: X:25.28, Y:-204.09, Z:-9.03 [[-7.08146266e-01 -7.06057006e-01 3.51722663e-03 2.52836666e+01] [ 7.06047383e-01 -7.08154989e-01 -3.68855379e-03 -2.04087276e+02] [ 5.09507083e-03 -1.28706935e-04 9.99987012e-01 -9.03037788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.930385723 meters 0.01993651802324162 Centerline is valid? [True, True] Translation: X:25.26, Y:-204.07, Z:-9.03 [[-7.09975429e-01 -7.04220853e-01 2.80705877e-03 2.52647350e+01] [ 7.04214716e-01 -7.09980969e-01 -2.94223754e-03 -2.04066338e+02] [ 4.06494333e-03 -1.12144267e-04 9.99991732e-01 -9.02753806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.960385723 meters 0.01993651802324162 Centerline is valid? [True, True] Translation: X:25.25, Y:-204.05, Z:-9.03 [[-7.10184499e-01 -7.04010009e-01 2.80793183e-03 2.52461791e+01] [ 7.04003873e-01 -7.10190041e-01 -2.94140434e-03 -2.04047038e+02] [ 4.06494332e-03 -1.12144888e-04 9.99991732e-01 -9.02753755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.990385723 meters 0.02031587903573179 Centerline is valid? [True, True] Translation: X:25.23, Y:-204.03, Z:-9.03 [[-7.10951456e-01 -7.03236022e-01 2.66925900e-03 2.52275690e+01] [ 7.03230478e-01 -7.10956458e-01 -2.79466986e-03 -2.04025699e+02] [ 3.86303944e-03 -1.09770327e-04 9.99992532e-01 -9.02731800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.020385723 meters 0.021327695901652625 Centerline is valid? [True, True] Translation: X:25.21, Y:-204.01, Z:-9.03 [[-7.11872946e-01 -7.02304041e-01 2.43782019e-03 2.52084567e+01] [ 7.02299416e-01 -7.11877112e-01 -2.55101662e-03 -2.04005028e+02] [ 3.52701768e-03 -1.03920022e-04 9.99993775e-01 -9.02835404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.050385723 meters 0.02250322678422517 Centerline is valid? [True, True] Translation: X:25.19, Y:-203.98, Z:-9.03 [[-7.12440190e-01 -7.01726199e-01 3.05230839e-03 2.51894337e+01] [ 7.01718950e-01 -7.12446717e-01 -3.19236250e-03 -2.03984103e+02] [ 4.41477149e-03 -1.32504704e-04 9.99990246e-01 -9.02996857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.080385723 meters 0.020971597286710726 Centerline is valid? [True, True] Translation: X:25.17, Y:-203.96, Z:-9.03 [[-7.13200972e-01 -7.00949139e-01 3.83113117e-03 2.51694944e+01] [ 7.00937720e-01 -7.13211242e-01 -4.00473760e-03 -2.03964392e+02] [ 5.53952319e-03 -1.70798402e-04 9.99984642e-01 -9.03042483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.110385723 meters 0.01998240715128404 Centerline is valid? [True, True] Translation: X:25.15, Y:-203.94, Z:-9.03 [[-7.13299684e-01 -7.00847173e-01 4.09881033e-03 2.51512041e+01] [ 7.00834116e-01 -7.13311437e-01 -4.28193296e-03 -2.03943649e+02] [ 5.92470890e-03 -1.81715308e-04 9.99982432e-01 -9.02923701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.140385723 meters 0.022287022306010325 Centerline is valid? [True, True] Translation: X:25.13, Y:-203.92, Z:-9.03 [[-7.14526192e-01 -6.99594787e-01 4.41071435e-03 2.51325723e+01] [ 6.99579659e-01 -7.14539776e-01 -4.60527350e-03 -2.03922286e+02] [ 6.37345618e-03 -2.04942493e-04 9.99979668e-01 -9.03101017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.170385723 meters 0.0212252953010729 Centerline is valid? [True, True] Translation: X:25.11, Y:-203.90, Z:-9.03 [[-7.14413646e-01 -6.99708369e-01 4.61953597e-03 2.51143729e+01] [ 6.99691797e-01 -7.14428550e-01 -4.82038628e-03 -2.03901624e+02] [ 6.67319301e-03 -2.11498316e-04 9.99977712e-01 -9.02971133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.200385723 meters 0.02065347412491127 Centerline is valid? [True, True] Translation: X:25.10, Y:-203.88, Z:-9.03 [[-7.13586628e-01 -7.00548662e-01 5.06919129e-03 2.50958677e+01] [ 7.00528748e-01 -7.13604599e-01 -5.28677992e-03 -2.03881320e+02] [ 7.32104481e-03 -2.21461230e-04 9.99973176e-01 -9.02925155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.230385723 meters 0.021578589987026973 Centerline is valid? [True, True] Translation: X:25.08, Y:-203.86, Z:-9.03 [[-7.13305837e-01 -7.00834130e-01 5.12888770e-03 2.50757605e+01] [ 7.00813776e-01 -7.13324242e-01 -5.34581327e-03 -2.03862649e+02] [ 7.40508832e-03 -2.18804653e-04 9.99972558e-01 -9.03110734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.260385723 meters 0.02121656187335895 Centerline is valid? [True, True] Translation: X:25.06, Y:-203.84, Z:-9.03 [[-7.10661034e-01 -7.03511617e-01 5.68335783e-03 2.50563252e+01] [ 7.03486735e-01 -7.10683728e-01 -5.92050528e-03 -2.03843295e+02] [ 8.20421417e-03 -2.09305554e-04 9.99966323e-01 -9.03159493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.290385723 meters 0.018957116479210192 Centerline is valid? [True, True] Translation: X:25.04, Y:-203.82, Z:-9.03 [[-7.08813426e-01 -7.05372469e-01 5.76261052e-03 2.50363276e+01] [ 7.05346976e-01 -7.08836825e-01 -5.99990353e-03 -2.03823184e+02] [ 8.31691731e-03 -1.88172270e-04 9.99965396e-01 -9.02968893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.320385723 meters 0.01863923153788642 Centerline is valid? [True, True] Translation: X:25.02, Y:-203.80, Z:-9.03 [[-7.07287885e-01 -7.06898952e-01 6.14163326e-03 2.50169802e+01] [ 7.06870081e-01 -7.07314527e-01 -6.39126927e-03 -2.03803740e+02] [ 8.86204797e-03 -1.79130520e-04 9.99960715e-01 -9.02976365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.350385723 meters 0.01911056785398172 Centerline is valid? [True, True] Translation: X:25.00, Y:-203.78, Z:-9.03 [[-7.04665464e-01 -7.09509518e-01 6.54433225e-03 2.49970553e+01] [ 7.09476882e-01 -7.04695836e-01 -6.80680440e-03 -2.03784554e+02] [ 9.44125619e-03 -1.53467538e-04 9.99955419e-01 -9.03116588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.380385723 meters 0.018539368494317962 Centerline is valid? [True, True] Translation: X:24.98, Y:-203.77, Z:-9.03 [[-7.03607128e-01 -7.10559213e-01 6.52794357e-03 2.49780960e+01] [ 7.10526823e-01 -7.03637397e-01 -6.78584934e-03 -2.03765179e+02] [ 9.41505299e-03 -1.36292959e-04 9.99955668e-01 -9.03072526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.410385723 meters 0.017112900729488675 Centerline is valid? [True, True] Translation: X:24.96, Y:-203.75, Z:-9.03 [[-7.01723597e-01 -7.12427146e-01 5.61744700e-03 2.49599575e+01] [ 7.12403244e-01 -7.01746074e-01 -5.83648300e-03 -2.03745398e+02] [ 8.10009031e-03 -9.37103727e-05 9.99967189e-01 -9.02883524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.440385723 meters 0.01638314695322166 Centerline is valid? [True, True] Translation: X:24.94, Y:-203.73, Z:-9.03 [[-7.01164029e-01 -7.12981168e-01 5.18256160e-03 2.49396618e+01] [ 7.12960863e-01 -7.01183177e-01 -5.38150305e-03 -2.03726365e+02] [ 7.47083534e-03 -7.83527727e-05 9.99972090e-01 -9.02646858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.470385723 meters 0.016749598117868567 Centerline is valid? [True, True] Translation: X:24.92, Y:-203.71, Z:-9.03 [[-7.00715553e-01 -7.13424313e-01 4.84402241e-03 2.49232442e+01] [ 7.13406601e-01 -7.00732292e-01 -5.02757335e-03 -2.03705976e+02] [ 6.98115599e-03 -6.71412772e-05 9.99975629e-01 -9.02723825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.500385723 meters 0.016008458924877105 Centerline is valid? [True, True] Translation: X:24.90, Y:-203.69, Z:-9.03 [[-7.00398546e-01 -7.13736595e-01 4.68509201e-03 2.49048232e+01] [ 7.13720053e-01 -7.00414213e-01 -4.85967144e-03 -2.03685754e+02] [ 6.75003038e-03 -5.98626951e-05 9.99977217e-01 -9.02539475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.530385723 meters 0.015877146720727268 Centerline is valid? [True, True] Translation: X:24.89, Y:-203.66, Z:-9.03 [[-7.00397687e-01 -7.13736822e-01 4.77786832e-03 2.48854857e+01] [ 7.13719638e-01 -7.00413981e-01 -4.95318530e-03 -2.03664909e+02] [ 6.88175651e-03 -5.91410887e-05 9.99976319e-01 -9.02504404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56038572299997 meters 0.01595569576526858 Centerline is valid? [True, True] Translation: X:24.87, Y:-203.65, Z:-9.03 [[-7.00419963e-01 -7.13717157e-01 4.43801001e-03 2.48680480e+01] [ 7.13702348e-01 -7.00434021e-01 -4.59788479e-03 -2.03645164e+02] [ 6.39012245e-03 -5.30321304e-05 9.99979582e-01 -9.02550989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.590385723 meters 0.015750302182900168 Centerline is valid? [True, True] Translation: X:24.85, Y:-203.62, Z:-9.03 [[-7.00802112e-01 -7.13341009e-01 4.58317927e-03 2.48492319e+01] [ 7.13325225e-01 -7.00817096e-01 -4.74564299e-03 -2.03623806e+02] [ 6.59723214e-03 -5.64592407e-05 9.99978236e-01 -9.02595135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.62038572299997 meters 0.015882902642200075 Centerline is valid? [True, True] Translation: X:24.83, Y:-203.60, Z:-9.03 [[-7.01545647e-01 -7.12605195e-01 5.24800508e-03 2.48318129e+01] [ 7.12584503e-01 -7.01565272e-01 -5.43084801e-03 -2.03602522e+02] [ 7.55186862e-03 -7.03406873e-05 9.99971482e-01 -9.02746877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.650385723 meters 0.015991216996127964 Centerline is valid? [True, True] Translation: X:24.81, Y:-203.58, Z:-9.03 [[-7.02174801e-01 -7.11982958e-01 5.55125346e-03 2.48147686e+01] [ 7.11959817e-01 -7.02196739e-01 -5.74094765e-03 -2.03582411e+02] [ 7.98552897e-03 -7.88793784e-05 9.99968112e-01 -9.02809224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.680385723 meters 0.01599841100624033 Centerline is valid? [True, True] Translation: X:24.80, Y:-203.56, Z:-9.03 [[-7.02984680e-01 -7.11184068e-01 5.45534981e-03 2.47961001e+01] [ 7.11161719e-01 -7.03005843e-01 -5.63866157e-03 -2.03561671e+02] [ 7.84526906e-03 -8.42567532e-05 9.99969222e-01 -9.02815347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.710385723 meters 0.01597689330657815 Centerline is valid? [True, True] Translation: X:24.78, Y:-203.54, Z:-9.03 [[-7.03610220e-01 -7.10562580e-01 5.78607859e-03 2.47780984e+01] [ 7.10537448e-01 -7.03634004e-01 -5.97697808e-03 -2.03540667e+02] [ 8.31829861e-03 -9.42373486e-05 9.99965398e-01 -9.02841436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.740385723 meters 0.01645369837809535 Centerline is valid? [True, True] Translation: X:24.76, Y:-203.52, Z:-9.03 [[-7.05107918e-01 -7.09075770e-01 5.86323605e-03 2.47617222e+01] [ 7.09049941e-01 -7.05132286e-01 -6.05313212e-03 -2.03518781e+02] [ 8.42648636e-03 -1.10784205e-04 9.99964490e-01 -9.02953316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.770385723 meters 0.016668146576585205 Centerline is valid? [True, True] Translation: X:24.74, Y:-203.50, Z:-9.03 [[-7.05928273e-01 -7.08258821e-01 5.89207803e-03 2.47441693e+01] [ 7.08232741e-01 -7.05952851e-01 -6.07919627e-03 -2.03498306e+02] [ 8.46517367e-03 -1.18513949e-04 9.99964163e-01 -9.02955920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.800385723 meters 0.016857477065353597 Centerline is valid? [True, True] Translation: X:24.73, Y:-203.48, Z:-9.03 [[-7.07908294e-01 -7.06276339e-01 6.29124250e-03 2.47268465e+01] [ 7.06246559e-01 -7.07936233e-01 -6.48749344e-03 -2.03475874e+02] [ 9.03576163e-03 -1.49382051e-04 9.99959166e-01 -9.02984162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.830385723 meters 0.01724399470597669 Centerline is valid? [True, True] Translation: X:24.71, Y:-203.46, Z:-9.03 [[-7.08871120e-01 -7.05308757e-01 6.42590037e-03 2.47096302e+01] [ 7.05277684e-01 -7.08900226e-01 -6.62253984e-03 -2.03455070e+02] [ 9.22625757e-03 -1.62483109e-04 9.99957424e-01 -9.03023134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.860385723 meters 0.017647503144415756 Centerline is valid? [True, True] Translation: X:24.69, Y:-203.43, Z:-9.03 [[-7.09686688e-01 -7.04485222e-01 6.73621336e-03 2.46923924e+01] [ 7.04451064e-01 -7.09718634e-01 -6.93962808e-03 -2.03434527e+02] [ 9.66968158e-03 -1.79629004e-04 9.99953231e-01 -9.03037248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.890385723 meters 0.017864355286176917 Centerline is valid? [True, True] Translation: X:24.67, Y:-203.41, Z:-9.03 [[-7.10994668e-01 -7.03164279e-01 6.82489663e-03 2.46747381e+01] [ 7.03129192e-01 -7.11027396e-01 -7.02722222e-03 -2.03412321e+02] [ 9.79398012e-03 -1.97533468e-04 9.99952018e-01 -9.03038750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.920385723 meters 0.017447626412516556 Centerline is valid? [True, True] Translation: X:24.66, Y:-203.39, Z:-9.03 [[-7.11607708e-01 -7.02540164e-01 7.19629897e-03 2.46553736e+01] [ 7.02501165e-01 -7.11644062e-01 -7.40556810e-03 -2.03392063e+02] [ 1.03239125e-02 -2.14450938e-04 9.99946684e-01 -9.02979375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.950385723 meters 0.017743345800168526 Centerline is valid? [True, True] Translation: X:24.64, Y:-203.37, Z:-9.03 [[-7.11910520e-01 -7.02232420e-01 7.28287633e-03 2.46371273e+01] [ 7.02192508e-01 -7.11947738e-01 -7.49005715e-03 -2.03372135e+02] [ 1.04447883e-02 -2.18269294e-04 9.99945428e-01 -9.02996877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.980385723 meters 0.017107307922149647 Centerline is valid? [True, True] Translation: X:24.62, Y:-203.35, Z:-9.03 [[-7.10889715e-01 -7.03264846e-01 7.37358207e-03 2.46156744e+01] [ 7.03224033e-01 -7.10927926e-01 -7.57916968e-03 -2.03353497e+02] [ 1.05722490e-02 -2.02673658e-04 9.99944092e-01 -9.03067630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.010385723 meters 0.017209210067644174 Centerline is valid? [True, True] Translation: X:24.60, Y:-203.33, Z:-9.03 [[-7.10302547e-01 -7.03854558e-01 7.68460771e-03 2.45966595e+01] [ 7.03810306e-01 -7.10344086e-01 -7.89508785e-03 -2.03334769e+02] [ 1.10157092e-02 -1.99394899e-04 9.99939305e-01 -9.03153056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.040385723 meters 0.01681179832896243 Centerline is valid? [True, True] Translation: X:24.58, Y:-203.32, Z:-9.03 [[-7.09598987e-01 -7.04560132e-01 8.01867001e-03 2.45761228e+01] [ 7.04512051e-01 -7.09644265e-01 -8.23323797e-03 -2.03316165e+02] [ 1.14912144e-02 -1.93047666e-04 9.99933955e-01 -9.03165415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.070385723 meters 0.01667043672908463 Centerline is valid? [True, True] Translation: X:24.56, Y:-203.30, Z:-9.03 [[-7.08062045e-01 -7.06102555e-01 8.20500265e-03 2.45554789e+01] [ 7.06052371e-01 -7.08109563e-01 -8.41998134e-03 -2.03297759e+02] [ 1.17554112e-02 -1.68707631e-04 9.99930889e-01 -9.03288678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.100385723 meters 0.01624111638794115 Centerline is valid? [True, True] Translation: X:24.53, Y:-203.28, Z:-9.03 [[-7.07550202e-01 -7.06618610e-01 7.92787432e-03 2.45349161e+01] [ 7.06571847e-01 -7.07594599e-01 -8.13064824e-03 -2.03279713e+02] [ 1.13549884e-02 -1.51229005e-04 9.99935519e-01 -9.03250059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.130385723 meters 0.015912735231820206 Centerline is valid? [True, True] Translation: X:24.51, Y:-203.26, Z:-9.03 [[-7.06540270e-01 -7.07633804e-01 7.43275045e-03 2.45135784e+01] [ 7.07592805e-01 -7.06579354e-01 -7.61824908e-03 -2.03262559e+02] [ 1.06427586e-02 -1.23239023e-04 9.99943357e-01 -9.03280357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.160385723 meters 0.015972169964055954 Centerline is valid? [True, True] Translation: X:24.49, Y:-203.24, Z:-9.03 [[-7.06124567e-01 -7.08048136e-01 7.47891282e-03 2.44948444e+01] [ 7.08006701e-01 -7.06164163e-01 -7.66070604e-03 -2.03244581e+02] [ 1.07054888e-02 -1.14292341e-04 9.99942688e-01 -9.03369166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.190385723 meters 0.015923591210741144 Centerline is valid? [True, True] Translation: X:24.48, Y:-203.23, Z:-9.03 [[-7.06012326e-01 -7.08162674e-01 7.22648219e-03 2.44754563e+01] [ 7.08124030e-01 -7.06049301e-01 -7.39877272e-03 -2.03226366e+02] [ 1.03417874e-02 -1.06379046e-04 9.99946517e-01 -9.03432269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.220385723 meters 0.015627967126559363 Centerline is valid? [True, True] Translation: X:24.46, Y:-203.21, Z:-9.03 [[-7.06058464e-01 -7.08120471e-01 6.84433976e-03 2.44557268e+01] [ 7.08085845e-01 -7.06091630e-01 -7.00335815e-03 -2.03207697e+02] [ 9.79195229e-03 -9.84001947e-05 9.99952053e-01 -9.03427834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.250385723 meters 0.015392295287168076 Centerline is valid? [True, True] Translation: X:24.44, Y:-203.19, Z:-9.03 [[-7.06329973e-01 -7.07855610e-01 6.19707578e-03 2.44361174e+01] [ 7.07827248e-01 -7.06357153e-01 -6.33717400e-03 -2.03188650e+02] [ 8.86315297e-03 -8.96768437e-05 9.99960718e-01 -9.03334192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.280385723 meters 0.015294631440431004 Centerline is valid? [True, True] Translation: X:24.42, Y:-203.17, Z:-9.03 [[-7.06846842e-01 -7.07349110e-01 4.97778839e-03 2.44176618e+01] [ 7.07330821e-01 -7.06864366e-01 -5.08706009e-03 -2.03169652e+02] [ 7.11694866e-03 -7.48292152e-05 9.99974671e-01 -9.03314584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31038572299997 meters 0.015075347358093842 Centerline is valid? [True, True] Translation: X:24.40, Y:-203.15, Z:-9.03 [[-7.07391368e-01 -7.06804512e-01 4.98340984e-03 2.43975971e+01] [ 7.06786189e-01 -7.07408917e-01 -5.08997427e-03 -2.03150148e+02] [ 7.12292534e-03 -7.83986111e-05 9.99974629e-01 -9.03288554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.340385723 meters 0.015282842271456005 Centerline is valid? [True, True] Translation: X:24.38, Y:-203.13, Z:-9.03 [[-7.07802817e-01 -7.06395688e-01 4.50614981e-03 2.43792601e+01] [ 7.06380710e-01 -7.07817157e-01 -4.60064388e-03 -2.03130315e+02] [ 6.43940515e-03 -7.32913953e-05 9.99979264e-01 -9.03345158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37038572299997 meters 0.015229133216021021 Centerline is valid? [True, True] Translation: X:24.36, Y:-203.11, Z:-9.03 [[-7.08632785e-01 -7.05566448e-01 3.94495575e-03 2.43596360e+01] [ 7.05554970e-01 -7.08643763e-01 -4.02523908e-03 -2.03111288e+02] [ 5.63564193e-03 -6.90332498e-05 9.99984117e-01 -9.03352260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.400385723 meters 0.015333443356852832 Centerline is valid? [True, True] Translation: X:24.34, Y:-203.09, Z:-9.03 [[-7.08992193e-01 -7.05208152e-01 3.39582382e-03 2.43412829e+01] [ 7.05199654e-01 -7.09000323e-01 -3.46272937e-03 -2.03092081e+02] [ 4.84958517e-03 -6.03143118e-05 9.99988239e-01 -9.03347302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.430385723 meters 0.015204737516018403 Centerline is valid? [True, True] Translation: X:24.32, Y:-203.07, Z:-9.03 [[-7.09242494e-01 -7.04960180e-01 2.49594117e-03 2.43224978e+01] [ 7.04955593e-01 -7.09246884e-01 -2.54358276e-03 -2.03072994e+02] [ 3.56336306e-03 -4.44892955e-05 9.99993650e-01 -9.03271611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.460385723 meters 0.015253774307948425 Centerline is valid? [True, True] Translation: X:24.30, Y:-203.05, Z:-9.03 [[-7.09495989e-01 -7.04706625e-01 2.00361322e-03 2.43036374e+01] [ 7.04703671e-01 -7.09498817e-01 -2.04063579e-03 -2.03053434e+02] [ 2.85961077e-03 -3.58693150e-05 9.99995911e-01 -9.03249028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.490385723 meters 0.015291314427207048 Centerline is valid? [True, True] Translation: X:24.28, Y:-203.03, Z:-9.03 [[-7.09789293e-01 -7.04411833e-01 1.76866069e-03 2.42843724e+01] [ 7.04409534e-01 -7.09791496e-01 -1.80026827e-03 -2.03033832e+02] [ 2.52351059e-03 -3.19496917e-05 9.99996815e-01 -9.03221502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.520385723 meters 0.015302891214061141 Centerline is valid? [True, True] Translation: X:24.27, Y:-203.02, Z:-9.03 [[-7.10291836e-01 -7.03904893e-01 1.84638615e-03 2.42660239e+01] [ 7.03902387e-01 -7.10294235e-01 -1.87851352e-03 -2.03015066e+02] [ 2.63377229e-03 -3.46171975e-05 9.99996531e-01 -9.03242518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.550385723 meters 0.015816518041006374 Centerline is valid? [True, True] Translation: X:24.25, Y:-203.00, Z:-9.03 [[-7.11416421e-01 -7.02766763e-01 2.35637834e-03 2.42475324e+01] [ 7.02762679e-01 -7.11420322e-01 -2.39645696e-03 -2.02995268e+02] [ 3.36052574e-03 -4.89040796e-05 9.99994352e-01 -9.03382923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.580385723 meters 0.016357332020759077 Centerline is valid? [True, True] Translation: X:24.23, Y:-202.98, Z:-9.04 [[-7.13156598e-01 -7.00998862e-01 2.87443007e-03 2.42293874e+01] [ 7.00992776e-01 -7.13162388e-01 -2.92171774e-03 -2.02975384e+02] [ 4.09805622e-03 -6.86875657e-05 9.99991601e-01 -9.03506480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.610385723 meters 0.01669618524850952 Centerline is valid? [True, True] Translation: X:24.21, Y:-202.95, Z:-9.04 [[-7.14105617e-01 -7.00031370e-01 3.04109503e-03 2.42098072e+01] [ 7.00024557e-01 -7.14112089e-01 -3.08953773e-03 -2.02954768e+02] [ 4.33445606e-03 -7.74150489e-05 9.99990603e-01 -9.03544565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.640385723 meters 0.017103437543442897 Centerline is valid? [True, True] Translation: X:24.19, Y:-202.93, Z:-9.04 [[-7.15173786e-01 -6.98940651e-01 2.90216284e-03 2.41906252e+01] [ 6.98934443e-01 -7.15179670e-01 -2.94688297e-03 -2.02934260e+02] [ 4.13526416e-03 -7.91118766e-05 9.99991447e-01 -9.03604418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.670385723 meters 0.01775891744499872 Centerline is valid? [True, True] Translation: X:24.17, Y:-202.91, Z:-9.04 [[-7.16393160e-01 -6.97689768e-01 3.13503171e-03 2.41725808e+01] [ 6.97682520e-01 -7.16400013e-01 -3.18161991e-03 -2.02914394e+02] [ 4.46572042e-03 -9.20339131e-05 9.99990024e-01 -9.03663681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.700385723 meters 0.019001269008716053 Centerline is valid? [True, True] Translation: X:24.16, Y:-202.89, Z:-9.04 [[-7.18351301e-01 -6.95673756e-01 3.07137783e-03 2.41554485e+01] [ 6.95666787e-01 -7.18357860e-01 -3.11564491e-03 -2.02894434e+02] [ 4.37382080e-03 -1.01472028e-04 9.99990430e-01 -9.03757440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.730385723 meters 0.019301033127953796 Centerline is valid? [True, True] Translation: X:24.14, Y:-202.87, Z:-9.04 [[-7.19237375e-01 -6.94757808e-01 3.03099705e-03 2.41370667e+01] [ 6.94751020e-01 -7.19243754e-01 -3.07295172e-03 -2.02874808e+02] [ 4.31498290e-03 -1.04393439e-04 9.99990685e-01 -9.03773412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.760385723 meters 0.020384659026213472 Centerline is valid? [True, True] Translation: X:24.12, Y:-202.85, Z:-9.04 [[-7.20478185e-01 -6.93472389e-01 2.68883754e-03 2.41198856e+01] [ 6.93467044e-01 -7.20483196e-01 -2.72445053e-03 -2.02854541e+02] [ 3.82659348e-03 -9.82869551e-05 9.99992674e-01 -9.03699967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.790385723 meters 0.020482598379335543 Centerline is valid? [True, True] Translation: X:24.10, Y:-202.84, Z:-9.04 [[-7.20897377e-01 -6.93038047e-01 2.28855047e-03 2.41008043e+01] [ 6.93034177e-01 -7.20901005e-01 -2.31743412e-03 -2.02835683e+02] [ 3.25588835e-03 -8.45884905e-05 9.99994696e-01 -9.03621886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.820385723 meters 0.020596730364151432 Centerline is valid? [True, True] Translation: X:24.08, Y:-202.82, Z:-9.04 [[-7.21033396e-01 -6.92897103e-01 2.10877497e-03 2.40815092e+01] [ 6.92893821e-01 -7.21036476e-01 -2.13408677e-03 -2.02817046e+02] [ 2.99920621e-03 -7.75906812e-05 9.99995499e-01 -9.03599398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.850385723 meters 0.020596730364151432 Centerline is valid? [True, True] Translation: X:24.06, Y:-202.80, Z:-9.04 [[-7.21244892e-01 -6.92676949e-01 2.10942638e-03 2.40631512e+01] [ 6.92673668e-01 -7.21247973e-01 -2.13344289e-03 -2.02798708e+02] [ 2.99920621e-03 -7.75906812e-05 9.99995499e-01 -9.03599349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.880385723 meters 0.020072360440265974 Centerline is valid? [True, True] Translation: X:24.04, Y:-202.78, Z:-9.04 [[-7.20222968e-01 -6.93740012e-01 1.91636162e-03 2.40419667e+01] [ 6.93737311e-01 -7.20225514e-01 -1.93718080e-03 -2.02780525e+02] [ 2.72411237e-03 -6.57505479e-05 9.99996287e-01 -9.03582072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.910385723 meters 0.01856306485824827 Centerline is valid? [True, True] Translation: X:24.02, Y:-202.76, Z:-9.04 [[-7.19553984e-01 -6.94434026e-01 1.85662133e-03 2.40204057e+01] [ 6.94431496e-01 -7.19556377e-01 -1.87573006e-03 -2.02763363e+02] [ 2.63851450e-03 -6.03927107e-05 9.99996517e-01 -9.03522132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.940385723 meters 0.01789417191615093 Centerline is valid? [True, True] Translation: X:24.00, Y:-202.75, Z:-9.03 [[-7.17663184e-01 -6.96388953e-01 1.40717619e-03 2.40000207e+01] [ 6.96387505e-01 -7.17664562e-01 -1.42086292e-03 -2.02745727e+02] [ 1.99935372e-03 -3.97610923e-05 9.99998001e-01 -9.03442675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.970385723 meters 0.01632258719382318 Centerline is valid? [True, True] Translation: X:23.98, Y:-202.73, Z:-9.03 [[-7.16658755e-01 -6.97421965e-01 1.68249175e-03 2.39774487e+01] [ 6.97419900e-01 -7.16660729e-01 -1.69797156e-03 -2.02728481e+02] [ 2.38997843e-03 -4.34629530e-05 9.99997143e-01 -9.03495722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.000385723 meters 0.01599027971162112 Centerline is valid? [True, True] Translation: X:23.96, Y:-202.71, Z:-9.04 [[-7.15622553e-01 -6.98483769e-01 2.18781927e-03 2.39569441e+01] [ 6.98480285e-01 -7.15625895e-01 -2.20666402e-03 -2.02710137e+02] [ 3.10697913e-03 -5.09899070e-05 9.99995172e-01 -9.03582091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.030385723 meters 0.014801400041131618 Centerline is valid? [True, True] Translation: X:23.93, Y:-202.69, Z:-9.04 [[-7.13417047e-01 -7.00733615e-01 2.91862804e-03 2.39333993e+01] [ 7.00727441e-01 -7.13423015e-01 -2.94215721e-03 -2.02693741e+02] [ 4.14388487e-03 -5.38223486e-05 9.99991413e-01 -9.03658306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06038572299997 meters 0.015570861550828333 Centerline is valid? [True, True] Translation: X:23.92, Y:-202.67, Z:-9.04 [[-7.12408225e-01 -7.01759350e-01 2.88712188e-03 2.39153583e+01] [ 7.01753324e-01 -7.12414074e-01 -2.90861991e-03 -2.02673916e+02] [ 4.09797748e-03 -4.60773749e-05 9.99991602e-01 -9.03762137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.090385723 meters 0.01452905563554392 Centerline is valid? [True, True] Translation: X:23.89, Y:-202.66, Z:-9.04 [[-7.10657745e-01 -7.03535631e-01 1.78467757e-03 2.38924540e+01] [ 7.03533336e-01 -7.10659986e-01 -1.79694362e-03 -2.02658204e+02] [ 2.53251280e-03 -2.14317315e-05 9.99996793e-01 -9.03603377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.12038572299997 meters 0.014300779542138991 Centerline is valid? [True, True] Translation: X:23.87, Y:-202.64, Z:-9.03 [[-7.10123475e-01 -7.04076347e-01 1.07144314e-03 2.38720020e+01] [ 7.04075522e-01 -7.10124283e-01 -1.07816393e-03 -2.02640566e+02] [ 1.51996751e-03 -1.12526247e-05 9.99998845e-01 -9.03487150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.150385723 meters 0.014259102516084286 Centerline is valid? [True, True] Translation: X:23.85, Y:-202.62, Z:-9.03 [[-7.09788599e-01 -7.04414378e-01 7.27819830e-04 2.38523873e+01] [ 7.04413997e-01 -7.09788972e-01 -7.31950726e-04 -2.02622001e+02] [ 1.03219510e-03 -6.84380475e-06 9.99999467e-01 -9.03422188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.180385723 meters 0.014198665969518071 Centerline is valid? [True, True] Translation: X:23.83, Y:-202.60, Z:-9.03 [[-7.09657092e-01 -7.04546802e-01 7.84756171e-04 2.38330343e+01] [ 7.04546360e-01 -7.09657526e-01 -7.88741239e-04 -2.02603298e+02] [ 1.11261324e-03 -6.83871048e-06 9.99999381e-01 -9.03377543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.210385723 meters 0.014207232506425384 Centerline is valid? [True, True] Translation: X:23.81, Y:-202.59, Z:-9.03 [[-7.09656712e-01 -7.04547313e-01 6.59660689e-04 2.38141397e+01] [ 7.04547001e-01 -7.09657019e-01 -6.62599791e-04 -2.02585554e+02] [ 9.34965740e-04 -5.45642942e-06 9.99999563e-01 -9.03339730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.240385723 meters 0.014677630466434144 Centerline is valid? [True, True] Translation: X:23.80, Y:-202.57, Z:-9.03 [[-7.10588646e-01 -7.03607404e-01 6.30322754e-04 2.37953119e+01] [ 7.03607120e-01 -7.10588925e-01 -6.32761897e-04 -2.02566018e+02] [ 8.93116324e-04 -6.13384173e-06 9.99999601e-01 -9.03373975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.270385723 meters 0.014480786669895062 Centerline is valid? [True, True] Translation: X:23.78, Y:-202.55, Z:-9.03 [[-7.11312834e-01 -7.02875273e-01 6.34679794e-04 2.37765100e+01] [ 7.02874984e-01 -7.11313117e-01 -6.36760040e-04 -2.02546664e+02] [ 8.99018950e-04 -6.83503880e-06 9.99999596e-01 -9.03318199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.300385723 meters 0.014561787075849715 Centerline is valid? [True, True] Translation: X:23.76, Y:-202.53, Z:-9.03 [[-7.12121220e-01 -7.02056258e-01 6.15333563e-04 2.37576148e+01] [ 7.02055987e-01 -7.12121486e-01 -6.16989438e-04 -2.02527112e+02] [ 8.71353548e-04 -7.37266011e-06 9.99999620e-01 -9.03317397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.330385723 meters 0.014906948859065666 Centerline is valid? [True, True] Translation: X:23.74, Y:-202.51, Z:-9.03 [[-7.13157227e-01 -7.01003754e-01 7.11515694e-04 2.37396162e+01] [ 7.01003392e-01 -7.13157582e-01 -7.12992264e-04 -2.02508551e+02] [ 1.00723307e-03 -9.70067108e-06 9.99999493e-01 -9.03343738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.360385723 meters 0.01476551115903928 Centerline is valid? [True, True] Translation: X:23.72, Y:-202.49, Z:-9.03 [[-7.14642755e-01 -6.99489006e-01 9.29020790e-04 2.37185511e+01] [ 6.99488388e-01 -7.14643359e-01 -9.30430786e-04 -2.02489851e+02] [ 1.31474464e-03 -1.50863662e-05 9.99999136e-01 -9.03358608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.390385723 meters 0.015556718749394008 Centerline is valid? [True, True] Translation: X:23.70, Y:-202.47, Z:-9.03 [[-7.15330943e-01 -6.98784593e-01 1.31719670e-03 2.37014662e+01] [ 6.98783350e-01 -7.15332155e-01 -1.31833377e-03 -2.02470443e+02] [ 1.86346448e-03 -2.26098167e-05 9.99998264e-01 -9.03421844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.420385723 meters 0.015013866837885723 Centerline is valid? [True, True] Translation: X:23.68, Y:-202.45, Z:-9.03 [[-7.15876152e-01 -6.98225405e-01 1.61822330e-03 2.36799914e+01] [ 6.98223529e-01 -7.15877981e-01 -1.61863101e-03 -2.02453481e+02] [ 2.28861972e-03 -2.88577587e-05 9.99997381e-01 -9.03425683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.450385723 meters 0.015142789509039575 Centerline is valid? [True, True] Translation: X:23.66, Y:-202.43, Z:-9.03 [[-7.16351813e-01 -6.97737714e-01 1.47057713e-03 2.36611622e+01] [ 6.97736166e-01 -7.16353322e-01 -1.47001090e-03 -2.02434569e+02] [ 2.07913486e-03 -2.69701293e-05 9.99997838e-01 -9.03388570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.480385723 meters 0.015227515567542491 Centerline is valid? [True, True] Translation: X:23.14, Y:-202.96, Z:-8.03 [[-7.46470109e-01 6.65416831e-01 1.67851718e-03 2.31378294e+01] [ 6.65415244e-01 7.46471996e-01 -1.45357123e-03 -2.02958806e+02] [-2.22019683e-03 3.18634462e-05 -9.99997535e-01 -8.03289058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.510385723 meters 0.015482942295195578 Centerline is valid? [True, True] Translation: X:23.16, Y:-202.94, Z:-8.03 [[-7.90765293e-01 6.12112409e-01 2.94107037e-03 2.31583010e+01] [ 6.12108444e-01 7.90770760e-01 -2.20403509e-03 -2.02937713e+02] [-3.67482968e-03 5.73795542e-05 -9.99993246e-01 -8.03253127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.540385723 meters 0.015318270872893898 Centerline is valid? [True, True] Translation: X:23.61, Y:-202.35, Z:-9.03 [[-7.68228281e-01 -6.40169949e-01 2.78280892e-03 2.36060236e+01] [ 6.40165476e-01 -7.68233319e-01 -2.39386468e-03 -2.02352264e+02] [ 3.67032676e-03 -5.75763567e-05 9.99993263e-01 -9.03428373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.570385723 meters 0.015783294010402727 Centerline is valid? [True, True] Translation: X:23.12, Y:-202.91, Z:-8.03 [[-7.91973453e-01 6.10547044e-01 3.21820419e-03 2.31249134e+01] [ 6.10542353e-01 7.91979989e-01 -2.39425805e-03 -2.02912539e+02] [-4.01056049e-03 6.86611418e-05 -9.99991955e-01 -8.03209428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.600385723 meters 0.01575383926329907 Centerline is valid? [True, True] Translation: X:23.14, Y:-202.89, Z:-8.03 [[-8.32940294e-01 5.53355205e-01 2.91278530e-03 2.31447784e+01] [ 5.53352076e-01 8.32945385e-01 -1.86167910e-03 -2.02887466e+02] [-3.45636089e-03 6.11282538e-05 -9.99994025e-01 -8.03269616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.630385723 meters 0.015917977471228785 Centerline is valid? [True, True] Translation: X:23.16, Y:-202.86, Z:-8.03 [[-8.70028354e-01 4.92996442e-01 2.27397005e-03 2.31605739e+01] [ 4.92994896e-01 8.70031325e-01 -1.23545926e-03 -2.02861074e+02] [-2.58750219e-03 4.61710398e-05 -9.99996651e-01 -8.03327727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.660385723 meters 0.015625719060422278 Centerline is valid? [True, True] Translation: X:23.51, Y:-202.23, Z:-9.03 [[-8.52901198e-01 -5.22071922e-01 6.74264272e-04 2.35100888e+01] [ 5.22071639e-01 -8.52901456e-01 -5.57028186e-04 -2.02227372e+02] [ 8.65889755e-04 -1.23075753e-04 9.99999618e-01 -9.03178430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.690385723 meters 0.015539383484758421 Centerline is valid? [True, True] Translation: X:23.12, Y:-202.83, Z:-8.04 [[-8.72748364e-01 4.88169832e-01 7.12665483e-04 2.31201402e+01] [ 4.88169682e-01 8.72748655e-01 -3.82229232e-04 -2.02833509e+02] [-8.08570622e-04 1.43117457e-05 -9.99999673e-01 -8.03550506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.720385723 meters 0.018084545532872247 Centerline is valid? [True, True] Translation: X:23.46, Y:-202.20, Z:-9.03 [[-8.54165013e-01 -5.20000605e-01 1.22550720e-03 2.34582734e+01] [ 5.20000093e-01 -8.54165892e-01 -7.29678145e-04 -2.02204423e+02] [ 1.42621953e-03 1.39983146e-05 9.99998983e-01 -9.03370124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.750385723 meters 0.01626979108471065 Centerline is valid? [True, True] Translation: X:23.08, Y:-202.81, Z:-8.03 [[-8.75691308e-01 4.82867872e-01 1.83048273e-03 2.30819658e+01] [ 4.82866885e-01 8.75693221e-01 -9.76714628e-04 -2.02805291e+02] [-2.07456544e-03 2.85789863e-05 -9.99997848e-01 -8.03351674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.780385723 meters 0.014956899096390112 Centerline is valid? [True, True] Translation: X:23.10, Y:-202.78, Z:-8.03 [[-9.08039874e-01 4.18878606e-01 2.07387456e-03 2.30991042e+01] [ 4.18877587e-01 9.08042241e-01 -9.24526121e-04 -2.02778346e+02] [-2.27042991e-03 2.91929871e-05 -9.99997422e-01 -8.03439267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81038572299997 meters 0.014896881059807585 Centerline is valid? [True, True] Translation: X:23.11, Y:-202.75, Z:-8.03 [[-9.35583692e-01 3.53095910e-01 2.53660332e-03 2.31064858e+01] [ 3.53094708e-01 9.35587130e-01 -9.21790884e-04 -2.02747577e+02] [-2.69869401e-03 3.32486902e-05 -9.99996358e-01 -8.03406756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.840385723 meters 0.01517561755974024 Centerline is valid? [True, True] Translation: X:23.34, Y:-202.10, Z:-9.03 [[-9.19270287e-01 -3.93612383e-01 3.38113369e-03 2.33442163e+01] [ 3.93609784e-01 -9.19276504e-01 -1.43041496e-03 -2.02104009e+02] [ 3.67122581e-03 1.59093298e-05 9.99993261e-01 -9.03382011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87038572299997 meters 0.015098448695189903 Centerline is valid? [True, True] Translation: X:23.06, Y:-202.72, Z:-8.03 [[-9.36685588e-01 3.50149312e-01 3.94571389e-03 2.30637808e+01] [ 3.50146443e-01 9.36693897e-01 -1.41843562e-03 -2.02724711e+02] [-4.19259038e-03 5.29494837e-05 -9.99991210e-01 -8.03235761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.900385723 meters 0.01527782103393247 Centerline is valid? [True, True] Translation: X:23.08, Y:-202.69, Z:-8.03 [[-9.58882813e-01 2.83752597e-01 5.31170375e-03 2.30756970e+01] [ 2.83748672e-01 9.58897522e-01 -1.49441647e-03 -2.02694570e+02] [-5.51742412e-03 7.42186141e-05 -9.99984776e-01 -8.03222592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.930385723 meters 0.015513201750239385 Centerline is valid? [True, True] Translation: X:23.08, Y:-202.66, Z:-8.03 [[-9.76391515e-01 2.15927379e-01 5.91415303e-03 2.30795834e+01] [ 2.15923955e-01 9.76409422e-01 -1.21908473e-03 -2.02664248e+02] [-6.03786851e-03 8.67033285e-05 -9.99981768e-01 -8.03242219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.960385723 meters 0.015943163269514827 Centerline is valid? [True, True] Translation: X:23.08, Y:-202.63, Z:-8.03 [[-9.89086071e-01 1.47210797e-01 6.14213176e-03 2.30811754e+01] [ 1.47208561e-01 9.89105137e-01 -8.17120471e-04 -2.02633745e+02] [-6.19550303e-03 9.59718986e-05 -9.99980803e-01 -8.03206096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.990385723 meters 0.018281274268250134 Centerline is valid? [True, True] Translation: X:23.08, Y:-202.60, Z:-8.03 [[-9.96762553e-01 8.00961746e-02 7.00115481e-03 2.30767971e+01] [ 8.00951379e-02 9.96787131e-01 -4.28785025e-04 -2.02601084e+02] [-7.01300506e-03 1.33361604e-04 -9.99975400e-01 -8.03023468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.020385723 meters 0.016435842073036847 Centerline is valid? [True, True] Translation: X:23.07, Y:-202.57, Z:-8.03 [[-9.99921590e-01 1.07396539e-02 6.44002782e-03 2.30743870e+01] [ 1.07402932e-02 9.99942319e-01 6.46896732e-05 -2.02569055e+02] [-6.43896161e-03 1.33852388e-04 -9.99979261e-01 -8.03182393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.050385723 meters 0.018469120136387775 Centerline is valid? [True, True] Translation: X:23.07, Y:-201.92, Z:-9.04 [[-9.99401787e-01 -3.37619095e-02 7.49682405e-03 2.30743279e+01] [ 3.37602959e-02 -9.99429900e-01 -3.41722363e-04 -2.01915374e+02] [ 7.50408731e-03 -8.84229422e-05 9.99971840e-01 -9.03569404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.080385723 meters 0.017713177232538638 Centerline is valid? [True, True] Translation: X:23.00, Y:-202.57, Z:-8.03 [[-9.99915997e-01 1.01547870e-02 8.05472246e-03 2.29984930e+01] [ 1.01561011e-02 9.99948418e-01 1.22259773e-04 -2.02566531e+02] [-8.05306546e-03 2.04054079e-04 -9.99967553e-01 -8.03147941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.110385723 meters 0.017615762496274247 Centerline is valid? [True, True] Translation: X:22.99, Y:-201.92, Z:-9.03 [[-9.99631971e-01 -2.58333360e-02 8.28017498e-03 2.29893349e+01] [ 2.58308360e-02 -9.99666245e-01 -4.08738290e-04 -2.01920910e+02] [ 8.28797051e-03 -1.94704020e-04 9.99965635e-01 -9.03490371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.140385723 meters 0.017711973756499088 Centerline is valid? [True, True] Translation: X:22.92, Y:-202.56, Z:-8.03 [[-9.99930793e-01 8.32346682e-03 8.31439541e-03 2.29169770e+01] [ 8.32516914e-03 9.99965331e-01 1.70153869e-04 -2.02562454e+02] [-8.31269089e-03 2.39360841e-04 -9.99965420e-01 -8.03248486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.170385723 meters 0.019158990530354397 Centerline is valid? [True, True] Translation: X:22.90, Y:-201.93, Z:-9.03 [[-9.99813270e-01 -1.76625512e-02 7.83960516e-03 2.29039423e+01] [ 1.76599951e-02 -9.99843972e-01 -3.95165943e-04 -2.01925885e+02] [ 7.84536160e-03 -2.56644765e-04 9.99969192e-01 -9.03469805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.200385723 meters 0.020259601803003513 Centerline is valid? [True, True] Translation: X:22.84, Y:-202.56, Z:-8.03 [[-9.99961634e-01 4.96720411e-03 7.21505542e-03 2.28354937e+01] [ 4.96867701e-03 9.99987639e-01 1.86231655e-04 -2.02560533e+02] [-7.21404118e-03 2.22073790e-04 -9.99973954e-01 -8.03186690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.230385723 meters 0.020325818927694566 Centerline is valid? [True, True] Translation: X:22.82, Y:-201.93, Z:-9.03 [[-9.99913259e-01 -1.09635876e-02 7.29887043e-03 2.28193044e+01] [ 1.09616970e-02 -9.99939874e-01 -2.98982306e-04 -2.01934189e+02] [ 7.30170949e-03 -2.18948366e-04 9.99973318e-01 -9.03482050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.260385723 meters 0.01892608236291791 Centerline is valid? [True, True] Translation: X:22.75, Y:-202.56, Z:-8.03 [[-9.99978382e-01 -9.21145184e-04 6.51055944e-03 2.27532891e+01] [-9.19859540e-04 9.99999557e-01 2.00462342e-04 -2.02558948e+02] [-6.51074121e-03 1.94469208e-04 -9.99978786e-01 -8.03348029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.290385723 meters 0.019269115124608556 Centerline is valid? [True, True] Translation: X:22.74, Y:-202.53, Z:-8.03 [[-9.97272753e-01 -7.34934737e-02 6.76506298e-03 2.27425455e+01] [-7.34904611e-02 9.97295679e-01 6.93160953e-04 -2.02528929e+02] [-6.79771089e-03 1.94102934e-04 -9.99976877e-01 -8.03293707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.320385723 meters 0.01754965924913606 Centerline is valid? [True, True] Translation: X:22.72, Y:-202.49, Z:-8.03 [[-9.88913770e-01 -1.48271216e-01 8.07477397e-03 2.27208051e+01] [-1.48264593e-01 9.88946715e-01 1.41594852e-03 -2.02494536e+02] [-8.19546560e-03 2.03047904e-04 -9.99966396e-01 -8.03134923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.350385723 meters 0.017587631357755342 Centerline is valid? [True, True] Translation: X:22.69, Y:-202.47, Z:-8.03 [[-9.75227946e-01 -2.21040005e-01 8.47167315e-03 2.26877388e+01] [-2.21029899e-01 9.75264721e-01 2.12295940e-03 -2.02469345e+02] [-8.73138291e-03 1.97876270e-04 -9.99961861e-01 -8.03011752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.380385723 meters 0.016419373698701126 Centerline is valid? [True, True] Translation: X:22.64, Y:-202.44, Z:-8.03 [[-9.55522383e-01 -2.94767538e-01 9.43790386e-03 2.26448374e+01] [-2.94751259e-01 9.55568974e-01 3.10330478e-03 -2.02443112e+02] [-9.93332162e-03 1.83443129e-04 -9.99950647e-01 -8.02961143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.410385723 meters 0.01774813424733797 Centerline is valid? [True, True] Translation: X:22.58, Y:-202.43, Z:-8.03 [[-9.30796939e-01 -3.65407062e-01 9.73327707e-03 2.25824206e+01] [-3.65385111e-01 9.30847812e-01 4.00903783e-03 -2.02432267e+02] [-1.05251304e-02 1.75205625e-04 -9.99944594e-01 -8.02877106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.440385723 meters 0.01531465689555573 Centerline is valid? [True, True] Translation: X:22.51, Y:-202.43, Z:-8.03 [[-9.00670874e-01 -4.34416213e-01 8.63311553e-03 2.25127957e+01] [-4.34394714e-01 9.00712237e-01 4.32427156e-03 -2.02429278e+02] [-9.65448647e-03 1.44565695e-04 -9.99953384e-01 -8.03084475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.470385723 meters 0.01571338294208532 Centerline is valid? [True, True] Translation: X:22.43, Y:-202.44, Z:-8.03 [[-8.65248863e-01 -5.01269097e-01 8.58471703e-03 2.24349278e+01] [-5.01242915e-01 8.65291439e-01 5.12492999e-03 -2.02437732e+02] [-9.99725119e-03 1.31311256e-04 -9.99950018e-01 -8.02955138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.500385723 meters 0.015307634605515787 Centerline is valid? [True, True] Translation: X:22.35, Y:-202.45, Z:-8.03 [[-8.25419388e-01 -5.64459614e-01 8.25704966e-03 2.23522779e+01] [-5.64429808e-01 8.25460676e-01 5.80208730e-03 -2.02453928e+02] [-1.00909138e-02 1.28630391e-04 -9.99949077e-01 -8.03020218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.530385723 meters 0.015144234997436145 Centerline is valid? [True, True] Translation: X:22.27, Y:-202.48, Z:-8.03 [[-7.80550982e-01 -6.25039658e-01 8.09881807e-03 2.22680605e+01] [-6.25004330e-01 7.80592987e-01 6.64656154e-03 -2.02478496e+02] [-1.04762451e-02 1.26183777e-04 -9.99945115e-01 -8.02981176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56038572299997 meters 0.01695631745484761 Centerline is valid? [True, True] Translation: X:22.18, Y:-202.52, Z:-8.03 [[-7.31479000e-01 -6.81814322e-01 8.22815716e-03 2.21817336e+01] [-6.81769085e-01 7.31525264e-01 7.85512038e-03 -2.02515882e+02] [-1.13748384e-02 1.36152427e-04 -9.99935295e-01 -8.02797329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.590385723 meters 0.015005056139451191 Centerline is valid? [True, True] Translation: X:22.09, Y:-202.56, Z:-8.03 [[-6.77767778e-01 -7.35242155e-01 7.05784014e-03 2.20933084e+01] [-7.35200439e-01 6.77804514e-01 7.83293536e-03 -2.02562300e+02] [-1.05429402e-02 1.19984024e-04 -9.99944415e-01 -8.02987883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.62038572299997 meters 0.014910360504074752 Centerline is valid? [True, True] Translation: X:22.01, Y:-202.62, Z:-8.03 [[-6.20106941e-01 -7.84488409e-01 6.73186211e-03 2.20061617e+01] [-7.84440066e-01 6.20143469e-01 8.70981972e-03 -2.02619565e+02] [-1.10074729e-02 1.20277300e-04 -9.99939409e-01 -8.03002173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.650385723 meters 0.014831556646342585 Centerline is valid? [True, True] Translation: X:21.92, Y:-202.69, Z:-8.03 [[-5.58829380e-01 -8.29259303e-01 6.22359009e-03 2.19184770e+01] [-8.29205487e-01 5.58864022e-01 9.44805047e-03 -2.02690737e+02] [-1.13130243e-02 1.19213142e-04 -9.99935999e-01 -8.03009294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.680385723 meters 0.014832550068916105 Centerline is valid? [True, True] Translation: X:21.84, Y:-202.76, Z:-8.03 [[-4.94324535e-01 -8.69261265e-01 5.30170810e-03 2.18421556e+01] [-8.69208786e-01 4.94352952e-01 9.55223670e-03 -2.02761890e+02] [-1.09243044e-02 1.13613704e-04 -9.99940322e-01 -8.03100061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.710385723 meters 0.015790040198534507 Centerline is valid? [True, True] Translation: X:21.77, Y:-202.84, Z:-8.03 [[-4.27202775e-01 -9.04144994e-01 4.42937968e-03 2.17706326e+01] [-9.04093622e-01 4.27225722e-01 9.63873350e-03 -2.02844971e+02] [-1.06071576e-02 1.13119786e-04 -9.99943736e-01 -8.02861953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.740385723 meters 0.01547550515352225 Centerline is valid? [True, True] Translation: X:21.70, Y:-202.94, Z:-8.03 [[-3.57633502e-01 -9.33855264e-01 3.55301754e-03 2.17000730e+01] [-9.33806005e-01 3.57651133e-01 9.59224752e-03 -2.02935062e+02] [-1.02285116e-02 1.12679960e-04 -9.99947681e-01 -8.03046053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.770385723 meters 0.01547550515352225 Centerline is valid? [True, True] Translation: X:21.64, Y:-203.03, Z:-8.03 [[-2.85583424e-01 -9.58349724e-01 2.81326487e-03 2.16370583e+01] [-9.58299267e-01 2.85597258e-01 9.83470446e-03 -2.03033225e+02] [-1.02285470e-02 1.12678906e-04 -9.99947681e-01 -8.03045886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.800385723 meters 0.015103800360732885 Centerline is valid? [True, True] Translation: X:21.58, Y:-203.14, Z:-8.03 [[-2.12288711e-01 -9.77204906e-01 2.01848500e-03 2.15819649e+01] [-9.77155398e-01 2.12298275e-01 9.83724564e-03 -2.03138434e+02] [-1.00415256e-02 1.15962690e-04 -9.99949576e-01 -8.03046126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.830385723 meters 0.015098031967615253 Centerline is valid? [True, True] Translation: X:21.54, Y:-203.25, Z:-8.03 [[-1.38668041e-01 -9.90337953e-01 1.38338630e-03 2.15359712e+01] [-9.90277875e-01 1.38674867e-01 1.09092210e-02 -2.03247010e+02] [-1.09956565e-02 1.42823453e-04 -9.99939536e-01 -8.03005480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.860385723 meters 0.015207671338927631 Centerline is valid? [True, True] Translation: X:21.50, Y:-203.36, Z:-8.03 [[-6.33898223e-02 -9.97988683e-01 5.64489721e-04 2.14975042e+01] [-9.97924305e-01 6.33921454e-02 1.13365108e-02 -2.03358710e+02] [-1.13494937e-02 1.55301395e-04 -9.99935580e-01 -8.02987488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.890385723 meters 0.015554893798314047 Centerline is valid? [True, True] Translation: X:21.47, Y:-203.48, Z:-8.03 [[ 1.19361840e-02 -9.99928712e-01 -3.14211140e-04 2.14701878e+01] [-9.99859321e-01 -1.19390578e-02 1.17812328e-02 -2.03481227e+02] [-1.17841444e-02 1.73543974e-04 -9.99930550e-01 -8.02909528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.920385723 meters 0.01536610844125467 Centerline is valid? [True, True] Translation: X:21.45, Y:-203.60, Z:-8.03 [[ 8.78509374e-02 -9.96132877e-01 -1.22654146e-03 2.14492358e+01] [-9.96062428e-01 -8.78593131e-02 1.18482444e-02 -2.03596047e+02] [-1.19101889e-02 1.80832485e-04 -9.99929055e-01 -8.02985749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.950385723 meters 0.015547707160094534 Centerline is valid? [True, True] Translation: X:21.44, Y:-203.71, Z:-8.03 [[ 1.63025155e-01 -9.86619579e-01 -2.14589917e-03 2.14379899e+01] [-9.86548792e-01 -1.63039167e-01 1.18199786e-02 -2.03714349e+02] [-1.20116879e-02 1.90080391e-04 -9.99927839e-01 -8.02990293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.980385723 meters 0.015902275485647474 Centerline is valid? [True, True] Translation: X:21.44, Y:-203.83, Z:-8.03 [[ 2.37307530e-01 -9.71430398e-01 -2.84906186e-03 2.14365308e+01] [-9.71369384e-01 -2.37324561e-01 1.08891340e-02 -2.03831887e+02] [-1.12541882e-02 1.83417958e-04 -9.99936653e-01 -8.02991288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.010385723 meters 0.015716587165832633 Centerline is valid? [True, True] Translation: X:21.44, Y:-203.95, Z:-8.03 [[ 3.10819829e-01 -9.50461392e-01 -3.76514248e-03 2.14429605e+01] [-9.50398790e-01 -3.10842576e-01 1.09102229e-02 -2.03952282e+02] [-1.15401122e-02 1.87273254e-04 -9.99933393e-01 -8.03057052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.040385723 meters 0.015697399746381506 Centerline is valid? [True, True] Translation: X:21.46, Y:-204.07, Z:-8.03 [[ 3.82691032e-01 -9.23866110e-01 -4.35705105e-03 2.14588276e+01] [-9.23811321e-01 -3.82715795e-01 1.00629946e-02 -2.04070075e+02] [-1.09643719e-02 1.74075283e-04 -9.99939874e-01 -8.03088599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.070385723 meters 0.015718812785634154 Centerline is valid? [True, True] Translation: X:21.48, Y:-204.19, Z:-8.03 [[ 4.52751714e-01 -8.91623935e-01 -4.75866196e-03 2.14839831e+01] [-8.91578185e-01 -4.52776695e-01 9.03354895e-03 -2.04186024e+02] [-1.02091397e-02 1.52764424e-04 -9.99947874e-01 -8.03173146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.100385723 meters 0.015539069720355278 Centerline is valid? [True, True] Translation: X:21.52, Y:-204.30, Z:-8.03 [[ 5.19917543e-01 -8.54200144e-01 -5.27845414e-03 2.15159269e+01] [-8.54158858e-01 -5.19944318e-01 8.39945209e-03 -2.04298104e+02] [-9.91931542e-03 1.41615864e-04 -9.99950792e-01 -8.03227273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.130385723 meters 0.014945971210272644 Centerline is valid? [True, True] Translation: X:21.55, Y:-204.40, Z:-8.03 [[ 5.84307911e-01 -8.11508669e-01 -6.15988728e-03 2.15543962e+01] [-8.11465997e-01 -5.84340364e-01 8.32311175e-03 -2.04403897e+02] [-1.03537481e-02 1.35279032e-04 -9.99946389e-01 -8.03317946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.160385723 meters 0.014984613782317992 Centerline is valid? [True, True] Translation: X:21.60, Y:-204.51, Z:-8.03 [[ 6.44535942e-01 -7.64541748e-01 -7.02385998e-03 2.15999104e+01] [-7.64498614e-01 -6.44574199e-01 8.12227355e-03 -2.04506018e+02] [-1.07372161e-02 1.34633980e-04 -9.99942345e-01 -8.03293669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.190385723 meters 0.014964889226679436 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.60, Z:-8.03 [[ 7.01054690e-01 -7.13063905e-01 -7.88606811e-03 2.16517309e+01] [-7.13020897e-01 -7.01099030e-01 7.83261784e-03 -2.04603201e+02] [-1.11140718e-02 1.31837887e-04 -9.99938228e-01 -8.03251664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.220385723 meters 0.014706292055546258 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.62, Z:-8.03 [[ 7.55897168e-01 -6.54629386e-01 -8.93520532e-03 2.16499378e+01] [-6.54585473e-01 -7.55949967e-01 7.58323333e-03 -2.04615350e+02] [-1.17187755e-02 1.16711006e-04 -9.99931326e-01 -8.03278519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.250385723 meters 0.014664155453444676 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.63, Z:-8.03 [[ 8.05387818e-01 -5.92679679e-01 -9.01445972e-03 2.16482617e+01] [-5.92643930e-01 -8.05438258e-01 6.51033823e-03 -2.04627851e+02] [-1.11191359e-02 9.90177304e-05 -9.99938176e-01 -8.03327654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.280385723 meters 0.014639948046870556 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.64, Z:-8.03 [[ 8.49918476e-01 -5.26835600e-01 -9.10133137e-03 2.16477311e+01] [-5.26806424e-01 -8.49967202e-01 5.54507391e-03 -2.04639996e+02] [-1.06571755e-02 8.17790667e-05 -9.99943207e-01 -8.03376528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31038572299997 meters 0.014261279947097364 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.65, Z:-8.03 [[ 8.89447597e-01 -4.56948171e-01 -9.01894824e-03 2.16477054e+01] [-4.56925325e-01 -8.89493320e-01 4.56957676e-03 -2.04653151e+02] [-1.01103540e-02 5.65867895e-05 -9.99948888e-01 -8.03489320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.340385723 meters 0.014385867489096342 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.67, Z:-8.03 [[ 9.22978630e-01 -3.84738949e-01 -9.29467034e-03 2.16479972e+01] [-3.84719905e-01 -9.23025427e-01 3.82823372e-03 -2.04665621e+02] [-1.00520877e-02 4.24667783e-05 -9.99949476e-01 -8.03405310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37038572299997 meters 0.014343633878905247 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.67, Z:-8.03 [[ 9.51115162e-01 -3.08621334e-01 -1.15247646e-02 2.16502149e+01] [-3.08598876e-01 -9.51184983e-01 3.72311185e-03 -2.04672981e+02] [-1.21112147e-02 1.54212603e-05 -9.99926656e-01 -8.03259967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.400385723 meters 0.01439456511762259 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.68, Z:-8.03 [[ 9.72593266e-01 -2.32182122e-01 -1.24016302e-02 2.16534743e+01] [-2.32163259e-01 -9.72672330e-01 2.95957939e-03 -2.04681507e+02] [-1.27498840e-02 7.35909365e-07 -9.99918717e-01 -8.03208587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.430385723 meters 0.014468435768537206 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.69, Z:-8.03 [[ 9.87926916e-01 -1.54355615e-01 -1.32193734e-02 2.16571884e+01] [-1.54341616e-01 -9.88015356e-01 2.07886930e-03 -2.04690404e+02] [-1.33818291e-02 -1.34714757e-05 -9.99910459e-01 -8.03223799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.460385723 meters 0.01780378954127261 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.70, Z:-8.03 [[ 9.96999207e-01 -7.59687423e-02 -1.48771864e-02 2.16578768e+01] [-7.59599311e-02 -9.97110199e-01 1.15725433e-03 -2.04697140e+02] [-1.49221095e-02 -2.37115987e-05 -9.99888659e-01 -8.02954741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.490385723 meters 0.014694927322265327 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.70, Z:-8.03 [[ 9.99903780e-01 4.31567801e-03 -1.31835236e-02 2.16587242e+01] [ 4.31592628e-03 -9.99990686e-01 -9.61838844e-06 -2.04701337e+02] [-1.31834423e-02 -4.72816530e-05 -9.99913094e-01 -8.03278989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.520385723 meters 0.014714828996219004 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.71, Z:-8.03 [[ 9.96456406e-01 8.30916863e-02 -1.30538525e-02 2.16595394e+01] [ 8.30852591e-02 -9.96541905e-01 -1.03484919e-03 -2.04709235e+02] [-1.30946984e-02 -5.34006158e-05 -9.99914259e-01 -8.03394465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.550385723 meters 0.014971462041634449 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.71, Z:-8.03 [[ 9.86827937e-01 1.61326419e-01 -1.20170152e-02 2.16594186e+01] [ 1.61315142e-01 -9.86901101e-01 -1.90830704e-03 -2.04713374e+02] [-1.21674659e-02 -5.53558148e-05 -9.99925972e-01 -8.03341023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.580385723 meters 0.01485310881726168 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.72, Z:-8.04 [[ 9.71210066e-01 2.37965699e-01 -1.11055505e-02 2.16615892e+01] [ 2.37950734e-01 -9.71273558e-01 -2.66915530e-03 -2.04720818e+02] [-1.14216949e-02 -5.02633913e-05 -9.99934769e-01 -8.03562693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.610385723 meters 0.014984739461610247 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.73, Z:-8.03 [[ 9.49698421e-01 3.12998343e-01 -1.02443386e-02 2.16629538e+01] [ 3.12980635e-01 -9.49753671e-01 -3.32961990e-03 -2.04728347e+02] [-1.07717637e-02 -4.41448349e-05 -9.99941982e-01 -8.03465399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.640385723 meters 0.015008318281302824 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.73, Z:-8.04 [[ 9.22728615e-01 3.85352266e-01 -8.69099822e-03 2.16632022e+01] [ 3.85335457e-01 -9.22769543e-01 -3.59931596e-03 -2.04731214e+02] [-9.40679302e-03 -2.77579440e-05 -9.99955755e-01 -8.03685009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.670385723 meters 0.015095959490209384 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.74, Z:-8.04 [[ 8.89841432e-01 4.56190279e-01 -8.52378478e-03 2.16638743e+01] [ 4.56169627e-01 -8.89882256e-01 -4.34078309e-03 -2.04738651e+02] [-9.56538787e-03 -2.56830850e-05 -9.99954250e-01 -8.03531540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.700385723 meters 0.014996362748881062 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.74, Z:-8.04 [[ 8.51846941e-01 5.23727712e-01 -8.12857809e-03 2.16638400e+01] [ 5.23704063e-01 -8.51885722e-01 -4.97699729e-03 -2.04742120e+02] [-9.53121102e-03 -1.73294655e-05 -9.99954577e-01 -8.03777803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.730385723 meters 0.01507460139441623 Centerline is valid? [True, True] Translation: X:21.67, Y:-204.75, Z:-8.04 [[ 8.08306471e-01 5.88715978e-01 -7.35845110e-03 2.16673033e+01] [ 5.88691756e-01 -8.08339964e-01 -5.34040628e-03 -2.04750298e+02] [-9.09211260e-03 -1.51745453e-05 -9.99958666e-01 -8.03840051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.760385723 meters 0.015188576437282428 Centerline is valid? [True, True] Translation: X:21.67, Y:-204.76, Z:-8.04 [[ 7.59892302e-01 6.50015004e-01 -6.64704065e-03 2.16696021e+01] [ 6.49990279e-01 -7.59921374e-01 -5.66951168e-03 -2.04759332e+02] [-8.73649592e-03 -1.22935265e-05 -9.99961836e-01 -8.03788738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.790385723 meters 0.015272021576331856 Centerline is valid? [True, True] Translation: X:21.67, Y:-204.77, Z:-8.04 [[ 7.07031344e-01 7.07157893e-01 -5.86460190e-03 2.16705457e+01] [ 7.07133652e-01 -7.07055666e-01 -5.85521770e-03 -2.04765350e+02] [-8.28716341e-03 -7.23492368e-06 -9.99965661e-01 -8.03871949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.820385723 meters 0.015411482932650168 Centerline is valid? [True, True] Translation: X:21.67, Y:-204.77, Z:-8.04 [[ 6.49959660e-01 7.59949690e-01 -5.37667104e-03 2.16739102e+01] [ 7.59923713e-01 -6.49981898e-01 -6.28346864e-03 -2.04772909e+02] [-8.26985890e-03 -1.85868292e-06 -9.99965804e-01 -8.03849844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.850385723 meters 0.015419012898070501 Centerline is valid? [True, True] Translation: X:21.67, Y:-204.78, Z:-8.04 [[ 5.89694589e-01 8.07615244e-01 -4.23192309e-03 2.16745850e+01] [ 8.07594332e-01 -5.89709773e-01 -5.81187374e-03 -2.04778640e+02] [-7.18936424e-03 9.55339181e-06 -9.99974156e-01 -8.03890047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.880385723 meters 0.015481386294300402 Centerline is valid? [True, True] Translation: X:21.68, Y:-204.79, Z:-8.04 [[ 5.25345031e-01 8.50881417e-01 -3.66245589e-03 2.16781195e+01] [ 8.50860539e-01 -5.25357797e-01 -5.96064223e-03 -2.04786232e+02] [-6.99589946e-03 1.51545817e-05 -9.99975528e-01 -8.03944679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.910385723 meters 0.015807711929115797 Centerline is valid? [True, True] Translation: X:21.68, Y:-204.79, Z:-8.04 [[ 4.56936577e-01 8.89493950e-01 -3.07848998e-03 2.16820000e+01] [ 8.89473561e-01 -4.56946947e-01 -6.02254942e-03 -2.04794901e+02] [-6.76372787e-03 1.36876747e-05 -9.99977126e-01 -8.03967358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.940385723 meters 0.015469366241172872 Centerline is valid? [True, True] Translation: X:21.69, Y:-204.80, Z:-8.04 [[ 3.84918725e-01 9.22947982e-01 -2.14408714e-03 2.16869349e+01] [ 9.22933582e-01 -3.84924697e-01 -5.15567870e-03 -2.04802998e+02] [-5.58373534e-03 5.66725003e-06 -9.99984411e-01 -8.04016528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.970385723 meters 0.015444629992287592 Centerline is valid? [True, True] Translation: X:21.69, Y:-204.81, Z:-8.04 [[ 3.10202809e-01 9.50668671e-01 -1.81512035e-03 2.16919857e+01] [ 9.50652432e-01 -3.10208119e-01 -5.55664467e-03 -2.04811069e+02] [-5.84559308e-03 -1.86179072e-06 -9.99982914e-01 -8.03961120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.000385723 meters 0.016524877340116536 Centerline is valid? [True, True] Translation: X:21.70, Y:-204.82, Z:-8.04 [[ 2.34795187e-01 9.72043467e-01 -1.64867376e-03 2.16993240e+01] [ 9.72019579e-01 -2.34800975e-01 -6.81475601e-03 -2.04818880e+02] [-7.01134926e-03 -2.47126945e-06 -9.99975420e-01 -8.03846994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.030385723 meters 0.015471599245274449 Centerline is valid? [True, True] Translation: X:21.71, Y:-204.83, Z:-8.04 [[ 1.58014288e-01 9.87436194e-01 -1.11727031e-03 2.17093850e+01] [ 9.87411602e-01 -1.58018238e-01 -6.96882596e-03 -2.04827534e+02] [-7.05782007e-03 -2.03159201e-06 -9.99975093e-01 -8.03822807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06038572299997 meters 0.015383819916285868 Centerline is valid? [True, True] Translation: X:21.72, Y:-204.83, Z:-8.04 [[ 8.13813087e-02 9.96682876e-01 -5.71982393e-04 2.17175276e+01] [ 9.96657693e-01 -8.13833185e-02 -7.08506350e-03 -2.04833689e+02] [-7.10811129e-03 6.52108718e-06 -9.99974737e-01 -8.03741111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.090385723 meters 0.015468495281138916 Centerline is valid? [True, True] Translation: X:21.73, Y:-204.84, Z:-8.04 [[ 3.83507247e-03 9.99992646e-01 -1.56014555e-05 2.17270277e+01] [ 9.99966320e-01 -3.83508471e-03 -7.25613161e-03 -2.04839755e+02] [-7.25613808e-03 1.22268606e-05 -9.99973674e-01 -8.03726186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.12038572299997 meters 0.015595506608537467 Centerline is valid? [True, True] Translation: X:21.74, Y:-204.85, Z:-8.04 [[-7.20414902e-02 9.97401474e-01 5.68580899e-04 2.17356651e+01] [ 9.97373710e-01 7.20437273e-02 -7.44207584e-03 -2.04846168e+02] [-7.46370010e-03 3.09494073e-05 -9.99972146e-01 -8.03637323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.150385723 meters 0.01570215234992199 Centerline is valid? [True, True] Translation: X:21.75, Y:-204.85, Z:-8.04 [[-1.48604318e-01 9.88896096e-01 1.12637075e-03 2.17454780e+01] [ 9.88869703e-01 1.48608581e-01 -7.22496070e-03 -2.04850240e+02] [-7.31212378e-03 4.01735525e-05 -9.99973265e-01 -8.03596067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.180385723 meters 0.01577210925091406 Centerline is valid? [True, True] Translation: X:21.75, Y:-204.85, Z:-8.04 [[-2.23183762e-01 9.74774940e-01 1.68072219e-03 2.17547235e+01] [ 9.74749220e-01 2.23190083e-01 -7.08133749e-03 -2.04854347e+02] [-7.27783085e-03 5.78431004e-05 -9.99973515e-01 -8.03649624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.210385723 meters 0.01595026665107793 Centerline is valid? [True, True] Translation: X:21.76, Y:-204.86, Z:-8.04 [[-2.98052913e-01 9.54546887e-01 2.16855627e-03 2.17646510e+01] [ 9.54523129e-01 2.98060795e-01 -6.73494637e-03 -2.04856932e+02] [-7.07518369e-03 6.25667367e-05 -9.99974969e-01 -8.03720366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.240385723 meters 0.016224124326337543 Centerline is valid? [True, True] Translation: X:21.77, Y:-204.86, Z:-8.04 [[-3.71341485e-01 9.28492627e-01 2.63492078e-03 2.17743782e+01] [ 9.28470491e-01 3.71350828e-01 -6.41177986e-03 -2.04860846e+02] [-6.93177034e-03 6.54863368e-05 -9.99975973e-01 -8.03700197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.270385723 meters 0.015954867761779776 Centerline is valid? [True, True] Translation: X:21.79, Y:-204.86, Z:-8.04 [[-4.41801736e-01 8.97108525e-01 2.74222176e-03 2.17869789e+01] [ 8.97092149e-01 4.41810242e-01 -5.42087363e-03 -2.04860944e+02] [-6.07465361e-03 6.50742288e-05 -9.99981547e-01 -8.03824105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.300385723 meters 0.01589593246729968 Centerline is valid? [True, True] Translation: X:21.80, Y:-204.86, Z:-8.04 [[-5.10621241e-01 8.59800607e-01 2.97743384e-03 2.18001159e+01] [ 8.59786691e-01 5.10629918e-01 -4.89214938e-03 -2.04860020e+02] [-5.72663980e-03 6.19225993e-05 -9.99983601e-01 -8.03848932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.330385723 meters 0.01600425910599671 Centerline is valid? [True, True] Translation: X:21.81, Y:-204.86, Z:-8.04 [[-5.76482448e-01 8.17103963e-01 3.01672561e-03 2.18119882e+01] [ 8.17093272e-01 5.76490338e-01 -4.18027882e-03 -2.04859824e+02] [-5.15483555e-03 5.50888332e-05 -9.99986712e-01 -8.03824171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.360385723 meters 0.01575297252703589 Centerline is valid? [True, True] Translation: X:21.82, Y:-204.86, Z:-8.04 [[-6.39191536e-01 7.69042272e-01 2.85735489e-03 2.18249057e+01] [ 7.69034897e-01 6.39197921e-01 -3.36832171e-03 -2.04855792e+02] [-4.41679709e-03 4.44028957e-05 -9.99990245e-01 -8.03769739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.390385723 meters 0.015699161445779247 Centerline is valid? [True, True] Translation: X:21.84, Y:-204.85, Z:-8.04 [[-6.97728327e-01 7.16355142e-01 3.23917009e-03 2.18362463e+01] [ 7.16347716e-01 6.97735845e-01 -3.26213122e-03 -2.04853799e+02] [-4.59692956e-03 4.42907361e-05 -9.99989433e-01 -8.03703629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.420385723 meters 0.015970094048220394 Centerline is valid? [True, True] Translation: X:21.85, Y:-204.85, Z:-8.04 [[-7.51495152e-01 6.59729723e-01 3.42472507e-03 2.18451205e+01] [ 6.59723144e-01 7.51502955e-01 -2.94674064e-03 -2.04853372e+02] [-4.51774339e-03 4.49090837e-05 -9.99989794e-01 -8.03629725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.450385723 meters 0.015815508237082145 Centerline is valid? [True, True] Translation: X:21.88, Y:-204.85, Z:-8.04 [[-7.95905082e-01 6.05408642e-01 3.93403453e-03 2.18834745e+01] [ 6.05401567e-01 7.95914803e-01 -2.92732481e-03 -2.04846607e+02] [-4.90338406e-03 5.17979739e-05 -9.99987977e-01 -8.03671588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.480385723 meters 0.015743639749045458 Centerline is valid? [True, True] Translation: X:21.89, Y:-204.82, Z:-8.04 [[-8.35536385e-01 5.49415577e-01 4.63394200e-03 2.18915407e+01] [ 5.49407591e-01 8.35549232e-01 -2.96311895e-03 -2.04818096e+02] [-5.49987039e-03 7.01292186e-05 -9.99984873e-01 -8.03707936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.510385723 meters 0.01599289651762628 Centerline is valid? [True, True] Translation: X:21.91, Y:-204.80, Z:-8.04 [[-8.71713101e-01 4.89994861e-01 4.61582661e-03 2.19133544e+01] [ 4.89988438e-01 8.71725319e-01 -2.50992271e-03 -2.04799344e+02] [-5.25358215e-03 7.37691640e-05 -9.99986197e-01 -8.03693831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.540385723 meters 0.017002496064800067 Centerline is valid? [True, True] Translation: X:21.91, Y:-204.77, Z:-8.04 [[-9.03625539e-01 4.28294214e-01 4.99517957e-03 2.19097012e+01] [ 4.28288186e-01 9.03639342e-01 -2.27377355e-03 -2.04766974e+02] [-5.48768483e-03 8.47365456e-05 -9.99984939e-01 -8.03631756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.570385723 meters 0.016425420597660598 Centerline is valid? [True, True] Translation: X:21.95, Y:-204.75, Z:-8.04 [[-9.31284624e-01 3.64260889e-01 4.79107436e-03 2.19468240e+01] [ 3.64256537e-01 9.31296944e-01 -1.78268560e-03 -2.04751617e+02] [-5.11127555e-03 8.49924662e-05 -9.99986934e-01 -8.03592430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.600385723 meters 0.016400799334779535 Centerline is valid? [True, True] Translation: X:22.23, Y:-204.02, Z:-9.03 [[-9.18382237e-01 -3.95662662e-01 5.01247619e-03 2.22290945e+01] [ 3.95656364e-01 -9.18395913e-01 -2.23349836e-03 -2.04023689e+02] [ 5.48714956e-03 -6.79871111e-05 9.99984943e-01 -9.03091481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.630385723 meters 0.01643279565889291 Centerline is valid? [True, True] Translation: X:21.90, Y:-204.74, Z:-8.04 [[-9.32414261e-01 3.61353231e-01 5.24285494e-03 2.19034973e+01] [ 3.61348096e-01 9.32428996e-01 -1.92882471e-03 -2.04736650e+02] [-5.58557701e-03 9.60319866e-05 -9.99984396e-01 -8.03507476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.660385723 meters 0.01643279565889291 Centerline is valid? [True, True] Translation: X:21.91, Y:-204.71, Z:-8.04 [[-9.55688786e-01 2.94329993e-01 5.36644197e-03 2.19143570e+01] [ 2.94325916e-01 9.55703848e-01 -1.55223472e-03 -2.04709552e+02] [-5.58559848e-03 9.60296342e-05 -9.99984396e-01 -8.03507452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.690385723 meters 0.016127557586095395 Centerline is valid? [True, True] Translation: X:21.92, Y:-204.68, Z:-8.03 [[-9.74213178e-01 2.25532610e-01 6.61251696e-03 2.19180007e+01] [ 2.25528211e-01 9.74235613e-01 -1.41330901e-03 -2.04680852e+02] [-6.76089678e-03 1.14444857e-04 -9.99977138e-01 -8.03462026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.720385723 meters 0.01610508112434824 Centerline is valid? [True, True] Translation: X:22.08, Y:-203.91, Z:-9.03 [[-9.65952056e-01 -2.58618018e-01 7.30382606e-03 2.20775388e+01] [ 2.58610030e-01 -9.65979666e-01 -2.03407791e-03 -2.03914241e+02] [ 7.58139665e-03 -7.59790601e-05 9.99971258e-01 -9.03258237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.750385723 meters 0.01605792074478244 Centerline is valid? [True, True] Translation: X:21.86, Y:-204.67, Z:-8.03 [[-9.75397446e-01 2.20319845e-01 7.68035667e-03 2.18610420e+01] [ 2.20314006e-01 9.75427676e-01 -1.60864209e-03 -2.04670302e+02] [-7.84604823e-03 1.23024765e-04 -9.99969212e-01 -8.03370731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.780385723 meters 0.015691279554127958 Centerline is valid? [True, True] Translation: X:22.03, Y:-203.90, Z:-9.03 [[-9.66326357e-01 -2.57222652e-01 7.06244102e-03 2.20252650e+01] [ 2.57214662e-01 -9.66352154e-01 -2.03284847e-03 -2.03904100e+02] [ 7.34769977e-03 -1.47831679e-04 9.99972994e-01 -9.03243449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81038572299997 meters 0.015536314315578762 Centerline is valid? [True, True] Translation: X:21.81, Y:-204.66, Z:-8.03 [[-9.76938451e-01 2.13416691e-01 6.67676369e-03 2.18095663e+01] [ 2.13412310e-01 9.76961263e-01 -1.37011934e-03 -2.04658951e+02] [-6.81534582e-03 8.63812943e-05 -9.99976772e-01 -8.03438879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.840385723 meters 0.015371233963669734 Centerline is valid? [True, True] Translation: X:21.81, Y:-204.63, Z:-8.04 [[-9.89935475e-01 1.41434279e-01 4.90911912e-03 2.18095152e+01] [ 1.41432802e-01 9.89947646e-01 -6.48392137e-04 -2.04626675e+02] [-4.95147579e-03 5.24440952e-05 -9.99987740e-01 -8.03537150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87038572299997 meters 0.01506794127925557 Centerline is valid? [True, True] Translation: X:21.82, Y:-204.60, Z:-8.04 [[-9.97552061e-01 6.97899144e-02 4.38777797e-03 2.18211590e+01] [ 6.97894258e-02 9.97561710e-01 -2.64548606e-04 -2.04598504e+02] [-4.39554212e-03 4.23194979e-05 -9.99990339e-01 -8.03585146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.900385723 meters 0.014970419577844984 Centerline is valid? [True, True] Translation: X:21.85, Y:-203.82, Z:-9.03 [[-9.92920268e-01 -1.18710199e-01 4.15086694e-03 2.18545708e+01] [ 1.18708934e-01 -9.92928943e-01 -5.50630362e-04 -2.03823292e+02] [ 4.18688136e-03 -5.39870565e-05 9.99991234e-01 -9.03039126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.930385723 meters 0.014816237507734696 Centerline is valid? [True, True] Translation: X:21.73, Y:-204.59, Z:-8.04 [[-9.98025340e-01 6.26753957e-02 4.14908543e-03 2.17333270e+01] [ 6.26749926e-02 9.98033964e-01 -2.27235089e-04 -2.04591154e+02] [-4.15517023e-03 3.32575220e-05 -9.99991367e-01 -8.03586583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.960385723 meters 0.014691987682799655 Centerline is valid? [True, True] Translation: X:21.78, Y:-203.82, Z:-9.03 [[-9.93445978e-01 -1.14235461e-01 3.91772929e-03 2.17840746e+01] [ 1.14234393e-01 -9.93453702e-01 -4.95940955e-04 -2.03821462e+02] [ 3.94873671e-03 -4.51511183e-05 9.99992203e-01 -9.03034542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.990385723 meters 0.014790969968829178 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.59, Z:-8.04 [[-9.98315357e-01 5.79363845e-02 3.13438676e-03 2.16628046e+01] [ 5.79361800e-02 9.98320277e-01 -1.56061261e-04 -2.04586780e+02] [-3.13816348e-03 2.57960417e-05 -9.99995076e-01 -8.03659959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.020385723 meters 0.014884319603474085 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.56, Z:-8.04 [[-9.99916503e-01 -1.26061225e-02 2.84135885e-03 2.16622362e+01] [-1.26060004e-02 9.99920539e-01 6.08726524e-05 -2.04557702e+02] [-2.84190044e-03 2.50493991e-05 -9.99995962e-01 -8.03623120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.050385723 meters 0.014983270587759855 Centerline is valid? [True, True] Translation: X:21.66, Y:-204.53, Z:-8.04 [[-9.96562222e-01 -8.27885897e-02 3.12840179e-03 2.16560078e+01] [-8.27880853e-02 9.96567132e-01 2.90619170e-04 -2.04529301e+02] [-3.14172235e-03 3.06256918e-05 -9.99995064e-01 -8.03580701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.080385723 meters 0.015220118736589936 Centerline is valid? [True, True] Translation: X:21.65, Y:-204.50, Z:-8.04 [[-9.88450052e-01 -1.51512961e-01 3.21201286e-03 2.16451188e+01] [-1.51512031e-01 9.88455270e-01 5.32161867e-04 -2.04502852e+02] [-3.25556046e-03 3.93568319e-05 -9.99994700e-01 -8.03604372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.110385723 meters 0.015519954687969916 Centerline is valid? [True, True] Translation: X:21.62, Y:-204.48, Z:-8.04 [[-9.75235259e-01 -2.21146441e-01 3.23120889e-03 2.16185759e+01] [-2.21145077e-01 9.75240611e-01 7.77848792e-04 -2.04479564e+02] [-3.32322463e-03 4.40196290e-05 -9.99994477e-01 -8.03635893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.140385723 meters 0.015863624483190588 Centerline is valid? [True, True] Translation: X:21.57, Y:-204.46, Z:-8.04 [[-9.56755652e-01 -2.90873671e-01 3.33605731e-03 2.15688705e+01] [-2.90871722e-01 9.56761467e-01 1.06611483e-03 -2.04463802e+02] [-3.50191582e-03 4.96466512e-05 -9.99993867e-01 -8.03583382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.170385723 meters 0.015815798351204037 Centerline is valid? [True, True] Translation: X:21.50, Y:-204.46, Z:-8.03 [[-9.33086933e-01 -3.59633119e-01 3.57693346e-03 2.15045128e+01] [-3.59630237e-01 9.33093788e-01 1.44100175e-03 -2.04455097e+02] [-3.85584634e-03 5.82064782e-05 -9.99992565e-01 -8.03494320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.200385723 meters 0.01583154113758812 Centerline is valid? [True, True] Translation: X:21.43, Y:-204.46, Z:-8.03 [[-9.03709663e-01 -4.28128503e-01 3.85105248e-03 2.14322779e+01] [-4.28124314e-01 9.03717866e-01 1.89502042e-03 -2.04455614e+02] [-4.29157719e-03 6.38190681e-05 -9.99990789e-01 -8.03460051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.230385723 meters 0.01592707613061404 Centerline is valid? [True, True] Translation: X:21.34, Y:-204.47, Z:-8.03 [[-8.69439522e-01 -4.94021433e-01 4.21220942e-03 2.13367019e+01] [-4.94015225e-01 8.69449722e-01 2.47758074e-03 -2.04474227e+02] [-4.88628229e-03 7.32110246e-05 -9.99988059e-01 -8.03416087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.260385723 meters 0.01606580233651244 Centerline is valid? [True, True] Translation: X:21.26, Y:-204.49, Z:-8.03 [[-8.30244696e-01 -5.57383689e-01 4.14340234e-03 2.12600280e+01] [-5.57376264e-01 8.30255032e-01 2.87802627e-03 -2.04487953e+02] [-5.04424554e-03 8.00319291e-05 -9.99987275e-01 -8.03311523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.290385723 meters 0.016193763572695072 Centerline is valid? [True, True] Translation: X:21.17, Y:-204.52, Z:-8.03 [[-7.86180761e-01 -6.17983185e-01 4.07366695e-03 2.11691321e+01] [-6.17974315e-01 7.86191310e-01 3.31223535e-03 -2.04519291e+02] [-5.24958731e-03 8.65941660e-05 -9.99986217e-01 -8.03282048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.320385723 meters 0.01588504125013212 Centerline is valid? [True, True] Translation: X:21.08, Y:-204.56, Z:-8.03 [[-7.37964044e-01 -6.74830895e-01 3.51185760e-03 2.10758580e+01] [-6.74822695e-01 7.37972395e-01 3.32779227e-03 -2.04561198e+02] [-4.83735100e-03 8.59098304e-05 -9.99988296e-01 -8.03348353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.350385723 meters 0.016810635779429872 Centerline is valid? [True, True] Translation: X:20.98, Y:-204.62, Z:-8.03 [[-6.84945808e-01 -7.28588238e-01 2.90163297e-03 2.09847420e+01] [-7.28581206e-01 6.84951950e-01 3.20211251e-03 -2.04616055e+02] [-4.32050067e-03 7.91982906e-05 -9.99990664e-01 -8.03332218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.380385723 meters 0.016240322258000074 Centerline is valid? [True, True] Translation: X:20.88, Y:-204.69, Z:-8.03 [[-6.27967965e-01 -7.78235875e-01 2.27116324e-03 2.08839625e+01] [-7.78230375e-01 6.27972068e-01 2.92652190e-03 -2.04688864e+02] [-3.70375141e-03 7.02737838e-05 -9.99993139e-01 -8.03453218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.410385723 meters 0.01874620633763398 Centerline is valid? [True, True] Translation: X:20.80, Y:-204.75, Z:-8.03 [[-5.68171141e-01 -8.22908439e-01 1.80441948e-03 2.08028933e+01] [-8.22903899e-01 5.68174002e-01 2.73445791e-03 -2.04754171e+02] [-3.27543273e-03 6.87762489e-05 -9.99994633e-01 -8.03356006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.440385723 meters 0.01678962218256946 Centerline is valid? [True, True] Translation: X:20.72, Y:-204.83, Z:-8.04 [[-5.02828023e-01 -8.64385454e-01 1.32897759e-03 2.07175907e+01] [-8.64382137e-01 5.02829776e-01 2.39527197e-03 -2.04834985e+02] [-2.73868776e-03 5.56653779e-05 -9.99996248e-01 -8.03512590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.470385723 meters 0.016586901140560818 Centerline is valid? [True, True] Translation: X:20.64, Y:-204.92, Z:-8.03 [[-4.34901269e-01 -9.00477305e-01 1.22821208e-03 2.06375487e+01] [-9.00473320e-01 4.34903000e-01 2.67964228e-03 -2.04924639e+02] [-2.94711018e-03 5.94076203e-05 -9.99995656e-01 -8.03444154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.500385723 meters 0.016228062818646253 Centerline is valid? [True, True] Translation: X:20.56, Y:-205.03, Z:-8.03 [[-3.63972071e-01 -9.31409229e-01 1.08647565e-03 2.05620856e+01] [-9.31404559e-01 3.63973688e-01 2.95008699e-03 -2.05026439e+02] [-3.14318680e-03 6.18009008e-05 -9.99995058e-01 -8.03419038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.530385723 meters 0.01621947800852464 Centerline is valid? [True, True] Translation: X:20.50, Y:-205.13, Z:-8.03 [[-2.90250679e-01 -9.56950207e-01 9.18901242e-04 2.04954841e+01] [-9.56944704e-01 2.90252127e-01 3.24598098e-03 -2.05133920e+02] [-3.37295521e-03 6.28105077e-05 -9.99994310e-01 -8.03448212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.56038572299997 meters 0.016145591735850576 Centerline is valid? [True, True] Translation: X:20.44, Y:-205.24, Z:-8.03 [[-2.15470565e-01 -9.76510164e-01 5.79699016e-04 2.04386118e+01] [-9.76505924e-01 2.15471338e-01 2.87820122e-03 -2.05241940e+02] [-2.93550127e-03 5.40881190e-05 -9.99995690e-01 -8.03438540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.590385723 meters 0.016379714525568974 Centerline is valid? [True, True] Translation: X:20.39, Y:-205.36, Z:-8.03 [[-1.39677326e-01 -9.90197005e-01 3.69103449e-04 2.03883471e+01] [-9.90192404e-01 1.39677803e-01 3.01906356e-03 -2.05363628e+02] [-3.04102325e-03 5.62112955e-05 -9.99995375e-01 -8.03382044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.62038572299997 meters 0.017072486690283706 Centerline is valid? [True, True] Translation: X:20.35, Y:-205.48, Z:-8.03 [[-6.28449108e-02 -9.98023296e-01 1.32873894e-04 2.03502184e+01] [-9.98018818e-01 6.28450270e-02 2.99018485e-03 -2.05482199e+02] [-2.99262460e-03 5.53072532e-05 -9.99995521e-01 -8.03278948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.650385723 meters 0.016548498356205192 Centerline is valid? [True, True] Translation: X:20.32, Y:-205.61, Z:-8.03 [[ 1.44110333e-02 -9.99896150e-01 -1.05513104e-04 2.03186362e+01] [-9.99890976e-01 -1.44112982e-02 3.21729733e-03 -2.05612990e+02] [-3.21848379e-03 5.91370213e-05 -9.99994819e-01 -8.03269308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.680385723 meters 0.016462034436769787 Centerline is valid? [True, True] Translation: X:20.30, Y:-205.73, Z:-8.03 [[ 9.15559676e-02 -9.95799874e-01 -3.40332214e-04 2.02965892e+01] [-9.95795110e-01 -9.15565825e-02 3.08086706e-03 -2.05729737e+02] [-3.09908668e-03 5.68293898e-05 -9.99995196e-01 -8.03260009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.710385723 meters 0.016454369132141034 Centerline is valid? [True, True] Translation: X:20.29, Y:-205.86, Z:-8.03 [[ 1.68484387e-01 -9.85704166e-01 -5.55081101e-04 2.02855814e+01] [-9.85699812e-01 -1.68485293e-01 2.93045879e-03 -2.05858807e+02] [-2.98208844e-03 5.34067834e-05 -9.99995552e-01 -8.03211551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.740385723 meters 0.016169219492286207 Centerline is valid? [True, True] Translation: X:20.28, Y:-205.98, Z:-8.03 [[ 2.45309673e-01 -9.69444318e-01 -9.37259828e-04 2.02834475e+01] [-9.69438130e-01 -2.45311456e-01 3.46433538e-03 -2.05984410e+02] [-3.58840083e-03 5.87804354e-05 -9.99993560e-01 -8.03162485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.770385723 meters 0.015480999947943368 Centerline is valid? [True, True] Translation: X:20.29, Y:-206.11, Z:-8.03 [[ 3.20145081e-01 -9.47367618e-01 -1.31286359e-03 2.02911438e+01] [-9.47360410e-01 -3.20147767e-01 3.69606256e-03 -2.06112805e+02] [-3.92184033e-03 6.04787411e-05 -9.99992308e-01 -8.03198426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.800385723 meters 0.015544943682325656 Centerline is valid? [True, True] Translation: X:20.31, Y:-206.24, Z:-8.03 [[ 3.92940195e-01 -9.19562387e-01 -1.73767870e-03 2.03086083e+01] [-9.19554082e-01 -3.92944032e-01 3.90867161e-03 -2.06236369e+02] [-4.27707787e-03 6.20153572e-05 -9.99990851e-01 -8.03160052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.830385723 meters 0.015140559276606472 Centerline is valid? [True, True] Translation: X:20.33, Y:-206.36, Z:-8.03 [[ 4.63867566e-01 -8.85902008e-01 -2.12429082e-03 2.03320979e+01] [-8.85893281e-01 -4.63872427e-01 3.93286269e-03 -2.06357851e+02] [-4.46953089e-03 5.75675177e-05 -9.99990010e-01 -8.03115914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.860385723 meters 0.015082569559269106 Centerline is valid? [True, True] Translation: X:20.37, Y:-206.47, Z:-8.03 [[ 5.30701393e-01 -8.47555396e-01 -2.42519656e-03 2.03656596e+01] [-8.47547029e-01 -5.30706931e-01 3.76641967e-03 -2.06473865e+02] [-4.47931794e-03 5.66239788e-05 -9.99989966e-01 -8.03095687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.890385723 meters 0.015132126872764856 Centerline is valid? [True, True] Translation: X:20.41, Y:-206.59, Z:-8.03 [[ 5.93871607e-01 -8.04555800e-01 -2.54542351e-03 2.04077889e+01] [-8.04548798e-01 -5.93877059e-01 3.35702863e-03 -2.06585266e+02] [-4.21258549e-03 5.42734346e-05 -9.99991126e-01 -8.03098381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.920385723 meters 0.015377519895244936 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.71, Z:-8.03 [[ 6.52869108e-01 -7.57465448e-01 -2.83237661e-03 2.04690180e+01] [-7.57458711e-01 -6.52875249e-01 3.19518415e-03 -2.06705305e+02] [-4.26943018e-03 5.93713096e-05 -9.99990884e-01 -8.03116511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.950385723 meters 0.015723850056873913 Centerline is valid? [True, True] Translation: X:20.51, Y:-206.79, Z:-8.03 [[ 7.07579748e-01 -7.06626097e-01 -3.23403189e-03 2.05099226e+01] [-7.06619166e-01 -7.07587135e-01 3.13059112e-03 -2.06790031e+02] [-4.50051674e-03 7.00860394e-05 -9.99989870e-01 -8.03086084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.980385723 meters 0.016518849244012895 Centerline is valid? [True, True] Translation: X:20.51, Y:-206.80, Z:-8.03 [[ 7.58538354e-01 -6.51616754e-01 -3.89510543e-03 2.05052695e+01] [-6.51608802e-01 -7.58548348e-01 3.22056947e-03 -2.06795374e+02] [-5.05320281e-03 9.51595243e-05 -9.99987228e-01 -8.03023824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.010385723 meters 0.017064215437492855 Centerline is valid? [True, True] Translation: X:20.50, Y:-206.80, Z:-8.03 [[ 8.06152955e-01 -5.91692686e-01 -4.14475812e-03 2.05019215e+01] [-5.91685525e-01 -8.06163603e-01 2.91301800e-03 -2.06802088e+02] [-5.06496458e-03 1.04055311e-04 -9.99987168e-01 -8.02984962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.040385723 meters 0.018209104330202824 Centerline is valid? [True, True] Translation: X:20.50, Y:-206.81, Z:-8.03 [[ 8.48360130e-01 -5.29405453e-01 -3.86740904e-03 2.04980571e+01] [-5.29400516e-01 -8.48368938e-01 2.28862988e-03 -2.06807625e+02] [-4.49260284e-03 1.05826002e-04 -9.99989903e-01 -8.02914066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.070385723 meters 0.017208772641556267 Centerline is valid? [True, True] Translation: X:20.49, Y:-206.82, Z:-8.03 [[ 8.86473981e-01 -4.62759863e-01 -4.14606846e-03 2.04920715e+01] [-4.62755407e-01 -8.86483669e-01 2.03408279e-03 -2.06821127e+02] [-4.61671385e-03 1.15454121e-04 -9.99989336e-01 -8.02946799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.100385723 meters 0.019281476341561667 Centerline is valid? [True, True] Translation: X:20.49, Y:-206.83, Z:-8.03 [[ 9.19450389e-01 -3.93183098e-01 -4.24651269e-03 2.04888045e+01] [-3.93179503e-01 -9.19460188e-01 1.68552899e-03 -2.06828738e+02] [-4.56722087e-03 1.19881462e-04 -9.99989563e-01 -8.02898552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.130385723 meters 0.017820974758693677 Centerline is valid? [True, True] Translation: X:20.48, Y:-206.85, Z:-8.03 [[ 9.47019518e-01 -3.21153021e-01 -3.84323160e-03 2.04842946e+01] [-3.21150846e-01 -9.47027310e-01 1.18701545e-03 -2.06846453e+02] [-4.02085888e-03 1.10130279e-04 -9.99991910e-01 -8.02950340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.160385723 meters 0.017629997683675472 Centerline is valid? [True, True] Translation: X:20.48, Y:-206.86, Z:-8.03 [[ 9.69164774e-01 -2.46375928e-01 -4.30622037e-03 2.04823175e+01] [-2.46374053e-01 -9.69174333e-01 9.68911636e-04 -2.06861922e+02] [-4.41219476e-03 1.21905940e-04 -9.99990259e-01 -8.02913212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.190385723 meters 0.018828647005948163 Centerline is valid? [True, True] Translation: X:20.48, Y:-206.88, Z:-8.03 [[ 9.85579714e-01 -1.69146683e-01 -4.69327707e-03 2.04772812e+01] [-1.69145383e-01 -9.85590880e-01 6.75536372e-04 -2.06875127e+02] [-4.73991582e-03 1.28051203e-04 -9.99988758e-01 -8.02770256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.220385723 meters 0.02052838834046062 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.88, Z:-8.03 [[ 9.95861475e-01 -9.07589378e-02 -4.76834028e-03 2.04734360e+01] [-9.07585012e-02 -9.95872883e-01 3.08324223e-04 -2.06881592e+02] [-4.77664396e-03 1.25719202e-04 -9.99988584e-01 -8.02671919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.250385723 meters 0.018625686043540146 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.89, Z:-8.03 [[ 9.99917795e-01 -1.17362846e-02 -5.16352671e-03 2.04713181e+01] [-1.17368075e-02 -9.99931119e-01 -7.09775632e-05 -2.06894676e+02] [-5.16233802e-03 1.31575047e-04 -9.99986666e-01 -8.02667013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.280385723 meters 0.01763106873222254 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.91, Z:-8.03 [[ 9.97638793e-01 6.84482004e-02 -5.62866021e-03 2.04705620e+01] [ 6.84463569e-02 -9.97654663e-01 -5.19738267e-04 -2.06911745e+02] [-5.65103425e-03 1.33249773e-04 -9.99984024e-01 -8.02643921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31038572299997 meters 0.017797305532503492 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.92, Z:-8.03 [[ 9.89094206e-01 1.47185742e-01 -5.38605644e-03 2.04699201e+01] [ 1.47182875e-01 -9.89108863e-01 -9.27018436e-04 -2.06922722e+02] [-5.46384005e-03 1.24173295e-04 -9.99985065e-01 -8.02651757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.340385723 meters 0.017581619534495795 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.94, Z:-8.03 [[ 9.74233893e-01 2.25489998e-01 -4.75217008e-03 2.04716440e+01] [ 2.25486790e-01 -9.74245477e-01 -1.20729148e-03 -2.06935513e+02] [-4.90201236e-03 1.04632698e-04 -9.99987980e-01 -8.02674804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37038572299997 meters 0.017429033204015287 Centerline is valid? [True, True] Translation: X:20.47, Y:-206.95, Z:-8.03 [[ 9.53450510e-01 3.01514368e-01 -4.60544210e-03 2.04745352e+01] [ 3.01510335e-01 -9.53461628e-01 -1.56286242e-03 -2.06946760e+02] [-4.86233780e-03 1.01523584e-04 -9.99988174e-01 -8.02651712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.400385723 meters 0.01696338344648168 Centerline is valid? [True, True] Translation: X:20.48, Y:-206.96, Z:-8.03 [[ 9.26828163e-01 3.75464544e-01 -3.99151011e-03 2.04793328e+01] [ 3.75460643e-01 -9.26836754e-01 -1.71377164e-03 -2.06961020e+02] [-4.34293876e-03 8.97168710e-05 -9.99990565e-01 -8.02648514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.430385723 meters 0.016841073939685453 Centerline is valid? [True, True] Translation: X:20.49, Y:-206.98, Z:-8.03 [[ 8.94488761e-01 4.47076692e-01 -3.50535156e-03 2.04860674e+01] [ 4.47072903e-01 -8.94495626e-01 -1.84254401e-03 -2.06975816e+02] [-3.95928012e-03 8.09872068e-05 -9.99992159e-01 -8.02692381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.460385723 meters 0.01701099589437203 Centerline is valid? [True, True] Translation: X:20.49, Y:-206.99, Z:-8.03 [[ 8.56783016e-01 5.15667029e-01 -3.22169789e-03 2.04919035e+01] [ 5.15663038e-01 -8.56789069e-01 -2.03020382e-03 -2.06987603e+02] [-3.80722470e-03 7.81336263e-05 -9.99992749e-01 -8.02735924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.490385723 meters 0.016920638050042642 Centerline is valid? [True, True] Translation: X:20.50, Y:-207.00, Z:-8.03 [[ 8.13166327e-01 5.82027458e-01 -2.13595502e-03 2.05012087e+01] [ 5.82025281e-01 -8.13169131e-01 -1.59277066e-03 -2.06999973e+02] [-2.66392895e-03 5.20076446e-05 -9.99996450e-01 -8.02749975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.520385723 meters 0.016806492949361127 Centerline is valid? [True, True] Translation: X:20.51, Y:-207.01, Z:-8.03 [[ 7.64483002e-01 6.44640885e-01 -1.96733078e-03 2.05102705e+01] [ 6.44638586e-01 -7.64485531e-01 -1.72233818e-03 -2.07009903e+02] [-2.61428552e-03 4.84809320e-05 -9.99996582e-01 -8.02729330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.550385723 meters 0.01728790237486944 Centerline is valid? [True, True] Translation: X:20.52, Y:-207.02, Z:-8.03 [[ 7.10034961e-01 7.04162121e-01 -2.46215893e-03 2.05203753e+01] [ 7.04157607e-01 -7.10039228e-01 -2.52198598e-03 -2.07020796e+02] [-3.52411642e-03 5.69502782e-05 -9.99993789e-01 -8.02579069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.580385723 meters 0.01728790237486944 Centerline is valid? [True, True] Translation: X:20.53, Y:-207.03, Z:-8.03 [[ 6.52733462e-01 7.57584275e-01 -2.25719746e-03 2.05273379e+01] [ 7.57579440e-01 -6.52737362e-01 -2.70700819e-03 -2.07026580e+02] [-3.52414395e-03 5.69484355e-05 -9.99993789e-01 -8.02579045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.610385723 meters 0.016042120173405516 Centerline is valid? [True, True] Translation: X:20.54, Y:-207.04, Z:-8.03 [[ 5.90223289e-01 8.07236497e-01 -2.38900543e-03 2.05408520e+01] [ 8.07229466e-01 -5.90228121e-01 -3.36973017e-03 -2.07035117e+02] [-4.13022736e-03 6.04176523e-05 -9.99991469e-01 -8.02604361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.640385723 meters 0.016325145171906807 Centerline is valid? [True, True] Translation: X:20.55, Y:-207.04, Z:-8.02 [[ 5.24659926e-01 8.51308596e-01 -2.37396304e-03 2.05510379e+01] [ 8.51299317e-01 -5.24665293e-01 -3.97533824e-03 -2.07042295e+02] [-4.62977563e-03 6.47475530e-05 -9.99989280e-01 -8.02498911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.670385723 meters 0.01615020226547811 Centerline is valid? [True, True] Translation: X:20.57, Y:-207.05, Z:-8.02 [[ 4.56298489e-01 8.89823807e-01 -2.29813404e-03 2.05651376e+01] [ 8.89811717e-01 -4.56304271e-01 -4.63899088e-03 -2.07048716e+02] [-5.17653290e-03 7.18579351e-05 -9.99986599e-01 -8.02429645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.700385723 meters 0.01778389000916755 Centerline is valid? [True, True] Translation: X:20.57, Y:-207.05, Z:-8.02 [[ 3.86749735e-01 9.22182103e-01 -2.19364451e-03 2.05749954e+01] [ 9.22165901e-01 -3.86755945e-01 -5.46721998e-03 -2.07052898e+02] [-5.89017747e-03 9.15417167e-05 -9.99982649e-01 -8.02161437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.730385723 meters 0.01704722708092946 Centerline is valid? [True, True] Translation: X:20.58, Y:-207.05, Z:-8.02 [[ 3.14195689e-01 9.49356352e-01 -1.89349225e-03 2.05833035e+01] [ 9.49337060e-01 -3.14201377e-01 -6.05323782e-03 -2.07054814e+02] [-6.34161765e-03 1.04338868e-04 -9.99979886e-01 -8.02196836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.760385723 meters 0.016750566342589448 Centerline is valid? [True, True] Translation: X:20.60, Y:-207.06, Z:-8.02 [[ 2.40344313e-01 9.70686585e-01 -1.47167373e-03 2.05962619e+01] [ 9.70665253e-01 -2.40348789e-01 -6.43632604e-03 -2.07056960e+02] [-6.60137034e-03 1.18431802e-04 -9.99978204e-01 -8.02277351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.790385723 meters 0.016820178634279266 Centerline is valid? [True, True] Translation: X:20.61, Y:-207.06, Z:-8.02 [[ 1.66550952e-01 9.86032350e-01 -9.92128992e-04 2.06106495e+01] [ 9.86009399e-01 -1.66553846e-01 -6.72908671e-03 -2.07058158e+02] [-6.80034008e-03 1.42487286e-04 -9.99976867e-01 -8.02364198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.820385723 meters 0.017395625665568324 Centerline is valid? [True, True] Translation: X:20.62, Y:-207.06, Z:-8.02 [[ 9.02060943e-02 9.95923018e-01 -4.51035597e-04 2.06231941e+01] [ 9.95901020e-01 -9.02071004e-02 -6.62095845e-03 -2.07059700e+02] [-6.63465153e-03 1.48063992e-04 -9.99977980e-01 -8.02371102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.850385723 meters 0.01790636272402999 Centerline is valid? [True, True] Translation: X:20.64, Y:-207.06, Z:-8.02 [[ 1.28891898e-02 9.99916929e-01 5.81513212e-05 2.06351038e+01] [ 9.99901325e-01 -1.28886637e-02 -5.58771127e-03 -2.07060106e+02] [-5.58649760e-03 1.30166654e-04 -9.99984387e-01 -8.02364368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.880385723 meters 0.01795178521567318 Centerline is valid? [True, True] Translation: X:20.65, Y:-207.06, Z:-8.02 [[-6.58831273e-02 9.97827213e-01 5.17046364e-04 2.06469037e+01] [ 9.97810326e-01 6.58850212e-02 -5.80661595e-03 -2.07058831e+02] [-5.82806502e-03 1.33356183e-04 -9.99983008e-01 -8.02304614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.910385723 meters 0.017279703965580005 Centerline is valid? [True, True] Translation: X:20.66, Y:-207.06, Z:-8.02 [[-1.45236068e-01 9.89396462e-01 1.06085322e-03 2.06626511e+01] [ 9.89376511e-01 1.45239878e-01 -6.28474109e-03 -2.07055782e+02] [-6.37217879e-03 1.36812177e-04 -9.99979688e-01 -8.02209980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.940385723 meters 0.01712458581382909 Centerline is valid? [True, True] Translation: X:20.68, Y:-207.05, Z:-8.02 [[-2.23294125e-01 9.74749871e-01 1.55624682e-03 2.06755723e+01] [ 9.74730116e-01 2.23299510e-01 -6.20729715e-03 -2.07051553e+02] [-6.39807125e-03 1.30867654e-04 -9.99979524e-01 -8.02244774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.970385723 meters 0.017036979599545168 Centerline is valid? [True, True] Translation: X:20.69, Y:-207.05, Z:-8.02 [[-2.99938206e-01 9.53956682e-01 1.92923654e-03 2.06868319e+01] [ 9.53939397e-01 2.99944387e-01 -5.74386705e-03 -2.07048445e+02] [-6.05806403e-03 1.17569567e-04 -9.99981643e-01 -8.02277633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.000385723 meters 0.016867055428901573 Centerline is valid? [True, True] Translation: X:20.70, Y:-207.04, Z:-8.02 [[-3.75297693e-01 9.26901357e-01 2.34844841e-03 2.06977897e+01] [ 9.26884945e-01 3.75305026e-01 -5.51686724e-03 -2.07042790e+02] [-5.99497623e-03 1.06273927e-04 -9.99982024e-01 -8.02266980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.030385723 meters 0.016887501192562646 Centerline is valid? [True, True] Translation: X:20.71, Y:-207.04, Z:-8.02 [[-4.47192673e-01 8.94433023e-01 2.87777445e-03 2.07082760e+01] [ 8.94416018e-01 4.47201919e-01 -5.51629272e-03 -2.07037321e+02] [-6.22090063e-03 1.07081880e-04 -9.99980644e-01 -8.02178929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.06038572299997 meters 0.01679741043926124 Centerline is valid? [True, True] Translation: X:20.72, Y:-207.03, Z:-8.02 [[-5.16605550e-01 8.56216749e-01 3.40341397e-03 2.07174047e+01] [ 8.56199491e-01 5.16616751e-01 -5.43727612e-03 -2.07031112e+02] [-6.41374755e-03 1.05074288e-04 -9.99979426e-01 -8.02105027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.090385723 meters 0.016716997855564568 Centerline is valid? [True, True] Translation: X:20.72, Y:-207.02, Z:-8.02 [[-5.83094135e-01 8.12393020e-01 4.33722604e-03 2.07249105e+01] [ 8.12371934e-01 5.83110255e-01 -5.85410230e-03 -2.07024802e+02] [-7.28491283e-03 1.09947990e-04 -9.99973459e-01 -8.02135011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.12038572299997 meters 0.016615507238403243 Centerline is valid? [True, True] Translation: X:20.73, Y:-207.02, Z:-8.02 [[-6.45448323e-01 7.63789388e-01 4.71526380e-03 2.07320692e+01] [ 7.63770168e-01 6.45465538e-01 -5.41941911e-03 -2.07019251e+02] [-7.18283509e-03 1.03422851e-04 -9.99974198e-01 -8.02172637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.150385723 meters 0.016361136939648815 Centerline is valid? [True, True] Translation: X:20.74, Y:-207.01, Z:-8.02 [[-7.04886832e-01 7.09301603e-01 5.07845293e-03 2.07381056e+01] [ 7.09284073e-01 7.04905121e-01 -4.98749046e-03 -2.07012244e+02] [-7.11746245e-03 8.64494297e-05 -9.99974667e-01 -8.02233508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.180385723 meters 0.01602437815682522 Centerline is valid? [True, True] Translation: X:20.76, Y:-206.99, Z:-8.02 [[-7.54240831e-01 6.56575764e-01 5.38841684e-03 2.07565498e+01] [ 6.56559722e-01 7.54260075e-01 -4.59023288e-03 -2.06988839e+02] [-7.07810335e-03 7.56764005e-05 -9.99974947e-01 -8.02264210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.210385723 meters 0.01590795139204061 Centerline is valid? [True, True] Translation: X:20.77, Y:-206.97, Z:-8.02 [[-8.00534832e-01 5.99258351e-01 5.78031197e-03 2.07720486e+01] [ 5.99243223e-01 8.00555698e-01 -4.25827995e-03 -2.06965079e+02] [-7.17927151e-03 5.49113572e-05 -9.99974227e-01 -8.02237330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.240385723 meters 0.01573788243482359 Centerline is valid? [True, True] Translation: X:20.79, Y:-206.94, Z:-8.02 [[-8.41507911e-01 5.40211357e-01 6.01039487e-03 2.07870884e+01] [ 5.40197979e-01 8.41529374e-01 -3.80218216e-03 -2.06941152e+02] [-7.11190582e-03 4.72367929e-05 -9.99974709e-01 -8.02278531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.270385723 meters 0.015781228744604865 Centerline is valid? [True, True] Translation: X:20.80, Y:-206.92, Z:-8.02 [[-8.77695263e-01 4.79177421e-01 6.32645667e-03 2.07990504e+01] [ 4.79165359e-01 8.77718062e-01 -3.40032017e-03 -2.06916344e+02] [-7.18220193e-03 4.69739730e-05 -9.99974207e-01 -8.02275806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.300385723 meters 0.015959267044178535 Centerline is valid? [True, True] Translation: X:20.81, Y:-206.89, Z:-8.02 [[-9.09329617e-01 4.16030376e-01 6.19468580e-03 2.08065699e+01] [ 4.16021069e-01 9.09350716e-01 -2.78331516e-03 -2.06892119e+02] [-6.79108562e-03 4.61688950e-05 -9.99976939e-01 -8.02321708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.330385723 meters 0.017100884411092608 Centerline is valid? [True, True] Translation: X:20.81, Y:-206.87, Z:-8.02 [[-9.36293406e-01 3.51155835e-01 6.65113477e-03 2.08135441e+01] [ 3.51147377e-01 9.36317028e-01 -2.43785853e-03 -2.06867653e+02] [-7.08363899e-03 5.29776559e-05 -9.99974909e-01 -8.02229799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.360385723 meters 0.015940215762266886 Centerline is valid? [True, True] Translation: X:20.82, Y:-206.84, Z:-8.02 [[-9.58940299e-01 2.83528221e-01 6.72693394e-03 2.08205302e+01] [ 2.83521608e-01 9.58963892e-01 -1.93706790e-03 -2.06841058e+02] [-7.00010017e-03 4.96986601e-05 -9.99975498e-01 -8.02336740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.390385723 meters 0.01594230336224979 Centerline is valid? [True, True] Translation: X:21.01, Y:-206.21, Z:-9.04 [[-9.42318924e-01 -3.34644140e-01 6.95307422e-03 2.10053829e+01] [ 3.34634813e-01 -9.42344575e-01 -2.49858849e-03 -2.06205898e+02] [ 7.38832977e-03 -2.77265235e-05 9.99972706e-01 -9.04301411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.420385723 meters 0.01584967550102124 Centerline is valid? [True, True] Translation: X:20.77, Y:-206.83, Z:-8.02 [[-9.60269802e-01 2.78977500e-01 7.31180722e-03 2.07700624e+01] [ 2.78969784e-01 9.60297637e-01 -2.07546006e-03 -2.06833540e+02] [-7.60051786e-03 4.67716648e-05 -9.99971115e-01 -8.02401114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.450385723 meters 0.015923471437201183 Centerline is valid? [True, True] Translation: X:20.76, Y:-206.80, Z:-8.02 [[-9.77618759e-01 2.10230017e-01 8.05618783e-03 2.07607694e+01] [ 2.10223308e-01 9.77651951e-01 -1.68029888e-03 -2.06804746e+02] [-8.22939702e-03 5.09067552e-05 -9.99966137e-01 -8.02343872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.480385723 meters 0.01579588639728491 Centerline is valid? [True, True] Translation: X:20.91, Y:-206.14, Z:-9.04 [[-9.64717631e-01 -2.63149081e-01 8.51197896e-03 2.09119234e+01] [ 2.63138687e-01 -9.64755182e-01 -2.33896371e-03 -2.06139065e+02] [ 8.82747196e-03 -1.66085633e-05 9.99961037e-01 -9.04197096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.510385723 meters 0.015890509685132566 Centerline is valid? [True, True] Translation: X:20.72, Y:-206.81, Z:-8.02 [[-9.78247319e-01 2.07249262e-01 8.94014059e-03 2.07198159e+01] [ 2.07241213e-01 9.78288168e-01 -1.82771245e-03 -2.06805309e+02] [-9.12482582e-03 6.48107767e-05 -9.99958366e-01 -8.02422449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.540385723 meters 0.015915015527670835 Centerline is valid? [True, True] Translation: X:20.86, Y:-206.12, Z:-9.04 [[-9.65883842e-01 -2.58810523e-01 9.24752867e-03 2.08633247e+01] [ 2.58798278e-01 -9.65928109e-01 -2.51794444e-03 -2.06123787e+02] [ 9.58411840e-03 -3.87973579e-05 9.99954071e-01 -9.04253448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.570385723 meters 0.015921261157695318 Centerline is valid? [True, True] Translation: X:20.67, Y:-206.80, Z:-8.02 [[-9.78986900e-01 2.03631642e-01 1.08997409e-02 2.06651292e+01] [ 2.03619954e-01 9.79047572e-01 -2.18327226e-03 -2.06802760e+02] [-1.11159482e-02 8.20097992e-05 -9.99938213e-01 -8.02448165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.600385723 meters 0.015972753510918827 Centerline is valid? [True, True] Translation: X:20.67, Y:-206.78, Z:-8.02 [[-9.91073058e-01 1.32801593e-01 1.17443756e-02 2.06655784e+01] [ 1.32793196e-01 9.91142639e-01 -1.49542257e-03 -2.06777902e+02] [-1.18389459e-02 7.75001434e-05 -9.99929914e-01 -8.02382283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.630385723 meters 0.01590061824425289 Centerline is valid? [True, True] Translation: X:20.76, Y:-206.06, Z:-9.04 [[-9.82341853e-01 -1.86748160e-01 1.13845831e-02 2.07630254e+01] [ 1.86734544e-01 -9.82407816e-01 -2.25689278e-03 -2.06064674e+02] [ 1.16057739e-02 -9.11453031e-05 9.99932647e-01 -9.04188291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.660385723 meters 0.015847199265509787 Centerline is valid? [True, True] Translation: X:20.60, Y:-206.77, Z:-8.03 [[-9.91747503e-01 1.27707596e-01 1.12987202e-02 2.06048572e+01] [ 1.27700064e-01 9.91811860e-01 -1.38849893e-03 -2.06774754e+02] [-1.13835266e-02 6.58069558e-05 -9.99935203e-01 -8.02524700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.690385723 meters 0.015720798661747703 Centerline is valid? [True, True] Translation: X:20.61, Y:-206.75, Z:-8.03 [[-9.98336378e-01 5.66614850e-02 1.06748338e-02 2.06054084e+01] [ 5.66588755e-02 9.98393446e-01 -5.46962773e-04 -2.06751417e+02] [-1.06886758e-02 5.87712437e-05 -9.99942873e-01 -8.02664161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.720385723 meters 0.01570500189124087 Centerline is valid? [True, True] Translation: X:20.64, Y:-206.01, Z:-9.04 [[-9.93566746e-01 -1.12768029e-01 1.04159855e-02 2.06429090e+01] [ 1.12761088e-01 -9.93621340e-01 -1.25315959e-03 -2.06011856e+02] [ 1.04908618e-02 -7.05798352e-05 9.99944967e-01 -9.03902008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.750385723 meters 0.015804868353624015 Centerline is valid? [True, True] Translation: X:20.52, Y:-206.76, Z:-8.03 [[-9.98582419e-01 5.21565352e-02 1.06229912e-02 2.05241838e+01] [ 5.21542433e-02 9.98638920e-01 -4.92841548e-04 -2.06755280e+02] [-1.06342374e-02 6.18911630e-05 -9.99943453e-01 -8.02777328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.780385723 meters 0.0158095358431676 Centerline is valid? [True, True] Translation: X:20.57, Y:-206.00, Z:-9.04 [[-9.94075906e-01 -1.08079298e-01 1.14873320e-02 2.05669511e+01] [ 1.08072007e-01 -9.94142276e-01 -1.25540454e-03 -2.05999750e+02] [ 1.15557256e-02 -6.50837882e-06 9.99933230e-01 -9.03859684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81038572299997 meters 0.015814378223326757 Centerline is valid? [True, True] Translation: X:20.45, Y:-206.76, Z:-8.03 [[-9.98864216e-01 4.61844801e-02 1.17163147e-02 2.04494129e+01] [ 4.61819980e-02 9.98932926e-01 -4.82462442e-04 -2.06757052e+02] [-1.17260948e-02 5.91683549e-05 -9.99931245e-01 -8.02763205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.840385723 meters 0.015705714555295843 Centerline is valid? [True, True] Translation: X:20.48, Y:-205.99, Z:-9.04 [[-9.94446620e-01 -1.04464085e-01 1.27740153e-02 2.04849394e+01] [ 1.04455593e-01 -9.94528660e-01 -1.33201021e-03 -2.05990154e+02] [ 1.28432716e-02 9.70428825e-06 9.99917522e-01 -9.03849906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87038572299997 meters 0.01570552288916097 Centerline is valid? [True, True] Translation: X:20.37, Y:-206.76, Z:-8.03 [[-9.99152374e-01 3.88697481e-02 1.35527285e-02 2.03664267e+01] [ 3.88667189e-02 9.99244285e-01 -4.86926700e-04 -2.06758897e+02] [-1.35614132e-02 4.02361195e-05 -9.99908039e-01 -8.02702812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.900385723 meters 0.01566725151512199 Centerline is valid? [True, True] Translation: X:20.40, Y:-205.98, Z:-9.04 [[-9.94635855e-01 -1.02281634e-01 1.54267266e-02 2.03979623e+01] [ 1.02270663e-01 -9.94755478e-01 -1.50048684e-03 -2.05981592e+02] [ 1.54992930e-02 8.52635443e-05 9.99879875e-01 -9.03795591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.930385723 meters 0.015673839650847673 Centerline is valid? [True, True] Translation: X:20.28, Y:-206.76, Z:-8.03 [[-9.99424816e-01 3.00130954e-02 1.57877278e-02 2.02811360e+01] [ 3.00092027e-02 9.99549506e-01 -4.83460316e-04 -2.06758302e+02] [-1.57951257e-02 -9.40511235e-06 -9.99875249e-01 -8.02802430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.960385723 meters 0.01571034445640612 Centerline is valid? [True, True] Translation: X:20.31, Y:-205.98, Z:-9.04 [[-9.94856742e-01 -1.00116719e-01 1.53852426e-02 2.03076059e+01] [ 1.00104546e-01 -9.94975699e-01 -1.56122256e-03 -2.05978598e+02] [ 1.54642470e-02 -1.30600513e-05 9.99880421e-01 -9.03824794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.990385723 meters 0.01568123696357282 Centerline is valid? [True, True] Translation: X:20.20, Y:-206.75, Z:-8.03 [[-9.99665988e-01 2.03799181e-02 1.58925021e-02 2.01952512e+01] [ 2.03761004e-02 9.99792305e-01 -4.02123673e-04 -2.06753206e+02] [-1.58973965e-02 -7.81621403e-05 -9.99873625e-01 -8.02871587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.020385723 meters 0.015781032561909193 Centerline is valid? [True, True] Translation: X:20.16, Y:-206.72, Z:-8.03 [[-9.98557073e-01 -5.11232964e-02 1.64371998e-02 2.01592286e+01] [-5.11178199e-02 9.98692345e-01 7.53426547e-04 -2.06724290e+02] [-1.64542233e-02 -8.78944123e-05 -9.99864616e-01 -8.02818273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.050385723 meters 0.015731086188578887 Centerline is valid? [True, True] Translation: X:20.17, Y:-206.69, Z:-8.03 [[-9.92324400e-01 -1.22585146e-01 1.62839557e-02 2.01682777e+01] [-1.22570156e-01 9.92457996e-01 1.91918556e-03 -2.06694294e+02] [-1.63964056e-02 -9.14723243e-05 -9.99865566e-01 -8.02861065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.080385723 meters 0.015698945246683242 Centerline is valid? [True, True] Translation: X:20.04, Y:-205.93, Z:-9.04 [[-9.98876437e-01 4.45591936e-02 1.61350908e-02 2.00415319e+01] [-4.45521823e-02 -9.99006743e-01 7.93904900e-04 -2.05928763e+02] [ 1.61544403e-02 7.41593898e-05 9.99869506e-01 -9.03780962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.110385723 meters 0.01552145020662774 Centerline is valid? [True, True] Translation: X:20.05, Y:-206.71, Z:-8.03 [[-9.91429315e-01 -1.29684288e-01 1.58082077e-02 2.00490723e+01] [-1.29669094e-01 9.91555333e-01 1.98671191e-03 -2.06706138e+02] [-1.59323580e-02 -8.01515345e-05 -9.99873069e-01 -8.02977586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.140385723 meters 0.015412316785379394 Centerline is valid? [True, True] Translation: X:20.02, Y:-206.68, Z:-8.03 [[-9.80089682e-01 -1.98077872e-01 1.37612219e-02 2.00249311e+01] [-1.98058924e-01 9.80186286e-01 2.74000697e-03 -2.06680427e+02] [-1.40312958e-02 -4.00802518e-05 -9.99901556e-01 -8.03068623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.170385723 meters 0.015380511759720236 Centerline is valid? [True, True] Translation: X:19.99, Y:-206.66, Z:-8.03 [[-9.63385141e-01 -2.67804453e-01 1.30324720e-02 1.99928961e+01] [-2.67780244e-01 9.63473287e-01 3.60091178e-03 -2.06658302e+02] [-1.35207789e-02 -2.07736349e-05 -9.99908590e-01 -8.03111758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.200385723 meters 0.015342201596605938 Centerline is valid? [True, True] Translation: X:19.93, Y:-206.65, Z:-8.03 [[-9.42235794e-01 -3.34728067e-01 1.21995635e-02 1.99314392e+01] [-3.34699703e-01 9.42314767e-01 4.35759080e-03 -2.06648729e+02] [-1.29544368e-02 2.26877599e-05 -9.99916088e-01 -8.03136681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.230385723 meters 0.015373489434143617 Centerline is valid? [True, True] Translation: X:19.87, Y:-206.65, Z:-8.03 [[-9.15527775e-01 -4.02081026e-01 1.18212775e-02 1.98652736e+01] [-4.02046905e-01 9.15604089e-01 5.23823694e-03 -2.06645048e+02] [-1.29298057e-02 4.30433613e-05 -9.99916406e-01 -8.03064445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.260385723 meters 0.015400351804501838 Centerline is valid? [True, True] Translation: X:19.79, Y:-206.65, Z:-8.03 [[-8.83607294e-01 -4.68077103e-01 1.19153175e-02 1.97876496e+01] [-4.68033616e-01 8.83687627e-01 6.38068439e-03 -2.06652335e+02] [-1.35160709e-02 6.12501228e-05 -9.99908652e-01 -8.03145030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.290385723 meters 0.015546242530271894 Centerline is valid? [True, True] Translation: X:19.71, Y:-206.67, Z:-8.03 [[-8.47358418e-01 -5.30883602e-01 1.20959557e-02 1.97082443e+01] [-5.30827811e-01 8.47444742e-01 7.69705170e-03 -2.06669102e+02] [-1.43368926e-02 1.01291874e-04 -9.99897216e-01 -8.03355720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.320385723 meters 0.01565657177863605 Centerline is valid? [True, True] Translation: X:19.62, Y:-206.70, Z:-8.03 [[-8.05708925e-01 -5.92197311e-01 1.16393229e-02 1.96194701e+01] [-5.92133342e-01 8.05792982e-01 8.70489570e-03 -2.06696686e+02] [-1.45339006e-02 1.21580980e-04 -9.99894370e-01 -8.03356911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.350385723 meters 0.015694401328560106 Centerline is valid? [True, True] Translation: X:19.53, Y:-206.74, Z:-8.03 [[-7.59655160e-01 -6.50228926e-01 1.12419833e-02 1.95250067e+01] [-6.50154824e-01 7.59738324e-01 9.81750463e-03 -2.06736128e+02] [-1.49245910e-02 1.48888391e-04 -9.99888611e-01 -8.03331714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.380385723 meters 0.01608579847581909 Centerline is valid? [True, True] Translation: X:19.43, Y:-206.78, Z:-8.03 [[-7.08705824e-01 -7.05426919e-01 1.04363671e-02 1.94336122e+01] [-7.05347044e-01 7.08782644e-01 1.06165653e-02 -2.06783017e+02] [-1.48863268e-02 1.62760981e-04 -9.99889179e-01 -8.03143974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.410385723 meters 0.016368623321283974 Centerline is valid? [True, True] Translation: X:19.34, Y:-206.84, Z:-8.03 [[-6.53542475e-01 -7.56827852e-01 9.68683327e-03 1.93399562e+01] [-7.56740665e-01 6.53614237e-01 1.14889117e-02 -2.06842527e+02] [-1.50265805e-02 1.78071138e-04 -9.99887079e-01 -8.03087651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.440385723 meters 0.016207272124091638 Centerline is valid? [True, True] Translation: X:19.25, Y:-206.91, Z:-8.03 [[-5.95330060e-01 -8.03432525e-01 8.84858198e-03 1.92496537e+01] [-8.03338529e-01 5.95395780e-01 1.22911794e-02 -2.06911302e+02] [-1.51435417e-02 2.08901728e-04 -9.99885308e-01 -8.03292668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.470385723 meters 0.016207272124091638 Centerline is valid? [True, True] Translation: X:19.16, Y:-206.99, Z:-8.03 [[-5.32051723e-01 -8.46675175e-01 7.88116941e-03 1.91624844e+01] [-8.46576422e-01 5.32110050e-01 1.29327920e-02 -2.06989746e+02] [-1.51435234e-02 2.08902054e-04 -9.99885309e-01 -8.03292758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.500385723 meters 0.016249969399136477 Centerline is valid? [True, True] Translation: X:19.08, Y:-207.08, Z:-8.03 [[-4.66620593e-01 -8.84430922e-01 6.86781567e-03 1.90805873e+01] [-8.84327848e-01 4.66671076e-01 1.35042565e-02 -2.07077417e+02] [-1.51485930e-02 2.27963531e-04 -9.99885228e-01 -8.03355645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.530385723 meters 0.016938991827549394 Centerline is valid? [True, True] Translation: X:19.01, Y:-207.17, Z:-8.03 [[-3.99361890e-01 -9.16776196e-01 5.61144572e-03 1.90061560e+01] [-9.16676586e-01 3.99401230e-01 1.35164320e-02 -2.07172493e+02] [-1.46327614e-02 2.54066923e-04 -9.99892903e-01 -8.03430131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.56038572299997 meters 0.017022745089636172 Centerline is valid? [True, True] Translation: X:18.94, Y:-207.28, Z:-8.03 [[-3.28582228e-01 -9.44465258e-01 4.36984394e-03 1.89364555e+01] [-9.44370987e-01 3.28611183e-01 1.33465503e-02 -2.07277091e+02] [-1.40413326e-02 2.58685399e-04 -9.99901382e-01 -8.03473447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.590385723 meters 0.017346014493579327 Centerline is valid? [True, True] Translation: X:18.88, Y:-207.38, Z:-8.03 [[-2.55773451e-01 -9.66731506e-01 3.18394800e-03 1.88758419e+01] [-9.66643396e-01 2.55793134e-01 1.30543886e-02 -2.07382744e+02] [-1.34345208e-02 2.61223714e-04 -9.99909719e-01 -8.03479149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.62038572299997 meters 0.017528138501289238 Centerline is valid? [True, True] Translation: X:18.82, Y:-207.50, Z:-8.03 [[-1.81092765e-01 -9.83463864e-01 2.05891409e-03 1.88203204e+01] [-9.83383263e-01 1.81104288e-01 1.25934258e-02 -2.07498180e+02] [-1.27580574e-02 2.55876646e-04 -9.99918580e-01 -8.03467721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.650385723 meters 0.017089289666648723 Centerline is valid? [True, True] Translation: X:18.77, Y:-207.62, Z:-8.03 [[-1.04085912e-01 -9.94567745e-01 1.05964523e-03 1.87735292e+01] [-9.94489777e-01 1.04091023e-01 1.24556047e-02 -2.07624368e+02] [-1.24982422e-02 2.42646620e-04 -9.99921865e-01 -8.03492935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.680385723 meters 0.017135226410779594 Centerline is valid? [True, True] Translation: X:18.74, Y:-207.74, Z:-8.04 [[-2.61278528e-02 -9.99658606e-01 8.79562426e-05 1.87385264e+01] [-9.99591766e-01 2.61271231e-02 1.15618073e-02 -2.07742072e+02] [-1.15601582e-02 2.14164865e-04 -9.99933156e-01 -8.03554959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.710385723 meters 0.017014931583155833 Centerline is valid? [True, True] Translation: X:18.71, Y:-207.88, Z:-8.04 [[ 5.16053224e-02 -9.98667238e-01 -7.99055707e-04 1.87125043e+01] [-9.98601588e-01 -5.16110935e-02 1.14526744e-02 -2.07875179e+02] [-1.14786508e-02 2.06919345e-04 -9.99934097e-01 -8.03599221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.740385723 meters 0.017149623196422253 Centerline is valid? [True, True] Translation: X:18.70, Y:-207.99, Z:-8.04 [[ 1.28961519e-01 -9.91648231e-01 -1.64674581e-03 1.86961776e+01] [-9.91585865e-01 -1.28971879e-01 1.11232790e-02 -2.07994531e+02] [-1.12427638e-02 1.98414921e-04 -9.99936779e-01 -8.03606124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.770385723 meters 0.016905367896396257 Centerline is valid? [True, True] Translation: X:18.69, Y:-208.12, Z:-8.04 [[ 2.06119801e-01 -9.78523639e-01 -2.47296154e-03 1.86889267e+01] [-9.78463578e-01 -2.06134552e-01 1.08430734e-02 -2.08123041e+02] [-1.11199665e-02 1.84730669e-04 -9.99938154e-01 -8.03586240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.800385723 meters 0.016987000679010038 Centerline is valid? [True, True] Translation: X:18.69, Y:-208.25, Z:-8.03 [[ 2.81670052e-01 -9.59504636e-01 -3.58258088e-03 1.86913103e+01] [-9.59435465e-01 -2.81692769e-01 1.15227010e-02 -2.08249726e+02] [-1.20652721e-02 1.91655381e-04 -9.99927194e-01 -8.03399148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.830385723 meters 0.017046286707535867 Centerline is valid? [True, True] Translation: X:18.70, Y:-208.37, Z:-8.03 [[ 3.55003124e-01 -9.34853795e-01 -4.60049396e-03 1.87042808e+01] [-9.34782253e-01 -3.55032878e-01 1.15669633e-02 -2.08374939e+02] [-1.24467462e-02 1.94151990e-04 -9.99922517e-01 -8.03351690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.860385723 meters 0.015876728072345445 Centerline is valid? [True, True] Translation: X:18.72, Y:-208.50, Z:-8.04 [[ 4.26213920e-01 -9.04605119e-01 -5.59223007e-03 1.87241613e+01] [-9.04533145e-01 -4.26250561e-01 1.14126742e-02 -2.08498617e+02] [-1.27076547e-02 1.94116845e-04 -9.99919236e-01 -8.03562081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.890385723 meters 0.016026973049005872 Centerline is valid? [True, True] Translation: X:18.76, Y:-208.62, Z:-8.04 [[ 4.94578265e-01 -8.69111224e-01 -6.16603263e-03 1.87553465e+01] [-8.69048279e-01 -4.94616666e-01 1.04614646e-02 -2.08617929e+02] [-1.21419988e-02 1.84567031e-04 -9.99926266e-01 -8.03543106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.920385723 meters 0.015929601659863266 Centerline is valid? [True, True] Translation: X:18.80, Y:-208.74, Z:-8.04 [[ 5.59704647e-01 -8.28667550e-01 -6.38757700e-03 1.87953116e+01] [-8.28617042e-01 -5.59741068e-01 9.15069334e-03 -2.08735008e+02] [-1.11582718e-02 1.71169575e-04 -9.99937730e-01 -8.03575218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.950385723 meters 0.016854212505940103 Centerline is valid? [True, True] Translation: X:18.84, Y:-208.84, Z:-8.03 [[ 6.21634408e-01 -7.83278584e-01 -6.73216372e-03 1.88408711e+01] [-7.83235450e-01 -6.21670840e-01 8.22173001e-03 -2.08839562e+02] [-1.06250949e-02 1.61959015e-04 -9.99943539e-01 -8.03478896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.980385723 meters 0.015855768231079953 Centerline is valid? [True, True] Translation: X:18.89, Y:-208.94, Z:-8.04 [[ 6.79535805e-01 -7.33608774e-01 -7.01832304e-03 1.88914482e+01] [-7.33572017e-01 -6.79572029e-01 7.34535031e-03 -2.08944201e+02] [-1.01580695e-02 1.57016853e-04 -9.99948393e-01 -8.03662175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.010385723 meters 0.016137309090703437 Centerline is valid? [True, True] Translation: X:18.95, Y:-209.04, Z:-8.04 [[ 7.32861494e-01 -6.80341637e-01 -7.02045903e-03 1.89505666e+01] [-6.80312426e-01 -7.32895104e-01 6.30629552e-03 -2.09041068e+02] [-9.43569546e-03 1.54464358e-04 -9.99955471e-01 -8.03663764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.040385723 meters 0.016374675013850006 Centerline is valid? [True, True] Translation: X:18.94, Y:-209.05, Z:-8.04 [[ 7.83414194e-01 -6.21453328e-01 -7.61328781e-03 1.89449926e+01] [-6.21425986e-01 -7.83451170e-01 5.83172936e-03 -2.09048604e+02] [-9.58878686e-03 1.62435322e-04 -9.99954013e-01 -8.03639361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.070385723 meters 0.01666200366344014 Centerline is valid? [True, True] Translation: X:18.94, Y:-209.05, Z:-8.04 [[ 8.29025106e-01 -5.59163036e-01 -7.35347182e-03 1.89394602e+01] [-5.59142714e-01 -8.29057703e-01 4.76984563e-03 -2.09054869e+02] [-8.76357381e-03 1.57318410e-04 -9.99961587e-01 -8.03615073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.100385723 meters 0.016963149524637816 Centerline is valid? [True, True] Translation: X:18.94, Y:-209.06, Z:-8.04 [[ 8.69963465e-01 -4.93054722e-01 -7.78529237e-03 1.89351616e+01] [-4.93036654e-01 -8.69998284e-01 4.22421908e-03 -2.09061370e+02] [-8.85596217e-03 1.63518232e-04 -9.99960772e-01 -8.03594136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.130385723 meters 0.016291958624500835 Centerline is valid? [True, True] Translation: X:18.93, Y:-209.07, Z:-8.04 [[ 9.05843895e-01 -4.23533042e-01 -8.16092294e-03 1.89298560e+01] [-4.23517485e-01 -9.05880641e-01 3.63374203e-03 -2.09072718e+02] [-8.93183192e-03 1.64690532e-04 -9.99960097e-01 -8.03615780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.160385723 meters 0.016561000181849275 Centerline is valid? [True, True] Translation: X:18.92, Y:-209.08, Z:-8.04 [[ 9.36123236e-01 -3.51576146e-01 -8.21587311e-03 1.89244320e+01] [-3.51564121e-01 -9.36159274e-01 2.91235364e-03 -2.09083523e+02] [-8.71527988e-03 1.62084292e-04 -9.99962008e-01 -8.03527128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.190385723 meters 0.017182414931588078 Centerline is valid? [True, True] Translation: X:18.92, Y:-209.09, Z:-8.03 [[ 9.60806951e-01 -2.77087251e-01 -8.52393300e-03 1.89206379e+01] [-2.77077841e-01 -9.60844748e-01 2.28939929e-03 -2.09091625e+02] [-8.82453961e-03 1.62122193e-04 -9.99961050e-01 -8.03442238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.220385723 meters 0.016097535529440175 Centerline is valid? [True, True] Translation: X:18.91, Y:-209.11, Z:-8.03 [[ 9.79447068e-01 -2.01517153e-01 -8.61849312e-03 1.89139854e+01] [-2.01510839e-01 -9.79484972e-01 1.60376781e-03 -2.09109144e+02] [-8.76487121e-03 1.65914097e-04 -9.99961574e-01 -8.03497703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.250385723 meters 0.016520073400493985 Centerline is valid? [True, True] Translation: X:18.91, Y:-209.12, Z:-8.03 [[ 9.92172031e-01 -1.24544081e-01 -9.13411939e-03 1.89084848e+01] [-1.24540444e-01 -9.92214060e-01 9.68196455e-04 -2.09121142e+02] [-9.18358482e-03 1.76949838e-04 -9.99957814e-01 -8.03399038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.280385723 meters 0.01666754746096291 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.13, Z:-8.03 [[ 9.98844155e-01 -4.70608240e-02 -9.77918261e-03 1.89044009e+01] [-4.70604713e-02 -9.98892007e-01 2.66301964e-04 -2.09132121e+02] [-9.78087973e-03 1.94218783e-04 -9.99952147e-01 -8.03352001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31038572299997 meters 0.016707477278663257 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.15, Z:-8.03 [[ 9.99504023e-01 2.99617969e-02 -9.69525370e-03 1.89020652e+01] [ 2.99583924e-02 -9.99551023e-01 -4.96225320e-04 -2.09145025e+02] [-9.70576856e-03 2.05524989e-04 -9.99952877e-01 -8.03369777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.340385723 meters 0.017129474304783135 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.16, Z:-8.03 [[ 9.94209190e-01 1.07068296e-01 -9.19052872e-03 1.88997093e+01] [ 1.07061801e-01 -9.94251647e-01 -1.19718926e-03 -2.09158563e+02] [-9.26587933e-03 2.06302009e-04 -9.99957050e-01 -8.03329125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37038572299997 meters 0.017263928489302055 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.17, Z:-8.03 [[ 9.82856678e-01 1.84160754e-01 -8.80721844e-03 1.88983377e+01] [ 1.84151498e-01 -9.82896116e-01 -1.85765594e-03 -2.09170343e+02] [-8.99868812e-03 2.03947079e-04 -9.99959490e-01 -8.03290423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.400385723 meters 0.01729395860248289 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.18, Z:-8.03 [[ 9.65555060e-01 2.60057395e-01 -8.57772906e-03 1.88981918e+01] [ 2.60045227e-01 -9.65593138e-01 -2.52420101e-03 -2.09181560e+02] [-8.93903346e-03 2.06657561e-04 -9.99960025e-01 -8.03328652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.430385723 meters 0.017751385661252946 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.19, Z:-8.03 [[ 9.42539480e-01 3.33990374e-01 -8.35216403e-03 1.88980354e+01] [ 3.33975235e-01 -9.42576461e-01 -3.18721406e-03 -2.09191252e+02] [-8.93705203e-03 2.14659143e-04 -9.99960041e-01 -8.03361354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.460385723 meters 0.01747297088965822 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.21, Z:-8.03 [[ 9.14354755e-01 4.04836443e-01 -7.92691246e-03 1.89017520e+01] [ 4.04819047e-01 -9.14389087e-01 -3.76003921e-03 -2.09205559e+02] [-8.77048315e-03 2.29044582e-04 -9.99961512e-01 -8.03431066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.490385723 meters 0.018934857538662177 Centerline is valid? [True, True] Translation: X:18.90, Y:-209.22, Z:-8.03 [[ 8.80750199e-01 4.73527423e-01 -7.13206909e-03 1.89040488e+01] [ 4.73509766e-01 -8.80779045e-01 -4.09568987e-03 -2.09217387e+02] [-8.22119847e-03 2.30175295e-04 -9.99966179e-01 -8.03422528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.520385723 meters 0.019331215826259813 Centerline is valid? [True, True] Translation: X:18.91, Y:-209.23, Z:-8.03 [[ 8.41369448e-01 5.40423132e-01 -6.34742167e-03 1.89064509e+01] [ 5.40405756e-01 -8.41393362e-01 -4.33933757e-03 -2.09226606e+02] [-7.68575686e-03 2.20802851e-04 -9.99970440e-01 -8.03470735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.550385723 meters 0.018680151370352432 Centerline is valid? [True, True] Translation: X:18.91, Y:-209.24, Z:-8.04 [[ 7.96749904e-01 6.04286434e-01 -5.24371686e-03 1.89123930e+01] [ 6.04271709e-01 -7.96767135e-01 -4.22308235e-03 -2.09238829e+02] [-6.72997264e-03 1.96110706e-04 -9.99977334e-01 -8.03502494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.580385723 meters 0.01818225108346709 Centerline is valid? [True, True] Translation: X:18.92, Y:-209.25, Z:-8.04 [[ 7.46915618e-01 6.64906147e-01 -4.10796630e-03 1.89217547e+01] [ 6.64894871e-01 -7.46926896e-01 -3.87583912e-03 -2.09253431e+02] [-5.64541977e-03 1.63559050e-04 -9.99984051e-01 -8.03530280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.610385723 meters 0.01810073508845993 Centerline is valid? [True, True] Translation: X:18.93, Y:-209.26, Z:-8.04 [[ 6.92425915e-01 7.21479863e-01 -3.62755169e-03 1.89294625e+01] [ 7.21468767e-01 -6.92435400e-01 -4.00445241e-03 -2.09264651e+02] [-5.40097698e-03 1.55621377e-04 -9.99985403e-01 -8.03523196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.640385723 meters 0.018538283815666464 Centerline is valid? [True, True] Translation: X:18.94, Y:-209.28, Z:-8.03 [[ 6.33710620e-01 7.73563349e-01 -3.25495291e-03 1.89375572e+01] [ 7.73551887e-01 -6.33718961e-01 -4.21395647e-03 -2.09275504e+02] [-5.32248766e-03 1.52554006e-04 -9.99985824e-01 -8.03491502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.670385723 meters 0.018607077718554323 Centerline is valid? [True, True] Translation: X:18.95, Y:-209.28, Z:-8.03 [[ 5.71133001e-01 8.20851894e-01 -3.04367488e-03 1.89462984e+01] [ 8.20838722e-01 -5.71141089e-01 -4.65289911e-03 -2.09283917e+02] [-5.55770883e-03 1.59058037e-04 -9.99984543e-01 -8.03452456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.700385723 meters 0.018750535824415333 Centerline is valid? [True, True] Translation: X:18.95, Y:-209.29, Z:-8.03 [[ 5.05060759e-01 8.63080139e-01 -2.51051587e-03 1.89547357e+01] [ 8.63067968e-01 -5.05066977e-01 -4.58601343e-03 -2.09290973e+02] [-5.22607577e-03 1.49469593e-04 -9.99986333e-01 -8.03402523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.730385723 meters 0.019068440332000402 Centerline is valid? [True, True] Translation: X:18.96, Y:-209.30, Z:-8.03 [[ 4.35682164e-01 9.00098238e-01 -2.05273685e-03 1.89631998e+01] [ 9.00086666e-01 -4.35686977e-01 -4.56648400e-03 -2.09298751e+02] [-5.00463491e-03 1.41894568e-04 -9.99987467e-01 -8.03427471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.760385723 meters 0.019068475182979185 Centerline is valid? [True, True] Translation: X:18.97, Y:-209.30, Z:-8.03 [[ 3.63601462e-01 9.31553162e-01 -1.63790127e-03 1.89711755e+01] [ 9.31541959e-01 -3.63605125e-01 -4.57080202e-03 -2.09304488e+02] [-4.85349438e-03 1.36176538e-04 -9.99988213e-01 -8.03443932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.790385723 meters 0.019074019262574557 Centerline is valid? [True, True] Translation: X:18.98, Y:-209.31, Z:-8.03 [[ 2.88714589e-01 9.57414321e-01 -1.30540148e-03 1.89809489e+01] [ 9.57402309e-01 -2.88717509e-01 -4.79781953e-03 -2.09310547e+02] [-4.97039339e-03 1.35406106e-04 -9.99987638e-01 -8.03409090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.820385723 meters 0.01717235012000975 Centerline is valid? [True, True] Translation: X:19.00, Y:-209.32, Z:-8.03 [[ 2.12315250e-01 9.77200797e-01 -9.15200355e-04 1.89990360e+01] [ 9.77188865e-01 -2.12317182e-01 -4.83079483e-03 -2.09315896e+02] [-4.91496932e-03 1.31327815e-04 -9.99987913e-01 -8.03434858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.850385723 meters 0.017123848047491338 Centerline is valid? [True, True] Translation: X:19.01, Y:-209.32, Z:-8.03 [[ 1.34491771e-01 9.90914560e-01 -5.45964070e-04 1.90135456e+01] [ 9.90901965e-01 -1.34492815e-01 -4.99786779e-03 -2.09318941e+02] [-5.02588821e-03 1.31175222e-04 -9.99987362e-01 -8.03446099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.880385723 meters 0.017259920200212456 Centerline is valid? [True, True] Translation: X:19.03, Y:-209.32, Z:-8.03 [[ 5.48616142e-02 9.98493954e-01 -1.63907436e-04 1.90280589e+01] [ 9.98479434e-01 -5.48617006e-02 -5.38644409e-03 -2.09321651e+02] [-5.38732410e-03 1.31850814e-04 -9.99985480e-01 -8.03391706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.910385723 meters 0.016348495052427137 Centerline is valid? [True, True] Translation: X:19.05, Y:-209.32, Z:-8.03 [[-2.44613588e-02 9.99700743e-01 2.57988131e-04 1.90452778e+01] [ 9.99686304e-01 2.44623924e-02 -5.37453642e-03 -2.09321696e+02] [-5.37923906e-03 1.26438737e-04 -9.99985524e-01 -8.03417176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.940385723 meters 0.016740900821844873 Centerline is valid? [True, True] Translation: X:19.06, Y:-209.32, Z:-8.03 [[-1.04815225e-01 9.94491465e-01 7.03633365e-04 1.90607798e+01] [ 9.94476059e-01 1.04817518e-01 -5.53671954e-03 -2.09321665e+02] [-5.57997343e-03 1.19414034e-04 -9.99984425e-01 -8.03346512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.970385723 meters 0.016065669983123844 Centerline is valid? [True, True] Translation: X:19.08, Y:-209.32, Z:-8.03 [[-1.83804699e-01 9.82962071e-01 1.18282312e-03 1.90752613e+01] [ 9.82945590e-01 1.83808468e-01 -5.69342269e-03 -2.09319347e+02] [-5.81383147e-03 1.16172925e-04 -9.99983093e-01 -8.03369749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.000385723 meters 0.017937389208131916 Centerline is valid? [True, True] Translation: X:19.09, Y:-209.32, Z:-8.03 [[-2.61859731e-01 9.65104315e-01 1.77282762e-03 1.90859574e+01] [ 9.65085100e-01 2.61865706e-01 -6.09110913e-03 -2.09317797e+02] [-6.34279846e-03 1.15913325e-04 -9.99979878e-01 -8.03212242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.030385723 meters 0.015683865558439473 Centerline is valid? [True, True] Translation: X:19.10, Y:-209.31, Z:-8.03 [[-3.37690910e-01 9.41254686e-01 2.11335882e-03 1.90993952e+01] [ 9.41238111e-01 3.37697507e-01 -5.58681154e-03 -2.09313127e+02] [-5.97228855e-03 1.02558387e-04 -9.99982161e-01 -8.03427846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.06038572299997 meters 0.015665641016535618 Centerline is valid? [True, True] Translation: X:19.11, Y:-209.31, Z:-8.03 [[-4.11507921e-01 9.11402629e-01 2.54540745e-03 1.91090168e+01] [ 9.11386599e-01 4.11515782e-01 -5.40632022e-03 -2.09310222e+02] [-5.97480979e-03 9.51066432e-05 -9.99982146e-01 -8.03419984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.090385723 meters 0.014979830005591643 Centerline is valid? [True, True] Translation: X:19.12, Y:-209.30, Z:-8.03 [[-4.83714597e-01 8.75220151e-01 3.14252292e-03 1.91201011e+01] [ 8.75202819e-01 4.83724797e-01 -5.50869832e-03 -2.09303963e+02] [-6.34144004e-03 8.57071269e-05 -9.99979889e-01 -8.03462102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.12038572299997 meters 0.01459722115690582 Centerline is valid? [True, True] Translation: X:19.13, Y:-209.30, Z:-8.03 [[-5.51964640e-01 8.33860090e-01 3.51940557e-03 1.91328924e+01] [ 8.33844008e-01 5.51975855e-01 -5.17932261e-03 -2.09295121e+02] [-6.26145732e-03 7.58323059e-05 -9.99980394e-01 -8.03472923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.150385723 meters 0.014264145634582642 Centerline is valid? [True, True] Translation: X:19.15, Y:-209.29, Z:-8.03 [[-6.17672089e-01 7.86426317e-01 3.85191721e-03 1.91450094e+01] [ 7.86411609e-01 6.17684097e-01 -4.81017477e-03 -2.09286721e+02] [-6.16211604e-03 5.80817065e-05 -9.99981012e-01 -8.03464842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.180385723 meters 0.01417784913038231 Centerline is valid? [True, True] Translation: X:19.15, Y:-209.28, Z:-8.03 [[-6.78188613e-01 7.34875089e-01 4.33698033e-03 1.91535066e+01] [ 7.34860557e-01 6.78202478e-01 -4.62180258e-03 -2.09277788e+02] [-6.33779839e-03 5.26219018e-05 -9.99979915e-01 -8.03466870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.210385723 meters 0.014088903639791062 Centerline is valid? [True, True] Translation: X:19.16, Y:-209.27, Z:-8.03 [[-7.34504708e-01 6.78585399e-01 4.96887403e-03 1.91615067e+01] [ 6.78570307e-01 7.34521513e-01 -4.52602652e-03 -2.09268226e+02] [-6.72104039e-03 4.73425895e-05 -9.99977412e-01 -8.03457169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.240385723 meters 0.014081200503179228 Centerline is valid? [True, True] Translation: X:19.18, Y:-209.25, Z:-8.03 [[-7.80872851e-01 6.24667549e-01 5.29570453e-03 1.91790316e+01] [ 6.24653580e-01 7.80890806e-01 -4.17782773e-03 -2.09245823e+02] [-6.74512039e-03 4.56285463e-05 -9.99977250e-01 -8.03430642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.270385723 meters 0.014134933646509485 Centerline is valid? [True, True] Translation: X:19.19, Y:-209.22, Z:-8.03 [[-8.23249916e-01 5.67637893e-01 6.84098316e-03 1.91931842e+01] [ 5.67618844e-01 8.23278337e-01 -4.65066487e-03 -2.09223995e+02] [-8.27192685e-03 5.44114972e-05 -9.99965786e-01 -8.03434277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.300385723 meters 0.015590645168534489 Centerline is valid? [True, True] Translation: X:19.21, Y:-209.20, Z:-8.03 [[-8.61229288e-01 5.08157699e-01 7.73735679e-03 1.92050323e+01] [ 5.08137825e-01 8.61264041e-01 -4.49463785e-03 -2.09198610e+02] [-8.94789201e-03 6.07298901e-05 -9.99959965e-01 -8.03272967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.330385723 meters 0.015248563082571276 Centerline is valid? [True, True] Translation: X:19.22, Y:-209.17, Z:-8.03 [[-8.94975007e-01 4.46034899e-01 8.52087128e-03 1.92181179e+01] [ 4.46015389e-01 8.95015567e-01 -4.17228045e-03 -2.09174156e+02] [-9.48729512e-03 6.63529869e-05 -9.99954992e-01 -8.03247614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.360385723 meters 0.01437945156134107 Centerline is valid? [True, True] Translation: X:19.23, Y:-209.15, Z:-8.03 [[-9.24072780e-01 3.82119854e-01 8.59742098e-03 1.92269508e+01] [ 3.82104031e-01 9.24112770e-01 -3.47808642e-03 -2.09149208e+02] [-9.27403240e-03 7.11042291e-05 -9.99956993e-01 -8.03336600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.390385723 meters 0.01437945156134107 Centerline is valid? [True, True] Translation: X:19.23, Y:-209.12, Z:-8.03 [[-9.48829288e-01 3.15666199e-01 8.82228615e-03 1.92341039e+01] [ 3.15653250e-01 9.48870300e-01 -2.86002800e-03 -2.09120824e+02] [-9.27401948e-03 7.11049671e-05 -9.99956993e-01 -8.03336615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.420385723 meters 0.014386757561348412 Centerline is valid? [True, True] Translation: X:19.44, Y:-208.50, Z:-9.03 [[-9.31391334e-01 -3.63911622e-01 8.86087554e-03 1.94372056e+01] [ 3.63894573e-01 -9.31433480e-01 -3.52294636e-03 -2.08502637e+02] [ 9.53535727e-03 -5.68171840e-05 9.99954536e-01 -9.03285709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.450385723 meters 0.014280949238042682 Centerline is valid? [True, True] Translation: X:19.19, Y:-209.11, Z:-8.03 [[-9.49463634e-01 3.13745841e-01 9.07494988e-03 1.91866575e+01] [ 3.13732416e-01 9.49506998e-01 -2.90372036e-03 -2.09113356e+02] [-9.52775860e-03 9.01290682e-05 -9.99954606e-01 -8.03494083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.480385723 meters 0.014537843161632634 Centerline is valid? [True, True] Translation: X:19.19, Y:-209.09, Z:-8.04 [[-9.69148265e-01 2.46289121e-01 9.65972557e-03 1.91892589e+01] [ 2.46277928e-01 9.69196398e-01 -2.35016777e-03 -2.09086653e+02] [-9.94099199e-03 1.01316191e-04 -9.99950582e-01 -8.03513401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.510385723 meters 0.015169295036994821 Centerline is valid? [True, True] Translation: X:19.19, Y:-209.06, Z:-8.03 [[-9.83965236e-01 1.78067591e-01 1.02150416e-02 1.91922219e+01] [ 1.78059245e-01 9.84018251e-01 -1.72812764e-03 -2.09062888e+02] [-1.03595109e-02 1.18465072e-04 -9.99946332e-01 -8.03470301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.540385723 meters 0.014563384411226317 Centerline is valid? [True, True] Translation: X:19.31, Y:-208.39, Z:-9.03 [[-9.75091695e-01 -2.21586621e-01 9.77527081e-03 1.93058470e+01] [ 2.21574102e-01 -9.75140683e-01 -2.35924149e-03 -2.08392373e+02] [ 1.00550406e-02 -1.34529934e-04 9.99949438e-01 -9.03035286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.570385723 meters 0.014813209951032346 Centerline is valid? [True, True] Translation: X:19.14, Y:-209.06, Z:-8.04 [[-9.84627131e-01 1.74405473e-01 9.59912436e-03 1.91357802e+01] [ 1.74398323e-01 9.84673914e-01 -1.58341361e-03 -2.09058938e+02] [-9.72816336e-03 1.14999189e-04 -9.99952674e-01 -8.03605354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.600385723 meters 0.017167988429622638 Centerline is valid? [True, True] Translation: X:19.25, Y:-208.38, Z:-9.03 [[-9.76174335e-01 -2.16738961e-01 1.03870261e-02 1.92502616e+01] [ 2.16725963e-01 -9.76229593e-01 -2.37455213e-03 -2.08375558e+02] [ 1.06547802e-02 -6.68386152e-05 9.99943234e-01 -9.03204674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.630385723 meters 0.014956397574671548 Centerline is valid? [True, True] Translation: X:19.08, Y:-209.06, Z:-8.04 [[-9.85199899e-01 1.71130825e-01 9.76727752e-03 1.90791518e+01] [ 1.71123665e-01 9.85248307e-01 -1.57026983e-03 -2.09058351e+02] [-9.89191521e-03 1.24382649e-04 -9.99951066e-01 -8.03721461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.660385723 meters 0.015124643961549052 Centerline is valid? [True, True] Translation: X:19.19, Y:-208.36, Z:-9.03 [[-9.77239388e-01 -2.11911853e-01 9.82572994e-03 1.91926939e+01] [ 2.11899960e-01 -9.77288777e-01 -2.24806083e-03 -2.08360877e+02] [ 1.00789663e-02 -1.14821805e-04 9.99949199e-01 -9.02944523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.690385723 meters 0.015306174054113554 Centerline is valid? [True, True] Translation: X:19.02, Y:-209.06, Z:-8.04 [[-9.85684234e-01 1.68328244e-01 9.60173853e-03 1.90199198e+01] [ 1.68321592e-01 9.85730990e-01 -1.50249921e-03 -2.09055063e+02] [-9.71764428e-03 1.35190132e-04 -9.99952773e-01 -8.03730068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.720385723 meters 0.015557667666852716 Centerline is valid? [True, True] Translation: X:19.13, Y:-208.34, Z:-9.03 [[-9.78634788e-01 -2.05395314e-01 9.31222995e-03 1.91259529e+01] [ 2.05384618e-01 -9.78679081e-01 -2.10102827e-03 -2.08343464e+02] [ 9.54522602e-03 -1.43550568e-04 9.99954433e-01 -9.02821534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.750385723 meters 0.015518648726661288 Centerline is valid? [True, True] Translation: X:18.96, Y:-209.05, Z:-8.04 [[-9.86037769e-01 1.66242397e-01 9.64276151e-03 1.89576405e+01] [ 1.66236019e-01 9.86084905e-01 -1.46480504e-03 -2.09053583e+02] [-9.75209427e-03 1.58621195e-04 -9.99952435e-01 -8.03879130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.780385723 meters 0.015693570524016716 Centerline is valid? [True, True] Translation: X:18.94, Y:-209.02, Z:-8.04 [[-9.95342745e-01 9.58580734e-02 1.02004360e-02 1.89376128e+01] [ 9.58547573e-02 9.95394998e-01 -8.14616233e-04 -2.09024692e+02] [-1.02315505e-02 1.66937960e-04 -9.99947642e-01 -8.03873741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81038572299997 meters 0.01579715713579086 Centerline is valid? [True, True] Translation: X:19.02, Y:-208.29, Z:-9.03 [[-9.91415159e-01 -1.30302713e-01 1.08252690e-02 1.90220216e+01] [ 1.30293490e-01 -9.91474249e-01 -1.55588422e-03 -2.08291982e+02] [ 1.09357114e-02 -1.32065120e-04 9.99940195e-01 -9.02817865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.840385723 meters 0.015158089059663597 Centerline is valid? [True, True] Translation: X:18.89, Y:-209.02, Z:-8.04 [[-9.95780163e-01 9.10530279e-02 1.14548668e-02 1.88900877e+01] [ 9.10491345e-02 9.95846028e-01 -8.62010270e-04 -2.09024030e+02] [-1.14857723e-02 1.84582985e-04 -9.99934019e-01 -8.03970338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87038572299997 meters 0.0150954530593288 Centerline is valid? [True, True] Translation: X:18.95, Y:-208.28, Z:-9.03 [[-9.91872678e-01 -1.26611685e-01 1.25726876e-02 1.89459059e+01] [ 1.26599920e-01 -9.91952351e-01 -1.73047184e-03 -2.08283730e+02] [ 1.26906050e-02 -1.24706484e-04 9.99919463e-01 -9.02797022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.900385723 meters 0.016088508893066882 Centerline is valid? [True, True] Translation: X:18.81, Y:-209.03, Z:-8.04 [[-9.96239101e-01 8.55612680e-02 1.36719504e-02 1.88132606e+01] [ 8.55561400e-02 9.96332888e-01 -9.60593706e-04 -2.09025651e+02] [-1.37040035e-02 2.12738292e-04 -9.99906073e-01 -8.03564928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.930385723 meters 0.015884983725733524 Centerline is valid? [True, True] Translation: X:18.81, Y:-209.00, Z:-8.04 [[-9.99791590e-01 1.47895973e-02 1.40727917e-02 1.88085677e+01] [ 1.47912629e-02 9.99890603e-01 1.42708222e-05 -2.08998014e+02] [-1.40710412e-02 2.22422210e-04 -9.99900973e-01 -8.03637509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.960385723 meters 0.01555518630693627 Centerline is valid? [True, True] Translation: X:18.81, Y:-208.24, Z:-9.03 [[-9.98652131e-01 -4.98686315e-02 1.43889276e-02 1.88066886e+01] [ 4.98604943e-02 -9.98755765e-01 -9.23924289e-04 -2.08237974e+02] [ 1.44170992e-02 -2.05239918e-04 9.99896047e-01 -9.02916208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.990385723 meters 0.016096027564030016 Centerline is valid? [True, True] Translation: X:18.71, Y:-209.00, Z:-8.04 [[-9.99842581e-01 9.74975162e-03 1.48241552e-02 1.87072307e+01] [ 9.75241579e-03 9.99952438e-01 1.07437664e-04 -2.09003693e+02] [-1.48224027e-02 2.51992077e-04 -9.99890110e-01 -8.03751413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.020385723 meters 0.015768279270158714 Centerline is valid? [True, True] Translation: X:18.70, Y:-208.98, Z:-8.04 [[-9.98009264e-01 -6.13796249e-02 1.44931179e-02 1.87008215e+01] [-6.13695353e-02 9.98114462e-01 1.14030267e-03 -2.08976023e+02] [-1.45357819e-02 2.48596716e-04 -9.99894319e-01 -8.03926427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.050385723 meters 0.01601399485875394 Centerline is valid? [True, True] Translation: X:18.69, Y:-208.95, Z:-8.04 [[-9.90937644e-01 -1.33612311e-01 1.37962233e-02 1.86896883e+01] [-1.33596220e-01 9.91033653e-01 2.08552749e-03 -2.08950986e+02] [-1.39511737e-02 2.23504413e-04 -9.99902653e-01 -8.03937503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.080385723 meters 0.015524545138246791 Centerline is valid? [True, True] Translation: X:18.66, Y:-208.93, Z:-8.04 [[-9.78529784e-01 -2.05671280e-01 1.33711363e-02 1.86603370e+01] [-2.05649217e-01 9.78621113e-01 3.01939838e-03 -2.08926962e+02] [-1.37062798e-02 2.04807525e-04 -9.99906044e-01 -8.03989766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.110385723 meters 0.015166940556671712 Centerline is valid? [True, True] Translation: X:18.61, Y:-208.91, Z:-8.04 [[-9.60602354e-01 -2.77623313e-01 1.29774363e-02 1.86130778e+01] [-2.77595371e-01 9.60689993e-01 3.94311050e-03 -2.08909494e+02] [-1.35619926e-02 1.85284974e-04 -9.99908015e-01 -8.04015207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.140385723 meters 0.014928085680398934 Centerline is valid? [True, True] Translation: X:18.55, Y:-208.90, Z:-8.04 [[-9.36399864e-01 -3.50688273e-01 1.31540557e-02 1.85499714e+01] [-3.50651485e-01 9.36492239e-01 5.08160185e-03 -2.08902364e+02] [-1.41007293e-02 1.45922113e-04 -9.99900569e-01 -8.04053272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.170385723 meters 0.014740485132830165 Centerline is valid? [True, True] Translation: X:18.48, Y:-208.90, Z:-8.04 [[-9.07020005e-01 -4.20878276e-01 1.32735960e-02 1.84771886e+01] [-4.20831200e-01 9.07117116e-01 6.29601416e-03 -2.08902488e+02] [-1.46905617e-02 1.24667469e-04 -9.99892080e-01 -8.04024564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.200385723 meters 0.014557393453016692 Centerline is valid? [True, True] Translation: X:18.40, Y:-208.91, Z:-8.04 [[-8.71313278e-01 -4.90551485e-01 1.31305863e-02 1.83962682e+01] [-4.90494514e-01 8.71412208e-01 7.47638038e-03 -2.08911216e+02] [-1.51097027e-02 7.37889286e-05 -9.99885839e-01 -8.03922657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.230385723 meters 0.01448284923897137 Centerline is valid? [True, True] Translation: X:18.31, Y:-208.93, Z:-8.04 [[-8.31106199e-01 -5.55969478e-01 1.26658891e-02 1.83060005e+01] [-5.55904043e-01 8.31202705e-01 8.52985241e-03 -2.08932419e+02] [-1.52702589e-02 4.81942640e-05 -9.99883402e-01 -8.03789425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.260385723 meters 0.014460645674234107 Centerline is valid? [True, True] Translation: X:18.22, Y:-208.96, Z:-8.04 [[-7.85741638e-01 -6.18425970e-01 1.26253005e-02 1.82153319e+01] [-6.18345710e-01 7.85843063e-01 9.96316482e-03 -2.08961675e+02] [-1.60829847e-02 2.16730588e-05 -9.99870660e-01 -8.03744215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.290385723 meters 0.014697357706486282 Centerline is valid? [True, True] Translation: X:18.12, Y:-209.00, Z:-8.03 [[-7.34288258e-01 -6.78737204e-01 1.16859515e-02 1.81175604e+01] [-6.78652074e-01 7.34381240e-01 1.07496998e-02 -2.09003354e+02] [-1.58781647e-02 -3.73168651e-05 -9.99873933e-01 -8.03484629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.320385723 meters 0.01448579993188271 Centerline is valid? [True, True] Translation: X:18.03, Y:-209.05, Z:-8.04 [[-6.79386691e-01 -7.33700244e-01 1.08478506e-02 1.80274952e+01] [-7.33608199e-01 6.79473287e-01 1.16216388e-02 -2.09050716e+02] [-1.58976239e-02 -6.24853806e-05 -9.99873623e-01 -8.03665068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.350385723 meters 0.014598782646006489 Centerline is valid? [True, True] Translation: X:17.93, Y:-209.11, Z:-8.04 [[-6.20416151e-01 -7.84206123e-01 1.02252512e-02 1.79319723e+01] [-7.84101975e-01 6.20500402e-01 1.27805991e-02 -2.09114967e+02] [-1.63673966e-02 -8.83495582e-05 -9.99866041e-01 -8.03569033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.380385723 meters 0.01465463587027199 Centerline is valid? [True, True] Translation: X:17.84, Y:-209.18, Z:-8.04 [[-5.59041567e-01 -8.29084462e-01 9.56458336e-03 1.78443820e+01] [-8.28965718e-01 5.59123374e-01 1.40317951e-02 -2.09184495e+02] [-1.69813254e-02 -8.43549779e-05 -9.99855803e-01 -8.03525283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.410385723 meters 0.01464713200670554 Centerline is valid? [True, True] Translation: X:17.75, Y:-209.27, Z:-8.03 [[-4.94347969e-01 -8.69220902e-01 8.66656942e-03 1.77542941e+01] [-8.69090150e-01 4.94423925e-01 1.50762515e-02 -2.09273842e+02] [-1.73895522e-02 -7.91158321e-05 -9.99848787e-01 -8.03446593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.440385723 meters 0.014583097068072754 Centerline is valid? [True, True] Translation: X:17.67, Y:-209.38, Z:-8.04 [[-4.27910983e-01 -9.03794538e-01 6.90106393e-03 1.76691151e+01] [-9.03678703e-01 4.27966625e-01 1.44696143e-02 -2.09378475e+02] [-1.60309834e-02 -4.46376048e-05 -9.99871495e-01 -8.03569318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.470385723 meters 0.01461013814857173 Centerline is valid? [True, True] Translation: X:17.61, Y:-209.44, Z:-8.04 [[-3.59307674e-01 -9.33202264e-01 5.61518688e-03 1.76136603e+01] [-9.33088464e-01 3.59351548e-01 1.45733541e-02 -2.09440174e+02] [-1.56177131e-02 -3.14814883e-06 -9.99878036e-01 -8.03666694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.500385723 meters 0.014663762167505676 Centerline is valid? [True, True] Translation: X:17.55, Y:-209.54, Z:-8.04 [[-2.87601423e-01 -9.57740100e-01 4.39573029e-03 1.75485718e+01] [-9.57627357e-01 2.87635013e-01 1.46950306e-02 -2.09543073e+02] [-1.53383860e-02 1.68401112e-05 -9.99882360e-01 -8.03692255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.530385723 meters 0.014679129830895567 Centerline is valid? [True, True] Translation: X:17.49, Y:-209.66, Z:-8.04 [[-2.14182144e-01 -9.76788133e-01 3.30948614e-03 1.74897936e+01] [-9.76668857e-01 2.14207708e-01 1.52644006e-02 -2.09657835e+02] [-1.56190028e-02 3.70900135e-05 -9.99878015e-01 -8.03645897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.56038572299997 meters 0.014771806935412678 Centerline is valid? [True, True] Translation: X:17.44, Y:-209.78, Z:-8.04 [[-1.39721857e-01 -9.90188572e-01 2.09645925e-03 1.74404938e+01] [-9.90070490e-01 1.39737571e-01 1.52916741e-02 -2.09775657e+02] [-1.54345950e-02 6.09386599e-05 -9.99880878e-01 -8.03662460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.590385723 meters 0.015024794734772246 Centerline is valid? [True, True] Translation: X:17.40, Y:-209.89, Z:-8.04 [[-6.63941492e-02 -9.97793087e-01 8.79313732e-04 1.74013810e+01] [-9.97681826e-01 6.63998771e-02 1.49006830e-02 -2.09887322e+02] [-1.49261848e-02 1.12042837e-04 -9.99888592e-01 -8.03840453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.62038572299997 meters 0.015217550422628763 Centerline is valid? [True, True] Translation: X:17.37, Y:-210.01, Z:-8.04 [[ 8.77127859e-03 -9.99961496e-01 -2.65165403e-04 1.73704701e+01] [-9.99856918e-01 -8.77419631e-03 1.44622958e-02 -2.10008382e+02] [-1.44640656e-02 1.38274637e-04 -9.99895380e-01 -8.03832594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.650385723 meters 0.015990154053404204 Centerline is valid? [True, True] Translation: X:17.35, Y:-210.13, Z:-8.04 [[ 8.12157903e-02 -9.96695574e-01 -1.38891042e-03 1.73497453e+01] [-9.96590466e-01 -8.12273980e-02 1.44759211e-02 -2.10130798e+02] [-1.45409041e-02 2.08501508e-04 -9.99894254e-01 -8.03788893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.680385723 meters 0.016359371443787796 Centerline is valid? [True, True] Translation: X:17.34, Y:-210.26, Z:-8.04 [[ 1.55600310e-01 -9.87816699e-01 -2.59087192e-03 1.73380696e+01] [-9.87705459e-01 -1.55621675e-01 1.48263188e-02 -2.10257245e+02] [-1.50488811e-02 2.52038541e-04 -9.99886727e-01 -8.03799323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.710385723 meters 0.0168724007226004 Centerline is valid? [True, True] Translation: X:17.34, Y:-210.38, Z:-8.04 [[ 2.29258887e-01 -9.73358243e-01 -3.75408113e-03 1.73358881e+01] [-9.73247467e-01 -2.29289443e-01 1.46874188e-02 -2.10383601e+02] [-1.51568914e-02 2.86428650e-04 -9.99885087e-01 -8.03712051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.740385723 meters 0.017754067507719417 Centerline is valid? [True, True] Translation: X:17.34, Y:-210.51, Z:-8.04 [[ 2.99573532e-01 -9.54059269e-01 -5.15850495e-03 1.73429917e+01] [-9.53938484e-01 -2.99617711e-01 1.51854097e-02 -2.10508304e+02] [-1.60333603e-02 3.71749589e-04 -9.99871388e-01 -8.03646209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.770385723 meters 0.017819589952807247 Centerline is valid? [True, True] Translation: X:17.36, Y:-210.64, Z:-8.04 [[ 3.70229502e-01 -9.28919424e-01 -6.23052666e-03 1.73615766e+01] [-9.28805532e-01 -3.70281709e-01 1.45513081e-02 -2.10640097e+02] [-1.58240428e-02 3.99624067e-04 -9.99874712e-01 -8.03727947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.800385723 meters 0.018857823168450343 Centerline is valid? [True, True] Translation: X:17.38, Y:-210.75, Z:-8.04 [[ 4.38151955e-01 -8.98872089e-01 -7.19941596e-03 1.73812181e+01] [-8.98766628e-01 -4.38210883e-01 1.37757419e-02 -2.10750442e+02] [-1.55374923e-02 4.34726567e-04 -9.99879191e-01 -8.03725381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.830385723 meters 0.01884333737919075 Centerline is valid? [True, True] Translation: X:17.41, Y:-210.87, Z:-8.04 [[ 5.05438087e-01 -8.62825283e-01 -8.05424698e-03 1.74140817e+01] [-8.62729102e-01 -5.05502070e-01 1.28900820e-02 -2.10870340e+02] [-1.51933272e-02 4.33494879e-04 -9.99884481e-01 -8.03746722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.860385723 meters 0.018519482932407526 Centerline is valid? [True, True] Translation: X:17.45, Y:-210.98, Z:-8.04 [[ 5.70332510e-01 -8.21372050e-01 -8.29360164e-03 1.74517379e+01] [-8.21295095e-01 -5.70392671e-01 1.12502232e-02 -2.10984095e+02] [-1.39712285e-02 3.95126295e-04 -9.99902320e-01 -8.03934052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.890385723 meters 0.01892074304557026 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.09, Z:-8.04 [[ 6.32198640e-01 -7.74759702e-01 -8.50205588e-03 1.74990922e+01] [-7.74697102e-01 -6.32255706e-01 9.85503422e-03 -2.11091344e+02] [-1.30107567e-02 3.56178828e-04 -9.99915293e-01 -8.03934635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.920385723 meters 0.018199007320961108 Centerline is valid? [True, True] Translation: X:17.55, Y:-211.20, Z:-8.04 [[ 6.90408637e-01 -7.23362201e-01 -9.11265234e-03 1.75525324e+01] [-7.23305515e-01 -6.90468691e-01 9.06191503e-03 -2.11195319e+02] [-1.28470479e-02 3.34807293e-04 -9.99917417e-01 -8.03989798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.950385723 meters 0.01764504491473559 Centerline is valid? [True, True] Translation: X:17.54, Y:-211.21, Z:-8.04 [[ 7.45569119e-01 -6.66356337e-01 -9.79399312e-03 1.75439356e+01] [-6.66304429e-01 -7.45633375e-01 8.32330815e-03 -2.11206783e+02] [-1.28490173e-02 3.20179477e-04 -9.99917397e-01 -8.04003169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.980385723 meters 0.016839618825051698 Centerline is valid? [True, True] Translation: X:17.53, Y:-211.22, Z:-8.04 [[ 7.97755134e-01 -6.02893452e-01 -1.03068649e-02 1.75339681e+01] [-6.02847415e-01 -7.97821669e-01 7.45511325e-03 -2.11221137e+02] [-1.27176791e-02 2.66111987e-04 -9.99919092e-01 -8.03942140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.010385723 meters 0.016711380499411586 Centerline is valid? [True, True] Translation: X:17.53, Y:-211.23, Z:-8.04 [[ 8.43347745e-01 -5.37254948e-01 -1.10318348e-02 1.75266898e+01] [-5.37212818e-01 -8.43419859e-01 6.73264305e-03 -2.11232058e+02] [-1.29216143e-02 2.48483721e-04 -9.99916482e-01 -8.03930586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.040385723 meters 0.016588803035303617 Centerline is valid? [True, True] Translation: X:17.52, Y:-211.24, Z:-8.04 [[ 8.83962213e-01 -4.67449963e-01 -1.00666885e-02 1.75199054e+01] [-4.67422069e-01 -8.84019511e-01 5.11006973e-03 -2.11244420e+02] [-1.12878510e-02 1.88283837e-04 -9.99936273e-01 -8.03974672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.070385723 meters 0.01587278679355236 Centerline is valid? [True, True] Translation: X:17.52, Y:-211.26, Z:-8.04 [[ 9.18205449e-01 -3.95991600e-01 -9.45548065e-03 1.75151706e+01] [-3.95972395e-01 -9.18254119e-01 3.90321642e-03 -2.11258548e+02] [-1.02281750e-02 1.60154733e-04 -9.99947678e-01 -8.04150448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.100385723 meters 0.015780828454930482 Centerline is valid? [True, True] Translation: X:17.51, Y:-211.27, Z:-8.04 [[ 9.46764579e-01 -3.21796088e-01 -9.17112660e-03 1.75119357e+01] [-3.21782404e-01 -9.46808988e-01 2.97074254e-03 -2.11270057e+02] [-9.63927841e-03 1.38513362e-04 -9.99953532e-01 -8.04216081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.130385723 meters 0.015611045017325029 Centerline is valid? [True, True] Translation: X:17.51, Y:-211.28, Z:-8.04 [[ 9.69502232e-01 -2.44940221e-01 -8.34933615e-03 1.75095568e+01] [-2.44932087e-01 -9.69538177e-01 1.99899914e-03 -2.11280804e+02] [-8.58463544e-03 1.06986198e-04 -9.99963146e-01 -8.04370421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.160385723 meters 0.01522714894228632 Centerline is valid? [True, True] Translation: X:17.51, Y:-211.29, Z:-8.04 [[ 9.85847175e-01 -1.67466574e-01 -7.76490024e-03 1.75054093e+01] [-1.67462108e-01 -9.85877750e-01 1.22646044e-03 -2.11293199e+02] [-7.86063351e-03 9.12239996e-05 -9.99969101e-01 -8.04473641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.190385723 meters 0.014667574001955348 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.31, Z:-8.04 [[ 9.96179793e-01 -8.70515396e-02 -6.91729930e-03 1.75015369e+01] [-8.70498705e-02 -9.96203807e-01 5.42574913e-04 -2.11310136e+02] [-6.93827188e-03 6.16478444e-05 -9.99975928e-01 -8.04479997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.220385723 meters 0.01467457436784312 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.32, Z:-8.04 [[ 9.99946653e-01 -7.38990331e-03 -7.21667342e-03 1.74992205e+01] [-7.39010217e-03 -9.99972693e-01 -8.89558196e-07 -2.11323655e+02] [-7.21646978e-03 5.42214647e-05 -9.99973960e-01 -8.04425242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.250385723 meters 0.014508422646649893 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.34, Z:-8.04 [[ 9.97367936e-01 7.21695261e-02 -6.98280583e-03 1.74980187e+01] [ 7.21674495e-02 -9.97392379e-01 -5.49226814e-04 -2.11336524e+02] [-7.00423475e-03 4.38499271e-05 -9.99975469e-01 -8.04396777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.280385723 meters 0.014508422646649893 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.35, Z:-8.04 [[ 9.88655080e-01 1.50044227e-01 -6.91830473e-03 1.74976679e+01] [ 1.50040243e-01 -9.88679285e-01 -1.09429277e-03 -2.11347878e+02] [-7.00417688e-03 4.38539853e-05 -9.99975470e-01 -8.04396830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31038572299997 meters 0.014259491976696508 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.36, Z:-8.04 [[ 9.73295746e-01 2.29425309e-01 -7.70834307e-03 1.74985416e+01] [ 2.29417868e-01 -9.73326269e-01 -1.84799028e-03 -2.11361975e+02] [-7.92670855e-03 3.02094432e-05 -9.99968583e-01 -8.04267946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.340385723 meters 0.014201670647623295 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.37, Z:-8.04 [[ 9.52168825e-01 3.05470045e-01 -7.91079205e-03 1.75006947e+01] [ 3.05459269e-01 -9.52201686e-01 -2.56600893e-03 -2.11373813e+02] [-8.31650839e-03 2.68489559e-05 -9.99965417e-01 -8.04251394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37038572299997 meters 0.014073819510730955 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.39, Z:-8.04 [[ 9.25194145e-01 3.79424348e-01 -7.27728305e-03 1.75048644e+01] [ 3.79412421e-01 -9.25222764e-01 -3.00853734e-03 -2.11386754e+02] [-7.87462026e-03 2.23895515e-05 -9.99968995e-01 -8.04272861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.400385723 meters 0.014146074443886436 Centerline is valid? [True, True] Translation: X:17.51, Y:-211.40, Z:-8.04 [[ 8.92761931e-01 4.50477870e-01 -6.76935927e-03 1.75088617e+01] [ 4.50464720e-01 -8.92787594e-01 -3.44198923e-03 -2.11396861e+02] [-7.59413996e-03 2.35194204e-05 -9.99971164e-01 -8.04300534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.430385723 meters 0.014152578418200541 Centerline is valid? [True, True] Translation: X:17.51, Y:-211.41, Z:-8.04 [[ 8.55440475e-01 5.17868228e-01 -5.83879697e-03 1.75132390e+01] [ 5.17855925e-01 -8.55460401e-01 -3.56972073e-03 -2.11405889e+02] [-6.84350455e-03 3.00279924e-05 -9.99976583e-01 -8.04302337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.460385723 meters 0.014420453791905442 Centerline is valid? [True, True] Translation: X:17.52, Y:-211.41, Z:-8.04 [[ 8.13698699e-01 5.81257163e-01 -5.87683184e-03 1.75167011e+01] [ 5.81241562e-01 -8.13719920e-01 -4.25898937e-03 -2.11414153e+02] [-7.25766321e-03 4.96751930e-05 -9.99973662e-01 -8.04254419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.490385723 meters 0.01435693893096967 Centerline is valid? [True, True] Translation: X:17.52, Y:-211.42, Z:-8.04 [[ 7.66501275e-01 6.42218568e-01 -5.57735428e-03 1.75232027e+01] [ 6.42201004e-01 -7.66521563e-01 -4.75010880e-03 -2.11422780e+02] [-7.32577039e-03 5.91819340e-05 -9.99973164e-01 -8.04285337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.520385723 meters 0.014695821965045338 Centerline is valid? [True, True] Translation: X:17.53, Y:-211.43, Z:-8.04 [[ 7.15534608e-01 6.98558811e-01 -5.08047447e-03 1.75279139e+01] [ 6.98540457e-01 -7.15552641e-01 -5.06441381e-03 -2.11431048e+02] [-7.17313781e-03 7.48463892e-05 -9.99974270e-01 -8.04245667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.550385723 meters 0.01488122727985901 Centerline is valid? [True, True] Translation: X:17.53, Y:-211.44, Z:-8.04 [[ 6.59439982e-01 7.51742455e-01 -4.71089454e-03 1.75336340e+01] [ 7.51722366e-01 -6.59456803e-01 -5.49630420e-03 -2.11438316e+02] [-7.23843666e-03 8.31979474e-05 -9.99973799e-01 -8.04224178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.580385723 meters 0.014984845060199413 Centerline is valid? [True, True] Translation: X:17.54, Y:-211.45, Z:-8.04 [[ 5.99414573e-01 8.00427943e-01 -4.15659581e-03 1.75399022e+01] [ 8.00407663e-01 -5.99428978e-01 -5.69857607e-03 -2.11445623e+02] [-7.05288350e-03 8.88384038e-05 -9.99975124e-01 -8.04234110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.610385723 meters 0.015341894278298662 Centerline is valid? [True, True] Translation: X:17.55, Y:-211.45, Z:-8.04 [[ 5.36443277e-01 8.43927245e-01 -3.92636761e-03 1.75465927e+01] [ 8.43903147e-01 -5.36457635e-01 -6.37839588e-03 -2.11451912e+02] [-7.48923194e-03 1.08173609e-04 -9.99971950e-01 -8.04225851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.640385723 meters 0.015598508867786494 Centerline is valid? [True, True] Translation: X:17.55, Y:-211.46, Z:-8.04 [[ 4.69448596e-01 8.82953139e-01 -3.43070888e-03 1.75531399e+01] [ 8.82927744e-01 -4.69461118e-01 -6.69761930e-03 -2.11458559e+02] [-7.52426841e-03 1.15119927e-04 -9.99971686e-01 -8.04207842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.670385723 meters 0.015631250380492907 Centerline is valid? [True, True] Translation: X:17.56, Y:-211.47, Z:-8.04 [[ 4.00000901e-01 9.16509898e-01 -2.98097694e-03 1.75633997e+01] [ 9.16482008e-01 -4.00011988e-01 -7.15110747e-03 -2.11465624e+02] [-7.74648729e-03 1.28437696e-04 -9.99969987e-01 -8.04218303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.700385723 meters 0.015826345870654082 Centerline is valid? [True, True] Translation: X:17.57, Y:-211.47, Z:-8.04 [[ 3.27334823e-01 9.44905480e-01 -2.35522444e-03 1.75724550e+01] [ 9.44878135e-01 -3.27343271e-01 -7.18980469e-03 -2.11472268e+02] [-7.56465273e-03 1.28073368e-04 -9.99971379e-01 -8.04181478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.730385723 meters 0.015522536159227308 Centerline is valid? [True, True] Translation: X:17.59, Y:-211.48, Z:-8.04 [[ 2.52490940e-01 9.67597586e-01 -1.79894278e-03 1.75861461e+01] [ 9.67569215e-01 -2.52497315e-01 -7.41082767e-03 -2.11477439e+02] [-7.62492718e-03 1.30565186e-04 -9.99970921e-01 -8.04230402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.760385723 meters 0.016536526224303183 Centerline is valid? [True, True] Translation: X:17.60, Y:-211.48, Z:-8.04 [[ 1.75637017e-01 9.84454131e-01 -1.30443024e-03 1.75963042e+01] [ 9.84420832e-01 -1.75641807e-01 -8.09820394e-03 -2.11481929e+02] [-8.20142281e-03 1.38236083e-04 -9.99966358e-01 -8.04092483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.790385723 meters 0.015927846023182413 Centerline is valid? [True, True] Translation: X:17.61, Y:-211.49, Z:-8.04 [[ 9.76700717e-02 9.95218628e-01 -6.62947483e-04 1.76077377e+01] [ 9.95185376e-01 -9.76722284e-02 -8.13654034e-03 -2.11485438e+02] [-8.16238807e-03 1.34940838e-04 -9.99966678e-01 -8.04141472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.820385723 meters 0.01535672402382235 Centerline is valid? [True, True] Translation: X:17.62, Y:-211.49, Z:-8.04 [[ 1.90011266e-02 9.99819462e-01 -2.38148842e-05 1.76226459e+01] [ 9.99785548e-01 -1.90006783e-02 -8.23599874e-03 -2.11487672e+02] [-8.23496433e-03 1.32683478e-04 -9.99966083e-01 -8.04250294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.850385723 meters 0.015246022753791732 Centerline is valid? [True, True] Translation: X:17.64, Y:-211.49, Z:-8.04 [[-5.97201619e-02 9.98214982e-01 5.93992583e-04 1.76373458e+01] [ 9.98184143e-01 5.97229865e-02 -7.84743609e-03 -2.11488731e+02] [-7.86890328e-03 1.24263824e-04 -9.99969032e-01 -8.04258461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.880385723 meters 0.015263216482768087 Centerline is valid? [True, True] Translation: X:17.65, Y:-211.49, Z:-8.04 [[-1.38014892e-01 9.90429511e-01 1.12821903e-03 1.76508920e+01] [ 9.90402828e-01 1.38019456e-01 -7.27098595e-03 -2.11490193e+02] [-7.35711523e-03 1.13886985e-04 -9.99972930e-01 -8.04246419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.910385723 meters 0.015275787203753163 Centerline is valid? [True, True] Translation: X:17.66, Y:-211.49, Z:-8.04 [[-2.15525758e-01 9.76496757e-01 1.65293368e-03 1.76639329e+01] [ 9.76471778e-01 2.15532069e-01 -6.98524691e-03 -2.11488755e+02] [-7.17733117e-03 1.08542458e-04 -9.99974237e-01 -8.04260985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.940385723 meters 0.015266373755621352 Centerline is valid? [True, True] Translation: X:17.68, Y:-211.49, Z:-8.04 [[-2.91149501e-01 9.56675092e-01 2.17646921e-03 1.76756487e+01] [ 9.56651100e-01 2.91157615e-01 -6.77617681e-03 -2.11487637e+02] [-7.11629516e-03 1.09241170e-04 -9.99974673e-01 -8.04233878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.970385723 meters 0.015500875480265306 Centerline is valid? [True, True] Translation: X:17.69, Y:-211.49, Z:-8.04 [[-3.64814025e-01 9.31076754e-01 2.60886877e-03 1.76869478e+01] [ 9.31055026e-01 3.64823337e-01 -6.36167380e-03 -2.11486569e+02] [-6.87498280e-03 1.08172555e-04 -9.99976361e-01 -8.04160118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.000385723 meters 0.01575677616642128 Centerline is valid? [True, True] Translation: X:17.70, Y:-211.48, Z:-8.04 [[-4.36393507e-01 8.99750571e-01 3.10130575e-03 1.76959617e+01] [ 8.99729612e-01 4.36404513e-01 -6.14227233e-03 -2.11484795e+02] [-6.87993686e-03 1.09888863e-04 -9.99976327e-01 -8.04144210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.030385723 meters 0.015724212828052395 Centerline is valid? [True, True] Translation: X:17.70, Y:-211.48, Z:-8.04 [[-5.05303005e-01 8.62935457e-01 3.35700087e-03 1.77044422e+01] [ 8.62917777e-01 5.05314145e-01 -5.52497616e-03 -2.11481239e+02] [-6.46403785e-03 1.05028674e-04 -9.99979102e-01 -8.04155898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.06038572299997 meters 0.01580049118090202 Centerline is valid? [True, True] Translation: X:17.71, Y:-211.48, Z:-8.04 [[-5.71244955e-01 8.20772394e-01 3.44662293e-03 1.77134512e+01] [ 8.20758462e-01 5.71255344e-01 -4.78318736e-03 -2.11477473e+02] [-5.89480991e-03 9.64732874e-05 -9.99982621e-01 -8.04176533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.090385723 meters 0.015968180528416077 Centerline is valid? [True, True] Translation: X:17.72, Y:-211.47, Z:-8.04 [[-6.33389959e-01 7.73824211e-01 3.64010445e-03 1.77205713e+01] [ 7.73812283e-01 6.33400411e-01 -4.29758590e-03 -2.11472936e+02] [-5.63121967e-03 9.47097811e-05 -9.99984140e-01 -8.04154969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.12038572299997 meters 0.016270453040875203 Centerline is valid? [True, True] Translation: X:17.73, Y:-211.47, Z:-8.04 [[-6.91456448e-01 7.22407687e-01 3.88769825e-03 1.77270406e+01] [ 7.22397053e-01 6.91467371e-01 -3.92092453e-03 -2.11469807e+02] [-5.52072251e-03 9.73132111e-05 -9.99984756e-01 -8.04189999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.150385723 meters 0.015987762040364582 Centerline is valid? [True, True] Translation: X:17.73, Y:-211.46, Z:-8.04 [[-7.45680205e-01 6.66289670e-01 4.37129250e-03 1.77347260e+01] [ 6.66279029e-01 7.45693010e-01 -3.76691727e-03 -2.11462707e+02] [-5.76950033e-03 1.03584881e-04 -9.99983351e-01 -8.04195189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.180385723 meters 0.01664873446360806 Centerline is valid? [True, True] Translation: X:17.75, Y:-211.44, Z:-8.04 [[-7.90711053e-01 6.12173064e-01 4.49113487e-03 1.77497315e+01] [ 6.12163923e-01 7.90723801e-01 -3.34693116e-03 -2.11438961e+02] [-5.60014834e-03 1.02855282e-04 -9.99984314e-01 -8.04169244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.210385723 meters 0.016694683521749694 Centerline is valid? [True, True] Translation: X:17.77, Y:-211.42, Z:-8.04 [[-8.32199402e-01 5.54460941e-01 4.14983944e-03 1.77674816e+01] [ 5.54454578e-01 8.32209744e-01 -2.65780387e-03 -2.11415698e+02] [-4.92718525e-03 8.90746793e-05 -9.99987857e-01 -8.04229473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.240385723 meters 0.01668118705547356 Centerline is valid? [True, True] Translation: X:17.78, Y:-211.39, Z:-8.04 [[-8.69616346e-01 4.93710247e-01 4.19560178e-03 1.77797800e+01] [ 4.93704963e-01 8.69626463e-01 -2.28557983e-03 -2.11388749e+02] [-4.77702052e-03 8.38118464e-05 -9.99988587e-01 -8.04263611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.270385723 meters 0.015146946854733168 Centerline is valid? [True, True] Translation: X:17.80, Y:-211.36, Z:-8.04 [[-9.02944544e-01 4.29743135e-01 3.46248557e-03 1.77980191e+01] [ 4.29740229e-01 9.02951181e-01 -1.58146225e-03 -2.11360528e+02] [-3.80607797e-03 5.99966339e-05 -9.99992755e-01 -8.04346944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.300385723 meters 0.01599006825317871 Centerline is valid? [True, True] Translation: X:17.81, Y:-211.33, Z:-8.04 [[-9.31461449e-01 3.63823712e-01 3.44598100e-03 1.78062223e+01] [ 3.63821438e-01 9.31467822e-01 -1.28748091e-03 -2.11334303e+02] [-3.67823650e-03 5.44829226e-05 -9.99993234e-01 -8.04285956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.330385723 meters 0.014752911174894301 Centerline is valid? [True, True] Translation: X:17.81, Y:-211.30, Z:-8.04 [[-9.55212147e-01 2.95900088e-01 3.59066937e-03 1.78128407e+01] [ 2.95898200e-01 9.55218894e-01 -1.05818988e-03 -2.11302348e+02] [-3.74299371e-03 5.16767794e-05 -9.99992994e-01 -8.04323006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.360385723 meters 0.015342719370166256 Centerline is valid? [True, True] Translation: X:18.01, Y:-210.66, Z:-9.02 [[-9.42172143e-01 -3.35108833e-01 3.70439924e-03 1.80069361e+01] [ 3.35106070e-01 -9.42179425e-01 -1.36135697e-03 -2.10657411e+02] [ 3.94641150e-03 -4.12659429e-05 9.99992212e-01 -9.02403280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.390385723 meters 0.015091747443328188 Centerline is valid? [True, True] Translation: X:17.77, Y:-211.29, Z:-8.04 [[-9.57283683e-01 2.89130636e-01 3.38026489e-03 1.77663660e+01] [ 2.89128969e-01 9.57289650e-01 -9.82468735e-04 -2.11291561e+02] [-3.51995441e-03 3.68312135e-05 -9.99993804e-01 -8.04286498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.420385723 meters 0.014059635209854563 Centerline is valid? [True, True] Translation: X:17.77, Y:-211.26, Z:-8.04 [[-9.75988360e-01 2.17788571e-01 3.85490512e-03 1.77652902e+01] [ 2.17786996e-01 9.75995972e-01 -8.28999986e-04 -2.11258013e+02] [-3.94291859e-03 3.04538681e-05 -9.99992226e-01 -8.04381010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.450385723 meters 0.014052564136009034 Centerline is valid? [True, True] Translation: X:17.91, Y:-210.61, Z:-9.02 [[-9.63057352e-01 -2.69262787e-01 4.25313407e-03 1.79109455e+01] [ 2.69260147e-01 -9.63066743e-01 -1.19239092e-03 -2.10605532e+02] [ 4.41711848e-03 -3.14134249e-06 9.99990245e-01 -9.02306270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.480385723 meters 0.013847405070751597 Centerline is valid? [True, True] Translation: X:17.72, Y:-211.25, Z:-8.04 [[-9.77562030e-01 2.10587655e-01 5.03171245e-03 1.77168340e+01] [ 2.10584982e-01 9.77574979e-01 -1.06113138e-03 -2.11248035e+02] [-5.14233736e-03 2.22813328e-05 -9.99986778e-01 -8.04341245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.510385723 meters 0.01387241961825665 Centerline is valid? [True, True] Translation: X:17.85, Y:-210.59, Z:-9.02 [[-9.62667368e-01 -2.70637183e-01 5.20128007e-03 1.78540130e+01] [ 2.70633200e-01 -9.62681419e-01 -1.46826617e-03 -2.10594138e+02] [ 5.40454310e-03 -5.81286145e-06 9.99985395e-01 -9.02339457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.540385723 meters 0.015556569658606098 Centerline is valid? [True, True] Translation: X:17.66, Y:-211.24, Z:-8.04 [[-9.79282898e-01 2.02412835e-01 5.83516733e-03 1.76612588e+01] [ 2.02409239e-01 9.79300283e-01 -1.20658844e-03 -2.11237948e+02] [-5.95861001e-03 -4.99640273e-07 -9.99982247e-01 -8.04168794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.570385723 meters 0.013826354300479673 Centerline is valid? [True, True] Translation: X:17.80, Y:-210.58, Z:-9.02 [[-9.62567881e-01 -2.70976617e-01 5.89471669e-03 1.77982880e+01] [ 2.70971609e-01 -9.62585930e-01 -1.64760709e-03 -2.10580239e+02] [ 6.12063434e-03 1.13671928e-05 9.99981269e-01 -9.02288893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.600385723 meters 0.013726382256239416 Centerline is valid? [True, True] Translation: X:17.60, Y:-211.23, Z:-8.04 [[-9.80961622e-01 1.94102350e-01 6.21077208e-03 1.76038266e+01] [ 1.94098270e-01 9.80981283e-01 -1.25886181e-03 -2.11229484e+02] [-6.33699920e-03 -2.93950122e-05 -9.99979921e-01 -8.04416372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.630385723 meters 0.013902819386471381 Centerline is valid? [True, True] Translation: X:17.74, Y:-210.57, Z:-9.02 [[-9.63002789e-01 -2.69420181e-01 6.19636835e-03 1.77434962e+01] [ 2.69414841e-01 -9.63022723e-01 -1.69669697e-03 -2.10567477e+02] [ 6.42436792e-03 3.54696818e-05 9.99979363e-01 -9.02273590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.660385723 meters 0.01402326555287305 Centerline is valid? [True, True] Translation: X:17.55, Y:-211.22, Z:-8.04 [[-9.82235847e-01 1.87528892e-01 6.75693764e-03 1.75540586e+01] [ 1.87524100e-01 9.82259086e-01 -1.34162953e-03 -2.11224432e+02] [-6.88865769e-03 -5.07079636e-05 -9.99976272e-01 -8.04380234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.690385723 meters 0.014032124086697281 Centerline is valid? [True, True] Translation: X:17.69, Y:-210.55, Z:-9.02 [[-9.63561241e-01 -2.67415509e-01 6.21932328e-03 1.76898808e+01] [ 2.67410068e-01 -9.63581312e-01 -1.70592338e-03 -2.10552268e+02] [ 6.44901406e-03 1.93480096e-05 9.99979205e-01 -9.02283536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.720385723 meters 0.014007215074168335 Centerline is valid? [True, True] Translation: X:17.50, Y:-211.22, Z:-8.04 [[-9.83089051e-01 1.83012324e-01 6.51213663e-03 1.75024947e+01] [ 1.83007953e-01 9.83110618e-01 -1.26599062e-03 -2.11218828e+02] [-6.63384255e-03 -5.28087287e-05 -9.99977994e-01 -8.04407468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.750385723 meters 0.014401085204661278 Centerline is valid? [True, True] Translation: X:17.49, Y:-211.19, Z:-8.04 [[-9.93603530e-01 1.12787673e-01 5.56463708e-03 1.74943708e+01] [ 1.12785652e-01 9.93619112e-01 -6.76760450e-04 -2.11192297e+02] [-5.60545998e-03 -4.48203534e-05 -9.99984288e-01 -8.04414651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.780385723 meters 0.014038815209220028 Centerline is valid? [True, True] Translation: X:17.58, Y:-210.49, Z:-9.02 [[-9.80905480e-01 -1.94399841e-01 5.75679986e-03 1.75776413e+01] [ 1.94396869e-01 -9.80922371e-01 -1.07682549e-03 -2.10493945e+02] [ 5.85630847e-03 6.28398447e-05 9.99982850e-01 -9.02150513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81038572299997 meters 0.013938635955102889 Centerline is valid? [True, True] Translation: X:17.44, Y:-211.20, Z:-8.04 [[-9.93937849e-01 1.09724716e-01 6.93097807e-03 1.74372139e+01] [ 1.09721733e-01 9.93962014e-01 -8.10329993e-04 -2.11195806e+02] [-6.97804215e-03 -4.49387277e-05 -9.99975652e-01 -8.04461772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.840385723 meters 0.013972039593890137 Centerline is valid? [True, True] Translation: X:17.44, Y:-211.17, Z:-8.04 [[-9.99191039e-01 3.95152216e-02 7.47094769e-03 1.74354332e+01] [ 3.95137958e-02 9.99218968e-01 -3.38405435e-04 -2.11169887e+02] [-7.47848481e-03 -4.29261769e-05 -9.99972035e-01 -8.04418805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87038572299997 meters 0.014099257641087458 Centerline is valid? [True, True] Translation: X:17.47, Y:-210.44, Z:-9.02 [[-9.93064675e-01 -1.17303409e-01 7.90328877e-03 1.74737010e+01] [ 1.17300304e-01 -9.93096121e-01 -8.56872351e-04 -2.10442624e+02] [ 7.94923946e-03 7.61285092e-05 9.99968401e-01 -9.02341930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.900385723 meters 0.014112705691953947 Centerline is valid? [True, True] Translation: X:17.36, Y:-211.18, Z:-8.04 [[-9.99293599e-01 3.67105758e-02 8.03964276e-03 1.73645517e+01] [ 3.67091434e-02 9.99325939e-01 -3.25709162e-04 -2.11176774e+02] [-8.04618052e-03 -3.03506821e-05 -9.99967629e-01 -8.04405079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.930385723 meters 0.014147751614642354 Centerline is valid? [True, True] Translation: X:17.36, Y:-211.15, Z:-8.04 [[-9.99461434e-01 -3.15938952e-02 8.86944147e-03 1.73585885e+01] [-3.15927211e-02 9.99500788e-01 2.72487266e-04 -2.11154214e+02] [-8.87362267e-03 -7.86927600e-06 -9.99960629e-01 -8.04305891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.960385723 meters 0.014185091181137912 Centerline is valid? [True, True] Translation: X:17.35, Y:-211.13, Z:-8.04 [[-9.94850669e-01 -1.00919787e-01 9.34580185e-03 1.73532920e+01] [-1.00915251e-01 9.94894566e-01 9.56847943e-04 -2.11129107e+02] [-9.39465237e-03 8.78687436e-06 -9.99955869e-01 -8.04280569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.990385723 meters 0.014339465053410345 Centerline is valid? [True, True] Translation: X:17.34, Y:-211.11, Z:-8.04 [[-9.85404166e-01 -1.69970975e-01 9.40733096e-03 1.73413412e+01] [-1.69962968e-01 9.85449069e-01 1.65006394e-03 -2.11105607e+02] [-9.55090851e-03 2.70819935e-05 -9.99954389e-01 -8.04257554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.020385723 meters 0.01440039215692829 Centerline is valid? [True, True] Translation: X:17.32, Y:-211.09, Z:-8.04 [[-9.70953660e-01 -2.39076417e-01 9.56329470e-03 1.73161393e+01] [-2.39064370e-01 9.71000754e-01 2.40037241e-03 -2.11085407e+02] [-9.85983880e-03 4.44073547e-05 -9.99951390e-01 -8.04384477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.050385723 meters 0.015009407929273659 Centerline is valid? [True, True] Translation: X:17.26, Y:-211.08, Z:-8.04 [[-9.51956969e-01 -3.06098906e-01 9.02161287e-03 1.72639706e+01] [-3.06084378e-01 9.51999713e-01 2.98325221e-03 -2.11079008e+02] [-9.50174310e-03 7.85529720e-05 -9.99954854e-01 -8.04388451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.080385723 meters 0.015234721408866371 Centerline is valid? [True, True] Translation: X:17.20, Y:-211.08, Z:-8.04 [[-9.27516207e-01 -3.73655478e-01 9.76061035e-03 1.71968787e+01] [-3.73633548e-01 9.27567556e-01 4.04971805e-03 -2.11077754e+02] [-1.05668248e-02 1.09287651e-04 -9.99944164e-01 -8.04410024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.110385723 meters 0.015301038440645315 Centerline is valid? [True, True] Translation: X:17.12, Y:-211.08, Z:-8.04 [[-8.97280036e-01 -4.41352099e-01 9.84185505e-03 1.71193966e+01] [-4.41324109e-01 8.97334002e-01 4.97192546e-03 -2.11082641e+02] [-1.10258009e-02 1.17761538e-04 -9.99939207e-01 -8.04390752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.140385723 meters 0.015249040227644783 Centerline is valid? [True, True] Translation: X:17.03, Y:-211.10, Z:-8.04 [[-8.61366583e-01 -5.07900747e-01 9.18920907e-03 1.70284578e+01] [-5.07870541e-01 8.61415591e-01 5.54011028e-03 -2.11098976e+02] [-1.07295541e-02 1.05137274e-04 -9.99942431e-01 -8.04335740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.170385723 meters 0.015170638895993774 Centerline is valid? [True, True] Translation: X:16.94, Y:-211.12, Z:-8.04 [[-8.19946344e-01 -5.72375835e-01 8.59635281e-03 1.69448681e+01] [-5.72343218e-01 8.19991400e-01 6.11113548e-03 -2.11117235e+02] [-1.05468016e-02 9.07389598e-05 -9.99944377e-01 -8.04301385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.200385723 meters 0.01490964817788945 Centerline is valid? [True, True] Translation: X:16.85, Y:-211.15, Z:-8.04 [[-7.72577783e-01 -6.34868786e-01 8.07421286e-03 1.68532245e+01] [-6.34833282e-01 7.72619971e-01 6.71444615e-03 -2.11148206e+02] [-1.05010904e-02 6.16528721e-05 -9.99944860e-01 -8.04288838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.230385723 meters 0.01490964817788945 Centerline is valid? [True, True] Translation: X:16.76, Y:-211.19, Z:-8.04 [[-7.22209077e-01 -6.91633698e-01 7.54171736e-03 1.67593888e+01] [-6.91595097e-01 7.22248450e-01 7.30739580e-03 -2.11193243e+02] [-1.05010349e-02 6.16528258e-05 -9.99944861e-01 -8.04289093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.260385723 meters 0.01485791115314861 Centerline is valid? [True, True] Translation: X:16.66, Y:-211.25, Z:-8.04 [[-6.66849338e-01 -7.45158157e-01 7.16111570e-03 1.66629034e+01] [-7.45114327e-01 6.66887785e-01 8.08211958e-03 -2.11250732e+02] [-1.07981179e-02 5.37061827e-05 -9.99941697e-01 -8.04319886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.290385723 meters 0.01461587470403975 Centerline is valid? [True, True] Translation: X:16.57, Y:-211.31, Z:-8.04 [[-6.07079849e-01 -7.94616425e-01 6.22846678e-03 1.65727081e+01] [-7.94573943e-01 6.07111798e-01 8.21669457e-03 -2.11311910e+02] [-1.03104961e-02 3.92122927e-05 -9.99946845e-01 -8.04451690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.320385723 meters 0.014486002672834801 Centerline is valid? [True, True] Translation: X:16.48, Y:-211.39, Z:-8.05 [[-5.44822607e-01 -8.38534055e-01 5.38204991e-03 1.64829404e+01] [-8.38492391e-01 5.44849188e-01 8.35900095e-03 -2.11388861e+02] [-9.94171248e-03 4.13647871e-05 -9.99950579e-01 -8.04527925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.350385723 meters 0.01458319205838779 Centerline is valid? [True, True] Translation: X:16.40, Y:-211.47, Z:-8.05 [[-4.79225439e-01 -8.77680062e-01 4.54828049e-03 1.64007744e+01] [-8.77639683e-01 4.79247020e-01 8.41908023e-03 -2.11471018e+02] [-9.56900874e-03 4.28859687e-05 -9.99954215e-01 -8.04522601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.380385723 meters 0.014531192668475365 Centerline is valid? [True, True] Translation: X:16.32, Y:-211.56, Z:-8.05 [[-4.12338498e-01 -9.11024658e-01 3.32199142e-03 1.63227775e+01] [-9.10994048e-01 4.12351876e-01 7.46824225e-03 -2.11560223e+02] [-8.17358224e-03 5.31293818e-05 -9.99966594e-01 -8.04598171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.410385723 meters 0.014632389709406283 Centerline is valid? [True, True] Translation: X:16.25, Y:-211.66, Z:-8.05 [[-3.42545072e-01 -9.39497926e-01 2.55370990e-03 1.62512102e+01] [-9.39470463e-01 3.42554586e-01 7.18372749e-03 -2.11659985e+02] [-7.62388211e-03 6.16154258e-05 -9.99970936e-01 -8.04572652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.440385723 meters 0.014959561376862497 Centerline is valid? [True, True] Translation: X:16.19, Y:-211.77, Z:-8.05 [[-2.73290991e-01 -9.61929612e-01 1.85907699e-03 1.61891009e+01] [-9.61905104e-01 2.73297300e-01 6.86702181e-03 -2.11766707e+02] [-7.11367234e-03 8.84395522e-05 -9.99974694e-01 -8.04625215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.470385723 meters 0.01555269667606128 Centerline is valid? [True, True] Translation: X:16.14, Y:-211.88, Z:-8.05 [[-2.00533066e-01 -9.79685998e-01 1.35430451e-03 1.61358773e+01] [-9.79659896e-01 2.00537610e-01 7.15223276e-03 -2.11876554e+02] [-7.27853128e-03 1.07501343e-04 -9.99973505e-01 -8.04556101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.500385723 meters 0.01603675381756976 Centerline is valid? [True, True] Translation: X:16.09, Y:-211.99, Z:-8.05 [[-1.26691423e-01 -9.91941819e-01 8.43235265e-04 1.60899092e+01] [-9.91912372e-01 1.26694160e-01 7.64429217e-03 -2.11993433e+02] [-7.68952607e-03 1.32050761e-04 -9.99970426e-01 -8.04509105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.530385723 meters 0.017094422749145393 Centerline is valid? [True, True] Translation: X:16.05, Y:-212.11, Z:-8.04 [[-5.38278138e-02 -9.98550203e-01 2.42992026e-04 1.60532153e+01] [-9.98522294e-01 5.38281265e-02 7.46735075e-03 -2.12113201e+02] [-7.46960442e-03 1.59318211e-04 -9.99972089e-01 -8.04477722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.56038572299997 meters 0.017525342633549264 Centerline is valid? [True, True] Translation: X:16.03, Y:-212.24, Z:-8.04 [[ 2.17080502e-02 -9.99764303e-01 -3.15167173e-04 1.60252737e+01] [-9.99739619e-01 -2.17097295e-02 7.02729338e-03 -2.12239977e+02] [-7.03247926e-03 1.62536272e-04 -9.99975259e-01 -8.04495787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.590385723 meters 0.018680026041641085 Centerline is valid? [True, True] Translation: X:16.01, Y:-212.37, Z:-8.04 [[ 9.57892817e-02 -9.95401316e-01 -7.95702235e-04 1.60075902e+01] [-9.95380230e-01 -9.57924335e-02 6.48136750e-03 -2.12365016e+02] [-6.52778400e-03 1.71180736e-04 -9.99978679e-01 -8.04498483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.62038572299997 meters 0.017285776260284578 Centerline is valid? [True, True] Translation: X:16.00, Y:-212.49, Z:-8.05 [[ 1.71424875e-01 -9.85196422e-01 -1.23395448e-03 1.59959806e+01] [-9.85177530e-01 -1.71429232e-01 6.10355545e-03 -2.12492433e+02] [-6.22473686e-03 1.69362997e-04 -9.99980612e-01 -8.04541375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.650385723 meters 0.01745301203521352 Centerline is valid? [True, True] Translation: X:16.00, Y:-212.62, Z:-8.05 [[ 2.46660132e-01 -9.69100596e-01 -1.67771088e-03 1.59972890e+01] [-9.69082606e-01 -2.46665780e-01 5.90726271e-03 -2.12619801e+02] [-6.13856567e-03 1.68754229e-04 -9.99981145e-01 -8.04541602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.680385723 meters 0.018456472222466047 Centerline is valid? [True, True] Translation: X:16.01, Y:-212.75, Z:-8.05 [[ 3.20922282e-01 -9.47103720e-01 -1.85274679e-03 1.60111650e+01] [-9.47090454e-01 -3.20927597e-01 5.01497629e-03 -2.12749640e+02] [-5.34430028e-03 1.45301162e-04 -9.99985709e-01 -8.04571937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.710385723 meters 0.017287414213483704 Centerline is valid? [True, True] Translation: X:16.03, Y:-212.87, Z:-8.05 [[ 3.93856478e-01 -9.19169101e-01 -2.28898434e-03 1.60278057e+01] [-9.19155640e-01 -3.93863103e-01 4.97659796e-03 -2.12873562e+02] [-5.47588155e-03 1.43867524e-04 -9.99984997e-01 -8.04593182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.740385723 meters 0.0171083616996427 Centerline is valid? [True, True] Translation: X:16.06, Y:-213.00, Z:-8.05 [[ 4.64424764e-01 -8.85609006e-01 -2.51549881e-03 1.60562056e+01] [-8.85597497e-01 -4.64431558e-01 4.51685526e-03 -2.12996180e+02] [-5.16844473e-03 1.29980009e-04 -9.99986635e-01 -8.04527816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.770385723 meters 0.01644554083850066 Centerline is valid? [True, True] Translation: X:16.09, Y:-213.11, Z:-8.04 [[ 5.33399016e-01 -8.45858363e-01 -3.01987326e-03 1.60909545e+01] [-8.45846085e-01 -5.33407550e-01 4.55907301e-03 -2.13112518e+02] [-5.46715324e-03 1.22542921e-04 -9.99985048e-01 -8.04462468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.800385723 meters 0.015455325042969783 Centerline is valid? [True, True] Translation: X:16.14, Y:-213.23, Z:-8.04 [[ 5.99481145e-01 -8.00380412e-01 -3.68134617e-03 1.61405607e+01] [-8.00366468e-01 -5.99492437e-01 4.72586354e-03 -2.13234142e+02] [-5.98942780e-03 1.13359952e-04 -9.99982057e-01 -8.04460249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.830385723 meters 0.015823650104837918 Centerline is valid? [True, True] Translation: X:16.19, Y:-213.34, Z:-8.04 [[ 6.60136313e-01 -7.51132611e-01 -4.45532504e-03 1.61942326e+01] [-7.51116675e-01 -6.60151337e-01 4.89417191e-03 -2.13341711e+02] [-6.61736090e-03 1.15648331e-04 -9.99978098e-01 -8.04345506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.860385723 meters 0.015573411232137613 Centerline is valid? [True, True] Translation: X:16.26, Y:-213.45, Z:-8.04 [[ 7.16491549e-01 -6.97578826e-01 -4.86237990e-03 1.62553343e+01] [-6.97563778e-01 -7.16508039e-01 4.58308752e-03 -2.13445682e+02] [-6.68099910e-03 1.08076621e-04 -9.99977676e-01 -8.04314480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.890385723 meters 0.015381169859724961 Centerline is valid? [True, True] Translation: X:16.25, Y:-213.45, Z:-8.04 [[ 7.69926771e-01 -6.38116401e-01 -4.49741630e-03 1.62506513e+01] [-6.38106141e-01 -7.69939902e-01 3.61952123e-03 -2.13451194e+02] [-5.77241612e-03 8.30626685e-05 -9.99983336e-01 -8.04368487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.920385723 meters 0.015419062358445734 Centerline is valid? [True, True] Translation: X:16.25, Y:-213.46, Z:-8.04 [[ 8.17573866e-01 -5.75806830e-01 -4.41228173e-03 1.62461873e+01] [-5.75798943e-01 -8.17585768e-01 3.01479257e-03 -2.13455221e+02] [-5.34335690e-03 7.57715353e-05 -9.99985721e-01 -8.04392704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.950385723 meters 0.015341233429796673 Centerline is valid? [True, True] Translation: X:16.24, Y:-213.46, Z:-8.04 [[ 8.59652469e-01 -5.10857014e-01 -4.76907110e-03 1.62420360e+01] [-5.10849684e-01 -8.59665693e-01 2.73794550e-03 -2.13460438e+02] [-5.49850548e-03 8.25968500e-05 -9.99984880e-01 -8.04389711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.980385723 meters 0.015665706367552972 Centerline is valid? [True, True] Translation: X:16.24, Y:-213.47, Z:-8.04 [[ 8.96575100e-01 -4.42866898e-01 -4.69057148e-03 1.62382454e+01] [-4.42861317e-01 -8.96587365e-01 2.22495901e-03 -2.13466616e+02] [-5.19086782e-03 8.24298083e-05 -9.99986524e-01 -8.04375164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.010385723 meters 0.015963788364014696 Centerline is valid? [True, True] Translation: X:16.23, Y:-213.47, Z:-8.04 [[ 9.28076953e-01 -3.72358678e-01 -4.71008906e-03 1.62343714e+01] [-3.72354347e-01 -9.28088901e-01 1.79796473e-03 -2.13472570e+02] [-5.04086915e-03 8.51725078e-05 -9.99987291e-01 -8.04383176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.040385723 meters 0.016624909191600847 Centerline is valid? [True, True] Translation: X:16.23, Y:-213.48, Z:-8.04 [[ 9.53797831e-01 -3.00415423e-01 -4.50233556e-03 1.62311745e+01] [-3.00412509e-01 -9.53808454e-01 1.32607955e-03 -2.13476283e+02] [-4.69274046e-03 8.77461196e-05 -9.99988985e-01 -8.04458692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.070385723 meters 0.016695420229450416 Centerline is valid? [True, True] Translation: X:16.23, Y:-213.48, Z:-8.04 [[ 9.74254199e-01 -2.25415944e-01 -4.05062485e-03 1.62286601e+01] [-2.25414333e-01 -9.74262617e-01 8.55704283e-04 -2.13482605e+02] [-4.13926175e-03 7.93954095e-05 -9.99991430e-01 -8.04482555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.100385723 meters 0.01721215213836808 Centerline is valid? [True, True] Translation: X:16.22, Y:-213.49, Z:-8.04 [[ 9.88748626e-01 -1.49558561e-01 -2.89685065e-03 1.62218124e+01] [-1.49558093e-01 -9.88752868e-01 3.78661978e-04 -2.13487500e+02] [-2.92090153e-03 5.88459477e-05 -9.99995732e-01 -8.04477009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.130385723 meters 0.01727188916155685 Centerline is valid? [True, True] Translation: X:16.22, Y:-213.49, Z:-8.04 [[ 9.97408406e-01 -7.18812038e-02 -3.09269585e-03 1.62160983e+01] [-7.18810541e-02 -9.97413199e-01 1.59683486e-04 -2.13493225e+02] [-3.09617390e-03 6.30365869e-05 -9.99995205e-01 -8.04484054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.160385723 meters 0.016527545405533018 Centerline is valid? [True, True] Translation: X:16.21, Y:-213.51, Z:-8.04 [[ 9.99973363e-01 6.58082182e-03 -3.15685285e-03 1.62106423e+01] [ 6.58058751e-03 -9.99978344e-01 -8.46046468e-05 -2.13505240e+02] [-3.15734125e-03 6.38284468e-05 -9.99995014e-01 -8.04486599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.190385723 meters 0.016646221605046765 Centerline is valid? [True, True] Translation: X:16.21, Y:-213.51, Z:-8.04 [[ 9.96288993e-01 8.60143862e-02 -3.12524119e-03 1.62053326e+01] [ 8.60137745e-02 -9.96293893e-01 -3.29847143e-04 -2.13514877e+02] [-3.14203031e-03 5.98092868e-05 -9.99995062e-01 -8.04447269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.220385723 meters 0.01650320801766288 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.52, Z:-8.04 [[ 9.86347335e-01 1.64649720e-01 -3.06673834e-03 1.62014442e+01] [ 1.64648746e-01 -9.86352101e-01 -5.69059583e-04 -2.13524927e+02] [-3.11857930e-03 5.63557814e-05 -9.99995136e-01 -8.04439178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.250385723 meters 0.01640892417445329 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.54, Z:-8.04 [[ 9.70047644e-01 2.42891352e-01 -3.37053850e-03 1.61976093e+01] [ 2.42889679e-01 -9.70053497e-01 -9.03410533e-04 -2.13535506e+02] [-3.48903326e-03 5.76822459e-05 -9.99993912e-01 -8.04370396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.280385723 meters 0.015977190519681706 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.55, Z:-8.04 [[ 9.47835447e-01 3.18743550e-01 -3.24271773e-03 1.61966147e+01] [ 3.18741488e-01 -9.47840992e-01 -1.14797695e-03 -2.13549480e+02] [-3.43949104e-03 5.45045700e-05 -9.99994084e-01 -8.04372684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31038572299997 meters 0.016054580864761643 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.56, Z:-8.04 [[ 9.19913527e-01 3.92107928e-01 -3.23652293e-03 1.61969132e+01] [ 3.92105288e-01 -9.19919219e-01 -1.43991226e-03 -2.13561514e+02] [-3.54194066e-03 5.55370077e-05 -9.99993726e-01 -8.04375102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.340385723 meters 0.016276931463192104 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.57, Z:-8.04 [[ 8.86354067e-01 4.62998026e-01 -3.04879415e-03 1.61969202e+01] [ 4.62995076e-01 -8.86359309e-01 -1.65352737e-03 -2.13572423e+02] [-3.46790699e-03 5.40340285e-05 -9.99993985e-01 -8.04425501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37038572299997 meters 0.01678009770862348 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.58, Z:-8.04 [[ 8.47372442e-01 5.30991939e-01 -2.73945607e-03 1.61963194e+01] [ 5.30988970e-01 -8.47376869e-01 -1.77654164e-03 -2.13581703e+02] [-3.26468100e-03 5.07714710e-05 -9.99994670e-01 -8.04493126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.400385723 meters 0.01680520395042576 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.59, Z:-8.05 [[ 8.03138394e-01 5.95787433e-01 -2.46065022e-03 1.61960066e+01] [ 5.95784454e-01 -8.03142162e-01 -1.88489347e-03 -2.13589288e+02] [-3.09924778e-03 4.78131637e-05 -9.99995196e-01 -8.04531440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.430385723 meters 0.016267355621543623 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.60, Z:-8.04 [[ 7.53674683e-01 6.57241758e-01 -2.78268888e-03 1.62003628e+01] [ 6.57237002e-01 -7.53679818e-01 -2.50100960e-03 -2.13602986e+02] [-3.74102439e-03 5.60615179e-05 -9.99993001e-01 -8.04452871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.460385723 meters 0.016314468156708218 Centerline is valid? [True, True] Translation: X:16.20, Y:-213.61, Z:-8.04 [[ 6.99275932e-01 7.14845365e-01 -3.04545193e-03 1.62028513e+01] [ 7.14838192e-01 -6.99282561e-01 -3.20291144e-03 -2.13614370e+02] [-4.41921782e-03 6.27135279e-05 -9.99990233e-01 -8.04423045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.490385723 meters 0.01640984641117761 Centerline is valid? [True, True] Translation: X:16.21, Y:-213.63, Z:-8.04 [[ 6.40264111e-01 7.68148566e-01 -3.10638335e-03 1.62050125e+01] [ 7.68139033e-01 -6.40271643e-01 -3.82745920e-03 -2.13625004e+02] [-4.92898647e-03 6.44504644e-05 -9.99987850e-01 -8.04363076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.520385723 meters 0.01633119106296282 Centerline is valid? [True, True] Translation: X:16.21, Y:-213.63, Z:-8.04 [[ 5.77627802e-01 8.16294985e-01 -2.93577814e-03 1.62078268e+01] [ 8.16283872e-01 -5.77635259e-01 -4.25999951e-03 -2.13633216e+02] [-5.17322521e-03 6.42658088e-05 -9.99986617e-01 -8.04396701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.550385723 meters 0.016231731890294896 Centerline is valid? [True, True] Translation: X:16.21, Y:-213.64, Z:-8.04 [[ 5.11255572e-01 8.59424443e-01 -2.71411695e-03 1.62103322e+01] [ 8.59411672e-01 -5.11262773e-01 -4.68569429e-03 -2.13641729e+02] [-5.41462716e-03 6.30435284e-05 -9.99985339e-01 -8.04428446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.580385723 meters 0.015614699692867577 Centerline is valid? [True, True] Translation: X:16.22, Y:-213.65, Z:-8.05 [[ 4.40908532e-01 8.97548536e-01 -2.50831807e-03 1.62203691e+01] [ 8.97533252e-01 -4.40915663e-01 -5.23829644e-03 -2.13653224e+02] [-5.80758203e-03 5.83107147e-05 -9.99983134e-01 -8.04548489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.610385723 meters 0.015659435152896663 Centerline is valid? [True, True] Translation: X:16.23, Y:-213.66, Z:-8.05 [[ 3.68022648e-01 9.29814200e-01 -2.21017703e-03 1.62289498e+01] [ 9.29796548e-01 -3.68029281e-01 -5.72949469e-03 -2.13664176e+02] [-6.14077538e-03 5.35688302e-05 -9.99981144e-01 -8.04571116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.640385723 meters 0.015414832817489314 Centerline is valid? [True, True] Translation: X:16.24, Y:-213.67, Z:-8.05 [[ 2.90723248e-01 9.56805277e-01 -1.91175246e-03 1.62396146e+01] [ 9.56783792e-01 -2.90729532e-01 -6.41214335e-03 -2.13674207e+02] [-6.69097549e-03 3.50253702e-05 -9.99977615e-01 -8.04567491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.670385723 meters 0.015280602043497965 Centerline is valid? [True, True] Translation: X:16.25, Y:-213.68, Z:-8.05 [[ 2.12996901e-01 9.77051677e-01 -1.52979407e-03 1.62502868e+01] [ 9.77025655e-01 -2.13002394e-01 -7.13093598e-03 -2.13681841e+02] [-7.29314276e-03 2.42192198e-05 -9.99973404e-01 -8.04595201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.700385723 meters 0.015421843479331473 Centerline is valid? [True, True] Translation: X:16.26, Y:-213.69, Z:-8.04 [[ 1.34176391e-01 9.90956948e-01 -1.01152774e-03 1.62598420e+01] [ 9.90928065e-01 -1.34180204e-01 -7.56592302e-03 -2.13689822e+02] [-7.63323098e-03 1.28170179e-05 -9.99970866e-01 -8.04459015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.730385723 meters 0.015163833479481543 Centerline is valid? [True, True] Translation: X:16.27, Y:-213.70, Z:-8.05 [[ 5.34256865e-02 9.98571713e-01 -4.79190377e-04 1.62723698e+01] [ 9.98533086e-01 -5.34278346e-02 -8.78313896e-03 -2.13695613e+02] [-8.79619622e-03 -9.24221679e-06 -9.99961313e-01 -8.04536988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.760385723 meters 0.015293627664654223 Centerline is valid? [True, True] Translation: X:16.28, Y:-213.70, Z:-8.05 [[-2.62448777e-02 9.99655519e-01 2.21837612e-04 1.62835154e+01] [ 9.99612509e-01 2.62458064e-02 -9.27306470e-03 -2.13701425e+02] [-9.27569262e-03 -2.16187974e-05 -9.99956980e-01 -8.04523912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.790385723 meters 0.015391408338783568 Centerline is valid? [True, True] Translation: X:16.30, Y:-213.71, Z:-8.05 [[-1.06751628e-01 9.94285273e-01 9.41301187e-04 1.62952379e+01] [ 9.94242978e-01 1.06755769e-01 -9.17092848e-03 -2.13705429e+02] [-9.21900846e-03 -4.31294499e-05 -9.99957503e-01 -8.04638551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.820385723 meters 0.015516911992988177 Centerline is valid? [True, True] Translation: X:16.31, Y:-213.71, Z:-8.05 [[-1.85036929e-01 9.82730308e-01 1.57353849e-03 1.63066310e+01] [ 9.82692560e-01 1.85043613e-01 -8.61359280e-03 -2.13710181e+02] [-8.75601195e-03 -4.75281938e-05 -9.99961664e-01 -8.04628936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.850385723 meters 0.015489939559771309 Centerline is valid? [True, True] Translation: X:16.32, Y:-213.71, Z:-8.05 [[-2.61671652e-01 9.65154688e-01 2.09150280e-03 1.63165392e+01] [ 9.65122422e-01 2.61680006e-01 -7.89210407e-03 -2.13712804e+02] [-8.16440571e-03 -4.65836568e-05 -9.99966670e-01 -8.04729017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.880385723 meters 0.015478999992428197 Centerline is valid? [True, True] Translation: X:16.32, Y:-213.72, Z:-8.05 [[-3.36260354e-01 9.41766196e-01 2.32513165e-03 1.63231971e+01] [ 9.41742878e-01 3.36268390e-01 -6.62736610e-03 -2.13715973e+02] [-7.02329764e-03 -3.88443019e-05 -9.99975336e-01 -8.04939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.910385723 meters 0.015446641915875409 Centerline is valid? [True, True] Translation: X:16.33, Y:-213.72, Z:-8.05 [[-4.08585959e-01 9.12715742e-01 2.73656114e-03 1.63319250e+01] [ 9.12694703e-01 4.08595121e-01 -6.19733445e-03 -2.13718046e+02] [-6.77455024e-03 -3.44989748e-05 -9.99977052e-01 -8.04988498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.940385723 meters 0.015337064323473058 Centerline is valid? [True, True] Translation: X:16.34, Y:-213.72, Z:-8.05 [[-4.77185853e-01 8.78798611e-01 2.58108010e-03 1.63390870e+01] [ 8.78785555e-01 4.77192833e-01 -4.79042080e-03 -2.13721390e+02] [-5.44148808e-03 -1.77051334e-05 -9.99985195e-01 -8.05122833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.970385723 meters 0.015341019577942103 Centerline is valid? [True, True] Translation: X:16.35, Y:-213.72, Z:-8.05 [[-5.43672105e-01 8.39293019e-01 2.80567260e-03 1.63463028e+01] [ 8.39281735e-01 5.43679344e-01 -4.35209398e-03 -2.13724129e+02] [-5.17806833e-03 -1.13623240e-05 -9.99986594e-01 -8.05183476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.000385723 meters 0.015386010598129713 Centerline is valid? [True, True] Translation: X:16.35, Y:-213.73, Z:-8.05 [[-6.06814203e-01 7.94837467e-01 3.15018033e-03 1.63539564e+01] [ 7.94826711e-01 6.06822380e-01 -4.13502676e-03 -2.13726337e+02] [-5.19827412e-03 -5.34549714e-06 -9.99986489e-01 -8.05204898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.030385723 meters 0.015381903693320908 Centerline is valid? [True, True] Translation: X:16.36, Y:-213.73, Z:-8.05 [[-6.65656236e-01 7.46248901e-01 3.78865199e-03 1.63613289e+01] [ 7.46236867e-01 6.65667018e-01 -4.23797799e-03 -2.13728713e+02] [-5.68456708e-03 6.19530976e-06 -9.99983843e-01 -8.05112051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.06038572299997 meters 0.015503612226656976 Centerline is valid? [True, True] Translation: X:16.37, Y:-213.72, Z:-8.05 [[-7.21569984e-01 6.92325953e-01 4.64034998e-03 1.63731107e+01] [ 6.92311743e-01 7.21584904e-01 -4.43581669e-03 -2.13724596e+02] [-6.41943751e-03 1.18166084e-05 -9.99979395e-01 -8.05086838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.090385723 meters 0.015503612226656976 Centerline is valid? [True, True] Translation: X:16.93, Y:-213.16, Z:-9.02 [[-6.76381463e-01 -7.36538891e-01 4.31040914e-03 1.69267104e+01] [ 7.36523806e-01 -6.76395197e-01 -4.71386348e-03 -2.13158025e+02] [ 6.38748382e-03 -1.36509228e-05 9.99979600e-01 -9.01607652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.12038572299997 meters 0.015589192170033505 Centerline is valid? [True, True] Translation: X:16.91, Y:-213.14, Z:-9.02 [[-6.77406284e-01 -7.35587955e-01 5.57557839e-03 1.69089703e+01] [ 7.35562725e-01 -6.77429229e-01 -6.09243737e-03 -2.13137601e+02] [ 8.25858331e-03 -2.58677263e-05 9.99965897e-01 -9.01783833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.150385723 meters 0.015702026306389928 Centerline is valid? [True, True] Translation: X:16.89, Y:-213.12, Z:-9.02 [[-6.78040258e-01 -7.34997983e-01 6.27482890e-03 1.68903941e+01] [ 7.34966038e-01 -6.78069292e-01 -6.85268419e-03 -2.13116833e+02] [ 9.29147784e-03 -3.46096266e-05 9.99956833e-01 -9.01820306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.180385723 meters 0.01585979467803656 Centerline is valid? [True, True] Translation: X:16.87, Y:-213.10, Z:-9.02 [[-6.79265597e-01 -7.33859464e-01 6.96685006e-03 1.68727089e+01] [ 7.33820070e-01 -6.79301321e-01 -7.60395934e-03 -2.13096834e+02] [ 1.03128280e-02 -5.26935826e-05 9.99946820e-01 -9.01937196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.210385723 meters 0.01589644517236171 Centerline is valid? [True, True] Translation: X:16.85, Y:-213.08, Z:-9.02 [[-6.80151121e-01 -7.33039537e-01 6.89129060e-03 1.68545918e+01] [ 7.33000998e-01 -6.80186029e-01 -7.51686995e-03 -2.13076874e+02] [ 1.01975224e-02 -6.12846367e-05 9.99948002e-01 -9.01914597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.240385723 meters 0.015987452558799447 Centerline is valid? [True, True] Translation: X:16.84, Y:-213.06, Z:-9.02 [[-6.81010124e-01 -7.32242371e-01 6.80595691e-03 1.68365947e+01] [ 7.32204787e-01 -6.81044129e-01 -7.41920285e-03 -2.13056566e+02] [ 1.00678117e-02 -6.91980277e-05 9.99949316e-01 -9.01847924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.270385723 meters 0.01605539449442363 Centerline is valid? [True, True] Translation: X:16.82, Y:-213.04, Z:-9.02 [[-6.82198103e-01 -7.31137926e-01 6.56370794e-03 1.68181887e+01] [ 7.31102957e-01 -6.82229673e-01 -7.15116291e-03 -2.13035803e+02] [ 9.70644274e-03 -7.97634837e-05 9.99952888e-01 -9.01816028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.300385723 meters 0.017947210281199454 Centerline is valid? [True, True] Translation: X:16.80, Y:-213.01, Z:-9.02 [[-6.84277467e-01 -7.29193429e-01 6.42591323e-03 1.67995131e+01] [ 7.29159863e-01 -6.84307631e-01 -6.99716827e-03 -2.13014641e+02] [ 9.49959058e-03 -1.02486562e-04 9.99954873e-01 -9.02090688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.330385723 meters 0.016684626967109276 Centerline is valid? [True, True] Translation: X:16.78, Y:-212.99, Z:-9.02 [[-6.84319266e-01 -7.29159899e-01 5.74309947e-03 1.67823986e+01] [ 7.29133113e-01 -6.84343359e-01 -6.25064866e-03 -2.12994176e+02] [ 8.48797433e-03 -8.99553173e-05 9.99963973e-01 -9.01770180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.360385723 meters 0.016536622080857863 Centerline is valid? [True, True] Translation: X:16.76, Y:-212.97, Z:-9.02 [[-6.84407393e-01 -7.29079604e-01 5.42692382e-03 1.67629837e+01] [ 7.29055711e-01 -6.84428904e-01 -5.90295777e-03 -2.12974372e+02] [ 8.01806963e-03 -8.34981338e-05 9.99967851e-01 -9.01655346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.390385723 meters 0.01645240361918714 Centerline is valid? [True, True] Translation: X:16.74, Y:-212.96, Z:-9.02 [[-6.84034175e-01 -7.29430183e-01 5.37169974e-03 1.67440696e+01] [ 7.29406813e-01 -6.84055263e-01 -5.83936051e-03 -2.12955047e+02] [ 7.93394528e-03 -7.61677595e-05 9.99968523e-01 -9.01622378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.420385723 meters 0.016374507375949515 Centerline is valid? [True, True] Translation: X:16.72, Y:-212.94, Z:-9.02 [[-6.83792979e-01 -7.29656119e-01 5.39535337e-03 1.67247016e+01] [ 7.29632579e-01 -6.83814260e-01 -5.86152668e-03 -2.12936261e+02] [ 7.96631838e-03 -7.14451935e-05 9.99968266e-01 -9.01625692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.450385723 meters 0.01613261764409859 Centerline is valid? [True, True] Translation: X:16.70, Y:-212.92, Z:-9.02 [[-6.82600209e-01 -7.30775603e-01 4.89617511e-03 1.67034975e+01] [ 7.30756269e-01 -6.82617766e-01 -5.31601567e-03 -2.12919259e+02] [ 7.22703068e-03 -5.08027512e-05 9.99973883e-01 -9.01702094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.480385723 meters 0.015979182870944925 Centerline is valid? [True, True] Translation: X:16.68, Y:-212.90, Z:-9.02 [[-6.81058980e-01 -7.32214443e-01 4.54697715e-03 1.66827230e+01] [ 7.32197820e-01 -6.81074158e-01 -4.93389943e-03 -2.12901365e+02] [ 6.70950105e-03 -3.09897592e-05 9.99977491e-01 -9.01609536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.510385723 meters 0.01590245243289802 Centerline is valid? [True, True] Translation: X:16.66, Y:-212.88, Z:-9.02 [[-6.80129831e-01 -7.33078399e-01 4.41293592e-03 1.66637328e+01] [ 7.33062775e-01 -6.80144147e-01 -4.78620902e-03 -2.12883188e+02] [ 6.51009898e-03 -2.02844744e-05 9.99978809e-01 -9.01578685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.540385723 meters 0.015959381347848297 Centerline is valid? [True, True] Translation: X:16.64, Y:-212.86, Z:-9.02 [[-6.79746827e-01 -7.33433125e-01 4.48354294e-03 1.66443355e+01] [ 7.33417023e-01 -6.79761613e-01 -4.85993740e-03 -2.12864565e+02] [ 6.61217946e-03 -1.52203084e-05 9.99978139e-01 -9.01584415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.570385723 meters 0.015933120114119077 Centerline is valid? [True, True] Translation: X:16.62, Y:-212.85, Z:-9.02 [[-6.79497899e-01 -7.33664004e-01 4.44235592e-03 1.66247389e+01] [ 7.33648222e-01 -6.79512420e-01 -4.81230612e-03 -2.12845841e+02] [ 6.54925180e-03 -1.08253745e-05 9.99978553e-01 -9.01509722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.600385723 meters 0.015964699659475366 Centerline is valid? [True, True] Translation: X:16.61, Y:-212.83, Z:-9.02 [[-6.79652835e-01 -7.33522426e-01 4.10797557e-03 1.66053820e+01] [ 7.33508944e-01 -6.79665249e-01 -4.44719655e-03 -2.12828048e+02] [ 6.05416665e-03 -9.31291966e-06 9.99981673e-01 -9.01564778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.630385723 meters 0.01607582209255931 Centerline is valid? [True, True] Translation: X:16.59, Y:-212.81, Z:-9.02 [[-6.81232391e-01 -7.32054771e-01 4.27093835e-03 1.65865272e+01] [ 7.32040188e-01 -6.81245779e-01 -4.62084323e-03 -2.12808987e+02] [ 6.29226906e-03 -2.13695698e-05 9.99980203e-01 -9.01615836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.660385723 meters 0.018172337521145318 Centerline is valid? [True, True] Translation: X:16.57, Y:-212.79, Z:-9.02 [[-6.83048466e-01 -7.30358035e-01 4.68326641e-03 1.65681381e+01] [ 7.30340481e-01 -6.83064520e-01 -5.06391159e-03 -2.12788226e+02] [ 6.89744164e-03 -3.85180016e-05 9.99976212e-01 -9.01905463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.690385723 meters 0.016288584857342636 Centerline is valid? [True, True] Translation: X:16.55, Y:-212.77, Z:-9.02 [[-6.84507311e-01 -7.28991783e-01 4.55203019e-03 1.65504161e+01] [ 7.28975188e-01 -6.84522445e-01 -4.91902569e-03 -2.12767586e+02] [ 6.70189615e-03 -4.87919850e-05 9.99977541e-01 -9.01606993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.720385723 meters 0.01638440908089172 Centerline is valid? [True, True] Translation: X:16.53, Y:-212.75, Z:-9.02 [[-6.86486877e-01 -7.27128293e-01 4.49598110e-03 1.65320258e+01] [ 7.27112082e-01 -6.86501596e-01 -4.85577648e-03 -2.12746766e+02] [ 6.61727066e-03 -6.43446488e-05 9.99978104e-01 -9.01531424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.750385723 meters 0.017400372784855143 Centerline is valid? [True, True] Translation: X:16.52, Y:-212.73, Z:-9.02 [[-6.90340927e-01 -7.23474539e-01 3.74109732e-03 1.65152377e+01] [ 7.23463274e-01 -6.90351059e-01 -4.03813065e-03 -2.12725195e+02] [ 5.50415521e-03 -8.11403388e-05 9.99984849e-01 -9.01526680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.780385723 meters 0.017867392122574138 Centerline is valid? [True, True] Translation: X:16.50, Y:-212.70, Z:-9.01 [[-6.91937435e-01 -7.21948665e-01 3.56523770e-03 1.64979129e+01] [ 7.21938423e-01 -6.91946614e-01 -3.84666794e-03 -2.12704998e+02] [ 5.24405094e-03 -8.77714650e-05 9.99986246e-01 -9.01438750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81038572299997 meters 0.01863006529568068 Centerline is valid? [True, True] Translation: X:16.48, Y:-212.68, Z:-9.01 [[-6.94536477e-01 -7.19451127e-01 3.02606711e-03 1.64793873e+01] [ 7.19443732e-01 -6.94543064e-01 -3.26323050e-03 -2.12683796e+02] [ 4.44946878e-03 -8.93475965e-05 9.99990097e-01 -9.01315125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.840385723 meters 0.018651313782218116 Centerline is valid? [True, True] Translation: X:16.46, Y:-212.66, Z:-9.01 [[-6.95624938e-01 -7.18398699e-01 3.04212405e-03 1.64599779e+01] [ 7.18391224e-01 -6.95631583e-01 -3.27869659e-03 -2.12664206e+02] [ 4.47160894e-03 -9.53078944e-05 9.99989998e-01 -9.01280324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87038572299997 meters 0.018304009172435777 Centerline is valid? [True, True] Translation: X:16.44, Y:-212.65, Z:-9.01 [[-6.96466075e-01 -7.17582481e-01 3.22326305e-03 1.64392239e+01] [ 7.17574089e-01 -6.96473525e-01 -3.47203090e-03 -2.12645035e+02] [ 4.73638593e-03 -1.05221681e-04 9.99988778e-01 -9.01302791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.900385723 meters 0.018851243627066222 Centerline is valid? [True, True] Translation: X:16.42, Y:-212.63, Z:-9.01 [[-6.97136522e-01 -7.16925757e-01 4.25774271e-03 1.64194166e+01] [ 7.16911118e-01 -6.97149509e-01 -4.58372330e-03 -2.12626143e+02] [ 6.25447254e-03 -1.43057833e-04 9.99980430e-01 -9.01474862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.930385723 meters 0.018697843334244457 Centerline is valid? [True, True] Translation: X:16.40, Y:-212.61, Z:-9.02 [[-6.97391975e-01 -7.16673802e-01 4.80568055e-03 1.63993883e+01] [ 7.16655169e-01 -6.97408514e-01 -5.17049770e-03 -2.12606918e+02] [ 7.05708277e-03 -1.61847801e-04 9.99975085e-01 -9.01503828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.960385723 meters 0.018000201270746346 Centerline is valid? [True, True] Translation: X:16.38, Y:-212.59, Z:-9.02 [[-6.97174352e-01 -7.16882568e-01 5.22562515e-03 1.63771337e+01] [ 7.16860565e-01 -6.97193914e-01 -5.61922837e-03 -2.12589570e+02] [ 7.67160092e-03 -1.71537294e-04 9.99970558e-01 -9.01515136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.990385723 meters 0.0187795447186621 Centerline is valid? [True, True] Translation: X:16.36, Y:-212.57, Z:-9.02 [[-6.97279087e-01 -7.16779578e-01 5.37695704e-03 1.63570153e+01] [ 7.16756304e-01 -6.97299797e-01 -5.77879281e-03 -2.12569887e+02] [ 7.89147172e-03 -1.75463517e-04 9.99968847e-01 -9.01630410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.020385723 meters 0.018039658658366195 Centerline is valid? [True, True] Translation: X:16.34, Y:-212.55, Z:-9.02 [[-6.97300528e-01 -7.16759682e-01 5.24708027e-03 1.63369707e+01] [ 7.16737545e-01 -6.97320249e-01 -5.63575148e-03 -2.12550854e+02] [ 7.69837476e-03 -1.69033047e-04 9.99970353e-01 -9.01549974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.050385723 meters 0.018123458174245113 Centerline is valid? [True, True] Translation: X:16.32, Y:-212.53, Z:-9.02 [[-6.96977491e-01 -7.17073919e-01 5.23174999e-03 1.63168841e+01] [ 7.17051948e-01 -6.96997107e-01 -5.61567669e-03 -2.12533203e+02] [ 7.67336991e-03 -1.62563722e-04 9.99970546e-01 -9.01510790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.080385723 meters 0.01811096976229319 Centerline is valid? [True, True] Translation: X:16.30, Y:-212.51, Z:-9.02 [[-6.97125058e-01 -7.16931163e-01 5.13435104e-03 1.62971859e+01] [ 7.16910023e-01 -6.97143947e-01 -5.50781210e-03 -2.12514164e+02] [ 7.52810388e-03 -1.58766105e-04 9.99971651e-01 -9.01515712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.110385723 meters 0.01829270418782431 Centerline is valid? [True, True] Translation: X:16.28, Y:-212.50, Z:-9.02 [[-6.97482372e-01 -7.16582699e-01 5.25134526e-03 1.62780249e+01] [ 7.16560602e-01 -6.97502121e-01 -5.62976283e-03 -2.12496599e+02] [ 7.69701510e-03 -1.63753209e-04 9.99970364e-01 -9.01603767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.140385723 meters 0.01838224777072654 Centerline is valid? [True, True] Translation: X:16.26, Y:-212.48, Z:-9.02 [[-6.97907113e-01 -7.16166110e-01 5.63612717e-03 1.62593796e+01] [ 7.16140674e-01 -6.97929847e-01 -6.03848898e-03 -2.12477622e+02] [ 8.25818254e-03 -1.78044501e-04 9.99965885e-01 -9.01653853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.170385723 meters 0.018551487002578044 Centerline is valid? [True, True] Translation: X:16.24, Y:-212.46, Z:-9.02 [[-6.98151027e-01 -7.15924936e-01 6.05229626e-03 1.62391759e+01] [ 7.15895630e-01 -6.98177234e-01 -6.48054904e-03 -2.12459706e+02] [ 8.86516212e-03 -1.91589525e-04 9.99960685e-01 -9.01687435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.200385723 meters 0.01874103497738153 Centerline is valid? [True, True] Translation: X:16.22, Y:-212.44, Z:-9.02 [[-6.98349598e-01 -7.15731971e-01 5.96530856e-03 1.62203227e+01] [ 7.15703529e-01 -6.98375050e-01 -6.38346224e-03 -2.12441912e+02] [ 8.73487067e-03 -1.88495901e-04 9.99961833e-01 -9.01725793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.230385723 meters 0.017578153147668137 Centerline is valid? [True, True] Translation: X:16.20, Y:-212.42, Z:-9.02 [[-6.98632872e-01 -7.15455746e-01 5.93172374e-03 1.61979758e+01] [ 7.15427644e-01 -6.98658028e-01 -6.34402720e-03 -2.12424844e+02] [ 8.68311713e-03 -1.88426801e-04 9.99962283e-01 -9.01640719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.260385723 meters 0.01755502523715689 Centerline is valid? [True, True] Translation: X:16.18, Y:-212.41, Z:-9.02 [[-6.98474655e-01 -7.15608933e-01 6.08366270e-03 1.61766422e+01] [ 7.15579412e-01 -6.98501123e-01 -6.50277363e-03 -2.12407489e+02] [ 8.90288813e-03 -1.88678788e-04 9.99960351e-01 -9.01696234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.290385723 meters 0.017523915210155012 Centerline is valid? [True, True] Translation: X:16.16, Y:-212.39, Z:-9.02 [[-6.98337997e-01 -7.15741854e-01 6.13512472e-03 1.61568859e+01] [ 7.15711873e-01 -6.98364921e-01 -6.55378727e-03 -2.12388699e+02] [ 8.97537575e-03 -1.85777074e-04 9.99959703e-01 -9.01688284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.320385723 meters 0.017359173554144024 Centerline is valid? [True, True] Translation: X:16.14, Y:-212.37, Z:-9.02 [[-6.98092847e-01 -7.15989289e-01 5.07091693e-03 1.61361523e+01] [ 7.15968838e-01 -6.98111249e-01 -5.41367399e-03 -2.12371014e+02] [ 7.41619674e-03 -1.48628584e-04 9.99972489e-01 -9.01569699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.350385723 meters 0.017335478103249067 Centerline is valid? [True, True] Translation: X:16.12, Y:-212.35, Z:-9.02 [[-6.98514564e-01 -7.15580815e-01 4.63690999e-03 1.61161010e+01] [ 7.15563726e-01 -6.98529941e-01 -4.94733731e-03 -2.12352298e+02] [ 6.77924013e-03 -1.37782581e-04 9.99977011e-01 -9.01509344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.380385723 meters 0.017680615144981118 Centerline is valid? [True, True] Translation: X:16.10, Y:-212.33, Z:-9.02 [[-6.98868594e-01 -7.15235951e-01 4.49706003e-03 1.60974884e+01] [ 7.15219889e-01 -6.98883050e-01 -4.79508513e-03 -2.12334377e+02] [ 6.57253630e-03 -1.34747628e-04 9.99978392e-01 -9.01513813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.410385723 meters 0.01795908449245576 Centerline is valid? [True, True] Translation: X:16.08, Y:-212.32, Z:-9.02 [[-6.99809094e-01 -7.14314594e-01 4.67903831e-03 1.60762232e+01] [ 7.14297204e-01 -6.99824720e-01 -4.98648867e-03 -2.12315749e+02] [ 6.83642831e-03 -1.47366137e-04 9.99976621e-01 -9.01561941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.440385723 meters 0.018224869073496422 Centerline is valid? [True, True] Translation: X:16.06, Y:-212.30, Z:-9.02 [[-7.00419579e-01 -7.13714340e-01 4.92487628e-03 1.60562675e+01] [ 7.13695082e-01 -7.00436875e-01 -5.24538255e-03 -2.12297387e+02] [ 7.19326969e-03 -1.59108659e-04 9.99974116e-01 -9.01510217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.470385723 meters 0.01858850516597648 Centerline is valid? [True, True] Translation: X:16.04, Y:-212.28, Z:-9.01 [[-7.00714493e-01 -7.13428532e-01 4.35076728e-03 1.60376298e+01] [ 7.13413515e-01 -7.00727986e-01 -4.63104078e-03 -2.12279150e+02] [ 6.35262101e-03 -1.41141212e-04 9.99979812e-01 -9.01481369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.500385723 meters 0.01714946846580531 Centerline is valid? [True, True] Translation: X:16.02, Y:-212.26, Z:-9.01 [[-7.00785318e-01 -7.13360312e-01 4.12343412e-03 1.60154052e+01] [ 7.13346837e-01 -7.00797437e-01 -4.38662977e-03 -2.12262123e+02] [ 6.01893965e-03 -1.32647048e-04 9.99981877e-01 -9.01344156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.530385723 meters 0.017198997540178035 Centerline is valid? [True, True] Translation: X:15.99, Y:-212.24, Z:-9.01 [[-7.00918863e-01 -7.13227752e-01 4.34988002e-03 1.59945861e+01] [ 7.13212770e-01 -7.00932347e-01 -4.62494770e-03 -2.12242772e+02] [ 6.34761267e-03 -1.39323107e-04 9.99979844e-01 -9.01323923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.56038572299997 meters 0.017216134035051824 Centerline is valid? [True, True] Translation: X:15.97, Y:-212.22, Z:-9.01 [[-7.00577211e-01 -7.13561357e-01 4.66485979e-03 1.59730906e+01] [ 7.13544153e-01 -7.00592727e-01 -4.95710138e-03 -2.12224504e+02] [ 6.80536283e-03 -1.44248833e-04 9.99976833e-01 -9.01297998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.590385723 meters 0.01713162151973714 Centerline is valid? [True, True] Translation: X:15.95, Y:-212.21, Z:-9.01 [[-7.00436815e-01 -7.13696398e-01 5.07143808e-03 1.59514976e+01] [ 7.13676090e-01 -7.00455158e-01 -5.38617069e-03 -2.12206795e+02] [ 7.39640558e-03 -1.53308148e-04 9.99972635e-01 -9.01287154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.62038572299997 meters 0.01721163421452192 Centerline is valid? [True, True] Translation: X:15.93, Y:-212.19, Z:-9.01 [[-7.00458347e-01 -7.13676539e-01 4.88883525e-03 1.59316847e+01] [ 7.13657687e-01 -7.00475393e-01 -5.18937746e-03 -2.12187449e+02] [ 7.12804574e-03 -1.45987901e-04 9.99974585e-01 -9.01245594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.650385723 meters 0.017343920239285795 Centerline is valid? [True, True] Translation: X:15.91, Y:-212.17, Z:-9.01 [[-7.00567100e-01 -7.13569784e-01 4.88894036e-03 1.59116493e+01] [ 7.13550948e-01 -7.00584144e-01 -5.18663338e-03 -2.12167679e+02] [ 7.12613896e-03 -1.45076677e-04 9.99974598e-01 -9.01219211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.680385723 meters 0.017348505861937185 Centerline is valid? [True, True] Translation: X:15.89, Y:-212.15, Z:-9.01 [[-7.01056940e-01 -7.13085341e-01 5.33518028e-03 1.58914079e+01] [ 7.13062920e-01 -7.01077222e-01 -5.65693144e-03 -2.12147889e+02] [ 7.77424826e-03 -1.61511815e-04 9.99969767e-01 -9.01195750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.710385723 meters 0.017584667177836504 Centerline is valid? [True, True] Translation: X:15.87, Y:-212.13, Z:-9.01 [[-7.01982247e-01 -7.12165359e-01 6.43627485e-03 1.58702172e+01] [ 7.12132726e-01 -7.02011723e-01 -6.82068320e-03 -2.12128999e+02] [ 9.37579470e-03 -2.04516564e-04 9.99956025e-01 -9.01243532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.740385723 meters 0.01757569718564721 Centerline is valid? [True, True] Translation: X:15.85, Y:-212.11, Z:-9.01 [[-7.02335867e-01 -7.11810821e-01 7.04877950e-03 1.58499823e+01] [ 7.11771705e-01 -7.02371201e-01 -7.46561024e-03 -2.12110112e+02] [ 1.02649619e-02 -2.26244040e-04 9.99947288e-01 -9.01234806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.770385723 meters 0.01858663264263148 Centerline is valid? [True, True] Translation: X:15.83, Y:-212.09, Z:-9.01 [[-7.03295564e-01 -7.10853017e-01 7.95850907e-03 1.58314673e+01] [ 7.10803115e-01 -7.03340540e-01 -8.42711238e-03 -2.12090448e+02] [ 1.15879803e-02 -2.69817714e-04 9.99932821e-01 -9.01327977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.800385723 meters 0.017999227922520112 Centerline is valid? [True, True] Translation: X:15.81, Y:-212.07, Z:-9.01 [[-7.03967545e-01 -7.10187434e-01 7.96891369e-03 1.58106230e+01] [ 7.10137414e-01 -7.04012593e-01 -8.43343525e-03 -2.12071604e+02] [ 1.15995353e-02 -2.77840951e-04 9.99932685e-01 -9.01183652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.830385723 meters 0.017749030435335367 Centerline is valid? [True, True] Translation: X:15.79, Y:-212.05, Z:-9.01 [[-7.04507707e-01 -7.09649586e-01 8.14591753e-03 1.57906027e+01] [ 7.09597340e-01 -7.04554740e-01 -8.61587847e-03 -2.12052134e+02] [ 1.18534994e-02 -2.89631380e-04 9.99929703e-01 -9.01075876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.860385723 meters 0.018730197912568625 Centerline is valid? [True, True] Translation: X:15.77, Y:-212.03, Z:-9.01 [[-7.05259815e-01 -7.08890148e-01 9.12972563e-03 1.57717280e+01] [ 7.08824522e-01 -7.05318825e-01 -9.65148404e-03 -2.12032709e+02] [ 1.32812093e-02 -3.35430438e-04 9.99911745e-01 -9.01066142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.890385723 meters 0.018316851591288548 Centerline is valid? [True, True] Translation: X:15.75, Y:-212.01, Z:-9.01 [[-7.05374689e-01 -7.08778402e-01 8.92893523e-03 1.57526886e+01] [ 7.08715694e-01 -7.05431124e-01 -9.43368950e-03 -2.12013744e+02] [ 1.29851442e-02 -3.26209264e-04 9.99915636e-01 -9.01043271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.920385723 meters 0.018354804025581185 Centerline is valid? [True, True] Translation: X:15.73, Y:-212.00, Z:-9.01 [[-7.04738922e-01 -7.09399639e-01 9.75726912e-03 1.57309859e+01] [ 7.09324895e-01 -7.04806383e-01 -1.03032135e-02 -2.11995531e+02] [ 1.41860815e-02 -3.40001649e-04 9.99899315e-01 -9.01172828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.950385723 meters 0.01820537098257625 Centerline is valid? [True, True] Translation: X:15.71, Y:-211.98, Z:-9.01 [[-7.04427935e-01 -7.09711881e-01 9.50427484e-03 1.57108035e+01] [ 7.09641067e-01 -7.04491975e-01 -1.00305869e-02 -2.11976169e+02] [ 1.38145120e-02 -3.21201843e-04 9.99904524e-01 -9.01161085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.980385723 meters 0.017886843100141853 Centerline is valid? [True, True] Translation: X:15.69, Y:-211.96, Z:-9.01 [[-7.03673166e-01 -7.10466091e-01 9.05587859e-03 1.56903998e+01] [ 7.10401907e-01 -7.03731376e-01 -9.55410727e-03 -2.11956180e+02] [ 1.31607751e-02 -2.89655496e-04 9.99913351e-01 -9.01065136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.010385723 meters 0.020256859277097816 Centerline is valid? [True, True] Translation: X:15.67, Y:-211.94, Z:-9.01 [[-7.03497769e-01 -7.10632185e-01 9.63254830e-03 1.56711588e+01] [ 7.10559673e-01 -7.03563648e-01 -1.01559563e-02 -2.11937732e+02] [ 1.39942602e-02 -3.00192212e-04 9.99902031e-01 -9.01186075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.040385723 meters 0.020256859277097816 Centerline is valid? [True, True] Translation: X:15.65, Y:-211.92, Z:-9.01 [[-7.03713953e-01 -7.10418065e-01 9.63563801e-03 1.56526761e+01] [ 7.10345573e-01 -7.03779854e-01 -1.01530249e-02 -2.11918382e+02] [ 1.39942602e-02 -3.00192489e-04 9.99902031e-01 -9.01186117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.070385723 meters 0.020263888282498994 Centerline is valid? [True, True] Translation: X:15.63, Y:-211.90, Z:-9.01 [[-7.03342352e-01 -7.10786821e-01 9.57244750e-03 1.56337012e+01] [ 7.10715377e-01 -7.03407430e-01 -1.00816943e-02 -2.11900622e+02] [ 1.38992661e-02 -2.87596943e-04 9.99903359e-01 -9.01180512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.100385723 meters 0.017305530701828047 Centerline is valid? [True, True] Translation: X:15.61, Y:-211.88, Z:-9.01 [[-7.02836861e-01 -7.11308191e-01 7.81047096e-03 1.56135418e+01] [ 7.11260710e-01 -7.02880223e-01 -8.22158612e-03 -2.11880869e+02] [ 1.13379071e-02 -2.23152662e-04 9.99935699e-01 -9.00945253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.130385723 meters 0.017316515744870677 Centerline is valid? [True, True] Translation: X:15.59, Y:-211.86, Z:-9.01 [[-7.02969557e-01 -7.11184664e-01 7.08352501e-03 1.55945335e+01] [ 7.11145650e-01 -7.03005216e-01 -7.45192235e-03 -2.11861928e+02] [ 1.02794479e-02 -2.01056551e-04 9.99947145e-01 -9.00919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.160385723 meters 0.017117742770211858 Centerline is valid? [True, True] Translation: X:15.57, Y:-211.84, Z:-9.01 [[-7.03121358e-01 -7.11045479e-01 5.88928759e-03 1.55746047e+01] [ 7.11018538e-01 -7.03146002e-01 -6.19184627e-03 -2.11843377e+02] [ 8.54371332e-03 -1.66226706e-04 9.99963488e-01 -9.00828781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.190385723 meters 0.01633702349813258 Centerline is valid? [True, True] Translation: X:15.55, Y:-211.82, Z:-9.01 [[-7.03164744e-01 -7.11005330e-01 5.54659637e-03 1.55538434e+01] [ 7.10981458e-01 -7.03186602e-01 -5.82829382e-03 -2.11824741e+02] [ 8.04424022e-03 -1.54723553e-04 9.99967633e-01 -9.00761624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.220385723 meters 0.016365077672908405 Centerline is valid? [True, True] Translation: X:15.53, Y:-211.81, Z:-9.01 [[-7.02213785e-01 -7.11943844e-01 5.63582485e-03 1.55343265e+01] [ 7.11919256e-01 -7.02236386e-01 -5.91877571e-03 -2.11805255e+02] [ 8.17151721e-03 -1.43993665e-04 9.99966602e-01 -9.00844849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.250385723 meters 0.020021182999383814 Centerline is valid? [True, True] Translation: X:15.51, Y:-211.79, Z:-9.01 [[-7.02563957e-01 -7.11583020e-01 7.31381475e-03 1.55136261e+01] [ 7.11541632e-01 -7.02602000e-01 -7.67696322e-03 -2.11785603e+02] [ 1.06014975e-02 -1.89473975e-04 9.99943785e-01 -9.01014087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.280385723 meters 0.016132099958531584 Centerline is valid? [True, True] Translation: X:15.49, Y:-211.77, Z:-9.01 [[-7.01071618e-01 -7.13073801e-01 4.93365685e-03 1.54944449e+01] [ 7.13055017e-01 -7.01088969e-01 -5.17692393e-03 -2.11766492e+02] [ 7.15046121e-03 -1.11425665e-04 9.99974429e-01 -9.00917552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31038572299997 meters 0.01741950013967972 Centerline is valid? [True, True] Translation: X:15.47, Y:-211.75, Z:-9.01 [[-7.00423971e-01 -7.13708511e-01 5.14027722e-03 1.54737616e+01] [ 7.13688161e-01 -7.00442824e-01 -5.39066600e-03 -2.11748373e+02] [ 7.44783450e-03 -1.07196693e-04 9.99972259e-01 -9.01021605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.340385723 meters 0.019000556100322308 Centerline is valid? [True, True] Translation: X:15.45, Y:-211.73, Z:-9.01 [[-7.00350410e-01 -7.13779872e-01 5.25332501e-03 1.54537622e+01] [ 7.13758641e-01 -7.00370105e-01 -5.50622732e-03 -2.11728607e+02] [ 7.60950602e-03 -1.06682441e-04 9.99971042e-01 -9.01089481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37038572299997 meters 0.015509007150935936 Centerline is valid? [True, True] Translation: X:15.43, Y:-211.71, Z:-9.01 [[-6.99480574e-01 -7.14647539e-01 2.41280736e-03 1.54336798e+01] [ 7.14643070e-01 -6.99484734e-01 -2.52759428e-03 -2.11709014e+02] [ 3.49406095e-03 -4.37070333e-05 9.99993895e-01 -9.00945398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.400385723 meters 0.01517318114385466 Centerline is valid? [True, True] Translation: X:15.41, Y:-211.69, Z:-9.01 [[-6.99639242e-01 -7.14493949e-01 1.82414911e-03 1.54139117e+01] [ 7.14491397e-01 -6.99641619e-01 -1.90986015e-03 -2.11689718e+02] [ 2.64083416e-03 -3.28742596e-05 9.99996513e-01 -9.00925528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.430385723 meters 0.015235701485065851 Centerline is valid? [True, True] Translation: X:15.40, Y:-211.67, Z:-9.01 [[-6.99678325e-01 -7.14456387e-01 1.52099448e-03 1.53960111e+01] [ 7.14454615e-01 -6.99679977e-01 -1.59152080e-03 -2.11669419e+02] [ 2.20128159e-03 -2.68710836e-05 9.99997577e-01 -9.00985439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.460385723 meters 0.01654760195660913 Centerline is valid? [True, True] Translation: X:15.38, Y:-211.65, Z:-9.01 [[-7.00702341e-01 -7.13448331e-01 2.77652338e-03 1.53772158e+01] [ 7.13442424e-01 -7.00707840e-01 -2.90374183e-03 -2.11648146e+02] [ 4.01720146e-03 -5.37691326e-05 9.99991930e-01 -9.01241137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.490385723 meters 0.01527628737992272 Centerline is valid? [True, True] Translation: X:15.36, Y:-211.63, Z:-9.01 [[-7.01239241e-01 -7.12922447e-01 2.26086672e-03 1.53579446e+01] [ 7.12918532e-01 -7.01242884e-01 -2.36311849e-03 -2.11627884e+02] [ 3.27013692e-03 -4.52976300e-05 9.99994652e-01 -9.01291200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.520385723 meters 0.015636997256141334 Centerline is valid? [True, True] Translation: X:15.34, Y:-211.61, Z:-9.01 [[-7.02420260e-01 -7.11759634e-01 2.00049707e-03 1.53408002e+01] [ 7.11756566e-01 -7.02423107e-01 -2.09023520e-03 -2.11606311e+02] [ 2.89294041e-03 -4.43566273e-05 9.99995815e-01 -9.01456655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.550385723 meters 0.018830916259243106 Centerline is valid? [True, True] Translation: X:15.32, Y:-211.58, Z:-9.02 [[-7.04043842e-01 -7.10151952e-01 2.54441009e-03 1.53239641e+01] [ 7.10146985e-01 -7.04048436e-01 -2.65698993e-03 -2.11584854e+02] [ 3.67825453e-03 -6.37322448e-05 9.99993233e-01 -9.01642670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.580385723 meters 0.016021144778256405 Centerline is valid? [True, True] Translation: X:15.30, Y:-211.56, Z:-9.01 [[-7.04007699e-01 -7.10191363e-01 1.17805547e-03 1.53042028e+01] [ 7.10190300e-01 -7.04008684e-01 -1.22950540e-03 -2.11564297e+02] [ 1.70254540e-03 -2.89377016e-05 9.99998550e-01 -9.01464285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.610385723 meters 0.01593278595459002 Centerline is valid? [True, True] Translation: X:15.29, Y:-211.54, Z:-9.01 [[-7.04369485e-01 -7.09833396e-01 -4.21726142e-04 1.52859989e+01] [ 7.09833260e-01 -7.04369612e-01 4.39906373e-04 -2.11543334e+02] [-6.09311313e-04 1.05013840e-05 9.99999814e-01 -9.01442363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.640385723 meters 0.015885081545911044 Centerline is valid? [True, True] Translation: X:15.27, Y:-211.52, Z:-9.01 [[-7.04552046e-01 -7.09651939e-01 -7.34244238e-04 1.52674750e+01] [ 7.09651527e-01 -7.04552429e-01 7.65465540e-04 -2.11521940e+02] [-1.06052767e-03 1.82527679e-05 9.99999438e-01 -9.01416042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.670385723 meters 0.01595331897914669 Centerline is valid? [True, True] Translation: X:15.25, Y:-211.50, Z:-9.02 [[-7.04746255e-01 -7.09458395e-01 -1.22540271e-03 1.52488419e+01] [ 7.09457247e-01 -7.04747319e-01 1.27679310e-03 -2.11500714e+02] [-1.76943086e-03 3.04443243e-05 9.99998434e-01 -9.01513185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.700385723 meters 0.015938877227833572 Centerline is valid? [True, True] Translation: X:15.23, Y:-211.48, Z:-9.02 [[-7.04703179e-01 -7.09500880e-01 -1.38970088e-03 1.52306270e+01] [ 7.09499405e-01 -7.04704548e-01 1.44712987e-03 -2.11480819e+02] [-2.00606845e-03 3.38050690e-05 9.99997987e-01 -9.01561286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.730385723 meters 0.0159486946709632 Centerline is valid? [True, True] Translation: X:15.21, Y:-211.46, Z:-9.02 [[-7.04521786e-01 -7.09680486e-01 -1.63110611e-03 1.52108075e+01] [ 7.09678457e-01 -7.04523673e-01 1.69758036e-03 -2.11460389e+02] [-2.35389253e-03 3.84214785e-05 9.99997229e-01 -9.01631659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.760385723 meters 0.015684865981480733 Centerline is valid? [True, True] Translation: X:15.19, Y:-211.44, Z:-9.02 [[-7.03877679e-01 -7.10319474e-01 -1.56791774e-03 1.51913808e+01] [ 7.10317602e-01 -7.03879425e-01 1.63092445e-03 -2.11439875e+02] [-2.26210243e-03 3.42517519e-05 9.99997441e-01 -9.01794963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.790385723 meters 0.01576805438492724 Centerline is valid? [True, True] Translation: X:15.17, Y:-211.42, Z:-9.02 [[-7.03811877e-01 -7.10384423e-01 -1.67730801e-03 1.51739065e+01] [ 7.10382284e-01 -7.03813875e-01 1.74358472e-03 -2.11419909e+02] [-2.41912807e-03 3.56257372e-05 9.99997073e-01 -9.01837051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.820385723 meters 0.015789011339077758 Centerline is valid? [True, True] Translation: X:15.16, Y:-211.40, Z:-9.02 [[-7.03363294e-01 -7.10827608e-01 -2.04655668e-03 1.51564739e+01] [ 7.10824430e-01 -7.03366270e-01 2.12626189e-03 -2.11398284e+02] [-2.95088460e-03 4.07920810e-05 9.99995645e-01 -9.01853250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.850385723 meters 0.01587403805967918 Centerline is valid? [True, True] Translation: X:15.14, Y:-211.38, Z:-9.02 [[-7.03262341e-01 -7.10926050e-01 -2.49621293e-03 1.51391528e+01] [ 7.10921326e-01 -7.03266769e-01 2.59219861e-03 -2.11379025e+02] [-3.59836512e-03 4.83846517e-05 9.99993525e-01 -9.01852482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.880385723 meters 0.015620789257079878 Centerline is valid? [True, True] Translation: X:15.12, Y:-211.36, Z:-9.02 [[-7.03373094e-01 -7.10813643e-01 -3.20245624e-03 1.51193382e+01] [ 7.10805875e-01 -7.03380381e-01 3.32375403e-03 -2.11359813e+02] [-4.61511460e-03 6.15144458e-05 9.99989348e-01 -9.01952401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.910385723 meters 0.015883759931049575 Centerline is valid? [True, True] Translation: X:15.10, Y:-211.34, Z:-9.02 [[-7.02882560e-01 -7.11296766e-01 -3.60793876e-03 1.51019192e+01] [ 7.11286924e-01 -7.02891817e-01 3.74242125e-03 -2.11339192e+02] [-5.19796276e-03 6.42029654e-05 9.99986488e-01 -9.01975876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.940385723 meters 0.015572902198862934 Centerline is valid? [True, True] Translation: X:15.08, Y:-211.32, Z:-9.02 [[-7.02896261e-01 -7.11282926e-01 -3.66679013e-03 1.50825351e+01] [ 7.11272771e-01 -7.02905822e-01 3.80135025e-03 -2.11319265e+02] [-5.28124366e-03 6.38668952e-05 9.99986052e-01 -9.02060717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.970385723 meters 0.015669842242160007 Centerline is valid? [True, True] Translation: X:15.07, Y:-211.30, Z:-9.02 [[-7.02717752e-01 -7.11456915e-01 -4.10116888e-03 1.50660541e+01] [ 7.11444229e-01 -7.02729716e-01 4.24917739e-03 -2.11297555e+02] [-5.90511988e-03 6.82194519e-05 9.99982562e-01 -9.02070164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.000385723 meters 0.01576520788291178 Centerline is valid? [True, True] Translation: X:15.05, Y:-211.28, Z:-9.02 [[-7.03034187e-01 -7.11143476e-01 -4.22949476e-03 1.50480913e+01] [ 7.11129993e-01 -7.03046906e-01 4.37973207e-03 -2.11276428e+02] [-6.08815109e-03 7.13807990e-05 9.99981465e-01 -9.02090315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.030385723 meters 0.01579824374212142 Centerline is valid? [True, True] Translation: X:15.03, Y:-211.25, Z:-9.02 [[-7.03755969e-01 -7.10431213e-01 -3.87667416e-03 1.50310032e+01] [ 7.10419887e-01 -7.03766643e-01 4.01214476e-03 -2.11254361e+02] [-5.57862682e-03 6.95044003e-05 9.99984437e-01 -9.02211592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.06038572299997 meters 0.016029070689544987 Centerline is valid? [True, True] Translation: X:15.01, Y:-211.23, Z:-9.02 [[-7.04369425e-01 -7.09824285e-01 -3.63274148e-03 1.50135560e+01] [ 7.09814340e-01 -7.04378790e-01 3.75816156e-03 -2.11233363e+02] [-5.22646039e-03 6.85621019e-05 9.99986340e-01 -9.02238798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.090385723 meters 0.015905717258358192 Centerline is valid? [True, True] Translation: X:14.99, Y:-211.21, Z:-9.02 [[-7.05230912e-01 -7.08967805e-01 -3.74326399e-03 1.49948243e+01] [ 7.08957245e-01 -7.05240842e-01 3.87032113e-03 -2.11212842e+02] [-5.38383573e-03 7.56559710e-05 9.99985504e-01 -9.02371236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.12038572299997 meters 0.016477326506963902 Centerline is valid? [True, True] Translation: X:14.98, Y:-211.19, Z:-9.02 [[-7.06470267e-01 -7.07736123e-01 -3.05632071e-03 1.49786569e+01] [ 7.07729079e-01 -7.06476875e-01 3.15848334e-03 -2.11190018e+02] [-4.39459267e-03 6.83275301e-05 9.99990341e-01 -9.02484294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.150385723 meters 0.016599180690649994 Centerline is valid? [True, True] Translation: X:14.96, Y:-211.17, Z:-9.03 [[-7.07039862e-01 -7.07167867e-01 -2.87097041e-03 1.49608916e+01] [ 7.07161653e-01 -7.07045687e-01 2.96512877e-03 -2.11168865e+02] [-4.12675103e-03 6.62240577e-05 9.99991483e-01 -9.02536202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.180385723 meters 0.016229897735524815 Centerline is valid? [True, True] Translation: X:14.94, Y:-211.15, Z:-9.03 [[-7.07389868e-01 -7.06814347e-01 -3.61289226e-03 1.49434227e+01] [ 7.06804514e-01 -7.07399089e-01 3.72928566e-03 -2.11146923e+02] [-5.19166931e-03 8.44503336e-05 9.99986520e-01 -9.02526468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.210385723 meters 0.01658112915203723 Centerline is valid? [True, True] Translation: X:14.93, Y:-211.13, Z:-9.02 [[-7.07347765e-01 -7.06855606e-01 -3.78052735e-03 1.49260850e+01] [ 7.06844852e-01 -7.07357862e-01 3.90001183e-03 -2.11125525e+02] [-5.43093097e-03 8.64183529e-05 9.99985249e-01 -9.02472487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.240385723 meters 0.016624977221992448 Centerline is valid? [True, True] Translation: X:14.91, Y:-211.10, Z:-9.03 [[-7.07207681e-01 -7.06996571e-01 -3.62555550e-03 1.49073006e+01] [ 7.06986693e-01 -7.07216970e-01 3.73810360e-03 -2.11104384e+02] [-5.20688081e-03 8.03960867e-05 9.99986441e-01 -9.02514928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.270385723 meters 0.01631174558846783 Centerline is valid? [True, True] Translation: X:14.89, Y:-211.08, Z:-9.03 [[-7.06305881e-01 -7.07898350e-01 -3.45383143e-03 1.48883679e+01] [ 7.07889406e-01 -7.06314322e-01 3.55908295e-03 -2.11083052e+02] [-4.95895955e-03 6.88705393e-05 9.99987702e-01 -9.02609959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.300385723 meters 0.016203645712533157 Centerline is valid? [True, True] Translation: X:14.87, Y:-211.06, Z:-9.03 [[-7.05677570e-01 -7.08524154e-01 -3.56242313e-03 1.48688806e+01] [ 7.08514658e-01 -7.05686559e-01 3.66892165e-03 -2.11062607e+02] [-5.11347372e-03 6.50467110e-05 9.99986924e-01 -9.02643538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.330385723 meters 0.01630094396441296 Centerline is valid? [True, True] Translation: X:14.85, Y:-211.04, Z:-9.03 [[-7.04865966e-01 -7.09328889e-01 -4.06162736e-03 1.48518151e+01] [ 7.09316572e-01 -7.04877665e-01 4.18060539e-03 -2.11041163e+02] [-5.82837459e-03 6.57868649e-05 9.99983013e-01 -9.02562983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.360385723 meters 0.016233298263848547 Centerline is valid? [True, True] Translation: X:14.83, Y:-211.02, Z:-9.03 [[-7.04438478e-01 -7.09753129e-01 -4.11430370e-03 1.48335050e+01] [ 7.09740513e-01 -7.04450490e-01 4.23225146e-03 -2.11020676e+02] [-5.90217697e-03 6.12727583e-05 9.99982580e-01 -9.02531538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.390385723 meters 0.016262439432676558 Centerline is valid? [True, True] Translation: X:14.82, Y:-211.00, Z:-9.02 [[-7.04178541e-01 -7.10007093e-01 -4.74443085e-03 1.48153694e+01] [ 7.09990343e-01 -7.04194521e-01 4.87749500e-03 -2.11000339e+02] [-6.80405825e-03 6.61272271e-05 9.99976850e-01 -9.02460413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.420385723 meters 0.016111305983452062 Centerline is valid? [True, True] Translation: X:14.80, Y:-210.98, Z:-9.02 [[-7.03786803e-01 -7.10394798e-01 -4.83387290e-03 1.47962476e+01] [ 7.10377438e-01 -7.03803401e-01 4.96670985e-03 -2.10980129e+02] [-6.93042103e-03 6.16306030e-05 9.99975983e-01 -9.02480213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.450385723 meters 0.016083578249900546 Centerline is valid? [True, True] Translation: X:14.78, Y:-210.96, Z:-9.03 [[-7.03129906e-01 -7.11045917e-01 -4.69462791e-03 1.47786224e+01] [ 7.11029576e-01 -7.03145576e-01 4.82086926e-03 -2.10959908e+02] [-6.72886624e-03 5.16780556e-05 9.99977360e-01 -9.02541958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.480385723 meters 0.015971190918424756 Centerline is valid? [True, True] Translation: X:14.76, Y:-210.94, Z:-9.03 [[-7.02496640e-01 -7.11672647e-01 -4.52929990e-03 1.47619346e+01] [ 7.11657464e-01 -7.02511239e-01 4.64889860e-03 -2.10940092e+02] [-6.49037806e-03 4.25255604e-05 9.99978936e-01 -9.02616048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.510385723 meters 0.015887832002370792 Centerline is valid? [True, True] Translation: X:14.74, Y:-210.92, Z:-9.03 [[-7.02282797e-01 -7.11885705e-01 -4.19706950e-03 1.47439875e+01] [ 7.11872687e-01 -7.02295338e-01 4.30530168e-03 -2.10920006e+02] [-6.01246507e-03 3.57601656e-05 9.99981924e-01 -9.02667551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.540385723 meters 0.015837209816094523 Centerline is valid? [True, True] Translation: X:14.73, Y:-210.90, Z:-9.03 [[-7.02167777e-01 -7.12001668e-01 -3.74683400e-03 1.47269677e+01] [ 7.11991308e-01 -7.02177773e-01 3.84103033e-03 -2.10900549e+02] [-5.36576355e-03 2.93344862e-05 9.99985604e-01 -9.02703204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.570385723 meters 0.01583860273871435 Centerline is valid? [True, True] Translation: X:14.71, Y:-210.88, Z:-9.03 [[-7.01811365e-01 -7.12353902e-01 -3.56739950e-03 1.47078031e+01] [ 7.12344525e-01 -7.01820432e-01 3.65507308e-03 -2.10880063e+02] [-5.10737943e-03 2.39543243e-05 9.99986957e-01 -9.02821728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.600385723 meters 0.01575131118032362 Centerline is valid? [True, True] Translation: X:14.69, Y:-210.86, Z:-9.03 [[-7.00601873e-01 -7.13545261e-01 -3.18999535e-03 1.46911806e+01] [ 7.13537785e-01 -7.00609135e-01 3.26628280e-03 -2.10859985e+02] [-4.56558050e-03 1.21816334e-05 9.99989578e-01 -9.02842258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.630385723 meters 0.015705573455328758 Centerline is valid? [True, True] Translation: X:14.67, Y:-210.84, Z:-9.03 [[-7.00289558e-01 -7.13851739e-01 -3.19835359e-03 1.46735733e+01] [ 7.13844237e-01 -7.00296861e-01 3.27275701e-03 -2.10840373e+02] [-4.57606027e-03 8.75128229e-06 9.99989530e-01 -9.02827247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.660385723 meters 0.015776434172885212 Centerline is valid? [True, True] Translation: X:14.66, Y:-210.82, Z:-9.03 [[-6.99403625e-01 -7.14720690e-01 -2.98391233e-03 1.46560235e+01] [ 7.14714176e-01 -6.99409991e-01 3.05163356e-03 -2.10818736e+02] [-4.26804374e-03 1.67913534e-06 9.99990892e-01 -9.02821558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.690385723 meters 0.0158046480393173 Centerline is valid? [True, True] Translation: X:14.64, Y:-210.80, Z:-9.03 [[-6.98957948e-01 -7.15156045e-01 -3.10137361e-03 1.46377370e+01] [ 7.15149019e-01 -6.98964829e-01 3.16990523e-03 -2.10798148e+02] [-4.43472796e-03 -2.31384294e-06 9.99990167e-01 -9.02820739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.720385723 meters 0.015718626776580074 Centerline is valid? [True, True] Translation: X:14.62, Y:-210.78, Z:-9.03 [[-6.98579229e-01 -7.15525261e-01 -3.26522827e-03 1.46197146e+01] [ 7.15517487e-01 -6.98586860e-01 3.33551403e-03 -2.10777176e+02] [-4.66769011e-03 -6.20710586e-06 9.99989106e-01 -9.02826746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.750385723 meters 0.01575747890924954 Centerline is valid? [True, True] Translation: X:14.60, Y:-210.75, Z:-9.03 [[-6.98458362e-01 -7.15643597e-01 -3.18732580e-03 1.46044781e+01] [ 7.15636196e-01 -6.98465634e-01 3.25460462e-03 -2.10754342e+02] [-4.55537449e-03 -7.75989954e-06 9.99989624e-01 -9.02768780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.780385723 meters 0.015722087228352666 Centerline is valid? [True, True] Translation: X:14.59, Y:-210.73, Z:-9.03 [[-6.99080771e-01 -7.15035669e-01 -3.17305518e-03 1.45880439e+01] [ 7.15028338e-01 -6.99087972e-01 3.23792604e-03 -2.10733794e+02] [-4.53347732e-03 -5.25253630e-06 9.99989724e-01 -9.02728026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81038572299997 meters 0.015646324726158747 Centerline is valid? [True, True] Translation: X:14.57, Y:-210.71, Z:-9.03 [[-6.99861840e-01 -7.14272025e-01 -2.97991010e-03 1.45721433e+01] [ 7.14265560e-01 -6.99868184e-01 3.03895867e-03 -2.10710847e+02] [-4.25618743e-03 -1.59594812e-06 9.99990942e-01 -9.02833266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.840385723 meters 0.015681153281222146 Centerline is valid? [True, True] Translation: X:14.55, Y:-210.69, Z:-9.03 [[-7.00369489e-01 -7.13775363e-01 -2.70350852e-03 1.45548130e+01] [ 7.13770045e-01 -7.00374707e-01 2.75539029e-03 -2.10689752e+02] [-3.86019869e-03 1.07892082e-07 9.99992549e-01 -9.02844666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87038572299997 meters 0.01559159914373557 Centerline is valid? [True, True] Translation: X:14.54, Y:-210.67, Z:-9.03 [[-7.01237961e-01 -7.12924274e-01 -2.07402788e-03 1.45394423e+01] [ 7.12921144e-01 -7.01241028e-01 2.11252949e-03 -2.10667286e+02] [-2.96046699e-03 2.76754204e-06 9.99995618e-01 -9.02879249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.900385723 meters 0.01559159914373557 Centerline is valid? [True, True] Translation: X:14.52, Y:-210.65, Z:-9.03 [[-7.01457644e-01 -7.12708123e-01 -2.07467884e-03 1.45206182e+01] [ 7.12704994e-01 -7.01460712e-01 2.11189019e-03 -2.10648248e+02] [-2.96046699e-03 2.76754584e-06 9.99995618e-01 -9.02879292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.930385723 meters 0.01562313433578443 Centerline is valid? [True, True] Translation: X:14.50, Y:-210.63, Z:-9.03 [[-7.01943254e-01 -7.12230391e-01 -1.88096564e-03 1.45026272e+01] [ 7.12227821e-01 -7.01945774e-01 1.91352627e-03 -2.10627109e+02] [-2.68320745e-03 3.51079579e-06 9.99996400e-01 -9.02927712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.960385723 meters 0.015673773947718572 Centerline is valid? [True, True] Translation: X:14.49, Y:-210.61, Z:-9.03 [[-7.02713753e-01 -7.11469957e-01 -1.96994677e-03 1.44854444e+01] [ 7.11467138e-01 -7.02716515e-01 2.00280881e-03 -2.10605988e+02] [-2.80925243e-03 5.84890180e-06 9.99996054e-01 -9.02929322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.990385723 meters 0.015601096302379783 Centerline is valid? [True, True] Translation: X:14.47, Y:-210.58, Z:-9.03 [[-7.03770365e-01 -7.10426079e-01 -1.43526833e-03 1.44714008e+01] [ 7.10424582e-01 -7.03771829e-01 1.45827114e-03 -2.10583157e+02] [-2.04609527e-03 6.63811155e-06 9.99997907e-01 -9.02863153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.020385723 meters 0.015626198222195086 Centerline is valid? [True, True] Translation: X:14.45, Y:-210.56, Z:-9.03 [[-7.04241104e-01 -7.09960601e-01 -6.43045163e-04 1.44540907e+01] [ 7.09960300e-01 -7.04241397e-01 6.52954696e-04 -2.10561943e+02] [-9.16431132e-04 3.30099907e-06 9.99999580e-01 -9.02865763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.050385723 meters 0.015677386565260094 Centerline is valid? [True, True] Translation: X:14.44, Y:-210.54, Z:-9.03 [[-7.05308052e-01 -7.08900607e-01 6.93309532e-04 1.44385105e+01] [ 7.08900258e-01 -7.05308393e-01 -7.03527033e-04 -2.10540214e+02] [ 9.87727773e-04 -4.71597540e-06 9.99999512e-01 -9.02978729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.080385723 meters 0.015612786659497856 Centerline is valid? [True, True] Translation: X:14.42, Y:-210.52, Z:-9.03 [[-7.05106045e-01 -7.09101309e-01 8.94555487e-04 1.44192975e+01] [ 7.09100728e-01 -7.05106612e-01 -9.07194271e-04 -2.10521278e+02] [ 1.27404963e-03 -5.33821687e-06 9.99999188e-01 -9.03004154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.110385723 meters 0.015528691785624571 Centerline is valid? [True, True] Translation: X:14.40, Y:-210.50, Z:-9.03 [[-7.04708604e-01 -7.09496178e-01 9.78146931e-04 1.43993367e+01] [ 7.09495486e-01 -7.04709283e-01 -9.91365157e-04 -2.10503080e+02] [ 1.39267901e-03 -4.63272336e-06 9.99999030e-01 -9.02992210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.140385723 meters 0.015441837379997119 Centerline is valid? [True, True] Translation: X:14.38, Y:-210.48, Z:-9.03 [[-7.04507629e-01 -7.09695835e-01 9.06845674e-04 1.43792281e+01] [ 7.09695241e-01 -7.04508212e-01 -9.18620678e-04 -2.10484110e+02] [ 1.29082149e-03 -3.59121614e-06 9.99999167e-01 -9.03038594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.170385723 meters 0.015287391108600949 Centerline is valid? [True, True] Translation: X:14.36, Y:-210.47, Z:-9.03 [[-7.04514732e-01 -7.09687410e-01 1.66477408e-03 1.43597677e+01] [ 7.09685409e-01 -7.04516699e-01 -1.68527699e-03 -2.10467012e+02] [ 2.36888101e-03 -5.83659598e-06 9.99997194e-01 -9.03046745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.200385723 meters 0.015243893734184878 Centerline is valid? [True, True] Translation: X:14.34, Y:-210.45, Z:-9.03 [[-7.05348079e-01 -7.08856350e-01 2.60056799e-03 1.43396718e+01] [ 7.08851467e-01 -7.05352872e-01 -2.63114367e-03 -2.10447470e+02] [ 3.69942100e-03 -1.24557009e-05 9.99993157e-01 -9.03104768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.230385723 meters 0.01527807215093178 Centerline is valid? [True, True] Translation: X:14.32, Y:-210.43, Z:-9.03 [[-7.06251749e-01 -7.07952462e-01 3.43204274e-03 1.43205735e+01] [ 7.07943956e-01 -7.06260088e-01 -3.47048382e-03 -2.10426850e+02] [ 4.88085237e-03 -2.13413571e-05 9.99988088e-01 -9.03103831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.260385723 meters 0.015327744932797675 Centerline is valid? [True, True] Translation: X:14.30, Y:-210.41, Z:-9.03 [[-7.07458018e-01 -7.06745528e-01 3.72973884e-03 1.43032870e+01] [ 7.06735479e-01 -7.07467849e-01 -3.76906750e-03 -2.10407521e+02] [ 5.30244191e-03 -3.05182636e-05 9.99985942e-01 -9.03106802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.290385723 meters 0.01545555406211915 Centerline is valid? [True, True] Translation: X:14.28, Y:-210.39, Z:-9.03 [[-7.08877665e-01 -7.05319099e-01 4.17434603e-03 1.42842620e+01] [ 7.05306501e-01 -7.08889954e-01 -4.21577687e-03 -2.10387357e+02] [ 5.93261991e-03 -4.42766681e-05 9.99982401e-01 -9.03086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.320385723 meters 0.015847741817394036 Centerline is valid? [True, True] Translation: X:14.27, Y:-210.37, Z:-9.03 [[-7.11158795e-01 -7.03015910e-01 4.66890947e-03 1.42656544e+01] [ 7.03000118e-01 -7.11174118e-01 -4.71253850e-03 -2.10368099e+02] [ 6.63339711e-03 -6.91192974e-05 9.99977996e-01 -9.03229708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.350385723 meters 0.01610303132413974 Centerline is valid? [True, True] Translation: X:14.25, Y:-210.35, Z:-9.03 [[-7.12835664e-01 -7.01311133e-01 5.29260196e-03 1.42455905e+01] [ 7.01290815e-01 -7.12855305e-01 -5.33919927e-03 -2.10348781e+02] [ 7.51729927e-03 -9.43185172e-05 9.99971740e-01 -9.03281089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.380385723 meters 0.016289000701001793 Centerline is valid? [True, True] Translation: X:14.23, Y:-210.33, Z:-9.03 [[-7.13368186e-01 -7.00767490e-01 5.54587363e-03 1.42263730e+01] [ 7.00745192e-01 -7.13389735e-01 -5.59117343e-03 -2.10330374e+02] [ 7.87448189e-03 -1.02320964e-04 9.99968991e-01 -9.03291954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.410385723 meters 0.018161933635349594 Centerline is valid? [True, True] Translation: X:14.21, Y:-210.31, Z:-9.04 [[-7.14093616e-01 -7.00027242e-01 5.67174147e-03 1.42061107e+01] [ 7.00003926e-01 -7.14116131e-01 -5.71440376e-03 -2.10312771e+02] [ 8.05052038e-03 -1.10377948e-04 9.99967588e-01 -9.03532862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.440385723 meters 0.01601769526587732 Centerline is valid? [True, True] Translation: X:14.19, Y:-210.29, Z:-9.03 [[-7.13974429e-01 -7.00141110e-01 6.55290560e-03 1.41854984e+01] [ 7.00110029e-01 -7.14004490e-01 -6.59821042e-03 -2.10294708e+02] [ 9.29848239e-03 -1.23198590e-04 9.99956761e-01 -9.03210844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.470385723 meters 0.01610027230429469 Centerline is valid? [True, True] Translation: X:14.17, Y:-210.28, Z:-9.03 [[-7.13893440e-01 -7.00223745e-01 6.54701625e-03 1.41666019e+01] [ 7.00192752e-01 -7.13923450e-01 -6.58920610e-03 -2.10275894e+02] [ 9.28798700e-03 -1.19817681e-04 9.99956859e-01 -9.03190708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.500385723 meters 0.015976394397723335 Centerline is valid? [True, True] Translation: X:14.15, Y:-210.26, Z:-9.03 [[-7.13613561e-01 -7.00508187e-01 6.63072745e-03 1.41456843e+01] [ 7.00476446e-01 -7.13644356e-01 -6.66945199e-03 -2.10257782e+02] [ 9.40398694e-03 -1.14742981e-04 9.99955775e-01 -9.03113713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.530385723 meters 0.015818026684697135 Centerline is valid? [True, True] Translation: X:14.13, Y:-210.24, Z:-9.03 [[-7.13319796e-01 -7.00808961e-01 6.45509693e-03 1.41253113e+01] [ 7.00778928e-01 -7.13348995e-01 -6.48886250e-03 -2.10239638e+02] [ 9.15218989e-03 -1.05038168e-04 9.99958112e-01 -9.03085632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.56038572299997 meters 0.015761504396890617 Centerline is valid? [True, True] Translation: X:14.11, Y:-210.22, Z:-9.03 [[-7.13081762e-01 -7.01053965e-01 6.14321520e-03 1.41051417e+01] [ 7.01026805e-01 -7.13108217e-01 -6.17162272e-03 -2.10220826e+02] [ 8.70741782e-03 -9.43130774e-05 9.99962085e-01 -9.03052901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.590385723 meters 0.015642890772528187 Centerline is valid? [True, True] Translation: X:14.09, Y:-210.20, Z:-9.03 [[-7.12601794e-01 -7.01543240e-01 5.98040705e-03 1.40856617e+01] [ 7.01517549e-01 -7.12626884e-01 -6.00445096e-03 -2.10202193e+02] [ 8.47418082e-03 -8.34220326e-05 9.99964090e-01 -9.02925984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.62038572299997 meters 0.015683078528103574 Centerline is valid? [True, True] Translation: X:14.07, Y:-210.18, Z:-9.03 [[-7.12613572e-01 -7.01531385e-01 5.96761772e-03 1.40664912e+01] [ 7.01505834e-01 -7.12638554e-01 -5.98802966e-03 -2.10183395e+02] [ 8.45354521e-03 -8.08325626e-05 9.99964265e-01 -9.02905894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.650385723 meters 0.015630075669150343 Centerline is valid? [True, True] Translation: X:14.05, Y:-210.16, Z:-9.03 [[-7.12598295e-01 -7.01540849e-01 6.64139110e-03 1.40468823e+01] [ 7.01509239e-01 -7.12629237e-01 -6.66014907e-03 -2.10163776e+02] [ 9.40521611e-03 -8.70136456e-05 9.99955766e-01 -9.02895914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.680385723 meters 0.015331579152195044 Centerline is valid? [True, True] Translation: X:14.03, Y:-210.14, Z:-9.03 [[-7.12331430e-01 -7.01809225e-01 6.90982597e-03 1.40272820e+01] [ 7.01775063e-01 -7.12364938e-01 -6.92506890e-03 -2.10144106e+02] [ 9.78239498e-03 -8.38006707e-05 9.99952148e-01 -9.02771522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.710385723 meters 0.01603304292157775 Centerline is valid? [True, True] Translation: X:14.01, Y:-210.12, Z:-9.03 [[-7.12436471e-01 -7.01697070e-01 7.44967862e-03 1.40101942e+01] [ 7.01657405e-01 -7.12475413e-01 -7.46129049e-03 -2.10124089e+02] [ 1.05432785e-02 -8.85732930e-05 9.99944414e-01 -9.02979161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.740385723 meters 0.015867816307307988 Centerline is valid? [True, True] Translation: X:13.99, Y:-210.10, Z:-9.03 [[-7.12531291e-01 -7.01592806e-01 8.16664503e-03 1.39903330e+01] [ 7.01545187e-01 -7.12578084e-01 -8.17465209e-03 -2.10104910e+02] [ 1.15546494e-02 -9.54248927e-05 9.99933238e-01 -9.03048574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.770385723 meters 0.01565327271927284 Centerline is valid? [True, True] Translation: X:13.97, Y:-210.09, Z:-9.03 [[-7.12620177e-01 -7.01499366e-01 8.43337999e-03 1.39708619e+01] [ 7.01448639e-01 -7.12670071e-01 -8.43667460e-03 -2.10085940e+02] [ 1.19285394e-02 -9.65616433e-05 9.99928848e-01 -9.03034246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.800385723 meters 0.01580059971918562 Centerline is valid? [True, True] Translation: X:13.95, Y:-210.07, Z:-9.03 [[-7.12875780e-01 -7.01238271e-01 8.54460893e-03 1.39528510e+01] [ 7.01186241e-01 -7.12926979e-01 -8.54267767e-03 -2.10066743e+02] [ 1.20821348e-02 -9.85057808e-05 9.99927004e-01 -9.03132345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.830385723 meters 0.015637866463701664 Centerline is valid? [True, True] Translation: X:13.39, Y:-210.63, Z:-8.04 [[-7.49687421e-01 6.61722989e-01 9.56335294e-03 1.33939308e+01] [ 6.61671004e-01 7.49748407e-01 -8.29508747e-03 -2.10628575e+02] [-1.26591587e-02 1.09070611e-04 -9.99919864e-01 -8.03668521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.860385723 meters 0.015696471111950147 Centerline is valid? [True, True] Translation: X:13.42, Y:-210.61, Z:-8.04 [[-7.94260373e-01 6.07496969e-01 9.89405258e-03 1.34152532e+01] [ 6.07451623e-01 7.94321987e-01 -7.42336335e-03 -2.10609655e+02] [-1.23687342e-02 1.14074955e-04 -9.99923498e-01 -8.03688453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.890385723 meters 0.01577857838288257 Centerline is valid? [True, True] Translation: X:13.43, Y:-210.58, Z:-8.04 [[-8.34753961e-01 5.50547086e-01 9.15042537e-03 1.34260934e+01] [ 5.50515457e-01 8.34804105e-01 -5.90237982e-03 -2.10584195e+02] [-1.08883507e-02 1.10415671e-04 -9.99940714e-01 -8.03886598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.920385723 meters 0.01629219532925293 Centerline is valid? [True, True] Translation: X:13.87, Y:-209.92, Z:-9.03 [[-8.08007751e-01 -5.89113983e-01 8.25766600e-03 1.38697887e+01] [ 5.89081458e-01 -8.08049934e-01 -6.19202068e-03 -2.09920532e+02] [ 1.03204124e-02 -1.38762781e-04 9.99946734e-01 -9.02858260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.950385723 meters 0.015564911483629712 Centerline is valid? [True, True] Translation: X:13.40, Y:-210.57, Z:-8.04 [[-8.37026255e-01 5.47095335e-01 8.58740278e-03 1.33956836e+01] [ 5.47067746e-01 8.37070299e-01 -5.49511273e-03 -2.10566588e+02] [-1.01946104e-02 9.83374535e-05 -9.99948029e-01 -8.04026450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.980385723 meters 0.01556384825242721 Centerline is valid? [True, True] Translation: X:13.41, Y:-210.54, Z:-8.04 [[-8.73934795e-01 4.85963416e-01 8.80526013e-03 1.34123442e+01] [ 4.85939793e-01 8.73979147e-01 -4.79252091e-03 -2.10542577e+02] [-1.00246036e-02 9.04755063e-05 -9.99949748e-01 -8.03985711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.010385723 meters 0.015395230529991494 Centerline is valid? [True, True] Translation: X:13.43, Y:-210.52, Z:-8.04 [[-9.06607279e-01 4.21872600e-01 9.31401663e-03 1.34291434e+01] [ 4.21851260e-01 9.06655118e-01 -4.24406162e-03 -2.10517181e+02] [-1.02350542e-02 8.14324917e-05 -9.99947617e-01 -8.03882912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.040385723 meters 0.015331802050140385 Centerline is valid? [True, True] Translation: X:13.44, Y:-210.49, Z:-8.04 [[-9.34338969e-01 3.56249840e-01 9.83572598e-03 1.34400371e+01] [ 3.56230997e-01 9.34390735e-01 -3.66498640e-03 -2.10489821e+02] [-1.04960620e-02 7.94508586e-05 -9.99944912e-01 -8.03816265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.070385723 meters 0.015435565234339721 Centerline is valid? [True, True] Translation: X:13.72, Y:-209.75, Z:-9.03 [[-9.14231872e-01 -4.05067765e-01 1.00094673e-02 1.37168450e+01] [ 4.05042850e-01 -9.14286663e-01 -4.49299533e-03 -2.09745898e+02] [ 1.09714900e-02 -5.33763849e-05 9.99939810e-01 -9.02990642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.100385723 meters 0.015369129214257359 Centerline is valid? [True, True] Translation: X:13.40, Y:-210.47, Z:-8.04 [[-9.35919200e-01 3.52059847e-01 1.04458058e-02 1.33952340e+01] [ 3.52038832e-01 9.35977488e-01 -3.84738282e-03 -2.10472891e+02] [-1.11315480e-02 7.64898039e-05 -9.99938040e-01 -8.03677043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.130385723 meters 0.015324449757164186 Centerline is valid? [True, True] Translation: X:13.40, Y:-210.44, Z:-8.04 [[-9.58420339e-01 2.85156232e-01 1.07878226e-02 1.34041959e+01] [ 2.85139115e-01 9.58481047e-01 -3.12537925e-03 -2.10444927e+02] [-1.12311448e-02 8.06031398e-05 -9.99936926e-01 -8.03740632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.160385723 meters 0.015353085492399794 Centerline is valid? [True, True] Translation: X:13.42, Y:-210.42, Z:-8.04 [[-9.75988185e-01 2.17551925e-01 1.08730291e-02 1.34151716e+01] [ 2.17539476e-01 9.76048745e-01 -2.32913249e-03 -2.10417439e+02] [-1.11193137e-02 9.21072627e-05 -9.99938174e-01 -8.03751095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.190385723 meters 0.015405748581058167 Centerline is valid? [True, True] Translation: X:13.42, Y:-210.39, Z:-8.04 [[-9.88887419e-01 1.48245684e-01 1.11754428e-02 1.34248997e+01] [ 1.48237350e-01 9.88950559e-01 -1.57503166e-03 -2.10389491e+02] [-1.12854520e-02 9.90890299e-05 -9.99936312e-01 -8.03783594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.220385723 meters 0.015709567018701753 Centerline is valid? [True, True] Translation: X:13.43, Y:-210.36, Z:-8.04 [[-9.96806705e-01 7.90950471e-02 1.09711235e-02 1.34313633e+01] [ 7.90915061e-02 9.96867073e-01 -7.56931181e-04 -2.10361197e+02] [-1.09966213e-02 1.13208609e-04 -9.99939529e-01 -8.03747045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.250385723 meters 0.015611448161091184 Centerline is valid? [True, True] Translation: X:13.49, Y:-209.57, Z:-9.03 [[-9.92185133e-01 -1.24363976e-01 1.01124843e-02 1.34916179e+01] [ 1.24355919e-01 -9.92236654e-01 -1.42411276e-03 -2.09573601e+02] [ 1.02110859e-02 -1.55436229e-04 9.99947853e-01 -9.02843346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.280385723 meters 0.01590647780949395 Centerline is valid? [True, True] Translation: X:13.36, Y:-210.36, Z:-8.04 [[-9.97039847e-01 7.62966620e-02 9.50591320e-03 1.33552363e+01] [ 7.62943170e-02 9.97085155e-01 -6.09607701e-04 -2.10356150e+02] [-9.52471596e-03 1.17443985e-04 -9.99954632e-01 -8.03904752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31038572299997 meters 0.01607581324445606 Centerline is valid? [True, True] Translation: X:13.42, Y:-209.57, Z:-9.03 [[-9.93160692e-01 -1.16460247e-01 8.29765561e-03 1.34151441e+01] [ 1.16454701e-01 -9.93195338e-01 -1.15000655e-03 -2.09568916e+02] [ 8.37512291e-03 -1.75840300e-04 9.99964913e-01 -9.02739216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.340385723 meters 0.016642164465034796 Centerline is valid? [True, True] Translation: X:13.28, Y:-210.35, Z:-8.04 [[-9.97165865e-01 7.47799284e-02 8.25833699e-03 1.32801073e+01] [ 7.47784497e-02 9.97200053e-01 -4.88119895e-04 -2.10351079e+02] [-8.27171565e-03 1.30809140e-04 -9.99965780e-01 -8.03925341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37038572299997 meters 0.01649922757336124 Centerline is valid? [True, True] Translation: X:13.34, Y:-209.56, Z:-9.03 [[-9.94091639e-01 -1.08227376e-01 8.28543297e-03 1.33355203e+01] [ 1.08222550e-01 -9.94126159e-01 -1.02992386e-03 -2.09563477e+02] [ 8.34823160e-03 -1.27168015e-04 9.99965145e-01 -9.02673466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.400385723 meters 0.01729810156317002 Centerline is valid? [True, True] Translation: X:13.20, Y:-210.35, Z:-8.04 [[-9.97319537e-01 7.26777488e-02 8.46675067e-03 1.32025325e+01] [ 7.26764998e-02 9.97355463e-01 -4.55501364e-04 -2.10347530e+02] [-8.47746485e-03 1.61053394e-04 -9.99964053e-01 -8.04008616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.430385723 meters 0.017119250746927793 Centerline is valid? [True, True] Translation: X:13.25, Y:-209.56, Z:-9.03 [[-9.94962865e-01 -9.99167273e-02 8.09602275e-03 1.32499386e+01] [ 9.99119836e-02 -9.94995787e-01 -9.89302036e-04 -2.09559728e+02] [ 8.15435635e-03 -1.75429096e-04 9.99966737e-01 -9.02709542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.460385723 meters 0.016873385382029676 Centerline is valid? [True, True] Translation: X:13.12, Y:-210.34, Z:-8.04 [[-9.97515794e-01 6.99354019e-02 8.44282060e-03 1.31181936e+01] [ 6.99344276e-02 9.97551506e-01 -4.10930967e-04 -2.10339075e+02] [-8.45088702e-03 1.80533696e-04 -9.99964274e-01 -8.04048942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.490385723 meters 0.017044574698462052 Centerline is valid? [True, True] Translation: X:13.12, Y:-210.31, Z:-8.04 [[-9.99962346e-01 -6.47167166e-04 8.65380171e-03 1.31239315e+01] [-6.45502373e-04 9.99999773e-01 1.95168784e-04 -2.10309472e+02] [-8.65392605e-03 1.89575385e-04 -9.99962536e-01 -8.03991892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.520385723 meters 0.017557752901400995 Centerline is valid? [True, True] Translation: X:13.11, Y:-209.53, Z:-9.03 [[-9.99699623e-01 -2.23735350e-02 1.00044333e-02 1.31119950e+01] [ 2.23711158e-02 -9.99749673e-01 -3.53661022e-04 -2.09526157e+02] [ 1.00098415e-02 -1.29744454e-04 9.99949892e-01 -9.02779949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.550385723 meters 0.017214274100660804 Centerline is valid? [True, True] Translation: X:13.02, Y:-210.31, Z:-8.04 [[-9.99928361e-01 -6.27373848e-03 1.01937949e-02 1.30173904e+01] [-6.27108347e-03 9.99980294e-01 2.92397192e-04 -2.10309775e+02] [-1.01954284e-02 2.28450106e-04 -9.99947999e-01 -8.03948651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.580385723 meters 0.017285919953273828 Centerline is valid? [True, True] Translation: X:13.00, Y:-209.53, Z:-9.03 [[-9.99817299e-01 -1.60930050e-02 1.03142769e-02 1.30017532e+01] [ 1.60898477e-02 -9.99870474e-01 -3.89021356e-04 -2.09530356e+02] [ 1.03192015e-02 -2.22995136e-04 9.99946731e-01 -9.02783271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.610385723 meters 0.017736105985957294 Centerline is valid? [True, True] Translation: X:12.92, Y:-210.31, Z:-8.04 [[-9.99870626e-01 -1.24683672e-02 1.01621972e-02 1.29185201e+01] [-1.24654064e-02 9.99922241e-01 3.54636529e-04 -2.10309824e+02] [-1.01658287e-02 2.27914730e-04 -9.99948301e-01 -8.03836254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.640385723 meters 0.017240817526446177 Centerline is valid? [True, True] Translation: X:12.91, Y:-210.28, Z:-8.04 [[-9.96411114e-01 -8.41237743e-02 9.38519122e-03 1.29111600e+01] [-8.41180781e-02 9.96455291e-01 1.00073241e-03 -2.10278765e+02] [-9.43610884e-03 2.07676643e-04 -9.99955457e-01 -8.03818014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.670385723 meters 0.017480784983699555 Centerline is valid? [True, True] Translation: X:12.89, Y:-210.25, Z:-8.04 [[-9.87585132e-01 -1.56831039e-01 8.92371324e-03 1.28925485e+01] [-1.56822946e-01 9.87625431e-01 1.60392265e-03 -2.10250299e+02] [-9.06483099e-03 1.84567159e-04 -9.99958897e-01 -8.03765623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.700385723 meters 0.017391287454322505 Centerline is valid? [True, True] Translation: X:12.86, Y:-210.23, Z:-8.04 [[-9.73429080e-01 -2.28802429e-01 9.23446476e-03 1.28601000e+01] [-2.28790344e-01 9.73472863e-01 2.35876567e-03 -2.10226978e+02] [-9.52919216e-03 1.83334728e-04 -9.99954579e-01 -8.03774095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.730385723 meters 0.017412548650605725 Centerline is valid? [True, True] Translation: X:12.80, Y:-210.21, Z:-8.04 [[-9.53997464e-01 -2.99685995e-01 8.78310979e-03 1.28013444e+01] [-2.99671627e-01 9.54037879e-01 2.93961939e-03 -2.10213793e+02] [-9.26038220e-03 1.72340641e-04 -9.99957107e-01 -8.03797792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.760385723 meters 0.017143737271231044 Centerline is valid? [True, True] Translation: X:12.73, Y:-210.21, Z:-8.04 [[-9.28917728e-01 -3.70197253e-01 8.11476548e-03 1.27323855e+01] [-3.70181676e-01 9.28953158e-01 3.39950422e-03 -2.10207491e+02] [-8.79672414e-03 1.53922245e-04 -9.99961296e-01 -8.03908443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.790385723 meters 0.01701603047318603 Centerline is valid? [True, True] Translation: X:12.66, Y:-210.21, Z:-8.04 [[-8.98547039e-01 -4.38816263e-01 7.31484407e-03 1.26633593e+01] [-4.38800458e-01 8.98576801e-01 3.72694863e-03 -2.10205897e+02] [-8.20839485e-03 1.39081725e-04 -9.99966301e-01 -8.03975325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.820385723 meters 0.01658868332005085 Centerline is valid? [True, True] Translation: X:12.58, Y:-210.22, Z:-8.04 [[-8.62488035e-01 -5.06037406e-01 6.36649088e-03 1.25780715e+01] [-5.06022638e-01 8.62511525e-01 3.86780521e-03 -2.10216067e+02] [-7.44842587e-03 1.14347209e-04 -9.99972254e-01 -8.04024606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.850385723 meters 0.01658868332005085 Centerline is valid? [True, True] Translation: X:12.49, Y:-210.24, Z:-8.04 [[-8.22065031e-01 -5.69361383e-01 6.05811768e-03 1.24890769e+01] [-5.69344893e-01 8.22087345e-01 4.33481694e-03 -2.10239741e+02] [-7.44837925e-03 1.14343061e-04 -9.99972254e-01 -8.04024802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.880385723 meters 0.016720181936570697 Centerline is valid? [True, True] Translation: X:12.39, Y:-210.27, Z:-8.04 [[-7.76272036e-01 -6.30372085e-01 5.72363050e-03 1.23948240e+01] [-6.30353914e-01 7.76293129e-01 4.78746952e-03 -2.10274753e+02] [-7.46110217e-03 1.08465819e-04 -9.99972160e-01 -8.04009087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.910385723 meters 0.015947256124697832 Centerline is valid? [True, True] Translation: X:12.30, Y:-210.32, Z:-8.04 [[-7.25841653e-01 -6.87840408e-01 5.42843522e-03 1.23019484e+01] [-6.87820080e-01 7.25861945e-01 5.28915300e-03 -2.10315232e+02] [-7.57838770e-03 1.05300812e-04 -9.99971278e-01 -8.04081879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.940385723 meters 0.015657945837188443 Centerline is valid? [True, True] Translation: X:12.21, Y:-210.37, Z:-8.04 [[-6.70576850e-01 -7.41820503e-01 5.38793445e-03 1.22068279e+01] [-7.41795319e-01 6.70598487e-01 6.11339861e-03 -2.10369162e+02] [-8.14818512e-03 1.02759024e-04 -9.99966798e-01 -8.04079866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.970385723 meters 0.015703615498361512 Centerline is valid? [True, True] Translation: X:12.12, Y:-210.43, Z:-8.04 [[-6.11828330e-01 -7.90974292e-01 5.07593328e-03 1.21150912e+01] [-7.90945660e-01 6.11849377e-01 6.73073061e-03 -2.10433942e+02] [-8.42954148e-03 1.03264266e-04 -9.99964466e-01 -8.04028878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.000385723 meters 0.016227489507312155 Centerline is valid? [True, True] Translation: X:12.03, Y:-210.51, Z:-8.04 [[-5.50022554e-01 -8.35134087e-01 5.12311501e-03 1.20268897e+01] [-8.35095795e-01 5.50046399e-01 7.99818329e-03 -2.10506444e+02] [-9.49750647e-03 1.20889397e-04 -9.99954890e-01 -8.03815140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.030385723 meters 0.016360487005228384 Centerline is valid? [True, True] Translation: X:11.94, Y:-210.59, Z:-8.04 [[-4.84858129e-01 -8.74579495e-01 4.82714080e-03 1.19411927e+01] [-8.74533391e-01 4.84882139e-01 8.98108001e-03 -2.10592306e+02] [-1.01952628e-02 1.33053847e-04 -9.99948018e-01 -8.03666150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.06038572299997 meters 0.016567542031251357 Centerline is valid? [True, True] Translation: X:11.86, Y:-210.68, Z:-8.04 [[-4.16643520e-01 -9.09059481e-01 4.36315271e-03 1.18635413e+01] [-9.09005972e-01 4.16666341e-01 9.86426043e-03 -2.10682470e+02] [-1.07851783e-02 1.43748321e-04 -9.99941828e-01 -8.03557390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.090385723 meters 0.016987831718043543 Centerline is valid? [True, True] Translation: X:11.79, Y:-210.78, Z:-8.04 [[-3.47124064e-01 -9.37812469e-01 3.55758170e-03 1.17927326e+01] [-9.37758409e-01 3.47142257e-01 1.00707362e-02 -2.10782135e+02] [-1.06794490e-02 1.59642746e-04 -9.99942960e-01 -8.03556966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.12038572299997 meters 0.016687208644757368 Centerline is valid? [True, True] Translation: X:11.73, Y:-210.89, Z:-8.04 [[-2.75115577e-01 -9.61407399e-01 2.68929646e-03 1.17274019e+01] [-9.61355400e-01 2.75128671e-01 1.00004890e-02 -2.10892699e+02] [-1.03544467e-02 1.65920633e-04 -9.99946378e-01 -8.03699780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.150385723 meters 0.017100693804485725 Centerline is valid? [True, True] Translation: X:11.67, Y:-211.00, Z:-8.04 [[-2.01598673e-01 -9.79466326e-01 1.92115819e-03 1.16744397e+01] [-9.79412945e-01 2.01607746e-01 1.02274078e-02 -2.10995429e+02] [-1.04047219e-02 1.80224641e-04 -9.99945853e-01 -8.03726887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.180385723 meters 0.017227398502394905 Centerline is valid? [True, True] Translation: X:11.63, Y:-211.11, Z:-8.04 [[-1.27384565e-01 -9.91852781e-01 1.11088344e-03 1.16269076e+01] [-9.91800513e-01 1.27389258e-01 1.01842358e-02 -2.11108154e+02] [-1.02427772e-02 1.95539679e-04 -9.99947522e-01 -8.03751868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.210385723 meters 0.0172158795130946 Centerline is valid? [True, True] Translation: X:11.59, Y:-211.23, Z:-8.04 [[-5.12609642e-02 -9.98685239e-01 3.28382108e-04 1.15883971e+01] [-9.98631876e-01 5.12616205e-02 1.03258396e-02 -2.11226258e+02] [-1.03290970e-02 2.01379656e-04 -9.99946633e-01 -8.03753505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.240385723 meters 0.017477117341583876 Centerline is valid? [True, True] Translation: X:11.56, Y:-211.35, Z:-8.04 [[ 2.51898238e-02 -9.99682593e-01 -4.30285725e-04 1.15588643e+01] [-9.99637582e-01 -2.51927736e-02 9.48833122e-03 -2.11350439e+02] [-9.49615965e-03 1.91120391e-04 -9.99954892e-01 -8.03797878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.270385723 meters 0.017345249933761502 Centerline is valid? [True, True] Translation: X:11.54, Y:-211.47, Z:-8.04 [[ 1.02643223e-01 -9.94717664e-01 -1.06654716e-03 1.15386040e+01] [-9.94679880e-01 -1.02648622e-01 8.67165319e-03 -2.11474897e+02] [-8.73532620e-03 1.70786570e-04 -9.99961832e-01 -8.03835983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.300385723 meters 0.01725724970400846 Centerline is valid? [True, True] Translation: X:11.53, Y:-211.60, Z:-8.04 [[ 1.79374271e-01 -9.83779529e-01 -1.64620058e-03 1.15279511e+01] [-9.83745740e-01 -1.79381757e-01 8.15504907e-03 -2.11600356e+02] [-8.31806868e-03 1.56636828e-04 -9.99965392e-01 -8.03837806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.330385723 meters 0.016521455936326732 Centerline is valid? [True, True] Translation: X:11.52, Y:-211.72, Z:-8.04 [[ 2.56437143e-01 -9.66558852e-01 -1.99415189e-03 1.15244418e+01] [-9.66533239e-01 -2.56444868e-01 7.03762478e-03 -2.11724552e+02] [-7.31366855e-03 1.22705693e-04 -9.99973247e-01 -8.03916470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.360385723 meters 0.016947645571793325 Centerline is valid? [True, True] Translation: X:11.54, Y:-211.86, Z:-8.04 [[ 3.30717143e-01 -9.43726157e-01 -2.66682399e-03 1.15368603e+01] [-9.43698400e-01 -3.30727873e-01 7.23907610e-03 -2.11855350e+02] [-7.71369850e-03 1.22590968e-04 -9.99970242e-01 -8.03824923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.390385723 meters 0.01675699735715691 Centerline is valid? [True, True] Translation: X:11.55, Y:-211.97, Z:-8.04 [[ 4.03815732e-01 -9.14832407e-01 -3.81070842e-03 1.15527691e+01] [-9.14794651e-01 -4.03833692e-01 8.31241308e-03 -2.11973428e+02] [-9.14335732e-03 1.29332504e-04 -9.99958190e-01 -8.03721066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.420385723 meters 0.01675005188421233 Centerline is valid? [True, True] Translation: X:11.58, Y:-212.09, Z:-8.04 [[ 4.73519299e-01 -8.80769985e-01 -4.86897714e-03 1.15792562e+01] [-8.80726290e-01 -4.73544312e-01 8.77426651e-03 -2.12091969e+02] [-1.00337870e-02 1.33451644e-04 -9.99949651e-01 -8.03660236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.450385723 meters 0.016495341970117365 Centerline is valid? [True, True] Translation: X:11.62, Y:-212.21, Z:-8.04 [[ 5.40122451e-01 -8.41565643e-01 -5.91672672e-03 1.16182281e+01] [-8.41517865e-01 -5.40154840e-01 8.96836735e-03 -2.12214860e+02] [-1.07434184e-02 1.35014693e-04 -9.99942279e-01 -8.03638250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.480385723 meters 0.016117094756530396 Centerline is valid? [True, True] Translation: X:11.66, Y:-212.32, Z:-8.04 [[ 6.04358705e-01 -7.96684671e-01 -6.64012584e-03 1.16557116e+01] [-7.96638679e-01 -6.04395170e-01 8.56116217e-03 -2.12320433e+02] [-1.08338066e-02 1.15768200e-04 -9.99941306e-01 -8.03622188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.510385723 meters 0.01618326406497534 Centerline is valid? [True, True] Translation: X:11.70, Y:-212.42, Z:-8.04 [[ 6.63886148e-01 -7.47796820e-01 -7.42286094e-03 1.17043328e+01] [-7.47751926e-01 -6.63927635e-01 8.19468260e-03 -2.12424346e+02] [-1.10562001e-02 1.10122300e-04 -9.99938872e-01 -8.03554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.540385723 meters 0.015980913332726956 Centerline is valid? [True, True] Translation: X:11.76, Y:-212.52, Z:-8.04 [[ 7.19573794e-01 -6.94368646e-01 -8.10793749e-03 1.17572530e+01] [-6.94326123e-01 -7.19619464e-01 7.68517838e-03 -2.12522327e+02] [-1.11709765e-02 9.94998434e-05 -9.99937598e-01 -8.03550497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.570385723 meters 0.015910788121773153 Centerline is valid? [True, True] Translation: X:11.75, Y:-212.53, Z:-8.04 [[ 7.71870279e-01 -6.35723076e-01 -8.51133531e-03 1.17539717e+01] [-6.35685761e-01 -7.71917199e-01 6.88851494e-03 -2.12530418e+02] [-1.09492340e-02 9.34947080e-05 -9.99940051e-01 -8.03572571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.600385723 meters 0.01593018779245387 Centerline is valid? [True, True] Translation: X:11.75, Y:-212.54, Z:-8.04 [[ 8.19177126e-01 -5.73472900e-01 -8.81298250e-03 1.17522241e+01] [-5.73440917e-01 -8.19224526e-01 6.05730611e-03 -2.12538107e+02] [-1.06935123e-02 9.17181518e-05 -9.99942819e-01 -8.03624239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.630385723 meters 0.015864949839351557 Centerline is valid? [True, True] Translation: X:11.75, Y:-212.55, Z:-8.04 [[ 8.61215250e-01 -5.08175050e-01 -8.14936595e-03 1.17487260e+01] [-5.08153243e-01 -8.61253802e-01 4.70858610e-03 -2.12548148e+02] [-9.41145838e-03 8.60205791e-05 -9.99955708e-01 -8.03737289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.660385723 meters 0.01579827817950363 Centerline is valid? [True, True] Translation: X:11.75, Y:-212.56, Z:-8.04 [[ 8.97865485e-01 -4.40193065e-01 -8.22413005e-03 1.17461149e+01] [-4.40175543e-01 -8.97903144e-01 3.92870560e-03 -2.12559630e+02] [-9.11386119e-03 9.26117500e-05 -9.99958464e-01 -8.03801141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.690385723 meters 0.01593067886776587 Centerline is valid? [True, True] Translation: X:11.74, Y:-212.57, Z:-8.04 [[ 9.29206529e-01 -3.69463945e-01 -8.46285350e-03 1.17441645e+01] [-3.69449598e-01 -9.29245061e-01 3.25748592e-03 -2.12570891e+02] [-9.06758841e-03 9.97206415e-05 -9.99958884e-01 -8.03787274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.720385723 meters 0.016059438439478293 Centerline is valid? [True, True] Translation: X:11.74, Y:-212.58, Z:-8.04 [[ 9.55015829e-01 -2.96417384e-01 -9.02777567e-03 1.17421780e+01] [-2.96405236e-01 -9.55058491e-01 2.68594671e-03 -2.12581284e+02] [-9.41821511e-03 1.10758347e-04 -9.99955642e-01 -8.03750835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.750385723 meters 0.016231037760820563 Centerline is valid? [True, True] Translation: X:11.74, Y:-212.59, Z:-8.04 [[ 9.74969641e-01 -2.22131491e-01 -9.58127582e-03 1.17418434e+01] [-2.22122056e-01 -9.75016710e-01 2.05130769e-03 -2.12592415e+02] [-9.79756406e-03 1.28249959e-04 -9.99951995e-01 -8.03791405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.780385723 meters 0.01628747093882449 Centerline is valid? [True, True] Translation: X:11.74, Y:-212.60, Z:-8.04 [[ 9.89263125e-01 -1.45808125e-01 -9.92269588e-03 1.17379906e+01] [-1.45802186e-01 -9.89312879e-01 1.32313300e-03 -2.12601723e+02] [-1.00095744e-02 1.37824061e-04 -9.99949894e-01 -8.03816503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81038572299997 meters 0.016564630414611113 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.61, Z:-8.04 [[ 9.97559764e-01 -6.89348296e-02 -1.10683088e-02 1.17348508e+01] [-6.89324115e-02 -9.97621152e-01 6.00277527e-04 -2.12609800e+02] [-1.10833590e-02 1.64152511e-04 -9.99938564e-01 -8.03798247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.840385723 meters 0.016673099490087148 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.62, Z:-8.04 [[ 9.99890538e-01 9.04412810e-03 -1.17096484e-02 1.17329584e+01] [ 9.04143063e-03 -9.99959085e-01 -2.83281856e-04 -2.12619315e+02] [-1.17117314e-02 1.77378874e-04 -9.99931400e-01 -8.03800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87038572299997 meters 0.01676351732855455 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.63, Z:-8.04 [[ 9.96112144e-01 8.73023744e-02 -1.17852504e-02 1.17310949e+01] [ 8.72941337e-02 -9.96181843e-01 -1.21282339e-03 -2.12627916e+02] [-1.18461348e-02 1.79324880e-04 -9.99929816e-01 -8.03771805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.900385723 meters 0.016443991712661178 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.64, Z:-8.04 [[ 9.86178986e-01 1.65240466e-01 -1.21076857e-02 1.17314371e+01] [ 1.65225725e-01 -9.86253291e-01 -2.21477035e-03 -2.12639747e+02] [-1.23072146e-02 1.83658825e-04 -9.99924247e-01 -8.03832650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.930385723 meters 0.016540685046391005 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.65, Z:-8.04 [[ 9.70264761e-01 2.41777708e-01 -1.13944410e-02 1.17311497e+01] [ 2.41758881e-01 -9.70331649e-01 -3.02242789e-03 -2.12650507e+02] [-1.17871424e-02 1.77847980e-04 -9.99930513e-01 -8.03841665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.960385723 meters 0.016854426557370832 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.66, Z:-8.04 [[ 9.48423012e-01 3.16836410e-01 -1.04153757e-02 1.17312822e+01] [ 3.16815354e-01 -9.48480185e-01 -3.65649464e-03 -2.12658263e+02] [-1.10372881e-02 1.68152710e-04 -9.99939073e-01 -8.03891737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.990385723 meters 0.01639199982082951 Centerline is valid? [True, True] Translation: X:11.73, Y:-212.67, Z:-8.04 [[ 9.20750096e-01 3.90025671e-01 -9.96176737e-03 1.17344133e+01] [ 3.90000873e-01 -9.20803968e-01 -4.40124967e-03 -2.12670088e+02] [-1.08894353e-02 1.67353082e-04 -9.99940694e-01 -8.04027971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.020385723 meters 0.01636328077184816 Centerline is valid? [True, True] Translation: X:11.74, Y:-212.68, Z:-8.04 [[ 8.87400535e-01 4.60900804e-01 -9.52568071e-03 1.17375136e+01] [ 4.60872231e-01 -8.87451644e-01 -5.13472413e-03 -2.12680839e+02] [-1.08201795e-02 1.66435219e-04 -9.99941446e-01 -8.04145391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.050385723 meters 0.016371465162270622 Centerline is valid? [True, True] Translation: X:11.74, Y:-212.69, Z:-8.04 [[ 8.48708205e-01 5.28790760e-01 -8.64376726e-03 1.17421531e+01] [ 5.28761405e-01 -8.48752206e-01 -5.57408017e-03 -2.12691636e+02] [-1.02839386e-02 1.60277058e-04 -9.99947106e-01 -8.04276103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.080385723 meters 0.016978609817337457 Centerline is valid? [True, True] Translation: X:11.75, Y:-212.70, Z:-8.04 [[ 8.04291203e-01 5.94179079e-01 -8.17820010e-03 1.17452221e+01] [ 5.94146421e-01 -8.04332767e-01 -6.23145261e-03 -2.12702006e+02] [-1.02805931e-02 1.52854195e-04 -9.99947142e-01 -8.04186646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.110385723 meters 0.01582810734981648 Centerline is valid? [True, True] Translation: X:11.75, Y:-212.72, Z:-8.04 [[ 7.53648411e-01 6.57240351e-01 -7.01388429e-03 1.17547218e+01] [ 6.57210451e-01 -7.53681039e-01 -6.27013270e-03 -2.12716713e+02] [-9.40721581e-03 1.15877484e-04 -9.99955745e-01 -8.04339506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.140385723 meters 0.015775455789247866 Centerline is valid? [True, True] Translation: X:11.76, Y:-212.73, Z:-8.04 [[ 6.98825477e-01 7.15264980e-01 -6.24192109e-03 1.17621103e+01] [ 7.15235192e-01 -6.98853346e-01 -6.52851712e-03 -2.12728372e+02] [-9.03180710e-03 9.78524628e-05 -9.99959208e-01 -8.04335533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.170385723 meters 0.01566694510367689 Centerline is valid? [True, True] Translation: X:11.77, Y:-212.74, Z:-8.04 [[ 6.39624345e-01 7.68667282e-01 -5.59518621e-03 1.17685910e+01] [ 7.68636721e-01 -6.39648812e-01 -6.85482404e-03 -2.12739041e+02] [-8.84803318e-03 8.38467615e-05 -9.99960852e-01 -8.04311681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.200385723 meters 0.015445869991022296 Centerline is valid? [True, True] Translation: X:11.78, Y:-212.75, Z:-8.04 [[ 5.75216051e-01 8.17984097e-01 -5.33958342e-03 1.17767549e+01] [ 8.17947837e-01 -5.75240830e-01 -7.70214149e-03 -2.12748299e+02] [-9.37177565e-03 6.28947005e-05 -9.99956082e-01 -8.04354944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.230385723 meters 0.015424012605771894 Centerline is valid? [True, True] Translation: X:11.78, Y:-212.76, Z:-8.04 [[ 5.08189614e-01 8.61231253e-01 -4.90357290e-03 1.17845134e+01] [ 8.61190178e-01 -5.08213268e-01 -8.41140376e-03 -2.12756393e+02] [-9.73622461e-03 5.16792132e-05 -9.99952601e-01 -8.04366582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.260385723 meters 0.015340313949417558 Centerline is valid? [True, True] Translation: X:11.79, Y:-212.76, Z:-8.04 [[ 4.37267459e-01 8.99319355e-01 -4.67629214e-03 1.17928274e+01] [ 8.99267082e-01 -4.37292461e-01 -9.69632877e-03 -2.12764554e+02] [-1.07650034e-02 3.46534541e-05 -9.99942055e-01 -8.04341155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.290385723 meters 0.01533574697781693 Centerline is valid? [True, True] Translation: X:11.80, Y:-212.77, Z:-8.04 [[ 3.64724663e-01 9.31105917e-01 -4.20606127e-03 1.18011188e+01] [ 9.31043132e-01 -3.64748914e-01 -1.08127640e-02 -2.12770629e+02] [-1.16019848e-02 2.76572273e-05 -9.99932694e-01 -8.04325189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.320385723 meters 0.015286542903039328 Centerline is valid? [True, True] Translation: X:11.81, Y:-212.78, Z:-8.04 [[ 2.88853308e-01 9.57367756e-01 -3.27822179e-03 1.18096276e+01] [ 9.57305893e-01 -2.88871910e-01 -1.08833731e-02 -2.12777547e+02] [-1.13663766e-02 5.43727955e-06 -9.99935401e-01 -8.04318712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.350385723 meters 0.015252463681895008 Centerline is valid? [True, True] Translation: X:11.82, Y:-212.78, Z:-8.04 [[ 2.12306738e-01 9.77200177e-01 -2.37958306e-03 1.18189906e+01] [ 9.77138915e-01 -2.12320073e-01 -1.09419835e-02 -2.12782908e+02] [-1.11977415e-02 -2.12638051e-06 -9.99937303e-01 -8.04408859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.380385723 meters 0.015349583519439089 Centerline is valid? [True, True] Translation: X:11.83, Y:-212.79, Z:-8.04 [[ 1.34646010e-01 9.90892637e-01 -1.49467333e-03 1.18283223e+01] [ 9.90832173e-01 -1.34654306e-01 -1.09463761e-02 -2.12787717e+02] [-1.10479477e-02 -7.08455607e-06 -9.99938970e-01 -8.04410718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.410385723 meters 0.015236165357053756 Centerline is valid? [True, True] Translation: X:11.84, Y:-212.79, Z:-8.05 [[ 5.55556561e-02 9.98455407e-01 -6.07890353e-04 1.18391530e+01] [ 9.98399203e-01 -5.55589788e-02 -1.05938912e-02 -2.12791777e+02] [-1.06113017e-02 -1.83666663e-05 -9.99943698e-01 -8.04520530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.440385723 meters 0.015229138073059357 Centerline is valid? [True, True] Translation: X:11.85, Y:-212.79, Z:-8.05 [[-2.34293553e-02 9.99725472e-01 2.14296671e-04 1.18503754e+01] [ 9.99673693e-01 2.34303229e-02 -1.01748614e-02 -2.12794895e+02] [-1.01770892e-02 -2.41636989e-05 -9.99948212e-01 -8.04569931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.470385723 meters 0.015334138694688996 Centerline is valid? [True, True] Translation: X:11.86, Y:-212.80, Z:-8.05 [[-1.02110476e-01 9.94772545e-01 1.01720641e-03 1.18610633e+01] [ 9.94720375e-01 1.02115538e-01 -1.01878287e-02 -2.12796939e+02] [-1.02384449e-02 -2.84480902e-05 -9.99947585e-01 -8.04570434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.500385723 meters 0.015307501318974761 Centerline is valid? [True, True] Translation: X:11.87, Y:-212.80, Z:-8.04 [[-1.81196043e-01 9.83444845e-01 2.05705040e-03 1.18720250e+01] [ 9.83378322e-01 1.81207712e-01 -1.14385984e-02 -2.12799541e+02] [-1.16219840e-02 -4.97699987e-05 -9.99932461e-01 -8.04428613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.530385723 meters 0.015389887777058957 Centerline is valid? [True, True] Translation: X:11.88, Y:-212.80, Z:-8.04 [[-2.58271887e-01 9.66067503e-01 3.03524144e-03 1.18809864e+01] [ 9.65998108e-01 2.58289715e-01 -1.15792126e-02 -2.12800170e+02] [-1.19702726e-02 -5.85475955e-05 -9.99928352e-01 -8.04403486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.56038572299997 meters 0.01546240149147778 Centerline is valid? [True, True] Translation: X:11.89, Y:-212.80, Z:-8.04 [[-3.34339661e-01 9.42444286e-01 3.96966216e-03 1.18911915e+01] [ 9.42375200e-01 3.34363218e-01 -1.14114324e-02 -2.12799622e+02] [-1.20819483e-02 -7.43832599e-05 -9.99927008e-01 -8.04472161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.590385723 meters 0.015426392104029489 Centerline is valid? [True, True] Translation: X:11.90, Y:-212.80, Z:-8.04 [[-4.07400837e-01 9.13235061e-01 5.12649172e-03 1.19023696e+01] [ 9.13160224e-01 4.07433082e-01 -1.16914143e-02 -2.12797941e+02] [-1.27657118e-02 -8.17836575e-05 -9.99918512e-01 -8.04488889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.62038572299997 meters 0.015421049994123937 Centerline is valid? [True, True] Translation: X:11.91, Y:-212.80, Z:-8.04 [[-4.77078048e-01 8.78836283e-01 6.58203558e-03 1.19126625e+01] [ 8.78750333e-01 4.77123444e-01 -1.22910994e-02 -2.12797138e+02] [-1.39423076e-02 -7.98477439e-05 -9.99902798e-01 -8.04371983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.650385723 meters 0.015402964137586472 Centerline is valid? [True, True] Translation: X:11.92, Y:-212.79, Z:-8.04 [[-5.44061604e-01 8.39007853e-01 7.92424855e-03 1.19221257e+01] [ 8.38916790e-01 5.44119304e-01 -1.23613523e-02 -2.12794952e+02] [-1.46830083e-02 -7.75520300e-05 -9.99892196e-01 -8.04347936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.680385723 meters 0.015464461127080437 Centerline is valid? [True, True] Translation: X:11.93, Y:-212.79, Z:-8.04 [[-6.07414066e-01 7.94328912e-01 9.47269910e-03 1.19312422e+01] [ 7.94230555e-01 6.07487921e-01 -1.25000523e-02 -2.12792937e+02] [-1.56837032e-02 -6.92005092e-05 -9.99877001e-01 -8.04238206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.710385723 meters 0.015464461127080437 Centerline is valid? [True, True] Translation: X:11.94, Y:-212.79, Z:-8.04 [[-6.67775493e-01 7.44289764e-01 1.04229438e-02 1.19400935e+01] [ 7.44197496e-01 6.67856828e-01 -1.17193966e-02 -2.12790186e+02] [-1.56836611e-02 -6.91971716e-05 -9.99877001e-01 -8.04238243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.740385723 meters 0.01532296119608823 Centerline is valid? [True, True] Translation: X:11.95, Y:-212.79, Z:-8.04 [[-7.22501116e-01 6.91278494e-01 1.12330416e-02 1.19465336e+01] [ 6.91194209e-01 7.22588432e-01 -1.07946220e-02 -2.12789373e+02] [-1.55789560e-02 -3.49132021e-05 -9.99878640e-01 -8.04186406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.770385723 meters 0.015278850505498308 Centerline is valid? [True, True] Translation: X:12.46, Y:-212.26, Z:-9.02 [[-6.72949229e-01 -7.39623776e-01 9.79819346e-03 1.24574265e+01] [ 7.39544883e-01 -6.73020556e-01 -1.08025916e-02 -2.12260477e+02] [ 1.45842392e-02 -2.33918193e-05 9.99893644e-01 -9.02498612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.800385723 meters 0.015106413029570089 Centerline is valid? [True, True] Translation: X:12.44, Y:-212.24, Z:-9.02 [[-6.73881080e-01 -7.38777160e-01 9.62285081e-03 1.24400431e+01] [ 7.38701488e-01 -6.73949782e-01 -1.05736970e-02 -2.12238874e+02] [ 1.42969240e-02 -1.70001022e-05 9.99897794e-01 -9.02344451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.830385723 meters 0.015093371789905422 Centerline is valid? [True, True] Translation: X:12.42, Y:-212.22, Z:-9.02 [[-6.74780262e-01 -7.37958095e-01 9.45762993e-03 1.24222059e+01] [ 7.37885001e-01 -6.74846537e-01 -1.03863573e-02 -2.12216477e+02] [ 1.40471452e-02 -2.98656096e-05 9.99901334e-01 -9.02337919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.860385723 meters 0.015175684197901612 Centerline is valid? [True, True] Translation: X:12.41, Y:-212.19, Z:-9.02 [[-6.75694558e-01 -7.37126967e-01 8.98323667e-03 1.24066483e+01] [ 7.37061025e-01 -6.75754270e-01 -9.85960571e-03 -2.12193929e+02] [ 1.33382418e-02 -4.08882966e-05 9.99911041e-01 -9.02237136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.890385723 meters 0.015134443023773798 Centerline is valid? [True, True] Translation: X:12.39, Y:-212.17, Z:-9.02 [[-6.75987079e-01 -7.36861649e-01 8.73950094e-03 1.23900971e+01] [ 7.36799296e-01 -6.76043570e-01 -9.58585321e-03 -2.12173810e+02] [ 1.29717310e-02 -4.06547761e-05 9.99915863e-01 -9.02194692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.920385723 meters 0.01507857863505792 Centerline is valid? [True, True] Translation: X:12.37, Y:-212.15, Z:-9.02 [[-6.75910007e-01 -7.36937978e-01 8.25101872e-03 1.23728943e+01] [ 7.36882474e-01 -6.75960366e-01 -9.04453020e-03 -2.12152821e+02] [ 1.22426194e-02 -3.32573831e-05 9.99925056e-01 -9.02278455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.950385723 meters 0.015050616204171734 Centerline is valid? [True, True] Translation: X:12.35, Y:-212.13, Z:-9.02 [[-6.75829048e-01 -7.37009434e-01 8.49660445e-03 1.23544214e+01] [ 7.36950654e-01 -6.75882456e-01 -9.30803532e-03 -2.12132132e+02] [ 1.26028157e-02 -2.90624390e-05 9.99920581e-01 -9.02353953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.980385723 meters 0.015059922151421082 Centerline is valid? [True, True] Translation: X:12.34, Y:-212.11, Z:-9.03 [[-6.75661793e-01 -7.37157591e-01 8.93465121e-03 1.23379878e+01] [ 7.37092690e-01 -6.75720864e-01 -9.78162829e-03 -2.12111528e+02] [ 1.32479318e-02 -2.34064152e-05 9.99912242e-01 -9.02540751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.010385723 meters 0.014959443519722402 Centerline is valid? [True, True] Translation: X:12.32, Y:-212.09, Z:-9.03 [[-6.75701159e-01 -7.37115034e-01 9.45361333e-03 1.23205385e+01] [ 7.37042461e-01 -6.75767287e-01 -1.03433566e-02 -2.12090297e+02] [ 1.40126863e-02 -2.13035963e-05 9.99901817e-01 -9.02559118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.040385723 meters 0.017330163715148856 Centerline is valid? [True, True] Translation: X:12.30, Y:-212.07, Z:-9.03 [[-6.75773390e-01 -7.37031840e-01 1.06954264e-02 1.23037701e+01] [ 7.36939038e-01 -6.75858023e-01 -1.16956194e-02 -2.12067520e+02] [ 1.58486337e-02 -2.17111299e-05 9.99874402e-01 -9.02825076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.070385723 meters 0.015062947959607024 Centerline is valid? [True, True] Translation: X:12.29, Y:-212.05, Z:-9.03 [[-6.75396888e-01 -7.37385844e-01 1.00578515e-02 1.22861118e+01] [ 7.37303922e-01 -6.75471774e-01 -1.09913487e-02 -2.12047573e+02] [ 1.48986597e-02 -7.82935833e-06 9.99889009e-01 -9.02742095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.100385723 meters 0.01506393090538662 Centerline is valid? [True, True] Translation: X:12.27, Y:-212.03, Z:-9.03 [[-6.75422634e-01 -7.37361740e-01 1.00960090e-02 1.22698747e+01] [ 7.37279293e-01 -6.75498086e-01 -1.10263747e-02 -2.12025100e+02] [ 1.49502616e-02 -3.88470915e-06 9.99888239e-01 -9.02739659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.130385723 meters 0.0150376052015364 Centerline is valid? [True, True] Translation: X:12.25, Y:-212.00, Z:-9.03 [[-6.75679024e-01 -7.37128032e-01 1.00060276e-02 1.22533864e+01] [ 7.37047125e-01 -6.75753109e-01 -1.09211776e-02 -2.12004794e+02] [ 1.48119104e-02 -4.29670109e-06 9.99890298e-01 -9.02750511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.160385723 meters 0.014982507995029218 Centerline is valid? [True, True] Translation: X:12.24, Y:-211.98, Z:-9.03 [[-6.76223378e-01 -7.36636222e-01 9.43502303e-03 1.22357346e+01] [ 7.36564319e-01 -6.76289196e-01 -1.02920794e-02 -2.11983341e+02] [ 1.39623226e-02 -1.02433519e-05 9.99902522e-01 -9.02670879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.190385723 meters 0.014859915234309644 Centerline is valid? [True, True] Translation: X:12.22, Y:-211.96, Z:-9.02 [[-6.76526956e-01 -7.36371435e-01 8.26963062e-03 1.22196486e+01] [ 7.36316247e-01 -6.76577497e-01 -9.01526947e-03 -2.11961027e+02] [ 1.22336329e-02 -1.00094280e-05 9.99925166e-01 -9.02490786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.220385723 meters 0.014919938302804792 Centerline is valid? [True, True] Translation: X:12.20, Y:-211.94, Z:-9.03 [[-6.76692909e-01 -7.36224255e-01 7.78159340e-03 1.22032153e+01] [ 7.36175442e-01 -6.76737649e-01 -8.47775639e-03 -2.11941061e+02] [ 1.15076271e-02 -8.21966404e-06 9.99933785e-01 -9.02537447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.250385723 meters 0.014938623488987753 Centerline is valid? [True, True] Translation: X:12.19, Y:-211.92, Z:-9.03 [[-6.76668087e-01 -7.36252137e-01 7.28635699e-03 1.21866180e+01] [ 7.36209394e-01 -6.76707315e-01 -7.93330959e-03 -2.11920829e+02] [ 1.07716472e-02 -3.93296072e-06 9.99941984e-01 -9.02582891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.280385723 meters 0.014795470633492009 Centerline is valid? [True, True] Translation: X:12.17, Y:-211.90, Z:-9.02 [[-6.76511979e-01 -7.36394368e-01 7.40793094e-03 1.21674412e+01] [ 7.36350245e-01 -6.76552537e-01 -8.06115617e-03 -2.11899943e+02] [ 1.09480445e-02 1.36304281e-06 9.99940068e-01 -9.02419698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31038572299997 meters 0.014874595520405196 Centerline is valid? [True, True] Translation: X:12.15, Y:-211.88, Z:-9.02 [[-6.76189536e-01 -7.36692956e-01 7.15537655e-03 1.21490104e+01] [ 7.36651856e-01 -6.76227394e-01 -7.78174790e-03 -2.11880687e+02] [ 1.05714205e-02 9.08491112e-06 9.99944121e-01 -9.02455592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.340385723 meters 0.016412155111350128 Centerline is valid? [True, True] Translation: X:12.13, Y:-211.86, Z:-9.03 [[-6.75980803e-01 -7.36881062e-01 7.50023860e-03 1.21303563e+01] [ 7.36835959e-01 -6.76022411e-01 -8.15291668e-03 -2.11862268e+02] [ 1.10780593e-02 1.52303354e-05 9.99938636e-01 -9.02601732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37038572299997 meters 0.016831687788918165 Centerline is valid? [True, True] Translation: X:12.11, Y:-211.84, Z:-9.03 [[-6.76024900e-01 -7.36835899e-01 7.94933038e-03 1.21120179e+01] [ 7.36785294e-01 -6.76071636e-01 -8.63556331e-03 -2.11843230e+02] [ 1.17373098e-02 1.90938942e-05 9.99931115e-01 -9.02695825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.400385723 meters 0.014814703201423647 Centerline is valid? [True, True] Translation: X:12.09, Y:-211.82, Z:-9.02 [[-6.75856344e-01 -7.36999092e-01 7.10912946e-03 1.20927869e+01] [ 7.36958679e-01 -6.75893732e-01 -7.71805962e-03 -2.11824187e+02] [ 1.04932190e-02 2.28350945e-05 9.99944944e-01 -9.02492095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.430385723 meters 0.014723283230706003 Centerline is valid? [True, True] Translation: X:12.07, Y:-211.80, Z:-9.02 [[-6.76247508e-01 -7.36639973e-01 7.13150832e-03 1.20742919e+01] [ 7.36599335e-01 -6.76285110e-01 -7.73758352e-03 -2.11804401e+02] [ 1.05227462e-02 2.05427147e-05 9.99944634e-01 -9.02498973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.460385723 meters 0.014764428288924152 Centerline is valid? [True, True] Translation: X:12.06, Y:-211.78, Z:-9.03 [[-6.76977464e-01 -7.35969079e-01 7.14339424e-03 1.20557358e+01] [ 7.35928318e-01 -6.77015151e-01 -7.74567540e-03 -2.11784066e+02] [ 1.05367637e-02 1.33784176e-05 9.99944487e-01 -9.02509285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.490385723 meters 0.014734391307611852 Centerline is valid? [True, True] Translation: X:12.04, Y:-211.76, Z:-9.03 [[-6.78867520e-01 -7.34220464e-01 7.69416644e-03 1.20380505e+01] [ 7.34173124e-01 -6.78911121e-01 -8.33746500e-03 -2.11764984e+02] [ 1.13451926e-02 -1.11839730e-05 9.99935641e-01 -9.02588873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.520385723 meters 0.014664982323348699 Centerline is valid? [True, True] Translation: X:12.02, Y:-211.74, Z:-9.03 [[-6.79819321e-01 -7.33341427e-01 7.48609113e-03 1.20191236e+01] [ 7.33296615e-01 -6.79860537e-01 -8.10700183e-03 -2.11744663e+02] [ 1.10346982e-02 -2.17711920e-05 9.99939116e-01 -9.02555377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.550385723 meters 0.014677815551648609 Centerline is valid? [True, True] Translation: X:12.00, Y:-211.72, Z:-9.02 [[-6.82066579e-01 -7.31256039e-01 7.05602926e-03 1.20009771e+01] [ 7.31216165e-01 -6.82103074e-01 -7.63653372e-03 -2.11724703e+02] [ 1.03972006e-02 -4.91417772e-05 9.99945947e-01 -9.02444497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.580385723 meters 0.015264675987655043 Centerline is valid? [True, True] Translation: X:11.98, Y:-211.71, Z:-9.02 [[-6.83407566e-01 -7.30005151e-01 6.82477214e-03 1.19833412e+01] [ 7.29967834e-01 -6.83441640e-01 -7.38147132e-03 -2.11705199e+02] [ 1.00528456e-02 -6.26892162e-05 9.99949467e-01 -9.02456090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.610385723 meters 0.014847177414483121 Centerline is valid? [True, True] Translation: X:11.96, Y:-211.69, Z:-9.02 [[-6.84756150e-01 -7.28740217e-01 6.83450862e-03 1.19648514e+01] [ 7.28702779e-01 -6.84790252e-01 -7.38721559e-03 -2.11685803e+02] [ 1.00635660e-02 -7.81158854e-05 9.99949358e-01 -9.02351483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.640385723 meters 0.015064746214562072 Centerline is valid? [True, True] Translation: X:11.95, Y:-211.67, Z:-9.02 [[-6.87398230e-01 -7.26247217e-01 6.97517626e-03 1.19456456e+01] [ 7.26208136e-01 -6.87433609e-01 -7.53501347e-03 -2.11666027e+02] [ 1.02672532e-02 -1.14125175e-04 9.99947284e-01 -9.02334201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.670385723 meters 0.015477924067486118 Centerline is valid? [True, True] Translation: X:11.93, Y:-211.65, Z:-9.02 [[-6.89843151e-01 -7.23927340e-01 6.75529091e-03 1.19268282e+01] [ 7.23890616e-01 -6.89876211e-01 -7.29311136e-03 -2.11645961e+02] [ 9.93999721e-03 -1.41011226e-04 9.99950587e-01 -9.02309663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.700385723 meters 0.015503252816771397 Centerline is valid? [True, True] Translation: X:11.91, Y:-211.63, Z:-9.02 [[-6.91230060e-01 -7.22606798e-01 6.35766260e-03 1.19073699e+01] [ 7.22574248e-01 -6.91259281e-01 -6.86021605e-03 -2.11625941e+02] [ 9.35203203e-03 -1.48104278e-04 9.99956258e-01 -9.02293165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.730385723 meters 0.015911191207934244 Centerline is valid? [True, True] Translation: X:11.89, Y:-211.61, Z:-9.02 [[-6.92728893e-01 -7.21169001e-01 6.47709478e-03 1.18893728e+01] [ 7.21135181e-01 -6.92759152e-01 -6.98624156e-03 -2.11606387e+02] [ 9.52532754e-03 -1.68710462e-04 9.99954619e-01 -9.02304436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.760385723 meters 0.017303704037192995 Centerline is valid? [True, True] Translation: X:11.87, Y:-211.59, Z:-9.02 [[-6.95099151e-01 -7.18883593e-01 6.59924353e-03 1.18718773e+01] [ 7.18848414e-01 -6.95130447e-01 -7.11475862e-03 -2.11586340e+02] [ 9.70201835e-03 -2.01606934e-04 9.99952914e-01 -9.02443548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.790385723 meters 0.016567290412145812 Centerline is valid? [True, True] Translation: X:11.85, Y:-211.57, Z:-9.02 [[-6.96110557e-01 -7.17903079e-01 6.72766088e-03 1.18507771e+01] [ 7.17866510e-01 -6.96143033e-01 -7.24919847e-03 -2.11567465e+02] [ 9.88763615e-03 -2.16681147e-04 9.99951093e-01 -9.02364154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.820385723 meters 0.017137855042626538 Centerline is valid? [True, True] Translation: X:11.83, Y:-211.55, Z:-9.02 [[-6.97381510e-01 -7.16666620e-01 6.92718470e-03 1.18311093e+01] [ 7.16627820e-01 -6.97415872e-01 -7.46119132e-03 -2.11548997e+02] [ 1.01783153e-02 -2.39083603e-04 9.99948171e-01 -9.02462395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.850385723 meters 0.017401520613549545 Centerline is valid? [True, True] Translation: X:11.81, Y:-211.53, Z:-9.02 [[-6.97702086e-01 -7.16353600e-01 7.02276853e-03 1.18117418e+01] [ 7.16313753e-01 -6.97737387e-01 -7.55951393e-03 -2.11529307e+02] [ 1.03153332e-02 -2.43782959e-04 9.99946766e-01 -9.02475787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.880385723 meters 0.017662034012190516 Centerline is valid? [True, True] Translation: X:11.79, Y:-211.51, Z:-9.02 [[-6.97760534e-01 -7.16298152e-01 6.86990923e-03 1.17925408e+01] [ 7.16260066e-01 -6.97794312e-01 -7.39022904e-03 -2.11511036e+02] [ 1.00873910e-02 -2.35968516e-04 9.99949093e-01 -9.02395279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.910385723 meters 0.01748919705207262 Centerline is valid? [True, True] Translation: X:11.77, Y:-211.49, Z:-9.02 [[-6.97512081e-01 -7.16541449e-01 6.72672153e-03 1.17726820e+01] [ 7.16504989e-01 -6.97544480e-01 -7.23182208e-03 -2.11492164e+02] [ 9.87408774e-03 -2.24553736e-04 9.99951225e-01 -9.02336128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.940385723 meters 0.017457805307523656 Centerline is valid? [True, True] Translation: X:11.75, Y:-211.47, Z:-9.02 [[-6.97290807e-01 -7.16756212e-01 6.78698251e-03 1.17537199e+01] [ 7.16719152e-01 -6.97323801e-01 -7.29198838e-03 -2.11474359e+02] [ 9.95930241e-03 -2.20276112e-04 9.99950381e-01 -9.02281343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.970385723 meters 0.017169899359109776 Centerline is valid? [True, True] Translation: X:11.73, Y:-211.46, Z:-9.02 [[-6.96111630e-01 -7.17906340e-01 6.25175650e-03 1.17314518e+01] [ 7.17874973e-01 -6.96139679e-01 -6.71345724e-03 -2.11458163e+02] [ 9.17172928e-03 -1.85336137e-04 9.99957922e-01 -9.02277799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.000385723 meters 0.016193043056508274 Centerline is valid? [True, True] Translation: X:11.71, Y:-211.44, Z:-9.02 [[-6.95721755e-01 -7.18282232e-01 6.47109230e-03 1.17085257e+01] [ 7.18248678e-01 -6.95751824e-01 -6.94515852e-03 -2.11440568e+02] [ 9.49085824e-03 -1.84044377e-04 9.99954944e-01 -9.02174931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.030385723 meters 0.016383659381372435 Centerline is valid? [True, True] Translation: X:11.69, Y:-211.42, Z:-9.02 [[-6.94751106e-01 -7.19219270e-01 6.67406383e-03 1.16874964e+01] [ 7.19183660e-01 -6.94783140e-01 -7.15899793e-03 -2.11423088e+02] [ 9.78591629e-03 -1.73844073e-04 9.99952102e-01 -9.02204410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.06038572299997 meters 0.015772053665085748 Centerline is valid? [True, True] Translation: X:11.67, Y:-211.41, Z:-9.02 [[-6.94561592e-01 -7.19406254e-01 6.23191466e-03 1.16663201e+01] [ 7.19375247e-01 -6.94589531e-01 -6.68103951e-03 -2.11405066e+02] [ 9.13500428e-03 -1.57308290e-04 9.99958263e-01 -9.02085182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.090385723 meters 0.015332576105557997 Centerline is valid? [True, True] Translation: X:11.64, Y:-211.39, Z:-9.02 [[-6.93308666e-01 -7.20615677e-01 6.01155688e-03 1.16439824e+01] [ 7.20586890e-01 -6.93334715e-01 -6.44258542e-03 -2.11386844e+02] [ 8.81064914e-03 -1.34851231e-04 9.99961176e-01 -9.01906393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.12038572299997 meters 0.015199509085826323 Centerline is valid? [True, True] Translation: X:11.62, Y:-211.37, Z:-9.02 [[-6.92915551e-01 -7.20995852e-01 5.74633083e-03 1.16229511e+01] [ 7.20969591e-01 -6.92939367e-01 -6.15496316e-03 -2.11367560e+02] [ 8.41956176e-03 -1.21939903e-04 9.99964547e-01 -9.01848544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.150385723 meters 0.014954001074672119 Centerline is valid? [True, True] Translation: X:11.60, Y:-211.35, Z:-9.02 [[-6.91713962e-01 -7.22149612e-01 5.63327460e-03 1.16003957e+01] [ 7.22124442e-01 -6.91736892e-01 -6.03015926e-03 -2.11351471e+02] [ 8.25142104e-03 -1.03220077e-04 9.99965951e-01 -9.01797233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.180385723 meters 0.014907789395626134 Centerline is valid? [True, True] Translation: X:11.58, Y:-211.33, Z:-9.02 [[-6.91171060e-01 -7.22667354e-01 5.87030650e-03 1.15806619e+01] [ 7.22640075e-01 -6.91195982e-01 -6.27985127e-03 -2.11334317e+02] [ 8.59577577e-03 -9.83327264e-05 9.99963051e-01 -9.01854583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.210385723 meters 0.014741422015971737 Centerline is valid? [True, True] Translation: X:11.56, Y:-211.32, Z:-9.02 [[-6.90771638e-01 -7.23046223e-01 6.22116085e-03 1.15599542e+01] [ 7.23015638e-01 -6.90799645e-01 -6.65113400e-03 -2.11316344e+02] [ 9.10665302e-03 -9.64181491e-05 9.99958529e-01 -9.01892412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.240385723 meters 0.014420468133070756 Centerline is valid? [True, True] Translation: X:11.54, Y:-211.30, Z:-9.02 [[-6.89582602e-01 -7.24170857e-01 7.23910498e-03 1.15376455e+01] [ 7.24129550e-01 -6.89620592e-01 -7.73519237e-03 -2.11299229e+02] [ 1.05938368e-02 -9.20042492e-05 9.99943880e-01 -9.01942384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.270385723 meters 0.016478857711529116 Centerline is valid? [True, True] Translation: X:11.52, Y:-211.28, Z:-9.02 [[-6.89623704e-01 -7.24119701e-01 8.35501670e-03 1.15192129e+01] [ 7.24064725e-01 -6.89674306e-01 -8.92332196e-03 -2.11280902e+02] [ 1.22237936e-02 -1.04161475e-04 9.99925281e-01 -9.02149464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.300385723 meters 0.014274227207241424 Centerline is valid? [True, True] Translation: X:11.50, Y:-211.26, Z:-9.02 [[-6.89837457e-01 -7.23913562e-01 8.56964748e-03 1.14973926e+01] [ 7.23855773e-01 -6.89890675e-01 -9.14748879e-03 -2.11262632e+02] [ 1.25341111e-02 -1.07091604e-04 9.99921439e-01 -9.01991908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.330385723 meters 0.014352098270073242 Centerline is valid? [True, True] Translation: X:11.48, Y:-211.24, Z:-9.02 [[-6.90633428e-01 -7.23152115e-01 8.74567056e-03 1.14776712e+01] [ 7.23091915e-01 -6.90688789e-01 -9.33159495e-03 -2.11243336e+02] [ 1.27886992e-02 -1.20787726e-04 9.99918214e-01 -9.02001436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.360385723 meters 0.014591354531616215 Centerline is valid? [True, True] Translation: X:11.46, Y:-211.22, Z:-9.02 [[-6.91536055e-01 -7.22286084e-01 8.98318592e-03 1.14580679e+01] [ 7.22222565e-01 -6.91594386e-01 -9.57976500e-03 -2.11223542e+02] [ 1.31320519e-02 -1.36893320e-04 9.99913762e-01 -9.02021906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.390385723 meters 0.01489286651291971 Centerline is valid? [True, True] Translation: X:11.44, Y:-211.20, Z:-9.02 [[-6.93680488e-01 -7.20230523e-01 8.68184438e-03 1.14383210e+01] [ 7.20171097e-01 -6.93734796e-01 -9.25334148e-03 -2.11203262e+02] [ 1.26874365e-02 -1.66449045e-04 9.99919497e-01 -9.01913788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.420385723 meters 0.015585738439474887 Centerline is valid? [True, True] Translation: X:11.42, Y:-211.18, Z:-9.02 [[-6.96196395e-01 -7.17805048e-01 8.15432101e-03 1.14203435e+01] [ 7.17752517e-01 -6.96244121e-01 -8.68607802e-03 -2.11183275e+02] [ 1.19123087e-02 -1.94431779e-04 9.99929027e-01 -9.01830410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.450385723 meters 0.016029167103770565 Centerline is valid? [True, True] Translation: X:11.40, Y:-211.16, Z:-9.02 [[-6.97477953e-01 -7.16561341e-01 8.02179021e-03 1.14014228e+01] [ 7.16510479e-01 -6.97524050e-01 -8.54006252e-03 -2.11163438e+02] [ 1.17148703e-02 -2.08808576e-04 9.99931357e-01 -9.01815417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.480385723 meters 0.016396119305183362 Centerline is valid? [True, True] Translation: X:11.38, Y:-211.14, Z:-9.02 [[-6.98559371e-01 -7.15505775e-01 8.14192579e-03 1.13814655e+01] [ 7.15453361e-01 -6.98606781e-01 -8.66335166e-03 -2.11143341e+02] [ 1.18866827e-02 -2.26697309e-04 9.99929325e-01 -9.01845329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.510385723 meters 0.016960231912365935 Centerline is valid? [True, True] Translation: X:11.36, Y:-211.12, Z:-9.02 [[-6.99709208e-01 -7.14370900e-01 9.01339941e-03 1.13612087e+01] [ 7.14306637e-01 -6.99767208e-01 -9.58557633e-03 -2.11124259e+02] [ 1.31549381e-02 -2.68785000e-04 9.99913434e-01 -9.02009464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.540385723 meters 0.01729821448230746 Centerline is valid? [True, True] Translation: X:11.34, Y:-211.11, Z:-9.02 [[-7.00200331e-01 -7.13884497e-01 9.40326328e-03 1.13430218e+01] [ 7.13814596e-01 -7.00263410e-01 -9.99396469e-03 -2.11105714e+02] [ 1.37192977e-02 -2.85590802e-04 9.99905845e-01 -9.02105014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.570385723 meters 0.017589450646118703 Centerline is valid? [True, True] Translation: X:11.32, Y:-211.09, Z:-9.02 [[-7.00020208e-01 -7.14045233e-01 1.05410636e-02 1.13235450e+01] [ 7.13957516e-01 -7.00099499e-01 -1.11963360e-02 -2.11088416e+02] [ 1.53744837e-02 -3.11789881e-04 9.99881757e-01 -9.02211108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.600385723 meters 0.017623578610653987 Centerline is valid? [True, True] Translation: X:11.30, Y:-211.07, Z:-9.02 [[-6.99925294e-01 -7.14132531e-01 1.09229498e-02 1.13037645e+01] [ 7.14038460e-01 -7.00010448e-01 -1.15952414e-02 -2.11069830e+02] [ 1.59267181e-02 -3.16396522e-04 9.99873112e-01 -9.02270604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.630385723 meters 0.017531974174074656 Centerline is valid? [True, True] Translation: X:11.28, Y:-211.05, Z:-9.02 [[-6.99192840e-01 -7.14835331e-01 1.18246618e-02 1.12821413e+01] [ 7.14725311e-01 -6.99292748e-01 -1.25452279e-02 -2.11052666e+02] [ 1.72366724e-02 -3.20148462e-04 9.99851386e-01 -9.02397647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.660385723 meters 0.017531974174074656 Centerline is valid? [True, True] Translation: X:11.26, Y:-211.03, Z:-9.02 [[-6.99398300e-01 -7.14634249e-01 1.18282681e-02 1.12637021e+01] [ 7.14524258e-01 -6.99498240e-01 -1.25418277e-02 -2.11033275e+02] [ 1.72366724e-02 -3.20148460e-04 9.99851386e-01 -9.02397680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.690385723 meters 0.017409149315486067 Centerline is valid? [True, True] Translation: X:11.24, Y:-211.01, Z:-9.02 [[-6.98829963e-01 -7.15185622e-01 1.20917339e-02 1.12432925e+01] [ 7.15070887e-01 -6.98934497e-01 -1.28138479e-02 -2.11014633e+02] [ 1.76156097e-02 -3.08253923e-04 9.99844786e-01 -9.02432861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.720385723 meters 0.016018908351733415 Centerline is valid? [True, True] Translation: X:11.22, Y:-211.00, Z:-9.02 [[-6.98228788e-01 -7.15771020e-01 1.21822290e-02 1.12214479e+01] [ 7.15654790e-01 -6.98334993e-01 -1.29018755e-02 -2.10997619e+02] [ 1.77420654e-02 -2.90190371e-04 9.99842555e-01 -9.02271167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.750385723 meters 0.01551734393246671 Centerline is valid? [True, True] Translation: X:11.20, Y:-210.98, Z:-9.02 [[-6.96997499e-01 -7.16978078e-01 1.17014156e-02 1.11995375e+01] [ 7.16871084e-01 -6.97095672e-01 -1.23884397e-02 -2.10979006e+02] [ 1.70392458e-02 -2.46305008e-04 9.99854791e-01 -9.02217092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.780385723 meters 0.01527723901428437 Centerline is valid? [True, True] Translation: X:11.18, Y:-210.96, Z:-9.02 [[-6.96441290e-01 -7.17524024e-01 1.13491877e-02 1.11790850e+01] [ 7.17423550e-01 -6.96533722e-01 -1.20093539e-02 -2.10959087e+02] [ 1.65220919e-02 -2.21635428e-04 9.99863476e-01 -9.02143089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81038572299997 meters 0.015042745337815034 Centerline is valid? [True, True] Translation: X:11.16, Y:-210.94, Z:-9.02 [[-6.95667307e-01 -7.18282579e-01 1.08228613e-02 1.11600947e+01] [ 7.18191417e-01 -6.95751465e-01 -1.14450097e-02 -2.10940950e+02] [ 1.57507727e-02 -1.89032947e-04 9.99875931e-01 -9.02111617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.840385723 meters 0.015088471616274962 Centerline is valid? [True, True] Translation: X:11.14, Y:-210.92, Z:-9.02 [[-6.95570193e-01 -7.18379151e-01 1.06537528e-02 1.11408959e+01] [ 7.18290932e-01 -6.95651754e-01 -1.12593733e-02 -2.10921190e+02] [ 1.54998008e-02 -1.79190447e-04 9.99879855e-01 -9.02118518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87038572299997 meters 0.014523950815669998 Centerline is valid? [True, True] Translation: X:11.12, Y:-210.90, Z:-9.02 [[-6.95569361e-01 -7.18378702e-01 1.07379650e-02 1.11205475e+01] [ 7.18289183e-01 -6.95652218e-01 -1.13419735e-02 -2.10901925e+02] [ 1.56177213e-02 -1.76165140e-04 9.99878020e-01 -9.01963208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.900385723 meters 0.014687699672754405 Centerline is valid? [True, True] Translation: X:11.10, Y:-210.88, Z:-9.02 [[-6.95607645e-01 -7.18341202e-01 1.07667070e-02 1.11020199e+01] [ 7.18251304e-01 -6.95690943e-01 -1.13655712e-02 -2.10882310e+02] [ 1.56546587e-02 -1.72776892e-04 9.99877443e-01 -9.01992199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.930385723 meters 0.014686411706326475 Centerline is valid? [True, True] Translation: X:11.08, Y:-210.86, Z:-9.02 [[-6.95901595e-01 -7.18059626e-01 1.05519824e-02 1.10832912e+01] [ 7.17973340e-01 -6.95981569e-01 -1.11327562e-02 -2.10861351e+02] [ 1.53379680e-02 -1.71260746e-04 9.99882352e-01 -9.01913482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.960385723 meters 0.014408418722146779 Centerline is valid? [True, True] Translation: X:11.06, Y:-210.84, Z:-9.02 [[-6.96323628e-01 -7.17649232e-01 1.06294590e-02 1.10639894e+01] [ 7.17561725e-01 -6.96404730e-01 -1.12081134e-02 -2.10840633e+02] [ 1.54458995e-02 -1.77181240e-04 9.99880689e-01 -9.01810017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.990385723 meters 0.014590347209397404 Centerline is valid? [True, True] Translation: X:11.05, Y:-210.82, Z:-9.02 [[-6.96585845e-01 -7.17392667e-01 1.07666681e-02 1.10462257e+01] [ 7.17302930e-01 -6.96669023e-01 -1.13480825e-02 -2.10820735e+02] [ 1.56418354e-02 -1.81951059e-04 9.99877643e-01 -9.01867076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.020385723 meters 0.01463127290279301 Centerline is valid? [True, True] Translation: X:11.03, Y:-210.80, Z:-9.02 [[-6.96996589e-01 -7.16999307e-01 1.03802009e-02 1.10269150e+01] [ 7.16915945e-01 -6.97073857e-01 -1.09346394e-02 -2.10800398e+02] [ 1.50758956e-02 -1.79674879e-04 9.99886336e-01 -9.01880640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.050385723 meters 0.014668739442072339 Centerline is valid? [True, True] Translation: X:11.01, Y:-210.78, Z:-9.02 [[-6.97532030e-01 -7.16484162e-01 9.97558544e-03 1.10075828e+01] [ 7.16407204e-01 -6.97603335e-01 -1.05025876e-02 -2.10779690e+02] [ 1.44839393e-02 -1.79309960e-04 9.99895086e-01 -9.01959385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.080385723 meters 0.014686535513192874 Centerline is valid? [True, True] Translation: X:10.99, Y:-210.76, Z:-9.02 [[-6.97944263e-01 -7.16088034e-01 9.57776827e-03 1.09884765e+01] [ 7.16017132e-01 -6.98009955e-01 -1.00781783e-02 -2.10758809e+02] [ 1.39022405e-02 -1.76160548e-04 9.99903344e-01 -9.01956957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.110385723 meters 0.01488980669187277 Centerline is valid? [True, True] Translation: X:10.97, Y:-210.74, Z:-9.02 [[-6.98815370e-01 -7.15242145e-01 9.26031292e-03 1.09714694e+01] [ 7.15175867e-01 -6.98876700e-01 -9.73845696e-03 -2.10737536e+02] [ 1.34371718e-02 -1.82631075e-04 9.99909701e-01 -9.01985228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.140385723 meters 0.014818093593932224 Centerline is valid? [True, True] Translation: X:10.95, Y:-210.72, Z:-9.02 [[-6.99360161e-01 -7.14710144e-01 9.20733877e-03 1.09523950e+01] [ 7.14644649e-01 -6.99420742e-01 -9.67735999e-03 -2.10716573e+02] [ 1.33563111e-02 -1.87984658e-04 9.99910783e-01 -9.01915712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.170385723 meters 0.014919224801242536 Centerline is valid? [True, True] Translation: X:10.93, Y:-210.70, Z:-9.02 [[-6.99846011e-01 -7.14237715e-01 8.94697122e-03 1.09337871e+01] [ 7.14175900e-01 -6.99903173e-01 -9.39849496e-03 -2.10695495e+02] [ 1.29747731e-02 -1.87787973e-04 9.99915807e-01 -9.01956671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.200385723 meters 0.015104933209404287 Centerline is valid? [True, True] Translation: X:10.92, Y:-210.67, Z:-9.02 [[-7.00199575e-01 -7.13889299e-01 9.08972033e-03 1.09156693e+01] [ 7.13825537e-01 -7.00258546e-01 -9.54319819e-03 -2.10674187e+02] [ 1.31779414e-02 -1.93668830e-04 9.99913148e-01 -9.02071153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.230385723 meters 0.015150284675042223 Centerline is valid? [True, True] Translation: X:10.90, Y:-210.65, Z:-9.02 [[-7.00189190e-01 -7.13896778e-01 9.29993478e-03 1.08985023e+01] [ 7.13830109e-01 -7.00250921e-01 -9.75824795e-03 -2.10653707e+02] [ 1.34786697e-02 -1.94046262e-04 9.99909140e-01 -9.02189144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.260385723 meters 0.015304747137882541 Centerline is valid? [True, True] Translation: X:10.88, Y:-210.63, Z:-9.02 [[-7.00360080e-01 -7.13729069e-01 9.30454052e-03 1.08814322e+01] [ 7.13662404e-01 -7.00421857e-01 -9.75679815e-03 -2.10634090e+02] [ 1.34808140e-02 -1.92971179e-04 9.99909111e-01 -9.02258990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.290385723 meters 0.014948221517974742 Centerline is valid? [True, True] Translation: X:10.86, Y:-210.61, Z:-9.02 [[-7.00755257e-01 -7.13338388e-01 9.50868431e-03 1.08623190e+01] [ 7.13268806e-01 -7.00819738e-01 -9.96526888e-03 -2.10613412e+02] [ 1.37724825e-02 -2.00966649e-04 9.99905135e-01 -9.02190445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.320385723 meters 0.015704462161049225 Centerline is valid? [True, True] Translation: X:10.85, Y:-210.59, Z:-9.02 [[-7.01073050e-01 -7.13025445e-01 9.55474221e-03 1.08469538e+01] [ 7.12955240e-01 -7.01138127e-01 -1.00076176e-02 -2.10590970e+02] [ 1.38348801e-02 -2.03967481e-04 9.99904273e-01 -9.02352433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.350385723 meters 0.01581991728547923 Centerline is valid? [True, True] Translation: X:10.83, Y:-210.57, Z:-9.02 [[-7.01212604e-01 -7.12891569e-01 9.30029097e-03 1.08286566e+01] [ 7.12825120e-01 -7.01274249e-01 -9.73529308e-03 -2.10570270e+02] [ 1.34622629e-02 -1.97029179e-04 9.99909360e-01 -9.02396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.380385723 meters 0.015886859222044875 Centerline is valid? [True, True] Translation: X:10.81, Y:-210.55, Z:-9.02 [[-7.01502429e-01 -7.12610908e-01 8.94627552e-03 1.08110126e+01] [ 7.12549472e-01 -7.01559447e-01 -9.35910556e-03 -2.10549555e+02] [ 1.29457448e-02 -1.90771381e-04 9.99916182e-01 -9.02421133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.410385723 meters 0.015986572837784478 Centerline is valid? [True, True] Translation: X:10.79, Y:-210.53, Z:-9.02 [[-7.01570082e-01 -7.12546826e-01 8.74307545e-03 1.07935506e+01] [ 7.12488217e-01 -7.01624534e-01 -9.14078348e-03 -2.10529319e+02] [ 1.26475925e-02 -1.83561977e-04 9.99919999e-01 -9.02463154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.440385723 meters 0.01562665339764446 Centerline is valid? [True, True] Translation: X:10.78, Y:-210.51, Z:-9.02 [[-7.01675520e-01 -7.12444038e-01 8.65779698e-03 1.07750008e+01] [ 7.12386627e-01 -7.01728908e-01 -9.04611782e-03 -2.10509428e+02] [ 1.25202791e-02 -1.79740633e-04 9.99921602e-01 -9.02402109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.470385723 meters 0.015878614113539604 Centerline is valid? [True, True] Translation: X:10.76, Y:-210.49, Z:-9.02 [[-7.02257116e-01 -7.11865709e-01 9.06399451e-03 1.07583557e+01] [ 7.11802816e-01 -7.02315581e-01 -9.46444320e-03 -2.10488336e+02] [ 1.31031971e-02 -1.94695766e-04 9.99914131e-01 -9.02456721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.500385723 meters 0.01600892669899339 Centerline is valid? [True, True] Translation: X:10.74, Y:-210.47, Z:-9.02 [[-7.03528597e-01 -7.10610818e-01 8.93191997e-03 1.07415066e+01] [ 7.10549710e-01 -7.03585262e-01 -9.32145018e-03 -2.10465719e+02] [ 1.29082906e-02 -2.11333623e-04 9.99916662e-01 -9.02419343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.530385723 meters 0.016227819590017734 Centerline is valid? [True, True] Translation: X:10.72, Y:-210.44, Z:-9.02 [[-7.04384121e-01 -7.09764875e-01 8.76540452e-03 1.07234271e+01] [ 7.09706030e-01 -7.04438623e-01 -9.14207128e-03 -2.10444767e+02] [ 1.26634106e-02 -2.18669398e-04 9.99919792e-01 -9.02438275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.56038572299997 meters 0.016694244187651162 Centerline is valid? [True, True] Translation: X:10.71, Y:-210.42, Z:-9.03 [[-7.05406680e-01 -7.08752731e-01 8.42511752e-03 1.07064754e+01] [ 7.08698362e-01 -7.05456956e-01 -8.78152458e-03 -2.10424799e+02] [ 1.21674873e-02 -2.23679119e-04 9.99925948e-01 -9.02523878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.590385723 meters 0.016821093310995575 Centerline is valid? [True, True] Translation: X:10.69, Y:-210.40, Z:-9.02 [[-7.07422696e-01 -7.06745066e-01 8.03371509e-03 1.06888239e+01] [ 7.06695556e-01 -7.07468270e-01 -8.36892236e-03 -2.10402594e+02] [ 1.15982931e-02 -2.42974875e-04 9.99932708e-01 -9.02432862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.62038572299997 meters 0.016857263451782706 Centerline is valid? [True, True] Translation: X:10.67, Y:-210.38, Z:-9.02 [[-7.08379982e-01 -7.05788322e-01 7.78753701e-03 1.06706965e+01] [ 7.05741790e-01 -7.08422743e-01 -8.10816517e-03 -2.10380977e+02] [ 1.12395166e-02 -2.47671582e-04 9.99936804e-01 -9.02357225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.650385723 meters 0.017217732888271265 Centerline is valid? [True, True] Translation: X:10.65, Y:-210.36, Z:-9.02 [[-7.08961392e-01 -7.05209617e-01 7.28974035e-03 1.06542725e+01] [ 7.05168846e-01 -7.08998829e-01 -7.58679885e-03 -2.10359319e+02] [ 1.05187009e-02 -2.38249686e-04 9.99944649e-01 -9.02339245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.680385723 meters 0.017506415636326454 Centerline is valid? [True, True] Translation: X:10.64, Y:-210.34, Z:-9.02 [[-7.08869910e-01 -7.05303910e-01 7.06016379e-03 1.06361341e+01] [ 7.05265714e-01 -7.08905032e-01 -7.34365987e-03 -2.10339192e+02] [ 1.01844977e-02 -2.26408051e-04 9.99948111e-01 -9.02389774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.710385723 meters 0.01802823460314731 Centerline is valid? [True, True] Translation: X:10.62, Y:-210.32, Z:-9.03 [[-7.07840427e-01 -7.06336081e-01 7.16034262e-03 1.06185802e+01] [ 7.06296888e-01 -7.07876611e-01 -7.44385918e-03 -2.10318725e+02] [ 1.03265054e-02 -2.11736755e-04 9.99946658e-01 -9.02520085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.740385723 meters 0.016929300534806242 Centerline is valid? [True, True] Translation: X:10.60, Y:-210.30, Z:-9.02 [[-7.07163426e-01 -7.07012756e-01 7.26992184e-03 1.05987140e+01] [ 7.06972437e-01 -7.07200765e-01 -7.55318576e-03 -2.10300523e+02] [ 1.04814930e-02 -2.01702354e-04 9.99945047e-01 -9.02464033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.770385723 meters 0.017069367135564718 Centerline is valid? [True, True] Translation: X:10.58, Y:-210.28, Z:-9.03 [[-7.06548537e-01 -7.07624269e-01 7.55377853e-03 1.05812305e+01] [ 7.07580829e-01 -7.06588888e-01 -7.84311423e-03 -2.10281373e+02] [ 1.08873939e-02 -1.96632015e-04 9.99940711e-01 -9.02518999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.800385723 meters 0.01594499656565618 Centerline is valid? [True, True] Translation: X:10.56, Y:-210.26, Z:-9.02 [[-7.05161051e-01 -7.09009195e-01 7.33850036e-03 1.05611078e+01] [ 7.08968315e-01 -7.05199215e-01 -7.61542530e-03 -2.10261843e+02] [ 1.05745113e-02 -1.67337071e-04 9.99944074e-01 -9.02469801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.830385723 meters 0.015915021715577883 Centerline is valid? [True, True] Translation: X:10.54, Y:-210.24, Z:-9.02 [[-7.04402892e-01 -7.09768419e-01 6.73475537e-03 1.05435638e+01] [ 7.09734056e-01 -7.04435073e-01 -6.98557979e-03 -2.10241831e+02] [ 9.70234182e-03 -1.40777368e-04 9.99952921e-01 -9.02358922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.860385723 meters 0.015915731636489912 Centerline is valid? [True, True] Translation: X:10.53, Y:-210.22, Z:-9.02 [[-7.04191458e-01 -7.09979960e-01 6.54568019e-03 1.05251676e+01] [ 7.09947550e-01 -7.04221868e-01 -6.78515490e-03 -2.10222551e+02] [ 9.42693514e-03 -1.30958513e-04 9.99955557e-01 -9.02353456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.890385723 meters 0.015578333235838852 Centerline is valid? [True, True] Translation: X:10.51, Y:-210.20, Z:-9.02 [[-7.04217593e-01 -7.09956237e-01 6.30267072e-03 1.05055034e+01] [ 7.09926223e-01 -7.04245785e-01 -6.52925793e-03 -2.10203577e+02] [ 9.07411669e-03 -1.23587081e-04 9.99958822e-01 -9.02317432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.920385723 meters 0.015568393430411066 Centerline is valid? [True, True] Translation: X:10.49, Y:-210.18, Z:-9.02 [[-7.04033400e-01 -7.10139426e-01 6.24233519e-03 1.04869977e+01] [ 7.10110027e-01 -7.04061064e-01 -6.46281442e-03 -2.10183663e+02] [ 8.98448448e-03 -1.17292401e-04 9.99959632e-01 -9.02363960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.950385723 meters 0.015500056255665898 Centerline is valid? [True, True] Translation: X:10.47, Y:-210.16, Z:-9.02 [[-7.04328205e-01 -7.09851787e-01 5.67625340e-03 1.04688629e+01] [ 7.09827499e-01 -7.04351069e-01 -5.87313074e-03 -2.10163857e+02] [ 8.16712750e-03 -1.07450883e-04 9.99966643e-01 -9.02309922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.980385723 meters 0.015300024913518657 Centerline is valid? [True, True] Translation: X:10.45, Y:-210.14, Z:-9.02 [[-7.03931816e-01 -7.10249223e-01 5.10289248e-03 1.04504603e+01] [ 7.10229627e-01 -7.03950306e-01 -5.27667435e-03 -2.10143194e+02] [ 7.33993657e-03 -9.01935353e-05 9.99973058e-01 -9.02188895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.010385723 meters 0.015057688415910209 Centerline is valid? [True, True] Translation: X:10.43, Y:-210.12, Z:-9.02 [[-7.03566725e-01 -7.10612483e-01 4.87473884e-03 1.04301524e+01] [ 7.10594629e-01 -7.03583607e-01 -5.03797038e-03 -2.10123119e+02] [ 7.00983097e-03 -8.05850854e-05 9.99975428e-01 -9.02143956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.040385723 meters 0.015210633096542248 Centerline is valid? [True, True] Translation: X:10.41, Y:-210.10, Z:-9.02 [[-7.03300290e-01 -7.10877578e-01 4.66599751e-03 1.04115784e+01] [ 7.10861245e-01 -7.03315764e-01 -4.81945244e-03 -2.10103012e+02] [ 6.70771028e-03 -7.26455074e-05 9.99977500e-01 -9.02190845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.070385723 meters 0.015112211282783599 Centerline is valid? [True, True] Translation: X:10.39, Y:-210.08, Z:-9.02 [[-7.02151729e-01 -7.12007959e-01 5.25499224e-03 1.03936010e+01] [ 7.11987299e-01 -7.02171390e-01 -5.42440813e-03 -2.10084302e+02] [ 7.55212697e-03 -6.72698120e-05 9.99971480e-01 -9.02290296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.100385723 meters 0.014738365441370277 Centerline is valid? [True, True] Translation: X:10.37, Y:-210.06, Z:-9.02 [[-7.01714153e-01 -7.12435277e-01 5.76397103e-03 1.03736749e+01] [ 7.12410463e-01 -7.01737823e-01 -5.94651352e-03 -2.10064972e+02] [ 8.28130249e-03 -6.64394319e-05 9.99965707e-01 -9.02269455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.130385723 meters 0.01481518945951676 Centerline is valid? [True, True] Translation: X:10.35, Y:-210.04, Z:-9.02 [[-7.01059180e-01 -7.13074401e-01 6.39725298e-03 1.03549558e+01] [ 7.13043894e-01 -7.01088364e-01 -6.59622472e-03 -2.10044280e+02] [ 9.18863861e-03 -6.28217130e-05 9.99957782e-01 -9.02298293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.160385723 meters 0.014735388545355617 Centerline is valid? [True, True] Translation: X:10.34, Y:-210.02, Z:-9.02 [[-7.01217078e-01 -7.12914872e-01 6.85523169e-03 1.03373649e+01] [ 7.12879878e-01 -7.01250583e-01 -7.06387030e-03 -2.10024935e+02] [ 9.84317341e-03 -6.63497624e-05 9.99951553e-01 -9.02268072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.190385723 meters 0.014797491401990883 Centerline is valid? [True, True] Translation: X:10.32, Y:-210.00, Z:-9.02 [[-7.01770737e-01 -7.12370609e-01 6.77850301e-03 1.03185859e+01] [ 7.12336406e-01 -7.01803470e-01 -6.98097557e-03 -2.10004690e+02] [ 9.73021875e-03 -7.04698916e-05 9.99952658e-01 -9.02254519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.220385723 meters 0.014791138274635724 Centerline is valid? [True, True] Translation: X:10.30, Y:-209.98, Z:-9.02 [[-7.02866233e-01 -7.11292582e-01 6.47466420e-03 1.02997590e+01] [ 7.11261365e-01 -7.02896050e-01 -6.66435945e-03 -2.09983767e+02] [ 9.29132533e-03 -7.89747241e-05 9.99956832e-01 -9.02170558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.250385723 meters 0.01518867319771359 Centerline is valid? [True, True] Translation: X:10.28, Y:-209.96, Z:-9.02 [[-7.03921968e-01 -7.10248602e-01 6.38647012e-03 1.02823076e+01] [ 7.10218222e-01 -7.03950933e-01 -6.56973889e-03 -2.09963240e+02] [ 9.16190946e-03 -8.87960704e-05 9.99958025e-01 -9.02164785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.280385723 meters 0.015144004676944654 Centerline is valid? [True, True] Translation: X:10.26, Y:-209.94, Z:-9.02 [[-7.05865941e-01 -7.08324827e-01 5.40487756e-03 1.02648156e+01] [ 7.08303036e-01 -7.05886627e-01 -5.55690138e-03 -2.09941695e+02] [ 7.75132200e-03 -9.41362409e-05 9.99969954e-01 -9.01990334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31038572299997 meters 0.016379762591704792 Centerline is valid? [True, True] Translation: X:10.25, Y:-209.92, Z:-9.02 [[-7.06930447e-01 -7.07265545e-01 4.97919720e-03 1.02460911e+01] [ 7.07247045e-01 -7.06947975e-01 -5.11640828e-03 -2.09920813e+02] [ 7.13869267e-03 -9.54222875e-05 9.99974515e-01 -9.01972582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.340385723 meters 0.015525079349555318 Centerline is valid? [True, True] Translation: X:10.23, Y:-209.90, Z:-9.02 [[-7.07753487e-01 -7.06447938e-01 4.03877745e-03 1.02283288e+01] [ 7.06435767e-01 -7.07765006e-01 -4.14764931e-03 -2.09900875e+02] [ 5.78860365e-03 -8.23764178e-05 9.99983243e-01 -9.01796145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37038572299997 meters 0.015702696134356885 Centerline is valid? [True, True] Translation: X:10.21, Y:-209.88, Z:-9.02 [[-7.08390034e-01 -7.05810942e-01 3.80448199e-03 1.02105382e+01] [ 7.05800147e-01 -7.08400245e-01 -3.90453177e-03 -2.09881666e+02] [ 5.45095723e-03 -8.07274465e-05 9.99985140e-01 -9.01778068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.400385723 meters 0.015741040307009974 Centerline is valid? [True, True] Translation: X:10.19, Y:-209.86, Z:-9.02 [[-7.08485766e-01 -7.05713908e-01 3.97489015e-03 1.01919093e+01] [ 7.05702136e-01 -7.08496911e-01 -4.07696140e-03 -2.09861464e+02] [ 5.69336576e-03 -8.33806564e-05 9.99983789e-01 -9.01744525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.430385723 meters 0.015418125805719708 Centerline is valid? [True, True] Translation: X:10.17, Y:-209.84, Z:-9.02 [[-7.08516443e-01 -7.05682402e-01 4.09847940e-03 1.01715272e+01] [ 7.05669900e-01 -7.08528292e-01 -4.20138490e-03 -2.09841576e+02] [ 5.86873199e-03 -8.45767350e-05 9.99982775e-01 -9.01694728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.460385723 meters 0.015289476915053127 Centerline is valid? [True, True] Translation: X:10.15, Y:-209.82, Z:-9.02 [[-7.07670552e-01 -7.06529406e-01 4.31150133e-03 1.01522475e+01] [ 7.06515602e-01 -7.07683681e-01 -4.41730854e-03 -2.09821548e+02] [ 6.17213751e-03 -7.98562136e-05 9.99980949e-01 -9.01693947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.490385723 meters 0.01534362011818492 Centerline is valid? [True, True] Translation: X:10.13, Y:-209.80, Z:-9.02 [[-7.07121790e-01 -7.07078278e-01 4.36854003e-03 1.01334480e+01] [ 7.07064127e-01 -7.07135280e-01 -4.47394086e-03 -2.09802023e+02] [ 6.25257517e-03 -7.47831231e-05 9.99980450e-01 -9.01700835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.520385723 meters 0.01534362011818492 Centerline is valid? [True, True] Translation: X:10.11, Y:-209.78, Z:-9.02 [[-7.07335314e-01 -7.06864668e-01 4.36989198e-03 1.01146744e+01] [ 7.06850521e-01 -7.07348808e-01 -4.47262035e-03 -2.09782941e+02] [ 6.25257519e-03 -7.47818918e-05 9.99980450e-01 -9.01700868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.550385723 meters 0.01500782299076241 Centerline is valid? [True, True] Translation: X:10.09, Y:-209.76, Z:-9.02 [[-7.06738576e-01 -7.07457033e-01 5.01308874e-03 1.00948785e+01] [ 7.07438454e-01 -7.06756351e-01 -5.12778970e-03 -2.09764348e+02] [ 7.17072319e-03 -7.75550473e-05 9.99974287e-01 -9.01711792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.580385723 meters 0.014992936283621772 Centerline is valid? [True, True] Translation: X:10.08, Y:-209.74, Z:-9.02 [[-7.06701587e-01 -7.07494695e-01 4.91162513e-03 1.00750876e+01] [ 7.07476881e-01 -7.06718651e-01 -5.02109175e-03 -2.09744870e+02] [ 7.02353286e-03 -7.35522795e-05 9.99975332e-01 -9.01731006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.610385723 meters 0.015029875955580932 Centerline is valid? [True, True] Translation: X:10.06, Y:-209.72, Z:-9.02 [[-7.06676079e-01 -7.07516698e-01 5.38901815e-03 1.00554574e+01] [ 7.07495277e-01 -7.06696622e-01 -5.50609441e-03 -2.09724812e+02] [ 7.70405466e-03 -7.83203168e-05 9.99970320e-01 -9.01708709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.640385723 meters 0.015053593294055452 Centerline is valid? [True, True] Translation: X:10.04, Y:-209.70, Z:-9.02 [[-7.07063490e-01 -7.07127087e-01 5.70127241e-03 1.00367751e+01] [ 7.07103128e-01 -7.07086470e-01 -5.82155216e-03 -2.09704945e+02] [ 8.14786980e-03 -8.48194301e-05 9.99966802e-01 -9.01688107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.670385723 meters 0.01542469404916398 Centerline is valid? [True, True] Translation: X:10.02, Y:-209.68, Z:-9.02 [[-7.08263274e-01 -7.05931274e-01 4.91650163e-03 1.00193093e+01] [ 7.05913450e-01 -7.08280333e-01 -5.01699185e-03 -2.09684976e+02] [ 7.02391286e-03 -8.27264396e-05 9.99975329e-01 -9.01586811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.700385723 meters 0.015484980639875388 Centerline is valid? [True, True] Translation: X:10.00, Y:-209.67, Z:-9.02 [[-7.09047588e-01 -7.05146095e-01 4.52792892e-03 1.00000067e+01] [ 7.05130980e-01 -7.09062041e-01 -4.61766881e-03 -2.09665594e+02] [ 6.46671365e-03 -8.13639794e-05 9.99979087e-01 -9.01530880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.730385723 meters 0.015699995617298932 Centerline is valid? [True, True] Translation: X:9.98, Y:-209.65, Z:-9.02 [[-7.09881296e-01 -7.04309836e-01 4.02516912e-03 9.98154608e+00] [ 7.04297888e-01 -7.09892703e-01 -4.10301501e-03 -2.09646383e+02] [ 5.74723201e-03 -7.77354948e-05 9.99983482e-01 -9.01527955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.760385723 meters 0.01594733868500526 Centerline is valid? [True, True] Translation: X:9.96, Y:-209.63, Z:-9.01 [[-7.10998085e-01 -7.03184926e-01 3.56146053e-03 9.96330120e+00] [ 7.03175570e-01 -7.11007001e-01 -3.62816418e-03 -2.09625705e+02] [ 5.08349373e-03 -7.52857486e-05 9.99987076e-01 -9.01441346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.790385723 meters 0.015882613725964004 Centerline is valid? [True, True] Translation: X:9.94, Y:-209.61, Z:-9.01 [[-7.10885955e-01 -7.03299439e-01 3.32540098e-03 9.94421682e+00] [ 7.03291293e-01 -7.10893730e-01 -3.38566084e-03 -2.09605850e+02] [ 4.74514007e-03 -6.80931853e-05 9.99988740e-01 -9.01319222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.820385723 meters 0.015644796128020538 Centerline is valid? [True, True] Translation: X:9.92, Y:-209.59, Z:-9.01 [[-7.10218872e-01 -7.03973132e-01 3.31396463e-03 9.92412815e+00] [ 7.03965059e-01 -7.10226601e-01 -3.37199392e-03 -2.09586861e+02] [ 4.72745896e-03 -6.19384088e-05 9.99988824e-01 -9.01325945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.850385723 meters 0.015621808291624765 Centerline is valid? [True, True] Translation: X:9.90, Y:-209.57, Z:-9.01 [[-7.09490025e-01 -7.04705418e-01 3.76532469e-03 9.90480423e+00] [ 7.04695020e-01 -7.09500014e-01 -3.82885491e-03 -2.09568599e+02] [ 5.36971272e-03 -6.31288111e-05 9.99985581e-01 -9.01408573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.880385723 meters 0.014878036949585706 Centerline is valid? [True, True] Translation: X:9.88, Y:-209.55, Z:-9.01 [[-7.07318852e-01 -7.06883387e-01 3.98990915e-03 9.88168527e+00] [ 7.06871757e-01 -7.07330103e-01 -4.05514590e-03 -2.09551229e+02] [ 5.68869812e-03 -4.79270472e-05 9.99983818e-01 -9.01460043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.910385723 meters 0.014696333332214262 Centerline is valid? [True, True] Translation: X:9.86, Y:-209.53, Z:-9.02 [[-7.06247010e-01 -7.07954693e-01 3.91317136e-03 9.86071234e+00] [ 7.07943535e-01 -7.06257850e-01 -3.97496521e-03 -2.09532081e+02] [ 5.57780326e-03 -3.70029266e-05 9.99984443e-01 -9.01521895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.940385723 meters 0.01444133418349478 Centerline is valid? [True, True] Translation: X:9.84, Y:-209.51, Z:-9.02 [[-7.04194814e-01 -7.09992224e-01 4.55043939e-03 9.84153353e+00] [ 7.09977197e-01 -7.04209515e-01 -4.61929818e-03 -2.09514647e+02] [ 6.48412851e-03 -2.21776130e-05 9.99978978e-01 -9.01652160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.970385723 meters 0.014342731267407607 Centerline is valid? [True, True] Translation: X:9.82, Y:-209.50, Z:-9.02 [[-7.03348899e-01 -7.10828392e-01 4.82937573e-03 9.82196753e+00] [ 7.10811506e-01 -7.03365479e-01 -4.89958178e-03 -2.09495974e+02] [ 6.87957802e-03 -1.33396155e-05 9.99976335e-01 -9.01668804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.000385723 meters 0.014205466523392487 Centerline is valid? [True, True] Translation: X:9.80, Y:-209.48, Z:-9.02 [[-7.01713914e-01 -7.12439958e-01 5.18544333e-03 9.80151673e+00] [ 7.12420558e-01 -7.01733073e-01 -5.25764702e-03 -2.09478138e+02] [ 7.38455491e-03 4.85236400e-06 9.99972734e-01 -9.01634566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.030385723 meters 0.014173721478445879 Centerline is valid? [True, True] Translation: X:9.78, Y:-209.46, Z:-9.02 [[-7.01365964e-01 -7.12784968e-01 4.83475936e-03 9.78173197e+00] [ 7.12768131e-01 -7.01382627e-01 -4.89912973e-03 -2.09458769e+02] [ 6.88304225e-03 9.97955372e-06 9.99976312e-01 -9.01666583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.06038572299997 meters 0.014188391240190595 Centerline is valid? [True, True] Translation: X:9.76, Y:-209.44, Z:-9.02 [[-7.01143706e-01 -7.13006454e-01 4.39334600e-03 9.76315308e+00] [ 7.12992572e-01 -7.01157470e-01 -4.44914678e-03 -2.09438316e+02] [ 6.25269773e-03 1.29318020e-05 9.99980452e-01 -9.01574900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.090385723 meters 0.01419325172187008 Centerline is valid? [True, True] Translation: X:9.75, Y:-209.42, Z:-9.02 [[-7.01547119e-01 -7.12609730e-01 4.36034599e-03 9.74588088e+00] [ 7.12596066e-01 -7.01560670e-01 -4.41292962e-03 -2.09418733e+02] [ 6.20374384e-03 1.12873343e-05 9.99980757e-01 -9.01559847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.12038572299997 meters 0.014311678729190746 Centerline is valid? [True, True] Translation: X:9.73, Y:-209.40, Z:-9.02 [[-7.01848809e-01 -7.12312656e-01 4.35083762e-03 9.72827279e+00] [ 7.12299063e-01 -7.01862294e-01 -4.40055537e-03 -2.09399151e+02] [ 6.18826016e-03 1.05730197e-05 9.99980853e-01 -9.01594233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.150385723 meters 0.01429741744025279 Centerline is valid? [True, True] Translation: X:9.71, Y:-209.38, Z:-9.01 [[-7.02025477e-01 -7.12140377e-01 4.03891014e-03 9.71076612e+00] [ 7.12128674e-01 -7.02037096e-01 -4.08259872e-03 -2.09377820e+02] [ 5.74284813e-03 1.01354061e-05 9.99983510e-01 -9.01463214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.180385723 meters 0.014305290898164135 Centerline is valid? [True, True] Translation: X:9.69, Y:-209.36, Z:-9.02 [[-7.02470301e-01 -7.11697131e-01 4.76131902e-03 9.69254697e+00] [ 7.11680877e-01 -7.02486436e-01 -4.80993846e-03 -2.09357303e+02] [ 6.76798143e-03 9.70078045e-06 9.99977097e-01 -9.01536258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.210385723 meters 0.014365807004387717 Centerline is valid? [True, True] Translation: X:9.67, Y:-209.34, Z:-9.02 [[-7.03065460e-01 -7.11108154e-01 4.91459626e-03 9.67480464e+00] [ 7.11090844e-01 -7.03082636e-01 -4.96166227e-03 -2.09338484e+02] [ 6.98364579e-03 6.35103181e-06 9.99975614e-01 -9.01595615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.240385723 meters 0.014454413997630991 Centerline is valid? [True, True] Translation: X:9.66, Y:-209.32, Z:-9.02 [[-7.04601299e-01 -7.09588224e-01 4.64355872e-03 9.65787001e+00] [ 7.09572757e-01 -7.04616600e-01 -4.68510848e-03 -2.09318310e+02] [ 6.59642637e-03 -6.19075836e-06 9.99978243e-01 -9.01597388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.270385723 meters 0.014381855600040839 Centerline is valid? [True, True] Translation: X:9.64, Y:-209.30, Z:-9.02 [[-7.05570450e-01 -7.08625720e-01 4.46409318e-03 9.63949033e+00] [ 7.08611423e-01 -7.05584572e-01 -4.50137720e-03 -2.09297605e+02] [ 6.33958694e-03 -1.27313093e-05 9.99979905e-01 -9.01531547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.300385723 meters 0.014487863477113488 Centerline is valid? [True, True] Translation: X:9.62, Y:-209.28, Z:-9.01 [[-7.06763692e-01 -7.07437462e-01 4.16187990e-03 9.62141467e+00] [ 7.07425030e-01 -7.06775945e-01 -4.19414915e-03 -2.09276857e+02] [ 5.90861483e-03 -2.00543259e-05 9.99982544e-01 -9.01486616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.330385723 meters 0.01458042621848535 Centerline is valid? [True, True] Translation: X:9.60, Y:-209.26, Z:-9.01 [[-7.08715655e-01 -7.05480749e-01 4.36274245e-03 9.60400197e+00] [ 7.05467067e-01 -7.08729082e-01 -4.39389151e-03 -2.09256042e+02] [ 6.19180832e-03 -3.62485780e-05 9.99980830e-01 -9.01412169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.360385723 meters 0.014639946019040976 Centerline is valid? [True, True] Translation: X:9.58, Y:-209.24, Z:-9.02 [[-7.10344039e-01 -7.03836846e-01 5.00406954e-03 9.58485867e+00] [ 7.03818824e-01 -7.10361662e-01 -5.03704058e-03 -2.09235756e+02] [ 7.09995391e-03 -5.60734137e-05 9.99974793e-01 -9.01546020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.390385723 meters 0.014746281241644845 Centerline is valid? [True, True] Translation: X:9.57, Y:-209.22, Z:-9.02 [[-7.10885510e-01 -7.03286180e-01 5.50820604e-03 9.56620018e+00] [ 7.03264355e-01 -7.10906847e-01 -5.54092562e-03 -2.09216785e+02] [ 7.81267780e-03 -6.52387676e-05 9.99969478e-01 -9.01637603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.420385723 meters 0.014565533578910671 Centerline is valid? [True, True] Translation: X:9.55, Y:-209.20, Z:-9.02 [[-7.11897726e-01 -7.02258119e-01 5.92971709e-03 9.54645799e+00] [ 7.02232820e-01 -7.11922417e-01 -5.96139189e-03 -2.09197454e+02] [ 8.40793438e-03 -7.98593807e-05 9.99964650e-01 -9.01647772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.450385723 meters 0.015085383149154794 Centerline is valid? [True, True] Translation: X:9.53, Y:-209.18, Z:-9.02 [[-7.12333021e-01 -7.01818102e-01 5.74616813e-03 9.52880678e+00] [ 7.01794359e-01 -7.12356192e-01 -5.77345216e-03 -2.09176901e+02] [ 8.14523169e-03 -7.99922430e-05 9.99966824e-01 -9.01795089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.480385723 meters 0.014638817963813925 Centerline is valid? [True, True] Translation: X:9.51, Y:-209.16, Z:-9.02 [[-7.13335085e-01 -7.00802008e-01 5.44090277e-03 9.50859732e+00] [ 7.00780714e-01 -7.13355829e-01 -5.46370480e-03 -2.09158041e+02] [ 7.71027500e-03 -8.45725974e-05 9.99970272e-01 -9.01590795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.510385723 meters 0.014830749744376323 Centerline is valid? [True, True] Translation: X:9.49, Y:-209.14, Z:-9.02 [[-7.14026032e-01 -7.00100101e-01 5.16468634e-03 9.48849111e+00] [ 7.00080917e-01 -7.14044706e-01 -5.18347486e-03 -2.09137966e+02] [ 7.31676822e-03 -8.54376403e-05 9.99973229e-01 -9.01601722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.540385723 meters 0.01497448352595003 Centerline is valid? [True, True] Translation: X:9.47, Y:-209.12, Z:-9.02 [[-7.15101332e-01 -6.99004531e-01 4.76969243e-03 9.46970445e+00] [ 6.98988166e-01 -7.15117234e-01 -4.78393886e-03 -2.09119680e+02] [ 6.75488420e-03 -8.70424874e-05 9.99977182e-01 -9.01573297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.570385723 meters 0.016119412242711358 Centerline is valid? [True, True] Translation: X:9.45, Y:-209.10, Z:-9.02 [[-7.15548272e-01 -6.98544637e-01 5.10499971e-03 9.45053333e+00] [ 6.98525901e-01 -7.15566476e-01 -5.11709738e-03 -2.09100949e+02] [ 7.22748759e-03 -9.55556639e-05 9.99973877e-01 -9.01685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.600385723 meters 0.01491052884163144 Centerline is valid? [True, True] Translation: X:9.43, Y:-209.08, Z:-9.02 [[-7.15683718e-01 -6.98408295e-01 4.76114961e-03 9.43052493e+00] [ 6.98392015e-01 -7.15699550e-01 -4.76949359e-03 -2.09081753e+02] [ 6.73860651e-03 -8.83000360e-05 9.99977291e-01 -9.01535150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.630385723 meters 0.014796650737428437 Centerline is valid? [True, True] Translation: X:9.41, Y:-209.06, Z:-9.02 [[-7.15665197e-01 -6.98428516e-01 4.57537211e-03 9.41152446e+00] [ 6.98413501e-01 -7.15679818e-01 -4.58043360e-03 -2.09063493e+02] [ 6.47360692e-03 -8.25552590e-05 9.99979043e-01 -9.01515140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.660385723 meters 0.014688004327517587 Centerline is valid? [True, True] Translation: X:9.39, Y:-209.05, Z:-9.01 [[-7.15554533e-01 -6.98544639e-01 4.13505947e-03 9.39103213e+00] [ 6.98532391e-01 -7.15566477e-01 -4.13711248e-03 -2.09045832e+02] [ 5.84886768e-03 -7.18566108e-05 9.99982893e-01 -9.01494755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.690385723 meters 0.014529626138144697 Centerline is valid? [True, True] Translation: X:9.37, Y:-209.03, Z:-9.01 [[-7.15675859e-01 -6.98421124e-01 3.99983396e-03 9.37099832e+00] [ 6.98409677e-01 -7.15687033e-01 -3.99936142e-03 -2.09027722e+02] [ 5.65586779e-03 -6.87236721e-05 9.99984003e-01 -9.01473639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.720385723 meters 0.01563486460793501 Centerline is valid? [True, True] Translation: X:8.83, Y:-209.56, Z:-8.05 [[-7.48315391e-01 6.63325148e-01 4.88094243e-03 8.83439706e+00] [ 6.63311632e-01 7.48331306e-01 -4.23510992e-03 -2.09563495e+02] [-6.46181694e-03 6.83879529e-05 -9.99979120e-01 -8.05056260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.750385723 meters 0.014295247235787456 Centerline is valid? [True, True] Translation: X:9.33, Y:-209.00, Z:-9.02 [[-7.16325835e-01 -6.97750845e-01 4.58882407e-03 9.33413289e+00] [ 6.97735918e-01 -7.16340529e-01 -4.56449866e-03 -2.09001892e+02] [ 6.47204346e-03 -6.78809357e-05 9.99979054e-01 -9.01593242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.780385723 meters 0.014243496819737309 Centerline is valid? [True, True] Translation: X:8.79, Y:-209.52, Z:-8.05 [[-7.52142398e-01 6.58984307e-01 4.63635321e-03 8.79077071e+00] [ 6.58972202e-01 7.52156686e-01 -3.99453607e-03 -2.09521444e+02] [-6.11960065e-03 5.07679483e-05 -9.99981274e-01 -8.05099751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81038572299997 meters 0.014125325643338937 Centerline is valid? [True, True] Translation: X:8.83, Y:-209.51, Z:-8.05 [[-7.96919061e-01 6.04066002e-01 4.92704203e-03 8.82503726e+00] [ 6.04054841e-01 7.96934290e-01 -3.67243775e-03 -2.09509979e+02] [-6.14492354e-03 4.95679446e-05 -9.99981119e-01 -8.05079474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.840385723 meters 0.014629377488359263 Centerline is valid? [True, True] Translation: X:8.85, Y:-209.49, Z:-8.05 [[-8.37567805e-01 5.46308138e-01 5.25265362e-03 8.85034793e+00] [ 5.46297780e-01 8.37584274e-01 -3.36459847e-03 -2.09489538e+02] [-6.23764759e-03 5.14336576e-05 -9.99980544e-01 -8.04932165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87038572299997 meters 0.014211119408147956 Centerline is valid? [True, True] Translation: X:8.86, Y:-209.46, Z:-8.05 [[-8.74206838e-01 4.85519730e-01 5.74420538e-03 8.86128634e+00] [ 4.85509646e-01 8.74225708e-01 -3.12969562e-03 -2.09461510e+02] [-6.54126099e-03 5.28658067e-05 -9.99978604e-01 -8.04981152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.900385723 meters 0.014023516792385653 Centerline is valid? [True, True] Translation: X:8.88, Y:-209.44, Z:-8.05 [[-9.06409601e-01 4.22356834e-01 6.02835692e-03 8.88137104e+00] [ 4.22347884e-01 9.06429645e-01 -2.75013114e-03 -2.09436839e+02] [-6.62581810e-03 5.33185162e-05 -9.99978048e-01 -8.05104364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.930385723 meters 0.013988495693426441 Centerline is valid? [True, True] Translation: X:8.89, Y:-209.41, Z:-8.05 [[-9.34085252e-01 3.57003319e-01 5.77692477e-03 8.89079641e+00] [ 3.56996816e-01 9.34103114e-01 -2.15531707e-03 -2.09407137e+02] [-6.16569877e-03 4.90938643e-05 -9.99980991e-01 -8.05181548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.960385723 meters 0.01403231316533706 Centerline is valid? [True, True] Translation: X:9.15, Y:-208.73, Z:-9.02 [[-9.14807052e-01 -4.03849890e-01 5.77275347e-03 9.15266837e+00] [ 4.03841571e-01 -9.14825264e-01 -2.59251533e-03 -2.08727480e+02] [ 6.32804776e-03 -4.03734768e-05 9.99979977e-01 -9.01599013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.990385723 meters 0.014191693572785923 Centerline is valid? [True, True] Translation: X:8.85, Y:-209.39, Z:-8.05 [[-9.34813868e-01 3.55077070e-01 6.58081093e-03 8.84841216e+00] [ 3.55068780e-01 9.34837029e-01 -2.42731720e-03 -2.09390086e+02] [-7.01387041e-03 6.75507295e-05 -9.99975400e-01 -8.05054771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.020385723 meters 0.016364604614908965 Centerline is valid? [True, True] Translation: X:8.86, Y:-209.36, Z:-8.05 [[-9.57391294e-01 2.88683652e-01 7.97864699e-03 8.85803477e+00] [ 2.88674381e-01 9.57424536e-01 -2.31515939e-03 -2.09362555e+02] [-8.30730106e-03 8.67175329e-05 -9.99965490e-01 -8.04789582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.050385723 meters 0.014367675620632521 Centerline is valid? [True, True] Translation: X:8.86, Y:-209.33, Z:-8.05 [[-9.75448023e-01 2.20096359e-01 7.66472112e-03 8.86003294e+00] [ 2.20090224e-01 9.75478132e-01 -1.64531859e-03 -2.09332772e+02] [-7.83889647e-03 8.20074201e-05 -9.99969272e-01 -8.04959738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.080385723 meters 0.01434781801234523 Centerline is valid? [True, True] Translation: X:8.86, Y:-209.30, Z:-8.05 [[-9.88631909e-01 1.50174446e-01 7.38809349e-03 8.85902484e+00] [ 1.50170832e-01 9.88659512e-01 -1.04463467e-03 -2.09301652e+02] [-7.46118634e-03 7.67169775e-05 -9.99972162e-01 -8.04994090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.110385723 meters 0.01429320293953754 Centerline is valid? [True, True] Translation: X:8.97, Y:-208.59, Z:-9.02 [[-9.80529405e-01 -1.96258802e-01 6.67604869e-03 8.96569594e+00] [ 1.96253481e-01 -9.80552125e-01 -1.44937504e-03 -2.08590738e+02] [ 6.83066634e-03 -1.10957047e-04 9.99976665e-01 -9.01675025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.140385723 meters 0.014374011816924338 Centerline is valid? [True, True] Translation: X:8.81, Y:-209.29, Z:-8.05 [[-9.89256672e-01 1.46050175e-01 6.37047891e-03 8.80685706e+00] [ 1.46047584e-01 9.89277182e-01 -8.72441255e-04 -2.09291909e+02] [-6.42958961e-03 6.73247235e-05 -9.99979328e-01 -8.05040826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.170385723 meters 0.014957863529169139 Centerline is valid? [True, True] Translation: X:8.81, Y:-209.26, Z:-8.05 [[-9.97103571e-01 7.57707708e-02 6.57713384e-03 8.80658494e+00] [ 7.57695958e-02 9.97125261e-01 -4.27998473e-04 -2.09262587e+02] [-6.59065606e-03 7.15879668e-05 -9.99978279e-01 -8.05013956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.200385723 meters 0.01478229853771703 Centerline is valid? [True, True] Translation: X:8.81, Y:-209.23, Z:-8.05 [[-9.99962289e-01 5.62275526e-03 6.61854785e-03 8.80621210e+00] [ 5.62314860e-03 9.99984189e-01 4.08223263e-05 -2.09233887e+02] [-6.61821367e-03 7.80378649e-05 -9.99978096e-01 -8.05030509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.230385723 meters 0.01575774691598867 Centerline is valid? [True, True] Translation: X:8.80, Y:-209.21, Z:-8.05 [[-9.97876922e-01 -6.47386305e-02 7.11038762e-03 8.80104434e+00] [-6.47363434e-02 9.97902251e-01 5.51580244e-04 -2.09205051e+02] [-7.13118036e-03 9.01087013e-05 -9.99974569e-01 -8.04914937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.260385723 meters 0.015068155700373344 Centerline is valid? [True, True] Translation: X:8.79, Y:-209.18, Z:-8.05 [[-9.90788298e-01 -1.35209657e-01 7.54304058e-03 8.78739651e+00] [-1.35204965e-01 9.90817006e-01 1.13089708e-03 -2.09176270e+02] [-7.62668109e-03 1.00623055e-04 -9.99970911e-01 -8.04932257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.290385723 meters 0.014601634397620439 Centerline is valid? [True, True] Translation: X:8.76, Y:-209.15, Z:-8.05 [[-9.78521417e-01 -2.06006284e-01 7.56618075e-03 8.75966937e+00] [-2.05999319e-01 9.78550663e-01 1.69696851e-03 -2.09149757e+02] [-7.75347737e-03 1.01891946e-04 -9.99969936e-01 -8.04987962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.320385723 meters 0.014482774822712137 Centerline is valid? [True, True] Translation: X:8.72, Y:-209.13, Z:-8.05 [[-9.60552182e-01 -2.78008703e-01 7.11802027e-03 8.72033355e+00] [-2.78000410e-01 9.60578552e-01 2.14895289e-03 -2.09127589e+02] [-7.43484521e-03 8.53688301e-05 -9.99972358e-01 -8.04975561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.350385723 meters 0.014773621985140161 Centerline is valid? [True, True] Translation: X:8.66, Y:-209.12, Z:-8.05 [[-9.36835418e-01 -3.49702771e-01 6.88269683e-03 8.65702549e+00] [-3.49692795e-01 9.36860698e-01 2.64237920e-03 -2.09115773e+02] [-7.37217549e-03 6.86449338e-05 -9.99972823e-01 -8.04935055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.380385723 meters 0.014213925863430878 Centerline is valid? [True, True] Translation: X:8.59, Y:-209.11, Z:-8.05 [[-9.08119084e-01 -4.18666939e-01 6.14196447e-03 8.58943390e+00] [-4.18656944e-01 9.08139852e-01 2.89352922e-03 -2.09111868e+02] [-6.78918773e-03 5.62930244e-05 -9.99976952e-01 -8.04981792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.410385723 meters 0.014211814422620185 Centerline is valid? [True, True] Translation: X:8.51, Y:-209.12, Z:-8.05 [[-8.74129456e-01 -4.85658057e-01 5.82634617e-03 8.51230439e+00] [-4.85646891e-01 8.74148872e-01 3.29356839e-03 -2.09117845e+02] [-6.69264195e-03 4.94582383e-05 -9.99977603e-01 -8.04985616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.440385723 meters 0.014114949881510696 Centerline is valid? [True, True] Translation: X:8.43, Y:-209.13, Z:-8.05 [[-8.34881102e-01 -5.50400781e-01 5.70321077e-03 8.42640285e+00] [-5.50387582e-01 8.34900580e-01 3.81198531e-03 -2.09134309e+02] [-6.85973367e-03 4.35781075e-05 -9.99976471e-01 -8.04962205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.470385723 meters 0.014114949881510696 Centerline is valid? [True, True] Translation: X:8.34, Y:-209.16, Z:-8.05 [[-7.91261948e-01 -6.11453478e-01 5.40130704e-03 8.33864459e+00] [-6.11438855e-01 7.91280382e-01 4.22887195e-03 -2.09161816e+02] [-6.85970676e-03 4.35764670e-05 -9.99976471e-01 -8.04962315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.500385723 meters 0.014153761388058687 Centerline is valid? [True, True] Translation: X:8.25, Y:-209.20, Z:-8.05 [[-7.42860084e-01 -6.69428078e-01 4.99444077e-03 8.24691983e+00] [-6.69412569e-01 7.42876872e-01 4.55685414e-03 -2.09200094e+02] [-6.76074065e-03 4.17636181e-05 -9.99977145e-01 -8.04957170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.530385723 meters 0.013947674057632586 Centerline is valid? [True, True] Translation: X:8.16, Y:-209.25, Z:-8.05 [[-6.89568936e-01 -7.24207572e-01 4.25139846e-03 8.15521364e+00] [-7.24193512e-01 6.89582041e-01 4.51279270e-03 -2.09247731e+02] [-6.19988667e-03 3.30464753e-05 -9.99980780e-01 -8.05004058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.56038572299997 meters 0.014029306155137835 Centerline is valid? [True, True] Translation: X:8.07, Y:-209.30, Z:-8.05 [[-6.31950574e-01 -7.75000551e-01 3.55215288e-03 8.06737866e+00] [-7.74988083e-01 6.31960557e-01 4.39610582e-03 -2.09302573e+02] [-5.65180495e-03 2.52454455e-05 -9.99984028e-01 -8.05066764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.590385723 meters 0.013921277003528165 Centerline is valid? [True, True] Translation: X:7.98, Y:-209.37, Z:-8.05 [[-5.70626995e-01 -8.21203758e-01 3.03655504e-03 7.97877154e+00] [-8.21191944e-01 5.70635074e-01 4.40490324e-03 -2.09370974e+02] [-5.35008790e-03 1.99621588e-05 -9.99985688e-01 -8.05045392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.62038572299997 meters 0.013866038562666652 Centerline is valid? [True, True] Translation: X:7.89, Y:-209.45, Z:-8.05 [[-5.05552709e-01 -8.62789828e-01 3.18917319e-03 7.89390029e+00] [-8.62772443e-01 5.05562768e-01 5.47711704e-03 -2.09446146e+02] [-6.33792810e-03 1.74406087e-05 -9.99979915e-01 -8.04948679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.650385723 meters 0.013843215813404402 Centerline is valid? [True, True] Translation: X:7.81, Y:-209.53, Z:-8.05 [[-4.37686206e-01 -8.99123853e-01 2.66116827e-03 7.81339284e+00] [-8.99107058e-01 4.37694296e-01 5.49567864e-03 -2.09534313e+02] [-6.10607393e-03 1.27075641e-05 -9.99981358e-01 -8.04884020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.680385723 meters 0.013802519644030375 Centerline is valid? [True, True] Translation: X:7.74, Y:-209.63, Z:-8.05 [[-3.67678691e-01 -9.29949836e-01 2.38403906e-03 7.74148764e+00] [-9.29930048e-01 3.67686420e-01 6.06655931e-03 -2.09625633e+02] [-6.51817462e-03 1.35550238e-05 -9.99978756e-01 -8.04803271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.710385723 meters 0.013797988577885206 Centerline is valid? [True, True] Translation: X:7.68, Y:-209.73, Z:-8.05 [[-2.95547382e-01 -9.55326213e-01 1.88981685e-03 7.67630144e+00] [-9.55306369e-01 2.95553423e-01 6.15757020e-03 -2.09725394e+02] [-6.44103007e-03 1.44996776e-05 -9.99979256e-01 -8.04727036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.740385723 meters 0.01381248477074274 Centerline is valid? [True, True] Translation: X:7.62, Y:-209.83, Z:-8.05 [[-2.22819192e-01 -9.74858799e-01 1.38891731e-03 7.61998804e+00] [-9.74839215e-01 2.22823520e-01 6.17937426e-03 -2.09831268e+02] [-6.33350082e-03 2.29121205e-05 -9.99979943e-01 -8.04750872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.770385723 meters 0.013799857657662753 Centerline is valid? [True, True] Translation: X:7.57, Y:-209.94, Z:-8.05 [[-1.47724808e-01 -9.89028067e-01 9.29466226e-04 7.57024428e+00] [-9.89007378e-01 1.47727730e-01 6.39725440e-03 -2.09944471e+02] [-6.46437208e-03 2.57842212e-05 -9.99979105e-01 -8.04735936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.800385723 meters 0.013647365704570789 Centerline is valid? [True, True] Translation: X:7.53, Y:-210.07, Z:-8.05 [[-7.20677711e-02 -9.97399629e-01 4.66174998e-04 7.52889648e+00] [-9.97375702e-01 7.20692713e-02 6.90861520e-03 -2.10069595e+02] [-6.92424713e-03 3.29368830e-05 -9.99976027e-01 -8.04838655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.830385723 meters 0.01368716748889447 Centerline is valid? [True, True] Translation: X:7.50, Y:-210.18, Z:-8.05 [[ 4.22759095e-03 -9.99991061e-01 -6.85157563e-05 7.49736015e+00] [-9.99965457e-01 -4.22797301e-03 7.15610777e-03 -2.10180918e+02] [-7.15633348e-03 3.82602931e-05 -9.99974392e-01 -8.04816128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.860385723 meters 0.013990225284650324 Centerline is valid? [True, True] Translation: X:7.48, Y:-210.30, Z:-8.05 [[ 8.03896075e-02 -9.96763298e-01 -6.62767292e-04 7.47635692e+00] [-9.96734036e-01 -8.03923260e-02 7.63775679e-03 -2.10304161e+02] [-7.66631705e-03 4.66064478e-05 -9.99970612e-01 -8.04627519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.890385723 meters 0.013811281180107788 Centerline is valid? [True, True] Translation: X:7.46, Y:-210.44, Z:-8.05 [[ 1.56245889e-01 -9.87717265e-01 -1.35151724e-03 7.46387222e+00] [-9.87683275e-01 -1.56251725e-01 8.19427949e-03 -2.10435994e+02] [-8.30480823e-03 5.45484904e-05 -9.99965513e-01 -8.04672162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.920385723 meters 0.014420572812341183 Centerline is valid? [True, True] Translation: X:7.46, Y:-210.55, Z:-8.04 [[ 2.30992583e-01 -9.72952956e-01 -2.22997526e-03 7.46123604e+00] [-9.72910452e-01 -2.31003337e-01 9.09450303e-03 -2.10551388e+02] [-9.36365533e-03 6.88034881e-05 -9.99956158e-01 -8.04398146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.950385723 meters 0.01386607127094712 Centerline is valid? [True, True] Translation: X:7.47, Y:-210.68, Z:-8.05 [[ 3.04938832e-01 -9.52367425e-01 -2.93208415e-03 7.46542801e+00] [-9.52325597e-01 -3.04952920e-01 8.92598990e-03 -2.10677084e+02] [-9.39496963e-03 7.04178544e-05 -9.99955864e-01 -8.04555917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.980385723 meters 0.01388391948797315 Centerline is valid? [True, True] Translation: X:7.48, Y:-210.80, Z:-8.05 [[ 3.77163299e-01 -9.26139455e-01 -3.68183080e-03 7.48051915e+00] [-9.26097173e-01 -3.77181262e-01 8.84998225e-03 -2.10797946e+02] [-9.58503532e-03 7.18445906e-05 -9.99954060e-01 -8.04550701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.010385723 meters 0.01436996304798792 Centerline is valid? [True, True] Translation: X:7.51, Y:-210.92, Z:-8.05 [[ 4.47136436e-01 -8.94454787e-01 -4.43195010e-03 7.50503404e+00] [-8.94412454e-01 -4.47158394e-01 8.70250098e-03 -2.10919140e+02] [-9.76577734e-03 7.27860926e-05 -9.99952311e-01 -8.04537101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.040385723 meters 0.013783565738958267 Centerline is valid? [True, True] Translation: X:7.54, Y:-211.03, Z:-8.05 [[ 5.14551642e-01 -8.57447816e-01 -4.45542508e-03 7.53564135e+00] [-8.57416701e-01 -5.14570927e-01 7.30488586e-03 -2.11032819e+02] [-8.55619064e-03 6.14148672e-05 -9.99963393e-01 -8.04634709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.070385723 meters 0.013722141353187237 Centerline is valid? [True, True] Translation: X:7.58, Y:-211.15, Z:-8.05 [[ 5.78440448e-01 -8.15710091e-01 -4.86775818e-03 7.57513320e+00] [-8.15682101e-01 -5.78460927e-01 6.75774327e-03 -2.11146396e+02] [-8.32816729e-03 6.15911709e-05 -9.99965318e-01 -8.04703082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.100385723 meters 0.013691941211683087 Centerline is valid? [True, True] Translation: X:7.62, Y:-211.25, Z:-8.05 [[ 6.38953403e-01 -7.69226125e-01 -5.45136894e-03 7.62049086e+00] [-7.69198972e-01 -6.38976654e-01 6.46355561e-03 -2.11252210e+02] [-8.45523332e-03 6.32765338e-05 -9.99964252e-01 -8.04662581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.130385723 meters 0.013696328123379247 Centerline is valid? [True, True] Translation: X:7.67, Y:-211.35, Z:-8.05 [[ 6.95638771e-01 -7.18364171e-01 -6.29428532e-03 7.67286756e+00] [-7.18335647e-01 -6.95667243e-01 6.40193772e-03 -2.11351220e+02] [-8.97765080e-03 6.79734309e-05 -9.99959698e-01 -8.04569039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.160385723 meters 0.01380245680025325 Centerline is valid? [True, True] Translation: X:7.73, Y:-211.44, Z:-8.05 [[ 7.48315180e-01 -6.63302844e-01 -7.32998136e-03 7.72999473e+00] [-6.63271968e-01 -7.48351076e-01 6.40036006e-03 -2.11442239e+02] [-9.73077646e-03 7.22845738e-05 -9.99952652e-01 -8.04616918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.190385723 meters 0.013815801473929475 Centerline is valid? [True, True] Translation: X:7.73, Y:-211.45, Z:-8.05 [[ 7.97703059e-01 -6.03001186e-01 -7.70709436e-03 7.72512186e+00] [-6.02973935e-01 -7.97740286e-01 5.73316694e-03 -2.11450793e+02] [-9.60536612e-03 7.38122090e-05 -9.99953865e-01 -8.04606684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.220385723 meters 0.013762291779432712 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.46, Z:-8.05 [[ 8.42326731e-01 -5.38914888e-01 -7.51141490e-03 7.72187140e+00] [-5.38894195e-01 -8.42360219e-01 4.72305690e-03 -2.11459746e+02] [-8.87264278e-03 6.95008079e-05 -9.99960635e-01 -8.04603564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.250385723 meters 0.013816469178014113 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.47, Z:-8.05 [[ 8.81960662e-01 -4.71249316e-01 -8.33501690e-03 7.71867205e+00] [-4.71229042e-01 -8.82000043e-01 4.37192344e-03 -2.11468331e+02] [-9.41175120e-03 7.18375327e-05 -9.99955706e-01 -8.04538621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.280385723 meters 0.013633812387077457 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.48, Z:-8.04 [[ 9.16598944e-01 -3.99695915e-01 -9.46311513e-03 7.71721479e+00] [-3.99675351e-01 -9.16647790e-01 4.05493331e-03 -2.11475154e+02] [-1.02950839e-02 6.54262737e-05 -9.99947002e-01 -8.04398676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31038572299997 meters 0.013536729221747677 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.48, Z:-8.04 [[ 9.45278645e-01 -3.26101922e-01 -1.02869334e-02 7.71579281e+00] [-3.26083318e-01 -9.45334614e-01 3.48374770e-03 -2.11484343e+02] [-1.08606511e-02 6.12850788e-05 -9.99941020e-01 -8.04468944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.340385723 meters 0.013369490239486772 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.49, Z:-8.05 [[ 9.68139372e-01 -2.50187373e-01 -1.06035271e-02 7.71505679e+00] [-2.50172935e-01 -9.68197437e-01 2.68820849e-03 -2.11494804e+02] [-1.09388636e-02 5.01550238e-05 -9.99940168e-01 -8.04518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37038572299997 meters 0.013330250809509066 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.51, Z:-8.04 [[ 9.84815293e-01 -1.73225513e-01 -1.14786901e-02 7.71382326e+00] [-1.73214325e-01 -9.84882186e-01 1.96934643e-03 -2.11506654e+02] [-1.16462985e-02 4.88310835e-05 -9.99932178e-01 -8.04487739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.400385723 meters 0.013242072005302412 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.52, Z:-8.04 [[ 9.95414905e-01 -9.49426166e-02 -1.16218275e-02 7.71065546e+00] [-9.49366263e-02 -9.95482746e-01 1.06729193e-03 -2.11516554e+02] [-1.16706603e-02 4.09388076e-05 -9.99931895e-01 -8.04385228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.430385723 meters 0.01327718277829306 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.53, Z:-8.04 [[ 9.99788504e-01 -1.66809570e-02 -1.20288696e-02 7.70826826e+00] [-1.66802549e-02 -9.99860862e-01 1.58702414e-04 -2.11525887e+02] [-1.20298433e-02 4.19757621e-05 -9.99927638e-01 -8.04416925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.460385723 meters 0.013267946974643927 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.53, Z:-8.04 [[ 9.98069983e-01 6.09669259e-02 -1.18043254e-02 7.70680352e+00] [ 6.09620797e-02 -9.98139786e-01 -7.70269849e-04 -2.11534916e+02] [-1.18293278e-02 4.91669895e-05 -9.99930030e-01 -8.04472074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.490385723 meters 0.0132565602846313 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.55, Z:-8.04 [[ 9.90207353e-01 1.39112347e-01 -1.17112345e-02 7.70665481e+00] [ 1.39102055e-01 -9.90276604e-01 -1.69282912e-03 -2.11546429e+02] [-1.18328549e-02 4.71950608e-05 -9.99929988e-01 -8.04484514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.520385723 meters 0.013280618738354635 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.56, Z:-8.05 [[ 9.76253053e-01 2.16364396e-01 -1.07900316e-02 7.70689459e+00] [ 2.16350707e-01 -9.76312679e-01 -2.43424028e-03 -2.11558137e+02] [-1.10611276e-02 4.20035447e-05 -9.99938823e-01 -8.04547286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.550385723 meters 0.013234363287787636 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.57, Z:-8.05 [[ 9.56364112e-01 2.91996906e-01 -1.02709177e-02 7.70801020e+00] [ 2.91979591e-01 -9.56419262e-01 -3.18018619e-03 -2.11569677e+02] [-1.07519081e-02 4.25175889e-05 -9.99942196e-01 -8.04532020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.580385723 meters 0.013277709885708214 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.58, Z:-8.05 [[ 9.30987355e-01 3.64930839e-01 -9.38230027e-03 7.70872968e+00] [ 3.64911754e-01 -9.31034629e-01 -3.73246883e-03 -2.11579963e+02] [-1.00973394e-02 5.11696357e-05 -9.99949019e-01 -8.04500241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.610385723 meters 0.013327813466266204 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.59, Z:-8.04 [[ 8.99713617e-01 4.36390473e-01 -8.87478771e-03 7.71008226e+00] [ 4.36368655e-01 -8.99757385e-01 -4.36404429e-03 -2.11590164e+02] [-9.88958314e-03 5.37108990e-05 -9.99951095e-01 -8.04484119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.640385723 meters 0.013279873364760691 Centerline is valid? [True, True] Translation: X:7.71, Y:-211.60, Z:-8.05 [[ 8.62289239e-01 5.06342165e-01 -8.65337037e-03 7.71315506e+00] [ 5.06316145e-01 -8.62332656e-01 -5.13333727e-03 -2.11601358e+02] [-1.00613090e-02 4.50803613e-05 -9.99949383e-01 -8.04578291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.670385723 meters 0.01323732711983479 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.61, Z:-8.05 [[ 8.19473077e-01 5.73064184e-01 -7.83060257e-03 7.71652766e+00] [ 5.73037621e-01 -8.19510488e-01 -5.51762618e-03 -2.11613632e+02] [-9.57921488e-03 3.43162330e-05 -9.99954118e-01 -8.04575891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.700385723 meters 0.01316056515852234 Centerline is valid? [True, True] Translation: X:7.72, Y:-211.63, Z:-8.04 [[ 7.70234022e-01 6.37712623e-01 -7.88422674e-03 7.72217027e+00] [ 6.37679124e-01 -7.70274373e-01 -6.53638108e-03 -2.11625567e+02] [-1.02413505e-02 6.93628634e-06 -9.99947556e-01 -8.04460256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.730385723 meters 0.013172718096415919 Centerline is valid? [True, True] Translation: X:7.73, Y:-211.64, Z:-8.04 [[ 7.15588306e-01 6.98478028e-01 -7.86267001e-03 7.72768586e+00] [ 6.98436321e-01 -7.15631500e-01 -7.63294990e-03 -2.11636894e+02] [-1.09582221e-02 -2.95246253e-05 -9.99939957e-01 -8.04317134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.760385723 meters 0.013249859416478592 Centerline is valid? [True, True] Translation: X:7.73, Y:-211.65, Z:-8.04 [[ 6.57587354e-01 7.53339103e-01 -7.68551719e-03 7.73313646e+00] [ 7.53288514e-01 -6.57632263e-01 -8.73046496e-03 -2.11647670e+02] [-1.16312447e-02 -4.83684780e-05 -9.99932354e-01 -8.04231144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.790385723 meters 0.013437165589009745 Centerline is valid? [True, True] Translation: X:7.74, Y:-211.66, Z:-8.04 [[ 5.95464790e-01 8.03349591e-01 -7.14968708e-03 7.73870830e+00] [ 8.03293019e-01 -5.95507707e-01 -9.53393370e-03 -2.11656607e+02] [-1.19167755e-02 -6.61718924e-05 -9.99928991e-01 -8.04197478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.820385723 meters 0.013664521905691483 Centerline is valid? [True, True] Translation: X:7.74, Y:-211.66, Z:-8.04 [[ 5.29173355e-01 8.48484991e-01 -6.98436731e-03 7.74362996e+00] [ 8.48413474e-01 -5.29219436e-01 -1.10166147e-02 -2.11663731e+02] [-1.30436951e-02 -9.59323847e-05 -9.99914923e-01 -8.04133341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.850385723 meters 0.013714036211220509 Centerline is valid? [True, True] Translation: X:7.75, Y:-211.67, Z:-8.04 [[ 4.60840867e-01 8.87461556e-01 -6.13856931e-03 7.74886151e+00] [ 8.87385710e-01 -4.60881738e-01 -1.16028256e-02 -2.11670902e+02] [-1.31262162e-02 -1.00222462e-04 -9.99913843e-01 -8.04121722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.880385723 meters 0.01363709390749508 Centerline is valid? [True, True] Translation: X:7.76, Y:-211.68, Z:-8.04 [[ 3.90380542e-01 9.20639582e-01 -5.07854613e-03 7.75545433e+00] [ 9.20564698e-01 -3.90413564e-01 -1.17424332e-02 -2.11677946e+02] [-1.27932821e-02 -9.11128330e-05 -9.99918159e-01 -8.04181681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.910385723 meters 0.013474540884191397 Centerline is valid? [True, True] Translation: X:7.76, Y:-211.68, Z:-8.04 [[ 3.19148379e-01 9.47696060e-01 -4.06082228e-03 7.76012443e+00] [ 9.47621806e-01 -3.19174207e-01 -1.18633284e-02 -2.11684219e+02] [-1.25389393e-02 -6.19617115e-05 -9.99921383e-01 -8.04314172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.940385723 meters 0.013436750933405104 Centerline is valid? [True, True] Translation: X:7.77, Y:-211.69, Z:-8.04 [[ 2.45567414e-01 9.69374247e-01 -3.19584384e-03 7.76603331e+00] [ 9.69294381e-01 -2.45588205e-01 -1.24433490e-02 -2.11692165e+02] [-1.28471237e-02 -4.20324339e-05 -9.99917471e-01 -8.04377411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.970385723 meters 0.013499866392118065 Centerline is valid? [True, True] Translation: X:7.77, Y:-211.70, Z:-8.04 [[ 1.70440897e-01 9.85365499e-01 -2.17596633e-03 7.77223600e+00] [ 9.85286792e-01 -1.70454785e-01 -1.24540310e-02 -2.11700153e+02] [-1.26426763e-02 -2.12746751e-05 -9.99920078e-01 -8.04394141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.000385723 meters 0.01355081965321979 Centerline is valid? [True, True] Translation: X:7.78, Y:-211.71, Z:-8.04 [[ 9.60773011e-02 9.95373203e-01 -1.15731312e-03 7.77801437e+00] [ 9.95298461e-01 -9.60842690e-02 -1.21978170e-02 -2.11706054e+02] [-1.22525797e-02 2.00613702e-05 -9.99924934e-01 -8.04429290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.030385723 meters 0.013600117587063398 Centerline is valid? [True, True] Translation: X:7.79, Y:-211.71, Z:-8.04 [[ 1.96807104e-02 9.99806295e-01 -2.04970453e-04 7.78632938e+00] [ 9.99725956e-01 -1.96817274e-02 -1.26744979e-02 -2.11712063e+02] [-1.26760770e-02 4.45288412e-05 -9.99919654e-01 -8.04424040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.06038572299997 meters 0.013868501677271978 Centerline is valid? [True, True] Translation: X:7.79, Y:-211.72, Z:-8.04 [[-5.56807959e-02 9.98448276e-01 8.30727570e-04 7.79189891e+00] [ 9.98359346e-01 5.56869240e-02 -1.33260462e-02 -2.11718065e+02] [-1.33516285e-02 8.73597773e-05 -9.99910859e-01 -8.04330092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.090385723 meters 0.014099647110954499 Centerline is valid? [True, True] Translation: X:7.80, Y:-211.72, Z:-8.04 [[-1.32201638e-01 9.91220990e-01 1.91720295e-03 7.79973798e+00] [ 9.91128555e-01 1.32215493e-01 -1.35370152e-02 -2.11723886e+02] [-1.36716576e-02 1.10578996e-04 -9.99906532e-01 -8.04301905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.12038572299997 meters 0.014384448431432315 Centerline is valid? [True, True] Translation: X:7.81, Y:-211.73, Z:-8.04 [[-2.07536733e-01 9.78222785e-01 2.94744500e-03 7.80636675e+00] [ 9.78133245e-01 2.07557618e-01 -1.32359782e-02 -2.11729851e+02] [-1.35595001e-02 1.36042267e-04 -9.99908057e-01 -8.04308117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.150385723 meters 0.014626199937486121 Centerline is valid? [True, True] Translation: X:7.81, Y:-211.74, Z:-8.04 [[-2.83040605e-01 9.59099821e-01 3.94336479e-03 7.81469759e+00] [ 9.59013633e-01 2.83068037e-01 -1.28583592e-02 -2.11736076e+02] [-1.34486905e-02 1.42302832e-04 -9.99909552e-01 -8.04325174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.180385723 meters 0.014331465221667823 Centerline is valid? [True, True] Translation: X:7.83, Y:-211.74, Z:-8.04 [[-3.56811971e-01 9.34164180e-01 4.74373107e-03 7.82759665e+00] [ 9.34086921e-01 3.56843474e-01 -1.20149872e-02 -2.11739144e+02] [-1.29167402e-02 1.43965868e-04 -9.99916565e-01 -8.04461018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.210385723 meters 0.014664750037575608 Centerline is valid? [True, True] Translation: X:7.84, Y:-211.74, Z:-8.04 [[-4.28882174e-01 9.03343475e-01 5.53599295e-03 7.83975907e+00] [ 9.03272418e-01 4.28917878e-01 -1.13310489e-02 -2.11742705e+02] [-1.26103155e-02 1.40824843e-04 -9.99920477e-01 -8.04347046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.240385723 meters 0.014431307781358833 Centerline is valid? [True, True] Translation: X:7.85, Y:-211.74, Z:-8.04 [[-4.99324538e-01 8.66392809e-01 6.20540997e-03 7.85000228e+00] [ 8.66328933e-01 4.99363080e-01 -1.05211332e-02 -2.11744762e+02] [-1.22141868e-02 1.22466225e-04 -9.99925397e-01 -8.04389048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.270385723 meters 0.014095977803781882 Centerline is valid? [True, True] Translation: X:7.86, Y:-211.74, Z:-8.04 [[-5.67338009e-01 8.23455010e-01 7.03064499e-03 7.86259863e+00] [ 8.23393906e-01 5.67381562e-01 -1.00319042e-02 -2.11744104e+02] [-1.22498801e-02 9.75096793e-05 -9.99924963e-01 -8.04428616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.300385723 meters 0.01382512887285107 Centerline is valid? [True, True] Translation: X:7.88, Y:-211.74, Z:-8.04 [[-6.30732907e-01 7.75958795e-01 7.99683875e-03 7.87653130e+00] [ 7.75898236e-01 6.30783593e-01 -9.69468883e-03 -2.11741019e+02] [-1.25669537e-02 8.99738153e-05 -9.99921029e-01 -8.04460693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.330385723 meters 0.01382512887285107 Centerline is valid? [True, True] Translation: X:7.89, Y:-211.74, Z:-8.04 [[-6.89582200e-01 7.24154780e-01 8.73177663e-03 7.88935259e+00] [ 7.24098379e-01 6.89637474e-01 -9.03835634e-03 -2.11738156e+02] [-1.25669293e-02 8.99756564e-05 -9.99921029e-01 -8.04460715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.360385723 meters 0.013857761447168744 Centerline is valid? [True, True] Translation: X:7.90, Y:-211.73, Z:-8.04 [[-7.44776701e-01 6.67238719e-01 1.00079012e-02 7.90384762e+00] [ 6.67179993e-01 7.44843934e-01 -8.85280271e-03 -2.11731474e+02] [-1.33612572e-02 8.37102581e-05 -9.99910731e-01 -8.04433765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.390385723 meters 0.014049531896335043 Centerline is valid? [True, True] Translation: X:7.93, Y:-211.71, Z:-8.04 [[-7.90807837e-01 6.11971484e-01 1.06708858e-02 7.92568884e+00] [ 6.11916949e-01 7.90879825e-01 -8.16999476e-03 -2.11710071e+02] [-1.34391921e-02 6.88000038e-05 -9.99909688e-01 -8.04215724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.420385723 meters 0.01374527535860819 Centerline is valid? [True, True] Translation: X:8.42, Y:-211.08, Z:-9.02 [[-7.54426110e-01 -6.56308772e-01 1.00020454e-02 8.41524158e+00] [ 6.56249776e-01 -7.54492406e-01 -8.80008225e-03 -2.11079350e+02] [ 1.33220385e-02 -7.51717609e-05 9.99911255e-01 -9.02344940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.450385723 meters 0.01378167083876115 Centerline is valid? [True, True] Translation: X:7.89, Y:-211.68, Z:-8.04 [[-7.93283014e-01 6.08768288e-01 1.01603023e-02 7.88821962e+00] [ 6.08719319e-01 7.93348075e-01 -7.72155959e-03 -2.11679017e+02] [-1.27612969e-02 5.93902520e-05 -9.99918570e-01 -8.04400892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.480385723 meters 0.01376582774938549 Centerline is valid? [True, True] Translation: X:7.91, Y:-211.66, Z:-8.04 [[-8.34229770e-01 5.51318114e-01 1.04416738e-02 7.91388459e+00] [ 5.51275859e-01 8.34295112e-01 -6.82595859e-03 -2.11660709e+02] [-1.24747120e-02 6.18248174e-05 -9.99922186e-01 -8.04471263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.510385723 meters 0.013671061891400608 Centerline is valid? [True, True] Translation: X:7.93, Y:-211.64, Z:-8.05 [[-8.70912304e-01 4.91332380e-01 1.02103273e-02 7.93328534e+00] [ 4.91299475e-01 8.70972151e-01 -5.68657630e-03 -2.11637795e+02] [-1.16869098e-02 6.38191702e-05 -9.99931704e-01 -8.04529172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.540385723 meters 0.013767733143544151 Centerline is valid? [True, True] Translation: X:7.95, Y:-211.61, Z:-8.05 [[-9.03251262e-01 4.28975804e-01 1.08128246e-02 7.94794993e+00] [ 4.28946033e-01 9.03315977e-01 -5.05432590e-03 -2.11612570e+02] [-1.19355808e-02 7.27919891e-05 -9.99928766e-01 -8.04541160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.570385723 meters 0.013950366398028918 Centerline is valid? [True, True] Translation: X:7.97, Y:-211.59, Z:-8.05 [[-9.30634910e-01 3.65770439e-01 1.14302144e-02 7.96619921e+00] [ 3.65744155e-01 9.30705096e-01 -4.38602166e-03 -2.11588780e+02] [-1.22424359e-02 9.87492348e-05 -9.99925054e-01 -8.04551769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.600385723 meters 0.013976049983262025 Centerline is valid? [True, True] Translation: X:8.25, Y:-210.85, Z:-9.02 [[-9.10955396e-01 -4.12360173e-01 1.09248967e-02 8.24852233e+00] [ 4.12329079e-01 -9.11020898e-01 -5.06507866e-03 -2.10849836e+02] [ 1.20414459e-02 -1.09408135e-04 9.99927493e-01 -9.02192506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.630385723 meters 0.01402769742193305 Centerline is valid? [True, True] Translation: X:7.92, Y:-211.57, Z:-8.05 [[-9.31481928e-01 3.63585197e-01 1.21335071e-02 7.92170381e+00] [ 3.63556076e-01 9.31560942e-01 -4.60330834e-03 -2.11570362e+02] [-1.29767961e-02 1.23311695e-04 -9.99915790e-01 -8.04500184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.660385723 meters 0.013933434162254186 Centerline is valid? [True, True] Translation: X:7.93, Y:-211.54, Z:-8.05 [[-9.54938942e-01 2.96543949e-01 1.23815339e-02 7.93086753e+00] [ 2.96520678e-01 9.55019199e-01 -3.71699097e-03 -2.11541184e+02] [-1.29268538e-02 1.21881412e-04 -9.99916437e-01 -8.04546036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.690385723 meters 0.014046630408142548 Centerline is valid? [True, True] Translation: X:7.94, Y:-211.51, Z:-8.04 [[-9.73618011e-01 2.27832361e-01 1.26642660e-02 7.94239130e+00] [ 2.27814687e-01 9.73700365e-01 -2.84028439e-03 -2.11513655e+02] [-1.29783091e-02 1.19753747e-04 -9.99915771e-01 -8.04455760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.720385723 meters 0.013892279402570479 Centerline is valid? [True, True] Translation: X:7.95, Y:-211.48, Z:-8.04 [[-9.87417234e-01 1.57612856e-01 1.28605159e-02 7.95170856e+00] [ 1.57600935e-01 9.87500975e-01 -1.94161980e-03 -2.11482692e+02] [-1.30057963e-02 1.09640483e-04 -9.99915415e-01 -8.04481127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.750385723 meters 0.013846144399857782 Centerline is valid? [True, True] Translation: X:7.95, Y:-211.45, Z:-8.05 [[-9.96123112e-01 8.70214487e-02 1.28845802e-02 7.95203908e+00] [ 8.70155665e-02 9.96206432e-01 -1.01749712e-03 -2.11452186e+02] [-1.29242457e-02 1.07606645e-04 -9.99916473e-01 -8.04503511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.780385723 meters 0.01391370386471155 Centerline is valid? [True, True] Translation: X:8.01, Y:-210.68, Z:-9.02 [[-9.90497495e-01 -1.36981418e-01 1.22802000e-02 8.01305929e+00] [ 1.36969186e-01 -9.90573608e-01 -1.83565147e-03 -2.10681457e+02] [ 1.24158922e-02 -1.36199188e-04 9.99922911e-01 -9.02186922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81038572299997 meters 0.013961599481558324 Centerline is valid? [True, True] Translation: X:7.88, Y:-211.44, Z:-8.05 [[-9.96465637e-01 8.31454930e-02 1.19608233e-02 7.87622608e+00] [ 8.31408182e-02 9.96537413e-01 -8.88412571e-04 -2.11444078e+02] [-1.19932754e-02 1.09160037e-04 -9.99928072e-01 -8.04626517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.840385723 meters 0.013841778385733333 Centerline is valid? [True, True] Translation: X:7.88, Y:-211.41, Z:-8.05 [[-9.99851199e-01 1.24567411e-02 1.19335836e-02 7.87946364e+00] [ 1.24572041e-02 9.99922405e-01 -3.55315321e-05 -2.11413269e+02] [-1.19331002e-02 1.13132842e-04 -9.99928792e-01 -8.04707760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87038572299997 meters 0.013769855236133445 Centerline is valid? [True, True] Translation: X:7.89, Y:-210.65, Z:-9.02 [[-9.98085083e-01 -6.07749783e-02 1.15138551e-02 7.88912268e+00] [ 6.07693719e-02 -9.98151483e-01 -8.36477010e-04 -2.10648609e+02] [ 1.15434084e-02 -1.35185484e-04 9.99933364e-01 -9.02020053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.900385723 meters 0.013707483324036594 Centerline is valid? [True, True] Translation: X:7.79, Y:-211.41, Z:-8.05 [[-9.99914032e-01 6.40040299e-03 1.14439009e-02 7.79117319e+00] [ 6.40118547e-03 9.99979512e-01 3.17482597e-05 -2.11408124e+02] [-1.14434633e-02 1.05000063e-04 -9.99934516e-01 -8.04736146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.930385723 meters 0.013714982455827486 Centerline is valid? [True, True] Translation: X:7.78, Y:-211.38, Z:-8.05 [[-9.97820794e-01 -6.50624393e-02 1.09791812e-02 7.78104998e+00] [-6.50574188e-02 9.97881190e-01 8.14185165e-04 -2.11378187e+02] [-1.10088913e-02 9.81336951e-05 -9.99939396e-01 -8.04713485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.960385723 meters 0.013630153914559467 Centerline is valid? [True, True] Translation: X:7.74, Y:-210.63, Z:-9.02 [[-9.99823450e-01 1.46476429e-02 1.17692701e-02 7.73863004e+00] [-1.46472580e-02 -9.99892716e-01 1.18902408e-04 -2.10627635e+02] [ 1.17697491e-02 -5.35061207e-05 9.99930733e-01 -9.02033608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.990385723 meters 0.013569305524098333 Centerline is valid? [True, True] Translation: X:7.68, Y:-211.38, Z:-8.05 [[-9.97315673e-01 -7.22394747e-02 1.19543941e-02 7.68418388e+00] [-7.22331463e-02 9.97387312e-01 9.60869152e-04 -2.11380452e+02] [-1.19925736e-02 9.47863692e-05 -9.99928082e-01 -8.04720548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.020385723 meters 0.013584197600655275 Centerline is valid? [True, True] Translation: X:7.63, Y:-210.64, Z:-9.02 [[-9.99708229e-01 2.05984907e-02 1.26158170e-02 7.62795151e+00] [-2.05975823e-02 -9.99787827e-01 2.01941931e-04 -2.10638528e+02] [ 1.26173000e-02 -5.79723196e-05 9.99920397e-01 -9.02073342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.050385723 meters 0.013591807351584117 Centerline is valid? [True, True] Translation: X:7.57, Y:-211.39, Z:-8.05 [[-9.96826361e-01 -7.87132916e-02 1.18921445e-02 7.57434057e+00] [-7.87066018e-02 9.96897291e-01 1.03023705e-03 -2.11385161e+02] [-1.19363400e-02 9.09771639e-05 -9.99928755e-01 -8.04755270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.080385723 meters 0.01369756450280617 Centerline is valid? [True, True] Translation: X:7.57, Y:-211.36, Z:-8.05 [[-9.88874020e-01 -1.48341646e-01 1.10872990e-02 7.56662678e+00] [-1.48331163e-01 9.88936169e-01 1.76643214e-03 -2.11355677e+02] [-1.12266664e-02 1.02186898e-04 -9.99936974e-01 -8.04919936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.110385723 meters 0.013639782199090268 Centerline is valid? [True, True] Translation: X:7.54, Y:-211.33, Z:-8.05 [[-9.75880914e-01 -2.18036799e-01 1.07887031e-02 7.53635321e+00] [-2.18022194e-01 9.75940542e-01 2.52613960e-03 -2.11330941e+02] [-1.10799241e-02 1.13034699e-04 -9.99938609e-01 -8.05002928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.140385723 meters 0.01402621453746619 Centerline is valid? [True, True] Translation: X:7.49, Y:-211.31, Z:-8.05 [[-9.57956680e-01 -2.86693406e-01 1.12201157e-02 7.48783388e+00] [-2.86671968e-01 9.58022375e-01 3.50893953e-03 -2.11313114e+02] [-1.17551117e-02 1.44919400e-04 -9.99930896e-01 -8.04978147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.170385723 meters 0.014247557451396114 Centerline is valid? [True, True] Translation: X:7.42, Y:-211.30, Z:-8.05 [[-9.34564821e-01 -3.55614267e-01 1.12733292e-02 7.42272301e+00] [-3.55586334e-01 9.34632798e-01 4.46001201e-03 -2.11304252e+02] [-1.21224671e-02 1.59528535e-04 -9.99926508e-01 -8.04976697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.200385723 meters 0.014702525613084775 Centerline is valid? [True, True] Translation: X:7.35, Y:-211.30, Z:-8.05 [[-9.06027026e-01 -4.23075229e-01 1.10624738e-02 7.34908118e+00] [-4.23041369e-01 9.06094543e-01 5.35531130e-03 -2.11302884e+02] [-1.22893467e-02 1.72172725e-04 -9.99924468e-01 -8.04909322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.230385723 meters 0.01454017371902048 Centerline is valid? [True, True] Translation: X:7.27, Y:-211.31, Z:-8.05 [[-8.72214266e-01 -4.89012229e-01 1.04553523e-02 7.26816016e+00] [-4.88974696e-01 8.72276911e-01 6.06113663e-03 -2.11310782e+02] [-1.20839324e-02 1.74207117e-04 -9.99926972e-01 -8.05022666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.260385723 meters 0.014411363816748598 Centerline is valid? [True, True] Translation: X:7.18, Y:-211.33, Z:-8.05 [[-8.33794500e-01 -5.52006893e-01 8.66731530e-03 7.18077608e+00] [-5.51975027e-01 8.33839531e-01 5.93349550e-03 -2.11327852e+02] [-1.05024805e-02 1.63174325e-04 -9.99944834e-01 -8.05189810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.290385723 meters 0.014501410346725472 Centerline is valid? [True, True] Translation: X:7.09, Y:-211.36, Z:-8.05 [[-7.90363150e-01 -6.12584304e-01 8.15858280e-03 7.09060420e+00] [-6.12549439e-01 7.90405239e-01 6.53775198e-03 -2.11356540e+02] [-1.04535108e-02 1.69662923e-04 -9.99945346e-01 -8.05190500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.320385723 meters 0.01452389003343599 Centerline is valid? [True, True] Translation: X:7.00, Y:-211.40, Z:-8.05 [[-7.42034181e-01 -6.70312935e-01 8.11438639e-03 6.99746766e+00] [-6.70270132e-01 7.42078524e-01 7.57727193e-03 -2.11396384e+02] [-1.11006553e-02 1.83763938e-04 -9.99938369e-01 -8.05150058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.350385723 meters 0.014984941410945658 Centerline is valid? [True, True] Translation: X:6.90, Y:-211.45, Z:-8.05 [[-6.89473863e-01 -7.24258270e-01 8.70351989e-03 6.90345107e+00] [-7.24196506e-01 6.89528760e-01 9.46093879e-03 -2.11447022e+02] [-1.28534904e-02 2.20011318e-04 -9.99917366e-01 -8.05070361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.380385723 meters 0.01530646326946051 Centerline is valid? [True, True] Translation: X:6.81, Y:-211.51, Z:-8.05 [[-6.32962619e-01 -7.74131400e-01 8.88244036e-03 6.81216616e+00] [-7.74049455e-01 6.33024889e-01 1.12663897e-02 -2.11506530e+02] [-1.43444719e-02 2.55755422e-04 -9.99897080e-01 -8.05034222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.410385723 meters 0.015460211955174517 Centerline is valid? [True, True] Translation: X:6.72, Y:-211.58, Z:-8.05 [[-5.72334247e-01 -8.19978680e-01 8.27494518e-03 6.72351107e+00] [-8.19886113e-01 5.72394001e-01 1.23235406e-02 -2.11576618e+02] [-1.48415695e-02 2.68671678e-04 -9.99889822e-01 -8.05038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.440385723 meters 0.015426651582069243 Centerline is valid? [True, True] Translation: X:6.64, Y:-211.66, Z:-8.05 [[-5.08407692e-01 -8.61087699e-01 7.04226103e-03 6.63750990e+00] [-8.60997773e-01 5.08456394e-01 1.24470717e-02 -2.11657271e+02] [-1.42987030e-02 2.64815920e-04 -9.99897733e-01 -8.05116650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.470385723 meters 0.015585131179422004 Centerline is valid? [True, True] Translation: X:6.56, Y:-211.74, Z:-8.05 [[-4.41942723e-01 -8.97024766e-01 5.76184109e-03 6.55728984e+00] [-8.96940580e-01 4.41980202e-01 1.22921770e-02 -2.11743938e+02] [-1.35730069e-02 2.64409078e-04 -9.99907848e-01 -8.05229396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.500385723 meters 0.015782827058186462 Centerline is valid? [True, True] Translation: X:6.48, Y:-211.84, Z:-8.05 [[-3.72638742e-01 -9.27965037e-01 4.61059328e-03 6.48486273e+00] [-9.27885070e-01 3.72667171e-01 1.21850647e-02 -2.11838541e+02] [-1.30255308e-02 2.62526522e-04 -9.99915130e-01 -8.05264940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.530385723 meters 0.018073687622722125 Centerline is valid? [True, True] Translation: X:6.41, Y:-211.95, Z:-8.05 [[-3.01415699e-01 -9.53484647e-01 3.95009847e-03 6.41469742e+00] [-9.53389406e-01 3.01441435e-01 1.34796814e-02 -2.11946590e+02] [-1.40433926e-02 2.97005569e-04 -9.99901343e-01 -8.05363570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.560385723 meters 0.01660847640381934 Centerline is valid? [True, True] Translation: X:6.36, Y:-212.05, Z:-8.05 [[-2.26763734e-01 -9.73946465e-01 2.54802577e-03 6.35863746e+00] [-9.73871851e-01 2.26777908e-01 1.20580915e-02 -2.12049765e+02] [-1.23217716e-02 2.52887283e-04 -9.99924052e-01 -8.05255416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5903857229999 meters 0.015050534552096682 Centerline is valid? [True, True] Translation: X:6.30, Y:-212.16, Z:-8.05 [[-1.49976485e-01 -9.88688200e-01 1.64217045e-03 6.30226786e+00] [-9.88610309e-01 1.49985286e-01 1.24125635e-02 -2.12163520e+02] [-1.25184565e-02 2.38126015e-04 -9.99921613e-01 -8.05355734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.620385723 meters 0.01523118798083435 Centerline is valid? [True, True] Translation: X:6.26, Y:-212.28, Z:-8.05 [[-7.26497701e-02 -9.97357280e-01 6.83981497e-04 6.26072193e+00] [-9.97279137e-01 7.26526413e-02 1.24866899e-02 -2.12281130e+02] [-1.25033841e-02 2.25034672e-04 -9.99921804e-01 -8.05285317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.650385723 meters 0.014785184190676195 Centerline is valid? [True, True] Translation: X:6.22, Y:-212.40, Z:-8.05 [[ 5.74049849e-03 -9.99983493e-01 -2.45506136e-04 6.22495833e+00] [-9.99921493e-01 -5.74287676e-03 1.11367311e-02 -2.12402190e+02] [-1.11379572e-02 1.81556474e-04 -9.99937955e-01 -8.05390544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.680385723 meters 0.016057842045027297 Centerline is valid? [True, True] Translation: X:6.20, Y:-212.52, Z:-8.05 [[ 8.31572332e-02 -9.96535868e-01 -1.06666897e-03 6.20433489e+00] [-9.96477845e-01 -8.31639033e-02 1.07549868e-02 -2.12524885e+02] [-1.08064384e-02 1.68557059e-04 -9.99941595e-01 -8.05187425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.710385723 meters 0.014803327050305709 Centerline is valid? [True, True] Translation: X:6.19, Y:-212.65, Z:-8.05 [[ 1.60042166e-01 -9.87107998e-01 -2.07477442e-03 6.18662183e+00] [-9.87038785e-01 -1.60055517e-01 1.16905157e-02 -2.12650428e+02] [-1.18718807e-02 1.76907359e-04 -9.99929511e-01 -8.05407936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.740385723 meters 0.014655012691273691 Centerline is valid? [True, True] Translation: X:6.18, Y:-212.77, Z:-8.05 [[ 2.35315214e-01 -9.71914622e-01 -2.95247855e-03 6.18195595e+00] [-9.71847194e-01 -2.35333671e-01 1.14496906e-02 -2.12773775e+02] [-1.18229394e-02 1.75071586e-04 -9.99930091e-01 -8.05444296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.770385723 meters 0.014752500931074742 Centerline is valid? [True, True] Translation: X:6.19, Y:-212.90, Z:-8.05 [[ 3.09214359e-01 -9.50984475e-01 -3.87408928e-03 6.18644066e+00] [-9.50916813e-01 -3.09238577e-01 1.13453828e-02 -2.12896683e+02] [-1.19873007e-02 1.75781369e-04 -9.99928134e-01 -8.05447321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.800385723 meters 0.014817876985716176 Centerline is valid? [True, True] Translation: X:6.20, Y:-213.02, Z:-8.05 [[ 3.82252548e-01 -9.24047158e-01 -4.45420696e-03 6.19787775e+00] [-9.23988965e-01 -3.82278469e-01 1.03713708e-02 -2.13019389e+02] [-1.12863831e-02 1.51155154e-04 -9.99936295e-01 -8.05397489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.830385723 meters 0.014245829624493079 Centerline is valid? [True, True] Translation: X:6.22, Y:-213.14, Z:-8.05 [[ 4.53233221e-01 -8.91378587e-01 -4.88489747e-03 6.21697927e+00] [-8.91329708e-01 -4.53259528e-01 9.33551569e-03 -2.13139893e+02] [-1.05356051e-02 1.22888391e-04 -9.99944491e-01 -8.05460372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.860385723 meters 0.014610609226770961 Centerline is valid? [True, True] Translation: X:6.25, Y:-213.25, Z:-8.05 [[ 5.20516376e-01 -8.53836255e-01 -5.13350771e-03 6.24744850e+00] [-8.53796722e-01 -5.20541678e-01 8.21696202e-03 -2.13252631e+02] [-9.68814479e-03 1.05908765e-04 -9.99953063e-01 -8.05349625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.890385723 meters 0.014330502251757988 Centerline is valid? [True, True] Translation: X:6.28, Y:-213.36, Z:-8.05 [[ 5.84348801e-01 -8.11483232e-01 -5.60746231e-03 6.28388432e+00] [-8.11447482e-01 -5.84375697e-01 7.61772860e-03 -2.13362098e+02] [-9.45852372e-03 9.87505958e-05 -9.99955262e-01 -8.05484770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.920385723 meters 0.014339597176251592 Centerline is valid? [True, True] Translation: X:6.33, Y:-213.47, Z:-8.05 [[ 6.44326166e-01 -7.64727962e-01 -5.91063543e-03 6.32562184e+00] [-7.64697113e-01 -6.44353269e-01 6.86952070e-03 -2.13465976e+02] [-9.06185182e-03 9.36339145e-05 -9.99958936e-01 -8.05427090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.950385723 meters 0.014421783878445065 Centerline is valid? [True, True] Translation: X:6.37, Y:-213.56, Z:-8.05 [[ 7.00014654e-01 -7.14103249e-01 -6.00289778e-03 6.37383950e+00] [-7.14078118e-01 -7.00040386e-01 5.99164651e-03 -2.13563076e+02] [-8.48092512e-03 9.22975932e-05 -9.99964032e-01 -8.05419058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.980385723 meters 0.014823137081011394 Centerline is valid? [True, True] Translation: X:6.37, Y:-213.58, Z:-8.05 [[ 7.52608814e-01 -6.58445306e-01 -5.45453344e-03 6.36839345e+00] [-6.58428875e-01 -7.52628574e-01 4.65258401e-03 -2.13577915e+02] [-7.16870983e-03 8.98465855e-05 -9.99974300e-01 -8.05442131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.010385723 meters 0.015168916096532287 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.59, Z:-8.05 [[ 8.01368321e-01 -5.98146047e-01 -5.48822995e-03 6.36487898e+00] [-5.98132784e-01 -8.01387109e-01 3.98430958e-03 -2.13590970e+02] [-6.78139576e-03 8.97907862e-05 -9.99977002e-01 -8.05443874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.040385723 meters 0.014959960017911068 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.61, Z:-8.06 [[ 8.45103774e-01 -5.34588677e-01 -3.81542376e-03 6.36032674e+00] [-5.34583569e-01 -8.45112384e-01 2.33790537e-03 -2.13608719e+02] [-4.47427961e-03 6.38902043e-05 -9.99989988e-01 -8.05578185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.070385723 meters 0.015273732682162906 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.62, Z:-8.06 [[ 8.84365730e-01 -4.66780981e-01 -3.57372339e-03 6.35836004e+00] [-4.66777428e-01 -8.84372949e-01 1.82210701e-03 -2.13623715e+02] [-4.01102919e-03 5.67244228e-05 -9.99991954e-01 -8.05560549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.100385723 meters 0.015148308374296917 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.64, Z:-8.06 [[ 9.18556458e-01 -3.95276448e-01 -3.24993124e-03 6.35778546e+00] [-3.95274152e-01 -9.18562207e-01 1.34825912e-03 -2.13640434e+02] [-3.51819909e-03 4.61616933e-05 -9.99993810e-01 -8.05521455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.130385723 meters 0.01595283368394891 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.66, Z:-8.05 [[ 9.46762212e-01 -3.21915002e-01 -3.47060924e-03 6.35914853e+00] [-3.21913020e-01 -9.46768572e-01 1.13078063e-03 -2.13656688e+02] [-3.64987901e-03 4.66539282e-05 -9.99993338e-01 -8.05409358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.160385723 meters 0.01518351074665251 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.67, Z:-8.05 [[ 9.69344505e-01 -2.45679246e-01 -3.59696396e-03 6.36135951e+00] [-2.45677717e-01 -9.69351178e-01 8.67792429e-04 -2.13671092e+02] [-3.69991985e-03 4.25040730e-05 -9.99993154e-01 -8.05337706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.190385723 meters 0.01516175242296209 Centerline is valid? [True, True] Translation: X:6.37, Y:-213.68, Z:-8.05 [[ 9.85927485e-01 -1.67141577e-01 -3.26915224e-03 6.36554076e+00] [-1.67140764e-01 -9.85932905e-01 5.22542527e-04 -2.13682671e+02] [-3.31050334e-03 3.12195610e-05 -9.99994520e-01 -8.05282983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.220385723 meters 0.01460655789415911 Centerline is valid? [True, True] Translation: X:6.37, Y:-213.70, Z:-8.05 [[ 9.96110004e-01 -8.80977062e-02 -1.91166794e-03 6.36772858e+00] [-8.80975732e-02 -9.96111838e-01 1.53849156e-04 -2.13697587e+02] [-1.91778882e-03 1.51626228e-05 -9.99998161e-01 -8.05375081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.250385723 meters 0.01460655789415911 Centerline is valid? [True, True] Translation: X:6.37, Y:-213.71, Z:-8.05 [[ 9.99949921e-01 -9.82226395e-03 -1.91782172e-03 6.37034609e+00] [-9.82227497e-03 -9.99951760e-01 3.67377584e-06 -2.13708961e+02] [-1.91776529e-03 1.51637804e-05 -9.99998161e-01 -8.05375103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.280385723 meters 0.014644030285478506 Centerline is valid? [True, True] Translation: X:6.37, Y:-213.72, Z:-8.05 [[ 9.97630313e-01 6.87820853e-02 -1.66853268e-03 6.37442602e+00] [ 6.87819679e-02 -9.97631708e-01 -1.27706097e-04 -2.13722260e+02] [-1.67336500e-03 1.26385123e-05 -9.99998600e-01 -8.05343338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.310385723 meters 0.014564384629939786 Centerline is valid? [True, True] Translation: X:6.38, Y:-213.73, Z:-8.05 [[ 9.89109265e-01 1.47170998e-01 -1.88685162e-03 6.37866259e+00] [ 1.47170704e-01 -9.89111064e-01 -2.94496161e-04 -2.13733838e+02] [-1.90964711e-03 1.35995995e-05 -9.99998177e-01 -8.05280916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3403857229999 meters 0.014570513790336434 Centerline is valid? [True, True] Translation: X:6.38, Y:-213.75, Z:-8.05 [[ 9.74684839e-01 2.23569497e-01 -2.47876437e-03 6.38455390e+00] [ 2.23568722e-01 -9.74687991e-01 -5.88987403e-04 -2.13745538e+02] [-2.54770148e-03 1.99029092e-05 -9.99996754e-01 -8.05209079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.370385723 meters 0.014609985963509362 Centerline is valid? [True, True] Translation: X:6.39, Y:-213.76, Z:-8.05 [[ 9.54012072e-01 2.99753213e-01 -2.99638201e-03 6.38999633e+00] [ 2.99751659e-01 -9.54016777e-01 -9.65550893e-04 -2.13756585e+02] [-3.14802569e-03 2.29767281e-05 -9.99995045e-01 -8.05138286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.400385723 meters 0.014466826823771472 Centerline is valid? [True, True] Translation: X:6.40, Y:-213.77, Z:-8.05 [[ 9.27447694e-01 3.73945263e-01 -2.39057131e-03 6.39802563e+00] [ 3.73943971e-01 -9.27450775e-01 -9.82906505e-04 -2.13766454e+02] [-2.58469045e-03 1.76546414e-05 -9.99996660e-01 -8.05125268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.430385723 meters 0.01441864734134168 Centerline is valid? [True, True] Translation: X:6.41, Y:-213.78, Z:-8.05 [[ 8.95148180e-01 4.45764178e-01 -2.00835812e-03 6.40791441e+00] [ 4.45763019e-01 -8.95150433e-01 -1.01629255e-03 -2.13778152e+02] [-2.25080946e-03 1.44806435e-05 -9.99997467e-01 -8.05159007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.460385723 meters 0.014378399086738512 Centerline is valid? [True, True] Translation: X:6.42, Y:-213.79, Z:-8.05 [[ 8.57111017e-01 5.15128774e-01 -1.74680715e-03 6.41686608e+00] [ 5.15127677e-01 -8.57112796e-01 -1.06326795e-03 -2.13788434e+02] [-2.04493067e-03 1.15099635e-05 -9.99997909e-01 -8.05170729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.490385723 meters 0.014331939811517399 Centerline is valid? [True, True] Translation: X:6.43, Y:-213.80, Z:-8.05 [[ 8.14221723e-01 5.80552394e-01 -1.37980147e-03 6.42811898e+00] [ 5.80551541e-01 -8.14222892e-01 -9.95690333e-04 -2.13797158e+02] [-1.70151635e-03 9.66682857e-06 -9.99998552e-01 -8.05181414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.520385723 meters 0.014620168813079874 Centerline is valid? [True, True] Translation: X:6.44, Y:-213.80, Z:-8.05 [[ 7.66295613e-01 6.42487512e-01 -9.11486204e-04 6.43712827e+00] [ 6.42487047e-01 -7.66296155e-01 -7.72907759e-04 -2.13803470e+02] [-1.19505196e-03 6.65774536e-06 -9.99999286e-01 -8.05131876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.550385723 meters 0.014352214625295102 Centerline is valid? [True, True] Translation: X:6.45, Y:-213.81, Z:-8.05 [[ 7.14182569e-01 6.99958852e-01 -9.28971388e-04 6.45048983e+00] [ 6.99958245e-01 -7.14183173e-01 -9.22119511e-04 -2.13811565e+02] [-1.30890145e-03 8.32049845e-06 -9.99999143e-01 -8.05132756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.580385723 meters 0.014802306186064372 Centerline is valid? [True, True] Translation: X:6.46, Y:-213.82, Z:-8.05 [[ 6.58225997e-01 7.52819503e-01 -1.15495101e-03 6.45967336e+00] [ 7.52818307e-01 -6.58227010e-01 -1.34207060e-03 -2.13816616e+02] [-1.77055687e-03 1.39174883e-05 -9.99998433e-01 -8.05054990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.610385723 meters 0.014537826214607615 Centerline is valid? [True, True] Translation: X:6.47, Y:-213.82, Z:-8.05 [[ 5.97842050e-01 8.01612967e-01 -1.23837964e-03 6.47293545e+00] [ 8.01611184e-01 -5.97843333e-01 -1.69079010e-03 -2.13822890e+02] [-2.09571628e-03 1.81264530e-05 -9.99997804e-01 -8.05075861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.640385723 meters 0.014586431497547889 Centerline is valid? [True, True] Translation: X:6.48, Y:-213.83, Z:-8.05 [[ 5.34155699e-01 8.45384526e-01 -1.64088738e-03 6.48281297e+00] [ 8.45380359e-01 -5.34158218e-01 -2.65438924e-03 -2.13827011e+02] [-3.12047307e-03 3.06831767e-05 -9.99995131e-01 -8.05058151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.670385723 meters 0.014657492113829633 Centerline is valid? [True, True] Translation: X:6.49, Y:-213.83, Z:-8.05 [[ 4.66486997e-01 8.84526543e-01 -1.63600590e-03 6.49370061e+00] [ 8.84520831e-01 -4.66489864e-01 -3.17909211e-03 -2.13829984e+02] [-3.57517153e-03 3.59238365e-05 -9.99993608e-01 -8.04996644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.700385723 meters 0.01470994844023048 Centerline is valid? [True, True] Translation: X:6.51, Y:-213.83, Z:-8.05 [[ 3.95994877e-01 9.18251601e-01 -1.43366143e-03 6.50500347e+00] [ 9.18245230e-01 -3.95997470e-01 -3.42070728e-03 -2.13831817e+02] [-3.70879624e-03 3.81297929e-05 -9.99993122e-01 -8.04980148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.730385723 meters 0.014647837513458477 Centerline is valid? [True, True] Translation: X:6.51, Y:-213.83, Z:-8.05 [[ 3.22584834e-01 9.46539921e-01 -1.09710773e-03 6.51386678e+00] [ 9.46534073e-01 -3.22586698e-01 -3.32732456e-03 -2.13833832e+02] [-3.50335788e-03 3.48945884e-05 -9.99993863e-01 -8.04994515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.760385723 meters 0.014620147221819682 Centerline is valid? [True, True] Translation: X:6.52, Y:-213.83, Z:-8.05 [[ 2.47655914e-01 9.68847764e-01 -7.48029676e-04 6.52449661e+00] [ 9.68842948e-01 -2.47657041e-01 -3.05470824e-03 -2.13834892e+02] [-3.14480207e-03 3.17932845e-05 -9.99995055e-01 -8.05018524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.790385723 meters 0.014786119975405054 Centerline is valid? [True, True] Translation: X:6.53, Y:-213.84, Z:-8.05 [[ 1.71307545e-01 9.85217469e-01 -5.13581619e-04 6.53155557e+00] [ 9.85212442e-01 -1.71308312e-01 -3.14733380e-03 -2.13835647e+02] [-3.18878904e-03 3.31750251e-05 -9.99994915e-01 -8.05044322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.820385723 meters 0.014776635170958384 Centerline is valid? [True, True] Translation: X:6.54, Y:-213.83, Z:-8.05 [[ 9.40554772e-02 9.95566925e-01 -2.55211646e-04 6.53979646e+00] [ 9.95562242e-01 -9.40558176e-02 -3.05389660e-03 -2.13834904e+02] [-3.06436258e-03 3.31566232e-05 -9.99995304e-01 -8.05057627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.850385723 meters 0.01591062406776495 Centerline is valid? [True, True] Translation: X:6.54, Y:-213.84, Z:-8.05 [[ 1.62877983e-02 9.99867345e-01 -1.59460955e-05 6.54496722e+00] [ 9.99862151e-01 -1.62877651e-02 -3.22305265e-03 -2.13835504e+02] [-3.22288482e-03 3.65525342e-05 -9.99994806e-01 -8.04953233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.880385723 meters 0.014873774666112761 Centerline is valid? [True, True] Translation: X:6.55, Y:-213.83, Z:-8.05 [[-6.22582261e-02 9.98060032e-01 2.91628167e-04 6.55320038e+00] [ 9.98052175e-01 6.22588932e-02 -3.96051621e-03 -2.13834720e+02] [-3.97098938e-03 4.44854127e-05 -9.99992115e-01 -8.04967137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.910385723 meters 0.014859806066887684 Centerline is valid? [True, True] Translation: X:6.56, Y:-213.83, Z:-8.05 [[-1.40567934e-01 9.90070821e-01 6.52390857e-04 6.55837858e+00] [ 9.90061651e-01 1.40569440e-01 -4.26133824e-03 -2.13834390e+02] [-4.31073287e-03 4.68996556e-05 -9.99990708e-01 -8.04923983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.940385723 meters 0.014735815363423539 Centerline is valid? [True, True] Translation: X:6.57, Y:-213.83, Z:-8.05 [[-2.17774578e-01 9.75998521e-01 1.05815417e-03 6.56578075e+00] [ 9.75988090e-01 2.17777143e-01 -4.51258989e-03 -2.13832074e+02] [-4.63472285e-03 5.00185079e-05 -9.99989258e-01 -8.04981335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.970385723 meters 0.014611985169345166 Centerline is valid? [True, True] Translation: X:6.57, Y:-213.83, Z:-8.05 [[-2.94755428e-01 9.55571989e-01 1.18801137e-03 6.57091964e+00] [ 9.55564730e-01 2.94757819e-01 -3.72482140e-03 -2.13831846e+02] [-3.90951064e-03 3.73104433e-05 -9.99992357e-01 -8.05004332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.000385723 meters 0.014555889632761223 Centerline is valid? [True, True] Translation: X:6.58, Y:-213.83, Z:-8.05 [[-3.69209463e-01 9.29344993e-01 1.50232109e-03 6.57658205e+00] [ 9.29337688e-01 3.69212518e-01 -3.68489636e-03 -2.13831493e+02] [-3.97921573e-03 3.56650058e-05 -9.99992082e-01 -8.05027082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.030385723 meters 0.014368493184067596 Centerline is valid? [True, True] Translation: X:6.58, Y:-213.83, Z:-8.05 [[-4.42650103e-01 8.96692394e-01 1.90709075e-03 6.58004003e+00] [ 8.96684358e-01 4.42654210e-01 -3.79637073e-03 -2.13831234e+02] [-4.24835850e-03 2.95945527e-05 -9.99990975e-01 -8.04983332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.060385723 meters 0.014173079471882798 Centerline is valid? [True, True] Translation: X:6.58, Y:-213.83, Z:-8.05 [[-5.12738885e-01 8.58541574e-01 2.28092408e-03 6.58292935e+00] [ 8.58533290e-01 5.12743957e-01 -3.77157901e-03 -2.13829820e+02] [-4.40758742e-03 2.44140406e-05 -9.99990286e-01 -8.04917189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0903857229999 meters 0.014160504626954028 Centerline is valid? [True, True] Translation: X:6.59, Y:-213.83, Z:-8.05 [[-5.78856801e-01 8.15425328e-01 2.51775053e-03 6.58645913e+00] [ 8.15417776e-01 5.78862276e-01 -3.50942002e-03 -2.13829811e+02] [-4.31910077e-03 2.15668930e-05 -9.99990672e-01 -8.04920758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.120385723 meters 0.014179952659309018 Centerline is valid? [True, True] Translation: X:6.59, Y:-213.83, Z:-8.05 [[-6.40912981e-01 7.67609206e-01 2.58023992e-03 6.58885748e+00] [ 7.67603111e-01 6.40918174e-01 -3.05902368e-03 -2.13829386e+02] [-4.00185740e-03 2.00322032e-05 -9.99991992e-01 -8.04947754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.150385723 meters 0.013983169547899058 Centerline is valid? [True, True] Translation: X:6.60, Y:-213.82, Z:-8.05 [[-6.98847430e-01 7.15265913e-01 2.63495928e-03 6.59571236e+00] [ 7.15260936e-01 6.98852397e-01 -2.66829425e-03 -2.13824068e+02] [-3.74998754e-03 1.99528592e-05 -9.99992969e-01 -8.05068465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.180385723 meters 0.013866753799147428 Centerline is valid? [True, True] Translation: X:6.60, Y:-213.82, Z:-8.05 [[-7.52574350e-01 6.58501159e-01 2.84109051e-03 6.60268604e+00] [ 6.58496571e-01 7.52579713e-01 -2.45815716e-03 -2.13817219e+02] [-3.75684642e-03 2.09023317e-05 -9.99992943e-01 -8.05092603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.210385723 meters 0.014004642656822554 Centerline is valid? [True, True] Translation: X:6.62, Y:-213.80, Z:-8.05 [[-7.97311701e-01 6.03562620e-01 2.49304308e-03 6.61777420e+00] [ 6.03559737e-01 7.97315598e-01 -1.86558608e-03 -2.13796729e+02] [-3.11374016e-03 1.72468191e-05 -9.99995152e-01 -8.05130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.240385723 meters 0.01399452560204312 Centerline is valid? [True, True] Translation: X:7.03, Y:-213.25, Z:-9.02 [[-7.62055499e-01 -6.47507401e-01 2.36278036e-03 7.02930234e+00] [ 6.47504219e-01 -7.62059161e-01 -2.03016172e-03 -2.13251423e+02] [ 3.11512316e-03 -1.71856534e-05 9.99995148e-01 -9.01605882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.270385723 meters 0.013926688857086774 Centerline is valid? [True, True] Translation: X:6.58, Y:-213.78, Z:-8.05 [[-8.00506453e-01 5.99318318e-01 2.64046163e-03 6.58397408e+00] [ 5.99315109e-01 8.00510808e-01 -1.96121117e-03 -2.13777430e+02] [-3.28910785e-03 1.25063545e-05 -9.99994591e-01 -8.05102796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.300385723 meters 0.01395695634754788 Centerline is valid? [True, True] Translation: X:6.60, Y:-213.75, Z:-8.05 [[-8.41304366e-01 5.40552362e-01 3.17916442e-03 6.59847682e+00] [ 5.40548555e-01 8.41310373e-01 -2.02881513e-03 -2.13752817e+02] [-3.77134482e-03 1.16417074e-05 -9.99992888e-01 -8.05104357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.330385723 meters 0.01391287027009424 Centerline is valid? [True, True] Translation: X:6.61, Y:-213.73, Z:-8.05 [[-8.77767177e-01 4.79070220e-01 4.06284242e-03 6.61212476e+00] [ 4.79065149e-01 8.77776580e-01 -2.20426291e-03 -2.13729705e+02] [-4.62226464e-03 1.15365798e-05 -9.99989317e-01 -8.04989938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.360385723 meters 0.013894006914925493 Centerline is valid? [True, True] Translation: X:6.95, Y:-213.12, Z:-9.02 [[-8.46399276e-01 -5.32532226e-01 4.20647844e-03 6.94735547e+00] [ 5.32525699e-01 -8.46409728e-01 -2.63662675e-03 -2.13119167e+02] [ 4.96449298e-03 8.41889836e-06 9.99987677e-01 -9.01760876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.390385723 meters 0.013971268600270724 Centerline is valid? [True, True] Translation: X:6.57, Y:-213.71, Z:-8.05 [[-8.79257656e-01 4.76320739e-01 4.95263313e-03 6.56655654e+00] [ 4.76313290e-01 8.79271604e-01 -2.66390561e-03 -2.13710701e+02] [-5.62358316e-03 1.67455800e-05 -9.99984187e-01 -8.05005605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.420385723 meters 0.01410382744748268 Centerline is valid? [True, True] Translation: X:6.58, Y:-213.69, Z:-8.05 [[-9.10242103e-01 4.14031394e-01 6.10889560e-03 6.58031906e+00] [ 4.14022282e-01 9.10262602e-01 -2.74692368e-03 -2.13689826e+02] [-6.69801184e-03 2.88533092e-05 -9.99977568e-01 -8.04994122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.450385723 meters 0.014324902474272337 Centerline is valid? [True, True] Translation: X:6.88, Y:-213.04, Z:-9.02 [[-8.85808797e-01 -4.64014255e-01 5.79182578e-03 6.88142761e+00] [ 4.64004067e-01 -8.85827731e-01 -3.07508481e-03 -2.13039685e+02] [ 6.55744308e-03 -3.65064602e-05 9.99978499e-01 -9.01727277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.480385723 meters 0.014533045494611353 Centerline is valid? [True, True] Translation: X:6.53, Y:-213.68, Z:-8.05 [[-9.09804872e-01 4.14993679e-01 5.94475685e-03 6.53232918e+00] [ 4.14985244e-01 9.09824292e-01 -2.64660575e-03 -2.13678214e+02] [-6.50700885e-03 5.90915726e-05 -9.99978828e-01 -8.05048858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.510385723 meters 0.014731919321529653 Centerline is valid? [True, True] Translation: X:6.55, Y:-213.66, Z:-8.05 [[-9.36199195e-01 3.51413404e-01 6.29966436e-03 6.54505594e+00] [ 3.51405983e-01 9.36220387e-01 -2.28507995e-03 -2.13655151e+02] [-6.70088193e-03 7.44497388e-05 -9.99977546e-01 -8.05055319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.540385723 meters 0.015367724917550075 Centerline is valid? [True, True] Translation: X:6.80, Y:-212.96, Z:-9.02 [[-9.20638011e-01 -3.90372091e-01 5.94001367e-03 6.79889148e+00] [ 3.90363371e-01 -9.20657169e-01 -2.61062748e-03 -2.12961285e+02] [ 6.48783228e-03 -8.46791331e-05 9.99978950e-01 -9.01704551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.570385723 meters 0.015473503176744596 Centerline is valid? [True, True] Translation: X:6.50, Y:-213.65, Z:-8.05 [[-9.36215979e-01 3.51365221e-01 6.49017761e-03 6.49512633e+00] [ 3.51357535e-01 9.36238469e-01 -2.32634649e-03 -2.13645750e+02] [-6.89375120e-03 1.02410048e-04 -9.99976233e-01 -8.05054245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.600385723 meters 0.015495707419841218 Centerline is valid? [True, True] Translation: X:6.75, Y:-212.94, Z:-9.02 [[-9.22503307e-01 -3.85928290e-01 6.85589541e-03 6.75364899e+00] [ 3.85917022e-01 -9.22528780e-01 -2.95003205e-03 -2.12940511e+02] [ 7.46326165e-03 -7.56075816e-05 9.99972147e-01 -9.01711107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.630385723 meters 0.015670631032229352 Centerline is valid? [True, True] Translation: X:6.45, Y:-213.64, Z:-8.05 [[-9.37441533e-01 3.48061564e-01 7.51798106e-03 6.45476880e+00] [ 3.48051398e-01 9.37471670e-01 -2.66294140e-03 -2.13637802e+02] [-7.97476181e-03 1.20291949e-04 -9.99968194e-01 -8.05059282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.660385723 meters 0.015728187794132247 Centerline is valid? [True, True] Translation: X:6.46, Y:-213.61, Z:-8.05 [[-9.59789749e-01 2.80615356e-01 7.65899429e-03 6.46107853e+00] [ 2.80607409e-01 9.59820300e-01 -2.11518526e-03 -2.13610233e+02] [-7.94481166e-03 1.19037410e-04 -9.99968432e-01 -8.05025281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.690385723 meters 0.0156860431048564 Centerline is valid? [True, True] Translation: X:6.67, Y:-212.88, Z:-9.02 [[-9.48577840e-01 -3.16453731e-01 7.55756905e-03 6.66993521e+00] [ 3.16442710e-01 -9.48607939e-01 -2.64356983e-03 -2.12878487e+02] [ 8.00573753e-03 -1.16094124e-04 9.99967947e-01 -9.01691756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.720385723 meters 0.015249833645025348 Centerline is valid? [True, True] Translation: X:6.42, Y:-213.60, Z:-8.05 [[-9.61554931e-01 2.74511192e-01 7.46458813e-03 6.41529854e+00] [ 2.74503702e-01 9.61583900e-01 -2.03024024e-03 -2.13599949e+02] [-7.73515143e-03 9.68695631e-05 -9.99970079e-01 -8.05118247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.750385723 meters 0.014917268229182323 Centerline is valid? [True, True] Translation: X:6.62, Y:-212.86, Z:-9.02 [[-9.48303769e-01 -3.17278180e-01 7.38362082e-03 6.61933498e+00] [ 3.17267802e-01 -9.48332509e-01 -2.56787432e-03 -2.12864215e+02] [ 7.81685815e-03 -9.25397481e-05 9.99969444e-01 -9.01685358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.780385723 meters 0.014648357199056432 Centerline is valid? [True, True] Translation: X:6.36, Y:-213.59, Z:-8.05 [[-9.63700029e-01 2.66881847e-01 7.50558752e-03 6.36235520e+00] [ 2.66874283e-01 9.63729254e-01 -2.01040958e-03 -2.13586709e+02] [-7.76989609e-03 6.56165168e-05 -9.99969812e-01 -8.05066094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.810385723 meters 0.01454635053825718 Centerline is valid? [True, True] Translation: X:6.56, Y:-212.85, Z:-9.02 [[-9.48461018e-01 -3.16811927e-01 7.20416303e-03 6.56287664e+00] [ 3.16802194e-01 -9.48488375e-01 -2.48438581e-03 -2.12848936e+02] [ 7.62014794e-03 -7.40484345e-05 9.99970964e-01 -9.01720616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8403857229999 meters 0.014485043173319646 Centerline is valid? [True, True] Translation: X:6.31, Y:-213.58, Z:-8.05 [[-9.65406626e-01 2.60655395e-01 6.98646818e-03 6.31208364e+00] [ 2.60648888e-01 9.65431905e-01 -1.84218873e-03 -2.13575092e+02] [-7.22513572e-03 4.25539596e-05 -9.99973898e-01 -8.05078217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.870385723 meters 0.014430750625651141 Centerline is valid? [True, True] Translation: X:6.51, Y:-212.84, Z:-9.02 [[-9.49434347e-01 -3.13900319e-01 6.40391853e-03 6.51346858e+00] [ 3.13892690e-01 -9.49455942e-01 -2.18962233e-03 -2.12835212e+02] [ 6.76756164e-03 -6.87594333e-05 9.99977097e-01 -9.01660176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.900385723 meters 0.014476186592637573 Centerline is valid? [True, True] Translation: X:6.26, Y:-213.56, Z:-8.05 [[-9.66649791e-01 2.56030335e-01 6.05378308e-03 6.25841405e+00] [ 2.56025518e-01 9.66668747e-01 -1.57091252e-03 -2.13564878e+02] [-6.25420416e-03 3.14006931e-05 -9.99980442e-01 -8.05185078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.930385723 meters 0.01447325902947206 Centerline is valid? [True, True] Translation: X:6.27, Y:-213.54, Z:-8.05 [[-9.82400163e-01 1.86689857e-01 6.06779202e-03 6.26547483e+00] [ 1.86686486e-01 9.82418901e-01 -1.12228099e-03 -2.13537815e+02] [-6.17063204e-03 3.02457388e-05 -9.99980961e-01 -8.05179706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.960385723 meters 0.014468908850045085 Centerline is valid? [True, True] Translation: X:6.27, Y:-213.51, Z:-8.05 [[-9.93118033e-01 1.16948024e-01 6.30339582e-03 6.27296266e+00] [ 1.16945885e-01 9.93138036e-01 -7.08240696e-04 -2.13511921e+02] [-6.34296949e-03 3.37895930e-05 -9.99979883e-01 -8.05143607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.990385723 meters 0.014474098212971262 Centerline is valid? [True, True] Translation: X:6.37, Y:-212.74, Z:-9.02 [[-9.85016297e-01 -1.72332533e-01 6.66284427e-03 6.36667077e+00] [ 1.72328529e-01 -9.85038831e-01 -1.17479704e-03 -2.12737177e+02] [ 6.76561608e-03 -8.99608217e-06 9.99977113e-01 -9.01689056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.020385723 meters 0.014686818602299355 Centerline is valid? [True, True] Translation: X:6.20, Y:-213.51, Z:-8.05 [[-9.93478908e-01 1.13738140e-01 7.95575536e-03 6.20307672e+00] [ 1.13734925e-01 9.93510761e-01 -8.56808945e-04 -2.13508877e+02] [-8.00158042e-03 5.36256242e-05 -9.99967985e-01 -8.04929010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.050385723 meters 0.01484108701470762 Centerline is valid? [True, True] Translation: X:6.29, Y:-212.72, Z:-9.02 [[-9.85953016e-01 -1.66829543e-01 8.03448177e-03 6.29441536e+00] [ 1.66823635e-01 -9.85985751e-01 -1.40477018e-03 -2.12723756e+02] [ 8.15624171e-03 -4.46959415e-05 9.99966736e-01 -9.01955041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.080385723 meters 0.014714184084591906 Centerline is valid? [True, True] Translation: X:6.14, Y:-213.51, Z:-8.05 [[-9.93847440e-01 1.10452963e-01 8.21027911e-03 6.13786351e+00] [ 1.10449745e-01 9.93881350e-01 -8.45747517e-04 -2.13507123e+02] [-8.25345861e-03 6.62792313e-05 -9.99965937e-01 -8.04874508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.110385723 meters 0.014808697989494636 Centerline is valid? [True, True] Translation: X:6.14, Y:-213.48, Z:-8.05 [[-9.99159364e-01 4.01570572e-02 8.24481563e-03 6.14067458e+00] [ 4.01562799e-02 9.99193378e-01 -2.59856615e-04 -2.13480587e+02] [-8.24860025e-03 7.14429549e-05 -9.99965977e-01 -8.04862676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.140385723 meters 0.014808697989494636 Centerline is valid? [True, True] Translation: X:6.14, Y:-213.45, Z:-8.05 [[-9.99484847e-01 -3.10177967e-02 8.24238889e-03 6.13919978e+00] [-3.10161525e-02 9.99518830e-01 3.27259862e-04 -2.13451499e+02] [-8.24857378e-03 7.14440819e-05 -9.99965977e-01 -8.04862709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.170385723 meters 0.01503615880926879 Centerline is valid? [True, True] Translation: X:6.14, Y:-213.43, Z:-8.05 [[-9.94961730e-01 -9.99063551e-02 8.35924556e-03 6.13592351e+00] [-9.99020515e-02 9.94996840e-01 9.31864760e-04 -2.13428238e+02] [-8.41052213e-03 9.20639928e-05 -9.99964627e-01 -8.04871892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.200385723 meters 0.015305236373905224 Centerline is valid? [True, True] Translation: X:6.12, Y:-213.40, Z:-8.05 [[-9.85425854e-01 -1.69881836e-01 8.72055605e-03 6.11910254e+00] [-1.69874220e-01 9.85464434e-01 1.61213358e-03 -2.13403946e+02] [-8.86767004e-03 1.07240459e-04 -9.99960676e-01 -8.04848137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.230385723 meters 0.015425116478582173 Centerline is valid? [True, True] Translation: X:6.08, Y:-213.38, Z:-8.05 [[-9.70654266e-01 -2.40314946e-01 8.88947880e-03 6.08463849e+00] [-2.40303789e-01 9.70694964e-01 2.31842083e-03 -2.13383767e+02] [-9.18612349e-03 1.14209633e-04 -9.99957800e-01 -8.04838600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.260385723 meters 0.015164771786799088 Centerline is valid? [True, True] Translation: X:6.02, Y:-213.37, Z:-8.05 [[-9.50167135e-01 -3.11601210e-01 9.33278448e-03 6.02180811e+00] [-3.11584973e-01 9.50212962e-01 3.18311138e-03 -2.13373938e+02] [-9.85999413e-03 1.16532415e-04 -9.99951382e-01 -8.04790495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.290385723 meters 0.014945316433109873 Centerline is valid? [True, True] Translation: X:5.95, Y:-213.37, Z:-8.05 [[-9.23331070e-01 -3.83902423e-01 8.86929319e-03 5.95442847e+00] [-3.83883843e-01 9.23373664e-01 3.77788848e-03 -2.13366683e+02] [-9.64001229e-03 8.34634609e-05 -9.99953531e-01 -8.04769731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.320385723 meters 0.014813488939397646 Centerline is valid? [True, True] Translation: X:5.88, Y:-213.37, Z:-8.05 [[-8.91362010e-01 -4.53215405e-01 8.34046752e-03 5.87887198e+00] [-4.53194887e-01 8.91401028e-01 4.31304933e-03 -2.13368194e+02] [-9.38944172e-03 6.46310869e-05 -9.99955916e-01 -8.04765371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.350385723 meters 0.014999242824341464 Centerline is valid? [True, True] Translation: X:5.79, Y:-213.38, Z:-8.05 [[-8.53739480e-01 -5.20638225e-01 8.04599228e-03 5.79109084e+00] [-5.20614629e-01 8.53777393e-01 4.95698168e-03 -2.13381545e+02] [-9.45028045e-03 4.31096818e-05 -9.99955344e-01 -8.04672778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.380385723 meters 0.014592220783759189 Centerline is valid? [True, True] Translation: X:5.70, Y:-213.41, Z:-8.05 [[-8.11673766e-01 -5.84062059e-01 7.56363431e-03 5.69990788e+00] [-5.84036293e-01 8.11709006e-01 5.48615031e-03 -2.13407416e+02] [-9.34372233e-03 3.55273412e-05 -9.99956346e-01 -8.04779390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.410385723 meters 0.016233153163154036 Centerline is valid? [True, True] Translation: X:5.61, Y:-213.44, Z:-8.05 [[-7.65313302e-01 -6.43619136e-01 7.06808179e-03 5.60852273e+00] [-6.43591234e-01 7.65345939e-01 5.99310562e-03 -2.13441647e+02] [-9.26680516e-03 3.76479670e-05 -9.99957062e-01 -8.04646139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.440385723 meters 0.014786431302527759 Centerline is valid? [True, True] Translation: X:5.51, Y:-213.49, Z:-8.05 [[-7.14061799e-01 -7.00057607e-01 5.92403075e-03 5.51229132e+00] [-7.00033144e-01 7.14086372e-01 5.85240898e-03 -2.13490293e+02] [-8.32729305e-03 3.19638145e-05 -9.99965327e-01 -8.04893727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.470385723 meters 0.014921551225067022 Centerline is valid? [True, True] Translation: X:5.42, Y:-213.55, Z:-8.05 [[-6.59045598e-01 -7.52083245e-01 5.44914366e-03 5.41750129e+00] [-7.52057083e-01 6.59068124e-01 6.27311962e-03 -2.13548538e+02] [-8.30926504e-03 3.62047776e-05 -9.99965477e-01 -8.04897485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.500385723 meters 0.015059706831915967 Centerline is valid? [True, True] Translation: X:5.33, Y:-213.61, Z:-8.05 [[-6.00199145e-01 -7.99837020e-01 4.66138916e-03 5.32967303e+00] [-7.99812377e-01 6.00217244e-01 6.27867682e-03 -2.13608576e+02] [-7.81976431e-03 4.02197179e-05 -9.99969424e-01 -8.04926116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.530385723 meters 0.015049547567883114 Centerline is valid? [True, True] Translation: X:5.23, Y:-213.70, Z:-8.05 [[-5.37561997e-01 -8.43213854e-01 4.18291717e-03 5.23395625e+00] [-8.43187696e-01 5.37578269e-01 6.64182738e-03 -2.13695959e+02] [-7.84912623e-03 4.34096999e-05 -9.99969194e-01 -8.04909380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.560385723 meters 0.015227252701430211 Centerline is valid? [True, True] Translation: X:5.15, Y:-213.78, Z:-8.05 [[-4.72668796e-01 -8.81233756e-01 3.35801052e-03 5.15311789e+00] [-8.81210738e-01 4.72680721e-01 6.36960467e-03 -2.13778615e+02] [-7.20037748e-03 5.15984406e-05 -9.99974076e-01 -8.04946848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5903857229999 meters 0.015252418984854396 Centerline is valid? [True, True] Translation: X:5.08, Y:-213.86, Z:-8.05 [[-4.04072605e-01 -9.14722788e-01 2.74813342e-03 5.08174232e+00] [-9.14700703e-01 4.04081946e-01 6.35645854e-03 -2.13859858e+02] [-6.92486857e-03 5.47511854e-05 -9.99976021e-01 -8.05010301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.620385723 meters 0.015857554817090728 Centerline is valid? [True, True] Translation: X:5.01, Y:-213.96, Z:-8.05 [[-3.34690888e-01 -9.42325180e-01 2.29441888e-03 5.01249741e+00] [-9.42301539e-01 3.34698745e-01 6.67525407e-03 -2.13961002e+02] [-7.05819911e-03 7.21122733e-05 -9.99975088e-01 -8.04907320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.650385723 meters 0.01602141216602561 Centerline is valid? [True, True] Translation: X:4.95, Y:-214.07, Z:-8.05 [[-2.62605411e-01 -9.64901854e-01 1.67673370e-03 4.94982487e+00] [-9.64880212e-01 2.62610751e-01 6.46293465e-03 -2.14068569e+02] [-6.67642592e-03 7.93544431e-05 -9.99977709e-01 -8.04870829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.680385723 meters 0.01647605834010417 Centerline is valid? [True, True] Translation: X:4.90, Y:-214.18, Z:-8.05 [[-1.90543469e-01 -9.81678085e-01 1.15097357e-03 4.89655518e+00] [-9.81656885e-01 1.90546920e-01 6.45223524e-03 -2.14180014e+02] [-6.55333240e-03 9.95701595e-05 -9.99978522e-01 -8.04875487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.710385723 meters 0.01712942793709411 Centerline is valid? [True, True] Translation: X:4.85, Y:-214.30, Z:-8.05 [[-1.15794346e-01 -9.93272983e-01 6.71755833e-04 4.85209366e+00] [-9.93250103e-01 1.15796239e-01 6.74268391e-03 -2.14298544e+02] [-6.77511256e-03 1.13543125e-04 -9.99977042e-01 -8.04837244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.740385723 meters 0.0177161466617594 Centerline is valid? [True, True] Translation: X:4.82, Y:-214.42, Z:-8.05 [[-4.19168172e-02 -9.99121093e-01 1.45237298e-04 4.81635068e+00] [-9.99099174e-01 4.19168598e-02 6.61940691e-03 -2.14415621e+02] [-6.61967696e-03 1.32358005e-04 -9.99978081e-01 -8.04802470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.770385723 meters 0.0182617361513029 Centerline is valid? [True, True] Translation: X:4.79, Y:-214.54, Z:-8.05 [[ 3.36633985e-02 -9.99433160e-01 -3.67420470e-04 4.79032883e+00] [-9.99411208e-01 -3.36650949e-02 6.62560335e-03 -2.14541415e+02] [-6.63421694e-03 1.44163810e-04 -9.99977983e-01 -8.04806186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.800385723 meters 0.01878296227190836 Centerline is valid? [True, True] Translation: X:4.77, Y:-214.67, Z:-8.05 [[ 1.09515317e-01 -9.93984749e-01 -8.44616637e-04 4.77401497e+00] [-9.93964656e-01 -1.09518475e-01 6.32192844e-03 -2.14668158e+02] [-6.37640158e-03 1.47171090e-04 -9.99979660e-01 -8.04833373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.830385723 meters 0.01963095271210113 Centerline is valid? [True, True] Translation: X:4.77, Y:-214.80, Z:-8.05 [[ 1.83924065e-01 -9.82939717e-01 -1.20473405e-03 4.76694978e+00] [-9.82923507e-01 -1.83927953e-01 5.64685744e-03 -2.14796293e+02] [-5.77210472e-03 1.45568442e-04 -9.99983331e-01 -8.04809784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.860385723 meters 0.019900803191423413 Centerline is valid? [True, True] Translation: X:4.77, Y:-214.92, Z:-8.05 [[ 2.58845355e-01 -9.65917691e-01 -1.44767714e-03 4.76733155e+00] [-9.65905291e-01 -2.58849371e-01 4.89618023e-03 -2.14923874e+02] [-5.10403742e-03 1.30965500e-04 -9.99986966e-01 -8.04732314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.890385723 meters 0.01914835595165041 Centerline is valid? [True, True] Translation: X:4.78, Y:-215.05, Z:-8.05 [[ 3.33008685e-01 -9.42922108e-01 -1.76485937e-03 4.77683911e+00] [-9.42910789e-01 -3.33013338e-01 4.62185298e-03 -2.15051175e+02] [-4.94576907e-03 1.24987757e-04 -9.99987762e-01 -8.04704348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.920385723 meters 0.01858135525325537 Centerline is valid? [True, True] Translation: X:4.80, Y:-215.18, Z:-8.05 [[ 4.06061573e-01 -9.13844275e-01 -1.62471151e-03 4.79779867e+00] [-9.13837824e-01 -4.06064813e-01 3.43488196e-03 -2.15181218e+02] [-3.79868539e-03 8.99492635e-05 -9.99992781e-01 -8.04742199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.950385723 meters 0.01837743321897338 Centerline is valid? [True, True] Translation: X:4.83, Y:-215.30, Z:-8.05 [[ 4.76318210e-01 -8.79270948e-01 -1.88761075e-03 4.82548381e+00] [-8.79264740e-01 -4.76321942e-01 3.30505118e-03 -2.15300044e+02] [-3.80514591e-03 8.54535177e-05 -9.99992757e-01 -8.04760643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.980385723 meters 0.0181356979637381 Centerline is valid? [True, True] Translation: X:4.86, Y:-215.42, Z:-8.05 [[ 5.44639114e-01 -8.38668513e-01 -1.83329311e-03 4.86246875e+00] [-8.38664157e-01 -5.44642196e-01 2.70380300e-03 -2.15419208e+02] [-3.26608323e-03 6.49203517e-05 -9.99994664e-01 -8.04758281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.010385723 meters 0.01766539339279473 Centerline is valid? [True, True] Translation: X:4.91, Y:-215.53, Z:-8.05 [[ 6.08637218e-01 -7.93445921e-01 -2.07572343e-03 4.90746596e+00] [-7.93441644e-01 -6.08640754e-01 2.60584029e-03 -2.15533354e+02] [-3.33096323e-03 6.09540261e-05 -9.99994451e-01 -8.04729036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.040385723 meters 0.01753831390262692 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.64, Z:-8.05 [[ 6.68742404e-01 -7.43490477e-01 -2.34678692e-03 4.95939135e+00] [-7.43486200e-01 -6.68746519e-01 2.52260432e-03 -2.15640885e+02] [-3.44493787e-03 5.78312119e-05 -9.99994065e-01 -8.04717637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.070385723 meters 0.016676466382457636 Centerline is valid? [True, True] Translation: X:5.01, Y:-215.74, Z:-8.05 [[ 7.25229239e-01 -6.88503935e-01 -2.20951642e-03 5.01300483e+00] [-6.88500920e-01 -7.25232604e-01 2.03821745e-03 -2.15742414e+02] [-3.00573408e-03 4.30791983e-05 -9.99995482e-01 -8.04674947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.100385723 meters 0.01671784219550833 Centerline is valid? [True, True] Translation: X:5.01, Y:-215.75, Z:-8.05 [[ 7.78035129e-01 -6.28217048e-01 -2.16306827e-03 5.00578421e+00] [-6.28214741e-01 -7.78038135e-01 1.70287451e-03 -2.15750375e+02] [-2.75272440e-03 3.39751864e-05 -9.99996211e-01 -8.04619972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.130385723 meters 0.016408818055466623 Centerline is valid? [True, True] Translation: X:5.00, Y:-215.75, Z:-8.05 [[ 8.25467889e-01 -5.64443818e-01 -2.43753463e-03 5.00188632e+00] [-5.64441473e-01 -8.25471487e-01 1.62717465e-03 -2.15754905e+02] [-2.93056401e-03 3.26652125e-05 -9.99995705e-01 -8.04673544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.160385723 meters 0.015918152983674615 Centerline is valid? [True, True] Translation: X:4.99, Y:-215.77, Z:-8.05 [[ 8.68066797e-01 -4.96444665e-01 -1.65251728e-03 4.99396892e+00] [-4.96443803e-01 -8.68068369e-01 9.25435597e-04 -2.15768494e+02] [-1.89392554e-03 1.70420468e-05 -9.99998206e-01 -8.04771742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.190385723 meters 0.01610058190962082 Centerline is valid? [True, True] Translation: X:4.99, Y:-215.78, Z:-8.05 [[ 9.04470393e-01 -4.26532790e-01 -1.75715888e-03 4.98803306e+00] [-4.26532020e-01 -9.04472100e-01 8.10676801e-04 -2.15777868e+02] [-1.93508142e-03 1.62513632e-05 -9.99998128e-01 -8.04749108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.220385723 meters 0.015615134939831713 Centerline is valid? [True, True] Translation: X:4.98, Y:-215.79, Z:-8.05 [[ 9.35712434e-01 -3.52762014e-01 -1.09642675e-03 4.98210151e+00] [-3.52761781e-01 -9.35713076e-01 4.05476055e-04 -2.15793998e+02] [-1.16897740e-03 7.36846822e-06 -9.99999317e-01 -8.04841355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.250385723 meters 0.017940330103366472 Centerline is valid? [True, True] Translation: X:4.98, Y:-215.81, Z:-8.05 [[ 9.60394625e-01 -2.78637979e-01 -1.74370119e-03 4.97709583e+00] [-2.78637542e-01 -9.60396208e-01 4.93424886e-04 -2.15806014e+02] [-1.81213093e-03 1.19780058e-05 -9.99998358e-01 -8.04526086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.280385723 meters 0.015592117743283564 Centerline is valid? [True, True] Translation: X:4.97, Y:-215.82, Z:-8.05 [[ 9.79418599e-01 -2.01833384e-01 -1.57906219e-03 4.97465576e+00] [-2.01833137e-01 -9.79419872e-01 3.16033796e-04 -2.15819599e+02] [-1.61035105e-03 9.17769602e-06 -9.99998703e-01 -8.04795264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.310385723 meters 0.015719927123166652 Centerline is valid? [True, True] Translation: X:4.97, Y:-215.83, Z:-8.05 [[ 9.92104981e-01 -1.25396767e-01 -1.83240596e-03 4.96958624e+00] [-1.25396576e-01 -9.92106673e-01 2.19239027e-04 -2.15831181e+02] [-1.84543404e-03 1.22693016e-05 -9.99998297e-01 -8.04747462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3403857229999 meters 0.016094296603892427 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.84, Z:-8.05 [[ 9.98728645e-01 -5.03759342e-02 -1.83253456e-03 4.96448932e+00] [-5.03758821e-02 -9.98730326e-01 7.46015341e-05 -2.15840089e+02] [-1.83396596e-03 1.78088558e-05 -9.99998318e-01 -8.04731326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.370385723 meters 0.01642717758975298 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.85, Z:-8.05 [[ 9.99672263e-01 2.55389656e-02 -1.76842651e-03 4.96099434e+00] [ 2.55388877e-02 -9.99673827e-01 -6.65916920e-05 -2.15848566e+02] [-1.76955038e-03 2.14062214e-05 -9.99998434e-01 -8.04772589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.400385723 meters 0.01745107928430167 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.86, Z:-8.05 [[ 9.95145146e-01 9.83942450e-02 -2.17052963e-03 4.95822116e+00] [ 9.83939271e-02 -9.95147512e-01 -2.53004130e-04 -2.15855940e+02] [-2.18489132e-03 3.82088972e-05 -9.99997612e-01 -8.04737068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.430385723 meters 0.01832336811759362 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.87, Z:-8.05 [[ 9.85294339e-01 1.70836045e-01 -3.17992507e-03 4.95661706e+00] [ 1.70834912e-01 -9.85299467e-01 -6.26572429e-04 -2.15865772e+02] [-3.24021963e-03 7.41160477e-05 -9.99994748e-01 -8.04649468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.460385723 meters 0.01852720488694217 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.88, Z:-8.05 [[ 9.69467653e-01 2.45193625e-01 -3.54338756e-03 4.95606803e+00] [ 2.45191637e-01 -9.69474124e-01 -9.91780007e-04 -2.15878001e+02] [-3.67840069e-03 9.26896397e-05 -9.99993230e-01 -8.04669484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.490385723 meters 0.02087877793852093 Centerline is valid? [True, True] Translation: X:4.95, Y:-215.89, Z:-8.05 [[ 9.48458589e-01 3.16892427e-01 -2.34414110e-03 4.95346105e+00] [ 3.16891271e-01 -9.48461483e-01 -8.58809170e-04 -2.15886227e+02] [-2.49547766e-03 7.17070812e-05 -9.99996884e-01 -8.04732623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.520385723 meters 0.02023814340876063 Centerline is valid? [True, True] Translation: X:4.95, Y:-215.90, Z:-8.05 [[ 9.21138665e-01 3.89228895e-01 -2.10393656e-03 4.95407607e+00] [ 3.89227708e-01 -9.21141065e-01 -9.63738685e-04 -2.15898322e+02] [-2.31313731e-03 6.88265606e-05 -9.99997322e-01 -8.04728215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.550385723 meters 0.019551202818475576 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.91, Z:-8.05 [[ 8.87975771e-01 4.59883910e-01 -2.41236994e-03 4.95720440e+00] [ 4.59881957e-01 -8.87979044e-01 -1.34301319e-03 -2.15913376e+02] [-2.75976411e-03 8.31577635e-05 -9.99996188e-01 -8.04710577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.580385723 meters 0.019713190587845802 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.93, Z:-8.05 [[ 8.49007494e-01 5.28372647e-01 -2.93616157e-03 4.96076023e+00] [ 5.28369057e-01 -8.49012565e-01 -1.95070988e-03 -2.15927150e+02] [-3.52353980e-03 1.04790387e-04 -9.99993787e-01 -8.04669042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.610385723 meters 0.019775156392013014 Centerline is valid? [True, True] Translation: X:4.97, Y:-215.94, Z:-8.05 [[ 8.04785390e-01 5.93559365e-01 -2.78485821e-03 4.96502599e+00] [ 5.93555360e-01 -8.04790202e-01 -2.18291464e-03 -2.15938452e+02] [-3.53691603e-03 1.03810296e-04 -9.99993740e-01 -8.04656222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.640385723 meters 0.01919524554371155 Centerline is valid? [True, True] Translation: X:4.97, Y:-215.95, Z:-8.05 [[ 7.54984710e-01 6.55737767e-01 -2.46368400e-03 4.97193310e+00] [ 6.55733865e-01 -7.54988724e-01 -2.26385940e-03 -2.15952130e+02] [-3.34455174e-03 9.36582038e-05 -9.99994403e-01 -8.04682475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.670385723 meters 0.01824877595014498 Centerline is valid? [True, True] Translation: X:4.98, Y:-215.97, Z:-8.05 [[ 6.99864256e-01 7.14271546e-01 -2.48616515e-03 4.98145499e+00] [ 7.14266552e-01 -6.99868666e-01 -2.67277752e-03 -2.15966287e+02] [-3.64907802e-03 9.47968436e-05 -9.99993338e-01 -8.04756786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.700385723 meters 0.019201919420802734 Centerline is valid? [True, True] Translation: X:4.99, Y:-215.98, Z:-8.05 [[ 6.40957724e-01 7.67572388e-01 -2.41331731e-03 4.98702253e+00] [ 7.67566371e-01 -6.40962260e-01 -3.04094119e-03 -2.15976292e+02] [-3.88098781e-03 9.67335384e-05 -9.99992464e-01 -8.04705977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.730385723 meters 0.01772957566221636 Centerline is valid? [True, True] Translation: X:5.00, Y:-215.99, Z:-8.05 [[ 5.77831672e-01 8.16153625e-01 -1.95428697e-03 4.99972104e+00] [ 8.16148465e-01 -5.77834971e-01 -2.90334242e-03 -2.15989350e+02] [-3.49882880e-03 8.26548954e-05 -9.99993876e-01 -8.04707900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.760385723 meters 0.01759512160243995 Centerline is valid? [True, True] Translation: X:5.01, Y:-216.00, Z:-8.05 [[ 5.11340859e-01 8.59375931e-01 -1.88029103e-03 5.00838377e+00] [ 8.59369484e-01 -5.11344309e-01 -3.32988414e-03 -2.15999084e+02] [-3.82309840e-03 8.68410866e-05 -9.99992688e-01 -8.04737564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.790385723 meters 0.016889864495059522 Centerline is valid? [True, True] Translation: X:5.02, Y:-216.01, Z:-8.05 [[ 4.40370954e-01 8.97814247e-01 -1.73222493e-03 5.02190980e+00] [ 8.97806538e-01 -4.40374353e-01 -3.72156049e-03 -2.16008826e+02] [-4.10409746e-03 8.36642785e-05 -9.99991575e-01 -8.04764735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.820385723 meters 0.016774874111666532 Centerline is valid? [True, True] Translation: X:5.03, Y:-216.02, Z:-8.05 [[ 3.67959254e-01 9.29840813e-01 -1.43158349e-03 5.03219846e+00] [ 9.29832908e-01 -3.67962030e-01 -3.83517871e-03 -2.16016703e+02] [-4.09287406e-03 8.00560570e-05 -9.99991621e-01 -8.04755771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.850385723 meters 0.01661107141429295 Centerline is valid? [True, True] Translation: X:5.04, Y:-216.02, Z:-8.05 [[ 2.93046946e-01 9.56097392e-01 -1.12425511e-03 5.04370914e+00] [ 9.56089333e-01 -2.93049092e-01 -3.92642220e-03 -2.16023455e+02] [-4.08350397e-03 7.57377112e-05 -9.99991660e-01 -8.04738160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.880385723 meters 0.01671527828487111 Centerline is valid? [True, True] Translation: X:5.05, Y:-216.03, Z:-8.05 [[ 2.17540187e-01 9.76051123e-01 -6.88049820e-04 5.05335008e+00] [ 9.76045252e-01 -2.17541265e-01 -3.38589332e-03 -2.16027912e+02] [-3.45448421e-03 6.50001063e-05 -9.99994031e-01 -8.04753825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.910385723 meters 0.016531829471816063 Centerline is valid? [True, True] Translation: X:5.07, Y:-216.03, Z:-8.05 [[ 1.41790974e-01 9.89896536e-01 -4.10184561e-04 5.06639421e+00] [ 9.89890895e-01 -1.41791552e-01 -3.34257535e-03 -2.16032123e+02] [-3.36696447e-03 6.79090546e-05 -9.99994330e-01 -8.04860421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.940385723 meters 0.0172972666109898 Centerline is valid? [True, True] Translation: X:5.08, Y:-216.04, Z:-8.05 [[ 6.45797189e-02 9.97912542e-01 -1.39008823e-04 5.07575939e+00] [ 9.97907476e-01 -6.45798341e-02 -3.18020220e-03 -2.16036233e+02] [-3.18254082e-03 6.66586203e-05 -9.99994934e-01 -8.04821787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.970385723 meters 0.017897162621216715 Centerline is valid? [True, True] Translation: X:5.09, Y:-216.04, Z:-8.05 [[-1.17866860e-02 9.99930526e-01 1.35166709e-04 5.09455716e+00] [ 9.99922969e-01 1.17871226e-02 -3.88836741e-03 -2.16038158e+02] [-3.88969050e-03 8.93253311e-05 -9.99992431e-01 -8.04621337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.000385723 meters 0.016886581338214333 Centerline is valid? [True, True] Translation: X:5.11, Y:-216.04, Z:-8.05 [[-8.92679131e-02 9.96007560e-01 4.23908881e-04 5.10842585e+00] [ 9.96000575e-01 8.92688751e-02 -3.73132752e-03 -2.16039638e+02] [-3.75427229e-03 8.91256690e-05 -9.99992949e-01 -8.04773779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.030385723 meters 0.016912622470036064 Centerline is valid? [True, True] Translation: X:5.12, Y:-216.04, Z:-8.05 [[-1.65164195e-01 9.86265836e-01 6.99063562e-04 5.12480507e+00] [ 9.86259252e-01 1.65165648e-01 -3.60520496e-03 -2.16039408e+02] [-3.67115177e-03 9.40071287e-05 -9.99993257e-01 -8.04700157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.060385723 meters 0.016912622470036064 Centerline is valid? [True, True] Translation: X:5.14, Y:-216.04, Z:-8.05 [[-2.41942210e-01 9.70290167e-01 9.79421999e-04 5.13911793e+00] [ 9.70283716e-01 2.41944174e-01 -3.53931211e-03 -2.16038476e+02] [-3.67112518e-03 9.40082235e-05 -9.99993257e-01 -8.04700180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0903857229999 meters 0.01793863994619286 Centerline is valid? [True, True] Translation: X:5.15, Y:-216.04, Z:-8.05 [[-3.16336031e-01 9.48646408e-01 1.22772764e-03 5.15177669e+00] [ 9.48640389e-01 3.16338399e-01 -3.38087146e-03 -2.16037358e+02] [-3.59562896e-03 9.51805706e-05 -9.99993531e-01 -8.04663309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.120385723 meters 0.017539011812220444 Centerline is valid? [True, True] Translation: X:5.17, Y:-216.03, Z:-8.05 [[-3.88255064e-01 9.21550714e-01 1.51220919e-03 5.16667531e+00] [ 9.21544719e-01 3.88257995e-01 -3.32572823e-03 -2.16033343e+02] [-3.65195454e-03 1.02337564e-04 -9.99993326e-01 -8.04720392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.150385723 meters 0.01762143892246402 Centerline is valid? [True, True] Translation: X:5.18, Y:-216.03, Z:-8.05 [[-4.58126425e-01 8.88886181e-01 1.23919766e-03 5.18063161e+00] [ 8.88883359e-01 4.58128094e-01 -2.24120001e-03 -2.16027587e+02] [-2.55988298e-03 7.47492338e-05 -9.99996721e-01 -8.04772720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.180385723 meters 0.01749888799390729 Centerline is valid? [True, True] Translation: X:5.19, Y:-216.02, Z:-8.05 [[-5.26177679e-01 8.50373588e-01 1.34583786e-03 5.19395696e+00] [ 8.50371147e-01 5.26179395e-01 -2.03870950e-03 -2.16020592e+02] [-2.44181686e-03 7.17382565e-05 -9.99997016e-01 -8.04764133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.210385723 meters 0.017895642138918803 Centerline is valid? [True, True] Translation: X:5.21, Y:-216.01, Z:-8.05 [[-5.92055006e-01 8.05896472e-01 1.32171803e-03 5.20708904e+00] [ 8.05894689e-01 5.92056478e-01 -1.69646965e-03 -2.16013623e+02] [-2.14971063e-03 6.07621875e-05 -9.99997688e-01 -8.04677969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.240385723 meters 0.017821180877724663 Centerline is valid? [True, True] Translation: X:5.22, Y:-216.01, Z:-8.05 [[-6.54198413e-01 7.56321922e-01 1.25972972e-03 5.21717669e+00] [ 7.56320666e-01 6.54199624e-01 -1.37894760e-03 -2.16006541e+02] [-1.86704301e-03 5.06542902e-05 -9.99998256e-01 -8.04630504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.270385723 meters 0.019476076646634206 Centerline is valid? [True, True] Translation: X:5.23, Y:-216.00, Z:-8.04 [[-7.12513467e-01 7.01654627e-01 2.31167466e-03 5.22801761e+00] [ 7.01651300e-01 7.12517212e-01 -2.16224037e-03 -2.15996533e+02] [-3.16425395e-03 8.13641442e-05 -9.99994990e-01 -8.04340127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.300385723 meters 0.017061770839633034 Centerline is valid? [True, True] Translation: X:5.25, Y:-215.97, Z:-8.05 [[-7.60835132e-01 6.48943274e-01 1.59030122e-03 5.24671903e+00] [ 6.48941995e-01 7.60836793e-01 -1.28927397e-03 -2.15972721e+02] [-2.04662535e-03 5.10883158e-05 -9.99997904e-01 -8.04580349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.330385723 meters 0.018606125667396084 Centerline is valid? [True, True] Translation: X:5.26, Y:-215.94, Z:-8.04 [[-8.05860757e-01 5.92101769e-01 1.98412383e-03 5.26150994e+00] [ 5.92100145e-01 8.05863197e-01 -1.38785914e-03 -2.15944385e+02] [-2.42068623e-03 5.63787909e-05 -9.99997069e-01 -8.04389678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.360385723 meters 0.01665698413336738 Centerline is valid? [True, True] Translation: X:5.65, Y:-215.39, Z:-9.02 [[-7.93482788e-01 -6.08591383e-01 1.26283961e-03 5.64966911e+00] [ 6.08590438e-01 -7.93483788e-01 -1.07555780e-03 -2.15394947e+02] [ 1.65661797e-03 -8.48844908e-05 9.99998624e-01 -9.02168963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.390385723 meters 0.015534148744128484 Centerline is valid? [True, True] Translation: X:5.23, Y:-215.92, Z:-8.04 [[-8.09079771e-01 5.87696545e-01 1.64172971e-03 5.22960079e+00] [ 5.87695442e-01 8.09081435e-01 -1.13938925e-03 -2.15915355e+02] [-1.99790815e-03 4.29802748e-05 -9.99998003e-01 -8.04491542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.420385723 meters 0.015501062738449116 Centerline is valid? [True, True] Translation: X:5.24, Y:-215.89, Z:-8.04 [[-8.49093039e-01 5.28239421e-01 2.03119275e-03 5.24173063e+00] [ 5.28238047e-01 8.49095467e-01 -1.20595523e-03 -2.15887181e+02] [-2.36170965e-03 4.89850976e-05 -9.99997210e-01 -8.04423870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.450385723 meters 0.017782549378930958 Centerline is valid? [True, True] Translation: X:5.25, Y:-215.86, Z:-8.04 [[-8.84865666e-01 4.65838591e-01 2.67576738e-03 5.25481165e+00] [ 4.65836662e-01 8.84869710e-01 -1.34181970e-03 -2.15859049e+02] [-2.99277690e-03 5.91403638e-05 -9.99995520e-01 -8.04202791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.480385723 meters 0.015408173790197693 Centerline is valid? [True, True] Translation: X:5.27, Y:-215.83, Z:-8.04 [[-9.15777547e-01 4.01682501e-01 1.62905650e-03 5.26528414e+00] [ 4.01681931e-01 9.15778995e-01 -6.77311006e-04 -2.15830692e+02] [-1.76391970e-03 3.40963499e-05 -9.99998444e-01 -8.04418900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.510385723 meters 0.015446696537688197 Centerline is valid? [True, True] Translation: X:5.27, Y:-215.80, Z:-8.04 [[-9.41923094e-01 3.35827736e-01 7.85081406e-04 5.27433488e+00] [ 3.35827633e-01 9.41923421e-01 -2.63025302e-04 -2.15800710e+02] [-8.27817756e-04 1.59024246e-05 -9.99999657e-01 -8.04474461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.540385723 meters 0.015847747146035544 Centerline is valid? [True, True] Translation: X:5.48, Y:-215.19, Z:-9.02 [[-9.32508254e-01 -3.61145413e-01 1.53185431e-03 5.48180082e+00] [ 3.61144957e-01 -9.32509512e-01 -5.73728174e-04 -2.15185967e+02] [ 1.63566801e-03 1.82152011e-05 9.99998662e-01 -9.02397513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.570385723 meters 0.016221730417315318 Centerline is valid? [True, True] Translation: X:5.23, Y:-215.78, Z:-8.04 [[-9.42569143e-01 3.34005748e-01 1.88962021e-03 5.22974801e+00] [ 3.34005166e-01 9.42571036e-01 -6.24945854e-04 -2.15784686e+02] [-1.98983679e-03 4.20882336e-05 -9.99998019e-01 -8.04318647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.600385723 meters 0.01626611125905767 Centerline is valid? [True, True] Translation: X:5.23, Y:-215.75, Z:-8.04 [[-9.63685737e-01 2.67029816e-01 2.20842471e-03 5.23386568e+00] [ 2.67029233e-01 9.63688267e-01 -5.60179178e-04 -2.15754559e+02] [-2.27781752e-03 4.98772719e-05 -9.99997405e-01 -8.04304992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.630385723 meters 0.01617143123885348 Centerline is valid? [True, True] Translation: X:5.23, Y:-215.72, Z:-8.04 [[-9.79732037e-01 2.00310363e-01 9.45766923e-04 5.23291498e+00] [ 2.00310292e-01 9.79732493e-01 -1.69906452e-04 -2.15723583e+02] [-9.60632609e-04 2.29840549e-05 -9.99999538e-01 -8.04339626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.660385723 meters 0.01678171295819462 Centerline is valid? [True, True] Translation: X:5.24, Y:-215.70, Z:-8.04 [[-9.91219361e-01 1.32226777e-01 5.07572662e-04 5.23962143e+00] [ 1.32226767e-01 9.91219491e-01 -5.48526817e-05 -2.15695596e+02] [-5.10368909e-04 1.27436517e-05 -9.99999870e-01 -8.04372704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.690385723 meters 0.017756000455170055 Centerline is valid? [True, True] Translation: X:5.31, Y:-215.06, Z:-9.02 [[-9.89531974e-01 -1.44313157e-01 -4.30641774e-04 5.31454257e+00] [ 1.44313163e-01 -9.89532067e-01 1.56403946e-05 -2.15055577e+02] [-4.28390959e-04 -4.66706062e-05 9.99999907e-01 -9.02391795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.720385723 meters 0.01833502734428821 Centerline is valid? [True, True] Translation: X:5.18, Y:-215.69, Z:-8.04 [[-9.91132451e-01 1.32876346e-01 5.83643533e-04 5.18476482e+00] [ 1.32876333e-01 9.91132623e-01 -6.01227171e-05 -2.15689866e+02] [-5.86457033e-04 1.79628367e-05 -9.99999828e-01 -8.04285292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.750385723 meters 0.018772291711720485 Centerline is valid? [True, True] Translation: X:5.17, Y:-215.66, Z:-8.04 [[-9.98052739e-01 6.23724603e-02 6.36801715e-04 5.17489514e+00] [ 6.23724601e-02 9.98052942e-01 -2.00720961e-05 -2.15659514e+02] [-6.36813771e-04 1.96858791e-05 -9.99999797e-01 -8.04259832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.780385723 meters 0.018792926443236053 Centerline is valid? [True, True] Translation: X:5.17, Y:-215.63, Z:-8.04 [[-9.99953735e-01 -9.60884426e-03 4.45357399e-04 5.17047150e+00] [-9.60883737e-03 9.99953834e-01 1.75947791e-05 -2.15627439e+02] [-4.45505904e-04 1.33145982e-05 -9.99999901e-01 -8.04254758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.810385723 meters 0.018673253632259235 Centerline is valid? [True, True] Translation: X:5.15, Y:-214.99, Z:-9.03 [[-9.99994978e-01 3.10999881e-03 6.10154782e-04 5.14580340e+00] [-3.11000271e-03 -9.99995164e-01 -5.45921247e-06 -2.14991664e+02] [ 6.10134854e-04 -7.35676809e-06 9.99999814e-01 -9.02534265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8403857229999 meters 0.01881751834602167 Centerline is valid? [True, True] Translation: X:5.09, Y:-215.63, Z:-8.04 [[-9.99877132e-01 -1.56504574e-02 8.85210322e-04 5.08583441e+00] [-1.56504282e-02 9.99877524e-01 3.98950683e-05 -2.15628339e+02] [-8.85726281e-04 2.60362459e-05 -9.99999607e-01 -8.04218704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.870385723 meters 0.020049898327329566 Centerline is valid? [True, True] Translation: X:5.08, Y:-215.60, Z:-8.04 [[-9.96154700e-01 -8.75957374e-02 1.67362037e-03 5.07690907e+00] [-8.75955322e-02 9.96156105e-01 1.95676755e-04 -2.15597548e+02] [-1.68432760e-03 4.83226521e-05 -9.99998580e-01 -8.04035040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.900385723 meters 0.01726071610051751 Centerline is valid? [True, True] Translation: X:5.06, Y:-215.57, Z:-8.04 [[-9.87231381e-01 -1.59275958e-01 2.31719478e-03 5.05547909e+00] [-1.59275362e-01 9.87234098e-01 4.40744295e-04 -2.15565456e+02] [-2.35781367e-03 6.60445621e-05 -9.99997218e-01 -8.04074415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.930385723 meters 0.01614158950474837 Centerline is valid? [True, True] Translation: X:5.02, Y:-215.54, Z:-8.04 [[-9.73159681e-01 -2.30115004e-01 2.70543991e-03 5.02052028e+00] [-2.30113891e-01 9.73163439e-01 7.19819084e-04 -2.15539761e+02] [-2.79847638e-03 7.79396039e-05 -9.99996081e-01 -8.04086519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.960385723 meters 0.017365105733666796 Centerline is valid? [True, True] Translation: X:4.97, Y:-215.52, Z:-8.04 [[-9.53744638e-01 -3.00606601e-01 2.61482535e-03 4.97140602e+00] [-3.00605253e-01 9.53748219e-01 9.03536951e-04 -2.15522664e+02] [-2.76549419e-03 7.57132862e-05 -9.99996173e-01 -8.03988879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.990385723 meters 0.016894523779180406 Centerline is valid? [True, True] Translation: X:4.90, Y:-215.51, Z:-8.04 [[-9.29220196e-01 -3.69516380e-01 2.73348874e-03 4.90492380e+00] [-3.69514519e-01 9.29224213e-01 1.17540249e-03 -2.15513730e+02] [-2.97435440e-03 8.21439539e-05 -9.99995573e-01 -8.03964771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.020385723 meters 0.01669788908570671 Centerline is valid? [True, True] Translation: X:4.83, Y:-215.51, Z:-8.04 [[-8.99776308e-01 -4.36343043e-01 2.70995375e-03 4.83367013e+00] [-4.36340772e-01 8.99780385e-01 1.41039884e-03 -2.15511487e+02] [-3.05378095e-03 8.65801490e-05 -9.99995334e-01 -8.03942971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.050385723 meters 0.016823142931785866 Centerline is valid? [True, True] Translation: X:4.75, Y:-215.52, Z:-8.04 [[-8.65300567e-01 -5.01248275e-01 2.25744068e-03 4.75383339e+00] [-5.01246335e-01 8.65303508e-01 1.39641030e-03 -2.15522275e+02] [-2.65331959e-03 7.67807510e-05 -9.99996477e-01 -8.03965402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.080385723 meters 0.017006253054787368 Centerline is valid? [True, True] Translation: X:4.67, Y:-215.54, Z:-8.04 [[-8.25944763e-01 -5.63748488e-01 1.70017134e-03 4.67127746e+00] [-5.63747137e-01 8.25946511e-01 1.23549454e-03 -2.15541496e+02] [-2.10075877e-03 6.19835239e-05 -9.99997792e-01 -8.04015931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.110385723 meters 0.016828273592637503 Centerline is valid? [True, True] Translation: X:4.58, Y:-215.57, Z:-8.04 [[-7.82055286e-01 -6.23207578e-01 1.35802885e-03 4.58379066e+00] [-6.23206516e-01 7.82056464e-01 1.15138019e-03 -2.15568631e+02] [-1.77960409e-03 5.41105349e-05 -9.99998415e-01 -8.04050536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.140385723 meters 0.01744241030333644 Centerline is valid? [True, True] Translation: X:4.49, Y:-215.61, Z:-8.04 [[-7.32933209e-01 -6.80299166e-01 1.39821265e-03 4.49392468e+00] [-6.80297772e-01 7.32934541e-01 1.37865925e-03 -2.15607680e+02] [-1.96269908e-03 5.92641967e-05 -9.99998072e-01 -8.04022756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.170385723 meters 0.017255928260426892 Centerline is valid? [True, True] Translation: X:4.40, Y:-215.66, Z:-8.04 [[-6.79304634e-01 -7.33854340e-01 1.73838774e-03 4.40374113e+00] [-7.33851636e-01 6.79306853e-01 1.99388153e-03 -2.15657750e+02] [-2.64411732e-03 7.87342763e-05 -9.99996501e-01 -8.03990231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.200385723 meters 0.017316785666363965 Centerline is valid? [True, True] Translation: X:4.31, Y:-215.72, Z:-8.04 [[-6.20913095e-01 -7.83875308e-01 2.53582994e-03 4.31423248e+00] [-7.83867965e-01 6.20918261e-01 3.39510150e-03 -2.15717591e+02] [-4.23587935e-03 1.20307129e-04 -9.99991021e-01 -8.03885546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.230385723 meters 0.016841108292806186 Centerline is valid? [True, True] Translation: X:4.23, Y:-215.79, Z:-8.04 [[-5.59145346e-01 -8.29066447e-01 2.30421828e-03 4.22830757e+00] [-8.29058516e-01 5.59150081e-01 3.62818462e-03 -2.15785776e+02] [-4.29640997e-03 1.18350754e-04 -9.99990763e-01 -8.03884623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.260385723 meters 0.016947635911573635 Centerline is valid? [True, True] Translation: X:4.15, Y:-215.86, Z:-8.04 [[-4.93101709e-01 -8.69969082e-01 2.12159244e-03 4.14549997e+00] [-8.69959998e-01 4.93106260e-01 3.97722253e-03 -2.15864540e+02] [-4.50623114e-03 1.15474674e-04 -9.99989840e-01 -8.03894993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.290385723 meters 0.017676657735961495 Centerline is valid? [True, True] Translation: X:4.07, Y:-215.95, Z:-8.04 [[-4.22996914e-01 -9.06128727e-01 2.08329976e-03 4.06621221e+00] [-9.06116340e-01 4.23002028e-01 4.73944173e-03 -2.15952382e+02] [-5.17578433e-03 1.17057274e-04 -9.99986599e-01 -8.03747056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.320385723 meters 0.014530902830558292 Centerline is valid? [True, True] Translation: X:3.99, Y:-216.04, Z:-8.04 [[-3.51268398e-01 -9.36273266e-01 1.69836674e-03 3.99427866e+00] [-9.36260815e-01 3.51272487e-01 4.82978802e-03 -2.16040455e+02] [-5.11859092e-03 1.06437673e-04 -9.99986894e-01 -8.03933694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.350385723 meters 0.014102794453810326 Centerline is valid? [True, True] Translation: X:3.93, Y:-216.14, Z:-8.04 [[-2.76435025e-01 -9.61031186e-01 1.65414679e-03 3.92956293e+00] [-9.61011417e-01 2.76439950e-01 6.16523977e-03 -2.16139831e+02] [-6.38225994e-03 1.14634254e-04 -9.99979627e-01 -8.03825509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.380385723 meters 0.013841176874154064 Centerline is valid? [True, True] Translation: X:3.87, Y:-216.25, Z:-8.04 [[-2.01418346e-01 -9.79504460e-01 1.28931155e-03 3.87455388e+00] [-9.79480500e-01 2.01422438e-01 6.85214331e-03 -2.16245075e+02] [-6.97140121e-03 1.17291851e-04 -9.99975693e-01 -8.03820535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.410385723 meters 0.013949736379927653 Centerline is valid? [True, True] Translation: X:3.83, Y:-216.36, Z:-8.04 [[-1.25577211e-01 -9.92083579e-01 7.33030103e-04 3.82835828e+00] [-9.92061329e-01 1.25579305e-01 6.64517946e-03 -2.16355033e+02] [-6.68462683e-03 1.07272288e-04 -9.99977652e-01 -8.03822522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.440385723 meters 0.014942549108109096 Centerline is valid? [True, True] Translation: X:3.79, Y:-216.47, Z:-8.04 [[-4.93331113e-02 -9.98782353e-01 2.36433396e-04 3.79041632e+00] [-9.98757632e-01 4.93335539e-02 7.02798115e-03 -2.16466958e+02] [-7.03108764e-03 1.10572518e-04 -9.99975276e-01 -8.03742632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.470385723 meters 0.013894682244185321 Centerline is valid? [True, True] Translation: X:3.76, Y:-216.58, Z:-8.04 [[ 2.67447288e-02 -9.99642255e-01 -2.86054311e-04 3.76066203e+00] [-9.99619667e-01 -2.67460477e-02 6.72088873e-03 -2.16580878e+02] [-6.72613518e-03 1.06197169e-04 -9.99977374e-01 -8.03859002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.500385723 meters 0.014125266861648696 Centerline is valid? [True, True] Translation: X:3.74, Y:-216.70, Z:-8.04 [[ 1.03257269e-01 -9.94654429e-01 -7.08838186e-04 3.74075689e+00] [-9.94636689e-01 -1.03259661e-01 5.94131630e-03 -2.16698501e+02] [-5.98275096e-03 9.15523725e-05 -9.99982099e-01 -8.03832389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.530385723 meters 0.013958834420601071 Centerline is valid? [True, True] Translation: X:3.73, Y:-216.82, Z:-8.04 [[ 1.80034388e-01 -9.83659604e-01 -1.18450362e-03 3.72987569e+00] [-9.83641322e-01 -1.80038264e-01 5.99778845e-03 -2.16818283e+02] [-6.11303819e-03 8.53185335e-05 -9.99981312e-01 -8.03834278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.560385723 meters 0.01385440700353304 Centerline is valid? [True, True] Translation: X:3.73, Y:-216.94, Z:-8.04 [[ 2.55115820e-01 -9.66908978e-01 -1.71675276e-03 3.72890695e+00] [-9.66889260e-01 -2.55121582e-01 6.17557983e-03 -2.16939602e+02] [-6.40920426e-03 8.44216960e-05 -9.99979457e-01 -8.03880179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5903857229999 meters 0.013552658095778844 Centerline is valid? [True, True] Translation: X:3.73, Y:-217.06, Z:-8.04 [[ 3.28584428e-01 -9.44472616e-01 -1.93669442e-03 3.73479895e+00] [-9.44457457e-01 -3.28590128e-01 5.35155923e-03 -2.17055973e+02] [-5.69077981e-03 7.06864549e-05 -9.99983805e-01 -8.03943009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.620385723 meters 0.013316615995130633 Centerline is valid? [True, True] Translation: X:3.75, Y:-217.17, Z:-8.04 [[ 4.01826861e-01 -9.15713288e-01 -2.08521082e-03 3.74929685e+00] [-9.15701589e-01 -4.01832268e-01 4.62910900e-03 -2.17171931e+02] [-5.07684162e-03 4.93305186e-05 -9.99987112e-01 -8.03956433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.650385723 meters 0.012968144265375842 Centerline is valid? [True, True] Translation: X:3.77, Y:-217.28, Z:-8.04 [[ 4.71553555e-01 -8.81833531e-01 -2.62067797e-03 3.77110559e+00] [-8.81820436e-01 -4.71560835e-01 4.80605493e-03 -2.17284473e+02] [-5.47394948e-03 4.46550983e-05 -9.99985017e-01 -8.03898830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.680385723 meters 0.012623707528053954 Centerline is valid? [True, True] Translation: X:3.80, Y:-217.39, Z:-8.04 [[ 5.39816392e-01 -8.41775243e-01 -3.56421568e-03 3.80260364e+00] [-8.41757283e-01 -5.39828158e-01 5.49884470e-03 -2.17394927e+02] [-6.55285532e-03 3.18380009e-05 -9.99978529e-01 -8.03816635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.710385723 meters 0.012584418483089775 Centerline is valid? [True, True] Translation: X:3.84, Y:-217.50, Z:-8.04 [[ 6.02906435e-01 -7.97801821e-01 -4.01052961e-03 3.84051925e+00] [-7.97784441e-01 -6.02919774e-01 5.26615889e-03 -2.17498972e+02] [-6.61937875e-03 2.45370386e-05 -9.99978091e-01 -8.03841720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.740385723 meters 0.014499360619600573 Centerline is valid? [True, True] Translation: X:3.89, Y:-217.60, Z:-8.04 [[ 6.61564002e-01 -7.49874946e-01 -4.54277044e-03 3.88551578e+00] [-7.49857517e-01 -6.61579598e-01 5.11269791e-03 -2.17597509e+02] [-6.83928831e-03 2.40536737e-05 -9.99976612e-01 -8.03767307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.770385723 meters 0.012714686463900829 Centerline is valid? [True, True] Translation: X:3.93, Y:-217.69, Z:-8.04 [[ 7.15340918e-01 -6.98764207e-01 -3.99425436e-03 3.93315591e+00] [-6.98753518e-01 -7.15352069e-01 3.86501520e-03 -2.17686810e+02] [-5.55803240e-03 2.61957640e-05 -9.99984554e-01 -8.03925073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.800385723 meters 0.01275727816057722 Centerline is valid? [True, True] Translation: X:3.93, Y:-217.70, Z:-8.04 [[ 7.65660081e-01 -6.43234574e-01 -3.73155513e-03 3.93193354e+00] [-6.43227181e-01 -7.65669173e-01 3.08420039e-03 -2.17702027e+02] [-4.84100105e-03 3.87885674e-05 -9.99988282e-01 -8.04035585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.830385723 meters 0.013168202897229392 Centerline is valid? [True, True] Translation: X:3.93, Y:-217.72, Z:-8.04 [[ 8.12336415e-01 -5.83176240e-01 -3.87574278e-03 3.93192092e+00] [-5.83169885e-01 -8.12345660e-01 2.72308305e-03 -2.17717249e+02] [-4.73648016e-03 4.81569451e-05 -9.99988782e-01 -8.03978604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.860385723 meters 0.01504013436139074 Centerline is valid? [True, True] Translation: X:3.94, Y:-217.73, Z:-8.04 [[ 8.52670171e-01 -5.22432433e-01 -4.23480930e-03 3.93548908e+00] [-5.22426431e-01 -8.52680683e-01 2.50536814e-03 -2.17726613e+02] [-4.91982566e-03 7.61236245e-05 -9.99987895e-01 -8.03867994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.890385723 meters 0.015899722959042392 Centerline is valid? [True, True] Translation: X:3.94, Y:-217.73, Z:-8.04 [[ 8.89731570e-01 -4.56462789e-01 -4.41092544e-03 3.94237288e+00] [-4.56457670e-01 -8.89742499e-01 2.16345083e-03 -2.17731873e+02] [-4.91212262e-03 8.85102464e-05 -9.99987932e-01 -8.03896190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.920385723 meters 0.014907001910152253 Centerline is valid? [True, True] Translation: X:3.94, Y:-217.75, Z:-8.04 [[ 9.21649385e-01 -3.88003714e-01 -3.94080002e-03 3.94484138e+00] [-3.88000573e-01 -9.21657805e-01 1.56372085e-03 -2.17747971e+02] [-4.23879859e-03 8.78303063e-05 -9.99991012e-01 -8.04035347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.950385723 meters 0.014907001910152253 Centerline is valid? [True, True] Translation: X:3.95, Y:-217.76, Z:-8.04 [[ 9.49166303e-01 -3.14748978e-01 -4.05099181e-03 3.94801444e+00] [-3.14746505e-01 -9.49174943e-01 1.25078650e-03 -2.17762888e+02] [-4.23878369e-03 8.78311216e-05 -9.99991013e-01 -8.04035362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.980385723 meters 0.016638147545822542 Centerline is valid? [True, True] Translation: X:3.95, Y:-217.77, Z:-8.04 [[ 9.69629569e-01 -2.44552069e-01 -3.57545489e-03 3.95315255e+00] [-2.44550764e-01 -9.69636157e-01 8.04285968e-04 -2.17774023e+02] [-3.66358014e-03 9.45207689e-05 -9.99993285e-01 -8.04031601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.010385723 meters 0.01729946502687365 Centerline is valid? [True, True] Translation: X:3.96, Y:-217.79, Z:-8.04 [[ 9.85369085e-01 -1.70395126e-01 -3.64259037e-03 3.95983809e+00] [-1.70394350e-01 -9.85375812e-01 5.24568751e-04 -2.17785842e+02] [-3.67870440e-03 1.03782989e-04 -9.99993228e-01 -8.03981986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.040385723 meters 0.018076784098412485 Centerline is valid? [True, True] Translation: X:3.96, Y:-217.80, Z:-8.04 [[ 9.95358131e-01 -9.61222128e-02 -4.76567695e-03 3.96309748e+00] [-9.61218367e-02 -9.95369528e-01 3.08444783e-04 -2.17797275e+02] [-4.77325801e-03 1.51072599e-04 -9.99988597e-01 -8.03954670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.070385723 meters 0.018357613970385468 Centerline is valid? [True, True] Translation: X:3.97, Y:-217.81, Z:-8.04 [[ 9.99813593e-01 -1.87369710e-02 -4.65881355e-03 3.96713430e+00] [-1.87374731e-02 -9.99824436e-01 -6.41349789e-05 -2.17809190e+02] [-4.65679393e-03 1.51417417e-04 -9.99989146e-01 -8.03995763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.100385723 meters 0.01838025286510017 Centerline is valid? [True, True] Translation: X:3.97, Y:-217.82, Z:-8.04 [[ 9.98172039e-01 6.02534561e-02 -4.70132578e-03 3.97203199e+00] [ 6.02520782e-02 -9.98183099e-01 -4.34302033e-04 -2.17821157e+02] [-4.71895214e-03 1.50243496e-04 -9.99988854e-01 -8.03988759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.130385723 meters 0.018901610547408555 Centerline is valid? [True, True] Translation: X:3.98, Y:-217.83, Z:-8.04 [[ 9.90249043e-01 1.39231680e-01 -4.62307140e-03 3.97667190e+00] [ 1.39229481e-01 -9.90259824e-01 -7.95813375e-04 -2.17831584e+02] [-4.68884430e-03 1.44385602e-04 -9.99988997e-01 -8.03936189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.160385723 meters 0.017928144537627623 Centerline is valid? [True, True] Translation: X:3.99, Y:-217.85, Z:-8.04 [[ 9.75570572e-01 2.19628600e-01 -5.03363088e-03 3.98576317e+00] [ 2.19624922e-01 -9.75583547e-01 -1.27901148e-03 -2.17851794e+02] [-5.19163497e-03 1.42255172e-04 -9.99986513e-01 -8.03731975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.190385723 meters 0.016795691449119052 Centerline is valid? [True, True] Translation: X:3.99, Y:-217.86, Z:-8.04 [[ 9.54875066e-01 2.96958654e-01 -5.40064767e-03 3.99421139e+00] [ 2.96953034e-01 -9.54890327e-01 -1.83277273e-03 -2.17864511e+02] [-5.70128394e-03 1.46330267e-04 -9.99983737e-01 -8.03805136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.220385723 meters 0.016235688626782978 Centerline is valid? [True, True] Translation: X:4.00, Y:-217.88, Z:-8.04 [[ 9.27976768e-01 3.72597047e-01 -5.52795840e-03 4.00468728e+00] [ 3.72589516e-01 -9.27993222e-01 -2.37322869e-03 -2.17877718e+02] [-6.01416593e-03 1.42641742e-04 -9.99981905e-01 -8.03747250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.250385723 meters 0.016520592749991264 Centerline is valid? [True, True] Translation: X:4.01, Y:-217.89, Z:-8.04 [[ 8.95749816e-01 4.44537219e-01 -4.35072728e-03 4.01431692e+00] [ 4.44531353e-01 -8.95760374e-01 -2.28653546e-03 -2.17887788e+02] [-4.91365921e-03 1.14129029e-04 -9.99987921e-01 -8.03918639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.280385723 meters 0.016055043823875757 Centerline is valid? [True, True] Translation: X:4.03, Y:-217.90, Z:-8.04 [[ 8.57949796e-01 5.13721821e-01 -3.46970148e-03 4.02722235e+00] [ 5.13717178e-01 -8.57956807e-01 -2.18618658e-03 -2.17898504e+02] [-4.09994575e-03 9.31930827e-05 -9.99991591e-01 -8.04020143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.310385723 meters 0.01593825327335321 Centerline is valid? [True, True] Translation: X:4.04, Y:-217.91, Z:-8.04 [[ 8.15033814e-01 5.79406701e-01 -2.78509801e-03 4.04088155e+00] [ 5.79402986e-01 -8.15038569e-01 -2.07618043e-03 -2.17908082e+02] [-3.47291515e-03 7.84631499e-05 -9.99993966e-01 -8.04064645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3403857229999 meters 0.016196955534022495 Centerline is valid? [True, True] Translation: X:4.05, Y:-217.92, Z:-8.04 [[ 7.66776657e-01 6.41908674e-01 -2.61012358e-03 4.05411918e+00] [ 6.41904613e-01 -7.66781095e-01 -2.28461773e-03 -2.17917558e+02] [-3.46790936e-03 7.63411797e-05 -9.99993984e-01 -8.04068534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.370385723 meters 0.016417309735421954 Centerline is valid? [True, True] Translation: X:4.07, Y:-217.92, Z:-8.04 [[ 7.14283643e-01 6.99852843e-01 -2.20798817e-03 4.06659690e+00] [ 6.99849193e-01 -7.14287053e-01 -2.26142658e-03 -2.17924180e+02] [-3.15980318e-03 7.00412748e-05 -9.99995005e-01 -8.04084617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.400385723 meters 0.017169018543658272 Centerline is valid? [True, True] Translation: X:4.08, Y:-217.93, Z:-8.04 [[ 6.57998103e-01 7.53016870e-01 -2.02233354e-03 4.08176328e+00] [ 7.53012968e-01 -6.58001207e-01 -2.42522085e-03 -2.17930244e+02] [-3.15693013e-03 7.29473376e-05 -9.99995014e-01 -8.04037969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.430385723 meters 0.016289504303849345 Centerline is valid? [True, True] Translation: X:4.10, Y:-217.94, Z:-8.04 [[ 5.97500883e-01 8.01866690e-01 -1.58332094e-03 4.09756453e+00] [ 8.01863582e-01 -5.97502977e-01 -2.23349600e-03 -2.17935256e+02] [-2.73700502e-03 6.49084342e-05 -9.99996252e-01 -8.04178308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.460385723 meters 0.016402402615657365 Centerline is valid? [True, True] Translation: X:4.12, Y:-217.94, Z:-8.04 [[ 5.33726248e-01 8.45655980e-01 -1.50175713e-03 4.11506620e+00] [ 8.45652244e-01 -5.33728356e-01 -2.51495771e-03 -2.17939761e+02] [-2.92831939e-03 7.23346558e-05 -9.99995710e-01 -8.04192429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.490385723 meters 0.01653147919819023 Centerline is valid? [True, True] Translation: X:4.13, Y:-217.94, Z:-8.04 [[ 4.65615752e-01 8.84985450e-01 -1.65063367e-03 4.13189449e+00] [ 8.84979182e-01 -4.65618669e-01 -3.33213744e-03 -2.17941975e+02] [-3.71745900e-03 9.07192470e-05 -9.99993086e-01 -8.04141964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.520385723 meters 0.016479584612766985 Centerline is valid? [True, True] Translation: X:4.15, Y:-217.94, Z:-8.04 [[ 3.93532781e-01 9.19308927e-01 -1.74552846e-03 4.14869540e+00] [ 9.19298636e-01 -3.93536637e-01 -4.35129588e-03 -2.17942511e+02] [-4.68711455e-03 1.07715642e-04 -9.99989010e-01 -8.04079841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.550385723 meters 0.01636896583063915 Centerline is valid? [True, True] Translation: X:4.17, Y:-217.94, Z:-8.04 [[ 3.20557173e-01 9.47228147e-01 -1.39166338e-03 4.16523978e+00] [ 9.47217701e-01 -3.20560176e-01 -4.44978845e-03 -2.17941961e+02] [-4.66107673e-03 1.08203426e-04 -9.99989131e-01 -8.04091657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.580385723 meters 0.017492143539158435 Centerline is valid? [True, True] Translation: X:4.18, Y:-217.94, Z:-8.04 [[ 2.46172725e-01 9.69225316e-01 -1.12998270e-03 4.17814521e+00] [ 9.69212720e-01 -2.46175289e-01 -4.94274630e-03 -2.17940133e+02] [-5.06880866e-03 1.21575725e-04 -9.99987146e-01 -8.04024299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.610385723 meters 0.01667251681386897 Centerline is valid? [True, True] Translation: X:4.20, Y:-217.94, Z:-8.04 [[ 1.69706964e-01 9.85494263e-01 -7.76912329e-04 4.19531293e+00] [ 9.85480174e-01 -1.69708693e-01 -5.27131278e-03 -2.17937509e+02] [-5.32669728e-03 1.28946789e-04 -9.99985805e-01 -8.04033259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.640385723 meters 0.016725750536574067 Centerline is valid? [True, True] Translation: X:4.21, Y:-217.93, Z:-8.04 [[ 9.25672611e-02 9.95706278e-01 -5.57261800e-04 4.21119955e+00] [ 9.95672614e-01 -9.25687152e-02 -8.19022304e-03 -2.17933084e+02] [-8.20664150e-03 2.03296202e-04 -9.99966304e-01 -8.03866251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.670385723 meters 0.01691597380838456 Centerline is valid? [True, True] Translation: X:4.23, Y:-217.93, Z:-8.04 [[ 1.49979852e-02 9.99887520e-01 9.09784876e-05 4.22556488e+00] [ 9.99849785e-01 -1.49966285e-02 -8.68962276e-03 -2.17927201e+02] [-8.68728098e-03 2.21291655e-04 -9.99962240e-01 -8.03815161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.700385723 meters 0.01679042906459264 Centerline is valid? [True, True] Translation: X:4.24, Y:-217.92, Z:-8.04 [[-6.29792118e-02 9.98014499e-01 8.24270944e-04 4.24072228e+00] [ 9.97971635e-01 6.29841489e-02 -9.25273014e-03 -2.17920486e+02] [-9.28627483e-03 2.39869370e-04 -9.99956853e-01 -8.03833480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.730385723 meters 0.017592138062343932 Centerline is valid? [True, True] Translation: X:4.25, Y:-217.91, Z:-8.04 [[-1.39323566e-01 9.90245769e-01 1.50391231e-03 4.25286538e+00] [ 9.90205736e-01 1.39331462e-01 -8.90748994e-03 -2.17913955e+02] [-9.03014652e-03 2.48159334e-04 -9.99959197e-01 -8.03889262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.760385723 meters 0.01826129438578617 Centerline is valid? [True, True] Translation: X:4.26, Y:-217.91, Z:-8.04 [[-2.13810924e-01 9.76873042e-01 1.98704537e-03 4.26305995e+00] [ 9.76840921e-01 2.13820015e-01 -7.92562871e-03 -2.17906140e+02] [-8.16720310e-03 2.46441233e-04 -9.99966618e-01 -8.03989041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.790385723 meters 0.018487421225345517 Centerline is valid? [True, True] Translation: X:4.27, Y:-217.90, Z:-8.04 [[-2.88660975e-01 9.57427886e-01 2.58554016e-03 4.27430469e+00] [ 9.57396970e-01 2.88672443e-01 -7.69818038e-03 -2.17897392e+02] [-8.11682677e-03 2.53224068e-04 -9.99967026e-01 -8.04025356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.820385723 meters 0.01929487799398598 Centerline is valid? [True, True] Translation: X:4.28, Y:-217.89, Z:-8.04 [[-3.61330061e-01 9.32431700e-01 3.42218716e-03 4.28362456e+00] [ 9.32397080e-01 3.61346154e-01 -8.04009182e-03 -2.17889250e+02] [-8.73343066e-03 2.85710441e-04 -9.99961822e-01 -8.03974155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.850385723 meters 0.019982356507308997 Centerline is valid? [True, True] Translation: X:4.29, Y:-217.88, Z:-8.04 [[-4.32731698e-01 9.01511835e-01 4.43716456e-03 4.29133421e+00] [ 9.01471767e-01 4.32754329e-01 -8.50548615e-03 -2.17880510e+02] [-9.58799860e-03 3.19385108e-04 -9.99953983e-01 -8.03947916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.880385723 meters 0.019286886238975183 Centerline is valid? [True, True] Translation: X:4.30, Y:-217.87, Z:-8.04 [[-5.01622492e-01 8.65070357e-01 5.30589641e-03 4.30149166e+00] [ 8.65028887e-01 5.01650439e-01 -8.47706790e-03 -2.17869090e+02] [-9.99496542e-03 3.37465740e-04 -9.99949992e-01 -8.03971559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.910385723 meters 0.02042705491197318 Centerline is valid? [True, True] Translation: X:4.31, Y:-217.86, Z:-8.04 [[-5.68155647e-01 8.22899068e-01 6.02370657e-03 4.30841032e+00] [ 8.22858972e-01 5.68187478e-01 -8.13029898e-03 -2.17858939e+02] [-1.01130101e-02 3.37385721e-04 -9.99948805e-01 -8.03968132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.940385723 meters 0.017658275246022443 Centerline is valid? [True, True] Translation: X:4.32, Y:-217.84, Z:-8.04 [[-6.32980477e-01 7.74139531e-01 6.61071468e-03 4.32268393e+00] [ 7.74102309e-01 6.33014922e-01 -7.59765321e-03 -2.17839796e+02] [-1.00663247e-02 3.08203342e-04 -9.99949286e-01 -8.04116767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.970385723 meters 0.0183556503133671 Centerline is valid? [True, True] Translation: X:4.33, Y:-217.83, Z:-8.04 [[-6.93023649e-01 7.20874717e-01 7.60681245e-03 4.33134148e+00] [ 7.20836066e-01 6.93065328e-01 -7.47111335e-03 -2.17825020e+02] [-1.06577547e-02 3.05606527e-04 -9.99943158e-01 -8.04034817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.000385723 meters 0.016593170317375262 Centerline is valid? [True, True] Translation: X:4.34, Y:-217.79, Z:-8.04 [[-7.46621877e-01 6.65208858e-01 7.27657907e-03 4.34399052e+00] [ 6.65180019e-01 7.46657304e-01 -6.19773724e-03 -2.17792364e+02] [-9.55590062e-03 2.12868792e-04 -9.99954319e-01 -8.04242090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.030385723 meters 0.01601604804153656 Centerline is valid? [True, True] Translation: X:4.36, Y:-217.76, Z:-8.04 [[-7.93773603e-01 6.08167380e-01 7.47693257e-03 4.35576230e+00] [ 6.08142494e-01 7.93808797e-01 -5.50462057e-03 -2.17761196e+02] [-9.28298552e-03 1.77617917e-04 -9.99956896e-01 -8.04285383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.060385723 meters 0.015607222021811746 Centerline is valid? [True, True] Translation: X:4.37, Y:-217.73, Z:-8.04 [[-8.36304245e-01 5.48214391e-01 7.49606624e-03 4.36509753e+00] [ 5.48193929e-01 8.36337826e-01 -4.73877526e-03 -2.17729755e+02] [-8.86710854e-03 1.46240139e-04 -9.99960676e-01 -8.04295673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0903857229999 meters 0.015370298505615125 Centerline is valid? [True, True] Translation: X:4.37, Y:-217.70, Z:-8.04 [[-8.74285471e-01 4.85370374e-01 6.36515205e-03 4.36997598e+00] [ 4.85358348e-01 8.74308635e-01 -3.41831451e-03 -2.17698083e+02] [-7.22425600e-03 1.00796967e-04 -9.99973900e-01 -8.04407758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.120385723 meters 0.015542434155047562 Centerline is valid? [True, True] Translation: X:4.60, Y:-217.26, Z:-9.02 [[-8.54277633e-01 -5.19781338e-01 6.08985048e-03 4.60183629e+00] [ 5.19767273e-01 -8.54299333e-01 -3.82514940e-03 -2.17262962e+02] [ 7.19079647e-03 -1.02434595e-04 9.99974141e-01 -9.02367559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.150385723 meters 0.01545740829025573 Centerline is valid? [True, True] Translation: X:4.33, Y:-217.68, Z:-8.04 [[-8.76023438e-01 4.82228008e-01 6.25169524e-03 4.32932122e+00] [ 4.82216534e-01 8.76045740e-01 -3.32813640e-03 -2.17678487e+02] [-7.08169157e-03 9.91453134e-05 -9.99974920e-01 -8.04435421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.180385723 meters 0.015511588894925068 Centerline is valid? [True, True] Translation: X:4.34, Y:-217.65, Z:-8.04 [[-9.07726366e-01 4.19512875e-01 6.46460174e-03 4.33546995e+00] [ 4.19503051e-01 9.07749380e-01 -2.87298570e-03 -2.17649480e+02] [-7.07349271e-03 1.04035281e-04 -9.99974977e-01 -8.04433158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.210385723 meters 0.015404677010234255 Centerline is valid? [True, True] Translation: X:4.53, Y:-217.19, Z:-9.02 [[-8.91203899e-01 -4.53558282e-01 6.36365832e-03 4.53141407e+00] [ 4.53545928e-01 -8.91226613e-01 -3.34897683e-03 -2.17194574e+02] [ 7.19041783e-03 -9.84098887e-05 9.99974144e-01 -9.02355430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.240385723 meters 0.01552559553049702 Centerline is valid? [True, True] Translation: X:4.29, Y:-217.63, Z:-8.04 [[-9.09338695e-01 4.16000397e-01 6.84160530e-03 4.28598600e+00] [ 4.15989518e-01 9.09364425e-01 -3.01040030e-03 -2.17629534e+02] [-7.47384019e-03 1.08562611e-04 -9.99972065e-01 -8.04413612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.270385723 meters 0.015217417663205472 Centerline is valid? [True, True] Translation: X:4.29, Y:-217.60, Z:-8.05 [[-9.37013075e-01 3.49223795e-01 7.01699695e-03 4.29014709e+00] [ 3.49214788e-01 9.37039343e-01 -2.51020521e-03 -2.17601198e+02] [-7.45182561e-03 9.83439990e-05 -9.99972230e-01 -8.04525860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.300385723 meters 0.01494606205078557 Centerline is valid? [True, True] Translation: X:4.29, Y:-217.57, Z:-8.05 [[-9.60466985e-01 2.78293256e-01 7.48561300e-03 4.28874603e+00] [ 2.78285399e-01 9.60496152e-01 -2.09236502e-03 -2.17569246e+02] [-7.77219356e-03 7.34892851e-05 -9.99969793e-01 -8.04556982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.330385723 meters 0.014707966346471134 Centerline is valid? [True, True] Translation: X:4.42, Y:-217.09, Z:-9.02 [[-9.45012209e-01 -3.26945105e-01 7.66963099e-03 4.41857122e+00] [ 3.26933883e-01 -9.45043330e-01 -2.70929828e-03 -2.17088947e+02] [ 8.13392542e-03 -5.28577125e-05 9.99966918e-01 -9.02247195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.360385723 meters 0.014485626731448159 Centerline is valid? [True, True] Translation: X:4.23, Y:-217.55, Z:-8.04 [[-9.63647392e-01 2.67033196e-01 8.77362138e-03 4.23378218e+00] [ 2.67022255e-01 9.63687331e-01 -2.41729629e-03 -2.17553462e+02] [-9.10052612e-03 1.33308967e-05 -9.99958589e-01 -8.04412841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.390385723 meters 0.014373426663973224 Centerline is valid? [True, True] Translation: X:4.23, Y:-217.52, Z:-8.04 [[-9.80581338e-01 1.95843718e-01 1.02702545e-02 4.23166197e+00] [ 1.95832901e-01 9.80635120e-01 -2.05836390e-03 -2.17523305e+02] [-1.04744899e-02 -7.13948518e-06 -9.99945141e-01 -8.04321737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.420385723 meters 0.014423508942401365 Centerline is valid? [True, True] Translation: X:4.22, Y:-217.50, Z:-8.04 [[-9.92273840e-01 1.23651652e-01 1.01437784e-02 4.22283104e+00] [ 1.23644898e-01 9.92325687e-01 -1.29266177e-03 -2.17495091e+02] [-1.02257717e-02 -2.84480033e-05 -9.99947715e-01 -8.04272957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.450385723 meters 0.014356029334598263 Centerline is valid? [True, True] Translation: X:4.28, Y:-217.00, Z:-9.02 [[-9.80644867e-01 -1.95569236e-01 9.39779000e-03 4.28480966e+00] [ 1.95560111e-01 -9.80689897e-01 -1.88928160e-03 -2.16995514e+02] [ 9.58580307e-03 -1.48814487e-05 9.99954055e-01 -9.02422919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.480385723 meters 0.014393406258579428 Centerline is valid? [True, True] Translation: X:4.17, Y:-217.49, Z:-8.04 [[-9.92708779e-01 1.20179506e-01 9.28260575e-03 4.17007563e+00] [ 1.20174044e-01 9.92752178e-01 -1.14602913e-03 -2.17493373e+02] [-9.35305629e-03 -2.21449106e-05 -9.99956259e-01 -8.04334995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.510385723 meters 0.014247644479590873 Centerline is valid? [True, True] Translation: X:4.16, Y:-217.47, Z:-8.04 [[-9.98680793e-01 5.04243440e-02 9.69837139e-03 4.16455642e+00] [ 5.04218502e-02 9.98727884e-01 -5.01639030e-04 -2.17467886e+02] [-9.71132875e-03 -1.19674357e-05 -9.99952844e-01 -8.04389973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.540385723 meters 0.014356979170289743 Centerline is valid? [True, True] Translation: X:4.18, Y:-216.95, Z:-9.03 [[-9.92719434e-01 -1.19996575e-01 1.04378193e-02 4.18411344e+00] [ 1.19990630e-01 -9.92774304e-01 -1.19623246e-03 -2.16946614e+02] [ 1.05059426e-02 6.49173028e-05 9.99944809e-01 -9.02578899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.570385723 meters 0.014354327718596537 Centerline is valid? [True, True] Translation: X:4.10, Y:-217.47, Z:-8.04 [[-9.98909692e-01 4.54010824e-02 1.08705919e-02 4.10317915e+00] [ 4.53981494e-02 9.98968839e-01 -5.16548797e-04 -2.17470099e+02] [-1.08828344e-02 -2.24808459e-05 -9.99940780e-01 -8.04197306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.600385723 meters 0.014350823216677563 Centerline is valid? [True, True] Translation: X:4.09, Y:-217.44, Z:-8.04 [[-9.99557814e-01 -2.79234246e-02 1.02205192e-02 4.09121753e+00] [-2.79224086e-02 9.99610064e-01 2.42123166e-04 -2.17443337e+02] [-1.02232947e-02 -4.33654095e-05 -9.99947740e-01 -8.04211470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.630385723 meters 0.014336099449961363 Centerline is valid? [True, True] Translation: X:4.07, Y:-216.91, Z:-9.02 [[-9.98725285e-01 -4.94676078e-02 1.00380241e-02 4.07407690e+00] [ 4.94654195e-02 -9.98775728e-01 -4.66311769e-04 -2.16909315e+02] [ 1.00488022e-02 3.08177199e-05 9.99949509e-01 -9.02370942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.660385723 meters 0.01499207908173219 Centerline is valid? [True, True] Translation: X:4.02, Y:-217.45, Z:-8.04 [[-9.99269327e-01 -3.71773015e-02 8.86908420e-03 4.02060076e+00] [-3.71765474e-02 9.99308682e-01 2.49935131e-04 -2.17447463e+02] [-8.87224475e-03 -7.99694185e-05 -9.99960638e-01 -8.04277919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.690385723 meters 0.014780030401230677 Centerline is valid? [True, True] Translation: X:4.00, Y:-216.91, Z:-9.02 [[-9.98717703e-01 -4.97597709e-02 9.32280044e-03 4.00085065e+00] [ 4.97586772e-02 -9.98761209e-01 -3.49377663e-04 -2.16908419e+02] [ 9.32863639e-03 1.14960560e-04 9.99956481e-01 -9.02378749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.720385723 meters 0.015135347219444182 Centerline is valid? [True, True] Translation: X:3.95, Y:-217.46, Z:-8.04 [[-9.98891732e-01 -4.60002336e-02 9.96429533e-03 3.94858643e+00] [-4.59992657e-02 9.98941420e-01 3.26415602e-04 -2.17455402e+02] [-9.96876252e-03 -1.32296422e-04 -9.99950302e-01 -8.04355877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.750385723 meters 0.015083416247520489 Centerline is valid? [True, True] Translation: X:3.93, Y:-216.90, Z:-9.02 [[-9.98759125e-01 -4.87260884e-02 1.02945574e-02 3.92666505e+00] [ 4.87251385e-02 -9.98812166e-01 -3.43210828e-04 -2.16904932e+02] [ 1.02990525e-02 1.58818791e-04 9.99946951e-01 -9.02422871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.780385723 meters 0.015391718534513231 Centerline is valid? [True, True] Translation: X:3.88, Y:-217.46, Z:-8.04 [[-9.98547163e-01 -5.27721120e-02 1.08934635e-02 3.87772574e+00] [-5.27708058e-02 9.98606567e-01 4.07511192e-04 -2.17463557e+02] [-1.08997894e-02 -1.67937700e-04 -9.99940581e-01 -8.04291380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.810385723 meters 0.01550184447500193 Centerline is valid? [True, True] Translation: X:3.86, Y:-217.44, Z:-8.04 [[-9.92177126e-01 -1.24359760e-01 1.09179502e-02 3.86088341e+00] [-1.24354181e-01 9.92237179e-01 1.19099206e-03 -2.17437963e+02] [-1.09813076e-02 -1.76017685e-04 -9.99939688e-01 -8.04268483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8403857229999 meters 0.01566888273711844 Centerline is valid? [True, True] Translation: X:3.85, Y:-217.42, Z:-8.04 [[-9.80783921e-01 -1.94822930e-01 1.03405046e-02 3.85039106e+00] [-1.94813908e-01 9.80838416e-01 1.88247717e-03 -2.17415467e+02] [-1.05091139e-02 -1.68170773e-04 -9.99944764e-01 -8.04323045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.870385723 meters 0.01566888273711844 Centerline is valid? [True, True] Translation: X:3.82, Y:-217.39, Z:-8.04 [[-9.64297352e-01 -2.64626162e-01 1.01789618e-02 3.82481475e+00] [-2.64613257e-01 9.64351060e-01 2.61881561e-03 -2.17391630e+02] [-1.05090998e-02 -1.68171283e-04 -9.99944764e-01 -8.04323069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.900385723 meters 0.01569218335459382 Centerline is valid? [True, True] Translation: X:3.79, Y:-217.37, Z:-8.04 [[-9.42860803e-01 -3.33045182e-01 9.71664047e-03 3.78788246e+00] [-3.33029250e-01 9.42910855e-01 3.26156821e-03 -2.17374914e+02] [-1.02481754e-02 -1.60720670e-04 -9.99947473e-01 -8.04332668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.930385723 meters 0.015671660011147143 Centerline is valid? [True, True] Translation: X:3.73, Y:-217.37, Z:-8.04 [[-9.16804938e-01 -3.99228018e-01 9.25711991e-03 3.73362581e+00] [-3.99209178e-01 9.16851662e-01 3.88099297e-03 -2.17370133e+02] [-1.00368069e-02 -1.37413710e-04 -9.99949621e-01 -8.04291249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.960385723 meters 0.014904991585204218 Centerline is valid? [True, True] Translation: X:3.67, Y:-217.37, Z:-8.04 [[-8.85650756e-01 -4.64265081e-01 8.98180148e-03 3.66845833e+00] [-4.64242614e-01 8.85696291e-01 4.56906492e-03 -2.17374410e+02] [-1.00764055e-02 -1.23139197e-04 -9.99949224e-01 -8.04428403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.990385723 meters 0.014595204039154973 Centerline is valid? [True, True] Translation: X:3.60, Y:-217.39, Z:-8.04 [[-8.50589897e-01 -5.25767329e-01 8.09591624e-03 3.59627360e+00] [-5.25744460e-01 8.50628420e-01 4.90453034e-03 -2.17389304e+02] [-9.46525825e-03 -8.46391506e-05 -9.99955200e-01 -8.04451192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.020385723 meters 0.014764253392563436 Centerline is valid? [True, True] Translation: X:3.52, Y:-217.41, Z:-8.04 [[-8.10089780e-01 -5.86253467e-01 7.83713657e-03 3.51924782e+00] [-5.86226859e-01 8.10127686e-01 5.58590793e-03 -2.17407443e+02] [-9.62383920e-03 -6.92530253e-05 -9.99953687e-01 -8.04263961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.050385723 meters 0.014312077535762519 Centerline is valid? [True, True] Translation: X:3.44, Y:-217.44, Z:-8.04 [[-7.65957503e-01 -6.42852006e-01 7.09938197e-03 3.43905525e+00] [-6.42824842e-01 7.65990403e-01 5.90984336e-03 -2.17441125e+02] [-9.23721312e-03 -3.69702265e-05 -9.99957335e-01 -8.04358375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.080385723 meters 0.01409798063137936 Centerline is valid? [True, True] Translation: X:3.35, Y:-217.48, Z:-8.05 [[-7.16302277e-01 -6.97761015e-01 6.37283435e-03 3.35415317e+00] [-6.97733704e-01 7.16330625e-01 6.17356721e-03 -2.17483311e+02] [-8.87273094e-03 -2.44010678e-05 -9.99960636e-01 -8.04513332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.110385723 meters 0.014111269937728332 Centerline is valid? [True, True] Translation: X:3.27, Y:-217.54, Z:-8.05 [[-6.63464486e-01 -7.48184062e-01 5.95693457e-03 3.27053310e+00] [-7.48153925e-01 6.63491228e-01 6.71527835e-03 -2.17537768e+02] [-8.97663807e-03 -1.35527700e-06 -9.99959709e-01 -8.04542454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.140385723 meters 0.014918698281599386 Centerline is valid? [True, True] Translation: X:3.19, Y:-217.60, Z:-8.04 [[-6.07117478e-01 -7.94590426e-01 5.86705109e-03 3.18658791e+00] [-7.94552898e-01 6.07145826e-01 7.72266074e-03 -2.17604284e+02] [-9.69850787e-03 2.68798648e-05 -9.99952968e-01 -8.04438456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.170385723 meters 0.01409538084724426 Centerline is valid? [True, True] Translation: X:3.10, Y:-217.68, Z:-8.05 [[-5.45780357e-01 -8.37911316e-01 5.33190871e-03 3.10466822e+00] [-8.37870666e-01 5.45806400e-01 8.25353833e-03 -2.17675299e+02] [-9.82592306e-03 3.71691946e-05 -9.99951724e-01 -8.04524110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.200385723 meters 0.014185848644779725 Centerline is valid? [True, True] Translation: X:3.03, Y:-217.76, Z:-8.04 [[-4.80993006e-01 -8.76712082e-01 4.65323053e-03 3.02551268e+00] [-8.76670165e-01 4.81015512e-01 8.57313576e-03 -2.17757376e+02] [-9.75444778e-03 4.42699613e-05 -9.99952423e-01 -8.04435943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.230385723 meters 0.014105039220125142 Centerline is valid? [True, True] Translation: X:2.95, Y:-217.85, Z:-8.04 [[-4.12749684e-01 -9.10834699e-01 4.22497480e-03 2.95267578e+00] [-9.10785779e-01 4.12771304e-01 9.44014648e-03 -2.17848332e+02] [-1.03423613e-02 4.83705121e-05 -9.99946515e-01 -8.04453520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.260385723 meters 0.014069765983871715 Centerline is valid? [True, True] Translation: X:2.88, Y:-217.95, Z:-8.04 [[-3.41578705e-01 -9.39846903e-01 3.43341360e-03 2.88385083e+00] [-9.39798090e-01 3.41595957e-01 9.57871342e-03 -2.17946269e+02] [-1.01753643e-02 4.51689746e-05 -9.99948229e-01 -8.04415080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.290385723 meters 0.014027428873043063 Centerline is valid? [True, True] Translation: X:2.82, Y:-218.05, Z:-8.04 [[-2.68206824e-01 -9.63358311e-01 2.42174917e-03 2.82411074e+00] [-9.63317753e-01 2.68217755e-01 8.83987856e-03 -2.18051212e+02] [-9.16552660e-03 3.80017864e-05 -9.99957995e-01 -8.04480159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.320385723 meters 0.013972461840635558 Centerline is valid? [True, True] Translation: X:2.77, Y:-218.16, Z:-8.04 [[-1.93349964e-01 -9.81128482e-01 1.64123522e-03 2.77063438e+00] [-9.81091588e-01 1.93356926e-01 8.50850326e-03 -2.18160757e+02] [-8.66527908e-03 3.49167305e-05 -9.99962455e-01 -8.04496120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.350385723 meters 0.014074264074250947 Centerline is valid? [True, True] Translation: X:2.73, Y:-218.28, Z:-8.04 [[-1.17579535e-01 -9.93063095e-01 8.61895206e-04 2.72816519e+00] [-9.93034421e-01 1.17582690e-01 7.54651160e-03 -2.18275573e+02] [-7.59550612e-03 3.14237193e-05 -9.99971153e-01 -8.04460103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.380385723 meters 0.013916581940524704 Centerline is valid? [True, True] Translation: X:2.69, Y:-218.40, Z:-8.05 [[-4.06130449e-02 -9.99174915e-01 2.64896914e-04 2.69346801e+00] [-9.99148953e-01 4.06138992e-02 7.20280362e-03 -2.18399294e+02] [-7.20761919e-03 2.78563122e-05 -9.99974024e-01 -8.04665588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.410385723 meters 0.013868708543226914 Centerline is valid? [True, True] Translation: X:2.67, Y:-218.52, Z:-8.05 [[ 3.63668972e-02 -9.99338467e-01 -2.76660133e-04 2.66657162e+00] [-9.99314860e-01 -3.63679397e-02 6.86910636e-03 -2.18518076e+02] [-6.87462378e-03 2.66624967e-05 -9.99976369e-01 -8.04655041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.440385723 meters 0.013846904417677865 Centerline is valid? [True, True] Translation: X:2.65, Y:-218.65, Z:-8.05 [[ 1.12725202e-01 -9.93625972e-01 -6.76096540e-04 2.64968590e+00] [-9.93609400e-01 -1.12727227e-01 5.73874402e-03 -2.18650116e+02] [-5.77837959e-03 2.48747976e-05 -9.99983305e-01 -8.04696402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.470385723 meters 0.013839669580021126 Centerline is valid? [True, True] Translation: X:2.64, Y:-218.77, Z:-8.05 [[ 1.88485823e-01 -9.82075432e-01 -9.70186593e-04 2.64382251e+00] [-9.82063062e-01 -1.88488318e-01 4.92904098e-03 -2.18770458e+02] [-5.02355888e-03 2.37300731e-05 -9.99987382e-01 -8.04759945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.500385723 meters 0.013887210131094563 Centerline is valid? [True, True] Translation: X:2.65, Y:-218.89, Z:-8.05 [[ 2.63640036e-01 -9.64620049e-01 -1.44631307e-03 2.64635955e+00] [-9.64606047e-01 -2.63644002e-01 5.19756989e-03 -2.18891068e+02] [-5.39499189e-03 2.48348236e-05 -9.99985447e-01 -8.04674613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.530385723 meters 0.013858083868443132 Centerline is valid? [True, True] Translation: X:2.66, Y:-219.01, Z:-8.05 [[ 3.37573993e-01 -9.41296748e-01 -2.05682256e-03 2.65703174e+00] [-9.41279710e-01 -3.37580259e-01 5.66358666e-03 -2.19014384e+02] [-6.02545840e-03 2.41657776e-05 -9.99981847e-01 -8.04638146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.560385723 meters 0.013968612770733314 Centerline is valid? [True, True] Translation: X:2.68, Y:-219.14, Z:-8.05 [[ 4.09348924e-01 -9.12372661e-01 -3.09615281e-03 2.67900138e+00] [-9.12347054e-01 -4.09360632e-01 6.83560556e-03 -2.19137018e+02] [-7.50406271e-03 2.66181179e-05 -9.99971844e-01 -8.04507558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5903857229999 meters 0.013864908582061353 Centerline is valid? [True, True] Translation: X:2.71, Y:-219.25, Z:-8.04 [[ 4.77934791e-01 -8.78387399e-01 -3.73005071e-03 2.70636554e+00] [-8.78361137e-01 -4.77949345e-01 6.79233700e-03 -2.19253781e+02] [-7.74907852e-03 3.00374242e-05 -9.99969975e-01 -8.04486497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.620385723 meters 0.014035088350131696 Centerline is valid? [True, True] Translation: X:2.74, Y:-219.37, Z:-8.04 [[ 5.42333462e-01 -8.40152006e-01 -4.36143768e-03 2.74459565e+00] [-8.40125521e-01 -5.42350997e-01 6.67114993e-03 -2.19367018e+02] [-7.97021007e-03 4.61672669e-05 -9.99968236e-01 -8.04394116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.650385723 meters 0.014147909162409702 Centerline is valid? [True, True] Translation: X:2.79, Y:-219.48, Z:-8.04 [[ 6.03909122e-01 -7.97037622e-01 -4.98009700e-03 2.78978200e+00] [-7.97011336e-01 -6.03929653e-01 6.47345284e-03 -2.19476030e+02] [-8.16721371e-03 5.98165425e-05 -9.99966646e-01 -8.04385995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.680385723 meters 0.014728541509373656 Centerline is valid? [True, True] Translation: X:2.84, Y:-219.57, Z:-8.04 [[ 6.59914262e-01 -7.51320537e-01 -5.53336503e-03 2.84270038e+00] [-7.51295340e-01 -6.59937453e-01 6.15395958e-03 -2.19574592e+02] [-8.27527104e-03 9.61056644e-05 -9.99965755e-01 -8.04446607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.710385723 meters 0.015349389447634452 Centerline is valid? [True, True] Translation: X:2.90, Y:-219.67, Z:-8.04 [[ 7.13492606e-01 -7.00635664e-01 -6.16175776e-03 2.90225415e+00] [-7.00611004e-01 -7.13519202e-01 5.87964256e-03 -2.19673274e+02] [-8.51601975e-03 1.21913797e-04 -9.99963731e-01 -8.04439971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.740385723 meters 0.015898360502618506 Centerline is valid? [True, True] Translation: X:2.90, Y:-219.68, Z:-8.04 [[ 7.62850299e-01 -6.46537701e-01 -6.95862552e-03 2.89794113e+00] [-6.46512860e-01 -7.62882017e-01 5.67014937e-03 -2.19680320e+02] [-8.97457561e-03 1.73365738e-04 -9.99959713e-01 -8.04337598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.770385723 meters 0.017435430498600718 Centerline is valid? [True, True] Translation: X:2.89, Y:-219.69, Z:-8.04 [[ 8.09892158e-01 -5.86532985e-01 -7.33142217e-03 2.89238825e+00] [-5.86511060e-01 -8.09925318e-01 5.07490105e-03 -2.19688149e+02] [-8.91450130e-03 1.89837630e-04 -9.99960247e-01 -8.04142082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.800385723 meters 0.017781014127790703 Centerline is valid? [True, True] Translation: X:2.89, Y:-219.70, Z:-8.04 [[ 8.51928191e-01 -5.23612657e-01 -6.93847873e-03 2.88729375e+00] [-5.23597109e-01 -8.51956424e-01 4.03967480e-03 -2.19695072e+02] [-8.02650638e-03 1.91454554e-04 -9.99967769e-01 -8.04178023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.830385723 meters 0.017080924868338006 Centerline is valid? [True, True] Translation: X:2.88, Y:-219.70, Z:-8.04 [[ 8.90170956e-01 -4.55567112e-01 -7.36715288e-03 2.88086983e+00] [-4.55553327e-01 -8.90201420e-01 3.54943375e-03 -2.19702505e+02] [-8.17525524e-03 1.96528164e-04 -9.99966563e-01 -8.04311611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.860385723 meters 0.016739323491691282 Centerline is valid? [True, True] Translation: X:2.88, Y:-219.71, Z:-8.04 [[ 9.23488278e-01 -3.83554954e-01 -7.41599280e-03 2.87619837e+00] [-3.83544164e-01 -9.23518037e-01 2.88280165e-03 -2.19711272e+02] [-7.95451597e-03 1.82127221e-04 -9.99968346e-01 -8.04382174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.890385723 meters 0.016837991804921477 Centerline is valid? [True, True] Translation: X:2.87, Y:-219.72, Z:-8.04 [[ 9.51148731e-01 -3.08648609e-01 -7.21992332e-03 2.87108147e+00] [-3.08640992e-01 -9.51176120e-01 2.17426232e-03 -2.19719931e+02] [-7.53850168e-03 1.60317447e-04 -9.99971572e-01 -8.04346515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.920385723 meters 0.015707316003624624 Centerline is valid? [True, True] Translation: X:2.87, Y:-219.73, Z:-8.04 [[ 9.73342656e-01 -2.29240064e-01 -7.28469917e-03 2.86716801e+00] [-2.29234620e-01 -9.73369908e-01 1.58502429e-03 -2.19732785e+02] [-7.45405803e-03 1.27133487e-04 -9.99972210e-01 -8.04316499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.950385723 meters 0.015245666249960139 Centerline is valid? [True, True] Translation: X:2.86, Y:-219.74, Z:-8.04 [[ 9.88624212e-01 -1.50213138e-01 -7.62757400e-03 2.86083546e+00] [-1.50209562e-01 -9.88653630e-01 1.04283772e-03 -2.19743775e+02] [-7.69767665e-03 1.14759926e-04 -9.99970366e-01 -8.04375824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.980385723 meters 0.01473117264770245 Centerline is valid? [True, True] Translation: X:2.86, Y:-219.76, Z:-8.05 [[ 9.97579438e-01 -6.91339275e-02 -7.46759664e-03 2.85520190e+00] [-6.91326462e-02 -9.97607384e-01 4.29894795e-04 -2.19757432e+02] [-7.47944987e-03 8.74005089e-05 -9.99972025e-01 -8.04612264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.010385723 meters 0.01468817993074647 Centerline is valid? [True, True] Translation: X:2.85, Y:-219.77, Z:-8.05 [[ 9.99922664e-01 1.02620783e-02 -7.02537094e-03 2.84879051e+00] [ 1.02613000e-02 -9.99947341e-01 -1.46833325e-04 -2.19769898e+02] [-7.02650780e-03 7.47325313e-05 -9.99975311e-01 -8.04635125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.040385723 meters 0.014724821887064131 Centerline is valid? [True, True] Translation: X:2.84, Y:-219.78, Z:-8.05 [[ 9.95970320e-01 8.94621133e-02 -6.29694728e-03 2.84407508e+00] [ 8.94599358e-02 -9.95990224e-01 -6.27181850e-04 -2.19782356e+02] [-6.32780695e-03 6.13300078e-05 -9.99979977e-01 -8.04637779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.070385723 meters 0.014975437878644983 Centerline is valid? [True, True] Translation: X:2.84, Y:-219.79, Z:-8.05 [[ 9.85950941e-01 1.66920774e-01 -6.18040918e-03 2.83964996e+00] [ 1.66917099e-01 -9.85970310e-01 -1.10938458e-03 -2.19792313e+02] [-6.27887928e-03 6.21828029e-05 -9.99980286e-01 -8.04632864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.100385723 meters 0.015523060163529627 Centerline is valid? [True, True] Translation: X:2.83, Y:-219.80, Z:-8.05 [[ 9.70247372e-01 2.42010958e-01 -7.12276758e-03 2.83460031e+00] [ 2.42003795e-01 -9.70273512e-01 -1.86402637e-03 -2.19798471e+02] [-7.36214752e-03 8.48299029e-05 -9.99972895e-01 -8.04618291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.130385723 meters 0.015609280497623562 Centerline is valid? [True, True] Translation: X:2.83, Y:-219.81, Z:-8.05 [[ 9.49261872e-01 3.14386028e-01 -7.95768292e-03 2.83309609e+00] [ 3.14373900e-01 -9.49295218e-01 -2.76411525e-03 -2.19809374e+02] [-8.42318955e-03 1.22181406e-04 -9.99964517e-01 -8.04716372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.160385723 meters 0.01577565012248661 Centerline is valid? [True, True] Translation: X:2.83, Y:-219.82, Z:-8.05 [[ 9.22288155e-01 3.86421615e-01 -7.93056481e-03 2.83269248e+00] [ 3.86406040e-01 -9.22322241e-01 -3.47213153e-03 -2.19822949e+02] [-8.65624298e-03 1.37887639e-04 -9.99962525e-01 -8.04793589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.190385723 meters 0.016646077300547613 Centerline is valid? [True, True] Translation: X:2.83, Y:-219.84, Z:-8.05 [[ 8.90420318e-01 4.55075184e-01 -7.63114829e-03 2.83202349e+00] [ 4.55056918e-01 -8.90453003e-01 -4.08058890e-03 -2.19835090e+02] [-8.65215366e-03 1.60832445e-04 -9.99962557e-01 -8.04722106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.220385723 meters 0.016816521003995128 Centerline is valid? [True, True] Translation: X:2.83, Y:-219.85, Z:-8.05 [[ 8.52609032e-01 5.22499282e-01 -7.23452591e-03 2.83241370e+00] [ 5.22478782e-01 -8.52639708e-01 -4.63147672e-03 -2.19846440e+02] [-8.58838732e-03 1.68952599e-04 -9.99963105e-01 -8.04741817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.250385723 meters 0.017146050641200648 Centerline is valid? [True, True] Translation: X:2.83, Y:-219.86, Z:-8.05 [[ 8.09791569e-01 5.86679711e-01 -6.67316974e-03 2.83355542e+00] [ 5.86658003e-01 -8.09819046e-01 -5.04979935e-03 -2.19857401e+02] [-8.36667477e-03 1.74416509e-04 -9.99964984e-01 -8.04802058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.280385723 meters 0.016840303664332062 Centerline is valid? [True, True] Translation: X:2.84, Y:-219.87, Z:-8.05 [[ 7.61633008e-01 6.47976374e-01 -6.46377539e-03 2.83834094e+00] [ 6.47950976e-01 -7.61660413e-01 -5.74002573e-03 -2.19871330e+02] [-8.64260289e-03 1.83583490e-04 -9.99962635e-01 -8.04869552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.310385723 meters 0.017463321502287178 Centerline is valid? [True, True] Translation: X:2.84, Y:-219.88, Z:-8.05 [[ 7.09052523e-01 7.05125497e-01 -6.52318507e-03 2.84162092e+00] [ 7.05092951e-01 -7.09082499e-01 -6.77788415e-03 -2.19884037e+02] [-9.40473530e-03 2.06424050e-04 -9.99955753e-01 -8.04837533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3403857229999 meters 0.017311080798774393 Centerline is valid? [True, True] Translation: X:2.85, Y:-219.90, Z:-8.05 [[ 6.51927985e-01 7.58259132e-01 -5.74377919e-03 2.84710149e+00] [ 7.58226941e-01 -6.51953256e-01 -6.98985477e-03 -2.19896449e+02] [-9.04479675e-03 2.01793818e-04 -9.99959075e-01 -8.04892622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.370385723 meters 0.017932980257536785 Centerline is valid? [True, True] Translation: X:2.85, Y:-219.91, Z:-8.05 [[ 5.91135576e-01 8.06558526e-01 -4.69831101e-03 2.85178722e+00] [ 8.06530470e-01 -5.91154217e-01 -6.73003983e-03 -2.19908173e+02] [-8.20559737e-03 1.89034985e-04 -9.99966316e-01 -8.04923070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.400385723 meters 0.019060783369893485 Centerline is valid? [True, True] Translation: X:2.85, Y:-219.92, Z:-8.05 [[ 5.27264117e-01 8.49691144e-01 -4.18455570e-03 2.85455164e+00] [ 8.49661302e-01 -5.27280683e-01 -7.12412994e-03 -2.19918407e+02] [-8.25974551e-03 2.00843035e-04 -9.99965868e-01 -8.04822551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.430385723 meters 0.018780662199068446 Centerline is valid? [True, True] Translation: X:2.86, Y:-219.93, Z:-8.05 [[ 4.61298437e-01 8.87238943e-01 -3.28786476e-03 2.86156778e+00] [ 8.87213214e-01 -4.61310109e-01 -6.75985700e-03 -2.19929258e+02] [-7.51433363e-03 2.01274400e-04 -9.99971747e-01 -8.04946865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.460385723 meters 0.01899279027134179 Centerline is valid? [True, True] Translation: X:2.87, Y:-219.94, Z:-8.05 [[ 3.91457342e-01 9.20192793e-01 -2.52450705e-03 2.86886576e+00] [ 9.20170369e-01 -3.91465435e-01 -6.42688109e-03 -2.19938772e+02] [-6.90222691e-03 1.92873206e-04 -9.99976161e-01 -8.05019708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.490385723 meters 0.020252084438952163 Centerline is valid? [True, True] Translation: X:2.88, Y:-219.95, Z:-8.05 [[ 3.20334988e-01 9.47302690e-01 -1.76328793e-03 2.87536332e+00] [ 9.47285049e-01 -3.20339789e-01 -5.78409936e-03 -2.19948684e+02] [-6.04414417e-03 1.82513110e-04 -9.99981717e-01 -8.05039510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.520385723 meters 0.020441534309784234 Centerline is valid? [True, True] Translation: X:2.88, Y:-219.96, Z:-8.05 [[ 2.46190331e-01 9.69220730e-01 -1.22367698e-03 2.88353606e+00] [ 9.69204934e-01 -2.46193308e-01 -5.53638884e-03 -2.19957438e+02] [-5.66724392e-03 1.77011639e-04 -9.99983925e-01 -8.05018211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.550385723 meters 0.021350284715339722 Centerline is valid? [True, True] Translation: X:2.89, Y:-219.97, Z:-8.05 [[ 1.70540322e-01 9.85350270e-01 -9.18762237e-04 2.89201917e+00] [ 9.85328436e-01 -1.70542663e-01 -6.56303012e-03 -2.19966103e+02] [-6.62357165e-03 2.13978712e-04 -9.99978041e-01 -8.04946151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.580385723 meters 0.021745538099545318 Centerline is valid? [True, True] Translation: X:2.90, Y:-219.97, Z:-8.05 [[ 9.34700299e-02 9.95622008e-01 -4.14048548e-04 2.89826066e+00] [ 9.95598691e-01 -9.34706761e-02 -6.81760979e-03 -2.19974014e+02] [-6.82646374e-03 2.25015999e-04 -9.99976674e-01 -8.04903712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.610385723 meters 0.02243906114860472 Centerline is valid? [True, True] Translation: X:2.91, Y:-219.98, Z:-8.05 [[ 1.49583785e-02 9.99888107e-01 1.45483849e-04 2.90614131e+00] [ 9.99854605e-01 -1.49566858e-02 -8.18946703e-03 -2.19981440e+02] [-8.18637473e-03 2.67963844e-04 -9.99966455e-01 -8.04886107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.640385723 meters 0.020437512149988075 Centerline is valid? [True, True] Translation: X:2.92, Y:-219.99, Z:-8.05 [[-6.34121390e-02 9.97987101e-01 8.04627497e-04 2.92202131e+00] [ 9.97952280e-01 6.34166515e-02 -8.34114439e-03 -2.19986407e+02] [-8.37538128e-03 2.74050038e-04 -9.99964888e-01 -8.05002690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.670385723 meters 0.02034020202980522 Centerline is valid? [True, True] Translation: X:2.94, Y:-219.99, Z:-8.05 [[-1.41318483e-01 9.89963299e-01 1.32391803e-03 2.93861350e+00] [ 9.89934874e-01 1.41324464e-01 -7.50612463e-03 -2.19989288e+02] [-7.61788990e-03 2.49838476e-04 -9.99970952e-01 -8.05030421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.700385723 meters 0.020270474534774333 Centerline is valid? [True, True] Translation: X:2.95, Y:-219.99, Z:-8.05 [[-2.18425974e-01 9.75852145e-01 1.63881759e-03 2.95285167e+00] [ 9.75831581e-01 2.18432016e-01 -6.33875978e-03 -2.19991519e+02] [-6.54366255e-03 2.14660180e-04 -9.99978567e-01 -8.05067261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.730385723 meters 0.01940142319706067 Centerline is valid? [True, True] Translation: X:2.97, Y:-219.99, Z:-8.05 [[-2.94439688e-01 9.55668677e-01 1.62766855e-03 2.97186106e+00] [ 9.55656983e-01 2.94444142e-01 -4.73058353e-03 -2.19990482e+02] [-5.00012797e-03 1.62621280e-04 -9.99987486e-01 -8.05305568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.760385723 meters 0.01940142319706067 Centerline is valid? [True, True] Translation: X:2.99, Y:-219.99, Z:-8.05 [[-3.68386039e-01 9.29670777e-01 1.99318196e-03 2.98559248e+00] [ 9.29659467e-01 3.68391395e-01 -4.58855219e-03 -2.19990258e+02] [-5.00011396e-03 1.62621916e-04 -9.99987486e-01 -8.05305580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.790385723 meters 0.020123412776856205 Centerline is valid? [True, True] Translation: X:3.00, Y:-219.99, Z:-8.05 [[-4.40489596e-01 8.97755042e-01 2.19099063e-03 2.99896354e+00] [ 8.97745576e-01 4.40495019e-01 -4.12534184e-03 -2.19989591e+02] [-4.66866690e-03 1.49781983e-04 -9.99989091e-01 -8.05362180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.820385723 meters 0.01954236007438541 Centerline is valid? [True, True] Translation: X:3.02, Y:-219.98, Z:-8.05 [[-5.10452921e-01 8.59903408e-01 1.98596794e-03 3.01523364e+00] [ 8.59897749e-01 5.10456772e-01 -3.12172081e-03 -2.19984794e+02] [-3.69812915e-03 1.14237850e-04 -9.99993155e-01 -8.05479678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.850385723 meters 0.021021415921754934 Centerline is valid? [True, True] Translation: X:3.03, Y:-219.98, Z:-8.05 [[-5.76765639e-01 8.16907209e-01 2.00232462e-03 3.02828096e+00] [ 8.16902880e-01 5.76769106e-01 -2.66131471e-03 -2.19982036e+02] [-3.32892616e-03 1.00749871e-04 -9.99994454e-01 -8.05433017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.880385723 meters 0.01926135643531368 Centerline is valid? [True, True] Translation: X:3.04, Y:-219.97, Z:-8.05 [[-6.38825183e-01 7.69347618e-01 2.57444307e-03 3.04364101e+00] [ 7.69342105e-01 6.38830360e-01 -2.91512198e-03 -2.19974077e+02] [-3.88737454e-03 1.18374114e-04 -9.99992437e-01 -8.05422069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.910385723 meters 0.02045638007688076 Centerline is valid? [True, True] Translation: X:3.06, Y:-219.97, Z:-8.05 [[-6.96615984e-01 7.17435575e-01 3.51659740e-03 3.05611037e+00] [ 7.17427522e-01 6.96624843e-01 -3.40275686e-03 -2.19968038e+02] [-4.89100794e-03 1.52488941e-04 -9.99988027e-01 -8.05281734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.940385723 meters 0.02038374260117964 Centerline is valid? [True, True] Translation: X:3.56, Y:-219.45, Z:-9.02 [[-6.93580973e-01 -7.20370067e-01 3.52126655e-03 3.56454119e+00] [ 7.20359719e-01 -6.93589897e-01 -3.86390001e-03 -2.19450944e+02] [ 5.22575281e-03 -1.43348950e-04 9.99986335e-01 -9.01501753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.970385723 meters 0.02085550476320992 Centerline is valid? [True, True] Translation: X:3.54, Y:-219.43, Z:-9.01 [[-6.94912483e-01 -7.19084958e-01 3.66925966e-03 3.54286322e+00] [ 7.19073518e-01 -6.94922146e-01 -4.06032659e-03 -2.19433157e+02] [ 5.46956958e-03 -1.83104179e-04 9.99985025e-01 -9.01469820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.000385723 meters 0.021383521511172277 Centerline is valid? [True, True] Translation: X:3.52, Y:-219.41, Z:-9.01 [[-6.95700322e-01 -7.18322868e-01 3.64959366e-03 3.52251860e+00] [ 7.18311551e-01 -6.95709870e-01 -4.03643224e-03 -2.19413200e+02] [ 5.43851991e-03 -1.86601922e-04 9.99985194e-01 -9.01478889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.030385723 meters 0.022183961132822297 Centerline is valid? [True, True] Translation: X:3.50, Y:-219.40, Z:-9.02 [[-6.96668506e-01 -7.17378997e-01 4.51293959e-03 3.50137646e+00] [ 7.17361688e-01 -6.96683083e-01 -4.98916349e-03 -2.19396557e+02] [ 6.72320976e-03 -2.38383121e-04 9.99977371e-01 -9.01566934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.060385723 meters 0.02163701289634787 Centerline is valid? [True, True] Translation: X:3.48, Y:-219.38, Z:-9.02 [[-6.97003684e-01 -7.17052008e-01 4.72042273e-03 3.48047527e+00] [ 7.17033085e-01 -6.97019623e-01 -5.21543691e-03 -2.19379292e+02] [ 7.02996678e-03 -2.50479473e-04 9.99975258e-01 -9.01618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0903857229999 meters 0.022257661004779182 Centerline is valid? [True, True] Translation: X:3.46, Y:-219.36, Z:-9.02 [[-6.97130095e-01 -7.16921288e-01 5.78766703e-03 3.45885708e+00] [ 7.16892861e-01 -6.97154052e-01 -6.39166218e-03 -2.19362850e+02] [ 8.61721420e-03 -3.06682883e-04 9.99962824e-01 -9.01753915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.120385723 meters 0.020616974183575408 Centerline is valid? [True, True] Translation: X:3.44, Y:-219.35, Z:-9.02 [[-6.97390786e-01 -7.16663953e-01 6.23451664e-03 3.43668313e+00] [ 7.16630996e-01 -6.97418575e-01 -6.88093463e-03 -2.19346476e+02] [ 9.27938552e-03 -3.30852545e-04 9.99956891e-01 -9.01733631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.150385723 meters 0.022985405297442568 Centerline is valid? [True, True] Translation: X:3.42, Y:-219.33, Z:-9.02 [[-6.97349189e-01 -7.16705198e-01 6.14550095e-03 3.41813284e+00] [ 7.16673217e-01 -6.97376193e-01 -6.77834038e-03 -2.19328463e+02] [ 9.14379784e-03 -3.22554231e-04 9.99958143e-01 -9.01736449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.180385723 meters 0.019532468959307214 Centerline is valid? [True, True] Translation: X:3.39, Y:-219.32, Z:-9.02 [[-6.96359812e-01 -7.17673989e-01 5.20169492e-03 3.39063714e+00] [ 7.17651128e-01 -6.96379191e-01 -5.73419658e-03 -2.19315187e+02] [ 7.73763583e-03 -2.60061825e-04 9.99970030e-01 -9.01554038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.210385723 meters 0.018424125515330937 Centerline is valid? [True, True] Translation: X:3.37, Y:-219.30, Z:-9.02 [[-6.95575985e-01 -7.18434913e-01 5.03238245e-03 3.36832456e+00] [ 7.18413558e-01 -6.95594147e-01 -5.54457579e-03 -2.19297417e+02] [ 7.48391260e-03 -2.41341983e-04 9.99971966e-01 -9.01526428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.240385723 meters 0.017327032383128424 Centerline is valid? [True, True] Translation: X:3.34, Y:-219.28, Z:-9.02 [[-6.92422684e-01 -7.21471289e-01 5.47776608e-03 3.34437401e+00] [ 7.21446106e-01 -6.92444315e-01 -6.03211828e-03 -2.19280631e+02] [ 8.14504812e-03 -2.24862521e-04 9.99966803e-01 -9.01556923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.270385723 meters 0.01689424744939773 Centerline is valid? [True, True] Translation: X:3.32, Y:-219.26, Z:-9.02 [[-6.90121498e-01 -7.23670023e-01 5.83229763e-03 3.32402016e+00] [ 7.23641572e-01 -6.90146110e-01 -6.42038657e-03 -2.19262976e+02] [ 8.67137882e-03 -2.10353775e-04 9.99962381e-01 -9.01602111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.300385723 meters 0.015313452484857736 Centerline is valid? [True, True] Translation: X:3.30, Y:-219.25, Z:-9.02 [[-6.84337028e-01 -7.29141106e-01 6.00670698e-03 3.29914257e+00] [ 7.29111159e-01 -6.84363374e-01 -6.60988360e-03 -2.19247652e+02] [ 8.93030809e-03 -1.43831007e-04 9.99960114e-01 -9.01638781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.330385723 meters 0.014887917187050915 Centerline is valid? [True, True] Translation: X:3.28, Y:-219.23, Z:-9.02 [[-6.81886905e-01 -7.31433748e-01 5.90949234e-03 3.27763179e+00] [ 7.31404879e-01 -6.81912502e-01 -6.49942830e-03 -2.19228836e+02] [ 8.78365791e-03 -1.09643513e-04 9.99961417e-01 -9.01621365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.360385723 meters 0.014229990049528669 Centerline is valid? [True, True] Translation: X:3.25, Y:-219.21, Z:-9.02 [[-6.77682257e-01 -7.35330576e-01 5.97515468e-03 3.25457600e+00] [ 7.35301242e-01 -6.77708595e-01 -6.56838671e-03 -2.19210871e+02] [ 8.87934927e-03 -5.77404701e-05 9.99960576e-01 -9.01581600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.390385723 meters 0.014122655770174035 Centerline is valid? [True, True] Translation: X:3.23, Y:-219.19, Z:-9.02 [[-6.76284693e-01 -7.36615847e-01 6.00906542e-03 3.23459735e+00] [ 7.36586262e-01 -6.76311387e-01 -6.60201932e-03 -2.19191625e+02] [ 8.92715142e-03 -3.86495704e-05 9.99960152e-01 -9.01588224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.420385723 meters 0.013936859866484165 Centerline is valid? [True, True] Translation: X:3.22, Y:-219.17, Z:-9.02 [[-6.75290267e-01 -7.37527617e-01 6.00585034e-03 3.21517037e+00] [ 7.37498132e-01 -6.75316973e-01 -6.59481842e-03 -2.19171778e+02] [ 8.91971339e-03 -2.41132823e-05 9.99960218e-01 -9.01520875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.450385723 meters 0.013981569829695558 Centerline is valid? [True, True] Translation: X:3.20, Y:-219.15, Z:-9.02 [[-6.74533227e-01 -7.38217384e-01 6.32613343e-03 3.19665906e+00] [ 7.38184739e-01 -6.74562891e-01 -6.94242974e-03 -2.19152667e+02] [ 9.39239718e-03 -1.30443903e-05 9.99955890e-01 -9.01512787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.480385723 meters 0.013828037233991732 Centerline is valid? [True, True] Translation: X:3.18, Y:-219.13, Z:-9.02 [[-6.74656791e-01 -7.38101223e-01 6.69314881e-03 3.17755904e+00] [ 7.38064715e-01 -6.74689991e-01 -7.34117752e-03 -2.19132486e+02] [ 9.93433262e-03 -1.27983004e-05 9.99950653e-01 -9.01559240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.510385723 meters 0.013815652677393726 Centerline is valid? [True, True] Translation: X:3.16, Y:-219.11, Z:-9.02 [[-6.75359283e-01 -7.37456599e-01 6.89959074e-03 3.15987250e+00] [ 7.37417820e-01 -6.75394525e-01 -7.56272365e-03 -2.19112905e+02] [ 1.02371263e-02 -1.96744590e-05 9.99947599e-01 -9.01605695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.540385723 meters 0.013952024619660412 Centerline is valid? [True, True] Translation: X:3.14, Y:-219.09, Z:-9.02 [[-6.76379262e-01 -7.36521133e-01 6.90761012e-03 3.14193449e+00] [ 7.36482262e-01 -6.76414532e-01 -7.56694596e-03 -2.19091951e+02] [ 1.02456235e-02 -3.07929961e-05 9.99947512e-01 -9.01633790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.570385723 meters 0.013781970484220172 Centerline is valid? [True, True] Translation: X:3.12, Y:-219.07, Z:-9.02 [[-6.77063637e-01 -7.35893287e-01 6.77512561e-03 3.12398121e+00] [ 7.35855906e-01 -6.77097533e-01 -7.41728973e-03 -2.19071251e+02] [ 1.00457546e-02 -3.64609667e-05 9.99949540e-01 -9.01549281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.600385723 meters 0.013763271781811104 Centerline is valid? [True, True] Translation: X:3.11, Y:-219.05, Z:-9.01 [[-6.77712274e-01 -7.35295935e-01 6.77956271e-03 3.10645177e+00] [ 7.35258516e-01 -6.77746181e-01 -7.41808791e-03 -2.19049485e+02] [ 1.00493126e-02 -4.25980058e-05 9.99949504e-01 -9.01462366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.630385723 meters 0.013697668673745856 Centerline is valid? [True, True] Translation: X:3.09, Y:-219.03, Z:-9.01 [[-6.78240615e-01 -7.34807629e-01 6.88594586e-03 3.08854363e+00] [ 7.34769044e-01 -6.78275568e-01 -7.53033524e-03 -2.19027960e+02] [ 1.02039166e-02 -4.77993484e-05 9.99947938e-01 -9.01457608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.660385723 meters 0.013731192307579562 Centerline is valid? [True, True] Translation: X:3.07, Y:-219.01, Z:-9.01 [[-6.78330017e-01 -7.34723149e-01 7.09100273e-03 3.06995144e+00] [ 7.34682272e-01 -6.78367077e-01 -7.75030132e-03 -2.19006585e+02] [ 1.05046286e-02 -4.76280271e-05 9.99944824e-01 -9.01486056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.690385723 meters 0.013769356715355036 Centerline is valid? [True, True] Translation: X:3.05, Y:-218.99, Z:-9.02 [[-6.78721382e-01 -7.34359203e-01 7.33809502e-03 3.05202112e+00] [ 7.34315457e-01 -6.78761047e-01 -8.01569865e-03 -2.18985708e+02] [ 1.08672151e-02 -5.19494669e-05 9.99940949e-01 -9.01562704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.720385723 meters 0.013810420372681173 Centerline is valid? [True, True] Translation: X:3.04, Y:-218.96, Z:-9.02 [[-6.79469944e-01 -7.33672141e-01 6.76648213e-03 3.03536227e+00] [ 7.33634958e-01 -6.79503633e-01 -7.38655308e-03 -2.18964974e+02] [ 1.00171574e-02 -5.48129767e-05 9.99949826e-01 -9.01606460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.750385723 meters 0.013751117424253492 Centerline is valid? [True, True] Translation: X:3.02, Y:-218.94, Z:-9.02 [[-6.79878018e-01 -7.33294162e-01 6.74927153e-03 3.01741520e+00] [ 7.33257194e-01 -6.79911515e-01 -7.36331867e-03 -2.18943814e+02] [ 9.98838602e-03 -5.72065949e-05 9.99950113e-01 -9.01589692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.780385723 meters 0.01372324217327512 Centerline is valid? [True, True] Translation: X:3.00, Y:-218.92, Z:-9.02 [[-6.79802720e-01 -7.33363492e-01 6.80085622e-03 3.00011700e+00] [ 7.33326002e-01 -6.79836735e-01 -7.41540887e-03 -2.18922192e+02] [ 1.00616620e-02 -5.37704156e-05 9.99949379e-01 -9.01547698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.810385723 meters 0.013825434942793167 Centerline is valid? [True, True] Translation: X:2.98, Y:-218.90, Z:-9.02 [[-6.79440568e-01 -7.33695352e-01 7.18645466e-03 2.98173780e+00] [ 7.33653556e-01 -6.79478571e-01 -7.83146232e-03 -2.18900547e+02] [ 1.06289494e-02 -4.86451908e-05 9.99943510e-01 -9.01578387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8403857229999 meters 0.013833279217201882 Centerline is valid? [True, True] Translation: X:2.96, Y:-218.88, Z:-9.02 [[-6.78663528e-01 -7.34411464e-01 7.45769592e-03 2.96463275e+00] [ 7.34366533e-01 -6.78704501e-01 -8.12372601e-03 -2.18879475e+02] [ 1.10277293e-02 -3.65942591e-05 9.99939192e-01 -9.01632970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.870385723 meters 0.013684804907089235 Centerline is valid? [True, True] Translation: X:2.95, Y:-218.86, Z:-9.02 [[-6.77365687e-01 -7.35609083e-01 7.41639814e-03 2.94666944e+00] [ 7.35564769e-01 -6.77406286e-01 -8.07427116e-03 -2.18857980e+02] [ 1.09634219e-02 -1.39930517e-05 9.99939900e-01 -9.01696688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.900385723 meters 0.013842032405400799 Centerline is valid? [True, True] Translation: X:2.93, Y:-218.84, Z:-9.02 [[-6.76736016e-01 -7.36193616e-01 6.87929193e-03 2.92958999e+00] [ 7.36155563e-01 -6.76770980e-01 -7.48518198e-03 -2.18837538e+02] [ 1.01662483e-02 -1.26321111e-06 9.99948322e-01 -9.01676497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.930385723 meters 0.013917982550083679 Centerline is valid? [True, True] Translation: X:2.91, Y:-218.81, Z:-9.02 [[-6.75923733e-01 -7.36947865e-01 5.91191009e-03 2.91251307e+00] [ 7.36919822e-01 -6.75949587e-01 -6.42902890e-03 -2.18814811e+02] [ 8.73401231e-03 1.10705163e-05 9.99961858e-01 -9.01562821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.960385723 meters 0.013863537594707275 Centerline is valid? [True, True] Translation: X:2.89, Y:-218.79, Z:-9.02 [[-6.75923467e-01 -7.36947848e-01 5.94434729e-03 2.89494051e+00] [ 7.36919530e-01 -6.75949605e-01 -6.46051918e-03 -2.18794381e+02] [ 8.77914491e-03 1.36890830e-05 9.99961463e-01 -9.01601190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.990385723 meters 0.013883727070354413 Centerline is valid? [True, True] Translation: X:2.88, Y:-218.77, Z:-9.02 [[-6.75879878e-01 -7.36992703e-01 5.30532951e-03 2.87808180e+00] [ 7.36970172e-01 -6.75900700e-01 -5.76285193e-03 -2.18771822e+02] [ 7.83305575e-03 1.48739397e-05 9.99969321e-01 -9.01595525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.020385723 meters 0.013990887174059162 Centerline is valid? [True, True] Translation: X:2.86, Y:-218.75, Z:-9.02 [[-6.76181134e-01 -7.36716392e-01 5.29453452e-03 2.86143379e+00] [ 7.36693965e-01 -6.76201862e-01 -5.74838505e-03 -2.18751398e+02] [ 7.81510360e-03 1.35021092e-05 9.99969462e-01 -9.01598834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.050385723 meters 0.014032186919388755 Centerline is valid? [True, True] Translation: X:2.84, Y:-218.73, Z:-9.02 [[-6.76682903e-01 -7.36262544e-01 4.20908862e-03 2.84494123e+00] [ 7.36248379e-01 -6.76695993e-01 -4.56708673e-03 -2.18728911e+02] [ 6.21084830e-03 8.46516414e-06 9.99980713e-01 -9.01604243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.080385723 meters 0.014014537425553626 Centerline is valid? [True, True] Translation: X:2.83, Y:-218.71, Z:-9.02 [[-6.77076234e-01 -7.35905003e-01 3.40574290e-03 2.82748300e+00] [ 7.35895735e-01 -6.77084800e-01 -3.69338157e-03 -2.18706722e+02] [ 5.02395473e-03 5.57078882e-06 9.99987380e-01 -9.01542000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.110385723 meters 0.01405194700531948 Centerline is valid? [True, True] Translation: X:2.81, Y:-218.68, Z:-9.02 [[-6.77590106e-01 -7.35434778e-01 2.70845763e-03 2.81296343e+00] [ 7.35428920e-01 -6.77595519e-01 -2.93540139e-03 -2.18683130e+02] [ 3.99403502e-03 2.87913397e-06 9.99992024e-01 -9.01504200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.140385723 meters 0.014144005952969213 Centerline is valid? [True, True] Translation: X:2.80, Y:-218.66, Z:-9.02 [[-6.78095019e-01 -7.34970179e-01 2.44558294e-03 2.79616994e+00] [ 7.34965406e-01 -6.78099429e-01 -2.64887549e-03 -2.18661813e+02] [ 3.60519289e-03 1.22958150e-06 9.99993501e-01 -9.01502821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.170385723 meters 0.014122989533691005 Centerline is valid? [True, True] Translation: X:2.78, Y:-218.64, Z:-9.02 [[-6.78862093e-01 -7.34263927e-01 1.65652695e-03 2.78128939e+00] [ 7.34261737e-01 -6.78864114e-01 -1.79337833e-03 -2.18639895e+02] [ 2.44136971e-03 -1.13221214e-06 9.99997020e-01 -9.01607096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.200385723 meters 0.014139926245957914 Centerline is valid? [True, True] Translation: X:2.76, Y:-218.62, Z:-9.02 [[-6.79158515e-01 -7.33989584e-01 1.73246991e-03 2.76348986e+00] [ 7.33987191e-01 -6.79160725e-01 -1.87453093e-03 -2.18618068e+02] [ 2.55251170e-03 -1.49292621e-06 9.99996742e-01 -9.01574348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.230385723 meters 0.01415739462258472 Centerline is valid? [True, True] Translation: X:2.75, Y:-218.59, Z:-9.02 [[-6.79518088e-01 -7.33655795e-01 2.08387298e-03 2.74855553e+00] [ 7.33652334e-01 -6.79521283e-01 -2.25340151e-03 -2.18594698e+02] [ 3.06925712e-03 -2.38881046e-06 9.99995290e-01 -9.01669530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.260385723 meters 0.0141927248570058 Centerline is valid? [True, True] Translation: X:2.73, Y:-218.57, Z:-9.02 [[-6.80373138e-01 -7.32861719e-01 2.46850543e-03 2.73301072e+00] [ 7.32856864e-01 -6.80377616e-01 -2.66784614e-03 -2.18571350e+02] [ 3.63467815e-03 -6.06969779e-06 9.99993395e-01 -9.01742966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.290385723 meters 0.014150373554931242 Centerline is valid? [True, True] Translation: X:2.72, Y:-218.55, Z:-9.02 [[-6.80758155e-01 -7.32503082e-01 2.75127997e-03 2.71564190e+00] [ 7.32497054e-01 -6.80763714e-01 -2.97178670e-03 -2.18549418e+02] [ 4.04981449e-03 -7.76355997e-06 9.99991800e-01 -9.01793979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.320385723 meters 0.014291287965620021 Centerline is valid? [True, True] Translation: X:2.70, Y:-218.53, Z:-9.02 [[-6.82039495e-01 -7.31310432e-01 2.67938956e-03 2.70075624e+00] [ 7.31304712e-01 -6.82044758e-01 -2.89242038e-03 -2.18526572e+02] [ 3.94272080e-03 -1.32947265e-05 9.99992227e-01 -9.01926320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.350385723 meters 0.014275290014373944 Centerline is valid? [True, True] Translation: X:2.68, Y:-218.50, Z:-9.02 [[-6.83062037e-01 -7.30355846e-01 2.56750880e-03 2.68274722e+00] [ 7.30350593e-01 -6.83066862e-01 -2.77011418e-03 -2.18504495e+02] [ 3.77694926e-03 -1.69782579e-05 9.99992867e-01 -9.01926918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.380385723 meters 0.014693735906621682 Centerline is valid? [True, True] Translation: X:2.67, Y:-218.48, Z:-9.02 [[-6.85275618e-01 -7.28281053e-01 2.00901967e-03 2.66913292e+00] [ 7.28277832e-01 -6.85278562e-01 -2.16614426e-03 -2.18481799e+02] [ 2.95429993e-03 -2.12813510e-05 9.99995636e-01 -9.02059148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.410385723 meters 0.014583078510160932 Centerline is valid? [True, True] Translation: X:2.65, Y:-218.46, Z:-9.02 [[-6.86518029e-01 -7.27109575e-01 2.15908448e-03 2.65129420e+00] [ 7.27105853e-01 -6.86521424e-01 -2.32666217e-03 -2.18460370e+02] [ 3.17399609e-03 -2.74125693e-05 9.99994963e-01 -9.02020852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.440385723 meters 0.014836272418384264 Centerline is valid? [True, True] Translation: X:2.64, Y:-218.44, Z:-9.02 [[-6.88441439e-01 -7.25289937e-01 1.70034135e-03 2.63666904e+00] [ 7.25287625e-01 -6.88443539e-01 -1.83157750e-03 -2.18437578e+02] [ 2.49901375e-03 -2.76973043e-05 9.99996877e-01 -9.02063592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.470385723 meters 0.014923177562284427 Centerline is valid? [True, True] Translation: X:2.62, Y:-218.42, Z:-9.02 [[-6.89312145e-01 -7.24463481e-01 1.19661755e-03 2.62048369e+00] [ 7.24462336e-01 -6.89313183e-01 -1.28818612e-03 -2.18415233e+02] [ 1.75808806e-03 -2.10579916e-05 9.99998454e-01 -9.02130828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.500385723 meters 0.014972245599512764 Centerline is valid? [True, True] Translation: X:2.60, Y:-218.39, Z:-9.02 [[-6.89501289e-01 -7.24283704e-01 1.04380888e-03 2.60274094e+00] [ 7.24282833e-01 -6.89502079e-01 -1.12299880e-03 -2.18394757e+02] [ 1.53307812e-03 -1.82962611e-05 9.99998825e-01 -9.02187352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.530385723 meters 0.01495334176764481 Centerline is valid? [True, True] Translation: X:2.59, Y:-218.37, Z:-9.02 [[-6.88891496e-01 -7.24863315e-01 1.29664693e-03 2.58650544e+00] [ 7.24861974e-01 -6.88892716e-01 -1.39436322e-03 -2.18374288e+02] [ 1.90397337e-03 -2.06749101e-05 9.99998187e-01 -9.02300541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.560385723 meters 0.01476762884360276 Centerline is valid? [True, True] Translation: X:2.57, Y:-218.35, Z:-9.02 [[-6.88501846e-01 -7.25233852e-01 1.03358088e-03 2.56829782e+00] [ 7.25233002e-01 -6.88502621e-01 -1.11080349e-03 -2.18354440e+02] [ 1.51721544e-03 -1.52032906e-05 9.99998849e-01 -9.02328163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5903857229999 meters 0.014591635289493234 Centerline is valid? [True, True] Translation: X:2.55, Y:-218.33, Z:-9.02 [[-6.87374459e-01 -7.26303117e-01 3.69055776e-04 2.55155946e+00] [ 7.26303008e-01 -6.87374558e-01 -3.96377365e-04 -2.18334507e+02] [ 5.41569666e-04 -4.41335607e-06 9.99999853e-01 -9.02322753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.620385723 meters 0.014230774677785222 Centerline is valid? [True, True] Translation: X:2.53, Y:-218.31, Z:-9.02 [[-6.86839347e-01 -7.26809204e-01 3.04661412e-04 2.53229426e+00] [ 7.26809131e-01 -6.86839414e-01 -3.27033217e-04 -2.18314599e+02] [ 4.46944218e-04 -3.18858565e-06 9.99999900e-01 -9.02322379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.650385723 meters 0.014215481698284706 Centerline is valid? [True, True] Translation: X:2.52, Y:-218.29, Z:-9.02 [[-6.85355092e-01 -7.28208318e-01 1.02141423e-03 2.51554152e+00] [ 7.28207494e-01 -6.85355853e-01 -1.09578666e-03 -2.18293708e+02] [ 1.49799318e-03 -7.20147510e-06 9.99998878e-01 -9.02483747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.680385723 meters 0.014215481698284706 Centerline is valid? [True, True] Translation: X:2.50, Y:-218.27, Z:-9.02 [[-6.85565714e-01 -7.28010033e-01 1.02173116e-03 2.49720636e+00] [ 7.28009209e-01 -6.85566475e-01 -1.09549116e-03 -2.18274214e+02] [ 1.49799318e-03 -7.20147984e-06 9.99998878e-01 -9.02483763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.710385723 meters 0.014060296429286108 Centerline is valid? [True, True] Translation: X:2.48, Y:-218.25, Z:-9.03 [[-6.84898246e-01 -7.28637743e-01 1.19675983e-03 2.47902797e+00] [ 7.28636614e-01 -6.84899292e-01 -1.28236841e-03 -2.18254329e+02] [ 1.75404199e-03 -6.28884564e-06 9.99998462e-01 -9.02501601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.740385723 meters 0.0139409795807622 Centerline is valid? [True, True] Translation: X:2.46, Y:-218.23, Z:-9.03 [[-6.83451797e-01 -7.29991928e-01 2.32937767e-03 2.46182006e+00] [ 7.29987666e-01 -6.83455767e-01 -2.49446741e-03 -2.18232643e+02] [ 3.41296767e-03 -4.43126526e-06 9.99994176e-01 -9.02648716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.770385723 meters 0.013889726753807412 Centerline is valid? [True, True] Translation: X:2.44, Y:-218.21, Z:-9.03 [[-6.83310356e-01 -7.30124160e-01 2.38114337e-03 2.44485878e+00] [ 7.30119713e-01 -6.83314504e-01 -2.54825193e-03 -2.18212570e+02] [ 3.48761010e-03 -2.72721562e-06 9.99993918e-01 -9.02714233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.800385723 meters 0.013856106900837845 Centerline is valid? [True, True] Translation: X:2.43, Y:-218.19, Z:-9.03 [[-6.83898707e-01 -7.29573389e-01 2.28653558e-03 2.42947936e+00] [ 7.29569290e-01 -6.83902530e-01 -2.44550625e-03 -2.18190089e+02] [ 3.34794376e-03 -4.29242260e-06 9.99994396e-01 -9.02739691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.830385723 meters 0.013910848034518905 Centerline is valid? [True, True] Translation: X:2.41, Y:-218.17, Z:-9.03 [[-6.85651234e-01 -7.27927628e-01 1.93727378e-03 2.41496781e+00] [ 7.27924683e-01 -6.85653971e-01 -2.07068178e-03 -2.18165874e+02] [ 2.83560594e-03 -9.57611245e-06 9.99995980e-01 -9.02617604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.860385723 meters 0.013973991267190981 Centerline is valid? [True, True] Translation: X:2.40, Y:-218.14, Z:-9.03 [[-6.86725153e-01 -7.26914507e-01 1.96570939e-03 2.39847618e+00] [ 7.26911474e-01 -6.86727966e-01 -2.09978789e-03 -2.18144399e+02] [ 2.87627389e-03 -1.30804463e-05 9.99995863e-01 -9.02595238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.890385723 meters 0.014148591512805165 Centerline is valid? [True, True] Translation: X:2.38, Y:-218.12, Z:-9.03 [[-6.89098480e-01 -7.24665919e-01 1.60931246e-03 2.38428922e+00] [ 7.24663883e-01 -6.89100359e-01 -1.71797543e-03 -2.18122178e+02] [ 2.35393604e-03 -1.76436438e-05 9.99997229e-01 -9.02600108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.920385723 meters 0.01446001782388828 Centerline is valid? [True, True] Translation: X:2.37, Y:-218.10, Z:-9.03 [[-6.90341834e-01 -7.23481993e-01 1.39947289e-03 2.36869682e+00] [ 7.23480452e-01 -6.90343252e-01 -1.49302033e-03 -2.18101164e+02] [ 2.04628999e-03 -1.82031098e-05 9.99997906e-01 -9.02579985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.950385723 meters 0.01496051871127552 Centerline is valid? [True, True] Translation: X:2.35, Y:-218.08, Z:-9.03 [[-6.93342538e-01 -7.20607642e-01 8.67400291e-04 2.35284846e+00] [ 7.20607048e-01 -6.93343080e-01 -9.24887236e-04 -2.18077225e+02] [ 1.26788680e-03 -1.62089001e-05 9.99999196e-01 -9.02576302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.980385723 meters 0.015300663681662701 Centerline is valid? [True, True] Translation: X:2.33, Y:-218.05, Z:-9.03 [[-6.94906123e-01 -7.19099963e-01 8.50528730e-04 2.33499943e+00] [ 7.19099392e-01 -6.94906644e-01 -9.06416587e-04 -2.18054833e+02] [ 1.24284220e-03 -1.82597441e-05 9.99999228e-01 -9.02596021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.010385723 meters 0.016108962036528326 Centerline is valid? [True, True] Translation: X:2.32, Y:-218.03, Z:-9.03 [[-6.97271720e-01 -7.16806856e-01 2.83202850e-04 2.31920534e+00] [ 7.16806793e-01 -6.97271777e-01 -3.01641496e-04 -2.18032056e+02] [ 4.13688047e-04 -7.32435781e-06 9.99999914e-01 -9.02682747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.040385723 meters 0.016220431008362266 Centerline is valid? [True, True] Translation: X:2.30, Y:-218.01, Z:-9.03 [[-6.97995726e-01 -7.16101898e-01 1.95626996e-04 2.30146894e+00] [ 7.16101868e-01 -6.97995753e-01 -2.08240438e-04 -2.18011593e+02] [ 2.85668185e-04 -5.26207805e-06 9.99999959e-01 -9.02681442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.070385723 meters 0.015103602543550938 Centerline is valid? [True, True] Translation: X:2.28, Y:-217.99, Z:-9.03 [[-6.97336746e-01 -7.16743528e-01 -4.21664747e-04 2.27993180e+00] [ 7.16743388e-01 -6.97336873e-01 4.48611728e-04 -2.17993349e+02] [-6.15581929e-04 1.06080234e-05 9.99999811e-01 -9.02623954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.100385723 meters 0.01503573957685772 Centerline is valid? [True, True] Translation: X:2.26, Y:-217.98, Z:-9.03 [[-6.96209092e-01 -7.17838568e-01 -8.30462594e-04 2.26066711e+00] [ 7.17838025e-01 -6.96209587e-01 8.82954621e-04 -2.17975044e+02] [-1.21199490e-03 1.85834061e-05 9.99999265e-01 -9.02657898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.130385723 meters 0.014134235937114204 Centerline is valid? [True, True] Translation: X:2.24, Y:-217.96, Z:-9.03 [[-6.93174219e-01 -7.20769964e-01 -4.02348108e-04 2.23765948e+00] [ 7.20769837e-01 -6.93174335e-01 4.27548183e-04 -2.17958157e+02] [-5.87061270e-04 6.36499769e-06 9.99999828e-01 -9.02796037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.160385723 meters 0.014040556531467635 Centerline is valid? [True, True] Translation: X:2.22, Y:-217.94, Z:-9.03 [[-6.91827279e-01 -7.22063004e-01 -1.86001017e-04 2.21860266e+00] [ 7.22062977e-01 -6.91827304e-01 1.97525644e-04 -2.17940134e+02] [-2.71306542e-04 2.34918059e-06 9.99999963e-01 -9.02847073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.190385723 meters 0.01354004327056803 Centerline is valid? [True, True] Translation: X:2.20, Y:-217.92, Z:-9.03 [[-6.89527854e-01 -7.24259071e-01 -3.68865851e-04 2.19762735e+00] [ 7.24258965e-01 -6.89527953e-01 3.91481473e-04 -2.17923000e+02] [-5.37877322e-04 2.78298024e-06 9.99999855e-01 -9.02859633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.220385723 meters 0.013416002432783881 Centerline is valid? [True, True] Translation: X:2.18, Y:-217.90, Z:-9.03 [[-6.88945411e-01 -7.24813091e-01 -4.51619726e-04 2.17808019e+00] [ 7.24812932e-01 -6.88945559e-01 4.79020378e-04 -2.17903855e+02] [-6.58341645e-04 2.67907337e-06 9.99999783e-01 -9.02864236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.250385723 meters 0.013321178320895815 Centerline is valid? [True, True] Translation: X:2.16, Y:-217.89, Z:-9.03 [[-6.88162300e-01 -7.25556777e-01 1.10967482e-04 2.15798888e+00] [ 7.25556767e-01 -6.88162309e-01 -1.17624801e-04 -2.17885333e+02] [ 1.61707110e-04 -4.31746148e-07 9.99999987e-01 -9.02923292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.280385723 meters 0.01332428247715163 Centerline is valid? [True, True] Translation: X:2.14, Y:-217.87, Z:-9.03 [[-6.88198166e-01 -7.25522755e-01 1.27839524e-04 2.13930129e+00] [ 7.25522742e-01 -6.88198178e-01 -1.35422452e-04 -2.17866779e+02] [ 1.86230998e-04 -4.47001312e-07 9.99999983e-01 -9.03004928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.310385723 meters 0.01323967702625891 Centerline is valid? [True, True] Translation: X:2.12, Y:-217.85, Z:-9.03 [[-6.88623120e-01 -7.25119160e-01 6.33339250e-04 2.11980838e+00] [ 7.25118851e-01 -6.88623412e-01 -6.70502683e-04 -2.17847278e+02] [ 9.22326577e-04 -2.47742081e-06 9.99999575e-01 -9.03054523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3403857229999 meters 0.013281433176500637 Centerline is valid? [True, True] Translation: X:2.10, Y:-217.83, Z:-9.03 [[-6.89536919e-01 -7.24249839e-01 1.00393608e-03 2.10125467e+00] [ 7.24249060e-01 -6.89537650e-01 -1.06225614e-03 -2.17826594e+02] [ 1.46159057e-03 -5.36506456e-06 9.99998932e-01 -9.03055238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.370385723 meters 0.013620869511387424 Centerline is valid? [True, True] Translation: X:2.09, Y:-217.80, Z:-9.03 [[-6.92586501e-01 -7.21333687e-01 1.28483252e-03 2.08502773e+00] [ 7.21332408e-01 -6.92587692e-01 -1.35867423e-03 -2.17804356e+02] [ 1.86991668e-03 -1.42080911e-05 9.99998252e-01 -9.03100458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.400385723 meters 0.01377389485858971 Centerline is valid? [True, True] Translation: X:2.07, Y:-217.78, Z:-9.03 [[-6.94449157e-01 -7.19540557e-01 1.32459829e-03 2.06666040e+00] [ 7.19539195e-01 -6.94450421e-01 -1.39995924e-03 -2.17782771e+02] [ 1.92719529e-03 -1.91001284e-05 9.99998143e-01 -9.03121119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.430385723 meters 0.014676578791811822 Centerline is valid? [True, True] Translation: X:2.05, Y:-217.76, Z:-9.03 [[-6.98484875e-01 -7.15624408e-01 7.66223939e-04 2.05019993e+00] [ 7.15623950e-01 -6.98485295e-01 -8.09373645e-04 -2.17759929e+02] [ 1.11440369e-03 -1.70070468e-05 9.99999379e-01 -9.03035497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.460385723 meters 0.014919672516703956 Centerline is valid? [True, True] Translation: X:2.03, Y:-217.74, Z:-9.03 [[-7.00273698e-01 -7.13874374e-01 3.56516385e-04 2.03173589e+00] [ 7.13874275e-01 -7.00273788e-01 -3.76385813e-04 -2.17738979e+02] [ 5.18351266e-04 -9.06520906e-06 9.99999866e-01 -9.03000644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.490385723 meters 0.015214268631314726 Centerline is valid? [True, True] Translation: X:2.01, Y:-217.72, Z:-9.03 [[-7.02511976e-01 -7.11671813e-01 3.93704770e-04 2.01255767e+00] [ 7.11671691e-01 -7.02512086e-01 -4.15415732e-04 -2.17717991e+02] [ 5.72222026e-04 -1.16459869e-05 9.99999836e-01 -9.02986158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.520385723 meters 0.01543890733263386 Centerline is valid? [True, True] Translation: X:1.99, Y:-217.70, Z:-9.03 [[-7.03217577e-01 -7.10974542e-01 4.89319910e-04 1.99452358e+00] [ 7.10974355e-01 -7.03217747e-01 -5.16001239e-04 -2.17699604e+02] [ 7.10962190e-04 -1.49672343e-05 9.99999747e-01 -9.02987390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.550385723 meters 0.015163093855108408 Centerline is valid? [True, True] Translation: X:1.97, Y:-217.68, Z:-9.03 [[-7.03030675e-01 -7.11159182e-01 6.97863249e-04 1.97463014e+00] [ 7.11158802e-01 -7.03031021e-01 -7.35512789e-04 -2.17680407e+02] [ 1.01368619e-03 -2.07964605e-05 9.99999486e-01 -9.02997735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.580385723 meters 0.015473972959843795 Centerline is valid? [True, True] Translation: X:1.96, Y:-217.66, Z:-9.03 [[-7.02721914e-01 -7.11463976e-01 9.60289160e-04 1.95612637e+00] [ 7.11463258e-01 -7.02722570e-01 -1.01147620e-03 -2.17661082e+02] [ 1.39444575e-03 -2.75760397e-05 9.99999027e-01 -9.03014595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.610385723 meters 0.015116259062982442 Centerline is valid? [True, True] Translation: X:1.94, Y:-217.64, Z:-9.03 [[-7.01169409e-01 -7.12994122e-01 9.17601631e-04 1.93553867e+00] [ 7.12993468e-01 -7.01170009e-01 -9.66135612e-04 -2.17642762e+02] [ 1.33224376e-03 -2.31807676e-05 9.99999112e-01 -9.03046001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.640385723 meters 0.01443587192057232 Centerline is valid? [True, True] Translation: X:1.91, Y:-217.62, Z:-9.03 [[-6.99904421e-01 -7.14235589e-01 1.15114977e-03 1.91354945e+00] [ 7.14234563e-01 -6.99905367e-01 -1.21138132e-03 -2.17624501e+02] [ 1.67090755e-03 -2.56601897e-05 9.99998604e-01 -9.03077418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.670385723 meters 0.014265453245780092 Centerline is valid? [True, True] Translation: X:1.89, Y:-217.61, Z:-9.03 [[-6.99451553e-01 -7.14678754e-01 1.34320573e-03 1.89347999e+00] [ 7.14677358e-01 -6.99452842e-01 -1.41262636e-03 -2.17605459e+02] [ 1.94908311e-03 -2.81049781e-05 9.99998100e-01 -9.03118355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.700385723 meters 0.013861056914318598 Centerline is valid? [True, True] Translation: X:1.87, Y:-217.59, Z:-9.03 [[-6.97951070e-01 -7.16142371e-01 2.09967855e-03 1.87382275e+00] [ 7.16138971e-01 -6.97954227e-01 -2.20716107e-03 -2.17588215e+02] [ 3.04612108e-03 -3.68287995e-05 9.99995360e-01 -9.03185478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.730385723 meters 0.013781478971270356 Centerline is valid? [True, True] Translation: X:1.85, Y:-217.57, Z:-9.03 [[-6.97254526e-01 -7.16820053e-01 2.26681646e-03 1.85473740e+00] [ 7.16816097e-01 -6.97258210e-01 -2.38174182e-03 -2.17570309e+02] [ 3.28783668e-03 -3.57897368e-05 9.99994594e-01 -9.03191206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.760385723 meters 0.013280390857919362 Centerline is valid? [True, True] Translation: X:1.83, Y:-217.55, Z:-9.03 [[-6.95664306e-01 -7.18364773e-01 1.79618557e-03 1.83350057e+00] [ 7.18362298e-01 -6.95666624e-01 -1.88609229e-03 -2.17552540e+02] [ 2.60444861e-03 -2.17750922e-05 9.99996608e-01 -9.03104937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.790385723 meters 0.013263085091724832 Centerline is valid? [True, True] Translation: X:1.82, Y:-217.53, Z:-9.03 [[-6.95235043e-01 -7.18781353e-01 1.26543987e-03 1.81532156e+00] [ 7.18780127e-01 -6.95236194e-01 -1.32792545e-03 -2.17533948e+02] [ 1.83426765e-03 -1.36472785e-05 9.99998318e-01 -9.03065747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.820385723 meters 0.013097987214410443 Centerline is valid? [True, True] Translation: X:1.79, Y:-217.51, Z:-9.03 [[-6.95180516e-01 -7.18833490e-01 1.57006928e-03 1.79464432e+00] [ 7.18831604e-01 -6.95182288e-01 -1.64668406e-03 -2.17514348e+02] [ 2.27517600e-03 -1.61272519e-05 9.99997412e-01 -9.02984498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.850385723 meters 0.013212828074450856 Centerline is valid? [True, True] Translation: X:1.77, Y:-217.49, Z:-9.03 [[-6.95520583e-01 -7.18503523e-01 1.95077963e-03 1.77498960e+00] [ 7.18500614e-01 -6.95523319e-01 -2.04483576e-03 -2.17494438e+02] [ 2.82603442e-03 -2.05889961e-05 9.99996007e-01 -9.03003446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.880385723 meters 0.013107858569010668 Centerline is valid? [True, True] Translation: X:1.76, Y:-217.47, Z:-9.03 [[-6.96152596e-01 -7.17891626e-01 1.78213193e-03 1.75527510e+00] [ 7.17889199e-01 -6.96154877e-01 -1.86701778e-03 -2.17474829e+02] [ 2.58095626e-03 -2.03560131e-05 9.99996669e-01 -9.02999463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.910385723 meters 0.0132666598884256 Centerline is valid? [True, True] Translation: X:1.74, Y:-217.45, Z:-9.03 [[-6.96515785e-01 -7.17540388e-01 1.24619685e-03 1.73668692e+00] [ 7.17539201e-01 -6.96516900e-01 -1.30478838e-03 -2.17454445e+02] [ 1.80423553e-03 -1.46106123e-05 9.99998372e-01 -9.02947136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.940385723 meters 0.013200233414462439 Centerline is valid? [True, True] Translation: X:1.72, Y:-217.43, Z:-9.03 [[-6.96562182e-01 -7.17494791e-01 1.53334206e-03 1.71732942e+00] [ 7.17492997e-01 -6.96563870e-01 -1.60445809e-03 -2.17434951e+02] [ 2.21926100e-03 -1.74426396e-05 9.99997537e-01 -9.02929157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.970385723 meters 0.013187070169131369 Centerline is valid? [True, True] Translation: X:1.70, Y:-217.42, Z:-9.03 [[-6.96596015e-01 -7.17462245e-01 1.38547678e-03 1.69774280e+00] [ 7.17460782e-01 -6.96597392e-01 -1.44884892e-03 -2.17415571e+02] [ 2.00461391e-03 -1.52371340e-05 9.99997991e-01 -9.02899636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.000385723 meters 0.012943603195543597 Centerline is valid? [True, True] Translation: X:1.68, Y:-217.40, Z:-9.03 [[-6.95724626e-01 -7.18307362e-01 1.33357742e-03 1.67702296e+00] [ 7.18306010e-01 -6.95725904e-01 -1.39381068e-03 -2.17396094e+02] [ 1.92898883e-03 -1.17917430e-05 9.99998139e-01 -9.02847233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.030385723 meters 0.013031135347139775 Centerline is valid? [True, True] Translation: X:1.66, Y:-217.38, Z:-9.03 [[-6.95353291e-01 -7.18667324e-01 1.03838730e-03 1.65881876e+00] [ 7.18666505e-01 -6.95354067e-01 -1.08458466e-03 -2.17377501e+02] [ 1.50150239e-03 -7.91534218e-06 9.99998873e-01 -9.02847875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.060385723 meters 0.012805907134885318 Centerline is valid? [True, True] Translation: X:1.64, Y:-217.36, Z:-9.03 [[-6.94587851e-01 -7.19407560e-01 6.93156773e-04 1.63841254e+00] [ 7.19407196e-01 -6.94588197e-01 -7.23593139e-04 -2.17357763e+02] [ 1.00201689e-03 -3.93703377e-06 9.99999498e-01 -9.02776352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0903857229999 meters 0.012914403282326003 Centerline is valid? [True, True] Translation: X:1.62, Y:-217.34, Z:-9.03 [[-6.94130897e-01 -7.19848587e-01 5.56579663e-04 1.62008886e+00] [ 7.19848353e-01 -6.94131120e-01 -5.80678487e-04 -2.17337312e+02] [ 8.04339853e-04 -2.41392577e-06 9.99999677e-01 -9.02784238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.120385723 meters 0.012812651008196922 Centerline is valid? [True, True] Translation: X:1.60, Y:-217.32, Z:-9.03 [[-6.93944738e-01 -7.20026435e-01 1.62300072e-03 1.60075599e+00] [ 7.20024446e-01 -6.93946636e-01 -1.69233543e-03 -2.17316547e+02] [ 2.34480214e-03 -5.78707653e-06 9.99997251e-01 -9.02753370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.150385723 meters 0.01278676358865018 Centerline is valid? [True, True] Translation: X:1.58, Y:-217.30, Z:-9.03 [[-6.94564414e-01 -7.19427077e-01 2.22616808e-03 1.58174116e+00] [ 7.19423336e-01 -6.94567982e-01 -2.31997067e-03 -2.17296134e+02] [ 3.21527479e-03 -9.81179639e-06 9.99994831e-01 -9.02810391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.180385723 meters 0.012872361832456476 Centerline is valid? [True, True] Translation: X:1.56, Y:-217.28, Z:-9.03 [[-6.95166871e-01 -7.18840252e-01 3.42247526e-03 1.56318623e+00] [ 7.18831414e-01 -6.95175296e-01 -3.56458208e-03 -2.17275981e+02] [ 4.94158533e-03 -1.77966377e-05 9.99987790e-01 -9.03002388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.210385723 meters 0.012998637459145451 Centerline is valid? [True, True] Translation: X:1.55, Y:-217.25, Z:-9.03 [[-6.96105033e-01 -7.17928006e-01 4.14255138e-03 1.54577931e+00] [ 7.17915058e-01 -6.96117359e-01 -4.31189449e-03 -2.17254942e+02] [ 5.97933174e-03 -2.75314384e-05 9.99982123e-01 -9.03089785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.240385723 meters 0.01315060570085447 Centerline is valid? [True, True] Translation: X:1.53, Y:-217.24, Z:-9.03 [[-6.96959252e-01 -7.17098703e-01 4.15345253e-03 1.52889803e+00] [ 7.17085685e-01 -6.96971627e-01 -4.32117855e-03 -2.17235243e+02] [ 5.99355010e-03 -3.33040178e-05 9.99982038e-01 -9.03095810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.270385723 meters 0.013180133844161682 Centerline is valid? [True, True] Translation: X:1.51, Y:-217.22, Z:-9.03 [[-6.97943324e-01 -7.16141375e-01 4.08014130e-03 1.51088763e+00] [ 7.16128811e-01 -6.97955249e-01 -4.24230280e-03 -2.17215272e+02] [ 5.88584459e-03 -3.89801794e-05 9.99982678e-01 -9.03024592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.300385723 meters 0.013605510152848376 Centerline is valid? [True, True] Translation: X:1.49, Y:-217.19, Z:-9.03 [[-6.99895541e-01 -7.14237265e-01 3.37056652e-03 1.49459977e+00] [ 7.14228677e-01 -6.99903655e-01 -3.50286720e-03 -2.17194068e+02] [ 4.86095012e-03 -4.42858671e-05 9.99988185e-01 -9.02926393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.330385723 meters 0.014121671337351187 Centerline is valid? [True, True] Translation: X:1.48, Y:-217.17, Z:-9.03 [[-7.01940384e-01 -7.12226860e-01 3.54937553e-03 1.47754333e+00] [ 7.12217318e-01 -7.01949355e-01 -3.68724898e-03 -2.17172373e+02] [ 5.11763962e-03 -6.03022485e-05 9.99986903e-01 -9.02823750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.360385723 meters 0.014011050366550504 Centerline is valid? [True, True] Translation: X:1.46, Y:-217.15, Z:-9.03 [[-7.03190717e-01 -7.10992375e-01 3.55789261e-03 1.45816007e+00] [ 7.10982782e-01 -7.03199714e-01 -3.69406132e-03 -2.17152436e+02] [ 5.12835850e-03 -6.80292412e-05 9.99986848e-01 -9.02790994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.390385723 meters 0.014683520461635548 Centerline is valid? [True, True] Translation: X:1.44, Y:-217.13, Z:-9.03 [[-7.05066812e-01 -7.09131802e-01 3.58867902e-03 1.44050594e+00] [ 7.09122026e-01 -7.05075940e-01 -3.72453229e-03 -2.17131791e+02] [ 5.17147552e-03 -8.12327690e-05 9.99986625e-01 -9.02850668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.420385723 meters 0.014453252094165942 Centerline is valid? [True, True] Translation: X:1.42, Y:-217.11, Z:-9.03 [[-7.05667572e-01 -7.08532343e-01 3.89827328e-03 1.42095518e+00] [ 7.08520810e-01 -7.05678334e-01 -4.04360691e-03 -2.17111632e+02] [ 5.61595327e-03 -9.14345280e-05 9.99984226e-01 -9.02855730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.450385723 meters 0.014519024361445797 Centerline is valid? [True, True] Translation: X:1.40, Y:-217.09, Z:-9.03 [[-7.05737338e-01 -7.08457111e-01 4.83027077e-03 1.40179512e+00] [ 7.08439425e-01 -7.05753859e-01 -5.00724369e-03 -2.17092808e+02] [ 6.95639963e-03 -1.11844588e-04 9.99975798e-01 -9.02928895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.480385723 meters 0.01423299594101555 Centerline is valid? [True, True] Translation: X:1.38, Y:-217.07, Z:-9.03 [[-7.05590612e-01 -7.08602317e-01 4.96432502e-03 1.38090637e+00] [ 7.08583660e-01 -7.05608067e-01 -5.14332193e-03 -2.17073892e+02] [ 7.14743762e-03 -1.11440077e-04 9.99974451e-01 -9.02907134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.510385723 meters 0.014953938147993432 Centerline is valid? [True, True] Translation: X:1.36, Y:-217.05, Z:-9.03 [[-7.05159717e-01 -7.09032447e-01 4.77098807e-03 1.36177324e+00] [ 7.09015244e-01 -7.05175850e-01 -4.94014386e-03 -2.17054475e+02] [ 6.86710785e-03 -1.00887183e-04 9.99976416e-01 -9.03016687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.540385723 meters 0.014862256832589063 Centerline is valid? [True, True] Translation: X:1.34, Y:-217.04, Z:-9.03 [[-7.05222481e-01 -7.08968589e-01 4.97918832e-03 1.34204072e+00] [ 7.08949871e-01 -7.05240051e-01 -5.15272455e-03 -2.17036118e+02] [ 7.16464287e-03 -1.03822272e-04 9.99974328e-01 -9.03026653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.570385723 meters 0.014862256832589063 Centerline is valid? [True, True] Translation: X:1.32, Y:-217.02, Z:-9.03 [[-7.05428798e-01 -7.08763292e-01 4.98068786e-03 1.32335511e+00] [ 7.08744580e-01 -7.05446373e-01 -5.15127509e-03 -2.17016945e+02] [ 7.16464287e-03 -1.03822271e-04 9.99974328e-01 -9.03026669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.600385723 meters 0.014004802066033583 Centerline is valid? [True, True] Translation: X:1.30, Y:-217.00, Z:-9.03 [[-7.04907256e-01 -7.09282311e-01 4.93592551e-03 1.30022719e+00] [ 7.09263967e-01 -7.04924531e-01 -5.10216362e-03 -2.16999723e+02] [ 7.09832938e-03 -9.56780568e-05 9.99974802e-01 -9.02890587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.630385723 meters 0.014063688196774294 Centerline is valid? [True, True] Translation: X:1.28, Y:-216.98, Z:-9.03 [[-7.04503879e-01 -7.09683930e-01 4.79631352e-03 1.28132126e+00] [ 7.09666640e-01 -7.04520200e-01 -4.95462346e-03 -2.16981251e+02] [ 6.89531641e-03 -8.67677464e-05 9.99976223e-01 -9.02859615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.660385723 meters 0.01372798766840918 Centerline is valid? [True, True] Translation: X:1.26, Y:-216.96, Z:-9.03 [[-7.04050734e-01 -7.10130781e-01 5.18042869e-03 1.25920693e+00] [ 7.10110645e-01 -7.04069788e-01 -5.34842078e-03 -2.16963263e+02] [ 7.44546155e-03 -8.68820228e-05 9.99972278e-01 -9.02772028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.690385723 meters 0.013855649569429813 Centerline is valid? [True, True] Translation: X:1.24, Y:-216.94, Z:-9.03 [[-7.04027227e-01 -7.10152865e-01 5.34524021e-03 1.23955757e+00] [ 7.10131446e-01 -7.04047513e-01 -5.51631942e-03 -2.16944579e+02] [ 7.68073311e-03 -8.78159041e-05 9.99970499e-01 -9.02794366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.720385723 meters 0.01395725000365432 Centerline is valid? [True, True] Translation: X:1.22, Y:-216.93, Z:-9.03 [[-7.04442549e-01 -7.09734666e-01 6.11556076e-03 1.21908411e+00] [ 7.09706638e-01 -7.04469086e-01 -6.30828349e-03 -2.16927150e+02] [ 8.78543098e-03 -1.03569231e-04 9.99961402e-01 -9.02776764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.750385723 meters 0.014013982972189585 Centerline is valid? [True, True] Translation: X:1.20, Y:-216.91, Z:-9.03 [[-7.05160929e-01 -7.09023512e-01 5.80718234e-03 1.19829995e+00] [ 7.08998243e-01 -7.05184833e-01 -5.98689261e-03 -2.16907718e+02] [ 8.33998454e-03 -1.04440678e-04 9.99965216e-01 -9.02710113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.780385723 meters 0.014253051606902819 Centerline is valid? [True, True] Translation: X:1.18, Y:-216.89, Z:-9.03 [[-7.06642325e-01 -7.07552793e-01 5.06646542e-03 1.17713777e+00] [ 7.07533543e-01 -7.06660480e-01 -5.22035731e-03 -2.16889191e+02] [ 7.27394928e-03 -1.04231203e-04 9.99973539e-01 -9.02524913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.810385723 meters 0.014846238223028664 Centerline is valid? [True, True] Translation: X:1.16, Y:-216.87, Z:-9.02 [[-7.07526867e-01 -7.06670711e-01 4.71572328e-03 1.15828695e+00] [ 7.06654034e-01 -7.07542575e-01 -4.85612180e-03 -2.16869582e+02] [ 6.76825403e-03 -1.03451766e-04 9.99977090e-01 -9.02487522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8403857229999 meters 0.01549339139092296 Centerline is valid? [True, True] Translation: X:1.14, Y:-216.85, Z:-9.02 [[-7.09414565e-01 -7.04775082e-01 4.80189507e-03 1.13765165e+00] [ 7.04757764e-01 -7.09430806e-01 -4.94222492e-03 -2.16849873e+02] [ 6.88976927e-03 -1.21913516e-04 9.99976258e-01 -9.02398031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.870385723 meters 0.015500116892581956 Centerline is valid? [True, True] Translation: X:1.12, Y:-216.83, Z:-9.02 [[-7.10194522e-01 -7.03986898e-01 5.11748990e-03 1.11643875e+00] [ 7.03967231e-01 -7.10212947e-01 -5.26383673e-03 -2.16832324e+02] [ 7.34017967e-03 -1.35802817e-04 9.99973051e-01 -9.02335630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.900385723 meters 0.015156924040928098 Centerline is valid? [True, True] Translation: X:1.10, Y:-216.81, Z:-9.02 [[-7.10171442e-01 -7.04010067e-01 5.13304383e-03 1.09521373e+00] [ 7.03990303e-01 -7.10189980e-01 -5.27691518e-03 -2.16813963e+02] [ 7.36043771e-03 -1.33901380e-04 9.99972903e-01 -9.02262394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.930385723 meters 0.014922055130170236 Centerline is valid? [True, True] Translation: X:1.07, Y:-216.80, Z:-9.02 [[-7.08830222e-01 -7.05357134e-01 5.57053956e-03 1.07303976e+00] [ 7.05333924e-01 -7.08852099e-01 -5.72349381e-03 -2.16797739e+02] [ 7.98579584e-03 -1.27894862e-04 9.99968105e-01 -9.02154007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.960385723 meters 0.014757345458461383 Centerline is valid? [True, True] Translation: X:1.05, Y:-216.78, Z:-9.02 [[-7.07868048e-01 -7.06322719e-01 5.57168540e-03 1.05292862e+00] [ 7.06299559e-01 -7.07889966e-01 -5.72096137e-03 -2.16780707e+02] [ 7.98498518e-03 -1.14406814e-04 9.99968113e-01 -9.02157412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.990385723 meters 0.014741584055651902 Centerline is valid? [True, True] Translation: X:1.03, Y:-216.76, Z:-9.02 [[-7.05816997e-01 -7.08369698e-01 5.89391462e-03 1.03081389e+00] [ 7.08343881e-01 -7.05841598e-01 -6.04854928e-03 -2.16764887e+02] [ 8.44477915e-03 -9.42505355e-05 9.99964338e-01 -9.02209447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.020385723 meters 0.014299231231201857 Centerline is valid? [True, True] Translation: X:1.01, Y:-216.75, Z:-9.02 [[-7.05174795e-01 -7.09003977e-01 6.47064034e-03 1.00953755e+00] [ 7.08972924e-01 -7.05204475e-01 -6.63638964e-03 -2.16746996e+02] [ 9.26835118e-03 -9.23058995e-05 9.99957044e-01 -9.02135658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.050385723 meters 0.014112339281340302 Centerline is valid? [True, True] Translation: X:0.99, Y:-216.73, Z:-9.02 [[-7.03885230e-01 -7.10283442e-01 6.55863937e-03 9.87412168e-01] [ 7.10251631e-01 -7.03915781e-01 -6.72257117e-03 -2.16730463e+02] [ 9.39166074e-03 -7.36342459e-05 9.99955895e-01 -9.02138728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.080385723 meters 0.014135287344635107 Centerline is valid? [True, True] Translation: X:0.97, Y:-216.71, Z:-9.02 [[-7.03486491e-01 -7.10677313e-01 6.67186826e-03 9.66842005e-01] [ 7.10644452e-01 -7.03518125e-01 -6.83449721e-03 -2.16711894e+02] [ 9.55090236e-03 -6.66502953e-05 9.99954387e-01 -9.02130191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.110385723 meters 0.014061724895561763 Centerline is valid? [True, True] Translation: X:0.95, Y:-216.69, Z:-9.02 [[-7.02724028e-01 -7.11428788e-01 6.92968203e-03 9.45489102e-01] [ 7.11393417e-01 -7.02758192e-01 -7.09433698e-03 -2.16694391e+02] [ 9.91700638e-03 -5.56308786e-05 9.99950824e-01 -9.02144240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.140385723 meters 0.01402603922153099 Centerline is valid? [True, True] Translation: X:0.93, Y:-216.68, Z:-9.02 [[-7.02412555e-01 -7.11733639e-01 7.19930495e-03 9.25295295e-01] [ 7.11695523e-01 -7.02449447e-01 -7.36595071e-03 -2.16676018e+02] [ 1.02997427e-02 -5.02231556e-05 9.99946955e-01 -9.02168508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.170385723 meters 0.014058754248724391 Centerline is valid? [True, True] Translation: X:0.90, Y:-216.66, Z:-9.02 [[-7.02197562e-01 -7.11938134e-01 7.91688969e-03 9.04963093e-01] [ 7.11892109e-01 -7.02242188e-01 -8.09531512e-03 -2.16658348e+02] [ 1.13229375e-02 -4.85392388e-05 9.99935892e-01 -9.02299186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.200385723 meters 0.014124674679009002 Centerline is valid? [True, True] Translation: X:0.89, Y:-216.64, Z:-9.02 [[-7.02522092e-01 -7.11613223e-01 8.32656724e-03 8.85372759e-01] [ 7.11562348e-01 -7.02571433e-01 -8.50917877e-03 -2.16638783e+02] [ 1.19052524e-02 -5.30143273e-05 9.99929129e-01 -9.02341770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.230385723 meters 0.014086159858987802 Centerline is valid? [True, True] Translation: X:0.86, Y:-216.62, Z:-9.02 [[-7.03030452e-01 -7.11106647e-01 8.69029486e-03 8.64940675e-01] [ 7.11051253e-01 -7.03084158e-01 -8.87594710e-03 -2.16618953e+02] [ 1.24217536e-02 -6.08160558e-05 9.99922845e-01 -9.02274395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.260385723 meters 0.014222245102864057 Centerline is valid? [True, True] Translation: X:0.84, Y:-216.60, Z:-9.02 [[-7.02660375e-01 -7.11464909e-01 9.27792578e-03 8.44955618e-01] [ 7.11401871e-01 -7.02721623e-01 -9.47089924e-03 -2.16599364e+02] [ 1.32580115e-02 -5.44918471e-05 9.99912107e-01 -9.02269605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.290385723 meters 0.01419784044807861 Centerline is valid? [True, True] Translation: X:0.83, Y:-216.58, Z:-9.02 [[-7.02137143e-01 -7.11979256e-01 9.43248549e-03 8.25798594e-01] [ 7.11914222e-01 -7.02200497e-01 -9.62306746e-03 -2.16580388e+02] [ 1.34749204e-02 -4.15925284e-05 9.99909208e-01 -9.02344714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.320385723 meters 0.014076095270387712 Centerline is valid? [True, True] Translation: X:0.81, Y:-216.56, Z:-9.02 [[-7.01230236e-01 -7.12874236e-01 9.29942179e-03 8.05780062e-01] [ 7.12811173e-01 -7.01291896e-01 -9.48203614e-03 -2.16561235e+02] [ 1.32811084e-02 -2.03586868e-05 9.99911802e-01 -9.02229601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.350385723 meters 0.014305958988365687 Centerline is valid? [True, True] Translation: X:0.79, Y:-216.54, Z:-9.02 [[-6.99196381e-01 -7.14874050e-01 8.91706420e-03 7.85573298e-01] [ 7.14816296e-01 -6.99253239e-01 -9.08685352e-03 -2.16542483e+02] [ 1.27312418e-02 2.05677102e-05 9.99918954e-01 -9.02408559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.380385723 meters 0.014235402534650622 Centerline is valid? [True, True] Translation: X:0.77, Y:-216.52, Z:-9.02 [[-6.97485886e-01 -7.16545327e-01 8.73123352e-03 7.65596652e-01] [ 7.16490146e-01 -6.97540531e-01 -8.89259859e-03 -2.16522456e+02] [ 1.24623392e-02 5.33807727e-05 9.99922341e-01 -9.02164308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.410385723 meters 0.01443734063243833 Centerline is valid? [True, True] Translation: X:0.75, Y:-216.50, Z:-9.02 [[-6.96597600e-01 -7.17408908e-01 8.73165272e-03 7.47087958e-01] [ 7.17353853e-01 -6.96652319e-01 -8.88796843e-03 -2.16504548e+02] [ 1.24592338e-02 7.23472463e-05 9.99922378e-01 -9.02185717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.440385723 meters 0.0143338530691308 Centerline is valid? [True, True] Translation: X:0.73, Y:-216.48, Z:-9.02 [[-6.95771727e-01 -7.18218964e-01 7.95132511e-03 7.26835238e-01] [ 7.18173414e-01 -6.95817154e-01 -8.08919624e-03 -2.16484584e+02] [ 1.13424826e-02 8.21962664e-05 9.99935669e-01 -9.02127428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.470385723 meters 0.014612248869485058 Centerline is valid? [True, True] Translation: X:0.71, Y:-216.47, Z:-9.02 [[-6.94399494e-01 -7.19560537e-01 6.47886795e-03 7.07461673e-01] [ 7.19530389e-01 -6.94429713e-01 -6.58736460e-03 -2.16465421e+02] [ 9.23912602e-03 8.74797247e-05 9.99957315e-01 -9.02054489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.500385723 meters 0.014573641550188268 Centerline is valid? [True, True] Translation: X:0.69, Y:-216.44, Z:-9.02 [[-6.94118747e-01 -7.19834496e-01 6.12084134e-03 6.89226672e-01] [ 7.19807629e-01 -6.94145728e-01 -6.21984627e-03 -2.16444258e+02] [ 8.72601577e-03 8.85163960e-05 9.99961924e-01 -9.01910700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.530385723 meters 0.014548315474546459 Centerline is valid? [True, True] Translation: X:0.67, Y:-216.42, Z:-9.02 [[-6.94508019e-01 -7.19462119e-01 5.73327895e-03 6.71919014e-01] [ 7.19438561e-01 -6.94531679e-01 -5.82275876e-03 -2.16421758e+02] [ 8.17119821e-03 8.07893053e-05 9.99966612e-01 -9.01885151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.560385723 meters 0.014668435825308872 Centerline is valid? [True, True] Translation: X:0.65, Y:-216.40, Z:-9.02 [[-6.95284697e-01 -7.18710959e-01 5.80932077e-03 6.53489657e-01] [ 7.18686774e-01 -6.95308962e-01 -5.89651674e-03 -2.16401409e+02] [ 8.27716400e-03 7.53241488e-05 9.99965741e-01 -9.01977071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5903857229999 meters 0.014305334881164913 Centerline is valid? [True, True] Translation: X:0.64, Y:-216.38, Z:-9.02 [[-6.96684642e-01 -7.17355637e-01 5.60354921e-03 6.37364071e-01] [ 7.17333116e-01 -6.96707175e-01 -5.68448637e-03 -2.16377515e+02] [ 7.98183128e-03 5.93170651e-05 9.99968143e-01 -9.01919511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.620385723 meters 0.014320796325313174 Centerline is valid? [True, True] Translation: X:0.62, Y:-216.36, Z:-9.02 [[-6.97845610e-01 -7.16229557e-01 5.16981565e-03 6.20777159e-01] [ 7.16210379e-01 -6.97864758e-01 -5.24145385e-03 -2.16355911e+02] [ 7.36191631e-03 4.49500674e-05 9.99972900e-01 -9.02019390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.650385723 meters 0.014298050018418357 Centerline is valid? [True, True] Translation: X:0.60, Y:-216.34, Z:-9.02 [[-6.98474547e-01 -7.15619115e-01 4.75292749e-03 6.03202959e-01] [ 7.15602912e-01 -6.98490717e-01 -4.81567495e-03 -2.16335840e+02] [ 6.76606477e-03 3.75823758e-05 9.99977109e-01 -9.02086455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.680385723 meters 0.014316233421367078 Centerline is valid? [True, True] Translation: X:0.59, Y:-216.31, Z:-9.02 [[-6.99361993e-01 -7.14749523e-01 5.09130357e-03 5.87309650e-01] [ 7.14730931e-01 -6.99380524e-01 -5.15538800e-03 -2.16312969e+02] [ 7.24556968e-03 3.34297186e-05 9.99973750e-01 -9.02192159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.710385723 meters 0.01432282152384184 Centerline is valid? [True, True] Translation: X:0.57, Y:-216.29, Z:-9.02 [[-7.00010083e-01 -7.14113734e-01 5.24010973e-03 5.69765286e-01] [ 7.14094045e-01 -7.00029695e-01 -5.30283129e-03 -2.16291660e+02] [ 7.45505707e-03 2.98957829e-05 9.99972210e-01 -9.02223508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.740385723 meters 0.014265297556094025 Centerline is valid? [True, True] Translation: X:0.55, Y:-216.27, Z:-9.02 [[-7.00948958e-01 -7.13194883e-01 4.85973077e-03 5.52998957e-01] [ 7.13177946e-01 -7.00965804e-01 -4.91515530e-03 -2.16268577e+02] [ 6.91196870e-03 2.05798214e-05 9.99976112e-01 -9.02244862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.770385723 meters 0.014312263075037693 Centerline is valid? [True, True] Translation: X:0.54, Y:-216.25, Z:-9.02 [[-7.01409079e-01 -7.12743052e-01 4.75863257e-03 5.35346584e-01] [ 7.12726822e-01 -7.01425221e-01 -4.81007175e-03 -2.16248386e+02] [ 6.76617012e-03 1.77770651e-05 9.99977109e-01 -9.02292692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.800385723 meters 0.014316232850820199 Centerline is valid? [True, True] Translation: X:0.52, Y:-216.23, Z:-9.02 [[-7.02266492e-01 -7.11902783e-01 4.02503101e-03 5.18673957e-01] [ 7.11891170e-01 -7.02278027e-01 -4.06628130e-03 -2.16225807e+02] [ 5.72148781e-03 9.77093112e-06 9.99983632e-01 -9.02272632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.830385723 meters 0.014183472103429053 Centerline is valid? [True, True] Translation: X:0.50, Y:-216.20, Z:-9.02 [[-7.02806501e-01 -7.11370565e-01 3.86530664e-03 5.00446711e-01] [ 7.11359860e-01 -7.02817130e-01 -3.90273627e-03 -2.16204488e+02] [ 5.49289543e-03 6.75556751e-06 9.99984914e-01 -9.02270440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.860385723 meters 0.014328815888766123 Centerline is valid? [True, True] Translation: X:0.48, Y:-216.18, Z:-9.02 [[-7.03790885e-01 -7.10399076e-01 3.39751129e-03 4.84166441e-01] [ 7.10390803e-01 -7.03799085e-01 -3.42838768e-03 -2.16182780e+02] [ 4.82668878e-03 6.92773434e-07 9.99988352e-01 -9.02274833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.890385723 meters 0.01421714162199706 Centerline is valid? [True, True] Translation: X:0.47, Y:-216.16, Z:-9.02 [[-7.05052190e-01 -7.09150441e-01 2.65730589e-03 4.67470092e-01] [ 7.09145378e-01 -7.05057198e-01 -2.67980014e-03 -2.16160881e+02] [ 3.77393410e-03 -4.98277213e-06 9.99992879e-01 -9.02269052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.920385723 meters 0.014252600785215973 Centerline is valid? [True, True] Translation: X:0.45, Y:-216.14, Z:-9.02 [[-7.06012641e-01 -7.08194849e-01 2.49134708e-03 4.50302511e-01] [ 7.08190398e-01 -7.06017037e-01 -2.51080920e-03 -2.16141233e+02] [ 3.53707562e-03 -8.31495072e-06 9.99993745e-01 -9.02298543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.950385723 meters 0.014388131846218838 Centerline is valid? [True, True] Translation: X:0.43, Y:-216.12, Z:-9.02 [[-7.07459059e-01 -7.06751699e-01 1.92759877e-03 4.32384096e-01] [ 7.06749032e-01 -7.07461685e-01 -1.94158421e-03 -2.16119059e+02] [ 2.73592022e-03 -1.12627761e-05 9.99996257e-01 -9.02322432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.980385723 meters 0.01439930554358627 Centerline is valid? [True, True] Translation: X:0.41, Y:-216.10, Z:-9.02 [[-7.08154358e-01 -7.06054904e-01 1.96907413e-03 4.14352731e-01] [ 7.06052122e-01 -7.08157096e-01 -1.98213618e-03 -2.16098487e+02] [ 2.79391079e-03 -1.33894089e-05 9.99996097e-01 -9.02330650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.010385723 meters 0.014577273141512168 Centerline is valid? [True, True] Translation: X:0.40, Y:-216.08, Z:-9.02 [[-7.09010810e-01 -7.05195587e-01 1.68949693e-03 3.98100098e-01] [ 7.05193539e-01 -7.09012823e-01 -1.69960513e-03 -2.16077409e+02] [ 2.39642903e-03 -1.36160893e-05 9.99997129e-01 -9.02396190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.040385723 meters 0.014620999040905415 Centerline is valid? [True, True] Translation: X:0.38, Y:-216.06, Z:-9.02 [[-7.09091768e-01 -7.05113819e-01 1.83518454e-03 3.79679760e-01] [ 7.05111405e-01 -7.09094142e-01 -1.84502503e-03 -2.16057616e+02] [ 2.60227125e-03 -1.42825099e-05 9.99996614e-01 -9.02404005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.070385723 meters 0.014597558116650838 Centerline is valid? [True, True] Translation: X:0.36, Y:-216.04, Z:-9.02 [[-7.08056197e-01 -7.06154248e-01 1.61269185e-03 3.61905159e-01] [ 7.06152389e-01 -7.08058033e-01 -1.62029002e-03 -2.16038076e+02] [ 2.28605410e-03 -8.45019230e-06 9.99997387e-01 -9.02490707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.100385723 meters 0.014551869252142129 Centerline is valid? [True, True] Translation: X:0.34, Y:-216.02, Z:-9.03 [[-7.07236745e-01 -7.06974485e-01 1.80648899e-03 3.41869627e-01] [ 7.06972158e-01 -7.07239052e-01 -1.81397983e-03 -2.16017948e+02] [ 2.56005702e-03 -5.77576876e-06 9.99996723e-01 -9.02515068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.130385723 meters 0.014566190073243846 Centerline is valid? [True, True] Translation: X:0.32, Y:-216.00, Z:-9.03 [[-7.05742219e-01 -7.08466912e-01 1.59858569e-03 3.22497247e-01] [ 7.08465095e-01 -7.05744029e-01 -1.60455398e-03 -2.15999069e+02] [ 2.26496571e-03 1.40676977e-07 9.99997435e-01 -9.02640363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.160385723 meters 0.014657240382486234 Centerline is valid? [True, True] Translation: X:0.30, Y:-215.98, Z:-9.03 [[-7.05295365e-01 -7.08911423e-01 1.74434993e-03 3.04003730e-01] [ 7.08909263e-01 -7.05297522e-01 -1.74974612e-03 -2.15980828e+02] [ 2.47070069e-03 2.49799032e-06 9.99996948e-01 -9.02668242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.190385723 meters 0.014585144199833198 Centerline is valid? [True, True] Translation: X:0.28, Y:-215.96, Z:-9.03 [[-7.05125346e-01 -7.09081839e-01 1.09147942e-03 2.84883357e-01] [ 7.09080995e-01 -7.05126191e-01 -1.09418876e-03 -2.15960803e+02] [ 1.54550010e-03 2.40708948e-06 9.99998806e-01 -9.02654536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.220385723 meters 0.014649150264042994 Centerline is valid? [True, True] Translation: X:0.27, Y:-215.94, Z:-9.03 [[-7.05148431e-01 -7.09059335e-01 7.41256397e-04 2.65789262e-01] [ 7.09058946e-01 -7.05148820e-01 -7.42638225e-04 -2.15940782e+02] [ 1.04927064e-03 1.92430046e-06 9.99999450e-01 -9.02631023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.250385723 meters 0.014643603153682893 Centerline is valid? [True, True] Translation: X:0.25, Y:-215.92, Z:-9.03 [[-7.05887981e-01 -7.08323468e-01 1.51884276e-04 2.46619504e-01] [ 7.08323452e-01 -7.05887997e-01 -1.52080408e-04 -2.15920076e+02] [ 2.14935409e-04 2.31462262e-07 9.99999977e-01 -9.02556231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.280385723 meters 0.014734088638800777 Centerline is valid? [True, True] Translation: X:0.23, Y:-215.90, Z:-9.03 [[-7.07236497e-01 -7.06977041e-01 2.98553914e-05 2.28635428e-01] [ 7.06977040e-01 -7.07236498e-01 -2.98742318e-05 -2.15900272e+02] [ 4.22352187e-05 -2.10707926e-08 9.99999999e-01 -9.02545239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.310385723 meters 0.014673039359934923 Centerline is valid? [True, True] Translation: X:0.21, Y:-215.88, Z:-9.03 [[-7.08373762e-01 -7.05837510e-01 1.51638141e-04 2.09785178e-01] [ 7.05837494e-01 -7.08373778e-01 -1.51651549e-04 -2.15881150e+02] [ 2.14457834e-04 -3.94092736e-07 9.99999977e-01 -9.02604862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3403857229999 meters 0.014916945479342204 Centerline is valid? [True, True] Translation: X:0.19, Y:-215.86, Z:-9.03 [[-7.11518384e-01 -7.02667218e-01 6.08157199e-04 1.90614466e-01] [ 7.02666955e-01 -7.11518644e-01 -6.07847725e-04 -2.15861404e+02] [ 8.59829856e-04 -5.16286413e-06 9.99999630e-01 -9.02822198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.370385723 meters 0.015105904349459187 Centerline is valid? [True, True] Translation: X:-0.38, Y:-216.43, Z:-8.04 [[-7.50060503e-01 6.61368467e-01 9.96308788e-04 -3.78187599e-01] [ 6.61367902e-01 7.50061165e-01 -8.64450419e-04 -2.16433213e+02] [-1.31901278e-03 1.05365363e-05 -9.99999130e-01 -8.03898350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.400385723 meters 0.015757452406377354 Centerline is valid? [True, True] Translation: X:-0.36, Y:-216.41, Z:-8.04 [[-7.92131666e-01 6.10348596e-01 1.41977340e-03 -3.62033954e-01] [ 6.10347666e-01 7.92132938e-01 -1.06550810e-03 -2.16412251e+02] [-1.77498065e-03 2.25326709e-05 -9.99998425e-01 -8.03879971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.430385723 meters 0.016060889804067436 Centerline is valid? [True, True] Translation: X:-0.35, Y:-216.39, Z:-8.04 [[-8.32266168e-01 5.54374912e-01 1.21722096e-03 -3.48352887e-01] [ 5.54374356e-01 8.32267058e-01 -7.85448122e-04 -2.16387268e+02] [-1.44848564e-03 2.10941880e-05 -9.99998951e-01 -8.03871277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.460385723 meters 0.016522056664246176 Centerline is valid? [True, True] Translation: X:-0.31, Y:-216.38, Z:-8.04 [[-8.68646606e-01 4.95430412e-01 1.33456024e-03 -3.08550245e-01] [ 4.95429871e-01 8.68647631e-01 -7.32799235e-04 -2.16377442e+02] [-1.52231362e-03 2.46374390e-05 -9.99998841e-01 -8.03866562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.490385723 meters 0.016522056664246176 Centerline is valid? [True, True] Translation: X:0.09, Y:-215.67, Z:-9.03 [[-8.51071535e-01 -5.25048211e-01 1.27219095e-03 8.87521136e-02] [ 5.25047580e-01 -8.51072485e-01 -8.14414787e-04 -2.15671262e+02] [ 1.51033374e-03 -2.51644637e-05 9.99998859e-01 -9.02919324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.520385723 meters 0.01627194601867046 Centerline is valid? [True, True] Translation: X:-0.36, Y:-216.35, Z:-8.04 [[-8.69367336e-01 4.94165498e-01 9.46472097e-04 -3.57536657e-01] [ 4.94165230e-01 8.69367851e-01 -5.15437151e-04 -2.16347214e+02] [-1.07754367e-03 1.96093785e-05 -9.99999419e-01 -8.03851221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.550385723 meters 0.0166178996178586 Centerline is valid? [True, True] Translation: X:-0.33, Y:-216.33, Z:-8.04 [[-9.01998181e-01 4.31739120e-01 7.83557688e-04 -3.28376173e-01] [ 4.31738973e-01 9.01998521e-01 -3.57320485e-04 -2.16326758e+02] [-8.61037107e-04 1.59899636e-05 -9.99999629e-01 -8.03819248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.580385723 meters 0.016415612285573814 Centerline is valid? [True, True] Translation: X:-0.31, Y:-216.30, Z:-8.04 [[-9.30294182e-01 3.66814197e-01 2.83427584e-04 -3.07653239e-01] [ 3.66814182e-01 9.30294225e-01 -1.05974757e-04 -2.16301310e+02] [-3.02544090e-04 5.37755736e-06 -9.99999954e-01 -8.03828956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.610385723 meters 0.016431828324523553 Centerline is valid? [True, True] Translation: X:-0.02, Y:-215.56, Z:-9.03 [[-9.18908877e-01 -3.94469866e-01 1.05487165e-05 -2.45029953e-02] [ 3.94469866e-01 -9.18908877e-01 -2.38564698e-05 -2.15562411e+02] [ 1.91039679e-05 -1.77607711e-05 1.00000000e+00 -9.02935517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.640385723 meters 0.016326227773811805 Centerline is valid? [True, True] Translation: X:-0.35, Y:-216.28, Z:-8.04 [[-9.32111218e-01 3.62172144e-01 1.23049214e-04 -3.52249973e-01] [ 3.62172141e-01 9.32111226e-01 -4.56446252e-05 -2.16281784e+02] [-1.31226766e-04 2.01912999e-06 -9.99999991e-01 -8.03827061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.670385723 meters 0.01598229762744484 Centerline is valid? [True, True] Translation: X:-0.34, Y:-216.25, Z:-8.04 [[-9.55555328e-01 2.94811488e-01 4.48126641e-04 -3.44914576e-01] [ 2.94811460e-01 9.55555433e-01 -1.30023209e-04 -2.16249592e+02] [-4.66542183e-04 7.86849900e-06 -9.99999891e-01 -8.03733495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.700385723 meters 0.01603530179299758 Centerline is valid? [True, True] Translation: X:-0.12, Y:-215.51, Z:-9.03 [[-9.45529795e-01 -3.25534997e-01 6.09477549e-04 -1.18178079e-01] [ 3.25534930e-01 -9.45529992e-01 -2.09605261e-04 -2.15505478e+02] [ 6.44513150e-04 2.18211751e-07 9.99999792e-01 -9.03085870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.730385723 meters 0.01598699156422033 Centerline is valid? [True, True] Translation: X:-0.39, Y:-216.23, Z:-8.04 [[-9.56688026e-01 2.91113137e-01 1.07773801e-03 -3.92904864e-01] [ 2.91112975e-01 9.56688633e-01 -3.07861016e-04 -2.16232866e+02] [-1.12068209e-03 1.92165700e-05 -9.99999372e-01 -8.03666298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.760385723 meters 0.01600630763415249 Centerline is valid? [True, True] Translation: X:-0.38, Y:-216.21, Z:-8.04 [[-9.74946960e-01 2.22432388e-01 1.50286655e-03 -3.79004152e-01] [ 2.22432165e-01 9.74948118e-01 -3.15911582e-04 -2.16205001e+02] [-1.53548588e-03 2.62888231e-05 -9.99998821e-01 -8.03601772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.790385723 meters 0.016221246089626308 Centerline is valid? [True, True] Translation: X:-0.22, Y:-215.45, Z:-9.03 [[-9.67204529e-01 -2.53988084e-01 2.33496781e-03 -2.19379558e-01] [ 2.53987379e-01 -9.67207347e-01 -5.98680821e-04 -2.15452935e+02] [ 2.41045581e-03 1.40055519e-05 9.99997095e-01 -9.03197796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.820385723 meters 0.016348881619485847 Centerline is valid? [True, True] Translation: X:-0.44, Y:-216.19, Z:-8.04 [[-9.75759269e-01 2.18831866e-01 2.54217461e-03 -4.35699530e-01] [ 2.18831244e-01 9.75762580e-01 -5.23754299e-04 -2.16192309e+02] [-2.59517299e-03 4.52491212e-05 -9.99996632e-01 -8.03586541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.850385723 meters 0.016539340655630955 Centerline is valid? [True, True] Translation: X:-0.43, Y:-216.16, Z:-8.04 [[-9.88794175e-01 1.49279089e-01 1.35383041e-03 -4.34007301e-01] [ 1.49278981e-01 9.88795102e-01 -1.80525056e-04 -2.16162002e+02] [-1.36560950e-03 2.35963010e-05 -9.99999067e-01 -8.03678936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.880385723 meters 0.01610845794761512 Centerline is valid? [True, True] Translation: X:-0.42, Y:-216.13, Z:-8.04 [[-9.96972129e-01 7.77596845e-02 7.89268227e-05 -4.20134081e-01] [ 7.77596843e-02 9.96972132e-01 -5.47648996e-06 -2.16130985e+02] [-7.91136930e-05 6.77416976e-07 -9.99999997e-01 -8.03833427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.910385723 meters 0.016479236594337383 Centerline is valid? [True, True] Translation: X:-0.37, Y:-215.37, Z:-9.03 [[-9.93685887e-01 -1.12196015e-01 -6.42617406e-04 -3.74001762e-01] [ 1.12196015e-01 -9.93686094e-01 3.61473901e-05 -2.15373295e+02] [-6.42615573e-04 -3.61799608e-05 9.99999793e-01 -9.02915126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.940385723 meters 0.015362681809759077 Centerline is valid? [True, True] Translation: X:-0.49, Y:-216.12, Z:-8.04 [[-9.97526774e-01 7.02677386e-02 -1.66717925e-03 -4.93553818e-01] [ 7.02676804e-02 9.97528167e-01 9.35727985e-05 -2.16122018e+02] [ 1.66963341e-03 -2.38074467e-05 -9.99998606e-01 -8.03891097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.970385723 meters 0.015198679172841102 Centerline is valid? [True, True] Translation: X:-0.45, Y:-215.38, Z:-9.03 [[-9.93831589e-01 -1.10889336e-01 -1.52583726e-03 -4.46016262e-01] [ 1.10889158e-01 -9.93832760e-01 2.01141512e-04 -2.15375110e+02] [-1.53873150e-03 3.07019808e-05 9.99998816e-01 -9.02876009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.000385723 meters 0.01513255397024476 Centerline is valid? [True, True] Translation: X:-0.56, Y:-216.12, Z:-8.04 [[-9.98017748e-01 6.29205780e-02 -1.25528992e-03 -5.63043114e-01] [ 6.29205467e-02 9.98018537e-01 6.44755157e-05 -2.16116209e+02] [ 1.25685945e-03 -1.46358190e-05 -9.99999210e-01 -8.03887159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.030385723 meters 0.014743090921555489 Centerline is valid? [True, True] Translation: X:-0.57, Y:-216.08, Z:-8.04 [[-9.99933903e-01 -1.14886231e-02 -4.47824355e-04 -5.68884077e-01] [-1.14886202e-02 9.99934004e-01 -9.21300624e-06 -2.16084199e+02] [ 4.47900645e-04 -4.06751336e-06 -9.99999900e-01 -8.03786256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.060385723 meters 0.014638972174567338 Centerline is valid? [True, True] Translation: X:-0.58, Y:-215.35, Z:-9.03 [[-9.99152848e-01 -4.11529407e-02 -1.49097188e-04 -5.82430428e-01] [ 4.11529370e-02 -9.99152859e-01 2.78761121e-05 -2.15345453e+02] [-1.50118066e-04 2.17167096e-05 9.99999989e-01 -9.03064744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0903857229999 meters 0.014307487179834386 Centerline is valid? [True, True] Translation: X:-0.66, Y:-216.08, Z:-8.04 [[-9.99797025e-01 -2.01399557e-02 5.40353108e-04 -6.61890909e-01] [-2.01399516e-02 9.99797171e-01 1.29429986e-05 -2.16083587e+02] [-5.40504180e-04 2.05768601e-06 -9.99999854e-01 -8.03734794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.120385723 meters 0.01428808570296511 Centerline is valid? [True, True] Translation: X:-0.67, Y:-215.35, Z:-9.03 [[-9.99288385e-01 -3.77023565e-02 1.12093649e-03 -6.74136627e-01] [ 3.77023706e-02 -9.99289013e-01 -8.59322992e-06 -2.15347321e+02] [ 1.12046351e-03 3.36748482e-05 9.99999372e-01 -9.03039475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.150385723 meters 0.01421963715734237 Centerline is valid? [True, True] Translation: X:-0.75, Y:-216.09, Z:-8.04 [[-9.99665565e-01 -2.58026785e-02 1.72603873e-03 -7.53744461e-01] [-2.58026275e-02 9.99667055e-01 5.17792882e-05 -2.16086044e+02] [-1.72680010e-03 7.22563705e-06 -9.99998509e-01 -8.03742575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.180385723 meters 0.014276878731100937 Centerline is valid? [True, True] Translation: X:-0.75, Y:-216.06, Z:-8.04 [[-9.95363497e-01 -9.61577275e-02 2.28029271e-03 -7.52679196e-01] [-9.61574484e-02 9.95366109e-01 2.31978150e-04 -2.16057531e+02] [-2.29203257e-03 1.16354547e-05 -9.99997373e-01 -8.03706232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.210385723 meters 0.01434385206965163 Centerline is valid? [True, True] Translation: X:-0.76, Y:-216.03, Z:-8.04 [[-9.86079145e-01 -1.66260093e-01 2.34529348e-03 -7.64536788e-01] [-1.66259589e-01 9.86081934e-01 4.09743854e-04 -2.16030284e+02] [-2.38077559e-03 1.41123388e-05 -9.99997166e-01 -8.03644411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.240385723 meters 0.014672556688273289 Centerline is valid? [True, True] Translation: X:-0.91, Y:-215.30, Z:-9.03 [[-9.93429301e-01 1.14420555e-01 2.48216811e-03 -9.10058357e-01] [-1.14420217e-01 -9.93432402e-01 2.78482242e-04 -2.15304257e+02] [ 2.49773032e-03 -7.35779390e-06 9.99996881e-01 -9.03199059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.270385723 meters 0.01491532413353091 Centerline is valid? [True, True] Translation: X:-0.90, Y:-216.06, Z:-8.04 [[-9.85709959e-01 -1.68437702e-01 2.14895941e-03 -9.01647642e-01] [-1.68437252e-01 9.85712301e-01 3.90006544e-04 -2.16055628e+02] [-2.18394753e-03 2.24685173e-05 -9.99997615e-01 -8.03641066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.300385723 meters 0.015164545815485393 Centerline is valid? [True, True] Translation: X:-0.93, Y:-216.03, Z:-8.04 [[-9.71455953e-01 -2.37209868e-01 2.19297371e-03 -9.28045255e-01] [-2.37209200e-01 9.71458428e-01 5.63607718e-04 -2.16033314e+02] [-2.26407610e-03 2.73265338e-05 -9.99997437e-01 -8.03674999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.330385723 meters 0.015724798623934003 Centerline is valid? [True, True] Translation: X:-0.98, Y:-216.02, Z:-8.04 [[-9.52575988e-01 -3.04294067e-01 2.02701090e-03 -9.82744171e-01] [-3.04293304e-01 9.52578144e-01 6.82427317e-04 -2.16021120e+02] [-2.13854486e-03 3.32580331e-05 -9.99997713e-01 -8.03721073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.360385723 meters 0.01606056601820312 Centerline is valid? [True, True] Translation: X:-1.05, Y:-216.02, Z:-8.04 [[-9.28517792e-01 -3.71287413e-01 6.05411390e-04 -1.04736588e+00] [-3.71287326e-01 9.28517989e-01 2.54273545e-04 -2.16015526e+02] [-6.56543934e-04 1.13159338e-05 -9.99999784e-01 -8.03790725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.390385723 meters 0.016283193051755233 Centerline is valid? [True, True] Translation: X:-1.12, Y:-216.02, Z:-8.04 [[-8.98632493e-01 -4.38702225e-01 -3.69614271e-05 -1.12163274e+00] [-4.38702224e-01 8.98632493e-01 -1.99057398e-05 -2.16018005e+02] [ 4.19474315e-05 -1.67288426e-06 -9.99999999e-01 -8.03823607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.420385723 meters 0.016586100266130298 Centerline is valid? [True, True] Translation: X:-1.20, Y:-216.03, Z:-8.04 [[-8.63458507e-01 -5.04419717e-01 -3.94308455e-04 -1.20387131e+00] [-5.04419659e-01 8.63458597e-01 -2.41720505e-04 -2.16031010e+02] [ 4.62397614e-04 -9.81869001e-06 -9.99999893e-01 -8.03813604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.450385723 meters 0.016067377361719197 Centerline is valid? [True, True] Translation: X:-1.29, Y:-216.05, Z:-8.04 [[-8.22982811e-01 -5.68065890e-01 6.61522476e-04 -1.29356544e+00] [-5.68065692e-01 8.22983077e-01 4.74369111e-04 -2.16053500e+02] [-8.13894714e-04 1.46094009e-05 -9.99999669e-01 -8.03788407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.480385723 meters 0.015911990368003504 Centerline is valid? [True, True] Translation: X:-1.38, Y:-216.09, Z:-8.04 [[-7.77567091e-01 -6.28798147e-01 1.51974122e-03 -1.38472306e+00] [-6.28796855e-01 7.77568575e-01 1.27543736e-03 -2.16086530e+02] [-1.98369566e-03 3.61296141e-05 -9.99998032e-01 -8.03661190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.510385723 meters 0.01595288118195209 Centerline is valid? [True, True] Translation: X:-1.48, Y:-216.13, Z:-8.03 [[-7.27150107e-01 -6.86470737e-01 3.26318177e-03 -1.48225868e+00] [-6.86463325e-01 7.27157425e-01 3.19099410e-03 -2.16134367e+02] [-4.56337092e-03 8.02770934e-05 -9.99989585e-01 -8.03373762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.540385723 meters 0.01619343158011788 Centerline is valid? [True, True] Translation: X:-1.57, Y:-216.19, Z:-8.03 [[-6.73097287e-01 -7.39541773e-01 4.24374072e-03 -1.57258347e+00] [-7.39525981e-01 6.73110654e-01 4.83434965e-03 -2.16186487e+02] [-6.43171060e-03 1.15631114e-04 -9.99979310e-01 -8.03149945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.570385723 meters 0.016350946204707666 Centerline is valid? [True, True] Translation: X:-1.66, Y:-216.25, Z:-8.03 [[-6.15040264e-01 -7.88485231e-01 4.06378841e-03 -1.66457425e+00] [-7.88466679e-01 6.15053676e-01 5.41025580e-03 -2.16253957e+02] [-6.76535480e-03 1.23363401e-04 -9.99977107e-01 -8.03096913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.600385723 meters 0.01672295943846718 Centerline is valid? [True, True] Translation: X:-1.75, Y:-216.33, Z:-8.03 [[-5.53895692e-01 -8.32579034e-01 3.42272659e-03 -1.75037873e+00] [-8.32561742e-01 5.53906253e-01 5.36732871e-03 -2.16327114e+02] [-6.36459501e-03 1.23309035e-04 -9.99979738e-01 -8.03156089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.630385723 meters 0.01706972381156009 Centerline is valid? [True, True] Translation: X:-1.83, Y:-216.41, Z:-8.03 [[-4.89215483e-01 -8.72157726e-01 3.01862747e-03 -1.83367404e+00] [-8.72139469e-01 4.89224779e-01 5.64462969e-03 -2.16412284e+02] [-6.39979475e-03 1.28776084e-04 -9.99979513e-01 -8.03176058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.660385723 meters 0.017223071232601878 Centerline is valid? [True, True] Translation: X:-1.91, Y:-216.51, Z:-8.03 [[-4.21097420e-01 -9.07011805e-01 2.55887073e-03 -1.91265796e+00] [-9.06993147e-01 4.21105175e-01 5.81920120e-03 -2.16507525e+02] [-6.35563789e-03 1.29572394e-04 -9.99979794e-01 -8.03168077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.690385723 meters 0.01624454870502015 Centerline is valid? [True, True] Translation: X:-1.99, Y:-216.60, Z:-8.03 [[-3.50229017e-01 -9.36662082e-01 1.94431041e-03 -1.98614236e+00] [-9.36645691e-01 3.50234393e-01 5.54255324e-03 -2.16603920e+02] [-5.87246384e-03 1.20033008e-04 -9.99982750e-01 -8.03175062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.720385723 meters 0.015773661389450487 Centerline is valid? [True, True] Translation: X:-2.05, Y:-216.71, Z:-8.03 [[-2.75554286e-01 -9.61284651e-01 1.28677042e-03 -2.05376100e+00] [-9.61272537e-01 2.75557274e-01 4.82683592e-03 -2.16712536e+02] [-4.99454223e-03 9.31182613e-05 -9.99987523e-01 -8.03160079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.750385723 meters 0.01553714090275951 Centerline is valid? [True, True] Translation: X:-2.11, Y:-216.82, Z:-8.03 [[-1.99606596e-01 -9.79875784e-01 8.09607683e-04 -2.10973846e+00] [-9.79866083e-01 1.99608223e-01 4.36076392e-03 -2.16821530e+02] [-4.43461131e-03 7.71301325e-05 -9.99990164e-01 -8.03168064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.780385723 meters 0.015007626615932051 Centerline is valid? [True, True] Translation: X:-2.16, Y:-216.94, Z:-8.03 [[-1.21476355e-01 -9.92594240e-01 4.12177504e-04 -2.15948121e+00] [-9.92586772e-01 1.21477040e-01 3.85082620e-03 -2.16939558e+02] [-3.87237801e-03 5.86623927e-05 -9.99992501e-01 -8.03193851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.810385723 meters 0.014660163130051746 Centerline is valid? [True, True] Translation: X:-2.20, Y:-217.06, Z:-8.03 [[-4.37684472e-02 -9.99041697e-01 1.07242722e-04 -2.19903355e+00] [-9.99035138e-01 4.37685485e-02 3.62050785e-03 -2.17058901e+02] [-3.62173216e-03 5.13247590e-05 -9.99993440e-01 -8.03263280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8403857229999 meters 0.014658892622591527 Centerline is valid? [True, True] Translation: X:-2.23, Y:-217.19, Z:-8.03 [[ 3.60172476e-02 -9.99351158e-01 -1.43620184e-04 -2.22872786e+00] [-9.99346552e-01 -3.60175177e-02 3.03424373e-03 -2.17192099e+02] [-3.03744783e-03 3.42412274e-05 -9.99995386e-01 -8.03245961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.870385723 meters 0.014194854860402568 Centerline is valid? [True, True] Translation: X:-2.25, Y:-217.31, Z:-8.03 [[ 1.14569391e-01 -9.93415181e-01 -3.65890822e-04 -2.25035468e+00] [-9.93410870e-01 -1.14569972e-01 2.92671742e-03 -2.17310253e+02] [-2.94936561e-03 2.81676873e-05 -9.99995650e-01 -8.03242398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.900385723 meters 0.013763164334405385 Centerline is valid? [True, True] Translation: X:-2.26, Y:-217.44, Z:-8.03 [[ 1.94331964e-01 -9.80935547e-01 -7.35254344e-04 -2.26191389e+00] [-9.80928937e-01 -1.94333354e-01 3.60103784e-03 -2.17440354e+02] [-3.67527046e-03 2.14355065e-05 -9.99993246e-01 -8.03144713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.930385723 meters 0.01352726286583291 Centerline is valid? [True, True] Translation: X:-2.26, Y:-217.57, Z:-8.03 [[ 2.71006273e-01 -9.62576999e-01 -1.05855320e-03 -2.26356887e+00] [-9.62569872e-01 -2.71008340e-01 3.70414886e-03 -2.17565600e+02] [-3.85240524e-03 1.50838421e-05 -9.99992579e-01 -8.03111150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.960385723 meters 0.013303335932704661 Centerline is valid? [True, True] Translation: X:-2.25, Y:-217.70, Z:-8.03 [[ 3.46881740e-01 -9.37907637e-01 -1.52430921e-03 -2.25453516e+00] [-9.37898638e-01 -3.46885089e-01 4.10853639e-03 -2.17695016e+02] [-4.38218780e-03 4.47127957e-06 -9.99990398e-01 -8.02980793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.990385723 meters 0.013280848053441577 Centerline is valid? [True, True] Translation: X:-2.24, Y:-217.81, Z:-8.03 [[ 4.20037410e-01 -9.07504170e-01 -2.18063880e-03 -2.23819963e+00] [-9.07491851e-01 -4.20043071e-01 4.72845765e-03 -2.17813456e+02] [-5.20705726e-03 -7.21716111e-06 -9.99986443e-01 -8.02948805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.020385723 meters 0.01339742888806805 Centerline is valid? [True, True] Translation: X:-2.21, Y:-217.94, Z:-8.03 [[ 4.88950135e-01 -8.72308359e-01 -2.42730803e-03 -2.20659242e+00] [-8.72297505e-01 -4.88956160e-01 4.35150188e-03 -2.17940682e+02] [-4.98269868e-03 -1.03326912e-05 -9.99987586e-01 -8.02887735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.050385723 meters 0.01333583831011882 Centerline is valid? [True, True] Translation: X:-2.18, Y:-218.05, Z:-8.03 [[ 5.54991794e-01 -8.31850766e-01 -2.90020235e-03 -2.17664229e+00] [-8.31839267e-01 -5.54999372e-01 4.37386189e-03 -2.18045871e+02] [-5.24801084e-03 -1.49552641e-05 -9.99986229e-01 -8.02897921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.080385723 meters 0.013317407315839448 Centerline is valid? [True, True] Translation: X:-2.13, Y:-218.16, Z:-8.03 [[ 6.16818150e-01 -7.87096905e-01 -3.71925566e-03 -2.12882650e+00] [-7.87082438e-01 -6.16829362e-01 4.77218443e-03 -2.18160521e+02] [-6.05031770e-03 -1.62091580e-05 -9.99981697e-01 -8.02730533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.110385723 meters 0.013307322032726315 Centerline is valid? [True, True] Translation: X:-2.08, Y:-218.26, Z:-8.03 [[ 6.73820907e-01 -7.38881550e-01 -4.40918046e-03 -2.08438013e+00] [-7.38865670e-01 -6.73835333e-01 4.84421173e-03 -2.18255066e+02] [-6.55036025e-03 -6.33907117e-06 -9.99978546e-01 -8.02659090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.140385723 meters 0.013237283483653871 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.35, Z:-8.03 [[ 7.27150895e-01 -6.86461149e-01 -4.76099814e-03 -2.02797890e+00] [-6.86446461e-01 -7.27166481e-01 4.49065671e-03 -2.18351512e+02] [-6.54469962e-03 2.78527829e-06 -9.99978583e-01 -8.02676154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.170385723 meters 0.013415474315374296 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.35, Z:-8.03 [[ 7.76454766e-01 -6.30150203e-01 -5.35899787e-03 -2.02810136e+00] [-6.30135428e-01 -7.76473259e-01 4.31526551e-03 -2.18354017e+02] [-6.88038398e-03 2.62859419e-05 -9.99976330e-01 -8.02682459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.200385723 meters 0.013627113482041086 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.36, Z:-8.03 [[ 8.22321249e-01 -5.68994059e-01 -5.79003891e-03 -2.02807126e+00] [-5.68980289e-01 -8.22341632e-01 3.95862453e-03 -2.18358789e+02] [-7.01382388e-03 3.91569468e-05 -9.99975402e-01 -8.02635844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.230385723 meters 0.013708235695435611 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.37, Z:-8.03 [[ 8.62687211e-01 -5.05693781e-01 -6.67652168e-03 -2.03094583e+00] [-5.05679242e-01 -8.62713043e-01 3.83519121e-03 -2.18367833e+02] [-7.69935468e-03 6.76080182e-05 -9.99970357e-01 -8.02660494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.260385723 meters 0.013886187759160597 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.38, Z:-8.03 [[ 8.99055103e-01 -4.37779242e-01 -7.01833689e-03 -2.03372736e+00] [-4.37766576e-01 -8.99082493e-01 3.33105556e-03 -2.18377556e+02] [-7.76833080e-03 7.75908134e-05 -9.99969823e-01 -8.02608641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.290385723 meters 0.014403943131029773 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.38, Z:-8.03 [[ 9.29618788e-01 -3.68436631e-01 -7.95976534e-03 -2.03607148e+00] [-3.68424099e-01 -9.29652859e-01 3.04065438e-03 -2.18384566e+02] [-8.52010706e-03 1.05919932e-04 -9.99963698e-01 -8.02560972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.320385723 meters 0.014494126090483828 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.39, Z:-8.03 [[ 9.55248233e-01 -2.95686176e-01 -8.39636276e-03 -2.03739693e+00] [-2.95675841e-01 -9.55285126e-01 2.47501641e-03 -2.18394566e+02] [-8.75274859e-03 1.18346566e-04 -9.99961687e-01 -8.02509966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.350385723 meters 0.014808031341302678 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.40, Z:-8.02 [[ 9.75058819e-01 -2.21760273e-01 -9.09294432e-03 -2.03777316e+00] [-2.21751980e-01 -9.75101206e-01 1.92308211e-03 -2.18403673e+02] [-9.29300419e-03 1.41260235e-04 -9.99956809e-01 -8.02431146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.380385723 meters 0.014808031341302678 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.41, Z:-8.02 [[ 9.89422572e-01 -1.44768949e-01 -9.21552404e-03 -2.04212784e+00] [-1.44763998e-01 -9.89465478e-01 1.20556680e-03 -2.18413531e+02] [-9.29297153e-03 1.41261097e-04 -9.99956809e-01 -8.02431176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.410385723 meters 0.014755444614226466 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.42, Z:-8.02 [[ 9.97687865e-01 -6.73812710e-02 -8.87068769e-03 -2.04504182e+00] [-6.73798490e-02 -9.97727290e-01 4.59409106e-04 -2.18424678e+02] [-8.88148276e-03 1.39358708e-04 -9.99960549e-01 -8.02442431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.440385723 meters 0.014873000772378575 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.43, Z:-8.02 [[ 9.99898113e-01 1.10396464e-02 -9.04930004e-03 -2.04750112e+00] [ 1.10379198e-02 -9.99939051e-01 -2.40722680e-04 -2.18434912e+02] [-9.05140599e-03 1.40812706e-04 -9.99959025e-01 -8.02482416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.470385723 meters 0.014821492509865714 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.45, Z:-8.02 [[ 9.95949971e-01 8.94742314e-02 -8.83279542e-03 -2.04928106e+00] [ 8.94694961e-02 -9.95989128e-01 -9.30588854e-04 -2.18446000e+02] [-8.88063194e-03 1.36554186e-04 -9.99960557e-01 -8.02491496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.500385723 meters 0.014633638915114712 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.46, Z:-8.03 [[ 9.85630817e-01 1.68699766e-01 -8.50183386e-03 -2.05086651e+00] [ 1.68692442e-01 -9.85667477e-01 -1.57654289e-03 -2.18456604e+02] [-8.64594355e-03 1.19694142e-04 -9.99962616e-01 -8.02539626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.530385723 meters 0.014447138989258585 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.47, Z:-8.03 [[ 9.69242041e-01 2.45976960e-01 -8.07471771e-03 -2.04981560e+00] [ 2.45967477e-01 -9.69275669e-01 -2.16271642e-03 -2.18468040e+02] [-8.35860583e-03 1.10077734e-04 -9.99965060e-01 -8.02611605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.560385723 meters 0.01457382010654662 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.48, Z:-8.03 [[ 9.46561947e-01 3.22459547e-01 -6.34994853e-03 -2.04983520e+00] [ 3.22451734e-01 -9.46583242e-01 -2.24613621e-03 -2.18478491e+02] [-6.73504293e-03 7.85551520e-05 -9.99977316e-01 -8.02623832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5903857229999 meters 0.013976286043909266 Centerline is valid? [True, True] Translation: X:-2.05, Y:-218.49, Z:-8.03 [[ 9.17919310e-01 3.96729038e-01 -5.49638381e-03 -2.04691572e+00] [ 3.96721519e-01 -9.17935764e-01 -2.44327830e-03 -2.18489977e+02] [-6.01464673e-03 6.21986006e-05 -9.99981910e-01 -8.02755544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.620385723 meters 0.013811187797357568 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.50, Z:-8.03 [[ 8.84027712e-01 4.67407833e-01 -4.99223081e-03 -2.04353678e+00] [ 4.67400006e-01 -8.84041806e-01 -2.70560881e-03 -2.18501470e+02] [-5.67796349e-03 5.84644525e-05 -9.99983879e-01 -8.02754609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.650385723 meters 0.01393643764473473 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.51, Z:-8.03 [[ 8.44762521e-01 5.35121481e-01 -4.61348092e-03 -2.04078623e+00] [ 5.35113131e-01 -8.44775117e-01 -2.98997579e-03 -2.18511343e+02] [-5.49735416e-03 5.70852657e-05 -9.99984888e-01 -8.02751950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.680385723 meters 0.013691654327633144 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.52, Z:-8.03 [[ 8.00574686e-01 5.99216204e-01 -4.48485208e-03 -2.03443159e+00] [ 5.99206370e-01 -8.00587245e-01 -3.43342440e-03 -2.18522885e+02] [-5.64787890e-03 6.13607270e-05 -9.99984049e-01 -8.02843507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.710385723 meters 0.013905475397555662 Centerline is valid? [True, True] Translation: X:-2.03, Y:-218.53, Z:-8.03 [[ 7.51597544e-01 6.59609824e-01 -4.00155542e-03 -2.02929490e+00] [ 6.59600038e-01 -7.51608193e-01 -3.59351344e-03 -2.18533293e+02] [-5.37791861e-03 6.14497648e-05 -9.99985537e-01 -8.02841071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.740385723 meters 0.013941559887303764 Centerline is valid? [True, True] Translation: X:-2.02, Y:-218.54, Z:-8.03 [[ 6.98627121e-01 7.15479227e-01 -3.10191952e-03 -2.02210642e+00] [ 7.15471807e-01 -6.98634004e-01 -3.25899379e-03 -2.18543535e+02] [-4.49884881e-03 5.74854785e-05 -9.99989879e-01 -8.02867378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.770385723 meters 0.01417447412237323 Centerline is valid? [True, True] Translation: X:-2.02, Y:-218.55, Z:-8.03 [[ 6.41299778e-01 7.67284506e-01 -3.01362646e-03 -2.01662912e+00] [ 7.67275542e-01 -6.41306855e-01 -3.70939697e-03 -2.18553118e+02] [-4.77882213e-03 6.65535806e-05 -9.99988579e-01 -8.02918004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.800385723 meters 0.01414255791770897 Centerline is valid? [True, True] Translation: X:-2.01, Y:-218.56, Z:-8.03 [[ 5.79786401e-01 8.14764214e-01 -2.64674165e-03 -2.00851085e+00] [ 8.14755183e-01 -5.79792438e-01 -3.83664690e-03 -2.18562481e+02] [-4.66052339e-03 6.79892136e-05 -9.99989137e-01 -8.02926748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.830385723 meters 0.014080602433600566 Centerline is valid? [True, True] Translation: X:-2.00, Y:-218.57, Z:-8.03 [[ 5.14912640e-01 8.57240581e-01 -1.88642515e-03 -1.99689474e+00] [ 8.57234412e-01 -5.14916092e-01 -3.25291571e-03 -2.18572163e+02] [-3.75988202e-03 5.78588600e-05 -9.99992930e-01 -8.02924824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.860385723 meters 0.01430999240768947 Centerline is valid? [True, True] Translation: X:-1.99, Y:-218.58, Z:-8.03 [[ 4.46135924e-01 8.94963984e-01 -1.48471648e-03 -1.98760929e+00] [ 8.94958630e-01 -4.46138391e-01 -3.09626891e-03 -2.18580656e+02] [-3.43343818e-03 5.25969577e-05 -9.99994104e-01 -8.02930209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.890385723 meters 0.014314781787517319 Centerline is valid? [True, True] Translation: X:-1.98, Y:-218.59, Z:-8.03 [[ 3.74293279e-01 9.27309578e-01 -1.21956054e-03 -1.97779427e+00] [ 9.27304208e-01 -3.74295263e-01 -3.15617589e-03 -2.18587792e+02] [-3.38322787e-03 5.04318006e-05 -9.99994276e-01 -8.02966140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.920385723 meters 0.01424953816450542 Centerline is valid? [True, True] Translation: X:-1.97, Y:-218.59, Z:-8.03 [[ 3.00143559e-01 9.53893467e-01 -1.04770436e-03 -1.96777255e+00] [ 9.53887024e-01 -3.00145383e-01 -3.50650665e-03 -2.18594537e+02] [-3.65929741e-03 5.30637954e-05 -9.99993303e-01 -8.02900819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.950385723 meters 0.014193735844549832 Centerline is valid? [True, True] Translation: X:-1.96, Y:-218.60, Z:-8.03 [[ 2.23315895e-01 9.74745747e-01 -8.60571391e-04 -1.95720807e+00] [ 9.74737540e-01 -2.23317546e-01 -4.00025203e-03 -2.18600808e+02] [-4.09140934e-03 5.44886195e-05 -9.99991629e-01 -8.02745612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.980385723 meters 0.01393452735452936 Centerline is valid? [True, True] Translation: X:-1.95, Y:-218.61, Z:-8.03 [[ 1.45596803e-01 9.89343851e-01 -5.61642353e-04 -1.94584386e+00] [ 9.89335014e-01 -1.45597876e-01 -4.18188131e-03 -2.18605202e+02] [-4.21909250e-03 5.32161021e-05 -9.99991098e-01 -8.02745251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.010385723 meters 0.013691990724763575 Centerline is valid? [True, True] Translation: X:-1.93, Y:-218.61, Z:-8.03 [[ 6.55413866e-02 9.97849812e-01 -2.83275458e-04 -1.93362602e+00] [ 9.97836577e-01 -6.55419764e-02 -5.13957635e-03 -2.18609571e+02] [-5.14709172e-03 5.41923470e-05 -9.99986752e-01 -8.02699255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.040385723 meters 0.013700231065320865 Centerline is valid? [True, True] Translation: X:-1.92, Y:-218.61, Z:-8.03 [[-1.40244259e-02 9.99901644e-01 1.31608953e-04 -1.92321725e+00] [ 9.99885754e-01 1.40249450e-02 -5.63735299e-03 -2.18613902e+02] [-5.63864434e-03 5.25332778e-05 -9.99984101e-01 -8.02643842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.070385723 meters 0.013519743380878295 Centerline is valid? [True, True] Translation: X:-1.91, Y:-218.62, Z:-8.03 [[-9.47657022e-02 9.95499396e-01 6.43493497e-04 -1.91289109e+00] [ 9.95479467e-01 9.47678769e-02 -6.29928461e-03 -2.18616482e+02] [-6.33191654e-03 4.36284337e-05 -9.99979952e-01 -8.02605548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.100385723 meters 0.01337500310195034 Centerline is valid? [True, True] Translation: X:-1.90, Y:-218.62, Z:-8.03 [[-1.73095608e-01 9.84904392e-01 1.11746019e-03 -1.90306051e+00] [ 9.84885290e-01 1.73099210e-01 -6.13416605e-03 -2.18618048e+02] [-6.23499856e-03 3.87729076e-05 -9.99980562e-01 -8.02636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.130385723 meters 0.013269224929258258 Centerline is valid? [True, True] Translation: X:-1.89, Y:-218.62, Z:-8.03 [[-2.51806357e-01 9.67776338e-01 1.58698847e-03 -1.88848702e+00] [ 9.67757745e-01 2.51811356e-01 -5.99890683e-03 -2.18617183e+02] [-6.20522180e-03 2.52575074e-05 -9.99980747e-01 -8.02657545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.160385723 meters 0.013335329701786757 Centerline is valid? [True, True] Translation: X:-1.88, Y:-218.62, Z:-8.03 [[-3.28810569e-01 9.44393233e-01 2.24325108e-03 -1.87581663e+00] [ 9.44371537e-01 3.28818220e-01 -6.40145388e-03 -2.18616845e+02] [-6.78311155e-03 1.35967803e-05 -9.99976994e-01 -8.02660398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.190385723 meters 0.01333221919526172 Centerline is valid? [True, True] Translation: X:-1.86, Y:-218.61, Z:-8.03 [[-4.02588155e-01 9.15376766e-01 2.85558549e-03 -1.86372850e+00] [ 9.15353881e-01 4.02598282e-01 -6.47275473e-03 -2.18614393e+02] [-7.07466310e-03 8.01687800e-06 -9.99974974e-01 -8.02758729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.220385723 meters 0.013359788020158003 Centerline is valid? [True, True] Translation: X:-1.85, Y:-218.61, Z:-8.03 [[-4.73948726e-01 8.80545724e-01 3.43986802e-03 -1.85219866e+00] [ 8.80522547e-01 4.73961209e-01 -6.38878589e-03 -2.18612057e+02] [-7.25598211e-03 9.24414035e-07 -9.99973675e-01 -8.02797037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.250385723 meters 0.013323100289591064 Centerline is valid? [True, True] Translation: X:-1.84, Y:-218.61, Z:-8.03 [[-5.41513953e-01 8.40681010e-01 4.25187159e-03 -1.84273830e+00] [ 8.40655102e-01 5.41530646e-01 -6.59998795e-03 -2.18608352e+02] [-7.85100331e-03 3.71977808e-07 -9.99969180e-01 -8.02813851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.280385723 meters 0.013382334453363792 Centerline is valid? [True, True] Translation: X:-1.83, Y:-218.60, Z:-8.03 [[-6.05448295e-01 7.95870273e-01 4.78235572e-03 -1.83340983e+00] [ 7.95845483e-01 6.05467182e-01 -6.28166636e-03 -2.18604754e+02] [-7.89495096e-03 2.79201427e-06 -9.99968834e-01 -8.02860072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.310385723 meters 0.01355536433749031 Centerline is valid? [True, True] Translation: X:-1.83, Y:-218.60, Z:-8.03 [[-6.64186114e-01 7.47548720e-01 5.26482294e-03 -1.82604880e+00] [ 7.47525485e-01 6.64206979e-01 -5.89390301e-03 -2.18601451e+02] [-7.90291179e-03 2.09407918e-05 -9.99968771e-01 -8.02957154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3403857229999 meters 0.013607964705507309 Centerline is valid? [True, True] Translation: X:-1.82, Y:-218.59, Z:-8.03 [[-7.19357788e-01 6.94618097e-01 5.48376007e-03 -1.81593925e+00] [ 6.94598283e-01 7.19378689e-01 -5.24656453e-03 -2.18594743e+02] [-7.58925880e-03 3.48532756e-05 -9.99971201e-01 -8.03062930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.370385723 meters 0.01432131816801111 Centerline is valid? [True, True] Translation: X:-1.79, Y:-218.58, Z:-8.03 [[-7.63429626e-01 6.45864501e-01 5.85254774e-03 -1.79389845e+00] [ 6.45846259e-01 7.63452056e-01 -4.85478791e-03 -2.18579601e+02] [-7.60367477e-03 7.35571364e-05 -9.99971089e-01 -8.03022349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.400385723 meters 0.014451619071329443 Centerline is valid? [True, True] Translation: X:-1.77, Y:-218.56, Z:-8.03 [[-8.05593236e-01 5.92433808e-01 6.45915060e-03 -1.77321246e+00] [ 5.92415743e-01 8.05619124e-01 -4.62749409e-03 -2.18559490e+02] [-7.94509920e-03 9.86245648e-05 -9.99968432e-01 -8.03096548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.430385723 meters 0.01614234212517299 Centerline is valid? [True, True] Translation: X:-1.76, Y:-218.54, Z:-8.03 [[-8.43075490e-01 5.37742137e-01 7.55730624e-03 -1.75671498e+00] [ 5.37722124e-01 8.43109347e-01 -4.64178064e-03 -2.18539259e+02] [-8.86771658e-03 1.50359278e-04 -9.99960670e-01 -8.03016026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.460385723 meters 0.015528876338581717 Centerline is valid? [True, True] Translation: X:-1.74, Y:-218.51, Z:-8.03 [[-8.78010477e-01 4.78563364e-01 8.64346038e-03 -1.73772184e+00] [ 4.78542248e-01 8.78053001e-01 -4.49937396e-03 -2.18513276e+02] [-9.74265186e-03 1.85763485e-04 -9.99952522e-01 -8.03073655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.490385723 meters 0.016090442092870104 Centerline is valid? [True, True] Translation: X:-1.40, Y:-217.88, Z:-9.04 [[-8.64119045e-01 -5.03206763e-01 9.01279985e-03 -1.40406799e+00] [ 5.03177533e-01 -8.64166032e-01 -5.42590890e-03 -2.17884455e+02] [ 1.05189095e-02 -1.53592823e-04 9.99944663e-01 -9.03848005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.520385723 meters 0.01802555586106481 Centerline is valid? [True, True] Translation: X:-1.78, Y:-218.49, Z:-8.03 [[-8.79161806e-01 4.76409925e-01 1.03972437e-02 -1.78151403e+00] [ 4.76379790e-01 8.79223252e-01 -5.36364710e-03 -2.18493055e+02] [-1.16967932e-02 2.37523114e-04 -9.99931562e-01 -8.02638993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.550385723 meters 0.01659031808883179 Centerline is valid? [True, True] Translation: X:-1.76, Y:-218.46, Z:-8.03 [[-9.10610397e-01 4.13128193e-01 1.06677646e-02 -1.76499380e+00] [ 4.13102903e-01 9.10672850e-01 -4.57736719e-03 -2.18464653e+02] [-1.16058830e-02 2.38686350e-04 -9.99932621e-01 -8.02808725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.580385723 meters 0.017251859794408093 Centerline is valid? [True, True] Translation: X:-1.48, Y:-217.81, Z:-9.04 [[-8.99834253e-01 -4.36121284e-01 9.82564527e-03 -1.48380315e+00] [ 4.36092095e-01 -8.99887858e-01 -5.05245030e-03 -2.17814820e+02] [ 1.10454600e-02 -2.61481614e-04 9.99938963e-01 -9.03883765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.610385723 meters 0.017769297144338253 Centerline is valid? [True, True] Translation: X:-1.81, Y:-218.45, Z:-8.03 [[-9.12008186e-01 4.10055404e-01 9.77924789e-03 -1.81106409e+00] [ 4.10034428e-01 9.12060588e-01 -4.15344561e-03 -2.18446475e+02] [-1.06224094e-02 2.21851921e-04 -9.99943556e-01 -8.02892848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.640385723 meters 0.016419711912277524 Centerline is valid? [True, True] Translation: X:-1.80, Y:-218.41, Z:-8.03 [[-9.39274523e-01 3.43014602e-01 1.02153932e-02 -1.79715386e+00] [ 3.42996737e-01 9.39330048e-01 -3.50707288e-03 -2.18414113e+02] [-1.07986030e-02 2.09742341e-04 -9.99941671e-01 -8.03012814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.670385723 meters 0.016352169895386817 Centerline is valid? [True, True] Translation: X:-1.79, Y:-218.38, Z:-8.03 [[-9.61604134e-01 2.74214211e-01 1.11380256e-02 -1.79287608e+00] [ 2.74198318e-01 9.61668614e-01 -2.95958704e-03 -2.18383034e+02] [-1.15226504e-02 2.08076747e-04 -9.99933590e-01 -8.02961169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.700385723 meters 0.015799191608772432 Centerline is valid? [True, True] Translation: X:-1.61, Y:-217.72, Z:-9.04 [[-9.52060479e-01 -3.05713328e-01 1.09638358e-02 -1.61490324e+00] [ 3.05690568e-01 -9.52123584e-01 -3.73597075e-03 -2.17716401e+02] [ 1.15810627e-02 -2.05328902e-04 9.99932916e-01 -9.03832404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.730385723 meters 0.016286083009007295 Centerline is valid? [True, True] Translation: X:-1.84, Y:-218.37, Z:-8.03 [[-9.63289873e-01 2.68257370e-01 1.05168618e-02 -1.84375009e+00] [ 2.68243316e-01 9.63347266e-01 -2.75122126e-03 -2.18366493e+02] [-1.08694254e-02 1.70854287e-04 -9.99940912e-01 -8.02920255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.760385723 meters 0.015729319886700302 Centerline is valid? [True, True] Translation: X:-1.66, Y:-217.71, Z:-9.04 [[-9.52880104e-01 -3.03204344e-01 9.30764531e-03 -1.66470573e+00] [ 3.03187609e-01 -9.52925536e-01 -3.19326807e-03 -2.17706657e+02] [ 9.83770565e-03 -2.20838882e-04 9.99951584e-01 -9.03696582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.790385723 meters 0.015646570328650373 Centerline is valid? [True, True] Translation: X:-1.89, Y:-218.35, Z:-8.03 [[-9.64522137e-01 2.63849559e-01 8.96977445e-03 -1.89130718e+00] [ 2.63839489e-01 9.64563834e-01 -2.30938348e-03 -2.18350043e+02] [-9.26124985e-03 1.39129222e-04 -9.99957104e-01 -8.03084315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.820385723 meters 0.015514015197983943 Centerline is valid? [True, True] Translation: X:-1.72, Y:-217.70, Z:-9.04 [[-9.53851390e-01 -3.00144200e-01 8.99919754e-03 -1.72110782e+00] [ 3.00129568e-01 -9.53893832e-01 -2.96648947e-03 -2.17697421e+02] [ 9.47465364e-03 -1.28664830e-04 9.99955106e-01 -9.03796351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.850385723 meters 0.01580267619786101 Centerline is valid? [True, True] Translation: X:-1.94, Y:-218.34, Z:-8.03 [[-9.65729943e-01 2.59379064e-01 9.39037507e-03 -1.93941121e+00] [ 2.59368196e-01 9.65775586e-01 -2.37841597e-03 -2.18335514e+02] [-9.68590629e-03 1.38657124e-04 -9.99953081e-01 -8.02953687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.880385723 meters 0.01551970319014896 Centerline is valid? [True, True] Translation: X:-1.77, Y:-217.69, Z:-9.04 [[-9.54949634e-01 -2.96659672e-01 8.01473771e-03 -1.77360768e+00] [ 2.96647465e-01 -9.54983246e-01 -2.69853956e-03 -2.17687031e+02] [ 8.45448809e-03 -1.99417739e-04 9.99964240e-01 -9.03690767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.910385723 meters 0.015470858813689587 Centerline is valid? [True, True] Translation: X:-1.99, Y:-218.32, Z:-8.03 [[-9.66767885e-01 2.55531427e-01 7.97153537e-03 -1.98922564e+00] [ 2.55523737e-01 9.66800743e-01 -1.98594151e-03 -2.18321049e+02] [-8.21435678e-03 1.16972036e-04 -9.99966255e-01 -8.03130687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.940385723 meters 0.015566370339926042 Centerline is valid? [True, True] Translation: X:-1.99, Y:-218.29, Z:-8.03 [[-9.82524912e-01 1.85892918e-01 9.41382021e-03 -1.98836185e+00] [ 1.85885678e-01 9.82570000e-01 -1.64599000e-03 -2.18291000e+02] [-9.55571521e-03 1.32668174e-04 -9.99954334e-01 -8.03096624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.970385723 meters 0.015518262059494047 Centerline is valid? [True, True] Translation: X:-1.87, Y:-217.64, Z:-9.04 [[-9.74275357e-01 -2.25144405e-01 9.87549021e-03 -1.87408622e+00] [ 2.25131778e-01 -9.74325401e-01 -2.38663763e-03 -2.17636435e+02] [ 1.01592791e-02 -1.01955561e-04 9.99948388e-01 -9.03786041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.000385723 meters 0.015573794564036235 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.28, Z:-8.03 [[-9.83494892e-01 1.80565629e-01 1.15693656e-02 -2.04381317e+00] [ 1.80554888e-01 9.83562927e-01 -1.97494341e-03 -2.18278710e+02] [-1.17358060e-02 1.46558756e-04 -9.99931122e-01 -8.02805026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.030385723 meters 0.015529754173890065 Centerline is valid? [True, True] Translation: X:-2.04, Y:-218.25, Z:-8.03 [[-9.93881188e-01 1.09859614e-01 1.14476595e-02 -2.04367331e+00] [ 1.09853941e-01 9.93947104e-01 -1.12509309e-03 -2.18248418e+02] [-1.15019703e-02 1.39361652e-04 -9.99933841e-01 -8.02723310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.060385723 meters 0.015564803378143354 Centerline is valid? [True, True] Translation: X:-1.98, Y:-217.59, Z:-9.04 [[-9.88139137e-01 -1.53159494e-01 1.11002642e-02 -1.97705692e+00] [ 1.53148096e-01 -9.88201471e-01 -1.87472641e-03 -2.17594999e+02] [ 1.12564296e-02 -1.52506207e-04 9.99936633e-01 -9.04061306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0903857229999 meters 0.015292481425677292 Centerline is valid? [True, True] Translation: X:-2.11, Y:-218.24, Z:-8.03 [[-9.94434721e-01 1.04747220e-01 1.12962534e-02 -2.10651043e+00] [ 1.04741928e-01 9.94498871e-01 -1.06074074e-03 -2.18242508e+02] [-1.13452209e-02 1.28353937e-04 -9.99935633e-01 -8.02808465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.120385723 meters 0.015342452072244925 Centerline is valid? [True, True] Translation: X:-2.05, Y:-217.59, Z:-9.04 [[-9.88815790e-01 -1.48665066e-01 1.19177490e-02 -2.04763588e+00] [ 1.48653171e-01 -9.88887602e-01 -1.88267802e-03 -2.17587230e+02] [ 1.20652027e-02 -9.00105760e-05 9.99927209e-01 -9.03924546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.150385723 meters 0.015551113530082638 Centerline is valid? [True, True] Translation: X:-2.17, Y:-218.24, Z:-8.03 [[-9.94781844e-01 1.01333219e-01 1.18600870e-02 -2.17356135e+00] [ 1.01327785e-01 9.94852530e-01 -1.05971584e-03 -2.18237989e+02] [-1.19064220e-02 1.47570275e-04 -9.99929105e-01 -8.02817246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.180385723 meters 0.01548203830368481 Centerline is valid? [True, True] Translation: X:-2.11, Y:-217.58, Z:-9.04 [[-9.89891385e-01 -1.41402017e-01 1.09780006e-02 -2.11415485e+00] [ 1.41391219e-01 -9.89952239e-01 -1.75748171e-03 -2.17580641e+02] [ 1.11162077e-02 -1.87523123e-04 9.99938196e-01 -9.03849773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.210385723 meters 0.015784124700532302 Centerline is valid? [True, True] Translation: X:-2.24, Y:-218.23, Z:-8.03 [[-9.94782017e-01 1.01557227e-01 9.73999862e-03 -2.24033831e+00] [ 1.01554005e-01 9.94829685e-01 -8.26111931e-04 -2.18233842e+02] [-9.77353739e-03 1.67334572e-04 -9.99952224e-01 -8.03141823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.240385723 meters 0.016036450227373517 Centerline is valid? [True, True] Translation: X:-2.18, Y:-217.57, Z:-9.04 [[-9.91011892e-01 -1.33467998e-01 9.04005815e-03 -2.17901610e+00] [ 1.33460631e-01 -9.91053104e-01 -1.41607677e-03 -2.17573192e+02] [ 9.14817862e-03 -1.96857055e-04 9.99958135e-01 -9.03594899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.270385723 meters 0.016052602729417227 Centerline is valid? [True, True] Translation: X:-2.30, Y:-218.23, Z:-8.03 [[-9.95076920e-01 9.86985918e-02 8.97282639e-03 -2.30493868e+00] [ 9.86961129e-02 9.95117360e-01 -7.19732743e-04 -2.18229460e+02] [-9.00005191e-03 1.69393645e-04 -9.99959484e-01 -8.03242780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.300385723 meters 0.016052602729417227 Centerline is valid? [True, True] Translation: X:-2.25, Y:-217.57, Z:-9.04 [[-9.91704012e-01 -1.28233836e-01 8.90142654e-03 -2.25089290e+00] [ 1.28227134e-01 -9.91743946e-01 -1.32188531e-03 -2.17567244e+02] [ 8.99744631e-03 -1.69514550e-04 9.99959508e-01 -9.03557074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.330385723 meters 0.015819911242568825 Centerline is valid? [True, True] Translation: X:-2.37, Y:-218.22, Z:-8.03 [[-9.95463038e-01 9.47762881e-02 8.41394390e-03 -2.37178496e+00] [ 9.47742994e-02 9.95498583e-01 -6.35672106e-04 -2.18223429e+02] [-8.43631587e-03 1.64637552e-04 -9.99964400e-01 -8.03325100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.360385723 meters 0.015973601254593402 Centerline is valid? [True, True] Translation: X:-2.33, Y:-217.56, Z:-9.03 [[-9.92415209e-01 -1.22669408e-01 8.01678197e-03 -2.32865496e+00] [ 1.22663940e-01 -9.92447572e-01 -1.17211566e-03 -2.17561990e+02] [ 8.10001853e-03 -1.79855344e-04 9.99967178e-01 -9.03459786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.390385723 meters 0.01580402675489479 Centerline is valid? [True, True] Translation: X:-2.44, Y:-218.22, Z:-8.03 [[-9.95845140e-01 9.06900346e-02 8.23257226e-03 -2.44423825e+00] [ 9.06883057e-02 9.95879155e-01 -5.83835598e-04 -2.18216777e+02] [-8.25159517e-03 1.65188187e-04 -9.99965941e-01 -8.03332880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.420385723 meters 0.0160946046484705 Centerline is valid? [True, True] Translation: X:-2.39, Y:-217.56, Z:-9.04 [[-9.92856095e-01 -1.19001768e-01 8.68061534e-03 -2.39494943e+00] [ 1.18995973e-01 -9.92894032e-01 -1.18296646e-03 -2.17559045e+02] [ 8.75970627e-03 -1.41557196e-04 9.99961623e-01 -9.03581664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.450385723 meters 0.015940381253204194 Centerline is valid? [True, True] Translation: X:-2.51, Y:-218.21, Z:-8.03 [[-9.96447272e-01 8.37345338e-02 9.02013947e-03 -2.51356034e+00] [ 8.37325403e-02 9.96488085e-01 -5.99090039e-04 -2.18210807e+02] [-9.03862603e-03 1.58317557e-04 -9.99959138e-01 -8.03172166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.480385723 meters 0.01495317407456833 Centerline is valid? [True, True] Translation: X:-2.52, Y:-218.18, Z:-8.03 [[-9.99907859e-01 9.33013350e-03 9.86016688e-03 -2.51774157e+00] [ 9.33105911e-03 9.99956464e-01 4.78725414e-05 -2.18178402e+02] [-9.85929095e-03 1.39873930e-04 -9.99951386e-01 -8.03219921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.510385723 meters 0.014699551485505015 Centerline is valid? [True, True] Translation: X:-2.53, Y:-218.15, Z:-8.03 [[-9.97929268e-01 -6.35763238e-02 9.75843756e-03 -2.52880236e+00] [-6.35720838e-02 9.97976972e-01 7.44384455e-04 -2.18148974e+02] [-9.78602120e-03 1.22478824e-04 -9.99952108e-01 -8.03235390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.540385723 meters 0.014398640966233505 Centerline is valid? [True, True] Translation: X:-2.54, Y:-218.12, Z:-8.03 [[-9.90618888e-01 -1.36316906e-01 9.58745831e-03 -2.54464337e+00] [-1.36309499e-01 9.90665277e-01 1.42482964e-03 -2.18120448e+02] [-9.69219040e-03 1.04601510e-04 -9.99953024e-01 -8.03298386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.570385723 meters 0.014126993451189349 Centerline is valid? [True, True] Translation: X:-2.57, Y:-218.09, Z:-8.03 [[-9.77699029e-01 -2.09800008e-01 9.41089289e-03 -2.57075089e+00] [-2.09789547e-01 9.77744318e-01 2.09643813e-03 -2.18094287e+02] [-9.64127978e-03 7.53785677e-05 -9.99953519e-01 -8.03225315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.600385723 meters 0.014065095052115773 Centerline is valid? [True, True] Translation: X:-2.61, Y:-218.07, Z:-8.03 [[-9.59783643e-01 -2.80583856e-01 9.38397229e-03 -2.60531604e+00] [-2.80569746e-01 9.59829514e-01 2.81468531e-03 -2.18073017e+02] [-9.79676881e-03 6.86301963e-05 -9.99952008e-01 -8.03167586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.630385723 meters 0.013949765561649676 Centerline is valid? [True, True] Translation: X:-2.66, Y:-218.06, Z:-8.03 [[-9.36502594e-01 -3.50548845e-01 8.85434228e-03 -2.66199027e+00] [-3.50532568e-01 9.36544448e-01 3.37858231e-03 -2.18061862e+02] [-9.47684323e-03 6.03157565e-05 -9.99955092e-01 -8.03197128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.660385723 meters 0.014003659992106784 Centerline is valid? [True, True] Translation: X:-2.74, Y:-218.06, Z:-8.03 [[-9.08321586e-01 -4.18194123e-01 8.09762664e-03 -2.73540785e+00] [-4.18176911e-01 9.08357679e-01 3.79463516e-03 -2.18062562e+02] [-8.94243546e-03 6.05085331e-05 -9.99960014e-01 -8.03239158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.690385723 meters 0.01408257371114621 Centerline is valid? [True, True] Translation: X:-2.81, Y:-218.07, Z:-8.03 [[-8.75510488e-01 -4.83156185e-01 6.44100442e-03 -2.80658584e+00] [-4.83142604e-01 8.75534178e-01 3.62312333e-03 -2.18069435e+02] [-7.38985396e-03 6.01588313e-05 -9.99972693e-01 -8.03346214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.720385723 meters 0.014186237753235539 Centerline is valid? [True, True] Translation: X:-2.89, Y:-218.09, Z:-8.03 [[-8.37748188e-01 -5.46027596e-01 5.64259057e-03 -2.88581740e+00] [-5.46014698e-01 8.37767188e-01 3.75355492e-03 -2.18086212e+02] [-6.77672181e-03 6.35964467e-05 -9.99977036e-01 -8.03398587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.750385723 meters 0.01454208248246751 Centerline is valid? [True, True] Translation: X:-2.97, Y:-218.12, Z:-8.03 [[-7.96329566e-01 -6.04841075e-01 5.14745049e-03 -2.97074006e+00] [-6.04827779e-01 7.96346198e-01 4.01135362e-03 -2.18116091e+02] [-6.52538406e-03 8.10384395e-05 -9.99978706e-01 -8.03482696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.780385723 meters 0.014668890945429147 Centerline is valid? [True, True] Translation: X:-3.06, Y:-218.15, Z:-8.03 [[-7.49606275e-01 -6.61866316e-01 4.83851992e-03 -3.05935170e+00] [-6.61851736e-01 7.49621885e-01 4.39413379e-03 -2.18153588e+02] [-6.53538957e-03 9.14874493e-05 -9.99978640e-01 -8.03449496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.810385723 meters 0.015185084966836043 Centerline is valid? [True, True] Translation: X:-3.15, Y:-218.20, Z:-8.03 [[-6.99455975e-01 -7.14661567e-01 4.49267782e-03 -3.14613911e+00] [-7.14645809e-01 6.99470395e-01 4.74707969e-03 -2.18202595e+02] [-6.53505053e-03 1.09699878e-04 -9.99978640e-01 -8.03337917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8403857229999 meters 0.015380715043079347 Centerline is valid? [True, True] Translation: X:-3.23, Y:-218.26, Z:-8.03 [[-6.44082129e-01 -7.64943226e-01 4.48010503e-03 -3.23366735e+00] [-7.64923338e-01 6.44097698e-01 5.51744562e-03 -2.18260937e+02] [-7.10615799e-03 1.26751230e-04 -9.99974743e-01 -8.03325338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.870385723 meters 0.01597409956285079 Centerline is valid? [True, True] Translation: X:-3.32, Y:-218.33, Z:-8.03 [[-5.85376221e-01 -8.10747593e-01 4.79796201e-03 -3.31960352e+00] [-8.10718034e-01 5.85395861e-01 6.92495223e-03 -2.18332628e+02] [-8.42309545e-03 1.63908045e-04 -9.99964512e-01 -8.03161230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.900385723 meters 0.016023818533736592 Centerline is valid? [True, True] Translation: X:-3.40, Y:-218.41, Z:-8.03 [[-5.22386315e-01 -8.52696148e-01 4.67099416e-03 -3.40305000e+00] [-8.52658827e-01 5.22407164e-01 7.97993824e-03 -2.18410197e+02] [-9.24462341e-03 1.85846132e-04 -9.99957250e-01 -8.03067898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.930385723 meters 0.01588618672504414 Centerline is valid? [True, True] Translation: X:-3.48, Y:-218.50, Z:-8.03 [[-4.54763236e-01 -8.90601637e-01 4.37301362e-03 -3.48223748e+00] [-8.90556364e-01 4.54784221e-01 8.98189475e-03 -2.18499202e+02] [-9.98806776e-03 1.90220411e-04 -9.99950100e-01 -8.02925998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.960385723 meters 0.015523482433903623 Centerline is valid? [True, True] Translation: X:-3.56, Y:-218.60, Z:-8.03 [[-3.84800501e-01 -9.22992257e-01 3.72402694e-03 -3.55694407e+00] [-9.22944208e-01 3.84818475e-01 9.41969207e-03 -2.18597358e+02] [-1.01273772e-02 1.87633135e-04 -9.99948699e-01 -8.02904838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.990385723 meters 0.015247960179659095 Centerline is valid? [True, True] Translation: X:-3.62, Y:-218.70, Z:-8.03 [[-3.10404832e-01 -9.50599454e-01 3.08521035e-03 -3.62098709e+00] [-9.50547063e-01 3.10420120e-01 9.98148343e-03 -2.18699958e+02] [-1.04461041e-02 1.65663051e-04 -9.99945424e-01 -8.02959559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.020385723 meters 0.015249079212168868 Centerline is valid? [True, True] Translation: X:-3.68, Y:-218.81, Z:-8.03 [[-2.35362231e-01 -9.71905174e-01 2.22558975e-03 -3.67786193e+00] [-9.71855607e-01 2.35372707e-01 9.81666338e-03 -2.18806257e+02] [-1.00647090e-02 1.47519915e-04 -9.99949339e-01 -8.02933721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.050385723 meters 0.014871068941773856 Centerline is valid? [True, True] Translation: X:-3.73, Y:-218.92, Z:-8.03 [[-1.57325512e-01 -9.87545706e-01 1.47056572e-03 -3.72764207e+00] [-9.87495156e-01 1.57332339e-01 9.99260604e-03 -2.18923141e+02] [-1.00995227e-02 1.19915334e-04 -9.99948991e-01 -8.02886874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.080385723 meters 0.014506613775933607 Centerline is valid? [True, True] Translation: X:-3.77, Y:-219.04, Z:-8.03 [[-7.93553050e-02 -9.96846158e-01 6.87814389e-04 -3.76955046e+00] [-9.96796732e-01 7.93582200e-02 9.92716107e-03 -2.19040512e+02] [-9.95043610e-03 1.02161760e-04 -9.99950488e-01 -8.02911283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.110385723 meters 0.014150955703658529 Centerline is valid? [True, True] Translation: X:-3.80, Y:-219.17, Z:-8.03 [[ 4.04708968e-04 -9.99999916e-01 -6.36985554e-05 -3.80089832e+00] [-9.99965694e-01 -4.05222111e-04 8.27323186e-03 -2.19165926e+02] [-8.27325698e-03 6.03481191e-05 -9.99965774e-01 -8.03017178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.140385723 meters 0.013785993722069614 Centerline is valid? [True, True] Translation: X:-3.82, Y:-219.29, Z:-8.03 [[ 7.94652416e-02 -9.96837498e-01 -5.26991516e-04 -3.82170506e+00] [-9.96818170e-01 -7.94669825e-02 6.20760681e-03 -2.19285787e+02] [-6.22985367e-03 3.20257441e-05 -9.99980594e-01 -8.03222070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.170385723 meters 0.013805620436087575 Centerline is valid? [True, True] Translation: X:-3.83, Y:-219.41, Z:-8.03 [[ 1.56878614e-01 -9.87617464e-01 -9.19746631e-04 -3.83296174e+00] [-9.87601366e-01 -1.56881308e-01 5.63884887e-03 -2.19414665e+02] [-5.71331667e-03 2.37282364e-05 -9.99983679e-01 -8.03287149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.200385723 meters 0.013711881943528676 Centerline is valid? [True, True] Translation: X:-3.83, Y:-219.54, Z:-8.03 [[ 2.33475283e-01 -9.72362218e-01 -1.00455251e-03 -3.83340542e+00] [-9.72353457e-01 -2.33477444e-01 4.12777210e-03 -2.19539985e+02] [-4.24822998e-03 1.30473508e-05 -9.99990976e-01 -8.03447626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.230385723 meters 0.013733640895114724 Centerline is valid? [True, True] Translation: X:-3.83, Y:-219.67, Z:-8.03 [[ 3.07698859e-01 -9.51483104e-01 -1.14682925e-03 -3.82574199e+00] [-9.51476626e-01 -3.07700996e-01 3.51094136e-03 -2.19666252e+02] [-3.69348188e-03 1.08685725e-05 -9.99993179e-01 -8.03452487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.260385723 meters 0.013721652824911841 Centerline is valid? [True, True] Translation: X:-3.81, Y:-219.79, Z:-8.03 [[ 3.79917986e-01 -9.25019262e-01 -1.29980866e-03 -3.80736861e+00] [-9.25013938e-01 -3.79920209e-01 3.13833264e-03 -2.19794178e+02] [-3.39684172e-03 1.00321071e-05 -9.99994231e-01 -8.03448138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.290385723 meters 0.013621983925724493 Centerline is valid? [True, True] Translation: X:-3.79, Y:-219.90, Z:-8.03 [[ 4.49965482e-01 -8.93044468e-01 -1.62569262e-03 -3.78595664e+00] [-8.93038724e-01 -4.49968418e-01 3.20317411e-03 -2.19903050e+02] [-3.59208725e-03 1.04886807e-05 -9.99993548e-01 -8.03398421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.320385723 meters 0.01367123743766686 Centerline is valid? [True, True] Translation: X:-3.75, Y:-220.02, Z:-8.03 [[ 5.16862429e-01 -8.56066078e-01 -2.02464723e-03 -3.75278848e+00] [-8.56059607e-01 -5.16866394e-01 3.32850922e-03 -2.20018557e+02] [-3.89589595e-03 1.28373505e-05 -9.99992411e-01 -8.03372805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.350385723 meters 0.013817381834700316 Centerline is valid? [True, True] Translation: X:-3.70, Y:-220.13, Z:-8.03 [[ 5.80130935e-01 -8.14518528e-01 -2.76885875e-03 -3.70471150e+00] [-8.14509420e-01 -5.80137542e-01 3.85188706e-03 -2.20134173e+02] [-4.74375229e-03 2.06626961e-05 -9.99988748e-01 -8.03366263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.380385723 meters 0.013981483285417625 Centerline is valid? [True, True] Translation: X:-3.66, Y:-220.24, Z:-8.03 [[ 6.39547795e-01 -7.68743249e-01 -3.52632734e-03 -3.65763984e+00] [-7.68731843e-01 -6.39557516e-01 4.18787768e-03 -2.20235802e+02] [-5.47469185e-03 3.24521708e-05 -9.99985013e-01 -8.03289801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.410385723 meters 0.013966026645767673 Centerline is valid? [True, True] Translation: X:-3.61, Y:-220.33, Z:-8.03 [[ 6.95833331e-01 -7.18189656e-01 -4.42639311e-03 -3.60617146e+00] [-7.18175514e-01 -6.95847408e-01 4.50725520e-03 -2.20334229e+02] [-6.31715824e-03 4.26287481e-05 -9.99980046e-01 -8.03247213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.440385723 meters 0.014209444243768429 Centerline is valid? [True, True] Translation: X:-3.55, Y:-220.43, Z:-8.03 [[ 7.47238230e-01 -6.64540197e-01 -4.62106664e-03 -3.54756651e+00] [-6.64527930e-01 -7.47252517e-01 4.03806813e-03 -2.20426234e+02] [-6.13656226e-03 5.34289677e-05 -9.99981170e-01 -8.03143483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.470385723 meters 0.014328664943019417 Centerline is valid? [True, True] Translation: X:-3.55, Y:-220.43, Z:-8.03 [[ 7.96536442e-01 -6.04569529e-01 -5.03804552e-03 -3.55337497e+00] [-6.04557898e-01 -7.96552372e-01 3.75050141e-03 -2.20432998e+02] [-6.28050597e-03 5.83791644e-05 -9.99980276e-01 -8.03128943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.500385723 meters 0.01435991750037492 Centerline is valid? [True, True] Translation: X:-3.56, Y:-220.44, Z:-8.03 [[ 8.40962821e-01 -5.41068095e-01 -5.18177486e-03 -3.55812078e+00] [-5.41058271e-01 -8.40978783e-01 3.26104448e-03 -2.20441354e+02] [-6.12220984e-03 6.12249763e-05 -9.99981257e-01 -8.03116246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.530385723 meters 0.014566569640416463 Centerline is valid? [True, True] Translation: X:-3.56, Y:-220.45, Z:-8.03 [[ 8.80118785e-01 -4.74721048e-01 -5.55440035e-03 -3.56211306e+00] [-4.74712097e-01 -8.80136308e-01 2.91610748e-03 -2.20447900e+02] [-6.27296702e-03 7.02200713e-05 -9.99980322e-01 -8.03131695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.560385723 meters 0.014556933551661119 Centerline is valid? [True, True] Translation: X:-3.57, Y:-220.46, Z:-8.03 [[ 9.14807938e-01 -4.03858436e-01 -4.97997823e-03 -3.56693819e+00] [-4.03852790e-01 -9.14821491e-01 2.13624595e-03 -2.20455070e+02] [-5.41853206e-03 5.69233514e-05 -9.99985318e-01 -8.03272129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5903857229999 meters 0.014394880687540764 Centerline is valid? [True, True] Translation: X:-3.57, Y:-220.47, Z:-8.03 [[ 9.43610365e-01 -3.31029696e-01 -4.33819379e-03 -3.57089968e+00] [-3.31026429e-01 -9.43620336e-01 1.47140202e-03 -2.20466939e+02] [-4.58068565e-03 4.76265995e-05 -9.99989508e-01 -8.03355937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.620385723 meters 0.014287830188645963 Centerline is valid? [True, True] Translation: X:-3.58, Y:-220.48, Z:-8.03 [[ 9.66965395e-01 -2.54880908e-01 -3.69423965e-03 -3.57594130e+00] [-2.54879183e-01 -9.66972451e-01 9.38504716e-04 -2.20479691e+02] [-3.81143490e-03 3.40831985e-05 -9.99992736e-01 -8.03430267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.650385723 meters 0.014198345280773943 Centerline is valid? [True, True] Translation: X:-3.58, Y:-220.49, Z:-8.03 [[ 9.84126446e-01 -1.77437880e-01 -3.30726006e-03 -3.57943076e+00] [-1.77436969e-01 -9.84132002e-01 5.69208404e-04 -2.20491540e+02] [-3.35577960e-03 2.66571567e-05 -9.99994369e-01 -8.03464824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.680385723 meters 0.014021446807324648 Centerline is valid? [True, True] Translation: X:-3.58, Y:-220.51, Z:-8.03 [[ 9.95118192e-01 -9.86559610e-02 -2.60491732e-03 -3.58437848e+00] [-9.86556694e-02 -9.95121601e-01 2.40514197e-04 -2.20506700e+02] [-2.61593766e-03 1.76498095e-05 -9.99996578e-01 -8.03491691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.710385723 meters 0.014009748158444713 Centerline is valid? [True, True] Translation: X:-3.59, Y:-220.52, Z:-8.04 [[ 9.99782147e-01 -2.07462626e-02 -2.29150242e-03 -3.58831196e+00] [-2.07462451e-02 -9.99784773e-01 3.14229764e-05 -2.20518544e+02] [-2.29166114e-03 1.61239401e-05 -9.99997374e-01 -8.03516618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.740385723 meters 0.01427069729505525 Centerline is valid? [True, True] Translation: X:-3.59, Y:-220.53, Z:-8.03 [[ 9.98456706e-01 5.54905202e-02 -2.23809715e-03 -3.59155123e+00] [ 5.54903348e-02 -9.98459214e-01 -1.44898279e-04 -2.20529667e+02] [-2.24268920e-03 2.04818983e-05 -9.99997485e-01 -8.03482763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.770385723 meters 0.014502454104376571 Centerline is valid? [True, True] Translation: X:-3.59, Y:-220.54, Z:-8.03 [[ 9.91310988e-01 1.31523975e-01 -1.99203690e-03 -3.59459249e+00] [ 1.31523664e-01 -9.91312990e-01 -2.86857512e-04 -2.20539683e+02] [-2.01246070e-03 2.23650108e-05 -9.99997975e-01 -8.03441858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.800385723 meters 0.014917330295216283 Centerline is valid? [True, True] Translation: X:-3.60, Y:-220.55, Z:-8.03 [[ 9.78795832e-01 2.04829617e-01 -1.88325027e-03 -3.59557026e+00] [ 2.04829181e-01 -9.78797644e-01 -4.23888594e-04 -2.20552160e+02] [-1.93014587e-03 2.91557796e-05 -9.99998137e-01 -8.03365949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.830385723 meters 0.015598164339537623 Centerline is valid? [True, True] Translation: X:-3.60, Y:-220.56, Z:-8.03 [[ 9.60139289e-01 2.79512969e-01 -2.24646616e-03 -3.59728499e+00] [ 2.79512109e-01 -9.60141916e-01 -6.94365570e-04 -2.20562562e+02] [-2.35101051e-03 3.87731703e-05 -9.99997236e-01 -8.03321432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.860385723 meters 0.015689286210257534 Centerline is valid? [True, True] Translation: X:-3.60, Y:-220.57, Z:-8.03 [[ 9.35666505e-01 3.52877812e-01 -2.33278704e-03 -3.59732025e+00] [ 3.52876598e-01 -9.35669412e-01 -9.26754165e-04 -2.20572645e+02] [-2.50974846e-03 4.39468782e-05 -9.99996850e-01 -8.03295111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.890385723 meters 0.015900757201092172 Centerline is valid? [True, True] Translation: X:-3.60, Y:-220.58, Z:-8.03 [[ 9.05735268e-01 4.23835877e-01 -2.60253547e-03 -3.59533638e+00] [ 4.23833953e-01 -9.05739006e-01 -1.27820473e-03 -2.20583603e+02] [-2.89896691e-03 5.46722077e-05 -9.99995797e-01 -8.03270163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.920385723 meters 0.015746581991583568 Centerline is valid? [True, True] Translation: X:-3.59, Y:-220.60, Z:-8.03 [[ 8.69352814e-01 4.94183320e-01 -2.92092815e-03 -3.59153098e+00] [ 4.94180293e-01 -8.69357719e-01 -1.73071611e-03 -2.20596161e+02] [-3.39462247e-03 6.11377944e-05 -9.99994236e-01 -8.03211112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.950385723 meters 0.015481285014818227 Centerline is valid? [True, True] Translation: X:-3.59, Y:-220.61, Z:-8.03 [[ 8.27180905e-01 5.61927071e-01 -3.11725367e-03 -3.58749250e+00] [ 5.61922792e-01 -8.27186777e-01 -2.19384091e-03 -2.20606654e+02] [-3.81132961e-03 6.30474264e-05 -9.99992735e-01 -8.03142836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.980385723 meters 0.014736708271141326 Centerline is valid? [True, True] Translation: X:-3.58, Y:-220.62, Z:-8.03 [[ 7.78392409e-01 6.27770704e-01 -3.03320604e-03 -3.57961209e+00] [ 6.27765681e-01 -7.78398318e-01 -2.51174845e-03 -2.20620564e+02] [-3.93784457e-03 5.09832718e-05 -9.99992245e-01 -8.03141986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.010385723 meters 0.014527026338088889 Centerline is valid? [True, True] Translation: X:-3.57, Y:-220.63, Z:-8.03 [[ 7.25349346e-01 6.88375712e-01 -2.68415254e-03 -3.57367433e+00] [ 6.88370793e-01 -7.25354311e-01 -2.60281610e-03 -2.20631731e+02] [-3.73867700e-03 4.02587411e-05 -9.99993010e-01 -8.03205666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.040385723 meters 0.014084438646449822 Centerline is valid? [True, True] Translation: X:-3.57, Y:-220.64, Z:-8.03 [[ 6.65723207e-01 7.46196521e-01 -1.83389056e-03 -3.56547790e+00] [ 7.46193621e-01 -6.65725733e-01 -2.08063839e-03 -2.20643119e+02] [-2.77343326e-03 1.66918298e-05 -9.99996154e-01 -8.03329755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.070385723 meters 0.013994652564531767 Centerline is valid? [True, True] Translation: X:-3.56, Y:-220.65, Z:-8.03 [[ 6.03853648e-01 7.97093319e-01 -1.73580581e-03 -3.55839363e+00] [ 7.97089967e-01 -6.03856143e-01 -2.31151889e-03 -2.20651741e+02] [-2.89067326e-03 1.22257147e-05 -9.99995822e-01 -8.03355832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.100385723 meters 0.013965019931892284 Centerline is valid? [True, True] Translation: X:-3.55, Y:-220.66, Z:-8.03 [[ 5.37640026e-01 8.43173793e-01 -1.07545633e-03 -3.55068660e+00] [ 8.43172092e-01 -5.37641102e-01 -1.69383703e-03 -2.20659378e+02] [-2.00640852e-03 3.87982803e-06 -9.99997987e-01 -8.03446136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.130385723 meters 0.013944894937904424 Centerline is valid? [True, True] Translation: X:-3.54, Y:-220.67, Z:-8.03 [[ 4.69752338e-01 8.82797883e-01 -7.98896448e-04 -3.54373815e+00] [ 8.82796596e-01 -4.69753017e-01 -1.50749901e-03 -2.20666417e+02] [-1.70610095e-03 2.88811714e-06 -9.99998545e-01 -8.03485126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.160385723 meters 0.013961597564276885 Centerline is valid? [True, True] Translation: X:-3.54, Y:-220.67, Z:-8.03 [[ 4.00279367e-01 9.16393058e-01 -4.38981103e-04 -3.53722177e+00] [ 9.16392498e-01 -4.00279607e-01 -1.01296619e-03 -2.20673816e+02] [-1.10399036e-03 3.19047428e-06 -9.99999391e-01 -8.03428125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.190385723 meters 0.013961597564276885 Centerline is valid? [True, True] Translation: X:-3.53, Y:-220.68, Z:-8.03 [[ 3.27283951e-01 9.44925969e-01 -3.58302041e-04 -3.53148902e+00] [ 9.44925392e-01 -3.27284148e-01 -1.04422943e-03 -2.20679375e+02] [-1.10398608e-03 3.19083585e-06 -9.99999391e-01 -8.03428129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.220385723 meters 0.014154083398067686 Centerline is valid? [True, True] Translation: X:-3.52, Y:-220.68, Z:-8.03 [[ 2.55324344e-01 9.66855367e-01 -4.24122650e-04 -3.52263973e+00] [ 9.66853964e-01 -2.55324696e-01 -1.64674665e-03 -2.20684679e+02] [-1.70045483e-03 1.03898428e-05 -9.99998554e-01 -8.03370375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.250385723 meters 0.014394637385190751 Centerline is valid? [True, True] Translation: X:-3.52, Y:-220.69, Z:-8.03 [[ 1.80587420e-01 9.83558854e-01 -4.05992806e-04 -3.51500384e+00] [ 9.83556131e-01 -1.80587875e-01 -2.31451828e-03 -2.20690583e+02] [-2.34978232e-03 1.86561713e-05 -9.99997239e-01 -8.03317455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.280385723 meters 0.014389355856683224 Centerline is valid? [True, True] Translation: X:-3.50, Y:-220.69, Z:-8.03 [[ 1.04833718e-01 9.94489722e-01 -2.90983043e-04 -3.50363273e+00] [ 9.94485061e-01 -1.04834118e-01 -3.04483738e-03 -2.20694681e+02] [-3.05856443e-03 2.98233339e-05 -9.99995322e-01 -8.03266549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.310385723 meters 0.014887271965813633 Centerline is valid? [True, True] Translation: X:-3.49, Y:-220.70, Z:-8.03 [[ 2.98786338e-02 9.99553531e-01 -8.02352681e-05 -3.49393721e+00] [ 9.99542234e-01 -2.98786777e-02 -4.75249432e-03 -2.20699059e+02] [-4.75276980e-03 6.17994986e-05 -9.99988704e-01 -8.03099368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3403857229999 meters 0.015191841996915537 Centerline is valid? [True, True] Translation: X:-3.48, Y:-220.70, Z:-8.03 [[-4.58507355e-02 9.98948242e-01 3.45895347e-04 -3.48130344e+00] [ 9.98932473e-01 4.58519555e-02 -5.61354011e-03 -2.20701871e+02] [-5.62349600e-03 8.81411524e-05 -9.99984184e-01 -8.03066229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.370385723 meters 0.015611352376406845 Centerline is valid? [True, True] Translation: X:-3.47, Y:-220.71, Z:-8.03 [[-1.22954994e-01 9.92411915e-01 8.12397555e-04 -3.46974599e+00] [ 9.92395175e-01 1.22957639e-01 -5.76497527e-03 -2.20705142e+02] [-5.82112063e-03 9.73869169e-05 -9.99983052e-01 -8.03066401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.400385723 meters 0.01588246087265899 Centerline is valid? [True, True] Translation: X:-3.46, Y:-220.71, Z:-8.03 [[-1.98286485e-01 9.80143073e-01 1.42385281e-03 -3.45786267e+00] [ 9.80122086e-01 1.98291558e-01 -6.41516595e-03 -2.20705858e+02] [-6.57011846e-03 1.23508883e-04 -9.99978409e-01 -8.03024772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.430385723 meters 0.015833052369270254 Centerline is valid? [True, True] Translation: X:-3.44, Y:-220.71, Z:-8.03 [[-2.73705496e-01 9.61811322e-01 2.06935488e-03 -3.44459937e+00] [ 9.61787541e-01 2.73713283e-01 -6.76501630e-03 -2.20706205e+02] [-7.07307919e-03 1.38657598e-04 -9.99974976e-01 -8.03064127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.460385723 meters 0.016193125662377985 Centerline is valid? [True, True] Translation: X:-3.43, Y:-220.71, Z:-8.03 [[-3.47201048e-01 9.37786752e-01 2.72776743e-03 -3.43175281e+00] [ 9.37761195e-01 3.47211729e-01 -6.92511492e-03 -2.20705919e+02] [-7.44139387e-03 1.53587282e-04 -9.99972301e-01 -8.03027963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.490385723 meters 0.016198208223416864 Centerline is valid? [True, True] Translation: X:-3.42, Y:-220.70, Z:-8.03 [[-4.19536439e-01 9.07732261e-01 3.36444464e-03 -3.41818909e+00] [ 9.07706042e-01 4.19549899e-01 -6.90097757e-03 -2.20702809e+02] [-7.67579238e-03 1.58715171e-04 -9.99970528e-01 -8.02978490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.520385723 meters 0.01610185442777008 Centerline is valid? [True, True] Translation: X:-3.40, Y:-220.70, Z:-8.03 [[-4.89311048e-01 8.72100128e-01 4.00812495e-03 -3.40469648e+00] [ 8.72073562e-01 4.89327436e-01 -6.80900709e-03 -2.20698611e+02] [-7.89942146e-03 1.63657408e-04 -9.99968786e-01 -8.02936391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.550385723 meters 0.016095521128777983 Centerline is valid? [True, True] Translation: X:-3.39, Y:-220.69, Z:-8.03 [[-5.56402306e-01 8.30904287e-01 3.81304129e-03 -3.39045209e+00] [ 8.30886418e-01 5.56415355e-01 -5.45094410e-03 -2.20692271e+02] [-6.65084755e-03 1.35286355e-04 -9.99977874e-01 -8.02957785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.580385723 meters 0.016112213299427497 Centerline is valid? [True, True] Translation: X:-3.38, Y:-220.69, Z:-8.03 [[-6.20408273e-01 7.84272487e-01 3.20016455e-03 -3.37811233e+00] [ 7.84262861e-01 6.20416519e-01 -3.88696558e-03 -2.20686602e+02] [-5.03387511e-03 9.82646049e-05 -9.99987325e-01 -8.03092306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.610385723 meters 0.015874729876664214 Centerline is valid? [True, True] Translation: X:-3.37, Y:-220.68, Z:-8.03 [[-6.80484887e-01 7.32754280e-01 3.38862553e-03 -3.36712789e+00] [ 7.32745858e-01 6.80493318e-01 -3.51445985e-03 -2.20679919e+02] [-4.88117253e-03 9.14645035e-05 -9.99988083e-01 -8.03129393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.640385723 meters 0.015731141410998076 Centerline is valid? [True, True] Translation: X:-3.36, Y:-220.67, Z:-8.03 [[-7.36936038e-01 6.75949432e-01 4.20000785e-03 -3.35612357e+00] [ 6.75939188e-01 7.36948001e-01 -3.72275260e-03 -2.20673656e+02] [-5.61157990e-03 9.55193449e-05 -9.99984250e-01 -8.03075193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.670385723 meters 0.015745626707257536 Centerline is valid? [True, True] Translation: X:-3.34, Y:-220.65, Z:-8.03 [[-7.83261027e-01 6.21676559e-01 4.51876437e-03 -3.33513802e+00] [ 6.21666900e-01 7.83274056e-01 -3.46668086e-03 -2.20652860e+02] [-5.69458513e-03 9.38502246e-05 -9.99983781e-01 -8.03103255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.700385723 meters 0.01594653255934176 Centerline is valid? [True, True] Translation: X:-3.32, Y:-220.63, Z:-8.03 [[-8.25427809e-01 5.64487166e-01 4.81371567e-03 -3.32137038e+00] [ 5.64478224e-01 8.25441840e-01 -3.17868839e-03 -2.20627275e+02] [-5.76777112e-03 9.34598806e-05 -9.99983362e-01 -8.03131573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.730385723 meters 0.01556442146574202 Centerline is valid? [True, True] Translation: X:-3.30, Y:-220.60, Z:-8.03 [[-8.63424522e-01 5.04456340e-01 4.67929036e-03 -3.30265522e+00] [ 5.04449470e-01 8.63437197e-01 -2.63425718e-03 -2.20601419e+02] [-5.36914109e-03 8.59832941e-05 -9.99985582e-01 -8.03243771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.760385723 meters 0.015445187451825562 Centerline is valid? [True, True] Translation: X:-3.29, Y:-220.57, Z:-8.03 [[-8.97317608e-01 4.41370815e-01 3.59362778e-03 -3.28951560e+00] [ 4.41367546e-01 8.97324802e-01 -1.70001233e-03 -2.20571425e+02] [-3.97498717e-03 6.06596762e-05 -9.99992098e-01 -8.03248475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.790385723 meters 0.015183953817033023 Centerline is valid? [True, True] Translation: X:-3.28, Y:-220.54, Z:-8.03 [[-9.26609895e-01 3.76010699e-01 3.17134879e-03 -3.27701009e+00] [ 3.76008679e-01 9.26615320e-01 -1.23344768e-03 -2.20542667e+02] [-3.40240990e-03 4.95298420e-05 -9.99994211e-01 -8.03276939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.820385723 meters 0.015123186237926679 Centerline is valid? [True, True] Translation: X:-3.27, Y:-220.51, Z:-8.03 [[-9.51126425e-01 3.08785753e-01 3.14378766e-03 -3.26593352e+00] [ 3.08784224e-01 9.51131619e-01 -9.72548808e-04 -2.20513943e+02] [-3.29046506e-03 4.57351621e-05 -9.99994585e-01 -8.03283191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.850385723 meters 0.014965526342576363 Centerline is valid? [True, True] Translation: X:-3.26, Y:-220.48, Z:-8.03 [[-9.70819400e-01 2.39785431e-01 3.55509914e-03 -3.26114487e+00] [ 2.39784004e-01 9.70825909e-01 -8.28677502e-04 -2.20482765e+02] [-3.65008714e-03 4.79597108e-05 -9.99993337e-01 -8.03236480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.880385723 meters 0.014973713681897347 Centerline is valid? [True, True] Translation: X:-3.11, Y:-219.82, Z:-9.04 [[-9.60030606e-01 -2.79862484e-01 4.26921223e-03 -3.10635207e+00] [ 2.79859683e-01 -9.60040098e-01 -1.25217409e-03 -2.19815900e+02] [ 4.44905148e-03 -7.34506420e-06 9.99990103e-01 -9.03708147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.910385723 meters 0.014949173207002127 Centerline is valid? [True, True] Translation: X:-3.31, Y:-220.47, Z:-8.03 [[-9.71883955e-01 2.35413685e-01 4.68783133e-03 -3.31016665e+00] [ 2.35411245e-01 9.71895258e-01 -1.07360458e-03 -2.20469722e+02] [-4.80882226e-03 6.01491435e-05 -9.99988436e-01 -8.03070820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.940385723 meters 0.015066296601113043 Centerline is valid? [True, True] Translation: X:-3.31, Y:-220.44, Z:-8.03 [[-9.86119708e-01 1.65963699e-01 4.89618106e-03 -3.30893015e+00] [ 1.65961965e-01 9.86131861e-01 -7.61177405e-04 -2.20439665e+02] [-4.95460796e-03 6.19677890e-05 -9.99987724e-01 -8.03027447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.970385723 meters 0.014760857078565174 Centerline is valid? [True, True] Translation: X:-3.31, Y:-220.41, Z:-8.03 [[-9.95476586e-01 9.48735701e-02 5.03703940e-03 -3.30840575e+00] [ 9.48726607e-02 9.95489328e-01 -4.19711988e-04 -2.20407535e+02] [-5.05413854e-03 6.00638723e-05 -9.99987226e-01 -8.03057141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.000385723 meters 0.01473188256025085 Centerline is valid? [True, True] Translation: X:-3.25, Y:-219.74, Z:-9.04 [[-9.90356591e-01 -1.38428197e-01 5.60862228e-03 -3.25101786e+00] [ 1.38425821e-01 -9.90372472e-01 -8.11451982e-04 -2.19736080e+02] [ 5.66695295e-03 -2.72486727e-05 9.99983942e-01 -9.03782596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.030385723 meters 0.014842183072446115 Centerline is valid? [True, True] Translation: X:-3.38, Y:-220.40, Z:-8.03 [[-9.95923424e-01 8.99781304e-02 6.36159114e-03 -3.37581173e+00] [ 8.99767610e-02 9.95943739e-01 -5.01730202e-04 -2.20400642e+02] [-6.38093161e-03 7.27105046e-05 -9.99979639e-01 -8.02988186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.060385723 meters 0.015111687462304384 Centerline is valid? [True, True] Translation: X:-3.32, Y:-219.73, Z:-9.04 [[-9.90949402e-01 -1.34082338e-01 6.41947669e-03 -3.32023146e+00] [ 1.34079086e-01 -9.90970192e-01 -9.36204343e-04 -2.19730485e+02] [ 6.48703852e-03 -6.70135645e-05 9.99978957e-01 -9.03877626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0903857229999 meters 0.015043617115419386 Centerline is valid? [True, True] Translation: X:-3.44, Y:-220.40, Z:-8.03 [[-9.96274188e-01 8.59748499e-02 6.78735570e-03 -3.44161777e+00] [ 8.59734103e-02 9.96297304e-01 -5.04125118e-04 -2.20395778e+02] [-6.80556627e-03 8.12852743e-05 -9.99976839e-01 -8.02934067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.120385723 meters 0.015184318259291632 Centerline is valid? [True, True] Translation: X:-3.39, Y:-219.73, Z:-9.04 [[-9.91936734e-01 -1.26571711e-01 6.41233672e-03 -3.38815749e+00] [ 1.26568427e-01 -9.91957455e-01 -9.16984875e-04 -2.19727302e+02] [ 6.47682955e-03 -9.79916085e-05 9.99979020e-01 -9.03848280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.150385723 meters 0.016111478539393206 Centerline is valid? [True, True] Translation: X:-3.51, Y:-220.39, Z:-8.03 [[-9.96188447e-01 8.69267496e-02 7.23309069e-03 -3.50698252e+00] [ 8.69253832e-02 9.96214698e-01 -5.03665280e-04 -2.20390930e+02] [-7.24949324e-03 1.26993647e-04 -9.99973714e-01 -8.02834828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.180385723 meters 0.016236251425648645 Centerline is valid? [True, True] Translation: X:-3.51, Y:-220.36, Z:-8.03 [[-9.99810580e-01 1.79234420e-02 7.58646547e-03 -3.50808537e+00] [ 1.79240393e-02 9.99839351e-01 1.07343150e-05 -2.20361604e+02] [-7.58505432e-03 1.46712387e-04 -9.99971222e-01 -8.02821452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.210385723 meters 0.016597909913024584 Centerline is valid? [True, True] Translation: X:-3.50, Y:-219.69, Z:-9.04 [[-9.98965250e-01 -4.49252338e-02 7.08188387e-03 -3.50428038e+00] [ 4.49229064e-02 -9.98990338e-01 -4.87455176e-04 -2.19690120e+02] [ 7.09663259e-03 -1.68811975e-04 9.99974804e-01 -9.03915741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.240385723 meters 0.017019999826863516 Centerline is valid? [True, True] Translation: X:-3.59, Y:-220.36, Z:-8.03 [[-9.99853738e-01 1.61232004e-02 5.70480711e-03 -3.58626445e+00] [ 1.61236758e-02 9.99870004e-01 3.73436186e-05 -2.20362107e+02] [-5.70346341e-03 1.29320617e-04 -9.99983727e-01 -8.02959568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.270385723 meters 0.016130762317615337 Centerline is valid? [True, True] Translation: X:-3.60, Y:-220.33, Z:-8.03 [[-9.98448557e-01 -5.54781487e-02 4.75972374e-03 -3.59615791e+00] [-5.54770102e-02 9.98459896e-01 3.71006747e-04 -2.20329019e+02] [-4.77297604e-03 1.06375908e-04 -9.99988604e-01 -8.03016863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.300385723 meters 0.015968416542257023 Centerline is valid? [True, True] Translation: X:-3.64, Y:-219.67, Z:-9.04 [[-9.99481655e-01 3.17957295e-02 5.04516418e-03 -3.64413482e+00] [-3.17957993e-02 -9.99494384e-01 6.63827722e-05 -2.19669130e+02] [ 5.04472395e-03 -9.40666648e-05 9.99987271e-01 -9.03810003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.330385723 meters 0.015643375828947356 Centerline is valid? [True, True] Translation: X:-3.69, Y:-220.33, Z:-8.03 [[-9.97937417e-01 -6.40011665e-02 4.97625671e-03 -3.69207501e+00] [-6.39998803e-02 9.97949819e-01 4.17440824e-04 -2.20332367e+02] [-4.99277119e-03 9.80999836e-05 -9.99987531e-01 -8.02935796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.360385723 meters 0.015526062346056637 Centerline is valid? [True, True] Translation: X:-3.71, Y:-220.30, Z:-8.03 [[-9.90408000e-01 -1.38049375e-01 5.86199345e-03 -3.70795580e+00] [-1.38046366e-01 9.90425343e-01 9.16716980e-04 -2.20303312e+02] [-5.93241909e-03 9.86969345e-05 -9.99982398e-01 -8.02915562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.390385723 meters 0.015313747323146772 Centerline is valid? [True, True] Translation: X:-3.73, Y:-220.28, Z:-8.03 [[-9.77628228e-01 -2.10273999e-01 5.28144632e-03 -3.73371888e+00] [-2.10270478e-01 9.77642490e-01 1.21948307e-03 -2.20277112e+02] [-5.41979192e-03 8.16688282e-05 -9.99985310e-01 -8.02927833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.420385723 meters 0.014521343193703368 Centerline is valid? [True, True] Translation: X:-3.78, Y:-220.25, Z:-8.03 [[-9.58954325e-01 -2.83506073e-01 5.55968552e-03 -3.77850729e+00] [-2.83500903e-01 9.58970439e-01 1.71352539e-03 -2.20254288e+02] [-5.81736892e-03 6.70167173e-05 -9.99983077e-01 -8.02892553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.450385723 meters 0.0142458901449872 Centerline is valid? [True, True] Translation: X:-3.84, Y:-220.24, Z:-8.03 [[-9.34932911e-01 -3.54769069e-01 6.27366448e-03 -3.83642923e+00] [-3.54760605e-01 9.34953958e-01 2.45148739e-03 -2.20241917e+02] [-6.73529934e-03 6.63272366e-05 -9.99977315e-01 -8.02844148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.480385723 meters 0.013972504310167017 Centerline is valid? [True, True] Translation: X:-3.91, Y:-220.24, Z:-8.03 [[-9.05191084e-01 -4.24945719e-01 7.08786870e-03 -3.91028955e+00] [-4.24932199e-01 9.05218831e-01 3.39028771e-03 -2.20240529e+02] [-7.85676047e-03 5.69945746e-05 -9.99969134e-01 -8.02746077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.510385723 meters 0.013894028325023839 Centerline is valid? [True, True] Translation: X:-3.98, Y:-220.25, Z:-8.03 [[-8.71009155e-01 -4.91213728e-01 7.21974916e-03 -3.98267444e+00] [-4.91196315e-01 8.71039075e-01 4.13640278e-03 -2.20245667e+02] [-8.32054146e-03 5.65305085e-05 -9.99965382e-01 -8.02754133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.540385723 meters 0.01390539527980966 Centerline is valid? [True, True] Translation: X:-4.06, Y:-220.26, Z:-8.03 [[-8.32728465e-01 -5.53646448e-01 6.23818586e-03 -4.06318093e+00] [-5.53630368e-01 8.32751828e-01 4.22005844e-03 -2.20263000e+02] [-7.53128104e-03 6.05136531e-05 -9.99971638e-01 -8.02768665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.570385723 meters 0.01394748215138762 Centerline is valid? [True, True] Translation: X:-4.15, Y:-220.29, Z:-8.03 [[-7.89856683e-01 -6.13266337e-01 5.55157172e-03 -4.14946053e+00] [-6.13250595e-01 7.89876190e-01 4.39463020e-03 -2.20291004e+02] [-7.08013309e-03 6.66233758e-05 -9.99974933e-01 -8.02836905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.600385723 meters 0.0146577689359258 Centerline is valid? [True, True] Translation: X:-4.23, Y:-220.33, Z:-8.03 [[-7.44201662e-01 -6.67940561e-01 4.39251802e-03 -4.23484403e+00] [-6.67928286e-01 7.44214620e-01 4.05014583e-03 -2.20329128e+02] [-5.97423280e-03 8.02382254e-05 -9.99982151e-01 -8.02828300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.630385723 meters 0.014609846138510374 Centerline is valid? [True, True] Translation: X:-4.32, Y:-220.38, Z:-8.03 [[-6.92867288e-01 -7.21053830e-01 4.03664550e-03 -4.32330175e+00] [-7.21040838e-01 6.92879041e-01 4.32947722e-03 -2.20377080e+02] [-5.91869319e-03 8.91668894e-05 -9.99982480e-01 -8.02882123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.660385723 meters 0.016116833131685264 Centerline is valid? [True, True] Translation: X:-4.41, Y:-220.44, Z:-8.03 [[-6.37859849e-01 -7.70141178e-01 4.16872979e-03 -4.41126647e+00] [-7.70123548e-01 6.37873461e-01 5.21241084e-03 -2.20437165e+02] [-6.67341432e-03 1.14350618e-04 -9.99977726e-01 -8.02781063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.690385723 meters 0.015065243189763374 Centerline is valid? [True, True] Translation: X:-4.50, Y:-220.51, Z:-8.03 [[-5.77575326e-01 -8.16331444e-01 3.11716975e-03 -4.49677144e+00] [-8.16318660e-01 5.77583730e-01 4.56952381e-03 -2.20505440e+02] [-5.53067250e-03 9.46403711e-05 -9.99984701e-01 -8.02961822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.720385723 meters 0.015104304742087227 Centerline is valid? [True, True] Translation: X:-4.58, Y:-220.59, Z:-8.03 [[-5.13811801e-01 -8.57898314e-01 2.81368352e-03 -4.58211261e+00] [-8.57884410e-01 5.13819496e-01 4.88525392e-03 -2.20586236e+02] [-5.63677655e-03 9.62858868e-05 -9.99984109e-01 -8.02952263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.750385723 meters 0.015152459184886943 Centerline is valid? [True, True] Translation: X:-4.66, Y:-220.67, Z:-8.03 [[-4.46249408e-01 -8.94905441e-01 2.39120827e-03 -4.65990103e+00] [-8.94891490e-01 4.46255805e-01 4.99767660e-03 -2.20669425e+02] [-5.53953856e-03 9.03382895e-05 -9.99984653e-01 -8.02868735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.780385723 meters 0.014826769815250636 Centerline is valid? [True, True] Translation: X:-4.73, Y:-220.76, Z:-8.03 [[-3.75907150e-01 -9.26655122e-01 2.02461696e-03 -4.73425272e+00] [-9.26640416e-01 3.75912592e-01 5.22139438e-03 -2.20763905e+02] [-5.59951086e-03 8.66675770e-05 -9.99984319e-01 -8.02848489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.810385723 meters 0.015489335945080824 Centerline is valid? [True, True] Translation: X:-4.80, Y:-220.87, Z:-8.03 [[-3.02117155e-01 -9.53268690e-01 2.00744945e-03 -4.80001528e+00] [-9.53245539e-01 3.02123810e-01 6.64419204e-03 -2.20868020e+02] [-6.94019852e-03 9.37321639e-05 -9.99975912e-01 -8.02599779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8403857229999 meters 0.014150614608237804 Centerline is valid? [True, True] Translation: X:-4.86, Y:-220.97, Z:-8.03 [[-2.27355246e-01 -9.73810412e-01 1.69535884e-03 -4.86034226e+00] [-9.73780003e-01 2.27361545e-01 7.69637261e-03 -2.20971769e+02] [-7.88026718e-03 9.89041521e-05 -9.99968945e-01 -8.02691892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.870385723 meters 0.01415758038589826 Centerline is valid? [True, True] Translation: X:-4.91, Y:-221.09, Z:-8.03 [[-1.51451900e-01 -9.88463957e-01 1.15266625e-03 -4.90967899e+00] [-9.88430206e-01 1.51456255e-01 8.16888322e-03 -2.21085230e+02] [-8.24922514e-03 9.78627444e-05 -9.99965970e-01 -8.02699701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.900385723 meters 0.014034424576587235 Centerline is valid? [True, True] Translation: X:-4.95, Y:-221.20, Z:-8.03 [[-7.45028925e-02 -9.97220642e-01 5.57386252e-04 -4.95081368e+00] [-9.97182087e-01 7.45049137e-02 8.76943190e-03 -2.21200185e+02] [-8.78658653e-03 9.75324564e-05 -9.99961393e-01 -8.02667411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.930385723 meters 0.01383584019122988 Centerline is valid? [True, True] Translation: X:-4.98, Y:-221.32, Z:-8.03 [[ 2.50472592e-03 -9.99996855e-01 -1.24279601e-04 -4.98415707e+00] [-9.99952195e-01 -2.50578868e-03 9.45142212e-03 -2.21319050e+02] [-9.45170382e-03 1.00600438e-04 -9.99955327e-01 -8.02649597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.960385723 meters 0.013770869135473027 Centerline is valid? [True, True] Translation: X:-5.01, Y:-221.44, Z:-8.03 [[ 7.91158854e-02 -9.96865050e-01 -8.64814633e-04 -5.00740275e+00] [-9.96818876e-01 -7.91205450e-02 9.59523251e-03 -2.21440774e+02] [-9.63357654e-03 1.02928235e-04 -9.99953591e-01 -8.02618024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.990385723 meters 0.013707047673455928 Centerline is valid? [True, True] Translation: X:-5.02, Y:-221.57, Z:-8.03 [[ 1.55576341e-01 -9.87822463e-01 -1.66826328e-03 -5.02061271e+00] [-9.87772664e-01 -1.55585250e-01 9.91934498e-03 -2.21565636e+02] [-1.00581089e-02 1.04649471e-04 -9.99949411e-01 -8.02631850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.020385723 meters 0.013803436115573907 Centerline is valid? [True, True] Translation: X:-5.02, Y:-221.69, Z:-8.03 [[ 2.30960080e-01 -9.72960226e-01 -2.41653966e-03 -5.02369073e+00] [-9.72911541e-01 -2.30972699e-01 9.73373050e-03 -2.21687085e+02] [-1.00286873e-02 1.02976156e-04 -9.99949706e-01 -8.02594220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.050385723 meters 0.013790332203149172 Centerline is valid? [True, True] Translation: X:-5.02, Y:-221.82, Z:-8.03 [[ 3.04497916e-01 -9.52507395e-01 -3.26827249e-03 -5.01576734e+00] [-9.52456361e-01 -3.04515435e-01 9.86057006e-03 -2.21816500e+02] [-1.03875053e-02 1.10363886e-04 -9.99946042e-01 -8.02566828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.080385723 meters 0.013992287149174212 Centerline is valid? [True, True] Translation: X:-5.00, Y:-221.93, Z:-8.03 [[ 3.75381995e-01 -9.26861288e-01 -4.06335737e-03 -5.00234245e+00] [-9.26810517e-01 -3.75403966e-01 9.70194426e-03 -2.21928883e+02] [-1.05177570e-02 1.24027160e-04 -9.99944679e-01 -8.02545319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.110385723 meters 0.013992287149174212 Centerline is valid? [True, True] Translation: X:-4.98, Y:-222.05, Z:-8.03 [[ 4.45182581e-01 -8.95426988e-01 -4.79363725e-03 -4.97967811e+00] [-8.95378047e-01 -4.45208372e-01 9.36265113e-03 -2.22047177e+02] [-1.05177379e-02 1.24028365e-04 -9.99944679e-01 -8.02545413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.140385723 meters 0.014124529052823881 Centerline is valid? [True, True] Translation: X:-4.95, Y:-222.16, Z:-8.03 [[ 5.11491914e-01 -8.59270966e-01 -5.42485355e-03 -4.94725841e+00] [-8.59225327e-01 -5.11520664e-01 8.85703451e-03 -2.22162955e+02] [-1.03855173e-02 1.30870039e-04 -9.99946061e-01 -8.02556380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.170385723 meters 0.01427172387822046 Centerline is valid? [True, True] Translation: X:-4.91, Y:-222.27, Z:-8.03 [[ 5.75009960e-01 -8.18129715e-01 -5.22641817e-03 -4.90989236e+00] [-8.18097764e-01 -5.75033699e-01 7.23142623e-03 -2.22269130e+02] [-8.92161126e-03 1.17578909e-04 -9.99960195e-01 -8.02600968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.200385723 meters 0.013944026001227882 Centerline is valid? [True, True] Translation: X:-4.87, Y:-222.37, Z:-8.03 [[ 6.35667579e-01 -7.71944779e-01 -5.29032257e-03 -4.86785128e+00] [-7.71919437e-01 -6.35689584e-01 6.25583835e-03 -2.22370633e+02] [-8.19216471e-03 1.07069202e-04 -9.99966438e-01 -8.02757101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.230385723 meters 0.01369591454913407 Centerline is valid? [True, True] Translation: X:-4.82, Y:-222.47, Z:-8.03 [[ 6.93572576e-01 -7.20369488e-01 -4.98821054e-03 -4.81505804e+00] [-7.20351700e-01 -6.93590509e-01 5.06307803e-03 -2.22471109e+02] [-7.10706241e-03 8.16538689e-05 -9.99974741e-01 -8.02876350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.260385723 meters 0.013594590832500081 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.57, Z:-8.03 [[ 7.47003186e-01 -6.64797815e-01 -5.48681847e-03 -4.75804101e+00] [-6.64780610e-01 -7.47023333e-01 4.78339825e-03 -2.22565472e+02] [-7.27877413e-03 7.43167958e-05 -9.99973507e-01 -8.02894096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.290385723 meters 0.01335206079466738 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.58, Z:-8.03 [[ 7.97941784e-01 -6.02710439e-01 -5.38843127e-03 -4.76242048e+00] [-6.02697157e-01 -7.97959976e-01 4.00169058e-03 -2.22577975e+02] [-6.71161317e-03 5.44760789e-05 -9.99977475e-01 -8.02844810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.320385723 meters 0.013306565131274064 Centerline is valid? [True, True] Translation: X:-4.77, Y:-222.59, Z:-8.03 [[ 8.43039861e-01 -5.37820157e-01 -5.76821046e-03 -4.76620039e+00] [-5.37807971e-01 -8.43059593e-01 3.62070859e-03 -2.22591680e+02] [-6.81023523e-03 4.97878970e-05 -9.99976809e-01 -8.02850365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.350385723 meters 0.01324591676501887 Centerline is valid? [True, True] Translation: X:-4.77, Y:-222.60, Z:-8.03 [[ 8.82695603e-01 -4.69903967e-01 -6.22367563e-03 -4.76885099e+00] [-4.69892673e-01 -8.82717542e-01 3.25826826e-03 -2.22603899e+02] [-7.02482084e-03 4.84005097e-05 -9.99975325e-01 -8.02805125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.380385723 meters 0.013334672151429567 Centerline is valid? [True, True] Translation: X:-4.77, Y:-222.61, Z:-8.03 [[ 9.16963304e-01 -3.98904839e-01 -7.29576712e-03 -4.76965685e+00] [-3.98892644e-01 -9.16992327e-01 3.11946319e-03 -2.22613916e+02] [-7.93453143e-03 4.97945668e-05 -9.99968520e-01 -8.02723420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.410385723 meters 0.013471403255967244 Centerline is valid? [True, True] Translation: X:-4.77, Y:-222.62, Z:-8.03 [[ 9.45275113e-01 -3.26170477e-01 -8.23284469e-03 -4.76760285e+00] [-3.26158621e-01 -9.45310963e-01 2.78154455e-03 -2.22622972e+02] [-8.68985606e-03 5.58884312e-05 -9.99962241e-01 -8.02693843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.440385723 meters 0.01349653838058163 Centerline is valid? [True, True] Translation: X:-4.77, Y:-222.63, Z:-8.03 [[ 9.67860863e-01 -2.51337968e-01 -8.63571294e-03 -4.76637308e+00] [-2.51328497e-01 -9.67899387e-01 2.18271076e-03 -2.22631855e+02] [-8.90709935e-03 5.78404320e-05 -9.99960329e-01 -8.02640863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.470385723 meters 0.013455010042510427 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.64, Z:-8.03 [[ 9.84582709e-01 -1.74712416e-01 -8.51239308e-03 -4.76394669e+00] [-1.74706367e-01 -9.84619505e-01 1.45484475e-03 -2.22641018e+02] [-8.63564770e-03 5.47542897e-05 -9.99962711e-01 -8.02639648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.500385723 meters 0.013327764461070238 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.65, Z:-8.03 [[ 9.95399443e-01 -9.54538017e-02 -8.27777138e-03 -4.76427490e+00] [-9.54508282e-02 -9.95433860e-01 7.54448197e-04 -2.22648918e+02] [-8.31198887e-03 3.91428183e-05 -9.99965454e-01 -8.02660585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.530385723 meters 0.013201060684692739 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.66, Z:-8.03 [[ 9.99834163e-01 -1.62117525e-02 -8.29617040e-03 -4.76458613e+00] [-1.62114514e-02 -9.99868580e-01 1.03545880e-04 -2.22657036e+02] [-8.29675878e-03 3.09642554e-05 -9.99965581e-01 -8.02668658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.560385723 meters 0.013168194322313295 Centerline is valid? [True, True] Translation: X:-4.77, Y:-222.66, Z:-8.03 [[ 9.97887660e-01 6.43157763e-02 -9.14866361e-03 -4.76550520e+00] [ 6.43129450e-02 -9.97929597e-01 -6.03631448e-04 -2.22664461e+02] [-9.16854522e-03 1.39788738e-05 -9.99957968e-01 -8.02510215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5903857229999 meters 0.013160240952385978 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.68, Z:-8.03 [[ 9.89677707e-01 1.43025842e-01 -9.03574785e-03 -4.76374902e+00] [ 1.43019820e-01 -9.89718954e-01 -1.31247321e-03 -2.22676703e+02] [-9.13056850e-03 6.63444542e-06 -9.99958316e-01 -8.02637189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.620385723 meters 0.013030660188198427 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.69, Z:-8.03 [[ 9.75344876e-01 2.20549553e-01 -7.76328041e-03 -4.76250828e+00] [ 2.20542552e-01 -9.75375771e-01 -1.75733155e-03 -2.22685868e+02] [-7.95969431e-03 1.87065458e-06 -9.99968321e-01 -8.02767552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.650385723 meters 0.013010062977290935 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.70, Z:-8.03 [[ 9.55340205e-01 2.95428146e-01 -6.87779661e-03 -4.76048755e+00] [ 2.95420430e-01 -9.55364962e-01 -2.13520013e-03 -2.22695461e+02] [-7.20160411e-03 8.00089889e-06 -9.99974068e-01 -8.02864240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.680385723 meters 0.012938421392824034 Centerline is valid? [True, True] Translation: X:-4.76, Y:-222.71, Z:-8.03 [[ 9.29589149e-01 3.68534915e-01 -6.78460722e-03 -4.75784413e+00] [ 3.68524988e-01 -9.29613907e-01 -2.70498560e-03 -2.22705074e+02] [-7.30394686e-03 1.42279645e-05 -9.99973326e-01 -8.02910545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.710385723 meters 0.013042298867257739 Centerline is valid? [True, True] Translation: X:-4.75, Y:-222.71, Z:-8.03 [[ 8.98342067e-01 4.39249823e-01 -6.41274447e-03 -4.75368098e+00] [ 4.39238460e-01 -8.98364955e-01 -3.15954306e-03 -2.22714522e+02] [-7.14881363e-03 2.16264433e-05 -9.99974447e-01 -8.02948830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.740385723 meters 0.013176426251527859 Centerline is valid? [True, True] Translation: X:-4.75, Y:-222.72, Z:-8.03 [[ 8.62324286e-01 5.06315664e-01 -6.42455398e-03 -4.75065681e+00] [ 5.06301273e-01 -8.62348217e-01 -3.81759131e-03 -2.22720908e+02] [-7.47310895e-03 3.92418364e-05 -9.99972075e-01 -8.02987157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.770385723 meters 0.013237294284020209 Centerline is valid? [True, True] Translation: X:-4.75, Y:-222.73, Z:-8.03 [[ 8.20672576e-01 5.71364869e-01 -6.22160563e-03 -4.74776058e+00] [ 5.71348003e-01 -8.20696158e-01 -4.39045656e-03 -2.22729134e+02] [-7.61460047e-03 4.84253484e-05 -9.99971007e-01 -8.03006384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.800385723 meters 0.013557453518652356 Centerline is valid? [True, True] Translation: X:-4.74, Y:-222.73, Z:-8.03 [[ 7.74993826e-01 6.31950548e-01 -4.80362945e-03 -4.74413130e+00] [ 6.31937967e-01 -7.75008711e-01 -3.98795701e-03 -2.22734669e+02] [-6.24304629e-03 5.50462284e-05 -9.99980511e-01 -8.03067639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.830385723 meters 0.013554184356054167 Centerline is valid? [True, True] Translation: X:-4.74, Y:-222.74, Z:-8.03 [[ 7.24041038e-01 6.89742779e-01 -4.41290772e-03 -4.73792413e+00] [ 6.89729443e-01 -7.24054483e-01 -4.28963221e-03 -2.22742771e+02] [-6.15392846e-03 6.21573784e-05 -9.99981063e-01 -8.03072006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.860385723 meters 0.014081443356430176 Centerline is valid? [True, True] Translation: X:-4.73, Y:-222.75, Z:-8.03 [[ 6.69285742e-01 7.42995393e-01 -3.80006816e-03 -4.73383776e+00] [ 7.42982823e-01 -6.69296527e-01 -4.32250724e-03 -2.22750535e+02] [-5.75497539e-03 6.96071016e-05 -9.99983438e-01 -8.02948883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.890385723 meters 0.014032224029271517 Centerline is valid? [True, True] Translation: X:-4.73, Y:-222.76, Z:-8.03 [[ 6.09523565e-01 7.92760246e-01 -3.49507121e-03 -4.72682658e+00] [ 7.92746510e-01 -6.09533581e-01 -4.66735593e-03 -2.22758383e+02] [-5.83045751e-03 7.41579192e-05 -9.99983000e-01 -8.02942983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.920385723 meters 0.014204510258646313 Centerline is valid? [True, True] Translation: X:-4.72, Y:-222.77, Z:-8.03 [[ 5.45920067e-01 8.37830457e-01 -3.37712456e-03 -4.72175389e+00] [ 8.37813480e-01 -5.45930507e-01 -5.33424272e-03 -2.22765731e+02] [-6.31286634e-03 8.26696651e-05 -9.99980070e-01 -8.02875745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.950385723 meters 0.014427489991961053 Centerline is valid? [True, True] Translation: X:-4.72, Y:-222.77, Z:-8.03 [[ 4.79043856e-01 8.77786230e-01 -2.88417265e-03 -4.71874966e+00] [ 8.77769259e-01 -4.79052531e-01 -5.45902377e-03 -2.22771153e+02] [-6.17352611e-03 8.34737072e-05 -9.99980940e-01 -8.02780554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.980385723 meters 0.014207027659868497 Centerline is valid? [True, True] Translation: X:-4.71, Y:-222.78, Z:-8.03 [[ 4.08137755e-01 9.12917535e-01 -2.26867758e-03 -4.71235821e+00] [ 9.12902425e-01 -4.08144054e-01 -5.25292222e-03 -2.22776709e+02] [-5.72143207e-03 7.28346214e-05 -9.99983630e-01 -8.02768045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.010385723 meters 0.01406592311666443 Centerline is valid? [True, True] Translation: X:-4.70, Y:-222.78, Z:-8.03 [[ 3.34860115e-01 9.42266050e-01 -1.84255054e-03 -4.70361133e+00] [ 9.42250625e-01 -3.34865177e-01 -5.39204067e-03 -2.22782622e+02] [-5.69774287e-03 6.94349583e-05 -9.99983765e-01 -8.02708057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.040385723 meters 0.014019667626287176 Centerline is valid? [True, True] Translation: X:-4.70, Y:-222.79, Z:-8.03 [[ 2.59182786e-01 9.65827235e-01 -1.42696091e-03 -4.69546810e+00] [ 9.65811191e-01 -2.59186706e-01 -5.56726714e-03 -2.22788139e+02] [-5.74686752e-03 6.47649920e-05 -9.99983485e-01 -8.02641392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.070385723 meters 0.013723678504002149 Centerline is valid? [True, True] Translation: X:-4.69, Y:-222.79, Z:-8.03 [[ 1.80775986e-01 9.83523844e-01 -9.44483000e-04 -4.68661260e+00] [ 9.83508909e-01 -1.80778446e-01 -5.42031132e-03 -2.22793469e+02] [-5.50174759e-03 5.09546800e-05 -9.99984864e-01 -8.02611005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.100385723 meters 0.013672670606932695 Centerline is valid? [True, True] Translation: X:-4.68, Y:-222.80, Z:-8.03 [[ 1.00909261e-01 9.94895523e-01 -4.69301574e-04 -4.67699426e+00] [ 9.94883096e-01 -1.00910346e-01 -4.97270892e-03 -2.22797582e+02] [-4.99468322e-03 3.48921802e-05 -9.99987526e-01 -8.02685155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.130385723 meters 0.01357580287741048 Centerline is valid? [True, True] Translation: X:-4.67, Y:-222.80, Z:-8.03 [[ 2.11693155e-02 9.99775902e-01 -7.35117120e-05 -4.66664592e+00] [ 9.99764933e-01 -2.11694276e-02 -4.68348630e-03 -2.22802299e+02] [-4.68399294e-03 2.56517672e-05 -9.99989030e-01 -8.02673070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.160385723 meters 0.013383275993028429 Centerline is valid? [True, True] Translation: X:-4.65, Y:-222.81, Z:-8.03 [[-6.04938601e-02 9.98168522e-01 3.07486118e-04 -4.65479782e+00] [ 9.98156515e-01 6.04946406e-02 -4.89595050e-03 -2.22805174e+02] [-4.90558494e-03 1.07443268e-05 -9.99987968e-01 -8.02610233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.190385723 meters 0.01349109000833198 Centerline is valid? [True, True] Translation: X:-4.64, Y:-222.81, Z:-8.03 [[-1.40194924e-01 9.90123702e-01 6.62368076e-04 -4.64331903e+00] [ 9.90112726e-01 1.40196488e-01 -4.66206920e-03 -2.22806885e+02] [-4.70888689e-03 2.22062611e-06 -9.99988913e-01 -8.02581466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.220385723 meters 0.01360529306013413 Centerline is valid? [True, True] Translation: X:-4.63, Y:-222.81, Z:-8.03 [[-2.18858985e-01 9.75755984e-01 1.00263361e-03 -4.63242425e+00] [ 9.75745637e-01 2.18861282e-01 -4.49336573e-03 -2.22808271e+02] [-4.60386617e-03 -5.09809561e-06 -9.99989402e-01 -8.02553810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.250385723 meters 0.013707427119726234 Centerline is valid? [True, True] Translation: X:-4.62, Y:-222.81, Z:-8.02 [[-2.96946277e-01 9.54893415e-01 1.21452595e-03 -4.62114267e+00] [ 9.54885224e-01 2.96948760e-01 -3.95516849e-03 -2.22809000e+02] [-4.13741633e-03 -1.47396708e-05 -9.99991441e-01 -8.02482238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.280385723 meters 0.013821598263563549 Centerline is valid? [True, True] Translation: X:-4.61, Y:-222.81, Z:-8.02 [[-3.71520325e-01 9.28423482e-01 1.57682764e-03 -4.60937303e+00] [ 9.28414906e-01 3.71523670e-01 -3.99047734e-03 -2.22809664e+02] [-4.29068166e-03 -1.85931511e-05 -9.99990795e-01 -8.02429781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.310385723 meters 0.013834317365378015 Centerline is valid? [True, True] Translation: X:-4.60, Y:-222.81, Z:-8.02 [[-4.43358505e-01 8.96341979e-01 2.07182956e-03 -4.60002535e+00] [ 8.96331963e-01 4.43363345e-01 -4.23755270e-03 -2.22809087e+02] [-4.71686966e-03 -2.17079727e-05 -9.99988875e-01 -8.02401268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3403857229999 meters 0.013887771342141322 Centerline is valid? [True, True] Translation: X:-4.59, Y:-222.81, Z:-8.02 [[-5.11551645e-01 8.59249134e-01 2.41679380e-03 -4.59008786e+00] [ 8.59239373e-01 5.11557354e-01 -4.09553395e-03 -2.22807451e+02] [-4.75541264e-03 -1.84727380e-05 -9.99988693e-01 -8.02347982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.370385723 meters 0.013958680250527643 Centerline is valid? [True, True] Translation: X:-4.58, Y:-222.81, Z:-8.02 [[-5.76212718e-01 8.17295446e-01 2.65666001e-03 -4.58154858e+00] [ 8.17286663e-01 5.76218843e-01 -3.78895809e-03 -2.22807209e+02] [-4.62751574e-03 -1.19930457e-05 -9.99989293e-01 -8.02334398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.400385723 meters 0.014027890206269782 Centerline is valid? [True, True] Translation: X:-4.57, Y:-222.80, Z:-8.02 [[-6.37913004e-01 7.70102485e-01 3.02699484e-03 -4.57244489e+00] [ 7.70093747e-01 6.37920185e-01 -3.66850518e-03 -2.22804892e+02] [-4.75610607e-03 -9.11736284e-06 -9.99988690e-01 -8.02340361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.430385723 meters 0.014045649413879757 Centerline is valid? [True, True] Translation: X:-4.56, Y:-222.80, Z:-8.02 [[-6.95478643e-01 7.18539088e-01 3.32201814e-03 -4.56307389e+00] [ 7.18530863e-01 6.95486577e-01 -3.43798523e-03 -2.22803379e+02] [-4.78074580e-03 -4.07273633e-06 -9.99988572e-01 -8.02280443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.460385723 meters 0.014186267721111138 Centerline is valid? [True, True] Translation: X:-4.55, Y:-222.80, Z:-8.02 [[-7.49487337e-01 6.62008807e-01 3.61546441e-03 -4.55291947e+00] [ 6.62001085e-01 7.49496057e-01 -3.19746206e-03 -2.22797790e+02] [-4.82652436e-03 -3.01596052e-06 -9.99988352e-01 -8.02261488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.490385723 meters 0.014137566738091412 Centerline is valid? [True, True] Translation: X:-4.53, Y:-222.78, Z:-8.02 [[-7.94906855e-01 6.06713766e-01 4.63659071e-03 -4.52739442e+00] [ 6.06703387e-01 7.94920377e-01 -3.54890343e-03 -2.22779812e+02] [-5.83888900e-03 -8.01237556e-06 -9.99982954e-01 -8.02196117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.520385723 meters 0.014275597240050775 Centerline is valid? [True, True] Translation: X:-4.07, Y:-222.19, Z:-9.05 [[-7.50637081e-01 -6.60697871e-01 4.72178269e-03 -4.07220486e+00] [ 6.60685081e-01 -7.50651931e-01 -4.11120704e-03 -2.22191331e+02] [ 6.26068103e-03 3.35869254e-05 9.99980401e-01 -9.04707949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.550385723 meters 0.014290754451304588 Centerline is valid? [True, True] Translation: X:-4.56, Y:-222.75, Z:-8.02 [[-7.96698858e-01 6.04353217e-01 5.30271298e-03 -4.56014350e+00] [ 6.04339786e-01 7.96716505e-01 -4.02906782e-03 -2.22752098e+02] [-6.65973905e-03 -5.31330537e-06 -9.99977824e-01 -8.02041413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.580385723 meters 0.01426814052817288 Centerline is valid? [True, True] Translation: X:-4.54, Y:-222.73, Z:-8.02 [[-8.37004453e-01 5.47165092e-01 5.82309245e-03 -4.53988477e+00] [ 5.47151853e-01 8.37024708e-01 -3.80619669e-03 -2.22730788e+02] [-6.95669022e-03 3.12249122e-07 -9.99975802e-01 -8.02029584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.610385723 meters 0.014265644728533804 Centerline is valid? [True, True] Translation: X:-4.14, Y:-222.11, Z:-9.05 [[-7.99221151e-01 -6.01009984e-01 5.70535081e-03 -4.14061697e+00] [ 6.00994759e-01 -7.99241515e-01 -4.27792882e-03 -2.22108337e+02] [ 7.13103116e-03 9.87474403e-06 9.99974574e-01 -9.04775622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.640385723 meters 0.014413796977176064 Centerline is valid? [True, True] Translation: X:-4.57, Y:-222.71, Z:-8.02 [[-8.36577123e-01 5.47819730e-01 5.67990363e-03 -4.57306829e+00] [ 5.47807351e-01 8.36596404e-01 -3.68284068e-03 -2.22712429e+02] [-6.76931973e-03 3.05127040e-05 -9.99977087e-01 -8.02096867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.670385723 meters 0.014928991105037308 Centerline is valid? [True, True] Translation: X:-4.56, Y:-222.69, Z:-8.02 [[-8.71333898e-01 4.90650107e-01 6.30165316e-03 -4.55589504e+00] [ 4.90637781e-01 8.71356683e-01 -3.47831459e-03 -2.22690940e+02] [-7.19762302e-03 6.10557146e-05 -9.99974095e-01 -8.02055801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.700385723 meters 0.014833394970883486 Centerline is valid? [True, True] Translation: X:-4.54, Y:-222.67, Z:-8.02 [[-9.03112680e-01 4.29345052e-01 7.09320779e-03 -4.54056214e+00] [ 4.29332506e-01 9.03140532e-01 -3.28311971e-03 -2.22665250e+02] [-7.81575466e-03 8.03176332e-05 -9.99969453e-01 -8.02099515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.730385723 meters 0.015546328988293927 Centerline is valid? [True, True] Translation: X:-4.53, Y:-222.64, Z:-8.02 [[-9.30663562e-01 3.65789392e-01 7.96591958e-03 -4.52716565e+00] [ 3.65776926e-01 9.30697647e-01 -3.02158541e-03 -2.22640794e+02] [-8.51912650e-03 1.01670137e-04 -9.99963706e-01 -8.01887975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.760385723 meters 0.0163377013771944 Centerline is valid? [True, True] Translation: X:-4.52, Y:-222.61, Z:-8.02 [[-9.53363998e-01 3.01679866e-01 9.29224522e-03 -4.51574045e+00] [ 3.01667013e-01 9.53409271e-01 -2.78850998e-03 -2.22614437e+02] [-9.70055005e-03 1.44698834e-04 -9.99952938e-01 -8.01706822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.790385723 meters 0.01550565955494713 Centerline is valid? [True, True] Translation: X:-4.51, Y:-222.58, Z:-8.02 [[-9.72073994e-01 2.34486926e-01 9.38255532e-03 -4.51011720e+00] [ 2.34477543e-01 9.72119261e-01 -2.10335822e-03 -2.22583207e+02] [-9.61417275e-03 1.55378695e-04 -9.99953771e-01 -8.01878090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.820385723 meters 0.015839002591115536 Centerline is valid? [True, True] Translation: X:-4.50, Y:-222.56, Z:-8.02 [[-9.86096119e-01 1.65939437e-01 8.86265226e-03 -4.50175311e+00] [ 1.65934139e-01 9.86135934e-01 -1.33494793e-03 -2.22555455e+02] [-8.96130037e-03 1.54229595e-04 -9.99959835e-01 -8.01960357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.850385723 meters 0.015852658736184175 Centerline is valid? [True, True] Translation: X:-4.51, Y:-222.52, Z:-8.02 [[-9.95450373e-01 9.49206392e-02 8.28416175e-03 -4.50501655e+00] [ 9.49185061e-02 9.95484833e-01 -6.51165091e-04 -2.22524406e+02] [-8.30856638e-03 1.38117724e-04 -9.99965474e-01 -8.02033386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.880385723 meters 0.01582771714742299 Centerline is valid? [True, True] Translation: X:-4.51, Y:-222.49, Z:-8.02 [[-9.99703419e-01 2.30801465e-02 7.77050171e-03 -4.50709711e+00] [ 2.30804046e-02 9.99733610e-01 -5.64677288e-05 -2.22494051e+02] [-7.76973501e-03 1.22895342e-04 -9.99969808e-01 -8.02025247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.910385723 meters 0.015551403292982904 Centerline is valid? [True, True] Translation: X:-4.51, Y:-222.46, Z:-8.02 [[-9.98761443e-01 -4.91850060e-02 7.51095072e-03 -4.51159165e+00] [-4.91827776e-02 9.98789679e-01 4.81219945e-04 -2.22463607e+02] [-7.52552886e-03 1.11214508e-04 -9.99971677e-01 -8.02052007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.940385723 meters 0.015075486730716563 Centerline is valid? [True, True] Translation: X:-4.52, Y:-222.43, Z:-8.02 [[-9.92373458e-01 -1.23092602e-01 6.56740308e-03 -4.52495756e+00] [-1.23089380e-01 9.92395186e-01 8.94072072e-04 -2.22432773e+02] [-6.62751285e-03 7.88758225e-05 -9.99978035e-01 -8.02146233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.970385723 meters 0.014663048937261813 Centerline is valid? [True, True] Translation: X:-4.55, Y:-222.40, Z:-8.02 [[-9.80685040e-01 -1.95501138e-01 6.01304295e-03 -4.54525152e+00] [-1.95497064e-01 9.80703473e-01 1.26365722e-03 -2.22404383e+02] [-6.14405852e-03 6.37174864e-05 -9.99981123e-01 -8.02226677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.000385723 meters 0.014663048937261813 Centerline is valid? [True, True] Translation: X:-4.58, Y:-222.38, Z:-8.02 [[-9.64011654e-01 -2.65794374e-01 5.90609908e-03 -4.58021257e+00] [-2.65788980e-01 9.64029744e-01 1.69447261e-03 -2.22382946e+02] [-6.14403647e-03 6.37152871e-05 -9.99981123e-01 -8.02226726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.030385723 meters 0.014235182473316862 Centerline is valid? [True, True] Translation: X:-4.64, Y:-222.37, Z:-8.02 [[-9.40846665e-01 -3.38801200e-01 4.61524278e-03 -4.63841271e+00] [-3.38796952e-01 9.40857984e-01 1.69690558e-03 -2.22367971e+02] [-4.91720166e-03 3.28977657e-05 -9.99987910e-01 -8.02334627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.060385723 meters 0.014062691540362743 Centerline is valid? [True, True] Translation: X:-4.71, Y:-222.37, Z:-8.02 [[-9.12634686e-01 -4.08751385e-01 4.49825594e-03 -4.71263842e+00] [-4.08746290e-01 9.12645772e-01 2.04102959e-03 -2.22365483e+02] [-4.93958793e-03 2.40689772e-05 -9.99987800e-01 -8.02313240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0903857229999 meters 0.013808946841346792 Centerline is valid? [True, True] Translation: X:-4.79, Y:-222.37, Z:-8.02 [[-8.78438327e-01 -4.77832981e-01 4.66348529e-03 -4.78716593e+00] [-4.77826181e-01 8.78450706e-01 2.54915391e-03 -2.22365351e+02] [-5.31471175e-03 1.09391286e-05 -9.99985877e-01 -8.02227350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.120385723 meters 0.013661587804280539 Centerline is valid? [True, True] Translation: X:-4.87, Y:-222.38, Z:-8.02 [[-8.40100841e-01 -5.42415672e-01 3.97699262e-03 -4.86584834e+00] [-5.42409550e-01 8.40110254e-01 2.57697737e-03 -2.22375755e+02] [-4.73890519e-03 7.76207855e-06 -9.99988771e-01 -8.02194195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.150385723 meters 0.013592228617934502 Centerline is valid? [True, True] Translation: X:-4.95, Y:-222.40, Z:-8.02 [[-7.97135556e-01 -6.03788762e-01 3.74655602e-03 -4.95251612e+00] [-6.03782045e-01 7.97144360e-01 2.84813348e-03 -2.22399505e+02] [-4.70621699e-03 8.24520893e-06 -9.99988926e-01 -8.02147983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.180385723 meters 0.013685368010203343 Centerline is valid? [True, True] Translation: X:-5.04, Y:-222.44, Z:-8.02 [[-7.50384261e-01 -6.60987424e-01 4.36878734e-03 -5.04397238e+00] [-6.60976077e-01 7.50396978e-01 3.87308310e-03 -2.22436773e+02] [-5.83838404e-03 1.86366784e-05 -9.99982956e-01 -8.02080030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.210385723 meters 0.013822059769701902 Centerline is valid? [True, True] Translation: X:-5.13, Y:-222.48, Z:-8.02 [[-6.99380324e-01 -7.14733595e-01 4.80113176e-03 -5.13346269e+00] [-7.14716428e-01 6.99396802e-01 4.95381015e-03 -2.22482750e+02] [-6.89855074e-03 3.31496005e-05 -9.99976204e-01 -8.01978057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.240385723 meters 0.014212683395767107 Centerline is valid? [True, True] Translation: X:-5.22, Y:-222.54, Z:-8.02 [[-6.46252413e-01 -7.63107197e-01 5.02248687e-03 -5.22079957e+00] [-7.63083304e-01 6.46271925e-01 6.03899230e-03 -2.22538838e+02] [-7.85429075e-03 7.01374661e-05 -9.99969152e-01 -8.01872765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.270385723 meters 0.014558903171220734 Centerline is valid? [True, True] Translation: X:-5.31, Y:-222.61, Z:-8.02 [[-5.88265693e-01 -8.08655520e-01 4.44122863e-03 -5.30889291e+00] [-8.08631350e-01 5.88282451e-01 6.25279154e-03 -2.22607196e+02] [-7.66905126e-03 8.69860422e-05 -9.99970589e-01 -8.01853611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.300385723 meters 0.015076835478497709 Centerline is valid? [True, True] Translation: X:-5.39, Y:-222.68, Z:-8.02 [[-5.29291841e-01 -8.48431279e-01 3.80943215e-03 -5.39226029e+00] [-8.48407616e-01 5.29305535e-01 6.33777846e-03 -2.22679511e+02] [-7.39352301e-03 1.22583178e-04 -9.99972660e-01 -8.01837673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.330385723 meters 0.015384300911216807 Centerline is valid? [True, True] Translation: X:-5.47, Y:-222.76, Z:-8.02 [[-4.65019484e-01 -8.85294804e-01 3.16073061e-03 -5.47264351e+00] [-8.85272360e-01 4.65030206e-01 6.30530144e-03 -2.22763426e+02] [-7.05188581e-03 1.33980582e-04 -9.99975126e-01 -8.01813013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.360385723 meters 0.016266480893360816 Centerline is valid? [True, True] Translation: X:-5.55, Y:-222.86, Z:-8.02 [[-3.98806662e-01 -9.17031885e-01 2.40156266e-03 -5.54800949e+00] [-9.17013078e-01 3.98813868e-01 5.87471964e-03 -2.22858584e+02] [-6.34508172e-03 1.40612958e-04 -9.99979860e-01 -8.01827331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.390385723 meters 0.016517455531872092 Centerline is valid? [True, True] Translation: X:-5.62, Y:-222.96, Z:-8.02 [[-3.27831111e-01 -9.44734763e-01 1.72959560e-03 -5.61642523e+00] [-9.44719482e-01 3.27835648e-01 5.37478808e-03 -2.22959648e+02] [-5.64477223e-03 1.28040086e-04 -9.99984060e-01 -8.01910311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.420385723 meters 0.016631389913340122 Centerline is valid? [True, True] Translation: X:-5.68, Y:-223.06, Z:-8.02 [[-2.54261823e-01 -9.67135121e-01 7.64119869e-04 -5.67792224e+00] [-9.67129841e-01 2.54262960e-01 3.19649208e-03 -2.23061062e+02] [-3.28572714e-03 7.37427752e-05 -9.99994599e-01 -8.02099713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.450385723 meters 0.016065475953580873 Centerline is valid? [True, True] Translation: X:-5.73, Y:-223.17, Z:-8.02 [[-1.78340501e-01 -9.83968731e-01 4.50397473e-04 -5.73383224e+00] [-9.83964670e-01 1.78341060e-01 2.82735508e-03 -2.23174397e+02] [-2.86235335e-03 6.10567213e-05 -9.99995902e-01 -8.02148649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.480385723 meters 0.015494139801749173 Centerline is valid? [True, True] Translation: X:-5.78, Y:-223.29, Z:-8.02 [[-9.91262609e-02 -9.95074848e-01 1.79476449e-04 -5.78403458e+00] [-9.95072408e-01 9.91264154e-02 2.20357993e-03 -2.23290852e+02] [-2.21051782e-03 3.98405761e-05 -9.99997556e-01 -8.02109299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.510385723 meters 0.015250838512652035 Centerline is valid? [True, True] Translation: X:-5.82, Y:-223.41, Z:-8.02 [[-2.05861211e-02 -9.99788083e-01 6.19840839e-06 -5.82173009e+00] [-9.99787187e-01 2.05861110e-02 1.33875971e-03 -2.23410609e+02] [-1.33860361e-03 2.13627803e-05 -9.99999104e-01 -8.02116390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.540385723 meters 0.014700304080211604 Centerline is valid? [True, True] Translation: X:-5.85, Y:-223.54, Z:-8.02 [[ 6.00036634e-02 -9.98198153e-01 -9.32987400e-05 -5.85238295e+00] [-9.98197314e-01 -6.00037339e-02 1.29370406e-03 -2.23536782e+02] [-1.29697128e-03 1.55035685e-05 -9.99999159e-01 -8.02106072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.570385723 meters 0.014282750529754674 Centerline is valid? [True, True] Translation: X:-5.87, Y:-223.66, Z:-8.02 [[ 1.38622519e-01 -9.90345244e-01 -3.09426161e-04 -5.87153704e+00] [-9.90343098e-01 -1.38622863e-01 2.06162580e-03 -2.23656773e+02] [-2.08461484e-03 2.06503011e-05 -9.99997827e-01 -8.02079993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.600385723 meters 0.01386441732000229 Centerline is valid? [True, True] Translation: X:-5.88, Y:-223.79, Z:-8.02 [[ 2.17791560e-01 -9.75995057e-01 -6.96398065e-04 -5.88328964e+00] [-9.75990346e-01 -2.17792673e-01 3.03270669e-03 -2.23785474e+02] [-3.11157714e-03 1.91798664e-05 -9.99995159e-01 -8.01986398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.630385723 meters 0.013851796660905615 Centerline is valid? [True, True] Translation: X:-5.88, Y:-223.91, Z:-8.02 [[ 2.93339299e-01 -9.56007773e-01 -1.09245004e-03 -5.88285859e+00] [-9.56001361e-01 -2.93341333e-01 3.50156146e-03 -2.23907048e+02] [-3.66798072e-03 1.72381376e-05 -9.99993273e-01 -8.01907382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.660385723 meters 0.013670127937142066 Centerline is valid? [True, True] Translation: X:-5.88, Y:-224.03, Z:-8.02 [[ 3.67337727e-01 -9.30085993e-01 -1.74325181e-03 -5.87506720e+00] [-9.30075691e-01 -3.67341864e-01 4.37773814e-03 -2.24032072e+02] [-4.71204229e-03 1.32477512e-05 -9.99988898e-01 -8.01824370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.690385723 meters 0.013680650483583056 Centerline is valid? [True, True] Translation: X:-5.86, Y:-224.15, Z:-8.02 [[ 4.37700120e-01 -8.99118198e-01 -2.25207553e-03 -5.85760568e+00] [-8.99106442e-01 -4.37705913e-01 4.59787578e-03 -2.24149092e+02] [-5.11978056e-03 1.23648388e-05 -9.99986894e-01 -8.01803895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.720385723 meters 0.013638995199556171 Centerline is valid? [True, True] Translation: X:-5.83, Y:-224.27, Z:-8.02 [[ 5.04989182e-01 -8.63121096e-01 -2.81066049e-03 -5.83164256e+00] [-8.63107873e-01 -5.04997004e-01 4.77758678e-03 -2.24268588e+02] [-5.54301106e-03 1.32735554e-05 -9.99984637e-01 -8.01839765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.750385723 meters 0.013677734612904727 Centerline is valid? [True, True] Translation: X:-5.80, Y:-224.38, Z:-8.02 [[ 5.69037533e-01 -8.22305940e-01 -3.03770397e-03 -5.79932837e+00] [-8.22294354e-01 -5.69045641e-01 4.36505617e-03 -2.24376541e+02] [-5.31800381e-03 1.40060250e-05 -9.99985859e-01 -8.01828908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.780385723 meters 0.013645746213407441 Centerline is valid? [True, True] Translation: X:-5.76, Y:-224.48, Z:-8.02 [[ 6.28228225e-01 -7.78021564e-01 -3.42681329e-03 -5.76115598e+00] [-7.78010211e-01 -6.28237571e-01 4.20307967e-03 -2.24480097e+02] [-5.42293947e-03 2.56024483e-05 -9.99985295e-01 -8.01866877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.810385723 meters 0.013927846609062947 Centerline is valid? [True, True] Translation: X:-5.71, Y:-224.58, Z:-8.02 [[ 6.84022403e-01 -7.29450393e-01 -3.93401432e-03 -5.71436936e+00] [-7.29438645e-01 -6.84033714e-01 4.14013687e-03 -2.24578553e+02] [-5.71102290e-03 3.76757081e-05 -9.99983691e-01 -8.01855990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8403857229999 meters 0.013985526615510106 Centerline is valid? [True, True] Translation: X:-5.66, Y:-224.67, Z:-8.02 [[ 7.35788681e-01 -6.77200457e-01 -3.81552283e-03 -5.66300715e+00] [-6.77191666e-01 -7.35798572e-01 3.45081094e-03 -2.24670048e+02] [-5.14434699e-03 4.47726357e-05 -9.99986767e-01 -8.01871422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.870385723 meters 0.014552581409003937 Centerline is valid? [True, True] Translation: X:-5.67, Y:-224.68, Z:-8.02 [[ 7.84007814e-01 -6.20743580e-01 -3.02589820e-03 -5.66598189e+00] [-6.20739193e-01 -7.84013652e-01 2.33421341e-03 -2.24684658e+02] [-3.82129349e-03 4.82520523e-05 -9.99992698e-01 -8.02054151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.900385723 meters 0.015097157984334687 Centerline is valid? [True, True] Translation: X:-5.67, Y:-224.70, Z:-8.02 [[ 8.28616264e-01 -5.59810694e-01 -2.65969183e-03 -5.66888561e+00] [-5.59807998e-01 -8.28620531e-01 1.73821013e-03 -2.24698437e+02] [-3.17694387e-03 4.86075768e-05 -9.99994952e-01 -8.02117739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.930385723 meters 0.015272280425091203 Centerline is valid? [True, True] Translation: X:-5.67, Y:-224.71, Z:-8.02 [[ 8.69424959e-01 -4.94057982e-01 -2.63653436e-03 -5.66934269e+00] [-4.94055878e-01 -8.69428955e-01 1.44256031e-03 -2.24713872e+02] [-3.00498775e-03 4.83973589e-05 -9.99995484e-01 -8.02084730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.960385723 meters 0.01509902526640017 Centerline is valid? [True, True] Translation: X:-5.67, Y:-224.73, Z:-8.02 [[ 9.05607757e-01 -4.24101743e-01 -3.50734030e-03 -5.66948599e+00] [-4.24098819e-01 -9.05614547e-01 1.57608239e-03 -2.24731128e+02] [-3.84471769e-03 6.01464407e-05 -9.99992607e-01 -8.02031166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.990385723 meters 0.01530371294218704 Centerline is valid? [True, True] Translation: X:-5.67, Y:-224.74, Z:-8.02 [[ 9.36099229e-01 -3.51713480e-01 -3.98269629e-03 -5.66816706e+00] [-3.51710591e-01 -9.36107699e-01 1.42713244e-03 -2.24744237e+02] [-4.23017438e-03 6.48188939e-05 -9.99991051e-01 -8.02003146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.020385723 meters 0.014787190624052383 Centerline is valid? [True, True] Translation: X:-5.67, Y:-224.76, Z:-8.02 [[ 9.60993700e-01 -2.76533537e-01 -4.50681759e-03 -5.66574452e+00] [-2.76530823e-01 -9.61004266e-01 1.22698500e-03 -2.24760567e+02] [-4.67037343e-03 6.71491198e-05 -9.99989092e-01 -8.02016215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.050385723 meters 0.014717679202177173 Centerline is valid? [True, True] Translation: X:-5.66, Y:-224.78, Z:-8.02 [[ 9.80033967e-01 -1.98730766e-01 -6.28534190e-03 -5.66191188e+00] [-1.98727203e-01 -9.80054119e-01 1.19267746e-03 -2.24776797e+02] [-6.39699693e-03 8.02039920e-05 -9.99979536e-01 -8.01885055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.080385723 meters 0.01469393513106458 Centerline is valid? [True, True] Translation: X:-5.66, Y:-224.79, Z:-8.02 [[ 9.92697730e-01 -1.20348585e-01 -8.21185223e-03 -5.65700620e+00] [-1.20345258e-01 -9.92731690e-01 8.99982632e-04 -2.24790866e+02] [-8.26047759e-03 9.48467576e-05 -9.99965877e-01 -8.01775428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.110385723 meters 0.014701378434684368 Centerline is valid? [True, True] Translation: X:-5.65, Y:-224.80, Z:-8.02 [[ 9.99067573e-01 -4.22814127e-02 -8.73309039e-03 -5.65377209e+00] [-4.22806793e-02 -9.99105736e-01 2.68669594e-04 -2.24803336e+02] [-8.73664043e-03 1.00821915e-04 -9.99961830e-01 -8.01770670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.140385723 meters 0.014936244969814633 Centerline is valid? [True, True] Translation: X:-5.65, Y:-224.81, Z:-8.02 [[ 9.99327510e-01 3.53889096e-02 -9.59966389e-03 -5.65006509e+00] [ 3.53861443e-02 -9.99373609e-01 -4.57805846e-04 -2.24814595e+02] [-9.60985200e-03 1.17802884e-04 -9.99953817e-01 -8.01769398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.170385723 meters 0.015035078639049172 Centerline is valid? [True, True] Translation: X:-5.64, Y:-224.83, Z:-8.02 [[ 9.93580336e-01 1.12698854e-01 -9.85317234e-03 -5.64423682e+00] [ 1.12692013e-01 -9.93629182e-01 -1.24844835e-03 -2.24825486e+02] [-9.93109827e-03 1.30059904e-04 -9.99950677e-01 -8.01772681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.200385723 meters 0.014934644576808907 Centerline is valid? [True, True] Translation: X:-5.64, Y:-224.84, Z:-8.02 [[ 9.82047379e-01 1.88409982e-01 -9.19916461e-03 -5.63719201e+00] [ 1.88400382e-01 -9.82090454e-01 -1.90707661e-03 -2.24838873e+02] [-9.39372402e-03 1.39713463e-04 -9.99955868e-01 -8.01910663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.230385723 meters 0.015455665777189884 Centerline is valid? [True, True] Translation: X:-5.63, Y:-224.85, Z:-8.02 [[ 9.64533211e-01 2.63817260e-01 -8.72574926e-03 -5.63077211e+00] [ 2.63805114e-01 -9.64572669e-01 -2.53559449e-03 -2.24850097e+02] [-9.08555284e-03 1.43767817e-04 -9.99958715e-01 -8.01905360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.260385723 meters 0.01528646369123558 Centerline is valid? [True, True] Translation: X:-5.62, Y:-224.86, Z:-8.02 [[ 9.41185255e-01 3.37791087e-01 -8.21568153e-03 -5.62223101e+00] [ 3.37776863e-01 -9.41221101e-01 -3.10341334e-03 -2.24860886e+02] [-8.78107817e-03 1.45819742e-04 -9.99961435e-01 -8.01982061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.290385723 meters 0.01589858354205565 Centerline is valid? [True, True] Translation: X:-5.62, Y:-224.87, Z:-8.02 [[ 9.11824179e-01 4.10508449e-01 -7.71233434e-03 -5.61521541e+00] [ 4.10492455e-01 -9.11856784e-01 -3.62646671e-03 -2.24869201e+02] [-8.52123961e-03 1.40844976e-04 -9.99963684e-01 -8.01940115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.320385723 meters 0.016166833132066835 Centerline is valid? [True, True] Translation: X:-5.61, Y:-224.87, Z:-8.02 [[ 8.76596429e-01 4.81166480e-01 -7.58409377e-03 -5.60924208e+00] [ 4.81147098e-01 -8.76629226e-01 -4.32094389e-03 -2.24873841e+02] [-8.72753162e-03 1.38659276e-04 -9.99961905e-01 -8.01900905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.350385723 meters 0.014999314127763197 Centerline is valid? [True, True] Translation: X:-5.60, Y:-224.88, Z:-8.02 [[ 8.35120752e-01 5.50019400e-01 -7.21034598e-03 -5.59825163e+00] [ 5.49997645e-01 -8.35151869e-01 -4.89339525e-03 -2.24884692e+02] [-8.71319624e-03 1.20902609e-04 -9.99962032e-01 -8.01920318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.380385723 meters 0.014750508070359587 Centerline is valid? [True, True] Translation: X:-5.59, Y:-224.89, Z:-8.02 [[ 7.88846814e-01 6.14555554e-01 -6.49425755e-03 -5.58636534e+00] [ 6.14533613e-01 -7.88873538e-01 -5.19411152e-03 -2.24892626e+02] [-8.31521801e-03 1.06418764e-04 -9.99965422e-01 -8.01951643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.410385723 meters 0.014673684973116982 Centerline is valid? [True, True] Translation: X:-5.58, Y:-224.90, Z:-8.02 [[ 7.36275597e-01 6.76649459e-01 -6.61482906e-03 -5.57581214e+00] [ 6.76621063e-01 -7.36305305e-01 -6.19957468e-03 -2.24898809e+02] [-9.06547257e-03 8.88628754e-05 -9.99958904e-01 -8.01940125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.440385723 meters 0.01441202948410707 Centerline is valid? [True, True] Translation: X:-5.57, Y:-224.90, Z:-8.02 [[ 6.80010549e-01 7.33171664e-01 -6.70556933e-03 -5.56546413e+00] [ 7.33134805e-01 -6.80043604e-01 -7.35212669e-03 -2.24903126e+02] [-9.95045050e-03 8.34374369e-05 -9.99950490e-01 -8.01916514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.470385723 meters 0.014595101087962385 Centerline is valid? [True, True] Translation: X:-5.56, Y:-224.91, Z:-8.02 [[ 6.19827573e-01 7.84710696e-01 -6.55005628e-03 -5.55693436e+00] [ 7.84665509e-01 -6.19862176e-01 -8.42152802e-03 -2.24906591e+02] [-1.06685953e-02 8.02920343e-05 -9.99943086e-01 -8.01790229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.500385723 meters 0.014264239058800497 Centerline is valid? [True, True] Translation: X:-5.55, Y:-224.91, Z:-8.02 [[ 5.55888979e-01 8.31232592e-01 -6.31041340e-03 -5.54656383e+00] [ 8.31177436e-01 -5.55924790e-01 -9.57586218e-03 -2.24909329e+02] [-1.14678840e-02 7.80430217e-05 -9.99934239e-01 -8.01841271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.530385723 meters 0.01445237689217017 Centerline is valid? [True, True] Translation: X:-5.54, Y:-224.91, Z:-8.02 [[ 4.89359025e-01 8.72062952e-01 -5.82684173e-03 -5.53798665e+00] [ 8.71999043e-01 -4.89393707e-01 -1.05578918e-02 -2.24911246e+02] [-1.20587660e-02 8.55992406e-05 -9.99927287e-01 -8.01810341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.560385723 meters 0.01480056218412232 Centerline is valid? [True, True] Translation: X:-5.53, Y:-224.91, Z:-8.02 [[ 4.20762497e-01 9.07154459e-01 -5.45063301e-03 -5.53239979e+00] [ 9.07074893e-01 -4.20797785e-01 -1.20151141e-02 -2.24911945e+02] [-1.31931786e-02 1.11377057e-04 -9.99912960e-01 -8.01715016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5903857229999 meters 0.016437930584467766 Centerline is valid? [True, True] Translation: X:-5.53, Y:-224.91, Z:-8.02 [[ 3.49331525e-01 9.36986838e-01 -4.81160655e-03 -5.52575079e+00] [ 9.36892649e-01 -3.49364635e-01 -1.32859248e-02 -2.24911613e+02] [-1.41297418e-02 1.33233571e-04 -9.99900161e-01 -8.01506806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.620385723 meters 0.01580802741640926 Centerline is valid? [True, True] Translation: X:-5.52, Y:-224.91, Z:-8.02 [[ 2.77281490e-01 9.60781105e-01 -3.82683877e-03 -5.52312581e+00] [ 9.60680898e-01 -2.77307843e-01 -1.38770780e-02 -2.24911162e+02] [-1.43940467e-02 1.71485939e-04 -9.99896386e-01 -8.01529700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.650385723 meters 0.015495658789143373 Centerline is valid? [True, True] Translation: X:-5.51, Y:-224.91, Z:-8.02 [[ 2.02183330e-01 9.79344045e-01 -2.67270950e-03 -5.51457407e+00] [ 9.79246221e-01 -2.02200913e-01 -1.38430489e-02 -2.24910609e+02] [-1.40975318e-02 1.81593055e-04 -9.99900608e-01 -8.01691587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.680385723 meters 0.01614015602560169 Centerline is valid? [True, True] Translation: X:-5.51, Y:-224.91, Z:-8.02 [[ 1.26020137e-01 9.92026598e-01 -1.46796053e-03 -5.51040550e+00] [ 9.91941215e-01 -1.26028552e-01 -1.30165443e-02 -2.24910358e+02] [-1.30977631e-02 1.84216150e-04 -9.99914204e-01 -8.01669419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.710385723 meters 0.016138426425892888 Centerline is valid? [True, True] Translation: X:-5.51, Y:-224.91, Z:-8.02 [[ 4.83849335e-02 9.98828670e-01 -4.32419841e-04 -5.50631589e+00] [ 9.98747416e-01 -4.83865135e-02 -1.27414574e-02 -2.24908874e+02] [-1.27474562e-02 1.84616368e-04 -9.99918731e-01 -8.01717645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.740385723 meters 0.015277466714030703 Centerline is valid? [True, True] Translation: X:-5.50, Y:-224.91, Z:-8.02 [[-3.04249032e-02 9.99536914e-01 5.31105003e-04 -5.49719355e+00] [ 9.99465721e-01 3.04290756e-02 -1.19308128e-02 -2.24906721e+02] [-1.19414489e-02 1.67827418e-04 -9.99928684e-01 -8.02005499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.770385723 meters 0.015181423977147984 Centerline is valid? [True, True] Translation: X:-5.49, Y:-224.91, Z:-8.02 [[-1.09293254e-01 9.94008615e-01 1.36335598e-03 -5.48775520e+00] [ 9.93947325e-01 1.09301657e-01 -1.10391874e-02 -2.24905041e+02] [-1.11220645e-02 1.48595310e-04 -9.99938137e-01 -8.02126112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.800385723 meters 0.014843578083778243 Centerline is valid? [True, True] Translation: X:-5.48, Y:-224.90, Z:-8.02 [[-1.89511176e-01 9.81876597e-01 1.96555804e-03 -5.47873244e+00] [ 9.81829342e-01 1.89521340e-01 -9.63351311e-03 -2.24902988e+02] [-9.83143626e-03 1.04184164e-04 -9.99951665e-01 -8.02198144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.830385723 meters 0.014608816805181266 Centerline is valid? [True, True] Translation: X:-5.47, Y:-224.90, Z:-8.02 [[-2.67619171e-01 9.63520948e-01 2.71323517e-03 -5.46903060e+00] [ 9.63474644e-01 2.67632911e-01 -9.44649234e-03 -2.24899426e+02] [-9.82804428e-03 8.60708445e-05 -9.99951700e-01 -8.02187573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.860385723 meters 0.014256263129643133 Centerline is valid? [True, True] Translation: X:-5.46, Y:-224.89, Z:-8.02 [[-3.46634403e-01 9.37992660e-01 3.78951565e-03 -5.45964739e+00] [ 9.37938009e-01 3.46655114e-01 -1.01253989e-02 -2.24894658e+02] [-1.08112049e-02 4.45191526e-05 -9.99941556e-01 -8.02172556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.890385723 meters 0.014176535319037188 Centerline is valid? [True, True] Translation: X:-5.45, Y:-224.89, Z:-8.02 [[-4.21166328e-01 9.06971540e-01 4.64215724e-03 -5.45094918e+00] [ 9.06916964e-01 4.21191910e-01 -9.94966930e-03 -2.24890177e+02] [-1.09793060e-02 1.95854663e-05 -9.99939725e-01 -8.02145653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.920385723 meters 0.014176535319037188 Centerline is valid? [True, True] Translation: X:-5.44, Y:-224.88, Z:-8.02 [[-4.90911522e-01 8.71192653e-01 5.40724739e-03 -5.44181645e+00] [ 8.71140249e-01 4.90941300e-01 -9.55545641e-03 -2.24884850e+02] [-1.09792845e-02 1.95871897e-05 -9.99939726e-01 -8.02145671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.950385723 meters 0.014164919117210711 Centerline is valid? [True, True] Translation: X:-5.43, Y:-224.88, Z:-8.02 [[-5.59701160e-01 8.28670643e-01 6.29100141e-03 -5.43419600e+00] [ 8.28618137e-01 5.59736514e-01 -9.32833915e-03 -2.24878729e+02] [-1.12514240e-02 -8.24437793e-06 -9.99936701e-01 -8.02144632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.980385723 meters 0.014264046237079976 Centerline is valid? [True, True] Translation: X:-5.43, Y:-224.87, Z:-8.02 [[-6.25962292e-01 7.79821657e-01 7.02800214e-03 -5.42650367e+00] [ 7.79771561e-01 6.26001742e-01 -8.83927945e-03 -2.24871610e+02] [-1.12926031e-02 -5.28194208e-05 -9.99936235e-01 -8.02167368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.010385723 meters 0.014401500294034676 Centerline is valid? [True, True] Translation: X:-5.42, Y:-224.86, Z:-8.02 [[-6.85972764e-01 7.27587045e-01 7.64582739e-03 -5.41858944e+00] [ 7.27540780e-01 6.86015370e-01 -8.20521150e-03 -2.24864327e+02] [-1.12151607e-02 -6.59003877e-05 -9.99937106e-01 -8.02054030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.040385723 meters 0.014641623023035063 Centerline is valid? [True, True] Translation: X:-5.42, Y:-224.86, Z:-8.02 [[-7.41733521e-01 6.70643783e-01 8.26435692e-03 -5.41609753e+00] [ 6.70600942e-01 7.41779556e-01 -7.58071292e-03 -2.24861220e+02] [-1.12142890e-02 -8.07833518e-05 -9.99937115e-01 -8.02096330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.070385723 meters 0.014617365403410711 Centerline is valid? [True, True] Translation: X:-5.40, Y:-224.84, Z:-8.02 [[-7.87329215e-01 6.16467129e-01 8.99924128e-03 -5.40330833e+00] [ 6.16425662e-01 7.87380640e-01 -7.15054087e-03 -2.24838488e+02] [-1.14939018e-02 -8.24664637e-05 -9.99933940e-01 -8.02186658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.100385723 meters 0.01448492195577599 Centerline is valid? [True, True] Translation: X:-5.38, Y:-224.83, Z:-8.02 [[-8.28768804e-01 5.59514535e-01 9.26034643e-03 -5.37984908e+00] [ 5.59478589e-01 8.28820535e-01 -6.34264104e-03 -2.24827984e+02] [-1.12239651e-02 -7.56174732e-05 -9.99937007e-01 -8.02392096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.130385723 meters 0.01448017503734101 Centerline is valid? [True, True] Translation: X:-5.37, Y:-224.81, Z:-8.02 [[-8.65962218e-01 5.00020035e-01 9.45523531e-03 -5.36616249e+00] [ 4.99989394e-01 8.66013834e-01 -5.53578709e-03 -2.24805665e+02] [-1.09563690e-02 -6.62650952e-05 -9.99939975e-01 -8.02424615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.160385723 meters 0.014453118091818543 Centerline is valid? [True, True] Translation: X:-5.36, Y:-224.78, Z:-8.02 [[-8.98712412e-01 4.38420558e-01 1.01692946e-02 -5.35711975e+00] [ 4.38391781e-01 8.98769943e-01 -5.02348291e-03 -2.24781401e+02] [-1.13422545e-02 -5.65312848e-05 -9.99935673e-01 -8.02493129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.190385723 meters 0.014449882782719272 Centerline is valid? [True, True] Translation: X:-5.35, Y:-224.76, Z:-8.02 [[-9.26810225e-01 3.75373203e-01 1.08520152e-02 -5.34744914e+00] [ 3.75347011e-01 9.26873755e-01 -4.43442722e-03 -2.24759123e+02] [-1.17230132e-02 -3.66010090e-05 -9.99931283e-01 -8.02355190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.220385723 meters 0.014364280903408883 Centerline is valid? [True, True] Translation: X:-5.34, Y:-224.73, Z:-8.02 [[-9.50723689e-01 3.09847346e-01 1.09127648e-02 -5.33816866e+00] [ 3.09826673e-01 9.50786318e-01 -3.57925757e-03 -2.24733982e+02] [-1.14847309e-02 -2.18193453e-05 -9.99934048e-01 -8.02480695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.250385723 meters 0.014302171883646592 Centerline is valid? [True, True] Translation: X:-5.33, Y:-224.71, Z:-8.02 [[-9.69789850e-01 2.43702032e-01 1.08151368e-02 -5.33159033e+00] [ 2.43686903e-01 9.69850153e-01 -2.71545479e-03 -2.24710415e+02] [-1.11508239e-02 2.08669832e-06 -9.99937828e-01 -8.02438305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.280385723 meters 0.014389066807409829 Centerline is valid? [True, True] Translation: X:-5.32, Y:-224.68, Z:-8.03 [[-9.83753006e-01 1.79205008e-01 1.07512291e-02 -5.31785541e+00] [ 1.79194484e-01 9.83811753e-01 -1.94210728e-03 -2.24684116e+02] [-1.09252209e-02 1.60070767e-05 -9.99940318e-01 -8.02568793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.310385723 meters 0.014603507435179993 Centerline is valid? [True, True] Translation: X:-5.32, Y:-224.66, Z:-8.02 [[-9.93732427e-01 1.11201516e-01 1.14055740e-02 -5.31720108e+00] [ 1.11194704e-01 9.93797877e-01 -1.23170669e-03 -2.24660459e+02] [-1.14718029e-02 4.42525456e-05 -9.99934196e-01 -8.02497310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3403857229999 meters 0.014697716821045165 Centerline is valid? [True, True] Translation: X:-5.24, Y:-223.95, Z:-9.04 [[-9.85417816e-01 -1.69689739e-01 1.25348037e-02 -5.24022233e+00] [ 1.69676410e-01 -9.85497535e-01 -2.12710521e-03 -2.23953719e+02] [ 1.27139660e-02 3.07731160e-05 9.99919174e-01 -9.04360271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.370385723 meters 0.014697563545494839 Centerline is valid? [True, True] Translation: X:-5.39, Y:-224.66, Z:-8.03 [[-9.94118361e-01 1.07496930e-01 1.31565710e-02 -5.38515968e+00] [ 1.07488325e-01 9.94205415e-01 -1.36149358e-03 -2.24657091e+02] [-1.32266905e-02 6.06920108e-05 -9.99912522e-01 -8.02550439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.400385723 meters 0.014570565318671357 Centerline is valid? [True, True] Translation: X:-5.31, Y:-223.94, Z:-9.04 [[-9.86091149e-01 -1.65657838e-01 1.34806259e-02 -5.30849550e+00] [ 1.65641897e-01 -9.86183289e-01 -2.29831484e-03 -2.23942646e+02] [ 1.36751018e-02 -3.33914724e-05 9.99906491e-01 -9.04213655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.430385723 meters 0.015005114052977674 Centerline is valid? [True, True] Translation: X:-5.45, Y:-224.66, Z:-8.02 [[-9.94754404e-01 1.01278604e-01 1.43638707e-02 -5.45479477e+00] [ 1.01268648e-01 9.94858102e-01 -1.42065284e-03 -2.24655705e+02] [-1.44338949e-02 4.14090946e-05 -9.99895825e-01 -8.02432650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.460385723 meters 0.014956047530199086 Centerline is valid? [True, True] Translation: X:-5.45, Y:-224.63, Z:-8.02 [[-9.99443974e-01 2.97532358e-02 1.50494907e-02 -5.45218064e+00] [ 2.97503906e-02 9.99557274e-01 -4.12948262e-04 -2.24627897e+02] [-1.50551144e-02 3.50095742e-05 -9.99886665e-01 -8.02451634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.490385723 meters 0.014775912679635034 Centerline is valid? [True, True] Translation: X:-5.43, Y:-223.90, Z:-9.04 [[-9.95582688e-01 -9.26959298e-02 1.49190025e-02 -5.43181689e+00] [ 9.26849318e-02 -9.95694463e-01 -1.42841425e-03 -2.23897530e+02] [ 1.49871763e-02 -3.93377703e-05 9.99887685e-01 -9.04226810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.520385723 meters 0.014776551849559469 Centerline is valid? [True, True] Translation: X:-5.54, Y:-224.63, Z:-8.03 [[-9.99594354e-01 2.41370722e-02 1.51171849e-02 -5.53787426e+00] [ 2.41347007e-02 9.99708658e-01 -3.39317637e-04 -2.24628005e+02] [-1.51209708e-02 2.56687393e-05 -9.99885671e-01 -8.02604474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.550385723 meters 0.014814475742210797 Centerline is valid? [True, True] Translation: X:-5.51, Y:-223.89, Z:-9.04 [[-9.95993251e-01 -8.81606865e-02 1.50045812e-02 -5.50941681e+00] [ 8.81502421e-02 -9.96106266e-01 -1.35732353e-03 -2.23891656e+02] [ 1.50658199e-02 -2.92276055e-05 9.99886504e-01 -9.04173772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.580385723 meters 0.015038319964103113 Centerline is valid? [True, True] Translation: X:-5.62, Y:-224.63, Z:-8.03 [[-9.99706587e-01 1.91549435e-02 1.48265772e-02 -5.61806939e+00] [ 1.91531521e-02 9.99816527e-01 -2.62823717e-04 -2.24631030e+02] [-1.48288913e-02 2.12290858e-05 -9.99890046e-01 -8.02516941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.610385723 meters 0.015199956038694796 Centerline is valid? [True, True] Translation: X:-5.61, Y:-224.60, Z:-8.02 [[-9.98546592e-01 -5.18372480e-02 1.47514067e-02 -5.60664337e+00] [-5.18312171e-02 9.98655546e-01 7.91115566e-04 -2.24603948e+02] [-1.47725833e-02 2.53823914e-05 -9.99890879e-01 -8.02438341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.640385723 meters 0.014992020131462181 Centerline is valid? [True, True] Translation: X:-5.62, Y:-224.58, Z:-8.03 [[-9.92386808e-01 -1.22298130e-01 1.45461540e-02 -5.61801241e+00] [-1.22284501e-01 9.92493409e-01 1.82610093e-03 -2.24577406e+02] [-1.46602906e-02 3.34293028e-05 -9.99892532e-01 -8.02661095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.670385723 meters 0.014755753776735277 Centerline is valid? [True, True] Translation: X:-5.64, Y:-224.55, Z:-8.03 [[-9.81181604e-01 -1.92589114e-01 1.38597749e-02 -5.64174278e+00] [-1.92569366e-01 9.81279487e-01 2.75818531e-03 -2.24553969e+02] [-1.41315093e-02 3.73126130e-05 -9.99900145e-01 -8.02865186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.700385723 meters 0.014720376751291045 Centerline is valid? [True, True] Translation: X:-5.68, Y:-224.53, Z:-8.03 [[-9.64470977e-01 -2.63849941e-01 1.33769990e-02 -5.67555064e+00] [-2.63824147e-01 9.64563740e-01 3.68936363e-03 -2.24533096e+02] [-1.38764065e-02 2.91087982e-05 -9.99903718e-01 -8.02922638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.730385723 meters 0.01468112071665278 Centerline is valid? [True, True] Translation: X:-5.73, Y:-224.52, Z:-8.03 [[-9.41960837e-01 -3.35464854e-01 1.31572491e-02 -5.73280391e+00] [-3.35432009e-01 9.42052723e-01 4.69422592e-03 -2.24521748e+02] [-1.39695701e-02 8.41448515e-06 -9.99902421e-01 -8.03019818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.760385723 meters 0.014602938820647723 Centerline is valid? [True, True] Translation: X:-5.80, Y:-224.52, Z:-8.03 [[-9.14368987e-01 -4.04677273e-01 1.28708933e-02 -5.79741402e+00] [-4.04637254e-01 9.14459570e-01 5.69104871e-03 -2.24515578e+02] [-1.40729496e-02 -4.32448738e-06 -9.99900971e-01 -8.03038127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.790385723 meters 0.014688646054626782 Centerline is valid? [True, True] Translation: X:-5.87, Y:-224.52, Z:-8.03 [[-8.81283349e-01 -4.72432611e-01 1.21279448e-02 -5.87376932e+00] [-4.72388165e-01 8.81366795e-01 6.48032368e-03 -2.24519508e+02] [-1.37506840e-02 -1.80962127e-05 -9.99905455e-01 -8.02991766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.820385723 meters 0.014609485332747524 Centerline is valid? [True, True] Translation: X:-5.96, Y:-224.53, Z:-8.03 [[-8.43014204e-01 -5.37766062e-01 1.16066503e-02 -5.95805519e+00] [-5.37715610e-01 8.43094100e-01 7.36619266e-03 -2.24534705e+02] [-1.37467868e-02 -3.12720199e-05 -9.99905508e-01 -8.03047361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.850385723 meters 0.014713904927177505 Centerline is valid? [True, True] Translation: X:-6.05, Y:-224.56, Z:-8.03 [[-8.00202867e-01 -5.99623109e-01 1.12915531e-02 -6.04715812e+00] [-5.99563991e-01 8.00282529e-01 8.41992973e-03 -2.24561045e+02] [-1.40852171e-02 -3.23567074e-05 -9.99900798e-01 -8.03010949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.880385723 meters 0.014698344368256603 Centerline is valid? [True, True] Translation: X:-6.14, Y:-224.60, Z:-8.03 [[-7.53009207e-01 -6.57927114e-01 1.04425487e-02 -6.13749588e+00] [-6.57864294e-01 7.53081610e-01 9.09174006e-03 -2.24596812e+02] [-1.38457937e-02 -2.36159488e-05 -9.99904142e-01 -8.03126613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.910385723 meters 0.014685573865165424 Centerline is valid? [True, True] Translation: X:-6.23, Y:-224.64, Z:-8.03 [[-7.01291061e-01 -7.12802843e-01 1.01466855e-02 -6.23041568e+00] [-7.12728626e-01 7.01364461e-01 1.02858125e-02 -2.24644483e+02] [-1.44482810e-02 -1.84848574e-05 -9.99895618e-01 -8.03119151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.940385723 meters 0.014581820469411528 Centerline is valid? [True, True] Translation: X:-6.32, Y:-224.71, Z:-8.03 [[-6.45419371e-01 -7.63771556e-01 9.31912165e-03 -6.32484151e+00] [-7.63692227e-01 6.45486646e-01 1.10078202e-02 -2.24705320e+02] [-1.44228285e-02 -1.22803919e-05 -9.99895986e-01 -8.03194994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.970385723 meters 0.014744013052726553 Centerline is valid? [True, True] Translation: X:-6.42, Y:-224.77, Z:-8.03 [[-5.86025799e-01 -8.10244899e-01 8.77305630e-03 -6.41607882e+00] [-8.10154115e-01 5.86091463e-01 1.21287667e-02 -2.24774246e+02] [-1.49690847e-02 2.42516867e-07 -9.99887957e-01 -8.03005627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.000385723 meters 0.014813298849954323 Centerline is valid? [True, True] Translation: X:-6.51, Y:-224.86, Z:-8.03 [[-5.23489014e-01 -8.51995719e-01 7.90864752e-03 -6.50571415e+00] [-8.51897938e-01 5.23548750e-01 1.29076945e-02 -2.24856584e+02] [-1.51378630e-02 1.96757661e-05 -9.99885416e-01 -8.02920640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.030385723 meters 0.014818076154675007 Centerline is valid? [True, True] Translation: X:-6.58, Y:-224.93, Z:-8.03 [[-4.57038442e-01 -8.89420259e-01 6.88949613e-03 -6.58129616e+00] [-8.89318304e-01 4.57090365e-01 1.34666814e-02 -2.24932624e+02] [-1.51266616e-02 2.78360612e-05 -9.99885585e-01 -8.02931065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.060385723 meters 0.014839304753235272 Centerline is valid? [True, True] Translation: X:-6.66, Y:-225.02, Z:-8.03 [[-3.87703555e-01 -9.21765320e-01 5.88625139e-03 -6.65522755e+00] [-9.21657804e-01 3.87748234e-01 1.40783020e-02 -2.25023669e+02] [-1.52592741e-02 3.30981877e-05 -9.99883570e-01 -8.02987976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0903857229999 meters 0.014771427342757264 Centerline is valid? [True, True] Translation: X:-6.72, Y:-225.13, Z:-8.03 [[-3.17018270e-01 -9.48408426e-01 4.56877566e-03 -6.72493930e+00] [-9.48307609e-01 3.17051186e-01 1.38283952e-02 -2.25125726e+02] [-1.45635022e-02 5.12491904e-05 -9.99893945e-01 -8.03134294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.120385723 meters 0.014724145800036652 Centerline is valid? [True, True] Translation: X:-6.79, Y:-225.23, Z:-8.03 [[-2.43713230e-01 -9.69841196e-01 3.45191093e-03 -6.78618816e+00] [-9.69740499e-01 2.43737668e-01 1.39754823e-02 -2.25231671e+02] [-1.43953592e-02 5.85521132e-05 -9.99896380e-01 -8.03215191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.150385723 meters 0.014773841457888333 Centerline is valid? [True, True] Translation: X:-6.84, Y:-225.35, Z:-8.03 [[-1.70093118e-01 -9.85425516e-01 2.20966806e-03 -6.83895900e+00] [-9.85336215e-01 1.70107452e-01 1.32663958e-02 -2.25348064e+02] [-1.34489259e-02 7.92566643e-05 -9.99909556e-01 -8.03345270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.180385723 meters 0.014803059275792743 Centerline is valid? [True, True] Translation: X:-6.88, Y:-225.45, Z:-8.03 [[-9.48927771e-02 -9.95486824e-01 1.15928205e-03 -6.88120034e+00] [-9.95399864e-01 9.48998109e-02 1.31581244e-02 -2.25454464e+02] [-1.32087551e-02 9.46617748e-05 -9.99912756e-01 -8.03458345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.210385723 meters 0.015088794019274144 Centerline is valid? [True, True] Translation: X:-6.92, Y:-225.58, Z:-8.03 [[-1.98177212e-02 -9.99803600e-01 1.40893073e-04 -6.91569826e+00] [-9.99717382e-01 1.98178626e-02 1.31304142e-02 -2.25579834e+02] [-1.31306276e-02 1.19361633e-04 -9.99913783e-01 -8.03407692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.240385723 meters 0.01516895110606096 Centerline is valid? [True, True] Translation: X:-6.94, Y:-225.70, Z:-8.03 [[ 5.64426895e-02 -9.98405477e-01 -8.52862515e-04 -6.94145408e+00] [-9.98322984e-01 -5.64489898e-02 1.28347353e-02 -2.25700858e+02] [-1.28624132e-02 1.27005272e-04 -9.99917268e-01 -8.03356526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.270385723 meters 0.015111237727818536 Centerline is valid? [True, True] Translation: X:-6.96, Y:-225.82, Z:-8.03 [[ 1.32970682e-01 -9.91118366e-01 -1.78369897e-03 -6.95806640e+00] [-9.91041523e-01 -1.32982585e-01 1.23422930e-02 -2.25824130e+02] [-1.24698742e-02 1.26556626e-04 -9.99922240e-01 -8.03465980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.300385723 meters 0.015233468911147807 Centerline is valid? [True, True] Translation: X:-6.97, Y:-225.95, Z:-8.03 [[ 2.08605829e-01 -9.77996291e-01 -2.61975317e-03 -6.96525131e+00] [-9.77926558e-01 -2.08622240e-01 1.16793496e-02 -2.25949433e+02] [-1.19688993e-02 1.25545814e-04 -9.99928362e-01 -8.03497613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.330385723 meters 0.016961449438316498 Centerline is valid? [True, True] Translation: X:-6.96, Y:-226.08, Z:-8.03 [[ 2.82672827e-01 -9.59209674e-01 -3.58808549e-03 -6.96271352e+00] [-9.59138400e-01 -2.82695566e-01 1.16938806e-02 -2.26076351e+02] [-1.22312193e-02 1.35928289e-04 -9.99925187e-01 -8.03288526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.360385723 meters 0.015235036441433921 Centerline is valid? [True, True] Translation: X:-6.95, Y:-226.20, Z:-8.03 [[ 3.56351865e-01 -9.34343421e-01 -3.96485743e-03 -6.95225782e+00] [-9.34289058e-01 -3.56373904e-01 1.00795514e-02 -2.26199869e+02] [-1.08307343e-02 1.12455962e-04 -9.99941340e-01 -8.03476400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.390385723 meters 0.01529698898064962 Centerline is valid? [True, True] Translation: X:-6.93, Y:-226.32, Z:-8.04 [[ 4.27070003e-01 -9.04208030e-01 -4.36481028e-03 -6.93029506e+00] [-9.04163289e-01 -4.27092294e-01 8.99555250e-03 -2.26323441e+02] [-9.99802764e-03 1.04770592e-04 -9.99950013e-01 -8.03505620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.420385723 meters 0.01513245640202094 Centerline is valid? [True, True] Translation: X:-6.90, Y:-226.45, Z:-8.04 [[ 4.95173641e-01 -8.68782041e-01 -4.56408245e-03 -6.89707845e+00] [-8.68746898e-01 -4.95194666e-01 7.81480521e-03 -2.26451997e+02] [-9.04947170e-03 9.53469187e-05 -9.99959048e-01 -8.03581733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.450385723 meters 0.015376113843740477 Centerline is valid? [True, True] Translation: X:-6.86, Y:-226.56, Z:-8.03 [[ 5.60541319e-01 -8.28109189e-01 -5.34793370e-03 -6.86478612e+00] [-8.28073128e-01 -5.60566821e-01 7.72869354e-03 -2.26558241e+02] [-9.39807634e-03 9.62281144e-05 -9.99955833e-01 -8.03469284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.480385723 meters 0.014861894676086023 Centerline is valid? [True, True] Translation: X:-6.82, Y:-226.67, Z:-8.04 [[ 6.23364410e-01 -7.81906735e-01 -6.21850962e-03 -6.82463830e+00] [-7.81869222e-01 -6.23395420e-01 7.65963877e-03 -2.26666948e+02] [-9.86571356e-03 8.73150737e-05 -9.99951329e-01 -8.03567253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.510385723 meters 0.014920050239572628 Centerline is valid? [True, True] Translation: X:-6.77, Y:-226.77, Z:-8.04 [[ 6.81674676e-01 -7.31622598e-01 -6.92895691e-03 -6.77150789e+00] [-7.31586033e-01 -6.81709885e-01 7.31494256e-03 -2.26773831e+02] [-1.00753157e-02 8.27169996e-05 -9.99949239e-01 -8.03506900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.540385723 meters 0.014735304251250773 Centerline is valid? [True, True] Translation: X:-6.71, Y:-226.88, Z:-8.04 [[ 7.36051414e-01 -6.76887271e-01 -7.20690183e-03 -6.71012941e+00] [-6.76855756e-01 -7.36086692e-01 6.53202820e-03 -2.26877057e+02] [-9.72635127e-03 7.01243950e-05 -9.99952696e-01 -8.03508064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.570385723 meters 0.0146731606784125 Centerline is valid? [True, True] Translation: X:-6.72, Y:-226.89, Z:-8.04 [[ 7.87372553e-01 -6.16427672e-01 -7.83501115e-03 -6.71784956e+00] [-6.16397919e-01 -7.87411532e-01 6.05679215e-03 -2.26889935e+02] [-9.90295243e-03 6.05326692e-05 -9.99950963e-01 -8.03511071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.600385723 meters 0.014632563598932141 Centerline is valid? [True, True] Translation: X:-6.72, Y:-226.90, Z:-8.03 [[ 8.33380458e-01 -5.52638604e-01 -8.22107158e-03 -6.72441764e+00] [-5.52612375e-01 -8.33421004e-01 5.38448668e-03 -2.26901469e+02] [-9.82728894e-03 5.57399166e-05 -9.99951710e-01 -8.03462558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.630385723 meters 0.01452790391920753 Centerline is valid? [True, True] Translation: X:-6.73, Y:-226.91, Z:-8.03 [[ 8.74316834e-01 -4.85281792e-01 -8.46499244e-03 -6.72885289e+00] [-4.85259587e-01 -8.74357810e-01 4.64256289e-03 -2.26914615e+02] [-9.65438349e-03 4.86478524e-05 -9.99953394e-01 -8.03387090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.660385723 meters 0.01453290914994141 Centerline is valid? [True, True] Translation: X:-6.73, Y:-226.93, Z:-8.03 [[ 9.09702008e-01 -4.15164253e-01 -8.99441927e-03 -6.73220483e+00] [-4.15144469e-01 -9.09746471e-01 4.05329302e-03 -2.26927183e+02] [-9.86542355e-03 4.66946169e-05 -9.99951335e-01 -8.03390834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.690385723 meters 0.014490177702988367 Centerline is valid? [True, True] Translation: X:-6.73, Y:-226.94, Z:-8.03 [[ 9.39369610e-01 -3.42771464e-01 -9.61561214e-03 -6.73432653e+00] [-3.42754035e-01 -9.39418821e-01 3.45700021e-03 -2.26940019e+02] [-1.02180480e-02 4.83889156e-05 -9.99947793e-01 -8.03380750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.720385723 meters 0.014484035917897601 Centerline is valid? [True, True] Translation: X:-6.74, Y:-226.95, Z:-8.03 [[ 9.63339459e-01 -2.68098688e-01 -1.00090068e-02 -6.73522006e+00] [-2.68084729e-01 -9.63391453e-01 2.73624305e-03 -2.26952062e+02] [-1.03761748e-02 4.73309872e-05 -9.99946165e-01 -8.03376075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.750385723 meters 0.014464859199696981 Centerline is valid? [True, True] Translation: X:-6.74, Y:-226.97, Z:-8.03 [[ 9.81330842e-01 -1.92040410e-01 -1.05004170e-02 -6.73542985e+00] [-1.92029956e-01 -9.81387018e-01 2.00435344e-03 -2.26965848e+02] [-1.06898897e-02 4.94607589e-05 -9.99942860e-01 -8.03385349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.780385723 meters 0.014495733182407171 Centerline is valid? [True, True] Translation: X:-6.74, Y:-226.98, Z:-8.03 [[ 9.93325733e-01 -1.14867100e-01 -1.04660518e-02 -6.73886479e+00] [-1.14861267e-01 -9.93380867e-01 1.15876106e-03 -2.26978627e+02] [-1.05298792e-02 5.11167958e-05 -9.99944558e-01 -8.03324525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.810385723 meters 0.014495733182407171 Centerline is valid? [True, True] Translation: X:-6.74, Y:-226.99, Z:-8.03 [[ 9.99269953e-01 -3.67259303e-02 -1.05246176e-02 -6.74057846e+00] [-3.67244322e-02 -9.99325374e-01 3.35636697e-04 -2.26987829e+02] [-1.05298440e-02 5.11189382e-05 -9.99944558e-01 -8.03324557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8403857229999 meters 0.01446780934198861 Centerline is valid? [True, True] Translation: X:-6.74, Y:-227.00, Z:-8.04 [[ 9.99135212e-01 4.04896585e-02 -9.45597863e-03 -6.74134747e+00] [ 4.04873089e-02 -9.99179956e-01 -4.39856807e-04 -2.27002011e+02] [-9.46603396e-03 5.66292972e-05 -9.99955195e-01 -8.03587158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.870385723 meters 0.014418045846608205 Centerline is valid? [True, True] Translation: X:-6.74, Y:-227.01, Z:-8.04 [[ 9.92972438e-01 1.18041533e-01 -8.48140478e-03 -6.74182191e+00] [ 1.18036749e-01 -9.93008657e-01 -1.06418581e-03 -2.27014935e+02] [-8.54772649e-03 5.55897307e-05 -9.99963466e-01 -8.03656595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.900385723 meters 0.014487472606360394 Centerline is valid? [True, True] Translation: X:-6.74, Y:-227.03, Z:-8.04 [[ 9.80745649e-01 1.95123336e-01 -8.05334122e-03 -6.74108982e+00] [ 1.95116288e-01 -9.80778711e-01 -1.65937247e-03 -2.27026328e+02] [-8.22232792e-03 5.60842856e-05 -9.99966195e-01 -8.03697367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.930385723 meters 0.014537151474737418 Centerline is valid? [True, True] Translation: X:-6.74, Y:-227.04, Z:-8.04 [[ 9.62549360e-01 2.70983661e-01 -8.15994161e-03 -6.73832370e+00] [ 2.70973384e-01 -9.62583945e-01 -2.36083414e-03 -2.27039627e+02] [-8.49437626e-03 6.12924063e-05 -9.99963920e-01 -8.03682143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.960385723 meters 0.014540344170227365 Centerline is valid? [True, True] Translation: X:-6.73, Y:-227.05, Z:-8.04 [[ 9.38361300e-01 3.45560089e-01 -8.14222107e-03 -6.73475796e+00] [ 3.45546503e-01 -9.38396623e-01 -3.06484980e-03 -2.27051160e+02] [-8.69972252e-03 6.24204318e-05 -9.99962155e-01 -8.03662631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.990385723 meters 0.014711147544475573 Centerline is valid? [True, True] Translation: X:-6.73, Y:-227.06, Z:-8.04 [[ 9.08621722e-01 4.17544644e-01 -7.93963590e-03 -6.73114628e+00] [ 4.17528060e-01 -9.08656407e-01 -3.72200016e-03 -2.27062497e+02] [-8.76850226e-03 6.68694203e-05 -9.99961554e-01 -8.03614110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.020385723 meters 0.014572579310766129 Centerline is valid? [True, True] Translation: X:-6.73, Y:-227.07, Z:-8.04 [[ 8.73141546e-01 4.87405601e-01 -7.72141991e-03 -6.72536411e+00] [ 4.87385859e-01 -8.73175684e-01 -4.38737832e-03 -2.27074759e+02] [-8.88058888e-03 6.74914166e-05 -9.99960565e-01 -8.03691136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.050385723 meters 0.014533051881996968 Centerline is valid? [True, True] Translation: X:-6.72, Y:-227.09, Z:-8.04 [[ 8.32159220e-01 5.54484365e-01 -7.62378465e-03 -6.71774915e+00] [ 5.54460346e-01 -8.32194139e-01 -5.16150772e-03 -2.27086669e+02] [-9.20644423e-03 6.81099619e-05 -9.99957618e-01 -8.03728036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.080385723 meters 0.01455113638822367 Centerline is valid? [True, True] Translation: X:-6.71, Y:-227.10, Z:-8.04 [[ 7.86210655e-01 6.17915260e-01 -7.31692690e-03 -6.70913415e+00] [ 6.17887677e-01 -7.86244699e-01 -5.83880578e-03 -2.27097620e+02] [-9.36078218e-03 6.94923485e-05 -9.99956185e-01 -8.03737944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.110385723 meters 0.014612935219155028 Centerline is valid? [True, True] Translation: X:-6.70, Y:-227.11, Z:-8.04 [[ 7.35207559e-01 6.77811862e-01 -6.39725145e-03 -6.70038553e+00] [ 6.77785467e-01 -7.35235388e-01 -5.98203651e-03 -2.27108415e+02] [-8.75818096e-03 6.20744080e-05 -9.99961645e-01 -8.03800339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.140385723 meters 0.014697247443947027 Centerline is valid? [True, True] Translation: X:-6.69, Y:-227.12, Z:-8.04 [[ 6.80094087e-01 7.33102343e-01 -5.74352843e-03 -6.69100929e+00] [ 7.33075422e-01 -6.80118336e-01 -6.28290225e-03 -2.27116981e+02] [-8.51228936e-03 6.25251380e-05 -9.99963768e-01 -8.03807362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.170385723 meters 0.01478786517891763 Centerline is valid? [True, True] Translation: X:-6.68, Y:-227.13, Z:-8.04 [[ 6.21649058e-01 7.83278295e-01 -5.24988870e-03 -6.68217288e+00] [ 7.83249350e-01 -6.21671222e-01 -6.73412663e-03 -2.27126169e+02] [-8.53839994e-03 7.42915703e-05 -9.99963545e-01 -8.03767255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.200385723 meters 0.014976924134180154 Centerline is valid? [True, True] Translation: X:-6.67, Y:-227.13, Z:-8.04 [[ 5.58971925e-01 8.29172625e-01 -4.81104035e-03 -6.67331598e+00] [ 8.29140643e-01 -5.58992622e-01 -7.28299381e-03 -2.27132167e+02] [-8.72819515e-03 8.19599746e-05 -9.99961905e-01 -8.03718024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.230385723 meters 0.015111847999471361 Centerline is valid? [True, True] Translation: X:-6.66, Y:-227.14, Z:-8.04 [[ 4.92504105e-01 8.70299345e-01 -4.33084308e-03 -6.66436967e+00] [ 8.70264154e-01 -4.92523139e-01 -7.82680196e-03 -2.27137730e+02] [-8.94470105e-03 8.57546016e-05 -9.99959992e-01 -8.03664858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.260385723 meters 0.015208318028456519 Centerline is valid? [True, True] Translation: X:-6.65, Y:-227.14, Z:-8.04 [[ 4.23628539e-01 9.05827179e-01 -3.99790802e-03 -6.65396082e+00] [ 9.05784571e-01 -4.23647391e-01 -8.78625922e-03 -2.27142934e+02] [-9.65253571e-03 1.00866752e-04 -9.99953408e-01 -8.03640892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.290385723 meters 0.015541243646829751 Centerline is valid? [True, True] Translation: X:-6.64, Y:-227.15, Z:-8.04 [[ 3.52377626e-01 9.35851172e-01 -3.54869101e-03 -6.64437577e+00] [ 9.35800255e-01 -3.52395474e-01 -9.76284809e-03 -2.27148000e+02] [-1.03871155e-02 1.19343286e-04 -9.99946045e-01 -8.03572974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.320385723 meters 0.015444580112916174 Centerline is valid? [True, True] Translation: X:-6.63, Y:-227.15, Z:-8.04 [[ 2.78792003e-01 9.60347675e-01 -2.71327181e-03 -6.63326255e+00] [ 9.60297738e-01 -2.78805178e-01 -9.79427634e-03 -2.27151873e+02] [-1.01623847e-02 1.25017136e-04 -9.99948354e-01 -8.03623477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.350385723 meters 0.015798315459813098 Centerline is valid? [True, True] Translation: X:-6.62, Y:-227.16, Z:-8.04 [[ 2.03529423e-01 9.79066897e-01 -1.94530013e-03 -6.62408298e+00] [ 9.79015676e-01 -2.03538676e-01 -1.00156931e-02 -2.27155559e+02] [-1.02019774e-02 1.34008924e-04 -9.99947950e-01 -8.03583220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.380385723 meters 0.015835611089686202 Centerline is valid? [True, True] Translation: X:-6.61, Y:-227.16, Z:-8.04 [[ 1.27840661e-01 9.91794065e-01 -1.13914279e-03 -6.61277109e+00] [ 9.91743691e-01 -1.27845650e-01 -9.99708252e-03 -2.27157071e+02] [-1.00606816e-02 1.48295956e-04 -9.99949379e-01 -8.03671182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.410385723 meters 0.015505445530299302 Centerline is valid? [True, True] Translation: X:-6.60, Y:-227.16, Z:-8.04 [[ 5.01140739e-02 9.98743438e-01 -3.52110383e-04 -6.59623218e+00] [ 9.98692947e-01 -5.01150813e-02 -1.00437024e-02 -2.27158418e+02] [-1.00487279e-02 1.51680689e-04 -9.99949499e-01 -8.03768807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.440385723 meters 0.015365166062272326 Centerline is valid? [True, True] Translation: X:-6.58, Y:-227.16, Z:-8.04 [[-2.87206890e-02 9.99587382e-01 4.33714776e-04 -6.57810284e+00] [ 9.99537294e-01 2.87235921e-02 -1.00076145e-02 -2.27158008e+02] [-1.00159430e-02 1.46088510e-04 -9.99949829e-01 -8.03790746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.470385723 meters 0.015494196232328327 Centerline is valid? [True, True] Translation: X:-6.56, Y:-227.16, Z:-8.04 [[-1.07402958e-01 9.94214780e-01 1.25563983e-03 -6.56393863e+00] [ 9.94161816e-01 1.07410198e-01 -1.02631572e-02 -2.27157369e+02] [-1.03386511e-02 1.46015738e-04 -9.99946544e-01 -8.03736742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.500385723 meters 0.015199383214442877 Centerline is valid? [True, True] Translation: X:-6.55, Y:-227.15, Z:-8.04 [[-1.86630717e-01 9.82427813e-01 2.13726534e-03 -6.54874306e+00] [ 9.82371348e-01 1.86642907e-01 -1.05337703e-02 -2.27153902e+02] [-1.07475743e-02 1.33663121e-04 -9.99942234e-01 -8.03713579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.530385723 meters 0.01512287010731849 Centerline is valid? [True, True] Translation: X:-6.54, Y:-227.15, Z:-8.04 [[-2.63809907e-01 9.64569767e-01 3.08165521e-03 -6.53522231e+00] [ 9.64509616e-01 2.63827873e-01 -1.07728191e-02 -2.27149540e+02] [-1.12041621e-02 1.30309673e-04 -9.99937223e-01 -8.03700616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.560385723 meters 0.01500022801217563 Centerline is valid? [True, True] Translation: X:-6.52, Y:-227.14, Z:-8.04 [[-3.39567435e-01 9.40571750e-01 4.32894769e-03 -6.52254996e+00] [ 9.40500151e-01 3.39595003e-01 -1.16060465e-02 -2.27144912e+02] [-1.23864085e-02 1.30340517e-04 -9.99923277e-01 -8.03674075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5903857229999 meters 0.015057382908988491 Centerline is valid? [True, True] Translation: X:-6.51, Y:-227.14, Z:-8.04 [[-4.12495621e-01 9.10943493e-01 5.41434522e-03 -6.51217410e+00] [ 9.10869137e-01 4.12531133e-01 -1.16395775e-02 -2.27138832e+02] [-1.28365834e-02 1.30485206e-04 -9.99917599e-01 -8.03639894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.620385723 meters 0.015038985437125953 Centerline is valid? [True, True] Translation: X:-6.50, Y:-227.13, Z:-8.04 [[-4.82690981e-01 8.75768895e-01 6.18545270e-03 -6.50292610e+00] [ 8.75700320e-01 4.82730594e-01 -1.09600772e-02 -2.27132435e+02] [-1.25844020e-02 1.26272488e-04 -9.99920805e-01 -8.03593794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.650385723 meters 0.01510561770233882 Centerline is valid? [True, True] Translation: X:-6.50, Y:-227.13, Z:-8.04 [[-5.49066366e-01 8.35748131e-01 7.15450363e-03 -6.49570729e+00] [ 8.35680477e-01 5.49112959e-01 -1.06347556e-02 -2.27127374e+02] [-1.28166078e-02 1.39692379e-04 -9.99917854e-01 -8.03562439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.680385723 meters 0.015034899013979237 Centerline is valid? [True, True] Translation: X:-6.49, Y:-227.12, Z:-8.04 [[-6.11270363e-01 7.91385108e-01 7.62591928e-03 -6.48915351e+00] [ 7.91326721e-01 6.11317910e-01 -9.61424041e-03 -2.27120351e+02] [-1.22704277e-02 1.57693476e-04 -9.99924703e-01 -8.03821436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.710385723 meters 0.015097525667268345 Centerline is valid? [True, True] Translation: X:-6.48, Y:-227.11, Z:-8.04 [[-6.70825434e-01 7.41573989e-01 7.82664463e-03 -6.48152272e+00] [ 7.41526212e-01 6.70871072e-01 -8.41916728e-03 -2.27111750e+02] [-1.14941049e-02 1.55870608e-04 -9.99933929e-01 -8.03870748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.740385723 meters 0.015321129180310299 Centerline is valid? [True, True] Translation: X:-6.47, Y:-227.10, Z:-8.04 [[-7.26647250e-01 6.86959365e-01 8.40266384e-03 -6.47170076e+00] [ 6.86915932e-01 7.26695814e-01 -7.72632293e-03 -2.27099860e+02] [-1.14138505e-02 1.57612351e-04 -9.99934848e-01 -8.03869096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.770385723 meters 0.014961139612154915 Centerline is valid? [True, True] Translation: X:-6.45, Y:-227.08, Z:-8.04 [[-7.74126175e-01 6.32969148e-01 8.87254591e-03 -6.45171552e+00] [ 6.32929700e-01 7.74177006e-01 -7.06815529e-03 -2.27078089e+02] [-1.13428453e-02 1.44053793e-04 -9.99935658e-01 -8.03732514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.800385723 meters 0.014816229866722874 Centerline is valid? [True, True] Translation: X:-6.06, Y:-226.59, Z:-9.03 [[-7.46089617e-01 -6.65784210e-01 9.03714603e-03 -6.06439838e+00] [ 6.65733714e-01 -7.46144340e-01 -8.20042051e-03 -2.26590434e+02] [ 1.22027258e-02 -1.01915812e-04 9.99925539e-01 -9.03189859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.830385723 meters 0.015336278758395614 Centerline is valid? [True, True] Translation: X:-6.49, Y:-227.05, Z:-8.03 [[-7.77424291e-01 6.28900188e-01 9.79921413e-03 -6.48880052e+00] [ 6.28852460e-01 7.77486035e-01 -7.74917243e-03 -2.27052788e+02] [-1.24922081e-02 1.37865021e-04 -9.99921960e-01 -8.03475177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.860385723 meters 0.014720927808658146 Centerline is valid? [True, True] Translation: X:-6.48, Y:-227.02, Z:-8.04 [[-8.19949078e-01 5.72345252e-01 1.02187345e-02 -6.47924927e+00] [ 5.72302881e-01 8.20012740e-01 -6.96548686e-03 -2.27023572e+02] [-1.23661558e-02 1.36866659e-04 -9.99923527e-01 -8.03675593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.890385723 meters 0.014720313527363336 Centerline is valid? [True, True] Translation: X:-6.46, Y:-227.00, Z:-8.04 [[-8.58227637e-01 5.13151661e-01 1.09861821e-02 -6.46151184e+00] [ 5.13111783e-01 8.58297939e-01 -6.39892779e-03 -2.27002504e+02] [-1.27130379e-02 1.45402820e-04 -9.99919176e-01 -8.03756881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.920385723 meters 0.014781532391622476 Centerline is valid? [True, True] Translation: X:-6.45, Y:-226.98, Z:-8.04 [[-8.92319181e-01 4.51253259e-01 1.17036769e-02 -6.45078586e+00] [ 4.51216676e-01 8.92395917e-01 -5.74786240e-03 -2.26975288e+02] [-1.30380551e-02 1.51966327e-04 -9.99914989e-01 -8.03708069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.950385723 meters 0.014780490712493911 Centerline is valid? [True, True] Translation: X:-6.17, Y:-226.41, Z:-9.03 [[-8.71832195e-01 -4.89678734e-01 1.11068422e-02 -6.16925346e+00] [ 4.89636621e-01 -8.71902925e-01 -6.42403239e-03 -2.26409796e+02] [ 1.28298003e-02 -1.62361557e-04 9.99917682e-01 -9.03207278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.980385723 meters 0.014853256405750801 Centerline is valid? [True, True] Translation: X:-6.49, Y:-226.96, Z:-8.04 [[-8.93458281e-01 4.49007515e-01 1.11603053e-02 -6.49396256e+00] [ 4.48974707e-01 8.93527966e-01 -5.43009407e-03 -2.26958221e+02] [-1.24101979e-02 1.59132278e-04 -9.99922978e-01 -8.03658278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.010385723 meters 0.015138592308110198 Centerline is valid? [True, True] Translation: X:-6.48, Y:-226.93, Z:-8.04 [[-9.22513163e-01 3.85799769e-01 1.13138544e-02 -6.48434328e+00] [ 3.85773048e-01 9.22582521e-01 -4.54385750e-03 -2.26934404e+02] [-1.21909835e-02 1.72811759e-04 -9.99925672e-01 -8.03719826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.040385723 meters 0.015086319926520883 Centerline is valid? [True, True] Translation: X:-6.25, Y:-226.34, Z:-9.03 [[-9.07156983e-01 -4.20633952e-01 1.15449905e-02 -6.24583217e+00] [ 4.20597863e-01 -9.07230432e-01 -5.51183993e-03 -2.26336337e+02] [ 1.27924338e-02 -1.44305728e-04 9.99918163e-01 -9.03105424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.070385723 meters 0.015183258611479476 Centerline is valid? [True, True] Translation: X:-6.53, Y:-226.92, Z:-8.04 [[-9.22970814e-01 3.84650602e-01 1.29919743e-02 -6.52948732e+00] [ 3.84616041e-01 9.23062219e-01 -5.16146490e-03 -2.26919148e+02] [-1.39777612e-02 2.33040259e-04 -9.99902279e-01 -8.03623790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.100385723 meters 0.015649048714085487 Centerline is valid? [True, True] Translation: X:-6.52, Y:-226.89, Z:-8.04 [[-9.47642022e-01 3.19036915e-01 1.37857160e-02 -6.52193940e+00] [ 3.19007042e-01 9.47742255e-01 -4.37318250e-03 -2.26892784e+02] [-1.44605122e-02 2.53528975e-04 -9.99895409e-01 -8.03520217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.130385723 meters 0.015813037886110392 Centerline is valid? [True, True] Translation: X:-6.52, Y:-226.87, Z:-8.03 [[-9.67698964e-01 2.51696871e-01 1.44014224e-02 -6.51673977e+00] [ 2.51673158e-01 9.67806082e-01 -3.46552768e-03 -2.26865852e+02] [-1.48100466e-02 2.70863895e-04 -9.99890289e-01 -8.03495870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.160385723 meters 0.016598520615866245 Centerline is valid? [True, True] Translation: X:-6.52, Y:-226.84, Z:-8.03 [[-9.83031406e-01 1.82872383e-01 1.43856315e-02 -6.51690301e+00] [ 1.82856879e-01 9.83136622e-01 -2.39694477e-03 -2.26840389e+02] [-1.45813762e-02 2.74239692e-04 -9.99893649e-01 -8.03456585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.190385723 meters 0.016121022079222145 Centerline is valid? [True, True] Translation: X:-6.41, Y:-226.18, Z:-9.03 [[-9.76925547e-01 -2.13190509e-01 1.28950467e-02 -6.40809056e+00] [ 2.13167394e-01 -9.77010591e-01 -3.15719693e-03 -2.26184684e+02] [ 1.32716816e-02 -3.35542840e-04 9.99911871e-01 -9.03203087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.220385723 meters 0.01549847760975145 Centerline is valid? [True, True] Translation: X:-6.58, Y:-226.83, Z:-8.04 [[-9.84212963e-01 1.76472972e-01 1.34957015e-02 -6.57602720e+00] [ 1.76459497e-01 9.84305461e-01 -2.19224712e-03 -2.26832061e+02] [-1.36707650e-02 2.23806659e-04 -9.99906526e-01 -8.03654259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.250385723 meters 0.015455931933101293 Centerline is valid? [True, True] Translation: X:-6.47, Y:-226.18, Z:-9.03 [[-9.77263195e-01 -2.11583150e-01 1.37556514e-02 -6.46551494e+00] [ 2.11559284e-01 -9.77359980e-01 -3.18425082e-03 -2.26176764e+02] [ 1.41179570e-02 -2.01715379e-04 9.99900316e-01 -9.03280709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.280385723 meters 0.014894078331246244 Centerline is valid? [True, True] Translation: X:-6.63, Y:-226.82, Z:-8.04 [[-9.85477286e-01 1.69166056e-01 1.47432752e-02 -6.63090136e+00] [ 1.69150075e-01 9.85587544e-01 -2.33336709e-03 -2.26824018e+02] [-1.49255149e-02 1.94345830e-04 -9.99888589e-01 -8.03514727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.310385723 meters 0.014859280111636303 Centerline is valid? [True, True] Translation: X:-6.53, Y:-226.16, Z:-9.03 [[-9.77433296e-01 -2.10743213e-01 1.45413089e-02 -6.52648516e+00] [ 2.10716927e-01 -9.77541437e-01 -3.33411288e-03 -2.26163790e+02] [ 1.49173737e-02 -1.94773009e-04 9.99888711e-01 -9.03357026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3403857229999 meters 0.014824177839529195 Centerline is valid? [True, True] Translation: X:-6.69, Y:-226.82, Z:-8.04 [[-9.86367502e-01 1.63961955e-01 1.39866997e-02 -6.68992500e+00] [ 1.63947892e-01 9.86466649e-01 -2.15396648e-03 -2.26820071e+02] [-1.41505814e-02 1.68487399e-04 -9.99899861e-01 -8.03502629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.370385723 meters 0.014957990081270266 Centerline is valid? [True, True] Translation: X:-6.69, Y:-226.79, Z:-8.03 [[-9.95541736e-01 9.33183002e-02 1.37239596e-02 -6.69287879e+00] [ 9.33116784e-02 9.95636313e-01 -1.12344135e-03 -2.26791860e+02] [-1.37689102e-02 1.62172959e-04 -9.99905191e-01 -8.03495517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.400385723 meters 0.015109419231948206 Centerline is valid? [True, True] Translation: X:-6.63, Y:-226.11, Z:-9.03 [[-9.90527744e-01 -1.36748197e-01 1.24386072e-02 -6.63443799e+00] [ 1.36734558e-01 -9.90605815e-01 -1.94442654e-03 -2.26113602e+02] [ 1.25876534e-02 -2.25220973e-04 9.99920747e-01 -9.03334317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.430385723 meters 0.014806859442700727 Centerline is valid? [True, True] Translation: X:-6.76, Y:-226.79, Z:-8.04 [[-9.96024956e-01 8.82045235e-02 1.24196892e-02 -6.76076478e+00] [ 8.81994332e-02 9.96102375e-01 -9.58054943e-04 -2.26790433e+02] [-1.24557866e-02 1.41162911e-04 -9.99922414e-01 -8.03597673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.460385723 meters 0.015034229503848608 Centerline is valid? [True, True] Translation: X:-6.76, Y:-226.76, Z:-8.04 [[-9.99813355e-01 1.63452498e-02 1.02998812e-02 -6.76408612e+00] [ 1.63454973e-02 9.99866402e-01 -6.01598897e-05 -2.26764081e+02] [-1.02994885e-02 1.08208019e-04 -9.99946953e-01 -8.03564946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.490385723 meters 0.014660726107513395 Centerline is valid? [True, True] Translation: X:-6.77, Y:-226.74, Z:-8.04 [[-9.98433843e-01 -5.51688731e-02 9.28740843e-03 -6.77177034e+00] [-5.51656022e-02 9.98477034e-01 6.08191502e-04 -2.26735632e+02] [-9.30681726e-03 9.48934997e-05 -9.99956686e-01 -8.03678795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.520385723 meters 0.014877988180778514 Centerline is valid? [True, True] Translation: X:-6.81, Y:-226.04, Z:-9.03 [[-9.99937756e-01 7.51972778e-03 8.24250522e-03 -6.81494484e+00] [-7.52075648e-03 -9.99971714e-01 -9.38156412e-05 -2.26040473e+02] [ 8.24156661e-03 -1.55799676e-04 9.99966026e-01 -9.03253578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.550385723 meters 0.014529714115460893 Centerline is valid? [True, True] Translation: X:-6.87, Y:-226.75, Z:-8.04 [[-9.98033469e-01 -6.21333049e-02 8.28540401e-03 -6.87326480e+00] [-6.21305231e-02 9.98067857e-01 5.92964389e-04 -2.26746405e+02] [-8.30623826e-03 7.70218204e-05 -9.99965500e-01 -8.03636730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.580385723 meters 0.014515922077621353 Centerline is valid? [True, True] Translation: X:-6.89, Y:-226.72, Z:-8.04 [[-9.90977724e-01 -1.33767434e-01 8.33206691e-03 -6.88876377e+00] [-1.33762090e-01 9.91012749e-01 1.19792001e-03 -2.26720292e+02] [-8.41742722e-03 7.25973639e-05 -9.99964570e-01 -8.03571252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.610385723 meters 0.01449800201267548 Centerline is valid? [True, True] Translation: X:-6.91, Y:-226.70, Z:-8.03 [[-9.78450075e-01 -2.06287394e-01 8.99786401e-03 -6.91268816e+00] [-2.06278089e-01 9.78491445e-01 1.96031318e-03 -2.26696976e+02] [-9.20872085e-03 6.20063871e-05 -9.99957597e-01 -8.03410132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.640385723 meters 0.014336126361450258 Centerline is valid? [True, True] Translation: X:-6.95, Y:-226.68, Z:-8.03 [[-9.60624515e-01 -2.77699995e-01 9.12439994e-03 -6.94666714e+00] [-2.77686938e-01 9.60667846e-01 2.69350004e-03 -2.26676560e+02] [-9.51350258e-03 5.37154971e-05 -9.99954744e-01 -8.03314480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.670385723 meters 0.014274997998482544 Centerline is valid? [True, True] Translation: X:-7.01, Y:-226.67, Z:-8.03 [[-9.37125460e-01 -3.48887170e-01 8.57984948e-03 -7.00702864e+00] [-3.48872192e-01 9.37164735e-01 3.23300132e-03 -2.26669281e+02] [-9.16868505e-03 3.64569526e-05 -9.99957966e-01 -8.03288147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.700385723 meters 0.01416383227099975 Centerline is valid? [True, True] Translation: X:-7.08, Y:-226.67, Z:-8.03 [[-9.08575171e-01 -4.17658693e-01 7.23705979e-03 -7.07600725e+00] [-4.17645221e-01 9.08603993e-01 3.35473302e-03 -2.26668765e+02] [-7.97675483e-03 2.55036989e-05 -9.99968185e-01 -8.03329007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.730385723 meters 0.01417812149099641 Centerline is valid? [True, True] Translation: X:-7.15, Y:-226.68, Z:-8.03 [[-8.74717939e-01 -4.84579519e-01 7.15656018e-03 -7.15092453e+00] [-4.84563108e-01 8.74747214e-01 3.98816793e-03 -2.26676613e+02] [-8.19276558e-03 2.07169899e-05 -9.99966439e-01 -8.03340242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.760385723 meters 0.01417812149099641 Centerline is valid? [True, True] Translation: X:-7.24, Y:-226.69, Z:-8.03 [[-8.36060395e-01 -5.48594797e-01 6.83851564e-03 -7.23506000e+00] [-5.48576244e-01 8.36088362e-01 4.51183282e-03 -2.26693633e+02] [-8.19277135e-03 2.07175116e-05 -9.99966439e-01 -8.03340219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.790385723 meters 0.014176593848135821 Centerline is valid? [True, True] Translation: X:-7.33, Y:-226.73, Z:-8.03 [[-7.91693188e-01 -6.10878184e-01 7.05263129e-03 -7.33043330e+00] [-6.10853840e-01 7.91724601e-01 5.45369366e-03 -2.26730837e+02] [-8.91528418e-03 9.52521662e-06 -9.99960258e-01 -8.03282745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.820385723 meters 0.014138481178139173 Centerline is valid? [True, True] Translation: X:-7.41, Y:-226.77, Z:-8.03 [[-7.42512083e-01 -6.69798443e-01 6.77140329e-03 -7.41434879e+00] [-6.69770592e-01 7.42542959e-01 6.10806628e-03 -2.26765409e+02] [-9.11923112e-03 2.62268329e-08 -9.99958419e-01 -8.03207874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.850385723 meters 0.01413562715170104 Centerline is valid? [True, True] Translation: X:-7.52, Y:-226.83, Z:-8.03 [[-6.87989989e-01 -7.25693621e-01 6.20828180e-03 -7.51995441e+00] [-7.25664375e-01 6.88017999e-01 6.51516929e-03 -2.26831659e+02] [-8.99942642e-03 -2.27576798e-05 -9.99959504e-01 -8.03213985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.880385723 meters 0.01416644296746371 Centerline is valid? [True, True] Translation: X:-7.59, Y:-226.87, Z:-8.03 [[-6.29380054e-01 -7.77077406e-01 5.60822182e-03 -7.59124689e+00] [-7.77047075e-01 6.29405039e-01 6.86588645e-03 -2.26870445e+02] [-8.86516831e-03 -3.66003768e-05 -9.99960703e-01 -8.03213402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.910385723 meters 0.0141867633849833 Centerline is valid? [True, True] Translation: X:-7.68, Y:-226.94, Z:-8.03 [[-5.67477485e-01 -8.23374580e-01 4.85853425e-03 -7.67998705e+00] [-8.23345063e-01 5.67498282e-01 6.97194380e-03 -2.26941578e+02] [-8.49773113e-03 -4.38290454e-05 -9.99963893e-01 -8.03199018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.940385723 meters 0.014297344993007602 Centerline is valid? [True, True] Translation: X:-7.76, Y:-227.02, Z:-8.03 [[-5.01915688e-01 -8.64906810e-01 4.10518757e-03 -7.76016570e+00] [-8.64878700e-01 5.01932473e-01 6.97326876e-03 -2.27019402e+02] [-8.09175459e-03 -5.04962992e-05 -9.99967260e-01 -8.03189344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.970385723 meters 0.01424184455281263 Centerline is valid? [True, True] Translation: X:-7.84, Y:-227.11, Z:-8.03 [[-4.34135259e-01 -9.00841283e-01 3.39986870e-03 -7.83788611e+00] [-9.00814528e-01 4.34148569e-01 6.94302352e-03 -2.27107166e+02] [-7.73061035e-03 -4.84398014e-05 -9.99970117e-01 -8.03210974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.000385723 meters 0.014279520130033954 Centerline is valid? [True, True] Translation: X:-7.91, Y:-227.21, Z:-8.03 [[-3.64045098e-01 -9.31376577e-01 2.97309746e-03 -7.91206920e+00] [-9.31346583e-01 3.64057235e-01 7.47482795e-03 -2.27209065e+02] [-8.04425731e-03 -4.78096933e-05 -9.99967643e-01 -8.03198891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.030385723 meters 0.01415977058561943 Centerline is valid? [True, True] Translation: X:-7.97, Y:-227.31, Z:-8.03 [[-2.92748059e-01 -9.56186693e-01 2.36257791e-03 -7.97252186e+00] [-9.56156522e-01 2.92757590e-01 7.59602150e-03 -2.27308218e+02] [-7.95487730e-03 -3.52737285e-05 -9.99968359e-01 -8.03147938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.060385723 meters 0.014086629238798372 Centerline is valid? [True, True] Translation: X:-8.03, Y:-227.43, Z:-8.03 [[-2.18749996e-01 -9.75779421e-01 1.72081865e-03 -8.03168547e+00] [-9.75750317e-01 2.18756763e-01 7.53643464e-03 -2.27425152e+02] [-7.73033854e-03 -3.04942892e-05 -9.99970120e-01 -8.03134560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0903857229999 meters 0.014170825831257035 Centerline is valid? [True, True] Translation: X:-8.08, Y:-227.54, Z:-8.03 [[-1.42326218e-01 -9.89819189e-01 1.10515241e-03 -8.07865300e+00] [-9.89791146e-01 1.42330505e-01 7.45086058e-03 -2.27536260e+02] [-7.53230167e-03 -3.34172587e-05 -9.99971631e-01 -8.03159545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.120385723 meters 0.014239377780714099 Centerline is valid? [True, True] Translation: X:-8.12, Y:-227.65, Z:-8.03 [[-6.46055885e-02 -9.97910730e-01 5.41786405e-04 -8.12002168e+00] [-9.97880821e-01 6.46078468e-02 7.72619477e-03 -2.27652377e+02] [-7.74505631e-03 -4.14829028e-05 -9.99970006e-01 -8.03093992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.150385723 meters 0.014285012160432702 Centerline is valid? [True, True] Translation: X:-8.15, Y:-227.78, Z:-8.03 [[ 1.36916506e-02 -9.99906263e-01 -5.97216758e-05 -8.15278704e+00] [-9.99872658e-01 -1.36916801e-02 8.19790413e-03 -2.27776612e+02] [-8.19795337e-03 -5.25287680e-05 -9.99966395e-01 -8.03122210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.180385723 meters 0.01459175441164204 Centerline is valid? [True, True] Translation: X:-8.18, Y:-227.92, Z:-8.03 [[ 9.37191015e-02 -9.95598359e-01 -7.98579208e-04 -8.17713612e+00] [-9.95553661e-01 -9.37224614e-02 9.43439008e-03 -2.27917716e+02] [-9.46770809e-03 -8.91541077e-05 -9.99955176e-01 -8.03074695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.210385723 meters 0.014849863701036378 Centerline is valid? [True, True] Translation: X:-8.19, Y:-228.05, Z:-8.03 [[ 1.71491144e-01 -9.85184294e-01 -1.64139681e-03 -8.19203246e+00] [-9.85132955e-01 -1.71498965e-01 1.00580909e-02 -2.28045092e+02] [-1.01905710e-02 -1.07879425e-04 -9.99948069e-01 -8.02975422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.240385723 meters 0.01524631383612861 Centerline is valid? [True, True] Translation: X:-8.21, Y:-228.15, Z:-8.03 [[ 2.48090626e-01 -9.68733710e-01 -2.45761438e-03 -8.20535550e+00] [-9.68681235e-01 -2.48102769e-01 1.00836979e-02 -2.28148188e+02] [-1.03781590e-02 -1.21025987e-04 -9.99946138e-01 -8.02763657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.270385723 meters 0.014703956193817909 Centerline is valid? [True, True] Translation: X:-8.20, Y:-228.27, Z:-8.03 [[ 3.21762239e-01 -9.46814929e-01 -3.24841928e-03 -8.19833848e+00] [-9.46762903e-01 -3.21778614e-01 9.92616695e-03 -2.28273915e+02] [-1.04435149e-02 -1.18382829e-04 -9.99945458e-01 -8.02942529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.300385723 meters 0.014535561497992865 Centerline is valid? [True, True] Translation: X:-8.18, Y:-228.40, Z:-8.03 [[ 3.92478057e-01 -9.19752618e-01 -4.01193763e-03 -8.18056498e+00] [-9.19701822e-01 -3.92498548e-01 9.66690029e-03 -2.28403447e+02] [-1.04658366e-02 -1.04259896e-04 -9.99945226e-01 -8.03015223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.330385723 meters 0.014202205323863924 Centerline is valid? [True, True] Translation: X:-8.16, Y:-228.52, Z:-8.03 [[ 4.58631781e-01 -8.88614678e-01 -4.56551101e-03 -8.15683287e+00] [-8.88569330e-01 -4.58654501e-01 8.97747605e-03 -2.28516826e+02] [-1.00715092e-02 -6.05827744e-05 -9.99949279e-01 -8.03156311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.360385723 meters 0.0140103905779197 Centerline is valid? [True, True] Translation: X:-8.12, Y:-228.63, Z:-8.03 [[ 5.23504678e-01 -8.52009349e-01 -4.78763876e-03 -8.12409236e+00] [-8.51973150e-01 -5.23526569e-01 7.85389520e-03 -2.28631667e+02] [-9.19804822e-03 -3.26112077e-05 -9.99957697e-01 -8.03246876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.390385723 meters 0.013996040809910557 Centerline is valid? [True, True] Translation: X:-8.08, Y:-228.74, Z:-8.03 [[ 5.83323569e-01 -8.12223999e-01 -5.07836044e-03 -8.08057935e+00] [-8.12193409e-01 -5.83345674e-01 7.04924413e-03 -2.28744671e+02] [-8.68800485e-03 1.26206297e-05 -9.99962259e-01 -8.03253359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.420385723 meters 0.014056388388350478 Centerline is valid? [True, True] Translation: X:-8.04, Y:-228.85, Z:-8.03 [[ 6.42149347e-01 -7.66559195e-01 -5.58726005e-03 -8.03774122e+00] [-7.66530621e-01 -6.42173652e-01 6.61867976e-03 -2.28845182e+02] [-8.66160102e-03 3.26250330e-05 -9.99962487e-01 -8.03238850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.450385723 meters 0.014414569566205893 Centerline is valid? [True, True] Translation: X:-7.98, Y:-228.95, Z:-8.03 [[ 6.95604550e-01 -7.18403147e-01 -5.58825855e-03 -7.98185075e+00] [-7.18380730e-01 -6.95626993e-01 5.67571257e-03 -2.28947501e+02] [-7.96479326e-03 6.64457682e-05 -9.99968278e-01 -8.03187641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.480385723 meters 0.014641427338834492 Centerline is valid? [True, True] Translation: X:-7.92, Y:-229.04, Z:-8.03 [[ 7.47089119e-01 -6.64695170e-01 -6.17897081e-03 -7.92234834e+00] [-6.64673367e-01 -7.47114666e-01 5.38430763e-03 -2.29042576e+02] [-8.19532298e-03 8.44396908e-05 -9.99966414e-01 -8.03178973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.510385723 meters 0.014838450330701618 Centerline is valid? [True, True] Translation: X:-7.93, Y:-229.05, Z:-8.03 [[ 7.95757583e-01 -6.05573635e-01 -7.10226602e-03 -7.92785692e+00] [-6.05550698e-01 -7.95789270e-01 5.27172791e-03 -2.29050437e+02] [-8.84432652e-03 1.05764684e-04 -9.99960883e-01 -8.03176354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.540385723 meters 0.015111869457654565 Centerline is valid? [True, True] Translation: X:-7.93, Y:-229.06, Z:-8.03 [[ 8.39214461e-01 -5.43755544e-01 -6.99979493e-03 -7.93395420e+00] [-5.43737828e-01 -8.39243644e-01 4.39095502e-03 -2.29058338e+02] [-8.26213954e-03 1.21100341e-04 -9.99965861e-01 -8.03251579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.570385723 meters 0.015344694811946107 Centerline is valid? [True, True] Translation: X:-7.94, Y:-229.07, Z:-8.03 [[ 8.78831864e-01 -4.77074997e-01 -7.34861092e-03 -7.94017859e+00] [-4.77059525e-01 -8.78862578e-01 3.84431695e-03 -2.29066695e+02] [-8.29244664e-03 1.27216606e-04 -9.99965609e-01 -8.03280594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.600385723 meters 0.015570511999876578 Centerline is valid? [True, True] Translation: X:-7.95, Y:-229.08, Z:-8.03 [[ 9.13202332e-01 -4.07435780e-01 -7.58856587e-03 -7.94597679e+00] [-4.07422903e-01 -9.13233852e-01 3.24189919e-03 -2.29075911e+02] [-8.25100097e-03 1.31245632e-04 -9.99965951e-01 -8.03247320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.630385723 meters 0.015572651104617584 Centerline is valid? [True, True] Translation: X:-7.95, Y:-229.09, Z:-8.03 [[ 9.42260169e-01 -3.34781741e-01 -8.18290026e-03 -7.94960503e+00] [-3.34770377e-01 -9.42295690e-01 2.76189481e-03 -2.29085039e+02] [-8.63534359e-03 1.36969130e-04 -9.99962705e-01 -8.03191505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.660385723 meters 0.01566404286915661 Centerline is valid? [True, True] Translation: X:-7.95, Y:-229.09, Z:-8.03 [[ 9.65561185e-01 -2.60026072e-01 -8.83401336e-03 -7.95234022e+00] [-2.60016552e-01 -9.65601585e-01 2.22969791e-03 -2.29093978e+02] [-9.10991689e-03 1.44079943e-04 -9.99958494e-01 -8.03146016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.690385723 meters 0.01580707285584143 Centerline is valid? [True, True] Translation: X:-7.96, Y:-229.10, Z:-8.03 [[ 9.82942810e-01 -1.83668431e-01 -9.45197970e-03 -7.95837144e+00] [-1.83661422e-01 -9.82988242e-01 1.61169578e-03 -2.29101237e+02] [-9.58720254e-03 1.51759261e-04 -9.99954030e-01 -8.03157496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.720385723 meters 0.015874386315825384 Centerline is valid? [True, True] Translation: X:-7.96, Y:-229.11, Z:-8.03 [[ 9.94257046e-01 -1.06590457e-01 -9.56038616e-03 -7.96375894e+00] [-1.06587038e-01 -9.94302997e-01 8.67874203e-04 -2.29109629e+02] [-9.59842772e-03 1.56123199e-04 -9.99953922e-01 -8.03261648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.750385723 meters 0.01555534885374367 Centerline is valid? [True, True] Translation: X:-7.97, Y:-229.12, Z:-8.03 [[ 9.99552704e-01 -2.85307873e-02 -8.96579897e-03 -7.96807806e+00] [-2.85309587e-02 -9.99592903e-01 1.08814719e-04 -2.29120381e+02] [-8.96525360e-03 1.47036793e-04 -9.99959801e-01 -8.03370179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.780385723 meters 0.01624350242135519 Centerline is valid? [True, True] Translation: X:-7.97, Y:-229.13, Z:-8.03 [[ 9.98720139e-01 5.00035356e-02 -7.59805247e-03 -7.97288582e+00] [ 5.00011483e-02 -9.98749033e-01 -5.03955672e-04 -2.29130602e+02] [-7.61374713e-03 1.23399331e-04 -9.99971007e-01 -8.03374884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.810385723 meters 0.015495849894378782 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.14, Z:-8.03 [[ 9.91713507e-01 1.28283463e-01 -6.90460240e-03 -7.97539060e+00] [ 1.28279572e-01 -9.91737536e-01 -1.00531190e-03 -2.29142805e+02] [-6.97651827e-03 1.11261947e-04 -9.99975658e-01 -8.03468001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8403857229999 meters 0.01559412459522488 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.15, Z:-8.03 [[ 9.78597472e-01 2.05676123e-01 -6.65731610e-03 -7.97635523e+00] [ 2.05670612e-01 -9.78620111e-01 -1.50943400e-03 -2.29152975e+02] [-6.82543795e-03 1.07914023e-04 -9.99976701e-01 -8.03484715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.870385723 meters 0.015619175112525842 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.16, Z:-8.03 [[ 9.59376763e-01 2.82055645e-01 -6.39053632e-03 -7.97703850e+00] [ 2.82048669e-01 -9.59398042e-01 -1.98648908e-03 -2.29162701e+02] [-6.69136849e-03 1.03349206e-04 -9.99977607e-01 -8.03486596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.900385723 meters 0.015660883230295776 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.17, Z:-8.03 [[ 9.34281690e-01 3.56484072e-01 -6.06871775e-03 -7.97786117e+00] [ 3.56475857e-01 -9.34301395e-01 -2.42222249e-03 -2.29173559e+02] [-6.53349519e-03 9.96867571e-05 -9.99978652e-01 -8.03451407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.930385723 meters 0.015687669619992687 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.18, Z:-8.03 [[ 9.03521450e-01 4.28495916e-01 -6.34343686e-03 -7.97715806e+00] [ 4.28484514e-01 -9.03543711e-01 -3.12778390e-03 -2.29182083e+02] [-7.07181511e-03 1.07955380e-04 -9.99974989e-01 -8.03430600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.960385723 meters 0.016017245266983546 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.19, Z:-8.03 [[ 8.67458475e-01 4.97469167e-01 -6.34205405e-03 -7.97709558e+00] [ 4.97454888e-01 -8.67481651e-01 -3.77087619e-03 -2.29190204e+02] [-7.37751016e-03 1.16192719e-04 -9.99972779e-01 -8.03339859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.990385723 meters 0.016177518106369224 Centerline is valid? [True, True] Translation: X:-7.98, Y:-229.20, Z:-8.03 [[ 8.26045701e-01 5.63565936e-01 -6.47569110e-03 -7.97639625e+00] [ 5.63547404e-01 -8.26071074e-01 -4.57210788e-03 -2.29196222e+02] [-7.92606536e-03 1.27411156e-04 -9.99968580e-01 -8.03301481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.020385723 meters 0.015450294061021896 Centerline is valid? [True, True] Translation: X:-7.97, Y:-229.21, Z:-8.03 [[ 7.80193737e-01 6.25500196e-01 -6.87299761e-03 -7.96977813e+00] [ 6.25474165e-01 -7.80223994e-01 -5.70866539e-03 -2.29209678e+02] [-8.93324897e-03 1.54982543e-04 -9.99960086e-01 -8.03373446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.050385723 meters 0.015415476629952256 Centerline is valid? [True, True] Translation: X:-7.96, Y:-229.22, Z:-8.03 [[ 7.29440252e-01 6.84013019e-01 -6.56573048e-03 -7.96275860e+00] [ 6.83983234e-01 -7.29469782e-01 -6.38544625e-03 -2.29221195e+02] [-9.15723035e-03 1.66951957e-04 -9.99958058e-01 -8.03407165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.080385723 meters 0.015581774270427482 Centerline is valid? [True, True] Translation: X:-7.96, Y:-229.23, Z:-8.03 [[ 6.74349696e-01 7.38388318e-01 -5.93122585e-03 -7.95537740e+00] [ 7.38357490e-01 -6.74375758e-01 -6.74939473e-03 -2.29231762e+02] [-8.98354914e-03 1.72087252e-04 -9.99959632e-01 -8.03441575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.110385723 meters 0.01562729919398884 Centerline is valid? [True, True] Translation: X:-7.95, Y:-229.24, Z:-8.04 [[ 6.15760339e-01 7.87917286e-01 -5.05530755e-03 -7.94560491e+00] [ 7.87888367e-01 -6.15781065e-01 -6.75285238e-03 -2.29243707e+02] [-8.43365178e-03 1.75120659e-04 -9.99964421e-01 -8.03527766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.140385723 meters 0.016135550340577526 Centerline is valid? [True, True] Translation: X:-7.94, Y:-229.25, Z:-8.03 [[ 5.52633902e-01 8.33413246e-01 -4.25814452e-03 -7.93743541e+00] [ 8.33386102e-01 -5.52650280e-01 -6.72851894e-03 -2.29253774e+02] [-7.96090158e-03 1.69729212e-04 -9.99968297e-01 -8.03495308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.170385723 meters 0.016234713080170243 Centerline is valid? [True, True] Translation: X:-7.93, Y:-229.26, Z:-8.03 [[ 4.85717000e-01 8.74108160e-01 -3.73110314e-03 -7.92811876e+00] [ 8.74079614e-01 -4.85731300e-01 -7.06629703e-03 -2.29262746e+02] [-7.98902147e-03 1.70939403e-04 -9.99968073e-01 -8.03474212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.200385723 meters 0.015992443021941357 Centerline is valid? [True, True] Translation: X:-7.92, Y:-229.27, Z:-8.03 [[ 4.15541359e-01 9.09568855e-01 -3.14275089e-03 -7.91694347e+00] [ 9.09539721e-01 -4.15553209e-01 -7.28190405e-03 -2.29271601e+02] [-7.92937334e-03 1.67475533e-04 -9.99968548e-01 -8.03488593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.230385723 meters 0.016005977224617246 Centerline is valid? [True, True] Translation: X:-7.91, Y:-229.28, Z:-8.03 [[ 3.42774410e-01 9.39414481e-01 -2.47728123e-03 -7.90661429e+00] [ 9.39386475e-01 -3.42783325e-01 -7.25557413e-03 -2.29278812e+02] [-7.66516210e-03 1.59900657e-04 -9.99970609e-01 -8.03471781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.260385723 meters 0.016019578197460395 Centerline is valid? [True, True] Translation: X:-7.90, Y:-229.29, Z:-8.03 [[ 2.67655395e-01 9.63513079e-01 -1.77113999e-03 -7.89511183e+00] [ 9.63488254e-01 -2.67661215e-01 -6.91800097e-03 -2.29286252e+02] [-7.13964989e-03 1.45167708e-04 -9.99974502e-01 -8.03454451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.290385723 meters 0.01599245255475101 Centerline is valid? [True, True] Translation: X:-7.88, Y:-229.29, Z:-8.03 [[ 1.90656836e-01 9.81656112e-01 -1.11739512e-03 -7.88480501e+00] [ 9.81635102e-01 -1.90660068e-01 -6.42376343e-03 -2.29291673e+02] [-6.51896926e-03 1.27860135e-04 -9.99978743e-01 -8.03480194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.320385723 meters 0.0162002287352822 Centerline is valid? [True, True] Translation: X:-7.87, Y:-229.30, Z:-8.03 [[ 1.11837276e-01 9.93726379e-01 -5.54049139e-04 -7.87064142e+00] [ 9.93708937e-01 -1.11838596e-01 -5.88868499e-03 -2.29296209e+02] [-5.91370569e-03 1.08010908e-04 -9.99982508e-01 -8.03440953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.350385723 meters 0.015344941097337176 Centerline is valid? [True, True] Translation: X:-7.86, Y:-229.30, Z:-8.04 [[ 3.23652253e-02 9.99476106e-01 -8.01289974e-05 -7.85873025e+00] [ 9.99462583e-01 -3.23652042e-02 -5.19990848e-03 -2.29300674e+02] [-5.19977767e-03 8.82102747e-05 -9.99986477e-01 -8.03588117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.380385723 meters 0.015135978621382837 Centerline is valid? [True, True] Translation: X:-7.85, Y:-229.30, Z:-8.04 [[-4.67692633e-02 9.98905671e-01 3.09418711e-04 -7.84622939e+00] [ 9.98893630e-01 4.67702190e-02 -4.90543396e-03 -2.29303605e+02] [-4.91453739e-03 7.96528469e-05 -9.99987920e-01 -8.03566987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.410385723 meters 0.014643184010399674 Centerline is valid? [True, True] Translation: X:-7.83, Y:-229.30, Z:-8.03 [[-1.26954922e-01 9.91908112e-01 8.62849051e-04 -7.83050664e+00] [ 9.91889595e-01 1.26957825e-01 -6.06149107e-03 -2.29304483e+02] [-6.12198761e-03 8.63148704e-05 -9.99981257e-01 -8.03473349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.440385723 meters 0.014694102469583942 Centerline is valid? [True, True] Translation: X:-7.82, Y:-229.31, Z:-8.03 [[-2.05102882e-01 9.78739342e-01 1.45186021e-03 -7.81760276e+00] [ 9.78717772e-01 2.05108001e-01 -6.49848816e-03 -2.29305534e+02] [-6.65811417e-03 8.81027395e-05 -9.99977831e-01 -8.03360207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.470385723 meters 0.014421104977284856 Centerline is valid? [True, True] Translation: X:-7.80, Y:-229.30, Z:-8.03 [[-2.82730148e-01 9.59197265e-01 2.06661669e-03 -7.80426584e+00] [ 9.59173704e-01 2.82737689e-01 -6.72350676e-03 -2.29304354e+02] [-7.03347972e-03 8.13063255e-05 -9.99975262e-01 -8.03297253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.500385723 meters 0.014397877041269694 Centerline is valid? [True, True] Translation: X:-7.79, Y:-229.30, Z:-8.03 [[-3.59093981e-01 9.33295948e-01 3.19174314e-03 -7.79056494e+00] [ 9.33261061e-01 3.59108156e-01 -8.06998860e-03 -2.29303223e+02] [-8.67786865e-03 8.08452596e-05 -9.99962343e-01 -8.03114958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.530385723 meters 0.014275605172687778 Centerline is valid? [True, True] Translation: X:-7.78, Y:-229.30, Z:-8.03 [[-4.31919682e-01 9.01903610e-01 3.90717975e-03 -7.78053997e+00] [ 9.01868265e-01 4.31937347e-01 -7.98501330e-03 -2.29302294e+02] [-8.88936918e-03 7.48770205e-05 -9.99960486e-01 -8.03046874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.560385723 meters 0.014354516413571685 Centerline is valid? [True, True] Translation: X:-7.77, Y:-229.30, Z:-8.03 [[-5.01501261e-01 8.65144033e-01 4.72102122e-03 -7.77229520e+00] [ 8.65107104e-01 5.01523476e-01 -7.99385232e-03 -2.29299791e+02] [-9.28353661e-03 7.52619773e-05 -9.99956904e-01 -8.02985120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5903857229999 meters 0.014216298076535619 Centerline is valid? [True, True] Translation: X:-7.76, Y:-229.30, Z:-8.03 [[-5.67253252e-01 8.23527143e-01 5.17619349e-03 -7.76270424e+00] [ 8.23494107e-01 5.67276863e-01 -7.37680240e-03 -2.29295406e+02] [-9.01133181e-03 7.80496901e-05 -9.99959394e-01 -8.03074483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.620385723 meters 0.014216298076535619 Centerline is valid? [True, True] Translation: X:-7.75, Y:-229.29, Z:-8.03 [[-6.30003902e-01 7.76570768e-01 5.73802135e-03 -7.75384806e+00] [ 7.76539683e-01 6.30030028e-01 -6.94876956e-03 -2.29291308e+02] [-9.01133706e-03 7.80493333e-05 -9.99959394e-01 -8.03074479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.650385723 meters 0.014652537562067993 Centerline is valid? [True, True] Translation: X:-7.75, Y:-229.29, Z:-8.03 [[-6.88353569e-01 7.25352494e-01 5.75533916e-03 -7.74645775e+00] [ 7.25328083e-01 6.88377625e-01 -5.95129818e-03 -2.29288986e+02] [-8.27863567e-03 7.79117707e-05 -9.99965729e-01 -8.03069638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.680385723 meters 0.014836728139281385 Centerline is valid? [True, True] Translation: X:-7.74, Y:-229.28, Z:-8.03 [[-7.41006251e-01 6.71479098e-01 5.05538423e-03 -7.73998739e+00] [ 6.71464240e-01 7.41023490e-01 -4.46784982e-03 -2.29284803e+02] [-6.74622624e-03 8.38050814e-05 -9.99977241e-01 -8.03333666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.710385723 meters 0.014689230420532266 Centerline is valid? [True, True] Translation: X:-7.72, Y:-229.26, Z:-8.03 [[-7.85863778e-01 6.18381013e-01 4.80060297e-03 -7.72272155e+00] [ 6.18370116e-01 7.85878436e-01 -3.67203894e-03 -2.29260352e+02] [-6.04340951e-03 8.28270199e-05 -9.99981735e-01 -8.03494044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.740385723 meters 0.014844410446070525 Centerline is valid? [True, True] Translation: X:-7.71, Y:-229.24, Z:-8.04 [[-8.26984367e-01 5.62204340e-01 4.81008008e-03 -7.70834572e+00] [ 5.62195430e-01 8.26998351e-01 -3.16629028e-03 -2.29235159e+02] [-5.75803043e-03 8.57324740e-05 -9.99983419e-01 -8.03561682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.770385723 meters 0.015349054303228674 Centerline is valid? [True, True] Translation: X:-7.69, Y:-229.21, Z:-8.04 [[-8.63400170e-01 5.04497992e-01 4.68212407e-03 -7.68763828e+00] [ 5.04491162e-01 8.63412860e-01 -2.62688347e-03 -2.29214538e+02] [-5.36786357e-03 9.40385769e-05 -9.99985589e-01 -8.03572746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.800385723 meters 0.01545398615388954 Centerline is valid? [True, True] Translation: X:-7.67, Y:-229.19, Z:-8.04 [[-8.96551860e-01 4.42917736e-01 4.31763237e-03 -7.67307572e+00] [ 4.42913072e-01 8.96562252e-01 -2.03456212e-03 -2.29188926e+02] [-4.77216985e-03 8.82453636e-05 -9.99988609e-01 -8.03554251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.830385723 meters 0.015736198116866888 Centerline is valid? [True, True] Translation: X:-7.66, Y:-229.16, Z:-8.04 [[-9.25447332e-01 3.78849259e-01 4.52488361e-03 -7.66389189e+00] [ 3.78845219e-01 9.25458389e-01 -1.75208825e-03 -2.29161303e+02] [-4.85136883e-03 9.27651303e-05 -9.99988228e-01 -8.03510055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.860385723 meters 0.015911065842902576 Centerline is valid? [True, True] Translation: X:-7.41, Y:-228.51, Z:-9.03 [[-9.14229369e-01 -4.05168826e-01 4.78361113e-03 -7.40638605e+00] [ 4.05162849e-01 -9.14241881e-01 -2.20206586e-03 -2.28513499e+02] [ 5.26558608e-03 -7.50517680e-05 9.99986134e-01 -9.03447786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.890385723 meters 0.016104883160478835 Centerline is valid? [True, True] Translation: X:-7.71, Y:-229.14, Z:-8.03 [[-9.26748088e-01 3.75645411e-01 5.33917253e-03 -7.70841688e+00] [ 3.75639862e-01 9.26763461e-01 -2.04472909e-03 -2.29143486e+02] [-5.71624312e-03 1.10657254e-04 -9.99983656e-01 -8.03321508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.920385723 meters 0.01602239515037355 Centerline is valid? [True, True] Translation: X:-7.70, Y:-229.12, Z:-8.03 [[-9.51160000e-01 3.08640197e-01 5.99019376e-03 -7.69821522e+00] [ 3.08634861e-01 9.51178855e-01 -1.81872728e-03 -2.29115330e+02] [-6.25907799e-03 1.18881983e-04 -9.99980405e-01 -8.03226700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.950385723 meters 0.015747918086177724 Centerline is valid? [True, True] Translation: X:-7.50, Y:-228.45, Z:-9.04 [[-9.40947413e-01 -3.38459605e-01 7.94117036e-03 -7.49581561e+00] [ 3.38447391e-01 -9.40980922e-01 -2.87541426e-03 -2.28452807e+02] [ 8.44570138e-03 -1.79452145e-05 9.99964334e-01 -9.03757672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.980385723 meters 0.015533683431734087 Centerline is valid? [True, True] Translation: X:-7.75, Y:-229.10, Z:-8.03 [[-9.53345826e-01 3.01754900e-01 8.70150288e-03 -7.75046764e+00] [ 3.01743675e-01 9.53385526e-01 -2.60643703e-03 -2.29097649e+02] [-9.08239204e-03 1.40787597e-04 -9.99958744e-01 -8.03061531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.010385723 meters 0.015202471138276236 Centerline is valid? [True, True] Translation: X:-7.55, Y:-228.44, Z:-9.04 [[-9.41426173e-01 -3.37112907e-01 8.46458093e-03 -7.54924228e+00] [ 3.37097914e-01 -9.41464215e-01 -3.18256042e-03 -2.28439980e+02] [ 9.04198223e-03 -1.42753098e-04 9.99959110e-01 -9.03771297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.040385723 meters 0.015375310363653128 Centerline is valid? [True, True] Translation: X:-7.80, Y:-229.08, Z:-8.03 [[-9.55125257e-01 2.96093377e-01 8.02839072e-03 -7.79650713e+00] [ 2.96083906e-01 9.55158992e-01 -2.37091356e-03 -2.29082656e+02] [-8.37040139e-03 1.12557854e-04 -9.99964961e-01 -8.03054759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.070385723 meters 0.01738939678175681 Centerline is valid? [True, True] Translation: X:-7.79, Y:-229.05, Z:-8.03 [[-9.73766081e-01 2.27439309e-01 7.14005141e-03 -7.79173407e+00] [ 2.27433926e-01 9.73792253e-01 -1.56780612e-03 -2.29051082e+02] [-7.30950749e-03 9.72135031e-05 -9.99973281e-01 -8.02951923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.100385723 meters 0.015040720715377758 Centerline is valid? [True, True] Translation: X:-7.79, Y:-229.02, Z:-8.03 [[-9.87525081e-01 1.57302200e-01 7.08745239e-03 -7.79371836e+00] [ 1.57298818e-01 9.87550510e-01 -1.03553348e-03 -2.29020943e+02] [-7.16210891e-03 9.22325965e-05 -9.99974348e-01 -8.03265632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.130385723 meters 0.015386200592089469 Centerline is valid? [True, True] Translation: X:-7.79, Y:-228.99, Z:-8.03 [[-9.96096690e-01 8.79891364e-02 7.02112296e-03 -7.78854191e+00] [ 8.79876537e-02 9.96121429e-01 -5.20386508e-04 -2.28992807e+02] [-7.03967940e-03 9.94168577e-05 -9.99975216e-01 -8.03240155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.160385723 meters 0.015095253959988418 Centerline is valid? [True, True] Translation: X:-7.80, Y:-228.96, Z:-8.03 [[-9.99830396e-01 1.73372936e-02 6.21274568e-03 -7.79953461e+00] [ 1.73375191e-02 9.99849694e-01 -1.75734513e-05 -2.28962526e+02] [-6.21211654e-03 9.01431259e-05 -9.99980701e-01 -8.03318532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.190385723 meters 0.015373326518878894 Centerline is valid? [True, True] Translation: X:-7.79, Y:-228.28, Z:-9.03 [[-9.98465884e-01 -5.50392521e-02 6.04640717e-03 -7.79171490e+00] [ 5.50376491e-02 -9.98484187e-01 -4.31302596e-04 -2.28282368e+02] [ 6.06098052e-03 -9.78608915e-05 9.99981627e-01 -9.03498949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.220385723 meters 0.01607556584796879 Centerline is valid? [True, True] Translation: X:-7.88, Y:-228.96, Z:-8.03 [[-9.99888971e-01 1.38933290e-02 5.38706449e-03 -7.87640102e+00] [ 1.38935968e-02 9.99903479e-01 1.22946247e-05 -2.28964439e+02] [-5.38637371e-03 8.71389615e-05 -9.99985490e-01 -8.03361245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.250385723 meters 0.015799443045190167 Centerline is valid? [True, True] Translation: X:-7.88, Y:-228.28, Z:-9.03 [[-9.98823042e-01 -4.82811742e-02 4.63237478e-03 -7.87879017e+00] [ 4.82800803e-02 -9.98833776e-01 -3.47759150e-04 -2.28281478e+02] [ 4.64376262e-03 -1.23698426e-04 9.99989210e-01 -9.03391042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.280385723 meters 0.01553721937945394 Centerline is valid? [True, True] Translation: X:-7.96, Y:-228.96, Z:-8.03 [[-9.99946598e-01 9.25653584e-03 4.59542036e-03 -7.95824488e+00] [ 9.25679665e-03 9.99957154e-01 3.54874704e-05 -2.28962349e+02] [-4.59489497e-03 7.80244470e-05 -9.99989440e-01 -8.03497093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.310385723 meters 0.015370429007356046 Centerline is valid? [True, True] Translation: X:-7.96, Y:-228.28, Z:-9.03 [[-9.99072423e-01 -4.28071745e-02 4.67329201e-03 -7.96153207e+00] [ 4.28063606e-02 -9.99083350e-01 -2.74089460e-04 -2.28284176e+02] [ 4.68074124e-03 -7.37885974e-05 9.99989043e-01 -9.03271206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3403857229999 meters 0.0154578419696563 Centerline is valid? [True, True] Translation: X:-8.04, Y:-228.96, Z:-8.04 [[-9.99983194e-01 3.56327811e-03 4.57337323e-03 -8.03931173e+00] [ 3.56358446e-03 9.99993649e-01 5.88382941e-05 -2.28960635e+02] [-4.57313452e-03 7.51349070e-05 -9.99989540e-01 -8.03543709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.370385723 meters 0.015645346693810493 Centerline is valid? [True, True] Translation: X:-8.05, Y:-228.93, Z:-8.03 [[-9.97656327e-01 -6.82065560e-02 5.45150525e-03 -8.04722334e+00] [-6.82050617e-02 9.97671218e-01 4.59758154e-04 -2.28930237e+02] [-5.47016840e-03 8.68603786e-05 -9.99985035e-01 -8.03468515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.400385723 meters 0.015404465722855285 Centerline is valid? [True, True] Translation: X:-8.06, Y:-228.90, Z:-8.03 [[-9.90171620e-01 -1.39739151e-01 5.75617018e-03 -8.06239706e+00] [-1.39736264e-01 9.90188347e-01 9.02830294e-04 -2.28900957e+02] [-5.82585337e-03 8.96112202e-05 -9.99983026e-01 -8.03423197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.430385723 meters 0.01519730184160169 Centerline is valid? [True, True] Translation: X:-8.09, Y:-228.88, Z:-8.03 [[-9.77470831e-01 -2.10987335e-01 5.92615509e-03 -8.08946119e+00] [-2.10982895e-01 9.77488791e-01 1.37183409e-03 -2.28875306e+02] [-6.08218980e-03 9.06104548e-05 -9.99981499e-01 -8.03401055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.460385723 meters 0.015199208177067122 Centerline is valid? [True, True] Translation: X:-8.13, Y:-228.86, Z:-8.03 [[-9.59551315e-01 -2.81474979e-01 5.75406592e-03 -8.12944323e+00] [-2.81469370e-01 9.59568564e-01 1.77918680e-03 -2.28855418e+02] [-6.02221734e-03 8.76277261e-05 -9.99981863e-01 -8.03450803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.490385723 meters 0.015191373148111913 Centerline is valid? [True, True] Translation: X:-8.19, Y:-228.85, Z:-8.03 [[-9.36235776e-01 -3.51320657e-01 6.03062447e-03 -8.19245411e+00] [-3.51312731e-01 9.36255194e-01 2.36173530e-03 -2.28846533e+02] [-6.47592987e-03 9.25059288e-05 -9.99979027e-01 -8.03468166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.520385723 meters 0.015278853340050766 Centerline is valid? [True, True] Translation: X:-8.26, Y:-228.85, Z:-8.03 [[-9.07645411e-01 -4.19694922e-01 5.99839510e-03 -8.26216909e+00] [-4.19685080e-01 9.07665227e-01 2.87570632e-03 -2.28845367e+02] [-6.65145399e-03 9.26847206e-05 -9.99977875e-01 -8.03482932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.550385723 meters 0.016583115650331704 Centerline is valid? [True, True] Translation: X:-8.34, Y:-228.85, Z:-8.03 [[-8.73616121e-01 -4.86573973e-01 6.37510568e-03 -8.34302805e+00] [-4.86560213e-01 8.73639376e-01 3.66059945e-03 -2.28853554e+02] [-7.35069577e-03 9.60859163e-05 -9.99972979e-01 -8.03243608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.580385723 meters 0.015174966976971476 Centerline is valid? [True, True] Translation: X:-8.43, Y:-228.87, Z:-8.03 [[-8.34452843e-01 -5.51042744e-01 6.35193278e-03 -8.42714101e+00] [-5.51025916e-01 8.34477013e-01 4.30754626e-03 -2.28870993e+02] [-7.67418401e-03 9.43646442e-05 -9.99970549e-01 -8.03385953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.610385723 meters 0.017946090461614387 Centerline is valid? [True, True] Translation: X:-8.52, Y:-228.90, Z:-8.03 [[-7.90637521e-01 -6.12252868e-01 6.22385739e-03 -8.51980484e+00] [-6.12232957e-01 7.90662012e-01 4.93853510e-03 -2.28903710e+02] [-7.94459988e-03 9.41405284e-05 -9.99968437e-01 -8.03112991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.640385723 meters 0.015082395523915338 Centerline is valid? [True, True] Translation: X:-8.60, Y:-228.94, Z:-8.03 [[-7.41895006e-01 -6.70492773e-01 5.58940238e-03 -8.60265085e+00] [-6.70472863e-01 7.41916056e-01 5.16782897e-03 -2.28937733e+02] [-7.61185934e-03 8.64438916e-05 -9.99971026e-01 -8.03475833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.670385723 meters 0.015048643635456287 Centerline is valid? [True, True] Translation: X:-8.69, Y:-228.99, Z:-8.04 [[-6.89065278e-01 -7.24680779e-01 5.17800508e-03 -8.69293961e+00] [-7.24659378e-01 6.89084727e-01 5.56998281e-03 -2.28988063e+02] [-7.60454370e-03 8.57918104e-05 -9.99971081e-01 -8.03533379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.700385723 meters 0.014968585596492986 Centerline is valid? [True, True] Translation: X:-8.78, Y:-229.05, Z:-8.04 [[-6.31823884e-01 -7.75098134e-01 4.63285857e-03 -8.77949787e+00] [-7.75076355e-01 6.31840864e-01 5.81100930e-03 -2.29046280e+02] [-7.43133182e-03 8.07153310e-05 -9.99972384e-01 -8.03614723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.730385723 meters 0.015088304579332563 Centerline is valid? [True, True] Translation: X:-8.87, Y:-229.12, Z:-8.04 [[-5.70832669e-01 -8.21055745e-01 4.18662870e-03 -8.86696093e+00] [-8.21032646e-01 5.70848016e-01 6.15930835e-03 -2.29116964e+02] [-7.44706419e-03 7.85755827e-05 -9.99972267e-01 -8.03657392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.760385723 meters 0.015088926399361848 Centerline is valid? [True, True] Translation: X:-8.95, Y:-229.20, Z:-8.04 [[-5.06385203e-01 -8.62299712e-01 3.63780181e-03 -8.95075209e+00] [-8.62276390e-01 5.06398264e-01 6.34235885e-03 -2.29196526e+02] [-7.31119073e-03 7.48860651e-05 -9.99973270e-01 -8.03686489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.790385723 meters 0.014834326176071529 Centerline is valid? [True, True] Translation: X:-9.03, Y:-229.28, Z:-8.04 [[-4.37370287e-01 -8.99275811e-01 3.20127671e-03 -9.02808022e+00] [-8.99250682e-01 4.37381998e-01 6.72300321e-03 -2.29280793e+02] [-7.44601497e-03 6.16915817e-05 -9.99972276e-01 -8.03685608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.820385723 meters 0.014501446456816875 Centerline is valid? [True, True] Translation: X:-9.10, Y:-229.37, Z:-8.04 [[-3.66227641e-01 -9.30521122e-01 2.78488691e-03 -9.10206557e+00] [-9.30493082e-01 3.66238226e-01 7.22401249e-03 -2.29374954e+02] [-7.74202825e-03 5.43150508e-05 -9.99970029e-01 -8.03731008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.850385723 meters 0.014512894143671753 Centerline is valid? [True, True] Translation: X:-9.17, Y:-229.48, Z:-8.03 [[-2.91245780e-01 -9.56644446e-01 2.70172923e-03 -9.16816925e+00] [-9.56602038e-01 2.91258309e-01 9.00771999e-03 -2.29477066e+02] [-9.40408639e-03 3.89807528e-05 -9.99955780e-01 -8.03472921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.880385723 meters 0.01437668174308392 Centerline is valid? [True, True] Translation: X:-9.23, Y:-229.59, Z:-8.04 [[-2.15714356e-01 -9.76454302e-01 2.07664303e-03 -9.22722419e+00] [-9.76407855e-01 2.15724349e-01 9.52394965e-03 -2.29585506e+02] [-9.74768408e-03 2.68020910e-05 -9.99952490e-01 -8.03537401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.910385723 meters 0.014316179553271195 Centerline is valid? [True, True] Translation: X:-9.28, Y:-229.70, Z:-8.04 [[-1.38957240e-01 -9.90297319e-01 1.45078256e-03 -9.27700384e+00] [-9.90242175e-01 1.38964813e-01 1.04506459e-02 -2.29697227e+02] [-1.05508543e-02 1.55668293e-05 -9.99944338e-01 -8.03540846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.940385723 meters 0.014272585865604552 Centerline is valid? [True, True] Translation: X:-9.32, Y:-229.82, Z:-8.04 [[-6.08293668e-02 -9.98147980e-01 6.31290955e-04 -9.31798914e+00] [-9.98094740e-01 6.08326424e-02 1.03091663e-02 -2.29816561e+02] [-1.03284766e-02 -2.98812342e-06 -9.99946660e-01 -8.03601591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.970385723 meters 0.01430599693970263 Centerline is valid? [True, True] Translation: X:-9.35, Y:-229.93, Z:-8.04 [[ 1.65666807e-02 -9.99862750e-01 -1.59769222e-04 -9.34916649e+00] [-9.99810545e-01 -1.65674483e-02 1.02172958e-02 -2.29934472e+02] [-1.02185404e-02 -9.52772371e-06 -9.99947789e-01 -8.03626600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.000385723 meters 0.01432284817714632 Centerline is valid? [True, True] Translation: X:-9.37, Y:-230.06, Z:-8.04 [[ 9.36055656e-02 -9.95608914e-01 -9.43001809e-04 -9.37088420e+00] [-9.95556903e-01 -9.36103145e-02 1.01765420e-02 -2.30057526e+02] [-1.02201306e-02 -1.37690059e-05 -9.99947773e-01 -8.03668334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.030385723 meters 0.014436591302830506 Centerline is valid? [True, True] Translation: X:-9.38, Y:-230.18, Z:-8.04 [[ 1.69260664e-01 -9.85569975e-01 -1.62856411e-03 -9.38219599e+00] [-9.85523904e-01 -1.69268498e-01 9.52949306e-03 -2.30177404e+02] [-9.66764684e-03 -7.97945951e-06 -9.99953267e-01 -8.03788565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.060385723 meters 0.0143593469171407 Centerline is valid? [True, True] Translation: X:-9.38, Y:-230.30, Z:-8.04 [[ 2.43742222e-01 -9.69837560e-01 -2.19939606e-03 -9.38429621e+00] [-9.69798030e-01 -2.43752145e-01 8.75626271e-03 -2.30302246e+02] [-9.02825997e-03 -1.30096097e-06 -9.99959244e-01 -8.03881394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0903857229999 meters 0.014383251824328903 Centerline is valid? [True, True] Translation: X:-9.38, Y:-230.42, Z:-8.04 [[ 3.15278716e-01 -9.48995639e-01 -2.57076686e-03 -9.37732472e+00] [-9.48964542e-01 -3.15289196e-01 7.68252751e-03 -2.30422092e+02] [-8.10122012e-03 1.74291876e-05 -9.99967184e-01 -8.03915037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.120385723 meters 0.014525605912947362 Centerline is valid? [True, True] Translation: X:-9.36, Y:-230.54, Z:-8.04 [[ 3.86281611e-01 -9.22375986e-01 -3.00974792e-03 -9.36107307e+00] [-9.22348473e-01 -3.86293335e-01 7.12420577e-03 -2.30544847e+02] [-7.73384189e-03 2.40867192e-05 -9.99970093e-01 -8.03873596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.150385723 meters 0.017207718264622047 Centerline is valid? [True, True] Translation: X:-9.34, Y:-230.66, Z:-8.04 [[ 4.54471839e-01 -8.90752963e-01 -3.80887796e-03 -9.33646451e+00] [-8.90722393e-01 -4.54487798e-01 7.37969134e-03 -2.30663116e+02] [-8.30457048e-03 3.87910002e-05 -9.99965516e-01 -8.03532343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.180385723 meters 0.014873864693548067 Centerline is valid? [True, True] Translation: X:-9.30, Y:-230.77, Z:-8.04 [[ 5.19978170e-01 -8.54168244e-01 -4.39459333e-03 -9.30314799e+00] [-8.54138583e-01 -5.19996738e-01 7.11851347e-03 -2.30774068e+02] [-8.36558235e-03 5.21201130e-05 -9.99965007e-01 -8.03790482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.210385723 meters 0.014920069028535201 Centerline is valid? [True, True] Translation: X:-9.26, Y:-230.89, Z:-8.04 [[ 5.82354823e-01 -8.12919178e-01 -5.02699374e-03 -9.26118758e+00] [-8.12889891e-01 -5.82376516e-01 6.90069912e-03 -2.30885446e+02] [-8.53731375e-03 6.77369728e-05 -9.99963554e-01 -8.03811121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.240385723 meters 0.01660857542146273 Centerline is valid? [True, True] Translation: X:-9.21, Y:-230.99, Z:-8.04 [[ 6.41342971e-01 -7.67230178e-01 -6.08664489e-03 -9.21130683e+00] [-7.67196969e-01 -6.41371846e-01 7.13897268e-03 -2.30991932e+02] [-9.38103795e-03 9.11255602e-05 -9.99955993e-01 -8.03610521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.270385723 meters 0.015775303149724033 Centerline is valid? [True, True] Translation: X:-9.16, Y:-231.08, Z:-8.04 [[ 6.95943051e-01 -7.18068415e-01 -6.40484366e-03 -9.16154486e+00] [-7.18039501e-01 -6.95972513e-01 6.44483772e-03 -2.31083874e+02] [-9.08542955e-03 1.13690722e-04 -9.99958720e-01 -8.03826918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.300385723 meters 0.01629702369826785 Centerline is valid? [True, True] Translation: X:-9.10, Y:-231.18, Z:-8.04 [[ 7.47602210e-01 -6.64108737e-01 -7.10787167e-03 -9.10371973e+00] [-6.64080358e-01 -7.47635987e-01 6.14078793e-03 -2.31175554e+02] [-9.39225157e-03 1.29331331e-04 -9.99955884e-01 -8.03757433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.330385723 meters 0.016295704657325934 Centerline is valid? [True, True] Translation: X:-9.11, Y:-231.19, Z:-8.04 [[ 7.96059765e-01 -6.05165148e-01 -7.99966031e-03 -9.10798462e+00] [-6.05136551e-01 -7.96099943e-01 5.88518923e-03 -2.31185150e+02] [-9.93004053e-03 1.55924488e-04 -9.99950684e-01 -8.03836465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.360385723 meters 0.01713304360999652 Centerline is valid? [True, True] Translation: X:-9.11, Y:-231.19, Z:-8.04 [[ 8.40620883e-01 -5.41555172e-01 -8.63296490e-03 -9.11079518e+00] [-5.41528622e-01 -8.40665194e-01 5.36493510e-03 -2.31192269e+02] [-1.01628415e-02 1.65121103e-04 -9.99948343e-01 -8.03737169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.390385723 meters 0.01918242692606026 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.20, Z:-8.04 [[ 8.79645640e-01 -4.75532263e-01 -9.62365355e-03 -9.11517510e+00] [-4.75506195e-01 -8.79698261e-01 4.98289680e-03 -2.31203538e+02] [-1.08354395e-02 1.92923433e-04 -9.99941276e-01 -8.03551088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.420385723 meters 0.017203181414349702 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.21, Z:-8.04 [[ 9.14041462e-01 -4.05513615e-01 -9.32271869e-03 -9.11799548e+00] [-4.05494549e-01 -9.14088986e-01 3.93650070e-03 -2.31211904e+02] [-1.01180991e-02 1.82186754e-04 -9.99948794e-01 -8.03819048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.450385723 meters 0.01709251548285077 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.22, Z:-8.04 [[ 9.42587547e-01 -3.33809181e-01 -1.00073309e-02 -9.11954134e+00] [-3.33792622e-01 -9.42640648e-01 3.33092827e-03 -2.31223275e+02] [-1.05452113e-02 2.00681710e-04 -9.99944378e-01 -8.03872318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.480385723 meters 0.017299907386473464 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.23, Z:-8.04 [[ 9.65752988e-01 -2.59275201e-01 -9.87606608e-03 -9.11946426e+00] [-2.59263711e-01 -9.65803465e-01 2.44866182e-03 -2.31232236e+02] [-1.01732161e-02 1.95703074e-04 -9.99948232e-01 -8.03830474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.510385723 meters 0.017123159373304792 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.24, Z:-8.04 [[ 9.83057028e-01 -1.83031815e-01 -9.91133184e-03 -9.12316944e+00] [-1.83024512e-01 -9.83106971e-01 1.64664835e-03 -2.31243338e+02] [-1.00452885e-02 1.95267437e-04 -9.99949526e-01 -8.04019858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.540385723 meters 0.017123159373304792 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.26, Z:-8.04 [[ 9.94367144e-01 -1.05516766e-01 -1.00098017e-02 -9.12662524e+00] [-1.05513394e-01 -9.94417505e-01 8.65776587e-04 -2.31255158e+02] [-1.00452760e-02 1.95268367e-04 -9.99949526e-01 -8.04019870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.570385723 meters 0.017039607843911155 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.27, Z:-8.04 [[ 9.99586207e-01 -2.71373946e-02 -9.53816122e-03 -9.12897237e+00] [-2.71379090e-02 -9.99631696e-01 7.55141791e-05 -2.31267902e+02] [-9.53669754e-03 1.83362820e-04 -9.99954508e-01 -8.04092146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.600385723 meters 0.016965378934469227 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.28, Z:-8.04 [[ 9.98616161e-01 5.17455245e-02 -9.38955736e-03 -9.12977982e+00] [ 5.17415837e-02 -9.98660288e-01 -6.62300210e-04 -2.31280383e+02] [-9.41124913e-03 1.75553125e-04 -9.99955698e-01 -8.04107670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.630385723 meters 0.017068055104335053 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.29, Z:-8.04 [[ 9.91344634e-01 1.30903978e-01 -9.99826466e-03 -9.13150286e+00] [ 1.30895520e-01 -9.91395036e-01 -1.49853735e-03 -2.31292170e+02] [-1.01083945e-02 1.76838906e-04 -9.99948893e-01 -8.04072631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.660385723 meters 0.016992120970845365 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.30, Z:-8.04 [[ 9.77942305e-01 2.08616120e-01 -1.04001554e-02 -9.13097724e+00] [ 2.08602350e-01 -9.77997588e-01 -2.40371614e-03 -2.31302662e+02] [-1.06727808e-02 1.81198853e-04 -9.99943028e-01 -8.04027479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.690385723 meters 0.017156574894059168 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.31, Z:-8.04 [[ 9.58456331e-01 2.85016204e-01 -1.12794163e-02 -9.13120857e+00] [ 2.84994071e-01 -9.58522679e-01 -3.55723029e-03 -2.31312050e+02] [-1.18254446e-02 1.94883119e-04 -9.99930058e-01 -8.03948339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.720385723 meters 0.01752523096715991 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.32, Z:-8.04 [[ 9.33090566e-01 3.59440485e-01 -1.20222162e-02 -9.12904316e+00] [ 3.59407746e-01 -9.33167988e-01 -4.85578264e-03 -2.31321527e+02] [-1.29641121e-02 2.10007363e-04 -9.99915940e-01 -8.03880518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.750385723 meters 0.017428441348366297 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.33, Z:-8.04 [[ 9.01971281e-01 4.31619675e-01 -1.23395334e-02 -9.12574797e+00] [ 4.31575945e-01 -9.02055657e-01 -6.14779550e-03 -2.31332925e+02] [-1.37844554e-02 2.19689203e-04 -9.99904966e-01 -8.03879500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.780385723 meters 0.017085990279761584 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.34, Z:-8.04 [[ 8.65534834e-01 5.00691326e-01 -1.25557365e-02 -9.12150179e+00] [ 5.00634655e-01 -8.65625866e-01 -7.53672608e-03 -2.31343859e+02] [-1.46421436e-02 2.37462165e-04 -9.99892770e-01 -8.03824577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.810385723 meters 0.01733458871159481 Centerline is valid? [True, True] Translation: X:-9.12, Y:-231.35, Z:-8.04 [[ 8.24016650e-01 5.66441831e-01 -1.18411365e-02 -9.11669160e+00] [ 5.66379074e-01 -8.24101688e-01 -8.43523167e-03 -2.31353345e+02] [-1.45363687e-02 2.44199401e-04 -9.99894312e-01 -8.03765344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8403857229999 meters 0.017547840997413414 Centerline is valid? [True, True] Translation: X:-9.11, Y:-231.36, Z:-8.04 [[ 7.77461746e-01 6.28836766e-01 -1.08423092e-02 -9.11355940e+00] [ 6.28771207e-01 -7.77537306e-01 -9.08334419e-03 -2.31362091e+02] [-1.41422406e-02 2.44620808e-04 -9.99899964e-01 -8.03754367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.870385723 meters 0.017647077715999264 Centerline is valid? [True, True] Translation: X:-9.11, Y:-231.37, Z:-8.04 [[ 7.27196489e-01 6.86372992e-01 -8.79676607e-03 -9.10966657e+00] [ 6.86318795e-01 -7.27249655e-01 -8.62855149e-03 -2.31368962e+02] [-1.23198498e-02 2.37266463e-04 -9.99924080e-01 -8.04025593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.900385723 meters 0.018722447154678107 Centerline is valid? [True, True] Translation: X:-9.10, Y:-231.38, Z:-8.04 [[ 6.72077984e-01 7.40436976e-01 -8.01672686e-03 -9.10347149e+00] [ 7.40379833e-01 -6.72125749e-01 -9.20219096e-03 -2.31377509e+02] [-1.22018910e-02 2.49167050e-04 -9.99925523e-01 -8.03992394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.930385723 meters 0.01821854182101589 Centerline is valid? [True, True] Translation: X:-9.10, Y:-231.39, Z:-8.04 [[ 6.11878834e-01 7.90923898e-01 -6.60911676e-03 -9.09814967e+00] [ 7.90873753e-01 -6.11914485e-01 -8.90897993e-03 -2.31385802e+02] [-1.10905394e-02 2.24239276e-04 -9.99938473e-01 -8.04171354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.960385723 meters 0.01786658671062421 Centerline is valid? [True, True] Translation: X:-9.09, Y:-231.39, Z:-8.04 [[ 5.48163593e-01 8.36349768e-01 -5.97833962e-03 -9.08988313e+00] [ 8.36295402e-01 -5.48196144e-01 -9.53876724e-03 -2.31394987e+02] [-1.12550485e-02 2.29146990e-04 -9.99936634e-01 -8.04218398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.990385723 meters 0.017794350001815663 Centerline is valid? [True, True] Translation: X:-9.08, Y:-231.40, Z:-8.04 [[ 4.80849024e-01 8.76789098e-01 -5.00937847e-03 -9.08093324e+00] [ 8.76736700e-01 -4.80875067e-01 -9.58793258e-03 -2.31403644e+02] [-1.08154800e-02 2.18442075e-04 -9.99941487e-01 -8.04229760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.020385723 meters 0.018592473745875405 Centerline is valid? [True, True] Translation: X:-9.07, Y:-231.41, Z:-8.04 [[ 4.10655730e-01 9.11782342e-01 -3.85140841e-03 -9.06922698e+00] [ 9.11737621e-01 -4.10673742e-01 -9.03257313e-03 -2.31411790e+02] [-9.81741298e-03 1.97803966e-04 -9.99951789e-01 -8.04183512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.050385723 meters 0.018460814020723092 Centerline is valid? [True, True] Translation: X:-9.06, Y:-231.42, Z:-8.04 [[ 3.37314291e-01 9.41387785e-01 -2.84744071e-03 -9.06137495e+00] [ 9.41349788e-01 -3.37326265e-01 -8.45983074e-03 -2.31419220e+02] [-8.92449785e-03 1.73184098e-04 -9.99960161e-01 -8.04275891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.080385723 meters 0.017315457918471784 Centerline is valid? [True, True] Translation: X:-9.05, Y:-231.43, Z:-8.04 [[ 2.62014193e-01 9.65061659e-01 -2.13472779e-03 -9.04724800e+00] [ 9.65024309e-01 -2.62022837e-01 -8.49214394e-03 -2.31426676e+02] [-8.75478995e-03 1.64998032e-04 -9.99961663e-01 -8.04425496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.110385723 meters 0.01728710937785438 Centerline is valid? [True, True] Translation: X:-9.04, Y:-231.43, Z:-8.04 [[ 1.84482916e-01 9.82834358e-01 -1.63669465e-03 -9.03569585e+00] [ 9.82786916e-01 -1.84490095e-01 -9.65828181e-03 -2.31433377e+02] [-9.79444515e-03 1.73265898e-04 -9.99952018e-01 -8.04364251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.140385723 meters 0.01728801554281016 Centerline is valid? [True, True] Translation: X:-9.02, Y:-231.44, Z:-8.04 [[ 1.06362082e-01 9.94327068e-01 -8.88479375e-04 -9.02409037e+00] [ 9.94277740e-01 -1.06365656e-01 -9.90571896e-03 -2.31438128e+02] [-9.94402818e-03 1.70197623e-04 -9.99950543e-01 -8.04285488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.170385723 meters 0.017344608513302478 Centerline is valid? [True, True] Translation: X:-9.01, Y:-231.44, Z:-8.04 [[ 2.75929369e-02 9.99619236e-01 -1.09413801e-04 -9.01242333e+00] [ 9.99570043e-01 -2.75926647e-02 -9.91832302e-03 -2.31441599e+02] [-9.91756550e-03 1.64308903e-04 -9.99950806e-01 -8.04228722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.200385723 meters 0.017337907681046344 Centerline is valid? [True, True] Translation: X:-9.00, Y:-231.44, Z:-8.04 [[-5.08672762e-02 9.98705188e-01 6.84412141e-04 -9.00166550e+00] [ 9.98653633e-01 5.08716054e-02 -1.01489748e-02 -2.31444527e+02] [-1.01706509e-02 1.67239967e-04 -9.99948264e-01 -8.04236306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.230385723 meters 0.01739993533076131 Centerline is valid? [True, True] Translation: X:-8.99, Y:-231.45, Z:-8.04 [[-1.28908942e-01 9.91655299e-01 1.50085183e-03 -8.99068067e+00] [ 9.91602576e-01 1.28917567e-01 -1.02270139e-02 -2.31447118e+02] [-1.03351587e-02 1.69895007e-04 -9.99946576e-01 -8.04258543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.260385723 meters 0.017628818891096534 Centerline is valid? [True, True] Translation: X:-8.98, Y:-231.45, Z:-8.04 [[-2.05723044e-01 9.78607406e-01 2.36102045e-03 -8.98088206e+00] [ 9.78552622e-01 2.05736513e-01 -1.03563483e-02 -2.31449868e+02] [-1.06205473e-02 1.79843252e-04 -9.99943584e-01 -8.04199387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.290385723 meters 0.01819577910349799 Centerline is valid? [True, True] Translation: X:-8.97, Y:-231.45, Z:-8.04 [[-2.81369107e-01 9.59593813e-01 3.33760672e-03 -8.97151652e+00] [ 9.59534258e-01 2.81388835e-01 -1.06925858e-02 -2.31452327e+02] [-1.11997045e-02 1.93984652e-04 -9.99937263e-01 -8.04113343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.320385723 meters 0.019513736602474085 Centerline is valid? [True, True] Translation: X:-8.96, Y:-231.45, Z:-8.04 [[-3.55274510e-01 9.34751385e-01 4.45760251e-03 -8.95709826e+00] [ 9.34685167e-01 3.55302410e-01 -1.11281320e-02 -2.31451013e+02] [-1.19858337e-02 2.12913306e-04 -9.99928145e-01 -8.03938302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.350385723 meters 0.01777127428587192 Centerline is valid? [True, True] Translation: X:-8.95, Y:-231.45, Z:-8.04 [[-4.28861445e-01 9.03356011e-01 5.07731451e-03 -8.94555819e+00] [ 9.03297722e-01 4.28891459e-01 -1.02636253e-02 -2.31450223e+02] [-1.14493245e-02 1.84653441e-04 -9.99934437e-01 -8.04114849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.380385723 meters 0.01769768492802408 Centerline is valid? [True, True] Translation: X:-8.94, Y:-231.45, Z:-8.04 [[-4.98639540e-01 8.66789780e-01 5.83833493e-03 -8.93736374e+00] [ 8.66734524e-01 4.98673686e-01 -9.78879217e-03 -2.31449994e+02] [-1.13962490e-02 1.79207622e-04 -9.99935045e-01 -8.04119647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.410385723 meters 0.01723263231618121 Centerline is valid? [True, True] Translation: X:-8.93, Y:-231.45, Z:-8.04 [[-5.65365882e-01 8.24811864e-01 6.84168928e-03 -8.92699194e+00] [ 8.24755307e-01 5.65407248e-01 -9.66059994e-03 -2.31447232e+02] [-1.18365181e-02 1.80945942e-04 -9.99929930e-01 -8.04184217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.440385723 meters 0.017096413421806175 Centerline is valid? [True, True] Translation: X:-8.92, Y:-231.44, Z:-8.04 [[-6.28135459e-01 7.78069222e-01 7.35746459e-03 -8.91593518e+00] [ 7.78019120e-01 6.28178522e-01 -8.83143508e-03 -2.31442499e+02] [-1.14932690e-02 1.76910595e-04 -9.99933935e-01 -8.04280604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.470385723 meters 0.01716388838308698 Centerline is valid? [True, True] Translation: X:-8.91, Y:-231.44, Z:-8.04 [[-6.87045903e-01 7.26574009e-01 7.62476809e-03 -8.90555006e+00] [ 7.26531988e-01 6.87088190e-01 -7.81598815e-03 -2.31438859e+02] [-1.09177819e-02 1.69695285e-04 -9.99940385e-01 -8.04307568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.500385723 meters 0.017200772617237372 Centerline is valid? [True, True] Translation: X:-8.90, Y:-231.43, Z:-8.04 [[-7.41609681e-01 6.70787930e-01 7.65729847e-03 -8.89609468e+00] [ 6.70754412e-01 7.41649194e-01 -6.70761774e-03 -2.31432898e+02] [-1.01784183e-02 1.61732484e-04 -9.99948186e-01 -8.04293101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.530385723 meters 0.01734280705150407 Centerline is valid? [True, True] Translation: X:-8.88, Y:-231.41, Z:-8.04 [[-7.86924025e-01 6.17002275e-01 7.66633152e-03 -8.87568458e+00] [ 6.16974933e-01 7.86961351e-01 -5.81070491e-03 -2.31411780e+02] [-9.61832476e-03 1.57351084e-04 -9.99953731e-01 -8.04236108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.560385723 meters 0.01729580483120093 Centerline is valid? [True, True] Translation: X:-8.86, Y:-231.39, Z:-8.04 [[-8.28241193e-01 5.60312663e-01 8.13913336e-03 -8.85953592e+00] [ 5.60287567e-01 8.28281167e-01 -5.30564395e-03 -2.31387923e+02] [-9.71431037e-03 1.65902355e-04 -9.99952801e-01 -8.04292789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5903857229999 meters 0.01748305511218633 Centerline is valid? [True, True] Translation: X:-8.84, Y:-231.36, Z:-8.04 [[-8.65287103e-01 5.01200289e-01 8.74643627e-03 -8.84324541e+00] [ 5.01176795e-01 8.65331288e-01 -4.85625337e-03 -2.31364809e+02] [-1.00025206e-02 1.81457486e-04 -9.99949957e-01 -8.04321760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.620385723 meters 0.017669811053171895 Centerline is valid? [True, True] Translation: X:-8.83, Y:-231.34, Z:-8.04 [[-8.98140518e-01 4.39627537e-01 8.44030504e-03 -8.82697370e+00] [ 4.39609990e-01 8.98180158e-01 -3.93197795e-03 -2.31341582e+02] [-9.30952030e-03 1.78973701e-04 -9.99956650e-01 -8.04365187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.650385723 meters 0.0178442623542656 Centerline is valid? [True, True] Translation: X:-8.51, Y:-230.67, Z:-9.02 [[-8.85668824e-01 -4.64253803e-01 7.69023693e-03 -8.50704245e+00] [ 4.64234327e-01 -8.85702188e-01 -4.25724226e-03 -2.30673750e+02] [ 8.78770059e-03 -2.00434784e-04 9.99961367e-01 -9.02444233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.680385723 meters 0.018574122183176167 Centerline is valid? [True, True] Translation: X:-8.87, Y:-231.32, Z:-8.04 [[-8.98948961e-01 4.37977181e-01 8.17036527e-03 -8.86762214e+00] [ 4.37960996e-01 8.98986070e-01 -3.76997443e-03 -2.31324902e+02] [-8.99620733e-03 1.89286710e-04 -9.99959515e-01 -8.04335395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.710385723 meters 0.017875279250717604 Centerline is valid? [True, True] Translation: X:-8.86, Y:-231.30, Z:-8.04 [[-9.27734998e-01 3.73141765e-01 8.54386990e-03 -8.85673973e+00] [ 3.73127836e-01 9.27774319e-01 -3.22973003e-03 -2.31296114e+02] [-9.13193024e-03 1.91622110e-04 -9.99958285e-01 -8.04435221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.740385723 meters 0.018244351569407177 Centerline is valid? [True, True] Translation: X:-8.85, Y:-231.27, Z:-8.04 [[-9.51843532e-01 3.06455851e-01 8.87144227e-03 -8.85226553e+00] [ 3.06444439e-01 9.51884853e-01 -2.65188424e-03 -2.31267470e+02] [-9.25727696e-03 1.94425287e-04 -9.99957132e-01 -8.04411011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.770385723 meters 0.01820458119533834 Centerline is valid? [True, True] Translation: X:-8.84, Y:-231.24, Z:-8.04 [[-9.71217592e-01 2.38013461e-01 9.27263689e-03 -8.83919517e+00] [ 2.38004555e-01 9.71261836e-01 -2.06849877e-03 -2.31240148e+02] [-9.49848887e-03 1.97967423e-04 -9.99954869e-01 -8.04379726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.800385723 meters 0.01848434144722348 Centerline is valid? [True, True] Translation: X:-8.83, Y:-231.21, Z:-8.04 [[-9.85567965e-01 1.68970957e-01 1.02275492e-02 -8.83413689e+00] [ 1.68964175e-01 9.85621006e-01 -1.52986397e-03 -2.31212241e+02] [-1.03389899e-02 2.20304492e-04 -9.99946527e-01 -8.04328261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.830385723 meters 0.01867075654375865 Centerline is valid? [True, True] Translation: X:-8.83, Y:-231.18, Z:-8.04 [[-9.94959285e-01 9.95499358e-02 1.20760415e-02 -8.83408712e+00] [ 9.95458934e-02 9.95032531e-01 -9.36865848e-04 -2.31182993e+02] [-1.21093190e-02 2.69976962e-04 -9.99926643e-01 -8.04217061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.860385723 meters 0.018533513288305107 Centerline is valid? [True, True] Translation: X:-8.84, Y:-231.15, Z:-8.04 [[-9.99495635e-01 2.92719462e-02 1.23137632e-02 -8.83602746e+00] [ 2.92732123e-02 9.99571445e-01 -7.74492120e-05 -2.31152599e+02] [-1.23107532e-02 2.83053255e-04 -9.99924180e-01 -8.04183424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.890385723 meters 0.021743865341409804 Centerline is valid? [True, True] Translation: X:-8.84, Y:-231.13, Z:-8.04 [[-9.99070201e-01 -4.13442172e-02 1.22224706e-02 -8.84173289e+00] [-4.13375841e-02 9.99144921e-01 7.94938875e-04 -2.31125863e+02] [-1.22448855e-02 2.88952335e-04 -9.99924987e-01 -8.03751610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.920385723 meters 0.019069263333345146 Centerline is valid? [True, True] Translation: X:-8.85, Y:-231.10, Z:-8.04 [[-9.93573182e-01 -1.12698751e-01 1.05510065e-02 -8.85240983e+00] [-1.12689729e-01 9.93629171e-01 1.44756654e-03 -2.31097028e+02] [-1.06469268e-02 2.49273224e-04 -9.99943289e-01 -8.04356441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.950385723 meters 0.018468075995731043 Centerline is valid? [True, True] Translation: X:-8.88, Y:-231.07, Z:-8.04 [[-9.82783272e-01 -1.84472416e-01 1.03424892e-02 -8.87763345e+00] [-1.84459612e-01 9.82837662e-01 2.18683524e-03 -2.31070266e+02] [-1.05683987e-02 2.41413556e-04 -9.99944124e-01 -8.04451725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.980385723 meters 0.017891888711631294 Centerline is valid? [True, True] Translation: X:-8.92, Y:-231.05, Z:-8.05 [[-9.66358429e-01 -2.56989521e-01 1.03814074e-02 -8.91921548e+00] [-2.56972176e-01 9.66414163e-01 2.99426815e-03 -2.31048107e+02] [-1.08022347e-02 2.25803411e-04 -9.99941629e-01 -8.04502485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.010385723 meters 0.017912390534742195 Centerline is valid? [True, True] Translation: X:-8.98, Y:-231.04, Z:-8.04 [[-9.44315096e-01 -3.28887196e-01 1.01099939e-02 -8.98290756e+00] [-3.28865980e-01 9.44369191e-01 3.74143934e-03 -2.31037305e+02] [-1.07780783e-02 2.08264590e-04 -9.99941893e-01 -8.04418067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.040385723 meters 0.017420265081536254 Centerline is valid? [True, True] Translation: X:-9.06, Y:-231.03, Z:-8.04 [[-9.16870019e-01 -3.99059685e-01 1.00367457e-02 -9.05568324e+00] [-3.99033418e-01 9.16924931e-01 4.58282831e-03 -2.31033873e+02] [-1.10317643e-02 1.96860953e-04 -9.99939129e-01 -8.04430424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.070385723 meters 0.01687145926063559 Centerline is valid? [True, True] Translation: X:-9.13, Y:-231.04, Z:-8.04 [[-8.83155215e-01 -4.68975747e-01 9.93051811e-03 -9.13375517e+00] [-4.68943991e-01 8.83211029e-01 5.45998956e-03 -2.31037211e+02] [-1.13313458e-02 1.65161455e-04 -9.99935785e-01 -8.04397701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.100385723 meters 0.016726571010076602 Centerline is valid? [True, True] Translation: X:-9.22, Y:-231.05, Z:-8.04 [[-8.44750335e-01 -5.35074534e-01 9.59757039e-03 -9.22134306e+00] [-5.35038020e-01 8.44804842e-01 6.25273354e-03 -2.31054553e+02] [-1.14537524e-02 1.46933698e-04 -9.99934393e-01 -8.04418619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.130385723 meters 0.01636189907472755 Centerline is valid? [True, True] Translation: X:-9.31, Y:-231.08, Z:-8.04 [[-8.00568079e-01 -5.99174590e-01 8.97565034e-03 -9.31181411e+00] [-5.99135330e-01 8.00618385e-01 6.85993744e-03 -2.31080314e+02] [-1.12963709e-02 1.14217712e-04 -9.99936188e-01 -8.04425086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.160385723 meters 0.016192751621052617 Centerline is valid? [True, True] Translation: X:-9.41, Y:-231.12, Z:-8.04 [[-7.52414754e-01 -6.58631259e-01 8.76939212e-03 -9.40519290e+00] [-6.58584878e-01 7.52465848e-01 7.81697636e-03 -2.31118915e+02] [-1.17471731e-02 1.06219304e-04 -9.99930994e-01 -8.04436486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.190385723 meters 0.01596506794856227 Centerline is valid? [True, True] Translation: X:-9.50, Y:-231.16, Z:-8.05 [[-6.99769104e-01 -7.14320009e-01 8.37408758e-03 -9.49719209e+00] [-7.14267180e-01 6.99819202e-01 8.68795498e-03 -2.31164667e+02] [-1.20663274e-02 9.82265539e-05 -9.99927194e-01 -8.04535234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.220385723 meters 0.015843851915389024 Centerline is valid? [True, True] Translation: X:-9.59, Y:-231.22, Z:-8.04 [[-6.42149722e-01 -7.66535241e-01 8.21328544e-03 -9.59231144e+00] [-7.66470920e-01 6.42202240e-01 9.93036991e-03 -2.31224326e+02] [-1.28865688e-02 8.15398385e-05 -9.99916961e-01 -8.04471095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.250385723 meters 0.015841460878354016 Centerline is valid? [True, True] Translation: X:-9.68, Y:-231.29, Z:-8.04 [[-5.81389215e-01 -8.13591745e-01 7.41972259e-03 -9.67988798e+00] [-8.13523904e-01 5.81436554e-01 1.05067325e-02 -2.31290532e+02] [-1.28622888e-02 7.23792987e-05 -9.99917275e-01 -8.04463294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.280385723 meters 0.015825643503372306 Centerline is valid? [True, True] Translation: X:-9.76, Y:-231.37, Z:-8.05 [[-5.17539792e-01 -8.55630329e-01 7.02164105e-03 -9.76418840e+00] [-8.55549587e-01 5.17587417e-01 1.17545997e-02 -2.31366928e+02] [-1.36919051e-02 7.61110095e-05 -9.99906259e-01 -8.04534590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.310385723 meters 0.016097661941749487 Centerline is valid? [True, True] Translation: X:-9.85, Y:-231.46, Z:-8.04 [[-4.51025860e-01 -8.92490188e-01 6.07770349e-03 -9.84548566e+00] [-8.92406712e-01 4.51066800e-01 1.22066327e-02 -2.31457356e+02] [-1.36357501e-02 8.17235972e-05 -9.99907026e-01 -8.04369227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3403857229999 meters 0.015953295395950924 Centerline is valid? [True, True] Translation: X:-9.92, Y:-231.55, Z:-8.05 [[-3.81728601e-01 -9.24259873e-01 5.19256832e-03 -9.91876468e+00] [-9.24171154e-01 3.81763906e-01 1.28061575e-02 -2.31549823e+02] [-1.38185527e-02 8.96547285e-05 -9.99904515e-01 -8.04506790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.370385723 meters 0.016093852827894373 Centerline is valid? [True, True] Translation: X:-9.98, Y:-231.65, Z:-8.05 [[-3.11185130e-01 -9.50339749e-01 4.26336312e-03 -9.98373629e+00] [-9.50245511e-01 3.11214313e-01 1.33835647e-02 -2.31646668e+02] [-1.40457532e-02 1.13524659e-04 -9.99901347e-01 -8.04564601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.400385723 meters 0.016114927523190898 Centerline is valid? [True, True] Translation: X:-10.04, Y:-231.75, Z:-8.05 [[-2.37697476e-01 -9.71334164e-01 3.13868237e-03 -1.00432312e+01] [-9.71242949e-01 2.37718169e-01 1.33118543e-02 -2.31754089e+02] [-1.36763807e-02 1.15771054e-04 -9.99906467e-01 -8.04602152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.430385723 meters 0.016114927523190898 Centerline is valid? [True, True] Translation: X:-10.10, Y:-231.87, Z:-8.05 [[-1.62326318e-01 -9.86734884e-01 2.10599697e-03 -1.00951550e+01] [-9.86642348e-01 1.62339938e-01 1.35137485e-02 -2.31867206e+02] [-1.36763744e-02 1.15771235e-04 -9.99906467e-01 -8.04602184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.460385723 meters 0.016135474453832954 Centerline is valid? [True, True] Translation: X:-10.14, Y:-231.99, Z:-8.05 [[-8.74157116e-02 -9.96171340e-01 1.07454200e-03 -1.01367742e+01] [-9.96075533e-01 8.74222076e-02 1.38163321e-02 -2.31986969e+02] [-1.38573728e-02 1.37439505e-04 -9.99903973e-01 -8.04699786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.490385723 meters 0.016273379275649744 Centerline is valid? [True, True] Translation: X:-10.17, Y:-232.11, Z:-8.05 [[-1.16078047e-02 -9.99932627e-01 7.91133784e-06 -1.01694520e+01] [-9.99838132e-01 1.16068165e-02 1.37474596e-02 -2.32112035e+02] [-1.37466252e-02 1.51667769e-04 -9.99905499e-01 -8.04701605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.520385723 meters 0.016509509903271432 Centerline is valid? [True, True] Translation: X:-10.19, Y:-232.23, Z:-8.05 [[ 6.37273295e-02 -9.97966785e-01 -1.05995672e-03 -1.01928013e+01] [-9.97870623e-01 -6.37359042e-02 1.38547829e-02 -2.32227296e+02] [-1.38941704e-02 1.74771361e-04 -9.99903456e-01 -8.04706541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.550385723 meters 0.017083820121512272 Centerline is valid? [True, True] Translation: X:-10.21, Y:-232.35, Z:-8.05 [[ 1.37255981e-01 -9.90533356e-01 -2.11327657e-03 -1.02052709e+01] [-9.90439113e-01 -1.37272076e-01 1.36653420e-02 -2.32351661e+02] [-1.38260710e-02 2.17421846e-04 -9.99904392e-01 -8.04672454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.580385723 meters 0.016958541193929637 Centerline is valid? [True, True] Translation: X:-10.21, Y:-232.47, Z:-8.05 [[ 2.11565698e-01 -9.77358404e-01 -3.24132845e-03 -1.02113369e+01] [-9.77260535e-01 -2.11590389e-01 1.38330864e-02 -2.32472344e+02] [-1.42057172e-02 2.41015799e-04 -9.99899065e-01 -8.04734417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.610385723 meters 0.017534822831148808 Centerline is valid? [True, True] Translation: X:-10.20, Y:-232.60, Z:-8.05 [[ 2.84885054e-01 -9.58551979e-01 -4.31384335e-03 -1.02030075e+01] [-9.58455564e-01 -2.84917593e-01 1.35976852e-02 -2.32600374e+02] [-1.42631779e-02 2.60849892e-04 -9.99898242e-01 -8.04704360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.640385723 meters 0.017183935185380618 Centerline is valid? [True, True] Translation: X:-10.19, Y:-232.72, Z:-8.05 [[ 3.57525765e-01 -9.33889097e-01 -5.14608452e-03 -1.01915394e+01] [-9.33802364e-01 -3.57562708e-01 1.27300996e-02 -2.32718429e+02] [-1.37285491e-02 2.54087306e-04 -9.99905727e-01 -8.04842677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.670385723 meters 0.017384079600439018 Centerline is valid? [True, True] Translation: X:-10.17, Y:-232.84, Z:-8.05 [[ 4.28620350e-01 -9.03464468e-01 -6.04575787e-03 -1.01667918e+01] [-9.03382516e-01 -4.28662916e-01 1.21710091e-02 -2.32842600e+02] [-1.35876665e-02 2.44889772e-04 -9.99907653e-01 -8.04840452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.700385723 meters 0.017574206842639287 Centerline is valid? [True, True] Translation: X:-10.14, Y:-232.96, Z:-8.05 [[ 4.98197257e-01 -8.67032071e-01 -7.40811422e-03 -1.01370967e+01] [-8.66943139e-01 -4.98252278e-01 1.24201839e-02 -2.32958618e+02] [-1.44598076e-02 2.34712232e-04 -9.99895424e-01 -8.04727992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.730385723 meters 0.01672425969248616 Centerline is valid? [True, True] Translation: X:-10.10, Y:-233.08, Z:-8.05 [[ 5.63902382e-01 -8.25796742e-01 -8.59328476e-03 -1.00988730e+01] [-8.25706960e-01 -5.63967809e-01 1.21789724e-02 -2.33076059e+02] [-1.49036917e-02 2.27783472e-04 -9.99888908e-01 -8.04843005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.760385723 meters 0.01633769045781206 Centerline is valid? [True, True] Translation: X:-10.05, Y:-233.18, Z:-8.05 [[ 6.26989044e-01 -7.78965846e-01 -9.84630820e-03 -1.00546956e+01] [-7.78874865e-01 -6.27066320e-01 1.19069014e-02 -2.33183029e+02] [-1.54493578e-02 2.03545256e-04 -9.99880631e-01 -8.04810244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.790385723 meters 0.01633772022603483 Centerline is valid? [True, True] Translation: X:-10.00, Y:-233.28, Z:-8.05 [[ 6.85301548e-01 -7.28180595e-01 -1.07149143e-02 -1.00045101e+01] [-7.28095849e-01 -6.85385283e-01 1.11107451e-02 -2.33282789e+02] [-1.54344736e-02 1.87273795e-04 -9.99880864e-01 -8.04806981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.820385723 meters 0.016206660965358843 Centerline is valid? [True, True] Translation: X:-9.95, Y:-233.38, Z:-8.05 [[ 7.39311680e-01 -6.73264443e-01 -1.15425342e-02 -9.94716149e+00] [-6.73186051e-01 -7.39401758e-01 1.02752735e-02 -2.33378173e+02] [-1.54525464e-02 1.73643304e-04 -9.99880587e-01 -8.04810010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.850385723 meters 0.016082582993674793 Centerline is valid? [True, True] Translation: X:-9.95, Y:-233.39, Z:-8.05 [[ 7.90345586e-01 -6.12530228e-01 -1.26717871e-02 -9.95331535e+00] [-6.12454765e-01 -7.90447148e-01 9.61599207e-03 -2.33389276e+02] [-1.59064638e-02 1.60939499e-04 -9.99873471e-01 -8.04865061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.880385723 meters 0.016150561322678086 Centerline is valid? [True, True] Translation: X:-9.96, Y:-233.40, Z:-8.05 [[ 8.35924618e-01 -5.48684313e-01 -1.32498152e-02 -9.95833910e+00] [-5.48618355e-01 -8.36029605e-01 8.50883357e-03 -2.33400291e+02] [-1.57459013e-02 1.56348376e-04 -9.99876013e-01 -8.04864689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.910385723 meters 0.016210426176215934 Centerline is valid? [True, True] Translation: X:-9.96, Y:-233.41, Z:-8.05 [[ 8.76210514e-01 -4.81733276e-01 -1.37181176e-02 -9.96325466e+00] [-4.81677013e-01 -8.76317880e-01 7.36397878e-03 -2.33410142e+02] [-1.55689054e-02 1.55306291e-04 -9.99878785e-01 -8.04843672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.940385723 meters 0.016437917858445197 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.42, Z:-8.05 [[ 9.11095038e-01 -4.11956540e-01 -1.40585247e-02 -9.96623216e+00] [-4.11910147e-01 -9.11203482e-01 6.18429262e-03 -2.33418658e+02] [-1.53578365e-02 1.56370682e-04 -9.99882049e-01 -8.04782980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.970385723 meters 0.01645317844403224 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.43, Z:-8.05 [[ 9.40288196e-01 -3.40103741e-01 -1.36950242e-02 -9.96785578e+00] [-3.40070102e-01 -9.40387910e-01 4.78589739e-03 -2.33426173e+02] [-1.45063368e-02 1.57145470e-04 -9.99894765e-01 -8.04934862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.000385723 meters 0.016351745017300273 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.44, Z:-8.05 [[ 9.63973084e-01 -2.65654981e-01 -1.35397238e-02 -9.96883122e+00] [-2.65631007e-01 -9.64068155e-01 3.57221114e-03 -2.33435392e+02] [-1.40021922e-02 1.53055066e-04 -9.99901953e-01 -8.05051538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.030385723 meters 0.016500161503609605 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.44, Z:-8.05 [[ 9.81668477e-01 -1.90085531e-01 -1.39460763e-02 -9.97053708e+00] [-1.90068727e-01 -9.81767520e-01 2.53274566e-03 -2.33443424e+02] [-1.41732430e-02 1.64396403e-04 -9.99899541e-01 -8.05021980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.060385723 meters 0.01680052973281992 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.45, Z:-8.05 [[ 9.93476651e-01 -1.13083509e-01 -1.47059023e-02 -9.97459276e+00] [-1.13073772e-01 -9.93585471e-01 1.49460984e-03 -2.33450164e+02] [-1.47805866e-02 1.77991855e-04 -9.99890745e-01 -8.04948453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0903857229999 meters 0.01679074197559499 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.46, Z:-8.05 [[ 9.99255233e-01 -3.51423359e-02 -1.59372272e-02 -9.97724797e+00] [-3.51409790e-02 -9.99382298e-01 3.65262687e-04 -2.33458068e+02] [-1.59402190e-02 1.95059115e-04 -9.99872928e-01 -8.04780316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.120385723 meters 0.016535261288231712 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.47, Z:-8.05 [[ 9.98928063e-01 4.33074128e-02 -1.63460638e-02 -9.97985756e+00] [ 4.32983541e-02 -9.99061774e-01 -9.07845262e-04 -2.33468992e+02] [-1.63700439e-02 1.99114452e-04 -9.99865982e-01 -8.04821312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.150385723 meters 0.016329836189528647 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.48, Z:-8.05 [[ 9.92415956e-01 1.21766485e-01 -1.68372555e-02 -9.98109415e+00] [ 1.21745549e-01 -9.92558756e-01 -2.26673575e-03 -2.33479513e+02] [-1.69879778e-02 1.99683814e-04 -9.99855674e-01 -8.04955471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.180385723 meters 0.01665558741601113 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.49, Z:-8.05 [[ 9.79788870e-01 1.99334093e-01 -1.67239457e-02 -9.98246026e+00] [ 1.99301623e-01 -9.79931569e-01 -3.60314239e-03 -2.33489683e+02] [-1.71065515e-02 1.97209287e-04 -9.99853653e-01 -8.04906774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.210385723 meters 0.016555893846566968 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.50, Z:-8.05 [[ 9.61257440e-01 2.75181174e-01 -1.61075996e-02 -9.98210830e+00] [ 2.75139090e-01 -9.61392366e-01 -4.81655060e-03 -2.33500299e+02] [-1.68111473e-02 1.98114814e-04 -9.99858663e-01 -8.05005085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.240385723 meters 0.01634284999125027 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.51, Z:-8.05 [[ 9.36756457e-01 3.49638865e-01 -1.54920872e-02 -9.98079174e+00] [ 3.49587611e-01 -9.36884532e-01 -5.98967806e-03 -2.33511587e+02] [-1.66085211e-02 1.95027840e-04 -9.99862050e-01 -8.05110159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.270385723 meters 0.016598360215603472 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.52, Z:-8.05 [[ 9.06481602e-01 4.22003510e-01 -1.42878854e-02 -9.98046714e+00] [ 4.21947883e-01 -9.06594178e-01 -6.85421116e-03 -2.33522179e+02] [-1.58458149e-02 1.84473305e-04 -9.99874430e-01 -8.05058170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.300385723 meters 0.016377107302331287 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.53, Z:-8.05 [[ 8.70588722e-01 4.91832154e-01 -1.32818994e-02 -9.97796751e+00] [ 4.91771833e-01 -8.70690014e-01 -7.70476849e-03 -2.33531882e+02] [-1.53538700e-02 1.76020568e-04 -9.99882107e-01 -8.05137776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.330385723 meters 0.016533968884156716 Centerline is valid? [True, True] Translation: X:-9.98, Y:-233.54, Z:-8.05 [[ 8.29334185e-01 5.58616110e-01 -1.23632946e-02 -9.97668680e+00] [ 5.58550983e-01 -8.29426315e-01 -8.53154373e-03 -2.33539935e+02] [-1.50202996e-02 1.69970518e-04 -9.99887175e-01 -8.05156067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.360385723 meters 0.016459645087821054 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.55, Z:-8.05 [[ 7.83178816e-01 6.21687864e-01 -1.16250223e-02 -9.97292496e+00] [ 6.21616109e-01 -7.83265070e-01 -9.44687073e-03 -2.33549190e+02] [-1.49784788e-02 1.72287892e-04 -9.99887802e-01 -8.05198968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.390385723 meters 0.017086268125111898 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.56, Z:-8.05 [[ 7.33035020e-01 6.80099390e-01 -1.11570389e-02 -9.97203997e+00] [ 6.80016485e-01 -7.33119895e-01 -1.06206861e-02 -2.33557077e+02] [-1.54025694e-02 1.98364476e-04 -9.99881354e-01 -8.05046520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.420385723 meters 0.017353007211728378 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.56, Z:-8.05 [[ 6.78305168e-01 7.34707522e-01 -1.03419862e-02 -9.97119242e+00] [ 7.34617266e-01 -6.78383970e-01 -1.15179080e-02 -2.33562607e+02] [-1.54781313e-02 2.15254864e-04 -9.99880183e-01 -8.05033417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.450385723 meters 0.01747488116302739 Centerline is valid? [True, True] Translation: X:-9.97, Y:-233.57, Z:-8.05 [[ 6.19615527e-01 7.84851929e-01 -9.16782096e-03 -9.96690225e+00] [ 7.84760549e-01 -6.19683305e-01 -1.19784094e-02 -2.33571104e+02] [-1.50824233e-02 2.27464222e-04 -9.99886228e-01 -8.05101435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.480385723 meters 0.01679784771870591 Centerline is valid? [True, True] Translation: X:-9.96, Y:-233.58, Z:-8.05 [[ 5.57749736e-01 8.29974635e-01 -7.57216644e-03 -9.95968280e+00] [ 8.29892372e-01 -5.57801085e-01 -1.16875845e-02 -2.33580383e+02] [-1.39241613e-02 2.34664002e-04 -9.99903027e-01 -8.05436554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.510385723 meters 0.017058315238645937 Centerline is valid? [True, True] Translation: X:-9.95, Y:-233.59, Z:-8.06 [[ 4.91660368e-01 8.70763292e-01 -6.43209871e-03 -9.95324808e+00] [ 8.70682372e-01 -4.91702383e-01 -1.18732074e-02 -2.33590454e+02] [-1.35014314e-02 2.37270541e-04 -9.99908823e-01 -8.05501430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.540385723 meters 0.01708367405496937 Centerline is valid? [True, True] Translation: X:-9.94, Y:-233.60, Z:-8.06 [[ 4.23146136e-01 9.06044909e-01 -5.47454729e-03 -9.94337040e+00] [ 9.05961140e-01 -4.23181472e-01 -1.23229064e-02 -2.33599518e+02] [-1.34818336e-02 2.54663122e-04 -9.99909084e-01 -8.05520976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.570385723 meters 0.017483336525393977 Centerline is valid? [True, True] Translation: X:-9.93, Y:-233.61, Z:-8.05 [[ 3.51628678e-01 9.36128676e-01 -4.51378168e-03 -9.93472882e+00] [ 9.36041554e-01 -3.51657547e-01 -1.27741693e-02 -2.33608352e+02] [-1.35455716e-02 2.66677033e-04 -9.99908219e-01 -8.05482975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.600385723 meters 0.01793073525041517 Centerline is valid? [True, True] Translation: X:-9.93, Y:-233.62, Z:-8.05 [[ 2.77493940e-01 9.60720852e-01 -3.54369727e-03 -9.92698244e+00] [ 9.60629481e-01 -2.77516432e-01 -1.32525631e-02 -2.33617083e+02] [-1.37154479e-02 2.73325892e-04 -9.99905902e-01 -8.05423490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.630385723 meters 0.01778587357639703 Centerline is valid? [True, True] Translation: X:-9.92, Y:-233.62, Z:-8.05 [[ 2.01625054e-01 9.79459190e-01 -2.65179870e-03 -9.91760075e+00] [ 9.79354322e-01 -2.01642278e-01 -1.43353941e-02 -2.33623868e+02] [-1.45756483e-02 2.93324098e-04 -9.99893727e-01 -8.05395902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.660385723 meters 0.017858515540945242 Centerline is valid? [True, True] Translation: X:-9.91, Y:-233.63, Z:-8.05 [[ 1.24071883e-01 9.92271967e-01 -1.58455728e-03 -9.90806955e+00] [ 9.92157006e-01 -1.24081632e-01 -1.51070996e-02 -2.33630256e+02] [-1.51869659e-02 3.02236682e-04 -9.99884626e-01 -8.05345976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.690385723 meters 0.01791013025990508 Centerline is valid? [True, True] Translation: X:-9.90, Y:-233.64, Z:-8.05 [[ 4.53512071e-02 9.98971020e-01 -4.11149185e-04 -9.89876316e+00] [ 9.98846813e-01 -4.53520529e-02 -1.57554684e-02 -2.33636314e+02] [-1.57579028e-02 3.03854459e-04 -9.99875790e-01 -8.05285769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.720385723 meters 0.01746299218520421 Centerline is valid? [True, True] Translation: X:-9.89, Y:-233.64, Z:-8.05 [[-3.31290042e-02 9.99450743e-01 8.25342563e-04 -9.88617929e+00] [ 9.99326375e-01 3.31379041e-02 -1.57694263e-02 -2.33640984e+02] [-1.57881149e-02 3.02361202e-04 -9.99875314e-01 -8.05416737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.750385723 meters 0.018102051433596562 Centerline is valid? [True, True] Translation: X:-9.88, Y:-233.65, Z:-8.05 [[-1.11248197e-01 9.93790631e-01 2.00499341e-03 -9.87622180e+00] [ 9.93673669e-01 1.11265870e-01 -1.52494373e-02 -2.33645895e+02] [-1.53778352e-02 2.95836752e-04 -9.99881710e-01 -8.05305248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.780385723 meters 0.017933709405487757 Centerline is valid? [True, True] Translation: X:-9.86, Y:-233.65, Z:-8.05 [[-1.87470052e-01 9.82265451e-01 3.09264801e-03 -9.86232655e+00] [ 9.82157388e-01 1.87495311e-01 -1.45730397e-02 -2.33648066e+02] [-1.48944504e-02 3.05458575e-04 -9.99889025e-01 -8.05437635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.810385723 meters 0.017472975185468028 Centerline is valid? [True, True] Translation: X:-9.85, Y:-233.65, Z:-8.06 [[-2.63241458e-01 9.64721909e-01 3.94622423e-03 -9.84907877e+00] [ 9.64629642e-01 2.63270871e-01 -1.33455318e-02 -2.33649634e+02] [-1.39136528e-02 2.93547608e-04 -9.99903157e-01 -8.05602607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8403857229999 meters 0.01750197641309137 Centerline is valid? [True, True] Translation: X:-9.84, Y:-233.65, Z:-8.06 [[-3.38090087e-01 9.41100655e-01 4.96488043e-03 -9.83601775e+00] [ 9.41011508e-01 3.38126414e-01 -1.29564923e-02 -2.33650509e+02] [-1.38721206e-02 2.91548017e-04 -9.99903735e-01 -8.05608506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.870385723 meters 0.017496977044651404 Centerline is valid? [True, True] Translation: X:-9.82, Y:-233.65, Z:-8.06 [[-4.11292165e-01 9.11484087e-01 5.95947638e-03 -9.82287791e+00] [ 9.11398181e-01 4.11335240e-01 -1.25170354e-02 -2.33651346e+02] [-1.38604212e-02 2.83297358e-04 -9.99903900e-01 -8.05596862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.900385723 meters 0.017278797890151222 Centerline is valid? [True, True] Translation: X:-9.81, Y:-233.65, Z:-8.06 [[-4.82399404e-01 8.75921056e-01 7.28824183e-03 -9.80921462e+00] [ 8.75829780e-01 4.82454375e-01 -1.26480047e-02 -2.33649175e+02] [-1.45948978e-02 2.81869305e-04 -9.99893449e-01 -8.05545414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.930385723 meters 0.017281718860663525 Centerline is valid? [True, True] Translation: X:-9.80, Y:-233.65, Z:-8.05 [[-5.50339895e-01 8.34898094e-01 8.43639791e-03 -9.79787040e+00] [ 8.34807524e-01 5.50404486e-01 -1.23004337e-02 -2.33647903e+02] [-1.49130399e-02 2.73349036e-04 -9.99888757e-01 -8.05474128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.960385723 meters 0.016685702920087774 Centerline is valid? [True, True] Translation: X:-9.78, Y:-233.64, Z:-8.06 [[-6.15099007e-01 7.88394371e-01 9.35560776e-03 -9.78417127e+00] [ 7.88309377e-01 6.15170100e-01 -1.15790355e-02 -2.33643111e+02] [-1.48841366e-02 2.52860069e-04 -9.99889193e-01 -8.05559668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.990385723 meters 0.016593867606864602 Centerline is valid? [True, True] Translation: X:-9.77, Y:-233.64, Z:-8.06 [[-6.75427900e-01 7.37356362e-01 1.01364326e-02 -9.77345036e+00] [ 7.37278646e-01 6.75503913e-01 -1.07079770e-02 -2.33638169e+02] [-1.47427948e-02 2.40908915e-04 -9.99891290e-01 -8.05589656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.020385723 meters 0.017372192170340937 Centerline is valid? [True, True] Translation: X:-9.76, Y:-233.63, Z:-8.06 [[-7.31325687e-01 6.81943373e-01 1.07691736e-02 -9.76345250e+00] [ 6.81874077e-01 7.31404937e-01 -9.72430094e-03 -2.33633061e+02] [-1.45080493e-02 2.31589221e-04 -9.99894726e-01 -8.05501388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.050385723 meters 0.016348003212335302 Centerline is valid? [True, True] Translation: X:-9.74, Y:-233.61, Z:-8.06 [[-7.78426815e-01 6.27646829e-01 1.05428375e-02 -9.73974645e+00] [ 6.27592713e-01 7.78498182e-01 -8.24424378e-03 -2.33613109e+02] [-1.33820533e-02 1.99067550e-04 -9.99910437e-01 -8.05792763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.080385723 meters 0.016386474258127514 Centerline is valid? [True, True] Translation: X:-9.72, Y:-233.59, Z:-8.06 [[-8.20787549e-01 5.71131110e-01 1.08191214e-02 -9.72182988e+00] [ 5.71084601e-01 8.20858829e-01 -7.29117653e-03 -2.33589286e+02] [-1.30451891e-02 1.94126705e-04 -9.99914889e-01 -8.05808990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.110385723 meters 0.016757144935940688 Centerline is valid? [True, True] Translation: X:-9.71, Y:-233.56, Z:-8.06 [[-8.58868156e-01 5.12061603e-01 1.17646083e-02 -9.70569030e+00] [ 5.12016888e-01 8.58948701e-01 -6.77019114e-03 -2.33563595e+02] [-1.35719499e-02 2.08976551e-04 -9.99907875e-01 -8.05787832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.140385723 meters 0.01662608449206259 Centerline is valid? [True, True] Translation: X:-9.33, Y:-232.93, Z:-9.01 [[-8.39684437e-01 -5.42947425e-01 1.17532886e-02 -9.32657067e+00] [ 5.42891159e-01 -8.39766670e-01 -7.81854970e-03 -2.32925059e+02] [ 1.41150814e-02 -1.84358045e-04 9.99900360e-01 -9.01008951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.170385723 meters 0.01703069080672237 Centerline is valid? [True, True] Translation: X:-9.73, Y:-233.55, Z:-8.06 [[-8.59884553e-01 5.10335164e-01 1.25130436e-02 -9.73273713e+00] [ 5.10285018e-01 8.59975562e-01 -7.15771752e-03 -2.33548540e+02] [-1.44137466e-02 2.30407926e-04 -9.99896090e-01 -8.05810586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.200385723 meters 0.01688060913590821 Centerline is valid? [True, True] Translation: X:-9.72, Y:-233.52, Z:-8.06 [[-8.93050527e-01 4.49775977e-01 1.27407887e-02 -9.71515437e+00] [ 4.49734210e-01 8.93141371e-01 -6.13457716e-03 -2.33522484e+02] [-1.41385109e-02 2.51481194e-04 -9.99900015e-01 -8.06078726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.230385723 meters 0.01755296883814832 Centerline is valid? [True, True] Translation: X:-9.70, Y:-233.50, Z:-8.06 [[-9.22126999e-01 3.86674581e-01 1.28283406e-02 -9.70155036e+00] [ 3.86641146e-01 9.22216188e-01 -5.09177384e-03 -2.33497211e+02] [-1.37993629e-02 2.64702189e-04 -9.99904749e-01 -8.06041063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.260385723 meters 0.017500464902586776 Centerline is valid? [True, True] Translation: X:-9.42, Y:-232.81, Z:-9.01 [[-9.11895241e-01 -4.10227059e-01 1.26818573e-02 -9.42355552e+00] [ 4.10183476e-01 -9.11983385e-01 -5.98509400e-03 -2.32813313e+02] [ 1.40208907e-02 -2.55890419e-04 9.99901670e-01 -9.00641046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.290385723 meters 0.02008284939168917 Centerline is valid? [True, True] Translation: X:-9.74, Y:-233.48, Z:-8.06 [[-9.21591388e-01 3.87935599e-01 1.32395155e-02 -9.74440420e+00] [ 3.87900935e-01 9.21686417e-01 -5.19743102e-03 -2.33483492e+02] [-1.42189501e-02 3.45712774e-04 -9.99898846e-01 -8.05974838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.320385723 meters 0.019044012702943185 Centerline is valid? [True, True] Translation: X:-9.73, Y:-233.45, Z:-8.06 [[-9.46104012e-01 3.23569972e-01 1.37721523e-02 -9.73289400e+00] [ 3.23541529e-01 9.46204168e-01 -4.30710550e-03 -2.33453499e+02] [-1.44249179e-02 3.80893408e-04 -9.99895883e-01 -8.06124251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.350385723 meters 0.01912580491388823 Centerline is valid? [True, True] Translation: X:-9.51, Y:-232.75, Z:-9.01 [[-9.42752174e-01 -3.33145239e-01 1.52508750e-02 -9.50610407e+00] [ 3.33096138e-01 -9.42875468e-01 -5.72849730e-03 -2.32752458e+02] [ 1.62880975e-02 -3.20545701e-04 9.99867289e-01 -9.00731112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.380385723 meters 0.01912580491388823 Centerline is valid? [True, True] Translation: X:-9.78, Y:-233.44, Z:-8.06 [[-9.45923410e-01 3.24014486e-01 1.56049823e-02 -9.77871341e+00] [ 3.23979096e-01 9.46051987e-01 -4.81492890e-03 -2.33438600e+02] [-1.63232312e-02 5.01134092e-04 -9.99866642e-01 -8.06110952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.410385723 meters 0.019406942431544047 Centerline is valid? [True, True] Translation: X:-9.56, Y:-232.74, Z:-9.01 [[-9.44651640e-01 -3.27686633e-01 1.59608831e-02 -9.55949254e+00] [ 3.27631267e-01 -9.44786347e-01 -6.04248452e-03 -2.32736468e+02] [ 1.70596659e-02 -4.78758556e-04 9.99854359e-01 -9.00721479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.440385723 meters 0.02104659030151717 Centerline is valid? [True, True] Translation: X:-9.83, Y:-233.43, Z:-8.06 [[-9.45245982e-01 3.25922965e-01 1.68598506e-02 -9.82596517e+00] [ 3.25883207e-01 9.45396111e-01 -5.13124713e-03 -2.33426700e+02] [-1.76116285e-02 6.44051444e-04 -9.99844696e-01 -8.06135145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.470385723 meters 0.021778404656257987 Centerline is valid? [True, True] Translation: X:-9.82, Y:-233.40, Z:-8.06 [[-9.65596888e-01 2.59485375e-01 1.70291214e-02 -9.81949537e+00] [ 2.59457099e-01 9.65746809e-01 -3.88777410e-03 -2.33398160e+02] [-1.74546402e-02 6.64303869e-04 -9.99847436e-01 -8.06150944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.500385723 meters 0.0224034350968423 Centerline is valid? [True, True] Translation: X:-9.65, Y:-232.68, Z:-9.01 [[-9.68104021e-01 -2.49993839e-01 1.66638794e-02 -9.64798595e+00] [ 2.49944913e-01 -9.68247198e-01 -4.99033348e-03 -2.32679457e+02] [ 1.73823072e-02 -6.66110026e-04 9.99848694e-01 -9.00670843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.530385723 meters 0.022538011327136828 Centerline is valid? [True, True] Translation: X:-9.87, Y:-233.38, Z:-8.06 [[-9.66325398e-01 2.56769436e-01 1.68725147e-02 -9.87062274e+00] [ 2.56742487e-01 9.66472450e-01 -3.78129723e-03 -2.33384685e+02] [-1.72777421e-02 6.77927829e-04 -9.99850499e-01 -8.06167498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.560385723 meters 0.021675738778159016 Centerline is valid? [True, True] Translation: X:-9.87, Y:-233.35, Z:-8.06 [[-9.82292190e-01 1.86570771e-01 1.71289691e-02 -9.86666818e+00] [ 1.86554135e-01 9.82441300e-01 -2.57815549e-03 -2.33352945e+02] [-1.73092152e-02 6.62978026e-04 -9.99849965e-01 -8.06214206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5903857229999 meters 0.021533261381807264 Centerline is valid? [True, True] Translation: X:-9.76, Y:-232.63, Z:-9.01 [[-9.83846553e-01 -1.78256934e-01 1.64446011e-02 -9.75782622e+00] [ 1.78220517e-01 -9.83983744e-01 -3.66586564e-03 -2.32633352e+02] [ 1.68346862e-02 -6.75883965e-04 9.99858058e-01 -9.00598620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.620385723 meters 0.02068403634281361 Centerline is valid? [True, True] Translation: X:-9.93, Y:-233.34, Z:-8.06 [[-9.83903335e-01 1.77998524e-01 1.58351847e-02 -9.93149331e+00] [ 1.77984330e-01 9.84030605e-01 -2.31249539e-03 -2.33335858e+02] [-1.59939271e-02 5.43142810e-04 -9.99871942e-01 -8.06279284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.650385723 meters 0.01954740490537667 Centerline is valid? [True, True] Translation: X:-9.93, Y:-233.30, Z:-8.06 [[-9.94294779e-01 1.05464168e-01 1.59750569e-02 -9.93371639e+00] [ 1.05458763e-01 9.94422974e-01 -1.18272063e-03 -2.33301694e+02] [-1.60106982e-02 5.08736791e-04 -9.99871691e-01 -8.06352957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.680385723 meters 0.018920630460889407 Centerline is valid? [True, True] Translation: X:-9.94, Y:-233.27, Z:-8.06 [[-9.99444016e-01 3.00310081e-02 1.44844066e-02 -9.94072412e+00] [ 3.00335851e-02 9.99548889e-01 -3.96238990e-05 -2.33266176e+02] [-1.44790625e-02 3.95416789e-04 -9.99895095e-01 -8.06348093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.710385723 meters 0.01819789424403651 Centerline is valid? [True, True] Translation: X:-9.94, Y:-232.58, Z:-9.00 [[-9.98923114e-01 -4.43453586e-02 1.36419249e-02 -9.93708688e+00] [ 4.43353695e-02 -9.99016169e-01 -1.03394038e-03 -2.32575544e+02] [ 1.36743541e-02 -4.28007157e-04 9.99906410e-01 -9.00416336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.740385723 meters 0.018060516153822485 Centerline is valid? [True, True] Translation: X:-10.03, Y:-233.26, Z:-8.06 [[-9.99694929e-01 2.12864834e-02 1.25273501e-02 -1.00252977e+01] [ 2.12885586e-02 9.99773372e-01 3.23103503e-05 -2.33259397e+02] [-1.25238233e-02 2.98989720e-04 -9.99921529e-01 -8.06427366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.770385723 meters 0.01798770669126615 Centerline is valid? [True, True] Translation: X:-10.03, Y:-233.23, Z:-8.06 [[-9.98577137e-01 -5.20193377e-02 1.17341126e-02 -1.00344901e+01] [-5.20127261e-02 9.98646045e-01 8.68123844e-04 -2.33225204e+02] [-1.17633844e-02 2.56565435e-04 -9.99930776e-01 -8.06397763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.800385723 meters 0.017170583884419693 Centerline is valid? [True, True] Translation: X:-10.08, Y:-232.56, Z:-9.00 [[-9.99543827e-01 2.82247440e-02 1.07472121e-02 -1.00826151e+01] [-2.82263645e-02 -9.99601557e-01 8.98756362e-07 -2.32559561e+02] [ 1.07429553e-02 -3.02456379e-04 9.99942247e-01 -9.00371561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.830385723 meters 0.017014957344838894 Centerline is valid? [True, True] Translation: X:-10.13, Y:-233.22, Z:-8.06 [[-9.98267322e-01 -5.77603497e-02 1.12292855e-02 -1.01340812e+01] [-5.77538834e-02 9.98330446e-01 8.99540153e-04 -2.33223592e+02] [-1.12624954e-02 2.49446691e-04 -9.99936545e-01 -8.06452391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.860385723 meters 0.017454160456629883 Centerline is valid? [True, True] Translation: X:-10.15, Y:-233.19, Z:-8.06 [[-9.91707813e-01 -1.28022988e-01 1.12128919e-02 -1.01486514e+01] [-1.28011824e-01 9.91771166e-01 1.71065393e-03 -2.33194553e+02] [-1.13396259e-02 2.61086128e-04 -9.99935670e-01 -8.06355243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.890385723 meters 0.017732110232426476 Centerline is valid? [True, True] Translation: X:-10.26, Y:-232.55, Z:-9.01 [[-9.94099746e-01 1.07847232e-01 1.16047272e-02 -1.02613818e+01] [-1.07842794e-01 -9.94167447e-01 1.00937073e-03 -2.32553603e+02] [ 1.16458999e-02 -2.48071021e-04 9.99932154e-01 -9.00569710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.920385723 meters 0.01823212907614757 Centerline is valid? [True, True] Translation: X:-10.27, Y:-233.21, Z:-8.06 [[-9.91284551e-01 -1.31233227e-01 1.15229744e-02 -1.02693418e+01] [-1.31220790e-01 9.91351475e-01 1.83210215e-03 -2.33207395e+02] [-1.16637504e-02 3.04080745e-04 -9.99931930e-01 -8.06147748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.950385723 meters 0.018593854840110877 Centerline is valid? [True, True] Translation: X:-10.30, Y:-233.18, Z:-8.06 [[-9.79522936e-01 -2.00997705e-01 1.16077756e-02 -1.03015146e+01] [-2.00979655e-01 9.79591658e-01 2.71314612e-03 -2.33182364e+02] [-1.19162163e-02 3.24662120e-04 -9.99928947e-01 -8.06076627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.980385723 meters 0.019135228891221 Centerline is valid? [True, True] Translation: X:-10.35, Y:-233.16, Z:-8.06 [[-9.62778789e-01 -2.70040681e-01 1.16204208e-02 -1.03480350e+01] [-2.70016600e-01 9.62848850e-01 3.62329449e-03 -2.33161684e+02] [-1.21671458e-02 3.50724559e-04 -9.99925916e-01 -8.05962619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.010385723 meters 0.018426667874039487 Centerline is valid? [True, True] Translation: X:-10.41, Y:-233.15, Z:-8.06 [[-9.40503770e-01 -3.39603548e-01 1.10493740e-02 -1.04146076e+01] [-3.39575732e-01 9.40568609e-01 4.36051465e-03 -2.33150623e+02] [-1.18735406e-02 3.48981197e-04 -9.99929446e-01 -8.05999016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.040385723 meters 0.01839124154303228 Centerline is valid? [True, True] Translation: X:-10.49, Y:-233.15, Z:-8.06 [[-9.13253774e-01 -4.07270138e-01 9.92867642e-03 -1.04869523e+01] [-4.07242093e-01 9.13307683e-01 4.79098921e-03 -2.33148629e+02] [-1.10191633e-02 3.32014017e-04 -9.99939232e-01 -8.06001994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.070385723 meters 0.018356585065727467 Centerline is valid? [True, True] Translation: X:-10.57, Y:-233.16, Z:-8.06 [[-8.80876991e-01 -4.73258161e-01 9.07963373e-03 -1.05681118e+01] [-4.73229224e-01 8.80923725e-01 5.24326255e-03 -2.33155720e+02] [-1.04798816e-02 3.21921305e-04 -9.99945033e-01 -8.05992414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.100385723 meters 0.020283300773431434 Centerline is valid? [True, True] Translation: X:-10.65, Y:-233.17, Z:-8.06 [[-8.42947491e-01 -5.37921707e-01 8.93112623e-03 -1.06492050e+01] [-5.37887350e-01 8.42994739e-01 6.08849426e-03 -2.33174100e+02] [-1.08040256e-02 3.28341144e-04 -9.99941581e-01 -8.05837768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.130385723 meters 0.018156356593981317 Centerline is valid? [True, True] Translation: X:-10.74, Y:-233.20, Z:-8.06 [[-7.99292449e-01 -6.00885604e-01 8.25063508e-03 -1.07417321e+01] [-6.00849664e-01 7.99334974e-01 6.57880329e-03 -2.33197505e+02] [-1.05481294e-02 3.00996474e-04 -9.99944322e-01 -8.05848852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.160385723 meters 0.017905453847605203 Centerline is valid? [True, True] Translation: X:-10.83, Y:-233.23, Z:-8.06 [[-7.50818594e-01 -6.60468691e-01 7.24892538e-03 -1.08322082e+01] [-6.60434465e-01 7.50853540e-01 6.72895127e-03 -2.33233338e+02] [-9.88714292e-03 2.64781575e-04 -9.99951086e-01 -8.05830627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.190385723 meters 0.01741322204775104 Centerline is valid? [True, True] Translation: X:-10.92, Y:-233.28, Z:-8.06 [[-6.97298545e-01 -7.16754767e-01 6.11096980e-03 -1.09241132e+01] [-7.16724460e-01 6.97325287e-01 6.59488786e-03 -2.33279418e+02] [-8.98825108e-03 2.18724184e-04 -9.99959581e-01 -8.05822944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.220385723 meters 0.016163389019980826 Centerline is valid? [True, True] Translation: X:-11.02, Y:-233.33, Z:-8.06 [[-6.36960292e-01 -7.70887130e-01 3.82345481e-03 -1.10171402e+01] [-7.70872154e-01 6.36971757e-01 4.80657582e-03 -2.33333673e+02] [-6.14076017e-03 1.14203093e-04 -9.99981139e-01 -8.05865652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.250385723 meters 0.015632263938391722 Centerline is valid? [True, True] Translation: X:-11.10, Y:-233.40, Z:-8.06 [[-5.74830403e-01 -8.18267313e-01 2.93478536e-03 -1.11047855e+01] [-8.18255895e-01 5.74837888e-01 4.32347219e-03 -2.33399928e+02] [-5.22478179e-03 8.38578390e-05 -9.99986347e-01 -8.05927859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.280385723 meters 0.014487547154284632 Centerline is valid? [True, True] Translation: X:-11.19, Y:-233.48, Z:-8.06 [[-5.08227514e-01 -8.61220278e-01 2.10410616e-03 -1.11925495e+01] [-8.61212464e-01 5.08231867e-01 3.66901150e-03 -2.33475307e+02] [-4.22920090e-03 5.26101429e-05 -9.99991056e-01 -8.06020852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.310385723 meters 0.014446244761390665 Centerline is valid? [True, True] Translation: X:-11.27, Y:-233.55, Z:-8.06 [[-4.40267159e-01 -8.97864595e-01 1.99947713e-03 -1.12691836e+01] [-8.97854793e-01 4.40271696e-01 4.19578040e-03 -2.33554471e+02] [-4.64755586e-03 5.20241878e-05 -9.99989199e-01 -8.05956303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3403857229999 meters 0.014404897955805027 Centerline is valid? [True, True] Translation: X:-11.34, Y:-233.64, Z:-8.06 [[-3.69806471e-01 -9.29107355e-01 1.64249634e-03 -1.13419264e+01] [-9.29097627e-01 3.69810116e-01 4.25187520e-03 -2.33643315e+02] [-4.55786028e-03 4.63315142e-05 -9.99989612e-01 -8.05911070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.370385723 meters 0.014371530930345926 Centerline is valid? [True, True] Translation: X:-11.41, Y:-233.74, Z:-8.06 [[-2.98414858e-01 -9.54435702e-01 1.03096344e-03 -1.14088688e+01] [-9.54429568e-01 2.98416637e-01 3.42196836e-03 -2.33738076e+02] [-3.57370542e-03 3.71842170e-05 -9.99993614e-01 -8.05861403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.400385723 meters 0.014269416399834693 Centerline is valid? [True, True] Translation: X:-11.47, Y:-233.84, Z:-8.06 [[-2.25734138e-01 -9.74188719e-01 6.62217380e-04 -1.14672238e+01] [-9.74184067e-01 2.25735107e-01 3.01091979e-03 -2.33840519e+02] [-3.08268981e-03 3.45457627e-05 -9.99995248e-01 -8.05904840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.430385723 meters 0.014629521632871087 Centerline is valid? [True, True] Translation: X:-11.52, Y:-233.95, Z:-8.06 [[-1.52287858e-01 -9.88336103e-01 3.94306690e-04 -1.15158471e+01] [-9.88332157e-01 1.52288365e-01 2.79294948e-03 -2.33948419e+02] [-2.82042113e-03 3.56263131e-05 -9.99996022e-01 -8.05927555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.460385723 meters 0.015101031796779869 Centerline is valid? [True, True] Translation: X:-11.56, Y:-234.06, Z:-8.06 [[-8.02108146e-02 -9.96777908e-01 1.65666846e-04 -1.15550797e+01] [-9.96774559e-01 8.02109746e-02 2.58409697e-03 -2.34056545e+02] [-2.58905907e-03 4.21400259e-05 -9.99996648e-01 -8.05977440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.490385723 meters 0.015401181262574103 Centerline is valid? [True, True] Translation: X:-11.59, Y:-234.17, Z:-8.06 [[-5.76066750e-03 -9.99983406e-01 -3.99744286e-05 -1.15869402e+01] [-9.99978251e-01 5.76050942e-03 3.21141109e-03 -2.34171537e+02] [-3.21112753e-03 5.84734307e-05 -9.99994843e-01 -8.05911253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.520385723 meters 0.015842046545534595 Centerline is valid? [True, True] Translation: X:-11.61, Y:-234.29, Z:-8.06 [[ 6.87235151e-02 -9.97635702e-01 -2.89551042e-04 -1.16098046e+01] [-9.97630399e-01 -6.87240941e-02 3.25371480e-03 -2.34292694e+02] [-3.26592118e-03 6.52582027e-05 -9.99994665e-01 -8.05879830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.550385723 meters 0.016610255676530215 Centerline is valid? [True, True] Translation: X:-11.63, Y:-234.41, Z:-8.06 [[ 1.41870225e-01 -9.89885073e-01 -6.18529652e-04 -1.16256119e+01] [-9.89878124e-01 -1.41871547e-01 3.70999650e-03 -2.34405726e+02] [-3.76022192e-03 8.59309343e-05 -9.99992927e-01 -8.05721930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.580385723 meters 0.01698827073456298 Centerline is valid? [True, True] Translation: X:-11.63, Y:-234.53, Z:-8.06 [[ 2.15640180e-01 -9.76472497e-01 -8.80059438e-04 -1.16307267e+01] [-9.76465962e-01 -2.15641958e-01 3.57358993e-03 -2.34527781e+02] [-3.67929002e-03 8.87385108e-05 -9.99993228e-01 -8.05674546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.610385723 meters 0.01764398614947376 Centerline is valid? [True, True] Translation: X:-11.63, Y:-234.64, Z:-8.06 [[ 2.87329625e-01 -9.57831124e-01 -1.10659815e-03 -1.16281212e+01] [-9.57825217e-01 -2.87331741e-01 3.36518098e-03 -2.34644792e+02] [-3.54123585e-03 9.30114181e-05 -9.99993726e-01 -8.05599654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.640385723 meters 0.01821616174892879 Centerline is valid? [True, True] Translation: X:-11.61, Y:-234.76, Z:-8.06 [[ 3.58462347e-01 -9.33542877e-01 -1.56299818e-03 -1.16148102e+01] [-9.33535310e-01 -3.58465737e-01 3.76038064e-03 -2.34763096e+02] [-4.07075785e-03 1.11159117e-04 -9.99991708e-01 -8.05585404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.670385723 meters 0.018558314802602744 Centerline is valid? [True, True] Translation: X:-11.59, Y:-234.88, Z:-8.06 [[ 4.27442506e-01 -9.04040684e-01 -1.82915979e-03 -1.15944681e+01] [-9.04033522e-01 -4.27446405e-01 3.60043954e-03 -2.34876628e+02] [-4.03681160e-03 1.14640869e-04 -9.99991846e-01 -8.05554388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.700385723 meters 0.019187761687554185 Centerline is valid? [True, True] Translation: X:-11.57, Y:-234.99, Z:-8.06 [[ 4.93791310e-01 -8.69578270e-01 -1.94288369e-03 -1.15660974e+01] [-8.69572401e-01 -4.93795120e-01 3.19669234e-03 -2.34986644e+02] [-3.73916068e-03 1.10979139e-04 -9.99993003e-01 -8.05576836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.730385723 meters 0.01866569955383188 Centerline is valid? [True, True] Translation: X:-11.53, Y:-235.09, Z:-8.06 [[ 5.55926353e-01 -8.31229440e-01 -1.87296856e-03 -1.15345790e+01] [-8.31225340e-01 -5.55929498e-01 2.61303675e-03 -2.35093585e+02] [-3.21327155e-03 1.04202937e-04 -9.99994832e-01 -8.05573890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.760385723 meters 0.018896931322204175 Centerline is valid? [True, True] Translation: X:-11.49, Y:-235.20, Z:-8.06 [[ 6.16166721e-01 -7.87613217e-01 -1.99833073e-03 -1.14943172e+01] [-7.87609615e-01 -6.16169952e-01 2.38423376e-03 -2.35195347e+02] [-3.10916538e-03 1.04819000e-04 -9.99995161e-01 -8.05577175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.790385723 meters 0.02030313326982978 Centerline is valid? [True, True] Translation: X:-11.45, Y:-235.29, Z:-8.06 [[ 6.72712855e-01 -7.39900529e-01 -2.15001853e-03 -1.14450295e+01] [-7.39897255e-01 -6.72716282e-01 2.20364975e-03 -2.35292789e+02] [-3.07683409e-03 1.08369296e-04 -9.99995261e-01 -8.05530262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.820385723 meters 0.02054994625839911 Centerline is valid? [True, True] Translation: X:-11.40, Y:-235.38, Z:-8.06 [[ 7.24686061e-01 -6.89076389e-01 -1.96040704e-03 -1.13978831e+01] [-6.89074229e-01 -7.24688706e-01 1.72799022e-03 -2.35379461e+02] [-2.61140210e-03 9.86155403e-05 -9.99996585e-01 -8.05600366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.850385723 meters 0.021024980492772627 Centerline is valid? [True, True] Translation: X:-11.40, Y:-235.39, Z:-8.06 [[ 7.75807393e-01 -6.30966765e-01 -1.95740529e-03 -1.13982999e+01] [-6.30965058e-01 -7.75809856e-01 1.47038033e-03 -2.35393432e+02] [-2.44633544e-03 9.43224105e-05 -9.99997003e-01 -8.05647124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.880385723 meters 0.020987540393112188 Centerline is valid? [True, True] Translation: X:-11.40, Y:-235.41, Z:-8.06 [[ 8.22686392e-01 -5.68491498e-01 -2.12533487e-03 -1.13982686e+01] [-5.68489902e-01 -8.22689132e-01 1.35034804e-03 -2.35408175e+02] [-2.51615128e-03 9.73184536e-05 -9.99996830e-01 -8.05676237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.910385723 meters 0.020884560641290833 Centerline is valid? [True, True] Translation: X:-11.40, Y:-235.43, Z:-8.06 [[ 8.64820887e-01 -5.02077508e-01 -1.73492636e-03 -1.13982466e+01] [-5.02076670e-01 -8.64822624e-01 9.20681750e-04 -2.35425444e+02] [-1.96265716e-03 7.48412392e-05 -9.99998071e-01 -8.05713344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.940385723 meters 0.020930616543711072 Centerline is valid? [True, True] Translation: X:-11.40, Y:-235.44, Z:-8.06 [[ 9.01934973e-01 -4.31867200e-01 -2.00659705e-03 -1.13958566e+01] [-4.31866329e-01 -9.01937202e-01 8.71071947e-04 -2.35440079e+02] [-2.18601193e-03 8.09314479e-05 -9.99997607e-01 -8.05698609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.970385723 meters 0.01909617197124524 Centerline is valid? [True, True] Translation: X:-11.39, Y:-235.46, Z:-8.06 [[ 9.34105284e-01 -3.56991111e-01 -2.15992195e-03 -1.13937877e+01] [-3.56990346e-01 -9.34107778e-01 7.42935787e-04 -2.35462529e+02] [-2.28282136e-03 7.70910387e-05 -9.99997391e-01 -8.05679459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.000385723 meters 0.01858115005754104 Centerline is valid? [True, True] Translation: X:-11.39, Y:-235.48, Z:-8.06 [[ 9.59675784e-01 -2.81101714e-01 -2.05332144e-03 -1.13884259e+01] [-2.81101221e-01 -9.59677978e-01 5.30948406e-04 -2.35480249e+02] [-2.11977788e-03 6.76528363e-05 -9.99997751e-01 -8.05672205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.030385723 meters 0.019404308888757167 Centerline is valid? [True, True] Translation: X:-11.38, Y:-235.49, Z:-8.06 [[ 9.79138714e-01 -2.03182589e-01 -2.05297131e-03 -1.13823529e+01] [-2.03182276e-01 -9.79140864e-01 3.62496795e-04 -2.35493275e+02] [-2.08380114e-03 6.21927354e-05 -9.99997827e-01 -8.05654845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.060385723 meters 0.018884240718953074 Centerline is valid? [True, True] Translation: X:-11.37, Y:-235.50, Z:-8.06 [[ 9.92232921e-01 -1.24374938e-01 -2.16935548e-03 -1.13745034e+01] [-1.24374777e-01 -9.92235290e-01 2.09809589e-04 -2.35504839e+02] [-2.17860612e-03 6.16331226e-05 -9.99997625e-01 -8.05675100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0903857229999 meters 0.01767813554542854 Centerline is valid? [True, True] Translation: X:-11.37, Y:-235.52, Z:-8.06 [[ 9.99004204e-01 -4.45815374e-02 -1.75671396e-03 -1.13681450e+01] [-4.45815502e-02 -9.99005748e-01 3.19206559e-05 -2.35521176e+02] [-1.75639042e-03 4.64281621e-05 -9.99998457e-01 -8.05763875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.120385723 meters 0.017818624035658006 Centerline is valid? [True, True] Translation: X:-11.36, Y:-235.53, Z:-8.06 [[ 9.99431467e-01 3.36854956e-02 -1.42462997e-03 -1.13611889e+01] [ 3.36854077e-02 -9.99432482e-01 -8.56673342e-05 -2.35532058e+02] [-1.42670721e-03 3.76293881e-05 -9.99998982e-01 -8.05786602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.150385723 meters 0.017330408994869973 Centerline is valid? [True, True] Translation: X:-11.35, Y:-235.55, Z:-8.06 [[ 9.93981110e-01 1.09547091e-01 -9.93861712e-04 -1.13521656e+01] [ 1.09547008e-01 -9.93981607e-01 -1.38116710e-04 -2.35548362e+02] [-1.00301055e-03 2.84108243e-05 -9.99999497e-01 -8.05860817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.180385723 meters 0.017915953111050598 Centerline is valid? [True, True] Translation: X:-11.34, Y:-235.56, Z:-8.06 [[ 9.82644758e-01 1.85495019e-01 -9.36847546e-04 -1.13427132e+01] [ 1.85494907e-01 -9.82645204e-01 -2.05951586e-04 -2.35560582e+02] [-9.58791742e-04 2.85967978e-05 -9.99999540e-01 -8.05866020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.210385723 meters 0.024312864093754622 Centerline is valid? [True, True] Translation: X:-11.34, Y:-235.56, Z:-8.06 [[ 9.65670244e-01 2.59766719e-01 -1.49367120e-03 -1.13354482e+01] [ 2.59766327e-01 -9.65671398e-01 -4.54144197e-04 -2.35564801e+02] [-1.56036711e-03 5.05480547e-05 -9.99998781e-01 -8.05603123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.240385723 meters 0.024312864093754622 Centerline is valid? [True, True] Translation: X:-11.33, Y:-235.57, Z:-8.06 [[ 9.42376211e-01 3.34551887e-01 -1.45350317e-03 -1.13286236e+01] [ 3.34551405e-01 -9.42377330e-01 -5.69646465e-04 -2.35565174e+02] [-1.56032473e-03 5.05497498e-05 -9.99998781e-01 -8.05603161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.270385723 meters 0.01963634583893298 Centerline is valid? [True, True] Translation: X:-11.31, Y:-235.58, Z:-8.06 [[ 9.14016774e-01 4.05676107e-01 -4.81895680e-04 -1.13147805e+01] [ 4.05676041e-01 -9.14016901e-01 -2.33105726e-04 -2.35579338e+02] [-5.35026220e-04 1.75690117e-05 -9.99999857e-01 -8.05868381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.300385723 meters 0.019845923652449592 Centerline is valid? [True, True] Translation: X:-11.30, Y:-235.59, Z:-8.06 [[ 8.79610901e-01 4.75693127e-01 -8.43659179e-04 -1.13022167e+01] [ 4.75692871e-01 -8.79611305e-01 -4.94135340e-04 -2.35586856e+02] [-9.77148936e-04 3.33241744e-05 -9.99999522e-01 -8.05835850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.330385723 meters 0.019871051908325804 Centerline is valid? [True, True] Translation: X:-11.29, Y:-235.59, Z:-8.06 [[ 8.39794394e-01 5.42904140e-01 -6.86535472e-04 -1.12885812e+01] [ 5.42903930e-01 -8.39794674e-01 -4.77795951e-04 -2.35594195e+02] [-8.35946232e-04 2.85275547e-05 -9.99999650e-01 -8.05812094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.360385723 meters 0.018398195899370882 Centerline is valid? [True, True] Translation: X:-11.27, Y:-235.61, Z:-8.06 [[ 7.94883814e-01 6.06760844e-01 -9.99885110e-04 -1.12687197e+01] [ 6.06760292e-01 -7.94884442e-01 -8.19859169e-04 -2.35606385e+02] [-1.29225156e-03 4.50022022e-05 -9.99999164e-01 -8.05695162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.390385723 meters 0.01843727752345403 Centerline is valid? [True, True] Translation: X:-11.25, Y:-235.61, Z:-8.06 [[ 7.45078844e-01 6.66974989e-01 -1.37163569e-03 -1.12517790e+01] [ 6.66973690e-01 -7.45080103e-01 -1.31797442e-03 -2.35613485e+02] [-1.90103443e-03 6.71499382e-05 -9.99998191e-01 -8.05669697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.420385723 meters 0.02008668082004471 Centerline is valid? [True, True] Translation: X:-11.24, Y:-235.62, Z:-8.05 [[ 6.91041605e-01 7.22812441e-01 -1.91734601e-03 -1.12350251e+01] [ 7.22809232e-01 -6.91044257e-01 -2.15631746e-03 -2.35618258e+02] [-2.88358404e-03 1.04229681e-04 -9.99995837e-01 -8.05456105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.450385723 meters 0.01888547891729092 Centerline is valid? [True, True] Translation: X:-11.22, Y:-235.62, Z:-8.06 [[ 6.33231586e-01 7.73959601e-01 -2.07241661e-03 -1.12169965e+01] [ 7.73954778e-01 -6.33234965e-01 -2.73524540e-03 -2.35622462e+02] [-3.42929610e-03 1.28087045e-04 -9.99994112e-01 -8.05564866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.480385723 meters 0.01961547731709552 Centerline is valid? [True, True] Translation: X:-11.20, Y:-235.62, Z:-8.06 [[ 5.71856523e-01 8.20351341e-01 -1.94796638e-03 -1.12013923e+01] [ 8.20345724e-01 -5.71859823e-01 -3.03906365e-03 -2.35624620e+02] [-3.60706365e-03 1.39902480e-04 -9.99993485e-01 -8.05580976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.510385723 meters 0.02103341113449591 Centerline is valid? [True, True] Translation: X:-11.19, Y:-235.63, Z:-8.06 [[ 5.07834696e-01 8.61452404e-01 -1.91779684e-03 -1.11857942e+01] [ 8.61444975e-01 -5.07838289e-01 -3.58141138e-03 -2.35625747e+02] [-4.05914611e-03 1.66688510e-04 -9.99991748e-01 -8.05602884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.540385723 meters 0.020838604190884385 Centerline is valid? [True, True] Translation: X:-11.17, Y:-235.63, Z:-8.06 [[ 4.39459627e-01 8.98260556e-01 -1.79163494e-03 -1.11678424e+01] [ 8.98251282e-01 -4.39463240e-01 -4.08607845e-03 -2.35625362e+02] [-4.45772080e-03 1.86328137e-04 -9.99990047e-01 -8.05613117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.570385723 meters 0.02132411018078971 Centerline is valid? [True, True] Translation: X:-11.15, Y:-235.62, Z:-8.06 [[ 3.67737736e-01 9.29928207e-01 -1.57740853e-03 -1.11524242e+01] [ 9.29917177e-01 -3.67741065e-01 -4.53359698e-03 -2.35623958e+02] [-4.79599761e-03 2.00315400e-04 -9.99988479e-01 -8.05602378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.600385723 meters 0.021313398324783243 Centerline is valid? [True, True] Translation: X:-11.14, Y:-235.62, Z:-8.06 [[ 2.92889334e-01 9.56145619e-01 -1.17995275e-03 -1.11352117e+01] [ 9.56135050e-01 -2.92891650e-01 -4.49968173e-03 -2.35620415e+02] [-4.64794929e-03 1.89714609e-04 -9.99989180e-01 -8.05692673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.630385723 meters 0.021217119202327547 Centerline is valid? [True, True] Translation: X:-11.12, Y:-235.62, Z:-8.06 [[ 2.16152500e-01 9.76359334e-01 -7.40370358e-04 -1.11195849e+01] [ 9.76350684e-01 -2.16153704e-01 -4.11315383e-03 -2.35615165e+02] [-4.17594993e-03 1.66207379e-04 -9.99991267e-01 -8.05736987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.660385723 meters 0.020633651287873526 Centerline is valid? [True, True] Translation: X:-11.10, Y:-235.61, Z:-8.06 [[ 1.37678506e-01 9.90476886e-01 -4.09144441e-04 -1.11026522e+01] [ 9.90468461e-01 -1.37679024e-01 -4.08840679e-03 -2.35608739e+02] [-4.10580303e-03 1.57641074e-04 -9.99991559e-01 -8.05713715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.690385723 meters 0.020433193147535337 Centerline is valid? [True, True] Translation: X:-11.09, Y:-235.60, Z:-8.06 [[ 5.64749061e-02 9.98404012e-01 -1.16138549e-04 -1.10862147e+01] [ 9.98389081e-01 -5.64746971e-02 -5.46370349e-03 -2.35602022e+02] [-5.46154238e-03 1.92610683e-04 -9.99985067e-01 -8.05656815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7203857229999 meters 0.02135280049037376 Centerline is valid? [True, True] Translation: X:-11.08, Y:-235.59, Z:-8.06 [[-2.31085435e-02 9.99732909e-01 3.26170818e-04 -1.10751437e+01] [ 9.99716687e-01 2.31100277e-02 -5.69845476e-03 -2.35594567e+02] [-5.70447057e-03 1.94395419e-04 -9.99983711e-01 -8.05546393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.750385723 meters 0.018408896116308946 Centerline is valid? [True, True] Translation: X:-11.06, Y:-235.58, Z:-8.06 [[-1.03712892e-01 9.94607084e-01 6.20796364e-04 -1.10562796e+01] [ 9.94596671e-01 1.03714648e-01 -4.55335879e-03 -2.35583072e+02] [-4.59318858e-03 1.45199991e-04 -9.99989441e-01 -8.05782541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.780385723 meters 0.02032618974638176 Centerline is valid? [True, True] Translation: X:-11.05, Y:-235.57, Z:-8.06 [[-1.81910405e-01 9.83314347e-01 1.22434726e-03 -1.10452437e+01] [ 9.83298217e-01 1.81914437e-01 -5.63516203e-03 -2.35572260e+02] [-5.76386212e-03 1.78803874e-04 -9.99983373e-01 -8.05619536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.810385723 meters 0.019716640300055294 Centerline is valid? [True, True] Translation: X:-11.04, Y:-235.56, Z:-8.06 [[-2.58992627e-01 9.65877583e-01 1.82033932e-03 -1.10354077e+01] [ 9.65858668e-01 2.58998953e-01 -6.04787242e-03 -2.35559910e+02] [-6.31297037e-03 1.91836148e-04 -9.99980055e-01 -8.05625290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8403857229999 meters 0.018688413125422455 Centerline is valid? [True, True] Translation: X:-11.03, Y:-235.55, Z:-8.06 [[-3.34219165e-01 9.42492597e-01 2.29219847e-03 -1.10265693e+01] [ 9.42474165e-01 3.34226971e-01 -5.89744091e-03 -2.35546581e+02] [-6.32440896e-03 1.89300069e-04 -9.99979983e-01 -8.05683772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.870385723 meters 0.018814490536567762 Centerline is valid? [True, True] Translation: X:-11.02, Y:-235.53, Z:-8.06 [[-4.06591500e-01 9.13605513e-01 2.88411993e-03 -1.10181181e+01] [ 9.13585935e-01 4.06601679e-01 -5.98444059e-03 -2.35531895e+02] [-6.64010592e-03 2.01668727e-04 -9.99977934e-01 -8.05639584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.900385723 meters 0.01903091215598113 Centerline is valid? [True, True] Translation: X:-11.01, Y:-235.52, Z:-8.06 [[-4.76619539e-01 8.79103848e-01 3.19982204e-03 -1.10133405e+01] [ 8.79086709e-01 4.76630240e-01 -5.49292647e-03 -2.35518352e+02] [-6.35398474e-03 1.94884949e-04 -9.99979794e-01 -8.05645762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.930385723 meters 0.018812700968134578 Centerline is valid? [True, True] Translation: X:-11.01, Y:-235.50, Z:-8.06 [[-5.42877838e-01 8.39806722e-01 2.88484821e-03 -1.10068457e+01] [ 8.39796412e-01 5.42885479e-01 -4.16453227e-03 -2.35502488e+02] [-5.06354440e-03 1.61852902e-04 -9.99987167e-01 -8.05771085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.960385723 meters 0.019075330024691767 Centerline is valid? [True, True] Translation: X:-11.00, Y:-235.49, Z:-8.06 [[-6.06437844e-01 7.95124779e-01 3.11886543e-03 -1.10031519e+01] [ 7.95115600e-01 6.06445843e-01 -3.82397851e-03 -2.35486555e+02] [-4.93196304e-03 1.60853272e-04 -9.99987825e-01 -8.05764346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.990385723 meters 0.019209503590551673 Centerline is valid? [True, True] Translation: X:-11.00, Y:-235.47, Z:-8.06 [[-6.66373067e-01 7.45611311e-01 3.27230625e-03 -1.10000825e+01] [ 7.45603460e-01 6.66381083e-01 -3.42528639e-03 -2.35470017e+02] [-4.73453526e-03 1.57324267e-04 -9.99988780e-01 -8.05745338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.020385723 meters 0.019941928392895075 Centerline is valid? [True, True] Translation: X:-11.00, Y:-235.46, Z:-8.06 [[-7.21989000e-01 6.91894690e-01 3.69076418e-03 -1.09983300e+01] [ 6.91886832e-01 7.21998414e-01 -3.30180456e-03 -2.35455598e+02] [-4.94922693e-03 1.69724563e-04 -9.99987738e-01 -8.05689264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.050385723 meters 0.01981144244787522 Centerline is valid? [True, True] Translation: X:-10.99, Y:-235.42, Z:-8.06 [[-7.69221426e-01 6.38970494e-01 3.88653298e-03 -1.09882501e+01] [ 6.38963430e-01 7.69231226e-01 -3.00939137e-03 -2.35424362e+02] [-4.91255482e-03 1.68464126e-04 -9.99987919e-01 -8.05647873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.080385723 meters 0.018260081834753767 Centerline is valid? [True, True] Translation: X:-10.98, Y:-235.39, Z:-8.06 [[-8.12940151e-01 5.82328897e-01 4.62242961e-03 -1.09815973e+01] [ 5.82320777e-01 8.12953271e-01 -3.08089623e-03 -2.35388743e+02] [-5.55191417e-03 1.87152557e-04 -9.99984571e-01 -8.05661759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.110385723 meters 0.01855570620800407 Centerline is valid? [True, True] Translation: X:-10.98, Y:-235.36, Z:-8.06 [[-8.53160327e-01 5.21627168e-01 4.74908397e-03 -1.09764151e+01] [ 5.21620210e-01 8.53173527e-01 -2.69983158e-03 -2.35355336e+02] [-5.46009822e-03 1.73828985e-04 -9.99985079e-01 -8.05635543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.140385723 meters 0.018730667558943693 Centerline is valid? [True, True] Translation: X:-10.79, Y:-235.01, Z:-9.01 [[-8.50526892e-01 -5.25908974e-01 4.87416598e-03 -1.07890185e+01] [ 5.25899240e-01 -8.50540842e-01 -3.20390929e-03 -2.35013583e+02] [ 5.83064189e-03 -1.61690827e-04 9.99982989e-01 -9.01234176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.170385723 meters 0.01852426550715288 Centerline is valid? [True, True] Translation: X:-11.02, Y:-235.33, Z:-8.06 [[-8.56912908e-01 5.15436484e-01 5.04956791e-03 -1.10187406e+01] [ 5.15428651e-01 8.56927770e-01 -2.84634335e-03 -2.35329662e+02] [-5.79422418e-03 1.63623621e-04 -9.99983200e-01 -8.05574417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.200385723 meters 0.016997815625466154 Centerline is valid? [True, True] Translation: X:-10.84, Y:-234.99, Z:-9.01 [[-8.48940348e-01 -5.28465563e-01 4.94302275e-03 -1.08442878e+01] [ 5.28455508e-01 -8.48954724e-01 -3.26384094e-03 -2.34989861e+02] [ 5.92123005e-03 -1.58638669e-04 9.99982457e-01 -9.01234831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.230385723 meters 0.01732159922942917 Centerline is valid? [True, True] Translation: X:-11.06, Y:-235.30, Z:-8.06 [[-8.62303061e-01 5.06370454e-01 4.73235194e-03 -1.10624890e+01] [ 5.06363560e-01 8.62316039e-01 -2.64485011e-03 -2.35299262e+02] [-5.42005693e-03 1.15628228e-04 -9.99985305e-01 -8.05601253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.260385723 meters 0.015968480932823933 Centerline is valid? [True, True] Translation: X:-11.06, Y:-235.26, Z:-8.06 [[-8.98517837e-01 4.38911168e-01 4.76266000e-03 -1.10638023e+01] [ 4.38905490e-01 8.98530456e-01 -2.23409600e-03 -2.35260297e+02] [-5.25996475e-03 8.29825175e-05 -9.99986163e-01 -8.05557406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.290385723 meters 0.015162006002022362 Centerline is valid? [True, True] Translation: X:-11.07, Y:-235.22, Z:-8.06 [[-9.28422896e-01 3.71491763e-01 4.97961576e-03 -1.10687834e+01] [ 3.71486821e-01 9.28436247e-01 -1.91743015e-03 -2.35223076e+02] [-5.33556527e-03 6.96755797e-05 -9.99985763e-01 -8.05555945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.320385723 meters 0.014867501998464415 Centerline is valid? [True, True] Translation: X:-11.07, Y:-235.19, Z:-8.05 [[-9.53212662e-01 3.02241643e-01 5.96751323e-03 -1.10743779e+01] [ 3.02236151e-01 9.53231339e-01 -1.82314793e-03 -2.35188037e+02] [-6.23945185e-03 6.57505371e-05 -9.99980532e-01 -8.05462060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.350385723 meters 0.014659045608586881 Centerline is valid? [True, True] Translation: X:-10.98, Y:-234.85, Z:-9.01 [[-9.37584979e-01 -3.47696130e-01 6.46589484e-03 -1.09822047e+01] [ 3.47687651e-01 -9.37607274e-01 -2.42832978e-03 -2.34846549e+02] [ 6.90679091e-03 -2.86537387e-05 9.99976147e-01 -9.01495506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.380385723 meters 0.014496976295356257 Centerline is valid? [True, True] Translation: X:-11.12, Y:-235.17, Z:-8.05 [[-9.55598264e-01 2.94584745e-01 7.19625347e-03 -1.11232527e+01] [ 2.94576758e-01 9.55625359e-01 -2.16971023e-03 -2.35171286e+02] [-7.51608584e-03 4.64776840e-05 -9.99971753e-01 -8.05291482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.410385723 meters 0.01452108277770386 Centerline is valid? [True, True] Translation: X:-11.13, Y:-235.14, Z:-8.05 [[-9.74125679e-01 2.25880172e-01 7.57031878e-03 -1.11328633e+01] [ 2.25873726e-01 9.74155093e-01 -1.70707931e-03 -2.35139898e+02] [-7.76025996e-03 4.70263190e-05 -9.99969888e-01 -8.05325147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.440385723 meters 0.014716239690670613 Centerline is valid? [True, True] Translation: X:-11.14, Y:-235.11, Z:-8.05 [[-9.87494258e-01 1.57520335e-01 6.51416251e-03 -1.11408231e+01] [ 1.57517235e-01 9.87515743e-01 -9.89399697e-04 -2.35111949e+02] [-6.58868860e-03 4.90663484e-05 -9.99978293e-01 -8.05450029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4703857229999 meters 0.014845092350983921 Centerline is valid? [True, True] Translation: X:-11.15, Y:-235.08, Z:-8.06 [[-9.96096148e-01 8.81006275e-02 5.54466492e-03 -1.11528812e+01] [ 8.80995294e-02 9.96111579e-01 -4.42442277e-04 -2.35083385e+02] [-5.56208437e-03 4.77673228e-05 -9.99984530e-01 -8.05546729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.500385723 meters 0.014987616891659235 Centerline is valid? [True, True] Translation: X:-11.13, Y:-234.72, Z:-9.01 [[-9.90623324e-01 -1.36533327e-01 4.90720503e-03 -1.11319092e+01] [ 1.36531247e-01 -9.90635475e-01 -7.58067763e-04 -2.34718881e+02] [ 4.96475290e-03 -8.09727845e-05 9.99987672e-01 -9.01233740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.530385723 meters 0.014947117020446873 Centerline is valid? [True, True] Translation: X:-11.21, Y:-235.09, Z:-8.06 [[-9.96185967e-01 8.71499006e-02 4.29110081e-03 -1.12055526e+01] [ 8.71493063e-02 9.96195208e-01 -3.25635834e-04 -2.35085471e+02] [-4.30315320e-03 4.95726114e-05 -9.99990740e-01 -8.05765600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.560385723 meters 0.015510795782245694 Centerline is valid? [True, True] Translation: X:-11.19, Y:-234.71, Z:-9.01 [[-9.91509093e-01 -1.29977337e-01 3.95113369e-03 -1.11851654e+01] [ 1.29976039e-01 -9.91516963e-01 -5.84455088e-04 -2.34709358e+02] [ 3.99358199e-03 -6.59398252e-05 9.99992024e-01 -9.01129532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5903857229999 meters 0.01531818783578487 Centerline is valid? [True, True] Translation: X:-11.26, Y:-235.09, Z:-8.06 [[-9.96331396e-01 8.54789269e-02 4.13555490e-03 -1.12560729e+01] [ 8.54784270e-02 9.96339977e-01 -2.97794300e-04 -2.35087154e+02] [-4.14587381e-03 5.67989177e-05 -9.99991404e-01 -8.05781771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.620385723 meters 0.015602214591471292 Centerline is valid? [True, True] Translation: X:-11.27, Y:-235.06, Z:-8.06 [[-9.99885800e-01 1.46366392e-02 3.76235926e-03 -1.12724968e+01] [ 1.46367328e-02 9.99892877e-01 -2.64361549e-06 -2.35059104e+02] [-3.76199492e-03 5.24253336e-05 -9.99992922e-01 -8.05739364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.650385723 meters 0.01540428400314145 Centerline is valid? [True, True] Translation: X:-11.29, Y:-235.03, Z:-8.06 [[-9.98406394e-01 -5.63062289e-02 3.77915667e-03 -1.12890572e+01] [-5.63056212e-02 9.98413544e-01 2.67080180e-04 -2.35030373e+02] [-3.78819948e-03 5.38667957e-05 -9.99992823e-01 -8.05756442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.680385723 meters 0.016036770733671754 Centerline is valid? [True, True] Translation: X:-11.31, Y:-235.01, Z:-8.06 [[-9.91865315e-01 -1.27242967e-01 3.52468236e-03 -1.13119711e+01] [-1.27241982e-01 9.91871577e-01 5.03338822e-04 -2.35006445e+02] [-3.56007858e-03 5.07567502e-05 -9.99993662e-01 -8.05691987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.710385723 meters 0.015770371536881423 Centerline is valid? [True, True] Translation: X:-11.34, Y:-234.98, Z:-8.06 [[-9.80307074e-01 -1.97439184e-01 3.97619274e-03 -1.13350303e+01] [-1.97437314e-01 9.80315136e-01 8.61352837e-04 -2.34982965e+02] [-4.06798673e-03 5.93414634e-05 -9.99991724e-01 -8.05761491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.740385723 meters 0.015509160144865405 Centerline is valid? [True, True] Translation: X:-11.37, Y:-234.96, Z:-8.06 [[-9.63633294e-01 -2.67201803e-01 3.75110371e-03 -1.13658960e+01] [-2.67199550e-01 9.63640594e-01 1.09866507e-03 -2.34960953e+02] [-3.90828110e-03 5.64170186e-05 -9.99992361e-01 -8.05783957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.770385723 meters 0.01576913388807405 Centerline is valid? [True, True] Translation: X:-11.50, Y:-234.59, Z:-9.01 [[-9.73306720e-01 2.29452877e-01 5.04049749e-03 -1.15021630e+01] [-2.29449743e-01 -9.73319771e-01 1.19921823e-03 -2.34585745e+02] [ 5.18117994e-03 1.06663043e-05 9.99986578e-01 -9.01196195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.800385723 meters 0.017484668134879814 Centerline is valid? [True, True] Translation: X:-11.46, Y:-234.99, Z:-8.05 [[-9.61999898e-01 -2.72998952e-01 5.26962842e-03 -1.14610637e+01] [-2.72994435e-01 9.62014328e-01 1.57225608e-03 -2.34990313e+02] [-5.49868231e-03 7.39309507e-05 -9.99984879e-01 -8.05379524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.830385723 meters 0.015637449759240658 Centerline is valid? [True, True] Translation: X:-11.50, Y:-234.97, Z:-8.06 [[-9.39642975e-01 -3.42114901e-01 5.33610655e-03 -1.15025670e+01] [-3.42108941e-01 9.39658124e-01 2.02081030e-03 -2.34974520e+02] [-5.70546519e-03 7.33104458e-05 -9.99983721e-01 -8.05578507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.860385723 meters 0.015145435051487346 Centerline is valid? [True, True] Translation: X:-11.55, Y:-234.96, Z:-8.06 [[-9.12286160e-01 -4.09528387e-01 4.52346599e-03 -1.15501211e+01] [-4.09523023e-01 9.12297373e-01 2.09687068e-03 -2.34962112e+02] [-4.98547421e-03 6.04826310e-05 -9.99987571e-01 -8.05675902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.890385723 meters 0.0154401274848615 Centerline is valid? [True, True] Translation: X:-11.61, Y:-234.96, Z:-8.06 [[-8.79923413e-01 -4.75095735e-01 4.33928781e-03 -1.16100419e+01] [-4.75089629e-01 8.79934111e-01 2.40951108e-03 -2.34961842e+02] [-4.96303579e-03 5.86345809e-05 -9.99987682e-01 -8.05624378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.920385723 meters 0.015444946866933974 Centerline is valid? [True, True] Translation: X:-11.68, Y:-234.97, Z:-8.06 [[-8.42320712e-01 -5.38961147e-01 4.08647794e-03 -1.16805051e+01] [-5.38954488e-01 8.42330623e-01 2.67985613e-03 -2.34974517e+02] [-4.88650384e-03 5.48727018e-05 -9.99988060e-01 -8.05731751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.950385723 meters 0.015364712689866958 Centerline is valid? [True, True] Translation: X:-11.75, Y:-234.99, Z:-8.06 [[-8.00063424e-01 -5.99905667e-01 3.42178275e-03 -1.17527671e+01] [-5.99899934e-01 8.00070740e-01 2.62309994e-03 -2.34991914e+02] [-4.31128077e-03 4.59190689e-05 -9.99990705e-01 -8.05806200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.980385723 meters 0.015156253322123168 Centerline is valid? [True, True] Translation: X:-11.83, Y:-235.02, Z:-8.06 [[-7.53107282e-01 -6.57890987e-01 2.97839684e-03 -1.18289270e+01] [-6.57885634e-01 7.53113170e-01 2.65415011e-03 -2.35017335e+02] [-3.98921132e-03 3.94152846e-05 -9.99992042e-01 -8.05876492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.010385723 meters 0.015177158215043797 Centerline is valid? [True, True] Translation: X:-11.91, Y:-235.05, Z:-8.06 [[-7.00996624e-01 -7.13156924e-01 3.30678447e-03 -1.19068759e+01] [-7.13148729e-01 7.01004422e-01 3.41923029e-03 -2.35054123e+02] [-4.75651829e-03 3.86397485e-05 -9.99988687e-01 -8.05800146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.040385723 meters 0.015027147908108104 Centerline is valid? [True, True] Translation: X:-11.99, Y:-235.10, Z:-8.06 [[-6.45009141e-01 -7.64167479e-01 3.35737406e-03 -1.19855164e+01] [-7.64156837e-01 6.45017878e-01 4.03318143e-03 -2.35098489e+02] [-5.24759238e-03 3.58785540e-05 -9.99986231e-01 -8.05777651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.070385723 meters 0.014836427669429624 Centerline is valid? [True, True] Translation: X:-12.06, Y:-235.15, Z:-8.06 [[-5.85288332e-01 -8.10818596e-01 3.28225184e-03 -1.20633351e+01] [-8.10805542e-01 5.85297534e-01 4.60101066e-03 -2.35151885e+02] [-5.65167891e-03 3.16498694e-05 -9.99984029e-01 -8.05806794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.100385723 meters 0.014718585756262939 Centerline is valid? [True, True] Translation: X:-12.14, Y:-235.21, Z:-8.06 [[-5.21809226e-01 -8.53057465e-01 2.84473414e-03 -1.21385805e+01] [-8.53044550e-01 5.21816980e-01 4.69426463e-03 -2.35214184e+02] [-5.48890806e-03 2.28256419e-05 -9.99984936e-01 -8.05855484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.130385723 meters 0.014636844492551494 Centerline is valid? [True, True] Translation: X:-12.21, Y:-235.29, Z:-8.06 [[-4.53540421e-01 -8.91233744e-01 1.87081399e-03 -1.22106000e+01] [-8.91226132e-01 4.53544279e-01 3.68349441e-03 -2.35285508e+02] [-4.13135149e-03 3.29528837e-06 -9.99991466e-01 -8.06007832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.160385723 meters 0.014636844492551494 Centerline is valid? [True, True] Translation: X:-12.28, Y:-235.36, Z:-8.06 [[-3.85355611e-01 -9.22766779e-01 1.58899451e-03 -1.22783024e+01] [-9.22758899e-01 3.85358887e-01 3.81350207e-03 -2.35362688e+02] [-4.13130618e-03 3.29559920e-06 -9.99991466e-01 -8.06008019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.190385723 meters 0.014652962834426256 Centerline is valid? [True, True] Translation: X:-12.34, Y:-235.45, Z:-8.06 [[-3.13439251e-01 -9.49607884e-01 8.38810042e-04 -1.23405625e+01] [-9.49604503e-01 3.13440373e-01 2.53370694e-03 -2.35447450e+02] [-2.66894501e-03 -2.37458946e-06 -9.99996438e-01 -8.06043793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2203857229999 meters 0.014769956069197733 Centerline is valid? [True, True] Translation: X:-12.40, Y:-235.54, Z:-8.06 [[-2.38033967e-01 -9.71256653e-01 5.87381494e-04 -1.23973074e+01] [-9.71253798e-01 2.38034692e-01 2.35481978e-03 -2.35541571e+02] [-2.42695155e-03 -9.96941270e-06 -9.99997055e-01 -8.06097430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.250385723 meters 0.014813989766382747 Centerline is valid? [True, True] Translation: X:-12.45, Y:-235.64, Z:-8.06 [[-1.62813314e-01 -9.86656747e-01 5.37543473e-04 -1.24467134e+01] [-9.86651710e-01 1.62814200e-01 3.15268662e-03 -2.35636099e+02] [-3.19813923e-03 -1.70688324e-05 -9.99994886e-01 -8.06025633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.280385723 meters 0.015067232767350978 Centerline is valid? [True, True] Translation: X:-12.49, Y:-235.74, Z:-8.06 [[-8.64253031e-02 -9.96258280e-01 3.27267435e-04 -1.24896632e+01] [-9.96252145e-01 8.64259195e-02 3.49640058e-03 -2.35738171e+02] [-3.51160242e-03 -2.38634034e-05 -9.99993834e-01 -8.05947609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.310385723 meters 0.015134394532088029 Centerline is valid? [True, True] Translation: X:-12.52, Y:-235.85, Z:-8.06 [[-8.53003939e-03 -9.99963616e-01 7.68901362e-05 -1.25215888e+01] [-9.99954223e-01 8.53029255e-03 4.33439686e-03 -2.35845274e+02] [-4.33489505e-03 -3.99140404e-05 -9.99990604e-01 -8.05928644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3403857229999 meters 0.01525607158575691 Centerline is valid? [True, True] Translation: X:-12.55, Y:-235.95, Z:-8.06 [[ 6.74529433e-02 -9.97722417e-01 -2.81348146e-04 -1.25468211e+01] [-9.97710629e-01 -6.74535141e-02 4.85018749e-03 -2.35950973e+02] [-4.85811871e-03 -4.64553866e-05 -9.99988198e-01 -8.05881889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.370385723 meters 0.015335041031507074 Centerline is valid? [True, True] Translation: X:-12.56, Y:-236.06, Z:-8.06 [[ 1.42515912e-01 -9.89792230e-01 -7.45985745e-04 -1.25627880e+01] [-9.89776679e-01 -1.42517855e-01 5.54862311e-03 -2.36063880e+02] [-5.59830033e-03 -5.24077913e-05 -9.99984328e-01 -8.05826028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.400385723 meters 0.015152659255680764 Centerline is valid? [True, True] Translation: X:-12.57, Y:-236.17, Z:-8.06 [[ 2.15466654e-01 -9.76510519e-01 -1.15193259e-03 -1.25692369e+01] [-9.76495473e-01 -2.15469729e-01 5.42094893e-03 -2.36171463e+02] [-5.54182026e-03 -4.31767668e-05 -9.99984643e-01 -8.05830862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.430385723 meters 0.01501407116452705 Centerline is valid? [True, True] Translation: X:-12.57, Y:-236.28, Z:-8.06 [[ 2.87560263e-01 -9.57761554e-01 -1.37871628e-03 -1.25691541e+01] [-9.57750001e-01 -2.87563566e-01 4.70426594e-03 -2.36280690e+02] [-4.90203363e-03 -3.22944349e-05 -9.99987985e-01 -8.05887730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.460385723 meters 0.014756241126905576 Centerline is valid? [True, True] Translation: X:-12.56, Y:-236.39, Z:-8.06 [[ 3.56038828e-01 -9.34470181e-01 -1.35458941e-03 -1.25562506e+01] [-9.34463285e-01 -3.56041404e-01 3.58979440e-03 -2.36389197e+02] [-3.83684574e-03 -1.22921190e-05 -9.99992639e-01 -8.06092533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.490385723 meters 0.014666004705538693 Centerline is valid? [True, True] Translation: X:-12.54, Y:-236.50, Z:-8.06 [[ 4.23922713e-01 -9.05697192e-01 -1.45941030e-03 -1.25387173e+01] [-9.05691791e-01 -4.23925225e-01 3.12795968e-03 -2.36497501e+02] [-3.45166514e-03 -4.23722608e-06 -9.99994043e-01 -8.06123559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.520385723 meters 0.014643915024698268 Centerline is valid? [True, True] Translation: X:-12.51, Y:-236.60, Z:-8.06 [[ 4.89126194e-01 -8.72211230e-01 -1.77125841e-03 -1.25136918e+01] [-8.72205541e-01 -4.89129401e-01 3.15019111e-03 -2.36602329e+02] [-3.61400662e-03 4.06040884e-06 -9.99993470e-01 -8.06122288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.550385723 meters 0.01478058898037349 Centerline is valid? [True, True] Translation: X:-12.48, Y:-236.70, Z:-8.06 [[ 5.49416415e-01 -8.35543169e-01 -3.03574816e-03 -1.24795101e+01] [-8.35530759e-01 -5.49424800e-01 4.55403514e-03 -2.36702859e+02] [-5.47300828e-03 3.43993109e-05 -9.99985022e-01 -8.06033968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.580385723 meters 0.016238482607310225 Centerline is valid? [True, True] Translation: X:-12.44, Y:-236.80, Z:-8.06 [[ 6.06156170e-01 -7.95332425e-01 -4.58597417e-03 -1.24385658e+01] [-7.95310800e-01 -6.06173511e-01 5.86575132e-03 -2.36798920e+02] [-7.44511829e-03 9.17134267e-05 -9.99972281e-01 -8.05763620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.610385723 meters 0.01567282011899685 Centerline is valid? [True, True] Translation: X:-12.40, Y:-236.89, Z:-8.06 [[ 6.62184887e-01 -7.49322402e-01 -5.20708439e-03 -1.23960507e+01] [-7.49300619e-01 -6.62205349e-01 5.71480711e-03 -2.36889583e+02] [-7.73039212e-03 1.17412652e-04 -9.99970113e-01 -8.05885530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.640385723 meters 0.016052413989227916 Centerline is valid? [True, True] Translation: X:-12.35, Y:-236.97, Z:-8.06 [[ 7.14667154e-01 -6.99440664e-01 -5.79801251e-03 -1.23498319e+01] [-6.99419258e-01 -7.14690659e-01 5.47388886e-03 -2.36974493e+02] [-7.97244584e-03 1.43233037e-04 -9.99968209e-01 -8.05889046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.670385723 meters 0.016927311705830922 Centerline is valid? [True, True] Translation: X:-12.35, Y:-236.99, Z:-8.06 [[ 7.65765222e-01 -6.43088060e-01 -6.43208161e-03 -1.23494875e+01] [-6.43067186e-01 -7.65792217e-01 5.18414669e-03 -2.36987189e+02] [-8.25950088e-03 1.66421377e-04 -9.99965876e-01 -8.05887664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.700385723 meters 0.016867788650254036 Centerline is valid? [True, True] Translation: X:-12.35, Y:-237.00, Z:-8.06 [[ 8.12744282e-01 -5.82578708e-01 -6.98434065e-03 -1.23485083e+01] [-5.82559132e-01 -8.12774271e-01 4.77935394e-03 -2.37001956e+02] [-8.46104222e-03 1.84398841e-04 -9.99964188e-01 -8.05955205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.730385723 meters 0.016975727376782702 Centerline is valid? [True, True] Translation: X:-12.35, Y:-237.02, Z:-8.06 [[ 8.55922511e-01 -5.17054004e-01 -7.19802381e-03 -1.23471695e+01] [-5.17037468e-01 -8.55952758e-01 4.13909520e-03 -2.37016120e+02] [-8.30130408e-03 1.78903247e-04 -9.99965528e-01 -8.05980417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.760385723 meters 0.016540309035229756 Centerline is valid? [True, True] Translation: X:-12.35, Y:-237.03, Z:-8.06 [[ 8.93893880e-01 -4.48219136e-01 -7.30322086e-03 -1.23455497e+01] [-4.48205733e-01 -8.93923697e-01 3.47054814e-03 -2.37033113e+02] [-8.08408828e-03 1.71043712e-04 -9.99967309e-01 -8.06072363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.790385723 meters 0.016215252107285864 Centerline is valid? [True, True] Translation: X:-12.34, Y:-237.05, Z:-8.06 [[ 9.27030825e-01 -3.74926038e-01 -6.65694336e-03 -1.23416506e+01] [-3.74917411e-01 -9.27054717e-01 2.54700194e-03 -2.37049393e+02] [-7.12628809e-03 1.34654656e-04 -9.99974599e-01 -8.06180243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.820385723 meters 0.016066805483733095 Centerline is valid? [True, True] Translation: X:-12.34, Y:-237.06, Z:-8.06 [[ 9.53797874e-01 -3.00377410e-01 -6.55954100e-03 -1.23363141e+01] [-3.00371188e-01 -9.53820421e-01 1.93723643e-03 -2.37064726e+02] [-6.83852622e-03 1.22565134e-04 -9.99976610e-01 -8.06208672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.850385723 meters 0.01571716505144024 Centerline is valid? [True, True] Translation: X:-12.33, Y:-237.08, Z:-8.06 [[ 9.74702886e-01 -2.23399965e-01 -6.83660763e-03 -1.23304467e+01] [-2.23395293e-01 -9.74726855e-01 1.44942600e-03 -2.37082215e+02] [-6.98762678e-03 1.14506259e-04 -9.99975580e-01 -8.06216806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.880385723 meters 0.015767968860693288 Centerline is valid? [True, True] Translation: X:-12.32, Y:-237.10, Z:-8.06 [[ 9.89235446e-01 -1.46178740e-01 -6.70887692e-03 -1.23236043e+01] [-1.46176121e-01 -9.89258189e-01 8.81651261e-04 -2.37098172e+02] [-6.76569010e-03 1.08516926e-04 -9.99977107e-01 -8.06176559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.910385723 meters 0.015995068437849674 Centerline is valid? [True, True] Translation: X:-12.32, Y:-237.11, Z:-8.06 [[ 9.97634779e-01 -6.84618146e-02 -6.15046646e-03 -1.23193064e+01] [-6.84611294e-02 -9.97653733e-01 3.22124478e-04 -2.37112378e+02] [-6.15808905e-03 9.97052977e-05 -9.99981034e-01 -8.06177712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.940385723 meters 0.01605713584670279 Centerline is valid? [True, True] Translation: X:-12.31, Y:-237.13, Z:-8.06 [[ 9.99941113e-01 9.20405975e-03 -5.74936896e-03 -1.23132883e+01] [ 9.20335064e-03 -9.99957637e-01 -1.49781583e-04 -2.37125635e+02] [-5.75050399e-03 9.68593045e-05 -9.99983461e-01 -8.06188825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9703857229999 meters 0.015949331708269832 Centerline is valid? [True, True] Translation: X:-12.31, Y:-237.14, Z:-8.06 [[ 9.96215930e-01 8.67389409e-02 -5.49336479e-03 -1.23060838e+01] [ 8.67370846e-02 -9.96231071e-01 -5.75708050e-04 -2.37140336e+02] [-5.52259700e-03 9.70510833e-05 -9.99984746e-01 -8.06232109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.000385723 meters 0.016352006201821204 Centerline is valid? [True, True] Translation: X:-12.30, Y:-237.15, Z:-8.06 [[ 9.86533391e-01 1.63489127e-01 -4.81395796e-03 -1.22990085e+01] [ 1.63486731e-01 -9.86545132e-01 -8.89747488e-04 -2.37152877e+02] [-4.89465083e-03 9.07473560e-05 -9.99988017e-01 -8.06300749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.030385723 meters 0.016617933968612032 Centerline is valid? [True, True] Translation: X:-12.29, Y:-237.16, Z:-8.06 [[ 9.70857743e-01 2.39622075e-01 -4.06253724e-03 -1.22916353e+01] [ 2.39619631e-01 -9.70866239e-01 -1.08540262e-03 -2.37164707e+02] [-4.20426668e-03 8.03078687e-05 -9.99991159e-01 -8.06354271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.060385723 meters 0.016924228104566234 Centerline is valid? [True, True] Translation: X:-12.28, Y:-237.17, Z:-8.06 [[ 9.49600966e-01 3.13437631e-01 -3.85443859e-03 -1.22821557e+01] [ 3.13434687e-01 -9.49608785e-01 -1.36112968e-03 -2.37174832e+02] [-4.08683801e-03 8.44153100e-05 -9.99991645e-01 -8.06359652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0903857229999 meters 0.017587686151575844 Centerline is valid? [True, True] Translation: X:-12.27, Y:-237.18, Z:-8.06 [[ 9.22493510e-01 3.85988395e-01 -4.32238132e-03 -1.22720928e+01] [ 3.85983636e-01 -9.22503631e-01 -1.91932836e-03 -2.37183763e+02] [-4.72825093e-03 1.02199493e-04 -9.99988817e-01 -8.06267367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.120385723 meters 0.017781993366740075 Centerline is valid? [True, True] Translation: X:-12.26, Y:-237.19, Z:-8.06 [[ 8.89740757e-01 4.56447065e-01 -4.17877432e-03 -1.22623597e+01] [ 4.56441469e-01 -8.89750564e-01 -2.26271189e-03 -2.37190831e+02] [-4.75087501e-03 1.05861101e-04 -9.99988709e-01 -8.06235614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.150385723 meters 0.017611941038827423 Centerline is valid? [True, True] Translation: X:-12.25, Y:-237.20, Z:-8.06 [[ 8.51744886e-01 5.23941632e-01 -3.97683058e-03 -1.22511002e+01] [ 5.23935316e-01 -8.51754163e-01 -2.57508752e-03 -2.37198063e+02] [-4.73647756e-03 1.09715635e-04 -9.99988777e-01 -8.06203834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.180385723 meters 0.017701392279998646 Centerline is valid? [True, True] Translation: X:-12.24, Y:-237.20, Z:-8.06 [[ 8.08621686e-01 5.88318985e-01 -3.42642222e-03 -1.22395379e+01] [ 5.88313156e-01 -8.08628939e-01 -2.62104068e-03 -2.37204117e+02] [-4.31271216e-03 1.03621071e-04 -9.99990695e-01 -8.06242473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.210385723 meters 0.018170637183859514 Centerline is valid? [True, True] Translation: X:-12.23, Y:-237.21, Z:-8.06 [[ 7.60306898e-01 6.49557419e-01 -2.92935470e-03 -1.22287441e+01] [ 6.49552107e-01 -7.60312535e-01 -2.62871823e-03 -2.37208947e+02] [-3.93472853e-03 9.58640803e-05 -9.99992254e-01 -8.06268781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.240385723 meters 0.01784898214252019 Centerline is valid? [True, True] Translation: X:-12.21, Y:-237.21, Z:-8.06 [[ 7.07224561e-01 7.06984865e-01 -2.41270126e-03 -1.22149939e+01] [ 7.06980334e-01 -7.07228671e-01 -2.53276955e-03 -2.37214981e+02] [-3.49696124e-03 8.55044967e-05 -9.99993882e-01 -8.06227751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.270385723 meters 0.018090263102408802 Centerline is valid? [True, True] Translation: X:-12.20, Y:-237.22, Z:-8.06 [[ 6.49409827e-01 7.60434904e-01 -2.37340375e-03 -1.22035908e+01] [ 7.60429309e-01 -6.49414158e-01 -2.91854768e-03 -2.37218870e+02] [-3.76068753e-03 9.05277695e-05 -9.99992925e-01 -8.06180223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.300385723 meters 0.017878009688092073 Centerline is valid? [True, True] Translation: X:-12.19, Y:-237.22, Z:-8.06 [[ 5.87336782e-01 8.09340275e-01 -1.95542221e-03 -1.21909931e+01] [ 8.09335326e-01 -5.87340031e-01 -2.83153224e-03 -2.37220669e+02] [-3.44017082e-03 8.04707669e-05 -9.99994079e-01 -8.06192501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.330385723 meters 0.01758387000415876 Centerline is valid? [True, True] Translation: X:-12.18, Y:-237.22, Z:-8.06 [[ 5.20422366e-01 8.53907877e-01 -1.37771060e-03 -1.21758566e+01] [ 8.53904583e-01 -5.20424186e-01 -2.37264422e-03 -2.37223258e+02] [-2.74301351e-03 5.83437220e-05 -9.99996236e-01 -8.06224848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.360385723 meters 0.016843494158587664 Centerline is valid? [True, True] Translation: X:-12.16, Y:-237.22, Z:-8.06 [[ 4.50642671e-01 8.92703911e-01 -9.54436825e-04 -1.21613287e+01] [ 8.92701701e-01 -4.50643680e-01 -1.98683537e-03 -2.37224520e+02] [-2.20376663e-03 4.33254217e-05 -9.99997571e-01 -8.06327036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.390385723 meters 0.016623803554702724 Centerline is valid? [True, True] Translation: X:-12.15, Y:-237.22, Z:-8.06 [[ 3.77847337e-01 9.25867649e-01 -6.98199950e-04 -1.21464760e+01] [ 9.25865894e-01 -3.77847980e-01 -1.80267555e-03 -2.37223959e+02] [-1.93285241e-03 3.46966345e-05 -9.99998132e-01 -8.06389264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.420385723 meters 0.01594265050018156 Centerline is valid? [True, True] Translation: X:-12.13, Y:-237.22, Z:-8.06 [[ 3.01497976e-01 9.53466658e-01 -5.49730661e-04 -1.21262979e+01] [ 9.53464893e-01 -3.01498476e-01 -1.83464304e-03 -2.37223954e+02] [-1.91501392e-03 2.89922776e-05 -9.99998166e-01 -8.06366917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.450385723 meters 0.01587722239072378 Centerline is valid? [True, True] Translation: X:-12.11, Y:-237.22, Z:-8.06 [[ 2.24183737e-01 9.74546847e-01 -3.10008577e-04 -1.21102814e+01] [ 9.74545792e-01 -2.24183951e-01 -1.43405097e-03 -2.37222521e+02] [-1.46704880e-03 1.93733514e-05 -9.99998924e-01 -8.06370486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.480385723 meters 0.01572655022989799 Centerline is valid? [True, True] Translation: X:-12.10, Y:-237.22, Z:-8.06 [[ 1.45125333e-01 9.89413278e-01 -6.25063996e-05 -1.20958789e+01] [ 9.89413172e-01 -1.45125347e-01 -4.56229746e-04 -2.37218611e+02] [-4.60471031e-04 4.36583869e-06 -9.99999894e-01 -8.06463220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.510385723 meters 0.015576106288159194 Centerline is valid? [True, True] Translation: X:-12.08, Y:-237.21, Z:-8.06 [[ 6.68233788e-02 9.97764820e-01 -1.67367397e-05 -1.20805819e+01] [ 9.97764780e-01 -6.68233809e-02 -2.82121077e-04 -2.37214196e+02] [-2.82608892e-04 2.15295427e-06 -9.99999960e-01 -8.06468080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.540385723 meters 0.01610490598084995 Centerline is valid? [True, True] Translation: X:-12.07, Y:-237.21, Z:-8.06 [[-1.18715987e-02 9.99929530e-01 1.20464371e-05 -1.20687622e+01] [ 9.99929367e-01 1.18716036e-02 -5.71466819e-04 -2.37208921e+02] [-5.71569558e-04 5.26136148e-06 -9.99999837e-01 -8.06360064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.570385723 meters 0.016164667262342648 Centerline is valid? [True, True] Translation: X:-12.07, Y:-237.20, Z:-8.06 [[-9.00943035e-02 9.95933229e-01 1.41519534e-04 -1.20660666e+01] [ 9.95932243e-01 9.00944135e-02 -1.40164434e-03 -2.37203579e+02] [-1.40869429e-03 1.46636960e-05 -9.99999008e-01 -8.06296817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.600385723 meters 0.01574372097528207 Centerline is valid? [True, True] Translation: X:-12.05, Y:-237.20, Z:-8.06 [[-1.67640618e-01 9.85848092e-01 4.02883042e-04 -1.20544514e+01] [ 9.85845586e-01 1.67641100e-01 -2.22295017e-03 -2.37196267e+02] [-2.25903095e-03 2.45237274e-05 -9.99997448e-01 -8.06271195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.630385723 meters 0.015589294087299818 Centerline is valid? [True, True] Translation: X:-12.04, Y:-237.19, Z:-8.06 [[-2.45172655e-01 9.69479192e-01 6.81737998e-04 -1.20427426e+01] [ 9.69475745e-01 2.45173601e-01 -2.58564943e-03 -2.37187616e+02] [-2.67387748e-03 2.69979191e-05 -9.99996425e-01 -8.06172239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.660385723 meters 0.015602187385618315 Centerline is valid? [True, True] Translation: X:-12.03, Y:-237.18, Z:-8.06 [[-3.21035312e-01 9.47066800e-01 8.97001625e-04 -1.20334357e+01] [ 9.47063322e-01 3.21036565e-01 -2.56678002e-03 -2.37179596e+02] [-2.71888246e-03 2.54903129e-05 -9.99996304e-01 -8.06159058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.690385723 meters 0.015525535414788072 Centerline is valid? [True, True] Translation: X:-12.03, Y:-237.17, Z:-8.06 [[-3.95204411e-01 9.18592713e-01 9.49505460e-04 -1.20257811e+01] [ 9.18590179e-01 3.95205551e-01 -2.15763920e-03 -2.37170049e+02] [-2.35724147e-03 1.94978640e-05 -9.99997222e-01 -8.06196625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7203857229999 meters 0.015451329616225092 Centerline is valid? [True, True] Translation: X:-12.02, Y:-237.16, Z:-8.06 [[-4.66493302e-01 8.84524135e-01 1.02687537e-03 -1.20198381e+01] [ 8.84522069e-01 4.66494432e-01 -1.91180679e-03 -2.37161112e+02] [-2.17007089e-03 1.64488593e-05 -9.99997645e-01 -8.06247822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.750385723 meters 0.015335148339282848 Centerline is valid? [True, True] Translation: X:-12.01, Y:-237.15, Z:-8.06 [[-5.35761644e-01 8.44368995e-01 6.79467496e-04 -1.20136145e+01] [ 8.44368332e-01 5.35762074e-01 -1.05784806e-03 -2.37149876e+02] [-1.25724702e-03 6.96642173e-06 -9.99999210e-01 -8.06271231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.780385723 meters 0.015209132086712207 Centerline is valid? [True, True] Translation: X:-12.01, Y:-237.14, Z:-8.06 [[-6.00859499e-01 7.99354292e-01 7.60499106e-04 -1.20089399e+01] [ 7.99353664e-01 6.00859980e-01 -1.00176172e-03 -2.37139983e+02] [-1.25771601e-03 5.98970350e-06 -9.99999209e-01 -8.06235248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.810385723 meters 0.015125330592928074 Centerline is valid? [True, True] Translation: X:-12.00, Y:-237.13, Z:-8.06 [[-6.62831334e-01 7.48767819e-01 1.17320781e-03 -1.20037619e+01] [ 7.48766662e-01 6.62832372e-01 -1.31625977e-03 -2.37127455e+02] [-1.76321307e-03 6.00067239e-06 -9.99998446e-01 -8.06178652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8403857229999 meters 0.015075543628474922 Centerline is valid? [True, True] Translation: X:-12.00, Y:-237.12, Z:-8.06 [[-7.20130264e-01 6.93836166e-01 1.94357779e-03 -1.19993175e+01] [ 6.93833666e-01 7.20132887e-01 -1.86286762e-03 -2.37116563e+02] [-2.69215921e-03 7.01234950e-06 -9.99996376e-01 -8.06145213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.870385723 meters 0.015111144457137236 Centerline is valid? [True, True] Translation: X:-11.99, Y:-237.09, Z:-8.06 [[-7.68448334e-01 6.39906251e-01 2.67345385e-03 -1.19871059e+01] [ 6.39902397e-01 7.68452985e-01 -2.22088032e-03 -2.37091041e+02] [-3.47557878e-03 4.11774704e-06 -9.99993960e-01 -8.06086296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.900385723 meters 0.015069939234163353 Centerline is valid? [True, True] Translation: X:-11.98, Y:-237.06, Z:-8.06 [[-8.12397351e-01 5.83096862e-01 2.93150797e-03 -1.19757584e+01] [ 5.83093070e-01 8.12402640e-01 -2.10284932e-03 -2.37064768e+02] [-3.60772966e-03 9.92765508e-07 -9.99993492e-01 -8.06109027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.930385723 meters 0.015023962251977106 Centerline is valid? [True, True] Translation: X:-11.97, Y:-237.04, Z:-8.06 [[-8.51718006e-01 5.23991927e-01 2.98308093e-03 -1.19662776e+01] [ 5.23988715e-01 8.51723230e-01 -1.83445171e-03 -2.37037730e+02] [-3.50199721e-03 6.65194190e-07 -9.99993868e-01 -8.06117921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.960385723 meters 0.015021436165667775 Centerline is valid? [True, True] Translation: X:-11.96, Y:-237.01, Z:-8.06 [[-8.87056492e-01 4.61652379e-01 2.80366566e-03 -1.19619303e+01] [ 4.61650067e-01 8.87060923e-01 -1.46121857e-03 -2.37008529e+02] [-3.16159727e-03 -1.87098186e-06 -9.99995002e-01 -8.06186310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.990385723 meters 0.01499597366553476 Centerline is valid? [True, True] Translation: X:-11.72, Y:-236.54, Z:-9.01 [[-8.53279270e-01 -5.21450251e-01 2.03041681e-03 -1.17194173e+01] [ 5.21448646e-01 -8.53281685e-01 -1.29457276e-03 -2.36544807e+02] [ 2.40757276e-03 -4.58740077e-05 9.99997101e-01 -9.00568466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.020385723 meters 0.014941926280319998 Centerline is valid? [True, True] Translation: X:-12.00, Y:-236.99, Z:-8.06 [[-8.89224470e-01 4.57466861e-01 1.97804129e-03 -1.20035034e+01] [ 4.57465720e-01 8.89226670e-01 -1.02187812e-03 -2.36992093e+02] [-2.22640245e-03 -3.79294677e-06 -9.99997522e-01 -8.06318033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.050385723 meters 0.014941926280319998 Centerline is valid? [True, True] Translation: X:-12.00, Y:-236.96, Z:-8.06 [[-9.19425403e-01 3.93259130e-01 2.04550186e-03 -1.19975750e+01] [ 3.93258148e-01 9.19427679e-01 -8.79028308e-04 -2.36962845e+02] [-2.22637693e-03 -3.79068595e-06 -9.99997522e-01 -8.06318062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.080385723 meters 0.015037237242378007 Centerline is valid? [True, True] Translation: X:-11.99, Y:-236.93, Z:-8.06 [[-9.45010557e-01 3.27037187e-01 1.31369092e-03 -1.19931694e+01] [ 3.27036867e-01 9.45011470e-01 -4.57499922e-04 -2.36934742e+02] [-1.39107247e-03 -2.71689383e-06 -9.99999033e-01 -8.06401496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.110385723 meters 0.01504055241448152 Centerline is valid? [True, True] Translation: X:-11.82, Y:-236.43, Z:-9.00 [[-9.19636698e-01 -3.92767480e-01 1.43216735e-03 -1.18206805e+01] [ 3.92767025e-01 -9.19637813e-01 -5.97381404e-04 -2.36431618e+02] [ 1.55170724e-03 1.31342491e-05 9.99998796e-01 -9.00483522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.140385723 meters 0.015011115906126145 Centerline is valid? [True, True] Translation: X:-12.04, Y:-236.92, Z:-8.06 [[-9.46383823e-01 3.23038420e-01 1.95903706e-03 -1.20423789e+01] [ 3.23037718e-01 9.46385851e-01 -6.73740590e-04 -2.36921173e+02] [-2.07164906e-03 -4.77433320e-06 -9.99997854e-01 -8.06330955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.170385723 meters 0.01497061887769925 Centerline is valid? [True, True] Translation: X:-12.05, Y:-236.89, Z:-8.06 [[-9.66920875e-01 2.55056469e-01 3.19689757e-03 -1.20455070e+01] [ 2.55055049e-01 9.66926159e-01 -8.50969174e-04 -2.36893347e+02] [-3.30820909e-03 -7.43498939e-06 -9.99994528e-01 -8.06251734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.200385723 meters 0.014975465803245613 Centerline is valid? [True, True] Translation: X:-11.91, Y:-236.37, Z:-9.01 [[-9.46381911e-01 -3.23029960e-01 3.59487037e-03 -1.19056715e+01] [ 3.23027784e-01 -9.46388738e-01 -1.18619752e-03 -2.36368163e+02] [ 3.78532217e-03 3.86471362e-05 9.99992835e-01 -9.00661347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.230385723 meters 0.014960778010960511 Centerline is valid? [True, True] Translation: X:-12.09, Y:-236.89, Z:-8.06 [[-9.67699180e-01 2.52073292e-01 4.16574194e-03 -1.20919395e+01] [ 2.52070928e-01 9.67708146e-01 -1.09171662e-03 -2.36885704e+02] [-4.30641501e-03 -6.39084210e-06 -9.99990727e-01 -8.06199471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.260385723 meters 0.01493346722592022 Centerline is valid? [True, True] Translation: X:-11.96, Y:-236.35, Z:-9.01 [[-9.48027608e-01 -3.18166518e-01 3.70414761e-03 -1.19580279e+01] [ 3.18164012e-01 -9.48034845e-01 -1.26288505e-03 -2.36349532e+02] [ 3.91346874e-03 -1.87234293e-05 9.99992342e-01 -9.00683609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.290385723 meters 0.014866637170156322 Centerline is valid? [True, True] Translation: X:-12.14, Y:-236.88, Z:-8.06 [[-9.68362630e-01 2.49515236e-01 3.99558619e-03 -1.21433276e+01] [ 2.49513106e-01 9.68370873e-01 -1.03094168e-03 -2.36878039e+02] [-4.12644494e-03 -1.37428060e-06 -9.99991486e-01 -8.06150180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.320385723 meters 0.014891117513767343 Centerline is valid? [True, True] Translation: X:-12.00, Y:-236.34, Z:-9.01 [[-9.49228878e-01 -3.14556252e-01 4.34757960e-03 -1.19994840e+01] [ 3.14553097e-01 -9.49238834e-01 -1.40924339e-03 -2.36336157e+02] [ 4.57017771e-03 2.98501054e-05 9.99989556e-01 -9.00749629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.350385723 meters 0.014870672336412179 Centerline is valid? [True, True] Translation: X:-12.19, Y:-236.87, Z:-8.06 [[-9.69470513e-01 2.45155964e-01 5.04751864e-03 -1.21879309e+01] [ 2.45152613e-01 9.69483653e-01 -1.28185504e-03 -2.36871829e+02] [-5.20774122e-03 -5.30827515e-06 -9.99986440e-01 -8.06104793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.380385723 meters 0.014910617607773543 Centerline is valid? [True, True] Translation: X:-12.05, Y:-236.32, Z:-9.01 [[-9.49620458e-01 -3.13362480e-01 4.99416429e-03 -1.20496566e+01] [ 3.13358194e-01 -9.49633590e-01 -1.63900151e-03 -2.36318290e+02] [ 5.25622775e-03 8.53294062e-06 9.99986186e-01 -9.00736985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.410385723 meters 0.014901868192330072 Centerline is valid? [True, True] Translation: X:-12.24, Y:-236.86, Z:-8.06 [[-9.71214401e-01 2.38164202e-01 4.51659007e-03 -1.22408374e+01] [ 2.38161528e-01 9.71224903e-01 -1.12888634e-03 -2.36864288e+02] [-4.65548506e-03 -2.07126781e-05 -9.99989163e-01 -8.06246559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.440385723 meters 0.014857489461541735 Centerline is valid? [True, True] Translation: X:-12.10, Y:-236.30, Z:-9.01 [[-9.49748702e-01 -3.12990467e-01 3.79094265e-03 -1.21014118e+01] [ 3.12987868e-01 -9.49756267e-01 -1.27573920e-03 -2.36301373e+02] [ 3.99976575e-03 -2.51125911e-05 9.99992001e-01 -9.00501517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4703857229999 meters 0.015088276573519114 Centerline is valid? [True, True] Translation: X:-12.29, Y:-236.86, Z:-8.06 [[-9.72764777e-01 2.31769215e-01 3.42346695e-03 -1.22901975e+01] [ 2.31767687e-01 9.72770801e-01 -8.41798480e-04 -2.36856342e+02] [-3.52535166e-03 -2.54228929e-05 -9.99993786e-01 -8.06323268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.500385723 meters 0.015329664530058061 Centerline is valid? [True, True] Translation: X:-12.29, Y:-236.83, Z:-8.06 [[-9.86769836e-01 1.62087185e-01 3.61053540e-03 -1.22923857e+01] [ 1.62086002e-01 9.86776441e-01 -6.19937076e-04 -2.36830249e+02] [-3.66327513e-03 -2.65179595e-05 -9.99993290e-01 -8.06307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.530385723 meters 0.01502558743502487 Centerline is valid? [True, True] Translation: X:-12.29, Y:-236.81, Z:-8.06 [[-9.95738421e-01 9.21373172e-02 3.96375827e-03 -1.22946413e+01] [ 9.21364812e-02 9.95746310e-01 -3.93383641e-04 -2.36805460e+02] [-3.98314299e-03 -2.65004661e-05 -9.99992067e-01 -8.06449986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.560385723 meters 0.014908874977046214 Centerline is valid? [True, True] Translation: X:-12.24, Y:-236.20, Z:-9.00 [[-9.85267357e-01 -1.70977035e-01 3.88432135e-03 -1.22380744e+01] [ 1.70975800e-01 -9.85275014e-01 -6.50367003e-04 -2.36203905e+02] [ 3.93832260e-03 2.33395713e-05 9.99992245e-01 -9.00367232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5903857229999 meters 0.014872654241982551 Centerline is valid? [True, True] Translation: X:-12.35, Y:-236.81, Z:-8.07 [[-9.95953355e-01 8.97788527e-02 4.08315502e-03 -1.23536661e+01] [ 8.97780159e-02 9.95961725e-01 -3.88145129e-04 -2.36806138e+02] [-4.10151334e-03 -1.99968873e-05 -9.99991589e-01 -8.06533426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.620385723 meters 0.014837182195768009 Centerline is valid? [True, True] Translation: X:-12.29, Y:-236.19, Z:-9.00 [[-9.86634595e-01 -1.62905471e-01 3.73946636e-03 -1.22912227e+01] [ 1.62904298e-01 -9.86641682e-01 -6.18210857e-04 -2.36192543e+02] [ 3.79022331e-03 -7.73077962e-07 9.99992817e-01 -9.00368272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.650385723 meters 0.014745498843055985 Centerline is valid? [True, True] Translation: X:-12.41, Y:-236.81, Z:-8.06 [[-9.95889681e-01 9.04793897e-02 4.15002780e-03 -1.24097371e+01] [ 9.04786044e-02 9.95898328e-01 -3.76962429e-04 -2.36808140e+02] [-4.16711308e-03 7.57300328e-08 -9.99991318e-01 -8.06408563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.680385723 meters 0.014879721221963512 Centerline is valid? [True, True] Translation: X:-12.41, Y:-236.78, Z:-8.06 [[-9.99714737e-01 2.35081408e-02 4.22048248e-03 -1.24108516e+01] [ 2.35080032e-02 9.99723645e-01 -8.21998829e-05 -2.36783872e+02] [-4.22124849e-03 1.70386815e-05 -9.99991090e-01 -8.06490833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.710385723 meters 0.015114353274519921 Centerline is valid? [True, True] Translation: X:-12.40, Y:-236.15, Z:-9.00 [[-9.96741602e-01 -8.05539456e-02 4.15215169e-03 -1.23969103e+01] [ 8.05531620e-02 -9.96750250e-01 -3.55886051e-04 -2.36145120e+02] [ 4.16732626e-03 -2.02574846e-05 9.99991317e-01 -9.00405893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.740385723 meters 0.015325473313741227 Centerline is valid? [True, True] Translation: X:-12.48, Y:-236.79, Z:-8.07 [[-9.99728110e-01 2.29675287e-02 4.02473068e-03 -1.24808734e+01] [ 2.29674740e-02 9.99736211e-01 -5.98085482e-05 -2.36790023e+02] [-4.02504265e-03 3.26456104e-05 -9.99991899e-01 -8.06518590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.770385723 meters 0.01558014571578825 Centerline is valid? [True, True] Translation: X:-12.48, Y:-236.77, Z:-8.07 [[-9.99012077e-01 -4.42512419e-02 4.08622965e-03 -1.24810175e+01] [-4.42506678e-02 9.99020433e-01 2.30836703e-04 -2.36765864e+02] [-4.09244173e-03 4.97902629e-05 -9.99991625e-01 -8.06592483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.800385723 meters 0.016104624163106422 Centerline is valid? [True, True] Translation: X:-12.52, Y:-236.10, Z:-9.00 [[-9.99985230e-01 3.56859691e-03 4.09939831e-03 -1.25191233e+01] [-3.56876957e-03 -9.99993631e-01 -3.48057234e-05 -2.36104389e+02] [ 4.09924799e-03 -4.94350173e-05 9.99991597e-01 -9.00365643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.830385723 meters 0.016382610678861362 Centerline is valid? [True, True] Translation: X:-12.58, Y:-236.78, Z:-8.06 [[-9.98946048e-01 -4.56978398e-02 4.30123624e-03 -1.25764058e+01] [-4.56971093e-02 9.98955306e-01 2.68003780e-04 -2.36775122e+02] [-4.30898995e-03 7.11672543e-05 -9.99990714e-01 -8.06446562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.860385723 meters 0.017274385355128537 Centerline is valid? [True, True] Translation: X:-12.58, Y:-236.75, Z:-8.06 [[-9.93651588e-01 -1.12383231e-01 5.15088695e-03 -1.25832961e+01] [-1.12381148e-01 9.93664932e-01 6.93065168e-04 -2.36752089e+02] [-5.19614463e-03 1.09802716e-04 -9.99986494e-01 -8.06341505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.890385723 meters 0.01783164797945184 Centerline is valid? [True, True] Translation: X:-12.61, Y:-236.73, Z:-8.06 [[-9.83441339e-01 -1.81149334e-01 5.29638791e-03 -1.26094684e+01] [-1.81146016e-01 9.83455593e-01 1.10362345e-03 -2.36730468e+02] [-5.40868296e-03 1.25929352e-04 -9.99985365e-01 -8.06341799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.920385723 meters 0.01904503062173174 Centerline is valid? [True, True] Translation: X:-12.77, Y:-236.06, Z:-9.01 [[-9.86330175e-01 1.64699880e-01 5.17063450e-03 -1.27734294e+01] [-1.64698324e-01 -9.86343719e-01 7.28211640e-04 -2.36056377e+02] [ 5.21995923e-03 -1.33337721e-04 9.99986367e-01 -9.00510988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.950385723 meters 0.018889695284492292 Centerline is valid? [True, True] Translation: X:-12.75, Y:-236.77, Z:-8.06 [[-9.83226694e-01 -1.82314708e-01 5.15904790e-03 -1.27488452e+01] [-1.82311379e-01 9.83240217e-01 1.11230514e-03 -2.36766238e+02] [-5.27537297e-03 1.53094969e-04 -9.99986073e-01 -8.06430655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.980385723 meters 0.01852313689921576 Centerline is valid? [True, True] Translation: X:-12.79, Y:-236.75, Z:-8.07 [[-9.67669765e-01 -2.52171228e-01 4.98981295e-03 -1.27903437e+01] [-2.52167044e-01 9.67682617e-01 1.46087723e-03 -2.36746286e+02] [-5.19694646e-03 1.55380344e-04 -9.99986484e-01 -8.06505432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.010385723 meters 0.018483460043152836 Centerline is valid? [True, True] Translation: X:-12.86, Y:-236.74, Z:-8.07 [[-9.46658711e-01 -3.22215210e-01 3.82673014e-03 -1.28559458e+01] [-3.22212047e-01 9.46666437e-01 1.43323242e-03 -2.36737115e+02] [-4.08444627e-03 1.23763408e-04 -9.99991651e-01 -8.06529365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.040385723 meters 0.018511589141770857 Centerline is valid? [True, True] Translation: X:-12.93, Y:-236.73, Z:-8.07 [[-9.20319625e-01 -3.91151060e-01 3.55480068e-03 -1.29263281e+01] [-3.91147642e-01 9.20326482e-01 1.63953346e-03 -2.36734726e+02] [-3.91288246e-03 1.18442911e-04 -9.99992338e-01 -8.06530911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.070385723 meters 0.01873709990222717 Centerline is valid? [True, True] Translation: X:-13.00, Y:-236.74, Z:-8.07 [[-8.88486797e-01 -4.58890733e-01 3.24131686e-03 -1.30047021e+01] [-4.58887223e-01 8.88492703e-01 1.79807178e-03 -2.36741795e+02] [-3.70500485e-03 1.10164145e-04 -9.99993130e-01 -8.06530755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.100385723 meters 0.01884655322892755 Centerline is valid? [True, True] Translation: X:-13.09, Y:-236.76, Z:-8.07 [[-8.51376987e-01 -5.24545678e-01 3.00956134e-03 -1.30898773e+01] [-5.24541962e-01 8.51382300e-01 1.97729613e-03 -2.36758679e+02] [-3.59946939e-03 1.04783217e-04 -9.99993516e-01 -8.06532721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.130385723 meters 0.01906989082377293 Centerline is valid? [True, True] Translation: X:-13.18, Y:-236.79, Z:-8.06 [[-8.09333033e-01 -5.87341359e-01 3.18896910e-03 -1.31808178e+01] [-5.87336232e-01 8.09339308e-01 2.45672852e-03 -2.36785812e+02] [-4.02389631e-03 1.15314449e-04 -9.99991898e-01 -8.06486055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.160385723 meters 0.01932264962572156 Centerline is valid? [True, True] Translation: X:-13.27, Y:-236.83, Z:-8.06 [[-7.62776138e-01 -6.46654100e-01 3.32238736e-03 -1.32744892e+01] [-6.46647224e-01 7.62783363e-01 2.98468812e-03 -2.36825310e+02] [-4.46432261e-03 1.28236307e-04 -9.99990027e-01 -8.06439791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.190385723 meters 0.01917903462394998 Centerline is valid? [True, True] Translation: X:-13.37, Y:-236.87, Z:-8.06 [[-7.11373888e-01 -7.02808243e-01 2.78645676e-03 -1.33675592e+01] [-7.02802216e-01 7.11379336e-01 2.91293976e-03 -2.36872686e+02] [-4.02946583e-03 1.13861299e-04 -9.99991875e-01 -8.06497811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2203857229999 meters 0.018746463184006343 Centerline is valid? [True, True] Translation: X:-13.46, Y:-236.93, Z:-8.07 [[-6.55425021e-01 -7.55255478e-01 2.68408219e-03 -1.34609368e+01] [-7.55248408e-01 6.55430507e-01 3.26991268e-03 -2.36931247e+02] [-4.22884882e-03 1.16033785e-04 -9.99991052e-01 -8.06502800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.250385723 meters 0.01825023874399208 Centerline is valid? [True, True] Translation: X:-13.55, Y:-237.00, Z:-8.07 [[-5.93988148e-01 -8.04469846e-01 2.51919392e-03 -1.35513785e+01] [-8.04461821e-01 5.93993480e-01 3.59504231e-03 -2.36998674e+02] [-4.38848790e-03 1.08817197e-04 -9.99990365e-01 -8.06552998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.280385723 meters 0.01791544221080418 Centerline is valid? [True, True] Translation: X:-13.64, Y:-237.08, Z:-8.07 [[-5.29428196e-01 -8.48351975e-01 2.17068370e-03 -1.36382344e+01] [-8.48344072e-01 5.29432637e-01 3.66322865e-03 -2.37076091e+02] [-4.25693805e-03 9.79298892e-05 -9.99990934e-01 -8.06531117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.310385723 meters 0.017646953571789303 Centerline is valid? [True, True] Translation: X:-13.72, Y:-237.17, Z:-8.07 [[-4.61207068e-01 -8.87290467e-01 1.91523689e-03 -1.37218266e+01] [-8.87281986e-01 4.61211036e-01 3.88032904e-03 -2.37165224e+02] [-4.32630735e-03 9.02799848e-05 -9.99990637e-01 -8.06524954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3403857229999 meters 0.01765366481249073 Centerline is valid? [True, True] Translation: X:-13.80, Y:-237.26, Z:-8.06 [[-3.89723530e-01 -9.20930626e-01 1.53371259e-03 -1.37955984e+01] [-9.20922715e-01 3.89726541e-01 3.81789503e-03 -2.37256096e+02] [-4.11374496e-03 7.54927609e-05 -9.99991536e-01 -8.06479800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.370385723 meters 0.01651759832204695 Centerline is valid? [True, True] Translation: X:-13.87, Y:-237.36, Z:-8.06 [[-3.15842939e-01 -9.48810584e-01 1.30931674e-03 -1.38667528e+01] [-9.48801497e-01 3.15845645e-01 4.15301466e-03 -2.37357829e+02] [-4.35396625e-03 6.94186696e-05 -9.99990519e-01 -8.06469714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.400385723 meters 0.015464015024966601 Centerline is valid? [True, True] Translation: X:-13.93, Y:-237.47, Z:-8.06 [[-2.37198003e-01 -9.71460678e-01 1.12164371e-03 -1.39300769e+01] [-9.71448729e-01 2.37200649e-01 4.81862094e-03 -2.37466542e+02] [-4.94715539e-03 5.33479077e-05 -9.99987761e-01 -8.06499217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.430385723 meters 0.015242911181924494 Centerline is valid? [True, True] Translation: X:-13.98, Y:-237.58, Z:-8.06 [[-1.59747227e-01 -9.87157614e-01 8.18004854e-04 -1.39824288e+01] [-9.87143165e-01 1.59749315e-01 5.34113565e-03 -2.37582088e+02] [-5.40321844e-03 4.57437110e-05 -9.99985402e-01 -8.06490784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.460385723 meters 0.015061711971928706 Centerline is valid? [True, True] Translation: X:-14.03, Y:-237.70, Z:-8.06 [[-8.16414167e-02 -9.96661675e-01 4.30467378e-04 -1.40255683e+01] [-9.96645276e-01 8.16425428e-02 5.71747219e-03 -2.37695559e+02] [-5.73352986e-03 3.77592505e-05 -9.99983563e-01 -8.06475751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.490385723 meters 0.01479836627470072 Centerline is valid? [True, True] Translation: X:-14.06, Y:-237.82, Z:-8.06 [[-2.54623286e-03 -9.99996758e-01 -9.46445886e-06 -1.40599600e+01] [-9.99980159e-01 2.54613606e-03 5.76176414e-03 -2.37816930e+02] [-5.76172136e-03 2.41350643e-05 -9.99983401e-01 -8.06492757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.520385723 meters 0.014727400395079 Centerline is valid? [True, True] Translation: X:-14.08, Y:-237.94, Z:-8.06 [[ 7.47675463e-02 -9.97200893e-01 -4.38446667e-04 -1.40842564e+01] [-9.97185317e-01 -7.47688290e-02 5.57371606e-03 -2.37939337e+02] [-5.59089678e-03 2.04795052e-05 -9.99984371e-01 -8.06480597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.550385723 meters 0.014843713817210403 Centerline is valid? [True, True] Translation: X:-14.10, Y:-238.07, Z:-8.06 [[ 1.51183781e-01 -9.88505226e-01 -9.39726488e-04 -1.40973791e+01] [-9.88487019e-01 -1.51186700e-01 5.99965660e-03 -2.38071105e+02] [-6.07276604e-03 2.18566652e-05 -9.99981560e-01 -8.06485781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.580385723 meters 0.014820950095501438 Centerline is valid? [True, True] Translation: X:-14.10, Y:-238.18, Z:-8.07 [[ 2.25759439e-01 -9.74182227e-01 -1.28981028e-03 -1.41013778e+01] [-9.74166963e-01 -2.25763122e-01 5.45358033e-03 -2.38184552e+02] [-5.60397263e-03 2.52933263e-05 -9.99984297e-01 -8.06607231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.610385723 meters 0.014890677200357178 Centerline is valid? [True, True] Translation: X:-14.09, Y:-238.31, Z:-8.07 [[ 2.98647786e-01 -9.54362059e-01 -1.59994699e-03 -1.40938925e+01] [-9.54348903e-01 -2.98652070e-01 5.01129947e-03 -2.38311531e+02] [-5.26042156e-03 3.02941658e-05 -9.99986163e-01 -8.06700314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.640385723 meters 0.01508764208837539 Centerline is valid? [True, True] Translation: X:-14.08, Y:-238.43, Z:-8.07 [[ 3.68489235e-01 -9.29630333e-01 -1.76856810e-03 -1.40781806e+01] [-9.29620137e-01 -3.68493477e-01 4.35407790e-03 -2.38430660e+02] [-4.69938869e-03 3.96656850e-05 -9.99988957e-01 -8.06795821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.670385723 meters 0.015328252098803672 Centerline is valid? [True, True] Translation: X:-14.06, Y:-238.55, Z:-8.07 [[ 4.37066068e-01 -8.99426776e-01 -2.17438309e-03 -1.40551068e+01] [-8.99416208e-01 -4.37071473e-01 4.36027027e-03 -2.38548118e+02] [-4.87210465e-03 4.99492149e-05 -9.99988130e-01 -8.06715772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.700385723 meters 0.015531348085945796 Centerline is valid? [True, True] Translation: X:-14.02, Y:-238.66, Z:-8.07 [[ 5.03419081e-01 -8.64038008e-01 -2.74748595e-03 -1.40240884e+01] [-8.64025815e-01 -5.03426575e-01 4.59081379e-03 -2.38662090e+02] [-5.34979504e-03 6.27955270e-05 -9.99985688e-01 -8.06680306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.730385723 meters 0.015835163626315304 Centerline is valid? [True, True] Translation: X:-13.98, Y:-238.77, Z:-8.07 [[ 5.66617994e-01 -8.23972827e-01 -3.58181495e-03 -1.39846471e+01] [-8.23957279e-01 -5.66629308e-01 5.06254292e-03 -2.38771055e+02] [-6.20095913e-03 8.27345886e-05 -9.99980771e-01 -8.06604053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.760385723 meters 0.015894645763588712 Centerline is valid? [True, True] Translation: X:-13.94, Y:-238.88, Z:-8.07 [[ 6.27752514e-01 -7.78401930e-01 -4.14938098e-03 -1.39392545e+01] [-7.78385831e-01 -6.27766221e-01 5.00699073e-03 -2.38875989e+02] [-6.50229246e-03 8.66683422e-05 -9.99978856e-01 -8.06593502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.790385723 meters 0.016000029900059044 Centerline is valid? [True, True] Translation: X:-13.89, Y:-238.98, Z:-8.07 [[ 6.85351133e-01 -7.28193814e-01 -5.25292515e-03 -1.38854716e+01] [-7.28173533e-01 -6.85371256e-01 5.43569675e-03 -2.38976247e+02] [-7.55844466e-03 9.96801433e-05 -9.99971430e-01 -8.06587420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.820385723 meters 0.016086390267938396 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.07, Z:-8.07 [[ 7.38646018e-01 -6.74068454e-01 -5.81198181e-03 -1.38301816e+01] [-6.74048683e-01 -7.38668876e-01 5.16375703e-03 -2.39068732e+02] [-7.77385579e-03 1.03370118e-04 -9.99969778e-01 -8.06594615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.850385723 meters 0.016175876847197315 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.08, Z:-8.07 [[ 7.89102674e-01 -6.14224527e-01 -6.72317255e-03 -1.38326908e+01] [-6.14203439e-01 -7.89131306e-01 5.09094811e-03 -2.39076357e+02] [-8.43245113e-03 1.12114937e-04 -9.99964440e-01 -8.06578173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.880385723 meters 0.016207071358907973 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.08, Z:-8.07 [[ 8.34762549e-01 -5.50560976e-01 -7.35516982e-03 -1.38338786e+01] [-5.50540813e-01 -8.34794944e-01 4.71325244e-03 -2.39081239e+02] [-8.73499144e-03 1.14874553e-04 -9.99961843e-01 -8.06584965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.910385723 meters 0.016359347208155767 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.09, Z:-8.07 [[ 8.75179888e-01 -4.83740484e-01 -7.43697054e-03 -1.38346347e+01] [-4.83724102e-01 -8.75211478e-01 3.98267423e-03 -2.39086495e+02] [-8.43550274e-03 1.11885511e-04 -9.99964414e-01 -8.06650746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.940385723 meters 0.016300504048907812 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.09, Z:-8.07 [[ 9.10429072e-01 -4.13604123e-01 -7.10868975e-03 -1.38346412e+01] [-4.13592379e-01 -9.10456819e-01 3.11846079e-03 -2.39091657e+02] [-7.76196330e-03 1.00962544e-04 -9.99969870e-01 -8.06704554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9703857229999 meters 0.016300504048907812 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.10, Z:-8.07 [[ 9.39965751e-01 -3.41190048e-01 -7.33062044e-03 -1.38355333e+01] [-3.41180508e-01 -9.39994330e-01 2.55339081e-03 -2.39098293e+02] [-7.76193318e-03 1.00964898e-04 -9.99969871e-01 -8.06704586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.000385723 meters 0.016091519289073708 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.11, Z:-8.07 [[ 9.63935595e-01 -2.66024356e-01 -7.69483090e-03 -1.38358937e+01] [-2.66016693e-01 -9.63966303e-01 2.02151765e-03 -2.39105097e+02] [-7.95533062e-03 9.83406491e-05 -9.99968351e-01 -8.06774953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.030385723 meters 0.016068338147216758 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.11, Z:-8.07 [[ 9.81913381e-01 -1.89165761e-01 -7.90113621e-03 -1.38362309e+01] [-1.89160403e-01 -9.81945165e-01 1.42687289e-03 -2.39112071e+02] [-8.02839799e-03 9.35165222e-05 -9.99967768e-01 -8.06739473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.060385723 meters 0.016058196668972072 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.12, Z:-8.07 [[ 9.93808863e-01 -1.10783168e-01 -8.42811199e-03 -1.38399527e+01] [-1.10779959e-01 -9.93844596e-01 8.48154507e-04 -2.39116517e+02] [-8.47019480e-03 9.07624303e-05 -9.99964123e-01 -8.06662717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0903857229999 meters 0.01583440058855007 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.12, Z:-8.07 [[ 9.99467508e-01 -3.15258335e-02 -8.41558498e-03 -1.38422159e+01] [-3.15253951e-02 -9.99502934e-01 1.84768839e-04 -2.39122915e+02] [-8.41722688e-03 8.06341904e-05 -9.99964571e-01 -8.06686422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.120385723 meters 0.015874272157027598 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.13, Z:-8.07 [[ 9.98793014e-01 4.82345125e-02 -9.27074293e-03 -1.38453930e+01] [ 4.82317288e-02 -9.98836036e-01 -5.23745697e-04 -2.39126678e+02] [-9.28521473e-03 7.59695855e-05 -9.99956889e-01 -8.06676316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.150385723 meters 0.015709800781008074 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.13, Z:-8.07 [[ 9.91914158e-01 1.26582960e-01 -9.11361920e-03 -1.38472209e+01] [ 1.26576947e-01 -9.91956022e-01 -1.23589710e-03 -2.39134155e+02] [-9.19675295e-03 7.23297375e-05 -9.99957706e-01 -8.06764793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.180385723 meters 0.015723645507408745 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.14, Z:-8.07 [[ 9.78840522e-01 2.04427605e-01 -8.97701436e-03 -1.38486335e+01] [ 2.04418382e-01 -9.78881683e-01 -1.94302502e-03 -2.39139860e+02] [-9.18464287e-03 6.68448782e-05 -9.99957818e-01 -8.06897928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.210385723 meters 0.01552165932216816 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.15, Z:-8.07 [[ 9.59659869e-01 2.81023826e-01 -8.86257833e-03 -1.38481197e+01] [ 2.81011250e-01 -9.59700790e-01 -2.65924921e-03 -2.39151685e+02] [-9.25273581e-03 6.14905323e-05 -9.99957191e-01 -8.06966356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.240385723 meters 0.015506415340456344 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.16, Z:-8.07 [[ 9.34579656e-01 3.55638115e-01 -9.07730886e-03 -1.38467816e+01] [ 3.55620702e-01 -9.34623736e-01 -3.51972610e-03 -2.39163239e+02] [-9.73561707e-03 6.13854600e-05 -9.99952606e-01 -8.06885912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.270385723 meters 0.01549184599517825 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.17, Z:-8.07 [[ 9.03137853e-01 4.29237706e-01 -9.84940292e-03 -1.38461210e+01] [ 4.29211569e-01 -9.03191558e-01 -4.73704748e-03 -2.39172890e+02] [-1.09292170e-02 5.07292114e-05 -9.99940273e-01 -8.06800510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.300385723 meters 0.015465579585532636 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.18, Z:-8.07 [[ 8.66458688e-01 4.99158167e-01 -9.51133223e-03 -1.38456973e+01] [ 4.99127534e-01 -8.66510890e-01 -5.53017079e-03 -2.39181996e+02] [-1.10021029e-02 4.42967311e-05 -9.99939474e-01 -8.06754803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.330385723 meters 0.015441741022750564 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.19, Z:-8.07 [[ 8.24435261e-01 5.65880383e-01 -9.26785351e-03 -1.38433860e+01] [ 5.65844092e-01 -8.24487350e-01 -6.40879991e-03 -2.39190745e+02] [-1.12678421e-02 3.94804624e-05 -9.99936515e-01 -8.06746833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.360385723 meters 0.015350818640973655 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.20, Z:-8.07 [[ 7.76648422e-01 6.29871142e-01 -8.92036796e-03 -1.38389163e+01] [ 6.29829260e-01 -7.76699648e-01 -7.26360876e-03 -2.39201072e+02] [-1.15035842e-02 2.29615319e-05 -9.99933831e-01 -8.06733379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.390385723 meters 0.015362992774881741 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.21, Z:-8.07 [[ 7.24480115e-01 6.89245837e-01 -8.29087399e-03 -1.38339654e+01] [ 6.89200466e-01 -7.24527553e-01 -7.90837930e-03 -2.39210702e+02] [-1.14577842e-02 1.53893255e-05 -9.99934357e-01 -8.06742519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.420385723 meters 0.015338614333174004 Centerline is valid? [True, True] Translation: X:-13.83, Y:-239.22, Z:-8.07 [[ 6.67809227e-01 7.44294177e-01 -7.55075377e-03 -1.38286667e+01] [ 7.44246471e-01 -6.67851913e-01 -8.42688267e-03 -2.39220423e+02] [-1.13148651e-02 7.92815646e-06 -9.99935985e-01 -8.06850544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.450385723 meters 0.015337558621630191 Centerline is valid? [True, True] Translation: X:-13.82, Y:-239.23, Z:-8.07 [[ 6.07408019e-01 7.94361183e-01 -6.76827903e-03 -1.38233908e+01] [ 7.94311757e-01 -6.07445727e-01 -8.86128819e-03 -2.39230351e+02] [-1.11504255e-02 6.29389567e-06 -9.99937832e-01 -8.06859341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.480385723 meters 0.015318939146996807 Centerline is valid? [True, True] Translation: X:-13.82, Y:-239.24, Z:-8.07 [[ 5.43294862e-01 8.39521229e-01 -5.89905439e-03 -1.38170617e+01] [ 8.39471633e-01 -5.43326887e-01 -9.12528109e-03 -2.39238663e+02] [-1.08659821e-02 5.62951346e-06 -9.99940964e-01 -8.06881231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.510385723 meters 0.015338704472038828 Centerline is valid? [True, True] Translation: X:-13.81, Y:-239.25, Z:-8.07 [[ 4.76325235e-01 8.79254751e-01 -5.03514658e-03 -1.38113260e+01] [ 8.79205387e-01 -4.76351847e-01 -9.31690034e-03 -2.39246456e+02] [-1.05904303e-02 1.09467522e-05 -9.99943920e-01 -8.06980175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.540385723 meters 0.015285694128511135 Centerline is valid? [True, True] Translation: X:-13.81, Y:-239.26, Z:-8.07 [[ 4.06374200e-01 9.13696186e-01 -4.39202310e-03 -1.38053530e+01] [ 9.13642417e-01 -4.06397933e-01 -9.91229643e-03 -2.39255664e+02] [-1.08417365e-02 1.53629264e-05 -9.99941227e-01 -8.06979224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.570385723 meters 0.01533563846868803 Centerline is valid? [True, True] Translation: X:-13.80, Y:-239.26, Z:-8.07 [[ 3.33972333e-01 9.42575486e-01 -3.73274782e-03 -1.37990911e+01] [ 9.42515932e-01 -3.33993192e-01 -1.05955768e-02 -2.39263870e+02] [-1.12338433e-02 2.04552220e-05 -9.99936898e-01 -8.06939356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.600385723 meters 0.015375694571353583 Centerline is valid? [True, True] Translation: X:-13.79, Y:-239.27, Z:-8.07 [[ 2.59404770e-01 9.65764107e-01 -2.97586839e-03 -1.37898753e+01] [ 9.65699476e-01 -2.59421838e-01 -1.11728047e-02 -2.39271443e+02] [-1.15622990e-02 2.44842862e-05 -9.99933154e-01 -8.06966994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.630385723 meters 0.016494360732553854 Centerline is valid? [True, True] Translation: X:-13.78, Y:-239.28, Z:-8.07 [[ 1.82781344e-01 9.83150836e-01 -2.32682395e-03 -1.37822217e+01] [ 9.83069484e-01 -1.82796152e-01 -1.26473920e-02 -2.39278911e+02] [-1.28596285e-02 2.42776853e-05 -9.99917311e-01 -8.06731710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.660385723 meters 0.015282016625689312 Centerline is valid? [True, True] Translation: X:-13.77, Y:-239.29, Z:-8.07 [[ 1.04859872e-01 9.94486114e-01 -1.33283215e-03 -1.37718092e+01] [ 9.94403406e-01 -1.04868341e-01 -1.28256448e-02 -2.39285427e+02] [-1.28946975e-02 1.95226448e-05 -9.99916860e-01 -8.06904245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.690385723 meters 0.015281209252821166 Centerline is valid? [True, True] Translation: X:-13.76, Y:-239.29, Z:-8.07 [[ 2.64161725e-02 9.99650979e-01 -3.26047158e-04 -1.37620737e+01] [ 9.99566668e-01 -2.64181791e-02 -1.29828934e-02 -2.39291348e+02] [-1.29869757e-02 1.70524802e-05 -9.99915666e-01 -8.06883898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7203857229999 meters 0.01524734646377856 Centerline is valid? [True, True] Translation: X:-13.75, Y:-239.30, Z:-8.07 [[-5.18704312e-02 9.98653565e-01 7.17664061e-04 -1.37517523e+01] [ 9.98563063e-01 5.18753921e-02 -1.34444083e-02 -2.39296239e+02] [-1.34635353e-02 1.92655698e-05 -9.99909362e-01 -8.06888754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.750385723 meters 0.015262347109455041 Centerline is valid? [True, True] Translation: X:-13.74, Y:-239.30, Z:-8.07 [[-1.28919937e-01 9.91653606e-01 1.66580995e-03 -1.37430320e+01] [ 9.91573968e-01 1.28930695e-01 -1.25675177e-02 -2.39302259e+02] [-1.26773983e-02 3.15701915e-05 -9.99919638e-01 -8.06870204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.780385723 meters 0.015225608229862336 Centerline is valid? [True, True] Translation: X:-13.73, Y:-239.31, Z:-8.07 [[-2.05726950e-01 9.78605890e-01 2.63335449e-03 -1.37329206e+01] [ 9.78528022e-01 2.05743800e-01 -1.23450189e-02 -2.39306253e+02] [-1.26227046e-02 3.71080801e-05 -9.99920330e-01 -8.06965285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.810385723 meters 0.01533233987971887 Centerline is valid? [True, True] Translation: X:-13.72, Y:-239.31, Z:-8.07 [[-2.80856398e-01 9.59743173e-01 3.56716242e-03 -1.37230603e+01] [ 9.59667956e-01 2.80879047e-01 -1.20156090e-02 -2.39311572e+02] [-1.25338399e-02 4.86307941e-05 -9.99921447e-01 -8.06981293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8403857229999 meters 0.015340149821141727 Centerline is valid? [True, True] Translation: X:-13.71, Y:-239.31, Z:-8.07 [[-3.53870428e-01 9.35283818e-01 4.46105324e-03 -1.37131419e+01] [ 9.35211814e-01 3.53898540e-01 -1.16054433e-02 -2.39314648e+02] [-1.24331435e-02 6.52065181e-05 -9.99922703e-01 -8.07086079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.870385723 meters 0.015509973291382788 Centerline is valid? [True, True] Translation: X:-13.70, Y:-239.32, Z:-8.07 [[-4.24099722e-01 9.05601586e-01 5.01922105e-03 -1.37048942e+01] [ 9.05540555e-01 4.24129413e-01 -1.05139603e-02 -2.39319465e+02] [-1.16502584e-02 8.61405718e-05 -9.99932130e-01 -8.07200587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.900385723 meters 0.015715637458145512 Centerline is valid? [True, True] Translation: X:-13.69, Y:-239.32, Z:-8.07 [[-4.92897391e-01 8.70068897e-01 5.68115805e-03 -1.36938756e+01] [ 8.70013317e-01 4.92930122e-01 -9.83477947e-03 -2.39320671e+02] [-1.13573497e-02 9.51460179e-05 -9.99935499e-01 -8.07203622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.930385723 meters 0.015893911276068488 Centerline is valid? [True, True] Translation: X:-13.68, Y:-239.32, Z:-8.07 [[-5.58508537e-01 8.29474533e-01 6.34139043e-03 -1.36832137e+01] [ 8.29423233e-01 5.58544526e-01 -9.22566561e-03 -2.39321434e+02] [-1.11944036e-02 1.07083548e-04 -9.99937335e-01 -8.07137023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.960385723 meters 0.015934082492979406 Centerline is valid? [True, True] Translation: X:-13.67, Y:-239.32, Z:-8.07 [[-6.21662369e-01 7.83253123e-01 7.10238046e-03 -1.36719078e+01] [ 7.83204006e-01 6.21702930e-01 -8.77223625e-03 -2.39322297e+02] [-1.12864522e-02 1.09243658e-04 -9.99936300e-01 -8.07090586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.990385723 meters 0.015933003283826165 Centerline is valid? [True, True] Translation: X:-13.66, Y:-239.32, Z:-8.07 [[-6.81025636e-01 7.32219265e-01 7.68314538e-03 -1.36610188e+01] [ 7.32174470e-01 6.81068966e-01 -8.09993415e-03 -2.39322226e+02] [-1.11636797e-02 1.09140093e-04 -9.99937678e-01 -8.07051675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.020385723 meters 0.015936650678167193 Centerline is valid? [True, True] Translation: X:-13.65, Y:-239.32, Z:-8.07 [[-7.37072557e-01 6.75752462e-01 9.09150505e-03 -1.36501923e+01] [ 6.75702811e-01 7.37128618e-01 -8.19218782e-03 -2.39321120e+02] [-1.22374996e-02 1.04918698e-04 -9.99925114e-01 -8.06996710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.050385723 meters 0.015923356516392276 Centerline is valid? [True, True] Translation: X:-13.63, Y:-239.30, Z:-8.07 [[-7.83457123e-01 6.21374036e-01 9.44685488e-03 -1.36292489e+01] [ 6.21330260e-01 7.83514071e-01 -7.37626920e-03 -2.39300943e+02] [-1.19851659e-02 9.06261490e-05 -9.99928171e-01 -8.06911063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.080385723 meters 0.015845717840082253 Centerline is valid? [True, True] Translation: X:-13.12, Y:-238.66, Z:-9.00 [[-7.49482283e-01 -6.61956414e-01 9.48757186e-03 -1.31173878e+01] [ 6.61902484e-01 -7.49542329e-01 -8.44976281e-03 -2.38657311e+02] [ 1.27047114e-02 -5.31001446e-05 9.99919291e-01 -8.99982482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.110385723 meters 0.01574951165676077 Centerline is valid? [True, True] Translation: X:-13.66, Y:-239.28, Z:-8.07 [[-7.86819106e-01 6.17095447e-01 1.04357019e-02 -1.36620780e+01] [ 6.17042433e-01 7.86888304e-01 -8.08908034e-03 -2.39276259e+02] [-1.32034665e-02 7.46279523e-05 -9.99912828e-01 -8.06868827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.140385723 meters 0.015787626046776616 Centerline is valid? [True, True] Translation: X:-13.66, Y:-239.25, Z:-8.07 [[-8.29532250e-01 5.58337697e-01 1.16301911e-02 -1.36561264e+01] [ 5.58283720e-01 8.29613774e-01 -7.76371522e-03 -2.39245399e+02] [-1.39833416e-02 5.26942042e-05 -9.99902227e-01 -8.06803936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.170385723 meters 0.01579791098461373 Centerline is valid? [True, True] Translation: X:-13.62, Y:-239.23, Z:-8.07 [[-8.67212363e-01 4.97784426e-01 1.23847977e-02 -1.36206235e+01] [ 4.97734438e-01 8.67300792e-01 -7.05450918e-03 -2.39233522e+02] [-1.42529697e-02 4.65827606e-05 -9.99898420e-01 -8.06793802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.200385723 meters 0.015651937699173103 Centerline is valid? [True, True] Translation: X:-13.60, Y:-239.21, Z:-8.07 [[-9.00713283e-01 4.34242797e-01 1.21973426e-02 -1.36012817e+01] [ 4.34203438e-01 9.00795866e-01 -5.84654119e-03 -2.39210827e+02] [-1.35261342e-02 3.00707819e-05 -9.99908517e-01 -8.06894252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.230385723 meters 0.015493786950608416 Centerline is valid? [True, True] Translation: X:-13.59, Y:-239.18, Z:-8.07 [[-9.29201555e-01 3.69370601e-01 1.22404999e-02 -1.35929094e+01] [ 3.69338967e-01 9.29282174e-01 -4.83423290e-03 -2.39182873e+02] [-1.31605019e-02 2.89168623e-05 -9.99913396e-01 -8.07060989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.260385723 meters 0.01563665434713253 Centerline is valid? [True, True] Translation: X:-13.57, Y:-239.16, Z:-8.07 [[-9.52988334e-01 3.02758989e-01 1.22568165e-02 -1.35746958e+01] [ 3.02734366e-01 9.53067151e-01 -3.86135229e-03 -2.39158924e+02] [-1.28506283e-02 3.07358830e-05 -9.99917427e-01 -8.07142596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.290385723 meters 0.015872613860231283 Centerline is valid? [True, True] Translation: X:-13.33, Y:-238.37, Z:-9.00 [[-9.32827903e-01 -3.60124830e-01 1.19252030e-02 -1.33252034e+01] [ 3.60094941e-01 -9.32904125e-01 -4.63978145e-03 -2.38372175e+02] [ 1.27959716e-02 -3.39123201e-05 9.99918128e-01 -8.99732791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.320385723 meters 0.01586945102911084 Centerline is valid? [True, True] Translation: X:-13.63, Y:-239.15, Z:-8.07 [[-9.53441697e-01 3.01331854e-01 1.21673704e-02 -1.36274359e+01] [ 3.01308126e-01 9.53519329e-01 -3.78192475e-03 -2.39146564e+02] [-1.27414373e-02 6.02828343e-05 -9.99918823e-01 -8.07277697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.350385723 meters 0.016173505598616453 Centerline is valid? [True, True] Translation: X:-13.61, Y:-239.12, Z:-8.07 [[-9.71963328e-01 2.34784635e-01 1.27853192e-02 -1.36079873e+01] [ 2.34765493e-01 9.72047410e-01 -2.99923538e-03 -2.39124259e+02] [-1.31321108e-02 8.64049733e-05 -9.99913766e-01 -8.07218248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.380385723 meters 0.016487559613028276 Centerline is valid? [True, True] Translation: X:-13.41, Y:-238.31, Z:-9.00 [[-9.58035484e-01 -2.86359407e-01 1.28957681e-02 -1.34092696e+01] [ 2.86332527e-01 -9.58122271e-01 -3.92413390e-03 -2.38312685e+02] [ 1.34794353e-02 -6.69816493e-05 9.99909146e-01 -8.99848139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.410385723 meters 0.016045630456284526 Centerline is valid? [True, True] Translation: X:-13.66, Y:-239.11, Z:-8.07 [[-9.72517228e-01 2.32436173e-01 1.35523742e-02 -1.36603714e+01] [ 2.32415235e-01 9.72611645e-01 -3.12191834e-03 -2.39113398e+02] [-1.39068437e-02 1.13658856e-04 -9.99903289e-01 -8.07283525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.440385723 meters 0.016403443516789955 Centerline is valid? [True, True] Translation: X:-13.47, Y:-238.30, Z:-9.00 [[-9.59885752e-01 -2.79996352e-01 1.48790799e-02 -1.34667840e+01] [ 2.79962263e-01 -9.60001064e-01 -4.36908608e-03 -2.38298799e+02] [ 1.55072606e-02 -2.82426086e-05 9.99879755e-01 -8.99588578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4703857229999 meters 0.01687244346284118 Centerline is valid? [True, True] Translation: X:-13.72, Y:-239.10, Z:-8.07 [[-9.72802474e-01 2.31090990e-01 1.58839735e-02 -1.37187095e+01] [ 2.31063118e-01 9.72932127e-01 -3.59326092e-03 -2.39104008e+02] [-1.62843984e-02 1.74667343e-04 -9.99867385e-01 -8.07155157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.500385723 meters 0.01712081467234799 Centerline is valid? [True, True] Translation: X:-13.70, Y:-239.08, Z:-8.07 [[-9.86474728e-01 1.63004170e-01 1.72410146e-02 -1.37005933e+01] [ 1.62983069e-01 9.86625357e-01 -2.63144307e-03 -2.39078699e+02] [-1.74393583e-02 2.14141381e-04 -9.99847900e-01 -8.07256546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.530385723 meters 0.016931841700784076 Centerline is valid? [True, True] Translation: X:-13.57, Y:-238.25, Z:-8.99 [[-9.78727405e-01 -2.04442126e-01 1.72070920e-02 -1.35662387e+01] [ 2.04406855e-01 -9.78878632e-01 -3.80294550e-03 -2.38246719e+02] [ 1.76211369e-02 -2.04799436e-04 9.99844715e-01 -8.99479147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.560385723 meters 0.017116029387957806 Centerline is valid? [True, True] Translation: X:-13.77, Y:-239.07, Z:-8.07 [[-9.87006658e-01 1.59681469e-01 1.78797354e-02 -1.37714856e+01] [ 1.59659683e-01 9.87168562e-01 -2.64858187e-03 -2.39067178e+02] [-1.80732421e-02 2.40504944e-04 -9.99836637e-01 -8.07364309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5903857229999 meters 0.017487981940124523 Centerline is valid? [True, True] Translation: X:-13.76, Y:-239.04, Z:-8.07 [[-9.95714961e-01 9.04730587e-02 1.91400644e-02 -1.37584203e+01] [ 9.04617782e-02 9.95898864e-01 -1.45612826e-03 -2.39038957e+02] [-1.91933088e-02 2.81555566e-04 -9.99815752e-01 -8.07331385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.620385723 meters 0.017847922433349782 Centerline is valid? [True, True] Translation: X:-13.69, Y:-238.20, Z:-9.00 [[-9.91651709e-01 -1.27481376e-01 1.93748964e-02 -1.36890466e+01] [ 1.27451869e-01 -9.91840930e-01 -2.75525697e-03 -2.38200491e+02] [ 1.95680592e-02 -2.62888525e-04 9.99808493e-01 -8.99648832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.650385723 meters 0.01848728268672721 Centerline is valid? [True, True] Translation: X:-13.85, Y:-239.03, Z:-8.07 [[-9.95979394e-01 8.72937906e-02 2.01206608e-02 -1.38457303e+01] [ 8.72829007e-02 9.96182552e-01 -1.42045884e-03 -2.39032723e+02] [-2.01678485e-02 3.41441900e-04 -9.99796550e-01 -8.07190426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.680385723 meters 0.01794083693710854 Centerline is valid? [True, True] Translation: X:-13.84, Y:-239.00, Z:-8.07 [[-9.99649689e-01 1.75693796e-02 1.97943407e-02 -1.38390704e+01] [ 1.75730243e-02 9.99845582e-01 1.01896712e-05 -2.39002549e+02] [-1.97911051e-02 3.58032533e-04 -9.99804073e-01 -8.07332619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.710385723 meters 0.01841208046540803 Centerline is valid? [True, True] Translation: X:-13.86, Y:-238.16, Z:-9.00 [[-9.98689699e-01 -4.75626973e-02 1.88858502e-02 -1.38587431e+01] [ 4.75466565e-02 -9.98868175e-01 -1.29772467e-03 -2.38161202e+02] [ 1.89261980e-02 -3.98065226e-04 9.99820804e-01 -8.99595056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.740385723 meters 0.01803187255497982 Centerline is valid? [True, True] Translation: X:-13.95, Y:-239.00, Z:-8.07 [[-9.99757754e-01 1.25083754e-02 1.81100238e-02 -1.39485677e+01] [ 1.25127987e-02 9.99921703e-01 1.30947211e-04 -2.39000123e+02] [-1.81069679e-02 3.57522572e-04 -9.99835992e-01 -8.07416136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.770385723 meters 0.018462362231677392 Centerline is valid? [True, True] Translation: X:-13.95, Y:-238.16, Z:-8.99 [[-9.99111584e-01 -3.88410745e-02 1.63527788e-02 -1.39511733e+01] [ 3.88287418e-02 -9.99245306e-01 -1.07111579e-03 -2.38163575e+02] [ 1.63820407e-02 -4.35206368e-04 9.99865711e-01 -8.99398928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.800385723 meters 0.018065788610829005 Centerline is valid? [True, True] Translation: X:-14.05, Y:-239.00, Z:-8.08 [[-9.99845104e-01 8.07189269e-03 1.56401273e-02 -1.40547202e+01] [ 8.07618334e-03 9.99967365e-01 2.11194346e-04 -2.38997313e+02] [-1.56379121e-02 3.37474169e-04 -9.99877663e-01 -8.07602547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.830385723 meters 0.0176864104545358 Centerline is valid? [True, True] Translation: X:-14.06, Y:-238.17, Z:-8.99 [[-9.99377507e-01 -3.19632088e-02 1.49315523e-02 -1.40556903e+01] [ 3.19541367e-02 -9.99488978e-01 -8.45820442e-04 -2.38166575e+02] [ 1.49509571e-02 -3.68169062e-04 9.99888160e-01 -8.99206963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.860385723 meters 0.0176864104545358 Centerline is valid? [True, True] Translation: X:-14.16, Y:-239.00, Z:-8.08 [[-9.99885684e-01 2.02736022e-03 1.49836032e-02 -1.41554983e+01] [ 2.03202075e-03 9.99997892e-01 2.95824016e-04 -2.38996443e+02] [-1.49829719e-02 3.26237191e-04 -9.99887696e-01 -8.07673887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.890385723 meters 0.018126904782558323 Centerline is valid? [True, True] Translation: X:-14.17, Y:-238.17, Z:-8.99 [[-9.99579200e-01 -2.51959189e-02 1.43732112e-02 -1.41663747e+01] [ 2.51882428e-02 -9.99682470e-01 -7.14860973e-04 -2.38168143e+02] [ 1.43866589e-02 -3.52524225e-04 9.99896445e-01 -8.99279611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.920385723 meters 0.01894672048052606 Centerline is valid? [True, True] Translation: X:-14.26, Y:-239.00, Z:-8.07 [[-9.99885370e-01 -3.77497807e-03 1.46627637e-02 -1.42600092e+01] [-3.76979059e-03 9.99992822e-01 3.81409177e-04 -2.38997454e+02] [-1.46640982e-02 3.26089907e-04 -9.99892423e-01 -8.07474289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.950385723 meters 0.017553947299357928 Centerline is valid? [True, True] Translation: X:-14.27, Y:-238.96, Z:-8.08 [[-9.97001078e-01 -7.60182021e-02 1.44942778e-02 -1.42672357e+01] [-7.60056551e-02 9.97106382e-01 1.41534868e-03 -2.38963590e+02] [-1.45599291e-02 3.09457086e-04 -9.99893951e-01 -8.07534535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.980385723 meters 0.01776325878148273 Centerline is valid? [True, True] Translation: X:-14.28, Y:-238.94, Z:-8.07 [[-9.88916690e-01 -1.47805454e-01 1.40473238e-02 -1.42841151e+01] [-1.47786301e-01 9.89016411e-01 2.39754073e-03 -2.38935429e+02] [-1.42474034e-02 2.94966021e-04 -9.99898457e-01 -8.07414518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.010385723 meters 0.016889588691346887 Centerline is valid? [True, True] Translation: X:-14.32, Y:-238.91, Z:-8.07 [[-9.75581894e-01 -2.19230998e-01 1.33318202e-02 -1.43177403e+01] [-2.19206642e-01 9.75672944e-01 3.27954410e-03 -2.38909435e+02] [-1.37264740e-02 2.77040308e-04 -9.99905749e-01 -8.07471250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.040385723 meters 0.017613946867637127 Centerline is valid? [True, True] Translation: X:-14.37, Y:-238.89, Z:-8.07 [[-9.56483078e-01 -2.91495248e-01 1.30629920e-02 -1.43706646e+01] [-2.91464321e-01 9.56572241e-01 4.25418016e-03 -2.38893557e+02] [-1.37357688e-02 2.61655248e-04 -9.99905626e-01 -8.07174328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.070385723 meters 0.01658460057332832 Centerline is valid? [True, True] Translation: X:-14.44, Y:-238.89, Z:-8.07 [[-9.32077282e-01 -3.62032387e-01 1.28253985e-02 -1.44425034e+01] [-3.61994394e-01 9.32165483e-01 5.25085138e-03 -2.38886546e+02] [-1.38563721e-02 2.51476921e-04 -9.99903964e-01 -8.07285374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.100385723 meters 0.01618829943269837 Centerline is valid? [True, True] Translation: X:-14.52, Y:-238.89, Z:-8.07 [[-9.01898906e-01 -4.31766457e-01 1.24935991e-02 -1.45173172e+01] [-4.31721437e-01 9.01985406e-01 6.23928057e-03 -2.38887990e+02] [-1.39629562e-02 2.33445737e-04 -9.99902486e-01 -8.07337492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.130385723 meters 0.017151084662372897 Centerline is valid? [True, True] Translation: X:-14.60, Y:-238.90, Z:-8.07 [[-8.66798552e-01 -4.98527038e-01 1.14482458e-02 -1.46019103e+01] [-4.98480249e-01 8.66874123e-01 6.83340153e-03 -2.38902941e+02] [-1.33308235e-02 2.16458109e-04 -9.99911117e-01 -8.07185991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.160385723 meters 0.016396231043829614 Centerline is valid? [True, True] Translation: X:-14.69, Y:-238.92, Z:-8.07 [[-8.26480703e-01 -5.62877964e-01 9.90176511e-03 -1.46927457e+01] [-5.62834811e-01 8.26539994e-01 6.97238659e-03 -2.38924972e+02] [-1.21088076e-02 1.89484874e-04 -9.99926668e-01 -8.07329050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.190385723 meters 0.016626001333889986 Centerline is valid? [True, True] Translation: X:-14.79, Y:-238.96, Z:-8.07 [[-7.80924985e-01 -6.24574785e-01 7.90609284e-03 -1.47865251e+01] [-6.24540830e-01 7.80964990e-01 6.51429140e-03 -2.38958760e+02] [-1.02430439e-02 1.49495125e-04 -9.99947528e-01 -8.07312911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2203857229999 meters 0.015862111769448177 Centerline is valid? [True, True] Translation: X:-14.88, Y:-239.00, Z:-8.07 [[-7.31010485e-01 -6.82330310e-01 7.00131785e-03 -1.48793992e+01] [-6.82297230e-01 7.31044000e-01 6.72017548e-03 -2.38998799e+02] [-9.70365083e-03 1.35538964e-04 -9.99952909e-01 -8.07390259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.250385723 meters 0.01575537126117819 Centerline is valid? [True, True] Translation: X:-14.97, Y:-239.05, Z:-8.07 [[-6.76662706e-01 -7.36270326e-01 5.79561185e-03 -1.49735115e+01] [-7.36241816e-01 6.76687515e-01 6.48037810e-03 -2.39053855e+02] [-8.69312828e-03 1.18058381e-04 -9.99962207e-01 -8.07422819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.280385723 meters 0.015955549061861588 Centerline is valid? [True, True] Translation: X:-15.07, Y:-239.12, Z:-8.07 [[-6.18459722e-01 -7.85800933e-01 4.94633563e-03 -1.50655891e+01] [-7.85774368e-01 6.18479492e-01 6.46221244e-03 -2.39120151e+02] [-8.13721971e-03 1.09914357e-04 -9.99966886e-01 -8.07405435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.310385723 meters 0.015884563372945304 Centerline is valid? [True, True] Translation: X:-15.16, Y:-239.20, Z:-8.07 [[-5.56249041e-01 -8.31006449e-01 3.90980975e-03 -1.51584615e+01] [-8.30984716e-01 5.56262774e-01 6.01076184e-03 -2.39200187e+02] [-7.16986347e-03 9.44883686e-05 -9.99974292e-01 -8.07431864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3403857229999 meters 0.01589227707566654 Centerline is valid? [True, True] Translation: X:-15.24, Y:-239.28, Z:-8.07 [[-4.90571625e-01 -8.71396580e-01 2.73532219e-03 -1.52424534e+01] [-8.71382193e-01 4.90579245e-01 5.00789220e-03 -2.39280530e+02] [-5.70575243e-03 7.32187645e-05 -9.99983719e-01 -8.07405549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.370385723 meters 0.015912959742696377 Centerline is valid? [True, True] Translation: X:-15.32, Y:-239.38, Z:-8.07 [[-4.21844234e-01 -9.06665717e-01 2.17254729e-03 -1.53243947e+01] [-9.06652880e-01 4.21849824e-01 4.82515958e-03 -2.39377692e+02] [-5.29129546e-03 6.57194919e-05 -9.99985999e-01 -8.07402311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.400385723 meters 0.01581912983399513 Centerline is valid? [True, True] Translation: X:-15.40, Y:-239.48, Z:-8.07 [[-3.50879611e-01 -9.36418871e-01 1.78782504e-03 -1.53997421e+01] [-9.36405753e-01 3.50884159e-01 4.95703449e-03 -2.39484943e+02] [-5.26918013e-03 6.51926801e-05 -9.99986116e-01 -8.07347732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.430385723 meters 0.015758939710791467 Centerline is valid? [True, True] Translation: X:-15.46, Y:-239.57, Z:-8.07 [[-2.77622517e-01 -9.60689128e-01 1.46198118e-03 -1.54588930e+01] [-9.60674483e-01 2.77626358e-01 5.30505541e-03 -2.39574425e+02] [-5.50239356e-03 6.83148180e-05 -9.99984859e-01 -8.07196383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.460385723 meters 0.01608802116270288 Centerline is valid? [True, True] Translation: X:-15.51, Y:-239.69, Z:-8.07 [[-2.03736666e-01 -9.79024925e-01 1.25195823e-03 -1.55125935e+01] [-9.79003673e-01 2.03740494e-01 6.45125957e-03 -2.39686769e+02] [-6.57101851e-03 8.86864101e-05 -9.99978407e-01 -8.07132279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.490385723 meters 0.01608356575249624 Centerline is valid? [True, True] Translation: X:-15.56, Y:-239.80, Z:-8.07 [[-1.28509655e-01 -9.91707966e-01 7.60220784e-04 -1.55592917e+01] [-9.91685908e-01 1.28511867e-01 6.61506415e-03 -2.39800434e+02] [-6.65790921e-03 9.61993710e-05 -9.99977831e-01 -8.07111039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.520385723 meters 0.016209954561721 Centerline is valid? [True, True] Translation: X:-15.60, Y:-239.93, Z:-8.07 [[-5.22978829e-02 -9.98631494e-01 2.66541177e-04 -1.55978362e+01] [-9.98605700e-01 5.22984481e-02 7.17838185e-03 -2.39928288e+02] [-7.18249788e-03 1.09244635e-04 -9.99974200e-01 -8.07033583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.550385723 meters 0.01680081143154988 Centerline is valid? [True, True] Translation: X:-15.62, Y:-240.06, Z:-8.07 [[ 2.32615838e-02 -9.99729363e-01 -3.15418862e-04 -1.56246684e+01] [-9.99698668e-01 -2.32633416e-02 7.83515980e-03 -2.40060329e+02] [-7.84037701e-03 1.33065590e-04 -9.99969255e-01 -8.06861488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.580385723 meters 0.01668031533049756 Centerline is valid? [True, True] Translation: X:-15.64, Y:-240.18, Z:-8.07 [[ 9.97220289e-02 -9.95014986e-01 -8.32915862e-04 -1.56436377e+01] [-9.94990031e-01 -9.97254279e-02 7.04820536e-03 -2.40180389e+02] [-7.09613285e-03 1.25881641e-04 -9.99974814e-01 -8.06904032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.610385723 meters 0.01692344539340611 Centerline is valid? [True, True] Translation: X:-15.65, Y:-240.30, Z:-8.07 [[ 1.75252680e-01 -9.84522951e-01 -1.02789218e-03 -1.56513863e+01] [-9.84509192e-01 -1.75255666e-01 5.20600180e-03 -2.40303425e+02] [-5.30557218e-03 9.96035351e-05 -9.99985920e-01 -8.07063560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.640385723 meters 0.016934752660792675 Centerline is valid? [True, True] Translation: X:-15.65, Y:-240.43, Z:-8.07 [[ 2.50501342e-01 -9.68115294e-01 -1.36180064e-03 -1.56512041e+01] [-9.68103011e-01 -2.50505025e-01 4.87769414e-03 -2.40431097e+02] [-5.06330820e-03 9.64943715e-05 -9.99987177e-01 -8.07134953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.670385723 meters 0.01697003761379398 Centerline is valid? [True, True] Translation: X:-15.64, Y:-240.56, Z:-8.07 [[ 3.24847535e-01 -9.45765411e-01 -1.36619432e-03 -1.56413088e+01] [-9.45757984e-01 -3.24850400e-01 3.74874534e-03 -2.40558306e+02] [-3.98924245e-03 7.43185051e-05 -9.99992040e-01 -8.07137991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.700385723 meters 0.016478721620838563 Centerline is valid? [True, True] Translation: X:-15.62, Y:-240.69, Z:-8.07 [[ 3.98787546e-01 -9.17042557e-01 -1.20117437e-03 -1.56219571e+01] [-9.17038749e-01 -3.98789352e-01 2.64321513e-03 -2.40689846e+02] [-2.90295630e-03 4.74421657e-05 -9.99995785e-01 -8.07204451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.730385723 meters 0.01619117288178478 Centerline is valid? [True, True] Translation: X:-15.59, Y:-240.81, Z:-8.07 [[ 4.69601122e-01 -8.82878064e-01 -1.05386285e-03 -1.55946996e+01] [-8.82875991e-01 -4.69602304e-01 1.91316868e-03 -2.40811429e+02] [-2.18399108e-03 3.20040470e-05 -9.99997615e-01 -8.07259838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.760385723 meters 0.015597098987918476 Centerline is valid? [True, True] Translation: X:-15.56, Y:-240.93, Z:-8.07 [[ 5.37581063e-01 -8.43211740e-01 -7.50545688e-04 -1.55630294e+01] [-8.43210962e-01 -5.37581586e-01 1.14517098e-03 -2.40925352e+02] [-1.36910115e-03 1.72461205e-05 -9.99999063e-01 -8.07364162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.790385723 meters 0.015131087713649427 Centerline is valid? [True, True] Translation: X:-15.53, Y:-241.03, Z:-8.07 [[ 6.03585379e-01 -7.97298364e-01 -9.38372413e-05 -1.55255496e+01] [-7.97298354e-01 -6.03585387e-01 1.23044459e-04 -2.41034716e+02] [-1.54741934e-04 5.48441353e-07 -9.99999988e-01 -8.07491742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.820385723 meters 0.015003062594418623 Centerline is valid? [True, True] Translation: X:-15.47, Y:-241.14, Z:-8.07 [[ 6.64111832e-01 -7.47633228e-01 1.77914191e-04 -1.54748910e+01] [-7.47633202e-01 -6.64111855e-01 -1.95662317e-04 -2.41143873e+02] [ 2.64438573e-04 -3.07289655e-06 -9.99999965e-01 -8.07498307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.850385723 meters 0.014852779940019583 Centerline is valid? [True, True] Translation: X:-15.42, Y:-241.24, Z:-8.07 [[ 7.20327593e-01 -6.93633985e-01 -2.28934203e-04 -1.54215614e+01] [-6.93633951e-01 -7.20327630e-01 2.18882408e-04 -2.41243202e+02] [-3.16731909e-04 1.12949736e-06 -9.99999950e-01 -8.07424257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.880385723 meters 0.014717682266155262 Centerline is valid? [True, True] Translation: X:-15.43, Y:-241.25, Z:-8.07 [[ 7.73995996e-01 -6.33189272e-01 -1.24282659e-03 -1.54300364e+01] [-6.33188467e-01 -7.73996994e-01 1.00982004e-03 -2.41252891e+02] [-1.60135127e-03 5.34679446e-06 -9.99998718e-01 -8.07215124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.910385723 meters 0.01456254616612557 Centerline is valid? [True, True] Translation: X:-15.44, Y:-241.26, Z:-8.07 [[ 8.21748850e-01 -5.69847384e-01 -1.66936688e-03 -1.54368836e+01] [-5.69846220e-01 -8.21750545e-01 1.15180081e-03 -2.41263313e+02] [-2.02815382e-03 4.79141260e-06 -9.99997943e-01 -8.07132430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.940385723 meters 0.014605778450009444 Centerline is valid? [True, True] Translation: X:-15.44, Y:-241.27, Z:-8.07 [[ 8.64096282e-01 -5.03321873e-01 -2.16948741e-03 -1.54430811e+01] [-5.03320300e-01 -8.64099006e-01 1.25828277e-03 -2.41272245e+02] [-2.50797315e-03 4.66958851e-06 -9.99996855e-01 -8.07044193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9703857229999 meters 0.01442293889280669 Centerline is valid? [True, True] Translation: X:-15.45, Y:-241.28, Z:-8.07 [[ 9.00917789e-01 -4.33985571e-01 -1.91374674e-03 -1.54484707e+01] [-4.33984599e-01 -9.00919821e-01 9.18339277e-04 -2.41283406e+02] [-2.12267837e-03 3.18842296e-06 -9.99997747e-01 -8.07025058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.000385723 meters 0.01443438575273612 Centerline is valid? [True, True] Translation: X:-15.45, Y:-241.29, Z:-8.07 [[ 9.32083757e-01 -3.62236517e-01 -2.13912144e-03 -1.54530913e+01] [-3.62235572e-01 -9.32086212e-01 8.27613419e-04 -2.41294788e+02] [-2.29363740e-03 3.46085102e-06 -9.99997370e-01 -8.07062013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.030385723 meters 0.014378675801192215 Centerline is valid? [True, True] Translation: X:-15.46, Y:-241.31, Z:-8.07 [[ 9.57564897e-01 -2.88211225e-01 -1.93831667e-03 -1.54574258e+01] [-2.88210641e-01 -9.57566859e-01 5.80389991e-04 -2.41305776e+02] [-2.02334272e-03 2.88240876e-06 -9.99997953e-01 -8.07051896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.060385723 meters 0.014385382838452466 Centerline is valid? [True, True] Translation: X:-15.46, Y:-241.31, Z:-8.07 [[ 9.77189625e-01 -2.12361976e-01 -1.68159054e-03 -1.54601275e+01] [-2.12361665e-01 -9.77191072e-01 3.63235220e-04 -2.41314819e+02] [-1.72037261e-03 2.15567770e-06 -9.99998520e-01 -8.07043524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0903857229999 meters 0.014305489812167014 Centerline is valid? [True, True] Translation: X:-15.46, Y:-241.33, Z:-8.07 [[ 9.90840527e-01 -1.35030472e-01 -1.34995703e-03 -1.54647899e+01] [-1.35030349e-01 -9.90841446e-01 1.82701469e-04 -2.41326809e+02] [-1.36226364e-03 1.25714906e-06 -9.99999072e-01 -8.07034813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.120385723 meters 0.014243347380550121 Centerline is valid? [True, True] Translation: X:-15.47, Y:-241.34, Z:-8.07 [[ 9.98370948e-01 -5.70491202e-02 -9.20902986e-04 -1.54693015e+01] [-5.70490965e-02 -9.98371373e-01 5.20365413e-05 -2.41338672e+02] [-9.22371817e-04 5.84912214e-07 -9.99999575e-01 -8.07002641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.150385723 meters 0.014193393183891782 Centerline is valid? [True, True] Translation: X:-15.47, Y:-241.35, Z:-8.07 [[ 9.99778498e-01 2.10204319e-02 -1.04675239e-03 -1.54729210e+01] [ 2.10204192e-02 -9.99779046e-01 -2.30774388e-05 -2.41350409e+02] [-1.04700620e-03 1.06915310e-06 -9.99999452e-01 -8.06998734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.180385723 meters 0.014243584347471364 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.36, Z:-8.07 [[ 9.95189126e-01 9.79684266e-02 -8.89673800e-04 -1.54765413e+01] [ 9.79683858e-02 -9.95189523e-01 -8.94854688e-05 -2.41361997e+02] [-8.94160795e-04 1.89505941e-06 -9.99999600e-01 -8.06941513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.210385723 meters 0.014213919890353815 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.37, Z:-8.07 [[ 9.84672011e-01 1.74415708e-01 -4.37416513e-04 -1.54778867e+01] [ 1.74415691e-01 -9.84672108e-01 -7.84952909e-05 -2.41372480e+02] [-4.44402652e-04 9.99812712e-07 -9.99999901e-01 -8.06912051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.240385723 meters 0.014258199430917913 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.38, Z:-8.07 [[ 9.68273121e-01 2.49893797e-01 -5.03048190e-04 -1.54784206e+01] [ 2.49893763e-01 -9.68273252e-01 -1.31787402e-04 -2.41382312e+02] [-5.20020962e-04 1.89759395e-06 -9.99999865e-01 -8.06924205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.270385723 meters 0.014333235623061803 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.39, Z:-8.07 [[ 9.46530809e-01 3.22613430e-01 4.29643494e-05 -1.54795280e+01] [ 3.22613429e-01 -9.46530810e-01 1.60058866e-05 -2.41390671e+02] [ 4.58307942e-05 -1.28918869e-06 -9.99999999e-01 -8.06974170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.300385723 meters 0.014560687912552094 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.40, Z:-8.07 [[ 9.18746895e-01 3.94846952e-01 -1.64842250e-04 -1.54807240e+01] [ 3.94846945e-01 -9.18746910e-01 -7.15626047e-05 -2.41399759e+02] [-1.79704584e-04 6.60462089e-07 -9.99999984e-01 -8.06980826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.330385723 meters 0.01476716820654137 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.41, Z:-8.07 [[ 8.86040288e-01 4.63608077e-01 -3.99527045e-04 -1.54802941e+01] [ 4.63608028e-01 -8.86040378e-01 -2.13634197e-04 -2.41409179e+02] [-4.53039633e-04 4.06455989e-06 -9.99999897e-01 -8.06937879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.360385723 meters 0.014864680259397363 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.42, Z:-8.07 [[ 8.47568255e-01 5.30686159e-01 -5.03924272e-04 -1.54780830e+01] [ 5.30686061e-01 -8.47568405e-01 -3.22905304e-04 -2.41418842e+02] [-5.98471667e-04 6.25869844e-06 -9.99999821e-01 -8.06884358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.390385723 meters 0.015194463515774005 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.43, Z:-8.07 [[ 8.03774317e-01 5.94933761e-01 -8.16323082e-04 -1.54770632e+01] [ 5.94933439e-01 -8.03774732e-01 -6.19146982e-04 -2.41427765e+02] [-1.02449131e-03 1.19965437e-05 -9.99999475e-01 -8.06808426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.420385723 meters 0.01538459852359205 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.44, Z:-8.07 [[ 7.55562301e-01 6.55074512e-01 -1.73001733e-03 -1.54762919e+01] [ 6.55072699e-01 -7.55564281e-01 -1.54135495e-03 -2.41435564e+02] [-2.31684164e-03 3.13025667e-05 -9.99997316e-01 -8.06678987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.450385723 meters 0.01586152132881223 Centerline is valid? [True, True] Translation: X:-15.48, Y:-241.44, Z:-8.07 [[ 7.02969099e-01 7.11216911e-01 -2.22524798e-03 -1.54763235e+01] [ 7.11213128e-01 -7.02972619e-01 -2.32017526e-03 -2.41442743e+02] [-3.21443629e-03 4.83859380e-05 -9.99994833e-01 -8.06588537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.480385723 meters 0.01581233933385126 Centerline is valid? [True, True] Translation: X:-15.47, Y:-241.45, Z:-8.07 [[ 6.45589646e-01 7.63681494e-01 -2.14130388e-03 -1.54743073e+01] [ 7.63677019e-01 -6.45593195e-01 -2.61492930e-03 -2.41450639e+02] [-3.37938432e-03 5.29067173e-05 -9.99994289e-01 -8.06575691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.510385723 meters 0.015899552498308656 Centerline is valid? [True, True] Translation: X:-15.47, Y:-241.46, Z:-8.07 [[ 5.83776048e-01 8.11912841e-01 -1.75070605e-03 -1.54725137e+01] [ 8.11908942e-01 -5.83778671e-01 -2.51654894e-03 -2.41458133e+02] [-3.06524326e-03 4.76870983e-05 -9.99995301e-01 -8.06619485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.540385723 meters 0.01516801445263576 Centerline is valid? [True, True] Translation: X:-15.46, Y:-241.47, Z:-8.07 [[ 5.18577516e-01 8.55029239e-01 -1.53643934e-03 -1.54622998e+01] [ 8.55025209e-01 -5.18579790e-01 -2.62577761e-03 -2.41470187e+02] [-3.04188302e-03 4.79748579e-05 -9.99995372e-01 -8.06702822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.570385723 meters 0.015166263029035438 Centerline is valid? [True, True] Translation: X:-15.45, Y:-241.48, Z:-8.07 [[ 4.49350635e-01 8.93354736e-01 -1.15024940e-03 -1.54530328e+01] [ 8.93351580e-01 -4.49352105e-01 -2.37477179e-03 -2.41480658e+02] [-2.63838061e-03 3.95280908e-05 -9.99996519e-01 -8.06738071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.600385723 meters 0.015406095496793608 Centerline is valid? [True, True] Translation: X:-15.44, Y:-241.49, Z:-8.07 [[ 3.77435274e-01 9.26035495e-01 -9.35860461e-04 -1.54447287e+01] [ 9.26032402e-01 -3.77436432e-01 -2.39371377e-03 -2.41490805e+02] [-2.56989175e-03 3.68349027e-05 -9.99996697e-01 -8.06725230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.630385723 meters 0.01508005487630257 Centerline is valid? [True, True] Translation: X:-15.43, Y:-241.50, Z:-8.07 [[ 3.02191088e-01 9.53246844e-01 -1.00023384e-03 -1.54349608e+01] [ 9.53241128e-01 -3.02192740e-01 -3.30141528e-03 -2.41498918e+02] [-3.44932710e-03 4.41942399e-05 -9.99994050e-01 -8.06728651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.660385723 meters 0.015164634894963457 Centerline is valid? [True, True] Translation: X:-15.43, Y:-241.51, Z:-8.07 [[ 2.25635799e-01 9.74211346e-01 -8.59654774e-04 -1.54267364e+01] [ 9.74203448e-01 -2.25637432e-01 -3.92316287e-03 -2.41507555e+02] [-4.01596008e-03 4.77273458e-05 -9.99991935e-01 -8.06684576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.690385723 meters 0.014898416208335813 Centerline is valid? [True, True] Translation: X:-15.42, Y:-241.51, Z:-8.07 [[ 1.46931815e-01 9.89146395e-01 -6.72065181e-04 -1.54157222e+01] [ 9.89134426e-01 -1.46933343e-01 -4.86629819e-03 -2.41514789e+02] [-4.91223009e-03 5.02512178e-05 -9.99987934e-01 -8.06607572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7203857229999 meters 0.014881628949023402 Centerline is valid? [True, True] Translation: X:-15.41, Y:-241.52, Z:-8.07 [[ 6.81893803e-02 9.97672351e-01 -2.98601880e-04 -1.54062149e+01] [ 9.97659476e-01 -6.81900174e-02 -5.06868113e-03 -2.41521395e+02] [-5.07724468e-03 4.77272299e-05 -9.99987110e-01 -8.06541592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.750385723 meters 0.014825816117633072 Centerline is valid? [True, True] Translation: X:-15.40, Y:-241.53, Z:-8.07 [[-1.10400532e-02 9.99939052e-01 1.02878108e-04 -1.53975866e+01] [ 9.99925217e-01 1.10404416e-02 -5.26024180e-03 -2.41527849e+02] [-5.26105702e-03 4.47970653e-05 -9.99986160e-01 -8.06524298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.780385723 meters 0.014825816117633072 Centerline is valid? [True, True] Translation: X:-15.39, Y:-241.53, Z:-8.07 [[-8.93631020e-02 9.95998981e-01 5.14768066e-04 -1.53905581e+01] [ 9.95985220e-01 8.93645734e-02 -5.23596959e-03 -2.41533361e+02] [-5.26102240e-03 4.47989009e-05 -9.99986160e-01 -8.06524328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.810385723 meters 0.014608217776627283 Centerline is valid? [True, True] Translation: X:-15.38, Y:-241.54, Z:-8.07 [[-1.69426217e-01 9.85542457e-01 9.06612724e-04 -1.53780466e+01] [ 9.85529338e-01 1.69428640e-01 -5.08526317e-03 -2.41537107e+02] [-5.16534892e-03 3.19165361e-05 -9.99986659e-01 -8.06560260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8403857229999 meters 0.014649809921290396 Centerline is valid? [True, True] Translation: X:-15.37, Y:-241.54, Z:-8.07 [[-2.46820917e-01 9.69060148e-01 1.36567489e-03 -1.53675449e+01] [ 9.69045970e-01 2.46824693e-01 -5.24210942e-03 -2.41541158e+02] [-5.41700161e-03 2.95394957e-05 -9.99985328e-01 -8.06505998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.870385723 meters 0.014618722913121312 Centerline is valid? [True, True] Translation: X:-15.36, Y:-241.54, Z:-8.07 [[-3.22917173e-01 9.46425818e-01 1.63397932e-03 -1.53572926e+01] [ 9.46414047e-01 3.22921306e-01 -4.72035148e-03 -2.41543749e+02] [-4.99510925e-03 2.21384265e-05 -9.99987524e-01 -8.06586612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.900385723 meters 0.014834786446645782 Centerline is valid? [True, True] Translation: X:-15.35, Y:-241.55, Z:-8.07 [[-3.96388082e-01 9.18081287e-01 1.79981431e-03 -1.53477662e+01] [ 9.18072033e-01 3.96392167e-01 -4.12222799e-03 -2.41547287e+02] [-4.49797267e-03 1.83571383e-05 -9.99989884e-01 -8.06549529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.930385723 meters 0.014641583528411137 Centerline is valid? [True, True] Translation: X:-15.34, Y:-241.55, Z:-8.07 [[-4.67053995e-01 8.84226564e-01 1.98752802e-03 -1.53365563e+01] [ 8.84218713e-01 4.67058223e-01 -3.72610565e-03 -2.41547692e+02] [-4.22301290e-03 1.71169415e-05 -9.99991083e-01 -8.06703702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.960385723 meters 0.01482479619339805 Centerline is valid? [True, True] Translation: X:-15.33, Y:-241.55, Z:-8.07 [[-5.34934061e-01 8.44891493e-01 1.97877883e-03 -1.53274117e+01] [ 8.44885813e-01 5.34937721e-01 -3.09800045e-03 -2.41548072e+02] [-3.67599766e-03 1.46161924e-05 -9.99993243e-01 -8.06714478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.990385723 meters 0.014892479999686114 Centerline is valid? [True, True] Translation: X:-15.32, Y:-241.55, Z:-8.07 [[-5.99300759e-01 8.00521379e-01 2.03040475e-03 -1.53180900e+01] [ 8.00516863e-01 5.99304198e-01 -2.68884174e-03 -2.41548367e+02] [-3.36930539e-03 1.39483429e-05 -9.99994324e-01 -8.06791740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.020385723 meters 0.014960836793993746 Centerline is valid? [True, True] Translation: X:-15.31, Y:-241.55, Z:-8.07 [[-6.60330984e-01 7.50971366e-01 2.23592773e-03 -1.53097065e+01] [ 7.50967129e-01 6.60334769e-01 -2.52268270e-03 -2.41550334e+02] [-3.37092329e-03 1.33026797e-05 -9.99994318e-01 -8.06842862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.050385723 meters 0.01494613346862418 Centerline is valid? [True, True] Translation: X:-15.30, Y:-241.55, Z:-8.07 [[-7.17333150e-01 6.96725270e-01 2.65518072e-03 -1.53007196e+01] [ 6.96720566e-01 7.17338064e-01 -2.56012910e-03 -2.41549716e+02] [-3.68836883e-03 1.34535378e-05 -9.99993198e-01 -8.06819937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.080385723 meters 0.01510738030976816 Centerline is valid? [True, True] Translation: X:-15.28, Y:-241.53, Z:-8.07 [[-7.65143842e-01 6.43851327e-01 3.22024556e-03 -1.52755373e+01] [ 6.43845698e-01 7.65150619e-01 -2.69231356e-03 -2.41534270e+02] [-4.19742254e-03 1.33341020e-05 -9.99991191e-01 -8.06715846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.110385723 meters 0.015113118091120148 Centerline is valid? [True, True] Translation: X:-14.76, Y:-240.92, Z:-9.00 [[-7.24112973e-01 -6.89670186e-01 3.92906024e-03 -1.47606503e+01] [ 6.89660429e-01 -7.24123630e-01 -3.66899783e-03 -2.40923988e+02] [ 5.37552378e-03 5.29484414e-05 9.99985550e-01 -9.00365206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.140385723 meters 0.01526111962178918 Centerline is valid? [True, True] Translation: X:-15.31, Y:-241.51, Z:-8.07 [[-7.68069985e-01 6.40352012e-01 4.21895231e-03 -1.53106210e+01] [ 6.40342436e-01 7.68081572e-01 -3.50207337e-03 -2.41508255e+02] [-5.48305925e-03 1.17367553e-05 -9.99984968e-01 -8.06505477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.170385723 meters 0.015398249505563967 Centerline is valid? [True, True] Translation: X:-15.31, Y:-241.48, Z:-8.06 [[-8.11115986e-01 5.84861114e-01 5.32307687e-03 -1.53098818e+01] [ 5.84848664e-01 8.11133452e-01 -3.81616778e-03 -2.41476939e+02] [-6.54965386e-03 1.78397067e-05 -9.99978551e-01 -8.06405418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.200385723 meters 0.015382152829272926 Centerline is valid? [True, True] Translation: X:-15.29, Y:-241.46, Z:-8.06 [[-8.50122335e-01 5.26552358e-01 5.88471764e-03 -1.52874257e+01] [ 5.26539933e-01 8.50142702e-01 -3.61735350e-03 -2.41460472e+02] [-6.90757577e-03 2.33458219e-05 -9.99976142e-01 -8.06431060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.230385723 meters 0.015436975179961234 Centerline is valid? [True, True] Translation: X:-14.84, Y:-240.78, Z:-9.00 [[-8.17300388e-01 -5.76186150e-01 5.44018076e-03 -1.48434982e+01] [ 5.76173093e-01 -8.17318493e-01 -3.87918216e-03 -2.40777046e+02] [ 6.68149137e-03 -3.59713141e-05 9.99977678e-01 -9.00439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.260385723 meters 0.015653702444179875 Centerline is valid? [True, True] Translation: X:-15.32, Y:-241.45, Z:-8.06 [[-8.50495736e-01 5.25952652e-01 5.55081631e-03 -1.53205735e+01] [ 5.25941763e-01 8.50513848e-01 -3.38459760e-03 -2.41447791e+02] [-6.50118423e-03 4.08202924e-05 -9.99978866e-01 -8.06473154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.290385723 meters 0.015778505447029318 Centerline is valid? [True, True] Translation: X:-15.29, Y:-241.43, Z:-8.06 [[-8.85165004e-01 4.65239895e-01 5.89541356e-03 -1.52935824e+01] [ 4.65229935e-01 8.85184635e-01 -3.04461122e-03 -2.41431248e+02] [-6.63500410e-03 4.77395632e-05 -9.99977987e-01 -8.06446052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.320385723 meters 0.016083362611035285 Centerline is valid? [True, True] Translation: X:-15.27, Y:-241.41, Z:-8.06 [[-9.13895733e-01 4.05904669e-01 5.99908089e-03 -1.52691803e+01] [ 4.05896299e-01 9.13915421e-01 -2.60706293e-03 -2.41411075e+02] [-6.54087155e-03 5.24210402e-05 -9.99978607e-01 -8.06393265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.350385723 meters 0.01626161018228011 Centerline is valid? [True, True] Translation: X:-15.25, Y:-241.39, Z:-8.06 [[-9.39893011e-01 3.41419364e-01 5.82623523e-03 -1.52528057e+01] [ 3.41413208e-01 9.39911067e-01 -2.05115335e-03 -2.41389286e+02] [-6.17644644e-03 6.12889633e-05 -9.99980924e-01 -8.06447712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.380385723 meters 0.016070022875015504 Centerline is valid? [True, True] Translation: X:-14.97, Y:-240.60, Z:-9.00 [[-9.22935436e-01 -3.84919158e-01 5.23672792e-03 -1.49670346e+01] [ 3.84912437e-01 -9.22950288e-01 -2.27638712e-03 -2.40602615e+02] [ 5.70946456e-03 -8.52766395e-05 9.99983697e-01 -9.00350100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.410385723 meters 0.016517026769772424 Centerline is valid? [True, True] Translation: X:-15.30, Y:-241.38, Z:-8.06 [[-9.40954263e-01 3.38489962e-01 5.44255214e-03 -1.52983829e+01] [ 3.38484674e-01 9.40970001e-01 -1.89291635e-03 -2.41376057e+02] [-5.76201148e-03 6.10727784e-05 -9.99983398e-01 -8.06471199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.440385723 meters 0.016604971816749966 Centerline is valid? [True, True] Translation: X:-15.29, Y:-241.35, Z:-8.06 [[-9.62588075e-01 2.70914666e-01 5.42595056e-03 -1.52866312e+01] [ 2.70910710e-01 9.62603366e-01 -1.46534663e-03 -2.41349419e+02] [-5.62002217e-03 5.94229250e-05 -9.99984206e-01 -8.06456909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4703857229999 meters 0.016220580996344075 Centerline is valid? [True, True] Translation: X:-15.06, Y:-240.54, Z:-9.00 [[-9.49065111e-01 -3.15031840e-01 5.50952299e-03 -1.50638172e+01] [ 3.15026232e-01 -9.49081102e-01 -1.88034285e-03 -2.40539482e+02] [ 5.82135201e-03 -4.89235268e-05 9.99983055e-01 -9.00470155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.500385723 meters 0.015968051100892392 Centerline is valid? [True, True] Translation: X:-15.34, Y:-241.33, Z:-8.06 [[-9.63868602e-01 2.66314344e-01 5.82990256e-03 -1.53387710e+01] [ 2.66309839e-01 9.63886231e-01 -1.55008702e-03 -2.41334194e+02] [-6.03217322e-03 5.84801974e-05 -9.99981805e-01 -8.06444575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.530385723 meters 0.01619048980635195 Centerline is valid? [True, True] Translation: X:-15.33, Y:-241.31, Z:-8.06 [[-9.80415968e-01 1.96828841e-01 6.55268091e-03 -1.53295193e+01] [ 1.96824864e-01 9.80437863e-01 -1.25279798e-03 -2.41308036e+02] [-6.67108324e-03 6.14673815e-05 -9.99977746e-01 -8.06387132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.560385723 meters 0.016136485193219446 Centerline is valid? [True, True] Translation: X:-15.16, Y:-240.48, Z:-9.01 [[-9.69666629e-01 -2.44341589e-01 6.61943881e-03 -1.51626791e+01] [ 2.44335527e-01 -9.69689221e-01 -1.72190665e-03 -2.40483692e+02] [ 6.83953187e-03 -5.23113476e-05 9.99976609e-01 -9.00528466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5903857229999 meters 0.01595742959978104 Centerline is valid? [True, True] Translation: X:-15.39, Y:-241.30, Z:-8.06 [[-9.81297317e-01 1.92381051e-01 6.71614017e-03 -1.53890728e+01] [ 1.92376963e-01 9.81320298e-01 -1.25558568e-03 -2.41297433e+02] [-6.83223557e-03 5.99277867e-05 -9.99976658e-01 -8.06408041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.620385723 meters 0.01587417082614808 Centerline is valid? [True, True] Translation: X:-15.22, Y:-240.47, Z:-9.00 [[-9.70388895e-01 -2.41437455e-01 7.30391862e-03 -1.52189062e+01] [ 2.41430454e-01 -9.70416382e-01 -1.83879429e-03 -2.40474816e+02] [ 7.53179610e-03 -2.09571771e-05 9.99971635e-01 -9.00455646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.650385723 meters 0.01583830841086948 Centerline is valid? [True, True] Translation: X:-15.44, Y:-241.29, Z:-8.06 [[-9.82540688e-01 1.85882293e-01 7.84660935e-03 -1.54406204e+01] [ 1.85876771e-01 9.82572018e-01 -1.43363340e-03 -2.41287292e+02] [-7.97634585e-03 4.98992566e-05 -9.99968187e-01 -8.06353686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.680385723 meters 0.015734446229508564 Centerline is valid? [True, True] Translation: X:-15.43, Y:-241.26, Z:-8.06 [[-9.93359044e-01 1.14794341e-01 7.75036029e-03 -1.54303402e+01] [ 1.14791176e-01 9.93389278e-01 -8.53491152e-04 -2.41258544e+02] [-7.79710077e-03 4.18498171e-05 -9.99969601e-01 -8.06471166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.710385723 meters 0.015844701826459733 Centerline is valid? [True, True] Translation: X:-15.33, Y:-240.43, Z:-9.01 [[-9.85239213e-01 -1.71010730e-01 7.68262230e-03 -1.53316399e+01] [ 1.71005204e-01 -9.85269165e-01 -1.37547066e-03 -2.40427385e+02] [ 7.80467110e-03 -4.13992408e-05 9.99969542e-01 -9.00521702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.740385723 meters 0.015714880881654816 Centerline is valid? [True, True] Translation: X:-15.50, Y:-241.25, Z:-8.06 [[-9.93948111e-01 1.09546943e-01 8.16204375e-03 -1.54987852e+01] [ 1.09543569e-01 9.93981622e-01 -8.60701803e-04 -2.41250362e+02] [-8.20720874e-03 3.86064716e-05 -9.99966320e-01 -8.06353426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.770385723 meters 0.015575917291616283 Centerline is valid? [True, True] Translation: X:-15.41, Y:-240.42, Z:-9.00 [[-9.85984678e-01 -1.66672133e-01 7.39018199e-03 -1.54093388e+01] [ 1.66666841e-01 -9.86012370e-01 -1.33059887e-03 -2.40419997e+02] [ 7.50858461e-03 -8.02518102e-05 9.99971807e-01 -9.00483651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.800385723 meters 0.015682342118194442 Centerline is valid? [True, True] Translation: X:-15.57, Y:-241.24, Z:-8.06 [[-9.94428603e-01 1.05197112e-01 6.73210245e-03 -1.55684579e+01] [ 1.05194934e-01 9.94451390e-01 -6.77842552e-04 -2.41243690e+02] [-6.76605572e-03 3.41170522e-05 -9.99977109e-01 -8.06405563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.830385723 meters 0.015581205896745042 Centerline is valid? [True, True] Translation: X:-15.48, Y:-240.41, Z:-9.00 [[-9.86893650e-01 -1.61251991e-01 6.22248159e-03 -1.54797120e+01] [ 1.61248397e-01 -9.86913265e-01 -1.07822921e-03 -2.40411968e+02] [ 6.31491623e-03 -6.07323793e-05 9.99980059e-01 -9.00369778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.860385723 meters 0.01567487303733243 Centerline is valid? [True, True] Translation: X:-15.64, Y:-241.24, Z:-8.07 [[-9.94858435e-01 1.01091129e-01 6.10562773e-03 -1.56415022e+01] [ 1.01089435e-01 9.94877170e-01 -5.86232792e-04 -2.41236577e+02] [-6.13361257e-03 3.39958178e-05 -9.99981189e-01 -8.06513128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.890385723 meters 0.01549739298540872 Centerline is valid? [True, True] Translation: X:-15.64, Y:-241.21, Z:-8.07 [[-9.99546407e-01 2.94627914e-02 6.23890376e-03 -1.56386102e+01] [ 2.94624056e-02 9.99565877e-01 -1.53754632e-04 -2.41206941e+02] [-6.24072535e-03 3.01282236e-05 -9.99980526e-01 -8.06561711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.920385723 meters 0.015422364988519604 Centerline is valid? [True, True] Translation: X:-15.61, Y:-240.37, Z:-9.00 [[-9.96162526e-01 -8.72987531e-02 6.25695196e-03 -1.56106641e+01] [ 8.72968575e-02 -9.96182176e-01 -5.75945088e-04 -2.40372460e+02] [ 6.28334330e-03 -2.75226697e-05 9.99980259e-01 -9.00354631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.950385723 meters 0.015526154783574024 Centerline is valid? [True, True] Translation: X:-15.73, Y:-241.20, Z:-8.07 [[-9.99727516e-01 2.23803179e-02 6.63441396e-03 -1.57293079e+01] [ 2.23799846e-02 9.99749529e-01 -1.24491361e-04 -2.41203674e+02] [-6.63553838e-03 2.40206427e-05 -9.99977984e-01 -8.06564250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.980385723 meters 0.015405527436492997 Centerline is valid? [True, True] Translation: X:-15.73, Y:-241.17, Z:-8.07 [[-9.98756183e-01 -4.94469619e-02 6.40980516e-03 -1.57349392e+01] [-4.94458228e-02 9.98776751e-01 3.36152792e-04 -2.41173872e+02] [-6.41858610e-03 1.87965893e-05 -9.99979401e-01 -8.06561535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.010385723 meters 0.015366407210832262 Centerline is valid? [True, True] Translation: X:-15.77, Y:-240.34, Z:-9.01 [[-9.99891916e-01 -1.26927961e-02 7.41945936e-03 -1.57718042e+01] [ 1.26927860e-02 -9.99919442e-01 -4.84507496e-05 -2.40344341e+02] [ 7.41947664e-03 4.57280970e-05 9.99972474e-01 -9.00512932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.040385723 meters 0.015398740360406797 Centerline is valid? [True, True] Translation: X:-15.84, Y:-241.18, Z:-8.06 [[-9.98379487e-01 -5.61925499e-02 8.98873540e-03 -1.58369942e+01] [-5.61900547e-02 9.98419950e-01 5.30092459e-04 -2.41177139e+02] [-9.00431999e-03 2.41559032e-05 -9.99959460e-01 -8.06251170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.070385723 meters 0.015405896451249733 Centerline is valid? [True, True] Translation: X:-15.88, Y:-240.35, Z:-9.01 [[-9.99943237e-01 -5.11019632e-03 9.34924325e-03 -1.58846891e+01] [ 5.10995151e-03 -9.99986943e-01 -5.00725224e-05 -2.40347700e+02] [ 9.34937706e-03 -2.29550049e-06 9.99956294e-01 -9.00620388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.100385723 meters 0.015430420911044738 Centerline is valid? [True, True] Translation: X:-15.95, Y:-241.18, Z:-8.06 [[-9.98069253e-01 -6.13732421e-02 9.54418782e-03 -1.59464011e+01] [-6.13700705e-02 9.98114885e-01 6.25108278e-04 -2.41184563e+02] [-9.56456085e-03 3.81738732e-05 -9.99954258e-01 -8.06274276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.130385723 meters 0.015611496828632615 Centerline is valid? [True, True] Translation: X:-15.96, Y:-241.16, Z:-8.06 [[-9.91309801e-01 -1.31192003e-01 9.67143722e-03 -1.59585902e+01] [-1.31185264e-01 9.91356977e-01 1.33068387e-03 -2.41157894e+02] [-9.76242185e-03 5.03699176e-05 -9.99952345e-01 -8.06289226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.160385723 meters 0.015790906998521374 Centerline is valid? [True, True] Translation: X:-15.97, Y:-241.13, Z:-8.06 [[-9.79859388e-01 -1.99472700e-01 9.28560281e-03 -1.59741185e+01] [-1.99463012e-01 9.79903381e-01 1.96730140e-03 -2.41133475e+02] [-9.49141652e-03 7.55444383e-05 -9.99954953e-01 -8.06347623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.190385723 meters 0.016098015492814116 Centerline is valid? [True, True] Translation: X:-16.02, Y:-241.12, Z:-8.06 [[-9.63317808e-01 -2.68187521e-01 9.70849366e-03 -1.60170771e+01] [-2.68172809e-01 9.63366723e-01 2.81102601e-03 -2.41116135e+02] [-1.01067218e-02 1.04357397e-04 -9.99948920e-01 -8.06274042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2203857229999 meters 0.016234817481310025 Centerline is valid? [True, True] Translation: X:-16.09, Y:-241.11, Z:-8.06 [[-9.41283510e-01 -3.37477962e-01 9.69430052e-03 -1.60931103e+01] [-3.37458822e-01 9.41333423e-01 3.59593847e-03 -2.41111288e+02] [-1.03391191e-02 1.13370347e-04 -9.99946544e-01 -8.06251382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.250385723 meters 0.0161702988171188 Centerline is valid? [True, True] Translation: X:-16.17, Y:-241.11, Z:-8.06 [[-9.13672023e-01 -4.06348518e-01 9.18233457e-03 -1.61683898e+01] [-4.06326768e-01 9.13718156e-01 4.20579536e-03 -2.41111458e+02] [-1.00990845e-02 1.11689227e-04 -9.99948997e-01 -8.06249325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.280385723 meters 0.016187383974154885 Centerline is valid? [True, True] Translation: X:-16.24, Y:-241.12, Z:-8.06 [[-8.80273266e-01 -4.74389714e-01 8.56598342e-03 -1.62444807e+01] [-4.74366147e-01 8.80314938e-01 4.72963554e-03 -2.41117199e+02] [-9.78445361e-03 9.99591825e-05 -9.99952126e-01 -8.06311661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.310385723 meters 0.015945848327433853 Centerline is valid? [True, True] Translation: X:-16.32, Y:-241.13, Z:-8.06 [[-8.41787125e-01 -5.39755093e-01 7.67306048e-03 -1.63229198e+01] [-5.39731693e-01 8.41822090e-01 5.02681831e-03 -2.41129246e+02] [-9.17260259e-03 9.01170079e-05 -9.99957927e-01 -8.06428420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3403857229999 meters 0.016032871845911043 Centerline is valid? [True, True] Translation: X:-16.43, Y:-241.17, Z:-8.06 [[-7.98756062e-01 -6.01622259e-01 6.27785269e-03 -1.64278495e+01] [-6.01602913e-01 7.98780728e-01 4.82523378e-03 -2.41168238e+02] [-7.91759579e-03 7.74102663e-05 -9.99968652e-01 -8.06445430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.370385723 meters 0.015870102234815095 Centerline is valid? [True, True] Translation: X:-16.52, Y:-241.21, Z:-8.07 [[-7.50687110e-01 -6.60634340e-01 5.57950605e-03 -1.65211574e+01] [-6.60615379e-01 7.50707841e-01 5.00580011e-03 -2.41207621e+02] [-7.49558240e-03 7.18821180e-05 -9.99971905e-01 -8.06505673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.400385723 meters 0.015881793012180036 Centerline is valid? [True, True] Translation: X:-16.60, Y:-241.24, Z:-8.07 [[-6.97768452e-01 -7.16306373e-01 4.93638098e-03 -1.66006926e+01] [-7.16287776e-01 6.97785910e-01 5.16202538e-03 -2.41244158e+02] [-7.14212877e-03 6.60291052e-05 -9.99974493e-01 -8.06531914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.430385723 meters 0.015728624906477032 Centerline is valid? [True, True] Translation: X:-16.69, Y:-241.30, Z:-8.07 [[-6.40023451e-01 -7.68343736e-01 4.22929129e-03 -1.66949498e+01] [-7.68326411e-01 6.40037422e-01 5.15986116e-03 -2.41304384e+02] [-6.67145169e-03 5.29559405e-05 -9.99977744e-01 -8.06571067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.460385723 meters 0.015676439969387813 Centerline is valid? [True, True] Translation: X:-16.79, Y:-241.38, Z:-8.07 [[-5.78519214e-01 -8.15658119e-01 4.16556996e-03 -1.67888893e+01] [-8.15636337e-01 5.78534208e-01 5.96114088e-03 -2.41378281e+02] [-7.27217767e-03 5.10443127e-05 -9.99973556e-01 -8.06526556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.490385723 meters 0.015156615538941112 Centerline is valid? [True, True] Translation: X:-16.88, Y:-241.46, Z:-8.07 [[-5.12158926e-01 -8.58880153e-01 4.25638929e-03 -1.68783418e+01] [-8.58849855e-01 5.12176611e-01 7.21424465e-03 -2.41456524e+02] [-8.37619460e-03 3.92404664e-05 -9.99964918e-01 -8.06541301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.520385723 meters 0.015057716656402868 Centerline is valid? [True, True] Translation: X:-16.96, Y:-241.54, Z:-8.06 [[-4.43936365e-01 -8.96051055e-01 3.60696707e-03 -1.69593953e+01] [-8.96020886e-01 4.43951017e-01 7.35305537e-03 -2.41542223e+02] [-8.19002972e-03 3.23708450e-05 -9.99966461e-01 -8.06469025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.550385723 meters 0.015118145723036812 Centerline is valid? [True, True] Translation: X:-17.04, Y:-241.64, Z:-8.06 [[-3.73034892e-01 -9.27812630e-01 2.94820579e-03 -1.70359082e+01] [-9.27783090e-01 3.73046542e-01 7.40380267e-03 -2.41639199e+02] [-7.96915961e-03 2.65812539e-05 -9.99968245e-01 -8.06468463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.580385723 meters 0.01507673330293295 Centerline is valid? [True, True] Translation: X:-17.10, Y:-241.74, Z:-8.07 [[-2.99663128e-01 -9.54042255e-01 2.32071253e-03 -1.71046783e+01] [-9.54013122e-01 2.99672113e-01 7.45574810e-03 -2.41742411e+02] [-7.80855155e-03 2.02225926e-05 -9.99969513e-01 -8.06501121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.610385723 meters 0.01503974572617556 Centerline is valid? [True, True] Translation: X:-17.17, Y:-241.86, Z:-8.06 [[-2.25271930e-01 -9.74294356e-01 1.75095069e-03 -1.71660937e+01] [-9.74264188e-01 2.25278734e-01 7.66708218e-03 -2.41858814e+02] [-7.86444685e-03 2.12898482e-05 -9.99969075e-01 -8.06459780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.640385723 meters 0.015221320531484813 Centerline is valid? [True, True] Translation: X:-17.22, Y:-241.97, Z:-8.06 [[-1.49627450e-01 -9.88741738e-01 1.18365115e-03 -1.72157563e+01] [-9.88709477e-01 1.49632129e-01 7.98723378e-03 -2.41971188e+02] [-8.07442365e-03 2.48223060e-05 -9.99967401e-01 -8.06371029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.670385723 meters 0.015221320531484813 Centerline is valid? [True, True] Translation: X:-17.26, Y:-242.09, Z:-8.06 [[-7.27999736e-02 -9.97346403e-01 5.63071032e-04 -1.72580440e+01] [-9.97313877e-01 7.28021469e-02 8.05475335e-03 -2.42091189e+02] [-8.07437206e-03 2.48272779e-05 -9.99967401e-01 -8.06371302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.700385723 meters 0.015252331453745048 Centerline is valid? [True, True] Translation: X:-17.29, Y:-242.21, Z:-8.07 [[ 3.18282394e-03 -9.99994933e-01 -5.84153503e-05 -1.72906594e+01] [-9.99965560e-01 -3.18317819e-03 7.66465964e-03 -2.42210942e+02] [-7.66480675e-03 3.40180762e-05 -9.99970624e-01 -8.06584135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.730385723 meters 0.015492710932416071 Centerline is valid? [True, True] Translation: X:-17.31, Y:-242.34, Z:-8.06 [[ 7.96694903e-02 -9.96821159e-01 -5.90255958e-04 -1.73128735e+01] [-9.96797113e-01 -7.96716684e-02 6.92400607e-03 -2.42338531e+02] [-6.94902243e-03 3.67334004e-05 -9.99975855e-01 -8.06452796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.760385723 meters 0.015308127531304463 Centerline is valid? [True, True] Translation: X:-17.33, Y:-242.48, Z:-8.07 [[ 1.55101461e-01 -9.87897930e-01 -1.10277997e-03 -1.73257482e+01] [-9.87874990e-01 -1.55105374e-01 6.73253635e-03 -2.42479336e+02] [-6.82210583e-03 4.51825321e-05 -9.99976728e-01 -8.06682907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.790385723 meters 0.01528537206490532 Centerline is valid? [True, True] Translation: X:-17.33, Y:-242.60, Z:-8.07 [[ 2.30240622e-01 -9.73132534e-01 -1.52566066e-03 -1.73308007e+01] [-9.73112522e-01 -2.30245672e-01 6.24105466e-03 -2.42597499e+02] [-6.42465010e-03 4.76951834e-05 -9.99979361e-01 -8.06701839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.820385723 meters 0.01527638091376109 Centerline is valid? [True, True] Translation: X:-17.33, Y:-242.72, Z:-8.07 [[ 3.04276276e-01 -9.52581848e-01 -1.94178738e-03 -1.73252886e+01] [-9.52563471e-01 -3.04282468e-01 5.91718832e-03 -2.42722916e+02] [-6.22745804e-03 4.92157022e-05 -9.99980608e-01 -8.06740765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.850385723 meters 0.015428022691002772 Centerline is valid? [True, True] Translation: X:-17.31, Y:-242.85, Z:-8.07 [[ 3.76654562e-01 -9.26350320e-01 -2.53488594e-03 -1.73100003e+01] [-9.26330299e-01 -3.76663088e-01 6.09064569e-03 -2.42848992e+02] [-6.59686955e-03 5.40721698e-05 -9.99978239e-01 -8.06709260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.880385723 meters 0.015273685581330451 Centerline is valid? [True, True] Translation: X:-17.29, Y:-242.96, Z:-8.07 [[ 4.47111899e-01 -8.94472390e-01 -3.17692784e-03 -1.72917426e+01] [-8.94450701e-01 -4.47123182e-01 6.22929759e-03 -2.42962860e+02] [-6.99241279e-03 5.64122604e-05 -9.99975551e-01 -8.06657982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.910385723 meters 0.015174749152492643 Centerline is valid? [True, True] Translation: X:-17.26, Y:-243.08, Z:-8.07 [[ 5.14851758e-01 -8.57271432e-01 -3.65507332e-03 -1.72584968e+01] [-8.57250584e-01 -5.14864729e-01 5.97892135e-03 -2.43083390e+02] [-7.00742680e-03 5.50555704e-05 -9.99975446e-01 -8.06639730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.940385723 meters 0.01521178757622675 Centerline is valid? [True, True] Translation: X:-17.22, Y:-243.20, Z:-8.07 [[ 5.79501524e-01 -8.14959456e-01 -4.36677866e-03 -1.72177952e+01] [-8.14937049e-01 -5.79517973e-01 6.04359375e-03 -2.43198197e+02] [-7.45591060e-03 5.63779249e-05 -9.99972203e-01 -8.06618343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9703857229999 meters 0.017067824241053305 Centerline is valid? [True, True] Translation: X:-17.16, Y:-243.32, Z:-8.06 [[ 6.40272791e-01 -7.68131796e-01 -4.92924943e-03 -1.71646656e+01] [-7.68109725e-01 -6.40291762e-01 5.82322257e-03 -2.43315569e+02] [-7.62916021e-03 5.77534534e-05 -9.99970896e-01 -8.06379836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.000385723 meters 0.014952159090758992 Centerline is valid? [True, True] Translation: X:-17.12, Y:-243.41, Z:-8.07 [[ 6.98375663e-01 -7.15714849e-01 -4.86710304e-03 -1.71196521e+01] [-7.15697877e-01 -6.98392621e-01 4.92908353e-03 -2.43409538e+02] [-6.92696713e-03 4.10233388e-05 -9.99976008e-01 -8.06622786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.030385723 meters 0.014740855356934672 Centerline is valid? [True, True] Translation: X:-17.06, Y:-243.51, Z:-8.07 [[ 7.52394879e-01 -6.58693970e-01 -4.91939891e-03 -1.70610331e+01] [-6.58680103e-01 -7.52410960e-01 4.27418255e-03 -2.43507443e+02] [-6.51678793e-03 2.44371169e-05 -9.99978765e-01 -8.06638398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.060385723 meters 0.014722214291188801 Centerline is valid? [True, True] Translation: X:-17.07, Y:-243.51, Z:-8.07 [[ 8.02323339e-01 -5.96866032e-01 -5.31030354e-03 -1.70665540e+01] [-5.96853094e-01 -8.02340913e-01 3.92997638e-03 -2.43512976e+02] [-6.60634320e-03 1.63593239e-05 -9.99978178e-01 -8.06662186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0903857229999 meters 0.01464244895420789 Centerline is valid? [True, True] Translation: X:-17.07, Y:-243.52, Z:-8.07 [[ 8.47227621e-01 -5.31201450e-01 -5.51158913e-03 -1.70718128e+01] [-5.31190269e-01 -8.47245548e-01 3.44657074e-03 -2.43517181e+02] [-6.50049273e-03 7.67258346e-06 -9.99978872e-01 -8.06711360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.120385723 meters 0.014571897918365372 Centerline is valid? [True, True] Translation: X:-17.08, Y:-243.52, Z:-8.07 [[ 8.87344093e-01 -4.61079082e-01 -5.15177934e-03 -1.70765472e+01] [-4.61071259e-01 -8.87359048e-01 2.68593463e-03 -2.43523400e+02] [-5.80990629e-03 -8.01084564e-06 -9.99983122e-01 -8.06773558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.150385723 meters 0.0144910932462163 Centerline is valid? [True, True] Translation: X:-17.08, Y:-243.53, Z:-8.07 [[ 9.21090994e-01 -3.89313677e-01 -5.12264683e-03 -1.70797549e+01] [-3.89307572e-01 -9.21105239e-01 2.18021624e-03 -2.43529274e+02] [-5.56728484e-03 -1.38923460e-05 -9.99984503e-01 -8.06750601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.180385723 meters 0.014836151446608048 Centerline is valid? [True, True] Translation: X:-17.08, Y:-243.54, Z:-8.07 [[ 9.49327428e-01 -3.14239434e-01 -5.56893783e-03 -1.70848331e+01] [-3.14233866e-01 -9.49343762e-01 1.87075571e-03 -2.43540745e+02] [-5.87470160e-03 -2.60108467e-05 -9.99982744e-01 -8.06720810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.210385723 meters 0.014481695550884613 Centerline is valid? [True, True] Translation: X:-17.09, Y:-243.55, Z:-8.07 [[ 9.71115183e-01 -2.38545119e-01 -5.61488969e-03 -1.70875550e+01] [-2.38540959e-01 -9.71131415e-01 1.40901727e-03 -2.43550227e+02] [-5.78890996e-03 -2.89368925e-05 -9.99983244e-01 -8.06774898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.240385723 meters 0.014541326451298143 Centerline is valid? [True, True] Translation: X:-17.09, Y:-243.56, Z:-8.07 [[ 9.86801447e-01 -1.61841083e-01 -5.51071296e-03 -1.70917022e+01] [-1.61838402e-01 -9.86816834e-01 9.32111582e-04 -2.43557424e+02] [-5.58891826e-03 -2.79640806e-05 -9.99984382e-01 -8.06795949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.270385723 meters 0.014456683475476165 Centerline is valid? [True, True] Translation: X:-17.10, Y:-243.57, Z:-8.07 [[ 9.96412217e-01 -8.44532335e-02 -5.50857471e-03 -1.70965341e+01] [-8.44518012e-02 -9.96427444e-01 4.92521493e-04 -2.43565605e+02] [-5.53049005e-03 -2.55453769e-05 -9.99984706e-01 -8.06823141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.300385723 meters 0.014342856767382237 Centerline is valid? [True, True] Translation: X:-17.10, Y:-243.57, Z:-8.07 [[ 9.99956078e-01 -7.97191928e-03 -4.92857675e-03 -1.71021369e+01] [-7.97175347e-03 -9.99968224e-01 5.32877518e-05 -2.43572822e+02] [-4.92884494e-03 -1.39960125e-05 -9.99987853e-01 -8.06873133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.330385723 meters 0.01425599126812346 Centerline is valid? [True, True] Translation: X:-17.11, Y:-243.58, Z:-8.07 [[ 9.97592352e-01 6.92168376e-02 -4.30461498e-03 -1.71075705e+01] [ 6.92162261e-02 -9.97601639e-01 -2.91042530e-04 -2.43576504e+02] [-4.31443600e-03 -7.60740186e-06 -9.99990693e-01 -8.06908424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.360385723 meters 0.014217537769488503 Centerline is valid? [True, True] Translation: X:-17.11, Y:-243.58, Z:-8.07 [[ 9.89570284e-01 1.43990798e-01 -4.15981714e-03 -1.71119463e+01] [ 1.43989501e-01 -9.89579027e-01 -6.11225256e-04 -2.43581735e+02] [-4.20447861e-03 5.88035513e-06 -9.99991161e-01 -8.07011083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.390385723 meters 0.014251953767035674 Centerline is valid? [True, True] Translation: X:-17.12, Y:-243.59, Z:-8.07 [[ 9.75572978e-01 2.19636055e-01 -4.16751858e-03 -1.71157095e+01] [ 2.19633997e-01 -9.75581879e-01 -9.50699940e-04 -2.43586404e+02] [-4.27456359e-03 1.21484065e-05 -9.99990864e-01 -8.07030958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.420385723 meters 0.014298896429113387 Centerline is valid? [True, True] Translation: X:-17.12, Y:-243.60, Z:-8.07 [[ 9.55832993e-01 2.93879598e-01 -4.25108614e-03 -1.71164311e+01] [ 2.93876601e-01 -9.55842446e-01 -1.32734869e-03 -2.43599721e+02] [-4.45344928e-03 1.94289286e-05 -9.99990083e-01 -8.07088205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.450385723 meters 0.01454532452937317 Centerline is valid? [True, True] Translation: X:-17.12, Y:-243.61, Z:-8.07 [[ 9.30907058e-01 3.65222917e-01 -4.92659977e-03 -1.71175880e+01] [ 3.65217586e-01 -9.30920093e-01 -1.97355851e-03 -2.43611367e+02] [-5.30705951e-03 3.79186650e-05 -9.99985917e-01 -8.06970443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.480385723 meters 0.01443928995476648 Centerline is valid? [True, True] Translation: X:-17.12, Y:-243.63, Z:-8.07 [[ 8.99965462e-01 4.35933426e-01 -4.92084540e-03 -1.71164452e+01] [ 4.35926631e-01 -8.99978914e-01 -2.43431368e-03 -2.43625628e+02] [-5.48985580e-03 4.56706766e-05 -9.99984930e-01 -8.06984653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.510385723 meters 0.017327468670297063 Centerline is valid? [True, True] Translation: X:-17.12, Y:-243.64, Z:-8.07 [[ 8.64528405e-01 5.02556431e-01 -5.26039846e-03 -1.71153920e+01] [ 5.02546642e-01 -8.64544406e-01 -3.13743742e-03 -2.43638330e+02] [-6.12458741e-03 6.88081897e-05 -9.99981242e-01 -8.06649149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.540385723 meters 0.014852811480861467 Centerline is valid? [True, True] Translation: X:-17.11, Y:-243.65, Z:-8.07 [[ 8.22532352e-01 5.68697715e-01 -4.84147244e-03 -1.71136916e+01] [ 5.68687385e-01 -8.22546597e-01 -3.42837812e-03 -2.43650631e+02] [-5.93204749e-03 6.66676202e-05 -9.99982403e-01 -8.06935408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.570385723 meters 0.015370256030093402 Centerline is valid? [True, True] Translation: X:-17.11, Y:-243.66, Z:-8.07 [[ 7.75887176e-01 6.30854623e-01 -4.64058501e-03 -1.71133694e+01] [ 6.30842784e-01 -7.75901050e-01 -3.86557375e-03 -2.43660984e+02] [-6.03924985e-03 7.17695349e-05 -9.99981761e-01 -8.06851752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.600385723 meters 0.015073787212583812 Centerline is valid? [True, True] Translation: X:-17.11, Y:-243.67, Z:-8.07 [[ 7.24993611e-01 6.88738283e-01 -4.88276075e-03 -1.71090985e+01] [ 6.88721824e-01 -7.25010048e-01 -4.76232935e-03 -2.43673593e+02] [-6.82004914e-03 8.97944624e-05 -9.99976739e-01 -8.06903845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.630385723 meters 0.015126823507915275 Centerline is valid? [True, True] Translation: X:-17.11, Y:-243.68, Z:-8.07 [[ 6.69166851e-01 7.43099268e-01 -4.38220905e-03 -1.71056083e+01] [ 7.43082445e-01 -6.69181194e-01 -5.00098780e-03 -2.43684943e+02] [-6.64872226e-03 9.01526441e-05 -9.99977893e-01 -8.06930963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.660385723 meters 0.01598026904224232 Centerline is valid? [True, True] Translation: X:-17.10, Y:-243.70, Z:-8.07 [[ 6.09287679e-01 7.92937492e-01 -4.31955048e-03 -1.70985649e+01] [ 7.92916377e-01 -6.09302982e-01 -5.78753567e-03 -2.43697012e+02] [-7.22106901e-03 1.01231859e-04 -9.99973923e-01 -8.06803599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.690385723 meters 0.014972446627230053 Centerline is valid? [True, True] Translation: X:-17.09, Y:-243.71, Z:-8.07 [[ 5.44612315e-01 8.38678786e-01 -3.91420797e-03 -1.70909431e+01] [ 8.38655838e-01 -5.44626372e-01 -6.20491648e-03 -2.43709148e+02] [-7.33571271e-03 9.66005656e-05 -9.99973089e-01 -8.06939771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7203857229999 meters 0.014972471127054836 Centerline is valid? [True, True] Translation: X:-17.08, Y:-243.72, Z:-8.07 [[ 4.76570012e-01 8.79130662e-01 -3.20980614e-03 -1.70820844e+01] [ 8.79109501e-01 -4.76580813e-01 -6.10028744e-03 -2.43720826e+02] [-6.89268175e-03 8.54429790e-05 -9.99976242e-01 -8.06929839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.750385723 meters 0.014857129989655027 Centerline is valid? [True, True] Translation: X:-17.07, Y:-243.73, Z:-8.07 [[ 4.06049440e-01 9.13847739e-01 -2.48225542e-03 -1.70727924e+01] [ 9.13829497e-01 -4.06057020e-01 -5.77464696e-03 -2.43730979e+02] [-6.28508531e-03 7.64339490e-05 -9.99980246e-01 -8.06993221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.780385723 meters 0.015040603654622335 Centerline is valid? [True, True] Translation: X:-17.06, Y:-243.74, Z:-8.07 [[ 3.33438579e-01 9.42770130e-01 -1.78789950e-03 -1.70647869e+01] [ 9.42755453e-01 -3.33443365e-01 -5.26097407e-03 -2.43741215e+02] [-5.55605244e-03 6.86597143e-05 -9.99984563e-01 -8.07024250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.810385723 meters 0.015124528709081689 Centerline is valid? [True, True] Translation: X:-17.06, Y:-243.75, Z:-8.07 [[ 2.58434357e-01 9.66027952e-01 -1.29585710e-03 -1.70558623e+01] [ 9.66014533e-01 -2.58437598e-01 -5.09220673e-03 -2.43749055e+02] [-5.25411224e-03 6.41843853e-05 -9.99986195e-01 -8.07077508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8403857229999 meters 0.01513862893146401 Centerline is valid? [True, True] Translation: X:-17.05, Y:-243.76, Z:-8.07 [[ 1.82031022e-01 9.83292343e-01 -9.35898086e-04 -1.70478400e+01] [ 9.83277366e-01 -1.82033415e-01 -5.42739005e-03 -2.43757174e+02] [-5.50707580e-03 6.77059505e-05 -9.99984834e-01 -8.07040101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.870385723 meters 0.014946619459553294 Centerline is valid? [True, True] Translation: X:-17.04, Y:-243.76, Z:-8.07 [[ 1.03382452e-01 9.94641530e-01 -5.43545931e-04 -1.70385895e+01] [ 9.94624200e-01 -1.03383860e-01 -5.87189003e-03 -2.43764095e+02] [-5.89661956e-03 6.64264535e-05 -9.99982613e-01 -8.06976009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.900385723 meters 0.014895582765584971 Centerline is valid? [True, True] Translation: X:-17.03, Y:-243.77, Z:-8.07 [[ 2.42571369e-02 9.99705749e-01 -8.22077378e-05 -1.70296147e+01] [ 9.99688191e-01 -2.42571981e-02 -5.92527748e-03 -2.43770419e+02] [-5.92552809e-03 6.15481625e-05 -9.99982442e-01 -8.06967912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.930385723 meters 0.01449847134748125 Centerline is valid? [True, True] Translation: X:-17.01, Y:-243.78, Z:-8.07 [[-5.54030883e-02 9.98463992e-01 3.94064405e-04 -1.70144812e+01] [ 9.98445382e-01 5.54044617e-02 -6.09627097e-03 -2.43775172e+02] [-6.10873998e-03 5.56995469e-05 -9.99981340e-01 -8.06997368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.960385723 meters 0.014162149636089916 Centerline is valid? [True, True] Translation: X:-17.00, Y:-243.78, Z:-8.07 [[-1.36090411e-01 9.90695899e-01 1.01816672e-03 -1.69988282e+01] [ 9.90670658e-01 1.36094212e-01 -7.07202856e-03 -2.43779673e+02] [-7.14479629e-03 4.62326205e-05 -9.99974475e-01 -8.06933004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.990385723 meters 0.014226078328709545 Centerline is valid? [True, True] Translation: X:-16.99, Y:-243.78, Z:-8.07 [[-2.14669193e-01 9.76685483e-01 1.61400248e-03 -1.69861059e+01] [ 9.76659173e-01 2.14675257e-01 -7.16893346e-03 -2.43783197e+02] [-7.34827963e-03 3.73811736e-05 -9.99973000e-01 -8.06857929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.020385723 meters 0.014153336220383247 Centerline is valid? [True, True] Translation: X:-16.97, Y:-243.78, Z:-8.07 [[-2.92324306e-01 9.56315901e-01 2.52950242e-03 -1.69726774e+01] [ 9.56280903e-01 2.92335248e-01 -8.18154134e-03 -2.43784661e+02] [-8.56360079e-03 2.72514683e-05 -9.99963331e-01 -8.06868830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.050385723 meters 0.014084804204829342 Centerline is valid? [True, True] Translation: X:-16.96, Y:-243.78, Z:-8.07 [[-3.66810589e-01 9.30289451e-01 3.39544455e-03 -1.69610110e+01] [ 9.30250209e-01 3.66826303e-01 -8.54471624e-03 -2.43784898e+02] [-9.19459775e-03 2.43206096e-05 -9.99957729e-01 -8.06819789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.080385723 meters 0.014002944257233366 Centerline is valid? [True, True] Translation: X:-16.95, Y:-243.78, Z:-8.07 [[-4.38724794e-01 8.98611423e-01 4.25038154e-03 -1.69493155e+01] [ 8.98569778e-01 4.38745382e-01 -8.65128447e-03 -2.43784147e+02] [-9.63897832e-03 2.37313999e-05 -9.99953544e-01 -8.06797685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.110385723 meters 0.01409819409741305 Centerline is valid? [True, True] Translation: X:-16.94, Y:-243.78, Z:-8.07 [[-5.07661580e-01 8.61541274e-01 5.13357715e-03 -1.69357166e+01] [ 8.61497742e-01 5.07687534e-01 -8.66070028e-03 -2.43780756e+02] [-1.00678039e-02 2.58603325e-05 -9.99949318e-01 -8.06825072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.140385723 meters 0.014130897761372926 Centerline is valid? [True, True] Translation: X:-16.92, Y:-243.78, Z:-8.07 [[-5.72692257e-01 8.19751588e-01 5.56001075e-03 -1.69226476e+01] [ 8.19713554e-01 5.72719245e-01 -7.89654174e-03 -2.43776618e+02] [-9.65752778e-03 3.53278629e-05 -9.99953364e-01 -8.06888410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.170385723 meters 0.017228499251468427 Centerline is valid? [True, True] Translation: X:-16.91, Y:-243.77, Z:-8.07 [[-6.34019441e-01 7.73287216e-01 6.79927847e-03 -1.69105714e+01] [ 7.73243665e-01 6.34055896e-01 -8.20711108e-03 -2.43771484e+02] [-1.06575767e-02 5.40310252e-05 -9.99943205e-01 -8.06648607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.200385723 meters 0.01424540040841899 Centerline is valid? [True, True] Translation: X:-16.90, Y:-243.77, Z:-8.07 [[-6.91811649e-01 7.22052290e-01 6.09366257e-03 -1.68987371e+01] [ 7.22024969e-01 6.91838484e-01 -6.28149766e-03 -2.43766771e+02] [-8.75140004e-03 5.41632718e-05 -9.99961704e-01 -8.06991623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.230385723 meters 0.01425760680716942 Centerline is valid? [True, True] Translation: X:-16.89, Y:-243.76, Z:-8.07 [[-7.45979029e-01 6.65936804e-01 6.59253333e-03 -1.68876354e+01] [ 6.65911485e-01 7.46008157e-01 -5.80730777e-03 -2.43760590e+02] [-8.78538361e-03 5.79138467e-05 -9.99961406e-01 -8.06999469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.260385723 meters 0.014210942025565996 Centerline is valid? [True, True] Translation: X:-16.87, Y:-243.74, Z:-8.07 [[-7.90989359e-01 6.11792296e-01 6.78384467e-03 -1.68660418e+01] [ 6.11770443e-01 7.91018446e-01 -5.17127072e-03 -2.43740456e+02] [-8.52988986e-03 5.97355518e-05 -9.99963618e-01 -8.06990082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.290385723 meters 0.014210939616085733 Centerline is valid? [True, True] Translation: X:-16.41, Y:-243.15, Z:-9.00 [[-7.57544745e-01 -6.52752638e-01 6.32088131e-03 -1.64082894e+01] [ 6.52729182e-01 -7.57571112e-01 -5.53406121e-03 -2.43148632e+02] [ 8.40089013e-03 -6.64753062e-05 9.99964710e-01 -8.99949871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.320385723 meters 0.015076487160204094 Centerline is valid? [True, True] Translation: X:-16.90, Y:-243.71, Z:-8.07 [[-7.92633712e-01 6.09659882e-01 6.82846587e-03 -1.69026575e+01] [ 6.09637988e-01 7.92663122e-01 -5.16712634e-03 -2.43713560e+02] [-8.56286271e-03 6.72536660e-05 -9.99963336e-01 -8.06870190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.350385723 meters 0.014338539378258106 Centerline is valid? [True, True] Translation: X:-16.44, Y:-243.12, Z:-9.00 [[-7.60617762e-01 -6.49168270e-01 6.41695534e-03 -1.64427730e+01] [ 6.49144383e-01 -7.60644827e-01 -5.56939984e-03 -2.43123612e+02] [ 8.49650154e-03 -7.06539281e-05 9.99963902e-01 -9.00036866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.380385723 meters 0.01442372450103648 Centerline is valid? [True, True] Translation: X:-16.93, Y:-243.69, Z:-8.07 [[-7.94412411e-01 6.07338165e-01 7.01959534e-03 -1.69347784e+01] [ 6.07315284e-01 7.94443420e-01 -5.27241860e-03 -2.43690813e+02] [-8.77881237e-03 7.46327685e-05 -9.99961463e-01 -8.06828861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.410385723 meters 0.014519427957403125 Centerline is valid? [True, True] Translation: X:-16.92, Y:-243.67, Z:-8.07 [[-8.35211327e-01 5.49878760e-01 7.44237854e-03 -1.69154982e+01] [ 5.49857763e-01 8.35244481e-01 -4.80600254e-03 -2.43669102e+02] [-8.85892433e-03 7.82218554e-05 -9.99960756e-01 -8.06781684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.440385723 meters 0.014526056854099365 Centerline is valid? [True, True] Translation: X:-16.90, Y:-243.64, Z:-8.07 [[-8.71883462e-01 4.89653700e-01 7.64745858e-03 -1.69014930e+01] [ 4.89635669e-01 8.71916996e-01 -4.20289378e-03 -2.43644779e+02] [-8.72591161e-03 8.00349176e-05 -9.99961925e-01 -8.06709710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4703857229999 meters 0.014469426390495 Centerline is valid? [True, True] Translation: X:-16.54, Y:-242.98, Z:-9.00 [[-8.46682826e-01 -5.32042022e-01 7.71222773e-03 -1.65418929e+01] [ 5.32019323e-01 -8.46717948e-01 -4.91491609e-03 -2.42984315e+02] [ 9.14502353e-03 -5.83208744e-05 9.99958182e-01 -9.00227417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.500385723 meters 0.014302096959607151 Centerline is valid? [True, True] Translation: X:-16.94, Y:-243.63, Z:-8.07 [[-8.74288977e-01 4.85334375e-01 8.32647071e-03 -1.69403297e+01] [ 4.85313177e-01 8.74328622e-01 -4.53662943e-03 -2.43625932e+02] [-9.48185387e-03 7.46208559e-05 -9.99955043e-01 -8.06639557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.530385723 meters 0.014136444376646304 Centerline is valid? [True, True] Translation: X:-16.57, Y:-242.97, Z:-9.00 [[-8.47974295e-01 -5.29974581e-01 8.15714721e-03 -1.65748693e+01] [ 5.29949321e-01 -8.48013526e-01 -5.17470127e-03 -2.42967469e+02] [ 9.65983130e-03 -6.51390357e-05 9.99953341e-01 -9.00263924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.560385723 meters 0.013773972222896752 Centerline is valid? [True, True] Translation: X:-16.98, Y:-243.60, Z:-8.07 [[-8.76697043e-01 4.80968068e-01 8.48604314e-03 -1.69844398e+01] [ 4.80946228e-01 8.76738110e-01 -4.58386207e-03 -2.43601879e+02] [-9.64472871e-03 6.26721251e-05 -9.99953487e-01 -8.06698142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5903857229999 meters 0.013773972222896752 Centerline is valid? [True, True] Translation: X:-16.97, Y:-243.58, Z:-8.07 [[-9.08556460e-01 4.17669614e-01 8.78933001e-03 -1.69700193e+01] [ 4.17650737e-01 9.08598971e-01 -3.97134846e-03 -2.43576676e+02] [-9.64468778e-03 6.26758579e-05 -9.99953487e-01 -8.06698187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.620385723 meters 0.013520509831883461 Centerline is valid? [True, True] Translation: X:-16.96, Y:-243.55, Z:-8.07 [[-9.36631505e-01 3.50230887e-01 7.72980488e-03 -1.69550458e+01] [ 3.50219275e-01 9.36663400e-01 -2.85219948e-03 -2.43551313e+02] [-8.23915368e-03 3.56667706e-05 -9.99966057e-01 -8.06735244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.650385723 meters 0.013490421181238664 Centerline is valid? [True, True] Translation: X:-16.95, Y:-243.52, Z:-8.07 [[-9.59533031e-01 2.81501288e-01 7.30672351e-03 -1.69469969e+01] [ 2.81493297e-01 9.59560850e-01 -2.12118359e-03 -2.43523130e+02] [-7.60836173e-03 2.14479729e-05 -9.99971056e-01 -8.06817935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.680385723 meters 0.013213826002315802 Centerline is valid? [True, True] Translation: X:-16.94, Y:-243.49, Z:-8.07 [[-9.77770090e-01 2.09585924e-01 6.27628421e-03 -1.69411683e+01] [ 2.09581587e-01 9.77790233e-01 -1.34828656e-03 -2.43494332e+02] [-6.41947128e-03 -2.92066490e-06 -9.99979395e-01 -8.06867873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.710385723 meters 0.013141874193974725 Centerline is valid? [True, True] Translation: X:-16.94, Y:-243.47, Z:-8.07 [[-9.90387167e-01 1.38173869e-01 6.42193528e-03 -1.69367717e+01] [ 1.38170882e-01 9.90407988e-01 -9.08637536e-04 -2.43465442e+02] [-6.48588596e-03 -1.25784948e-05 -9.99978966e-01 -8.06850007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.740385723 meters 0.013171421983595964 Centerline is valid? [True, True] Translation: X:-16.94, Y:-243.44, Z:-8.07 [[-9.97795507e-01 6.60492274e-02 6.45173884e-03 -1.69420696e+01] [ 6.60477033e-02 9.97816365e-01 -4.49241207e-04 -2.43435415e+02] [-6.46732263e-03 -2.21283255e-05 -9.99979086e-01 -8.06837450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.770385723 meters 0.01311628616329586 Centerline is valid? [True, True] Translation: X:-16.95, Y:-243.41, Z:-8.07 [[-9.99959719e-01 -6.37805763e-03 6.31520769e-03 -1.69536183e+01] [-6.37812174e-03 9.99979660e-01 9.98855928e-06 -2.43406048e+02] [-6.31514294e-03 -3.02910065e-05 -9.99980059e-01 -8.06783942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.800385723 meters 0.013164363664429819 Centerline is valid? [True, True] Translation: X:-16.94, Y:-243.38, Z:-8.07 [[-9.96826102e-01 -7.94075046e-02 5.67190156e-03 -1.69444281e+01] [-7.94064347e-02 9.96842238e-01 4.13940835e-04 -2.43377834e+02] [-5.68686105e-03 -3.77584517e-05 -9.99983829e-01 -8.06786532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.830385723 meters 0.013101970506456064 Centerline is valid? [True, True] Translation: X:-17.00, Y:-242.63, Z:-9.00 [[-9.99986209e-01 -1.12948054e-03 5.12887451e-03 -1.69959050e+01] [ 1.12944909e-03 -9.99999362e-01 -9.02744973e-06 -2.42628225e+02] [ 5.12888143e-03 -3.23452259e-06 9.99986847e-01 -9.00095267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.860385723 meters 0.013154551024080805 Centerline is valid? [True, True] Translation: X:-17.05, Y:-243.39, Z:-8.07 [[-9.96246305e-01 -8.64448100e-02 4.53820975e-03 -1.70462338e+01] [-8.64440688e-02 9.96256641e-01 3.59594646e-04 -2.43387074e+02] [-4.55230669e-03 -3.40564783e-05 -9.99989638e-01 -8.06773180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.890385723 meters 0.013181325756802953 Centerline is valid? [True, True] Translation: X:-17.05, Y:-243.36, Z:-8.07 [[-9.87555715e-01 -1.57202257e-01 4.60000653e-03 -1.70548563e+01] [-1.57200715e-01 9.87566428e-01 6.97149526e-04 -2.43359752e+02] [-4.65240549e-03 -3.46503169e-05 -9.99989177e-01 -8.06723551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.920385723 meters 0.01307057071893262 Centerline is valid? [True, True] Translation: X:-17.17, Y:-242.61, Z:-9.00 [[-9.97106611e-01 7.58855788e-02 4.44798382e-03 -1.71738820e+01] [-7.58847315e-02 -9.97116532e-01 3.59180858e-04 -2.42610759e+02] [ 4.46241485e-03 2.06075498e-05 9.99990043e-01 -9.00240066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.950385723 meters 0.01296657138493322 Centerline is valid? [True, True] Translation: X:-17.18, Y:-243.38, Z:-8.07 [[-9.86600752e-01 -1.63080107e-01 4.88212200e-03 -1.71753778e+01] [-1.63078277e-01 9.86612831e-01 7.73299170e-04 -2.43380639e+02] [-4.94287392e-03 -3.32305007e-05 -9.99987783e-01 -8.06589600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.980385723 meters 0.013057148807912504 Centerline is valid? [True, True] Translation: X:-17.20, Y:-243.36, Z:-8.07 [[-9.72575432e-01 -2.32538063e-01 4.80401810e-03 -1.72032799e+01] [-2.32535376e-01 9.72587296e-01 1.11828555e-03 -2.43358313e+02] [-4.93237092e-03 -2.94871085e-05 -9.99987835e-01 -8.06547964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.010385723 meters 0.013108852719873538 Centerline is valid? [True, True] Translation: X:-17.24, Y:-243.34, Z:-8.07 [[-9.53796610e-01 -3.00428069e-01 3.87334592e-03 -1.72448090e+01] [-3.00425665e-01 9.53804474e-01 1.20198776e-03 -2.43343908e+02] [-4.05552553e-03 -1.72006704e-05 -9.99991776e-01 -8.06564596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.040385723 meters 0.01313181790508678 Centerline is valid? [True, True] Translation: X:-17.31, Y:-243.34, Z:-8.07 [[-9.29837909e-01 -3.67950959e-01 3.68166014e-03 -1.73147853e+01] [-3.67948125e-01 9.29845198e-01 1.44435370e-03 -2.43340832e+02] [-3.95482533e-03 -1.16451216e-05 -9.99992180e-01 -8.06605323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.070385723 meters 0.01321480390606862 Centerline is valid? [True, True] Translation: X:-17.35, Y:-243.33, Z:-8.07 [[-9.00316050e-01 -4.35224125e-01 3.31221024e-03 -1.73491817e+01] [-4.35221200e-01 9.00322143e-01 1.59545240e-03 -2.43327388e+02] [-3.67643559e-03 -5.13271131e-06 -9.99993242e-01 -8.06618582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.100385723 meters 0.013429621422081624 Centerline is valid? [True, True] Translation: X:-17.43, Y:-243.34, Z:-8.07 [[-8.66915014e-01 -4.98448915e-01 2.65295941e-03 -1.74266140e+01] [-4.98446562e-01 8.66919073e-01 1.53153172e-03 -2.43341371e+02] [-3.06329144e-03 5.34934641e-06 -9.99995308e-01 -8.06576713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.130385723 meters 0.013534659631749966 Centerline is valid? [True, True] Translation: X:-17.52, Y:-243.37, Z:-8.07 [[-8.27851581e-01 -5.60942175e-01 2.37404088e-03 -1.75189387e+01] [-5.60939839e-01 8.27854985e-01 1.61887319e-03 -2.43368200e+02] [-2.87345582e-03 8.49261853e-06 -9.99995872e-01 -8.06573022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.160385723 meters 0.013623037366757042 Centerline is valid? [True, True] Translation: X:-17.60, Y:-243.40, Z:-8.07 [[-7.83959673e-01 -6.20808017e-01 2.15361526e-03 -1.76013536e+01] [-6.20805632e-01 7.83962631e-01 1.72072751e-03 -2.43395929e+02] [-2.75659532e-03 1.20044973e-05 -9.99996201e-01 -8.06558841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.190385723 meters 0.013858076318997069 Centerline is valid? [True, True] Translation: X:-17.70, Y:-243.44, Z:-8.07 [[-7.35986913e-01 -6.76992272e-01 2.17430446e-03 -1.76952876e+01] [-6.76989242e-01 7.35990125e-01 2.02560476e-03 -2.43443935e+02] [-2.97158538e-03 1.88378656e-05 -9.99995585e-01 -8.06518336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2203857229999 meters 0.014267817810697948 Centerline is valid? [True, True] Translation: X:-17.79, Y:-243.50, Z:-8.06 [[-6.82980817e-01 -7.30432496e-01 2.36086651e-03 -1.77912319e+01] [-7.30428003e-01 6.82984896e-01 2.56191636e-03 -2.43502740e+02] [-3.48374313e-03 2.52967184e-05 -9.99993931e-01 -8.06424071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.250385723 meters 0.0144647700574627 Centerline is valid? [True, True] Translation: X:-17.89, Y:-243.57, Z:-8.06 [[-6.25598637e-01 -7.80140835e-01 2.57351188e-03 -1.78864192e+01] [-7.80134021e-01 6.25603929e-01 3.26080204e-03 -2.43574035e+02] [-4.15388397e-03 3.22691380e-05 -9.99991372e-01 -8.06347255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.280385723 meters 0.014483806219873765 Centerline is valid? [True, True] Translation: X:-17.96, Y:-243.63, Z:-8.06 [[-5.63607922e-01 -8.26038594e-01 2.52041117e-03 -1.79606424e+01] [-8.26030062e-01 5.63613556e-01 3.75439605e-03 -2.43628328e+02] [-4.52181394e-03 3.40719568e-05 -9.99989776e-01 -8.06343935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.310385723 meters 0.014757186741234211 Centerline is valid? [True, True] Translation: X:-18.05, Y:-243.72, Z:-8.06 [[-4.98187130e-01 -8.67065945e-01 2.49623039e-03 -1.80506626e+01] [-8.67054698e-01 4.98193382e-01 4.41644737e-03 -2.43721864e+02] [-5.07295657e-03 3.58489532e-05 -9.99987132e-01 -8.06278905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3403857229999 meters 0.014671257100272622 Centerline is valid? [True, True] Translation: X:-18.12, Y:-243.80, Z:-8.06 [[-4.29163620e-01 -9.03223392e-01 2.46806917e-03 -1.81233501e+01] [-9.03207968e-01 4.29170715e-01 5.27866251e-03 -2.43803257e+02] [-5.82703447e-03 3.62301739e-05 -9.99983022e-01 -8.06204440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.370385723 meters 0.014838274791838338 Centerline is valid? [True, True] Translation: X:-18.20, Y:-243.90, Z:-8.06 [[-3.57506655e-01 -9.33908171e-01 2.12626426e-03 -1.81965604e+01] [-9.33891109e-01 3.57512976e-01 5.64517989e-03 -2.43904584e+02] [-6.03224668e-03 3.24900896e-05 -9.99981805e-01 -8.06176070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.400385723 meters 0.014830161991241602 Centerline is valid? [True, True] Translation: X:-18.26, Y:-244.02, Z:-8.06 [[-2.83875255e-01 -9.58859655e-01 1.73259761e-03 -1.82631341e+01] [-9.58841140e-01 2.83880541e-01 5.95876942e-03 -2.44016772e+02] [-6.20547434e-03 3.02613177e-05 -9.99980745e-01 -8.06172389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.430385723 meters 0.014864671757341873 Centerline is valid? [True, True] Translation: X:-18.32, Y:-244.12, Z:-8.06 [[-2.08202210e-01 -9.78085149e-01 1.13156883e-03 -1.83170932e+01] [-9.78070095e-01 2.08205284e-01 5.42666610e-03 -2.44124317e+02] [-5.54334013e-03 2.30902489e-05 -9.99984635e-01 -8.06291917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.460385723 meters 0.015108537513333757 Centerline is valid? [True, True] Translation: X:-18.37, Y:-244.26, Z:-8.06 [[-1.31501945e-01 -9.91315715e-01 6.26603508e-04 -1.83681421e+01] [-9.91303812e-01 1.31503437e-01 4.85789172e-03 -2.44259455e+02] [-4.89810492e-03 1.76677638e-05 -9.99988004e-01 -8.06338556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.490385723 meters 0.01524125214273226 Centerline is valid? [True, True] Translation: X:-18.40, Y:-244.36, Z:-8.06 [[-5.31872110e-02 -9.98584529e-01 2.43261844e-04 -1.84047286e+01] [-9.98573031e-01 5.31877659e-02 4.79197063e-03 -2.44360772e+02] [-4.79812629e-03 1.19568365e-05 -9.99988489e-01 -8.06440333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.520385723 meters 0.015363534839922916 Centerline is valid? [True, True] Translation: X:-18.43, Y:-244.50, Z:-8.06 [[ 2.49770223e-02 -9.99688019e-01 -1.12685169e-04 -1.84340386e+01] [-9.99679098e-01 -2.49772755e-02 4.22335049e-03 -2.44502344e+02] [-4.22484745e-03 7.16228921e-06 -9.99991075e-01 -8.06428504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.550385723 meters 0.015442047443694361 Centerline is valid? [True, True] Translation: X:-18.45, Y:-244.63, Z:-8.07 [[ 1.03016420e-01 -9.94679565e-01 -4.23657747e-04 -1.84536946e+01] [-9.94671272e-01 -1.03017291e-01 4.06186037e-03 -2.44629644e+02] [-4.08389359e-03 2.96187774e-06 -9.99991661e-01 -8.06547746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.580385723 meters 0.015535458880694086 Centerline is valid? [True, True] Translation: X:-18.47, Y:-244.73, Z:-8.07 [[ 1.80607973e-01 -9.83554871e-01 -7.58513043e-04 -1.84675516e+01] [-9.83546139e-01 -1.80609566e-01 4.14460240e-03 -2.44730741e+02] [-4.21343859e-03 -2.51566463e-06 -9.99991123e-01 -8.06559098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.610385723 meters 0.015952821763226793 Centerline is valid? [True, True] Translation: X:-18.47, Y:-244.86, Z:-8.07 [[ 2.59438742e-01 -9.65758823e-01 -1.19767860e-03 -1.84691382e+01] [-9.65748201e-01 -2.59441506e-01 4.52968139e-03 -2.44855869e+02] [-4.68530730e-03 -1.85188938e-05 -9.99989024e-01 -8.06626597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.640385723 meters 0.016315355641753224 Centerline is valid? [True, True] Translation: X:-18.46, Y:-244.99, Z:-8.07 [[ 3.36944786e-01 -9.41523044e-01 -1.60272734e-03 -1.84603594e+01] [-9.41511854e-01 -3.36948595e-01 4.59045620e-03 -2.44988221e+02] [-4.86205702e-03 -3.77434910e-05 -9.99988179e-01 -8.06555365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.670385723 meters 0.016192739379417367 Centerline is valid? [True, True] Translation: X:-18.44, Y:-245.12, Z:-8.06 [[ 4.10013233e-01 -9.12077015e-01 -2.16042320e-03 -1.84414356e+01] [-9.12063712e-01 -4.10018922e-01 4.92638626e-03 -2.45118022e+02] [-5.37905806e-03 -4.94399602e-05 -9.99985532e-01 -8.06489090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.700385723 meters 0.016658665595162533 Centerline is valid? [True, True] Translation: X:-18.42, Y:-245.24, Z:-8.06 [[ 4.80816213e-01 -8.76816089e-01 -3.05201023e-03 -1.84155917e+01] [-8.76797476e-01 -4.80825894e-01 5.71364202e-03 -2.45238741e+02] [-6.47729880e-03 -7.12168566e-05 -9.99979020e-01 -8.06407044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.730385723 meters 0.016979752741812217 Centerline is valid? [True, True] Translation: X:-18.38, Y:-245.36, Z:-8.06 [[ 5.47795033e-01 -8.36602885e-01 -4.02683511e-03 -1.83777026e+01] [-8.36579067e-01 -5.47809826e-01 6.31342420e-03 -2.45360689e+02] [-7.48776874e-03 -8.96964616e-05 -9.99971962e-01 -8.06334531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.760385723 meters 0.016721342777366633 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.49, Z:-8.06 [[ 6.11086734e-01 -7.91551904e-01 -4.31126932e-03 -1.83254628e+01] [-7.91531154e-01 -6.11101935e-01 5.73210918e-03 -2.45485178e+02] [-7.17188696e-03 -9.03118905e-05 -9.99974278e-01 -8.06360045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.790385723 meters 0.016991626575121196 Centerline is valid? [True, True] Translation: X:-18.27, Y:-245.60, Z:-8.06 [[ 6.70496412e-01 -7.41895776e-01 -5.02191350e-03 -1.82716284e+01] [-7.41873852e-01 -6.70515211e-01 5.70435557e-03 -2.45596155e+02] [-7.59930669e-03 -9.91236312e-05 -9.99971120e-01 -8.06364234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.820385723 meters 0.016862213457786518 Centerline is valid? [True, True] Translation: X:-18.24, Y:-245.68, Z:-8.06 [[ 7.25847889e-01 -6.87833119e-01 -5.51753687e-03 -1.82361789e+01] [-6.87812144e-01 -7.25868851e-01 5.37265479e-03 -2.45676288e+02] [-7.70049805e-03 -1.04701270e-04 -9.99970345e-01 -8.06382094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.850385723 meters 0.017255775045543334 Centerline is valid? [True, True] Translation: X:-18.24, Y:-245.68, Z:-8.06 [[ 7.77430253e-01 -6.28942299e-01 -5.81259311e-03 -1.82448189e+01] [-6.28923713e-01 -7.77451976e-01 4.83626111e-03 -2.45684988e+02] [-7.56074118e-03 -1.04178060e-04 -9.99971412e-01 -8.06241810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.880385723 meters 0.017190846979635317 Centerline is valid? [True, True] Translation: X:-18.25, Y:-245.69, Z:-8.06 [[ 8.24507421e-01 -5.65816327e-01 -6.27671552e-03 -1.82515397e+01] [-5.65798911e-01 -8.24531305e-01 4.44065589e-03 -2.45690542e+02] [-7.68794404e-03 -1.09994928e-04 -9.99970441e-01 -8.06197894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.910385723 meters 0.017175824187344774 Centerline is valid? [True, True] Translation: X:-18.26, Y:-245.69, Z:-8.06 [[ 8.66270434e-01 -4.99526709e-01 -6.97156871e-03 -1.82566273e+01] [-4.99509442e-01 -8.66298478e-01 4.15494494e-03 -2.45694270e+02] [-8.11496533e-03 -1.16941560e-04 -9.99967066e-01 -8.06167559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.940385723 meters 0.01681604775249494 Centerline is valid? [True, True] Translation: X:-18.26, Y:-245.70, Z:-8.06 [[ 9.02692197e-01 -4.30225067e-01 -7.29307260e-03 -1.82633578e+01] [-4.30209968e-01 -9.02721650e-01 3.60634164e-03 -2.45702595e+02] [-8.13515310e-03 -1.17863924e-04 -9.99966902e-01 -8.06231523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9703857229999 meters 0.01737189104549631 Centerline is valid? [True, True] Translation: X:-18.27, Y:-245.71, Z:-8.06 [[ 9.33539033e-01 -3.58397662e-01 -7.48269514e-03 -1.82713544e+01] [-3.58385148e-01 -9.33569013e-01 2.99718453e-03 -2.45713610e+02] [-8.05979624e-03 -1.16301939e-04 -9.99967513e-01 -8.06095989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.000385723 meters 0.016825916334748732 Centerline is valid? [True, True] Translation: X:-18.28, Y:-245.72, Z:-8.06 [[ 9.58570214e-01 -2.84764346e-01 -7.23959929e-03 -1.82761516e+01] [-2.84755388e-01 -9.58597547e-01 2.26117038e-03 -2.45722370e+02] [-7.58376282e-03 -1.05975674e-04 -9.99971237e-01 -8.06172685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.030385723 meters 0.016772488812221802 Centerline is valid? [True, True] Translation: X:-18.28, Y:-245.73, Z:-8.06 [[ 9.77541303e-01 -2.10612603e-01 -7.43859934e-03 -1.82820283e+01] [-2.10605778e-01 -9.77569600e-01 1.69817508e-03 -2.45732876e+02] [-7.62940566e-03 -9.34242757e-05 -9.99970891e-01 -8.06022072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.060385723 meters 0.01654239035615103 Centerline is valid? [True, True] Translation: X:-18.29, Y:-245.74, Z:-8.06 [[ 9.90784828e-01 -1.35232401e-01 -7.59095890e-03 -1.82900381e+01] [-1.35227810e-01 -9.90813904e-01 1.11722032e-03 -2.45739036e+02] [-7.67231200e-03 -8.04161982e-05 -9.99970564e-01 -8.05955238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0903857229999 meters 0.016311305742885192 Centerline is valid? [True, True] Translation: X:-18.30, Y:-245.75, Z:-8.06 [[ 9.98224514e-01 -5.91285565e-02 -7.18565254e-03 -1.82968754e+01] [-5.91265752e-02 -9.98250374e-01 4.88035374e-04 -2.45745615e+02] [-7.20193716e-03 -6.23058493e-05 -9.99974064e-01 -8.05943985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.120385723 meters 0.016021622194121597 Centerline is valid? [True, True] Translation: X:-18.30, Y:-245.75, Z:-8.06 [[ 9.99856608e-01 1.52166008e-02 -7.43090150e-03 -1.83029284e+01] [ 1.52164398e-02 -9.99884220e-01 -7.82072953e-05 -2.45750998e+02] [-7.43123120e-03 -3.48757843e-05 -9.99972387e-01 -8.05891338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.150385723 meters 0.015945589471396848 Centerline is valid? [True, True] Translation: X:-18.31, Y:-245.76, Z:-8.06 [[ 9.95780615e-01 9.15082968e-02 -6.87014153e-03 -1.83085500e+01] [ 9.15062503e-02 -9.95804314e-01 -6.12287011e-04 -2.45761621e+02] [-6.89734592e-03 -1.89573549e-05 -9.99976213e-01 -8.05921053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.180385723 meters 0.016056892158229356 Centerline is valid? [True, True] Translation: X:-18.31, Y:-245.77, Z:-8.06 [[ 9.85863163e-01 1.67451857e-01 -5.80510190e-03 -1.83142562e+01] [ 1.67448990e-01 -9.85880254e-01 -9.79850106e-04 -2.45770795e+02] [-5.88721306e-03 -6.06032604e-06 -9.99982670e-01 -8.05968938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.210385723 meters 0.01611102045897703 Centerline is valid? [True, True] Translation: X:-18.32, Y:-245.78, Z:-8.06 [[ 9.70556773e-01 2.40833223e-01 -4.34842177e-03 -1.83193203e+01] [ 2.40830759e-01 -9.70566514e-01 -1.08957922e-03 -2.45779793e+02] [-4.48283944e-03 1.02647738e-05 -9.99989952e-01 -8.06105793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.240385723 meters 0.01622591516271171 Centerline is valid? [True, True] Translation: X:-18.32, Y:-245.79, Z:-8.06 [[ 9.49397281e-01 3.14056322e-01 -3.66468023e-03 -1.83239074e+01] [ 3.14053913e-01 -9.49404354e-01 -1.23010701e-03 -2.45787713e+02] [-3.86558625e-03 1.69530889e-05 -9.99992529e-01 -8.06174879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.270385723 meters 0.016540378345072566 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.80, Z:-8.06 [[ 9.23132594e-01 3.84469093e-01 -3.11918960e-03 -1.83290875e+01] [ 3.84466806e-01 -9.23137864e-01 -1.32661671e-03 -2.45795998e+02] [-3.38948515e-03 2.54182624e-05 -9.99994255e-01 -8.06188993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.300385723 meters 0.01669278362471159 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.81, Z:-8.06 [[ 8.90729064e-01 4.54526166e-01 -2.77471388e-03 -1.83314184e+01] [ 4.54523866e-01 -8.90733386e-01 -1.44617276e-03 -2.45805052e+02] [-3.12885365e-03 2.69744285e-05 -9.99995105e-01 -8.06176336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.330385723 meters 0.01673072237842685 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.81, Z:-8.06 [[ 8.53041445e-01 5.21837920e-01 -2.34069692e-03 -1.83336791e+01] [ 5.21835868e-01 -8.53044656e-01 -1.46361396e-03 -2.45813504e+02] [-2.76048827e-03 2.70637532e-05 -9.99996190e-01 -8.06234506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.360385723 meters 0.016616897450998487 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.83, Z:-8.06 [[ 8.10135333e-01 5.86241234e-01 -1.39895433e-03 -1.83330923e+01] [ 5.86240321e-01 -8.10136541e-01 -1.03498529e-03 -2.45826937e+02] [-1.74009508e-03 1.83547207e-05 -9.99998486e-01 -8.06271939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.390385723 meters 0.016957066929954738 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.84, Z:-8.06 [[ 7.61888236e-01 6.47706884e-01 -1.45225640e-03 -1.83332386e+01] [ 6.47705655e-01 -7.61889620e-01 -1.26198621e-03 -2.45840019e+02] [-1.92385623e-03 2.08577606e-05 -9.99998149e-01 -8.06256384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.420385723 meters 0.016609369105026486 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.85, Z:-8.06 [[ 7.08483855e-01 7.05725662e-01 -1.38440826e-03 -1.83299253e+01] [ 7.05724258e-01 -7.08485208e-01 -1.40793817e-03 -2.45854032e+02] [-1.97445087e-03 2.04909681e-05 -9.99998051e-01 -8.06167399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.450385723 meters 0.01641589048405371 Centerline is valid? [True, True] Translation: X:-18.33, Y:-245.87, Z:-8.06 [[ 6.50527290e-01 7.59481598e-01 -1.39565445e-03 -1.83265704e+01] [ 7.59479779e-01 -6.50528787e-01 -1.66201998e-03 -2.45866486e+02] [-2.17018698e-03 2.12180206e-05 -9.99997645e-01 -8.06144522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.480385723 meters 0.016234232166209995 Centerline is valid? [True, True] Translation: X:-18.32, Y:-245.88, Z:-8.06 [[ 5.88204524e-01 8.08710600e-01 -1.61358011e-03 -1.83207326e+01] [ 8.08707443e-01 -5.88206736e-01 -2.25994433e-03 -2.45879550e+02] [-2.77675963e-03 2.43952341e-05 -9.99996145e-01 -8.06104074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.510385723 meters 0.016234232166209995 Centerline is valid? [True, True] Translation: X:-18.32, Y:-245.89, Z:-8.06 [[ 5.23047541e-01 8.52302306e-01 -1.43157179e-03 -1.83154164e+01] [ 8.52298985e-01 -5.23049500e-01 -2.37937101e-03 -2.45892052e+02] [-2.77672631e-03 2.43969765e-05 -9.99996145e-01 -8.06104104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.540385723 meters 0.01625092246442281 Centerline is valid? [True, True] Translation: X:-18.31, Y:-245.90, Z:-8.06 [[ 4.53246101e-01 8.91384193e-01 -1.48057008e-03 -1.83091801e+01] [ 8.91379263e-01 -4.53248518e-01 -2.96473842e-03 -2.45904402e+02] [-3.31378716e-03 2.40066636e-05 -9.99994509e-01 -8.06056976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.570385723 meters 0.015847309430219777 Centerline is valid? [True, True] Translation: X:-18.30, Y:-245.92, Z:-8.06 [[ 3.79104061e-01 9.25352759e-01 -1.54373376e-03 -1.83021631e+01] [ 9.25344905e-01 -3.79107204e-01 -3.81249157e-03 -2.45915445e+02] [-4.11314018e-03 1.68448711e-05 -9.99991541e-01 -8.05981247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.600385723 meters 0.01565773762365466 Centerline is valid? [True, True] Translation: X:-18.30, Y:-245.93, Z:-8.06 [[ 3.02331224e-01 9.53201924e-01 -1.38669114e-03 -1.82958345e+01] [ 9.53191841e-01 -3.02334404e-01 -4.38430665e-03 -2.45926572e+02] [-4.59837398e-03 3.73011010e-06 -9.99989427e-01 -8.05979970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.630385723 meters 0.015565236548581819 Centerline is valid? [True, True] Translation: X:-18.29, Y:-245.94, Z:-8.06 [[ 2.25492932e-01 9.74244307e-01 -9.84200507e-04 -1.82884640e+01] [ 9.74235068e-01 -2.25495080e-01 -4.24283630e-03 -2.45935480e+02] [-4.35549148e-03 -2.11305088e-06 -9.99990515e-01 -8.06002123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.660385723 meters 0.015622165497458191 Centerline is valid? [True, True] Translation: X:-18.28, Y:-245.94, Z:-8.06 [[ 1.47055686e-01 9.89127960e-01 -7.09806835e-04 -1.82791870e+01] [ 9.89116743e-01 -1.47057399e-01 -4.71075129e-03 -2.45944316e+02] [-4.76391817e-03 -9.33906109e-06 -9.99988653e-01 -8.06017825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.690385723 meters 0.015589252418466742 Centerline is valid? [True, True] Translation: X:-18.27, Y:-245.95, Z:-8.06 [[ 6.78953180e-02 9.97692405e-01 -3.02607105e-04 -1.82704208e+01] [ 9.97683369e-01 -6.78959910e-02 -4.24617491e-03 -2.45953267e+02] [-4.25692227e-03 -1.36106799e-05 -9.99990939e-01 -8.06049140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7203857229999 meters 0.015633643208782813 Centerline is valid? [True, True] Translation: X:-18.26, Y:-245.96, Z:-8.06 [[-1.09676977e-02 9.99939853e-01 2.35441476e-05 -1.82608625e+01] [ 9.99934524e-01 1.09677161e-02 -3.26447762e-03 -2.45960614e+02] [-3.26453950e-03 -1.22611978e-05 -9.99994671e-01 -8.06226125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.750385723 meters 0.015667371848313648 Centerline is valid? [True, True] Translation: X:-18.25, Y:-245.97, Z:-8.06 [[-8.95109161e-02 9.95985817e-01 2.19347446e-04 -1.82517552e+01] [ 9.95982532e-01 8.95111843e-02 -2.55803053e-03 -2.45968644e+02] [-2.56739618e-03 -1.05054321e-05 -9.99996704e-01 -8.06337629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.780385723 meters 0.015773865249586714 Centerline is valid? [True, True] Translation: X:-18.24, Y:-245.97, Z:-8.06 [[-1.68031736e-01 9.85781552e-01 2.58454042e-04 -1.82415434e+01] [ 9.85780311e-01 1.68031934e-01 -1.56416001e-03 -2.45974899e+02] [-1.58534862e-03 -8.04961602e-06 -9.99998743e-01 -8.06430548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.810385723 meters 0.01582089582026189 Centerline is valid? [True, True] Translation: X:-18.23, Y:-245.98, Z:-8.06 [[-2.44920718e-01 9.69543044e-01 3.56570256e-04 -1.82317150e+01] [ 9.69541969e-01 2.44920977e-01 -1.44378771e-03 -2.45981246e+02] [-1.48714586e-03 -7.90369274e-06 -9.99998894e-01 -8.06401998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8403857229999 meters 0.01584653479363341 Centerline is valid? [True, True] Translation: X:-18.22, Y:-245.98, Z:-8.06 [[-3.20308276e-01 9.47313192e-01 5.69349934e-04 -1.82177828e+01] [ 9.47311641e-01 3.20308782e-01 -1.71451084e-03 -2.45984656e+02] [-1.80654652e-03 -9.82019278e-06 -9.99998368e-01 -8.06268532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.870385723 meters 0.015845389330206124 Centerline is valid? [True, True] Translation: X:-18.20, Y:-245.99, Z:-8.06 [[-3.93346542e-01 9.19389836e-01 9.09668792e-04 -1.82044446e+01] [ 9.19387306e-01 3.93347594e-01 -2.15679973e-03 -2.45987658e+02] [-2.34075578e-03 -1.20317758e-05 -9.99997260e-01 -8.06206961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.900385723 meters 0.015901496798758095 Centerline is valid? [True, True] Translation: X:-18.19, Y:-245.99, Z:-8.06 [[-4.64020413e-01 8.85823697e-01 1.19767196e-03 -1.81926928e+01] [ 8.85820674e-01 4.64021959e-01 -2.31407692e-03 -2.45989626e+02] [-2.60561026e-03 -1.28563440e-05 -9.99996605e-01 -8.06228627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.930385723 meters 0.01588379877236426 Centerline is valid? [True, True] Translation: X:-18.18, Y:-245.99, Z:-8.06 [[-5.30764779e-01 8.47517879e-01 1.48105848e-03 -1.81812984e+01] [ 8.47514528e-01 5.30766846e-01 -2.38332909e-03 -2.45991519e+02] [-2.80601075e-03 -9.76856284e-06 -9.99996063e-01 -8.06158756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.960385723 meters 0.015778914887465665 Centerline is valid? [True, True] Translation: X:-18.17, Y:-245.99, Z:-8.06 [[-5.94267263e-01 8.04265920e-01 1.65834557e-03 -1.81703266e+01] [ 8.04262762e-01 5.94269577e-01 -2.25354490e-03 -2.45994060e+02] [-2.79795368e-03 -5.46237339e-06 -9.99996086e-01 -8.06079439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.990385723 meters 0.015734767053328255 Centerline is valid? [True, True] Translation: X:-18.16, Y:-245.99, Z:-8.06 [[-6.54618092e-01 7.55957911e-01 1.67056606e-03 -1.81595632e+01] [ 7.55955440e-01 6.54620224e-01 -1.93277693e-03 -2.45994127e+02] [-2.55468434e-03 -2.35724209e-06 -9.99996737e-01 -8.06099330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.020385723 meters 0.01574744969976147 Centerline is valid? [True, True] Translation: X:-18.15, Y:-245.99, Z:-8.06 [[-7.09789879e-01 7.04410406e-01 2.07565283e-03 -1.81482169e+01] [ 7.04407418e-01 7.09792914e-01 -2.05173496e-03 -2.45992757e+02] [-2.91854712e-03 5.80453765e-06 -9.99995741e-01 -8.06002749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.050385723 meters 0.015871131105580385 Centerline is valid? [True, True] Translation: X:-18.10, Y:-246.00, Z:-8.06 [[-7.56754628e-01 6.53695602e-01 2.11973015e-03 -1.81009365e+01] [ 6.53693076e-01 7.56757596e-01 -1.81746783e-03 -2.45999217e+02] [-2.79219262e-03 1.02757331e-05 -9.99996102e-01 -8.05907419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.080385723 meters 0.01576787374185134 Centerline is valid? [True, True] Translation: X:-17.55, Y:-245.38, Z:-9.01 [[-7.18394758e-01 -6.95631058e-01 2.53046615e-03 -1.75487221e+01] [ 6.95626871e-01 -7.18399214e-01 -2.41361368e-03 -2.45377797e+02] [ 3.49686953e-03 2.63328324e-05 9.99993886e-01 -9.01057543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.110385723 meters 0.016032659785162825 Centerline is valid? [True, True] Translation: X:-18.13, Y:-245.98, Z:-8.06 [[-7.56758977e-01 6.53688465e-01 2.69106943e-03 -1.81320882e+01] [ 6.53684451e-01 7.56763761e-01 -2.29080330e-03 -2.45977688e+02] [-3.53397551e-03 2.55242852e-05 -9.99993755e-01 -8.05836861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.140385723 meters 0.015965473154818808 Centerline is valid? [True, True] Translation: X:-18.10, Y:-245.96, Z:-8.06 [[-8.00586192e-01 5.99211415e-01 2.72559915e-03 -1.81037560e+01] [ 5.99208059e-01 8.00590831e-01 -2.00590671e-03 -2.45963224e+02] [-3.38405189e-03 2.72997593e-05 -9.99994274e-01 -8.05851353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.170385723 meters 0.015893734686163348 Centerline is valid? [True, True] Translation: X:-18.08, Y:-245.94, Z:-8.06 [[-8.40275942e-01 5.42156782e-01 1.53805076e-03 -1.80832631e+01] [ 5.42155910e-01 8.40277349e-01 -9.72579683e-04 -2.45943192e+02] [-1.81967989e-03 1.66279992e-05 -9.99998344e-01 -8.05979515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.200385723 meters 0.016129453529325224 Centerline is valid? [True, True] Translation: X:-17.62, Y:-245.25, Z:-9.01 [[-8.13577820e-01 -5.81454699e-01 1.25030296e-03 -1.76185594e+01] [ 5.81453956e-01 -8.13578780e-01 -9.30013728e-04 -2.45246209e+02] [ 1.55798081e-03 -2.96449401e-05 9.99998786e-01 -9.00873226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.230385723 meters 0.016018463125138133 Centerline is valid? [True, True] Translation: X:-18.12, Y:-245.92, Z:-8.06 [[-8.41409433e-01 5.40397842e-01 5.81532346e-04 -1.81188641e+01] [ 5.40397718e-01 8.41409634e-01 -3.65603614e-04 -2.45923453e+02] [-6.86878323e-04 6.63642362e-06 -9.99999764e-01 -8.06108703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.260385723 meters 0.01593771015728655 Centerline is valid? [True, True] Translation: X:-18.09, Y:-245.91, Z:-8.06 [[-8.77531399e-01 4.79518767e-01 6.29741273e-04 -1.80894080e+01] [ 4.79518649e-01 8.77531625e-01 -3.36190137e-04 -2.45906609e+02] [-7.13827363e-04 6.95528330e-06 -9.99999745e-01 -8.06137322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.290385723 meters 0.015884592217030338 Centerline is valid? [True, True] Translation: X:-18.07, Y:-245.88, Z:-8.06 [[-9.09400716e-01 4.15920179e-01 8.62041915e-04 -1.80723984e+01] [ 4.15920002e-01 9.09401124e-01 -3.84141873e-04 -2.45881671e+02] [-9.43714244e-04 9.20158114e-06 -9.99999555e-01 -8.06119742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.320385723 meters 0.015388440943750293 Centerline is valid? [True, True] Translation: X:-17.73, Y:-245.12, Z:-9.01 [[-8.88889063e-01 -4.58121848e-01 7.78925014e-04 -1.77285832e+01] [ 4.58121660e-01 -8.88889404e-01 -4.15318634e-04 -2.45120966e+02] [ 8.82644732e-04 -1.23297713e-05 9.99999610e-01 -9.00855385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.350385723 meters 0.015139623046022533 Centerline is valid? [True, True] Translation: X:-18.12, Y:-245.86, Z:-8.06 [[-9.11509534e-01 4.11278681e-01 4.64609597e-04 -1.81164119e+01] [ 4.11278629e-01 9.11509653e-01 -2.05378560e-04 -2.45858909e+02] [-5.07963956e-04 3.87948238e-06 -9.99999871e-01 -8.06080337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.380385723 meters 0.01514772777428914 Centerline is valid? [True, True] Translation: X:-18.10, Y:-245.83, Z:-8.06 [[-9.38615361e-01 3.44965143e-01 5.04919058e-04 -1.80985871e+01] [ 3.44965095e-01 9.38615497e-01 -1.81594272e-04 -2.45832385e+02] [-5.36568546e-04 3.73227802e-06 -9.99999856e-01 -8.06123281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.410385723 meters 0.014994151493093778 Centerline is valid? [True, True] Translation: X:-18.09, Y:-245.80, Z:-8.06 [[-9.60887816e-01 2.76936975e-01 7.19346176e-04 -1.80912727e+01] [ 2.76936901e-01 9.60888085e-01 -2.02051753e-04 -2.45802709e+02] [-7.47166771e-04 5.06443312e-06 -9.99999721e-01 -8.06084524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.440385723 meters 0.014982748402885994 Centerline is valid? [True, True] Translation: X:-18.09, Y:-245.77, Z:-8.06 [[-9.78173859e-01 2.07786740e-01 7.56973494e-04 -1.80857519e+01] [ 2.07786681e-01 9.78174152e-01 -1.55693055e-04 -2.45772771e+02] [-7.72802858e-04 4.99413417e-06 -9.99999701e-01 -8.06065473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4703857229999 meters 0.014900703129720074 Centerline is valid? [True, True] Translation: X:-17.91, Y:-244.97, Z:-9.01 [[-9.65718804e-01 -2.59588593e-01 9.77114558e-04 -1.79120829e+01] [ 2.59588469e-01 -9.65719298e-01 -2.53852490e-04 -2.44974211e+02] [ 1.00951560e-03 8.49754958e-06 9.99999490e-01 -9.00875339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.500385723 meters 0.01486527655714434 Centerline is valid? [True, True] Translation: X:-18.14, Y:-245.76, Z:-8.06 [[-9.79280847e-01 2.02504339e-01 1.00747011e-03 -1.81419911e+01] [ 2.02504238e-01 9.79281365e-01 -2.02823744e-04 -2.45757809e+02] [-1.02766939e-03 5.39555784e-06 -9.99999472e-01 -8.06070963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.530385723 meters 0.014795415809567423 Centerline is valid? [True, True] Translation: X:-18.14, Y:-245.73, Z:-8.06 [[-9.91175821e-01 1.32549002e-01 1.11995308e-03 -1.81424602e+01] [ 1.32548924e-01 9.91176454e-01 -1.43621991e-04 -2.45727208e+02] [-1.12910807e-03 6.09392973e-06 -9.99999363e-01 -8.06061757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.560385723 meters 0.014844386171968807 Centerline is valid? [True, True] Translation: X:-18.12, Y:-245.70, Z:-8.06 [[-9.98061169e-01 6.22269117e-02 1.30968792e-03 -1.81213615e+01] [ 6.22268684e-02 9.98062028e-01 -7.37977711e-05 -2.45698167e+02] [-1.31174199e-03 7.84308809e-06 -9.99999140e-01 -8.06026670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5903857229999 meters 0.015010695492386936 Centerline is valid? [True, True] Translation: X:-18.09, Y:-244.89, Z:-9.01 [[-9.93296171e-01 -1.15595535e-01 6.23690307e-04 -1.80886764e+01] [ 1.15595483e-01 -9.93296366e-01 -1.19764797e-04 -2.44893470e+02] [ 6.33353591e-04 -4.68661323e-05 9.99999798e-01 -9.00916839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.620385723 meters 0.015163665400539893 Centerline is valid? [True, True] Translation: X:-18.21, Y:-245.69, Z:-8.06 [[-9.98262136e-01 5.89285370e-02 3.67198699e-04 -1.82144519e+01] [ 5.89285340e-02 9.98262204e-01 -1.91668850e-05 -2.45690438e+02] [-3.67690060e-04 2.50490552e-06 -9.99999932e-01 -8.06041295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.650385723 meters 0.015421900091438049 Centerline is valid? [True, True] Translation: X:-18.20, Y:-245.66, Z:-8.06 [[-9.99934206e-01 -1.14665990e-02 3.18216909e-04 -1.82024063e+01] [-1.14665976e-02 9.99934256e-01 5.97987377e-06 -2.45662010e+02] [-3.18264557e-04 2.33061509e-06 -9.99999949e-01 -8.06049121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.680385723 meters 0.01544848759042809 Centerline is valid? [True, True] Translation: X:-18.21, Y:-244.86, Z:-9.01 [[-9.99351810e-01 -3.59969364e-02 4.25717139e-04 -1.82124128e+01] [ 3.59969347e-02 -9.99351900e-01 -1.16489082e-05 -2.44861445e+02] [ 4.25860557e-04 3.68315458e-06 9.99999909e-01 -9.00883683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.710385723 meters 0.015417649382542508 Centerline is valid? [True, True] Translation: X:-18.30, Y:-245.66, Z:-8.06 [[-9.99864695e-01 -1.64390319e-02 5.92455440e-04 -1.83021965e+01] [-1.64390257e-02 9.99864870e-01 1.53376232e-05 -2.45661638e+02] [-5.92627517e-04 5.59615778e-06 -9.99999824e-01 -8.06044125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.740385723 meters 0.015532349728221786 Centerline is valid? [True, True] Translation: X:-18.31, Y:-245.63, Z:-8.06 [[-9.96186597e-01 -8.72420316e-02 1.04461900e-03 -1.83072989e+01] [-8.72419721e-02 9.96187145e-01 1.02475532e-04 -2.45631144e+02] [-1.04957619e-03 1.09501297e-05 -9.99999449e-01 -8.06093540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.770385723 meters 0.015449854968257307 Centerline is valid? [True, True] Translation: X:-18.32, Y:-245.60, Z:-8.06 [[-9.87416724e-01 -1.58136739e-01 9.92816057e-04 -1.83189848e+01] [-1.58136649e-01 9.87417223e-01 1.69671252e-04 -2.45600870e+02] [-1.00715493e-03 1.05356279e-05 -9.99999493e-01 -8.06067713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.800385723 meters 0.015499764444126748 Centerline is valid? [True, True] Translation: X:-18.35, Y:-245.57, Z:-8.06 [[-9.73426132e-01 -2.28996161e-01 1.52454973e-03 -1.83490472e+01] [-2.28995854e-01 9.73427326e-01 3.75606390e-04 -2.45573673e+02] [-1.57005079e-03 1.65095071e-05 -9.99998767e-01 -8.05928919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.830385723 meters 0.015658557181859784 Centerline is valid? [True, True] Translation: X:-18.40, Y:-245.56, Z:-8.06 [[-9.54192752e-01 -2.99183284e-01 2.35696051e-03 -1.84018859e+01] [-2.99182306e-01 9.54195662e-01 7.65171236e-04 -2.45557418e+02] [-2.47792793e-03 2.49599676e-05 -9.99996930e-01 -8.05829903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.860385723 meters 0.015357996804009538 Centerline is valid? [True, True] Translation: X:-18.46, Y:-245.54, Z:-8.06 [[-9.29314317e-01 -3.69277896e-01 2.95565345e-03 -1.84571309e+01] [-3.69275921e-01 9.29319017e-01 1.20803927e-03 -2.45543837e+02] [-3.19284715e-03 3.11965379e-05 -9.99994902e-01 -8.05822979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.890385723 meters 0.015203159708053417 Centerline is valid? [True, True] Translation: X:-18.53, Y:-245.54, Z:-8.06 [[-8.98796127e-01 -4.38357748e-01 2.82978468e-03 -1.85297526e+01] [-4.38355482e-01 8.98800581e-01 1.40984141e-03 -2.45540639e+02] [-3.16142702e-03 2.67083708e-05 -9.99995002e-01 -8.05813438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.920385723 meters 0.014992297077320986 Centerline is valid? [True, True] Translation: X:-18.62, Y:-245.55, Z:-8.06 [[-8.63334093e-01 -5.04624283e-01 2.92851988e-03 -1.86151354e+01] [-5.04621275e-01 8.63339060e-01 1.74278305e-03 -2.45551350e+02] [-3.40775625e-03 2.68105911e-05 -9.99994193e-01 -8.05831092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.950385723 meters 0.014910515946899685 Centerline is valid? [True, True] Translation: X:-18.70, Y:-245.57, Z:-8.06 [[-8.22092951e-01 -5.69341895e-01 3.60355506e-03 -1.87005023e+01] [-5.69336277e-01 8.22100849e-01 2.52944671e-03 -2.45567583e+02] [-4.40260566e-03 2.78056841e-05 -9.99990308e-01 -8.05763844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.980385723 meters 0.014844342182933689 Centerline is valid? [True, True] Translation: X:-18.79, Y:-245.60, Z:-8.06 [[-7.76399441e-01 -6.30231267e-01 3.52956426e-03 -1.87902253e+01] [-6.30224605e-01 7.76407463e-01 2.89804616e-03 -2.45596341e+02] [-4.56681934e-03 2.56231822e-05 -9.99989572e-01 -8.05715569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.010385723 meters 0.014775353960337249 Centerline is valid? [True, True] Translation: X:-18.88, Y:-245.64, Z:-8.06 [[-7.26046511e-01 -6.87636929e-01 3.45225591e-03 -1.88830378e+01] [-6.87629001e-01 7.26054718e-01 3.30201826e-03 -2.45636930e+02] [-4.77711639e-03 2.35475536e-05 -9.99988589e-01 -8.05672198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.040385723 meters 0.014697070101073514 Centerline is valid? [True, True] Translation: X:-18.98, Y:-245.69, Z:-8.06 [[-6.71342975e-01 -7.41140141e-01 3.14668087e-03 -1.89771882e+01] [-7.41131858e-01 6.71350349e-01 3.50407361e-03 -2.45686622e+02] [-4.70953490e-03 2.03297606e-05 -9.99988910e-01 -8.05700126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.070385723 meters 0.014827852584926766 Centerline is valid? [True, True] Translation: X:-19.07, Y:-245.75, Z:-8.06 [[-6.13002498e-01 -7.90076551e-01 2.64221938e-03 -1.90698928e+01] [-7.90069083e-01 6.13008192e-01 3.43528202e-03 -2.45752300e+02] [-4.33383789e-03 1.83006222e-05 -9.99990609e-01 -8.05662615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.100385723 meters 0.014732105282339307 Centerline is valid? [True, True] Translation: X:-19.16, Y:-245.82, Z:-8.06 [[-5.50847241e-01 -8.34603677e-01 2.00486282e-03 -1.91558302e+01] [-8.34598053e-01 5.50850889e-01 3.06388673e-03 -2.45819868e+02] [-3.66151160e-03 1.44789467e-05 -9.99993297e-01 -8.05851981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.130385723 meters 0.014735727189620835 Centerline is valid? [True, True] Translation: X:-19.24, Y:-245.90, Z:-8.06 [[-4.85370091e-01 -8.74307410e-01 1.55815319e-03 -1.92400505e+01] [-8.74302823e-01 4.85372592e-01 2.83226055e-03 -2.45899143e+02] [-3.23255124e-03 1.23968327e-05 -9.99994775e-01 -8.05885799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.160385723 meters 0.014672904403458363 Centerline is valid? [True, True] Translation: X:-19.32, Y:-245.99, Z:-8.06 [[-4.16818467e-01 -9.08988505e-01 1.50421353e-03 -1.93206869e+01] [-9.08982472e-01 4.16821181e-01 3.31179474e-03 -2.45991746e+02] [-3.63737141e-03 1.31134694e-05 -9.99993385e-01 -8.05844924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.190385723 meters 0.01472674829694473 Centerline is valid? [True, True] Translation: X:-19.39, Y:-246.09, Z:-8.06 [[-3.45707624e-01 -9.38341188e-01 1.43334916e-03 -1.93930327e+01] [-9.38332949e-01 3.45710595e-01 3.93209791e-03 -2.46085100e+02] [-4.18517341e-03 1.43974774e-05 -9.99991242e-01 -8.05774546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2203857229999 meters 0.01467972147632323 Centerline is valid? [True, True] Translation: X:-19.46, Y:-246.19, Z:-8.06 [[-2.72899491e-01 -9.62041843e-01 1.16651390e-03 -1.94579353e+01] [-9.62032800e-01 2.72901984e-01 4.17125604e-03 -2.46189238e+02] [-4.33126680e-03 1.61090151e-05 -9.99990620e-01 -8.05748608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.250385723 meters 0.014710425613117764 Centerline is valid? [True, True] Translation: X:-19.51, Y:-246.30, Z:-8.06 [[-1.98448164e-01 -9.80110970e-01 9.01516578e-04 -1.95142442e+01] [-9.80100433e-01 1.98450211e-01 4.54487509e-03 -2.46297625e+02] [-4.63338809e-03 1.83453300e-05 -9.99989266e-01 -8.05763744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.280385723 meters 0.014813645837444885 Centerline is valid? [True, True] Translation: X:-19.56, Y:-246.41, Z:-8.06 [[-1.23618092e-01 -9.92329746e-01 4.91538866e-04 -1.95626328e+01] [-9.92321211e-01 1.23619068e-01 4.11595393e-03 -2.46414233e+02] [-4.14514709e-03 2.10419296e-05 -9.99991409e-01 -8.05830228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.310385723 meters 0.014867032813328162 Centerline is valid? [True, True] Translation: X:-19.60, Y:-246.53, Z:-8.06 [[-4.77969177e-02 -9.98857061e-01 1.63688150e-04 -1.96011973e+01] [-9.98849412e-01 4.77971923e-02 3.90896252e-03 -2.46529442e+02] [-3.91231865e-03 2.33365470e-05 -9.99992347e-01 -8.05847502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3403857229999 meters 0.015010809687309112 Centerline is valid? [True, True] Translation: X:-19.63, Y:-246.65, Z:-8.06 [[ 2.72468746e-02 -9.99628725e-01 -1.39691928e-04 -1.96314403e+01] [-9.99620837e-01 -2.72472146e-02 3.97128779e-03 -2.46652514e+02] [-3.97361957e-03 3.14337815e-05 -9.99992105e-01 -8.05840291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.370385723 meters 0.01521844834316496 Centerline is valid? [True, True] Translation: X:-19.65, Y:-246.78, Z:-8.06 [[ 1.03511223e-01 -9.94628189e-01 -4.39324651e-04 -1.96508764e+01] [-9.94620544e-01 -1.03512150e-01 3.89976449e-03 -2.46777531e+02] [-3.92429113e-03 3.32919307e-05 -9.99992299e-01 -8.05795505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.400385723 meters 0.01521844834316496 Centerline is valid? [True, True] Translation: X:-19.66, Y:-246.90, Z:-8.06 [[ 1.79751751e-01 -9.83711728e-01 -7.38150033e-04 -1.96613251e+01] [-9.83704177e-01 -1.79753264e-01 3.85435717e-03 -2.46903156e+02] [-3.92426123e-03 3.32938196e-05 -9.99992300e-01 -8.05795658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.430385723 meters 0.015205012645369779 Centerline is valid? [True, True] Translation: X:-19.66, Y:-247.03, Z:-8.06 [[ 2.54572673e-01 -9.67052981e-01 -1.13390432e-03 -1.96628111e+01] [-9.67044042e-01 -2.54575195e-01 4.15824280e-03 -2.47027749e+02] [-4.30990501e-03 3.79604290e-05 -9.99990712e-01 -8.05803618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.460385723 meters 0.015004148168525345 Centerline is valid? [True, True] Translation: X:-19.66, Y:-247.15, Z:-8.06 [[ 3.28330220e-01 -9.44561726e-01 -1.55341767e-03 -1.96557290e+01] [-9.44551719e-01 -3.28333892e-01 4.34804160e-03 -2.47152471e+02] [-4.61703334e-03 3.96898748e-05 -9.99989341e-01 -8.05831171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.490385723 meters 0.01497884586293671 Centerline is valid? [True, True] Translation: X:-19.64, Y:-247.27, Z:-8.06 [[ 4.00612135e-01 -9.16245959e-01 -1.80563997e-03 -1.96387568e+01] [-9.16237040e-01 -4.00616202e-01 4.04297391e-03 -2.47274433e+02] [-4.42772713e-03 3.47298124e-05 -9.99990197e-01 -8.05793239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.520385723 meters 0.014734118903141278 Centerline is valid? [True, True] Translation: X:-19.61, Y:-247.40, Z:-8.06 [[ 4.70668957e-01 -8.82306610e-01 -2.40409507e-03 -1.96127240e+01] [-8.82295466e-01 -4.70675095e-01 4.43459611e-03 -2.47396041e+02] [-5.04422113e-03 3.38954543e-05 -9.99987277e-01 -8.05786656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.550385723 meters 0.014567568527730841 Centerline is valid? [True, True] Translation: X:-19.58, Y:-247.51, Z:-8.06 [[ 5.39563128e-01 -8.41939388e-01 -3.11410339e-03 -1.95812837e+01] [-8.41925580e-01 -5.39572114e-01 4.82193836e-03 -2.47512790e+02] [-5.74006318e-03 2.01031574e-05 -9.99983526e-01 -8.05663121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.580385723 meters 0.014526846542515645 Centerline is valid? [True, True] Translation: X:-19.54, Y:-247.63, Z:-8.06 [[ 6.03728516e-01 -7.97180122e-01 -3.96640541e-03 -1.95370090e+01] [-7.97163047e-01 -6.03741545e-01 5.21761192e-03 -2.47628841e+02] [-6.55406023e-03 1.18507269e-05 -9.99978522e-01 -8.05500443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.610385723 meters 0.014379785593789326 Centerline is valid? [True, True] Translation: X:-19.49, Y:-247.73, Z:-8.05 [[ 6.65373750e-01 -7.46491868e-01 -5.25958579e-03 -1.94914207e+01] [-7.46468397e-01 -6.65394537e-01 5.91960037e-03 -2.47732530e+02] [-7.91863319e-03 -1.26321227e-05 -9.99968647e-01 -8.05406324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.640385723 meters 0.014504138877543498 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.83, Z:-8.05 [[ 7.21229707e-01 -6.92666295e-01 -6.41199317e-03 -1.94376947e+01] [-6.92638596e-01 -7.21258208e-01 6.19453094e-03 -2.47831036e+02] [-8.91544550e-03 -2.64857812e-05 -9.99960256e-01 -8.05388731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.670385723 meters 0.014664684697678293 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.84, Z:-8.05 [[ 7.73941748e-01 -6.33214523e-01 -7.31701437e-03 -1.94408369e+01] [-6.33185737e-01 -7.73976334e-01 6.03799202e-03 -2.47838651e+02] [-9.48654020e-03 -4.00249573e-05 -9.99955001e-01 -8.05247188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.700385723 meters 0.014661662999861285 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.84, Z:-8.05 [[ 8.21847488e-01 -5.69651917e-01 -7.96244310e-03 -1.94413613e+01] [-5.69624545e-01 -8.21886057e-01 5.58455618e-03 -2.47844719e+02] [-9.72547410e-03 -5.40504427e-05 -9.99952705e-01 -8.05321476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.730385723 meters 0.014662785862218822 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.85, Z:-8.05 [[ 8.64151021e-01 -5.03165081e-01 -8.24097709e-03 -1.94423271e+01] [-5.03141553e-01 -8.64190313e-01 4.86624679e-03 -2.47849907e+02] [-9.57029803e-03 -5.87941197e-05 -9.99954202e-01 -8.05341836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.760385723 meters 0.015023922835549718 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.85, Z:-8.05 [[ 9.01642259e-01 -4.32399699e-01 -8.46979823e-03 -1.94410174e+01] [-4.32379839e-01 -9.01682036e-01 4.14494731e-03 -2.47854649e+02] [-9.42933889e-03 -7.50896629e-05 -9.99955540e-01 -8.05417171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.790385723 meters 0.01503449283903965 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.05 [[ 9.32922387e-01 -3.59973660e-01 -8.64777292e-03 -1.94395482e+01] [-3.59957394e-01 -9.32962463e-01 3.42296675e-03 -2.47858903e+02] [-9.30022539e-03 -8.05325062e-05 -9.99956749e-01 -8.05447021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.820385723 meters 0.015272963304594158 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.05 [[ 9.58498005e-01 -2.84959242e-01 -8.93338481e-03 -1.94376958e+01] [-2.84945986e-01 -9.58539630e-01 2.75003972e-03 -2.47862133e+02] [-9.34665261e-03 -9.03754423e-05 -9.99956315e-01 -8.05474217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.850385723 meters 0.015420034837227987 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.06 [[ 9.77980621e-01 -2.08544156e-01 -7.95235375e-03 -1.94361588e+01] [-2.08536564e-01 -9.78012949e-01 1.78152581e-03 -2.47863451e+02] [-8.14903174e-03 -8.39411942e-05 -9.99966793e-01 -8.05509443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.880385723 meters 0.015447822760808045 Centerline is valid? [True, True] Translation: X:-19.43, Y:-247.86, Z:-8.06 [[ 9.91277774e-01 -1.31568633e-01 -7.62039276e-03 -1.94333882e+01] [-1.31564139e-01 -9.91307061e-01 1.09031493e-03 -2.47864003e+02] [-7.69760040e-03 -7.82345407e-05 -9.99970370e-01 -8.05523331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.910385723 meters 0.015148098820335737 Centerline is valid? [True, True] Translation: X:-19.43, Y:-247.86, Z:-8.06 [[ 9.98483946e-01 -5.46251625e-02 -6.77506873e-03 -1.94338100e+01] [-5.46234830e-02 -9.98506929e-01 4.32824721e-04 -2.47860214e+02] [-6.78859619e-03 -6.20906839e-05 -9.99976955e-01 -8.05683126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.940385723 meters 0.01519158447124876 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.06 [[ 9.99708197e-01 2.32941690e-02 -6.39554075e-03 -1.94361496e+01] [ 2.32940501e-02 -9.99728653e-01 -9.30923241e-05 -2.47858314e+02] [-6.39597385e-03 -5.59128874e-05 -9.99979544e-01 -8.05772053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9703857229999 meters 0.015223026114776569 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.06 [[ 9.94859227e-01 1.01100997e-01 -5.80580103e-03 -1.94378927e+01] [ 1.01099561e-01 -9.94876166e-01 -5.41002087e-04 -2.47855443e+02] [-5.83074892e-03 -4.87430180e-05 -9.99983000e-01 -8.05839648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.000385723 meters 0.01479011717466894 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.06 [[ 9.83886944e-01 1.78700569e-01 -5.70862143e-03 -1.94393657e+01] [ 1.78697848e-01 -9.83903504e-01 -9.87442960e-04 -2.47856553e+02] [-5.79318925e-03 -4.85861290e-05 -9.99983218e-01 -8.05925692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.030385723 meters 0.014766223750196988 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.86, Z:-8.06 [[ 9.66804164e-01 2.55453039e-01 -5.78386964e-03 -1.94400540e+01] [ 2.55448787e-01 -9.66821464e-01 -1.47469371e-03 -2.47864218e+02] [-5.96868430e-03 -5.17424618e-05 -9.99982186e-01 -8.05944087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.060385723 meters 0.014753306711922199 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.87, Z:-8.06 [[ 9.43632140e-01 3.30942789e-01 -5.93751473e-03 -1.94397375e+01] [ 3.30936626e-01 -9.43650818e-01 -2.02053681e-03 -2.47874178e+02] [-6.27162272e-03 -5.82976198e-05 -9.99980332e-01 -8.05938563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0903857229999 meters 0.014791448888306403 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.88, Z:-8.06 [[ 9.14648950e-01 4.04206894e-01 -5.83828389e-03 -1.94409035e+01] [ 4.04199090e-01 -9.14667581e-01 -2.51248999e-03 -2.47882284e+02] [-6.35565478e-03 -6.17827061e-05 -9.99979801e-01 -8.05905760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.120385723 meters 0.014903951219525369 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.89, Z:-8.06 [[ 8.80331492e-01 4.74316789e-01 -6.32834884e-03 -1.94418387e+01] [ 4.74305084e-01 -8.80354235e-01 -3.33282647e-03 -2.47890117e+02] [-7.15200425e-03 -6.75759316e-05 -9.99974422e-01 -8.05819276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.150385723 meters 0.014749249635736495 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.89, Z:-8.06 [[ 8.41166444e-01 5.40735109e-01 -6.67504610e-03 -1.94439026e+01] [ 5.40718695e-01 -8.41192926e-01 -4.21366639e-03 -2.47893052e+02] [-7.89347891e-03 -6.49274447e-05 -9.99968844e-01 -8.05659953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.180385723 meters 0.014561876533307311 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.90, Z:-8.06 [[ 7.96735483e-01 6.04292284e-01 -6.58831134e-03 -1.94420422e+01] [ 6.04272259e-01 -7.96762720e-01 -4.91987991e-03 -2.47901302e+02] [-8.22236633e-03 -6.12908832e-05 -9.99966194e-01 -8.05736196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.210385723 meters 0.014425627718942123 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.91, Z:-8.06 [[ 7.47420407e-01 6.64324089e-01 -6.02002466e-03 -1.94402528e+01] [ 6.64303126e-01 -7.47444648e-01 -5.27779187e-03 -2.47910051e+02] [-8.00579949e-03 -5.43918459e-05 -9.99967952e-01 -8.05755415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.240385723 meters 0.014405965447224741 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.92, Z:-8.06 [[ 6.94193084e-01 7.19768979e-01 -5.34598540e-03 -1.94403851e+01] [ 7.19748086e-01 -6.94213667e-01 -5.48432403e-03 -2.47917926e+02] [-7.65870244e-03 -4.05829465e-05 -9.99970671e-01 -8.05733942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.270385723 meters 0.01433870450079582 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.92, Z:-8.06 [[ 6.36272827e-01 7.71450416e-01 -4.59837690e-03 -1.94414837e+01] [ 7.71430643e-01 -6.36289442e-01 -5.52347334e-03 -2.47923005e+02] [-7.18698448e-03 -3.28928455e-05 -9.99974173e-01 -8.05794781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.300385723 meters 0.014069732149534575 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.93, Z:-8.06 [[ 5.75323198e-01 8.17919432e-01 -3.31970922e-03 -1.94404722e+01] [ 8.17905982e-01 -5.75332775e-01 -4.69064699e-03 -2.47930086e+02] [-5.74650884e-03 -1.65720057e-05 -9.99983489e-01 -8.05959986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.330385723 meters 0.014176639070022106 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.94, Z:-8.06 [[ 5.09781126e-01 8.60299794e-01 -2.73263609e-03 -1.94373222e+01] [ 8.60287579e-01 -5.09788450e-01 -4.58446552e-03 -2.47939172e+02] [-5.33708106e-03 -1.37788970e-05 -9.99985758e-01 -8.05979011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.360385723 meters 0.014125599299898149 Centerline is valid? [True, True] Translation: X:-19.44, Y:-247.95, Z:-8.06 [[ 4.41311576e-01 8.97351367e-01 -2.14862052e-03 -1.94350932e+01] [ 8.97340844e-01 -4.41316806e-01 -4.34589275e-03 -2.47947455e+02] [-4.84801515e-03 -1.01521769e-05 -9.99988248e-01 -8.06006232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.390385723 meters 0.014148983053254667 Centerline is valid? [True, True] Translation: X:-19.43, Y:-247.96, Z:-8.06 [[ 3.69687086e-01 9.29154687e-01 -1.73970786e-03 -1.94318798e+01] [ 9.29144522e-01 -3.69691180e-01 -4.34613045e-03 -2.47955922e+02] [-4.68138213e-03 -9.73172014e-06 -9.99989042e-01 -8.05991941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.420385723 meters 0.01423621860881533 Centerline is valid? [True, True] Translation: X:-19.43, Y:-247.96, Z:-8.06 [[ 2.95316201e-01 9.55398526e-01 -1.41353673e-03 -1.94288727e+01] [ 9.55387778e-01 -2.95319583e-01 -4.53177937e-03 -2.47963954e+02] [-4.74710041e-03 -1.21678462e-05 -9.99988732e-01 -8.05978293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.450385723 meters 0.01432136460478312 Centerline is valid? [True, True] Translation: X:-19.42, Y:-247.97, Z:-8.06 [[ 2.17718288e-01 9.76011115e-01 -1.02501360e-03 -1.94245707e+01] [ 9.76000743e-01 -2.17720700e-01 -4.49971320e-03 -2.47973383e+02] [-4.61493678e-03 -2.07441830e-05 -9.99989351e-01 -8.06000597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.480385723 meters 0.014350798892287128 Centerline is valid? [True, True] Translation: X:-19.42, Y:-247.98, Z:-8.06 [[ 1.39320806e-01 9.90247026e-01 -7.35278474e-04 -1.94176932e+01] [ 9.90234328e-01 -1.39322743e-01 -5.01488661e-03 -2.47981280e+02] [-5.06841756e-03 -2.94199404e-05 -9.99987155e-01 -8.05978385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.510385723 meters 0.014604599032548932 Centerline is valid? [True, True] Translation: X:-19.41, Y:-247.99, Z:-8.06 [[ 5.81843469e-02 9.98305780e-01 -3.88769947e-04 -1.94123010e+01] [ 9.98289049e-01 -5.81856227e-02 -5.77993524e-03 -2.47988403e+02] [-5.79276358e-03 -5.18030232e-05 -9.99983221e-01 -8.05893421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.540385723 meters 0.015030381640680459 Centerline is valid? [True, True] Translation: X:-19.40, Y:-248.00, Z:-8.06 [[-2.20688711e-02 9.99756450e-01 7.13951972e-05 -1.94036027e+01] [ 9.99736267e-01 2.20688793e-02 -6.35302217e-03 -2.47996326e+02] [-6.35305051e-03 -6.88276595e-05 -9.99979817e-01 -8.05836859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.570385723 meters 0.015108034916886887 Centerline is valid? [True, True] Translation: X:-19.39, Y:-248.00, Z:-8.06 [[-1.01590128e-01 9.94826134e-01 6.39625575e-04 -1.93945686e+01] [ 9.94800704e-01 1.01592105e-01 -7.11364745e-03 -2.48002264e+02] [-7.14182330e-03 -8.63763849e-05 -9.99974493e-01 -8.05758641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.600385723 meters 0.015646766437486845 Centerline is valid? [True, True] Translation: X:-19.39, Y:-248.01, Z:-8.06 [[-1.81629929e-01 9.83366114e-01 1.28667985e-03 -1.93855359e+01] [ 9.83336879e-01 1.81634452e-01 -7.58338319e-03 -2.48008584e+02] [-7.69094744e-03 -1.12129607e-04 -9.99970418e-01 -8.05683426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.630385723 meters 0.01564552680422546 Centerline is valid? [True, True] Translation: X:-19.38, Y:-248.01, Z:-8.06 [[-2.58042086e-01 9.66131751e-01 1.92942642e-03 -1.93769874e+01] [ 9.66101324e-01 2.58049273e-01 -7.66843103e-03 -2.48013735e+02] [-7.90660178e-03 -1.14756522e-04 -9.99968736e-01 -8.05635612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.660385723 meters 0.015634049534284735 Centerline is valid? [True, True] Translation: X:-19.37, Y:-248.02, Z:-8.06 [[-3.32125815e-01 9.43231473e-01 2.61366311e-03 -1.93683981e+01] [ 9.43199566e-01 3.32136080e-01 -7.75903467e-03 -2.48019227e+02] [-8.18665753e-03 -1.11769799e-04 -9.99966483e-01 -8.05552772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.690385723 meters 0.015511699909970996 Centerline is valid? [True, True] Translation: X:-19.36, Y:-248.02, Z:-8.06 [[-4.04100490e-01 9.14709003e-01 3.19912084e-03 -1.93614334e+01] [ 9.14678280e-01 4.04113140e-01 -7.49763758e-03 -2.48024310e+02] [-8.15096336e-03 -1.03632678e-04 -9.99966775e-01 -8.05540462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7203857229999 meters 0.015291854622306261 Centerline is valid? [True, True] Translation: X:-19.36, Y:-248.03, Z:-8.06 [[-4.73675181e-01 8.80693033e-01 3.40640504e-03 -1.93558311e+01] [ 8.80668932e-01 4.73687422e-01 -6.51609101e-03 -2.48029998e+02] [-7.35224718e-03 -8.65955021e-05 -9.99972968e-01 -8.05588036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.750385723 meters 0.014979527760792694 Centerline is valid? [True, True] Translation: X:-19.35, Y:-248.03, Z:-8.06 [[-5.40191192e-01 8.41533749e-01 3.79806325e-03 -1.93485441e+01] [ 8.41511956e-01 5.40204539e-01 -6.05674452e-03 -2.48033766e+02] [-7.14868592e-03 -7.56844113e-05 -9.99974445e-01 -8.05634021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.780385723 meters 0.014959134335150994 Centerline is valid? [True, True] Translation: X:-19.34, Y:-248.04, Z:-8.06 [[-6.02835379e-01 7.97857044e-01 3.69362744e-03 -1.93404941e+01] [ 7.97841527e-01 6.02846692e-01 -4.97633940e-03 -2.48037620e+02] [-6.19709853e-03 -5.29840958e-05 -9.99980796e-01 -8.05608656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.810385723 meters 0.014462681352854799 Centerline is valid? [True, True] Translation: X:-19.33, Y:-248.04, Z:-8.06 [[-6.62815995e-01 7.48773970e-01 3.53531599e-03 -1.93301149e+01] [ 7.48762984e-01 6.62825422e-01 -4.05638239e-03 -2.48037759e+02] [-5.38061086e-03 -4.15213827e-05 -9.99985524e-01 -8.05803788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8403857229999 meters 0.014497719523892045 Centerline is valid? [True, True] Translation: X:-19.32, Y:-248.04, Z:-8.06 [[-7.19144394e-01 6.94850596e-01 3.74040435e-03 -1.93179016e+01] [ 6.94840920e-01 7.19154120e-01 -3.66714759e-03 -2.48035491e+02] [-5.23804688e-03 -3.82226289e-05 -9.99986281e-01 -8.05813820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.870385723 meters 0.014570861106051372 Centerline is valid? [True, True] Translation: X:-19.29, Y:-248.02, Z:-8.06 [[-7.66398127e-01 6.42353100e-01 4.05041575e-03 -1.92923681e+01] [ 6.42343867e-01 7.66408829e-01 -3.44430666e-03 -2.48019560e+02] [-5.31673545e-03 -3.79504558e-05 -9.99985865e-01 -8.05792085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.900385723 meters 0.014387398613349993 Centerline is valid? [True, True] Translation: X:-19.27, Y:-248.00, Z:-8.06 [[-8.09487601e-01 5.87118269e-01 4.68648597e-03 -1.92729565e+01] [ 5.87108163e-01 8.09501166e-01 -3.44492879e-03 -2.47997972e+02] [-5.81629648e-03 -3.71529672e-05 -9.99983085e-01 -8.05710266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.930385723 meters 0.014487436120866714 Centerline is valid? [True, True] Translation: X:-18.80, Y:-247.33, Z:-9.01 [[-7.60286363e-01 -6.49570817e-01 4.73289385e-03 -1.87955293e+01] [ 6.49558722e-01 -7.60301092e-01 -3.96440395e-03 -2.47330965e+02] [ 6.17358547e-03 6.02102173e-05 9.99980941e-01 -9.01290626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.960385723 meters 0.014301634959340694 Centerline is valid? [True, True] Translation: X:-18.80, Y:-247.37, Z:-9.01 [[-7.15914786e-01 -6.98169112e-01 5.09010563e-03 -1.87952800e+01] [ 6.98151772e-01 -7.15932881e-01 -4.92073990e-03 -2.47372027e+02] [ 7.07968260e-03 3.08358118e-05 9.99974938e-01 -9.01332260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.990385723 meters 0.014346293658151495 Centerline is valid? [True, True] Translation: X:-18.81, Y:-247.40, Z:-9.01 [[-6.68189126e-01 -7.43974674e-01 4.99770040e-03 -1.88087364e+01] [ 7.43954131e-01 -6.68207815e-01 -5.52872506e-03 -2.47402108e+02] [ 7.45273389e-03 2.38258932e-05 9.99972228e-01 -9.01356277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.020385723 meters 0.014227197676423605 Centerline is valid? [True, True] Translation: X:-18.83, Y:-247.38, Z:-9.01 [[-6.69241780e-01 -7.43024455e-01 5.48629085e-03 -1.88258769e+01] [ 7.42999706e-01 -6.69264267e-01 -6.06443552e-03 -2.47382479e+02] [ 8.17780233e-03 1.77388698e-05 9.99966561e-01 -9.01357857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.050385723 meters 0.014218483770575037 Centerline is valid? [True, True] Translation: X:-18.84, Y:-247.36, Z:-9.01 [[-6.70456997e-01 -7.41927161e-01 5.61273313e-03 -1.88439537e+01] [ 7.41901252e-01 -6.70480490e-01 -6.20040033e-03 -2.47361486e+02] [ 8.36347347e-03 6.99194539e-06 9.99965026e-01 -9.01395004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.080385723 meters 0.014222363727876294 Centerline is valid? [True, True] Translation: X:-18.86, Y:-247.34, Z:-9.01 [[-6.72595614e-01 -7.39990135e-01 5.45348999e-03 -1.88601387e+01] [ 7.39965643e-01 -6.72617722e-01 -6.02060765e-03 -2.47340275e+02] [ 8.12330428e-03 -1.40390786e-05 9.99967005e-01 -9.01306538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.110385723 meters 0.014228463555428228 Centerline is valid? [True, True] Translation: X:-18.88, Y:-247.32, Z:-9.01 [[-6.73872455e-01 -7.38828789e-01 5.28532107e-03 -1.88775317e+01] [ 7.38805776e-01 -6.73893181e-01 -5.83142800e-03 -2.47319881e+02] [ 7.87016871e-03 -2.48129705e-05 9.99969030e-01 -9.01274563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.140385723 meters 0.014246844923187788 Centerline is valid? [True, True] Translation: X:-18.90, Y:-247.30, Z:-9.01 [[-6.75577747e-01 -7.37273541e-01 4.73632150e-03 -1.88956026e+01] [ 7.37255045e-01 -6.75594349e-01 -5.22252097e-03 -2.47299072e+02] [ 7.05025857e-03 -3.63420374e-05 9.99975146e-01 -9.01204571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.170385723 meters 0.014282810579747 Centerline is valid? [True, True] Translation: X:-18.91, Y:-247.28, Z:-9.01 [[-6.76467315e-01 -7.36460091e-01 4.30185310e-03 -1.89139877e+01] [ 7.36444834e-01 -6.76480992e-01 -4.74058257e-03 -2.47278900e+02] [ 6.40137172e-03 -3.87716747e-05 9.99979510e-01 -9.01229710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.200385723 meters 0.01446657745235956 Centerline is valid? [True, True] Translation: X:-18.93, Y:-247.26, Z:-9.01 [[-6.77610715e-01 -7.35408768e-01 4.20280319e-03 -1.89311618e+01] [ 7.35394203e-01 -6.77623747e-01 -4.62864805e-03 -2.47259029e+02] [ 6.25186760e-03 -4.57044077e-05 9.99980456e-01 -9.01227470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.230385723 meters 0.014591469024701915 Centerline is valid? [True, True] Translation: X:-18.95, Y:-247.24, Z:-9.01 [[-6.78117693e-01 -7.34941998e-01 4.08084758e-03 -1.89485937e+01] [ 7.34928275e-01 -6.78129971e-01 -4.49149118e-03 -2.47239067e+02] [ 6.06833055e-03 -4.66293670e-05 9.99981586e-01 -9.01195331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.260385723 meters 0.014553733108399377 Centerline is valid? [True, True] Translation: X:-18.97, Y:-247.22, Z:-9.01 [[-6.78388246e-01 -7.34693879e-01 3.78060528e-03 -1.89669366e+01] [ 7.34682107e-01 -6.78398779e-01 -4.15926575e-03 -2.47218849e+02] [ 5.62054509e-03 -4.40539448e-05 9.99984204e-01 -9.01110498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.290385723 meters 0.014553733108399377 Centerline is valid? [True, True] Translation: X:-18.99, Y:-247.20, Z:-9.01 [[-6.78612349e-01 -7.34486880e-01 3.78187471e-03 -1.89850402e+01] [ 7.34475111e-01 -6.78622886e-01 -4.15811154e-03 -2.47199111e+02] [ 5.62054510e-03 -4.40529927e-05 9.99984204e-01 -9.01110525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.320385723 meters 0.014450959456972097 Centerline is valid? [True, True] Translation: X:-19.00, Y:-247.18, Z:-9.01 [[-6.78656822e-01 -7.34450164e-01 2.80625653e-03 -1.90043899e+01] [ 7.34443691e-01 -6.78662623e-01 -3.08352829e-03 -2.47180102e+02] [ 4.16919928e-03 -3.16201017e-05 9.99991308e-01 -9.00987518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.350385723 meters 0.014408036498639556 Centerline is valid? [True, True] Translation: X:-19.02, Y:-247.16, Z:-9.01 [[-6.78652312e-01 -7.34455200e-01 2.56896051e-03 -1.90227188e+01] [ 7.34449781e-01 -6.78657173e-01 -2.82146753e-03 -2.47161526e+02] [ 3.81568498e-03 -2.80229796e-05 9.99992720e-01 -9.01011562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.380385723 meters 0.01415573409046382 Centerline is valid? [True, True] Translation: X:-19.04, Y:-247.14, Z:-9.01 [[-6.77600191e-01 -7.35426957e-01 2.27415218e-03 -1.90435996e+01] [ 7.35422721e-01 -6.77604007e-01 -2.49617615e-03 -2.47143366e+02] [ 3.37672986e-03 -1.89462533e-05 9.99994299e-01 -9.01029079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.410385723 meters 0.014061268993821706 Centerline is valid? [True, True] Translation: X:-19.06, Y:-247.12, Z:-9.01 [[-6.76808475e-01 -7.36155429e-01 2.33935313e-03 -1.90624442e+01] [ 7.36150957e-01 -6.76812517e-01 -2.56612197e-03 -2.47124924e+02] [ 3.47236810e-03 -1.46560494e-05 9.99993971e-01 -9.01047972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.440385723 meters 0.01402028276654441 Centerline is valid? [True, True] Translation: X:-19.08, Y:-247.11, Z:-9.01 [[-6.76013076e-01 -7.36885913e-01 2.33938897e-03 -1.90818664e+01] [ 7.36881450e-01 -6.76017124e-01 -2.56461041e-03 -2.47106075e+02] [ 3.47129229e-03 -9.85783621e-06 9.99993975e-01 -9.01042287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4703857229999 meters 0.014011464816428018 Centerline is valid? [True, True] Translation: X:-19.10, Y:-247.09, Z:-9.01 [[-6.75422538e-01 -7.37426892e-01 2.44409466e-03 -1.91006753e+01] [ 7.37422030e-01 -6.75426961e-01 -2.67769704e-03 -2.47087028e+02] [ 3.62541323e-03 -6.24768563e-06 9.99993428e-01 -9.01068005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.500385723 meters 0.013979865062751048 Centerline is valid? [True, True] Translation: X:-19.12, Y:-247.07, Z:-9.01 [[-6.74702987e-01 -7.38083227e-01 3.00484556e-03 -1.91202866e+01] [ 7.38075894e-01 -6.74709678e-01 -3.29008340e-03 -2.47068216e+02] [ 4.45575375e-03 -2.02502170e-06 9.99990073e-01 -9.01061684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.530385723 meters 0.01402344940591594 Centerline is valid? [True, True] Translation: X:-19.14, Y:-247.05, Z:-9.01 [[-6.74826726e-01 -7.37970074e-01 3.01004854e-03 -1.91389903e+01] [ 7.37962723e-01 -6.74833439e-01 -3.29382551e-03 -2.47048649e+02] [ 4.46202606e-03 -1.45787429e-06 9.99990045e-01 -9.01098987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.560385723 meters 0.014056752964861087 Centerline is valid? [True, True] Translation: X:-19.16, Y:-247.03, Z:-9.01 [[-6.75853335e-01 -7.37027987e-01 3.46642997e-03 -1.91571376e+01] [ 7.37018235e-01 -6.75862225e-01 -3.79149974e-03 -2.47029264e+02] [ 5.13727049e-03 -7.67564720e-06 9.99986804e-01 -9.01145794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5903857229999 meters 0.013994606852442432 Centerline is valid? [True, True] Translation: X:-19.18, Y:-247.01, Z:-9.01 [[-6.76806961e-01 -7.36153142e-01 3.29988994e-03 -1.91755992e+01] [ 7.36144304e-01 -6.76815006e-01 -3.60721003e-03 -2.47008955e+02] [ 4.88887403e-03 -1.21896710e-05 9.99988049e-01 -9.01182756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.620385723 meters 0.014058118764068189 Centerline is valid? [True, True] Translation: X:-19.19, Y:-246.99, Z:-9.01 [[-6.77574057e-01 -7.35446798e-01 3.37705060e-03 -1.91932115e+01] [ 7.35437545e-01 -6.77582472e-01 -3.68926236e-03 -2.46989577e+02] [ 5.00148648e-03 -1.61386638e-05 9.99987492e-01 -9.01164371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.650385723 meters 0.014088246761896376 Centerline is valid? [True, True] Translation: X:-19.21, Y:-246.97, Z:-9.01 [[-6.78687799e-01 -7.34420225e-01 3.13125352e-03 -1.92111285e+01] [ 7.34412268e-01 -6.78695022e-01 -3.41866288e-03 -2.46969516e+02] [ 4.63590134e-03 -2.05737823e-05 9.99989254e-01 -9.01140126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.680385723 meters 0.014104722540540049 Centerline is valid? [True, True] Translation: X:-19.23, Y:-246.95, Z:-9.01 [[-6.79393538e-01 -7.33767420e-01 3.12950319e-03 -1.92286905e+01] [ 7.33759476e-01 -6.79400745e-01 -3.41457541e-03 -2.46949888e+02] [ 4.63169099e-03 -2.35378488e-05 9.99989273e-01 -9.01166966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.710385723 meters 0.014244481934879866 Centerline is valid? [True, True] Translation: X:-19.25, Y:-246.93, Z:-9.01 [[-6.80676855e-01 -7.32575963e-01 3.38797408e-03 -1.92467432e+01] [ 7.32566647e-01 -6.80685286e-01 -3.69449335e-03 -2.46929151e+02] [ 5.01264113e-03 -3.28393012e-05 9.99987436e-01 -9.01234748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.740385723 meters 0.014118843648341756 Centerline is valid? [True, True] Translation: X:-19.27, Y:-246.91, Z:-9.01 [[-6.81454259e-01 -7.31853392e-01 3.27189855e-03 -1.92655957e+01] [ 7.31844707e-01 -6.81462113e-01 -3.56565316e-03 -2.46908941e+02] [ 4.83921026e-03 -3.53078965e-05 9.99988290e-01 -9.01184345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.770385723 meters 0.014173369905505776 Centerline is valid? [True, True] Translation: X:-19.28, Y:-246.89, Z:-9.01 [[-6.82240512e-01 -7.31121168e-01 3.11807711e-03 -1.92837293e+01] [ 7.31113281e-01 -6.82247636e-01 -3.39613650e-03 -2.46887840e+02] [ 4.61028802e-03 -3.73143220e-05 9.99989372e-01 -9.01186337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.800385723 meters 0.014766867255281507 Centerline is valid? [True, True] Translation: X:-19.30, Y:-246.87, Z:-9.01 [[-6.83656736e-01 -7.29795705e-01 3.41999674e-03 -1.92999322e+01] [ 7.29786212e-01 -6.83665288e-01 -3.72280086e-03 -2.46865689e+02] [ 5.05501714e-03 -4.92514195e-05 9.99987222e-01 -9.01277211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.830385723 meters 0.014884841114276251 Centerline is valid? [True, True] Translation: X:-19.32, Y:-246.84, Z:-9.01 [[-6.84334731e-01 -7.29158217e-01 3.77760537e-03 -1.93178216e+01] [ 7.29146638e-01 -6.84345155e-01 -4.10967494e-03 -2.46844889e+02] [ 5.58178919e-03 -5.79650430e-05 9.99984420e-01 -9.01326304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.860385723 meters 0.014772957852392073 Centerline is valid? [True, True] Translation: X:-19.34, Y:-246.82, Z:-9.01 [[-6.85243551e-01 -7.28301917e-01 4.19457191e-03 -1.93361513e+01] [ 7.28287641e-01 -6.85256385e-01 -4.56048359e-03 -2.46824752e+02] [ 6.19576612e-03 -7.01870830e-05 9.99980804e-01 -9.01310928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.890385723 meters 0.014804679775948683 Centerline is valid? [True, True] Translation: X:-19.35, Y:-246.80, Z:-9.01 [[-6.85511242e-01 -7.28049666e-01 4.24526833e-03 -1.93538930e+01] [ 7.28035056e-01 -6.85524383e-01 -4.61277741e-03 -2.46804628e+02] [ 6.26856600e-03 -7.14066048e-05 9.99980350e-01 -9.01288196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.920385723 meters 0.014778591971801718 Centerline is valid? [True, True] Translation: X:-19.37, Y:-246.78, Z:-9.01 [[-6.85598750e-01 -7.27966795e-01 4.32426425e-03 -1.93726023e+01] [ 7.27951654e-01 -6.85612384e-01 -4.69571136e-03 -2.46784218e+02] [ 6.38309107e-03 -7.15185277e-05 9.99979625e-01 -9.01284931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.950385723 meters 0.014689663577541373 Centerline is valid? [True, True] Translation: X:-19.39, Y:-246.76, Z:-9.01 [[-6.85267593e-01 -7.28277340e-01 4.52132181e-03 -1.93915740e+01] [ 7.28260812e-01 -6.85282505e-01 -4.90696474e-03 -2.46764059e+02] [ 6.67201397e-03 -6.98824242e-05 9.99977739e-01 -9.01238150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.980385723 meters 0.014768375241355037 Centerline is valid? [True, True] Translation: X:-19.41, Y:-246.74, Z:-9.01 [[-6.85061558e-01 -7.28470664e-01 4.59925173e-03 -1.94096427e+01] [ 7.28453588e-01 -6.85076994e-01 -4.98824902e-03 -2.46744382e+02] [ 6.78463462e-03 -6.69162148e-05 9.99976982e-01 -9.01263008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.010385723 meters 0.014693651122670124 Centerline is valid? [True, True] Translation: X:-19.43, Y:-246.72, Z:-9.01 [[-6.84684147e-01 -7.28825996e-01 4.50403494e-03 -1.94276405e+01] [ 7.28809649e-01 -6.84698958e-01 -4.88179861e-03 -2.46724925e+02] [ 6.64188976e-03 -5.99059881e-05 9.99977941e-01 -9.01279747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.040385723 meters 0.014515912255002381 Centerline is valid? [True, True] Translation: X:-19.45, Y:-246.71, Z:-9.01 [[-6.83714092e-01 -7.29739329e-01 3.94372636e-03 -1.94460042e+01] [ 7.29726827e-01 -6.83725464e-01 -4.27178119e-03 -2.46706346e+02] [ 5.81371288e-03 -4.28340708e-05 9.99983099e-01 -9.01232620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.070385723 meters 0.014303708840190664 Centerline is valid? [True, True] Translation: X:-19.47, Y:-246.69, Z:-9.01 [[-6.82370801e-01 -7.30996982e-01 3.67440614e-03 -1.94655747e+01] [ 7.30986161e-01 -6.82380694e-01 -3.97768621e-03 -2.46687229e+02] [ 5.41502042e-03 -2.83168936e-05 9.99985338e-01 -9.01227358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.100385723 meters 0.014124356434813457 Centerline is valid? [True, True] Translation: X:-19.48, Y:-246.67, Z:-9.01 [[-6.82057213e-01 -7.31290130e-01 3.56424890e-03 -1.94847373e+01] [ 7.31279964e-01 -6.82066525e-01 -3.85604145e-03 -2.46667888e+02] [ 5.25093992e-03 -2.35770799e-05 9.99986214e-01 -9.01176983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.130385723 meters 0.014117443275825895 Centerline is valid? [True, True] Translation: X:-19.50, Y:-246.65, Z:-9.01 [[-6.81582888e-01 -7.31732532e-01 3.50261703e-03 -1.95043180e+01] [ 7.31722731e-01 -6.81591888e-01 -3.78726978e-03 -2.46647325e+02] [ 5.15862386e-03 -1.83937704e-05 9.99986694e-01 -9.01187937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.160385723 meters 0.014117899449606529 Centerline is valid? [True, True] Translation: X:-19.52, Y:-246.63, Z:-9.01 [[-6.81456279e-01 -7.31849444e-01 3.70552991e-03 -1.95223994e+01] [ 7.31838491e-01 -6.81466354e-01 -4.00406340e-03 -2.46627982e+02] [ 5.45556553e-03 -1.67447340e-05 9.99985118e-01 -9.01205791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.190385723 meters 0.014165355936606427 Centerline is valid? [True, True] Translation: X:-19.54, Y:-246.61, Z:-9.01 [[-6.80690454e-01 -7.32560548e-01 3.94322155e-03 -1.95410855e+01] [ 7.32548172e-01 -6.80701875e-01 -4.25827171e-03 -2.46608456e+02] [ 5.80360016e-03 -9.96516399e-06 9.99983159e-01 -9.01267376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2203857229999 meters 0.014182388368462227 Centerline is valid? [True, True] Translation: X:-19.56, Y:-246.59, Z:-9.01 [[-6.80688730e-01 -7.32561648e-01 4.03533356e-03 -1.95600642e+01] [ 7.32548703e-01 -6.80700691e-01 -4.35504803e-03 -2.46588630e+02] [ 5.93719551e-03 -8.35375416e-06 9.99982375e-01 -9.01321275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.250385723 meters 0.014141086642427799 Centerline is valid? [True, True] Translation: X:-19.58, Y:-246.57, Z:-9.01 [[-6.80649645e-01 -7.32597897e-01 4.04753069e-03 -1.95789977e+01] [ 7.32584890e-01 -6.80661679e-01 -4.36554425e-03 -2.46569249e+02] [ 5.95318757e-03 -6.24632144e-06 9.99982280e-01 -9.01387734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.280385723 meters 0.014236627995193528 Centerline is valid? [True, True] Translation: X:-19.60, Y:-246.55, Z:-9.01 [[-6.80924274e-01 -7.32340921e-01 4.34850410e-03 -1.95964359e+01] [ 7.32325921e-01 -6.80938159e-01 -4.68716396e-03 -2.46550092e+02] [ 6.39366434e-03 -7.08143867e-06 9.99979560e-01 -9.01479124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.310385723 meters 0.0142923821431783 Centerline is valid? [True, True] Translation: X:-19.61, Y:-246.53, Z:-9.01 [[-6.81460222e-01 -7.31841213e-01 4.51727755e-03 -1.96148874e+01] [ 7.31825034e-01 -6.81475194e-01 -4.86616254e-03 -2.46529817e+02] [ 6.63967089e-03 -1.02394057e-05 9.99977957e-01 -9.01380209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3403857229999 meters 0.01664503095666292 Centerline is valid? [True, True] Translation: X:-19.63, Y:-246.51, Z:-9.02 [[-6.83005919e-01 -7.30397143e-01 4.78824715e-03 -1.96329907e+01] [ 7.30378947e-01 -6.83022703e-01 -5.15567248e-03 -2.46510296e+02] [ 7.03616996e-03 -2.41199138e-05 9.99975246e-01 -9.01748227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.370385723 meters 0.01426846008118338 Centerline is valid? [True, True] Translation: X:-19.65, Y:-246.49, Z:-9.01 [[-6.83040784e-01 -7.30364645e-01 4.77209496e-03 -1.96520215e+01] [ 7.30346593e-01 -6.83057453e-01 -5.13512310e-03 -2.46490413e+02] [ 7.01012739e-03 -2.22152049e-05 9.99975429e-01 -9.01416888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.400385723 meters 0.014368718087416089 Centerline is valid? [True, True] Translation: X:-19.67, Y:-246.47, Z:-9.01 [[-6.83945142e-01 -7.29518238e-01 4.71003720e-03 -1.96692204e+01] [ 7.29500650e-01 -6.83961359e-01 -5.06575822e-03 -2.46471227e+02] [ 6.91704645e-03 -2.87255224e-05 9.99976077e-01 -9.01431074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.430385723 meters 0.014324919509411085 Centerline is valid? [True, True] Translation: X:-19.69, Y:-246.45, Z:-9.01 [[-6.84667741e-01 -7.28839179e-01 4.85143027e-03 -1.96880567e+01] [ 7.28820522e-01 -6.84684928e-01 -5.21494076e-03 -2.46450905e+02] [ 7.12255433e-03 -3.46797681e-05 9.99974634e-01 -9.01374526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.460385723 meters 0.014445764400734074 Centerline is valid? [True, True] Translation: X:-19.71, Y:-246.43, Z:-9.01 [[-6.85133313e-01 -7.28402212e-01 4.74975931e-03 -1.97061319e+01] [ 7.28384343e-01 -6.85149776e-01 -5.10232231e-03 -2.46431318e+02] [ 6.97083938e-03 -3.61206746e-05 9.99975703e-01 -9.01403534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.490385723 meters 0.014437507227893756 Centerline is valid? [True, True] Translation: X:-19.73, Y:-246.41, Z:-9.01 [[-6.85966308e-01 -7.27617517e-01 4.79296963e-03 -1.97250256e+01] [ 7.27599324e-01 -6.85983051e-01 -5.14557702e-03 -2.46412083e+02] [ 7.03190790e-03 -4.23310091e-05 9.99975275e-01 -9.01363704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.520385723 meters 0.014436714624409971 Centerline is valid? [True, True] Translation: X:-19.74, Y:-246.39, Z:-9.01 [[-6.86624161e-01 -7.26995678e-01 4.95438450e-03 -1.97436459e+01] [ 7.26976246e-01 -6.86642034e-01 -5.31560433e-03 -2.46392319e+02] [ 7.26631002e-03 -4.81025204e-05 9.99973599e-01 -9.01418921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.550385723 meters 0.014541843343854504 Centerline is valid? [True, True] Translation: X:-19.76, Y:-246.37, Z:-9.01 [[-6.86977676e-01 -7.26659572e-01 5.24772168e-03 -1.97624958e+01] [ 7.26637788e-01 -6.86997717e-01 -5.62683341e-03 -2.46372988e+02] [ 7.69396517e-03 -5.23160609e-05 9.99970400e-01 -9.01431084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.580385723 meters 0.014477315509017843 Centerline is valid? [True, True] Translation: X:-19.78, Y:-246.35, Z:-9.01 [[-6.86937749e-01 -7.26697993e-01 5.15321662e-03 -1.97816579e+01] [ 7.26677011e-01 -6.86957076e-01 -5.52242477e-03 -2.46352955e+02] [ 7.55317362e-03 -4.88379959e-05 9.99971473e-01 -9.01396050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.610385723 meters 0.014526704662445883 Centerline is valid? [True, True] Translation: X:-19.80, Y:-246.33, Z:-9.01 [[-6.87186537e-01 -7.26467116e-01 4.49372568e-03 -1.97994044e+01] [ 7.26451177e-01 -6.87201228e-01 -4.81250713e-03 -2.46334168e+02] [ 6.58422198e-03 -4.26177965e-05 9.99978323e-01 -9.01391145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.640385723 meters 0.014538576793277764 Centerline is valid? [True, True] Translation: X:-19.82, Y:-246.32, Z:-9.01 [[-6.87005695e-01 -7.26641057e-01 3.99366150e-03 -1.98177559e+01] [ 7.26628487e-01 -6.87017302e-01 -4.27417550e-03 -2.46315286e+02] [ 5.84950595e-03 -3.44746983e-05 9.99982891e-01 -9.01358809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.670385723 meters 0.01443253722728506 Centerline is valid? [True, True] Translation: X:-19.84, Y:-246.30, Z:-9.01 [[-6.87008453e-01 -7.26638765e-01 3.93583936e-03 -1.98370315e+01] [ 7.26626571e-01 -6.87019727e-01 -4.20970689e-03 -2.46295947e+02] [ 5.76293549e-03 -3.22187617e-05 9.99983394e-01 -9.01352005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.700385723 meters 0.014485719837758851 Centerline is valid? [True, True] Translation: X:-19.86, Y:-246.28, Z:-9.01 [[-6.86982036e-01 -7.26665178e-01 3.66068589e-03 -1.98553495e+01] [ 7.26654644e-01 -6.86991789e-01 -3.91288870e-03 -2.46277510e+02] [ 5.35822111e-03 -2.80298449e-05 9.99985644e-01 -9.01451309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.730385723 meters 0.01447992942728039 Centerline is valid? [True, True] Translation: X:-19.87, Y:-246.26, Z:-9.01 [[-6.86916945e-01 -7.26725938e-01 3.81075449e-03 -1.98740034e+01] [ 7.26714536e-01 -6.86927515e-01 -4.07085727e-03 -2.46257933e+02] [ 5.57610968e-03 -2.70101575e-05 9.99984453e-01 -9.01460543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.760385723 meters 0.014466202585629128 Centerline is valid? [True, True] Translation: X:-19.89, Y:-246.24, Z:-9.01 [[-6.86772017e-01 -7.26863984e-01 3.59802075e-03 -1.98922836e+01] [ 7.26853834e-01 -6.86781442e-01 -3.84131174e-03 -2.46238178e+02] [ 5.26316503e-03 -2.28702341e-05 9.99986149e-01 -9.01469174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.790385723 meters 0.014432416697993701 Centerline is valid? [True, True] Translation: X:-19.91, Y:-246.22, Z:-9.01 [[-6.86478955e-01 -7.27142399e-01 3.25203665e-03 -1.99095237e+01] [ 7.27134121e-01 -6.86486657e-01 -3.46975458e-03 -2.46218756e+02] [ 4.75548544e-03 -1.72466898e-05 9.99988693e-01 -9.01425499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.820385723 meters 0.014472597547574372 Centerline is valid? [True, True] Translation: X:-19.93, Y:-246.20, Z:-9.01 [[-6.86531732e-01 -7.27094032e-01 2.90677901e-03 -1.99278035e+01] [ 7.27087426e-01 -6.86537885e-01 -3.09955755e-03 -2.46198829e+02] [ 4.24928371e-03 -1.44621410e-05 9.99990972e-01 -9.01371964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.850385723 meters 0.014525734115840896 Centerline is valid? [True, True] Translation: X:-19.95, Y:-246.18, Z:-9.01 [[-6.86675811e-01 -7.26959409e-01 2.51944268e-03 -1.99465005e+01] [ 7.26954451e-01 -6.86680433e-01 -2.68496734e-03 -2.46178628e+02] [ 3.68191426e-03 -1.21820501e-05 9.99993222e-01 -9.01342056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.880385723 meters 0.014447798934886813 Centerline is valid? [True, True] Translation: X:-19.97, Y:-246.16, Z:-9.01 [[-6.86652039e-01 -7.26983347e-01 2.04703875e-03 -1.99655683e+01] [ 7.26980078e-01 -6.86655090e-01 -2.18017469e-03 -2.46158631e+02] [ 2.99056027e-03 -8.86500640e-06 9.99995528e-01 -9.01214116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.910385723 meters 0.014481168676715422 Centerline is valid? [True, True] Translation: X:-19.98, Y:-246.14, Z:-9.01 [[-6.86760212e-01 -7.26882000e-01 1.72288303e-03 -1.99837956e+01] [ 7.26879687e-01 -6.86762373e-01 -1.83373677e-03 -2.46139392e+02] [ 2.51612149e-03 -7.00877471e-06 9.99996835e-01 -9.01224266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.940385723 meters 0.014483772783720913 Centerline is valid? [True, True] Translation: X:-20.00, Y:-246.12, Z:-9.01 [[-6.86925504e-01 -7.26727126e-01 1.01745901e-03 -2.00028354e+01] [ 7.26726320e-01 -6.86926258e-01 -1.08235629e-03 -2.46118793e+02] [ 1.48549698e-03 -4.08389937e-06 9.99998897e-01 -9.01184659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9703857229999 meters 0.014538197061630617 Centerline is valid? [True, True] Translation: X:-20.02, Y:-246.10, Z:-9.01 [[-6.86997203e-01 -7.26659621e-01 7.98601239e-04 -2.00204769e+01] [ 7.26659125e-01 -6.86997667e-01 -8.48973139e-04 -2.46099915e+02] [ 1.16555169e-03 -2.93129451e-06 9.99999321e-01 -9.01164900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.000385723 meters 0.01454061778148664 Centerline is valid? [True, True] Translation: X:-20.04, Y:-246.08, Z:-9.01 [[-6.86985527e-01 -7.26670690e-01 7.70747827e-04 -2.00390169e+01] [ 7.26670228e-01 -6.86985960e-01 -8.18861064e-04 -2.46080225e+02] [ 1.12453527e-03 -2.46619989e-06 9.99999368e-01 -9.01171098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.030385723 meters 0.014639061489787036 Centerline is valid? [True, True] Translation: X:-20.06, Y:-246.06, Z:-9.01 [[-6.86819124e-01 -7.26827261e-01 1.27416048e-03 -2.00574978e+01] [ 7.26826002e-01 -6.86820305e-01 -1.35285898e-03 -2.46060510e+02] [ 1.85841408e-03 -3.07645246e-06 9.99998273e-01 -9.01271923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.060385723 meters 0.014602038019611309 Centerline is valid? [True, True] Translation: X:-20.08, Y:-246.04, Z:-9.01 [[-6.86987079e-01 -7.26667842e-01 1.61253790e-03 -2.00765110e+01] [ 7.26665828e-01 -6.86988971e-01 -1.71118250e-03 -2.46040296e+02] [ 2.35125705e-03 -3.78407986e-06 9.99997236e-01 -9.01327770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0903857229999 meters 0.01476911344554893 Centerline is valid? [True, True] Translation: X:-20.09, Y:-246.02, Z:-9.01 [[-6.87210891e-01 -7.26453508e-01 2.54798557e-03 -2.00939609e+01] [ 7.26448483e-01 -6.87215614e-01 -2.70208592e-03 -2.46020364e+02] [ 3.71395526e-03 -5.92262285e-06 9.99993103e-01 -9.01472460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.120385723 meters 0.014741599868683888 Centerline is valid? [True, True] Translation: X:-20.11, Y:-246.00, Z:-9.01 [[-6.87362778e-01 -7.26309008e-01 2.76328546e-03 -2.01125739e+01] [ 7.26303104e-01 -6.87368332e-01 -2.92867567e-03 -2.46000207e+02] [ 4.02651844e-03 -6.07983861e-06 9.99991894e-01 -9.01478051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.150385723 meters 0.01489087165143116 Centerline is valid? [True, True] Translation: X:-20.13, Y:-245.98, Z:-9.02 [[-6.87828027e-01 -7.25868545e-01 2.73149203e-03 -2.01298400e+01] [ 7.25862779e-01 -6.87833450e-01 -2.89318667e-03 -2.45980617e+02] [ 3.97888479e-03 -7.32647476e-06 9.99992084e-01 -9.01522697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.180385723 meters 0.014958033018080092 Centerline is valid? [True, True] Translation: X:-20.15, Y:-245.96, Z:-9.01 [[-6.88485958e-01 -7.25245202e-01 2.54627563e-03 -2.01478500e+01] [ 7.25240193e-01 -6.88490666e-01 -2.69539730e-03 -2.45959883e+02] [ 3.70791096e-03 -9.08176176e-06 9.99993126e-01 -9.01425097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.210385723 meters 0.014958033018080092 Centerline is valid? [True, True] Translation: X:-20.17, Y:-245.94, Z:-9.01 [[-6.88701927e-01 -7.25040115e-01 2.54707829e-03 -2.01663151e+01] [ 7.25035107e-01 -6.88706637e-01 -2.69463881e-03 -2.45940492e+02] [ 3.70791096e-03 -9.08176176e-06 9.99993126e-01 -9.01425124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.240385723 meters 0.014918609955076599 Centerline is valid? [True, True] Translation: X:-20.19, Y:-245.92, Z:-9.01 [[-6.89125716e-01 -7.24636800e-01 2.69352529e-03 -2.01858344e+01] [ 7.24631204e-01 -6.89130980e-01 -2.84799567e-03 -2.45919622e+02] [ 3.91995420e-03 -1.08145822e-05 9.99992317e-01 -9.01398463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.270385723 meters 0.015088304463626611 Centerline is valid? [True, True] Translation: X:-20.20, Y:-245.90, Z:-9.02 [[-6.89203180e-01 -7.24563120e-01 2.69474565e-03 -2.02029933e+01] [ 7.24557523e-01 -6.89208448e-01 -2.84791496e-03 -2.45899807e+02] [ 3.92073562e-03 -1.02938110e-05 9.99992314e-01 -9.01523379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.300385723 meters 0.015103858358955571 Centerline is valid? [True, True] Translation: X:-20.22, Y:-245.88, Z:-9.01 [[-6.89255326e-01 -7.24513973e-01 2.56871099e-03 -2.02217131e+01] [ 7.24508893e-01 -6.89260113e-01 -2.71313621e-03 -2.45879441e+02] [ 3.73621512e-03 -8.98963104e-06 9.99993020e-01 -9.01400329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.330385723 meters 0.015129311898662325 Centerline is valid? [True, True] Translation: X:-20.24, Y:-245.86, Z:-9.01 [[-6.89120203e-01 -7.24642524e-01 2.56107128e-03 -2.02402360e+01] [ 7.24637481e-01 -6.89124962e-01 -2.70338679e-03 -2.45859687e+02] [ 3.72388718e-03 -7.11021362e-06 9.99993066e-01 -9.01376354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.360385723 meters 0.01517557879440988 Centerline is valid? [True, True] Translation: X:-20.26, Y:-245.84, Z:-9.01 [[-6.88542225e-01 -7.25192400e-01 2.36390810e-03 -2.02593349e+01] [ 7.25188111e-01 -6.88546283e-01 -2.49417699e-03 -2.45839796e+02] [ 3.43641833e-03 -3.06812637e-06 9.99994096e-01 -9.01370865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.390385723 meters 0.015194841930881652 Centerline is valid? [True, True] Translation: X:-20.28, Y:-245.82, Z:-9.01 [[-6.88193578e-01 -7.25523224e-01 2.37707806e-03 -2.02777185e+01] [ 7.25518893e-01 -6.88197683e-01 -2.50684913e-03 -2.45820432e+02] [ 3.45467688e-03 -5.82422707e-07 9.99994033e-01 -9.01374020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.420385723 meters 0.015249122876302059 Centerline is valid? [True, True] Translation: X:-20.30, Y:-245.80, Z:-9.01 [[-6.87985155e-01 -7.25720286e-01 2.54817262e-03 -2.02967404e+01] [ 7.25715316e-01 -6.87989874e-01 -2.68569729e-03 -2.45801070e+02] [ 3.70218196e-03 1.52802916e-06 9.99993147e-01 -9.01427182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.450385723 meters 0.015288601771107357 Centerline is valid? [True, True] Translation: X:-20.32, Y:-245.78, Z:-9.02 [[-6.87582788e-01 -7.26099939e-01 2.96462720e-03 -2.03163259e+01] [ 7.26093224e-01 -6.87589179e-01 -3.12266853e-03 -2.45781373e+02] [ 4.30581501e-03 5.50259156e-06 9.99990730e-01 -9.01526012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.480385723 meters 0.015282418006612895 Centerline is valid? [True, True] Translation: X:-20.34, Y:-245.76, Z:-9.02 [[-6.87330957e-01 -7.26338053e-01 3.03121502e-03 -2.03356096e+01] [ 7.26331045e-01 -6.87337641e-01 -3.19076562e-03 -2.45761506e+02] [ 4.40104267e-03 8.55358823e-06 9.99990315e-01 -9.01501916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.510385723 meters 0.015246542453108766 Centerline is valid? [True, True] Translation: X:-20.35, Y:-245.74, Z:-9.01 [[-6.87427455e-01 -7.26247877e-01 2.74140170e-03 -2.03544946e+01] [ 7.26242151e-01 -6.87432921e-01 -2.88390378e-03 -2.45741887e+02] [ 3.97895878e-03 8.44682600e-06 9.99992084e-01 -9.01480982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.540385723 meters 0.015342180344547056 Centerline is valid? [True, True] Translation: X:-20.37, Y:-245.72, Z:-9.01 [[-6.86980253e-01 -7.26672692e-01 2.22049964e-03 -2.03726978e+01] [ 7.26668942e-01 -6.86983842e-01 -2.33439688e-03 -2.45723033e+02] [ 3.22178984e-03 9.88356379e-06 9.99994810e-01 -9.01421552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.570385723 meters 0.015369835847167885 Centerline is valid? [True, True] Translation: X:-20.39, Y:-245.70, Z:-9.01 [[-6.86723129e-01 -7.26915339e-01 2.33120121e-03 -2.03913977e+01] [ 7.26911211e-01 -6.86727085e-01 -2.44971044e-03 -2.45703350e+02] [ 3.38163111e-03 1.23034812e-05 9.99994282e-01 -9.01378803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.600385723 meters 0.015472667450922264 Centerline is valid? [True, True] Translation: X:-20.41, Y:-245.68, Z:-9.01 [[-6.86444443e-01 -7.27178331e-01 2.38766980e-03 -2.04107594e+01] [ 7.27174008e-01 -6.86448595e-01 -2.50745878e-03 -2.45684291e+02] [ 3.46238227e-03 1.50202786e-05 9.99994006e-01 -9.01466302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.630385723 meters 0.015447599446688597 Centerline is valid? [True, True] Translation: X:-20.43, Y:-245.66, Z:-9.01 [[-6.86522729e-01 -7.27104435e-01 2.38379198e-03 -2.04299806e+01] [ 7.27100131e-01 -6.86526868e-01 -2.50181071e-03 -2.45664653e+02] [ 3.45561491e-03 1.57055420e-05 9.99994029e-01 -9.01468916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.660385723 meters 0.015520925131453414 Centerline is valid? [True, True] Translation: X:-20.45, Y:-245.65, Z:-9.01 [[-6.86746021e-01 -7.26893862e-01 2.28398860e-03 -2.04482758e+01] [ 7.26889915e-01 -6.86749818e-01 -2.39549708e-03 -2.45645818e+02] [ 3.30980088e-03 1.51101962e-05 9.99994523e-01 -9.01465961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.690385723 meters 0.01554202106781618 Centerline is valid? [True, True] Translation: X:-20.47, Y:-245.63, Z:-9.01 [[-6.87215568e-01 -7.26450077e-01 2.24688193e-03 -2.04665185e+01] [ 7.26446260e-01 -6.87219241e-01 -2.35514371e-03 -2.45625494e+02] [ 3.25499483e-03 1.37475544e-05 9.99994702e-01 -9.01415682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7203857229999 meters 0.015494545788252422 Centerline is valid? [True, True] Translation: X:-20.48, Y:-245.61, Z:-9.01 [[-6.87899825e-01 -7.25802877e-01 2.00360563e-03 -2.04849774e+01] [ 7.25799842e-01 -6.87902743e-01 -2.09886665e-03 -2.45605509e+02] [ 2.90164926e-03 1.04066518e-05 9.99995790e-01 -9.01398618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.750385723 meters 0.015551763165119487 Centerline is valid? [True, True] Translation: X:-20.50, Y:-245.58, Z:-9.01 [[-6.88656775e-01 -7.25084874e-01 1.94209339e-03 -2.05043043e+01] [ 7.25082023e-01 -6.88659513e-01 -2.03329648e-03 -2.45584426e+02] [ 2.81175361e-03 7.93361203e-06 9.99996047e-01 -9.01379188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.780385723 meters 0.015541677849906657 Centerline is valid? [True, True] Translation: X:-20.52, Y:-245.56, Z:-9.01 [[-6.90664194e-01 -7.23173399e-01 1.79081603e-03 -2.05226675e+01] [ 7.23170971e-01 -6.90666515e-01 -1.87384796e-03 -2.45563645e+02] [ 2.59197366e-03 8.66475035e-07 9.99996641e-01 -9.01402274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.810385723 meters 0.015497539143468953 Centerline is valid? [True, True] Translation: X:-20.54, Y:-245.54, Z:-9.01 [[-6.91824379e-01 -7.22063126e-01 1.96737555e-03 -2.05409061e+01] [ 7.22060195e-01 -6.91827176e-01 -2.05736611e-03 -2.45543537e+02] [ 2.84663208e-03 -2.77245369e-06 9.99995948e-01 -9.01425574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8403857229999 meters 0.015603360407310236 Centerline is valid? [True, True] Translation: X:-20.56, Y:-245.52, Z:-9.01 [[-6.94259388e-01 -7.19722265e-01 1.94006814e-03 -2.05590918e+01] [ 7.19719409e-01 -6.94262099e-01 -2.02755009e-03 -2.45522635e+02] [ 2.80618873e-03 -1.13409902e-05 9.99996063e-01 -9.01406790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.870385723 meters 0.01570195786685274 Centerline is valid? [True, True] Translation: X:-20.58, Y:-245.50, Z:-9.01 [[-6.95367362e-01 -7.18651626e-01 2.01802887e-03 -2.05765985e+01] [ 7.18648534e-01 -6.95370290e-01 -2.10801812e-03 -2.45503214e+02] [ 2.91820797e-03 -1.55935071e-05 9.99995742e-01 -9.01376482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.900385723 meters 0.015717925451856168 Centerline is valid? [True, True] Translation: X:-20.59, Y:-245.48, Z:-9.01 [[-6.96361445e-01 -7.17687909e-01 2.19153675e-03 -2.05943735e+01] [ 7.17684263e-01 -6.96364893e-01 -2.28778803e-03 -2.45483557e+02] [ 3.16802706e-03 -2.02959450e-05 9.99994982e-01 -9.01363672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.930385723 meters 0.01594498604815699 Centerline is valid? [True, True] Translation: X:-20.61, Y:-245.46, Z:-9.01 [[-6.98042852e-01 -7.16050239e-01 2.86913277e-03 -2.06132350e+01] [ 7.16043983e-01 -6.98048747e-01 -2.99352380e-03 -2.45463209e+02] [ 4.14630797e-03 -3.51826356e-05 9.99991403e-01 -9.01378318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.960385723 meters 0.016074190588022126 Centerline is valid? [True, True] Translation: X:-20.63, Y:-245.44, Z:-9.01 [[-6.98914855e-01 -7.15198482e-01 3.02606074e-03 -2.06321493e+01] [ 7.15191523e-01 -6.98921404e-01 -3.15534243e-03 -2.45443861e+02] [ 4.37167474e-03 -4.11027080e-05 9.99990443e-01 -9.01420108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.990385723 meters 0.01609630172263901 Centerline is valid? [True, True] Translation: X:-20.65, Y:-245.43, Z:-9.01 [[-6.99847940e-01 -7.14284052e-01 3.33980015e-03 -2.06519957e+01] [ 7.14275575e-01 -6.99855907e-01 -3.48035728e-03 -2.45425277e+02] [ 4.82334257e-03 -5.01831989e-05 9.99988366e-01 -9.01484906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.020385723 meters 0.0162427560262095 Centerline is valid? [True, True] Translation: X:-20.67, Y:-245.41, Z:-9.02 [[-7.00447586e-01 -7.13695694e-01 3.41108719e-03 -2.06704466e+01] [ 7.13686855e-01 -7.00455890e-01 -3.55237020e-03 -2.45406583e+02] [ 4.92462743e-03 -5.38010483e-05 9.99987873e-01 -9.01532060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.050385723 meters 0.01636558069036037 Centerline is valid? [True, True] Translation: X:-20.69, Y:-245.39, Z:-9.02 [[-7.01013444e-01 -7.13139120e-01 3.57022177e-03 -2.06893539e+01] [ 7.13129441e-01 -7.01022533e-01 -3.71586425e-03 -2.45386977e+02] [ 5.15273408e-03 -5.88405417e-05 9.99986723e-01 -9.01529787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.080385723 meters 0.016417940163358954 Centerline is valid? [True, True] Translation: X:-20.71, Y:-245.37, Z:-9.02 [[-7.01497622e-01 -7.12661636e-01 3.80498391e-03 -2.07081821e+01] [ 7.12650649e-01 -7.01507939e-01 -3.95782052e-03 -2.45367333e+02] [ 5.48981327e-03 -6.47774280e-05 9.99984929e-01 -9.01516832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.110385723 meters 0.01634126374173304 Centerline is valid? [True, True] Translation: X:-20.73, Y:-245.35, Z:-9.01 [[-7.02089795e-01 -7.12077640e-01 3.91850442e-03 -2.07289100e+01] [ 7.12065991e-01 -7.02100726e-01 -4.07362540e-03 -2.45347756e+02] [ 5.65192236e-03 -6.98170903e-05 9.99984025e-01 -9.01312603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.140385723 meters 0.016418492384983982 Centerline is valid? [True, True] Translation: X:-20.75, Y:-245.33, Z:-9.01 [[-7.02537386e-01 -7.11637127e-01 3.71759447e-03 -2.07478346e+01] [ 7.11626648e-01 -7.02547219e-01 -3.86248888e-03 -2.45328931e+02] [ 5.36047614e-03 -6.80035507e-05 9.99985630e-01 -9.01243652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.170385723 meters 0.016495805148837292 Centerline is valid? [True, True] Translation: X:-20.77, Y:-245.31, Z:-9.01 [[-7.02698955e-01 -7.11483085e-01 2.44911628e-03 -2.07676428e+01] [ 7.11478542e-01 -7.02703222e-01 -2.54292393e-03 -2.45311167e+02] [ 3.53024926e-03 -4.44163069e-05 9.99993768e-01 -9.01132043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.200385723 meters 0.016319422512347862 Centerline is valid? [True, True] Translation: X:-20.79, Y:-245.29, Z:-9.01 [[-7.02636142e-01 -7.11545529e-01 2.32659717e-03 -2.07884070e+01] [ 7.11541434e-01 -7.02639992e-01 -2.41438206e-03 -2.45292267e+02] [ 3.35270298e-03 -4.09618051e-05 9.99994379e-01 -9.01101663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.230385723 meters 0.01633878331139437 Centerline is valid? [True, True] Translation: X:-20.81, Y:-245.27, Z:-9.01 [[-7.02253078e-01 -7.11922661e-01 2.59608557e-03 -2.08079917e+01] [ 7.11917570e-01 -7.02257875e-01 -2.69275056e-03 -2.45274109e+02] [ 3.74015168e-03 -4.27934338e-05 9.99993005e-01 -9.01127866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.260385723 meters 0.016225150255015322 Centerline is valid? [True, True] Translation: X:-20.83, Y:-245.26, Z:-9.01 [[-7.01972196e-01 -7.12199233e-01 2.69970091e-03 -2.08280043e+01] [ 7.12193736e-01 -7.01977386e-01 -2.79851221e-03 -2.45255003e+02] [ 3.88822724e-03 -4.17676845e-05 9.99992440e-01 -9.01118596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.290385723 meters 0.01634323625150794 Centerline is valid? [True, True] Translation: X:-20.85, Y:-245.24, Z:-9.01 [[-7.01807295e-01 -7.12360631e-01 2.97529327e-03 -2.08465873e+01] [ 7.12353964e-01 -7.01813600e-01 -3.08222249e-03 -2.45236672e+02] [ 4.28375523e-03 -4.36642721e-05 9.99990824e-01 -9.01128139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.320385723 meters 0.015955911906160677 Centerline is valid? [True, True] Translation: X:-20.87, Y:-245.22, Z:-9.01 [[-7.01197257e-01 -7.12961536e-01 2.87321539e-03 -2.08681486e+01] [ 7.12955331e-01 -7.01203143e-01 -2.97463600e-03 -2.45219929e+02] [ 4.13550871e-03 -3.73323701e-05 9.99991448e-01 -9.01094932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.350385723 meters 0.01591959150393554 Centerline is valid? [True, True] Translation: X:-20.89, Y:-245.20, Z:-9.01 [[-7.00994540e-01 -7.13160776e-01 2.89171842e-03 -2.08887358e+01] [ 7.13154500e-01 -7.01000504e-01 -2.99214246e-03 -2.45200964e+02] [ 4.16097471e-03 -3.52335274e-05 9.99991343e-01 -9.01090912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.380385723 meters 0.016030761655424084 Centerline is valid? [True, True] Translation: X:-20.91, Y:-245.18, Z:-9.01 [[-7.00862046e-01 -7.13291580e-01 2.74126994e-03 -2.09080552e+01] [ 7.13285948e-01 -7.00867406e-01 -2.83462899e-03 -2.45182495e+02] [ 3.94318374e-03 -3.13745431e-05 9.99992225e-01 -9.01094606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.410385723 meters 0.01608698600716891 Centerline is valid? [True, True] Translation: X:-20.93, Y:-245.16, Z:-9.01 [[-7.01338575e-01 -7.12825199e-01 2.10681973e-03 -2.09288763e+01] [ 7.12821874e-01 -7.01341739e-01 -2.17735739e-03 -2.45163610e+02] [ 3.02967583e-03 -2.52775397e-05 9.99995410e-01 -9.01027537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.440385723 meters 0.01626204333330887 Centerline is valid? [True, True] Translation: X:-20.95, Y:-245.14, Z:-9.01 [[-7.02000126e-01 -7.12173490e-01 2.17795191e-03 -2.09486037e+01] [ 7.12169937e-01 -7.02003504e-01 -2.24962739e-03 -2.45143280e+02] [ 3.13105486e-03 -2.81668343e-05 9.99995098e-01 -9.01034559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4703857229999 meters 0.016802141218616947 Centerline is valid? [True, True] Translation: X:-20.97, Y:-245.12, Z:-9.01 [[-7.04032896e-01 -7.10163978e-01 2.19240271e-03 -2.09669239e+01] [ 7.10160372e-01 -7.04036308e-01 -2.26322912e-03 -2.45122821e+02] [ 3.15079491e-03 -3.64302252e-05 9.99995036e-01 -9.01004143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.500385723 meters 0.016881061308567827 Centerline is valid? [True, True] Translation: X:-20.99, Y:-245.10, Z:-9.01 [[-7.05110219e-01 -7.09094597e-01 2.10490866e-03 -2.09862103e+01] [ 7.09091273e-01 -7.05113360e-01 -2.17157656e-03 -2.45103755e+02] [ 3.02405242e-03 -3.86284619e-05 9.99995427e-01 -9.00931569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.530385723 meters 0.01692744960060746 Centerline is valid? [True, True] Translation: X:-21.01, Y:-245.08, Z:-9.01 [[-7.06188141e-01 -7.08020894e-01 2.17331709e-03 -2.10065035e+01] [ 7.08017349e-01 -7.06191484e-01 -2.24090951e-03 -2.45083783e+02] [ 3.12138877e-03 -4.37575137e-05 9.99995128e-01 -9.00906551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.560385723 meters 0.016939194904253954 Centerline is valid? [True, True] Translation: X:-21.03, Y:-245.06, Z:-9.01 [[-7.07041632e-01 -7.07168235e-01 2.28437439e-03 -2.10265751e+01] [ 7.07164318e-01 -7.07045321e-01 -2.35410022e-03 -2.45063884e+02] [ 3.27990112e-03 -4.90188016e-05 9.99994620e-01 -9.00851761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5903857229999 meters 0.017286244335913598 Centerline is valid? [True, True] Translation: X:-21.05, Y:-245.04, Z:-9.01 [[-7.08549666e-01 -7.05656074e-01 2.62219645e-03 -2.10460585e+01] [ 7.05650909e-01 -7.08554515e-01 -2.70063691e-03 -2.45044386e+02] [ 3.76368998e-03 -6.31800709e-05 9.99992915e-01 -9.00786877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.620385723 meters 0.017643509812305513 Centerline is valid? [True, True] Translation: X:-21.07, Y:-245.03, Z:-9.01 [[-7.09334522e-01 -7.04865184e-01 3.09971612e-03 -2.10650280e+01] [ 7.04857967e-01 -7.09341290e-01 -3.19056902e-03 -2.45025176e+02] [ 4.44767765e-03 -7.83211518e-05 9.99990106e-01 -9.00787282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.650385723 meters 0.018051464007117754 Centerline is valid? [True, True] Translation: X:-21.09, Y:-245.01, Z:-9.01 [[-7.10302157e-01 -7.03888933e-01 3.34897318e-03 -2.10850193e+01] [ 7.03880508e-01 -7.10310047e-01 -3.44512690e-03 -2.45006202e+02] [ 4.80379600e-03 -8.98041280e-05 9.99988458e-01 -9.00792053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.680385723 meters 0.018077003172117908 Centerline is valid? [True, True] Translation: X:-21.11, Y:-244.99, Z:-9.01 [[-7.10634048e-01 -7.03552315e-01 3.65918378e-03 -2.11050999e+01] [ 7.03542264e-01 -7.10643462e-01 -3.76193289e-03 -2.44987793e+02] [ 5.24709163e-03 -9.89671585e-05 9.99986229e-01 -9.00798676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.710385723 meters 0.018201326899583134 Centerline is valid? [True, True] Translation: X:-21.12, Y:-244.97, Z:-9.01 [[-7.10615518e-01 -7.03569119e-01 4.01005073e-03 -2.11241745e+01] [ 7.03557063e-01 -7.10626825e-01 -4.12000239e-03 -2.44969964e+02] [ 5.74835607e-03 -1.06438118e-04 9.99983472e-01 -9.00829568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.740385723 meters 0.017945940158071945 Centerline is valid? [True, True] Translation: X:-21.15, Y:-244.95, Z:-9.01 [[-7.10370726e-01 -7.03811474e-01 4.77915068e-03 -2.11458702e+01] [ 7.03794377e-01 -7.10386792e-01 -4.90719837e-03 -2.44952609e+02] [ 6.84878804e-03 -1.22390691e-04 9.99976539e-01 -9.00808332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.770385723 meters 0.018129972984935374 Centerline is valid? [True, True] Translation: X:-21.17, Y:-244.93, Z:-9.01 [[-7.10141860e-01 -7.04039764e-01 5.15260604e-03 -2.11654288e+01] [ 7.04019922e-01 -7.10160541e-01 -5.28728019e-03 -2.44934382e+02] [ 7.38163299e-03 -1.27181683e-04 9.99972747e-01 -9.00777164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.800385723 meters 0.018329118455406034 Centerline is valid? [True, True] Translation: X:-21.18, Y:-244.92, Z:-9.01 [[-7.10175149e-01 -7.04004418e-01 5.38863022e-03 -2.11847196e+01] [ 7.03982742e-01 -7.10195580e-01 -5.52600037e-03 -2.44917042e+02] [ 7.71731004e-03 -1.30925461e-04 9.99970213e-01 -9.00797063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.830385723 meters 0.01831784264161018 Centerline is valid? [True, True] Translation: X:-21.21, Y:-244.90, Z:-9.01 [[-7.10249714e-01 -7.03923949e-01 6.03463544e-03 -2.12067232e+01] [ 7.03896794e-01 -7.10275336e-01 -6.18476596e-03 -2.44899890e+02] [ 8.63985760e-03 -1.44967720e-04 9.99962665e-01 -9.00781540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.860385723 meters 0.017553975243548604 Centerline is valid? [True, True] Translation: X:-21.23, Y:-244.88, Z:-9.01 [[-7.10918777e-01 -7.03246856e-01 6.19289177e-03 -2.12285819e+01] [ 7.03218264e-01 -7.10945733e-01 -6.34339848e-03 -2.44882033e+02] [ 8.86378502e-03 -1.54686489e-04 9.99960704e-01 -9.00633392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.890385723 meters 0.018404308441051308 Centerline is valid? [True, True] Translation: X:-21.25, Y:-244.86, Z:-9.01 [[-7.12121619e-01 -7.02025958e-01 6.50807172e-03 -2.12487757e+01] [ 7.01994366e-01 -7.12151335e-01 -6.66229579e-03 -2.44863712e+02] [ 9.31183655e-03 -1.75735181e-04 9.99956629e-01 -9.00670876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.920385723 meters 0.01817262802783661 Centerline is valid? [True, True] Translation: X:-21.27, Y:-244.85, Z:-9.01 [[-7.12971095e-01 -7.01160431e-01 6.80204170e-03 -2.12698819e+01] [ 7.01125919e-01 -7.13003515e-01 -6.95937018e-03 -2.44845581e+02] [ 9.72951464e-03 -1.92742040e-04 9.99952649e-01 -9.00626255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.950385723 meters 0.01838976462984365 Centerline is valid? [True, True] Translation: X:-21.29, Y:-244.83, Z:-9.01 [[-7.14255600e-01 -6.99852090e-01 6.78166628e-03 -2.12901913e+01] [ 6.99817765e-01 -7.14287764e-01 -6.93445561e-03 -2.44826793e+02] [ 9.69715449e-03 -2.07043213e-04 9.99952960e-01 -9.00622930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.980385723 meters 0.018899059509093343 Centerline is valid? [True, True] Translation: X:-21.31, Y:-244.81, Z:-9.01 [[-7.16063861e-01 -6.98006568e-01 6.27527173e-03 -2.13120973e+01] [ 6.97977138e-01 -7.16091326e-01 -6.41313111e-03 -2.44808613e+02] [ 8.97007529e-03 -2.12215223e-04 9.99959746e-01 -9.00583306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.010385723 meters 0.01910308855524412 Centerline is valid? [True, True] Translation: X:-21.33, Y:-244.79, Z:-9.01 [[-7.16956621e-01 -6.97090622e-01 6.15376308e-03 -2.13328594e+01] [ 6.97062318e-01 -7.16982997e-01 -6.28552911e-03 -2.44789757e+02] [ 8.79372689e-03 -2.16895351e-04 9.99961311e-01 -9.00611594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.040385723 meters 0.019417107345739683 Centerline is valid? [True, True] Translation: X:-21.35, Y:-244.77, Z:-9.01 [[-7.17628440e-01 -6.96397810e-01 6.28593529e-03 -2.13528924e+01] [ 6.96368283e-01 -7.17655934e-01 -6.41684785e-03 -2.44771840e+02] [ 8.97981755e-03 -2.27586548e-04 9.99959655e-01 -9.00715283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.070385723 meters 0.01915593049282007 Centerline is valid? [True, True] Translation: X:-21.38, Y:-244.76, Z:-9.01 [[-7.18261544e-01 -6.95744497e-01 6.32044897e-03 -2.13755178e+01] [ 6.95714656e-01 -7.18289315e-01 -6.44813346e-03 -2.44755622e+02] [ 9.02616433e-03 -2.34217317e-04 9.99959236e-01 -9.00709824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.100385723 meters 0.019274402916204286 Centerline is valid? [True, True] Translation: X:-21.40, Y:-244.74, Z:-9.01 [[-7.18215094e-01 -6.95792193e-01 6.34844348e-03 -2.13960748e+01] [ 6.95762124e-01 -7.18243114e-01 -6.47275240e-03 -2.44737092e+02] [ 9.06341640e-03 -2.31821953e-04 9.99958900e-01 -9.00715434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.130385723 meters 0.019274402916204286 Centerline is valid? [True, True] Translation: X:-21.41, Y:-244.72, Z:-9.01 [[-7.18426613e-01 -6.95573773e-01 6.35041128e-03 -2.14148896e+01] [ 6.95543713e-01 -7.18454642e-01 -6.47082181e-03 -2.44718042e+02] [ 9.06341640e-03 -2.31821955e-04 9.99958900e-01 -9.00715462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.160385723 meters 0.017999983481448552 Centerline is valid? [True, True] Translation: X:-21.44, Y:-244.70, Z:-9.01 [[-7.17853976e-01 -6.96165001e-01 6.32143768e-03 -2.14391387e+01] [ 6.96135270e-01 -7.17881775e-01 -6.43768184e-03 -2.44702432e+02] [ 9.01973368e-03 -2.20739776e-04 9.99959297e-01 -9.00652333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.190385723 meters 0.01780773299421396 Centerline is valid? [True, True] Translation: X:-21.46, Y:-244.68, Z:-9.01 [[-7.17255360e-01 -6.96783414e-01 6.13369486e-03 -2.14606788e+01] [ 6.96755476e-01 -7.17281557e-01 -6.24297479e-03 -2.44684115e+02] [ 8.74958749e-03 -2.04121645e-04 9.99961701e-01 -9.00653482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2203857229999 meters 0.01818804468766272 Centerline is valid? [True, True] Translation: X:-21.48, Y:-244.67, Z:-9.01 [[-7.16837224e-01 -6.97218385e-01 5.56042505e-03 -2.14807951e+01] [ 6.97195464e-01 -7.16858767e-01 -5.65626433e-03 -2.44665664e+02] [ 7.92969093e-03 -1.77917698e-04 9.99968544e-01 -9.00737987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.250385723 meters 0.017464593294071507 Centerline is valid? [True, True] Translation: X:-21.50, Y:-244.65, Z:-9.01 [[-7.14964124e-01 -6.99142427e-01 5.11553220e-03 -2.15045936e+01] [ 6.99123089e-01 -7.14982410e-01 -5.20191146e-03 -2.44649203e+02] [ 7.29439254e-03 -1.42793393e-04 9.99973385e-01 -9.00820295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.280385723 meters 0.017272695380831718 Centerline is valid? [True, True] Translation: X:-21.53, Y:-244.63, Z:-9.01 [[-7.14241480e-01 -6.99880037e-01 5.20027919e-03 -2.15256248e+01] [ 6.99860094e-01 -7.14260398e-01 -5.28517764e-03 -2.44631026e+02] [ 7.41334381e-03 -1.35425218e-04 9.99972512e-01 -9.00886523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.310385723 meters 0.016638354729868993 Centerline is valid? [True, True] Translation: X:-21.55, Y:-244.61, Z:-9.01 [[-7.12408651e-01 -7.01748426e-01 4.80221378e-03 -2.15485971e+01] [ 7.01731480e-01 -7.12424828e-01 -4.87798798e-03 -2.44614295e+02] [ 6.84433671e-03 -1.05256254e-04 9.99976572e-01 -9.00958098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3403857229999 meters 0.016653905516861755 Centerline is valid? [True, True] Translation: X:-21.57, Y:-244.60, Z:-9.01 [[-7.11989629e-01 -7.02176349e-01 4.37516901e-03 -2.15685008e+01] [ 7.02162307e-01 -7.12003066e-01 -4.44162671e-03 -2.44595578e+02] [ 6.23393898e-03 -9.03133886e-05 9.99980565e-01 -9.01017197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.370385723 meters 0.01650670590877202 Centerline is valid? [True, True] Translation: X:-21.59, Y:-244.58, Z:-9.01 [[-7.11478519e-01 -7.02692953e-01 4.57500059e-03 -2.15891731e+01] [ 7.02677626e-01 -7.11493223e-01 -4.64194745e-03 -2.44576570e+02] [ 6.51694568e-03 -8.78953457e-05 9.99978761e-01 -9.01046061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.400385723 meters 0.0164069374020384 Centerline is valid? [True, True] Translation: X:-21.61, Y:-244.56, Z:-9.01 [[-7.11015494e-01 -7.03164616e-01 4.06073162e-03 -2.16103139e+01] [ 7.03152562e-01 -7.11027086e-01 -4.11787257e-03 -2.44557345e+02] [ 5.78283246e-03 -7.25573597e-05 9.99983277e-01 -9.01062905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.430385723 meters 0.017120338437106784 Centerline is valid? [True, True] Translation: X:-21.63, Y:-244.54, Z:-9.01 [[-7.10632302e-01 -7.03555101e-01 3.45704578e-03 -2.16288383e+01] [ 7.03546376e-01 -7.10640708e-01 -3.50427508e-03 -2.44538256e+02] [ 4.92216808e-03 -5.80590362e-05 9.99987884e-01 -9.01299710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.460385723 meters 0.016215049438555264 Centerline is valid? [True, True] Translation: X:-21.65, Y:-244.52, Z:-9.01 [[-7.10646901e-01 -7.03542636e-01 2.95667217e-03 -2.16504654e+01] [ 7.03536262e-01 -7.10653050e-01 -2.99523002e-03 -2.44521021e+02] [ 4.20844012e-03 -4.84248465e-05 9.99991143e-01 -9.01206878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.490385723 meters 0.01612504502054546 Centerline is valid? [True, True] Translation: X:-21.67, Y:-244.50, Z:-9.01 [[-7.10880813e-01 -7.03310213e-01 1.79275154e-03 -2.16703599e+01] [ 7.03307871e-01 -7.10883073e-01 -1.81512296e-03 -2.44501802e+02] [ 2.55103124e-03 -2.94798178e-05 9.99996746e-01 -9.01201988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.520385723 meters 0.016366296179664737 Centerline is valid? [True, True] Translation: X:-21.69, Y:-244.48, Z:-9.01 [[-7.11234228e-01 -7.02953760e-01 1.37241636e-03 -2.16888035e+01] [ 7.02952389e-01 -7.11235552e-01 -1.38898087e-03 -2.44482238e+02] [ 1.95250064e-03 -2.31473800e-05 9.99998094e-01 -9.01221582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.550385723 meters 0.016192057325600112 Centerline is valid? [True, True] Translation: X:-21.71, Y:-244.46, Z:-9.01 [[-7.12102250e-01 -7.02075211e-01 8.85795271e-04 -2.17094053e+01] [ 7.02074639e-01 -7.12102801e-01 -8.95986620e-04 -2.44462564e+02] [ 1.25982729e-03 -1.61396925e-05 9.99999206e-01 -9.01291610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.580385723 meters 0.0161104554215164 Centerline is valid? [True, True] Translation: X:-21.73, Y:-244.44, Z:-9.01 [[-7.12540057e-01 -7.01631021e-01 7.60197515e-04 -2.17296303e+01] [ 7.01630600e-01 -7.12540462e-01 -7.68511633e-04 -2.44442754e+02] [ 1.08088309e-03 -1.42174836e-05 9.99999416e-01 -9.01373594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.610385723 meters 0.016363183147148828 Centerline is valid? [True, True] Translation: X:-21.75, Y:-244.42, Z:-9.01 [[-7.12814433e-01 -7.01351678e-01 1.18685566e-03 -2.17485065e+01] [ 7.01350653e-01 -7.12815421e-01 -1.19934805e-03 -2.44422790e+02] [ 1.68717379e-03 -2.25106106e-05 9.99998577e-01 -9.01452496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.640385723 meters 0.01650755785238355 Centerline is valid? [True, True] Translation: X:-21.77, Y:-244.40, Z:-9.02 [[-7.13382239e-01 -7.00774339e-01 1.05203761e-03 -2.17677197e+01] [ 7.00773534e-01 -7.13383015e-01 -1.06252728e-03 -2.44401979e+02] [ 1.49509761e-03 -2.07479753e-05 9.99998882e-01 -9.01596317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.670385723 meters 0.016578328928776035 Centerline is valid? [True, True] Translation: X:-21.79, Y:-244.38, Z:-9.02 [[-7.14148649e-01 -6.99993258e-01 1.07050826e-03 -2.17866060e+01] [ 6.99992424e-01 -7.14149451e-01 -1.08058979e-03 -2.44381660e+02] [ 1.52090846e-03 -2.23540663e-05 9.99998843e-01 -9.01614304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.700385723 meters 0.016608235851703478 Centerline is valid? [True, True] Translation: X:-21.81, Y:-244.36, Z:-9.02 [[-7.14840354e-01 -6.99287294e-01 7.41089968e-04 -2.18057207e+01] [ 6.99286895e-01 -7.14840738e-01 -7.47656922e-04 -2.44361144e+02] [ 1.05258829e-03 -1.62208358e-05 9.99999446e-01 -9.01615088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.730385723 meters 0.01695019634071461 Centerline is valid? [True, True] Translation: X:-21.82, Y:-244.34, Z:-9.02 [[-7.15471692e-01 -6.98641629e-01 3.63265036e-04 -2.18239188e+01] [ 6.98641533e-01 -7.15471784e-01 -3.66336188e-04 -2.44340481e+02] [ 5.15843594e-04 -8.31113018e-06 9.99999867e-01 -9.01623531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.760385723 meters 0.016900760066868765 Centerline is valid? [True, True] Translation: X:-21.84, Y:-244.32, Z:-9.02 [[-7.16128885e-01 -6.97967956e-01 3.90126653e-04 -2.18425422e+01] [ 6.97967845e-01 -7.16128992e-01 -3.93182720e-04 -2.44320316e+02] [ 5.53809947e-04 -9.27364344e-06 9.99999847e-01 -9.01646259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.790385723 meters 0.01683627905619018 Centerline is valid? [True, True] Translation: X:-21.86, Y:-244.30, Z:-9.02 [[-7.16411571e-01 -6.97677483e-01 7.68718054e-04 -2.18620506e+01] [ 6.97677053e-01 -7.16411983e-01 -7.74321559e-04 -2.44300531e+02] [ 1.09094554e-03 -1.84159777e-05 9.99999405e-01 -9.01675756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.820385723 meters 0.016525089373402715 Centerline is valid? [True, True] Translation: X:-21.88, Y:-244.28, Z:-9.02 [[-7.17025348e-01 -6.97047048e-01 2.52780361e-04 -2.18819568e+01] [ 6.97047001e-01 -7.17025392e-01 -2.54477256e-04 -2.44280063e+02] [ 3.58632558e-04 -6.26685049e-06 9.99999936e-01 -9.01756987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.850385723 meters 0.016710128767624583 Centerline is valid? [True, True] Translation: X:-21.90, Y:-244.26, Z:-9.02 [[-7.17290867e-01 -6.96773794e-01 3.04731887e-04 -2.19000564e+01] [ 6.96773726e-01 -7.17290931e-01 -3.06596670e-04 -2.44259187e+02] [ 4.32209944e-04 -7.58981870e-06 9.99999907e-01 -9.01750264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.880385723 meters 0.016541576557558457 Centerline is valid? [True, True] Translation: X:-21.92, Y:-244.24, Z:-9.02 [[-7.17933963e-01 -6.96111215e-01 4.74669153e-05 -2.19193640e+01] [ 6.96111213e-01 -7.17933964e-01 -4.77269793e-05 -2.44239366e+02] [ 6.73013964e-05 -1.22256736e-06 9.99999998e-01 -9.01754755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.910385723 meters 0.01710925165316326 Centerline is valid? [True, True] Translation: X:-21.94, Y:-244.22, Z:-9.02 [[-7.18987084e-01 -6.95023368e-01 -3.02333608e-04 -2.19369788e+01] [ 6.95023302e-01 -7.18987147e-01 3.03867139e-04 -2.44217873e+02] [-4.28568740e-04 8.34764522e-06 9.99999908e-01 -9.01810511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.940385723 meters 0.01729949101617577 Centerline is valid? [True, True] Translation: X:-21.95, Y:-244.20, Z:-9.02 [[-7.19460780e-01 -6.94532960e-01 -3.93004687e-04 -2.19549978e+01] [ 6.94532848e-01 -7.19460887e-01 3.94767796e-04 -2.44197299e+02] [-5.56930746e-04 1.10652821e-05 9.99999845e-01 -9.01774802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9703857229999 meters 0.016696286599378267 Centerline is valid? [True, True] Translation: X:-21.98, Y:-244.18, Z:-9.02 [[-7.19916908e-01 -6.94059668e-01 -9.07090998e-04 -2.19750960e+01] [ 6.94059071e-01 -7.19917479e-01 9.10644069e-04 -2.44178063e+02] [-1.28507198e-03 2.60133264e-05 9.99999174e-01 -9.01788328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.000385723 meters 0.017432777041994835 Centerline is valid? [True, True] Translation: X:-21.99, Y:-244.16, Z:-9.02 [[-7.20539138e-01 -6.93411622e-01 -1.91659158e-03 -2.19920495e+01] [ 6.93408958e-01 -7.20541685e-01 1.92295787e-03 -2.44156932e+02] [-2.71438546e-03 5.65846407e-05 9.99996315e-01 -9.01714034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.030385723 meters 0.01760826901925232 Centerline is valid? [True, True] Translation: X:-22.01, Y:-244.14, Z:-9.02 [[-7.21108112e-01 -6.92818306e-01 -2.42602195e-03 -2.20102906e+01] [ 6.92814039e-01 -7.21112190e-01 2.43262473e-03 -2.44137086e+02] [-3.43480094e-03 7.34033596e-05 9.99994098e-01 -9.01664361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.060385723 meters 0.018240040774264527 Centerline is valid? [True, True] Translation: X:-22.03, Y:-244.12, Z:-9.02 [[-7.22214046e-01 -6.91662908e-01 -3.04870228e-03 -2.20275981e+01] [ 6.91656166e-01 -7.22220474e-01 3.05528432e-03 -2.44115718e+02] [-4.31506204e-03 9.79155220e-05 9.99990685e-01 -9.01635424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0903857229999 meters 0.017187482344101723 Centerline is valid? [True, True] Translation: X:-22.05, Y:-244.10, Z:-9.02 [[-7.22870088e-01 -6.90976377e-01 -3.23760416e-03 -2.20485776e+01] [ 6.90968776e-01 -7.22877331e-01 3.24280055e-03 -2.44096881e+02] [-4.58108922e-03 1.07040137e-04 9.99989501e-01 -9.01709050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.120385723 meters 0.018819445945661206 Centerline is valid? [True, True] Translation: X:-22.06, Y:-244.07, Z:-9.02 [[-7.23383865e-01 -6.90440802e-01 -2.69863494e-03 -2.20649987e+01] [ 6.90435523e-01 -7.23388893e-01 2.70139128e-03 -2.44074533e+02] [-3.81731331e-03 9.09094413e-05 9.99992710e-01 -9.01669262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.150385723 meters 0.017259839027777717 Centerline is valid? [True, True] Translation: X:-22.09, Y:-244.06, Z:-9.02 [[-7.23587711e-01 -6.90228219e-01 -2.41485789e-03 -2.20865748e+01] [ 6.90223995e-01 -7.23591736e-01 2.41600192e-03 -2.44055910e+02] [-3.41496392e-03 8.13964407e-05 9.99994166e-01 -9.01857175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.180385723 meters 0.01756905523622031 Centerline is valid? [True, True] Translation: X:-22.10, Y:-244.04, Z:-9.02 [[-7.23606492e-01 -6.90208975e-01 -2.28405421e-03 -2.21043422e+01] [ 6.90205200e-01 -7.23610092e-01 2.28404906e-03 -2.44037083e+02] [-3.22923584e-03 7.62866300e-05 9.99994783e-01 -9.01920797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.210385723 meters 0.017057864882251396 Centerline is valid? [True, True] Translation: X:-22.12, Y:-244.06, Z:-9.02 [[-6.74976817e-01 -7.37835580e-01 -2.22586745e-03 -2.21236786e+01] [ 7.37831188e-01 -6.74980482e-01 2.54685302e-03 -2.44063501e+02] [-3.38157586e-03 7.67523199e-05 9.99994280e-01 -9.01945736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.240385723 meters 0.01644279711673037 Centerline is valid? [True, True] Translation: X:-22.14, Y:-244.04, Z:-9.02 [[-6.73786981e-01 -7.38921040e-01 -2.60796723e-03 -2.21425556e+01] [ 7.38915022e-01 -6.73792023e-01 2.98336024e-03 -2.44042299e+02] [-3.96169517e-03 8.30831231e-05 9.99992149e-01 -9.01943898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.270385723 meters 0.016323759519824746 Centerline is valid? [True, True] Translation: X:-22.16, Y:-244.02, Z:-9.02 [[-6.73616516e-01 -7.39076764e-01 -2.51504711e-03 -2.21599556e+01] [ 7.39071175e-01 -6.73621207e-01 2.87538673e-03 -2.44021773e+02] [-3.81932059e-03 7.81091708e-05 9.99992703e-01 -9.01957128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.300385723 meters 0.016419855695840483 Centerline is valid? [True, True] Translation: X:-22.18, Y:-244.00, Z:-9.02 [[-6.73477401e-01 -7.39202941e-01 -2.68392542e-03 -2.21767071e+01] [ 7.39196584e-01 -6.73482744e-01 3.06667679e-03 -2.44000761e+02] [-4.07447396e-03 8.13890093e-05 9.99991696e-01 -9.01966721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.330385723 meters 0.016181393811943206 Centerline is valid? [True, True] Translation: X:-22.20, Y:-243.98, Z:-9.02 [[-6.73672862e-01 -7.39024799e-01 -2.68729439e-03 -2.21953427e+01] [ 7.39018432e-01 -6.73678217e-01 3.06880597e-03 -2.43980297e+02] [-4.07829541e-03 8.14112158e-05 9.99991680e-01 -9.02023895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.360385723 meters 0.016249762079430585 Centerline is valid? [True, True] Translation: X:-22.21, Y:-243.96, Z:-9.02 [[-6.73841165e-01 -7.38871751e-01 -2.57290920e-03 -2.22125737e+01] [ 7.38865920e-01 -6.73846073e-01 2.93644493e-03 -2.43959116e+02] [-3.90340097e-03 7.76625488e-05 9.99992379e-01 -9.02029179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.390385723 meters 0.0159359027076731 Centerline is valid? [True, True] Translation: X:-22.23, Y:-243.94, Z:-9.02 [[-6.73759088e-01 -7.38948082e-01 -2.10328609e-03 -2.22309849e+01] [ 7.38944190e-01 -6.73762368e-01 2.39913548e-03 -2.43938157e+02] [-3.18995158e-03 6.22282981e-05 9.99994910e-01 -9.02103987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.420385723 meters 0.015870875494129362 Centerline is valid? [True, True] Translation: X:-22.25, Y:-243.92, Z:-9.02 [[-6.73594764e-01 -7.39098816e-01 -1.74211643e-03 -2.22482570e+01] [ 7.39096148e-01 -6.73597014e-01 1.98635595e-03 -2.43917286e+02] [-2.64159776e-03 5.04074188e-05 9.99996510e-01 -9.02111341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.450385723 meters 0.01562429037431673 Centerline is valid? [True, True] Translation: X:-22.27, Y:-243.90, Z:-9.02 [[-6.73636609e-01 -7.39059922e-01 -2.03735260e-03 -2.22663222e+01] [ 7.39056277e-01 -6.73639688e-01 2.32168943e-03 -2.43895262e+02] [-3.08830918e-03 5.82567733e-05 9.99995230e-01 -9.02128036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.480385723 meters 0.01563310426099589 Centerline is valid? [True, True] Translation: X:-22.28, Y:-243.87, Z:-9.02 [[-6.73369608e-01 -7.39302943e-01 -2.12841939e-03 -2.22845425e+01] [ 7.39298971e-01 -6.73372969e-01 2.42412533e-03 -2.43874018e+02] [-3.22538307e-03 5.87940593e-05 9.99994797e-01 -9.02141225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.510385723 meters 0.01554700814951969 Centerline is valid? [True, True] Translation: X:-22.30, Y:-243.85, Z:-9.02 [[-6.73334805e-01 -7.39334447e-01 -2.19445239e-03 -2.23029938e+01] [ 7.39330230e-01 -6.73338378e-01 2.49794273e-03 -2.43852993e+02] [-3.32442412e-03 5.95267872e-05 9.99994472e-01 -9.02158270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.540385723 meters 0.015568970382209842 Centerline is valid? [True, True] Translation: X:-22.32, Y:-243.83, Z:-9.02 [[-6.73299550e-01 -7.39365964e-01 -2.38471016e-03 -2.23203060e+01] [ 7.39360988e-01 -6.73303770e-01 2.71341054e-03 -2.43832174e+02] [-3.61183774e-03 6.37764322e-05 9.99993475e-01 -9.02163063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.570385723 meters 0.015513160049874119 Centerline is valid? [True, True] Translation: X:-22.34, Y:-243.81, Z:-9.02 [[-6.73614272e-01 -7.39078245e-01 -2.67604211e-03 -2.23373708e+01] [ 7.39071983e-01 -6.73619583e-01 3.04321297e-03 -2.43809136e+02] [-4.05180687e-03 7.21639399e-05 9.99991789e-01 -9.02082399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.600385723 meters 0.015526259675713059 Centerline is valid? [True, True] Translation: X:-22.36, Y:-243.79, Z:-9.02 [[-6.74161618e-01 -7.38579413e-01 -2.56194137e-03 -2.23550356e+01] [ 7.38573677e-01 -6.74166482e-01 2.91183148e-03 -2.43786901e+02] [-3.87779379e-03 7.08625661e-05 9.99992479e-01 -9.02082184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.630385723 meters 0.015855937240191124 Centerline is valid? [True, True] Translation: X:-22.37, Y:-243.76, Z:-9.02 [[-6.75410795e-01 -7.37438020e-01 -2.32919107e-03 -2.23703841e+01] [ 7.37433275e-01 -6.75414807e-01 2.64621802e-03 -2.43763922e+02] [-3.52459191e-03 6.96612140e-05 9.99993786e-01 -9.02023998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.660385723 meters 0.0160327842396107 Centerline is valid? [True, True] Translation: X:-22.39, Y:-243.74, Z:-9.02 [[-6.76254089e-01 -7.36664997e-01 -2.25616977e-03 -2.23869083e+01] [ 7.36660546e-01 -6.76257849e-01 2.56167260e-03 -2.43742638e+02] [-3.41284705e-03 7.03103125e-05 9.99994174e-01 -9.02026958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.690385723 meters 0.01607558703291972 Centerline is valid? [True, True] Translation: X:-22.41, Y:-243.72, Z:-9.02 [[-6.76858125e-01 -7.36110080e-01 -2.24265748e-03 -2.24050028e+01] [ 7.36105684e-01 -6.76861836e-01 2.54491753e-03 -2.43720657e+02] [-3.39130871e-03 7.17151876e-05 9.99994247e-01 -9.02027806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7203857229999 meters 0.016894130584123798 Centerline is valid? [True, True] Translation: X:-22.42, Y:-243.70, Z:-9.02 [[-6.77531846e-01 -7.35491298e-01 -1.77409620e-03 -2.24192287e+01] [ 7.35488549e-01 -6.77534167e-01 2.01189227e-03 -2.43698023e+02] [-2.68174005e-03 5.82936482e-05 9.99996403e-01 -9.02020337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.750385723 meters 0.01619129759860461 Centerline is valid? [True, True] Translation: X:-22.44, Y:-243.68, Z:-9.02 [[-6.77588285e-01 -7.35439127e-01 -1.84578876e-03 -2.24382476e+01] [ 7.35436154e-01 -6.77590796e-01 2.09203755e-03 -2.43677495e+02] [-2.78925574e-03 6.00803437e-05 9.99996108e-01 -9.02090544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.780385723 meters 0.016289749408422854 Centerline is valid? [True, True] Translation: X:-22.46, Y:-243.66, Z:-9.02 [[-6.77592747e-01 -7.35435078e-01 -1.82063967e-03 -2.24553942e+01] [ 7.35432189e-01 -6.77595191e-01 2.06226201e-03 -2.43656641e+02] [-2.75031651e-03 5.84167681e-05 9.99996216e-01 -9.02087727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.810385723 meters 0.01613974763317016 Centerline is valid? [True, True] Translation: X:-22.47, Y:-243.64, Z:-9.02 [[-6.77046939e-01 -7.35937474e-01 -1.86475194e-03 -2.24722326e+01] [ 7.35934449e-01 -6.77049504e-01 2.11093508e-03 -2.43635712e+02] [-2.81604561e-03 5.68669373e-05 9.99996033e-01 -9.02088871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8403857229999 meters 0.016173315852460263 Centerline is valid? [True, True] Translation: X:-22.49, Y:-243.62, Z:-9.02 [[-6.76832647e-01 -7.36133902e-01 -2.10871560e-03 -2.24894571e+01] [ 7.36130038e-01 -6.76835929e-01 2.38565083e-03 -2.43615159e+02] [-3.18341294e-03 6.23974693e-05 9.99994931e-01 -9.02080658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.870385723 meters 0.015929510991662035 Centerline is valid? [True, True] Translation: X:-22.51, Y:-243.59, Z:-9.02 [[-6.76546632e-01 -7.36397072e-01 -2.00177257e-03 -2.25068314e+01] [ 7.36393596e-01 -6.76549591e-01 2.26328573e-03 -2.43594407e+02] [-3.02097540e-03 5.71258374e-05 9.99995435e-01 -9.02086931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.900385723 meters 0.015490080320432842 Centerline is valid? [True, True] Translation: X:-22.52, Y:-243.57, Z:-9.02 [[-6.76262521e-01 -7.36659203e-01 -1.49018545e-03 -2.25249067e+01] [ 7.36657280e-01 -6.76264162e-01 1.68392767e-03 -2.43572343e+02] [-2.24823983e-03 4.10212113e-05 9.99997472e-01 -9.02129618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.930385723 meters 0.015838453595796914 Centerline is valid? [True, True] Translation: X:-22.54, Y:-243.55, Z:-9.02 [[-6.76327193e-01 -7.36600557e-01 -1.07088915e-03 -2.25413090e+01] [ 7.36599565e-01 -6.76328040e-01 1.20940802e-03 -2.43550128e+02] [-1.61512298e-03 2.91390497e-05 9.99998695e-01 -9.02113366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.960385723 meters 0.016165297626300784 Centerline is valid? [True, True] Translation: X:-22.56, Y:-243.53, Z:-9.02 [[-6.76789272e-01 -7.36176620e-01 -5.15077421e-04 -2.25561831e+01] [ 7.36176391e-01 -6.76789468e-01 5.81334786e-04 -2.43528255e+02] [-7.76564051e-04 1.42533096e-05 9.99999698e-01 -9.02180889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.990385723 meters 0.016392876701317862 Centerline is valid? [True, True] Translation: X:-22.57, Y:-243.51, Z:-9.02 [[-6.77387838e-01 -7.35626036e-01 -2.30205358e-04 -2.25722960e+01] [ 7.35625990e-01 -6.77387877e-01 2.59657517e-04 -2.43507007e+02] [-3.46949148e-04 6.54379940e-06 9.99999940e-01 -9.02218059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.020385723 meters 0.016392876701317862 Centerline is valid? [True, True] Translation: X:-22.59, Y:-243.49, Z:-9.02 [[-6.77604650e-01 -7.35426329e-01 -2.30282017e-04 -2.25901394e+01] [ 7.35426283e-01 -6.77604690e-01 2.59589532e-04 -2.43487046e+02] [-3.46949151e-04 6.54362649e-06 9.99999940e-01 -9.02218086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.050385723 meters 0.016611459025892505 Centerline is valid? [True, True] Translation: X:-22.61, Y:-243.47, Z:-9.02 [[-6.78468091e-01 -7.34629811e-01 -3.00885636e-04 -2.26073031e+01] [ 7.34629733e-01 -6.78468158e-01 3.38998527e-04 -2.43465068e+02] [-4.53179746e-04 8.96014897e-06 9.99999897e-01 -9.02203046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.080385723 meters 0.016853293164820055 Centerline is valid? [True, True] Translation: X:-22.62, Y:-243.44, Z:-9.02 [[-6.78975429e-01 -7.34160976e-01 -1.68843129e-04 -2.26230249e+01] [ 7.34160951e-01 -6.78975450e-01 1.90115086e-04 -2.43444374e+02] [-2.54215416e-04 5.12543927e-06 9.99999968e-01 -9.02215078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.110385723 meters 0.01730021905674645 Centerline is valid? [True, True] Translation: X:-22.64, Y:-243.42, Z:-9.02 [[-6.79899151e-01 -7.33305573e-01 2.85272220e-04 -2.26393016e+01] [ 7.33305503e-01 -6.79899210e-01 -3.21034642e-04 -2.43421630e+02] [ 4.29372849e-04 -9.07949194e-06 9.99999908e-01 -9.02262310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.140385723 meters 0.017647787500134078 Centerline is valid? [True, True] Translation: X:-22.66, Y:-243.40, Z:-9.02 [[-6.80574571e-01 -7.32678714e-01 3.94275979e-04 -2.26554423e+01] [ 7.32678580e-01 -6.80574685e-01 -4.43433801e-04 -2.43400617e+02] [ 5.93228758e-04 -1.29122041e-05 9.99999824e-01 -9.02291067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.170385723 meters 0.01816859266136203 Centerline is valid? [True, True] Translation: X:-22.67, Y:-243.38, Z:-9.02 [[-6.81254717e-01 -7.32046271e-01 5.17037075e-04 -2.26702476e+01] [ 7.32046041e-01 -6.81254913e-01 -5.81151087e-04 -2.43378285e+02] [ 7.77663535e-04 -1.74169755e-05 9.99999698e-01 -9.02324401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.200385723 meters 0.016286611436248224 Centerline is valid? [True, True] Translation: X:-22.69, Y:-243.36, Z:-9.02 [[-6.81644278e-01 -7.31683576e-01 4.72016452e-04 -2.26909294e+01] [ 7.31683384e-01 -6.81644441e-01 -5.30254350e-04 -2.43358836e+02] [ 7.09725790e-04 -1.60782479e-05 9.99999748e-01 -9.02289288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.230385723 meters 0.016460939552731483 Centerline is valid? [True, True] Translation: X:-22.71, Y:-243.34, Z:-9.02 [[-6.81971552e-01 -7.31378350e-01 7.15340052e-04 -2.27081543e+01] [ 7.31377909e-01 -6.81971927e-01 -8.03103809e-04 -2.43337454e+02] [ 1.07521457e-03 -2.45100397e-05 9.99999422e-01 -9.02311578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.260385723 meters 0.016265640911752012 Centerline is valid? [True, True] Translation: X:-22.72, Y:-243.32, Z:-9.02 [[-6.81810339e-01 -7.31528247e-01 1.04230390e-03 -2.27245316e+01] [ 7.31527313e-01 -6.81811134e-01 -1.16945930e-03 -2.43316087e+02] [ 1.56614692e-03 -3.48756678e-05 9.99998773e-01 -9.02311890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.290385723 meters 0.016179120883630285 Centerline is valid? [True, True] Translation: X:-22.74, Y:-243.29, Z:-9.02 [[-6.81551610e-01 -7.31769522e-01 8.76808197e-04 -2.27423645e+01] [ 7.31768862e-01 -6.81552174e-01 -9.83167700e-04 -2.43294871e+02] [ 1.31704269e-03 -2.84585928e-05 9.99999132e-01 -9.02316370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.320385723 meters 0.01588823684223049 Centerline is valid? [True, True] Translation: X:-22.76, Y:-243.27, Z:-9.02 [[-6.80122660e-01 -7.33097537e-01 1.08118279e-03 -2.27601184e+01] [ 7.33096536e-01 -6.80123519e-01 -1.21168547e-03 -2.43273909e+02] [ 1.62362148e-03 -3.14833868e-05 9.99998682e-01 -9.02324565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.350385723 meters 0.017350482855626445 Centerline is valid? [True, True] Translation: X:-22.78, Y:-243.25, Z:-9.02 [[-6.79282756e-01 -7.33875830e-01 1.09734941e-03 -2.27750382e+01] [ 7.33874801e-01 -6.79283642e-01 -1.22901697e-03 -2.43252262e+02] [ 1.64735736e-03 -2.95329544e-05 9.99998643e-01 -9.02361680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.380385723 meters 0.014931189670072037 Centerline is valid? [True, True] Translation: X:-22.80, Y:-243.24, Z:-9.02 [[-6.77333510e-01 -7.35675321e-01 1.06652251e-03 -2.27977860e+01] [ 7.35674353e-01 -6.77334350e-01 -1.19383662e-03 -2.43235021e+02] [ 1.60066847e-03 -2.40122928e-05 9.99998719e-01 -9.02302724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.410385723 meters 0.014944546780538892 Centerline is valid? [True, True] Translation: X:-22.82, Y:-243.22, Z:-9.02 [[-6.76748340e-01 -7.36213674e-01 1.05354051e-03 -2.28152082e+01] [ 7.36212731e-01 -6.76749160e-01 -1.17874311e-03 -2.43215603e+02] [ 1.58078945e-03 -2.20825104e-05 9.99998750e-01 -9.02312727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.440385723 meters 0.014536731531879558 Centerline is valid? [True, True] Translation: X:-22.84, Y:-243.20, Z:-9.02 [[-6.76356873e-01 -7.36573225e-01 1.12469299e-03 -2.28356124e+01] [ 7.36572152e-01 -6.76357808e-01 -1.25764881e-03 -2.43195710e+02] [ 1.68704533e-03 -2.22018780e-05 9.99998577e-01 -9.02326980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4703857229999 meters 0.01446652471847267 Centerline is valid? [True, True] Translation: X:-22.85, Y:-243.18, Z:-9.02 [[-6.75834044e-01 -7.37052411e-01 1.44505878e-03 -2.28547569e+01] [ 7.37050642e-01 -6.75835589e-01 -1.61494723e-03 -2.43176983e+02] [ 2.16692290e-03 -2.63548129e-05 9.99997652e-01 -9.02422074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.500385723 meters 0.014454119048146008 Centerline is valid? [True, True] Translation: X:-22.87, Y:-243.16, Z:-9.02 [[-6.75923466e-01 -7.36969937e-01 1.66729206e-03 -2.28735168e+01] [ 7.36967585e-01 -6.75925522e-01 -1.86215315e-03 -2.43157793e+02] [ 2.49931615e-03 -2.99328077e-05 9.99996876e-01 -9.02477109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.530385723 meters 0.014566192146288941 Centerline is valid? [True, True] Translation: X:-22.89, Y:-243.14, Z:-9.03 [[-6.76311060e-01 -7.36613983e-01 1.78583733e-03 -2.28914643e+01] [ 7.36611287e-01 -6.76313417e-01 -1.99326155e-03 -2.43138350e+02] [ 2.67605008e-03 -3.25968981e-05 9.99996419e-01 -9.02524847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.560385723 meters 0.014958515585272692 Centerline is valid? [True, True] Translation: X:-22.91, Y:-243.12, Z:-9.03 [[-6.77719440e-01 -7.35317766e-01 2.03568457e-03 -2.29096316e+01] [ 7.35314261e-01 -6.77722496e-01 -2.27082133e-03 -2.43118319e+02] [ 3.04940449e-03 -4.21118703e-05 9.99995350e-01 -9.02579188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5903857229999 meters 0.015269566921662646 Centerline is valid? [True, True] Translation: X:-22.93, Y:-243.10, Z:-9.03 [[-6.78868401e-01 -7.34257640e-01 1.84746488e-03 -2.29273874e+01] [ 7.34254752e-01 -6.78870913e-01 -2.05961696e-03 -2.43097772e+02] [ 2.76647966e-03 -4.16990012e-05 9.99996172e-01 -9.02549711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.620385723 meters 0.015462917844101668 Centerline is valid? [True, True] Translation: X:-22.95, Y:-243.08, Z:-9.02 [[-6.80674098e-01 -7.32584828e-01 1.49757945e-03 -2.29462813e+01] [ 7.32582929e-01 -6.80675744e-01 -1.66864003e-03 -2.43077221e+02] [ 2.24178637e-03 -3.86989035e-05 9.99997487e-01 -9.02418343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.650385723 meters 0.01570380953291098 Centerline is valid? [True, True] Translation: X:-22.97, Y:-243.06, Z:-9.02 [[-6.81656535e-01 -7.31670689e-01 1.54008209e-03 -2.29656901e+01] [ 7.31668680e-01 -6.81658273e-01 -1.71505737e-03 -2.43056927e+02] [ 2.30466690e-03 -4.22502357e-05 9.99997343e-01 -9.02441922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.680385723 meters 0.015842961938073042 Centerline is valid? [True, True] Translation: X:-22.99, Y:-243.04, Z:-9.03 [[-6.82252399e-01 -7.31114549e-01 1.78334105e-03 -2.29851904e+01] [ 7.31111856e-01 -6.82254728e-01 -1.98472946e-03 -2.43037539e+02] [ 2.66775745e-03 -5.02646496e-05 9.99996440e-01 -9.02515009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.710385723 meters 0.015969748635805994 Centerline is valid? [True, True] Translation: X:-23.01, Y:-243.02, Z:-9.03 [[-6.83425743e-01 -7.30016961e-01 2.11897441e-03 -2.30056431e+01] [ 7.30013159e-01 -6.83429025e-01 -2.35697248e-03 -2.43018346e+02] [ 3.16879850e-03 -6.39364684e-05 9.99994977e-01 -9.02625946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.740385723 meters 0.016141248775558677 Centerline is valid? [True, True] Translation: X:-23.02, Y:-243.00, Z:-9.03 [[-6.84092141e-01 -7.29392228e-01 2.21814858e-03 -2.30244937e+01] [ 7.29388063e-01 -6.84095734e-01 -2.46577541e-03 -2.42998069e+02] [ 3.31594340e-03 -6.89264839e-05 9.99994500e-01 -9.02640659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.770385723 meters 0.016699674303263076 Centerline is valid? [True, True] Translation: X:-23.04, Y:-242.98, Z:-9.03 [[-6.85385383e-01 -7.28176131e-01 2.52983998e-03 -2.30442018e+01] [ 7.28170711e-01 -6.85390046e-01 -2.81074380e-03 -2.42977645e+02] [ 3.78064369e-03 -8.42873367e-05 9.99992850e-01 -9.02661072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.800385723 meters 0.017239036205574626 Centerline is valid? [True, True] Translation: X:-23.06, Y:-242.96, Z:-9.03 [[-6.86221402e-01 -7.27388264e-01 2.54952561e-03 -2.30623565e+01] [ 7.27382761e-01 -6.86226133e-01 -2.83100011e-03 -2.42957122e+02] [ 3.80878735e-03 -8.82118897e-05 9.99992743e-01 -9.02719578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.830385723 meters 0.016957281980100592 Centerline is valid? [True, True] Translation: X:-23.08, Y:-242.94, Z:-9.03 [[-6.87062965e-01 -7.26592770e-01 2.72572298e-03 -2.30820816e+01] [ 7.26586479e-01 -6.87068364e-01 -3.02500704e-03 -2.42937463e+02] [ 4.07070628e-03 -9.78968374e-05 9.99991710e-01 -9.02725680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.860385723 meters 0.01728983784450835 Centerline is valid? [True, True] Translation: X:-23.10, Y:-242.92, Z:-9.03 [[-6.87555747e-01 -7.26126345e-01 2.76147607e-03 -2.31005694e+01] [ 7.26119892e-01 -6.87561285e-01 -3.06282659e-03 -2.42916885e+02] [ 4.12268311e-03 -1.00701320e-04 9.99991497e-01 -9.02712519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.890385723 meters 0.017362185291370586 Centerline is valid? [True, True] Translation: X:-23.12, Y:-242.90, Z:-9.03 [[-6.87668933e-01 -7.26017622e-01 3.13864412e-03 -2.31195742e+01] [ 7.26009295e-01 -6.87676087e-01 -3.47905440e-03 -2.42896863e+02] [ 4.68422530e-03 -1.13752823e-04 9.99989023e-01 -9.02692759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.920385723 meters 0.01739763986990297 Centerline is valid? [True, True] Translation: X:-23.14, Y:-242.88, Z:-9.03 [[-6.87277686e-01 -7.26389181e-01 2.85307909e-03 -2.31373563e+01] [ 7.26382310e-01 -6.87283600e-01 -3.16104432e-03 -2.42877667e+02] [ 4.25702286e-03 -1.00089044e-04 9.99990934e-01 -9.02711578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.950385723 meters 0.016251024259716935 Centerline is valid? [True, True] Translation: X:-23.16, Y:-242.86, Z:-9.03 [[-6.86734444e-01 -7.26903222e-01 2.74045266e-03 -2.31581695e+01] [ 7.26896893e-01 -6.86739906e-01 -3.03458049e-03 -2.42858745e+02] [ 4.08782454e-03 -9.19244220e-05 9.99991641e-01 -9.02630196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.980385723 meters 0.01595608809198309 Centerline is valid? [True, True] Translation: X:-23.18, Y:-242.84, Z:-9.03 [[-6.85152747e-01 -7.28395095e-01 2.50957996e-03 -2.31769815e+01] [ 7.28389804e-01 -6.85157339e-01 -2.77743980e-03 -2.42839752e+02] [ 3.74253066e-03 -7.50180523e-05 9.99992994e-01 -9.02535278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.010385723 meters 0.01579154177727775 Centerline is valid? [True, True] Translation: X:-23.20, Y:-242.82, Z:-9.03 [[-6.84526256e-01 -7.28983709e-01 2.56074485e-03 -2.31960291e+01] [ 7.28978210e-01 -6.84531042e-01 -2.83232817e-03 -2.42819936e+02] [ 3.81763043e-03 -7.20758019e-05 9.99992710e-01 -9.02541679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.040385723 meters 0.015508317708266514 Centerline is valid? [True, True] Translation: X:-23.21, Y:-242.80, Z:-9.03 [[-6.83130330e-01 -7.30288774e-01 3.35535408e-03 -2.32148181e+01] [ 7.30279359e-01 -6.83138565e-01 -3.70919033e-03 -2.42800647e+02] [ 5.00095183e-03 -8.35145903e-05 9.99987492e-01 -9.02606965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.070385723 meters 0.015518074804315378 Centerline is valid? [True, True] Translation: X:-23.23, Y:-242.78, Z:-9.03 [[-6.82695353e-01 -7.30695241e-01 3.39408984e-03 -2.32333072e+01] [ 7.30685624e-01 -6.82703785e-01 -3.74973696e-03 -2.42780056e+02] [ 5.05707293e-03 -7.99153469e-05 9.99987210e-01 -9.02645462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.100385723 meters 0.015002924410790658 Centerline is valid? [True, True] Translation: X:-23.25, Y:-242.76, Z:-9.03 [[-6.82162232e-01 -7.31191795e-01 3.63974795e-03 -2.32529966e+01] [ 7.31180755e-01 -6.82171938e-01 -4.01890841e-03 -2.42759646e+02] [ 5.42152677e-03 -8.02338764e-05 9.99985300e-01 -9.02572686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.130385723 meters 0.014795934176994674 Centerline is valid? [True, True] Translation: X:-23.27, Y:-242.74, Z:-9.03 [[-6.81232397e-01 -7.32057980e-01 3.67900106e-03 -2.32716552e+01] [ 7.32046725e-01 -6.81242327e-01 -4.06000246e-03 -2.42739107e+02] [ 5.47844844e-03 -7.26045286e-05 9.99984991e-01 -9.02516353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.160385723 meters 0.014670933220020593 Centerline is valid? [True, True] Translation: X:-23.29, Y:-242.72, Z:-9.02 [[-6.81008801e-01 -7.32265460e-01 3.78284622e-03 -2.32907760e+01] [ 7.32253577e-01 -6.81019304e-01 -4.17228515e-03 -2.42718068e+02] [ 5.63141160e-03 -7.13602324e-05 9.99984141e-01 -9.02468666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.190385723 meters 0.01476232834233414 Centerline is valid? [True, True] Translation: X:-23.31, Y:-242.70, Z:-9.02 [[-6.80856422e-01 -7.32407747e-01 3.66413336e-03 -2.33085624e+01] [ 7.32396614e-01 -6.80866278e-01 -4.03869568e-03 -2.42698088e+02] [ 5.45275684e-03 -6.61730245e-05 9.99985131e-01 -9.02484500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2203857229999 meters 0.014728666287349795 Centerline is valid? [True, True] Translation: X:-23.33, Y:-242.68, Z:-9.02 [[-6.80371199e-01 -7.32856434e-01 4.05940042e-03 -2.33274608e+01] [ 7.32842795e-01 -6.80383306e-01 -4.47159707e-03 -2.42678093e+02] [ 6.03898696e-03 -6.74435149e-05 9.99981763e-01 -9.02470870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.250385723 meters 0.014653227183302251 Centerline is valid? [True, True] Translation: X:-23.35, Y:-242.66, Z:-9.02 [[-6.80452908e-01 -7.32778907e-01 4.34900891e-03 -2.33463179e+01] [ 7.32763268e-01 -6.80466802e-01 -4.78795876e-03 -2.42656860e+02] [ 6.46787137e-03 -7.11864806e-05 9.99979081e-01 -9.02462648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.280385723 meters 0.014891003654000402 Centerline is valid? [True, True] Translation: X:-23.36, Y:-242.63, Z:-9.02 [[-6.81530780e-01 -7.31773033e-01 4.90146494e-03 -2.33633816e+01] [ 7.31753165e-01 -6.81548399e-01 -5.39315056e-03 -2.42634936e+02] [ 7.28714773e-03 -8.89356239e-05 9.99973445e-01 -9.02465550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.310385723 meters 0.015145579857289525 Centerline is valid? [True, True] Translation: X:-23.38, Y:-242.61, Z:-9.02 [[-6.82366411e-01 -7.30992814e-01 5.05833252e-03 -2.33808601e+01] [ 7.30971649e-01 -6.82385153e-01 -5.56347129e-03 -2.42613653e+02] [ 7.51858854e-03 -9.88282810e-05 9.99971730e-01 -9.02461074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3403857229999 meters 0.015243401831789323 Centerline is valid? [True, True] Translation: X:-23.40, Y:-242.59, Z:-9.02 [[-6.83322632e-01 -7.30096880e-01 5.35963082e-03 -2.33992129e+01] [ 7.30073118e-01 -6.83343642e-01 -5.89151595e-03 -2.42592626e+02] [ 7.96384706e-03 -1.12883804e-04 9.99968282e-01 -9.02407285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.370385723 meters 0.015879202704954347 Centerline is valid? [True, True] Translation: X:-23.42, Y:-242.57, Z:-9.02 [[-6.84764228e-01 -7.28745739e-01 5.25368557e-03 -2.34164216e+01] [ 7.28722889e-01 -6.84784370e-01 -5.77214503e-03 -2.42570603e+02] [ 7.80406785e-03 -1.24077502e-04 9.99969540e-01 -9.02414085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.400385723 meters 0.0156694958466751 Centerline is valid? [True, True] Translation: X:-23.44, Y:-242.55, Z:-9.02 [[-6.85528992e-01 -7.28026994e-01 5.16688519e-03 -2.34361811e+01] [ 7.28004898e-01 -6.85548452e-01 -5.67359963e-03 -2.42549990e+02] [ 7.67268382e-03 -1.27899310e-04 9.99970556e-01 -9.02331382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.430385723 meters 0.016294064845643975 Centerline is valid? [True, True] Translation: X:-23.45, Y:-242.53, Z:-9.02 [[-6.86424418e-01 -7.27185080e-01 4.83513754e-03 -2.34536706e+01] [ 7.27165724e-01 -6.86441435e-01 -5.30715128e-03 -2.42529730e+02] [ 7.17831998e-03 -1.27011941e-04 9.99974228e-01 -9.02265936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.460385723 meters 0.01614800318707538 Centerline is valid? [True, True] Translation: X:-23.47, Y:-242.51, Z:-9.02 [[-6.86888146e-01 -7.26745460e-01 5.07067434e-03 -2.34721104e+01] [ 7.26724184e-01 -6.86906848e-01 -5.56260356e-03 -2.42509170e+02] [ 7.52567781e-03 -1.35904779e-04 9.99971673e-01 -9.02217264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.490385723 meters 0.0163085729667493 Centerline is valid? [True, True] Translation: X:-23.49, Y:-242.49, Z:-9.02 [[-6.87678413e-01 -7.25996302e-01 5.26972778e-03 -2.34907248e+01] [ 7.25973326e-01 -6.87698588e-01 -5.77778150e-03 -2.42487667e+02] [ 7.81863236e-03 -1.47573804e-04 9.99969423e-01 -9.02213419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.520385723 meters 0.016971835734779447 Centerline is valid? [True, True] Translation: X:-23.51, Y:-242.47, Z:-9.02 [[-6.88790431e-01 -7.24936085e-01 5.95103378e-03 -2.35075283e+01] [ 7.24906778e-01 -6.88816115e-01 -6.52097813e-03 -2.42466460e+02] [ 8.82646033e-03 -1.77642615e-04 9.99961030e-01 -9.02184918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.550385723 meters 0.017192087521998394 Centerline is valid? [True, True] Translation: X:-23.53, Y:-242.45, Z:-9.02 [[-6.89506227e-01 -7.24253126e-01 6.21066576e-03 -2.35260909e+01] [ 7.24221215e-01 -6.89534171e-01 -6.80132873e-03 -2.42445863e+02] [ 9.20834986e-03 -1.91662611e-04 9.99957584e-01 -9.02205197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.580385723 meters 0.017750017067029503 Centerline is valid? [True, True] Translation: X:-23.55, Y:-242.43, Z:-9.02 [[-6.90774433e-01 -7.23041704e-01 6.43249180e-03 -2.35450285e+01] [ 7.23007457e-01 -6.90804349e-01 -7.04046305e-03 -2.42425117e+02] [ 9.53414171e-03 -2.12632328e-04 9.99954527e-01 -9.02189545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.610385723 meters 0.01816393537871699 Centerline is valid? [True, True] Translation: X:-23.56, Y:-242.41, Z:-9.02 [[-6.91367065e-01 -7.22475504e-01 6.38179873e-03 -2.35630135e+01] [ 7.22441813e-01 -6.91396485e-01 -6.98054608e-03 -2.42405811e+02] [ 9.45562675e-03 -2.15641409e-04 9.99955271e-01 -9.02177680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.640385723 meters 0.01755586477747342 Centerline is valid? [True, True] Translation: X:-23.58, Y:-242.39, Z:-9.02 [[-6.91880263e-01 -7.21984208e-01 6.36429481e-03 -2.35831627e+01] [ 7.21950717e-01 -6.91909499e-01 -6.95756909e-03 -2.42386762e+02] [ 9.42677104e-03 -2.19097536e-04 9.99955543e-01 -9.02088057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.670385723 meters 0.01859563603497524 Centerline is valid? [True, True] Translation: X:-23.60, Y:-242.37, Z:-9.02 [[-6.92404591e-01 -7.21482298e-01 6.25912819e-03 -2.36011135e+01] [ 7.21449916e-01 -6.92432846e-01 -6.83908853e-03 -2.42368250e+02] [ 9.26830726e-03 -2.19768793e-04 9.99957024e-01 -9.02155421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.700385723 meters 0.0187705203849576 Centerline is valid? [True, True] Translation: X:-23.62, Y:-242.35, Z:-9.02 [[-6.92546646e-01 -7.21342650e-01 6.62758481e-03 -2.36204288e+01] [ 7.21306378e-01 -6.92578319e-01 -7.23740813e-03 -2.42348744e+02] [ 9.81077271e-03 -2.31723532e-04 9.99951846e-01 -9.02178684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.730385723 meters 0.017840715648678982 Centerline is valid? [True, True] Translation: X:-23.64, Y:-242.33, Z:-9.02 [[-6.92322404e-01 -7.21559935e-01 6.39906966e-03 -2.36421346e+01] [ 7.21526170e-01 -6.92351942e-01 -6.98382437e-03 -2.42330951e+02] [ 9.46965617e-03 -2.17961849e-04 9.99955138e-01 -9.02112466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.760385723 meters 0.017969226570813818 Centerline is valid? [True, True] Translation: X:-23.66, Y:-242.31, Z:-9.02 [[-6.92178114e-01 -7.21699369e-01 6.28320766e-03 -2.36605383e+01] [ 7.21666851e-01 -6.92206600e-01 -6.85413083e-03 -2.42312523e+02] [ 9.29589970e-03 -2.09896670e-04 9.99956770e-01 -9.02136428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.790385723 meters 0.017845455390731374 Centerline is valid? [True, True] Translation: X:-23.68, Y:-242.29, Z:-9.02 [[-6.92064509e-01 -7.21811261e-01 5.93451193e-03 -2.36803793e+01] [ 7.21782291e-01 -6.92089926e-01 -6.46982364e-03 -2.42293913e+02] [ 8.77720749e-03 -1.94109705e-04 9.99961461e-01 -9.02180735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.820385723 meters 0.017353746280511083 Centerline is valid? [True, True] Translation: X:-23.70, Y:-242.28, Z:-9.02 [[-6.92138895e-01 -7.21740600e-01 5.85292318e-03 -2.37029387e+01] [ 7.21712449e-01 -6.92163616e-01 -6.37734286e-03 -2.42276492e+02] [ 8.65396773e-03 -1.89879520e-04 9.99962536e-01 -9.02290277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.850385723 meters 0.018052652777754866 Centerline is valid? [True, True] Translation: X:-23.72, Y:-242.26, Z:-9.02 [[-6.92206767e-01 -7.21676346e-01 5.74833801e-03 -2.37207484e+01] [ 7.21649221e-01 -6.92230611e-01 -6.25973189e-03 -2.42256170e+02] [ 8.49667596e-03 -1.84745134e-04 9.99963886e-01 -9.02359941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.880385723 meters 0.017867428099264743 Centerline is valid? [True, True] Translation: X:-23.74, Y:-242.24, Z:-9.02 [[-6.92508146e-01 -7.21385938e-01 5.89885760e-03 -2.37407391e+01] [ 7.21357397e-01 -6.92533243e-01 -6.41976605e-03 -2.42237040e+02] [ 8.71628393e-03 -1.90555722e-04 9.99961994e-01 -9.02397947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.910385723 meters 0.017867428099264743 Centerline is valid? [True, True] Translation: X:-23.76, Y:-242.22, Z:-9.02 [[-6.92724985e-01 -7.21177701e-01 5.90078738e-03 -2.37589277e+01] [ 7.21149167e-01 -6.92750091e-01 -6.41799232e-03 -2.42217391e+02] [ 8.71628393e-03 -1.90555722e-04 9.99961994e-01 -9.02397974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.940385723 meters 0.01728053064253045 Centerline is valid? [True, True] Translation: X:-23.78, Y:-242.20, Z:-9.02 [[-6.92772061e-01 -7.21133241e-01 5.80694978e-03 -2.37800068e+01] [ 7.21105636e-01 -6.92796373e-01 -6.31245937e-03 -2.42198983e+02] [ 8.57515803e-03 -1.85671278e-04 9.99963215e-01 -9.02446846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9703857229999 meters 0.017452269528145808 Centerline is valid? [True, True] Translation: X:-23.80, Y:-242.18, Z:-9.02 [[-6.93060604e-01 -7.20857917e-01 5.55539496e-03 -2.37992400e+01] [ 7.20832670e-01 -6.93082846e-01 -6.03570236e-03 -2.42178837e+02] [ 8.20123278e-03 -1.78597343e-04 9.99966353e-01 -9.02497464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.000385723 meters 0.017961312789574694 Centerline is valid? [True, True] Translation: X:-23.82, Y:-242.16, Z:-9.03 [[-6.93534466e-01 -7.20405118e-01 5.13907927e-03 -2.38168788e+01] [ 7.20383521e-01 -6.93553486e-01 -5.58073867e-03 -2.42159389e+02] [ 7.58461904e-03 -1.68326596e-04 9.99971222e-01 -9.02535425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.030385723 meters 0.01764635561648745 Centerline is valid? [True, True] Translation: X:-23.84, Y:-242.14, Z:-9.03 [[-6.93920951e-01 -7.20034344e-01 4.92514827e-03 -2.38371841e+01] [ 7.20014520e-01 -6.93938410e-01 -5.34547572e-03 -2.42139529e+02] [ 7.26667566e-03 -1.63159325e-04 9.99973584e-01 -9.02567147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.060385723 meters 0.018026159326044712 Centerline is valid? [True, True] Translation: X:-23.86, Y:-242.12, Z:-9.03 [[-6.94449126e-01 -7.19524818e-01 4.94443737e-03 -2.38552902e+01] [ 7.19504850e-01 -6.94466708e-01 -5.36311258e-03 -2.42119489e+02] [ 7.29263975e-03 -1.66862174e-04 9.99973395e-01 -9.02641439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0903857229999 meters 0.018721331203931994 Centerline is valid? [True, True] Translation: X:-23.87, Y:-242.10, Z:-9.03 [[-6.95237448e-01 -7.18762199e-01 5.07857806e-03 -2.38726445e+01] [ 7.18741136e-01 -6.95255974e-01 -5.50543657e-03 -2.42098400e+02] [ 7.48801143e-03 -1.77402708e-04 9.99971949e-01 -9.02739680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.120385723 meters 0.018683178079052114 Centerline is valid? [True, True] Translation: X:-23.89, Y:-242.08, Z:-9.03 [[-6.95595002e-01 -7.18417394e-01 4.90315530e-03 -2.38917366e+01] [ 7.18397776e-01 -6.95612262e-01 -5.31202220e-03 -2.42078335e+02] [ 7.22694409e-03 -1.72600235e-04 9.99973870e-01 -9.02757981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.150385723 meters 0.019139230887209334 Centerline is valid? [True, True] Translation: X:-23.91, Y:-242.06, Z:-9.03 [[-6.95881221e-01 -7.18145571e-01 4.03309003e-03 -2.39094708e+01] [ 7.18132310e-01 -6.95892893e-01 -4.36660622e-03 -2.42059195e+02] [ 5.94245761e-03 -1.42347003e-04 9.99982333e-01 -9.02777361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.180385723 meters 0.019029723244745504 Centerline is valid? [True, True] Translation: X:-23.93, Y:-242.04, Z:-9.03 [[-6.95879561e-01 -7.18149141e-01 3.66713255e-03 -2.39282450e+01] [ 7.18138190e-01 -6.95889211e-01 -3.96800078e-03 -2.42039717e+02] [ 5.40153433e-03 -1.27742711e-04 9.99985404e-01 -9.02762322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.210385723 meters 0.018531710108408966 Centerline is valid? [True, True] Translation: X:-23.95, Y:-242.02, Z:-9.03 [[-6.95893974e-01 -7.18137081e-01 3.27263399e-03 -2.39488585e+01] [ 7.18128368e-01 -6.95901660e-01 -3.53931395e-03 -2.42019864e+02] [ 4.81914402e-03 -1.12815951e-04 9.99988382e-01 -9.02707617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.240385723 meters 0.01854670509211068 Centerline is valid? [True, True] Translation: X:-23.97, Y:-242.00, Z:-9.03 [[-6.95470042e-01 -7.18549099e-01 2.93466749e-03 -2.39671241e+01] [ 7.18542105e-01 -6.95476227e-01 -3.17186281e-03 -2.42000293e+02] [ 4.32013064e-03 -9.72534052e-05 9.99990664e-01 -9.02803816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.270385723 meters 0.018973193159909068 Centerline is valid? [True, True] Translation: X:-23.98, Y:-241.98, Z:-9.03 [[-6.95402145e-01 -7.18614805e-01 2.93573583e-03 -2.39843958e+01] [ 7.18607815e-01 -6.95408335e-01 -3.17099176e-03 -2.41980943e+02] [ 4.32025679e-03 -9.54717581e-05 9.99990663e-01 -9.02868409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.300385723 meters 0.018484394445814328 Centerline is valid? [True, True] Translation: X:-24.00, Y:-241.96, Z:-9.03 [[-6.95285878e-01 -7.18726446e-01 3.13749666e-03 -2.40042372e+01] [ 7.18718473e-01 -6.95292950e-01 -3.38685015e-03 -2.41961660e+02] [ 4.61569808e-03 -9.98522757e-05 9.99989343e-01 -9.02926425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.330385723 meters 0.018457081182048064 Centerline is valid? [True, True] Translation: X:-24.02, Y:-241.94, Z:-9.03 [[-6.95151866e-01 -7.18854840e-01 3.40623334e-03 -2.40218084e+01] [ 7.18845453e-01 -6.95160203e-01 -3.67520796e-03 -2.41942447e+02] [ 5.00981889e-03 -1.06272325e-04 9.99987445e-01 -9.03046348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.360385723 meters 0.017815204852553442 Centerline is valid? [True, True] Translation: X:-24.04, Y:-241.92, Z:-9.03 [[-6.94985006e-01 -7.19016982e-01 3.22823701e-03 -2.40419627e+01] [ 7.19008561e-01 -6.94992496e-01 -3.48121729e-03 -2.41922970e+02] [ 4.74665485e-03 -9.82637732e-05 9.99988730e-01 -9.03029265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.390385723 meters 0.018106921038830884 Centerline is valid? [True, True] Translation: X:-24.06, Y:-241.90, Z:-9.03 [[-6.95005905e-01 -7.18996040e-01 3.38917268e-03 -2.40602491e+01] [ 7.18986766e-01 -6.95014161e-01 -3.65328054e-03 -2.41902713e+02] [ 4.98221725e-03 -1.02281243e-04 9.99987584e-01 -9.03049426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.420385723 meters 0.018455081282564487 Centerline is valid? [True, True] Translation: X:-24.08, Y:-241.88, Z:-9.03 [[-6.95014299e-01 -7.18987915e-01 3.39145529e-03 -2.40771602e+01] [ 7.18978640e-01 -6.95022566e-01 -3.65337577e-03 -2.41882679e+02] [ 4.98387098e-03 -1.00764484e-04 9.99987575e-01 -9.03106195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.450385723 meters 0.01872428710941634 Centerline is valid? [True, True] Translation: X:-24.09, Y:-241.86, Z:-9.03 [[-6.95183567e-01 -7.18822529e-01 3.73887895e-03 -2.40944979e+01] [ 7.18811268e-01 -6.95193613e-01 -4.02511256e-03 -2.41863563e+02] [ 5.49258635e-03 -1.10643787e-04 9.99984910e-01 -9.03130862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.480385723 meters 0.019047789206300302 Centerline is valid? [True, True] Translation: X:-24.11, Y:-241.84, Z:-9.03 [[-6.96072116e-01 -7.17964523e-01 3.24867859e-03 -2.41126723e+01] [ 7.17956022e-01 -6.96079689e-01 -3.49533062e-03 -2.41843310e+02] [ 4.77086256e-03 -1.00593822e-04 9.99988614e-01 -9.03174605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.510385723 meters 0.019104166823489296 Centerline is valid? [True, True] Translation: X:-24.13, Y:-241.82, Z:-9.03 [[-6.97782334e-01 -7.16302047e-01 3.34558896e-03 -2.41316519e+01] [ 7.16293018e-01 -6.97790345e-01 -3.59818609e-03 -2.41823405e+02] [ 4.91190773e-03 -1.14328673e-04 9.99987930e-01 -9.03208396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.540385723 meters 0.018993928820553466 Centerline is valid? [True, True] Translation: X:-24.15, Y:-241.80, Z:-9.03 [[-6.98462284e-01 -7.15639553e-01 3.23524708e-03 -2.41503338e+01] [ 7.15631114e-01 -6.98469768e-01 -3.47738790e-03 -2.41803449e+02] [ 4.74827860e-03 -1.13580827e-04 9.99988720e-01 -9.03220655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.570385723 meters 0.019535505664090156 Centerline is valid? [True, True] Translation: X:-24.17, Y:-241.78, Z:-9.03 [[-6.99189368e-01 -7.14929211e-01 3.23272925e-03 -2.41679192e+01] [ 7.14920786e-01 -6.99196832e-01 -3.47269560e-03 -2.41782666e+02] [ 4.74304557e-03 -1.16926507e-04 9.99988745e-01 -9.03251113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.600385723 meters 0.019943838430877287 Centerline is valid? [True, True] Translation: X:-24.18, Y:-241.76, Z:-9.03 [[-6.99640137e-01 -7.14489045e-01 3.01400790e-03 -2.41848150e+01] [ 7.14481724e-01 -6.99646620e-01 -3.23623793e-03 -2.41762805e+02] [ 4.42099699e-03 -1.10748392e-04 9.99990221e-01 -9.03247467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.630385723 meters 0.02040245591215542 Centerline is valid? [True, True] Translation: X:-24.20, Y:-241.74, Z:-9.03 [[-7.00240524e-01 -7.13901716e-01 2.74750426e-03 -2.42021401e+01] [ 7.13895636e-01 -7.00245906e-01 -2.94825348e-03 -2.41742771e+02] [ 4.02869183e-03 -1.03055259e-04 9.99991880e-01 -9.03227885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.660385723 meters 0.019737857893998224 Centerline is valid? [True, True] Translation: X:-24.22, Y:-241.72, Z:-9.03 [[-7.00335625e-01 -7.13809251e-01 2.52295604e-03 -2.42217972e+01] [ 7.13804130e-01 -7.00340163e-01 -2.70566845e-03 -2.41724337e+02] [ 3.69825862e-03 -9.39795664e-05 9.99993157e-01 -9.03221561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.690385723 meters 0.01919227695574699 Centerline is valid? [True, True] Translation: X:-24.24, Y:-241.70, Z:-9.03 [[-6.99502505e-01 -7.14626118e-01 2.39930593e-03 -2.42423446e+01] [ 7.14621496e-01 -6.99506615e-01 -2.57167583e-03 -2.41704656e+02] [ 3.51611709e-03 -8.42980927e-05 9.99993815e-01 -9.03258620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7203857229999 meters 0.018908688719697933 Centerline is valid? [True, True] Translation: X:-24.26, Y:-241.68, Z:-9.03 [[-6.98849891e-01 -7.15265079e-01 2.16713794e-03 -2.42617816e+01] [ 7.15261316e-01 -6.98853247e-01 -2.32149480e-03 -2.41684913e+02] [ 3.17499555e-03 -7.23064541e-05 9.99994957e-01 -9.03254332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.750385723 meters 0.018524548158765388 Centerline is valid? [True, True] Translation: X:-24.28, Y:-241.66, Z:-9.03 [[-6.98069953e-01 -7.16027846e-01 1.56984353e-03 -2.42816243e+01] [ 7.16025875e-01 -6.98071716e-01 -1.68074448e-03 -2.41664892e+02] [ 2.29932322e-03 -4.92286349e-05 9.99997355e-01 -9.03224478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.780385723 meters 0.018071849829483847 Centerline is valid? [True, True] Translation: X:-24.30, Y:-241.65, Z:-9.03 [[-6.96090027e-01 -7.17954205e-01 6.58758938e-04 -2.43010076e+01] [ 7.17953859e-01 -6.96090338e-01 -7.04929575e-04 -2.41646197e+02] [ 9.64662885e-04 -1.77359242e-05 9.99999535e-01 -9.03149266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.810385723 meters 0.017061169092844074 Centerline is valid? [True, True] Translation: X:-24.32, Y:-241.63, Z:-9.03 [[-6.94309298e-01 -7.19676594e-01 4.46733146e-04 -2.43239127e+01] [ 7.19676435e-01 -6.94309442e-01 -4.77786091e-04 -2.41628313e+02] [ 6.54022508e-04 -1.02280073e-05 9.99999786e-01 -9.03242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8403857229999 meters 0.016995868014802813 Centerline is valid? [True, True] Translation: X:-24.34, Y:-241.61, Z:-9.03 [[-6.93382740e-01 -7.20568911e-01 9.05585609e-04 -2.43427765e+01] [ 7.20568261e-01 -6.93383332e-01 -9.68144102e-04 -2.41608903e+02] [ 1.32553251e-03 -1.87581632e-05 9.99999121e-01 -9.03326078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.870385723 meters 0.016818289687332982 Centerline is valid? [True, True] Translation: X:-24.36, Y:-241.59, Z:-9.03 [[-6.92917880e-01 -7.21015545e-01 1.18118038e-03 -2.43625261e+01] [ 7.21014441e-01 -6.92918886e-01 -1.26208184e-03 -2.41588553e+02] [ 1.72844282e-03 -2.28709583e-05 9.99998506e-01 -9.03350930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.900385723 meters 0.016618084056948 Centerline is valid? [True, True] Translation: X:-24.38, Y:-241.57, Z:-9.03 [[-6.92501155e-01 -7.21416166e-01 9.30193135e-04 -2.43817198e+01] [ 7.21415482e-01 -6.92501780e-01 -9.93355551e-04 -2.41568386e+02] [ 1.36078315e-03 -1.68441379e-05 9.99999074e-01 -9.03320798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.930385723 meters 0.016502496538701124 Centerline is valid? [True, True] Translation: X:-24.40, Y:-241.55, Z:-9.03 [[-6.92322672e-01 -7.21587872e-01 5.10195583e-04 -2.43999027e+01] [ 7.21587667e-01 -6.92322860e-01 -5.44576744e-04 -2.41549451e+02] [ 7.46180040e-04 -8.87198631e-06 9.99999722e-01 -9.03270748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.960385723 meters 0.016326669321148665 Centerline is valid? [True, True] Translation: X:-24.42, Y:-241.53, Z:-9.03 [[-6.92627699e-01 -7.21295249e-01 1.87328053e-04 -2.44195592e+01] [ 7.21295221e-01 -6.92627724e-01 -1.99837989e-04 -2.41528954e+02] [ 2.73890796e-04 -3.29449684e-06 9.99999963e-01 -9.03224311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.990385723 meters 0.016279309983468847 Centerline is valid? [True, True] Translation: X:-24.44, Y:-241.51, Z:-9.03 [[-6.93259995e-01 -7.20687566e-01 -1.04115872e-04 -2.44374909e+01] [ 7.20687558e-01 -6.93260003e-01 1.11013997e-04 -2.41507678e+02] [-1.52185777e-04 1.92654913e-06 9.99999988e-01 -9.03092019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.020385723 meters 0.01634275818001112 Centerline is valid? [True, True] Translation: X:-24.46, Y:-241.49, Z:-9.03 [[-6.93861339e-01 -7.20108567e-01 -3.06938093e-04 -2.44566318e+01] [ 7.20108493e-01 -6.93861406e-01 3.27085960e-04 -2.41487106e+02] [-4.48509899e-04 5.92357463e-06 9.99999899e-01 -9.03080841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.050385723 meters 0.01635211814955935 Centerline is valid? [True, True] Translation: X:-24.48, Y:-241.47, Z:-9.03 [[-6.94154041e-01 -7.19826482e-01 -4.90095668e-05 -2.44762441e+01] [ 7.19826481e-01 -6.94154043e-01 5.22013759e-05 -2.41467024e+02] [-7.15961214e-05 9.57412081e-07 9.99999998e-01 -9.03071862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.080385723 meters 0.016459225814806223 Centerline is valid? [True, True] Translation: X:-24.50, Y:-241.45, Z:-9.03 [[-6.94194666e-01 -7.19787262e-01 -2.50419596e-04 -2.44950588e+01] [ 7.19787213e-01 -6.94194711e-01 2.66540104e-04 -2.41448814e+02] [-3.65692130e-04 4.78189557e-06 9.99999933e-01 -9.03099554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.110385723 meters 0.01616839383797154 Centerline is valid? [True, True] Translation: X:-24.52, Y:-241.43, Z:-9.03 [[-6.93774935e-01 -7.20191780e-01 -3.74414886e-04 -2.45157088e+01] [ 7.20191669e-01 -6.93775036e-01 3.98295381e-04 -2.41429653e+02] [-5.46608759e-04 6.67687034e-06 9.99999851e-01 -9.03106615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.140385723 meters 0.016091029775078654 Centerline is valid? [True, True] Translation: X:-24.53, Y:-241.41, Z:-9.03 [[-6.93599678e-01 -7.20360531e-01 -4.37705988e-04 -2.45349303e+01] [ 7.20360381e-01 -6.93599816e-01 4.65399548e-04 -2.41411662e+02] [-6.38848258e-04 7.49492456e-06 9.99999796e-01 -9.03108108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.170385723 meters 0.01621009763870945 Centerline is valid? [True, True] Translation: X:-24.55, Y:-241.39, Z:-9.03 [[-6.93719287e-01 -7.20245329e-01 -4.66279733e-04 -2.45535029e+01] [ 7.20245158e-01 -6.93719444e-01 4.95466615e-04 -2.41392798e+02] [-6.80324831e-04 7.87902669e-06 9.99999769e-01 -9.03098492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.200385723 meters 0.01588956434443869 Centerline is valid? [True, True] Translation: X:-24.58, Y:-241.38, Z:-9.03 [[-6.93628274e-01 -7.20333121e-01 -1.14095171e-04 -2.45750067e+01] [ 7.20333111e-01 -6.93628283e-01 1.21167015e-04 -2.41375182e+02] [-1.66420251e-04 1.85833792e-06 9.99999986e-01 -9.03196512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.230385723 meters 0.01578196270867789 Centerline is valid? [True, True] Translation: X:-24.59, Y:-241.36, Z:-9.03 [[-6.93604826e-01 -7.20355690e-01 -1.60694722e-04 -2.45938642e+01] [ 7.20355670e-01 -6.93604844e-01 1.70545215e-04 -2.41357349e+02] [-2.34311853e-04 2.53362995e-06 9.99999973e-01 -9.03254755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.260385723 meters 0.015642485194377893 Centerline is valid? [True, True] Translation: X:-24.61, Y:-241.34, Z:-9.03 [[-6.93820792e-01 -7.20147682e-01 -1.58122447e-04 -2.46141228e+01] [ 7.20147663e-01 -6.93820810e-01 1.67713235e-04 -2.41338561e+02] [-2.30486941e-04 2.49141882e-06 9.99999974e-01 -9.03282018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.290385723 meters 0.01578621718700696 Centerline is valid? [True, True] Translation: X:-24.63, Y:-241.32, Z:-9.03 [[-6.94135724e-01 -7.19842953e-01 -1.31182423e-03 -2.46338125e+01] [ 7.19841610e-01 -6.94136963e-01 1.39070596e-03 -2.41320650e+02] [-1.91167557e-03 2.10330201e-05 9.99998173e-01 -9.03199060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.320385723 meters 0.015691889688625844 Centerline is valid? [True, True] Translation: X:-24.65, Y:-241.30, Z:-9.03 [[-6.94429727e-01 -7.19557972e-01 -1.91820475e-03 -2.46534492e+01] [ 7.19555103e-01 -6.94432375e-01 2.03233865e-03 -2.41301369e+02] [-2.79444896e-03 3.10623603e-05 9.99996095e-01 -9.03150602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.350385723 meters 0.015481236522550245 Centerline is valid? [True, True] Translation: X:-24.67, Y:-241.28, Z:-9.03 [[-6.95715634e-01 -7.18314140e-01 -2.13380825e-03 -2.46742589e+01] [ 7.18310587e-01 -6.95718905e-01 2.25955773e-03 -2.41281935e+02] [-3.10760301e-03 3.92725875e-05 9.99995171e-01 -9.03170898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.380385723 meters 0.015565982006946099 Centerline is valid? [True, True] Translation: X:-24.69, Y:-241.26, Z:-9.03 [[-6.96236375e-01 -7.17810362e-01 -1.78706773e-03 -2.46937362e+01] [ 7.17807872e-01 -6.96238668e-01 1.89126527e-03 -2.41262535e+02] [-2.60179546e-03 3.39963936e-05 9.99996615e-01 -9.03217895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.410385723 meters 0.01577200738817726 Centerline is valid? [True, True] Translation: X:-24.71, Y:-241.24, Z:-9.03 [[-6.96598359e-01 -7.17459433e-01 -1.63959118e-03 -2.47129781e+01] [ 7.17457338e-01 -6.96600288e-01 1.73417613e-03 -2.41244063e+02] [-2.38634071e-03 3.16875205e-05 9.99997152e-01 -9.03320833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.440385723 meters 0.01607781576613054 Centerline is valid? [True, True] Translation: X:-24.73, Y:-241.23, Z:-9.03 [[-6.96865339e-01 -7.17200841e-01 -1.28591511e-03 -2.47328611e+01] [ 7.17199553e-01 -6.96866525e-01 1.35922077e-03 -2.41226118e+02] [-1.87094547e-03 2.49360989e-05 9.99998250e-01 -9.03434011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4703857229999 meters 0.015661644764972015 Centerline is valid? [True, True] Translation: X:-24.75, Y:-241.21, Z:-9.04 [[-6.96917096e-01 -7.17150364e-01 -1.38427329e-03 -2.47534745e+01] [ 7.17148874e-01 -6.96918470e-01 1.46228876e-03 -2.41208586e+02] [-2.01340654e-03 2.63640017e-05 9.99997973e-01 -9.03523796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.500385723 meters 0.01541560051390502 Centerline is valid? [True, True] Translation: X:-24.77, Y:-241.19, Z:-9.03 [[-6.96836603e-01 -7.17226294e-01 -2.27848284e-03 -2.47748911e+01] [ 7.17222261e-01 -6.96840327e-01 2.40555483e-03 -2.41190567e+02] [-3.31306590e-03 4.21000406e-05 9.99994511e-01 -9.03492781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.530385723 meters 0.015419487468480673 Centerline is valid? [True, True] Translation: X:-24.79, Y:-241.17, Z:-9.04 [[-6.96551033e-01 -7.17503083e-01 -2.44641706e-03 -2.47943328e+01] [ 7.17498440e-01 -6.96555328e-01 2.58134883e-03 -2.41171662e+02] [-3.55619058e-03 4.27407693e-05 9.99993676e-01 -9.03527483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.560385723 meters 0.015384523687123026 Centerline is valid? [True, True] Translation: X:-24.81, Y:-241.15, Z:-9.04 [[-6.96572016e-01 -7.17482615e-01 -2.47468144e-03 -2.48142842e+01] [ 7.17477870e-01 -6.96576410e-01 2.60958423e-03 -2.41153330e+02] [-3.59613603e-03 4.22341829e-05 9.99993533e-01 -9.03558741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5903857229999 meters 0.015277812056332036 Centerline is valid? [True, True] Translation: X:-24.84, Y:-241.13, Z:-9.04 [[-6.96442753e-01 -7.17608161e-01 -2.45334706e-03 -2.48351757e+01] [ 7.17603504e-01 -6.96447073e-01 2.58566893e-03 -2.41134538e+02] [-3.56412350e-03 4.02399438e-05 9.99993648e-01 -9.03636504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.620385723 meters 0.015093265967775962 Centerline is valid? [True, True] Translation: X:-24.86, Y:-241.12, Z:-9.04 [[-6.95980744e-01 -7.18057963e-01 -1.88840842e-03 -2.48570958e+01] [ 7.18055208e-01 -6.95983305e-01 1.98917492e-03 -2.41116727e+02] [-2.74264363e-03 2.84459375e-05 9.99996239e-01 -9.03753526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.650385723 meters 0.01621427977821769 Centerline is valid? [True, True] Translation: X:-24.88, Y:-241.10, Z:-9.04 [[-6.96742953e-01 -7.17320800e-01 -3.58406744e-04 -2.48783207e+01] [ 7.17320701e-01 -6.96743045e-01 3.77326734e-04 -2.41098591e+02] [-5.20381720e-04 5.80716632e-06 9.99999865e-01 -9.03922471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.680385723 meters 0.015163273707225625 Centerline is valid? [True, True] Translation: X:-24.90, Y:-241.08, Z:-9.04 [[-6.97289270e-01 -7.16789321e-01 -8.61391277e-04 -2.48984012e+01] [ 7.16788749e-01 -6.97289802e-01 9.06360922e-04 -2.41079115e+02] [-1.25030918e-03 1.45601700e-05 9.99999218e-01 -9.03932268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.710385723 meters 0.015075843000741357 Centerline is valid? [True, True] Translation: X:-24.92, Y:-241.06, Z:-9.04 [[-6.97909732e-01 -7.16185594e-01 -4.48104578e-04 -2.49187105e+01] [ 7.16185439e-01 -6.97909876e-01 4.71240060e-04 -2.41059105e+02] [-6.50231952e-04 7.95704964e-06 9.99999789e-01 -9.03920041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.740385723 meters 0.015434995807312748 Centerline is valid? [True, True] Translation: X:-24.94, Y:-241.04, Z:-9.04 [[-6.99358342e-01 -7.14770946e-01 -6.35982682e-04 -2.49385237e+01] [ 7.14770634e-01 -6.99358631e-01 6.68427644e-04 -2.41040957e+02] [-9.22552637e-04 1.28887038e-05 9.99999574e-01 -9.03963144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.770385723 meters 0.015305874510742131 Centerline is valid? [True, True] Translation: X:-24.96, Y:-241.02, Z:-9.04 [[-6.99998791e-01 -7.14143763e-01 -6.15743848e-04 -2.49596861e+01] [ 7.14143470e-01 -6.99999062e-01 6.46801468e-04 -2.41021719e+02] [-8.92929349e-04 1.30307978e-05 9.99999601e-01 -9.04017940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.800385723 meters 0.015698569054331212 Centerline is valid? [True, True] Translation: X:-24.98, Y:-241.00, Z:-9.04 [[-7.01345043e-01 -7.12821882e-01 -3.08175844e-04 -2.49802826e+01] [ 7.12821809e-01 -7.01345111e-01 3.23535272e-04 -2.41003707e+02] [-4.46760643e-04 7.23539710e-06 9.99999900e-01 -9.04089648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.830385723 meters 0.015698569054331212 Centerline is valid? [True, True] Translation: X:-25.00, Y:-240.98, Z:-9.04 [[-7.01562477e-01 -7.12607884e-01 -3.08274410e-04 -2.49988037e+01] [ 7.12607811e-01 -7.01562544e-01 3.23441356e-04 -2.40984398e+02] [-4.46760640e-04 7.23556641e-06 9.99999900e-01 -9.04089675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.860385723 meters 0.016000813334045672 Centerline is valid? [True, True] Translation: X:-25.02, Y:-240.96, Z:-9.04 [[-7.02537689e-01 -7.11646471e-01 -3.10744277e-04 -2.50189768e+01] [ 7.11646396e-01 -7.02537758e-01 3.25855855e-04 -2.40964479e+02] [-4.50203756e-04 7.78597490e-06 9.99999899e-01 -9.04140150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.890385723 meters 0.01604132730695098 Centerline is valid? [True, True] Translation: X:-25.04, Y:-240.95, Z:-9.04 [[-7.03694517e-01 -7.10502634e-01 -1.83674183e-04 -2.50388073e+01] [ 7.10502608e-01 -7.03694541e-01 1.92502757e-04 -2.40945004e+02] [-2.66024236e-04 4.96214826e-06 9.99999965e-01 -9.04179774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.920385723 meters 0.01678354629898446 Centerline is valid? [True, True] Translation: X:-25.06, Y:-240.93, Z:-9.04 [[-7.05691214e-01 -7.08519495e-01 1.91189383e-04 -2.50569437e+01] [ 7.08519466e-01 -7.05691240e-01 -2.00286096e-04 -2.40925470e+02] [ 2.76827277e-04 -5.87873861e-06 9.99999962e-01 -9.04192411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.950385723 meters 0.0175082786900273 Centerline is valid? [True, True] Translation: X:-25.08, Y:-240.91, Z:-9.04 [[-7.07130849e-01 -7.07082666e-01 2.58568541e-04 -2.50761967e+01] [ 7.07082614e-01 -7.07130896e-01 -2.70717182e-04 -2.40905863e+02] [ 3.74261231e-04 -8.60315055e-06 9.99999930e-01 -9.04249666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.980385723 meters 0.01767748416374967 Centerline is valid? [True, True] Translation: X:-25.10, Y:-240.89, Z:-9.04 [[-7.07415552e-01 -7.06797869e-01 -9.61447063e-05 -2.50953019e+01] [ 7.06797862e-01 -7.07415559e-01 1.00607964e-04 -2.40886766e+02] [-1.39123755e-04 3.21676526e-06 9.99999990e-01 -9.04238814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.010385723 meters 0.016898861098166757 Centerline is valid? [True, True] Translation: X:-25.12, Y:-240.87, Z:-9.04 [[-7.07537090e-01 -7.06676210e-01 -3.24610039e-05 -2.51167709e+01] [ 7.06676209e-01 -7.07537091e-01 3.39517959e-05 -2.40868701e+02] [-4.69602904e-05 1.08273567e-06 9.99999999e-01 -9.04298763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.040385723 meters 0.017603967082540736 Centerline is valid? [True, True] Translation: X:-25.14, Y:-240.85, Z:-9.04 [[-7.06576524e-01 -7.07636516e-01 -4.21386921e-04 -2.51364362e+01] [ 7.07636379e-01 -7.06576649e-01 4.40449693e-04 -2.40849874e+02] [-6.09420444e-04 1.30226979e-05 9.99999814e-01 -9.04371193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.070385723 meters 0.017445369688604325 Centerline is valid? [True, True] Translation: X:-25.16, Y:-240.83, Z:-9.04 [[-7.05755970e-01 -7.08454976e-01 -2.39842286e-04 -2.51567910e+01] [ 7.08454932e-01 -7.05756011e-01 2.50563447e-04 -2.40830515e+02] [-3.46783056e-04 6.91919835e-06 9.99999940e-01 -9.04429403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.100385723 meters 0.017064763422035938 Centerline is valid? [True, True] Translation: X:-25.18, Y:-240.81, Z:-9.04 [[-7.03876955e-01 -7.10321883e-01 -2.34803116e-04 -2.51774461e+01] [ 7.10321841e-01 -7.03876994e-01 2.45172378e-04 -2.40812046e+02] [-3.39423817e-04 5.78540566e-06 9.99999942e-01 -9.04476371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.130385723 meters 0.016008827056018395 Centerline is valid? [True, True] Translation: X:-25.20, Y:-240.79, Z:-9.04 [[-7.02946656e-01 -7.11242414e-01 -4.77705978e-04 -2.51987726e+01] [ 7.11242239e-01 -7.02946818e-01 4.98523778e-04 -2.40793892e+02] [-6.90373152e-04 1.06709529e-05 9.99999762e-01 -9.04452549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.160385723 meters 0.018001187208543715 Centerline is valid? [True, True] Translation: X:-25.22, Y:-240.77, Z:-9.05 [[-7.02220746e-01 -7.11958987e-01 -6.52480865e-04 -2.52177412e+01] [ 7.11958661e-01 -7.02221049e-01 6.80541115e-04 -2.40773926e+02] [-9.42703160e-04 1.33506862e-05 9.99999556e-01 -9.04516635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.190385723 meters 0.01652644755351864 Centerline is valid? [True, True] Translation: X:-25.24, Y:-240.76, Z:-9.04 [[-7.01738381e-01 -7.12433508e-01 -1.31962254e-03 -2.52366174e+01] [ 7.12432180e-01 -7.01739622e-01 1.37548452e-03 -2.40755079e+02] [-1.90597269e-03 2.50887183e-05 9.99998183e-01 -9.04466824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2203857229999 meters 0.017486281667248346 Centerline is valid? [True, True] Translation: X:-25.25, Y:-240.74, Z:-9.05 [[-7.01831562e-01 -7.12341952e-01 -1.18387858e-03 -2.52545130e+01] [ 7.12340885e-01 -7.01832560e-01 1.23341208e-03 -2.40735219e+02] [-1.70949570e-03 2.23224154e-05 9.99998539e-01 -9.04544047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.250385723 meters 0.01718467686966104 Centerline is valid? [True, True] Translation: X:-25.27, Y:-240.71, Z:-9.04 [[-7.02578684e-01 -7.11604982e-01 -1.24200937e-03 -2.52693056e+01] [ 7.11603808e-01 -7.02579781e-01 1.29315855e-03 -2.40713573e+02] [-1.79282874e-03 2.47270308e-05 9.99998393e-01 -9.04444914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.280385723 meters 0.016699953825262185 Centerline is valid? [True, True] Translation: X:-25.29, Y:-240.69, Z:-9.04 [[-7.03201848e-01 -7.10989082e-01 -1.29880545e-03 -2.52884715e+01] [ 7.10987798e-01 -7.03203047e-01 1.35147698e-03 -2.40694668e+02] [-1.87420933e-03 2.69262834e-05 9.99998243e-01 -9.04474352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.310385723 meters 0.01862365982602279 Centerline is valid? [True, True] Translation: X:-25.30, Y:-240.67, Z:-9.05 [[-7.03941703e-01 -7.10255233e-01 -1.89283994e-03 -2.53048268e+01] [ 7.10252506e-01 -7.03944247e-01 1.96835377e-03 -2.40674039e+02] [-2.73048735e-03 4.12120002e-05 9.99996271e-01 -9.04597444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3403857229999 meters 0.017276545210298287 Centerline is valid? [True, True] Translation: X:-25.32, Y:-240.65, Z:-9.04 [[-7.04121988e-01 -7.10074970e-01 -2.40062426e-03 -2.53235902e+01] [ 7.10070589e-01 -7.04126078e-01 2.49488576e-03 -2.40654518e+02] [-3.46189807e-03 5.20912390e-05 9.99994006e-01 -9.04490295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.370385723 meters 0.01822101436403354 Centerline is valid? [True, True] Translation: X:-25.34, Y:-240.63, Z:-9.04 [[-7.03850218e-01 -7.10340446e-01 -3.36486385e-03 -2.53389475e+01] [ 7.10331852e-01 -7.03858258e-01 3.49477079e-03 -2.40633190e+02] [-4.85086425e-03 6.96252139e-05 9.99988232e-01 -9.04471688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.400385723 meters 0.016629494695698542 Centerline is valid? [True, True] Translation: X:-25.36, Y:-240.61, Z:-9.04 [[-7.03540981e-01 -7.10644923e-01 -3.72573268e-03 -2.53585943e+01] [ 7.10634403e-01 -7.03550843e-01 3.86745231e-03 -2.40613738e+02] [-5.36962772e-03 7.32773710e-05 9.99985581e-01 -9.04412945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.430385723 meters 0.016983495183687036 Centerline is valid? [True, True] Translation: X:-25.37, Y:-240.59, Z:-9.04 [[-7.02734682e-01 -7.11442508e-01 -3.67757255e-03 -2.53739418e+01] [ 7.11432283e-01 -7.02744301e-01 3.81499501e-03 -2.40591762e+02] [-5.29854278e-03 6.45854691e-05 9.99985961e-01 -9.04378583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.460385723 meters 0.016866982124124737 Centerline is valid? [True, True] Translation: X:-25.39, Y:-240.57, Z:-9.04 [[-7.02354053e-01 -7.11820310e-01 -3.26050668e-03 -2.53918067e+01] [ 7.11812285e-01 -7.02361619e-01 3.38039684e-03 -2.40570804e+02] [-4.69628987e-03 5.33667032e-05 9.99988971e-01 -9.04432334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.490385723 meters 0.01773899768489658 Centerline is valid? [True, True] Translation: X:-25.41, Y:-240.55, Z:-9.05 [[-7.02201759e-01 -7.11971762e-01 -2.98329605e-03 -2.54101319e+01] [ 7.11965053e-01 -7.02208095e-01 3.09110583e-03 -2.40550451e+02] [-4.29567470e-03 4.65774189e-05 9.99990773e-01 -9.04637663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.520385723 meters 0.016617260541523828 Centerline is valid? [True, True] Translation: X:-25.43, Y:-240.53, Z:-9.04 [[-7.01671720e-01 -7.12495427e-01 -2.65786662e-03 -2.54260525e+01] [ 7.12490113e-01 -7.01676753e-01 2.75215532e-03 -2.40529333e+02] [-3.82586130e-03 3.74058674e-05 9.99992681e-01 -9.04497340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.550385723 meters 0.016601176784311514 Centerline is valid? [True, True] Translation: X:-25.44, Y:-240.51, Z:-9.05 [[-7.01731576e-01 -7.12435685e-01 -2.86189598e-03 -2.54446846e+01] [ 7.12429530e-01 -7.01737411e-01 2.96160640e-03 -2.40508796e+02] [-4.11825356e-03 3.93535196e-05 9.99991519e-01 -9.04551731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.580385723 meters 0.016520611026100467 Centerline is valid? [True, True] Translation: X:-25.46, Y:-240.49, Z:-9.05 [[-7.01731842e-01 -7.12437173e-01 -2.38683451e-03 -2.54622735e+01] [ 7.12432897e-01 -7.01735900e-01 2.46863940e-03 -2.40486778e+02] [-3.43367793e-03 3.18634467e-05 9.99994104e-01 -9.04685111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.610385723 meters 0.01661158241190298 Centerline is valid? [True, True] Translation: X:-25.48, Y:-240.47, Z:-9.05 [[-7.02304237e-01 -7.11874306e-01 -1.93171307e-03 -2.54792951e+01] [ 7.11871507e-01 -7.02306893e-01 1.99669686e-03 -2.40465668e+02] [-2.77805259e-03 2.71571673e-05 9.99996141e-01 -9.04698632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.640385723 meters 0.016772243813420736 Centerline is valid? [True, True] Translation: X:-25.49, Y:-240.44, Z:-9.05 [[-7.03711871e-01 -7.10483613e-01 -1.62464112e-03 -2.54945241e+01] [ 7.10481631e-01 -7.03713746e-01 1.67827173e-03 -2.40442961e+02] [-2.33566685e-03 2.67420606e-05 9.99997272e-01 -9.04698313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.670385723 meters 0.01690334058545194 Centerline is valid? [True, True] Translation: X:-25.51, Y:-240.42, Z:-9.05 [[-7.04447494e-01 -7.09754271e-01 -1.61302733e-03 -2.55120726e+01] [ 7.09752318e-01 -7.04449341e-01 1.66526081e-03 -2.40421629e+02] [-2.31822202e-03 2.82389213e-05 9.99997313e-01 -9.04715351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.700385723 meters 0.017160313828941617 Centerline is valid? [True, True] Translation: X:-25.53, Y:-240.40, Z:-9.05 [[-7.05016907e-01 -7.09188471e-01 -1.69509486e-03 -2.55287419e+01] [ 7.09186315e-01 -7.05018944e-01 1.74887151e-03 -2.40400762e+02] [-2.43535350e-03 3.08459074e-05 9.99997034e-01 -9.04681288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.730385723 meters 0.01700025987886826 Centerline is valid? [True, True] Translation: X:-25.55, Y:-240.38, Z:-9.05 [[-7.05278743e-01 -7.08928740e-01 -1.39172827e-03 -2.55464439e+01] [ 7.08927288e-01 -7.05280116e-01 1.43509519e-03 -2.40378847e+02] [-1.99893850e-03 2.55079843e-05 9.99998002e-01 -9.04736619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.760385723 meters 0.017228225033724048 Centerline is valid? [True, True] Translation: X:-25.56, Y:-240.36, Z:-9.05 [[-7.05337561e-01 -7.08870736e-01 -1.09752088e-03 -2.55632110e+01] [ 7.08869834e-01 -7.05338415e-01 1.13099120e-03 -2.40358155e+02] [-1.57585021e-03 1.97311303e-05 9.99998758e-01 -9.04762837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.790385723 meters 0.017039416129797418 Centerline is valid? [True, True] Translation: X:-25.58, Y:-240.34, Z:-9.05 [[-7.05529358e-01 -7.08680441e-01 -5.98605417e-04 -2.55810119e+01] [ 7.08680173e-01 -7.05529612e-01 6.16521712e-04 -2.40335609e+02] [-8.59250725e-04 1.07543770e-05 9.99999631e-01 -9.04790042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.820385723 meters 0.01744673606366518 Centerline is valid? [True, True] Translation: X:-25.60, Y:-240.31, Z:-9.05 [[-7.05954068e-01 -7.08257471e-01 -4.56230428e-04 -2.55973106e+01] [ 7.08257315e-01 -7.05954216e-01 4.69613043e-04 -2.40314116e+02] [-6.54684739e-04 8.39669990e-06 9.99999786e-01 -9.04768202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.850385723 meters 0.017312689399872513 Centerline is valid? [True, True] Translation: X:-25.62, Y:-240.29, Z:-9.05 [[-7.06386260e-01 -7.07826538e-01 -2.07947521e-04 -2.56160934e+01] [ 7.07826506e-01 -7.06386291e-01 2.13932445e-04 -2.40292829e+02] [-2.98318340e-04 3.92817284e-06 9.99999956e-01 -9.04808348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.880385723 meters 0.019968665258367532 Centerline is valid? [True, True] Translation: X:-25.63, Y:-240.27, Z:-9.05 [[-7.07607354e-01 -7.06605454e-01 7.51675892e-04 -2.56303296e+01] [ 7.06605031e-01 -7.07607754e-01 -7.72845715e-04 -2.40268866e+02] [ 1.07798869e-03 -1.57333443e-05 9.99999419e-01 -9.05153011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.910385723 meters 0.017521155938490244 Centerline is valid? [True, True] Translation: X:-25.65, Y:-240.25, Z:-9.05 [[-7.07384359e-01 -7.06827888e-01 1.30578423e-03 -2.56489366e+01] [ 7.06826615e-01 -7.07385564e-01 -1.34175257e-03 -2.40248603e+02] [ 1.87208105e-03 -2.61717360e-05 9.99998247e-01 -9.04879118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.940385723 meters 0.01782183569325967 Centerline is valid? [True, True] Translation: X:-25.67, Y:-240.23, Z:-9.05 [[-7.06861117e-01 -7.07350438e-01 1.64916461e-03 -2.56653676e+01] [ 7.07348411e-01 -7.06863040e-01 -1.69357212e-03 -2.40226871e+02] [ 2.36368249e-03 -3.05863106e-05 9.99997206e-01 -9.04921583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9703857229999 meters 0.017447131915316095 Centerline is valid? [True, True] Translation: X:-25.68, Y:-240.21, Z:-9.05 [[-7.06314680e-01 -7.07896234e-01 1.57936116e-03 -2.56840397e+01] [ 7.07894379e-01 -7.06316445e-01 -1.62091858e-03 -2.40206394e+02] [ 2.26297092e-03 -2.68577012e-05 9.99997439e-01 -9.04840433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.000385723 meters 0.01733061683280482 Centerline is valid? [True, True] Translation: X:-25.70, Y:-240.19, Z:-9.05 [[-7.05791585e-01 -7.08417441e-01 1.72281019e-03 -2.57020088e+01] [ 7.08415238e-01 -7.05793687e-01 -1.76709120e-03 -2.40186084e+02] [ 2.46778678e-03 -2.67331070e-05 9.99996955e-01 -9.04853129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.030385723 meters 0.017288468665702623 Centerline is valid? [True, True] Translation: X:-25.72, Y:-240.16, Z:-9.05 [[-7.05022545e-01 -7.09179835e-01 2.67817372e-03 -2.57177618e+01] [ 7.09174523e-01 -7.05027631e-01 -2.74530290e-03 -2.40164528e+02] [ 3.83509993e-03 -3.62078672e-05 9.99992645e-01 -9.04942962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.060385723 meters 0.01732967763084717 Centerline is valid? [True, True] Translation: X:-25.74, Y:-240.14, Z:-9.05 [[-7.05073449e-01 -7.09126949e-01 3.22511027e-03 -2.57356158e+01] [ 7.09119253e-01 -7.05080824e-01 -3.30401334e-03 -2.40143686e+02] [ 4.61692830e-03 -4.25842936e-05 9.99989341e-01 -9.04959978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0903857229999 meters 0.017403255383758594 Centerline is valid? [True, True] Translation: X:-25.75, Y:-240.12, Z:-9.05 [[-7.05242218e-01 -7.08957625e-01 3.53542127e-03 -2.57534315e+01] [ 7.08948386e-01 -7.05251078e-01 -3.61980352e-03 -2.40122832e+02] [ 5.05964697e-03 -4.64070602e-05 9.99987199e-01 -9.04943439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.120385723 meters 0.0174623309796007 Centerline is valid? [True, True] Translation: X:-25.77, Y:-240.10, Z:-9.05 [[-7.05885238e-01 -7.08317503e-01 3.51376360e-03 -2.57681407e+01] [ 7.08308379e-01 -7.05893981e-01 -3.59542898e-03 -2.40100946e+02] [ 5.02704986e-03 -4.91320420e-05 9.99987363e-01 -9.04947738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.150385723 meters 0.01749930348249571 Centerline is valid? [True, True] Translation: X:-25.79, Y:-240.08, Z:-9.05 [[-7.06133161e-01 -7.08069712e-01 3.63907976e-03 -2.57858554e+01] [ 7.08059934e-01 -7.06142536e-01 -3.72152377e-03 -2.40079722e+02] [ 5.20480727e-03 -5.12047742e-05 9.99986454e-01 -9.04898827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.180385723 meters 0.017421627148330798 Centerline is valid? [True, True] Translation: X:-25.80, Y:-240.06, Z:-9.05 [[-7.05586591e-01 -7.08616950e-01 3.09515093e-03 -2.58035914e+01] [ 7.08609890e-01 -7.05593379e-01 -3.16336736e-03 -2.40060665e+02] [ 4.42553374e-03 -3.87750359e-05 9.99990207e-01 -9.04724173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.210385723 meters 0.017334783446246987 Centerline is valid? [True, True] Translation: X:-25.82, Y:-240.04, Z:-9.05 [[-7.05432190e-01 -7.08771594e-01 2.87295943e-03 -2.58234541e+01] [ 7.08765519e-01 -7.05438039e-01 -2.93461998e-03 -2.40041515e+02] [ 4.10667015e-03 -3.39208193e-05 9.99991567e-01 -9.04689990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.240385723 meters 0.017039511907973218 Centerline is valid? [True, True] Translation: X:-25.84, Y:-240.02, Z:-9.05 [[-7.05194967e-01 -7.09007888e-01 2.80591811e-03 -2.58441208e+01] [ 7.09002103e-01 -7.05200548e-01 -2.86440424e-03 -2.40023960e+02] [ 4.00962019e-03 -3.05616120e-05 9.99991961e-01 -9.04649804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.270385723 meters 0.018708773682974602 Centerline is valid? [True, True] Translation: X:-25.86, Y:-240.01, Z:-9.05 [[-7.05674546e-01 -7.08528492e-01 3.28805253e-03 -2.58624584e+01] [ 7.08520552e-01 -7.05682205e-01 -3.35445852e-03 -2.40005613e+02] [ 4.69704960e-03 -3.75032052e-05 9.99988968e-01 -9.05004625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.300385723 meters 0.01727707633148964 Centerline is valid? [True, True] Translation: X:-25.88, Y:-239.99, Z:-9.05 [[-7.05572546e-01 -7.08629787e-01 3.34777314e-03 -2.58816186e+01] [ 7.08621568e-01 -7.05580487e-01 -3.41318828e-03 -2.39989195e+02] [ 4.78081029e-03 -3.59476921e-05 9.99988571e-01 -9.04790266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.330385723 meters 0.01741413957081848 Centerline is valid? [True, True] Translation: X:-25.90, Y:-239.97, Z:-9.05 [[-7.07324940e-01 -7.06880238e-01 3.42909576e-03 -2.59028420e+01] [ 7.06871603e-01 -7.07333250e-01 -3.49419994e-03 -2.39970718e+02] [ 4.89549433e-03 -4.76043415e-05 9.99988016e-01 -9.04733783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.360385723 meters 0.017837831545844552 Centerline is valid? [True, True] Translation: X:-25.92, Y:-239.95, Z:-9.05 [[-7.08746288e-01 -7.05454649e-01 3.52665265e-03 -2.59198191e+01] [ 7.05445509e-01 -7.08755060e-01 -3.59154901e-03 -2.39949294e+02] [ 5.03320786e-03 -5.76357612e-05 9.99987332e-01 -9.04759553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.390385723 meters 0.01833778773483286 Centerline is valid? [True, True] Translation: X:-25.94, Y:-239.93, Z:-9.05 [[-7.10312089e-01 -7.03879115e-01 3.30558801e-03 -2.59378581e+01] [ 7.03871077e-01 -7.10319778e-01 -3.36459215e-03 -2.39928900e+02] [ 4.71629069e-03 -6.32026917e-05 9.99988876e-01 -9.04769843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.420385723 meters 0.019566322100772447 Centerline is valid? [True, True] Translation: X:-25.95, Y:-239.91, Z:-9.05 [[-7.13077373e-01 -7.01074637e-01 3.87469817e-03 -2.59546558e+01] [ 7.01063559e-01 -7.13087894e-01 -3.94221500e-03 -2.39908653e+02] [ 5.52678731e-03 -9.46946283e-05 9.99984723e-01 -9.04818217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.450385723 meters 0.017912799052485138 Centerline is valid? [True, True] Translation: X:-25.98, Y:-239.89, Z:-9.05 [[-7.14189832e-01 -6.99940134e-01 4.08563681e-03 -2.59780978e+01] [ 6.99927812e-01 -7.14201510e-01 -4.15456424e-03 -2.39891967e+02] [ 5.82591423e-03 -1.07496703e-04 9.99983024e-01 -9.04706912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.480385723 meters 0.017875410405642108 Centerline is valid? [True, True] Translation: X:-26.00, Y:-239.87, Z:-9.05 [[-7.15226880e-01 -6.98880206e-01 4.11911923e-03 -2.59990273e+01] [ 6.98867678e-01 -7.15238732e-01 -4.18630736e-03 -2.39872562e+02] [ 5.87188096e-03 -1.15440262e-04 9.99982754e-01 -9.04791882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.510385723 meters 0.018361775659751996 Centerline is valid? [True, True] Translation: X:-26.02, Y:-239.85, Z:-9.05 [[-7.15417622e-01 -6.98683903e-01 4.29306060e-03 -2.60169790e+01] [ 6.98670303e-01 -7.15430493e-01 -4.36099751e-03 -2.39853492e+02] [ 6.11834522e-03 -1.20500519e-04 9.99981276e-01 -9.04848543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.540385723 meters 0.018002851057006795 Centerline is valid? [True, True] Translation: X:-26.04, Y:-239.83, Z:-9.05 [[-7.15406708e-01 -6.98695961e-01 4.14694796e-03 -2.60375895e+01] [ 6.98683286e-01 -7.15418717e-01 -4.20999906e-03 -2.39834926e+02] [ 5.90831353e-03 -1.14458337e-04 9.99982539e-01 -9.04850908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.570385723 meters 0.01769831154379259 Centerline is valid? [True, True] Translation: X:-26.06, Y:-239.82, Z:-9.05 [[-7.14207766e-01 -6.99917827e-01 4.72261078e-03 -2.60580345e+01] [ 6.99901436e-01 -7.14223370e-01 -4.79148943e-03 -2.39817070e+02] [ 6.72664785e-03 -1.16756893e-04 9.99977369e-01 -9.04927662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.600385723 meters 0.01762754975979804 Centerline is valid? [True, True] Translation: X:-26.08, Y:-239.80, Z:-9.05 [[-7.13680836e-01 -7.00451787e-01 5.19205406e-03 -2.60768210e+01] [ 7.00432014e-01 -7.13699712e-01 -5.26441115e-03 -2.39798873e+02] [ 7.39303368e-03 -1.20428472e-04 9.99972664e-01 -9.05008951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.630385723 meters 0.01723343452208648 Centerline is valid? [True, True] Translation: X:-26.10, Y:-239.78, Z:-9.05 [[-7.12467064e-01 -7.01682079e-01 5.73960689e-03 -2.60965537e+01] [ 7.01657984e-01 -7.12490173e-01 -5.81608355e-03 -2.39780649e+02] [ 8.17045510e-03 -1.16526971e-04 9.99966615e-01 -9.05053749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.660385723 meters 0.016894871075527597 Centerline is valid? [True, True] Translation: X:-26.12, Y:-239.76, Z:-9.05 [[-7.11826898e-01 -7.02334709e-01 5.33145426e-03 -2.61172194e+01] [ 7.02313959e-01 -7.11846857e-01 -5.39953043e-03 -2.39761419e+02] [ 7.58745659e-03 -9.91762476e-05 9.99971210e-01 -9.04959164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.690385723 meters 0.01676441413740689 Centerline is valid? [True, True] Translation: X:-26.14, Y:-239.74, Z:-9.05 [[-7.11259013e-01 -7.02912938e-01 4.90073279e-03 -2.61362612e+01] [ 7.02895443e-01 -7.11275892e-01 -4.96009636e-03 -2.39743179e+02] [ 6.97228900e-03 -8.32104993e-05 9.99975690e-01 -9.04941275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7203857229999 meters 0.01676441413740689 Centerline is valid? [True, True] Translation: X:-26.16, Y:-239.72, Z:-9.05 [[-7.11473532e-01 -7.02695796e-01 4.90224645e-03 -2.61551433e+01] [ 7.02678305e-01 -7.11490416e-01 -4.95860037e-03 -2.39724202e+02] [ 6.97228900e-03 -8.32106871e-05 9.99975690e-01 -9.04941303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.750385723 meters 0.017445576831277343 Centerline is valid? [True, True] Translation: X:-26.17, Y:-239.71, Z:-9.05 [[-7.11368837e-01 -7.02802577e-01 4.78702264e-03 -2.61744653e+01] [ 7.02785921e-01 -7.11384939e-01 -4.83909971e-03 -2.39705377e+02] [ 6.80634756e-03 -7.81326183e-05 9.99976834e-01 -9.05043474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.780385723 meters 0.016604427872235473 Centerline is valid? [True, True] Translation: X:-26.19, Y:-239.69, Z:-9.05 [[-7.11505401e-01 -7.02664501e-01 4.76068935e-03 -2.61933531e+01] [ 7.02648045e-01 -7.11521323e-01 -4.80956467e-03 -2.39686352e+02] [ 6.76684234e-03 -7.69421778e-05 9.99977102e-01 -9.04884836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.810385723 meters 0.016797473661202784 Centerline is valid? [True, True] Translation: X:-26.21, Y:-239.67, Z:-9.05 [[-7.12697243e-01 -7.01452447e-01 5.20618944e-03 -2.62112340e+01] [ 7.01432757e-01 -7.12716252e-01 -5.25664699e-03 -2.39666025e+02] [ 7.39782372e-03 -9.46060109e-05 9.99972631e-01 -9.04907530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8403857229999 meters 0.016891731476009374 Centerline is valid? [True, True] Translation: X:-26.23, Y:-239.65, Z:-9.05 [[-7.13561711e-01 -7.00567181e-01 5.94219124e-03 -2.62305544e+01] [ 7.00541526e-01 -7.13586443e-01 -5.99656709e-03 -2.39646107e+02] [ 8.44126521e-03 -1.16168951e-04 9.99964365e-01 -9.04907038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.870385723 meters 0.01695942829078384 Centerline is valid? [True, True] Translation: X:-26.25, Y:-239.63, Z:-9.05 [[-7.14430149e-01 -6.99679171e-01 6.21449107e-03 -2.62497669e+01] [ 6.99651111e-01 -7.14457166e-01 -6.26753778e-03 -2.39626104e+02] [ 8.82525331e-03 -1.29742377e-04 9.99961048e-01 -9.04952289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.900385723 meters 0.017258836085465898 Centerline is valid? [True, True] Translation: X:-26.27, Y:-239.61, Z:-9.05 [[-7.15995244e-01 -6.98068536e-01 7.15048001e-03 -2.62692632e+01] [ 6.98031346e-01 -7.16030928e-01 -7.20760498e-03 -2.39605877e+02] [ 1.01513671e-02 -1.69351700e-04 9.99948459e-01 -9.05036422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.930385723 meters 0.017670473917259146 Centerline is valid? [True, True] Translation: X:-26.29, Y:-239.59, Z:-9.05 [[-7.16713555e-01 -6.97327026e-01 7.52987796e-03 -2.62879203e+01] [ 6.97285791e-01 -7.16753084e-01 -7.58569048e-03 -2.39585605e+02] [ 1.06867702e-02 -1.86290283e-04 9.99942878e-01 -9.05123250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.960385723 meters 0.018082505023924524 Centerline is valid? [True, True] Translation: X:-26.31, Y:-239.57, Z:-9.05 [[-7.18028475e-01 -6.95969523e-01 7.84426454e-03 -2.63058279e+01] [ 6.95924728e-01 -7.18071291e-01 -7.89904591e-03 -2.39565981e+02] [ 1.11302364e-02 -2.12722224e-04 9.99938034e-01 -9.05219341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.990385723 meters 0.01774536378796245 Centerline is valid? [True, True] Translation: X:-26.33, Y:-239.55, Z:-9.05 [[-7.18842948e-01 -6.95123871e-01 8.22320833e-03 -2.63265033e+01] [ 6.95074640e-01 -7.18889943e-01 -8.27618335e-03 -2.39546831e+02] [ 1.16645544e-02 -2.33532468e-04 9.99931940e-01 -9.05194634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.020385723 meters 0.018175045605206577 Centerline is valid? [True, True] Translation: X:-26.34, Y:-239.53, Z:-9.05 [[-7.19347885e-01 -6.94597183e-01 8.56586850e-03 -2.63446600e+01] [ 6.94543792e-01 -7.19398841e-01 -8.61559417e-03 -2.39527775e+02] [ 1.21466433e-02 -2.48238653e-04 9.99926196e-01 -9.05334556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.050385723 meters 0.017789360729699173 Centerline is valid? [True, True] Translation: X:-26.36, Y:-239.51, Z:-9.05 [[-7.19616175e-01 -6.94313344e-01 9.03008521e-03 -2.63638370e+01] [ 6.94254057e-01 -7.19672781e-01 -9.07703684e-03 -2.39508953e+02] [ 1.28010143e-02 -2.62809230e-04 9.99918029e-01 -9.05280462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.080385723 meters 0.01769680853698042 Centerline is valid? [True, True] Translation: X:-26.38, Y:-239.49, Z:-9.05 [[-7.19530896e-01 -6.94406086e-01 8.68779151e-03 -2.63827556e+01] [ 6.94351280e-01 -7.19583301e-01 -8.72773115e-03 -2.39488892e+02] [ 1.23121793e-02 -2.47493055e-04 9.99924172e-01 -9.05188886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.110385723 meters 0.017407621818039374 Centerline is valid? [True, True] Translation: X:-26.40, Y:-239.47, Z:-9.05 [[-7.19028778e-01 -6.94925759e-01 8.70666532e-03 -2.64023632e+01] [ 6.94870818e-01 -7.19081451e-01 -8.74146202e-03 -2.39470493e+02] [ 1.23354687e-02 -2.35355101e-04 9.99923888e-01 -9.05077596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.140385723 meters 0.01701268844354258 Centerline is valid? [True, True] Translation: X:-26.42, Y:-239.45, Z:-9.05 [[-7.18622917e-01 -6.95340452e-01 9.09721137e-03 -2.64227958e+01] [ 6.95280575e-01 -7.18680458e-01 -9.12803924e-03 -2.39452954e+02] [ 1.28850830e-02 -2.34503827e-04 9.99916956e-01 -9.05072744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.170385723 meters 0.01616909323960677 Centerline is valid? [True, True] Translation: X:-26.45, Y:-239.44, Z:-9.05 [[-7.17036474e-01 -6.96970724e-01 9.51341968e-03 -2.64451010e+01] [ 6.96905456e-01 -7.17099551e-01 -9.54037664e-03 -2.39436074e+02] [ 1.34714322e-02 -2.10843948e-04 9.99909234e-01 -9.04989726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.200385723 meters 0.01623679936039185 Centerline is valid? [True, True] Translation: X:-26.46, Y:-239.42, Z:-9.05 [[-7.16084521e-01 -6.97949450e-01 9.46175313e-03 -2.64644663e+01] [ 6.97885026e-01 -7.16147003e-01 -9.48472470e-03 -2.39417202e+02] [ 1.33958645e-02 -1.88648720e-04 9.99910254e-01 -9.05039442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.230385723 meters 0.015530069355002202 Centerline is valid? [True, True] Translation: X:-26.49, Y:-239.40, Z:-9.05 [[-7.14552965e-01 -6.99521658e-01 9.13841135e-03 -2.64860109e+01] [ 6.99461756e-01 -7.14611382e-01 -9.15556781e-03 -2.39399502e+02] [ 1.29349307e-02 -1.50168878e-04 9.99916329e-01 -9.04880670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.260385723 meters 0.015487494603394499 Centerline is valid? [True, True] Translation: X:-26.51, Y:-239.38, Z:-9.05 [[-7.14262025e-01 -6.99823300e-01 8.78116822e-03 -2.65053362e+01] [ 6.99768080e-01 -7.14315988e-01 -8.79225348e-03 -2.39380587e+02] [ 1.24255527e-02 -1.35191552e-04 9.99922791e-01 -9.04820800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.290385723 meters 0.015717896570568563 Centerline is valid? [True, True] Translation: X:-26.52, Y:-239.36, Z:-9.05 [[-7.14135780e-01 -6.99959004e-01 8.21460624e-03 -2.65236430e+01] [ 6.99910751e-01 -7.14183014e-01 -8.21968410e-03 -2.39361544e+02] [ 1.16201741e-02 -1.20479297e-04 9.99932476e-01 -9.04841344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.320385723 meters 0.015186107642515972 Centerline is valid? [True, True] Translation: X:-26.54, Y:-239.34, Z:-9.05 [[-7.13730846e-01 -7.00375820e-01 7.87340648e-03 -2.65447727e+01] [ 7.00331570e-01 -7.13774264e-01 -7.87349890e-03 -2.39343845e+02] [ 1.11342432e-02 -1.05563901e-04 9.99938007e-01 -9.04631949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.350385723 meters 0.01541638640921929 Centerline is valid? [True, True] Translation: X:-26.56, Y:-239.33, Z:-9.05 [[-7.13698925e-01 -7.00409020e-01 7.81338468e-03 -2.65636493e+01] [ 7.00365499e-01 -7.13741686e-01 -7.80851084e-03 -2.39325125e+02] [ 1.10458898e-02 -1.00700726e-04 9.99938987e-01 -9.04693229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.380385723 meters 0.015177655800056426 Centerline is valid? [True, True] Translation: X:-26.58, Y:-239.35, Z:-9.05 [[-6.64604267e-01 -7.47158617e-01 7.42761515e-03 -2.65834499e+01] [ 7.47110301e-01 -6.64645764e-01 -8.49742299e-03 -2.39352548e+02] [ 1.12856558e-02 -9.81757943e-05 9.99936310e-01 -9.04595534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.410385723 meters 0.014944547340716595 Centerline is valid? [True, True] Translation: X:-26.60, Y:-239.33, Z:-9.05 [[-6.64463020e-01 -7.47285928e-01 7.25508888e-03 -2.66016899e+01] [ 7.47239903e-01 -6.64502621e-01 -8.29419485e-03 -2.39332834e+02] [ 1.10191607e-02 -8.98938425e-05 9.99939283e-01 -9.04523534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.440385723 meters 0.014732015709162981 Centerline is valid? [True, True] Translation: X:-26.62, Y:-239.31, Z:-9.04 [[-6.64031952e-01 -7.47672304e-01 6.90595988e-03 -2.66208634e+01] [ 7.47630676e-01 -6.64067858e-01 -7.89002669e-03 -2.39314146e+02] [ 1.04851804e-02 -7.61223746e-05 9.99945026e-01 -9.04434001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4703857229999 meters 0.0147928864326616 Centerline is valid? [True, True] Translation: X:-26.64, Y:-239.30, Z:-9.04 [[-6.63907569e-01 -7.47783413e-01 6.83433042e-03 -2.66391440e+01] [ 7.47742700e-01 -6.63942741e-01 -7.80326634e-03 -2.39295058e+02] [ 1.03727572e-02 -7.03268978e-05 9.99946199e-01 -9.04453355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.500385723 meters 0.014710650171087154 Centerline is valid? [True, True] Translation: X:-26.66, Y:-239.27, Z:-9.04 [[-6.64203253e-01 -7.47518954e-01 7.03222342e-03 -2.66581673e+01] [ 7.47475886e-01 -6.64240475e-01 -8.02444950e-03 -2.39274829e+02] [ 1.06695155e-02 -7.34480289e-05 9.99943076e-01 -9.04478681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.530385723 meters 0.014651524946582863 Centerline is valid? [True, True] Translation: X:-26.68, Y:-239.26, Z:-9.04 [[-6.64691208e-01 -7.47085689e-01 6.96933050e-03 -2.66777947e+01] [ 7.47043415e-01 -6.64727739e-01 -7.94792015e-03 -2.39255509e+02] [ 1.05704847e-02 -7.65201876e-05 9.99944128e-01 -9.04449352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.560385723 meters 0.014653758245458254 Centerline is valid? [True, True] Translation: X:-26.70, Y:-239.24, Z:-9.04 [[-6.64801216e-01 -7.46990972e-01 6.62051344e-03 -2.66954590e+01] [ 7.46952866e-01 -6.64834177e-01 -7.54538880e-03 -2.39236493e+02] [ 1.00378809e-02 -7.09721611e-05 9.99949617e-01 -9.04463749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5903857229999 meters 0.014545068469424632 Centerline is valid? [True, True] Translation: X:-26.71, Y:-239.22, Z:-9.04 [[-6.64420443e-01 -7.47328847e-01 6.71340777e-03 -2.67142381e+01] [ 7.47289729e-01 -6.64454356e-01 -7.64653083e-03 -2.39217795e+02] [ 1.01752261e-02 -6.36507223e-05 9.99948229e-01 -9.04426722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.620385723 meters 0.014337784490019524 Centerline is valid? [True, True] Translation: X:-26.73, Y:-239.20, Z:-9.04 [[-6.64229839e-01 -7.47499548e-01 6.56864468e-03 -2.67334023e+01] [ 7.47462153e-01 -6.64262315e-01 -7.47712288e-03 -2.39198195e+02] [ 9.95244910e-03 -5.67148327e-05 9.99950472e-01 -9.04335512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.650385723 meters 0.014307769001408493 Centerline is valid? [True, True] Translation: X:-26.75, Y:-239.18, Z:-9.04 [[-6.64171948e-01 -7.47549836e-01 6.69816295e-03 -2.67517910e+01] [ 7.47511004e-01 -6.64205721e-01 -7.61971776e-03 -2.39179060e+02] [ 1.01450769e-02 -5.38522758e-05 9.99948536e-01 -9.04393681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.680385723 meters 0.014038740900917484 Centerline is valid? [True, True] Translation: X:-26.77, Y:-239.16, Z:-9.04 [[-6.63809041e-01 -7.47872432e-01 6.66203727e-03 -2.67725499e+01] [ 7.47834075e-01 -6.63842469e-01 -7.57444237e-03 -2.39160359e+02] [ 1.00872599e-02 -4.58848504e-05 9.99949121e-01 -9.04260274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.710385723 meters 0.013972329956066126 Centerline is valid? [True, True] Translation: X:-26.79, Y:-239.14, Z:-9.04 [[-6.63872700e-01 -7.47821891e-01 5.95456509e-03 -2.67920129e+01] [ 7.47791276e-01 -6.63899403e-01 -6.76683540e-03 -2.39142623e+02] [ 9.01361986e-03 -3.95454665e-05 9.99959376e-01 -9.04280498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.740385723 meters 0.013892859294683866 Centerline is valid? [True, True] Translation: X:-26.81, Y:-239.12, Z:-9.04 [[-6.64206823e-01 -7.47528389e-01 5.53206790e-03 -2.68114485e+01] [ 7.47501987e-01 -6.64229859e-01 -6.28283353e-03 -2.39123763e+02] [ 8.37116111e-03 -3.78691558e-05 9.99964961e-01 -9.04238721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.770385723 meters 0.013905712300481717 Centerline is valid? [True, True] Translation: X:-26.83, Y:-239.10, Z:-9.04 [[-6.64672139e-01 -7.47116063e-01 5.34202892e-03 -2.68298015e+01] [ 7.47091461e-01 -6.64693604e-01 -6.06309316e-03 -2.39104829e+02] [ 8.08064675e-03 -3.89849048e-05 9.99967350e-01 -9.04233508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.800385723 meters 0.013989079872794127 Centerline is valid? [True, True] Translation: X:-26.85, Y:-239.09, Z:-9.04 [[-6.66042729e-01 -7.45894388e-01 5.35223058e-03 -2.68484799e+01] [ 7.45869682e-01 -6.66064231e-01 -6.07099147e-03 -2.39085571e+02] [ 8.09324781e-03 -5.14731989e-05 9.99967248e-01 -9.04141945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.830385723 meters 0.01656812947704237 Centerline is valid? [True, True] Translation: X:-26.87, Y:-239.06, Z:-9.04 [[-6.67639741e-01 -7.44461773e-01 5.81760748e-03 -2.68675137e+01] [ 7.44432562e-01 -6.67665083e-01 -6.59524614e-03 -2.39064548e+02] [ 8.79412202e-03 -7.24319790e-05 9.99961328e-01 -9.04239949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.860385723 meters 0.014268985706655754 Centerline is valid? [True, True] Translation: X:-26.89, Y:-239.05, Z:-9.04 [[-6.69278177e-01 -7.42994486e-01 5.09079987e-03 -2.68882822e+01] [ 7.42972100e-01 -6.69297534e-01 -5.76806681e-03 -2.39045157e+02] [ 7.69290163e-03 -7.81189772e-05 9.99970406e-01 -9.04078304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.890385723 meters 0.01447191076344174 Centerline is valid? [True, True] Translation: X:-26.91, Y:-239.03, Z:-9.04 [[-6.70255034e-01 -7.42112321e-01 5.24343487e-03 -2.69066308e+01] [ 7.42088573e-01 -6.70275537e-01 -5.93751528e-03 -2.39025674e+02] [ 7.92084936e-03 -8.85564068e-05 9.99968626e-01 -9.04122764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.920385723 meters 0.014826288075035042 Centerline is valid? [True, True] Translation: X:-26.93, Y:-239.01, Z:-9.04 [[-6.71603262e-01 -7.40888655e-01 5.74967460e-03 -2.69272711e+01] [ 7.40860088e-01 -6.71627865e-01 -6.50703200e-03 -2.39007583e+02] [ 8.68262786e-03 -1.10439488e-04 9.99962299e-01 -9.04197529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.950385723 meters 0.014713301670101677 Centerline is valid? [True, True] Translation: X:-26.95, Y:-238.99, Z:-9.04 [[-6.71967436e-01 -7.40555244e-01 6.13971892e-03 -2.69475388e+01] [ 7.40522695e-01 -6.71995474e-01 -6.94417515e-03 -2.38988655e+02] [ 9.26840865e-03 -1.19658372e-04 9.99957040e-01 -9.04234599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.980385723 meters 0.014730207901573452 Centerline is valid? [True, True] Translation: X:-26.97, Y:-238.97, Z:-9.04 [[-6.72186677e-01 -7.40356580e-01 6.09964399e-03 -2.69692553e+01] [ 7.40324485e-01 -6.72214341e-01 -6.89461169e-03 -2.38971735e+02] [ 9.20473930e-03 -1.18750326e-04 9.99957629e-01 -9.04279960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.010385723 meters 0.01472243523032292 Centerline is valid? [True, True] Translation: X:-26.99, Y:-238.95, Z:-9.04 [[-6.72491429e-01 -7.40079629e-01 6.11717594e-03 -2.69891808e+01] [ 7.40047378e-01 -6.72519240e-01 -6.91019808e-03 -2.38953091e+02] [ 9.22801534e-03 -1.20048972e-04 9.99957414e-01 -9.04295517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.040385723 meters 0.014680415337117827 Centerline is valid? [True, True] Translation: X:-27.01, Y:-238.94, Z:-9.04 [[-6.72717883e-01 -7.39873405e-01 6.16397343e-03 -2.70105351e+01] [ 7.39840689e-01 -6.72746111e-01 -6.95879028e-03 -2.38935883e+02] [ 9.29541301e-03 -1.20944319e-04 9.99956789e-01 -9.04257116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.070385723 meters 0.014786063247465685 Centerline is valid? [True, True] Translation: X:-27.03, Y:-238.92, Z:-9.04 [[-6.73103631e-01 -7.39524858e-01 5.87255163e-03 -2.70292376e+01] [ 7.39495187e-01 -6.73129238e-01 -6.62552911e-03 -2.38916976e+02] [ 8.85272967e-03 -1.16944039e-04 9.99960807e-01 -9.04266113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.100385723 meters 0.014955521929090542 Centerline is valid? [True, True] Translation: X:-27.05, Y:-238.90, Z:-9.04 [[-6.73585768e-01 -7.39085376e-01 5.91780042e-03 -2.70479293e+01] [ 7.39055267e-01 -6.73611752e-01 -6.67233552e-03 -2.38898344e+02] [ 8.91772551e-03 -1.20808675e-04 9.99960229e-01 -9.04228372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.130385723 meters 0.01490759063661817 Centerline is valid? [True, True] Translation: X:-27.07, Y:-238.88, Z:-9.04 [[-6.74595376e-01 -7.38168164e-01 5.37026965e-03 -2.70699508e+01] [ 7.38143370e-01 -6.74616741e-01 -6.05128262e-03 -2.38881059e+02] [ 8.08973799e-03 -1.18138339e-04 9.99967271e-01 -9.04135924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.160385723 meters 0.015035642052480062 Centerline is valid? [True, True] Translation: X:-27.09, Y:-238.86, Z:-9.04 [[-6.75518141e-01 -7.37323855e-01 5.36426824e-03 -2.70902972e+01] [ 7.37299119e-01 -6.75539427e-01 -6.04083939e-03 -2.38862164e+02] [ 8.07782968e-03 -1.25626343e-04 9.99967366e-01 -9.04161568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.190385723 meters 0.015355094223369632 Centerline is valid? [True, True] Translation: X:-27.11, Y:-238.84, Z:-9.04 [[-6.77336911e-01 -7.35650240e-01 5.78213007e-03 -2.71121716e+01] [ 7.35621470e-01 -6.77361573e-01 -6.50786070e-03 -2.38844427e+02] [ 8.70410201e-03 -1.54555240e-04 9.99962107e-01 -9.04199920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2203857229999 meters 0.01661187430238017 Centerline is valid? [True, True] Translation: X:-27.13, Y:-238.83, Z:-9.04 [[-6.80481209e-01 -7.32740094e-01 6.10566081e-03 -2.71321430e+01] [ 7.32707926e-01 -6.80508571e-01 -6.86877599e-03 -2.38826415e+02] [ 9.18798208e-03 -2.00406919e-04 9.99957770e-01 -9.04300038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.250385723 meters 0.01716142272601727 Centerline is valid? [True, True] Translation: X:-27.15, Y:-238.81, Z:-9.04 [[-6.81797781e-01 -7.31515389e-01 6.08456904e-03 -2.71522555e+01] [ 7.31483428e-01 -6.81824897e-01 -6.84140656e-03 -2.38806318e+02] [ 9.15320484e-03 -2.13694391e-04 9.99958086e-01 -9.04304328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.280385723 meters 0.01868957842427689 Centerline is valid? [True, True] Translation: X:-27.17, Y:-238.79, Z:-9.04 [[-6.83096339e-01 -7.30302523e-01 6.13330626e-03 -2.71720750e+01] [ 7.30270032e-01 -6.83123834e-01 -6.89256481e-03 -2.38786871e+02] [ 9.22346516e-03 -2.29316023e-04 9.99957437e-01 -9.04424054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.310385723 meters 0.01833771375633083 Centerline is valid? [True, True] Translation: X:-27.19, Y:-238.77, Z:-9.04 [[-6.83916135e-01 -7.29537436e-01 5.81808755e-03 -2.71932010e+01] [ 7.29508203e-01 -6.83940845e-01 -6.53468256e-03 -2.38769989e+02] [ 8.74652327e-03 -2.24832244e-04 9.99961723e-01 -9.04273298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3403857229999 meters 0.017939628325176264 Centerline is valid? [True, True] Translation: X:-27.22, Y:-238.75, Z:-9.04 [[-6.84722300e-01 -7.28778451e-01 6.11075196e-03 -2.72159041e+01] [ 7.28746207e-01 -6.84749524e-01 -6.85972737e-03 -2.38753060e+02] [ 9.18355598e-03 -2.43820999e-04 9.99957801e-01 -9.04176094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.370385723 meters 0.01829441938205556 Centerline is valid? [True, True] Translation: X:-27.24, Y:-238.73, Z:-9.04 [[-6.85552867e-01 -7.27998312e-01 5.97697067e-03 -2.72372253e+01] [ 7.27967468e-01 -6.85578878e-01 -6.70587236e-03 -2.38734700e+02] [ 8.97954860e-03 -2.46189816e-04 9.99959653e-01 -9.04236741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.400385723 meters 0.01845241835889384 Centerline is valid? [True, True] Translation: X:-27.26, Y:-238.72, Z:-9.04 [[-6.85756319e-01 -7.27806404e-01 6.00904722e-03 -2.72556806e+01] [ 7.27775245e-01 -6.85782601e-01 -6.73916990e-03 -2.38715172e+02] [ 9.02571104e-03 -2.48192534e-04 9.99959237e-01 -9.04179884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.430385723 meters 0.017910816456135382 Centerline is valid? [True, True] Translation: X:-27.28, Y:-238.70, Z:-9.04 [[-6.86499679e-01 -7.27111032e-01 5.26669062e-03 -2.72786334e+01] [ 7.27087101e-01 -6.86519845e-01 -5.90340645e-03 -2.38698609e+02] [ 7.90811958e-03 -2.23343821e-04 9.99968705e-01 -9.03996927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.460385723 meters 0.019626464917050862 Centerline is valid? [True, True] Translation: X:-27.30, Y:-238.68, Z:-9.04 [[-6.87104665e-01 -7.26541504e-01 4.96198505e-03 -2.72961753e+01] [ 7.26520274e-01 -6.87122548e-01 -5.55830613e-03 -2.38678456e+02] [ 7.44783191e-03 -2.14155334e-04 9.99972242e-01 -9.04034147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.490385723 meters 0.02104317956392605 Centerline is valid? [True, True] Translation: X:-27.32, Y:-238.66, Z:-9.04 [[-6.87412462e-01 -7.26245796e-01 5.58121143e-03 -2.73183812e+01] [ 7.26218958e-01 -6.87435077e-01 -6.24825446e-03 -2.38661128e+02] [ 8.37448904e-03 -2.41946439e-04 9.99964904e-01 -9.04245279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.520385723 meters 0.01645747965007776 Centerline is valid? [True, True] Translation: X:-27.34, Y:-238.65, Z:-9.04 [[-6.86406490e-01 -7.27197343e-01 5.49134653e-03 -2.73446984e+01] [ 7.27171418e-01 -6.86428419e-01 -6.14451616e-03 -2.38645990e+02] [ 8.23769213e-03 -2.24485533e-04 9.99966045e-01 -9.03887010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.550385723 meters 0.01886619081000457 Centerline is valid? [True, True] Translation: X:-27.36, Y:-238.62, Z:-9.04 [[-6.86077674e-01 -7.27507890e-01 5.44930375e-03 -2.73611925e+01] [ 7.27482400e-01 -6.86099280e-01 -6.09391152e-03 -2.38624597e+02] [ 8.17213210e-03 -2.16624069e-04 9.99966584e-01 -9.04040384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.580385723 meters 0.018781002987840092 Centerline is valid? [True, True] Translation: X:-27.38, Y:-238.61, Z:-9.04 [[-6.85694864e-01 -7.27868060e-01 5.53543056e-03 -2.73819052e+01] [ 7.27841797e-01 -6.85717174e-01 -6.18684340e-03 -2.38605897e+02] [ 8.29894550e-03 -2.13369019e-04 9.99965540e-01 -9.04115154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.610385723 meters 0.01630536409048933 Centerline is valid? [True, True] Translation: X:-27.41, Y:-238.59, Z:-9.04 [[-6.83681948e-01 -7.29757292e-01 5.76965532e-03 -2.74071151e+01] [ 7.29728857e-01 -6.83706265e-01 -6.44507615e-03 -2.38590594e+02] [ 8.64809080e-03 -1.96098237e-04 9.99962585e-01 -9.04027773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.640385723 meters 0.01630536409048933 Centerline is valid? [True, True] Translation: X:-27.43, Y:-238.57, Z:-9.04 [[-6.83881211e-01 -7.29570545e-01 5.77141524e-03 -2.74255461e+01] [ 7.29542117e-01 -6.83905536e-01 -6.44350022e-03 -2.38570096e+02] [ 8.64809080e-03 -1.96098247e-04 9.99962585e-01 -9.04027801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.670385723 meters 0.015522175137290553 Centerline is valid? [True, True] Translation: X:-27.45, Y:-238.55, Z:-9.04 [[-6.83030683e-01 -7.30366275e-01 5.84726037e-03 -2.74465281e+01] [ 7.30337155e-01 -6.83055686e-01 -6.52451137e-03 -2.38551509e+02] [ 8.75928751e-03 -1.85969952e-04 9.99961619e-01 -9.03976502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.700385723 meters 0.015082530664433429 Centerline is valid? [True, True] Translation: X:-27.47, Y:-238.53, Z:-9.04 [[-6.80412079e-01 -7.32806803e-01 5.79582309e-03 -2.74677683e+01] [ 7.32778313e-01 -6.80436747e-01 -6.46359482e-03 -2.38533310e+02] [ 8.68025726e-03 -1.50854533e-04 9.99962315e-01 -9.03938861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.730385723 meters 0.015637854085967184 Centerline is valid? [True, True] Translation: X:-27.49, Y:-238.51, Z:-9.04 [[-6.79419269e-01 -7.33727894e-01 5.73008034e-03 -2.74857084e+01] [ 7.33700110e-01 -6.79443419e-01 -6.38668530e-03 -2.38513136e+02] [ 8.57935453e-03 -1.35076485e-04 9.99963188e-01 -9.03998387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.760385723 meters 0.014528460399959541 Centerline is valid? [True, True] Translation: X:-27.51, Y:-238.50, Z:-9.04 [[-6.77522006e-01 -7.35482748e-01 5.39055083e-03 -2.75082491e+01] [ 7.35458241e-01 -6.77543443e-01 -6.00497872e-03 -2.38495330e+02] [ 8.06889062e-03 -1.03980203e-04 9.99967441e-01 -9.03853606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.790385723 meters 0.0165438238091393 Centerline is valid? [True, True] Translation: X:-27.53, Y:-238.48, Z:-9.04 [[-6.77626248e-01 -7.35387274e-01 5.31264041e-03 -2.75286574e+01] [ 7.35363494e-01 -6.77647066e-01 -5.91481328e-03 -2.38476331e+02] [ 7.94977361e-03 -1.01310923e-04 9.99968395e-01 -9.03956617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.820385723 meters 0.014332722525337308 Centerline is valid? [True, True] Translation: X:-27.55, Y:-238.46, Z:-9.04 [[-6.77228629e-01 -7.35760079e-01 4.30011440e-03 -2.75462309e+01] [ 7.35744525e-01 -6.77242276e-01 -4.78472249e-03 -2.38455709e+02] [ 6.43262706e-03 -7.65654297e-05 9.99979308e-01 -9.03729222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.850385723 meters 0.014529621337399228 Centerline is valid? [True, True] Translation: X:-27.56, Y:-238.44, Z:-9.04 [[-6.77949154e-01 -7.35097678e-01 4.04343565e-03 -2.75639791e+01] [ 7.35083930e-01 -6.77961207e-01 -4.49640020e-03 -2.38435049e+02] [ 6.04658586e-03 -7.60661446e-05 9.99981716e-01 -9.03689460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.880385723 meters 0.014265616677870852 Centerline is valid? [True, True] Translation: X:-27.58, Y:-238.41, Z:-9.04 [[-6.78958621e-01 -7.34166479e-01 3.84348740e-03 -2.75833529e+01] [ 7.34154056e-01 -6.78969495e-01 -4.27163810e-03 -2.38414902e+02] [ 5.74570420e-03 -7.85536496e-05 9.99983490e-01 -9.03611442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.910385723 meters 0.01471536098587776 Centerline is valid? [True, True] Translation: X:-27.60, Y:-238.39, Z:-9.04 [[-6.81642780e-01 -7.31672978e-01 4.21582401e-03 -2.76016908e+01] [ 7.31658000e-01 -6.81655809e-01 -4.68296542e-03 -2.38393406e+02] [ 6.30014018e-03 -1.07568207e-04 9.99980148e-01 -9.03622295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.940385723 meters 0.0159051875812434 Centerline is valid? [True, True] Translation: X:-27.62, Y:-238.37, Z:-9.04 [[-6.84584654e-01 -7.28922595e-01 3.96257802e-03 -2.76203713e+01] [ 7.28909330e-01 -6.84596111e-01 -4.39933957e-03 -2.38371538e+02] [ 5.91954352e-03 -1.23360271e-04 9.99982472e-01 -9.03709833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9703857229999 meters 0.01712937313830488 Centerline is valid? [True, True] Translation: X:-27.64, Y:-238.35, Z:-9.04 [[-6.85742530e-01 -7.27832933e-01 4.05013789e-03 -2.76394433e+01] [ 7.27819071e-01 -6.85754477e-01 -4.49417357e-03 -2.38350354e+02] [ 6.04840773e-03 -1.34078358e-04 9.99981699e-01 -9.03809754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.000385723 meters 0.016145086044430306 Centerline is valid? [True, True] Translation: X:-27.66, Y:-238.33, Z:-9.04 [[-6.86826372e-01 -7.26813144e-01 3.49109816e-03 -2.76585802e+01] [ 7.26802842e-01 -6.86835234e-01 -3.87179845e-03 -2.38329899e+02] [ 5.21188322e-03 -1.21913224e-04 9.99986411e-01 -9.03703562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.030385723 meters 0.016269107088150422 Centerline is valid? [True, True] Translation: X:-27.68, Y:-238.31, Z:-9.04 [[-6.86877742e-01 -7.26762270e-01 3.94601409e-03 -2.76773361e+01] [ 7.26749120e-01 -6.86889063e-01 -4.37390862e-03 -2.38309104e+02] [ 5.88926568e-03 -1.36578205e-04 9.99982649e-01 -9.03721673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.060385723 meters 0.016126268184205886 Centerline is valid? [True, True] Translation: X:-27.70, Y:-238.29, Z:-9.04 [[-6.86323112e-01 -7.27285097e-01 4.11987232e-03 -2.76967902e+01] [ 7.27270789e-01 -6.86335464e-01 -4.56410854e-03 -2.38288762e+02] [ 6.14702261e-03 -1.36190390e-04 9.99981098e-01 -9.03791420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0903857229999 meters 0.015935173258740876 Centerline is valid? [True, True] Translation: X:-27.72, Y:-238.27, Z:-9.04 [[-6.84462471e-01 -7.29031758e-01 4.88065750e-03 -2.77168089e+01] [ 7.29011743e-01 -6.84479858e-01 -5.40397682e-03 -2.38269676e+02] [ 7.28038247e-03 -1.40762700e-04 9.99973488e-01 -9.03927075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.120385723 meters 0.015553745908996927 Centerline is valid? [True, True] Translation: X:-27.74, Y:-238.25, Z:-9.04 [[-6.82506760e-01 -7.30858274e-01 5.54126644e-03 -2.77368313e+01] [ 7.30832561e-01 -6.82529241e-01 -6.13217161e-03 -2.38251384e+02] [ 8.26382474e-03 -1.35510633e-04 9.99965845e-01 -9.04081276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.150385723 meters 0.015051883420738458 Centerline is valid? [True, True] Translation: X:-27.76, Y:-238.23, Z:-9.04 [[-6.81892145e-01 -7.31429454e-01 5.83577350e-03 -2.77566220e+01] [ 7.31400986e-01 -6.81917104e-01 -6.45454098e-03 -2.38231619e+02] [ 8.70055515e-03 -1.33010306e-04 9.99962141e-01 -9.04057088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.180385723 meters 0.015635926057330635 Centerline is valid? [True, True] Translation: X:-27.78, Y:-238.21, Z:-9.04 [[-6.82086629e-01 -7.31249284e-01 5.68466034e-03 -2.77756562e+01] [ 7.31222295e-01 -6.82110305e-01 -6.28386338e-03 -2.38211432e+02] [ 8.47263599e-03 -1.29388803e-04 9.99964098e-01 -9.04118838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.210385723 meters 0.0158261632333413 Centerline is valid? [True, True] Translation: X:-27.79, Y:-238.19, Z:-9.04 [[-6.82101676e-01 -7.31236749e-01 5.48812723e-03 -2.77915177e+01] [ 7.31211615e-01 -6.82123743e-01 -6.06412171e-03 -2.38189434e+02] [ 8.17789053e-03 -1.23365212e-04 9.99966553e-01 -9.04087228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.240385723 meters 0.014642864028520358 Centerline is valid? [True, True] Translation: X:-27.81, Y:-238.17, Z:-9.04 [[-6.82601240e-01 -7.30773404e-01 5.07727197e-03 -2.78110482e+01] [ 7.30751903e-01 -6.82620113e-01 -5.60695995e-03 -2.38169573e+02] [ 7.56326517e-03 -1.17091658e-04 9.99971391e-01 -9.03888987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.270385723 meters 0.015092061459141366 Centerline is valid? [True, True] Translation: X:-27.83, Y:-238.15, Z:-9.04 [[-6.83725168e-01 -7.29726261e-01 4.41340754e-03 -2.78278325e+01] [ 7.29710013e-01 -6.83739403e-01 -4.87092101e-03 -2.38148547e+02] [ 6.57205962e-03 -1.09863616e-04 9.99978398e-01 -9.03916100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.300385723 meters 0.01740674865517841 Centerline is valid? [True, True] Translation: X:-27.85, Y:-238.13, Z:-9.04 [[-6.84838288e-01 -7.28684388e-01 3.94736172e-03 -2.78459789e+01] [ 7.28671387e-01 -6.84849656e-01 -4.35412719e-03 -2.38127561e+02] [ 5.87613382e-03 -1.05543467e-04 9.99982730e-01 -9.04063462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.330385723 meters 0.01661428534092524 Centerline is valid? [True, True] Translation: X:-27.86, Y:-238.11, Z:-9.04 [[-6.85076583e-01 -7.28462915e-01 3.44331508e-03 -2.78617583e+01] [ 7.28453031e-01 -6.85085230e-01 -3.79589814e-03 -2.38105242e+02] [ 5.12413533e-03 -9.21876231e-05 9.99986867e-01 -9.03901003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.360385723 meters 0.015335687757500386 Centerline is valid? [True, True] Translation: X:-27.88, Y:-238.09, Z:-9.04 [[-6.85257909e-01 -7.28293470e-01 3.19693583e-03 -2.78827350e+01] [ 7.28284957e-01 -6.85265361e-01 -3.52235008e-03 -2.38085954e+02] [ 4.75605395e-03 -8.54379737e-05 9.99988686e-01 -9.03812001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.390385723 meters 0.015268375540879864 Centerline is valid? [True, True] Translation: X:-27.90, Y:-238.07, Z:-9.04 [[-6.84854412e-01 -7.28675109e-01 2.64949212e-03 -2.79014320e+01] [ 7.28669271e-01 -6.84859534e-01 -2.91757910e-03 -2.38065389e+02] [ 3.94049721e-03 -6.75134241e-05 9.99992234e-01 -9.03733801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.420385723 meters 0.014687798842097186 Centerline is valid? [True, True] Translation: X:-27.92, Y:-238.05, Z:-9.04 [[-6.84485848e-01 -7.29021640e-01 2.56377323e-03 -2.79216462e+01] [ 7.29016182e-01 -6.84490646e-01 -2.82158052e-03 -2.38045819e+02] [ 3.81187206e-03 -6.22997604e-05 9.99992733e-01 -9.03653068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.450385723 meters 0.01610836635209983 Centerline is valid? [True, True] Translation: X:-27.94, Y:-238.03, Z:-9.04 [[-6.82955893e-01 -7.30454096e-01 2.83912554e-03 -2.79408253e+01] [ 7.30447421e-01 -6.82961792e-01 -3.12332474e-03 -2.38027231e+02] [ 4.22045961e-03 -5.92611114e-05 9.99991092e-01 -9.03850133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.480385723 meters 0.01678861837294664 Centerline is valid? [True, True] Translation: X:-27.96, Y:-238.01, Z:-9.04 [[-6.82232588e-01 -7.31128246e-01 3.19112221e-03 -2.79590235e+01] [ 7.31119830e-01 -6.82240049e-01 -3.50853179e-03 -2.38007032e+02] [ 4.74229806e-03 -6.05419959e-05 9.99988753e-01 -9.03975452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.510385723 meters 0.014424553443779605 Centerline is valid? [True, True] Translation: X:-27.98, Y:-237.99, Z:-9.04 [[-6.81698324e-01 -7.31625455e-01 3.40425960e-03 -2.79792568e+01] [ 7.31615894e-01 -6.81706822e-01 -3.74080032e-03 -2.37987187e+02] [ 5.05757173e-03 -5.94868757e-05 9.99987209e-01 -9.03790365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.540385723 meters 0.01441713646347152 Centerline is valid? [True, True] Translation: X:-28.00, Y:-237.97, Z:-9.04 [[-6.82032785e-01 -7.31314135e-01 3.30385635e-03 -2.79978624e+01] [ 7.31305136e-01 -6.82040785e-01 -3.62845539e-03 -2.37966017e+02] [ 4.90690549e-03 -5.85984207e-05 9.99987959e-01 -9.03793971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.570385723 meters 0.017474020502078438 Centerline is valid? [True, True] Translation: X:-28.01, Y:-237.94, Z:-9.04 [[-6.83052622e-01 -7.30360530e-01 3.55135529e-03 -2.80139005e+01] [ 7.30350131e-01 -6.83061851e-01 -3.89798811e-03 -2.37944501e+02] [ 5.27273198e-03 -6.87981955e-05 9.99986097e-01 -9.04083394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.600385723 meters 0.014805657407406395 Centerline is valid? [True, True] Translation: X:-28.03, Y:-237.92, Z:-9.04 [[-6.83538673e-01 -7.29905378e-01 3.60847191e-03 -2.80325243e+01] [ 7.29894648e-01 -6.83548194e-01 -3.95851768e-03 -2.37923021e+02] [ 5.35590780e-03 -7.19955875e-05 9.99985655e-01 -9.03835875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.630385723 meters 0.014769738082373038 Centerline is valid? [True, True] Translation: X:-28.05, Y:-237.90, Z:-9.04 [[-6.84299396e-01 -7.29185493e-01 4.78047860e-03 -2.80516029e+01] [ 7.29166662e-01 -6.84316087e-01 -5.24142996e-03 -2.37902371e+02] [ 7.09333310e-03 -1.00941733e-04 9.99974837e-01 -9.03980609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.660385723 meters 0.014994466414620008 Centerline is valid? [True, True] Translation: X:-28.07, Y:-237.88, Z:-9.04 [[-6.84905950e-01 -7.28613799e-01 5.07651896e-03 -2.80688017e+01] [ 7.28592573e-01 -6.84924754e-01 -5.56274034e-03 -2.37881757e+02] [ 7.53012287e-03 -1.11239947e-04 9.99971642e-01 -9.04079110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.690385723 meters 0.016967298061359614 Centerline is valid? [True, True] Translation: X:-28.09, Y:-237.86, Z:-9.04 [[-6.85294938e-01 -7.28248757e-01 4.95948299e-03 -2.80855637e+01] [ 7.28228510e-01 -6.85312874e-01 -5.43153381e-03 -2.37858492e+02] [ 7.35430529e-03 -1.10565717e-04 9.99972951e-01 -9.04239411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7203857229999 meters 0.01629445258151554 Centerline is valid? [True, True] Translation: X:-28.10, Y:-237.84, Z:-9.04 [[-6.85504300e-01 -7.28050389e-01 5.14636601e-03 -2.81043639e+01] [ 7.28028606e-01 -6.85523609e-01 -5.63304279e-03 -2.37837206e+02] [ 7.62909439e-03 -1.14773383e-04 9.99970892e-01 -9.04087772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.750385723 meters 0.014830351100990893 Centerline is valid? [True, True] Translation: X:-28.12, Y:-237.82, Z:-9.04 [[-6.85730304e-01 -7.27838584e-01 4.99465864e-03 -2.81213467e+01] [ 7.27818083e-01 -6.85748484e-01 -5.46393753e-03 -2.37815352e+02] [ 7.40194415e-03 -1.11584665e-04 9.99972599e-01 -9.03909694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.780385723 meters 0.01643397945850202 Centerline is valid? [True, True] Translation: X:-28.14, Y:-237.79, Z:-9.04 [[-6.85794676e-01 -7.27778112e-01 4.96808727e-03 -2.81379391e+01] [ 7.27757851e-01 -6.85812662e-01 -5.43167208e-03 -2.37793734e+02] [ 7.36022921e-03 -1.09447283e-04 9.99972907e-01 -9.04068285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.810385723 meters 0.0144896575885812 Centerline is valid? [True, True] Translation: X:-28.16, Y:-237.77, Z:-9.04 [[-6.85876628e-01 -7.27701686e-01 4.84846874e-03 -2.81583920e+01] [ 7.27682408e-01 -6.85893757e-01 -5.29783947e-03 -2.37774070e+02] [ 7.18078116e-03 -1.05518864e-04 9.99974212e-01 -9.03777124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8403857229999 meters 0.015044824501860827 Centerline is valid? [True, True] Translation: X:-28.17, Y:-237.75, Z:-9.04 [[-6.86103456e-01 -7.27495718e-01 3.46814592e-03 -2.81740388e+01] [ 7.27485863e-01 -6.86112217e-01 -3.78731074e-03 -2.37751397e+02] [ 5.13478964e-03 -7.54598603e-05 9.99986814e-01 -9.03703887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.870385723 meters 0.01494414113479457 Centerline is valid? [True, True] Translation: X:-28.19, Y:-237.73, Z:-9.04 [[-6.86236201e-01 -7.27373362e-01 2.80508256e-03 -2.81916694e+01] [ 7.27366921e-01 -6.86241932e-01 -3.06154651e-03 -2.37728980e+02] [ 4.15185265e-03 -6.06197836e-05 9.99991379e-01 -9.03641061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.900385723 meters 0.015020272139562597 Centerline is valid? [True, True] Translation: X:-28.21, Y:-237.71, Z:-9.04 [[-6.86491543e-01 -7.27132210e-01 2.84800226e-03 -2.82096623e+01] [ 7.27125576e-01 -6.86497447e-01 -3.10668797e-03 -2.37707580e+02] [ 4.21411917e-03 -6.18597346e-05 9.99991119e-01 -9.03661200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.930385723 meters 0.01839647857978766 Centerline is valid? [True, True] Translation: X:-28.23, Y:-237.69, Z:-9.04 [[-6.86866672e-01 -7.26775178e-01 3.46631369e-03 -2.82278249e+01] [ 7.26765357e-01 -6.86875414e-01 -3.77907479e-03 -2.37686394e+02] [ 5.12746341e-03 -7.65238211e-05 9.99986852e-01 -9.04049400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.960385723 meters 0.01476335343032923 Centerline is valid? [True, True] Translation: X:-28.25, Y:-237.67, Z:-9.04 [[-6.86198645e-01 -7.27402479e-01 4.12951327e-03 -2.82464977e+01] [ 7.27388567e-01 -6.86211066e-01 -4.49960295e-03 -2.37665213e+02] [ 6.10674004e-03 -8.38607140e-05 9.99981350e-01 -9.03864546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.990385723 meters 0.015413098877424912 Centerline is valid? [True, True] Translation: X:-28.26, Y:-237.64, Z:-9.04 [[-6.85306552e-01 -7.28239947e-01 4.63777159e-03 -2.82618261e+01] [ 7.28222438e-01 -6.85322239e-01 -5.05061459e-03 -2.37641895e+02] [ 6.85642731e-03 -8.38899333e-05 9.99976491e-01 -9.03962043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.020385723 meters 0.014553998996141376 Centerline is valid? [True, True] Translation: X:-28.28, Y:-237.62, Z:-9.04 [[-6.84997639e-01 -7.28532110e-01 4.38167925e-03 -2.82811014e+01] [ 7.28516504e-01 -6.85011649e-01 -4.76910381e-03 -2.37621589e+02] [ 6.47594659e-03 -7.46992026e-05 9.99979028e-01 -9.03754651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.050385723 meters 0.01775689932263828 Centerline is valid? [True, True] Translation: X:-28.30, Y:-237.60, Z:-9.04 [[-6.84923915e-01 -7.28599666e-01 4.66450373e-03 -2.82979827e+01] [ 7.28582002e-01 -6.84939793e-01 -5.07399194e-03 -2.37600466e+02] [ 6.89181305e-03 -7.68249511e-05 9.99976248e-01 -9.04026308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.080385723 meters 0.01452906814430321 Centerline is valid? [True, True] Translation: X:-28.31, Y:-237.58, Z:-9.04 [[-6.84330589e-01 -7.29159446e-01 4.25993581e-03 -2.83149897e+01] [ 7.29144742e-01 -6.84343845e-01 -4.63108234e-03 -2.37578677e+02] [ 6.29205828e-03 -6.30815111e-05 9.99980203e-01 -9.03573757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.110385723 meters 0.014334225388576635 Centerline is valid? [True, True] Translation: X:-28.33, Y:-237.56, Z:-9.04 [[-6.84339908e-01 -7.29149873e-01 4.39924364e-03 -2.83332983e+01] [ 7.29134209e-01 -6.84354045e-01 -4.77983811e-03 -2.37558048e+02] [ 6.49585853e-03 -6.33949492e-05 9.99978900e-01 -9.03554683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.140385723 meters 0.01449591863249804 Centerline is valid? [True, True] Translation: X:-28.35, Y:-237.54, Z:-9.04 [[-6.84435823e-01 -7.29052915e-01 5.42684656e-03 -2.83484243e+01] [ 7.29029095e-01 -6.84457333e-01 -5.89392772e-03 -2.37535797e+02] [ 8.01143011e-03 -7.76862408e-05 9.99967905e-01 -9.03673594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.170385723 meters 0.014638950567039927 Centerline is valid? [True, True] Translation: X:-28.36, Y:-237.51, Z:-9.04 [[-6.84852842e-01 -7.28662311e-01 5.27458107e-03 -2.83648513e+01] [ 7.28639825e-01 -6.84873150e-01 -5.72490618e-03 -2.37514967e+02] [ 7.78394231e-03 -7.74484456e-05 9.99969702e-01 -9.03711545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.200385723 meters 0.014531474145257446 Centerline is valid? [True, True] Translation: X:-28.38, Y:-237.49, Z:-9.04 [[-6.85286697e-01 -7.28256067e-01 5.02421387e-03 -2.83830573e+01] [ 7.28235677e-01 -6.85305111e-01 -5.45014262e-03 -2.37494134e+02] [ 7.41221887e-03 -7.60984405e-05 9.99972526e-01 -9.03636397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.230385723 meters 0.014783345158829266 Centerline is valid? [True, True] Translation: X:-28.40, Y:-237.47, Z:-9.04 [[-6.86254724e-01 -7.27343549e-01 5.08086511e-03 -2.83993663e+01] [ 7.27322694e-01 -6.86273528e-01 -5.50855102e-03 -2.37470579e+02] [ 7.49347227e-03 -8.48406631e-05 9.99971920e-01 -9.03628614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.260385723 meters 0.01671127263867298 Centerline is valid? [True, True] Translation: X:-28.42, Y:-237.45, Z:-9.04 [[-6.86941926e-01 -7.26693143e-01 5.27888154e-03 -2.84163944e+01] [ 7.26670637e-01 -6.86962203e-01 -5.71990712e-03 -2.37449138e+02] [ 7.78300937e-03 -9.32357978e-05 9.99969708e-01 -9.03857458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.290385723 meters 0.015101938599110491 Centerline is valid? [True, True] Translation: X:-28.43, Y:-237.43, Z:-9.04 [[-6.88437515e-01 -7.25276191e-01 5.31353049e-03 -2.84328032e+01] [ 7.25253370e-01 -6.88458012e-01 -5.75457457e-03 -2.37426327e+02] [ 7.83179857e-03 -1.08009121e-04 9.99969325e-01 -9.03592124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.320385723 meters 0.018779838262675843 Centerline is valid? [True, True] Translation: X:-28.45, Y:-237.40, Z:-9.04 [[-6.89529967e-01 -7.24232581e-01 5.96601572e-03 -2.84486819e+01] [ 7.24203785e-01 -6.89555763e-01 -6.45965112e-03 -2.37404366e+02] [ 8.79219033e-03 -1.33511852e-04 9.99961339e-01 -9.03996999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.350385723 meters 0.015411953454662746 Centerline is valid? [True, True] Translation: X:-28.46, Y:-237.38, Z:-9.04 [[-6.89844041e-01 -7.23933281e-01 5.98366245e-03 -2.84649639e+01] [ 7.23904334e-01 -6.89869978e-01 -6.47517155e-03 -2.37380589e+02] [ 8.81554127e-03 -1.35259318e-04 9.99961133e-01 -9.03543696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.380385723 meters 0.018712608825935024 Centerline is valid? [True, True] Translation: X:-28.48, Y:-237.36, Z:-9.04 [[-6.89608316e-01 -7.24152455e-01 6.60247816e-03 -2.84839096e+01] [ 7.24117261e-01 -6.89639907e-01 -7.14080145e-03 -2.37359352e+02] [ 9.72436133e-03 -1.43387666e-04 9.99952707e-01 -9.03843700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.410385723 meters 0.014930032972389064 Centerline is valid? [True, True] Translation: X:-28.50, Y:-237.34, Z:-9.04 [[-6.88576514e-01 -7.25137628e-01 6.14860215e-03 -2.85024758e+01] [ 7.25107179e-01 -6.88603955e-01 -6.64621047e-03 -2.37338572e+02] [ 9.05336905e-03 -1.18028871e-04 9.99959011e-01 -9.03504005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.440385723 meters 0.0146073592018606 Centerline is valid? [True, True] Translation: X:-28.52, Y:-237.32, Z:-9.04 [[-6.86401369e-01 -7.27192075e-01 6.69677802e-03 -2.85212571e+01] [ 7.27156089e-01 -6.86434029e-01 -7.23498669e-03 -2.37317075e+02] [ 9.85812131e-03 -9.65018484e-05 9.99951403e-01 -9.03520900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4703857229999 meters 0.014823359597970466 Centerline is valid? [True, True] Translation: X:-28.54, Y:-237.30, Z:-9.04 [[-6.85203293e-01 -7.28319081e-01 6.91114344e-03 -2.85375139e+01] [ 7.28280842e-01 -6.85238141e-01 -7.46355391e-03 -2.37295431e+02] [ 1.01716278e-02 -8.07983516e-05 9.99948264e-01 -9.03661180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.500385723 meters 0.014460341791930878 Centerline is valid? [True, True] Translation: X:-28.56, Y:-237.27, Z:-9.04 [[-6.85108156e-01 -7.28409562e-01 6.80624541e-03 -2.85565358e+01] [ 7.28372520e-01 -6.85141960e-01 -7.34625244e-03 -2.37274684e+02] [ 1.00143248e-02 -7.54953447e-05 9.99949853e-01 -9.03544124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.530385723 meters 0.014460341791930878 Centerline is valid? [True, True] Translation: X:-28.58, Y:-237.25, Z:-9.04 [[-6.85306462e-01 -7.28222974e-01 6.80824550e-03 -2.85753216e+01] [ 7.28185942e-01 -6.85340276e-01 -7.34439887e-03 -2.37254503e+02] [ 1.00143248e-02 -7.54953477e-05 9.99949853e-01 -9.03544152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.560385723 meters 0.014414427287338338 Centerline is valid? [True, True] Translation: X:-28.59, Y:-237.23, Z:-9.04 [[-6.85285937e-01 -7.28242179e-01 6.82007389e-03 -2.85927904e+01] [ 7.28205063e-01 -6.85319870e-01 -7.35267060e-03 -2.37233531e+02] [ 1.00284570e-02 -7.22694301e-05 9.99949711e-01 -9.03521545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5903857229999 meters 0.014414173451104165 Centerline is valid? [True, True] Translation: X:-28.61, Y:-237.21, Z:-9.04 [[-6.85345721e-01 -7.28179342e-01 7.48927991e-03 -2.86095861e+01] [ 7.28134630e-01 -6.85386636e-01 -8.06971627e-03 -2.37210413e+02] [ 1.10092530e-02 -7.73414594e-05 9.99939393e-01 -9.03505244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.620385723 meters 0.014329717883234012 Centerline is valid? [True, True] Translation: X:-28.63, Y:-237.19, Z:-9.03 [[-6.85788413e-01 -7.27757643e-01 7.94140304e-03 -2.86271315e+01] [ 7.27707397e-01 -6.85834387e-01 -8.55209024e-03 -2.37188723e+02] [ 1.16703363e-02 -8.59066678e-05 9.99931896e-01 -9.03489224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.650385723 meters 0.014582811660945718 Centerline is valid? [True, True] Translation: X:-28.64, Y:-237.16, Z:-9.04 [[-6.86469404e-01 -7.27115116e-01 7.96027554e-03 -2.86419369e+01] [ 7.27064647e-01 -6.86515549e-01 -8.56735179e-03 -2.37164984e+02] [ 1.16943039e-02 -9.35899500e-05 9.99931615e-01 -9.03582446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.680385723 meters 0.016936939885792104 Centerline is valid? [True, True] Translation: X:-28.66, Y:-237.14, Z:-9.04 [[-6.86529902e-01 -7.27049605e-01 8.69287154e-03 -2.86598813e+01] [ 7.26989486e-01 -6.86584927e-01 -9.35014071e-03 -2.37144032e+02] [ 1.27664107e-02 -9.95249788e-05 9.99918501e-01 -9.03648723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.710385723 meters 0.015447458249127648 Centerline is valid? [True, True] Translation: X:-28.68, Y:-237.12, Z:-9.04 [[-6.85023325e-01 -7.28476415e-01 8.07199550e-03 -2.86757289e+01] [ 7.28424736e-01 -6.85070879e-01 -8.67729167e-03 -2.37121474e+02] [ 1.18510914e-02 -6.43060037e-05 9.99929771e-01 -9.03584756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.740385723 meters 0.013915788682825841 Centerline is valid? [True, True] Translation: X:-28.69, Y:-237.10, Z:-9.03 [[-6.84132278e-01 -7.29315894e-01 7.83276256e-03 -2.86940147e+01] [ 7.29267341e-01 -6.84177115e-01 -8.41549438e-03 -2.37099555e+02] [ 1.14965507e-02 -4.51334169e-05 9.99933912e-01 -9.03422294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.770385723 meters 0.013837361380684669 Centerline is valid? [True, True] Translation: X:-28.71, Y:-237.08, Z:-9.03 [[-6.82871004e-01 -7.30500003e-01 7.54571426e-03 -2.87106084e+01] [ 7.30455065e-01 -6.82912693e-01 -8.10258934e-03 -2.37076261e+02] [ 1.10720056e-02 -2.12181140e-05 9.99938703e-01 -9.03362363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.800385723 meters 0.01379821105089768 Centerline is valid? [True, True] Translation: X:-28.73, Y:-237.06, Z:-9.03 [[-6.82439240e-01 -7.30907929e-01 7.09100180e-03 -2.87273652e+01] [ 7.30868313e-01 -6.82476079e-01 -7.60988148e-03 -2.37055020e+02] [ 1.04015618e-02 -1.06932094e-05 9.99945902e-01 -9.03365870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.830385723 meters 0.013779722612469418 Centerline is valid? [True, True] Translation: X:-28.74, Y:-237.03, Z:-9.03 [[-6.81923713e-01 -7.31390403e-01 6.93743970e-03 -2.87435716e+01] [ 7.31352550e-01 -6.81959001e-01 -7.44098591e-03 -2.37031848e+02] [ 1.01733151e-02 -4.70523155e-07 9.99948251e-01 -9.03342311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.860385723 meters 0.01384976818340136 Centerline is valid? [True, True] Translation: X:-28.76, Y:-237.01, Z:-9.03 [[-6.81997168e-01 -7.31321790e-01 6.95006668e-03 -2.87614135e+01] [ 7.31283838e-01 -6.82032580e-01 -7.45042756e-03 -2.37009964e+02] [ 1.01888319e-02 1.30094000e-06 9.99948093e-01 -9.03330992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.890385723 meters 0.013945751486337716 Centerline is valid? [True, True] Translation: X:-28.78, Y:-236.99, Z:-9.03 [[-6.82566176e-01 -7.30794202e-01 6.57643842e-03 -2.87765073e+01] [ 7.30760234e-01 -6.82597857e-01 -7.04601095e-03 -2.36986269e+02] [ 9.63824672e-03 -3.56907318e-06 9.99953551e-01 -9.03272412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.920385723 meters 0.01373221629425366 Centerline is valid? [True, True] Translation: X:-28.79, Y:-236.97, Z:-9.03 [[-6.82986549e-01 -7.30404700e-01 6.19257669e-03 -2.87923135e+01] [ 7.30374605e-01 -6.83014622e-01 -6.63042192e-03 -2.36965118e+02] [ 9.07251176e-03 -5.58824045e-06 9.99958844e-01 -9.03190759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.950385723 meters 0.013738920262545664 Centerline is valid? [True, True] Translation: X:-28.81, Y:-236.94, Z:-9.03 [[-6.83404143e-01 -7.30017565e-01 5.75605709e-03 -2.88097245e+01] [ 7.29991578e-01 -6.83428383e-01 -6.15963202e-03 -2.36942662e+02] [ 8.43049235e-03 -7.64484283e-06 9.99964463e-01 -9.03118747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.980385723 meters 0.013912750723076328 Centerline is valid? [True, True] Translation: X:-28.82, Y:-236.92, Z:-9.03 [[-6.83982454e-01 -7.29475591e-01 5.77622755e-03 -2.88239751e+01] [ 7.29449433e-01 -6.84006843e-01 -6.17761575e-03 -2.36919256e+02] [ 8.45739908e-03 -1.19148604e-05 9.99964236e-01 -9.03236134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.010385723 meters 0.013683702900161859 Centerline is valid? [True, True] Translation: X:-28.84, Y:-236.90, Z:-9.03 [[-6.84835525e-01 -7.28678316e-01 5.31177907e-03 -2.88415495e+01] [ 7.28656196e-01 -6.84856125e-01 -5.67776750e-03 -2.36897114e+02] [ 7.77507049e-03 -1.78761542e-05 9.99969774e-01 -9.03006202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.040385723 meters 0.013872844631459625 Centerline is valid? [True, True] Translation: X:-28.85, Y:-236.87, Z:-9.03 [[-6.86565423e-01 -7.27051512e-01 4.90087745e-03 -2.88547905e+01] [ 7.27032665e-01 -6.86582914e-01 -5.23515520e-03 -2.36873839e+02] [ 7.17108622e-03 -3.11785490e-05 9.99974287e-01 -9.02927498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.070385723 meters 0.013658331305291933 Centerline is valid? [True, True] Translation: X:-28.87, Y:-236.85, Z:-9.03 [[-6.87573838e-01 -7.26097095e-01 5.02253162e-03 -2.88715254e+01] [ 7.26077299e-01 -6.87592181e-01 -5.36184227e-03 -2.36851781e+02] [ 7.34667156e-03 -3.99162765e-05 9.99973012e-01 -9.02915602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.100385723 meters 0.013832811963428298 Centerline is valid? [True, True] Translation: X:-28.89, Y:-236.83, Z:-9.03 [[-6.88435151e-01 -7.25279892e-01 5.11084755e-03 -2.88883054e+01] [ 7.25259396e-01 -6.88454120e-01 -5.45282629e-03 -2.36829663e+02] [ 7.47340932e-03 -4.72270827e-05 9.99972073e-01 -9.02933773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.130385723 meters 0.014803167466017038 Centerline is valid? [True, True] Translation: X:-28.90, Y:-236.80, Z:-9.03 [[-6.89984483e-01 -7.23802442e-01 5.60693170e-03 -2.89016080e+01] [ 7.23777752e-01 -6.90007261e-01 -5.97871506e-03 -2.36804616e+02] [ 8.19623214e-03 -6.70481967e-05 9.99966408e-01 -9.03177487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.160385723 meters 0.014465219438252462 Centerline is valid? [True, True] Translation: X:-28.92, Y:-236.78, Z:-9.03 [[-6.90705638e-01 -7.23110709e-01 6.05171627e-03 -2.89199174e+01] [ 7.23081954e-01 -6.90732145e-01 -6.44917194e-03 -2.36784128e+02] [ 8.84358025e-03 -7.85925932e-05 9.99960892e-01 -9.03077476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.190385723 meters 0.014593805840101025 Centerline is valid? [True, True] Translation: X:-28.94, Y:-236.76, Z:-9.03 [[-6.91596180e-01 -7.22248589e-01 7.19029628e-03 -2.89352794e+01] [ 7.22207991e-01 -6.91633549e-01 -7.65848126e-03 -2.36760574e+02] [ 1.05043774e-02 -1.03686949e-04 9.99944822e-01 -9.03216780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2203857229999 meters 0.01422078546172378 Centerline is valid? [True, True] Translation: X:-28.95, Y:-236.74, Z:-9.03 [[-6.91815232e-01 -7.22035141e-01 7.54585844e-03 -2.89532976e+01] [ 7.21990465e-01 -6.91856375e-01 -8.03275531e-03 -2.36739067e+02] [ 1.10205819e-02 -1.09144640e-04 9.99939266e-01 -9.03151201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.250385723 meters 0.014308445475278653 Centerline is valid? [True, True] Translation: X:-28.97, Y:-236.72, Z:-9.03 [[-6.91590619e-01 -7.22243986e-01 8.12658323e-03 -2.89694900e+01] [ 7.22192239e-01 -6.91638354e-01 -8.64617796e-03 -2.36715064e+02] [ 1.18653067e-02 -1.10660224e-04 9.99929599e-01 -9.03137672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.280385723 meters 0.014486133183927379 Centerline is valid? [True, True] Translation: X:-28.99, Y:-236.69, Z:-9.03 [[-6.91398410e-01 -7.22427045e-01 8.20994209e-03 -2.89854422e+01] [ 7.22374313e-01 -6.91447145e-01 -8.72918996e-03 -2.36694604e+02] [ 1.19829439e-02 -1.04696789e-04 9.99928197e-01 -9.03282080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.310385723 meters 0.014091150584147099 Centerline is valid? [True, True] Translation: X:-29.00, Y:-236.67, Z:-9.03 [[-6.90464000e-01 -7.23315317e-01 8.62648844e-03 -2.90023074e+01] [ 7.23257231e-01 -6.90517881e-01 -9.16703339e-03 -2.36672295e+02] [ 1.25874002e-02 -9.03364056e-05 9.99920772e-01 -9.03215671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3403857229999 meters 0.014087696767880471 Centerline is valid? [True, True] Translation: X:-29.02, Y:-236.65, Z:-9.03 [[-6.90239664e-01 -7.23530539e-01 8.53027523e-03 -2.90196257e+01] [ 7.23473819e-01 -6.90292368e-01 -9.05979508e-03 -2.36650409e+02] [ 1.24434223e-02 -8.19991141e-05 9.99922574e-01 -9.03197570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.370385723 meters 0.013914553578189572 Centerline is valid? [True, True] Translation: X:-29.04, Y:-236.63, Z:-9.03 [[-6.90089720e-01 -7.23675070e-01 8.40069761e-03 -2.90373990e+01] [ 7.23620132e-01 -6.90140847e-01 -8.91722743e-03 -2.36628612e+02] [ 1.22508397e-02 -7.47730732e-05 9.99924953e-01 -9.03157332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.400385723 meters 0.013892194392914692 Centerline is valid? [True, True] Translation: X:-29.05, Y:-236.61, Z:-9.03 [[-6.88933517e-01 -7.24779735e-01 8.05880388e-03 -2.90527708e+01] [ 7.24729302e-01 -6.88980647e-01 -8.55019342e-03 -2.36606488e+02] [ 1.17493668e-02 -5.00635106e-05 9.99930973e-01 -9.03095126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.430385723 meters 0.013758100704005528 Centerline is valid? [True, True] Translation: X:-29.07, Y:-236.59, Z:-9.03 [[-6.88452150e-01 -7.25243750e-01 7.42570522e-03 -2.90702949e+01] [ 7.25201008e-01 -6.88492195e-01 -7.87369336e-03 -2.36586040e+02] [ 1.08228870e-02 -3.55322129e-05 9.99941430e-01 -9.02998001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.460385723 meters 0.013669538696841317 Centerline is valid? [True, True] Translation: X:-29.09, Y:-236.57, Z:-9.03 [[-6.86118542e-01 -7.27460221e-01 6.55549730e-03 -2.90902266e+01] [ 7.27427052e-01 -6.86149858e-01 -6.94670314e-03 -2.36566816e+02] [ 9.55150374e-03 2.38424861e-06 9.99954383e-01 -9.02887175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.490385723 meters 0.013649634760566796 Centerline is valid? [True, True] Translation: X:-29.11, Y:-236.55, Z:-9.03 [[-6.85206990e-01 -7.28318468e-01 6.60227694e-03 -2.91092269e+01] [ 7.28284896e-01 -6.85238797e-01 -6.99292036e-03 -2.36548837e+02] [ 9.61720935e-03 1.67406590e-05 9.99953754e-01 -9.02952104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.520385723 meters 0.013634614107797273 Centerline is valid? [True, True] Translation: X:-29.13, Y:-236.53, Z:-9.03 [[-6.84531365e-01 -7.28953269e-01 6.62887490e-03 -2.91286476e+01] [ 7.28919497e-01 -6.84563460e-01 -7.01684869e-03 -2.36529670e+02] [ 9.65284033e-03 2.86631481e-05 9.99953410e-01 -9.02982323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.550385723 meters 0.013468722241270993 Centerline is valid? [True, True] Translation: X:-29.15, Y:-236.51, Z:-9.03 [[-6.85134906e-01 -7.28386986e-01 6.52367886e-03 -2.91471899e+01] [ 7.28354293e-01 -6.85165964e-01 -6.90122806e-03 -2.36509976e+02] [ 9.49656742e-03 2.32772642e-05 9.99954906e-01 -9.02935107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.580385723 meters 0.013505283826389713 Centerline is valid? [True, True] Translation: X:-29.16, Y:-236.49, Z:-9.03 [[-6.86436589e-01 -7.27164049e-01 6.10374332e-03 -2.91649505e+01] [ 7.27135416e-01 -6.86463725e-01 -6.45299666e-03 -2.36489615e+02] [ 8.88238555e-03 8.67492163e-06 9.99960551e-01 -9.02869723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.610385723 meters 0.013501723857180379 Centerline is valid? [True, True] Translation: X:-29.18, Y:-236.47, Z:-9.03 [[-6.87464126e-01 -7.26191567e-01 6.23567509e-03 -2.91833525e+01] [ 7.26161679e-01 -6.87492406e-01 -6.58838234e-03 -2.36469243e+02] [ 9.07140697e-03 -1.16821666e-06 9.99958854e-01 -9.02832741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.640385723 meters 0.01357110279642153 Centerline is valid? [True, True] Translation: X:-29.20, Y:-236.45, Z:-9.03 [[-6.89728038e-01 -7.24034881e-01 6.98030105e-03 -2.92024868e+01] [ 7.23997360e-01 -6.89763358e-01 -7.37104099e-03 -2.36448150e+02] [ 1.01516467e-02 -3.02941023e-05 9.99948470e-01 -9.02882010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.670385723 meters 0.013688961980324536 Centerline is valid? [True, True] Translation: X:-29.22, Y:-236.43, Z:-9.03 [[-6.91194884e-01 -7.22628090e-01 7.63387771e-03 -2.92204038e+01] [ 7.22583171e-01 -6.91237037e-01 -8.05731885e-03 -2.36428939e+02] [ 1.10992639e-02 -5.30660067e-05 9.99938400e-01 -9.03014581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.700385723 meters 0.01378645954419387 Centerline is valid? [True, True] Translation: X:-29.24, Y:-236.41, Z:-9.03 [[-6.92697748e-01 -7.21185718e-01 7.80959707e-03 -2.92395856e+01] [ 7.21138667e-01 -6.92741766e-01 -8.23822150e-03 -2.36408742e+02] [ 1.13513218e-02 -7.47950639e-05 9.99935569e-01 -9.03035960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.730385723 meters 0.014050144406441529 Centerline is valid? [True, True] Translation: X:-29.26, Y:-236.39, Z:-9.03 [[-6.95194282e-01 -7.18773204e-01 8.36613719e-03 -2.92579165e+01] [ 7.18719075e-01 -6.95244610e-01 -8.82175269e-03 -2.36388233e+02] [ 1.21573512e-02 -1.19929639e-04 9.99926090e-01 -9.03092647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.760385723 meters 0.014383859678245304 Centerline is valid? [True, True] Translation: X:-29.28, Y:-236.37, Z:-9.03 [[-6.95890215e-01 -7.18094424e-01 8.78674596e-03 -2.92755702e+01] [ 7.18034739e-01 -6.95945673e-01 -9.25928122e-03 -2.36369154e+02] [ 1.27641360e-02 -1.34254356e-04 9.99918526e-01 -9.03096610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.790385723 meters 0.014436246552943122 Centerline is valid? [True, True] Translation: X:-29.30, Y:-236.35, Z:-9.03 [[-6.96677310e-01 -7.17330299e-01 8.82991000e-03 -2.92952526e+01] [ 7.17270037e-01 -6.96733249e-01 -9.29911710e-03 -2.36350449e+02] [ 1.28226303e-02 -1.45054023e-04 9.99917776e-01 -9.03086245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.820385723 meters 0.014257408961930238 Centerline is valid? [True, True] Translation: X:-29.32, Y:-236.33, Z:-9.03 [[-6.97229301e-01 -7.16795401e-01 8.69798161e-03 -2.93159586e+01] [ 7.16736948e-01 -6.97283537e-01 -9.15513235e-03 -2.36331190e+02] [ 1.26273161e-02 -1.49061739e-04 9.99920261e-01 -9.03026285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.850385723 meters 0.014534668657240497 Centerline is valid? [True, True] Translation: X:-29.33, Y:-236.31, Z:-9.03 [[-6.97445222e-01 -7.16587769e-01 8.49300358e-03 -2.93347239e+01] [ 7.16532095e-01 -6.97496916e-01 -8.93358999e-03 -2.36313392e+02] [ 1.23255451e-02 -1.45180012e-04 9.99924027e-01 -9.03190012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.880385723 meters 0.014018412999107588 Centerline is valid? [True, True] Translation: X:-29.36, Y:-236.29, Z:-9.03 [[-6.97599967e-01 -7.16437327e-01 8.47600466e-03 -2.93550443e+01] [ 7.16381925e-01 -6.97651443e-01 -8.91072361e-03 -2.36294326e+02] [ 1.22972719e-02 -1.44063954e-04 9.99924375e-01 -9.03136992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.910385723 meters 0.014484492129834688 Centerline is valid? [True, True] Translation: X:-29.37, Y:-236.27, Z:-9.03 [[-6.97594191e-01 -7.16443230e-01 8.45238048e-03 -2.93733169e+01] [ 7.16388182e-01 -6.97645381e-01 -8.88226431e-03 -2.36273716e+02] [ 1.22604023e-02 -1.41030496e-04 9.99924829e-01 -9.03288516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.940385723 meters 0.014427062085448512 Centerline is valid? [True, True] Translation: X:-29.39, Y:-236.25, Z:-9.03 [[-6.97155715e-01 -7.16880144e-01 7.53452793e-03 -2.93915810e+01] [ 7.16836479e-01 -6.97196419e-01 -7.91302105e-03 -2.36254223e+02] [ 1.09257336e-02 -1.15583371e-04 9.99940306e-01 -9.03172247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9703857229999 meters 0.013850162394836763 Centerline is valid? [True, True] Translation: X:-29.41, Y:-236.24, Z:-9.03 [[-6.96312503e-01 -7.17710552e-01 6.36096676e-03 -2.94116908e+01] [ 7.17679491e-01 -6.96341552e-01 -6.67768905e-03 -2.36235112e+02] [ 9.22205336e-03 -8.46229942e-05 9.99957472e-01 -9.02907686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.000385723 meters 0.01375570918772151 Centerline is valid? [True, True] Translation: X:-29.43, Y:-236.22, Z:-9.03 [[-6.95800693e-01 -7.18213587e-01 5.53530213e-03 -2.94314620e+01] [ 7.18190111e-01 -6.95822707e-01 -5.80736562e-03 -2.36216048e+02] [ 8.02251780e-03 -6.53697674e-05 9.99967817e-01 -9.02897812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.030385723 meters 0.01349660991761332 Centerline is valid? [True, True] Translation: X:-29.45, Y:-236.20, Z:-9.03 [[-6.95133236e-01 -7.18861184e-01 5.32753475e-03 -2.94523038e+01] [ 7.18839480e-01 -6.95153649e-01 -5.58627874e-03 -2.36196627e+02] [ 7.71921417e-03 -5.35657020e-05 9.99970205e-01 -9.02867619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.060385723 meters 0.013301816320175167 Centerline is valid? [True, True] Translation: X:-29.47, Y:-236.18, Z:-9.03 [[-6.92728651e-01 -7.21180654e-01 5.04785966e-03 -2.94730250e+01] [ 7.21161250e-01 -6.92747042e-01 -5.29027694e-03 -2.36176869e+02] [ 7.31213523e-03 -2.44056307e-05 9.99973266e-01 -9.02931824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0903857229999 meters 0.0131855716060846 Centerline is valid? [True, True] Translation: X:-29.49, Y:-236.16, Z:-9.03 [[-6.91516544e-01 -7.22340411e-01 5.40376946e-03 -2.94912147e+01] [ 7.22318239e-01 -6.91537657e-01 -5.65958670e-03 -2.36158049e+02] [ 7.82505825e-03 -1.04565986e-05 9.99969384e-01 -9.02975739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.120385723 meters 0.013309638710868271 Centerline is valid? [True, True] Translation: X:-29.51, Y:-236.14, Z:-9.03 [[-6.89354905e-01 -7.24397217e-01 6.20382346e-03 -2.95109917e+01] [ 7.24368112e-01 -6.89382819e-01 -6.49353781e-03 -2.36138602e+02] [ 8.98071002e-03 1.74997524e-05 9.99959673e-01 -9.03139316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.150385723 meters 0.013340647794433648 Centerline is valid? [True, True] Translation: X:-29.53, Y:-236.12, Z:-9.03 [[-6.88484903e-01 -7.25222764e-01 6.36241200e-03 -2.95297272e+01] [ 7.25192227e-01 -6.88514300e-01 -6.65525989e-03 -2.36120521e+02] [ 9.20715761e-03 3.19257670e-05 9.99957613e-01 -9.03217462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.180385723 meters 0.013532162870263984 Centerline is valid? [True, True] Translation: X:-29.55, Y:-236.10, Z:-9.03 [[-6.87911478e-01 -7.25767769e-01 6.24047527e-03 -2.95490850e+01] [ 7.25738450e-01 -6.87939782e-01 -6.52372403e-03 -2.36101037e+02] [ 9.02777983e-03 4.12082062e-05 9.99959248e-01 -9.03251734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.210385723 meters 0.013649589673862084 Centerline is valid? [True, True] Translation: X:-29.57, Y:-236.08, Z:-9.03 [[-6.87694278e-01 -7.25971257e-01 6.50496471e-03 -2.95670233e+01] [ 7.25939449e-01 -6.87725041e-01 -6.79586493e-03 -2.36082002e+02] [ 9.40722973e-03 4.87330677e-05 9.99955750e-01 -9.03400674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.240385723 meters 0.013648247587408275 Centerline is valid? [True, True] Translation: X:-29.58, Y:-236.06, Z:-9.03 [[-6.87980942e-01 -7.25702620e-01 6.15879038e-03 -2.95834198e+01] [ 7.25674131e-01 -6.88008506e-01 -6.43048918e-03 -2.36060254e+02] [ 8.90392302e-03 4.52208519e-05 9.99960358e-01 -9.03270621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.270385723 meters 0.013628845871081385 Centerline is valid? [True, True] Translation: X:-29.60, Y:-236.04, Z:-9.03 [[-6.88676688e-01 -7.25047062e-01 5.58361844e-03 -2.96013271e+01] [ 7.25023653e-01 -6.88699322e-01 -5.82628257e-03 -2.36038977e+02] [ 8.06976330e-03 3.58304575e-05 9.99967438e-01 -9.03127836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.300385723 meters 0.01362509047970669 Centerline is valid? [True, True] Translation: X:-29.62, Y:-236.02, Z:-9.03 [[-6.89295511e-01 -7.24462256e-01 5.11245189e-03 -2.96188239e+01] [ 7.24442641e-01 -6.89314470e-01 -5.33113254e-03 -2.36019315e+02] [ 7.38629137e-03 2.89524236e-05 9.99972721e-01 -9.03105870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.330385723 meters 0.013681214798855286 Centerline is valid? [True, True] Translation: X:-29.64, Y:-236.00, Z:-9.03 [[-6.90037800e-01 -7.23760923e-01 4.23814721e-03 -2.96359113e+01] [ 7.23747442e-01 -6.90050814e-01 -4.41737232e-03 -2.35999637e+02] [ 6.12165840e-03 1.91943270e-05 9.99981262e-01 -9.03065023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.360385723 meters 0.013665625952242138 Centerline is valid? [True, True] Translation: X:-29.65, Y:-235.98, Z:-9.03 [[-6.90570813e-01 -7.23254098e-01 3.93218591e-03 -2.96539659e+01] [ 7.23242500e-01 -6.90582008e-01 -4.09595331e-03 -2.35979587e+02] [ 5.67791186e-03 1.53781616e-05 9.99983880e-01 -9.03030142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.390385723 meters 0.013656738851175316 Centerline is valid? [True, True] Translation: X:-29.67, Y:-235.96, Z:-9.03 [[-6.91109956e-01 -7.22743709e-01 2.92571194e-03 -2.96714739e+01] [ 7.22737290e-01 -6.91116149e-01 -3.04611652e-03 -2.35959709e+02] [ 4.22356831e-03 9.31966504e-06 9.99991081e-01 -9.03017492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.420385723 meters 0.013654928208762802 Centerline is valid? [True, True] Translation: X:-29.69, Y:-235.94, Z:-9.03 [[-6.91471387e-01 -7.22400043e-01 2.34498343e-03 -2.96903727e+01] [ 7.22395922e-01 -6.91475363e-01 -2.44012525e-03 -2.35938838e+02] [ 3.38424486e-03 6.72967299e-06 9.99994273e-01 -9.02931236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.450385723 meters 0.013654928208762802 Centerline is valid? [True, True] Translation: X:-29.71, Y:-235.92, Z:-9.03 [[-6.91673487e-01 -7.22206540e-01 2.34566609e-03 -2.97095388e+01] [ 7.22202420e-01 -6.91677464e-01 -2.43946902e-03 -2.35918980e+02] [ 3.38424486e-03 6.72968300e-06 9.99994273e-01 -9.02931264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.480385723 meters 0.0136347765679764 Centerline is valid? [True, True] Translation: X:-29.73, Y:-235.90, Z:-9.03 [[-6.92251718e-01 -7.21654359e-01 1.59521234e-03 -2.97277613e+01] [ 7.21652454e-01 -6.92253556e-01 -1.65802390e-03 -2.35899081e+02] [ 2.30081159e-03 3.41900605e-06 9.99997353e-01 -9.02837202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.510385723 meters 0.01360482998355254 Centerline is valid? [True, True] Translation: X:-29.75, Y:-235.88, Z:-9.03 [[-6.92730536e-01 -7.21194835e-01 1.55371156e-03 -2.97467295e+01] [ 7.21193029e-01 -6.92732279e-01 -1.61389785e-03 -2.35878933e+02] [ 2.24024094e-03 2.52962241e-06 9.99997491e-01 -9.02767044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.540385723 meters 0.01375312190722457 Centerline is valid? [True, True] Translation: X:-29.76, Y:-235.86, Z:-9.03 [[-6.93216264e-01 -7.20728288e-01 1.39549476e-03 -2.97649787e+01] [ 7.20726831e-01 -6.93217668e-01 -1.44886546e-03 -2.35860571e+02] [ 2.01161995e-03 1.39341389e-06 9.99997977e-01 -9.02759580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.570385723 meters 0.013807291503910642 Centerline is valid? [True, True] Translation: X:-29.78, Y:-235.84, Z:-9.03 [[-6.93915693e-01 -7.20055833e-01 7.80113735e-04 -2.97847081e+01] [ 7.20055378e-01 -6.93916132e-01 -8.09444250e-04 -2.35841473e+02] [ 1.12417856e-03 3.90226320e-08 9.99999368e-01 -9.02712386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.600385723 meters 0.013935399079877283 Centerline is valid? [True, True] Translation: X:-29.80, Y:-235.82, Z:-9.03 [[-6.94674843e-01 -7.19323794e-01 3.77819638e-04 -2.98044679e+01] [ 7.19323687e-01 -6.94674946e-01 -3.91806724e-04 -2.35821682e+02] [ 5.44297736e-04 -4.03659579e-07 9.99999852e-01 -9.02623213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.630385723 meters 0.014028413171282225 Centerline is valid? [True, True] Translation: X:-29.82, Y:-235.80, Z:-9.03 [[-6.95378214e-01 -7.18643720e-01 5.85426003e-04 -2.98235638e+01] [ 7.18643464e-01 -6.95378460e-01 -6.06764197e-04 -2.35801534e+02] [ 8.43139913e-04 -1.21803230e-06 9.99999645e-01 -9.02586327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.660385723 meters 0.014224537166300413 Centerline is valid? [True, True] Translation: X:-29.84, Y:-235.78, Z:-9.03 [[-6.96893055e-01 -7.17174376e-01 9.92237981e-04 -2.98428706e+01] [ 7.17173640e-01 -6.96893761e-01 -1.02783880e-03 -2.35781270e+02] [ 1.42862411e-03 -4.68679643e-06 9.99998980e-01 -9.02537228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.690385723 meters 0.014340842380312427 Centerline is valid? [True, True] Translation: X:-29.86, Y:-235.76, Z:-9.03 [[-6.98126358e-01 -7.15973928e-01 9.61022964e-04 -2.98610520e+01] [ 7.15973237e-01 -6.98127019e-01 -9.94855729e-04 -2.35761824e+02] [ 1.38320686e-03 -6.46828474e-06 9.99999043e-01 -9.02521012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7203857229999 meters 0.014484306029912948 Centerline is valid? [True, True] Translation: X:-29.88, Y:-235.74, Z:-9.03 [[-6.99413110e-01 -7.14717008e-01 9.48939204e-04 -2.98795040e+01] [ 7.14716334e-01 -6.99413753e-01 -9.81748632e-04 -2.35741852e+02] [ 1.36537358e-03 -8.42551483e-06 9.99999068e-01 -9.02504842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.750385723 meters 0.0148759185601133 Centerline is valid? [True, True] Translation: X:-29.90, Y:-235.72, Z:-9.02 [[-7.01887882e-01 -7.12286590e-01 1.10213882e-03 -2.98976011e+01] [ 7.12285679e-01 -7.01888747e-01 -1.13959543e-03 -2.35722169e+02] [ 1.58529738e-03 -1.48305252e-05 9.99998743e-01 -9.02389712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.780385723 meters 0.015339090846164622 Centerline is valid? [True, True] Translation: X:-29.92, Y:-235.70, Z:-9.02 [[-7.04709865e-01 -7.09495051e-01 8.82729635e-04 -2.99171883e+01] [ 7.09494465e-01 -7.04710418e-01 -9.12199245e-04 -2.35702776e+02] [ 1.26926962e-03 -1.65440173e-05 9.99999194e-01 -9.02280115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.810385723 meters 0.015836049039574654 Centerline is valid? [True, True] Translation: X:-29.94, Y:-235.68, Z:-9.02 [[-7.06440625e-01 -7.07771696e-01 9.32495582e-04 -2.99355642e+01] [ 7.07771041e-01 -7.06441241e-01 -9.63071591e-04 -2.35683149e+02] [ 1.34038815e-03 -2.03595282e-05 9.99999102e-01 -9.02267018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8403857229999 meters 0.015961062575561274 Centerline is valid? [True, True] Translation: X:-29.96, Y:-235.66, Z:-9.02 [[-7.08043653e-01 -7.06167542e-01 1.26046915e-03 -2.99560496e+01] [ 7.06166344e-01 -7.08044774e-01 -1.30108123e-03 -2.35663270e+02] [ 1.81124992e-03 -3.11214155e-05 9.99998359e-01 -9.02275585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.870385723 meters 0.01717845664619249 Centerline is valid? [True, True] Translation: X:-29.97, Y:-235.64, Z:-9.02 [[-7.11154141e-01 -7.03034640e-01 1.44305369e-03 -2.99740636e+01] [ 7.03033065e-01 -7.11155604e-01 -1.48868168e-03 -2.35642548e+02] [ 2.07283051e-03 -4.41676854e-05 9.99997851e-01 -9.02244562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.900385723 meters 0.017246679173280356 Centerline is valid? [True, True] Translation: X:-29.99, Y:-235.62, Z:-9.02 [[-7.12689152e-01 -7.01477868e-01 1.72432175e-03 -2.99940371e+01] [ 7.01475617e-01 -7.12691236e-01 -1.77787810e-03 -2.35622994e+02] [ 2.47605114e-03 -5.75047721e-05 9.99996933e-01 -9.02191504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.930385723 meters 0.017915376912047302 Centerline is valid? [True, True] Translation: X:-30.01, Y:-235.60, Z:-9.02 [[-7.14956694e-01 -6.99166375e-01 1.81814373e-03 -3.00143109e+01] [ 6.99163868e-01 -7.14959003e-01 -1.87352917e-03 -2.35604323e+02] [ 2.60980683e-03 -6.83118234e-05 9.99996592e-01 -9.02132643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.960385723 meters 0.018253466402931944 Centerline is valid? [True, True] Translation: X:-30.03, Y:-235.58, Z:-9.02 [[-7.15696734e-01 -6.98409179e-01 1.67465492e-03 -3.00349720e+01] [ 6.98407052e-01 -7.15698690e-01 -1.72473462e-03 -2.35584779e+02] [ 2.40311883e-03 -6.47961296e-05 9.99997110e-01 -9.02156139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.990385723 meters 0.01767144285749885 Centerline is valid? [True, True] Translation: X:-30.06, Y:-235.57, Z:-9.02 [[-7.16500452e-01 -6.97583074e-01 2.22635321e-03 -3.00585136e+01] [ 6.97579316e-01 -7.16503905e-01 -2.29172080e-03 -2.35567798e+02] [ 3.19385641e-03 -8.89610409e-05 9.99994896e-01 -9.02147545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.020385723 meters 0.018162939728514963 Centerline is valid? [True, True] Translation: X:-30.08, Y:-235.55, Z:-9.02 [[-7.16613542e-01 -6.97466092e-01 2.46612745e-03 -3.00780426e+01] [ 6.97461485e-01 -7.16617779e-01 -2.53704180e-03 -2.35548879e+02] [ 3.53677140e-03 -9.80495941e-05 9.99993741e-01 -9.02183341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.050385723 meters 0.01823337383937989 Centerline is valid? [True, True] Translation: X:-30.10, Y:-235.53, Z:-9.02 [[-7.16590362e-01 -6.97488746e-01 2.77547843e-03 -3.00993960e+01] [ 6.97482917e-01 -7.16595729e-01 -2.85353996e-03 -2.35531613e+02] [ 3.97920799e-03 -1.08970441e-04 9.99992077e-01 -9.02169509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.080385723 meters 0.018346110063754088 Centerline is valid? [True, True] Translation: X:-30.12, Y:-235.51, Z:-9.02 [[-7.16418045e-01 -6.97664371e-01 3.10017182e-03 -3.01192582e+01] [ 6.97657109e-01 -7.16424742e-01 -3.18542713e-03 -2.35513233e+02] [ 4.44339881e-03 -1.19240561e-04 9.99990121e-01 -9.02151817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.110385723 meters 0.01732016936369371 Centerline is valid? [True, True] Translation: X:-30.14, Y:-235.50, Z:-9.02 [[-7.15503083e-01 -6.98600233e-01 3.61304813e-03 -3.01431668e+01] [ 6.98590391e-01 -7.15512193e-01 -3.71041834e-03 -2.35496778e+02] [ 5.17727911e-03 -1.30775049e-04 9.99986589e-01 -9.02108142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.140385723 meters 0.017131173785237663 Centerline is valid? [True, True] Translation: X:-30.16, Y:-235.48, Z:-9.02 [[-7.14674202e-01 -6.99447101e-01 3.81277147e-03 -3.01645948e+01] [ 6.99436166e-01 -7.14684361e-01 -3.91335328e-03 -2.35478163e+02] [ 5.46211175e-03 -1.29982373e-04 9.99985074e-01 -9.02121954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.170385723 meters 0.017192274646950386 Centerline is valid? [True, True] Translation: X:-30.19, Y:-235.46, Z:-9.02 [[-7.12870448e-01 -7.01284085e-01 4.04435190e-03 -3.01871022e+01] [ 7.01271823e-01 -7.12881910e-01 -4.14884231e-03 -2.35461830e+02] [ 5.79266239e-03 -1.21397040e-04 9.99983215e-01 -9.02192593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.200385723 meters 0.01678571855559448 Centerline is valid? [True, True] Translation: X:-30.21, Y:-235.44, Z:-9.02 [[-7.11946467e-01 -7.02218528e-01 4.62254006e-03 -3.02083461e+01] [ 7.02202548e-01 -7.11961462e-01 -4.73907367e-03 -2.35444892e+02] [ 6.61893572e-03 -1.28007343e-04 9.99978086e-01 -9.02239449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.230385723 meters 0.01662597621123694 Centerline is valid? [True, True] Translation: X:-30.23, Y:-235.43, Z:-9.02 [[-7.10792763e-01 -7.03383060e-01 5.09108051e-03 -3.02301052e+01] [ 7.03363724e-01 -7.10810984e-01 -5.21696958e-03 -2.35429673e+02] [ 7.28832397e-03 -1.27302875e-04 9.99973432e-01 -9.02355394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.260385723 meters 0.016261084259309493 Centerline is valid? [True, True] Translation: X:-30.25, Y:-235.41, Z:-9.02 [[-7.10640454e-01 -7.03537957e-01 4.94852404e-03 -3.02521100e+01] [ 7.03519713e-01 -7.10657673e-01 -5.06810480e-03 -2.35411638e+02] [ 7.08231067e-03 -1.20216082e-04 9.99974913e-01 -9.02348980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.290385723 meters 0.019893906992753937 Centerline is valid? [True, True] Translation: X:-30.27, Y:-235.39, Z:-9.03 [[-7.11424167e-01 -7.02744683e-01 5.05625342e-03 -3.02699059e+01] [ 7.02725640e-01 -7.11442123e-01 -5.17508952e-03 -2.35392430e+02] [ 7.23399831e-03 -1.28524831e-04 9.99973826e-01 -9.02763042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.320385723 meters 0.01748442185502792 Centerline is valid? [True, True] Translation: X:-30.29, Y:-235.38, Z:-9.02 [[-7.11593337e-01 -7.02574193e-01 4.94233960e-03 -3.02941210e+01] [ 7.02556014e-01 -7.11610489e-01 -5.05564989e-03 -2.35376929e+02] [ 7.06898984e-03 -1.25296362e-04 9.99975007e-01 -9.02468170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.350385723 meters 0.01741177508678785 Centerline is valid? [True, True] Translation: X:-30.31, Y:-235.36, Z:-9.03 [[-7.12115049e-01 -7.02042434e-01 5.34590564e-03 -3.03144403e+01] [ 7.02021174e-01 -7.12135101e-01 -5.46521542e-03 -2.35359079e+02] [ 7.64382018e-03 -1.38923193e-04 9.99970776e-01 -9.02522307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.380385723 meters 0.017879159095192318 Centerline is valid? [True, True] Translation: X:-30.33, Y:-235.34, Z:-9.03 [[-7.12443683e-01 -7.01704012e-01 5.95633136e-03 -3.03344532e+01] [ 7.01677640e-01 -7.12468564e-01 -6.08557376e-03 -2.35340184e+02] [ 8.51397037e-03 -1.56204053e-04 9.99963743e-01 -9.02641929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.410385723 meters 0.016721885758352092 Centerline is valid? [True, True] Translation: X:-30.35, Y:-235.32, Z:-9.03 [[-7.12487853e-01 -7.01655855e-01 6.33413460e-03 -3.03543850e+01] [ 7.01626065e-01 -7.12515989e-01 -6.46767212e-03 -2.35321977e+02] [ 9.05125219e-03 -1.63943885e-04 9.99959023e-01 -9.02597911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.440385723 meters 0.016525588104497776 Centerline is valid? [True, True] Translation: X:-30.38, Y:-235.30, Z:-9.03 [[-7.12407957e-01 -7.01732867e-01 6.77392845e-03 -3.03769559e+01] [ 7.01698837e-01 -7.12440140e-01 -6.91296796e-03 -2.35304401e+02] [ 9.67707536e-03 -1.71595671e-04 9.99953161e-01 -9.02696560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4703857229999 meters 0.016456744302516382 Centerline is valid? [True, True] Translation: X:-30.40, Y:-235.29, Z:-9.03 [[-7.11613787e-01 -7.02535256e-01 7.07332877e-03 -3.03988221e+01] [ 7.02498235e-01 -7.11648921e-01 -7.21411736e-03 -2.35287336e+02] [ 1.01018986e-02 -1.64664403e-04 9.99948961e-01 -9.02745935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.500385723 meters 0.016221436480530732 Centerline is valid? [True, True] Translation: X:-30.42, Y:-235.27, Z:-9.03 [[-7.11384197e-01 -7.02769357e-01 6.91052251e-03 -3.04196649e+01] [ 7.02734069e-01 -7.11417745e-01 -7.04422486e-03 -2.35269015e+02] [ 9.86673371e-03 -1.54890645e-04 9.99951311e-01 -9.02726068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.530385723 meters 0.016101223984101087 Centerline is valid? [True, True] Translation: X:-30.44, Y:-235.25, Z:-9.03 [[-7.10969776e-01 -7.03189479e-01 6.82163457e-03 -3.04398475e+01] [ 7.03155154e-01 -7.11002487e-01 -6.94937546e-03 -2.35250614e+02] [ 9.73692685e-03 -1.44128401e-04 9.99952585e-01 -9.02715074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.560385723 meters 0.015650316993441226 Centerline is valid? [True, True] Translation: X:-30.46, Y:-235.23, Z:-9.03 [[-7.09836587e-01 -7.04336816e-01 6.45513228e-03 -3.04625318e+01] [ 7.04306162e-01 -7.09865927e-01 -6.57236487e-03 -2.35233004e+02] [ 9.21143702e-03 -1.18915612e-04 9.99957567e-01 -9.02637937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5903857229999 meters 0.015741675172508122 Centerline is valid? [True, True] Translation: X:-30.48, Y:-235.21, Z:-9.03 [[-7.09559882e-01 -7.04615578e-01 6.45458905e-03 -3.04819935e+01] [ 7.04584975e-01 -7.09589230e-01 -6.56798504e-03 -2.35214791e+02] [ 9.20801145e-03 -1.12572226e-04 9.99957599e-01 -9.02697332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.620385723 meters 0.015535100741189627 Centerline is valid? [True, True] Translation: X:-30.50, Y:-235.20, Z:-9.03 [[-7.08640602e-01 -7.05539339e-01 6.53747670e-03 -3.05034161e+01] [ 7.05508018e-01 -7.08670750e-01 -6.64867756e-03 -2.35196863e+02] [ 9.32382209e-03 -9.92806354e-05 9.99956527e-01 -9.02643576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.650385723 meters 0.017602118700830116 Centerline is valid? [True, True] Translation: X:-30.52, Y:-235.18, Z:-9.03 [[-7.08973527e-01 -7.05202291e-01 6.80203101e-03 -3.05245356e+01] [ 7.05168405e-01 -7.09006148e-01 -6.91389630e-03 -2.35178318e+02] [ 9.69837731e-03 -1.05192081e-04 9.99952964e-01 -9.02868790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.680385723 meters 0.015453109611727509 Centerline is valid? [True, True] Translation: X:-30.54, Y:-235.16, Z:-9.03 [[-7.08570734e-01 -7.05614469e-01 5.97799711e-03 -3.05443847e+01] [ 7.05588341e-01 -7.08595946e-01 -6.07285012e-03 -2.35159605e+02] [ 8.52107543e-03 -8.50388036e-05 9.99963691e-01 -9.02658598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.710385723 meters 0.015354951568192112 Centerline is valid? [True, True] Translation: X:-30.56, Y:-235.14, Z:-9.03 [[-7.08807141e-01 -7.05378094e-01 5.84656599e-03 -3.05645498e+01] [ 7.05353121e-01 -7.08831248e-01 -5.93601487e-03 -2.35139738e+02] [ 8.33136352e-03 -8.35961592e-05 9.99965290e-01 -9.02587824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.740385723 meters 0.01810533536517931 Centerline is valid? [True, True] Translation: X:-30.58, Y:-235.12, Z:-9.03 [[-7.09650264e-01 -7.04530871e-01 5.72308732e-03 -3.05828168e+01] [ 7.04506943e-01 -7.09673336e-01 -5.80721910e-03 -2.35119854e+02] [ 8.15288760e-03 -8.91398116e-05 9.99966761e-01 -9.02700682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.770385723 meters 0.01552279668349402 Centerline is valid? [True, True] Translation: X:-30.60, Y:-235.10, Z:-9.02 [[-7.09159008e-01 -7.05032518e-01 4.75927218e-03 -3.06032279e+01] [ 7.05016000e-01 -7.09174975e-01 -4.82655099e-03 -2.35099978e+02] [ 6.77803213e-03 -6.74290777e-05 9.99977027e-01 -9.02335807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.800385723 meters 0.015484213426065358 Centerline is valid? [True, True] Translation: X:-30.62, Y:-235.08, Z:-9.02 [[-7.09147868e-01 -7.05049930e-01 3.72790863e-03 -3.06222058e+01] [ 7.05039807e-01 -7.09157665e-01 -3.77841623e-03 -2.35080599e+02] [ 5.30764708e-03 -5.11318357e-05 9.99985913e-01 -9.02309443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.830385723 meters 0.015467928931150912 Centerline is valid? [True, True] Translation: X:-30.64, Y:-235.06, Z:-9.02 [[-7.08989605e-01 -7.05213827e-01 2.68315061e-03 -3.06414180e+01] [ 7.05208590e-01 -7.08994681e-01 -2.71800211e-03 -2.35060499e+02] [ 3.81911218e-03 -3.48543825e-05 9.99992707e-01 -9.02197362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.860385723 meters 0.015461946449698968 Centerline is valid? [True, True] Translation: X:-30.66, Y:-235.04, Z:-9.02 [[-7.08909178e-01 -7.05294435e-01 2.74557358e-03 -3.06594606e+01] [ 7.05288958e-01 -7.08914493e-01 -2.77961533e-03 -2.35040911e+02] [ 3.90682413e-03 -3.40720870e-05 9.99992368e-01 -9.02133358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.890385723 meters 0.015350064456677462 Centerline is valid? [True, True] Translation: X:-30.68, Y:-235.02, Z:-9.02 [[-7.08699122e-01 -7.05506430e-01 2.49635848e-03 -3.06783329e+01] [ 7.05501909e-01 -7.08703518e-01 -2.52592606e-03 -2.35020298e+02] [ 3.55123511e-03 -2.89359073e-05 9.99993694e-01 -9.02095973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.920385723 meters 0.015321736937934866 Centerline is valid? [True, True] Translation: X:-30.70, Y:-235.00, Z:-9.02 [[-7.08166462e-01 -7.06041725e-01 2.31205155e-03 -3.06973546e+01] [ 7.06037853e-01 -7.08170236e-01 -2.33812516e-03 -2.34999009e+02] [ 3.28814001e-03 -2.33859085e-05 9.99994594e-01 -9.01975287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.950385723 meters 0.015281813958800369 Centerline is valid? [True, True] Translation: X:-30.72, Y:-234.98, Z:-9.02 [[-7.07854761e-01 -7.06355247e-01 1.97532788e-03 -3.07158047e+01] [ 7.06352426e-01 -7.07857517e-01 -1.99642435e-03 -2.34979319e+02] [ 2.80843550e-03 -1.79008408e-05 9.99996056e-01 -9.01944228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.980385723 meters 0.015387976717813641 Centerline is valid? [True, True] Translation: X:-30.73, Y:-234.96, Z:-9.02 [[-7.07516147e-01 -7.06696589e-01 9.12020338e-04 -3.07339507e+01] [ 7.06695989e-01 -7.07516735e-01 -9.21220527e-04 -2.34958496e+02] [ 1.29629306e-03 -7.25728397e-06 9.99999160e-01 -9.01896777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.010385723 meters 0.015337372576431158 Centerline is valid? [True, True] Translation: X:-30.75, Y:-234.94, Z:-9.02 [[-7.06694800e-01 -7.07518472e-01 2.66655933e-04 -3.07513824e+01] [ 7.07518421e-01 -7.06694850e-01 -2.69177865e-04 -2.34937266e+02] [ 3.78892687e-04 -1.56261264e-06 9.99999928e-01 -9.01783722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.040385723 meters 0.015340310364466746 Centerline is valid? [True, True] Translation: X:-30.77, Y:-234.92, Z:-9.02 [[-7.06502731e-01 -7.07710267e-01 2.62945970e-04 -3.07696720e+01] [ 7.07710217e-01 -7.06502780e-01 -2.65271324e-04 -2.34916979e+02] [ 3.73507299e-04 -1.32536554e-06 9.99999930e-01 -9.01736464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.070385723 meters 0.015290450446848793 Centerline is valid? [True, True] Translation: X:-30.79, Y:-234.90, Z:-9.02 [[-7.06308071e-01 -7.07904519e-01 -3.17857422e-04 -3.07854898e+01] [ 7.07904447e-01 -7.06308142e-01 3.20526346e-04 -2.34895535e+02] [-4.51407334e-04 1.37766266e-06 9.99999898e-01 -9.01686382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.100385723 meters 0.015370457047384562 Centerline is valid? [True, True] Translation: X:-30.80, Y:-234.87, Z:-9.02 [[-7.06735407e-01 -7.07477523e-01 -7.86579676e-04 -3.08027925e+01] [ 7.07477079e-01 -7.06735844e-01 7.92704724e-04 -2.34874674e+02] [-1.11672483e-03 3.74540433e-06 9.99999377e-01 -9.01671241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.130385723 meters 0.015371029743288842 Centerline is valid? [True, True] Translation: X:-30.82, Y:-234.85, Z:-9.02 [[-7.07359524e-01 -7.06853449e-01 -8.39360425e-04 -3.08203145e+01] [ 7.06852944e-01 -7.07360022e-01 8.45378947e-04 -2.34853822e+02] [-1.19128903e-03 4.68246248e-06 9.99999290e-01 -9.01675407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.160385723 meters 0.015555182828889801 Centerline is valid? [True, True] Translation: X:-30.84, Y:-234.83, Z:-9.02 [[-7.08584383e-01 -7.05625935e-01 -4.59707690e-04 -3.08356815e+01] [ 7.05625784e-01 -7.08584532e-01 4.62723600e-04 -2.34830446e+02] [-6.52251531e-04 3.49711771e-06 9.99999787e-01 -9.01749035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.190385723 meters 0.015541552364796193 Centerline is valid? [True, True] Translation: X:-30.85, Y:-234.81, Z:-9.02 [[-7.09581505e-01 -7.04623182e-01 -5.09158486e-04 -3.08528786e+01] [ 7.04622996e-01 -7.09581688e-01 5.12187157e-04 -2.34808673e+02] [-7.22188482e-04 4.67375598e-06 9.99999739e-01 -9.01763688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2203857229999 meters 0.01577359811246668 Centerline is valid? [True, True] Translation: X:-30.87, Y:-234.78, Z:-9.02 [[-7.11601740e-01 -7.02582648e-01 -7.65578564e-04 -3.08676200e+01] [ 7.02582227e-01 -7.11602152e-01 7.69711393e-04 -2.34783835e+02] [-1.08557322e-03 9.84607434e-06 9.99999411e-01 -9.01769013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.250385723 meters 0.01611205689407848 Centerline is valid? [True, True] Translation: X:-30.88, Y:-234.76, Z:-9.02 [[-7.13627608e-01 -7.00525099e-01 -4.73293941e-04 -3.08815457e+01] [ 7.00524937e-01 -7.13627765e-01 4.75661046e-04 -2.34760117e+02] [-6.70968198e-04 7.89064648e-06 9.99999775e-01 -9.01886878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.280385723 meters 0.016118456216949715 Centerline is valid? [True, True] Translation: X:-30.90, Y:-234.74, Z:-9.02 [[-7.14749311e-01 -6.99380726e-01 -1.52185861e-04 -3.08993596e+01] [ 6.99380709e-01 -7.14749327e-01 1.52865734e-04 -2.34738759e+02] [-2.15686089e-04 2.82482296e-06 9.99999977e-01 -9.01978743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.310385723 meters 0.01692512998749304 Centerline is valid? [True, True] Translation: X:-30.91, Y:-234.71, Z:-9.02 [[-7.16595347e-01 -6.97488920e-01 5.61547530e-04 -3.09128836e+01] [ 6.97488692e-01 -7.16595567e-01 -5.63811926e-04 -2.34714555e+02] [ 7.95655043e-04 -1.23519506e-05 9.99999683e-01 -9.02110852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3403857229999 meters 0.01692512998749304 Centerline is valid? [True, True] Translation: X:-30.93, Y:-234.70, Z:-9.02 [[-7.16803313e-01 -6.97275193e-01 5.61716342e-04 -3.09318508e+01] [ 6.97274966e-01 -7.16803533e-01 -5.63643743e-04 -2.34695663e+02] [ 7.95655058e-04 -1.23509586e-05 9.99999683e-01 -9.02110879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.370385723 meters 0.017261611959992398 Centerline is valid? [True, True] Translation: X:-30.95, Y:-234.67, Z:-9.02 [[-7.17754912e-01 -6.96295137e-01 9.84069153e-04 -3.09492449e+01] [ 6.96294438e-01 -7.17755586e-01 -9.86928147e-04 -2.34673959e+02] [ 1.39351440e-03 -2.31706473e-05 9.99999029e-01 -9.02212062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.400385723 meters 0.017384006075446188 Centerline is valid? [True, True] Translation: X:-30.97, Y:-234.65, Z:-9.02 [[-7.18644918e-01 -6.95376022e-01 1.29220474e-03 -3.09672883e+01] [ 6.95374817e-01 -7.18646079e-01 -1.29527678e-03 -2.34652099e+02] [ 1.82934229e-03 -3.22774430e-05 9.99998326e-01 -9.02244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.430385723 meters 0.017333644406552863 Centerline is valid? [True, True] Translation: X:-30.98, Y:-234.63, Z:-9.02 [[-7.19645546e-01 -6.94340331e-01 1.33879640e-03 -3.09837450e+01] [ 6.94339036e-01 -7.19646791e-01 -1.34121387e-03 -2.34629474e+02] [ 1.89471942e-03 -3.56199832e-05 9.99998204e-01 -9.02316058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.460385723 meters 0.017909574574530837 Centerline is valid? [True, True] Translation: X:-31.00, Y:-234.61, Z:-9.03 [[-7.19381859e-01 -6.94610882e-01 2.33746343e-03 -3.09992195e+01] [ 6.94606943e-01 -7.19385654e-01 -2.34020590e-03 -2.34607242e+02] [ 3.30707015e-03 -5.98833425e-05 9.99994530e-01 -9.02561514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.490385723 meters 0.017873378240815963 Centerline is valid? [True, True] Translation: X:-31.02, Y:-234.59, Z:-9.03 [[-7.19137979e-01 -6.94860423e-01 3.09188986e-03 -3.10181716e+01] [ 6.94853540e-01 -7.19144622e-01 -3.09374510e-03 -2.34586988e+02] [ 4.37323699e-03 -7.64189839e-05 9.99990435e-01 -9.02691902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.520385723 meters 0.017050780258590945 Centerline is valid? [True, True] Translation: X:-31.04, Y:-234.57, Z:-9.03 [[-7.18417311e-01 -6.95602545e-01 3.69687971e-03 -3.10392490e+01] [ 6.95592726e-01 -7.18426818e-01 -3.69690253e-03 -2.34568946e+02] [ 5.22751233e-03 -8.43961432e-05 9.99986333e-01 -9.02753676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.550385723 meters 0.016270047518784397 Centerline is valid? [True, True] Translation: X:-31.06, Y:-234.55, Z:-9.03 [[-7.15563574e-01 -6.98534292e-01 4.31451596e-03 -3.10617130e+01] [ 6.98520984e-01 -7.15576577e-01 -4.31236077e-03 -2.34553440e+02] [ 6.09969844e-03 -7.19883535e-05 9.99981394e-01 -9.03002583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.580385723 meters 0.016351528175318628 Centerline is valid? [True, True] Translation: X:-31.62, Y:-235.10, Z:-8.04 [[-7.49018778e-01 6.62525803e-01 5.51643723e-03 -3.16236575e+01] [ 6.62508536e-01 7.49039088e-01 -4.78381648e-03 -2.35098829e+02] [-7.30142897e-03 7.15183825e-05 -9.99973342e-01 -8.03768227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.610385723 meters 0.015863015500606495 Centerline is valid? [True, True] Translation: X:-31.61, Y:-235.07, Z:-8.04 [[-7.95121238e-01 6.06409547e-01 7.04829017e-03 -3.16094843e+01] [ 6.06386506e-01 7.95152474e-01 -5.28666269e-03 -2.35069500e+02] [-8.81034809e-03 7.04502629e-05 -9.99961186e-01 -8.03649507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.640385723 meters 0.016612620150090355 Centerline is valid? [True, True] Translation: X:-31.57, Y:-235.06, Z:-8.04 [[-8.36016626e-01 5.48640548e-01 8.35168078e-03 -3.15704883e+01] [ 5.48614128e-01 8.36058337e-01 -5.38485528e-03 -2.35060274e+02] [-9.93684230e-03 8.00215262e-05 -9.99950625e-01 -8.03516899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.670385723 meters 0.015611669855384912 Centerline is valid? [True, True] Translation: X:-31.56, Y:-235.03, Z:-8.04 [[-8.72764576e-01 4.88062018e-01 8.80125994e-03 -3.15583157e+01] [ 4.88038135e-01 8.72808948e-01 -4.82895768e-03 -2.35031881e+02] [-1.00386493e-02 8.08072790e-05 -9.99949608e-01 -8.03623074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.700385723 meters 0.016327459678945312 Centerline is valid? [True, True] Translation: X:-31.55, Y:-235.00, Z:-8.03 [[-9.05042582e-01 4.25215071e-01 9.49039416e-03 -3.15539389e+01] [ 4.25192693e-01 9.05092336e-01 -4.36324799e-03 -2.35002230e+02] [-1.04450018e-02 8.63210158e-05 -9.99945446e-01 -8.03346738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.730385723 meters 0.015550248039454028 Centerline is valid? [True, True] Translation: X:-31.21, Y:-234.32, Z:-9.04 [[-8.82401194e-01 -4.70397873e-01 9.69400382e-03 -3.12137604e+01] [ 4.70368793e-01 -8.82454440e-01 -5.23076401e-03 -2.34320842e+02] [ 1.10150570e-02 -5.58755294e-05 9.99939331e-01 -9.03535755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.760385723 meters 0.015754433291630968 Centerline is valid? [True, True] Translation: X:-31.59, Y:-234.98, Z:-8.03 [[-9.06371865e-01 4.22351587e-01 1.04488760e-02 -3.15861048e+01] [ 4.22324797e-01 9.06432086e-01 -4.75804791e-03 -2.34980527e+02] [-1.14807656e-02 1.00258700e-04 -9.99934089e-01 -8.03332028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.790385723 meters 0.015809499086485868 Centerline is valid? [True, True] Translation: X:-31.26, Y:-234.30, Z:-9.04 [[-8.85046973e-01 -4.65368751e-01 1.11256779e-02 -3.12591397e+01] [ 4.65331372e-01 -8.85116898e-01 -5.89838085e-03 -2.34302879e+02] [ 1.25924477e-02 -4.32171493e-05 9.99920711e-01 -9.03696916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.820385723 meters 0.016137439608572113 Centerline is valid? [True, True] Translation: X:-31.62, Y:-234.96, Z:-8.03 [[-9.06590344e-01 4.21801451e-01 1.33223201e-02 -3.16204099e+01] [ 4.21758710e-01 9.06688208e-01 -6.00704744e-03 -2.34964638e+02] [-1.46129719e-02 1.72873343e-04 -9.99893210e-01 -8.03194475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.850385723 meters 0.016239692647037243 Centerline is valid? [True, True] Translation: X:-31.30, Y:-234.29, Z:-9.04 [[-8.87634214e-01 -4.60348298e-01 1.35995185e-02 -3.13023779e+01] [ 4.60291950e-01 -8.87738377e-01 -7.20380327e-03 -2.34285938e+02] [ 1.53890731e-02 -1.34593369e-04 9.99881572e-01 -9.03874574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.880385723 meters 0.016372720372710974 Centerline is valid? [True, True] Translation: X:-31.66, Y:-234.95, Z:-8.03 [[-9.07718442e-01 4.19324071e-01 1.46476541e-02 -3.16592073e+01] [ 4.19273125e-01 9.07836594e-01 -6.53949973e-03 -2.34945872e+02] [-1.60398461e-02 2.05343199e-04 -9.99871332e-01 -8.02997988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.910385723 meters 0.016703796389481614 Centerline is valid? [True, True] Translation: X:-31.65, Y:-234.92, Z:-8.03 [[-9.34771503e-01 3.54902518e-01 1.56984223e-02 -3.16451973e+01] [ 3.54856629e-01 9.34903283e-01 -5.71175336e-03 -2.34917956e+02] [-1.67036222e-02 2.31504925e-04 -9.99860458e-01 -8.02820207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.940385723 meters 0.016481180767081518 Centerline is valid? [True, True] Translation: X:-31.63, Y:-234.89, Z:-8.03 [[-9.57365001e-01 2.88413648e-01 1.64262654e-02 -3.16341328e+01] [ 2.88375654e-01 9.57505878e-01 -4.68791118e-03 -2.34889254e+02] [-1.70803032e-02 2.48892921e-04 -9.99854090e-01 -8.02893497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9703857229999 meters 0.01657912132987765 Centerline is valid? [True, True] Translation: X:-31.63, Y:-234.86, Z:-8.03 [[-9.75265157e-01 2.20428001e-01 1.64124748e-02 -3.16316785e+01] [ 2.20401200e-01 9.75403215e-01 -3.44674061e-03 -2.34859254e+02] [-1.67685388e-02 2.55843122e-04 -9.99859366e-01 -8.02903699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.000385723 meters 0.01669075380754406 Centerline is valid? [True, True] Translation: X:-31.63, Y:-234.83, Z:-8.03 [[-9.88451427e-01 1.50605638e-01 1.67844593e-02 -3.16262078e+01] [ 1.50588349e-01 9.88593888e-01 -2.29642900e-03 -2.34829791e+02] [-1.69388690e-02 2.57635501e-04 -9.99856494e-01 -8.02891133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.030385723 meters 0.016467480158591893 Centerline is valid? [True, True] Translation: X:-31.62, Y:-234.80, Z:-8.03 [[-9.96651903e-01 7.99258629e-02 1.72290613e-02 -3.16235543e+01] [ 7.99184492e-02 9.96800777e-01 -1.11948612e-03 -2.34799764e+02] [-1.72634176e-02 2.61181890e-04 -9.99850942e-01 -8.02898198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.060385723 meters 0.016275758840606964 Centerline is valid? [True, True] Translation: X:-31.57, Y:-234.07, Z:-9.04 [[-9.92859525e-01 -1.17990000e-01 1.75591367e-02 -3.15730851e+01] [ 1.17967309e-01 -9.93014755e-01 -2.32613026e-03 -2.34068204e+02] [ 1.77109419e-02 -2.38116478e-04 9.99843121e-01 -9.04021401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0903857229999 meters 0.016165942595258328 Centerline is valid? [True, True] Translation: X:-31.70, Y:-234.79, Z:-8.03 [[-9.97208875e-01 7.24731919e-02 1.79470492e-02 -3.16983131e+01] [ 7.24654863e-02 9.97370336e-01 -1.08015537e-03 -2.34792840e+02] [-1.79781368e-02 2.23401129e-04 -9.99838355e-01 -8.02914803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.120385723 meters 0.015820589891539904 Centerline is valid? [True, True] Translation: X:-31.71, Y:-234.76, Z:-8.03 [[-9.99831237e-01 -1.89497005e-04 1.83701124e-02 -3.17057924e+01] [-1.85796554e-04 9.99999962e-01 2.03145165e-04 -2.34761832e+02] [-1.83701502e-02 1.99697778e-04 -9.99831235e-01 -8.02928727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.150385723 meters 0.01564626970408445 Centerline is valid? [True, True] Translation: X:-31.71, Y:-234.73, Z:-8.03 [[-9.97097494e-01 -7.38849792e-02 1.83738134e-02 -3.17081525e+01] [-7.38695781e-02 9.97266758e-01 1.51642297e-03 -2.34730765e+02] [-1.84356342e-02 1.54755703e-04 -9.99830037e-01 -8.02850153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.180385723 meters 0.015301143630913842 Centerline is valid? [True, True] Translation: X:-31.72, Y:-234.70, Z:-8.03 [[-9.88969533e-01 -1.46849578e-01 1.93510579e-02 -3.17238981e+01] [-1.46818976e-01 9.89158827e-01 3.00050983e-03 -2.34701264e+02] [-1.95818933e-02 1.26310306e-04 -9.99808248e-01 -8.02896845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.210385723 meters 0.015462012250799136 Centerline is valid? [True, True] Translation: X:-31.75, Y:-234.68, Z:-8.03 [[-9.75675655e-01 -2.18306061e-01 1.99870076e-02 -3.17532284e+01] [-2.18257771e-01 9.75880346e-01 4.59302167e-03 -2.34676798e+02] [-2.05076123e-02 1.18979702e-04 -9.99789690e-01 -8.02753903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.240385723 meters 0.01533139482560532 Centerline is valid? [True, True] Translation: X:-31.80, Y:-234.66, Z:-8.03 [[-9.57110250e-01 -2.89019136e-01 2.01967545e-02 -3.18009183e+01] [-2.88952286e-01 9.57323313e-01 6.21696248e-03 -2.34659238e+02] [-2.11316451e-02 1.14420124e-04 -9.99776695e-01 -8.02773940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.270385723 meters 0.015198661312787111 Centerline is valid? [True, True] Translation: X:-31.86, Y:-234.65, Z:-8.03 [[-9.32837512e-01 -3.59737411e-01 2.00791470e-02 -3.18623466e+01] [-3.59651979e-01 9.33053582e-01 7.84010440e-03 -2.34650164e+02] [-2.15552989e-02 9.20385264e-05 -9.99767653e-01 -8.02886180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.300385723 meters 0.01486907615698353 Centerline is valid? [True, True] Translation: X:-31.93, Y:-234.65, Z:-8.03 [[-9.03276930e-01 -4.28656456e-01 1.85588355e-02 -3.19335004e+01] [-4.28564517e-01 9.03467564e-01 8.87786189e-03 -2.34649352e+02] [-2.05728587e-02 6.55094631e-05 -9.99788354e-01 -8.03082252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.330385723 meters 0.014777196969636986 Centerline is valid? [True, True] Translation: X:-32.01, Y:-234.66, Z:-8.03 [[-8.68810500e-01 -4.94847236e-01 1.71618474e-02 -3.20134176e+01] [-4.94749366e-01 8.68979983e-01 9.84146739e-03 -2.34658659e+02] [-1.97833248e-02 5.95570826e-05 -9.99804289e-01 -8.03144262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.360385723 meters 0.014646846763338712 Centerline is valid? [True, True] Translation: X:-32.10, Y:-234.68, Z:-8.03 [[-8.29251123e-01 -5.58647100e-01 1.59997652e-02 -3.21005606e+01] [-5.58541898e-01 8.29405459e-01 1.08412542e-02 -2.34679425e+02] [-1.93267278e-02 5.35829951e-05 -9.99813220e-01 -8.03308074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.390385723 meters 0.014634987062139624 Centerline is valid? [True, True] Translation: X:-32.19, Y:-234.71, Z:-8.03 [[-7.84531867e-01 -6.19916288e-01 1.46132066e-02 -3.21886091e+01] [-6.19807796e-01 7.84667952e-01 1.15975023e-02 -2.34709585e+02] [-1.86559955e-02 4.12307796e-05 -9.99825961e-01 -8.03453167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.420385723 meters 0.014580509237547295 Centerline is valid? [True, True] Translation: X:-32.28, Y:-234.75, Z:-8.04 [[-7.35046009e-01 -6.77888340e-01 1.32198118e-02 -3.22782763e+01] [-6.77778045e-01 7.35164878e-01 1.22279971e-02 -2.34747927e+02] [-1.80079580e-02 2.80422814e-05 -9.99837843e-01 -8.03510304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.450385723 meters 0.014514779697962178 Centerline is valid? [True, True] Translation: X:-32.37, Y:-234.80, Z:-8.04 [[-6.80419950e-01 -7.32728591e-01 1.17261941e-02 -3.23722651e+01] [-7.32619848e-01 6.80520986e-01 1.26232014e-02 -2.34801700e+02] [-1.72293018e-02 -1.76452214e-06 -9.99851565e-01 -8.03654321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.480385723 meters 0.014538324190407358 Centerline is valid? [True, True] Translation: X:-32.48, Y:-234.88, Z:-8.04 [[-6.22568109e-01 -7.82491485e-01 1.07715373e-02 -3.24805282e+01] [-7.82374684e-01 6.22661285e-01 1.35195547e-02 -2.34884743e+02] [-1.72859557e-02 -1.05344628e-05 -9.99850587e-01 -8.03658403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.510385723 meters 0.014559027500822596 Centerline is valid? [True, True] Translation: X:-32.55, Y:-234.93, Z:-8.04 [[-5.59955876e-01 -8.28468942e-01 9.41434999e-03 -3.25488672e+01] [-8.28352718e-01 5.60035010e-01 1.38767099e-02 -2.34929022e+02] [-1.67687887e-02 -2.80571769e-05 -9.99859394e-01 -8.03677316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.540385723 meters 0.014669934579394132 Centerline is valid? [True, True] Translation: X:-32.63, Y:-235.01, Z:-8.03 [[-4.94955945e-01 -8.68879355e-01 8.20234840e-03 -3.26326726e+01] [-8.68761088e-01 4.95023903e-01 1.43355242e-02 -2.35008248e+02] [-1.65161995e-02 -3.04281915e-05 -9.99863598e-01 -8.03492505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.570385723 meters 0.014435877080797795 Centerline is valid? [True, True] Translation: X:-32.71, Y:-235.09, Z:-8.04 [[-4.27834136e-01 -9.03828845e-01 7.16729492e-03 -3.27073188e+01] [-9.03702644e-01 4.27894167e-01 1.51034293e-02 -2.35094869e+02] [-1.67177587e-02 -1.53407603e-05 -9.99860248e-01 -8.03678971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.600385723 meters 0.014515171062119006 Centerline is valid? [True, True] Translation: X:-32.78, Y:-235.19, Z:-8.04 [[-3.57779206e-01 -9.33787444e-01 5.92028820e-03 -3.27780652e+01] [-9.33659917e-01 3.57828185e-01 1.54320605e-02 -2.35190513e+02] [-1.65287103e-02 -6.26544430e-06 -9.99863392e-01 -8.03743498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.630385723 meters 0.014360579395581297 Centerline is valid? [True, True] Translation: X:-32.84, Y:-235.30, Z:-8.04 [[-2.86272155e-01 -9.58139405e-01 4.13929022e-03 -3.28436120e+01] [-9.58038607e-01 2.86302078e-01 1.38977780e-02 -2.35301582e+02] [-1.45010962e-02 1.29470267e-05 -9.99894854e-01 -8.03940289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.660385723 meters 0.014347409459778917 Centerline is valid? [True, True] Translation: X:-32.90, Y:-235.41, Z:-8.04 [[-2.12427570e-01 -9.77172553e-01 2.88614117e-03 -3.29003413e+01] [-9.77080964e-01 2.12447174e-01 1.33786178e-02 -2.35412511e+02] [-1.36863707e-02 2.19936810e-05 -9.99906337e-01 -8.04011396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.690385723 meters 0.014449918182051283 Centerline is valid? [True, True] Translation: X:-32.95, Y:-235.52, Z:-8.04 [[-1.37397671e-01 -9.90514512e-01 1.69772581e-03 -3.29469616e+01] [-9.90436026e-01 1.37408156e-01 1.24690152e-02 -2.35518150e+02] [-1.25840219e-02 3.17248516e-05 -9.99920818e-01 -8.04072291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7203857229999 meters 0.014564195680514213 Centerline is valid? [True, True] Translation: X:-32.98, Y:-235.64, Z:-8.04 [[-6.21671818e-02 -9.98065474e-01 7.42786466e-04 -3.29848531e+01] [-9.97984544e-01 6.21716000e-02 1.27099113e-02 -2.35636313e+02] [-1.27315039e-02 4.88499552e-05 -9.99918950e-01 -8.04101057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.750385723 meters 0.014728432290122296 Centerline is valid? [True, True] Translation: X:-33.01, Y:-235.75, Z:-8.04 [[ 1.37496758e-02 -9.99905442e-01 -2.30400058e-04 -3.30140466e+01] [-9.99830269e-01 -1.37514672e-02 1.22609399e-02 -2.35753774e+02] [-1.22629488e-02 6.17770041e-05 -9.99924805e-01 -8.04109769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.780385723 meters 0.014801908011761154 Centerline is valid? [True, True] Translation: X:-33.03, Y:-235.88, Z:-8.04 [[ 9.03928221e-02 -9.95905593e-01 -1.09004194e-03 -3.30348225e+01] [-9.95841162e-01 -9.03993733e-02 1.13284591e-02 -2.35879603e+02] [-1.13806149e-02 6.14972500e-05 -9.99935237e-01 -8.04073309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.810385723 meters 0.014550399093660661 Centerline is valid? [True, True] Translation: X:-33.05, Y:-236.00, Z:-8.04 [[ 1.66196527e-01 -9.86090910e-01 -1.85252791e-03 -3.30485190e+01] [-9.86033589e-01 -1.66206840e-01 1.06324176e-02 -2.35996543e+02] [-1.07924332e-02 5.95838681e-05 -9.99941758e-01 -8.04297870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8403857229999 meters 0.014594202095545301 Centerline is valid? [True, True] Translation: X:-33.05, Y:-236.13, Z:-8.04 [[ 2.42380823e-01 -9.70177661e-01 -2.61581918e-03 -3.30488789e+01] [-9.70123417e-01 -2.42394932e-01 1.02592327e-02 -2.36128469e+02] [-1.05873397e-02 5.10261865e-05 -9.99943951e-01 -8.04189918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.870385723 meters 0.014411263678731379 Centerline is valid? [True, True] Translation: X:-33.03, Y:-236.28, Z:-8.04 [[ 3.17401084e-01 -9.48285433e-01 -3.35988560e-03 -3.30334482e+01] [-9.48233580e-01 -3.17418864e-01 9.91677825e-03 -2.36279772e+02] [-1.04704274e-02 3.83601867e-05 -9.99945183e-01 -8.04258336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.900385723 meters 0.014300948152534696 Centerline is valid? [True, True] Translation: X:-33.02, Y:-236.39, Z:-8.04 [[ 3.89868729e-01 -9.20861711e-01 -4.01038128e-03 -3.30202821e+01] [-9.20813879e-01 -3.89889353e-01 9.38571872e-03 -2.36393007e+02] [-1.02065540e-02 3.36165161e-05 -9.99947911e-01 -8.04283712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.930385723 meters 0.01427119368253424 Centerline is valid? [True, True] Translation: X:-33.01, Y:-236.49, Z:-8.04 [[ 4.60024990e-01 -8.87895122e-01 -4.38878247e-03 -3.30060900e+01] [-8.87855272e-01 -4.60045924e-01 8.41215578e-03 -2.36489490e+02] [-9.48815356e-03 2.68017746e-05 -9.99954986e-01 -8.04214710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.960385723 meters 0.014168863827688805 Centerline is valid? [True, True] Translation: X:-32.97, Y:-236.61, Z:-8.04 [[ 5.26811756e-01 -8.49967487e-01 -4.96437229e-03 -3.29720692e+01] [-8.49930233e-01 -5.26835146e-01 7.95794297e-03 -2.36607446e+02] [-9.37939858e-03 2.70321829e-05 -9.99956012e-01 -8.04293690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.990385723 meters 0.01407858759907925 Centerline is valid? [True, True] Translation: X:-32.93, Y:-236.72, Z:-8.04 [[ 5.90153493e-01 -8.07272647e-01 -5.45242592e-03 -3.29321107e+01] [-8.07238662e-01 -5.90178679e-01 7.40743166e-03 -2.36717633e+02] [-9.19772249e-03 2.98873286e-05 -9.99957700e-01 -8.04325646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.020385723 meters 0.014167662594283852 Centerline is valid? [True, True] Translation: X:-32.88, Y:-236.82, Z:-8.04 [[ 6.49804297e-01 -7.60080258e-01 -5.69014065e-03 -3.28848271e+01] [-7.60051566e-01 -6.49829209e-01 6.60431746e-03 -2.36823067e+02] [-8.71743091e-03 3.32864426e-05 -9.99962002e-01 -8.04289658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.050385723 meters 0.014198409556507533 Centerline is valid? [True, True] Translation: X:-32.83, Y:-236.93, Z:-8.04 [[ 7.06162300e-01 -7.08026223e-01 -5.80294800e-03 -3.28263083e+01] [-7.08002653e-01 -7.06186142e-01 5.77718276e-03 -2.36928425e+02] [-8.18835834e-03 2.88739140e-05 -9.99966474e-01 -8.04302267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.080385723 meters 0.01423110341933043 Centerline is valid? [True, True] Translation: X:-32.83, Y:-236.94, Z:-8.04 [[ 7.59771507e-01 -6.50162186e-01 -6.03238071e-03 -3.28328708e+01] [-6.50141931e-01 -7.59795454e-01 5.13208332e-03 -2.36937206e+02] [-7.92006194e-03 2.26929673e-05 -9.99968636e-01 -8.04328971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.110385723 meters 0.01411451061142528 Centerline is valid? [True, True] Translation: X:-32.84, Y:-236.95, Z:-8.04 [[ 8.08712601e-01 -5.88174858e-01 -5.85364175e-03 -3.28395076e+01] [-5.88159584e-01 -8.08733786e-01 4.23885701e-03 -2.36947333e+02] [-7.22722698e-03 1.48584136e-05 -9.99973883e-01 -8.04312510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.140385723 meters 0.014109054470453576 Centerline is valid? [True, True] Translation: X:-32.85, Y:-236.96, Z:-8.04 [[ 8.52911914e-01 -5.22011921e-01 -6.69489587e-03 -3.28465207e+01] [-5.21995891e-01 -8.52938189e-01 4.09091412e-03 -2.36960423e+02] [-7.84583829e-03 5.51874106e-06 -9.99969221e-01 -8.04215292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.170385723 meters 0.016475232034739447 Centerline is valid? [True, True] Translation: X:-32.85, Y:-236.97, Z:-8.04 [[ 8.91135697e-01 -4.53664405e-01 -8.11030231e-03 -3.28524813e+01] [-4.53645680e-01 -8.91172603e-01 4.12182549e-03 -2.36971212e+02] [-9.09760472e-03 6.09777346e-06 -9.99958616e-01 -8.03996334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.200385723 meters 0.0140463062768409 Centerline is valid? [True, True] Translation: X:-32.86, Y:-236.98, Z:-8.04 [[ 9.24470400e-01 -3.81181490e-01 -7.42634249e-03 -3.28567823e+01] [-3.81169131e-01 -9.24500228e-01 3.06954214e-03 -2.36980786e+02] [-8.03570797e-03 -7.00833790e-06 -9.99967713e-01 -8.04118107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.230385723 meters 0.01399908999028129 Centerline is valid? [True, True] Translation: X:-32.86, Y:-236.99, Z:-8.04 [[ 9.51432542e-01 -3.07768527e-01 -7.39272454e-03 -3.28593522e+01] [-3.07759181e-01 -9.51461263e-01 2.39846279e-03 -2.36990761e+02] [-7.77206239e-03 -6.79670176e-06 -9.99969797e-01 -8.04179554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.260385723 meters 0.01399908999028129 Centerline is valid? [True, True] Translation: X:-32.86, Y:-237.00, Z:-8.04 [[ 9.72579582e-01 -2.32447502e-01 -7.55753797e-03 -3.28616906e+01] [-2.32440430e-01 -9.72608944e-01 1.81318799e-03 -2.37001104e+02] [-7.77200005e-03 -6.79223678e-06 -9.99969798e-01 -8.04179619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.290385723 meters 0.013989485600772534 Centerline is valid? [True, True] Translation: X:-32.86, Y:-237.01, Z:-8.04 [[ 9.87674838e-01 -1.56377196e-01 -6.67739222e-03 -3.28646137e+01] [-1.56373615e-01 -9.87697410e-01 1.05829535e-03 -2.37011568e+02] [-6.76073626e-03 -1.08372838e-06 -9.99977146e-01 -8.04284495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.320385723 meters 0.013817376353456085 Centerline is valid? [True, True] Translation: X:-32.87, Y:-237.02, Z:-8.04 [[ 9.96829420e-01 -7.93258292e-02 -6.20644114e-03 -3.28686421e+01] [-7.93243149e-02 -9.96848741e-01 4.90166290e-04 -2.37022703e+02] [-6.22576589e-03 3.70951226e-06 -9.99980620e-01 -8.04289252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.350385723 meters 0.015118356977307922 Centerline is valid? [True, True] Translation: X:-32.87, Y:-237.03, Z:-8.04 [[ 9.99973961e-01 -2.96238824e-03 -6.58046988e-03 -3.28720687e+01] [-2.96243305e-03 -9.99995612e-01 2.93672098e-06 -2.37033986e+02] [-6.58044971e-03 1.65575570e-05 -9.99978349e-01 -8.04105984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.380385723 meters 0.013888473267927791 Centerline is valid? [True, True] Translation: X:-32.87, Y:-237.04, Z:-8.04 [[ 9.97152774e-01 7.51294748e-02 -6.47352983e-03 -3.28739218e+01] [ 7.51277778e-02 -9.97173787e-01 -5.05259874e-04 -2.37044322e+02] [-6.49319416e-03 1.74793743e-05 -9.99978919e-01 -8.04149339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.410385723 meters 0.01376759588033164 Centerline is valid? [True, True] Translation: X:-32.88, Y:-237.05, Z:-8.04 [[ 9.88329387e-01 1.52201540e-01 -6.30188006e-03 -3.28753948e+01] [ 1.52198303e-01 -9.88349478e-01 -9.92993065e-04 -2.37054676e+02] [-6.37959494e-03 2.22687782e-05 -9.99979650e-01 -8.04124650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.440385723 meters 0.014201416668881516 Centerline is valid? [True, True] Translation: X:-32.88, Y:-237.06, Z:-8.04 [[ 9.73501795e-01 2.28604769e-01 -5.84070824e-03 -3.28771006e+01] [ 2.28600509e-01 -9.73519316e-01 -1.39585842e-03 -2.37064748e+02] [-6.00514219e-03 2.36818017e-05 -9.99981969e-01 -8.04103469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4703857229999 meters 0.013817477353858385 Centerline is valid? [True, True] Translation: X:-32.88, Y:-237.07, Z:-8.04 [[ 9.52699100e-01 3.03871919e-01 -5.12653690e-03 -3.28772271e+01] [ 3.03867391e-01 -9.52712893e-01 -1.65892520e-03 -2.37074308e+02] [-5.38821858e-03 2.26691482e-05 -9.99985483e-01 -8.04211076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.500385723 meters 0.013729571457908438 Centerline is valid? [True, True] Translation: X:-32.87, Y:-237.09, Z:-8.04 [[ 9.26066398e-01 3.77347142e-01 -3.18761488e-03 -3.28745098e+01] [ 3.77344852e-01 -9.26071884e-01 -1.31468096e-03 -2.37088416e+02] [-3.44805162e-03 1.46517981e-05 -9.99994055e-01 -8.04366680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.530385723 meters 0.013622033303403825 Centerline is valid? [True, True] Translation: X:-32.87, Y:-237.10, Z:-8.04 [[ 8.93719596e-01 4.48618635e-01 -2.56988223e-03 -3.28715580e+01] [ 4.48616741e-01 -8.93723291e-01 -1.30360408e-03 -2.37101139e+02] [-2.88158469e-03 1.21643239e-05 -9.99995848e-01 -8.04414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.560385723 meters 0.013584625171976731 Centerline is valid? [True, True] Translation: X:-32.87, Y:-237.11, Z:-8.04 [[ 8.55855382e-01 5.17211810e-01 -1.87333333e-03 -3.28677379e+01] [ 5.17210548e-01 -8.55857432e-01 -1.14247365e-03 -2.37114233e+02] [-2.19420712e-03 8.88446544e-06 -9.99997593e-01 -8.04481330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5903857229999 meters 0.013524411011268384 Centerline is valid? [True, True] Translation: X:-32.86, Y:-237.13, Z:-8.04 [[ 8.12511423e-01 5.82942880e-01 -1.66920309e-03 -3.28632160e+01] [ 5.82941631e-01 -8.12513138e-01 -1.20671572e-03 -2.37125423e+02] [-2.05969578e-03 7.42233566e-06 -9.99997879e-01 -8.04489663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.620385723 meters 0.013403620998035291 Centerline is valid? [True, True] Translation: X:-32.86, Y:-237.14, Z:-8.04 [[ 7.63731741e-01 6.45532308e-01 -1.36678339e-03 -3.28567972e+01] [ 6.45531263e-01 -7.63732964e-01 -1.16113681e-03 -2.37136203e+02] [-1.79340885e-03 4.49562696e-06 -9.99998392e-01 -8.04449267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.650385723 meters 0.013241726843925382 Centerline is valid? [True, True] Translation: X:-32.85, Y:-237.15, Z:-8.04 [[ 7.10634845e-01 7.03560281e-01 -1.02400596e-03 -3.28503946e+01] [ 7.03559545e-01 -7.10635582e-01 -1.01789742e-03 -2.37146003e+02] [-1.44384727e-03 2.90420752e-06 -9.99998958e-01 -8.04469362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.680385723 meters 0.013108481577953494 Centerline is valid? [True, True] Translation: X:-32.84, Y:-237.16, Z:-8.04 [[ 6.53008712e-01 7.57349492e-01 -1.17054578e-03 -3.28429311e+01] [ 7.57348266e-01 -6.53009761e-01 -1.36250576e-03 -2.37157094e+02] [-1.79627087e-03 3.21731630e-06 -9.99998387e-01 -8.04420460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.710385723 meters 0.013053435056782586 Centerline is valid? [True, True] Translation: X:-32.84, Y:-237.17, Z:-8.04 [[ 5.91772303e-01 8.06104426e-01 -1.09327889e-03 -3.28353840e+01] [ 8.06103040e-01 -5.91773313e-01 -1.49521999e-03 -2.37165226e+02] [-1.85227673e-03 3.53433791e-06 -9.99998285e-01 -8.04362328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.740385723 meters 0.012996375965623676 Centerline is valid? [True, True] Translation: X:-32.83, Y:-237.17, Z:-8.04 [[ 5.26963720e-01 8.49887234e-01 -9.62608432e-04 -3.28272835e+01] [ 8.49885803e-01 -5.26964600e-01 -1.55953827e-03 -2.37172620e+02] [-1.83269223e-03 3.71284929e-06 -9.99998321e-01 -8.04325980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.770385723 meters 0.01285111959667828 Centerline is valid? [True, True] Translation: X:-32.82, Y:-237.18, Z:-8.04 [[ 4.59109977e-01 8.88379280e-01 -5.33352051e-04 -3.28185412e+01] [ 8.88378675e-01 -4.59110287e-01 -1.03693681e-03 -2.37180828e+02] [-1.16606059e-03 2.24944800e-06 -9.99999320e-01 -8.04335598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.800385723 meters 0.012852114345055295 Centerline is valid? [True, True] Translation: X:-32.81, Y:-237.19, Z:-8.04 [[ 3.87825977e-01 9.21732550e-01 -3.43928620e-04 -3.28096515e+01] [ 9.21732185e-01 -3.87826130e-01 -8.20113531e-04 -2.37187066e+02] [-8.89309842e-04 1.05125373e-06 -9.99999605e-01 -8.04343810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.830385723 meters 0.012687671746285456 Centerline is valid? [True, True] Translation: X:-32.80, Y:-237.19, Z:-8.04 [[ 3.13735719e-01 9.49510343e-01 -8.98412017e-05 -3.27981679e+01] [ 9.49510305e-01 -3.13735732e-01 -2.69032305e-04 -2.37193665e+02] [-2.83635352e-04 -9.00103047e-07 -9.99999960e-01 -8.04398253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.860385723 meters 0.012735782033744501 Centerline is valid? [True, True] Translation: X:-32.79, Y:-237.20, Z:-8.04 [[ 2.37972173e-01 9.71271973e-01 1.61191741e-05 -3.27892967e+01] [ 9.71271970e-01 -2.37972173e-01 7.26081551e-05 -2.37199462e+02] [ 7.43581807e-05 -1.62261840e-06 -9.99999997e-01 -8.04427790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.890385723 meters 0.012619342465275858 Centerline is valid? [True, True] Translation: X:-32.77, Y:-237.20, Z:-8.04 [[ 1.60816854e-01 9.86984265e-01 9.73780483e-06 -3.27725773e+01] [ 9.86984263e-01 -1.60816854e-01 6.96248465e-05 -2.37204122e+02] [ 7.02846308e-05 -1.58578865e-06 -9.99999998e-01 -8.04351518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.920385723 meters 0.012542359630248969 Centerline is valid? [True, True] Translation: X:-32.76, Y:-237.21, Z:-8.04 [[ 8.30738375e-02 9.96543395e-01 7.78222926e-06 -3.27598557e+01] [ 9.96543388e-01 -8.30738378e-02 1.13148482e-04 -2.37208271e+02] [ 1.13403871e-04 -1.64434945e-06 -9.99999994e-01 -8.04345405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.950385723 meters 0.012534932401304585 Centerline is valid? [True, True] Translation: X:-32.74, Y:-237.21, Z:-8.04 [[ 5.92746365e-03 9.99982432e-01 -3.21649977e-06 -3.27428832e+01] [ 9.99982306e-01 -5.92746452e-03 -5.03202535e-04 -2.37209831e+02] [-5.03212761e-04 -2.33728108e-07 -9.99999873e-01 -8.04252063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.980385723 meters 0.012606092034739563 Centerline is valid? [True, True] Translation: X:-32.73, Y:-237.21, Z:-8.04 [[-7.10775204e-02 9.97470794e-01 3.93302527e-05 -3.27308917e+01] [ 9.97470646e-01 7.10775312e-02 -5.43232132e-04 -2.37211102e+02] [-5.44653684e-04 6.19179637e-07 -9.99999852e-01 -8.04215753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.010385723 meters 0.01268074717341421 Centerline is valid? [True, True] Translation: X:-32.72, Y:-237.21, Z:-8.04 [[-1.47277352e-01 9.89095228e-01 1.09733077e-04 -3.27172313e+01] [ 9.89094966e-01 1.47277393e-01 -7.19488230e-04 -2.37210022e+02] [-7.27803577e-04 2.57211225e-06 -9.99999735e-01 -8.04262185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.040385723 meters 0.013034940817866637 Centerline is valid? [True, True] Translation: X:-32.70, Y:-237.21, Z:-8.04 [[-2.19508635e-01 9.75610527e-01 -2.43012962e-04 -3.27041576e+01] [ 9.75609991e-01 2.19508769e-01 1.02307998e-03 -2.37209320e+02] [ 1.05147108e-03 -1.25109835e-05 -9.99999447e-01 -8.04409561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.070385723 meters 0.013540595922095293 Centerline is valid? [True, True] Translation: X:-32.69, Y:-237.21, Z:-8.04 [[-2.90192971e-01 9.56967922e-01 -6.60522710e-04 -3.26871508e+01] [ 9.56965715e-01 2.90193721e-01 2.05545199e-03 -2.37205220e+02] [ 2.15868116e-03 -3.56198674e-05 -9.99997669e-01 -8.04471134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.100385723 meters 0.014147903772290414 Centerline is valid? [True, True] Translation: X:-32.67, Y:-237.20, Z:-8.04 [[-3.62011449e-01 9.32173328e-01 -7.72473696e-04 -3.26728543e+01] [ 9.32171428e-01 3.62012271e-01 1.88273526e-03 -2.37201677e+02] [ 2.03468055e-03 -3.85061900e-05 -9.99997929e-01 -8.04479768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.130385723 meters 0.01579690991387639 Centerline is valid? [True, True] Translation: X:-32.66, Y:-237.20, Z:-8.05 [[-4.32171177e-01 9.01791122e-01 -9.20417660e-04 -3.26626480e+01] [ 9.01789282e-01 4.32172155e-01 1.82208571e-03 -2.37198359e+02] [ 2.04091959e-03 -4.25698567e-05 -9.99997916e-01 -8.04502506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.160385723 meters 0.015508198387950476 Centerline is valid? [True, True] Translation: X:-32.65, Y:-237.19, Z:-8.04 [[-4.99845955e-01 8.66114014e-01 -7.31744864e-04 -3.26483075e+01] [ 8.66113179e-01 4.99846490e-01 1.20290573e-03 -2.37190850e+02] [ 1.40761361e-03 -3.25063062e-05 -9.99999009e-01 -8.04473529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.190385723 meters 0.014963910766981208 Centerline is valid? [True, True] Translation: X:-32.63, Y:-237.18, Z:-8.04 [[-5.65707522e-01 8.24605767e-01 -5.73744628e-04 -3.26343502e+01] [ 8.24605384e-01 5.65707813e-01 7.94674073e-04 -2.37181261e+02] [ 9.79864641e-04 -2.35598085e-05 -9.99999520e-01 -8.04455437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2203857229999 meters 0.014630844904165484 Centerline is valid? [True, True] Translation: X:-32.62, Y:-237.17, Z:-8.04 [[-6.28899966e-01 7.77486223e-01 7.74631697e-05 -3.26175977e+01] [ 7.77486218e-01 6.28899970e-01 -9.37842563e-05 -2.37166277e+02] [-1.21632553e-04 1.24563131e-06 -9.99999993e-01 -8.04322370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.250385723 meters 0.014697778983208213 Centerline is valid? [True, True] Translation: X:-32.61, Y:-237.15, Z:-8.04 [[-6.87622481e-01 7.26068201e-01 5.38952646e-04 -3.26052261e+01] [ 7.26067996e-01 6.87622692e-01 -5.46135567e-04 -2.37152382e+02] [-7.67127739e-04 1.57811739e-05 -9.99999706e-01 -8.04282164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.280385723 meters 0.015437645434340761 Centerline is valid? [True, True] Translation: X:-32.59, Y:-237.14, Z:-8.04 [[-7.41215049e-01 6.71265991e-01 1.49011434e-03 -3.25922351e+01] [ 6.71264759e-01 7.41216545e-01 -1.28717370e-03 -2.37136229e+02] [-1.96853333e-03 4.61887279e-05 -9.99998061e-01 -8.04129047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.310385723 meters 0.015296867464746525 Centerline is valid? [True, True] Translation: X:-32.57, Y:-237.11, Z:-8.04 [[-7.86009378e-01 6.18211813e-01 1.84717595e-03 -3.25715651e+01] [ 6.18210277e-01 7.86011546e-01 -1.37941486e-03 -2.37109596e+02] [-2.30467219e-03 5.77101419e-05 -9.99997343e-01 -8.04073844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3403857229999 meters 0.01684540152552158 Centerline is valid? [True, True] Translation: X:-32.56, Y:-237.08, Z:-8.04 [[-8.26041384e-01 5.63601984e-01 2.90451301e-03 -3.25556493e+01] [ 5.63598912e-01 8.26046484e-01 -1.86340874e-03 -2.37078349e+02] [-3.44948362e-03 9.77276387e-05 -9.99994046e-01 -8.03981702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.370385723 meters 0.016785458696548083 Centerline is valid? [True, True] Translation: X:-32.54, Y:-237.05, Z:-8.04 [[-8.63296357e-01 5.04684800e-01 3.55700132e-03 -3.25426180e+01] [ 5.04681084e-01 8.63303677e-01 -1.94054773e-03 -2.37046734e+02] [-4.05013726e-03 1.19883491e-04 -9.99991791e-01 -8.03957845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.400385723 meters 0.017262491664499068 Centerline is valid? [True, True] Translation: X:-32.53, Y:-237.01, Z:-8.04 [[-8.96423025e-01 4.43180110e-01 4.14126928e-03 -3.25326743e+01] [ 4.43176096e-01 8.96432580e-01 -1.89149451e-03 -2.37010678e+02] [-4.55064145e-03 1.39732322e-04 -9.99989636e-01 -8.03962424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.430385723 meters 0.015875494915818623 Centerline is valid? [True, True] Translation: X:-32.52, Y:-236.98, Z:-8.04 [[-9.25671121e-01 3.78299769e-01 4.71804732e-03 -3.25212681e+01] [ 3.78295697e-01 9.25683132e-01 -1.76198258e-03 -2.36976268e+02] [-5.03397442e-03 1.53800605e-04 -9.99987318e-01 -8.03953792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.460385723 meters 0.017334223935331853 Centerline is valid? [True, True] Translation: X:-32.34, Y:-236.47, Z:-9.03 [[-9.23281191e-01 -3.84088677e-01 5.26596321e-03 -3.23366848e+01] [ 3.84081623e-01 -9.23296199e-01 -2.33137546e-03 -2.36474046e+02] [ 5.75749873e-03 -1.29955416e-04 9.99983417e-01 -9.03145962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.490385723 meters 0.015843274898527986 Centerline is valid? [True, True] Translation: X:-32.57, Y:-236.95, Z:-8.04 [[-9.27931394e-01 3.72702290e-01 6.02754655e-03 -3.25664992e+01] [ 3.72695690e-01 9.27950953e-01 -2.22543327e-03 -2.36945187e+02] [-6.42269164e-03 1.81391225e-04 -9.99979358e-01 -8.03787047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.520385723 meters 0.015454584072462096 Centerline is valid? [True, True] Translation: X:-32.57, Y:-236.91, Z:-8.04 [[-9.52469832e-01 3.04564263e-01 6.46751639e-03 -3.25659164e+01] [ 3.04558524e-01 9.52491773e-01 -1.87847546e-03 -2.36909779e+02] [-6.73237264e-03 1.80546039e-04 -9.99977321e-01 -8.03756117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.550385723 meters 0.015111353063256425 Centerline is valid? [True, True] Translation: X:-32.57, Y:-236.87, Z:-8.04 [[-9.72559433e-01 2.32524203e-01 7.78751101e-03 -3.25687591e+01] [ 2.32518256e-01 9.72590593e-01 -1.67307814e-03 -2.36869545e+02] [-7.96309111e-03 1.83570548e-04 -9.99968277e-01 -8.03613161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.580385723 meters 0.014420074407188545 Centerline is valid? [True, True] Translation: X:-32.48, Y:-236.40, Z:-9.03 [[-9.66849845e-01 -2.55214428e-01 8.18374671e-03 -3.24764979e+01] [ 2.55203883e-01 -9.66884466e-01 -2.32547422e-03 -2.36401434e+02] [ 8.50623214e-03 -1.59860450e-04 9.99963809e-01 -9.03462211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.610385723 meters 0.014073771438467183 Centerline is valid? [True, True] Translation: X:-32.62, Y:-236.85, Z:-8.03 [[-9.74564301e-01 2.23944437e-01 8.56227742e-03 -3.26192406e+01] [ 2.23937217e-01 9.74601900e-01 -1.80522900e-03 -2.36848412e+02] [-8.74908283e-03 1.58100835e-04 -9.99961714e-01 -8.03451208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.640385723 meters 0.013400524296054095 Centerline is valid? [True, True] Translation: X:-32.63, Y:-236.81, Z:-8.03 [[-9.88716804e-01 1.49531725e-01 8.90756317e-03 -3.26284250e+01] [ 1.49526753e-01 9.88756921e-01 -1.22534269e-03 -2.36809476e+02] [-8.99064234e-03 1.20402083e-04 -9.99959576e-01 -8.03354634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.670385723 meters 0.012799566578138867 Centerline is valid? [True, True] Translation: X:-32.58, Y:-236.37, Z:-9.04 [[-9.81503135e-01 -1.91228291e-01 9.12894166e-03 -3.25796529e+01] [ 1.91219045e-01 -9.81545582e-01 -1.88324393e-03 -2.36369886e+02] [ 9.32060187e-03 -1.02782311e-04 9.99956557e-01 -9.03626696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.700385723 meters 0.012617137519438437 Centerline is valid? [True, True] Translation: X:-32.68, Y:-236.79, Z:-8.03 [[-9.90023732e-01 1.40625415e-01 8.80357781e-03 -3.26827268e+01] [ 1.40620515e-01 9.90062870e-01 -1.17617300e-03 -2.36793245e+02] [-8.88149533e-03 7.35244592e-05 -9.99960556e-01 -8.03311285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.730385723 meters 0.012291804296432054 Centerline is valid? [True, True] Translation: X:-32.64, Y:-236.37, Z:-9.04 [[-9.81465793e-01 -1.91435421e-01 8.79641558e-03 -3.26356143e+01] [ 1.91427110e-01 -9.81505209e-01 -1.78506984e-03 -2.36370484e+02] [ 8.97545331e-03 -6.81125734e-05 9.99959718e-01 -9.03617424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.760385723 meters 0.012177095603913207 Centerline is valid? [True, True] Translation: X:-32.74, Y:-236.78, Z:-8.03 [[-9.90970859e-01 1.33801718e-01 8.59405765e-03 -3.27400603e+01] [ 1.33797078e-01 9.91008122e-01 -1.11520443e-03 -2.36780388e+02] [-8.66599720e-03 4.47247084e-05 -9.99962449e-01 -8.03451172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.790385723 meters 0.012173149517569495 Centerline is valid? [True, True] Translation: X:-32.70, Y:-236.37, Z:-9.04 [[-9.81549986e-01 -1.91057349e-01 7.53093825e-03 -3.26952290e+01] [ 1.91050911e-01 -9.81578870e-01 -1.57192375e-03 -2.36369199e+02] [ 7.69253745e-03 -1.04129122e-04 9.99970407e-01 -9.03554691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.820385723 meters 0.011982179282754383 Centerline is valid? [True, True] Translation: X:-32.79, Y:-236.77, Z:-8.03 [[-9.92006454e-01 1.26025423e-01 6.38647451e-03 -3.27920464e+01] [ 1.26022861e-01 9.92027012e-01 -8.03732177e-04 -2.36767736e+02] [-6.43684591e-03 7.53427905e-06 -9.99979283e-01 -8.03498937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.850385723 meters 0.01201395417705016 Centerline is valid? [True, True] Translation: X:-32.75, Y:-236.37, Z:-9.04 [[-9.81652761e-01 -1.90596210e-01 5.56248951e-03 -3.27494113e+01] [ 1.90592824e-01 -9.81668519e-01 -1.13753122e-03 -2.36367520e+02] [ 5.67732998e-03 -5.64900760e-05 9.99983882e-01 -9.03502102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.880385723 meters 0.011970625929671849 Centerline is valid? [True, True] Translation: X:-32.84, Y:-236.76, Z:-8.04 [[-9.92720977e-01 1.20336078e-01 4.92855140e-03 -3.28427483e+01] [ 1.20334576e-01 9.92733211e-01 -6.01222240e-04 -2.36760815e+02] [-4.96508538e-03 -3.77078510e-06 -9.99987674e-01 -8.03622597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.910385723 meters 0.011980437125180413 Centerline is valid? [True, True] Translation: X:-32.80, Y:-236.36, Z:-9.03 [[-9.82043193e-01 -1.88602540e-01 4.49983830e-03 -3.28042071e+01] [ 1.88600460e-01 -9.82053502e-01 -8.85887356e-04 -2.36363027e+02] [ 4.58616257e-03 -2.13080728e-05 9.99989483e-01 -9.03386690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.940385723 meters 0.011997140410702581 Centerline is valid? [True, True] Translation: X:-32.90, Y:-236.75, Z:-8.04 [[-9.93335473e-01 1.15163065e-01 4.70167306e-03 -3.29011123e+01] [ 1.15161727e-01 9.93346600e-01 -5.55241884e-04 -2.36753413e+02] [-4.73433431e-03 -1.00886695e-05 -9.99988793e-01 -8.03600176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9703857229999 meters 0.012034864740891446 Centerline is valid? [True, True] Translation: X:-32.86, Y:-236.36, Z:-9.03 [[-9.82212995e-01 -1.87697448e-01 5.22495436e-03 -3.28620504e+01] [ 1.87695062e-01 -9.82226891e-01 -9.47645984e-04 -2.36357053e+02] [ 5.30996141e-03 4.99079333e-05 9.99985901e-01 -9.03395786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.000385723 meters 0.012133067762555355 Centerline is valid? [True, True] Translation: X:-32.95, Y:-236.75, Z:-8.04 [[-9.94099577e-01 1.08347547e-01 5.18077441e-03 -3.29530955e+01] [ 1.08345935e-01 9.94113076e-01 -5.91723515e-04 -2.36747276e+02] [-5.21438738e-03 -2.69162500e-05 -9.99986405e-01 -8.03577015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.030385723 meters 0.012317330020261055 Centerline is valid? [True, True] Translation: X:-32.97, Y:-236.72, Z:-8.04 [[-9.99354963e-01 3.55922555e-02 4.78002133e-03 -3.29658473e+01] [ 3.55916889e-02 9.99366394e-01 -2.03581117e-04 -2.36717817e+02] [-4.78423859e-03 -3.33207680e-05 -9.99988555e-01 -8.03667318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.060385723 meters 0.012440066589154159 Centerline is valid? [True, True] Translation: X:-32.98, Y:-236.69, Z:-8.04 [[-9.99323656e-01 -3.65246316e-02 4.26413774e-03 -3.29824793e+01] [-3.65244442e-02 9.99332753e-01 1.21818091e-04 -2.36689446e+02] [-4.26574187e-03 -3.40095608e-05 -9.99990901e-01 -8.03711235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0903857229999 meters 0.012595614940092712 Centerline is valid? [True, True] Translation: X:-33.00, Y:-236.29, Z:-9.03 [[-9.98847097e-01 -4.78377828e-02 4.00288091e-03 -3.30004448e+01] [ 4.78374569e-02 -9.98855118e-01 -1.77181148e-04 -2.36288015e+02] [ 4.00677404e-03 1.45107679e-05 9.99991973e-01 -9.03160796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.120385723 meters 0.012753559770346605 Centerline is valid? [True, True] Translation: X:-33.04, Y:-236.70, Z:-8.04 [[-9.99080681e-01 -4.26707459e-02 4.12312146e-03 -3.30379354e+01] [-4.26705549e-02 9.99089188e-01 1.34317884e-04 -2.36696229e+02] [-4.12509751e-03 -4.17414776e-05 -9.99991491e-01 -8.03918792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.150385723 meters 0.012753559770346605 Centerline is valid? [True, True] Translation: X:-33.06, Y:-236.29, Z:-9.03 [[-9.98999541e-01 -4.45322491e-02 4.09831029e-03 -3.30589608e+01] [ 4.45320381e-02 -9.99007947e-01 -1.42769236e-04 -2.36288759e+02] [ 4.10060238e-03 3.98797081e-05 9.99991592e-01 -9.03085859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.180385723 meters 0.013015308126435267 Centerline is valid? [True, True] Translation: X:-33.10, Y:-236.70, Z:-8.04 [[-9.98842445e-01 -4.78496307e-02 4.91756715e-03 -3.30954730e+01] [-4.78493229e-02 9.98854549e-01 1.80281050e-04 -2.36700693e+02] [-4.92056070e-03 -5.52298937e-05 -9.99987893e-01 -8.03839906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.210385723 meters 0.01312114278687409 Centerline is valid? [True, True] Translation: X:-33.12, Y:-236.29, Z:-9.03 [[-9.99098650e-01 -4.20230047e-02 5.99627189e-03 -3.31178675e+01] [ 4.20230805e-02 -9.99116634e-01 -1.13405315e-04 -2.36288240e+02] [ 5.99574062e-03 1.38678719e-04 9.99982016e-01 -9.03228816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.240385723 meters 0.013145928668717412 Centerline is valid? [True, True] Translation: X:-33.15, Y:-236.71, Z:-8.04 [[-9.98619476e-01 -5.19312303e-02 7.89237284e-03 -3.31523285e+01] [-5.19303049e-02 9.98650659e-01 3.22274502e-04 -2.36708033e+02] [-7.89845946e-03 -8.80237338e-05 -9.99968803e-01 -8.03734803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.270385723 meters 0.013028757076739372 Centerline is valid? [True, True] Translation: X:-33.17, Y:-236.68, Z:-8.04 [[-9.92504044e-01 -1.21917237e-01 8.48000881e-03 -3.31716994e+01] [-1.21913532e-01 9.92540266e-01 9.54372641e-04 -2.36683310e+02] [-8.53310468e-03 -8.66091203e-05 -9.99963589e-01 -8.03762553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.300385723 meters 0.012891186266371925 Centerline is valid? [True, True] Translation: X:-33.19, Y:-236.66, Z:-8.04 [[-9.81610098e-01 -1.90717992e-01 8.26212478e-03 -3.31904161e+01] [-1.90711847e-01 9.81644866e-01 1.53254687e-03 -2.36660083e+02] [-8.40275664e-03 -7.13216011e-05 -9.99964694e-01 -8.03769088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.330385723 meters 0.012629608254651321 Centerline is valid? [True, True] Translation: X:-33.21, Y:-236.64, Z:-8.04 [[-9.66393662e-01 -2.56957783e-01 7.48246186e-03 -3.32131456e+01] [-2.56950381e-01 9.66422628e-01 1.95069540e-03 -2.36642345e+02] [-7.73246682e-03 -3.74817536e-05 -9.99970103e-01 -8.03865603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.360385723 meters 0.012490665809469191 Centerline is valid? [True, True] Translation: X:-33.25, Y:-236.63, Z:-8.04 [[-9.46519075e-01 -3.22593678e-01 5.91267482e-03 -3.32483591e+01] [-3.22587445e-01 9.46537542e-01 2.00546148e-03 -2.36628147e+02] [-6.24351789e-03 -9.14711607e-06 -9.99980509e-01 -8.03923797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.390385723 meters 0.012537538906678735 Centerline is valid? [True, True] Translation: X:-33.29, Y:-236.62, Z:-8.04 [[-9.21287728e-01 -3.88842624e-01 5.50778340e-03 -3.32920309e+01] [-3.88835680e-01 9.21304192e-01 2.32387451e-03 -2.36616196e+02] [-5.97796540e-03 -6.65638073e-07 -9.99982132e-01 -8.03912924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.420385723 meters 0.012612637880211372 Centerline is valid? [True, True] Translation: X:-33.35, Y:-236.62, Z:-8.04 [[-8.91021910e-01 -4.53929349e-01 5.30114157e-03 -3.33528410e+01] [-4.53921275e-01 8.91037680e-01 2.70735782e-03 -2.36615211e+02] [-5.95246605e-03 6.01419360e-06 -9.99982284e-01 -8.03966700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.450385723 meters 0.0128327409025159 Centerline is valid? [True, True] Translation: X:-33.42, Y:-236.63, Z:-8.04 [[-8.56497733e-01 -5.16128444e-01 4.80242943e-03 -3.34197606e+01] [-5.16120203e-01 8.56511196e-01 2.91664460e-03 -2.36625890e+02] [-5.61869782e-03 1.94686330e-05 -9.99984215e-01 -8.03963959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.480385723 meters 0.013014321741221076 Centerline is valid? [True, True] Translation: X:-33.49, Y:-236.64, Z:-8.04 [[-8.16776111e-01 -5.76939790e-01 4.15487936e-03 -3.34922029e+01] [-5.76932177e-01 8.16786679e-01 2.96397345e-03 -2.36641615e+02] [-5.10368433e-03 2.38191114e-05 -9.99986976e-01 -8.03982483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.510385723 meters 0.013255324581286893 Centerline is valid? [True, True] Translation: X:-33.57, Y:-236.67, Z:-8.04 [[-7.72698765e-01 -6.34767108e-01 2.70873842e-03 -3.35680175e+01] [-6.34763111e-01 7.72703512e-01 2.25274356e-03 -2.36667664e+02] [-3.52301920e-03 2.12849403e-05 -9.99993794e-01 -8.03971042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.540385723 meters 0.013395873498022143 Centerline is valid? [True, True] Translation: X:-33.65, Y:-236.70, Z:-8.04 [[-7.23452606e-01 -6.90371457e-01 1.89155984e-03 -3.36488206e+01] [-6.90369039e-01 7.23455079e-01 1.82737407e-03 -2.36702918e+02] [-2.63002548e-03 1.61441873e-05 -9.99996541e-01 -8.03957275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.570385723 meters 0.013458810031944294 Centerline is valid? [True, True] Translation: X:-33.73, Y:-236.75, Z:-8.04 [[-6.69404960e-01 -7.42896287e-01 1.45138227e-03 -3.37298406e+01] [-7.42894503e-01 6.69406534e-01 1.62819527e-03 -2.36749433e+02] [-2.18114499e-03 1.16980782e-05 -9.99997621e-01 -8.03967798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.600385723 meters 0.013513945714146592 Centerline is valid? [True, True] Translation: X:-33.81, Y:-236.81, Z:-8.04 [[-6.11334069e-01 -7.91371186e-01 1.51692626e-03 -3.38113958e+01] [-7.91368701e-01 6.11335951e-01 1.98333956e-03 -2.36805137e+02] [-2.49690934e-03 1.20350855e-05 -9.99996883e-01 -8.03977755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.630385723 meters 0.013627810265419977 Centerline is valid? [True, True] Translation: X:-33.89, Y:-236.87, Z:-8.04 [[-5.49947602e-01 -8.35198279e-01 1.21249391e-03 -3.38883949e+01] [-8.35196208e-01 5.49948938e-01 1.86008404e-03 -2.36868727e+02] [-2.22034872e-03 1.02784394e-05 -9.99997535e-01 -8.03904770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.660385723 meters 0.013649095981484453 Centerline is valid? [True, True] Translation: X:-33.96, Y:-236.94, Z:-8.04 [[-4.85940853e-01 -8.73990926e-01 1.16087639e-03 -3.39648891e+01] [-8.73988370e-01 4.85942240e-01 2.11391610e-03 -2.36942918e+02] [-2.41166236e-03 1.26457297e-05 -9.99997092e-01 -8.03837185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.690385723 meters 0.013868763468806949 Centerline is valid? [True, True] Translation: X:-34.04, Y:-237.02, Z:-8.04 [[-4.19129206e-01 -9.07925882e-01 1.14054414e-03 -3.40350819e+01] [-9.07922412e-01 4.19130757e-01 2.51042436e-03 -2.37023970e+02] [-2.75731639e-03 1.66665796e-05 -9.99996199e-01 -8.03795103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7203857229999 meters 0.013912756317034248 Centerline is valid? [True, True] Translation: X:-34.10, Y:-237.11, Z:-8.04 [[-3.51099553e-01 -9.36337713e-01 8.89532433e-04 -3.40981741e+01] [-9.36334554e-01 3.51100679e-01 2.43240714e-03 -2.37112567e+02] [-2.58986998e-03 2.11171076e-05 -9.99996646e-01 -8.03827608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.750385723 meters 0.01404889122874262 Centerline is valid? [True, True] Translation: X:-34.16, Y:-237.21, Z:-8.04 [[-2.79712016e-01 -9.60083774e-01 5.78637087e-04 -3.41568912e+01] [-9.60081579e-01 2.79712614e-01 2.05292750e-03 -2.37211562e+02] [-2.13283447e-03 1.86896820e-05 -9.99997725e-01 -8.03808595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.780385723 meters 0.0140467173374809 Centerline is valid? [True, True] Translation: X:-34.21, Y:-237.31, Z:-8.04 [[-2.05843402e-01 -9.78584840e-01 4.52196760e-04 -3.42103002e+01] [-9.78582262e-01 2.05843898e-01 2.24652493e-03 -2.37312334e+02] [-2.29149718e-03 1.99206053e-05 -9.99997374e-01 -8.03796309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.810385723 meters 0.014032285511876937 Centerline is valid? [True, True] Translation: X:-34.26, Y:-237.42, Z:-8.04 [[-1.30260665e-01 -9.91479761e-01 2.04847367e-04 -3.42566349e+01] [-9.91478372e-01 1.30260825e-01 1.65985781e-03 -2.37419380e+02] [-1.67239901e-03 1.31124477e-05 -9.99998602e-01 -8.03698213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8403857229999 meters 0.014044564255312354 Centerline is valid? [True, True] Translation: X:-34.30, Y:-237.53, Z:-8.04 [[-5.43403472e-02 -9.98522470e-01 6.12229799e-05 -3.42953417e+01] [-9.98521614e-01 5.43403808e-02 1.30724062e-03 -2.37532104e+02] [-1.30863601e-03 9.90344032e-06 -9.99999144e-01 -8.03671024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.870385723 meters 0.013992476774094728 Centerline is valid? [True, True] Translation: X:-34.32, Y:-237.65, Z:-8.04 [[ 2.20209504e-02 -9.99757508e-01 -6.16816959e-05 -3.43230262e+01] [-9.99755369e-01 -2.20210309e-02 2.06816825e-03 -2.37645074e+02] [-2.06902503e-03 1.61235761e-05 -9.99997860e-01 -8.03651284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.900385723 meters 0.013963691652447941 Centerline is valid? [True, True] Translation: X:-34.34, Y:-237.76, Z:-8.04 [[ 9.83532418e-02 -9.95151551e-01 -1.73634921e-04 -3.43431332e+01] [-9.95150211e-01 -9.83533944e-02 1.63341375e-03 -2.37762708e+02] [-1.64257181e-03 1.21412911e-05 -9.99998651e-01 -8.03697279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.930385723 meters 0.013786048630745375 Centerline is valid? [True, True] Translation: X:-34.36, Y:-237.88, Z:-8.04 [[ 1.73918216e-01 -9.84760087e-01 -1.59466045e-04 -3.43552971e+01] [-9.84759704e-01 -1.73918289e-01 8.68803520e-04 -2.37883338e+02] [-8.83297092e-04 5.93497697e-06 -9.99999610e-01 -8.03733301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.960385723 meters 0.013957004340219183 Centerline is valid? [True, True] Translation: X:-34.36, Y:-238.00, Z:-8.04 [[ 2.48197139e-01 -9.68709505e-01 -2.73760679e-04 -3.43584513e+01] [-9.68708950e-01 -2.48197290e-01 1.03726088e-03 -2.37999368e+02] [-1.07275113e-03 7.74923787e-06 -9.99999425e-01 -8.03716453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.990385723 meters 0.013979824926792958 Centerline is valid? [True, True] Translation: X:-34.35, Y:-238.12, Z:-8.04 [[ 3.20033897e-01 -9.47406045e-01 -3.02341841e-04 -3.43518769e+01] [-9.47405644e-01 -3.20034039e-01 8.71163011e-04 -2.38118061e+02] [-9.22104784e-04 7.63867405e-06 -9.99999575e-01 -8.03684772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.020385723 meters 0.01446758652536251 Centerline is valid? [True, True] Translation: X:-34.33, Y:-238.24, Z:-8.04 [[ 3.88523878e-01 -9.21438653e-01 -6.69312065e-05 -3.43340405e+01] [-9.21438640e-01 -3.88523884e-01 1.56363242e-04 -2.38236631e+02] [-1.70083508e-04 9.22146732e-07 -9.99999986e-01 -8.03682491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.050385723 meters 0.01454318715302773 Centerline is valid? [True, True] Translation: X:-34.31, Y:-238.34, Z:-8.04 [[ 4.56468323e-01 -8.89739663e-01 -5.38076996e-05 -3.43136693e+01] [-8.89739657e-01 -4.56468326e-01 1.04010031e-04 -2.38344381e+02] [-1.17103361e-04 3.97559825e-07 -9.99999993e-01 -8.03692499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.080385723 meters 0.01482474053150489 Centerline is valid? [True, True] Translation: X:-34.28, Y:-238.45, Z:-8.04 [[ 5.21091502e-01 -8.53500814e-01 8.36943473e-05 -3.42817840e+01] [-8.53500804e-01 -5.21091508e-01 -1.30200473e-04 -2.38453290e+02] [ 1.54738623e-04 -3.58683286e-06 -9.99999988e-01 -8.03725687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.110385723 meters 0.014990793750760163 Centerline is valid? [True, True] Translation: X:-34.24, Y:-238.56, Z:-8.04 [[ 5.84239253e-01 -8.11581461e-01 -1.63689869e-04 -3.42432237e+01] [-8.11581431e-01 -5.84239276e-01 2.22066563e-04 -2.38560092e+02] [-2.75859156e-04 3.10765502e-06 -9.99999962e-01 -8.03684655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.140385723 meters 0.014987100292743964 Centerline is valid? [True, True] Translation: X:-34.20, Y:-238.66, Z:-8.04 [[ 6.44212670e-01 -7.64846056e-01 -7.39073810e-04 -3.42027013e+01] [-7.64845581e-01 -6.44213094e-01 8.52653473e-04 -2.38658219e+02] [-1.12826967e-03 1.59871668e-05 -9.99999363e-01 -8.03564806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.170385723 meters 0.014736103632999117 Centerline is valid? [True, True] Translation: X:-34.15, Y:-238.75, Z:-8.04 [[ 7.00311981e-01 -7.13835898e-01 -1.19977041e-03 -3.41535420e+01] [-7.13834909e-01 -7.00313008e-01 1.18868754e-03 -2.38754058e+02] [-1.68874267e-03 2.39858777e-05 -9.99998574e-01 -8.03561018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.200385723 meters 0.014972046132078459 Centerline is valid? [True, True] Translation: X:-34.16, Y:-238.77, Z:-8.04 [[ 7.53838056e-01 -6.57057647e-01 -1.85287576e-03 -3.41556564e+01] [-6.57055777e-01 -7.53840332e-01 1.56807951e-03 -2.38767169e+02] [-2.42709111e-03 3.53647109e-05 -9.99997054e-01 -8.03564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.230385723 meters 0.015108209708254626 Centerline is valid? [True, True] Translation: X:-34.16, Y:-238.78, Z:-8.04 [[ 8.02589906e-01 -5.96528097e-01 -1.91617618e-03 -3.41558603e+01] [-5.96526502e-01 -8.02592193e-01 1.37980482e-03 -2.38781051e+02] [-2.36100039e-03 3.56324557e-05 -9.99997212e-01 -8.03587004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.260385723 meters 0.015334555887998194 Centerline is valid? [True, True] Translation: X:-34.15, Y:-238.79, Z:-8.04 [[ 8.45906775e-01 -5.33326537e-01 -2.12917795e-03 -3.41541238e+01] [-5.33324971e-01 -8.45909453e-01 1.29314485e-03 -2.38794936e+02] [-2.49076022e-03 4.16637750e-05 -9.99996897e-01 -8.03706743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.290385723 meters 0.015562753893947193 Centerline is valid? [True, True] Translation: X:-34.15, Y:-238.81, Z:-8.04 [[ 8.84891605e-01 -4.65792000e-01 -2.15875334e-03 -3.41526954e+01] [-4.65790726e-01 -8.84894238e-01 1.08988316e-03 -2.38807464e+02] [-2.41792725e-03 4.10988230e-05 -9.99997076e-01 -8.03737003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.320385723 meters 0.015593543673586908 Centerline is valid? [True, True] Translation: X:-34.15, Y:-238.82, Z:-8.04 [[ 9.18375884e-01 -3.95705035e-01 -1.80583141e-03 -3.41494341e+01] [-3.95704342e-01 -9.18377659e-01 7.41055992e-04 -2.38821083e+02] [-1.95167481e-03 3.40073774e-05 -9.99998095e-01 -8.03794157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.350385723 meters 0.01583447227464428 Centerline is valid? [True, True] Translation: X:-34.15, Y:-238.83, Z:-8.04 [[ 9.46490363e-01 -3.22730829e-01 -8.97056772e-04 -3.41459946e+01] [-3.22730700e-01 -9.46490788e-01 2.89197892e-04 -2.38832845e+02] [-9.42389047e-04 1.57847414e-05 -9.99999556e-01 -8.03870637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.380385723 meters 0.015672263377518217 Centerline is valid? [True, True] Translation: X:-34.14, Y:-238.85, Z:-8.04 [[ 9.68979263e-01 -2.47140429e-01 -8.92424453e-04 -3.41409539e+01] [-2.47140338e-01 -9.68979674e-01 2.12400441e-04 -2.38845032e+02] [-9.17233892e-04 1.47424586e-05 -9.99999579e-01 -8.03836149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.410385723 meters 0.01528561126553602 Centerline is valid? [True, True] Translation: X:-34.13, Y:-238.86, Z:-8.04 [[ 9.85403359e-01 -1.70229438e-01 -1.46951805e-03 -3.41347619e+01] [-1.70229285e-01 -9.85404454e-01 2.29436407e-04 -2.38859563e+02] [-1.48712646e-03 2.40676007e-05 -9.99998894e-01 -8.03801938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.440385723 meters 0.014882532828704498 Centerline is valid? [True, True] Translation: X:-34.13, Y:-238.88, Z:-8.04 [[ 9.95736948e-01 -9.22118177e-02 -2.21608860e-03 -3.41320191e+01] [-9.22116694e-02 -9.95739413e-01 1.69211028e-04 -2.38876343e+02] [-2.22225002e-03 3.58595564e-05 -9.99997530e-01 -8.03740383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4703857229999 meters 0.014891146630533984 Centerline is valid? [True, True] Translation: X:-34.13, Y:-238.89, Z:-8.04 [[ 9.99909580e-01 -1.30570266e-02 -3.21652178e-03 -3.41287787e+01] [-1.30571184e-02 -9.99914752e-01 -7.54559459e-06 -2.38890775e+02] [-3.21614906e-03 4.95434180e-05 -9.99994827e-01 -8.03672394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.500385723 meters 0.014963487691305488 Centerline is valid? [True, True] Translation: X:-34.12, Y:-238.90, Z:-8.04 [[ 9.97817438e-01 6.59538316e-02 -3.23309467e-03 -3.41244412e+01] [ 6.59533307e-02 -9.97822675e-01 -2.61413258e-04 -2.38902846e+02] [-3.24329637e-03 4.76093451e-05 -9.99994739e-01 -8.03687511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.530385723 meters 0.01491342194820185 Centerline is valid? [True, True] Translation: X:-34.12, Y:-238.91, Z:-8.04 [[ 9.89435947e-01 1.44945727e-01 -2.69115963e-03 -3.41197016e+01] [ 1.44945090e-01 -9.89439607e-01 -4.31483266e-04 -2.38913308e+02] [-2.72528158e-03 3.68546810e-05 -9.99996286e-01 -8.03705763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.560385723 meters 0.014482477179111998 Centerline is valid? [True, True] Translation: X:-34.11, Y:-238.93, Z:-8.04 [[ 9.74850248e-01 2.22842935e-01 -2.83186294e-03 -3.41118667e+01] [ 2.22841885e-01 -9.74854361e-01 -6.85140478e-04 -2.38927902e+02] [-2.91333265e-03 3.68516883e-05 -9.99995756e-01 -8.03732882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5903857229999 meters 0.014128814258840607 Centerline is valid? [True, True] Translation: X:-34.10, Y:-238.94, Z:-8.04 [[ 9.53647435e-01 3.00921005e-01 -1.76604812e-03 -3.41028292e+01] [ 3.00920453e-01 -9.53649070e-01 -5.76493747e-04 -2.38940305e+02] [-1.85766923e-03 1.83317805e-05 -9.99998274e-01 -8.03815467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.620385723 meters 0.014033824680088831 Centerline is valid? [True, True] Translation: X:-34.09, Y:-238.95, Z:-8.04 [[ 9.26602173e-01 3.76041503e-01 -1.09574223e-03 -3.40941227e+01] [ 3.76041228e-01 -9.26602821e-01 -4.54923742e-04 -2.38951217e+02] [-1.18638805e-03 9.48907303e-06 -9.99999296e-01 -8.03868781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.650385723 meters 0.013884444921472235 Centerline is valid? [True, True] Translation: X:-34.08, Y:-238.96, Z:-8.04 [[ 8.93135194e-01 4.49785833e-01 -1.49337485e-03 -3.40844361e+01] [ 4.49785186e-01 -8.93136442e-01 -7.62676738e-04 -2.38960624e+02] [-1.67682869e-03 9.47554934e-06 -9.99998594e-01 -8.03808549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.680385723 meters 0.013859762978873955 Centerline is valid? [True, True] Translation: X:-34.08, Y:-238.97, Z:-8.04 [[ 8.54907908e-01 5.18776469e-01 -1.85587061e-03 -3.40752696e+01] [ 5.18775218e-01 -8.54909922e-01 -1.13964083e-03 -2.38967326e+02] [-2.17782105e-03 1.15082784e-05 -9.99997629e-01 -8.03761509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.710385723 meters 0.013802028412461285 Centerline is valid? [True, True] Translation: X:-34.07, Y:-238.97, Z:-8.04 [[ 8.12057590e-01 5.83572120e-01 -2.45999262e-03 -3.40652814e+01] [ 5.83569373e-01 -8.12061316e-01 -1.79070569e-03 -2.38972447e+02] [-3.04267076e-03 1.85797911e-05 -9.99995371e-01 -8.03717307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.740385723 meters 0.014026741802814902 Centerline is valid? [True, True] Translation: X:-34.06, Y:-238.98, Z:-8.04 [[ 7.64404492e-01 6.44732330e-01 -2.44846177e-03 -3.40563011e+01] [ 6.44728929e-01 -7.64408413e-01 -2.09433173e-03 -2.38976821e+02] [-3.22190815e-03 2.23224470e-05 -9.99994809e-01 -8.03630507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.770385723 meters 0.014005340897115418 Centerline is valid? [True, True] Translation: X:-34.04, Y:-238.98, Z:-8.04 [[ 7.12691351e-01 7.01471222e-01 -3.02692755e-03 -3.40435081e+01] [ 7.01464675e-01 -7.12697778e-01 -3.03097212e-03 -2.38983551e+02] [-4.28342425e-03 3.68648668e-05 -9.99990825e-01 -8.03633340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.800385723 meters 0.014496511920324157 Centerline is valid? [True, True] Translation: X:-34.03, Y:-238.99, Z:-8.04 [[ 6.55841977e-01 7.54892049e-01 -3.04882319e-03 -3.40319762e+01] [ 7.54883591e-01 -6.55849062e-01 -3.57367400e-03 -2.38988621e+02] [-4.69730592e-03 4.22588255e-05 -9.99988967e-01 -8.03555024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.830385723 meters 0.014223186645616434 Centerline is valid? [True, True] Translation: X:-34.02, Y:-238.99, Z:-8.04 [[ 5.94786972e-01 8.03878800e-01 -2.70790797e-03 -3.40183223e+01] [ 8.03870148e-01 -5.94793134e-01 -3.72989564e-03 -2.38993909e+02] [-4.60902910e-03 4.16869471e-05 -9.99989378e-01 -8.03623355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.860385723 meters 0.014142523385548993 Centerline is valid? [True, True] Translation: X:-34.00, Y:-239.00, Z:-8.04 [[ 5.29917880e-01 8.48045327e-01 -2.48275584e-03 -3.40041804e+01] [ 8.48035643e-01 -5.29923694e-01 -4.05301352e-03 -2.38997872e+02] [-4.75281033e-03 4.22988833e-05 -9.99988705e-01 -8.03616562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.890385723 meters 0.014168327111831774 Centerline is valid? [True, True] Translation: X:-33.99, Y:-239.00, Z:-8.04 [[ 4.61595152e-01 8.87088459e-01 -1.99540607e-03 -3.39910216e+01] [ 8.87079816e-01 -4.61599463e-01 -3.91608815e-03 -2.39001117e+02] [-4.39499497e-03 3.75628490e-05 -9.99990341e-01 -8.03598918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.920385723 meters 0.014031619144566767 Centerline is valid? [True, True] Translation: X:-33.98, Y:-239.00, Z:-8.04 [[ 3.90357730e-01 9.20662012e-01 -1.51700671e-03 -3.39795603e+01] [ 9.20654738e-01 -3.90360677e-01 -3.66001267e-03 -2.39001537e+02] [-3.96181440e-03 3.20748201e-05 -9.99992152e-01 -8.03654868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.950385723 meters 0.014012184369396647 Centerline is valid? [True, True] Translation: X:-33.97, Y:-239.00, Z:-8.04 [[ 3.16762749e-01 9.48504030e-01 -1.21113857e-03 -3.39692839e+01] [ 9.48496726e-01 -3.16765063e-01 -3.72227297e-03 -2.39002189e+02] [-3.91423729e-03 3.03164528e-05 -9.99992339e-01 -8.03652052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.980385723 meters 0.01397892227196509 Centerline is valid? [True, True] Translation: X:-33.96, Y:-239.00, Z:-8.04 [[ 2.41368880e-01 9.70432909e-01 -1.01660974e-03 -3.39579806e+01] [ 9.70423713e-01 -2.41371018e-01 -4.22470190e-03 -2.39001776e+02] [-4.34516988e-03 3.31693653e-05 -9.99990559e-01 -8.03604941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.010385723 meters 0.013973942473274915 Centerline is valid? [True, True] Translation: X:-33.95, Y:-239.00, Z:-8.04 [[ 1.64863388e-01 9.86316138e-01 -7.34192572e-04 -3.39470086e+01] [ 9.86305337e-01 -1.64865019e-01 -4.61610763e-03 -2.39000499e+02] [-4.67398412e-03 3.68890901e-05 -9.99989076e-01 -8.03565580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.040385723 meters 0.01403982246279346 Centerline is valid? [True, True] Translation: X:-33.94, Y:-239.00, Z:-8.04 [[ 8.70535906e-02 9.96203565e-01 -3.59582155e-04 -3.39386386e+01] [ 9.96193303e-01 -8.70543260e-02 -4.52186188e-03 -2.38998586e+02] [-4.53599811e-03 3.54309778e-05 -9.99989712e-01 -8.03541607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.070385723 meters 0.01403982246279346 Centerline is valid? [True, True] Translation: X:-33.93, Y:-239.00, Z:-8.04 [[ 8.74326887e-03 9.99961777e-01 -4.22698229e-06 -3.39275051e+01] [ 9.99951489e-01 -8.74319810e-03 -4.53609092e-03 -2.38996825e+02] [-4.53595449e-03 3.54334853e-05 -9.99989712e-01 -8.03541645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.100385723 meters 0.01394749758649863 Centerline is valid? [True, True] Translation: X:-33.92, Y:-238.99, Z:-8.04 [[-6.97779543e-02 9.97562491e-01 3.38017719e-04 -3.39164115e+01] [ 9.97552983e-01 6.97787651e-02 -4.35546802e-03 -2.38994021e+02] [-4.36843798e-03 3.32749359e-05 -9.99990458e-01 -8.03536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.130385723 meters 0.013806394625440473 Centerline is valid? [True, True] Translation: X:-33.91, Y:-238.99, Z:-8.03 [[-1.48789108e-01 9.88868588e-01 8.46949415e-04 -3.39065510e+01] [ 9.88853902e-01 1.48791514e-01 -5.38947478e-03 -2.38990223e+02] [-5.45550120e-03 3.56140887e-05 -9.99985118e-01 -8.03460748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.160385723 meters 0.013824176041397513 Centerline is valid? [True, True] Translation: X:-33.90, Y:-238.99, Z:-8.03 [[-2.26329208e-01 9.74050043e-01 1.26622588e-03 -3.38978604e+01] [ 9.74035596e-01 2.26332748e-01 -5.30514446e-03 -2.38986664e+02] [-5.45406457e-03 3.26399307e-05 -9.99985126e-01 -8.03416020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.190385723 meters 0.013755149362370689 Centerline is valid? [True, True] Translation: X:-33.89, Y:-238.98, Z:-8.03 [[-3.03368439e-01 9.52871608e-01 1.81372331e-03 -3.38905132e+01] [ 9.52855097e-01 3.03373860e-01 -5.60935776e-03 -2.38982430e+02] [-5.89523399e-03 2.65133922e-05 -9.99982623e-01 -8.03410176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2203857229999 meters 0.013678567826053806 Centerline is valid? [True, True] Translation: X:-33.88, Y:-238.98, Z:-8.03 [[-3.77601421e-01 9.25965072e-01 2.41912205e-03 -3.38833598e+01] [ 9.25946494e-01 3.77609169e-01 -5.86569789e-03 -2.38978044e+02] [-6.34491404e-03 2.50817163e-05 -9.99979871e-01 -8.03397403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.250385723 meters 0.01383015320468155 Centerline is valid? [True, True] Translation: X:-33.88, Y:-238.98, Z:-8.03 [[-4.49128902e-01 8.93461726e-01 3.06166581e-03 -3.38789902e+01] [ 8.93441352e-01 4.49139337e-01 -6.03379506e-03 -2.38975126e+02] [-6.76607949e-03 2.54670873e-05 -9.99977110e-01 -8.03334215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.280385723 meters 0.013812903052241804 Centerline is valid? [True, True] Translation: X:-33.87, Y:-238.97, Z:-8.03 [[-5.17486810e-01 8.55682729e-01 3.80376099e-03 -3.38748762e+01] [ 8.55660037e-01 5.17500789e-01 -6.23169318e-03 -2.38970806e+02] [-7.30080154e-03 2.99072477e-05 -9.99973348e-01 -8.03335151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.310385723 meters 0.013967551370918482 Centerline is valid? [True, True] Translation: X:-33.87, Y:-238.97, Z:-8.03 [[-5.81992359e-01 8.13181605e-01 4.53553563e-03 -3.38719985e+01] [ 8.13157454e-01 5.82010030e-01 -6.26743045e-03 -2.38968374e+02] [-7.73628638e-03 4.05079712e-05 -9.99970074e-01 -8.03297273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3403857229999 meters 0.014000571098269403 Centerline is valid? [True, True] Translation: X:-33.87, Y:-238.96, Z:-8.03 [[-6.42744743e-01 7.66063827e-01 5.04077068e-03 -3.38652798e+01] [ 7.66040907e-01 6.42764507e-01 -5.92608664e-03 -2.38961012e+02] [-7.77978909e-03 5.24755152e-05 -9.99969736e-01 -8.03347503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.370385723 meters 0.013967430850949146 Centerline is valid? [True, True] Translation: X:-33.86, Y:-238.95, Z:-8.03 [[-7.00635983e-01 7.13499139e-01 5.31018770e-03 -3.38591372e+01] [ 7.13479208e-01 7.00656104e-01 -5.33322291e-03 -2.38952801e+02] [-7.52586538e-03 5.20606333e-05 -9.99971679e-01 -8.03357564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.400385723 meters 0.014285845379730261 Centerline is valid? [True, True] Translation: X:-33.85, Y:-238.95, Z:-8.03 [[-7.54405884e-01 6.56387163e-01 5.25865882e-03 -3.38534885e+01] [ 6.56371654e-01 7.54424211e-01 -4.51244069e-03 -2.38946891e+02] [-6.92916768e-03 4.74227784e-05 -9.99975992e-01 -8.03350962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.430385723 meters 0.014113097471230397 Centerline is valid? [True, True] Translation: X:-33.84, Y:-238.92, Z:-8.04 [[-7.98553735e-01 6.01902238e-01 5.06246654e-03 -3.38396359e+01] [ 6.01890518e-01 7.98569780e-01 -3.75633193e-03 -2.38923714e+02] [-6.30367739e-03 4.74177205e-05 -9.99980131e-01 -8.03537327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.460385723 meters 0.014197226158114404 Centerline is valid? [True, True] Translation: X:-33.82, Y:-238.90, Z:-8.04 [[-8.39195561e-01 5.43803563e-01 5.33812236e-03 -3.38249726e+01] [ 5.43792920e-01 8.39212537e-01 -3.40261730e-03 -2.38899661e+02] [-6.33017462e-03 4.73718136e-05 -9.99979963e-01 -8.03536392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.490385723 meters 0.014202150234065453 Centerline is valid? [True, True] Translation: X:-33.81, Y:-238.87, Z:-8.03 [[-8.75738953e-01 4.82748121e-01 5.96135447e-03 -3.38118825e+01] [ 4.82737314e-01 8.75759242e-01 -3.23053450e-03 -2.38874720e+02] [-6.78024572e-03 4.86633403e-05 -9.99977013e-01 -8.03427828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.520385723 meters 0.014179610649451746 Centerline is valid? [True, True] Translation: X:-33.81, Y:-238.85, Z:-8.03 [[-9.08024560e-01 4.18853840e-01 7.27038466e-03 -3.38085245e+01] [ 4.18840869e-01 9.08053665e-01 -3.29668698e-03 -2.38845655e+02] [-7.98272943e-03 5.16614865e-05 -9.99968136e-01 -8.03308222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.550385723 meters 0.014268829304163145 Centerline is valid? [True, True] Translation: X:-33.80, Y:-238.82, Z:-8.03 [[-9.35450299e-01 3.53371067e-01 7.85032200e-03 -3.37962371e+01] [ 3.53359106e-01 9.35483237e-01 -2.90785355e-03 -2.38821458e+02] [-8.37139595e-03 5.38302949e-05 -9.99964958e-01 -8.03263213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.580385723 meters 0.01427924480865202 Centerline is valid? [True, True] Translation: X:-33.79, Y:-238.80, Z:-8.03 [[-9.58110445e-01 2.86284898e-01 8.08287623e-03 -3.37915248e+01] [ 2.86275198e-01 9.58144537e-01 -2.35732331e-03 -2.38795261e+02] [-8.41942977e-03 5.53509092e-05 -9.99964555e-01 -8.03336399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.610385723 meters 0.014379775860735912 Centerline is valid? [True, True] Translation: X:-33.79, Y:-238.77, Z:-8.03 [[-9.75898175e-01 2.18068275e-01 8.30542857e-03 -3.37896420e+01] [ 2.18060899e-01 9.75933514e-01 -1.79454248e-03 -2.38769226e+02] [-8.49687888e-03 5.97984958e-05 -9.99963899e-01 -8.03279071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.640385723 meters 0.014386611781912114 Centerline is valid? [True, True] Translation: X:-33.65, Y:-238.13, Z:-9.04 [[-9.62874419e-01 -2.69816626e-01 8.47599106e-03 -3.36476149e+01] [ 2.69805792e-01 -9.62911723e-01 -2.41835154e-03 -2.38127466e+02] [ 8.81414262e-03 -4.16973578e-05 9.99961154e-01 -9.03802044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.670385723 meters 0.014717667816017221 Centerline is valid? [True, True] Translation: X:-33.85, Y:-238.76, Z:-8.03 [[-9.77079436e-01 2.12689419e-01 8.88741989e-03 -3.38456132e+01] [ 2.12681079e-01 9.77119854e-01 -1.88417990e-03 -2.38762058e+02] [-9.08481955e-03 4.91926190e-05 -9.99958731e-01 -8.02938118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.700385723 meters 0.014155594935942723 Centerline is valid? [True, True] Translation: X:-33.71, Y:-238.11, Z:-9.04 [[-9.63349378e-01 -2.68141871e-01 7.61008222e-03 -3.37069842e+01] [ 2.68132541e-01 -9.63379429e-01 -2.23991588e-03 -2.38111550e+02] [ 7.93201189e-03 -1.17310887e-04 9.99968534e-01 -9.03769409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.730385723 meters 0.01495295040237573 Centerline is valid? [True, True] Translation: X:-33.90, Y:-238.76, Z:-8.03 [[-9.78409492e-01 2.06541047e-01 7.46064230e-03 -3.38957357e+01] [ 2.06535223e-01 9.78437936e-01 -1.55119884e-03 -2.38755805e+02] [-7.62016169e-03 2.31777564e-05 -9.99970966e-01 -8.03222420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.760385723 meters 0.01399946518761224 Centerline is valid? [True, True] Translation: X:-33.75, Y:-238.10, Z:-9.04 [[-9.63756306e-01 -2.66682244e-01 7.37320953e-03 -3.37539294e+01] [ 2.66674274e-01 -9.63784509e-01 -2.06194510e-03 -2.38097468e+02] [ 7.65606928e-03 -2.09672909e-05 9.99970692e-01 -9.03719624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.790385723 meters 0.014141483622314478 Centerline is valid? [True, True] Translation: X:-33.95, Y:-238.75, Z:-8.03 [[-9.79663109e-01 2.00475154e-01 8.36094473e-03 -3.39505655e+01] [ 2.00467908e-01 9.79698787e-01 -1.70441380e-03 -2.38749572e+02] [-8.53290002e-03 6.34978059e-06 -9.99963594e-01 -8.03163878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.820385723 meters 0.015041235418629829 Centerline is valid? [True, True] Translation: X:-33.81, Y:-238.08, Z:-9.04 [[-9.64301772e-01 -2.64675180e-01 8.31514817e-03 -3.38089835e+01] [ 2.64665335e-01 -9.64337622e-01 -2.28287212e-03 -2.38082346e+02] [ 8.62282980e-03 -6.46157932e-07 9.99962823e-01 -9.04064758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.850385723 meters 0.014065409903046514 Centerline is valid? [True, True] Translation: X:-34.00, Y:-238.75, Z:-8.03 [[-9.80706632e-01 1.95309072e-01 8.29876760e-03 -3.40014080e+01] [ 1.95302037e-01 9.80741743e-01 -1.65763993e-03 -2.38745033e+02] [-8.46269992e-03 -4.89225430e-06 -9.99964191e-01 -8.03212359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.880385723 meters 0.014121497987942638 Centerline is valid? [True, True] Translation: X:-34.00, Y:-238.72, Z:-8.03 [[-9.92155380e-01 1.24775946e-01 7.65927567e-03 -3.39992098e+01] [ 1.24772164e-01 9.92184944e-01 -9.71432955e-04 -2.38720664e+02] [-7.72062947e-03 -8.14803079e-06 -9.99970196e-01 -8.03428576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.910385723 meters 0.014022999208920556 Centerline is valid? [True, True] Translation: X:-33.91, Y:-238.02, Z:-9.04 [[-9.81163145e-01 -1.93034273e-01 7.52676342e-03 -3.39117460e+01] [ 1.93028631e-01 -9.81192015e-01 -1.47583046e-03 -2.38024281e+02] [ 7.67008602e-03 4.85038123e-06 9.99970585e-01 -9.03545937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.940385723 meters 0.014066084319355094 Centerline is valid? [True, True] Translation: X:-34.06, Y:-238.72, Z:-8.03 [[-9.92628611e-01 1.20984180e-01 7.16027680e-03 -3.40605936e+01] [ 1.20981002e-01 9.92654436e-01 -8.76930505e-04 -2.38717234e+02] [-7.21377525e-03 -4.20884993e-06 -9.99973980e-01 -8.03458393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9703857229999 meters 0.01406970292381274 Centerline is valid? [True, True] Translation: X:-34.06, Y:-238.69, Z:-8.03 [[-9.98679209e-01 5.08677383e-02 7.23267903e-03 -3.40586769e+01] [ 5.08664102e-02 9.98705399e-01 -3.67580739e-04 -2.38692511e+02] [-7.24201360e-03 8.05176777e-07 -9.99973776e-01 -8.03420289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.000385723 meters 0.014080217907165477 Centerline is valid? [True, True] Translation: X:-34.02, Y:-237.98, Z:-9.04 [[-9.93038822e-01 -1.17494900e-01 8.29744240e-03 -3.40236635e+01] [ 1.17491395e-01 -9.93073483e-01 -9.10268092e-04 -2.37975421e+02] [ 8.34692189e-03 7.09465329e-05 9.99965161e-01 -9.03692628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.030385723 meters 0.014054256211560394 Centerline is valid? [True, True] Translation: X:-34.13, Y:-238.69, Z:-8.03 [[-9.98855144e-01 4.69107247e-02 9.36935753e-03 -3.41334808e+01] [ 4.69087436e-02 9.98899086e-01 -4.31211520e-04 -2.38694955e+02] [-9.37927112e-03 8.78694535e-06 -9.99956014e-01 -8.03214095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.060385723 meters 0.014159527713049716 Centerline is valid? [True, True] Translation: X:-34.14, Y:-238.67, Z:-8.03 [[-9.99683508e-01 -2.35576716e-02 8.82720274e-03 -3.41418108e+01] [-2.35566292e-02 9.99722480e-01 2.22054806e-04 -2.38670154e+02] [-8.82998410e-03 1.40453858e-05 -9.99961015e-01 -8.03229884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0903857229999 meters 0.014176740117274838 Centerline is valid? [True, True] Translation: X:-34.15, Y:-237.93, Z:-9.04 [[-9.99155318e-01 -4.00242348e-02 9.31192420e-03 -3.41505407e+01] [ 4.00226592e-02 -9.99198709e-01 -3.55567258e-04 -2.37931579e+02] [ 9.31869395e-03 1.74210518e-05 9.99956580e-01 -9.03815486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.120385723 meters 0.014200537828823202 Centerline is valid? [True, True] Translation: X:-34.23, Y:-238.68, Z:-8.03 [[-9.99557490e-01 -2.81552258e-02 9.59728292e-03 -3.42346797e+01] [-2.81536953e-02 9.99603563e-01 2.94564600e-04 -2.38676522e+02] [-9.60177173e-03 2.42352727e-05 -9.99953902e-01 -8.03158374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.150385723 meters 0.014239385532805673 Centerline is valid? [True, True] Translation: X:-34.23, Y:-238.65, Z:-8.03 [[-9.95100074e-01 -9.83558150e-02 1.00983630e-02 -3.42296698e+01] [-9.83503865e-02 9.95151311e-01 1.03397502e-03 -2.38651148e+02] [-1.01510967e-02 3.57307097e-05 -9.99948476e-01 -8.03231471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.180385723 meters 0.014242480138692596 Centerline is valid? [True, True] Translation: X:-34.25, Y:-238.63, Z:-8.03 [[-9.85597143e-01 -1.68806211e-01 1.01358239e-02 -3.42495981e+01] [-1.68796871e-01 9.85649259e-01 1.77613504e-03 -2.38627077e+02] [-1.02901900e-02 3.96582546e-05 -9.99947054e-01 -8.03270281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.210385723 meters 0.014267978891704121 Centerline is valid? [True, True] Translation: X:-34.27, Y:-238.61, Z:-8.03 [[-9.70841171e-01 -2.39483851e-01 1.07193993e-02 -3.42737134e+01] [-2.39468753e-01 9.70900347e-01 2.68952557e-03 -2.38606840e+02] [-1.10515664e-02 4.41409834e-05 -9.99938929e-01 -8.03262241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.240385723 meters 0.014315074344813272 Centerline is valid? [True, True] Translation: X:-34.33, Y:-238.59, Z:-8.03 [[-9.50724875e-01 -3.09847253e-01 1.08116506e-02 -3.43261056e+01] [-3.09826704e-01 9.50786347e-01 3.56865171e-03 -2.38593311e+02] [-1.13853067e-02 4.30678910e-05 -9.99935184e-01 -8.03214806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.270385723 meters 0.014335328056950385 Centerline is valid? [True, True] Translation: X:-34.39, Y:-238.59, Z:-8.03 [[-9.25057327e-01 -3.79696619e-01 9.97096526e-03 -3.43887096e+01] [-3.79674176e-01 9.25111062e-01 4.12837019e-03 -2.38588252e+02] [-1.07917785e-02 3.32610657e-05 -9.99941767e-01 -8.03188358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.300385723 meters 0.01429449873338067 Centerline is valid? [True, True] Translation: X:-34.46, Y:-238.59, Z:-8.03 [[-8.94222546e-01 -4.47530657e-01 9.07461123e-03 -3.44618779e+01] [-4.47507285e-01 8.94268590e-01 4.57377849e-03 -2.38593272e+02] [-1.01620459e-02 2.90212087e-05 -9.99948365e-01 -8.03373733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.330385723 meters 0.014325934669074822 Centerline is valid? [True, True] Translation: X:-34.54, Y:-238.61, Z:-8.03 [[-8.58301872e-01 -5.13076080e-01 8.41626047e-03 -3.45426174e+01] [-5.13051085e-01 8.58343134e-01 5.06442748e-03 -2.38606462e+02] [-9.82247598e-03 2.88360219e-05 -9.99951758e-01 -8.03384210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.360385723 meters 0.014335732875406468 Centerline is valid? [True, True] Translation: X:-34.63, Y:-238.63, Z:-8.03 [[-8.17418682e-01 -5.75995249e-01 7.49480606e-03 -3.46296907e+01] [-5.75970718e-01 8.17453040e-01 5.31594102e-03 -2.38630120e+02] [-9.18860877e-03 2.85606766e-05 -9.99957784e-01 -8.03462006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.390385723 meters 0.01433702307027913 Centerline is valid? [True, True] Translation: X:-34.72, Y:-238.67, Z:-8.04 [[-7.71734893e-01 -6.35911934e-01 6.42398580e-03 -3.47201992e+01] [-6.35889606e-01 7.71761629e-01 5.32894344e-03 -2.38666367e+02] [-8.34652447e-03 2.75857961e-05 -9.99965167e-01 -8.03589321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.420385723 meters 0.014353501088388636 Centerline is valid? [True, True] Translation: X:-34.81, Y:-238.71, Z:-8.04 [[-7.21119438e-01 -6.92784990e-01 5.97611931e-03 -3.48131582e+01] [-6.92760910e-01 7.21144200e-01 5.77621031e-03 -2.38712271e+02] [-8.31131558e-03 2.53156836e-05 -9.99965460e-01 -8.03642829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.450385723 meters 0.014385089213161659 Centerline is valid? [True, True] Translation: X:-34.90, Y:-238.77, Z:-8.04 [[-6.65803490e-01 -7.46105659e-01 5.66208336e-03 -3.49046027e+01] [-7.46078426e-01 6.65827565e-01 6.37473675e-03 -2.38767233e+02] [-8.52619834e-03 1.99637299e-05 -9.99963651e-01 -8.03680460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.480385723 meters 0.014365457005246789 Centerline is valid? [True, True] Translation: X:-35.00, Y:-238.83, Z:-8.04 [[-6.05918053e-01 -7.95509137e-01 5.34096206e-03 -3.49987456e+01] [-7.95478101e-01 6.05941592e-01 7.02693691e-03 -2.38834102e+02] [-8.82630357e-03 9.12957330e-06 -9.99961047e-01 -8.03721561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.510385723 meters 0.014367002915564558 Centerline is valid? [True, True] Translation: X:-35.09, Y:-238.91, Z:-8.04 [[-5.42682978e-01 -8.39922828e-01 4.98274854e-03 -3.50864630e+01] [-8.39887371e-01 5.42705853e-01 7.71758266e-03 -2.38906767e+02] [-9.18634065e-03 3.25316925e-06 -9.99957805e-01 -8.03675928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.540385723 meters 0.014391221567734917 Centerline is valid? [True, True] Translation: X:-35.18, Y:-239.00, Z:-8.04 [[-4.76362271e-01 -8.79236617e-01 4.68597985e-03 -3.51762082e+01] [-8.79194090e-01 4.76385319e-01 8.64753204e-03 -2.38998609e+02] [-9.83555882e-03 -5.27789129e-07 -9.99951630e-01 -8.03646366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.570385723 meters 0.01436860095225698 Centerline is valid? [True, True] Translation: X:-35.25, Y:-239.08, Z:-8.04 [[-4.08264229e-01 -9.12854519e-01 4.11650240e-03 -3.52524836e+01] [-9.12807889e-01 4.08284982e-01 9.22670599e-03 -2.39083705e+02] [-1.01033464e-02 9.35814572e-06 -9.99948960e-01 -8.03557180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.600385723 meters 0.014463579751123777 Centerline is valid? [True, True] Translation: X:-35.33, Y:-239.19, Z:-8.04 [[-3.38800634e-01 -9.40851327e-01 3.59325061e-03 -3.53251377e+01] [-9.40797386e-01 3.38819687e-01 1.00746450e-02 -2.39188063e+02] [-1.06962072e-02 3.27753396e-05 -9.99942793e-01 -8.03656968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.630385723 meters 0.014460225620818553 Centerline is valid? [True, True] Translation: X:-35.39, Y:-239.29, Z:-8.04 [[-2.66431886e-01 -9.63849657e-01 2.80869157e-03 -3.53880956e+01] [-9.63794280e-01 2.66446686e-01 1.03319593e-02 -2.39293096e+02] [-1.07068220e-02 4.57625389e-05 -9.99942679e-01 -8.03704997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.660385723 meters 0.014713826894622006 Centerline is valid? [True, True] Translation: X:-35.45, Y:-239.42, Z:-8.04 [[-1.93910245e-01 -9.81017053e-01 2.08780244e-03 -3.54458817e+01] [-9.80955895e-01 1.93921469e-01 1.09542279e-02 -2.39416469e+02] [-1.11511541e-02 7.60949022e-05 -9.99937821e-01 -8.03665196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.690385723 meters 0.01472493116610744 Centerline is valid? [True, True] Translation: X:-35.49, Y:-239.51, Z:-8.04 [[-1.18872258e-01 -9.92908729e-01 1.28186824e-03 -3.54899448e+01] [-9.92842066e-01 1.18879131e-01 1.15058762e-02 -2.39514110e+02] [-1.15766723e-02 9.50367750e-05 -9.99932984e-01 -8.03750939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7203857229999 meters 0.015496900208631396 Centerline is valid? [True, True] Translation: X:-35.53, Y:-239.62, Z:-8.04 [[-4.52520360e-02 -9.98975513e-01 4.22672526e-04 -3.55256822e+01] [-9.98896215e-01 4.52537699e-02 1.25875992e-02 -2.39624012e+02] [-1.25938309e-02 1.47408506e-04 -9.99920684e-01 -8.03611656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.750385723 meters 0.015507340104393976 Centerline is valid? [True, True] Translation: X:-35.55, Y:-239.75, Z:-8.04 [[ 3.01170324e-02 -9.99546226e-01 -5.53737739e-04 -3.55548318e+01] [-9.99466223e-01 -3.01216283e-02 1.26473822e-02 -2.39746993e+02] [-1.26583227e-02 1.72540546e-04 -9.99919865e-01 -8.03671431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.780385723 meters 0.016010799303412176 Centerline is valid? [True, True] Translation: X:-35.57, Y:-239.88, Z:-8.04 [[ 1.04235016e-01 -9.94551582e-01 -1.48749352e-03 -3.55722777e+01] [-9.94476344e-01 -1.04245429e-01 1.22348776e-02 -2.39880460e+02] [-1.23232813e-02 2.03974455e-04 -9.99924045e-01 -8.03729169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.810385723 meters 0.01617872061050386 Centerline is valid? [True, True] Translation: X:-35.58, Y:-240.00, Z:-8.04 [[ 1.79855214e-01 -9.83689899e-01 -2.50698480e-03 -3.55822232e+01] [-9.83610824e-01 -1.79872548e-01 1.24744750e-02 -2.39999935e+02] [-1.27219528e-02 2.22298003e-04 -9.99919048e-01 -8.03798044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8403857229999 meters 0.01640969437540158 Centerline is valid? [True, True] Translation: X:-35.58, Y:-240.12, Z:-8.04 [[ 2.54798729e-01 -9.66988198e-01 -3.38129445e-03 -3.55815568e+01] [-9.66914300e-01 -2.54821066e-01 1.19566482e-02 -2.40124720e+02] [-1.24235628e-02 2.22883192e-04 -9.99922800e-01 -8.03850947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.870385723 meters 0.016154553180829305 Centerline is valid? [True, True] Translation: X:-35.57, Y:-240.25, Z:-8.04 [[ 3.28667234e-01 -9.44436880e-01 -4.10237106e-03 -3.55721208e+01] [-9.44371177e-01 -3.28692767e-01 1.11420156e-02 -2.40253494e+02] [-1.18713501e-02 2.12145560e-04 -9.99929511e-01 -8.03904809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.900385723 meters 0.016191852226478332 Centerline is valid? [True, True] Translation: X:-35.56, Y:-240.37, Z:-8.04 [[ 4.01021915e-01 -9.16055250e-01 -4.91952109e-03 -3.55551600e+01] [-9.15992431e-01 -4.01052038e-01 1.07298368e-02 -2.40374186e+02] [-1.18021073e-02 2.03344384e-04 -9.99930332e-01 -8.03961808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.930385723 meters 0.016185294947805774 Centerline is valid? [True, True] Translation: X:-35.52, Y:-240.50, Z:-8.04 [[ 4.70664283e-01 -8.82294659e-01 -5.59167710e-03 -3.55245277e+01] [-8.82237205e-01 -4.70697458e-01 1.00705883e-02 -2.40500519e+02] [-1.15172145e-02 1.93319360e-04 -9.99933656e-01 -8.03988607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.960385723 meters 0.016185294947805774 Centerline is valid? [True, True] Translation: X:-35.49, Y:-240.62, Z:-8.04 [[ 5.37043438e-01 -8.43530698e-01 -6.34871530e-03 -3.54883558e+01] [-8.43475963e-01 -5.37080928e-01 9.61126232e-03 -2.40616490e+02] [-1.15171687e-02 1.93323390e-04 -9.99933657e-01 -8.03988840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.990385723 meters 0.016316997782984403 Centerline is valid? [True, True] Translation: X:-35.44, Y:-240.74, Z:-8.04 [[ 5.99912738e-01 -8.00034119e-01 -7.07920485e-03 -3.54412073e+01] [-7.99982251e-01 -5.99954473e-01 9.11200420e-03 -2.40735275e+02] [-1.15371149e-02 1.96830839e-04 -9.99933426e-01 -8.04005676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.020385723 meters 0.01657366434020384 Centerline is valid? [True, True] Translation: X:-35.40, Y:-240.83, Z:-8.04 [[ 6.58981952e-01 -7.52122592e-01 -7.37513744e-03 -3.53996650e+01] [-7.52078744e-01 -6.59023193e-01 8.12370369e-03 -2.40829599e+02] [-1.09704077e-02 1.93309987e-04 -9.99939805e-01 -8.04032471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.050385723 meters 0.015861460028223633 Centerline is valid? [True, True] Translation: X:-35.35, Y:-240.93, Z:-8.04 [[ 7.14283002e-01 -6.99814171e-01 -7.74069178e-03 -3.53457334e+01] [-6.99775943e-01 -7.14324919e-01 7.31708153e-03 -2.40928518e+02] [-1.06499664e-02 1.90282925e-04 -9.99943269e-01 -8.04283587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.080385723 meters 0.017003629767637782 Centerline is valid? [True, True] Translation: X:-35.35, Y:-240.94, Z:-8.04 [[ 7.66869473e-01 -6.41752454e-01 -8.06223876e-03 -3.53523422e+01] [-6.41719495e-01 -7.66911830e-01 6.50661285e-03 -2.40935705e+02] [-1.03586610e-02 1.83973014e-04 -9.99946331e-01 -8.04152157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.110385723 meters 0.015729067481332067 Centerline is valid? [True, True] Translation: X:-35.36, Y:-240.95, Z:-8.04 [[ 8.15281204e-01 -5.78991313e-01 -9.25293325e-03 -3.53612169e+01] [-5.78956624e-01 -8.15333689e-01 6.34060359e-03 -2.40948297e+02] [-1.12153826e-02 1.87672066e-04 -9.99937088e-01 -8.04223941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.140385723 meters 0.015493628145974419 Centerline is valid? [True, True] Translation: X:-35.37, Y:-240.96, Z:-8.04 [[ 8.58531029e-01 -5.12666456e-01 -9.87807933e-03 -3.53690138e+01] [-5.12634921e-01 -8.58587836e-01 5.68903844e-03 -2.40961409e+02] [-1.13977779e-02 1.79632391e-04 -9.99935027e-01 -8.04164424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.170385723 meters 0.015321414570514424 Centerline is valid? [True, True] Translation: X:-35.38, Y:-240.98, Z:-8.04 [[ 8.96999062e-01 -4.41900634e-01 -1.07941367e-02 -3.53766883e+01] [-4.41870788e-01 -8.97063991e-01 5.13835326e-03 -2.40975271e+02] [-1.19536729e-02 1.60515638e-04 -9.99928539e-01 -8.04024606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.200385723 meters 0.015420563122825635 Centerline is valid? [True, True] Translation: X:-35.38, Y:-240.99, Z:-8.04 [[ 9.29253010e-01 -3.69277213e-01 -1.10987942e-02 -3.53812871e+01] [-3.69252735e-01 -9.29319277e-01 4.25421619e-03 -2.40985243e+02] [-1.18853085e-02 1.45016899e-04 -9.99929357e-01 -8.03958785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.230385723 meters 0.014898094158434304 Centerline is valid? [True, True] Translation: X:-35.38, Y:-241.00, Z:-8.04 [[ 9.55822111e-01 -2.93740843e-01 -1.09731479e-02 -3.53847949e+01] [-2.93722908e-01 -9.55885089e-01 3.24809378e-03 -2.40997646e+02] [-1.14431662e-02 1.18465053e-04 -9.99934518e-01 -8.04146184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.260385723 meters 0.014674173436714821 Centerline is valid? [True, True] Translation: X:-35.39, Y:-241.01, Z:-8.04 [[ 9.75999323e-01 -2.17497789e-01 -1.09559769e-02 -3.53868243e+01] [-2.17485337e-01 -9.76060808e-01 2.32984210e-03 -2.41008624e+02] [-1.12004351e-02 1.08840016e-04 -9.99937267e-01 -8.04292672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.290385723 meters 0.014548111494418928 Centerline is valid? [True, True] Translation: X:-35.39, Y:-241.02, Z:-8.04 [[ 9.90087895e-01 -1.40073173e-01 -1.02696468e-02 -3.53916264e+01] [-1.40066654e-01 -9.90141150e-01 1.35482882e-03 -2.41021067e+02] [-1.03581751e-02 9.70354492e-05 -9.99946348e-01 -8.04466548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.320385723 meters 0.014596167820761233 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.03, Z:-8.04 [[ 9.98037721e-01 -6.18782896e-02 -9.58039379e-03 -3.53951890e+01] [-6.18762771e-02 -9.98083699e-01 5.06613495e-04 -2.41034436e+02] [-9.59338325e-03 8.71797234e-05 -9.99953979e-01 -8.04465968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.350385723 meters 0.014845739322268523 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.05, Z:-8.04 [[ 9.99819919e-01 1.64771602e-02 -9.41450189e-03 -3.53985729e+01] [ 1.64756281e-02 -9.99864239e-01 -2.40279545e-04 -2.41047545e+02] [-9.41718289e-03 8.51264430e-05 -9.99955654e-01 -8.04326040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.380385723 meters 0.014578307923947832 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.06, Z:-8.04 [[ 9.95483904e-01 9.44912454e-02 -9.12149300e-03 -3.54007436e+01] [ 9.44864958e-02 -9.95525689e-01 -9.51214455e-04 -2.41060088e+02] [-9.17056204e-03 8.50607703e-05 -9.99957946e-01 -8.04419440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.410385723 meters 0.014594788654151512 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.07, Z:-8.05 [[ 9.85085898e-01 1.71886570e-01 -7.79620249e-03 -3.54016706e+01] [ 1.71880583e-01 -9.85116745e-01 -1.43667712e-03 -2.41071518e+02] [-7.92711513e-03 7.52345431e-05 -9.99968577e-01 -8.04575396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.440385723 meters 0.014682358204010355 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.08, Z:-8.05 [[ 9.68636478e-01 2.48364166e-01 -7.65597763e-03 -3.54024451e+01] [ 2.48355787e-01 -9.68666731e-01 -2.04161162e-03 -2.41081838e+02] [-7.92315399e-03 7.61731463e-05 -9.99968608e-01 -8.04602444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4703857229999 meters 0.01479530366150991 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.09, Z:-8.05 [[ 9.46207644e-01 3.23457411e-01 -8.14848338e-03 -3.54020712e+01] [ 3.23444658e-01 -9.46242726e-01 -2.87347209e-03 -2.41092376e+02] [-8.63988897e-03 8.33178397e-05 -9.99962672e-01 -8.04564238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.500385723 meters 0.014770416876690569 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.11, Z:-8.05 [[ 9.18082410e-01 3.96319816e-01 -7.43580485e-03 -3.53994155e+01] [ 3.96306106e-01 -9.18112519e-01 -3.29758880e-03 -2.41105238e+02] [-8.13380531e-03 8.06034176e-05 -9.99966917e-01 -8.04575134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.530385723 meters 0.014828205928891914 Centerline is valid? [True, True] Translation: X:-35.40, Y:-241.12, Z:-8.05 [[ 8.84738799e-01 4.66051858e-01 -5.73794566e-03 -3.53954669e+01] [ 4.66041532e-01 -8.84757402e-01 -3.10311880e-03 -2.41118756e+02] [-6.52290418e-03 7.13286150e-05 -9.99978723e-01 -8.04616837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.560385723 meters 0.014967733671764521 Centerline is valid? [True, True] Translation: X:-35.39, Y:-241.13, Z:-8.05 [[ 8.46033216e-01 5.33103945e-01 -5.28964728e-03 -3.53917178e+01] [ 5.33092971e-01 -8.46049749e-01 -3.42152670e-03 -2.41129950e+02] [-6.29933414e-03 7.48514622e-05 -9.99980156e-01 -8.04588263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5903857229999 meters 0.015082614428661443 Centerline is valid? [True, True] Translation: X:-35.39, Y:-241.14, Z:-8.05 [[ 8.02319928e-01 5.96873004e-01 -5.03494199e-03 -3.53872695e+01] [ 5.96860610e-01 -8.02335722e-01 -3.84742465e-03 -2.41139271e+02] [-6.33613772e-03 8.17069227e-05 -9.99979923e-01 -8.04608205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.620385723 meters 0.01570052240692093 Centerline is valid? [True, True] Translation: X:-35.38, Y:-241.15, Z:-8.05 [[ 7.54528986e-01 6.56239371e-01 -5.99143409e-03 -3.53842275e+01] [ 6.56217398e-01 -7.54552764e-01 -5.37160728e-03 -2.41147701e+02] [-8.04591333e-03 1.21350104e-04 -9.99967624e-01 -8.04631452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.650385723 meters 0.01594098540131493 Centerline is valid? [True, True] Translation: X:-35.38, Y:-241.16, Z:-8.04 [[ 7.01637060e-01 7.12504943e-01 -6.49167899e-03 -3.53776741e+01] [ 7.12472417e-01 -7.01667074e-01 -6.80974972e-03 -2.41157582e+02] [-9.40697773e-03 1.52830553e-04 -9.99955742e-01 -8.04427552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.680385723 meters 0.01650302670368786 Centerline is valid? [True, True] Translation: X:-35.37, Y:-241.17, Z:-8.04 [[ 6.43761690e-01 7.65198833e-01 -6.45227690e-03 -3.53706571e+01] [ 7.65157774e-01 -6.43794003e-01 -7.92864001e-03 -2.41166703e+02] [-1.02209233e-02 1.67144870e-04 -9.99947751e-01 -8.04241444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.710385723 meters 0.016335836986468365 Centerline is valid? [True, True] Translation: X:-35.36, Y:-241.18, Z:-8.04 [[ 5.82056981e-01 8.13127660e-01 -5.75143063e-03 -3.53634455e+01] [ 8.13085086e-01 -5.82085372e-01 -8.32240652e-03 -2.41177000e+02] [-1.01150026e-02 1.67712336e-04 -9.99948828e-01 -8.04175415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.740385723 meters 0.016418223556378026 Centerline is valid? [True, True] Translation: X:-35.36, Y:-241.18, Z:-8.04 [[ 5.16704159e-01 8.56149934e-01 -4.90953257e-03 -3.53577591e+01] [ 8.56108248e-01 -5.16727457e-01 -8.45000980e-03 -2.41183671e+02] [-9.77136560e-03 1.63063878e-04 -9.99952246e-01 -8.04189533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.770385723 meters 0.01658526491330888 Centerline is valid? [True, True] Translation: X:-35.35, Y:-241.19, Z:-8.04 [[ 4.48296028e-01 8.93875427e-01 -4.17047288e-03 -3.53524090e+01] [ 8.93833308e-01 -4.48315397e-01 -8.67890442e-03 -2.41189489e+02] [-9.62754660e-03 1.63010807e-04 -9.99953641e-01 -8.04210413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.800385723 meters 0.015693461961462783 Centerline is valid? [True, True] Translation: X:-35.34, Y:-241.20, Z:-8.04 [[ 3.77326331e-01 9.26073510e-01 -3.56296728e-03 -3.53377578e+01] [ 9.26027836e-01 -3.77343114e-01 -9.19902645e-03 -2.41198607e+02] [-9.86343588e-03 1.71628022e-04 -9.99951340e-01 -8.04347939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.830385723 meters 0.01577190833517892 Centerline is valid? [True, True] Translation: X:-35.32, Y:-241.21, Z:-8.04 [[ 3.03504413e-01 9.52826297e-01 -2.66832429e-03 -3.53236737e+01] [ 9.52784700e-01 -3.03516100e-01 -8.90460744e-03 -2.41206147e+02] [-9.29442351e-03 1.60249090e-04 -9.99956793e-01 -8.04327619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.860385723 meters 0.015613510455452334 Centerline is valid? [True, True] Translation: X:-35.31, Y:-241.21, Z:-8.04 [[ 2.27685140e-01 9.73733132e-01 -1.80691824e-03 -3.53098090e+01] [ 9.73697219e-01 -2.27692264e-01 -8.36418726e-03 -2.41211713e+02] [-8.55590756e-03 1.45009887e-04 -9.99963387e-01 -8.04338474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.890385723 meters 0.015626638217989697 Centerline is valid? [True, True] Translation: X:-35.30, Y:-241.22, Z:-8.04 [[ 1.49414084e-01 9.88774074e-01 -1.12331905e-03 -3.52955647e+01] [ 9.88739155e-01 -1.49418249e-01 -8.31086225e-03 -2.41217211e+02] [-8.38540949e-03 1.31090340e-04 -9.99964833e-01 -8.04385581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.920385723 meters 0.01554883988237334 Centerline is valid? [True, True] Translation: X:-35.28, Y:-241.22, Z:-8.04 [[ 7.09665263e-02 9.97478578e-01 -4.88420034e-04 -3.52842254e+01] [ 9.97440431e-01 -7.09680843e-02 -8.72450166e-03 -2.41220667e+02] [-8.73716574e-03 1.31977687e-04 -9.99961822e-01 -8.04404491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.950385723 meters 0.01513346546083678 Centerline is valid? [True, True] Translation: X:-35.27, Y:-241.22, Z:-8.05 [[-7.98077800e-03 9.99968136e-01 1.85456782e-04 -3.52665132e+01] [ 9.99934110e-01 7.98203651e-03 -8.25003682e-03 -2.41222223e+02] [-8.25125426e-03 1.19602850e-04 -9.99965951e-01 -8.04530266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.980385723 meters 0.015275677963230039 Centerline is valid? [True, True] Translation: X:-35.25, Y:-241.22, Z:-8.05 [[-8.64769717e-02 9.96253534e-01 7.93405865e-04 -3.52524413e+01] [ 9.96222692e-01 8.64805382e-02 -7.83991219e-03 -2.41224003e+02] [-7.87915439e-03 1.12437062e-04 -9.99968953e-01 -8.04561454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.010385723 meters 0.015147559836871972 Centerline is valid? [True, True] Translation: X:-35.23, Y:-241.22, Z:-8.05 [[-1.63636582e-01 9.86519754e-01 1.35804623e-03 -3.52337244e+01] [ 9.86491298e-01 1.63642178e-01 -7.49376555e-03 -2.41222086e+02] [-7.61498139e-03 1.13446611e-04 -9.99970999e-01 -8.04611489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.040385723 meters 0.015272496610512238 Centerline is valid? [True, True] Translation: X:-35.22, Y:-241.22, Z:-8.05 [[-2.39825234e-01 9.70814128e-01 1.94596710e-03 -3.52189798e+01] [ 9.70786059e-01 2.39833100e-01 -7.38316690e-03 -2.41219247e+02] [-7.63439006e-03 1.18447999e-04 -9.99970851e-01 -8.04595536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.070385723 meters 0.016171853782422935 Centerline is valid? [True, True] Translation: X:-35.21, Y:-241.22, Z:-8.05 [[-3.13690693e-01 9.49521792e-01 2.55253883e-03 -3.52054684e+01] [ 9.49493689e-01 3.13701050e-01 -7.30653809e-03 -2.41216647e+02] [-7.73845125e-03 1.31626518e-04 -9.99970049e-01 -8.04552674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.100385723 meters 0.01579588529918637 Centerline is valid? [True, True] Translation: X:-35.19, Y:-241.21, Z:-8.05 [[-3.86579390e-01 9.22251818e-01 2.82136898e-03 -3.51929462e+01] [ 9.22229526e-01 3.86589666e-01 -6.41334733e-03 -2.41212392e+02] [-7.00543332e-03 1.22681880e-04 -9.99975454e-01 -8.04616569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.130385723 meters 0.01614224469362813 Centerline is valid? [True, True] Translation: X:-35.18, Y:-241.21, Z:-8.05 [[-4.56867321e-01 8.89531122e-01 2.57570923e-03 -3.51807876e+01] [ 8.89518197e-01 4.56874571e-01 -4.79629358e-03 -2.41207984e+02] [-5.44322846e-03 9.98704255e-05 -9.99985181e-01 -8.04760545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.160385723 meters 0.016180189511623443 Centerline is valid? [True, True] Translation: X:-35.17, Y:-241.20, Z:-8.05 [[-5.25087534e-01 8.51044932e-01 2.36777911e-03 -3.51690391e+01] [ 8.51036958e-01 5.25092866e-01 -3.68477592e-03 -2.41202070e+02] [-4.37921379e-03 8.02376352e-05 -9.99990408e-01 -8.04809602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.190385723 meters 0.015709493279003887 Centerline is valid? [True, True] Translation: X:-35.15, Y:-241.19, Z:-8.05 [[-5.91438601e-01 8.06345513e-01 2.70086743e-03 -3.51546237e+01] [ 8.06337674e-01 5.91444763e-01 -3.55639900e-03 -2.41192517e+02] [-4.46510028e-03 7.44195132e-05 -9.99990029e-01 -8.04777677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2203857229999 meters 0.015488568857383042 Centerline is valid? [True, True] Translation: X:-35.14, Y:-241.18, Z:-8.05 [[-6.53736739e-01 7.56715897e-01 3.05396598e-03 -3.51431631e+01] [ 7.56708140e-01 6.53743869e-01 -3.42710473e-03 -2.41182595e+02] [-4.58985617e-03 7.05366463e-05 -9.99989464e-01 -8.04710163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.250385723 meters 0.015421071024456045 Centerline is valid? [True, True] Translation: X:-35.13, Y:-241.17, Z:-8.05 [[-7.11806116e-01 7.02367484e-01 3.45978719e-03 -3.51316111e+01] [ 7.02359650e-01 7.11814521e-01 -3.31812963e-03 -2.41172471e+02] [-4.79327312e-03 6.81499532e-05 -9.99988510e-01 -8.04589614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.280385723 meters 0.01529262637688614 Centerline is valid? [True, True] Translation: X:-35.11, Y:-241.15, Z:-8.05 [[-7.59691080e-01 6.50273825e-01 3.66267725e-03 -3.51128127e+01] [ 6.50266697e-01 7.59699907e-01 -3.04552394e-03 -2.41148045e+02] [-4.76296007e-03 6.80596599e-05 -9.99988655e-01 -8.04619985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.310385723 meters 0.015506226677501076 Centerline is valid? [True, True] Translation: X:-35.10, Y:-241.12, Z:-8.05 [[-8.03411768e-01 5.95413449e-01 3.51500287e-03 -3.50973585e+01] [ 5.95408101e-01 8.03419455e-01 -2.52436762e-03 -2.41121501e+02] [-4.32706413e-03 6.47545327e-05 -9.99990636e-01 -8.04704539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3403857229999 meters 0.015444565206892528 Centerline is valid? [True, True] Translation: X:-35.08, Y:-241.09, Z:-8.05 [[-8.43384216e-01 5.37298312e-01 3.68618401e-03 -3.50820665e+01] [ 5.37293521e-01 8.43392269e-01 -2.26983119e-03 -2.41094681e+02] [-4.32847557e-03 6.62229859e-05 -9.99990630e-01 -8.04745091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.370385723 meters 0.015491449616690186 Centerline is valid? [True, True] Translation: X:-35.07, Y:-241.07, Z:-8.05 [[-8.79175796e-01 4.76488261e-01 2.97599586e-03 -3.50660240e+01] [ 4.76485731e-01 8.79180832e-01 -1.55353941e-03 -2.41065370e+02] [-3.35668181e-03 5.21853120e-05 -9.99994365e-01 -8.04744985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.400385723 meters 0.015469182946717284 Centerline is valid? [True, True] Translation: X:-34.78, Y:-240.52, Z:-9.02 [[-8.61625331e-01 -5.07539723e-01 2.28437879e-03 -3.47827488e+01] [ 5.07537684e-01 -8.61628355e-01 -1.44111319e-03 -2.40516700e+02] [ 2.69970773e-03 -8.22913126e-05 9.99996352e-01 -9.02300876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.430385723 meters 0.015609417127925206 Centerline is valid? [True, True] Translation: X:-35.11, Y:-241.04, Z:-8.05 [[-8.80975648e-01 4.73158527e-01 1.70747007e-03 -3.51051770e+01] [ 4.73157703e-01 8.80977302e-01 -8.83620243e-04 -2.41038980e+02] [-1.92233483e-03 2.94546997e-05 -9.99998152e-01 -8.04767167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.460385723 meters 0.01575519007590401 Centerline is valid? [True, True] Translation: X:-35.10, Y:-241.01, Z:-8.05 [[-9.12139515e-01 4.09878646e-01 1.00052496e-03 -3.50984181e+01] [ 4.09878420e-01 9.12140063e-01 -4.31240931e-04 -2.41008647e+02] [-1.08937535e-03 1.67416946e-05 -9.99999407e-01 -8.04770171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.490385723 meters 0.015676923427786062 Centerline is valid? [True, True] Translation: X:-34.86, Y:-240.46, Z:-9.02 [[-8.97217453e-01 -4.41588386e-01 7.34099968e-04 -3.48558086e+01] [ 4.41588212e-01 -8.97217753e-01 -3.93218454e-04 -2.40456025e+02] [ 8.32288226e-04 -2.86325670e-05 9.99999653e-01 -9.02274751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.520385723 meters 0.015816493231583385 Centerline is valid? [True, True] Translation: X:-35.14, Y:-240.99, Z:-8.05 [[-9.13610938e-01 4.06588046e-01 1.10209395e-03 -3.51393488e+01] [ 4.06587775e-01 9.13611603e-01 -4.69990572e-04 -2.40987407e+02] [-1.19797837e-03 1.87094013e-05 -9.99999282e-01 -8.04672398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.550385723 meters 0.015630632712397473 Centerline is valid? [True, True] Translation: X:-35.13, Y:-240.96, Z:-8.04 [[-9.40321302e-01 3.40281390e-01 2.10348964e-03 -3.51310089e+01] [ 3.40280620e-01 9.40323654e-01 -7.24822377e-04 -2.40955081e+02] [-2.22460463e-03 3.42108384e-05 -9.99997525e-01 -8.04462623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.580385723 meters 0.015581641857876935 Centerline is valid? [True, True] Translation: X:-34.94, Y:-240.40, Z:-9.03 [[-9.27308547e-01 -3.74285993e-01 2.97540211e-03 -3.49398678e+01] [ 3.74284110e-01 -9.27313321e-01 -1.18734542e-03 -2.40399664e+02] [ 3.20353677e-03 1.26101769e-05 9.99994869e-01 -9.02665090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.610385723 meters 0.015883188684755065 Centerline is valid? [True, True] Translation: X:-35.18, Y:-240.94, Z:-8.04 [[-9.41754376e-01 3.36281289e-01 3.68649532e-03 -3.51794233e+01] [ 3.36278952e-01 9.41761590e-01 -1.25487617e-03 -2.40938235e+02] [-3.89379107e-03 5.79056589e-05 -9.99992418e-01 -8.04308112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.640385723 meters 0.01574552701113489 Centerline is valid? [True, True] Translation: X:-35.17, Y:-240.91, Z:-8.04 [[-9.63201915e-01 2.68758078e-01 3.34157711e-03 -3.51743340e+01] [ 2.68756646e-01 9.63207710e-01 -8.78740351e-04 -2.40907903e+02] [-3.45480141e-03 5.16666693e-05 -9.99994031e-01 -8.04298229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.670385723 meters 0.015782862844559577 Centerline is valid? [True, True] Translation: X:-35.18, Y:-240.88, Z:-8.04 [[-9.79797723e-01 1.99969888e-01 2.90967563e-03 -3.51759448e+01] [ 1.99969142e-01 9.79802042e-01 -5.48115849e-04 -2.40877391e+02] [-2.96051279e-03 4.48026766e-05 -9.99995617e-01 -8.04322470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.700385723 meters 0.015617483152503839 Centerline is valid? [True, True] Translation: X:-35.07, Y:-240.31, Z:-9.03 [[-9.71912157e-01 -2.35334346e-01 2.12224539e-03 -3.50686397e+01] [ 2.35333601e-01 -9.71914471e-01 -5.97836989e-04 -2.40305097e+02] [ 2.20333258e-03 -8.16093884e-05 9.99997569e-01 -9.02676359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.730385723 meters 0.015752730560322812 Centerline is valid? [True, True] Translation: X:-35.23, Y:-240.87, Z:-8.04 [[-9.80564210e-01 1.96189978e-01 1.82302239e-03 -3.52279965e+01] [ 1.96189692e-01 9.80565904e-01 -3.36200199e-04 -2.40867265e+02] [-1.85355271e-03 2.79923197e-05 -9.99998282e-01 -8.04369427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.760385723 meters 0.01568493368614475 Centerline is valid? [True, True] Translation: X:-35.23, Y:-240.84, Z:-8.04 [[-9.92055062e-01 1.25792475e-01 1.73424966e-03 -3.52289539e+01] [ 1.25792328e-01 9.92056577e-01 -1.93885739e-04 -2.40837870e+02] [-1.74486315e-03 2.58099741e-05 -9.99998477e-01 -8.04375247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.790385723 meters 0.015623656078289378 Centerline is valid? [True, True] Translation: X:-35.17, Y:-240.26, Z:-9.03 [[-9.86667487e-01 -1.62735315e-01 2.11835405e-03 -3.51673285e+01] [ 1.62734928e-01 -9.86669761e-01 -3.55097237e-04 -2.40259740e+02] [ 2.14790275e-03 -5.63270558e-06 9.99997693e-01 -9.02669066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.820385723 meters 0.01580867012357099 Centerline is valid? [True, True] Translation: X:-35.29, Y:-240.83, Z:-8.04 [[-9.92612413e-01 1.21320014e-01 1.43281376e-03 -3.52855107e+01] [ 1.21319917e-01 9.92613446e-01 -1.54540672e-04 -2.40832423e+02] [-1.44097908e-03 2.04298569e-05 -9.99998962e-01 -8.04376239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.850385723 meters 0.015555848137132974 Centerline is valid? [True, True] Translation: X:-35.29, Y:-240.80, Z:-8.04 [[-9.98709836e-01 5.07678293e-02 1.13646169e-03 -3.52928606e+01] [ 5.07678150e-02 9.98710482e-01 -4.14427428e-05 -2.40802102e+02] [-1.13710016e-03 1.63064018e-05 -9.99999353e-01 -8.04378714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.880385723 meters 0.015555848137132974 Centerline is valid? [True, True] Translation: X:-35.27, Y:-240.22, Z:-9.03 [[-9.96128720e-01 -8.78996519e-02 1.10673522e-03 -3.52740086e+01] [ 8.78995781e-02 -9.96129334e-01 -1.15272419e-04 -2.40221156e+02] [ 1.11258382e-03 -1.75446085e-05 9.99999381e-01 -9.02659133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.910385723 meters 0.015666803425337474 Centerline is valid? [True, True] Translation: X:-35.36, Y:-240.80, Z:-8.04 [[-9.98884530e-01 4.71971272e-02 1.45853735e-03 -3.53592195e+01] [ 4.71971098e-02 9.98885594e-01 -4.63572189e-05 -2.40801910e+02] [-1.45909988e-03 2.25332389e-05 -9.99998935e-01 -8.04398061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.940385723 meters 0.015693237496508153 Centerline is valid? [True, True] Translation: X:-35.34, Y:-240.22, Z:-9.03 [[-9.96623778e-01 -8.21033121e-02 3.01485808e-04 -3.53419137e+01] [ 8.21032840e-02 -9.96623821e-01 -1.04286638e-04 -2.40215560e+02] [ 3.09030217e-04 -7.91815687e-05 9.99999949e-01 -9.02642553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9703857229999 meters 0.015454760299271897 Centerline is valid? [True, True] Translation: X:-35.43, Y:-240.80, Z:-8.04 [[-9.99094354e-01 4.25448213e-02 6.41005833e-04 -3.54271090e+01] [ 4.25448188e-02 9.99094559e-01 -1.76421172e-05 -2.40801650e+02] [-6.41176021e-04 9.64533735e-06 -9.99999794e-01 -8.04412747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.000385723 meters 0.01563361455135875 Centerline is valid? [True, True] Translation: X:-35.41, Y:-240.21, Z:-9.03 [[-9.96888703e-01 -7.88107507e-02 1.33419365e-03 -3.54115843e+01] [ 7.88107143e-02 -9.96889595e-01 -7.99279376e-05 -2.40212816e+02] [ 1.33634295e-03 2.54694965e-05 9.99999107e-01 -9.02680646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.030385723 meters 0.015528177731274257 Centerline is valid? [True, True] Translation: X:-35.50, Y:-240.80, Z:-8.04 [[-9.99346767e-01 3.60192548e-02 2.94169241e-03 -3.54964084e+01] [ 3.60192170e-02 9.99351095e-01 -6.58437363e-05 -2.40801839e+02] [-2.94215518e-03 4.01567325e-05 -9.99995671e-01 -8.04244702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.060385723 meters 0.015336006214719687 Centerline is valid? [True, True] Translation: X:-35.51, Y:-240.77, Z:-8.04 [[-9.99371018e-01 -3.52820899e-02 3.56972808e-03 -3.55061056e+01] [-3.52816915e-02 9.99377392e-01 1.74529143e-04 -2.40773106e+02] [-3.57366329e-03 4.84733221e-05 -9.99993613e-01 -8.04187431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0903857229999 meters 0.015430056744730372 Centerline is valid? [True, True] Translation: X:-35.54, Y:-240.18, Z:-9.03 [[-9.99978943e-01 -4.63620378e-03 4.54092767e-03 -3.55361355e+01] [ 4.63616752e-03 -9.99989253e-01 -1.85112136e-05 -2.40179492e+02] [ 4.54096469e-03 2.54167756e-06 9.99989690e-01 -9.02968333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.120385723 meters 0.015422000453938541 Centerline is valid? [True, True] Translation: X:-35.58, Y:-240.78, Z:-8.04 [[-9.99181940e-01 -4.01993872e-02 4.41147736e-03 -3.55848695e+01] [-4.01987297e-02 9.99191676e-01 2.37652276e-04 -2.40779965e+02] [-4.41746493e-03 6.01220757e-05 -9.99990241e-01 -8.04076378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.150385723 meters 0.01516719179265182 Centerline is valid? [True, True] Translation: X:-35.60, Y:-240.75, Z:-8.04 [[-9.93804991e-01 -1.11086966e-01 3.36528214e-03 -3.55959144e+01] [-1.11086170e-01 9.93810688e-01 4.23078393e-04 -2.40753490e+02] [-3.39145185e-03 4.66211150e-05 -9.99994248e-01 -8.04113495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.180385723 meters 0.015272343200578754 Centerline is valid? [True, True] Translation: X:-35.62, Y:-240.73, Z:-8.04 [[-9.83368924e-01 -1.81580355e-01 3.75964561e-03 -3.56181050e+01] [-1.81578819e-01 9.83376109e-01 7.48811608e-04 -2.40729750e+02] [-3.83311515e-03 5.36860551e-05 -9.99992652e-01 -8.04125730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.210385723 meters 0.015385881861459338 Centerline is valid? [True, True] Translation: X:-35.65, Y:-240.71, Z:-8.04 [[-9.67805227e-01 -2.51666197e-01 4.14338330e-03 -3.56470742e+01] [-2.51663619e-01 9.67814095e-01 1.14078474e-03 -2.40710464e+02] [-4.29712171e-03 6.13185975e-05 -9.99990766e-01 -8.04096000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.240385723 meters 0.01538174726528815 Centerline is valid? [True, True] Translation: X:-35.69, Y:-240.70, Z:-8.04 [[-9.46960480e-01 -3.21327653e-01 3.79313477e-03 -3.56938693e+01] [-3.21324833e-01 9.46968076e-01 1.34733843e-03 -2.40695932e+02] [-4.02491462e-03 5.70478462e-05 -9.99991898e-01 -8.04092906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.270385723 meters 0.015121540792108807 Centerline is valid? [True, True] Translation: X:-35.76, Y:-240.69, Z:-8.04 [[-9.20898759e-01 -3.89787339e-01 3.36235153e-03 -3.57608495e+01] [-3.89784530e-01 9.20904896e-01 1.48073207e-03 -2.40691517e+02] [-3.67357660e-03 5.30117125e-05 -9.99993251e-01 -8.04050560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.300385723 meters 0.015285685352327018 Centerline is valid? [True, True] Translation: X:-35.83, Y:-240.70, Z:-8.04 [[-8.89791206e-01 -4.56357143e-01 3.12540412e-03 -3.58321695e+01] [-4.56354121e-01 8.89796694e-01 1.66153881e-03 -2.40695788e+02] [-3.53922935e-03 5.21315755e-05 -9.99993736e-01 -8.04067194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.330385723 meters 0.01503832031862254 Centerline is valid? [True, True] Translation: X:-35.91, Y:-240.71, Z:-8.04 [[-8.53674232e-01 -5.20800398e-01 2.69294570e-03 -3.59112680e+01] [-5.20797628e-01 8.53678478e-01 1.69925129e-03 -2.40712681e+02] [-3.18388053e-03 4.81273046e-05 -9.99994930e-01 -8.04193654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.360385723 meters 0.015290760280328407 Centerline is valid? [True, True] Translation: X:-35.99, Y:-240.74, Z:-8.04 [[-8.12350654e-01 -5.83163512e-01 2.59491540e-03 -3.59932035e+01] [-5.83160344e-01 8.12354797e-01 1.92279938e-03 -2.40736813e+02] [-3.22929841e-03 4.87355737e-05 -9.99994785e-01 -8.04253683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.390385723 meters 0.015238299874154555 Centerline is valid? [True, True] Translation: X:-36.08, Y:-240.77, Z:-8.04 [[-7.66402592e-01 -6.42356729e-01 2.21328910e-03 -3.60795617e+01] [-6.42353883e-01 7.66405787e-01 1.91283417e-03 -2.40772168e+02] [-2.92499947e-03 4.42862164e-05 -9.99995721e-01 -8.04271696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.420385723 meters 0.015426262907157155 Centerline is valid? [True, True] Translation: X:-36.17, Y:-240.82, Z:-8.04 [[-7.16177737e-01 -6.97915681e-01 1.77529161e-03 -3.61690639e+01] [-6.97913401e-01 7.16179936e-01 1.78447094e-03 -2.40817438e+02] [-2.51683849e-03 3.89985546e-05 -9.99996832e-01 -8.04222087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.450385723 meters 0.01543869420799488 Centerline is valid? [True, True] Translation: X:-36.26, Y:-240.87, Z:-8.04 [[-6.61662847e-01 -7.49797891e-01 2.32361899e-03 -3.62564823e+01] [-7.49792961e-01 6.61666925e-01 2.71960490e-03 -2.40873433e+02] [-3.57661585e-03 5.72283565e-05 -9.99993602e-01 -8.04111014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.480385723 meters 0.015622140828313008 Centerline is valid? [True, True] Translation: X:-36.34, Y:-240.94, Z:-8.04 [[-6.03335344e-01 -7.97484591e-01 2.18828781e-03 -3.63415901e+01] [-7.97478973e-01 6.03339310e-01 2.99427841e-03 -2.40938972e+02] [-3.70817095e-03 6.14404837e-05 -9.99993123e-01 -8.04105180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.510385723 meters 0.015492974746114782 Centerline is valid? [True, True] Translation: X:-36.42, Y:-241.02, Z:-8.04 [[-5.41896067e-01 -8.40442044e-01 2.41313695e-03 -3.64231831e+01] [-8.40433032e-01 5.41901434e-01 3.89283490e-03 -2.41015768e+02] [-4.57938450e-03 8.14319196e-05 -9.99989511e-01 -8.04108911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.540385723 meters 0.016277494701256317 Centerline is valid? [True, True] Translation: X:-36.50, Y:-241.10, Z:-8.04 [[-4.76801213e-01 -8.79008488e-01 2.16382708e-03 -3.65025438e+01] [-8.78998600e-01 4.76806115e-01 4.17010637e-03 -2.41103124e+02] [-4.69728487e-03 8.63108041e-05 -9.99988964e-01 -8.04089500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.570385723 meters 0.01576290163884038 Centerline is valid? [True, True] Translation: X:-36.58, Y:-241.19, Z:-8.04 [[-4.08464582e-01 -9.12773194e-01 1.33516718e-03 -3.65758147e+01] [-9.12767801e-01 4.08466759e-01 3.13810107e-03 -2.41190470e+02] [-3.40974594e-03 6.31055335e-05 -9.99994185e-01 -8.04151676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.600385723 meters 0.016073050955147494 Centerline is valid? [True, True] Translation: X:-36.65, Y:-241.29, Z:-8.04 [[-3.37360043e-01 -9.41375217e-01 9.50107329e-04 -3.66459043e+01] [-9.41371018e-01 3.37361376e-01 2.81230544e-03 -2.41294353e+02] [-2.96796416e-03 5.43559798e-05 -9.99995594e-01 -8.04136625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.630385723 meters 0.01564078494872622 Centerline is valid? [True, True] Translation: X:-36.71, Y:-241.40, Z:-8.04 [[-2.62740355e-01 -9.64866316e-01 7.05083156e-04 -3.67063474e+01] [-9.64862337e-01 2.62741297e-01 2.77155402e-03 -2.41396300e+02] [-2.85943358e-03 4.78909051e-05 -9.99995911e-01 -8.04114754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.660385723 meters 0.015580300068381143 Centerline is valid? [True, True] Translation: X:-36.76, Y:-241.51, Z:-8.04 [[-1.87140352e-01 -9.82333045e-01 5.27286565e-04 -3.67601736e+01] [-9.82328375e-01 1.87141088e-01 3.02932675e-03 -2.41512607e+02] [-3.07448475e-03 4.89407189e-05 -9.99995273e-01 -8.04106062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.690385723 meters 0.015558682177025034 Centerline is valid? [True, True] Translation: X:-36.80, Y:-241.63, Z:-8.04 [[-1.09877103e-01 -9.93945118e-01 3.52630810e-04 -3.68022342e+01] [-9.93938300e-01 1.09877656e-01 3.68181965e-03 -2.41625331e+02] [-3.69827292e-03 5.40544096e-05 -9.99993160e-01 -8.04043848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7203857229999 meters 0.015550010720184087 Centerline is valid? [True, True] Translation: X:-36.84, Y:-241.75, Z:-8.04 [[-3.32588248e-02 -9.99446770e-01 7.24509478e-05 -3.68369374e+01] [-9.99439181e-01 3.32588546e-02 3.89525979e-03 -2.41745049e+02] [-3.89551445e-03 5.71414471e-05 -9.99992411e-01 -8.04030406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.750385723 meters 0.015757207554324013 Centerline is valid? [True, True] Translation: X:-36.86, Y:-241.87, Z:-8.04 [[ 4.31754079e-02 -9.99067483e-01 -2.19478957e-04 -3.68621068e+01] [-9.99060403e-01 -4.31759283e-02 3.76167610e-03 -2.41868090e+02] [-3.76764448e-03 5.68608354e-05 -9.99992901e-01 -8.04014090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.780385723 meters 0.015715110206108364 Centerline is valid? [True, True] Translation: X:-36.88, Y:-241.99, Z:-8.04 [[ 1.20028006e-01 -9.92770356e-01 -5.45263010e-04 -3.68798481e+01] [-9.92762246e-01 -1.20029230e-01 4.01322494e-03 -2.41990344e+02] [-4.04965825e-03 5.96171411e-05 -9.99991798e-01 -8.03983022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.810385723 meters 0.01567567468670774 Centerline is valid? [True, True] Translation: X:-36.89, Y:-242.11, Z:-8.04 [[ 1.96630902e-01 -9.80477225e-01 -8.36770160e-04 -3.68875291e+01] [-9.80469514e-01 -1.96632675e-01 3.88885412e-03 -2.42114871e+02] [-3.97746925e-03 5.57587394e-05 -9.99992088e-01 -8.03947266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8403857229999 meters 0.01544357329755981 Centerline is valid? [True, True] Translation: X:-36.88, Y:-242.24, Z:-8.04 [[ 2.72475775e-01 -9.62161988e-01 -1.12265692e-03 -3.68835131e+01] [-9.62154570e-01 -2.72478083e-01 3.77852228e-03 -2.42239341e+02] [-3.94144991e-03 5.06136967e-05 -9.99992231e-01 -8.04006215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.870385723 meters 0.015104907215677643 Centerline is valid? [True, True] Translation: X:-36.87, Y:-242.36, Z:-8.04 [[ 3.45910144e-01 -9.38266522e-01 -1.45145006e-03 -3.68705526e+01] [-9.38258866e-01 -3.45913185e-01 3.79072066e-03 -2.42361399e+02] [-4.05878200e-03 5.05871626e-05 -9.99991762e-01 -8.04081836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.900385723 meters 0.015252511882046958 Centerline is valid? [True, True] Translation: X:-36.85, Y:-242.49, Z:-8.04 [[ 4.16419703e-01 -9.09171292e-01 -1.48073623e-03 -3.68487456e+01] [-9.09165919e-01 -4.16422333e-01 3.12595784e-03 -2.42485345e+02] [-3.45864276e-03 4.45244813e-05 -9.99994018e-01 -8.04075621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.930385723 meters 0.015362326215636875 Centerline is valid? [True, True] Translation: X:-36.82, Y:-242.61, Z:-8.04 [[ 4.84674890e-01 -8.74693090e-01 -1.49967750e-03 -3.68167731e+01] [-8.74689152e-01 -4.84677209e-01 2.62511361e-03 -2.42608755e+02] [-3.02302824e-03 3.94249939e-05 -9.99995430e-01 -8.04082718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.960385723 meters 0.01555395262684606 Centerline is valid? [True, True] Translation: X:-36.78, Y:-242.71, Z:-8.04 [[ 5.49209614e-01 -8.35682813e-01 -1.74265045e-03 -3.67835488e+01] [-8.35678859e-01 -5.49212376e-01 2.57096216e-03 -2.42711183e+02] [-3.10559408e-03 4.42990097e-05 -9.99995177e-01 -8.04077790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.990385723 meters 0.015313498330235403 Centerline is valid? [True, True] Translation: X:-36.74, Y:-242.82, Z:-8.04 [[ 6.10738874e-01 -7.91828232e-01 -2.46555743e-03 -3.67385147e+01] [-7.91822174e-01 -6.10743848e-01 3.09790546e-03 -2.42819381e+02] [-3.95883304e-03 6.02717573e-05 -9.99992162e-01 -8.04095986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.020385723 meters 0.01604925105022356 Centerline is valid? [True, True] Translation: X:-36.68, Y:-242.92, Z:-8.04 [[ 6.68175748e-01 -7.43997728e-01 -2.92406293e-03 -3.66845721e+01] [-7.43991073e-01 -6.68182143e-01 3.14763476e-03 -2.42918870e+02] [-4.29563974e-03 7.23035084e-05 -9.99990771e-01 -8.04112666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.050385723 meters 0.016174816921120213 Centerline is valid? [True, True] Translation: X:-36.63, Y:-243.02, Z:-8.04 [[ 7.22530571e-01 -6.91333884e-01 -2.65215573e-03 -3.66269198e+01] [-6.91329541e-01 -7.22535436e-01 2.45138872e-03 -2.43015982e+02] [-3.61100459e-03 6.23103126e-05 -9.99993478e-01 -8.04166640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.080385723 meters 0.016117321897087235 Centerline is valid? [True, True] Translation: X:-36.63, Y:-243.02, Z:-8.04 [[ 7.74086753e-01 -6.33070091e-01 -3.45819310e-03 -3.66319309e+01] [-6.33064222e-01 -7.74094473e-01 2.72716138e-03 -2.43024973e+02] [-4.40345247e-03 7.81988268e-05 -9.99990302e-01 -8.04144555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.110385723 meters 0.015897865184012414 Centerline is valid? [True, True] Translation: X:-36.64, Y:-243.04, Z:-8.04 [[ 8.21280124e-01 -5.70512749e-01 -3.76325618e-03 -3.66374977e+01] [-5.70507201e-01 -8.21288742e-01 2.51713200e-03 -2.43035724e+02] [-4.52677583e-03 7.96942729e-05 -9.99989751e-01 -8.04130380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.140385723 meters 0.015755320612464086 Centerline is valid? [True, True] Translation: X:-36.64, Y:-243.05, Z:-8.04 [[ 8.63489212e-01 -5.04349808e-01 -4.20153232e-03 -3.66419204e+01] [-5.04344307e-01 -8.63499429e-01 2.35706943e-03 -2.43046111e+02] [-4.81680827e-03 8.37148817e-05 -9.99988396e-01 -8.04055412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.170385723 meters 0.015874183198937405 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.06, Z:-8.04 [[ 9.00314343e-01 -4.35221456e-01 -4.04588602e-03 -3.66462051e+01] [-4.35217443e-01 -9.00323430e-01 1.87040858e-03 -2.43055603e+02] [-4.45664793e-03 7.68844945e-05 -9.99990066e-01 -8.04044541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.200385723 meters 0.01713431795634193 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.06, Z:-8.04 [[ 9.31417046e-01 -3.63923094e-01 -4.71886570e-03 -3.66474131e+01] [-3.63918906e-01 -9.31428995e-01 1.74815029e-03 -2.43064869e+02] [-5.03148060e-03 8.90274656e-05 -9.99987338e-01 -8.03879386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.230385723 meters 0.01607104755096826 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.07, Z:-8.04 [[ 9.57036150e-01 -2.89927222e-01 -4.90035388e-03 -3.66487302e+01] [-2.89923899e-01 -9.57048692e-01 1.39099567e-03 -2.43074400e+02] [-5.09316478e-03 8.94965626e-05 -9.99987026e-01 -8.04013003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.260385723 meters 0.016055067559606655 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.08, Z:-8.04 [[ 9.76717075e-01 -2.14441457e-01 -6.21428895e-03 -3.66492369e+01] [-2.14437853e-01 -9.76736837e-01 1.24848480e-03 -2.43084287e+02] [-6.33745183e-03 1.13162362e-04 -9.99979912e-01 -8.03954689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.290385723 meters 0.016272707209394322 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.09, Z:-8.04 [[ 9.90513876e-01 -1.37276772e-01 -6.11140479e-03 -3.66541780e+01] [-1.37274841e-01 -9.90532723e-01 7.36265522e-04 -2.43092602e+02] [-6.15461858e-03 1.09660908e-04 -9.99981054e-01 -8.03919285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.320385723 meters 0.01567130764542907 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.11, Z:-8.04 [[ 9.98237816e-01 -5.90452292e-02 -5.90963499e-03 -3.66577618e+01] [-5.90448096e-02 -9.98255303e-01 2.45601677e-04 -2.43105529e+02] [-5.91382607e-03 1.03764391e-04 -9.99982508e-01 -8.03968203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.350385723 meters 0.01566487749781265 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.12, Z:-8.04 [[ 9.99794533e-01 1.93688843e-02 -5.97808729e-03 -3.66595919e+01] [ 1.93679132e-02 -9.99812400e-01 -2.20295595e-04 -2.43116724e+02] [-5.98123268e-03 1.04467256e-04 -9.99982107e-01 -8.04017037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.380385723 meters 0.016498245799194833 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.12, Z:-8.04 [[ 9.95234438e-01 9.73503487e-02 -5.59671123e-03 -3.66625147e+01] [ 9.73482461e-02 -9.95250169e-01 -6.47545402e-04 -2.43124960e+02] [-5.63316657e-03 9.96294626e-05 -9.99984129e-01 -8.04042954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.410385723 meters 0.016091369226352965 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.14, Z:-8.04 [[ 9.84658976e-01 1.74408322e-01 -5.33272656e-03 -3.66627479e+01] [ 1.74405218e-01 -9.84673412e-01 -1.04517682e-03 -2.43136678e+02] [-5.43328159e-03 9.90873996e-05 -9.99985235e-01 -8.04066633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.440385723 meters 0.016548389883104954 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.15, Z:-8.04 [[ 9.68330317e-01 2.49615466e-01 -5.34004129e-03 -3.66639017e+01] [ 2.49611049e-01 -9.68345035e-01 -1.48885883e-03 -2.43145589e+02] [-5.54264466e-03 1.08773831e-04 -9.99984634e-01 -8.04021630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4703857229999 meters 0.017466983406838856 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.15, Z:-8.04 [[ 9.46138746e-01 3.23710894e-01 -5.72112770e-03 -3.66635485e+01] [ 3.23704169e-01 -9.46156035e-01 -2.09030929e-03 -2.43154691e+02] [-6.08973538e-03 1.25769723e-04 -9.99981450e-01 -8.03868685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.500385723 meters 0.01692661380047294 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.16, Z:-8.04 [[ 9.18167738e-01 3.96152447e-01 -5.58962864e-03 -3.66632599e+01] [ 3.96144231e-01 -9.18184743e-01 -2.55469095e-03 -2.43163492e+02] [-6.14435881e-03 1.31335671e-04 -9.99981115e-01 -8.03964039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.530385723 meters 0.017695990899796805 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.17, Z:-8.04 [[ 8.85099087e-01 4.65371042e-01 -5.42201738e-03 -3.66648551e+01] [ 4.65361316e-01 -8.85115683e-01 -3.01222212e-03 -2.43169431e+02] [-6.20091356e-03 1.42917906e-04 -9.99980764e-01 -8.04014293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.560385723 meters 0.01794816794403031 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.18, Z:-8.04 [[ 8.46100728e-01 5.32995926e-01 -5.37585402e-03 -3.66646005e+01] [ 5.32984030e-01 -8.46117793e-01 -3.56420757e-03 -2.43176218e+02] [-6.44831385e-03 1.50434281e-04 -9.99979198e-01 -8.04065802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5903857229999 meters 0.0178302543816174 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.18, Z:-8.04 [[ 8.01544971e-01 5.97905658e-01 -5.87232931e-03 -3.66637796e+01] [ 5.97888034e-01 -8.01566463e-01 -4.59395391e-03 -2.43183994e+02] [-7.45381327e-03 1.71265224e-04 -9.99972205e-01 -8.04014927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.620385723 meters 0.018187199087310254 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.19, Z:-8.04 [[ 7.52284105e-01 6.58816435e-01 -5.43419372e-03 -3.66637559e+01] [ 6.58797604e-01 -7.52303713e-01 -4.98406104e-03 -2.43191733e+02] [-7.37174544e-03 1.69396102e-04 -9.99972814e-01 -8.03985074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.650385723 meters 0.018571117473947685 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.20, Z:-8.04 [[ 6.99085232e-01 7.15022603e-01 -4.74501057e-03 -3.66636117e+01] [ 7.15004496e-01 -6.99101315e-01 -5.09137811e-03 -2.43197251e+02] [-6.95769356e-03 1.66603357e-04 -9.99975781e-01 -8.03922906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.680385723 meters 0.017759275315487603 Centerline is valid? [True, True] Translation: X:-36.66, Y:-243.21, Z:-8.04 [[ 6.41314045e-01 7.67267093e-01 -4.18388507e-03 -3.66590730e+01] [ 7.67249072e-01 -6.41327671e-01 -5.26122613e-03 -2.43206592e+02] [-6.72000694e-03 1.64016275e-04 -9.99977407e-01 -8.03975811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.710385723 meters 0.017673682668062546 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.21, Z:-8.04 [[ 5.80159321e-01 8.14495637e-01 -3.46701862e-03 -3.66542028e+01] [ 8.14479438e-01 -5.80169659e-01 -5.13931351e-03 -2.43214887e+02] [-6.19740744e-03 1.57805263e-04 -9.99980784e-01 -8.04027895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.740385723 meters 0.01747506228972699 Centerline is valid? [True, True] Translation: X:-36.65, Y:-243.23, Z:-8.04 [[ 5.14548009e-01 8.57455916e-01 -3.11435681e-03 -3.66464266e+01] [ 8.57438281e-01 -5.14557409e-01 -5.50163564e-03 -2.43225055e+02] [-6.31992540e-03 1.60486911e-04 -9.99980016e-01 -8.04002907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.770385723 meters 0.01747506228972699 Centerline is valid? [True, True] Translation: X:-36.64, Y:-243.23, Z:-8.04 [[ 4.45838928e-01 8.95109211e-01 -2.67404996e-03 -3.66381965e+01] [ 8.95090894e-01 -4.45846919e-01 -5.72854134e-03 -2.43234903e+02] [-6.31988705e-03 1.60488958e-04 -9.99980017e-01 -8.04002941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.800385723 meters 0.018081714915095616 Centerline is valid? [True, True] Translation: X:-36.63, Y:-243.24, Z:-8.04 [[ 3.73235002e-01 9.27733413e-01 -2.51973383e-03 -3.66320236e+01] [ 9.27709027e-01 -3.73243466e-01 -6.72873494e-03 -2.43243806e+02] [-7.18294642e-03 1.73819580e-04 -9.99974187e-01 -8.03871718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.830385723 meters 0.016981718670894777 Centerline is valid? [True, True] Translation: X:-36.62, Y:-243.25, Z:-8.04 [[ 2.98738862e-01 9.54333029e-01 -1.88755607e-03 -3.66199352e+01] [ 9.54310446e-01 -2.98744782e-01 -6.56719313e-03 -2.43253092e+02] [-6.83118684e-03 1.60561332e-04 -9.99976654e-01 -8.03931039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.860385723 meters 0.016706536707757937 Centerline is valid? [True, True] Translation: X:-36.61, Y:-243.26, Z:-8.04 [[ 2.21436179e-01 9.75174188e-01 -1.14933289e-03 -3.66091685e+01] [ 9.75157959e-01 -2.21439127e-01 -5.62741027e-03 -2.43261082e+02] [-5.74221252e-03 1.25331118e-04 -9.99983506e-01 -8.03999082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.890385723 meters 0.016702996733535497 Centerline is valid? [True, True] Translation: X:-36.60, Y:-243.27, Z:-8.04 [[ 1.43281459e-01 9.89681741e-01 -6.88998924e-04 -3.65990777e+01] [ 9.89666070e-01 -1.43283069e-01 -5.57071694e-03 -2.43268298e+02] [-5.61195872e-03 1.16301595e-04 -9.99984246e-01 -8.03967700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.920385723 meters 0.0163119276277417 Centerline is valid? [True, True] Translation: X:-36.59, Y:-243.28, Z:-8.04 [[ 6.21300122e-02 9.98068034e-01 -2.47095228e-04 -3.65878310e+01] [ 9.98052697e-01 -6.21304275e-02 -5.53390837e-03 -2.43275331e+02] [-5.53856918e-03 9.72077352e-05 -9.99984657e-01 -8.03871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.950385723 meters 0.016045804738896084 Centerline is valid? [True, True] Translation: X:-36.58, Y:-243.28, Z:-8.04 [[-1.81720488e-02 9.99834856e-01 1.93943498e-04 -3.65777261e+01] [ 9.99818409e-01 1.81728624e-02 -5.73551084e-03 -2.43281465e+02] [-5.73808816e-03 8.96822967e-05 -9.99983533e-01 -8.03764725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.980385723 meters 0.015459063902694555 Centerline is valid? [True, True] Translation: X:-36.56, Y:-243.29, Z:-8.04 [[-9.80577484e-02 9.95180512e-01 6.53478952e-04 -3.65648018e+01] [ 9.95163626e-01 9.80598917e-02 -5.79783322e-03 -2.43285365e+02] [-5.83397070e-03 8.17960127e-05 -9.99982979e-01 -8.03756005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.010385723 meters 0.015086714046179341 Centerline is valid? [True, True] Translation: X:-36.55, Y:-243.29, Z:-8.04 [[-1.79215545e-01 9.83809139e-01 1.16926341e-03 -3.65515798e+01] [ 9.83790487e-01 1.79219347e-01 -6.05834667e-03 -2.43288378e+02] [-6.16981144e-03 6.45603236e-05 -9.99980965e-01 -8.03689702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.040385723 meters 0.01508491807880453 Centerline is valid? [True, True] Translation: X:-36.54, Y:-243.29, Z:-8.04 [[-2.57298998e-01 9.66330405e-01 1.66525962e-03 -3.65404067e+01] [ 9.66311542e-01 2.57304381e-01 -6.03821186e-03 -2.43291223e+02] [-6.26338632e-03 5.55337296e-05 -9.99980383e-01 -8.03665506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.070385723 meters 0.014717322398259949 Centerline is valid? [True, True] Translation: X:-36.53, Y:-243.29, Z:-8.04 [[-3.34265959e-01 9.42476118e-01 2.24413907e-03 -3.65262234e+01] [ 9.42455752e-01 3.34273489e-01 -6.19590564e-03 -2.43291768e+02] [-6.58964929e-03 4.39214311e-05 -9.99978287e-01 -8.03703988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.100385723 meters 0.014736557799238471 Centerline is valid? [True, True] Translation: X:-36.51, Y:-243.29, Z:-8.04 [[-4.07744163e-01 9.13092601e-01 2.56912052e-03 -3.65138239e+01] [ 9.13075044e-01 4.07752255e-01 -5.66244186e-03 -2.43292748e+02] [-6.21789844e-03 3.69722151e-05 -9.99980668e-01 -8.03682800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.130385723 meters 0.014636027869566883 Centerline is valid? [True, True] Translation: X:-36.50, Y:-243.29, Z:-8.04 [[-4.77838185e-01 8.78443882e-01 2.64883317e-03 -3.65009247e+01] [ 8.78430770e-01 4.77845525e-01 -4.79961371e-03 -2.43290783e+02] [-5.48192437e-03 3.33778621e-05 -9.99984974e-01 -8.03738520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.160385723 meters 0.0145844168788959 Centerline is valid? [True, True] Translation: X:-36.49, Y:-243.29, Z:-8.04 [[-5.44653194e-01 8.38656979e-01 2.71479308e-03 -3.64884246e+01] [ 8.38646861e-01 5.44659958e-01 -4.11974790e-03 -2.43288554e+02] [-4.93369441e-03 3.29188456e-05 -9.99987829e-01 -8.03791004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.190385723 meters 0.014937689507538238 Centerline is valid? [True, True] Translation: X:-36.48, Y:-243.29, Z:-8.04 [[-6.07161924e-01 7.94571991e-01 3.12239229e-03 -3.64771452e+01] [ 7.94561851e-01 6.07169951e-01 -4.01435556e-03 -2.43287184e+02] [-5.08551726e-03 4.35699525e-05 -9.99987068e-01 -8.03777793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2203857229999 meters 0.015060934213457475 Centerline is valid? [True, True] Translation: X:-36.47, Y:-243.28, Z:-8.04 [[-6.66617372e-01 7.45391163e-01 3.64599304e-03 -3.64660997e+01] [ 7.45380448e-01 6.66627341e-01 -3.99704905e-03 -2.43283675e+02] [-5.40988368e-03 5.31495891e-05 -9.99985365e-01 -8.03751572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.250385723 meters 0.015729070723784853 Centerline is valid? [True, True] Translation: X:-36.46, Y:-243.28, Z:-8.04 [[-7.20506218e-01 6.93435479e-01 4.24567408e-03 -3.64570779e+01] [ 6.93424073e-01 7.20518723e-01 -3.97800160e-03 -2.43282138e+02] [-5.81757512e-03 7.78777261e-05 -9.99983075e-01 -8.03664406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.280385723 meters 0.015948511611749684 Centerline is valid? [True, True] Translation: X:-36.43, Y:-243.27, Z:-8.04 [[-7.66441129e-01 6.42297247e-01 4.71617142e-03 -3.64331799e+01] [ 6.42285836e-01 7.66455633e-01 -3.82970753e-03 -2.43266327e+02] [-6.07454676e-03 9.38847431e-05 -9.99981545e-01 -8.03645609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.310385723 meters 0.016575452008926742 Centerline is valid? [True, True] Translation: X:-36.41, Y:-243.25, Z:-8.04 [[-8.07765742e-01 5.89484071e-01 4.79958156e-03 -3.64116956e+01] [ 5.89474490e-01 8.07779993e-01 -3.36293803e-03 -2.43249614e+02] [-5.85940436e-03 1.12764754e-04 -9.99982827e-01 -8.03645577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3403857229999 meters 0.01666442129355384 Centerline is valid? [True, True] Translation: X:-36.39, Y:-243.23, Z:-8.04 [[-8.46908680e-01 5.31710548e-01 5.43888763e-03 -3.63920351e+01] [ 5.31700554e-01 8.46926134e-01 -3.26248852e-03 -2.43228272e+02] [-6.34103563e-03 1.28829724e-04 -9.99979887e-01 -8.03636137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.370385723 meters 0.01670310641696759 Centerline is valid? [True, True] Translation: X:-36.37, Y:-243.20, Z:-8.03 [[-8.82071832e-01 4.71070888e-01 6.44226071e-03 -3.63732274e+01] [ 4.71059574e-01 8.82095344e-01 -3.26828117e-03 -2.43204964e+02] [-7.22228029e-03 1.51829830e-04 -9.99973908e-01 -8.03489566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.400385723 meters 0.01645510044581573 Centerline is valid? [True, True] Translation: X:-36.36, Y:-243.18, Z:-8.04 [[-9.13466606e-01 4.06857739e-01 6.74829135e-03 -3.63612121e+01] [ 4.06847843e-01 9.13491520e-01 -2.84173109e-03 -2.43177445e+02] [-7.32068721e-03 1.49701321e-04 -9.99973192e-01 -8.03508423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.430385723 meters 0.017082279832788625 Centerline is valid? [True, True] Translation: X:-36.35, Y:-243.15, Z:-8.03 [[-9.40636275e-01 3.39348354e-01 6.78911763e-03 -3.63477610e+01] [ 3.39340532e-01 9.40660766e-01 -2.30784303e-03 -2.43152092e+02] [-7.16941932e-03 1.32981921e-04 -9.99974291e-01 -8.03386147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.460385723 meters 0.01611539957277421 Centerline is valid? [True, True] Translation: X:-36.34, Y:-243.12, Z:-8.03 [[-9.62611400e-01 2.70805657e-01 6.60217257e-03 -3.63376358e+01] [ 2.70800139e-01 9.62634033e-01 -1.73294337e-03 -2.43121930e+02] [-6.82476688e-03 1.19718205e-04 -9.99976704e-01 -8.03476065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.490385723 meters 0.016093395149241647 Centerline is valid? [True, True] Translation: X:-36.33, Y:-243.09, Z:-8.04 [[-9.79705612e-01 2.00329889e-01 6.69699786e-03 -3.63316977e+01] [ 2.00325967e-01 9.79728495e-01 -1.25817848e-03 -2.43092140e+02] [-6.81329039e-03 1.08938053e-04 -9.99976783e-01 -8.03503052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.520385723 meters 0.015700046046700892 Centerline is valid? [True, True] Translation: X:-36.19, Y:-242.33, Z:-9.04 [[-9.71930695e-01 -2.35169708e-01 6.77741002e-03 -3.61870633e+01] [ 2.35163272e-01 -9.71954319e-01 -1.74279903e-03 -2.42327153e+02] [ 6.99718648e-03 -1.00081953e-04 9.99975514e-01 -9.03503845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.550385723 meters 0.015856009511754376 Centerline is valid? [True, True] Translation: X:-36.39, Y:-243.08, Z:-8.03 [[-9.80831713e-01 1.94713862e-01 7.46077294e-03 -3.63878104e+01] [ 1.94709077e-01 9.80860082e-01 -1.36956527e-03 -2.43079666e+02] [-7.58464769e-03 1.09367161e-04 -9.99971230e-01 -8.03451306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.580385723 meters 0.01578692067171353 Centerline is valid? [True, True] Translation: X:-36.24, Y:-242.32, Z:-9.04 [[-9.72585858e-01 -2.32435042e-01 7.12037626e-03 -3.62436120e+01] [ 2.32427901e-01 -9.72611915e-01 -1.82606649e-03 -2.42319508e+02] [ 7.34980463e-03 -1.21032342e-04 9.99972983e-01 -9.03580907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.610385723 meters 0.01599966215224272 Centerline is valid? [True, True] Translation: X:-36.48, Y:-243.06, Z:-8.04 [[-9.81522589e-01 1.91225811e-01 6.78942657e-03 -3.64759929e+01] [ 1.91221950e-01 9.81546066e-01 -1.21935300e-03 -2.43062476e+02] [-6.89730671e-03 1.01464874e-04 -9.99976208e-01 -8.03529677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.640385723 meters 0.01605747387956135 Centerline is valid? [True, True] Translation: X:-36.32, Y:-242.31, Z:-9.04 [[-9.73619751e-01 -2.28062710e-01 7.20976991e-03 -3.63191913e+01] [ 2.28055882e-01 -9.73646442e-01 -1.76630073e-03 -2.42305157e+02] [ 7.42259415e-03 -7.54748391e-05 9.99972449e-01 -9.03507342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.670385723 meters 0.01612570728818903 Centerline is valid? [True, True] Translation: X:-36.51, Y:-243.06, Z:-8.04 [[-9.82329934e-01 1.87028304e-01 6.95089466e-03 -3.65063077e+01] [ 1.87024380e-01 9.82354520e-01 -1.21610042e-03 -2.43057913e+02] [-7.05568798e-03 1.05374915e-04 -9.99975103e-01 -8.03535078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.700385723 meters 0.015888164032331207 Centerline is valid? [True, True] Translation: X:-36.50, Y:-243.03, Z:-8.04 [[-9.93199226e-01 1.16232938e-01 6.72315839e-03 -3.65032729e+01] [ 1.16230934e-01 9.93221977e-01 -6.89345145e-04 -2.43026176e+02] [-6.75771328e-03 9.67819153e-05 -9.99977162e-01 -8.03557736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.730385723 meters 0.01584258934415298 Centerline is valid? [True, True] Translation: X:-36.42, Y:-242.27, Z:-9.04 [[-9.87944262e-01 -1.54691929e-01 6.04495891e-03 -3.64154969e+01] [ 1.54688237e-01 -9.87962748e-01 -1.07633205e-03 -2.42266143e+02] [ 6.13869409e-03 -1.28272032e-04 9.99981150e-01 -9.03513293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.760385723 meters 0.015451484307861413 Centerline is valid? [True, True] Translation: X:-36.57, Y:-243.02, Z:-8.04 [[-9.93870307e-01 1.10354504e-01 6.61037772e-03 -3.65678748e+01] [ 1.10352643e-01 9.93892286e-01 -6.46727422e-04 -2.43015668e+02] [-6.64137270e-03 8.67094710e-05 -9.99977942e-01 -8.03553362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.790385723 meters 0.015338839031728339 Centerline is valid? [True, True] Translation: X:-36.57, Y:-242.99, Z:-8.04 [[-9.99217207e-01 3.89607563e-02 6.85810619e-03 -3.65680773e+01] [ 3.89604298e-02 9.99240738e-01 -1.81255825e-04 -2.42986285e+02] [-6.85996096e-03 8.60808251e-05 -9.99976467e-01 -8.03594708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.820385723 meters 0.015553135583378206 Centerline is valid? [True, True] Translation: X:-36.57, Y:-242.96, Z:-8.04 [[-9.99451988e-01 -3.23823874e-02 6.86329797e-03 -3.65704996e+01] [-3.23810402e-02 9.99475549e-01 3.07358874e-04 -2.42958567e+02] [-6.86965152e-03 8.49497103e-05 -9.99976400e-01 -8.03608073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.850385723 meters 0.015376406072350808 Centerline is valid? [True, True] Translation: X:-36.58, Y:-242.93, Z:-8.04 [[-9.94566880e-01 -1.03855078e-01 7.13047264e-03 -3.65801909e+01] [-1.03851787e-01 9.94592437e-01 8.31278232e-04 -2.42929534e+02] [-7.17824662e-03 8.62494699e-05 -9.99974232e-01 -8.03647334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.880385723 meters 0.015087659430124682 Centerline is valid? [True, True] Translation: X:-36.67, Y:-242.18, Z:-9.03 [[-9.98225374e-01 5.91590006e-02 6.80556555e-03 -3.66668017e+01] [-5.91583552e-02 -9.98248567e-01 2.96276574e-04 -2.42176763e+02] [ 6.81117348e-03 -1.06855270e-04 9.99976798e-01 -9.03400131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.910385723 meters 0.014757855757577706 Centerline is valid? [True, True] Translation: X:-36.70, Y:-242.94, Z:-8.04 [[-9.93608202e-01 -1.12677085e-01 6.82758577e-03 -3.66976288e+01] [-1.12673979e-01 9.93631657e-01 8.39010166e-04 -2.42938270e+02] [-6.87864258e-03 6.43561242e-05 -9.99976340e-01 -8.03673929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.940385723 meters 0.014768615819716396 Centerline is valid? [True, True] Translation: X:-36.82, Y:-242.19, Z:-9.03 [[-9.98047838e-01 6.20292318e-02 7.27236009e-03 -3.68160348e+01] [-6.20278793e-02 -9.98074332e-01 4.11601460e-04 -2.42193041e+02] [ 7.28388726e-03 -4.02911259e-05 9.99973471e-01 -9.03386631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9703857229999 meters 0.014769255468035532 Centerline is valid? [True, True] Translation: X:-36.84, Y:-242.95, Z:-8.04 [[-9.92478269e-01 -1.22210919e-01 7.16781237e-03 -3.68389015e+01] [-1.22207398e-01 9.92504151e-01 9.28882286e-04 -2.42953754e+02] [-7.22760309e-03 4.59357859e-05 -9.99973880e-01 -8.03712277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.000385723 meters 0.014625090080203181 Centerline is valid? [True, True] Translation: X:-36.84, Y:-242.92, Z:-8.04 [[-9.80969861e-01 -1.94079144e-01 5.60509914e-03 -3.68425111e+01] [-1.94075779e-01 9.80985874e-01 1.14333542e-03 -2.42924581e+02] [-5.72042064e-03 3.37636013e-05 -9.99983638e-01 -8.03851486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.030385723 meters 0.014571813654023017 Centerline is valid? [True, True] Translation: X:-36.87, Y:-242.90, Z:-8.04 [[-9.64329283e-01 -2.64660303e-01 4.89474467e-03 -3.68749495e+01] [-2.64656738e-01 9.64341705e-01 1.37397656e-03 -2.42902142e+02] [-5.08384347e-03 2.95386721e-05 -9.99987077e-01 -8.03927410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.060385723 meters 0.014669705824802393 Centerline is valid? [True, True] Translation: X:-36.93, Y:-242.89, Z:-8.04 [[-9.42238769e-01 -3.34915785e-01 4.18567291e-03 -3.69324772e+01] [-3.34912366e-01 9.42248065e-01 1.51341783e-03 -2.42889277e+02] [-4.45080973e-03 2.41673354e-05 -9.99990095e-01 -8.04042328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0903857229999 meters 0.014837813839261924 Centerline is valid? [True, True] Translation: X:-37.00, Y:-242.88, Z:-8.04 [[-9.14999925e-01 -4.03436731e-01 3.73391536e-03 -3.69996808e+01] [-4.03433272e-01 9.15007543e-01 1.67087453e-03 -2.42884706e+02] [-4.09065288e-03 2.24643769e-05 -9.99991633e-01 -8.04107796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.120385723 meters 0.01516266293395398 Centerline is valid? [True, True] Translation: X:-37.08, Y:-242.89, Z:-8.04 [[-8.83043477e-01 -4.69270690e-01 4.38608508e-03 -3.70793341e+01] [-4.69264714e-01 8.83054369e-01 2.36843492e-03 -2.42892816e+02] [-4.98458868e-03 3.31960497e-05 -9.99987576e-01 -8.04076964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.150385723 meters 0.015429700181389115 Centerline is valid? [True, True] Translation: X:-37.16, Y:-242.91, Z:-8.04 [[-8.46405060e-01 -5.32519574e-01 4.62359512e-03 -3.71620455e+01] [-5.32511329e-01 8.46417687e-01 2.96371846e-03 -2.42907970e+02] [-5.49173078e-03 4.63895165e-05 -9.99984919e-01 -8.04032624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.180385723 meters 0.015617546028874744 Centerline is valid? [True, True] Translation: X:-37.25, Y:-242.94, Z:-8.04 [[-8.04436663e-01 -5.94020357e-01 4.63360878e-03 -3.72517336e+01] [-5.94010120e-01 8.04450006e-01 3.48789690e-03 -2.42935232e+02] [-5.79938837e-03 5.33816422e-05 -9.99983182e-01 -8.03973247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.210385723 meters 0.0156423353926895 Centerline is valid? [True, True] Translation: X:-37.34, Y:-242.97, Z:-8.04 [[-7.57831556e-01 -6.52436953e-01 4.16584430e-03 -3.73389987e+01] [-6.52426689e-01 7.57843004e-01 3.66020003e-03 -2.42968877e+02] [-5.54510572e-03 5.59070793e-05 -9.99984624e-01 -8.03941532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.240385723 meters 0.01577182525741046 Centerline is valid? [True, True] Translation: X:-37.44, Y:-243.02, Z:-8.04 [[-7.06969695e-01 -7.07232434e-01 4.01685697e-03 -3.74350531e+01] [-7.07220501e-01 7.06981104e-01 4.10870108e-03 -2.43018991e+02] [-5.74564864e-03 6.39235497e-05 -9.99983492e-01 -8.03924397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.270385723 meters 0.01604790290036832 Centerline is valid? [True, True] Translation: X:-37.53, Y:-243.08, Z:-8.04 [[-6.51417509e-01 -7.58710613e-01 3.66552261e-03 -3.75258778e+01] [-7.58698031e-01 6.51427818e-01 4.36984272e-03 -2.43077927e+02] [-5.70326944e-03 6.55672683e-05 -9.99983734e-01 -8.03886491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.300385723 meters 0.015422278975962031 Centerline is valid? [True, True] Translation: X:-37.61, Y:-243.14, Z:-8.04 [[-5.92294583e-01 -8.05716367e-01 2.87439640e-03 -3.76134074e+01] [-8.05706380e-01 5.92301555e-01 4.01224239e-03 -2.43138894e+02] [-4.93523882e-03 6.05099164e-05 -9.99987820e-01 -8.04072992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.330385723 meters 0.015519944059021743 Centerline is valid? [True, True] Translation: X:-37.70, Y:-243.22, Z:-8.04 [[-5.29241004e-01 -8.48469479e-01 1.87135070e-03 -3.76998252e+01] [-8.48463870e-01 5.29244311e-01 3.08563607e-03 -2.43216677e+02] [-3.60846974e-03 4.52716775e-05 -9.99993489e-01 -8.04183137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.360385723 meters 0.015475879386039473 Centerline is valid? [True, True] Translation: X:-37.78, Y:-243.30, Z:-8.04 [[-4.62984313e-01 -8.86365210e-01 1.49707638e-03 -3.77816710e+01] [-8.86360275e-01 4.62986731e-01 2.95813356e-03 -2.43300492e+02] [-3.31511317e-03 4.26204028e-05 -9.99994504e-01 -8.04200183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.390385723 meters 0.015493328211118026 Centerline is valid? [True, True] Translation: X:-37.86, Y:-243.39, Z:-8.04 [[-3.93724273e-01 -9.19227811e-01 1.19507213e-03 -3.78581671e+01] [-9.19223259e-01 3.93726085e-01 2.89312398e-03 -2.43392779e+02] [-3.12997109e-03 4.05550372e-05 -9.99995101e-01 -8.04188332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.420385723 meters 0.015409220259983147 Centerline is valid? [True, True] Translation: X:-37.93, Y:-243.49, Z:-8.04 [[-3.22093728e-01 -9.46707381e-01 8.75167292e-04 -3.79307832e+01] [-9.46703571e-01 3.22094915e-01 2.68614577e-03 -2.43494837e+02] [-2.82488096e-03 3.66667036e-05 -9.99996009e-01 -8.04104096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.450385723 meters 0.015170055988059343 Centerline is valid? [True, True] Translation: X:-37.99, Y:-243.60, Z:-8.04 [[-2.48125783e-01 -9.68727475e-01 8.21164396e-04 -3.79922440e+01] [-9.68721565e-01 2.48127138e-01 3.38422083e-03 -2.43598266e+02] [-3.48214087e-03 4.42327867e-05 -9.99993936e-01 -8.04101178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.480385723 meters 0.015175854043504659 Centerline is valid? [True, True] Translation: X:-38.05, Y:-243.71, Z:-8.04 [[-1.72140476e-01 -9.85072248e-01 5.68796364e-04 -3.80486718e+01] [-9.85066027e-01 1.72141410e-01 3.50108176e-03 -2.43712926e+02] [-3.54673188e-03 4.23759043e-05 -9.99993710e-01 -8.04057189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.510385723 meters 0.014927236921798715 Centerline is valid? [True, True] Translation: X:-38.10, Y:-243.83, Z:-8.04 [[-9.57441483e-02 -9.95405943e-01 2.56683563e-04 -3.80954812e+01] [-9.95401289e-01 9.57444856e-02 3.04439518e-03 -2.43830736e+02] [-3.05498510e-03 3.59798742e-05 -9.99995333e-01 -8.04044003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.540385723 meters 0.01509324994042674 Centerline is valid? [True, True] Translation: X:-38.13, Y:-243.97, Z:-8.04 [[-1.86914500e-02 -9.99825299e-01 1.69810622e-05 -3.81335766e+01] [-9.99822578e-01 1.86914388e-02 2.33289806e-03 -2.43971997e+02] [-2.33280790e-03 2.66271980e-05 -9.99997279e-01 -8.04030421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.570385723 meters 0.014919246559640699 Centerline is valid? [True, True] Translation: X:-38.16, Y:-244.08, Z:-8.04 [[ 5.82083557e-02 -9.98304445e-01 -1.51854349e-04 -3.81616192e+01] [-9.98302079e-01 -5.82085484e-02 2.17346983e-03 -2.44076319e+02] [-2.17862381e-03 2.50824076e-05 -9.99997627e-01 -8.04051499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.600385723 meters 0.014655950892682647 Centerline is valid? [True, True] Translation: X:-38.18, Y:-244.20, Z:-8.04 [[ 1.34947676e-01 -9.90852714e-01 -1.56875052e-04 -3.81821616e+01] [-9.90852143e-01 -1.34947767e-01 1.06358976e-03 -2.44197712e+02] [-1.07503074e-03 1.19110146e-05 -9.99999422e-01 -8.04052707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.630385723 meters 0.014710215971708414 Centerline is valid? [True, True] Translation: X:-38.19, Y:-244.33, Z:-8.04 [[ 2.10641569e-01 -9.77563356e-01 -1.22205242e-04 -3.81884471e+01] [-9.77563207e-01 -2.10641604e-01 5.39389298e-04 -2.44328691e+02] [-5.53028721e-04 5.84554019e-06 -9.99999847e-01 -8.04067392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.660385723 meters 0.014670698057232312 Centerline is valid? [True, True] Translation: X:-38.19, Y:-244.45, Z:-8.04 [[ 2.85195830e-01 -9.58469248e-01 1.98764523e-04 -3.81882627e+01] [-9.58469035e-01 -2.85195899e-01 -6.38451951e-04 -2.44447818e+02] [ 6.68623388e-04 -8.42580601e-06 -9.99999777e-01 -8.04122556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.690385723 meters 0.014670698057232312 Centerline is valid? [True, True] Translation: X:-38.18, Y:-244.57, Z:-8.04 [[ 3.57952374e-01 -9.33739812e-01 2.47210168e-04 -3.81758288e+01] [-9.33739606e-01 -3.57952459e-01 -6.21327979e-04 -2.44570996e+02] [ 6.68648158e-04 -8.42410020e-06 -9.99999776e-01 -8.04122681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7203857229999 meters 0.014613396298319335 Centerline is valid? [True, True] Translation: X:-38.16, Y:-244.69, Z:-8.04 [[ 4.27557826e-01 -9.03987490e-01 9.60405765e-04 -3.81583737e+01] [-9.03985356e-01 -4.27558904e-01 -1.96444671e-03 -2.44689337e+02] [ 2.18646528e-03 -2.82781842e-05 -9.99997609e-01 -8.04269380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.750385723 meters 0.01477404387557803 Centerline is valid? [True, True] Translation: X:-38.13, Y:-244.81, Z:-8.04 [[ 4.93726144e-01 -8.69616245e-01 1.44266031e-03 -3.81310427e+01] [-8.69612780e-01 -4.93728250e-01 -2.45510805e-03 -2.44806056e+02] [ 2.84728399e-03 -4.24048118e-05 -9.99995946e-01 -8.04401883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.780385723 meters 0.015136010912644167 Centerline is valid? [True, True] Translation: X:-38.09, Y:-244.92, Z:-8.04 [[ 5.57956304e-01 -8.29868223e-01 1.86990511e-03 -3.80909774e+01] [-8.29863870e-01 -5.57959435e-01 -2.68818900e-03 -2.44923539e+02] [ 3.27417382e-03 -5.18746928e-05 -9.99994639e-01 -8.04440813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.810385723 meters 0.015530126470394609 Centerline is valid? [True, True] Translation: X:-38.05, Y:-245.03, Z:-8.05 [[ 6.18671444e-01 -7.85646805e-01 2.17786294e-03 -3.80508296e+01] [-7.85642267e-01 -6.18675274e-01 -2.67071386e-03 -2.45029005e+02] [ 3.44562776e-03 -5.87267735e-05 -9.99994062e-01 -8.04506612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8403857229999 meters 0.01525301836624526 Centerline is valid? [True, True] Translation: X:-38.01, Y:-245.13, Z:-8.04 [[ 6.76631261e-01 -7.36318129e-01 2.39769535e-03 -3.80057653e+01] [-7.36313815e-01 -6.76635507e-01 -2.52118879e-03 -2.45130620e+02] [ 3.47876282e-03 -5.95410653e-05 -9.99993947e-01 -8.04446304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.870385723 meters 0.01493769187115958 Centerline is valid? [True, True] Translation: X:-37.96, Y:-245.23, Z:-8.04 [[ 7.30531842e-01 -6.82873175e-01 2.73039728e-03 -3.79551001e+01] [-6.82868725e-01 -7.30536941e-01 -2.46612045e-03 -2.45231204e+02] [ 3.67870358e-03 -6.29233948e-05 -9.99993232e-01 -8.04265875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.900385723 meters 0.015496540201246167 Centerline is valid? [True, True] Translation: X:-37.96, Y:-245.25, Z:-8.04 [[ 7.80275707e-01 -6.25429761e-01 2.72687366e-03 -3.79616953e+01] [-6.25426238e-01 -7.80280469e-01 -2.10030482e-03 -2.45245236e+02] [ 3.44131940e-03 -6.66415021e-05 -9.99994077e-01 -8.04318467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.930385723 meters 0.0159688865738083 Centerline is valid? [True, True] Translation: X:-37.96, Y:-245.26, Z:-8.04 [[ 8.25858532e-01 -5.63867531e-01 3.33073286e-03 -3.79645908e+01] [-5.63863349e-01 -8.25865244e-01 -2.17311217e-03 -2.45258055e+02] [ 3.97608390e-03 -8.33949579e-05 -9.99992092e-01 -8.04385467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.960385723 meters 0.016827801912089026 Centerline is valid? [True, True] Translation: X:-37.97, Y:-245.27, Z:-8.04 [[ 8.65550826e-01 -5.00809698e-01 3.37833490e-03 -3.79684589e+01] [-5.00806309e-01 -8.65557414e-01 -1.84501269e-03 -2.45273505e+02] [ 3.84814307e-03 -9.49391712e-05 -9.99992591e-01 -8.04335557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.990385723 meters 0.01693272641646748 Centerline is valid? [True, True] Translation: X:-37.97, Y:-245.29, Z:-8.04 [[ 9.01554619e-01 -4.32656027e-01 2.83394081e-03 -3.79703070e+01] [-4.32654168e-01 -9.01559069e-01 -1.27091397e-03 -2.45289536e+02] [ 3.10483363e-03 -8.03179420e-05 -9.99995177e-01 -8.04221428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.020385723 meters 0.017061272769537138 Centerline is valid? [True, True] Translation: X:-37.97, Y:-245.31, Z:-8.04 [[ 9.32368227e-01 -3.61506696e-01 1.54850353e-03 -3.79711503e+01] [-3.61506275e-01 -9.32369512e-01 -5.53234199e-04 -2.45306243e+02] [ 1.64377535e-03 -4.39757535e-05 -9.99998648e-01 -8.04051143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.050385723 meters 0.017145221327428146 Centerline is valid? [True, True] Translation: X:-37.97, Y:-245.33, Z:-8.04 [[ 9.57785614e-01 -2.87482886e-01 5.55309841e-04 -3.79701880e+01] [-2.87482847e-01 -9.57785775e-01 -1.50204061e-04 -2.45325225e+02] [ 5.75048962e-04 -1.57787655e-05 -9.99999835e-01 -8.03867405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.080385723 meters 0.017882659428943733 Centerline is valid? [True, True] Translation: X:-37.97, Y:-245.34, Z:-8.04 [[ 9.77357541e-01 -2.11593825e-01 5.39059814e-04 -3.79671332e+01] [-2.11593801e-01 -9.77357689e-01 -1.01370668e-04 -2.45337977e+02] [ 5.48303662e-04 -1.49863286e-05 -9.99999850e-01 -8.03879508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.110385723 meters 0.016379714528687337 Centerline is valid? [True, True] Translation: X:-37.97, Y:-245.36, Z:-8.04 [[ 9.90898147e-01 -1.34611819e-01 7.21814242e-04 -3.79674890e+01] [-1.34611797e-01 -9.90898410e-01 -7.81148148e-05 -2.45361933e+02] [ 7.25759761e-04 -1.97608873e-05 -9.99999737e-01 -8.03857309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.140385723 meters 0.016540655119150566 Centerline is valid? [True, True] Translation: X:-37.96, Y:-245.38, Z:-8.04 [[ 9.98399450e-01 -5.65510280e-02 7.21129563e-04 -3.79644446e+01] [-5.65510274e-02 -9.98399710e-01 -2.12490060e-05 -2.45379255e+02] [ 7.21177200e-04 -1.95656218e-05 -9.99999740e-01 -8.03822812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.170385723 meters 0.016874973124756373 Centerline is valid? [True, True] Translation: X:-37.96, Y:-245.40, Z:-8.04 [[ 9.99749334e-01 2.23785617e-02 -6.84717024e-04 -3.79608333e+01] [ 2.23785448e-02 -9.99749569e-01 -3.22603809e-05 -2.45399123e+02] [-6.85267490e-04 1.69293237e-05 -9.99999765e-01 -8.03662392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.200385723 meters 0.01665282798582696 Centerline is valid? [True, True] Translation: X:-37.96, Y:-245.41, Z:-8.04 [[ 9.94849615e-01 1.01355478e-01 -1.14501058e-03 -3.79551610e+01] [ 1.01355378e-01 -9.94850273e-01 -1.44832155e-04 -2.45414373e+02] [-1.15379362e-03 2.80332331e-05 -9.99999334e-01 -8.03607270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.230385723 meters 0.017094376518397777 Centerline is valid? [True, True] Translation: X:-37.95, Y:-245.43, Z:-8.04 [[ 9.83470647e-01 1.81064112e-01 -1.12852206e-03 -3.79491581e+01] [ 1.81063963e-01 -9.83471294e-01 -2.33709547e-04 -2.45428152e+02] [-1.15218546e-03 2.55118035e-05 -9.99999336e-01 -8.03620856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.260385723 meters 0.015896922103151294 Centerline is valid? [True, True] Translation: X:-37.94, Y:-245.44, Z:-8.04 [[ 9.66011738e-01 2.58495944e-01 -1.08159142e-03 -3.79400740e+01] [ 2.58495754e-01 -9.66012343e-01 -3.14025009e-04 -2.45443554e+02] [-1.12600486e-03 2.37650539e-05 -9.99999366e-01 -8.03670420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.290385723 meters 0.015988409862176523 Centerline is valid? [True, True] Translation: X:-37.93, Y:-245.46, Z:-8.04 [[ 9.42477143e-01 3.34270058e-01 -6.02985041e-04 -3.79306002e+01] [ 3.34269981e-01 -9.42477336e-01 -2.27348008e-04 -2.45457261e+02] [-6.44295367e-04 1.27105031e-05 -9.99999792e-01 -8.03643055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.320385723 meters 0.01518200280370725 Centerline is valid? [True, True] Translation: X:-37.92, Y:-245.47, Z:-8.04 [[ 9.13469847e-01 4.06905274e-01 -9.68411732e-04 -3.79161153e+01] [ 4.06905020e-01 -9.13470360e-01 -4.55070754e-04 -2.45474526e+02] [-1.06978610e-03 2.16418164e-05 -9.99999428e-01 -8.03600430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.350385723 meters 0.015409240299825369 Centerline is valid? [True, True] Translation: X:-37.90, Y:-245.49, Z:-8.04 [[ 8.78702884e-01 4.77367799e-01 -1.10702069e-03 -3.79049320e+01] [ 4.77367383e-01 -8.78703581e-01 -6.30607588e-04 -2.45485755e+02] [-1.27377480e-03 2.56611373e-05 -9.99999188e-01 -8.03558432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.380385723 meters 0.015240295996097908 Centerline is valid? [True, True] Translation: X:-37.89, Y:-245.50, Z:-8.04 [[ 8.38514462e-01 5.44878191e-01 -1.11937435e-03 -3.78912723e+01] [ 5.44877663e-01 -8.38515209e-01 -7.59544837e-04 -2.45496295e+02] [-1.35247183e-03 2.69672515e-05 -9.99999085e-01 -8.03557697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.410385723 meters 0.01501795832647316 Centerline is valid? [True, True] Translation: X:-37.88, Y:-245.51, Z:-8.04 [[ 7.92301974e-01 6.10128757e-01 -6.94197935e-04 -3.78752033e+01] [ 6.10128505e-01 -7.92302278e-01 -5.54822774e-04 -2.45506450e+02] [-8.88527935e-04 1.60372306e-05 -9.99999605e-01 -8.03595692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.440385723 meters 0.01523895307612552 Centerline is valid? [True, True] Translation: X:-37.86, Y:-245.51, Z:-8.04 [[ 7.41162942e-01 6.71325106e-01 -3.09744994e-04 -3.78614189e+01] [ 6.71325044e-01 -7.41163006e-01 -2.89641074e-04 -2.45513840e+02] [-4.24014856e-04 6.73165894e-06 -9.99999910e-01 -8.03583251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4703857229999 meters 0.014240233304410255 Centerline is valid? [True, True] Translation: X:-37.84, Y:-245.52, Z:-8.04 [[ 6.84288385e-01 7.29211445e-01 -2.73012476e-04 -3.78411800e+01] [ 7.29211384e-01 -6.84288440e-01 -2.98616934e-04 -2.45523121e+02] [-4.04574168e-04 5.25629404e-06 -9.99999918e-01 -8.03546819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.500385723 meters 0.013940346896114389 Centerline is valid? [True, True] Translation: X:-37.82, Y:-245.53, Z:-8.04 [[ 6.23780433e-01 7.81599598e-01 -1.99571754e-04 -3.78227698e+01] [ 7.81599556e-01 -6.23780465e-01 -2.55758997e-04 -2.45528344e+02] [-3.24390092e-04 3.55226361e-06 -9.99999947e-01 -8.03567783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.530385723 meters 0.014055941759298689 Centerline is valid? [True, True] Translation: X:-37.81, Y:-245.53, Z:-8.04 [[ 5.60117128e-01 8.28413393e-01 2.31897277e-04 -3.78067169e+01] [ 8.28413318e-01 -5.60117176e-01 3.53225301e-04 -2.45532113e+02] [ 4.22506218e-04 -5.74074867e-06 -9.99999911e-01 -8.03602955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.560385723 meters 0.01404720719721964 Centerline is valid? [True, True] Translation: X:-37.79, Y:-245.53, Z:-8.04 [[ 4.92244868e-01 8.70456367e-01 8.38161806e-04 -3.77901500e+01] [ 8.70455039e-01 -4.92245581e-01 1.52101702e-03 -2.45534498e+02] [ 1.73656039e-03 -1.91306537e-05 -9.99998492e-01 -8.03703615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5903857229999 meters 0.014000279599465596 Centerline is valid? [True, True] Translation: X:-37.78, Y:-245.53, Z:-8.04 [[ 4.22026467e-01 9.06583118e-01 8.42771771e-04 -3.77756630e+01] [ 9.06581210e-01 -4.22027308e-01 1.86048065e-03 -2.45533250e+02] [ 2.04235306e-03 -2.11310268e-05 -9.99997914e-01 -8.03696508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.620385723 meters 0.01374821618972487 Centerline is valid? [True, True] Translation: X:-37.76, Y:-245.53, Z:-8.04 [[ 3.49514153e-01 9.36930856e-01 6.53479236e-04 -3.77572879e+01] [ 9.36929113e-01 -3.49514764e-01 1.80745108e-03 -2.45532338e+02] [ 1.92185733e-03 -1.94660125e-05 -9.99998153e-01 -8.03648836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.650385723 meters 0.013831155203954509 Centerline is valid? [True, True] Translation: X:-37.74, Y:-245.53, Z:-8.04 [[ 2.75729518e-01 9.61235199e-01 3.53243116e-04 -3.77418086e+01] [ 9.61234341e-01 -2.75729744e-01 1.28422637e-03 -2.45529883e+02] [ 1.33184323e-03 -1.45497051e-05 -9.99999113e-01 -8.03603771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.680385723 meters 0.01473458127857541 Centerline is valid? [True, True] Translation: X:-37.73, Y:-245.53, Z:-8.03 [[ 2.02759342e-01 9.79228595e-01 -8.68696506e-05 -3.77305720e+01] [ 9.79228493e-01 -2.02759361e-01 -4.47411700e-04 -2.45526735e+02] [-4.55731966e-04 5.65166499e-06 -9.99999896e-01 -8.03421845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.710385723 meters 0.014729135665384408 Centerline is valid? [True, True] Translation: X:-37.72, Y:-245.52, Z:-8.03 [[ 1.27891064e-01 9.91788209e-01 -1.52885412e-04 -3.77164839e+01] [ 9.91787287e-01 -1.27891154e-01 -1.35283087e-03 -2.45522327e+02] [-1.36127440e-03 2.13851722e-05 -9.99999073e-01 -8.03369432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.740385723 meters 0.015486769712496093 Centerline is valid? [True, True] Translation: X:-37.71, Y:-245.52, Z:-8.03 [[ 5.50567463e-02 9.98483224e-01 -7.70108748e-05 -3.77050106e+01] [ 9.98480657e-01 -5.50567794e-02 -2.26485263e-03 -2.45516242e+02] [-2.26565733e-03 4.78015477e-05 -9.99997432e-01 -8.03368555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.770385723 meters 0.016859263101539408 Centerline is valid? [True, True] Translation: X:-37.70, Y:-245.51, Z:-8.03 [[-2.14280478e-02 9.99770386e-01 1.20339332e-04 -3.76950913e+01] [ 9.99766728e-01 2.14282950e-02 -2.70502742e-03 -2.45511052e+02] [-2.70698498e-03 6.23478032e-05 -9.99996334e-01 -8.03339494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.800385723 meters 0.016410854475074135 Centerline is valid? [True, True] Translation: X:-37.68, Y:-245.50, Z:-8.03 [[-9.66747697e-02 9.95315910e-01 4.78484870e-04 -3.76808860e+01] [ 9.95308382e-01 9.66759001e-02 -3.87232065e-03 -2.45503911e+02] [-3.90044031e-03 1.01884294e-04 -9.99992388e-01 -8.03318122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.830385723 meters 0.01705649241759537 Centerline is valid? [True, True] Translation: X:-37.67, Y:-245.50, Z:-8.03 [[-1.73780152e-01 9.84784177e-01 7.63998763e-04 -3.76695193e+01] [ 9.84777067e-01 1.73781801e-01 -3.74344721e-03 -2.45496977e+02] [-3.81925666e-03 1.01831636e-04 -9.99992702e-01 -8.03290427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.860385723 meters 0.016818194453157694 Centerline is valid? [True, True] Translation: X:-37.66, Y:-245.49, Z:-8.03 [[-2.50603203e-01 9.68089318e-01 1.05246528e-03 -3.76580033e+01] [ 9.68082390e-01 2.50605393e-01 -3.66377500e-03 -2.45487854e+02] [-3.81061492e-03 1.00719353e-04 -9.99992735e-01 -8.03312575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.890385723 meters 0.01710160608006386 Centerline is valid? [True, True] Translation: X:-37.65, Y:-245.48, Z:-8.03 [[-3.25612605e-01 9.45502672e-01 1.06263469e-03 -3.76481006e+01] [ 9.45498412e-01 3.25614329e-01 -2.83933006e-03 -2.45479364e+02] [-3.03060324e-03 8.01977609e-05 -9.99995405e-01 -8.03366727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.920385723 meters 0.01701156378932798 Centerline is valid? [True, True] Translation: X:-37.64, Y:-245.47, Z:-8.03 [[-3.98294556e-01 9.17257297e-01 7.05930526e-04 -3.76369929e+01] [ 9.17256049e-01 3.98295179e-01 -1.51382600e-03 -2.45468540e+02] [-1.66973667e-03 4.45703922e-05 -9.99998605e-01 -8.03436318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.950385723 meters 0.016909365257584713 Centerline is valid? [True, True] Translation: X:-37.63, Y:-245.46, Z:-8.03 [[-4.68960612e-01 8.83218568e-01 9.51687291e-04 -3.76270179e+01] [ 8.83216967e-01 4.68961575e-01 -1.68246875e-03 -2.45456958e+02] [-1.93229241e-03 5.15347869e-05 -9.99998132e-01 -8.03422551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.980385723 meters 0.017164439533128805 Centerline is valid? [True, True] Translation: X:-37.62, Y:-245.44, Z:-8.03 [[-5.36543005e-01 8.43872045e-01 1.25518314e-03 -3.76194166e+01] [ 8.43869994e-01 5.36544469e-01 -1.86176213e-03 -2.45444491e+02] [-2.24455059e-03 6.02959422e-05 -9.99997479e-01 -8.03348589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.010385723 meters 0.01637319563072491 Centerline is valid? [True, True] Translation: X:-37.61, Y:-245.43, Z:-8.03 [[-6.00770887e-01 7.99419967e-01 1.43454840e-03 -3.76086974e+01] [ 7.99417932e-01 6.00772597e-01 -1.80486790e-03 -2.45428017e+02] [-2.30468480e-03 6.24916218e-05 -9.99997342e-01 -8.03358463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.040385723 meters 0.017538980212476737 Centerline is valid? [True, True] Translation: X:-37.60, Y:-245.42, Z:-8.03 [[-6.60770877e-01 7.50585814e-01 1.66849801e-03 -3.76029029e+01] [ 7.50583680e-01 6.60772980e-01 -1.79117937e-03 -2.45415370e+02] [-2.44693223e-03 6.87882154e-05 -9.99997004e-01 -8.03370104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.070385723 meters 0.018275177913903543 Centerline is valid? [True, True] Translation: X:-37.60, Y:-245.40, Z:-8.03 [[-7.16950113e-01 6.97122164e-01 1.79581900e-03 -3.75993797e+01] [ 6.97120219e-01 7.16952358e-01 -1.64796504e-03 -2.45404732e+02] [-2.43634962e-03 7.03930125e-05 -9.99997030e-01 -8.03413568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.100385723 meters 0.01840450798996225 Centerline is valid? [True, True] Translation: X:-37.26, Y:-245.04, Z:-9.04 [[-7.11037524e-01 -7.03153420e-01 9.52713019e-04 -3.72573782e+01] [ 7.03152590e-01 -7.11038155e-01 -1.08512331e-03 -2.45035624e+02] [ 1.44042347e-03 -1.01660762e-04 9.99998958e-01 -9.03551816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.130385723 meters 0.017641840645282635 Centerline is valid? [True, True] Translation: X:-37.28, Y:-245.02, Z:-9.04 [[-7.11268555e-01 -7.02919590e-01 1.04550625e-03 -3.72783202e+01] [ 7.02918736e-01 -7.11269322e-01 -1.09680959e-03 -2.45017383e+02] [ 1.51460547e-03 -4.52202393e-05 9.99998852e-01 -9.03585136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.160385723 meters 0.017582956652235207 Centerline is valid? [True, True] Translation: X:-37.30, Y:-245.00, Z:-9.04 [[-7.11019497e-01 -7.03171140e-01 1.27402176e-03 -3.72989024e+01] [ 7.03169873e-01 -7.11020636e-01 -1.33580180e-03 -2.44998091e+02] [ 1.84515304e-03 -5.39274002e-05 9.99998296e-01 -9.03654050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.190385723 meters 0.017883960385548358 Centerline is valid? [True, True] Translation: X:-37.32, Y:-244.98, Z:-9.04 [[-7.09934039e-01 -7.04266161e-01 1.68391562e-03 -3.73195014e+01] [ 7.04263953e-01 -7.09936033e-01 -1.76464629e-03 -2.44979378e+02] [ 2.43825304e-03 -6.68614004e-05 9.99997025e-01 -9.03758238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2203857229999 meters 0.017483309396467618 Centerline is valid? [True, True] Translation: X:-37.34, Y:-244.96, Z:-9.04 [[-7.09314882e-01 -7.04890389e-01 1.39219874e-03 -3.73405818e+01] [ 7.04888883e-01 -7.09316246e-01 -1.45815700e-03 -2.44960690e+02] [ 2.01535004e-03 -5.29470468e-05 9.99997968e-01 -9.03809027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.250385723 meters 0.017717013281627895 Centerline is valid? [True, True] Translation: X:-37.36, Y:-244.94, Z:-9.04 [[-7.09803475e-01 -7.04398941e-01 1.07646268e-03 -3.73591282e+01] [ 7.04398041e-01 -7.09804290e-01 -1.12677940e-03 -2.44941044e+02] [ 1.55778005e-03 -4.15337309e-05 9.99998786e-01 -9.03819534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.280385723 meters 0.016727264360026493 Centerline is valid? [True, True] Translation: X:-37.38, Y:-244.92, Z:-9.04 [[-7.10734371e-01 -7.03459924e-01 8.88222412e-04 -3.73803417e+01] [ 7.03459311e-01 -7.10734925e-01 -9.29244407e-04 -2.44922040e+02] [ 1.28497689e-03 -3.56176129e-05 9.99999174e-01 -9.03783384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.310385723 meters 0.017861613992558565 Centerline is valid? [True, True] Translation: X:-37.40, Y:-244.90, Z:-9.04 [[-7.12903639e-01 -7.01261969e-01 2.28934897e-04 -3.73980461e+01] [ 7.01261929e-01 -7.12903675e-01 -2.39448733e-04 -2.44901392e+02] [ 3.31124819e-04 -1.01605456e-05 9.99999945e-01 -9.03744996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3403857229999 meters 0.01844709815500718 Centerline is valid? [True, True] Translation: X:-37.42, Y:-244.88, Z:-9.04 [[-7.14190106e-01 -6.99951661e-01 -4.05483134e-04 -3.74178410e+01] [ 6.99951533e-01 -7.14190221e-01 4.23887972e-04 -2.44880700e+02] [-5.86293179e-04 1.89180543e-05 9.99999828e-01 -9.03721967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.370385723 meters 0.01950209943240883 Centerline is valid? [True, True] Translation: X:-37.44, Y:-244.86, Z:-9.04 [[-7.16760733e-01 -6.97318627e-01 -8.85976680e-04 -3.74365354e+01] [ 6.97318014e-01 -7.16761279e-01 9.25675682e-04 -2.44859824e+02] [-1.28052467e-03 4.56804808e-05 9.99999179e-01 -9.03682492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.400385723 meters 0.019495641881812534 Centerline is valid? [True, True] Translation: X:-37.46, Y:-244.84, Z:-9.04 [[-7.18817370e-01 -6.95198419e-01 -8.63825524e-04 -3.74570187e+01] [ 6.95197836e-01 -7.18817888e-01 9.02060717e-04 -2.44839637e+02] [-1.24804442e-03 4.78872780e-05 9.99999220e-01 -9.03731460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.430385723 meters 0.02212020256113141 Centerline is valid? [True, True] Translation: X:-37.47, Y:-244.82, Z:-9.04 [[-7.23242054e-01 -6.90594584e-01 -2.26145021e-04 -3.74747263e+01] [ 6.90594544e-01 -7.23242089e-01 2.36018278e-04 -2.44818755e+02] [-3.26550542e-04 1.45238268e-05 9.99999947e-01 -9.03790606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.460385723 meters 0.024233057004091053 Centerline is valid? [True, True] Translation: X:-37.49, Y:-244.80, Z:-9.04 [[-7.27841327e-01 -6.85745396e-01 -5.03710044e-04 -3.74939575e+01] [ 6.85745196e-01 -7.27841501e-01 5.25385635e-04 -2.44799357e+02] [-7.26901855e-04 3.69806356e-05 9.99999735e-01 -9.03712514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.490385723 meters 0.022939016300885903 Centerline is valid? [True, True] Translation: X:-37.52, Y:-244.78, Z:-9.04 [[-7.30118729e-01 -6.83320123e-01 -5.02113507e-04 -3.75167105e+01] [ 6.83319923e-01 -7.30118900e-01 5.23439049e-04 -2.44781852e+02] [-7.24278997e-04 3.90684897e-05 9.99999737e-01 -9.03690741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.520385723 meters 0.02502970127875301 Centerline is valid? [True, True] Translation: X:-37.54, Y:-244.76, Z:-9.04 [[-7.31900587e-01 -6.81411223e-01 -5.25295416e-04 -3.75354474e+01] [ 6.81411004e-01 -7.31900774e-01 5.47402841e-04 -2.44762765e+02] [-7.57470561e-04 4.27023841e-05 9.99999712e-01 -9.03763131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.550385723 meters 0.027260764776876813 Centerline is valid? [True, True] Translation: X:-37.56, Y:-244.75, Z:-9.04 [[-7.33812807e-01 -6.79351477e-01 -5.78448116e-04 -3.75564396e+01] [ 6.79351212e-01 -7.33813033e-01 6.02551335e-04 -2.44745928e+02] [-8.33816906e-04 4.91904575e-05 9.99999651e-01 -9.03713431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.580385723 meters 0.027260764776876813 Centerline is valid? [True, True] Translation: X:-37.58, Y:-244.73, Z:-9.04 [[-7.33996095e-01 -6.79153442e-01 -5.78610519e-04 -3.75755958e+01] [ 6.79153176e-01 -7.33996322e-01 6.02395386e-04 -2.44726059e+02] [-8.33816892e-04 4.91906892e-05 9.99999651e-01 -9.03713440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.610385723 meters 0.029800919883202163 Centerline is valid? [True, True] Translation: X:-37.60, Y:-244.71, Z:-9.04 [[-7.34768378e-01 -6.78317249e-01 -1.06806547e-03 -3.75952109e+01] [ 6.78316344e-01 -7.34769149e-01 1.11153168e-03 -2.44706917e+02] [-1.53875266e-03 9.22320647e-05 9.99998812e-01 -9.03665684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.640385723 meters 0.028760405315706665 Centerline is valid? [True, True] Translation: X:-37.62, Y:-244.69, Z:-9.04 [[-7.35944872e-01 -6.77040034e-01 -1.39201447e-03 -3.76222839e+01] [ 6.77038497e-01 -7.35946178e-01 1.44789071e-03 -2.44694060e+02] [-2.00472771e-03 1.23120363e-04 9.99997983e-01 -9.03745291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.670385723 meters 0.029672428557218623 Centerline is valid? [True, True] Translation: X:-37.65, Y:-244.68, Z:-9.04 [[-7.36738957e-01 -6.76175587e-01 -1.51197379e-03 -3.76467403e+01] [ 6.76173773e-01 -7.36740495e-01 1.57205180e-03 -2.44679424e+02] [-2.17691536e-03 1.35834782e-04 9.99997621e-01 -9.03766910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.700385723 meters 0.027464871502711243 Centerline is valid? [True, True] Translation: X:-37.67, Y:-244.66, Z:-9.04 [[-7.37151278e-01 -6.75725889e-01 -1.58616506e-03 -3.76718695e+01] [ 6.75723894e-01 -7.37152971e-01 1.64833419e-03 -2.44664661e+02] [-2.28306837e-03 1.43262023e-04 9.99997384e-01 -9.03757480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.730385723 meters 0.029234884841642873 Centerline is valid? [True, True] Translation: X:-37.70, Y:-244.65, Z:-9.04 [[-7.37255144e-01 -6.75612797e-01 -1.48377549e-03 -3.76955865e+01] [ 6.75611052e-01 -7.37256625e-01 1.54105134e-03 -2.44650423e+02] [-2.13507731e-03 1.33692902e-04 9.99997712e-01 -9.03772395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.760385723 meters 0.02600488125213064 Centerline is valid? [True, True] Translation: X:-37.72, Y:-244.64, Z:-9.04 [[-7.36919331e-01 -6.75979650e-01 -1.18859778e-03 -3.77221912e+01] [ 6.75978532e-01 -7.36920282e-01 1.23382475e-03 -2.44636217e+02] [-1.70994223e-03 1.05762726e-04 9.99998533e-01 -9.03811706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.790385723 meters 0.028478749444452185 Centerline is valid? [True, True] Translation: X:-37.74, Y:-244.62, Z:-9.04 [[-7.36178796e-01 -6.76786209e-01 -1.09898800e-03 -3.77421770e+01] [ 6.76785255e-01 -7.36179610e-01 1.14042887e-03 -2.44617407e+02] [-1.58087909e-03 9.57806742e-05 9.99998746e-01 -9.03814820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.820385723 meters 0.024609247116679032 Centerline is valid? [True, True] Translation: X:-37.77, Y:-244.61, Z:-9.04 [[-7.34014990e-01 -6.79130489e-01 -1.94263503e-03 -3.77730164e+01] [ 6.79127519e-01 -7.34017543e-01 2.01470142e-03 -2.44608748e+02] [-2.79417335e-03 1.59524134e-04 9.99996084e-01 -9.03700680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.850385723 meters 0.025046997049802375 Centerline is valid? [True, True] Translation: X:-37.80, Y:-244.60, Z:-9.04 [[-7.31427765e-01 -6.81914274e-01 -2.51945657e-03 -3.77990021e+01] [ 6.81909299e-01 -7.31432079e-01 2.61203750e-03 -2.44597167e+02] [-3.62399701e-03 1.92475889e-04 9.99993415e-01 -9.03676961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.880385723 meters 0.02251356864299007 Centerline is valid? [True, True] Translation: X:-37.83, Y:-244.58, Z:-9.04 [[-7.29867390e-01 -6.83583597e-01 -2.65685752e-03 -3.78251572e+01] [ 6.83578080e-01 -7.29872200e-01 2.75304230e-03 -2.44583080e+02] [-3.82110100e-03 1.93186237e-04 9.99992681e-01 -9.03712401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.910385723 meters 0.022321950254297722 Centerline is valid? [True, True] Translation: X:-37.85, Y:-244.57, Z:-9.04 [[-7.26221462e-01 -6.87451545e-01 -3.57250951e-03 -3.78502046e+01] [ 6.87441622e-01 -7.26230212e-01 3.70079158e-03 -2.44570487e+02] [-5.13857922e-03 2.31702535e-04 9.99986771e-01 -9.03607760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.940385723 meters 0.021932915913044436 Centerline is valid? [True, True] Translation: X:-37.87, Y:-244.55, Z:-9.04 [[-7.24489289e-01 -6.89277982e-01 -3.33677152e-03 -3.78728382e+01] [ 6.89269355e-01 -7.24496944e-01 3.45464478e-03 -2.44553906e+02] [-4.79869135e-03 2.02918785e-04 9.99988466e-01 -9.03580079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9703857229999 meters 0.025848145943599132 Centerline is valid? [True, True] Translation: X:-37.90, Y:-244.54, Z:-9.04 [[-7.21092507e-01 -6.92837323e-01 -1.42842264e-03 -3.78954899e+01] [ 6.92835750e-01 -7.21093918e-01 1.47801472e-03 -2.44538234e+02] [-2.05405064e-03 7.61230710e-05 9.99997888e-01 -9.04115539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.000385723 meters 0.01962022870833947 Centerline is valid? [True, True] Translation: X:-37.92, Y:-244.52, Z:-9.04 [[-7.18922728e-01 -6.95086657e-01 -2.15659724e-03 -3.79217075e+01] [ 6.95083087e-01 -7.18925955e-01 2.23021425e-03 -2.44524572e+02] [-3.10062590e-03 1.04337444e-04 9.99995188e-01 -9.03731196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.030385723 meters 0.018556406449456383 Centerline is valid? [True, True] Translation: X:-37.95, Y:-244.51, Z:-9.04 [[-7.15713791e-01 -6.98392099e-01 -1.49838897e-03 -3.79460214e+01] [ 6.98390385e-01 -7.15715357e-01 1.54865315e-03 -2.44509812e+02] [-2.15398712e-03 6.19319652e-05 9.99997678e-01 -9.03811844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.060385723 meters 0.018320185910875583 Centerline is valid? [True, True] Translation: X:-37.97, Y:-244.49, Z:-9.04 [[-7.14264172e-01 -6.99875941e-01 -5.99331438e-04 -3.79673534e+01] [ 6.99875668e-01 -7.14264423e-01 6.19190102e-04 -2.44492609e+02] [-8.61437379e-04 2.28078152e-05 9.99999629e-01 -9.03855214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0903857229999 meters 0.01785641132974028 Centerline is valid? [True, True] Translation: X:-37.99, Y:-244.48, Z:-9.04 [[-7.12770589e-01 -7.01397218e-01 1.71316227e-04 -3.79897597e+01] [ 7.01397196e-01 -7.12770610e-01 -1.76896548e-04 -2.44475469e+02] [ 2.46183918e-04 -5.92593551e-06 9.99999970e-01 -9.03901217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.120385723 meters 0.016296892481560205 Centerline is valid? [True, True] Translation: X:-38.02, Y:-244.46, Z:-9.04 [[-7.09185467e-01 -7.05021942e-01 1.86718052e-04 -3.80156482e+01] [ 7.05021916e-01 -7.09185492e-01 -1.92732005e-04 -2.44460875e+02] [ 2.68298026e-04 -5.04241871e-06 9.99999964e-01 -9.03937113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.150385723 meters 0.015603912777782262 Centerline is valid? [True, True] Translation: X:-38.04, Y:-244.44, Z:-9.04 [[-7.07595358e-01 -7.06617531e-01 6.89038193e-04 -3.80374159e+01] [ 7.06617174e-01 -7.07595693e-01 -7.10852624e-04 -2.44442882e+02] [ 9.89861384e-04 -1.61097970e-05 9.99999510e-01 -9.03948092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.180385723 meters 0.014786266138484149 Centerline is valid? [True, True] Translation: X:-38.06, Y:-244.43, Z:-9.04 [[-7.03397053e-01 -7.10797091e-01 2.86233327e-04 -3.80608514e+01] [ 7.10797029e-01 -7.03397111e-01 -2.95130188e-04 -2.44426351e+02] [ 4.11113374e-04 -4.13990580e-06 9.99999916e-01 -9.03873777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.210385723 meters 0.014262312772867047 Centerline is valid? [True, True] Translation: X:-38.08, Y:-244.41, Z:-9.04 [[-6.98262144e-01 -7.15841922e-01 -5.66145131e-04 -3.80846596e+01] [ 7.15841684e-01 -6.98262374e-01 5.83430323e-04 -2.44410206e+02] [-8.12961726e-04 2.11702416e-06 9.99999670e-01 -9.03795388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.240385723 meters 0.014218712567159912 Centerline is valid? [True, True] Translation: X:-38.10, Y:-244.39, Z:-9.04 [[-6.95590238e-01 -7.18438737e-01 4.75251609e-05 -3.81046245e+01] [ 7.18438735e-01 -6.95590239e-01 -4.89454467e-05 -2.44392557e+02] [ 6.82223432e-05 9.79415612e-08 9.99999998e-01 -9.03841605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.270385723 meters 0.014270983622121767 Centerline is valid? [True, True] Translation: X:-38.12, Y:-244.37, Z:-9.04 [[-6.93078765e-01 -7.20861329e-01 8.77771990e-04 -3.81247897e+01] [ 7.20860763e-01 -6.93079320e-01 -9.03525876e-04 -2.44373711e+02] [ 1.25968248e-03 6.53678818e-06 9.99999207e-01 -9.03924135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.300385723 meters 0.01494572846552962 Centerline is valid? [True, True] Translation: X:-38.14, Y:-244.35, Z:-9.04 [[-6.88593320e-01 -7.25146345e-01 1.42040848e-03 -3.81439764e+01] [ 7.25144873e-01 -6.88594785e-01 -1.46122409e-03 -2.44354079e+02] [ 2.03768718e-03 2.38127829e-05 9.99997924e-01 -9.03965959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.330385723 meters 0.015419607880240431 Centerline is valid? [True, True] Translation: X:-38.16, Y:-244.33, Z:-9.04 [[-6.86682172e-01 -7.26955745e-01 1.71448645e-03 -3.81626691e+01] [ 7.26953609e-01 -6.86684311e-01 -1.76277589e-03 -2.44333111e+02] [ 2.45877101e-03 3.58853424e-05 9.99996977e-01 -9.03960675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.360385723 meters 0.016532847310108817 Centerline is valid? [True, True] Translation: X:-38.18, Y:-244.31, Z:-9.04 [[-6.83504851e-01 -7.29942609e-01 2.21499785e-03 -3.81796329e+01] [ 7.29939062e-01 -6.83508437e-01 -2.27646829e-03 -2.44312025e+02] [ 3.17566092e-03 6.08363360e-05 9.99994956e-01 -9.03912545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.390385723 meters 0.01721248334445378 Centerline is valid? [True, True] Translation: X:-38.20, Y:-244.29, Z:-9.04 [[-6.81422495e-01 -7.31889086e-01 1.32283846e-03 -3.81973632e+01] [ 7.31887826e-01 -6.81423777e-01 -1.35880585e-03 -2.44290665e+02] [ 1.89590876e-03 4.22484932e-05 9.99998202e-01 -9.03816560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.420385723 meters 0.017596753328015465 Centerline is valid? [True, True] Translation: X:-38.22, Y:-244.27, Z:-9.04 [[-6.80495164e-01 -7.32751901e-01 9.91741320e-04 -3.82160861e+01] [ 7.32751194e-01 -6.80495886e-01 -1.01814987e-03 -2.44269596e+02] [ 1.42092714e-03 3.38535752e-05 9.99998990e-01 -9.03806180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.450385723 meters 0.01793874973642658 Centerline is valid? [True, True] Translation: X:-38.23, Y:-244.25, Z:-9.04 [[-6.79114414e-01 -7.34031751e-01 1.00122404e-03 -3.82309672e+01] [ 7.34031033e-01 -6.79115151e-01 -1.02731833e-03 -2.44245123e+02] [ 1.43403068e-03 3.72628346e-05 9.99998971e-01 -9.03796516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.480385723 meters 0.018152121185486272 Centerline is valid? [True, True] Translation: X:-38.25, Y:-244.22, Z:-9.04 [[-6.78742998e-01 -7.34375090e-01 1.08164830e-03 -3.82474563e+01] [ 7.34374254e-01 -6.78743858e-01 -1.10922744e-03 -2.44221742e+02] [ 1.54875114e-03 4.14543040e-05 9.99998800e-01 -9.03753680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.510385723 meters 0.019709317757202263 Centerline is valid? [True, True] Translation: X:-38.26, Y:-244.20, Z:-9.04 [[-6.78314074e-01 -7.34771114e-01 1.19465231e-03 -3.82642458e+01] [ 7.34770095e-01 -6.78315125e-01 -1.22440149e-03 -2.44200962e+02] [ 1.71000558e-03 4.72660323e-05 9.99998537e-01 -9.03718426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.540385723 meters 0.019214898050047446 Centerline is valid? [True, True] Translation: X:-38.28, Y:-244.17, Z:-9.04 [[-6.78124371e-01 -7.34946547e-01 9.54185318e-04 -3.82753406e+01] [ 7.34945898e-01 -6.78125041e-01 -9.77352885e-04 -2.44174265e+02] [ 1.36535909e-03 3.85077745e-05 9.99999067e-01 -9.03610529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.570385723 meters 0.02067295776155389 Centerline is valid? [True, True] Translation: X:-38.29, Y:-244.15, Z:-9.04 [[-6.78165184e-01 -7.34907806e-01 1.58112370e-03 -3.82881696e+01] [ 7.34906026e-01 -6.78167024e-01 -1.61853296e-03 -2.44148152e+02] [ 2.26173846e-03 6.43446288e-05 9.99997440e-01 -9.03915180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.600385723 meters 0.019532004213451335 Centerline is valid? [True, True] Translation: X:-38.30, Y:-244.13, Z:-9.04 [[-6.78312990e-01 -7.34772668e-01 7.84018817e-04 -3.83032156e+01] [ 7.34772231e-01 -6.78313442e-01 -8.02058479e-04 -2.44126714e+02] [ 1.12114115e-03 3.20285701e-05 9.99999371e-01 -9.03569543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.630385723 meters 0.017758382950684142 Centerline is valid? [True, True] Translation: X:-38.31, Y:-244.10, Z:-9.04 [[-6.78561456e-01 -7.34541344e-01 1.83425851e-03 -3.83128482e+01] [ 7.34538954e-01 -6.78563931e-01 -1.87540560e-03 -2.44096944e+02] [ 2.62222461e-03 7.47563738e-05 9.99996559e-01 -9.03617256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.660385723 meters 0.019730669714227513 Centerline is valid? [True, True] Translation: X:-38.33, Y:-244.08, Z:-9.04 [[-6.78296090e-01 -7.34784586e-01 2.45485872e-03 -3.83297522e+01] [ 7.34780310e-01 -6.78300525e-01 -2.50889593e-03 -2.44076021e+02] [ 3.50863002e-03 1.02007550e-04 9.99993840e-01 -9.03697484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.690385723 meters 0.01810537412250709 Centerline is valid? [True, True] Translation: X:-38.34, Y:-244.05, Z:-9.04 [[-6.78009073e-01 -7.35046545e-01 3.20532534e-03 -3.83426825e+01] [ 7.35039265e-01 -6.78016636e-01 -3.27413392e-03 -2.44048900e+02] [ 4.57990473e-03 1.36147482e-04 9.99989503e-01 -9.03715715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7203857229999 meters 0.020968910830924902 Centerline is valid? [True, True] Translation: X:-38.36, Y:-244.02, Z:-9.04 [[-6.77375369e-01 -7.35620168e-01 5.05737588e-03 -3.83563081e+01] [ 7.35602082e-01 -6.77394212e-01 -5.16324214e-03 -2.44024100e+02] [ 7.22402220e-03 2.22763171e-04 9.99973882e-01 -9.03960430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.750385723 meters 0.01960397038631207 Centerline is valid? [True, True] Translation: X:-38.37, Y:-243.99, Z:-9.04 [[-6.76899980e-01 -7.36050624e-01 5.99142156e-03 -3.83658014e+01] [ 7.36025284e-01 -6.76926441e-01 -6.11350672e-03 -2.43994339e+02] [ 8.55560210e-03 2.71605178e-04 9.99963363e-01 -9.04096430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.780385723 meters 0.019961071194273025 Centerline is valid? [True, True] Translation: X:-38.38, Y:-243.97, Z:-9.04 [[-6.77096064e-01 -7.35867345e-01 6.33803956e-03 -3.83798695e+01] [ 7.35839009e-01 -6.77125666e-01 -6.46412706e-03 -2.43971401e+02] [ 9.04838928e-03 2.86941763e-04 9.99959021e-01 -9.04142091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.810385723 meters 0.019729676543318517 Centerline is valid? [True, True] Translation: X:-38.39, Y:-243.95, Z:-9.04 [[-6.77254099e-01 -7.35716254e-01 6.96274050e-03 -3.83931930e+01] [ 7.35682092e-01 -6.77289815e-01 -7.09693088e-03 -2.43946989e+02] [ 9.93712063e-03 3.15937967e-04 9.99950576e-01 -9.04122423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8403857229999 meters 0.017601610601516902 Centerline is valid? [True, True] Translation: X:-38.40, Y:-243.91, Z:-9.04 [[-6.77816528e-01 -7.35194670e-01 7.31792434e-03 -3.84000078e+01] [ 7.35156947e-01 -6.77855951e-01 -7.45467476e-03 -2.43914743e+02] [ 1.04411357e-02 3.26921157e-04 9.99945436e-01 -9.03967189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.870385723 meters 0.018781489067766617 Centerline is valid? [True, True] Translation: X:-38.42, Y:-243.89, Z:-9.04 [[-6.78214400e-01 -7.34822795e-01 7.79024585e-03 -3.84160336e+01] [ 7.34780075e-01 -6.78259051e-01 -7.93100952e-03 -2.43892686e+02] [ 1.11116913e-02 3.45192573e-04 9.99938204e-01 -9.04072053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.900385723 meters 0.019140632645930532 Centerline is valid? [True, True] Translation: X:-38.43, Y:-243.86, Z:-9.04 [[-6.78654544e-01 -7.34406214e-01 8.69036019e-03 -3.84266268e+01] [ 7.34353061e-01 -6.78710077e-01 -8.84382548e-03 -2.43864850e+02] [ 1.23931954e-02 3.79890261e-04 9.99923129e-01 -9.04178130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.930385723 meters 0.018756713774209954 Centerline is valid? [True, True] Translation: X:-38.44, Y:-243.84, Z:-9.04 [[-6.79375867e-01 -7.33734421e-01 9.06809947e-03 -3.84405785e+01] [ 7.33676560e-01 -6.79436273e-01 -9.22256541e-03 -2.43840234e+02] [ 1.29281094e-02 3.87463649e-04 9.99916354e-01 -9.04157638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.960385723 meters 0.01841727099284825 Centerline is valid? [True, True] Translation: X:-38.45, Y:-243.81, Z:-9.04 [[-6.80569588e-01 -7.32621850e-01 9.50054299e-03 -3.84500577e+01] [ 7.32558302e-01 -6.80635787e-01 -9.65711542e-03 -2.43810403e+02] [ 1.35414233e-02 3.87362566e-04 9.99908236e-01 -9.04119356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.990385723 meters 0.01669065487073175 Centerline is valid? [True, True] Translation: X:-38.46, Y:-243.78, Z:-9.04 [[-6.81109526e-01 -7.32119604e-01 9.52355633e-03 -3.84625272e+01] [ 7.32055774e-01 -6.81175997e-01 -9.67493878e-03 -2.43783167e+02] [ 1.35704303e-02 3.82081434e-04 9.99907845e-01 -9.03879835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.020385723 meters 0.016846633184926955 Centerline is valid? [True, True] Translation: X:-38.47, Y:-243.75, Z:-9.04 [[-6.82337084e-01 -7.30982643e-01 8.97102304e-03 -3.84731175e+01] [ 7.30925950e-01 -6.82395970e-01 -9.11024464e-03 -2.43754927e+02] [ 1.27812207e-02 3.40895770e-04 9.99918259e-01 -9.03774218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.050385723 meters 0.01763031536827104 Centerline is valid? [True, True] Translation: X:-38.49, Y:-243.73, Z:-9.04 [[-6.82628291e-01 -7.30714412e-01 8.66404862e-03 -3.84892115e+01] [ 7.30661555e-01 -6.82683193e-01 -8.79487482e-03 -2.43732816e+02] [ 1.23413421e-02 3.26856875e-04 9.99923789e-01 -9.03783482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.080385723 meters 0.017402989022321427 Centerline is valid? [True, True] Translation: X:-38.50, Y:-243.70, Z:-9.04 [[-6.83845061e-01 -7.29582352e-01 8.09470552e-03 -3.85010655e+01] [ 7.29536187e-01 -6.83892907e-01 -8.21246715e-03 -2.43704966e+02] [ 1.15275828e-02 2.89325497e-04 9.99933513e-01 -9.03715968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.110385723 meters 0.018304768263445664 Centerline is valid? [True, True] Translation: X:-38.51, Y:-243.68, Z:-9.04 [[-6.85005669e-01 -7.28484162e-01 8.83512885e-03 -3.85148321e+01] [ 7.28429137e-01 -6.85062578e-01 -8.95858792e-03 -2.43678788e+02] [ 1.25788056e-02 2.99081773e-04 9.99920839e-01 -9.03863164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.140385723 meters 0.017229120339616898 Centerline is valid? [True, True] Translation: X:-38.53, Y:-243.65, Z:-9.04 [[-6.86755817e-01 -7.26830748e-01 9.13846186e-03 -3.85253858e+01] [ 7.26771798e-01 -6.86816558e-01 -9.26113381e-03 -2.43649462e+02] [ 1.30077237e-02 2.81438837e-04 9.99915356e-01 -9.03701967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.170385723 meters 0.016734482969082344 Centerline is valid? [True, True] Translation: X:-38.54, Y:-243.63, Z:-9.04 [[-6.87531699e-01 -7.26094687e-01 9.30963549e-03 -3.85412824e+01] [ 7.26033511e-01 -6.87594670e-01 -9.42929442e-03 -2.43625457e+02] [ 1.32478163e-02 2.76168531e-04 9.99912206e-01 -9.03629602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.200385723 meters 0.017225268210297275 Centerline is valid? [True, True] Translation: X:-38.55, Y:-243.60, Z:-9.04 [[-6.88816690e-01 -7.24873356e-01 9.49658030e-03 -3.85540542e+01] [ 7.24809656e-01 -6.88882101e-01 -9.61319715e-03 -2.43599133e+02] [ 1.35103747e-02 2.61482465e-04 9.99908697e-01 -9.03720746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.230385723 meters 0.015946756968902683 Centerline is valid? [True, True] Translation: X:-38.57, Y:-243.58, Z:-9.04 [[-6.89008233e-01 -7.24697901e-01 8.97811344e-03 -3.85711965e+01] [ 7.24641021e-01 -6.89066681e-01 -9.08296616e-03 -2.43577717e+02] [ 1.27689253e-02 2.47670822e-04 9.99918443e-01 -9.03579402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.260385723 meters 0.015567269153695164 Centerline is valid? [True, True] Translation: X:-38.58, Y:-243.55, Z:-9.03 [[-6.89823456e-01 -7.23926502e-01 8.60347522e-03 -3.85834951e+01] [ 7.23874269e-01 -6.89877067e-01 -8.69912177e-03 -2.43551014e+02] [ 1.22328650e-02 2.26976090e-04 9.99925150e-01 -9.03432913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.290385723 meters 0.015428239913097115 Centerline is valid? [True, True] Translation: X:-38.60, Y:-243.52, Z:-9.03 [[-6.90996316e-01 -7.22804984e-01 8.77756661e-03 -3.85955664e+01] [ 7.22750587e-01 -6.91052030e-01 -8.87023984e-03 -2.43524052e+02] [ 1.24772088e-02 2.14688363e-04 9.99922134e-01 -9.03392056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.320385723 meters 0.015487573576511267 Centerline is valid? [True, True] Translation: X:-38.61, Y:-243.50, Z:-9.03 [[-6.91621042e-01 -7.22204122e-01 9.02995493e-03 -3.86111777e+01] [ 7.22146576e-01 -6.91679955e-01 -9.11934453e-03 -2.43502808e+02] [ 1.28318670e-02 2.13820472e-04 9.99917645e-01 -9.03414555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.350385723 meters 0.015122275556595247 Centerline is valid? [True, True] Translation: X:-38.62, Y:-243.48, Z:-9.03 [[-6.93268814e-01 -7.20617123e-01 9.45056148e-03 -3.86247854e+01] [ 7.20554014e-01 -6.93333198e-01 -9.53885973e-03 -2.43476289e+02] [ 1.34262537e-02 1.96646035e-04 9.99909845e-01 -9.03440258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.380385723 meters 0.014948428438886873 Centerline is valid? [True, True] Translation: X:-38.64, Y:-243.45, Z:-9.03 [[-6.94206297e-01 -7.19710965e-01 9.68216103e-03 -3.86418034e+01] [ 7.19644711e-01 -6.94273787e-01 -9.76723945e-03 -2.43453323e+02] [ 1.37516599e-02 1.87236844e-04 9.99905424e-01 -9.03443218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.410385723 meters 0.014899779613958435 Centerline is valid? [True, True] Translation: X:-38.66, Y:-243.43, Z:-9.04 [[-6.95009758e-01 -7.18928438e-01 1.01654972e-02 -3.86581917e+01] [ 7.18855411e-01 -6.95084072e-01 -1.02484568e-02 -2.43430910e+02] [ 1.44337822e-02 1.84745181e-04 9.99895811e-01 -9.03505609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.440385723 meters 0.0148608240374059 Centerline is valid? [True, True] Translation: X:-38.67, Y:-243.41, Z:-9.04 [[-6.96211126e-01 -7.17751989e-01 1.10521911e-02 -3.86707188e+01] [ 7.17665601e-01 -6.96298823e-01 -1.11370597e-02 -2.43406517e+02] [ 1.56892744e-02 1.78032490e-04 9.99876900e-01 -9.03572964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4703857229999 meters 0.014903961029397119 Centerline is valid? [True, True] Translation: X:-38.69, Y:-243.38, Z:-9.04 [[-6.96775160e-01 -7.17202541e-01 1.11755176e-02 -3.86869368e+01] [ 7.17114252e-01 -6.96864754e-01 -1.12544866e-02 -2.43384104e+02] [ 1.58595707e-02 1.72276225e-04 9.99874214e-01 -9.03602649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.500385723 meters 0.014903961029397119 Centerline is valid? [True, True] Translation: X:-38.71, Y:-243.37, Z:-9.04 [[-6.96993398e-01 -7.16990400e-01 1.11789426e-02 -3.87058752e+01] [ 7.16902139e-01 -6.97083020e-01 -1.12510845e-02 -2.43365177e+02] [ 1.58595707e-02 1.72276226e-04 9.99874214e-01 -9.03602658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.530385723 meters 0.014963043227437139 Centerline is valid? [True, True] Translation: X:-38.72, Y:-243.34, Z:-9.03 [[-6.96665186e-01 -7.17305007e-01 1.14518577e-02 -3.87218687e+01] [ 7.17212530e-01 -6.96759278e-01 -1.15193895e-02 -2.43341018e+02] [ 1.62421038e-02 1.88258227e-04 9.99868071e-01 -9.03449847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.560385723 meters 0.015142373996520546 Centerline is valid? [True, True] Translation: X:-38.74, Y:-243.32, Z:-9.03 [[-6.96257736e-01 -7.17710344e-01 1.08179005e-02 -3.87420340e+01] [ 7.17627980e-01 -6.96341745e-01 -1.08746192e-02 -2.43323686e+02] [ 1.53377824e-02 1.91690276e-04 9.99882351e-01 -9.03494817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5903857229999 meters 0.01466442355899802 Centerline is valid? [True, True] Translation: X:-38.76, Y:-243.31, Z:-9.04 [[-6.96894683e-01 -7.17086512e-01 1.11685028e-02 -3.87632988e+01] [ 7.16998742e-01 -6.96984145e-01 -1.12207267e-02 -2.43305023e+02] [ 1.58305011e-02 1.88137645e-04 9.99874672e-01 -9.03517641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.620385723 meters 0.015011089209158841 Centerline is valid? [True, True] Translation: X:-38.78, Y:-243.29, Z:-9.04 [[-6.98017805e-01 -7.15989994e-01 1.13786362e-02 -3.87846584e+01] [ 7.15898852e-01 -6.98110521e-01 -1.14251186e-02 -2.43288258e+02] [ 1.61238162e-02 1.71016408e-04 9.99869988e-01 -9.03777417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.650385723 meters 0.014163073898763812 Centerline is valid? [True, True] Translation: X:-38.81, Y:-243.27, Z:-9.04 [[-7.00757911e-01 -7.13310597e-01 1.12401578e-02 -3.88062655e+01] [ 7.13221416e-01 -7.00848043e-01 -1.12797506e-02 -2.43270093e+02] [ 1.59236082e-02 1.12346749e-04 9.99873205e-01 -9.03616817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.680385723 meters 0.014054294927055308 Centerline is valid? [True, True] Translation: X:-38.83, Y:-243.25, Z:-9.04 [[-7.02305096e-01 -7.11800273e-01 1.03886715e-02 -3.88257714e+01] [ 7.11724012e-01 -7.02381923e-01 -1.04194453e-02 -2.43249754e+02] [ 1.47133790e-02 7.62374027e-05 9.99891750e-01 -9.03524961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.710385723 meters 0.01478382336014122 Centerline is valid? [True, True] Translation: X:-38.84, Y:-243.23, Z:-9.03 [[-7.04965548e-01 -7.09182626e-01 9.14209929e-03 -3.88429608e+01] [ 7.09123415e-01 -7.05024824e-01 -9.16406178e-03 -2.43229222e+02] [ 1.29444003e-02 2.25288385e-05 9.99916218e-01 -9.03377749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.740385723 meters 0.013890519044191908 Centerline is valid? [True, True] Translation: X:-38.86, Y:-243.21, Z:-9.03 [[-7.05989111e-01 -7.08172044e-01 8.46943803e-03 -3.88615360e+01] [ 7.08121219e-01 -7.06039912e-01 -8.48425784e-03 -2.43210327e+02] [ 1.19880755e-02 7.59512533e-06 9.99928140e-01 -9.03258583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.770385723 meters 0.014105751669125546 Centerline is valid? [True, True] Translation: X:-38.88, Y:-243.19, Z:-9.03 [[-7.07992607e-01 -7.06166940e-01 8.64415224e-03 -3.88800371e+01] [ 7.06113915e-01 -7.08045375e-01 -8.65373820e-03 -2.43191390e+02] [ 1.22314358e-02 -2.30264909e-05 9.99925193e-01 -9.03468096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.800385723 meters 0.014080994852687519 Centerline is valid? [True, True] Translation: X:-38.90, Y:-243.17, Z:-9.04 [[-7.09177324e-01 -7.04973827e-01 8.91217106e-03 -3.88991873e+01] [ 7.04917436e-01 -7.09233320e-01 -8.91666514e-03 -2.43171588e+02] [ 1.26068242e-02 -4.11519463e-05 9.99920530e-01 -9.03546666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.830385723 meters 0.014350958815009746 Centerline is valid? [True, True] Translation: X:-38.92, Y:-243.15, Z:-9.04 [[-7.11647581e-01 -7.02471488e-01 9.56707460e-03 -3.89184511e+01] [ 7.02406349e-01 -7.11711880e-01 -9.56667675e-03 -2.43151617e+02] [ 1.35293183e-02 -8.81284274e-05 9.99908471e-01 -9.03679827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.860385723 meters 0.014445760092174383 Centerline is valid? [True, True] Translation: X:-39.46, Y:-243.70, Z:-8.03 [[-7.50064502e-01 6.61278728e-01 1.06624478e-02 -3.94626413e+01] [ 6.61214062e-01 7.50140275e-01 -9.24837755e-03 -2.43696867e+02] [-1.41140869e-02 1.13280757e-04 -9.99900385e-01 -8.03313407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.890385723 meters 0.014900024596981507 Centerline is valid? [True, True] Translation: X:-39.45, Y:-243.67, Z:-8.03 [[-7.93767273e-01 6.08119579e-01 1.11397183e-02 -3.94503705e+01] [ 6.08062151e-01 7.93845425e-01 -8.35833268e-03 -2.43674349e+02] [-1.39260801e-02 1.39070107e-04 -9.99903018e-01 -8.03345988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.920385723 meters 0.01502746016604748 Centerline is valid? [True, True] Translation: X:-39.42, Y:-243.66, Z:-8.04 [[-8.34342095e-01 5.51143791e-01 1.06673004e-02 -3.94218766e+01] [ 5.51100859e-01 8.34410273e-01 -6.88039019e-03 -2.43662156e+02] [-1.26929894e-02 1.38159254e-04 -9.99919431e-01 -8.03626088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.950385723 meters 0.014999207766460267 Centerline is valid? [True, True] Translation: X:-39.40, Y:-243.64, Z:-8.04 [[-8.71091203e-01 4.91006895e-01 1.05993142e-02 -3.94049331e+01] [ 4.90972435e-01 8.71155676e-01 -5.81869854e-03 -2.43638466e+02] [-1.20906739e-02 1.35354012e-04 -9.99926896e-01 -8.03705843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.980385723 meters 0.014731490623597432 Centerline is valid? [True, True] Translation: X:-39.03, Y:-242.96, Z:-9.03 [[-8.48375155e-01 -5.29310284e-01 9.49845828e-03 -3.90256791e+01] [ 5.29274806e-01 -8.48428308e-01 -6.13080449e-03 -2.42955809e+02] [ 1.13038587e-02 -1.73927547e-04 9.99936094e-01 -9.03235917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.010385723 meters 0.015099419435408917 Centerline is valid? [True, True] Translation: X:-39.44, Y:-243.62, Z:-8.04 [[-8.72120139e-01 4.89208533e-01 9.02629635e-03 -3.94430319e+01] [ 4.89183894e-01 8.72166838e-01 -4.91160780e-03 -2.43618398e+02] [-1.02752368e-02 1.32006719e-04 -9.99947200e-01 -8.03768116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.040385723 meters 0.01519890194325208 Centerline is valid? [True, True] Translation: X:-39.43, Y:-243.59, Z:-8.04 [[-9.04577042e-01 4.26209112e-01 9.28271073e-03 -3.94316239e+01] [ 4.26188154e-01 9.04624660e-01 -4.22870044e-03 -2.43591606e+02] [-1.01996797e-02 1.30996018e-04 -9.99947973e-01 -8.03715364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.070385723 meters 0.01481587607461043 Centerline is valid? [True, True] Translation: X:-39.11, Y:-242.88, Z:-9.03 [[-8.85762134e-01 -4.64068555e-01 8.11281399e-03 -3.91146925e+01] [ 4.64047249e-01 -8.85799269e-01 -4.45031175e-03 -2.42878008e+02] [ 9.25157445e-03 -1.77188616e-04 9.99957188e-01 -9.03250727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.100385723 meters 0.014922841207134345 Centerline is valid? [True, True] Translation: X:-39.47, Y:-243.57, Z:-8.04 [[-9.06631414e-01 4.21851633e-01 7.78969176e-03 -3.94739603e+01] [ 4.21837017e-01 9.06664872e-01 -3.51307650e-03 -2.43573091e+02] [-8.54463694e-03 1.00914824e-04 -9.99963489e-01 -8.03843179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.130385723 meters 0.014352004870908508 Centerline is valid? [True, True] Translation: X:-39.15, Y:-242.87, Z:-9.03 [[-8.86365616e-01 -4.62922691e-01 7.65354733e-03 -3.91497768e+01] [ 4.62904519e-01 -8.86398654e-01 -4.10285095e-03 -2.42865190e+02] [ 8.68339685e-03 -9.37643642e-05 9.99962294e-01 -9.03137713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.160385723 meters 0.014242229800303874 Centerline is valid? [True, True] Translation: X:-39.51, Y:-243.55, Z:-8.04 [[-9.09391946e-01 4.15866872e-01 7.81232972e-03 -3.95144460e+01] [ 4.15852247e-01 9.09425499e-01 -3.48849534e-03 -2.43552111e+02] [-8.55548150e-03 7.63653082e-05 -9.99963398e-01 -8.03896451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.190385723 meters 0.014061510075945223 Centerline is valid? [True, True] Translation: X:-39.50, Y:-243.52, Z:-8.04 [[-9.37369440e-01 3.48256922e-01 7.45986828e-03 -3.95003213e+01] [ 3.48246343e-01 9.37399122e-01 -2.71502428e-03 -2.43524767e+02] [-7.93839997e-03 5.28910636e-05 -9.99968489e-01 -8.03855488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2203857229999 meters 0.013904016205636404 Centerline is valid? [True, True] Translation: X:-39.49, Y:-243.50, Z:-8.04 [[-9.59996071e-01 2.79920443e-01 7.21723426e-03 -3.94896663e+01] [ 2.79912863e-01 9.60023200e-01 -2.06046489e-03 -2.43496596e+02] [-7.50547857e-03 4.21585042e-05 -9.99971833e-01 -8.03851171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.250385723 meters 0.013861295848626332 Centerline is valid? [True, True] Translation: X:-39.48, Y:-243.47, Z:-8.04 [[-9.77608853e-01 2.10294767e-01 7.55264459e-03 -3.94833943e+01] [ 2.10288779e-01 9.77638026e-01 -1.58740160e-03 -2.43468115e+02] [-7.71757480e-03 3.63785561e-05 -9.99970218e-01 -8.03793078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.280385723 meters 0.013965156251230688 Centerline is valid? [True, True] Translation: X:-39.48, Y:-243.44, Z:-8.04 [[-9.89989426e-01 1.40908694e-01 8.10405464e-03 -3.94846388e+01] [ 1.40904329e-01 9.90022595e-01 -1.10998366e-03 -2.43439450e+02] [-8.17960355e-03 4.30242948e-05 -9.99966546e-01 -8.03771956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.310385723 meters 0.014092517673049238 Centerline is valid? [True, True] Translation: X:-39.37, Y:-242.67, Z:-9.03 [[-9.80701149e-01 -1.95349045e-01 8.00038884e-03 -3.93699844e+01] [ 1.95342181e-01 -9.80733781e-01 -1.63822120e-03 -2.42674633e+02] [ 8.16627655e-03 -4.37920157e-05 9.99966655e-01 -9.03232976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3403857229999 meters 0.014225317405203134 Centerline is valid? [True, True] Translation: X:-39.54, Y:-243.44, Z:-8.04 [[-9.90247147e-01 1.39078331e-01 8.23437577e-03 -3.95424849e+01] [ 1.39074074e-01 9.90281381e-01 -1.09024105e-03 -2.43436470e+02] [-8.30597792e-03 6.55800879e-05 -9.99965503e-01 -8.03927927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.370385723 meters 0.014698767584365155 Centerline is valid? [True, True] Translation: X:-39.43, Y:-242.66, Z:-9.03 [[-9.82304669e-01 -1.87153670e-01 7.14435681e-03 -3.94315994e+01] [ 1.87147831e-01 -9.82330642e-01 -1.48319462e-03 -2.42662547e+02] [ 7.29570592e-03 -1.19898121e-04 9.99973379e-01 -9.03124447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.400385723 meters 0.014771805456989164 Centerline is valid? [True, True] Translation: X:-39.60, Y:-243.43, Z:-8.04 [[-9.90243853e-01 1.39162665e-01 7.13187956e-03 -3.96048089e+01] [ 1.39159707e-01 9.90269531e-01 -9.11673948e-04 -2.43431115e+02] [-7.18935400e-03 8.96907476e-05 -9.99974152e-01 -8.03905960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.430385723 meters 0.015257798792486954 Centerline is valid? [True, True] Translation: X:-39.61, Y:-243.40, Z:-8.04 [[-9.97533432e-01 6.98559946e-02 6.86961601e-03 -3.96051761e+01] [ 6.98549962e-02 9.97557082e-01 -3.85465903e-04 -2.43403094e+02] [-6.87976120e-03 9.53618749e-05 -9.99976330e-01 -8.03849263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.460385723 meters 0.015203784347113143 Centerline is valid? [True, True] Translation: X:-39.60, Y:-243.38, Z:-8.04 [[-9.99982296e-01 1.45483214e-03 5.76978539e-03 -3.96016537e+01] [ 1.45536096e-03 9.99998937e-01 8.74563123e-05 -2.43375261e+02] [-5.76965203e-03 9.58518844e-05 -9.99983351e-01 -8.04035976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.490385723 meters 0.015770561795988423 Centerline is valid? [True, True] Translation: X:-39.61, Y:-242.58, Z:-9.03 [[-9.99459470e-01 -3.25530152e-02 4.59022066e-03 -3.96091996e+01] [ 3.25519807e-02 -9.99469999e-01 -2.99924422e-04 -2.42582943e+02] [ 4.59755128e-03 -1.50341530e-04 9.99989420e-01 -9.02852362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.520385723 meters 0.016192158459123907 Centerline is valid? [True, True] Translation: X:-39.70, Y:-243.38, Z:-8.04 [[-9.99994106e-01 -1.06036521e-04 3.43174442e-03 -3.97003422e+01] [-1.05783743e-04 9.99999992e-01 7.38402745e-05 -2.43379487e+02] [-3.43175222e-03 7.34768165e-05 -9.99994109e-01 -8.04239798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.550385723 meters 0.016466419406181036 Centerline is valid? [True, True] Translation: X:-39.71, Y:-243.35, Z:-8.04 [[-9.97561341e-01 -6.97436137e-02 2.68326953e-03 -3.97055714e+01] [-6.97431936e-02 9.97564948e-01 2.49910140e-04 -2.43350047e+02] [-2.69416526e-03 6.21609082e-05 -9.99996369e-01 -8.04301963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.580385723 meters 0.0165406657470658 Centerline is valid? [True, True] Translation: X:-39.72, Y:-243.32, Z:-8.04 [[-9.89987616e-01 -1.41127116e-01 2.76729667e-03 -3.97209552e+01] [-1.41126384e-01 9.89991481e-01 4.58967081e-04 -2.43322092e+02] [-2.80437283e-03 6.38331523e-05 -9.99996066e-01 -8.04310700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.610385723 meters 0.01614544474553839 Centerline is valid? [True, True] Translation: X:-39.75, Y:-243.29, Z:-8.04 [[-9.76744170e-01 -2.14385111e-01 3.13871665e-03 -3.97466369e+01] [-2.14383787e-01 9.76749210e-01 7.56284466e-04 -2.43294438e+02] [-3.22787514e-03 6.58064825e-05 -9.99994788e-01 -8.04278753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.640385723 meters 0.016002615169254227 Centerline is valid? [True, True] Translation: X:-39.80, Y:-243.28, Z:-8.04 [[-9.58060119e-01 -2.86550609e-01 3.09150653e-03 -3.97994392e+01] [-2.86548915e-01 9.58065105e-01 9.87237094e-04 -2.43276833e+02] [-3.24475792e-03 5.99646465e-05 -9.99994734e-01 -8.04216563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.670385723 meters 0.015349102529841474 Centerline is valid? [True, True] Translation: X:-39.86, Y:-243.26, Z:-8.04 [[-9.33603178e-01 -3.58298031e-01 2.76180397e-03 -3.98592526e+01] [-3.58296306e-01 9.33607262e-01 1.11264749e-03 -2.43264038e+02] [-2.97709965e-03 4.92270693e-05 -9.99995567e-01 -8.04175949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.700385723 meters 0.014858994774546356 Centerline is valid? [True, True] Translation: X:-39.94, Y:-243.26, Z:-8.04 [[-9.03217151e-01 -4.29175323e-01 2.70555180e-03 -3.99351980e+01] [-4.29173262e-01 9.03221203e-01 1.33075295e-03 -2.43260783e+02] [-3.01483808e-03 4.08083954e-05 -9.99995455e-01 -8.04059967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.730385723 meters 0.01511922588425912 Centerline is valid? [True, True] Translation: X:-40.02, Y:-243.27, Z:-8.04 [[-8.68392292e-01 -4.95871425e-01 2.52147851e-03 -4.00178899e+01] [-4.95869208e-01 8.68395951e-01 1.48330568e-03 -2.43271383e+02] [-2.92517063e-03 3.77676654e-05 -9.99995721e-01 -8.03984932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.760385723 meters 0.014763009684694245 Centerline is valid? [True, True] Translation: X:-40.11, Y:-243.29, Z:-8.04 [[-8.28900388e-01 -5.59390829e-01 2.45916451e-03 -4.01121685e+01] [-5.59388227e-01 8.28904035e-01 1.70656789e-03 -2.43293456e+02] [-2.99304981e-03 3.89471146e-05 -9.99995520e-01 -8.03946808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.790385723 meters 0.015148688074144009 Centerline is valid? [True, True] Translation: X:-40.19, Y:-243.32, Z:-8.04 [[-7.85566916e-01 -6.18771355e-01 2.57496922e-03 -4.01948851e+01] [-6.18767821e-01 7.85571135e-01 2.09180186e-03 -2.43320087e+02] [-3.31716856e-03 4.99422407e-05 -9.99994497e-01 -8.04078431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.820385723 meters 0.01543604017036279 Centerline is valid? [True, True] Translation: X:-40.29, Y:-243.36, Z:-8.04 [[-7.37180502e-01 -6.75692652e-01 2.08510987e-03 -4.02877084e+01] [-6.75689771e-01 7.37183449e-01 1.97394444e-03 -2.43363336e+02] [-2.87088824e-03 4.62659408e-05 -9.99995878e-01 -8.04142049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.850385723 meters 0.01594955051148263 Centerline is valid? [True, True] Translation: X:-40.38, Y:-243.42, Z:-8.04 [[-6.85553254e-01 -7.28021997e-01 8.41879842e-04 -4.03826002e+01] [-7.28021405e-01 6.85553770e-01 9.28745843e-04 -2.43416661e+02] [-1.25330130e-03 2.37981897e-05 -9.99999214e-01 -8.04281208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.880385723 meters 0.016099722070718626 Centerline is valid? [True, True] Translation: X:-40.47, Y:-243.48, Z:-8.04 [[-6.28941943e-01 -7.77452232e-01 2.45139246e-04 -4.04735444e+01] [-7.77452167e-01 6.28941990e-01 3.16634606e-04 -2.43476657e+02] [-4.00346647e-04 8.56074636e-06 -9.99999920e-01 -8.04282752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.910385723 meters 0.016412885991533056 Centerline is valid? [True, True] Translation: X:-40.56, Y:-243.55, Z:-8.04 [[-5.68275922e-01 -8.22838061e-01 -3.17831549e-05 -4.05623527e+01] [-8.22838060e-01 5.68275923e-01 -4.66714747e-05 -2.43547084e+02] [ 5.64646671e-05 -3.69885810e-07 -9.99999998e-01 -8.04212086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.940385723 meters 0.01674827379833415 Centerline is valid? [True, True] Translation: X:-40.65, Y:-243.63, Z:-8.04 [[-5.04441801e-01 -8.63445664e-01 2.35203128e-04 -4.06502511e+01] [-8.63445560e-01 5.04441855e-01 4.24258680e-04 -2.43630259e+02] [-4.84970620e-04 1.09287164e-05 -9.99999882e-01 -8.04057911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9703857229999 meters 0.015935465496948176 Centerline is valid? [True, True] Translation: X:-40.73, Y:-243.72, Z:-8.04 [[-4.37085049e-01 -8.99420165e-01 1.60777590e-04 -4.07315503e+01] [-8.99420097e-01 4.37085079e-01 3.51451484e-04 -2.43718917e+02] [-3.86376038e-04 9.00759373e-06 -9.99999925e-01 -8.04050052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.000385723 meters 0.01593091742211714 Centerline is valid? [True, True] Translation: X:-40.81, Y:-243.81, Z:-8.04 [[-3.66725038e-01 -9.30329373e-01 -6.04133520e-05 -4.08055782e+01] [-9.30329359e-01 3.66725043e-01 -1.61143327e-04 -2.43814270e+02] [ 1.72071459e-04 -2.89097755e-06 -9.99999985e-01 -8.04076639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.030385723 meters 0.015760748079226637 Centerline is valid? [True, True] Translation: X:-40.87, Y:-243.92, Z:-8.04 [[-2.93845951e-01 -9.55852789e-01 -5.44711348e-05 -4.08733467e+01] [-9.55852770e-01 2.93845956e-01 -1.88511548e-04 -2.43918988e+02] [ 1.96195411e-04 -3.32696989e-06 -9.99999981e-01 -8.04065982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.060385723 meters 0.015733955889241747 Centerline is valid? [True, True] Translation: X:-40.93, Y:-244.03, Z:-8.04 [[-2.17732002e-01 -9.76008583e-01 1.45401884e-04 -4.09348269e+01] [-9.76008318e-01 2.17732050e-01 7.19173561e-04 -2.44028581e+02] [-7.33578219e-04 1.46736510e-05 -9.99999731e-01 -8.03982837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0903857229999 meters 0.01540537365889233 Centerline is valid? [True, True] Translation: X:-40.99, Y:-244.15, Z:-8.04 [[-1.40513154e-01 -9.90078803e-01 1.33979313e-04 -4.09863089e+01] [-9.90078208e-01 1.40513217e-01 1.08499276e-03 -2.44145308e+02] [-1.09305420e-03 1.98057569e-05 -9.99999402e-01 -8.03916161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.120385723 meters 0.014623299203583028 Centerline is valid? [True, True] Translation: X:-41.03, Y:-244.26, Z:-8.04 [[-6.08537722e-02 -9.98146688e-01 8.65319180e-05 -4.10314457e+01] [-9.98144936e-01 6.08538275e-02 1.87030068e-03 -2.44264830e+02] [-1.87210023e-03 2.74434560e-05 -9.99998247e-01 -8.03849958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.150385723 meters 0.014546145528527912 Centerline is valid? [True, True] Translation: X:-41.07, Y:-244.39, Z:-8.04 [[ 1.89750191e-02 -9.99819956e-01 -7.02910081e-05 -4.10652813e+01] [-9.99817330e-01 -1.89751304e-02 2.29172832e-03 -2.44388871e+02] [-2.29264948e-03 2.67925794e-05 -9.99997372e-01 -8.03808421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.180385723 meters 0.014228853959719638 Centerline is valid? [True, True] Translation: X:-41.09, Y:-244.51, Z:-8.04 [[ 9.65782439e-02 -9.95325358e-01 -2.72543233e-04 -4.10900067e+01] [-9.95322155e-01 -9.65786246e-02 2.52527890e-03 -2.44512972e+02] [-2.53979597e-03 2.73813168e-05 -9.99996774e-01 -8.03750403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.210385723 meters 0.014274485531070007 Centerline is valid? [True, True] Translation: X:-41.10, Y:-244.65, Z:-8.04 [[ 1.73778450e-01 -9.84784641e-01 -5.10916846e-04 -4.11027929e+01] [-9.84780832e-01 -1.73779199e-01 2.73917090e-03 -2.44645740e+02] [-2.78628015e-03 2.71322445e-05 -9.99996118e-01 -8.03690502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.240385723 meters 0.01404986760703468 Centerline is valid? [True, True] Translation: X:-41.11, Y:-244.76, Z:-8.04 [[ 2.49368032e-01 -9.68408504e-01 -7.44925753e-04 -4.11104750e+01] [-9.68404497e-01 -2.49369143e-01 2.78600256e-03 -2.44764008e+02] [-2.88375007e-03 2.66494737e-05 -9.99995842e-01 -8.03643464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.270385723 meters 0.01409345832941304 Centerline is valid? [True, True] Translation: X:-41.10, Y:-244.89, Z:-8.04 [[ 3.22479130e-01 -9.46576036e-01 -1.00993153e-03 -4.11031445e+01] [-9.46571675e-01 -3.22480710e-01 2.87320448e-03 -2.44888985e+02] [-3.04538994e-03 2.94241023e-05 -9.99995362e-01 -8.03653529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.300385723 meters 0.014288183209430674 Centerline is valid? [True, True] Translation: X:-41.09, Y:-245.01, Z:-8.04 [[ 3.92049659e-01 -9.19943597e-01 -9.18366665e-04 -4.10885654e+01] [-9.19941234e-01 -3.92050734e-01 2.08529019e-03 -2.45007037e+02] [-2.27839568e-03 2.73060545e-05 -9.99997404e-01 -8.03748677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.330385723 meters 0.014495481056312213 Centerline is valid? [True, True] Translation: X:-41.06, Y:-245.13, Z:-8.04 [[ 4.60067334e-01 -8.87883454e-01 -1.01002645e-03 -4.10623024e+01] [-8.87881450e-01 -4.60068442e-01 1.88678930e-03 -2.45128209e+02] [-2.13993030e-03 2.87336300e-05 -9.99997710e-01 -8.03768318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.360385723 meters 0.01496217732162622 Centerline is valid? [True, True] Translation: X:-41.03, Y:-245.24, Z:-8.04 [[ 5.23170358e-01 -8.52227489e-01 -1.04046435e-03 -4.10334838e+01] [-8.52225931e-01 -5.23171392e-01 1.63023684e-03 -2.45238329e+02] [-1.93367384e-03 3.38191063e-05 -9.99998130e-01 -8.03717080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.390385723 meters 0.01496217732162622 Centerline is valid? [True, True] Translation: X:-40.99, Y:-245.35, Z:-8.04 [[ 5.86643346e-01 -8.09844575e-01 -1.16178089e-03 -4.09936073e+01] [-8.09843100e-01 -5.86644495e-01 1.54616008e-03 -2.45347483e+02] [-1.93370172e-03 3.38157181e-05 -9.99998130e-01 -8.03716945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.420385723 meters 0.01563152759802237 Centerline is valid? [True, True] Translation: X:-40.95, Y:-245.45, Z:-8.04 [[ 6.45273888e-01 -7.63950134e-01 -1.34242842e-03 -4.09456103e+01] [-7.63948605e-01 -6.45275284e-01 1.52880219e-03 -2.45453628e+02] [-2.03416452e-03 3.90501824e-05 -9.99997930e-01 -8.03660447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.450385723 meters 0.016223502711774248 Centerline is valid? [True, True] Translation: X:-40.90, Y:-245.55, Z:-8.04 [[ 6.99751105e-01 -7.14384109e-01 -1.93271423e-03 -4.08982744e+01] [-7.14381611e-01 -6.99753772e-01 1.89010805e-03 -2.45548274e+02] [-2.70268723e-03 5.80903095e-05 -9.99996346e-01 -8.03614045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.480385723 meters 0.016369922611666865 Centerline is valid? [True, True] Translation: X:-40.90, Y:-245.56, Z:-8.04 [[ 7.53244608e-01 -6.57735497e-01 -2.56447612e-03 -4.09015435e+01] [-6.57732011e-01 -7.53248970e-01 2.14281537e-03 -2.45558683e+02] [-3.34109472e-03 7.26739108e-05 -9.99994416e-01 -8.03622317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.510385723 meters 0.01599796727144412 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.57, Z:-8.04 [[ 8.02682969e-01 -5.96398030e-01 -3.07257286e-03 -4.09065832e+01] [-5.96394038e-01 -8.02688846e-01 2.18371019e-03 -2.45572765e+02] [-3.76868042e-03 7.96371533e-05 -9.99992895e-01 -8.03712660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.540385723 meters 0.015668501943846273 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.59, Z:-8.04 [[ 8.47398289e-01 -5.30946706e-01 -3.42565858e-03 -4.09102101e+01] [-5.30942747e-01 -8.47405210e-01 2.05172449e-03 -2.45587338e+02] [-3.99227728e-03 8.02007561e-05 -9.99992028e-01 -8.03699470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.570385723 meters 0.015011038267635154 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.61, Z:-8.04 [[ 8.87365657e-01 -4.61038719e-01 -5.04888579e-03 -4.09149704e+01] [-4.61031896e-01 -8.87380014e-01 2.51024835e-03 -2.45605150e+02] [-5.63760202e-03 1.00189214e-04 -9.99984104e-01 -8.03590294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.600385723 meters 0.01483238378059368 Centerline is valid? [True, True] Translation: X:-40.92, Y:-245.62, Z:-8.04 [[ 9.20893295e-01 -3.89770904e-01 -5.84659588e-03 -4.09171318e+01] [-3.89763793e-01 -9.20911848e-01 2.35686127e-03 -2.45622085e+02] [-6.30283536e-03 1.08373644e-04 -9.99980131e-01 -8.03525675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.630385723 meters 0.015048387727070619 Centerline is valid? [True, True] Translation: X:-40.92, Y:-245.64, Z:-8.03 [[ 9.48848698e-01 -3.15662078e-01 -6.60308239e-03 -4.09184381e+01] [-3.15655254e-01 -9.48871667e-01 2.07850795e-03 -2.45636961e+02] [-6.92158393e-03 1.12108090e-04 -9.99976039e-01 -8.03432651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.660385723 meters 0.015063347237923136 Centerline is valid? [True, True] Translation: X:-40.92, Y:-245.65, Z:-8.03 [[ 9.70610881e-01 -2.40557636e-01 -6.82216538e-03 -4.09174315e+01] [-2.40552515e-01 -9.70634849e-01 1.57379184e-03 -2.45647492e+02] [-7.00041911e-03 1.13549552e-04 -9.99975490e-01 -8.03423284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.690385723 meters 0.015289626488653407 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.66, Z:-8.03 [[ 9.86356385e-01 -1.64475349e-01 -6.99580078e-03 -4.09143813e+01] [-1.64472069e-01 -9.86381187e-01 1.04561467e-03 -2.45658180e+02] [-7.07250411e-03 1.19265115e-04 -9.99974982e-01 -8.03474955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7203857229999 meters 0.015425614073660703 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.67, Z:-8.03 [[ 9.96186075e-01 -8.69827768e-02 -6.87747710e-03 -4.09148226e+01] [-8.69815186e-02 -9.96209809e-01 4.82417623e-04 -2.45667343e+02] [-6.89337217e-03 1.17635683e-04 -9.99976234e-01 -8.03488064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.750385723 meters 0.01506731404914844 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.68, Z:-8.04 [[ 9.99941352e-01 -8.66709559e-03 -6.49412579e-03 -4.09137751e+01] [-8.66762931e-03 -9.99962434e-01 -5.40437153e-05 -2.45680222e+02] [-6.49341343e-03 1.10329221e-04 -9.99978912e-01 -8.03578716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.780385723 meters 0.015321309461222692 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.69, Z:-8.04 [[ 9.97521662e-01 7.00592190e-02 -6.49923913e-03 -4.09120258e+01] [ 7.00570243e-02 -9.97542828e-01 -5.65011780e-04 -2.45692064e+02] [-6.52285367e-03 1.08294136e-04 -9.99978720e-01 -8.03587165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.810385723 meters 0.014786318821283846 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.70, Z:-8.04 [[ 9.88740152e-01 1.49540656e-01 -5.52307934e-03 -4.09101873e+01] [ 1.49537848e-01 -9.88755574e-01 -9.20236869e-04 -2.45701259e+02] [-5.59858831e-03 8.39657415e-05 -9.99984324e-01 -8.03758798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8403857229999 meters 0.014836966322709212 Centerline is valid? [True, True] Translation: X:-40.91, Y:-245.71, Z:-8.04 [[ 9.73880629e-01 2.27011773e-01 -4.70915855e-03 -4.09078376e+01] [ 2.27008770e-01 -9.73892011e-01 -1.16981306e-03 -2.45710527e+02] [-4.85177323e-03 7.02379876e-05 -9.99988228e-01 -8.03779206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.870385723 meters 0.01436659941569572 Centerline is valid? [True, True] Translation: X:-40.90, Y:-245.72, Z:-8.04 [[ 9.52524992e-01 3.04433557e-01 -4.04344141e-03 -4.09034827e+01] [ 3.04430576e-01 -9.52533573e-01 -1.34819370e-03 -2.45721039e+02] [-4.26194909e-03 5.32410010e-05 -9.99990917e-01 -8.03839885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.900385723 meters 0.014150320929725646 Centerline is valid? [True, True] Translation: X:-40.90, Y:-245.73, Z:-8.04 [[ 9.25411190e-01 3.78940313e-01 -4.28584916e-03 -4.08981008e+01] [ 3.78935981e-01 -9.25421113e-01 -1.81293506e-03 -2.45732214e+02] [-4.65320948e-03 5.36479428e-05 -9.99989172e-01 -8.03826735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.930385723 meters 0.01395749448192953 Centerline is valid? [True, True] Translation: X:-40.89, Y:-245.74, Z:-8.04 [[ 8.91850025e-01 4.52310974e-01 -4.27968798e-03 -4.08936775e+01] [ 4.52305529e-01 -8.91860292e-01 -2.21995417e-03 -2.45742133e+02] [-4.82099341e-03 4.41396437e-05 -9.99988378e-01 -8.03730216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.960385723 meters 0.013817509268908082 Centerline is valid? [True, True] Translation: X:-40.89, Y:-245.75, Z:-8.04 [[ 8.53166811e-01 5.21618922e-01 -4.48255108e-03 -4.08872118e+01] [ 5.21611458e-01 -8.53178586e-01 -2.79081400e-03 -2.45751256e+02] [-5.28015798e-03 4.28798737e-05 -9.99986059e-01 -8.03724625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.990385723 meters 0.013758265399380666 Centerline is valid? [True, True] Translation: X:-40.88, Y:-245.76, Z:-8.04 [[ 8.09320552e-01 5.87354245e-01 -3.90323629e-03 -4.08826139e+01] [ 5.87347197e-01 -8.09329964e-01 -2.87749021e-03 -2.45757465e+02] [-4.84911217e-03 3.62570744e-05 -9.99988242e-01 -8.03820518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.020385723 meters 0.013833643422238799 Centerline is valid? [True, True] Translation: X:-40.88, Y:-245.76, Z:-8.04 [[ 7.60941559e-01 6.48812183e-01 -3.27033684e-03 -4.08773133e+01] [ 6.48806005e-01 -7.60948586e-01 -2.83157255e-03 -2.45764886e+02] [-4.32571696e-03 3.28470467e-05 -9.99990644e-01 -8.03856481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.050385723 meters 0.013970626209121999 Centerline is valid? [True, True] Translation: X:-40.87, Y:-245.77, Z:-8.04 [[ 7.08097443e-01 7.06111042e-01 -2.28219139e-03 -4.08714153e+01] [ 7.06107254e-01 -7.08101120e-01 -2.31282075e-03 -2.45771194e+02] [-3.24913055e-03 2.62305676e-05 -9.99994721e-01 -8.03941674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.080385723 meters 0.013977369585824611 Centerline is valid? [True, True] Translation: X:-40.86, Y:-245.78, Z:-8.04 [[ 6.51024581e-01 7.59054191e-01 -1.93133424e-03 -4.08625861e+01] [ 7.59050733e-01 -6.51027445e-01 -2.29136342e-03 -2.45778978e+02] [-2.99662060e-03 2.57532415e-05 -9.99995510e-01 -8.03956872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.110385723 meters 0.01413897107571981 Centerline is valid? [True, True] Translation: X:-40.86, Y:-245.78, Z:-8.04 [[ 5.90876641e-01 8.06759113e-01 -2.12821613e-03 -4.08575604e+01] [ 8.06753652e-01 -5.90880472e-01 -2.96853091e-03 -2.45784692e+02] [-3.65241072e-03 3.70894346e-05 -9.99993329e-01 -8.03868326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.140385723 meters 0.014255671451728475 Centerline is valid? [True, True] Translation: X:-40.85, Y:-245.79, Z:-8.04 [[ 5.26630812e-01 8.50091823e-01 -1.96955590e-03 -4.08479681e+01] [ 8.50085578e-01 -5.26634494e-01 -3.25882914e-03 -2.45791446e+02] [-3.80754008e-03 4.19087671e-05 -9.99992750e-01 -8.03858987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.170385723 meters 0.01472682654709234 Centerline is valid? [True, True] Translation: X:-40.84, Y:-245.80, Z:-8.04 [[ 4.60732515e-01 8.87536598e-01 -2.08258941e-03 -4.08432116e+01] [ 8.87526906e-01 -4.60737218e-01 -4.14814917e-03 -2.45796370e+02] [-4.64116065e-03 6.28330624e-05 -9.99989228e-01 -8.03833683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.200385723 meters 0.015072885932359633 Centerline is valid? [True, True] Translation: X:-40.84, Y:-245.80, Z:-8.04 [[ 3.91085206e-01 9.20352440e-01 -1.93578934e-03 -4.08366971e+01] [ 9.20340180e-01 -3.91089990e-01 -4.75118334e-03 -2.45801183e+02] [-5.12983101e-03 7.65328106e-05 -9.99986839e-01 -8.03801981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.230385723 meters 0.015470654680755772 Centerline is valid? [True, True] Translation: X:-40.83, Y:-245.81, Z:-8.04 [[ 3.20492152e-01 9.47249601e-01 -1.72437336e-03 -4.08312023e+01] [ 9.47234155e-01 -3.20496776e-01 -5.41046043e-03 -2.45806004e+02] [-5.67771259e-03 1.00624768e-04 -9.99983877e-01 -8.03785542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.260385723 meters 0.01589723663590242 Centerline is valid? [True, True] Translation: X:-40.82, Y:-245.81, Z:-8.04 [[ 2.46340591e-01 9.69182507e-01 -1.25721645e-03 -4.08237904e+01] [ 9.69167654e-01 -2.46343778e-01 -5.36664687e-03 -2.45812289e+02] [-5.51096771e-03 1.03569449e-04 -9.99984809e-01 -8.03740958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.290385723 meters 0.016219001271311716 Centerline is valid? [True, True] Translation: X:-40.82, Y:-245.82, Z:-8.04 [[ 1.70045604e-01 9.85435855e-01 -8.17341142e-04 -4.08193948e+01] [ 9.85421359e-01 -1.70047536e-01 -5.34610192e-03 -2.45817329e+02] [-5.40722737e-03 1.03655710e-04 -9.99985376e-01 -8.03726458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.320385723 meters 0.016197063998085386 Centerline is valid? [True, True] Translation: X:-40.81, Y:-245.82, Z:-8.04 [[ 9.17867853e-02 9.95778607e-01 -3.90356520e-04 -4.08131260e+01] [ 9.95764410e-01 -9.17875615e-02 -5.31826115e-03 -2.45821345e+02] [-5.33164055e-03 9.94429651e-05 -9.99985782e-01 -8.03724478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.350385723 meters 0.015606767368029392 Centerline is valid? [True, True] Translation: X:-40.80, Y:-245.83, Z:-8.04 [[ 1.16576239e-02 9.99932047e-01 2.40566874e-05 -4.08036926e+01] [ 9.99921112e-01 -1.16573839e-02 -4.67713493e-03 -2.45825385e+02] [-4.67653667e-03 7.85790696e-05 -9.99989062e-01 -8.03800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.380385723 meters 0.015921005727877306 Centerline is valid? [True, True] Translation: X:-40.79, Y:-245.83, Z:-8.04 [[-6.74664683e-02 9.97721483e-01 3.44830847e-04 -4.07948059e+01] [ 9.97712991e-01 6.74673170e-02 -4.11684753e-03 -2.45829604e+02] [-4.13073204e-03 6.62930520e-05 -9.99991466e-01 -8.03774516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.410385723 meters 0.015267619635578244 Centerline is valid? [True, True] Translation: X:-40.78, Y:-245.83, Z:-8.04 [[-1.47109011e-01 9.89120149e-01 5.20395054e-04 -4.07825216e+01] [ 9.89115025e-01 1.47109924e-01 -3.18391226e-03 -2.45832386e+02] [-3.22582704e-03 4.63483835e-05 -9.99994796e-01 -8.03766389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.440385723 meters 0.01567265678327881 Centerline is valid? [True, True] Translation: X:-40.77, Y:-245.84, Z:-8.04 [[-2.24778350e-01 9.74409496e-01 9.09343187e-04 -4.07720055e+01] [ 9.74402436e-01 2.24780183e-01 -3.70982578e-03 -2.45835691e+02] [-3.81929180e-03 5.21776983e-05 -9.99992705e-01 -8.03650101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4703857229999 meters 0.015191735071611843 Centerline is valid? [True, True] Translation: X:-40.76, Y:-245.84, Z:-8.04 [[-3.01035661e-01 9.53612016e-01 1.28593058e-03 -4.07597327e+01] [ 9.53604057e-01 3.01038402e-01 -3.89643245e-03 -2.45836913e+02] [-4.10279929e-03 5.33035063e-05 -9.99991582e-01 -8.03629808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.500385723 meters 0.015133325780832747 Centerline is valid? [True, True] Translation: X:-40.75, Y:-245.84, Z:-8.04 [[-3.75558790e-01 9.26797266e-01 1.55664737e-03 -4.07510488e+01] [ 9.26789839e-01 3.75562013e-01 -3.71077248e-03 -2.45839121e+02] [-4.02375141e-03 4.90717396e-05 -9.99991904e-01 -8.03616681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.530385723 meters 0.015243377770488536 Centerline is valid? [True, True] Translation: X:-40.74, Y:-245.84, Z:-8.04 [[-4.46914355e-01 8.94575756e-01 1.33251440e-03 -4.07427396e+01] [ 8.94572018e-01 4.46916340e-01 -2.58664238e-03 -2.45841310e+02] [-2.90947002e-03 3.60224860e-05 -9.99995767e-01 -8.03665281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.560385723 meters 0.015307211658229854 Centerline is valid? [True, True] Translation: X:-40.73, Y:-245.84, Z:-8.04 [[-5.15605698e-01 8.56824251e-01 1.72242248e-03 -4.07334770e+01] [ 8.56819730e-01 5.15608573e-01 -2.78382745e-03 -2.45841298e+02] [-3.27334667e-03 4.04482733e-05 -9.99994642e-01 -8.03638303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5903857229999 meters 0.015442223620422708 Centerline is valid? [True, True] Translation: X:-40.72, Y:-245.84, Z:-8.04 [[-5.80987319e-01 8.13909984e-01 2.06743980e-03 -4.07244030e+01] [ 8.13905096e-01 5.80990995e-01 -2.82089222e-03 -2.45841541e+02] [-3.49711625e-03 4.37971841e-05 -9.99993884e-01 -8.03578187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.620385723 meters 0.015525153284807377 Centerline is valid? [True, True] Translation: X:-40.72, Y:-245.84, Z:-8.04 [[-6.42830105e-01 7.66004284e-01 2.62557350e-03 -4.07151681e+01] [ 7.65998216e-01 6.42835464e-01 -3.04944740e-03 -2.45840951e+02] [-4.02370153e-03 5.09080274e-05 -9.99991904e-01 -8.03534502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.650385723 meters 0.015498791928433753 Centerline is valid? [True, True] Translation: X:-40.70, Y:-245.84, Z:-8.03 [[-7.00345961e-01 7.13794883e-01 3.52144638e-03 -4.07029426e+01] [ 7.13786330e-01 7.00354811e-01 -3.49479400e-03 -2.45835386e+02] [-4.96082799e-03 6.59954250e-05 -9.99987693e-01 -8.03458283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.680385723 meters 0.015706260614276036 Centerline is valid? [True, True] Translation: X:-40.16, Y:-245.30, Z:-9.04 [[-6.71188691e-01 -7.41278407e-01 3.47340462e-03 -4.01552151e+01] [ 7.41268064e-01 -6.71197676e-01 -3.91621092e-03 -2.45298158e+02] [ 5.23434370e-03 -5.37925600e-05 9.99986299e-01 -9.03698645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.710385723 meters 0.015619243649602323 Centerline is valid? [True, True] Translation: X:-40.17, Y:-245.28, Z:-9.04 [[-6.71718628e-01 -7.40797020e-01 3.72272745e-03 -4.01747583e+01] [ 7.40784963e-01 -6.71728939e-01 -4.22738936e-03 -2.45278422e+02] [ 5.63230120e-03 -8.18756652e-05 9.99984135e-01 -9.03716770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.740385723 meters 0.01598208106435988 Centerline is valid? [True, True] Translation: X:-40.19, Y:-245.26, Z:-9.04 [[-6.72835075e-01 -7.39786716e-01 2.92868520e-03 -4.01924555e+01] [ 7.39779254e-01 -6.72841445e-01 -3.32353335e-03 -2.45258384e+02] [ 4.42924660e-03 -6.96092570e-05 9.99990188e-01 -9.03669013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.770385723 meters 0.015958404410344983 Centerline is valid? [True, True] Translation: X:-40.21, Y:-245.24, Z:-9.04 [[-6.73765712e-01 -7.38939753e-01 2.79419247e-03 -4.02116646e+01] [ 7.38932960e-01 -6.73771502e-01 -3.16914331e-03 -2.45237775e+02] [ 4.22445323e-03 -7.05391847e-05 9.99991075e-01 -9.03636809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.800385723 meters 0.01609698367736033 Centerline is valid? [True, True] Translation: X:-40.23, Y:-245.22, Z:-9.04 [[-6.75175890e-01 -7.37651082e-01 2.89810415e-03 -4.02302402e+01] [ 7.37643771e-01 -6.75182105e-01 -3.28516446e-03 -2.45217254e+02] [ 4.38005318e-03 -8.02953656e-05 9.99990404e-01 -9.03626065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.830385723 meters 0.01640012239657109 Centerline is valid? [True, True] Translation: X:-40.25, Y:-245.20, Z:-9.04 [[-6.75861834e-01 -7.37022977e-01 2.81301659e-03 -4.02493352e+01] [ 7.37016091e-01 -6.75867683e-01 -3.18694347e-03 -2.45196271e+02] [ 4.25007757e-03 -8.06949638e-05 9.99990965e-01 -9.03676810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.860385723 meters 0.016780228129028227 Centerline is valid? [True, True] Translation: X:-40.27, Y:-245.18, Z:-9.04 [[-6.76154336e-01 -7.36754791e-01 2.77337069e-03 -4.02676570e+01] [ 7.36748104e-01 -6.76160019e-01 -3.14019027e-03 -2.45175869e+02] [ 4.18879260e-03 -7.99776657e-05 9.99991224e-01 -9.03725025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.890385723 meters 0.016517302298069306 Centerline is valid? [True, True] Translation: X:-40.29, Y:-245.16, Z:-9.04 [[-6.76130336e-01 -7.36776976e-01 2.73064052e-03 -4.02865202e+01] [ 7.36770501e-01 -6.76135845e-01 -3.08990177e-03 -2.45155538e+02] [ 4.12285242e-03 -7.73209393e-05 9.99991498e-01 -9.03729234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.920385723 meters 0.016604359844651695 Centerline is valid? [True, True] Translation: X:-40.30, Y:-245.14, Z:-9.04 [[-6.76028333e-01 -7.36871097e-01 2.58440860e-03 -4.03041656e+01] [ 7.36865305e-01 -6.76033269e-01 -2.92254099e-03 -2.45135698e+02] [ 3.90068218e-03 -7.13594855e-05 9.99992390e-01 -9.03694439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.950385723 meters 0.01585051943099678 Centerline is valid? [True, True] Translation: X:-40.32, Y:-245.12, Z:-9.04 [[-6.75137471e-01 -7.37690158e-01 1.62068637e-03 -4.03249239e+01] [ 7.37687885e-01 -6.75139415e-01 -1.83169700e-03 -2.45116655e+02] [ 2.44541410e-03 -4.10865791e-05 9.99997009e-01 -9.03566478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.980385723 meters 0.015993303710350727 Centerline is valid? [True, True] Translation: X:-40.34, Y:-245.10, Z:-9.03 [[-6.74482305e-01 -7.38290222e-01 1.08117721e-03 -4.03431670e+01] [ 7.38289212e-01 -6.74483171e-01 -1.22144079e-03 -2.45096395e+02] [ 1.63101362e-03 -2.56187286e-05 9.99998670e-01 -9.03493511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.010385723 meters 0.01575026941799167 Centerline is valid? [True, True] Translation: X:-40.36, Y:-245.08, Z:-9.03 [[-6.74432341e-01 -7.38336173e-01 8.43787448e-04 -4.03623262e+01] [ 7.38335559e-01 -6.74432869e-01 -9.52717943e-04 -2.45076126e+02] [ 1.27250411e-03 -1.95455161e-05 9.99999190e-01 -9.03489943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.040385723 meters 0.016181032183603873 Centerline is valid? [True, True] Translation: X:-40.38, Y:-245.05, Z:-9.03 [[-6.74850664e-01 -7.37954081e-01 5.96721262e-04 -4.03788992e+01] [ 7.37953773e-01 -6.74850928e-01 -6.73356850e-04 -2.45054742e+02] [ 8.99604333e-04 -1.40626101e-05 9.99999595e-01 -9.03461844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.070385723 meters 0.01652846415094003 Centerline is valid? [True, True] Translation: X:-40.40, Y:-245.03, Z:-9.03 [[-6.76516004e-01 -7.36427907e-01 1.83651017e-04 -4.03957711e+01] [ 7.36427878e-01 -6.76516029e-01 -2.07126264e-04 -2.45031782e+02] [ 2.76776418e-04 -4.87850397e-06 9.99999962e-01 -9.03334947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.100385723 meters 0.01657371638079444 Centerline is valid? [True, True] Translation: X:-40.41, Y:-245.01, Z:-9.03 [[-6.77972918e-01 -7.35086729e-01 4.73168084e-04 -4.04141638e+01] [ 7.35086536e-01 -6.77973083e-01 -5.33352586e-04 -2.45010165e+02] [ 7.12855632e-04 -1.37791214e-05 9.99999746e-01 -9.03325049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.130385723 meters 0.016979789915569986 Centerline is valid? [True, True] Translation: X:-40.43, Y:-244.99, Z:-9.03 [[-6.80749242e-01 -7.32516114e-01 7.82717564e-04 -4.04333379e+01] [ 7.32515583e-01 -6.80749692e-01 -8.81810293e-04 -2.44988845e+02] [ 1.17877499e-03 -2.69388761e-05 9.99999305e-01 -9.03430181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.160385723 meters 0.017648352638891987 Centerline is valid? [True, True] Translation: X:-40.45, Y:-244.97, Z:-9.03 [[-6.82973545e-01 -7.30442664e-01 8.06767918e-04 -4.04514279e+01] [ 7.30442100e-01 -6.82974021e-01 -9.08398744e-04 -2.44967317e+02] [ 1.21453473e-03 -3.11150582e-05 9.99999262e-01 -9.03476602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.190385723 meters 0.017506931776776303 Centerline is valid? [True, True] Translation: X:-40.47, Y:-244.95, Z:-9.03 [[-6.83283361e-01 -7.30152919e-01 7.50768152e-04 -4.04699006e+01] [ 7.30152431e-01 -6.83283773e-01 -8.44869671e-04 -2.44946680e+02] [ 1.12987175e-03 -2.91101978e-05 9.99999361e-01 -9.03434547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2203857229999 meters 0.017637891572615555 Centerline is valid? [True, True] Translation: X:-40.49, Y:-244.93, Z:-9.03 [[-6.83270979e-01 -7.30163979e-01 1.15454861e-03 -4.04875538e+01] [ 7.30162826e-01 -6.83271953e-01 -1.29849103e-03 -2.44926207e+02] [ 1.73698206e-03 -4.42127547e-05 9.99998491e-01 -9.03414543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.250385723 meters 0.017322157441486363 Centerline is valid? [True, True] Translation: X:-40.51, Y:-244.91, Z:-9.04 [[-6.81492305e-01 -7.31823791e-01 1.47543213e-03 -4.05078892e+01] [ 7.31821914e-01 -6.81493900e-01 -1.65845943e-03 -2.44907058e+02] [ 2.21919807e-03 -5.04737692e-05 9.99997536e-01 -9.03509824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.280385723 meters 0.017206249070356904 Centerline is valid? [True, True] Translation: X:-40.53, Y:-244.89, Z:-9.04 [[-6.80388458e-01 -7.32849611e-01 1.73068176e-03 -4.05270514e+01] [ 7.32847033e-01 -6.80390656e-01 -1.94430053e-03 -2.44888216e+02] [ 2.60241959e-03 -5.45546433e-05 9.99996612e-01 -9.03609381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.310385723 meters 0.017206249070356904 Centerline is valid? [True, True] Translation: X:-40.54, Y:-244.87, Z:-9.04 [[-6.80612992e-01 -7.32641084e-01 1.73127730e-03 -4.05449216e+01] [ 7.32638507e-01 -6.80615192e-01 -1.94377026e-03 -2.44868277e+02] [ 2.60241958e-03 -5.45548740e-05 9.99996612e-01 -9.03609362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3403857229999 meters 0.016493830590058423 Centerline is valid? [True, True] Translation: X:-40.57, Y:-244.85, Z:-9.04 [[-6.77750950e-01 -7.35290170e-01 1.41955545e-03 -4.05662309e+01] [ 7.35288446e-01 -6.77752436e-01 -1.59290051e-03 -2.44849575e+02] [ 2.13335125e-03 -3.58071093e-05 9.99997724e-01 -9.03678076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.370385723 meters 0.016159371922376792 Centerline is valid? [True, True] Translation: X:-40.59, Y:-244.83, Z:-9.04 [[-6.76461374e-01 -7.36477272e-01 1.11233736e-03 -4.05850022e+01] [ 7.36476216e-01 -6.76462288e-01 -1.24748532e-03 -2.44829295e+02] [ 1.67119886e-03 -2.46656299e-05 9.99998603e-01 -9.03610104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.400385723 meters 0.01580459712105286 Centerline is valid? [True, True] Translation: X:-40.60, Y:-244.81, Z:-9.03 [[-6.74235320e-01 -7.38516477e-01 3.81513195e-04 -4.06039680e+01] [ 7.38516354e-01 -6.74235428e-01 -4.27636507e-04 -2.44808931e+02] [ 5.73046320e-04 -6.57390357e-06 9.99999836e-01 -9.03490687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.430385723 meters 0.015759488984324877 Centerline is valid? [True, True] Translation: X:-40.62, Y:-244.79, Z:-9.03 [[-6.73898480e-01 -7.38823956e-01 -2.73186060e-05 -4.06222181e+01] [ 7.38823955e-01 -6.73898481e-01 3.05992816e-05 -2.44788305e+02] [-4.10174490e-05 4.37168834e-07 9.99999999e-01 -9.03448829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.460385723 meters 0.015680619615816016 Centerline is valid? [True, True] Translation: X:-40.64, Y:-244.77, Z:-9.03 [[-6.73597954e-01 -7.39097881e-01 -3.46488114e-04 -4.06399007e+01] [ 7.39097779e-01 -6.73598043e-01 3.87887012e-04 -2.44768768e+02] [-5.20080184e-04 5.19130216e-06 9.99999865e-01 -9.03408406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.490385723 meters 0.015566804303426525 Centerline is valid? [True, True] Translation: X:-40.66, Y:-244.75, Z:-9.03 [[-6.72612098e-01 -7.39994522e-01 -1.03588142e-03 -4.06586257e+01] [ 7.39993614e-01 -6.72612896e-01 1.15896284e-03 -2.44748362e+02] [-1.55437335e-03 1.29867947e-05 9.99998792e-01 -9.03345897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.520385723 meters 0.015387870697910758 Centerline is valid? [True, True] Translation: X:-40.68, Y:-244.73, Z:-9.03 [[-6.71930137e-01 -7.40613180e-01 -1.41733963e-03 -4.06768246e+01] [ 7.40611485e-01 -6.71931631e-01 1.58485934e-03 -2.44726800e+02] [-2.12612305e-03 1.52167458e-05 9.99997740e-01 -9.03266458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.550385723 meters 0.015490492402561562 Centerline is valid? [True, True] Translation: X:-40.69, Y:-244.71, Z:-9.03 [[-6.72386454e-01 -7.40198011e-01 -1.83335187e-03 -4.06940427e+01] [ 7.40195175e-01 -6.72388953e-01 2.04883527e-03 -2.44705533e+02] [-2.74926933e-03 2.05708748e-05 9.99996221e-01 -9.03203568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.580385723 meters 0.015762074849816798 Centerline is valid? [True, True] Translation: X:-40.71, Y:-244.69, Z:-9.03 [[-6.74261955e-01 -7.38491244e-01 -1.22451708e-03 -4.07113424e+01] [ 7.38489977e-01 -6.74263067e-01 1.36779402e-03 -2.44685476e+02] [-1.83575055e-03 1.79578846e-05 9.99998315e-01 -9.03373152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.610385723 meters 0.015774369894163708 Centerline is valid? [True, True] Translation: X:-40.73, Y:-244.67, Z:-9.04 [[-6.75491621e-01 -7.37367102e-01 -9.09041976e-04 -4.07312947e+01] [ 7.37366404e-01 -6.75492233e-01 1.01483533e-03 -2.44665112e+02] [-1.36235698e-03 1.52157491e-05 9.99999072e-01 -9.03537116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.640385723 meters 0.015825195415431884 Centerline is valid? [True, True] Translation: X:-40.75, Y:-244.64, Z:-9.04 [[-6.76461149e-01 -7.36477833e-01 -8.46084567e-04 -4.07504881e+01] [ 7.36477228e-01 -6.76461677e-01 9.44022594e-04 -2.44643981e+02] [-1.26759550e-03 1.54725917e-05 9.99999197e-01 -9.03605186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.670385723 meters 0.01606952722724497 Centerline is valid? [True, True] Translation: X:-40.77, Y:-244.62, Z:-9.04 [[-6.77990865e-01 -7.35069887e-01 -8.04818547e-04 -4.07673092e+01] [ 7.35069339e-01 -6.77991343e-01 8.97614786e-04 -2.44622561e+02] [-1.20546961e-03 1.69771880e-05 9.99999273e-01 -9.03563768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.700385723 meters 0.016304000242887567 Centerline is valid? [True, True] Translation: X:-40.78, Y:-244.60, Z:-9.04 [[-6.79065378e-01 -7.34077464e-01 -6.99292062e-04 -4.07833049e+01] [ 7.34077051e-01 -6.79065738e-01 7.79517787e-04 -2.44602328e+02] [-1.04709172e-03 1.60092859e-05 9.99999452e-01 -9.03545283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.730385723 meters 0.016575085970922724 Centerline is valid? [True, True] Translation: X:-40.80, Y:-244.58, Z:-9.04 [[-6.80537183e-01 -7.32713429e-01 -4.16455340e-04 -4.08013585e+01] [ 7.32713282e-01 -6.80537311e-01 4.64043488e-04 -2.44581532e+02] [-6.23424292e-04 1.06564886e-05 9.99999806e-01 -9.03597324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.760385723 meters 0.016975672715075277 Centerline is valid? [True, True] Translation: X:-40.82, Y:-244.56, Z:-9.04 [[-6.81280941e-01 -7.32022043e-01 -8.53677725e-05 -4.08187345e+01] [ 7.32022037e-01 -6.81280947e-01 9.50575162e-05 -2.44562196e+02] [-1.27743634e-04 2.26978336e-06 9.99999992e-01 -9.03695722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.790385723 meters 0.016868671179832883 Centerline is valid? [True, True] Translation: X:-40.84, Y:-244.54, Z:-9.04 [[-6.81451887e-01 -7.31862914e-01 2.98665479e-05 -4.08388181e+01] [ 7.31862913e-01 -6.81451888e-01 -3.32405881e-05 -2.44543001e+02] [ 4.46801694e-05 -7.93642748e-07 9.99999999e-01 -9.03794333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.820385723 meters 0.016990268529392515 Centerline is valid? [True, True] Translation: X:-40.86, Y:-244.52, Z:-9.04 [[-6.81553573e-01 -7.31768198e-01 1.77931427e-04 -4.08585126e+01] [ 7.31768171e-01 -6.81553596e-01 -1.97906533e-04 -2.44522807e+02] [ 2.66091511e-04 -4.67934992e-06 9.99999965e-01 -9.03855529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.850385723 meters 0.016535929167131872 Centerline is valid? [True, True] Translation: X:-40.88, Y:-244.50, Z:-9.04 [[-6.80731475e-01 -7.32532895e-01 -4.66638587e-04 -4.08769241e+01] [ 7.32532711e-01 -6.80731635e-01 5.18674734e-04 -2.44504386e+02] [-6.97601952e-04 1.12501871e-05 9.99999757e-01 -9.03772474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.880385723 meters 0.01627267911879793 Centerline is valid? [True, True] Translation: X:-40.90, Y:-244.48, Z:-9.04 [[-6.80395462e-01 -7.32845089e-01 -3.01008890e-04 -4.08964124e+01] [ 7.32845013e-01 -6.80395528e-01 3.34389095e-04 -2.44484757e+02] [-4.49860509e-04 6.92395879e-06 9.99999899e-01 -9.03777054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.910385723 meters 0.01652176133590657 Centerline is valid? [True, True] Translation: X:-40.91, Y:-244.46, Z:-9.04 [[-6.80591485e-01 -7.32663090e-01 -1.66712540e-04 -4.09147091e+01] [ 7.32663067e-01 -6.80591505e-01 1.85090227e-04 -2.44464484e+02] [-2.49071915e-04 3.82671156e-06 9.99999969e-01 -9.03782127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.940385723 meters 0.01669319352226477 Centerline is valid? [True, True] Translation: X:-40.93, Y:-244.44, Z:-9.04 [[-6.81304173e-01 -7.32000394e-01 -2.16563043e-04 -4.09332751e+01] [ 7.32000354e-01 -6.81304208e-01 2.40291991e-04 -2.44444082e+02] [-3.23439144e-04 5.18771180e-06 9.99999948e-01 -9.03803206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9703857229999 meters 0.016861765046005634 Centerline is valid? [True, True] Translation: X:-40.95, Y:-244.42, Z:-9.04 [[-6.83361164e-01 -7.30080449e-01 2.39849645e-04 -4.09529982e+01] [ 7.30080400e-01 -6.83361206e-01 -2.65990905e-04 -2.44424158e+02] [ 3.58098702e-04 -6.65833007e-06 9.99999936e-01 -9.03839720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.000385723 meters 0.01700418808093065 Centerline is valid? [True, True] Translation: X:-40.97, Y:-244.40, Z:-9.04 [[-6.84709007e-01 -7.28816525e-01 2.20468186e-04 -4.09718603e+01] [ 7.28816484e-01 -6.84709043e-01 -2.44362910e-04 -2.44403459e+02] [ 3.29052287e-04 -6.63663739e-06 9.99999946e-01 -9.03822507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.030385723 meters 0.017481630722922838 Centerline is valid? [True, True] Translation: X:-40.99, Y:-244.38, Z:-9.04 [[-6.86530749e-01 -7.27100684e-01 3.55221635e-04 -4.09906977e+01] [ 7.27100578e-01 -6.86530841e-01 -3.93503464e-04 -2.44383034e+02] [ 5.29987246e-04 -1.18703717e-05 9.99999860e-01 -9.03727667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.060385723 meters 0.017571237260240652 Centerline is valid? [True, True] Translation: X:-41.01, Y:-244.36, Z:-9.04 [[-6.87357348e-01 -7.26319310e-01 3.68910736e-04 -4.10106220e+01] [ 7.26319196e-01 -6.87357447e-01 -4.08442769e-04 -2.44363450e+02] [ 5.50233412e-04 -1.27991891e-05 9.99999849e-01 -9.03748935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0903857229999 meters 0.01788581396021764 Centerline is valid? [True, True] Translation: X:-41.03, Y:-244.35, Z:-9.04 [[-6.88328781e-01 -7.25398811e-01 2.32719419e-04 -4.10334512e+01] [ 7.25398765e-01 -6.88328821e-01 -2.57517642e-04 -2.44345822e+02] [ 3.46990474e-04 -8.44242544e-06 9.99999940e-01 -9.03862228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.120385723 meters 0.018171924539731918 Centerline is valid? [True, True] Translation: X:-41.05, Y:-244.33, Z:-9.04 [[-6.88526567e-01 -7.25211117e-01 4.57895761e-05 -4.10534651e+01] [ 7.25211115e-01 -6.88526569e-01 -5.06390474e-05 -2.44328136e+02] [ 6.82513401e-05 -1.65921987e-06 9.99999998e-01 -9.03926369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.150385723 meters 0.018061237773789224 Centerline is valid? [True, True] Translation: X:-41.07, Y:-244.31, Z:-9.04 [[-6.88427777e-01 -7.25304890e-01 -1.11896672e-04 -4.10739436e+01] [ 7.25304879e-01 -6.88427786e-01 1.23660891e-04 -2.44309544e+02] [-1.66724627e-04 3.97238988e-06 9.99999986e-01 -9.03931414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.180385723 meters 0.018117048547487427 Centerline is valid? [True, True] Translation: X:-41.09, Y:-244.29, Z:-9.04 [[-6.88117810e-01 -7.25598976e-01 7.41733663e-05 -4.10927566e+01] [ 7.25598972e-01 -6.88117814e-01 -8.19248319e-05 -2.44291554e+02] [ 1.10484589e-04 -2.55381759e-06 9.99999994e-01 -9.03877526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.210385723 meters 0.018094829839506218 Centerline is valid? [True, True] Translation: X:-41.11, Y:-244.27, Z:-9.04 [[-6.87907808e-01 -7.25798019e-01 2.88242686e-04 -4.11130817e+01] [ 7.25797949e-01 -6.87907868e-01 -3.18167032e-04 -2.44273193e+02] [ 4.29209413e-04 -9.66363551e-06 9.99999908e-01 -9.03903966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.240385723 meters 0.018366308390861265 Centerline is valid? [True, True] Translation: X:-41.13, Y:-244.25, Z:-9.04 [[-6.87963272e-01 -7.25745499e-01 8.47356764e-05 -4.11317673e+01] [ 7.25745493e-01 -6.87963277e-01 -9.34768918e-05 -2.44254655e+02] [ 1.26135467e-04 -2.81213312e-06 9.99999992e-01 -9.03872555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.270385723 meters 0.017214275895608394 Centerline is valid? [True, True] Translation: X:-41.15, Y:-244.24, Z:-9.04 [[-6.88037781e-01 -7.25674860e-01 -9.32202102e-05 -4.11542028e+01] [ 7.25674853e-01 -6.88037788e-01 1.02773982e-04 -2.44236818e+02] [-1.38719522e-04 3.06482024e-06 9.99999990e-01 -9.03841557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.300385723 meters 0.01707188784858569 Centerline is valid? [True, True] Translation: X:-41.18, Y:-244.22, Z:-9.04 [[-6.87366328e-01 -7.26310898e-01 1.02772021e-04 -4.11753631e+01] [ 7.26310890e-01 -6.87366335e-01 -1.13238160e-04 -2.44220106e+02] [ 1.52888137e-04 -3.19166030e-06 9.99999988e-01 -9.03941090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.330385723 meters 0.016926491574739494 Centerline is valid? [True, True] Translation: X:-41.20, Y:-244.20, Z:-9.04 [[-6.87098230e-01 -7.26564459e-01 3.30964225e-04 -4.11953699e+01] [ 7.26564368e-01 -6.87098309e-01 -3.64438722e-04 -2.44201289e+02] [ 4.92193183e-04 -9.93838771e-06 9.99999879e-01 -9.03963542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.360385723 meters 0.017204030609441933 Centerline is valid? [True, True] Translation: X:-41.21, Y:-244.18, Z:-9.04 [[-6.87183293e-01 -7.26483933e-01 -4.65603175e-04 -4.12140122e+01] [ 7.26483753e-01 -6.87183451e-01 5.12446581e-04 -2.44183281e+02] [-6.92239004e-04 1.38915868e-05 9.99999760e-01 -9.03864732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.390385723 meters 0.016489232271953033 Centerline is valid? [True, True] Translation: X:-41.23, Y:-244.16, Z:-9.04 [[-6.87526409e-01 -7.26159133e-01 -5.93023769e-04 -4.12349076e+01] [ 7.26158840e-01 -6.87526664e-01 6.52323828e-04 -2.44164567e+02] [-8.81410558e-04 1.78604067e-05 9.99999611e-01 -9.03850467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.420385723 meters 0.017257637612967832 Centerline is valid? [True, True] Translation: X:-41.25, Y:-244.15, Z:-9.04 [[-6.87930510e-01 -7.25776279e-01 -6.37465388e-04 -4.12545921e+01] [ 7.25775941e-01 -6.87930805e-01 7.00926004e-04 -2.44145282e+02] [-9.47247544e-04 1.95313421e-05 9.99999551e-01 -9.03841447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.450385723 meters 0.016013925675919624 Centerline is valid? [True, True] Translation: X:-41.28, Y:-244.13, Z:-9.04 [[-6.88107224e-01 -7.25608588e-01 -7.91281365e-04 -4.12772683e+01] [ 7.25608067e-01 -6.88107679e-01 8.69552801e-04 -2.44127959e+02] [-1.17544176e-03 2.41854227e-05 9.99999309e-01 -9.03857623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.480385723 meters 0.016514091644800326 Centerline is valid? [True, True] Translation: X:-41.30, Y:-244.11, Z:-9.04 [[-6.88262978e-01 -7.25460632e-01 -9.71835504e-04 -4.12960532e+01] [ 7.25459847e-01 -6.88263663e-01 1.06751972e-03 -2.44108031e+02] [-1.44332260e-03 2.97066666e-05 9.99998958e-01 -9.03868983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.510385723 meters 0.017674040513821664 Centerline is valid? [True, True] Translation: X:-41.31, Y:-244.09, Z:-9.04 [[-6.88132862e-01 -7.25584035e-01 -9.85953797e-04 -4.13149979e+01] [ 7.25583228e-01 -6.88133568e-01 1.08239823e-03 -2.44088930e+02] [-1.46383878e-03 2.94422533e-05 9.99998928e-01 -9.03833333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.540385723 meters 0.015858841122583664 Centerline is valid? [True, True] Translation: X:-41.34, Y:-244.07, Z:-9.04 [[-6.88183287e-01 -7.25534396e-01 -1.89845144e-03 -4.13394444e+01] [ 7.25531408e-01 -6.88185903e-01 2.08297313e-03 -2.44073420e+02] [-2.81775617e-03 5.60811447e-05 9.99996029e-01 -9.03765377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.570385723 meters 0.016614304665518057 Centerline is valid? [True, True] Translation: X:-41.36, Y:-244.05, Z:-9.04 [[-6.88536041e-01 -7.25198656e-01 -2.24268898e-03 -4.13572527e+01] [ 7.25194489e-01 -6.88539690e-01 2.45919595e-03 -2.44053584e+02] [-3.32758598e-03 6.68593530e-05 9.99994461e-01 -9.03702537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.600385723 meters 0.016161269113377435 Centerline is valid? [True, True] Translation: X:-41.38, Y:-244.04, Z:-9.04 [[-6.89869849e-01 -7.23932711e-01 -1.01052938e-03 -4.13805992e+01] [ 7.23931865e-01 -6.89870588e-01 1.10749067e-03 -2.44036519e+02] [-1.49888322e-03 3.24700049e-05 9.99998876e-01 -9.03818587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.630385723 meters 0.01631062291165865 Centerline is valid? [True, True] Translation: X:-41.40, Y:-244.02, Z:-9.04 [[-6.90735343e-01 -7.23107212e-01 -8.04442523e-04 -4.14016791e+01] [ 7.23106675e-01 -6.90735810e-01 8.81154677e-04 -2.44016808e+02] [-1.19282656e-03 2.69469192e-05 9.99999288e-01 -9.03892656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.660385723 meters 0.016268440459420518 Centerline is valid? [True, True] Translation: X:-41.42, Y:-244.00, Z:-9.04 [[-6.91974453e-01 -7.21921819e-01 -4.94246600e-04 -4.14229361e+01] [ 7.21921616e-01 -6.91974629e-01 5.41086183e-04 -2.43997244e+02] [-7.32628029e-04 1.76105113e-05 9.99999732e-01 -9.03952988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.690385723 meters 0.017304901707092556 Centerline is valid? [True, True] Translation: X:-41.44, Y:-243.98, Z:-9.04 [[-6.94118904e-01 -7.19860214e-01 -4.67927343e-04 -4.14428903e+01] [ 7.19860032e-01 -6.94119061e-01 5.12148959e-04 -2.43979014e+02] [-6.93472948e-04 1.86500818e-05 9.99999759e-01 -9.03957350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7203857229999 meters 0.017710907670712754 Centerline is valid? [True, True] Translation: X:-41.47, Y:-243.96, Z:-9.04 [[-6.97335687e-01 -7.16744538e-01 4.55678038e-04 -4.14655731e+01] [ 7.16744365e-01 -6.97335836e-01 -4.98479239e-04 -2.43960983e+02] [ 6.75042898e-04 -2.10026970e-05 9.99999772e-01 -9.04047578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.750385723 meters 0.018539192815290553 Centerline is valid? [True, True] Translation: X:-41.49, Y:-243.94, Z:-9.04 [[-6.98956745e-01 -7.15161866e-01 1.72440607e-03 -4.14854326e+01] [ 7.15159386e-01 -6.98958867e-01 -1.88533824e-03 -2.43941612e+02] [ 2.55361093e-03 -8.45446959e-05 9.99996736e-01 -9.04151059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.780385723 meters 0.02025229579307204 Centerline is valid? [True, True] Translation: X:-41.51, Y:-243.92, Z:-9.04 [[-7.01613822e-01 -7.12550381e-01 3.16219769e-03 -4.15058170e+01] [ 7.12542020e-01 -7.01620928e-01 -3.45590448e-03 -2.43923941e+02] [ 4.68117013e-03 -1.71511623e-04 9.99989029e-01 -9.04314703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.810385723 meters 0.020937832556274544 Centerline is valid? [True, True] Translation: X:-41.53, Y:-243.90, Z:-9.04 [[-7.02711796e-01 -7.11465134e-01 3.67358318e-03 -4.15250647e+01] [ 7.11453849e-01 -7.02721368e-01 -4.01248834e-03 -2.43904859e+02] [ 5.43625096e-03 -2.06037994e-04 9.99985202e-01 -9.04349878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8403857229999 meters 0.020360643437939516 Centerline is valid? [True, True] Translation: X:-41.55, Y:-243.89, Z:-9.04 [[-7.03752843e-01 -7.10433928e-01 3.94586811e-03 -4.15469738e+01] [ 7.10420905e-01 -7.03763868e-01 -4.30767351e-03 -2.43886190e+02] [ 5.83727682e-03 -2.28310288e-04 9.99982937e-01 -9.04357542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.870385723 meters 0.020376951350830837 Centerline is valid? [True, True] Translation: X:-41.57, Y:-243.87, Z:-9.04 [[-7.03924565e-01 -7.10259097e-01 4.71413284e-03 -4.15706443e+01] [ 7.10240524e-01 -7.03940297e-01 -5.14355884e-03 -2.43869858e+02] [ 6.97172753e-03 -2.72509240e-04 9.99975660e-01 -9.04411848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.900385723 meters 0.02103158163643077 Centerline is valid? [True, True] Translation: X:-41.59, Y:-243.85, Z:-9.05 [[-7.03727088e-01 -7.10453001e-01 4.97171564e-03 -4.15915874e+01] [ 7.10432371e-01 -7.03744593e-01 -5.42155023e-03 -2.43852537e+02] [ 7.35057463e-03 -2.83224023e-04 9.99972944e-01 -9.04535529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.930385723 meters 0.020121167118476824 Centerline is valid? [True, True] Translation: X:-41.62, Y:-243.84, Z:-9.05 [[-7.02599648e-01 -7.11557088e-01 6.34393844e-03 -4.16178747e+01] [ 7.11523578e-01 -7.02628204e-01 -6.91417006e-03 -2.43838327e+02] [ 9.37725679e-03 -3.44031675e-04 9.99955973e-01 -9.04768566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.960385723 meters 0.020258109531137956 Centerline is valid? [True, True] Translation: X:-41.64, Y:-243.82, Z:-9.05 [[-7.01110234e-01 -7.13018513e-01 7.00284184e-03 -4.16395272e+01] [ 7.12977794e-01 -7.01145116e-01 -7.62837533e-03 -2.43821334e+02] [ 1.03491812e-02 -3.55461286e-04 9.99946383e-01 -9.04774778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.990385723 meters 0.018956005287628763 Centerline is valid? [True, True] Translation: X:-41.66, Y:-243.80, Z:-9.05 [[-7.00243889e-01 -7.13874628e-01 6.44297950e-03 -4.16619897e+01] [ 7.13840229e-01 -7.00273459e-01 -7.01491263e-03 -2.43803163e+02] [ 9.51961569e-03 -3.12891736e-04 9.99954639e-01 -9.04683097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.020385723 meters 0.01987417269464123 Centerline is valid? [True, True] Translation: X:-41.68, Y:-243.79, Z:-9.05 [[-6.99647439e-01 -7.14455388e-01 6.85267482e-03 -4.16841505e+01] [ 7.14416546e-01 -6.99680924e-01 -7.45681082e-03 -2.43785880e+02] [ 1.01222445e-02 -3.21474329e-04 9.99948717e-01 -9.04802095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.050385723 meters 0.01717966207614863 Centerline is valid? [True, True] Translation: X:-41.71, Y:-243.77, Z:-9.05 [[-6.96321602e-01 -7.17701660e-01 6.36811108e-03 -4.17078301e+01] [ 7.17668290e-01 -6.96350675e-01 -6.92549957e-03 -2.43770748e+02] [ 9.40488099e-03 -2.52183567e-04 9.99955741e-01 -9.04685601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.080385723 meters 0.01635636839126495 Centerline is valid? [True, True] Translation: X:-41.73, Y:-243.75, Z:-9.05 [[-6.95009426e-01 -7.18971387e-01 6.48396747e-03 -4.17304619e+01] [ 7.18936883e-01 -6.95039631e-01 -7.04771838e-03 -2.43753578e+02] [ 9.57372222e-03 -2.36667350e-04 9.99954143e-01 -9.04713082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.110385723 meters 0.015474166906965387 Centerline is valid? [True, True] Translation: X:-41.75, Y:-243.74, Z:-9.05 [[-6.92650214e-01 -7.21245475e-01 6.37540988e-03 -4.17541153e+01] [ 7.21212249e-01 -6.92679525e-01 -6.92584090e-03 -2.43737413e+02] [ 9.41134731e-03 -1.99161485e-04 9.99955693e-01 -9.04758745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.140385723 meters 0.017823586334543468 Centerline is valid? [True, True] Translation: X:-41.77, Y:-243.72, Z:-9.05 [[-6.90954520e-01 -7.22857346e-01 7.68819057e-03 -4.17739474e+01] [ 7.22809165e-01 -6.90997260e-01 -8.34850282e-03 -2.43719289e+02] [ 1.13472952e-02 -2.11341156e-04 9.99935595e-01 -9.05049158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.170385723 meters 0.015682873621237815 Centerline is valid? [True, True] Translation: X:-41.80, Y:-243.70, Z:-9.05 [[-6.90050462e-01 -7.23720891e-01 7.64406020e-03 -4.17957550e+01] [ 7.23673365e-01 -6.90092772e-01 -8.29614871e-03 -2.43700509e+02] [ 1.12792068e-02 -1.92958477e-04 9.99936369e-01 -9.04908048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.200385723 meters 0.015682873621237815 Centerline is valid? [True, True] Translation: X:-41.81, Y:-243.68, Z:-9.05 [[-6.90255989e-01 -7.23524845e-01 7.64641627e-03 -4.18144648e+01] [ 7.23477331e-01 -6.90298313e-01 -8.29397721e-03 -2.43680271e+02] [ 1.12792068e-02 -1.92958602e-04 9.99936369e-01 -9.04908029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.230385723 meters 0.016067311261372418 Centerline is valid? [True, True] Translation: X:-41.84, Y:-243.66, Z:-9.05 [[-6.89882046e-01 -7.23876963e-01 8.05637065e-03 -4.18357771e+01] [ 7.23824300e-01 -6.89929058e-01 -8.73369856e-03 -2.43662135e+02] [ 1.18804474e-02 -1.93824987e-04 9.99929406e-01 -9.05030994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.260385723 meters 0.015259204440261187 Centerline is valid? [True, True] Translation: X:-41.85, Y:-243.64, Z:-9.05 [[-6.90119042e-01 -7.23660112e-01 7.19377905e-03 -4.18539997e+01] [ 7.23618159e-01 -6.90156513e-01 -7.79400112e-03 -2.43642072e+02] [ 1.06050412e-02 -1.73239427e-04 9.99943750e-01 -9.04997163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.290385723 meters 0.015238520996968149 Centerline is valid? [True, True] Translation: X:-41.88, Y:-243.62, Z:-9.05 [[-6.91885336e-01 -7.21975930e-01 6.74080681e-03 -4.18754179e+01] [ 7.21939053e-01 -6.91918147e-01 -7.29937666e-03 -2.43622644e+02] [ 9.93406081e-03 -1.83879985e-04 9.99950639e-01 -9.04962523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.320385723 meters 0.016176910760333927 Centerline is valid? [True, True] Translation: X:-41.89, Y:-243.60, Z:-9.05 [[-6.93069072e-01 -7.20837699e-01 6.94794185e-03 -4.18931199e+01] [ 7.20798502e-01 -6.93103867e-01 -7.51990735e-03 -2.43601307e+02] [ 1.02362781e-02 -2.03749128e-04 9.99947587e-01 -9.05048049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.350385723 meters 0.016130849893275543 Centerline is valid? [True, True] Translation: X:-41.91, Y:-243.58, Z:-9.05 [[-6.94793344e-01 -7.19175485e-01 6.98798244e-03 -4.19133715e+01] [ 7.19135791e-01 -6.94828447e-01 -7.55931611e-03 -2.43580905e+02] [ 1.02919238e-02 -2.26854235e-04 9.99947011e-01 -9.05058233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.380385723 meters 0.016718242728256668 Centerline is valid? [True, True] Translation: X:-41.93, Y:-243.56, Z:-9.05 [[-6.95314887e-01 -7.18674009e-01 6.69910615e-03 -4.19305824e+01] [ 7.18637538e-01 -6.95347122e-01 -7.24358752e-03 -2.43560681e+02] [ 9.86398226e-03 -2.22345082e-04 9.99951325e-01 -9.05123306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.410385723 meters 0.019207665831866186 Centerline is valid? [True, True] Translation: X:-41.95, Y:-243.54, Z:-9.05 [[-6.96563951e-01 -7.17458218e-01 7.23659835e-03 -4.19467809e+01] [ 7.17415641e-01 -6.96601493e-01 -7.82029647e-03 -2.43538732e+02] [ 1.06517612e-02 -2.55687759e-04 9.99943236e-01 -9.05359039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.440385723 meters 0.021551434287687514 Centerline is valid? [True, True] Translation: X:-41.97, Y:-243.52, Z:-9.05 [[-6.97558230e-01 -7.16484884e-01 7.86938724e-03 -4.19665827e+01] [ 7.16434527e-01 -6.97602556e-01 -8.49955481e-03 -2.43518633e+02] [ 1.15795072e-02 -2.91033684e-04 9.99932913e-01 -9.05486971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4703857229999 meters 0.01655852053784187 Centerline is valid? [True, True] Translation: X:-41.99, Y:-243.50, Z:-9.05 [[-6.98097797e-01 -7.15985020e-01 4.99172175e-03 -4.19872073e+01] [ 7.15964768e-01 -6.98115618e-01 -5.38841561e-03 -2.43499698e+02] [ 7.34282377e-03 -1.87744160e-04 9.99973024e-01 -9.05184722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.500385723 meters 0.01841551760261466 Centerline is valid? [True, True] Translation: X:-42.00, Y:-243.48, Z:-9.05 [[-6.98379197e-01 -7.15711680e-01 4.82589129e-03 -4.20045198e+01] [ 7.15692767e-01 -6.98395846e-01 -5.20631216e-03 -2.43478644e+02] [ 7.09660085e-03 -1.82124614e-04 9.99974802e-01 -9.05353517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.530385723 meters 0.017317178188452128 Centerline is valid? [True, True] Translation: X:-42.02, Y:-243.46, Z:-9.05 [[-6.97302743e-01 -7.16764873e-01 4.12342969e-03 -4.20248367e+01] [ 7.16751098e-01 -6.97314919e-01 -4.44606994e-03 -2.43459430e+02] [ 6.06211579e-03 -1.44784005e-04 9.99981615e-01 -9.05451643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.560385723 meters 0.017230330843388323 Centerline is valid? [True, True] Translation: X:-42.04, Y:-243.44, Z:-9.06 [[-6.96577981e-01 -7.17468757e-01 4.20708647e-03 -4.20432263e+01] [ 7.17454448e-01 -6.96590671e-01 -4.53337546e-03 -2.43440586e+02] [ 6.18317245e-03 -1.39456626e-04 9.99980874e-01 -9.05560058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5903857229999 meters 0.016227029765164297 Centerline is valid? [True, True] Translation: X:-42.06, Y:-243.42, Z:-9.06 [[-6.95558975e-01 -7.18460271e-01 3.54281357e-03 -4.20639451e+01] [ 7.18450147e-01 -6.95567989e-01 -3.81554124e-03 -2.43420869e+02] [ 5.20558251e-03 -1.08599028e-04 9.99986445e-01 -9.05612265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.620385723 meters 0.016131305825922475 Centerline is valid? [True, True] Translation: X:-42.08, Y:-243.40, Z:-9.06 [[-6.95597054e-01 -7.18426002e-01 2.96950722e-03 -4.20824760e+01] [ 7.18418898e-01 -6.95603387e-01 -3.19630147e-03 -2.43399881e+02] [ 4.36190537e-03 -8.99877831e-05 9.99990483e-01 -9.05584890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.650385723 meters 0.01703884186687372 Centerline is valid? [True, True] Translation: X:-42.10, Y:-243.38, Z:-9.06 [[-6.96373596e-01 -7.17675793e-01 2.29597942e-03 -4.20997238e+01] [ 7.17671546e-01 -6.96377377e-01 -2.46993471e-03 -2.43378194e+02] [ 3.37148048e-03 -7.22382149e-05 9.99994314e-01 -9.05665747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.680385723 meters 0.017257897932815625 Centerline is valid? [True, True] Translation: X:-42.12, Y:-243.36, Z:-9.06 [[-6.96664073e-01 -7.17395003e-01 1.89194573e-03 -4.21174733e+01] [ 7.17392120e-01 -6.96666640e-01 -2.03444787e-03 -2.43358340e+02] [ 2.77755821e-03 -6.00597839e-05 9.99996141e-01 -9.05748911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.710385723 meters 0.01682549174031572 Centerline is valid? [True, True] Translation: X:-42.13, Y:-243.34, Z:-9.06 [[-6.96813794e-01 -7.17251421e-01 9.66830258e-04 -4.21346078e+01] [ 7.17250670e-01 -6.96814464e-01 -1.03903931e-03 -2.43337391e+02] [ 1.41895373e-03 -3.05572718e-05 9.99998993e-01 -9.05747196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.740385723 meters 0.01633081431060356 Centerline is valid? [True, True] Translation: X:-42.15, Y:-243.32, Z:-9.06 [[-6.96762479e-01 -7.17301857e-01 3.07258774e-04 -4.21535323e+01] [ 7.17301781e-01 -6.96762547e-01 -3.30022713e-04 -2.43317012e+02] [ 4.50812311e-04 -9.55017807e-06 9.99999898e-01 -9.05741237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.770385723 meters 0.016271872819526773 Centerline is valid? [True, True] Translation: X:-42.17, Y:-243.30, Z:-9.06 [[-6.96510878e-01 -7.17546047e-01 -5.17427879e-04 -4.21695436e+01] [ 7.17545832e-01 -6.96511070e-01 5.55428904e-04 -2.43295270e+02] [-7.58940060e-04 1.55840556e-05 9.99999712e-01 -9.05655852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.800385723 meters 0.016474706573984307 Centerline is valid? [True, True] Translation: X:-42.19, Y:-243.27, Z:-9.06 [[-6.96946884e-01 -7.17121763e-01 -1.19109285e-03 -4.21874606e+01] [ 7.17120625e-01 -6.96947900e-01 1.27786218e-03 -2.43273398e+02] [-1.74651244e-03 3.64448141e-05 9.99998474e-01 -9.05654238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.830385723 meters 0.016708309483400078 Centerline is valid? [True, True] Translation: X:-42.20, Y:-243.25, Z:-9.06 [[-6.97280343e-01 -7.16797579e-01 -1.16403815e-03 -4.22039989e+01] [ 7.16796492e-01 -6.97281314e-01 1.24833112e-03 -2.43252347e+02] [-1.70646278e-03 3.60582886e-05 9.99998543e-01 -9.05681672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.860385723 meters 0.016973869679779166 Centerline is valid? [True, True] Translation: X:-42.22, Y:-243.23, Z:-9.06 [[-6.98239278e-01 -7.15863540e-01 -1.14141679e-03 -4.22200221e+01] [ 7.15862496e-01 -6.98240210e-01 1.22340086e-03 -2.43229404e+02] [-1.67277117e-03 3.71290566e-05 9.99998600e-01 -9.05750081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.890385723 meters 0.016947312173399558 Centerline is valid? [True, True] Translation: X:-42.24, Y:-243.21, Z:-9.06 [[-6.99236324e-01 -7.14890270e-01 -6.81144851e-04 -4.22368866e+01] [ 7.14889898e-01 -6.99236656e-01 7.29683048e-04 -2.43206690e+02] [-9.97924759e-04 2.32773194e-05 9.99999502e-01 -9.05868157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.920385723 meters 0.01699673599568603 Centerline is valid? [True, True] Translation: X:-42.25, Y:-243.19, Z:-9.06 [[-6.99928027e-01 -7.14213176e-01 -5.44645550e-04 -4.22548879e+01] [ 7.14212938e-01 -6.99928239e-01 5.83131927e-04 -2.43185260e+02] [-7.97693306e-04 1.91574807e-05 9.99999682e-01 -9.05927267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.950385723 meters 0.019499795924106188 Centerline is valid? [True, True] Translation: X:-42.27, Y:-243.16, Z:-9.06 [[-7.00843426e-01 -7.13315135e-01 1.02794381e-04 -4.22706970e+01] [ 7.13315127e-01 -7.00843433e-01 -1.10006798e-04 -2.43162558e+02] [ 1.50512281e-04 -3.77275412e-06 9.99999989e-01 -9.06182153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.980385723 meters 0.01775060265438824 Centerline is valid? [True, True] Translation: X:-42.29, Y:-243.14, Z:-9.06 [[-7.00846027e-01 -7.13312564e-01 -1.80863284e-04 -4.22890103e+01] [ 7.13312538e-01 -7.00846050e-01 1.93441112e-04 -2.43140798e+02] [-2.64741293e-04 6.56038692e-06 9.99999965e-01 -9.06072707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.010385723 meters 0.016987574286509693 Centerline is valid? [True, True] Translation: X:-42.31, Y:-243.12, Z:-9.06 [[-7.00892274e-01 -7.13266895e-01 -5.97313183e-04 -4.23061202e+01] [ 7.13266609e-01 -7.00892529e-01 6.38503300e-04 -2.43119018e+02] [-8.74075613e-04 2.14784810e-05 9.99999618e-01 -9.06017384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.040385723 meters 0.017807489838348924 Centerline is valid? [True, True] Translation: X:-42.32, Y:-243.10, Z:-9.06 [[-7.00723571e-01 -7.13432580e-01 -6.56271803e-04 -4.23222270e+01] [ 7.13432236e-01 -7.00723878e-01 7.01244115e-04 -2.43096602e+02] [-9.60155721e-04 2.31728212e-05 9.99999539e-01 -9.05964599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.070385723 meters 0.017874347619390645 Centerline is valid? [True, True] Translation: X:-42.34, Y:-243.07, Z:-9.06 [[-7.01203618e-01 -7.12960952e-01 -4.08736310e-04 -4.23390871e+01] [ 7.12960819e-01 -7.01203737e-01 4.36481611e-04 -2.43074683e+02] [-5.97801772e-04 1.46495100e-05 9.99999821e-01 -9.06093805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.100385723 meters 0.016688120716953206 Centerline is valid? [True, True] Translation: X:-42.36, Y:-243.06, Z:-9.06 [[-7.01486490e-01 -7.12682688e-01 -3.02114142e-04 -4.23593130e+01] [ 7.12682615e-01 -7.01486555e-01 3.22438805e-04 -2.43055370e+02] [-4.41725563e-04 1.08749691e-05 9.99999902e-01 -9.06167837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.130385723 meters 0.016735562493025963 Centerline is valid? [True, True] Translation: X:-42.38, Y:-243.03, Z:-9.06 [[-7.01873202e-01 -7.12301850e-01 2.86181201e-04 -4.23773624e+01] [ 7.12301785e-01 -7.01873261e-01 -3.05266709e-04 -2.43033544e+02] [ 4.18304975e-04 -1.04111420e-05 9.99999913e-01 -9.06222292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.160385723 meters 0.017308862767847016 Centerline is valid? [True, True] Translation: X:-42.39, Y:-243.01, Z:-9.06 [[-7.02602484e-01 -7.11582265e-01 6.55557158e-04 -4.23919084e+01] [ 7.11581922e-01 -7.02602790e-01 -6.98921570e-04 -2.43010301e+02] [ 9.57936482e-04 -2.45814085e-05 9.99999541e-01 -9.06242060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.190385723 meters 0.017703275542076406 Centerline is valid? [True, True] Translation: X:-42.41, Y:-242.99, Z:-9.06 [[-7.02960247e-01 -7.11228837e-01 6.57235807e-04 -4.24086600e+01] [ 7.11228493e-01 -7.02960554e-01 -7.00303381e-04 -2.42989098e+02] [ 9.60086806e-04 -2.48406055e-05 9.99999539e-01 -9.06252547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2203857229999 meters 0.017558958529363303 Centerline is valid? [True, True] Translation: X:-42.43, Y:-242.97, Z:-9.06 [[-7.02549391e-01 -7.11633016e-01 1.67471268e-03 -4.24254694e+01] [ 7.11630783e-01 -7.02551384e-01 -1.78347978e-03 -2.42966460e+02] [ 2.44575480e-03 -6.12055372e-05 9.99997007e-01 -9.06293931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.250385723 meters 0.01707082240427981 Centerline is valid? [True, True] Translation: X:-42.44, Y:-242.95, Z:-9.06 [[-7.02037665e-01 -7.12137232e-01 1.91826978e-03 -4.24434116e+01] [ 7.12134308e-01 -7.02040283e-01 -2.04173161e-03 -2.42945404e+02] [ 2.80069576e-03 -6.73067687e-05 9.99996076e-01 -9.06296124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.280385723 meters 0.016039719187663972 Centerline is valid? [True, True] Translation: X:-42.46, Y:-242.92, Z:-9.06 [[-7.00559795e-01 -7.13589546e-01 2.43569469e-03 -4.24623765e+01] [ 7.13584847e-01 -7.00564025e-01 -2.59103893e-03 -2.42924324e+02] [ 3.55529837e-03 -7.71028783e-05 9.99993677e-01 -9.06297748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.310385723 meters 0.0160157554987827 Centerline is valid? [True, True] Translation: X:-42.48, Y:-242.90, Z:-9.06 [[-6.99763647e-01 -7.14370434e-01 2.39212900e-03 -4.24797855e+01] [ 7.14365910e-01 -6.99767732e-01 -2.54322636e-03 -2.42903706e+02] [ 3.49074040e-03 -7.08019425e-05 9.99993905e-01 -9.06321280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3403857229999 meters 0.015937943682253347 Centerline is valid? [True, True] Translation: X:-42.50, Y:-242.88, Z:-9.06 [[-6.98977738e-01 -7.15139601e-01 2.33937411e-03 -4.24968996e+01] [ 7.15135284e-01 -6.98981650e-01 -2.48572038e-03 -2.42883090e+02] [ 3.41281666e-03 -6.44942370e-05 9.99994174e-01 -9.06233045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.370385723 meters 0.015534555829403118 Centerline is valid? [True, True] Translation: X:-42.51, Y:-242.86, Z:-9.06 [[-6.97453933e-01 -7.16626842e-01 1.99535972e-03 -4.25144133e+01] [ 7.16623710e-01 -6.97456785e-01 -2.11904486e-03 -2.42860750e+02] [ 2.91024161e-03 -4.80140846e-05 9.99995764e-01 -9.06132237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.400385723 meters 0.015284876302722376 Centerline is valid? [True, True] Translation: X:-42.53, Y:-242.84, Z:-9.06 [[-6.96642422e-01 -7.17414275e-01 2.46858871e-03 -4.25318849e+01] [ 7.17409493e-01 -6.96646793e-01 -2.62014029e-03 -2.42839161e+02] [ 3.59946046e-03 -5.43119049e-05 9.99993521e-01 -9.06207013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.430385723 meters 0.015332450331589179 Centerline is valid? [True, True] Translation: X:-42.55, Y:-242.82, Z:-9.06 [[-6.96123871e-01 -7.17913388e-01 3.45312374e-03 -4.25491051e+01] [ 7.17904043e-01 -6.96132432e-01 -3.66361824e-03 -2.42818192e+02] [ 5.03399200e-03 -7.13206172e-05 9.99987327e-01 -9.06282587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.460385723 meters 0.015064791766661291 Centerline is valid? [True, True] Translation: X:-42.57, Y:-242.80, Z:-9.06 [[-6.95373922e-01 -7.18637835e-01 3.84333421e-03 -4.25670491e+01] [ 7.18626283e-01 -6.95384539e-01 -4.07535702e-03 -2.42796313e+02] [ 5.60130093e-03 -7.19760206e-05 9.99984310e-01 -9.06322088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.490385723 meters 0.014870849175282962 Centerline is valid? [True, True] Translation: X:-42.58, Y:-242.77, Z:-9.06 [[-6.93809009e-01 -7.20146455e-01 4.25941226e-03 -4.25823851e+01] [ 7.20132306e-01 -6.93822081e-01 -4.51472410e-03 -2.42772990e+02] [ 6.20653683e-03 -6.50158854e-05 9.99980737e-01 -9.06361862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.520385723 meters 0.014817769298228967 Centerline is valid? [True, True] Translation: X:-42.60, Y:-242.75, Z:-9.06 [[-6.93237366e-01 -7.20694626e-01 4.60556934e-03 -4.25992526e+01] [ 7.20678109e-01 -6.93252661e-01 -4.87967576e-03 -2.42751893e+02] [ 6.70957929e-03 -6.36405679e-05 9.99977489e-01 -9.06374602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.550385723 meters 0.014653798450945424 Centerline is valid? [True, True] Translation: X:-42.62, Y:-242.73, Z:-9.06 [[-6.92355439e-01 -7.21541141e-01 4.72537186e-03 -4.26162407e+01] [ 7.21523793e-01 -6.92371562e-01 -5.00373300e-03 -2.42729755e+02] [ 6.88211231e-03 -5.48935316e-05 9.99976317e-01 -9.06382338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.580385723 meters 0.014600441857707563 Centerline is valid? [True, True] Translation: X:-42.63, Y:-242.71, Z:-9.06 [[-6.92274397e-01 -7.21617662e-01 4.91004031e-03 -4.26334010e+01] [ 7.21598956e-01 -6.92291808e-01 -5.19613347e-03 -2.42708845e+02] [ 7.14880236e-03 -5.40702059e-05 9.99974446e-01 -9.06411735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.610385723 meters 0.014748918831343728 Centerline is valid? [True, True] Translation: X:-42.65, Y:-242.69, Z:-9.06 [[-6.92547156e-01 -7.21348625e-01 5.88198751e-03 -4.26463437e+01] [ 7.21321804e-01 -6.92572131e-01 -6.22076281e-03 -2.42685586e+02] [ 8.56103932e-03 -6.53657504e-05 9.99963352e-01 -9.06397207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.640385723 meters 0.014750478504425929 Centerline is valid? [True, True] Translation: X:-42.66, Y:-242.66, Z:-9.06 [[-6.93119493e-01 -7.20793621e-01 6.47486411e-03 -4.26621712e+01] [ 7.20761136e-01 -6.93149731e-01 -6.84359921e-03 -2.42663471e+02] [ 9.42087297e-03 -7.66016100e-05 9.99955620e-01 -9.06323850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.670385723 meters 0.014784320801755678 Centerline is valid? [True, True] Translation: X:-42.68, Y:-242.64, Z:-9.06 [[-6.93831640e-01 -7.20101831e-01 7.14199826e-03 -4.26759844e+01] [ 7.20062313e-01 -6.93868391e-01 -7.54460031e-03 -2.42638233e+02] [ 1.03884873e-02 -9.19986161e-05 9.99946034e-01 -9.06241065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.700385723 meters 0.014793388076414593 Centerline is valid? [True, True] Translation: X:-42.69, Y:-242.62, Z:-9.06 [[-6.94530065e-01 -7.19427707e-01 7.19471055e-03 -4.26931142e+01] [ 7.19387611e-01 -6.94567322e-01 -7.59606069e-03 -2.42615513e+02] [ 1.04620274e-02 -9.99068859e-05 9.99945267e-01 -9.06141924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.730385723 meters 0.015296630506119475 Centerline is valid? [True, True] Translation: X:-42.71, Y:-242.59, Z:-9.06 [[-6.95508116e-01 -7.18473848e-01 7.98693882e-03 -4.27060782e+01] [ 7.18424430e-01 -6.95553963e-01 -8.42754333e-03 -2.42591046e+02] [ 1.16103164e-02 -1.23412812e-04 9.99932590e-01 -9.06165336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.760385723 meters 0.015788188680080063 Centerline is valid? [True, True] Translation: X:-42.72, Y:-242.57, Z:-9.06 [[-6.96433453e-01 -7.17575531e-01 8.11186571e-03 -4.27216903e+01] [ 7.17524558e-01 -6.96480680e-01 -8.55397831e-03 -2.42569108e+02] [ 1.17878833e-02 -1.36813794e-04 9.99930511e-01 -9.06257256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.790385723 meters 0.015448119980676148 Centerline is valid? [True, True] Translation: X:-42.74, Y:-242.55, Z:-9.06 [[-6.97560352e-01 -7.16479717e-01 8.14682986e-03 -4.27394169e+01] [ 7.16428291e-01 -6.97607907e-01 -8.58557862e-03 -2.42548085e+02] [ 1.18346859e-02 -1.52339854e-04 9.99929956e-01 -9.06157375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.820385723 meters 0.015817974248900274 Centerline is valid? [True, True] Translation: X:-42.75, Y:-242.52, Z:-9.06 [[-6.99381024e-01 -7.14705533e-01 7.88571532e-03 -4.27532219e+01] [ 7.14657290e-01 -6.99425458e-01 -8.30585741e-03 -2.42522987e+02] [ 1.14517123e-02 -1.73375126e-04 9.99934412e-01 -9.06084328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.850385723 meters 0.015761686001955343 Centerline is valid? [True, True] Translation: X:-42.77, Y:-242.50, Z:-9.06 [[-7.00153021e-01 -7.13944971e-01 8.26591185e-03 -4.27693632e+01] [ 7.13891969e-01 -7.00201786e-01 -8.70149622e-03 -2.42499778e+02] [ 1.20001957e-02 -1.91410782e-04 9.99927977e-01 -9.05930211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.880385723 meters 0.015748736403889546 Centerline is valid? [True, True] Translation: X:-42.78, Y:-242.47, Z:-9.06 [[-7.00632695e-01 -7.13471165e-01 8.52782478e-03 -4.27836958e+01] [ 7.13414777e-01 -7.00684563e-01 -8.97216996e-03 -2.42474919e+02] [ 1.23766997e-02 -2.02319409e-04 9.99923385e-01 -9.05733467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.910385723 meters 0.01647846515606123 Centerline is valid? [True, True] Translation: X:-42.80, Y:-242.45, Z:-9.06 [[-7.01043605e-01 -7.13069315e-01 8.36753045e-03 -4.27996801e+01] [ 7.13015062e-01 -7.01093511e-01 -8.79831198e-03 -2.42453118e+02] [ 1.21402276e-02 -2.01825104e-04 9.99926284e-01 -9.05871858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.940385723 meters 0.015977919523549215 Centerline is valid? [True, True] Translation: X:-42.82, Y:-242.43, Z:-9.06 [[-7.01855565e-01 -7.12277913e-01 7.67724783e-03 -4.28175950e+01] [ 7.12232245e-01 -7.01897526e-01 -8.06802390e-03 -2.42430936e+02] [ 1.11353165e-02 -1.94604024e-04 9.99937982e-01 -9.05721737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9703857229999 meters 0.01646503733871148 Centerline is valid? [True, True] Translation: X:-42.83, Y:-242.41, Z:-9.06 [[-7.02022543e-01 -7.12117628e-01 7.26857317e-03 -4.28339662e+01] [ 7.12076717e-01 -7.02060147e-01 -7.63545916e-03 -2.42408966e+02] [ 1.05403206e-02 -1.84482745e-04 9.99944432e-01 -9.05707069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.000385723 meters 0.016076377710559663 Centerline is valid? [True, True] Translation: X:-42.85, Y:-242.39, Z:-9.06 [[-7.01762922e-01 -7.12375246e-01 7.09291255e-03 -4.28501241e+01] [ 7.12336348e-01 -7.01798745e-01 -7.44636262e-03 -2.42387030e+02] [ 1.02824015e-02 -1.73041767e-04 9.99947120e-01 -9.05513058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.030385723 meters 0.016054313914629827 Centerline is valid? [True, True] Translation: X:-42.87, Y:-242.37, Z:-9.05 [[-7.01543423e-01 -7.12583311e-01 7.86454336e-03 -4.28674642e+01] [ 7.12535560e-01 -7.01587479e-01 -8.25141413e-03 -2.42365213e+02] [ 1.13974852e-02 -1.84958503e-04 9.99935030e-01 -9.05456180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.060385723 meters 0.015929143416396375 Centerline is valid? [True, True] Translation: X:-42.88, Y:-242.34, Z:-9.05 [[-7.01254856e-01 -7.12860558e-01 8.45285451e-03 -4.28838234e+01] [ 7.12805481e-01 -7.01305774e-01 -8.86326331e-03 -2.42343051e+02] [ 1.22463065e-02 -1.90165413e-04 9.99924993e-01 -9.05355773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0903857229999 meters 0.016051194080657496 Centerline is valid? [True, True] Translation: X:-42.90, Y:-242.32, Z:-9.05 [[-7.00933233e-01 -7.13174258e-01 8.66489861e-03 -4.29025563e+01] [ 7.13116476e-01 -7.00986764e-01 -9.08010990e-03 -2.42323129e+02] [ 1.25496799e-02 -1.85468824e-04 9.99921233e-01 -9.05442857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.120385723 meters 0.016051194080657496 Centerline is valid? [True, True] Translation: X:-42.92, Y:-242.30, Z:-9.05 [[-7.01149080e-01 -7.12962019e-01 8.66764699e-03 -4.29211127e+01] [ 7.12904253e-01 -7.01202628e-01 -9.07748640e-03 -2.42303830e+02] [ 1.25496799e-02 -1.85468829e-04 9.99921233e-01 -9.05442838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.150385723 meters 0.01549840308758798 Centerline is valid? [True, True] Translation: X:-42.94, Y:-242.28, Z:-9.06 [[-7.00299885e-01 -7.13787686e-01 9.33863905e-03 -4.29423997e+01] [ 7.13720776e-01 -7.00362125e-01 -9.77482706e-03 -2.42284777e+02] [ 1.35175803e-02 -1.80129557e-04 9.99908617e-01 -9.05510667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.180385723 meters 0.015433169102842967 Centerline is valid? [True, True] Translation: X:-42.96, Y:-242.27, Z:-9.06 [[-7.00120352e-01 -7.13966914e-01 9.09607300e-03 -4.29602567e+01] [ 7.13903510e-01 -7.00179418e-01 -9.51639180e-03 -2.42266118e+02] [ 1.31632720e-02 -1.68901129e-04 9.99913346e-01 -9.05525588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.210385723 meters 0.015335390682968658 Centerline is valid? [True, True] Translation: X:-42.98, Y:-242.25, Z:-9.05 [[-7.00053154e-01 -7.14025701e-01 9.63738454e-03 -4.29788012e+01] [ 7.13954617e-01 -7.00119467e-01 -1.00765352e-02 -2.42246067e+02] [ 1.39422256e-02 -1.73455064e-04 9.99902787e-01 -9.05435795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.240385723 meters 0.015883174176132785 Centerline is valid? [True, True] Translation: X:-43.00, Y:-242.23, Z:-9.05 [[-7.00170724e-01 -7.13906226e-01 9.94275076e-03 -4.29950251e+01] [ 7.13830650e-01 -7.00241294e-01 -1.03891351e-02 -2.42225525e+02] [ 1.43791929e-02 -1.76728034e-04 9.99896599e-01 -9.05412799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.270385723 meters 0.015484112425360274 Centerline is valid? [True, True] Translation: X:-43.02, Y:-242.21, Z:-9.05 [[-6.99934965e-01 -7.14134970e-01 1.01138396e-02 -4.30161790e+01] [ 7.14056887e-01 -7.00008011e-01 -1.05615480e-02 -2.42207626e+02] [ 1.46221395e-02 -1.70539894e-04 9.99893076e-01 -9.05288507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.300385723 meters 0.015101777652806346 Centerline is valid? [True, True] Translation: X:-43.04, Y:-242.19, Z:-9.05 [[-6.99786269e-01 -7.14285082e-01 9.79791145e-03 -4.30376127e+01] [ 7.14211891e-01 -6.99854839e-01 -1.02263525e-02 -2.42188592e+02] [ 1.41616468e-02 -1.58476210e-04 9.99899706e-01 -9.05234727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.330385723 meters 0.015045701188480582 Centerline is valid? [True, True] Translation: X:-43.06, Y:-242.17, Z:-9.05 [[-6.99743514e-01 -7.14319223e-01 1.03471240e-02 -4.30595999e+01] [ 7.14237688e-01 -6.99819992e-01 -1.07936553e-02 -2.42170381e+02] [ 1.49512397e-02 -1.62484387e-04 9.99888211e-01 -9.05342043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.360385723 meters 0.01477140099681799 Centerline is valid? [True, True] Translation: X:-43.08, Y:-242.15, Z:-9.05 [[-6.99901283e-01 -7.14163729e-01 1.04097292e-02 -4.30806043e+01] [ 7.14081280e-01 -6.99978673e-01 -1.08528179e-02 -2.42150914e+02] [ 1.50372774e-02 -1.62508400e-04 9.99886921e-01 -9.05288493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.390385723 meters 0.01498965729769605 Centerline is valid? [True, True] Translation: X:-43.10, Y:-242.13, Z:-9.05 [[-6.99883397e-01 -7.14185268e-01 1.01308698e-02 -4.30995049e+01] [ 7.14107271e-01 -6.99956699e-01 -1.05558396e-02 -2.42132063e+02] [ 1.46299953e-02 -1.53329099e-04 9.99892964e-01 -9.05313965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.420385723 meters 0.014732742843825489 Centerline is valid? [True, True] Translation: X:-43.12, Y:-242.11, Z:-9.05 [[-6.99480086e-01 -7.14577772e-01 1.03061847e-02 -4.31201351e+01] [ 7.14497184e-01 -6.99555993e-01 -1.07325169e-02 -2.42112321e+02] [ 1.48789713e-02 -1.43441886e-04 9.99889292e-01 -9.05223045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.450385723 meters 0.01484153382301802 Centerline is valid? [True, True] Translation: X:-43.14, Y:-242.09, Z:-9.05 [[-6.99250181e-01 -7.14803141e-01 1.02787762e-02 -4.31396010e+01] [ 7.14723070e-01 -6.99325712e-01 -1.06996151e-02 -2.42093177e+02] [ 1.48363310e-02 -1.35229348e-04 9.99889927e-01 -9.05251310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.480385723 meters 0.014737745599484717 Centerline is valid? [True, True] Translation: X:-43.16, Y:-242.08, Z:-9.05 [[-6.98783023e-01 -7.15260795e-01 1.02118648e-02 -4.31603191e+01] [ 7.15181908e-01 -6.98857626e-01 -1.06234236e-02 -2.42075171e+02] [ 1.47351580e-02 -1.20127099e-04 9.99891425e-01 -9.05229234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.510385723 meters 0.014703211542786762 Centerline is valid? [True, True] Translation: X:-43.18, Y:-242.06, Z:-9.05 [[-6.98534707e-01 -7.15502420e-01 1.02737559e-02 -4.31798345e+01] [ 7.15422698e-01 -6.98610245e-01 -1.06812251e-02 -2.42055857e+02] [ 1.48197936e-02 -1.11128282e-04 9.99890175e-01 -9.05188456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.540385723 meters 0.01466634150311645 Centerline is valid? [True, True] Translation: X:-43.20, Y:-242.04, Z:-9.05 [[-6.97997017e-01 -7.16016389e-01 1.09861194e-02 -4.31990436e+01] [ 7.15925407e-01 -6.98083463e-01 -1.14144783e-02 -2.42037383e+02] [ 1.58421819e-02 -1.02029795e-04 9.99874500e-01 -9.05214977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.570385723 meters 0.014875786786257181 Centerline is valid? [True, True] Translation: X:-43.22, Y:-242.02, Z:-9.05 [[-6.97926458e-01 -7.16087934e-01 1.08041159e-02 -4.32177665e+01] [ 7.16000063e-01 -6.98010073e-01 -1.12182306e-02 -2.42018856e+02] [ 1.55746213e-02 -9.37522595e-05 9.99878704e-01 -9.05324876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.600385723 meters 0.014564117391210047 Centerline is valid? [True, True] Translation: X:-43.24, Y:-242.00, Z:-9.05 [[-6.97712994e-01 -7.16301012e-01 1.04612282e-02 -4.32376041e+01] [ 7.16218752e-01 -6.97791411e-01 -1.08556730e-02 -2.42000231e+02] [ 1.50756847e-02 -8.16162667e-05 9.99886352e-01 -9.05219950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.630385723 meters 0.014572300298228768 Centerline is valid? [True, True] Translation: X:-43.26, Y:-241.98, Z:-9.05 [[-6.97699388e-01 -7.16312923e-01 1.05527874e-02 -4.32558072e+01] [ 7.16229295e-01 -6.97779185e-01 -1.09455969e-02 -2.41981548e+02] [ 1.52039879e-02 -7.85208014e-05 9.99884410e-01 -9.05231647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.660385723 meters 0.014592606076033948 Centerline is valid? [True, True] Translation: X:-43.27, Y:-241.96, Z:-9.05 [[-6.98700451e-01 -7.15336881e-01 1.05274696e-02 -4.32749687e+01] [ 7.15253643e-01 -6.98779749e-01 -1.09127578e-02 -2.41962297e+02] [ 1.51626807e-02 -9.49377837e-05 9.99885036e-01 -9.05132755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.690385723 meters 0.01467166039105594 Centerline is valid? [True, True] Translation: X:-43.29, Y:-241.94, Z:-9.05 [[-6.99633393e-01 -7.14429266e-01 1.01950853e-02 -4.32938406e+01] [ 7.14351198e-01 -6.99707663e-01 -1.05618668e-02 -2.41942267e+02] [ 1.46792861e-02 -1.06563299e-04 9.99892248e-01 -9.05037113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7203857229999 meters 0.01470289357513877 Centerline is valid? [True, True] Translation: X:-43.31, Y:-241.92, Z:-9.05 [[-7.01666045e-01 -7.12445857e-01 9.25537530e-03 -4.33128127e+01] [ 7.12381415e-01 -7.01727072e-01 -9.58308874e-03 -2.41921141e+02] [ 1.33221793e-02 -1.30770628e-04 9.99911247e-01 -9.04658196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.750385723 meters 0.01490225411137259 Centerline is valid? [True, True] Translation: X:-43.33, Y:-241.90, Z:-9.05 [[-7.02617383e-01 -7.11516820e-01 8.52220576e-03 -4.33307261e+01] [ 7.11462167e-01 -7.02669052e-01 -8.81975400e-03 -2.41901829e+02] [ 1.22636936e-02 -1.33685501e-04 9.99924789e-01 -9.04591198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.780385723 meters 0.014788411918194955 Centerline is valid? [True, True] Translation: X:-43.35, Y:-241.88, Z:-9.04 [[-7.03938544e-01 -7.10216103e-01 7.97575223e-03 -4.33518708e+01] [ 7.10168204e-01 -7.03983712e-01 -8.24963432e-03 -2.41883052e+02] [ 1.14738228e-02 -1.43109944e-04 9.99934163e-01 -9.04476999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.810385723 meters 0.014851687729694196 Centerline is valid? [True, True] Translation: X:-43.37, Y:-241.86, Z:-9.05 [[-7.04398142e-01 -7.09753615e-01 8.54771953e-03 -4.33724724e+01] [ 7.09698625e-01 -7.04449984e-01 -8.83632096e-03 -2.41863906e+02] [ 1.22930516e-02 -1.57983257e-04 9.99924425e-01 -9.04510704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8403857229999 meters 0.01488626193250061 Centerline is valid? [True, True] Translation: X:-43.39, Y:-241.85, Z:-9.05 [[-7.04822624e-01 -7.09332196e-01 8.53841401e-03 -4.33934660e+01] [ 7.09277359e-01 -7.04874322e-01 -8.82151984e-03 -2.41846016e+02] [ 1.22758968e-02 -1.61503021e-04 9.99924635e-01 -9.04579194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.870385723 meters 0.014956957084959028 Centerline is valid? [True, True] Translation: X:-43.41, Y:-241.83, Z:-9.05 [[-7.04897172e-01 -7.09259949e-01 8.38462792e-03 -4.34142570e+01] [ 7.09207121e-01 -7.04947020e-01 -8.65788214e-03 -2.41826760e+02] [ 1.20514075e-02 -1.56478807e-04 9.99927367e-01 -9.04571175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.900385723 meters 0.0149254247077918 Centerline is valid? [True, True] Translation: X:-43.44, Y:-241.81, Z:-9.05 [[-7.05019627e-01 -7.09139278e-01 8.29517963e-03 -4.34351650e+01] [ 7.09087619e-01 -7.05068408e-01 -8.56083198e-03 -2.41808042e+02] [ 1.19194913e-02 -1.53545388e-04 9.99928949e-01 -9.04536270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.930385723 meters 0.015093311663105104 Centerline is valid? [True, True] Translation: X:-43.46, Y:-241.79, Z:-9.04 [[-7.04935010e-01 -7.09230485e-01 7.66493258e-03 -4.34555908e+01] [ 7.09186439e-01 -7.04976667e-01 -7.90529965e-03 -2.41790859e+02] [ 1.10102781e-02 -1.36856248e-04 9.99939376e-01 -9.04432246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.960385723 meters 0.014712593980071244 Centerline is valid? [True, True] Translation: X:-43.48, Y:-241.77, Z:-9.04 [[-7.04490818e-01 -7.09666213e-01 8.15804920e-03 -4.34773965e+01] [ 7.09616407e-01 -7.04538039e-01 -8.40875963e-03 -2.41773833e+02] [ 1.17150686e-02 -1.34808385e-04 9.99931367e-01 -9.04347249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.990385723 meters 0.014588458515137561 Centerline is valid? [True, True] Translation: X:-43.50, Y:-241.76, Z:-9.04 [[-7.04386627e-01 -7.09771526e-01 7.99133914e-03 -4.34975861e+01] [ 7.09723799e-01 -7.04431945e-01 -8.23191662e-03 -2.41755937e+02] [ 1.14721346e-02 -1.26808405e-04 9.99934185e-01 -9.04329793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.020385723 meters 0.01425213085137817 Centerline is valid? [True, True] Translation: X:-43.52, Y:-241.74, Z:-9.04 [[-7.03219935e-01 -7.10933066e-01 7.47651348e-03 -4.35203648e+01] [ 7.10891406e-01 -7.03259672e-01 -7.69691205e-03 -2.41740055e+02] [ 1.07299197e-02 -9.76328110e-05 9.99942428e-01 -9.04209466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.050385723 meters 0.01401207083571007 Centerline is valid? [True, True] Translation: X:-43.54, Y:-241.72, Z:-9.04 [[-7.02425471e-01 -7.11722332e-01 7.05552350e-03 -4.35420003e+01] [ 7.11685312e-01 -7.02460900e-01 -7.25952775e-03 -2.41722053e+02] [ 1.01229974e-02 -7.79647582e-05 9.99948758e-01 -9.04117746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.080385723 meters 0.013821233676378029 Centerline is valid? [True, True] Translation: X:-43.56, Y:-241.71, Z:-9.04 [[-7.01446816e-01 -7.12687118e-01 7.03107630e-03 -4.35617620e+01] [ 7.12650450e-01 -7.01482051e-01 -7.22969131e-03 -2.41705164e+02] [ 1.00846817e-02 -6.05442612e-05 9.99949147e-01 -9.04113838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.110385723 meters 0.01365520601413403 Centerline is valid? [True, True] Translation: X:-43.58, Y:-241.69, Z:-9.04 [[-6.99409333e-01 -7.14677919e-01 7.87762504e-03 -4.35843522e+01] [ 7.14632071e-01 -6.99453695e-01 -8.09522544e-03 -2.41689401e+02] [ 1.12955128e-02 -3.22727359e-05 9.99936203e-01 -9.04163570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.140385723 meters 0.013432482290945815 Centerline is valid? [True, True] Translation: X:-43.61, Y:-241.67, Z:-9.04 [[-6.97688600e-01 -7.16358690e-01 7.80029298e-03 -4.36084489e+01] [ 7.16313893e-01 -6.97732203e-01 -8.01117316e-03 -2.41673123e+02] [ 1.11813891e-02 -1.84595596e-06 9.99937486e-01 -9.04061932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.170385723 meters 0.013421856112148427 Centerline is valid? [True, True] Translation: X:-43.63, Y:-241.66, Z:-9.04 [[-6.97247682e-01 -7.16792246e-01 7.38560784e-03 -4.36294411e+01] [ 7.16752158e-01 -6.97286796e-01 -7.58070484e-03 -2.41655565e+02] [ 1.05836773e-02 8.02148192e-06 9.99943991e-01 -9.04175438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.200385723 meters 0.013318372711619763 Centerline is valid? [True, True] Translation: X:-43.65, Y:-241.64, Z:-9.04 [[-6.96823050e-01 -7.17215148e-01 6.33004885e-03 -4.36517274e+01] [ 7.17185750e-01 -6.96851800e-01 -6.49367574e-03 -2.41638577e+02] [ 9.06846855e-03 1.48779071e-05 9.99958881e-01 -9.03974711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.230385723 meters 0.01324809838528212 Centerline is valid? [True, True] Translation: X:-43.67, Y:-241.62, Z:-9.04 [[-6.96918603e-01 -7.17123700e-01 6.16929275e-03 -4.36727993e+01] [ 7.17095804e-01 -6.96945908e-01 -6.32524227e-03 -2.41619642e+02] [ 8.83564448e-03 1.57949425e-05 9.99960965e-01 -9.03882159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.260385723 meters 0.013296135755186029 Centerline is valid? [True, True] Translation: X:-43.69, Y:-241.60, Z:-9.04 [[-6.98113249e-01 -7.15964283e-01 5.74769244e-03 -4.36943479e+01] [ 7.15940051e-01 -6.98136910e-01 -5.89059181e-03 -2.41602316e+02] [ 8.23012958e-03 2.70302572e-06 9.99966132e-01 -9.03914145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.290385723 meters 0.013242428839578246 Centerline is valid? [True, True] Translation: X:-43.71, Y:-241.58, Z:-9.04 [[-6.99115363e-01 -7.14986385e-01 5.67257871e-03 -4.37149258e+01] [ 7.14962776e-01 -6.99138376e-01 -5.81036397e-03 -2.41583162e+02] [ 8.12024860e-03 -6.43210244e-06 9.99967030e-01 -9.03780033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.320385723 meters 0.013366062479872709 Centerline is valid? [True, True] Translation: X:-43.74, Y:-241.57, Z:-9.04 [[-7.00927108e-01 -7.13209419e-01 5.78923012e-03 -4.37356719e+01] [ 7.13184796e-01 -7.00951014e-01 -5.92635674e-03 -2.41565617e+02] [ 8.28470018e-03 -2.51531832e-05 9.99965681e-01 -9.03865746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.350385723 meters 0.013287947066308037 Centerline is valid? [True, True] Translation: X:-43.76, Y:-241.55, Z:-9.04 [[-7.01871741e-01 -7.12278239e-01 5.98069860e-03 -4.37569979e+01] [ 7.12251957e-01 -7.01897221e-01 -6.11896302e-03 -2.41547326e+02] [ 8.55623993e-03 -3.49629461e-05 9.99963394e-01 -9.03806466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.380385723 meters 0.013827724617044214 Centerline is valid? [True, True] Translation: X:-43.78, Y:-241.53, Z:-9.04 [[-7.03718665e-01 -7.10440796e-01 7.34275749e-03 -4.37782276e+01] [ 7.10401124e-01 -7.03756968e-01 -7.50811754e-03 -2.41529639e+02] [ 1.05015898e-02 -6.72992723e-05 9.99944855e-01 -9.04158197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.410385723 meters 0.0137102312467937 Centerline is valid? [True, True] Translation: X:-43.80, Y:-241.51, Z:-9.04 [[-7.05120994e-01 -7.09035573e-01 8.54043244e-03 -4.37996996e+01] [ 7.08981859e-01 -7.05172706e-01 -8.72797922e-03 -2.41511862e+02] [ 1.22109276e-02 -9.92697185e-05 9.99925439e-01 -9.04139938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.440385723 meters 0.01426756554010956 Centerline is valid? [True, True] Translation: X:-43.82, Y:-241.49, Z:-9.04 [[-7.07979100e-01 -7.06158709e-01 1.02699433e-02 -4.38210746e+01] [ 7.06080794e-01 -7.08053562e-01 -1.04912758e-02 -2.41494252e+02] [ 1.46801757e-02 -1.76194290e-04 9.99892225e-01 -9.04385424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4703857229999 meters 0.014620615788801401 Centerline is valid? [True, True] Translation: X:-43.84, Y:-241.48, Z:-9.04 [[-7.09861440e-01 -7.04257481e-01 1.08690518e-02 -4.38412180e+01] [ 7.04170055e-01 -7.09944611e-01 -1.10988105e-02 -2.41475351e+02] [ 1.55328451e-02 -2.24956838e-04 9.99879333e-01 -9.04405347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.500385723 meters 0.015554427608612973 Centerline is valid? [True, True] Translation: X:-43.86, Y:-241.46, Z:-9.04 [[-7.13348338e-01 -7.00704469e-01 1.21406271e-02 -4.38615580e+01] [ 7.00594960e-01 -7.13451565e-01 -1.23922343e-02 -2.41456883e+02] [ 1.73450434e-02 -3.34317565e-04 9.99849508e-01 -9.04426603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.530385723 meters 0.016255772994268784 Centerline is valid? [True, True] Translation: X:-43.88, Y:-241.44, Z:-9.04 [[-7.14883183e-01 -6.99139984e-01 1.20547733e-02 -4.38803942e+01] [ 6.99031881e-01 -7.14984719e-01 -1.22996185e-02 -2.41438207e+02] [ 1.72181337e-02 -3.66119559e-04 9.99851690e-01 -9.04442857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.560385723 meters 0.01679392542537737 Centerline is valid? [True, True] Translation: X:-43.90, Y:-241.42, Z:-9.04 [[-7.16668467e-01 -6.97325272e-01 1.11253728e-02 -4.39017647e+01] [ 6.97233075e-01 -7.16754718e-01 -1.13452096e-02 -2.41419979e+02] [ 1.58854648e-02 -3.73776129e-04 9.99873748e-01 -9.04288181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5903857229999 meters 0.016269016984792096 Centerline is valid? [True, True] Translation: X:-43.92, Y:-241.40, Z:-9.04 [[-7.16985075e-01 -6.97005816e-01 1.07375177e-02 -4.39232809e+01] [ 6.96919993e-01 -7.17065381e-01 -1.09436461e-02 -2.41402135e+02] [ 1.53272872e-02 -3.63240139e-04 9.99882464e-01 -9.04185702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.620385723 meters 0.015403543385045973 Centerline is valid? [True, True] Translation: X:-43.95, Y:-241.39, Z:-9.04 [[-7.15786373e-01 -6.98228860e-01 1.12395723e-02 -4.39483674e+01] [ 6.98135073e-01 -7.15874527e-01 -1.14491199e-02 -2.41387051e+02] [ 1.60402295e-02 -3.48384392e-04 9.99871287e-01 -9.04146065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.650385723 meters 0.019527621179277487 Centerline is valid? [True, True] Translation: X:-43.96, Y:-241.37, Z:-9.05 [[-7.14865457e-01 -6.99162102e-01 1.18208767e-02 -4.39647993e+01] [ 6.99058573e-01 -7.14963103e-01 -1.20363173e-02 -2.41365534e+02] [ 1.68668276e-02 -3.40862230e-04 9.99857687e-01 -9.04815931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.680385723 meters 0.01498832462324712 Centerline is valid? [True, True] Translation: X:-43.99, Y:-241.35, Z:-9.04 [[-7.11823392e-01 -7.02271113e-01 1.10789109e-02 -4.39922477e+01] [ 7.02180647e-01 -7.11909561e-01 -1.12745811e-02 -2.41353785e+02] [ 1.58049952e-02 -2.46113733e-04 9.99875063e-01 -9.04382313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.710385723 meters 0.014387575560305262 Centerline is valid? [True, True] Translation: X:-44.01, Y:-241.34, Z:-9.04 [[-7.10173967e-01 -7.03952024e-01 1.02217552e-02 -4.40139088e+01] [ 7.03875272e-01 -7.10247501e-01 -1.03966033e-02 -2.41335914e+02] [ 1.45786860e-02 -1.88556284e-04 9.99893708e-01 -9.04263553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.740385723 meters 0.013629141737318709 Centerline is valid? [True, True] Translation: X:-44.04, Y:-241.32, Z:-9.04 [[-7.06462192e-01 -7.07683045e-01 9.79179398e-03 -4.40377322e+01] [ 7.07613044e-01 -7.06530040e-01 -9.95404749e-03 -2.41320097e+02] [ 1.39625072e-02 -1.03357060e-04 9.99902514e-01 -9.04159019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.770385723 meters 0.013348618027392711 Centerline is valid? [True, True] Translation: X:-44.06, Y:-241.30, Z:-9.04 [[-7.04791297e-01 -7.09348297e-01 9.70679813e-03 -4.40599292e+01] [ 7.09279738e-01 -7.04858134e-01 -9.86223654e-03 -2.41302130e+02] [ 1.38376763e-02 -6.59832480e-05 9.99904253e-01 -9.04184819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.800385723 meters 0.013235397611301061 Centerline is valid? [True, True] Translation: X:-44.08, Y:-241.29, Z:-9.04 [[-7.02552299e-01 -7.11557298e-01 1.03188307e-02 -4.40840671e+01] [ 7.11480144e-01 -7.02628075e-01 -1.04782671e-02 -2.41286086e+02] [ 1.47061876e-02 -1.98875105e-05 9.99891858e-01 -9.04222049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.830385723 meters 0.013132807618321356 Centerline is valid? [True, True] Translation: X:-44.11, Y:-241.27, Z:-9.04 [[-7.02115035e-01 -7.11985472e-01 1.05434697e-02 -4.41050526e+01] [ 7.11905061e-01 -7.02194195e-01 -1.07003545e-02 -2.41266860e+02] [ 1.50220602e-02 -6.93035887e-06 9.99887163e-01 -9.04150701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.860385723 meters 0.013269051535685925 Centerline is valid? [True, True] Translation: X:-44.12, Y:-241.25, Z:-9.04 [[-7.01539570e-01 -7.12551381e-01 1.06189074e-02 -4.41241459e+01] [ 7.12469976e-01 -7.01619932e-01 -1.07705254e-02 -2.41247595e+02] [ 1.51249898e-02 9.70292051e-06 9.99885611e-01 -9.04220363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.890385723 meters 0.013333579401760448 Centerline is valid? [True, True] Translation: X:-44.14, Y:-241.23, Z:-9.04 [[-7.02127533e-01 -7.11971474e-01 1.06558440e-02 -4.41427076e+01] [ 7.11889530e-01 -7.02208388e-01 -1.08017153e-02 -2.41227885e+02] [ 1.51731362e-02 1.60208860e-06 9.99884881e-01 -9.04235018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.920385723 meters 0.013470599428504924 Centerline is valid? [True, True] Translation: X:-44.16, Y:-241.21, Z:-9.04 [[-7.03825693e-01 -7.10277489e-01 1.16310800e-02 -4.41603632e+01] [ 7.10179739e-01 -7.03921790e-01 -1.17835468e-02 -2.41206548e+02] [ 1.65569586e-02 -3.34056327e-05 9.99862924e-01 -9.04219214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.950385723 meters 0.013723604325762391 Centerline is valid? [True, True] Translation: X:-44.18, Y:-241.19, Z:-9.04 [[-7.04699436e-01 -7.09398501e-01 1.23479652e-02 -4.41785968e+01] [ 7.09288279e-01 -7.04807608e-01 -1.25049144e-02 -2.41186106e+02] [ 1.75739073e-02 -5.39391097e-05 9.99845566e-01 -9.04346750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.980385723 meters 0.01397617994422001 Centerline is valid? [True, True] Translation: X:-44.20, Y:-241.17, Z:-9.04 [[-7.06557831e-01 -7.07537869e-01 1.28916741e-02 -4.41975557e+01] [ 7.07417542e-01 -7.06675424e-01 -1.30486357e-02 -2.41165299e+02] [ 1.83426332e-02 -9.98193494e-05 9.99831755e-01 -9.04387463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.010385723 meters 0.01397617994422001 Centerline is valid? [True, True] Translation: X:-44.22, Y:-241.15, Z:-9.04 [[-7.06768117e-01 -7.07327741e-01 1.28955528e-02 -4.42164225e+01] [ 7.07207449e-01 -7.06885745e-01 -1.30448026e-02 -2.41146356e+02] [ 1.83426332e-02 -9.98195822e-05 9.99831755e-01 -9.04387444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.040385723 meters 0.014086337056918453 Centerline is valid? [True, True] Translation: X:-44.24, Y:-241.13, Z:-9.04 [[-7.07673299e-01 -7.06424813e-01 1.27470042e-02 -4.42354822e+01] [ 7.06307268e-01 -7.07788083e-01 -1.28869021e-02 -2.41127023e+02] [ 1.81258050e-02 -1.16414797e-04 9.99835707e-01 -9.04459724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.070385723 meters 0.013760666540753797 Centerline is valid? [True, True] Translation: X:-44.25, Y:-241.11, Z:-9.04 [[-7.08881147e-01 -7.05210149e-01 1.28905159e-02 -4.42535011e+01] [ 7.05089874e-01 -7.08998325e-01 -1.30247554e-02 -2.41105564e+02] [ 1.83245439e-02 -1.44031370e-04 9.99832081e-01 -9.04172452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.100385723 meters 0.014383450423386828 Centerline is valid? [True, True] Translation: X:-44.27, Y:-241.08, Z:-9.04 [[-7.09264278e-01 -7.04830237e-01 1.25904937e-02 -4.42701215e+01] [ 7.04715529e-01 -7.09376004e-01 -1.27164586e-02 -2.41084342e+02] [ 1.78943387e-02 -1.46613395e-04 9.99839873e-01 -9.04332857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.130385723 meters 0.013904022913664969 Centerline is valid? [True, True] Translation: X:-44.29, Y:-241.06, Z:-9.04 [[-7.09610619e-01 -7.04473656e-01 1.30245371e-02 -4.42878459e+01] [ 7.04350976e-01 -7.09730121e-01 -1.31475711e-02 -2.41062458e+02] [ 1.85060238e-02 -1.55810623e-04 9.99828737e-01 -9.04052269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.160385723 meters 0.014169562608183736 Centerline is valid? [True, True] Translation: X:-44.31, Y:-241.04, Z:-9.04 [[-7.09972748e-01 -7.04101988e-01 1.33823625e-02 -4.43061299e+01] [ 7.03972558e-01 -7.10098841e-01 -1.35009064e-02 -2.41041950e+02] [ 1.90088151e-02 -1.64459637e-04 9.99819303e-01 -9.04139802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.190385723 meters 0.01405055633852575 Centerline is valid? [True, True] Translation: X:-44.33, Y:-241.02, Z:-9.04 [[-7.10700186e-01 -7.03365473e-01 1.35002670e-02 -4.43251136e+01] [ 7.03233764e-01 -7.10828375e-01 -1.36122795e-02 -2.41020838e+02] [ 1.91707803e-02 -1.80405979e-04 9.99816208e-01 -9.04107018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2203857229999 meters 0.014079559790599758 Centerline is valid? [True, True] Translation: X:-44.34, Y:-241.00, Z:-9.04 [[-7.11309019e-01 -7.02748271e-01 1.35774555e-02 -4.43440318e+01] [ 7.02615085e-01 -7.11438565e-01 -1.36825366e-02 -2.40999529e+02] [ 1.92749044e-02 -1.92786653e-04 9.99814203e-01 -9.04058332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.250385723 meters 0.013951247879427097 Centerline is valid? [True, True] Translation: X:-44.36, Y:-240.98, Z:-9.04 [[-7.11806426e-01 -7.02260253e-01 1.27337544e-02 -4.43626101e+01] [ 7.02143159e-01 -7.11920292e-01 -1.28250910e-02 -2.40978489e+02] [ 1.80719698e-02 -1.88063639e-04 9.99836671e-01 -9.03926607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.280385723 meters 0.015867084005995603 Centerline is valid? [True, True] Translation: X:-44.38, Y:-240.96, Z:-9.04 [[-7.12557470e-01 -7.01484270e-01 1.34785476e-02 -4.43788285e+01] [ 7.01353071e-01 -7.12684905e-01 -1.35682470e-02 -2.40955293e+02] [ 1.91238692e-02 -2.14935016e-04 9.99817099e-01 -9.03904210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.310385723 meters 0.014020010370207425 Centerline is valid? [True, True] Translation: X:-44.40, Y:-240.93, Z:-9.04 [[-7.11975761e-01 -7.02097581e-01 1.22271785e-02 -4.43950378e+01] [ 7.01989786e-01 -7.12080723e-01 -1.23038396e-02 -2.40933472e+02] [ 1.73452341e-02 -1.76681113e-04 9.99849545e-01 -9.03708950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3403857229999 meters 0.013842656739001922 Centerline is valid? [True, True] Translation: X:-44.41, Y:-240.91, Z:-9.04 [[-7.11805453e-01 -7.02273430e-01 1.20427402e-02 -4.44137962e+01] [ 7.02169003e-01 -7.11907299e-01 -1.21115169e-02 -2.40913098e+02] [ 1.70789111e-02 -1.65004895e-04 9.99854131e-01 -9.03694476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.370385723 meters 0.013627573944770792 Centerline is valid? [True, True] Translation: X:-44.43, Y:-240.89, Z:-9.04 [[-7.10892857e-01 -7.03211507e-01 1.11768404e-02 -4.44326363e+01] [ 7.03121770e-01 -7.10980703e-01 -1.12346485e-02 -2.40892012e+02] [ 1.58468519e-02 -1.27951590e-04 9.99874423e-01 -9.03679599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.400385723 meters 0.013638230356128217 Centerline is valid? [True, True] Translation: X:-44.45, Y:-240.87, Z:-9.04 [[-7.10786238e-01 -7.03317095e-01 1.13132079e-02 -4.44507131e+01] [ 7.03225274e-01 -7.10876255e-01 -1.13650529e-02 -2.40872207e+02] [ 1.60355269e-02 -1.22389440e-04 9.99871415e-01 -9.03750852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.430385723 meters 0.013835985206215361 Centerline is valid? [True, True] Translation: X:-44.47, Y:-240.85, Z:-9.04 [[-7.10855190e-01 -7.03243028e-01 1.15819519e-02 -4.44681595e+01] [ 7.03146895e-01 -7.10949526e-01 -1.16282643e-02 -2.40852053e+02] [ 1.64116790e-02 -1.22198479e-04 9.99865312e-01 -9.03837671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.460385723 meters 0.013821245540266851 Centerline is valid? [True, True] Translation: X:-44.49, Y:-240.83, Z:-9.04 [[-7.11575221e-01 -7.02509440e-01 1.18824165e-02 -4.44850325e+01] [ 7.02408261e-01 -7.11674411e-01 -1.19234295e-02 -2.40829567e+02] [ 1.68327335e-02 -1.38109485e-04 9.99858310e-01 -9.03704675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.490385723 meters 0.01398108940583743 Centerline is valid? [True, True] Translation: X:-44.50, Y:-240.81, Z:-9.04 [[-7.12349588e-01 -7.01731407e-01 1.14497277e-02 -4.45002133e+01] [ 7.01637482e-01 -7.12441584e-01 -1.14818732e-02 -2.40807841e+02] [ 1.62144532e-02 -1.45549502e-04 9.99868527e-01 -9.03701342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.520385723 meters 0.01387704127212856 Centerline is valid? [True, True] Translation: X:-44.52, Y:-240.79, Z:-9.04 [[-7.12380805e-01 -7.01693353e-01 1.18333042e-02 -4.45182528e+01] [ 7.01593144e-01 -7.12479064e-01 -1.18592861e-02 -2.40787767e+02] [ 1.67525637e-02 -1.46162650e-04 9.99859655e-01 -9.03658736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.550385723 meters 0.013463092623000656 Centerline is valid? [True, True] Translation: X:-44.54, Y:-240.77, Z:-9.04 [[-7.11484656e-01 -7.02595749e-01 1.21982634e-02 -4.45371517e+01] [ 7.02489515e-01 -7.11589206e-01 -1.22181255e-02 -2.40767070e+02] [ 1.72645556e-02 -1.23856700e-04 9.99850949e-01 -9.03573176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.580385723 meters 0.013491726420325655 Centerline is valid? [True, True] Translation: X:-44.56, Y:-240.75, Z:-9.04 [[-7.10980723e-01 -7.03099493e-01 1.25505052e-02 -4.45559669e+01] [ 7.02987246e-01 -7.11091479e-01 -1.25634406e-02 -2.40746959e+02] [ 1.77579061e-02 -1.09518984e-04 9.99842310e-01 -9.03640957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.610385723 meters 0.013473755403005192 Centerline is valid? [True, True] Translation: X:-44.57, Y:-240.73, Z:-9.04 [[-7.10588398e-01 -7.03498658e-01 1.24002854e-02 -4.45742196e+01] [ 7.03389233e-01 -7.10696580e-01 -1.24080080e-02 -2.40727177e+02] [ 1.75418575e-02 -9.47592906e-05 9.99846125e-01 -9.03747546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.640385723 meters 0.013308423175098448 Centerline is valid? [True, True] Translation: X:-44.59, Y:-240.70, Z:-9.04 [[-7.10127039e-01 -7.03954588e-01 1.29432211e-02 -4.45911837e+01] [ 7.03835579e-01 -7.10244980e-01 -1.29439471e-02 -2.40704737e+02] [ 1.83048088e-02 -8.19472585e-05 9.99832450e-01 -9.03662310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.670385723 meters 0.013672037509309815 Centerline is valid? [True, True] Translation: X:-44.61, Y:-240.68, Z:-9.04 [[-7.10479092e-01 -7.03590407e-01 1.34163582e-02 -4.46055274e+01] [ 7.03462625e-01 -7.10605750e-01 -1.34090906e-02 -2.40681434e+02] [ 1.89682488e-02 -8.89720117e-05 9.99820083e-01 -9.03848886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.700385723 meters 0.013751921739567328 Centerline is valid? [True, True] Translation: X:-45.05, Y:-241.12, Z:-8.03 [[-7.52307278e-01 6.58645798e-01 1.48146410e-02 -4.50543412e+01] [ 6.58520577e-01 7.52453125e-01 -1.28430794e-02 -2.41123912e+02] [-1.96063632e-02 9.38038244e-05 -9.99807772e-01 -8.03182960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.730385723 meters 0.013516305291590593 Centerline is valid? [True, True] Translation: X:-45.04, Y:-241.10, Z:-8.03 [[-7.96988877e-01 6.03784537e-01 1.59048078e-02 -4.50374204e+01] [ 6.03666758e-01 7.97147555e-01 -1.19256533e-02 -2.41103434e+02] [-1.98790037e-02 9.65907526e-05 -9.99802388e-01 -8.03301080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.760385723 meters 0.013535334134774545 Centerline is valid? [True, True] Translation: X:-45.03, Y:-241.08, Z:-8.03 [[-8.37908509e-01 5.45580183e-01 1.58617390e-02 -4.50257577e+01] [ 5.45484405e-01 8.38058624e-01 -1.02228609e-02 -2.41081850e+02] [-1.88704574e-02 8.65091544e-05 -9.99821933e-01 -8.03384757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.790385723 meters 0.013773197331127826 Centerline is valid? [True, True] Translation: X:-45.01, Y:-241.06, Z:-8.03 [[-8.74592804e-01 4.84609159e-01 1.55367613e-02 -4.50140610e+01] [ 4.84534260e-01 8.74730791e-01 -8.52020031e-03 -2.41058161e+02] [-1.77194506e-02 7.63872763e-05 -9.99842995e-01 -8.03265651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.820385723 meters 0.013281364394654787 Centerline is valid? [True, True] Translation: X:-45.00, Y:-241.03, Z:-8.04 [[-9.07140276e-01 4.20580623e-01 1.44381389e-02 -4.50045825e+01] [ 4.20528302e-01 9.07255166e-01 -6.63398966e-03 -2.41034995e+02] [-1.58892036e-02 5.36868333e-05 -9.99873757e-01 -8.03589146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.850385723 meters 0.013496704012654447 Centerline is valid? [True, True] Translation: X:-44.73, Y:-240.43, Z:-9.04 [[-8.79795804e-01 -4.75168699e-01 1.31928394e-02 -4.47348536e+01] [ 4.75113525e-01 -8.79894708e-01 -7.24159289e-03 -2.40431726e+02] [ 1.50492879e-02 -1.03026588e-04 9.99886748e-01 -9.03574393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.880385723 meters 0.013104432324323746 Centerline is valid? [True, True] Translation: X:-45.05, Y:-241.02, Z:-8.04 [[-9.09230103e-01 4.16093889e-01 1.29033195e-02 -4.50543231e+01] [ 4.16052474e-01 9.09321656e-01 -5.87061436e-03 -2.41018664e+02] [-1.41759947e-02 3.07187230e-05 -9.99899515e-01 -8.03786384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.910385723 meters 0.013074198990661394 Centerline is valid? [True, True] Translation: X:-45.05, Y:-240.99, Z:-8.04 [[-9.36661004e-01 3.49967379e-01 1.37475979e-02 -4.50465249e+01] [ 3.49930022e-01 9.36761887e-01 -5.11338320e-03 -2.40992504e+02] [-1.46677431e-02 2.11905923e-05 -9.99892423e-01 -8.03765569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.940385723 meters 0.013138041483936852 Centerline is valid? [True, True] Translation: X:-45.03, Y:-240.97, Z:-8.04 [[-9.59222848e-01 2.82291954e-01 1.42400969e-02 -4.50349810e+01] [ 2.82261089e-01 9.59328542e-01 -4.17439672e-03 -2.40969943e+02] [-1.48393300e-02 1.52485517e-05 -9.99889891e-01 -8.03607016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9703857229999 meters 0.012992426369145743 Centerline is valid? [True, True] Translation: X:-44.84, Y:-240.32, Z:-9.03 [[-9.38798900e-01 -3.44173623e-01 1.41825123e-02 -4.48414585e+01] [ 3.44134375e-01 -9.38906022e-01 -5.19759401e-03 -2.40316284e+02] [ 1.51049210e-02 1.19446963e-06 9.99885914e-01 -9.03283687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.000385723 meters 0.01311101714298122 Centerline is valid? [True, True] Translation: X:-45.08, Y:-240.96, Z:-8.04 [[-9.60050229e-01 2.79444581e-01 1.46384630e-02 -4.50839783e+01] [ 2.79412555e-01 9.60161823e-01 -4.23069557e-03 -2.40962292e+02] [-1.52375383e-02 2.84900989e-05 -9.99883902e-01 -8.03674610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.030385723 meters 0.013007957035948323 Centerline is valid? [True, True] Translation: X:-45.08, Y:-240.94, Z:-8.04 [[-9.77361088e-01 2.11079447e-01 1.45179261e-02 -4.50806681e+01] [ 2.11056698e-01 9.77468908e-01 -3.09912451e-03 -2.40935484e+02] [-1.48449829e-02 3.51418389e-05 -9.99889807e-01 -8.03731465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.060385723 meters 0.01314900700043058 Centerline is valid? [True, True] Translation: X:-45.08, Y:-240.91, Z:-8.04 [[-9.89827889e-01 1.41536251e-01 1.44305377e-02 -4.50787051e+01] [ 1.41521791e-01 9.89933073e-01 -2.02347729e-03 -2.40911286e+02] [-1.45716619e-02 3.93412904e-05 -9.99893827e-01 -8.03761413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0903857229999 meters 0.013069970605859658 Centerline is valid? [True, True] Translation: X:-44.98, Y:-240.21, Z:-9.03 [[-9.79220113e-01 -2.02311410e-01 1.40734884e-02 -4.49777905e+01] [ 2.02289769e-01 -9.79321240e-01 -2.95946931e-03 -2.40211227e+02] [ 1.43812005e-02 -5.10491558e-05 9.99896584e-01 -9.03215340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.120385723 meters 0.013106206394086184 Centerline is valid? [True, True] Translation: X:-45.14, Y:-240.91, Z:-8.04 [[-9.90274965e-01 1.38447004e-01 1.37083937e-02 -4.51380437e+01] [ 1.38434491e-01 9.90369842e-01 -1.86213974e-03 -2.40909205e+02] [-1.38341873e-02 5.36841275e-05 -9.99904302e-01 -8.03797406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.150385723 meters 0.01315757706019924 Centerline is valid? [True, True] Translation: X:-45.14, Y:-240.88, Z:-8.04 [[-9.97564687e-01 6.83906227e-02 1.36900993e-02 -4.51380321e+01] [ 6.83850368e-02 9.97658618e-01 -8.76284957e-04 -2.40881666e+02] [-1.37179752e-02 6.20470168e-05 -9.99905902e-01 -8.03809752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.180385723 meters 0.013304486444171346 Centerline is valid? [True, True] Translation: X:-45.09, Y:-240.16, Z:-9.03 [[-9.92030907e-01 -1.25128188e-01 1.47518297e-02 -4.50886525e+01] [ 1.25114450e-01 -9.92140583e-01 -1.85409952e-03 -2.40159242e+02] [ 1.48678890e-02 6.34303691e-06 9.99889467e-01 -9.03354606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.210385723 meters 0.013595583458645023 Centerline is valid? [True, True] Translation: X:-45.22, Y:-240.89, Z:-8.04 [[-9.97634269e-01 6.68681017e-02 1.59537379e-02 -4.52216147e+01] [ 6.68614914e-02 9.97761816e-01 -9.47964693e-04 -2.40885352e+02] [-1.59814191e-02 1.20968645e-04 -9.99872282e-01 -8.03575914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.240385723 meters 0.013772087304287483 Centerline is valid? [True, True] Translation: X:-45.18, Y:-240.15, Z:-9.04 [[-9.92840463e-01 -1.18406619e-01 1.57380749e-02 -4.51774464e+01] [ 1.18389707e-01 -9.92965184e-01 -2.00522591e-03 -2.40145062e+02] [ 1.58647924e-02 -1.27643345e-04 9.99874138e-01 -9.03509231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.270385723 meters 0.013517754096822317 Centerline is valid? [True, True] Translation: X:-45.30, Y:-240.89, Z:-8.04 [[-9.97888916e-01 6.29853341e-02 1.58290788e-02 -4.53031155e+01] [ 6.29795364e-02 9.98014444e-01 -8.64985900e-04 -2.40885831e+02] [-1.58521307e-02 1.33748200e-04 -9.99874338e-01 -8.03663560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.300385723 meters 0.013653682124474239 Centerline is valid? [True, True] Translation: X:-45.28, Y:-240.86, Z:-8.04 [[-9.99854574e-01 -7.46412911e-03 1.53335775e-02 -4.52796190e+01] [-7.46107706e-03 9.99972133e-01 2.56240578e-04 -2.40861103e+02] [-1.53350628e-02 1.41798311e-04 -9.99882401e-01 -8.03676482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.330385723 meters 0.013818827292390031 Centerline is valid? [True, True] Translation: X:-45.29, Y:-240.10, Z:-9.03 [[-9.99043226e-01 -4.11164569e-02 1.49020155e-02 -4.52934752e+01] [ 4.11094170e-02 -9.99154347e-01 -7.78559569e-04 -2.40103408e+02] [ 1.49214252e-02 -1.65201494e-04 9.99888656e-01 -9.03374413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.360385723 meters 0.01378493808557362 Centerline is valid? [True, True] Translation: X:-45.39, Y:-240.87, Z:-8.04 [[-9.99818666e-01 -1.25009260e-02 1.43653102e-02 -4.53853090e+01] [-1.24975041e-02 9.99921849e-01 3.27957386e-04 -2.40866479e+02] [-1.43682874e-02 1.48367393e-04 -9.99896760e-01 -8.03760404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.390385723 meters 0.01389277563465625 Centerline is valid? [True, True] Translation: X:-45.40, Y:-240.84, Z:-8.04 [[-9.96418121e-01 -8.33612792e-02 1.42065148e-02 -4.53961577e+01] [-8.33506420e-02 9.96519380e-01 1.34024150e-03 -2.40840143e+02] [-1.42687916e-02 1.51318783e-04 -9.99898184e-01 -8.03779167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.420385723 meters 0.014039666577692542 Centerline is valid? [True, True] Translation: X:-45.46, Y:-240.07, Z:-9.03 [[-9.99197753e-01 3.77760220e-02 1.32974334e-02 -4.54635230e+01] [-3.77754064e-02 -9.99286210e-01 2.97550452e-04 -2.40070658e+02] [ 1.32991821e-02 -2.05004208e-04 9.99911541e-01 -9.03116040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.450385723 meters 0.013942838867584949 Centerline is valid? [True, True] Translation: X:-45.51, Y:-240.85, Z:-8.04 [[-9.95952083e-01 -8.90471896e-02 1.22493143e-02 -4.55095050e+01] [-8.90387607e-02 9.96027399e-01 1.23284040e-03 -2.40854137e+02] [-1.23104336e-02 1.37186201e-04 -9.99924214e-01 -8.03954130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.480385723 meters 0.01385063073799697 Centerline is valid? [True, True] Translation: X:-45.52, Y:-240.83, Z:-8.04 [[-9.86969213e-01 -1.60437222e-01 1.23154948e-02 -4.55217897e+01] [-1.60423006e-01 9.87046037e-01 2.14010836e-03 -2.40826730e+02] [-1.24993134e-02 1.36532374e-04 -9.99921871e-01 -8.03924579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.510385723 meters 0.01381282329764456 Centerline is valid? [True, True] Translation: X:-45.55, Y:-240.80, Z:-8.04 [[-9.72740877e-01 -2.31579732e-01 1.20836549e-02 -4.55501464e+01] [-2.31560202e-01 9.72815918e-01 3.01031002e-03 -2.40803623e+02] [-1.24522987e-02 1.30158027e-04 -9.99922459e-01 -8.03906734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.540385723 meters 0.013537698004828595 Centerline is valid? [True, True] Translation: X:-45.60, Y:-240.79, Z:-8.04 [[-9.53092855e-01 -3.02479095e-01 1.09730333e-02 -4.56043341e+01] [-3.02457675e-01 9.53156012e-01 3.60151248e-03 -2.40789476e+02] [-1.15483949e-02 1.13697684e-04 -9.99933309e-01 -8.04027517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.570385723 meters 0.01350380147029574 Centerline is valid? [True, True] Translation: X:-45.66, Y:-240.78, Z:-8.04 [[-9.28009437e-01 -3.72411214e-01 1.04101847e-02 -4.56647752e+01] [-3.72386490e-01 9.28067819e-01 4.29247393e-03 -2.40780611e+02] [-1.12599228e-02 1.06844188e-04 -9.99936599e-01 -8.04029610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.600385723 meters 0.013399287781607441 Centerline is valid? [True, True] Translation: X:-45.74, Y:-240.78, Z:-8.04 [[-8.97628038e-01 -4.40651644e-01 9.48864496e-03 -4.57414739e+01] [-4.40625888e-01 8.97678183e-01 4.76519786e-03 -2.40783397e+02] [-1.06175418e-02 9.64325900e-05 -9.99943628e-01 -8.04068926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.630385723 meters 0.013364969587037888 Centerline is valid? [True, True] Translation: X:-45.83, Y:-240.80, Z:-8.04 [[-8.62162322e-01 -5.06549922e-01 9.12722909e-03 -4.58257766e+01] [-5.06520359e-01 8.62210628e-01 5.47349090e-03 -2.40796305e+02] [-1.06421903e-02 9.59102740e-05 -9.99943366e-01 -8.04111208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.660385723 meters 0.013547447622063197 Centerline is valid? [True, True] Translation: X:-45.92, Y:-240.82, Z:-8.04 [[-8.21491879e-01 -5.70149465e-01 8.98220857e-03 -4.59229860e+01] [-5.70114133e-01 8.21540978e-01 6.34793404e-03 -2.40824609e+02] [-1.09985236e-02 9.38922076e-05 -9.99939510e-01 -8.04008046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.690385723 meters 0.01341585886784532 Centerline is valid? [True, True] Translation: X:-46.01, Y:-240.85, Z:-8.04 [[-7.75847008e-01 -6.30864570e-01 8.44480444e-03 -4.60058693e+01] [-6.30825917e-01 7.75892961e-01 6.98395594e-03 -2.40850444e+02] [-1.09581947e-02 9.12798158e-05 -9.99939953e-01 -8.04040439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7203857229999 meters 0.013447842455678413 Centerline is valid? [True, True] Translation: X:-46.10, Y:-240.89, Z:-8.04 [[-7.25461217e-01 -6.88215518e-01 8.08854041e-03 -4.60989643e+01] [-6.88171384e-01 7.25506302e-01 7.79437768e-03 -2.40893222e+02] [-1.12324987e-02 8.82166647e-05 -9.99936910e-01 -8.03993973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.750385723 meters 0.013444128182351566 Centerline is valid? [True, True] Translation: X:-46.19, Y:-240.95, Z:-8.04 [[-6.71060956e-01 -7.41364438e-01 7.48084282e-03 -4.61924928e+01] [-7.41316909e-01 6.71102647e-01 8.39512548e-03 -2.40947638e+02] [-1.12442609e-02 8.79656573e-05 -9.99936778e-01 -8.03964130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.780385723 meters 0.013452448914010732 Centerline is valid? [True, True] Translation: X:-46.29, Y:-241.02, Z:-8.04 [[-6.13064298e-01 -7.90003723e-01 6.80325717e-03 -4.62880730e+01] [-7.89953377e-01 6.13102038e-01 8.91924692e-03 -2.41015928e+02] [-1.12173291e-02 9.38158688e-05 -9.99937079e-01 -8.04021439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.810385723 meters 0.013471295214457325 Centerline is valid? [True, True] Translation: X:-46.37, Y:-241.09, Z:-8.04 [[-5.51691835e-01 -8.34026922e-01 5.93402851e-03 -4.63731728e+01] [-8.33976670e-01 5.51723738e-01 9.15593507e-03 -2.41086117e+02] [-1.09102407e-02 1.02413287e-04 -9.99940476e-01 -8.04056879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8403857229999 meters 0.013997651763010228 Centerline is valid? [True, True] Translation: X:-46.45, Y:-241.17, Z:-8.04 [[-4.88209410e-01 -8.72711661e-01 5.09198301e-03 -4.64538174e+01] [-8.72661491e-01 4.88235948e-01 9.35853119e-03 -2.41167743e+02] [-1.06533885e-02 1.25345509e-04 -9.99943243e-01 -8.04153384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.870385723 meters 0.014165838598596488 Centerline is valid? [True, True] Translation: X:-46.53, Y:-241.26, Z:-8.04 [[-4.20766204e-01 -9.07158906e-01 4.30369925e-03 -4.65308212e+01] [-9.07108130e-01 4.20788191e-01 9.59890333e-03 -2.41259040e+02] [-1.05186765e-02 1.34973537e-04 -9.99944668e-01 -8.04219265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.900385723 meters 0.01442573776809902 Centerline is valid? [True, True] Translation: X:-46.60, Y:-241.36, Z:-8.04 [[-3.50901138e-01 -9.36406103e-01 3.46425896e-03 -4.66025748e+01] [-9.36356339e-01 3.50918209e-01 9.65487298e-03 -2.41360739e+02] [-1.02565535e-02 1.44125080e-04 -9.99947390e-01 -8.04200314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.930385723 meters 0.01442573776809902 Centerline is valid? [True, True] Translation: X:-46.67, Y:-241.47, Z:-8.04 [[-2.77821560e-01 -9.60628872e-01 2.71119176e-03 -4.66666013e+01] [-9.60577942e-01 2.77834752e-01 9.89280594e-03 -2.41466389e+02] [-1.02565783e-02 1.44123779e-04 -9.99947390e-01 -8.04200187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.960385723 meters 0.014803600100004005 Centerline is valid? [True, True] Translation: X:-46.72, Y:-241.57, Z:-8.04 [[-2.04648278e-01 -9.78833514e-01 2.00861371e-03 -4.67212738e+01] [-9.78777987e-01 2.04658067e-01 1.04272913e-02 -2.41574255e+02] [-1.06176612e-02 1.67940332e-04 -9.99943617e-01 -8.04102328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.990385723 meters 0.0146619641787659 Centerline is valid? [True, True] Translation: X:-46.77, Y:-241.69, Z:-8.04 [[-1.29265721e-01 -9.91609310e-01 1.16160607e-03 -4.67702738e+01] [-9.91556582e-01 1.29270828e-01 1.02272967e-02 -2.41691623e+02] [-1.02916444e-02 1.70240743e-04 -9.99947025e-01 -8.04147461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.020385723 meters 0.014960891250911074 Centerline is valid? [True, True] Translation: X:-46.81, Y:-241.82, Z:-8.04 [[-5.24332957e-02 -9.98624358e-01 3.75396412e-04 -4.68087347e+01] [-9.98569783e-01 5.24343554e-02 1.04415802e-02 -2.41818066e+02] [-1.04469000e-02 1.72626949e-04 -9.99945415e-01 -8.04098193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.050385723 meters 0.014694024137605568 Centerline is valid? [True, True] Translation: X:-46.84, Y:-241.94, Z:-8.04 [[ 2.52654685e-02 -9.99680687e-01 -4.23395086e-04 -4.68386993e+01] [-9.99628220e-01 -2.52684809e-02 1.02432897e-02 -2.41938846e+02] [-1.02507174e-02 1.64436164e-04 -9.99947447e-01 -8.04089568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.080385723 meters 0.014447931231441741 Centerline is valid? [True, True] Translation: X:-46.86, Y:-242.07, Z:-8.04 [[ 1.03081616e-01 -9.94672200e-01 -1.18134231e-03 -4.68604689e+01] [-9.94622751e-01 -1.03088272e-01 9.91929407e-03 -2.42067398e+02] [-9.98822859e-03 1.52493071e-04 -9.99950105e-01 -8.04104596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.110385723 meters 0.014416269266116052 Centerline is valid? [True, True] Translation: X:-46.87, Y:-242.19, Z:-8.04 [[ 1.80490869e-01 -9.83574719e-01 -1.95412819e-03 -4.68708725e+01] [-9.83525306e-01 -1.80501391e-01 9.86000300e-03 -2.42189784e+02] [-1.00507725e-02 1.42294015e-04 -9.99949480e-01 -8.04188691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.140385723 meters 0.014343893982470003 Centerline is valid? [True, True] Translation: X:-46.87, Y:-242.32, Z:-8.04 [[ 2.56576371e-01 -9.66520223e-01 -2.68786780e-03 -4.68696878e+01] [-9.66472467e-01 -2.56590416e-01 9.60884461e-03 -2.42319700e+02] [-9.97682375e-03 1.32347743e-04 -9.99950222e-01 -8.04218719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.170385723 meters 0.01421943993730892 Centerline is valid? [True, True] Translation: X:-46.86, Y:-242.44, Z:-8.04 [[ 3.30696152e-01 -9.43730952e-01 -3.45630654e-03 -4.68619322e+01] [-9.43683391e-01 -3.30714189e-01 9.47538970e-03 -2.42440525e+02] [-1.00852682e-02 1.28184166e-04 -9.99949134e-01 -8.04283170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.200385723 meters 0.013974524817462954 Centerline is valid? [True, True] Translation: X:-46.85, Y:-242.57, Z:-8.04 [[ 4.03034535e-01 -9.15175651e-01 -4.08546547e-03 -4.68450910e+01] [-9.15131569e-01 -4.03055223e-01 8.98322173e-03 -2.42565295e+02] [-9.86789400e-03 1.18189841e-04 -9.99951304e-01 -8.04261376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.230385723 meters 0.014081326179670579 Centerline is valid? [True, True] Translation: X:-46.82, Y:-242.68, Z:-8.04 [[ 4.72408500e-01 -8.81367521e-01 -4.63697712e-03 -4.68202988e+01] [-8.81327384e-01 -4.72431243e-01 8.41201336e-03 -2.42683617e+02] [-9.60472823e-03 1.12788302e-04 -9.99953867e-01 -8.04188990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.260385723 meters 0.014011592754638369 Centerline is valid? [True, True] Translation: X:-46.78, Y:-242.80, Z:-8.04 [[ 5.38810070e-01 -8.42412172e-01 -5.04393009e-03 -4.67849859e+01] [-8.42377091e-01 -5.38833668e-01 7.68866322e-03 -2.42801063e+02] [-9.19486283e-03 1.06161984e-04 -9.99957721e-01 -8.04165057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.290385723 meters 0.014023852932092877 Centerline is valid? [True, True] Translation: X:-46.74, Y:-242.91, Z:-8.04 [[ 6.01331398e-01 -7.98979376e-01 -5.70155992e-03 -4.67419253e+01] [-7.98945223e-01 -6.01358416e-01 7.38825405e-03 -2.42911187e+02] [-9.33174365e-03 1.12444925e-04 -9.99956452e-01 -8.04275200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.320385723 meters 0.014277090436277727 Centerline is valid? [True, True] Translation: X:-46.69, Y:-243.02, Z:-8.04 [[ 6.59516324e-01 -7.51665549e-01 -6.09266725e-03 -4.66903077e+01] [-7.51635195e-01 -6.59544454e-01 6.75617056e-03 -2.43016100e+02] [-9.09676555e-03 1.23658361e-04 -9.99958616e-01 -8.04434682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.350385723 meters 0.014529677574030663 Centerline is valid? [True, True] Translation: X:-46.64, Y:-243.11, Z:-8.04 [[ 7.14148827e-01 -6.99964749e-01 -6.38774992e-03 -4.66361131e+01] [-6.99938361e-01 -7.14177382e-01 6.07921303e-03 -2.43112968e+02] [-8.81722134e-03 1.29568357e-04 -9.99961119e-01 -8.04469349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.380385723 meters 0.014689168216382213 Centerline is valid? [True, True] Translation: X:-46.64, Y:-243.12, Z:-8.05 [[ 7.65883496e-01 -6.42950451e-01 -6.09826490e-03 -4.66429278e+01] [-6.42931363e-01 -7.65907763e-01 4.95588996e-03 -2.43122569e+02] [-7.85710011e-03 1.25131432e-04 -9.99969125e-01 -8.04512506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.410385723 meters 0.014924908394147313 Centerline is valid? [True, True] Translation: X:-46.65, Y:-243.14, Z:-8.04 [[ 8.12262090e-01 -5.83257983e-01 -6.35779398e-03 -4.66513456e+01] [-5.83241486e-01 -8.12286960e-01 4.38912897e-03 -2.43135917e+02] [-7.72434766e-03 1.43006136e-04 -9.99970157e-01 -8.04447646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.440385723 meters 0.01557550199533081 Centerline is valid? [True, True] Translation: X:-46.66, Y:-243.15, Z:-8.04 [[ 8.54676116e-01 -5.19110088e-01 -7.31122181e-03 -4.66581089e+01] [-5.19092764e-01 -8.54707370e-01 4.24425197e-03 -2.43146367e+02] [-8.45218918e-03 1.67741554e-04 -9.99964266e-01 -8.04323600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4703857229999 meters 0.015901315074401255 Centerline is valid? [True, True] Translation: X:-46.66, Y:-243.16, Z:-8.04 [[ 8.91648929e-01 -4.52643774e-01 -8.70636115e-03 -4.66622894e+01] [-4.52624512e-01 -8.91691409e-01 4.18119101e-03 -2.43156472e+02] [-9.65597752e-03 2.12557978e-04 -9.99953357e-01 -8.04289899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.500385723 meters 0.016029020891176696 Centerline is valid? [True, True] Translation: X:-46.67, Y:-243.17, Z:-8.04 [[ 9.23870720e-01 -3.82592052e-01 -9.28515769e-03 -4.66662039e+01] [-3.82575226e-01 -9.23917350e-01 3.59546504e-03 -2.43168243e+02] [-9.95431463e-03 2.30526432e-04 -9.99950428e-01 -8.04328634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.530385723 meters 0.01659984595033524 Centerline is valid? [True, True] Translation: X:-46.67, Y:-243.18, Z:-8.04 [[ 9.50415484e-01 -3.10828466e-01 -9.80162909e-03 -4.66696365e+01] [-3.10814686e-01 -9.50465991e-01 2.93783670e-03 -2.43180934e+02] [-1.02292784e-02 2.54324776e-04 -9.99947647e-01 -8.04312520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.560385723 meters 0.0169482799129677 Centerline is valid? [True, True] Translation: X:-46.67, Y:-243.19, Z:-8.04 [[ 9.71613410e-01 -2.36367431e-01 -9.89039754e-03 -4.66717584e+01] [-2.36357896e-01 -9.71663713e-01 2.13894262e-03 -2.43193851e+02] [-1.01157168e-02 2.59448215e-04 -9.99948801e-01 -8.04199202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5903857229999 meters 0.017155535231566474 Centerline is valid? [True, True] Translation: X:-46.68, Y:-243.21, Z:-8.04 [[ 9.87140851e-01 -1.59498914e-01 -1.06319105e-02 -4.66766256e+01] [-1.59492654e-01 -9.87198066e-01 1.43958972e-03 -2.43207240e+02] [-1.07254145e-02 2.74633801e-04 -9.99942443e-01 -8.04078893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.620385723 meters 0.017193661776417346 Centerline is valid? [True, True] Translation: X:-46.68, Y:-243.22, Z:-8.04 [[ 9.96646189e-01 -8.10946868e-02 -1.09556065e-02 -4.66802411e+01] [-8.10928051e-02 -9.96706364e-01 6.16600642e-04 -2.43217385e+02] [-1.09695257e-02 2.73888179e-04 -9.99939796e-01 -8.04091927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.650385723 meters 0.01714737217038592 Centerline is valid? [True, True] Translation: X:-46.68, Y:-243.23, Z:-8.04 [[ 9.99944593e-01 -1.56700766e-03 -1.04094393e-02 -4.66840117e+01] [-1.56949473e-03 -9.99998742e-01 -2.30759105e-04 -2.43226589e+02] [-1.04090646e-02 2.47083879e-04 -9.99945794e-01 -8.04293211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.680385723 meters 0.016816368920255193 Centerline is valid? [True, True] Translation: X:-46.69, Y:-243.24, Z:-8.04 [[ 9.96965283e-01 7.72289705e-02 -9.79343669e-03 -4.66862030e+01] [ 7.72229920e-02 -9.97013357e-01 -9.87711199e-04 -2.43238202e+02] [-9.84046711e-03 2.28435291e-04 -9.99951555e-01 -8.04348619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.710385723 meters 0.01704063545678889 Centerline is valid? [True, True] Translation: X:-46.69, Y:-243.25, Z:-8.04 [[ 9.87669145e-01 1.56286479e-01 -9.17589436e-03 -4.66881856e+01] [ 1.56277802e-01 -9.87711747e-01 -1.65956872e-03 -2.43252211e+02] [-9.32250680e-03 2.05116209e-04 -9.99956524e-01 -8.04191374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.740385723 meters 0.016687798075665585 Centerline is valid? [True, True] Translation: X:-46.69, Y:-243.26, Z:-8.04 [[ 9.72218575e-01 2.33901739e-01 -9.00108612e-03 -4.66878699e+01] [ 2.33889833e-01 -9.72260221e-01 -2.36817625e-03 -2.43263264e+02] [-9.30531853e-03 1.97122409e-04 -9.99956685e-01 -8.04146343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.770385723 meters 0.016764366909469784 Centerline is valid? [True, True] Translation: X:-46.69, Y:-243.27, Z:-8.04 [[ 9.50679303e-01 3.10046308e-01 -8.95263269e-03 -4.66880190e+01] [ 3.10030639e-01 -9.50721436e-01 -3.12304510e-03 -2.43271846e+02] [-9.47974841e-03 1.93423905e-04 -9.99955048e-01 -8.04104914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.800385723 meters 0.01645209702206841 Centerline is valid? [True, True] Translation: X:-46.69, Y:-243.28, Z:-8.04 [[ 9.22930432e-01 3.84856244e-01 -9.22438429e-03 -4.66866571e+01] [ 3.84834949e-01 -9.22976509e-01 -4.05302881e-03 -2.43279819e+02] [-1.00737234e-02 1.90798181e-04 -9.99949241e-01 -8.04211668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.830385723 meters 0.01513245971125175 Centerline is valid? [True, True] Translation: X:-46.68, Y:-243.30, Z:-8.04 [[ 8.89370527e-01 4.57115937e-01 -8.06759598e-03 -4.66803700e+01] [ 4.57095479e-01 -8.89407103e-01 -4.32767187e-03 -2.43296371e+02] [-9.15362495e-03 1.61242160e-04 -9.99958092e-01 -8.04407005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.860385723 meters 0.014828125933097411 Centerline is valid? [True, True] Translation: X:-46.67, Y:-243.31, Z:-8.04 [[ 8.50560835e-01 5.25829817e-01 -7.01929583e-03 -4.66728930e+01] [ 5.25810527e-01 -8.50589786e-01 -4.50615587e-03 -2.43310375e+02] [-8.34001245e-03 1.41940056e-04 -9.99965211e-01 -8.04470764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.890385723 meters 0.015853953123584633 Centerline is valid? [True, True] Translation: X:-46.67, Y:-243.32, Z:-8.04 [[ 8.06503424e-01 5.91194867e-01 -6.39195180e-03 -4.66677048e+01] [ 5.91174985e-01 -8.06528742e-01 -4.85028067e-03 -2.43321908e+02] [-8.02275388e-03 1.33005956e-04 -9.99967808e-01 -8.04365553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.920385723 meters 0.01610595143314286 Centerline is valid? [True, True] Translation: X:-46.66, Y:-243.33, Z:-8.04 [[ 7.57668324e-01 6.52616108e-01 -5.56110624e-03 -4.66641673e+01] [ 6.52597333e-01 -7.57688723e-01 -4.95177604e-03 -2.43330270e+02] [-7.44519629e-03 1.22640749e-04 -9.99972277e-01 -8.04298268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.950385723 meters 0.01504869573136682 Centerline is valid? [True, True] Translation: X:-46.65, Y:-243.34, Z:-8.04 [[ 7.04272824e-01 7.09908493e-01 -5.45166095e-03 -4.66538215e+01] [ 7.09885785e-01 -7.04293912e-01 -5.67951718e-03 -2.43342655e+02] [-7.87150910e-03 1.29872987e-04 -9.99969011e-01 -8.04382903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.980385723 meters 0.01511784080836164 Centerline is valid? [True, True] Translation: X:-46.64, Y:-243.35, Z:-8.04 [[ 6.46215402e-01 7.63135276e-01 -5.49591136e-03 -4.66440771e+01] [ 7.63105828e-01 -6.46238757e-01 -6.70554530e-03 -2.43352568e+02] [-8.66890909e-03 1.39264665e-04 -9.99962415e-01 -8.04291129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.010385723 meters 0.015284097130846828 Centerline is valid? [True, True] Translation: X:-46.64, Y:-243.36, Z:-8.04 [[ 5.84821588e-01 8.11144871e-01 -5.26378073e-03 -4.66357983e+01] [ 8.11109654e-01 -5.84845257e-01 -7.56005250e-03 -2.43359435e+02] [-9.21079500e-03 1.51778545e-04 -9.99957568e-01 -8.04273838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.040385723 meters 0.015559065732376915 Centerline is valid? [True, True] Translation: X:-46.63, Y:-243.37, Z:-8.04 [[ 5.19841567e-01 8.54249285e-01 -4.78586479e-03 -4.66287500e+01] [ 8.54210224e-01 -5.19863572e-01 -8.17067828e-03 -2.43366552e+02] [-9.46779284e-03 1.59323565e-04 -9.99955167e-01 -8.04286015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.070385723 meters 0.015794342052919345 Centerline is valid? [True, True] Translation: X:-46.62, Y:-243.37, Z:-8.04 [[ 4.52378476e-01 8.91816395e-01 -4.15117710e-03 -4.66178592e+01] [ 8.91775314e-01 -4.52397489e-01 -8.56163829e-03 -2.43373124e+02] [-9.51339150e-03 1.71183618e-04 -9.99954732e-01 -8.04215023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.100385723 meters 0.015575076762172915 Centerline is valid? [True, True] Translation: X:-46.60, Y:-243.38, Z:-8.04 [[ 3.81892114e-01 9.24200214e-01 -3.51810379e-03 -4.66042663e+01] [ 9.24156527e-01 -3.81908276e-01 -8.98789763e-03 -2.43379614e+02] [-9.65020987e-03 1.81128647e-04 -9.99953419e-01 -8.04215236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.130385723 meters 0.015523127586933421 Centerline is valid? [True, True] Translation: X:-46.59, Y:-243.39, Z:-8.04 [[ 3.09193170e-01 9.50994733e-01 -2.93297883e-03 -4.65887575e+01] [ 9.50945672e-01 -3.09207017e-01 -9.66173758e-03 -2.43385682e+02] [-1.00951592e-02 1.98239747e-04 -9.99949023e-01 -8.04199744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.160385723 meters 0.018839490929911898 Centerline is valid? [True, True] Translation: X:-46.58, Y:-243.39, Z:-8.04 [[ 2.34326343e-01 9.72155344e-01 -2.26983928e-03 -4.65816644e+01] [ 9.72100502e-01 -2.34337239e-01 -1.03282738e-02 -2.43389059e+02] [-1.05725944e-02 2.13674720e-04 -9.99944086e-01 -8.03876517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.190385723 meters 0.016197306520198823 Centerline is valid? [True, True] Translation: X:-46.56, Y:-243.39, Z:-8.04 [[ 1.57876509e-01 9.87457767e-01 -1.47200640e-03 -4.65647294e+01] [ 9.87400829e-01 -1.57883217e-01 -1.06062182e-02 -2.43393081e+02] [-1.07055976e-02 2.21012366e-04 -9.99942669e-01 -8.04156783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2203857229999 meters 0.01668681386730189 Centerline is valid? [True, True] Translation: X:-46.55, Y:-243.40, Z:-8.04 [[ 8.12027923e-02 9.96697387e-01 -6.52184568e-04 -4.65514369e+01] [ 9.96637260e-01 -8.12050590e-02 -1.09504051e-02 -2.43396160e+02] [-1.09672008e-02 2.39212031e-04 -9.99939830e-01 -8.04168573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.250385723 meters 0.016915600638865307 Centerline is valid? [True, True] Translation: X:-46.54, Y:-243.40, Z:-8.04 [[ 3.36901017e-03 9.99994304e-01 2.02694776e-04 -4.65401758e+01] [ 9.99936957e-01 -3.36664567e-03 -1.07120596e-02 -2.43397283e+02] [-1.07113162e-02 2.38771035e-04 -9.99942604e-01 -8.04171505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.280385723 meters 0.017244423105584522 Centerline is valid? [True, True] Translation: X:-46.53, Y:-243.40, Z:-8.04 [[-7.46430917e-02 9.97209866e-01 9.44786015e-04 -4.65288859e+01] [ 9.97162919e-01 7.46487475e-02 -9.67876865e-03 -2.43396653e+02] [-9.72229067e-03 2.19652365e-04 -9.99952713e-01 -8.04329626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.310385723 meters 0.017016285373119354 Centerline is valid? [True, True] Translation: X:-46.52, Y:-243.40, Z:-8.04 [[-1.52680363e-01 9.88274198e-01 1.67829245e-03 -4.65169346e+01] [ 9.88228999e-01 1.52689435e-01 -9.45420153e-03 -2.43395665e+02] [-9.59960096e-03 2.15066342e-04 -9.99953900e-01 -8.04411790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3403857229999 meters 0.016286535469965523 Centerline is valid? [True, True] Translation: X:-46.50, Y:-243.39, Z:-8.05 [[-2.29917602e-01 9.73207583e-01 2.21299106e-03 -4.64987525e+01] [ 9.73170292e-01 2.29928170e-01 -8.52175138e-03 -2.43391634e+02] [-8.80226205e-03 1.94316508e-04 -9.99961241e-01 -8.04515043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.370385723 meters 0.016316377381364693 Centerline is valid? [True, True] Translation: X:-46.48, Y:-243.39, Z:-8.05 [[-3.05389615e-01 9.52223572e-01 2.72992523e-03 -4.64838874e+01] [ 9.52190771e-01 3.05401761e-01 -7.90575660e-03 -2.43386997e+02] [-8.36177176e-03 1.85073641e-04 -9.99965023e-01 -8.04532784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.400385723 meters 0.017182133340928576 Centerline is valid? [True, True] Translation: X:-46.47, Y:-243.38, Z:-8.04 [[-3.78801515e-01 9.25471735e-01 3.38829167e-03 -4.64703426e+01] [ 9.25439082e-01 3.78816621e-01 -7.77651583e-03 -2.43381929e+02] [-8.48048679e-03 1.89901555e-04 -9.99964022e-01 -8.04453852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.430385723 meters 0.01629628371240916 Centerline is valid? [True, True] Translation: X:-46.46, Y:-243.37, Z:-8.05 [[-4.50060213e-01 8.92988569e-01 4.14972622e-03 -4.64557923e+01] [ 8.92954584e-01 4.50079300e-01 -7.79323681e-03 -2.43373242e+02] [-8.82697726e-03 1.98091234e-04 -9.99961022e-01 -8.04515319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.460385723 meters 0.01622632830471709 Centerline is valid? [True, True] Translation: X:-46.44, Y:-243.36, Z:-8.05 [[-5.18961045e-01 8.54782720e-01 5.09271850e-03 -4.64431747e+01] [ 8.54745440e-01 5.18985991e-01 -7.98592042e-03 -2.43363816e+02] [-9.46927633e-03 2.08596308e-04 -9.99955144e-01 -8.04504503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.490385723 meters 0.01629998895125519 Centerline is valid? [True, True] Translation: X:-46.43, Y:-243.35, Z:-8.04 [[-5.84946075e-01 8.11048500e-01 6.19841110e-03 -4.64302720e+01] [ 8.11006871e-01 5.84978874e-01 -8.22019973e-03 -2.43354008e+02] [-1.02929202e-02 2.18580427e-04 -9.99947003e-01 -8.04457743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.520385723 meters 0.016443796169634983 Centerline is valid? [True, True] Translation: X:-46.42, Y:-243.35, Z:-8.04 [[-6.47254465e-01 7.62241895e-01 6.99659594e-03 -4.64197136e+01] [ 7.62200929e-01 6.47292243e-01 -7.90549950e-03 -2.43345129e+02] [-1.05547452e-02 2.15942070e-04 -9.99944274e-01 -8.04435735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.550385723 meters 0.015660839275275153 Centerline is valid? [True, True] Translation: X:-46.41, Y:-243.33, Z:-8.05 [[-7.06874738e-01 7.07296142e-01 7.76352593e-03 -4.64072006e+01] [ 7.07256440e-01 7.06917343e-01 -7.49649509e-03 -2.43329761e+02] [-1.07904132e-02 1.91720717e-04 -9.99941763e-01 -8.04508494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.580385723 meters 0.015689244139355657 Centerline is valid? [True, True] Translation: X:-46.39, Y:-243.31, Z:-8.04 [[-7.56085586e-01 6.54417126e-01 8.53303002e-03 -4.63885478e+01] [ 6.54378155e-01 7.56133713e-01 -7.14406935e-03 -2.43305341e+02] [-1.11273130e-02 1.82300587e-04 -9.99938073e-01 -8.04455986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.610385723 meters 0.015451909267693442 Centerline is valid? [True, True] Translation: X:-46.00, Y:-242.85, Z:-9.03 [[-7.32167420e-01 -6.81075041e-01 8.22543141e-03 -4.60045958e+01] [ 6.81029435e-01 -7.32213602e-01 -7.88352158e-03 -2.42846109e+02] [ 1.13920425e-02 -1.70296751e-04 9.99935094e-01 -9.02574832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.640385723 meters 0.015239437230383911 Centerline is valid? [True, True] Translation: X:-46.03, Y:-242.87, Z:-9.03 [[-6.82846360e-01 -7.30523206e-01 7.52961624e-03 -4.60290150e+01] [ 7.30476502e-01 -6.82887858e-01 -8.26161776e-03 -2.42871278e+02] [ 1.11771870e-02 -1.41207885e-04 9.99937523e-01 -9.02650259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.670385723 meters 0.014916269015580193 Centerline is valid? [True, True] Translation: X:-46.05, Y:-242.85, Z:-9.03 [[-6.82314226e-01 -7.31020386e-01 7.51619824e-03 -4.60493160e+01] [ 7.30973923e-01 -6.82355610e-01 -8.24285612e-03 -2.42852162e+02] [ 1.11544159e-02 -1.30073071e-04 9.99937779e-01 -9.02591452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.700385723 meters 0.015209399820868401 Centerline is valid? [True, True] Translation: X:-46.07, Y:-242.83, Z:-9.03 [[-6.82087206e-01 -7.31229035e-01 7.81932769e-03 -4.60678373e+01] [ 7.31178804e-01 -6.82132011e-01 -8.57178255e-03 -2.42832012e+02] [ 1.16017500e-02 -1.29376530e-04 9.99932689e-01 -9.02700689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.730385723 meters 0.014966778211087495 Centerline is valid? [True, True] Translation: X:-46.09, Y:-242.81, Z:-9.03 [[-6.81825040e-01 -7.31467949e-01 8.32188795e-03 -4.60887414e+01] [ 7.31411133e-01 -6.81875811e-01 -9.11769768e-03 -2.42812510e+02] [ 1.23437977e-02 -1.29953089e-04 9.99923804e-01 -9.02729922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.760385723 meters 0.014854403335447432 Centerline is valid? [True, True] Translation: X:-46.11, Y:-242.79, Z:-9.03 [[-6.82072478e-01 -7.31236493e-01 8.38609339e-03 -4.61077204e+01] [ 7.31178843e-01 -6.82124017e-01 -9.18287336e-03 -2.42792200e+02] [ 1.24352078e-02 -1.31651123e-04 9.99922671e-01 -9.02643598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.790385723 meters 0.01498706824546963 Centerline is valid? [True, True] Translation: X:-46.13, Y:-242.77, Z:-9.03 [[-6.82123064e-01 -7.31196564e-01 7.72726021e-03 -4.61256257e+01] [ 7.31147669e-01 -6.82166820e-01 -8.45671950e-03 -2.42771198e+02] [ 1.14548048e-02 -1.18755125e-04 9.99934385e-01 -9.02501078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.820385723 meters 0.01498706824546963 Centerline is valid? [True, True] Translation: X:-46.14, Y:-242.75, Z:-9.03 [[-6.82325718e-01 -7.31007434e-01 7.72960419e-03 -4.61442666e+01] [ 7.30958551e-01 -6.82369488e-01 -8.45457711e-03 -2.42750883e+02] [ 1.14548048e-02 -1.18755119e-04 9.99934385e-01 -9.02501059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.850385723 meters 0.014897688150004392 Centerline is valid? [True, True] Translation: X:-46.16, Y:-242.73, Z:-9.02 [[-6.82303006e-01 -7.31034701e-01 7.13256453e-03 -4.61635973e+01] [ 7.30993125e-01 -6.82340278e-01 -7.79719793e-03 -2.42730447e+02] [ 1.05668583e-02 -1.06195950e-04 9.99944164e-01 -9.02411974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.880385723 meters 0.014820350307422457 Centerline is valid? [True, True] Translation: X:-46.18, Y:-242.71, Z:-9.02 [[-6.82062118e-01 -7.31261735e-01 6.89517299e-03 -4.61835640e+01] [ 7.31222935e-01 -6.82096963e-01 -7.53346906e-03 -2.42710896e+02] [ 1.02121142e-02 -9.63852258e-05 9.99947850e-01 -9.02356483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.910385723 meters 0.01472695041018985 Centerline is valid? [True, True] Translation: X:-46.20, Y:-242.69, Z:-9.02 [[-6.81063906e-01 -7.32192600e-01 6.77878859e-03 -4.62042956e+01] [ 7.32155187e-01 -6.81097637e-01 -7.40214170e-03 -2.42691801e+02] [ 1.00368103e-02 -7.82063160e-05 9.99949627e-01 -9.02403924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.940385723 meters 0.0147220053573533 Centerline is valid? [True, True] Translation: X:-46.22, Y:-242.67, Z:-9.02 [[-6.80371615e-01 -7.32833151e-01 7.07376339e-03 -4.62232609e+01] [ 7.32792491e-01 -6.80408384e-01 -7.71991589e-03 -2.42671619e+02] [ 1.04704582e-02 -6.88109567e-05 9.99945181e-01 -9.02426903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9703857229999 meters 0.014633535580982546 Centerline is valid? [True, True] Translation: X:-46.24, Y:-242.65, Z:-9.02 [[-6.79165872e-01 -7.33952015e-01 6.93959675e-03 -4.62421877e+01] [ 7.33912986e-01 -6.79201323e-01 -7.56908966e-03 -2.42651786e+02] [ 1.02687319e-02 -4.76072070e-05 9.99947274e-01 -9.02386566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.000385723 meters 0.014640066260574217 Centerline is valid? [True, True] Translation: X:-46.26, Y:-242.63, Z:-9.02 [[-6.78910423e-01 -7.34190613e-01 6.69180550e-03 -4.62605273e+01] [ 7.34154376e-01 -6.78943401e-01 -7.29455746e-03 -2.42631664e+02] [ 9.89895280e-03 -3.95327970e-05 9.99951003e-01 -9.02374736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.030385723 meters 0.014594135769719387 Centerline is valid? [True, True] Translation: X:-46.28, Y:-242.61, Z:-9.02 [[-6.78854359e-01 -7.34243082e-01 6.62237854e-03 -4.62793864e+01] [ 7.34207634e-01 -6.78886659e-01 -7.21485757e-03 -2.42611197e+02] [ 9.79330370e-03 -3.56366303e-05 9.99952044e-01 -9.02355409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.060385723 meters 0.01462749870186938 Centerline is valid? [True, True] Translation: X:-46.30, Y:-242.59, Z:-9.02 [[-6.79868869e-01 -7.33305168e-01 6.46930980e-03 -4.62978854e+01] [ 7.33271336e-01 -6.79899646e-01 -7.04413511e-03 -2.42589417e+02] [ 9.56398212e-03 -4.53287278e-05 9.99954263e-01 -9.02359439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0903857229999 meters 0.014661091474356456 Centerline is valid? [True, True] Translation: X:-46.32, Y:-242.57, Z:-9.02 [[-6.80683230e-01 -7.32547717e-01 6.64700880e-03 -4.63160464e+01] [ 7.32512004e-01 -6.80715682e-01 -7.23357151e-03 -2.42567900e+02] [ 9.82365942e-03 -5.47570796e-05 9.99951745e-01 -9.02374022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.120385723 meters 0.014798763692703797 Centerline is valid? [True, True] Translation: X:-46.33, Y:-242.55, Z:-9.02 [[-6.82818805e-01 -7.30554657e-01 6.95505097e-03 -4.63324856e+01] [ 7.30515495e-01 -6.82854220e-01 -7.56472430e-03 -2.42545042e+02] [ 1.02757305e-02 -8.45635064e-05 9.99947200e-01 -9.02363573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.150385723 meters 0.015052367195762863 Centerline is valid? [True, True] Translation: X:-46.35, Y:-242.52, Z:-9.02 [[-6.83983972e-01 -7.29464536e-01 6.88608143e-03 -4.63484591e+01] [ 7.29426137e-01 -6.84018627e-01 -7.48524290e-03 -2.42523589e+02] [ 1.01704272e-02 -9.68983950e-05 9.99948275e-01 -9.02412151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.180385723 meters 0.015284505827971591 Centerline is valid? [True, True] Translation: X:-46.37, Y:-242.50, Z:-9.02 [[-6.85182153e-01 -7.28334655e-01 7.35173121e-03 -4.63661885e+01] [ 7.28290869e-01 -6.85221582e-01 -7.98706178e-03 -2.42501425e+02] [ 1.08548188e-02 -1.18393465e-04 9.99941078e-01 -9.02427087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.210385723 meters 0.015607248029474224 Centerline is valid? [True, True] Translation: X:-46.38, Y:-242.48, Z:-9.02 [[-6.87419709e-01 -7.26219611e-01 7.69553201e-03 -4.63839939e+01] [ 7.26171551e-01 -6.87462765e-01 -8.35621570e-03 -2.42479107e+02] [ 1.13588394e-02 -1.55950944e-04 9.99935474e-01 -9.02435411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.240385723 meters 0.01577264156581549 Centerline is valid? [True, True] Translation: X:-46.40, Y:-242.46, Z:-9.02 [[-6.88370175e-01 -7.25319061e-01 7.66567064e-03 -4.64013706e+01] [ 7.25271355e-01 -6.88412835e-01 -8.32042616e-03 -2.42458376e+02] [ 1.13121097e-02 -1.67841878e-04 9.99936002e-01 -9.02438296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.270385723 meters 0.016235362309115313 Centerline is valid? [True, True] Translation: X:-46.42, Y:-242.44, Z:-9.02 [[-6.89915586e-01 -7.23850988e-01 7.49873004e-03 -4.64186522e+01] [ 7.23805303e-01 -6.89956312e-01 -8.13451565e-03 -2.42436953e+02] [ 1.10619733e-02 -1.84508564e-04 9.99938798e-01 -9.02459783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.300385723 meters 0.016425174344339277 Centerline is valid? [True, True] Translation: X:-46.44, Y:-242.42, Z:-9.02 [[-6.90627259e-01 -7.23172835e-01 7.41890659e-03 -4.64371758e+01] [ 7.23128131e-01 -6.90667080e-01 -8.04304102e-03 -2.42416354e+02] [ 1.09405033e-02 -1.89923316e-04 9.99940133e-01 -9.02465805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.330385723 meters 0.016451528408596365 Centerline is valid? [True, True] Translation: X:-46.46, Y:-242.40, Z:-9.02 [[-6.91329982e-01 -7.22500963e-01 7.43066956e-03 -4.64557573e+01] [ 7.22456133e-01 -6.91369886e-01 -8.05086766e-03 -2.42396307e+02] [ 1.09541008e-02 -1.97473401e-04 9.99939983e-01 -9.02447986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.360385723 meters 0.016877464066473374 Centerline is valid? [True, True] Translation: X:-46.47, Y:-242.38, Z:-9.03 [[-6.91778668e-01 -7.22070107e-01 7.55218796e-03 -4.64718732e+01] [ 7.22023831e-01 -6.91819860e-01 -8.17729216e-03 -2.42375261e+02] [ 1.11293318e-02 -2.04016592e-04 9.99938046e-01 -9.02511044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.390385723 meters 0.01686733815814393 Centerline is valid? [True, True] Translation: X:-46.49, Y:-242.35, Z:-9.02 [[-6.91736808e-01 -7.22109914e-01 7.58027693e-03 -4.64898539e+01] [ 7.22063350e-01 -6.91778312e-01 -8.20278684e-03 -2.42354885e+02] [ 1.11671849e-02 -2.00729431e-04 9.99937625e-01 -9.02497515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.420385723 meters 0.016940955201400848 Centerline is valid? [True, True] Translation: X:-46.51, Y:-242.33, Z:-9.03 [[-6.91562169e-01 -7.22280027e-01 7.30265946e-03 -4.65064880e+01] [ 7.22236875e-01 -6.91600699e-01 -7.89740607e-03 -2.42334744e+02] [ 1.07546631e-02 -1.87297324e-04 9.99942149e-01 -9.02517262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.450385723 meters 0.016220106436537512 Centerline is valid? [True, True] Translation: X:-46.53, Y:-242.31, Z:-9.02 [[-6.91901386e-01 -7.21961164e-01 6.67451644e-03 -4.65256564e+01] [ 7.21925141e-01 -6.91933557e-01 -7.21410840e-03 -2.42314775e+02] [ 9.82662800e-03 -1.72950382e-04 9.99951703e-01 -9.02328996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.480385723 meters 0.016430853644261573 Centerline is valid? [True, True] Translation: X:-46.54, Y:-242.29, Z:-9.02 [[-6.92573369e-01 -7.21323760e-01 5.84479869e-03 -4.65421273e+01] [ 7.21296144e-01 -6.92598014e-01 -6.31383844e-03 -2.42292041e+02] [ 8.60241765e-03 -1.56965604e-04 9.99962986e-01 -9.02149811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.510385723 meters 0.016490298372887676 Centerline is valid? [True, True] Translation: X:-46.56, Y:-242.27, Z:-9.02 [[-6.92606886e-01 -7.21293707e-01 5.57588705e-03 -4.65597086e+01] [ 7.21268601e-01 -6.92629314e-01 -6.01986578e-03 -2.42270766e+02] [ 8.20411413e-03 -1.47688240e-04 9.99966335e-01 -9.02088540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.540385723 meters 0.01639369519109716 Centerline is valid? [True, True] Translation: X:-46.58, Y:-242.25, Z:-9.02 [[-6.92397606e-01 -7.21493210e-01 5.75351915e-03 -4.65777825e+01] [ 7.21466518e-01 -6.92421495e-01 -6.20784683e-03 -2.42250440e+02] [ 8.46277967e-03 -1.47326856e-04 9.99964179e-01 -9.02034460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.570385723 meters 0.01598435780714532 Centerline is valid? [True, True] Translation: X:-46.60, Y:-242.23, Z:-9.02 [[-6.90523051e-01 -7.23284552e-01 6.11334569e-03 -4.65968027e+01] [ 7.23254519e-01 -6.90550099e-01 -6.59250465e-03 -2.42230218e+02] [ 8.98982825e-03 -1.30771532e-04 9.99959582e-01 -9.02121242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.600385723 meters 0.015457080806621672 Centerline is valid? [True, True] Translation: X:-46.62, Y:-242.21, Z:-9.02 [[-6.89585411e-01 -7.24179986e-01 5.94213127e-03 -4.66170221e+01] [ 7.24151677e-01 -6.89611002e-01 -6.40424193e-03 -2.42210637e+02] [ 8.73558293e-03 -1.13267478e-04 9.99961838e-01 -9.02083335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.630385723 meters 0.015269241444867961 Centerline is valid? [True, True] Translation: X:-46.64, Y:-242.19, Z:-9.02 [[-6.87959624e-01 -7.25727744e-01 5.54960761e-03 -4.66359415e+01] [ 7.25703128e-01 -6.87982002e-01 -5.97794153e-03 -2.42189128e+02] [ 8.15638817e-03 -8.52148056e-05 9.99966733e-01 -9.02114248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.660385723 meters 0.015301790188635957 Centerline is valid? [True, True] Translation: X:-46.65, Y:-242.17, Z:-9.02 [[-6.87907405e-01 -7.25777674e-01 5.49276137e-03 -4.66535326e+01] [ 7.25753590e-01 -6.87929328e-01 -5.91318909e-03 -2.42168446e+02] [ 8.07029227e-03 -8.13352726e-05 9.99967431e-01 -9.02101788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.690385723 meters 0.015223611045110412 Centerline is valid? [True, True] Translation: X:-46.67, Y:-242.15, Z:-9.02 [[-6.88107180e-01 -7.25589486e-01 5.32988274e-03 -4.66719832e+01] [ 7.25566828e-01 -6.88127817e-01 -5.73463048e-03 -2.42146933e+02] [ 7.82862815e-03 -7.88542926e-05 9.99969353e-01 -9.02090762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7203857229999 meters 0.015407281978546154 Centerline is valid? [True, True] Translation: X:-46.69, Y:-242.12, Z:-9.02 [[-6.89509437e-01 -7.24255790e-01 5.50338035e-03 -4.66885992e+01] [ 7.24231616e-01 -6.89531393e-01 -5.91816667e-03 -2.42123150e+02] [ 8.08101999e-03 -9.49097301e-05 9.99967344e-01 -9.02068865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.750385723 meters 0.015626605847919035 Centerline is valid? [True, True] Translation: X:-46.71, Y:-242.10, Z:-9.02 [[-6.90491513e-01 -7.23316366e-01 5.90798904e-03 -4.67063471e+01] [ 7.23288503e-01 -6.90516779e-01 -6.34976675e-03 -2.42100929e+02] [ 8.67245577e-03 -1.11279501e-04 9.99962387e-01 -9.02079150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.780385723 meters 0.016110808981164175 Centerline is valid? [True, True] Translation: X:-46.72, Y:-242.08, Z:-9.02 [[-6.92647327e-01 -7.21247184e-01 6.49456997e-03 -4.67232071e+01] [ 7.21213459e-01 -6.92677759e-01 -6.97637656e-03 -2.42078264e+02] [ 9.53033612e-03 -1.48197304e-04 9.99954574e-01 -9.02211647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.810385723 meters 0.016347544059097805 Centerline is valid? [True, True] Translation: X:-46.74, Y:-242.06, Z:-9.02 [[-6.93805045e-01 -7.20132609e-01 6.60191831e-03 -4.67413388e+01] [ 7.20097746e-01 -6.93836435e-01 -7.08781550e-03 -2.42056398e+02] [ 9.68481853e-03 -1.63535659e-04 9.99953088e-01 -9.02265433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8403857229999 meters 0.016750786420877607 Centerline is valid? [True, True] Translation: X:-46.76, Y:-242.03, Z:-9.02 [[-6.95653351e-01 -7.18353590e-01 5.87666366e-03 -4.67572811e+01] [ 7.18325934e-01 -6.95678153e-01 -6.30555428e-03 -2.42033469e+02] [ 8.61788408e-03 -1.65120051e-04 9.99962852e-01 -9.02146976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.870385723 meters 0.016988424369986422 Centerline is valid? [True, True] Translation: X:-46.77, Y:-242.01, Z:-9.02 [[-6.96442571e-01 -7.17590837e-01 5.57992818e-03 -4.67743487e+01] [ 7.17565909e-01 -6.96464905e-01 -5.98353465e-03 -2.42012413e+02] [ 8.17995379e-03 -1.63222025e-04 9.99966530e-01 -9.02107610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.900385723 meters 0.017082298613138612 Centerline is valid? [True, True] Translation: X:-46.79, Y:-241.99, Z:-9.02 [[-6.97202119e-01 -7.16852939e-01 5.57388544e-03 -4.67918441e+01] [ 7.16828071e-01 -6.97224379e-01 -5.97341996e-03 -2.41991232e+02] [ 8.16831248e-03 -1.69163509e-04 9.99966625e-01 -9.02084528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.930385723 meters 0.017634736027250308 Centerline is valid? [True, True] Translation: X:-46.81, Y:-241.97, Z:-9.02 [[-6.98400895e-01 -7.15678725e-01 6.33663381e-03 -4.68070430e+01] [ 7.15646572e-01 -6.98429610e-01 -6.78697192e-03 -2.41968133e+02] [ 9.28298409e-03 -2.05236995e-04 9.99956891e-01 -9.02149199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.960385723 meters 0.01722603259292573 Centerline is valid? [True, True] Translation: X:-46.83, Y:-241.95, Z:-9.02 [[-6.98922760e-01 -7.15168176e-01 6.43858726e-03 -4.68263988e+01] [ 7.15134995e-01 -6.98952383e-01 -6.89236900e-03 -2.41947724e+02] [ 9.42946888e-03 -2.12774492e-04 9.99955519e-01 -9.02098393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.990385723 meters 0.01835380822254291 Centerline is valid? [True, True] Translation: X:-46.84, Y:-241.93, Z:-9.02 [[-6.99584783e-01 -7.14519623e-01 6.54521515e-03 -4.68417417e+01] [ 7.14485345e-01 -6.99615365e-01 -7.00243570e-03 -2.41925153e+02] [ 9.58251080e-03 -2.22337154e-04 9.99954062e-01 -9.02163929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.020385723 meters 0.01868975900055399 Centerline is valid? [True, True] Translation: X:-46.86, Y:-241.91, Z:-9.02 [[-7.00001046e-01 -7.14112145e-01 6.51004537e-03 -4.68584166e+01] [ 7.14078248e-01 -7.00031281e-01 -6.96140945e-03 -2.41905521e+02] [ 9.52846244e-03 -2.24312106e-04 9.99954578e-01 -9.02153803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.050385723 meters 0.018000490325174867 Centerline is valid? [True, True] Translation: X:-46.88, Y:-241.89, Z:-9.02 [[-7.00726440e-01 -7.13399761e-01 6.57544392e-03 -4.68779875e+01] [ 7.13365185e-01 -7.00757252e-01 -7.02755112e-03 -2.41885437e+02] [ 9.62124330e-03 -2.33698114e-04 9.99953688e-01 -9.02093435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.080385723 meters 0.0177166170663994 Centerline is valid? [True, True] Translation: X:-46.90, Y:-241.86, Z:-9.02 [[-7.01335045e-01 -7.12804208e-01 6.27020173e-03 -4.68960460e+01] [ 7.12772777e-01 -7.01363037e-01 -6.69765169e-03 -2.41864193e+02] [ 9.17180204e-03 -2.28068749e-04 9.99957912e-01 -9.01983979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.110385723 meters 0.017871671729460824 Centerline is valid? [True, True] Translation: X:-46.91, Y:-241.84, Z:-9.02 [[-7.01356788e-01 -7.12785610e-01 5.94392053e-03 -4.69129056e+01] [ 7.12757401e-01 -7.01381942e-01 -6.34503439e-03 -2.41844541e+02] [ 8.69160774e-03 -2.13559585e-04 9.99962205e-01 -9.01936686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.140385723 meters 0.01706795535597756 Centerline is valid? [True, True] Translation: X:-46.93, Y:-241.82, Z:-9.02 [[-6.99965558e-01 -7.14152092e-01 5.91672787e-03 -4.69324191e+01] [ 7.14124219e-01 -6.99990537e-01 -6.31252783e-03 -2.41824408e+02] [ 8.64975847e-03 -1.93273400e-04 9.99962572e-01 -9.01850409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.170385723 meters 0.017345992456890457 Centerline is valid? [True, True] Translation: X:-46.95, Y:-241.80, Z:-9.02 [[-6.99070561e-01 -7.15022463e-01 6.57489730e-03 -4.69503006e+01] [ 7.14988109e-01 -6.99101450e-01 -7.01189794e-03 -2.41804248e+02] [ 9.61018477e-03 -2.00838039e-04 9.99953801e-01 -9.01960213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.200385723 meters 0.01682489355921471 Centerline is valid? [True, True] Translation: X:-46.97, Y:-241.78, Z:-9.02 [[-6.98185258e-01 -7.15883402e-01 6.94985582e-03 -4.69701932e+01] [ 7.15845103e-01 -6.98219820e-01 -7.40752348e-03 -2.41784801e+02] [ 1.01554502e-02 -1.96803433e-04 9.99948413e-01 -9.02025148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.230385723 meters 0.016352170254753894 Centerline is valid? [True, True] Translation: X:-46.99, Y:-241.77, Z:-9.02 [[-6.96574772e-01 -7.17439474e-01 8.01171776e-03 -4.69897197e+01] [ 7.17388742e-01 -6.96620816e-01 -8.53410328e-03 -2.41765445e+02] [ 1.17038319e-02 -1.97124917e-04 9.99931488e-01 -9.02186510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.260385723 meters 0.01576320301103664 Centerline is valid? [True, True] Translation: X:-47.01, Y:-241.75, Z:-9.02 [[-6.96151152e-01 -7.17851921e-01 7.88626421e-03 -4.70095986e+01] [ 7.17802845e-01 -6.96195796e-01 -8.39578581e-03 -2.41745235e+02] [ 1.15173150e-02 -1.83953079e-04 9.99933657e-01 -9.02099464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.290385723 meters 0.015554468348983264 Centerline is valid? [True, True] Translation: X:-47.03, Y:-241.72, Z:-9.02 [[-6.94894649e-01 -7.19077763e-01 6.97124486e-03 -4.70266272e+01] [ 7.19039518e-01 -6.94929601e-01 -7.41757875e-03 -2.41724079e+02] [ 1.01783403e-02 -1.41835234e-04 9.99948189e-01 -9.01917661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.320385723 meters 0.015529256348762229 Centerline is valid? [True, True] Translation: X:-47.04, Y:-241.70, Z:-9.02 [[-6.94833185e-01 -7.19139604e-01 6.71383967e-03 -4.70448106e+01] [ 7.19104173e-01 -6.94865608e-01 -7.13979568e-03 -2.41703093e+02] [ 9.79972611e-03 -1.33016848e-04 9.99951973e-01 -9.01814954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.350385723 meters 0.015494941300551329 Centerline is valid? [True, True] Translation: X:-47.06, Y:-241.68, Z:-9.02 [[-6.94893629e-01 -7.19077950e-01 7.05317895e-03 -4.70624378e+01] [ 7.19038890e-01 -6.94929409e-01 -7.49606391e-03 -2.41682463e+02] [ 1.02917157e-02 -1.37457091e-04 9.99947030e-01 -9.01790730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.380385723 meters 0.015455906975290593 Centerline is valid? [True, True] Translation: X:-47.08, Y:-241.66, Z:-9.02 [[-6.95275146e-01 -7.18706354e-01 7.32455265e-03 -4.70818892e+01] [ 7.18664256e-01 -6.95313710e-01 -7.78018113e-03 -2.41661732e+02] [ 1.06845275e-02 -1.45472386e-04 9.99942908e-01 -9.01784002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.410385723 meters 0.01571976551616149 Centerline is valid? [True, True] Translation: X:-47.10, Y:-241.64, Z:-9.02 [[-6.95724442e-01 -7.18271066e-01 7.36045153e-03 -4.70999366e+01] [ 7.18228579e-01 -6.95763360e-01 -7.81376469e-03 -2.41641141e+02] [ 1.07335336e-02 -1.49740440e-04 9.99942383e-01 -9.01832717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.440385723 meters 0.01548730025285895 Centerline is valid? [True, True] Translation: X:-47.12, Y:-241.62, Z:-9.02 [[-6.97292068e-01 -7.16758999e-01 6.34899458e-03 -4.71178118e+01] [ 7.16727359e-01 -6.97320957e-01 -6.73623833e-03 -2.41619987e+02] [ 9.25554641e-03 -1.46627443e-04 9.99957156e-01 -9.01595294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4703857229999 meters 0.01622037807962341 Centerline is valid? [True, True] Translation: X:-47.13, Y:-241.60, Z:-9.01 [[-7.00170467e-01 -7.13952806e-01 5.71913540e-03 -4.71340743e+01] [ 7.13927056e-01 -7.00193805e-01 -6.06588020e-03 -2.41597199e+02] [ 8.33525536e-03 -1.64104668e-04 9.99965248e-01 -9.01464109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.500385723 meters 0.016746939783131642 Centerline is valid? [True, True] Translation: X:-47.15, Y:-241.58, Z:-9.01 [[-7.01815771e-01 -7.12337284e-01 5.49710387e-03 -4.71512242e+01] [ 7.12313472e-01 -7.01837278e-01 -5.82699394e-03 -2.41576651e+02] [ 8.00885745e-03 -1.73815101e-04 9.99967914e-01 -9.01484662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.530385723 meters 0.017005552943033613 Centerline is valid? [True, True] Translation: X:-47.17, Y:-241.56, Z:-9.02 [[-7.03344854e-01 -7.10826496e-01 5.63115481e-03 -4.71692156e+01] [ 7.10801488e-01 -7.03367369e-01 -5.96561798e-03 -2.41555641e+02] [ 8.20128986e-03 -1.93253487e-04 9.99966350e-01 -9.01515626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.560385723 meters 0.017783688336524432 Centerline is valid? [True, True] Translation: X:-47.19, Y:-241.53, Z:-9.02 [[-7.05147542e-01 -7.09035135e-01 6.01008749e-03 -4.71856935e+01] [ 7.09006616e-01 -7.05173118e-01 -6.36338321e-03 -2.41533844e+02] [ 8.75001441e-03 -2.25932233e-04 9.99961692e-01 -9.01542013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5903857229999 meters 0.017889147683337343 Centerline is valid? [True, True] Translation: X:-47.20, Y:-241.51, Z:-9.02 [[-7.05683257e-01 -7.08501748e-01 6.03433473e-03 -4.72042678e+01] [ 7.08473013e-01 -7.05709019e-01 -6.38516860e-03 -2.41513227e+02] [ 8.78238755e-03 -2.30743269e-04 9.99961408e-01 -9.01532440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.620385723 meters 0.01804335665072378 Centerline is valid? [True, True] Translation: X:-47.22, Y:-241.49, Z:-9.02 [[-7.05856733e-01 -7.08325655e-01 6.40618105e-03 -4.72225098e+01] [ 7.08293301e-01 -7.05885760e-01 -6.77452746e-03 -2.41493045e+02] [ 9.32060359e-03 -2.44390697e-04 9.99956532e-01 -9.01547617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.650385723 meters 0.017491267025083003 Centerline is valid? [True, True] Translation: X:-47.24, Y:-241.47, Z:-9.02 [[-7.05280469e-01 -7.08897972e-01 6.56694507e-03 -4.72428478e+01] [ 7.08864032e-01 -7.05311001e-01 -6.94098016e-03 -2.41472922e+02] [ 9.55218536e-03 -2.40266592e-04 9.99954348e-01 -9.01540391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.680385723 meters 0.0177031455688086 Centerline is valid? [True, True] Translation: X:-47.26, Y:-241.45, Z:-9.02 [[-7.04827327e-01 -7.09345793e-01 6.85458799e-03 -4.72608877e+01] [ 7.09308882e-01 -7.04860616e-01 -7.24034109e-03 -2.41453820e+02] [ 9.96743461e-03 -2.41170111e-04 9.99950295e-01 -9.01601064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.710385723 meters 0.01684965833046222 Centerline is valid? [True, True] Translation: X:-47.28, Y:-241.43, Z:-9.02 [[-7.02458646e-01 -7.11686083e-01 7.40068052e-03 -4.72824848e+01] [ 7.11643228e-01 -7.02497594e-01 -7.81323248e-03 -2.41434945e+02] [ 1.07595291e-02 -2.21828533e-04 9.99942090e-01 -9.01673552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.740385723 meters 0.01684965833046222 Centerline is valid? [True, True] Translation: X:-47.30, Y:-241.42, Z:-9.02 [[-7.02671584e-01 -7.11475818e-01 7.40301818e-03 -4.73009661e+01] [ 7.11432974e-01 -7.02710546e-01 -7.81101759e-03 -2.41415580e+02] [ 1.07595291e-02 -2.21828864e-04 9.99942090e-01 -9.01673533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.770385723 meters 0.016369074287671915 Centerline is valid? [True, True] Translation: X:-47.32, Y:-241.40, Z:-9.02 [[-7.01236936e-01 -7.12887938e-01 7.58604005e-03 -4.73215069e+01] [ 7.12843079e-01 -7.01277939e-01 -7.99985829e-03 -2.41395834e+02] [ 1.10229250e-02 -2.02139965e-04 9.99939225e-01 -9.01678182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.800385723 meters 0.01563993423034876 Centerline is valid? [True, True] Translation: X:-47.34, Y:-241.38, Z:-9.02 [[-6.98884689e-01 -7.15194267e-01 7.57308997e-03 -4.73421674e+01] [ 7.15149743e-01 -6.98925700e-01 -7.98197219e-03 -2.41376624e+02] [ 1.10016880e-02 -1.62584804e-04 9.99939466e-01 -9.01596912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.830385723 meters 0.014982411082088925 Centerline is valid? [True, True] Translation: X:-47.36, Y:-241.36, Z:-9.02 [[-6.98228020e-01 -7.15838559e-01 7.26565009e-03 -4.73632198e+01] [ 7.15797656e-01 -6.98265807e-01 -7.65371561e-03 -2.41357294e+02] [ 1.05521798e-02 -1.43303393e-04 9.99944314e-01 -9.01522301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.860385723 meters 0.01471758218331114 Centerline is valid? [True, True] Translation: X:-47.38, Y:-241.34, Z:-9.02 [[-6.97999117e-01 -7.16061760e-01 7.26561399e-03 -4.73832426e+01] [ 7.16020914e-01 -6.98036917e-01 -7.64943899e-03 -2.41338134e+02] [ 1.05491375e-02 -1.36970092e-04 9.99944347e-01 -9.01535773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.890385723 meters 0.014782885263605765 Centerline is valid? [True, True] Translation: X:-47.40, Y:-241.32, Z:-9.02 [[-6.97887348e-01 -7.16174074e-01 6.92424095e-03 -4.74024040e+01] [ 7.16137024e-01 -6.97921686e-01 -7.28581440e-03 -2.41319558e+02] [ 1.00504893e-02 -1.25972385e-04 9.99949485e-01 -9.01581351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.920385723 meters 0.014647136955874324 Centerline is valid? [True, True] Translation: X:-47.42, Y:-241.30, Z:-9.01 [[-6.98180389e-01 -7.15892235e-01 6.51547374e-03 -4.74210413e+01] [ 7.15859458e-01 -6.98210780e-01 -6.85149995e-03 -2.41299725e+02] [ 9.45410962e-03 -1.19419401e-04 9.99955302e-01 -9.01498078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.950385723 meters 0.014526003903364247 Centerline is valid? [True, True] Translation: X:-47.44, Y:-241.28, Z:-9.01 [[-6.98534302e-01 -7.15549282e-01 6.24928963e-03 -4.74400792e+01] [ 7.15519147e-01 -6.98562246e-01 -6.56796851e-03 -2.41279105e+02] [ 9.06522295e-03 -1.16464914e-04 9.99958903e-01 -9.01392862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.980385723 meters 0.014708629729880497 Centerline is valid? [True, True] Translation: X:-47.46, Y:-241.26, Z:-9.01 [[-6.98922128e-01 -7.15174697e-01 5.74560204e-03 -4.74565516e+01] [ 7.15149244e-01 -6.98945736e-01 -6.03468129e-03 -2.41259069e+02] [ 8.33171541e-03 -1.08809330e-04 9.99965285e-01 -9.01252137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.010385723 meters 0.014657631006623026 Centerline is valid? [True, True] Translation: X:-47.48, Y:-241.24, Z:-9.01 [[-6.99156689e-01 -7.14944932e-01 5.80241165e-03 -4.74750836e+01] [ 7.14918997e-01 -6.99180758e-01 -6.09060971e-03 -2.41239666e+02] [ 8.41138512e-03 -1.10036201e-04 9.99964618e-01 -9.01239880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.040385723 meters 0.014495836044097623 Centerline is valid? [True, True] Translation: X:-47.49, Y:-241.22, Z:-9.01 [[-6.98837172e-01 -7.15255518e-01 6.01252592e-03 -4.74946047e+01] [ 7.15227713e-01 -6.98863028e-01 -6.30769428e-03 -2.41219714e+02] [ 8.71354521e-03 -1.07726070e-04 9.99962031e-01 -9.01217248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.070385723 meters 0.014306264298243223 Centerline is valid? [True, True] Translation: X:-47.51, Y:-241.20, Z:-9.01 [[-6.98434407e-01 -7.15648684e-01 6.02831161e-03 -4.75127470e+01] [ 7.15620783e-01 -6.98460415e-01 -6.32015756e-03 -2.41200835e+02] [ 8.73354947e-03 -1.00230423e-04 9.99961857e-01 -9.01252585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.100385723 meters 0.014175129899279769 Centerline is valid? [True, True] Translation: X:-47.53, Y:-241.18, Z:-9.01 [[-6.98051503e-01 -7.16019380e-01 6.35193768e-03 -4.75323557e+01] [ 7.15988451e-01 -6.98080395e-01 -6.65579496e-03 -2.41181147e+02] [ 9.19984134e-03 -9.81736529e-05 9.99957676e-01 -9.01278059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.130385723 meters 0.014140992095020267 Centerline is valid? [True, True] Translation: X:-47.55, Y:-241.16, Z:-9.01 [[-6.97667284e-01 -7.16391541e-01 6.59700448e-03 -4.75515465e+01] [ 7.16358237e-01 -6.97698467e-01 -6.90833445e-03 -2.41161243e+02] [ 9.55179228e-03 -9.39004373e-05 9.99954376e-01 -9.01294590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.160385723 meters 0.014291022607521738 Centerline is valid? [True, True] Translation: X:-47.57, Y:-241.14, Z:-9.01 [[-6.97126932e-01 -7.16915551e-01 6.79218783e-03 -4.75687579e+01] [ 7.16880305e-01 -6.97160014e-01 -7.10934590e-03 -2.41141191e+02] [ 9.83204240e-03 -8.69308136e-05 9.99951661e-01 -9.01371872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.190385723 meters 0.01387429479730576 Centerline is valid? [True, True] Translation: X:-47.59, Y:-241.12, Z:-9.01 [[-6.97609135e-01 -7.16450169e-01 6.37577572e-03 -4.75881620e+01] [ 7.16419131e-01 -6.97638265e-01 -6.66940289e-03 -2.41121382e+02] [ 9.22627993e-03 -8.49086829e-05 9.99957433e-01 -9.01225937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2203857229999 meters 0.013962672511618956 Centerline is valid? [True, True] Translation: X:-47.61, Y:-241.10, Z:-9.01 [[-6.98312757e-01 -7.15766639e-01 6.11657289e-03 -4.76060444e+01] [ 7.15738082e-01 -6.98339538e-01 -6.39435930e-03 -2.41100727e+02] [ 8.84831376e-03 -8.73985213e-05 9.99960849e-01 -9.01147739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.250385723 meters 0.01388426507829772 Centerline is valid? [True, True] Translation: X:-47.62, Y:-241.08, Z:-9.01 [[-6.98929140e-01 -7.15168970e-01 5.60378007e-03 -4.76249096e+01] [ 7.15145010e-01 -6.98951599e-01 -5.85469468e-03 -2.41080911e+02] [ 8.10386700e-03 -8.45013631e-05 9.99967160e-01 -9.01064445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.280385723 meters 0.01390660412257778 Centerline is valid? [True, True] Translation: X:-47.64, Y:-241.06, Z:-9.01 [[-6.99247188e-01 -7.14861189e-01 5.18168912e-03 -4.76432932e+01] [ 7.14840719e-01 -6.99266383e-01 -5.41038101e-03 -2.41061405e+02] [ 7.49105241e-03 -7.91113282e-05 9.99971939e-01 -9.01010789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.310385723 meters 0.013691252527631075 Centerline is valid? [True, True] Translation: X:-47.66, Y:-241.04, Z:-9.01 [[-6.99195709e-01 -7.14917141e-01 4.34072330e-03 -4.76625872e+01] [ 7.14902793e-01 -6.99209180e-01 -4.52979942e-03 -2.41041225e+02] [ 6.27350483e-03 -6.40211100e-05 9.99980319e-01 -9.00889253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3403857229999 meters 0.013867078513477302 Centerline is valid? [True, True] Translation: X:-47.68, Y:-241.02, Z:-9.01 [[-6.99166802e-01 -7.14948154e-01 3.86263415e-03 -4.76810642e+01] [ 7.14936802e-01 -6.99177470e-01 -4.02926229e-03 -2.41021759e+02] [ 5.58138041e-03 -5.55871241e-05 9.99984423e-01 -9.00939597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.370385723 meters 0.013477179129585197 Centerline is valid? [True, True] Translation: X:-47.70, Y:-241.00, Z:-9.01 [[-6.98806036e-01 -7.15300910e-01 3.83824560e-03 -4.77021616e+01] [ 7.15289719e-01 -6.98816575e-01 -4.00161722e-03 -2.41002564e+02] [ 5.54459009e-03 -5.08966528e-05 9.99984627e-01 -9.00989865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.400385723 meters 0.0136775988419487 Centerline is valid? [True, True] Translation: X:-47.72, Y:-240.98, Z:-9.01 [[-6.98863278e-01 -7.15244641e-01 3.90155611e-03 -4.77206625e+01] [ 7.15233090e-01 -6.98874166e-01 -4.06525836e-03 -2.40982120e+02] [ 5.63435103e-03 -5.05377482e-05 9.99984126e-01 -9.01067838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.430385723 meters 0.013550904931000213 Centerline is valid? [True, True] Translation: X:-47.74, Y:-240.96, Z:-9.01 [[-6.99355306e-01 -7.14764305e-01 3.76089871e-03 -4.77400158e+01] [ 7.14753576e-01 -6.99365417e-01 -3.91653683e-03 -2.40962169e+02] [ 5.42964322e-03 -5.09350150e-05 9.99985258e-01 -9.01069518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.460385723 meters 0.013568748012719942 Centerline is valid? [True, True] Translation: X:-47.76, Y:-240.94, Z:-9.01 [[-6.99939121e-01 -7.14191642e-01 3.94030811e-03 -4.77593316e+01] [ 7.14179869e-01 -6.99950210e-01 -4.10112363e-03 -2.40941215e+02] [ 5.68700771e-03 -5.64481382e-05 9.99983827e-01 -9.01124782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.490385723 meters 0.013661548309169694 Centerline is valid? [True, True] Translation: X:-47.78, Y:-240.92, Z:-9.01 [[-7.00950046e-01 -7.13199844e-01 3.87504107e-03 -4.77784630e+01] [ 7.13188455e-01 -7.00960754e-01 -4.03097806e-03 -2.40920579e+02] [ 5.59114464e-03 -6.18797050e-05 9.99984368e-01 -9.01151896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.520385723 meters 0.013950494456991902 Centerline is valid? [True, True] Translation: X:-47.80, Y:-240.90, Z:-9.01 [[-7.02076177e-01 -7.12086549e-01 4.66787861e-03 -4.77969454e+01] [ 7.12070016e-01 -7.02091689e-01 -4.85307142e-03 -2.40898817e+02] [ 6.73308566e-03 -8.33694265e-05 9.99977329e-01 -9.01188397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.550385723 meters 0.014075890631935395 Centerline is valid? [True, True] Translation: X:-47.82, Y:-240.88, Z:-9.01 [[-7.02626412e-01 -7.11542004e-01 4.90940693e-03 -4.78156701e+01] [ 7.11523725e-01 -7.02643557e-01 -5.10106894e-03 -2.40879506e+02] [ 7.07918797e-03 -9.09862642e-05 9.99974938e-01 -9.01257679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.580385723 meters 0.014261363675096249 Centerline is valid? [True, True] Translation: X:-47.83, Y:-240.86, Z:-9.01 [[-7.03411140e-01 -7.10763327e-01 5.31610997e-03 -4.78345715e+01] [ 7.10741897e-01 -7.03431221e-01 -5.52028974e-03 -2.40860465e+02] [ 7.66313722e-03 -1.04651217e-04 9.99970632e-01 -9.01349870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.610385723 meters 0.014627793980919632 Centerline is valid? [True, True] Translation: X:-47.85, Y:-240.84, Z:-9.01 [[-7.04976737e-01 -7.09206422e-01 5.83540196e-03 -4.78536423e+01] [ 7.09180575e-01 -7.05000875e-01 -6.05624321e-03 -2.40839731e+02] [ 8.40909006e-03 -1.31156859e-04 9.99964634e-01 -9.01490078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.640385723 meters 0.014777662368392801 Centerline is valid? [True, True] Translation: X:-47.87, Y:-240.82, Z:-9.02 [[-7.05978966e-01 -7.08207510e-01 5.98517223e-03 -4.78726968e+01] [ 7.08180312e-01 -7.06004322e-01 -6.20829613e-03 -2.40818749e+02] [ 8.62231940e-03 -1.44345352e-04 9.99962817e-01 -9.01517142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.670385723 meters 0.015849246844099208 Centerline is valid? [True, True] Translation: X:-47.89, Y:-240.80, Z:-9.02 [[-7.08267257e-01 -7.05916373e-01 6.29023398e-03 -4.78894730e+01] [ 7.05886275e-01 -7.08295167e-01 -6.52098762e-03 -2.40797519e+02] [ 9.05861425e-03 -1.78412181e-04 9.99958954e-01 -9.01658809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.700385723 meters 0.016661494848299173 Centerline is valid? [True, True] Translation: X:-47.91, Y:-240.78, Z:-9.02 [[-7.09176076e-01 -7.05002926e-01 6.33778932e-03 -4.79063145e+01] [ 7.04972362e-01 -7.09204370e-01 -6.56747868e-03 -2.40776851e+02] [ 9.12487957e-03 -1.89532456e-04 9.99958350e-01 -9.01706608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.730385723 meters 0.016432953101365708 Centerline is valid? [True, True] Translation: X:-47.93, Y:-240.76, Z:-9.02 [[-7.10248583e-01 -7.03925713e-01 5.96163364e-03 -4.79262199e+01] [ 7.03898659e-01 -7.10273577e-01 -6.17441261e-03 -2.40756426e+02] [ 8.58071865e-03 -1.88981880e-04 9.99963167e-01 -9.01608801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.760385723 meters 0.01718306920187053 Centerline is valid? [True, True] Translation: X:-47.94, Y:-240.74, Z:-9.02 [[-7.11591578e-01 -7.02573572e-01 5.27266592e-03 -4.79440838e+01] [ 7.02552396e-01 -7.11611090e-01 -5.45780143e-03 -2.40736378e+02] [ 7.58659459e-03 -1.79401458e-04 9.99971205e-01 -9.01581860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.790385723 meters 0.015981137504759275 Centerline is valid? [True, True] Translation: X:-47.97, Y:-240.72, Z:-9.02 [[-7.11981187e-01 -7.02182820e-01 4.69866549e-03 -4.79657076e+01] [ 7.02166012e-01 -7.11996673e-01 -4.86098594e-03 -2.40718070e+02] [ 6.75873501e-03 -1.61687330e-04 9.99977147e-01 -9.01509491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.820385723 meters 0.015566169911765263 Centerline is valid? [True, True] Translation: X:-47.99, Y:-240.70, Z:-9.01 [[-7.11518046e-01 -7.02656969e-01 3.90557637e-03 -4.79853896e+01] [ 7.02645377e-01 -7.11528753e-01 -4.03827264e-03 -2.40698407e+02] [ 5.61645030e-03 -1.29068680e-04 9.99984219e-01 -9.01442951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.850385723 meters 0.01544741190248128 Centerline is valid? [True, True] Translation: X:-48.00, Y:-240.68, Z:-9.01 [[-7.11053050e-01 -7.03130017e-01 3.42627655e-03 -4.80045421e+01] [ 7.03121110e-01 -7.11061297e-01 -3.54074296e-03 -2.40678218e+02] [ 4.92589530e-03 -1.08568708e-04 9.99987862e-01 -9.01412531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.880385723 meters 0.014881405537658337 Centerline is valid? [True, True] Translation: X:-48.02, Y:-240.66, Z:-9.01 [[-7.10587314e-01 -7.03601437e-01 3.26905390e-03 -4.80245807e+01] [ 7.03593343e-01 -7.10594827e-01 -3.37637952e-03 -2.40658797e+02] [ 4.69859827e-03 -9.91278946e-05 9.99988957e-01 -9.01366799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.910385723 meters 0.014782794147534545 Centerline is valid? [True, True] Translation: X:-48.04, Y:-240.64, Z:-9.01 [[-7.09094672e-01 -7.05105470e-01 3.32013783e-03 -4.80443934e+01] [ 7.05097146e-01 -7.09102439e-01 -3.42723959e-03 -2.40639480e+02] [ 4.77088321e-03 -8.92176239e-05 9.99988615e-01 -9.01420678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.940385723 meters 0.014393801771600242 Centerline is valid? [True, True] Translation: X:-48.07, Y:-240.62, Z:-9.01 [[-7.08237056e-01 -7.05965710e-01 3.56203936e-03 -4.80650101e+01] [ 7.05956151e-01 -7.08246009e-01 -3.67492611e-03 -2.40620662e+02] [ 5.11717198e-03 -8.80752585e-05 9.99986903e-01 -9.01484030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9703857229999 meters 0.013824742387498654 Centerline is valid? [True, True] Translation: X:-48.09, Y:-240.60, Z:-9.02 [[-7.05597003e-01 -7.08602392e-01 3.93934198e-03 -4.80861573e+01] [ 7.08590753e-01 -7.05607996e-01 -4.06204053e-03 -2.40603341e+02] [ 5.65800284e-03 -7.47823235e-05 9.99983991e-01 -9.01658760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.000385723 meters 0.013569514487219946 Centerline is valid? [True, True] Translation: X:-48.11, Y:-240.58, Z:-9.02 [[-7.04363708e-01 -7.09829722e-01 3.67886671e-03 -4.81060371e+01] [ 7.09819600e-01 -7.04373312e-01 -3.79114203e-03 -2.40584173e+02] [ 5.28236082e-03 -5.90111602e-05 9.99986047e-01 -9.01674992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.030385723 meters 0.01334489989712014 Centerline is valid? [True, True] Translation: X:-48.13, Y:-240.56, Z:-9.02 [[-7.03246025e-01 -7.10937655e-01 3.56065321e-03 -4.81252802e+01] [ 7.10928199e-01 -7.03255038e-01 -3.66710119e-03 -2.40564809e+02] [ 5.11112763e-03 -4.75055581e-05 9.99986937e-01 -9.01619768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.060385723 meters 0.01328092757227521 Centerline is valid? [True, True] Translation: X:-48.14, Y:-240.55, Z:-9.02 [[-7.01266548e-01 -7.12891812e-01 3.23923213e-03 -4.81434823e+01] [ 7.12884017e-01 -7.01274029e-01 -3.33395808e-03 -2.40545356e+02] [ 4.64834078e-03 -2.87964614e-05 9.99989196e-01 -9.01685785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0903857229999 meters 0.012854901458008163 Centerline is valid? [True, True] Translation: X:-48.16, Y:-240.53, Z:-9.02 [[-7.00273092e-01 -7.13867466e-01 3.29207830e-03 -4.81643885e+01] [ 7.13859435e-01 -7.00280830e-01 -3.38627380e-03 -2.40528025e+02] [ 4.72273002e-03 -2.12352700e-05 9.99988848e-01 -9.01664539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.120385723 meters 0.012657624504242149 Centerline is valid? [True, True] Translation: X:-48.19, Y:-240.51, Z:-9.02 [[-6.99428981e-01 -7.14695092e-01 3.16641553e-03 -4.81851432e+01] [ 7.14687679e-01 -6.99436149e-01 -3.25519646e-03 -2.40509280e+02] [ 4.54117841e-03 -1.37805781e-05 9.99989689e-01 -9.01724857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.150385723 meters 0.012605362526013075 Centerline is valid? [True, True] Translation: X:-48.21, Y:-240.49, Z:-9.02 [[-6.97995595e-01 -7.16095877e-01 2.97387352e-03 -4.82052310e+01] [ 7.16089359e-01 -6.98001930e-01 -3.05545559e-03 -2.40491079e+02] [ 4.26376861e-03 -3.13535924e-06 9.99990910e-01 -9.01896278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.180385723 meters 0.012567760662712259 Centerline is valid? [True, True] Translation: X:-48.22, Y:-240.47, Z:-9.02 [[-6.97797671e-01 -7.16288230e-01 3.09531464e-03 -4.82242913e+01] [ 7.16281178e-01 -6.97804537e-01 -3.17845330e-03 -2.40470900e+02] [ 4.43661328e-03 -8.01692540e-07 9.99990158e-01 -9.01830331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.210385723 meters 0.01262888641200404 Centerline is valid? [True, True] Translation: X:-48.24, Y:-240.45, Z:-9.02 [[-6.97720750e-01 -7.16364699e-01 2.71555626e-03 -4.82414607e+01] [ 7.16359277e-01 -6.97726034e-01 -2.78695032e-03 -2.40448771e+02] [ 3.89118713e-03 8.00855864e-07 9.99992429e-01 -9.01797776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.240385723 meters 0.012693408908974921 Centerline is valid? [True, True] Translation: X:-48.26, Y:-240.43, Z:-9.02 [[-6.97827289e-01 -7.16259658e-01 3.02951139e-03 -4.82602038e+01] [ 7.16252917e-01 -6.97833865e-01 -3.10741466e-03 -2.40427654e+02] [ 4.33981140e-03 1.45762715e-06 9.99990583e-01 -9.01774475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.270385723 meters 0.012685143772843108 Centerline is valid? [True, True] Translation: X:-48.28, Y:-240.41, Z:-9.02 [[-6.97811545e-01 -7.16273924e-01 3.27306403e-03 -4.82784694e+01] [ 7.16266066e-01 -6.97819221e-01 -3.35524192e-03 -2.40407632e+02] [ 4.68727929e-03 3.05814614e-06 9.99989015e-01 -9.01784408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.300385723 meters 0.012712003773669205 Centerline is valid? [True, True] Translation: X:-48.30, Y:-240.39, Z:-9.02 [[-6.97275156e-01 -7.16794767e-01 3.55244806e-03 -4.82974578e+01] [ 7.16785527e-01 -6.97284205e-01 -3.63950810e-03 -2.40387932e+02] [ 5.08584628e-03 8.60477976e-06 9.99987067e-01 -9.01948533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.330385723 meters 0.012729371304878207 Centerline is valid? [True, True] Translation: X:-48.32, Y:-240.37, Z:-9.02 [[-6.97128667e-01 -7.16937677e-01 3.46264529e-03 -4.83173164e+01] [ 7.16928910e-01 -6.97137266e-01 -3.54554376e-03 -2.40367572e+02] [ 4.95587297e-03 1.07703148e-05 9.99987720e-01 -9.02023527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.360385723 meters 0.012760777348407035 Centerline is valid? [True, True] Translation: X:-48.34, Y:-240.35, Z:-9.02 [[-6.97236490e-01 -7.16833135e-01 3.39608833e-03 -4.83357571e+01] [ 7.16824710e-01 -6.97244761e-01 -3.47544964e-03 -2.40346133e+02] [ 4.85922226e-03 1.11897227e-05 9.99988194e-01 -9.02056115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.390385723 meters 0.01283363197334242 Centerline is valid? [True, True] Translation: X:-48.35, Y:-240.33, Z:-9.02 [[-6.97780096e-01 -7.16304116e-01 3.36906080e-03 -4.83531634e+01] [ 7.16295829e-01 -6.97788229e-01 -3.44576512e-03 -2.40325448e+02] [ 4.81910671e-03 8.85787776e-06 9.99988388e-01 -9.02081144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.420385723 meters 0.012824459120275768 Centerline is valid? [True, True] Translation: X:-48.37, Y:-240.31, Z:-9.02 [[-6.98460909e-01 -7.15638638e-01 3.70107971e-03 -4.83694570e+01] [ 7.15628640e-01 -6.98470715e-01 -3.78289647e-03 -2.40305294e+02] [ 5.29228267e-03 6.39333174e-06 9.99985996e-01 -9.02102042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.450385723 meters 0.012942173928868579 Centerline is valid? [True, True] Translation: X:-48.39, Y:-240.28, Z:-9.02 [[-6.99934947e-01 -7.14198797e-01 3.33889510e-03 -4.83858829e+01] [ 7.14190654e-01 -6.99942910e-01 -3.41061794e-03 -2.40283356e+02] [ 4.77289519e-03 -2.60301213e-06 9.99988610e-01 -9.02059913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.480385723 meters 0.012910303651888578 Centerline is valid? [True, True] Translation: X:-48.40, Y:-240.26, Z:-9.02 [[-7.00545060e-01 -7.13602565e-01 2.82811491e-03 -4.84048231e+01] [ 7.13596725e-01 -7.00550769e-01 -2.88709167e-03 -2.40263102e+02] [ 4.04147410e-03 -4.40427032e-06 9.99991833e-01 -9.02066280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.510385723 meters 0.012959188073717067 Centerline is valid? [True, True] Translation: X:-48.42, Y:-240.24, Z:-9.02 [[-7.00870955e-01 -7.13279915e-01 3.41590845e-03 -4.84220186e+01] [ 7.13271399e-01 -7.00879279e-01 -3.48548689e-03 -2.40242718e+02] [ 4.88026724e-03 -6.40672115e-06 9.99988091e-01 -9.02162424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.540385723 meters 0.013027428637127149 Centerline is valid? [True, True] Translation: X:-48.44, Y:-240.22, Z:-9.02 [[-7.01179798e-01 -7.12973986e-01 3.87132364e-03 -4.84399964e+01] [ 7.12963056e-01 -7.01190485e-01 -3.94779586e-03 -2.40221764e+02] [ 5.52921105e-03 -8.00396931e-06 9.99984714e-01 -9.02199748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.570385723 meters 0.01301101883056868 Centerline is valid? [True, True] Translation: X:-48.46, Y:-240.20, Z:-9.02 [[-7.01436451e-01 -7.12717003e-01 4.62379370e-03 -4.84587330e+01] [ 7.12701423e-01 -7.01451691e-01 -4.71252076e-03 -2.40200376e+02] [ 6.60206158e-03 -1.01494869e-05 9.99978206e-01 -9.02223565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.600385723 meters 0.013126924620417894 Centerline is valid? [True, True] Translation: X:-48.48, Y:-240.18, Z:-9.02 [[-7.01632674e-01 -7.12521725e-01 4.93789784e-03 -4.84763033e+01] [ 7.12503971e-01 -7.01650049e-01 -5.02987326e-03 -2.40177744e+02] [ 7.04857024e-03 -1.08516057e-05 9.99975159e-01 -9.02280833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.630385723 meters 0.013126924620417894 Centerline is valid? [True, True] Translation: X:-48.50, Y:-240.16, Z:-9.02 [[-7.01830063e-01 -7.12327289e-01 4.93929129e-03 -4.84956782e+01] [ 7.12309540e-01 -7.01847444e-01 -5.02850491e-03 -2.40158098e+02] [ 7.04857024e-03 -1.08516123e-05 9.99975159e-01 -9.02280814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.660385723 meters 0.01488961525468934 Centerline is valid? [True, True] Translation: X:-48.51, Y:-240.14, Z:-9.02 [[-7.02556171e-01 -7.11611581e-01 4.87691833e-03 -4.85134597e+01] [ 7.11594283e-01 -7.02573098e-01 -4.96176496e-03 -2.40138653e+02] [ 6.95724103e-03 -1.55313906e-05 9.99975798e-01 -9.02451202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.690385723 meters 0.013242907082395972 Centerline is valid? [True, True] Translation: X:-48.53, Y:-240.12, Z:-9.02 [[-7.02935644e-01 -7.11238846e-01 4.55902199e-03 -4.85309734e+01] [ 7.11223740e-01 -7.02950428e-01 -4.63551050e-03 -2.40117735e+02] [ 6.50172160e-03 -1.59808883e-05 9.99978864e-01 -9.02357955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7203857229999 meters 0.013808169405257987 Centerline is valid? [True, True] Translation: X:-48.55, Y:-240.10, Z:-9.02 [[-7.03609156e-01 -7.10569349e-01 5.03541192e-03 -4.85484959e+01] [ 7.10550927e-01 -7.03627174e-01 -5.11675306e-03 -2.40097330e+02] [ 7.17886055e-03 -2.22776993e-05 9.99974231e-01 -9.02458385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.750385723 meters 0.013418637728299182 Centerline is valid? [True, True] Translation: X:-48.57, Y:-240.08, Z:-9.02 [[-7.04035564e-01 -7.10144264e-01 5.38983099e-03 -4.85657220e+01] [ 7.10123170e-01 -7.04056194e-01 -5.47353509e-03 -2.40076638e+02] [ 7.68174344e-03 -2.61194917e-05 9.99970495e-01 -9.02424352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.780385723 meters 0.013445763113339228 Centerline is valid? [True, True] Translation: X:-48.58, Y:-240.05, Z:-9.02 [[-7.04041483e-01 -7.10134268e-01 5.90865200e-03 -4.85824374e+01] [ 7.10108948e-01 -7.04066276e-01 -5.99673065e-03 -2.40054948e+02] [ 8.41856654e-03 -2.61604806e-05 9.99964563e-01 -9.02378338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.810385723 meters 0.013507006670639948 Centerline is valid? [True, True] Translation: X:-48.60, Y:-240.04, Z:-9.02 [[-7.03791405e-01 -7.10383570e-01 5.73083804e-03 -4.86007221e+01] [ 7.10359790e-01 -7.03814737e-01 -5.81252294e-03 -2.40036021e+02] [ 8.16256906e-03 -1.98467809e-05 9.99966686e-01 -9.02378904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8403857229999 meters 0.013505441346475128 Centerline is valid? [True, True] Translation: X:-48.62, Y:-240.02, Z:-9.02 [[-7.02595613e-01 -7.11570203e-01 5.22025505e-03 -4.86204867e+01] [ 7.11550528e-01 -7.02615006e-01 -5.29147538e-03 -2.40017638e+02] [ 7.43308574e-03 -3.29215696e-06 9.99972374e-01 -9.02444629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.870385723 meters 0.01354162941380086 Centerline is valid? [True, True] Translation: X:-48.64, Y:-240.00, Z:-9.02 [[-7.02350302e-01 -7.11811823e-01 5.28988623e-03 -4.86398337e+01] [ 7.11791651e-01 -7.02370222e-01 -5.35883965e-03 -2.39998471e+02] [ 7.52994399e-03 1.51420629e-06 9.99971650e-01 -9.02497492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.900385723 meters 0.013522323007298056 Centerline is valid? [True, True] Translation: X:-48.66, Y:-239.98, Z:-9.03 [[-7.02449265e-01 -7.11716621e-01 4.94797385e-03 -4.86589888e+01] [ 7.11698991e-01 -7.02466691e-01 -5.00948175e-03 -2.39978846e+02] [ 7.04111824e-03 2.56122057e-06 9.99975211e-01 -9.02506062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.930385723 meters 0.01628552141953199 Centerline is valid? [True, True] Translation: X:-48.68, Y:-239.96, Z:-9.03 [[-7.02856146e-01 -7.11319747e-01 4.17802161e-03 -4.86760532e+01] [ 7.11307182e-01 -7.02868563e-01 -4.22800183e-03 -2.39958744e+02] [ 5.94406124e-03 1.79708778e-07 9.99982334e-01 -9.02570846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.960385723 meters 0.01355218324579591 Centerline is valid? [True, True] Translation: X:-48.69, Y:-239.94, Z:-9.02 [[-7.02639035e-01 -7.11538106e-01 3.45120934e-03 -4.86943237e+01] [ 7.11529544e-01 -7.02647511e-01 -3.49044919e-03 -2.39938582e+02] [ 4.90857126e-03 3.11155583e-06 9.99987953e-01 -9.02257588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.990385723 meters 0.013700364700053114 Centerline is valid? [True, True] Translation: X:-48.71, Y:-239.92, Z:-9.02 [[-7.02466890e-01 -7.11707531e-01 3.55785388e-03 -4.87119637e+01] [ 7.11698446e-01 -7.02475900e-01 -3.59609523e-03 -2.39918457e+02] [ 5.05867466e-03 5.98124223e-06 9.99987205e-01 -9.02242968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.020385723 meters 0.013737202646872617 Centerline is valid? [True, True] Translation: X:-48.73, Y:-239.90, Z:-9.02 [[-7.02014484e-01 -7.12152745e-01 3.75927246e-03 -4.87312100e+01] [ 7.12142621e-01 -7.02024549e-01 -3.79746870e-03 -2.39898867e+02] [ 5.34347931e-03 1.12601185e-05 9.99985724e-01 -9.02232682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.050385723 meters 0.013865888952133242 Centerline is valid? [True, True] Translation: X:-48.75, Y:-239.88, Z:-9.02 [[-7.01433178e-01 -7.12723572e-01 4.07519125e-03 -4.87498112e+01] [ 7.12711694e-01 -7.01445016e-01 -4.11475092e-03 -2.39880576e+02] [ 5.79120256e-03 1.82136422e-05 9.99983231e-01 -9.02277866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.080385723 meters 0.013857284874707242 Centerline is valid? [True, True] Translation: X:-48.77, Y:-239.86, Z:-9.02 [[-6.99986328e-01 -7.14147804e-01 3.47197100e-03 -4.87702144e+01] [ 7.14139209e-01 -6.99994938e-01 -3.50372797e-03 -2.39860629e+02] [ 4.93254176e-03 2.69089493e-05 9.99987835e-01 -9.02289804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.110385723 meters 0.013882795004406328 Centerline is valid? [True, True] Translation: X:-48.79, Y:-239.84, Z:-9.02 [[-6.99407034e-01 -7.14715944e-01 3.30467085e-03 -4.87893189e+01] [ 7.14708174e-01 -6.99414840e-01 -3.33280749e-03 -2.39841598e+02] [ 4.69334648e-03 3.08862653e-05 9.99988986e-01 -9.02290610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.140385723 meters 0.014239626617176851 Centerline is valid? [True, True] Translation: X:-48.81, Y:-239.82, Z:-9.02 [[-6.98108402e-01 -7.15983286e-01 3.54875795e-03 -4.88087361e+01] [ 7.15974352e-01 -6.98117420e-01 -3.57687629e-03 -2.39822210e+02] [ 5.03843339e-03 4.37722898e-05 9.99987306e-01 -9.02313263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.170385723 meters 0.014344534353383832 Centerline is valid? [True, True] Translation: X:-48.83, Y:-239.80, Z:-9.02 [[-6.97667705e-01 -7.16410371e-01 3.99422857e-03 -4.88275715e+01] [ 7.16399075e-01 -6.97679137e-01 -4.02336403e-03 -2.39802994e+02] [ 5.66906965e-03 5.44905010e-05 9.99983929e-01 -9.02341391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.200385723 meters 0.014461482450128581 Centerline is valid? [True, True] Translation: X:-48.85, Y:-239.78, Z:-9.02 [[-6.97328768e-01 -7.16737947e-01 4.39364809e-03 -4.88459199e+01] [ 7.16724304e-01 -6.97342607e-01 -4.42278550e-03 -2.39784784e+02] [ 6.23385621e-03 6.48988024e-05 9.99980567e-01 -9.02403490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.230385723 meters 0.015404697785337304 Centerline is valid? [True, True] Translation: X:-48.87, Y:-239.77, Z:-9.03 [[-6.97198227e-01 -7.16858238e-01 5.37584548e-03 -4.88653655e+01] [ 7.16837843e-01 -6.97218947e-01 -5.40802484e-03 -2.39766848e+02] [ 7.62492848e-03 8.31441511e-05 9.99970926e-01 -9.02739080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.260385723 meters 0.014721175874832359 Centerline is valid? [True, True] Translation: X:-48.88, Y:-239.75, Z:-9.03 [[-6.97539363e-01 -7.16519492e-01 6.21731544e-03 -4.88829894e+01] [ 7.16492232e-01 -6.97567064e-01 -6.25076660e-03 -2.39745682e+02] [ 8.81579059e-03 9.45024692e-05 9.99961136e-01 -9.02721971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.290385723 meters 0.014818754730016636 Centerline is valid? [True, True] Translation: X:-48.90, Y:-239.73, Z:-9.03 [[-6.98247025e-01 -7.15826727e-01 6.57189791e-03 -4.89000182e+01] [ 7.15796267e-01 -6.98277945e-01 -6.60416932e-03 -2.39725466e+02] [ 9.31645228e-03 9.27984139e-05 9.99956597e-01 -9.02883101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.320385723 meters 0.015354143760089464 Centerline is valid? [True, True] Translation: X:-48.92, Y:-239.71, Z:-9.03 [[-6.99004836e-01 -7.15083989e-01 6.86494583e-03 -4.89186707e+01] [ 7.15050758e-01 -6.99038540e-01 -6.89437146e-03 -2.39706701e+02] [ 9.72891636e-03 8.95857259e-05 9.99952669e-01 -9.03072218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.350385723 meters 0.014654173570274464 Centerline is valid? [True, True] Translation: X:-48.94, Y:-239.68, Z:-9.03 [[-6.99759693e-01 -7.14349447e-01 6.42179601e-03 -4.89352876e+01] [ 7.14320373e-01 -6.99789155e-01 -6.44543362e-03 -2.39684440e+02] [ 9.09819515e-03 7.69650658e-05 9.99958608e-01 -9.02826297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.380385723 meters 0.014546408789375359 Centerline is valid? [True, True] Translation: X:-48.95, Y:-239.66, Z:-9.03 [[-7.01053110e-01 -7.13083930e-01 5.98717653e-03 -4.89533038e+01] [ 7.13058642e-01 -7.01078673e-01 -6.00559960e-03 -2.39663960e+02] [ 8.47997834e-03 5.89636970e-05 9.99964043e-01 -9.02779235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.410385723 meters 0.014450005869269523 Centerline is valid? [True, True] Translation: X:-48.97, Y:-239.64, Z:-9.03 [[-7.01676447e-01 -7.12474168e-01 5.54287102e-03 -4.89723761e+01] [ 7.12452503e-01 -7.01698338e-01 -5.55647778e-03 -2.39644689e+02] [ 7.84827027e-03 5.01827454e-05 9.99969201e-01 -9.02707866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.440385723 meters 0.014566192028838467 Centerline is valid? [True, True] Translation: X:-48.99, Y:-239.63, Z:-9.03 [[-7.02009371e-01 -7.12146393e-01 5.50985146e-03 -4.89926594e+01] [ 7.12125001e-01 -7.02030992e-01 -5.51996922e-03 -2.39627016e+02] [ 7.79911265e-03 4.86328502e-05 9.99969585e-01 -9.02729067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4703857229999 meters 0.014622531843939761 Centerline is valid? [True, True] Translation: X:-49.01, Y:-239.61, Z:-9.03 [[-7.02035876e-01 -7.12116701e-01 5.95265922e-03 -4.90129808e+01] [ 7.12091762e-01 -7.02061110e-01 -5.95993136e-03 -2.39608850e+02] [ 8.42329720e-03 5.47539597e-05 9.99964522e-01 -9.02771645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.500385723 meters 0.014841742344425595 Centerline is valid? [True, True] Translation: X:-49.03, Y:-239.59, Z:-9.03 [[-7.01988602e-01 -7.12155407e-01 6.83217123e-03 -4.90331318e+01] [ 7.12122588e-01 -7.02021846e-01 -6.83727565e-03 -2.39592261e+02] [ 9.66553628e-03 6.56538754e-05 9.99953286e-01 -9.02868347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.530385723 meters 0.014752598045937362 Centerline is valid? [True, True] Translation: X:-49.05, Y:-239.57, Z:-9.03 [[-7.02648799e-01 -7.11502939e-01 6.94502151e-03 -4.90527315e+01] [ 7.11469036e-01 -7.02683118e-01 -6.94597909e-03 -2.39573084e+02] [ 9.82223391e-03 6.05839005e-05 9.99951759e-01 -9.02898469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.560385723 meters 0.014674699003326915 Centerline is valid? [True, True] Translation: X:-49.07, Y:-239.55, Z:-9.03 [[-7.03796633e-01 -7.10369069e-01 6.78854692e-03 -4.90715062e+01] [ 7.10336664e-01 -7.03829371e-01 -6.78535229e-03 -2.39553767e+02] [ 9.59808310e-03 4.66456723e-05 9.99953936e-01 -9.02872373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5903857229999 meters 0.014666288670249104 Centerline is valid? [True, True] Translation: X:-49.61, Y:-240.14, Z:-8.04 [[-7.55952667e-01 6.54593111e-01 6.58971804e-03 -4.96107395e+01] [ 6.54568185e-01 7.55981388e-01 -5.71242256e-03 -2.40139144e+02] [-8.72101664e-03 -4.90129442e-06 -9.99961971e-01 -8.04158657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.620385723 meters 0.01705047213909596 Centerline is valid? [True, True] Translation: X:-49.59, Y:-240.12, Z:-8.04 [[-7.99121219e-01 6.01126451e-01 7.22960084e-03 -4.95874829e+01] [ 6.01102007e-01 7.99153922e-01 -5.42097928e-03 -2.40121853e+02] [-9.03625789e-03 1.37080027e-05 -9.99959172e-01 -8.03980531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.650385723 meters 0.015000298334903238 Centerline is valid? [True, True] Translation: X:-49.57, Y:-240.10, Z:-8.04 [[-8.37850837e-01 5.45845091e-01 7.68847997e-03 -4.95694173e+01] [ 5.45822595e-01 8.37886111e-01 -4.95572744e-03 -2.40099720e+02] [-9.14713007e-03 4.43857113e-05 -9.99958163e-01 -8.04162579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.680385723 meters 0.017457460784037832 Centerline is valid? [True, True] Translation: X:-49.13, Y:-239.43, Z:-9.03 [[-8.05724344e-01 -5.92242428e-01 7.56230201e-03 -4.91312341e+01] [ 5.92215989e-01 -8.05759832e-01 -5.59609885e-03 -2.39430867e+02] [ 9.40764636e-03 -3.03969112e-05 9.99955747e-01 -9.03140601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.710385723 meters 0.01516700944285628 Centerline is valid? [True, True] Translation: X:-49.61, Y:-240.08, Z:-8.04 [[-8.38509443e-01 5.44834206e-01 7.58962919e-03 -4.96091112e+01] [ 5.44812587e-01 8.38543788e-01 -4.85400083e-03 -2.40075695e+02] [-9.00886210e-03 6.47999818e-05 -9.99959417e-01 -8.04200758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.740385723 meters 0.015304870937835256 Centerline is valid? [True, True] Translation: X:-49.58, Y:-240.06, Z:-8.04 [[-8.74292699e-01 4.85339610e-01 7.59868775e-03 -4.95825282e+01] [ 4.85322017e-01 8.74325716e-01 -4.13314107e-03 -2.40057483e+02] [-8.64970518e-03 7.42354059e-05 -9.99962588e-01 -8.04223896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.770385723 meters 0.015543404659578245 Centerline is valid? [True, True] Translation: X:-49.57, Y:-240.03, Z:-8.04 [[-9.06348944e-01 4.22456447e-01 7.88304935e-03 -4.95687322e+01] [ 4.22441207e-01 9.06383221e-01 -3.58926301e-03 -2.40032220e+02] [-8.66137096e-03 7.70001457e-05 -9.99962487e-01 -8.04227655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.800385723 meters 0.015492186579811485 Centerline is valid? [True, True] Translation: X:-49.56, Y:-240.00, Z:-8.04 [[-9.33798934e-01 3.57715680e-01 7.68390316e-03 -4.95637919e+01] [ 3.57704252e-01 9.33830545e-01 -2.86035346e-03 -2.40001872e+02] [-8.19865676e-03 7.75698230e-05 -9.99966388e-01 -8.04317997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.830385723 meters 0.015734194052616994 Centerline is valid? [True, True] Translation: X:-49.54, Y:-239.98, Z:-8.04 [[-9.56652462e-01 2.91124898e-01 7.89690438e-03 -4.95441365e+01] [ 2.91115688e-01 9.56685051e-01 -2.31718647e-03 -2.39978026e+02] [-8.22944104e-03 8.21706079e-05 -9.99966134e-01 -8.04278899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.860385723 meters 0.01565919364842398 Centerline is valid? [True, True] Translation: X:-49.33, Y:-239.21, Z:-9.03 [[-9.41802041e-01 -3.36085924e-01 7.42750746e-03 -4.93294118e+01] [ 3.36074649e-01 -9.41831323e-01 -2.75475272e-03 -2.39210627e+02] [ 7.92129279e-03 -9.82347711e-05 9.99968621e-01 -9.02726002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.890385723 meters 0.015672834330586048 Centerline is valid? [True, True] Translation: X:-49.59, Y:-239.96, Z:-8.04 [[-9.57811924e-01 2.87296506e-01 7.55217360e-03 -4.95901261e+01] [ 2.87288216e-01 9.57841694e-01 -2.18385015e-03 -2.39963854e+02] [-7.86119927e-03 7.79327721e-05 -9.99969097e-01 -8.04335816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.920385723 meters 0.015692828155949697 Centerline is valid? [True, True] Translation: X:-49.58, Y:-239.94, Z:-8.04 [[-9.75775740e-01 2.18645664e-01 7.46857776e-03 -4.95824847e+01] [ 2.18639853e-01 9.75804318e-01 -1.59598677e-03 -2.39935559e+02] [-7.63682601e-03 7.56035648e-05 -9.99970836e-01 -8.04405401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.950385723 meters 0.01576004322563526 Centerline is valid? [True, True] Translation: X:-49.58, Y:-239.91, Z:-8.04 [[-9.88894678e-01 1.48441010e-01 7.25131729e-03 -4.95802411e+01] [ 1.48437535e-01 9.88921262e-01 -1.01807840e-03 -2.39905558e+02] [-7.32210643e-03 6.95953491e-05 -9.99973191e-01 -8.04485014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.980385723 meters 0.015727014280479887 Centerline is valid? [True, True] Translation: X:-49.57, Y:-239.88, Z:-8.04 [[-9.97011892e-01 7.69595986e-02 6.67145040e-03 -4.95720082e+01] [ 7.69582617e-02 9.97034211e-01 -4.57265496e-04 -2.39875896e+02] [-6.68685526e-03 5.75240890e-05 -9.99977641e-01 -8.04496326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.010385723 meters 0.01550978279939354 Centerline is valid? [True, True] Translation: X:-49.52, Y:-239.09, Z:-9.02 [[-9.91629180e-01 -1.28987833e-01 5.80591594e-03 -4.95206331e+01] [ 1.28985000e-01 -9.91646171e-01 -8.61328105e-04 -2.39091130e+02] [ 5.86851515e-03 -1.05242014e-04 9.99982775e-01 -9.02484805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.040385723 meters 0.015449714212031274 Centerline is valid? [True, True] Translation: X:-49.65, Y:-239.87, Z:-8.05 [[-9.97628101e-01 6.85910948e-02 5.78222279e-03 -4.96488645e+01] [ 6.85901189e-02 9.97644857e-01 -3.67150744e-04 -2.39865410e+02] [-5.79378810e-03 3.03234494e-05 -9.99983215e-01 -8.04552679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.070385723 meters 0.015383209413051655 Centerline is valid? [True, True] Translation: X:-49.60, Y:-239.09, Z:-9.02 [[-9.91751602e-01 -1.28087668e-01 4.72322750e-03 -4.96002101e+01] [ 1.28085763e-01 -9.91762845e-01 -7.04743191e-04 -2.39090249e+02] [ 4.77459045e-03 -9.39519902e-05 9.99988597e-01 -9.02411731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.100385723 meters 0.015382139332065581 Centerline is valid? [True, True] Translation: X:-49.72, Y:-239.86, Z:-8.05 [[-9.98185948e-01 6.00146566e-02 4.80154072e-03 -4.97247407e+01] [ 6.00139950e-02 9.98197496e-01 -2.81882973e-04 -2.39856858e+02] [-4.80980304e-03 6.78801873e-06 -9.99988433e-01 -8.04681009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.130385723 meters 0.015473568912256703 Centerline is valid? [True, True] Translation: X:-49.67, Y:-239.09, Z:-9.02 [[-9.92009982e-01 -1.26054234e-01 5.15040045e-03 -4.96700075e+01] [ 1.26052630e-01 -9.92023351e-01 -6.36261575e-04 -2.39087782e+02] [ 5.18952098e-03 1.80436877e-05 9.99986534e-01 -9.02312510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.160385723 meters 0.01550796035137685 Centerline is valid? [True, True] Translation: X:-49.79, Y:-239.85, Z:-8.05 [[-9.98570586e-01 5.31738468e-02 5.41543281e-03 -4.97911483e+01] [ 5.31730441e-02 9.98585270e-01 -2.92196301e-04 -2.39851965e+02] [-5.42330863e-03 -3.82358357e-06 -9.99985294e-01 -8.04725511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.190385723 meters 0.015649816092460866 Centerline is valid? [True, True] Translation: X:-49.82, Y:-239.82, Z:-8.05 [[-9.99804212e-01 -1.86329912e-02 6.65953428e-03 -4.98164513e+01] [-1.86326445e-02 9.99826391e-01 1.14098450e-04 -2.39821592e+02] [-6.66050412e-03 -1.00086242e-05 -9.99977819e-01 -8.04640271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2203857229999 meters 0.01563151456870869 Centerline is valid? [True, True] Translation: X:-49.86, Y:-239.80, Z:-8.05 [[-9.95978023e-01 -8.93520902e-02 6.63181119e-03 -4.98603659e+01] [-8.93501623e-02 9.96000102e-01 5.87010647e-04 -2.39796071e+02] [-6.65773525e-03 -7.90370236e-06 -9.99977837e-01 -8.04721069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.250385723 meters 0.01564024913249254 Centerline is valid? [True, True] Translation: X:-49.84, Y:-239.77, Z:-8.05 [[-9.86919942e-01 -1.61094079e-01 6.14217976e-03 -4.98442715e+01] [-1.61090979e-01 9.86939055e-01 9.99430471e-04 -2.39765709e+02] [-6.22295942e-03 -3.09189023e-06 -9.99980637e-01 -8.04783313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.280385723 meters 0.015650813603685903 Centerline is valid? [True, True] Translation: X:-49.98, Y:-239.01, Z:-9.02 [[-9.95552666e-01 9.40239754e-02 5.86356450e-03 -4.99803527e+01] [-9.40224574e-02 -9.95569933e-01 5.34623548e-04 -2.39009671e+02] [ 5.88785595e-03 -1.90608454e-05 9.99982666e-01 -9.02226879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.310385723 meters 0.01567174597040426 Centerline is valid? [True, True] Translation: X:-49.98, Y:-239.79, Z:-8.05 [[-9.86243352e-01 -1.65200139e-01 5.74157709e-03 -4.99765433e+01] [-1.65197268e-01 9.86260064e-01 9.74069907e-04 -2.39786764e+02] [-5.82360467e-03 1.21771225e-05 -9.99983043e-01 -8.04845704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3403857229999 meters 0.015904354452956633 Centerline is valid? [True, True] Translation: X:-50.02, Y:-239.77, Z:-8.05 [[-9.72539910e-01 -2.32627571e-01 7.10891645e-03 -5.00173065e+01] [-2.32621092e-01 9.72565891e-01 1.73658841e-03 -2.39768802e+02] [-7.31786800e-03 3.52176311e-05 -9.99973224e-01 -8.04860887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.370385723 meters 0.015962806212074195 Centerline is valid? [True, True] Translation: X:-50.05, Y:-239.75, Z:-8.05 [[-9.53618530e-01 -3.00933780e-01 7.11056140e-03 -5.00453099e+01] [-3.00924978e-01 9.53645037e-01 2.30229745e-03 -2.39748755e+02] [-7.47379067e-03 5.57679720e-05 -9.99972069e-01 -8.04911127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.400385723 meters 0.016042831070874158 Centerline is valid? [True, True] Translation: X:-50.11, Y:-239.74, Z:-8.05 [[-9.29467772e-01 -3.68844861e-01 6.56722714e-03 -5.01107069e+01] [-3.68835165e-01 9.29490971e-01 2.67526616e-03 -2.39741894e+02] [-7.09093650e-03 6.43493727e-05 -9.99974857e-01 -8.04975800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.430385723 meters 0.016147042581819034 Centerline is valid? [True, True] Translation: X:-50.18, Y:-239.74, Z:-8.05 [[-9.00172398e-01 -4.35489544e-01 6.20578689e-03 -5.01841339e+01] [-4.35478632e-01 9.00193786e-01 3.08364876e-03 -2.39743130e+02] [-6.92930759e-03 7.33279040e-05 -9.99975989e-01 -8.05000518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.460385723 meters 0.01653316787920725 Centerline is valid? [True, True] Translation: X:-50.27, Y:-239.75, Z:-8.05 [[-8.65861941e-01 -5.00253283e-01 5.45459051e-03 -5.02656661e+01] [-5.00242798e-01 8.65879118e-01 3.23976543e-03 -2.39753686e+02] [-6.34371931e-03 7.65699632e-05 -9.99979876e-01 -8.05016352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.490385723 meters 0.016741575029959755 Centerline is valid? [True, True] Translation: X:-50.36, Y:-239.78, Z:-8.05 [[-8.27211175e-01 -5.61870209e-01 4.85184372e-03 -5.03556262e+01] [-5.61859934e-01 8.27225399e-01 3.39895793e-03 -2.39775329e+02] [-5.92334157e-03 8.55993898e-05 -9.99982453e-01 -8.05031092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.520385723 meters 0.0168969936826225 Centerline is valid? [True, True] Translation: X:-50.44, Y:-239.81, Z:-8.05 [[-7.83173758e-01 -6.21783423e-01 4.92340585e-03 -5.04449192e+01] [-6.21770332e-01 7.83189227e-01 4.03600599e-03 -2.39806490e+02] [-6.36548004e-03 9.96662895e-05 -9.99979735e-01 -8.05071764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.550385723 meters 0.0168969936826225 Centerline is valid? [True, True] Translation: X:-50.54, Y:-239.85, Z:-8.05 [[-7.33808832e-01 -6.79340420e-01 4.60346338e-03 -5.05386772e+01] [-6.79326195e-01 7.33823265e-01 4.39749520e-03 -2.39850269e+02] [-6.36552477e-03 9.96675547e-05 -9.99979735e-01 -8.05071560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.580385723 meters 0.0174959831659177 Centerline is valid? [True, True] Translation: X:-50.63, Y:-239.91, Z:-8.05 [[-6.81216720e-01 -7.32062951e-01 5.25519257e-03 -5.06336506e+01] [-7.32039620e-01 6.81236976e-01 5.84606884e-03 -2.39908280e+02] [-7.85972191e-03 1.35430665e-04 -9.99969103e-01 -8.05052118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.610385723 meters 0.01707878720789648 Centerline is valid? [True, True] Translation: X:-50.72, Y:-239.97, Z:-8.05 [[-6.23580601e-01 -7.81744283e-01 4.80735987e-03 -5.07240823e+01] [-7.81719330e-01 6.23599116e-01 6.24747415e-03 -2.39968592e+02] [-7.88179257e-03 1.37797546e-04 -9.99968929e-01 -8.05164278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.640385723 meters 0.016901181501236602 Centerline is valid? [True, True] Translation: X:-50.81, Y:-240.04, Z:-8.05 [[-5.62246745e-01 -8.26958779e-01 4.21604864e-03 -5.08137758e+01] [-8.26933676e-01 5.62262535e-01 6.44490199e-03 -2.40042118e+02] [-7.70019448e-03 1.37232560e-04 -9.99970344e-01 -8.05221420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.670385723 meters 0.017365452578343314 Centerline is valid? [True, True] Translation: X:-50.90, Y:-240.13, Z:-8.05 [[-4.97330152e-01 -8.67554522e-01 3.44540063e-03 -5.09047621e+01] [-8.67531895e-01 4.97342070e-01 6.26702186e-03 -2.40134161e+02] [-7.15052584e-03 1.27783999e-04 -9.99974427e-01 -8.05238166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.700385723 meters 0.017262154203418933 Centerline is valid? [True, True] Translation: X:-50.98, Y:-240.22, Z:-8.05 [[-4.29263704e-01 -9.03175179e-01 2.69596283e-03 -5.09831747e+01] [-9.03155632e-01 4.29272154e-01 5.94324384e-03 -2.40220810e+02] [-6.52509209e-03 1.16344847e-04 -9.99978705e-01 -8.05252005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.730385723 meters 0.017076796236070352 Centerline is valid? [True, True] Translation: X:-51.06, Y:-240.31, Z:-8.05 [[-3.57980003e-01 -9.33726151e-01 2.40677470e-03 -5.10558859e+01] [-9.33702724e-01 3.57988073e-01 6.61529576e-03 -2.40311444e+02] [-7.03847128e-03 1.20931497e-04 -9.99975222e-01 -8.05247392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.760385723 meters 0.017027556467763855 Centerline is valid? [True, True] Translation: X:-51.12, Y:-240.42, Z:-8.05 [[-2.84529541e-01 -9.58664905e-01 2.13078683e-03 -5.11224744e+01] [-9.58634466e-01 2.84537489e-01 7.64062232e-03 -2.40420340e+02] [-7.93108520e-03 1.31337067e-04 -9.99968540e-01 -8.05230873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.790385723 meters 0.01688482151671786 Centerline is valid? [True, True] Translation: X:-51.18, Y:-240.53, Z:-8.05 [[-2.09325414e-01 -9.77844683e-01 1.62716211e-03 -5.11800628e+01] [-9.77809952e-01 2.09331695e-01 8.24256424e-03 -2.40530551e+02] [-8.40056422e-03 1.34322867e-04 -9.99964706e-01 -8.05238342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.820385723 meters 0.01682022934859012 Centerline is valid? [True, True] Translation: X:-51.23, Y:-240.65, Z:-8.05 [[-1.31795721e-01 -9.91276447e-01 9.45229416e-04 -5.12309866e+01] [-9.91244309e-01 1.31799060e-01 7.98296633e-03 -2.40646058e+02] [-8.03790685e-03 1.15167525e-04 -9.99967689e-01 -8.05276178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.850385723 meters 0.016769176834261386 Centerline is valid? [True, True] Translation: X:-51.27, Y:-240.76, Z:-8.05 [[-5.45563892e-02 -9.98510646e-01 2.99189923e-04 -5.12724296e+01] [-9.98483652e-01 5.45571145e-02 7.34285649e-03 -2.40764950e+02] [-7.34824331e-03 1.01863489e-04 -9.99972996e-01 -8.05330363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.880385723 meters 0.016469241451161853 Centerline is valid? [True, True] Translation: X:-51.31, Y:-240.89, Z:-8.05 [[ 2.30159334e-02 -9.99735066e-01 -2.56320280e-04 -5.13053722e+01] [-9.99710228e-01 -2.30171685e-02 7.04764980e-03 -2.40893758e+02] [-7.05168240e-03 9.40377681e-05 -9.99975132e-01 -8.05337400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.910385723 meters 0.016503556984193576 Centerline is valid? [True, True] Translation: X:-51.33, Y:-241.02, Z:-8.05 [[ 1.00691065e-01 -9.94917327e-01 -9.06459788e-04 -5.13300438e+01] [-9.94885499e-01 -1.00695095e-01 7.95875125e-03 -2.41016802e+02] [-8.00957558e-03 1.00448557e-04 -9.99967918e-01 -8.05175343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.940385723 meters 0.016323383462586116 Centerline is valid? [True, True] Translation: X:-51.34, Y:-241.14, Z:-8.05 [[ 1.77375896e-01 -9.84141762e-01 -1.66833114e-03 -5.13433336e+01] [-9.84103706e-01 -1.77383710e-01 8.65531595e-03 -2.41141045e+02] [-8.81399266e-03 1.06566435e-04 -9.99961150e-01 -8.05200618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9703857229999 meters 0.016368116140098945 Centerline is valid? [True, True] Translation: X:-51.34, Y:-241.28, Z:-8.05 [[ 2.52471602e-01 -9.67601927e-01 -2.14505492e-03 -5.13416801e+01] [-9.67570246e-01 -2.52480695e-01 7.83059100e-03 -2.41280632e+02] [-8.11847990e-03 9.84894645e-05 -9.99967040e-01 -8.05311277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.000385723 meters 0.016090777058885505 Centerline is valid? [True, True] Translation: X:-51.34, Y:-241.39, Z:-8.05 [[ 3.26295823e-01 -9.45264123e-01 -2.60277722e-03 -5.13397674e+01] [-9.45236270e-01 -3.26306191e-01 7.25701866e-03 -2.41392308e+02] [-7.70910170e-03 9.23045517e-05 -9.99970280e-01 -8.05462397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.030385723 meters 0.016151963099000206 Centerline is valid? [True, True] Translation: X:-51.32, Y:-241.52, Z:-8.05 [[ 3.98153550e-01 -9.17314695e-01 -2.73872064e-03 -5.13223882e+01] [-9.17294333e-01 -3.98162961e-01 6.11251923e-03 -2.41518559e+02] [-6.69756084e-03 7.84916933e-05 -9.99977568e-01 -8.05459362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.060385723 meters 0.01584675892809688 Centerline is valid? [True, True] Translation: X:-51.30, Y:-241.64, Z:-8.05 [[ 4.68298869e-01 -8.83564258e-01 -3.22055089e-03 -5.13021462e+01] [-8.83544405e-01 -4.68309937e-01 5.92340999e-03 -2.41637331e+02] [-6.74192934e-03 7.15735187e-05 -9.99977270e-01 -8.05455869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0903857229999 meters 0.015806455028069162 Centerline is valid? [True, True] Translation: X:-51.27, Y:-241.75, Z:-8.05 [[ 5.35161645e-01 -8.44739955e-01 -4.05249002e-03 -5.12696488e+01] [-8.44716773e-01 -5.35176983e-01 6.25865842e-03 -2.41753878e+02] [-7.45573821e-03 7.38123514e-05 -9.99972203e-01 -8.05393193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.120385723 meters 0.015656976229062994 Centerline is valid? [True, True] Translation: X:-51.23, Y:-241.86, Z:-8.05 [[ 5.99997906e-01 -7.99983380e-01 -5.39485325e-03 -5.12330488e+01] [-7.99952042e-01 -6.00022155e-01 7.08121779e-03 -2.41864936e+02] [-8.90188802e-03 6.69080269e-05 -9.99960375e-01 -8.05300260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.150385723 meters 0.015603072654603993 Centerline is valid? [True, True] Translation: X:-51.18, Y:-241.98, Z:-8.05 [[ 6.59939194e-01 -7.51294746e-01 -6.03863193e-03 -5.11830977e+01] [-7.51264118e-01 -6.59966818e-01 6.78418537e-03 -2.41975405e+02] [-9.08221952e-03 5.94576639e-05 -9.99958754e-01 -8.05316087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.180385723 meters 0.015410923378869831 Centerline is valid? [True, True] Translation: X:-51.14, Y:-242.07, Z:-8.05 [[ 7.16166131e-01 -6.97896803e-01 -6.79157422e-03 -5.11377763e+01] [-6.97866047e-01 -7.16198332e-01 6.55210022e-03 -2.42071685e+02] [-9.43680392e-03 4.72167903e-05 -9.99955471e-01 -8.05342860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.210385723 meters 0.015549978503816632 Centerline is valid? [True, True] Translation: X:-51.14, Y:-242.08, Z:-8.05 [[ 7.68698854e-01 -6.39568607e-01 -7.35308126e-03 -5.11429381e+01] [-6.39539907e-01 -7.68734021e-01 6.05910128e-03 -2.42082420e+02] [-9.52777469e-03 4.49647007e-05 -9.99954609e-01 -8.05346982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.240385723 meters 0.015532091344564314 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.09, Z:-8.05 [[ 8.16553011e-01 -5.77216659e-01 -7.88089032e-03 -5.11458043e+01] [-5.77190273e-01 -8.16591040e-01 5.51924973e-03 -2.42093269e+02] [-9.62126731e-03 4.20132527e-05 -9.99953714e-01 -8.05322741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.270385723 meters 0.015480352649239386 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.11, Z:-8.05 [[ 8.58955129e-01 -5.11961736e-01 -9.55340313e-03 -5.11501061e+01] [-5.11930757e-01 -8.59008252e-01 5.63230093e-03 -2.42108463e+02] [-1.10899747e-02 5.27871199e-05 -9.99938503e-01 -8.05335357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.300385723 meters 0.015527239471106284 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.12, Z:-8.05 [[ 8.96159374e-01 -4.43616424e-01 -1.01412808e-02 -5.11517568e+01] [-4.43588759e-01 -8.96216751e-01 4.95458241e-03 -2.42122723e+02] [-1.12867199e-02 5.84626979e-05 -9.99936301e-01 -8.05327238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.330385723 meters 0.015691089014285016 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.14, Z:-8.05 [[ 9.27470802e-01 -3.73731761e-01 -1.10671680e-02 -5.11539141e+01] [-3.73706194e-01 -9.27536826e-01 4.37221293e-03 -2.42136472e+02] [-1.18992408e-02 8.07694122e-05 -9.99929198e-01 -8.05252624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.360385723 meters 0.015573562061118758 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.15, Z:-8.05 [[ 9.53568682e-01 -3.00965443e-01 -1.12503451e-02 -5.11531447e+01] [-3.00945621e-01 -9.53635042e-01 3.45537827e-03 -2.42150389e+02] [-1.17686728e-02 9.08015836e-05 -9.99930743e-01 -8.05305460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.390385723 meters 0.01572868629843528 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.16, Z:-8.05 [[ 9.73936971e-01 -2.26538360e-01 -1.12759935e-02 -5.11521724e+01] [-2.26524386e-01 -9.74002239e-01 2.51822259e-03 -2.42162364e+02] [-1.15533170e-02 1.01697427e-04 -9.99933253e-01 -8.05305927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.420385723 meters 0.015696538093009305 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.18, Z:-8.05 [[ 9.88510371e-01 -1.50730052e-01 -1.13003303e-02 -5.11520981e+01] [-1.50721521e-01 -9.88574953e-01 1.60769296e-03 -2.42177129e+02] [-1.14135511e-02 1.13981799e-04 -9.99934857e-01 -8.05432929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.450385723 meters 0.015898014672349147 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.19, Z:-8.05 [[ 9.97272078e-01 -7.28966551e-02 -1.15965579e-02 -5.11525554e+01] [-7.28930831e-02 -9.97339493e-01 7.30959727e-04 -2.42191381e+02] [-1.16189897e-02 1.16343133e-04 -9.99932491e-01 -8.05315964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.480385723 meters 0.01601354732935481 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.20, Z:-8.05 [[ 9.99909697e-01 5.55347434e-03 -1.22374937e-02 -5.11524133e+01] [ 5.55158086e-03 -9.99984572e-01 -1.88692574e-04 -2.42203173e+02] [-1.22383528e-02 1.20738099e-04 -9.99925101e-01 -8.05225041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.510385723 meters 0.01583388863142192 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.22, Z:-8.05 [[ 9.96374231e-01 8.41519669e-02 -1.25235171e-02 -5.11497328e+01] [ 8.41438039e-02 -9.96452925e-01 -1.17824069e-03 -2.42217164e+02] [-1.25782465e-02 1.20192290e-04 -9.99920884e-01 -8.05220782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.540385723 meters 0.015792756019074008 Centerline is valid? [True, True] Translation: X:-51.15, Y:-242.23, Z:-8.05 [[ 9.86689135e-01 1.62126270e-01 -1.26342564e-02 -5.11476305e+01] [ 1.62111428e-01 -9.86770013e-01 -2.19700360e-03 -2.42228849e+02] [-1.28232973e-02 1.19602239e-04 -9.99917771e-01 -8.05182270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.570385723 meters 0.015757496795558976 Centerline is valid? [True, True] Translation: X:-51.14, Y:-242.24, Z:-8.05 [[ 9.70881476e-01 2.39235532e-01 -1.24707478e-02 -5.11433987e+01] [ 2.39214274e-01 -9.70961558e-01 -3.19126405e-03 -2.42238518e+02] [-1.28720804e-02 1.15158275e-04 -9.99917145e-01 -8.05255699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.600385723 meters 0.01579980325170663 Centerline is valid? [True, True] Translation: X:-51.14, Y:-242.25, Z:-8.05 [[ 9.49105982e-01 3.14721093e-01 -1.21847402e-02 -5.11402596e+01] [ 3.14693637e-01 -9.49184187e-01 -4.15858071e-03 -2.42247396e+02] [-1.28743558e-02 1.12473628e-04 -9.99917116e-01 -8.05321085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.630385723 meters 0.015822122656920304 Centerline is valid? [True, True] Translation: X:-51.14, Y:-242.25, Z:-8.05 [[ 9.21564371e-01 3.88045772e-01 -1.18147785e-02 -5.11352099e+01] [ 3.88012313e-01 -9.21640096e-01 -5.09697707e-03 -2.42254332e+02] [-1.28668340e-02 1.12912950e-04 -9.99917213e-01 -8.05316869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.660385723 meters 0.01593361639522896 Centerline is valid? [True, True] Translation: X:-51.13, Y:-242.26, Z:-8.05 [[ 8.88184682e-01 4.59346852e-01 -1.13331610e-02 -5.11311182e+01] [ 4.59307918e-01 -8.88256977e-01 -5.98155584e-03 -2.42260198e+02] [-1.28143682e-02 1.07315706e-04 -9.99917887e-01 -8.05261772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.690385723 meters 0.01567037654124149 Centerline is valid? [True, True] Translation: X:-51.13, Y:-242.27, Z:-8.05 [[ 8.48557440e-01 5.28981976e-01 -1.13287561e-02 -5.11251789e+01] [ 5.28933448e-01 -8.48633055e-01 -7.16563802e-03 -2.42265677e+02] [-1.34044503e-02 8.82974283e-05 -9.99910153e-01 -8.05292244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7203857229999 meters 0.015622776346248379 Centerline is valid? [True, True] Translation: X:-51.12, Y:-242.27, Z:-8.05 [[ 8.04107119e-01 5.94396708e-01 -1.02124644e-02 -5.11207805e+01] [ 5.94347598e-01 -8.04171964e-01 -7.64099149e-03 -2.42269623e+02] [-1.27543578e-02 7.44219447e-05 -9.99918657e-01 -8.05330532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.750385723 meters 0.015459311742830224 Centerline is valid? [True, True] Translation: X:-51.12, Y:-242.27, Z:-8.05 [[ 7.54532088e-01 6.56203476e-01 -8.85024667e-03 -5.11151861e+01] [ 6.56157431e-01 -7.54583988e-01 -7.77374323e-03 -2.42272978e+02] [-1.17794118e-02 5.83835951e-05 -9.99930619e-01 -8.05442128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.780385723 meters 0.015354319453204767 Centerline is valid? [True, True] Translation: X:-51.11, Y:-242.28, Z:-8.06 [[ 7.00681502e-01 7.13426699e-01 -8.23279645e-03 -5.11067136e+01] [ 7.13376520e-01 -7.00729864e-01 -8.46159020e-03 -2.42278893e+02] [-1.18056907e-02 5.57960529e-05 -9.99930309e-01 -8.05501030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.810385723 meters 0.015393001988934948 Centerline is valid? [True, True] Translation: X:-51.10, Y:-242.28, Z:-8.05 [[ 6.42437496e-01 7.66301829e-01 -7.45457263e-03 -5.10993506e+01] [ 7.66249323e-01 -6.42480742e-01 -8.97053443e-03 -2.42284799e+02] [-1.16635563e-02 5.09464455e-05 -9.99931977e-01 -8.05376662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8403857229999 meters 0.01529592299125926 Centerline is valid? [True, True] Translation: X:-51.09, Y:-242.29, Z:-8.05 [[ 5.79801303e-01 8.14734095e-01 -6.22929807e-03 -5.10937169e+01] [ 8.14686361e-01 -5.79834764e-01 -8.81924967e-03 -2.42289034e+02] [-1.07973070e-02 3.84882766e-05 -9.99941707e-01 -8.05339965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.870385723 meters 0.015270374138188348 Centerline is valid? [True, True] Translation: X:-51.09, Y:-242.29, Z:-8.05 [[ 5.13791007e-01 8.57898615e-01 -5.36354213e-03 -5.10903831e+01] [ 8.57851226e-01 -5.13819000e-01 -9.01716934e-03 -2.42290786e+02] [-1.04917069e-02 3.18193258e-05 -9.99944960e-01 -8.05337317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.900385723 meters 0.015121723349285012 Centerline is valid? [True, True] Translation: X:-51.08, Y:-242.29, Z:-8.06 [[ 4.44022122e-01 8.96004784e-01 -4.44774117e-03 -5.10802243e+01] [ 8.95959407e-01 -4.44044398e-01 -9.01744422e-03 -2.42294700e+02] [-1.00546677e-02 1.89491852e-05 -9.99949450e-01 -8.05622316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.930385723 meters 0.015048592166146972 Centerline is valid? [True, True] Translation: X:-51.07, Y:-242.30, Z:-8.06 [[ 3.72241885e-01 9.28128950e-01 -3.55401066e-03 -5.10700711e+01] [ 9.28086257e-01 -3.72258851e-01 -8.90211224e-03 -2.42298031e+02] [-9.58532001e-03 1.53105889e-05 -9.99954060e-01 -8.05650762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.960385723 meters 0.015021729060511451 Centerline is valid? [True, True] Translation: X:-51.06, Y:-242.30, Z:-8.06 [[ 2.97968142e-01 9.54571391e-01 -2.90628922e-03 -5.10600606e+01] [ 9.54525632e-01 -2.97982315e-01 -9.34650777e-03 -2.42300730e+02] [-9.78793171e-03 1.08339927e-05 -9.99952097e-01 -8.05659140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.990385723 meters 0.014968404369059671 Centerline is valid? [True, True] Translation: X:-51.05, Y:-242.30, Z:-8.06 [[ 2.21272601e-01 9.75209401e-01 -2.24957004e-03 -5.10467310e+01] [ 9.75158995e-01 -2.21284036e-01 -9.91518044e-03 -2.42303370e+02] [-1.01671711e-02 2.69306684e-07 -9.99948313e-01 -8.05691743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.020385723 meters 0.015056040486721971 Centerline is valid? [True, True] Translation: X:-51.03, Y:-242.31, Z:-8.05 [[ 1.44030600e-01 9.89572145e-01 -1.46820628e-03 -5.10345764e+01] [ 9.89520856e-01 -1.44038083e-01 -1.00750373e-02 -2.42306007e+02] [-1.01814539e-02 -1.70706521e-06 -9.99948168e-01 -8.05477138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.050385723 meters 0.014915490582685776 Centerline is valid? [True, True] Translation: X:-51.02, Y:-242.31, Z:-8.06 [[ 6.66688389e-02 9.97774945e-01 -6.51731686e-04 -5.10235789e+01] [ 9.97726699e-01 -6.66720243e-02 -9.81203233e-03 -2.42306377e+02] [-9.83365229e-03 3.90669936e-06 -9.99951649e-01 -8.05739990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.080385723 meters 0.014886752067012695 Centerline is valid? [True, True] Translation: X:-51.01, Y:-242.31, Z:-8.06 [[-1.13416383e-02 9.99935674e-01 1.19801700e-04 -5.10123194e+01] [ 9.99886217e-01 1.13422689e-02 -9.94518809e-03 -2.42307464e+02] [-9.94590718e-03 6.99334218e-06 -9.99950538e-01 -8.05661364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.110385723 meters 0.015007798631002206 Centerline is valid? [True, True] Translation: X:-51.00, Y:-242.31, Z:-8.05 [[-8.95625853e-02 9.95980756e-01 9.37032204e-04 -5.10024898e+01] [ 9.95927161e-01 8.95674866e-02 -1.03322827e-02 -2.42307625e+02] [-1.03746823e-02 7.82987422e-06 -9.99946182e-01 -8.05475353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.140385723 meters 0.015054701862751358 Centerline is valid? [True, True] Translation: X:-50.99, Y:-242.31, Z:-8.05 [[-1.66395407e-01 9.86057424e-01 1.82366074e-03 -5.09924768e+01] [ 9.85999376e-01 1.66405399e-01 -1.06992385e-02 -2.42306118e+02] [-1.08535305e-02 1.78242208e-05 -9.99941099e-01 -8.05469112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.170385723 meters 0.015042279784370833 Centerline is valid? [True, True] Translation: X:-50.98, Y:-242.30, Z:-8.05 [[-2.42651783e-01 9.70109226e-01 2.86391505e-03 -5.09823003e+01] [ 9.70042831e-01 2.42668682e-01 -1.13497233e-02 -2.42304071e+02] [-1.17054537e-02 2.40896823e-05 -9.99931489e-01 -8.05443091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.200385723 meters 0.015006366406157042 Centerline is valid? [True, True] Translation: X:-50.98, Y:-242.30, Z:-8.05 [[-3.17771600e-01 9.48160215e-01 3.66290988e-03 -5.09753153e+01] [ 9.48098152e-01 3.17792709e-01 -1.08484082e-02 -2.42301975e+02] [-1.14500751e-02 2.54820533e-05 -9.99934446e-01 -8.05439775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.230385723 meters 0.014979318996301106 Centerline is valid? [True, True] Translation: X:-50.97, Y:-242.30, Z:-8.06 [[-3.91022390e-01 9.20370761e-01 4.37647957e-03 -5.09655520e+01] [ 9.20313850e-01 3.91046880e-01 -1.02349951e-02 -2.42298913e+02] [-1.11313989e-02 2.56225171e-05 -9.99938044e-01 -8.05539778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.260385723 meters 0.015054313194300768 Centerline is valid? [True, True] Translation: X:-50.96, Y:-242.29, Z:-8.06 [[-4.61920694e-01 8.86906905e-01 5.04135440e-03 -5.09553775e+01] [ 8.86854661e-01 4.61948203e-01 -9.62646108e-03 -2.42294880e+02] [-1.08666194e-02 2.42870650e-05 -9.99940956e-01 -8.05565047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.290385723 meters 0.015019229590040518 Centerline is valid? [True, True] Translation: X:-50.95, Y:-242.29, Z:-8.05 [[-5.31130190e-01 8.47268829e-01 6.02094810e-03 -5.09460423e+01] [ 8.47214599e-01 5.31164316e-01 -9.58609507e-03 -2.42290959e+02] [-1.13201123e-02 9.57063089e-06 -9.99935926e-01 -8.05478634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.320385723 meters 0.015045144280095858 Centerline is valid? [True, True] Translation: X:-50.94, Y:-242.29, Z:-8.05 [[-5.96847393e-01 8.02327570e-01 6.60753132e-03 -5.09371710e+01] [ 8.02278320e-01 5.96883967e-01 -8.88969892e-03 -2.42286166e+02] [-1.10763800e-02 -4.71450092e-06 -9.99938655e-01 -8.05473664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.350385723 meters 0.015004690204903722 Centerline is valid? [True, True] Translation: X:-50.93, Y:-242.28, Z:-8.06 [[-6.59948155e-01 7.51280976e-01 6.73259146e-03 -5.09302527e+01] [ 7.51241380e-01 6.59982495e-01 -7.71330614e-03 -2.42280835e+02] [-1.02382527e-02 -3.25808590e-05 -9.99947587e-01 -8.05540220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.380385723 meters 0.015073916720768516 Centerline is valid? [True, True] Translation: X:-50.92, Y:-242.27, Z:-8.06 [[-7.17892398e-01 6.96115956e-01 7.28567546e-03 -5.09224366e+01] [ 6.96079422e-01 7.17929365e-01 -7.13199393e-03 -2.42274395e+02] [-1.01952951e-02 -4.85954601e-05 -9.99948026e-01 -8.05596799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.410385723 meters 0.0152581936332655 Centerline is valid? [True, True] Translation: X:-50.90, Y:-242.25, Z:-8.06 [[-7.66276755e-01 6.42465702e-01 7.59979026e-03 -5.09041810e+01] [ 6.42433304e-01 7.66314438e-01 -6.45228214e-03 -2.42253344e+02] [-9.96919898e-03 -6.18754432e-05 -9.99950304e-01 -8.05590555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.440385723 meters 0.0152581936332655 Centerline is valid? [True, True] Translation: X:-50.89, Y:-242.23, Z:-8.06 [[-8.09815644e-01 5.86629375e-01 8.03733934e-03 -5.08862269e+01] [ 5.86599724e-01 8.09855526e-01 -5.89835368e-03 -2.42230700e+02] [-9.96923121e-03 -6.18780420e-05 -9.99950304e-01 -8.05590521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4703857229999 meters 0.015388108007954118 Centerline is valid? [True, True] Translation: X:-50.87, Y:-242.21, Z:-8.06 [[-8.50415177e-01 5.26052939e-01 7.89500694e-03 -5.08735276e+01] [ 5.26029427e-01 8.50451821e-01 -4.97423072e-03 -2.42206915e+02] [-9.33103172e-03 -7.71553216e-05 -9.99956462e-01 -8.05558967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.500385723 meters 0.015487041147048616 Centerline is valid? [True, True] Translation: X:-50.86, Y:-242.18, Z:-8.06 [[-8.85869300e-01 4.63862922e-01 8.17147588e-03 -5.08587584e+01] [ 4.63842316e-01 8.85906983e-01 -4.37310438e-03 -2.42183037e+02] [-9.26768852e-03 -8.37226215e-05 -9.99957051e-01 -8.05517968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.530385723 meters 0.015568808202755356 Centerline is valid? [True, True] Translation: X:-50.85, Y:-242.16, Z:-8.05 [[-9.16624990e-01 3.99658544e-01 8.46613072e-03 -5.08500743e+01] [ 3.99640620e-01 9.16664083e-01 -3.78606244e-03 -2.42159178e+02] [-9.27373016e-03 -8.69897132e-05 -9.99956994e-01 -8.05436774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.560385723 meters 0.01548327313317645 Centerline is valid? [True, True] Translation: X:-50.84, Y:-242.13, Z:-8.06 [[-9.42586800e-01 3.33853418e-01 8.48642617e-03 -5.08435237e+01] [ 3.33839091e-01 9.42624999e-01 -3.09400327e-03 -2.42134222e+02] [-9.03246103e-03 -8.32658417e-05 -9.99959203e-01 -8.05531443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5903857229999 meters 0.015366197475619358 Centerline is valid? [True, True] Translation: X:-50.84, Y:-242.11, Z:-8.06 [[-9.63738769e-01 2.66728823e-01 7.95734966e-03 -5.08413232e+01] [ 2.66719115e-01 9.63771617e-01 -2.27679100e-03 -2.42107723e+02] [-8.27635353e-03 -7.18545009e-05 -9.99965748e-01 -8.05609762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.620385723 meters 0.015404664678639775 Centerline is valid? [True, True] Translation: X:-50.84, Y:-242.08, Z:-8.06 [[-9.80047890e-01 1.98649879e-01 6.66018730e-03 -5.08390159e+01] [ 1.98644930e-01 9.80070519e-01 -1.40325243e-03 -2.42082958e+02] [-6.80620915e-03 -5.22421476e-05 -9.99976836e-01 -8.05692658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.650385723 meters 0.015354594455062098 Centerline is valid? [True, True] Translation: X:-50.83, Y:-242.06, Z:-8.06 [[-9.91669156e-01 1.28653265e-01 6.37362663e-03 -5.08334291e+01] [ 1.28650292e-01 9.91689636e-01 -8.76052639e-04 -2.42056769e+02] [-6.43336651e-03 -4.87854538e-05 -9.99979305e-01 -8.05678735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.680385723 meters 0.015555713790585434 Centerline is valid? [True, True] Translation: X:-50.82, Y:-242.03, Z:-8.05 [[-9.98309361e-01 5.76680844e-02 7.26716905e-03 -5.08239654e+01] [ 5.76661430e-02 9.98335810e-01 -4.76570960e-04 -2.42032346e+02] [-7.28255804e-03 -5.66956406e-05 -9.99973480e-01 -8.05491108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.710385723 meters 0.015521299502504606 Centerline is valid? [True, True] Translation: X:-50.77, Y:-241.31, Z:-9.02 [[-9.90098002e-01 -1.40144502e-01 8.09103155e-03 -5.07686544e+01] [ 1.40140814e-01 -9.90131054e-01 -1.02378116e-03 -2.41306252e+02] [ 8.15465890e-03 1.20240070e-04 9.99966743e-01 -9.01608080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.740385723 meters 0.015323113481050638 Centerline is valid? [True, True] Translation: X:-50.89, Y:-242.03, Z:-8.05 [[-9.98523171e-01 5.36435420e-02 8.59349892e-03 -5.08923508e+01] [ 5.36410193e-02 9.98560147e-01 -5.23946478e-04 -2.42033736e+02] [-8.60923189e-03 -6.22086570e-05 -9.99962938e-01 -8.05397483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.770385723 meters 0.015285875663049503 Centerline is valid? [True, True] Translation: X:-50.85, Y:-241.29, Z:-9.02 [[-9.91063119e-01 -1.33162700e-01 7.84790925e-03 -5.08485242e+01] [ 1.33158633e-01 -9.91094191e-01 -1.04073579e-03 -2.41292039e+02] [ 7.91660445e-03 1.35820173e-05 9.99968663e-01 -9.01605441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.800385723 meters 0.015193797055615892 Centerline is valid? [True, True] Translation: X:-50.96, Y:-242.04, Z:-8.05 [[-9.98616544e-01 5.20187708e-02 7.68408671e-03 -5.09644290e+01] [ 5.20170077e-02 9.98646107e-01 -4.29257289e-04 -2.42037910e+02] [-7.69601272e-03 -2.89602328e-05 -9.99970385e-01 -8.05388912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.830385723 meters 0.015083109437467778 Centerline is valid? [True, True] Translation: X:-50.92, Y:-241.28, Z:-9.02 [[-9.92133706e-01 -1.24933042e-01 7.90213370e-03 -5.09189851e+01] [ 1.24929454e-01 -9.92165174e-01 -9.48065403e-04 -2.41279010e+02] [ 7.95866655e-03 4.66016048e-05 9.99968328e-01 -9.01564058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.860385723 meters 0.01505085428290474 Centerline is valid? [True, True] Translation: X:-51.05, Y:-242.04, Z:-8.05 [[-9.98732381e-01 4.97301191e-02 7.78117874e-03 -5.10494842e+01] [ 4.97285222e-02 9.98762692e-01 -3.98685985e-04 -2.42041890e+02] [-7.79137773e-03 -1.12340837e-05 -9.99969647e-01 -8.05472360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.890385723 meters 0.014975904821542096 Centerline is valid? [True, True] Translation: X:-51.03, Y:-242.02, Z:-8.05 [[-9.99749182e-01 -2.09663580e-02 7.87305798e-03 -5.10323054e+01] [-2.09657666e-02 9.99780182e-01 1.57660189e-04 -2.42016887e+02] [-7.87463290e-03 -7.44405104e-06 -9.99968995e-01 -8.05455398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.920385723 meters 0.015085037841925858 Centerline is valid? [True, True] Translation: X:-51.04, Y:-241.99, Z:-8.05 [[-9.95713309e-01 -9.21731197e-02 7.68905524e-03 -5.10359701e+01] [-9.21704336e-02 9.95742997e-01 7.03719044e-04 -2.41988672e+02] [-7.72118689e-03 -8.00113743e-06 -9.99970191e-01 -8.05336795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.950385723 meters 0.015051948694542506 Centerline is valid? [True, True] Translation: X:-51.05, Y:-241.96, Z:-8.05 [[-9.86619453e-01 -1.62871710e-01 7.40687206e-03 -5.10492861e+01] [-1.62867172e-01 9.86647255e-01 1.21577382e-03 -2.41962169e+02] [-7.50598515e-03 -6.83020864e-06 -9.99971830e-01 -8.05221176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.980385723 meters 0.015019690776970494 Centerline is valid? [True, True] Translation: X:-51.08, Y:-241.94, Z:-8.05 [[-9.72648071e-01 -2.32194000e-01 6.45570869e-03 -5.10782153e+01] [-2.32188874e-01 9.72669495e-01 1.54284000e-03 -2.41942227e+02] [-6.63750910e-03 1.69661244e-06 -9.99977972e-01 -8.05359931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.010385723 meters 0.015054819116361404 Centerline is valid? [True, True] Translation: X:-51.12, Y:-241.93, Z:-8.05 [[-9.53255600e-01 -3.02111383e-01 5.69856241e-03 -5.11223860e+01] [-3.02105956e-01 9.53272633e-01 1.81082807e-03 -2.41926459e+02] [-5.97935536e-03 4.61235805e-06 -9.99982124e-01 -8.05410129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.040385723 meters 0.015066719786692873 Centerline is valid? [True, True] Translation: X:-51.18, Y:-241.92, Z:-8.06 [[-9.28514362e-01 -3.71266468e-01 4.72111474e-03 -5.11813143e+01] [-3.71261640e-01 9.28526365e-01 1.89342891e-03 -2.41919925e+02] [-5.08664617e-03 5.30713929e-06 -9.99987063e-01 -8.05568953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.070385723 meters 0.014995968158510987 Centerline is valid? [True, True] Translation: X:-51.25, Y:-241.92, Z:-8.06 [[-8.98486580e-01 -4.38983445e-01 3.92447710e-03 -5.12543833e+01] [-4.38979232e-01 8.98495150e-01 1.92311275e-03 -2.41922059e+02] [-4.37033830e-03 5.12705668e-06 -9.99990450e-01 -8.05630909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.100385723 meters 0.015080687969913282 Centerline is valid? [True, True] Translation: X:-51.34, Y:-241.94, Z:-8.06 [[-8.63131373e-01 -5.04963025e-01 4.07149412e-03 -5.13386951e+01] [-5.04957383e-01 8.63140976e-01 2.38699852e-03 -2.41935502e+02] [-4.71961940e-03 4.36229361e-06 -9.99988863e-01 -8.05635755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.130385723 meters 0.015083853475482429 Centerline is valid? [True, True] Translation: X:-51.42, Y:-241.95, Z:-8.06 [[-8.22316604e-01 -5.69017200e-01 3.85070266e-03 -5.14191833e+01] [-5.69010954e-01 8.22325620e-01 2.66610335e-03 -2.41952005e+02] [-4.68359011e-03 1.28905799e-06 -9.99989032e-01 -8.05569744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.160385723 meters 0.015098149025396615 Centerline is valid? [True, True] Translation: X:-51.51, Y:-241.98, Z:-8.05 [[-7.76830502e-01 -6.29696718e-01 4.05157295e-03 -5.15100438e+01] [-6.29688154e-01 7.76841067e-01 3.28404087e-03 -2.41983397e+02] [-5.21537801e-03 -8.43767299e-08 -9.99986400e-01 -8.05469678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.190385723 meters 0.015134518946870556 Centerline is valid? [True, True] Translation: X:-51.60, Y:-242.03, Z:-8.05 [[-7.26543319e-01 -6.87107074e-01 4.32131205e-03 -5.16047212e+01] [-6.87094944e-01 7.26556170e-01 4.08284905e-03 -2.42028223e+02] [-5.94503040e-03 -2.78495853e-06 -9.99982328e-01 -8.05327273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2203857229999 meters 0.015218087599393219 Centerline is valid? [True, True] Translation: X:-51.70, Y:-242.08, Z:-8.05 [[-6.72355449e-01 -7.40216111e-01 4.27321338e-03 -5.16974446e+01] [-7.40201175e-01 6.72369028e-01 4.70231383e-03 -2.42082565e+02] [-6.35390478e-03 -1.41123920e-06 -9.99979814e-01 -8.05330884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.250385723 meters 0.015241474593276912 Centerline is valid? [True, True] Translation: X:-51.79, Y:-242.15, Z:-8.05 [[-6.14787558e-01 -7.88680281e-01 4.43529739e-03 -5.17875703e+01] [-7.88659681e-01 6.14803557e-01 5.70036251e-03 -2.42147805e+02] [-7.22260012e-03 6.57172312e-06 -9.99973917e-01 -8.05280462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.280385723 meters 0.015344948084416166 Centerline is valid? [True, True] Translation: X:-51.87, Y:-242.22, Z:-8.05 [[-5.53647174e-01 -8.32740639e-01 4.22310799e-03 -5.18749551e+01] [-8.32716182e-01 5.53663280e-01 6.38226963e-03 -2.42221367e+02] [-7.65295511e-03 1.68751834e-05 -9.99970716e-01 -8.05259161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.310385723 meters 0.015354925527334508 Centerline is valid? [True, True] Translation: X:-51.97, Y:-242.32, Z:-8.05 [[-4.90606048e-01 -8.71373232e-01 3.79432461e-03 -5.19666645e+01] [-8.71346563e-01 4.90620719e-01 6.81745176e-03 -2.42321117e+02] [-7.80211924e-03 3.85113539e-05 -9.99969562e-01 -8.05340313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3403857229999 meters 0.015406778840455045 Centerline is valid? [True, True] Translation: X:-52.05, Y:-242.42, Z:-8.05 [[-4.22932224e-01 -9.06155257e-01 3.31431650e-03 -5.20456791e+01] [-9.06126570e-01 4.22945208e-01 7.21047136e-03 -2.42416786e+02] [-7.93558081e-03 4.63504471e-05 -9.99968512e-01 -8.05347000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.370385723 meters 0.015668960212443715 Centerline is valid? [True, True] Translation: X:-52.10, Y:-242.49, Z:-8.05 [[-3.52658554e-01 -9.35747949e-01 2.77861884e-03 -5.21041120e+01] [-9.35717651e-01 3.52669496e-01 7.53020631e-03 -2.42485633e+02] [-8.02630921e-03 5.55889729e-05 -9.99967787e-01 -8.05280478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.400385723 meters 0.015960256414155806 Centerline is valid? [True, True] Translation: X:-52.17, Y:-242.60, Z:-8.05 [[-2.80774483e-01 -9.59771107e-01 2.26111801e-03 -5.21716498e+01] [-9.59737978e-01 2.80783579e-01 7.97465443e-03 -2.42596410e+02] [-8.28872771e-03 6.89986411e-05 -9.99965646e-01 -8.05204719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.430385723 meters 0.015731004019166946 Centerline is valid? [True, True] Translation: X:-52.23, Y:-242.70, Z:-8.05 [[-2.06470934e-01 -9.78451402e-01 1.61499599e-03 -5.22291103e+01] [-9.78418638e-01 2.06477237e-01 8.00749766e-03 -2.42703819e+02] [-8.16840722e-03 7.31733444e-05 -9.99966635e-01 -8.05234055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.460385723 meters 0.015859795238207398 Centerline is valid? [True, True] Translation: X:-52.28, Y:-242.82, Z:-8.05 [[-1.31896249e-01 -9.91263081e-01 9.39622833e-04 -5.22783409e+01] [-9.91233310e-01 1.31899570e-01 7.68296933e-03 -2.42822671e+02] [-7.73977970e-03 8.19693848e-05 -9.99970044e-01 -8.05211979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.490385723 meters 0.01589202735694948 Centerline is valid? [True, True] Translation: X:-52.32, Y:-242.96, Z:-8.05 [[-5.56676911e-02 -9.98449295e-01 3.38085114e-04 -5.23196698e+01] [-9.98420293e-01 5.56686512e-02 7.61049645e-03 -2.42964057e+02] [-7.61751555e-03 8.61077272e-05 -9.99970983e-01 -8.05212997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.520385723 meters 0.01632087603966474 Centerline is valid? [True, True] Translation: X:-52.35, Y:-243.07, Z:-8.05 [[ 2.08811140e-02 -9.99781936e-01 -2.42834327e-04 -5.23487970e+01] [-9.99755067e-01 -2.08823333e-02 7.33038400e-03 -2.43068444e+02] [-7.33385646e-03 8.97082644e-05 -9.99973103e-01 -8.05179914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.550385723 meters 0.016600492681617045 Centerline is valid? [True, True] Translation: X:-52.37, Y:-243.19, Z:-8.05 [[ 9.61105666e-02 -9.95370371e-01 -7.63546367e-04 -5.23695646e+01] [-9.95346603e-01 -9.61135487e-02 6.87932772e-03 -2.43190768e+02] [-6.92086614e-03 9.88171978e-05 -9.99976046e-01 -8.05277868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.580385723 meters 0.01669431475484155 Centerline is valid? [True, True] Translation: X:-52.38, Y:-243.32, Z:-8.05 [[ 1.71833881e-01 -9.85125157e-01 -1.24164415e-03 -5.23805559e+01] [-9.85103521e-01 -1.71838338e-01 6.52986642e-03 -2.43315978e+02] [-6.64609775e-03 1.01095731e-04 -9.99977909e-01 -8.05327197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.610385723 meters 0.0167712085358203 Centerline is valid? [True, True] Translation: X:-52.38, Y:-243.44, Z:-8.05 [[ 2.46066454e-01 -9.69251430e-01 -1.72206415e-03 -5.23825531e+01] [-9.69230705e-01 -2.46072455e-01 6.33938515e-03 -2.43442778e+02] [-6.56821068e-03 1.09167424e-04 -9.99978423e-01 -8.05438782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.640385723 meters 0.016934403531356106 Centerline is valid? [True, True] Translation: X:-52.37, Y:-243.57, Z:-8.05 [[ 3.20043486e-01 -9.47399934e-01 -2.35197172e-03 -5.23742101e+01] [-9.47376986e-01 -3.20052107e-01 6.59516428e-03 -2.43570009e+02] [-7.00101170e-03 1.17464511e-04 -9.99975486e-01 -8.05370550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.670385723 meters 0.01684828860089475 Centerline is valid? [True, True] Translation: X:-52.36, Y:-243.70, Z:-8.05 [[ 3.92434815e-01 -9.19774717e-01 -3.06384843e-03 -5.23554330e+01] [-9.19749094e-01 -3.92446755e-01 6.86652100e-03 -2.43700026e+02] [-7.51804978e-03 1.23309917e-04 -9.99971732e-01 -8.05327015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.700385723 meters 0.01665581320463581 Centerline is valid? [True, True] Translation: X:-52.33, Y:-243.82, Z:-8.05 [[ 4.63701759e-01 -8.85981976e-01 -4.07627946e-03 -5.23331312e+01] [-8.85950075e-01 -4.63719659e-01 7.51944029e-03 -2.43819611e+02] [-8.55233949e-03 1.24602407e-04 -9.99963420e-01 -8.05205681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.730385723 meters 0.016426836768089273 Centerline is valid? [True, True] Translation: X:-52.30, Y:-243.94, Z:-8.05 [[ 5.31297476e-01 -8.47171624e-01 -4.81987529e-03 -5.22995162e+01] [-8.47138803e-01 -5.31319324e-01 7.45813701e-03 -2.43938600e+02] [-8.87921493e-03 1.20614013e-04 -9.99960572e-01 -8.05147752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.760385723 meters 0.016275007436098887 Centerline is valid? [True, True] Translation: X:-52.26, Y:-244.06, Z:-8.05 [[ 5.95672676e-01 -8.03213005e-01 -4.78869597e-03 -5.22574125e+01] [-8.03188370e-01 -5.95691916e-01 6.29155588e-03 -2.44055292e+02] [-7.90604698e-03 9.85169818e-05 -9.99968742e-01 -8.05139796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.790385723 meters 0.016354348282533356 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.16, Z:-8.05 [[ 6.55335336e-01 -7.55321233e-01 -5.04318365e-03 -5.22095806e+01] [-7.55299985e-01 -6.55354733e-01 5.66616496e-03 -2.44158879e+02] [-7.58484898e-03 9.58784218e-05 -9.99971230e-01 -8.05216499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.820385723 meters 0.016550041169256277 Centerline is valid? [True, True] Translation: X:-52.15, Y:-244.26, Z:-8.05 [[ 7.10445905e-01 -7.03734802e-01 -4.89325260e-03 -5.21540547e+01] [-7.03719002e-01 -7.10462750e-01 4.71669963e-03 -2.44257603e+02] [-6.79577938e-03 9.25148949e-05 -9.99976904e-01 -8.05374109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.850385723 meters 0.016636893150896268 Centerline is valid? [True, True] Translation: X:-52.16, Y:-244.26, Z:-8.05 [[ 7.63033413e-01 -6.46339135e-01 -5.07283065e-03 -5.21600632e+01] [-6.46325649e-01 -7.63050270e-01 4.17628095e-03 -2.44263618e+02] [-6.57011861e-03 9.20586539e-05 -9.99978412e-01 -8.05414597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.880385723 meters 0.01681798460625431 Centerline is valid? [True, True] Translation: X:-52.17, Y:-244.27, Z:-8.05 [[ 8.11139481e-01 -5.84834566e-01 -4.61223565e-03 -5.21656502e+01] [-5.84825667e-01 -8.11152590e-01 3.22708829e-03 -2.44269148e+02] [-5.62853967e-03 7.97350746e-05 -9.99984157e-01 -8.05445982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.910385723 meters 0.016776119690417635 Centerline is valid? [True, True] Translation: X:-52.17, Y:-244.27, Z:-8.05 [[ 8.54677637e-01 -5.19143744e-01 -3.98864738e-03 -5.21705813e+01] [-5.19138433e-01 -8.54686942e-01 2.34909062e-03 -2.44274976e+02] [-4.62856053e-03 6.29449257e-05 -9.99989286e-01 -8.05484464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.940385723 meters 0.016465137320884626 Centerline is valid? [True, True] Translation: X:-52.18, Y:-244.28, Z:-8.06 [[ 8.92973391e-01 -4.50091858e-01 -3.98024450e-03 -5.21762723e+01] [-4.50087671e-01 -8.92982260e-01 1.94217161e-03 -2.44284279e+02] [-4.42844335e-03 5.71514083e-05 -9.99990193e-01 -8.05556900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9703857229999 meters 0.016339219814958526 Centerline is valid? [True, True] Translation: X:-52.18, Y:-244.29, Z:-8.06 [[ 9.26462843e-01 -3.76363445e-01 -4.14209582e-03 -5.21813621e+01] [-3.76359902e-01 -9.26472102e-01 1.63385224e-03 -2.44293236e+02] [-4.45245848e-03 4.52153888e-05 -9.99990087e-01 -8.05510406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.000385723 meters 0.01592416111849142 Centerline is valid? [True, True] Translation: X:-52.19, Y:-244.31, Z:-8.05 [[ 9.53560232e-01 -3.01163080e-01 -4.86656421e-03 -5.21859943e+01] [-3.01159388e-01 -9.53572649e-01 1.49184946e-03 -2.44306509e+02] [-5.08991250e-03 4.30431841e-05 -9.99987045e-01 -8.05482066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.030385723 meters 0.01583941238677917 Centerline is valid? [True, True] Translation: X:-52.19, Y:-244.32, Z:-8.05 [[ 9.74594902e-01 -2.23913851e-01 -5.23110010e-03 -5.21891230e+01] [-2.23910820e-01 -9.74608940e-01 1.16543289e-03 -2.44320561e+02] [-5.35923349e-03 3.54749608e-05 -9.99985639e-01 -8.05451032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.060385723 meters 0.015783866247617274 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.33, Z:-8.05 [[ 9.89656635e-01 -1.43361667e-01 -5.21314860e-03 -5.21958956e+01] [-1.43359763e-01 -9.89670366e-01 7.38917135e-04 -2.44334074e+02] [-5.26523107e-03 1.60815031e-05 -9.99986139e-01 -8.05360937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0903857229999 meters 0.015750134724310843 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.35, Z:-8.05 [[ 9.97936554e-01 -6.39615895e-02 -5.61681740e-03 -5.22000842e+01] [-6.39606257e-02 -9.97952361e-01 3.51232617e-04 -2.44346444e+02] [-5.62778159e-03 8.74728749e-06 -9.99984164e-01 -8.05345228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.120385723 meters 0.015836486504390557 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.36, Z:-8.05 [[ 9.99844000e-01 1.64641292e-02 -6.39594334e-03 -5.22037881e+01] [ 1.64638159e-02 -9.99864457e-01 -1.01644085e-04 -2.44359361e+02] [-6.39674990e-03 -3.67340544e-06 -9.99979541e-01 -8.05252802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.150385723 meters 0.015778236750318596 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.37, Z:-8.05 [[ 9.95397409e-01 9.56050919e-02 -6.60796104e-03 -5.22075361e+01] [ 9.56030510e-02 -9.95419342e-01 -6.24770503e-04 -2.44370245e+02] [-6.63742347e-03 -9.84629646e-06 -9.99977972e-01 -8.05217129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.180385723 meters 0.015729741499727747 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.38, Z:-8.05 [[ 9.84760380e-01 1.73792756e-01 -6.56288213e-03 -5.22095315e+01] [ 1.73788989e-01 -9.84782249e-01 -1.14439495e-03 -2.44380105e+02] [-6.66189737e-03 -1.36018432e-05 -9.99977809e-01 -8.05244688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.210385723 meters 0.015812361077760833 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.39, Z:-8.05 [[ 9.68056250e-01 2.50641871e-01 -6.76387251e-03 -5.22119043e+01] [ 2.50635871e-01 -9.68079879e-01 -1.73447839e-03 -2.44388943e+02] [-6.98270179e-03 -1.61964318e-05 -9.99975621e-01 -8.05167726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.240385723 meters 0.015877465280842426 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.40, Z:-8.05 [[ 9.45359014e-01 3.25961144e-01 -6.75771803e-03 -5.22127387e+01] [ 3.25952959e-01 -9.45383167e-01 -2.31004591e-03 -2.44397237e+02] [-7.14161808e-03 -1.88754605e-05 -9.99974498e-01 -8.05142678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.270385723 meters 0.01578507925698243 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.41, Z:-8.05 [[ 9.16883828e-01 3.99100316e-01 -6.55620152e-03 -5.22114927e+01] [ 3.99090269e-01 -9.16907268e-01 -2.83187977e-03 -2.44407896e+02] [-7.14163293e-03 -2.00114608e-05 -9.99974498e-01 -8.05169843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.300385723 meters 0.015805058155158973 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.42, Z:-8.05 [[ 8.82781212e-01 4.69743914e-01 -6.16335205e-03 -5.22092500e+01] [ 4.69732625e-01 -8.82802727e-01 -3.25679834e-03 -2.44419182e+02] [-6.97088520e-03 -2.00871507e-05 -9.99975703e-01 -8.05188012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.330385723 meters 0.015856438862950947 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.43, Z:-8.05 [[ 8.43269527e-01 5.37463760e-01 -5.40485291e-03 -5.22069250e+01] [ 5.37452862e-01 -8.43286847e-01 -3.42270589e-03 -2.44430181e+02] [-6.39742174e-03 -1.85900915e-05 -9.99979536e-01 -8.05194238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.360385723 meters 0.015856438862950947 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.44, Z:-8.05 [[ 7.98589720e-01 6.01854004e-01 -5.12022748e-03 -5.22038277e+01] [ 6.01841783e-01 -7.98606134e-01 -3.83548003e-03 -2.44440990e+02] [-6.39744409e-03 -1.85919184e-05 -9.99979536e-01 -8.05194217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.390385723 meters 0.015819890628369464 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.45, Z:-8.05 [[ 7.49121740e-01 6.62418957e-01 -4.21228363e-03 -5.22011546e+01] [ 6.62408602e-01 -7.49133583e-01 -3.70385284e-03 -2.44451493e+02] [-5.60906546e-03 -1.56162236e-05 -9.99984269e-01 -8.05227930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.420385723 meters 0.01578709131790257 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.46, Z:-8.05 [[ 6.95463616e-01 7.18553151e-01 -3.42470668e-03 -5.22004553e+01] [ 7.18544512e-01 -6.95472048e-01 -3.52351258e-03 -2.44458806e+02] [-4.91361884e-03 -1.03293873e-05 -9.99987928e-01 -8.05289352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.450385723 meters 0.015781317771737788 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.46, Z:-8.05 [[ 6.37557487e-01 7.70396569e-01 -3.09480024e-03 -5.21999581e+01] [ 7.70387545e-01 -6.37564998e-01 -3.72871582e-03 -2.44463871e+02] [-4.84572618e-03 -6.92487015e-06 -9.99988259e-01 -8.05334567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.480385723 meters 0.01574681633778956 Centerline is valid? [True, True] Translation: X:-52.20, Y:-244.47, Z:-8.05 [[ 5.76608257e-01 8.17017611e-01 -2.26755885e-03 -5.21970608e+01] [ 8.17011287e-01 -5.76612716e-01 -3.21451158e-03 -2.44471819e+02] [-3.93381584e-03 8.92749775e-07 -9.99992263e-01 -8.05398433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.510385723 meters 0.01570269556614825 Centerline is valid? [True, True] Translation: X:-52.19, Y:-244.48, Z:-8.05 [[ 5.11608994e-01 8.59216443e-01 -1.82805443e-03 -5.21926434e+01] [ 8.59210930e-01 -5.11612259e-01 -3.07789186e-03 -2.44479541e+02] [-3.57983036e-03 3.99280635e-06 -9.99993592e-01 -8.05433473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.540385723 meters 0.01572059334508029 Centerline is valid? [True, True] Translation: X:-52.19, Y:-244.49, Z:-8.05 [[ 4.43109759e-01 8.96466272e-01 -1.40161154e-03 -5.21850922e+01] [ 8.96461753e-01 -4.43111975e-01 -2.84654442e-03 -2.44488633e+02] [-3.17290192e-03 4.84047541e-06 -9.99994966e-01 -8.05456751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.570385723 meters 0.015718771154704707 Centerline is valid? [True, True] Translation: X:-52.18, Y:-244.50, Z:-8.05 [[ 3.72710584e-01 9.27947111e-01 -9.90131828e-04 -5.21756883e+01] [ 9.27943782e-01 -3.72711899e-01 -2.48545845e-03 -2.44497125e+02] [-2.67540790e-03 7.56999784e-06 -9.99996421e-01 -8.05404664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.600385723 meters 0.01571519310450574 Centerline is valid? [True, True] Translation: X:-52.17, Y:-244.51, Z:-8.05 [[ 2.99844925e-01 9.53987612e-01 -8.10317485e-04 -5.21667504e+01] [ 9.53984033e-01 -2.99846020e-01 -2.61336068e-03 -2.44505300e+02] [-2.73608419e-03 1.05729938e-05 -9.99996257e-01 -8.05379599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.630385723 meters 0.015724228659968982 Centerline is valid? [True, True] Translation: X:-52.16, Y:-244.51, Z:-8.05 [[ 2.26641132e-01 9.73978111e-01 -6.61496395e-04 -5.21580873e+01] [ 9.73973714e-01 -2.26642097e-01 -2.92651339e-03 -2.44512676e+02] [-3.00028291e-03 1.89882075e-05 -9.99995499e-01 -8.05382542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.660385723 meters 0.01585229017825801 Centerline is valid? [True, True] Translation: X:-52.15, Y:-244.52, Z:-8.05 [[ 1.50701279e-01 9.88579244e-01 -4.50669492e-04 -5.21471408e+01] [ 9.88574351e-01 -1.50701951e-01 -3.11032628e-03 -2.44519738e+02] [-3.14272077e-03 2.32098476e-05 -9.99995061e-01 -8.05369088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.690385723 meters 0.016042895604464796 Centerline is valid? [True, True] Translation: X:-52.14, Y:-244.53, Z:-8.05 [[ 7.39393062e-02 9.97262710e-01 -2.55921739e-04 -5.21379630e+01] [ 9.97255085e-01 -7.39397417e-02 -3.90011920e-03 -2.44526423e+02] [-3.90836623e-03 3.31528529e-05 -9.99992362e-01 -8.05313657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7203857229999 meters 0.016219039253216414 Centerline is valid? [True, True] Translation: X:-52.13, Y:-244.53, Z:-8.05 [[-2.42932234e-03 9.99997047e-01 6.16493449e-05 -5.21279911e+01] [ 9.99985632e-01 2.42958920e-03 -4.77848476e-03 -2.44532298e+02] [-4.77862043e-03 5.00399793e-05 -9.99988581e-01 -8.05292437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.750385723 meters 0.01622420387491058 Centerline is valid? [True, True] Translation: X:-52.12, Y:-244.54, Z:-8.05 [[-7.97605329e-02 9.96813961e-01 4.30725645e-04 -5.21155685e+01] [ 9.96802859e-01 7.97616775e-02 -4.70470565e-03 -2.44536718e+02] [-4.72407167e-03 5.40987252e-05 -9.99988840e-01 -8.05249407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.780385723 meters 0.016365289213202044 Centerline is valid? [True, True] Translation: X:-52.10, Y:-244.54, Z:-8.05 [[-1.55799763e-01 9.87788241e-01 9.08112180e-04 -5.21027851e+01] [ 9.87774021e-01 1.55802393e-01 -5.30069817e-03 -2.44540392e+02] [-5.37745338e-03 7.11621006e-05 -9.99985539e-01 -8.05164925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.810385723 meters 0.016563988219566086 Centerline is valid? [True, True] Translation: X:-52.09, Y:-244.54, Z:-8.05 [[-2.31646221e-01 9.72799026e-01 1.44369674e-03 -5.20912117e+01] [ 9.72782329e-01 2.31650705e-01 -5.70010911e-03 -2.44544414e+02] [-5.87949396e-03 8.39939376e-05 -9.99982712e-01 -8.05118037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8403857229999 meters 0.016798715658790372 Centerline is valid? [True, True] Translation: X:-52.08, Y:-244.55, Z:-8.05 [[-3.06149638e-01 9.51981230e-01 2.03393207e-03 -5.20810025e+01] [ 9.51962281e-01 3.06156379e-01 -6.00719731e-03 -2.44548009e+02] [-6.34144036e-03 9.71253301e-05 -9.99979888e-01 -8.05149845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.870385723 meters 0.017046775113262233 Centerline is valid? [True, True] Translation: X:-52.07, Y:-244.55, Z:-8.05 [[-3.78305111e-01 9.25677847e-01 2.40135710e-03 -5.20712490e+01] [ 9.25660892e-01 3.78312718e-01 -5.60365499e-03 -2.44550116e+02] [-6.09564322e-03 1.02951037e-04 -9.99981416e-01 -8.05191824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.900385723 meters 0.018056035831003035 Centerline is valid? [True, True] Translation: X:-52.06, Y:-244.55, Z:-8.05 [[-4.46583197e-01 8.94739937e-01 1.97322169e-03 -5.20621885e+01] [ 8.94732043e-01 4.46587548e-01 -3.75947185e-03 -2.44553199e+02] [-4.24496584e-03 8.65877163e-05 -9.99990986e-01 -8.05398838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.930385723 meters 0.018372156753496256 Centerline is valid? [True, True] Translation: X:-52.05, Y:-244.55, Z:-8.05 [[-5.13735457e-01 8.57946062e-01 2.10609946e-03 -5.20535602e+01] [ 8.57939541e-01 5.13739766e-01 -3.34605977e-03 -2.44554485e+02] [-3.95272585e-03 8.79164602e-05 -9.99992184e-01 -8.05426977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.960385723 meters 0.019379723166861353 Centerline is valid? [True, True] Translation: X:-52.04, Y:-244.56, Z:-8.05 [[-5.76939397e-01 8.16782253e-01 2.77182583e-03 -5.20431168e+01] [ 8.16773784e-01 5.76946044e-01 -3.72144898e-03 -2.44555050e+02] [-4.63880743e-03 1.16904141e-04 -9.99989234e-01 -8.05312276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.990385723 meters 0.01969872305166066 Centerline is valid? [True, True] Translation: X:-52.04, Y:-244.56, Z:-8.05 [[-6.38660940e-01 7.69482022e-01 3.10194246e-03 -5.20353022e+01] [ 7.69473857e-01 6.38668461e-01 -3.54689088e-03 -2.44555398e+02] [-4.71038159e-03 1.21602969e-04 -9.99988899e-01 -8.05330309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.020385723 meters 0.02015963396639131 Centerline is valid? [True, True] Translation: X:-52.03, Y:-244.56, Z:-8.05 [[-6.96529893e-01 7.17517600e-01 3.82134123e-03 -5.20277164e+01] [ 7.17507899e-01 6.96540361e-01 -3.73379491e-03 -2.44556488e+02] [-5.34078196e-03 1.41142749e-04 -9.99985728e-01 -8.05405424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.050385723 meters 0.020150194029623383 Centerline is valid? [True, True] Translation: X:-52.00, Y:-244.53, Z:-8.05 [[-7.46035307e-01 6.65894685e-01 3.94832067e-03 -5.20030532e+01] [ 6.65886290e-01 7.46045743e-01 -3.34630693e-03 -2.44533415e+02] [-5.17391582e-03 1.32669485e-04 -9.99986606e-01 -8.05413201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.080385723 meters 0.01840849642762705 Centerline is valid? [True, True] Translation: X:-51.98, Y:-244.51, Z:-8.05 [[-7.92042358e-01 6.10451938e-01 4.16345162e-03 -5.19779112e+01] [ 6.10444332e-01 7.92053291e-01 -3.05000533e-03 -2.44506644e+02] [-5.15955722e-03 1.25822028e-04 -9.99986682e-01 -8.05401126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.110385723 meters 0.019425705040802717 Centerline is valid? [True, True] Translation: X:-51.96, Y:-244.48, Z:-8.05 [[-8.34103418e-01 5.51586326e-01 4.90034254e-03 -5.19590234e+01] [ 5.51577730e-01 8.34117802e-01 -3.08217466e-03 -2.44482405e+02] [-5.78754834e-03 1.32067400e-04 -9.99983243e-01 -8.05248371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.140385723 meters 0.018532524334489046 Centerline is valid? [True, True] Translation: X:-51.95, Y:-244.45, Z:-8.05 [[-8.72782775e-01 4.88071892e-01 6.00465059e-03 -5.19463285e+01] [ 4.88061370e-01 8.72803421e-01 -3.20748868e-03 -2.44449751e+02] [-6.80636464e-03 1.31197119e-04 -9.99976828e-01 -8.05203904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.170385723 meters 0.01693529952805768 Centerline is valid? [True, True] Translation: X:-51.93, Y:-244.42, Z:-8.05 [[-9.05639371e-01 4.23995711e-01 6.70575569e-03 -5.19279922e+01] [ 4.23985173e-01 9.05664187e-01 -2.99230575e-03 -2.44420216e+02] [-7.34188758e-03 1.33191084e-04 -9.99973039e-01 -8.05334586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.200385723 meters 0.016289990221828265 Centerline is valid? [True, True] Translation: X:-51.92, Y:-244.39, Z:-8.05 [[-9.33893146e-01 3.57474728e-01 7.44385788e-03 -5.19170416e+01] [ 3.57464501e-01 9.33922803e-01 -2.70734224e-03 -2.44387598e+02] [-7.91979505e-03 1.32546583e-04 -9.99968629e-01 -8.05458547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.230385723 meters 0.018151638689787235 Centerline is valid? [True, True] Translation: X:-51.67, Y:-243.71, Z:-9.02 [[-9.21332594e-01 -3.88717490e-01 6.70553588e-03 -5.16669015e+01] [ 3.88705936e-01 -9.21356982e-01 -3.00122016e-03 -2.43713809e+02] [ 7.34481907e-03 -1.58640352e-04 9.99973014e-01 -9.01635661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.260385723 meters 0.01848721822097074 Centerline is valid? [True, True] Translation: X:-51.96, Y:-244.37, Z:-8.05 [[-9.34818026e-01 3.55064489e-01 6.66841482e-03 -5.19597666e+01] [ 3.55056420e-01 9.34841801e-01 -2.39709970e-03 -2.44374333e+02] [-7.08503790e-03 1.26811483e-04 -9.99974893e-01 -8.05460251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.290385723 meters 0.01662044143569785 Centerline is valid? [True, True] Translation: X:-51.95, Y:-244.34, Z:-8.06 [[-9.57325392e-01 2.88930046e-01 6.89371846e-03 -5.19490030e+01] [ 2.88923572e-01 9.57350203e-01 -1.93881731e-03 -2.44340489e+02] [-7.15988534e-03 1.35678728e-04 -9.99974359e-01 -8.05637683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.320385723 meters 0.016868785721915212 Centerline is valid? [True, True] Translation: X:-51.75, Y:-243.67, Z:-9.01 [[-9.48678593e-01 -3.16136078e-01 8.17974596e-03 -5.17541281e+01] [ 3.16123679e-01 -9.48713853e-01 -2.80078263e-03 -2.43666383e+02] [ 8.64566674e-03 -7.12311397e-05 9.99962623e-01 -9.01466699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.350385723 meters 0.016748354729112867 Centerline is valid? [True, True] Translation: X:-52.00, Y:-244.32, Z:-8.06 [[-9.58098930e-01 2.86298337e-01 8.92765276e-03 -5.19958682e+01] [ 2.86287709e-01 9.58140505e-01 -2.47391479e-03 -2.44321779e+02] [-9.26222342e-03 1.85622144e-04 -9.99957088e-01 -8.05527416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.380385723 meters 0.017115401500835865 Centerline is valid? [True, True] Translation: X:-51.81, Y:-243.66, Z:-9.01 [[-9.50012069e-01 -3.12061074e-01 9.74445755e-03 -5.18080601e+01] [ 3.12043136e-01 -9.50062033e-01 -3.34894821e-03 -2.43655589e+02] [ 1.03029155e-02 -1.40850131e-04 9.99946914e-01 -9.01489807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.410385723 meters 0.016972914786806192 Centerline is valid? [True, True] Translation: X:-52.04, Y:-244.31, Z:-8.06 [[-9.58946547e-01 2.83427514e-01 9.50598914e-03 -5.20445396e+01] [ 2.83415707e-01 9.58993640e-01 -2.59518427e-03 -2.44305321e+02] [-9.85172975e-03 2.05503645e-04 -9.99951450e-01 -8.05530120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.440385723 meters 0.01764382043690058 Centerline is valid? [True, True] Translation: X:-52.04, Y:-244.27, Z:-8.05 [[-9.76478876e-01 2.15378289e-01 1.00596692e-02 -5.20419887e+01] [ 2.15369189e-01 9.76530667e-01 -1.99223289e-03 -2.44272678e+02] [-1.02526592e-02 2.21169457e-04 -9.99947416e-01 -8.05374811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4703857229999 meters 0.017366517162776988 Centerline is valid? [True, True] Translation: X:-51.90, Y:-243.61, Z:-9.02 [[-9.71025491e-01 -2.38738465e-01 1.06508695e-02 -5.19042165e+01] [ 2.38721968e-01 -9.71083884e-01 -2.81293311e-03 -2.43608723e+02] [ 1.10144430e-02 -1.88833236e-04 9.99939321e-01 -9.01630024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.500385723 meters 0.017448172460951927 Centerline is valid? [True, True] Translation: X:-52.10, Y:-244.26, Z:-8.05 [[-9.77263589e-01 2.11746244e-01 1.09273173e-02 -5.20960489e+01] [ 2.11735771e-01 9.77324649e-01 -2.11990835e-03 -2.44260089e+02] [-1.11284192e-02 2.41994720e-04 -9.99938048e-01 -8.05380982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.530385723 meters 0.017490413234384043 Centerline is valid? [True, True] Translation: X:-52.09, Y:-244.23, Z:-8.05 [[-9.89853566e-01 1.41706573e-01 1.04482268e-02 -5.20926798e+01] [ 1.41701103e-01 9.89908680e-01 -1.26575784e-03 -2.44230777e+02] [-1.05221566e-02 2.27610350e-04 -9.99944615e-01 -8.05445514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.560385723 meters 0.017118587087386394 Centerline is valid? [True, True] Translation: X:-52.01, Y:-243.56, Z:-9.01 [[-9.86014457e-01 -1.66359232e-01 1.00048010e-02 -5.20076101e+01] [ 1.66348170e-01 -9.86065184e-01 -1.93373609e-03 -2.43563509e+02] [ 1.01870808e-02 -2.42411402e-04 9.99948081e-01 -9.01405658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5903857229999 meters 0.016592195374595525 Centerline is valid? [True, True] Translation: X:-52.15, Y:-244.22, Z:-8.06 [[-9.90760021e-01 1.35280401e-01 9.68472420e-03 -5.21501288e+01] [ 1.35275797e-01 9.90807336e-01 -1.13193064e-03 -2.44217808e+02] [-9.74882382e-03 1.88637163e-04 -9.99952461e-01 -8.05634654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.620385723 meters 0.01623556670304609 Centerline is valid? [True, True] Translation: X:-52.08, Y:-243.56, Z:-9.01 [[-9.86200432e-01 -1.65259557e-01 9.89887083e-03 -5.20799288e+01] [ 1.65249463e-01 -9.86250094e-01 -1.83483302e-03 -2.43562740e+02] [ 1.00659860e-02 -1.73730034e-04 9.99949322e-01 -9.01437267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.650385723 meters 0.016125392216426712 Centerline is valid? [True, True] Translation: X:-52.21, Y:-244.21, Z:-8.05 [[-9.91730353e-01 1.27911574e-01 1.04659646e-02 -5.22139662e+01] [ 1.27906277e-01 9.91785561e-01 -1.17664727e-03 -2.44205364e+02] [-1.05304994e-02 1.71745760e-04 -9.99944538e-01 -8.05459231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.680385723 meters 0.0158921826012757 Centerline is valid? [True, True] Translation: X:-52.22, Y:-244.17, Z:-8.05 [[-9.98384768e-01 5.58369087e-02 1.04925615e-02 -5.22192870e+01] [ 5.58354907e-02 9.98439890e-01 -4.28259555e-04 -2.44174146e+02] [-1.05001046e-02 1.58289500e-04 -9.99944860e-01 -8.05465763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.710385723 meters 0.015207387029191251 Centerline is valid? [True, True] Translation: X:-52.20, Y:-243.53, Z:-9.01 [[-9.95501479e-01 -9.42336179e-02 9.84027777e-03 -5.21976908e+01] [ 9.42271345e-02 -9.95550094e-01 -1.12145221e-03 -2.43528675e+02] [ 9.90216795e-03 -1.89186157e-04 9.99950955e-01 -9.01342711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.740385723 meters 0.015140531269171595 Centerline is valid? [True, True] Translation: X:-52.29, Y:-244.17, Z:-8.06 [[-9.98690095e-01 5.02422360e-02 9.68568153e-03 -5.22895826e+01] [ 5.02412024e-02 9.98737052e-01 -3.50150845e-04 -2.44168014e+02] [-9.69104138e-03 1.36928106e-04 -9.99953031e-01 -8.05702515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.770385723 meters 0.01585817196291888 Centerline is valid? [True, True] Translation: X:-52.30, Y:-244.14, Z:-8.06 [[-9.99784725e-01 -1.83785091e-02 9.62988823e-03 -5.22950575e+01] [-1.83761082e-02 9.99831088e-01 3.37750507e-04 -2.44138518e+02] [-9.63446898e-03 1.60717929e-04 -9.99953575e-01 -8.05544740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.800385723 meters 0.01606471986395059 Centerline is valid? [True, True] Translation: X:-52.31, Y:-244.11, Z:-8.05 [[-9.96072250e-01 -8.79783976e-02 9.99370891e-03 -5.23056097e+01] [-8.79721155e-02 9.96122366e-01 1.06732058e-03 -2.44109450e+02] [-1.00488581e-02 1.83960693e-04 -9.99949492e-01 -8.05495257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.830385723 meters 0.016641915325779882 Centerline is valid? [True, True] Translation: X:-52.32, Y:-244.08, Z:-8.05 [[-9.87459008e-01 -1.57570916e-01 9.80379192e-03 -5.23242904e+01] [-1.57561177e-01 9.87507655e-01 1.76274143e-03 -2.44082775e+02] [-9.95907635e-03 1.95937905e-04 -9.99950388e-01 -8.05448968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.860385723 meters 0.01687001771615629 Centerline is valid? [True, True] Translation: X:-52.36, Y:-244.06, Z:-8.06 [[-9.74068789e-01 -2.26062808e-01 9.25215038e-03 -5.23572881e+01] [-2.26050566e-01 9.74112706e-01 2.36184617e-03 -2.44060526e+02] [-9.54656282e-03 2.09146802e-04 -9.99954409e-01 -8.05571547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.890385723 meters 0.01679410495625182 Centerline is valid? [True, True] Translation: X:-52.41, Y:-244.04, Z:-8.06 [[-9.55167393e-01 -2.95932544e-01 8.89840774e-03 -5.24050019e+01] [-2.95917651e-01 9.55208818e-01 2.97633091e-03 -2.44043397e+02] [-9.38063072e-03 2.09698326e-04 -9.99955979e-01 -8.05627326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.920385723 meters 0.017649667018814017 Centerline is valid? [True, True] Translation: X:-52.47, Y:-244.04, Z:-8.06 [[-9.30633850e-01 -3.65828902e-01 9.47903622e-03 -5.24732261e+01] [-3.65807457e-01 9.30682096e-01 3.96740561e-03 -2.44037463e+02] [-1.02733609e-02 2.24699822e-04 -9.99947202e-01 -8.05527483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.950385723 meters 0.016908496514851747 Centerline is valid? [True, True] Translation: X:-52.55, Y:-244.04, Z:-8.05 [[-9.00803593e-01 -4.34129999e-01 9.16685967e-03 -5.25466856e+01] [-4.34105048e-01 9.00850207e-01 4.65956894e-03 -2.44036049e+02] [-1.02808261e-02 2.17976386e-04 -9.99947127e-01 -8.05497294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.980385723 meters 0.016417767353607445 Centerline is valid? [True, True] Translation: X:-52.63, Y:-244.04, Z:-8.05 [[-8.65456804e-01 -5.00902279e-01 9.02376697e-03 -5.26275289e+01] [-5.00872510e-01 8.65503821e-01 5.46496161e-03 -2.44044805e+02] [-1.05475165e-02 2.09931401e-04 -9.99944351e-01 -8.05476498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.010385723 meters 0.016337610077461005 Centerline is valid? [True, True] Translation: X:-52.71, Y:-244.06, Z:-8.05 [[-8.24559284e-01 -5.65718795e-01 8.01449719e-03 -5.27142412e+01] [-5.65689997e-01 8.24598214e-01 5.71083534e-03 -2.44064231e+02] [-9.83946696e-03 1.75201411e-04 -9.99951576e-01 -8.05490767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.040385723 meters 0.015670301140554378 Centerline is valid? [True, True] Translation: X:-52.80, Y:-244.09, Z:-8.06 [[-7.79452102e-01 -6.26420663e-01 7.18146163e-03 -5.28029640e+01] [-6.26392174e-01 7.79485168e-01 5.97635955e-03 -2.44091814e+02] [-9.34155794e-03 1.59874649e-04 -9.99956354e-01 -8.05600014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.070385723 meters 0.01534779793238744 Centerline is valid? [True, True] Translation: X:-52.89, Y:-244.13, Z:-8.06 [[-7.29396283e-01 -6.84063603e-01 6.16834816e-03 -5.28942184e+01] [-6.84037550e-01 7.29422352e-01 5.97183147e-03 -2.44131237e+02] [-8.58444357e-03 1.36449917e-04 -9.99963144e-01 -8.05598842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.100385723 meters 0.01548442245293355 Centerline is valid? [True, True] Translation: X:-52.98, Y:-244.18, Z:-8.06 [[-6.75433317e-01 -7.37395000e-01 6.20062356e-03 -5.29849943e+01] [-7.37361949e-01 6.75461763e-01 6.98305535e-03 -2.44184267e+02] [-9.33755422e-03 1.44484367e-04 -9.99956394e-01 -8.05603769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.130385723 meters 0.015531032776840667 Centerline is valid? [True, True] Translation: X:-53.07, Y:-244.24, Z:-8.06 [[-6.17461876e-01 -7.86577695e-01 6.03007627e-03 -5.30707255e+01] [-7.86537779e-01 6.17491301e-01 7.92559267e-03 -2.44243672e+02] [-9.95761405e-03 1.50868520e-04 -9.99950410e-01 -8.05581913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.160385723 meters 0.015632835765322234 Centerline is valid? [True, True] Translation: X:-53.15, Y:-244.31, Z:-8.06 [[-5.56282978e-01 -8.30975697e-01 5.35160817e-03 -5.31546896e+01] [-8.30934603e-01 5.56308698e-01 8.26542631e-03 -2.44311951e+02] [-9.84551456e-03 1.51079550e-04 -9.99951520e-01 -8.05653298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.190385723 meters 0.015588614285859973 Centerline is valid? [True, True] Translation: X:-53.24, Y:-244.39, Z:-8.06 [[-4.91923608e-01 -8.70626370e-01 4.57026157e-03 -5.32366022e+01] [-8.70585911e-01 4.91944815e-01 8.39467615e-03 -2.44389157e+02] [-9.55694291e-03 1.50734045e-04 -9.99954320e-01 -8.05656699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2203857229999 meters 0.01545987690990019 Centerline is valid? [True, True] Translation: X:-53.31, Y:-244.48, Z:-8.06 [[-4.24011419e-01 -9.05648183e-01 3.96050601e-03 -5.33146221e+01] [-9.05605318e-01 4.24029888e-01 8.81259563e-03 -2.44475836e+02] [-9.66048414e-03 1.49985870e-04 -9.99953325e-01 -8.05628147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.250385723 meters 0.01545987690990019 Centerline is valid? [True, True] Translation: X:-53.38, Y:-244.57, Z:-8.06 [[-3.53745863e-01 -9.35335835e-01 3.27722140e-03 -5.33844562e+01] [-9.35291687e-01 3.53761011e-01 9.08885215e-03 -2.44570177e+02] [-9.66048227e-03 1.49985909e-04 -9.99953325e-01 -8.05628156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.280385723 meters 0.015516351553198754 Centerline is valid? [True, True] Translation: X:-53.45, Y:-244.67, Z:-8.06 [[-2.80823688e-01 -9.59755840e-01 2.60475935e-03 -5.34476610e+01] [-9.59709601e-01 2.80835730e-01 9.42205041e-03 -2.44672102e+02] [-9.77437740e-03 1.46122388e-04 -9.99952219e-01 -8.05605644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.310385723 meters 0.015637643568488027 Centerline is valid? [True, True] Translation: X:-53.50, Y:-244.78, Z:-8.06 [[-2.06093673e-01 -9.78530175e-01 2.02337058e-03 -5.35024431e+01] [-9.78475571e-01 2.06103550e-01 1.03384753e-02 -2.44779298e+02] [-1.05335339e-02 1.50875665e-04 -9.99944509e-01 -8.05573886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3403857229999 meters 0.01539419329853372 Centerline is valid? [True, True] Translation: X:-53.55, Y:-244.89, Z:-8.06 [[-1.30217483e-01 -9.91484670e-01 1.24778799e-03 -5.35498860e+01] [-9.91427634e-01 1.30223377e-01 1.06357684e-02 -2.44892977e+02] [-1.07076925e-02 1.47871493e-04 -9.99942660e-01 -8.05638453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.370385723 meters 0.015652931279377016 Centerline is valid? [True, True] Translation: X:-53.59, Y:-245.01, Z:-8.06 [[-5.35905718e-02 -9.98562894e-01 4.44567422e-04 -5.35875297e+01] [-9.98501926e-01 5.35922128e-02 1.10352974e-02 -2.45009467e+02] [-1.10432639e-02 1.47486472e-04 -9.99939011e-01 -8.05594810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.400385723 meters 0.015182598638506727 Centerline is valid? [True, True] Translation: X:-53.62, Y:-245.13, Z:-8.06 [[ 2.33563159e-02 -9.99727127e-01 -3.91696094e-04 -5.36171144e+01] [-9.99669077e-01 -2.33591811e-02 1.07742879e-02 -2.45131161e+02] [-1.07804976e-02 1.39918801e-04 -9.99941879e-01 -8.05768439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.430385723 meters 0.015274181441584302 Centerline is valid? [True, True] Translation: X:-53.64, Y:-245.25, Z:-8.06 [[ 1.00059789e-01 -9.94980749e-01 -1.16099293e-03 -5.36372807e+01] [-9.94928060e-01 -1.00066439e-01 1.02402810e-02 -2.45247937e+02] [-1.03050589e-02 1.30464091e-04 -9.99946893e-01 -8.05792939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.460385723 meters 0.015072662490941318 Centerline is valid? [True, True] Translation: X:-53.65, Y:-245.37, Z:-8.06 [[ 1.76114673e-01 -9.84367639e-01 -1.99314489e-03 -5.36492234e+01] [-9.84312772e-01 -1.76125902e-01 1.03938822e-02 -2.45370281e+02] [-1.05824457e-02 1.31362802e-04 -9.99943996e-01 -8.05772683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.490385723 meters 0.015032107046885746 Centerline is valid? [True, True] Translation: X:-53.65, Y:-245.49, Z:-8.06 [[ 2.51166751e-01 -9.67939630e-01 -2.85235199e-03 -5.36516558e+01] [-9.67883021e-01 -2.51182913e-01 1.04690823e-02 -2.45493058e+02] [-1.08499017e-02 1.31257675e-04 -9.99941130e-01 -8.05720853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.520385723 meters 0.014759566531733027 Centerline is valid? [True, True] Translation: X:-53.64, Y:-245.61, Z:-8.06 [[ 3.25734097e-01 -9.45454486e-01 -3.62115868e-03 -5.36443780e+01] [-9.45399949e-01 -3.25754204e-01 1.01555108e-02 -2.45612003e+02] [-1.07811809e-02 1.15447102e-04 -9.99941875e-01 -8.05759772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.550385723 meters 0.01447706844773503 Centerline is valid? [True, True] Translation: X:-53.63, Y:-245.73, Z:-8.06 [[ 3.97211627e-01 -9.17718935e-01 -3.85747210e-03 -5.36258433e+01] [-9.17678039e-01 -3.97230345e-01 8.66431165e-03 -2.45729135e+02] [-9.48370784e-03 9.83521059e-05 -9.99955024e-01 -8.06071028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.580385723 meters 0.014724851415567368 Centerline is valid? [True, True] Translation: X:-53.60, Y:-245.84, Z:-8.06 [[ 4.65908937e-01 -8.84822789e-01 -4.18266263e-03 -5.35997728e+01] [-8.84788913e-01 -4.65927702e-01 7.74317609e-03 -2.45844086e+02] [-8.80015705e-03 9.31585789e-05 -9.99961274e-01 -8.06082964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.610385723 meters 0.014461053895076795 Centerline is valid? [True, True] Translation: X:-53.57, Y:-245.96, Z:-8.06 [[ 5.31818708e-01 -8.46846201e-01 -4.51374189e-03 -5.35680772e+01] [-8.46817121e-01 -5.31837855e-01 7.01857471e-03 -2.45957028e+02] [-8.34423213e-03 8.97045778e-05 -9.99965182e-01 -8.06142892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.640385723 meters 0.014478423098227035 Centerline is valid? [True, True] Translation: X:-53.53, Y:-246.06, Z:-8.06 [[ 5.94972815e-01 -8.03729319e-01 -5.15088604e-03 -5.35291011e+01] [-8.03700486e-01 -5.94995104e-01 6.80845136e-03 -2.46064735e+02] [-8.53690395e-03 8.89261425e-05 -9.99963556e-01 -8.06056649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.670385723 meters 0.014418662994022502 Centerline is valid? [True, True] Translation: X:-53.48, Y:-246.17, Z:-8.06 [[ 6.55048022e-01 -7.55567830e-01 -5.41699278e-03 -5.34797034e+01] [-7.55542960e-01 -6.55070415e-01 6.13078703e-03 -2.46168650e+02] [-8.18073716e-03 7.68108383e-05 -9.99966534e-01 -8.06012621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.700385723 meters 0.01434043127017323 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.27, Z:-8.06 [[ 7.10672549e-01 -7.03498521e-01 -5.86159493e-03 -5.34241860e+01] [-7.03475447e-01 -7.10696718e-01 5.69821488e-03 -2.46265659e+02] [-8.17450202e-03 7.39232225e-05 -9.99966586e-01 -8.06097448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.730385723 meters 0.014629934954804873 Centerline is valid? [True, True] Translation: X:-53.43, Y:-246.27, Z:-8.06 [[ 7.63230734e-01 -6.46096280e-01 -6.20027991e-03 -5.34250427e+01] [-6.46075769e-01 -7.63255915e-01 5.14872243e-03 -2.46274318e+02] [-8.05897072e-03 7.61874182e-05 -9.99967523e-01 -8.06238700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.760385723 meters 0.014594710082258789 Centerline is valid? [True, True] Translation: X:-53.43, Y:-246.29, Z:-8.06 [[ 8.11035615e-01 -5.84960411e-01 -6.52294852e-03 -5.34273862e+01] [-5.84942287e-01 -8.11061842e-01 4.60538171e-03 -2.46286765e+02] [-7.98448062e-03 8.04198373e-05 -9.99968120e-01 -8.06244460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.790385723 meters 0.014741365273040477 Centerline is valid? [True, True] Translation: X:-53.43, Y:-246.30, Z:-8.06 [[ 8.53819372e-01 -5.20533745e-01 -6.09106813e-03 -5.34296015e+01] [-5.20521148e-01 -8.53841094e-01 3.62214042e-03 -2.46298510e+02] [-7.08625059e-03 7.78761181e-05 -9.99974889e-01 -8.06170907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.820385723 meters 0.014785731350344758 Centerline is valid? [True, True] Translation: X:-53.43, Y:-246.31, Z:-8.06 [[ 8.91819485e-01 -4.52340085e-01 -6.81573925e-03 -5.34291176e+01] [-4.52327601e-01 -8.91845525e-01 3.36170940e-03 -2.46309502e+02] [-7.59922246e-03 8.49090316e-05 -9.99971122e-01 -8.06135630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.850385723 meters 0.014846553825076112 Centerline is valid? [True, True] Translation: X:-53.43, Y:-246.32, Z:-8.06 [[ 9.24363646e-01 -3.81431265e-01 -7.87648006e-03 -5.34276097e+01] [-3.81418306e-01 -9.24397198e-01 3.14572971e-03 -2.46319832e+02] [-8.48087576e-03 9.64354944e-05 -9.99964032e-01 -8.06137137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.880385723 meters 0.01494881266217411 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.33, Z:-8.06 [[ 9.51133112e-01 -3.08655117e-01 -8.82163521e-03 -5.34249200e+01] [-3.08642922e-01 -9.51174015e-01 2.74602630e-03 -2.46327442e+02] [-9.23848525e-03 1.10898720e-04 -9.99957318e-01 -8.06244809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.910385723 meters 0.015135681138312583 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.34, Z:-8.06 [[ 9.72259212e-01 -2.33737791e-01 -8.86956736e-03 -5.34226221e+01] [-2.33729122e-01 -9.72299662e-01 2.01629185e-03 -2.46336796e+02] [-9.09516095e-03 1.12717858e-04 -9.99958632e-01 -8.06238815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.940385723 meters 0.01556142668537608 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.35, Z:-8.06 [[ 9.87488008e-01 -1.57401687e-01 -9.59911891e-03 -5.34201070e+01] [-1.57395478e-01 -9.87534654e-01 1.40362044e-03 -2.46345179e+02] [-9.70039480e-03 1.24799559e-04 -9.99952942e-01 -8.06204492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9703857229999 meters 0.015326912313013086 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.35, Z:-8.06 [[ 9.96809400e-01 -7.92782125e-02 -9.27283415e-03 -5.34200298e+01] [-7.92758711e-02 -9.96852522e-01 6.20376663e-04 -2.46352269e+02] [-9.29283046e-03 1.16714715e-04 -9.99956814e-01 -8.06268471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.000385723 meters 0.015415743556282247 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.36, Z:-8.06 [[ 9.99962581e-01 -3.73740612e-04 -8.64269954e-03 -5.34189694e+01] [-3.74617882e-04 -9.99999925e-01 -9.98854219e-05 -2.46358515e+02] [-8.64266156e-03 1.03119394e-04 -9.99962646e-01 -8.06324361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.030385723 meters 0.015489446414212923 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.36, Z:-8.06 [[ 9.96833156e-01 7.90354493e-02 -8.77819302e-03 -5.34188885e+01] [ 7.90315458e-02 -9.96871802e-01 -7.91220407e-04 -2.46362439e+02] [-8.81326755e-03 9.49605716e-05 -9.99961158e-01 -8.06386439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.060385723 meters 0.015538453244480338 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.37, Z:-8.06 [[ 9.87503988e-01 1.57351396e-01 -8.74140916e-03 -5.34177215e+01] [ 1.57344417e-01 -9.87542672e-01 -1.48482068e-03 -2.46365885e+02] [-8.86615317e-03 9.08544173e-05 -9.99960691e-01 -8.06384100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0903857229999 meters 0.015427627086399037 Centerline is valid? [True, True] Translation: X:-53.42, Y:-246.37, Z:-8.06 [[ 9.71964446e-01 2.34980957e-01 -8.31051051e-03 -5.34174740e+01] [ 2.34971660e-01 -9.71999971e-01 -2.09185748e-03 -2.46367485e+02] [-8.56936265e-03 8.04766521e-05 -9.99963279e-01 -8.06470071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.120385723 meters 0.01535686856729778 Centerline is valid? [True, True] Translation: X:-53.41, Y:-246.38, Z:-8.07 [[ 9.50752355e-01 3.09854383e-01 -7.76028103e-03 -5.34140224e+01] [ 3.09843361e-01 -9.50784021e-01 -2.61471649e-03 -2.46378462e+02] [-8.18853257e-03 8.14763017e-05 -9.99966470e-01 -8.06535144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.150385723 meters 0.015422096679326548 Centerline is valid? [True, True] Translation: X:-53.41, Y:-246.39, Z:-8.07 [[ 9.23647298e-01 3.83159153e-01 -8.04566876e-03 -5.34109127e+01] [ 3.83143782e-01 -9.23682335e-01 -3.43322388e-03 -2.46387363e+02] [-8.74711326e-03 8.84400038e-05 -9.99961739e-01 -8.06518129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.180385723 meters 0.016240003239723404 Centerline is valid? [True, True] Translation: X:-53.41, Y:-246.39, Z:-8.06 [[ 8.91164886e-01 4.53606957e-01 -8.11627279e-03 -5.34093150e+01] [ 4.53587125e-01 -8.91201840e-01 -4.24284614e-03 -2.46391165e+02] [-9.15782176e-03 9.96386666e-05 -9.99958061e-01 -8.06364211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.210385723 meters 0.015384930598125651 Centerline is valid? [True, True] Translation: X:-53.40, Y:-246.40, Z:-8.07 [[ 8.53143076e-01 5.21621896e-01 -7.58218415e-03 -5.34018482e+01] [ 5.21600240e-01 -8.53176762e-01 -4.75414177e-03 -2.46402577e+02] [-8.94880777e-03 1.01094067e-04 -9.99959954e-01 -8.06680157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.240385723 meters 0.016523395547371707 Centerline is valid? [True, True] Translation: X:-53.40, Y:-246.41, Z:-8.07 [[ 8.10108958e-01 5.86240287e-01 -6.76781387e-03 -5.33994604e+01] [ 5.86218783e-01 -8.10137221e-01 -5.02220258e-03 -2.46407317e+02] [-8.42707540e-03 1.01111687e-04 -9.99964487e-01 -8.06676387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.270385723 meters 0.015611201496022648 Centerline is valid? [True, True] Translation: X:-53.39, Y:-246.42, Z:-8.07 [[ 7.61812051e-01 6.47766761e-01 -6.37353868e-03 -5.33901576e+01] [ 6.47742959e-01 -7.61838705e-01 -5.55402615e-03 -2.46419039e+02] [-8.45332198e-03 1.02709247e-04 -9.99964265e-01 -8.06863884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.300385723 meters 0.015901540314154642 Centerline is valid? [True, True] Translation: X:-53.38, Y:-246.43, Z:-8.07 [[ 7.08409283e-01 7.05776744e-01 -5.95619086e-03 -5.33834457e+01] [ 7.05750613e-01 -7.08434315e-01 -6.07411042e-03 -2.46428071e+02] [-8.50653586e-03 9.93708569e-05 -9.99963814e-01 -8.06767108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.330385723 meters 0.01594256885474178 Centerline is valid? [True, True] Translation: X:-53.38, Y:-246.44, Z:-8.07 [[ 6.50127580e-01 7.59800813e-01 -6.07072845e-03 -5.33779461e+01] [ 7.59766249e-01 -6.50155915e-01 -7.24795613e-03 -2.46435438e+02] [-9.45392297e-03 9.97615970e-05 -9.99955306e-01 -8.06545383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.360385723 meters 0.015932183911400697 Centerline is valid? [True, True] Translation: X:-53.37, Y:-246.44, Z:-8.06 [[ 5.88016565e-01 8.08828818e-01 -5.69756844e-03 -5.33700617e+01] [ 8.08789253e-01 -5.88044160e-01 -8.00067151e-03 -2.46442849e+02] [-9.82159553e-03 9.63952571e-05 -9.99951762e-01 -8.06477162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.390385723 meters 0.015917748442619648 Centerline is valid? [True, True] Translation: X:-53.36, Y:-246.45, Z:-8.06 [[ 5.22687895e-01 8.52509665e-01 -4.96345552e-03 -5.33641436e+01] [ 8.52469536e-01 -5.22711453e-01 -8.27204233e-03 -2.46448659e+02] [-9.64645107e-03 9.25017727e-05 -9.99953468e-01 -8.06435750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.420385723 meters 0.016110860414804307 Centerline is valid? [True, True] Translation: X:-53.36, Y:-246.45, Z:-8.07 [[ 4.54378821e-01 8.90799085e-01 -4.10813962e-03 -5.33604036e+01] [ 8.90760898e-01 -4.54397383e-01 -8.24870179e-03 -2.46452797e+02] [-9.21466390e-03 8.86652590e-05 -9.99957540e-01 -8.06504781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.450385723 meters 0.016358304983401847 Centerline is valid? [True, True] Translation: X:-53.36, Y:-246.46, Z:-8.07 [[ 3.84762081e-01 9.23010991e-01 -2.97509104e-03 -5.33594619e+01] [ 9.22981570e-01 -3.84773573e-01 -7.37016856e-03 -2.46456052e+02] [-7.94748299e-03 8.98071991e-05 -9.99968414e-01 -8.06689783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.480385723 meters 0.01695653256452624 Centerline is valid? [True, True] Translation: X:-53.36, Y:-246.46, Z:-8.07 [[ 3.14085963e-01 9.49391963e-01 -2.21560096e-03 -5.33577584e+01] [ 9.49365935e-01 -3.14093760e-01 -7.03078369e-03 -2.46460405e+02] [-7.37087596e-03 1.04854392e-04 -9.99972829e-01 -8.06532587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.510385723 meters 0.01666677429214994 Centerline is valid? [True, True] Translation: X:-53.35, Y:-246.47, Z:-8.07 [[ 2.40449252e-01 9.70660255e-01 -1.68133650e-03 -5.33479407e+01] [ 9.70632935e-01 -2.40455101e-01 -7.28351908e-03 -2.46465359e+02] [-7.47410842e-03 1.19356134e-04 -9.99972061e-01 -8.06514335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.540385723 meters 0.016906212434369215 Centerline is valid? [True, True] Translation: X:-53.34, Y:-246.47, Z:-8.07 [[ 1.64894386e-01 9.86310626e-01 -1.09157688e-03 -5.33389935e+01] [ 9.86283638e-01 -1.64897950e-01 -7.29740014e-03 -2.46469981e+02] [-7.37750208e-03 1.26695899e-04 -9.99972778e-01 -8.06535658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.570385723 meters 0.01724749135829576 Centerline is valid? [True, True] Translation: X:-53.33, Y:-246.47, Z:-8.07 [[ 8.89219138e-02 9.96038516e-01 -4.09586981e-04 -5.33332482e+01] [ 9.96021428e-01 -8.89227879e-02 -5.83543876e-03 -2.46474033e+02] [-5.84874338e-03 1.10940973e-04 -9.99982890e-01 -8.06708629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.600385723 meters 0.017353511871868885 Centerline is valid? [True, True] Translation: X:-53.32, Y:-246.48, Z:-8.07 [[ 1.08430758e-02 9.99941211e-01 4.16793281e-05 -5.33239885e+01] [ 9.99928619e-01 -1.08427301e-02 -5.01926116e-03 -2.46478826e+02] [-5.01851417e-03 9.61005822e-05 -9.99987403e-01 -8.06747129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.630385723 meters 0.017499210912051345 Centerline is valid? [True, True] Translation: X:-53.31, Y:-246.48, Z:-8.07 [[-6.78975178e-02 9.97692262e-01 2.79237966e-04 -5.33133501e+01] [ 9.97687092e-01 6.78980650e-02 -3.21223207e-03 -2.46482941e+02] [-3.22377880e-03 6.04895298e-05 -9.99994802e-01 -8.06581710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.660385723 meters 0.01747152921295151 Centerline is valid? [True, True] Translation: X:-53.30, Y:-246.49, Z:-8.06 [[-1.46121669e-01 9.89266485e-01 5.29803508e-04 -5.33036750e+01] [ 9.89261375e-01 1.46122617e-01 -3.18004124e-03 -2.46485147e+02] [-3.22332449e-03 5.94412148e-05 -9.99994803e-01 -8.06440095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.690385723 meters 0.01721112117465271 Centerline is valid? [True, True] Translation: X:-53.29, Y:-246.49, Z:-8.06 [[-2.23869790e-01 9.74618621e-01 9.27708603e-04 -5.32936836e+01] [ 9.74611470e-01 2.23871702e-01 -3.73403700e-03 -2.46486792e+02] [-3.84694970e-03 6.82173651e-05 -9.99992598e-01 -8.06400920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7203857229999 meters 0.017216946938515235 Centerline is valid? [True, True] Translation: X:-53.29, Y:-246.49, Z:-8.06 [[-3.00904377e-01 9.53653172e-01 1.47800839e-03 -5.32871922e+01] [ 9.53642876e-01 3.00907997e-01 -4.43194102e-03 -2.46490270e+02] [-4.67127916e-03 7.59017227e-05 -9.99989087e-01 -8.06382272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.750385723 meters 0.016954628278915952 Centerline is valid? [True, True] Translation: X:-53.28, Y:-246.49, Z:-8.06 [[-3.74882748e-01 9.27070573e-01 1.75442137e-03 -5.32757951e+01] [ 9.27061305e-01 3.74886847e-01 -4.14599001e-03 -2.46490599e+02] [-4.50133483e-03 7.21960311e-05 -9.99989866e-01 -8.06475229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.780385723 meters 0.017404292700045964 Centerline is valid? [True, True] Translation: X:-53.27, Y:-246.49, Z:-8.06 [[-4.46280242e-01 8.94892161e-01 1.40226171e-03 -5.32658606e+01] [ 8.94888083e-01 4.46282442e-01 -2.70212524e-03 -2.46491465e+02] [-3.04391547e-03 4.89621863e-05 -9.99995366e-01 -8.06468854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.810385723 meters 0.017434748831945568 Centerline is valid? [True, True] Translation: X:-53.26, Y:-246.49, Z:-8.06 [[-5.14659331e-01 8.57394138e-01 1.03203648e-03 -5.32582374e+01] [ 8.57392538e-01 5.14660365e-01 -1.65687700e-03 -2.46492052e+02] [-1.95174490e-03 3.21331683e-05 -9.99998095e-01 -8.06417176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8403857229999 meters 0.01691468612236594 Centerline is valid? [True, True] Translation: X:-53.25, Y:-246.49, Z:-8.06 [[-5.80367560e-01 8.14353775e-01 1.19339824e-03 -5.32463475e+01] [ 8.14352169e-01 5.80368786e-01 -1.61807671e-03 -2.46489083e+02] [-2.01029796e-03 3.27672165e-05 -9.99997979e-01 -8.06350851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.870385723 meters 0.017376003902455923 Centerline is valid? [True, True] Translation: X:-53.24, Y:-246.49, Z:-8.06 [[-6.42847936e-01 7.65992588e-01 1.37333625e-03 -5.32388077e+01] [ 7.65990949e-01 6.42849402e-01 -1.58527565e-03 -2.46489618e+02] [-2.09715779e-03 3.28719549e-05 -9.99997801e-01 -8.06254178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.900385723 meters 0.017453737017589708 Centerline is valid? [True, True] Translation: X:-53.23, Y:-246.49, Z:-8.06 [[-7.00991729e-01 7.13168066e-01 1.38027535e-03 -5.32333149e+01] [ 7.13166767e-01 7.00993088e-01 -1.36145686e-03 -2.46492581e+02] [-1.93851104e-03 2.99965106e-05 -9.99998121e-01 -8.06269602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.930385723 meters 0.01714483704808571 Centerline is valid? [True, True] Translation: X:-53.21, Y:-246.47, Z:-8.06 [[-7.50270591e-01 6.61129924e-01 1.12417876e-03 -5.32114775e+01] [ 6.61129225e-01 7.50271433e-01 -9.61835590e-04 -2.46474753e+02] [-1.47933750e-03 2.15904777e-05 -9.99998906e-01 -8.06350712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.960385723 meters 0.01747972629421442 Centerline is valid? [True, True] Translation: X:-53.19, Y:-246.45, Z:-8.06 [[-7.95389142e-01 6.06097540e-01 1.37282708e-03 -5.31936133e+01] [ 6.06096690e-01 7.95390326e-01 -1.01562259e-03 -2.46453345e+02] [-1.70749973e-03 2.42507637e-05 -9.99998542e-01 -8.06321012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.990385723 meters 0.016632034807799033 Centerline is valid? [True, True] Translation: X:-53.17, Y:-246.43, Z:-8.06 [[-8.36510231e-01 5.47950687e-01 8.23349480e-04 -5.31746581e+01] [ 5.47950437e-01 8.36510636e-01 -5.23235467e-04 -2.46427882e+02] [-9.75447831e-04 1.34628863e-05 -9.99999524e-01 -8.06324319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.020385723 meters 0.017659305348598876 Centerline is valid? [True, True] Translation: X:-53.16, Y:-246.41, Z:-8.06 [[-8.73312268e-01 4.87160508e-01 5.66557058e-04 -5.31560321e+01] [ 4.87160412e-01 8.73312452e-01 -3.06037585e-04 -2.46409580e+02] [-6.43870760e-04 8.73779255e-06 -9.99999793e-01 -8.06328522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.050385723 meters 0.016763136067145197 Centerline is valid? [True, True] Translation: X:-53.14, Y:-246.38, Z:-8.06 [[-9.05739878e-01 4.23833598e-01 5.95847063e-04 -5.31412959e+01] [ 4.23833513e-01 9.05740074e-01 -2.69215940e-04 -2.46381905e+02] [-6.53785323e-04 8.70034103e-06 -9.99999786e-01 -8.06381868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.080385723 meters 0.016758455571409696 Centerline is valid? [True, True] Translation: X:-52.82, Y:-245.68, Z:-9.01 [[-8.87713754e-01 -4.60395608e-01 4.19417592e-04 -5.28189268e+01] [ 4.60395547e-01 -8.87713853e-01 -2.36674956e-04 -2.45684438e+02] [ 4.81286916e-04 -1.70016217e-05 9.99999884e-01 -9.00613950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.110385723 meters 0.016787933868209943 Centerline is valid? [True, True] Translation: X:-53.19, Y:-246.37, Z:-8.06 [[-9.07345652e-01 4.20385371e-01 9.25623577e-05 -5.31852492e+01] [ 4.20385368e-01 9.07345657e-01 -4.13889100e-05 -2.46365759e+02] [-1.01385346e-04 1.35781330e-06 -9.99999995e-01 -8.06423781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.140385723 meters 0.016855581423298686 Centerline is valid? [True, True] Translation: X:-52.86, Y:-245.66, Z:-9.01 [[-8.89690870e-01 -4.56563102e-01 5.38080047e-04 -5.28608082e+01] [ 4.56563034e-01 -8.89691032e-01 -2.51317303e-04 -2.45662833e+02] [ 5.93467201e-04 2.20727484e-05 9.99999824e-01 -9.00679631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.170385723 meters 0.016855581423298686 Centerline is valid? [True, True] Translation: X:-53.23, Y:-246.35, Z:-8.06 [[-9.08633640e-01 4.17593834e-01 5.45644079e-04 -5.32269898e+01] [ 4.17593764e-01 9.08633804e-01 -2.41815873e-04 -2.46350340e+02] [-5.96771473e-04 8.13552743e-06 -9.99999822e-01 -8.06326435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.200385723 meters 0.017161276837554838 Centerline is valid? [True, True] Translation: X:-53.22, Y:-246.32, Z:-8.06 [[-9.35588836e-01 3.53088321e-01 1.47216755e-03 -5.32169396e+01] [ 3.53087923e-01 9.35589994e-01 -5.30855340e-04 -2.46324341e+02] [-1.56478405e-03 2.31422532e-05 -9.99998776e-01 -8.06094092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.230385723 meters 0.017196431368936355 Centerline is valid? [True, True] Translation: X:-52.94, Y:-245.59, Z:-9.01 [[-9.22026621e-01 -3.87123782e-01 1.44459846e-03 -5.29443713e+01] [ 3.87123269e-01 -9.22027753e-01 -6.31053863e-04 -2.45593795e+02] [ 1.57625583e-03 -2.26107833e-05 9.99998758e-01 -9.01025923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.260385723 meters 0.017373172632673333 Centerline is valid? [True, True] Translation: X:-53.26, Y:-246.31, Z:-8.06 [[-9.36292293e-01 3.51217631e-01 1.70804755e-03 -5.32623145e+01] [ 3.51217105e-01 9.36293851e-01 -6.08686137e-04 -2.46312143e+02] [-1.81301572e-03 2.99873787e-05 -9.99998356e-01 -8.05936685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.290385723 meters 0.01756267271780951 Centerline is valid? [True, True] Translation: X:-53.24, Y:-246.29, Z:-8.06 [[-9.58545012e-01 2.84936423e-01 1.64160508e-03 -5.32444187e+01] [ 2.84936057e-01 9.58546417e-01 -4.57686960e-04 -2.46289845e+02] [-1.70396635e-03 2.90389249e-05 -9.99998548e-01 -8.05965107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.320385723 meters 0.017427277374593066 Centerline is valid? [True, True] Translation: X:-53.02, Y:-245.53, Z:-9.01 [[-9.48667280e-01 -3.16270800e-01 1.78105370e-03 -5.30233591e+01] [ 3.16270202e-01 -9.48668952e-01 -6.15733584e-04 -2.45528210e+02] [ 1.88436890e-03 -2.08320927e-05 9.99998224e-01 -9.00905159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.350385723 meters 0.017556338942593362 Centerline is valid? [True, True] Translation: X:-53.29, Y:-246.28, Z:-8.06 [[-9.59669376e-01 2.81124940e-01 1.85927336e-03 -5.32928831e+01] [ 2.81124478e-01 9.59671177e-01 -5.10583867e-04 -2.46282537e+02] [-1.92782891e-03 3.26955510e-05 -9.99998141e-01 -8.06099924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.380385723 meters 0.017576107652370804 Centerline is valid? [True, True] Translation: X:-53.29, Y:-246.26, Z:-8.06 [[-9.77273168e-01 2.11974984e-01 1.93952254e-03 -5.32893041e+01] [ 2.11974633e-01 9.77275092e-01 -3.87138578e-04 -2.46255917e+02] [-1.97751076e-03 3.27894340e-05 -9.99998044e-01 -8.06087701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.410385723 meters 0.017313413480114136 Centerline is valid? [True, True] Translation: X:-53.28, Y:-246.23, Z:-8.06 [[-9.89983850e-01 1.41160291e-01 2.39755884e-03 -5.32829067e+01] [ 1.41159970e-01 9.89986753e-01 -3.03602855e-04 -2.46227181e+02] [-2.41640815e-03 3.78774099e-05 -9.99997080e-01 -8.06046705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.440385723 meters 0.017217176242237404 Centerline is valid? [True, True] Translation: X:-53.30, Y:-246.20, Z:-8.06 [[-9.97606920e-01 6.90794626e-02 2.90881681e-03 -5.32999537e+01] [ 6.90792901e-02 9.97611160e-01 -1.59855941e-04 -2.46197746e+02] [-2.91291087e-03 4.14656073e-05 -9.99995757e-01 -8.05966495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4703857229999 meters 0.01676128692658315 Centerline is valid? [True, True] Translation: X:-53.28, Y:-246.17, Z:-8.06 [[-9.99980061e-01 -5.23372694e-03 3.53364613e-03 -5.32812403e+01] [-5.23355554e-03 9.99986303e-01 5.77500946e-05 -2.46170807e+02] [-3.53389998e-03 3.92554098e-05 -9.99993755e-01 -8.05909332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.500385723 meters 0.016915868908164287 Centerline is valid? [True, True] Translation: X:-53.29, Y:-245.36, Z:-9.01 [[-9.99164114e-01 -4.07356362e-02 3.41781441e-03 -5.32869485e+01] [ 4.07352421e-02 -9.99169959e-01 -1.84865824e-04 -2.45358635e+02] [ 3.42250811e-03 -4.54858001e-05 9.99994142e-01 -9.01110774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.530385723 meters 0.016626441573864517 Centerline is valid? [True, True] Translation: X:-53.38, Y:-246.17, Z:-8.06 [[-9.99905109e-01 -1.32056919e-02 3.92208047e-03 -5.33830932e+01] [-1.32054468e-02 9.99912800e-01 8.83820598e-05 -2.46173173e+02] [-3.92290561e-03 3.65808483e-05 -9.99992305e-01 -8.05935895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.560385723 meters 0.0166790932975105 Centerline is valid? [True, True] Translation: X:-53.39, Y:-246.15, Z:-8.06 [[-9.96410123e-01 -8.45919117e-02 3.32803890e-03 -5.33918267e+01] [-8.45913380e-02 9.96415680e-01 3.13033523e-04 -2.46146025e+02] [-3.34259025e-03 3.03865080e-05 -9.99994413e-01 -8.05935093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5903857229999 meters 0.016822350575726803 Centerline is valid? [True, True] Translation: X:-53.49, Y:-245.33, Z:-9.01 [[-9.99333726e-01 3.64216459e-02 2.35951601e-03 -5.34942272e+01] [-3.64217467e-02 -9.99336508e-01 2.43087093e-07 -2.45331333e+02] [ 2.35795935e-03 -8.56947694e-05 9.99997216e-01 -9.01042169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.620385723 meters 0.01709868812548454 Centerline is valid? [True, True] Translation: X:-53.51, Y:-246.16, Z:-8.06 [[-9.96037533e-01 -8.89194746e-02 1.60018953e-03 -5.35113345e+01] [-8.89193277e-02 9.96038818e-01 1.62833994e-04 -2.46161607e+02] [-1.60833000e-03 1.99009922e-05 -9.99998707e-01 -8.06119040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.650385723 meters 0.01708779833238825 Centerline is valid? [True, True] Translation: X:-53.53, Y:-246.14, Z:-8.06 [[-9.87424623e-01 -1.58081225e-01 1.71490044e-03 -5.35346129e+01] [-1.58080943e-01 9.87426112e-01 2.99245417e-04 -2.46137336e+02] [-1.74064256e-03 2.43892134e-05 -9.99998485e-01 -8.06184821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.680385723 meters 0.017312959439590464 Centerline is valid? [True, True] Translation: X:-53.57, Y:-246.12, Z:-8.06 [[-9.73695730e-01 -2.27841907e-01 2.16569344e-03 -5.35662464e+01] [-2.27841268e-01 9.73698138e-01 5.40847808e-04 -2.46116741e+02] [-2.23195947e-03 3.31868617e-05 -9.99997509e-01 -8.06213995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.710385723 meters 0.017732254582539755 Centerline is valid? [True, True] Translation: X:-53.60, Y:-246.10, Z:-8.06 [[-9.54783802e-01 -2.97282244e-01 3.34059503e-03 -5.36049979e+01] [-2.97280208e-01 9.54789644e-01 1.10192857e-03 -2.46101106e+02] [-3.51714934e-03 5.90107663e-05 -9.99993813e-01 -8.06131104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.740385723 meters 0.01771241911177359 Centerline is valid? [True, True] Translation: X:-53.67, Y:-246.09, Z:-8.06 [[-9.30414827e-01 -3.66481250e-01 4.44337193e-03 -5.36710572e+01] [-3.66476640e-01 9.30425433e-01 1.84005496e-03 -2.46094043e+02] [-4.80857189e-03 8.36224031e-05 -9.99988435e-01 -8.06032388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.770385723 meters 0.017844979756912155 Centerline is valid? [True, True] Translation: X:-53.75, Y:-246.10, Z:-8.06 [[-9.00588080e-01 -4.34640461e-01 5.36470981e-03 -5.37524739e+01] [-4.34632053e-01 9.00604052e-01 2.70551350e-03 -2.46096631e+02] [-6.00740503e-03 1.04878366e-04 -9.99981950e-01 -8.05774079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.800385723 meters 0.017805097765391176 Centerline is valid? [True, True] Translation: X:-53.84, Y:-246.11, Z:-8.06 [[-8.65205532e-01 -5.01385688e-01 5.63741706e-03 -5.38361935e+01] [-5.01374201e-01 8.65223890e-01 3.39565182e-03 -2.46108367e+02] [-6.58015914e-03 1.11481262e-04 -9.99978344e-01 -8.05730082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.830385723 meters 0.0177482596130509 Centerline is valid? [True, True] Translation: X:-53.93, Y:-246.13, Z:-8.06 [[-8.24717666e-01 -5.65514056e-01 5.88419563e-03 -5.39289760e+01] [-5.65498629e-01 8.24738648e-01 4.17886370e-03 -2.46133973e+02] [-7.21612971e-03 1.18878153e-04 -9.99973956e-01 -8.05758410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.860385723 meters 0.017849857841031908 Centerline is valid? [True, True] Translation: X:-54.02, Y:-246.17, Z:-8.06 [[-7.79683052e-01 -6.26141480e-01 6.41761109e-03 -5.40208784e+01] [-6.26118780e-01 7.79709451e-01 5.33355288e-03 -2.46168456e+02] [-8.34343071e-03 1.40293964e-04 -9.99965183e-01 -8.05793755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.890385723 meters 0.01791120716283659 Centerline is valid? [True, True] Translation: X:-54.12, Y:-246.21, Z:-8.06 [[-7.30300483e-01 -6.83098939e-01 6.08640315e-03 -5.41165324e+01] [-6.83073510e-01 7.30325829e-01 5.89598717e-03 -2.46214556e+02] [-8.47260001e-03 1.48381508e-04 -9.99964096e-01 -8.05778490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.920385723 meters 0.018066797156898875 Centerline is valid? [True, True] Translation: X:-54.21, Y:-246.27, Z:-8.06 [[-6.76642358e-01 -7.36293149e-01 5.24582952e-03 -5.42114816e+01] [-7.36269359e-01 6.76662677e-01 5.92058645e-03 -2.46270923e+02] [-7.90894428e-03 1.43776041e-04 -9.99968714e-01 -8.05775240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.950385723 meters 0.018081285183419872 Centerline is valid? [True, True] Translation: X:-54.30, Y:-246.34, Z:-8.06 [[-6.19262481e-01 -7.85175425e-01 3.67865593e-03 -5.43042718e+01] [-7.85160427e-01 6.19273396e-01 4.85443417e-03 -2.46335169e+02] [-6.08967617e-03 1.17833886e-04 -9.99981451e-01 -8.05922331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.980385723 meters 0.018659986527370158 Centerline is valid? [True, True] Translation: X:-54.39, Y:-246.41, Z:-8.06 [[-5.57199103e-01 -8.30373626e-01 2.96654542e-03 -5.43925885e+01] [-8.30360830e-01 5.57206990e-01 4.61115766e-03 -2.46412092e+02] [-5.48196355e-03 1.06029797e-04 -9.99984968e-01 -8.05993187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.010385723 meters 0.01808871616452739 Centerline is valid? [True, True] Translation: X:-54.48, Y:-246.50, Z:-8.06 [[-4.91957452e-01 -8.70616432e-01 2.21211744e-03 -5.44801830e+01] [-8.70606784e-01 4.91962417e-01 4.09984645e-03 -2.46499779e+02] [-4.65767233e-03 9.10655644e-05 -9.99989149e-01 -8.06218173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.040385723 meters 0.018193607741007357 Centerline is valid? [True, True] Translation: X:-54.56, Y:-246.60, Z:-8.06 [[-4.23144675e-01 -9.06060002e-01 1.96380493e-03 -5.45600452e+01] [-9.06049206e-01 4.23149221e-01 4.42419093e-03 -2.46595876e+02] [-4.83956497e-03 9.27689379e-05 -9.99988285e-01 -8.06239997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.070385723 meters 0.018177676548997573 Centerline is valid? [True, True] Translation: X:-54.63, Y:-246.69, Z:-8.06 [[-3.51964675e-01 -9.36011725e-01 1.70847575e-03 -5.46307248e+01] [-9.35999313e-01 3.51968808e-01 4.82128542e-03 -2.46691051e+02] [-5.11410985e-03 9.77900302e-05 -9.99986918e-01 -8.06220206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.100385723 meters 0.017984322639614733 Centerline is valid? [True, True] Translation: X:-54.70, Y:-246.80, Z:-8.06 [[-2.77014332e-01 -9.60864556e-01 1.53780981e-03 -5.46984873e+01] [-9.60847633e-01 2.77018582e-01 5.70370270e-03 -2.46799356e+02] [-5.90648766e-03 1.02406480e-04 -9.99982551e-01 -8.06136784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.130385723 meters 0.017554906168084968 Centerline is valid? [True, True] Translation: X:-54.76, Y:-246.91, Z:-8.06 [[-2.00387613e-01 -9.79716085e-01 1.09391719e-03 -5.47570672e+01] [-9.79698865e-01 2.00390577e-01 5.80959551e-03 -2.46914210e+02] [-5.91096487e-03 9.24615507e-05 -9.99982526e-01 -8.06126924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.160385723 meters 0.017316390797723433 Centerline is valid? [True, True] Translation: X:-54.81, Y:-247.03, Z:-8.06 [[-1.21071622e-01 -9.92643533e-01 6.92263173e-04 -5.48075540e+01] [-9.92623311e-01 1.21073575e-01 6.33654914e-03 -2.47032787e+02] [-6.37374930e-03 8.00197193e-05 -9.99979684e-01 -8.06053666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.190385723 meters 0.017097124588441245 Centerline is valid? [True, True] Translation: X:-54.85, Y:-247.16, Z:-8.06 [[-4.30133688e-02 -9.99074474e-01 2.14278490e-04 -5.48463298e+01] [-9.99051340e-01 4.30138311e-02 6.79933510e-03 -2.47156718e+02] [-6.80225908e-03 7.83870958e-05 -9.99976861e-01 -8.06062854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2203857229999 meters 0.016772590297013466 Centerline is valid? [True, True] Translation: X:-54.88, Y:-247.28, Z:-8.06 [[ 3.52258557e-02 -9.99379320e-01 -3.36692603e-04 -5.48765715e+01] [-9.99352400e-01 -3.52273782e-02 7.33566782e-03 -2.47283170e+02] [-7.34297552e-03 7.80693845e-05 -9.99973037e-01 -8.06055011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.250385723 meters 0.016855341523504586 Centerline is valid? [True, True] Translation: X:-54.90, Y:-247.41, Z:-8.06 [[ 1.12172485e-01 -9.93688191e-01 -1.05477653e-03 -5.48968909e+01] [-9.93651672e-01 -1.12177406e-01 8.51963472e-03 -2.47409449e+02] [-8.58418251e-03 9.24118702e-05 -9.99963151e-01 -8.05916441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.280385723 meters 0.016869077707494663 Centerline is valid? [True, True] Translation: X:-54.91, Y:-247.54, Z:-8.06 [[ 1.87627362e-01 -9.82238861e-01 -1.67108958e-03 -5.49060298e+01] [-9.82204351e-01 -1.87634779e-01 8.23422501e-03 -2.47540160e+02] [-8.40153032e-03 9.63855410e-05 -9.99964702e-01 -8.05857241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.310385723 meters 0.016793403557020185 Centerline is valid? [True, True] Translation: X:-54.90, Y:-247.67, Z:-8.06 [[ 2.62293841e-01 -9.64985231e-01 -2.33357898e-03 -5.49047429e+01] [-9.64950459e-01 -2.62304201e-01 8.19255332e-03 -2.47667380e+02] [-8.51780052e-03 1.02931837e-04 -9.99963718e-01 -8.05876171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3403857229999 meters 0.01705726308981395 Centerline is valid? [True, True] Translation: X:-54.90, Y:-247.78, Z:-8.06 [[ 3.34595123e-01 -9.42356350e-01 -3.25784076e-03 -5.48952192e+01] [-9.42315250e-01 -3.34610960e-01 8.80195819e-03 -2.47781368e+02] [-9.38469042e-03 1.24820743e-04 -9.99955955e-01 -8.05997506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.370385723 meters 0.016845563820390246 Centerline is valid? [True, True] Translation: X:-54.88, Y:-247.90, Z:-8.06 [[ 4.05615950e-01 -9.14034825e-01 -4.00500248e-03 -5.48761735e+01] [-9.13993479e-01 -4.05635700e-01 8.69484792e-03 -2.47903139e+02] [-9.57196578e-03 1.33777154e-04 -9.99954179e-01 -8.06078046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.400385723 meters 0.0169646989932667 Centerline is valid? [True, True] Translation: X:-54.85, Y:-248.02, Z:-8.06 [[ 4.74797845e-01 -8.80083299e-01 -4.51591297e-03 -5.48489122e+01] [-8.80046055e-01 -4.74819303e-01 8.09758951e-03 -2.48023313e+02] [-9.27079594e-03 1.29493335e-04 -9.99957017e-01 -8.05990629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.430385723 meters 0.01691615919188934 Centerline is valid? [True, True] Translation: X:-54.81, Y:-248.14, Z:-8.06 [[ 5.41336291e-01 -8.40790018e-01 -5.21212363e-03 -5.48131763e+01] [-8.40753307e-01 -5.41361367e-01 7.85792899e-03 -2.48139512e+02] [-9.42851063e-03 1.28328046e-04 -9.99955542e-01 -8.05877730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.460385723 meters 0.016745231413295807 Centerline is valid? [True, True] Translation: X:-54.77, Y:-248.26, Z:-8.06 [[ 6.04809732e-01 -7.96347012e-01 -6.05176437e-03 -5.47660392e+01] [-7.96309232e-01 -6.04839995e-01 7.75801118e-03 -2.48255849e+02] [-9.83841816e-03 1.26955172e-04 -9.99951594e-01 -8.05809961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.490385723 meters 0.016717867103778497 Centerline is valid? [True, True] Translation: X:-54.71, Y:-248.36, Z:-8.06 [[ 6.65245187e-01 -7.46593302e-01 -6.87623292e-03 -5.47114092e+01] [-7.46555198e-01 -6.65280714e-01 7.54372821e-03 -2.48364228e+02] [-1.02067221e-02 1.15058544e-04 -9.99947904e-01 -8.05747416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.520385723 meters 0.016569968812676777 Centerline is valid? [True, True] Translation: X:-54.66, Y:-248.46, Z:-8.06 [[ 7.20673401e-01 -6.93236276e-01 -7.30167003e-03 -5.46615246e+01] [-6.93202220e-01 -7.20710381e-01 6.87228468e-03 -2.48455945e+02] [-1.00265064e-02 1.08861101e-04 -9.99949727e-01 -8.05838462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.550385723 meters 0.01652393226240836 Centerline is valid? [True, True] Translation: X:-54.67, Y:-248.46, Z:-8.06 [[ 7.72830093e-01 -6.34567037e-01 -7.63695168e-03 -5.46680089e+01] [-6.34537367e-01 -7.72867818e-01 6.13717405e-03 -2.48462726e+02] [-9.79680254e-03 1.02938425e-04 -9.99952005e-01 -8.05817600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.580385723 meters 0.016497744762180373 Centerline is valid? [True, True] Translation: X:-54.67, Y:-248.47, Z:-8.06 [[ 8.19969928e-01 -5.72346824e-01 -8.27224857e-03 -5.46739012e+01] [-5.72319010e-01 -8.20011647e-01 5.64352572e-03 -2.48470543e+02] [-1.00133942e-02 1.06843735e-04 -9.99949859e-01 -8.05778526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.610385723 meters 0.016558344108581948 Centerline is valid? [True, True] Translation: X:-54.68, Y:-248.48, Z:-8.06 [[ 8.62096090e-01 -5.06669210e-01 -8.75466261e-03 -5.46799612e+01] [-5.06644375e-01 -8.62140534e-01 5.01770961e-03 -2.48476594e+02] [-1.00900685e-02 1.09752732e-04 -9.99949088e-01 -8.05753477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.640385723 meters 0.016704457004976567 Centerline is valid? [True, True] Translation: X:-54.68, Y:-248.48, Z:-8.06 [[ 8.99023480e-01 -4.37798013e-01 -9.47010831e-03 -5.46838702e+01] [-4.37775064e-01 -8.99073349e-01 4.48406910e-03 -2.48479814e+02] [-1.04774385e-02 1.14493861e-04 -9.99945104e-01 -8.05766216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.670385723 meters 0.016704233926895184 Centerline is valid? [True, True] Translation: X:-54.69, Y:-248.48, Z:-8.06 [[ 9.30410413e-01 -3.66378768e-01 -1.01519663e-02 -5.46868229e+01] [-3.66358377e-01 -9.30465788e-01 3.86735034e-03 -2.48483739e+02] [-1.08629724e-02 1.21034873e-04 -9.99940989e-01 -8.05795719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.700385723 meters 0.016715286535946346 Centerline is valid? [True, True] Translation: X:-54.69, Y:-248.49, Z:-8.06 [[ 9.56193206e-01 -2.92560808e-01 -1.01354157e-02 -5.46902935e+01] [-2.92545681e-01 -9.56246914e-01 2.97733963e-03 -2.48489215e+02] [-1.05630129e-02 1.18160172e-04 -9.99944203e-01 -8.05800520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.730385723 meters 0.016588264900282593 Centerline is valid? [True, True] Translation: X:-54.69, Y:-248.50, Z:-8.06 [[ 9.76058393e-01 -2.17288903e-01 -9.77480906e-03 -5.46933576e+01] [-2.17279191e-01 -9.76107330e-01 2.05763103e-03 -2.48497911e+02] [-9.98836316e-03 1.15494572e-04 -9.99950108e-01 -8.05761473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.760385723 meters 0.016622901664123436 Centerline is valid? [True, True] Translation: X:-54.70, Y:-248.50, Z:-8.06 [[ 9.90069762e-01 -1.40227245e-01 -9.90890275e-03 -5.46998568e+01] [-1.40221391e-01 -9.90119339e-01 1.28651694e-03 -2.48503823e+02] [-9.99140097e-03 1.15698606e-04 -9.99950078e-01 -8.05693546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.790385723 meters 0.01683297722231654 Centerline is valid? [True, True] Translation: X:-54.71, Y:-248.51, Z:-8.06 [[ 9.98003889e-01 -6.23520625e-02 -1.00228499e-02 -5.47063009e+01] [-6.23500918e-02 -9.98054210e-01 5.09274472e-04 -2.48507313e+02] [-1.00351018e-02 1.16667704e-04 -9.99949640e-01 -8.05616961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.820385723 meters 0.016299375511765014 Centerline is valid? [True, True] Translation: X:-54.71, Y:-248.52, Z:-8.06 [[ 9.99825702e-01 1.57105798e-02 -1.00867951e-02 -5.47117018e+01] [ 1.57085729e-02 -9.99876574e-01 -2.78163641e-04 -2.48517407e+02] [-1.00899202e-02 1.19666001e-04 -9.99949088e-01 -8.05771161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.850385723 meters 0.016223281634695223 Centerline is valid? [True, True] Translation: X:-54.72, Y:-248.53, Z:-8.06 [[ 9.95599552e-01 9.31476744e-02 -1.02489991e-02 -5.47158104e+01] [ 9.31413902e-02 -9.95652296e-01 -1.08981243e-03 -2.48528421e+02] [-1.03059530e-02 1.30410743e-04 -9.99946884e-01 -8.05879792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.880385723 meters 0.016368021485362157 Centerline is valid? [True, True] Translation: X:-54.72, Y:-248.54, Z:-8.06 [[ 9.85226596e-01 1.70926016e-01 -1.06231642e-02 -5.47205358e+01] [ 1.70914594e-01 -9.85283857e-01 -1.98071626e-03 -2.48539181e+02] [-1.08053881e-02 1.35800550e-04 -9.99941611e-01 -8.05785450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.910385723 meters 0.016458915961806802 Centerline is valid? [True, True] Translation: X:-54.72, Y:-248.55, Z:-8.06 [[ 9.68832535e-01 2.47454342e-01 -1.13959434e-02 -5.47247148e+01] [ 2.47435412e-01 -9.68899544e-01 -3.06438729e-03 -2.48548658e+02] [-1.17998203e-02 1.49118166e-04 -9.99930369e-01 -8.05705890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.940385723 meters 0.016337292352346034 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.56, Z:-8.06 [[ 9.46629516e-01 3.22126992e-01 -1.12587718e-02 -5.47267336e+01] [ 3.22102244e-01 -9.46696454e-01 -3.99596773e-03 -2.48559450e+02] [-1.19458484e-02 1.56225332e-04 -9.99928634e-01 -8.05748005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9703857229999 meters 0.016145849456440087 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.57, Z:-8.06 [[ 9.18889336e-01 3.94362590e-01 -1.09789051e-02 -5.47264724e+01] [ 3.94332244e-01 -9.18954906e-01 -4.89513127e-03 -2.48573721e+02] [-1.20195753e-02 1.68747638e-04 -9.99927748e-01 -8.05846360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.000385723 meters 0.016909115449222408 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.59, Z:-8.06 [[ 8.86022791e-01 4.63531504e-01 -1.01073201e-02 -5.47276445e+01] [ 4.63499000e-01 -8.86080421e-01 -5.49227833e-03 -2.48585315e+02] [-1.15017425e-02 1.81551007e-04 -9.99933836e-01 -8.05762375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.030385723 meters 0.017212955173295918 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.59, Z:-8.06 [[ 8.47292566e-01 5.31039967e-01 -9.58436159e-03 -5.47301202e+01] [ 5.31003496e-01 -8.47346752e-01 -6.22647214e-03 -2.48594547e+02] [-1.14277832e-02 1.86314047e-04 -9.99934683e-01 -8.05725301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.060385723 meters 0.017212955173295918 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.60, Z:-8.06 [[ 8.03140234e-01 5.95721026e-01 -9.06771834e-03 -5.47315340e+01] [ 5.95680427e-01 -8.03191399e-01 -6.95741008e-03 -2.48603278e+02] [-1.14277889e-02 1.86313635e-04 -9.99934683e-01 -8.05725296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0903857229999 meters 0.016926684079729575 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.61, Z:-8.06 [[ 7.54642113e-01 6.56083575e-01 -8.34408430e-03 -5.47296776e+01] [ 6.56040618e-01 -7.54688217e-01 -7.51012942e-03 -2.48614813e+02] [-1.12244547e-02 1.93401716e-04 -9.99936985e-01 -8.05867856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.120385723 meters 0.016906663917993732 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.63, Z:-8.06 [[ 7.01056832e-01 7.13063449e-01 -7.73537486e-03 -5.47272432e+01] [ 7.13016947e-01 -7.01099479e-01 -8.14577997e-03 -2.48625765e+02] [-1.12317252e-02 1.95201325e-04 -9.99936903e-01 -8.05902415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.150385723 meters 0.01712723316730416 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.64, Z:-8.06 [[ 6.43234219e-01 7.65644244e-01 -6.21535222e-03 -5.47257106e+01] [ 7.65605871e-01 -6.43264224e-01 -7.66735115e-03 -2.48637198e+02] [-9.86857700e-03 1.73392481e-04 -9.99951289e-01 -8.05960524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.180385723 meters 0.01731677562686083 Centerline is valid? [True, True] Translation: X:-54.72, Y:-248.65, Z:-8.06 [[ 5.81102249e-01 8.13812732e-01 -5.38633640e-03 -5.47245501e+01] [ 8.13775120e-01 -5.81127189e-01 -7.82585106e-03 -2.48646790e+02] [-9.49892376e-03 1.64353095e-04 -9.99954871e-01 -8.05981293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.210385723 meters 0.016604667666181076 Centerline is valid? [True, True] Translation: X:-54.72, Y:-248.66, Z:-8.06 [[ 5.14945659e-01 8.57214233e-01 -3.83766611e-03 -5.47171575e+01] [ 8.57188569e-01 -5.14959944e-01 -6.63425115e-03 -2.48659016e+02] [-7.66321883e-03 1.26675315e-04 -9.99970629e-01 -8.06148748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.240385723 meters 0.01642975967707539 Centerline is valid? [True, True] Translation: X:-54.71, Y:-248.67, Z:-8.06 [[ 4.45427785e-01 8.95312432e-01 -3.12058088e-03 -5.47121148e+01] [ 8.95288653e-01 -4.45438701e-01 -6.52625552e-03 -2.48669394e+02] [-7.23306519e-03 1.13154886e-04 -9.99973835e-01 -8.06148396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.270385723 meters 0.01639154030028198 Centerline is valid? [True, True] Translation: X:-54.71, Y:-248.68, Z:-8.06 [[ 3.73029323e-01 9.27815531e-01 -2.73229493e-03 -5.47071891e+01] [ 9.27788411e-01 -3.73039313e-01 -7.09473488e-03 -2.48679899e+02] [-7.60185863e-03 1.11552574e-04 -9.99971099e-01 -8.06146863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.300385723 meters 0.016192542196508727 Centerline is valid? [True, True] Translation: X:-54.70, Y:-248.69, Z:-8.06 [[ 2.97976240e-01 9.54570443e-01 -2.33040618e-03 -5.47003245e+01] [ 9.54538318e-01 -2.97985332e-01 -7.83210601e-03 -2.48688418e+02] [-8.17072376e-03 1.09319497e-04 -9.99966613e-01 -8.06123588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.330385723 meters 0.015594103162447978 Centerline is valid? [True, True] Translation: X:-54.69, Y:-248.70, Z:-8.06 [[ 2.18917995e-01 9.75741146e-01 -2.03182379e-03 -5.46916710e+01] [ 9.75694929e-01 -2.18927403e-01 -9.49728171e-03 -2.48697399e+02] [-9.71171044e-03 9.66857056e-05 -9.99952836e-01 -8.06004758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.360385723 meters 0.015451913679439024 Centerline is valid? [True, True] Translation: X:-54.68, Y:-248.71, Z:-8.06 [[ 1.40170064e-01 9.90126490e-01 -1.37385622e-03 -5.46845220e+01] [ 9.90072715e-01 -1.40176770e-01 -1.03195489e-02 -2.48705985e+02] [-1.04102414e-02 8.62742720e-05 -9.99945808e-01 -8.05874143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.390385723 meters 0.015129937607316561 Centerline is valid? [True, True] Translation: X:-54.68, Y:-248.71, Z:-8.06 [[ 5.89238384e-02 9.98262299e-01 -6.02989841e-04 -5.46758178e+01] [ 9.98199754e-01 -5.89268965e-02 -1.11746308e-02 -2.48713386e+02] [-1.11907449e-02 5.65478264e-05 -9.99937380e-01 -8.05748400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.420385723 meters 0.015073280495020608 Centerline is valid? [True, True] Translation: X:-54.67, Y:-248.72, Z:-8.06 [[-2.03580603e-02 9.99792716e-01 2.71867531e-04 -5.46690617e+01] [ 9.99731065e-01 2.03598241e-02 -1.11029810e-02 -2.48719604e+02] [-1.11062147e-02 4.57592593e-05 -9.99938323e-01 -8.05689949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.450385723 meters 0.01490985236964982 Centerline is valid? [True, True] Translation: X:-54.66, Y:-248.73, Z:-8.06 [[-9.87750101e-02 9.95109153e-01 1.12776537e-03 -5.46585498e+01] [ 9.95049178e-01 9.87814387e-02 -1.09252559e-02 -2.48725100e+02] [-1.09832244e-02 4.30397409e-05 -9.99939682e-01 -8.05690383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.480385723 meters 0.014852875994338427 Centerline is valid? [True, True] Translation: X:-54.65, Y:-248.73, Z:-8.06 [[-1.75833209e-01 9.84417870e-01 2.03456422e-03 -5.46515070e+01] [ 9.84355277e-01 1.75844972e-01 -1.11011241e-02 -2.48730305e+02] [-1.12859128e-02 5.07877559e-05 -9.99936311e-01 -8.05707875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.510385723 meters 0.014932944008689648 Centerline is valid? [True, True] Translation: X:-54.64, Y:-248.73, Z:-8.06 [[-2.51823728e-01 9.67769006e-01 2.82172361e-03 -5.46436070e+01] [ 9.67710723e-01 2.51839530e-01 -1.06211359e-02 -2.48734813e+02] [-1.09894277e-02 5.59581484e-05 -9.99939613e-01 -8.05789355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.540385723 meters 0.014959036625709436 Centerline is valid? [True, True] Translation: X:-54.64, Y:-248.74, Z:-8.06 [[-3.25693725e-01 9.45469097e-01 3.43284461e-03 -5.46354968e+01] [ 9.45418675e-01 3.25711810e-01 -9.76455972e-03 -2.48739488e+02] [-1.03502075e-02 6.52195672e-05 -9.99946433e-01 -8.05925720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.570385723 meters 0.015155105769551034 Centerline is valid? [True, True] Translation: X:-54.63, Y:-248.74, Z:-8.06 [[-3.97235610e-01 9.17708848e-01 3.78681647e-03 -5.46262215e+01] [ 9.17668927e-01 3.97253653e-01 -8.56017980e-03 -2.48743551e+02] [-9.36007942e-03 7.46355580e-05 -9.99956191e-01 -8.05980214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.600385723 meters 0.015100266519692472 Centerline is valid? [True, True] Translation: X:-54.62, Y:-248.75, Z:-8.06 [[-4.67472529e-01 8.83999072e-01 3.88272408e-03 -5.46175051e+01] [ 8.83969804e-01 4.67488648e-01 -7.19374016e-03 -2.48746724e+02] [-8.17438906e-03 6.93349358e-05 -9.99966587e-01 -8.06033456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.630385723 meters 0.015209353411024322 Centerline is valid? [True, True] Translation: X:-54.61, Y:-248.75, Z:-8.06 [[-5.34885064e-01 8.44914103e-01 4.25751668e-03 -5.46097442e+01] [ 8.44888377e-01 5.34902003e-01 -6.59378350e-03 -2.48749179e+02] [-7.84853488e-03 7.02100524e-05 -9.99969197e-01 -8.06084257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.660385723 meters 0.014983833991976836 Centerline is valid? [True, True] Translation: X:-54.60, Y:-248.75, Z:-8.06 [[-5.98963283e-01 8.00765704e-01 4.15595318e-03 -5.45978566e+01] [ 8.00747181e-01 5.98977698e-01 -5.44698587e-03 -2.48748143e+02] [-6.85108274e-03 6.53232521e-05 -9.99976529e-01 -8.06165047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.690385723 meters 0.014897173708715987 Centerline is valid? [True, True] Translation: X:-54.58, Y:-248.74, Z:-8.06 [[-6.59599162e-01 7.51603913e-01 4.52813173e-03 -5.45844948e+01] [ 7.51586894e-01 6.59614701e-01 -5.05828834e-03 -2.48743868e+02] [-6.78865156e-03 6.68417157e-05 -9.99976955e-01 -8.06270404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7203857229999 meters 0.014933152714143959 Centerline is valid? [True, True] Translation: X:-54.57, Y:-248.74, Z:-8.06 [[-7.16446111e-01 6.97623095e-01 5.19491758e-03 -5.45719107e+01] [ 6.97605468e-01 7.16464942e-01 -4.95971316e-03 -2.48740746e+02] [-7.18198676e-03 7.06357013e-05 -9.99974207e-01 -8.06251232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.750385723 meters 0.014762066112819505 Centerline is valid? [True, True] Translation: X:-54.55, Y:-248.72, Z:-8.06 [[-7.64159798e-01 6.44998143e-01 6.09911219e-03 -5.45480083e+01] [ 6.44978385e-01 7.64184134e-01 -5.04897187e-03 -2.48720052e+02] [-7.91742225e-03 7.55742080e-05 -9.99968654e-01 -8.06255947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.780385723 meters 0.014753851084094756 Centerline is valid? [True, True] Translation: X:-54.53, Y:-248.70, Z:-8.06 [[-8.07993586e-01 5.89150918e-01 6.89648480e-03 -5.45272773e+01] [ 5.89130296e-01 8.08023013e-01 -4.92999960e-03 -2.48697270e+02] [-8.47703222e-03 7.95200744e-05 -9.99964066e-01 -8.06181802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.810385723 meters 0.0148971747548705 Centerline is valid? [True, True] Translation: X:-54.51, Y:-248.67, Z:-8.06 [[-8.47729762e-01 5.30370485e-01 7.83578929e-03 -5.45072080e+01] [ 5.30348744e-01 8.47765971e-01 -4.80291283e-03 -2.48674081e+02] [-9.19023872e-03 8.41288609e-05 -9.99957765e-01 -8.05993523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8403857229999 meters 0.014823352619404522 Centerline is valid? [True, True] Translation: X:-54.11, Y:-248.01, Z:-9.01 [[-8.20848250e-01 -5.71087562e-01 8.19429661e-03 -5.41098725e+01] [ 5.71058589e-01 -8.20889149e-01 -5.75271327e-03 -2.48006437e+02] [ 1.00119122e-02 -4.26811664e-05 9.99949879e-01 -9.01112545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.870385723 meters 0.014897812734714078 Centerline is valid? [True, True] Translation: X:-54.11, Y:-248.04, Z:-9.01 [[-7.80837416e-01 -6.24685036e-01 7.84454255e-03 -5.41134061e+01] [ 6.24652226e-01 -7.80876813e-01 -6.40310156e-03 -2.48044102e+02] [ 1.01255431e-02 -9.96703029e-05 9.99948730e-01 -9.01140237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.900385723 meters 0.015009742918803168 Centerline is valid? [True, True] Translation: X:-54.59, Y:-248.65, Z:-8.06 [[-8.10544147e-01 5.85619591e-01 8.23896601e-03 -5.45911031e+01] [ 5.85590831e-01 8.10586010e-01 -5.80507948e-03 -2.48650846e+02] [-1.00779589e-02 1.19389757e-04 -9.99949209e-01 -8.05910601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.930385723 meters 0.015270281827763615 Centerline is valid? [True, True] Translation: X:-54.57, Y:-248.63, Z:-8.06 [[-8.49264598e-01 5.27900528e-01 8.40684125e-03 -5.45737546e+01] [ 5.27876168e-01 8.49306197e-01 -5.07305555e-03 -2.48627692e+02] [-9.81805107e-03 1.29404657e-04 -9.99951793e-01 -8.05938790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.960385723 meters 0.015382877280183975 Centerline is valid? [True, True] Translation: X:-54.55, Y:-248.60, Z:-8.06 [[-8.83530669e-01 4.68310752e-01 7.65481997e-03 -5.45539179e+01] [ 4.68294459e-01 8.83563819e-01 -3.90857112e-03 -2.48604595e+02] [-8.59394785e-03 1.31367316e-04 -9.99963063e-01 -8.06144174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.990385723 meters 0.015485101965721776 Centerline is valid? [True, True] Translation: X:-54.54, Y:-248.58, Z:-8.06 [[-9.14139396e-01 4.05338006e-01 7.08979243e-03 -5.45401883e+01] [ 4.05326867e-01 9.14166880e-01 -3.00757808e-03 -2.48577797e+02] [-7.70033913e-03 1.24337745e-04 -9.99970344e-01 -8.06240982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.020385723 meters 0.016319112731324963 Centerline is valid? [True, True] Translation: X:-54.53, Y:-248.55, Z:-8.06 [[-9.40386903e-01 3.40043327e-01 6.55808929e-03 -5.45282547e+01] [ 3.40035914e-01 9.40409763e-01 -2.24817683e-03 -2.48551332e+02] [-6.93176873e-03 1.15829839e-04 -9.99975968e-01 -8.06205237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.050385723 meters 0.015708346639163602 Centerline is valid? [True, True] Translation: X:-54.52, Y:-248.52, Z:-8.06 [[-9.61984557e-01 2.73044101e-01 5.71240829e-03 -5.45160605e+01] [ 2.73039915e-01 9.62001512e-01 -1.51531541e-03 -2.48519012e+02] [-5.90909334e-03 1.02005451e-04 -9.99982536e-01 -8.06290189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.080385723 meters 0.015542833363312834 Centerline is valid? [True, True] Translation: X:-54.32, Y:-247.79, Z:-9.01 [[-9.52475763e-01 -3.04572392e-01 5.05752785e-03 -5.43174573e+01] [ 3.04567384e-01 -9.52489182e-01 -1.75127652e-03 -2.47791237e+02] [ 5.35063104e-03 -1.27690415e-04 9.99985677e-01 -9.00660285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.110385723 meters 0.015533096205304913 Centerline is valid? [True, True] Translation: X:-54.56, Y:-248.50, Z:-8.06 [[-9.63140465e-01 2.68946249e-01 5.32539655e-03 -5.45626055e+01] [ 2.68942670e-01 9.63155183e-01 -1.39052261e-03 -2.48504115e+02] [-5.50315912e-03 9.29577786e-05 -9.99984853e-01 -8.06348663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.140385723 meters 0.015454314577674672 Centerline is valid? [True, True] Translation: X:-54.56, Y:-248.47, Z:-8.06 [[-9.80060786e-01 1.98596373e-01 6.35112007e-03 -5.45572490e+01] [ 1.98592863e-01 9.80081359e-01 -1.18492114e-03 -2.48471801e+02] [-6.45993543e-03 9.99923679e-05 -9.99979129e-01 -8.06326112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.170385723 meters 0.015650401417384344 Centerline is valid? [True, True] Translation: X:-54.56, Y:-248.44, Z:-8.06 [[-9.91814605e-01 1.27504076e-01 6.81914654e-03 -5.45638458e+01] [ 1.27501748e-01 9.91838042e-01 -7.76804304e-04 -2.48439376e+02] [-6.86253467e-03 9.90072483e-05 -9.99976448e-01 -8.06239200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.200385723 meters 0.015075212225944054 Centerline is valid? [True, True] Translation: X:-54.56, Y:-248.40, Z:-8.06 [[-9.98473814e-01 5.46006529e-02 8.29528596e-03 -5.45583660e+01] [ 5.45996176e-02 9.98508267e-01 -3.51392733e-04 -2.48402713e+02] [-8.30209788e-03 1.02062999e-04 -9.99965532e-01 -8.06098343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.230385723 meters 0.014859676183247338 Centerline is valid? [True, True] Translation: X:-54.53, Y:-247.68, Z:-9.01 [[-9.95135137e-01 -9.81144429e-02 8.92270648e-03 -5.45322419e+01] [ 9.81099048e-02 -9.95175136e-01 -9.45956173e-04 -2.47683029e+02] [ 8.97246760e-03 -6.59483420e-05 9.99959745e-01 -9.00913226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.260385723 meters 0.0150276483005394 Centerline is valid? [True, True] Translation: X:-54.64, Y:-248.39, Z:-8.06 [[-9.98806975e-01 4.78510611e-02 9.74179351e-03 -5.46366543e+01] [ 4.78498017e-02 9.98854476e-01 -3.62449479e-04 -2.48392136e+02] [-9.74797765e-03 1.04125820e-04 -9.99952482e-01 -8.06076355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.290385723 meters 0.014887336804011787 Centerline is valid? [True, True] Translation: X:-54.64, Y:-248.36, Z:-8.06 [[-9.99686200e-01 -2.29202882e-02 1.01075663e-02 -5.46413665e+01] [-2.29180129e-02 9.99737290e-01 3.40899925e-04 -2.48360657e+02] [-1.01127245e-02 1.09147615e-04 -9.99948859e-01 -8.06121126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.320385723 meters 0.014910314213318197 Centerline is valid? [True, True] Translation: X:-54.66, Y:-247.66, Z:-9.01 [[-9.99701802e-01 -2.23866352e-02 9.75427628e-03 -5.46602146e+01] [ 2.23843139e-02 -9.99749380e-01 -3.47098811e-04 -2.47659388e+02] [ 9.75960204e-03 -1.28652524e-04 9.99952366e-01 -9.00864966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.350385723 meters 0.015078908428443595 Centerline is valid? [True, True] Translation: X:-54.73, Y:-248.36, Z:-8.06 [[-9.99592985e-01 -2.70262407e-02 9.13496591e-03 -5.47305769e+01] [-2.70240730e-02 9.99634718e-01 3.60675875e-04 -2.48356689e+02] [-9.14137678e-03 1.13665090e-04 -9.99958210e-01 -8.06197397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.380385723 meters 0.015267712459583579 Centerline is valid? [True, True] Translation: X:-54.74, Y:-248.33, Z:-8.06 [[-9.95197281e-01 -9.75042863e-02 8.67674495e-03 -5.47401761e+01] [-9.74995749e-02 9.95235098e-01 9.65353063e-04 -2.48326348e+02] [-8.72952718e-03 1.14737800e-04 -9.99961890e-01 -8.06194896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.410385723 meters 0.015553434915263956 Centerline is valid? [True, True] Translation: X:-54.76, Y:-248.30, Z:-8.06 [[-9.85877664e-01 -1.67279053e-01 7.93408068e-03 -5.47585614e+01] [-1.67272694e-01 9.85909583e-01 1.46315517e-03 -2.48295026e+02] [-8.06704138e-03 1.15336955e-04 -9.99967454e-01 -8.06199216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.440385723 meters 0.015608311715928726 Centerline is valid? [True, True] Translation: X:-54.79, Y:-248.27, Z:-8.06 [[-9.71380385e-01 -2.37383103e-01 8.33131173e-03 -5.47864991e+01] [-2.37373251e-01 9.71416104e-01 2.16642183e-03 -2.48269286e+02] [-8.60744232e-03 1.26789118e-04 -9.99962947e-01 -8.06189815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4703857229999 meters 0.014969987825585371 Centerline is valid? [True, True] Translation: X:-54.84, Y:-248.25, Z:-8.06 [[-9.51480619e-01 -3.07596783e-01 8.29770001e-03 -5.48370416e+01] [-3.07583911e-01 9.51516791e-01 2.81684702e-03 -2.48250064e+02] [-8.76185397e-03 1.27936324e-04 -9.99961606e-01 -8.06299301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.500385723 meters 0.015152654916995582 Centerline is valid? [True, True] Translation: X:-54.91, Y:-248.24, Z:-8.06 [[-9.26265343e-01 -3.76780938e-01 8.28491940e-03 -5.49077802e+01] [-3.76764619e-01 9.26302385e-01 3.50902090e-03 -2.48241007e+02] [-8.99647279e-03 1.28819939e-04 -9.99959523e-01 -8.06195467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.530385723 meters 0.015087747490307446 Centerline is valid? [True, True] Translation: X:-54.98, Y:-248.24, Z:-8.06 [[-8.95695789e-01 -4.44588473e-01 8.37519202e-03 -5.49792863e+01] [-4.44567667e-01 8.95734935e-01 4.30312319e-03 -2.48239594e+02] [-9.41507104e-03 1.30949745e-04 -9.99955669e-01 -8.06209078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.560385723 meters 0.014915010865663327 Centerline is valid? [True, True] Translation: X:-55.06, Y:-248.25, Z:-8.06 [[-8.59651733e-01 -5.10820233e-01 7.84774572e-03 -5.50600439e+01] [-5.10797694e-01 8.59687545e-01 4.80007840e-03 -2.48245791e+02] [-9.19858642e-03 1.17785303e-04 -9.99957685e-01 -8.06187845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5903857229999 meters 0.014898268091429185 Centerline is valid? [True, True] Translation: X:-55.15, Y:-248.27, Z:-8.06 [[-8.18885802e-01 -5.73905608e-01 7.64167984e-03 -5.51473805e+01] [-5.73879299e-01 8.18921449e-01 5.49643971e-03 -2.48266075e+02] [-9.41237310e-03 1.15554574e-04 -9.99955696e-01 -8.06166183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.620385723 meters 0.014837648045622518 Centerline is valid? [True, True] Translation: X:-55.23, Y:-248.29, Z:-8.06 [[-7.73441741e-01 -6.33822699e-01 7.52724686e-03 -5.52348237e+01] [-6.33791172e-01 7.73478359e-01 6.32285024e-03 -2.48292923e+02] [-9.82972855e-03 1.19653687e-04 -9.99951680e-01 -8.06171505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.650385723 meters 0.014899469162130176 Centerline is valid? [True, True] Translation: X:-55.32, Y:-248.33, Z:-8.06 [[-7.23550375e-01 -6.90240743e-01 6.52479349e-03 -5.53243422e+01] [-6.90211299e-01 7.23579785e-01 6.37636256e-03 -2.48332800e+02] [-9.12243390e-03 1.10133326e-04 -9.99958384e-01 -8.06203182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.680385723 meters 0.01483584432209945 Centerline is valid? [True, True] Translation: X:-55.41, Y:-248.38, Z:-8.06 [[-6.69237551e-01 -7.43024338e-01 5.99443838e-03 -5.54146512e+01] [-7.42993091e-01 6.69264388e-01 6.81513467e-03 -2.48383446e+02] [-9.07567506e-03 1.07117736e-04 -9.99958810e-01 -8.06248340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.710385723 meters 0.014524635714423561 Centerline is valid? [True, True] Translation: X:-55.50, Y:-248.44, Z:-8.06 [[-6.10810716e-01 -7.91759127e-01 5.26822387e-03 -5.55038385e+01] [-7.91728269e-01 6.10833426e-01 6.99099957e-03 -2.48442635e+02] [-8.75319495e-03 9.91756852e-05 -9.99961685e-01 -8.06340459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.740385723 meters 0.014326651697537343 Centerline is valid? [True, True] Translation: X:-55.59, Y:-248.51, Z:-8.06 [[-5.47397017e-01 -8.36862314e-01 4.23958631e-03 -5.55919119e+01] [-8.36836170e-01 5.47413429e-01 6.61530027e-03 -2.48510927e+02] [-7.85690197e-03 7.33564611e-05 -9.99969131e-01 -8.06328029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.770385723 meters 0.014238134731955397 Centerline is valid? [True, True] Translation: X:-55.67, Y:-248.59, Z:-8.06 [[-4.80741626e-01 -8.76855472e-01 3.45995579e-03 -5.56747847e+01] [-8.76831935e-01 4.80754073e-01 6.42486499e-03 -2.48588731e+02] [-7.29706586e-03 5.49003161e-05 -9.99973375e-01 -8.06313672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.800385723 meters 0.014000340496433034 Centerline is valid? [True, True] Translation: X:-55.75, Y:-248.67, Z:-8.06 [[-4.08983828e-01 -9.12536574e-01 3.03808502e-03 -5.57542988e+01] [-9.12510926e-01 4.08995111e-01 6.84166017e-03 -2.48674392e+02] [-7.48582705e-03 2.58425967e-05 -9.99971981e-01 -8.06248491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.830385723 meters 0.013898055944661591 Centerline is valid? [True, True] Translation: X:-55.83, Y:-248.77, Z:-8.06 [[-3.36170314e-01 -9.41798030e-01 2.44770697e-03 -5.58253362e+01] [-9.41772882e-01 3.36179224e-01 6.88245369e-03 -2.48768065e+02] [-7.30474955e-03 8.49256289e-06 -9.99973320e-01 -8.06263122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.860385723 meters 0.013830414357989335 Centerline is valid? [True, True] Translation: X:-55.89, Y:-248.87, Z:-8.06 [[-2.61725710e-01 -9.65140261e-01 1.98248141e-03 -5.58892273e+01] [-9.65112712e-01 2.61733218e-01 7.29212534e-03 -2.48867728e+02] [-7.55680499e-03 -4.78132344e-06 -9.99971447e-01 -8.06269994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.890385723 meters 0.013881188588439435 Centerline is valid? [True, True] Translation: X:-55.95, Y:-248.97, Z:-8.06 [[-1.84119335e-01 -9.82902986e-01 1.33833220e-03 -5.59462814e+01] [-9.82878112e-01 1.84124197e-01 6.99268619e-03 -2.48973762e+02] [-7.11955148e-03 -2.79286891e-05 -9.99974655e-01 -8.06318992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.920385723 meters 0.013870957391166432 Centerline is valid? [True, True] Translation: X:-55.99, Y:-249.08, Z:-8.06 [[-1.07377720e-01 -9.94217957e-01 8.24505146e-04 -5.59935235e+01] [-9.94191283e-01 1.07380879e-01 7.28281092e-03 -2.49083786e+02] [-7.32923748e-03 -3.77041977e-05 -9.99973140e-01 -8.06327255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.950385723 meters 0.014147554087242968 Centerline is valid? [True, True] Translation: X:-56.03, Y:-249.20, Z:-8.06 [[-2.90151588e-02 -9.99578940e-01 2.52423373e-04 -5.60334285e+01] [-9.99554760e-01 2.90162127e-02 6.95280739e-03 -2.49199028e+02] [-6.95720421e-03 -5.05741730e-05 -9.99975797e-01 -8.06250707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.980385723 meters 0.014230734654703718 Centerline is valid? [True, True] Translation: X:-56.06, Y:-249.32, Z:-8.06 [[ 4.83258380e-02 -9.98831583e-01 -2.85767263e-04 -5.60628476e+01] [-9.98806200e-01 -4.83266472e-02 7.12113115e-03 -2.49321230e+02] [-7.12662087e-03 -5.87085160e-05 -9.99974604e-01 -8.06203642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.010385723 meters 0.014230734654703718 Centerline is valid? [True, True] Translation: X:-56.08, Y:-249.44, Z:-8.06 [[ 1.24473631e-01 -9.92222570e-01 -8.28845419e-04 -5.60825990e+01] [-9.92197322e-01 -1.24476377e-01 7.07850019e-03 -2.49439115e+02] [-7.12661932e-03 -5.87084149e-05 -9.99974604e-01 -8.06203649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.040385723 meters 0.01429401867352414 Centerline is valid? [True, True] Translation: X:-56.09, Y:-249.55, Z:-8.06 [[ 2.01090812e-01 -9.79571533e-01 -1.44805538e-03 -5.60931775e+01] [-9.79543530e-01 -2.01096013e-01 7.40714466e-03 -2.49553802e+02] [-7.54702621e-03 -7.10754523e-05 -9.99971518e-01 -8.06232093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.070385723 meters 0.014607899353767695 Centerline is valid? [True, True] Translation: X:-56.09, Y:-249.68, Z:-8.06 [[ 2.77098615e-01 -9.60838718e-01 -2.30572042e-03 -5.60933953e+01] [-9.60802461e-01 -2.77108190e-01 8.34759616e-03 -2.49677991e+02] [-8.65962761e-03 -9.77654807e-05 -9.99962500e-01 -8.06154398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.100385723 meters 0.01473226413049532 Centerline is valid? [True, True] Translation: X:-56.09, Y:-249.79, Z:-8.06 [[ 3.50039756e-01 -9.36730661e-01 -2.79944681e-03 -5.60870334e+01] [-9.36698467e-01 -3.50050937e-01 7.76680708e-03 -2.49793524e+02] [-8.25535532e-03 -9.64537238e-05 -9.99965919e-01 -8.06123584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.130385723 meters 0.014645674193343535 Centerline is valid? [True, True] Translation: X:-56.07, Y:-249.91, Z:-8.06 [[ 4.20416380e-01 -9.07326959e-01 -2.80297066e-03 -5.60683563e+01] [-9.07305519e-01 -4.20425716e-01 6.23800332e-03 -2.49910923e+02] [-6.83834953e-03 -7.94080282e-05 -9.99976615e-01 -8.06176104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.160385723 meters 0.014584345003970656 Centerline is valid? [True, True] Translation: X:-56.04, Y:-250.03, Z:-8.06 [[ 4.87585340e-01 -8.73070269e-01 -2.97349550e-03 -5.60414614e+01] [-8.73053189e-01 -4.87594402e-01 5.46155139e-03 -2.50025690e+02] [-6.21817790e-03 -6.69526656e-05 -9.99980665e-01 -8.06215856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.190385723 meters 0.014448599472310636 Centerline is valid? [True, True] Translation: X:-56.01, Y:-250.13, Z:-8.06 [[ 5.52121666e-01 -8.33756988e-01 -3.30941189e-03 -5.60095024e+01] [-8.33741340e-01 -5.52131580e-01 5.10850363e-03 -2.50131448e+02] [-6.08648142e-03 -6.13220303e-05 -9.99981475e-01 -8.06249077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2203857229999 meters 0.014069236968379006 Centerline is valid? [True, True] Translation: X:-55.97, Y:-250.24, Z:-8.06 [[ 6.11930928e-01 -7.90903258e-01 -3.54618523e-03 -5.59650166e+01] [-7.90889554e-01 -6.11941202e-01 4.65612505e-03 -2.50236395e+02] [-5.85260132e-03 -4.45860670e-05 -9.99982872e-01 -8.06266641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.250385723 meters 0.014203642195957515 Centerline is valid? [True, True] Translation: X:-55.92, Y:-250.33, Z:-8.06 [[ 6.69261403e-01 -7.43016413e-01 -3.97293896e-03 -5.59198203e+01] [-7.43002984e-01 -6.69273194e-01 4.46744005e-03 -2.50333987e+02] [-5.97836283e-03 -3.79796912e-05 -9.99982129e-01 -8.06178323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.280385723 meters 0.013956096686138007 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.43, Z:-8.06 [[ 7.22697034e-01 -6.91153546e-01 -3.97165335e-03 -5.58634760e+01] [-6.91142899e-01 -7.22707946e-01 3.83634564e-03 -2.50430674e+02] [-5.52184933e-03 -2.75355983e-05 -9.99984754e-01 -8.06244533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.310385723 meters 0.013972917803297737 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.44, Z:-8.06 [[ 7.73141501e-01 -6.34217763e-01 -4.47752868e-03 -5.58636010e+01] [-6.34207003e-01 -7.73154466e-01 3.69439669e-03 -2.50438549e+02] [-5.80487330e-03 -1.66113486e-05 -9.99983152e-01 -8.06296659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3403857229999 meters 0.013974808351619114 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.45, Z:-8.06 [[ 8.19911814e-01 -5.72469422e-01 -4.83510405e-03 -5.58648224e+01] [-5.72459382e-01 -8.19926070e-01 3.39055392e-03 -2.50450452e+02] [-5.90541630e-03 -1.20545411e-05 -9.99982563e-01 -8.06303620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.370385723 meters 0.013953282859335444 Centerline is valid? [True, True] Translation: X:-55.87, Y:-250.46, Z:-8.06 [[ 8.61876798e-01 -5.07090945e-01 -5.21138203e-03 -5.58652836e+01] [-5.07081612e-01 -8.61892553e-01 3.07672213e-03 -2.50460531e+02] [-6.05182929e-03 -9.15941884e-06 -9.99981688e-01 -8.06209324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.400385723 meters 0.014002497140341416 Centerline is valid? [True, True] Translation: X:-55.87, Y:-250.47, Z:-8.06 [[ 8.98899869e-01 -4.38124355e-01 -5.10633485e-03 -5.58656797e+01] [-4.38117230e-01 -8.98914373e-01 2.49866060e-03 -2.50473648e+02] [-5.68488185e-03 -8.87240242e-06 -9.99983841e-01 -8.06219552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.430385723 meters 0.013989457373685498 Centerline is valid? [True, True] Translation: X:-55.87, Y:-250.49, Z:-8.06 [[ 9.30719793e-01 -3.65697710e-01 -5.08451324e-03 -5.58656971e+01] [-3.65692175e-01 -9.30733681e-01 2.01207878e-03 -2.50485524e+02] [-5.46814032e-03 -1.33148344e-05 -9.99985050e-01 -8.06225751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.460385723 meters 0.014077812172664982 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.50, Z:-8.06 [[ 9.56772155e-01 -2.90789639e-01 -5.33183050e-03 -5.58644953e+01] [-2.90785010e-01 -9.56787012e-01 1.64095226e-03 -2.50496787e+02] [-5.57859809e-03 -1.96010434e-05 -9.99984439e-01 -8.06186359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.490385723 meters 0.014248080967415656 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.51, Z:-8.06 [[ 9.77081880e-01 -2.12769781e-01 -6.32616529e-03 -5.58620785e+01] [-2.12765068e-01 -9.77102359e-01 1.41663652e-03 -2.50505203e+02] [-6.48272847e-03 -3.81828843e-05 -9.99978986e-01 -8.06179260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.520385723 meters 0.014315686183948113 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.52, Z:-8.06 [[ 9.91024606e-01 -1.33483447e-01 -7.23876603e-03 -5.58590724e+01] [-1.33479449e-01 -9.91051041e-01 1.03480060e-03 -2.50515300e+02] [-7.31211536e-03 -5.92863525e-05 -9.99973264e-01 -8.06182137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.550385723 meters 0.014445664142187358 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.53, Z:-8.06 [[ 9.98485206e-01 -5.44464206e-02 -7.92979257e-03 -5.58606225e+01] [-5.44441244e-02 -9.98516691e-01 5.05310621e-04 -2.50526786e+02] [-7.94554259e-03 -7.28145658e-05 -9.99968431e-01 -8.06149032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.580385723 meters 0.014584616962071379 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.54, Z:-8.06 [[ 9.99656765e-01 2.50307171e-02 -7.73409249e-03 -5.58608060e+01] [ 2.50305851e-02 -9.99686679e-01 -1.13867958e-04 -2.50536742e+02] [-7.73451943e-03 -7.97599860e-05 -9.99970085e-01 -8.06110184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.610385723 meters 0.01474625546642009 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.55, Z:-8.06 [[ 9.94521593e-01 1.04287232e-01 -7.13971160e-03 -5.58596680e+01] [ 1.04285133e-01 -9.94547217e-01 -6.66611067e-04 -2.50547007e+02] [-7.17029932e-03 -8.16066738e-05 -9.99974290e-01 -8.06120508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.640385723 meters 0.014973057380934292 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.55, Z:-8.06 [[ 9.82987203e-01 1.83563645e-01 -6.36759496e-03 -5.58583563e+01] [ 1.83560354e-01 -9.83007824e-01 -1.10241443e-03 -2.50554908e+02] [-6.46175887e-03 -8.51787112e-05 -9.99979119e-01 -8.06168429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.670385723 meters 0.01500078691815157 Centerline is valid? [True, True] Translation: X:-55.86, Y:-250.56, Z:-8.06 [[ 9.65390390e-01 2.60744429e-01 -5.80845855e-03 -5.58561590e+01] [ 2.60740232e-01 -9.65407860e-01 -1.48182917e-03 -2.50564401e+02] [-5.99391024e-03 -8.39551862e-05 -9.99982033e-01 -8.06257006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.700385723 meters 0.015215266030720197 Centerline is valid? [True, True] Translation: X:-55.85, Y:-250.57, Z:-8.06 [[ 9.41796445e-01 3.36143278e-01 -5.21088167e-03 -5.58532540e+01] [ 3.36138606e-01 -9.41810857e-01 -1.77408145e-03 -2.50573275e+02] [-5.50401049e-03 -8.07549019e-05 -9.99984850e-01 -8.06315226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.730385723 meters 0.015484826529847793 Centerline is valid? [True, True] Translation: X:-55.85, Y:-250.58, Z:-8.06 [[ 9.12134639e-01 4.09863940e-01 -4.68519486e-03 -5.58519846e+01] [ 4.09858986e-01 -9.12146668e-01 -2.01674225e-03 -2.50580117e+02] [-5.10017481e-03 -8.07287464e-05 -9.99986991e-01 -8.06335860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.760385723 meters 0.015320156830289484 Centerline is valid? [True, True] Translation: X:-55.85, Y:-250.59, Z:-8.06 [[ 8.77070822e-01 4.80338476e-01 -4.66064716e-03 -5.58480863e+01] [ 4.80332208e-01 -8.77083201e-01 -2.45520668e-03 -2.50588574e+02] [-5.26710556e-03 -8.52688015e-05 -9.99986125e-01 -8.06331651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.790385723 meters 0.01575193074573018 Centerline is valid? [True, True] Translation: X:-55.85, Y:-250.60, Z:-8.06 [[ 8.36617887e-01 5.47769680e-01 -4.34613809e-03 -5.58450817e+01] [ 5.47762812e-01 -8.36629172e-01 -2.74421854e-03 -2.50596986e+02] [-5.13930562e-03 -8.47905014e-05 -9.99986790e-01 -8.06255162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.820385723 meters 0.015430220971029834 Centerline is valid? [True, True] Translation: X:-55.84, Y:-250.60, Z:-8.06 [[ 7.91261023e-01 6.11468414e-01 -3.51738127e-03 -5.58403775e+01] [ 6.11462773e-01 -7.91268838e-01 -2.62744637e-03 -2.50603840e+02] [-4.38979465e-03 -7.17518031e-05 -9.99990362e-01 -8.06285474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.850385723 meters 0.015177627322287316 Centerline is valid? [True, True] Translation: X:-55.84, Y:-250.61, Z:-8.06 [[ 7.41243388e-01 6.71228129e-01 -3.32252569e-03 -5.58354692e+01] [ 6.71221809e-01 -7.41250831e-01 -2.91354221e-03 -2.50611802e+02] [-4.41847641e-03 -7.05078109e-05 -9.99990236e-01 -8.06355108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.880385723 meters 0.01511461593827954 Centerline is valid? [True, True] Translation: X:-55.83, Y:-250.62, Z:-8.06 [[ 6.87247251e-01 7.26416637e-01 -3.17591301e-03 -5.58330333e+01] [ 7.26409329e-01 -6.87254586e-01 -3.25893385e-03 -2.50618331e+02] [-4.55000455e-03 -6.73195119e-05 -9.99989646e-01 -8.06419845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.910385723 meters 0.0150583083033024 Centerline is valid? [True, True] Translation: X:-55.83, Y:-250.63, Z:-8.06 [[ 6.28798646e-01 7.77562262e-01 -3.03174348e-03 -5.58277360e+01] [ 7.77553731e-01 -6.28805952e-01 -3.64290134e-03 -2.50625581e+02] [-4.73896094e-03 -6.66920227e-05 -9.99988769e-01 -8.06401293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.940385723 meters 0.014910931722029052 Centerline is valid? [True, True] Translation: X:-55.82, Y:-250.63, Z:-8.06 [[ 5.66650564e-01 8.23951942e-01 -3.21498351e-03 -5.58225141e+01] [ 8.23939412e-01 -5.66659679e-01 -4.54463884e-03 -2.50632974e+02] [-5.56636552e-03 -7.37294588e-05 -9.99984505e-01 -8.06320623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9703857229999 meters 0.014823805616975322 Centerline is valid? [True, True] Translation: X:-55.82, Y:-250.64, Z:-8.06 [[ 5.01336009e-01 8.65244304e-01 -3.80790737e-03 -5.58184874e+01] [ 8.65220703e-01 -5.01350462e-01 -6.39132160e-03 -2.50638904e+02] [-7.43915073e-03 -9.04806275e-05 -9.99972325e-01 -8.06172067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.000385723 meters 0.014707001701209975 Centerline is valid? [True, True] Translation: X:-55.81, Y:-250.65, Z:-8.06 [[ 4.32591185e-01 9.01582250e-01 -3.78331233e-03 -5.58123808e+01] [ 9.01549741e-01 -4.32607718e-01 -7.65688323e-03 -2.50645541e+02] [-8.54000012e-03 -9.85440598e-05 -9.99963529e-01 -8.06114184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.030385723 meters 0.014600099804181931 Centerline is valid? [True, True] Translation: X:-55.81, Y:-250.65, Z:-8.06 [[ 3.61720310e-01 9.32280363e-01 -3.42685552e-03 -5.58057178e+01] [ 9.32241007e-01 -3.61736529e-01 -8.56671925e-03 -2.50651776e+02] [-9.22620295e-03 -9.58989002e-05 -9.99957433e-01 -8.06024120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.060385723 meters 0.014293364790903148 Centerline is valid? [True, True] Translation: X:-55.80, Y:-250.66, Z:-8.06 [[ 2.90485329e-01 9.56875297e-01 -2.81778899e-03 -5.58022127e+01] [ 9.56832577e-01 -2.90498987e-01 -9.04203997e-03 -2.50657063e+02] [-9.47066953e-03 -6.95723459e-05 -9.99955150e-01 -8.06007746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0903857229999 meters 0.014248345277532017 Centerline is valid? [True, True] Translation: X:-55.80, Y:-250.66, Z:-8.06 [[ 2.16675810e-01 9.76241396e-01 -2.08085381e-03 -5.57974931e+01] [ 9.76198561e-01 -2.16685796e-01 -9.14526926e-03 -2.50663102e+02] [-9.37888190e-03 -4.97678718e-05 -9.99956016e-01 -8.06034583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.120385723 meters 0.014094410219344414 Centerline is valid? [True, True] Translation: X:-55.79, Y:-250.67, Z:-8.06 [[ 1.43774124e-01 9.89609701e-01 -1.28107772e-03 -5.57939487e+01] [ 9.89570985e-01 -1.43779831e-01 -8.75358748e-03 -2.50668321e+02] [-8.84682823e-03 -9.17796709e-06 -9.99960866e-01 -8.06239233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.150385723 meters 0.014068321772204302 Centerline is valid? [True, True] Translation: X:-55.79, Y:-250.67, Z:-8.06 [[ 6.74609530e-02 9.97721747e-01 -5.79602964e-04 -5.57860493e+01] [ 9.97684244e-01 -6.74634426e-02 -8.65063281e-03 -2.50673591e+02] [-8.67002649e-03 5.31918856e-06 -9.99962415e-01 -8.06255981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.180385723 meters 0.014085315979457806 Centerline is valid? [True, True] Translation: X:-55.78, Y:-250.68, Z:-8.06 [[-9.03970983e-03 9.99959136e-01 1.01449539e-04 -5.57783504e+01] [ 9.99920064e-01 9.04025343e-03 -8.83962338e-03 -2.50679253e+02] [-8.84017929e-03 2.15337993e-05 -9.99960925e-01 -8.06261328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.210385723 meters 0.01439631108202027 Centerline is valid? [True, True] Translation: X:-55.77, Y:-250.69, Z:-8.06 [[-8.49319106e-02 9.96386395e-01 8.49592870e-04 -5.57745693e+01] [ 9.96341849e-01 8.49361472e-02 -9.42182784e-03 -2.50685997e+02] [-9.45994223e-03 4.62710912e-05 -9.99955253e-01 -8.06253429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.240385723 meters 0.01453103223880514 Centerline is valid? [True, True] Translation: X:-55.77, Y:-250.69, Z:-8.06 [[-1.61819339e-01 9.86819199e-01 1.53963210e-03 -5.57692620e+01] [ 9.86777604e-01 1.61826654e-01 -9.06060574e-03 -2.50691746e+02] [-9.19033321e-03 5.30932461e-05 -9.99957767e-01 -8.06267491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.270385723 meters 0.01433772657969302 Centerline is valid? [True, True] Translation: X:-55.76, Y:-250.70, Z:-8.06 [[-2.37943633e-01 9.71275798e-01 2.48021887e-03 -5.57596638e+01] [ 9.71225900e-01 2.37956550e-01 -9.84534718e-03 -2.50695753e+02] [-1.01527318e-02 6.62151248e-05 -9.99948458e-01 -8.06286023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.300385723 meters 0.014418495684883277 Centerline is valid? [True, True] Translation: X:-55.75, Y:-250.70, Z:-8.06 [[-3.13428912e-01 9.49605774e-01 3.34530842e-03 -5.57504742e+01] [ 9.49553945e-01 3.13446757e-01 -9.92148674e-03 -2.50700843e+02] [-1.04700772e-02 6.68700221e-05 -9.99945185e-01 -8.06275880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.330385723 meters 0.014479955993815227 Centerline is valid? [True, True] Translation: X:-55.74, Y:-250.70, Z:-8.06 [[-3.87135996e-01 9.22012612e-01 4.29708458e-03 -5.57416635e+01] [ 9.21957711e-01 3.87159837e-01 -1.00618336e-02 -2.50704816e+02] [-1.09407960e-02 6.64322987e-05 -9.99940146e-01 -8.06324080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.360385723 meters 0.014397314485902417 Centerline is valid? [True, True] Translation: X:-55.73, Y:-250.71, Z:-8.06 [[-4.58454113e-01 8.88702434e-01 5.27345932e-03 -5.57343237e+01] [ 8.88645266e-01 4.58484437e-01 -1.00803101e-02 -2.50709621e+02] [-1.13761951e-02 6.48750457e-05 -9.99935287e-01 -8.06327646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.390385723 meters 0.014351438713603587 Centerline is valid? [True, True] Translation: X:-55.72, Y:-250.71, Z:-8.06 [[-5.26757161e-01 8.49993463e-01 6.16496166e-03 -5.57235608e+01] [ 8.49936679e-01 5.26793232e-01 -9.82506942e-03 -2.50710738e+02] [-1.15989049e-02 6.44013625e-05 -9.99932728e-01 -8.06312608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.420385723 meters 0.014542896074728591 Centerline is valid? [True, True] Translation: X:-55.71, Y:-250.71, Z:-8.06 [[-5.91805358e-01 8.06052676e-01 6.74547917e-03 -5.57148963e+01] [ 8.06001494e-01 5.91843797e-01 -9.08362061e-03 -2.50713673e+02] [-1.13141467e-02 6.11309381e-05 -9.99935991e-01 -8.06240127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.450385723 meters 0.014419258961854545 Centerline is valid? [True, True] Translation: X:-55.71, Y:-250.72, Z:-8.06 [[-6.53259328e-01 7.57099621e-01 7.23981048e-03 -5.57080402e+01] [ 7.57054102e-01 6.53299442e-01 -8.30217869e-03 -2.50719031e+02] [-1.10153405e-02 5.74525465e-05 -9.99939328e-01 -8.06297701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.480385723 meters 0.01445141843487361 Centerline is valid? [True, True] Translation: X:-55.70, Y:-250.72, Z:-8.06 [[-7.10590841e-01 7.03566705e-01 7.38571064e-03 -5.56995895e+01] [ 7.03529486e-01 7.10629221e-01 -7.23687448e-03 -2.50720849e+02] [-1.03401257e-02 5.36084921e-05 -9.99946538e-01 -8.06466665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.510385723 meters 0.014269655369240006 Centerline is valid? [True, True] Translation: X:-55.09, Y:-250.16, Z:-9.00 [[-6.69196952e-01 -7.43058138e-01 6.32790207e-03 -5.50856779e+01] [ 7.43023564e-01 -6.69226863e-01 -7.16860122e-03 -2.50163316e+02] [ 9.56148953e-03 -9.54257318e-05 9.99954283e-01 -9.00198320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.540385723 meters 0.014280785808820279 Centerline is valid? [True, True] Translation: X:-55.10, Y:-250.14, Z:-9.00 [[-6.69216229e-01 -7.43042975e-01 6.06430425e-03 -5.51037245e+01] [ 7.43011896e-01 -6.69243704e-01 -6.79614499e-03 -2.50142551e+02] [ 9.10832523e-03 -4.22403256e-05 9.99958518e-01 -9.00160065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.570385723 meters 0.014270446602212617 Centerline is valid? [True, True] Translation: X:-55.12, Y:-250.12, Z:-9.00 [[-6.69210090e-01 -7.43048604e-01 6.05211457e-03 -5.51210290e+01] [ 7.43017689e-01 -6.69237455e-01 -6.77806619e-03 -2.50123390e+02] [ 9.08673437e-03 -3.91220986e-05 9.99958714e-01 -9.00233062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.600385723 meters 0.014229828341357576 Centerline is valid? [True, True] Translation: X:-55.14, Y:-250.10, Z:-9.00 [[-6.68892029e-01 -7.43334804e-01 6.06808016e-03 -5.51410742e+01] [ 7.43303777e-01 -6.68919552e-01 -6.79174887e-03 -2.50104440e+02] [ 9.10760078e-03 -3.25197873e-05 9.99958525e-01 -9.00287006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.630385723 meters 0.014245459113910766 Centerline is valid? [True, True] Translation: X:-55.16, Y:-250.08, Z:-9.00 [[-6.68674075e-01 -7.43530648e-01 6.09563558e-03 -5.51602907e+01] [ 7.43499384e-01 -6.68701858e-01 -6.81839061e-03 -2.50084768e+02] [ 9.14584522e-03 -2.71797331e-05 9.99958176e-01 -9.00337518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.660385723 meters 0.014146976858869653 Centerline is valid? [True, True] Translation: X:-55.18, Y:-250.06, Z:-9.00 [[-6.69023676e-01 -7.43216472e-01 6.04956318e-03 -5.51780484e+01] [ 7.43185704e-01 -6.69051026e-01 -6.76266734e-03 -2.50064480e+02] [ 9.07359221e-03 -2.84356869e-05 9.99958834e-01 -9.00242634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.690385723 meters 0.01423990296146272 Centerline is valid? [True, True] Translation: X:-55.20, Y:-250.04, Z:-9.00 [[-6.69668961e-01 -7.42636546e-01 5.86882320e-03 -5.51955226e+01] [ 7.42607603e-01 -6.69694676e-01 -6.55656213e-03 -2.50043943e+02] [ 8.79946231e-03 -3.24934127e-05 9.99961284e-01 -9.00192668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7203857229999 meters 0.01423010980780489 Centerline is valid? [True, True] Translation: X:-55.22, Y:-250.02, Z:-9.00 [[-6.70752614e-01 -7.41655387e-01 6.18204145e-03 -5.52151334e+01] [ 7.41623266e-01 -6.70781101e-01 -6.90260248e-03 -2.50023371e+02] [ 9.26614888e-03 -4.51928880e-05 9.99957067e-01 -9.00181738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.750385723 meters 0.014241600362561927 Centerline is valid? [True, True] Translation: X:-55.23, Y:-250.00, Z:-9.00 [[-6.71179295e-01 -7.41268271e-01 6.30120026e-03 -5.52348765e+01] [ 7.41234920e-01 -6.71208871e-01 -7.03170173e-03 -2.50002912e+02] [ 9.44179889e-03 -4.88629340e-05 9.99955424e-01 -9.00243561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.780385723 meters 0.014317945556240724 Centerline is valid? [True, True] Translation: X:-55.25, Y:-249.98, Z:-9.00 [[-6.71631949e-01 -7.40856652e-01 6.47657333e-03 -5.52536202e+01] [ 7.40821441e-01 -6.71663174e-01 -7.22313553e-03 -2.49983748e+02] [ 9.70138380e-03 -5.33042122e-05 9.99952939e-01 -9.00283659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.810385723 meters 0.014259108496552802 Centerline is valid? [True, True] Translation: X:-55.27, Y:-249.96, Z:-9.00 [[-6.71857223e-01 -7.40649889e-01 6.75378971e-03 -5.52741015e+01] [ 7.40611629e-01 -6.71891166e-01 -7.52837317e-03 -2.49964565e+02] [ 1.01137004e-02 -5.60566972e-05 9.99948854e-01 -9.00389380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8403857229999 meters 0.014441488883796424 Centerline is valid? [True, True] Translation: X:-55.29, Y:-249.94, Z:-9.00 [[-6.72380560e-01 -7.40173689e-01 6.87693050e-03 -5.52939177e+01] [ 7.40134040e-01 -6.72415724e-01 -7.66132793e-03 -2.49944288e+02] [ 1.02948696e-02 -6.14776090e-05 9.99947005e-01 -9.00440315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.870385723 meters 0.014441488883796424 Centerline is valid? [True, True] Translation: X:-55.31, Y:-249.92, Z:-9.00 [[-6.72585164e-01 -7.39987754e-01 6.87904842e-03 -5.53123996e+01] [ 7.39948115e-01 -6.72620339e-01 -7.65942633e-03 -2.49923787e+02] [ 1.02948696e-02 -6.14776005e-05 9.99947005e-01 -9.00440307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.900385723 meters 0.01449387673379391 Centerline is valid? [True, True] Translation: X:-55.33, Y:-249.90, Z:-9.00 [[-6.73119740e-01 -7.39498291e-01 7.21755896e-03 -5.53319561e+01] [ 7.39454675e-01 -6.73158431e-01 -8.03187996e-03 -2.49903538e+02] [ 1.07981222e-02 -6.93592388e-05 9.99941696e-01 -9.00478355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.930385723 meters 0.014561620537884186 Centerline is valid? [True, True] Translation: X:-55.35, Y:-249.88, Z:-9.01 [[-6.73736697e-01 -7.38935987e-01 7.24366756e-03 -5.53512580e+01] [ 7.38892071e-01 -6.73775631e-01 -8.05645391e-03 -2.49883670e+02] [ 1.08338104e-02 -7.56401236e-05 9.99941310e-01 -9.00522695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.960385723 meters 0.014749575918917703 Centerline is valid? [True, True] Translation: X:-55.37, Y:-249.86, Z:-9.01 [[-6.74640119e-01 -7.38103058e-01 8.03655235e-03 -5.53706997e+01] [ 7.38049005e-01 -6.74687978e-01 -8.93306753e-03 -2.49864290e+02] [ 1.20156897e-02 -9.52362823e-05 9.99927805e-01 -9.00675129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.990385723 meters 0.014863078262966433 Centerline is valid? [True, True] Translation: X:-55.39, Y:-249.84, Z:-9.01 [[-6.75292355e-01 -7.37503366e-01 8.30780816e-03 -5.53892404e+01] [ 7.37445627e-01 -6.75343449e-01 -9.22894669e-03 -2.49844056e+02] [ 1.24170031e-02 -1.05680349e-04 9.99922901e-01 -9.00671713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.020385723 meters 0.015268756984974239 Centerline is valid? [True, True] Translation: X:-55.41, Y:-249.82, Z:-9.01 [[-6.76451388e-01 -7.36440385e-01 8.31141113e-03 -5.54070715e+01] [ 7.36382589e-01 -6.76502435e-01 -9.22705112e-03 -2.49824595e+02] [ 1.24178629e-02 -1.21273093e-04 9.99922888e-01 -9.00663325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.050385723 meters 0.015066006398292826 Centerline is valid? [True, True] Translation: X:-55.43, Y:-249.81, Z:-9.01 [[-6.77129781e-01 -7.35818407e-01 8.15674951e-03 -5.54259500e+01] [ 7.35762764e-01 -6.77178896e-01 -9.04980167e-03 -2.49805167e+02] [ 1.21825893e-02 -1.26457658e-04 9.99925782e-01 -9.00574431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.080385723 meters 0.015327476991200883 Centerline is valid? [True, True] Translation: X:-55.45, Y:-249.78, Z:-9.01 [[-6.78842144e-01 -7.34241062e-01 7.96282840e-03 -5.54455842e+01] [ 7.34187982e-01 -6.78888828e-01 -8.82983290e-03 -2.49784737e+02] [ 1.18891011e-02 -1.47849777e-04 9.99929311e-01 -9.00574106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.110385723 meters 0.015438306807364742 Centerline is valid? [True, True] Translation: X:-55.46, Y:-249.76, Z:-9.01 [[-6.79758747e-01 -7.33398617e-01 7.38332427e-03 -5.54647088e+01] [ 7.33352989e-01 -6.79798828e-01 -8.18217584e-03 -2.49764871e+02] [ 1.10199716e-02 -1.47322684e-04 9.99939268e-01 -9.00556339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.140385723 meters 0.015599609038528708 Centerline is valid? [True, True] Translation: X:-55.48, Y:-249.75, Z:-9.01 [[-6.80608306e-01 -7.32612077e-01 7.20266208e-03 -5.54828330e+01] [ 7.32568665e-01 -6.80646400e-01 -7.97679637e-03 -2.49745464e+02] [ 1.07463634e-02 -1.52629321e-04 9.99942245e-01 -9.00525817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.170385723 meters 0.01592975314698902 Centerline is valid? [True, True] Translation: X:-55.50, Y:-249.73, Z:-9.00 [[-6.81539549e-01 -7.31751473e-01 6.60493028e-03 -5.55003652e+01] [ 7.31714973e-01 -6.81571537e-01 -7.31012705e-03 -2.49725883e+02] [ 9.85092872e-03 -1.49214309e-04 9.99951467e-01 -9.00498038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.200385723 meters 0.016101354749771583 Centerline is valid? [True, True] Translation: X:-55.52, Y:-249.71, Z:-9.00 [[-6.82937741e-01 -7.30450085e-01 6.22219629e-03 -5.55199469e+01] [ 7.30417674e-01 -6.82966067e-01 -6.88281371e-03 -2.49705095e+02] [ 9.27710079e-03 -1.55731106e-04 9.99956955e-01 -9.00347687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.230385723 meters 0.01585877257115786 Centerline is valid? [True, True] Translation: X:-55.54, Y:-249.69, Z:-9.00 [[-6.83728232e-01 -7.29711624e-01 6.05394643e-03 -5.55406480e+01] [ 7.29680937e-01 -6.83755015e-01 -6.69398245e-03 -2.49686605e+02] [ 9.02409304e-03 -1.59415484e-04 9.99959269e-01 -9.00304612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.260385723 meters 0.016390279998099257 Centerline is valid? [True, True] Translation: X:-55.56, Y:-249.67, Z:-9.00 [[-6.84030893e-01 -7.29427278e-01 6.13050237e-03 -5.55584849e+01] [ 7.29395840e-01 -6.84058345e-01 -6.77422097e-03 -2.49667048e+02] [ 9.13492287e-03 -1.62213500e-04 9.99958263e-01 -9.00409563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.290385723 meters 0.016160652270405324 Centerline is valid? [True, True] Translation: X:-55.58, Y:-249.65, Z:-9.00 [[-6.84252597e-01 -7.29214888e-01 6.63553980e-03 -5.55777755e+01] [ 7.29178090e-01 -6.84284748e-01 -7.32779028e-03 -2.49647944e+02] [ 9.88413244e-03 -1.75569292e-04 9.99951135e-01 -9.00410655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.320385723 meters 0.01671094300479013 Centerline is valid? [True, True] Translation: X:-55.60, Y:-249.63, Z:-9.01 [[-6.84201528e-01 -7.29253954e-01 7.54577622e-03 -5.55967126e+01] [ 7.29206431e-01 -6.84243109e-01 -8.32764624e-03 -2.49629287e+02] [ 1.12361143e-02 -1.95359744e-04 9.99936854e-01 -9.00592908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.350385723 meters 0.01577454607495554 Centerline is valid? [True, True] Translation: X:-55.62, Y:-249.61, Z:-9.00 [[-6.84241107e-01 -7.29219676e-01 7.26442279e-03 -5.56181692e+01] [ 7.29175676e-01 -6.84279643e-01 -8.01270986e-03 -2.49611047e+02] [ 1.08139223e-02 -1.85585066e-04 9.99941511e-01 -9.00494377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.380385723 meters 0.015648110866269695 Centerline is valid? [True, True] Translation: X:-55.64, Y:-249.59, Z:-9.00 [[-6.84001712e-01 -7.29449737e-01 6.68868885e-03 -5.56388765e+01] [ 7.29412489e-01 -6.84034395e-01 -7.37336870e-03 -2.49592305e+02] [ 9.95379509e-03 -1.64583631e-04 9.99950446e-01 -9.00476764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.410385723 meters 0.015759556999248747 Centerline is valid? [True, True] Translation: X:-55.66, Y:-249.57, Z:-9.00 [[-6.84076085e-01 -7.29380738e-01 6.60672872e-03 -5.56570104e+01] [ 7.29344440e-01 -6.84107969e-01 -7.27830749e-03 -2.49573133e+02] [ 9.82837306e-03 -1.60335236e-04 9.99951688e-01 -9.00438988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.440385723 meters 0.015716430195062896 Centerline is valid? [True, True] Translation: X:-55.68, Y:-249.55, Z:-9.00 [[-6.83989950e-01 -7.29461437e-01 6.61515503e-03 -5.56759694e+01] [ 7.29425094e-01 -6.84021920e-01 -7.28315185e-03 -2.49552930e+02] [ 9.83768946e-03 -1.56342587e-04 9.99951597e-01 -9.00362523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4703857229999 meters 0.015186749029063425 Centerline is valid? [True, True] Translation: X:-55.70, Y:-249.53, Z:-9.00 [[-6.84225724e-01 -7.29243281e-01 6.27656150e-03 -5.56963637e+01] [ 7.29210591e-01 -6.84254496e-01 -6.90650407e-03 -2.49533165e+02] [ 9.33128711e-03 -1.48672628e-04 9.99956452e-01 -9.00186367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.500385723 meters 0.015854130976864687 Centerline is valid? [True, True] Translation: X:-55.71, Y:-249.51, Z:-9.00 [[-6.84562134e-01 -7.28929751e-01 6.00859660e-03 -5.57144475e+01] [ 7.28899815e-01 -6.84588488e-01 -6.60774936e-03 -2.49512439e+02] [ 8.93000116e-03 -1.43750050e-04 9.99960116e-01 -9.00237966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.530385723 meters 0.015356595090046055 Centerline is valid? [True, True] Translation: X:-55.74, Y:-249.49, Z:-9.00 [[-6.84636341e-01 -7.28870762e-01 4.52699656e-03 -5.57352251e+01] [ 7.28853788e-01 -6.84651299e-01 -4.97533472e-03 -2.49494728e+02] [ 6.72579008e-03 -1.06776368e-04 9.99977376e-01 -9.00096458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.560385723 meters 0.015308515115267814 Centerline is valid? [True, True] Translation: X:-55.75, Y:-249.48, Z:-9.00 [[-6.84807783e-01 -7.28711066e-01 4.29923226e-03 -5.57544017e+01] [ 7.28695773e-01 -6.84821271e-01 -4.72211109e-03 -2.49475474e+02] [ 6.38526030e-03 -1.00906050e-04 9.99979609e-01 -9.00106908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5903857229999 meters 0.01589939008439885 Centerline is valid? [True, True] Translation: X:-55.77, Y:-249.46, Z:-9.00 [[-6.85082219e-01 -7.28452638e-01 4.37130082e-03 -5.57717606e+01] [ 7.28436842e-01 -6.85096157e-01 -4.79817952e-03 -2.49455897e+02] [ 6.49000792e-03 -1.02930908e-04 9.99978934e-01 -9.00182082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.620385723 meters 0.015490344612900673 Centerline is valid? [True, True] Translation: X:-55.79, Y:-249.44, Z:-9.00 [[-6.85461952e-01 -7.28097401e-01 4.01097456e-03 -5.57915535e+01] [ 7.28084112e-01 -6.85473680e-01 -4.40000101e-03 -2.49437457e+02] [ 5.95304679e-03 -9.57064310e-05 9.99982276e-01 -9.00155035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.650385723 meters 0.015343845134423285 Centerline is valid? [True, True] Translation: X:-55.81, Y:-249.42, Z:-9.00 [[-6.85656046e-01 -7.27915650e-01 3.81997579e-03 -5.58110154e+01] [ 7.27903609e-01 -6.85666681e-01 -4.18790562e-03 -2.49417695e+02] [ 5.66767216e-03 -9.08886405e-05 9.99983935e-01 -9.00172105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.680385723 meters 0.01518951767288323 Centerline is valid? [True, True] Translation: X:-55.83, Y:-249.40, Z:-9.00 [[-6.85437009e-01 -7.28124704e-01 3.24387624e-03 -5.58301827e+01] [ 7.28116033e-01 -6.85444681e-01 -3.55413953e-03 -2.49398848e+02] [ 4.81135451e-03 -7.42204658e-05 9.99988423e-01 -9.00126541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.710385723 meters 0.01537710887127193 Centerline is valid? [True, True] Translation: X:-55.85, Y:-249.38, Z:-9.00 [[-6.85347568e-01 -7.28208132e-01 3.40977685e-03 -5.58477893e+01] [ 7.28198565e-01 -6.85356046e-01 -3.73351104e-03 -2.49379979e+02] [ 5.05568428e-03 -7.57580983e-05 9.99987217e-01 -9.00156629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.740385723 meters 0.015210316633180333 Centerline is valid? [True, True] Translation: X:-55.87, Y:-249.36, Z:-9.00 [[-6.85328012e-01 -7.28226414e-01 3.43594349e-03 -5.58672884e+01] [ 7.28216712e-01 -6.85336621e-01 -3.75985055e-03 -2.49361092e+02] [ 5.09280038e-03 -7.46194311e-05 9.99987029e-01 -9.00188458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.770385723 meters 0.01518708008344216 Centerline is valid? [True, True] Translation: X:-55.89, Y:-249.34, Z:-9.00 [[-6.85483953e-01 -7.28075569e-01 4.20904828e-03 -5.58854814e+01] [ 7.28061020e-01 -6.85496869e-01 -4.60365009e-03 -2.49342340e+02] [ 6.23709458e-03 -9.12842746e-05 9.99980545e-01 -9.00297671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.800385723 meters 0.015179564596554928 Centerline is valid? [True, True] Translation: X:-55.90, Y:-249.32, Z:-9.00 [[-6.85649143e-01 -7.27920634e-01 4.09911635e-03 -5.59045590e+01] [ 7.27906849e-01 -6.85661391e-01 -4.48065231e-03 -2.49322544e+02] [ 6.07216509e-03 -8.83805527e-05 9.99981560e-01 -9.00293547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.830385723 meters 0.015375446643500459 Centerline is valid? [True, True] Translation: X:-55.92, Y:-249.30, Z:-9.00 [[-6.85687673e-01 -7.27884607e-01 4.05148285e-03 -5.59242183e+01] [ 7.27871157e-01 -6.85699637e-01 -4.42573001e-03 -2.49304535e+02] [ 5.99952106e-03 -8.57109983e-05 9.99981999e-01 -9.00386056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.860385723 meters 0.015106055764971654 Centerline is valid? [True, True] Translation: X:-55.94, Y:-249.29, Z:-9.00 [[-6.85645287e-01 -7.27922146e-01 4.45982066e-03 -5.59439903e+01] [ 7.27905869e-01 -6.85659785e-01 -4.86878513e-03 -2.49286279e+02] [ 6.60201619e-03 -9.19299459e-05 9.99978202e-01 -9.00415944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.890385723 meters 0.015019502441351569 Centerline is valid? [True, True] Translation: X:-55.96, Y:-249.27, Z:-9.00 [[-6.85725476e-01 -7.27846770e-01 4.43296878e-03 -5.59635250e+01] [ 7.27830704e-01 -6.85739799e-01 -4.83679240e-03 -2.49266322e+02] [ 6.56030684e-03 -9.02609821e-05 9.99978477e-01 -9.00472975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.920385723 meters 0.015025569388813956 Centerline is valid? [True, True] Translation: X:-55.98, Y:-249.25, Z:-9.00 [[-6.85869829e-01 -7.27713820e-01 3.89545344e-03 -5.59823293e+01] [ 7.27701425e-01 -6.85880887e-01 -4.24795663e-03 -2.49245169e+02] [ 5.76311380e-03 -7.88182610e-05 9.99983390e-01 -9.00368929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.950385723 meters 0.015307422153490742 Centerline is valid? [True, True] Translation: X:-56.00, Y:-249.23, Z:-9.00 [[-6.86373477e-01 -7.27242328e-01 3.16953203e-03 -5.60011227e+01] [ 7.27234127e-01 -6.86380792e-01 -3.45432671e-03 -2.49225094e+02] [ 4.68763850e-03 -6.59663754e-05 9.99989011e-01 -9.00385342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.980385723 meters 0.01505290501012364 Centerline is valid? [True, True] Translation: X:-56.02, Y:-249.21, Z:-9.00 [[-6.86657559e-01 -7.26975350e-01 2.86998379e-03 -5.60216955e+01] [ 7.26968631e-01 -6.86663554e-01 -3.12612439e-03 -2.49205319e+02] [ 4.24332864e-03 -6.01887515e-05 9.99990995e-01 -9.00338044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.010385723 meters 0.014984460919033769 Centerline is valid? [True, True] Translation: X:-56.04, Y:-249.18, Z:-9.00 [[-6.86985819e-01 -7.26665912e-01 2.67154153e-03 -5.60411621e+01] [ 7.26660094e-01 -6.86991011e-01 -2.90835365e-03 -2.49184796e+02] [ 3.94872647e-03 -5.66950942e-05 9.99992202e-01 -9.00343161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.040385723 meters 0.014947710558972416 Centerline is valid? [True, True] Translation: X:-56.06, Y:-249.16, Z:-9.00 [[-6.87082747e-01 -7.26574424e-01 2.62778941e-03 -5.60607733e+01] [ 7.26568800e-01 -6.87087770e-01 -2.85913618e-03 -2.49164173e+02] [ 3.88289719e-03 -5.51933387e-05 9.99992460e-01 -9.00361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.070385723 meters 0.014808453017679114 Centerline is valid? [True, True] Translation: X:-56.08, Y:-249.15, Z:-9.00 [[-6.85554761e-01 -7.28012965e-01 3.43419373e-03 -5.60797722e+01] [ 7.28003389e-01 -6.85563359e-01 -3.73442636e-03 -2.49145085e+02] [ 5.07306820e-03 -6.00490958e-05 9.99987130e-01 -9.00469352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.100385723 meters 0.016275329780315255 Centerline is valid? [True, True] Translation: X:-56.10, Y:-249.13, Z:-9.01 [[-6.84683704e-01 -7.28828588e-01 4.13697569e-03 -5.60987898e+01] [ 7.28814724e-01 -6.84696199e-01 -4.49587699e-03 -2.49126139e+02] [ 6.10929521e-03 -6.31649196e-05 9.99981336e-01 -9.00646280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.130385723 meters 0.014176269070830649 Centerline is valid? [True, True] Translation: X:-56.12, Y:-249.11, Z:-9.01 [[-6.81696679e-01 -7.31622238e-01 4.30562004e-03 -5.61190810e+01] [ 7.31607292e-01 -6.81710275e-01 -4.67660999e-03 -2.49107306e+02] [ 6.35669729e-03 -3.80064773e-05 9.99979795e-01 -9.00525185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.160385723 meters 0.014006547261015752 Centerline is valid? [True, True] Translation: X:-56.14, Y:-249.09, Z:-9.01 [[-6.80416337e-01 -7.32811885e-01 4.51100269e-03 -5.61389637e+01] [ 7.32795525e-01 -6.80431290e-01 -4.89674310e-03 -2.49087952e+02] [ 6.65781892e-03 -2.61814203e-05 9.99977836e-01 -9.00510752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.190385723 meters 0.014846883474566256 Centerline is valid? [True, True] Translation: X:-56.16, Y:-249.07, Z:-9.01 [[-6.79499835e-01 -7.33658765e-01 4.97900671e-03 -5.61583942e+01] [ 7.33638881e-01 -6.79518077e-01 -5.40147154e-03 -2.49069050e+02] [ 7.34616200e-03 -1.75061100e-05 9.99973017e-01 -9.00618917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2203857229999 meters 0.013847200289892222 Centerline is valid? [True, True] Translation: X:-56.18, Y:-249.05, Z:-9.01 [[-6.77852517e-01 -7.35183707e-01 4.56984730e-03 -5.61786081e+01] [ 7.35167011e-01 -6.77867921e-01 -4.95456144e-03 -2.49050189e+02] [ 6.74026573e-03 1.13904172e-06 9.99977284e-01 -9.00500378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.250385723 meters 0.01380904779037933 Centerline is valid? [True, True] Translation: X:-56.20, Y:-249.03, Z:-9.00 [[-6.77488541e-01 -7.35521313e-01 4.20416135e-03 -5.61971759e+01] [ 7.35507207e-01 -6.77501585e-01 -4.55531307e-03 -2.49030383e+02] [ 6.19885583e-03 6.01856452e-06 9.99980787e-01 -9.00468016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.280385723 meters 0.013778471481324649 Centerline is valid? [True, True] Translation: X:-56.21, Y:-249.01, Z:-9.00 [[-6.77510743e-01 -7.35502511e-01 3.90521906e-03 -5.62143568e+01] [ 7.35490354e-01 -6.77521997e-01 -4.22870013e-03 -2.49010145e+02] [ 5.75609138e-03 7.26118245e-06 9.99983434e-01 -9.00413386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.310385723 meters 0.013792345012710355 Centerline is valid? [True, True] Translation: X:-56.23, Y:-248.99, Z:-9.00 [[-6.78143740e-01 -7.34918077e-01 4.06043044e-03 -5.62328157e+01] [ 7.34904940e-01 -6.78155896e-01 -4.39431800e-03 -2.48988762e+02] [ 5.98306859e-03 4.05114510e-06 9.99982101e-01 -9.00316135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3403857229999 meters 0.013698604010833 Centerline is valid? [True, True] Translation: X:-56.25, Y:-248.97, Z:-9.00 [[-6.79891439e-01 -7.33304639e-01 3.45504245e-03 -5.62501498e+01] [ 7.33295117e-01 -6.79900218e-01 -3.73707147e-03 -2.48966926e+02] [ 5.08949596e-03 -7.23714786e-06 9.99987048e-01 -9.00188025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.370385723 meters 0.01385677355189247 Centerline is valid? [True, True] Translation: X:-56.27, Y:-248.95, Z:-9.00 [[-6.80890655e-01 -7.32376229e-01 3.60213175e-03 -5.62686185e+01] [ 7.32365877e-01 -6.80900183e-01 -3.89399211e-03 -2.48945557e+02] [ 5.30455943e-03 -1.33044597e-05 9.99985931e-01 -9.00186778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.400385723 meters 0.014048043818242541 Centerline is valid? [True, True] Translation: X:-56.29, Y:-248.93, Z:-9.00 [[-6.82319222e-01 -7.31043463e-01 3.99173493e-03 -5.62856948e+01] [ 7.31030737e-01 -6.82330898e-01 -4.31357221e-03 -2.48925172e+02] [ 5.87709285e-03 -2.51523101e-05 9.99982730e-01 -9.00312724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.430385723 meters 0.013969589201994252 Centerline is valid? [True, True] Translation: X:-56.30, Y:-248.90, Z:-9.00 [[-6.82918215e-01 -7.30483819e-01 4.01267188e-03 -5.63041871e+01] [ 7.30470964e-01 -6.82930003e-01 -4.33380660e-03 -2.48904545e+02] [ 5.90614962e-03 -2.84951679e-05 9.99982558e-01 -9.00343196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.460385723 meters 0.014034236846574793 Centerline is valid? [True, True] Translation: X:-56.32, Y:-248.88, Z:-9.00 [[-6.83586671e-01 -7.29858678e-01 3.94618972e-03 -5.63215072e+01] [ 7.29846247e-01 -6.83598061e-01 -4.25996259e-03 -2.48884463e+02] [ 5.80677831e-03 -3.19418934e-05 9.99983140e-01 -9.00381616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.490385723 meters 0.01426715746553172 Centerline is valid? [True, True] Translation: X:-56.34, Y:-248.86, Z:-9.00 [[-6.85323742e-01 -7.28229786e-01 3.57039027e-03 -5.63376283e+01] [ 7.28219600e-01 -6.85333041e-01 -3.85194114e-03 -2.48862309e+02] [ 5.25200470e-03 -3.97985376e-05 9.99986207e-01 -9.00320834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.520385723 meters 0.014485125218770847 Centerline is valid? [True, True] Translation: X:-56.35, Y:-248.84, Z:-9.00 [[-6.86293008e-01 -7.27315895e-01 3.67366477e-03 -5.63537012e+01] [ 7.27305108e-01 -6.86302839e-01 -3.96150006e-03 -2.48841650e+02] [ 5.40250852e-03 -4.68746388e-05 9.99985405e-01 -9.00273837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.550385723 meters 0.014727565139082065 Centerline is valid? [True, True] Translation: X:-56.37, Y:-248.82, Z:-9.00 [[-6.87497428e-01 -7.26174511e-01 4.22696809e-03 -5.63701770e+01] [ 7.26160225e-01 -6.87510419e-01 -4.55541333e-03 -2.48819983e+02] [ 6.21410965e-03 -6.23788418e-05 9.99980690e-01 -9.00289997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.580385723 meters 0.014633257940470948 Centerline is valid? [True, True] Translation: X:-56.39, Y:-248.80, Z:-9.00 [[-6.87890207e-01 -7.25801156e-01 4.44345882e-03 -5.63884234e+01] [ 7.25785381e-01 -6.87904555e-01 -4.78584153e-03 -2.48800238e+02] [ 6.53024488e-03 -6.71360729e-05 9.99978676e-01 -9.00327743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.610385723 meters 0.014691468512004653 Centerline is valid? [True, True] Translation: X:-56.41, Y:-248.78, Z:-9.00 [[-6.87503059e-01 -7.26169184e-01 4.22602256e-03 -5.64059421e+01] [ 7.26154939e-01 -6.87516045e-01 -4.54892783e-03 -2.48779591e+02] [ 6.20874953e-03 -5.86546475e-05 9.99980724e-01 -9.00267603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.640385723 meters 0.014841334935857825 Centerline is valid? [True, True] Translation: X:-56.42, Y:-248.76, Z:-9.00 [[-6.87516689e-01 -7.26156163e-01 4.24617814e-03 -5.64232201e+01] [ 7.26141798e-01 -6.87529799e-01 -4.56775803e-03 -2.48759357e+02] [ 6.23627965e-03 -5.70824460e-05 9.99980553e-01 -9.00303436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.670385723 meters 0.014828603203300402 Centerline is valid? [True, True] Translation: X:-56.44, Y:-248.74, Z:-9.00 [[-6.87516534e-01 -7.26154927e-01 4.47644601e-03 -5.64413527e+01] [ 7.26138980e-01 -6.87531104e-01 -4.81266544e-03 -2.48739114e+02] [ 6.57243659e-03 -5.82651223e-05 9.99978400e-01 -9.00345801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.700385723 meters 0.014494562040389833 Centerline is valid? [True, True] Translation: X:-56.46, Y:-248.72, Z:-9.00 [[-6.87440676e-01 -7.26220598e-01 5.38143649e-03 -5.64598935e+01] [ 7.26197583e-01 -6.87461736e-01 -5.78208086e-03 -2.48719174e+02] [ 7.89859789e-03 -6.68514050e-05 9.99968803e-01 -9.00447283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.730385723 meters 0.014443687714563449 Centerline is valid? [True, True] Translation: X:-56.48, Y:-248.70, Z:-9.00 [[-6.87721619e-01 -7.25952301e-01 5.67731791e-03 -5.64781230e+01] [ 7.25926704e-01 -6.87745049e-01 -6.09663531e-03 -2.48698086e+02] [ 8.33041371e-03 -7.14712314e-05 9.99965299e-01 -9.00470143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.760385723 meters 0.014722725931919537 Centerline is valid? [True, True] Translation: X:-56.49, Y:-248.68, Z:-9.00 [[-6.88276941e-01 -7.25423769e-01 5.93366780e-03 -5.64937663e+01] [ 7.25395824e-01 -6.88302513e-01 -6.36778240e-03 -2.48677000e+02] [ 8.70349916e-03 -7.85399440e-05 9.99962121e-01 -9.00469434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.790385723 meters 0.014722725931919537 Centerline is valid? [True, True] Translation: X:-56.51, Y:-248.66, Z:-9.00 [[-6.88497187e-01 -7.25214721e-01 5.93560125e-03 -5.65120895e+01] [ 7.25186784e-01 -6.88522768e-01 -6.36598021e-03 -2.48657481e+02] [ 8.70349916e-03 -7.85398873e-05 9.99962121e-01 -9.00469426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.820385723 meters 0.014736454543094314 Centerline is valid? [True, True] Translation: X:-56.53, Y:-248.64, Z:-9.00 [[-6.88945699e-01 -7.24788927e-01 5.90210631e-03 -5.65305186e+01] [ 7.24761323e-01 -6.88970975e-01 -6.32615474e-03 -2.48636966e+02] [ 8.65150684e-03 -8.07587232e-05 9.99962572e-01 -9.00447622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.850385723 meters 0.014829121479793856 Centerline is valid? [True, True] Translation: X:-56.55, Y:-248.62, Z:-9.00 [[-6.89290365e-01 -7.24460750e-01 5.95105904e-03 -5.65489780e+01] [ 7.24432708e-01 -6.89316049e-01 -6.37469188e-03 -2.48616360e+02] [ 8.72037456e-03 -8.28718793e-05 9.99961973e-01 -9.00457625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.880385723 meters 0.014774004375758595 Centerline is valid? [True, True] Translation: X:-56.57, Y:-248.60, Z:-9.00 [[-6.89529926e-01 -7.24235700e-01 5.57960578e-03 -5.65675378e+01] [ 7.24211069e-01 -6.89552496e-01 -5.97347497e-03 -2.48595405e+02] [ 8.17363492e-03 -7.80774933e-05 9.99966592e-01 -9.00383564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.910385723 meters 0.014940563717320079 Centerline is valid? [True, True] Translation: X:-56.59, Y:-248.57, Z:-9.00 [[-6.89311518e-01 -7.24443138e-01 5.63662392e-03 -5.65853578e+01] [ 7.24418037e-01 -6.89334559e-01 -6.03097964e-03 -2.48574370e+02] [ 8.25462148e-03 -7.39516894e-05 9.99965927e-01 -9.00395755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.940385723 meters 0.014598089313206688 Centerline is valid? [True, True] Translation: X:-56.60, Y:-248.55, Z:-9.00 [[-6.88479107e-01 -7.25232707e-01 5.83433807e-03 -5.66045570e+01] [ 7.25205873e-01 -6.88503824e-01 -6.23905061e-03 -2.48553372e+02] [ 8.54172764e-03 -6.43597599e-05 9.99963517e-01 -9.00365811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9703857229999 meters 0.01479781864999304 Centerline is valid? [True, True] Translation: X:-56.62, Y:-248.53, Z:-9.01 [[-6.88327796e-01 -7.25374567e-01 6.04831266e-03 -5.66226929e+01] [ 7.25345768e-01 -6.88354366e-01 -6.46407077e-03 -2.48533376e+02] [ 8.85225497e-03 -6.22816013e-05 9.99960816e-01 -9.00538083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.000385723 meters 0.014523493318699949 Centerline is valid? [True, True] Translation: X:-56.64, Y:-248.51, Z:-9.01 [[-6.88219697e-01 -7.25475533e-01 6.23696860e-03 -5.66422608e+01] [ 7.25444946e-01 -6.88247955e-01 -6.66203086e-03 -2.48513180e+02] [ 9.12572127e-03 -6.03635156e-05 9.99958358e-01 -9.00564001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.030385723 meters 0.014741019714307465 Centerline is valid? [True, True] Translation: X:-56.66, Y:-248.49, Z:-9.01 [[-6.88683785e-01 -7.25033192e-01 6.44322742e-03 -5.66590007e+01] [ 7.25000571e-01 -6.88713922e-01 -6.87788516e-03 -2.48492799e+02] [ 9.42423546e-03 -6.53444226e-05 9.99955589e-01 -9.00696417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.060385723 meters 0.014705293586686707 Centerline is valid? [True, True] Translation: X:-56.68, Y:-248.47, Z:-9.01 [[-6.89185048e-01 -7.24554059e-01 6.73691299e-03 -5.66765241e+01] [ 7.24518418e-01 -6.89217971e-01 -7.18691025e-03 -2.48471894e+02] [ 9.85050649e-03 -7.20935498e-05 9.99951480e-01 -9.00643214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0903857229999 meters 0.014944420933894403 Centerline is valid? [True, True] Translation: X:-56.69, Y:-248.45, Z:-9.01 [[-6.89896633e-01 -7.23873361e-01 7.07054271e-03 -5.66920276e+01] [ 7.23834118e-01 -6.89932859e-01 -7.53791134e-03 -2.48450566e+02] [ 1.03346930e-02 -8.24796084e-05 9.99946592e-01 -9.00681067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.120385723 meters 0.014796057849594844 Centerline is valid? [True, True] Translation: X:-56.71, Y:-248.43, Z:-9.01 [[-6.90245847e-01 -7.23538021e-01 7.30768382e-03 -5.67103763e+01] [ 7.23496128e-01 -6.90284524e-01 -7.78638907e-03 -2.48429657e+02] [ 1.06781296e-02 -8.74417736e-05 9.99942983e-01 -9.00575933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.150385723 meters 0.014917163229424914 Centerline is valid? [True, True] Translation: X:-56.73, Y:-248.41, Z:-9.01 [[-6.90477324e-01 -7.23316063e-01 7.41200189e-03 -5.67286140e+01] [ 7.23273000e-01 -6.90517100e-01 -7.89317200e-03 -2.48408192e+02] [ 1.08273721e-02 -8.91554364e-05 9.99941378e-01 -9.00551691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.180385723 meters 0.01484074166748852 Centerline is valid? [True, True] Translation: X:-56.75, Y:-248.39, Z:-9.01 [[-6.90162528e-01 -7.23606552e-01 8.32115861e-03 -5.67456886e+01] [ 7.23552365e-01 -6.90212684e-01 -8.85588229e-03 -2.48386783e+02] [ 1.21515437e-02 -9.12041224e-05 9.99926163e-01 -9.00631067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.210385723 meters 0.014841572188837143 Centerline is valid? [True, True] Translation: X:-56.76, Y:-248.37, Z:-9.01 [[-6.89907872e-01 -7.23845900e-01 8.61635717e-03 -5.67645786e+01] [ 7.23787882e-01 -6.89961670e-01 -9.16495122e-03 -2.48366003e+02] [ 1.25789685e-02 -8.65570922e-05 9.99920878e-01 -9.00669805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.240385723 meters 0.014871669256951919 Centerline is valid? [True, True] Translation: X:-56.78, Y:-248.34, Z:-9.01 [[-6.88969505e-01 -7.24730503e-01 9.31233754e-03 -5.67821889e+01] [ 7.24662868e-01 -6.89032432e-01 -9.90123614e-03 -2.48344924e+02] [ 1.35922304e-02 -7.33445297e-05 9.99907619e-01 -9.00791969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.270385723 meters 0.014841792942082599 Centerline is valid? [True, True] Translation: X:-56.80, Y:-248.32, Z:-9.01 [[-6.88840745e-01 -7.24855423e-01 9.11287512e-03 -5.68003426e+01] [ 7.24790737e-01 -6.88901017e-01 -9.68378000e-03 -2.48324076e+02] [ 1.32972094e-02 -6.56547485e-05 9.99911586e-01 -9.00701773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.300385723 meters 0.01495595521229614 Centerline is valid? [True, True] Translation: X:-56.82, Y:-248.30, Z:-9.01 [[-6.88649035e-01 -7.25044218e-01 8.56668116e-03 -5.68180698e+01] [ 7.24987135e-01 -6.88702315e-01 -9.09811191e-03 -2.48303022e+02] [ 1.24964266e-02 -5.46723645e-05 9.99921915e-01 -9.00680757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.330385723 meters 0.014730248652322614 Centerline is valid? [True, True] Translation: X:-56.83, Y:-248.28, Z:-9.01 [[-6.88590812e-01 -7.25107692e-01 7.84402691e-03 -5.68349442e+01] [ 7.25059896e-01 -6.88635487e-01 -8.32546009e-03 -2.48281977e+02] [ 1.14385304e-02 -4.54459842e-05 9.99934577e-01 -9.00513806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.360385723 meters 0.014809208973270902 Centerline is valid? [True, True] Translation: X:-56.85, Y:-248.26, Z:-9.00 [[-6.88716122e-01 -7.24993620e-01 7.37245924e-03 -5.68520780e+01] [ 7.24951447e-01 -6.88755580e-01 -7.81987107e-03 -2.48261778e+02] [ 1.07471791e-02 -4.09962858e-05 9.99942247e-01 -9.00463356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.390385723 meters 0.014724462242494072 Centerline is valid? [True, True] Translation: X:-56.87, Y:-248.24, Z:-9.00 [[-6.88670706e-01 -7.25041894e-01 6.84916914e-03 -5.68695986e+01] [ 7.25005542e-01 -6.88704763e-01 -7.26037481e-03 -2.48240383e+02] [ 9.98113131e-03 -3.43218560e-05 9.99950187e-01 -9.00299723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.420385723 meters 0.014704516325802356 Centerline is valid? [True, True] Translation: X:-56.89, Y:-248.22, Z:-9.00 [[-6.88572787e-01 -7.25136177e-01 6.71130776e-03 -5.68875534e+01] [ 7.25101323e-01 -6.88605493e-01 -7.10967901e-03 -2.48220563e+02] [ 9.77692884e-03 -2.91533615e-05 9.99952204e-01 -9.00299124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.450385723 meters 0.014655567494205874 Centerline is valid? [True, True] Translation: X:-56.91, Y:-248.20, Z:-9.00 [[-6.88503284e-01 -7.25198762e-01 7.06988498e-03 -5.69061567e+01] [ 7.25160134e-01 -6.88539581e-01 -7.48500339e-03 -2.48200800e+02] [ 1.02960108e-02 -2.66506822e-05 9.99946994e-01 -9.00304011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.480385723 meters 0.014701746967408016 Centerline is valid? [True, True] Translation: X:-56.92, Y:-248.18, Z:-9.00 [[-6.88069264e-01 -7.25601087e-01 7.98445236e-03 -5.69247704e+01] [ 7.25551904e-01 -6.88115588e-01 -8.44816696e-03 -2.48181147e+02] [ 1.16242253e-02 -1.97894053e-05 9.99932436e-01 -9.00415690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.510385723 meters 0.01485222375068634 Centerline is valid? [True, True] Translation: X:-56.94, Y:-248.16, Z:-9.00 [[-6.87509221e-01 -7.26124640e-01 8.60681656e-03 -5.69432288e+01] [ 7.26067586e-01 -6.87563093e-01 -9.10241496e-03 -2.48162584e+02] [ 1.25272172e-02 -8.86369353e-06 9.99921531e-01 -9.00495434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.540385723 meters 0.014935580963929957 Centerline is valid? [True, True] Translation: X:-56.96, Y:-248.14, Z:-9.01 [[-6.86212404e-01 -7.27339397e-01 9.48359381e-03 -5.69628795e+01] [ 7.27270326e-01 -6.86277933e-01 -1.00235454e-02 -2.48143696e+02] [ 1.37989006e-02 1.88551809e-05 9.99904791e-01 -9.00514542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.570385723 meters 0.014877296949754995 Centerline is valid? [True, True] Translation: X:-56.98, Y:-248.12, Z:-9.01 [[-6.85709454e-01 -7.27809323e-01 9.80475570e-03 -5.69821918e+01] [ 7.27735634e-01 -6.85779548e-01 -1.03565722e-02 -2.48124121e+02] [ 1.42615108e-02 3.36706146e-05 9.99898299e-01 -9.00510151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.600385723 meters 0.014989693984379255 Centerline is valid? [True, True] Translation: X:-57.00, Y:-248.11, Z:-9.00 [[-6.85500488e-01 -7.28008896e-01 9.59835828e-03 -5.70017850e+01] [ 7.27938384e-01 -6.85567682e-01 -1.01323021e-02 -2.48105558e+02] [ 1.39567303e-02 4.13153729e-05 9.99902599e-01 -9.00456972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.630385723 meters 0.014996367377716655 Centerline is valid? [True, True] Translation: X:-57.02, Y:-248.09, Z:-9.00 [[-6.85908747e-01 -7.27632004e-01 8.99211426e-03 -5.70211206e+01] [ 7.27570162e-01 -6.85967686e-01 -9.48650339e-03 -2.48085769e+02] [ 1.30709833e-02 3.55183652e-05 9.99914571e-01 -9.00413967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.660385723 meters 0.015037053318433996 Centerline is valid? [True, True] Translation: X:-57.04, Y:-248.07, Z:-9.00 [[-6.86295403e-01 -7.27271375e-01 8.65830129e-03 -5.70401963e+01] [ 7.27214082e-01 -6.86350017e-01 -9.12872575e-03 -2.48066311e+02] [ 1.25816862e-02 3.14361049e-05 9.99920847e-01 -9.00393979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.690385723 meters 0.014759538414900917 Centerline is valid? [True, True] Translation: X:-57.06, Y:-248.05, Z:-9.00 [[-6.87349898e-01 -7.26270869e-01 8.98573307e-03 -5.70589408e+01] [ 7.26209149e-01 -6.87408630e-01 -9.46819054e-03 -2.48046776e+02] [ 1.30533414e-02 1.75617640e-05 9.99914801e-01 -9.00378912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7203857229999 meters 0.01488964436683076 Centerline is valid? [True, True] Translation: X:-57.08, Y:-248.03, Z:-9.00 [[-6.88226771e-01 -7.25441184e-01 8.88820002e-03 -5.70767453e+01] [ 7.25380801e-01 -6.88284163e-01 -9.35978076e-03 -2.48026497e+02] [ 1.29075777e-02 5.67795341e-06 9.99916694e-01 -9.00324153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.750385723 meters 0.014826457342942806 Centerline is valid? [True, True] Translation: X:-57.09, Y:-248.01, Z:-9.00 [[-6.89960859e-01 -7.23794779e-01 8.66779525e-03 -5.70944222e+01] [ 7.23737294e-01 -6.90015302e-01 -9.12206777e-03 -2.48006107e+02] [ 1.25834164e-02 -2.06630388e-05 9.99920826e-01 -9.00110831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.780385723 meters 0.014888364156026982 Centerline is valid? [True, True] Translation: X:-57.11, Y:-247.99, Z:-9.00 [[-6.91099040e-01 -7.22711824e-01 8.35083603e-03 -5.71124666e+01] [ 7.22658455e-01 -6.91149491e-01 -8.78285016e-03 -2.47987224e+02] [ 1.21191457e-02 -3.50170515e-05 9.99926560e-01 -9.00140203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.810385723 meters 0.014723633234851706 Centerline is valid? [True, True] Translation: X:-57.13, Y:-247.97, Z:-9.00 [[-6.92419211e-01 -7.21448201e-01 8.25404398e-03 -5.71323141e+01] [ 7.21396031e-01 -6.92468404e-01 -8.67622137e-03 -2.47967123e+02] [ 1.19751090e-02 -5.31477860e-05 9.99928294e-01 -9.00032051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8403857229999 meters 0.015285723942956473 Centerline is valid? [True, True] Translation: X:-57.15, Y:-247.95, Z:-9.00 [[-6.94915563e-01 -7.19048952e-01 7.80800575e-03 -5.71496219e+01] [ 7.19002170e-01 -6.94959422e-01 -8.20255436e-03 -2.47946056e+02] [ 1.13242853e-02 -8.61095995e-05 9.99935875e-01 -9.00094636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.870385723 meters 0.015373384968973034 Centerline is valid? [True, True] Translation: X:-57.17, Y:-247.93, Z:-9.00 [[-6.97241580e-01 -7.16794923e-01 7.69530538e-03 -5.71679984e+01] [ 7.16749396e-01 -6.97284034e-01 -8.07951922e-03 -2.47925394e+02] [ 1.11571719e-02 -1.17771260e-04 9.99937750e-01 -8.99940563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.900385723 meters 0.01574691243254975 Centerline is valid? [True, True] Translation: X:-57.19, Y:-247.91, Z:-9.00 [[-6.98309749e-01 -7.15751164e-01 7.98539208e-03 -5.71854974e+01] [ 7.15702114e-01 -6.98355391e-01 -8.38045483e-03 -2.47905355e+02] [ 1.15749619e-02 -1.36991321e-04 9.99932999e-01 -8.99967532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.930385723 meters 0.01603537237582684 Centerline is valid? [True, True] Translation: X:-57.20, Y:-247.89, Z:-9.00 [[-6.99268667e-01 -7.14812649e-01 8.13681743e-03 -5.72039519e+01] [ 7.14761717e-01 -6.99315990e-01 -8.53430414e-03 -2.47885128e+02] [ 1.17906351e-02 -1.51885879e-04 9.99930477e-01 -8.99930583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.960385723 meters 0.016018748431663205 Centerline is valid? [True, True] Translation: X:-57.22, Y:-247.87, Z:-9.00 [[-7.00181982e-01 -7.13921399e-01 7.83760647e-03 -5.72226816e+01] [ 7.13874145e-01 -7.00225829e-01 -8.21552469e-03 -2.47865590e+02] [ 1.13533334e-02 -1.57297740e-04 9.99935537e-01 -8.99837975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.990385723 meters 0.016256396060168644 Centerline is valid? [True, True] Translation: X:-57.24, Y:-247.85, Z:-9.00 [[-7.01183216e-01 -7.12936736e-01 7.95663250e-03 -5.72419774e+01] [ 7.12888026e-01 -7.01228337e-01 -8.33557752e-03 -2.47846677e+02] [ 1.15221556e-02 -1.72579026e-04 9.99933603e-01 -8.99826657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.020385723 meters 0.016184077905521486 Centerline is valid? [True, True] Translation: X:-57.26, Y:-247.83, Z:-9.00 [[-7.01360423e-01 -7.12766299e-01 7.59998485e-03 -5.72613926e+01] [ 7.12721903e-01 -7.01401580e-01 -7.95696320e-03 -2.47829096e+02] [ 1.10020966e-02 -1.64023419e-04 9.99939462e-01 -8.99837938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.050385723 meters 0.016007066977964186 Centerline is valid? [True, True] Translation: X:-57.28, Y:-247.81, Z:-9.00 [[-7.00953545e-01 -7.13170115e-01 7.24672951e-03 -5.72811129e+01] [ 7.13129819e-01 -7.00990988e-01 -7.58266221e-03 -2.47810183e+02] [ 1.04876202e-02 -1.47235053e-04 9.99944993e-01 -8.99873429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.080385723 meters 0.01594249661223607 Centerline is valid? [True, True] Translation: X:-57.30, Y:-247.79, Z:-9.00 [[-7.00480538e-01 -7.13632059e-01 7.50341876e-03 -5.73009028e+01] [ 7.13588933e-01 -7.00520710e-01 -7.84664967e-03 -2.47791670e+02] [ 1.08559210e-02 -1.42068795e-04 9.99941063e-01 -8.99895114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.110385723 meters 0.016302446198142695 Centerline is valid? [True, True] Translation: X:-57.32, Y:-247.77, Z:-9.00 [[-6.99376292e-01 -7.14715973e-01 7.34028044e-03 -5.73220264e+01] [ 7.14674810e-01 -6.99414801e-01 -7.67155742e-03 -2.47774099e+02] [ 1.06168854e-02 -1.19391856e-04 9.99943632e-01 -8.99953081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.140385723 meters 0.014805513685192773 Centerline is valid? [True, True] Translation: X:-57.34, Y:-247.76, Z:-9.00 [[-6.98219031e-01 -7.15849781e-01 7.01974320e-03 -5.73436855e+01] [ 7.15812232e-01 -6.98254311e-01 -7.33250116e-03 -2.47755745e+02] [ 1.01505353e-02 -9.48738062e-05 9.99948478e-01 -8.99694945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.170385723 meters 0.01459480637094347 Centerline is valid? [True, True] Translation: X:-57.36, Y:-247.74, Z:-9.00 [[-6.96919384e-01 -7.17118120e-01 6.70625963e-03 -5.73641075e+01] [ 7.17083954e-01 -6.96951646e-01 -7.00048551e-03 -2.47739471e+02] [ 9.69411370e-03 -6.98228788e-05 9.99953009e-01 -8.99739265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.200385723 meters 0.01575380273629407 Centerline is valid? [True, True] Translation: X:-57.38, Y:-247.72, Z:-9.00 [[-6.96698948e-01 -7.17330933e-01 6.84901959e-03 -5.73842308e+01] [ 7.17295349e-01 -6.96732609e-01 -7.14513467e-03 -2.47720903e+02] [ 9.89736141e-03 -6.52379097e-05 9.99951018e-01 -8.99864952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.230385723 meters 0.014333337400775432 Centerline is valid? [True, True] Translation: X:-57.40, Y:-247.70, Z:-9.00 [[-6.95630366e-01 -7.18375254e-01 5.94885647e-03 -5.74033563e+01] [ 7.18348481e-01 -6.95655801e-01 -6.20207469e-03 -2.47703009e+02] [ 8.59377349e-03 -4.09994740e-05 9.99963072e-01 -8.99752706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.260385723 meters 0.014221961928477697 Centerline is valid? [True, True] Translation: X:-57.42, Y:-247.68, Z:-9.00 [[-6.94726434e-01 -7.19253444e-01 5.44657441e-03 -5.74232630e+01] [ 7.19231056e-01 -6.94747784e-01 -5.67501022e-03 -2.47684691e+02] [ 7.86576614e-03 -2.52341496e-05 9.99969064e-01 -8.99677503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.290385723 meters 0.014128170401081032 Centerline is valid? [True, True] Translation: X:-57.44, Y:-247.67, Z:-9.00 [[-6.94660004e-01 -7.19318669e-01 5.30388225e-03 -5.74426240e+01] [ 7.19297466e-01 -6.94680252e-01 -5.52303652e-03 -2.47665412e+02] [ 7.65732554e-03 -2.15635139e-05 9.99970682e-01 -8.99672573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.320385723 meters 0.014224903789799445 Centerline is valid? [True, True] Translation: X:-57.46, Y:-247.65, Z:-9.00 [[-6.95039672e-01 -7.18952227e-01 5.24880010e-03 -5.74622174e+01] [ 7.18931476e-01 -6.95059490e-01 -5.46244234e-03 -2.47646145e+02] [ 7.57546340e-03 -2.30865364e-05 9.99971306e-01 -8.99728395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.350385723 meters 0.01432919169503506 Centerline is valid? [True, True] Translation: X:-57.48, Y:-247.63, Z:-9.00 [[-6.95655580e-01 -7.18358872e-01 4.88324305e-03 -5.74817814e+01] [ 7.18340917e-01 -6.95672718e-01 -5.07900701e-03 -2.47627021e+02] [ 7.04568871e-03 -2.54062774e-05 9.99975179e-01 -8.99751204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.380385723 meters 0.016544309083454826 Centerline is valid? [True, True] Translation: X:-57.50, Y:-247.61, Z:-9.00 [[-6.96497462e-01 -7.17540440e-01 5.19640035e-03 -5.75017620e+01] [ 7.17520108e-01 -6.96516845e-01 -5.40171894e-03 -2.47607059e+02] [ 7.49533216e-03 -3.37617902e-05 9.99971909e-01 -8.99867585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.410385723 meters 0.014117637287810049 Centerline is valid? [True, True] Translation: X:-57.52, Y:-247.59, Z:-9.00 [[-6.96706900e-01 -7.17346307e-01 3.71105417e-03 -5.75198464e+01] [ 7.17335946e-01 -6.96716783e-01 -3.85546305e-03 -2.47586879e+02] [ 5.35125590e-03 -2.40551563e-05 9.99985682e-01 -8.99612147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.440385723 meters 0.014424478210627693 Centerline is valid? [True, True] Translation: X:-57.54, Y:-247.57, Z:-9.00 [[-6.97389075e-01 -7.16684030e-01 3.53250566e-03 -5.75364789e+01] [ 7.16674647e-01 -6.97398021e-01 -3.66758555e-03 -2.47566169e+02] [ 5.09206245e-03 -2.60768518e-05 9.99987035e-01 -8.99723609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4703857229999 meters 0.014173039659530937 Centerline is valid? [True, True] Translation: X:-57.56, Y:-247.55, Z:-9.00 [[-6.98105356e-01 -7.15988950e-01 2.95554934e-03 -5.75559068e+01] [ 7.15982383e-01 -6.98111612e-01 -3.06669982e-03 -2.47547688e+02] [ 4.25902650e-03 -2.47583141e-05 9.99990930e-01 -8.99642666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.500385723 meters 0.01412825566119967 Centerline is valid? [True, True] Translation: X:-57.58, Y:-247.53, Z:-9.00 [[-6.98342778e-01 -7.15758183e-01 2.75478583e-03 -5.75765645e+01] [ 7.15752482e-01 -6.98348211e-01 -2.85678243e-03 -2.47528093e+02] [ 3.96856516e-03 -2.32685828e-05 9.99992125e-01 -8.99679437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.530385723 meters 0.014120035476805903 Centerline is valid? [True, True] Translation: X:-57.60, Y:-247.51, Z:-9.00 [[-6.98469066e-01 -7.15634109e-01 2.96422260e-03 -5.75958157e+01] [ 7.15627515e-01 -6.98475355e-01 -3.07215646e-03 -2.47508976e+02] [ 4.26897638e-03 -2.45270023e-05 9.99990888e-01 -8.99802882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.560385723 meters 0.014012715994235222 Centerline is valid? [True, True] Translation: X:-57.61, Y:-247.49, Z:-9.00 [[-6.98126611e-01 -7.15965496e-01 3.55581461e-03 -5.76142644e+01] [ 7.15956024e-01 -6.98135666e-01 -3.68290470e-03 -2.47490314e+02] [ 5.11927369e-03 -2.53268830e-05 9.99986896e-01 -8.99980611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5903857229999 meters 0.014030998008462348 Centerline is valid? [True, True] Translation: X:-57.63, Y:-247.47, Z:-9.00 [[-6.98139257e-01 -7.15953131e-01 3.56264893e-03 -5.76334247e+01] [ 7.15943634e-01 -6.98148347e-01 -3.68769974e-03 -2.47470675e+02] [ 5.12747763e-03 -2.38721324e-05 9.99986854e-01 -8.99997259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.620385723 meters 0.013924637367765572 Centerline is valid? [True, True] Translation: X:-57.65, Y:-247.45, Z:-9.00 [[-6.98171606e-01 -7.15922810e-01 3.30739208e-03 -5.76528113e+01] [ 7.15914634e-01 -6.98179440e-01 -3.42158959e-03 -2.47450336e+02] [ 4.75874718e-03 -2.10463082e-05 9.99988677e-01 -8.99990982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.650385723 meters 0.014019082797891635 Centerline is valid? [True, True] Translation: X:-57.67, Y:-247.43, Z:-9.00 [[-6.98743418e-01 -7.15365770e-01 3.07436288e-03 -5.76710209e+01] [ 7.15358709e-01 -6.98750181e-01 -3.17843498e-03 -2.47432020e+02] [ 4.42195520e-03 -2.16382574e-05 9.99990223e-01 -9.00052559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.680385723 meters 0.014019082797891635 Centerline is valid? [True, True] Translation: X:-57.69, Y:-247.41, Z:-9.00 [[-6.98961570e-01 -7.15152617e-01 3.07533221e-03 -5.76897041e+01] [ 7.15145559e-01 -6.98968335e-01 -3.17749711e-03 -2.47412843e+02] [ 4.42195520e-03 -2.16381961e-05 9.99990223e-01 -9.00052552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.710385723 meters 0.013935668584407424 Centerline is valid? [True, True] Translation: X:-57.71, Y:-247.39, Z:-9.00 [[-6.99257794e-01 -7.14862683e-01 3.14377228e-03 -5.77089867e+01] [ 7.14855312e-01 -6.99264860e-01 -3.24621344e-03 -2.47393957e+02] [ 4.51892633e-03 -2.25977312e-05 9.99989789e-01 -9.00136086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.740385723 meters 0.013931025546757842 Centerline is valid? [True, True] Translation: X:-57.73, Y:-247.37, Z:-9.00 [[-6.99814214e-01 -7.14318890e-01 2.93079643e-03 -5.77274522e+01] [ 7.14312487e-01 -6.99820351e-01 -3.02443786e-03 -2.47374408e+02] [ 4.21144408e-03 -2.30401156e-05 9.99991132e-01 -9.00215562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.770385723 meters 0.014052101999371623 Centerline is valid? [True, True] Translation: X:-57.74, Y:-247.35, Z:-9.00 [[-7.00307287e-01 -7.13835529e-01 2.92246992e-03 -5.77447468e+01] [ 7.13829167e-01 -7.00313384e-01 -3.01390162e-03 -2.47354886e+02] [ 4.19807486e-03 -2.45130018e-05 9.99991188e-01 -9.00197648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.800385723 meters 0.014107159199812999 Centerline is valid? [True, True] Translation: X:-57.76, Y:-247.33, Z:-9.00 [[-7.01431939e-01 -7.12730729e-01 2.85374197e-03 -5.77621765e+01] [ 7.12724660e-01 -7.01437743e-01 -2.94119862e-03 -2.47334035e+02] [ 4.09800496e-03 -2.91183689e-05 9.99991603e-01 -9.00153704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.830385723 meters 0.01410948084151752 Centerline is valid? [True, True] Translation: X:-57.78, Y:-247.31, Z:-9.00 [[-7.02310865e-01 -7.11865000e-01 2.76955971e-03 -5.77816263e+01] [ 7.11859285e-01 -7.02316325e-01 -2.85286603e-03 -2.47313620e+02] [ 3.97596248e-03 -3.20620136e-05 9.99992095e-01 -9.00222583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.860385723 meters 0.014660952364289725 Centerline is valid? [True, True] Translation: X:-57.80, Y:-247.29, Z:-9.00 [[-7.03564412e-01 -7.10625671e-01 2.87657739e-03 -5.77993442e+01] [ 7.10619502e-01 -7.03570291e-01 -2.96118477e-03 -2.47294005e+02] [ 4.12816831e-03 -3.92322252e-05 9.99991478e-01 -9.00309017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.890385723 meters 0.014167864192054668 Centerline is valid? [True, True] Translation: X:-57.82, Y:-247.27, Z:-9.00 [[-7.04021830e-01 -7.10173676e-01 2.57132170e-03 -5.78186051e+01] [ 7.10168750e-01 -7.04026525e-01 -2.64547678e-03 -2.47273800e+02] [ 3.68902665e-03 -3.64010845e-05 9.99993195e-01 -9.00242802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.920385723 meters 0.01427947984531285 Centerline is valid? [True, True] Translation: X:-57.84, Y:-247.25, Z:-9.00 [[-7.04301522e-01 -7.09895412e-01 2.80546948e-03 -5.78368340e+01] [ 7.09889550e-01 -7.04307108e-01 -2.88520196e-03 -2.47253287e+02] [ 4.02410373e-03 -4.04786629e-05 9.99991903e-01 -9.00235393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.950385723 meters 0.014250682961959598 Centerline is valid? [True, True] Translation: X:-57.85, Y:-247.23, Z:-9.00 [[-7.04301165e-01 -7.09896325e-01 2.66017398e-03 -5.78547469e+01] [ 7.09891059e-01 -7.04306188e-01 -2.73449218e-03 -2.47234162e+02] [ 3.81478295e-03 -3.74723065e-05 9.99992723e-01 -9.00200436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.980385723 meters 0.014104717099404187 Centerline is valid? [True, True] Translation: X:-57.87, Y:-247.21, Z:-9.00 [[-7.04468354e-01 -7.09728413e-01 3.14933527e-03 -5.78743471e+01] [ 7.09721039e-01 -7.04475392e-01 -3.23553379e-03 -2.47213746e+02] [ 4.51497946e-03 -4.41816674e-05 9.99989807e-01 -9.00189822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.010385723 meters 0.01399877641517772 Centerline is valid? [True, True] Translation: X:-57.89, Y:-247.19, Z:-9.00 [[-7.04690851e-01 -7.09504871e-01 3.69370252e-03 -5.78931802e+01] [ 7.09494737e-01 -7.04700529e-01 -3.79246196e-03 -2.47193406e+02] [ 5.29372436e-03 -5.18507477e-05 9.99985987e-01 -9.00238374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.040385723 meters 0.013962019464333062 Centerline is valid? [True, True] Translation: X:-57.91, Y:-247.17, Z:-9.00 [[-7.04718153e-01 -7.09477709e-01 3.70204094e-03 -5.79123002e+01] [ 7.09467540e-01 -7.04727875e-01 -3.79893556e-03 -2.47173315e+02] [ 5.30419154e-03 -5.07009694e-05 9.99985931e-01 -9.00251166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.070385723 meters 0.014026044274761975 Centerline is valid? [True, True] Translation: X:-57.93, Y:-247.15, Z:-9.00 [[-7.04879589e-01 -7.09318027e-01 3.56393006e-03 -5.79313414e+01] [ 7.09308611e-01 -7.04888597e-01 -3.65518923e-03 -2.47152832e+02] [ 5.10486528e-03 -4.85420019e-05 9.99986969e-01 -9.00208269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.100385723 meters 0.013842406943857664 Centerline is valid? [True, True] Translation: X:-57.95, Y:-247.13, Z:-9.00 [[-7.04404135e-01 -7.09790474e-01 3.50682304e-03 -5.79505760e+01] [ 7.09781373e-01 -7.04412863e-01 -3.59464225e-03 -2.47132807e+02] [ 5.02169408e-03 -4.30031971e-05 9.99987390e-01 -9.00193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.130385723 meters 0.01392690700469145 Centerline is valid? [True, True] Translation: X:-57.97, Y:-247.11, Z:-9.00 [[-7.04325397e-01 -7.09868255e-01 3.57713225e-03 -5.79691046e+01] [ 7.09858795e-01 -7.04334480e-01 -3.66495603e-03 -2.47114328e+02] [ 5.12113352e-03 -4.20628226e-05 9.99986886e-01 -9.00271661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.160385723 meters 0.013733016432703183 Centerline is valid? [True, True] Translation: X:-57.99, Y:-247.09, Z:-9.00 [[-7.04124236e-01 -7.10066329e-01 3.85584496e-03 -5.79890645e+01] [ 7.10055353e-01 -7.04134793e-01 -3.94833913e-03 -2.47093906e+02] [ 5.51861726e-03 -4.22579240e-05 9.99984772e-01 -9.00334843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.190385723 meters 0.013745421983826932 Centerline is valid? [True, True] Translation: X:-58.01, Y:-247.07, Z:-9.00 [[-7.04294812e-01 -7.09896408e-01 3.98836364e-03 -5.80076957e+01] [ 7.09884676e-01 -7.04306104e-01 -4.08150961e-03 -2.47073767e+02] [ 5.70647787e-03 -4.33078167e-05 9.99983717e-01 -9.00320780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2203857229999 meters 0.013809869689686494 Centerline is valid? [True, True] Translation: X:-58.03, Y:-247.05, Z:-9.00 [[-7.04400209e-01 -7.09794673e-01 3.44498920e-03 -5.80253378e+01] [ 7.09785930e-01 -7.04408632e-01 -3.52315989e-03 -2.47054262e+02] [ 4.92740025e-03 -3.65096941e-05 9.99987860e-01 -9.00299509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.250385723 meters 0.013847359530971987 Centerline is valid? [True, True] Translation: X:-58.04, Y:-247.03, Z:-9.00 [[-7.05024937e-01 -7.09178580e-01 2.36197201e-03 -5.80432101e+01] [ 7.09174472e-01 -7.05028893e-01 -2.41409474e-03 -2.47033385e+02] [ 3.37728279e-03 -2.69467376e-05 9.99994297e-01 -9.00148770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.280385723 meters 0.013908730852574627 Centerline is valid? [True, True] Translation: X:-58.06, Y:-247.01, Z:-9.00 [[-7.05618263e-01 -7.08589986e-01 1.76067688e-03 -5.80619383e+01] [ 7.08587704e-01 -7.05620459e-01 -1.79843038e-03 -2.47013710e+02] [ 2.51671938e-03 -2.14113337e-05 9.99996833e-01 -9.00124106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.310385723 meters 0.014263931593491885 Centerline is valid? [True, True] Translation: X:-58.08, Y:-246.99, Z:-9.00 [[-7.06867184e-01 -7.07344093e-01 1.76576561e-03 -5.80806497e+01] [ 7.07341797e-01 -7.06869389e-01 -1.80247449e-03 -2.46994827e+02] [ 2.52313534e-03 -2.51102476e-05 9.99996817e-01 -9.00267793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3403857229999 meters 0.014220551195898512 Centerline is valid? [True, True] Translation: X:-58.10, Y:-246.98, Z:-9.00 [[-7.07528366e-01 -7.06682363e-01 1.91017098e-03 -5.81007942e+01] [ 7.06679677e-01 -7.07530944e-01 -1.94879612e-03 -2.46975646e+02] [ 2.72868493e-03 -2.89495252e-05 9.99996277e-01 -9.00353269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.370385723 meters 0.01420438245654301 Centerline is valid? [True, True] Translation: X:-58.12, Y:-246.96, Z:-9.00 [[-7.08070430e-01 -7.06139297e-01 1.88670478e-03 -5.81199962e+01] [ 7.06136677e-01 -7.08072943e-01 -1.92378008e-03 -2.46955573e+02] [ 2.69438132e-03 -2.99003408e-05 9.99996370e-01 -9.00361591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.400385723 meters 0.01460603620835095 Centerline is valid? [True, True] Translation: X:-58.14, Y:-246.93, Z:-9.00 [[-7.09122574e-01 -7.05082909e-01 1.80715971e-03 -5.81373407e+01] [ 7.05080505e-01 -7.09124877e-01 -1.84158754e-03 -2.46933999e+02] [ 2.57997381e-03 -3.17182121e-05 9.99996671e-01 -9.00331144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.430385723 meters 0.014805413917651755 Centerline is valid? [True, True] Translation: X:-58.16, Y:-246.91, Z:-9.00 [[-7.09951584e-01 -7.04248524e-01 1.66282547e-03 -5.81560505e+01] [ 7.04246489e-01 -7.09953531e-01 -1.69345670e-03 -2.46913688e+02] [ 2.37314319e-03 -3.12332701e-05 9.99997184e-01 -9.00354913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.460385723 meters 0.015046609420422345 Centerline is valid? [True, True] Translation: X:-58.18, Y:-246.90, Z:-9.01 [[-7.11349562e-01 -7.02834775e-01 2.25402082e-03 -5.81764971e+01] [ 7.02831032e-01 -7.11353131e-01 -2.29420385e-03 -2.46896271e+02] [ 3.21585101e-03 -4.77851186e-05 9.99994828e-01 -9.00591530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.490385723 meters 0.015207974908705157 Centerline is valid? [True, True] Translation: X:-58.20, Y:-246.88, Z:-9.01 [[-7.11918052e-01 -7.02258055e-01 2.51226637e-03 -5.81956249e+01] [ 7.02253408e-01 -7.11922483e-01 -2.55542381e-03 -2.46878614e+02] [ 3.58310586e-03 -5.50047262e-05 9.99993579e-01 -9.00732082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.520385723 meters 0.015211907944403072 Centerline is valid? [True, True] Translation: X:-58.21, Y:-246.86, Z:-9.01 [[-7.12429243e-01 -7.01739382e-01 2.53270646e-03 -5.82148673e+01] [ 7.01734661e-01 -7.12433742e-01 -2.57465744e-03 -2.46859714e+02] [ 3.61112407e-03 -5.69733438e-05 9.99993478e-01 -9.00802193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.550385723 meters 0.015514292788211398 Centerline is valid? [True, True] Translation: X:-58.23, Y:-246.84, Z:-9.01 [[-7.13343298e-01 -7.00810893e-01 2.33049446e-03 -5.82315463e+01] [ 7.00806895e-01 -7.13347103e-01 -2.36767261e-03 -2.46838496e+02] [ 3.32174223e-03 -5.57368027e-05 9.99994482e-01 -9.00664615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.580385723 meters 0.015661984844702687 Centerline is valid? [True, True] Translation: X:-58.25, Y:-246.82, Z:-9.01 [[-7.14002403e-01 -7.00139636e-01 2.24932309e-03 -5.82499445e+01] [ 7.00135913e-01 -7.14005943e-01 -2.28382834e-03 -2.46818741e+02] [ 3.20502880e-03 -5.58270510e-05 9.99994862e-01 -9.00629108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.610385723 meters 0.015883727028447234 Centerline is valid? [True, True] Translation: X:-58.27, Y:-246.80, Z:-9.01 [[-7.14644853e-01 -6.99481079e-01 2.99235534e-03 -5.82704708e+01] [ 6.99474493e-01 -7.14651114e-01 -3.03643806e-03 -2.46800300e+02] [ 4.26242104e-03 -7.68985944e-05 9.99990913e-01 -9.00834604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.640385723 meters 0.015855062599140497 Centerline is valid? [True, True] Translation: X:-58.29, Y:-246.78, Z:-9.01 [[-7.14645085e-01 -6.99477578e-01 3.67700449e-03 -5.82908029e+01] [ 6.99467645e-01 -7.14654538e-01 -3.72892655e-03 -2.46782474e+02] [ 5.23608846e-03 -9.29133635e-05 9.99986287e-01 -9.00992436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.670385723 meters 0.015970768195498718 Centerline is valid? [True, True] Translation: X:-58.31, Y:-246.76, Z:-9.01 [[-7.14824561e-01 -6.99292915e-01 3.90709078e-03 -5.83098201e+01] [ 6.99281711e-01 -7.14835232e-01 -3.95976408e-03 -2.46764792e+02] [ 5.56196111e-03 -9.83794998e-05 9.99984527e-01 -9.01111277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.700385723 meters 0.01586515143169905 Centerline is valid? [True, True] Translation: X:-58.33, Y:-246.75, Z:-9.01 [[-7.14520795e-01 -6.99603921e-01 3.79307930e-03 -5.83282356e+01] [ 6.99593378e-01 -7.14530857e-01 -3.84181539e-03 -2.46745961e+02] [ 5.39802131e-03 -9.14438250e-05 9.99985426e-01 -9.01017874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.730385723 meters 0.01609582723988631 Centerline is valid? [True, True] Translation: X:-58.35, Y:-246.73, Z:-9.01 [[-7.14967543e-01 -6.99150552e-01 3.14931133e-03 -5.83462921e+01] [ 6.99143289e-01 -7.14974475e-01 -3.18780182e-03 -2.46726607e+02] [ 4.48043062e-03 -7.73549536e-05 9.99989960e-01 -9.00918100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.760385723 meters 0.015369443708901106 Centerline is valid? [True, True] Translation: X:-58.37, Y:-246.71, Z:-9.01 [[-7.16115846e-01 -6.97978840e-01 1.90658868e-03 -5.83684674e+01] [ 6.97976176e-01 -7.16118382e-01 -1.92881140e-03 -2.46708885e+02] [ 2.71161275e-03 -5.04989269e-05 9.99996322e-01 -9.00770389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.790385723 meters 0.016417489081413383 Centerline is valid? [True, True] Translation: X:-58.39, Y:-246.69, Z:-9.01 [[-7.16747870e-01 -6.97330045e-01 1.81625363e-03 -5.83869591e+01] [ 6.97327629e-01 -7.16750170e-01 -1.83634311e-03 -2.46688526e+02] [ 2.58233732e-03 -4.96711769e-05 9.99996665e-01 -9.00859337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.820385723 meters 0.016578629852559038 Centerline is valid? [True, True] Translation: X:-58.41, Y:-246.67, Z:-9.01 [[-7.17070168e-01 -6.96998758e-01 1.76200032e-03 -5.84069753e+01] [ 6.96996486e-01 -7.17072331e-01 -1.78044597e-03 -2.46670120e+02] [ 2.50445031e-03 -4.85966618e-05 9.99996863e-01 -9.00923858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.850385723 meters 0.01588655426510301 Centerline is valid? [True, True] Translation: X:-58.43, Y:-246.65, Z:-9.01 [[-7.17275190e-01 -6.96787897e-01 1.71136414e-03 -5.84287857e+01] [ 6.96785755e-01 -7.17277230e-01 -1.72822410e-03 -2.46652722e+02] [ 2.43172817e-03 -4.71581108e-05 9.99997042e-01 -9.01000395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.880385723 meters 0.015895097224210723 Centerline is valid? [True, True] Translation: X:-58.45, Y:-246.63, Z:-9.01 [[-7.17507277e-01 -6.96548848e-01 1.73517203e-03 -5.84479490e+01] [ 6.96546648e-01 -7.17509373e-01 -1.75119625e-03 -2.46633661e+02] [ 2.46479593e-03 -4.78677947e-05 9.99996961e-01 -9.00973256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.910385723 meters 0.01609340357214073 Centerline is valid? [True, True] Translation: X:-58.47, Y:-246.62, Z:-9.01 [[-7.17389233e-01 -6.96670591e-01 1.66619966e-03 -5.84665032e+01] [ 6.96668566e-01 -7.17391166e-01 -1.68050846e-03 -2.46615622e+02] [ 2.36607774e-03 -4.47897449e-05 9.99997200e-01 -9.00901034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.940385723 meters 0.015805972647997702 Centerline is valid? [True, True] Translation: X:-58.49, Y:-246.60, Z:-9.01 [[-7.17342110e-01 -6.96718834e-01 1.77844433e-03 -5.84873124e+01] [ 6.96716530e-01 -7.17344313e-01 -1.79263033e-03 -2.46597972e+02] [ 2.52471624e-03 -4.68576599e-05 9.99996812e-01 -9.00930729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9703857229999 meters 0.015614570303532584 Centerline is valid? [True, True] Translation: X:-58.51, Y:-246.58, Z:-9.01 [[-7.17285928e-01 -6.96775771e-01 2.10296411e-03 -5.85087990e+01] [ 6.96772553e-01 -7.17289008e-01 -2.11844378e-03 -2.46580301e+02] [ 2.98451334e-03 -5.42422412e-05 9.99995545e-01 -9.01015375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.000385723 meters 0.015494328771350688 Centerline is valid? [True, True] Translation: X:-58.53, Y:-246.56, Z:-9.01 [[-7.16572637e-01 -6.97506970e-01 2.77185415e-03 -5.85292928e+01] [ 6.97501392e-01 -7.16577995e-01 -2.79046940e-03 -2.46564020e+02] [ 3.93262155e-03 -6.62018934e-05 9.99992265e-01 -9.01182680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.030385723 meters 0.015299281949019436 Centerline is valid? [True, True] Translation: X:-58.55, Y:-246.55, Z:-9.01 [[-7.16449613e-01 -6.97632054e-01 3.07741316e-03 -5.85495914e+01] [ 6.97625187e-01 -7.16456218e-01 -3.09617472e-03 -2.46545528e+02] [ 4.36482253e-03 -7.13722484e-05 9.99990472e-01 -9.01205890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.060385723 meters 0.015941367972191468 Centerline is valid? [True, True] Translation: X:-58.57, Y:-246.53, Z:-9.01 [[-7.16806075e-01 -6.97265839e-01 3.06586127e-03 -5.85684379e+01] [ 6.97259029e-01 -7.16812628e-01 -3.08256689e-03 -2.46527504e+02] [ 4.34701667e-03 -7.19032241e-05 9.99990549e-01 -9.01227265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0903857229999 meters 0.015524508869474037 Centerline is valid? [True, True] Translation: X:-58.59, Y:-246.51, Z:-9.01 [[-7.17459371e-01 -6.96596129e-01 2.42579488e-03 -5.85890960e+01] [ 6.96591866e-01 -7.17463470e-01 -2.43753104e-03 -2.46509785e+02] [ 3.43839389e-03 -5.90405044e-05 9.99994087e-01 -9.01161082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.120385723 meters 0.015421376425393462 Centerline is valid? [True, True] Translation: X:-58.61, Y:-246.49, Z:-9.01 [[-7.18167493e-01 -6.95866537e-01 2.28367123e-03 -5.86099065e+01] [ 6.95862760e-01 -7.18171121e-01 -2.29346416e-03 -2.46490505e+02] [ 3.23601170e-03 -5.79696395e-05 9.99994763e-01 -9.01070245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.150385723 meters 0.01600841405012492 Centerline is valid? [True, True] Translation: X:-58.63, Y:-246.47, Z:-9.01 [[-7.19380603e-01 -6.94610803e-01 2.71668526e-03 -5.86299771e+01] [ 6.94605455e-01 -7.19385729e-01 -2.72675985e-03 -2.46471847e+02] [ 3.84838145e-03 -7.45537447e-05 9.99992592e-01 -9.01127168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.180385723 meters 0.01617914886379587 Centerline is valid? [True, True] Translation: X:-58.65, Y:-246.45, Z:-9.01 [[-7.20083002e-01 -6.93881387e-01 3.01522519e-03 -5.86497427e+01] [ 6.93874800e-01 -7.20089310e-01 -3.02458296e-03 -2.46453467e+02] [ 4.26993325e-03 -8.57620050e-05 9.99990880e-01 -9.01170799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.210385723 meters 0.016757409584216853 Centerline is valid? [True, True] Translation: X:-58.67, Y:-246.44, Z:-9.01 [[-7.20721444e-01 -6.93221024e-01 2.28281048e-03 -5.86698254e+01] [ 6.93217249e-01 -7.20725056e-01 -2.28882954e-03 -2.46436058e+02] [ 3.23194347e-03 -6.71249310e-05 9.99994775e-01 -9.01169566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.240385723 meters 0.015889833674276297 Centerline is valid? [True, True] Translation: X:-58.69, Y:-246.42, Z:-9.01 [[-7.20937795e-01 -6.92997805e-01 1.65446957e-03 -5.86913237e+01] [ 6.92995824e-01 -7.20939692e-01 -1.65781533e-03 -2.46419495e+02] [ 2.34163516e-03 -4.86412277e-05 9.99997257e-01 -9.01072770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.270385723 meters 0.016509542980927803 Centerline is valid? [True, True] Translation: X:-58.71, Y:-246.40, Z:-9.01 [[-7.20925236e-01 -6.93011074e-01 1.56735032e-03 -5.87115172e+01] [ 6.93009297e-01 -7.20926938e-01 -1.56977557e-03 -2.46402760e+02] [ 2.21781692e-03 -4.55024810e-05 9.99997540e-01 -9.01109755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.300385723 meters 0.016218444379985826 Centerline is valid? [True, True] Translation: X:-58.73, Y:-246.39, Z:-9.01 [[-7.20815210e-01 -6.93123953e-01 2.14933954e-03 -5.87327618e+01] [ 6.93120616e-01 -7.20818412e-01 -2.15137978e-03 -2.46385180e+02] [ 3.04045637e-03 -6.09957211e-05 9.99995376e-01 -9.01163943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.330385723 meters 0.015272119114191568 Centerline is valid? [True, True] Translation: X:-58.76, Y:-246.37, Z:-9.01 [[-7.20897364e-01 -6.93035326e-01 3.00475058e-03 -5.87557081e+01] [ 6.93028812e-01 -7.20903621e-01 -3.00591476e-03 -2.46368711e+02] [ 4.24934068e-03 -8.45773010e-05 9.99990968e-01 -9.01195255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.360385723 meters 0.015453777019573157 Centerline is valid? [True, True] Translation: X:-58.78, Y:-246.35, Z:-9.01 [[-7.21101984e-01 -6.92823007e-01 2.86524505e-03 -5.87775630e+01] [ 6.92817087e-01 -7.21107672e-01 -2.86518110e-03 -2.46352386e+02] [ 4.05121357e-03 -8.09970452e-05 9.99991791e-01 -9.01316080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.390385723 meters 0.016485551599829274 Centerline is valid? [True, True] Translation: X:-59.29, Y:-246.87, Z:-8.06 [[-7.41923930e-01 6.70475613e-01 3.36671230e-03 -5.92920112e+01] [ 6.70469260e-01 7.41931563e-01 -2.92016453e-03 -2.46869408e+02] [-4.45576923e-03 9.07371582e-05 -9.99990069e-01 -8.05627185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.420385723 meters 0.015669048528195017 Centerline is valid? [True, True] Translation: X:-59.27, Y:-246.84, Z:-8.06 [[-7.87308637e-01 6.16548432e-01 3.62505117e-03 -5.92702236e+01] [ 6.16542440e-01 7.87316977e-01 -2.71977197e-03 -2.46842345e+02] [-4.53093547e-03 9.36979321e-05 -9.99989731e-01 -8.05714683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.450385723 meters 0.015457018534652726 Centerline is valid? [True, True] Translation: X:-59.25, Y:-246.82, Z:-8.06 [[-8.29091247e-01 5.59100766e-01 3.74680507e-03 -5.92512409e+01] [ 5.59095550e-01 8.29099708e-01 -2.41661672e-03 -2.46817024e+02] [-4.45760725e-03 9.12262716e-05 -9.99990061e-01 -8.05720725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.480385723 meters 0.01569718424495777 Centerline is valid? [True, True] Translation: X:-59.24, Y:-246.79, Z:-8.06 [[-8.66588736e-01 4.99010354e-01 3.55374310e-03 -5.92391816e+01] [ 4.99006548e-01 8.66596019e-01 -1.95065877e-03 -2.46788689e+02] [-4.05305855e-03 8.29221568e-05 -9.99991783e-01 -8.05712061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.510385723 meters 0.015725730889046753 Centerline is valid? [True, True] Translation: X:-59.22, Y:-246.76, Z:-8.06 [[-8.99917815e-01 4.36044442e-01 3.62929454e-03 -5.92223455e+01] [ 4.36041254e-01 8.99925129e-01 -1.66924537e-03 -2.46761006e+02] [-3.99395852e-03 8.03384970e-05 -9.99992021e-01 -8.05753882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.540385723 meters 0.01614209896394999 Centerline is valid? [True, True] Translation: X:-59.21, Y:-246.73, Z:-8.06 [[-9.28666998e-01 3.70894938e-01 3.81465831e-03 -5.92139374e+01] [ 3.70892165e-01 9.28674829e-01 -1.43657550e-03 -2.46731830e+02] [-4.07539574e-03 8.07266261e-05 -9.99991692e-01 -8.05706796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.570385723 meters 0.015545630309162938 Centerline is valid? [True, True] Translation: X:-59.20, Y:-246.70, Z:-8.06 [[-9.52896928e-01 3.03266419e-01 4.11383687e-03 -5.92005196e+01] [ 3.03263959e-01 9.52905805e-01 -1.22415469e-03 -2.46700762e+02] [-4.29134405e-03 8.10852159e-05 -9.99990789e-01 -8.05660015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.600385723 meters 0.015402800701672551 Centerline is valid? [True, True] Translation: X:-59.00, Y:-246.04, Z:-9.01 [[-9.43270075e-01 -3.31996958e-01 4.42557203e-03 -5.90044472e+01] [ 3.31992994e-01 -9.43280455e-01 -1.62355792e-03 -2.46038460e+02] [ 4.71357188e-03 -6.21946953e-05 9.99988889e-01 -9.01338724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.630385723 meters 0.015402800701672551 Centerline is valid? [True, True] Translation: X:-59.25, Y:-246.68, Z:-8.06 [[-9.54243753e-01 2.98995688e-01 4.52096725e-03 -5.92522704e+01] [ 2.98992757e-01 9.54254458e-01 -1.32662153e-03 -2.46684796e+02] [-4.71080727e-03 8.58161549e-05 -9.99988900e-01 -8.05662889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.660385723 meters 0.015269672605694787 Centerline is valid? [True, True] Translation: X:-59.24, Y:-246.66, Z:-8.06 [[-9.73143221e-01 2.30152442e-01 4.70365983e-03 -5.92438260e+01] [ 2.30150178e-01 9.73154585e-01 -1.02444855e-03 -2.46655413e+02] [-4.81316746e-03 8.56129878e-05 -9.99988413e-01 -8.05674694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.690385723 meters 0.014959349185441638 Centerline is valid? [True, True] Translation: X:-59.24, Y:-246.62, Z:-8.06 [[-9.87068815e-01 1.60231862e-01 4.57224033e-03 -5.92423476e+01] [ 1.60230523e-01 9.87079401e-01 -6.60141210e-04 -2.46623998e+02] [-4.61893991e-03 8.10076567e-05 -9.99989329e-01 -8.05707302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7203857229999 meters 0.014308041299046205 Centerline is valid? [True, True] Translation: X:-59.15, Y:-245.95, Z:-9.01 [[-9.81029078e-01 -1.93811723e-01 4.35485350e-03 -5.91460216e+01] [ 1.93809410e-01 -9.81038740e-01 -9.50960607e-04 -2.45951637e+02] [ 4.45658730e-03 -8.89084207e-05 9.99990065e-01 -9.01285069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.750385723 meters 0.014043974348387854 Centerline is valid? [True, True] Translation: X:-59.30, Y:-246.61, Z:-8.06 [[-9.88255605e-01 1.52746803e-01 4.39011653e-03 -5.93020764e+01] [ 1.52745576e-01 9.88265354e-01 -6.15480197e-04 -2.46610997e+02] [-4.43261270e-03 6.23191244e-05 -9.99990174e-01 -8.05762593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.780385723 meters 0.01389399328393753 Centerline is valid? [True, True] Translation: X:-59.21, Y:-245.95, Z:-9.01 [[-9.81264801e-01 -1.92613818e-01 4.39397717e-03 -5.92053380e+01] [ 1.92611616e-01 -9.81274637e-01 -9.23004656e-04 -2.45945483e+02] [ 4.48948180e-03 -5.93809375e-05 9.99989921e-01 -9.01226747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.810385723 meters 0.013773349759633166 Centerline is valid? [True, True] Translation: X:-59.36, Y:-246.60, Z:-8.06 [[-9.89212569e-01 1.46418242e-01 4.49353556e-03 -5.93600809e+01] [ 1.46416976e-01 9.89222773e-01 -6.11368736e-04 -2.46602039e+02] [-4.53462325e-03 5.31562492e-05 -9.99989717e-01 -8.05742759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8403857229999 meters 0.013429774085890765 Centerline is valid? [True, True] Translation: X:-59.36, Y:-246.57, Z:-8.06 [[-9.97266956e-01 7.37990895e-02 3.50905330e-03 -5.93619774e+01] [ 7.37987535e-02 9.97273129e-01 -2.25331127e-04 -2.46569533e+02] [-3.51611379e-03 3.42484726e-05 -9.99993818e-01 -8.05707231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.870385723 meters 0.013258817166682948 Centerline is valid? [True, True] Translation: X:-59.36, Y:-246.54, Z:-8.06 [[-9.99993254e-01 1.61715202e-03 3.29786813e-03 -5.93645473e+01] [ 1.61723762e-03 9.99998692e-01 2.32870122e-05 -2.46539600e+02] [-3.29782616e-03 2.86202916e-05 -9.99994562e-01 -8.05692523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.900385723 meters 0.013015941685119096 Centerline is valid? [True, True] Translation: X:-59.38, Y:-246.51, Z:-8.06 [[-9.97421829e-01 -7.16965467e-02 3.04949436e-03 -5.93753861e+01] [-7.16961507e-02 9.97426491e-01 2.39116159e-04 -2.46511260e+02] [-3.05879027e-03 1.98626693e-05 -9.99995322e-01 -8.05667748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.930385723 meters 0.01298526600208412 Centerline is valid? [True, True] Translation: X:-59.39, Y:-246.48, Z:-8.06 [[-9.89673947e-01 -1.43297660e-01 3.35561100e-03 -5.93887867e+01] [-1.43296769e-01 9.89679635e-01 5.05852612e-04 -2.46484099e+02] [-3.39346736e-03 1.97809383e-05 -9.99994242e-01 -8.05675650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.960385723 meters 0.012939237521200648 Centerline is valid? [True, True] Translation: X:-59.41, Y:-246.46, Z:-8.06 [[-9.76707831e-01 -2.14547755e-01 3.32761390e-03 -5.94104813e+01] [-2.14546448e-01 9.76713500e-01 7.48949764e-04 -2.46459347e+02] [-3.41081091e-03 1.75773574e-05 -9.99994183e-01 -8.05692510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.990385723 meters 0.012907928164016163 Centerline is valid? [True, True] Translation: X:-59.45, Y:-246.44, Z:-8.06 [[-9.58569547e-01 -2.84838936e-01 3.34722534e-03 -5.94506697e+01] [-2.84837141e-01 9.58575391e-01 1.01126909e-03 -2.46440478e+02] [-3.49661665e-03 1.59576562e-05 -9.99993887e-01 -8.05645336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.020385723 meters 0.012896749013900847 Centerline is valid? [True, True] Translation: X:-59.51, Y:-246.43, Z:-8.06 [[-9.35098566e-01 -3.54375898e-01 2.89721015e-03 -5.95053253e+01] [-3.54374152e-01 9.35103055e-01 1.11259543e-03 -2.46428554e+02] [-3.10346707e-03 1.36900023e-05 -9.99995184e-01 -8.05616091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.050385723 meters 0.012853360743831902 Centerline is valid? [True, True] Translation: X:-59.57, Y:-246.43, Z:-8.06 [[-9.06310366e-01 -4.22599434e-01 3.35246122e-03 -5.95709703e+01] [-4.22596482e-01 9.06316566e-01 1.57963241e-03 -2.46428144e+02] [-3.70594290e-03 1.48989042e-05 -9.99993133e-01 -8.05628602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.080385723 meters 0.012884653853139852 Centerline is valid? [True, True] Translation: X:-59.64, Y:-246.44, Z:-8.06 [[-8.72441119e-01 -4.88708854e-01 3.18604263e-03 -5.96440913e+01] [-4.88705534e-01 8.72446936e-01 1.80153692e-03 -2.46436147e+02] [-3.66008018e-03 1.46982214e-05 -9.99993302e-01 -8.05644038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.110385723 meters 0.012992886107020525 Centerline is valid? [True, True] Translation: X:-59.73, Y:-246.46, Z:-8.06 [[-8.33669850e-01 -5.52256419e-01 2.72581513e-03 -5.97291145e+01] [-5.52253414e-01 8.33674306e-01 1.82185539e-03 -2.46456507e+02] [-3.27857337e-03 1.34851930e-05 -9.99994625e-01 -8.05677538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.140385723 meters 0.013028653440167464 Centerline is valid? [True, True] Translation: X:-59.81, Y:-246.48, Z:-8.06 [[-7.90003246e-01 -6.13094427e-01 3.17732921e-03 -5.98120352e+01] [-6.13089379e-01 7.90009635e-01 2.48780951e-03 -2.46482661e+02] [-4.03538284e-03 1.73907974e-05 -9.99991858e-01 -8.05569397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.170385723 meters 0.013086421513267023 Centerline is valid? [True, True] Translation: X:-59.90, Y:-246.52, Z:-8.05 [[-7.42118454e-01 -6.70261260e-01 3.16927868e-03 -5.98986930e+01] [-6.70255022e-01 7.42125221e-01 2.89174361e-03 -2.46521948e+02] [-4.29022535e-03 2.17913439e-05 -9.99990797e-01 -8.05414099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.200385723 meters 0.01314297045468276 Centerline is valid? [True, True] Translation: X:-59.99, Y:-246.57, Z:-8.05 [[-6.89983744e-01 -7.23819419e-01 2.80734713e-03 -5.99871129e+01] [-7.23813282e-01 6.89989455e-01 2.98083286e-03 -2.46571509e+02] [-4.09462462e-03 2.47310791e-05 -9.99991617e-01 -8.05465355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.230385723 meters 0.013235409881963478 Centerline is valid? [True, True] Translation: X:-60.08, Y:-246.63, Z:-8.06 [[-6.33908529e-01 -7.73404428e-01 2.35980062e-03 -6.00758046e+01] [-7.73398912e-01 6.33912921e-01 2.92102197e-03 -2.46634005e+02] [-3.75503943e-03 2.65935135e-05 -9.99992950e-01 -8.05591027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.260385723 meters 0.013569106474957675 Centerline is valid? [True, True] Translation: X:-60.16, Y:-246.70, Z:-8.06 [[-5.74573960e-01 -8.18450667e-01 1.80865367e-03 -6.01600820e+01] [-8.18446457e-01 5.74576806e-01 2.62503864e-03 -2.46704638e+02] [-3.18767507e-03 2.79926587e-05 -9.99994919e-01 -8.05645571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.290385723 meters 0.013793315630733676 Centerline is valid? [True, True] Translation: X:-60.24, Y:-246.78, Z:-8.06 [[-5.12967625e-01 -8.58406991e-01 1.28579197e-03 -6.02413009e+01] [-8.58404146e-01 5.12969236e-01 2.21026150e-03 -2.46782505e+02] [-2.55687565e-03 3.00634298e-05 -9.99996731e-01 -8.05578459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.320385723 meters 0.014722455904502144 Centerline is valid? [True, True] Translation: X:-60.32, Y:-246.87, Z:-8.05 [[-4.47844460e-01 -8.94109942e-01 1.65875130e-03 -6.03190224e+01] [-8.94103362e-01 4.47847529e-01 3.43066125e-03 -2.46869114e+02] [-3.81025600e-03 5.33075259e-05 -9.99992740e-01 -8.05271360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.350385723 meters 0.01414900413937594 Centerline is valid? [True, True] Translation: X:-60.39, Y:-246.96, Z:-8.05 [[-3.78675218e-01 -9.25528561e-01 1.40048297e-03 -6.03894850e+01] [-9.25521669e-01 3.78677804e-01 3.57242836e-03 -2.46964461e+02] [-3.83671630e-03 5.66127529e-05 -9.99992638e-01 -8.05336035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.380385723 meters 0.014340080438189469 Centerline is valid? [True, True] Translation: X:-60.45, Y:-247.07, Z:-8.05 [[-3.07272145e-01 -9.51620839e-01 1.26801478e-03 -6.04521074e+01] [-9.51611817e-01 3.07274754e-01 4.14432013e-03 -2.47066805e+02] [-4.33345033e-03 6.67762871e-05 -9.99990608e-01 -8.05399438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.410385723 meters 0.014515047163015628 Centerline is valid? [True, True] Translation: X:-60.51, Y:-247.18, Z:-8.06 [[-2.34048660e-01 -9.72224384e-01 9.85549934e-04 -6.05085798e+01] [-9.72214397e-01 2.34050723e-01 4.40750818e-03 -2.47177929e+02] [-4.51575561e-03 7.34055488e-05 -9.99989801e-01 -8.05511637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.440385723 meters 0.014874292548869131 Centerline is valid? [True, True] Translation: X:-60.56, Y:-247.29, Z:-8.06 [[-1.61123018e-01 -9.86934170e-01 5.63375618e-04 -6.05563068e+01] [-9.86926411e-01 1.61123985e-01 3.91418412e-03 -2.47293267e+02] [-3.95381539e-03 7.46548810e-05 -9.99992181e-01 -8.05519134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4703857229999 meters 0.015123397136222684 Centerline is valid? [True, True] Translation: X:-60.60, Y:-247.41, Z:-8.05 [[-8.58172558e-02 -9.96310860e-01 2.62711144e-04 -6.05978596e+01] [-9.96302907e-01 8.58176207e-02 3.98164348e-03 -2.47412572e+02] [-3.98949988e-03 7.99538407e-05 -9.99992039e-01 -8.05426756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.500385723 meters 0.015586157745306738 Centerline is valid? [True, True] Translation: X:-60.63, Y:-247.54, Z:-8.05 [[-1.00930884e-02 -9.99949062e-01 -6.26575850e-05 -6.06281297e+01] [-9.99933525e-01 1.00925822e-02 5.57542911e-03 -2.47537473e+02] [-5.57451273e-03 1.18926719e-04 -9.99984455e-01 -8.05226518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.530385723 meters 0.015956390299698545 Centerline is valid? [True, True] Translation: X:-60.65, Y:-247.66, Z:-8.05 [[ 6.68760268e-02 -9.97761151e-01 -5.30811157e-04 -6.06485557e+01] [-9.97743202e-01 -6.68780084e-02 5.98623990e-03 -2.47659206e+02] [-6.00833721e-03 1.29277284e-04 -9.99981942e-01 -8.05213277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.560385723 meters 0.01579165156344929 Centerline is valid? [True, True] Translation: X:-60.66, Y:-247.78, Z:-8.05 [[ 1.43508081e-01 -9.89648667e-01 -9.72778275e-04 -6.06603931e+01] [-9.89631493e-01 -1.43511322e-01 5.83171491e-03 -2.47781884e+02] [-5.91095358e-03 1.25793804e-04 -9.99982522e-01 -8.05263285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5903857229999 meters 0.015991208496417636 Centerline is valid? [True, True] Translation: X:-60.66, Y:-247.91, Z:-8.05 [[ 2.19892101e-01 -9.75523159e-01 -1.42469329e-03 -6.06608806e+01] [-9.75506164e-01 -2.19896681e-01 5.75966941e-03 -2.47910638e+02] [-5.93197623e-03 1.23291284e-04 -9.99982398e-01 -8.05352257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.620385723 meters 0.015812643764934003 Centerline is valid? [True, True] Translation: X:-60.66, Y:-248.04, Z:-8.05 [[ 2.94892903e-01 -9.55528597e-01 -1.80971108e-03 -6.06550586e+01] [-9.55512948e-01 -2.94898433e-01 5.46995440e-03 -2.48038301e+02] [-5.76037882e-03 1.16151637e-04 -9.99983402e-01 -8.05321864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.650385723 meters 0.015812013869227284 Centerline is valid? [True, True] Translation: X:-60.64, Y:-248.16, Z:-8.05 [[ 3.67976145e-01 -9.29832062e-01 -2.42772109e-03 -6.06390587e+01] [-9.29813986e-01 -3.67984132e-01 5.79919559e-03 -2.48164960e+02] [-6.28564083e-03 1.23363389e-04 -9.99980238e-01 -8.05133019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.680385723 meters 0.016019115158372343 Centerline is valid? [True, True] Translation: X:-60.61, Y:-248.29, Z:-8.05 [[ 4.38536865e-01 -8.98708038e-01 -3.04643707e-03 -6.06132435e+01] [-8.98688375e-01 -4.38547427e-01 5.94636896e-03 -2.48286273e+02] [-6.68005672e-03 1.30095579e-04 -9.99977680e-01 -8.05119080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.710385723 meters 0.016037045541642123 Centerline is valid? [True, True] Translation: X:-60.58, Y:-248.40, Z:-8.05 [[ 5.06022616e-01 -8.62512919e-01 -3.54623143e-03 -6.05792773e+01] [-8.62493565e-01 -5.06035024e-01 5.77963877e-03 -2.48401494e+02] [-6.77953042e-03 1.33973859e-04 -9.99977010e-01 -8.05161623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.740385723 meters 0.016678705613413936 Centerline is valid? [True, True] Translation: X:-60.54, Y:-248.51, Z:-8.05 [[ 5.69832199e-01 -8.21754768e-01 -3.21973397e-03 -6.05391418e+01] [-8.21742769e-01 -5.69841284e-01 4.44216167e-03 -2.48505489e+02] [-5.48510488e-03 1.14506355e-04 -9.99984950e-01 -8.05319673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.770385723 meters 0.016981672016795155 Centerline is valid? [True, True] Translation: X:-60.49, Y:-248.61, Z:-8.05 [[ 6.30719465e-01 -7.76005161e-01 -2.99111868e-03 -6.04902947e+01] [-7.75997168e-01 -6.30726550e-01 3.52349846e-03 -2.48612981e+02] [-4.62083095e-03 9.87605624e-05 -9.99989319e-01 -8.05386219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.800385723 meters 0.01676591441976839 Centerline is valid? [True, True] Translation: X:-60.44, Y:-248.71, Z:-8.05 [[ 6.88202089e-01 -7.25513871e-01 -2.74015458e-03 -6.04387941e+01] [-7.25508596e-01 -6.88207539e-01 2.76787652e-03 -2.48713226e+02] [-3.89392784e-03 8.31472992e-05 -9.99992415e-01 -8.05349357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.830385723 meters 0.017242931517249822 Centerline is valid? [True, True] Translation: X:-60.38, Y:-248.81, Z:-8.05 [[ 7.41774277e-01 -6.70642436e-01 -3.10557661e-03 -6.03763726e+01] [-6.70637041e-01 -7.41780773e-01 2.69155205e-03 -2.48810854e+02] [-4.10872604e-03 8.61906351e-05 -9.99991556e-01 -8.05338326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.860385723 meters 0.017107875315145283 Centerline is valid? [True, True] Translation: X:-60.38, Y:-248.81, Z:-8.05 [[ 7.92575052e-01 -6.09766648e-01 -3.06960625e-03 -6.03789692e+01] [-6.09762443e-01 -7.92580993e-01 2.26572253e-03 -2.48812319e+02] [-3.81447360e-03 7.59754573e-05 -9.99992722e-01 -8.05377642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.890385723 meters 0.0170952946648768 Centerline is valid? [True, True] Translation: X:-60.38, Y:-248.81, Z:-8.05 [[ 8.38072271e-01 -5.45548142e-01 -3.47760637e-03 -6.03808587e+01] [-5.45543836e-01 -8.38079482e-01 2.16883930e-03 -2.48813430e+02] [-4.09771680e-03 7.95426466e-05 -9.99991601e-01 -8.05430065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.920385723 meters 0.017113560406520317 Centerline is valid? [True, True] Translation: X:-60.38, Y:-248.81, Z:-8.05 [[ 8.78227588e-01 -4.78225051e-01 -4.13576936e-03 -6.03818422e+01] [-4.78220227e-01 -8.78237321e-01 2.15002518e-03 -2.48814800e+02] [-4.66038291e-03 8.95971379e-05 -9.99989136e-01 -8.05441899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.950385723 meters 0.015633649795371244 Centerline is valid? [True, True] Translation: X:-60.39, Y:-248.83, Z:-8.05 [[ 9.12912083e-01 -4.08118041e-01 -5.58517789e-03 -6.03889777e+01] [-4.08111180e-01 -9.12929160e-01 2.36921467e-03 -2.48829425e+02] [-6.06579101e-03 1.16488843e-04 -9.99981596e-01 -8.05399694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.980385723 meters 0.015515472067636144 Centerline is valid? [True, True] Translation: X:-60.39, Y:-248.84, Z:-8.05 [[ 9.42101184e-01 -3.35271656e-01 -6.18678890e-03 -6.03942402e+01] [-3.35265287e-01 -9.42121490e-01 2.07029993e-03 -2.48841567e+02] [-6.52281966e-03 1.23783539e-04 -9.99978719e-01 -8.05375763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.010385723 meters 0.015637220824957058 Centerline is valid? [True, True] Translation: X:-60.40, Y:-248.85, Z:-8.05 [[ 9.65598814e-01 -2.59926600e-01 -7.55602559e-03 -6.03989790e+01] [-2.59919792e-01 -9.65628367e-01 1.88670054e-03 -2.48852751e+02] [-7.78671631e-03 1.42164789e-04 -9.99969673e-01 -8.05267021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.040385723 meters 0.01557622457359378 Centerline is valid? [True, True] Translation: X:-60.41, Y:-248.86, Z:-8.05 [[ 9.83090707e-01 -1.82939766e-01 -8.10574574e-03 -6.04054662e+01] [-1.82934761e-01 -9.83124113e-01 1.36094811e-03 -2.48863502e+02] [-8.21792562e-03 1.44887223e-04 -9.99966222e-01 -8.05260136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.070385723 meters 0.01570790987070473 Centerline is valid? [True, True] Translation: X:-60.41, Y:-248.87, Z:-8.05 [[ 9.94448409e-01 -1.04869192e-01 -8.64958233e-03 -6.04114423e+01] [-1.04866520e-01 -9.94486013e-01 7.63144351e-04 -2.48872871e+02] [-8.68191898e-03 1.48143909e-04 -9.99962301e-01 -8.05223684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.100385723 meters 0.015660878133793646 Centerline is valid? [True, True] Translation: X:-60.42, Y:-248.88, Z:-8.05 [[ 9.99624187e-01 -2.58770255e-02 -9.04791626e-03 -6.04162345e+01] [-2.58772933e-02 -9.99665123e-01 8.74943179e-05 -2.48882458e+02] [-9.04715041e-03 1.46674146e-04 -9.99959063e-01 -8.05263656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.130385723 meters 0.015784062281357744 Centerline is valid? [True, True] Translation: X:-60.42, Y:-248.89, Z:-8.05 [[ 9.98569772e-01 5.27079119e-02 -8.96032557e-03 -6.04215111e+01] [ 5.27045018e-02 -9.98609962e-01 -6.16443966e-04 -2.48892133e+02] [-8.98036185e-03 1.43312815e-04 -9.99959666e-01 -8.05233656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.160385723 meters 0.01587143856867322 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.90, Z:-8.05 [[ 9.91339783e-01 1.31054205e-01 -8.38037044e-03 -6.04258860e+01] [ 1.31048392e-01 -9.91375195e-01 -1.24143787e-03 -2.48901523e+02] [-8.47078704e-03 1.32452683e-04 -9.99964114e-01 -8.05195164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.190385723 meters 0.01588043758565858 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.91, Z:-8.05 [[ 9.77976670e-01 2.08563308e-01 -7.93593565e-03 -6.04285679e+01] [ 2.08555404e-01 -9.78008860e-01 -1.82002108e-03 -2.48910318e+02] [-8.14100500e-03 1.24855882e-04 -9.99966854e-01 -8.05198412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2203857229999 meters 0.015765569445526796 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.92, Z:-8.05 [[ 9.58600560e-01 2.84641630e-01 -8.00677576e-03 -6.04302109e+01] [ 2.84630591e-01 -9.58633990e-01 -2.51003820e-03 -2.48920672e+02] [-8.39002876e-03 1.27150706e-04 -9.99964795e-01 -8.05302952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.250385723 meters 0.01587392253558601 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.93, Z:-8.05 [[ 9.33295336e-01 3.59022999e-01 -7.89318280e-03 -6.04323590e+01] [ 3.59009006e-01 -9.33328704e-01 -3.17234475e-03 -2.48929717e+02] [-8.50587880e-03 1.27010853e-04 -9.99963816e-01 -8.05338470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.280385723 meters 0.015886806425566512 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.94, Z:-8.05 [[ 9.02078876e-01 4.31502152e-01 -7.71970814e-03 -6.04337451e+01] [ 4.31485176e-01 -9.02111898e-01 -3.82953571e-03 -2.48939286e+02] [-8.61649347e-03 1.23603635e-04 -9.99962870e-01 -8.05343827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.310385723 meters 0.015802037533527803 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.95, Z:-8.05 [[ 8.65501072e-01 5.00855178e-01 -7.21002294e-03 -6.04327604e+01] [ 5.00836641e-01 -8.65531095e-01 -4.31084265e-03 -2.48951574e+02] [-8.39960691e-03 1.19995264e-04 -9.99964716e-01 -8.05336559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3403857229999 meters 0.015779798455590233 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.96, Z:-8.05 [[ 8.23480052e-01 5.67299731e-01 -7.18459492e-03 -6.04326945e+01] [ 5.67276828e-01 -8.23511384e-01 -5.09907934e-03 -2.48962089e+02] [-8.80930205e-03 1.23335905e-04 -9.99961190e-01 -8.05313135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.370385723 meters 0.015794476748558075 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.97, Z:-8.05 [[ 7.76623062e-01 6.29924725e-01 -7.17367012e-03 -6.04294618e+01] [ 6.29896275e-01 -7.76656181e-01 -5.98824058e-03 -2.48974191e+02] [-9.34361604e-03 1.31937645e-04 -9.99956339e-01 -8.05288448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.400385723 meters 0.01589997600665947 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.99, Z:-8.05 [[ 7.24784498e-01 6.88940404e-01 -6.96788332e-03 -6.04269078e+01] [ 6.88906755e-01 -7.24817978e-01 -6.81035193e-03 -2.48985431e+02] [-9.74237371e-03 1.35815622e-04 -9.99952533e-01 -8.05245083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.430385723 meters 0.016056413020265774 Centerline is valid? [True, True] Translation: X:-60.42, Y:-249.00, Z:-8.05 [[ 6.68977949e-01 7.43255288e-01 -6.33100936e-03 -6.04243025e+01] [ 7.43220029e-01 -6.69007891e-01 -7.24089136e-03 -2.48995623e+02] [-9.61732601e-03 1.38663684e-04 -9.99953743e-01 -8.05257102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.460385723 meters 0.01624909398729593 Centerline is valid? [True, True] Translation: X:-60.42, Y:-249.01, Z:-8.05 [[ 6.09002500e-01 7.93150229e-01 -5.35437837e-03 -6.04214220e+01] [ 7.93117649e-01 -6.09026024e-01 -7.19009209e-03 -2.49005769e+02] [-8.96377895e-03 1.32132070e-04 -9.99959816e-01 -8.05272917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.490385723 meters 0.01624909398729593 Centerline is valid? [True, True] Translation: X:-60.42, Y:-249.02, Z:-8.05 [[ 5.45030629e-01 8.38402536e-01 -4.77494999e-03 -6.04173769e+01] [ 8.38368215e-01 -5.45051529e-01 -7.58727633e-03 -2.49016141e+02] [-8.96378552e-03 1.32131692e-04 -9.99959816e-01 -8.05272911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.520385723 meters 0.01627569234064844 Centerline is valid? [True, True] Translation: X:-60.41, Y:-249.03, Z:-8.05 [[ 4.77883027e-01 8.78414392e-01 -3.99602331e-03 -6.04137461e+01] [ 8.78381409e-01 -4.77899717e-01 -7.61324607e-03 -2.49025099e+02] [-8.59728333e-03 1.28208489e-04 -9.99963035e-01 -8.05299725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.550385723 meters 0.0162714500791149 Centerline is valid? [True, True] Translation: X:-60.41, Y:-249.03, Z:-8.05 [[ 4.07803035e-01 9.13064183e-01 -3.23775876e-03 -6.04075073e+01] [ 9.13032945e-01 -4.07815869e-01 -7.55372601e-03 -2.49034472e+02] [-8.21744607e-03 1.24251980e-04 -9.99966229e-01 -8.05375654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.580385723 meters 0.016289659085095554 Centerline is valid? [True, True] Translation: X:-60.40, Y:-249.04, Z:-8.05 [[ 3.34940385e-01 9.42235780e-01 -2.58343661e-03 -6.04002693e+01] [ 9.42204906e-01 -3.34950327e-01 -7.62850142e-03 -2.49044345e+02] [-8.05316992e-03 1.20966557e-04 -9.99967565e-01 -8.05380371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.610385723 meters 0.016170509056634533 Centerline is valid? [True, True] Translation: X:-60.39, Y:-249.05, Z:-8.05 [[ 2.59809228e-01 9.65658469e-01 -1.69868572e-03 -6.03918007e+01] [ 9.65635194e-01 -2.59814761e-01 -6.70538417e-03 -2.49052792e+02] [-6.91645464e-03 1.01809971e-04 -9.99976076e-01 -8.05390610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.640385723 meters 0.016081612451212497 Centerline is valid? [True, True] Translation: X:-60.38, Y:-249.06, Z:-8.05 [[ 1.83219816e-01 9.83071432e-01 -1.02927709e-03 -6.03830315e+01] [ 9.83053085e-01 -1.83222686e-01 -6.00664242e-03 -2.49061454e+02] [-6.09354547e-03 8.87019049e-05 -9.99981430e-01 -8.05452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.670385723 meters 0.016208470658704018 Centerline is valid? [True, True] Translation: X:-60.37, Y:-249.07, Z:-8.06 [[ 1.05759678e-01 9.94391641e-01 -3.92359121e-04 -6.03733621e+01] [ 9.94382411e-01 -1.05760387e-01 -4.28496529e-03 -2.49068641e+02] [-4.30242972e-03 6.30215424e-05 -9.99990743e-01 -8.05559914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.700385723 meters 0.016279212273247665 Centerline is valid? [True, True] Translation: X:-60.36, Y:-249.08, Z:-8.06 [[ 2.74075945e-02 9.99624340e-01 -4.76977931e-05 -6.03641245e+01] [ 9.99617500e-01 -2.74075834e-02 -3.69828720e-03 -2.49076184e+02] [-3.69820519e-03 5.36816074e-05 -9.99993160e-01 -8.05546516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.730385723 meters 0.01596064507940091 Centerline is valid? [True, True] Translation: X:-60.35, Y:-249.08, Z:-8.06 [[-5.14664946e-02 9.98674696e-01 2.28287344e-04 -6.03509660e+01] [ 9.98668630e-01 5.14669777e-02 -3.48091660e-03 -2.49082216e+02] [-3.48805258e-03 4.88328345e-05 -9.99993916e-01 -8.05522714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.760385723 meters 0.01597867769698629 Centerline is valid? [True, True] Translation: X:-60.34, Y:-249.09, Z:-8.06 [[-1.31437732e-01 9.91324310e-01 4.85143996e-04 -6.03391575e+01] [ 9.91318657e-01 1.31438621e-01 -3.34792355e-03 -2.49088644e+02] [-3.38264466e-03 4.08888160e-05 -9.99994278e-01 -8.05550862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.790385723 meters 0.015687718463426818 Centerline is valid? [True, True] Translation: X:-60.33, Y:-249.09, Z:-8.06 [[-2.09710806e-01 9.77763284e-01 5.82063583e-04 -6.03278259e+01] [ 9.77759895e-01 2.09711612e-01 -2.57450489e-03 -2.49092595e+02] [-2.63932184e-03 2.92169333e-05 -9.99996517e-01 -8.05631661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.820385723 meters 0.01529636018930786 Centerline is valid? [True, True] Translation: X:-60.31, Y:-249.09, Z:-8.06 [[-2.88205521e-01 9.57568288e-01 7.43135507e-04 -6.03114732e+01] [ 9.57565291e-01 2.88206478e-01 -2.39573310e-03 -2.49094057e+02] [-2.50825451e-03 2.11372627e-05 -9.99996854e-01 -8.05595355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.850385723 meters 0.015193572862206833 Centerline is valid? [True, True] Translation: X:-60.30, Y:-249.10, Z:-8.05 [[-3.63451870e-01 9.31612535e-01 9.07134405e-04 -6.02962520e+01] [ 9.31609754e-01 3.63453002e-01 -2.27639470e-03 -2.49095123e+02] [-2.45041856e-03 1.77353491e-05 -9.99996998e-01 -8.05448150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.880385723 meters 0.015089932972097849 Centerline is valid? [True, True] Translation: X:-60.28, Y:-249.09, Z:-8.05 [[-4.36278229e-01 8.99811097e-01 1.13882816e-03 -6.02812827e+01] [ 8.99808126e-01 4.36279715e-01 -2.31219318e-03 -2.49094770e+02] [-2.57738471e-03 1.59672926e-05 -9.99996678e-01 -8.05328215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.910385723 meters 0.014955677765808926 Centerline is valid? [True, True] Translation: X:-60.27, Y:-249.10, Z:-8.05 [[-5.07315606e-01 8.61758560e-01 1.74934847e-03 -6.02688586e+01] [ 8.61753529e-01 5.07318622e-01 -2.94468434e-03 -2.49095389e+02] [-3.42508400e-03 1.36229005e-05 -9.99994134e-01 -8.05331458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.940385723 meters 0.014985177012394933 Centerline is valid? [True, True] Translation: X:-60.26, Y:-249.09, Z:-8.05 [[-5.73850913e-01 8.18957342e-01 2.00037133e-03 -6.02569045e+01] [ 8.18952435e-01 5.73854399e-01 -2.83500316e-03 -2.49093401e+02] [-3.46966855e-03 1.13398244e-05 -9.99993981e-01 -8.05328409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9703857229999 meters 0.014902920577180836 Centerline is valid? [True, True] Translation: X:-60.24, Y:-249.09, Z:-8.05 [[-6.36981618e-01 7.70876614e-01 1.91450112e-03 -6.02437897e+01] [ 7.70873164e-01 6.36984495e-01 -2.30620936e-03 -2.49088756e+02] [-2.99731039e-03 6.82456305e-06 -9.99995508e-01 -8.05294899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.000385723 meters 0.014818465112603069 Centerline is valid? [True, True] Translation: X:-60.23, Y:-249.09, Z:-8.05 [[-6.95513819e-01 7.18510775e-01 1.67148775e-03 -6.02326505e+01] [ 7.18508717e-01 6.95515828e-01 -1.71945388e-03 -2.49086009e+02] [-2.39799233e-03 5.07459034e-06 -9.99997125e-01 -8.05316987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.030385723 meters 0.014920996725223474 Centerline is valid? [True, True] Translation: X:-60.22, Y:-249.08, Z:-8.05 [[-7.49697685e-01 6.61778284e-01 1.69839067e-03 -6.02231980e+01] [ 6.61776600e-01 7.49699609e-01 -1.49304766e-03 -2.49082495e+02] [-2.26134934e-03 4.62082571e-06 -9.99997443e-01 -8.05349899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.060385723 meters 0.014887167452146596 Centerline is valid? [True, True] Translation: X:-60.20, Y:-249.06, Z:-8.05 [[-7.94223159e-01 6.07624886e-01 1.25319221e-03 -6.02028729e+01] [ 6.07624139e-01 7.94224148e-01 -9.53314058e-04 -2.49062085e+02] [-1.57457286e-03 4.32573500e-06 -9.99998760e-01 -8.05342091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0903857229999 meters 0.014863854459361702 Centerline is valid? [True, True] Translation: X:-60.18, Y:-249.04, Z:-8.05 [[-8.34931866e-01 5.50352643e-01 8.64243460e-04 -6.01833501e+01] [ 5.50352353e-01 8.34932314e-01 -5.65566838e-04 -2.49039952e+02] [-1.03284600e-03 3.42864600e-06 -9.99999467e-01 -8.05326555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.120385723 meters 0.014954432160585254 Centerline is valid? [True, True] Translation: X:-60.16, Y:-249.02, Z:-8.05 [[-8.70952377e-01 4.91367425e-01 1.03394175e-04 -6.01648457e+01] [ 4.91367422e-01 8.70952383e-01 -5.75029531e-05 -2.49018221e+02] [-1.18306481e-04 7.22195359e-07 -9.99999993e-01 -8.05291080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.150385723 meters 0.015048638636341725 Centerline is valid? [True, True] Translation: X:-60.15, Y:-249.00, Z:-8.05 [[-9.03042778e-01 4.29550347e-01 4.90014206e-04 -6.01479268e+01] [ 4.29550286e-01 9.03042911e-01 -2.29245156e-04 -2.48995779e+02] [-5.40976192e-04 3.46755960e-06 -9.99999854e-01 -8.05234893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.180385723 meters 0.015474394452111026 Centerline is valid? [True, True] Translation: X:-60.14, Y:-248.97, Z:-8.05 [[-9.29746912e-01 3.68198674e-01 6.45235987e-04 -6.01369430e+01] [ 3.68198590e-01 9.29747136e-01 -2.47835720e-04 -2.48971959e+02] [-6.91159094e-04 7.15048572e-06 -9.99999761e-01 -8.05137583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.210385723 meters 0.01572923683106766 Centerline is valid? [True, True] Translation: X:-60.12, Y:-248.95, Z:-8.05 [[-9.52749333e-01 3.03755824e-01 1.05241026e-03 -6.01228342e+01] [ 3.03755655e-01 9.52749914e-01 -3.21258686e-04 -2.48947832e+02] [-1.10026798e-03 1.35965681e-05 -9.99999395e-01 -8.05119968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.240385723 meters 0.016095950371682738 Centerline is valid? [True, True] Translation: X:-59.88, Y:-248.20, Z:-9.02 [[-9.39542575e-01 -3.42429333e-01 1.37898606e-03 -5.98792871e+01] [ 3.42428970e-01 -9.39543587e-01 -4.98163276e-04 -2.48200347e+02] [ 1.46620323e-03 4.15917136e-06 9.99998925e-01 -9.01936887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.270385723 meters 0.017021160218062808 Centerline is valid? [True, True] Translation: X:-60.16, Y:-248.94, Z:-8.05 [[-9.52111524e-01 3.05744182e-01 2.03523468e-03 -6.01604035e+01] [ 3.05743569e-01 9.52113698e-01 -6.13045042e-04 -2.48941554e+02] [-2.12520977e-03 3.85726678e-05 -9.99997741e-01 -8.04982685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.300385723 meters 0.017445611535799415 Centerline is valid? [True, True] Translation: X:-60.16, Y:-248.91, Z:-8.05 [[-9.71003443e-01 2.39053129e-01 2.43219013e-03 -6.01556677e+01] [ 2.39052506e-01 9.71006488e-01 -5.48011565e-04 -2.48913100e+02] [-2.49267628e-03 4.93000293e-05 -9.99996892e-01 -8.04882592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.330385723 meters 0.018479721201325086 Centerline is valid? [True, True] Translation: X:-60.14, Y:-248.88, Z:-8.05 [[-9.85017793e-01 1.72421508e-01 3.28183320e-03 -6.01420406e+01] [ 1.72420806e-01 9.85023258e-01 -4.97927752e-04 -2.48884715e+02] [-3.31853549e-03 7.53886309e-05 -9.99994491e-01 -8.04739526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.360385723 meters 0.017416808306509615 Centerline is valid? [True, True] Translation: X:-60.02, Y:-248.10, Z:-9.02 [[-9.81001644e-01 -1.93971311e-01 3.30233755e-03 -6.00190938e+01] [ 1.93969961e-01 -9.81007199e-01 -7.27181000e-04 -2.48103007e+02] [ 3.38066917e-03 -7.28114688e-05 9.99994283e-01 -9.02112015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.390385723 meters 0.018833456010477763 Centerline is valid? [True, True] Translation: X:-60.21, Y:-248.88, Z:-8.05 [[-9.85654653e-01 1.68741295e-01 3.35853264e-03 -6.02067792e+01] [ 1.68740589e-01 9.85660372e-01 -4.94340554e-04 -2.48878233e+02] [-3.39378819e-03 7.94717085e-05 -9.99994238e-01 -8.04852817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.420385723 meters 0.017588308261835123 Centerline is valid? [True, True] Translation: X:-60.20, Y:-248.84, Z:-8.05 [[-9.95028897e-01 9.94966037e-02 4.23317035e-03 -6.02026902e+01] [ 9.94961494e-02 9.95037896e-01 -3.18297563e-04 -2.48844624e+02] [-4.24383444e-03 1.04468876e-04 -9.99990990e-01 -8.04833364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.450385723 meters 0.017902558437078993 Centerline is valid? [True, True] Translation: X:-60.14, Y:-248.06, Z:-9.02 [[-9.93120841e-01 -1.17012251e-01 4.37367469e-03 -6.01365266e+01] [ 1.17010683e-01 -9.93130467e-01 -6.13571858e-04 -2.48060061e+02] [ 4.41542501e-03 -9.75843370e-05 9.99990247e-01 -9.02182737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.480385723 meters 0.017884359825471378 Centerline is valid? [True, True] Translation: X:-60.28, Y:-248.84, Z:-8.05 [[-9.95303039e-01 9.67356451e-02 3.75173574e-03 -6.02763076e+01] [ 9.67353389e-02 9.95310105e-01 -2.63418214e-04 -2.48837692e+02] [-3.75962243e-03 1.00744479e-04 -9.99992928e-01 -8.04863626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.510385723 meters 0.018855390453740847 Centerline is valid? [True, True] Translation: X:-60.21, Y:-248.05, Z:-9.02 [[-9.93918723e-01 -1.10066091e-01 3.32077071e-03 -6.02148539e+01] [ 1.10065085e-01 -9.93924264e-01 -4.84671207e-04 -2.48053946e+02] [ 3.35394044e-03 -1.16222876e-04 9.99994369e-01 -9.02110418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.540385723 meters 0.018850244070337564 Centerline is valid? [True, True] Translation: X:-60.35, Y:-248.83, Z:-8.05 [[-9.95698363e-01 9.26086700e-02 2.89904754e-03 -6.03517676e+01] [ 9.26085117e-02 9.95702580e-01 -1.89077198e-04 -2.48832688e+02] [-2.90409930e-03 8.02126216e-05 -9.99995780e-01 -8.04918509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.570385723 meters 0.018105142398299353 Centerline is valid? [True, True] Translation: X:-60.30, Y:-248.05, Z:-9.02 [[-9.94492549e-01 -1.04768442e-01 2.85367383e-03 -6.02961617e+01] [ 1.04767776e-01 -9.94496640e-01 -3.82275764e-04 -2.48052419e+02] [ 2.87801947e-03 -8.11973403e-05 9.99995855e-01 -9.01940927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.600385723 meters 0.019345864115413426 Centerline is valid? [True, True] Translation: X:-60.43, Y:-248.83, Z:-8.05 [[-9.96148690e-01 8.76223113e-02 3.18086523e-03 -6.04305819e+01] [ 8.76221464e-02 9.96153765e-01 -1.91425487e-04 -2.48825547e+02] [-3.18540402e-03 8.80259907e-05 -9.99994923e-01 -8.05008642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.630385723 meters 0.017936865657118085 Centerline is valid? [True, True] Translation: X:-60.38, Y:-248.05, Z:-9.02 [[-9.94950896e-01 -1.00306549e-01 3.36318969e-03 -6.03772108e+01] [ 1.00305703e-01 -9.94956577e-01 -4.19696555e-04 -2.48051945e+02] [ 3.38832602e-03 -8.02303556e-05 9.99994256e-01 -9.02051411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.660385723 meters 0.018388533212135228 Centerline is valid? [True, True] Translation: X:-60.51, Y:-248.81, Z:-8.05 [[-9.96659587e-01 8.15770225e-02 3.85452366e-03 -6.05073465e+01] [ 8.15768083e-02 9.96667035e-01 -2.13035361e-04 -2.48814487e+02] [-3.85905545e-03 1.02116002e-04 -9.99992549e-01 -8.04906925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.690385723 meters 0.017458124948914997 Centerline is valid? [True, True] Translation: X:-60.51, Y:-248.78, Z:-8.05 [[-9.99943052e-01 9.73642846e-03 4.36968782e-03 -6.05062642e+01] [ 9.73682608e-03 9.99952594e-01 6.97306795e-05 -2.48782677e+02] [-4.36880174e-03 1.12273599e-04 -9.99990451e-01 -8.04923679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7203857229999 meters 0.017318015431848986 Centerline is valid? [True, True] Translation: X:-60.52, Y:-248.02, Z:-9.02 [[-9.99619612e-01 -2.71717196e-02 4.72535505e-03 -6.05158920e+01] [ 2.71709566e-02 -9.99630776e-01 -2.25602883e-04 -2.48021004e+02] [ 4.72974035e-03 -9.71246489e-05 9.99988810e-01 -9.02055287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.750385723 meters 0.01697337493678232 Centerline is valid? [True, True] Translation: X:-60.61, Y:-248.78, Z:-8.05 [[-9.99983504e-01 1.88261595e-03 5.42657525e-03 -6.06065019e+01] [ 1.88328668e-03 9.99998220e-01 1.18493627e-04 -2.48779080e+02] [-5.42634251e-03 1.28711470e-04 -9.99985269e-01 -8.04949998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.780385723 meters 0.01738366510329592 Centerline is valid? [True, True] Translation: X:-60.61, Y:-248.75, Z:-8.05 [[-9.97581957e-01 -6.92497598e-02 5.89143367e-03 -6.06135118e+01] [-6.92477182e-02 9.97599344e-01 5.50060952e-04 -2.48747876e+02] [-5.91538196e-03 1.40762542e-04 -9.99982494e-01 -8.04822650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.810385723 meters 0.017757350807422006 Centerline is valid? [True, True] Translation: X:-60.63, Y:-248.72, Z:-8.05 [[-9.90134355e-01 -1.39989554e-01 6.07329069e-03 -6.06284920e+01] [-1.39985994e-01 9.90152969e-01 1.00947519e-03 -2.48719983e+02] [-6.15480279e-03 1.49340431e-04 -9.99981048e-01 -8.04757392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8403857229999 meters 0.017056563619309035 Centerline is valid? [True, True] Translation: X:-60.66, Y:-248.69, Z:-8.05 [[-9.77602101e-01 -2.10380855e-01 5.83330959e-03 -6.06566042e+01] [-2.10376200e-01 9.77619493e-01 1.40739764e-03 -2.48693708e+02] [-5.99884668e-03 1.48685387e-04 -9.99981996e-01 -8.04852524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.870385723 meters 0.01801973800729849 Centerline is valid? [True, True] Translation: X:-60.71, Y:-248.68, Z:-8.05 [[-9.60262865e-01 -2.79072653e-01 3.69917956e-03 -6.07085749e+01] [-2.79070161e-01 9.60269985e-01 1.18410303e-03 -2.48676406e+02] [-3.88266187e-03 1.04719533e-04 -9.99992457e-01 -8.04959584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.900385723 meters 0.017428879138932356 Centerline is valid? [True, True] Translation: X:-60.77, Y:-248.67, Z:-8.05 [[-9.37425630e-01 -3.48179047e-01 2.13078124e-03 -6.07722561e+01] [-3.48177992e-01 9.37428049e-01 8.59569594e-04 -2.48667252e+02] [-2.29673822e-03 6.38914351e-05 -9.99997361e-01 -8.05236161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.930385723 meters 0.017417909217615657 Centerline is valid? [True, True] Translation: X:-60.85, Y:-248.67, Z:-8.05 [[-9.09494557e-01 -4.15708816e-01 2.41466116e-03 -6.08472670e+01] [-4.15707122e-01 9.09497759e-01 1.18929505e-03 -2.48666787e+02] [-2.69052935e-03 7.78655352e-05 -9.99996378e-01 -8.05209034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.960385723 meters 0.018181515496556423 Centerline is valid? [True, True] Translation: X:-60.93, Y:-248.68, Z:-8.05 [[-8.76382848e-01 -4.81609559e-01 2.31000417e-03 -6.09337839e+01] [-4.81607644e-01 8.76385889e-01 1.36028629e-03 -2.48679394e+02] [-2.67958194e-03 7.96159083e-05 -9.99996407e-01 -8.05086779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.990385723 meters 0.01831167628795692 Centerline is valid? [True, True] Translation: X:-61.03, Y:-248.70, Z:-8.05 [[-8.38332288e-01 -5.45153539e-01 2.56788268e-03 -6.10280916e+01] [-5.45150628e-01 8.38336215e-01 1.78400399e-03 -2.48701600e+02] [-3.12530514e-03 9.57052909e-05 -9.99995112e-01 -8.04956183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.020385723 meters 0.01846527814592823 Centerline is valid? [True, True] Translation: X:-61.11, Y:-248.73, Z:-8.05 [[-7.94839848e-01 -6.06813069e-01 2.74146378e-03 -6.11127864e+01] [-6.06808983e-01 7.94844568e-01 2.22946112e-03 -2.48728509e+02] [-3.53190374e-03 1.08519693e-04 -9.99993757e-01 -8.04942279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.050385723 meters 0.018932085919588462 Centerline is valid? [True, True] Translation: X:-61.20, Y:-248.77, Z:-8.05 [[-7.46905187e-01 -6.64921518e-01 3.46642230e-03 -6.12046200e+01] [-6.64913421e-01 7.46913216e-01 3.28488228e-03 -2.48769282e+02] [-4.77330554e-03 1.48624905e-04 -9.99988597e-01 -8.04975754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.080385723 meters 0.017981994749524003 Centerline is valid? [True, True] Translation: X:-61.30, Y:-248.82, Z:-8.05 [[-6.94286496e-01 -7.19690553e-01 3.43063058e-03 -6.13013925e+01] [-7.19680620e-01 6.94294953e-01 3.78449649e-03 -2.48820352e+02] [-5.10553588e-03 1.58566459e-04 -9.99986954e-01 -8.04988055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.110385723 meters 0.01893157868371424 Centerline is valid? [True, True] Translation: X:-61.39, Y:-248.88, Z:-8.05 [[-6.37490464e-01 -7.70452663e-01 2.93307069e-03 -6.13943511e+01] [-7.70443421e-01 6.37497194e-01 3.77667681e-03 -2.48883471e+02] [-4.77957504e-03 1.47830438e-04 -9.99988567e-01 -8.04921678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.140385723 meters 0.01829622874938274 Centerline is valid? [True, True] Translation: X:-61.49, Y:-248.95, Z:-8.05 [[-5.76742795e-01 -8.16921452e-01 2.66272203e-03 -6.14852799e+01] [-8.16911531e-01 5.76748923e-01 4.02882043e-03 -2.48953241e+02] [-4.82695190e-03 1.48384824e-04 -9.99988339e-01 -8.04889723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.170385723 meters 0.017858270661730093 Centerline is valid? [True, True] Translation: X:-61.57, Y:-249.03, Z:-8.05 [[-5.11680092e-01 -8.59171464e-01 2.80712371e-03 -6.15740082e+01] [-8.59156656e-01 5.11687763e-01 5.04711326e-03 -2.49034704e+02] [-5.77270655e-03 1.70748356e-04 -9.99983323e-01 -8.04831223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.200385723 meters 0.019537800436931704 Centerline is valid? [True, True] Translation: X:-61.66, Y:-249.12, Z:-8.05 [[-4.44387517e-01 -8.95830396e-01 2.76349351e-03 -6.16565541e+01] [-8.95810267e-01 4.44396066e-01 6.00851546e-03 -2.49122447e+02] [-6.61069643e-03 1.94543410e-04 -9.99978130e-01 -8.04590194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.230385723 meters 0.01785729104610349 Centerline is valid? [True, True] Translation: X:-61.73, Y:-249.22, Z:-8.05 [[-3.73671547e-01 -9.27558693e-01 2.10876385e-03 -6.17290946e+01] [-9.27541209e-01 3.73677457e-01 5.69765235e-03 -2.49220284e+02] [-6.07290448e-03 1.73085192e-04 -9.99981545e-01 -8.04814504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.260385723 meters 0.017843481750569344 Centerline is valid? [True, True] Translation: X:-61.80, Y:-249.32, Z:-8.05 [[-3.01813982e-01 -9.53365587e-01 1.54201377e-03 -6.17957868e+01] [-9.53350262e-01 3.01817878e-01 5.40797014e-03 -2.49324370e+02] [-5.62117995e-03 1.62121765e-04 -9.99984188e-01 -8.04856577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.290385723 meters 0.018462632241075513 Centerline is valid? [True, True] Translation: X:-61.85, Y:-249.44, Z:-8.05 [[-2.28335085e-01 -9.73581984e-01 1.09970753e-03 -6.18539820e+01] [-9.73567033e-01 2.28337676e-01 5.39804053e-03 -2.49435174e+02] [-5.50653967e-03 1.61923052e-04 -9.99984826e-01 -8.04820776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.320385723 meters 0.0177271002750088 Centerline is valid? [True, True] Translation: X:-61.91, Y:-249.55, Z:-8.05 [[-1.51766125e-01 -9.88416190e-01 6.91849365e-04 -6.19053192e+01] [-9.88400669e-01 1.51767620e-01 5.54144652e-03 -2.49551887e+02] [-5.58225579e-03 1.57179489e-04 -9.99984407e-01 -8.04952814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.350385723 meters 0.017836923593024183 Centerline is valid? [True, True] Translation: X:-61.95, Y:-249.67, Z:-8.05 [[-7.42690680e-02 -9.97238196e-01 2.92751656e-04 -6.19460428e+01] [-9.97219089e-01 7.42694579e-02 6.17541124e-03 -2.49672343e+02] [-6.18009847e-03 1.66704498e-04 -9.99980889e-01 -8.04945577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.380385723 meters 0.01720351612612888 Centerline is valid? [True, True] Translation: X:-61.98, Y:-249.79, Z:-8.05 [[ 5.63981237e-03 -9.99984080e-01 -1.77607431e-04 -6.19805760e+01] [-9.99965937e-01 -5.64078024e-03 6.02554061e-03 -2.49790376e+02] [-6.02644653e-03 1.43618462e-04 -9.99981831e-01 -8.04918804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.410385723 meters 0.01720351612612888 Centerline is valid? [True, True] Translation: X:-62.00, Y:-249.91, Z:-8.05 [[ 8.23424471e-02 -9.96603890e-01 -6.39374643e-04 -6.20017149e+01] [-9.96585874e-01 -8.23448042e-02 5.99415114e-03 -2.49913719e+02] [-6.02644352e-03 1.43618664e-04 -9.99981831e-01 -8.04918819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.440385723 meters 0.016923230293604277 Centerline is valid? [True, True] Translation: X:-62.02, Y:-250.04, Z:-8.05 [[ 1.59340325e-01 -9.87223170e-01 -1.03595496e-03 -6.20151787e+01] [-9.87207317e-01 -1.59343639e-01 5.59630045e-03 -2.50038202e+02] [-5.68987030e-03 1.30985978e-04 -9.99983804e-01 -8.04912255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4703857229999 meters 0.016347595622592914 Centerline is valid? [True, True] Translation: X:-62.02, Y:-250.16, Z:-8.05 [[ 2.35053038e-01 -9.71981489e-01 -1.43310713e-03 -6.20194227e+01] [-9.71966541e-01 -2.35057373e-01 5.39211611e-03 -2.50163132e+02] [-5.57789945e-03 1.25498904e-04 -9.99984436e-01 -8.04932153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.500385723 meters 0.018436323891130063 Centerline is valid? [True, True] Translation: X:-62.01, Y:-250.29, Z:-8.05 [[ 3.08758256e-01 -9.51138085e-01 -2.16408400e-03 -6.20102525e+01] [-9.51117972e-01 -3.08765804e-01 6.18724488e-03 -2.50290735e+02] [-6.55311939e-03 1.47936250e-04 -9.99978517e-01 -8.04706450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.530385723 meters 0.017357881623253538 Centerline is valid? [True, True] Translation: X:-61.99, Y:-250.41, Z:-8.05 [[ 3.80933046e-01 -9.24599245e-01 -2.50014846e-03 -6.19949150e+01] [-9.24581667e-01 -3.80941225e-01 5.70295738e-03 -2.50410476e+02] [-6.22535970e-03 1.39146501e-04 -9.99980613e-01 -8.04833790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.560385723 meters 0.017336638041589837 Centerline is valid? [True, True] Translation: X:-61.97, Y:-250.53, Z:-8.05 [[ 4.50549629e-01 -8.92747706e-01 -2.56234000e-03 -6.19709885e+01] [-8.92734772e-01 -4.50556899e-01 4.80705590e-03 -2.50529761e+02] [-5.44596809e-03 1.21672763e-04 -9.99985163e-01 -8.04851791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5903857229999 meters 0.0177015164061995 Centerline is valid? [True, True] Translation: X:-61.94, Y:-250.65, Z:-8.05 [[ 5.17437267e-01 -8.55715845e-01 -3.01119958e-03 -6.19371837e+01] [-8.55702739e-01 -5.17446013e-01 4.73764778e-03 -2.50645685e+02] [-5.61221349e-03 1.25256214e-04 -9.99984244e-01 -8.04866048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.620385723 meters 0.016577604073089267 Centerline is valid? [True, True] Translation: X:-61.90, Y:-250.75, Z:-8.05 [[ 5.81161553e-01 -8.13782160e-01 -3.13783091e-03 -6.19014478e+01] [-8.13771369e-01 -5.81170012e-01 4.19236887e-03 -2.50753589e+02] [-5.23528822e-03 1.17033352e-04 -9.99986289e-01 -8.04915634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.650385723 meters 0.01829676281968242 Centerline is valid? [True, True] Translation: X:-61.86, Y:-250.85, Z:-8.05 [[ 6.40681058e-01 -7.67801269e-01 -2.99871840e-03 -6.18553474e+01] [-7.67793623e-01 -6.40688067e-01 3.42826377e-03 -2.50853962e+02] [-4.55346837e-03 1.05973206e-04 -9.99989627e-01 -8.04872880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.680385723 meters 0.01581722231540395 Centerline is valid? [True, True] Translation: X:-61.81, Y:-250.95, Z:-8.05 [[ 6.96495902e-01 -7.17553922e-01 -3.13505170e-03 -6.18068292e+01] [-7.17547329e-01 -6.96502949e-01 3.07765563e-03 -2.50954810e+02] [-4.39195662e-03 1.05973443e-04 -9.99990350e-01 -8.04965064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.710385723 meters 0.017287362030571955 Centerline is valid? [True, True] Translation: X:-61.81, Y:-250.97, Z:-8.05 [[ 7.49190778e-01 -6.62341428e-01 -4.12440155e-03 -6.18119024e+01] [-6.62332409e-01 -7.49202118e-01 3.45922536e-03 -2.50965855e+02] [-5.38119864e-03 1.40105079e-04 -9.99985512e-01 -8.04858424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.740385723 meters 0.01674839794717956 Centerline is valid? [True, True] Translation: X:-61.82, Y:-250.98, Z:-8.05 [[ 7.98508941e-01 -6.01965218e-01 -4.62035489e-03 -6.18166045e+01] [-6.01956212e-01 -7.98522294e-01 3.29619104e-03 -2.50978845e+02] [-5.67364875e-03 1.49213313e-04 -9.99983894e-01 -8.04892642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.770385723 meters 0.016937906554837054 Centerline is valid? [True, True] Translation: X:-61.82, Y:-250.99, Z:-8.05 [[ 8.43086356e-01 -5.37747891e-01 -5.70985864e-03 -6.18197898e+01] [-5.37736958e-01 -8.43105673e-01 3.43346150e-03 -2.50991832e+02] [-6.66035089e-03 1.75697477e-04 -9.99977804e-01 -8.04699611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.800385723 meters 0.01715986983957043 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.00, Z:-8.05 [[ 8.82303372e-01 -4.70636130e-01 -6.51094383e-03 -6.18214756e+01] [-4.70624942e-01 -8.82327374e-01 3.25106273e-03 -2.51004190e+02] [-7.27485155e-03 1.95788949e-04 -9.99973519e-01 -8.04616200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.830385723 meters 0.01898925800720823 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.02, Z:-8.04 [[ 9.16015810e-01 -4.01064396e-01 -7.89844137e-03 -6.18228281e+01] [-4.01051705e-01 -9.16049832e-01 3.19937468e-03 -2.51018602e+02] [-8.51852117e-03 2.37005588e-04 -9.99963689e-01 -8.04381265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.860385723 meters 0.018952699988524627 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.03, Z:-8.05 [[ 9.44018518e-01 -3.29814377e-01 -7.17740334e-03 -6.18221144e+01] [-3.29806622e-01 -9.44045776e-01 2.27264679e-03 -2.51025831e+02] [-7.52534889e-03 2.21734492e-04 -9.99971660e-01 -8.04559439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.890385723 meters 0.017452120020350365 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.04, Z:-8.05 [[ 9.66659150e-01 -2.55961777e-01 -7.32507755e-03 -6.18218306e+01] [-2.55956214e-01 -9.66686876e-01 1.70290967e-03 -2.51041196e+02] [-7.51693612e-03 2.28765901e-04 -9.99971721e-01 -8.04699590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.920385723 meters 0.01745113444012789 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.05, Z:-8.05 [[ 9.83664658e-01 -1.79855312e-01 -7.47707104e-03 -6.18241607e+01] [-1.79851910e-01 -9.83693048e-01 1.13044134e-03 -2.51053946e+02] [-7.55845868e-03 2.32790319e-04 -9.99971407e-01 -8.04696576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.950385723 meters 0.017983736912253745 Centerline is valid? [True, True] Translation: X:-61.83, Y:-251.07, Z:-8.05 [[ 9.94759799e-01 -1.01897267e-01 -8.36002857e-03 -6.18264497e+01] [-1.01895819e-01 -9.94794895e-01 6.00079194e-04 -2.51065892e+02] [-8.37766017e-03 2.54917298e-04 -9.99964874e-01 -8.04601415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.980385723 meters 0.019641492997134597 Centerline is valid? [True, True] Translation: X:-61.83, Y:-251.08, Z:-8.04 [[ 9.99686904e-01 -2.32597754e-02 -9.22370462e-03 -6.18276566e+01] [-2.32613362e-02 -9.99729417e-01 -6.19547119e-05 -2.51075972e+02] [-9.21976779e-03 2.76491008e-04 -9.99957459e-01 -8.04375871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.010385723 meters 0.017221190048603306 Centerline is valid? [True, True] Translation: X:-61.83, Y:-251.09, Z:-8.05 [[ 9.98336921e-01 5.70618844e-02 -8.20576657e-03 -6.18276079e+01] [ 5.70580556e-02 -9.98370617e-01 -7.00143929e-04 -2.51088028e+02] [-8.23234776e-03 2.30774449e-04 -9.99966087e-01 -8.04618302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.040385723 meters 0.016391910466343425 Centerline is valid? [True, True] Translation: X:-61.83, Y:-251.10, Z:-8.05 [[ 9.90671108e-01 1.36052247e-01 -7.78093108e-03 -6.18254245e+01] [ 1.36046361e-01 -9.90701641e-01 -1.28336323e-03 -2.51103298e+02] [-7.88318564e-03 2.12823521e-04 -9.99968905e-01 -8.04754706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.070385723 meters 0.017487938564748368 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.11, Z:-8.05 [[ 9.76728744e-01 2.14355915e-01 -7.24588028e-03 -6.18244480e+01] [ 2.14348549e-01 -9.76755601e-01 -1.78737561e-03 -2.51114786e+02] [-7.46058868e-03 1.92637212e-04 -9.99972151e-01 -8.04694055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.100385723 meters 0.0164237760627508 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.13, Z:-8.05 [[ 9.56616201e-01 2.91261992e-01 -7.20392274e-03 -6.18209658e+01] [ 2.91252254e-01 -9.56643307e-01 -2.38903176e-03 -2.51128803e+02] [-7.58741862e-03 1.87227744e-04 -9.99971198e-01 -8.04718387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.130385723 meters 0.01584086066620064 Centerline is valid? [True, True] Translation: X:-61.82, Y:-251.14, Z:-8.05 [[ 9.30150296e-01 3.67110735e-01 -7.08059263e-03 -6.18166409e+01] [ 3.67098665e-01 -9.30177229e-01 -2.98213011e-03 -2.51141177e+02] [-7.68097801e-03 1.74553105e-04 -9.99970486e-01 -8.04741289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.160385723 meters 0.01579717313312039 Centerline is valid? [True, True] Translation: X:-61.81, Y:-251.15, Z:-8.05 [[ 8.98224449e-01 4.39491130e-01 -6.35500733e-03 -6.18132415e+01] [ 4.39478886e-01 -8.98246916e-01 -3.28429629e-03 -2.51152020e+02] [-7.15178482e-03 1.57143682e-04 -9.99974413e-01 -8.04799698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.190385723 meters 0.016024563680061554 Centerline is valid? [True, True] Translation: X:-61.81, Y:-251.16, Z:-8.05 [[ 8.60601947e-01 5.09248661e-01 -5.48549337e-03 -6.18102910e+01] [ 5.09237303e-01 -8.60619418e-01 -3.40381589e-03 -2.51160924e+02] [-6.45431079e-03 1.35912729e-04 -9.99979162e-01 -8.04844679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2203857229999 meters 0.015880143310509624 Centerline is valid? [True, True] Translation: X:-61.80, Y:-251.17, Z:-8.05 [[ 8.18080881e-01 5.75076520e-01 -5.53788026e-03 -6.18043584e+01] [ 5.75062141e-01 -8.18099612e-01 -4.06931848e-03 -2.51169921e+02] [-6.87070720e-03 1.44406365e-04 -9.99976386e-01 -8.04830671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.250385723 meters 0.015870842830483553 Centerline is valid? [True, True] Translation: X:-61.80, Y:-251.18, Z:-8.05 [[ 7.70350767e-01 6.37598268e-01 -5.30519806e-03 -6.17985064e+01] [ 6.37581838e-01 -7.70369021e-01 -4.57952408e-03 -2.51177756e+02] [-7.00685686e-03 1.45341958e-04 -9.99975441e-01 -8.04804592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.280385723 meters 0.01592489044651627 Centerline is valid? [True, True] Translation: X:-61.79, Y:-251.18, Z:-8.05 [[ 7.17687835e-01 6.96344030e-01 -5.40037432e-03 -6.17932923e+01] [ 6.96322677e-01 -7.17708136e-01 -5.45542042e-03 -2.51184063e+02] [-7.67474202e-03 1.54885767e-04 -9.99970537e-01 -8.04753394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.310385723 meters 0.015877123027583637 Centerline is valid? [True, True] Translation: X:-61.79, Y:-251.19, Z:-8.05 [[ 6.60564845e-01 7.50750589e-01 -5.25727016e-03 -6.17880353e+01] [ 7.50724863e-01 -6.60585746e-01 -6.21702103e-03 -2.51190390e+02] [-8.14030993e-03 1.59982112e-04 -9.99966854e-01 -8.04699840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3403857229999 meters 0.015401726604662202 Centerline is valid? [True, True] Translation: X:-61.78, Y:-251.20, Z:-8.05 [[ 5.99160496e-01 8.00613335e-01 -4.99884843e-03 -6.17807478e+01] [ 8.00583192e-01 -5.99181327e-01 -6.94912171e-03 -2.51197517e+02] [-8.55877614e-03 1.61645178e-04 -9.99963360e-01 -8.04715155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.370385723 meters 0.014985160230423693 Centerline is valid? [True, True] Translation: X:-61.77, Y:-251.21, Z:-8.05 [[ 5.34837441e-01 8.44944795e-01 -4.14792920e-03 -6.17708542e+01] [ 8.44917135e-01 -5.34853503e-01 -6.83853727e-03 -2.51205628e+02] [-7.99672094e-03 1.52849319e-04 -9.99968014e-01 -8.04781858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.400385723 meters 0.015582163761899664 Centerline is valid? [True, True] Translation: X:-61.76, Y:-251.21, Z:-8.05 [[ 4.67609857e-01 8.83928623e-01 -3.34827915e-03 -6.17635382e+01] [ 8.83903669e-01 -4.67621821e-01 -6.64354104e-03 -2.51212853e+02] [-7.43814448e-03 1.47029045e-04 -9.99972326e-01 -8.04810882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.430385723 meters 0.0160446046846339 Centerline is valid? [True, True] Translation: X:-61.76, Y:-251.22, Z:-8.05 [[ 3.98564453e-01 9.17137017e-01 -2.46343638e-03 -6.17585285e+01] [ 9.17117272e-01 -3.98572041e-01 -6.01971212e-03 -2.51217731e+02] [-6.50275769e-03 1.39983212e-04 -9.99978847e-01 -8.04886131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.460385723 meters 0.01581982701980899 Centerline is valid? [True, True] Translation: X:-61.75, Y:-251.22, Z:-8.05 [[ 3.26413378e-01 9.45225016e-01 -1.99391937e-03 -6.17487829e+01] [ 9.45204538e-01 -3.26419435e-01 -6.22359045e-03 -2.51224237e+02] [-6.53354742e-03 1.46801539e-04 -9.99978645e-01 -8.04966979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.490385723 meters 0.015817089691670352 Centerline is valid? [True, True] Translation: X:-61.74, Y:-251.23, Z:-8.05 [[ 2.52798701e-01 9.67517550e-01 -1.61477325e-03 -6.17382368e+01] [ 9.67493346e-01 -2.52803802e-01 -6.84567804e-03 -2.51229210e+02] [-7.03153447e-03 1.68296149e-04 -9.99975264e-01 -8.04973524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.520385723 meters 0.01602139196228394 Centerline is valid? [True, True] Translation: X:-61.73, Y:-251.23, Z:-8.05 [[ 1.76797977e-01 9.84246519e-01 -1.12483630e-03 -6.17260559e+01] [ 9.84219603e-01 -1.76801463e-01 -7.28120154e-03 -2.51234036e+02] [-7.36536998e-03 1.80215767e-04 -9.99972859e-01 -8.04943703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.550385723 meters 0.015989351641930268 Centerline is valid? [True, True] Translation: X:-61.71, Y:-251.24, Z:-8.05 [[ 1.00059727e-01 9.94981282e-01 -5.46621437e-04 -6.17126736e+01] [ 9.94954610e-01 -1.00061048e-01 -7.28767734e-03 -2.51238441e+02] [-7.30579806e-03 1.85339483e-04 -9.99973295e-01 -8.04893185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.580385723 meters 0.016945377861376974 Centerline is valid? [True, True] Translation: X:-61.70, Y:-251.24, Z:-8.05 [[ 2.22992684e-02 9.99751340e-01 2.50299644e-05 -6.17013691e+01] [ 9.99726432e-01 -2.22985361e-02 -7.05945668e-03 -2.51243016e+02] [-7.05714314e-03 1.82443836e-04 -9.99975081e-01 -8.04790832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.610385723 meters 0.017002896026512275 Centerline is valid? [True, True] Translation: X:-61.69, Y:-251.25, Z:-8.05 [[-5.57403785e-02 9.98445108e-01 6.13564417e-04 -6.16912332e+01] [ 9.98417196e-01 5.57434096e-02 -7.46828929e-03 -2.51246340e+02] [-7.49087908e-03 1.96307993e-04 -9.99971924e-01 -8.04809287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.640385723 meters 0.016772165351005133 Centerline is valid? [True, True] Translation: X:-61.68, Y:-251.25, Z:-8.05 [[-1.33424019e-01 9.91058361e-01 1.16424366e-03 -6.16794897e+01] [ 9.91032250e-01 1.33428958e-01 -7.19675675e-03 -2.51248052e+02] [-7.28774977e-03 1.93582802e-04 -9.99973425e-01 -8.04818339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.670385723 meters 0.018023191476934992 Centerline is valid? [True, True] Translation: X:-61.67, Y:-251.25, Z:-8.05 [[-2.10856137e-01 9.77515102e-01 1.97863802e-03 -6.16714857e+01] [ 9.77481339e-01 2.10865305e-01 -8.12740703e-03 -2.51251168e+02] [-8.36188922e-03 2.20368095e-04 -9.99965015e-01 -8.04633239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.700385723 meters 0.016436585958682033 Centerline is valid? [True, True] Translation: X:-61.66, Y:-251.25, Z:-8.05 [[-2.87639727e-01 9.57733972e-01 3.00427211e-03 -6.16566260e+01] [ 9.57690273e-01 2.87655312e-01 -9.15216522e-03 -2.51250409e+02] [-9.62953438e-03 2.44635868e-04 -9.99953605e-01 -8.04525826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.730385723 meters 0.016430546833627664 Centerline is valid? [True, True] Translation: X:-61.64, Y:-251.25, Z:-8.04 [[-3.62631102e-01 9.31924283e-01 3.97680965e-03 -6.16442684e+01] [ 9.31875663e-01 3.62652819e-01 -9.52271676e-03 -2.51250108e+02] [-1.03166522e-02 2.52658854e-04 -9.99946750e-01 -8.04430748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.760385723 meters 0.01671493805521572 Centerline is valid? [True, True] Translation: X:-61.63, Y:-251.25, Z:-8.04 [[-4.35452263e-01 9.00197571e-01 5.06547833e-03 -6.16330264e+01] [ 9.00143451e-01 4.35481647e-01 -9.87432734e-03 -2.51250299e+02] [-1.10947683e-02 2.59858961e-04 -9.99938417e-01 -8.04370885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.790385723 meters 0.015942653417388958 Centerline is valid? [True, True] Translation: X:-61.62, Y:-251.25, Z:-8.04 [[-5.06701506e-01 8.62102484e-01 5.73502026e-03 -6.16216364e+01] [ 8.62052304e-01 5.06733908e-01 -9.30436740e-03 -2.51248603e+02] [-1.09274475e-02 2.29350452e-04 -9.99940267e-01 -8.04421050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.820385723 meters 0.015526641609680137 Centerline is valid? [True, True] Translation: X:-61.61, Y:-251.25, Z:-8.04 [[-5.73596007e-01 8.19113661e-01 6.35855934e-03 -6.16093694e+01] [ 8.19067414e-01 5.73631210e-01 -8.70668779e-03 -2.51245292e+02] [-1.07792350e-02 2.13967396e-04 -9.99941880e-01 -8.04484918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.850385723 meters 0.015567788945014252 Centerline is valid? [True, True] Translation: X:-61.60, Y:-251.24, Z:-8.05 [[-6.36921625e-01 7.70898965e-01 6.75502610e-03 -6.15991487e+01] [ 7.70858792e-01 6.36957415e-01 -7.87235230e-03 -2.51243105e+02] [-1.03714522e-02 1.93099842e-04 -9.99946196e-01 -8.04544152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.880385723 meters 0.015337836448852255 Centerline is valid? [True, True] Translation: X:-61.59, Y:-251.24, Z:-8.05 [[-6.95724036e-01 7.18274733e-01 7.03371038e-03 -6.15877530e+01] [ 7.18240616e-01 6.95759567e-01 -7.00308080e-03 -2.51238301e+02] [-9.92390728e-03 1.79684836e-04 -9.99950741e-01 -8.04579965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.910385723 meters 0.015509057272531875 Centerline is valid? [True, True] Translation: X:-61.56, Y:-251.22, Z:-8.05 [[-7.44775901e-01 6.67277055e-01 7.08437892e-03 -6.15609169e+01] [ 6.67249024e-01 7.44809575e-01 -6.11865771e-03 -2.51224912e+02] [-9.35935315e-03 1.70016106e-04 -9.99956186e-01 -8.04549799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.940385723 meters 0.015673496799498806 Centerline is valid? [True, True] Translation: X:-61.54, Y:-251.21, Z:-8.05 [[-7.90015123e-01 6.13043969e-01 7.29363299e-03 -6.15415534e+01] [ 6.13019778e-01 7.90048773e-01 -5.44857390e-03 -2.51206743e+02] [-9.10254117e-03 1.66685498e-04 -9.99958557e-01 -8.04595052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9703857229999 meters 0.015923476697381426 Centerline is valid? [True, True] Translation: X:-61.52, Y:-251.19, Z:-8.05 [[-8.31224556e-01 5.55891779e-01 7.07577306e-03 -6.15223031e+01] [ 5.55873239e-01 8.31254657e-01 -4.54280736e-03 -2.51187384e+02] [-8.40707858e-03 1.57139858e-04 -9.99964648e-01 -8.04674618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.000385723 meters 0.016904514402839136 Centerline is valid? [True, True] Translation: X:-61.51, Y:-251.16, Z:-8.05 [[-8.68212862e-01 4.96143369e-01 6.94140153e-03 -6.15089683e+01] [ 4.96128909e-01 8.68240597e-01 -3.79096794e-03 -2.51163853e+02] [-7.90767021e-03 1.52462846e-04 -9.99968722e-01 -8.04658359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.030385723 meters 0.01644024765063781 Centerline is valid? [True, True] Translation: X:-61.14, Y:-250.48, Z:-9.02 [[-8.53942110e-01 -5.20345113e-01 4.88234524e-03 -6.11387360e+01] [ 5.20335012e-01 -8.53956034e-01 -3.25061207e-03 -2.50480483e+02] [ 5.86074828e-03 -2.35379360e-04 9.99982798e-01 -9.02169385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.060385723 meters 0.01667968214407281 Centerline is valid? [True, True] Translation: X:-61.55, Y:-251.15, Z:-8.05 [[-8.69705747e-01 4.93548624e-01 4.65507831e-03 -6.15482526e+01] [ 4.93542205e-01 8.69718199e-01 -2.51940707e-03 -2.51146246e+02] [-5.29205622e-03 1.06334807e-04 -9.99985991e-01 -8.04822225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0903857229999 meters 0.01675945556604158 Centerline is valid? [True, True] Translation: X:-61.53, Y:-251.12, Z:-8.05 [[-9.02490841e-01 4.30669201e-01 5.85839229e-03 -6.15317390e+01] [ 4.30661051e-01 9.02509846e-01 -2.65278087e-03 -2.51123683e+02] [-6.42972774e-03 1.28870940e-04 -9.99979321e-01 -8.04753464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.120385723 meters 0.017553144051612762 Centerline is valid? [True, True] Translation: X:-61.20, Y:-250.41, Z:-9.02 [[-8.90468811e-01 -4.54994561e-01 6.72650797e-03 -6.12037563e+01] [ 4.54980891e-01 -8.90494213e-01 -3.52783915e-03 -2.50410170e+02] [ 7.59506404e-03 -8.09981481e-05 9.99971154e-01 -9.02383689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.150385723 meters 0.01616554970019426 Centerline is valid? [True, True] Translation: X:-61.58, Y:-251.11, Z:-8.05 [[-9.03694975e-01 4.28113499e-01 7.36370683e-03 -6.15779686e+01] [ 4.28100800e-01 9.03724960e-01 -3.30181110e-03 -2.51105146e+02] [-8.06831557e-03 1.68578683e-04 -9.99967436e-01 -8.04752356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.180385723 meters 0.01813764713806784 Centerline is valid? [True, True] Translation: X:-61.57, Y:-251.08, Z:-8.05 [[-9.31073470e-01 3.64739070e-01 8.22216730e-03 -6.15722557e+01] [ 3.64726732e-01 9.31109752e-01 -3.00659820e-03 -2.51082548e+02] [-8.75236399e-03 1.99480396e-04 -9.99961678e-01 -8.04634714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.210385723 meters 0.01700515563895811 Centerline is valid? [True, True] Translation: X:-61.58, Y:-251.05, Z:-8.05 [[-9.54341362e-01 2.98581100e-01 9.04940808e-03 -6.15783801e+01] [ 2.98569870e-01 9.54384240e-01 -2.59899492e-03 -2.51048458e+02] [-9.41262321e-03 2.21552242e-04 -9.99955676e-01 -8.04679397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.240385723 meters 0.017170727424538457 Centerline is valid? [True, True] Translation: X:-61.55, Y:-251.03, Z:-8.05 [[-9.72920644e-01 2.30878811e-01 1.09725027e-02 -6.15451255e+01] [ 2.30867285e-01 9.72982477e-01 -2.32302875e-03 -2.51027891e+02] [-1.12123910e-02 2.73069285e-04 -9.99937102e-01 -8.04502401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.270385723 meters 0.01701735444159044 Centerline is valid? [True, True] Translation: X:-61.54, Y:-251.00, Z:-8.04 [[-9.86753883e-01 1.61805335e-01 1.16536386e-02 -6.15442037e+01] [ 1.61797554e-01 9.86822653e-01 -1.61368413e-03 -2.50999138e+02] [-1.17611772e-02 2.93221139e-04 -9.99930792e-01 -8.04484500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.300385723 meters 0.01701735444159044 Centerline is valid? [True, True] Translation: X:-61.43, Y:-250.21, Z:-9.03 [[-9.83758785e-01 -1.79125319e-01 1.15227421e-02 -6.14287672e+01] [ 1.79109536e-01 -9.83826222e-01 -2.39579236e-03 -2.50209556e+02] [ 1.17655229e-02 -2.93048797e-04 9.99930741e-01 -9.02514706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.330385723 meters 0.017395491272270143 Centerline is valid? [True, True] Translation: X:-61.61, Y:-250.99, Z:-8.05 [[-9.87324056e-01 1.58310635e-01 1.13557074e-02 -6.16050797e+01] [ 1.58303633e-01 9.87389312e-01 -1.51852925e-03 -2.50993111e+02] [-1.14529034e-02 2.98369268e-04 -9.99934369e-01 -8.04526966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.360385723 meters 0.017605387639034395 Centerline is valid? [True, True] Translation: X:-61.60, Y:-250.97, Z:-8.05 [[-9.95847397e-01 9.05034956e-02 9.85286815e-03 -6.15969219e+01] [ 9.05018857e-02 9.95896097e-01 -6.10051386e-04 -2.50967554e+02] [-9.86764472e-03 2.84185062e-04 -9.99951273e-01 -8.04768653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.390385723 meters 0.017913341705445476 Centerline is valid? [True, True] Translation: X:-61.60, Y:-250.94, Z:-8.05 [[-9.99740156e-01 2.09035734e-02 9.09185841e-03 -6.15979615e+01] [ 2.09052072e-02 9.99781459e-01 8.46810219e-05 -2.50939757e+02] [-9.08810133e-03 2.74726201e-04 -9.99958665e-01 -8.04861189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.420385723 meters 0.019670185998229884 Centerline is valid? [True, True] Translation: X:-61.60, Y:-250.91, Z:-8.05 [[-9.98832469e-01 -4.79128057e-02 6.16936443e-03 -6.16003552e+01] [-4.79106387e-02 9.98851502e-01 4.98651234e-04 -2.50913651e+02] [-6.18617070e-03 2.02490854e-04 -9.99980845e-01 -8.04982605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.450385723 meters 0.018593243022544982 Centerline is valid? [True, True] Translation: X:-61.61, Y:-250.88, Z:-8.05 [[-9.92897877e-01 -1.18835309e-01 5.65475143e-03 -6.16141723e+01] [-1.18832293e-01 9.92913961e-01 8.67513898e-04 -2.50882858e+02] [-5.71777293e-03 1.89385627e-04 -9.99983636e-01 -8.05004578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.480385723 meters 0.018501529219062823 Centerline is valid? [True, True] Translation: X:-61.64, Y:-250.86, Z:-8.05 [[-9.81805703e-01 -1.89805451e-01 5.60832486e-03 -6.16420157e+01] [-1.89801234e-01 9.81821702e-01 1.27962493e-03 -2.50856949e+02] [-5.74925485e-03 1.91876076e-04 -9.99983455e-01 -8.04969230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.510385723 meters 0.018362002446572743 Centerline is valid? [True, True] Translation: X:-61.70, Y:-250.84, Z:-8.05 [[-9.65040599e-01 -2.62029003e-01 6.11910994e-03 -6.16975812e+01] [-2.62022355e-01 9.65059976e-01 1.87812089e-03 -2.50840446e+02] [-6.39743024e-03 2.09119307e-04 -9.99979514e-01 -8.04927551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.540385723 meters 0.019846503478336212 Centerline is valid? [True, True] Translation: X:-61.76, Y:-250.83, Z:-8.05 [[-9.42587453e-01 -3.33887870e-01 6.91260497e-03 -6.17646359e+01] [-3.33877080e-01 9.42612771e-01 2.69424128e-03 -2.50834699e+02] [-7.41548421e-03 2.31597668e-04 -9.99972478e-01 -8.04817042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.570385723 meters 0.018182923822476542 Centerline is valid? [True, True] Translation: X:-61.84, Y:-250.83, Z:-8.05 [[-9.14852227e-01 -4.03731678e-01 6.79228344e-03 -6.18418640e+01] [-4.03718680e-01 9.14877413e-01 3.24762645e-03 -2.50832082e+02] [-7.52527638e-03 2.28926584e-04 -9.99971659e-01 -8.04861487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.600385723 meters 0.018715846281312 Centerline is valid? [True, True] Translation: X:-61.93, Y:-250.84, Z:-8.05 [[-8.81307968e-01 -4.72482493e-01 7.52063657e-03 -6.19275502e+01] [-4.72462862e-01 8.81340021e-01 4.31421019e-03 -2.50842084e+02] [-8.66662677e-03 2.48926339e-04 -9.99962413e-01 -8.04644642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.630385723 meters 0.01768238833738253 Centerline is valid? [True, True] Translation: X:-62.02, Y:-250.86, Z:-8.05 [[-8.42843229e-01 -5.38103567e-01 7.73583941e-03 -6.20211503e+01] [-5.38078040e-01 8.42878689e-01 5.24779933e-03 -2.50862162e+02] [-9.34423371e-03 2.60586829e-04 -9.99956308e-01 -8.04613164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.660385723 meters 0.01738695241754075 Centerline is valid? [True, True] Translation: X:-62.11, Y:-250.89, Z:-8.05 [[-7.99517986e-01 -6.00589454e-01 7.95594989e-03 -6.21147229e+01] [-6.00556218e-01 7.99557521e-01 6.32453501e-03 -2.50892574e+02] [-1.01596886e-02 2.78584320e-04 -9.99948350e-01 -8.04537195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.690385723 meters 0.017180536434721543 Centerline is valid? [True, True] Translation: X:-62.21, Y:-250.94, Z:-8.04 [[-7.51114737e-01 -6.60115613e-01 8.60401847e-03 -6.22106467e+01] [-6.60067492e-01 7.51163950e-01 7.97661910e-03 -2.50935362e+02] [-1.17285193e-02 3.12123266e-04 -9.99931170e-01 -8.04475306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7203857229999 meters 0.017452722442267712 Centerline is valid? [True, True] Translation: X:-62.31, Y:-250.99, Z:-8.05 [[-6.99149785e-01 -7.14927503e-01 8.26100912e-03 -6.23083867e+01] [-7.14871925e-01 6.99198510e-01 8.92047675e-03 -2.50992097e+02] [-1.21535794e-02 3.31185900e-04 -9.99926088e-01 -8.04508655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.750385723 meters 0.019399631294760328 Centerline is valid? [True, True] Translation: X:-62.40, Y:-251.06, Z:-8.04 [[-6.43096285e-01 -7.65751803e-01 7.16552882e-03 -6.23978062e+01] [-7.65698577e-01 6.43136122e-01 9.03424627e-03 -2.51055316e+02] [-1.15264008e-02 3.23254988e-04 -9.99933517e-01 -8.04424737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.780385723 meters 0.017934225371282104 Centerline is valid? [True, True] Translation: X:-62.49, Y:-251.13, Z:-8.05 [[-5.83197223e-01 -8.12307122e-01 6.17570598e-03 -6.24914038e+01] [-8.12255706e-01 5.83229834e-01 9.14484798e-03 -2.51127513e+02] [-1.10302811e-02 3.16997523e-04 -9.99939114e-01 -8.04585381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.810385723 meters 0.017982926547122163 Centerline is valid? [True, True] Translation: X:-62.58, Y:-251.21, Z:-8.05 [[-5.20533050e-01 -8.53827330e-01 4.92278476e-03 -6.25786319e+01] [-8.53783538e-01 5.20556240e-01 8.65282582e-03 -2.51207022e+02] [-9.95060550e-03 3.01089228e-04 -9.99950446e-01 -8.04619137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8403857229999 meters 0.01833579350887584 Centerline is valid? [True, True] Translation: X:-62.66, Y:-251.30, Z:-8.05 [[-4.53788363e-01 -8.91100224e-01 4.06368374e-03 -6.26599440e+01] [-8.91058545e-01 4.53806464e-01 8.62342110e-03 -2.51298984e+02] [-9.52845841e-03 2.92228021e-04 -9.99954561e-01 -8.04627434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.870385723 meters 0.018129975424359214 Centerline is valid? [True, True] Translation: X:-62.74, Y:-251.40, Z:-8.05 [[-3.83385128e-01 -9.23583403e-01 3.08882917e-03 -6.27372924e+01] [-9.23547733e-01 3.83397482e-01 8.12129487e-03 -2.51403694e+02] [-8.68494248e-03 2.60902494e-04 -9.99962251e-01 -8.04789478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.900385723 meters 0.018137600168941826 Centerline is valid? [True, True] Translation: X:-62.80, Y:-251.50, Z:-8.05 [[-3.10378665e-01 -9.50610420e-01 2.21686109e-03 -6.28016073e+01] [-9.50580618e-01 3.10386497e-01 7.53069252e-03 -2.51500586e+02] [-7.84683853e-03 2.30061106e-04 -9.99969187e-01 -8.04892893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.930385723 meters 0.018027772207018206 Centerline is valid? [True, True] Translation: X:-62.86, Y:-251.61, Z:-8.05 [[-2.34064571e-01 -9.72220208e-01 1.28238944e-03 -6.28644179e+01] [-9.72201462e-01 2.34068024e-01 6.03965102e-03 -2.51614874e+02] [-6.17203713e-03 1.66927432e-04 -9.99980939e-01 -8.04911000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.960385723 meters 0.01901989546810323 Centerline is valid? [True, True] Translation: X:-62.92, Y:-251.74, Z:-8.05 [[-1.57474428e-01 -9.87522704e-01 8.44733592e-04 -6.29189108e+01] [-9.87502260e-01 1.57476605e-01 6.35646633e-03 -2.51743214e+02] [-6.41018060e-03 1.66804568e-04 -9.99979441e-01 -8.04772263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.990385723 meters 0.016656709575461413 Centerline is valid? [True, True] Translation: X:-62.96, Y:-251.85, Z:-8.05 [[-7.65493262e-02 -9.97065744e-01 3.22168536e-04 -6.29625733e+01] [-9.97048514e-01 7.65498978e-02 5.86294220e-03 -2.51851270e+02] [-5.87040079e-03 1.27586615e-04 -9.99982761e-01 -8.04902381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.020385723 meters 0.016426165669742136 Centerline is valid? [True, True] Translation: X:-63.00, Y:-251.98, Z:-8.05 [[ 2.32935809e-03 -9.99997278e-01 -1.38349041e-04 -6.29951509e+01] [-9.99977978e-01 -2.33017284e-03 6.21396680e-03 -2.51979039e+02] [-6.21427226e-03 1.23871440e-04 -9.99980684e-01 -8.04866176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.050385723 meters 0.01741855462008423 Centerline is valid? [True, True] Translation: X:-63.02, Y:-252.10, Z:-8.05 [[ 8.00087533e-02 -9.96793869e-01 -7.63681676e-04 -6.30193067e+01] [-9.96764240e-01 -8.00122643e-02 7.68680145e-03 -2.52096555e+02] [-7.72326045e-03 1.46199185e-04 -9.99970165e-01 -8.04753117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.080385723 meters 0.015737805041113846 Centerline is valid? [True, True] Translation: X:-63.03, Y:-252.23, Z:-8.05 [[ 1.59136623e-01 -9.87255726e-01 -1.29078271e-03 -6.30339642e+01] [-9.87229095e-01 -1.59141812e-01 7.25243997e-03 -2.52225705e+02] [-7.36543039e-03 1.20169445e-04 -9.99972868e-01 -8.04796939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.110385723 meters 0.015745724968606212 Centerline is valid? [True, True] Translation: X:-63.04, Y:-252.35, Z:-8.05 [[ 2.35456798e-01 -9.71883029e-01 -1.86402703e-03 -6.30376893e+01] [-9.71856353e-01 -2.35464147e-01 7.20169873e-03 -2.52351748e+02] [-7.43812031e-03 1.15877589e-04 -9.99972330e-01 -8.04814763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.140385723 meters 0.015711552079975512 Centerline is valid? [True, True] Translation: X:-63.03, Y:-252.48, Z:-8.05 [[ 3.09619699e-01 -9.50857060e-01 -2.54803131e-03 -6.30332375e+01] [-9.50828030e-01 -3.09630160e-01 7.43112408e-03 -2.52477594e+02] [-7.85488414e-03 1.21917191e-04 -9.99969143e-01 -8.04791226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.170385723 meters 0.01612113118806703 Centerline is valid? [True, True] Translation: X:-63.02, Y:-252.60, Z:-8.05 [[ 3.81081055e-01 -9.24536148e-01 -3.18430141e-03 -6.30157526e+01] [-9.24506689e-01 -3.81094337e-01 7.38164570e-03 -2.52603758e+02] [-8.03811752e-03 1.30902623e-04 -9.99967685e-01 -8.04714101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.200385723 meters 0.016382877927480194 Centerline is valid? [True, True] Translation: X:-62.99, Y:-252.72, Z:-8.05 [[ 4.50229156e-01 -8.92904505e-01 -3.90527769e-03 -6.29903451e+01] [-8.92873643e-01 -4.50246070e-01 7.42523000e-03 -2.52724670e+02] [-8.38835725e-03 1.43864478e-04 -9.99964807e-01 -8.04713088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.230385723 meters 0.017105338689893772 Centerline is valid? [True, True] Translation: X:-62.96, Y:-252.84, Z:-8.05 [[ 5.15546056e-01 -8.56851979e-01 -4.11693052e-03 -6.29595167e+01] [-8.56826940e-01 -5.15562473e-01 6.55223975e-03 -2.52835536e+02] [-7.73683448e-03 1.49515615e-04 -9.99970059e-01 -8.04731601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.260385723 meters 0.016704070416897965 Centerline is valid? [True, True] Translation: X:-62.92, Y:-252.95, Z:-8.05 [[ 5.78662185e-01 -8.15555678e-01 -4.36017671e-03 -6.29216917e+01] [-8.15534444e-01 -5.78678593e-01 5.88708304e-03 -2.52945820e+02] [-7.32438492e-03 1.49241953e-04 -9.99973165e-01 -8.04824241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.290385723 meters 0.018082427324787195 Centerline is valid? [True, True] Translation: X:-62.87, Y:-253.05, Z:-8.05 [[ 6.38146753e-01 -7.69905434e-01 -3.78734810e-03 -6.28723175e+01] [-7.69893038e-01 -6.38157980e-01 4.37067185e-03 -2.53051766e+02] [-5.78193042e-03 1.26722883e-04 -9.99983277e-01 -8.04916321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.320385723 meters 0.01751336275078639 Centerline is valid? [True, True] Translation: X:-62.82, Y:-253.15, Z:-8.05 [[ 6.94697174e-01 -7.19293558e-01 -3.55156827e-03 -6.28207722e+01] [-7.19284969e-01 -6.94706244e-01 3.51691004e-03 -2.53153160e+02] [-4.99698739e-03 1.11402207e-04 -9.99987509e-01 -8.05000210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.350385723 meters 0.017360428075731106 Centerline is valid? [True, True] Translation: X:-62.83, Y:-253.16, Z:-8.05 [[ 7.48911053e-01 -6.62659626e-01 -3.80201590e-03 -6.28276361e+01] [-6.62651827e-01 -7.48920695e-01 3.21691215e-03 -2.53162353e+02] [-4.97912619e-03 1.10231718e-04 -9.99987598e-01 -8.05040232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.380385723 meters 0.016799368720750794 Centerline is valid? [True, True] Translation: X:-62.84, Y:-253.18, Z:-8.05 [[ 7.98709135e-01 -6.01701233e-01 -4.39815833e-03 -6.28353157e+01] [-6.01692912e-01 -7.98721236e-01 3.16656969e-03 -2.53176239e+02] [-5.41823134e-03 1.17172556e-04 -9.99985315e-01 -8.05035762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.410385723 meters 0.016649357092404393 Centerline is valid? [True, True] Translation: X:-62.84, Y:-253.19, Z:-8.05 [[ 8.44114869e-01 -5.36140981e-01 -4.78911647e-03 -6.28431928e+01] [-5.36133105e-01 -8.44128447e-01 2.90835510e-03 -2.53189841e+02] [-5.60191781e-03 1.12618093e-04 -9.99984303e-01 -8.04975322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.440385723 meters 0.016086614154936826 Centerline is valid? [True, True] Translation: X:-62.85, Y:-253.21, Z:-8.05 [[ 8.84185654e-01 -4.67107576e-01 -5.12268495e-03 -6.28496865e+01] [-4.67100429e-01 -8.84200487e-01 2.58608120e-03 -2.53207170e+02] [-5.73745864e-03 1.06232446e-04 -9.99983535e-01 -8.05045386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4703857229999 meters 0.016307031377083815 Centerline is valid? [True, True] Translation: X:-62.85, Y:-253.22, Z:-8.05 [[ 9.18023419e-01 -3.96492713e-01 -5.15084310e-03 -6.28546918e+01] [-3.96487096e-01 -9.18037863e-01 2.11297381e-03 -2.53220913e+02] [-5.56644771e-03 1.02483380e-04 -9.99984502e-01 -8.04995664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.500385723 meters 0.016278348213316123 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.24, Z:-8.05 [[ 9.46182304e-01 -3.23586295e-01 -5.56402164e-03 -6.28564833e+01] [-3.23581370e-01 -9.46198657e-01 1.78856724e-03 -2.53235408e+02] [-5.84342565e-03 1.08103077e-04 -9.99982921e-01 -8.04946985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.530385723 meters 0.01644794711788086 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.25, Z:-8.05 [[ 9.68511051e-01 -2.48917712e-01 -5.13001283e-03 -6.28591567e+01] [-2.48914761e-01 -9.68524632e-01 1.21613304e-03 -2.53250677e+02] [-5.27126084e-03 9.90976343e-05 -9.99986102e-01 -8.04897194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.560385723 meters 0.016579151126127147 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.26, Z:-8.05 [[ 9.84984718e-01 -1.72576676e-01 -4.73256913e-03 -6.28605289e+01] [-1.72575128e-01 -9.84996083e-01 7.36620360e-04 -2.53263520e+02] [-4.78868554e-03 9.11639245e-05 -9.99988530e-01 -8.04863570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5903857229999 meters 0.016483266461770403 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.28, Z:-8.05 [[ 9.95483858e-01 -9.48431965e-02 -4.08134287e-03 -6.28628157e+01] [-9.48427191e-02 -9.95492221e-01 3.10813012e-04 -2.53278037e+02] [-4.09242358e-03 7.76763192e-05 -9.99991623e-01 -8.04907262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.620385723 meters 0.016290700176095976 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.29, Z:-8.05 [[ 9.99855880e-01 -1.66048040e-02 -3.53539968e-03 -6.28640071e+01] [-1.66049374e-02 -9.99862129e-01 -8.35774964e-06 -2.53292110e+02] [-3.53477347e-03 6.70616352e-05 -9.99993751e-01 -8.04950711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.650385723 meters 0.016716191516457205 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.30, Z:-8.05 [[ 9.98107799e-01 6.13935080e-02 -3.41445182e-03 -6.28648220e+01] [ 6.13929217e-02 -9.98113637e-01 -2.76346341e-04 -2.53304781e+02] [-3.42497680e-03 6.62002654e-05 -9.99994133e-01 -8.04953934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.680385723 meters 0.016663665307916617 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.32, Z:-8.05 [[ 9.90295845e-01 1.38949974e-01 -2.65397062e-03 -6.28623379e+01] [ 1.38949332e-01 -9.90299400e-01 -4.25944680e-04 -2.53320499e+02] [-2.68741052e-03 5.30438030e-05 -9.99996388e-01 -8.04939785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.710385723 meters 0.01677439742567954 Centerline is valid? [True, True] Translation: X:-62.86, Y:-253.33, Z:-8.05 [[ 9.76328145e-01 2.16279495e-01 -2.55602070e-03 -6.28595624e+01] [ 2.16278616e-01 -9.76331490e-01 -6.18722674e-04 -2.53334802e+02] [-2.62934053e-03 5.12637407e-05 -9.99996542e-01 -8.04880617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.740385723 meters 0.016549709878034544 Centerline is valid? [True, True] Translation: X:-62.85, Y:-253.35, Z:-8.05 [[ 9.56371131e-01 2.92143954e-01 -2.48412335e-03 -6.28546207e+01] [ 2.92142830e-01 -9.56374356e-01 -8.11750597e-04 -2.53347529e+02] [-2.61289989e-03 5.06160105e-05 -9.99996585e-01 -8.04877934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.770385723 meters 0.017637965776465134 Centerline is valid? [True, True] Translation: X:-62.85, Y:-253.36, Z:-8.05 [[ 9.30732432e-01 3.65693361e-01 -2.34646475e-03 -6.28506446e+01] [ 3.65692062e-01 -9.30735388e-01 -9.76042215e-04 -2.53358165e+02] [-2.54086994e-03 5.03506104e-05 -9.99996771e-01 -8.04808562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.800385723 meters 0.016433486709842942 Centerline is valid? [True, True] Translation: X:-62.84, Y:-253.37, Z:-8.05 [[ 8.99359221e-01 4.37205999e-01 -1.97639156e-03 -6.28423444e+01] [ 4.37204834e-01 -8.99361391e-01 -1.01028238e-03 -2.53374237e+02] [-2.21919178e-03 4.45188273e-05 -9.99997537e-01 -8.04815817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.830385723 meters 0.01693590841134428 Centerline is valid? [True, True] Translation: X:-62.84, Y:-253.39, Z:-8.05 [[ 8.62552119e-01 5.05963967e-01 -2.07508495e-03 -6.28360412e+01] [ 5.05962363e-01 -8.62554614e-01 -1.27475022e-03 -2.53385319e+02] [-2.43485177e-03 4.96236186e-05 -9.99997035e-01 -8.04749738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.860385723 meters 0.016176792897168925 Centerline is valid? [True, True] Translation: X:-62.82, Y:-253.40, Z:-8.05 [[ 8.20486825e-01 5.71662399e-01 -1.86354360e-03 -6.28231307e+01] [ 5.71660791e-01 -8.20488940e-01 -1.35667284e-03 -2.53401685e+02] [-2.30457577e-03 4.78173793e-05 -9.99997343e-01 -8.04764029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.890385723 meters 0.017129872785129768 Centerline is valid? [True, True] Translation: X:-62.81, Y:-253.41, Z:-8.05 [[ 7.73249679e-01 6.34100220e-01 -1.35825971e-03 -6.28141160e+01] [ 6.34099157e-01 -7.73250871e-01 -1.16194328e-03 -2.53412072e+02] [-1.78706399e-03 3.72009255e-05 -9.99998403e-01 -8.04791893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.920385723 meters 0.016779642468933178 Centerline is valid? [True, True] Translation: X:-62.80, Y:-253.42, Z:-8.05 [[ 7.21383305e-01 6.92536007e-01 -7.94359064e-05 -6.28009607e+01] [ 6.92536003e-01 -7.21383309e-01 -7.97281940e-05 -2.53422801e+02] [-1.12518383e-04 2.50236297e-06 -9.99999994e-01 -8.04882692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.950385723 meters 0.01624557176628255 Centerline is valid? [True, True] Translation: X:-62.79, Y:-253.43, Z:-8.05 [[ 6.64815768e-01 7.47007282e-01 3.39712981e-04 -6.27871118e+01] [ 7.47007176e-01 -6.64815855e-01 3.97838226e-04 -2.53432381e+02] [ 5.23034627e-04 -1.07210913e-05 -9.99999863e-01 -8.04896388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.980385723 meters 0.01776347961510175 Centerline is valid? [True, True] Translation: X:-62.77, Y:-253.44, Z:-8.05 [[ 6.04354711e-01 7.96715355e-01 1.60789808e-04 -6.27730733e+01] [ 7.96715325e-01 -6.04354733e-01 2.21151044e-04 -2.53440980e+02] [ 2.73368513e-04 -5.54997141e-06 -9.99999963e-01 -8.04764442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.010385723 meters 0.016121682286642836 Centerline is valid? [True, True] Translation: X:-62.76, Y:-253.45, Z:-8.05 [[ 5.38357770e-01 8.42716376e-01 1.43986407e-04 -6.27592842e+01] [ 8.42716344e-01 -5.38357789e-01 2.34714153e-04 -2.53449039e+02] [ 2.75313664e-04 -5.02048921e-06 -9.99999962e-01 -8.04921863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.040385723 meters 0.0157793973436159 Centerline is valid? [True, True] Translation: X:-62.74, Y:-253.45, Z:-8.05 [[ 4.70235989e-01 8.82540611e-01 4.29019920e-04 -6.27435097e+01] [ 8.82540210e-01 -4.70236185e-01 8.41493956e-04 -2.53454701e+02] [ 9.44393280e-04 -1.70734124e-05 -9.99999554e-01 -8.04912743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.070385723 meters 0.01583866375712333 Centerline is valid? [True, True] Translation: X:-62.73, Y:-253.46, Z:-8.05 [[ 3.98409082e-01 9.17207466e-01 8.17320173e-04 -6.27277719e+01] [ 9.17205348e-01 -3.98409919e-01 1.97126792e-03 -2.53460390e+02] [ 2.13369012e-03 -3.57206113e-05 -9.99997723e-01 -8.04908663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.100385723 meters 0.015680670875761926 Centerline is valid? [True, True] Translation: X:-62.71, Y:-253.46, Z:-8.05 [[ 3.24830471e-01 9.45771952e-01 7.62055515e-04 -6.27142166e+01] [ 9.45769053e-01 -3.24831362e-01 2.34180761e-03 -2.53462325e+02] [ 2.46235549e-03 -3.99619465e-05 -9.99996968e-01 -8.04915283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.130385723 meters 0.015773608541889157 Centerline is valid? [True, True] Translation: X:-62.70, Y:-253.46, Z:-8.05 [[ 2.49255592e-01 9.68437690e-01 3.01795663e-04 -6.27028703e+01] [ 9.68436879e-01 -2.49255774e-01 1.25329564e-03 -2.53464243e+02] [ 1.28896304e-03 -2.01208951e-05 -9.99999169e-01 -8.04834923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.160385723 meters 0.018238406601510347 Centerline is valid? [True, True] Translation: X:-62.69, Y:-253.46, Z:-8.05 [[ 1.73241511e-01 9.84879372e-01 3.57134622e-05 -6.26935218e+01] [ 9.84879347e-01 -1.73241515e-01 2.23561570e-04 -2.53464093e+02] [ 2.26368233e-04 -3.55669292e-06 -9.99999974e-01 -8.04597138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.190385723 meters 0.015480941511600637 Centerline is valid? [True, True] Translation: X:-62.68, Y:-253.46, Z:-8.05 [[ 9.49649281e-02 9.95480615e-01 8.38149548e-05 -6.26784602e+01] [ 9.95480060e-01 -9.49649637e-02 1.05210281e-03 -2.53463089e+02] [ 1.05530744e-03 -1.64767517e-05 -9.99999443e-01 -8.04801961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2203857229999 meters 0.015480941511600637 Centerline is valid? [True, True] Translation: X:-62.67, Y:-253.46, Z:-8.05 [[ 1.66882122e-02 9.99860742e-01 1.13629615e-06 -6.26652206e+01] [ 9.99860185e-01 -1.66882041e-02 1.05542991e-03 -2.53461760e+02] [ 1.05530190e-03 -1.64771011e-05 -9.99999443e-01 -8.04801956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.250385723 meters 0.015255585138273683 Centerline is valid? [True, True] Translation: X:-62.65, Y:-253.46, Z:-8.05 [[-6.22910253e-02 9.98058024e-01 -9.72356274e-05 -6.26488298e+01] [ 9.98057236e-01 6.22910983e-02 1.25449824e-03 -2.53458341e+02] [ 1.25811895e-03 -1.89027396e-05 -9.99999208e-01 -8.04778678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.280385723 meters 0.015652339404015496 Centerline is valid? [True, True] Translation: X:-62.64, Y:-253.46, Z:-8.05 [[-1.40847031e-01 9.90031366e-01 -8.75736291e-05 -6.26363917e+01] [ 9.90031209e-01 1.40847058e-01 5.58306766e-04 -2.53455171e+02] [ 5.65075698e-04 -8.06477524e-06 -9.99999840e-01 -8.04762040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.310385723 meters 0.014940894410639572 Centerline is valid? [True, True] Translation: X:-62.62, Y:-253.45, Z:-8.05 [[-2.19044002e-01 9.75714942e-01 -2.77545037e-04 -6.26224093e+01] [ 9.75714248e-01 2.19044178e-01 1.16373998e-03 -2.53449844e+02] [ 1.19627311e-03 -1.58943850e-05 -9.99999284e-01 -8.04754250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3403857229999 meters 0.014970910973547679 Centerline is valid? [True, True] Translation: X:-62.61, Y:-253.44, Z:-8.05 [[-2.95384991e-01 9.55378253e-01 -3.16362068e-04 -6.26117998e+01] [ 9.55377752e-01 2.95385160e-01 9.79267209e-04 -2.53444448e+02] [ 1.02901926e-03 -1.29844450e-05 -9.99999471e-01 -8.04800768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.370385723 meters 0.015095967756876192 Centerline is valid? [True, True] Translation: X:-62.60, Y:-253.44, Z:-8.05 [[-3.69194180e-01 9.29352189e-01 -4.06544288e-04 -6.26025865e+01] [ 9.29351666e-01 3.69194404e-01 9.86445344e-04 -2.53440012e+02] [ 1.06684902e-03 -1.36327310e-05 -9.99999431e-01 -8.04854268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.400385723 meters 0.015143899228012035 Centerline is valid? [True, True] Translation: X:-62.59, Y:-253.43, Z:-8.05 [[-4.40437774e-01 8.97783038e-01 -4.29140932e-04 -6.25927748e+01] [ 8.97782639e-01 4.40437983e-01 8.46254499e-04 -2.53433260e+02] [ 9.48762901e-04 -1.25528309e-05 -9.99999550e-01 -8.04832281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.430385723 meters 0.015251531460060615 Centerline is valid? [True, True] Translation: X:-62.58, Y:-253.43, Z:-8.05 [[-5.08585600e-01 8.61011394e-01 -2.59454471e-04 -6.25836972e+01] [ 8.61011289e-01 5.08585666e-01 4.25487070e-04 -2.53426000e+02] [ 4.98304040e-04 -6.99663226e-06 -9.99999876e-01 -8.04794909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.460385723 meters 0.015631261270415538 Centerline is valid? [True, True] Translation: X:-62.58, Y:-253.42, Z:-8.05 [[-5.72364673e-01 8.19999193e-01 -6.31138683e-05 -6.25776250e+01] [ 8.19999189e-01 5.72364676e-01 8.74799707e-05 -2.53418889e+02] [ 1.07857654e-04 -1.68287599e-06 -9.99999994e-01 -8.04764931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.490385723 meters 0.01579389045360853 Centerline is valid? [True, True] Translation: X:-62.57, Y:-253.41, Z:-8.05 [[-6.33469996e-01 7.73767255e-01 -2.00192499e-05 -6.25705538e+01] [ 7.73767254e-01 6.33469996e-01 2.37560598e-05 -2.53411130e+02] [ 3.10632550e-05 -4.41488893e-07 -1.00000000e+00 -8.04828600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.520385723 meters 0.016253264631294586 Centerline is valid? [True, True] Translation: X:-62.56, Y:-253.40, Z:-8.05 [[-6.90876502e-01 7.22972793e-01 -2.23384108e-05 -6.25644249e+01] [ 7.22972792e-01 6.90876502e-01 2.26360288e-05 -2.53403930e+02] [ 3.17983157e-05 -5.11362854e-07 -1.00000000e+00 -8.04887632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.550385723 meters 0.016465617890852085 Centerline is valid? [True, True] Translation: X:-62.56, Y:-253.39, Z:-8.05 [[-7.43547466e-01 6.68683155e-01 -7.07086776e-05 -6.25580127e+01] [ 6.68683152e-01 7.43547469e-01 6.08716276e-05 -2.53393987e+02] [ 9.32790899e-05 -2.02075700e-06 -9.99999996e-01 -8.04862349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.580385723 meters 0.017283859049770936 Centerline is valid? [True, True] Translation: X:-62.54, Y:-253.37, Z:-8.05 [[-7.88514124e-01 6.15016612e-01 -2.07378126e-04 -6.25440575e+01] [ 6.15016592e-01 7.88514152e-01 1.54066203e-04 -2.53370396e+02] [ 2.58273861e-04 -6.05761091e-06 -9.99999967e-01 -8.04869054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.610385723 meters 0.016770163104621802 Centerline is valid? [True, True] Translation: X:-62.53, Y:-253.35, Z:-8.05 [[-8.29890412e-01 5.57926361e-01 2.84185308e-04 -6.25266537e+01] [ 5.57926331e-01 8.29890460e-01 -1.81038755e-04 -2.53345587e+02] [-3.36848970e-04 8.31213945e-06 -9.99999943e-01 -8.04777476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.640385723 meters 0.016850247385716666 Centerline is valid? [True, True] Translation: X:-62.51, Y:-253.32, Z:-8.05 [[-8.67208451e-01 4.97944846e-01 6.57264319e-04 -6.25105575e+01] [ 4.97944719e-01 8.67208700e-01 -3.56454958e-04 -2.53321475e+02] [-7.47480245e-04 1.81605447e-05 -9.99999721e-01 -8.04736512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.670385723 meters 0.017375266578044925 Centerline is valid? [True, True] Translation: X:-62.50, Y:-253.29, Z:-8.05 [[-9.00646781e-01 4.34550783e-01 9.96837031e-04 -6.25049936e+01] [ 4.34550548e-01 9.00647332e-01 -4.52423449e-04 -2.53294096e+02] [-1.09439958e-03 2.57023553e-05 -9.99999401e-01 -8.04724842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.700385723 meters 0.016824091313937518 Centerline is valid? [True, True] Translation: X:-62.50, Y:-253.27, Z:-8.05 [[-9.29492209e-01 3.68839282e-01 1.34819130e-03 -6.24970398e+01] [ 3.68838945e-01 9.29493186e-01 -5.00003535e-04 -2.53266421e+02] [-1.43755557e-03 3.25160667e-05 -9.99998966e-01 -8.04780880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.730385723 meters 0.016664271992661774 Centerline is valid? [True, True] Translation: X:-62.49, Y:-253.24, Z:-8.05 [[-9.53425829e-01 3.01624583e-01 1.34110940e-03 -6.24907016e+01] [ 3.01624331e-01 9.53426772e-01 -3.91670891e-04 -2.53237423e+02] [-1.39678717e-03 3.10820793e-05 -9.99999024e-01 -8.04770827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.760385723 meters 0.016764636544856357 Centerline is valid? [True, True] Translation: X:-62.32, Y:-252.64, Z:-9.02 [[-9.45678997e-01 -3.25097306e-01 1.72529446e-03 -6.23161418e+01] [ 3.25096741e-01 -9.45680571e-01 -6.06411059e-04 -2.52637189e+02] [ 1.82872005e-03 -1.25825956e-05 9.99998328e-01 -9.02292714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.790385723 meters 0.016351797091042543 Centerline is valid? [True, True] Translation: X:-62.54, Y:-253.22, Z:-8.05 [[-9.55306447e-01 2.95606333e-01 2.54741021e-03 -6.25410829e+01] [ 2.95605427e-01 9.55309842e-01 -7.33626409e-04 -2.53223462e+02] [-2.65043066e-03 5.21902450e-05 -9.99996486e-01 -8.04637876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.820385723 meters 0.015888110310282914 Centerline is valid? [True, True] Translation: X:-62.54, Y:-253.19, Z:-8.05 [[-9.74079877e-01 2.26183059e-01 3.10103832e-03 -6.25389532e+01] [ 2.26182107e-01 9.74084812e-01 -6.58975083e-04 -2.53193909e+02] [-3.16972332e-03 5.95050121e-05 -9.99994975e-01 -8.04616783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.850385723 meters 0.016059623605650445 Centerline is valid? [True, True] Translation: X:-62.54, Y:-253.17, Z:-8.05 [[-9.87728607e-01 1.56140570e-01 3.51005386e-03 -6.25424940e+01] [ 1.56139818e-01 9.87734842e-01 -4.88988042e-04 -2.53165401e+02] [-3.54335337e-03 6.50716945e-05 -9.99993720e-01 -8.04635502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.880385723 meters 0.015510674892403301 Centerline is valid? [True, True] Translation: X:-62.54, Y:-253.14, Z:-8.05 [[-9.96399067e-01 8.47471996e-02 2.61006794e-03 -6.25434003e+01] [ 8.47470295e-02 9.96402484e-01 -1.75910689e-04 -2.53137407e+02] [-2.61558612e-03 4.59182585e-05 -9.99996578e-01 -8.04784283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.910385723 meters 0.015665358047727805 Centerline is valid? [True, True] Translation: X:-62.50, Y:-252.51, Z:-9.02 [[-9.93063494e-01 -1.17556555e-01 2.31371302e-03 -6.25009321e+01] [ 1.17556096e-01 -9.93066188e-01 -3.33722988e-04 -2.52506997e+02] [ 2.33690149e-03 -5.94170472e-05 9.99997268e-01 -9.02196418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.940385723 meters 0.015458806369332759 Centerline is valid? [True, True] Translation: X:-62.61, Y:-253.13, Z:-8.05 [[-9.96914286e-01 7.84668480e-02 2.20477990e-03 -6.26112393e+01] [ 7.84667325e-02 9.96916723e-01 -1.38935121e-04 -2.53132469e+02] [-2.20888375e-03 3.44954682e-05 -9.99997560e-01 -8.04749689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9703857229999 meters 0.017074857025794404 Centerline is valid? [True, True] Translation: X:-62.61, Y:-253.10, Z:-8.04 [[-9.99966369e-01 7.83070093e-03 2.43732037e-03 -6.26147376e+01] [ 7.83077313e-03 9.99969339e-01 2.00807630e-05 -2.53103405e+02] [-2.43708839e-03 3.91661906e-05 -9.99997030e-01 -8.04495167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.000385723 meters 0.01565783453803226 Centerline is valid? [True, True] Translation: X:-62.62, Y:-253.08, Z:-8.05 [[-9.97970830e-01 -6.36020058e-02 3.00116628e-03 -6.26239324e+01] [-6.36015743e-02 9.97975342e-01 2.39105546e-04 -2.53079371e+02] [-3.01029754e-03 4.77414597e-05 -9.99995468e-01 -8.04791210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.030385723 meters 0.015413006427451807 Centerline is valid? [True, True] Translation: X:-62.64, Y:-253.05, Z:-8.05 [[-9.90939004e-01 -1.34287684e-01 2.59023219e-03 -6.26379228e+01] [-1.34287113e-01 9.90942388e-01 3.93938087e-04 -2.53052644e+02] [-2.61967190e-03 4.25338144e-05 -9.99996568e-01 -8.04888949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.060385723 meters 0.016020570233431293 Centerline is valid? [True, True] Translation: X:-62.74, Y:-252.42, Z:-9.02 [[-9.94961823e-01 1.00215576e-01 2.79461331e-03 -6.27435464e+01] [-1.00215275e-01 -9.94965747e-01 2.47990411e-04 -2.52415706e+02] [ 2.80539702e-03 -3.33219497e-05 9.99996064e-01 -9.02134668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0903857229999 meters 0.01578224455209353 Centerline is valid? [True, True] Translation: X:-62.75, Y:-253.07, Z:-8.05 [[-9.90289163e-01 -1.38989350e-01 3.05520238e-03 -6.27530839e+01] [-1.38988519e-01 9.90293874e-01 4.83475303e-04 -2.53071236e+02] [-3.09274612e-03 5.41422983e-05 -9.99995216e-01 -8.04781097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.120385723 meters 0.015845773099991006 Centerline is valid? [True, True] Translation: X:-62.78, Y:-253.05, Z:-8.05 [[-9.77756827e-01 -2.09707220e-01 3.80377393e-03 -6.27797108e+01] [-2.09705361e-01 9.77764224e-01 8.85538040e-04 -2.53046382e+02] [-3.90489779e-03 6.81690783e-05 -9.99992374e-01 -8.04667589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.150385723 meters 0.015898186155934597 Centerline is valid? [True, True] Translation: X:-62.82, Y:-253.03, Z:-8.05 [[-9.59834735e-01 -2.80521715e-01 4.98493553e-03 -6.28181898e+01] [-2.80517460e-01 9.59847675e-01 1.54751772e-03 -2.53027874e+02] [-5.21889111e-03 8.69998086e-05 -9.99986378e-01 -8.04504629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.180385723 meters 0.015756204458863776 Centerline is valid? [True, True] Translation: X:-62.88, Y:-253.02, Z:-8.05 [[-9.36477677e-01 -3.50692048e-01 4.96472281e-03 -6.28777507e+01] [-3.50686640e-01 9.36490833e-01 1.94941174e-03 -2.53019792e+02] [-5.33306059e-03 8.45186199e-05 -9.99985776e-01 -8.04538754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.210385723 meters 0.015490126845038282 Centerline is valid? [True, True] Translation: X:-62.94, Y:-253.02, Z:-8.05 [[-9.07680184e-01 -4.19636328e-01 4.69429552e-03 -6.29438918e+01] [-4.19630273e-01 9.07692319e-01 2.25560097e-03 -2.53019925e+02] [-5.20750810e-03 7.74957865e-05 -9.99986438e-01 -8.04613781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.240385723 meters 0.015798642798789314 Centerline is valid? [True, True] Translation: X:-63.02, Y:-253.03, Z:-8.05 [[-8.73925648e-01 -4.86036954e-01 4.69477680e-03 -6.30227713e+01] [-4.86029454e-01 8.73938255e-01 2.70126098e-03 -2.53030409e+02] [-5.41585771e-03 7.89014515e-05 -9.99985331e-01 -8.04565888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.270385723 meters 0.015843543975784042 Centerline is valid? [True, True] Translation: X:-63.10, Y:-253.05, Z:-8.05 [[-8.35288620e-01 -5.49792161e-01 4.63697029e-03 -6.31045571e+01] [-5.49783139e-01 8.35301486e-01 3.15087398e-03 -2.53047802e+02] [-5.60559399e-03 8.25610957e-05 -9.99984285e-01 -8.04509045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.300385723 meters 0.01568986616574221 Centerline is valid? [True, True] Translation: X:-63.19, Y:-253.08, Z:-8.04 [[-7.91655852e-01 -6.10952972e-01 4.18065231e-03 -6.31932251e+01] [-6.10943931e-01 7.91666887e-01 3.32481622e-03 -2.53078693e+02] [-5.34099035e-03 7.79660567e-05 -9.99985734e-01 -8.04450895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.330385723 meters 0.015599333106302009 Centerline is valid? [True, True] Translation: X:-63.28, Y:-253.12, Z:-8.04 [[-7.43285834e-01 -6.68960726e-01 4.20907479e-03 -6.32828729e+01] [-6.68949369e-01 7.43297747e-01 3.89888323e-03 -2.53119498e+02] [-5.73679556e-03 8.23267454e-05 -9.99983541e-01 -8.04454288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.360385723 meters 0.015503587359628104 Centerline is valid? [True, True] Translation: X:-63.37, Y:-253.17, Z:-8.05 [[-6.89658501e-01 -7.24127228e-01 3.30286672e-03 -6.33689890e+01] [-7.24118481e-01 6.89666407e-01 3.55987035e-03 -2.53170117e+02] [-4.85567527e-03 6.34280173e-05 -9.99988209e-01 -8.04564646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.390385723 meters 0.015486683861974817 Centerline is valid? [True, True] Translation: X:-63.46, Y:-253.24, Z:-8.05 [[-6.31991546e-01 -7.74969641e-01 2.95653490e-03 -6.34613584e+01] [-7.74960739e-01 6.31998459e-01 3.71498424e-03 -2.53235130e+02] [-4.74752551e-03 5.66401648e-05 -9.99988729e-01 -8.04611534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.420385723 meters 0.015156024735836113 Centerline is valid? [True, True] Translation: X:-63.55, Y:-253.30, Z:-8.05 [[-5.69875143e-01 -8.21726794e-01 2.71994670e-03 -6.35450456e+01] [-8.21717012e-01 5.69881632e-01 4.00983923e-03 -2.53299758e+02] [-4.84504000e-03 5.00812366e-05 -9.99988262e-01 -8.04610167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.450385723 meters 0.014831724871979635 Centerline is valid? [True, True] Translation: X:-63.63, Y:-253.38, Z:-8.04 [[-5.02815533e-01 -8.64389871e-01 2.58671950e-03 -6.36303062e+01] [-8.64378058e-01 5.02822186e-01 4.51910165e-03 -2.53381183e+02] [-5.20692564e-03 3.63709224e-05 -9.99986443e-01 -8.04474372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.480385723 meters 0.017438744106445296 Centerline is valid? [True, True] Translation: X:-63.71, Y:-253.47, Z:-8.04 [[-4.34529072e-01 -9.00654763e-01 2.34183611e-03 -6.37066401e+01] [-9.00641266e-01 4.34535381e-01 4.93074666e-03 -2.53466960e+02] [-5.45851111e-03 3.33985267e-05 -9.99985102e-01 -8.04133228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.510385723 meters 0.01462396434510297 Centerline is valid? [True, True] Translation: X:-63.78, Y:-253.57, Z:-8.05 [[-3.61395173e-01 -9.32410501e-01 2.04619678e-03 -6.37769648e+01] [-9.32395297e-01 3.61400965e-01 5.32469275e-03 -2.53565630e+02] [-5.70429693e-03 1.64540044e-05 -9.99983730e-01 -8.04550135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.540385723 meters 0.014502059423442714 Centerline is valid? [True, True] Translation: X:-63.84, Y:-253.67, Z:-8.05 [[-2.87829018e-01 -9.57680472e-01 1.60289402e-03 -6.38419449e+01] [-9.57665434e-01 2.87833481e-01 5.36695419e-03 -2.53670790e+02] [-5.60119379e-03 9.72895792e-06 -9.99984313e-01 -8.04541450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.570385723 meters 0.014484819373948602 Centerline is valid? [True, True] Translation: X:-63.90, Y:-253.78, Z:-8.04 [[-2.11982711e-01 -9.77272548e-01 1.30237886e-03 -6.38971965e+01] [-9.77254070e-01 2.11986712e-01 6.00974923e-03 -2.53780867e+02] [-6.14924996e-03 1.20789422e-06 -9.99981093e-01 -8.04431329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.600385723 meters 0.01451731003524338 Centerline is valid? [True, True] Translation: X:-63.94, Y:-253.89, Z:-8.04 [[-1.35472083e-01 -9.90780786e-01 8.65376810e-04 -6.39442513e+01] [-9.90760754e-01 1.35474847e-01 6.30027255e-03 -2.53892274e+02] [-6.35942578e-03 -3.87033466e-06 -9.99979779e-01 -8.04418152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.630385723 meters 0.014534947119282129 Centerline is valid? [True, True] Translation: X:-63.98, Y:-254.01, Z:-8.04 [[-5.81905158e-02 -9.98305422e-01 3.86113548e-04 -6.39829331e+01] [-9.98284400e-01 5.81917962e-02 6.47861566e-03 -2.54010458e+02] [-6.49010578e-03 -8.45714443e-06 -9.99978939e-01 -8.04380779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.660385723 meters 0.016912428232512287 Centerline is valid? [True, True] Translation: X:-64.01, Y:-254.13, Z:-8.04 [[ 1.91738477e-02 -9.99816158e-01 -1.15915527e-04 -6.40092697e+01] [-9.99794234e-01 -1.91741949e-02 6.62120615e-03 -2.54132882e+02] [-6.62221148e-03 -1.10623229e-05 -9.99978073e-01 -8.04069219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.690385723 meters 0.014553708953502444 Centerline is valid? [True, True] Translation: X:-64.03, Y:-254.26, Z:-8.04 [[ 9.68315420e-02 -9.95300604e-01 -6.00974827e-04 -6.40283032e+01] [-9.95280438e-01 -9.68334058e-02 6.33569748e-03 -2.54259675e+02] [-6.36411797e-03 -1.53568685e-05 -9.99979749e-01 -8.04420891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7203857229999 meters 0.01454213199932046 Centerline is valid? [True, True] Translation: X:-64.03, Y:-254.38, Z:-8.04 [[ 1.72375550e-01 -9.85030596e-01 -1.18087280e-03 -6.40343668e+01] [-9.85007046e-01 -1.72379594e-01 6.81143968e-03 -2.54381413e+02] [-6.91303486e-03 -1.09576281e-05 -9.99976105e-01 -8.04429986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.750385723 meters 0.014465209484840855 Centerline is valid? [True, True] Translation: X:-64.03, Y:-254.51, Z:-8.04 [[ 2.47187227e-01 -9.68966033e-01 -1.81696105e-03 -6.40317901e+01] [-9.68939633e-01 -2.47193905e-01 7.15266028e-03 -2.54513088e+02] [-7.37982655e-03 -7.52069035e-06 -9.99972769e-01 -8.04427256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.780385723 meters 0.014574800815687598 Centerline is valid? [True, True] Translation: X:-64.02, Y:-254.63, Z:-8.04 [[ 3.20472025e-01 -9.47254317e-01 -2.63438494e-03 -6.40233429e+01] [-9.47222236e-01 -3.20482853e-01 7.79596823e-03 -2.54631271e+02] [-8.22903976e-03 -3.04172918e-06 -9.99966141e-01 -8.04386961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.810385723 meters 0.014652448017579879 Centerline is valid? [True, True] Translation: X:-64.00, Y:-254.75, Z:-8.04 [[ 3.91174392e-01 -9.20310471e-01 -3.35142861e-03 -6.40004421e+01] [-9.20276891e-01 -3.91188749e-01 7.86170519e-03 -2.54754999e+02] [-8.54625077e-03 8.94456030e-06 -9.99963480e-01 -8.04272700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8403857229999 meters 0.014601345223463695 Centerline is valid? [True, True] Translation: X:-63.97, Y:-254.87, Z:-8.04 [[ 4.59954872e-01 -8.87934041e-01 -3.82806181e-03 -6.39720485e+01] [-8.87903597e-01 -4.59970801e-01 7.35290557e-03 -2.54874825e+02] [-8.28969181e-03 1.69451125e-05 -9.99965640e-01 -8.04286077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.870385723 meters 0.014752841015951637 Centerline is valid? [True, True] Translation: X:-63.94, Y:-254.98, Z:-8.04 [[ 5.24535412e-01 -8.51378358e-01 -4.18239544e-03 -6.39350410e+01] [-8.51351879e-01 -5.24552085e-01 6.71486514e-03 -2.54982551e+02] [-7.91077510e-03 3.85056606e-05 -9.99968709e-01 -8.04418942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.900385723 meters 0.014919164047669502 Centerline is valid? [True, True] Translation: X:-63.89, Y:-255.10, Z:-8.04 [[ 5.87132467e-01 -8.09477846e-01 -4.59155085e-03 -6.38863276e+01] [-8.09453750e-01 -5.87150419e-01 6.24597261e-03 -2.55097615e+02] [-7.75190746e-03 4.94347431e-05 -9.99969952e-01 -8.04425892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.930385723 meters 0.015045865099367731 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.20, Z:-8.05 [[ 6.46372557e-01 -7.63005426e-01 -5.02378322e-03 -6.38366327e+01] [-7.62983106e-01 -6.46392077e-01 5.83640320e-03 -2.55199977e+02] [-7.70054098e-03 6.05708680e-05 -9.99970349e-01 -8.04529701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.960385723 meters 0.015036867802927479 Centerline is valid? [True, True] Translation: X:-63.78, Y:-255.30, Z:-8.05 [[ 7.02678344e-01 -7.11495702e-01 -4.12455486e-03 -6.37793141e+01] [-7.11483840e-01 -7.02690447e-01 4.10868062e-03 -2.55300876e+02] [-5.82159390e-03 4.74732407e-05 -9.99983053e-01 -8.04665667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.990385723 meters 0.01490359262162242 Centerline is valid? [True, True] Translation: X:-63.79, Y:-255.31, Z:-8.05 [[ 7.56966603e-01 -6.53441762e-01 -3.92759511e-03 -6.37869814e+01] [-6.53433208e-01 -7.56976791e-01 3.34367101e-03 -2.55309064e+02] [-5.15799262e-03 3.53737861e-05 -9.99986697e-01 -8.04626543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.020385723 meters 0.014836504723349093 Centerline is valid? [True, True] Translation: X:-63.79, Y:-255.32, Z:-8.05 [[ 8.07004172e-01 -5.90530510e-01 -4.24063921e-03 -6.37946670e+01] [-5.90522517e-01 -8.07015313e-01 3.07258423e-03 -2.55316661e+02] [-5.23671551e-03 2.46046485e-05 -9.99986288e-01 -8.04522174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.050385723 meters 0.014704448224116618 Centerline is valid? [True, True] Translation: X:-63.80, Y:-255.32, Z:-8.04 [[ 8.51095648e-01 -5.24988249e-01 -4.85144540e-03 -6.37999815e+01] [-5.24979869e-01 -8.51109475e-01 2.96637913e-03 -2.55323230e+02] [-5.68642533e-03 2.22388000e-05 -9.99983832e-01 -8.04499544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.080385723 meters 0.014760292941146728 Centerline is valid? [True, True] Translation: X:-63.80, Y:-255.33, Z:-8.05 [[ 8.89680954e-01 -4.56553099e-01 -5.20260618e-03 -6.38046542e+01] [-4.56545430e-01 -8.89696166e-01 2.64634863e-03 -2.55329528e+02] [-5.83693744e-03 2.08201053e-05 -9.99982965e-01 -8.04545239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.110385723 meters 0.014760292941146728 Centerline is valid? [True, True] Translation: X:-63.81, Y:-255.34, Z:-8.05 [[ 9.22637054e-01 -3.85631659e-01 -5.39349649e-03 -6.38095576e+01] [-3.85625202e-01 -9.22652819e-01 2.23169896e-03 -2.55336388e+02] [-5.83693851e-03 2.08200195e-05 -9.99982965e-01 -8.04545238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.140385723 meters 0.014772307356303015 Centerline is valid? [True, True] Translation: X:-63.81, Y:-255.34, Z:-8.05 [[ 9.49924784e-01 -3.12438414e-01 -5.01426035e-03 -6.38143517e+01] [-3.12434169e-01 -9.49938018e-01 1.62881990e-03 -2.55342700e+02] [-5.27214244e-03 1.93698689e-05 -9.99986102e-01 -8.04577082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.170385723 meters 0.014671935691385694 Centerline is valid? [True, True] Translation: X:-63.82, Y:-255.35, Z:-8.05 [[ 9.71394494e-01 -2.37420464e-01 -4.92548396e-03 -6.38187068e+01] [-2.37417515e-01 -9.71406981e-01 1.18348142e-03 -2.55354868e+02] [-5.06563221e-03 1.97688310e-05 -9.99987169e-01 -8.04629681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.200385723 meters 0.014840833207592892 Centerline is valid? [True, True] Translation: X:-63.83, Y:-255.37, Z:-8.04 [[ 9.86798155e-01 -1.61842695e-01 -6.02855460e-03 -6.38266248e+01] [-1.61839870e-01 -9.86816569e-01 9.56895484e-04 -2.55366964e+02] [-6.10394411e-03 3.13977914e-05 -9.99981370e-01 -8.04413040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.230385723 meters 0.01486121637145445 Centerline is valid? [True, True] Translation: X:-63.83, Y:-255.38, Z:-8.04 [[ 9.96419724e-01 -8.42820167e-02 -6.65396073e-03 -6.38320918e+01] [-8.42803762e-02 -9.96441940e-01 5.27057542e-04 -2.55376764e+02] [-6.67470701e-03 3.56277826e-05 -9.99977723e-01 -8.04353898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.260385723 meters 0.015106678821161623 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.39, Z:-8.04 [[ 9.99942325e-01 -8.12631714e-03 -7.02209182e-03 -6.38365238e+01] [-8.12648428e-03 -9.99966980e-01 4.73207754e-06 -2.55388484e+02] [-7.02189840e-03 5.23331142e-05 -9.99975345e-01 -8.04405021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.290385723 meters 0.015474911001893327 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.40, Z:-8.04 [[ 9.97620123e-01 6.85811970e-02 -7.12111127e-03 -6.38417864e+01] [ 6.85789879e-02 -9.97645536e-01 -5.54238103e-04 -2.55398308e+02] [-7.14235518e-03 6.45604807e-05 -9.99974491e-01 -8.04359844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.320385723 meters 0.016214975250453772 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.41, Z:-8.04 [[ 9.89757454e-01 1.42551991e-01 -7.68847098e-03 -6.38450876e+01] [ 1.42546897e-01 -9.89787310e-01 -1.20939577e-03 -2.55405134e+02] [-7.78235279e-03 1.01040800e-04 -9.99969712e-01 -8.04250507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.350385723 meters 0.016140958101625212 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.42, Z:-8.04 [[ 9.75982474e-01 2.17714165e-01 -7.66506293e-03 -6.38470417e+01] [ 2.17706503e-01 -9.76012566e-01 -1.83023864e-03 -2.55418961e+02] [-7.87966662e-03 1.17546791e-04 -9.99968948e-01 -8.04230334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.380385723 meters 0.01672656958380163 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.43, Z:-8.04 [[ 9.56733983e-01 2.90879389e-01 -7.01902030e-03 -6.38489083e+01] [ 2.90870560e-01 -9.56759721e-01 -2.26997774e-03 -2.55429667e+02] [-7.37580564e-03 1.30138481e-04 -9.99972790e-01 -8.04247872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.410385723 meters 0.01693739677972593 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.44, Z:-8.04 [[ 9.31342503e-01 3.64091090e-01 -6.23055759e-03 -6.38496948e+01] [ 3.64082044e-01 -9.31363336e-01 -2.56953690e-03 -2.55440412e+02] [-6.73845839e-03 1.24684786e-04 -9.99977289e-01 -8.04343091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.440385723 meters 0.017402053664506034 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.45, Z:-8.04 [[ 9.00558178e-01 4.34699124e-01 -5.62485584e-03 -6.38517854e+01] [ 4.34689775e-01 -9.00575736e-01 -2.85379201e-03 -2.55451221e+02] [-6.30614957e-03 1.24938416e-04 -9.99980108e-01 -8.04452540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4703857229999 meters 0.017687806383174853 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.46, Z:-8.04 [[ 8.63819321e-01 5.03776450e-01 -5.04670143e-03 -6.38525652e+01] [ 5.03767052e-01 -8.63834055e-01 -3.07942259e-03 -2.55462150e+02] [-5.91085314e-03 1.17702825e-04 -9.99982524e-01 -8.04406541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.500385723 meters 0.017010113876822556 Centerline is valid? [True, True] Translation: X:-63.85, Y:-255.48, Z:-8.04 [[ 8.21172584e-01 5.70662983e-01 -4.39852512e-03 -6.38481561e+01] [ 5.70654121e-01 -8.21184358e-01 -3.18197640e-03 -2.55476576e+02] [-5.42783617e-03 1.02915301e-04 -9.99985264e-01 -8.04442856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.530385723 meters 0.016874516400759067 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.49, Z:-8.04 [[ 7.72070339e-01 6.35519231e-01 -4.76437788e-03 -6.38448276e+01] [ 6.35506327e-01 -7.72085033e-01 -4.05103965e-03 -2.55489505e+02] [-6.25301845e-03 9.98952633e-05 -9.99980445e-01 -8.04355408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.560385723 meters 0.01615210790761092 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.50, Z:-8.04 [[ 7.17660157e-01 6.96373301e-01 -5.30325287e-03 -6.38393103e+01] [ 6.96353305e-01 -7.17679745e-01 -5.27807222e-03 -2.55502696e+02] [-7.48154574e-03 9.49244714e-05 -9.99972008e-01 -8.04200638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5903857229999 meters 0.016293841225322892 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.51, Z:-8.04 [[ 6.60222142e-01 7.51053737e-01 -5.00071781e-03 -6.38364216e+01] [ 7.51031152e-01 -6.60241074e-01 -5.82513647e-03 -2.55512848e+02] [-7.67666981e-03 9.01892194e-05 -9.99970530e-01 -8.04085965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.620385723 meters 0.016034493186196104 Centerline is valid? [True, True] Translation: X:-63.83, Y:-255.52, Z:-8.04 [[ 5.98874239e-01 8.00828462e-01 -4.83952077e-03 -6.38330560e+01] [ 8.00801076e-01 -5.98893786e-01 -6.62342217e-03 -2.55522265e+02] [-8.20258390e-03 9.11034743e-05 -9.99966354e-01 -8.04105612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.650385723 meters 0.015980862395522835 Centerline is valid? [True, True] Translation: X:-63.83, Y:-255.53, Z:-8.04 [[ 5.34652388e-01 8.45061878e-01 -4.15297983e-03 -6.38273069e+01] [ 8.45035051e-01 -5.34668509e-01 -6.73411679e-03 -2.55532548e+02] [-7.91121292e-03 9.09980996e-05 -9.99968702e-01 -8.04122840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.680385723 meters 0.01642057751424672 Centerline is valid? [True, True] Translation: X:-63.82, Y:-255.54, Z:-8.04 [[ 4.67465142e-01 8.84004024e-01 -3.63682068e-03 -6.38230681e+01] [ 8.83975637e-01 -4.67479278e-01 -7.08497453e-03 -2.55542108e+02] [-7.96328430e-03 9.71177405e-05 -9.99968288e-01 -8.04043143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.710385723 meters 0.016462940907255787 Centerline is valid? [True, True] Translation: X:-63.82, Y:-255.55, Z:-8.04 [[ 3.98556388e-01 9.17139279e-01 -2.88930077e-03 -6.38192842e+01] [ 9.17113230e-01 -3.98566846e-01 -6.91314731e-03 -2.55549600e+02] [-7.49189844e-03 1.05463057e-04 -9.99971930e-01 -8.04178203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.740385723 meters 0.016724130096238608 Centerline is valid? [True, True] Translation: X:-63.82, Y:-255.56, Z:-8.04 [[ 3.26214862e-01 9.45293101e-01 -2.19472995e-03 -6.38154448e+01] [ 9.45269508e-01 -3.26222228e-01 -6.67940513e-03 -2.55558078e+02] [-7.02996528e-03 1.04309926e-04 -9.99975284e-01 -8.04240289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.770385723 meters 0.017060596906050635 Centerline is valid? [True, True] Translation: X:-63.81, Y:-255.57, Z:-8.04 [[ 2.52300597e-01 9.67647748e-01 -1.49816047e-03 -6.38116284e+01] [ 9.67628228e-01 -2.52305025e-01 -6.14711315e-03 -2.55567031e+02] [-6.32623361e-03 1.01257956e-04 -9.99979984e-01 -8.04229543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.800385723 meters 0.016749964535310247 Centerline is valid? [True, True] Translation: X:-63.80, Y:-255.58, Z:-8.04 [[ 1.76350715e-01 9.84326836e-01 -1.05103175e-03 -6.38010214e+01] [ 9.84305476e-01 -1.76353813e-01 -6.48560416e-03 -2.55575657e+02] [-6.56930769e-03 1.09204617e-04 -9.99978416e-01 -8.04253058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.830385723 meters 0.017715764817466353 Centerline is valid? [True, True] Translation: X:-63.79, Y:-255.58, Z:-8.04 [[ 9.90442874e-02 9.95082885e-01 -5.30969273e-04 -6.37945973e+01] [ 9.95062024e-01 -9.90456497e-02 -6.44417408e-03 -2.55583331e+02] [-6.46507753e-03 1.09911270e-04 -9.99979095e-01 -8.04136574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.860385723 meters 0.017565734054226522 Centerline is valid? [True, True] Translation: X:-63.79, Y:-255.59, Z:-8.04 [[ 2.12473687e-02 9.99774249e-01 -2.10947993e-05 -6.37897304e+01] [ 9.99758770e-01 -2.12471571e-02 -5.56411705e-03 -2.55590216e+02] [-5.56330915e-03 9.71331357e-05 -9.99984520e-01 -8.04232866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.890385723 meters 0.01676291993928913 Centerline is valid? [True, True] Translation: X:-63.78, Y:-255.60, Z:-8.04 [[-5.74406901e-02 9.98348837e-01 4.08024188e-04 -6.37767781e+01] [ 9.98333903e-01 5.74420630e-02 -5.46146959e-03 -2.55596511e+02] [-5.47588957e-03 9.36337973e-05 -9.99985003e-01 -8.04313547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.920385723 meters 0.0170032410604899 Centerline is valid? [True, True] Translation: X:-63.77, Y:-255.60, Z:-8.04 [[-1.37094572e-01 9.90557472e-01 9.86514263e-04 -6.37668659e+01] [ 9.90536814e-01 1.37098085e-01 -6.39809602e-03 -2.55602468e+02] [-6.47293103e-03 1.00034458e-04 -9.99979045e-01 -8.04248080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.950385723 meters 0.016274493877542314 Centerline is valid? [True, True] Translation: X:-63.75, Y:-255.61, Z:-8.04 [[-2.15209847e-01 9.76566705e-01 1.48084616e-03 -6.37533450e+01] [ 9.76546488e-01 2.15214922e-01 -6.28449509e-03 -2.55605890e+02] [-6.45592885e-03 9.36298848e-05 -9.99979156e-01 -8.04321221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.980385723 meters 0.015898744620451995 Centerline is valid? [True, True] Translation: X:-63.74, Y:-255.61, Z:-8.04 [[-2.92014322e-01 9.56412623e-01 1.59089305e-03 -6.37365688e+01] [ 9.56399718e-01 2.92018647e-01 -4.96876988e-03 -2.55607456e+02] [-5.21676466e-03 7.05776992e-05 -9.99986390e-01 -8.04413985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.010385723 meters 0.016236973871241848 Centerline is valid? [True, True] Translation: X:-63.72, Y:-255.61, Z:-8.04 [[-3.66172739e-01 9.30545122e-01 1.81708653e-03 -6.37234345e+01] [ 9.30534520e-01 3.66177242e-01 -4.44244916e-03 -2.55609786e+02] [-4.79927513e-03 6.41579652e-05 -9.99988481e-01 -8.04383631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.040385723 meters 0.016209736652156775 Centerline is valid? [True, True] Translation: X:-63.71, Y:-255.61, Z:-8.04 [[-4.38135734e-01 8.98906126e-01 2.20368608e-03 -6.37141498e+01] [ 8.98895486e-01 4.38141271e-01 -4.37403489e-03 -2.55612272e+02] [-4.89737257e-03 6.44624804e-05 -9.99988006e-01 -8.04390904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.070385723 meters 0.015905756665438642 Centerline is valid? [True, True] Translation: X:-63.70, Y:-255.61, Z:-8.04 [[-5.07016493e-01 8.61931313e-01 2.94739052e-03 -6.36997669e+01] [ 8.61917612e-01 5.07025054e-01 -4.86057422e-03 -2.55611289e+02] [-5.68388196e-03 7.60165017e-05 -9.99983844e-01 -8.04363648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.100385723 meters 0.01587844303537051 Centerline is valid? [True, True] Translation: X:-63.69, Y:-255.61, Z:-8.04 [[-5.72840177e-01 8.19656300e-01 4.20489280e-03 -6.36869056e+01] [ 8.19635454e-01 5.72855602e-01 -5.84652126e-03 -2.55609711e+02] [-7.20093438e-03 9.73569431e-05 -9.99974068e-01 -8.04333782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.130385723 meters 0.01597269014013113 Centerline is valid? [True, True] Translation: X:-63.67, Y:-255.61, Z:-8.04 [[-6.35051328e-01 7.72455769e-01 4.67926755e-03 -6.36744510e+01] [ 7.72435953e-01 6.35068559e-01 -5.53392127e-03 -2.55607179e+02] [-7.24636511e-03 1.00110433e-04 -9.99973740e-01 -8.04349858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.160385723 meters 0.015931571828595094 Centerline is valid? [True, True] Translation: X:-63.66, Y:-255.60, Z:-8.04 [[-6.93168064e-01 7.20760867e-01 4.66987399e-03 -6.36616742e+01] [ 7.20745432e-01 6.93183788e-01 -4.71788222e-03 -2.55603407e+02] [-6.63754582e-03 9.55050595e-05 -9.99977967e-01 -8.04384993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.190385723 meters 0.0164401300620167 Centerline is valid? [True, True] Translation: X:-63.65, Y:-255.60, Z:-8.04 [[-7.46570445e-01 6.65290964e-01 4.52821743e-03 -6.36495972e+01] [ 6.65279488e-01 7.46584171e-01 -3.90871117e-03 -2.55599805e+02] [-5.98112567e-03 9.44019381e-05 -9.99982109e-01 -8.04428827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2203857229999 meters 0.01662558794150764 Centerline is valid? [True, True] Translation: X:-63.62, Y:-255.58, Z:-8.04 [[-7.90900429e-01 6.11925234e-01 4.90099175e-03 -6.36228210e+01] [ 6.11914303e-01 7.90915607e-01 -3.65897020e-03 -2.55583880e+02] [-6.11528706e-03 1.05105848e-04 -9.99981296e-01 -8.04391989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.250385723 meters 0.01654177866670049 Centerline is valid? [True, True] Translation: X:-63.60, Y:-255.56, Z:-8.04 [[-8.31568580e-01 5.55395841e-01 5.39970970e-03 -6.36019923e+01] [ 5.55385029e-01 8.31586103e-01 -3.46752893e-03 -2.55561571e+02] [-6.41617469e-03 1.15429817e-04 -9.99979410e-01 -8.04391346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.280385723 meters 0.017054521061879702 Centerline is valid? [True, True] Translation: X:-63.16, Y:-254.90, Z:-9.03 [[-8.14460614e-01 -5.80195288e-01 5.22843385e-03 -6.31603634e+01] [ 5.80182445e-01 -8.14477388e-01 -3.86203812e-03 -2.54899672e+02] [ 6.49917746e-03 -1.12032400e-04 9.99978874e-01 -9.02678142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.310385723 meters 0.0172831980183005 Centerline is valid? [True, True] Translation: X:-63.17, Y:-254.93, Z:-9.03 [[-7.74003123e-01 -6.33162890e-01 4.89083755e-03 -6.31735710e+01] [ 6.33149193e-01 -7.74018565e-01 -4.16659405e-03 -2.54929075e+02] [ 6.42373178e-03 -1.28326961e-04 9.99979359e-01 -9.02665036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3403857229999 meters 0.017491040080972558 Centerline is valid? [True, True] Translation: X:-63.70, Y:-255.54, Z:-8.04 [[-7.92829771e-01 6.09422884e-01 4.97022011e-03 -6.36960391e+01] [ 6.09411906e-01 7.92845339e-01 -3.66010264e-03 -2.55535151e+02] [-6.17116616e-03 1.27072981e-04 -9.99980950e-01 -8.04398370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.370385723 meters 0.018236923958538577 Centerline is valid? [True, True] Translation: X:-63.21, Y:-254.90, Z:-9.03 [[-7.78020010e-01 -6.28222221e-01 4.65882386e-03 -6.32083457e+01] [ 6.28209950e-01 -7.78033948e-01 -3.92879581e-03 -2.54903274e+02] [ 6.09287995e-03 -1.29962259e-04 9.99981430e-01 -9.02584957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.400385723 meters 0.019169055471909783 Centerline is valid? [True, True] Translation: X:-63.72, Y:-255.52, Z:-8.04 [[-7.92252456e-01 6.10174939e-01 4.75282025e-03 -6.37233771e+01] [ 6.10165068e-01 7.92266699e-01 -3.47393937e-03 -2.55515078e+02] [-5.88521195e-03 1.47767890e-04 -9.99982671e-01 -8.04287314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.430385723 meters 0.0177468920062901 Centerline is valid? [True, True] Translation: X:-63.70, Y:-255.49, Z:-8.04 [[-8.33079634e-01 5.53129392e-01 5.11856281e-03 -6.37001748e+01] [ 5.53120090e-01 8.33095344e-01 -3.21160683e-03 -2.55490836e+02] [-6.04068498e-03 1.55655681e-04 -9.99981743e-01 -8.04349132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.460385723 meters 0.01788456038566665 Centerline is valid? [True, True] Translation: X:-63.68, Y:-255.47, Z:-8.04 [[-8.69572048e-01 4.93771827e-01 5.81690380e-03 -6.36814317e+01] [ 4.93762136e-01 8.69591485e-01 -3.09861173e-03 -2.55466783e+02] [-6.58833719e-03 1.77700701e-04 -9.99978281e-01 -8.04361917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.490385723 meters 0.01808580923757699 Centerline is valid? [True, True] Translation: X:-63.67, Y:-255.44, Z:-8.04 [[-9.02225426e-01 4.31220721e-01 6.16196179e-03 -6.36660445e+01] [ 4.31212048e-01 9.02246450e-01 -2.74117679e-03 -2.55442016e+02] [-6.74166038e-03 1.83952758e-04 -9.99977258e-01 -8.04388912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.520385723 meters 0.018355436610199134 Centerline is valid? [True, True] Translation: X:-63.65, Y:-255.41, Z:-8.04 [[-9.30445643e-01 3.66372388e-01 6.49458937e-03 -6.36545224e+01] [ 3.66364878e-01 9.30468289e-01 -2.35345965e-03 -2.55414834e+02] [-6.90525209e-03 1.89623161e-04 -9.99976141e-01 -8.04397572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.550385723 meters 0.017698049386691922 Centerline is valid? [True, True] Translation: X:-63.38, Y:-254.68, Z:-9.03 [[-9.25908240e-01 -3.77678277e-01 7.28358484e-03 -6.33840522e+01] [ 3.77665276e-01 -9.25936875e-01 -3.13747905e-03 -2.54680155e+02] [ 7.92909747e-03 -1.54260625e-04 9.99968552e-01 -9.02673380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.580385723 meters 0.01865481123334362 Centerline is valid? [True, True] Translation: X:-63.70, Y:-255.39, Z:-8.04 [[-9.31832156e-01 3.62803817e-01 7.88826027e-03 -6.36977874e+01] [ 3.62792890e-01 9.31865515e-01 -2.82504384e-03 -2.55394203e+02] [-8.37573441e-03 2.29338053e-04 -9.99964897e-01 -8.04115108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.610385723 meters 0.018537791261606998 Centerline is valid? [True, True] Translation: X:-63.70, Y:-255.36, Z:-8.04 [[-9.55400237e-01 2.95215085e-01 7.64466968e-03 -6.37026257e+01] [ 2.95207405e-01 9.55430797e-01 -2.14002307e-03 -2.55361168e+02] [-7.93571994e-03 2.12184550e-04 -9.99968489e-01 -8.04153838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.640385723 meters 0.01803315280450234 Centerline is valid? [True, True] Translation: X:-63.48, Y:-254.62, Z:-9.03 [[-9.50659222e-01 -3.10169772e-01 6.46194882e-03 -6.34761489e+01] [ 3.10160788e-01 -9.50681150e-01 -2.37417622e-03 -2.54622258e+02] [ 6.87965063e-03 -2.52789379e-04 9.99976303e-01 -9.02673046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.670385723 meters 0.017140885916337285 Centerline is valid? [True, True] Translation: X:-63.74, Y:-255.35, Z:-8.04 [[-9.57342873e-01 2.88886248e-01 6.27368170e-03 -6.37375759e+01] [ 2.88881112e-01 9.57363416e-01 -1.72967805e-03 -2.55348869e+02] [-6.50587355e-03 1.56453193e-04 -9.99978824e-01 -8.04461603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.700385723 meters 0.017159302871165915 Centerline is valid? [True, True] Translation: X:-63.53, Y:-254.61, Z:-9.03 [[-9.51123860e-01 -3.08752708e-01 5.93026001e-03 -6.35286580e+01] [ 3.08745619e-01 -9.51142333e-01 -2.09878552e-03 -2.54611819e+02] [ 6.28852706e-03 -1.65263190e-04 9.99980213e-01 -9.02508907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.730385723 meters 0.016537263849666143 Centerline is valid? [True, True] Translation: X:-63.80, Y:-255.33, Z:-8.04 [[-9.59780296e-01 2.80699870e-01 5.41913189e-03 -6.37976772e+01] [ 2.80696033e-01 9.59795588e-01 -1.47179468e-03 -2.55327047e+02] [-5.61439146e-03 1.08529285e-04 -9.99984233e-01 -8.04457297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.760385723 meters 0.015833351757074437 Centerline is valid? [True, True] Translation: X:-63.59, Y:-254.60, Z:-9.03 [[-9.50904452e-01 -3.09446993e-01 4.82509336e-03 -6.35860125e+01] [ 3.09442307e-01 -9.50916685e-01 -1.70805668e-03 -2.54604694e+02] [ 5.11681478e-03 -1.31110680e-04 9.99986901e-01 -9.02516331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.790385723 meters 0.015586440693425789 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.31, Z:-8.05 [[-9.61729434e-01 2.73969567e-01 4.14400036e-03 -6.38411260e+01] [ 2.73967333e-01 9.61738359e-01 -1.10847789e-03 -2.55311071e+02] [-4.28913331e-03 6.92649158e-05 -9.99990799e-01 -8.04600916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.820385723 meters 0.01542792150364706 Centerline is valid? [True, True] Translation: X:-63.84, Y:-255.28, Z:-8.05 [[-9.78870135e-01 2.04442924e-01 4.04357735e-03 -6.38358929e+01] [ 2.04441449e-01 9.78878484e-01 -7.79220073e-04 -2.55279938e+02] [-4.11747690e-03 6.39195571e-05 -9.99991521e-01 -8.04652451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.850385723 meters 0.015247130767008088 Centerline is valid? [True, True] Translation: X:-63.83, Y:-255.25, Z:-8.05 [[-9.90925746e-01 1.34349616e-01 4.04313241e-03 -6.38273336e+01] [ 1.34348757e-01 9.90933992e-01 -4.84677966e-04 -2.55250016e+02] [-4.07159364e-03 6.29099384e-05 -9.99991709e-01 -8.04614326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.880385723 meters 0.01508767811061873 Centerline is valid? [True, True] Translation: X:-63.83, Y:-255.22, Z:-8.05 [[-9.97979034e-01 6.33819788e-02 4.53565485e-03 -6.38262787e+01] [ 6.33816385e-02 9.97989339e-01 -2.18875500e-04 -2.55218695e+02] [-4.54040794e-03 6.90440764e-05 -9.99989690e-01 -8.04578401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.910385723 meters 0.015023405193831626 Centerline is valid? [True, True] Translation: X:-63.79, Y:-254.49, Z:-9.03 [[-9.94838445e-01 -1.01330502e-01 5.34770480e-03 -6.37884877e+01] [ 1.01328897e-01 -9.94852818e-01 -5.70912541e-04 -2.54489265e+02] [ 5.37803004e-03 -2.60887168e-05 9.99985538e-01 -9.02611816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.940385723 meters 0.014728703280130843 Centerline is valid? [True, True] Translation: X:-63.90, Y:-255.21, Z:-8.04 [[-9.98327016e-01 5.75213697e-02 5.87035770e-03 -6.39006628e+01] [ 5.75208583e-02 9.98344272e-01 -2.56044767e-04 -2.55210309e+02] [-5.87536603e-03 8.20516050e-05 -9.99982737e-01 -8.04368445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9703857229999 meters 0.016971274070156462 Centerline is valid? [True, True] Translation: X:-63.86, Y:-254.49, Z:-9.03 [[-9.95412497e-01 -9.53669507e-02 7.68806952e-03 -6.38648628e+01] [ 9.53641882e-02 -9.95442186e-01 -7.25946207e-04 -2.54489245e+02] [ 7.72226000e-03 1.05505825e-05 9.99970183e-01 -9.02939676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.000385723 meters 0.014979118114394197 Centerline is valid? [True, True] Translation: X:-63.97, Y:-255.20, Z:-8.04 [[-9.98448444e-01 5.52955199e-02 6.56584784e-03 -6.39730004e+01] [ 5.52950436e-02 9.98470026e-01 -2.54180294e-04 -2.55204906e+02] [-6.56985730e-03 1.09272924e-04 -9.99978412e-01 -8.04310042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.030385723 meters 0.014979118114394197 Centerline is valid? [True, True] Translation: X:-63.98, Y:-255.18, Z:-8.04 [[-9.99852926e-01 -1.58429140e-02 6.56728086e-03 -6.39775005e+01] [-1.58418543e-02 9.99874487e-01 2.13353265e-04 -2.55175685e+02] [-6.56983672e-03 1.09283980e-04 -9.99978413e-01 -8.04310069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.060385723 meters 0.015472964660033678 Centerline is valid? [True, True] Translation: X:-63.99, Y:-255.15, Z:-8.04 [[-9.96391057e-01 -8.45544138e-02 7.44396707e-03 -6.39851593e+01] [-8.45509769e-02 9.96418853e-01 7.75772602e-04 -2.55145231e+02] [-7.48290413e-03 1.43578195e-04 -9.99971992e-01 -8.04143463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0903857229999 meters 0.016234253355110605 Centerline is valid? [True, True] Translation: X:-64.00, Y:-255.12, Z:-8.04 [[-9.87982859e-01 -1.54384316e-01 7.44001855e-03 -6.40023139e+01] [-1.54378761e-01 9.88010860e-01 1.31864568e-03 -2.55119007e+02] [-7.55439734e-03 1.54218477e-04 -9.99971453e-01 -8.04082918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.120385723 meters 0.017672090233207736 Centerline is valid? [True, True] Translation: X:-64.03, Y:-255.10, Z:-8.04 [[-9.74664145e-01 -2.23533699e-01 7.90501358e-03 -6.40322660e+01] [-2.23524846e-01 9.74696185e-01 1.99753353e-03 -2.55095423e+02] [-8.15150263e-03 1.79957368e-04 -9.99966760e-01 -8.04040718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.150385723 meters 0.01664434613752467 Centerline is valid? [True, True] Translation: X:-64.09, Y:-255.08, Z:-8.04 [[-9.55974004e-01 -2.93372250e-01 6.81369551e-03 -6.40855345e+01] [-2.93363567e-01 9.55998272e-01 2.26315449e-03 -2.55078640e+02] [-7.17782786e-03 1.64626844e-04 -9.99974226e-01 -8.04281867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.180385723 meters 0.016916177068193754 Centerline is valid? [True, True] Translation: X:-64.15, Y:-255.07, Z:-8.04 [[-9.31948435e-01 -3.62541661e-01 5.97148118e-03 -6.41526403e+01] [-3.62533176e-01 9.31967554e-01 2.48486744e-03 -2.55070510e+02] [-6.46609468e-03 1.50908279e-04 -9.99979083e-01 -8.04222298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.210385723 meters 0.01702732163800608 Centerline is valid? [True, True] Translation: X:-64.23, Y:-255.07, Z:-8.04 [[-9.02680608e-01 -4.30271170e-01 5.86862343e-03 -6.42317469e+01] [-4.30260955e-01 9.02699671e-01 2.96878110e-03 -2.55072622e+02] [-6.57498536e-03 1.54821607e-04 -9.99978373e-01 -8.04186130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.240385723 meters 0.01740137619093877 Centerline is valid? [True, True] Translation: X:-64.31, Y:-255.08, Z:-8.04 [[-8.68454207e-01 -4.95738123e-01 5.56809308e-03 -6.43094639e+01] [-4.95726755e-01 8.68472043e-01 3.36087346e-03 -2.55079646e+02] [-6.50184628e-03 1.58511983e-04 -9.99978850e-01 -8.04155287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.270385723 meters 0.01680403124899524 Centerline is valid? [True, True] Translation: X:-64.40, Y:-255.10, Z:-8.04 [[-8.29040734e-01 -5.59163558e-01 5.25132902e-03 -6.43982532e+01] [-5.59151118e-01 8.29057350e-01 3.73325690e-03 -2.55100088e+02] [-6.44115414e-03 1.58735541e-04 -9.99979243e-01 -8.04238734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.300385723 meters 0.016576660253144502 Centerline is valid? [True, True] Translation: X:-64.49, Y:-255.13, Z:-8.04 [[-7.84920956e-01 -6.19579245e-01 4.54445373e-03 -6.44914326e+01] [-6.19567756e-01 7.84934098e-01 3.77594405e-03 -2.55131163e+02] [-5.90659325e-03 1.48220615e-04 -9.99982545e-01 -8.04350987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.330385723 meters 0.016416717949133585 Centerline is valid? [True, True] Translation: X:-64.58, Y:-255.17, Z:-8.04 [[-7.36001821e-01 -6.76967148e-01 4.09868821e-03 -6.45835309e+01] [-6.76955550e-01 7.36013220e-01 3.96524699e-03 -2.55171979e+02] [-5.70103065e-03 1.43799274e-04 -9.99983739e-01 -8.04394121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.360385723 meters 0.01688975126859088 Centerline is valid? [True, True] Translation: X:-64.68, Y:-255.23, Z:-8.04 [[-6.82651035e-01 -7.30732617e-01 4.17226368e-03 -6.46777004e+01] [-7.30717528e-01 6.82663766e-01 4.69860168e-03 -2.55225361e+02] [-6.28167473e-03 1.58759096e-04 -9.99980258e-01 -8.04362543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.390385723 meters 0.017067309584131156 Centerline is valid? [True, True] Translation: X:-64.77, Y:-255.29, Z:-8.04 [[-6.24957231e-01 -7.80649239e-01 3.90192181e-03 -6.47677933e+01] [-7.80632387e-01 6.24969390e-01 5.13207365e-03 -2.55287800e+02] [-6.44493109e-03 1.61360004e-04 -9.99979218e-01 -8.04329114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.420385723 meters 0.01680950909789621 Centerline is valid? [True, True] Translation: X:-64.86, Y:-255.36, Z:-8.04 [[-5.62550871e-01 -8.26754950e-01 3.57364563e-03 -6.48573963e+01] [-8.26736484e-01 5.62562200e-01 5.52778812e-03 -2.55359936e+02] [-6.58052414e-03 1.55198796e-04 -9.99978336e-01 -8.04326069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.450385723 meters 0.018836901576288752 Centerline is valid? [True, True] Translation: X:-64.94, Y:-255.44, Z:-8.04 [[-4.95814063e-01 -8.68419899e-01 3.91072480e-03 -6.49445799e+01] [-8.68390079e-01 4.95829455e-01 7.19872900e-03 -2.55439947e+02] [-8.19057206e-03 1.73196451e-04 -9.99966442e-01 -8.03964964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.480385723 meters 0.01588057210867366 Centerline is valid? [True, True] Translation: X:-65.02, Y:-255.53, Z:-8.04 [[-4.26581288e-01 -9.04443774e-01 3.14084388e-03 -6.50240548e+01] [-9.04416631e-01 4.26592824e-01 7.00862571e-03 -2.55529416e+02] [-7.67876934e-03 1.49117141e-04 -9.99970507e-01 -8.04194474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.510385723 meters 0.015319610304052966 Centerline is valid? [True, True] Translation: X:-65.10, Y:-255.63, Z:-8.04 [[-3.55335683e-01 -9.34734761e-01 2.73467402e-03 -6.50971262e+01] [-9.34703757e-01 3.55346174e-01 7.61467255e-03 -2.55625530e+02] [-8.08945508e-03 1.49654788e-04 -9.99967269e-01 -8.04211882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.540385723 meters 0.01523416774242093 Centerline is valid? [True, True] Translation: X:-65.16, Y:-255.74, Z:-8.04 [[-2.81505124e-01 -9.59557936e-01 1.85257281e-03 -6.51640448e+01] [-9.59534277e-01 2.81511194e-01 6.73938396e-03 -2.55737305e+02] [-6.98834934e-03 1.19564004e-04 -9.99975574e-01 -8.04325430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.570385723 meters 0.015151222377067928 Centerline is valid? [True, True] Translation: X:-65.22, Y:-255.84, Z:-8.05 [[-2.06725061e-01 -9.78398417e-01 1.13466224e-03 -6.52180239e+01] [-9.78380922e-01 2.06728151e-01 5.85182237e-03 -2.55837554e+02] [-5.95998037e-03 9.95864452e-05 -9.99982234e-01 -8.04508622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.600385723 meters 0.014823161564054842 Centerline is valid? [True, True] Translation: X:-65.27, Y:-255.95, Z:-8.05 [[-1.31015159e-01 -9.91380171e-01 6.20247462e-04 -6.52673044e+01] [-9.91365599e-01 1.31016596e-01 5.37589731e-03 -2.55952086e+02] [-5.41082071e-03 8.94320424e-05 -9.99985357e-01 -8.04559698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.630385723 meters 0.014925638844719074 Centerline is valid? [True, True] Translation: X:-65.31, Y:-256.07, Z:-8.05 [[-5.46635070e-02 -9.98504816e-01 1.80770716e-04 -6.53071674e+01] [-9.98493590e-01 5.46637497e-02 4.73551186e-03 -2.56069776e+02] [-4.73831300e-03 7.83612845e-05 -9.99988771e-01 -8.04538183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.660385723 meters 0.015122236162486315 Centerline is valid? [True, True] Translation: X:-65.34, Y:-256.19, Z:-8.05 [[ 2.19328892e-02 -9.99759431e-01 -1.66357871e-04 -6.53361416e+01] [-9.99750135e-01 -2.19334028e-02 4.31191165e-03 -2.56190130e+02] [-4.31452313e-03 7.17436238e-05 -9.99990690e-01 -8.04525723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.690385723 meters 0.015041543637336174 Centerline is valid? [True, True] Translation: X:-65.36, Y:-256.31, Z:-8.05 [[ 9.88699277e-02 -9.95100251e-01 -4.77350473e-04 -6.53561577e+01] [-9.95091718e-01 -9.88710570e-02 4.12146412e-03 -2.56312850e+02] [-4.14846613e-03 6.75186429e-05 -9.99991393e-01 -8.04576179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7203857229999 meters 0.017149012453611057 Centerline is valid? [True, True] Translation: X:-65.37, Y:-256.44, Z:-8.04 [[ 1.75257254e-01 -9.84522141e-01 -1.02452590e-03 -6.53664752e+01] [-9.84508046e-01 -1.75260228e-01 5.26871144e-03 -2.56436902e+02] [-5.36672171e-03 8.52740933e-05 -9.99985595e-01 -8.04421905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.750385723 meters 0.014874948097789647 Centerline is valid? [True, True] Translation: X:-65.37, Y:-256.56, Z:-8.05 [[ 2.51821708e-01 -9.67772515e-01 -1.47885692e-03 -6.53694828e+01] [-9.67757619e-01 -2.51826038e-01 5.37002583e-03 -2.56559833e+02] [-5.56937808e-03 7.88859703e-05 -9.99984488e-01 -8.04548825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.780385723 meters 0.016600749274293027 Centerline is valid? [True, True] Translation: X:-65.36, Y:-256.68, Z:-8.04 [[ 3.25429587e-01 -9.45563508e-01 -2.28841686e-03 -6.53617378e+01] [-9.45542122e-01 -3.25437620e-01 6.36019926e-03 -2.56683123e+02] [-6.75870925e-03 9.39975160e-05 -9.99977155e-01 -8.04250686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.810385723 meters 0.014830474811406083 Centerline is valid? [True, True] Translation: X:-65.34, Y:-256.81, Z:-8.04 [[ 3.97468318e-01 -9.17611319e-01 -2.89888350e-03 -6.53415626e+01] [-9.17588598e-01 -3.97478878e-01 6.45804050e-03 -2.56811579e+02] [-7.07821602e-03 9.31159499e-05 -9.99974945e-01 -8.04323298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8403857229999 meters 0.01494817201216773 Centerline is valid? [True, True] Translation: X:-65.31, Y:-256.93, Z:-8.04 [[ 4.66326960e-01 -8.84605089e-01 -3.60593077e-03 -6.53147953e+01] [-8.84580285e-01 -4.66340891e-01 6.62517188e-03 -2.56927907e+02] [-7.54225373e-03 1.00239005e-04 -9.99971552e-01 -8.04315915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.870385723 meters 0.01518121925717363 Centerline is valid? [True, True] Translation: X:-65.28, Y:-257.03, Z:-8.04 [[ 5.31830056e-01 -8.46843430e-01 -3.60519020e-03 -6.52837863e+01] [-8.46825155e-01 -5.31842267e-01 5.56420538e-03 -2.57031571e+02] [-6.62940330e-03 9.37540931e-05 -9.99978021e-01 -8.04371509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.900385723 meters 0.014807145266675273 Centerline is valid? [True, True] Translation: X:-65.24, Y:-257.14, Z:-8.04 [[ 5.94724119e-01 -8.03920867e-01 -3.80289818e-03 -6.52438565e+01] [-8.03905386e-01 -5.94736271e-01 4.98985641e-03 -2.57140259e+02] [-6.27317118e-03 8.95823704e-05 -9.99980320e-01 -8.04477154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.930385723 meters 0.0148308327724854 Centerline is valid? [True, True] Translation: X:-65.20, Y:-257.24, Z:-8.04 [[ 6.54951689e-01 -7.55660785e-01 -3.88118306e-03 -6.51968135e+01] [-7.55648211e-01 -6.54963184e-01 4.35994463e-03 -2.57243018e+02] [-5.83667120e-03 7.72559379e-05 -9.99982964e-01 -8.04458540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.960385723 meters 0.014770181354697988 Centerline is valid? [True, True] Translation: X:-65.14, Y:-257.34, Z:-8.04 [[ 7.10897961e-01 -7.03280581e-01 -4.52920077e-03 -6.51434519e+01] [-7.03267014e-01 -7.10912384e-01 4.36914199e-03 -2.57340073e+02] [-6.29259764e-03 7.92233691e-05 -9.99980198e-01 -8.04417245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.990385723 meters 0.01688343947239823 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.35, Z:-8.04 [[ 7.64121910e-01 -6.45046945e-01 -5.66970971e-03 -6.51453511e+01] [-6.45030033e-01 -7.64142939e-01 4.67174690e-03 -2.57348675e+02] [-7.34596470e-03 8.73488780e-05 -9.99973014e-01 -8.04188322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.020385723 meters 0.017880103299206626 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.36, Z:-8.04 [[ 8.12636970e-01 -5.82738501e-01 -6.08233053e-03 -6.51462982e+01] [-5.82722940e-01 -8.12659727e-01 4.25949098e-03 -2.57356055e+02] [-7.42503446e-03 8.28936846e-05 -9.99972431e-01 -8.04048334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.050385723 meters 0.01445008218684225 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.37, Z:-8.04 [[ 8.56150548e-01 -5.16695635e-01 -5.64442701e-03 -6.51496194e+01] [-5.16684924e-01 -8.56169152e-01 3.32774052e-03 -2.57369787e+02] [-6.55201328e-03 6.73434679e-05 -9.99978533e-01 -8.04441463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.080385723 meters 0.014653692167001135 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.38, Z:-8.04 [[ 8.93694570e-01 -4.48641722e-01 -5.53366372e-03 -6.51515201e+01] [-4.48633580e-01 -8.93711699e-01 2.70371225e-03 -2.57380114e+02] [-6.15849813e-03 6.62944063e-05 -9.99981034e-01 -8.04398030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.110385723 meters 0.014541537616148516 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.39, Z:-8.04 [[ 9.25642997e-01 -3.78357255e-01 -5.55238225e-03 -6.51518518e+01] [-3.78350902e-01 -9.25659647e-01 2.19368013e-03 -2.57390808e+02] [-5.96961099e-03 7.01841829e-05 -9.99982179e-01 -8.04451301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.140385723 meters 0.0146485866897341 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.40, Z:-8.04 [[ 9.52169208e-01 -3.05502903e-01 -6.46335169e-03 -6.51516790e+01] [-3.05496465e-01 -9.52191141e-01 1.98518798e-03 -2.57401561e+02] [-6.76082692e-03 8.42962219e-05 -9.99977142e-01 -8.04445767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.170385723 meters 0.015176936933748676 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.41, Z:-8.05 [[ 9.72675673e-01 -2.32062778e-01 -6.99309071e-03 -6.51506076e+01] [-2.32057545e-01 -9.72700805e-01 1.56181858e-03 -2.57407296e+02] [-7.16462493e-03 1.03656524e-04 -9.99974328e-01 -8.04540227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.200385723 meters 0.015358239004551353 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.42, Z:-8.05 [[ 9.87718463e-01 -1.56093494e-01 -6.85997027e-03 -6.51528807e+01] [-1.56090478e-01 -9.87742279e-01 9.76247579e-04 -2.57415643e+02] [-6.92826857e-03 1.06518279e-04 -9.99975994e-01 -8.04642371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.230385723 meters 0.015733092092793687 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.42, Z:-8.05 [[ 9.96769806e-01 -8.01024871e-02 -5.79193395e-03 -6.51542017e+01] [-8.01017163e-02 -9.96786628e-01 3.65317553e-04 -2.57422921e+02] [-5.80258515e-03 9.98063431e-05 -9.99983160e-01 -8.04667910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.260385723 meters 0.015994889940894732 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.43, Z:-8.05 [[ 9.99981057e-01 -2.40237020e-03 -5.66690572e-03 -6.51567345e+01] [-2.40290206e-03 -9.99997109e-01 -8.70482323e-05 -2.57431120e+02] [-5.66668022e-03 1.00663603e-04 -9.99983939e-01 -8.04584658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.290385723 meters 0.015742014159978068 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.44, Z:-8.05 [[ 9.97177216e-01 7.48125344e-02 -6.37844693e-03 -6.51573632e+01] [ 7.48102290e-02 -9.97197608e-01 -5.99606622e-04 -2.57442266e+02] [-6.40543012e-03 1.20740986e-04 -9.99979478e-01 -8.04551238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.320385723 meters 0.016319246032545857 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.45, Z:-8.05 [[ 9.88518837e-01 1.50954944e-01 -6.56616586e-03 -6.51580870e+01] [ 1.50950692e-01 -9.88540635e-01 -1.14128158e-03 -2.57449086e+02] [-6.66320386e-03 1.37011059e-04 -9.99977791e-01 -8.04617365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.350385723 meters 0.01671541633795336 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.46, Z:-8.05 [[ 9.73894286e-01 2.26915523e-01 -6.26615868e-03 -6.51591646e+01] [ 2.26909902e-01 -9.73914435e-01 -1.60325972e-03 -2.57458068e+02] [-6.46650691e-03 1.39552024e-04 -9.99979082e-01 -8.04636003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.380385723 meters 0.016916596366860947 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.47, Z:-8.05 [[ 9.53360604e-01 3.01765505e-01 -6.41401050e-03 -6.51585096e+01] [ 3.01757603e-01 -9.53382167e-01 -2.18897553e-03 -2.57465809e+02] [-6.77556054e-03 1.51406595e-04 -9.99977034e-01 -8.04605200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.410385723 meters 0.017026006044600174 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.48, Z:-8.05 [[ 9.26570593e-01 3.76064226e-01 -6.52951666e-03 -6.51579461e+01] [ 3.76053708e-01 -9.26593586e-01 -2.81691203e-03 -2.57476371e+02] [-7.10954810e-03 1.54618895e-04 -9.99974715e-01 -8.04518182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.440385723 meters 0.016639468909993543 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.49, Z:-8.04 [[ 8.92963477e-01 4.50074410e-01 -7.01808557e-03 -6.51569574e+01] [ 4.50059190e-01 -8.92991043e-01 -3.70441819e-03 -2.57486130e+02] [-7.93435138e-03 1.49356240e-04 -9.99968511e-01 -8.04329260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4703857229999 meters 0.016491569056550984 Centerline is valid? [True, True] Translation: X:-65.16, Y:-257.49, Z:-8.04 [[ 8.54224654e-01 5.19859507e-01 -6.80684561e-03 -6.51557317e+01] [ 5.19841694e-01 -8.54251762e-01 -4.30575494e-03 -2.57493089e+02] [-8.05314750e-03 1.39599871e-04 -9.99967563e-01 -8.04327823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.500385723 meters 0.015904070864423563 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.50, Z:-8.04 [[ 8.10143617e-01 5.86195723e-01 -6.47253831e-03 -6.51516282e+01] [ 5.86175731e-01 -8.10169462e-01 -4.84306680e-03 -2.57503459e+02] [-8.08283793e-03 1.29534786e-04 -9.99967325e-01 -8.04425995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.530385723 meters 0.015544684975388336 Centerline is valid? [True, True] Translation: X:-65.15, Y:-257.51, Z:-8.05 [[ 7.60612192e-01 6.49179741e-01 -5.89551174e-03 -6.51470118e+01] [ 6.49159095e-01 -7.60635032e-01 -5.17856469e-03 -2.57513483e+02] [-7.84615205e-03 1.11754374e-04 -9.99969212e-01 -8.04528055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.560385723 meters 0.015637447744581576 Centerline is valid? [True, True] Translation: X:-65.14, Y:-257.52, Z:-8.04 [[ 7.06722985e-01 7.07471669e-01 -5.14393780e-03 -6.51430210e+01] [ 7.07451921e-01 -7.06741698e-01 -5.28695946e-03 -2.57523904e+02] [-7.37580937e-03 9.73270980e-05 -9.99972794e-01 -8.04452613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5903857229999 meters 0.015643902939453235 Centerline is valid? [True, True] Translation: X:-65.14, Y:-257.53, Z:-8.04 [[ 6.48609249e-01 7.61108201e-01 -4.51093363e-03 -6.51390595e+01] [ 7.61088842e-01 -6.48624929e-01 -5.42919726e-03 -2.57532502e+02] [-7.05811057e-03 8.82062983e-05 -9.99975087e-01 -8.04406377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.620385723 meters 0.015365523229456184 Centerline is valid? [True, True] Translation: X:-65.14, Y:-257.54, Z:-8.04 [[ 5.85438384e-01 8.10705506e-01 -4.29891162e-03 -6.51356757e+01] [ 8.10682659e-01 -5.85454162e-01 -6.08691423e-03 -2.57539937e+02] [-7.45151058e-03 7.84601259e-05 -9.99972234e-01 -8.04439932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.650385723 meters 0.015384701352172354 Centerline is valid? [True, True] Translation: X:-65.13, Y:-257.55, Z:-8.04 [[ 5.18946487e-01 8.54798820e-01 -3.67713462e-03 -6.51324972e+01] [ 8.54776461e-01 -5.18959511e-01 -6.18296015e-03 -2.57548657e+02] [-7.19347102e-03 6.54973314e-05 -9.99974125e-01 -8.04408006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.680385723 meters 0.017358803057550845 Centerline is valid? [True, True] Translation: X:-65.13, Y:-257.55, Z:-8.04 [[ 4.47902624e-01 8.94076151e-01 -3.32805973e-03 -6.51311532e+01] [ 8.94050683e-01 -4.47914986e-01 -6.74850248e-03 -2.57554733e+02] [-7.52436295e-03 4.72178904e-05 -9.99971691e-01 -8.04232073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.710385723 meters 0.014974681327585202 Centerline is valid? [True, True] Translation: X:-65.12, Y:-257.56, Z:-8.05 [[ 3.74497965e-01 9.27224332e-01 -2.51256903e-03 -6.51235619e+01] [ 9.27202968e-01 -3.74506393e-01 -6.29427189e-03 -2.57562805e+02] [-6.77717521e-03 2.75305508e-05 -9.99977034e-01 -8.04558034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.740385723 meters 0.01497724469778831 Centerline is valid? [True, True] Translation: X:-65.12, Y:-257.57, Z:-8.04 [[ 2.98355267e-01 9.54452643e-01 -2.07051463e-03 -6.51171698e+01] [ 9.54429402e-01 -2.98362451e-01 -6.66066408e-03 -2.57570011e+02] [-6.97505226e-03 1.10841757e-05 -9.99975674e-01 -8.04387528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.770385723 meters 0.014842863367044408 Centerline is valid? [True, True] Translation: X:-65.11, Y:-257.58, Z:-8.04 [[ 2.22251798e-01 9.74988095e-01 -1.53403461e-03 -6.51102940e+01] [ 9.74964625e-01 -2.22257092e-01 -6.76499088e-03 -2.57577007e+02] [-6.93673564e-03 7.90190551e-06 -9.99975941e-01 -8.04334837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.800385723 meters 0.014952526609460871 Centerline is valid? [True, True] Translation: X:-65.11, Y:-257.58, Z:-8.04 [[ 1.45555723e-01 9.89349580e-01 -9.69618186e-04 -6.51087649e+01] [ 9.89327173e-01 -1.45558952e-01 -6.65856314e-03 -2.57584014e+02] [-6.72878325e-03 9.92234997e-06 -9.99977362e-01 -8.04348765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.830385723 meters 0.015040287449627045 Centerline is valid? [True, True] Translation: X:-65.10, Y:-257.59, Z:-8.04 [[ 6.80198246e-02 9.97683865e-01 -4.57440981e-04 -6.51025559e+01] [ 9.97659987e-01 -6.80213615e-02 -6.90250194e-03 -2.57590780e+02] [-6.91763058e-03 1.31364087e-05 -9.99976073e-01 -8.04483798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.860385723 meters 0.015013576513831645 Centerline is valid? [True, True] Translation: X:-65.09, Y:-257.60, Z:-8.05 [[-1.32556697e-02 9.99912137e-01 7.36007622e-05 -6.50905130e+01] [ 9.99894091e-01 1.32558726e-02 -6.00738071e-03 -2.57596924e+02] [-6.00782852e-03 -6.03888698e-06 -9.99981953e-01 -8.04567136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.890385723 meters 0.015051350345738625 Centerline is valid? [True, True] Translation: X:-65.08, Y:-257.60, Z:-8.04 [[-9.25838004e-02 9.95704734e-01 5.67956400e-04 -6.50792124e+01] [ 9.95685134e-01 9.25855416e-02 -6.24755926e-03 -2.57602784e+02] [-6.27330889e-03 -1.29170363e-05 -9.99980323e-01 -8.04472169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.920385723 meters 0.015051350345738625 Centerline is valid? [True, True] Translation: X:-65.07, Y:-257.61, Z:-8.04 [[-1.70331550e-01 9.85386243e-01 1.05583275e-03 -6.50694339e+01] [ 9.85366840e-01 1.70334821e-01 -6.18381196e-03 -2.57608317e+02] [-6.27328832e-03 -1.29156943e-05 -9.99980323e-01 -8.04472187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.950385723 meters 0.015160292690034187 Centerline is valid? [True, True] Translation: X:-65.06, Y:-257.61, Z:-8.04 [[-2.47623826e-01 9.68854643e-01 1.76712461e-03 -6.50582536e+01] [ 9.68829413e-01 2.47630130e-01 -6.99193585e-03 -2.57613399e+02] [-7.21176280e-03 -1.93276054e-05 -9.99973995e-01 -8.04333359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.980385723 meters 0.015174763041910807 Centerline is valid? [True, True] Translation: X:-65.05, Y:-257.62, Z:-8.04 [[-3.22295307e-01 9.46636230e-01 2.36295532e-03 -6.50484134e+01] [ 9.46610417e-01 3.22303969e-01 -6.99066448e-03 -2.57617141e+02] [-7.37920615e-03 -1.62602369e-05 -9.99972773e-01 -8.04248212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.010385723 meters 0.015220398335752807 Centerline is valid? [True, True] Translation: X:-65.04, Y:-257.62, Z:-8.04 [[-3.92768297e-01 9.19632257e-01 3.09460379e-03 -6.50410983e+01] [ 9.19603822e-01 3.92780488e-01 -7.23180712e-03 -2.57622221e+02] [-7.86610310e-03 5.38490493e-06 -9.99969062e-01 -8.04270250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.040385723 meters 0.015205077795288803 Centerline is valid? [True, True] Translation: X:-65.03, Y:-257.63, Z:-8.04 [[-4.61594195e-01 8.87084261e-01 3.50905405e-03 -6.50332385e+01] [ 8.87058990e-01 4.61607532e-01 -6.69588513e-03 -2.57625294e+02] [-7.55962009e-03 2.19562349e-05 -9.99971426e-01 -8.04361042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.070385723 meters 0.015807502488082138 Centerline is valid? [True, True] Translation: X:-65.03, Y:-257.63, Z:-8.04 [[-5.24831882e-01 8.51199354e-01 3.33993708e-03 -6.50258500e+01] [ 8.51182769e-01 5.24842507e-01 -5.31384184e-03 -2.57629407e+02] [-6.27607969e-03 5.40232700e-05 -9.99980304e-01 -8.04372211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.100385723 meters 0.01594303071580661 Centerline is valid? [True, True] Translation: X:-65.02, Y:-257.63, Z:-8.04 [[-5.87323021e-01 8.09345138e-01 3.48091892e-03 -6.50151021e+01] [ 8.09331611e-01 5.87333332e-01 -4.67985196e-03 -2.57629640e+02] [-5.83207514e-03 6.86329289e-05 -9.99982991e-01 -8.04424158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.130385723 meters 0.01662618894089217 Centerline is valid? [True, True] Translation: X:-65.01, Y:-257.63, Z:-8.04 [[-6.44695291e-01 7.64432061e-01 3.40676741e-03 -6.50053841e+01] [ 7.64422114e-01 6.44704286e-01 -3.90068010e-03 -2.57629457e+02] [-5.17816247e-03 8.94582594e-05 -9.99986589e-01 -8.04494891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.160385723 meters 0.017341305888063777 Centerline is valid? [True, True] Translation: X:-64.99, Y:-257.63, Z:-8.04 [[-7.01183346e-01 7.12969610e-01 4.03115805e-03 -6.49940920e+01] [ 7.12958710e-01 7.01194925e-01 -3.94397919e-03 -2.57628398e+02] [-5.63856488e-03 1.08596720e-04 -9.99984097e-01 -8.04494104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.190385723 meters 0.01810533939149254 Centerline is valid? [True, True] Translation: X:-64.42, Y:-257.06, Z:-9.03 [[-6.83300880e-01 -7.30127821e-01 3.64321567e-03 -6.44161774e+01] [ 7.30116535e-01 -6.83310582e-01 -4.06122940e-03 -2.57055356e+02] [ 5.45466440e-03 -1.15069621e-04 9.99985117e-01 -9.02526314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2203857229999 meters 0.018361959177495484 Centerline is valid? [True, True] Translation: X:-64.44, Y:-257.03, Z:-9.03 [[-6.84678794e-01 -7.28836373e-01 3.53421957e-03 -6.44351047e+01] [ 7.28825659e-01 -6.84687903e-01 -3.95410390e-03 -2.57034567e+02] [ 5.30173213e-03 -1.31461181e-04 9.99985937e-01 -9.02560216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.250385723 meters 0.018813757695043065 Centerline is valid? [True, True] Translation: X:-64.45, Y:-257.01, Z:-9.03 [[-6.85601309e-01 -7.27969130e-01 3.43389332e-03 -6.44540563e+01] [ 7.27959015e-01 -6.85609895e-01 -3.83978777e-03 -2.57013358e+02] [ 5.14955820e-03 -1.32829919e-04 9.99986732e-01 -9.02570691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.280385723 meters 0.019883832793279127 Centerline is valid? [True, True] Translation: X:-64.47, Y:-256.99, Z:-9.03 [[-6.86570771e-01 -7.27052599e-01 3.88534442e-03 -6.44718310e+01] [ 7.27039649e-01 -6.86581746e-01 -4.34212616e-03 -2.56993287e+02] [ 5.82456067e-03 -1.56377463e-04 9.99983025e-01 -9.02649257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.310385723 meters 0.01919611456810255 Centerline is valid? [True, True] Translation: X:-64.49, Y:-256.97, Z:-9.03 [[-6.86844450e-01 -7.26795070e-01 3.69159008e-03 -6.44915560e+01] [ 7.26783390e-01 -6.86854354e-01 -4.12309816e-03 -2.56974145e+02] [ 5.53223213e-03 -1.48940733e-04 9.99984686e-01 -9.02600828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3403857229999 meters 0.01883705892647411 Centerline is valid? [True, True] Translation: X:-64.51, Y:-256.96, Z:-9.03 [[-6.86630546e-01 -7.26998825e-01 3.34706233e-03 -6.45111389e+01] [ 7.26989237e-01 -6.86638691e-01 -3.73601783e-03 -2.56955282e+02] [ 5.01430307e-03 -1.31985675e-04 9.99987420e-01 -9.02529224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.370385723 meters 0.01905955890871725 Centerline is valid? [True, True] Translation: X:-64.53, Y:-256.94, Z:-9.03 [[-6.86617641e-01 -7.27011289e-01 3.28652182e-03 -6.45290751e+01] [ 7.27002057e-01 -6.86625494e-01 -3.66609896e-03 -2.56936056e+02] [ 4.92190500e-03 -1.27900098e-04 9.99987879e-01 -9.02548197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.400385723 meters 0.01982895256889381 Centerline is valid? [True, True] Translation: X:-64.55, Y:-256.92, Z:-9.03 [[-6.85936988e-01 -7.27652141e-01 3.57927148e-03 -6.45473143e+01] [ 7.27641212e-01 -6.85946313e-01 -3.99026316e-03 -2.56916454e+02] [ 5.35871161e-03 -1.32643654e-04 9.99985633e-01 -9.02669907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.430385723 meters 0.018677270013558518 Centerline is valid? [True, True] Translation: X:-64.57, Y:-256.90, Z:-9.03 [[-6.85709928e-01 -7.27866275e-01 3.54693020e-03 -6.45679046e+01] [ 7.27855558e-01 -6.85719089e-01 -3.95183914e-03 -2.56897748e+02] [ 5.30860818e-03 -1.28162467e-04 9.99985901e-01 -9.02599757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.460385723 meters 0.018201297595211732 Centerline is valid? [True, True] Translation: X:-64.59, Y:-256.88, Z:-9.02 [[-6.85373072e-01 -7.28185438e-01 3.11757030e-03 -6.45871545e+01] [ 7.28177172e-01 -6.85380154e-01 -3.47136355e-03 -2.56877829e+02] [ 4.66451720e-03 -1.09035574e-04 9.99989115e-01 -9.02417909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.490385723 meters 0.017666736064189545 Centerline is valid? [True, True] Translation: X:-64.61, Y:-256.86, Z:-9.02 [[-6.85350176e-01 -7.28208084e-01 2.84997732e-03 -6.46073741e+01] [ 7.28201184e-01 -6.85356095e-01 -3.17165372e-03 -2.56858517e+02] [ 4.26287320e-03 -9.83365761e-05 9.99990909e-01 -9.02360961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.520385723 meters 0.01785812781103384 Centerline is valid? [True, True] Translation: X:-64.63, Y:-256.84, Z:-9.02 [[-6.85221132e-01 -7.28330414e-01 2.60938831e-03 -6.46259328e+01] [ 7.28324637e-01 -6.85226095e-01 -2.90202147e-03 -2.56840100e+02] [ 3.90165146e-03 -8.80446425e-05 9.99992385e-01 -9.02386396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.550385723 meters 0.01732248060309994 Centerline is valid? [True, True] Translation: X:-64.65, Y:-256.82, Z:-9.02 [[-6.85177496e-01 -7.28371531e-01 2.59070478e-03 -6.46458930e+01] [ 7.28365843e-01 -6.85182389e-01 -2.87964778e-03 -2.56820829e+02] [ 3.87255876e-03 -8.60889847e-05 9.99992498e-01 -9.02372377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.580385723 meters 0.0174831663074674 Centerline is valid? [True, True] Translation: X:-64.66, Y:-256.80, Z:-9.02 [[-6.84649411e-01 -7.28868148e-01 2.53135018e-03 -6.46643570e+01] [ 7.28862728e-01 -6.84654086e-01 -2.81183241e-03 -2.56802018e+02] [ 3.78255433e-03 -8.01126072e-05 9.99992843e-01 -9.02313812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.610385723 meters 0.017354549629480322 Centerline is valid? [True, True] Translation: X:-64.68, Y:-256.78, Z:-9.02 [[-6.84267308e-01 -7.29226379e-01 2.67204128e-03 -6.46836169e+01] [ 7.29220350e-01 -6.84272520e-01 -2.96627780e-03 -2.56782476e+02] [ 3.99149244e-03 -8.12200443e-05 9.99992031e-01 -9.02290299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.640385723 meters 0.017017493823448943 Centerline is valid? [True, True] Translation: X:-64.70, Y:-256.76, Z:-9.02 [[-6.83183704e-01 -7.30242537e-01 2.42162806e-03 -6.47037174e+01] [ 7.30237597e-01 -6.83187992e-01 -2.68681650e-03 -2.56762469e+02] [ 3.61645491e-03 -6.72253888e-05 9.99993458e-01 -9.02274273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.670385723 meters 0.01651196152884741 Centerline is valid? [True, True] Translation: X:-64.72, Y:-256.74, Z:-9.02 [[-6.82363201e-01 -7.31009053e-01 2.49544270e-03 -6.47235075e+01] [ 7.31003818e-01 -6.82367761e-01 -2.76717297e-03 -2.56742923e+02] [ 3.72563814e-03 -6.40388620e-05 9.99993058e-01 -9.02193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.700385723 meters 0.01621643524874097 Centerline is valid? [True, True] Translation: X:-64.74, Y:-256.72, Z:-9.02 [[-6.80508611e-01 -7.32736008e-01 2.44395851e-03 -6.47436227e+01] [ 7.32731003e-01 -6.80512998e-01 -2.70860361e-03 -2.56724360e+02] [ 3.64783692e-03 -5.24639106e-05 9.99993345e-01 -9.02143764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.730385723 meters 0.01607670534282114 Centerline is valid? [True, True] Translation: X:-64.76, Y:-256.70, Z:-9.02 [[-6.79928698e-01 -7.33274173e-01 2.44006563e-03 -6.47639471e+01] [ 7.33269191e-01 -6.79933074e-01 -2.70335850e-03 -2.56704214e+02] [ 3.64138429e-03 -4.88660795e-05 9.99993369e-01 -9.02150300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.760385723 meters 0.01621728380258646 Centerline is valid? [True, True] Translation: X:-64.78, Y:-256.68, Z:-9.02 [[-6.79700407e-01 -7.33485384e-01 2.55877441e-03 -6.47823249e+01] [ 7.33479915e-01 -6.79705222e-01 -2.83302715e-03 -2.56684824e+02] [ 3.81719633e-03 -4.88000703e-05 9.99992713e-01 -9.02180649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.790385723 meters 0.015855402650188973 Centerline is valid? [True, True] Translation: X:-64.80, Y:-256.67, Z:-9.02 [[-6.79076893e-01 -7.34062424e-01 2.63269613e-03 -6.48027473e+01] [ 7.34056645e-01 -6.79081994e-01 -2.91324525e-03 -2.56665103e+02] [ 3.92632041e-03 -4.57694427e-05 9.99992291e-01 -9.02167652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.820385723 meters 0.015848756067441672 Centerline is valid? [True, True] Translation: X:-64.82, Y:-256.65, Z:-9.02 [[-6.78084903e-01 -7.34976376e-01 3.25446871e-03 -6.48215124e+01] [ 7.34967565e-01 -6.78092711e-01 -3.59918620e-03 -2.56645280e+02] [ 4.85214834e-03 -4.86248795e-05 9.99988227e-01 -9.02178006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.850385723 meters 0.015786214179735147 Centerline is valid? [True, True] Translation: X:-64.84, Y:-256.63, Z:-9.02 [[-6.77952532e-01 -7.35096981e-01 3.57659905e-03 -6.48402816e+01] [ 7.35086354e-01 -6.77961965e-01 -3.95299645e-03 -2.56625739e+02] [ 5.33063388e-03 -5.08347964e-05 9.99985791e-01 -9.02254866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.880385723 meters 0.01580930533517061 Centerline is valid? [True, True] Translation: X:-64.86, Y:-256.61, Z:-9.02 [[-6.77576960e-01 -7.35440050e-01 4.17090883e-03 -6.48592831e+01] [ 7.35425623e-01 -6.77589795e-01 -4.60686821e-03 -2.56607764e+02] [ 6.21424064e-03 -5.41145246e-05 9.99980690e-01 -9.02397393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.910385723 meters 0.015802515124122906 Centerline is valid? [True, True] Translation: X:-64.88, Y:-256.59, Z:-9.02 [[-6.77981206e-01 -7.35066193e-01 4.37906592e-03 -6.48778915e+01] [ 7.35050302e-01 -6.77995345e-01 -4.83382665e-03 -2.56588207e+02] [ 6.52216886e-03 -5.84098977e-05 9.99978729e-01 -9.02382717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.940385723 meters 0.015794660136480506 Centerline is valid? [True, True] Translation: X:-64.90, Y:-256.57, Z:-9.02 [[-6.78443391e-01 -7.34642035e-01 3.95534409e-03 -6.48959104e+01] [ 7.34629079e-01 -6.78454919e-01 -4.36344053e-03 -2.56568110e+02] [ 5.88908948e-03 -5.46366033e-05 9.99982658e-01 -9.02381203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9703857229999 meters 0.01608425618527595 Centerline is valid? [True, True] Translation: X:-64.91, Y:-256.55, Z:-9.02 [[-6.80108375e-01 -7.33097459e-01 4.55125700e-03 -6.49130652e+01] [ 7.33080289e-01 -6.80123599e-01 -5.01797028e-03 -2.56547014e+02] [ 6.77407855e-03 -7.63268118e-05 9.99977053e-01 -9.02393285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.000385723 meters 0.01615603728582473 Centerline is valid? [True, True] Translation: X:-64.93, Y:-256.53, Z:-9.02 [[-6.81245761e-01 -7.32038688e-01 4.85521682e-03 -6.49307819e+01] [ 7.32019144e-01 -6.81263056e-01 -5.34980385e-03 -2.56526512e+02] [ 7.22394324e-03 -9.04195276e-05 9.99973903e-01 -9.02354434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.030385723 meters 0.016539311721897227 Centerline is valid? [True, True] Translation: X:-64.95, Y:-256.50, Z:-9.02 [[-6.83528957e-01 -7.29910459e-01 4.34590428e-03 -6.49476239e+01] [ 7.29894776e-01 -6.83542765e-01 -4.78585237e-03 -2.56504907e+02] [ 6.46385513e-03 -9.92158455e-05 9.99979104e-01 -9.02278023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.060385723 meters 0.016713303865529248 Centerline is valid? [True, True] Translation: X:-64.97, Y:-256.48, Z:-9.02 [[-6.84691532e-01 -7.28821384e-01 4.11047018e-03 -6.49664399e+01] [ 7.28807349e-01 -6.84703863e-01 -4.52413541e-03 -2.56483665e+02] [ 6.11174144e-03 -1.01896333e-04 9.99981318e-01 -9.02224838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0903857229999 meters 0.01735822428971032 Centerline is valid? [True, True] Translation: X:-64.98, Y:-256.46, Z:-9.02 [[-6.86679115e-01 -7.26947236e-01 4.41702338e-03 -6.49847811e+01] [ 7.26931009e-01 -6.86693309e-01 -4.85876665e-03 -2.56464087e+02] [ 6.56520739e-03 -1.25542319e-04 9.99978441e-01 -9.02334546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.120385723 meters 0.01754333449634918 Centerline is valid? [True, True] Translation: X:-65.00, Y:-256.44, Z:-9.02 [[-6.87527207e-01 -7.26144800e-01 4.47978382e-03 -6.50032459e+01] [ 7.26128112e-01 -6.87541789e-01 -4.92484547e-03 -2.56443673e+02] [ 6.65618952e-03 -1.33068288e-04 9.99977839e-01 -9.02354684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.150385723 meters 0.017129447383866996 Centerline is valid? [True, True] Translation: X:-65.02, Y:-256.42, Z:-9.02 [[-6.88634576e-01 -7.25091963e-01 4.90569627e-03 -6.50236073e+01] [ 7.25071946e-01 -6.88652032e-01 -5.39006664e-03 -2.56424098e+02] [ 7.28661171e-03 -1.54803515e-04 9.99973440e-01 -9.02294343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.180385723 meters 0.0173482078870879 Centerline is valid? [True, True] Translation: X:-65.04, Y:-256.41, Z:-9.02 [[-6.88962095e-01 -7.24774001e-01 5.82049420e-03 -6.50433153e+01] [ 7.24745843e-01 -6.88986657e-01 -6.39143090e-03 -2.56405911e+02] [ 8.64258578e-03 -1.85074650e-04 9.99962635e-01 -9.02461165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.210385723 meters 0.017839048604939588 Centerline is valid? [True, True] Translation: X:-65.06, Y:-256.39, Z:-9.03 [[-6.88866712e-01 -7.24860128e-01 6.35986216e-03 -6.50607644e+01] [ 7.24826556e-01 -6.88896041e-01 -6.97916142e-03 -2.56386737e+02] [ 9.44019971e-03 -1.97914997e-04 9.99955421e-01 -9.02570957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.240385723 meters 0.017041193833518715 Centerline is valid? [True, True] Translation: X:-65.08, Y:-256.37, Z:-9.03 [[-6.88886777e-01 -7.24838346e-01 6.66186615e-03 -6.50814699e+01] [ 7.24801549e-01 -6.88918957e-01 -7.30651207e-03 -2.56367021e+02] [ 9.88552601e-03 -2.04828646e-04 9.99951116e-01 -9.02501455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.270385723 meters 0.01740883739140806 Centerline is valid? [True, True] Translation: X:-65.10, Y:-256.35, Z:-9.02 [[-6.88362788e-01 -7.25330344e-01 7.25008855e-03 -6.50996418e+01] [ 7.25286836e-01 -6.88400935e-01 -7.94728271e-03 -2.56346256e+02] [ 1.07553730e-02 -2.12219899e-04 9.99942137e-01 -9.02402809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.300385723 meters 0.01684624960005913 Centerline is valid? [True, True] Translation: X:-65.12, Y:-256.33, Z:-9.02 [[-6.87978502e-01 -7.25697903e-01 6.93786226e-03 -6.51201806e+01] [ 7.25658123e-01 -6.88013456e-01 -7.60085545e-03 -2.56327368e+02] [ 1.02892675e-02 -1.94709041e-04 9.99947045e-01 -9.02322036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.330385723 meters 0.016887812271692476 Centerline is valid? [True, True] Translation: X:-65.14, Y:-256.31, Z:-9.02 [[-6.86776787e-01 -7.26841089e-01 6.29889465e-03 -6.51408834e+01] [ 7.26808382e-01 -6.86805654e-01 -6.89710273e-03 -2.56309215e+02] [ 9.33921412e-03 -1.58680623e-04 9.99956376e-01 -9.02382388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.360385723 meters 0.016050328199392835 Centerline is valid? [True, True] Translation: X:-65.16, Y:-256.29, Z:-9.02 [[-6.85826919e-01 -7.27737886e-01 6.24550363e-03 -6.51624261e+01] [ 7.27705804e-01 -6.85855341e-01 -6.83484523e-03 -2.56290982e+02] [ 9.25748784e-03 -1.42631602e-04 9.99957138e-01 -9.02301857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.390385723 meters 0.0157794813692153 Centerline is valid? [True, True] Translation: X:-65.18, Y:-256.27, Z:-9.02 [[-6.83431387e-01 -7.29987586e-01 6.29789341e-03 -6.51830991e+01] [ 7.29955093e-01 -6.83460395e-01 -6.88838564e-03 -2.56272508e+02] [ 9.33279672e-03 -1.10559582e-04 9.99956442e-01 -9.02272174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.420385723 meters 0.015364879691950013 Centerline is valid? [True, True] Translation: X:-65.20, Y:-256.25, Z:-9.02 [[-6.81949080e-01 -7.31377712e-01 5.66528710e-03 -6.52037247e+01] [ 7.31351495e-01 -6.81972607e-01 -6.19309025e-03 -2.56253017e+02] [ 8.39305879e-03 -8.00560014e-05 9.99964775e-01 -9.02099833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.450385723 meters 0.015421646378120055 Centerline is valid? [True, True] Translation: X:-65.22, Y:-256.23, Z:-9.02 [[-6.81665110e-01 -7.31642554e-01 5.64365582e-03 -6.52219465e+01] [ 7.31616579e-01 -6.81688468e-01 -6.16548288e-03 -2.56234348e+02] [ 8.35814473e-03 -7.38024066e-05 9.99965067e-01 -9.02118154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.480385723 meters 0.01512031521133454 Centerline is valid? [True, True] Translation: X:-65.24, Y:-256.22, Z:-9.02 [[-6.81479304e-01 -7.31814832e-01 5.74541270e-03 -6.52430550e+01] [ 7.31787951e-01 -6.81503519e-01 -6.27278318e-03 -2.56216648e+02] [ 8.50603474e-03 -7.03481240e-05 9.99963821e-01 -9.02128368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.510385723 meters 0.015121190836416143 Centerline is valid? [True, True] Translation: X:-65.26, Y:-256.20, Z:-9.02 [[-6.81615050e-01 -7.31687588e-01 5.84788164e-03 -6.52610484e+01] [ 7.31659771e-01 -6.81640131e-01 -6.38053954e-03 -2.56197920e+02] [ 8.65471240e-03 -7.04120371e-05 9.99962545e-01 -9.02228936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.540385723 meters 0.015080148955653164 Centerline is valid? [True, True] Translation: X:-65.28, Y:-256.18, Z:-9.02 [[-6.81737267e-01 -7.31569301e-01 6.37629598e-03 -6.52796220e+01] [ 7.31536264e-01 -6.81767080e-01 -6.95286717e-03 -2.56178225e+02] [ 9.43365287e-03 -7.55369173e-05 9.99955499e-01 -9.02261097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.570385723 meters 0.015202467528731037 Centerline is valid? [True, True] Translation: X:-65.30, Y:-256.16, Z:-9.02 [[-6.81844139e-01 -7.31467359e-01 6.63879458e-03 -6.52968577e+01] [ 7.31431586e-01 -6.81876453e-01 -7.23450098e-03 -2.56158459e+02] [ 9.81863902e-03 -7.69780399e-05 9.99951793e-01 -9.02322758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.600385723 meters 0.015157808111748284 Centerline is valid? [True, True] Translation: X:-65.31, Y:-256.14, Z:-9.02 [[-6.81836555e-01 -7.31476962e-01 6.35344064e-03 -6.53145015e+01] [ 7.31444239e-01 -6.81866152e-01 -6.91926901e-03 -2.56139573e+02] [ 9.39348199e-03 -7.06229876e-05 9.99955878e-01 -9.02266021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.630385723 meters 0.014884101531242758 Centerline is valid? [True, True] Translation: X:-65.33, Y:-256.12, Z:-9.02 [[-6.82031260e-01 -7.31296788e-01 6.19422801e-03 -6.53341490e+01] [ 7.31265711e-01 -6.82059384e-01 -6.74214775e-03 -2.56119683e+02] [ 9.15534233e-03 -6.87289760e-05 9.99958087e-01 -9.02106460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.660385723 meters 0.014801129408386475 Centerline is valid? [True, True] Translation: X:-65.35, Y:-256.10, Z:-9.02 [[-6.81909296e-01 -7.31408776e-01 6.39644559e-03 -6.53537572e+01] [ 7.31375678e-01 -6.81939292e-01 -6.95841667e-03 -2.56099706e+02] [ 9.45143460e-03 -6.68042848e-05 9.99955332e-01 -9.02152644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.690385723 meters 0.014718675198421498 Centerline is valid? [True, True] Translation: X:-65.37, Y:-256.08, Z:-9.02 [[-6.81773637e-01 -7.31534803e-01 6.44508472e-03 -6.53730206e+01] [ 7.31501243e-01 -6.81804098e-01 -7.00740754e-03 -2.56079195e+02] [ 9.52044767e-03 -6.28782423e-05 9.99954678e-01 -9.02188512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7203857229999 meters 0.014736883450076598 Centerline is valid? [True, True] Translation: X:-65.39, Y:-256.06, Z:-9.02 [[-6.81459161e-01 -7.31820593e-01 7.21333609e-03 -6.53901227e+01] [ 7.31778605e-01 -6.81497334e-01 -7.83948608e-03 -2.56058550e+02] [ 1.06529667e-02 -6.37245859e-05 9.99943254e-01 -9.02247292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.750385723 meters 0.014722936996381797 Centerline is valid? [True, True] Translation: X:-65.41, Y:-256.04, Z:-9.02 [[-6.81597533e-01 -7.31689730e-01 7.41233784e-03 -6.54082626e+01] [ 7.31645434e-01 -6.81637833e-01 -8.05134163e-03 -2.56037742e+02] [ 1.09436139e-02 -6.45714553e-05 9.99940115e-01 -9.02255443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.780385723 meters 0.01473240746268554 Centerline is valid? [True, True] Translation: X:-65.43, Y:-256.02, Z:-9.02 [[-6.81927593e-01 -7.31382499e-01 7.37544559e-03 -6.54262619e+01] [ 7.31338679e-01 -6.81967474e-01 -8.00635769e-03 -2.56017341e+02] [ 1.08855239e-02 -6.58075937e-05 9.99940749e-01 -9.02266665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.810385723 meters 0.01483926949134012 Centerline is valid? [True, True] Translation: X:-65.44, Y:-256.00, Z:-9.02 [[-6.82599838e-01 -7.30758236e-01 7.06130491e-03 -6.54429095e+01] [ 7.30718086e-01 -6.82636357e-01 -7.66041412e-03 -2.55997102e+02] [ 1.04182142e-02 -6.91742323e-05 9.99945727e-01 -9.02319103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8403857229999 meters 0.01483926949134012 Centerline is valid? [True, True] Translation: X:-65.46, Y:-255.98, Z:-9.02 [[-6.82820110e-01 -7.30552396e-01 7.06361400e-03 -6.54611255e+01] [ 7.30512258e-01 -6.82856641e-01 -7.65828497e-03 -2.55977492e+02] [ 1.04182142e-02 -6.91743717e-05 9.99945727e-01 -9.02319123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.870385723 meters 0.01481903344823867 Centerline is valid? [True, True] Translation: X:-65.48, Y:-255.96, Z:-9.02 [[-6.84388024e-01 -7.29081422e-01 7.30156964e-03 -6.54778078e+01] [ 7.29038502e-01 -6.84426966e-01 -7.91137597e-03 -2.55955532e+02] [ 1.07654284e-02 -9.13255766e-05 9.99942047e-01 -9.02270275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.900385723 meters 0.015067074194056309 Centerline is valid? [True, True] Translation: X:-65.50, Y:-255.93, Z:-9.02 [[-6.85717276e-01 -7.27832649e-01 7.17302318e-03 -6.54956188e+01] [ 7.27791204e-01 -6.85754784e-01 -7.76782126e-03 -2.55933625e+02] [ 1.05726089e-02 -1.06066058e-04 9.99944103e-01 -9.02258645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.930385723 meters 0.015175012880826916 Centerline is valid? [True, True] Translation: X:-65.51, Y:-255.91, Z:-9.02 [[-6.86666507e-01 -7.26938499e-01 7.03758544e-03 -6.55133780e+01] [ 7.26898606e-01 -6.86702560e-01 -7.61645379e-03 -2.55912494e+02] [ 1.03694214e-02 -1.14352668e-04 9.99946230e-01 -9.02268837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.960385723 meters 0.015422255770294383 Centerline is valid? [True, True] Translation: X:-65.53, Y:-255.89, Z:-9.02 [[-6.88457302e-01 -7.25245013e-01 6.79814485e-03 -6.55308977e+01] [ 7.25207747e-01 -6.88490852e-01 -7.35330242e-03 -2.55890698e+02] [ 1.00134065e-02 -1.32367435e-04 9.99949856e-01 -9.02304356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.990385723 meters 0.01578008248074806 Centerline is valid? [True, True] Translation: X:-65.55, Y:-255.87, Z:-9.02 [[-6.90441400e-01 -7.23350810e-01 7.36741142e-03 -6.55475888e+01] [ 7.23306980e-01 -6.90480685e-01 -7.96466748e-03 -2.55868342e+02] [ 1.08483040e-02 -1.70236062e-04 9.99941141e-01 -9.02296198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.020385723 meters 0.016266553086336767 Centerline is valid? [True, True] Translation: X:-65.56, Y:-255.85, Z:-9.02 [[-6.91727441e-01 -7.22118989e-01 7.57051182e-03 -6.55643186e+01] [ 7.22072688e-01 -6.91768841e-01 -8.17948750e-03 -2.55847043e+02] [ 1.11436074e-02 -1.91516136e-04 9.99937890e-01 -9.02377852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.050385723 meters 0.016483705556260872 Centerline is valid? [True, True] Translation: X:-65.58, Y:-255.83, Z:-9.02 [[-6.93222296e-01 -7.20678774e-01 8.05933583e-03 -6.55818386e+01] [ 7.20626263e-01 -6.93269107e-01 -8.70259117e-03 -2.55825636e+02] [ 1.18590613e-02 -2.25061169e-04 9.99929654e-01 -9.02432188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.080385723 meters 0.017268035683223736 Centerline is valid? [True, True] Translation: X:-65.60, Y:-255.80, Z:-9.03 [[-6.93546077e-01 -7.20363678e-01 8.36722557e-03 -6.55986005e+01] [ 7.20307127e-01 -6.93596508e-01 -9.02926099e-03 -2.55804965e+02] [ 1.23078301e-02 -2.35236326e-04 9.99924228e-01 -9.02556086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.110385723 meters 0.017115083704133994 Centerline is valid? [True, True] Translation: X:-65.62, Y:-255.78, Z:-9.03 [[-6.93191505e-01 -7.20697027e-01 9.01845581e-03 -6.56161843e+01] [ 7.20631434e-01 -6.93250125e-01 -9.72625627e-03 -2.55784349e+02] [ 1.32617296e-02 -2.43175477e-04 9.99912030e-01 -9.02557751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.140385723 meters 0.01619832862404249 Centerline is valid? [True, True] Translation: X:-65.64, Y:-255.76, Z:-9.02 [[-6.93109659e-01 -7.20776052e-01 8.99353107e-03 -6.56364903e+01] [ 7.20710894e-01 -6.93167964e-01 -9.69436803e-03 -2.55764210e+02] [ 1.32214959e-02 -2.37524309e-04 9.99912564e-01 -9.02390646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.170385723 meters 0.01619441874864871 Centerline is valid? [True, True] Translation: X:-65.65, Y:-255.74, Z:-9.02 [[-6.93056503e-01 -7.20835607e-01 8.28924101e-03 -6.56549655e+01] [ 7.20780305e-01 -6.93106040e-01 -8.93136778e-03 -2.55743548e+02] [ 1.21833709e-02 -2.15220855e-04 9.99925757e-01 -9.02373741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.200385723 meters 0.017024130473141115 Centerline is valid? [True, True] Translation: X:-65.67, Y:-255.72, Z:-9.03 [[-6.92800826e-01 -7.21084091e-01 8.04673646e-03 -6.56712602e+01] [ 7.21032061e-01 -6.92847526e-01 -8.66448294e-03 -2.55722629e+02] [ 1.18229822e-02 -2.00805960e-04 9.99930086e-01 -9.02511981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.230385723 meters 0.016396953418385946 Centerline is valid? [True, True] Translation: X:-65.69, Y:-255.70, Z:-9.02 [[-6.91270504e-01 -7.22551119e-01 8.06048980e-03 -6.56899740e+01] [ 7.22499063e-01 -6.91317475e-01 -8.67483195e-03 -2.55702109e+02] [ 1.18403670e-02 -1.72959122e-04 9.99929886e-01 -9.02439658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.260385723 meters 0.015361315897606384 Centerline is valid? [True, True] Translation: X:-65.71, Y:-255.68, Z:-9.02 [[-6.90467384e-01 -7.23320354e-01 7.90302271e-03 -6.57096621e+01] [ 7.23270423e-01 -6.90512594e-01 -8.50013093e-03 -2.55683547e+02] [ 1.16054544e-02 -1.53040582e-04 9.99932643e-01 -9.02251756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.290385723 meters 0.015151212377379741 Centerline is valid? [True, True] Translation: X:-65.73, Y:-255.66, Z:-9.02 [[-6.89720596e-01 -7.24034951e-01 7.67392101e-03 -6.57290022e+01] [ 7.23987976e-01 -6.89763272e-01 -8.24862817e-03 -2.55663773e+02] [ 1.12654840e-02 -1.33422199e-04 9.99936534e-01 -9.02211200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.320385723 meters 0.014905591985833752 Centerline is valid? [True, True] Translation: X:-65.75, Y:-255.65, Z:-9.02 [[-6.88356087e-01 -7.25337125e-01 7.20781809e-03 -6.57482734e+01] [ 7.25295807e-01 -6.88393815e-01 -7.74259712e-03 -2.55645842e+02] [ 1.05778105e-02 -1.01863616e-04 9.99944048e-01 -9.02277480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.350385723 meters 0.01496804812682748 Centerline is valid? [True, True] Translation: X:-65.77, Y:-255.63, Z:-9.02 [[-6.88014247e-01 -7.25660382e-01 7.30788395e-03 -6.57659779e+01] [ 7.25617981e-01 -6.88053051e-01 -7.84508876e-03 -2.55626231e+02] [ 1.07210820e-02 -9.48008422e-05 9.99942523e-01 -9.02312203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.380385723 meters 0.014735872273561204 Centerline is valid? [True, True] Translation: X:-65.78, Y:-255.61, Z:-9.02 [[-6.87745428e-01 -7.25914052e-01 7.41723649e-03 -6.57827906e+01] [ 7.25870439e-01 -6.87785418e-01 -7.95762855e-03 -2.55605089e+02] [ 1.08780215e-02 -8.88699472e-05 9.99940829e-01 -9.02196747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.410385723 meters 0.014727651063771259 Centerline is valid? [True, True] Translation: X:-65.80, Y:-255.58, Z:-9.02 [[-6.88121023e-01 -7.25559527e-01 7.26848187e-03 -6.58003561e+01] [ 7.25517672e-01 -6.88159404e-01 -7.79371617e-03 -2.55582562e+02] [ 1.06566792e-02 -8.96078989e-05 9.99943212e-01 -9.02090138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.440385723 meters 0.01492588146748072 Centerline is valid? [True, True] Translation: X:-65.82, Y:-255.56, Z:-9.02 [[-6.88960552e-01 -7.24761974e-01 7.31014084e-03 -6.58177308e+01] [ 7.24719643e-01 -6.88999326e-01 -7.83381039e-03 -2.55561450e+02] [ 1.07143300e-02 -9.93836786e-05 9.99942595e-01 -9.02116508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4703857229999 meters 0.015276339696642735 Centerline is valid? [True, True] Translation: X:-65.84, Y:-255.54, Z:-9.02 [[-6.90455415e-01 -7.23337000e-01 7.40972704e-03 -6.58351497e+01] [ 7.23293475e-01 -6.90495163e-01 -7.93596312e-03 -2.55540058e+02] [ 1.08567564e-02 -1.20021491e-04 9.99941057e-01 -9.02182725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.500385723 meters 0.015340742383725998 Centerline is valid? [True, True] Translation: X:-65.85, Y:-255.52, Z:-9.02 [[-6.91185456e-01 -7.22639213e-01 7.43194199e-03 -6.58535516e+01] [ 7.22595439e-01 -6.91225399e-01 -7.95490408e-03 -2.55519697e+02] [ 1.08856727e-02 -1.28026623e-04 9.99940741e-01 -9.02205993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.530385723 meters 0.015406258350092412 Centerline is valid? [True, True] Translation: X:-65.87, Y:-255.50, Z:-9.02 [[-6.92203618e-01 -7.21665864e-01 7.24786605e-03 -6.58699428e+01] [ 7.21624229e-01 -6.92241549e-01 -7.75310628e-03 -2.55498104e+02] [ 1.06124262e-02 -1.36492467e-04 9.99943677e-01 -9.02135255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.560385723 meters 0.01584361898063578 Centerline is valid? [True, True] Translation: X:-65.89, Y:-255.48, Z:-9.02 [[-6.92828811e-01 -7.21071307e-01 6.66402619e-03 -6.58857741e+01] [ 7.21036126e-01 -6.92860847e-01 -7.12397294e-03 -2.55477073e+02] [ 9.75413531e-03 -1.30690071e-04 9.99952419e-01 -9.02131174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5903857229999 meters 0.01584662405407231 Centerline is valid? [True, True] Translation: X:-65.90, Y:-255.46, Z:-9.02 [[-6.94245188e-01 -7.19709557e-01 6.46322632e-03 -6.59040545e+01] [ 7.19676441e-01 -6.94275258e-01 -6.90553727e-03 -2.55455103e+02] [ 9.45723929e-03 -1.42704303e-04 9.99955269e-01 -9.01966261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.620385723 meters 0.01643322878340755 Centerline is valid? [True, True] Translation: X:-65.92, Y:-255.43, Z:-9.02 [[-6.95273043e-01 -7.18715336e-01 6.60770841e-03 -6.59211404e+01] [ 7.18680718e-01 -6.95304424e-01 -7.05583825e-03 -2.55434144e+02] [ 9.66550804e-03 -1.56901506e-04 9.99953276e-01 -9.02056326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.650385723 meters 0.016309289738110997 Centerline is valid? [True, True] Translation: X:-65.94, Y:-255.41, Z:-9.02 [[-6.96224106e-01 -7.17789065e-01 7.13110666e-03 -6.59397844e+01] [ 7.17748742e-01 -6.96260602e-01 -7.61035307e-03 -2.55413722e+02] [ 1.04277368e-02 -1.80168426e-04 9.99945614e-01 -9.02120415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.680385723 meters 0.01616258312025294 Centerline is valid? [True, True] Translation: X:-65.96, Y:-255.39, Z:-9.02 [[-6.96784058e-01 -7.17243453e-01 7.33522284e-03 -6.59589108e+01] [ 7.17200805e-01 -6.96822641e-01 -7.82387547e-03 -2.55392722e+02] [ 1.07229728e-02 -1.90723966e-04 9.99942489e-01 -9.02050738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.710385723 meters 0.016803145346106736 Centerline is valid? [True, True] Translation: X:-65.97, Y:-255.37, Z:-9.02 [[-6.97228407e-01 -7.16816129e-01 6.86919985e-03 -6.59748259e+01] [ 7.16778755e-01 -6.97262221e-01 -7.32205473e-03 -2.55370945e+02] [ 1.00382005e-02 -1.81448039e-04 9.99949600e-01 -9.02082179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.740385723 meters 0.016912331335907596 Centerline is valid? [True, True] Translation: X:-65.99, Y:-255.35, Z:-9.02 [[-6.97750119e-01 -7.16307163e-01 6.98718166e-03 -6.59923754e+01] [ 7.16268513e-01 -6.97785077e-01 -7.44337984e-03 -2.55350652e+02] [ 1.02072974e-02 -1.88920949e-04 9.99947886e-01 -9.02067446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.770385723 meters 0.016504923912957572 Centerline is valid? [True, True] Translation: X:-66.01, Y:-255.33, Z:-9.02 [[-6.98543989e-01 -7.15533051e-01 6.98200346e-03 -6.60107486e+01] [ 7.15494467e-01 -6.98578853e-01 -7.43327119e-03 -2.55330274e+02] [ 1.01962312e-02 -1.96882058e-04 9.99947998e-01 -9.01992332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.800385723 meters 0.01748759646906988 Centerline is valid? [True, True] Translation: X:-66.03, Y:-255.31, Z:-9.02 [[-6.98685684e-01 -7.15393871e-01 7.06569834e-03 -6.60269443e+01] [ 7.15354399e-01 -6.98721383e-01 -7.51751753e-03 -2.55309467e+02] [ 1.03149405e-02 -1.97903491e-04 9.99946780e-01 -9.02125316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.830385723 meters 0.016208791081779136 Centerline is valid? [True, True] Translation: X:-66.05, Y:-255.29, Z:-9.02 [[-6.98103626e-01 -7.15960659e-01 7.18759176e-03 -6.60475328e+01] [ 7.15919888e-01 -6.98140601e-01 -7.64296965e-03 -2.55290849e+02] [ 1.04900152e-02 -1.89844935e-04 9.99944960e-01 -9.02008872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.860385723 meters 0.016136952042947628 Centerline is valid? [True, True] Translation: X:-66.07, Y:-255.27, Z:-9.02 [[-6.97730463e-01 -7.16329503e-01 6.65156926e-03 -6.60658938e+01] [ 7.16294646e-01 -6.97762148e-01 -7.06859105e-03 -2.55270413e+02] [ 9.70465357e-03 -1.67487861e-04 9.99952895e-01 -9.01978327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.890385723 meters 0.016016376558533354 Centerline is valid? [True, True] Translation: X:-66.08, Y:-255.25, Z:-9.02 [[-6.96622632e-01 -7.17412782e-01 5.98410695e-03 -6.60838272e+01] [ 7.17384640e-01 -6.96648320e-01 -6.35579746e-03 -2.55249903e+02] [ 8.72854839e-03 -1.34685943e-04 9.99961897e-01 -9.01925464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.920385723 meters 0.01575865719013558 Centerline is valid? [True, True] Translation: X:-66.10, Y:-255.23, Z:-9.02 [[-6.96149062e-01 -7.17869059e-01 6.36381576e-03 -6.61032733e+01] [ 7.17837291e-01 -6.96178135e-01 -6.75486430e-03 -2.55230523e+02] [ 9.27945747e-03 -1.34208178e-04 9.99956936e-01 -9.01877314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.950385723 meters 0.015596634984339388 Centerline is valid? [True, True] Translation: X:-66.12, Y:-255.21, Z:-9.02 [[-6.94324768e-01 -7.19634146e-01 6.30976502e-03 -6.61220335e+01] [ 7.19603021e-01 -6.94353429e-01 -6.69382202e-03 -2.55211322e+02] [ 9.19830987e-03 -1.07160445e-04 9.99957689e-01 -9.01937526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.980385723 meters 0.01537672153020547 Centerline is valid? [True, True] Translation: X:-66.14, Y:-255.19, Z:-9.02 [[-6.93351014e-01 -7.20573840e-01 6.14106146e-03 -6.61411063e+01] [ 7.20544430e-01 -6.93378204e-01 -6.51082602e-03 -2.55192330e+02] [ 8.94960907e-03 -8.93801915e-05 9.99959948e-01 -9.01892687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.010385723 meters 0.015116577912119957 Centerline is valid? [True, True] Translation: X:-66.16, Y:-255.17, Z:-9.02 [[-6.91244265e-01 -7.22597682e-01 5.82708436e-03 -6.61604073e+01] [ 7.22571307e-01 -6.91268823e-01 -6.17416298e-03 -2.55173125e+02] [ 8.48951761e-03 -5.73707898e-05 9.99963962e-01 -9.01777382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.040385723 meters 0.015101880858309978 Centerline is valid? [True, True] Translation: X:-66.18, Y:-255.15, Z:-9.02 [[-6.90552351e-01 -7.23258883e-01 5.83423938e-03 -6.61786636e+01] [ 7.23232500e-01 -6.90576995e-01 -6.17777466e-03 -2.55153654e+02] [ 8.49712190e-03 -4.65652852e-05 9.99963898e-01 -9.01747036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.070385723 meters 0.015015137493980023 Centerline is valid? [True, True] Translation: X:-66.20, Y:-255.13, Z:-9.02 [[-6.89714842e-01 -7.24058339e-01 5.74096909e-03 -6.61970789e+01] [ 7.24032851e-01 -6.89738734e-01 -6.07534498e-03 -2.55133728e+02] [ 8.35867295e-03 -3.36053813e-05 9.99965065e-01 -9.01661720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.100385723 meters 0.015037897224985804 Centerline is valid? [True, True] Translation: X:-66.22, Y:-255.11, Z:-9.02 [[-6.89558564e-01 -7.24206414e-01 5.83576304e-03 -6.62154734e+01] [ 7.24180114e-01 -6.89583257e-01 -6.17196747e-03 -2.55114171e+02] [ 8.49402292e-03 -2.97894847e-05 9.99963925e-01 -9.01659631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.130385723 meters 0.015167136330664894 Centerline is valid? [True, True] Translation: X:-66.23, Y:-255.10, Z:-9.02 [[-6.88897510e-01 -7.24836983e-01 5.61868232e-03 -6.62338881e+01] [ 7.24812655e-01 -6.88920422e-01 -5.93865713e-03 -2.55095467e+02] [ 8.17538331e-03 -1.86340582e-05 9.99966581e-01 -9.01723716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.160385723 meters 0.01507859279822067 Centerline is valid? [True, True] Translation: X:-66.25, Y:-255.08, Z:-9.02 [[-6.88618856e-01 -7.25099270e-01 5.92620266e-03 -6.62530640e+01] [ 7.25072246e-01 -6.88644356e-01 -6.26021757e-03 -2.55075214e+02] [ 8.62032520e-03 -1.39787876e-05 9.99962844e-01 -9.01696140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.190385723 meters 0.015155242228006302 Centerline is valid? [True, True] Translation: X:-66.27, Y:-255.06, Z:-9.02 [[-6.89237840e-01 -7.24508675e-01 6.19514549e-03 -6.62701936e+01] [ 7.24479156e-01 -6.89265682e-01 -6.54005082e-03 -2.55055622e+02] [ 9.00842473e-03 -1.93967298e-05 9.99959423e-01 -9.01815984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2203857229999 meters 0.015165551988514542 Centerline is valid? [True, True] Translation: X:-66.29, Y:-255.04, Z:-9.02 [[-6.90029141e-01 -7.23757039e-01 5.96097743e-03 -6.62879949e+01] [ 7.23729715e-01 -6.90054888e-01 -6.28897880e-03 -2.55035123e+02] [ 8.66509429e-03 -2.54421428e-05 9.99962457e-01 -9.01667679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.250385723 meters 0.015466917839227348 Centerline is valid? [True, True] Translation: X:-66.30, Y:-255.01, Z:-9.02 [[-6.92370162e-01 -7.21520600e-01 5.61980808e-03 -6.63032144e+01] [ 7.21496272e-01 -6.92392968e-01 -5.92519347e-03 -2.55013898e+02] [ 8.16626474e-03 -4.77565844e-05 9.99966654e-01 -9.01564720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.280385723 meters 0.015523295700445524 Centerline is valid? [True, True] Translation: X:-66.32, Y:-254.99, Z:-9.02 [[-6.93630254e-01 -7.20311188e-01 5.37250460e-03 -6.63215922e+01] [ 7.20288945e-01 -6.93651058e-01 -5.66098782e-03 -2.54994063e+02] [ 7.80431636e-03 -5.68767465e-05 9.99969544e-01 -9.01508658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.310385723 meters 0.015863738653786402 Centerline is valid? [True, True] Translation: X:-66.34, Y:-254.97, Z:-9.02 [[-6.95565784e-01 -7.18439951e-01 5.68129068e-03 -6.63396711e+01] [ 7.18415044e-01 -6.95588981e-01 -5.98292383e-03 -2.54974022e+02] [ 8.25021470e-03 -7.99924121e-05 9.99965963e-01 -9.01631598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3403857229999 meters 0.016163616449829415 Centerline is valid? [True, True] Translation: X:-66.36, Y:-254.95, Z:-9.02 [[-6.96678532e-01 -7.17359490e-01 5.86401045e-03 -6.63574339e+01] [ 7.17332949e-01 -6.96703204e-01 -6.17142195e-03 -2.54954180e+02] [ 8.51260297e-03 -9.30492717e-05 9.99963763e-01 -9.01664432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.370385723 meters 0.016569265642240243 Centerline is valid? [True, True] Translation: X:-66.38, Y:-254.93, Z:-9.02 [[-6.98631742e-01 -7.15451523e-01 6.54277021e-03 -6.63752526e+01] [ 7.15418433e-01 -6.98662367e-01 -6.88209000e-03 -2.54932524e+02] [ 9.49498909e-03 -1.27228116e-04 9.99954914e-01 -9.01670615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.400385723 meters 0.016612086408121726 Centerline is valid? [True, True] Translation: X:-66.39, Y:-254.91, Z:-9.02 [[-6.99587369e-01 -7.14515784e-01 6.68635286e-03 -6.63936587e+01] [ 7.14481225e-01 -6.99619307e-01 -7.02882663e-03 -2.54912439e+02] [ 9.70010913e-03 -1.40004752e-04 9.99952943e-01 -9.01608065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.430385723 meters 0.017225885959555445 Centerline is valid? [True, True] Translation: X:-66.41, Y:-254.89, Z:-9.02 [[-7.01769189e-01 -7.12372826e-01 6.70534562e-03 -6.64113608e+01] [ 7.12338011e-01 -7.01801203e-01 -7.04476002e-03 -2.54891812e+02] [ 9.72431523e-03 -1.67322967e-04 9.99952704e-01 -9.01585700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.460385723 meters 0.016869245623799885 Centerline is valid? [True, True] Translation: X:-66.43, Y:-254.87, Z:-9.02 [[-7.02700886e-01 -7.11453235e-01 6.76458132e-03 -6.64321601e+01] [ 7.11417799e-01 -7.02733422e-01 -7.10303368e-03 -2.54872605e+02] [ 9.80717367e-03 -1.78864507e-04 9.99951893e-01 -9.01546945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.490385723 meters 0.01737667980011748 Centerline is valid? [True, True] Translation: X:-66.45, Y:-254.85, Z:-9.02 [[-7.03532637e-01 -7.10633935e-01 6.42177290e-03 -6.64513010e+01] [ 7.10601988e-01 -7.03561923e-01 -6.74055494e-03 -2.54854170e+02] [ 9.30818197e-03 -1.78875800e-04 9.99956662e-01 -9.01564103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.520385723 meters 0.017147521356218262 Centerline is valid? [True, True] Translation: X:-66.47, Y:-254.83, Z:-9.01 [[-7.03472120e-01 -7.10696927e-01 6.07078271e-03 -6.64715423e+01] [ 7.10668410e-01 -7.03498295e-01 -6.36862299e-03 -2.54834099e+02] [ 8.79694608e-03 -1.65835222e-04 9.99961292e-01 -9.01457957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.550385723 meters 0.016961654882219172 Centerline is valid? [True, True] Translation: X:-66.49, Y:-254.82, Z:-9.01 [[-7.02641752e-01 -7.11523739e-01 5.34213271e-03 -6.64909695e+01] [ 7.11501705e-01 -7.02662046e-01 -5.60113667e-03 -2.54815101e+02] [ 7.73905561e-03 -1.34655952e-04 9.99970044e-01 -9.01197963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.580385723 meters 0.01696363160608488 Centerline is valid? [True, True] Translation: X:-66.51, Y:-254.80, Z:-9.01 [[-7.02511607e-01 -7.11654297e-01 5.06000380e-03 -6.65108791e+01] [ 7.11634556e-01 -7.02529819e-01 -5.30207131e-03 -2.54796460e+02] [ 7.32804539e-03 -1.23893080e-04 9.99973142e-01 -9.01152969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.610385723 meters 0.01680623243646367 Centerline is valid? [True, True] Translation: X:-66.53, Y:-254.78, Z:-9.01 [[-7.02034671e-01 -7.12126896e-01 4.75450404e-03 -6.65325525e+01] [ 7.12109499e-01 -7.02050762e-01 -4.97889365e-03 -2.54779278e+02] [ 6.88350727e-03 -1.09628476e-04 9.99976302e-01 -9.01239869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.640385723 meters 0.016879090776951922 Centerline is valid? [True, True] Translation: X:-66.55, Y:-254.76, Z:-9.01 [[-7.01780746e-01 -7.12374090e-01 5.19035833e-03 -6.65515070e+01] [ 7.12353391e-01 -7.01799930e-01 -5.43181950e-03 -2.54761654e+02] [ 7.51208059e-03 -1.14576987e-04 9.99971777e-01 -9.01313770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.670385723 meters 0.016473884285014763 Centerline is valid? [True, True] Translation: X:-66.57, Y:-254.74, Z:-9.01 [[-7.00947588e-01 -7.13193160e-01 5.29106427e-03 -6.65733973e+01] [ 7.13171698e-01 -7.00967550e-01 -5.53382174e-03 -2.54744428e+02] [ 7.65554817e-03 -1.05481709e-04 9.99970690e-01 -9.01327136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.700385723 meters 0.016521821420443186 Centerline is valid? [True, True] Translation: X:-66.59, Y:-254.73, Z:-9.01 [[-7.00927549e-01 -7.13212075e-01 5.39513086e-03 -6.65923877e+01] [ 7.13189788e-01 -7.00948304e-01 -5.63921147e-03 -2.54725291e+02] [ 7.80366154e-03 -1.04926436e-04 9.99969546e-01 -9.01273623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.730385723 meters 0.016959745412794814 Centerline is valid? [True, True] Translation: X:-66.61, Y:-254.71, Z:-9.01 [[-7.01405314e-01 -7.12739059e-01 5.79828277e-03 -6.66095490e+01] [ 7.12713333e-01 -7.01429270e-01 -6.05671855e-03 -2.54705969e+02] [ 8.38394513e-03 -1.15701135e-04 9.99964848e-01 -9.01192789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.760385723 meters 0.016959745412794814 Centerline is valid? [True, True] Translation: X:-66.63, Y:-254.69, Z:-9.01 [[-7.01616111e-01 -7.12531538e-01 5.80007402e-03 -6.66281435e+01] [ 7.12505819e-01 -7.01640075e-01 -6.05500322e-03 -2.54686703e+02] [ 8.38394512e-03 -1.15701313e-04 9.99964848e-01 -9.01192809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.790385723 meters 0.016740326381522327 Centerline is valid? [True, True] Translation: X:-66.65, Y:-254.67, Z:-9.01 [[-7.02186428e-01 -7.11968489e-01 5.92381877e-03 -6.66481351e+01] [ 7.11941673e-01 -7.02211404e-01 -6.18041021e-03 -2.54668481e+02] [ 8.56003041e-03 -1.22386718e-04 9.99963355e-01 -9.01183443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.820385723 meters 0.01714439434513181 Centerline is valid? [True, True] Translation: X:-66.67, Y:-254.65, Z:-9.01 [[-7.03123630e-01 -7.11042392e-01 5.98980095e-03 -6.66689548e+01] [ 7.11014975e-01 -7.03149130e-01 -6.24546361e-03 -2.54650012e+02] [ 8.65251272e-03 -1.32494873e-04 9.99962558e-01 -9.01268139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.850385723 meters 0.017010346577067438 Centerline is valid? [True, True] Translation: X:-66.69, Y:-254.63, Z:-9.01 [[-7.03527352e-01 -7.10643898e-01 5.87494390e-03 -6.66882343e+01] [ 7.10617540e-01 -7.03551869e-01 -6.12195069e-03 -2.54631154e+02] [ 8.48385466e-03 -1.32121577e-04 9.99964003e-01 -9.01251035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.880385723 meters 0.017298677505007732 Centerline is valid? [True, True] Translation: X:-66.71, Y:-254.61, Z:-9.01 [[-7.03813092e-01 -7.10362173e-01 5.71974284e-03 -6.67060635e+01] [ 7.10337203e-01 -7.03836321e-01 -5.95740594e-03 -2.54611833e+02] [ 8.25767858e-03 -1.29954159e-04 9.99965896e-01 -9.01217611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.910385723 meters 0.01751258767371112 Centerline is valid? [True, True] Translation: X:-66.72, Y:-254.59, Z:-9.01 [[-7.04311951e-01 -7.09870456e-01 5.34897535e-03 -6.67247864e+01] [ 7.09848632e-01 -7.04332252e-01 -5.56773918e-03 -2.54592739e+02] [ 7.71982940e-03 -1.24462413e-04 9.99970194e-01 -9.01097174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.940385723 meters 0.017298184989158926 Centerline is valid? [True, True] Translation: X:-66.75, Y:-254.58, Z:-9.01 [[-7.05103671e-01 -7.09085228e-01 5.19165515e-03 -6.67465434e+01] [ 7.09064672e-01 -7.05122772e-01 -5.40069276e-03 -2.54575197e+02] [ 7.49030572e-03 -1.26829031e-04 9.99971939e-01 -9.01060594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9703857229999 meters 0.017474510266030734 Centerline is valid? [True, True] Translation: X:-66.77, Y:-254.56, Z:-9.01 [[-7.05490579e-01 -7.08701907e-01 4.96485996e-03 -6.67653106e+01] [ 7.08683122e-01 -7.05508038e-01 -5.16147002e-03 -2.54556944e+02] [ 7.16069226e-03 -1.22856007e-04 9.99974354e-01 -9.01047239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.000385723 meters 0.01723106973875516 Centerline is valid? [True, True] Translation: X:-66.79, Y:-254.54, Z:-9.01 [[-7.05927601e-01 -7.08269399e-01 4.54764826e-03 -6.67861933e+01] [ 7.08253646e-01 -7.05942240e-01 -4.72513382e-03 -2.54537756e+02] [ 6.55704469e-03 -1.14713921e-04 9.99978496e-01 -9.00915562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.030385723 meters 0.017739309397692516 Centerline is valid? [True, True] Translation: X:-66.80, Y:-254.52, Z:-9.01 [[-7.06279121e-01 -7.07918491e-01 4.60585940e-03 -6.68035829e+01] [ 7.07902345e-01 -7.06294129e-01 -4.78251517e-03 -2.54518567e+02] [ 6.63872237e-03 -1.17291939e-04 9.99977957e-01 -9.00914775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.060385723 meters 0.017133701937118384 Centerline is valid? [True, True] Translation: X:-66.83, Y:-254.50, Z:-9.01 [[-7.06122178e-01 -7.08075936e-01 4.46521557e-03 -6.68255267e+01] [ 7.08060782e-01 -7.06136287e-01 -4.63391813e-03 -2.54501161e+02] [ 6.43421667e-03 -1.10468335e-04 9.99979294e-01 -9.00823210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0903857229999 meters 0.01770370833830808 Centerline is valid? [True, True] Translation: X:-66.84, Y:-254.48, Z:-9.01 [[-7.05868477e-01 -7.08328109e-01 4.58069661e-03 -6.68449780e+01] [ 7.08312184e-01 -7.05883332e-01 -4.75101990e-03 -2.54482158e+02] [ 6.59871832e-03 -1.09031962e-04 9.99978222e-01 -9.00963770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.120385723 meters 0.016948767626868838 Centerline is valid? [True, True] Translation: X:-66.87, Y:-254.47, Z:-9.01 [[-7.05574429e-01 -7.08618692e-01 4.92683239e-03 -6.68697083e+01] [ 7.08600296e-01 -7.05591622e-01 -5.10722793e-03 -2.54467120e+02] [ 7.09540884e-03 -1.12374543e-04 9.99974821e-01 -9.01073961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.150385723 meters 0.017846187204783898 Centerline is valid? [True, True] Translation: X:-66.89, Y:-254.45, Z:-9.01 [[-7.05812839e-01 -7.08378940e-01 5.24533955e-03 -6.68872923e+01] [ 7.08358109e-01 -7.05832319e-01 -5.43388549e-03 -2.54448135e+02] [ 7.55158022e-03 -1.19727340e-04 9.99971479e-01 -9.01222873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.180385723 meters 0.017182593869062176 Centerline is valid? [True, True] Translation: X:-66.91, Y:-254.43, Z:-9.01 [[-7.07056124e-01 -7.07136449e-01 5.44794701e-03 -6.69094168e+01] [ 7.07113964e-01 -7.07077099e-01 -5.64066131e-03 -2.54430613e+02] [ 7.84083578e-03 -1.35944716e-04 9.99969251e-01 -9.01051129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.210385723 meters 0.017561263759552786 Centerline is valid? [True, True] Translation: X:-66.93, Y:-254.41, Z:-9.01 [[-7.07960625e-01 -7.06229794e-01 5.58857548e-03 -6.69288466e+01] [ 7.06206132e-01 -7.07982667e-01 -5.78289568e-03 -2.54411079e+02] [ 8.04066780e-03 -1.47376163e-04 9.99967663e-01 -9.01086895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.240385723 meters 0.018044608280807194 Centerline is valid? [True, True] Translation: X:-66.95, Y:-254.39, Z:-9.01 [[-7.09459908e-01 -7.04719622e-01 6.07399902e-03 -6.69496040e+01] [ 7.04691647e-01 -7.09485887e-01 -6.28159485e-03 -2.54393338e+02] [ 8.73617973e-03 -1.76243332e-04 9.99961823e-01 -9.01189597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.270385723 meters 0.017986673433887806 Centerline is valid? [True, True] Translation: X:-66.97, Y:-254.37, Z:-9.01 [[-7.10185437e-01 -7.03986707e-01 6.27390465e-03 -6.69709576e+01] [ 7.03956864e-01 -7.10213124e-01 -6.48478728e-03 -2.54374331e+02] [ 9.02101346e-03 -1.88843253e-04 9.99959292e-01 -9.01211825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.300385723 meters 0.019336976592030465 Centerline is valid? [True, True] Translation: X:-66.99, Y:-254.36, Z:-9.01 [[-7.11128597e-01 -7.03033921e-01 6.27882941e-03 -6.69898954e+01] [ 7.03004017e-01 -7.11156288e-01 -6.48739073e-03 -2.54355660e+02] [ 9.02608476e-03 -1.99326775e-04 9.99959244e-01 -9.01338044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.330385723 meters 0.01835807262921831 Centerline is valid? [True, True] Translation: X:-67.01, Y:-254.34, Z:-9.01 [[-7.11908979e-01 -7.02246631e-01 5.93927581e-03 -6.70115674e+01] [ 7.02219878e-01 -7.11933727e-01 -6.13282447e-03 -2.54338996e+02] [ 8.53512608e-03 -1.95335270e-04 9.99963556e-01 -9.01234752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.360385723 meters 0.018258548625033247 Centerline is valid? [True, True] Translation: X:-67.03, Y:-254.32, Z:-9.01 [[-7.12655682e-01 -7.01494771e-01 5.19286679e-03 -6.70336808e+01] [ 7.01474322e-01 -7.12674579e-01 -5.35916061e-03 -2.54321663e+02] [ 7.46024730e-03 -1.76573550e-04 9.99972156e-01 -9.01178200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.390385723 meters 0.018130078156944427 Centerline is valid? [True, True] Translation: X:-67.05, Y:-254.30, Z:-9.01 [[-7.12791204e-01 -7.01356846e-01 5.22235697e-03 -6.70546702e+01] [ 7.01336183e-01 -7.12810313e-01 -5.38664691e-03 -2.54303036e+02] [ 7.50051160e-03 -1.76926641e-04 9.99971855e-01 -9.01171310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.420385723 meters 0.018146376682064553 Centerline is valid? [True, True] Translation: X:-67.08, Y:-254.29, Z:-9.01 [[-7.12504067e-01 -7.01649637e-01 5.07369337e-03 -6.70760456e+01] [ 7.01630165e-01 -7.12522112e-01 -5.22993741e-03 -2.54287178e+02] [ 7.28470240e-03 -1.66495360e-04 9.99973452e-01 -9.01247735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.450385723 meters 0.017997594673171958 Centerline is valid? [True, True] Translation: X:-67.10, Y:-254.27, Z:-9.01 [[-7.12385674e-01 -7.01770667e-01 4.95813840e-03 -6.70978086e+01] [ 7.01752094e-01 -7.12402910e-01 -5.10803929e-03 -2.54268530e+02] [ 7.11686436e-03 -1.59510006e-04 9.99974662e-01 -9.01236290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.480385723 meters 0.017884314691536347 Centerline is valid? [True, True] Translation: X:-67.12, Y:-254.25, Z:-9.01 [[-7.11894380e-01 -7.02269362e-01 4.91277264e-03 -6.71194956e+01] [ 7.02251160e-01 -7.11911315e-01 -5.05839008e-03 -2.54250881e+02] [ 7.04981081e-03 -1.51039185e-04 9.99975138e-01 -9.01208729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.510385723 meters 0.017827024708932836 Centerline is valid? [True, True] Translation: X:-67.14, Y:-254.23, Z:-9.01 [[-7.11812367e-01 -7.02352494e-01 4.91201439e-03 -6.71398414e+01] [ 7.02334322e-01 -7.11829300e-01 -5.05454037e-03 -2.54232818e+02] [ 7.04658480e-03 -1.48008050e-04 9.99975162e-01 -9.01221465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.540385723 meters 0.017761652994205995 Centerline is valid? [True, True] Translation: X:-67.16, Y:-254.22, Z:-9.01 [[-7.11153016e-01 -7.03019021e-01 5.06402430e-03 -6.71622641e+01] [ 7.02999748e-01 -7.11171031e-01 -5.20764813e-03 -2.54217795e+02] [ 7.26246307e-03 -1.43426865e-04 9.99973618e-01 -9.01376803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.570385723 meters 0.017177694653064072 Centerline is valid? [True, True] Translation: X:-67.18, Y:-254.20, Z:-9.01 [[-7.10784074e-01 -7.03392455e-01 5.00537643e-03 -6.71844129e+01] [ 7.03373655e-01 -7.10801685e-01 -5.14451621e-03 -2.54200690e+02] [ 7.17644389e-03 -1.35990281e-04 9.99974240e-01 -9.01383269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.600385723 meters 0.016893295002677666 Centerline is valid? [True, True] Translation: X:-67.21, Y:-254.18, Z:-9.01 [[-7.10256391e-01 -7.03924232e-01 5.15111012e-03 -6.72066808e+01] [ 7.03904357e-01 -7.10275058e-01 -5.29136877e-03 -2.54182916e+02] [ 7.38342774e-03 -1.32339632e-04 9.99972733e-01 -9.01416023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.630385723 meters 0.017308787293788905 Centerline is valid? [True, True] Translation: X:-67.23, Y:-254.16, Z:-9.01 [[-7.10227716e-01 -7.03953379e-01 5.12170129e-03 -6.72251745e+01] [ 7.03933754e-01 -7.10246171e-01 -5.25808563e-03 -2.54163649e+02] [ 7.33911588e-03 -1.29099729e-04 9.99973060e-01 -9.01437921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.660385723 meters 0.01682337414278799 Centerline is valid? [True, True] Translation: X:-67.25, Y:-254.15, Z:-9.01 [[-7.10352958e-01 -7.03830595e-01 4.60103416e-03 -6.72471628e+01] [ 7.03814771e-01 -7.10367849e-01 -4.72095752e-03 -2.54145972e+02] [ 6.59118108e-03 -1.15270335e-04 9.99978271e-01 -9.01385247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.690385723 meters 0.01688264430435451 Centerline is valid? [True, True] Translation: X:-67.27, Y:-254.13, Z:-9.01 [[-7.10711669e-01 -7.03469222e-01 4.46960784e-03 -6.72676813e+01] [ 7.03454298e-01 -7.10725715e-01 -4.58360320e-03 -2.54126160e+02] [ 6.40108900e-03 -1.13455438e-04 9.99979506e-01 -9.01411749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7203857229999 meters 0.016664941849778576 Centerline is valid? [True, True] Translation: X:-67.29, Y:-254.11, Z:-9.01 [[-7.10676666e-01 -7.03503659e-01 4.61293866e-03 -6.72892283e+01] [ 7.03487780e-01 -7.10691627e-01 -4.72799312e-03 -2.54108332e+02] [ 6.60453734e-03 -1.14928403e-04 9.99978183e-01 -9.01446273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.750385723 meters 0.01683524776873554 Centerline is valid? [True, True] Translation: X:-67.31, Y:-254.09, Z:-9.02 [[-7.10515257e-01 -7.03666942e-01 4.57210501e-03 -6.73085785e+01] [ 7.03651365e-01 -7.10529959e-01 -4.68344843e-03 -2.54089403e+02] [ 6.54420542e-03 -1.10493635e-04 9.99978580e-01 -9.01505521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.780385723 meters 0.016729851636806604 Centerline is valid? [True, True] Translation: X:-67.33, Y:-254.07, Z:-9.01 [[-7.09875004e-01 -7.04311133e-01 4.82782328e-03 -6.73274135e+01] [ 7.04293800e-01 -7.09891412e-01 -4.94225443e-03 -2.54070481e+02] [ 6.90811510e-03 -1.08176875e-04 9.99976133e-01 -9.01457304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.810385723 meters 0.016378139276767217 Centerline is valid? [True, True] Translation: X:-67.35, Y:-254.05, Z:-9.01 [[-7.09681178e-01 -7.04505770e-01 4.92407874e-03 -6.73475526e+01] [ 7.04487763e-01 -7.09698252e-01 -5.03804388e-03 -2.54050988e+02] [ 7.04394106e-03 -1.06451702e-04 9.99975186e-01 -9.01406387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8403857229999 meters 0.016583426782081623 Centerline is valid? [True, True] Translation: X:-67.37, Y:-254.03, Z:-9.01 [[-7.09573575e-01 -7.04612270e-01 5.18563657e-03 -6.73659182e+01] [ 7.04592329e-01 -7.09592515e-01 -5.30224325e-03 -2.54031880e+02] [ 7.41571455e-03 -1.08571949e-04 9.99972497e-01 -9.01495127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.870385723 meters 0.01604378996914366 Centerline is valid? [True, True] Translation: X:-67.39, Y:-254.01, Z:-9.01 [[-7.09639146e-01 -7.04545051e-01 5.34353838e-03 -6.73870318e+01] [ 7.04523898e-01 -7.09659255e-01 -5.46066469e-03 -2.54013822e+02] [ 7.63937575e-03 -1.10450932e-04 9.99970814e-01 -9.01465869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.900385723 meters 0.015778773554561927 Centerline is valid? [True, True] Translation: X:-67.41, Y:-254.00, Z:-9.02 [[-7.08994396e-01 -7.05195941e-01 5.06265253e-03 -6.74081239e+01] [ 7.05176991e-01 -7.09012465e-01 -5.17074991e-03 -2.53995055e+02] [ 7.23587560e-03 -9.59666382e-05 9.99973816e-01 -9.01510890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.930385723 meters 0.01562045789745619 Centerline is valid? [True, True] Translation: X:-67.43, Y:-253.97, Z:-9.01 [[-7.08648629e-01 -7.05545358e-01 4.78198226e-03 -6.74283263e+01] [ 7.05528470e-01 -7.08664758e-01 -4.88238436e-03 -2.53974870e+02] [ 6.83356593e-03 -8.60703562e-05 9.99976647e-01 -9.01479436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.960385723 meters 0.015547223510034265 Centerline is valid? [True, True] Translation: X:-67.45, Y:-253.95, Z:-9.01 [[-7.07934886e-01 -7.06264472e-01 4.32352021e-03 -6.74459235e+01] [ 7.06250696e-01 -7.07948085e-01 -4.41175951e-03 -2.53954510e+02] [ 6.17669686e-03 -6.97493037e-05 9.99980922e-01 -9.01378309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.990385723 meters 0.015342961500861202 Centerline is valid? [True, True] Translation: X:-67.47, Y:-253.93, Z:-9.01 [[-7.07526986e-01 -7.06672228e-01 4.46402162e-03 -6.74662156e+01] [ 7.06657566e-01 -7.07541065e-01 -4.55259425e-03 -2.53934964e+02] [ 6.37567053e-03 -6.65486348e-05 9.99979673e-01 -9.01347512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.020385723 meters 0.015169200219183589 Centerline is valid? [True, True] Translation: X:-67.49, Y:-253.92, Z:-9.01 [[-7.06397306e-01 -7.07799001e-01 4.83941419e-03 -6.74860979e+01] [ 7.07781815e-01 -7.06413881e-01 -4.93269808e-03 -2.53915720e+02] [ 6.90998813e-03 -5.91952758e-05 9.99976124e-01 -9.01420147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.050385723 meters 0.01518824908154255 Centerline is valid? [True, True] Translation: X:-67.51, Y:-253.90, Z:-9.01 [[-7.05888868e-01 -7.08305098e-01 4.97947410e-03 -6.75052789e+01] [ 7.08286936e-01 -7.05906428e-01 -5.07249084e-03 -2.53896355e+02] [ 7.10791390e-03 -5.37183597e-05 9.99974737e-01 -9.01464446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.080385723 meters 0.014984003371896959 Centerline is valid? [True, True] Translation: X:-67.53, Y:-253.88, Z:-9.02 [[-7.04466725e-01 -7.09716697e-01 5.37057572e-03 -6.75256284e+01] [ 7.09695635e-01 -7.04487196e-01 -5.46787894e-03 -2.53876331e+02] [ 7.66414680e-03 -4.04646285e-05 9.99970629e-01 -9.01507262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.110385723 meters 0.01496965319879325 Centerline is valid? [True, True] Translation: X:-67.55, Y:-253.86, Z:-9.01 [[-7.04194743e-01 -7.09987157e-01 5.29159470e-03 -6.75453819e+01] [ 7.09966739e-01 -7.04214624e-01 -5.38450852e-03 -2.53855719e+02] [ 7.54935027e-03 -3.48863555e-05 9.99971503e-01 -9.01466681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.140385723 meters 0.014926663748939167 Centerline is valid? [True, True] Translation: X:-67.56, Y:-253.83, Z:-9.01 [[-7.03709656e-01 -7.10469152e-01 5.12876455e-03 -6.75636887e+01] [ 7.10450006e-01 -7.03728345e-01 -5.21596631e-03 -2.53833733e+02] [ 7.31504015e-03 -2.67950591e-05 9.99973244e-01 -9.01407246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.170385723 meters 0.014900383355787953 Centerline is valid? [True, True] Translation: X:-67.58, Y:-253.81, Z:-9.01 [[-7.03983446e-01 -7.10198776e-01 5.00065477e-03 -6.75827618e+01] [ 7.10180587e-01 -7.04001206e-01 -5.08288996e-03 -2.53812518e+02] [ 7.13032922e-03 -2.69024470e-05 9.99974579e-01 -9.01398240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.200385723 meters 0.014840883881830698 Centerline is valid? [True, True] Translation: X:-67.60, Y:-253.79, Z:-9.01 [[-7.04186063e-01 -7.09993815e-01 5.54717949e-03 -6.75995760e+01] [ 7.09971456e-01 -7.04207911e-01 -5.63475986e-03 -2.53792274e+02] [ 7.90701233e-03 -2.95802623e-05 9.99968739e-01 -9.01436453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.230385723 meters 0.01493894523779361 Centerline is valid? [True, True] Translation: X:-67.62, Y:-253.77, Z:-9.01 [[-7.04497050e-01 -7.09688565e-01 5.10361233e-03 -6.76179785e+01] [ 7.09669652e-01 -7.04515535e-01 -5.18131911e-03 -2.53771016e+02] [ 7.27269710e-03 -2.83452449e-05 9.99973553e-01 -9.01434379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.260385723 meters 0.014907117074285523 Centerline is valid? [True, True] Translation: X:-67.64, Y:-253.75, Z:-9.01 [[-7.04744415e-01 -7.09443162e-01 5.07046688e-03 -6.76362449e+01] [ 7.09424509e-01 -7.04762654e-01 -5.14466336e-03 -2.53750297e+02] [ 7.22332194e-03 -2.85592966e-05 9.99973911e-01 -9.01450201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.290385723 meters 0.014906180464975851 Centerline is valid? [True, True] Translation: X:-67.65, Y:-253.73, Z:-9.01 [[-7.05173580e-01 -7.09019038e-01 4.71455377e-03 -6.76545857e+01] [ 7.09002919e-01 -7.05189339e-01 -4.78091548e-03 -2.53728840e+02] [ 6.71441315e-03 -2.87428980e-05 9.99977458e-01 -9.01407212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.320385723 meters 0.015003449423789202 Centerline is valid? [True, True] Translation: X:-67.67, Y:-253.71, Z:-9.01 [[-7.06141204e-01 -7.08055072e-01 4.75558579e-03 -6.76693346e+01] [ 7.08038671e-01 -7.06157216e-01 -4.81940710e-03 -2.53705877e+02] [ 6.77059686e-03 -3.60432819e-05 9.99977079e-01 -9.01381945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.350385723 meters 0.014976008632102094 Centerline is valid? [True, True] Translation: X:-67.69, Y:-253.68, Z:-9.01 [[-7.06553603e-01 -7.07641399e-01 5.06521150e-03 -6.76879790e+01] [ 7.07622802e-01 -7.06571758e-01 -5.13037991e-03 -2.53684678e+02] [ 7.20940461e-03 -4.06292572e-05 9.99974011e-01 -9.01324134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.380385723 meters 0.014979043292196504 Centerline is valid? [True, True] Translation: X:-67.70, Y:-253.66, Z:-9.01 [[-7.07044531e-01 -7.07150326e-01 5.14268511e-03 -6.77042989e+01] [ 7.07131168e-01 -7.07063232e-01 -5.20549403e-03 -2.53664381e+02] [ 7.31727036e-03 -4.39631595e-05 9.99973228e-01 -9.01422394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.410385723 meters 0.01509987207330526 Centerline is valid? [True, True] Translation: X:-67.72, Y:-253.64, Z:-9.01 [[-7.06860837e-01 -7.07336675e-01 4.75247550e-03 -6.77205084e+01] [ 7.07320338e-01 -7.06876812e-01 -4.80745503e-03 -2.53643124e+02] [ 6.75990399e-03 -3.66791093e-05 9.99977151e-01 -9.01408833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.440385723 meters 0.01506884472297235 Centerline is valid? [True, True] Translation: X:-67.74, Y:-253.62, Z:-9.01 [[-7.06712279e-01 -7.07484403e-01 4.85534727e-03 -6.77390881e+01] [ 7.07467374e-01 -7.06728957e-01 -4.90872597e-03 -2.53622465e+02] [ 6.90426158e-03 -3.40571342e-05 9.99976165e-01 -9.01382104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4703857229999 meters 0.014876716437172116 Centerline is valid? [True, True] Translation: X:-67.76, Y:-253.60, Z:-9.01 [[-7.06547204e-01 -7.07645747e-01 5.34279571e-03 -6.77559237e+01] [ 7.07625157e-01 -7.06567404e-01 -5.39825030e-03 -2.53601170e+02] [ 7.59509416e-03 -3.34220010e-05 9.99971156e-01 -9.01422028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.500385723 meters 0.014867910693905155 Centerline is valid? [True, True] Translation: X:-67.77, Y:-253.58, Z:-9.01 [[-7.06921643e-01 -7.07268921e-01 5.69776530e-03 -6.77736637e+01] [ 7.07245522e-01 -7.06944604e-01 -5.75323163e-03 -2.53581061e+02] [ 8.09708636e-03 -3.73649642e-05 9.99967217e-01 -9.01497063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.530385723 meters 0.014948026285361434 Centerline is valid? [True, True] Translation: X:-67.79, Y:-253.56, Z:-9.02 [[-7.07309567e-01 -7.06876593e-01 6.21760557e-03 -6.77919369e+01] [ 7.06848748e-01 -7.07336893e-01 -6.27435117e-03 -2.53560310e+02] [ 8.83313378e-03 -4.30018994e-05 9.99960986e-01 -9.01599905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.560385723 meters 0.014915874610458199 Centerline is valid? [True, True] Translation: X:-67.81, Y:-253.54, Z:-9.02 [[-7.08325923e-01 -7.05855824e-01 6.47635264e-03 -6.78092115e+01] [ 7.05825603e-01 -7.08355527e-01 -6.53184415e-03 -2.53537681e+02] [ 9.19810042e-03 -5.54990245e-05 9.99957695e-01 -9.01617035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5903857229999 meters 0.014970562836509457 Centerline is valid? [True, True] Translation: X:-67.83, Y:-253.52, Z:-9.02 [[-7.09015497e-01 -7.05163232e-01 6.46842959e-03 -6.78264663e+01] [ 7.05133092e-01 -7.09045000e-01 -6.52004726e-03 -2.53517164e+02] [ 9.18410526e-03 -6.17107898e-05 9.99957823e-01 -9.01646305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.620385723 meters 0.015072090867999648 Centerline is valid? [True, True] Translation: X:-67.84, Y:-253.49, Z:-9.02 [[-7.10367364e-01 -7.03802357e-01 6.36002365e-03 -6.78435612e+01] [ 7.03773196e-01 -7.10395831e-01 -6.40725015e-03 -2.53494373e+02] [ 9.02757204e-03 -7.54872303e-05 9.99959248e-01 -9.01658686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.650385723 meters 0.015072090867999648 Centerline is valid? [True, True] Translation: X:-67.86, Y:-253.47, Z:-9.02 [[-7.10560545e-01 -7.03607305e-01 6.36178240e-03 -6.78630420e+01] [ 7.03578151e-01 -7.10589020e-01 -6.40550388e-03 -2.53474836e+02] [ 9.02757204e-03 -7.54872344e-05 9.99959248e-01 -9.01658706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.680385723 meters 0.015091837780143114 Centerline is valid? [True, True] Translation: X:-67.88, Y:-253.45, Z:-9.02 [[-7.11471827e-01 -7.02687152e-01 6.21345290e-03 -6.78799898e+01] [ 7.02659337e-01 -7.11498953e-01 -6.25268895e-03 -2.53451992e+02] [ 8.81454942e-03 -8.26713326e-05 9.99961148e-01 -9.01680604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.710385723 meters 0.01510259589356999 Centerline is valid? [True, True] Translation: X:-67.90, Y:-253.43, Z:-9.02 [[-7.11614137e-01 -7.02545398e-01 5.93993454e-03 -6.78972489e+01] [ 7.02519994e-01 -7.11638923e-01 -5.97502761e-03 -2.53430561e+02] [ 8.42481678e-03 -7.89913403e-05 9.99964508e-01 -9.01658525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.740385723 meters 0.01506339745883931 Centerline is valid? [True, True] Translation: X:-67.91, Y:-253.41, Z:-9.02 [[-7.11591772e-01 -7.02564328e-01 6.36515711e-03 -6.79123693e+01] [ 7.02535195e-01 -7.11620234e-01 -6.39862258e-03 -2.53408223e+02] [ 9.02501857e-03 -8.14602913e-05 9.99959270e-01 -9.01645530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.770385723 meters 0.014906953182449938 Centerline is valid? [True, True] Translation: X:-67.93, Y:-253.39, Z:-9.02 [[-7.11340213e-01 -7.02817974e-01 6.48046778e-03 -6.79308091e+01] [ 7.02787823e-01 -7.11369728e-01 -6.51053799e-03 -2.53387684e+02] [ 9.18573172e-03 -7.68136425e-05 9.99957807e-01 -9.01648270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.800385723 meters 0.014763221402909421 Centerline is valid? [True, True] Translation: X:-67.95, Y:-253.37, Z:-9.02 [[-7.11161631e-01 -7.03001513e-01 6.16503196e-03 -6.79482065e+01] [ 7.02974262e-01 -7.11188350e-01 -6.19022304e-03 -2.53365909e+02] [ 8.73623507e-03 -6.83903291e-05 9.99961836e-01 -9.01683906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.830385723 meters 0.014846400672277407 Centerline is valid? [True, True] Translation: X:-67.97, Y:-253.35, Z:-9.02 [[-7.11538734e-01 -7.02621778e-01 5.93853291e-03 -6.79650763e+01] [ 7.02596512e-01 -7.11563512e-01 -5.95892147e-03 -2.53345348e+02] [ 8.41251134e-03 -6.76109344e-05 9.99964612e-01 -9.01720844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.860385723 meters 0.014970744239403208 Centerline is valid? [True, True] Translation: X:-67.98, Y:-253.32, Z:-9.02 [[-7.12620406e-01 -7.01526808e-01 5.68286054e-03 -6.79800327e+01] [ 7.01503664e-01 -7.12643061e-01 -5.69889124e-03 -2.53321656e+02] [ 8.04777611e-03 -7.45987014e-05 9.99967613e-01 -9.01655823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.890385723 meters 0.015100637733790955 Centerline is valid? [True, True] Translation: X:-68.00, Y:-253.30, Z:-9.02 [[-7.13338860e-01 -7.00794958e-01 5.83937237e-03 -6.79968062e+01] [ 7.00770526e-01 -7.13362755e-01 -5.85228290e-03 -2.53300268e+02] [ 8.26684111e-03 -8.26007625e-05 9.99965826e-01 -9.01630019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.920385723 meters 0.015159996453108001 Centerline is valid? [True, True] Translation: X:-68.01, Y:-253.28, Z:-9.02 [[-7.14245154e-01 -6.99873278e-01 5.59071292e-03 -6.80133877e+01] [ 6.99850881e-01 -7.14267028e-01 -5.59965139e-03 -2.53277955e+02] [ 7.91230828e-03 -8.68584970e-05 9.99968694e-01 -9.01595635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.950385723 meters 0.015188678375002188 Centerline is valid? [True, True] Translation: X:-68.03, Y:-253.26, Z:-9.02 [[-7.14584956e-01 -6.99526847e-01 5.52552157e-03 -6.80314685e+01] [ 6.99504986e-01 -7.14606313e-01 -5.53099213e-03 -2.53258009e+02] [ 7.81765008e-03 -8.72338733e-05 9.99969438e-01 -9.01670643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.980385723 meters 0.015229567524101564 Centerline is valid? [True, True] Translation: X:-68.05, Y:-253.24, Z:-9.02 [[-7.15052587e-01 -6.99049335e-01 5.46116214e-03 -6.80478524e+01] [ 6.99027994e-01 -7.15073436e-01 -5.46309400e-03 -2.53236599e+02] [ 7.72410421e-03 -8.88942845e-05 9.99970165e-01 -9.01775781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.010385723 meters 0.01537309247660312 Centerline is valid? [True, True] Translation: X:-68.07, Y:-253.22, Z:-9.02 [[-7.15410215e-01 -6.98683835e-01 5.39655543e-03 -6.80653922e+01] [ 6.98663009e-01 -7.15430563e-01 -5.39524581e-03 -2.53215760e+02] [ 7.63043172e-03 -8.94403092e-05 9.99970884e-01 -9.01780787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.040385723 meters 0.015456029864524953 Centerline is valid? [True, True] Translation: X:-68.63, Y:-253.81, Z:-8.05 [[-7.47632187e-01 6.64087930e-01 5.77346691e-03 -6.86331842e+01] [ 6.64069057e-01 7.47654474e-01 -5.00747337e-03 -2.53811503e+02] [-7.64196099e-03 9.02324575e-05 -9.99970796e-01 -8.05350003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.070385723 meters 0.01530644352959322 Centerline is valid? [True, True] Translation: X:-68.62, Y:-253.79, Z:-8.05 [[-7.93065076e-01 6.09107574e-01 5.97895134e-03 -6.86188367e+01] [ 6.09091062e-01 7.93087609e-01 -4.48582539e-03 -2.53786975e+02] [-7.47418245e-03 8.41743688e-05 -9.99972064e-01 -8.05377455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.100385723 meters 0.014722463318857648 Centerline is valid? [True, True] Translation: X:-68.59, Y:-253.77, Z:-8.05 [[-8.35206994e-01 5.49903425e-01 5.95824557e-03 -6.85871487e+01] [ 5.49889998e-01 8.35228243e-01 -3.84334843e-03 -2.53770027e+02] [-7.08996545e-03 6.63881571e-05 -9.99974864e-01 -8.05350944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.130385723 meters 0.014648632576516059 Centerline is valid? [True, True] Translation: X:-68.57, Y:-253.75, Z:-8.05 [[-8.72379497e-01 4.88779592e-01 6.96588330e-03 -6.85660825e+01] [ 4.88764640e-01 8.72407305e-01 -3.82384218e-03 -2.53748423e+02] [-7.94610350e-03 6.88359234e-05 -9.99968427e-01 -8.05285606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.160385723 meters 0.014728337037549414 Centerline is valid? [True, True] Translation: X:-68.18, Y:-253.02, Z:-9.02 [[-8.46891084e-01 -5.31717598e-01 7.20327028e-03 -6.81835370e+01] [ 5.31697974e-01 -8.46921717e-01 -4.56845317e-03 -2.53019947e+02] [ 8.52973298e-03 -3.90180484e-05 9.99963620e-01 -9.01809069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.190385723 meters 0.014667808555571975 Centerline is valid? [True, True] Translation: X:-68.61, Y:-253.73, Z:-8.05 [[-8.74271213e-01 4.85376544e-01 7.71081016e-03 -6.86064624e+01] [ 4.85358415e-01 8.74305213e-01 -4.19574456e-03 -2.53729128e+02] [-8.77811751e-03 7.42879029e-05 -9.99961469e-01 -8.05238831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2203857229999 meters 0.014783624957743336 Centerline is valid? [True, True] Translation: X:-68.59, Y:-253.71, Z:-8.05 [[-9.06330925e-01 4.22493150e-01 7.98707520e-03 -6.85881255e+01] [ 4.22477491e-01 9.06366114e-01 -3.63832176e-03 -2.53706112e+02] [-8.77638034e-03 7.68359635e-05 -9.99961484e-01 -8.05212557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.250385723 meters 0.015038885645443999 Centerline is valid? [True, True] Translation: X:-68.24, Y:-252.96, Z:-9.02 [[-8.84809413e-01 -4.65880612e-01 8.21941505e-03 -6.82391960e+01] [ 4.65859993e-01 -8.84847588e-01 -4.38335521e-03 -2.52960032e+02] [ 9.31504978e-03 -4.93373199e-05 9.99956613e-01 -9.01924990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.280385723 meters 0.015016188696352847 Centerline is valid? [True, True] Translation: X:-68.63, Y:-253.69, Z:-8.05 [[-9.07138646e-01 4.20732135e-01 9.16230015e-03 -6.86278421e+01] [ 4.20711848e-01 9.07184909e-01 -4.13299761e-03 -2.53685819e+02] [-1.00507853e-02 1.05486372e-04 -9.99949484e-01 -8.04984705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.310385723 meters 0.015289599076266933 Centerline is valid? [True, True] Translation: X:-68.61, Y:-253.66, Z:-8.05 [[-9.34434703e-01 3.56013663e-01 9.27674373e-03 -6.86132875e+01] [ 3.55997265e-01 9.34480744e-01 -3.41867234e-03 -2.53659910e+02] [-9.88603244e-03 1.07969317e-04 -9.99951126e-01 -8.04953342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3403857229999 meters 0.014885131656524143 Centerline is valid? [True, True] Translation: X:-68.32, Y:-252.90, Z:-9.02 [[-9.17642825e-01 -3.97320109e-01 8.26901114e-03 -6.83219523e+01] [ 3.97302513e-01 -9.17680069e-01 -3.74220150e-03 -2.52898312e+02] [ 9.07515862e-03 -1.48705450e-04 9.99958809e-01 -9.01885018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.370385723 meters 0.015256914516376304 Centerline is valid? [True, True] Translation: X:-68.65, Y:-253.64, Z:-8.05 [[-9.34877556e-01 3.54872181e-01 8.34804460e-03 -6.86542933e+01] [ 3.54859178e-01 9.34914820e-01 -3.04026105e-03 -2.53641725e+02] [-8.88361468e-03 1.20108424e-04 -9.99960533e-01 -8.05075384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.400385723 meters 0.015577620329938681 Centerline is valid? [True, True] Translation: X:-68.64, Y:-253.61, Z:-8.05 [[-9.57244900e-01 2.89155277e-01 8.45142988e-03 -6.86397518e+01] [ 2.89145222e-01 9.57282199e-01 -2.41504738e-03 -2.53613600e+02] [-8.78872708e-03 1.31898778e-04 -9.99961370e-01 -8.04927883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.430385723 meters 0.015443663055119272 Centerline is valid? [True, True] Translation: X:-68.64, Y:-253.58, Z:-8.05 [[-9.75213978e-01 2.21086584e-01 8.85552630e-03 -6.86383225e+01] [ 2.21078777e-01 9.75254173e-01 -1.86326559e-03 -2.53583011e+02] [-9.04833200e-03 1.40686271e-04 -9.99959053e-01 -8.05012098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.460385723 meters 0.015664102619256617 Centerline is valid? [True, True] Translation: X:-68.46, Y:-252.80, Z:-9.02 [[-9.66632601e-01 -2.56012853e-01 8.87883261e-03 -6.84577395e+01] [ 2.56000793e-01 -9.66673369e-01 -2.48845409e-03 -2.52800604e+02] [ 9.22000726e-03 -1.32432660e-04 9.99957486e-01 -9.02004065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.490385723 meters 0.015537735341359521 Centerline is valid? [True, True] Translation: X:-68.69, Y:-253.57, Z:-8.05 [[-9.76134372e-01 2.16949017e-01 9.73711285e-03 -6.86897914e+01] [ 2.16939773e-01 9.76182924e-01 -2.00843118e-03 -2.53570478e+02] [-9.94093046e-03 1.51868346e-04 -9.99950576e-01 -8.04973377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.520385723 meters 0.015370779093990167 Centerline is valid? [True, True] Translation: X:-68.53, Y:-252.79, Z:-9.02 [[-9.67244114e-01 -2.53653615e-01 9.93311458e-03 -6.85346453e+01] [ 2.53638815e-01 -9.67295108e-01 -2.74334321e-03 -2.52787825e+02] [ 1.03041121e-02 -1.34059166e-04 9.99946902e-01 -9.02137297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.550385723 meters 0.014861043854888617 Centerline is valid? [True, True] Translation: X:-68.75, Y:-253.55, Z:-8.05 [[-9.77859921e-01 2.08951297e-01 1.13723686e-02 -6.87452274e+01] [ 2.08938728e-01 9.77926039e-01 -2.29555593e-03 -2.53553459e+02] [-1.16009947e-02 1.31396083e-04 -9.99932698e-01 -8.04839335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.580385723 meters 0.014701673578308618 Centerline is valid? [True, True] Translation: X:-68.74, Y:-253.52, Z:-8.05 [[-9.90633912e-01 1.36050180e-01 1.16104075e-02 -6.87410147e+01] [ 1.36041986e-01 9.90701943e-01 -1.49630915e-03 -2.53523200e+02] [-1.17060264e-02 9.72083155e-05 -9.99931477e-01 -8.04787307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.610385723 meters 0.014405790201529644 Centerline is valid? [True, True] Translation: X:-68.63, Y:-252.75, Z:-9.02 [[-9.82219986e-01 -1.87433231e-01 1.06151891e-02 -6.86317185e+01] [ 1.87420662e-01 -9.82277335e-01 -2.17562421e-03 -2.52747939e+02] [ 1.08348440e-02 -1.47435809e-04 9.99941291e-01 -9.02116996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.640385723 meters 0.014219586123563749 Centerline is valid? [True, True] Translation: X:-68.80, Y:-253.51, Z:-8.05 [[-9.91708460e-01 1.28239486e-01 8.30451715e-03 -6.88007350e+01] [ 1.28235327e-01 9.91743229e-01 -1.03350225e-03 -2.53514522e+02] [-8.36848445e-03 3.99995542e-05 -9.99964983e-01 -8.05055304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.670385723 meters 0.014189803925368895 Centerline is valid? [True, True] Translation: X:-68.80, Y:-253.48, Z:-8.05 [[-9.98390876e-01 5.61832189e-02 7.68790154e-03 -6.87989163e+01] [ 5.61817584e-02 9.98420475e-01 -4.05977423e-04 -2.53484870e+02] [-7.69856743e-03 2.65956713e-05 -9.99970365e-01 -8.05136482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.700385723 meters 0.014092168659110903 Centerline is valid? [True, True] Translation: X:-68.82, Y:-253.45, Z:-8.05 [[-9.99822150e-01 -1.73416290e-02 7.41190787e-03 -6.88197312e+01] [-1.73410970e-02 9.99849623e-01 1.36049793e-04 -2.53453268e+02] [-7.41315261e-03 7.49498382e-06 -9.99972522e-01 -8.05109121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.730385723 meters 0.014132179101472533 Centerline is valid? [True, True] Translation: X:-68.82, Y:-252.68, Z:-9.02 [[-9.98750076e-01 -4.93915664e-02 7.66539840e-03 -6.88188948e+01] [ 4.93901884e-02 -9.98779492e-01 -3.69085024e-04 -2.52679261e+02] [ 7.67427241e-03 9.97177522e-06 9.99970552e-01 -9.01961697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.760385723 meters 0.014111200744633253 Centerline is valid? [True, True] Translation: X:-68.90, Y:-253.45, Z:-8.05 [[-9.99601175e-01 -2.71165031e-02 7.88579781e-03 -6.89048679e+01] [-2.71158339e-02 9.99632280e-01 1.91781413e-04 -2.53453318e+02] [-7.88809848e-03 -2.21250577e-05 -9.99968888e-01 -8.05137202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.790385723 meters 0.014224128052012912 Centerline is valid? [True, True] Translation: X:-68.92, Y:-253.43, Z:-8.05 [[-9.95026713e-01 -9.92939329e-02 7.90922076e-03 -6.89163416e+01] [-9.92910456e-02 9.95058146e-01 7.57855322e-04 -2.53425465e+02] [-7.94538498e-03 -3.12285092e-05 -9.99968435e-01 -8.05163356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.820385723 meters 0.01430562805324266 Centerline is valid? [True, True] Translation: X:-68.92, Y:-253.40, Z:-8.05 [[-9.85117077e-01 -1.71697058e-01 8.02901013e-03 -6.89192514e+01] [-1.71691718e-01 9.85149795e-01 1.35480718e-03 -2.53396019e+02] [-8.14239409e-03 -4.38708589e-05 -9.99966849e-01 -8.05070053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.850385723 meters 0.014499866425915175 Centerline is valid? [True, True] Translation: X:-68.95, Y:-253.37, Z:-8.05 [[-9.69919965e-01 -2.43256487e-01 9.03016404e-03 -6.89494150e+01] [-2.43246531e-01 9.69961998e-01 2.20166872e-03 -2.53371909e+02] [-9.29448615e-03 -6.11136315e-05 -9.99956804e-01 -8.04814334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.880385723 meters 0.014593559092608989 Centerline is valid? [True, True] Translation: X:-69.00, Y:-253.36, Z:-8.05 [[-9.49572518e-01 -3.13402623e-01 9.53047766e-03 -6.89950599e+01] [-3.13387538e-01 9.49620341e-01 3.07558149e-03 -2.53355603e+02] [-1.00142307e-02 -6.62452739e-05 -9.99949854e-01 -8.04741534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.910385723 meters 0.014475212471074419 Centerline is valid? [True, True] Translation: X:-69.06, Y:-253.35, Z:-8.05 [[-9.23981473e-01 -3.82297874e-01 1.03234121e-02 -6.90559434e+01] [-3.82274888e-01 9.24039139e-01 4.19280091e-03 -2.53348501e+02] [-1.11421357e-02 -7.23108264e-05 -9.99937922e-01 -8.04747941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.940385723 meters 0.014238806812338673 Centerline is valid? [True, True] Translation: X:-69.13, Y:-253.35, Z:-8.05 [[-8.93935918e-01 -4.48068962e-01 1.06197947e-02 -6.91279307e+01] [-4.48038052e-01 8.93998995e-01 5.26320265e-03 -2.53352366e+02] [-1.18523635e-02 -5.31062353e-05 -9.99929757e-01 -8.04821147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9703857229999 meters 0.014341004707384667 Centerline is valid? [True, True] Translation: X:-69.21, Y:-253.36, Z:-8.05 [[-8.58854374e-01 -5.12118230e-01 1.02021212e-02 -6.92097637e+01] [-5.12082553e-01 8.58914965e-01 6.04495919e-03 -2.53364644e+02] [-1.18584884e-02 -3.25886365e-05 -9.99929685e-01 -8.04623285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.000385723 meters 0.01422240010421791 Centerline is valid? [True, True] Translation: X:-69.30, Y:-253.39, Z:-8.05 [[-8.20038858e-01 -5.72232495e-01 9.28666331e-03 -6.92950329e+01] [-5.72195662e-01 8.20091441e-01 6.49256884e-03 -2.53389229e+02] [-1.13311720e-02 1.03702799e-05 -9.99935800e-01 -8.04791451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.030385723 meters 0.01436248044205232 Centerline is valid? [True, True] Translation: X:-69.39, Y:-253.43, Z:-8.05 [[-7.76708706e-01 -6.29797764e-01 8.85226103e-03 -6.93902354e+01] [-6.29756120e-01 7.76759148e-01 7.24264883e-03 -2.53428476e+02] [-1.14374788e-02 5.06628356e-05 -9.99934589e-01 -8.04758064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.060385723 meters 0.014492612611375726 Centerline is valid? [True, True] Translation: X:-69.48, Y:-253.47, Z:-8.05 [[-7.27583516e-01 -6.85970543e-01 8.16345889e-03 -6.94799416e+01] [-6.85926366e-01 7.27629308e-01 7.78525857e-03 -2.53470882e+02] [-1.12804300e-02 6.48941164e-05 -9.99936372e-01 -8.04743763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0903857229999 meters 0.014652263973016208 Centerline is valid? [True, True] Translation: X:-69.57, Y:-253.53, Z:-8.05 [[-6.75373770e-01 -7.37444070e-01 6.82008507e-03 -6.95722360e+01] [-7.37405146e-01 6.75408199e-01 7.57733044e-03 -2.53526761e+02] [-1.01941988e-02 8.83644031e-05 -9.99948034e-01 -8.04762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.120385723 meters 0.014779105172294681 Centerline is valid? [True, True] Translation: X:-69.67, Y:-253.59, Z:-8.05 [[-6.17737093e-01 -7.86360928e-01 6.11347714e-03 -6.96657558e+01] [-7.86320889e-01 6.17767336e-01 7.93584021e-03 -2.53594888e+02] [-1.00171412e-02 9.51080838e-05 -9.99949823e-01 -8.04759914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.150385723 meters 0.014969407491089732 Centerline is valid? [True, True] Translation: X:-69.75, Y:-253.66, Z:-8.05 [[-5.56932226e-01 -8.30545065e-01 4.62496780e-03 -6.97471685e+01] [-8.30515029e-01 5.56951422e-01 7.06396684e-03 -2.53660564e+02] [-8.44282519e-03 9.30455089e-05 -9.99964354e-01 -8.04826910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.180385723 meters 0.014967922142144966 Centerline is valid? [True, True] Translation: X:-69.83, Y:-253.74, Z:-8.05 [[-4.91544655e-01 -8.70844237e-01 3.76400642e-03 -6.98285788e+01] [-8.70817358e-01 4.91559059e-01 6.84259670e-03 -2.53739913e+02] [-7.80906735e-03 8.56797051e-05 -9.99969505e-01 -8.04916675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.210385723 meters 0.014995235175671282 Centerline is valid? [True, True] Translation: X:-69.91, Y:-253.83, Z:-8.05 [[-4.23087605e-01 -9.06083551e-01 3.07849685e-03 -6.99082149e+01] [-9.06058174e-01 4.23098797e-01 6.78186427e-03 -2.53834679e+02] [-7.44744398e-03 8.00254753e-05 -9.99972264e-01 -8.04987869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.240385723 meters 0.014564494673710808 Centerline is valid? [True, True] Translation: X:-69.98, Y:-253.94, Z:-8.05 [[-3.50533491e-01 -9.36545991e-01 2.80700164e-03 -6.99833628e+01] [-9.36514247e-01 3.50544722e-01 7.71118055e-03 -2.53937599e+02] [-8.20585483e-03 7.42300110e-05 -9.99966329e-01 -8.05022707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.270385723 meters 0.014276392820151388 Centerline is valid? [True, True] Translation: X:-70.06, Y:-254.07, Z:-8.05 [[-2.74382614e-01 -9.61617493e-01 2.44523083e-03 -7.00606009e+01] [-9.61577567e-01 2.74393504e-01 8.76285136e-03 -2.54073999e+02] [-9.09746661e-03 5.30949513e-05 -9.99958616e-01 -8.04924107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.300385723 meters 0.014121395267520575 Centerline is valid? [True, True] Translation: X:-70.11, Y:-254.14, Z:-8.05 [[-1.97369827e-01 -9.80327486e-01 1.78082051e-03 -7.01089504e+01] [-9.80285886e-01 1.97377857e-01 9.03126971e-03 -2.54143601e+02] [-9.20509647e-03 3.67869268e-05 -9.99957632e-01 -8.04940633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.330385723 meters 0.013944309177983847 Centerline is valid? [True, True] Translation: X:-70.16, Y:-254.29, Z:-8.05 [[-1.18273605e-01 -9.92980490e-01 1.04974692e-03 -7.01644896e+01] [-9.92940775e-01 1.18278263e-01 8.88092727e-03 -2.54291767e+02] [-8.94274975e-03 8.04276460e-06 -9.99960013e-01 -8.05020250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.360385723 meters 0.014000696729608063 Centerline is valid? [True, True] Translation: X:-70.20, Y:-254.38, Z:-8.05 [[-4.02634978e-02 -9.99189041e-01 3.34906240e-04 -7.02014296e+01] [-9.99154422e-01 4.02648906e-02 8.31747701e-03 -2.54383992e+02] [-8.32421684e-03 2.67666694e-07 -9.99965353e-01 -8.05023285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.390385723 meters 0.013892316399608747 Centerline is valid? [True, True] Translation: X:-70.23, Y:-254.50, Z:-8.05 [[ 3.71580278e-02 -9.99309358e-01 -2.95438914e-04 -7.02312659e+01] [-9.99277559e-01 -3.71592023e-02 7.97208522e-03 -2.54503340e+02] [-7.97755764e-03 -1.00148714e-06 -9.99968179e-01 -8.05121797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.420385723 meters 0.013832927008360368 Centerline is valid? [True, True] Translation: X:-70.25, Y:-254.64, Z:-8.05 [[ 1.14216096e-01 -9.93455538e-01 -8.81497039e-04 -7.02501490e+01] [-9.93425847e-01 -1.14219498e-01 7.68067772e-03 -2.54642650e+02] [-7.73109596e-03 -1.55508242e-06 -9.99970115e-01 -8.05228462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.450385723 meters 0.013830166006839449 Centerline is valid? [True, True] Translation: X:-70.26, Y:-254.76, Z:-8.05 [[ 1.90873507e-01 -9.81613722e-01 -1.34381858e-03 -7.02622856e+01] [-9.81589266e-01 -1.90878237e-01 6.92908021e-03 -2.54759592e+02] [-7.05818594e-03 -3.49994632e-06 -9.99975091e-01 -8.05225960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.480385723 meters 0.013845631683924225 Centerline is valid? [True, True] Translation: X:-70.27, Y:-254.88, Z:-8.05 [[ 2.66316449e-01 -9.63884040e-01 -1.76279753e-03 -7.02651994e+01] [-9.63862796e-01 -2.66322283e-01 6.39946301e-03 -2.54880473e+02] [-6.63781252e-03 -5.18730497e-06 -9.99977970e-01 -8.05216610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.510385723 meters 0.013813388711423843 Centerline is valid? [True, True] Translation: X:-70.26, Y:-255.01, Z:-8.05 [[ 3.40447222e-01 -9.40261716e-01 -1.89567354e-03 -7.02577813e+01] [-9.40246980e-01 -3.40452500e-01 5.26424323e-03 -2.55007430e+02] [-5.59515317e-03 -9.79566107e-06 -9.99984347e-01 -8.05245182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.540385723 meters 0.013813388711423843 Centerline is valid? [True, True] Translation: X:-70.24, Y:-255.13, Z:-8.05 [[ 4.11878272e-01 -9.11235985e-01 -2.29562376e-03 -7.02393119e+01] [-9.11221699e-01 -4.11884669e-01 5.10252213e-03 -2.55130344e+02] [-5.59513401e-03 -9.79581195e-06 -9.99984347e-01 -8.05245280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.570385723 meters 0.013744354941457246 Centerline is valid? [True, True] Translation: X:-70.22, Y:-255.25, Z:-8.05 [[ 4.81007258e-01 -8.76712796e-01 -2.58677239e-03 -7.02155612e+01] [-8.76699994e-01 -4.81014213e-01 4.73787958e-03 -2.55245915e+02] [-5.39803394e-03 -1.11311322e-05 -9.99985431e-01 -8.05261788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.600385723 meters 0.01369579965166885 Centerline is valid? [True, True] Translation: X:-70.17, Y:-255.38, Z:-8.05 [[ 5.47188639e-01 -8.37004597e-01 -2.81035523e-03 -7.01710644e+01] [-8.36993442e-01 -5.47195856e-01 4.32132001e-03 -2.55380535e+02] [-5.15477945e-03 -1.23283260e-05 -9.99986714e-01 -8.05244550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.630385723 meters 0.013670590116071541 Centerline is valid? [True, True] Translation: X:-70.14, Y:-255.47, Z:-8.05 [[ 6.09668437e-01 -7.92650352e-01 -3.13301570e-03 -7.01414148e+01] [-7.92639789e-01 -6.09676487e-01 4.09213460e-03 -2.55473228e+02] [-5.15375794e-03 -1.14924075e-05 -9.99986719e-01 -8.05247709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.660385723 meters 0.013696159417967606 Centerline is valid? [True, True] Translation: X:-70.09, Y:-255.58, Z:-8.05 [[ 6.68508425e-01 -7.43694186e-01 -3.92974052e-03 -7.00912717e+01] [-7.43681222e-01 -6.68519975e-01 4.39127988e-03 -2.55579630e+02] [-5.89287935e-03 -1.31333739e-05 -9.99982637e-01 -8.05284852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.690385723 meters 0.013687871088149997 Centerline is valid? [True, True] Translation: X:-70.02, Y:-255.69, Z:-8.05 [[ 7.23665882e-01 -6.90129758e-01 -5.34872285e-03 -7.00248846e+01] [-6.90110699e-01 -7.23685648e-01 5.12890213e-03 -2.55690759e+02] [-7.41040195e-03 -2.04006135e-05 -9.99972542e-01 -8.05247764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7203857229999 meters 0.013710671353275748 Centerline is valid? [True, True] Translation: X:-70.03, Y:-255.70, Z:-8.05 [[ 7.75818546e-01 -6.30929437e-01 -5.79908492e-03 -7.00322101e+01] [-6.30911565e-01 -7.75840219e-01 4.74894941e-03 -2.55699717e+02] [-7.49541529e-03 -2.56132858e-05 -9.99971909e-01 -8.05210664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.750385723 meters 0.0137834369491814 Centerline is valid? [True, True] Translation: X:-70.04, Y:-255.71, Z:-8.05 [[ 8.23400485e-01 -5.67422280e-01 -6.60280502e-03 -7.00400126e+01] [-5.67403677e-01 -8.23426958e-01 4.59488868e-03 -2.55713362e+02] [-8.04416986e-03 -3.69777192e-05 -9.99967645e-01 -8.05156848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.780385723 meters 0.013711852518877169 Centerline is valid? [True, True] Translation: X:-70.05, Y:-255.73, Z:-8.05 [[ 8.65449706e-01 -5.00946956e-01 -6.99667486e-03 -7.00468217e+01] [-5.00930206e-01 -8.65477987e-01 4.09678689e-03 -2.55725246e+02] [-8.10774100e-03 -4.07172296e-05 -9.99967131e-01 -8.05085528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.810385723 meters 0.013951778003536695 Centerline is valid? [True, True] Translation: X:-70.05, Y:-255.74, Z:-8.05 [[ 9.02283633e-01 -4.31079210e-01 -7.41350509e-03 -7.00530144e+01] [-4.31064224e-01 -9.02314088e-01 3.59472855e-03 -2.55737654e+02] [-8.23892282e-03 -4.77679181e-05 -9.99966058e-01 -8.05019689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8403857229999 meters 0.013833498097122919 Centerline is valid? [True, True] Translation: X:-70.05, Y:-255.74, Z:-8.05 [[ 9.33163709e-01 -3.59375103e-01 -7.41801624e-03 -7.00544654e+01] [-3.59363364e-01 -9.33193192e-01 2.90506115e-03 -2.55744216e+02] [-7.96644890e-03 -4.51343693e-05 -9.99968266e-01 -8.05135808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.870385723 meters 0.013730949377351157 Centerline is valid? [True, True] Translation: X:-70.06, Y:-255.75, Z:-8.05 [[ 9.58264171e-01 -2.85807260e-01 -6.63240102e-03 -7.00568018e+01] [-2.85800154e-01 -9.58287122e-01 2.01580871e-03 -2.55754710e+02] [-6.93187725e-03 -3.61360316e-05 -9.99975974e-01 -8.05348906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.900385723 meters 0.013749931638585459 Centerline is valid? [True, True] Translation: X:-70.06, Y:-255.77, Z:-8.05 [[ 9.77628630e-01 -2.10248902e-01 -6.13679195e-03 -7.00583403e+01] [-2.10244560e-01 -9.77647891e-01 1.35161307e-03 -2.55765244e+02] [-6.28379687e-03 -3.11485123e-05 -9.99980256e-01 -8.05387534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.930385723 meters 0.013808105829058523 Centerline is valid? [True, True] Translation: X:-70.06, Y:-255.78, Z:-8.05 [[ 9.91060911e-01 -1.33272930e-01 -6.04956226e-03 -7.00620550e+01] [-1.33270269e-01 -9.91079374e-01 8.42551043e-04 -2.55775855e+02] [-6.10788562e-03 -2.87926120e-05 -9.99981346e-01 -8.05407975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.960385723 meters 0.013890429231162087 Centerline is valid? [True, True] Translation: X:-70.07, Y:-255.78, Z:-8.05 [[ 9.98454367e-01 -5.51790958e-02 -6.64418166e-03 -7.00650048e+01] [-5.51776617e-02 -9.98476473e-01 3.99092502e-04 -2.55784362e+02] [-6.65608063e-03 -3.18652429e-05 -9.99977848e-01 -8.05406601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.990385723 meters 0.013852846709679494 Centerline is valid? [True, True] Translation: X:-70.07, Y:-255.80, Z:-8.05 [[ 9.99688888e-01 2.34283468e-02 -8.55800452e-03 -7.00674007e+01] [ 2.34278606e-02 -9.99725518e-01 -1.57062592e-04 -2.55797129e+02] [-8.55933522e-03 -4.34820087e-05 -9.99963367e-01 -8.05358603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.020385723 meters 0.013878985943715642 Centerline is valid? [True, True] Translation: X:-70.07, Y:-255.81, Z:-8.05 [[ 9.94759246e-01 1.01873369e-01 -8.70970186e-03 -7.00688953e+01] [ 1.01869874e-01 -9.94797374e-01 -8.45222914e-04 -2.55810036e+02] [-8.75049424e-03 -4.64629183e-05 -9.99961713e-01 -8.05301159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.050385723 meters 0.013867747859068314 Centerline is valid? [True, True] Translation: X:-70.07, Y:-255.82, Z:-8.05 [[ 9.83675382e-01 1.79746769e-01 -8.59311732e-03 -7.00691317e+01] [ 1.79740349e-01 -9.83712914e-01 -1.52000012e-03 -2.55823320e+02] [-8.72637559e-03 -4.93432031e-05 -9.99961923e-01 -8.05288456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.080385723 meters 0.013882295002884768 Centerline is valid? [True, True] Translation: X:-70.07, Y:-255.84, Z:-8.05 [[ 9.66627141e-01 2.56059488e-01 -8.09382380e-03 -7.00680078e+01] [ 2.56050908e-01 -9.66661025e-01 -2.09658365e-03 -2.55835906e+02] [-8.36083414e-03 -4.58162781e-05 -9.99965047e-01 -8.05329570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.110385723 meters 0.013858871528602846 Centerline is valid? [True, True] Translation: X:-70.07, Y:-255.85, Z:-8.05 [[ 9.43938513e-01 3.30027169e-01 -7.88365323e-03 -7.00670469e+01] [ 3.30015993e-01 -9.43971433e-01 -2.71625842e-03 -2.55846997e+02] [-8.33838251e-03 -3.77507243e-05 -9.99965234e-01 -8.05410915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.140385723 meters 0.013855579161855185 Centerline is valid? [True, True] Translation: X:-70.06, Y:-255.86, Z:-8.05 [[ 9.15567832e-01 4.02088513e-01 -7.76995223e-03 -7.00642851e+01] [ 4.02074322e-01 -9.15600801e-01 -3.37831884e-03 -2.55857317e+02] [-8.47255769e-03 -3.10182126e-05 -9.99964107e-01 -8.05445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.170385723 meters 0.01374223668222262 Centerline is valid? [True, True] Translation: X:-70.06, Y:-255.87, Z:-8.05 [[ 8.82529563e-01 4.70201974e-01 -7.18847090e-03 -7.00599739e+01] [ 4.70186455e-01 -8.82558839e-01 -3.82018108e-03 -2.55868926e+02] [-8.14050521e-03 -8.49891066e-06 -9.99966866e-01 -8.05458291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.200385723 meters 0.013734611147287003 Centerline is valid? [True, True] Translation: X:-70.06, Y:-255.88, Z:-8.06 [[ 8.43816567e-01 5.36587934e-01 -6.85494375e-03 -7.00557560e+01] [ 5.36570190e-01 -8.43844411e-01 -4.36365099e-03 -2.55879086e+02] [-8.12598844e-03 3.96252840e-06 -9.99966984e-01 -8.05502008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.230385723 meters 0.013910413762218556 Centerline is valid? [True, True] Translation: X:-70.05, Y:-255.89, Z:-8.05 [[ 8.01051018e-01 5.98555229e-01 -6.99319494e-03 -7.00531776e+01] [ 5.98532080e-01 -8.01081542e-01 -5.26418905e-03 -2.55888213e+02] [-8.75302727e-03 3.12324856e-05 -9.99961691e-01 -8.05475009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.260385723 meters 0.0139810948681593 Centerline is valid? [True, True] Translation: X:-70.05, Y:-255.90, Z:-8.06 [[ 7.52834985e-01 6.58176828e-01 -6.53817637e-03 -7.00473284e+01] [ 6.58151481e-01 -7.52863375e-01 -5.77639240e-03 -2.55898305e+02] [-8.72424115e-03 4.55598258e-05 -9.99961942e-01 -8.05517993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.290385723 meters 0.01427161111957232 Centerline is valid? [True, True] Translation: X:-70.04, Y:-255.91, Z:-8.05 [[ 7.00757895e-01 7.13376349e-01 -5.70586909e-03 -7.00414168e+01] [ 7.13351966e-01 -7.00781122e-01 -5.89847765e-03 -2.55909264e+02] [-8.20639979e-03 6.31118535e-05 -9.99966325e-01 -8.05480688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.320385723 meters 0.01432552933596486 Centerline is valid? [True, True] Translation: X:-70.03, Y:-255.92, Z:-8.06 [[ 6.43475254e-01 7.65452147e-01 -4.75480126e-03 -7.00340235e+01] [ 7.65430510e-01 -6.43492818e-01 -5.75566522e-03 -2.55918574e+02] [-7.46536676e-03 6.41581782e-05 -9.99972132e-01 -8.05543512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.350385723 meters 0.014522368015593827 Centerline is valid? [True, True] Translation: X:-70.03, Y:-255.93, Z:-8.06 [[ 5.82821704e-01 8.12590351e-01 -3.97265821e-03 -7.00260237e+01] [ 8.12570650e-01 -5.82835239e-01 -5.65890732e-03 -2.55927253e+02] [-6.91377868e-03 7.00685473e-05 -9.99976097e-01 -8.05633915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.380385723 meters 0.014716164881709678 Centerline is valid? [True, True] Translation: X:-70.02, Y:-255.93, Z:-8.06 [[ 5.17837438e-01 8.55471176e-01 -3.66807009e-03 -7.00190205e+01] [ 8.55448655e-01 -5.17850423e-01 -6.20793477e-03 -2.55934876e+02] [-7.21022091e-03 7.68554075e-05 -9.99974003e-01 -8.05637559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.410385723 meters 0.015022259349592918 Centerline is valid? [True, True] Translation: X:-70.01, Y:-255.94, Z:-8.06 [[ 4.50613674e-01 8.92712913e-01 -3.31238305e-03 -7.00118776e+01] [ 8.92687277e-01 -4.50625838e-01 -6.76601355e-03 -2.55942503e+02] [-7.53275306e-03 9.19360213e-05 -9.99971624e-01 -8.05560288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.440385723 meters 0.015333054260485672 Centerline is valid? [True, True] Translation: X:-70.01, Y:-255.95, Z:-8.06 [[ 3.80027810e-01 9.24970732e-01 -2.82984640e-03 -7.00062537e+01] [ 9.24943104e-01 -3.80038333e-01 -7.14981462e-03 -2.55948963e+02] [-7.68881937e-03 9.96814709e-05 -9.99970436e-01 -8.05536672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4703857229999 meters 0.015287039977521384 Centerline is valid? [True, True] Translation: X:-70.00, Y:-255.96, Z:-8.06 [[ 3.07566434e-01 9.51523535e-01 -2.41866506e-03 -6.99959814e+01] [ 9.51491073e-01 -3.07575922e-01 -7.86063233e-03 -2.55955360e+02] [-8.22349980e-03 1.16328441e-04 -9.99966180e-01 -8.05585979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.500385723 meters 0.01591964290207511 Centerline is valid? [True, True] Translation: X:-69.99, Y:-255.96, Z:-8.05 [[ 2.32526523e-01 9.72588186e-01 -1.90693359e-03 -6.99867491e+01] [ 9.72550830e-01 -2.32534307e-01 -8.52518250e-03 -2.55961640e+02] [-8.73491927e-03 1.27741200e-04 -9.99961842e-01 -8.05473714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.530385723 meters 0.01601833374157475 Centerline is valid? [True, True] Translation: X:-69.98, Y:-255.97, Z:-8.05 [[ 1.55639788e-01 9.87813078e-01 -1.25641384e-03 -6.99812776e+01] [ 9.87773796e-01 -1.55644805e-01 -8.81039740e-03 -2.55965555e+02] [-8.89858006e-03 1.30195718e-04 -9.99960398e-01 -8.05448145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.560385723 meters 0.016046942943657775 Centerline is valid? [True, True] Translation: X:-69.98, Y:-255.97, Z:-8.05 [[ 7.75657521e-02 9.96987083e-01 -5.57287523e-04 -6.99755595e+01] [ 9.96948272e-01 -7.75676504e-02 -8.79787814e-03 -2.55969675e+02] [-8.81459835e-03 1.26827202e-04 -9.99961143e-01 -8.05475366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5903857229999 meters 0.015314250264115679 Centerline is valid? [True, True] Translation: X:-69.96, Y:-255.97, Z:-8.06 [[-1.12691490e-03 9.99999356e-01 1.34709496e-04 -6.99626178e+01] [ 9.99959712e-01 1.12806984e-03 -8.90515568e-03 -2.55971906e+02] [-8.90530190e-03 1.24668717e-04 -9.99960339e-01 -8.05600445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.620385723 meters 0.01519217365651985 Centerline is valid? [True, True] Translation: X:-69.95, Y:-255.97, Z:-8.06 [[-8.07398003e-02 9.96734919e-01 7.65650426e-04 -6.99505118e+01] [ 9.96701515e-01 8.07433632e-02 -8.16086183e-03 -2.55974580e+02] [-8.19603715e-03 1.04218585e-04 -9.99966407e-01 -8.05652040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.650385723 meters 0.01480623397937701 Centerline is valid? [True, True] Translation: X:-69.93, Y:-255.97, Z:-8.06 [[-1.59353027e-01 9.87220669e-01 1.40089039e-03 -6.99344548e+01] [ 9.87187723e-01 1.59359155e-01 -8.06595457e-03 -2.55973991e+02] [-8.18612178e-03 9.76075139e-05 -9.99966488e-01 -8.05721443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.680385723 meters 0.014692473100810148 Centerline is valid? [True, True] Translation: X:-69.92, Y:-255.97, Z:-8.06 [[-2.37368023e-01 9.71417476e-01 2.12329202e-03 -6.99211537e+01] [ 9.71382014e-01 2.37377501e-01 -8.30090938e-03 -2.55972762e+02] [-8.56767020e-03 9.21572305e-05 -9.99963293e-01 -8.05752329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.710385723 meters 0.015205858132466443 Centerline is valid? [True, True] Translation: X:-69.91, Y:-255.97, Z:-8.06 [[-3.14797985e-01 9.49154604e-01 2.78671263e-03 -6.99087423e+01] [ 9.49119476e-01 3.14810311e-01 -8.16629544e-03 -2.55971309e+02] [-8.62836278e-03 7.41898754e-05 -9.99962772e-01 -8.05562610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.740385723 meters 0.014414333100140689 Centerline is valid? [True, True] Translation: X:-69.89, Y:-255.97, Z:-8.06 [[-3.89928680e-01 9.20838619e-01 3.44428185e-03 -6.98940774e+01] [ 9.20804004e-01 3.89943887e-01 -7.98438845e-03 -2.55966662e+02] [-8.69540989e-03 5.81664738e-05 -9.99962193e-01 -8.05762697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.770385723 meters 0.014321308611088882 Centerline is valid? [True, True] Translation: X:-69.88, Y:-255.96, Z:-8.06 [[-4.61767665e-01 8.86992210e-01 3.92983442e-03 -6.98827229e+01] [ 8.86960966e-01 4.61784385e-01 -7.44494229e-03 -2.55962130e+02] [-8.41834198e-03 4.77761183e-05 -9.99964564e-01 -8.05751820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.800385723 meters 0.014193820274899793 Centerline is valid? [True, True] Translation: X:-69.87, Y:-255.96, Z:-8.06 [[-5.31587018e-01 8.46993231e-01 4.20827997e-03 -6.98707917e+01] [ 8.46967110e-01 5.31603674e-01 -6.65198710e-03 -2.55955264e+02] [-7.87132514e-03 2.81647360e-05 -9.99969020e-01 -8.05816602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.830385723 meters 0.014161257729101992 Centerline is valid? [True, True] Translation: X:-69.86, Y:-255.95, Z:-8.06 [[-5.97237330e-01 8.02050740e-01 4.70984147e-03 -6.98597162e+01] [ 8.02026050e-01 5.97255900e-01 -6.29320980e-03 -2.55948311e+02] [-7.86045418e-03 1.88757313e-05 -9.99969106e-01 -8.05856140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.860385723 meters 0.014178271317910163 Centerline is valid? [True, True] Translation: X:-69.85, Y:-255.94, Z:-8.06 [[-6.59820635e-01 7.51404730e-01 5.25948709e-03 -6.98479687e+01] [ 7.51380884e-01 6.59841596e-01 -5.98623898e-03 -2.55940323e+02] [-7.96851664e-03 2.03405339e-06 -9.99968251e-01 -8.05772306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.890385723 meters 0.014177050588259082 Centerline is valid? [True, True] Translation: X:-69.84, Y:-255.93, Z:-8.06 [[-7.17294175e-01 6.96746262e-01 5.80625037e-03 -6.98379062e+01] [ 6.96723375e-01 7.17317675e-01 -5.64739847e-03 -2.55929956e+02] [-8.09972979e-03 -5.49567860e-06 -9.99967197e-01 -8.05737824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.920385723 meters 0.014217827610057491 Centerline is valid? [True, True] Translation: X:-69.82, Y:-255.91, Z:-8.06 [[-7.65948204e-01 6.42864976e-01 6.92609943e-03 -6.98176251e+01] [ 6.42838437e-01 7.65979518e-01 -5.84141934e-03 -2.55907629e+02] [-9.06049421e-03 -2.18617211e-05 -9.99958953e-01 -8.05644705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.950385723 meters 0.014279271003177232 Centerline is valid? [True, True] Translation: X:-69.40, Y:-255.41, Z:-9.01 [[-7.17157266e-01 -6.96880974e-01 6.50878456e-03 -6.94029147e+01] [ 6.96852546e-01 -7.17186801e-01 -6.29453909e-03 -2.55409683e+02] [ 9.05455891e-03 2.14886495e-05 9.99959007e-01 -9.01374999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.980385723 meters 0.014382735939118887 Centerline is valid? [True, True] Translation: X:-69.42, Y:-255.44, Z:-9.01 [[-6.67544346e-01 -7.44543643e-01 6.26974579e-03 -6.94193653e+01] [ 7.44511403e-01 -6.67573787e-01 -6.92887731e-03 -2.55438210e+02] [ 9.34436950e-03 4.25643601e-05 9.99956340e-01 -9.01311766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.010385723 meters 0.01439597976417776 Centerline is valid? [True, True] Translation: X:-69.44, Y:-255.42, Z:-9.01 [[-6.67010234e-01 -7.45021916e-01 6.30015816e-03 -6.94386656e+01] [ 7.44989424e-01 -6.67039985e-01 -6.95819702e-03 -2.55417807e+02] [ 9.38646668e-03 5.23625734e-05 9.99955945e-01 -9.01309940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.040385723 meters 0.014737968920797165 Centerline is valid? [True, True] Translation: X:-69.46, Y:-255.40, Z:-9.01 [[-6.65738119e-01 -7.46155603e-01 6.67632481e-03 -6.94586187e+01] [ 7.46119215e-01 -6.65771590e-01 -7.36932210e-03 -2.55398823e+02] [ 9.94356836e-03 7.52955926e-05 9.99950559e-01 -9.01403639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.070385723 meters 0.014754243081176231 Centerline is valid? [True, True] Translation: X:-69.48, Y:-255.38, Z:-9.01 [[-6.65079187e-01 -7.46741720e-01 6.81744600e-03 -6.94779227e+01] [ 7.46703850e-01 -6.65114122e-01 -7.52094652e-03 -2.55378148e+02] [ 1.01505842e-02 8.85881741e-05 9.99948478e-01 -9.01380587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.100385723 meters 0.015113655345066234 Centerline is valid? [True, True] Translation: X:-69.50, Y:-255.36, Z:-9.01 [[-6.63911903e-01 -7.47776339e-01 7.17856181e-03 -6.94956569e+01] [ 7.47734444e-01 -6.63950702e-01 -7.91629622e-03 -2.55358406e+02] [ 1.06858302e-02 1.11934633e-04 9.99942899e-01 -9.01347447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.130385723 meters 0.014931399524713021 Centerline is valid? [True, True] Translation: X:-69.51, Y:-255.34, Z:-9.01 [[-6.63655812e-01 -7.48001332e-01 7.41423257e-03 -6.95133438e+01] [ 7.47956705e-01 -6.63697215e-01 -8.17156770e-03 -2.55336338e+02] [ 1.10331490e-02 1.22416566e-04 9.99939126e-01 -9.01244226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.160385723 meters 0.015041334340123216 Centerline is valid? [True, True] Translation: X:-69.53, Y:-255.32, Z:-9.01 [[-6.64056905e-01 -7.47634885e-01 8.39683709e-03 -6.95305436e+01] [ 7.47577685e-01 -6.64109977e-01 -9.24902220e-03 -2.55315062e+02] [ 1.24913149e-02 1.35410976e-04 9.99921971e-01 -9.01400096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.190385723 meters 0.015016688546284181 Centerline is valid? [True, True] Translation: X:-69.55, Y:-255.29, Z:-9.01 [[-6.64834970e-01 -7.46937827e-01 8.85132532e-03 -6.95479481e+01] [ 7.46874281e-01 -6.64893875e-01 -9.74391938e-03 -2.55294648e+02] [ 1.31632940e-02 1.32728886e-04 9.99913351e-01 -9.01445574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2203857229999 meters 0.014790928288542143 Centerline is valid? [True, True] Translation: X:-69.56, Y:-255.27, Z:-9.01 [[-6.66456831e-01 -7.45491993e-01 8.77390633e-03 -6.95634937e+01] [ 7.45429498e-01 -6.66514574e-01 -9.65333664e-03 -2.55270623e+02] [ 1.30444216e-02 1.06796444e-04 9.99914912e-01 -9.01346323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.250385723 meters 0.014548846687518508 Centerline is valid? [True, True] Translation: X:-69.58, Y:-255.25, Z:-9.01 [[-6.68230433e-01 -7.43916189e-01 7.53604439e-03 -6.95777064e+01] [ 7.43870036e-01 -6.68272922e-01 -8.28679400e-03 -2.55245476e+02] [ 1.12008146e-02 6.83496695e-05 9.99937267e-01 -9.01060383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.280385723 meters 0.014518022160076634 Centerline is valid? [True, True] Translation: X:-69.59, Y:-255.22, Z:-9.01 [[-6.69262594e-01 -7.42993349e-01 6.96160163e-03 -6.95948480e+01] [ 7.42953957e-01 -6.69298798e-01 -7.65090863e-03 -2.55223819e+02] [ 1.03439658e-02 5.16825169e-05 9.99946499e-01 -9.00966986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.310385723 meters 0.014407432877894309 Centerline is valid? [True, True] Translation: X:-69.61, Y:-255.20, Z:-9.01 [[-6.70170287e-01 -7.42176463e-01 6.77380882e-03 -6.96120084e+01] [ 7.42139172e-01 -6.70204518e-01 -7.43993749e-03 -2.55202162e+02] [ 1.00615838e-02 4.10838294e-05 9.99949380e-01 -9.00907640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3403857229999 meters 0.014417986462209292 Centerline is valid? [True, True] Translation: X:-69.63, Y:-255.18, Z:-9.01 [[-6.72221415e-01 -7.40315076e-01 7.20821913e-03 -6.96271225e+01] [ 7.40272794e-01 -6.72260060e-01 -7.91218287e-03 -2.55178578e+02] [ 1.07033061e-02 1.73097480e-05 9.99942718e-01 -9.00940873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.370385723 meters 0.014434655281518896 Centerline is valid? [True, True] Translation: X:-69.64, Y:-255.16, Z:-9.01 [[-6.72995964e-01 -7.39610780e-01 7.23371185e-03 -6.96441250e+01] [ 7.39568210e-01 -6.73034839e-01 -7.93529977e-03 -2.55157053e+02] [ 1.07375733e-02 9.39860163e-06 9.99942351e-01 -9.00954590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.400385723 meters 0.01447633364801702 Centerline is valid? [True, True] Translation: X:-69.66, Y:-255.13, Z:-9.01 [[-6.74131143e-01 -7.38574550e-01 7.40514907e-03 -6.96595171e+01] [ 7.38529930e-01 -6.74171814e-01 -8.11842292e-03 -2.55134840e+02] [ 1.09884033e-02 -3.95750063e-06 9.99939626e-01 -9.00924489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.430385723 meters 0.014643017938609088 Centerline is valid? [True, True] Translation: X:-69.68, Y:-255.11, Z:-9.01 [[-6.74897380e-01 -7.37875950e-01 7.25316946e-03 -6.96760686e+01] [ 7.37833157e-01 -6.74936354e-01 -7.94673500e-03 -2.55113718e+02] [ 1.07591324e-02 -1.16017102e-05 9.99942119e-01 -9.00945939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.460385723 meters 0.014643017938609088 Centerline is valid? [True, True] Translation: X:-69.69, Y:-255.09, Z:-9.01 [[-6.75119457e-01 -7.37672743e-01 7.25556125e-03 -6.96941864e+01] [ 7.37629961e-01 -6.75158444e-01 -7.94455130e-03 -2.55094022e+02] [ 1.07591324e-02 -1.16017948e-05 9.99942119e-01 -9.00945952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.490385723 meters 0.014775055903547758 Centerline is valid? [True, True] Translation: X:-69.71, Y:-255.07, Z:-9.01 [[-6.76783810e-01 -7.36142035e-01 7.65366710e-03 -6.97102156e+01] [ 7.36094392e-01 -6.76827085e-01 -8.37515470e-03 -2.55072451e+02] [ 1.13455126e-02 -3.43476760e-05 9.99935637e-01 -9.00993425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.520385723 meters 0.014919926516517594 Centerline is valid? [True, True] Translation: X:-69.73, Y:-255.05, Z:-9.01 [[-6.78445825e-01 -7.34609217e-01 7.78206355e-03 -6.97268135e+01] [ 7.34559924e-01 -6.78490453e-01 -8.51014679e-03 -2.55051352e+02] [ 1.15316881e-02 -5.72815461e-05 9.99933506e-01 -9.01003106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.550385723 meters 0.014855669805363158 Centerline is valid? [True, True] Translation: X:-69.74, Y:-255.03, Z:-9.01 [[-6.79058990e-01 -7.34036819e-01 8.29675493e-03 -6.97444901e+01] [ 7.33980810e-01 -6.79109670e-01 -9.06790600e-03 -2.55029023e+02] [ 1.22905834e-02 -6.79841916e-05 9.99924466e-01 -9.00929540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.580385723 meters 0.015293660612990664 Centerline is valid? [True, True] Translation: X:-69.76, Y:-255.01, Z:-9.01 [[-6.80778389e-01 -7.32435805e-01 8.86435222e-03 -6.97582103e+01] [ 7.32371810e-01 -6.80836090e-01 -9.68252536e-03 -2.55005211e+02] [ 1.31269992e-02 -9.96523366e-05 9.99913832e-01 -9.00976557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.610385723 meters 0.015332878832961406 Centerline is valid? [True, True] Translation: X:-69.78, Y:-254.98, Z:-9.01 [[-6.81916068e-01 -7.31376024e-01 8.92120263e-03 -6.97761801e+01] [ 7.31311186e-01 -6.81974412e-01 -9.73917363e-03 -2.54983529e+02] [ 1.32070300e-02 -1.17123719e-04 9.99912777e-01 -9.00871881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.640385723 meters 0.015352433274966973 Centerline is valid? [True, True] Translation: X:-69.79, Y:-254.96, Z:-9.01 [[-6.82936947e-01 -7.30428496e-01 8.44620265e-03 -6.97943305e+01] [ 7.30370371e-01 -6.82989163e-01 -9.21546656e-03 -2.54962037e+02] [ 1.24999043e-02 -1.24726439e-04 9.99921865e-01 -9.00842234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.670385723 meters 0.01569599680994959 Centerline is valid? [True, True] Translation: X:-69.81, Y:-254.94, Z:-9.01 [[-6.84080920e-01 -7.29361986e-01 8.02428124e-03 -6.98107226e+01] [ 7.29309511e-01 -6.84127967e-01 -8.74994735e-03 -2.54940599e+02] [ 1.18715142e-02 -1.33487404e-04 9.99929522e-01 -9.00804758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.700385723 meters 0.015619773756925866 Centerline is valid? [True, True] Translation: X:-69.83, Y:-254.92, Z:-9.01 [[-6.83785254e-01 -7.29637504e-01 8.17552874e-03 -6.98277373e+01] [ 7.29583111e-01 -6.83834115e-01 -8.90993945e-03 -2.54917900e+02] [ 1.20917314e-02 -1.27757513e-04 9.99926884e-01 -9.00712318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.730385723 meters 0.01571514807401159 Centerline is valid? [True, True] Translation: X:-69.84, Y:-254.90, Z:-9.01 [[-6.83712289e-01 -7.29704800e-01 8.27113436e-03 -6.98445747e+01] [ 7.29649205e-01 -6.83762305e-01 -9.00823132e-03 -2.54897079e+02] [ 1.22288395e-02 -1.24011852e-04 9.99925217e-01 -9.00700775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.760385723 meters 0.015568703202863018 Centerline is valid? [True, True] Translation: X:-69.86, Y:-254.88, Z:-9.01 [[-6.83491784e-01 -7.29915280e-01 7.91609129e-03 -6.98625295e+01] [ 7.29864432e-01 -6.83537615e-01 -8.61619797e-03 -2.54876490e+02] [ 1.17000407e-02 -1.11427052e-04 9.99931546e-01 -9.00624788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.790385723 meters 0.015500869496695838 Centerline is valid? [True, True] Translation: X:-69.88, Y:-254.86, Z:-9.01 [[-6.82230183e-01 -7.31101197e-01 7.28122359e-03 -6.98803404e+01] [ 7.31058298e-01 -6.82269033e-01 -7.92031526e-03 -2.54856467e+02] [ 1.07583053e-02 -8.04792068e-05 9.99942125e-01 -9.00570723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.820385723 meters 0.015305495876311002 Centerline is valid? [True, True] Translation: X:-69.90, Y:-254.84, Z:-9.01 [[-6.81736079e-01 -7.31564032e-01 7.06998097e-03 -6.98998092e+01] [ 7.31523656e-01 -6.81772735e-01 -7.68624159e-03 -2.54835964e+02] [ 1.04430982e-02 -6.81298753e-05 9.99945467e-01 -9.00528597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.850385723 meters 0.015394750323678182 Centerline is valid? [True, True] Translation: X:-69.92, Y:-254.81, Z:-9.01 [[-6.80603639e-01 -7.32617583e-01 7.08270280e-03 -6.99167421e+01] [ 7.32577165e-01 -6.80640489e-01 -7.69558296e-03 -2.54814855e+02] [ 1.04586937e-02 -4.90154302e-05 9.99945305e-01 -9.00505961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.880385723 meters 0.015388951230039347 Centerline is valid? [True, True] Translation: X:-69.94, Y:-254.79, Z:-9.00 [[-6.80169125e-01 -7.33022332e-01 6.94427231e-03 -6.99350985e+01] [ 7.32983542e-01 -6.80204572e-01 -7.54100167e-03 -2.54793345e+02] [ 1.02512484e-02 -3.91191941e-05 9.99947454e-01 -9.00479022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.910385723 meters 0.015528173405580395 Centerline is valid? [True, True] Translation: X:-69.95, Y:-254.77, Z:-9.01 [[-6.79316296e-01 -7.33814554e-01 6.75049398e-03 -6.99534444e+01] [ 7.33777979e-01 -6.79349836e-01 -7.32651350e-03 -2.54772525e+02] [ 9.96224921e-03 -2.36561823e-05 9.99950375e-01 -9.00502342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.940385723 meters 0.015514049260599823 Centerline is valid? [True, True] Translation: X:-69.97, Y:-254.75, Z:-9.01 [[-6.77908652e-01 -7.35115346e-01 6.72956711e-03 -6.99712126e+01] [ 7.35079097e-01 -6.77942053e-01 -7.30028362e-03 -2.54752637e+02] [ 9.92880706e-03 -2.16131834e-06 9.99950708e-01 -9.00570849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9703857229999 meters 0.015558715799968755 Centerline is valid? [True, True] Translation: X:-69.99, Y:-254.73, Z:-9.01 [[-6.77478739e-01 -7.35509841e-01 6.91613235e-03 -6.99891942e+01] [ 7.35471621e-01 -6.77514040e-01 -7.49808374e-03 -2.54732161e+02] [ 1.02006911e-02 6.82675206e-06 9.99947972e-01 -9.00559983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.000385723 meters 0.015645996745809018 Centerline is valid? [True, True] Translation: X:-70.01, Y:-254.71, Z:-9.01 [[-6.76965482e-01 -7.35981653e-01 6.98168204e-03 -7.00076278e+01] [ 7.35942773e-01 -6.77001482e-01 -7.56496356e-03 -2.54711136e+02] [ 1.02942835e-02 1.68992365e-05 9.99947012e-01 -9.00555098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.030385723 meters 0.015766265132289785 Centerline is valid? [True, True] Translation: X:-70.03, Y:-254.69, Z:-9.01 [[-6.75831667e-01 -7.37021376e-01 7.14489914e-03 -7.00254646e+01] [ 7.36980768e-01 -6.75869433e-01 -7.73676065e-03 -2.54691564e+02] [ 1.05311769e-02 3.69054085e-05 9.99944545e-01 -9.00714845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.060385723 meters 0.015808369549842514 Centerline is valid? [True, True] Translation: X:-70.04, Y:-254.67, Z:-9.01 [[-6.74949437e-01 -7.37829541e-01 7.12923456e-03 -7.00431522e+01] [ 7.37789206e-01 -6.74987085e-01 -7.71505280e-03 -2.54670922e+02] [ 1.05045351e-02 5.26017632e-05 9.99944825e-01 -9.00805695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0903857229999 meters 0.01599533213596256 Centerline is valid? [True, True] Translation: X:-70.06, Y:-254.65, Z:-9.01 [[-6.74962956e-01 -7.37816917e-01 7.15573736e-03 -7.00604568e+01] [ 7.37776331e-01 -6.75000884e-01 -7.73900145e-03 -2.54649837e+02] [ 1.05400952e-02 5.57943503e-05 9.99944450e-01 -9.00832561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.120385723 meters 0.01595377597283724 Centerline is valid? [True, True] Translation: X:-70.07, Y:-254.63, Z:-9.01 [[-6.75436662e-01 -7.37384898e-01 6.98768105e-03 -7.00748924e+01] [ 7.37346222e-01 -6.75472804e-01 -7.55239736e-03 -2.54627351e+02] [ 1.02890123e-02 5.11741584e-05 9.99947065e-01 -9.00766823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.150385723 meters 0.015907477597535007 Centerline is valid? [True, True] Translation: X:-70.09, Y:-254.61, Z:-9.01 [[-6.75906773e-01 -7.36955074e-01 6.87412948e-03 -7.00913644e+01] [ 7.36917669e-01 -6.75941726e-01 -7.42510464e-03 -2.54605947e+02] [ 1.01184795e-02 4.69889600e-05 9.99948806e-01 -9.00655465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.180385723 meters 0.015964822030015424 Centerline is valid? [True, True] Translation: X:-70.11, Y:-254.59, Z:-9.01 [[-6.76059311e-01 -7.36817346e-01 6.63373355e-03 -7.01073165e+01] [ 7.36782550e-01 -6.76091855e-01 -7.16083217e-03 -2.54585086e+02] [ 9.76123858e-03 4.64718556e-05 9.99952357e-01 -9.00704771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.210385723 meters 0.016124061224714954 Centerline is valid? [True, True] Translation: X:-70.13, Y:-254.57, Z:-9.01 [[-6.75930758e-01 -7.36936622e-01 6.48268002e-03 -7.01250292e+01] [ 7.36903430e-01 -6.75961843e-01 -6.99447732e-03 -2.54566193e+02] [ 9.53653082e-03 4.93267816e-05 9.99954525e-01 -9.00833752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.240385723 meters 0.015999334961347266 Centerline is valid? [True, True] Translation: X:-70.14, Y:-254.55, Z:-9.01 [[-6.75043498e-01 -7.37745671e-01 6.89937931e-03 -7.01425720e+01] [ 7.37708162e-01 -6.75078752e-01 -7.43956232e-03 -2.54545222e+02] [ 1.01461293e-02 6.77002506e-05 9.99948525e-01 -9.00840997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.270385723 meters 0.016164575229568268 Centerline is valid? [True, True] Translation: X:-70.16, Y:-254.52, Z:-9.01 [[-6.74787640e-01 -7.37977898e-01 7.08963057e-03 -7.01608492e+01] [ 7.37938352e-01 -6.74824879e-01 -7.64011979e-03 -2.54524404e+02] [ 1.04224986e-02 7.62519026e-05 9.99945681e-01 -9.00885854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.300385723 meters 0.01628144520931129 Centerline is valid? [True, True] Translation: X:-70.18, Y:-254.50, Z:-9.01 [[-6.74570533e-01 -7.38171775e-01 7.55156686e-03 -7.01771052e+01] [ 7.38126977e-01 -6.74612795e-01 -8.13281016e-03 -2.54503524e+02] [ 1.10977945e-02 8.78611280e-05 9.99938414e-01 -9.00888601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.330385723 meters 0.016106212880628745 Centerline is valid? [True, True] Translation: X:-70.20, Y:-254.48, Z:-9.01 [[-6.74817909e-01 -7.37942270e-01 7.87380948e-03 -7.01953808e+01] [ 7.37893607e-01 -6.74863837e-01 -8.47508120e-03 -2.54481852e+02] [ 1.15678699e-02 9.08971087e-05 9.99933086e-01 -9.00786464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.360385723 meters 0.016100111411957573 Centerline is valid? [True, True] Translation: X:-70.21, Y:-254.46, Z:-9.01 [[-6.74960263e-01 -7.37809957e-01 8.06910343e-03 -7.02142977e+01] [ 7.37758898e-01 -6.75008488e-01 -8.68038916e-03 -2.54461641e+02] [ 1.18511909e-02 9.41351068e-05 9.99929768e-01 -9.00845680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.390385723 meters 0.016215214661771806 Centerline is valid? [True, True] Translation: X:-70.23, Y:-254.44, Z:-9.01 [[-6.75011362e-01 -7.37762154e-01 8.16484241e-03 -7.02336474e+01] [ 7.37709936e-01 -6.75060734e-01 -8.77816148e-03 -2.54443009e+02] [ 1.19879598e-02 9.79266387e-05 9.99928137e-01 -9.00956267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.420385723 meters 0.0161534693496405 Centerline is valid? [True, True] Translation: X:-70.25, Y:-254.42, Z:-9.01 [[-6.75009572e-01 -7.37763655e-01 8.17718834e-03 -7.02534213e+01] [ 7.37711338e-01 -6.75059093e-01 -8.78654421e-03 -2.54423013e+02] [ 1.20024783e-02 1.01403103e-04 9.99927963e-01 -9.00965247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.450385723 meters 0.016201757765850748 Centerline is valid? [True, True] Translation: X:-70.27, Y:-254.40, Z:-9.01 [[-6.75411647e-01 -7.37393115e-01 8.39648318e-03 -7.02737113e+01] [ 7.37337987e-01 -6.75463828e-01 -9.01718469e-03 -2.54403106e+02] [ 1.23207306e-02 1.00734445e-04 9.99924092e-01 -9.00979448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.480385723 meters 0.01608253506512521 Centerline is valid? [True, True] Translation: X:-70.29, Y:-254.38, Z:-9.01 [[-6.76053961e-01 -7.36803759e-01 8.44168253e-03 -7.02927462e+01] [ 7.36748060e-01 -6.76106657e-01 -9.06007156e-03 -2.54383003e+02] [ 1.23829725e-02 9.42959590e-05 9.99923324e-01 -9.00959262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.510385723 meters 0.016046550148258655 Centerline is valid? [True, True] Translation: X:-70.31, Y:-254.36, Z:-9.01 [[-6.76721938e-01 -7.36188794e-01 8.57192739e-03 -7.03120567e+01] [ 7.36131378e-01 -6.76776220e-01 -9.19471437e-03 -2.54362087e+02] [ 1.25703223e-02 8.77997905e-05 9.99920987e-01 -9.00921620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.540385723 meters 0.015850793028952353 Centerline is valid? [True, True] Translation: X:-70.33, Y:-254.34, Z:-9.01 [[-6.78178810e-01 -7.34849777e-01 8.32509628e-03 -7.03315262e+01] [ 7.34795575e-01 -6.78229903e-01 -8.92531601e-03 -2.54341173e+02] [ 1.22050957e-02 6.42837210e-05 9.99925513e-01 -9.00918389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.570385723 meters 0.015795810093613433 Centerline is valid? [True, True] Translation: X:-70.35, Y:-254.32, Z:-9.01 [[-6.79191908e-01 -7.33915036e-01 8.18974919e-03 -7.03504749e+01] [ 7.33862573e-01 -6.79241281e-01 -8.77535573e-03 -2.54320827e+02] [ 1.20031812e-02 4.99998102e-05 9.99927958e-01 -9.00933478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.600385723 meters 0.0157365196142592 Centerline is valid? [True, True] Translation: X:-70.37, Y:-254.30, Z:-9.01 [[-6.81338599e-01 -7.31926310e-01 7.84796550e-03 -7.03680033e+01] [ 7.31878065e-01 -6.81383795e-01 -8.40365131e-03 -2.54301408e+02] [ 1.14983300e-02 1.80217994e-05 9.99933892e-01 -9.00932594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.630385723 meters 0.01568009134721944 Centerline is valid? [True, True] Translation: X:-70.39, Y:-254.28, Z:-9.01 [[-6.83302404e-01 -7.30095846e-01 7.60790811e-03 -7.03858153e+01] [ 7.30050449e-01 -6.83344756e-01 -8.14161570e-03 -2.54280633e+02] [ 1.11429839e-02 -9.02884405e-06 9.99937915e-01 -9.00892037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.660385723 meters 0.016538017920921803 Centerline is valid? [True, True] Translation: X:-70.40, Y:-254.26, Z:-9.01 [[-6.85001359e-01 -7.28503841e-01 7.43585435e-03 -7.04041511e+01] [ 7.28460433e-01 -6.85041717e-01 -7.95260045e-03 -2.54260141e+02] [ 1.08873704e-02 -3.08164390e-05 9.99940730e-01 -9.00989617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.690385723 meters 0.01580578592078769 Centerline is valid? [True, True] Translation: X:-70.42, Y:-254.24, Z:-9.01 [[-6.85971702e-01 -7.27591869e-01 7.27305765e-03 -7.04217836e+01] [ 7.27550343e-01 -6.86010256e-01 -7.77347847e-03 -2.54241225e+02] [ 1.06453119e-02 -4.08706630e-05 9.99943336e-01 -9.00880321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7203857229999 meters 0.01591988549272269 Centerline is valid? [True, True] Translation: X:-70.44, Y:-254.22, Z:-9.01 [[-6.87816406e-01 -7.25857191e-01 6.31910518e-03 -7.04399324e+01] [ 7.25825809e-01 -6.87845430e-01 -6.74982486e-03 -2.54220590e+02] [ 9.24597653e-03 -5.60706436e-05 9.99957254e-01 -9.00844687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.750385723 meters 0.01574819508831812 Centerline is valid? [True, True] Translation: X:-70.46, Y:-254.20, Z:-9.01 [[-6.88474369e-01 -7.25236393e-01 5.93451412e-03 -7.04584030e+01] [ 7.25208722e-01 -6.88499943e-01 -6.33548998e-03 -2.54198716e+02] [ 8.68064053e-03 -5.80610691e-05 9.99962321e-01 -9.00647833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.780385723 meters 0.015890815695853298 Centerline is valid? [True, True] Translation: X:-70.48, Y:-254.18, Z:-9.01 [[-6.88759034e-01 -7.24968259e-01 5.65840573e-03 -7.04762812e+01] [ 7.24943123e-01 -6.88782274e-01 -6.03718417e-03 -2.54177912e+02] [ 8.27417647e-03 -5.61428108e-05 9.99965767e-01 -9.00711682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.810385723 meters 0.015712983539699462 Centerline is valid? [True, True] Translation: X:-70.50, Y:-254.16, Z:-9.01 [[-6.88335571e-01 -7.25375461e-01 4.95806539e-03 -7.04963535e+01] [ 7.25356196e-01 -6.88353426e-01 -5.28671009e-03 -2.54159616e+02] [ 7.24775107e-03 -4.26671578e-05 9.99973734e-01 -9.00709129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8403857229999 meters 0.015794270633064836 Centerline is valid? [True, True] Translation: X:-70.51, Y:-254.14, Z:-9.01 [[-6.88354171e-01 -7.25360498e-01 4.54787027e-03 -7.05149302e+01] [ 7.25344310e-01 -6.88369193e-01 -4.84620191e-03 -2.54140667e+02] [ 6.64585722e-03 -3.71314733e-05 9.99977915e-01 -9.00807037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.870385723 meters 0.015682540093700008 Centerline is valid? [True, True] Translation: X:-70.53, Y:-254.12, Z:-9.01 [[-6.88416847e-01 -7.25301459e-01 4.47649471e-03 -7.05336867e+01] [ 7.25285792e-01 -6.88431400e-01 -4.76730532e-03 -2.54121322e+02] [ 6.53949303e-03 -3.51552879e-05 9.99978617e-01 -9.00819137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.900385723 meters 0.015558114900940428 Centerline is valid? [True, True] Translation: X:-70.55, Y:-254.10, Z:-9.01 [[-6.88155613e-01 -7.25549482e-01 4.44986928e-03 -7.05532608e+01] [ 7.25534023e-01 -6.88169999e-01 -4.73647286e-03 -2.54100475e+02] [ 6.49881197e-03 -3.08988200e-05 9.99978882e-01 -9.00762042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.930385723 meters 0.015458454848855671 Centerline is valid? [True, True] Translation: X:-70.57, Y:-254.08, Z:-9.01 [[-6.88247874e-01 -7.25461560e-01 4.51540943e-03 -7.05711661e+01] [ 7.25445658e-01 -6.88262686e-01 -4.80340124e-03 -2.54080342e+02] [ 6.59247078e-03 -3.02465238e-05 9.99978269e-01 -9.00743423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.960385723 meters 0.015496262245126652 Centerline is valid? [True, True] Translation: X:-70.59, Y:-254.06, Z:-9.01 [[-6.88796502e-01 -7.24940229e-01 4.58734861e-03 -7.05895629e+01] [ 7.24923823e-01 -6.88811777e-01 -4.87723193e-03 -2.54058762e+02] [ 6.69552138e-03 -3.39420058e-05 9.99977584e-01 -9.00700207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.990385723 meters 0.015557542774604624 Centerline is valid? [True, True] Translation: X:-70.61, Y:-254.04, Z:-9.01 [[-6.89930288e-01 -7.23861006e-01 4.63052445e-03 -7.06090057e+01] [ 7.23844284e-01 -6.89945825e-01 -4.92041545e-03 -2.54037839e+02] [ 6.75650789e-03 -4.29649940e-05 9.99977174e-01 -9.00728405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.020385723 meters 0.015674647838067223 Centerline is valid? [True, True] Translation: X:-70.63, Y:-254.02, Z:-9.01 [[-6.90815144e-01 -7.23014853e-01 4.89477436e-03 -7.06270011e+01] [ 7.22996164e-01 -6.90832483e-01 -5.19871429e-03 -2.54018393e+02] [ 7.14021678e-03 -5.24474756e-05 9.99974507e-01 -9.00850958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.050385723 meters 0.015704890496622357 Centerline is valid? [True, True] Translation: X:-70.65, Y:-254.00, Z:-9.01 [[-6.91412798e-01 -7.22441834e-01 5.11276241e-03 -7.06452447e+01] [ 7.22421452e-01 -6.91431699e-01 -5.42697123e-03 -2.53998770e+02] [ 7.45579705e-03 -5.87081153e-05 9.99972204e-01 -9.00922209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.080385723 meters 0.01574618180255694 Centerline is valid? [True, True] Translation: X:-70.66, Y:-253.98, Z:-9.01 [[-6.92637689e-01 -7.21263709e-01 5.62978471e-03 -7.06636180e+01] [ 7.21238986e-01 -6.92660564e-01 -5.97231201e-03 -2.53978117e+02] [ 8.20714176e-03 -7.62281669e-05 9.99966318e-01 -9.00885412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.110385723 meters 0.015863068614347723 Centerline is valid? [True, True] Translation: X:-70.68, Y:-253.96, Z:-9.01 [[-6.93826033e-01 -7.20121939e-01 5.46153354e-03 -7.06820663e+01] [ 7.20098665e-01 -6.93847523e-01 -5.79027917e-03 -2.53958062e+02] [ 7.95917858e-03 -8.46034111e-05 9.99968322e-01 -9.00837104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.140385723 meters 0.015935247129210007 Centerline is valid? [True, True] Translation: X:-70.70, Y:-253.94, Z:-9.01 [[-6.94307125e-01 -7.19658942e-01 5.35012753e-03 -7.07001605e+01] [ 7.19636614e-01 -6.94327733e-01 -5.66948266e-03 -2.53939160e+02] [ 7.79483581e-03 -8.62145460e-05 9.99969616e-01 -9.00848461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.170385723 meters 0.015824637499440394 Centerline is valid? [True, True] Translation: X:-70.72, Y:-253.92, Z:-9.01 [[-6.95210662e-01 -7.18785779e-01 5.39800530e-03 -7.07198869e+01] [ 7.18763052e-01 -6.95231612e-01 -5.71669450e-03 -2.53920351e+02] [ 7.86194264e-03 -9.44202044e-05 9.99969090e-01 -9.00922735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.200385723 meters 0.015838492491669957 Centerline is valid? [True, True] Translation: X:-70.74, Y:-253.90, Z:-9.01 [[-6.95484072e-01 -7.18521018e-01 5.42690723e-03 -7.07380672e+01] [ 7.18498060e-01 -6.95505239e-01 -5.74456868e-03 -2.53901281e+02] [ 7.90203575e-03 -9.60337011e-05 9.99968774e-01 -9.00937668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.230385723 meters 0.015762264442270878 Centerline is valid? [True, True] Translation: X:-70.76, Y:-253.88, Z:-9.01 [[-6.95799130e-01 -7.18213786e-01 5.70335068e-03 -7.07571516e+01] [ 7.18188450e-01 -6.95822497e-01 -6.03348076e-03 -2.53881117e+02] [ 8.30184877e-03 -1.02010079e-04 9.99965534e-01 -9.00880866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.260385723 meters 0.015582042597440175 Centerline is valid? [True, True] Translation: X:-70.78, Y:-253.86, Z:-9.01 [[-6.95931473e-01 -7.18084602e-01 5.82144279e-03 -7.07770481e+01] [ 7.18058230e-01 -6.95955813e-01 -6.15499903e-03 -2.53860897e+02] [ 8.47127698e-03 -1.03322635e-04 9.99964113e-01 -9.00848087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.290385723 meters 0.015448211241061945 Centerline is valid? [True, True] Translation: X:-70.80, Y:-253.84, Z:-9.01 [[-6.95982635e-01 -7.18037778e-01 5.47008008e-03 -7.07981554e+01] [ 7.18014518e-01 -6.96004124e-01 -5.78029340e-03 -2.53841927e+02] [ 7.95766732e-03 -9.53869173e-05 9.99968333e-01 -9.00890255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.320385723 meters 0.015306081474290856 Centerline is valid? [True, True] Translation: X:-70.82, Y:-253.82, Z:-9.01 [[-6.95829198e-01 -7.18185124e-01 5.64402772e-03 -7.08183813e+01] [ 7.18160393e-01 -6.95852081e-01 -5.96079876e-03 -2.53822246e+02] [ 8.20836543e-03 -9.43806521e-05 9.99966306e-01 -9.00907610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.350385723 meters 0.015205744711445156 Centerline is valid? [True, True] Translation: X:-70.84, Y:-253.80, Z:-9.01 [[-6.95553120e-01 -7.18447986e-01 6.19265459e-03 -7.08375950e+01] [ 7.18418258e-01 -6.95580680e-01 -6.53639465e-03 -2.53803010e+02] [ 9.00355046e-03 -9.74935725e-05 9.99959463e-01 -9.00948518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.380385723 meters 0.015205744711445156 Centerline is valid? [True, True] Translation: X:-70.86, Y:-253.78, Z:-9.01 [[-6.95750370e-01 -7.18256954e-01 6.19444916e-03 -7.08566214e+01] [ 7.18227234e-01 -6.95777938e-01 -6.53469398e-03 -2.53783016e+02] [ 9.00355045e-03 -9.74936612e-05 9.99959463e-01 -9.00948532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.410385723 meters 0.015144502097384568 Centerline is valid? [True, True] Translation: X:-70.88, Y:-253.76, Z:-9.01 [[-6.95696516e-01 -7.18308111e-01 6.30998641e-03 -7.08752588e+01] [ 7.18277313e-01 -6.95725124e-01 -6.65226494e-03 -2.53764333e+02] [ 9.16839194e-03 -9.56374555e-05 9.99957965e-01 -9.00930655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.440385723 meters 0.01492868210601047 Centerline is valid? [True, True] Translation: X:-70.90, Y:-253.74, Z:-9.01 [[-6.96120061e-01 -7.17903315e-01 5.62949085e-03 -7.08955717e+01] [ 7.17878816e-01 -6.96142817e-01 -5.93157299e-03 -2.53744641e+02] [ 8.17722554e-03 -8.77947209e-05 9.99966562e-01 -9.00791126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4703857229999 meters 0.014983925456478036 Centerline is valid? [True, True] Translation: X:-70.91, Y:-253.73, Z:-9.01 [[-6.96427771e-01 -7.17608044e-01 5.20143619e-03 -7.09143030e+01] [ 7.17587148e-01 -6.96447190e-01 -5.47697760e-03 -2.53725666e+02] [ 7.55284880e-03 -8.18355406e-05 9.99971474e-01 -9.00793748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.500385723 meters 0.014941981381563923 Centerline is valid? [True, True] Translation: X:-70.93, Y:-253.71, Z:-9.01 [[-6.96853718e-01 -7.17195398e-01 5.06534847e-03 -7.09334916e+01] [ 7.17175594e-01 -6.96872122e-01 -5.33040103e-03 -2.53706646e+02] [ 7.35283922e-03 -8.17654780e-05 9.99972964e-01 -9.00794880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.530385723 meters 0.014862654416785396 Centerline is valid? [True, True] Translation: X:-70.95, Y:-253.69, Z:-9.01 [[-6.96804253e-01 -7.17244292e-01 4.94555143e-03 -7.09533356e+01] [ 7.17225438e-01 -6.96821799e-01 -5.20113691e-03 -2.53687379e+02] [ 7.17665380e-03 -7.70990249e-05 9.99974245e-01 -9.00685785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.560385723 meters 0.014687434135072034 Centerline is valid? [True, True] Translation: X:-70.97, Y:-253.67, Z:-9.01 [[-6.97129719e-01 -7.16928212e-01 4.90850440e-03 -7.09732145e+01] [ 7.16909654e-01 -6.97146995e-01 -5.15898867e-03 -2.53668703e+02] [ 7.12057361e-03 -7.75301271e-05 9.99974645e-01 -9.00645831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5903857229999 meters 0.014676652014999934 Centerline is valid? [True, True] Translation: X:-70.99, Y:-253.65, Z:-9.01 [[-6.97534899e-01 -7.16534248e-01 4.87207923e-03 -7.09927027e+01] [ 7.16515977e-01 -6.97551909e-01 -5.11756025e-03 -2.53649266e+02] [ 7.06543535e-03 -7.87542601e-05 9.99975036e-01 -9.00657826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.620385723 meters 0.014695393487324963 Centerline is valid? [True, True] Translation: X:-71.01, Y:-253.63, Z:-9.01 [[-6.99004677e-01 -7.15099222e-01 5.05615961e-03 -7.10130368e+01] [ 7.15079528e-01 -6.99022956e-01 -5.30799718e-03 -2.53629857e+02] [ 7.33011629e-03 -9.47586275e-05 9.99973130e-01 -9.00715395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.650385723 meters 0.014873323303657033 Centerline is valid? [True, True] Translation: X:-71.03, Y:-253.61, Z:-9.01 [[-6.99933216e-01 -7.14187366e-01 5.46806967e-03 -7.10316651e+01] [ 7.14164331e-01 -6.99954566e-01 -5.73709920e-03 -2.53610127e+02] [ 7.92476410e-03 -1.10485979e-04 9.99968593e-01 -9.00745660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.680385723 meters 0.015219070772836886 Centerline is valid? [True, True] Translation: X:-71.05, Y:-253.59, Z:-9.01 [[-7.00682846e-01 -7.13450379e-01 5.66626728e-03 -7.10500058e+01] [ 7.13425651e-01 -7.00705746e-01 -5.94124830e-03 -2.53590712e+02] [ 8.20917189e-03 -1.20470342e-04 9.99966297e-01 -9.00775995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.710385723 meters 0.014933452943207743 Centerline is valid? [True, True] Translation: X:-71.07, Y:-253.57, Z:-9.01 [[-7.00872853e-01 -7.13261885e-01 5.89304766e-03 -7.10696139e+01] [ 7.13235163e-01 -7.00897616e-01 -6.17527867e-03 -2.53571814e+02] [ 8.53501396e-03 -1.24956374e-04 9.99963568e-01 -9.00714143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.740385723 meters 0.014551435103900888 Centerline is valid? [True, True] Translation: X:-71.09, Y:-253.55, Z:-9.01 [[-7.00361287e-01 -7.13765193e-01 5.77210544e-03 -7.10909427e+01] [ 7.13739605e-01 -7.00385063e-01 -6.04486127e-03 -2.53554172e+02] [ 8.35730800e-03 -1.13806569e-04 9.99965071e-01 -9.00629920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.770385723 meters 0.014156079670389997 Centerline is valid? [True, True] Translation: X:-71.11, Y:-253.54, Z:-9.01 [[-6.99085780e-01 -7.15015933e-01 5.59349526e-03 -7.11130536e+01] [ 7.14991974e-01 -6.99108151e-01 -5.85405274e-03 -2.53539156e+02] [ 8.09619911e-03 -9.31808063e-05 9.99967221e-01 -9.00726187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.800385723 meters 0.013872864910858191 Centerline is valid? [True, True] Translation: X:-71.13, Y:-253.52, Z:-9.01 [[-6.98320797e-01 -7.15760942e-01 5.85993384e-03 -7.11337140e+01] [ 7.15734704e-01 -6.98345378e-01 -6.12919178e-03 -2.53521210e+02] [ 8.47929379e-03 -8.59840791e-05 9.99964047e-01 -9.00750736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.830385723 meters 0.0135397784202157 Centerline is valid? [True, True] Translation: X:-71.15, Y:-253.50, Z:-9.01 [[-6.97533328e-01 -7.16523406e-01 6.43934883e-03 -7.11543705e+01] [ 7.16491790e-01 -6.97563045e-01 -6.73149704e-03 -2.53502243e+02] [ 9.31512697e-03 -8.17029564e-05 9.99956610e-01 -9.00681113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.860385723 meters 0.01328211257324919 Centerline is valid? [True, True] Translation: X:-71.18, Y:-253.48, Z:-9.01 [[-6.96796653e-01 -7.17241800e-01 6.21484657e-03 -7.11760362e+01] [ 7.17212411e-01 -6.96824365e-01 -6.49323792e-03 -2.53483560e+02] [ 8.98787817e-03 -6.71013633e-05 9.99959606e-01 -9.00566209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.890385723 meters 0.013231002684881645 Centerline is valid? [True, True] Translation: X:-71.20, Y:-253.46, Z:-9.01 [[-6.96851768e-01 -7.17191618e-01 5.81346910e-03 -7.11970227e+01] [ 7.17165929e-01 -6.96876014e-01 -6.07052805e-03 -2.53464623e+02] [ 8.40499901e-03 -6.10362403e-05 9.99964676e-01 -9.00516757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.920385723 meters 0.013098113517093083 Centerline is valid? [True, True] Translation: X:-71.22, Y:-253.45, Z:-9.01 [[-6.97304164e-01 -7.16757180e-01 5.10373546e-03 -7.12177386e+01] [ 7.16737394e-01 -6.97322839e-01 -5.32594763e-03 -2.53448231e+02] [ 7.37636250e-03 -5.57674108e-05 9.99972793e-01 -9.00537300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.950385723 meters 0.014907181813545743 Centerline is valid? [True, True] Translation: X:-71.24, Y:-253.43, Z:-9.01 [[-6.97957751e-01 -7.16118863e-01 5.36210602e-03 -7.12373779e+01] [ 7.16097031e-01 -6.97978346e-01 -5.59214795e-03 -2.53429355e+02] [ 7.74727651e-03 -6.32948115e-05 9.99969987e-01 -9.00711469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.980385723 meters 0.012994730905158543 Centerline is valid? [True, True] Translation: X:-71.26, Y:-253.41, Z:-9.01 [[-6.97795688e-01 -7.16277752e-01 5.23061889e-03 -7.12594688e+01] [ 7.16257005e-01 -6.97815290e-01 -5.45201843e-03 -2.53412259e+02] [ 7.55516534e-03 -5.79275270e-05 9.99971458e-01 -9.00563371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.010385723 meters 0.013031018854030572 Centerline is valid? [True, True] Translation: X:-71.28, Y:-253.39, Z:-9.01 [[-6.97919226e-01 -7.16158543e-01 5.06900761e-03 -7.12788226e+01] [ 7.16139074e-01 -6.97937632e-01 -5.28104165e-03 -2.53394054e+02] [ 7.31991426e-03 -5.56260822e-05 9.99973208e-01 -9.00591342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.040385723 meters 0.01302724825173393 Centerline is valid? [True, True] Translation: X:-71.30, Y:-253.38, Z:-9.01 [[-6.98707072e-01 -7.15394804e-01 4.32469971e-03 -7.13003123e+01] [ 7.15380634e-01 -6.98720454e-01 -4.50287101e-03 -2.53377536e+02] [ 6.24308666e-03 -5.23813981e-05 9.99980510e-01 -9.00562333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.070385723 meters 0.013040000324948326 Centerline is valid? [True, True] Translation: X:-71.32, Y:-253.36, Z:-9.01 [[-6.99463243e-01 -7.14657690e-01 3.94432736e-03 -7.13217149e+01] [ 7.14645905e-01 -6.99474362e-01 -4.10457125e-03 -2.53359340e+02] [ 5.69231928e-03 -5.21993192e-05 9.99983797e-01 -9.00552182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.100385723 meters 0.013699256783573506 Centerline is valid? [True, True] Translation: X:-71.34, Y:-253.34, Z:-9.01 [[-7.00919396e-01 -7.13232897e-01 3.29169643e-03 -7.13413990e+01] [ 7.13224684e-01 -7.00927123e-01 -3.42321145e-03 -2.53341666e+02] [ 4.74878632e-03 -5.16761559e-05 9.99988723e-01 -9.00607574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.130385723 meters 0.013298480167604413 Centerline is valid? [True, True] Translation: X:-71.36, Y:-253.32, Z:-9.01 [[-7.01576980e-01 -7.12585613e-01 3.38907589e-03 -7.13630675e+01] [ 7.12576909e-01 -7.01585163e-01 -3.52254336e-03 -2.53323017e+02] [ 4.88783908e-03 -5.63581129e-05 9.99988053e-01 -9.00529192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.160385723 meters 0.013286593513570243 Centerline is valid? [True, True] Translation: X:-71.39, Y:-253.31, Z:-9.01 [[-7.02463718e-01 -7.11710036e-01 3.68088140e-03 -7.13859641e+01] [ 7.11699768e-01 -7.02473359e-01 -3.82369367e-03 -2.53305782e+02] [ 5.30708228e-03 -6.63236327e-05 9.99985915e-01 -9.00585966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.190385723 meters 0.013600235819548683 Centerline is valid? [True, True] Translation: X:-71.41, Y:-253.29, Z:-9.01 [[-7.03252709e-01 -7.10928601e-01 4.01888665e-03 -7.14076552e+01] [ 7.10916362e-01 -7.03264188e-01 -4.17234499e-03 -2.53288891e+02] [ 5.79257844e-03 -7.71206424e-05 9.99983220e-01 -9.00763984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2203857229999 meters 0.013740327152732532 Centerline is valid? [True, True] Translation: X:-71.43, Y:-253.27, Z:-9.01 [[-7.03757729e-01 -7.10428892e-01 3.98102144e-03 -7.14281747e+01] [ 7.10416889e-01 -7.03768984e-01 -4.13052662e-03 -2.53270514e+02] [ 5.73616486e-03 -7.87051661e-05 9.99983545e-01 -9.00775857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.250385723 meters 0.014099315306542504 Centerline is valid? [True, True] Translation: X:-71.45, Y:-253.25, Z:-9.01 [[-7.04347346e-01 -7.09844601e-01 3.93179838e-03 -7.14476542e+01] [ 7.09832894e-01 -7.04358315e-01 -4.07754358e-03 -2.53252730e+02] [ 5.66381718e-03 -8.10871753e-05 9.99983957e-01 -9.00882334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.280385723 meters 0.014265518173206395 Centerline is valid? [True, True] Translation: X:-71.47, Y:-253.23, Z:-9.01 [[-7.05520983e-01 -7.08674971e-01 4.46405976e-03 -7.14700440e+01] [ 7.08659873e-01 -7.05535098e-01 -4.62706910e-03 -2.53234882e+02] [ 6.42863890e-03 -1.00994316e-04 9.99979331e-01 -9.00969977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.310385723 meters 0.014743550452761585 Centerline is valid? [True, True] Translation: X:-71.49, Y:-253.22, Z:-9.01 [[-7.06928753e-01 -7.07274106e-01 3.88295410e-03 -7.14901423e+01] [ 7.07262674e-01 -7.06939410e-01 -4.02248427e-03 -2.53216426e+02] [ 5.59001225e-03 -9.73412807e-05 9.99984371e-01 -9.01016129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3403857229999 meters 0.015461932519779066 Centerline is valid? [True, True] Translation: X:-71.51, Y:-253.20, Z:-9.01 [[-7.08146956e-01 -7.06051981e-01 4.29990309e-03 -7.15113326e+01] [ 7.06037955e-01 -7.08160000e-01 -4.45199269e-03 -2.53197958e+02] [ 6.18835763e-03 -1.16770287e-04 9.99980845e-01 -9.01057355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.370385723 meters 0.014429835922562962 Centerline is valid? [True, True] Translation: X:-71.53, Y:-253.18, Z:-9.01 [[-7.09056269e-01 -7.05142434e-01 3.65455889e-03 -7.15322608e+01] [ 7.05132302e-01 -7.09065679e-01 -3.78159580e-03 -2.53179802e+02] [ 5.25788595e-03 -1.04416687e-04 9.99986172e-01 -9.00994149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.400385723 meters 0.01516267857767777 Centerline is valid? [True, True] Translation: X:-71.55, Y:-253.16, Z:-9.01 [[-7.11194220e-01 -7.02989160e-01 3.00369817e-03 -7.15534328e+01] [ 7.02982304e-01 -7.11200556e-01 -3.10629495e-03 -2.53162424e+02] [ 4.31992349e-03 -9.76323541e-05 9.99990664e-01 -9.01003187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.430385723 meters 0.015649864331234033 Centerline is valid? [True, True] Translation: X:-71.57, Y:-253.14, Z:-9.01 [[-7.12190400e-01 -7.01980060e-01 2.97152760e-03 -7.15724997e+01] [ 7.01973346e-01 -7.12196592e-01 -3.07180014e-03 -2.53143289e+02] [ 4.27265428e-03 -1.01773394e-04 9.99990867e-01 -9.01005918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.460385723 meters 0.015942220086508547 Centerline is valid? [True, True] Translation: X:-71.59, Y:-253.12, Z:-9.01 [[-7.13624266e-01 -7.00524670e-01 2.36502374e-03 -7.15929247e+01] [ 7.00520414e-01 -7.13628180e-01 -2.44349674e-03 -2.53124219e+02] [ 3.39947733e-03 -8.69911595e-05 9.99994218e-01 -9.00891967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.490385723 meters 0.0157309784126839 Centerline is valid? [True, True] Translation: X:-71.61, Y:-253.11, Z:-9.01 [[-7.14222394e-01 -6.99916766e-01 1.70081352e-03 -7.16143215e+01] [ 6.99914565e-01 -7.14224416e-01 -1.75627917e-03 -2.53105317e+02] [ 2.44401178e-03 -6.39497557e-05 9.99997011e-01 -9.00849777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.520385723 meters 0.016259381343696262 Centerline is valid? [True, True] Translation: X:-71.64, Y:-253.09, Z:-9.01 [[-7.13997429e-01 -7.00147601e-01 1.00401051e-03 -7.16361983e+01] [ 7.00146835e-01 -7.13998134e-01 -1.03633562e-03 -2.53088929e+02] [ 1.44244952e-03 -3.69861858e-05 9.99998959e-01 -9.00839695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.550385723 meters 0.016100827846228676 Centerline is valid? [True, True] Translation: X:-71.66, Y:-253.07, Z:-9.01 [[-7.13375919e-01 -7.00780936e-01 9.37074406e-04 -7.16571834e+01] [ 7.00780270e-01 -7.13376533e-01 -9.66662503e-04 -2.53071659e+02] [ 1.34590555e-03 -3.29104952e-05 9.99999094e-01 -9.00901365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.580385723 meters 0.014878968127386333 Centerline is valid? [True, True] Translation: X:-71.68, Y:-253.06, Z:-9.01 [[-7.11360761e-01 -7.02825723e-01 1.36803267e-03 -7.16819886e+01] [ 7.02824309e-01 -7.11362075e-01 -1.41045804e-03 -2.53056419e+02] [ 1.96447275e-03 -4.18578928e-05 9.99998070e-01 -9.01029763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.610385723 meters 0.015213281047750712 Centerline is valid? [True, True] Translation: X:-71.70, Y:-253.04, Z:-9.01 [[-7.10010309e-01 -7.04189963e-01 1.36254031e-03 -7.17017757e+01] [ 7.04188565e-01 -7.10011615e-01 -1.40404560e-03 -2.53037610e+02] [ 1.95613427e-03 -3.74015423e-05 9.99998086e-01 -9.01077122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.640385723 meters 0.013517907576255131 Centerline is valid? [True, True] Translation: X:-71.73, Y:-253.02, Z:-9.01 [[-7.07187011e-01 -7.07025125e-01 1.41585727e-03 -7.17261302e+01] [ 7.07023622e-01 -7.07188427e-01 -1.45820414e-03 -2.53021677e+02] [ 2.03226484e-03 -3.01784956e-05 9.99997935e-01 -9.01044438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.670385723 meters 0.01323541570239581 Centerline is valid? [True, True] Translation: X:-71.75, Y:-253.00, Z:-9.01 [[-7.05947064e-01 -7.08263614e-01 1.18136827e-03 -7.17475914e+01] [ 7.08262570e-01 -7.05948052e-01 -1.21603211e-03 -2.53003071e+02] [ 1.69525593e-03 -2.17353646e-05 9.99998563e-01 -9.01007506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.700385723 meters 0.012689751433292956 Centerline is valid? [True, True] Translation: X:-71.77, Y:-252.99, Z:-9.01 [[-7.03448071e-01 -7.10746461e-01 5.28121804e-04 -7.17717853e+01] [ 7.10746254e-01 -7.03448270e-01 -5.43324782e-04 -2.52986830e+02] [ 7.57672536e-04 -6.84017636e-06 9.99999713e-01 -9.00933477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.730385723 meters 0.012525505856698378 Centerline is valid? [True, True] Translation: X:-71.79, Y:-252.97, Z:-9.01 [[-7.01772496e-01 -7.12400960e-01 4.85165759e-04 -7.17943881e+01] [ 7.12400786e-01 -7.01772664e-01 -4.98851928e-04 -2.52969363e+02] [ 6.95858660e-04 -4.44809473e-06 9.99999758e-01 -9.00868748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.760385723 meters 0.01247996055090969 Centerline is valid? [True, True] Translation: X:-71.81, Y:-252.95, Z:-9.01 [[-7.01217762e-01 -7.12947109e-01 2.64535188e-04 -7.18145156e+01] [ 7.12947057e-01 -7.01217812e-01 -2.71842993e-04 -2.52949789e+02] [ 3.79306462e-04 -2.02155188e-06 9.99999928e-01 -9.00830897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.790385723 meters 0.012552341326412163 Centerline is valid? [True, True] Translation: X:-71.83, Y:-252.93, Z:-9.01 [[-7.00974404e-01 -7.13186430e-01 -3.75524421e-05 -7.18347241e+01] [ 7.13186429e-01 -7.00974405e-01 3.85705685e-05 -2.52930428e+02] [-5.38313064e-05 2.55089151e-07 9.99999999e-01 -9.00705749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.820385723 meters 0.012591196758412622 Centerline is valid? [True, True] Translation: X:-71.85, Y:-252.91, Z:-9.01 [[-7.01098025e-01 -7.13064615e-01 -6.44363995e-04 -7.18544668e+01] [ 7.13064308e-01 -7.01098321e-01 6.61410028e-04 -2.52911941e+02] [-9.23390601e-04 4.24029795e-06 9.99999574e-01 -9.00637697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.850385723 meters 0.012623733894022634 Centerline is valid? [True, True] Translation: X:-71.88, Y:-252.89, Z:-9.01 [[-7.01221971e-01 -7.12942513e-01 -8.48592462e-04 -7.18752744e+01] [ 7.12941982e-01 -7.01222484e-01 8.70548321e-04 -2.52893036e+02] [-1.21570302e-03 5.45041730e-06 9.99999261e-01 -9.00618512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.880385723 meters 0.01280420355106441 Centerline is valid? [True, True] Translation: X:-71.90, Y:-252.87, Z:-9.01 [[-7.01065473e-01 -7.13096129e-01 -1.05493577e-03 -7.18962940e+01] [ 7.13095309e-01 -7.01066267e-01 1.08162247e-03 -2.52873860e+02] [-1.51088068e-03 6.01842302e-06 9.99998859e-01 -9.00607224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.910385723 meters 0.01289774477359988 Centerline is valid? [True, True] Translation: X:-71.92, Y:-252.85, Z:-9.01 [[-7.00328676e-01 -7.13820521e-01 -1.02953749e-04 -7.19156771e+01] [ 7.13820513e-01 -7.00328683e-01 1.05497724e-04 -2.52854749e+02] [-1.47407903e-04 3.92583790e-07 9.99999989e-01 -9.00600328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.940385723 meters 0.012861976931728726 Centerline is valid? [True, True] Translation: X:-71.93, Y:-252.84, Z:-9.01 [[-6.99790301e-01 -7.14348327e-01 5.29578307e-05 -7.19349713e+01] [ 7.14348325e-01 -6.99790303e-01 -5.42300939e-05 -2.52835451e+02] [ 7.57985536e-05 -1.19356149e-07 9.99999997e-01 -9.00566088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9703857229999 meters 0.013156362506799623 Centerline is valid? [True, True] Translation: X:-71.96, Y:-252.82, Z:-9.01 [[-6.97752611e-01 -7.16338644e-01 4.91554125e-04 -7.19559993e+01] [ 7.16338467e-01 -6.97752784e-01 -5.03103140e-04 -2.52816519e+02] [ 7.03375481e-04 1.07759930e-06 9.99999753e-01 -9.00550836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.000385723 meters 0.013235486017108418 Centerline is valid? [True, True] Translation: X:-71.98, Y:-252.80, Z:-9.01 [[-6.96785850e-01 -7.17278725e-01 8.41915742e-04 -7.19757757e+01] [ 7.17278208e-01 -6.96786359e-01 -8.61350027e-04 -2.52798578e+02] [ 1.20446345e-03 3.71130355e-06 9.99999275e-01 -9.00594151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.030385723 meters 0.013618757651537826 Centerline is valid? [True, True] Translation: X:-72.00, Y:-252.78, Z:-9.01 [[-6.94004152e-01 -7.19969453e-01 1.49134120e-03 -7.19968719e+01] [ 7.19967838e-01 -6.94005754e-01 -1.52488223e-03 -2.52781631e+02] [ 2.13286800e-03 1.54430934e-05 9.99997725e-01 -9.00677818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.060385723 meters 0.013837601169624378 Centerline is valid? [True, True] Translation: X:-72.02, Y:-252.76, Z:-9.01 [[-6.92515989e-01 -7.21398962e-01 2.26780846e-03 -7.20172842e+01] [ 7.21395240e-01 -6.92519702e-01 -2.31759190e-03 -2.52761315e+02] [ 3.24241043e-03 3.10167818e-05 9.99994743e-01 -9.00671182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0903857229999 meters 0.014724785447334453 Centerline is valid? [True, True] Translation: X:-72.04, Y:-252.74, Z:-9.01 [[-6.90313045e-01 -7.23503734e-01 3.20114738e-03 -7.20367839e+01] [ 7.23496349e-01 -6.90320464e-01 -3.26950643e-03 -2.52742458e+02] [ 4.57531765e-03 5.90354987e-05 9.99989532e-01 -9.00767723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.120385723 meters 0.014409030656427358 Centerline is valid? [True, True] Translation: X:-72.05, Y:-252.72, Z:-9.01 [[-6.89533321e-01 -7.24247294e-01 3.10752473e-03 -7.20548612e+01] [ 7.24240350e-01 -6.89540320e-01 -3.17206633e-03 -2.52720497e+02] [ 4.44012405e-03 6.33493683e-05 9.99990141e-01 -9.00662494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.150385723 meters 0.015386347044726547 Centerline is valid? [True, True] Translation: X:-72.07, Y:-252.70, Z:-9.01 [[-6.87951320e-01 -7.25751402e-01 2.80764196e-03 -7.20747619e+01] [ 7.25745751e-01 -6.87957046e-01 -2.86494190e-03 -2.52701575e+02] [ 4.01077267e-03 6.66936559e-05 9.99991955e-01 -9.00577335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.180385723 meters 0.01626847948709377 Centerline is valid? [True, True] Translation: X:-72.10, Y:-252.68, Z:-9.01 [[-6.87271132e-01 -7.26395788e-01 2.74763160e-03 -7.20952141e+01] [ 7.26390387e-01 -6.87276621e-01 -2.80209674e-03 -2.52683187e+02] [ 3.92381423e-03 7.00529788e-05 9.99992299e-01 -9.00593755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.210385723 meters 0.017283587913655335 Centerline is valid? [True, True] Translation: X:-72.11, Y:-252.66, Z:-9.01 [[-6.85608302e-01 -7.27963306e-01 3.26838201e-03 -7.21137791e+01] [ 7.27955687e-01 -6.85616086e-01 -3.33179663e-03 -2.52664269e+02] [ 4.66628097e-03 9.49298363e-05 9.99989108e-01 -9.00601839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.240385723 meters 0.015983270722091728 Centerline is valid? [True, True] Translation: X:-72.13, Y:-252.64, Z:-9.00 [[-6.85400929e-01 -7.28158204e-01 3.34609323e-03 -7.21302085e+01] [ 7.28150230e-01 -6.85409090e-01 -3.40909884e-03 -2.52640503e+02] [ 4.77580600e-03 9.98590428e-05 9.99988591e-01 -9.00493727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.270385723 meters 0.015983270722091728 Centerline is valid? [True, True] Translation: X:-72.15, Y:-252.62, Z:-9.00 [[-6.85605459e-01 -7.27965626e-01 3.34705080e-03 -7.21495643e+01] [ 7.27957654e-01 -6.85613621e-01 -3.40815870e-03 -2.52620866e+02] [ 4.77580600e-03 9.98590428e-05 9.99988591e-01 -9.00493741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.300385723 meters 0.01641025341447976 Centerline is valid? [True, True] Translation: X:-72.17, Y:-252.60, Z:-9.00 [[-6.85179506e-01 -7.28366851e-01 3.28252095e-03 -7.21658675e+01] [ 7.28359196e-01 -6.85187362e-01 -3.34078456e-03 -2.52598784e+02] [ 4.68245860e-03 1.01817208e-04 9.99989032e-01 -9.00322006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.330385723 meters 0.017241489485602654 Centerline is valid? [True, True] Translation: X:-72.18, Y:-252.58, Z:-9.00 [[-6.85421118e-01 -7.28140530e-01 3.04304967e-03 -7.21848122e+01] [ 7.28133957e-01 -6.85427866e-01 -3.09525163e-03 -2.52579861e+02] [ 4.33956920e-03 9.41969619e-05 9.99990580e-01 -9.00301354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.360385723 meters 0.01752159582090386 Centerline is valid? [True, True] Translation: X:-72.20, Y:-252.56, Z:-9.00 [[-6.85631573e-01 -7.27943819e-01 2.67259778e-03 -7.22021062e+01] [ 7.27938753e-01 -6.85636777e-01 -2.71718132e-03 -2.52559549e+02] [ 3.81038668e-03 8.25021882e-05 9.99992737e-01 -9.00236617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.390385723 meters 0.017618040326931237 Centerline is valid? [True, True] Translation: X:-72.22, Y:-252.54, Z:-9.00 [[-6.86015198e-01 -7.27583325e-01 2.37749635e-03 -7.22203786e+01] [ 7.27579319e-01 -6.86019314e-01 -2.41572770e-03 -2.52538802e+02] [ 3.38865161e-03 7.25912563e-05 9.99994256e-01 -9.00202832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.420385723 meters 0.016034147101449157 Centerline is valid? [True, True] Translation: X:-72.23, Y:-252.51, Z:-9.00 [[-6.86844133e-01 -7.26798596e-01 2.98953756e-03 -7.22339854e+01] [ 7.26792261e-01 -6.86850634e-01 -3.03588102e-03 -2.52513444e+02] [ 4.25983983e-03 8.75956896e-05 9.99990923e-01 -9.00186420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.450385723 meters 0.017480115878871154 Centerline is valid? [True, True] Translation: X:-72.25, Y:-252.49, Z:-9.00 [[-6.87667933e-01 -7.26017660e-01 3.34232719e-03 -7.22536824e+01] [ 7.26009742e-01 -6.87676049e-01 -3.39212867e-03 -2.52494568e+02] [ 4.76118368e-03 9.39039852e-05 9.99988661e-01 -9.00322601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.480385723 meters 0.016351333185801297 Centerline is valid? [True, True] Translation: X:-72.27, Y:-252.47, Z:-9.00 [[-6.89637542e-01 -7.24145412e-01 3.67183977e-03 -7.22681490e+01] [ 7.24135839e-01 -6.89647311e-01 -3.72457431e-03 -2.52469597e+02] [ 5.22940782e-03 9.03044975e-05 9.99986323e-01 -9.00339583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.510385723 meters 0.015516207610464667 Centerline is valid? [True, True] Translation: X:-72.28, Y:-252.44, Z:-9.00 [[-6.91128710e-01 -7.22719604e-01 4.18082266e-03 -7.22827486e+01] [ 7.22707182e-01 -6.91141349e-01 -4.23849142e-03 -2.52444722e+02] [ 5.95278026e-03 9.21674544e-05 9.99982278e-01 -9.00325005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.540385723 meters 0.01538053938325695 Centerline is valid? [True, True] Translation: X:-72.30, Y:-252.42, Z:-9.00 [[-6.91727949e-01 -7.22143102e-01 4.66755597e-03 -7.23004543e+01] [ 7.22127622e-01 -6.91743689e-01 -4.72927282e-03 -2.52423065e+02] [ 6.64396413e-03 9.92009048e-05 9.99977924e-01 -9.00343499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.570385723 meters 0.015346324714188895 Centerline is valid? [True, True] Translation: X:-72.32, Y:-252.40, Z:-9.00 [[-6.92145289e-01 -7.21741150e-01 4.96099490e-03 -7.23186322e+01] [ 7.21723673e-01 -6.92163060e-01 -5.02377581e-03 -2.52401278e+02] [ 7.05968314e-03 1.03284700e-04 9.99975075e-01 -9.00391213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.600385723 meters 0.015252479392704523 Centerline is valid? [True, True] Translation: X:-72.33, Y:-252.38, Z:-9.00 [[-6.92780652e-01 -7.21125718e-01 5.71546894e-03 -7.23342442e+01] [ 7.21102526e-01 -6.92804219e-01 -5.78456135e-03 -2.52377833e+02] [ 8.13109695e-03 1.14006911e-04 9.99966936e-01 -9.00384399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.630385723 meters 0.01532676119684211 Centerline is valid? [True, True] Translation: X:-72.35, Y:-252.36, Z:-9.00 [[-6.93395915e-01 -7.20532631e-01 5.90190758e-03 -7.23520242e+01] [ 7.20507909e-01 -6.93421023e-01 -5.96973031e-03 -2.52356840e+02] [ 8.39389227e-03 1.12984480e-04 9.99964764e-01 -9.00428401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.660385723 meters 0.015063056329326498 Centerline is valid? [True, True] Translation: X:-72.37, Y:-252.33, Z:-9.00 [[-6.94539630e-01 -7.19431860e-01 5.70093521e-03 -7.23677995e+01] [ 7.19408782e-01 -6.94563020e-01 -5.76323441e-03 -2.52333061e+02] [ 8.10591323e-03 9.85081611e-05 9.99967142e-01 -9.00468168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.690385723 meters 0.01502912173987572 Centerline is valid? [True, True] Translation: X:-72.39, Y:-252.31, Z:-9.00 [[-6.95223121e-01 -7.18770719e-01 5.78499411e-03 -7.23857513e+01] [ 7.18746958e-01 -6.95247182e-01 -5.84514257e-03 -2.52310640e+02] [ 8.22331818e-03 9.42686576e-05 9.99966184e-01 -9.00429769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7203857229999 meters 0.014913492422731043 Centerline is valid? [True, True] Translation: X:-72.40, Y:-252.29, Z:-9.00 [[-6.96304233e-01 -7.17720711e-01 6.11520086e-03 -7.24017039e+01] [ 7.17694150e-01 -6.96331080e-01 -6.17534163e-03 -2.52287511e+02] [ 8.69037500e-03 8.89273598e-05 9.99962234e-01 -9.00440891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.750385723 meters 0.015014537801246203 Centerline is valid? [True, True] Translation: X:-72.42, Y:-252.27, Z:-9.00 [[-6.96761008e-01 -7.17279322e-01 5.87131308e-03 -7.24178997e+01] [ 7.17254850e-01 -6.96785740e-01 -5.92557438e-03 -2.52265779e+02] [ 8.34133920e-03 8.25186070e-05 9.99965207e-01 -9.00411966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.780385723 meters 0.014956815846135627 Centerline is valid? [True, True] Translation: X:-72.44, Y:-252.24, Z:-9.00 [[-6.96723545e-01 -7.17313614e-01 6.12224033e-03 -7.24356506e+01] [ 7.17287037e-01 -6.96750437e-01 -6.17537404e-03 -2.52244256e+02] [ 8.69535349e-03 8.88751272e-05 9.99962191e-01 -9.00330867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.810385723 meters 0.015031341452998281 Centerline is valid? [True, True] Translation: X:-72.45, Y:-252.22, Z:-9.00 [[-6.96738978e-01 -7.17297654e-01 6.23469041e-03 -7.24522129e+01] [ 7.17270124e-01 -6.96766867e-01 -6.28509243e-03 -2.52222104e+02] [ 8.85240776e-03 9.28882902e-05 9.99960812e-01 -9.00330275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8403857229999 meters 0.014913932972664698 Centerline is valid? [True, True] Translation: X:-72.47, Y:-252.20, Z:-9.00 [[-6.96689158e-01 -7.17345451e-01 6.30246553e-03 -7.24707607e+01] [ 7.17317354e-01 -6.96717657e-01 -6.34982664e-03 -2.52201238e+02] [ 8.94605828e-03 9.70125243e-05 9.99959979e-01 -9.00352846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.870385723 meters 0.01507482407962533 Centerline is valid? [True, True] Translation: X:-72.49, Y:-252.18, Z:-9.00 [[-6.96327818e-01 -7.17693700e-01 6.58200710e-03 -7.24891433e+01] [ 7.17663105e-01 -6.96358917e-01 -6.62771378e-03 -2.52179632e+02] [ 9.34010776e-03 1.08602167e-04 9.99956374e-01 -9.00387956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.900385723 meters 0.015222344762386219 Centerline is valid? [True, True] Translation: X:-72.51, Y:-252.16, Z:-9.00 [[-6.96489674e-01 -7.17535897e-01 6.66112965e-03 -7.25075624e+01] [ 7.17504593e-01 -6.96521517e-01 -6.70336650e-03 -2.52159521e+02] [ 9.44952623e-03 1.10565573e-04 9.99955346e-01 -9.00431016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.930385723 meters 0.015508252820566474 Centerline is valid? [True, True] Translation: X:-72.52, Y:-252.14, Z:-9.01 [[-6.97436368e-01 -7.16612269e-01 7.02626636e-03 -7.25241557e+01] [ 7.16577437e-01 -6.97471752e-01 -7.06625028e-03 -2.52139642e+02] [ 9.96438395e-03 1.06604011e-04 9.99950349e-01 -9.00562640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.960385723 meters 0.01495998515300299 Centerline is valid? [True, True] Translation: X:-72.54, Y:-252.12, Z:-9.00 [[-6.98223074e-01 -7.15846549e-01 6.94667451e-03 -7.25411856e+01] [ 7.15812503e-01 -6.98257623e-01 -6.98229879e-03 -2.52116839e+02] [ 9.84882293e-03 9.73143415e-05 9.99951495e-01 -9.00361074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.990385723 meters 0.014833777547610984 Centerline is valid? [True, True] Translation: X:-72.56, Y:-252.09, Z:-9.00 [[-7.00083099e-01 -7.14028023e-01 6.90194589e-03 -7.25570034e+01] [ 7.13994363e-01 -7.00117117e-01 -6.93339248e-03 -2.52094783e+02] [ 9.78280698e-03 7.39995671e-05 9.99952145e-01 -9.00351407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.020385723 meters 0.014777807499454723 Centerline is valid? [True, True] Translation: X:-72.57, Y:-252.07, Z:-9.00 [[-7.02064752e-01 -7.12078778e-01 6.99267114e-03 -7.25731937e+01] [ 7.12044174e-01 -7.02099574e-01 -7.02021706e-03 -2.52071873e+02] [ 9.90849901e-03 5.04437970e-05 9.99950908e-01 -9.00430783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.050385723 meters 0.014742357248134797 Centerline is valid? [True, True] Translation: X:-72.59, Y:-252.05, Z:-9.00 [[-7.02761359e-01 -7.11388982e-01 7.22421631e-03 -7.25908845e+01] [ 7.11352056e-01 -7.02798488e-01 -7.24825500e-03 -2.52051481e+02] [ 1.02334970e-02 4.51675961e-05 9.99947635e-01 -9.00429838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.080385723 meters 0.01469918918253177 Centerline is valid? [True, True] Translation: X:-72.61, Y:-252.03, Z:-9.00 [[-7.03311454e-01 -7.10841791e-01 7.54634981e-03 -7.26085695e+01] [ 7.10801517e-01 -7.03351937e-01 -7.56681925e-03 -2.52031214e+02] [ 1.06865511e-02 4.21262476e-05 9.99942896e-01 -9.00487961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.110385723 meters 0.014897964740230432 Centerline is valid? [True, True] Translation: X:-72.63, Y:-252.01, Z:-9.01 [[-7.03944506e-01 -7.10212328e-01 7.78334275e-03 -7.26255898e+01] [ 7.10169499e-01 -7.03987533e-01 -7.79970319e-03 -2.52009215e+02] [ 1.10188216e-02 3.69344091e-05 9.99939290e-01 -9.00646413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.140385723 meters 0.014972672452701155 Centerline is valid? [True, True] Translation: X:-72.64, Y:-251.99, Z:-9.01 [[-7.04053681e-01 -7.10104042e-01 7.78865992e-03 -7.26411632e+01] [ 7.10061203e-01 -7.04096760e-01 -7.80004470e-03 -2.51987908e+02] [ 1.10228135e-02 3.87750417e-05 9.99939246e-01 -9.00742408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.170385723 meters 0.0149715478529702 Centerline is valid? [True, True] Translation: X:-72.66, Y:-251.97, Z:-9.01 [[-7.04145427e-01 -7.10011102e-01 7.96573653e-03 -7.26586124e+01] [ 7.09966342e-01 -7.04190481e-01 -7.97246203e-03 -2.51967266e+02] [ 1.12699324e-02 4.16321445e-05 9.99936492e-01 -9.00678193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.200385723 meters 0.01503719739429117 Centerline is valid? [True, True] Translation: X:-72.68, Y:-251.94, Z:-9.01 [[-7.04692573e-01 -7.09466109e-01 8.13742536e-03 -7.26758999e+01] [ 7.09419414e-01 -7.04739554e-01 -8.13974698e-03 -2.51944744e+02] [ 1.15096401e-02 3.68282831e-05 9.99933761e-01 -9.00749992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.230385723 meters 0.015142169806340519 Centerline is valid? [True, True] Translation: X:-72.69, Y:-251.92, Z:-9.01 [[-7.05157702e-01 -7.09000369e-01 8.43167164e-03 -7.26941014e+01] [ 7.08950262e-01 -7.05208108e-01 -8.42911162e-03 -2.51924672e+02] [ 1.19223265e-02 3.37828374e-05 9.99928926e-01 -9.00927666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.260385723 meters 0.015081900651972442 Centerline is valid? [True, True] Translation: X:-73.25, Y:-252.47, Z:-8.06 [[-7.57067242e-01 6.53280688e-01 8.57512460e-03 -7.32500929e+01] [ 6.53238359e-01 7.57115805e-01 -7.43668614e-03 -2.52469630e+02] [-1.13506058e-02 -2.84711448e-05 -9.99935579e-01 -8.06168349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.290385723 meters 0.015091192391704769 Centerline is valid? [True, True] Translation: X:-73.24, Y:-252.45, Z:-8.06 [[-8.00670413e-01 5.99038661e-01 8.92039762e-03 -7.32389665e+01] [ 5.99001278e-01 8.00720103e-01 -6.69228904e-03 -2.52449642e+02] [-1.11516816e-02 -1.49882597e-05 -9.99937818e-01 -8.06277138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.320385723 meters 0.015136274663951461 Centerline is valid? [True, True] Translation: X:-73.24, Y:-252.42, Z:-8.06 [[-8.40840050e-01 5.41208217e-01 9.03747206e-03 -7.32378916e+01] [ 5.41176839e-01 8.40888617e-01 -5.82786839e-03 -2.52419322e+02] [-1.07535976e-02 -9.43459108e-06 -9.99942178e-01 -8.06206099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.350385723 meters 0.01508163562256241 Centerline is valid? [True, True] Translation: X:-72.76, Y:-251.77, Z:-9.01 [[-8.01965447e-01 -5.97320663e-01 7.71018319e-03 -7.27622430e+01] [ 5.97292372e-01 -8.02002508e-01 -5.81382538e-03 -2.51774474e+02] [ 9.65630429e-03 -5.72534643e-05 9.99953375e-01 -9.00637093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.380385723 meters 0.015197630210058589 Centerline is valid? [True, True] Translation: X:-73.25, Y:-252.43, Z:-8.06 [[-8.42037040e-01 5.39361455e-01 7.92742247e-03 -7.32456696e+01] [ 5.39337607e-01 8.42074356e-01 -5.07196342e-03 -2.52426320e+02] [-9.41110074e-03 4.77599238e-06 -9.99955715e-01 -8.06386676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.410385723 meters 0.015038542313472155 Centerline is valid? [True, True] Translation: X:-73.23, Y:-252.40, Z:-8.06 [[-8.78101751e-01 4.78415567e-01 7.47400878e-03 -7.32311042e+01] [ 4.78398280e-01 8.78133558e-01 -4.06699764e-03 -2.52404149e+02] [-8.50889290e-03 4.31519538e-06 -9.99963799e-01 -8.06320303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.440385723 meters 0.015119039558286236 Centerline is valid? [True, True] Translation: X:-73.24, Y:-252.37, Z:-8.06 [[-9.09849389e-01 4.14862553e-01 7.94675814e-03 -7.32409217e+01] [ 4.14846752e-01 9.09884093e-01 -3.62078715e-03 -2.52369072e+02] [-8.73275783e-03 2.31582621e-06 -9.99961869e-01 -8.06336237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4703857229999 meters 0.015050212800278228 Centerline is valid? [True, True] Translation: X:-72.86, Y:-251.64, Z:-9.01 [[-8.80060572e-01 -4.74787088e-01 8.40308013e-03 -7.28645795e+01] [ 4.74765948e-01 -8.80100687e-01 -4.48056470e-03 -2.51636035e+02] [ 9.52287087e-03 4.63279703e-05 9.99954655e-01 -9.00753233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.500385723 meters 0.015112351863852272 Centerline is valid? [True, True] Translation: X:-73.25, Y:-252.37, Z:-8.06 [[-9.11378940e-01 4.11467353e-01 9.11293262e-03 -7.32545324e+01] [ 4.11446808e-01 9.11424499e-01 -4.11179213e-03 -2.52369561e+02] [-9.99761827e-03 2.08628417e-06 -9.99950023e-01 -8.06283092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.530385723 meters 0.015032786401570696 Centerline is valid? [True, True] Translation: X:-73.24, Y:-252.34, Z:-8.06 [[-9.38394865e-01 3.45432359e-01 9.56885188e-03 -7.32398982e+01] [ 3.45414373e-01 9.38443651e-01 -3.52501272e-03 -2.52344440e+02] [-1.01974818e-02 -2.63486493e-06 -9.99948004e-01 -8.06311043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.560385723 meters 0.015008927832823385 Centerline is valid? [True, True] Translation: X:-72.95, Y:-251.57, Z:-9.01 [[-9.12146087e-01 -4.09774003e-01 8.64769954e-03 -7.29465404e+01] [ 4.09755153e-01 -9.12187078e-01 -3.93058026e-03 -2.51570591e+02] [ 9.49896938e-03 -4.18239515e-05 9.99954883e-01 -9.00719846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5903857229999 meters 0.015026908132185471 Centerline is valid? [True, True] Translation: X:-73.29, Y:-252.32, Z:-8.06 [[-9.40401273e-01 3.39950377e-01 8.89868427e-03 -7.32897790e+01] [ 3.39934933e-01 9.40443374e-01 -3.24054525e-03 -2.52323641e+02] [-9.47033324e-03 -2.24392421e-05 -9.99955155e-01 -8.06272052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.620385723 meters 0.014862082164648635 Centerline is valid? [True, True] Translation: X:-73.00, Y:-251.55, Z:-9.01 [[-9.13726713e-01 -4.06242984e-01 8.37445773e-03 -7.29991014e+01] [ 4.06225952e-01 -9.13765089e-01 -3.71992629e-03 -2.51553633e+02] [ 9.16348107e-03 2.92604965e-06 9.99958015e-01 -9.00646383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.650385723 meters 0.014773410794847707 Centerline is valid? [True, True] Translation: X:-73.33, Y:-252.31, Z:-8.06 [[-9.41220046e-01 3.37693993e-01 8.22146025e-03 -7.33330901e+01] [ 3.37681028e-01 9.41255952e-01 -2.95914809e-03 -2.52308143e+02] [-8.73778493e-03 -8.97834908e-06 -9.99961825e-01 -8.06419824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.680385723 meters 0.01480721602386387 Centerline is valid? [True, True] Translation: X:-73.33, Y:-252.28, Z:-8.06 [[-9.62065608e-01 2.72706714e-01 7.79834181e-03 -7.33268461e+01] [ 2.72697867e-01 9.62097213e-01 -2.19673463e-03 -2.52280952e+02] [-8.10182721e-03 1.31883354e-05 -9.99967180e-01 -8.06402928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.710385723 meters 0.014775745435495457 Centerline is valid? [True, True] Translation: X:-73.33, Y:-252.25, Z:-8.06 [[-9.78592402e-01 2.05669382e-01 7.55086116e-03 -7.33310083e+01] [ 2.05663474e-01 9.78621533e-01 -1.55920493e-03 -2.52251060e+02] [-7.71011604e-03 2.71102372e-05 -9.99970276e-01 -8.06436243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.740385723 meters 0.015642310218970595 Centerline is valid? [True, True] Translation: X:-73.13, Y:-251.45, Z:-9.01 [[-9.65479537e-01 -2.60402851e-01 6.29444617e-03 -7.31288007e+01] [ 2.60396686e-01 -9.65500050e-01 -1.79418909e-03 -2.51450475e+02] [ 6.54450004e-03 -9.31999281e-05 9.99978580e-01 -9.00668786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.770385723 meters 0.01562352203752292 Centerline is valid? [True, True] Translation: X:-73.35, Y:-252.25, Z:-8.06 [[-9.77769580e-01 2.09596929e-01 5.98134051e-03 -7.33545645e+01] [ 2.09593452e-01 9.77787872e-01 -1.20950692e-03 -2.52249594e+02] [-6.10199114e-03 7.10307309e-05 -9.99981380e-01 -8.06389647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.800385723 meters 0.015443657500657319 Centerline is valid? [True, True] Translation: X:-73.18, Y:-251.44, Z:-9.01 [[-9.68043633e-01 -2.50713591e-01 5.84987142e-03 -7.31799104e+01] [ 2.50708556e-01 -9.68061305e-01 -1.59048595e-03 -2.51439753e+02] [ 6.06179060e-03 -7.30469789e-05 9.99981625e-01 -9.00566504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.830385723 meters 0.01691614286374968 Centerline is valid? [True, True] Translation: X:-73.41, Y:-252.24, Z:-8.06 [[-9.77469603e-01 2.10984773e-01 6.21295171e-03 -7.34070061e+01] [ 2.10981214e-01 9.77489342e-01 -1.23011299e-03 -2.52242266e+02] [-6.33262919e-03 1.08418039e-04 -9.99979943e-01 -8.06344587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.860385723 meters 0.01729221732032514 Centerline is valid? [True, True] Translation: X:-73.23, Y:-251.43, Z:-9.01 [[-9.70132380e-01 -2.42490558e-01 6.44168186e-03 -7.32340574e+01] [ 2.42484573e-01 -9.70153761e-01 -1.70624406e-03 -2.51426016e+02] [ 6.66316996e-03 -9.32741315e-05 9.99977797e-01 -9.00707068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.890385723 meters 0.016546686940404794 Centerline is valid? [True, True] Translation: X:-73.46, Y:-252.23, Z:-8.06 [[-9.78050513e-01 2.08265829e-01 6.52209483e-03 -7.34593268e+01] [ 2.08262034e-01 9.78072252e-01 -1.26325817e-03 -2.52229654e+02] [-6.64217348e-03 1.22774437e-04 -9.99977933e-01 -8.06291538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.920385723 meters 0.016573152118676715 Centerline is valid? [True, True] Translation: X:-73.29, Y:-251.42, Z:-9.01 [[-9.71158380e-01 -2.38348816e-01 6.42208076e-03 -7.32947267e+01] [ 2.38342767e-01 -9.71179606e-01 -1.70250606e-03 -2.51418489e+02] [ 6.64278416e-03 -1.22746530e-04 9.99977929e-01 -9.00764764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.950385723 meters 0.01667848256822351 Centerline is valid? [True, True] Translation: X:-73.52, Y:-252.21, Z:-8.06 [[-9.79367422e-01 2.01980658e-01 6.57780416e-03 -7.35187896e+01] [ 2.01976842e-01 9.79389505e-01 -1.24622268e-03 -2.52214849e+02] [-6.69394524e-03 1.08054219e-04 -9.99977590e-01 -8.06187986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.980385723 meters 0.016025962015855565 Centerline is valid? [True, True] Translation: X:-73.36, Y:-251.41, Z:-9.01 [[-9.71393207e-01 -2.37395434e-01 6.21654108e-03 -7.33571916e+01] [ 2.37389774e-01 -9.71413091e-01 -1.64376459e-03 -2.51411968e+02] [ 6.42905159e-03 -1.20998476e-04 9.99979326e-01 -9.00795906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.010385723 meters 0.015577120708282788 Centerline is valid? [True, True] Translation: X:-73.57, Y:-252.20, Z:-8.06 [[-9.80898130e-01 1.94426979e-01 6.08342332e-03 -7.35712572e+01] [ 1.94423733e-01 9.80916991e-01 -1.12633721e-03 -2.52199905e+02] [-6.18632365e-03 7.79398063e-05 -9.99980862e-01 -8.06196849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.040385723 meters 0.01527949386143069 Centerline is valid? [True, True] Translation: X:-73.57, Y:-252.17, Z:-8.06 [[-9.92388868e-01 1.22991881e-01 6.10990541e-03 -7.35653535e+01] [ 1.22989981e-01 9.92407675e-01 -6.87218229e-04 -2.52169449e+02] [-6.14803928e-03 6.94694291e-05 -9.99981098e-01 -8.06213831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.070385723 meters 0.014972724661079097 Centerline is valid? [True, True] Translation: X:-73.48, Y:-251.37, Z:-9.01 [[-9.85547712e-01 -1.69318029e-01 5.20704974e-03 -7.34765105e+01] [ 1.69315043e-01 -9.85561460e-01 -1.01223233e-03 -2.51369993e+02] [ 5.30325673e-03 -1.15971400e-04 9.99985931e-01 -9.00719919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.100385723 meters 0.01554868540320225 Centerline is valid? [True, True] Translation: X:-73.63, Y:-252.16, Z:-8.06 [[-9.93268034e-01 1.15734766e-01 4.90684688e-03 -7.36332915e+01] [ 1.15733567e-01 9.93280153e-01 -5.28524015e-04 -2.52158619e+02] [-4.93504223e-03 4.29208839e-05 -9.99987822e-01 -8.06270428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.130385723 meters 0.014556468446258191 Centerline is valid? [True, True] Translation: X:-73.64, Y:-252.13, Z:-8.06 [[-9.99080648e-01 4.26212605e-02 4.61382719e-03 -7.36426192e+01] [ 4.26209430e-02 9.99091301e-01 -1.67178214e-04 -2.52126990e+02] [-4.61675995e-03 2.96211473e-05 -9.99989342e-01 -8.06328804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.160385723 meters 0.014556468446258191 Centerline is valid? [True, True] Translation: X:-73.61, Y:-251.33, Z:-9.01 [[-9.95242256e-01 -9.73222961e-02 4.60684794e-03 -7.36082948e+01] [ 9.73211198e-02 -9.95252918e-01 -4.79364926e-04 -2.51331684e+02] [ 4.63163175e-03 -2.87406307e-05 9.99989274e-01 -9.00696124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.190385723 meters 0.014621362897955337 Centerline is valid? [True, True] Translation: X:-73.73, Y:-252.12, Z:-8.06 [[-9.99329581e-01 3.62865813e-02 4.86547396e-03 -7.37251657e+01] [ 3.62862804e-02 9.99341425e-01 -1.50138146e-04 -2.52123237e+02] [-4.86771768e-03 2.65124619e-05 -9.99988152e-01 -8.06219571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2203857229999 meters 0.014457013562275692 Centerline is valid? [True, True] Translation: X:-73.69, Y:-251.33, Z:-9.01 [[-9.95559376e-01 -9.40029223e-02 4.99805074e-03 -7.36914161e+01] [ 9.40016518e-02 -9.95571921e-01 -4.89036777e-04 -2.51331415e+02] [ 5.02188986e-03 -1.70401229e-05 9.99987390e-01 -9.00772027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.250385723 meters 0.01449250447882567 Centerline is valid? [True, True] Translation: X:-73.81, Y:-252.12, Z:-8.06 [[-9.99553020e-01 2.95394406e-02 4.60230094e-03 -7.38057791e+01] [ 2.95392092e-02 9.99563615e-01 -1.18257782e-04 -2.52117100e+02] [-4.60378584e-03 1.77434078e-05 -9.99989402e-01 -8.06192659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.280385723 meters 0.014318730226371945 Centerline is valid? [True, True] Translation: X:-73.80, Y:-252.09, Z:-8.06 [[-9.99129200e-01 -4.15065719e-02 4.24802638e-03 -7.37989879e+01] [-4.15061248e-02 9.99138231e-01 1.93387612e-04 -2.52087415e+02] [-4.25239242e-03 1.69000971e-05 -9.99990958e-01 -8.06242661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.310385723 meters 0.014379653594089754 Centerline is valid? [True, True] Translation: X:-73.81, Y:-252.06, Z:-8.06 [[-9.93711162e-01 -1.11929527e-01 3.14769774e-03 -7.38131072e+01] [-1.11928919e-01 9.93716147e-01 3.69233889e-04 -2.52059921e+02] [-3.16924624e-03 1.45934327e-05 -9.99994978e-01 -8.06366812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3403857229999 meters 0.0144304950506668 Centerline is valid? [True, True] Translation: X:-73.82, Y:-252.03, Z:-8.06 [[-9.83211124e-01 -1.82452064e-01 2.67029380e-03 -7.38240251e+01] [-1.82451353e-01 9.83214750e-01 5.09670418e-04 -2.52032547e+02] [-2.71846267e-03 1.39149078e-05 -9.99996305e-01 -8.06372378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.370385723 meters 0.01435113494306469 Centerline is valid? [True, True] Translation: X:-73.85, Y:-252.01, Z:-8.06 [[-9.67704381e-01 -2.52070424e-01 2.95508696e-03 -7.38535343e+01] [-2.52069191e-01 9.67708893e-01 7.88530368e-04 -2.52009026e+02] [-3.05842912e-03 1.81779119e-05 -9.99995323e-01 -8.06328698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.400385723 meters 0.014403250216288382 Centerline is valid? [True, True] Translation: X:-74.09, Y:-251.26, Z:-9.01 [[-9.80256482e-01 1.97707228e-01 3.01344395e-03 -7.40889621e+01] [-1.97706348e-01 -9.80261114e-01 5.89987297e-04 -2.51258225e+02] [ 3.07060667e-03 -1.74381265e-05 9.99995286e-01 -9.00765800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.430385723 meters 0.014484493331655694 Centerline is valid? [True, True] Translation: X:-74.03, Y:-252.05, Z:-8.06 [[-9.65919938e-01 -2.58818364e-01 3.42447753e-03 -7.40281918e+01] [-2.58816656e-01 9.65926008e-01 9.40718712e-04 -2.52052904e+02] [-3.55126719e-03 2.23471367e-05 -9.99993694e-01 -8.06196819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.460385723 meters 0.014439449394148093 Centerline is valid? [True, True] Translation: X:-74.08, Y:-252.04, Z:-8.06 [[-9.44222324e-01 -3.29285165e-01 3.93480895e-03 -7.40844364e+01] [-3.29282199e-01 9.44230522e-01 1.39782599e-03 -2.52040113e+02] [-4.17565008e-03 2.41959623e-05 -9.99991282e-01 -8.06128574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.490385723 meters 0.01570223710951111 Centerline is valid? [True, True] Translation: X:-74.15, Y:-252.04, Z:-8.06 [[-9.17561110e-01 -3.97566373e-01 4.75287025e-03 -7.41517902e+01] [-3.97560852e-01 9.17573419e-01 2.09543637e-03 -2.52035587e+02] [-5.19418245e-03 3.31357786e-05 -9.99986510e-01 -8.05914674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.520385723 meters 0.014451790244696094 Centerline is valid? [True, True] Translation: X:-74.22, Y:-252.04, Z:-8.06 [[-8.85427825e-01 -4.64759645e-01 4.00485144e-03 -7.42235836e+01] [-4.64754740e-01 8.85436882e-01 2.13535253e-03 -2.52037250e+02] [-4.53846886e-03 2.94268568e-05 -9.99989701e-01 -8.06029862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.550385723 meters 0.014524537157130498 Centerline is valid? [True, True] Translation: X:-74.31, Y:-252.05, Z:-8.06 [[-8.48803356e-01 -5.28692651e-01 4.11627973e-03 -7.43065994e+01] [-5.28686217e-01 8.48813336e-01 2.60853852e-03 -2.52052450e+02] [-4.87306828e-03 3.79158931e-05 -9.99988126e-01 -8.06017165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.580385723 meters 0.014568165099972288 Centerline is valid? [True, True] Translation: X:-74.40, Y:-252.08, Z:-8.06 [[-8.06984978e-01 -5.90557751e-01 4.09728750e-03 -7.44003233e+01] [-5.90549870e-01 8.06995378e-01 3.05130528e-03 -2.52083006e+02] [-5.10846406e-03 4.27049215e-05 -9.99986951e-01 -8.06060683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.610385723 meters 0.014633297864581727 Centerline is valid? [True, True] Translation: X:-74.49, Y:-252.12, Z:-8.06 [[-7.60916055e-01 -6.48838624e-01 3.89838973e-03 -7.44893954e+01] [-6.48829767e-01 7.60926039e-01 3.39066396e-03 -2.52118848e+02] [-5.16638000e-03 5.06193403e-05 -9.99986653e-01 -8.06141721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.640385723 meters 0.015039494172533597 Centerline is valid? [True, True] Translation: X:-74.59, Y:-252.17, Z:-8.06 [[-7.10452229e-01 -7.03737486e-01 3.34376471e-03 -7.45861158e+01] [-7.03729344e-01 7.10460096e-01 3.38571732e-03 -2.52170841e+02] [-4.75826759e-03 5.22850696e-05 -9.99988678e-01 -8.06062202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.670385723 meters 0.015027641552520798 Centerline is valid? [True, True] Translation: X:-74.67, Y:-252.22, Z:-8.06 [[-6.55047421e-01 -7.55581957e-01 2.96377345e-03 -7.46743636e+01] [-7.55573859e-01 6.55054123e-01 3.49856684e-03 -2.52223075e+02] [-4.58488599e-03 5.23774461e-05 -9.99989488e-01 -8.06051947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.700385723 meters 0.014657845996437985 Centerline is valid? [True, True] Translation: X:-74.76, Y:-252.29, Z:-8.06 [[-5.95064980e-01 -8.03673697e-01 2.50173281e-03 -7.47627040e+01] [-8.03666260e-01 5.95070237e-01 3.45761743e-03 -2.52285774e+02] [-4.26750291e-03 4.69487944e-05 -9.99990893e-01 -8.06065898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.730385723 meters 0.01464915189856926 Centerline is valid? [True, True] Translation: X:-74.85, Y:-252.37, Z:-8.06 [[-5.31661081e-01 -8.46953831e-01 2.38808334e-03 -7.48516536e+01] [-8.46944869e-01 5.31666442e-01 3.89648713e-03 -2.52366981e+02] [-4.56980848e-03 4.90356308e-05 -9.99989557e-01 -8.06101124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.760385723 meters 0.014586662693998737 Centerline is valid? [True, True] Translation: X:-74.94, Y:-252.47, Z:-8.06 [[-4.64463949e-01 -8.85589653e-01 2.05084972e-03 -7.49424017e+01] [-8.85580592e-01 4.64468475e-01 4.00628542e-03 -2.52468147e+02] [-4.50047996e-03 4.45824392e-05 -9.99989872e-01 -8.06109602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.790385723 meters 0.014450941180760601 Centerline is valid? [True, True] Translation: X:-75.01, Y:-252.55, Z:-8.06 [[-3.94334364e-01 -9.18965309e-01 1.78058509e-03 -7.50113249e+01] [-9.18955444e-01 3.94338381e-01 4.25824704e-03 -2.52545357e+02] [-4.61533435e-03 4.28947780e-05 -9.99989348e-01 -8.06093971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.820385723 meters 0.014417215717899933 Centerline is valid? [True, True] Translation: X:-75.08, Y:-252.64, Z:-8.06 [[-3.21640037e-01 -9.46860467e-01 1.71523474e-03 -7.50809052e+01] [-9.46846232e-01 3.21644607e-01 5.19220683e-03 -2.52643139e+02] [-5.46799139e-03 4.59580437e-05 -9.99985049e-01 -8.05934626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8503857229999 meters 0.01436925533158394 Centerline is valid? [True, True] Translation: X:-75.14, Y:-252.75, Z:-8.06 [[-2.47495604e-01 -9.68887815e-01 1.52583501e-03 -7.51435506e+01] [-9.68868105e-01 2.47500302e-01 6.18019524e-03 -2.52754885e+02] [-6.36556049e-03 5.12382756e-05 -9.99979738e-01 -8.05908610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.880385723 meters 0.014423990712387742 Centerline is valid? [True, True] Translation: X:-75.20, Y:-252.87, Z:-8.06 [[-1.71885619e-01 -9.85116293e-01 1.10619058e-03 -7.51959672e+01] [-9.85093874e-01 1.71889171e-01 6.64626140e-03 -2.52865240e+02] [-6.73748257e-03 5.26951917e-05 -9.99977302e-01 -8.05850130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.910385723 meters 0.014395699390816294 Centerline is valid? [True, True] Translation: X:-75.24, Y:-252.98, Z:-8.06 [[-9.54975992e-02 -9.95429503e-01 5.59835434e-04 -7.52403176e+01] [-9.95409139e-01 9.54992267e-02 6.36742078e-03 -2.52983390e+02] [-6.39178235e-03 5.08080899e-05 -9.99979571e-01 -8.05853291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.940385723 meters 0.014426881238068191 Centerline is valid? [True, True] Translation: X:-75.28, Y:-253.11, Z:-8.06 [[-1.87892456e-02 -9.99823465e-01 6.43694392e-05 -7.52755339e+01] [-9.99804607e-01 1.87892866e-02 6.14087494e-03 -2.53106564e+02] [-6.14100031e-03 5.10255457e-05 -9.99981143e-01 -8.05905808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9703857229999 meters 0.01451906643959637 Centerline is valid? [True, True] Translation: X:-75.30, Y:-253.24, Z:-8.06 [[ 5.79002195e-02 -9.98322336e-01 -2.77880803e-04 -7.53004536e+01] [-9.98313685e-01 -5.79008746e-02 4.15626071e-03 -2.53240112e+02] [-4.16537745e-03 3.67638007e-05 -9.99991324e-01 -8.06034987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.000385723 meters 0.014498066091496242 Centerline is valid? [True, True] Translation: X:-76.07, Y:-253.40, Z:-9.01 [[ 7.77068594e-03 9.99969807e-01 3.33731702e-05 -7.60735849e+01] [-9.99962839e-01 7.77050719e-03 3.73361707e-03 -2.53401756e+02] [ 3.73324502e-03 -6.23846957e-05 9.99993030e-01 -9.00886934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.030385723 meters 0.014506796273838262 Centerline is valid? [True, True] Translation: X:-75.28, Y:-253.54, Z:-8.06 [[ 6.75012187e-02 -9.97719162e-01 -2.45112851e-04 -7.52827123e+01] [-9.97714076e-01 -6.75016573e-02 3.18563042e-03 -2.53535415e+02] [-3.19491004e-03 2.95186064e-05 -9.99994896e-01 -8.06199199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.060385723 meters 0.01438733995618923 Centerline is valid? [True, True] Translation: X:-75.30, Y:-253.66, Z:-8.06 [[ 1.44289824e-01 -9.89535419e-01 -3.17648224e-04 -7.52971669e+01] [-9.89533309e-01 -1.44290172e-01 2.04373521e-03 -2.53661654e+02] [-2.06818189e-03 1.94333044e-05 -9.99997861e-01 -8.06275462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0903857229999 meters 0.014647183171053797 Centerline is valid? [True, True] Translation: X:-75.30, Y:-253.79, Z:-8.06 [[ 2.20222870e-01 -9.75449417e-01 -5.68373723e-04 -7.53017784e+01] [-9.75446435e-01 -2.20223603e-01 2.41208314e-03 -2.53787046e+02] [-2.47803441e-03 2.32222481e-05 -9.99996929e-01 -8.06139354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.120385723 meters 0.014480325097449247 Centerline is valid? [True, True] Translation: X:-75.30, Y:-253.92, Z:-8.06 [[ 2.94604189e-01 -9.55618862e-01 -9.80511473e-04 -7.52969063e+01] [-9.55613912e-01 -2.94605819e-01 3.07606853e-03 -2.53917119e+02] [-3.22841349e-03 3.07677294e-05 -9.99994788e-01 -8.06098726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.150385723 meters 0.014770947085449824 Centerline is valid? [True, True] Translation: X:-75.28, Y:-254.04, Z:-8.06 [[ 3.67208937e-01 -9.30137518e-01 -1.33962950e-03 -7.52823151e+01] [-9.30131669e-01 -3.67211379e-01 3.29866435e-03 -2.54039363e+02] [-3.56013867e-03 3.47327964e-05 -9.99993662e-01 -8.05975973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.180385723 meters 0.014573640321299496 Centerline is valid? [True, True] Translation: X:-75.26, Y:-254.16, Z:-8.06 [[ 4.37703647e-01 -8.99117659e-01 -1.71850076e-03 -7.52594585e+01] [-8.99111063e-01 -4.37707019e-01 3.44423047e-03 -2.54161573e+02] [-3.84896828e-03 3.75708048e-05 -9.99992592e-01 -8.06053211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.210385723 meters 0.014634406049081353 Centerline is valid? [True, True] Translation: X:-75.23, Y:-254.28, Z:-8.06 [[ 5.05392651e-01 -8.62886109e-01 -2.41480954e-03 -7.52274636e+01] [-8.62876696e-01 -5.05398418e-01 4.03062221e-03 -2.54278431e+02] [-4.69840884e-03 4.66360284e-05 -9.99988961e-01 -8.06113014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.240385723 meters 0.014599296176818934 Centerline is valid? [True, True] Translation: X:-75.19, Y:-254.40, Z:-8.06 [[ 5.70188160e-01 -8.21509848e-01 -2.65170753e-03 -7.51863660e+01] [-8.21501333e-01 -5.70194324e-01 3.74071005e-03 -2.54396451e+02] [-4.58501873e-03 4.54726919e-05 -9.99989488e-01 -8.06067492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.270385723 meters 0.014629383837044334 Centerline is valid? [True, True] Translation: X:-75.14, Y:-254.50, Z:-8.06 [[ 6.31595813e-01 -7.75292652e-01 -2.83420444e-03 -7.51425831e+01] [-7.75285153e-01 -6.31602171e-01 3.41031432e-03 -2.54501950e+02] [-4.43408131e-03 4.33763744e-05 -9.99990169e-01 -8.06036608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.300385723 meters 0.014675376950532136 Centerline is valid? [True, True] Translation: X:-75.09, Y:-254.60, Z:-8.06 [[ 6.89254936e-01 -7.24512185e-01 -3.11870443e-03 -7.50894002e+01] [-7.24505047e-01 -6.89261990e-01 3.21645036e-03 -2.54604528e+02] [-4.47996191e-03 4.25628108e-05 -9.99989964e-01 -8.06033207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.330385723 meters 0.01455558040163395 Centerline is valid? [True, True] Translation: X:-75.03, Y:-254.70, Z:-8.06 [[ 7.42937439e-01 -6.69354494e-01 -2.91937756e-03 -7.50288482e+01] [-6.69349509e-01 -7.42943174e-01 2.58364118e-03 -2.54702929e+02] [-3.89830347e-03 3.46001736e-05 -9.99992401e-01 -8.06058646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.360385723 meters 0.01460614294096967 Centerline is valid? [True, True] Translation: X:-75.04, Y:-254.71, Z:-8.06 [[ 7.92965925e-01 -6.09262084e-01 -2.18029730e-03 -7.50359771e+01] [-6.09259866e-01 -7.92968922e-01 1.64432099e-03 -2.54711080e+02] [-2.73073044e-03 2.44771281e-05 -9.99996271e-01 -8.06123968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.390385723 meters 0.014578249639551486 Centerline is valid? [True, True] Translation: X:-75.04, Y:-254.72, Z:-8.06 [[ 8.38026551e-01 -5.45625974e-01 -1.94831309e-03 -7.50419820e+01] [-5.45624559e-01 -8.38028816e-01 1.24294678e-03 -2.54719120e+02] [-2.31092656e-03 2.14250670e-05 -9.99997330e-01 -8.06153217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.420385723 meters 0.014655865327307886 Centerline is valid? [True, True] Translation: X:-75.05, Y:-254.73, Z:-8.06 [[ 8.78094735e-01 -4.78484119e-01 -1.60749605e-03 -7.50466043e+01] [-4.78483353e-01 -8.78096206e-01 8.56477431e-04 -2.54726588e+02] [-1.82134703e-03 1.70917754e-05 -9.99998341e-01 -8.06186587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.450385723 meters 0.014647400403656067 Centerline is valid? [True, True] Translation: X:-75.05, Y:-254.73, Z:-8.06 [[ 9.12853441e-01 -4.08284179e-01 -1.62008123e-03 -7.50503908e+01] [-4.08283568e-01 -9.12854878e-01 7.06586361e-04 -2.54734085e+02] [-1.76738709e-03 1.64427543e-05 -9.99998438e-01 -8.06200679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.480385723 meters 0.014618077485527257 Centerline is valid? [True, True] Translation: X:-75.05, Y:-254.74, Z:-8.06 [[ 9.42120708e-01 -3.35267189e-01 -2.11731389e-03 -7.50544111e+01] [-3.35266390e-01 -9.42123087e-01 7.32588822e-04 -2.54741019e+02] [-2.24038329e-03 1.96770824e-05 -9.99997490e-01 -8.06181393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.510385723 meters 0.014540050419866713 Centerline is valid? [True, True] Translation: X:-75.06, Y:-254.75, Z:-8.06 [[ 9.65806211e-01 -2.59245822e-01 -3.15707218e-03 -7.50574523e+01] [-2.59244517e-01 -9.65811371e-01 8.22753116e-04 -2.54748147e+02] [-3.26243152e-03 2.38335846e-05 -9.99994678e-01 -8.06107670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.540385723 meters 0.014425185119017565 Centerline is valid? [True, True] Translation: X:-75.06, Y:-254.76, Z:-8.06 [[ 9.83367980e-01 -1.81582658e-01 -3.89288159e-03 -7.50602933e+01] [-1.81581330e-01 -9.83375685e-01 6.95084095e-04 -2.54757063e+02] [-3.95438032e-03 2.33511728e-05 -9.99992181e-01 -8.05930792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.570385723 meters 0.014289148489355918 Centerline is valid? [True, True] Translation: X:-75.07, Y:-254.76, Z:-8.06 [[ 9.94681053e-01 -1.02892077e-01 -4.77745707e-03 -7.50650366e+01] [-1.02890999e-01 -9.94692525e-01 4.71536049e-04 -2.54763978e+02] [-4.80061816e-03 2.25293580e-05 -9.99988477e-01 -8.05860359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6003857229999 meters 0.01412788335465005 Centerline is valid? [True, True] Translation: X:-75.07, Y:-254.77, Z:-8.06 [[ 9.99693426e-01 -2.42178717e-02 -5.15261552e-03 -7.50694912e+01] [-2.42176625e-02 -9.99706704e-01 1.02997734e-04 -2.54773425e+02] [-5.15359866e-03 2.18181455e-05 -9.99986720e-01 -8.05845663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.630385723 meters 0.01425223420278183 Centerline is valid? [True, True] Translation: X:-75.07, Y:-254.78, Z:-8.06 [[ 9.98458500e-01 5.51752774e-02 -6.02604272e-03 -7.50745994e+01] [ 5.51741579e-02 -9.98476684e-01 -3.51986069e-04 -2.54780966e+02] [-6.03628409e-03 1.89616497e-05 -9.99981781e-01 -8.05818128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.660385723 meters 0.014171004500403546 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.79, Z:-8.06 [[ 9.91007827e-01 1.33705089e-01 -5.14169080e-03 -7.50776396e+01] [ 1.33703217e-01 -9.91021165e-01 -7.07614657e-04 -2.54791523e+02] [-5.19013609e-03 1.37910608e-05 -9.99986531e-01 -8.05954698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.690385723 meters 0.0142791226187509 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.80, Z:-8.06 [[ 9.77526513e-01 2.10767228e-01 -4.36936835e-03 -7.50813086e+01] [ 2.10765065e-01 -9.77536278e-01 -9.54938681e-04 -2.54801260e+02] [-4.47248585e-03 1.25676767e-05 -9.99989998e-01 -8.05993184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7203857229999 meters 0.014191189903379024 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.81, Z:-8.06 [[ 9.58037263e-01 2.86615936e-01 -3.98846855e-03 -7.50831631e+01] [ 2.86613400e-01 -9.58045565e-01 -1.20574253e-03 -2.54810861e+02] [-4.16671963e-03 1.19977372e-05 -9.99991319e-01 -8.06094637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.750385723 meters 0.0142333993950907 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.82, Z:-8.06 [[ 9.32841855e-01 3.60274572e-01 -2.88224613e-03 -7.50837033e+01] [ 3.60272817e-01 -9.32846307e-01 -1.12446011e-03 -2.54822331e+02] [-3.09380704e-03 1.05485217e-05 -9.99995214e-01 -8.06207426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.780385723 meters 0.014270014829784721 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.83, Z:-8.06 [[ 9.02150921e-01 4.31411887e-01 -2.73855702e-03 -7.50828231e+01] [ 4.31409856e-01 -9.02155077e-01 -1.32398429e-03 -2.54833271e+02] [-3.04178568e-03 1.29931557e-05 -9.99995374e-01 -8.06210914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.810385723 meters 0.014279669859119049 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.84, Z:-8.06 [[ 8.65859578e-01 5.00278648e-01 -2.90948559e-03 -7.50828513e+01] [ 5.00275761e-01 -8.65864467e-01 -1.69963682e-03 -2.54843852e+02] [-3.36951219e-03 1.61017021e-05 -9.99994323e-01 -8.06179326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8403857229999 meters 0.014442996882733426 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.85, Z:-8.06 [[ 8.25017145e-01 5.65098384e-01 -3.24461322e-03 -7.50825664e+01] [ 5.65093892e-01 -8.25023524e-01 -2.25336501e-03 -2.54851533e+02] [-3.95025516e-03 2.55536527e-05 -9.99992197e-01 -8.06117800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.870385723 meters 0.014486148631596817 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.86, Z:-8.06 [[ 7.78859728e-01 6.27189858e-01 -3.22583133e-03 -7.50809594e+01] [ 6.27184313e-01 -7.78866408e-01 -2.63761256e-03 -2.54860983e+02] [-4.16677551e-03 3.11393952e-05 -9.99991319e-01 -8.06079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.900385723 meters 0.014795657817538794 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.87, Z:-8.06 [[ 7.28900679e-01 6.84610298e-01 -3.54120645e-03 -7.50805767e+01] [ 6.84601900e-01 -7.28909279e-01 -3.39125115e-03 -2.54869339e+02] [-4.90290370e-03 4.75686010e-05 -9.99987980e-01 -8.05968915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.930385723 meters 0.015080376127811497 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.88, Z:-8.06 [[ 6.74860687e-01 7.37934004e-01 -4.05697708e-03 -7.50776247e+01] [ 7.37920008e-01 -6.74872877e-01 -4.54555684e-03 -2.54879398e+02] [-6.09226475e-03 7.38930464e-05 -9.99981439e-01 -8.05919616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.960385723 meters 0.015447121185554661 Centerline is valid? [True, True] Translation: X:-75.08, Y:-254.89, Z:-8.06 [[ 6.15736864e-01 7.87941772e-01 -3.98482140e-03 -7.50754785e+01] [ 7.87924363e-01 -6.15749752e-01 -5.23854837e-03 -2.54889023e+02] [-6.58132387e-03 8.58294849e-05 -9.99978339e-01 -8.05866678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.990385723 meters 0.015195861791847677 Centerline is valid? [True, True] Translation: X:-75.07, Y:-254.90, Z:-8.06 [[ 5.52678113e-01 8.33384636e-01 -4.11731759e-03 -7.50690951e+01] [ 8.33360098e-01 -5.52693440e-01 -6.39602725e-03 -2.54900491e+02] [-7.60596526e-03 1.03736085e-04 -9.99971069e-01 -8.05905913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.020385723 meters 0.01513828939199693 Centerline is valid? [True, True] Translation: X:-75.06, Y:-254.91, Z:-8.06 [[ 4.85850084e-01 8.74034313e-01 -3.70360603e-03 -7.50610559e+01] [ 8.74007208e-01 -4.85864188e-01 -6.88414122e-03 -2.54911272e+02] [-7.81642518e-03 1.07682222e-04 -9.99969446e-01 -8.05873081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.050385723 meters 0.015163902415963689 Centerline is valid? [True, True] Translation: X:-75.05, Y:-254.92, Z:-8.06 [[ 4.15812355e-01 9.09445042e-01 -3.13080738e-03 -7.50527102e+01] [ 9.09417310e-01 -4.15824127e-01 -7.10286894e-03 -2.54921095e+02] [-7.76153419e-03 1.06250232e-04 -9.99969873e-01 -8.05826300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.080385723 meters 0.015163902415963689 Centerline is valid? [True, True] Translation: X:-75.04, Y:-254.93, Z:-8.06 [[ 3.43282662e-01 9.39228639e-01 -2.56469364e-03 -7.50442978e+01] [ 9.39200070e-01 -3.43292226e-01 -7.32635089e-03 -2.54930926e+02] [-7.76155797e-03 1.06248794e-04 -9.99969873e-01 -8.05826279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.110385723 meters 0.015159616550952573 Centerline is valid? [True, True] Translation: X:-75.04, Y:-254.94, Z:-8.06 [[ 2.68430184e-01 9.63297587e-01 -1.73071045e-03 -7.50351575e+01] [ 9.63275319e-01 -2.68435748e-01 -6.55051641e-03 -2.54939468e+02] [-6.77468120e-03 9.12056605e-05 -9.99977048e-01 -8.05884368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.140385723 meters 0.01510288944773905 Centerline is valid? [True, True] Translation: X:-75.03, Y:-254.95, Z:-8.06 [[ 1.91925312e-01 9.81408898e-01 -1.11778629e-03 -7.50261409e+01] [ 9.81389656e-01 -1.91928550e-01 -6.14611403e-03 -2.54947177e+02] [-6.24638610e-03 8.26109566e-05 -9.99980488e-01 -8.05931109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.170385723 meters 0.015160836870068854 Centerline is valid? [True, True] Translation: X:-75.02, Y:-254.96, Z:-8.06 [[ 1.14579652e-01 9.93413899e-01 -5.72598467e-04 -7.50181223e+01] [ 9.93397999e-01 -1.14581058e-01 -5.62115293e-03 -2.54955094e+02] [-5.64974039e-03 7.52515735e-05 -9.99984037e-01 -8.05988759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.200385723 meters 0.015202360703278218 Centerline is valid? [True, True] Translation: X:-75.01, Y:-254.96, Z:-8.06 [[ 3.64225642e-02 9.99336470e-01 -1.32745468e-04 -7.50091833e+01] [ 9.99319936e-01 -3.64227253e-02 -5.74891041e-03 -2.54961362e+02] [-5.74993079e-03 7.67348659e-05 -9.99983466e-01 -8.05960109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.230385723 meters 0.015220226228567831 Centerline is valid? [True, True] Translation: X:-75.00, Y:-254.97, Z:-8.06 [[-4.23260561e-02 9.99103802e-01 3.11900299e-04 -7.50000414e+01] [ 9.99087932e-01 4.23271419e-02 -5.63179897e-03 -2.54967408e+02] [-5.63995361e-03 7.32439856e-05 -9.99984093e-01 -8.05924875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.260385723 meters 0.015146243956934247 Centerline is valid? [True, True] Translation: X:-74.99, Y:-254.97, Z:-8.06 [[-1.20548778e-01 9.92707217e-01 6.11279987e-04 -7.49904711e+01] [ 9.92696828e-01 1.20550313e-01 -4.54208248e-03 -2.54972552e+02] [-4.58264805e-03 5.92732106e-05 -9.99989498e-01 -8.05949107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.290385723 meters 0.015361877846964614 Centerline is valid? [True, True] Translation: X:-74.98, Y:-254.98, Z:-8.06 [[-1.98034708e-01 9.80194603e-01 8.92025527e-04 -7.49815176e+01] [ 9.80185860e-01 1.98036709e-01 -4.14033573e-03 -2.54978499e+02] [-4.23498853e-03 5.44206322e-05 -9.99991031e-01 -8.05947660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.320385723 meters 0.015282553496842249 Centerline is valid? [True, True] Translation: X:-74.97, Y:-254.98, Z:-8.06 [[-2.74303745e-01 9.61642422e-01 1.14351050e-03 -7.49734220e+01] [ 9.61634824e-01 2.74306123e-01 -3.82296955e-03 -2.54982702e+02] [-3.99000163e-03 5.09846517e-05 -9.99992039e-01 -8.05917702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3503857229999 meters 0.015025186411201824 Centerline is valid? [True, True] Translation: X:-74.96, Y:-254.98, Z:-8.06 [[-3.48369300e-01 9.37355630e-01 1.80396482e-03 -7.49600235e+01] [ 9.37344030e-01 3.48373964e-01 -4.66373870e-03 -2.54984429e+02] [-5.00003611e-03 6.62322701e-05 -9.99987498e-01 -8.05830101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.380385723 meters 0.015686236439575337 Centerline is valid? [True, True] Translation: X:-74.95, Y:-254.99, Z:-8.06 [[-4.19655515e-01 9.07680105e-01 2.46506335e-03 -7.49509362e+01] [ 9.07665576e-01 4.19662747e-01 -5.13629697e-03 -2.54987484e+02] [-5.69660982e-03 8.19777964e-05 -9.99983771e-01 -8.05745735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.410385723 meters 0.015229098874831983 Centerline is valid? [True, True] Translation: X:-74.94, Y:-254.99, Z:-8.06 [[-4.88918054e-01 8.72324634e-01 2.97830991e-03 -7.49381388e+01] [ 8.72309544e-01 4.88927117e-01 -5.13159671e-03 -2.54987400e+02] [-5.93259469e-03 8.90778828e-05 -9.99982398e-01 -8.05847934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.440385723 meters 0.01563959188070173 Centerline is valid? [True, True] Translation: X:-74.93, Y:-254.99, Z:-8.06 [[-5.54547994e-01 8.32145761e-01 3.15498681e-03 -7.49268383e+01] [ 8.32133219e-01 5.54556962e-01 -4.56977819e-03 -2.54987760e+02] [-5.55234144e-03 9.12079995e-05 -9.99984582e-01 -8.05872039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4703857229999 meters 0.015709366480930468 Centerline is valid? [True, True] Translation: X:-74.92, Y:-254.99, Z:-8.06 [[-6.17365681e-01 7.86668299e-01 3.55021309e-03 -7.49150707e+01] [ 7.86656186e-01 6.17375881e-01 -4.36658442e-03 -2.54985907e+02] [-5.62686947e-03 9.70177283e-05 -9.99984164e-01 -8.05859758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.500385723 meters 0.01662395350588169 Centerline is valid? [True, True] Translation: X:-74.91, Y:-254.99, Z:-8.06 [[-6.76436295e-01 7.36490939e-01 3.87765056e-03 -7.49053392e+01] [ 7.36479693e-01 6.76447401e-01 -4.07124332e-03 -2.54985855e+02] [-5.62146047e-03 1.01874149e-04 -9.99984194e-01 -8.05792434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.530385723 meters 0.01646686841045688 Centerline is valid? [True, True] Translation: X:-74.89, Y:-254.98, Z:-8.06 [[-7.30580643e-01 6.82813228e-01 4.24500696e-03 -7.48949619e+01] [ 6.82802612e-01 7.30592966e-01 -3.80939706e-03 -2.54983558e+02] [-5.70247893e-03 1.15430087e-04 -9.99983734e-01 -8.05904092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.560385723 meters 0.017167181751489357 Centerline is valid? [True, True] Translation: X:-74.87, Y:-254.97, Z:-8.06 [[-7.75581546e-01 6.31231727e-01 4.44656139e-03 -7.48708785e+01] [ 6.31222283e-01 7.75594282e-01 -3.45522963e-03 -2.54967208e+02] [-5.62977815e-03 1.26956292e-04 -9.99984145e-01 -8.05875044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5903857229999 meters 0.01743731664393626 Centerline is valid? [True, True] Translation: X:-74.85, Y:-254.95, Z:-8.06 [[-8.18005754e-01 5.75194132e-01 4.27752687e-03 -7.48511102e+01] [ 5.75187022e-01 8.18016929e-01 -2.86248530e-03 -2.54945723e+02] [-5.14557414e-03 1.18848493e-04 -9.99986754e-01 -8.05870435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.620385723 meters 0.01737098641994333 Centerline is valid? [True, True] Translation: X:-74.83, Y:-254.92, Z:-8.06 [[-8.56700351e-01 5.15800267e-01 3.82022968e-03 -7.48339480e+01] [ 5.15795662e-01 8.56708862e-01 -2.18181152e-03 -2.54920944e+02] [-4.39820358e-03 1.01299202e-04 -9.99990323e-01 -8.05984008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.650385723 meters 0.017367160195312595 Centerline is valid? [True, True] Translation: X:-74.82, Y:-254.89, Z:-8.06 [[-8.91354371e-01 4.53291668e-01 3.74807514e-03 -7.48190044e+01] [ 4.53288099e-01 8.91362247e-01 -1.80137960e-03 -2.54894531e+02] [-4.15744304e-03 9.32902757e-05 -9.99991354e-01 -8.05945762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.680385723 meters 0.015479333073851326 Centerline is valid? [True, True] Translation: X:-74.47, Y:-254.19, Z:-9.01 [[-8.79808143e-01 -4.75303749e-01 4.89671827e-03 -7.44724673e+01] [ 4.75296167e-01 -8.79821769e-01 -2.68484429e-03 -2.54190823e+02] [ 5.58435588e-03 -3.47564447e-05 9.99984407e-01 -9.01103475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.710385723 meters 0.015305881224439833 Centerline is valid? [True, True] Translation: X:-74.86, Y:-254.87, Z:-8.06 [[-8.94540565e-01 4.46957946e-01 5.07657109e-03 -7.48561897e+01] [ 4.46951423e-01 8.94554964e-01 -2.41711724e-03 -2.54869201e+02] [-5.62162162e-03 1.06771253e-04 -9.99984193e-01 -8.05880794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.740385723 meters 0.01563816666483585 Centerline is valid? [True, True] Translation: X:-74.84, Y:-254.84, Z:-8.06 [[-9.24867986e-01 3.80239997e-01 6.06241238e-03 -7.48443078e+01] [ 3.80232591e-01 9.24887849e-01 -2.37569936e-03 -2.54840408e+02] [-6.51038746e-03 1.07918487e-04 -9.99978801e-01 -8.05737937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.770385723 meters 0.01487252055169999 Centerline is valid? [True, True] Translation: X:-74.83, Y:-254.81, Z:-8.06 [[-9.49634805e-01 3.13293929e-01 6.37582752e-03 -7.48308170e+01] [ 3.13287625e-01 9.49656202e-01 -1.99032666e-03 -2.54810022e+02] [-6.67840141e-03 1.07384393e-04 -9.99977694e-01 -8.05713404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.800385723 meters 0.014802393538781926 Centerline is valid? [True, True] Translation: X:-74.82, Y:-254.78, Z:-8.06 [[-9.69398588e-01 2.45416354e-01 6.09838097e-03 -7.48214438e+01] [ 2.45412160e-01 9.69417765e-01 -1.43842048e-03 -2.54779695e+02] [-6.26489076e-03 1.02214064e-04 -9.99980370e-01 -8.05708202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.830385723 meters 0.015120591282894958 Centerline is valid? [True, True] Translation: X:-74.82, Y:-254.75, Z:-8.06 [[-9.84223009e-01 1.76833890e-01 5.90282938e-03 -7.48163679e+01] [ 1.76831333e-01 9.84240705e-01 -9.56447502e-04 -2.54750663e+02] [-5.97893728e-03 1.02447547e-04 -9.99982121e-01 -8.05706127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.860385723 meters 0.015274326874838432 Centerline is valid? [True, True] Translation: X:-74.82, Y:-254.72, Z:-8.06 [[-9.94083119e-01 1.08496315e-01 5.22523189e-03 -7.48153877e+01] [ 1.08495347e-01 9.94096846e-01 -4.69170473e-04 -2.54718835e+02] [-5.24528981e-03 1.00518899e-04 -9.99986238e-01 -8.05743217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.890385723 meters 0.015611598913678955 Centerline is valid? [True, True] Translation: X:-74.81, Y:-254.69, Z:-8.06 [[-9.99246036e-01 3.85523407e-02 4.59098807e-03 -7.48135976e+01] [ 3.85523590e-02 9.99256578e-01 -8.45600496e-05 -2.54688988e+02] [-4.59083501e-03 9.24971257e-05 -9.99989458e-01 -8.05748809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.920385723 meters 0.015684804214602426 Centerline is valid? [True, True] Translation: X:-74.79, Y:-253.94, Z:-9.01 [[-9.97941255e-01 -6.40462198e-02 3.36665320e-03 -7.47943955e+01] [ 6.40453618e-02 -9.97946923e-01 -3.62162426e-04 -2.53939730e+02] [ 3.38293633e-03 -1.45798303e-04 9.99994267e-01 -9.01191476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.950385723 meters 0.01557838295888106 Centerline is valid? [True, True] Translation: X:-74.90, Y:-254.68, Z:-8.06 [[-9.99366088e-01 3.54624420e-02 3.13649027e-03 -7.48980885e+01] [ 3.54624896e-02 9.99371007e-01 -4.04584687e-05 -2.54683831e+02] [-3.13595219e-03 7.07949318e-05 -9.99995080e-01 -8.05852788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.980385723 meters 0.016280343921807452 Centerline is valid? [True, True] Translation: X:-74.90, Y:-254.65, Z:-8.06 [[-9.99409035e-01 -3.42887514e-02 2.42130087e-03 -7.49002801e+01] [-3.42885091e-02 9.99411966e-01 1.41524774e-04 -2.54653302e+02] [-2.42472977e-03 5.84183415e-05 -9.99997059e-01 -8.05836903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.010385723 meters 0.01585450590609516 Centerline is valid? [True, True] Translation: X:-74.92, Y:-254.62, Z:-8.06 [[-9.94469308e-01 -1.05004509e-01 2.20201181e-03 -7.49196075e+01] [-1.05004130e-01 9.94471744e-01 2.87282037e-04 -2.54623845e+02] [-2.22000443e-03 5.44728340e-05 -9.99997534e-01 -8.05879325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.040385723 meters 0.01614548975682699 Centerline is valid? [True, True] Translation: X:-75.02, Y:-253.89, Z:-9.01 [[-9.96258901e-01 8.63716761e-02 2.85231997e-03 -7.50218639e+01] [-8.63714011e-02 -9.96262984e-01 2.19679556e-04 -2.53894850e+02] [ 2.86063489e-03 -2.75011586e-05 9.99995908e-01 -9.01179235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.070385723 meters 0.016057661831192272 Centerline is valid? [True, True] Translation: X:-75.04, Y:-254.63, Z:-8.06 [[-9.93812382e-01 -1.11031677e-01 2.98589440e-03 -7.50412193e+01] [-1.11030951e-01 9.93816865e-01 4.08418287e-04 -2.54634532e+02] [-3.01277958e-03 7.43644559e-05 -9.99995459e-01 -8.05811933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1003857229999 meters 0.01633500065850649 Centerline is valid? [True, True] Translation: X:-75.07, Y:-254.61, Z:-8.06 [[-9.83255347e-01 -1.82209247e-01 2.95175043e-03 -7.50667172e+01] [-1.82208199e-01 9.83259775e-01 6.22447632e-04 -2.54606162e+02] [-3.01575317e-03 7.41918347e-05 -9.99995450e-01 -8.05737813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.130385723 meters 0.016771341761579926 Centerline is valid? [True, True] Translation: X:-75.11, Y:-254.58, Z:-8.06 [[-9.67740885e-01 -2.51927606e-01 3.17199998e-03 -7.51068714e+01] [-2.51925965e-01 9.67746079e-01 9.13330207e-04 -2.54584425e+02] [-3.29978364e-03 8.47578268e-05 -9.99994552e-01 -8.05811387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.160385723 meters 0.017148118751621005 Centerline is valid? [True, True] Translation: X:-75.17, Y:-254.57, Z:-8.06 [[-9.46873621e-01 -3.21592454e-01 2.93942856e-03 -7.51700950e+01] [-3.21590630e-01 9.46878179e-01 1.08625593e-03 -2.54573164e+02] [-3.13261247e-03 8.32543966e-05 -9.99995090e-01 -8.05824284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.190385723 meters 0.017222352061485834 Centerline is valid? [True, True] Translation: X:-75.24, Y:-254.57, Z:-8.06 [[-9.21312319e-01 -3.88815307e-01 2.50371273e-03 -7.52408345e+01] [-3.88813639e-01 9.21315717e-01 1.14186136e-03 -2.54565831e+02] [-2.75068306e-03 7.85332797e-05 -9.99996214e-01 -8.05824336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2203857229999 meters 0.017219147264848474 Centerline is valid? [True, True] Translation: X:-75.32, Y:-254.57, Z:-8.06 [[-8.90239293e-01 -4.55487348e-01 2.29726890e-03 -7.53204580e+01] [-4.55485607e-01 8.90242254e-01 1.26165129e-03 -2.54570796e+02] [-2.61979204e-03 7.67986349e-05 -9.99996565e-01 -8.05856330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.250385723 meters 0.016960397838126706 Centerline is valid? [True, True] Translation: X:-75.41, Y:-254.58, Z:-8.06 [[-8.53964179e-01 -5.20321503e-01 3.27350486e-03 -7.54069841e+01] [-5.20317155e-01 8.53970445e-01 2.13025326e-03 -2.54584560e+02] [-3.90389298e-03 1.15899237e-04 -9.99992373e-01 -8.05827032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.280385723 meters 0.01626042387750401 Centerline is valid? [True, True] Translation: X:-75.50, Y:-254.61, Z:-8.06 [[-8.12566986e-01 -5.82859305e-01 3.15020785e-03 -7.54985647e+01] [-5.82854357e-01 8.12573084e-01 2.40469156e-03 -2.54609493e+02] [-3.96137096e-03 1.17860605e-04 -9.99992147e-01 -8.05863236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.310385723 meters 0.017945512473082292 Centerline is valid? [True, True] Translation: X:-75.59, Y:-254.64, Z:-8.06 [[-7.66137338e-01 -6.42671133e-01 2.71936201e-03 -7.55902452e+01] [-6.42666581e-01 7.66142156e-01 2.42110637e-03 -2.54644625e+02] [-3.63939305e-03 1.07256901e-04 -9.99993372e-01 -8.05772701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3403857229999 meters 0.01789534784990918 Centerline is valid? [True, True] Translation: X:-75.69, Y:-254.69, Z:-8.06 [[-7.15124980e-01 -6.98992466e-01 2.40764229e-03 -7.56881804e+01] [-6.98988024e-01 7.15129025e-01 2.49395947e-03 -2.54694795e+02] [-3.46503377e-03 1.00579586e-04 -9.99993992e-01 -8.05764386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.370385723 meters 0.01649632480212367 Centerline is valid? [True, True] Translation: X:-75.78, Y:-254.74, Z:-8.06 [[-6.58526138e-01 -7.52553810e-01 2.46754141e-03 -7.57800007e+01] [-7.52547925e-01 6.58530752e-01 2.97806154e-03 -2.54744853e+02] [-3.86610346e-03 1.04188194e-04 -9.99992521e-01 -8.05766376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.400385723 meters 0.01601560389133428 Centerline is valid? [True, True] Translation: X:-75.87, Y:-254.81, Z:-8.06 [[-5.98414677e-01 -8.01183596e-01 2.17255721e-03 -7.58732893e+01] [-8.01177724e-01 5.98418613e-01 3.06908850e-03 -2.54814459e+02] [-3.75900204e-03 9.59831640e-05 -9.99992930e-01 -8.05755015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.430385723 meters 0.01477366385459144 Centerline is valid? [True, True] Translation: X:-75.96, Y:-254.88, Z:-8.06 [[-5.32238775e-01 -8.46591731e-01 2.08011310e-03 -7.59615426e+01] [-8.46584618e-01 5.32242833e-01 3.47151062e-03 -2.54884566e+02] [-4.04607747e-03 8.66808066e-05 -9.99991811e-01 -8.05734910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.460385723 meters 0.014427971216777 Centerline is valid? [True, True] Translation: X:-76.04, Y:-254.97, Z:-8.06 [[-4.64026601e-01 -8.85819617e-01 1.70867943e-03 -7.60445499e+01] [-8.85813026e-01 4.64029741e-01 3.41798823e-03 -2.54969280e+02] [-3.82059910e-03 7.24669639e-05 -9.99992699e-01 -8.05702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.490385723 meters 0.013665592340724134 Centerline is valid? [True, True] Translation: X:-76.13, Y:-255.07, Z:-8.06 [[-3.90471679e-01 -9.20613281e-01 1.74757876e-03 -7.61274076e+01] [-9.20603318e-01 3.90475585e-01 4.28350725e-03 -2.55066355e+02] [-4.62584050e-03 6.37614669e-05 -9.99989299e-01 -8.05636995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.520385723 meters 0.013477464006906912 Centerline is valid? [True, True] Translation: X:-76.19, Y:-255.16, Z:-8.06 [[-3.16638570e-01 -9.48545112e-01 1.47866146e-03 -7.61947703e+01] [-9.48533951e-01 3.16642018e-01 4.60168034e-03 -2.55159847e+02] [-4.83310774e-03 5.45088910e-05 -9.99988319e-01 -8.05641732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.550385723 meters 0.013036592808579828 Centerline is valid? [True, True] Translation: X:-76.26, Y:-255.26, Z:-8.06 [[-2.40193400e-01 -9.70724338e-01 1.17903373e-03 -7.62580292e+01] [-9.70711788e-01 2.40196290e-01 4.93629312e-03 -2.55263403e+02] [-5.07497940e-03 4.11630906e-05 -9.99987121e-01 -8.05665794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.580385723 meters 0.012896873622591086 Centerline is valid? [True, True] Translation: X:-76.31, Y:-255.37, Z:-8.06 [[-1.64441595e-01 -9.86386511e-01 7.83522867e-04 -7.63120126e+01] [-9.86374245e-01 1.64443457e-01 4.91908423e-03 -2.55374318e+02] [-4.98096353e-03 3.60552774e-05 -9.99987594e-01 -8.05688362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.610385723 meters 0.012865449796906252 Centerline is valid? [True, True] Translation: X:-76.36, Y:-255.49, Z:-8.06 [[-8.76090552e-02 -9.96154848e-01 4.14557744e-04 -7.63575523e+01] [-9.96141900e-01 8.76100301e-02 5.07918139e-03 -2.55490540e+02] [-5.09597058e-03 3.20239436e-05 -9.99987015e-01 -8.05620310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.640385723 meters 0.01283644712802067 Centerline is valid? [True, True] Translation: X:-76.39, Y:-255.60, Z:-8.06 [[-1.15553812e-02 -9.99933234e-01 2.69739185e-05 -7.63921035e+01] [-9.99917909e-01 1.15553534e-02 5.53609777e-03 -2.55603920e+02] [-5.53603984e-03 3.70000156e-05 -9.99984675e-01 -8.05602635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.670385723 meters 0.013054745562152338 Centerline is valid? [True, True] Translation: X:-76.42, Y:-255.72, Z:-8.06 [[ 6.33962316e-02 -9.97988316e-01 -4.88515192e-04 -7.64166598e+01] [-9.97965126e-01 -6.33980889e-02 6.80360580e-03 -2.55724749e+02] [-6.82089002e-03 5.61981564e-05 -9.99976736e-01 -8.05567263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.700385723 meters 0.01321446332747517 Centerline is valid? [True, True] Translation: X:-76.43, Y:-255.84, Z:-8.06 [[ 1.38247809e-01 -9.90397181e-01 -9.83704152e-04 -7.64325444e+01] [-9.90375306e-01 -1.38251294e-01 6.58273528e-03 -2.55841834e+02] [-6.65552084e-03 6.41875681e-05 -9.99977850e-01 -8.05548460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.730385723 meters 0.013789251061382984 Centerline is valid? [True, True] Translation: X:-76.44, Y:-255.96, Z:-8.06 [[ 2.10015536e-01 -9.77697119e-01 -1.34879420e-03 -7.64370966e+01] [-9.77679355e-01 -2.10019851e-01 5.89415827e-03 -2.55963687e+02] [-6.04597511e-03 8.08234319e-05 -9.99981720e-01 -8.05552229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.760385723 meters 0.01471756597834875 Centerline is valid? [True, True] Translation: X:-76.43, Y:-256.09, Z:-8.06 [[ 2.80389246e-01 -9.59884583e-01 -1.85954265e-03 -7.64301538e+01] [-9.59865979e-01 -2.80395391e-01 5.97721625e-03 -2.56088649e+02] [-6.25884491e-03 1.08964570e-04 -9.99980407e-01 -8.05567513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.790385723 meters 0.015312981531199739 Centerline is valid? [True, True] Translation: X:-76.42, Y:-256.20, Z:-8.06 [[ 3.51256330e-01 -9.36276431e-01 -2.33133291e-03 -7.64195750e+01] [-9.36258057e-01 -3.51264046e-01 5.86699694e-03 -2.56200764e+02] [-6.31204438e-03 1.21909405e-04 -9.99980072e-01 -8.05543631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.820385723 meters 0.015939241638598167 Centerline is valid? [True, True] Translation: X:-76.40, Y:-256.32, Z:-8.06 [[ 4.19721698e-01 -9.07646851e-01 -3.29999007e-03 -7.63978255e+01] [-9.07621762e-01 -4.19734640e-01 6.75052999e-03 -2.56316874e+02] [-7.51221743e-03 1.61798891e-04 -9.99971770e-01 -8.05518336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8503857229999 meters 0.01618040807649671 Centerline is valid? [True, True] Translation: X:-76.37, Y:-256.44, Z:-8.05 [[ 4.87507098e-01 -8.73109955e-01 -3.97955503e-03 -7.63668233e+01] [-8.73083689e-01 -4.87523310e-01 6.77458455e-03 -2.56435656e+02] [-7.85508305e-03 1.71826535e-04 -9.99969134e-01 -8.05485950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.880385723 meters 0.01625747326353411 Centerline is valid? [True, True] Translation: X:-76.33, Y:-256.54, Z:-8.05 [[ 5.53198528e-01 -8.33035467e-01 -4.82686823e-03 -7.63317919e+01] [-8.33006540e-01 -5.53219557e-01 6.94449784e-03 -2.56543891e+02] [-8.45533091e-03 1.79126825e-04 -9.99964237e-01 -8.05427460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.910385723 meters 0.014849590456966712 Centerline is valid? [True, True] Translation: X:-76.29, Y:-256.65, Z:-8.06 [[ 6.15422742e-01 -7.88177776e-01 -5.53558707e-03 -7.62882423e+01] [-7.88148492e-01 -6.15447611e-01 6.79648773e-03 -2.56654254e+02] [-8.76370442e-03 1.80151488e-04 -9.99961582e-01 -8.05515339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.940385723 meters 0.015160568987138948 Centerline is valid? [True, True] Translation: X:-76.24, Y:-256.75, Z:-8.05 [[ 6.74744104e-01 -7.38022238e-01 -6.60085940e-03 -7.62385422e+01] [-7.37989505e-01 -6.74776366e-01 6.95312849e-03 -2.56751825e+02] [-9.58566736e-03 1.79782513e-04 -9.99954040e-01 -8.05465676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9703857229999 meters 0.015160568987138948 Centerline is valid? [True, True] Translation: X:-76.18, Y:-256.85, Z:-8.05 [[ 7.28668089e-01 -6.84830117e-01 -7.10822391e-03 -7.61848532e+01] [-6.84799920e-01 -7.28702737e-01 6.43355987e-03 -2.56845318e+02] [-9.58567777e-03 1.79781387e-04 -9.99954040e-01 -8.05465628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.000385723 meters 0.01456627329249179 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.86, Z:-8.06 [[ 7.81342616e-01 -6.24058810e-01 -7.37007630e-03 -7.61881784e+01] [-6.24032895e-01 -7.81377360e-01 5.68925793e-03 -2.56857538e+02] [-9.30924229e-03 1.53910373e-04 -9.99956656e-01 -8.05511432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.030385723 meters 0.014431595098855483 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.87, Z:-8.05 [[ 8.28288954e-01 -5.60246325e-01 -7.83987999e-03 -7.61901512e+01] [-5.60222884e-01 -8.28326044e-01 5.12701062e-03 -2.56869429e+02] [-9.36636563e-03 1.45433905e-04 -9.99956124e-01 -8.05497977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.060385723 meters 0.014351379522172688 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.88, Z:-8.05 [[ 8.69871095e-01 -4.93207870e-01 -8.38306367e-03 -7.61911974e+01] [-4.93186533e-01 -8.69911477e-01 4.58979408e-03 -2.56880708e+02] [-9.55624586e-03 1.41884910e-04 -9.99954328e-01 -8.05488244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0903857229999 meters 0.015281781127224794 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.89, Z:-8.05 [[ 9.06360245e-01 -4.22415655e-01 -8.72471309e-03 -7.61895276e+01] [-4.22397448e-01 -9.06402227e-01 3.92400752e-03 -2.56887543e+02] [-9.56566159e-03 1.28732131e-04 -9.99954240e-01 -8.05387877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.120385723 meters 0.014101541959893176 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.90, Z:-8.06 [[ 9.36721158e-01 -3.49951925e-01 -9.33394351e-03 -7.61897282e+01] [-3.49935933e-01 -9.36767652e-01 3.34806897e-03 -2.56901094e+02] [-9.91539952e-03 1.30075192e-04 -9.99950833e-01 -8.05617753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.150385723 meters 0.014092182739530668 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.91, Z:-8.06 [[ 9.61458212e-01 -2.74830144e-01 -8.15467020e-03 -7.61890816e+01] [-2.74821174e-01 -9.61492788e-01 2.22289489e-03 -2.56911034e+02] [-8.45157511e-03 1.03855490e-04 -9.99964280e-01 -8.05619423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.180385723 meters 0.013806941309598041 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.92, Z:-8.06 [[ 9.80107504e-01 -1.98321774e-01 -7.59971756e-03 -7.61865385e+01] [-1.98316528e-01 -9.80136963e-01 1.44526245e-03 -2.56922959e+02] [-7.73539110e-03 9.06370292e-05 -9.99970077e-01 -8.05692012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.210385723 meters 0.013662949586493717 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.93, Z:-8.06 [[ 9.92818920e-01 -1.19467009e-01 -6.18278631e-03 -7.61876297e+01] [-1.19465090e-01 -9.92838169e-01 6.79973136e-04 -2.56930795e+02] [-6.21974059e-03 6.35369311e-05 -9.99980655e-01 -8.05786973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.240385723 meters 0.013510301159793436 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.94, Z:-8.06 [[ 9.99154920e-01 -4.07125345e-02 -5.65108627e-03 -7.61868447e+01] [-4.07121895e-02 -9.99170900e-01 1.76121283e-04 -2.56939674e+02] [-5.65357129e-03 5.40956482e-05 -9.99984017e-01 -8.05830285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.270385723 meters 0.013299776025296405 Centerline is valid? [True, True] Translation: X:-76.19, Y:-256.95, Z:-8.06 [[ 9.99237549e-01 3.86479600e-02 -5.53675728e-03 -7.61857443e+01] [ 3.86471028e-02 -9.99252887e-01 -2.61769831e-04 -2.56949969e+02] [-5.54273757e-03 4.75906165e-05 -9.99984638e-01 -8.05861219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.300385723 meters 0.013353714384945597 Centerline is valid? [True, True] Translation: X:-76.18, Y:-256.96, Z:-8.06 [[ 9.93185865e-01 1.16359220e-01 -6.50925106e-03 -7.61848298e+01] [ 1.16356331e-01 -9.93207193e-01 -8.22012728e-04 -2.56958179e+02] [-6.56068373e-03 5.90188509e-05 -9.99978477e-01 -8.05798436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.330385723 meters 0.013604668322081955 Centerline is valid? [True, True] Translation: X:-76.18, Y:-256.97, Z:-8.06 [[ 9.81179736e-01 1.92969035e-01 -7.01985345e-03 -7.61837652e+01] [ 1.92963582e-01 -9.81204844e-01 -1.45232808e-03 -2.56966221e+02] [-7.16816856e-03 7.04188157e-05 -9.99974306e-01 -8.05759325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.360385723 meters 0.014043256008789294 Centerline is valid? [True, True] Translation: X:-76.18, Y:-256.97, Z:-8.06 [[ 9.63617822e-01 2.67210617e-01 -6.25929802e-03 -7.61818725e+01] [ 2.67204458e-01 -9.63638148e-01 -1.81586046e-03 -2.56972333e+02] [-6.51691555e-03 7.72831650e-05 -9.99978762e-01 -8.05868293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.390385723 meters 0.013913950120083651 Centerline is valid? [True, True] Translation: X:-76.18, Y:-256.98, Z:-8.06 [[ 9.39983777e-01 3.41173413e-01 -5.58571556e-03 -7.61790665e+01] [ 3.41166915e-01 -9.40000370e-01 -2.10715076e-03 -2.56982759e+02] [-5.96947851e-03 7.50261886e-05 -9.99982180e-01 -8.05923995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.420385723 meters 0.014128694820892887 Centerline is valid? [True, True] Translation: X:-76.18, Y:-256.99, Z:-8.06 [[ 9.10518552e-01 4.13429409e-01 -5.66493942e-03 -7.61754386e+01] [ 4.13420855e-01 -9.10536170e-01 -2.66062802e-03 -2.56991428e+02] [-6.25811411e-03 8.05470700e-05 -9.99980415e-01 -8.05852001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.450385723 meters 0.014323093009387257 Centerline is valid? [True, True] Translation: X:-76.17, Y:-257.00, Z:-8.06 [[ 8.75557357e-01 4.83073340e-01 -6.28202064e-03 -7.61723412e+01] [ 4.83060114e-01 -8.75579888e-01 -3.57585750e-03 -2.56998902e+02] [-7.22781235e-03 9.62747359e-05 -9.99973874e-01 -8.05788722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.480385723 meters 0.014266538022062155 Centerline is valid? [True, True] Translation: X:-76.17, Y:-257.01, Z:-8.06 [[ 8.35161093e-01 5.49969817e-01 -6.25699935e-03 -7.61675613e+01] [ 5.49953463e-01 -8.35184525e-01 -4.24245206e-03 -2.57007733e+02] [-7.55896961e-03 1.02072442e-04 -9.99971425e-01 -8.05759280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.510385723 meters 0.014209873794287871 Centerline is valid? [True, True] Translation: X:-76.16, Y:-257.02, Z:-8.06 [[ 7.89667719e-01 6.13505814e-01 -5.95895184e-03 -7.61609903e+01] [ 6.13487345e-01 -7.89690196e-01 -4.76164193e-03 -2.57018139e+02] [-7.62702085e-03 1.04373380e-04 -9.99970908e-01 -8.05793651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.540385723 meters 0.014740575874423224 Centerline is valid? [True, True] Translation: X:-76.16, Y:-257.03, Z:-8.06 [[ 7.39793092e-01 6.72812310e-01 -5.45676040e-03 -7.61564199e+01] [ 6.72792917e-01 -7.39813208e-01 -5.10959634e-03 -2.57026395e+02] [-7.47478274e-03 1.08774330e-04 -9.99972058e-01 -8.05770756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.570385723 meters 0.014800327196401255 Centerline is valid? [True, True] Translation: X:-76.15, Y:-257.03, Z:-8.06 [[ 6.85323377e-01 7.28223072e-01 -4.79855162e-03 -7.61508529e+01] [ 7.28204105e-01 -6.85340167e-01 -5.25700212e-03 -2.57033413e+02] [-7.11691041e-03 1.08421459e-04 -9.99974669e-01 -8.05807054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6003857229999 meters 0.014920254346269523 Centerline is valid? [True, True] Translation: X:-76.15, Y:-257.04, Z:-8.06 [[ 6.27309671e-01 7.78758305e-01 -4.25203658e-03 -7.61450153e+01] [ 7.78739160e-01 -6.27324071e-01 -5.46178830e-03 -2.57040033e+02] [-6.92081790e-03 1.15005228e-04 -9.99976044e-01 -8.05920911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.630385723 meters 0.015009589037049683 Centerline is valid? [True, True] Translation: X:-76.14, Y:-257.05, Z:-8.06 [[ 5.65279600e-01 8.24890905e-01 -3.73741688e-03 -7.61366570e+01] [ 8.24871453e-01 -5.65291943e-01 -5.66621986e-03 -2.57048017e+02] [-6.78674488e-03 1.20110006e-04 -9.99976963e-01 -8.05933379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.660385723 meters 0.015252945590245837 Centerline is valid? [True, True] Translation: X:-76.13, Y:-257.06, Z:-8.06 [[ 4.99008667e-01 8.66591159e-01 -3.18022625e-03 -7.61287521e+01] [ 8.66572046e-01 -4.99018787e-01 -5.75675410e-03 -2.57056390e+02] [-6.57574486e-03 1.16775021e-04 -9.99978373e-01 -8.05901265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.690385723 meters 0.015169138418639554 Centerline is valid? [True, True] Translation: X:-76.12, Y:-257.06, Z:-8.06 [[ 4.29033144e-01 9.03285256e-01 -2.51167655e-03 -7.61208001e+01] [ 9.03268329e-01 -4.29040483e-01 -5.53080938e-03 -2.57062980e+02] [-6.07350948e-03 1.04182651e-04 -9.99981551e-01 -8.05886120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7203857229999 meters 0.01498475313430784 Centerline is valid? [True, True] Translation: X:-76.11, Y:-257.07, Z:-8.06 [[ 3.56169517e-01 9.34419071e-01 -2.06734794e-03 -7.61108511e+01] [ 9.34401686e-01 -3.56175504e-01 -5.70095823e-03 -2.57068975e+02] [-6.06342279e-03 9.87741394e-05 -9.99981612e-01 -8.05887575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.750385723 meters 0.014675012200740079 Centerline is valid? [True, True] Translation: X:-76.10, Y:-257.07, Z:-8.06 [[ 2.79972549e-01 9.60006112e-01 -1.90684790e-03 -7.61006847e+01] [ 9.59981292e-01 -2.79979024e-01 -6.90399686e-03 -2.57074620e+02] [-7.16175660e-03 1.02391289e-04 -9.99974349e-01 -8.05797990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.780385723 meters 0.014664905993116316 Centerline is valid? [True, True] Translation: X:-76.09, Y:-257.08, Z:-8.06 [[ 2.02970252e-01 9.79183847e-01 -1.43867415e-03 -7.60913760e+01] [ 9.79155608e-01 -2.02975326e-01 -7.43728368e-03 -2.57080630e+02] [-7.57448340e-03 1.00861480e-04 -9.99971308e-01 -8.05706572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.810385723 meters 0.01452057291783177 Centerline is valid? [True, True] Translation: X:-76.08, Y:-257.08, Z:-8.06 [[ 1.24788609e-01 9.92182916e-01 -9.30109079e-04 -7.60824822e+01] [ 9.92148892e-01 -1.24792033e-01 -8.21728956e-03 -2.57084468e+02] [-8.26912452e-03 1.02617443e-04 -9.99965805e-01 -8.05671750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8403857229999 meters 0.014583256532512126 Centerline is valid? [True, True] Translation: X:-76.08, Y:-257.09, Z:-8.06 [[ 4.66678075e-02 9.98910422e-01 -2.90467678e-04 -7.60751322e+01] [ 9.98874555e-01 -4.66685934e-02 -8.46557401e-03 -2.57088675e+02] [-8.46990582e-03 1.04929005e-04 -9.99964124e-01 -8.05673614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.870385723 meters 0.014596049111700708 Centerline is valid? [True, True] Translation: X:-76.06, Y:-257.09, Z:-8.06 [[-3.02641598e-02 9.99541867e-01 3.70856038e-04 -7.60637647e+01] [ 9.99506600e-01 3.02662076e-02 -8.39719084e-03 -2.57091272e+02] [-8.40456821e-03 1.16539132e-04 -9.99964674e-01 -8.05776385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.900385723 meters 0.015121509660370774 Centerline is valid? [True, True] Translation: X:-76.05, Y:-257.09, Z:-8.06 [[-1.06025039e-01 9.94362940e-01 1.01703798e-03 -7.60534296e+01] [ 9.94328669e-01 1.06029830e-01 -8.25669842e-03 -2.57092821e+02] [-8.31799128e-03 1.35853252e-04 -9.99965396e-01 -8.05733096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.930385723 meters 0.015058752383081568 Centerline is valid? [True, True] Translation: X:-76.04, Y:-257.09, Z:-8.06 [[-1.82484723e-01 9.83207386e-01 1.60037283e-03 -7.60401665e+01] [ 9.83176023e-01 1.82491686e-01 -7.85444824e-03 -2.57093698e+02] [-8.01460627e-03 1.40131383e-04 -9.99967873e-01 -8.05736828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.960385723 meters 0.015775523686901445 Centerline is valid? [True, True] Translation: X:-76.03, Y:-257.10, Z:-8.06 [[-2.57138710e-01 9.66372243e-01 2.09108320e-03 -7.60298546e+01] [ 9.66344769e-01 2.57147171e-01 -7.28831419e-03 -2.57095394e+02] [-7.58094066e-03 1.46599601e-04 -9.99971254e-01 -8.05750835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.990385723 meters 0.015827435729213572 Centerline is valid? [True, True] Translation: X:-76.02, Y:-257.09, Z:-8.06 [[-3.31571421e-01 9.43425953e-01 2.80421594e-03 -7.60180195e+01] [ 9.43396152e-01 3.31583241e-01 -7.50029896e-03 -2.57094551e+02] [-8.00580770e-03 1.58601747e-04 -9.99967941e-01 -8.05759343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.020385723 meters 0.016056269098350222 Centerline is valid? [True, True] Translation: X:-76.01, Y:-257.09, Z:-8.06 [[-4.04536425e-01 9.14513823e-01 3.84044773e-03 -7.60061669e+01] [ 9.14476727e-01 4.04554615e-01 -8.23888424e-03 -2.57094003e+02] [-9.08824438e-03 1.79071289e-04 -9.99958685e-01 -8.05643440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.050385723 meters 0.016044895361660882 Centerline is valid? [True, True] Translation: X:-75.99, Y:-257.09, Z:-8.06 [[-4.75283790e-01 8.79820523e-01 4.60061318e-03 -7.59949713e+01] [ 8.79782914e-01 4.75306022e-01 -8.13692790e-03 -2.57092248e+02] [-9.34573531e-03 1.80190941e-04 -9.99956312e-01 -8.05602902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.080385723 meters 0.015867482725476622 Centerline is valid? [True, True] Translation: X:-75.98, Y:-257.09, Z:-8.06 [[-5.43862788e-01 8.39160384e-01 4.80811437e-03 -7.59843297e+01] [ 8.39130069e-01 5.43884019e-01 -7.13451220e-03 -2.57090175e+02] [-8.60205656e-03 1.54437655e-04 -9.99962990e-01 -8.05648206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.110385723 meters 0.01528330815703373 Centerline is valid? [True, True] Translation: X:-75.97, Y:-257.08, Z:-8.06 [[-6.08462516e-01 7.93568111e-01 4.79793349e-03 -7.59713660e+01] [ 7.93545147e-01 6.08481417e-01 -6.03860919e-03 -2.57083794e+02] [-7.71150107e-03 1.33109497e-04 -9.99970257e-01 -8.05770270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.140385723 meters 0.015037560404511307 Centerline is valid? [True, True] Translation: X:-75.96, Y:-257.08, Z:-8.06 [[-6.69607417e-01 7.42701695e-01 4.48315951e-03 -7.59587905e+01] [ 7.42686099e-01 6.69622416e-01 -4.81427998e-03 -2.57076498e+02] [-6.57759801e-03 1.05902663e-04 -9.99978362e-01 -8.05842799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.170385723 meters 0.015118792246881629 Centerline is valid? [True, True] Translation: X:-75.95, Y:-257.07, Z:-8.06 [[-7.26058181e-01 6.87617216e-01 4.69911188e-03 -7.59479908e+01] [ 6.87603696e-01 7.26073381e-01 -4.31303978e-03 -2.57069875e+02] [-6.37762046e-03 9.96088801e-05 -9.99979658e-01 -8.05800636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.200385723 meters 0.014915027559203698 Centerline is valid? [True, True] Translation: X:-75.92, Y:-257.05, Z:-8.06 [[-7.73016909e-01 6.34358532e-01 5.84057819e-03 -7.59220594e+01] [ 6.34341530e-01 7.73038964e-01 -4.64579973e-03 -2.57052967e+02] [-7.46209721e-03 1.13639551e-04 -9.99972152e-01 -8.05696547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.230385723 meters 0.015025704743768024 Centerline is valid? [True, True] Translation: X:-75.90, Y:-257.03, Z:-8.06 [[-8.16147242e-01 5.77802814e-01 6.89834432e-03 -7.59035486e+01] [ 5.77783463e-01 8.16176386e-01 -4.73041948e-03 -2.57031891e+02] [-8.36351543e-03 1.25030457e-04 -9.99965017e-01 -8.05663722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.260385723 meters 0.014899516560249638 Centerline is valid? [True, True] Translation: X:-75.89, Y:-257.01, Z:-8.06 [[-8.55099070e-01 5.18401293e-01 8.10431461e-03 -7.58878841e+01] [ 5.18379541e-01 8.55137463e-01 -4.75094196e-03 -2.57008752e+02] [-9.39319749e-03 1.38584828e-04 -9.99955873e-01 -8.05671102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.290385723 meters 0.014895239696377642 Centerline is valid? [True, True] Translation: X:-75.52, Y:-256.38, Z:-9.01 [[-8.34980628e-01 -5.50218922e-01 8.15412198e-03 -7.55170192e+01] [ 5.50191302e-01 -8.35020433e-01 -5.51427596e-03 -2.56384958e+02] [ 9.84291744e-03 -1.17986616e-04 9.99951550e-01 -9.01420840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.320385723 meters 0.015367833506214991 Centerline is valid? [True, True] Translation: X:-75.93, Y:-256.99, Z:-8.05 [[-8.56771639e-01 5.15623518e-01 8.64557701e-03 -7.59306578e+01] [ 5.15599039e-01 8.56815246e-01 -5.02654398e-03 -2.56986069e+02] [-9.99946647e-03 1.51050869e-04 -9.99949993e-01 -8.05494827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3503857229999 meters 0.015319968542306463 Centerline is valid? [True, True] Translation: X:-75.56, Y:-256.36, Z:-9.02 [[-8.37455723e-01 -5.46436159e-01 8.68539255e-03 -7.55572005e+01] [ 5.46405150e-01 -8.37500751e-01 -5.82273035e-03 -2.56358478e+02] [ 1.04557732e-02 -1.30535639e-04 9.99945328e-01 -9.01512473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.380385723 meters 0.01554063933493333 Centerline is valid? [True, True] Translation: X:-75.57, Y:-256.38, Z:-9.01 [[-7.99047860e-01 -6.01213790e-01 8.03096314e-03 -7.55733859e+01] [ 6.01181324e-01 -7.99088200e-01 -6.25018443e-03 -2.56383697e+02] [ 1.01751449e-02 -1.66131444e-04 9.99948218e-01 -9.01472297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.410385723 meters 0.015644635437094236 Centerline is valid? [True, True] Translation: X:-76.02, Y:-256.97, Z:-8.06 [[-8.20985656e-01 5.70899681e-01 7.49044909e-03 -7.60231625e+01] [ 5.70877634e-01 8.21019811e-01 -5.01958524e-03 -2.56971210e+02] [-9.01548670e-03 1.55122370e-04 -9.99959348e-01 -8.05618509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.440385723 meters 0.015761158817499284 Centerline is valid? [True, True] Translation: X:-76.01, Y:-256.95, Z:-8.06 [[-8.59271916e-01 5.11453352e-01 8.20024865e-03 -7.60059127e+01] [ 5.11431871e-01 8.59311028e-01 -4.69025757e-03 -2.56947918e+02] [-9.44541205e-03 1.63661901e-04 -9.99955378e-01 -8.05608035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4703857229999 meters 0.015920027025013463 Centerline is valid? [True, True] Translation: X:-75.99, Y:-256.92, Z:-8.06 [[-8.93271955e-01 4.49426189e-01 9.01748042e-03 -7.59930492e+01] [ 4.49405255e-01 8.93317452e-01 -4.34126703e-03 -2.56922281e+02] [-1.00065517e-02 1.74571001e-04 -9.99949918e-01 -8.05547263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.500385723 meters 0.015862825154160813 Centerline is valid? [True, True] Translation: X:-75.66, Y:-256.26, Z:-9.01 [[-8.78125828e-01 -4.78341966e-01 9.16482638e-03 -7.56637694e+01] [ 4.78314103e-01 -8.78173639e-01 -5.16505418e-03 -2.56257531e+02] [ 1.05189711e-02 -1.51901771e-04 9.99944663e-01 -9.01437911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.530385723 meters 0.016010382951165608 Centerline is valid? [True, True] Translation: X:-76.04, Y:-256.91, Z:-8.06 [[-8.95198353e-01 4.45584180e-01 8.63986247e-03 -7.60351523e+01] [ 4.45565154e-01 8.95240031e-01 -4.12070309e-03 -2.56905969e+02] [-9.57087085e-03 1.60775033e-04 -9.99954185e-01 -8.05671956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.560385723 meters 0.01590310406780521 Centerline is valid? [True, True] Translation: X:-76.02, Y:-256.88, Z:-8.06 [[-9.24607255e-01 3.80838035e-01 7.98848350e-03 -7.60226523e+01] [ 3.80825146e-01 9.24641753e-01 -3.13648218e-03 -2.56879542e+02] [-8.58097710e-03 1.42201213e-04 -9.99963173e-01 -8.05725340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5903857229999 meters 0.015829507206430064 Centerline is valid? [True, True] Translation: X:-76.01, Y:-256.85, Z:-8.06 [[-9.49312967e-01 3.14246462e-01 7.35196353e-03 -7.60134075e+01] [ 3.14238070e-01 9.49341427e-01 -2.30015231e-03 -2.56851405e+02] [-7.70233828e-03 1.26702409e-04 -9.99970329e-01 -8.05763197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.620385723 meters 0.01542717478136364 Centerline is valid? [True, True] Translation: X:-76.02, Y:-256.82, Z:-8.06 [[-9.69267193e-01 2.45896527e-01 7.48372043e-03 -7.60219981e+01] [ 2.45890187e-01 9.69296076e-01 -1.77024101e-03 -2.56818059e+02] [-7.68923696e-03 1.24336876e-04 -9.99970430e-01 -8.05762274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.650385723 meters 0.015960029781355366 Centerline is valid? [True, True] Translation: X:-75.83, Y:-256.10, Z:-9.01 [[-9.60089548e-01 -2.79588564e-01 7.63507342e-03 -7.58268328e+01] [ 2.79578809e-01 -9.60119900e-01 -2.33816482e-03 -2.56098506e+02] [ 7.98431008e-03 -1.10242875e-04 9.99968119e-01 -9.01336083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.680385723 meters 0.01637868718264853 Centerline is valid? [True, True] Translation: X:-76.06, Y:-256.82, Z:-8.06 [[-9.70113200e-01 2.42518088e-01 8.08434616e-03 -7.60600125e+01] [ 2.42510848e-01 9.70146875e-01 -1.87901667e-03 -2.56815524e+02] [-8.29869869e-03 1.37682764e-04 -9.99965556e-01 -8.05705966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.710385723 meters 0.01570771080027239 Centerline is valid? [True, True] Translation: X:-75.88, Y:-256.09, Z:-9.01 [[-9.61323392e-01 -2.75314842e-01 7.68592077e-03 -7.58789091e+01] [ 2.75304793e-01 -9.61354105e-01 -2.35704634e-03 -2.56085320e+02] [ 8.03782133e-03 -1.49912961e-04 9.99967685e-01 -9.01254950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.740385723 meters 0.01581378761575794 Centerline is valid? [True, True] Translation: X:-76.11, Y:-256.80, Z:-8.06 [[-9.70952909e-01 2.39150510e-01 7.58170837e-03 -7.61064303e+01] [ 2.39144285e-01 9.70982500e-01 -1.73053353e-03 -2.56804471e+02] [-7.77556412e-03 1.32855667e-04 -9.99969761e-01 -8.05713767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.770385723 meters 0.015570397773159437 Centerline is valid? [True, True] Translation: X:-75.93, Y:-256.07, Z:-9.01 [[-9.62357791e-01 -2.71688918e-01 7.25351830e-03 -7.59340730e+01] [ 2.71680085e-01 -9.62385116e-01 -2.19544661e-03 -2.56072933e+02] [ 7.57715656e-03 -1.42168681e-04 9.99971283e-01 -9.01293313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.800385723 meters 0.015256234358958815 Centerline is valid? [True, True] Translation: X:-76.16, Y:-256.79, Z:-8.06 [[-9.72123116e-01 2.34339499e-01 7.85152880e-03 -7.61589941e+01] [ 2.34332931e-01 9.72154814e-01 -1.75921144e-03 -2.56793333e+02] [-8.04515425e-03 1.29701657e-04 -9.99967629e-01 -8.05763609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.830385723 meters 0.01525168857714814 Centerline is valid? [True, True] Translation: X:-75.99, Y:-256.06, Z:-9.01 [[-9.62923766e-01 -2.69659035e-01 7.86298930e-03 -7.59929459e+01] [ 2.69649007e-01 -9.62955861e-01 -2.32875748e-03 -2.56058909e+02] [ 8.19968212e-03 -1.22168671e-04 9.99966375e-01 -9.01317273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.860385723 meters 0.016085810541635416 Centerline is valid? [True, True] Translation: X:-76.22, Y:-256.78, Z:-8.06 [[-9.73426959e-01 2.28854005e-01 8.11174174e-03 -7.62238054e+01] [ 2.28847080e-01 9.73460749e-01 -1.78438648e-03 -2.56781255e+02] [-8.30482618e-03 1.19378498e-04 -9.99965507e-01 -8.05534325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.890385723 meters 0.016085810541635416 Centerline is valid? [True, True] Translation: X:-76.06, Y:-256.04, Z:-9.01 [[-9.63872138e-01 -2.66246127e-01 7.96879070e-03 -7.60561263e+01] [ 2.66236001e-01 -9.63905071e-01 -2.32518771e-03 -2.56044240e+02] [ 8.30022998e-03 -1.19604678e-04 9.99965545e-01 -9.01477069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.920385723 meters 0.014858714097075718 Centerline is valid? [True, True] Translation: X:-76.26, Y:-256.77, Z:-8.06 [[-9.74422811e-01 2.24609373e-01 7.12842713e-03 -7.62631738e+01] [ 2.24604133e-01 9.74448880e-01 -1.53760447e-03 -2.56771134e+02] [-7.29164821e-03 1.02797329e-04 -9.99973410e-01 -8.05662971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.950385723 meters 0.015337991444221542 Centerline is valid? [True, True] Translation: X:-76.25, Y:-256.74, Z:-8.06 [[-9.87275882e-01 1.58870882e-01 6.81000621e-03 -7.62540721e+01] [ 1.58867961e-01 9.87299361e-01 -9.71162845e-04 -2.56741831e+02] [-6.87780427e-03 1.23086150e-04 -9.99976340e-01 -8.05621168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.980385723 meters 0.0153595399035978 Centerline is valid? [True, True] Translation: X:-76.25, Y:-256.71, Z:-8.06 [[-9.95948452e-01 8.97838489e-02 5.05381462e-03 -7.62504590e+01] [ 8.97831032e-02 9.95961271e-01 -3.74694540e-04 -2.56713459e+02] [-5.06704516e-03 8.05707127e-05 -9.99987159e-01 -8.05718418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.010385723 meters 0.015463138117845346 Centerline is valid? [True, True] Translation: X:-76.25, Y:-256.68, Z:-8.06 [[-9.99796800e-01 1.97012536e-02 4.26853091e-03 -7.62514822e+01] [ 1.97013810e-02 9.99805909e-01 -1.21854893e-05 -2.56684946e+02] [-4.26794250e-03 7.19129408e-05 -9.99990890e-01 -8.05791966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.040385723 meters 0.015620466653395589 Centerline is valid? [True, True] Translation: X:-76.26, Y:-256.66, Z:-8.06 [[-9.98701584e-01 -5.08093064e-02 3.68252695e-03 -7.62574657e+01] [-5.08087215e-02 9.98708371e-01 2.52263605e-04 -2.56656794e+02] [-3.69058783e-03 6.48315754e-05 -9.99993188e-01 -8.05831481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.070385723 meters 0.01576233801842266 Centerline is valid? [True, True] Translation: X:-76.30, Y:-255.90, Z:-9.01 [[-9.99811692e-01 1.88875239e-02 4.45449515e-03 -7.63024308e+01] [-1.88874590e-02 -9.99821614e-01 5.66303310e-05 -2.55901201e+02] [ 4.45477013e-03 -2.75144274e-05 9.99990077e-01 -9.01331502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1003857229999 meters 0.015960801987702205 Centerline is valid? [True, True] Translation: X:-76.37, Y:-256.66, Z:-8.05 [[-9.98339567e-01 -5.73440162e-02 5.45647678e-03 -7.63679618e+01] [-5.73426435e-02 9.98354474e-01 4.07825694e-04 -2.56662323e+02] [-5.47088437e-03 9.42597238e-05 -9.99985030e-01 -8.05447973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.130385723 meters 0.015592684272349862 Centerline is valid? [True, True] Translation: X:-76.37, Y:-256.63, Z:-8.05 [[-9.91670996e-01 -1.28677366e-01 5.54722741e-03 -7.63728412e+01] [-1.28674811e-01 9.91686506e-01 8.16499567e-04 -2.56632616e+02] [-5.60617558e-03 9.59105008e-05 -9.99984281e-01 -8.05398758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.160385723 meters 0.01553680272392821 Centerline is valid? [True, True] Translation: X:-76.40, Y:-256.61, Z:-8.05 [[-9.79702205e-01 -2.00386335e-01 5.37643981e-03 -7.63983176e+01] [-2.00382811e-01 9.79716953e-01 1.19182575e-03 -2.56607895e+02] [-5.50621482e-03 9.02881894e-05 -9.99984837e-01 -8.05278254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.190385723 meters 0.015686986540521614 Centerline is valid? [True, True] Translation: X:-76.59, Y:-255.88, Z:-9.02 [[-9.86067254e-01 1.66259220e-01 5.40764031e-03 -7.65880297e+01] [-1.66257231e-01 -9.86082077e-01 8.18270466e-04 -2.55876663e+02] [ 5.46842220e-03 -9.21895955e-05 9.99985044e-01 -9.01754808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2203857229999 meters 0.015589250703789503 Centerline is valid? [True, True] Translation: X:-76.56, Y:-256.64, Z:-8.05 [[-9.78152471e-01 -2.07805603e-01 5.88008836e-03 -7.65594697e+01] [-2.07801262e-01 9.78170140e-01 1.34656012e-03 -2.56643419e+02] [-6.03154960e-03 9.52513279e-05 -9.99981806e-01 -8.05216679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.250385723 meters 0.015564634633245146 Centerline is valid? [True, True] Translation: X:-76.61, Y:-256.63, Z:-8.05 [[-9.60529951e-01 -2.78120511e-01 5.58518602e-03 -7.66051599e+01] [-2.78115251e-01 9.60546185e-01 1.71293554e-03 -2.56625831e+02] [-5.84123163e-03 9.20004790e-05 -9.99982936e-01 -8.05208364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.280385723 meters 0.015448077791765531 Centerline is valid? [True, True] Translation: X:-76.66, Y:-256.61, Z:-8.05 [[-9.37175607e-01 -3.48822357e-01 4.98447428e-03 -7.66566530e+01] [-3.48816961e-01 9.37188859e-01 1.94192474e-03 -2.56613353e+02] [-5.34878053e-03 8.12553310e-05 -9.99985692e-01 -8.05200591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.310385723 meters 0.01547819412605791 Centerline is valid? [True, True] Translation: X:-76.73, Y:-256.61, Z:-8.05 [[-9.08730793e-01 -4.17358574e-01 4.49063111e-03 -7.67280935e+01] [-4.17353069e-01 9.08741886e-01 2.14495646e-03 -2.56613266e+02] [-4.97604056e-03 7.50093130e-05 -9.99987617e-01 -8.05231461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3403857229999 meters 0.015619752032837624 Centerline is valid? [True, True] Translation: X:-76.81, Y:-256.62, Z:-8.05 [[-8.75156109e-01 -4.83826628e-01 3.68500985e-03 -7.68081010e+01] [-4.83822028e-01 8.75163865e-01 2.11075157e-03 -2.56624636e+02] [-4.24622527e-03 6.43481905e-05 -9.99990983e-01 -8.05264124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.370385723 meters 0.015378986591552126 Centerline is valid? [True, True] Translation: X:-76.90, Y:-256.65, Z:-8.05 [[-8.36305098e-01 -5.48253961e-01 3.37293685e-03 -7.68965137e+01] [-5.48249208e-01 8.36311898e-01 2.28367534e-03 -2.56645500e+02] [-4.07286126e-03 6.06393704e-05 -9.99991704e-01 -8.05294948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.400385723 meters 0.015160875894296332 Centerline is valid? [True, True] Translation: X:-76.99, Y:-256.67, Z:-8.05 [[-7.91887051e-01 -6.10661167e-01 2.79961838e-03 -7.69860898e+01] [-6.10657133e-01 7.91891998e-01 2.22019228e-03 -2.56674629e+02] [-3.57278060e-03 4.85345821e-05 -9.99993617e-01 -8.05273927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.430385723 meters 0.014989566409354439 Centerline is valid? [True, True] Translation: X:-77.08, Y:-256.72, Z:-8.05 [[-7.42870368e-01 -6.69430487e-01 2.53751316e-03 -7.70800116e+01] [-6.69426380e-01 7.42874701e-01 2.34556587e-03 -2.56715840e+02] [-3.45524763e-03 4.37731305e-05 -9.99994030e-01 -8.05256758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.460385723 meters 0.014688625149938165 Centerline is valid? [True, True] Translation: X:-77.19, Y:-256.78, Z:-8.05 [[-6.88397927e-01 -7.25331009e-01 1.79475397e-03 -7.71906802e+01] [-7.25328441e-01 6.88400266e-01 1.93029423e-03 -2.56784754e+02] [-2.63561138e-03 2.70244476e-05 -9.99996526e-01 -8.05196494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.490385723 meters 0.014313607389506995 Centerline is valid? [True, True] Translation: X:-77.27, Y:-256.83, Z:-8.05 [[-6.29050579e-01 -7.77362341e-01 1.77783875e-03 -7.72659758e+01] [-7.77359137e-01 6.29053091e-01 2.23184911e-03 -2.56828399e+02] [-2.85331041e-03 2.19267751e-05 -9.99995929e-01 -8.05154778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.520385723 meters 0.014339803680776343 Centerline is valid? [True, True] Translation: X:-77.36, Y:-256.91, Z:-8.05 [[-5.67050365e-01 -8.23680932e-01 1.89921353e-03 -7.73592029e+01] [-8.23676179e-01 5.67053545e-01 2.79829842e-03 -2.56907638e+02] [-3.38186082e-03 2.24391944e-05 -9.99994281e-01 -8.05125576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.550385723 meters 0.01427353208414891 Centerline is valid? [True, True] Translation: X:-77.44, Y:-256.98, Z:-8.05 [[-5.01728076e-01 -8.65023161e-01 1.96681893e-03 -7.74397089e+01] [-8.65016328e-01 5.01731931e-01 3.43825038e-03 -2.56983599e+02] [-3.96098207e-03 2.37362638e-05 -9.99992155e-01 -8.05105009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.580385723 meters 0.014290763648627126 Centerline is valid? [True, True] Translation: X:-77.52, Y:-257.07, Z:-8.05 [[-4.33347049e-01 -9.01224614e-01 2.12839092e-03 -7.75151919e+01] [-9.01213435e-01 4.33352275e-01 4.48887017e-03 -2.57067556e+02] [-4.96782334e-03 2.71041564e-05 -9.99987660e-01 -8.05008473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.610385723 meters 0.014172393648916159 Centerline is valid? [True, True] Translation: X:-77.59, Y:-257.16, Z:-8.05 [[-3.63061473e-01 -9.31763209e-01 1.92072318e-03 -7.75879793e+01] [-9.31749721e-01 3.63066553e-01 5.01360387e-03 -2.57164916e+02] [-5.36884197e-03 3.06131208e-05 -9.99985587e-01 -8.04970306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.640385723 meters 0.014304476238080389 Centerline is valid? [True, True] Translation: X:-77.65, Y:-257.28, Z:-8.05 [[-2.91451945e-01 -9.56584035e-01 1.65764197e-03 -7.76537312e+01] [-9.56567767e-01 2.91456656e-01 5.57900604e-03 -2.57276789e+02] [-5.81991890e-03 4.03652889e-05 -9.99983063e-01 -8.04987901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.670385723 meters 0.014461389853628036 Centerline is valid? [True, True] Translation: X:-77.71, Y:-257.38, Z:-8.05 [[-2.17715346e-01 -9.76011635e-01 1.14741359e-03 -7.77087042e+01] [-9.75997020e-01 2.17718366e-01 5.34133982e-03 -2.57381690e+02] [-5.46302282e-03 4.30194028e-05 -9.99985077e-01 -8.05003130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.700385723 meters 0.01460921792293545 Centerline is valid? [True, True] Translation: X:-77.76, Y:-257.50, Z:-8.05 [[-1.43869952e-01 -9.89596320e-01 7.48692405e-04 -7.77556906e+01] [-9.89580812e-01 1.43871889e-01 5.54044490e-03 -2.57496410e+02] [-5.59051967e-03 5.62119054e-05 -9.99984371e-01 -8.04981718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.730385723 meters 0.014550744579441645 Centerline is valid? [True, True] Translation: X:-77.80, Y:-257.61, Z:-8.05 [[-6.83420961e-02 -9.97661906e-01 2.81137177e-04 -7.77961516e+01] [-9.97649791e-01 6.83426518e-02 4.91703599e-03 -2.57614722e+02] [-4.92475316e-03 5.55641001e-05 -9.99987872e-01 -8.04979124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.760385723 meters 0.015357291464151681 Centerline is valid? [True, True] Translation: X:-77.82, Y:-257.74, Z:-8.05 [[ 6.08704016e-03 -9.99981468e-01 -1.09056484e-04 -7.78231728e+01] [-9.99966865e-01 -6.08754071e-03 5.40475629e-03 -2.57742828e+02] [-5.40532002e-03 7.61539019e-05 -9.99985388e-01 -8.04851873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.790385723 meters 0.01523184332329724 Centerline is valid? [True, True] Translation: X:-77.84, Y:-257.87, Z:-8.05 [[ 8.19757599e-02 -9.96634166e-01 -5.60079491e-04 -7.78437720e+01] [-9.96617691e-01 -8.19776256e-02 5.73129077e-03 -2.57868071e+02] [-5.75791419e-03 8.83582126e-05 -9.99983419e-01 -8.04879465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.820385723 meters 0.016092441164333855 Centerline is valid? [True, True] Translation: X:-77.85, Y:-258.00, Z:-8.05 [[ 1.56699914e-01 -9.87645676e-01 -1.07548425e-03 -7.78499752e+01] [-9.87626884e-01 -1.56703568e-01 6.09350892e-03 -2.58003617e+02] [-6.18675995e-03 1.07324833e-04 -9.99980856e-01 -8.04929645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8503857229999 meters 0.01562586472553086 Centerline is valid? [True, True] Translation: X:-77.85, Y:-258.13, Z:-8.05 [[ 2.31871500e-01 -9.72745236e-01 -1.52080646e-03 -7.78519034e+01] [-9.72727318e-01 -2.31876461e-01 5.90514461e-03 -2.58133209e+02] [-6.09684051e-03 1.10095251e-04 -9.99981408e-01 -8.04995470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.880385723 meters 0.015821179920365046 Centerline is valid? [True, True] Translation: X:-77.85, Y:-258.24, Z:-8.05 [[ 3.06076620e-01 -9.52004679e-01 -2.04793373e-03 -7.78502245e+01] [-9.51985840e-01 -3.06083449e-01 5.99023898e-03 -2.58238855e+02] [-6.32957416e-03 1.16131812e-04 -9.99979961e-01 -8.04960721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.910385723 meters 0.01647658114502139 Centerline is valid? [True, True] Translation: X:-77.83, Y:-258.37, Z:-8.05 [[ 3.78726413e-01 -9.25505181e-01 -2.54237836e-03 -7.78305655e+01] [-9.25486344e-01 -3.78734928e-01 5.90600004e-03 -2.58368071e+02] [-6.42892113e-03 1.16178243e-04 -9.99979328e-01 -8.04848172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.940385723 meters 0.01618970420588105 Centerline is valid? [True, True] Translation: X:-77.81, Y:-258.49, Z:-8.05 [[ 4.50023870e-01 -8.93011644e-01 -2.95284996e-03 -7.78053817e+01] [-8.92993951e-01 -4.50033545e-01 5.62236728e-03 -2.58489387e+02] [-6.34972099e-03 1.06677669e-04 -9.99979835e-01 -8.04877717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9703857229999 meters 0.015490972831179272 Centerline is valid? [True, True] Translation: X:-77.77, Y:-258.61, Z:-8.05 [[ 5.18046497e-01 -8.55346420e-01 -3.21386092e-03 -7.77731258e+01] [-8.55331109e-01 -5.18056457e-01 5.11875892e-03 -2.58607145e+02] [-6.04327352e-03 9.71600935e-05 -9.99981735e-01 -8.04910295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.000385723 meters 0.015205598149943865 Centerline is valid? [True, True] Translation: X:-77.73, Y:-258.72, Z:-8.05 [[ 5.83220479e-01 -8.12304859e-01 -3.83278370e-03 -7.77314991e+01] [-8.12288368e-01 -5.83233065e-01 5.17677541e-03 -2.58721788e+02] [-6.44052600e-03 9.41241851e-05 -9.99979255e-01 -8.04901462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.030385723 meters 0.015131323230289111 Centerline is valid? [True, True] Translation: X:-77.69, Y:-258.82, Z:-8.05 [[ 6.44075368e-01 -7.64950439e-01 -4.21259310e-03 -7.76875795e+01] [-7.64935000e-01 -6.44089138e-01 4.86084779e-03 -2.58824664e+02] [-6.43159311e-03 9.16075771e-05 -9.99979313e-01 -8.04926149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.060385723 meters 0.01485853242590385 Centerline is valid? [True, True] Translation: X:-77.63, Y:-258.93, Z:-8.05 [[ 7.00953224e-01 -7.13194909e-01 -4.19524931e-03 -7.76309588e+01] [-7.13182828e-01 -7.00965773e-01 4.15194145e-03 -2.58929727e+02] [-5.90186968e-03 8.16630234e-05 -9.99982581e-01 -8.04987619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0903857229999 meters 0.014832494205657276 Centerline is valid? [True, True] Translation: X:-77.64, Y:-258.94, Z:-8.05 [[ 7.54363095e-01 -6.56441297e-01 -4.59833233e-03 -7.76373575e+01] [-6.56429782e-01 -7.54377105e-01 3.88911085e-03 -2.58940266e+02] [-6.02184960e-03 8.46805905e-05 -9.99981865e-01 -8.05059641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.120385723 meters 0.015297080827956056 Centerline is valid? [True, True] Translation: X:-77.64, Y:-258.95, Z:-8.05 [[ 8.02559717e-01 -5.96551829e-01 -4.88025303e-03 -7.76441023e+01] [-5.96541498e-01 -8.02574549e-01 3.51200086e-03 -2.58947796e+02] [-6.01185741e-03 9.26830443e-05 -9.99981924e-01 -8.05150033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.150385723 meters 0.015405524931280338 Centerline is valid? [True, True] Translation: X:-77.65, Y:-258.96, Z:-8.05 [[ 8.46173318e-01 -5.32885254e-01 -4.90118730e-03 -7.76502798e+01] [-5.32876958e-01 -8.46187507e-01 2.97494280e-03 -2.58956135e+02] [-5.73262661e-03 9.44125548e-05 -9.99983564e-01 -8.05210564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.180385723 meters 0.015529434087864214 Centerline is valid? [True, True] Translation: X:-77.66, Y:-258.97, Z:-8.05 [[ 8.84539821e-01 -4.66434269e-01 -5.32709563e-03 -7.76573639e+01] [-4.66426537e-01 -8.84555855e-01 2.68782704e-03 -2.58967032e+02] [-5.96580827e-03 1.07208724e-04 -9.99982199e-01 -8.05195097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.210385723 meters 0.01575977261201025 Centerline is valid? [True, True] Translation: X:-77.66, Y:-258.98, Z:-8.05 [[ 9.18046215e-01 -3.96426935e-01 -6.06899401e-03 -7.76640755e+01] [-3.96419148e-01 -9.18066267e-01 2.48779611e-03 -2.58977113e+02] [-6.55796806e-03 1.21953631e-04 -9.99978489e-01 -8.05077449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.240385723 meters 0.016086926397982575 Centerline is valid? [True, True] Translation: X:-77.67, Y:-258.99, Z:-8.05 [[ 9.45865582e-01 -3.24488231e-01 -6.75935995e-03 -7.76685606e+01] [-3.24480999e-01 -9.45889723e-01 2.17097950e-03 -2.58987266e+02] [-7.09806641e-03 1.39829079e-04 -9.99974799e-01 -8.04974896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.270385723 meters 0.016196133379582162 Centerline is valid? [True, True] Translation: X:-77.67, Y:-259.00, Z:-8.05 [[ 9.68058465e-01 -2.50629334e-01 -6.90985657e-03 -7.76723863e+01] [-2.50624038e-01 -9.68083114e-01 1.63601936e-03 -2.58997555e+02] [-7.09934991e-03 1.48013764e-04 -9.99974788e-01 -8.05028215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.300385723 meters 0.01721096395573221 Centerline is valid? [True, True] Translation: X:-77.68, Y:-259.00, Z:-8.05 [[ 9.84646793e-01 -1.74424798e-01 -6.83247967e-03 -7.76790680e+01] [-1.74421632e-01 -9.84670487e-01 1.06119082e-03 -2.59004639e+02] [-6.91283908e-03 1.46834110e-04 -9.99976095e-01 -8.05031222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.330385723 meters 0.01660955422726897 Centerline is valid? [True, True] Translation: X:-77.68, Y:-259.02, Z:-8.05 [[ 9.95221785e-01 -9.74627911e-02 -5.88238051e-03 -7.76849456e+01] [-9.74618537e-02 -9.95239161e-01 4.46476753e-04 -2.59017046e+02] [-5.89789031e-03 1.28964318e-04 -9.99982599e-01 -8.05119771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.360385723 meters 0.01650931607127716 Centerline is valid? [True, True] Translation: X:-77.69, Y:-259.03, Z:-8.05 [[ 9.99802371e-01 -1.90274600e-02 -5.75981768e-03 -7.76901407e+01] [-1.90278634e-02 -9.99818954e-01 -1.52392546e-05 -2.59028700e+02] [-5.75848492e-03 1.24833267e-04 -9.99983412e-01 -8.05133979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.390385723 meters 0.016497101296004894 Centerline is valid? [True, True] Translation: X:-77.69, Y:-259.04, Z:-8.05 [[ 9.98173824e-01 6.01971275e-02 -5.03220798e-03 -7.76945390e+01] [ 6.01958330e-02 -9.98186503e-01 -4.08456148e-04 -2.59040300e+02] [-5.04766997e-03 1.04792284e-04 -9.99987255e-01 -8.05154670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.420385723 meters 0.016281214680763913 Centerline is valid? [True, True] Translation: X:-77.70, Y:-259.05, Z:-8.05 [[ 9.90312237e-01 1.38774604e-01 -4.82515297e-03 -7.76971401e+01] [ 1.38772473e-01 -9.90323987e-01 -7.75316677e-04 -2.59051661e+02] [-4.88605899e-03 9.82071827e-05 -9.99988058e-01 -8.05188654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.450385723 meters 0.016086349803340044 Centerline is valid? [True, True] Translation: X:-77.70, Y:-259.06, Z:-8.05 [[ 9.76020672e-01 2.17641992e-01 -3.95114343e-03 -7.76997659e+01] [ 2.17639900e-01 -9.76028667e-01 -9.57079345e-04 -2.59063507e+02] [-4.06472991e-03 7.42027620e-05 -9.99991736e-01 -8.05230200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.480385723 meters 0.015883794241982524 Centerline is valid? [True, True] Translation: X:-77.70, Y:-259.07, Z:-8.05 [[ 9.55709380e-01 2.94287714e-01 -3.78437108e-03 -7.77016596e+01] [ 2.94285121e-01 -9.55716871e-01 -1.23734026e-03 -2.59073483e+02] [-3.98092132e-03 6.88535922e-05 -9.99992074e-01 -8.05207221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.510385723 meters 0.015284616539941485 Centerline is valid? [True, True] Translation: X:-77.70, Y:-259.09, Z:-8.05 [[ 9.29460006e-01 3.68907484e-01 -3.37136123e-03 -7.76996885e+01] [ 3.68904821e-01 -9.29466118e-01 -1.40305410e-03 -2.59088380e+02] [-3.65116319e-03 6.03712641e-05 -9.99993333e-01 -8.05203626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.540385723 meters 0.015273341803009032 Centerline is valid? [True, True] Translation: X:-77.70, Y:-259.10, Z:-8.05 [[ 8.97640493e-01 4.40719916e-01 -2.73872467e-03 -7.76979069e+01] [ 4.40717693e-01 -8.97644670e-01 -1.40051436e-03 -2.59100450e+02] [-3.07563617e-03 5.01539770e-05 -9.99995269e-01 -8.05203275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.570385723 meters 0.015341726730066282 Centerline is valid? [True, True] Translation: X:-77.69, Y:-259.11, Z:-8.05 [[ 8.60583079e-01 5.09304928e-01 -2.29223855e-03 -7.76949709e+01] [ 5.09302981e-01 -8.60586131e-01 -1.40876531e-03 -2.59112475e+02] [-2.69015982e-03 4.49156657e-05 -9.99996381e-01 -8.05309223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6003857229999 meters 0.01562499405418868 Centerline is valid? [True, True] Translation: X:-77.69, Y:-259.12, Z:-8.05 [[ 8.18573921e-01 5.74397608e-01 -2.03069235e-03 -7.76929964e+01] [ 5.74395706e-01 -8.18576439e-01 -1.47879432e-03 -2.59123312e+02] [-2.51169284e-03 4.40815006e-05 -9.99996845e-01 -8.05301168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.630385723 meters 0.016005335750669685 Centerline is valid? [True, True] Translation: X:-77.69, Y:-259.13, Z:-8.05 [[ 7.72171466e-01 6.35412049e-01 -1.65960852e-03 -7.76899868e+01] [ 6.35410464e-01 -7.72173249e-01 -1.41995603e-03 -2.59133624e+02] [-2.18376247e-03 4.19169129e-05 -9.99997615e-01 -8.05293828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.660385723 meters 0.016640285977423497 Centerline is valid? [True, True] Translation: X:-77.69, Y:-259.14, Z:-8.05 [[ 7.21361985e-01 6.92556703e-01 -1.44929751e-03 -7.76879744e+01] [ 6.92555184e-01 -7.21363439e-01 -1.45122670e-03 -2.59143657e+02] [-2.05052701e-03 4.31412671e-05 -9.99997897e-01 -8.05246941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.690385723 meters 0.016859656714131553 Centerline is valid? [True, True] Translation: X:-77.68, Y:-259.15, Z:-8.05 [[ 6.65454192e-01 7.46437172e-01 -1.50561895e-03 -7.76848998e+01] [ 7.46435087e-01 -6.65455893e-01 -1.76486064e-03 -2.59151690e+02] [-2.31928058e-03 5.05870985e-05 -9.99997309e-01 -8.05228964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7203857229999 meters 0.016054459210160358 Centerline is valid? [True, True] Translation: X:-77.68, Y:-259.16, Z:-8.05 [[ 6.05404674e-01 7.95916591e-01 -1.40054846e-03 -7.76756263e+01] [ 7.95914254e-01 -6.05406291e-01 -1.92931391e-03 -2.59163590e+02] [-2.38347380e-03 5.32991771e-05 -9.99997158e-01 -8.05207496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.750385723 meters 0.017474531440616045 Centerline is valid? [True, True] Translation: X:-77.67, Y:-259.17, Z:-8.05 [[ 5.42343467e-01 8.40155794e-01 -1.34391794e-03 -7.76698753e+01] [ 8.40152930e-01 -5.42345128e-01 -2.19452253e-03 -2.59174108e+02] [-2.57260816e-03 6.10883623e-05 -9.99996689e-01 -8.05125302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.780385723 meters 0.017474531440616045 Centerline is valid? [True, True] Translation: X:-77.67, Y:-259.18, Z:-8.05 [[ 4.74915895e-01 8.80030414e-01 -1.16800659e-03 -7.76655864e+01] [ 8.80027428e-01 -4.74917327e-01 -2.29296938e-03 -2.59182248e+02] [-2.57258936e-03 6.10897687e-05 -9.99996689e-01 -8.05125318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.810385723 meters 0.01674236985948703 Centerline is valid? [True, True] Translation: X:-77.65, Y:-259.19, Z:-8.05 [[ 4.05372252e-01 9.14151445e-01 -6.88233439e-04 -7.76539820e+01] [ 9.14149936e-01 -4.05372834e-01 -1.66109353e-03 -2.59192473e+02] [-1.79748219e-03 4.42126707e-05 -9.99998384e-01 -8.05168303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8403857229999 meters 0.016590492238052902 Centerline is valid? [True, True] Translation: X:-77.64, Y:-259.20, Z:-8.05 [[ 3.32767233e-01 9.43008755e-01 -6.76673263e-04 -7.76425195e+01] [ 9.43006459e-01 -3.32767916e-01 -2.08143379e-03 -2.59201099e+02] [-2.18798544e-03 5.45257038e-05 -9.99997605e-01 -8.05158075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.870385723 meters 0.016818323815314295 Centerline is valid? [True, True] Translation: X:-77.63, Y:-259.21, Z:-8.05 [[ 2.58151756e-01 9.66104198e-01 -5.90397475e-04 -7.76318975e+01] [ 9.66101079e-01 -2.58152423e-01 -2.45585013e-03 -2.59208402e+02] [-2.52501966e-03 6.35983850e-05 -9.99996810e-01 -8.05130535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.900385723 meters 0.017001213851183434 Centerline is valid? [True, True] Translation: X:-77.62, Y:-259.22, Z:-8.05 [[ 1.81773630e-01 9.83340327e-01 -3.85475197e-04 -7.76217723e+01] [ 9.83337335e-01 -1.81774028e-01 -2.42672658e-03 -2.59216156e+02] [-2.45636749e-03 6.20627446e-05 -9.99996981e-01 -8.05150069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.930385723 meters 0.016806717385224094 Centerline is valid? [True, True] Translation: X:-77.61, Y:-259.22, Z:-8.05 [[ 1.03346198e-01 9.94645423e-01 -2.13527167e-04 -7.76081302e+01] [ 9.94641777e-01 -1.03346398e-01 -2.69414505e-03 -2.59222476e+02] [-2.70178630e-03 6.60466075e-05 -9.99996348e-01 -8.05071153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.960385723 meters 0.01660050847011482 Centerline is valid? [True, True] Translation: X:-77.59, Y:-259.23, Z:-8.05 [[ 2.34413336e-02 9.99725214e-01 -2.16900452e-06 -7.75943632e+01] [ 9.99719969e-01 -2.34412176e-02 -3.23938696e-03 -2.59226850e+02] [-3.23854767e-03 7.37671533e-05 -9.99994753e-01 -8.04957084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.990385723 meters 0.016549634008717645 Centerline is valid? [True, True] Translation: X:-77.58, Y:-259.23, Z:-8.05 [[-5.55845682e-02 9.98453948e-01 2.63498638e-04 -7.75839669e+01] [ 9.98448221e-01 5.55851421e-02 -3.38266546e-03 -2.59231280e+02] [-3.39208229e-03 7.50657471e-05 -9.99994244e-01 -8.04962396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.020385723 meters 0.01639175343609476 Centerline is valid? [True, True] Translation: X:-77.57, Y:-259.23, Z:-8.05 [[-1.34390022e-01 9.90928405e-01 4.67829307e-04 -7.75736741e+01] [ 9.90923952e-01 1.34390821e-01 -2.97141329e-03 -2.59233957e+02] [-3.00732980e-03 6.42549666e-05 -9.99995476e-01 -8.05000234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.050385723 meters 0.015776173953192106 Centerline is valid? [True, True] Translation: X:-77.56, Y:-259.23, Z:-8.05 [[-2.12064308e-01 9.77255578e-01 5.13761032e-04 -7.75580637e+01] [ 9.77253214e-01 2.12064925e-01 -2.15023099e-03 -2.59234340e+02] [-2.21027592e-03 4.60873743e-05 -9.99997556e-01 -8.05107948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.080385723 meters 0.01592693782567708 Centerline is valid? [True, True] Translation: X:-77.55, Y:-259.23, Z:-8.05 [[-2.87785061e-01 9.57694846e-01 5.84088704e-04 -7.75451844e+01] [ 9.57693145e-01 2.87785651e-01 -1.80537511e-03 -2.59234063e+02] [-1.89709078e-03 3.98177632e-05 -9.99998200e-01 -8.05161204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.110385723 meters 0.017684820714999615 Centerline is valid? [True, True] Translation: X:-77.53, Y:-259.23, Z:-8.05 [[-3.62218993e-01 9.32092832e-01 5.95523165e-04 -7.75306524e+01] [ 9.32091714e-01 3.62219481e-01 -1.44348616e-03 -2.59232918e+02] [-1.56117319e-03 3.22241067e-05 -9.99998781e-01 -8.04917014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.140385723 meters 0.0155121138755387 Centerline is valid? [True, True] Translation: X:-77.52, Y:-259.23, Z:-8.05 [[-4.34507158e-01 9.00668277e-01 4.29791973e-04 -7.75159456e+01] [ 9.00667879e-01 4.34507370e-01 -8.47170846e-04 -2.59228870e+02] [-9.49767686e-04 1.89980282e-05 -9.99999549e-01 -8.05133188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.170385723 meters 0.01529373187999588 Centerline is valid? [True, True] Translation: X:-77.50, Y:-259.22, Z:-8.05 [[-5.04763034e-01 8.63257934e-01 1.36420962e-04 -7.75016215e+01] [ 8.63257905e-01 5.04763052e-01 -2.24199456e-04 -2.59223237e+02] [-2.62402221e-04 4.59887641e-06 -9.99999966e-01 -8.05142103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.200385723 meters 0.015020322361452693 Centerline is valid? [True, True] Translation: X:-77.49, Y:-259.22, Z:-8.05 [[-5.71273372e-01 8.20759849e-01 -6.98437789e-05 -7.74879813e+01] [ 8.20759844e-01 5.71273376e-01 9.56684350e-05 -2.59216587e+02] [ 1.18420701e-04 -2.67213960e-06 -9.99999993e-01 -8.05154920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.230385723 meters 0.014727433587339982 Centerline is valid? [True, True] Translation: X:-77.47, Y:-259.21, Z:-8.05 [[-6.34434881e-01 7.72976150e-01 5.02500640e-04 -7.74734770e+01] [ 7.72975925e-01 6.34435080e-01 -5.91082605e-04 -2.59207656e+02] [-7.75696791e-04 1.34174752e-05 -9.99999699e-01 -8.05099727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.260385723 meters 0.014846408456965622 Centerline is valid? [True, True] Translation: X:-77.46, Y:-259.20, Z:-8.05 [[-6.93068187e-01 7.20871448e-01 9.18666872e-04 -7.74616153e+01] [ 7.20870858e-01 6.93068796e-01 -9.22668412e-04 -2.59199977e+02] [-1.30182466e-03 2.27680519e-05 -9.99999152e-01 -8.05050529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.290385723 meters 0.015008259433894486 Centerline is valid? [True, True] Translation: X:-77.45, Y:-259.19, Z:-8.05 [[-7.47256429e-01 6.64534239e-01 1.44026476e-03 -7.74500851e+01] [ 6.64533091e-01 7.47257816e-01 -1.23566857e-03 -2.59191388e+02] [-1.89739317e-03 3.37423112e-05 -9.99998199e-01 -8.04956864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.320385723 meters 0.01466976618842667 Centerline is valid? [True, True] Translation: X:-77.43, Y:-259.17, Z:-8.05 [[-7.92381179e-01 6.10023393e-01 1.87806721e-03 -7.74287351e+01] [ 6.10021804e-01 7.92383404e-01 -1.39307808e-03 -2.59168133e+02] [-2.33795951e-03 4.18130953e-05 -9.99997266e-01 -8.04922911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3503857229999 meters 0.01655769877088645 Centerline is valid? [True, True] Translation: X:-77.41, Y:-259.14, Z:-8.05 [[-8.33250294e-01 5.52892151e-01 2.05384765e-03 -7.74115644e+01] [ 5.52890603e-01 8.33252824e-01 -1.30875193e-03 -2.59142562e+02] [-2.43497302e-03 4.50351339e-05 -9.99997035e-01 -8.04637225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.380385723 meters 0.015402822124113766 Centerline is valid? [True, True] Translation: X:-77.04, Y:-258.56, Z:-9.02 [[-8.16353146e-01 -5.77550029e-01 1.87217804e-03 -7.70391044e+01] [ 5.77548370e-01 -8.16355291e-01 -1.38516383e-03 -2.58562617e+02] [ 2.32836386e-03 -4.95094735e-05 9.99997288e-01 -9.02166661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.410385723 meters 0.014723382736936507 Centerline is valid? [True, True] Translation: X:-77.45, Y:-259.12, Z:-8.05 [[-8.34870242e-01 5.50442850e-01 2.08503365e-03 -7.74495411e+01] [ 5.50441275e-01 8.34872844e-01 -1.31795759e-03 -2.59116620e+02] [-2.46619831e-03 4.73650099e-05 -9.99996958e-01 -8.04910682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.440385723 meters 0.015602678059368054 Centerline is valid? [True, True] Translation: X:-77.44, Y:-259.09, Z:-8.05 [[-8.71682681e-01 4.90065761e-01 2.20325860e-03 -7.74354778e+01] [ 4.90064335e-01 8.71685464e-01 -1.18302660e-03 -2.59092744e+02] [-2.50030933e-03 4.85146677e-05 -9.99996873e-01 -8.04888903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4703857229999 meters 0.015331220810068345 Centerline is valid? [True, True] Translation: X:-77.11, Y:-258.49, Z:-9.02 [[-8.58000539e-01 -5.13643288e-01 2.37647051e-03 -7.71084010e+01] [ 5.13641199e-01 -8.58003829e-01 -1.46535697e-03 -2.58491480e+02] [ 2.79169157e-03 -3.66239130e-05 9.99996103e-01 -9.02203508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.500385723 meters 0.015311570983181953 Centerline is valid? [True, True] Translation: X:-77.48, Y:-259.07, Z:-8.05 [[-8.72627920e-01 4.88379610e-01 2.42258695e-03 -7.74789723e+01] [ 4.88377911e-01 8.72631281e-01 -1.28949470e-03 -2.59065239e+02] [-2.74378808e-03 5.78888772e-05 -9.99996234e-01 -8.04795333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.530385723 meters 0.01561003633483371 Centerline is valid? [True, True] Translation: X:-77.15, Y:-258.47, Z:-9.02 [[-8.60820349e-01 -5.08906483e-01 1.58671923e-03 -7.71541699e+01] [ 5.08905421e-01 -8.60821807e-01 -1.04374449e-03 -2.58470467e+02] [ 1.89705086e-03 -9.09864745e-05 9.99998197e-01 -9.02191309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.560385723 meters 0.015493146090114882 Centerline is valid? [True, True] Translation: X:-77.51, Y:-259.05, Z:-8.05 [[-8.73974657e-01 4.85968907e-01 1.58760269e-03 -7.75138121e+01] [ 4.85968187e-01 8.73976098e-01 -8.37413061e-04 -2.59046316e+02] [-1.79448351e-03 3.96466075e-05 -9.99998389e-01 -8.04855840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5903857229999 meters 0.015476823301669393 Centerline is valid? [True, True] Translation: X:-77.20, Y:-258.45, Z:-9.02 [[-8.62148949e-01 -5.06652996e-01 1.38971386e-03 -7.71964178e+01] [ 5.06652251e-01 -8.62150068e-01 -8.69910440e-04 -2.58450927e+02] [ 1.63888463e-03 -4.58907136e-05 9.99998656e-01 -9.02132271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.620385723 meters 0.015326868770987042 Centerline is valid? [True, True] Translation: X:-77.22, Y:-258.48, Z:-9.02 [[-8.25521055e-01 -5.64369400e-01 1.47249087e-03 -7.72181842e+01] [ 5.64368422e-01 -8.25522367e-01 -1.05127815e-03 -2.58476497e+02] [ 1.80888337e-03 -3.68249016e-05 9.99998363e-01 -9.02168812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.650385723 meters 0.015838951074245003 Centerline is valid? [True, True] Translation: X:-77.23, Y:-258.51, Z:-9.02 [[-7.84328615e-01 -6.20342403e-01 1.98176186e-03 -7.72318106e+01] [ 6.20340272e-01 -7.84331117e-01 -1.62681826e-03 -2.58511118e+02] [ 2.56354184e-03 -4.65934217e-05 9.99996713e-01 -9.02435854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.680385723 meters 0.01456246329539224 Centerline is valid? [True, True] Translation: X:-77.66, Y:-259.02, Z:-8.05 [[-8.06191118e-01 5.91649846e-01 2.51806495e-03 -7.76567648e+01] [ 5.91647158e-01 8.06195049e-01 -1.78413563e-03 -2.59020008e+02] [-3.08563507e-03 5.14516752e-05 -9.99995238e-01 -8.04656833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.710385723 meters 0.014402995462257666 Centerline is valid? [True, True] Translation: X:-77.64, Y:-258.99, Z:-8.05 [[-8.46941432e-01 5.31670694e-01 4.05998991e-03 -7.76416001e+01] [ 5.31664988e-01 8.46951161e-01 -2.46423746e-03 -2.58994172e+02] [-4.74877600e-03 7.14896840e-05 -9.99988722e-01 -8.04597454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.740385723 meters 0.014379907940332006 Centerline is valid? [True, True] Translation: X:-77.30, Y:-258.43, Z:-9.02 [[-8.26442357e-01 -5.63007830e-01 3.90055362e-03 -7.72997308e+01] [ 5.63001155e-01 -8.26451558e-01 -2.74263466e-03 -2.58432671e+02] [ 4.76774340e-03 -7.06132613e-05 9.99988632e-01 -9.02381521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.770385723 meters 0.01416051752260407 Centerline is valid? [True, True] Translation: X:-77.32, Y:-258.46, Z:-9.02 [[-7.87089837e-01 -6.16829275e-01 3.35179688e-03 -7.73150474e+01] [ 6.16823318e-01 -7.87096971e-01 -2.71161100e-03 -2.58461892e+02] [ 4.31079022e-03 -6.68149910e-05 9.99990706e-01 -9.02291768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.800385723 meters 0.014699601720311688 Centerline is valid? [True, True] Translation: X:-77.73, Y:-258.97, Z:-8.05 [[-8.10756733e-01 5.85375559e-01 2.99578331e-03 -7.77323000e+01] [ 5.85371829e-01 8.10762266e-01 -2.09052689e-03 -2.58972759e+02] [-3.65261141e-03 5.87384068e-05 -9.99993328e-01 -8.04728292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.830385723 meters 0.01476682598436901 Centerline is valid? [True, True] Translation: X:-77.72, Y:-258.95, Z:-8.05 [[-8.49622823e-01 5.27381614e-01 3.11321936e-03 -7.77176093e+01] [ 5.27378341e-01 8.49628524e-01 -1.85927774e-03 -2.58946785e+02] [-3.62562887e-03 6.21596608e-05 -9.99993426e-01 -8.04749263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.860385723 meters 0.01470754699977458 Centerline is valid? [True, True] Translation: X:-77.38, Y:-258.39, Z:-9.02 [[-8.32079410e-01 -5.54649203e-01 2.84905291e-03 -7.73769387e+01] [ 5.54645666e-01 -8.32084285e-01 -1.98194694e-03 -2.58385354e+02] [ 3.46993745e-03 -6.89223939e-05 9.99993977e-01 -9.02323182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.890385723 meters 0.014653712724309329 Centerline is valid? [True, True] Translation: X:-77.76, Y:-258.93, Z:-8.05 [[-8.50640484e-01 5.25742708e-01 2.31771873e-03 -7.77554072e+01] [ 5.25740917e-01 8.50643640e-01 -1.37293574e-03 -2.58925846e+02] [-2.69336365e-03 5.06448436e-05 -9.99996372e-01 -8.04774390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.920385723 meters 0.014744500778597167 Centerline is valid? [True, True] Translation: X:-77.75, Y:-258.90, Z:-8.05 [[-8.85586872e-01 4.64469162e-01 2.07088099e-03 -7.77451504e+01] [ 4.64468009e-01 8.85589293e-01 -1.03610829e-03 -2.58899568e+02] [-2.31519039e-03 4.42940684e-05 -9.99997319e-01 -8.04840229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.950385723 meters 0.014949081654962035 Centerline is valid? [True, True] Translation: X:-77.74, Y:-258.87, Z:-8.05 [[-9.16040634e-01 4.01080984e-01 1.89763843e-03 -7.77368337e+01] [ 4.01080214e-01 9.16042599e-01 -7.86632600e-04 -2.58872652e+02] [-2.05382102e-03 4.05178037e-05 -9.99997890e-01 -8.04825346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.980385723 meters 0.01508763315253964 Centerline is valid? [True, True] Translation: X:-77.48, Y:-258.26, Z:-9.02 [[-9.04566087e-01 -4.26327282e-01 2.28972691e-03 -7.74788690e+01] [ 4.26325861e-01 -9.04568985e-01 -1.10108804e-03 -2.58261639e+02] [ 2.54063982e-03 -1.98371095e-05 9.99996772e-01 -9.02236004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.010385723 meters 0.01502683411396168 Centerline is valid? [True, True] Translation: X:-77.78, Y:-258.86, Z:-8.05 [[-9.17815460e-01 3.97002106e-01 2.02721426e-03 -7.77777184e+01] [ 3.97001237e-01 9.17817698e-01 -8.31802994e-04 -2.58856325e+02] [-2.19084067e-03 4.13649223e-05 -9.99997599e-01 -8.04724212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.040385723 meters 0.014444280027677977 Centerline is valid? [True, True] Translation: X:-77.77, Y:-258.83, Z:-8.05 [[-9.43925286e-01 3.30154307e-01 1.78533659e-03 -7.77712149e+01] [ 3.30153785e-01 9.43926974e-01 -5.88487809e-04 -2.58826406e+02] [-1.87951915e-03 3.39471092e-05 -9.99998233e-01 -8.04766757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.070385723 meters 0.014349045264479568 Centerline is valid? [True, True] Translation: X:-77.77, Y:-258.80, Z:-8.05 [[-9.65624667e-01 2.59937408e-01 1.24330605e-03 -7.77681239e+01] [ 2.59937219e-01 9.65625468e-01 -3.14155928e-04 -2.58797615e+02] [-1.28222887e-03 1.98248045e-05 -9.99999178e-01 -8.04815975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1003857229999 meters 0.013834326635092297 Centerline is valid? [True, True] Translation: X:-77.77, Y:-258.77, Z:-8.05 [[-9.82069032e-01 1.88502547e-01 2.68462329e-03 -7.77652913e+01] [ 1.88501943e-01 9.82072700e-01 -4.78466944e-04 -2.58767004e+02] [-2.72668748e-03 3.61691376e-05 -9.99996282e-01 -8.04670186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.130385723 meters 0.013860447578037012 Centerline is valid? [True, True] Translation: X:-77.65, Y:-258.12, Z:-9.02 [[-9.73427298e-01 -2.28977708e-01 2.91644308e-03 -7.76506461e+01] [ 2.28976612e-01 -9.73431666e-01 -7.08662355e-04 -2.58117809e+02] [ 3.00122593e-03 -2.20340250e-05 9.99995496e-01 -9.02413115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.160385723 meters 0.013670384896349247 Centerline is valid? [True, True] Translation: X:-77.82, Y:-258.76, Z:-8.05 [[-9.83034669e-01 1.83395290e-01 3.00133457e-03 -7.78212767e+01] [ 1.83394549e-01 9.83039250e-01 -5.22739637e-04 -2.58757376e+02] [-3.04629767e-03 3.65572137e-05 -9.99995359e-01 -8.04573521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.190385723 meters 0.014615796368269296 Centerline is valid? [True, True] Translation: X:-77.82, Y:-258.73, Z:-8.04 [[-9.93610676e-01 1.12820715e-01 3.05133461e-03 -7.78210390e+01] [ 1.12820293e-01 9.93615361e-01 -3.10501352e-04 -2.58729264e+02] [-3.06688392e-03 3.57350065e-05 -9.99995297e-01 -8.04414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2203857229999 meters 0.013685275640952982 Centerline is valid? [True, True] Translation: X:-77.82, Y:-258.70, Z:-8.05 [[-9.99137609e-01 4.14291263e-02 2.76866509e-03 -7.78248503e+01] [ 4.14290529e-02 9.99141445e-01 -8.38863912e-05 -2.58700902e+02] [-2.76976338e-03 3.08891243e-05 -9.99996164e-01 -8.04518244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.250385723 meters 0.01379786416209393 Centerline is valid? [True, True] Translation: X:-77.83, Y:-258.67, Z:-8.05 [[-9.99581156e-01 -2.88054788e-02 2.78503402e-03 -7.78321718e+01] [-2.88052730e-02 9.99585036e-01 1.13973806e-04 -2.58674173e+02] [-2.78716140e-03 3.37024033e-05 -9.99996115e-01 -8.04529413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.280385723 meters 0.013909937862317326 Centerline is valid? [True, True] Translation: X:-77.84, Y:-258.65, Z:-8.04 [[-9.95105874e-01 -9.87880037e-02 2.28708631e-03 -7.78427753e+01] [-9.87876724e-02 9.95108501e-01 2.57642554e-04 -2.58647918e+02] [-2.30135102e-03 3.04456865e-05 -9.99997352e-01 -8.04483450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.310385723 meters 0.014164788067489983 Centerline is valid? [True, True] Translation: X:-77.86, Y:-258.62, Z:-8.04 [[-9.85569999e-01 -1.69250576e-01 2.45335902e-03 -7.78578553e+01] [-1.69249966e-01 9.85573052e-01 4.55899990e-04 -2.58622476e+02] [-2.49512587e-03 3.40904230e-05 -9.99996887e-01 -8.04469982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3403857229999 meters 0.014139061000102779 Centerline is valid? [True, True] Translation: X:-77.89, Y:-258.60, Z:-8.04 [[-9.70845311e-01 -2.39694651e-01 2.41993010e-03 -7.78873989e+01] [-2.39693819e-01 9.70848326e-01 6.32777555e-04 -2.58600611e+02] [-2.50105848e-03 3.42868354e-05 -9.99996872e-01 -8.04467899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.370385723 meters 0.014056022701886547 Centerline is valid? [True, True] Translation: X:-77.94, Y:-258.59, Z:-8.04 [[-9.50570801e-01 -3.10495875e-01 2.73216146e-03 -7.79360598e+01] [-3.10494480e-01 9.50574726e-01 9.31361047e-04 -2.58586301e+02] [-2.88630739e-03 3.70035646e-05 -9.99995834e-01 -8.04394346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.400385723 meters 0.013910242606586923 Centerline is valid? [True, True] Translation: X:-78.00, Y:-258.58, Z:-8.04 [[-9.24873674e-01 -3.80264821e-01 2.71176282e-03 -7.80030766e+01] [-3.80263074e-01 9.24877649e-01 1.15299024e-03 -2.58581061e+02] [-2.94649044e-03 3.51870563e-05 -9.99995659e-01 -8.04368254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.430385723 meters 0.013919671682618573 Centerline is valid? [True, True] Translation: X:-78.08, Y:-258.59, Z:-8.04 [[-8.93562841e-01 -4.48927281e-01 3.12186984e-03 -7.80788709e+01] [-4.48924399e-01 8.93568294e-01 1.60902166e-03 -2.58585929e+02] [-3.51193762e-03 3.62784237e-05 -9.99993833e-01 -8.04285281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.460385723 meters 0.01397509408091655 Centerline is valid? [True, True] Translation: X:-78.16, Y:-258.60, Z:-8.04 [[-8.57385312e-01 -5.14667106e-01 2.86303009e-03 -7.81572686e+01] [-5.14664108e-01 8.57390091e-01 1.75699147e-03 -2.58597866e+02] [-3.35899935e-03 3.29198517e-05 -9.99994358e-01 -8.04295847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.490385723 meters 0.014063099358619767 Centerline is valid? [True, True] Translation: X:-78.24, Y:-258.62, Z:-8.04 [[-8.16264063e-01 -5.77673883e-01 2.42179208e-03 -7.82417445e+01] [-5.77671238e-01 8.16267655e-01 1.74819191e-03 -2.58621378e+02] [-2.98671535e-03 2.79866050e-05 -9.99995539e-01 -8.04313480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.520385723 meters 0.014010482810961539 Centerline is valid? [True, True] Translation: X:-78.33, Y:-258.65, Z:-8.04 [[-7.70414387e-01 -6.37538834e-01 2.43067665e-03 -7.83263169e+01] [-6.37535540e-01 7.70418221e-01 2.04965320e-03 -2.58652768e+02] [-3.17937109e-03 2.94395651e-05 -9.99994945e-01 -8.04305413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.550385723 meters 0.014048714573497004 Centerline is valid? [True, True] Translation: X:-78.41, Y:-258.69, Z:-8.04 [[-7.20153366e-01 -6.93811518e-01 2.16983193e-03 -7.84145384e+01] [-6.93808249e-01 7.20156634e-01 2.12985423e-03 -2.58694995e+02] [-3.04033626e-03 2.83744006e-05 -9.99995378e-01 -8.04272570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.580385723 meters 0.014110450819390462 Centerline is valid? [True, True] Translation: X:-78.51, Y:-258.75, Z:-8.04 [[-6.65633769e-01 -7.46275724e-01 2.05651699e-03 -7.85062530e+01] [-7.46272025e-01 6.65636945e-01 2.34976248e-03 -2.58751005e+02] [-3.12246439e-03 2.93601582e-05 -9.99995125e-01 -8.04253305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.610385723 meters 0.014107050628707842 Centerline is valid? [True, True] Translation: X:-78.60, Y:-258.82, Z:-8.04 [[-6.07147725e-01 -7.94587015e-01 1.76542077e-03 -7.85950374e+01] [-7.94583520e-01 6.07150291e-01 2.35689203e-03 -2.58816022e+02] [-2.94463154e-03 2.82073873e-05 -9.99995664e-01 -8.04210325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.640385723 meters 0.014156343724853986 Centerline is valid? [True, True] Translation: X:-78.68, Y:-258.89, Z:-8.04 [[-5.44957836e-01 -8.38462021e-01 1.54835955e-03 -7.86781587e+01] [-8.38458490e-01 5.44960035e-01 2.43337234e-03 -2.58886784e+02] [-2.88408437e-03 2.78501129e-05 -9.99995841e-01 -8.04222463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.670385723 meters 0.01432579579099741 Centerline is valid? [True, True] Translation: X:-78.76, Y:-258.97, Z:-8.04 [[-4.80509786e-01 -8.76988037e-01 1.52578150e-03 -7.87591020e+01] [-8.76983380e-01 4.80512207e-01 2.85839918e-03 -2.58972289e+02] [-3.23993852e-03 3.54037606e-05 -9.99994751e-01 -8.04269696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.700385723 meters 0.01432579579099741 Centerline is valid? [True, True] Translation: X:-78.84, Y:-259.06, Z:-8.04 [[-4.11967845e-01 -9.11197453e-01 1.30249175e-03 -7.88356104e+01] [-9.11192624e-01 4.11969902e-01 2.96679529e-03 -2.59063052e+02] [-3.23992371e-03 3.54033875e-05 -9.99994751e-01 -8.04269769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.730385723 meters 0.01481708205976365 Centerline is valid? [True, True] Translation: X:-78.90, Y:-259.16, Z:-8.04 [[-3.43000971e-01 -9.39334225e-01 1.24365447e-03 -7.89014228e+01] [-9.39327514e-01 3.43003222e-01 3.55112244e-03 -2.59158414e+02] [-3.76226834e-03 4.98395893e-05 -9.99992921e-01 -8.04231523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.760385723 meters 0.014762716087042618 Centerline is valid? [True, True] Translation: X:-78.96, Y:-259.26, Z:-8.04 [[-2.71287552e-01 -9.62497912e-01 9.13252253e-04 -7.89637520e+01] [-9.62491793e-01 2.71289084e-01 3.43257037e-03 -2.59263079e+02] [-3.55159719e-03 5.22158142e-05 -9.99993692e-01 -8.04213257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.790385723 meters 0.015184334716422228 Centerline is valid? [True, True] Translation: X:-79.02, Y:-259.38, Z:-8.04 [[-1.97420536e-01 -9.80318669e-01 6.62773192e-04 -7.90174779e+01] [-9.80312140e-01 1.97421641e-01 3.57825225e-03 -2.59375867e+02] [-3.63867325e-03 5.66958715e-05 -9.99993378e-01 -8.04227711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.820385723 meters 0.015142007634603664 Centerline is valid? [True, True] Translation: X:-79.06, Y:-259.49, Z:-8.04 [[-1.22222332e-01 -9.92502701e-01 2.99995091e-04 -7.90635835e+01] [-9.92498713e-01 1.22222691e-01 2.81404252e-03 -2.59493551e+02] [-2.82961101e-03 4.61940978e-05 -9.99995996e-01 -8.04275477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8503857229999 meters 0.01633206866090549 Centerline is valid? [True, True] Translation: X:-79.10, Y:-259.60, Z:-8.04 [[-4.85847298e-02 -9.98819060e-01 1.00079819e-04 -7.90992098e+01] [-9.98814258e-01 4.85848066e-02 3.09749854e-03 -2.59602584e+02] [-3.09870293e-03 5.05299789e-05 -9.99995198e-01 -8.04215380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.880385723 meters 0.015031068287032772 Centerline is valid? [True, True] Translation: X:-79.13, Y:-259.73, Z:-8.04 [[ 2.86738297e-02 -9.99588807e-01 -1.69679888e-04 -7.91299166e+01] [-9.99581613e-01 -2.86742672e-02 3.79275184e-03 -2.59729029e+02] [-3.79605774e-03 6.08561759e-05 -9.99992793e-01 -8.04227312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.910385723 meters 0.015292286140269463 Centerline is valid? [True, True] Translation: X:-79.15, Y:-259.85, Z:-8.04 [[ 1.05480475e-01 -9.94421215e-01 -5.62199056e-04 -7.91480985e+01] [-9.94410615e-01 -1.05481946e-01 4.59223414e-03 -2.59850625e+02] [-4.62591690e-03 7.46656723e-05 -9.99989298e-01 -8.04171868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.940385723 meters 0.015365923015398962 Centerline is valid? [True, True] Translation: X:-79.16, Y:-259.98, Z:-8.04 [[ 1.81621135e-01 -9.83368054e-01 -1.01642553e-03 -7.91556337e+01] [-9.83355121e-01 -1.81623960e-01 5.04415157e-03 -2.59976975e+02] [-5.14486474e-03 8.33827121e-05 -9.99986762e-01 -8.04130237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9703857229999 meters 0.015174443427862937 Centerline is valid? [True, True] Translation: X:-79.16, Y:-260.10, Z:-8.04 [[ 2.56532411e-01 -9.66534594e-01 -1.41463113e-03 -7.91550295e+01] [-9.66521674e-01 -2.56536297e-01 4.99820493e-03 -2.60102652e+02] [-5.19384220e-03 8.50700939e-05 -9.99986508e-01 -8.04204327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.000385723 meters 0.015394817105951142 Centerline is valid? [True, True] Translation: X:-79.14, Y:-260.23, Z:-8.04 [[ 3.30174368e-01 -9.43918251e-01 -1.79536290e-03 -7.91419535e+01] [-9.43905663e-01 -3.30179238e-01 4.87542238e-03 -2.60230006e+02] [-5.19479172e-03 8.49137075e-05 -9.99986503e-01 -8.04299732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.030385723 meters 0.015336197393811675 Centerline is valid? [True, True] Translation: X:-79.12, Y:-260.35, Z:-8.04 [[ 4.01887480e-01 -9.15686761e-01 -2.05163944e-03 -7.91243240e+01] [-9.15675824e-01 -4.01892709e-01 4.47612306e-03 -2.60349277e+02] [-4.92326556e-03 7.97388140e-05 -9.99987878e-01 -8.04325864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.060385723 meters 0.015305936725683854 Centerline is valid? [True, True] Translation: X:-79.10, Y:-260.47, Z:-8.04 [[ 4.71307696e-01 -8.81967469e-01 -1.56184202e-03 -7.90966101e+01] [-8.81962978e-01 -4.71310281e-01 2.81514780e-03 -2.60468927e+02] [-3.21898098e-03 5.06860170e-05 -9.99994818e-01 -8.04360374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0903857229999 meters 0.015646305887833226 Centerline is valid? [True, True] Translation: X:-79.06, Y:-260.59, Z:-8.04 [[ 5.37537661e-01 -8.43238347e-01 -1.53386867e-03 -7.90556826e+01] [-8.43235143e-01 -5.37539848e-01 2.32511965e-03 -2.60590353e+02] [-2.78514559e-03 4.35725877e-05 -9.99996121e-01 -8.04381558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.120385723 meters 0.015337934314309791 Centerline is valid? [True, True] Translation: X:-79.02, Y:-260.69, Z:-8.04 [[ 6.00154185e-01 -7.99881970e-01 -1.94645028e-03 -7.90175685e+01] [-7.99878036e-01 -6.00157339e-01 2.50908450e-03 -2.60693163e+02] [-3.17514787e-03 5.10852633e-05 -9.99994958e-01 -8.04410394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.150385723 meters 0.015583525896379092 Centerline is valid? [True, True] Translation: X:-78.97, Y:-260.80, Z:-8.04 [[ 6.58832989e-01 -7.52286423e-01 -2.05692362e-03 -7.89688266e+01] [-7.52282999e-01 -6.58836198e-01 2.27005305e-03 -2.60795047e+02] [-3.06290583e-03 5.18028345e-05 -9.99995308e-01 -8.04423576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.180385723 meters 0.015565361096407077 Centerline is valid? [True, True] Translation: X:-78.91, Y:-260.89, Z:-8.04 [[ 7.13446857e-01 -7.00704708e-01 -2.54835038e-03 -7.89121705e+01] [-7.00700553e-01 -7.13451406e-01 2.41388924e-03 -2.60892469e+02] [-3.50954772e-03 6.34488265e-05 -9.99993840e-01 -8.04457887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.210385723 meters 0.01575476433202128 Centerline is valid? [True, True] Translation: X:-78.92, Y:-260.90, Z:-8.04 [[ 7.65884230e-01 -6.42972850e-01 -2.69438697e-03 -7.89175573e+01] [-6.42969160e-01 -7.65888967e-01 2.17927829e-03 -2.60901350e+02] [-3.46481803e-03 6.33328494e-05 -9.99993996e-01 -8.04474949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.240385723 meters 0.01536650740914597 Centerline is valid? [True, True] Translation: X:-78.92, Y:-260.91, Z:-8.05 [[ 8.13840846e-01 -5.81080224e-01 -2.97504769e-03 -7.89240162e+01] [-5.81076634e-01 -8.13846281e-01 2.04344331e-03 -2.60914657e+02] [-3.60863600e-03 6.56930665e-05 -9.99993487e-01 -8.04548037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.270385723 meters 0.015434262711867205 Centerline is valid? [True, True] Translation: X:-78.93, Y:-260.93, Z:-8.05 [[ 8.56843219e-01 -5.15567026e-01 -3.21558652e-03 -7.89308686e+01] [-5.15563688e-01 -8.56849250e-01 1.85664656e-03 -2.60925813e+02] [-3.71249865e-03 6.69846308e-05 -9.99993107e-01 -8.04566794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.300385723 meters 0.01595135314956505 Centerline is valid? [True, True] Translation: X:-78.94, Y:-260.93, Z:-8.05 [[ 8.94714272e-01 -4.46628563e-01 -3.04914601e-03 -7.89356630e+01] [-4.46626195e-01 -8.94719466e-01 1.45562191e-03 -2.60934779e+02] [-3.37825262e-03 5.94627844e-05 -9.99994292e-01 -8.04572820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.330385723 meters 0.015691934925676162 Centerline is valid? [True, True] Translation: X:-78.94, Y:-260.95, Z:-8.05 [[ 9.27099336e-01 -3.74805556e-01 -2.75975365e-03 -7.89394852e+01] [-3.74804056e-01 -9.27103442e-01 1.06139013e-03 -2.60945296e+02] [-2.95639203e-03 5.03527804e-05 -9.99995629e-01 -8.04599875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.360385723 meters 0.015301583554702982 Centerline is valid? [True, True] Translation: X:-78.94, Y:-260.96, Z:-8.05 [[ 9.53789807e-01 -3.00457508e-01 -3.20789069e-03 -7.89429117e+01] [-3.00456001e-01 -9.53795200e-01 9.53251295e-04 -2.60958646e+02] [-3.34608225e-03 5.46286393e-05 -9.99994400e-01 -8.04535758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.390385723 meters 0.0156852150985027 Centerline is valid? [True, True] Translation: X:-78.95, Y:-260.97, Z:-8.04 [[ 9.74409275e-01 -2.24746477e-01 -3.94779378e-03 -7.89455647e+01] [-2.24744903e-01 -9.74417270e-01 8.43766974e-04 -2.60968943e+02] [-4.03643209e-03 6.50721627e-05 -9.99991852e-01 -8.04495281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.420385723 meters 0.016730839548507032 Centerline is valid? [True, True] Translation: X:-78.95, Y:-260.98, Z:-8.04 [[ 9.88840290e-01 -1.48906522e-01 -4.66150620e-03 -7.89505565e+01] [-1.48905254e-01 -9.88851274e-01 6.19803370e-04 -2.60979398e+02] [-4.70182911e-03 8.12362210e-05 -9.99988943e-01 -8.04316474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.450385723 meters 0.015879771796849032 Centerline is valid? [True, True] Translation: X:-78.95, Y:-260.99, Z:-8.05 [[ 9.97386215e-01 -7.20936503e-02 -4.82122404e-03 -7.89548074e+01] [-7.20932381e-02 -9.97397863e-01 2.59447574e-04 -2.60988863e+02] [-4.82738308e-03 8.88082196e-05 -9.99988344e-01 -8.04606467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.480385723 meters 0.016271426591169553 Centerline is valid? [True, True] Translation: X:-78.96, Y:-261.00, Z:-8.05 [[ 9.99975160e-01 4.87761347e-03 -5.08800739e-03 -7.89588011e+01] [ 4.87703872e-03 -9.99988099e-01 -1.25362539e-04 -2.60999108e+02] [-5.08855831e-03 1.00545016e-04 -9.99987048e-01 -8.04612193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.510385723 meters 0.01705594067645974 Centerline is valid? [True, True] Translation: X:-78.96, Y:-261.01, Z:-8.05 [[ 9.96718029e-01 8.07915310e-02 -5.08907659e-03 -7.89624039e+01] [ 8.07898985e-02 -9.96731015e-01 -5.25880370e-04 -2.61007620e+02] [-5.11492715e-03 1.13008465e-04 -9.99986912e-01 -8.04608864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.540385723 meters 0.017391962357581135 Centerline is valid? [True, True] Translation: X:-78.96, Y:-261.02, Z:-8.05 [[ 9.87545547e-01 1.57263089e-01 -4.70250121e-03 -7.89644186e+01] [ 1.57260765e-01 -9.87556737e-01 -8.62165853e-04 -2.61017183e+02] [-4.77957362e-03 1.11909109e-04 -9.99988572e-01 -8.04630684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.570385723 meters 0.018240244772198187 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.02, Z:-8.05 [[ 9.72812283e-01 2.31537467e-01 -5.16359828e-03 -7.89681092e+01] [ 2.31533443e-01 -9.72825977e-01 -1.37220862e-03 -2.61024258e+02] [-5.34100025e-03 1.39355707e-04 -9.99985727e-01 -8.04621400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6003857229999 meters 0.018444854945383102 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.03, Z:-8.05 [[ 9.52172181e-01 3.05515204e-01 -5.34778035e-03 -7.89692818e+01] [ 3.05509456e-01 -9.52187185e-01 -1.88060182e-03 -2.61034070e+02] [-5.66664037e-03 1.56859265e-04 -9.99983932e-01 -8.04636836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.630385723 meters 0.019532455379131067 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.04, Z:-8.05 [[ 9.26173412e-01 3.77062831e-01 -5.14128321e-03 -7.89717668e+01] [ 3.77056009e-01 -9.26187666e-01 -2.27443115e-03 -2.61042284e+02] [-5.61939654e-03 1.67965926e-04 -9.99984197e-01 -8.04698753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.660385723 meters 0.01968469281739727 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.05, Z:-8.05 [[ 8.94106563e-01 4.47828328e-01 -4.82118444e-03 -7.89722320e+01] [ 4.47820801e-01 -8.94119545e-01 -2.60177345e-03 -2.61052110e+02] [-5.47586309e-03 1.67236037e-04 -9.99984993e-01 -8.04686287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.690385723 meters 0.019402587840712686 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.06, Z:-8.05 [[ 8.56523967e-01 5.16080060e-01 -5.29774003e-03 -7.89702237e+01] [ 5.16068766e-01 -8.56540328e-01 -3.41980629e-03 -2.61064769e+02] [-6.30262182e-03 1.95147881e-04 -9.99980119e-01 -8.04684954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7203857229999 meters 0.01930774333375043 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.08, Z:-8.05 [[ 8.13283365e-01 5.81844064e-01 -5.25861514e-03 -7.89675482e+01] [ 5.81830275e-01 -8.13300341e-01 -4.01075739e-03 -2.61076372e+02] [-6.61046887e-03 2.02260768e-04 -9.99978130e-01 -8.04631935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.750385723 meters 0.02005156101019041 Centerline is valid? [True, True] Translation: X:-78.97, Y:-261.09, Z:-8.05 [[ 7.64377538e-01 6.44744383e-01 -5.62675413e-03 -7.89662157e+01] [ 6.44724761e-01 -7.64398215e-01 -5.03495880e-03 -2.61086983e+02] [-7.54734222e-03 2.20901695e-04 -9.99971494e-01 -8.04513299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.780385723 meters 0.019847041719387 Centerline is valid? [True, True] Translation: X:-78.96, Y:-261.10, Z:-8.05 [[ 7.10921767e-01 7.03248858e-01 -5.59339967e-03 -7.89647297e+01] [ 7.03224513e-01 -7.10943733e-01 -5.85602473e-03 -2.61095658e+02] [-8.09483514e-03 2.29759690e-04 -9.99967210e-01 -8.04535390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.810385723 meters 0.01987649513308111 Centerline is valid? [True, True] Translation: X:-78.96, Y:-261.10, Z:-8.05 [[ 6.53120427e-01 7.57236538e-01 -5.15109399e-03 -7.89633250e+01] [ 7.57210221e-01 -6.53140701e-01 -6.31713570e-03 -2.61104053e+02] [-8.14795510e-03 2.25389340e-04 -9.99966780e-01 -8.04536980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8403857229999 meters 0.018963726570026058 Centerline is valid? [True, True] Translation: X:-78.96, Y:-261.12, Z:-8.05 [[ 5.90888938e-01 8.06743081e-01 -3.98304081e-03 -7.89562190e+01] [ 8.06722600e-01 -5.90902333e-01 -5.75138115e-03 -2.61115418e+02] [-6.99347505e-03 1.85218463e-04 -9.99975528e-01 -8.04576659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.870385723 meters 0.018636438553378227 Centerline is valid? [True, True] Translation: X:-78.95, Y:-261.12, Z:-8.05 [[ 5.25290794e-01 8.50916562e-01 -3.25378859e-03 -7.89514322e+01] [ 8.50898232e-01 -5.25300844e-01 -5.58762882e-03 -2.61124440e+02] [-6.46382379e-03 1.66487019e-04 -9.99979096e-01 -8.04754841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.900385723 meters 0.01761618182763503 Centerline is valid? [True, True] Translation: X:-78.94, Y:-261.14, Z:-8.05 [[ 4.57142896e-01 8.89389102e-01 -2.71998444e-03 -7.89401451e+01] [ 8.89371192e-01 -4.57150959e-01 -5.64651051e-03 -2.61135417e+02] [-6.26538841e-03 1.62186366e-04 -9.99980359e-01 -8.04854963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.930385723 meters 0.01901474849091236 Centerline is valid? [True, True] Translation: X:-78.93, Y:-261.15, Z:-8.05 [[ 3.86323448e-01 9.22360785e-01 -2.18531681e-03 -7.89330515e+01] [ 9.22343639e-01 -3.86329597e-01 -5.62618414e-03 -2.61145006e+02] [-6.03362418e-03 1.57913793e-04 -9.99981785e-01 -8.04845229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.960385723 meters 0.02043439034399805 Centerline is valid? [True, True] Translation: X:-78.93, Y:-261.15, Z:-8.05 [[ 3.13247459e-01 9.49670027e-01 -1.69383584e-03 -7.89308192e+01] [ 9.49653333e-01 -3.13252000e-01 -5.63306240e-03 -2.61152864e+02] [-5.88014798e-03 1.55985631e-04 -9.99982700e-01 -8.04777146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.990385723 meters 0.019916325658673146 Centerline is valid? [True, True] Translation: X:-78.92, Y:-261.16, Z:-8.05 [[ 2.38807320e-01 9.71066133e-01 -1.27668572e-03 -7.89247089e+01] [ 9.71048325e-01 -2.38810676e-01 -5.88314916e-03 -2.61160039e+02] [-6.01781308e-03 1.65215552e-04 -9.99981879e-01 -8.04810188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.020385723 meters 0.01973954862508051 Centerline is valid? [True, True] Translation: X:-78.92, Y:-261.17, Z:-8.05 [[ 1.62305704e-01 9.86740195e-01 -8.04016295e-04 -7.89181304e+01] [ 9.86722534e-01 -1.62307611e-01 -5.90591335e-03 -2.61166999e+02] [-5.95810006e-03 1.65222428e-04 -9.99982237e-01 -8.04808176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.050385723 meters 0.01871720429451672 Centerline is valid? [True, True] Translation: X:-78.90, Y:-261.17, Z:-8.05 [[ 8.47017324e-02 9.96406286e-01 -3.59281225e-04 -7.89043268e+01] [ 9.96386316e-01 -8.47023103e-02 -6.31095470e-03 -2.61173134e+02] [-6.31870688e-03 1.76565900e-04 -9.99980021e-01 -8.04839771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.080385723 meters 0.018242740177516172 Centerline is valid? [True, True] Translation: X:-78.89, Y:-261.18, Z:-8.05 [[ 5.00190632e-03 9.99987481e-01 1.40984960e-04 -7.88880489e+01] [ 9.99966015e-01 -5.00087488e-03 -6.55433799e-03 -2.61178496e+02] [-6.55355088e-03 1.73764353e-04 -9.99978510e-01 -8.04756034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.110385723 meters 0.017605155681226455 Centerline is valid? [True, True] Translation: X:-78.87, Y:-261.18, Z:-8.05 [[-7.47464974e-02 9.97202392e-01 5.91387611e-04 -7.88737534e+01] [ 9.97184970e-01 7.47486884e-02 -5.89662266e-03 -2.61182821e+02] [-5.92433167e-03 1.48970946e-04 -9.99982440e-01 -8.04856602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.140385723 meters 0.018419013470114556 Centerline is valid? [True, True] Translation: X:-78.86, Y:-261.19, Z:-8.05 [[-1.54148479e-01 9.88047179e-01 1.00884811e-03 -7.88629907e+01] [ 9.88031340e-01 1.54151722e-01 -5.59625377e-03 -2.61187075e+02] [-5.68487843e-03 1.34119541e-04 -9.99983832e-01 -8.04845434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.170385723 meters 0.0167054580725332 Centerline is valid? [True, True] Translation: X:-78.85, Y:-261.19, Z:-8.05 [[-2.34271703e-01 9.72170640e-01 1.00750970e-03 -7.88460339e+01] [ 9.72163071e-01 2.34273856e-01 -3.83723461e-03 -2.61187953e+02] [-3.96648001e-03 8.05082392e-05 -9.99992130e-01 -8.05064960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.200385723 meters 0.016667492938820336 Centerline is valid? [True, True] Translation: X:-78.83, Y:-261.19, Z:-8.05 [[-3.11437829e-01 9.50265763e-01 1.20742340e-03 -7.88334105e+01] [ 9.50259445e-01 3.11440162e-01 -3.46603160e-03 -2.61189812e+02] [-3.66969130e-03 6.79121315e-05 -9.99993264e-01 -8.05154050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.230385723 meters 0.015842863435084367 Centerline is valid? [True, True] Translation: X:-78.82, Y:-261.19, Z:-8.05 [[-3.88127237e-01 9.21604704e-01 1.42019746e-03 -7.88167449e+01] [ 9.21599027e-01 3.88129832e-01 -3.23521899e-03 -2.61187739e+02] [-3.53281405e-03 5.31759912e-05 -9.99993758e-01 -8.05182091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.260385723 meters 0.015670666691119498 Centerline is valid? [True, True] Translation: X:-78.80, Y:-261.18, Z:-8.05 [[-4.60838152e-01 8.87482701e-01 1.62884435e-03 -7.88029119e+01] [ 8.87477499e-01 4.60841028e-01 -3.03890061e-03 -2.61184941e+02] [-3.44761003e-03 4.51213675e-05 -9.99994056e-01 -8.05079571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.290385723 meters 0.015309107882028727 Centerline is valid? [True, True] Translation: X:-78.79, Y:-261.18, Z:-8.05 [[-5.31368488e-01 8.47136940e-01 2.55622242e-03 -7.87888997e+01] [ 8.47127572e-01 5.31374634e-01 -3.98438585e-03 -2.61182114e+02] [-4.73363219e-03 4.82694122e-05 -9.99988795e-01 -8.04950833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.320385723 meters 0.015041101371917451 Centerline is valid? [True, True] Translation: X:-78.78, Y:-261.18, Z:-8.05 [[-5.97737415e-01 8.01685119e-01 3.30947815e-03 -7.87750003e+01] [ 8.01673242e-01 5.97746575e-01 -4.36411301e-03 -2.61175792e+02] [-5.47687369e-03 4.45264496e-05 -9.99985001e-01 -8.04876217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3503857229999 meters 0.014995615140189197 Centerline is valid? [True, True] Translation: X:-78.76, Y:-261.17, Z:-8.05 [[-6.59146450e-01 7.52005529e-01 3.69344085e-03 -7.87628518e+01] [ 7.51994078e-01 6.59156797e-01 -4.15022815e-03 -2.61171589e+02] [-5.55555116e-03 4.18374929e-05 -9.99984567e-01 -8.04826646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.380385723 meters 0.01501204630514539 Centerline is valid? [True, True] Translation: X:-78.75, Y:-261.17, Z:-8.05 [[-7.16209932e-01 6.97873145e-01 4.05059186e-03 -7.87522560e+01] [ 6.97862303e-01 7.16221385e-01 -3.89021186e-03 -2.61165452e+02] [-5.61599489e-03 4.05469930e-05 -9.99984229e-01 -8.04835449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.410385723 meters 0.015171455647503416 Centerline is valid? [True, True] Translation: X:-78.74, Y:-261.14, Z:-8.05 [[-7.64371441e-01 6.44757936e-01 4.84820981e-03 -7.87398172e+01] [ 6.44745294e-01 7.64386815e-01 -4.03770640e-03 -2.61140106e+02] [-6.30925090e-03 3.95530014e-05 -9.99980096e-01 -8.04740488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.440385723 meters 0.01510626881789712 Centerline is valid? [True, True] Translation: X:-78.26, Y:-260.58, Z:-9.02 [[-7.28364354e-01 -6.85175663e-01 4.43615747e-03 -7.82562453e+01] [ 6.85162546e-01 -7.28377862e-01 -4.23983909e-03 -2.60581982e+02] [ 6.13623345e-03 -4.86587149e-05 9.99981172e-01 -9.02133776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4703857229999 meters 0.015198521812076258 Centerline is valid? [True, True] Translation: X:-78.27, Y:-260.61, Z:-9.02 [[-6.80918717e-01 -7.32347961e-01 4.02055673e-03 -7.82735939e+01] [ 7.32334814e-01 -6.80930586e-01 -4.38845680e-03 -2.60608846e+02] [ 5.95159744e-03 -4.37887110e-05 9.99982288e-01 -9.02121979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.500385723 meters 0.01511397542408628 Centerline is valid? [True, True] Translation: X:-78.29, Y:-260.59, Z:-9.02 [[-6.81553714e-01 -7.31756335e-01 4.14744325e-03 -7.82922005e+01] [ 7.31742352e-01 -6.81566332e-01 -4.52388530e-03 -2.60588672e+02] [ 6.13713940e-03 -4.84109489e-05 9.99981167e-01 -9.02170781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.530385723 meters 0.01519250040473678 Centerline is valid? [True, True] Translation: X:-78.31, Y:-260.57, Z:-9.02 [[-6.81982136e-01 -7.31355884e-01 4.35165766e-03 -7.83107814e+01] [ 7.31340501e-01 -6.81996018e-01 -4.74373134e-03 -2.60568347e+02] [ 6.43716902e-03 -5.25965398e-05 9.99979280e-01 -9.02235305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.560385723 meters 0.015151321028985186 Centerline is valid? [True, True] Translation: X:-78.33, Y:-260.55, Z:-9.02 [[-6.82414229e-01 -7.30947007e-01 5.22426730e-03 -7.83274152e+01] [ 7.30924853e-01 -6.82434223e-01 -5.69131485e-03 -2.60548081e+02] [ 7.72526835e-03 -6.52874288e-05 9.99970158e-01 -9.02346839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5903857229999 meters 0.015151321028985186 Centerline is valid? [True, True] Translation: X:-78.35, Y:-260.53, Z:-9.02 [[-6.82634734e-01 -7.30741069e-01 5.22598420e-03 -7.83455893e+01] [ 7.30718921e-01 -6.82654734e-01 -5.68973836e-03 -2.60528430e+02] [ 7.72526835e-03 -6.52874948e-05 9.99970158e-01 -9.02346849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.620385723 meters 0.015201717821036279 Centerline is valid? [True, True] Translation: X:-78.36, Y:-260.51, Z:-9.02 [[-6.83080807e-01 -7.30323789e-01 5.27017507e-03 -7.83633720e+01] [ 7.30301279e-01 -6.83101134e-01 -5.73435989e-03 -2.60508032e+02] [ 7.78800201e-03 -6.82155831e-05 9.99969671e-01 -9.02311077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.650385723 meters 0.01539218826551624 Centerline is valid? [True, True] Translation: X:-78.38, Y:-260.49, Z:-9.02 [[-6.84309282e-01 -7.29175705e-01 4.85769371e-03 -7.83803310e+01] [ 7.29156577e-01 -6.84326520e-01 -5.28217717e-03 -2.60488092e+02] [ 7.17588389e-03 -7.26235519e-05 9.99974250e-01 -9.02320912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.680385723 meters 0.015334681400401038 Centerline is valid? [True, True] Translation: X:-78.40, Y:-260.47, Z:-9.02 [[-6.85166372e-01 -7.28370909e-01 4.78131966e-03 -7.83996753e+01] [ 7.28352378e-01 -6.85183051e-01 -5.19626429e-03 -2.60467359e+02] [ 7.06088694e-03 -7.78200130e-05 9.99975069e-01 -9.02316262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.710385723 meters 0.015496606917435315 Centerline is valid? [True, True] Translation: X:-78.42, Y:-260.45, Z:-9.02 [[-6.86600696e-01 -7.27017747e-01 4.96796068e-03 -7.84175075e+01] [ 7.26997727e-01 -6.86618662e-01 -5.39611841e-03 -2.60445396e+02] [ 7.33416837e-03 -9.32825305e-05 9.99973100e-01 -9.02298378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.740385723 meters 0.015947956437933616 Centerline is valid? [True, True] Translation: X:-78.43, Y:-260.42, Z:-9.02 [[-6.87520476e-01 -7.26147438e-01 5.04912075e-03 -7.84338720e+01] [ 7.26126762e-01 -6.87539008e-01 -5.48070486e-03 -2.60424885e+02] [ 7.45126726e-03 -1.01795110e-04 9.99972234e-01 -9.02306220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.770385723 meters 0.01660504780433633 Centerline is valid? [True, True] Translation: X:-78.45, Y:-260.40, Z:-9.02 [[-6.88808955e-01 -7.24923530e-01 5.30085003e-03 -7.84525840e+01] [ 7.24900729e-01 -6.88829341e-01 -5.75077123e-03 -2.60404461e+02] [ 7.82025042e-03 -1.18592672e-04 9.99969414e-01 -9.02409477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.800385723 meters 0.01609459639925019 Centerline is valid? [True, True] Translation: X:-78.47, Y:-260.38, Z:-9.02 [[-6.89037372e-01 -7.24706952e-01 5.22820060e-03 -7.84700926e+01] [ 7.24684794e-01 -6.89057196e-01 -5.66826061e-03 -2.60384602e+02] [ 7.71035712e-03 -1.16845919e-04 9.99970268e-01 -9.02310185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.830385723 meters 0.01593433504866814 Centerline is valid? [True, True] Translation: X:-78.49, Y:-260.36, Z:-9.02 [[-6.88920094e-01 -7.24811468e-01 6.11882485e-03 -7.84887348e+01] [ 7.24781159e-01 -6.88947253e-01 -6.62980875e-03 -2.60364832e+02] [ 9.02090899e-03 -1.32599502e-04 9.99959302e-01 -9.02382655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.860385723 meters 0.015977206736822912 Centerline is valid? [True, True] Translation: X:-78.51, Y:-260.35, Z:-9.02 [[-6.88724816e-01 -7.24998040e-01 5.99750713e-03 -7.85065462e+01] [ 7.24968964e-01 -6.88750918e-01 -6.49421268e-03 -2.60345584e+02] [ 8.83908000e-03 -1.24718902e-04 9.99960927e-01 -9.02407309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.890385723 meters 0.015781038889748387 Centerline is valid? [True, True] Translation: X:-78.53, Y:-260.33, Z:-9.02 [[-6.88275303e-01 -7.25425305e-01 5.93583812e-03 -7.85258713e+01] [ 7.25396875e-01 -6.88300889e-01 -6.42349632e-03 -2.60326073e+02] [ 8.74540943e-03 -1.15295457e-04 9.99961752e-01 -9.02339481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.920385723 meters 0.016099171203664036 Centerline is valid? [True, True] Translation: X:-78.55, Y:-260.31, Z:-9.02 [[-6.88523399e-01 -7.25189898e-01 5.92803219e-03 -7.85455016e+01] [ 7.25161564e-01 -6.88548908e-01 -6.41152000e-03 -2.60305292e+02] [ 8.73130962e-03 -1.15700456e-04 9.99961875e-01 -9.02367029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.950385723 meters 0.015814911640314195 Centerline is valid? [True, True] Translation: X:-78.56, Y:-260.29, Z:-9.02 [[-6.88676724e-01 -7.25054738e-01 4.47173867e-03 -7.85630444e+01] [ 7.25038632e-01 -6.88691237e-01 -4.83348289e-03 -2.60285061e+02] [ 6.58418691e-03 -8.65238793e-05 9.99978320e-01 -9.02180958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.980385723 meters 0.015581398754942171 Centerline is valid? [True, True] Translation: X:-78.58, Y:-260.27, Z:-9.02 [[-6.88820897e-01 -7.24922011e-01 3.72157134e-03 -7.85819592e+01] [ 7.24910867e-01 -6.88830947e-01 -4.02014835e-03 -2.60265463e+02] [ 5.47782753e-03 -7.13546868e-05 9.99984994e-01 -9.02039975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.010385723 meters 0.015536282638144147 Centerline is valid? [True, True] Translation: X:-78.60, Y:-260.25, Z:-9.02 [[-6.88201156e-01 -7.25514011e-01 2.93069172e-03 -7.86015764e+01] [ 7.25507113e-01 -6.88207394e-01 -3.16398469e-03 -2.60245797e+02] [ 4.31243893e-03 -5.12202323e-05 9.99990700e-01 -9.01984952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.040385723 meters 0.015475365925990095 Centerline is valid? [True, True] Translation: X:-78.62, Y:-260.23, Z:-9.02 [[-6.87880027e-01 -7.25820278e-01 2.44794968e-03 -7.86207654e+01] [ 7.25815474e-01 -6.87884382e-01 -2.64120474e-03 -2.60226526e+02] [ 3.60094631e-03 -4.00722335e-05 9.99993516e-01 -9.01955408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.070385723 meters 0.015280673563859558 Centerline is valid? [True, True] Translation: X:-78.64, Y:-260.21, Z:-9.02 [[-6.86578047e-01 -7.27053003e-01 2.12528040e-03 -7.86398485e+01] [ 7.27049392e-01 -6.86581336e-01 -2.29159857e-03 -2.60207985e+02] [ 3.12529148e-03 -2.81774503e-05 9.99995116e-01 -9.01929894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1003857229999 meters 0.015191561070522783 Centerline is valid? [True, True] Translation: X:-78.66, Y:-260.19, Z:-9.02 [[-6.86377377e-01 -7.27241860e-01 2.31834794e-03 -7.86591466e+01] [ 7.27237569e-01 -6.86381291e-01 -2.49827644e-03 -2.60188037e+02] [ 3.40812186e-03 -2.87707125e-05 9.99994192e-01 -9.01943382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.130385723 meters 0.01534230489190004 Centerline is valid? [True, True] Translation: X:-78.68, Y:-260.17, Z:-9.02 [[-6.86601346e-01 -7.27030067e-01 2.42349224e-03 -7.86768856e+01] [ 7.27025381e-01 -6.86605623e-01 -2.61037198e-03 -2.60168962e+02] [ 3.56180232e-03 -3.03445471e-05 9.99993656e-01 -9.01985592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.160385723 meters 0.015289948687147342 Centerline is valid? [True, True] Translation: X:-78.70, Y:-260.15, Z:-9.02 [[-6.87280376e-01 -7.26386970e-01 2.76659062e-03 -7.86955200e+01] [ 7.26380866e-01 -6.87285944e-01 -2.97811798e-03 -2.60149589e+02] [ 4.06470494e-03 -3.72035505e-05 9.99991738e-01 -9.02004704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.190385723 meters 0.015360912554401808 Centerline is valid? [True, True] Translation: X:-78.71, Y:-260.13, Z:-9.02 [[-6.87984407e-01 -7.25720616e-01 2.65391400e-03 -7.87130859e+01] [ 7.25715000e-01 -6.87989524e-01 -2.85548676e-03 -2.60130664e+02] [ 3.89815064e-03 -3.85451681e-05 9.99992402e-01 -9.02000930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2203857229999 meters 0.01566054783298489 Centerline is valid? [True, True] Translation: X:-78.73, Y:-260.11, Z:-9.02 [[-6.90089851e-01 -7.23715690e-01 3.40554761e-03 -7.87317174e+01] [ 7.23706427e-01 -6.90098251e-01 -3.66219602e-03 -2.60109358e+02] [ 5.00055117e-03 -6.26276144e-05 9.99987495e-01 -9.02018460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.250385723 meters 0.01632480652482693 Centerline is valid? [True, True] Translation: X:-78.75, Y:-260.09, Z:-9.02 [[-6.93253100e-01 -7.20682710e-01 4.07066339e-03 -7.87489067e+01] [ 7.20669437e-01 -6.93265044e-01 -4.37504501e-03 -2.60087021e+02] [ 5.97506793e-03 -9.94108182e-05 9.99982144e-01 -9.02078235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.280385723 meters 0.01633046382345385 Centerline is valid? [True, True] Translation: X:-78.77, Y:-260.07, Z:-9.02 [[-6.94849548e-01 -7.19143756e-01 4.04528128e-03 -7.87686583e+01] [ 7.19130635e-01 -6.94861314e-01 -4.34547338e-03 -2.60066568e+02] [ 5.93592952e-03 -1.10364515e-04 9.99982376e-01 -9.02063568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.310385723 meters 0.017173675137227038 Centerline is valid? [True, True] Translation: X:-78.79, Y:-260.05, Z:-9.02 [[-6.96286147e-01 -7.17753066e-01 4.01716155e-03 -7.87856777e+01] [ 7.17740116e-01 -6.96297725e-01 -4.31332166e-03 -2.60046090e+02] [ 5.89304029e-03 -1.20028125e-04 9.99982629e-01 -9.02141305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3403857229999 meters 0.017495153672881077 Centerline is valid? [True, True] Translation: X:-78.81, Y:-260.03, Z:-9.02 [[-6.98050745e-01 -7.16038102e-01 3.82024532e-03 -7.88052218e+01] [ 7.16026377e-01 -6.98061187e-01 -4.09966256e-03 -2.60025440e+02] [ 5.60227958e-03 -1.26376096e-04 9.99984299e-01 -9.02103642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.370385723 meters 0.01760274846066879 Centerline is valid? [True, True] Translation: X:-78.82, Y:-260.01, Z:-9.02 [[-6.98651740e-01 -7.15450159e-01 4.10087741e-03 -7.88236892e+01] [ 7.15436655e-01 -6.98663761e-01 -4.39796343e-03 -2.60006072e+02] [ 6.01165807e-03 -1.38726785e-04 9.99981920e-01 -9.02072881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.400385723 meters 0.01759433076710886 Centerline is valid? [True, True] Translation: X:-78.84, Y:-259.99, Z:-9.02 [[-6.99533332e-01 -7.14589178e-01 3.92743485e-03 -7.88444438e+01] [ 7.14576792e-01 -6.99544343e-01 -4.20963546e-03 -2.59986681e+02] [ 5.75557478e-03 -1.38326526e-04 9.99983427e-01 -9.02090156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.430385723 meters 0.019916266588960646 Centerline is valid? [True, True] Translation: X:-78.86, Y:-259.97, Z:-9.02 [[-7.00137368e-01 -7.14001284e-01 3.13555585e-03 -7.88623733e+01] [ 7.13993394e-01 -7.00144380e-01 -3.35867945e-03 -2.59967684e+02] [ 4.59344325e-03 -1.12770834e-04 9.99989444e-01 -9.02240811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.460385723 meters 0.017879688047410105 Centerline is valid? [True, True] Translation: X:-78.88, Y:-259.95, Z:-9.02 [[-6.99453779e-01 -7.14674124e-01 2.30387308e-03 -7.88824326e+01] [ 7.14669872e-01 -6.99457569e-01 -2.46639545e-03 -2.59948378e+02] [ 3.37413047e-03 -7.86209376e-05 9.99994305e-01 -9.01825003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.490385723 meters 0.017560628854013993 Centerline is valid? [True, True] Translation: X:-78.90, Y:-259.93, Z:-9.02 [[-6.98793938e-01 -7.15321331e-01 1.55762024e-03 -7.89035606e+01] [ 7.15319392e-01 -6.98795672e-01 -1.66648556e-03 -2.59930686e+02] [ 2.28053095e-03 -5.03340434e-05 9.99997398e-01 -9.01753430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.520385723 meters 0.017571642906286978 Centerline is valid? [True, True] Translation: X:-78.92, Y:-259.91, Z:-9.02 [[-6.98382959e-01 -7.15723047e-01 1.32795452e-03 -7.89222508e+01] [ 7.15721639e-01 -6.98384220e-01 -1.42010208e-03 -2.59912617e+02] [ 1.94382227e-03 -4.13293075e-05 9.99998110e-01 -9.01756920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.550385723 meters 0.016914588274488048 Centerline is valid? [True, True] Translation: X:-78.94, Y:-259.90, Z:-9.02 [[-6.97758142e-01 -7.16332962e-01 8.13853813e-04 -7.89443081e+01] [ 7.16332434e-01 -6.97758616e-01 -8.69850994e-04 -2.59895362e+02] [ 1.19097645e-03 -2.39557300e-05 9.99999291e-01 -9.01756711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.580385723 meters 0.018100543337126275 Centerline is valid? [True, True] Translation: X:-78.96, Y:-259.88, Z:-9.02 [[-6.98050405e-01 -7.16048046e-01 9.09680876e-04 -7.89626657e+01] [ 7.16047387e-01 -6.98050997e-01 -9.71644442e-04 -2.59876396e+02] [ 1.33074775e-03 -2.68821813e-05 9.99999114e-01 -9.01981465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.610385723 meters 0.017066922314241024 Centerline is valid? [True, True] Translation: X:-78.98, Y:-259.86, Z:-9.02 [[-6.97610832e-01 -7.16476033e-01 1.10534524e-03 -7.89827362e+01] [ 7.16475062e-01 -6.97611707e-01 -1.17992244e-03 -2.59858266e+02] [ 1.61648793e-03 -3.11743744e-05 9.99998693e-01 -9.01857165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.640385723 meters 0.017119664855487993 Centerline is valid? [True, True] Translation: X:-79.00, Y:-259.84, Z:-9.02 [[-6.97593165e-01 -7.16493383e-01 1.00465816e-03 -7.90022176e+01] [ 7.16492582e-01 -6.97593888e-01 -1.07176181e-03 -2.59840096e+02] [ 1.46875364e-03 -2.78235962e-05 9.99998921e-01 -9.01825654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.670385723 meters 0.016907240055889998 Centerline is valid? [True, True] Translation: X:-79.02, Y:-259.82, Z:-9.02 [[-6.98470881e-01 -7.15638236e-01 5.86033938e-04 -7.90233255e+01] [ 7.15637964e-01 -6.98471126e-01 -6.24792827e-04 -2.59821934e+02] [ 8.56453422e-04 -1.70114622e-05 9.99999633e-01 -9.01755741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.700385723 meters 0.01685287506467648 Centerline is valid? [True, True] Translation: X:-79.04, Y:-259.80, Z:-9.02 [[-6.99002086e-01 -7.15119531e-01 3.74272092e-04 -7.90436150e+01] [ 7.15119420e-01 -6.99002187e-01 -3.98806060e-04 -2.59802651e+02] [ 5.46811014e-04 -1.11170272e-05 9.99999851e-01 -9.01734272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.730385723 meters 0.01676678021189591 Centerline is valid? [True, True] Translation: X:-79.06, Y:-259.78, Z:-9.02 [[-6.99718412e-01 -7.14418729e-01 -1.52366432e-04 -7.90642937e+01] [ 7.14418710e-01 -6.99718429e-01 1.62265676e-04 -2.59784006e+02] [-2.22539238e-04 4.68685137e-06 9.99999975e-01 -9.01729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.760385723 meters 0.017370858142317227 Centerline is valid? [True, True] Translation: X:-79.08, Y:-259.77, Z:-9.02 [[-7.00765625e-01 -7.13391383e-01 -5.23715565e-04 -7.90840362e+01] [ 7.13391165e-01 -7.00765820e-01 5.57410210e-04 -2.59765621e+02] [-7.64653607e-04 1.69998569e-05 9.99999708e-01 -9.01807105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.790385723 meters 0.017022312262905178 Centerline is valid? [True, True] Translation: X:-79.11, Y:-259.75, Z:-9.02 [[-7.01464502e-01 -7.12704270e-01 -4.19909750e-04 -7.91062237e+01] [ 7.12704130e-01 -7.01464628e-01 4.46676890e-04 -2.59748037e+02] [-6.12900363e-04 1.40565695e-05 9.99999812e-01 -9.01881310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.820385723 meters 0.017244962084833636 Centerline is valid? [True, True] Translation: X:-79.13, Y:-259.73, Z:-9.02 [[-7.02061105e-01 -7.12116613e-01 -3.66901379e-04 -7.91261815e+01] [ 7.12116506e-01 -7.02061201e-01 3.90073810e-04 -2.59728662e+02] [-5.35365263e-04 1.25791223e-05 9.99999857e-01 -9.01870467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8503857229999 meters 0.01756155879384353 Centerline is valid? [True, True] Translation: X:-79.15, Y:-259.71, Z:-9.02 [[-7.02940215e-01 -7.11248724e-01 -5.53255821e-04 -7.91475216e+01] [ 7.11248482e-01 -7.02940433e-01 5.87873605e-04 -2.59709656e+02] [-8.07030238e-04 1.97376356e-05 9.99999674e-01 -9.01863294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.880385723 meters 0.017693606609088117 Centerline is valid? [True, True] Translation: X:-79.17, Y:-259.69, Z:-9.02 [[-7.03410143e-01 -7.10783872e-01 -6.77484853e-04 -7.91676771e+01] [ 7.10783508e-01 -7.03410469e-01 7.19479469e-04 -2.59690684e+02] [-9.87944339e-04 2.45440956e-05 9.99999512e-01 -9.01897594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.910385723 meters 0.017470531115100028 Centerline is valid? [True, True] Translation: X:-79.19, Y:-259.67, Z:-9.02 [[-7.03711258e-01 -7.10485785e-01 -6.43306838e-04 -7.91885832e+01] [ 7.10485458e-01 -7.03711552e-01 6.82803553e-04 -2.59671644e+02] [-9.37824671e-04 2.34363940e-05 9.99999560e-01 -9.01921628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.940385723 meters 0.017470581354350707 Centerline is valid? [True, True] Translation: X:-79.21, Y:-259.65, Z:-9.02 [[-7.03824551e-01 -7.10373051e-01 -1.06273740e-03 -7.92108473e+01] [ 7.10372157e-01 -7.03825353e-01 1.12735946e-03 -2.59653471e+02] [-1.54882731e-03 3.85242068e-05 9.99998800e-01 -9.01891188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9703857229999 meters 0.017964202839745914 Centerline is valid? [True, True] Translation: X:-79.23, Y:-259.64, Z:-9.02 [[-7.03652213e-01 -7.10543441e-01 -1.25725910e-03 -7.92317399e+01] [ 7.10542192e-01 -7.03653335e-01 1.33294065e-03 -2.59636268e+02] [-1.83178679e-03 4.45910001e-05 9.99998321e-01 -9.01903997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.000385723 meters 0.01775979611370689 Centerline is valid? [True, True] Translation: X:-79.25, Y:-259.62, Z:-9.02 [[-7.03769133e-01 -7.10428170e-01 -9.07381398e-04 -7.92524220e+01] [ 7.10427520e-01 -7.03769717e-01 9.61415935e-04 -2.59617863e+02] [-1.32160451e-03 3.19861419e-05 9.99999126e-01 -9.01956977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.030385723 meters 0.017558476602139793 Centerline is valid? [True, True] Translation: X:-79.27, Y:-259.60, Z:-9.02 [[-7.04317364e-01 -7.09885074e-01 -4.82911086e-04 -7.92734569e+01] [ 7.09884890e-01 -7.04317529e-01 5.11387358e-04 -2.59599291e+02] [-7.03148994e-04 1.73677131e-05 9.99999753e-01 -9.01988187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.060385723 meters 0.017715125958733525 Centerline is valid? [True, True] Translation: X:-79.30, Y:-259.58, Z:-9.02 [[-7.06011221e-01 -7.08200553e-01 -3.64299172e-04 -7.92954519e+01] [ 7.08200448e-01 -7.06011315e-01 3.85581011e-04 -2.59580646e+02] [-5.30268023e-04 1.42276835e-05 9.99999859e-01 -9.02014172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0903857229999 meters 0.01847748147593009 Centerline is valid? [True, True] Translation: X:-79.32, Y:-259.56, Z:-9.02 [[-7.08398597e-01 -7.05812552e-01 -2.62133747e-04 -7.93168105e+01] [ 7.05812498e-01 -7.08398646e-01 2.77304913e-04 -2.59561572e+02] [-3.81420479e-04 1.14251370e-05 9.99999927e-01 -9.02015183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.120385723 meters 0.0188340312854764 Centerline is valid? [True, True] Translation: X:-79.34, Y:-259.54, Z:-9.02 [[-7.09623474e-01 -7.04580970e-01 -4.26908369e-04 -7.93378236e+01] [ 7.04580826e-01 -7.09623602e-01 4.51381520e-04 -2.59541922e+02] [-6.20979083e-04 1.95194714e-05 9.99999807e-01 -9.02052366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.150385723 meters 0.01911738453381768 Centerline is valid? [True, True] Translation: X:-79.36, Y:-259.52, Z:-9.02 [[-7.10771688e-01 -7.03422515e-01 -6.10390792e-04 -7.93583321e+01] [ 7.03422220e-01 -7.10771950e-01 6.45026677e-04 -2.59522869e+02] [-8.87574941e-04 2.91042543e-05 9.99999606e-01 -9.02043656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.180385723 meters 0.019884873696960972 Centerline is valid? [True, True] Translation: X:-79.38, Y:-259.51, Z:-9.02 [[-7.11891073e-01 -7.02289184e-01 -1.00086549e-03 -7.93785488e+01] [ 7.02288391e-01 -7.11891775e-01 1.05718775e-03 -2.59505453e+02] [-1.45495943e-03 4.97063068e-05 9.99998940e-01 -9.02067800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.210385723 meters 0.01968022500048581 Centerline is valid? [True, True] Translation: X:-79.40, Y:-259.49, Z:-9.02 [[-7.12219862e-01 -7.01955978e-01 -8.20253678e-04 -7.93991923e+01] [ 7.01955445e-01 -7.12220334e-01 8.65939359e-04 -2.59486971e+02] [-1.19205266e-03 4.09576757e-05 9.99999289e-01 -9.02093638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.240385723 meters 0.020096434227718514 Centerline is valid? [True, True] Translation: X:-79.42, Y:-259.47, Z:-9.02 [[-7.12132601e-01 -7.02044672e-01 -6.60870287e-04 -7.94199190e+01] [ 7.02044327e-01 -7.12132907e-01 6.97284331e-04 -2.59469543e+02] [-9.60152227e-04 3.25986686e-05 9.99999539e-01 -9.02160349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.270385723 meters 0.019362404249549436 Centerline is valid? [True, True] Translation: X:-79.44, Y:-259.45, Z:-9.02 [[-7.11861136e-01 -7.02319117e-01 -1.25781754e-03 -7.94412831e+01] [ 7.02317867e-01 -7.11862244e-01 1.32639655e-03 -2.59451645e+02] [-1.82694647e-03 6.08224243e-05 9.99998329e-01 -9.02195943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.300385723 meters 0.01954994835941958 Centerline is valid? [True, True] Translation: X:-79.46, Y:-259.43, Z:-9.02 [[-7.11346461e-01 -7.02840159e-01 -1.38650430e-03 -7.94607660e+01] [ 7.02838643e-01 -7.11347810e-01 1.46129886e-03 -2.59433424e+02] [-2.01334632e-03 6.50009732e-05 9.99997971e-01 -9.02228241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.330385723 meters 0.019257479641540946 Centerline is valid? [True, True] Translation: X:-79.48, Y:-259.42, Z:-9.02 [[-7.09539234e-01 -7.04665263e-01 -9.70958618e-04 -7.94822175e+01] [ 7.04664522e-01 -7.09539897e-01 1.02292194e-03 -2.59416326e+02] [-1.40975143e-03 4.16031583e-05 9.99999006e-01 -9.02385143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.360385723 meters 0.020255237014819173 Centerline is valid? [True, True] Translation: X:-79.51, Y:-259.40, Z:-9.03 [[-7.07736002e-01 -7.06476810e-01 5.17219217e-04 -7.95053433e+01] [ 7.06476601e-01 -7.07736191e-01 -5.44617851e-04 -2.59399214e+02] [ 7.50814641e-04 -2.00423869e-05 9.99999718e-01 -9.02762405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.390385723 meters 0.017706969126454572 Centerline is valid? [True, True] Translation: X:-79.53, Y:-259.38, Z:-9.03 [[-7.06573161e-01 -7.07639965e-01 -2.19950291e-04 -7.95266185e+01] [ 7.07639927e-01 -7.06573195e-01 2.31478684e-04 -2.59380355e+02] [-3.19214548e-04 7.91101729e-06 9.99999949e-01 -9.02512256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.420385723 meters 0.017187860750822265 Centerline is valid? [True, True] Translation: X:-79.55, Y:-259.36, Z:-9.03 [[-7.05784060e-01 -7.08426946e-01 -3.50395882e-04 -7.95480457e+01] [ 7.08426850e-01 -7.05784147e-01 3.68559507e-04 -2.59361459e+02] [-5.08401345e-04 1.18935741e-05 9.99999871e-01 -9.02528974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.450385723 meters 0.016938012724221862 Centerline is valid? [True, True] Translation: X:-79.57, Y:-259.34, Z:-9.03 [[-7.03960760e-01 -7.10238344e-01 -8.61977114e-04 -7.95700654e+01] [ 7.10237767e-01 -7.03961287e-01 9.06161201e-04 -2.59343526e+02] [-1.25038895e-03 2.56932270e-05 9.99999218e-01 -9.02555980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.480385723 meters 0.01903085370339465 Centerline is valid? [True, True] Translation: X:-79.59, Y:-259.32, Z:-9.03 [[-7.02728405e-01 -7.11457982e-01 -5.72304548e-04 -7.95917260e+01] [ 7.11457729e-01 -7.02728638e-01 6.01319015e-04 -2.59324989e+02] [-8.29988008e-04 1.53934589e-05 9.99999656e-01 -9.02819810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.510385723 meters 0.01903085370339465 Centerline is valid? [True, True] Translation: X:-79.61, Y:-259.31, Z:-9.03 [[-7.02926220e-01 -7.11262541e-01 -5.72471709e-04 -7.96107744e+01] [ 7.11262287e-01 -7.02926453e-01 6.01159874e-04 -2.59305054e+02] [-8.29988007e-04 1.53935004e-05 9.99999656e-01 -9.02819821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.540385723 meters 0.015767080405514087 Centerline is valid? [True, True] Translation: X:-79.63, Y:-259.29, Z:-9.02 [[-7.02243507e-01 -7.11935526e-01 -1.36501614e-03 -7.96316295e+01] [ 7.11934086e-01 -7.02244833e-01 1.43261342e-03 -2.59285688e+02] [-1.97850392e-03 3.42419566e-05 9.99998042e-01 -9.02484279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.570385723 meters 0.015825906468569812 Centerline is valid? [True, True] Translation: X:-79.65, Y:-259.27, Z:-9.03 [[-7.01724818e-01 -7.12447153e-01 -1.15481299e-03 -7.96510230e+01] [ 7.12446124e-01 -7.01725768e-01 1.21129868e-03 -2.59266429e+02] [-1.67334833e-03 2.72563103e-05 9.99998600e-01 -9.02630764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6003857229999 meters 0.01624771702258589 Centerline is valid? [True, True] Translation: X:-79.67, Y:-259.25, Z:-9.03 [[-7.01905295e-01 -7.12270096e-01 -5.16608520e-04 -7.96700504e+01] [ 7.12269890e-01 -7.01905485e-01 5.41580735e-04 -2.59246082e+02] [-7.48362115e-04 1.21736920e-05 9.99999720e-01 -9.02706001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.630385723 meters 0.01588690410587649 Centerline is valid? [True, True] Translation: X:-79.69, Y:-259.23, Z:-9.03 [[-7.02507894e-01 -7.11675611e-01 -6.95668836e-04 -7.96893722e+01] [ 7.11675238e-01 -7.02508238e-01 7.28893456e-04 -2.59225778e+02] [-1.00744878e-03 1.69631219e-05 9.99999492e-01 -9.02671036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.660385723 meters 0.01612505070481782 Centerline is valid? [True, True] Translation: X:-79.71, Y:-259.21, Z:-9.03 [[-7.04216681e-01 -7.09984456e-01 -9.69091640e-04 -7.97083690e+01] [ 7.09983731e-01 -7.04217347e-01 1.01484307e-03 -2.59205030e+02] [-1.40297395e-03 2.66301200e-05 9.99999016e-01 -9.02667952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.690385723 meters 0.016274942088449686 Centerline is valid? [True, True] Translation: X:-79.73, Y:-259.18, Z:-9.03 [[-7.05279240e-01 -7.08928420e-01 -1.29987037e-03 -7.97272923e+01] [ 7.08927115e-01 -7.05280436e-01 1.36051575e-03 -2.59184398e+02] [-1.88128143e-03 3.80301610e-05 9.99998230e-01 -9.02647412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7203857229999 meters 0.016751666945426534 Centerline is valid? [True, True] Translation: X:-79.75, Y:-259.16, Z:-9.03 [[-7.06483524e-01 -7.07727029e-01 -1.86593767e-03 -7.97450072e+01] [ 7.07724338e-01 -7.06485986e-01 1.95251795e-03 -2.59164025e+02] [-2.70010854e-03 5.88522632e-05 9.99996353e-01 -9.02601309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.750385723 meters 0.016562015421688937 Centerline is valid? [True, True] Translation: X:-79.77, Y:-259.14, Z:-9.03 [[-7.06799660e-01 -7.07411214e-01 -1.90132450e-03 -7.97653828e+01] [ 7.07408422e-01 -7.06802215e-01 1.98844029e-03 -2.59144274e+02] [-2.75050533e-03 6.04159522e-05 9.99996216e-01 -9.02667558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.780385723 meters 0.017339061418242024 Centerline is valid? [True, True] Translation: X:-79.78, Y:-259.12, Z:-9.03 [[-7.06694679e-01 -7.07516328e-01 -1.81002056e-03 -7.97824016e+01] [ 7.07513801e-01 -7.06696995e-01 1.89185132e-03 -2.59122810e+02] [-2.61765179e-03 5.63467397e-05 9.99996572e-01 -9.02764664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.810385723 meters 0.016490697881091636 Centerline is valid? [True, True] Translation: X:-79.80, Y:-259.10, Z:-9.03 [[-7.06446662e-01 -7.07764386e-01 -1.63930806e-03 -7.98023406e+01] [ 7.07762316e-01 -7.06448562e-01 1.71247946e-03 -2.59103283e+02] [-2.37011880e-03 4.95349334e-05 9.99997190e-01 -9.02803507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8403857229999 meters 0.01652016000952637 Centerline is valid? [True, True] Translation: X:-79.82, Y:-259.08, Z:-9.03 [[-7.06448713e-01 -7.07762485e-01 -1.57514498e-03 -7.98208524e+01] [ 7.07760576e-01 -7.06450468e-01 1.64455250e-03 -2.59082821e+02] [-2.27671447e-03 4.69664783e-05 9.99997407e-01 -9.02819075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.870385723 meters 0.018969585749155752 Centerline is valid? [True, True] Translation: X:-79.84, Y:-259.06, Z:-9.03 [[-7.06015160e-01 -7.08196720e-01 -2.02109892e-05 -7.98398441e+01] [ 7.08196719e-01 -7.06015160e-01 2.10914428e-05 -2.59061676e+02] [-2.92061550e-05 5.77522072e-07 1.00000000e+00 -9.03152686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.900385723 meters 0.016123228613240084 Centerline is valid? [True, True] Translation: X:-79.86, Y:-259.04, Z:-9.03 [[-7.06239260e-01 -7.07972270e-01 -1.17110648e-03 -7.98584171e+01] [ 7.07971218e-01 -7.06240231e-01 1.22136011e-03 -2.59041109e+02] [-1.69177160e-03 3.34627781e-05 9.99998568e-01 -9.02916529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.930385723 meters 0.01662872910278266 Centerline is valid? [True, True] Translation: X:-79.88, Y:-259.02, Z:-9.03 [[-7.06618992e-01 -7.07593783e-01 -7.98938426e-04 -7.98751529e+01] [ 7.07593293e-01 -7.06619443e-01 8.32735584e-04 -2.59019932e+02] [-1.15378395e-03 2.31033071e-05 9.99999334e-01 -9.02926151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.960385723 meters 0.016048966141163426 Centerline is valid? [True, True] Translation: X:-79.89, Y:-259.00, Z:-9.03 [[-7.07146530e-01 -7.07066851e-01 -5.03167250e-04 -7.98934893e+01] [ 7.07066657e-01 -7.07146709e-01 5.24160638e-04 -2.58998356e+02] [-7.26429677e-04 1.48855909e-05 9.99999736e-01 -9.02947582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.990385723 meters 0.016102636759383 Centerline is valid? [True, True] Translation: X:-79.91, Y:-258.98, Z:-9.03 [[-7.07545086e-01 -7.06667897e-01 -6.59440769e-04 -7.99114189e+01] [ 7.06667564e-01 -7.07545393e-01 6.86569689e-04 -2.58977214e+02] [-9.51761036e-04 1.97736084e-05 9.99999547e-01 -9.02949233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.020385723 meters 0.016897624164887465 Centerline is valid? [True, True] Translation: X:-79.93, Y:-258.95, Z:-9.03 [[-7.08500720e-01 -7.05709676e-01 -7.63817713e-04 -7.99263328e+01] [ 7.05709229e-01 -7.08501131e-01 7.94844686e-04 -2.58954072e+02] [-1.10209530e-03 2.41148229e-05 9.99999392e-01 -9.02891109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.050385723 meters 0.01682262570684 Centerline is valid? [True, True] Translation: X:-79.94, Y:-258.93, Z:-9.03 [[-7.09146185e-01 -7.05060516e-01 -1.16471690e-03 -7.99447574e+01] [ 7.05059477e-01 -7.09147141e-01 1.21136380e-03 -2.58933306e+02] [-1.68004044e-03 3.78393253e-05 9.99998588e-01 -9.02915458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.080385723 meters 0.016868103218043964 Centerline is valid? [True, True] Translation: X:-79.96, Y:-258.91, Z:-9.03 [[-7.10050876e-01 -7.04150213e-01 -4.80819973e-04 -7.99625208e+01] [ 7.04150035e-01 -7.10051039e-01 4.99800686e-04 -2.58911768e+02] [-6.93341480e-04 1.63145146e-05 9.99999760e-01 -9.02981763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.110385723 meters 0.017918285782496417 Centerline is valid? [True, True] Translation: X:-79.98, Y:-258.89, Z:-9.03 [[-7.10419533e-01 -7.03778425e-01 -1.24931209e-04 -7.99814613e+01] [ 7.03778413e-01 -7.10419544e-01 1.29791507e-04 -2.58891002e+02] [-1.80098034e-04 4.28253365e-06 9.99999984e-01 -9.03136514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.140385723 meters 0.017444068796130956 Centerline is valid? [True, True] Translation: X:-80.00, Y:-258.87, Z:-9.03 [[-7.10381246e-01 -7.03816827e-01 -5.99373097e-04 -7.99984546e+01] [ 7.03816553e-01 -7.10381498e-01 6.22319697e-04 -2.58869151e+02] [-8.63782633e-04 2.02355342e-05 9.99999627e-01 -9.03015583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.170385723 meters 0.016752512885960018 Centerline is valid? [True, True] Translation: X:-80.02, Y:-258.85, Z:-9.03 [[-7.10112290e-01 -7.04088304e-01 -4.42871127e-04 -8.00183749e+01] [ 7.04088154e-01 -7.10112428e-01 4.59573531e-04 -2.58849402e+02] [-6.38068639e-04 1.45284986e-05 9.99999796e-01 -9.03054192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.200385723 meters 0.01687064670601013 Centerline is valid? [True, True] Translation: X:-80.03, Y:-258.83, Z:-9.03 [[-7.09936982e-01 -7.04265206e-01 3.66147406e-05 -8.00346651e+01] [ 7.04265205e-01 -7.09936982e-01 -3.79721703e-05 -2.58828102e+02] [ 5.27366372e-05 -1.17136015e-06 9.99999999e-01 -9.03013879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.230385723 meters 0.01692136575131764 Centerline is valid? [True, True] Translation: X:-80.05, Y:-258.81, Z:-9.03 [[-7.10309864e-01 -7.03889120e-01 -5.93402851e-05 -8.00520841e+01] [ 7.03889117e-01 -7.10309867e-01 6.15071556e-05 -2.58807679e+02] [-8.54442072e-05 1.92015838e-06 9.99999996e-01 -9.02958884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.260385723 meters 0.016446576812461266 Centerline is valid? [True, True] Translation: X:-80.07, Y:-258.79, Z:-9.03 [[-7.10370047e-01 -7.03828155e-01 5.70365296e-04 -8.00717462e+01] [ 7.03827907e-01 -7.10370276e-01 -5.90847574e-04 -2.58787090e+02] [ 8.21025711e-04 -1.82814070e-05 9.99999663e-01 -9.03057116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.290385723 meters 0.01661600157196588 Centerline is valid? [True, True] Translation: X:-80.09, Y:-258.77, Z:-9.03 [[-7.10486985e-01 -7.03709879e-01 8.05976101e-04 -8.00897366e+01] [ 7.03709385e-01 -7.10487442e-01 -8.34431913e-04 -2.58766763e+02] [ 1.15983388e-03 -2.56800677e-05 9.99999327e-01 -9.03122549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.320385723 meters 0.016379738098944614 Centerline is valid? [True, True] Translation: X:-80.11, Y:-258.75, Z:-9.03 [[-7.10665443e-01 -7.03529755e-01 7.15119513e-04 -8.01087074e+01] [ 7.03529367e-01 -7.10665803e-01 -7.39959746e-04 -2.58746220e+02] [ 1.02879468e-03 -2.27562429e-05 9.99999471e-01 -9.03125542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3503857229999 meters 0.01640157737486011 Centerline is valid? [True, True] Translation: X:-80.13, Y:-258.72, Z:-9.03 [[-7.10935327e-01 -7.03256003e-01 1.39819138e-03 -8.01262853e+01] [ 7.03254518e-01 -7.10936701e-01 -1.44596235e-03 -2.58723932e+02] [ 2.01090727e-03 -4.47013104e-05 9.99997977e-01 -9.03128739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.380385723 meters 0.01634203322879013 Centerline is valid? [True, True] Translation: X:-80.15, Y:-258.70, Z:-9.03 [[-7.11244856e-01 -7.02942242e-01 1.71997537e-03 -8.01452767e+01] [ 7.02939997e-01 -7.11246934e-01 -1.77775724e-03 -2.58703141e+02] [ 2.47298787e-03 -5.53812133e-05 9.99996941e-01 -9.03190839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.410385723 meters 0.01708444660035054 Centerline is valid? [True, True] Translation: X:-80.16, Y:-258.68, Z:-9.03 [[-7.11884877e-01 -7.02294395e-01 1.58253142e-03 -8.01624518e+01] [ 7.02292495e-01 -7.11886634e-01 -1.63474353e-03 -2.58681424e+02] [ 2.27465418e-03 -5.23492538e-05 9.99997412e-01 -9.03289893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.440385723 meters 0.016978654102360245 Centerline is valid? [True, True] Translation: X:-80.18, Y:-258.66, Z:-9.03 [[-7.12497126e-01 -7.01673983e-01 1.21154523e-03 -8.01806615e+01] [ 7.01672869e-01 -7.12498155e-01 -1.25075914e-03 -2.58661715e+02] [ 1.74084889e-03 -4.10538717e-05 9.99998484e-01 -9.03266698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4703857229999 meters 0.017152596479640885 Centerline is valid? [True, True] Translation: X:-80.20, Y:-258.64, Z:-9.03 [[-7.13165631e-01 -7.00995181e-01 7.33915041e-04 -8.01974999e+01] [ 7.00994773e-01 -7.13166008e-01 -7.57211498e-04 -2.58640397e+02] [ 1.05420487e-03 -2.55466083e-05 9.99999444e-01 -9.03182490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.500385723 meters 0.016868934117716325 Centerline is valid? [True, True] Translation: X:-80.22, Y:-258.62, Z:-9.03 [[-7.13674266e-01 -7.00477484e-01 5.79648485e-04 -8.02165975e+01] [ 7.00477229e-01 -7.13674501e-01 -5.97722314e-04 -2.58619961e+02] [ 8.32371366e-04 -2.05484694e-05 9.99999653e-01 -9.03154267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.530385723 meters 0.016417198197298182 Centerline is valid? [True, True] Translation: X:-80.24, Y:-258.60, Z:-9.03 [[-7.13771506e-01 -7.00377902e-01 1.01554551e-03 -8.02352756e+01] [ 7.00377121e-01 -7.13772228e-01 -1.04663345e-03 -2.58599108e+02] [ 1.45790712e-03 -3.57922972e-05 9.99998937e-01 -9.03173352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.560385723 meters 0.016399483917472393 Centerline is valid? [True, True] Translation: X:-80.25, Y:-258.58, Z:-9.03 [[-7.13598096e-01 -7.00554269e-01 1.21363042e-03 -8.02547645e+01] [ 7.00553155e-01 -7.13599127e-01 -1.25009221e-03 -2.58578264e+02] [ 1.74180304e-03 -4.18507998e-05 9.99998482e-01 -9.03219266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5903857229999 meters 0.01623340225541645 Centerline is valid? [True, True] Translation: X:-80.27, Y:-258.56, Z:-9.03 [[-7.12478652e-01 -7.01693135e-01 9.56772472e-04 -8.02735300e+01] [ 7.01692444e-01 -7.12479293e-01 -9.84980924e-04 -2.58558776e+02] [ 1.37283493e-03 -3.04178660e-05 9.99999057e-01 -9.03320802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.620385723 meters 0.015959409478223385 Centerline is valid? [True, True] Translation: X:-80.29, Y:-258.54, Z:-9.03 [[-7.11825934e-01 -7.02355686e-01 5.74626503e-04 -8.02934161e+01] [ 7.02355437e-01 -7.11826166e-01 -5.91244455e-04 -2.58538534e+02] [ 8.24298085e-04 -1.72710876e-05 9.99999660e-01 -9.03307736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.650385723 meters 0.015291724821258061 Centerline is valid? [True, True] Translation: X:-80.31, Y:-258.52, Z:-9.03 [[-7.09829774e-01 -7.04373219e-01 2.47794335e-04 -8.03124233e+01] [ 7.04373173e-01 -7.09829817e-01 -2.54820915e-04 -2.58518231e+02] [ 3.55380836e-04 -6.33979061e-06 9.99999937e-01 -9.03217664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.680385723 meters 0.01504990192933752 Centerline is valid? [True, True] Translation: X:-80.33, Y:-258.50, Z:-9.03 [[-7.09230602e-01 -7.04976460e-01 -3.80805215e-04 -8.03317555e+01] [ 7.04976351e-01 -7.09230704e-01 3.91393900e-04 -2.58497553e+02] [-5.46002236e-04 9.12986066e-06 9.99999851e-01 -9.03178832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.710385723 meters 0.014705655395859251 Centerline is valid? [True, True] Translation: X:-80.35, Y:-258.48, Z:-9.03 [[-7.08404827e-01 -7.05805722e-01 -9.39914839e-04 -8.03505833e+01] [ 7.05805062e-01 -7.08405451e-01 9.65489727e-04 -2.58477207e+02] [-1.34728897e-03 2.05609329e-05 9.99999092e-01 -9.03104785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.740385723 meters 0.014782269140445645 Centerline is valid? [True, True] Translation: X:-80.37, Y:-258.46, Z:-9.03 [[-7.08564066e-01 -7.05645392e-01 -1.24290094e-03 -8.03682511e+01] [ 7.05644239e-01 -7.08565156e-01 1.27590158e-03 -2.58458394e+02] [-1.78101037e-03 2.70121258e-05 9.99998414e-01 -9.03069646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.770385723 meters 0.014802467885266655 Centerline is valid? [True, True] Translation: X:-80.39, Y:-258.44, Z:-9.03 [[-7.09689441e-01 -7.04511381e-01 -2.14754823e-03 -8.03872181e+01] [ 7.04507937e-01 -7.09692689e-01 2.20336583e-03 -2.58437517e+02] [-3.07639558e-03 5.07406929e-05 9.99995267e-01 -9.03036165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.800385723 meters 0.015178875989935144 Centerline is valid? [True, True] Translation: X:-80.40, Y:-258.42, Z:-9.03 [[-7.10583751e-01 -7.03608863e-01 -2.30237204e-03 -8.04047229e+01] [ 7.03604903e-01 -7.10587479e-01 2.36127573e-03 -2.58416918e+02] [-3.29745128e-03 5.79239054e-05 9.99994562e-01 -9.03015430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.830385723 meters 0.015528294076677355 Centerline is valid? [True, True] Translation: X:-80.42, Y:-258.39, Z:-9.03 [[-7.11994590e-01 -7.02183171e-01 -1.58056972e-03 -8.04228086e+01] [ 7.02181303e-01 -7.11996344e-01 1.62013743e-03 -2.58394832e+02] [-2.26299310e-03 4.36825811e-05 9.99997439e-01 -9.03072234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.860385723 meters 0.015565841729781562 Centerline is valid? [True, True] Translation: X:-80.44, Y:-258.38, Z:-9.03 [[-7.12651848e-01 -7.01516617e-01 -1.33368421e-03 -8.04409143e+01] [ 7.01515288e-01 -7.12653095e-01 1.36624457e-03 -2.58375059e+02] [-1.90889745e-03 3.80568571e-05 9.99998177e-01 -9.03134387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.890385723 meters 0.015100670381486285 Centerline is valid? [True, True] Translation: X:-80.46, Y:-258.35, Z:-9.03 [[-7.12482715e-01 -7.01689205e-01 -8.00513144e-04 -8.04601171e+01] [ 7.01688727e-01 -7.12483164e-01 8.19605974e-04 -2.58354847e+02] [-1.14546080e-03 2.22440404e-05 9.99999344e-01 -9.03228740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.920385723 meters 0.014876164291182799 Centerline is valid? [True, True] Translation: X:-80.48, Y:-258.34, Z:-9.03 [[-7.11771337e-01 -7.02411121e-01 -4.25727080e-04 -8.04801373e+01] [ 7.02410986e-01 -7.11771464e-01 4.35642191e-04 -2.58335171e+02] [-6.09020306e-04 1.10422466e-05 9.99999815e-01 -9.03322950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.950385723 meters 0.014701140417185286 Centerline is valid? [True, True] Translation: X:-80.50, Y:-258.32, Z:-9.04 [[-7.09703320e-01 -7.04500098e-01 8.99673738e-04 -8.04993723e+01] [ 7.04499498e-01 -7.09703890e-01 -9.20132052e-04 -2.58316514e+02] [ 1.28673507e-03 -1.92010750e-05 9.99999172e-01 -9.03543685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.980385723 meters 0.013969955509667564 Centerline is valid? [True, True] Translation: X:-80.52, Y:-258.30, Z:-9.04 [[-7.08799635e-01 -7.05408213e-01 1.52661592e-03 -8.05205318e+01] [ 7.05406487e-01 -7.08801278e-01 -1.56052187e-03 -2.58297297e+02] [ 2.18287226e-03 -2.92125597e-05 9.99997617e-01 -9.03649414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.010385723 meters 0.013488041949196327 Centerline is valid? [True, True] Translation: X:-80.54, Y:-258.28, Z:-9.04 [[-7.07769881e-01 -7.06439503e-01 2.24128796e-03 -8.05406346e+01] [ 7.06435793e-01 -7.07773429e-01 -2.28976433e-03 -2.58277037e+02] [ 3.20390404e-03 -3.73001873e-05 9.99994867e-01 -9.03684203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.040385723 meters 0.013696925653683351 Centerline is valid? [True, True] Translation: X:-80.56, Y:-258.26, Z:-9.04 [[-7.07730297e-01 -7.06479721e-01 2.05689592e-03 -8.05586027e+01] [ 7.06476600e-01 -7.07733285e-01 -2.10012243e-03 -2.58256549e+02] [ 2.93942761e-03 -3.31714360e-05 9.99995679e-01 -9.03723466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.070385723 meters 0.013665254870215521 Centerline is valid? [True, True] Translation: X:-80.58, Y:-258.24, Z:-9.04 [[-7.08311001e-01 -7.05898484e-01 1.69024734e-03 -8.05767594e+01] [ 7.05896377e-01 -7.08313017e-01 -1.72481696e-03 -2.58235380e+02] [ 2.41476987e-03 -2.85673537e-05 9.99997084e-01 -9.03613110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1003857229999 meters 0.013605290816888521 Centerline is valid? [True, True] Translation: X:-80.60, Y:-258.21, Z:-9.04 [[-7.08872162e-01 -7.05335240e-01 1.56746093e-03 -8.05956693e+01] [ 7.05333429e-01 -7.08873894e-01 -1.59862813e-03 -2.58214540e+02] [ 2.23870089e-03 -2.76403882e-05 9.99997494e-01 -9.03576867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.130385723 meters 0.014041795541054105 Centerline is valid? [True, True] Translation: X:-80.61, Y:-258.19, Z:-9.04 [[-7.10216987e-01 -7.03980656e-01 1.75151353e-03 -8.06125144e+01] [ 7.03978393e-01 -7.10219145e-01 -1.78529277e-03 -2.58192555e+02] [ 2.50077002e-03 -3.49175679e-05 9.99996873e-01 -9.03572318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.160385723 meters 0.014102830174665397 Centerline is valid? [True, True] Translation: X:-80.63, Y:-258.17, Z:-9.04 [[-7.10879208e-01 -7.03311756e-01 1.82342167e-03 -8.06305915e+01] [ 7.03309305e-01 -7.10881546e-01 -1.85745587e-03 -2.58172705e+02] [ 2.60260737e-03 -3.79973319e-05 9.99996613e-01 -9.03576366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.190385723 meters 0.014053091289590107 Centerline is valid? [True, True] Translation: X:-80.65, Y:-258.15, Z:-9.04 [[-7.11606527e-01 -7.02575896e-01 1.80594921e-03 -8.06498816e+01] [ 7.02573491e-01 -7.11608817e-01 -1.83864030e-03 -2.58152165e+02] [ 2.57691374e-03 -3.95763922e-05 9.99996679e-01 -9.03594855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2203857229999 meters 0.013832271770861826 Centerline is valid? [True, True] Translation: X:-80.67, Y:-258.13, Z:-9.04 [[-7.11843064e-01 -7.02336070e-01 1.87012920e-03 -8.06696149e+01] [ 7.02333493e-01 -7.11845519e-01 -1.90291246e-03 -2.58132412e+02] [ 2.66772715e-03 -4.11206663e-05 9.99996441e-01 -9.03606959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.250385723 meters 0.014001379101020494 Centerline is valid? [True, True] Translation: X:-80.69, Y:-258.11, Z:-9.04 [[-7.11662786e-01 -7.02517926e-01 2.15477955e-03 -8.06865585e+01] [ 7.02514509e-01 -7.11666046e-01 -2.19165534e-03 -2.58111550e+02] [ 3.07316061e-03 -4.59556451e-05 9.99995277e-01 -9.03690514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.280385723 meters 0.013961769194697314 Centerline is valid? [True, True] Translation: X:-80.71, Y:-258.09, Z:-9.04 [[-7.11615388e-01 -7.02566050e-01 2.11788406e-03 -8.07052505e+01] [ 7.02562753e-01 -7.11618538e-01 -2.15281678e-03 -2.58091406e+02] [ 3.01962154e-03 -4.40310903e-05 9.99995440e-01 -9.03718600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.310385723 meters 0.01358387217222206 Centerline is valid? [True, True] Translation: X:-80.72, Y:-258.07, Z:-9.04 [[-7.11311122e-01 -7.02873134e-01 2.41773447e-03 -8.07236978e+01] [ 7.02868844e-01 -7.11315229e-01 -2.45625004e-03 -2.58070802e+02] [ 3.44620351e-03 -4.78077352e-05 9.99994061e-01 -9.03778652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3403857229999 meters 0.013611334987904311 Centerline is valid? [True, True] Translation: X:-80.74, Y:-258.05, Z:-9.04 [[-7.11338787e-01 -7.02844670e-01 2.54931551e-03 -8.07420728e+01] [ 7.02839906e-01 -7.11343354e-01 -2.58841186e-03 -2.58050497e+02] [ 3.63269013e-03 -4.94770809e-05 9.99993401e-01 -9.03838942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.370385723 meters 0.013557796484915124 Centerline is valid? [True, True] Translation: X:-80.76, Y:-258.03, Z:-9.04 [[-7.10942967e-01 -7.03241828e-01 3.32094047e-03 -8.07582902e+01] [ 7.03233757e-01 -7.10950721e-01 -3.36968707e-03 -2.58029757e+02] [ 4.73072991e-03 -6.02578832e-05 9.99988808e-01 -9.03965075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.400385723 meters 0.013557796484915124 Centerline is valid? [True, True] Translation: X:-80.78, Y:-258.01, Z:-9.04 [[-7.11157089e-01 -7.03025291e-01 3.32196643e-03 -8.07771443e+01] [ 7.03017222e-01 -7.11164845e-01 -3.36867565e-03 -2.58010761e+02] [ 4.73072991e-03 -6.02579569e-05 9.99988808e-01 -9.03965085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.430385723 meters 0.013221432502230023 Centerline is valid? [True, True] Translation: X:-80.80, Y:-257.99, Z:-9.04 [[-7.10961405e-01 -7.03220581e-01 3.83356535e-03 -8.07962490e+01] [ 7.03209851e-01 -7.10971737e-01 -3.88530100e-03 -2.57989876e+02] [ 5.45778024e-03 -6.64981447e-05 9.99985104e-01 -9.03957072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.460385723 meters 0.01336727507603109 Centerline is valid? [True, True] Translation: X:-80.81, Y:-257.97, Z:-9.04 [[-7.10766589e-01 -7.03416394e-01 4.02892331e-03 -8.08137058e+01] [ 7.03404560e-01 -7.10778005e-01 -4.08089373e-03 -2.57969144e+02] [ 5.73423762e-03 -6.65998928e-05 9.99983557e-01 -9.03956562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.490385723 meters 0.013168090497921026 Centerline is valid? [True, True] Translation: X:-80.83, Y:-257.95, Z:-9.04 [[-7.10594313e-01 -7.03588501e-01 4.35231136e-03 -8.08315651e+01] [ 7.03574709e-01 -7.10607639e-01 -4.40602332e-03 -2.57947129e+02] [ 6.19281305e-03 -6.87189202e-05 9.99980822e-01 -9.03949436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.520385723 meters 0.013267830030878629 Centerline is valid? [True, True] Translation: X:-80.85, Y:-257.93, Z:-9.04 [[-7.10773478e-01 -7.03403296e-01 4.98651899e-03 -8.08482993e+01] [ 7.03385207e-01 -7.10790966e-01 -5.04512369e-03 -2.57925138e+02] [ 7.09312928e-03 -7.84964176e-05 9.99974840e-01 -9.04051053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.550385723 meters 0.013391286053714993 Centerline is valid? [True, True] Translation: X:-80.87, Y:-257.90, Z:-9.04 [[-7.11253542e-01 -7.02915546e-01 5.30429241e-03 -8.08661712e+01] [ 7.02895089e-01 -7.11273315e-01 -5.36335295e-03 -2.57904040e+02] [ 7.54278581e-03 -8.63426994e-05 9.99971549e-01 -9.04083175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.580385723 meters 0.013585191805435343 Centerline is valid? [True, True] Translation: X:-80.88, Y:-257.88, Z:-9.04 [[-7.11745360e-01 -7.02416768e-01 5.40607501e-03 -8.08814718e+01] [ 7.02395525e-01 -7.11765885e-01 -5.46368918e-03 -2.57882031e+02] [ 7.68564667e-03 -9.15525295e-05 9.99970461e-01 -9.04120590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.610385723 meters 0.01371384246633028 Centerline is valid? [True, True] Translation: X:-80.90, Y:-257.86, Z:-9.04 [[-7.12315260e-01 -7.01838616e-01 5.43389238e-03 -8.08985557e+01] [ 7.01817164e-01 -7.12335979e-01 -5.48831601e-03 -2.57861909e+02] [ 7.72266916e-03 -9.58123062e-05 9.99970175e-01 -9.04132872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.640385723 meters 0.013861816530704197 Centerline is valid? [True, True] Translation: X:-80.92, Y:-257.84, Z:-9.04 [[-7.12840558e-01 -7.01304728e-01 5.47876365e-03 -8.09162436e+01] [ 7.01282924e-01 -7.12861605e-01 -5.53105524e-03 -2.57841792e+02] [ 7.78455544e-03 -1.00597108e-04 9.99969695e-01 -9.04195187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.670385723 meters 0.013919970508017548 Centerline is valid? [True, True] Translation: X:-80.93, Y:-257.82, Z:-9.04 [[-7.13408140e-01 -7.00724274e-01 5.85819702e-03 -8.09327730e+01] [ 7.00699355e-01 -7.13432183e-01 -5.91054189e-03 -2.57819166e+02] [ 8.32108646e-03 -1.11793820e-04 9.99965373e-01 -9.04227908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.700385723 meters 0.014147902563659227 Centerline is valid? [True, True] Translation: X:-80.95, Y:-257.80, Z:-9.04 [[-7.13774463e-01 -7.00350176e-01 5.97060442e-03 -8.09484322e+01] [ 7.00324302e-01 -7.13799424e-01 -6.02113982e-03 -2.57797238e+02] [ 8.47872033e-03 -1.16376468e-04 9.99964048e-01 -9.04213859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.730385723 meters 0.015423133162600505 Centerline is valid? [True, True] Translation: X:-80.97, Y:-257.78, Z:-9.04 [[-7.13895298e-01 -7.00227644e-01 5.89492435e-03 -8.09676631e+01] [ 7.00202449e-01 -7.13919627e-01 -5.94116216e-03 -2.57777602e+02] [ 8.36866817e-03 -1.13727263e-04 9.99964976e-01 -9.04262018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.760385723 meters 0.013175900580055331 Centerline is valid? [True, True] Translation: X:-80.99, Y:-257.76, Z:-9.04 [[-7.12225400e-01 -7.01932653e-01 5.05279183e-03 -8.09875118e+01] [ 7.01914205e-01 -7.12243319e-01 -5.08959578e-03 -2.57757183e+02] [ 7.17137068e-03 -7.83130292e-05 9.99974282e-01 -9.04040942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.790385723 meters 0.013077313743272914 Centerline is valid? [True, True] Translation: X:-81.01, Y:-257.74, Z:-9.04 [[-7.11543825e-01 -7.02623180e-01 5.10408119e-03 -8.10072454e+01] [ 7.02604394e-01 -7.11562128e-01 -5.13842138e-03 -2.57737331e+02] [ 7.24224485e-03 -7.00621303e-05 9.99973772e-01 -9.04049276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.820385723 meters 0.012777668354871418 Centerline is valid? [True, True] Translation: X:-81.03, Y:-257.72, Z:-9.04 [[-7.09898737e-01 -7.04285745e-01 5.03714420e-03 -8.10263754e+01] [ 7.04267508e-01 -7.09916606e-01 -5.06859683e-03 -2.57719544e+02] [ 7.14569280e-03 -5.06934950e-05 9.99974468e-01 -9.04142548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8503857229999 meters 0.012646374218184297 Centerline is valid? [True, True] Translation: X:-81.05, Y:-257.70, Z:-9.04 [[-7.09364051e-01 -7.04824606e-01 4.99183512e-03 -8.10459519e+01] [ 7.04806730e-01 -7.09381613e-01 -5.01992372e-03 -2.57701155e+02] [ 7.07928181e-03 -4.26744422e-05 9.99974941e-01 -9.04160532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.880385723 meters 0.012628572515040635 Centerline is valid? [True, True] Translation: X:-81.07, Y:-257.68, Z:-9.04 [[-7.09101701e-01 -7.05088481e-01 5.00121316e-03 -8.10657175e+01] [ 7.05070566e-01 -7.09119336e-01 -5.02628434e-03 -2.57681802e+02] [ 7.09043215e-03 -3.79385789e-05 9.99974862e-01 -9.04209727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.910385723 meters 0.012683320893024572 Centerline is valid? [True, True] Translation: X:-81.08, Y:-257.66, Z:-9.04 [[-7.09674941e-01 -7.04509346e-01 5.29709320e-03 -8.10847173e+01] [ 7.04489258e-01 -7.09694709e-01 -5.32036298e-03 -2.57661995e+02] [ 7.50756446e-03 -4.39830254e-05 9.99971817e-01 -9.04217582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.940385723 meters 0.012930735811154006 Centerline is valid? [True, True] Translation: X:-81.10, Y:-257.64, Z:-9.04 [[-7.11687999e-01 -7.02474572e-01 5.44688836e-03 -8.11031048e+01] [ 7.02453288e-01 -7.11708839e-01 -5.46862455e-03 -2.57641906e+02] [ 7.71816829e-03 -6.57698223e-05 9.99970212e-01 -9.04232046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9703857229999 meters 0.013314238833681304 Centerline is valid? [True, True] Translation: X:-81.12, Y:-257.62, Z:-9.04 [[-7.13048923e-01 -7.01093244e-01 5.43113352e-03 -8.11214941e+01] [ 7.01072070e-01 -7.13069602e-01 -5.44933125e-03 -2.57622752e+02] [ 7.69326554e-03 -7.80237534e-05 9.99970403e-01 -9.04216391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.000385723 meters 0.0138877681816789 Centerline is valid? [True, True] Translation: X:-81.14, Y:-257.60, Z:-9.04 [[-7.15570846e-01 -6.98519429e-01 5.38250290e-03 -8.11407950e+01] [ 6.98498583e-01 -7.15591082e-01 -5.39750448e-03 -2.57603048e+02] [ 7.62193282e-03 -1.02626199e-04 9.99970947e-01 -9.04169575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.030385723 meters 0.013772830400344552 Centerline is valid? [True, True] Translation: X:-81.16, Y:-257.58, Z:-9.04 [[-7.16748312e-01 -6.97312436e-01 5.21772639e-03 -8.11609155e+01] [ 6.97292838e-01 -7.16767295e-01 -5.22905449e-03 -2.57584621e+02] [ 7.38618035e-03 -1.09632736e-04 9.99972716e-01 -9.04140974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.060385723 meters 0.014228853862785433 Centerline is valid? [True, True] Translation: X:-81.18, Y:-257.57, Z:-9.04 [[-7.18726670e-01 -6.95279866e-01 4.22870008e-03 -8.11815540e+01] [ 6.95266974e-01 -7.18739102e-01 -4.23541317e-03 -2.57566213e+02] [ 5.98412960e-03 -1.04028890e-04 9.99982090e-01 -9.04108254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0903857229999 meters 0.014565423258599304 Centerline is valid? [True, True] Translation: X:-81.20, Y:-257.55, Z:-9.04 [[-7.20193382e-01 -6.93763270e-01 3.74399884e-03 -8.12028846e+01] [ 6.93753154e-01 -7.20203107e-01 -3.74789859e-03 -2.57547216e+02] [ 5.29659397e-03 -1.01800759e-04 9.99985968e-01 -9.04073633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.120385723 meters 0.014535805117874341 Centerline is valid? [True, True] Translation: X:-81.22, Y:-257.53, Z:-9.04 [[-7.21096202e-01 -6.92822293e-01 4.18795280e-03 -8.12238124e+01] [ 6.92809633e-01 -7.21108353e-01 -4.19000372e-03 -2.57528473e+02] [ 5.92289573e-03 -1.19941723e-04 9.99982452e-01 -9.04108772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.150385723 meters 0.015425605719101529 Centerline is valid? [True, True] Translation: X:-81.24, Y:-257.51, Z:-9.04 [[-7.21899579e-01 -6.91982214e-01 4.64904866e-03 -8.12426370e+01] [ 6.91966614e-01 -7.21914535e-01 -4.64862141e-03 -2.57509041e+02] [ 6.57297914e-03 -1.38851383e-04 9.99978388e-01 -9.04242493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.180385723 meters 0.015392679985948393 Centerline is valid? [True, True] Translation: X:-81.78, Y:-258.05, Z:-8.03 [[-7.40367172e-01 6.72173140e-01 6.30246731e-03 -8.17793000e+01] [ 6.72150938e-01 7.40393973e-01 -5.46638648e-03 -2.58046434e+02] [-8.34066697e-03 1.89076219e-04 -9.99965198e-01 -8.02667179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.210385723 meters 0.015422676782920286 Centerline is valid? [True, True] Translation: X:-81.76, Y:-258.03, Z:-8.03 [[-7.85799940e-01 6.18445470e-01 6.60721250e-03 -8.17575627e+01] [ 6.18425625e-01 7.85827694e-01 -4.95794649e-03 -2.58025614e+02] [-8.25835011e-03 1.90115468e-04 -9.99965881e-01 -8.02663405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.240385723 meters 0.016624429661293315 Centerline is valid? [True, True] Translation: X:-81.30, Y:-257.43, Z:-9.04 [[-7.72269471e-01 -6.35274528e-01 5.11255821e-03 -8.13004952e+01] [ 6.35258490e-01 -7.72286356e-01 -4.52059984e-03 -2.57425573e+02] [ 6.82018088e-03 -2.43325239e-04 9.99976713e-01 -9.04312497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.270385723 meters 0.015023216009905777 Centerline is valid? [True, True] Translation: X:-81.79, Y:-258.00, Z:-8.03 [[-7.88959052e-01 6.14424480e-01 5.11599331e-03 -8.17910174e+01] [ 6.14412682e-01 7.88975627e-01 -3.80998030e-03 -2.57997556e+02] [-6.37733919e-03 1.37412726e-04 -9.99979655e-01 -8.02819652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.300385723 meters 0.01594203537920281 Centerline is valid? [True, True] Translation: X:-81.77, Y:-257.97, Z:-8.03 [[-8.31831132e-01 5.55000418e-01 5.61281883e-03 -8.17721619e+01] [ 5.54988811e-01 8.31850058e-01 -3.59166010e-03 -2.57971668e+02] [-6.66239653e-03 1.27396958e-04 -9.99977798e-01 -8.02684929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.330385723 meters 0.014356114372357039 Centerline is valid? [True, True] Translation: X:-81.76, Y:-257.94, Z:-8.03 [[-8.70292437e-01 4.92503353e-01 5.61439101e-03 -8.17604477e+01] [ 4.92493886e-01 8.70310540e-01 -3.05537920e-03 -2.57941588e+02] [-6.39104817e-03 1.05979838e-04 -9.99979572e-01 -8.02780598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.360385723 meters 0.013849149875138321 Centerline is valid? [True, True] Translation: X:-81.40, Y:-257.30, Z:-9.04 [[-8.52341074e-01 -5.22957519e-01 5.48871235e-03 -8.14003920e+01] [ 5.22945910e-01 -8.52358741e-01 -3.48597712e-03 -2.57301787e+02] [ 6.50136990e-03 -1.00941808e-04 9.99978861e-01 -9.04264048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.390385723 meters 0.013176882477959641 Centerline is valid? [True, True] Translation: X:-81.80, Y:-257.92, Z:-8.03 [[-8.73526514e-01 4.86743815e-01 5.64693262e-03 -8.17996397e+01] [ 4.86734291e-01 8.73544762e-01 -3.04625159e-03 -2.57916188e+02] [-6.41559253e-03 8.75742135e-05 -9.99979416e-01 -8.02828154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.420385723 meters 0.013311225583685568 Centerline is valid? [True, True] Translation: X:-81.79, Y:-257.89, Z:-8.03 [[-9.05986336e-01 4.23270344e-01 5.56559616e-03 -8.17858520e+01] [ 4.23262904e-01 9.06003427e-01 -2.51084663e-03 -2.57890769e+02] [-6.10521611e-03 8.09176562e-05 -9.99981360e-01 -8.02830574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.450385723 meters 0.01334002976962523 Centerline is valid? [True, True] Translation: X:-81.78, Y:-257.86, Z:-8.03 [[-9.33805447e-01 3.57735875e-01 5.69487961e-03 -8.17758951e+01] [ 3.57729734e-01 9.33822808e-01 -2.09751492e-03 -2.57863729e+02] [-6.06836481e-03 7.85569106e-05 -9.99981584e-01 -8.02884686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.480385723 meters 0.013637441452935332 Centerline is valid? [True, True] Translation: X:-81.76, Y:-257.84, Z:-8.03 [[-9.56461890e-01 2.91815854e-01 4.91532855e-03 -8.17630947e+01] [ 2.91812390e-01 9.56474517e-01 -1.42379776e-03 -2.57836591e+02] [-5.11687326e-03 7.25454690e-05 -9.99986906e-01 -8.02878045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.510385723 meters 0.013839637336625035 Centerline is valid? [True, True] Translation: X:-81.76, Y:-257.81, Z:-8.03 [[-9.74307424e-01 2.25171530e-01 4.77771139e-03 -8.17582030e+01] [ 2.25169219e-01 9.74319135e-01 -1.02327596e-03 -2.57807765e+02] [-4.88542824e-03 7.88081772e-05 -9.99988063e-01 -8.02877998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.540385723 meters 0.0136705961725039 Centerline is valid? [True, True] Translation: X:-81.60, Y:-257.10, Z:-9.04 [[-9.66023539e-01 -2.58408023e-01 4.88007848e-03 -8.16026022e+01] [ 2.58404358e-01 -9.66035863e-01 -1.37802253e-03 -2.57097915e+02] [ 5.07042290e-03 -7.01686526e-05 9.99987143e-01 -9.04110112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.570385723 meters 0.014477155242736881 Centerline is valid? [True, True] Translation: X:-81.81, Y:-257.80, Z:-8.03 [[-9.74647485e-01 2.23686906e-01 5.14287722e-03 -8.18082594e+01] [ 2.23684321e-01 9.74661048e-01 -1.07986739e-03 -2.57798354e+02] [-5.25411430e-03 9.78909636e-05 -9.99986192e-01 -8.02840723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6003857229999 meters 0.01485401683390135 Centerline is valid? [True, True] Translation: X:-81.81, Y:-257.77, Z:-8.03 [[-9.87953034e-01 1.54665627e-01 5.22947107e-03 -8.18108591e+01] [ 1.54664007e-01 9.87966869e-01 -7.15325333e-04 -2.57768657e+02] [-5.27718040e-03 1.02103117e-04 -9.99986070e-01 -8.02769934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.630385723 meters 0.014599186512684648 Centerline is valid? [True, True] Translation: X:-81.70, Y:-257.05, Z:-9.04 [[-9.83250642e-01 -1.82202954e-01 4.50102360e-03 -8.16997549e+01] [ 1.82200428e-01 -9.83260935e-01 -9.68572485e-04 -2.57049965e+02] [ 4.60215744e-03 -1.32261092e-04 9.99989401e-01 -9.04248335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.660385723 meters 0.014711349809008165 Centerline is valid? [True, True] Translation: X:-81.87, Y:-257.76, Z:-8.03 [[-9.88455509e-01 1.51460606e-01 3.92331999e-03 -8.18661856e+01] [ 1.51459735e-01 9.88463291e-01 -5.19968698e-04 -2.57759840e+02] [-3.95681257e-03 8.02590805e-05 -9.99992169e-01 -8.02788919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.690385723 meters 0.016405344131926576 Centerline is valid? [True, True] Translation: X:-81.86, Y:-257.73, Z:-8.03 [[-9.96743728e-01 8.05496717e-02 3.70028842e-03 -8.18632492e+01] [ 8.05493925e-02 9.96750593e-01 -2.24650351e-04 -2.57730066e+02] [-3.70636019e-03 7.41371567e-05 -9.99993129e-01 -8.02625824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7203857229999 meters 0.014580775788585259 Centerline is valid? [True, True] Translation: X:-81.82, Y:-257.01, Z:-9.04 [[-9.93968494e-01 -1.09591890e-01 4.03114648e-03 -8.18171060e+01] [ 1.09590754e-01 -9.93976667e-01 -5.02220806e-04 -2.57009915e+02] [ 4.06190487e-03 -5.74152748e-05 9.99991749e-01 -9.04336814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.750385723 meters 0.014616241625976602 Centerline is valid? [True, True] Translation: X:-81.93, Y:-257.72, Z:-8.03 [[-9.97277883e-01 7.36265184e-02 3.99491329e-03 -8.19346071e+01] [ 7.36262115e-02 9.97285882e-01 -2.24031192e-04 -2.57723100e+02] [-4.00056526e-03 7.07089782e-05 -9.99991995e-01 -8.02652410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.780385723 meters 0.014244021259967009 Centerline is valid? [True, True] Translation: X:-81.90, Y:-257.01, Z:-9.04 [[-9.94369054e-01 -1.05906298e-01 3.74712780e-03 -8.18952102e+01] [ 1.05905237e-01 -9.94376111e-01 -4.80968681e-04 -2.57007988e+02] [ 3.77699198e-03 -8.14199147e-05 9.99992864e-01 -9.04317000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.810385723 meters 0.014288646295843923 Centerline is valid? [True, True] Translation: X:-82.01, Y:-257.72, Z:-8.03 [[-9.97628636e-01 6.87324640e-02 3.59911221e-03 -8.20109672e+01] [ 6.87322427e-02 9.97635126e-01 -1.85290943e-04 -2.57716204e+02] [-3.60333626e-03 6.25235031e-05 -9.99993506e-01 -8.02709726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8403857229999 meters 0.014239464859256416 Centerline is valid? [True, True] Translation: X:-82.01, Y:-257.69, Z:-8.03 [[-9.99990876e-01 -2.69077046e-03 3.31786488e-03 -8.20051735e+01] [-2.69056721e-03 9.99996378e-01 6.57217914e-05 -2.57686316e+02] [-3.31802971e-03 5.67942533e-05 -9.99994494e-01 -8.02708023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.870385723 meters 0.014166853897903441 Centerline is valid? [True, True] Translation: X:-82.03, Y:-256.98, Z:-9.04 [[-9.99496866e-01 -3.15774714e-02 2.97975703e-03 -8.20306670e+01] [ 3.15771121e-02 -9.99501305e-01 -1.67589573e-04 -2.56976357e+02] [ 2.98356310e-03 -7.34131313e-05 9.99995547e-01 -9.04334879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.900385723 meters 0.014178567027033311 Centerline is valid? [True, True] Translation: X:-82.11, Y:-257.69, Z:-8.03 [[-9.99945436e-01 -1.00450840e-02 2.86726479e-03 -8.21068571e+01] [-1.00449131e-02 9.99949546e-01 7.39879472e-05 -2.57685677e+02] [-2.86786334e-03 4.51824844e-05 -9.99995887e-01 -8.02700925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.930385723 meters 0.013938575354591266 Centerline is valid? [True, True] Translation: X:-82.11, Y:-257.65, Z:-8.03 [[-9.96623256e-01 -8.20624857e-02 2.79911329e-03 -8.21119280e+01] [-8.20620435e-02 9.96627185e-01 2.72657125e-04 -2.57654892e+02] [-2.81204732e-03 4.20354753e-05 -9.99996045e-01 -8.02682377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.960385723 meters 0.013898821836258072 Centerline is valid? [True, True] Translation: X:-82.18, Y:-256.96, Z:-9.04 [[-9.99037853e-01 4.38213251e-02 1.74931969e-03 -8.21769521e+01] [-4.38214292e-02 -9.99039380e-01 -2.12150657e-05 -2.56956739e+02] [ 1.74670958e-03 -9.78523425e-05 9.99998470e-01 -9.04343099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.990385723 meters 0.013959015438930238 Centerline is valid? [True, True] Translation: X:-82.22, Y:-257.66, Z:-8.03 [[-9.96072862e-01 -8.85205450e-02 1.72219410e-03 -8.22214342e+01] [-8.85203682e-02 9.96074351e-01 1.78767254e-04 -2.57661361e+02] [-1.73125795e-03 2.56159540e-05 -9.99998501e-01 -8.02686328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.020385723 meters 0.014080145106973996 Centerline is valid? [True, True] Translation: X:-82.28, Y:-256.97, Z:-9.04 [[-9.98772732e-01 4.95063996e-02 1.46516475e-03 -8.22844494e+01] [-4.95064045e-02 -9.98773806e-01 3.29426063e-05 -2.56968116e+02] [ 1.46499904e-03 -3.96328618e-05 9.99998926e-01 -9.04312216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.050385723 meters 0.013406976677148293 Centerline is valid? [True, True] Translation: X:-82.32, Y:-257.67, Z:-8.03 [[-9.95431426e-01 -9.54740079e-02 9.95224783e-04 -8.23195973e+01] [-9.54739458e-02 9.95431923e-01 1.09886599e-04 -2.57667660e+02] [-1.00116983e-03 1.43665373e-05 -9.99999499e-01 -8.02713636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.080385723 meters 0.013176149121899416 Centerline is valid? [True, True] Translation: X:-82.34, Y:-257.64, Z:-8.03 [[-9.85798053e-01 -1.67930595e-01 1.23023319e-03 -8.23410066e+01] [-1.67930444e-01 9.85798821e-01 2.25389314e-04 -2.57638699e+02] [-1.25061219e-03 1.55947411e-05 -9.99999218e-01 -8.02693093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.110385723 meters 0.013508657296146072 Centerline is valid? [True, True] Translation: X:-82.48, Y:-256.97, Z:-9.04 [[-9.92358564e-01 1.23381702e-01 1.19807704e-03 -8.24814374e+01] [-1.23381634e-01 -9.92359288e-01 1.30674966e-04 -2.56965910e+02] [ 1.20504577e-03 -1.81442802e-05 9.99999274e-01 -9.04325818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.140385723 meters 0.012798051383872423 Centerline is valid? [True, True] Translation: X:-82.47, Y:-257.66, Z:-8.03 [[-9.84172772e-01 -1.77211005e-01 4.64012969e-04 -8.24650930e+01] [-1.77210982e-01 9.84172881e-01 8.87552077e-05 -2.57656656e+02] [-4.72397381e-04 5.12226461e-06 -9.99999889e-01 -8.02807782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.170385723 meters 0.01290537043707507 Centerline is valid? [True, True] Translation: X:-82.61, Y:-256.99, Z:-9.04 [[-9.91892614e-01 1.27078184e-01 4.20459907e-04 -8.26093457e+01] [-1.27078176e-01 -9.91892703e-01 4.57634427e-05 -2.56992372e+02] [ 4.22866649e-04 -8.03885747e-06 9.99999911e-01 -9.04195215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.200385723 meters 0.012916687194660485 Centerline is valid? [True, True] Translation: X:-82.58, Y:-257.68, Z:-8.03 [[-9.82677947e-01 -1.85319783e-01 7.94155616e-04 -8.25836529e+01] [-1.85319717e-01 9.82678268e-01 1.56959382e-04 -2.57676567e+02] [-8.09487145e-04 7.06782926e-06 -9.99999672e-01 -8.02820395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.230385723 meters 0.013081793744044463 Centerline is valid? [True, True] Translation: X:-82.74, Y:-257.01, Z:-9.04 [[-9.90959385e-01 1.34153150e-01 1.55911314e-03 -8.27358887e+01] [-1.34152923e-01 -9.90960610e-01 2.49406742e-04 -2.57014215e+02] [ 1.57847841e-03 3.79923668e-05 9.99998754e-01 -9.04196339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.260385723 meters 0.013120270473755366 Centerline is valid? [True, True] Translation: X:-82.72, Y:-257.70, Z:-8.03 [[-9.81634714e-01 -1.90759897e-01 1.98744104e-03 -8.27168877e+01] [-1.90759468e-01 9.81636726e-01 4.04645706e-04 -2.57702517e+02] [-2.02813529e-03 1.80910752e-05 -9.99997943e-01 -8.02821374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.290385723 meters 0.013282627105221774 Centerline is valid? [True, True] Translation: X:-82.75, Y:-257.68, Z:-8.03 [[-9.65517197e-01 -2.60325807e-01 2.64904078e-03 -8.27458256e+01] [-2.60324753e-01 9.65520830e-01 7.41342519e-04 -2.57678631e+02] [-2.75069464e-03 2.61680642e-05 -9.99996217e-01 -8.02701817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.320385723 meters 0.013282627105221774 Centerline is valid? [True, True] Translation: X:-82.80, Y:-257.66, Z:-8.03 [[-9.43998761e-01 -3.29938844e-01 2.58804827e-03 -8.27971512e+01] [-3.29937528e-01 9.44002309e-01 9.32276210e-04 -2.57664306e+02] [-2.75071768e-03 2.61733396e-05 -9.99996217e-01 -8.02701755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3503857229999 meters 0.013414208093568615 Centerline is valid? [True, True] Translation: X:-82.86, Y:-257.66, Z:-8.03 [[-9.17379940e-01 -3.98004027e-01 2.61524032e-03 -8.28632270e+01] [-3.98002320e-01 9.17383668e-01 1.16599129e-03 -2.57660057e+02] [-2.86324799e-03 2.87853095e-05 -9.99995901e-01 -8.02699505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.380385723 meters 0.016303366390192947 Centerline is valid? [True, True] Translation: X:-82.94, Y:-257.67, Z:-8.02 [[-8.86290808e-01 -4.63117122e-01 3.33705375e-03 -8.29364906e+01] [-4.63113645e-01 8.86297089e-01 1.79499713e-03 -2.57666292e+02] [-3.78891493e-03 4.54543362e-05 -9.99992821e-01 -8.02415175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.410385723 meters 0.014060419642056555 Centerline is valid? [True, True] Translation: X:-83.02, Y:-257.68, Z:-8.03 [[-8.49729479e-01 -5.27209554e-01 3.14619758e-03 -8.30192220e+01] [-5.27205731e-01 8.49735303e-01 2.00816054e-03 -2.57682247e+02] [-3.73215658e-03 4.76998143e-05 -9.99993034e-01 -8.02647194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.440385723 meters 0.014387160395424885 Centerline is valid? [True, True] Translation: X:-83.10, Y:-257.71, Z:-8.03 [[-8.08905690e-01 -5.87933509e-01 2.40277867e-03 -8.31042343e+01] [-5.87930752e-01 8.08909258e-01 1.80091258e-03 -2.57708362e+02] [-3.00244676e-03 4.41009615e-05 -9.99995492e-01 -8.02765400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4703857229999 meters 0.014299384768680872 Centerline is valid? [True, True] Translation: X:-83.19, Y:-257.74, Z:-8.03 [[-7.62857156e-01 -6.46564001e-01 1.98828598e-03 -8.31937789e+01] [-6.46561664e-01 7.62859746e-01 1.73871662e-03 -2.57742668e+02] [-2.64097491e-03 4.08429275e-05 -9.99996512e-01 -8.02843245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.500385723 meters 0.014306945919801185 Centerline is valid? [True, True] Translation: X:-83.30, Y:-257.80, Z:-8.03 [[-7.12197728e-01 -7.01976178e-01 1.96011783e-03 -8.32985209e+01] [-7.01973348e-01 7.12200424e-01 1.99361473e-03 -2.57801546e+02] [-2.79546680e-03 4.38974076e-05 -9.99996092e-01 -8.02867859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.530385723 meters 0.014376805016369239 Centerline is valid? [True, True] Translation: X:-83.38, Y:-257.84, Z:-8.03 [[-6.56633601e-01 -7.54206939e-01 2.05125995e-03 -8.33764082e+01] [-7.54203023e-01 6.56636803e-01 2.43077482e-03 -2.57844579e+02] [-3.18024001e-03 4.90619658e-05 -9.99994942e-01 -8.02842034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.560385723 meters 0.014434763827466552 Centerline is valid? [True, True] Translation: X:-83.47, Y:-257.92, Z:-8.03 [[-5.96807066e-01 -8.02382749e-01 1.80293923e-03 -8.34684239e+01] [-8.02378856e-01 5.96809788e-01 2.49966615e-03 -2.57915161e+02] [-3.08170078e-03 4.51781065e-05 -9.99995251e-01 -8.02847854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5903857229999 meters 0.01749053390482363 Centerline is valid? [True, True] Translation: X:-83.55, Y:-257.99, Z:-8.03 [[-5.33681467e-01 -8.45683405e-01 1.91574190e-03 -8.35511348e+01] [-8.45677598e-01 5.33684903e-01 3.13456443e-03 -2.57986008e+02] [-3.67325165e-03 5.27589369e-05 -9.99993252e-01 -8.02552130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.620385723 meters 0.014083067559381284 Centerline is valid? [True, True] Translation: X:-83.63, Y:-258.07, Z:-8.03 [[-4.65350153e-01 -8.85124340e-01 2.03402409e-03 -8.36325048e+01] [-8.85115383e-01 4.65354596e-01 3.98239870e-03 -2.58068142e+02] [-4.47146048e-03 5.28638406e-05 -9.99990002e-01 -8.02690322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.650385723 meters 0.0148970970743318 Centerline is valid? [True, True] Translation: X:-83.71, Y:-258.16, Z:-8.03 [[-3.95347203e-01 -9.18529138e-01 2.19351924e-03 -8.37085138e+01] [-9.18514134e-01 3.95353283e-01 5.25042402e-03 -2.58161102e+02] [-5.68988248e-03 6.09620277e-05 -9.99983811e-01 -8.02567854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.680385723 meters 0.015036557469676007 Centerline is valid? [True, True] Translation: X:-83.78, Y:-258.26, Z:-8.03 [[-3.23730550e-01 -9.46147506e-01 1.85170288e-03 -8.37766320e+01] [-9.46130911e-01 3.23735839e-01 5.60414076e-03 -2.58261947e+02] [-5.90180639e-03 6.22782403e-05 -9.99982582e-01 -8.02544196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.710385723 meters 0.014420375661088754 Centerline is valid? [True, True] Translation: X:-83.84, Y:-258.37, Z:-8.03 [[-2.50957854e-01 -9.67996610e-01 1.64873489e-03 -8.38358739e+01] [-9.67973634e-01 2.50963258e-01 6.66985191e-03 -2.58366074e+02] [-6.87016592e-03 7.79198189e-05 -9.99976397e-01 -8.02556800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.740385723 meters 0.014367569046665411 Centerline is valid? [True, True] Translation: X:-83.89, Y:-258.48, Z:-8.03 [[-1.76760063e-01 -9.84253238e-01 1.20160908e-03 -8.38886243e+01] [-9.84226953e-01 1.76764125e-01 7.19373663e-03 -2.58479778e+02] [-7.29285995e-03 8.89092960e-05 -9.99973403e-01 -8.02596908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.770385723 meters 0.017712216957621388 Centerline is valid? [True, True] Translation: X:-83.93, Y:-258.59, Z:-8.02 [[-1.02808631e-01 -9.94700901e-01 7.08749940e-04 -8.39303697e+01] [-9.94669018e-01 1.02811011e-01 7.96493382e-03 -2.58591053e+02] [-7.99559414e-03 1.13892335e-04 -9.99968028e-01 -8.02355328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.800385723 meters 0.01490897894841619 Centerline is valid? [True, True] Translation: X:-83.97, Y:-258.72, Z:-8.03 [[-2.60012738e-02 -9.99661905e-01 9.57972468e-05 -8.39652661e+01] [-9.99629255e-01 2.60011989e-02 8.08021028e-03 -2.58716015e+02] [-8.07996925e-03 1.14334029e-04 -9.99967350e-01 -8.02606919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.830385723 meters 0.015080945977821024 Centerline is valid? [True, True] Translation: X:-83.99, Y:-258.83, Z:-8.03 [[ 5.04463285e-02 -9.98726627e-01 -5.40285079e-04 -8.39909169e+01] [-9.98692243e-01 -5.04490754e-02 8.28828466e-03 -2.58832151e+02] [-8.30498747e-03 1.21464987e-04 -9.99965506e-01 -8.02563921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.860385723 meters 0.014840583409094247 Centerline is valid? [True, True] Translation: X:-84.01, Y:-258.96, Z:-8.03 [[ 1.26858197e-01 -9.91920111e-01 -1.22134187e-03 -8.40078155e+01] [-9.91883361e-01 -1.26864011e-01 8.53938885e-03 -2.58956619e+02] [-8.62533587e-03 1.28137205e-04 -9.99962793e-01 -8.02621087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.890385723 meters 0.015293196380687553 Centerline is valid? [True, True] Translation: X:-84.01, Y:-259.08, Z:-8.03 [[ 2.01891414e-01 -9.79406270e-01 -1.79323912e-03 -8.40139005e+01] [-9.79373133e-01 -2.01899337e-01 8.05759689e-03 -2.59080452e+02] [-8.25371470e-03 1.29490587e-04 -9.99965929e-01 -8.02597101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.920385723 meters 0.015325421307522997 Centerline is valid? [True, True] Translation: X:-84.01, Y:-259.21, Z:-8.03 [[ 2.76559222e-01 -9.60994003e-01 -2.34991590e-03 -8.40110482e+01] [-9.60963095e-01 -2.76569177e-01 7.70843181e-03 -2.59205315e+02] [-8.05767105e-03 1.26344553e-04 -9.99967529e-01 -8.02613660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.950385723 meters 0.015513418981465616 Centerline is valid? [True, True] Translation: X:-84.00, Y:-259.33, Z:-8.03 [[ 3.49123570e-01 -9.37072366e-01 -2.84848226e-03 -8.39972980e+01] [-9.37044054e-01 -3.49135167e-01 7.28533855e-03 -2.59328703e+02] [-7.82139476e-03 1.25669962e-04 -9.99969405e-01 -8.02659589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.980385723 meters 0.015522370756478917 Centerline is valid? [True, True] Translation: X:-83.98, Y:-259.45, Z:-8.03 [[ 4.19800699e-01 -9.07609944e-01 -3.40037340e-03 -8.39751633e+01] [-9.07582583e-01 -4.19814451e-01 7.04860380e-03 -2.59449812e+02] [-7.82490879e-03 1.27110870e-04 -9.99969377e-01 -8.02725499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.010385723 meters 0.015197980774663167 Centerline is valid? [True, True] Translation: X:-83.95, Y:-259.57, Z:-8.03 [[ 4.87821354e-01 -8.72936367e-01 -3.52502396e-03 -8.39461590e+01] [-8.72915272e-01 -4.87834076e-01 6.06981238e-03 -2.59566889e+02] [-7.01818677e-03 1.16063156e-04 -9.99975366e-01 -8.02905674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.040385723 meters 0.015162362356969014 Centerline is valid? [True, True] Translation: X:-83.91, Y:-259.68, Z:-8.03 [[ 5.52922199e-01 -8.33225160e-01 -3.58813003e-03 -8.39088325e+01] [-8.33208854e-01 -5.52933831e-01 5.21389749e-03 -2.59681450e+02] [-6.32834906e-03 1.06782041e-04 -9.99979970e-01 -8.02925688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.070385723 meters 0.015232559980421063 Centerline is valid? [True, True] Translation: X:-83.87, Y:-259.79, Z:-8.03 [[ 6.14774288e-01 -7.88691923e-01 -4.19824044e-03 -8.38666210e+01] [-7.88674786e-01 -6.14788612e-01 5.20041430e-03 -2.59787506e+02] [-6.68255517e-03 1.13965380e-04 -9.99977665e-01 -8.02862304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1003857229999 meters 0.015280331661764616 Centerline is valid? [True, True] Translation: X:-83.82, Y:-259.89, Z:-8.03 [[ 6.73219354e-01 -7.39429932e-01 -4.36779981e-03 -8.38172346e+01] [-7.39415397e-01 -6.73233514e-01 4.63750127e-03 -2.59889745e+02] [-6.36965646e-03 1.07562820e-04 -9.99979708e-01 -8.02829801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.130385723 meters 0.015509792172306676 Centerline is valid? [True, True] Translation: X:-83.76, Y:-259.99, Z:-8.03 [[ 7.27484002e-01 -6.86107998e-01 -4.77921027e-03 -8.37609487e+01] [-6.86094166e-01 -7.27499693e-01 4.35803771e-03 -2.59985693e+02] [-6.46695853e-03 1.08585571e-04 -9.99979083e-01 -8.02788465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.160385723 meters 0.015475408971989048 Centerline is valid? [True, True] Translation: X:-83.77, Y:-260.00, Z:-8.03 [[ 7.78957810e-01 -6.27052237e-01 -5.49756778e-03 -8.37657120e+01] [-6.27037666e-01 -7.78977201e-01 4.27622252e-03 -2.59995620e+02] [-6.96389485e-03 1.16185144e-04 -9.99975745e-01 -8.02747318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.190385723 meters 0.015510017940774735 Centerline is valid? [True, True] Translation: X:-83.77, Y:-260.01, Z:-8.03 [[ 8.25624893e-01 -5.64187626e-01 -5.98814876e-03 -8.37692648e+01] [-5.64173827e-01 -8.25646600e-01 3.94767548e-03 -2.60005590e+02] [-7.17132432e-03 1.19057655e-04 -9.99974279e-01 -8.02737308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2203857229999 meters 0.015312626624546579 Centerline is valid? [True, True] Translation: X:-83.77, Y:-260.02, Z:-8.03 [[ 8.67092289e-01 -4.98111370e-01 -6.00212716e-03 -8.37738611e+01] [-4.98100353e-01 -8.67113055e-01 3.31479798e-03 -2.60018011e+02] [-6.85566138e-03 1.15425886e-04 -9.99976493e-01 -8.02756576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.250385723 meters 0.015350195677941053 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.03, Z:-8.03 [[ 9.03439088e-01 -4.28673465e-01 -6.07239911e-03 -8.37764668e+01] [-4.28664608e-01 -9.03459489e-01 2.75787009e-03 -2.60029618e+02] [-6.66839232e-03 1.11454944e-04 -9.99977760e-01 -8.02772698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.280385723 meters 0.015364165094544515 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.04, Z:-8.03 [[ 9.34445805e-01 -3.56062344e-01 -5.53573730e-03 -8.37783207e+01] [-3.56056692e-01 -9.34462197e-01 2.00845887e-03 -2.60041100e+02] [-5.88807382e-03 9.42403510e-05 -9.99982661e-01 -8.02790131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.310385723 meters 0.016600491830856344 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.05, Z:-8.03 [[ 9.59431557e-01 -2.81880032e-01 -5.89362483e-03 -8.37780256e+01] [-2.81875337e-01 -9.59449654e-01 1.62979003e-03 -2.60051476e+02] [-6.11404157e-03 9.75955010e-05 -9.99981304e-01 -8.02623881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3403857229999 meters 0.015382733590724024 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.06, Z:-8.03 [[ 9.78696233e-01 -2.05216166e-01 -6.32520690e-03 -8.37765626e+01] [-2.05212523e-01 -9.78716668e-01 1.22670228e-03 -2.60062170e+02] [-6.44232455e-03 9.74427650e-05 -9.99979243e-01 -8.02803137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.370385723 meters 0.015377255394368936 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.07, Z:-8.03 [[ 9.91723392e-01 -1.28228846e-01 -6.48670245e-03 -8.37782585e+01] [-1.28226763e-01 -9.91744601e-01 7.37716995e-04 -2.60071683e+02] [-6.52774873e-03 1.00157656e-04 -9.99978689e-01 -8.02806640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.400385723 meters 0.014946021529036265 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.09, Z:-8.03 [[ 9.98679544e-01 -5.09384759e-02 -6.66632552e-03 -8.37796503e+01] [-5.09380591e-02 -9.98701787e-01 2.32417806e-04 -2.60088329e+02] [-6.66951022e-03 1.07458775e-04 -9.99977753e-01 -8.02852653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.430385723 meters 0.015214301463136634 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.10, Z:-8.03 [[ 9.99620172e-01 2.67294645e-02 -6.71178701e-03 -8.37809465e+01] [ 2.67281064e-02 -9.99642698e-01 -2.91983952e-04 -2.60101600e+02] [-6.71719344e-03 1.12479691e-04 -9.99977433e-01 -8.02826258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.460385723 meters 0.015515674280904003 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.11, Z:-8.03 [[ 9.94557709e-01 1.03973751e-01 -6.66504375e-03 -8.37796874e+01] [ 1.03970615e-01 -9.94580035e-01 -8.16213187e-04 -2.60114602e+02] [-6.71378419e-03 1.18802422e-04 -9.99977455e-01 -8.02792316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.490385723 meters 0.01562796171294329 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.13, Z:-8.03 [[ 9.83437259e-01 1.81137288e-01 -6.35928153e-03 -8.37783742e+01] [ 1.81132727e-01 -9.83457813e-01 -1.29075363e-03 -2.60126195e+02] [-6.48788872e-03 1.17501208e-04 -9.99978947e-01 -8.02766618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.520385723 meters 0.015747327728940615 Centerline is valid? [True, True] Translation: X:-83.78, Y:-260.14, Z:-8.03 [[ 9.66450351e-01 2.56768615e-01 -6.60291345e-03 -8.37754832e+01] [ 2.56761703e-01 -9.66472898e-01 -1.88853815e-03 -2.60139094e+02] [-6.86645422e-03 1.29803057e-04 -9.99976417e-01 -8.02788676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.550385723 meters 0.017203160213578653 Centerline is valid? [True, True] Translation: X:-83.77, Y:-260.15, Z:-8.03 [[ 9.43601489e-01 3.31016542e-01 -6.65422262e-03 -8.37706967e+01] [ 3.31007270e-01 -9.43624941e-01 -2.48153139e-03 -2.60151258e+02] [-7.10051837e-03 1.38980657e-04 -9.99974781e-01 -8.02550297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.580385723 meters 0.015919957551183937 Centerline is valid? [True, True] Translation: X:-83.77, Y:-260.16, Z:-8.03 [[ 9.14691727e-01 4.04099248e-01 -6.54540104e-03 -8.37660741e+01] [ 4.04087808e-01 -9.14715135e-01 -3.04384586e-03 -2.60162051e+02] [-7.21719322e-03 1.39263867e-04 -9.99973946e-01 -8.02744888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.610385723 meters 0.015869235387392936 Centerline is valid? [True, True] Translation: X:-83.76, Y:-260.17, Z:-8.03 [[ 8.79961392e-01 4.75001804e-01 -6.42152973e-03 -8.37609892e+01] [ 4.74988009e-01 -8.79984811e-01 -3.62269445e-03 -2.60172729e+02] [-7.37163502e-03 1.37681629e-04 -9.99972820e-01 -8.02772359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.640385723 meters 0.015681852569976406 Centerline is valid? [True, True] Translation: X:-83.75, Y:-260.18, Z:-8.03 [[ 8.39440946e-01 5.43414846e-01 -6.26131414e-03 -8.37541981e+01] [ 5.43398549e-01 -8.39464286e-01 -4.21060707e-03 -2.60183832e+02] [-7.54425599e-03 1.32166961e-04 -9.99971533e-01 -8.02774455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.670385723 meters 0.016110474124768463 Centerline is valid? [True, True] Translation: X:-83.75, Y:-260.19, Z:-8.03 [[ 7.94138246e-01 6.07706458e-01 -6.10798257e-03 -8.37473205e+01] [ 6.07687174e-01 -7.94161723e-01 -4.84309867e-03 -2.60193315e+02] [-7.79390830e-03 1.34347217e-04 -9.99969618e-01 -8.02714867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.700385723 meters 0.0155857057659467 Centerline is valid? [True, True] Translation: X:-83.74, Y:-260.20, Z:-8.03 [[ 7.43198940e-01 6.69045761e-01 -5.75364641e-03 -8.37409119e+01] [ 6.69024406e-01 -7.43221201e-01 -5.34704063e-03 -2.60202300e+02] [-7.85364686e-03 1.24585065e-04 -9.99969152e-01 -8.02780126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.730385723 meters 0.018071797212908157 Centerline is valid? [True, True] Translation: X:-83.73, Y:-260.21, Z:-8.02 [[ 6.88601618e-01 7.25118698e-01 -5.53935900e-03 -8.37321724e+01] [ 7.25093698e-01 -6.88623886e-01 -6.02273937e-03 -2.60210821e+02] [-8.18173586e-03 1.30713777e-04 -9.99966521e-01 -8.02454887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.760385723 meters 0.015231418792819737 Centerline is valid? [True, True] Translation: X:-83.72, Y:-260.22, Z:-8.03 [[ 6.29106985e-01 7.77303736e-01 -4.82736815e-03 -8.37220953e+01] [ 7.77279395e-01 -6.29125495e-01 -6.15263859e-03 -2.60220082e+02] [-7.81948934e-03 1.18454121e-04 -9.99969420e-01 -8.02861134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.790385723 meters 0.0192662467402118 Centerline is valid? [True, True] Translation: X:-83.71, Y:-260.23, Z:-8.02 [[ 5.67135332e-01 8.23613130e-01 -4.35053715e-03 -8.37139698e+01] [ 8.23587164e-01 -5.67152004e-01 -6.54119138e-03 -2.60227717e+02] [-7.85482697e-03 1.26694186e-04 -9.99969142e-01 -8.02404375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.820385723 meters 0.015669235344737416 Centerline is valid? [True, True] Translation: X:-83.70, Y:-260.23, Z:-8.03 [[ 5.01355205e-01 8.65234432e-01 -3.51223943e-03 -8.37042223e+01] [ 8.65211501e-01 -5.01367493e-01 -6.30054073e-03 -2.60234407e+02] [-7.21236746e-03 1.19978945e-04 -9.99973983e-01 -8.02846045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8503857229999 meters 0.018311529905136972 Centerline is valid? [True, True] Translation: X:-83.69, Y:-260.24, Z:-8.02 [[ 4.33139785e-01 9.01321269e-01 -3.14585783e-03 -8.36931013e+01] [ 9.01295199e-01 -4.33151188e-01 -6.85659178e-03 -2.60240667e+02] [-7.54262406e-03 1.34516125e-04 -9.99971545e-01 -8.02494513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.880385723 meters 0.015904385436222856 Centerline is valid? [True, True] Translation: X:-83.68, Y:-260.25, Z:-8.03 [[ 3.61818629e-01 9.32245577e-01 -2.33760996e-03 -8.36836892e+01] [ 9.32223825e-01 -3.61826159e-01 -6.36956959e-03 -2.60246064e+02] [-6.78381150e-03 1.25453244e-04 -9.99976982e-01 -8.02783035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.910385723 meters 0.01609446011195223 Centerline is valid? [True, True] Translation: X:-83.67, Y:-260.25, Z:-8.03 [[ 2.88443231e-01 9.57495203e-01 -1.85441013e-03 -8.36735844e+01] [ 9.57472370e-01 -2.88449161e-01 -6.61377015e-03 -2.60249950e+02] [-6.86755624e-03 1.32150765e-04 -9.99976409e-01 -8.02790069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.940385723 meters 0.01785416229378566 Centerline is valid? [True, True] Translation: X:-83.66, Y:-260.25, Z:-8.03 [[ 2.13672247e-01 9.76904384e-01 -1.41253830e-03 -8.36628635e+01] [ 9.76878205e-01 -2.13676864e-01 -7.15334578e-03 -2.60253330e+02] [-7.28996161e-03 1.48593594e-04 -9.99973417e-01 -8.02573567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9703857229999 meters 0.01914585248290523 Centerline is valid? [True, True] Translation: X:-83.65, Y:-260.26, Z:-8.02 [[ 1.37957488e-01 9.90437657e-01 -9.89311399e-04 -8.36537372e+01] [ 9.90401623e-01 -1.37960910e-01 -8.45055383e-03 -2.60256609e+02] [-8.50623304e-03 1.86001562e-04 -9.99963804e-01 -8.02479248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.000385723 meters 0.01677333949496381 Centerline is valid? [True, True] Translation: X:-83.64, Y:-260.26, Z:-8.03 [[ 5.98627580e-02 9.98206568e-01 -3.13204530e-04 -8.36405104e+01] [ 9.98172887e-01 -5.98633117e-02 -8.20191190e-03 -2.60258901e+02] [-8.20595178e-03 1.78356797e-04 -9.99966315e-01 -8.02733615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.030385723 meters 0.01671545446455776 Centerline is valid? [True, True] Translation: X:-83.63, Y:-260.26, Z:-8.03 [[-1.84250062e-02 9.99830186e-01 3.45152918e-04 -8.36290395e+01] [ 9.99793393e-01 1.84272899e-02 -8.57937676e-03 -2.60259988e+02] [-8.58428009e-03 1.87006537e-04 -9.99963137e-01 -8.02721997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.060385723 meters 0.01750485406183716 Centerline is valid? [True, True] Translation: X:-83.62, Y:-260.26, Z:-8.03 [[-9.61555122e-02 9.95365696e-01 1.11724108e-03 -8.36188243e+01] [ 9.95321535e-01 9.61617728e-02 -9.37847172e-03 -2.60260957e+02] [-9.44244492e-03 2.10222359e-04 -9.99955397e-01 -8.02659475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0903857229999 meters 0.017234333025355045 Centerline is valid? [True, True] Translation: X:-83.61, Y:-260.26, Z:-8.03 [[-1.73594605e-01 9.84815459e-01 1.85047693e-03 -8.36082245e+01] [ 9.84771834e-01 1.73604337e-01 -9.27196239e-03 -2.60260576e+02] [-9.45242273e-03 2.12734907e-04 -9.99955302e-01 -8.02691413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.120385723 meters 0.0174958046046116 Centerline is valid? [True, True] Translation: X:-83.60, Y:-260.26, Z:-8.03 [[-2.49744800e-01 9.68308084e-01 2.64388181e-03 -8.35978006e+01] [ 9.68262892e-01 2.49758694e-01 -9.35772223e-03 -2.60260152e+02] [-9.72149055e-03 2.22930182e-04 -9.99952720e-01 -8.02632114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.150385723 meters 0.018858990410626084 Centerline is valid? [True, True] Translation: X:-83.59, Y:-260.26, Z:-8.02 [[-3.23191040e-01 9.46327313e-01 3.48830306e-03 -8.35883101e+01] [ 9.46280204e-01 3.23209770e-01 -9.44566717e-03 -2.60260421e+02] [-1.00661465e-02 2.48157133e-04 -9.99949304e-01 -8.02358058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.180385723 meters 0.020592252422986144 Centerline is valid? [True, True] Translation: X:-83.58, Y:-260.26, Z:-8.02 [[-3.94442970e-01 9.18909872e-01 4.40348667e-03 -8.35810782e+01] [ 9.18860320e-01 3.94467449e-01 -9.54690425e-03 -2.60260739e+02] [-1.05097767e-02 2.80479902e-04 -9.99944732e-01 -8.02194485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.210385723 meters 0.020592252422986144 Centerline is valid? [True, True] Translation: X:-83.57, Y:-260.26, Z:-8.02 [[-4.65192443e-01 8.85194666e-01 5.13764120e-03 -8.35722840e+01] [ 8.85147183e-01 4.65220728e-01 -9.17274133e-03 -2.60259025e+02] [-1.05097989e-02 2.80478689e-04 -9.99944731e-01 -8.02194466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.240385723 meters 0.019223579924486325 Centerline is valid? [True, True] Translation: X:-83.57, Y:-260.26, Z:-8.02 [[-5.32696836e-01 8.46286837e-01 5.71574170e-03 -8.35653202e+01] [ 8.46243631e-01 5.32727427e-01 -8.55605535e-03 -2.60257061e+02] [-1.02858094e-02 2.79126391e-04 -9.99947061e-01 -8.02453379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.270385723 meters 0.018736874272653064 Centerline is valid? [True, True] Translation: X:-83.55, Y:-260.25, Z:-8.02 [[-5.96896041e-01 8.02293750e-01 6.31311410e-03 -8.35545578e+01] [ 8.02253793e-01 5.96929359e-01 -8.01199118e-03 -2.60251394e+02] [-1.01964536e-02 2.82393915e-04 -9.99947975e-01 -8.02486856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.300385723 meters 0.02163891363203054 Centerline is valid? [True, True] Translation: X:-83.55, Y:-260.25, Z:-8.02 [[-6.57874454e-01 7.53090195e-01 7.50740621e-03 -8.35475672e+01] [ 7.53046398e-01 6.57917217e-01 -8.12757438e-03 -2.60249186e+02] [-1.10600484e-02 3.06501644e-04 -9.99938789e-01 -8.02230465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.330385723 meters 0.019748933769752692 Centerline is valid? [True, True] Translation: X:-83.54, Y:-260.25, Z:-8.02 [[-7.15367380e-01 6.98702613e-01 8.01059301e-03 -8.35420213e+01] [ 6.98663357e-01 7.15412169e-01 -7.41229361e-03 -2.60246365e+02] [-1.09098646e-02 2.94194736e-04 -9.99940442e-01 -8.02474060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.360385723 meters 0.019894285821019143 Centerline is valid? [True, True] Translation: X:-83.52, Y:-260.22, Z:-8.02 [[-7.63697230e-01 6.45517202e-01 8.60712174e-03 -8.35223402e+01] [ 6.45480376e-01 7.63745678e-01 -6.90097364e-03 -2.60224458e+02] [-1.10283492e-02 2.85473725e-04 -9.99939145e-01 -8.02342386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.390385723 meters 0.020518678383261865 Centerline is valid? [True, True] Translation: X:-83.08, Y:-259.68, Z:-9.05 [[-7.53233687e-01 -6.57700602e-01 8.30248348e-03 -8.30782960e+01] [ 6.57656550e-01 -7.53279391e-01 -7.61718277e-03 -2.59680961e+02] [ 1.12639154e-02 -2.77336021e-04 9.99936522e-01 -9.04802445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.420385723 meters 0.01809279442085966 Centerline is valid? [True, True] Translation: X:-83.56, Y:-260.20, Z:-8.03 [[-7.67248067e-01 6.41293573e-01 8.54148137e-03 -8.35568203e+01] [ 6.41257591e-01 7.67295566e-01 -6.79832666e-03 -2.60195775e+02] [-1.09135640e-02 2.61286772e-04 -9.99940411e-01 -8.02513947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.450385723 meters 0.018962485533984694 Centerline is valid? [True, True] Translation: X:-83.54, Y:-260.17, Z:-8.02 [[-8.10999865e-01 5.84978083e-01 8.93647918e-03 -8.35396473e+01] [ 5.84945997e-01 8.11049060e-01 -6.13219974e-03 -2.60171218e+02] [-1.08351255e-02 2.54144559e-04 -9.99941266e-01 -8.02372343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.480385723 meters 0.01652224587712763 Centerline is valid? [True, True] Translation: X:-83.14, Y:-259.60, Z:-9.04 [[-7.97345394e-01 -6.03464162e-01 8.44559369e-03 -8.31442672e+01] [ 6.03426879e-01 -7.97390080e-01 -6.71278685e-03 -2.59600117e+02] [ 1.07853589e-02 -2.56111436e-04 9.99941804e-01 -9.04387760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.510385723 meters 0.0164939146418713 Centerline is valid? [True, True] Translation: X:-83.16, Y:-259.63, Z:-9.04 [[-7.54344693e-01 -6.56429830e-01 7.99758972e-03 -8.31618504e+01] [ 6.56389878e-01 -7.54387057e-01 -7.24544985e-03 -2.59626489e+02] [ 1.07894076e-02 -2.16029701e-04 9.99941769e-01 -9.04413285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.540385723 meters 0.018902228178885067 Centerline is valid? [True, True] Translation: X:-83.63, Y:-260.14, Z:-8.02 [[-7.74530445e-01 6.32481751e-01 8.33214126e-03 -8.36336540e+01] [ 6.32448019e-01 7.74575233e-01 -6.53537783e-03 -2.60137802e+02] [-1.05873775e-02 2.07797143e-04 -9.99943931e-01 -8.02318127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.570385723 meters 0.016196627039272334 Centerline is valid? [True, True] Translation: X:-83.61, Y:-260.12, Z:-8.03 [[-8.18636768e-01 5.74263297e-01 7.45032253e-03 -8.36140048e+01] [ 5.74241245e-01 8.18670655e-01 -5.03505163e-03 -2.60115786e+02] [-8.99080578e-03 1.56404093e-04 -9.99959570e-01 -8.02675169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6003857229999 meters 0.01584339466565066 Centerline is valid? [True, True] Translation: X:-83.22, Y:-259.55, Z:-9.04 [[-7.98944261e-01 -6.01368600e-01 6.62379044e-03 -8.32223347e+01] [ 6.01346038e-01 -7.98971698e-01 -5.21240449e-03 -2.59545182e+02] [ 8.42679749e-03 -1.81230518e-04 9.99964478e-01 -9.04349593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.630385723 meters 0.015859496430028784 Centerline is valid? [True, True] Translation: X:-83.24, Y:-259.57, Z:-9.04 [[-7.56260751e-01 -6.54244806e-01 5.78022285e-03 -8.32395597e+01] [ 6.54224450e-01 -7.56282830e-01 -5.16237687e-03 -2.59570275e+02] [ 7.74894155e-03 -1.22539896e-04 9.99969969e-01 -9.04340216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.660385723 meters 0.015909358914616617 Centerline is valid? [True, True] Translation: X:-83.71, Y:-260.09, Z:-8.03 [[-7.81533456e-01 6.23832264e-01 6.22614197e-03 -8.37058488e+01] [ 6.23813710e-01 7.81558246e-01 -4.81288730e-03 -2.60089563e+02] [-7.86852697e-03 1.22520279e-04 -9.99969035e-01 -8.02676033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.690385723 meters 0.015719528834339937 Centerline is valid? [True, True] Translation: X:-83.70, Y:-260.06, Z:-8.03 [[-8.24142969e-01 5.66342427e-01 6.67993369e-03 -8.36956390e+01] [ 5.66324989e-01 8.24170032e-01 -4.44579995e-03 -2.60061396e+02] [-8.02324629e-03 1.19038607e-04 -9.99967806e-01 -8.02693190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7203857229999 meters 0.015410755595314596 Centerline is valid? [True, True] Translation: X:-83.67, Y:-260.04, Z:-8.03 [[-8.62993207e-01 5.05170630e-01 6.73492907e-03 -8.36723585e+01] [ 5.05156170e-01 8.63019481e-01 -3.82351033e-03 -2.60041841e+02] [-7.74390011e-03 1.02527534e-04 -9.99970010e-01 -8.02724406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.750385723 meters 0.015136043092380053 Centerline is valid? [True, True] Translation: X:-83.66, Y:-260.01, Z:-8.03 [[-8.97001011e-01 4.41985333e-01 6.17679539e-03 -8.36610842e+01] [ 4.41975500e-01 8.97022273e-01 -2.94943304e-03 -2.60014802e+02] [-6.84432919e-03 8.43478072e-05 -9.99976574e-01 -8.02765633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.780385723 meters 0.014978716631754282 Centerline is valid? [True, True] Translation: X:-83.65, Y:-259.99, Z:-8.03 [[-9.26694259e-01 3.75758742e-01 6.56646178e-03 -8.36528600e+01] [ 3.75749881e-01 9.26717520e-01 -2.58163384e-03 -2.59987451e+02] [-7.05532666e-03 7.49619789e-05 -9.99975108e-01 -8.02707976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.810385723 meters 0.014828404735122772 Centerline is valid? [True, True] Translation: X:-83.39, Y:-259.34, Z:-9.04 [[-9.08179726e-01 -4.18533027e-01 6.30004866e-03 -8.33912910e+01] [ 4.18522350e-01 -9.08201574e-01 -2.99052971e-03 -2.59339484e+02] [ 6.97334956e-03 -7.92272839e-05 9.99975683e-01 -9.04363565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8403857229999 meters 0.016220505615102812 Centerline is valid? [True, True] Translation: X:-83.70, Y:-259.97, Z:-8.02 [[-9.28071879e-01 3.72325562e-01 7.50086855e-03 -8.36958691e+01] [ 3.72314148e-01 9.28102187e-01 -2.91653354e-03 -2.59974650e+02] [-8.04747249e-03 8.59267194e-05 -9.99967615e-01 -8.02441019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.870385723 meters 0.01752889009839715 Centerline is valid? [True, True] Translation: X:-83.44, Y:-259.32, Z:-9.05 [[-9.10104615e-01 -4.14310181e-01 7.52749893e-03 -8.34357521e+01] [ 4.14295347e-01 -9.10135742e-01 -3.50665784e-03 -2.59317498e+02] [ 8.30388986e-03 -7.28176993e-05 9.99965520e-01 -9.04670240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.900385723 meters 0.015101071692467782 Centerline is valid? [True, True] Translation: X:-83.74, Y:-259.96, Z:-8.03 [[-9.29170531e-01 3.69586511e-01 6.92357063e-03 -8.37409837e+01] [ 3.69576931e-01 9.29196321e-01 -2.66245952e-03 -2.59961443e+02] [-7.41736548e-03 8.49130564e-05 -9.99972487e-01 -8.02666405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.930385723 meters 0.015362646586290976 Centerline is valid? [True, True] Translation: X:-83.48, Y:-259.30, Z:-9.04 [[-9.12099274e-01 -4.09914212e-01 6.72707042e-03 -8.34802985e+01] [ 4.09902374e-01 -9.12124077e-01 -3.11649498e-03 -2.59297731e+02] [ 7.41341848e-03 -8.51106747e-05 9.99972517e-01 -9.04344795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.960385723 meters 0.01547406216282056 Centerline is valid? [True, True] Translation: X:-83.79, Y:-259.95, Z:-8.03 [[-9.30014410e-01 3.67456945e-01 6.97067938e-03 -8.37898572e+01] [ 3.67447395e-01 9.30040528e-01 -2.65097467e-03 -2.59947228e+02] [-7.45713339e-03 9.59133356e-05 -9.99972191e-01 -8.02654081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.990385723 meters 0.015728702565353365 Centerline is valid? [True, True] Translation: X:-83.78, Y:-259.92, Z:-8.03 [[-9.53377185e-01 3.01684910e-01 7.62615001e-03 -8.37810835e+01] [ 3.01676189e-01 9.53407679e-01 -2.29655767e-03 -2.59921495e+02] [-7.96366678e-03 1.11142181e-04 -9.99968283e-01 -8.02571614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.020385723 meters 0.015964164050895367 Centerline is valid? [True, True] Translation: X:-83.77, Y:-259.90, Z:-8.03 [[-9.72205914e-01 2.34001999e-01 7.66323705e-03 -8.37729394e+01] [ 2.33995664e-01 9.72236109e-01 -1.72572697e-03 -2.59895258e+02] [-7.85429933e-03 1.15402279e-04 -9.99969148e-01 -8.02548714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.050385723 meters 0.0161748639996735 Centerline is valid? [True, True] Translation: X:-83.77, Y:-259.87, Z:-8.03 [[-9.86218577e-01 1.65250905e-01 8.06582765e-03 -8.37673921e+01] [ 1.65246430e-01 9.86251551e-01 -1.22280598e-03 -2.59868995e+02] [-8.15700483e-03 1.26895246e-04 -9.99966723e-01 -8.02523512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.080385723 meters 0.016603189864025588 Centerline is valid? [True, True] Translation: X:-83.77, Y:-259.84, Z:-8.02 [[-9.95346214e-01 9.59734660e-02 8.66069105e-03 -8.37739847e+01] [ 9.59711037e-02 9.95383882e-01 -6.88909731e-04 -2.59842281e+02] [-8.68682933e-03 1.45472386e-04 -9.99962258e-01 -8.02477398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.110385723 meters 0.016797358812148826 Centerline is valid? [True, True] Translation: X:-83.71, Y:-259.11, Z:-9.05 [[-9.91582737e-01 -1.29149050e-01 9.17595267e-03 -8.37059899e+01] [ 1.29142423e-01 -9.91625186e-01 -1.31357901e-03 -2.59108321e+02] [ 9.26875326e-03 -1.17517507e-04 9.99957037e-01 -9.04603981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.140385723 meters 0.016533691855090762 Centerline is valid? [True, True] Translation: X:-83.84, Y:-259.84, Z:-8.02 [[-9.95632645e-01 9.28609411e-02 9.61673466e-03 -8.38380113e+01] [ 9.28583112e-02 9.95679072e-01 -7.20587710e-04 -2.59837367e+02] [-9.64209589e-03 1.75553091e-04 -9.99953499e-01 -8.02392261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.170385723 meters 0.016441356121866566 Centerline is valid? [True, True] Translation: X:-83.78, Y:-259.10, Z:-9.05 [[-9.92445478e-01 -1.22338204e-01 9.23779091e-03 -8.37773373e+01] [ 1.22331123e-01 -9.92488452e-01 -1.32989040e-03 -2.59100517e+02] [ 9.33109721e-03 -1.89774377e-04 9.99956446e-01 -9.04590602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.200385723 meters 0.016493366196943755 Centerline is valid? [True, True] Translation: X:-83.91, Y:-259.84, Z:-8.03 [[-9.95867854e-01 9.03792565e-02 8.87736528e-03 -8.39080396e+01] [ 9.03772919e-02 9.95907404e-01 -6.23050964e-04 -2.59837711e+02] [-8.89734469e-03 1.81835806e-04 -9.99960401e-01 -8.02517169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.230385723 meters 0.016922500341336796 Centerline is valid? [True, True] Translation: X:-83.85, Y:-259.09, Z:-9.04 [[-9.93259045e-01 -1.15552868e-01 9.16538909e-03 -8.38487390e+01] [ 1.15546400e-01 -9.93301317e-01 -1.23392004e-03 -2.59089764e+02] [ 9.24657605e-03 -1.66574526e-04 9.99957236e-01 -9.04449131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.260385723 meters 0.017176941625410783 Centerline is valid? [True, True] Translation: X:-83.98, Y:-259.84, Z:-8.03 [[-9.96115231e-01 8.75211180e-02 9.72115188e-03 -8.39811452e+01] [ 8.75190848e-02 9.96162641e-01 -6.35175253e-04 -2.59837441e+02] [-9.73943958e-03 2.18078572e-04 -9.99952547e-01 -8.02520940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.290385723 meters 0.017253536202839724 Centerline is valid? [True, True] Translation: X:-83.93, Y:-259.08, Z:-9.05 [[-9.93902990e-01 -1.09793045e-01 1.01159746e-02 -8.39290586e+01] [ 1.09785325e-01 -9.93954450e-01 -1.31704875e-03 -2.59082449e+02] [ 1.01994208e-02 -1.98433138e-04 9.99947965e-01 -9.04566111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.320385723 meters 0.018012673750582894 Centerline is valid? [True, True] Translation: X:-84.06, Y:-259.83, Z:-8.02 [[-9.96398376e-01 8.41284107e-02 1.06154110e-02 -8.40598480e+01] [ 8.41263819e-02 9.96454888e-01 -6.38288466e-04 -2.59834053e+02] [-1.06314764e-02 2.57046528e-04 -9.99943451e-01 -8.02346908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3503857229999 meters 0.01741501384289275 Centerline is valid? [True, True] Translation: X:-84.06, Y:-259.80, Z:-8.02 [[-9.99848261e-01 1.39872867e-02 1.03832193e-02 -8.40589618e+01] [ 1.39892408e-02 9.99902139e-01 1.15582708e-04 -2.59804011e+02] [-1.03805865e-02 2.60818524e-04 -9.99946086e-01 -8.02376555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.380385723 meters 0.01805914086008033 Centerline is valid? [True, True] Translation: X:-84.06, Y:-259.04, Z:-9.05 [[-9.99496523e-01 -2.99857969e-02 1.03707957e-02 -8.40636572e+01] [ 2.99814756e-02 -9.99550291e-01 -5.71930338e-04 -2.59042131e+02] [ 1.03832817e-02 -2.60710625e-04 9.99946058e-01 -9.04627266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.410385723 meters 0.018836063926242954 Centerline is valid? [True, True] Translation: X:-84.16, Y:-259.81, Z:-8.02 [[-9.99901840e-01 9.29969597e-03 1.04798306e-02 -8.41614462e+01] [ 9.30210165e-03 9.99956718e-01 1.80831802e-04 -2.59809736e+02] [-1.04776953e-02 2.78298501e-04 -9.99945069e-01 -8.02383985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.440385723 meters 0.02004031174658655 Centerline is valid? [True, True] Translation: X:-84.17, Y:-259.04, Z:-9.05 [[-9.99667303e-01 -2.37299892e-02 1.01079866e-02 -8.41732184e+01] [ 2.37258153e-02 -9.99718361e-01 -5.32659320e-04 -2.59038843e+02] [ 1.01177798e-02 -2.92661882e-04 9.99948771e-01 -9.04755216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4703857229999 meters 0.01782696836598758 Centerline is valid? [True, True] Translation: X:-84.27, Y:-259.81, Z:-8.02 [[-9.99948429e-01 1.62133699e-03 1.00255264e-02 -8.42662435e+01] [ 1.62378148e-03 9.99998654e-01 2.35691465e-04 -2.59805979e+02] [-1.00251308e-02 2.51958574e-04 -9.99949715e-01 -8.02260866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.500385723 meters 0.01726916473541629 Centerline is valid? [True, True] Translation: X:-84.28, Y:-259.78, Z:-8.02 [[-9.97463437e-01 -7.04912011e-02 9.88342930e-03 -8.42838434e+01] [-7.04853521e-02 9.97512372e-01 9.39317782e-04 -2.59775724e+02] [-9.92505664e-03 2.40298150e-04 -9.99950717e-01 -8.02279991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.530385723 meters 0.017713924800520028 Centerline is valid? [True, True] Translation: X:-84.30, Y:-259.75, Z:-8.02 [[-9.89542111e-01 -1.43937680e-01 9.39968634e-03 -8.42953852e+01] [-1.43929163e-01 9.89586732e-01 1.57985513e-03 -2.59747564e+02] [-9.52920556e-03 2.10444192e-04 -9.99954574e-01 -8.02293250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.560385723 meters 0.016482864949407098 Centerline is valid? [True, True] Translation: X:-84.44, Y:-259.01, Z:-9.05 [[-9.92720778e-01 1.20124838e-01 8.68791541e-03 -8.44424706e+01] [-1.20122411e-01 -9.92758764e-01 8.02536359e-04 -2.59009602e+02] [ 8.72140871e-03 -2.46918823e-04 9.99961937e-01 -9.04555010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5903857229999 meters 0.017826197676724248 Centerline is valid? [True, True] Translation: X:-84.44, Y:-259.77, Z:-8.02 [[-9.88363770e-01 -1.51893930e-01 8.08033859e-03 -8.44393868e+01] [-1.51887434e-01 9.88396785e-01 1.41514555e-03 -2.59769351e+02] [-8.20153270e-03 1.71376696e-04 -9.99966352e-01 -8.02373339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.620385723 meters 0.016261251090801794 Centerline is valid? [True, True] Translation: X:-84.47, Y:-259.74, Z:-8.03 [[-9.74591610e-01 -2.23867262e-01 7.39209504e-03 -8.44688879e+01] [-2.23859656e-01 9.74619632e-01 1.85150136e-03 -2.59740633e+02] [-7.61897149e-03 1.49665834e-04 -9.99970964e-01 -8.02502002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.650385723 meters 0.01639278084999629 Centerline is valid? [True, True] Translation: X:-84.52, Y:-259.72, Z:-8.02 [[-9.55510139e-01 -2.94866337e-01 7.36325058e-03 -8.45203970e+01] [-2.94856406e-01 9.55538499e-01 2.42443691e-03 -2.59724304e+02] [-7.75075423e-03 1.45472445e-04 -9.99969952e-01 -8.02443092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.680385723 meters 0.015916782889893313 Centerline is valid? [True, True] Translation: X:-84.58, Y:-259.71, Z:-8.02 [[-9.30320367e-01 -3.66692294e-01 6.38564450e-03 -8.45820131e+01] [-3.66682817e-01 9.30342275e-01 2.63868010e-03 -2.59712168e+02] [-6.90841869e-03 1.13311724e-04 -9.99976130e-01 -8.02372872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.710385723 meters 0.015722923869804756 Centerline is valid? [True, True] Translation: X:-84.66, Y:-259.71, Z:-8.02 [[-8.99956013e-01 -4.35942049e-01 5.80561278e-03 -8.46589095e+01] [-4.35932282e-01 8.99974733e-01 2.91975944e-03 -2.59713460e+02] [-6.49775073e-03 9.68010380e-05 -9.99978885e-01 -8.02399107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.740385723 meters 0.015160787089800459 Centerline is valid? [True, True] Translation: X:-84.74, Y:-259.72, Z:-8.03 [[-8.63468156e-01 -5.04384846e-01 4.32097134e-03 -8.47400369e+01] [-5.04378182e-01 8.63478966e-01 2.59338121e-03 -2.59720564e+02] [-5.03913005e-03 5.98984229e-05 -9.99987302e-01 -8.02529313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.770385723 meters 0.014801586174444733 Centerline is valid? [True, True] Translation: X:-84.83, Y:-259.74, Z:-8.03 [[-8.22304862e-01 -5.69033062e-01 4.01087586e-03 -8.48291011e+01] [-5.69025996e-01 8.22314643e-01 2.83622577e-03 -2.59741322e+02] [-4.91210819e-03 4.99496122e-05 -9.99987934e-01 -8.02582312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.800385723 meters 0.0151688422601558 Centerline is valid? [True, True] Translation: X:-84.92, Y:-259.77, Z:-8.03 [[-7.76216752e-01 -6.30455678e-01 3.63222531e-03 -8.49216027e+01] [-6.30448530e-01 7.76225249e-01 3.00242325e-03 -2.59773257e+02] [-4.71231978e-03 4.06001212e-05 -9.99988896e-01 -8.02541927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.830385723 meters 0.014520185446979191 Centerline is valid? [True, True] Translation: X:-85.01, Y:-259.81, Z:-8.03 [[-7.24512767e-01 -6.89254484e-01 3.08326226e-03 -8.50129872e+01] [-6.89248095e-01 7.24519328e-01 2.96783472e-03 -2.59811829e+02] [-4.27947649e-03 2.51015131e-05 -9.99990843e-01 -8.02608143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.860385723 meters 0.014461536600336746 Centerline is valid? [True, True] Translation: X:-85.11, Y:-259.87, Z:-8.03 [[-6.69724040e-01 -7.42604869e-01 2.77809127e-03 -8.51078706e+01] [-7.42598347e-01 6.69729802e-01 3.11255679e-03 -2.59867133e+02] [-4.17197034e-03 2.15481310e-05 -9.99991297e-01 -8.02610710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.890385723 meters 0.014553153996489114 Centerline is valid? [True, True] Translation: X:-85.20, Y:-259.93, Z:-8.03 [[-6.11640169e-01 -7.91131958e-01 2.55501913e-03 -8.51989710e+01] [-7.91124898e-01 6.11645505e-01 3.34230557e-03 -2.59930846e+02] [-4.20697071e-03 2.29490952e-05 -9.99991150e-01 -8.02622534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.920385723 meters 0.015528220354898616 Centerline is valid? [True, True] Translation: X:-85.28, Y:-260.00, Z:-8.03 [[-5.50381346e-01 -8.34909269e-01 2.62417054e-03 -8.52833210e+01] [-8.34899508e-01 5.50387601e-01 4.03737739e-03 -2.60000238e+02] [-4.81515473e-03 3.11785149e-05 -9.99988407e-01 -8.02501543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.950385723 meters 0.01605177815503588 Centerline is valid? [True, True] Translation: X:-85.37, Y:-260.08, Z:-8.02 [[-4.85983745e-01 -8.73964920e-01 2.26232372e-03 -8.53671442e+01] [-8.73955106e-01 4.85989009e-01 4.14201794e-03 -2.60084696e+02] [-4.71944284e-03 3.57840212e-05 -9.99988863e-01 -8.02449743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.980385723 meters 0.014968800601602274 Centerline is valid? [True, True] Translation: X:-85.44, Y:-260.17, Z:-8.03 [[-4.19638437e-01 -9.07689633e-01 1.76450424e-03 -8.54395962e+01] [-9.07681181e-01 4.19642144e-01 3.91723456e-03 -2.60168173e+02] [-4.29609354e-03 4.22148973e-05 -9.99990771e-01 -8.02672095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.010385723 meters 0.015177472536365361 Centerline is valid? [True, True] Translation: X:-85.51, Y:-260.27, Z:-8.03 [[-3.50347150e-01 -9.36618934e-01 1.35875837e-03 -8.55106677e+01] [-9.36611375e-01 3.50349782e-01 3.76338529e-03 -2.60265210e+02] [-4.00089862e-03 4.58627667e-05 -9.99991995e-01 -8.02757268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.040385723 meters 0.0151901236181738 Centerline is valid? [True, True] Translation: X:-85.58, Y:-260.37, Z:-8.03 [[-2.78150242e-01 -9.60537108e-01 9.52293309e-04 -8.55758269e+01] [-9.60530930e-01 2.78151868e-01 3.44546329e-03 -2.60371183e+02] [-3.57437751e-03 4.36492687e-05 -9.99993611e-01 -8.02739901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.070385723 meters 0.016178327167717728 Centerline is valid? [True, True] Translation: X:-85.63, Y:-260.48, Z:-8.03 [[-2.04244215e-01 -9.78919722e-01 6.92261666e-04 -8.56315849e+01] [-9.78913300e-01 2.04245383e-01 3.54612515e-03 -2.60477941e+02] [-3.61276309e-03 4.66113962e-05 -9.99993473e-01 -8.02598522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1003857229999 meters 0.015487628342265457 Centerline is valid? [True, True] Translation: X:-85.68, Y:-260.60, Z:-8.03 [[-1.28086090e-01 -9.91762977e-01 3.89979063e-04 -8.56804908e+01] [-9.91757319e-01 1.28086676e-01 3.35012152e-03 -2.60595162e+02] [-3.37247761e-03 4.23393752e-05 -9.99994312e-01 -8.02706339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.130385723 meters 0.015487628342265457 Centerline is valid? [True, True] Translation: X:-85.72, Y:-260.71, Z:-8.03 [[-5.14296281e-02 -9.98676612e-01 1.31164511e-04 -8.57191331e+01] [-9.98670927e-01 5.14297779e-02 3.37021362e-03 -2.60714601e+02] [-3.37249928e-03 4.23386488e-05 -9.99994312e-01 -8.02706228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.160385723 meters 0.015202916495018646 Centerline is valid? [True, True] Translation: X:-85.75, Y:-260.84, Z:-8.03 [[ 2.69879260e-02 -9.99635753e-01 -1.14554997e-04 -8.57497364e+01] [-9.99631227e-01 -2.69881485e-02 3.00824952e-03 -2.60840724e+02] [-3.01024541e-03 3.33263370e-05 -9.99995469e-01 -8.02764641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.190385723 meters 0.016154145657675454 Centerline is valid? [True, True] Translation: X:-85.77, Y:-260.97, Z:-8.03 [[ 1.04491756e-01 -9.94525652e-01 -4.47451624e-04 -8.57700514e+01] [-9.94518103e-01 -1.04492706e-01 3.87524953e-03 -2.60973644e+02] [-3.90079049e-03 4.00671137e-05 -9.99992391e-01 -8.02653582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2203857229999 meters 0.015035187786252364 Centerline is valid? [True, True] Translation: X:-85.78, Y:-261.09, Z:-8.03 [[ 1.81886940e-01 -9.83319263e-01 -6.06718589e-04 -8.57823221e+01] [-9.83314300e-01 -1.81887950e-01 3.12434159e-03 -2.61089068e+02] [-3.18258007e-03 2.83181321e-05 -9.99994935e-01 -8.02808245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.250385723 meters 0.014822368735334084 Centerline is valid? [True, True] Translation: X:-85.79, Y:-261.21, Z:-8.03 [[ 2.59534501e-01 -9.65733449e-01 -8.64960224e-04 -8.57874104e+01] [-9.65728341e-01 -2.59535941e-01 3.14106995e-03 -2.61212349e+02] [-3.25792458e-03 2.01005800e-05 -9.99994693e-01 -8.02739938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.280385723 meters 0.014623347738829019 Centerline is valid? [True, True] Translation: X:-85.78, Y:-261.34, Z:-8.03 [[ 3.34110902e-01 -9.42533063e-01 -1.15311602e-03 -8.57810598e+01] [-9.42527622e-01 -3.34112891e-01 3.20288581e-03 -2.61335599e+02] [-3.40409670e-03 1.67246361e-05 -9.99994206e-01 -8.02777771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.310385723 meters 0.014622530347670698 Centerline is valid? [True, True] Translation: X:-85.76, Y:-261.46, Z:-8.03 [[ 4.06956299e-01 -9.13446562e-01 -1.39614008e-03 -8.57622221e+01] [-9.13441278e-01 -4.06958693e-01 3.10694247e-03 -2.61463891e+02] [-3.40619726e-03 1.09021707e-05 -9.99994199e-01 -8.02933813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3403857229999 meters 0.014653838575057167 Centerline is valid? [True, True] Translation: X:-85.74, Y:-261.58, Z:-8.03 [[ 4.76247891e-01 -8.79310145e-01 -1.27065191e-03 -8.57397852e+01] [-8.79307056e-01 -4.76249586e-01 2.33105995e-03 -2.61578349e+02] [-2.65487211e-03 7.13080018e-06 -9.99996476e-01 -8.02984303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.370385723 meters 0.014716515070621687 Centerline is valid? [True, True] Translation: X:-85.71, Y:-261.69, Z:-8.03 [[ 5.42619887e-01 -8.39977640e-01 -1.10568265e-03 -8.57070179e+01] [-8.39975913e-01 -5.42621013e-01 1.70365034e-03 -2.61694076e+02] [-2.03099484e-03 4.31223666e-06 -9.99997938e-01 -8.03012332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.400385723 meters 0.014689610146834248 Centerline is valid? [True, True] Translation: X:-85.67, Y:-261.80, Z:-8.03 [[ 6.05173526e-01 -7.96092944e-01 -1.01399317e-03 -8.56713043e+01] [-7.96091837e-01 -6.05174375e-01 1.32796929e-03 -2.61800173e+02] [-1.67082967e-03 3.57982437e-06 -9.99998604e-01 -8.03062257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.430385723 meters 0.014819049168504074 Centerline is valid? [True, True] Translation: X:-85.62, Y:-261.91, Z:-8.03 [[ 6.63754115e-01 -7.47949616e-01 -1.35872329e-03 -8.56214599e+01] [-7.47948065e-01 -6.63755506e-01 1.52349160e-03 -2.61907905e+02] [-2.04135502e-03 5.03063759e-06 -9.99997917e-01 -8.03063927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.460385723 meters 0.014803751433659166 Centerline is valid? [True, True] Translation: X:-85.57, Y:-262.00, Z:-8.03 [[ 7.17492552e-01 -6.96564216e-01 -1.65256863e-03 -8.55721322e+01] [-6.96562399e-01 -7.17494455e-01 1.59117087e-03 -2.62004188e+02] [-2.29406152e-03 9.46391917e-06 -9.99997369e-01 -8.03058221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.490385723 meters 0.014915433016837922 Centerline is valid? [True, True] Translation: X:-85.58, Y:-262.02, Z:-8.03 [[ 7.69078201e-01 -6.39153136e-01 -1.41045915e-03 -8.55774286e+01] [-6.39152084e-01 -7.69079495e-01 1.15974687e-03 -2.62016882e+02] [-1.82601106e-03 9.56186952e-06 -9.99998333e-01 -8.03108073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.520385723 meters 0.014970833836386279 Centerline is valid? [True, True] Translation: X:-85.58, Y:-262.03, Z:-8.03 [[ 8.16162564e-01 -5.77820083e-01 -1.61865234e-03 -8.55818104e+01] [-5.77818976e-01 -8.16164169e-01 1.13116812e-03 -2.62029463e+02] [-1.97469770e-03 1.20709625e-05 -9.99998050e-01 -8.03116311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.550385723 meters 0.01644832169744946 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.04, Z:-8.03 [[ 8.57982331e-01 -5.13667949e-01 -3.39963361e-03 -8.55859869e+01] [-5.13664055e-01 -8.57989066e-01 2.00022255e-03 -2.62043684e+02] [-3.94429868e-03 3.01139855e-05 -9.99992221e-01 -8.02846613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.580385723 meters 0.015256432509937244 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.06, Z:-8.03 [[ 8.95317064e-01 -4.45401732e-01 -4.96509252e-03 -8.55882913e+01] [-4.45395156e-01 -8.95330830e-01 2.42068354e-03 -2.62058370e+02] [-5.52357705e-03 4.41488757e-05 -9.99984744e-01 -8.02898707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.610385723 meters 0.016277621350712337 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.07, Z:-8.03 [[ 9.27114725e-01 -3.74716836e-01 -6.75133876e-03 -8.55899545e+01] [-3.74707394e-01 -9.27139304e-01 2.66088791e-03 -2.62074389e+02] [-7.25651102e-03 6.28281916e-05 -9.99973669e-01 -8.02592408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.640385723 meters 0.015547979913754676 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.09, Z:-8.03 [[ 9.53539173e-01 -3.01175663e-01 -7.50109387e-03 -8.55902134e+01] [-3.01166911e-01 -9.53568674e-01 2.29708952e-03 -2.62086443e+02] [-7.84463559e-03 6.87164294e-05 -9.99969228e-01 -8.02660411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.670385723 meters 0.016233560074567534 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.10, Z:-8.03 [[ 9.74035875e-01 -2.26255477e-01 -7.91038849e-03 -8.55888326e+01] [-2.26248645e-01 -9.74067992e-01 1.75989943e-03 -2.62101938e+02] [-8.10344312e-03 7.55094937e-05 -9.99967164e-01 -8.02636363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.700385723 meters 0.01543893806417451 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.12, Z:-8.03 [[ 9.88516982e-01 -1.50948610e-01 -6.97804170e-03 -8.55869569e+01] [-1.50945402e-01 -9.88541608e-01 9.87211060e-04 -2.62117956e+02] [-7.04710271e-03 7.74284122e-05 -9.99975166e-01 -8.02790266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.730385723 meters 0.015805560530911797 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.13, Z:-8.03 [[ 9.97205844e-01 -7.44405052e-02 -6.25420392e-03 -8.55870473e+01] [-7.44395272e-02 -9.97225454e-01 3.89337364e-04 -2.62129959e+02] [-6.26583381e-03 7.73104882e-05 -9.99980367e-01 -8.02827779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.760385723 meters 0.015886606376317825 Centerline is valid? [True, True] Translation: X:-85.59, Y:-262.15, Z:-8.03 [[ 9.99978158e-01 1.17715511e-03 -6.50372301e-03 -8.55853921e+01] [ 1.17649397e-03 -9.99999302e-01 -1.05480674e-04 -2.62145371e+02] [-6.50384264e-03 9.78267796e-05 -9.99978845e-01 -8.02959345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.790385723 meters 0.01724138527009105 Centerline is valid? [True, True] Translation: X:-85.58, Y:-262.16, Z:-8.03 [[ 9.96940619e-01 7.78454212e-02 -7.03511346e-03 -8.55835475e+01] [ 7.78426516e-02 -9.96965434e-01 -6.67062643e-04 -2.62157929e+02] [-7.06569272e-03 1.17389958e-04 -9.99975031e-01 -8.02775923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.820385723 meters 0.0188641209248717 Centerline is valid? [True, True] Translation: X:-85.58, Y:-262.17, Z:-8.03 [[ 9.87936545e-01 1.54641754e-01 -8.20433677e-03 -8.55798761e+01] [ 1.54635187e-01 -9.87970600e-01 -1.43275410e-03 -2.62170843e+02] [-8.32720713e-03 1.46790985e-04 -9.99965318e-01 -8.02580617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8503857229999 meters 0.016401850963873692 Centerline is valid? [True, True] Translation: X:-85.57, Y:-262.19, Z:-8.03 [[ 9.72973114e-01 2.30731094e-01 -9.29951544e-03 -8.55735888e+01] [ 2.30718811e-01 -9.73017539e-01 -2.38734718e-03 -2.62187364e+02] [-9.59942685e-03 1.77251474e-04 -9.99953909e-01 -8.02769649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.880385723 meters 0.01691270801492002 Centerline is valid? [True, True] Translation: X:-85.57, Y:-262.20, Z:-8.03 [[ 9.51930841e-01 3.06167002e-01 -9.45732969e-03 -8.55677284e+01] [ 3.06149961e-01 -9.51977801e-01 -3.23555051e-03 -2.62199105e+02] [-9.99378672e-03 1.84659202e-04 -9.99950044e-01 -8.02680196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.910385723 meters 0.01966675104218304 Centerline is valid? [True, True] Translation: X:-85.56, Y:-262.21, Z:-8.02 [[ 9.24827849e-01 3.80281466e-01 -8.91386138e-03 -8.55604525e+01] [ 3.80261980e-01 -9.24870789e-01 -3.85356171e-03 -2.62210061e+02] [-9.70960811e-03 1.74278610e-04 -9.99952846e-01 -8.02444890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.940385723 meters 0.016884821795969354 Centerline is valid? [True, True] Translation: X:-85.55, Y:-262.22, Z:-8.03 [[ 8.91752536e-01 4.52451433e-01 -8.06945266e-03 -8.55511618e+01] [ 4.52431341e-01 -8.91789032e-01 -4.26673241e-03 -2.62221723e+02] [-9.12673857e-03 1.53996160e-04 -9.99958339e-01 -8.02727253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9703857229999 meters 0.01643316546177326 Centerline is valid? [True, True] Translation: X:-85.54, Y:-262.23, Z:-8.03 [[ 8.53085645e-01 5.21711443e-01 -7.87736363e-03 -8.55432325e+01] [ 5.21687588e-01 -8.53122001e-01 -4.99119344e-03 -2.62230907e+02] [-9.32431495e-03 1.48392645e-04 -9.99956517e-01 -8.02756064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.000385723 meters 0.01813898361584797 Centerline is valid? [True, True] Translation: X:-85.54, Y:-262.24, Z:-8.03 [[ 8.08695621e-01 5.88170461e-01 -8.17928103e-03 -8.55355535e+01] [ 5.88138538e-01 -8.08736970e-01 -6.12965327e-03 -2.62238184e+02] [-1.02201679e-02 1.46473367e-04 -9.99947762e-01 -8.02514872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.030385723 meters 0.015990709146607867 Centerline is valid? [True, True] Translation: X:-85.52, Y:-262.25, Z:-8.03 [[ 7.59400818e-01 6.50578072e-01 -7.65311538e-03 -8.55239476e+01] [ 6.50543252e-01 -7.59439368e-01 -6.73224437e-03 -2.62246283e+02] [-1.01919277e-02 1.33789312e-04 -9.99948052e-01 -8.02778887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.060385723 meters 0.018118593341345784 Centerline is valid? [True, True] Translation: X:-85.51, Y:-262.26, Z:-8.02 [[ 7.04674939e-01 7.09477189e-01 -8.68030207e-03 -8.55096414e+01] [ 7.09420944e-01 -7.04728387e-01 -8.93452018e-03 -2.62255080e+02] [-1.24560935e-02 1.37944376e-04 -9.99922410e-01 -8.02485145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0903857229999 meters 0.019206308963026282 Centerline is valid? [True, True] Translation: X:-85.50, Y:-262.26, Z:-8.02 [[ 6.46236661e-01 7.63089804e-01 -8.49285086e-03 -8.54981716e+01] [ 7.63021156e-01 -6.46292451e-01 -1.02363835e-02 -2.62261049e+02] [-1.33001453e-02 1.34901420e-04 -9.99911540e-01 -8.02340630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.120385723 meters 0.015306204867429162 Centerline is valid? [True, True] Translation: X:-85.48, Y:-262.27, Z:-8.03 [[ 5.83648857e-01 8.11978726e-01 -6.67531201e-03 -8.54842353e+01] [ 8.11923563e-01 -5.83687020e-01 -9.46526707e-03 -2.62266411e+02] [-1.15818885e-02 1.04549195e-04 -9.99932922e-01 -8.02679250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.150385723 meters 0.01747792786996103 Centerline is valid? [True, True] Translation: X:-85.47, Y:-262.27, Z:-8.02 [[ 5.17246255e-01 8.55812431e-01 -6.43379544e-03 -8.54708848e+01] [ 8.55743847e-01 -5.17286258e-01 -1.08349216e-02 -2.62270665e+02] [-1.26007746e-02 9.86417884e-05 -9.99920602e-01 -8.02422177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.180385723 meters 0.016174428415121185 Centerline is valid? [True, True] Translation: X:-85.46, Y:-262.27, Z:-8.02 [[ 4.47835949e-01 8.94098002e-01 -5.63257459e-03 -8.54593287e+01] [ 8.94024801e-01 -4.47871360e-01 -1.14411413e-02 -2.62273446e+02] [-1.27521705e-02 8.80930057e-05 -9.99918684e-01 -8.02434661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.210385723 meters 0.015542589317567466 Centerline is valid? [True, True] Translation: X:-85.45, Y:-262.27, Z:-8.02 [[ 3.75613402e-01 9.26762966e-01 -4.99770831e-03 -8.54480074e+01] [ 9.26678045e-01 -3.75646640e-01 -1.25460011e-02 -2.62274164e+02] [-1.35045416e-02 8.11796013e-05 -9.99908806e-01 -8.02491321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.240385723 meters 0.017448976972743058 Centerline is valid? [True, True] Translation: X:-85.44, Y:-262.27, Z:-8.02 [[ 3.02032546e-01 9.53287343e-01 -4.42520593e-03 -8.54374077e+01] [ 9.53180554e-01 -3.02064948e-01 -1.42687920e-02 -2.62274423e+02] [-1.49389584e-02 9.16193301e-05 -9.99888403e-01 -8.02328177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.270385723 meters 0.01739224495416391 Centerline is valid? [True, True] Translation: X:-85.43, Y:-262.27, Z:-8.02 [[ 2.26971550e-01 9.73896002e-01 -3.23932340e-03 -8.54267088e+01] [ 9.73790586e-01 -2.26994643e-01 -1.43292205e-02 -2.62274248e+02] [-1.46904796e-02 9.79027442e-05 -9.99892084e-01 -8.02348534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.300385723 meters 0.014932406513994466 Centerline is valid? [True, True] Translation: X:-85.42, Y:-262.27, Z:-8.03 [[ 1.50121926e-01 9.88665641e-01 -1.91240626e-03 -8.54159983e+01] [ 9.88577543e-01 -1.50134079e-01 -1.31984935e-02 -2.62273232e+02] [-1.33360144e-02 9.08213813e-05 -9.99911067e-01 -8.02609028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.330385723 meters 0.014947777530519409 Centerline is valid? [True, True] Translation: X:-85.41, Y:-262.27, Z:-8.03 [[ 7.26099638e-02 9.97360016e-01 -8.90236822e-04 -8.54060112e+01] [ 9.97267746e-01 -7.26153559e-02 -1.35666415e-02 -2.62270814e+02] [-1.35954707e-02 9.72688823e-05 -9.99907573e-01 -8.02660541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.360385723 meters 0.014979182415616934 Centerline is valid? [True, True] Translation: X:-85.40, Y:-262.27, Z:-8.03 [[-5.61136313e-03 9.99984241e-01 1.74199082e-04 -8.53975309e+01] [ 9.99892776e-01 5.61320598e-03 -1.35250837e-02 -2.62269545e+02] [-1.35258484e-02 9.82862476e-05 -9.99908517e-01 -8.02694658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.390385723 meters 0.016359767211580663 Centerline is valid? [True, True] Translation: X:-85.39, Y:-262.27, Z:-8.02 [[-8.40902942e-02 9.96457283e-01 1.30612151e-03 -8.53916075e+01] [ 9.96355030e-01 8.41003766e-02 -1.42752191e-02 -2.62267430e+02] [-1.43344913e-02 1.00953363e-04 -9.99897251e-01 -8.02435714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.420385723 meters 0.01529750205581064 Centerline is valid? [True, True] Translation: X:-85.39, Y:-262.27, Z:-8.03 [[-1.62330581e-01 9.86733670e-01 2.33385597e-03 -8.53891940e+01] [ 9.86639643e-01 1.62347332e-01 -1.36219882e-02 -2.62265030e+02] [-1.38201697e-02 9.14095577e-05 -9.99904493e-01 -8.02549004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.450385723 meters 0.01512739290248992 Centerline is valid? [True, True] Translation: X:-85.39, Y:-262.26, Z:-8.03 [[-2.38468168e-01 9.71145369e-01 3.09937369e-03 -8.53885636e+01] [ 9.71068298e-01 2.38488291e-01 -1.22350521e-02 -2.62263011e+02] [-1.26211785e-02 9.20330644e-05 -9.99920346e-01 -8.02724909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.480385723 meters 0.014831554164517327 Centerline is valid? [True, True] Translation: X:-85.38, Y:-262.26, Z:-8.03 [[-3.12910245e-01 9.49774575e-01 3.92874143e-03 -8.53790662e+01] [ 9.49703724e-01 3.12934891e-01 -1.16012769e-02 -2.62258416e+02] [-1.22480381e-02 1.00981976e-04 -9.99924985e-01 -8.02950653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.510385723 meters 0.014932409938873379 Centerline is valid? [True, True] Translation: X:-85.37, Y:-262.25, Z:-8.03 [[-3.85831448e-01 9.22558055e-01 4.55291055e-03 -8.53705633e+01] [ 9.22496899e-01 3.85858297e-01 -1.06229285e-02 -2.62254790e+02] [-1.15570465e-02 1.01385995e-04 -9.99933210e-01 -8.02965686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.540385723 meters 0.015052892970038837 Centerline is valid? [True, True] Translation: X:-85.36, Y:-262.25, Z:-8.03 [[-4.55922687e-01 8.90005435e-01 4.98289875e-03 -8.53645560e+01] [ 8.89954804e-01 4.55949904e-01 -9.49380184e-03 -2.62250408e+02] [-1.07214874e-02 1.06115032e-04 -9.99942518e-01 -8.03068490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.570385723 meters 0.01745931395998337 Centerline is valid? [True, True] Translation: X:-85.36, Y:-262.25, Z:-8.03 [[-5.23387696e-01 8.52070728e-01 6.38700195e-03 -8.53587793e+01] [ 8.52010308e-01 5.23426649e-01 -1.01478462e-02 -2.62246738e+02] [-1.19898097e-02 1.30533672e-04 -9.99928111e-01 -8.02876993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6003857229999 meters 0.01505456093684475 Centerline is valid? [True, True] Translation: X:-85.35, Y:-262.24, Z:-8.03 [[-5.88289528e-01 8.08623838e-01 6.55130027e-03 -8.53511484e+01] [ 8.08575998e-01 5.88325993e-01 -8.79667109e-03 -2.62239943e+02] [-1.09674982e-02 1.22234676e-04 -9.99939848e-01 -8.03186067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.630385723 meters 0.015285820412420827 Centerline is valid? [True, True] Translation: X:-85.35, Y:-262.23, Z:-8.03 [[-6.48801917e-01 7.60926502e-01 6.85072039e-03 -8.53457196e+01] [ 7.60886180e-01 6.48838071e-01 -7.83450064e-03 -2.62234990e+02] [-1.04064874e-02 1.29579437e-04 -9.99945843e-01 -8.03230316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.660385723 meters 0.0174859578128413 Centerline is valid? [True, True] Translation: X:-85.34, Y:-262.23, Z:-8.03 [[-7.05490544e-01 7.08668757e-01 8.46674244e-03 -8.53372974e+01] [ 7.08620464e-01 7.05541329e-01 -8.27473366e-03 -2.62225960e+02] [-1.18376819e-02 1.61960598e-04 -9.99929919e-01 -8.03033837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.690385723 meters 0.017308217752881928 Centerline is valid? [True, True] Translation: X:-85.32, Y:-262.21, Z:-8.03 [[-7.53211826e-01 6.57707019e-01 9.66555435e-03 -8.53205537e+01] [ 6.57655991e-01 7.53273817e-01 -8.19470751e-03 -2.62207464e+02] [-1.26705257e-02 1.84259118e-04 -9.99919709e-01 -8.03039151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7203857229999 meters 0.01548856329401045 Centerline is valid? [True, True] Translation: X:-85.30, Y:-262.19, Z:-8.03 [[-7.97934781e-01 6.02659180e-01 1.00994176e-02 -8.53035403e+01] [ 6.02613775e-01 7.97998672e-01 -7.39990296e-03 -2.62185152e+02] [-1.25189413e-02 1.81408227e-04 -9.99921619e-01 -8.03226740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.750385723 meters 0.015342613708435782 Centerline is valid? [True, True] Translation: X:-85.29, Y:-262.16, Z:-8.03 [[-8.38468318e-01 5.44849505e-01 1.04831913e-02 -8.52895043e+01] [ 5.44809635e-01 8.38533830e-01 -6.59376324e-03 -2.62160575e+02] [-1.23831192e-02 1.82682071e-04 -9.99923310e-01 -8.03252087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.780385723 meters 0.01576255147767568 Centerline is valid? [True, True] Translation: X:-85.28, Y:-262.14, Z:-8.03 [[-8.74629173e-01 4.84668299e-01 1.09749902e-02 -8.52800455e+01] [ 4.84632879e-01 8.74698007e-01 -5.86253417e-03 -2.62137046e+02] [-1.24411865e-02 1.91297679e-04 -9.99922587e-01 -8.03265151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.810385723 meters 0.015688473693801965 Centerline is valid? [True, True] Translation: X:-85.27, Y:-262.11, Z:-8.03 [[-9.06693110e-01 4.21642069e-01 1.12057797e-02 -8.52724487e+01] [ 4.21612471e-01 9.06762333e-01 -4.99959607e-03 -2.62109991e+02] [-1.22690190e-02 1.91397173e-04 -9.99924715e-01 -8.03306748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8403857229999 meters 0.015747933734555814 Centerline is valid? [True, True] Translation: X:-85.00, Y:-261.51, Z:-9.04 [[-8.90749161e-01 -4.54338664e-01 1.19293707e-02 -8.50013239e+01] [ 4.54295879e-01 -8.90829030e-01 -6.23654012e-03 -2.61509268e+02] [ 1.34605311e-02 -1.35728922e-04 9.99909394e-01 -9.03773686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.870385723 meters 0.0172045388000416 Centerline is valid? [True, True] Translation: X:-85.31, Y:-262.10, Z:-8.03 [[-9.08328051e-01 4.18035834e-01 1.36453018e-02 -8.53141903e+01] [ 4.17992447e-01 9.08430509e-01 -6.02704415e-03 -2.62095251e+02] [-1.49153289e-02 2.29099805e-04 -9.99888734e-01 -8.02968291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.900385723 meters 0.015434924110324095 Centerline is valid? [True, True] Translation: X:-85.30, Y:-262.07, Z:-8.03 [[-9.36122588e-01 3.51416955e-01 1.34396850e-02 -8.53044459e+01] [ 3.51383828e-01 9.36219036e-01 -4.82932729e-03 -2.62068373e+02] [-1.42795964e-02 2.01645592e-04 -9.99898021e-01 -8.03185414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.930385723 meters 0.015662062887627764 Centerline is valid? [True, True] Translation: X:-85.30, Y:-262.04, Z:-8.03 [[-9.58829842e-01 2.83682040e-01 1.30320417e-02 -8.53003837e+01] [ 2.83658458e-01 9.58918384e-01 -3.66235627e-03 -2.62041176e+02] [-1.35356090e-02 1.85072363e-04 -9.99908372e-01 -8.03169436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.960385723 meters 0.01536436854119987 Centerline is valid? [True, True] Translation: X:-85.12, Y:-261.40, Z:-9.04 [[-9.46598306e-01 -3.22169226e-01 1.25951224e-02 -8.51210175e+01] [ 3.22137987e-01 -9.46682076e-01 -4.49049744e-03 -2.61397093e+02] [ 1.33702767e-02 -1.93329902e-04 9.99910595e-01 -9.03713083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.990385723 meters 0.015363112286548799 Centerline is valid? [True, True] Translation: X:-85.36, Y:-262.03, Z:-8.03 [[-9.60039245e-01 2.79622648e-01 1.16542750e-02 -8.53581132e+01] [ 2.79604078e-01 9.60109967e-01 -3.22656558e-03 -2.62028725e+02] [-1.20916064e-02 1.60953222e-04 -9.99926881e-01 -8.03394959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.020385723 meters 0.015363112286548799 Centerline is valid? [True, True] Translation: X:-85.18, Y:-261.38, Z:-9.04 [[-9.47832447e-01 -3.18564517e-01 1.14149269e-02 -8.51756016e+01] [ 3.18539371e-01 -9.47901167e-01 -4.00579285e-03 -2.61379850e+02] [ 1.20963260e-02 -1.60716800e-04 9.99926824e-01 -9.03614030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.050385723 meters 0.017451482719759277 Centerline is valid? [True, True] Translation: X:-85.40, Y:-262.02, Z:-8.03 [[-9.60959899e-01 2.76425263e-01 1.20476850e-02 -8.54004133e+01] [ 2.76405790e-01 9.61035402e-01 -3.28558916e-03 -2.62019398e+02] [-1.24864717e-02 1.72730462e-04 -9.99922026e-01 -8.03227315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.080385723 meters 0.017369477178764064 Centerline is valid? [True, True] Translation: X:-85.40, Y:-261.99, Z:-8.03 [[-9.78307872e-01 2.06796558e-01 1.22020940e-02 -8.53976697e+01] [ 2.06782547e-01 9.78383952e-01 -2.41269896e-03 -2.61991569e+02] [-1.24372708e-02 1.62817695e-04 -9.99922641e-01 -8.03177629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.110385723 meters 0.01570039538914508 Centerline is valid? [True, True] Translation: X:-85.26, Y:-261.33, Z:-9.04 [[-9.68753491e-01 -2.47758992e-01 1.14958748e-02 -8.52623383e+01] [ 2.47739218e-01 -9.68821679e-01 -3.13590098e-03 -2.61325565e+02] [ 1.19144004e-02 -1.89935997e-04 9.99929003e-01 -9.03698404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.140385723 meters 0.015231048959373739 Centerline is valid? [True, True] Translation: X:-85.45, Y:-261.98, Z:-8.03 [[-9.79406340e-01 2.01554466e-01 1.17906292e-02 -8.54493049e+01] [ 2.01541588e-01 9.79477298e-01 -2.28275931e-03 -2.61982869e+02] [-1.20087539e-02 1.40553180e-04 -9.99927883e-01 -8.03306715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.170385723 meters 0.016809724589481146 Centerline is valid? [True, True] Translation: X:-85.32, Y:-261.31, Z:-9.04 [[-9.69309555e-01 -2.45490691e-01 1.31646198e-02 -8.53187096e+01] [ 2.45467271e-01 -9.69398946e-01 -3.39141137e-03 -2.61312406e+02] [ 1.35943285e-02 -5.58441548e-05 9.99907591e-01 -9.03856983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.200385723 meters 0.01490838003544212 Centerline is valid? [True, True] Translation: X:-85.51, Y:-261.98, Z:-8.03 [[-9.80651808e-01 1.95319755e-01 1.31234580e-02 -8.55067066e+01] [ 1.95303957e-01 9.80739608e-01 -2.48731351e-03 -2.61975501e+02] [-1.33565165e-02 1.23874772e-04 -9.99910790e-01 -8.03311217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.230385723 meters 0.014791337597471085 Centerline is valid? [True, True] Translation: X:-85.38, Y:-261.30, Z:-9.04 [[-9.69602661e-01 -2.44323143e-01 1.32997090e-02 -8.53752192e+01] [ 2.44298715e-01 -9.69693865e-01 -3.45639795e-03 -2.61300099e+02] [ 1.37411242e-02 -1.02230831e-04 9.99905581e-01 -9.03779412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.260385723 meters 0.014792648234485171 Centerline is valid? [True, True] Translation: X:-85.56, Y:-261.97, Z:-8.03 [[-9.81807881e-01 1.89375123e-01 1.37966895e-02 -8.55603139e+01] [ 1.89357880e-01 9.81904808e-01 -2.55748850e-03 -2.61968195e+02] [-1.40313605e-02 1.01549509e-04 -9.99901551e-01 -8.03201262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.290385723 meters 0.014440717580012134 Centerline is valid? [True, True] Translation: X:-85.43, Y:-261.29, Z:-9.04 [[-9.70266290e-01 -2.41640053e-01 1.39072149e-02 -8.54310345e+01] [ 2.41614007e-01 -9.70365951e-01 -3.54876153e-03 -2.61287619e+02] [ 1.43526107e-02 -8.30657856e-05 9.99896993e-01 -9.03679799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.320385723 meters 0.014636425962989396 Centerline is valid? [True, True] Translation: X:-85.62, Y:-261.96, Z:-8.03 [[-9.82635133e-01 1.84975073e-01 1.45745512e-02 -8.56163882e+01] [ 1.84956229e-01 9.82743208e-01 -2.64210282e-03 -2.61962064e+02] [-1.48117643e-02 9.94309729e-05 -9.99890295e-01 -8.03271687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3503857229999 meters 0.015888612202415952 Centerline is valid? [True, True] Translation: X:-85.61, Y:-261.94, Z:-8.03 [[-9.93134052e-01 1.16072503e-01 1.45577885e-02 -8.56120946e+01] [ 1.16061775e-01 9.93240736e-01 -1.58251940e-03 -2.61938093e+02] [-1.46430756e-02 1.17948872e-04 -9.99892778e-01 -8.03110937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.380385723 meters 0.014760762111429158 Centerline is valid? [True, True] Translation: X:-85.53, Y:-261.23, Z:-9.04 [[-9.85962453e-01 -1.66381872e-01 1.39682930e-02 -8.55331459e+01] [ 1.66363114e-01 -9.86061384e-01 -2.50243438e-03 -2.61233518e+02] [ 1.41899540e-02 -1.43497621e-04 9.99899307e-01 -9.03588111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.410385723 meters 0.014844673120442305 Centerline is valid? [True, True] Translation: X:-85.68, Y:-261.93, Z:-8.03 [[-9.93490526e-01 1.13112834e-01 1.34930123e-02 -8.56784571e+01] [ 1.13104189e-01 9.93582140e-01 -1.40459102e-03 -2.61933999e+02] [-1.35652933e-02 1.30668335e-04 -9.99907979e-01 -8.03477349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.440385723 meters 0.015061559022624946 Centerline is valid? [True, True] Translation: X:-85.60, Y:-261.22, Z:-9.04 [[-9.87322508e-01 -1.58206435e-01 1.28448510e-02 -8.55993731e+01] [ 1.58190955e-01 -9.87406046e-01 -2.21878659e-03 -2.61221973e+02] [ 1.30341098e-02 -1.58718703e-04 9.99915040e-01 -9.03505295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4703857229999 meters 0.01533521660982905 Centerline is valid? [True, True] Translation: X:-85.75, Y:-261.93, Z:-8.03 [[-9.93558398e-01 1.12605119e-01 1.27199419e-02 -8.57465714e+01] [ 1.12598145e-01 9.93639802e-01 -1.26534390e-03 -2.61932510e+02] [-1.27815247e-02 1.75048804e-04 -9.99918298e-01 -8.03497453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.500385723 meters 0.015944644681114725 Centerline is valid? [True, True] Translation: X:-85.75, Y:-261.91, Z:-8.04 [[-9.98934915e-01 4.43165192e-02 1.28483823e-02 -8.57499557e+01] [ 4.43155480e-02 9.99017519e-01 -3.60420328e-04 -2.61908150e+02] [-1.28517316e-02 2.09346652e-04 -9.99917391e-01 -8.03514588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.530385723 meters 0.015982238235566673 Centerline is valid? [True, True] Translation: X:-85.72, Y:-261.17, Z:-9.03 [[-9.96858865e-01 -7.81241252e-02 1.30009587e-02 -8.57215580e+01] [ 7.81148725e-02 -9.96943620e-01 -1.21876327e-03 -2.61172965e+02] [ 1.30564376e-02 -1.99366743e-04 9.99914741e-01 -9.03458681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.560385723 meters 0.01656114595218704 Centerline is valid? [True, True] Translation: X:-85.83, Y:-261.91, Z:-8.03 [[-9.99071352e-01 4.07249485e-02 1.40681562e-02 -8.58318972e+01] [ 4.07245185e-02 9.99170362e-01 -3.17157444e-04 -2.61910825e+02] [-1.40694009e-02 2.56055969e-04 -9.99900988e-01 -8.03408367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5903857229999 meters 0.016173204967875342 Centerline is valid? [True, True] Translation: X:-85.81, Y:-261.17, Z:-9.04 [[-9.97306779e-01 -7.19195168e-02 1.43795622e-02 -8.58130546e+01] [ 7.19085919e-02 -9.97410410e-01 -1.27602005e-03 -2.61165831e+02] [ 1.44340958e-02 -2.38569380e-04 9.99895795e-01 -9.03605833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.620385723 meters 0.018562953263359428 Centerline is valid? [True, True] Translation: X:-85.92, Y:-261.91, Z:-8.03 [[-9.99296229e-01 3.37696330e-02 1.63296641e-02 -8.59239883e+01] [ 3.37695884e-02 9.99429606e-01 -2.78550490e-04 -2.61910460e+02] [-1.63297563e-02 2.73091580e-04 -9.99866623e-01 -8.03005673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.650385723 meters 0.016031328194093898 Centerline is valid? [True, True] Translation: X:-85.93, Y:-261.88, Z:-8.03 [[-9.99096337e-01 -3.92072698e-02 1.64103734e-02 -8.59260042e+01] [-3.91979292e-02 9.99231069e-01 8.90572129e-04 -2.61881600e+02] [-1.64326719e-02 2.46514696e-04 -9.99864944e-01 -8.03163852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.680385723 meters 0.01587048214570251 Centerline is valid? [True, True] Translation: X:-85.97, Y:-261.13, Z:-9.04 [[-9.99854331e-01 5.26453809e-04 1.70598995e-02 -8.59691380e+01] [-5.30016264e-04 -9.99999839e-01 -2.04299754e-04 -2.61132829e+02] [ 1.70597892e-02 -2.13312018e-04 9.99854449e-01 -9.03867935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.710385723 meters 0.015608923979153302 Centerline is valid? [True, True] Translation: X:-86.05, Y:-261.89, Z:-8.03 [[-9.98637637e-01 -4.91839103e-02 1.74302351e-02 -8.60461313e+01] [-4.91730121e-02 9.98789720e-01 1.05353390e-03 -2.61889576e+02] [-1.74609566e-02 1.95001445e-04 -9.99847527e-01 -8.03140983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.740385723 meters 0.015538339918828472 Centerline is valid? [True, True] Translation: X:-86.05, Y:-261.86, Z:-8.03 [[-9.92458872e-01 -1.21347538e-01 1.73252232e-02 -8.60452645e+01] [-1.21325875e-01 9.92610066e-01 2.29992759e-03 -2.61861276e+02] [-1.74762815e-02 1.80585677e-04 -9.99847262e-01 -8.03198893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.770385723 meters 0.014847077459257348 Centerline is valid? [True, True] Translation: X:-86.07, Y:-261.84, Z:-8.03 [[-9.81199924e-01 -1.92353187e-01 1.57150054e-02 -8.60719514e+01] [-1.92325880e-01 9.81325749e-01 3.24504453e-03 -2.61836711e+02] [-1.60457341e-02 1.61635192e-04 -9.99871246e-01 -8.03484731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.800385723 meters 0.015003118496617571 Centerline is valid? [True, True] Translation: X:-86.11, Y:-261.82, Z:-8.03 [[-9.64524669e-01 -2.63553728e-01 1.52182546e-02 -8.61118637e+01] [-2.63518375e-01 9.64644706e-01 4.31948017e-03 -2.61817599e+02] [-1.58186238e-02 1.55955447e-04 -9.99874866e-01 -8.03451812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.830385723 meters 0.014910447837429092 Centerline is valid? [True, True] Translation: X:-86.18, Y:-261.81, Z:-8.04 [[-9.42472074e-01 -3.33951063e-01 1.49357883e-02 -8.61762312e+01] [-3.33906534e-01 9.42590401e-01 5.45551422e-03 -2.61808064e+02] [-1.59002054e-02 1.54512498e-04 -9.99873572e-01 -8.03517493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.860385723 meters 0.015644428661705137 Centerline is valid? [True, True] Translation: X:-86.25, Y:-261.81, Z:-8.03 [[-9.14972295e-01 -4.03266997e-01 1.41925771e-02 -8.62487681e+01] [-4.03216087e-01 9.15082351e-01 6.40923200e-03 -2.61810078e+02] [-1.55720086e-02 1.41594299e-04 -9.99878739e-01 -8.03295047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.890385723 meters 0.014990808528288898 Centerline is valid? [True, True] Translation: X:-86.33, Y:-261.82, Z:-8.04 [[-8.82292375e-01 -4.70516019e-01 1.32227434e-02 -8.63269776e+01] [-4.70460928e-01 8.82391443e-01 7.20118432e-03 -2.61816568e+02] [-1.50559082e-02 1.32765876e-04 -9.99886645e-01 -8.03577561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.920385723 meters 0.014732902773988097 Centerline is valid? [True, True] Translation: X:-86.41, Y:-261.83, Z:-8.04 [[-8.44004403e-01 -5.36209410e-01 1.16634215e-02 -8.64068506e+01] [-5.36156446e-01 8.44084982e-01 7.53720523e-03 -2.61830168e+02] [-1.38864393e-02 1.08015792e-04 -9.99903573e-01 -8.03805186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.950385723 meters 0.01588765222683093 Centerline is valid? [True, True] Translation: X:-86.50, Y:-261.86, Z:-8.04 [[-8.01113545e-01 -5.98421490e-01 1.04311626e-02 -8.64977334e+01] [-5.98369158e-01 8.01181447e-01 7.91450587e-03 -2.61857507e+02] [-1.30934644e-02 9.87318471e-05 -9.99914272e-01 -8.03656265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.980385723 meters 0.014592516997366469 Centerline is valid? [True, True] Translation: X:-86.59, Y:-261.90, Z:-8.04 [[-7.53045855e-01 -6.57894760e-01 9.81959892e-03 -8.65921676e+01] [-6.57837312e-01 7.53109871e-01 8.69445833e-03 -2.61896173e+02] [-1.31152754e-02 8.76272484e-05 -9.99913987e-01 -8.03795967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.010385723 meters 0.014662258855107085 Centerline is valid? [True, True] Translation: X:-86.68, Y:-261.94, Z:-8.04 [[-7.01013904e-01 -7.13088006e-01 9.21968624e-03 -8.66846629e+01] [-7.13024658e-01 7.01074524e-01 9.50524368e-03 -2.61943935e+02] [-1.32417624e-02 8.94443496e-05 -9.99912320e-01 -8.03879792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.040385723 meters 0.014810545900248865 Centerline is valid? [True, True] Translation: X:-86.78, Y:-262.00, Z:-8.04 [[-6.44845010e-01 -7.64262944e-01 8.77872933e-03 -8.67775690e+01] [-7.64190117e-01 6.44904755e-01 1.05508864e-02 -2.62003516e+02] [-1.37250958e-02 9.50682791e-05 -9.99905802e-01 -8.03830762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.070385723 meters 0.014714662434489316 Centerline is valid? [True, True] Translation: X:-86.88, Y:-262.08, Z:-8.04 [[-5.85095780e-01 -8.10925975e-01 7.87346221e-03 -8.68751205e+01] [-8.10850247e-01 5.85148745e-01 1.10825601e-02 -2.62081336e+02] [-1.35942824e-02 1.00160367e-04 -9.99907589e-01 -8.03917217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1003857229999 meters 0.014866260369634407 Centerline is valid? [True, True] Translation: X:-86.96, Y:-262.15, Z:-8.04 [[-5.21729809e-01 -8.53083516e-01 6.82067071e-03 -8.69558757e+01] [-8.53008000e-01 5.21774381e-01 1.13511243e-02 -2.62150749e+02] [-1.32423083e-02 1.04133257e-04 -9.99912311e-01 -8.03944366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.130385723 meters 0.01519004470948279 Centerline is valid? [True, True] Translation: X:-87.04, Y:-262.23, Z:-8.04 [[-4.56610708e-01 -8.89647491e-01 5.83116105e-03 -8.70352297e+01] [-8.89571296e-01 4.56647922e-01 1.16441093e-02 -2.62231008e+02] [-1.30219402e-02 1.29591501e-04 -9.99915203e-01 -8.03845375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.160385723 meters 0.0154035958945268 Centerline is valid? [True, True] Translation: X:-87.11, Y:-262.33, Z:-8.04 [[-3.88287656e-01 -9.21524171e-01 5.08911172e-03 -8.71102851e+01] [-9.21439788e-01 3.88320974e-01 1.24714745e-02 -2.62325904e+02] [-1.34689740e-02 1.53209586e-04 -9.99909278e-01 -8.03819826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.190385723 meters 0.01623361198341424 Centerline is valid? [True, True] Translation: X:-87.18, Y:-262.43, Z:-8.04 [[-3.19851291e-01 -9.47458469e-01 4.19537905e-03 -8.71758940e+01] [-9.47368261e-01 3.19878737e-01 1.30756257e-02 -2.62428229e+02] [-1.37306249e-02 2.07686799e-04 -9.99905709e-01 -8.03805229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2203857229999 meters 0.016599025843124084 Centerline is valid? [True, True] Translation: X:-87.24, Y:-262.54, Z:-8.04 [[-2.47981343e-01 -9.68759919e-01 3.07776396e-03 -8.72357680e+01] [-9.68673469e-01 2.48000337e-01 1.29438723e-02 -2.62538895e+02] [-1.33027912e-02 2.28490559e-04 -9.99911488e-01 -8.03817921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.250385723 meters 0.01705743565210962 Centerline is valid? [True, True] Translation: X:-87.29, Y:-262.66, Z:-8.04 [[-1.74203479e-01 -9.84707650e-01 1.99791037e-03 -8.72878405e+01] [-9.84626043e-01 1.74214768e-01 1.26795391e-02 -2.62657394e+02] [-1.28337047e-02 2.41625251e-04 -9.99917616e-01 -8.03860070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.280385723 meters 0.01774188555678904 Centerline is valid? [True, True] Translation: X:-87.33, Y:-262.77, Z:-8.04 [[-1.00109544e-01 -9.94975954e-01 9.64122578e-04 -8.73293135e+01] [-9.94901586e-01 1.00113852e-01 1.21676020e-02 -2.62772382e+02] [-1.22029934e-02 2.58886009e-04 -9.99925507e-01 -8.03994675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.310385723 meters 0.017029957458289245 Centerline is valid? [True, True] Translation: X:-87.37, Y:-262.89, Z:-8.04 [[-2.33470875e-02 -9.99727419e-01 2.18541580e-05 -8.73652537e+01] [-9.99657593e-01 2.33457151e-02 1.18183536e-02 -2.62890515e+02] [-1.18156424e-02 2.54077461e-04 -9.99930161e-01 -8.04101074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3403857229999 meters 0.016975035231532126 Centerline is valid? [True, True] Translation: X:-87.39, Y:-263.02, Z:-8.04 [[ 5.43379800e-02 -9.98522229e-01 -8.61210357e-04 -8.73912729e+01] [-9.98457129e-01 -5.43442735e-02 1.14044512e-02 -2.63020336e+02] [-1.14343999e-02 2.40186781e-04 -9.99934596e-01 -8.04139109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.370385723 meters 0.01706542576406327 Centerline is valid? [True, True] Translation: X:-87.41, Y:-263.14, Z:-8.04 [[ 1.32124539e-01 -9.91231683e-01 -1.69035133e-03 -8.74070089e+01] [-9.91170767e-01 -1.32135163e-01 1.09913181e-02 -2.63143285e+02] [-1.11182976e-02 2.23203987e-04 -9.99938165e-01 -8.04084275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.400385723 meters 0.016375480597375053 Centerline is valid? [True, True] Translation: X:-87.41, Y:-263.27, Z:-8.04 [[ 2.10544653e-01 -9.77580518e-01 -2.69814037e-03 -8.74148439e+01] [-9.77512455e-01 -2.10561838e-01 1.15374326e-02 -2.63272404e+02] [-1.18468948e-02 2.08321064e-04 -9.99929801e-01 -8.04130306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.430385723 meters 0.016479594596829766 Centerline is valid? [True, True] Translation: X:-87.41, Y:-263.40, Z:-8.04 [[ 2.86456518e-01 -9.58086035e-01 -3.71659975e-03 -8.74110274e+01] [-9.58014236e-01 -2.86480558e-01 1.17309000e-02 -2.63401640e+02] [-1.23039450e-02 2.00162710e-04 -9.99924284e-01 -8.04022832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.460385723 meters 0.016214336984120975 Centerline is valid? [True, True] Translation: X:-87.40, Y:-263.53, Z:-8.04 [[ 3.60860628e-01 -9.32606818e-01 -4.91221017e-03 -8.73997254e+01] [-9.32527493e-01 -3.60894010e-01 1.21650814e-02 -2.63528331e+02] [-1.31180250e-02 1.90872136e-04 -9.99913937e-01 -8.03959230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.490385723 meters 0.015948266115030824 Centerline is valid? [True, True] Translation: X:-87.38, Y:-263.65, Z:-8.04 [[ 4.31785256e-01 -9.01957362e-01 -5.86600430e-03 -8.73792218e+01] [-9.01879936e-01 -4.31825060e-01 1.18194296e-02 -2.63648456e+02] [-1.31937092e-02 1.86976165e-04 -9.99912942e-01 -8.03970870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.520385723 meters 0.015757851982467888 Centerline is valid? [True, True] Translation: X:-87.35, Y:-263.77, Z:-8.04 [[ 4.99534460e-01 -8.66269955e-01 -6.45667878e-03 -8.73493163e+01] [-8.66202247e-01 -4.99576153e-01 1.08321239e-02 -2.63766224e+02] [-1.26091462e-02 1.81770517e-04 -9.99920485e-01 -8.04072266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.550385723 meters 0.01606982397947089 Centerline is valid? [True, True] Translation: X:-87.31, Y:-263.88, Z:-8.04 [[ 5.63665928e-01 -8.25978590e-01 -6.33174025e-03 -8.73117437e+01] [-8.25929804e-01 -5.63701464e-01 8.97874287e-03 -2.63878980e+02] [-1.09854606e-02 1.68561561e-04 -9.99939644e-01 -8.04131591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.580385723 meters 0.0160742784470602 Centerline is valid? [True, True] Translation: X:-87.27, Y:-263.99, Z:-8.04 [[ 6.24987768e-01 -7.80605758e-01 -6.70374010e-03 -8.72669308e+01] [-7.80563636e-01 -6.25023699e-01 8.11084984e-03 -2.63987541e+02] [-1.05213725e-02 1.63513813e-04 -9.99944636e-01 -8.04107639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.610385723 meters 0.01630533321573866 Centerline is valid? [True, True] Translation: X:-87.22, Y:-264.09, Z:-8.04 [[ 6.82556224e-01 -7.30796531e-01 -7.30961314e-03 -8.72166038e+01] [-7.30757210e-01 -6.82595343e-01 7.58275838e-03 -2.64090213e+02] [-1.05309614e-02 1.65893576e-04 -9.99944534e-01 -8.04072309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.640385723 meters 0.016439145392303067 Centerline is valid? [True, True] Translation: X:-87.16, Y:-264.19, Z:-8.04 [[ 7.36147498e-01 -6.76773259e-01 -8.05091181e-03 -8.71595930e+01] [-6.76735288e-01 -7.36191502e-01 7.17103586e-03 -2.64186872e+02] [-1.07801782e-02 1.69396007e-04 -9.99941878e-01 -8.04041278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.670385723 meters 0.016154485914383204 Centerline is valid? [True, True] Translation: X:-87.17, Y:-264.20, Z:-8.04 [[ 7.87045302e-01 -6.16830247e-01 -8.95204811e-03 -8.71664411e+01] [-6.16792816e-01 -7.87096193e-01 6.79742028e-03 -2.64198165e+02] [-1.12389774e-02 1.71681264e-04 -9.99936826e-01 -8.04077655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.700385723 meters 0.015946272200918564 Centerline is valid? [True, True] Translation: X:-87.17, Y:-264.21, Z:-8.04 [[ 8.33065215e-01 -5.53088713e-01 -9.75828383e-03 -8.71726332e+01] [-5.53053190e-01 -8.33122347e-01 6.27084959e-03 -2.64210783e+02] [-1.15981805e-02 1.72823344e-04 -9.99932724e-01 -8.04064292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.730385723 meters 0.01568502456190582 Centerline is valid? [True, True] Translation: X:-87.18, Y:-264.22, Z:-8.04 [[ 8.73905214e-01 -4.85995051e-01 -9.92403972e-03 -8.71790607e+01] [-4.85965849e-01 -8.73961546e-01 5.33017002e-03 -2.64224542e+02] [-1.12636653e-02 1.64681011e-04 -9.99936549e-01 -8.04087003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.760385723 meters 0.015723659936206533 Centerline is valid? [True, True] Translation: X:-87.18, Y:-264.24, Z:-8.04 [[ 9.09664208e-01 -4.15212334e-01 -1.04760008e-02 -8.71845858e+01] [-4.15186754e-01 -9.09724515e-01 4.61144441e-03 -2.64238041e+02] [-1.14450033e-02 1.54630841e-04 -9.99934492e-01 -8.04064873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.790385723 meters 0.015614218172978969 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.25, Z:-8.04 [[ 9.39568891e-01 -3.42193225e-01 -1.06816133e-02 -8.71882024e+01] [-3.42172862e-01 -9.39629595e-01 3.73587061e-03 -2.64249703e+02] [-1.13151496e-02 1.44850378e-04 -9.99935971e-01 -8.04073030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.820385723 meters 0.016889762097850387 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.26, Z:-8.04 [[ 9.63392257e-01 -2.67862407e-01 -1.11843837e-02 -8.71897335e+01] [-2.67846160e-01 -9.63457165e-01 2.95405061e-03 -2.64264050e+02] [-1.15669538e-02 1.49784746e-04 -9.99933089e-01 -8.03894275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8503857229999 meters 0.015408212320406376 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.28, Z:-8.04 [[ 9.81687682e-01 -1.90215062e-01 -1.03694537e-02 -8.71910835e+01] [-1.90205745e-01 -9.81742439e-01 1.88646333e-03 -2.64279080e+02] [-1.05389665e-02 1.20411865e-04 -9.99944456e-01 -8.04138100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.880385723 meters 0.015694330572679868 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.29, Z:-8.04 [[ 9.93606708e-01 -1.12497398e-01 -9.48925906e-03 -8.71944468e+01] [-1.12493292e-01 -9.93652014e-01 9.67035129e-04 -2.64290139e+02] [-9.53781031e-03 1.06625400e-04 -9.99954508e-01 -8.04114915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.910385723 meters 0.015496925204427048 Centerline is valid? [True, True] Translation: X:-87.20, Y:-264.30, Z:-8.04 [[ 9.99379514e-01 -3.43146422e-02 -7.94312963e-03 -8.71965470e+01] [-3.43142634e-02 -9.99411075e-01 1.84010737e-04 -2.64300825e+02] [-7.94476599e-03 8.86660809e-05 -9.99968436e-01 -8.04288768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.940385723 meters 0.015496925204427048 Centerline is valid? [True, True] Translation: X:-87.20, Y:-264.31, Z:-8.04 [[ 9.98998474e-01 4.40353750e-02 -7.93314119e-03 -8.71977958e+01] [ 4.40332817e-02 -9.99029969e-01 -4.38428495e-04 -2.64309876e+02] [-7.94475216e-03 8.86671570e-05 -9.99968436e-01 -8.04288781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9703857229999 meters 0.01553886776958263 Centerline is valid? [True, True] Translation: X:-87.20, Y:-264.32, Z:-8.04 [[ 9.92489552e-01 1.22105120e-01 -7.40461895e-03 -8.71994380e+01] [ 1.22101095e-01 -9.92517170e-01 -9.94910710e-04 -2.64318771e+02] [-7.47069513e-03 8.33264002e-05 -9.99972091e-01 -8.04347160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.000385723 meters 0.015388766924385353 Centerline is valid? [True, True] Translation: X:-87.20, Y:-264.33, Z:-8.04 [[ 9.79817423e-01 1.99785407e-01 -6.60371731e-03 -8.71977208e+01] [ 1.99780366e-01 -9.79839674e-01 -1.42104322e-03 -2.64331782e+02] [-6.75448792e-03 7.30698448e-05 -9.99977186e-01 -8.04385619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.030385723 meters 0.015354868925912413 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.35, Z:-8.04 [[ 9.61148425e-01 2.75967420e-01 -5.97403077e-03 -8.71943777e+01] [ 2.75961656e-01 -9.61166988e-01 -1.78489771e-03 -2.64346506e+02] [-6.23461478e-03 6.69481930e-05 -9.99980562e-01 -8.04406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.060385723 meters 0.015365660912751863 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.36, Z:-8.04 [[ 9.36617487e-01 3.50311502e-01 -5.43462971e-03 -8.71912832e+01] [ 3.50305215e-01 -9.36633252e-01 -2.09970844e-03 -2.64358224e+02] [-5.82580691e-03 6.28445105e-05 -9.99983028e-01 -8.04433154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0903857229999 meters 0.015583296223005378 Centerline is valid? [True, True] Translation: X:-87.19, Y:-264.37, Z:-8.04 [[ 9.06698143e-01 4.21760658e-01 -4.05274772e-03 -8.71888319e+01] [ 4.21756186e-01 -9.06707199e-01 -1.94298087e-03 -2.64369160e+02] [-4.49412843e-03 5.24257293e-05 -9.99989900e-01 -8.04499355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.120385723 meters 0.016443491773217724 Centerline is valid? [True, True] Translation: X:-87.18, Y:-264.38, Z:-8.04 [[ 8.71324009e-01 4.90692673e-01 -3.89512842e-03 -8.71838405e+01] [ 4.90687480e-01 -8.71332714e-01 -2.25813949e-03 -2.64380112e+02] [-4.50200532e-03 5.62804023e-05 -9.99989864e-01 -8.04390151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.150385723 meters 0.015873560215408818 Centerline is valid? [True, True] Translation: X:-87.18, Y:-264.39, Z:-8.04 [[ 8.30513266e-01 5.56987663e-01 -3.52963401e-03 -8.71791456e+01] [ 5.56982347e-01 -8.30520764e-01 -2.43414018e-03 -2.64390594e+02] [-4.28722038e-03 5.56418711e-05 -9.99990808e-01 -8.04469251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.180385723 meters 0.016014653047440885 Centerline is valid? [True, True] Translation: X:-87.17, Y:-264.40, Z:-8.04 [[ 7.84792589e-01 6.19745865e-01 -3.95668557e-03 -8.71722529e+01] [ 6.19737538e-01 -7.84802560e-01 -3.21342282e-03 -2.64401088e+02] [-5.09672247e-03 6.97638402e-05 -9.99987009e-01 -8.04337707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.210385723 meters 0.01623725513617422 Centerline is valid? [True, True] Translation: X:-87.17, Y:-264.41, Z:-8.04 [[ 7.34122715e-01 6.79004456e-01 -4.09725212e-03 -8.71661304e+01] [ 6.78993272e-01 -7.34134145e-01 -3.89793644e-03 -2.64408565e+02] [-5.65464889e-03 7.95570570e-05 -9.99984009e-01 -8.04231442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.240385723 meters 0.016397643730489256 Centerline is valid? [True, True] Translation: X:-87.16, Y:-264.42, Z:-8.04 [[ 6.79926687e-01 7.33263944e-01 -4.86706922e-03 -8.71585071e+01] [ 7.33243939e-01 -6.79944097e-01 -5.41761998e-03 -2.64416452e+02] [-7.28188038e-03 1.14835402e-04 -9.99973480e-01 -8.04147608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.270385723 meters 0.016742955482277975 Centerline is valid? [True, True] Translation: X:-87.15, Y:-264.42, Z:-8.04 [[ 6.21409964e-01 7.83471051e-01 -4.77162867e-03 -8.71512923e+01] [ 7.83446284e-01 -6.21428270e-01 -6.23107756e-03 -2.64423400e+02] [-7.84709383e-03 1.33738932e-04 -9.99969202e-01 -8.04082544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.300385723 meters 0.019026602875778027 Centerline is valid? [True, True] Translation: X:-87.14, Y:-264.43, Z:-8.04 [[ 5.59606863e-01 8.28743522e-01 -4.93287631e-03 -8.71410712e+01] [ 8.28708603e-01 -5.59628578e-01 -7.60960720e-03 -2.64431802e+02] [-9.06699123e-03 1.70471377e-04 -9.99958880e-01 -8.03808564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.330385723 meters 0.016756402251957705 Centerline is valid? [True, True] Translation: X:-87.13, Y:-264.44, Z:-8.04 [[ 4.93665246e-01 8.69643102e-01 -3.93700296e-03 -8.71257946e+01] [ 8.69612791e-01 -4.93680919e-01 -7.26253175e-03 -2.64441271e+02] [-8.25943387e-03 1.61591388e-04 -9.99965877e-01 -8.04108168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.360385723 meters 0.01777359468349129 Centerline is valid? [True, True] Translation: X:-87.11, Y:-264.45, Z:-8.04 [[ 4.24435809e-01 9.05451970e-01 -3.31274092e-03 -8.71148632e+01] [ 9.05421331e-01 -4.24448706e-01 -7.45044468e-03 -2.64448191e+02] [-8.15210840e-03 1.62809221e-04 -9.99966758e-01 -8.03975647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.390385723 meters 0.017221787832830925 Centerline is valid? [True, True] Translation: X:-87.10, Y:-264.45, Z:-8.04 [[ 3.52576453e-01 9.35778407e-01 -2.93558169e-03 -8.70985749e+01] [ 9.35741615e-01 -3.52588628e-01 -8.29992674e-03 -2.64454892e+02] [-8.80194494e-03 1.79412779e-04 -9.99961246e-01 -8.03977371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.420385723 meters 0.019591817060482724 Centerline is valid? [True, True] Translation: X:-87.09, Y:-264.46, Z:-8.04 [[ 2.78995205e-01 9.60289088e-01 -2.55779875e-03 -8.70858266e+01] [ 9.60241561e-01 -2.79006851e-01 -9.55628859e-03 -2.64459040e+02] [-9.89044303e-03 2.10054032e-04 -9.99951066e-01 -8.03684338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.450385723 meters 0.017582561089696504 Centerline is valid? [True, True] Translation: X:-87.07, Y:-264.46, Z:-8.04 [[ 2.02980518e-01 9.79181545e-01 -1.55289581e-03 -8.70718685e+01] [ 9.79145659e-01 -2.02986377e-01 -8.38506223e-03 -2.64463470e+02] [-8.52571488e-03 1.81493081e-04 -9.99963639e-01 -8.03946674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.480385723 meters 0.017718271270827955 Centerline is valid? [True, True] Translation: X:-87.06, Y:-264.47, Z:-8.04 [[ 1.25962473e-01 9.92034648e-01 -8.44734787e-04 -8.70600454e+01] [ 9.92002101e-01 -1.25965185e-01 -8.03759913e-03 -2.64465089e+02] [-8.07998400e-03 1.74457182e-04 -9.99967341e-01 -8.04033987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.510385723 meters 0.017696509652132653 Centerline is valid? [True, True] Translation: X:-87.05, Y:-264.47, Z:-8.04 [[ 4.83245320e-02 9.98831670e-01 -1.86326602e-04 -8.70474616e+01] [ 9.98806636e-01 -4.83246403e-02 -7.07342291e-03 -2.64466482e+02] [-7.07416299e-03 1.55715605e-04 -9.99974966e-01 -8.04107100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.540385723 meters 0.02084833864656605 Centerline is valid? [True, True] Translation: X:-87.03, Y:-264.47, Z:-8.04 [[-2.92505748e-02 9.99572039e-01 3.77331497e-04 -8.70346954e+01] [ 9.99545850e-01 2.92525405e-02 -7.23756075e-03 -2.64467569e+02] [-7.24550126e-03 1.65457321e-04 -9.99973737e-01 -8.03890409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.570385723 meters 0.018170947673430825 Centerline is valid? [True, True] Translation: X:-87.02, Y:-264.47, Z:-8.04 [[-1.07855341e-01 9.94166385e-01 6.51591319e-04 -8.70232585e+01] [ 9.94153987e-01 1.07857251e-01 -4.96630028e-03 -2.64466807e+02] [-5.00760764e-03 1.12140095e-04 -9.99987456e-01 -8.04228892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6003857229999 meters 0.017678063227145685 Centerline is valid? [True, True] Translation: X:-87.01, Y:-264.46, Z:-8.04 [[-1.85866996e-01 9.82574568e-01 8.23784771e-04 -8.70085439e+01] [ 9.82566882e-01 1.85868801e-01 -3.88726195e-03 -2.64463838e+02] [-3.97264062e-03 8.69099351e-05 -9.99992105e-01 -8.04353910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.630385723 meters 0.017163733895214115 Centerline is valid? [True, True] Translation: X:-86.99, Y:-264.46, Z:-8.04 [[-2.62279719e-01 9.64991372e-01 1.00024570e-03 -8.69930417e+01] [ 9.64985435e-01 2.62281615e-01 -3.38594709e-03 -2.64458879e+02] [-3.52975579e-03 7.71572849e-05 -9.99993768e-01 -8.04391212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.660385723 meters 0.017401432527375846 Centerline is valid? [True, True] Translation: X:-86.98, Y:-264.45, Z:-8.04 [[-3.37780998e-01 9.41223265e-01 1.66240423e-03 -8.69787709e+01] [ 9.41213254e-01 3.37785074e-01 -4.34210610e-03 -2.64454009e+02] [-4.64842662e-03 9.79959661e-05 -9.99989191e-01 -8.04263553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.690385723 meters 0.017267437828812328 Centerline is valid? [True, True] Translation: X:-86.97, Y:-264.45, Z:-8.04 [[-4.10728952e-01 9.11754335e-01 2.39996949e-03 -8.69661084e+01] [ 9.11740384e-01 4.10735947e-01 -5.04514225e-03 -2.64447582e+02] [-5.58568407e-03 1.15963114e-04 -9.99984393e-01 -8.04182256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7203857229999 meters 0.0173701085772122 Centerline is valid? [True, True] Translation: X:-86.95, Y:-264.44, Z:-8.04 [[-4.81479789e-01 8.76449119e-01 3.76220955e-03 -8.69529264e+01] [ 8.76424778e-01 4.81494464e-01 -6.53376814e-03 -2.64440687e+02] [-7.53799840e-03 1.51416358e-04 -9.99971578e-01 -8.03972275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.750385723 meters 0.016981378912150274 Centerline is valid? [True, True] Translation: X:-86.94, Y:-264.43, Z:-8.04 [[-5.49022556e-01 8.35796081e-01 4.37540201e-03 -8.69412047e+01] [ 8.35771712e-01 5.49039970e-01 -6.38410674e-03 -2.64430793e+02] [-7.73808198e-03 1.51818624e-04 -9.99970049e-01 -8.03996331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.780385723 meters 0.017287801103683813 Centerline is valid? [True, True] Translation: X:-86.93, Y:-264.42, Z:-8.04 [[-6.13350233e-01 7.89795250e-01 4.99551681e-03 -8.69318358e+01] [ 7.89771026e-01 6.13370558e-01 -6.18759027e-03 -2.64421987e+02] [-7.95103234e-03 1.50154502e-04 -9.99968379e-01 -8.03954720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.810385723 meters 0.016868411133814164 Centerline is valid? [True, True] Translation: X:-86.92, Y:-264.41, Z:-8.04 [[-6.74787381e-01 7.37994730e-01 5.07622797e-03 -8.69223765e+01] [ 7.37975226e-01 6.74806463e-01 -5.36684076e-03 -2.64411549e+02] [-7.38617164e-03 1.24654064e-04 -9.99972714e-01 -8.04087840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8403857229999 meters 0.01757661602517234 Centerline is valid? [True, True] Translation: X:-86.92, Y:-264.40, Z:-8.04 [[-7.31286984e-01 6.82050196e-01 5.18440072e-03 -8.69165712e+01] [ 6.82034112e-01 7.31305352e-01 -4.68524594e-03 -2.64403169e+02] [-6.98695290e-03 1.09678770e-04 -9.99975585e-01 -8.04041767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.870385723 meters 0.01784099389987429 Centerline is valid? [True, True] Translation: X:-86.90, Y:-264.37, Z:-8.04 [[-7.78991796e-01 6.27010210e-01 5.47528373e-03 -8.68987998e+01] [ 6.26995576e-01 7.79011032e-01 -4.28484043e-03 -2.64371434e+02] [-6.95194513e-03 9.51231390e-05 -9.99975831e-01 -8.04019185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.900385723 meters 0.017826921931931056 Centerline is valid? [True, True] Translation: X:-86.54, Y:-263.91, Z:-9.03 [[-7.53094814e-01 -6.57889783e-01 5.40689064e-03 -8.65355022e+01] [ 6.57872052e-01 -7.53114219e-01 -4.83073396e-03 -2.63911276e+02] [ 7.25009674e-03 -8.09584538e-05 9.99973715e-01 -9.03018091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.930385723 meters 0.016552704844490333 Centerline is valid? [True, True] Translation: X:-86.56, Y:-263.94, Z:-9.03 [[-7.07217171e-01 -7.06980448e-01 4.74547977e-03 -8.65569818e+01] [ 7.06963655e-01 -7.07233086e-01 -4.87369472e-03 -2.63938331e+02] [ 6.80176718e-03 -9.18788736e-05 9.99976864e-01 -9.02833063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.960385723 meters 0.019715122295798287 Centerline is valid? [True, True] Translation: X:-86.58, Y:-263.92, Z:-9.03 [[-7.08358160e-01 -7.05831389e-01 5.54677529e-03 -8.65753631e+01] [ 7.05808441e-01 -7.08379867e-01 -5.69289543e-03 -2.63918959e+02] [ 7.94744823e-03 -1.17648111e-04 9.99968412e-01 -9.03130814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.990385723 meters 0.016898380713052538 Centerline is valid? [True, True] Translation: X:-86.60, Y:-263.90, Z:-9.03 [[-7.08845805e-01 -7.05347584e-01 4.73400729e-03 -8.65955239e+01] [ 7.05330877e-01 -7.08861605e-01 -4.85576666e-03 -2.63900121e+02] [ 6.78075928e-03 -1.02948311e-04 9.99977005e-01 -9.02816538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.020385723 meters 0.017002543656631553 Centerline is valid? [True, True] Translation: X:-86.62, Y:-263.88, Z:-9.03 [[-7.10281922e-01 -7.03900709e-01 4.83568693e-03 -8.66166154e+01] [ 7.03883261e-01 -7.10298373e-01 -4.95747799e-03 -2.63881005e+02] [ 6.92435283e-03 -1.17447905e-04 9.99976020e-01 -9.02823472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.050385723 meters 0.017047930628064836 Centerline is valid? [True, True] Translation: X:-86.64, Y:-263.86, Z:-9.03 [[-7.10948359e-01 -7.03226279e-01 5.02306746e-03 -8.66364885e+01] [ 7.03207456e-01 -7.10966092e-01 -5.14672581e-03 -2.63861745e+02] [ 7.19054348e-03 -1.26797779e-04 9.99974140e-01 -9.02870930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.080385723 meters 0.017022694560262387 Centerline is valid? [True, True] Translation: X:-86.66, Y:-263.84, Z:-9.03 [[-7.11363074e-01 -7.02801167e-01 5.75296238e-03 -8.66565396e+01] [ 7.02776490e-01 -7.11386321e-01 -5.89130693e-03 -2.63842094e+02] [ 8.23299613e-03 -1.47811492e-04 9.99966097e-01 -9.02854921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.110385723 meters 0.017272081449549566 Centerline is valid? [True, True] Translation: X:-86.68, Y:-263.82, Z:-9.03 [[-7.11377442e-01 -7.02784109e-01 6.05241335e-03 -8.66752275e+01] [ 7.02756826e-01 -7.11403172e-01 -6.19431762e-03 -2.63822487e+02] [ 8.65897405e-03 -1.53123024e-04 9.99962499e-01 -9.02918520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.140385723 meters 0.018548295271224858 Centerline is valid? [True, True] Translation: X:-86.70, Y:-263.80, Z:-9.03 [[-7.10978743e-01 -7.03173547e-01 7.49603659e-03 -8.66950788e+01] [ 7.03131764e-01 -7.11018235e-01 -7.66760720e-03 -2.63803177e+02] [ 1.07214773e-02 -1.80804302e-04 9.99942507e-01 -9.03168947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.170385723 meters 0.01840942358835902 Centerline is valid? [True, True] Translation: X:-86.71, Y:-263.78, Z:-9.03 [[-7.10578985e-01 -7.03573886e-01 7.82901646e-03 -8.67148944e+01] [ 7.03528382e-01 -7.10622090e-01 -8.00382101e-03 -2.63783361e+02] [ 1.11947515e-02 -1.79411724e-04 9.99937321e-01 -9.03190158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.200385723 meters 0.016885013192798906 Centerline is valid? [True, True] Translation: X:-86.73, Y:-263.76, Z:-9.03 [[-7.09960651e-01 -7.04195880e-01 8.00227894e-03 -8.67345503e+01] [ 7.04148430e-01 -7.10005728e-01 -8.17648653e-03 -2.63763175e+02] [ 1.14395120e-02 -1.70191555e-04 9.99934552e-01 -9.03040462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.230385723 meters 0.016746816714349307 Centerline is valid? [True, True] Translation: X:-86.75, Y:-263.74, Z:-9.03 [[-7.08440554e-01 -7.05719476e-01 8.48541055e-03 -8.67530478e+01] [ 7.05666291e-01 -7.08491354e-01 -8.66532757e-03 -2.63743897e+02] [ 1.21271304e-02 -1.51001277e-04 9.99926452e-01 -9.03024340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.260385723 meters 0.016211101547360707 Centerline is valid? [True, True] Translation: X:-86.77, Y:-263.73, Z:-9.03 [[-7.07838491e-01 -7.06324761e-01 8.36672689e-03 -8.67740208e+01] [ 7.06273154e-01 -7.07887924e-01 -8.53924382e-03 -2.63725489e+02] [ 1.19541843e-02 -1.35210869e-04 9.99928537e-01 -9.02866334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.290385723 meters 0.016067112009958674 Centerline is valid? [True, True] Translation: X:-86.79, Y:-263.71, Z:-9.03 [[-7.06580722e-01 -7.07582229e-01 8.43053765e-03 -8.67927476e+01] [ 7.07529981e-01 -7.06631005e-01 -8.59931418e-03 -2.63705835e+02] [ 1.20420012e-02 -1.11251472e-04 9.99927486e-01 -9.02850691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.320385723 meters 0.01721759052130265 Centerline is valid? [True, True] Translation: X:-86.81, Y:-263.69, Z:-9.03 [[-7.06857390e-01 -7.07305258e-01 8.47959862e-03 -8.68100663e+01] [ 7.07252443e-01 -7.06908240e-01 -8.64420694e-03 -2.63685298e+02] [ 1.21083912e-02 -1.13004719e-04 9.99926684e-01 -9.03058367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3503857229999 meters 0.016430054230965295 Centerline is valid? [True, True] Translation: X:-86.83, Y:-263.66, Z:-9.03 [[-7.06730632e-01 -7.07434225e-01 8.28447610e-03 -8.68289643e+01] [ 7.07383877e-01 -7.06779178e-01 -8.44056496e-03 -2.63664041e+02] [ 1.18264397e-02 -1.04900979e-04 9.99930060e-01 -9.02813809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.380385723 meters 0.01601534844238915 Centerline is valid? [True, True] Translation: X:-86.85, Y:-263.64, Z:-9.03 [[-7.06969812e-01 -7.07199964e-01 7.86743569e-03 -8.68477833e+01] [ 7.07154594e-01 -7.07013579e-01 -8.01119977e-03 -2.63643046e+02] [ 1.12279041e-02 -1.00183104e-04 9.99936960e-01 -9.02669636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.410385723 meters 0.016078603140568568 Centerline is valid? [True, True] Translation: X:-86.87, Y:-263.62, Z:-9.03 [[-7.07418078e-01 -7.06757177e-01 7.34548853e-03 -8.68656003e+01] [ 7.06717649e-01 -7.07456206e-01 -7.47531971e-03 -2.63622485e+02] [ 1.04798473e-02 -9.69899079e-05 9.99945080e-01 -9.02667976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.440385723 meters 0.01625327461345904 Centerline is valid? [True, True] Translation: X:-86.88, Y:-263.60, Z:-9.03 [[-7.08395825e-01 -7.05770889e-01 7.92511656e-03 -8.68827127e+01] [ 7.05724865e-01 -7.08440145e-01 -8.06076308e-03 -2.63600053e+02] [ 1.13035227e-02 -1.17259100e-04 9.99936106e-01 -9.02623160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4703857229999 meters 0.016386576233783232 Centerline is valid? [True, True] Translation: X:-86.90, Y:-263.58, Z:-9.03 [[-7.08712805e-01 -7.05448067e-01 8.31773838e-03 -8.69012413e+01] [ 7.05397402e-01 -7.08761603e-01 -8.45549687e-03 -2.63578464e+02] [ 1.18602075e-02 -1.25207864e-04 9.99929658e-01 -9.02662681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.500385723 meters 0.016501854301119227 Centerline is valid? [True, True] Translation: X:-86.92, Y:-263.56, Z:-9.03 [[-7.09504303e-01 -7.04646796e-01 8.74851851e-03 -8.69179019e+01] [ 7.04590750e-01 -7.09558224e-01 -8.88830332e-03 -2.63556404e+02] [ 1.24706977e-02 -1.42164234e-04 9.99922228e-01 -9.02710060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.530385723 meters 0.016557664985599407 Centerline is valid? [True, True] Translation: X:-86.94, Y:-263.54, Z:-9.03 [[-7.09952878e-01 -7.04194782e-01 8.75333074e-03 -8.69359372e+01] [ 7.04138707e-01 -7.10006822e-01 -8.88781717e-03 -2.63535576e+02] [ 1.24736790e-02 -1.46372389e-04 9.99922190e-01 -9.02673952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.560385723 meters 0.01677768814824562 Centerline is valid? [True, True] Translation: X:-86.95, Y:-263.52, Z:-9.03 [[-7.10536149e-01 -7.03611295e-01 8.33826150e-03 -8.69527934e+01] [ 7.03560419e-01 -7.10585058e-01 -8.46241559e-03 -2.63515771e+02] [ 1.18792952e-02 -1.46381431e-04 9.99929428e-01 -9.02625064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5903857229999 meters 0.016946628812585324 Centerline is valid? [True, True] Translation: X:-86.97, Y:-263.49, Z:-9.03 [[-7.11779550e-01 -7.02353590e-01 8.32500913e-03 -8.69701077e+01] [ 7.02302844e-01 -7.11828215e-01 -8.44444589e-03 -2.63493658e+02] [ 1.18569633e-02 -1.63906314e-04 9.99929690e-01 -9.02567379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.620385723 meters 0.016877097984503785 Centerline is valid? [True, True] Translation: X:-86.99, Y:-263.47, Z:-9.03 [[-7.12715492e-01 -7.01393675e-01 9.14002860e-03 -8.69874801e+01] [ 7.01332493e-01 -7.12774070e-01 -9.26608513e-03 -2.63471735e+02] [ 1.30139489e-02 -1.93883382e-04 9.99915296e-01 -9.02595368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.650385723 meters 0.017598042042569106 Centerline is valid? [True, True] Translation: X:-87.00, Y:-263.45, Z:-9.03 [[-7.13042793e-01 -7.01054877e-01 9.59347463e-03 -8.70036571e+01] [ 7.00987528e-01 -7.13107297e-01 -9.71950736e-03 -2.63451137e+02] [ 1.36550848e-02 -2.05518602e-04 9.99906744e-01 -9.02725574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.680385723 meters 0.01763680991841864 Centerline is valid? [True, True] Translation: X:-87.02, Y:-263.43, Z:-9.03 [[-7.13501019e-01 -7.00588465e-01 9.59679524e-03 -8.70237471e+01] [ 7.00521101e-01 -7.13565525e-01 -9.71745965e-03 -2.63431030e+02] [ 1.36558824e-02 -2.10659804e-04 9.99906732e-01 -9.02684809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.710385723 meters 0.016819672912652045 Centerline is valid? [True, True] Translation: X:-87.04, Y:-263.41, Z:-9.03 [[-7.13434567e-01 -7.00656003e-01 9.60649630e-03 -8.70406142e+01] [ 7.00588587e-01 -7.13499210e-01 -9.72157501e-03 -2.63409293e+02] [ 1.36657074e-02 -2.05505990e-04 9.99906599e-01 -9.02560972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.740385723 meters 0.016914381842317222 Centerline is valid? [True, True] Translation: X:-87.06, Y:-263.39, Z:-9.03 [[-7.13593195e-01 -7.00496455e-01 9.45880430e-03 -8.70585956e+01] [ 7.00431134e-01 -7.13655852e-01 -9.56826933e-03 -2.63389269e+02] [ 1.34528698e-02 -2.02610862e-04 9.99909486e-01 -9.02551696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.770385723 meters 0.016718594007489575 Centerline is valid? [True, True] Translation: X:-87.08, Y:-263.37, Z:-9.02 [[-7.13190817e-01 -7.00913045e-01 8.93091055e-03 -8.70771750e+01] [ 7.00854907e-01 -7.13246711e-01 -9.02930823e-03 -2.63368373e+02] [ 1.26987025e-02 -1.80347224e-04 9.99919352e-01 -9.02487862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.800385723 meters 0.016419584918129948 Centerline is valid? [True, True] Translation: X:-87.10, Y:-263.35, Z:-9.02 [[-7.12969055e-01 -7.01139420e-01 8.86793267e-03 -8.70965633e+01] [ 7.01082180e-01 -7.13024182e-01 -8.96060576e-03 -2.63347737e+02] [ 1.26056844e-02 -1.71485047e-04 9.99920531e-01 -9.02384796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.830385723 meters 0.016419584918129948 Centerline is valid? [True, True] Translation: X:-87.12, Y:-263.33, Z:-9.02 [[-7.13165812e-01 -7.00939256e-01 8.87044746e-03 -8.71160025e+01] [ 7.00882031e-01 -7.13220955e-01 -8.95811629e-03 -2.63328169e+02] [ 1.26056844e-02 -1.71485047e-04 9.99920531e-01 -9.02384810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.860385723 meters 0.016476796937910036 Centerline is valid? [True, True] Translation: X:-87.13, Y:-263.31, Z:-9.02 [[-7.12732243e-01 -7.01379209e-01 8.94173187e-03 -8.71333726e+01] [ 7.01321143e-01 -7.12788313e-01 -9.02640760e-03 -2.63307825e+02] [ 1.27044966e-02 -1.62386127e-04 9.99919282e-01 -9.02390847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.890385723 meters 0.01617599456292311 Centerline is valid? [True, True] Translation: X:-87.15, Y:-263.29, Z:-9.02 [[-7.11552427e-01 -7.02577550e-01 8.82779064e-03 -8.71521232e+01] [ 7.02521109e-01 -7.11607172e-01 -8.90642775e-03 -2.63286740e+02] [ 1.25393753e-02 -1.35681015e-04 9.99921370e-01 -9.02281834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.920385723 meters 0.015966457017714892 Centerline is valid? [True, True] Translation: X:-87.17, Y:-263.27, Z:-9.02 [[-7.10620182e-01 -7.03516848e-01 9.11049196e-03 -8.71705936e+01] [ 7.03456876e-01 -7.10678570e-01 -9.18657712e-03 -2.63265111e+02] [ 1.29375432e-02 -1.19328889e-04 9.99916299e-01 -9.02240242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.950385723 meters 0.015943920966123095 Centerline is valid? [True, True] Translation: X:-87.19, Y:-263.24, Z:-9.02 [[-7.10693578e-01 -7.03444721e-01 8.95334735e-03 -8.71891423e+01] [ 7.03386857e-01 -7.10749964e-01 -9.02316074e-03 -2.63243996e+02] [ 1.27108861e-02 -1.15035534e-04 9.99919207e-01 -9.02229578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.980385723 meters 0.016022906345589935 Centerline is valid? [True, True] Translation: X:-87.21, Y:-263.22, Z:-9.02 [[-7.11384142e-01 -7.02748646e-01 8.77175313e-03 -8.72073410e+01] [ 7.02693113e-01 -7.11438209e-01 -8.83531576e-03 -2.63223031e+02] [ 1.24495665e-02 -1.21453000e-04 9.99922494e-01 -9.02173061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.010385723 meters 0.016406875510352546 Centerline is valid? [True, True] Translation: X:-87.22, Y:-263.20, Z:-9.02 [[-7.12946992e-01 -7.01160616e-01 8.96534577e-03 -8.72232476e+01] [ 7.01102545e-01 -7.13003344e-01 -9.02510337e-03 -2.63201208e+02] [ 1.27203686e-02 -1.48793564e-04 9.99919082e-01 -9.02128025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.040385723 meters 0.017345249263318353 Centerline is valid? [True, True] Translation: X:-87.24, Y:-263.18, Z:-9.02 [[-7.14092432e-01 -6.99993455e-01 9.00900441e-03 -8.72404215e+01] [ 6.99934779e-01 -7.14149239e-01 -9.06474522e-03 -2.63180619e+02] [ 1.27790360e-02 -1.67350446e-04 9.99918331e-01 -9.02220912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.070385723 meters 0.01650401686940308 Centerline is valid? [True, True] Translation: X:-87.26, Y:-263.16, Z:-9.02 [[-7.15509408e-01 -6.98553997e-01 8.28252516e-03 -8.72575764e+01] [ 6.98504360e-01 -7.15557323e-01 -8.32918897e-03 -2.63157592e+02] [ 1.17450098e-02 -1.74233132e-04 9.99931010e-01 -9.01891400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1003857229999 meters 0.016760619323275296 Centerline is valid? [True, True] Translation: X:-87.28, Y:-263.14, Z:-9.02 [[-7.16141329e-01 -6.97907091e-01 8.20298917e-03 -8.72750616e+01] [ 6.97858417e-01 -7.16188285e-01 -8.24442387e-03 -2.63136879e+02] [ 1.16287266e-02 -1.79647628e-04 9.99932368e-01 -9.01841558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.130385723 meters 0.016778644273211088 Centerline is valid? [True, True] Translation: X:-87.29, Y:-263.12, Z:-9.02 [[-7.16547428e-01 -6.97491547e-01 8.08241159e-03 -8.72938523e+01] [ 6.97444323e-01 -7.16592988e-01 -8.11825630e-03 -2.63116869e+02] [ 1.14542146e-02 -1.80083594e-04 9.99934382e-01 -9.01782553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.160385723 meters 0.016792963966310304 Centerline is valid? [True, True] Translation: X:-87.31, Y:-263.10, Z:-9.02 [[-7.16620904e-01 -6.97416180e-01 8.07163213e-03 -8.73123694e+01] [ 6.97369134e-01 -7.16666338e-01 -8.10249774e-03 -2.63096369e+02] [ 1.14354801e-02 -1.77512147e-04 9.99934597e-01 -9.01755520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.190385723 meters 0.01668805379366094 Centerline is valid? [True, True] Translation: X:-87.33, Y:-263.08, Z:-9.02 [[-7.16537054e-01 -6.97503945e-01 7.93072552e-03 -8.73313605e+01] [ 6.97458587e-01 -7.16580922e-01 -7.95622125e-03 -2.63076213e+02] [ 1.12325023e-02 -1.69574722e-04 9.99936899e-01 -9.01730342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2203857229999 meters 0.016446231519939222 Centerline is valid? [True, True] Translation: X:-87.35, Y:-263.06, Z:-9.02 [[-7.16034548e-01 -6.98024253e-01 7.52788181e-03 -8.73491775e+01] [ 6.97983464e-01 -7.16074102e-01 -7.54748410e-03 -2.63056005e+02] [ 1.06588482e-02 -1.49922336e-04 9.99943182e-01 -9.01590219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.250385723 meters 0.016416280228310865 Centerline is valid? [True, True] Translation: X:-87.37, Y:-263.04, Z:-9.02 [[-7.16212706e-01 -6.97843781e-01 7.30866271e-03 -8.73681683e+01] [ 6.97805370e-01 -7.16249981e-01 -7.32321393e-03 -2.63036221e+02] [ 1.03452888e-02 -1.44954782e-04 9.99946476e-01 -9.01541356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.280385723 meters 0.016427661563245346 Centerline is valid? [True, True] Translation: X:-87.39, Y:-263.02, Z:-9.01 [[-7.16422371e-01 -6.97630219e-01 7.14585093e-03 -8.73873717e+01] [ 6.97593530e-01 -7.16457994e-01 -7.15614087e-03 -2.63015378e+02] [ 1.01120421e-02 -1.41920040e-04 9.99948862e-01 -9.01474493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.310385723 meters 0.01879535300536599 Centerline is valid? [True, True] Translation: X:-87.41, Y:-262.99, Z:-9.02 [[-7.16980379e-01 -6.97050224e-01 7.75372749e-03 -8.74050444e+01] [ 6.97007042e-01 -7.17022286e-01 -7.76039046e-03 -2.62994402e+02] [ 1.09689773e-02 -1.59645035e-04 9.99939826e-01 -9.01806977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3403857229999 meters 0.01649411446850382 Centerline is valid? [True, True] Translation: X:-87.42, Y:-262.97, Z:-9.01 [[-7.17485435e-01 -6.96528754e-01 7.89593820e-03 -8.74238787e+01] [ 6.96483991e-01 -7.17528862e-01 -7.89834440e-03 -2.62973679e+02] [ 1.11669875e-02 -1.67552514e-04 9.99937633e-01 -9.01487587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.370385723 meters 0.016665245550315642 Centerline is valid? [True, True] Translation: X:-87.44, Y:-262.95, Z:-9.01 [[-7.17824698e-01 -6.96174960e-01 8.25393597e-03 -8.74419280e+01] [ 6.96126079e-01 -7.17872129e-01 -8.25163246e-03 -2.62953378e+02] [ 1.16698505e-02 -1.77445502e-04 9.99931889e-01 -9.01484038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.400385723 meters 0.01672469438248632 Centerline is valid? [True, True] Translation: X:-87.95, Y:-263.46, Z:-8.06 [[-7.45126086e-01 6.66865941e-01 8.77114521e-03 -8.79454122e+01] [ 6.66822586e-01 7.45177686e-01 -7.60624869e-03 -2.63458721e+02] [-1.16084099e-02 1.81183415e-04 -9.99932604e-01 -8.05510021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.430385723 meters 0.01689410570362381 Centerline is valid? [True, True] Translation: X:-87.47, Y:-262.92, Z:-9.01 [[-7.20931912e-01 -6.92967248e-01 7.31931570e-03 -8.74729850e+01] [ 6.92928196e-01 -7.20969028e-01 -7.36044896e-03 -2.62923863e+02] [ 1.03775500e-02 -2.34622310e-04 9.99946124e-01 -9.01447907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.460385723 meters 0.01707859486183791 Centerline is valid? [True, True] Translation: X:-87.98, Y:-263.43, Z:-8.06 [[-7.47000069e-01 6.64782740e-01 7.40304814e-03 -8.79800890e+01] [ 6.64752202e-01 7.47036735e-01 -6.37390997e-03 -2.63434098e+02] [-9.76761424e-03 1.59881373e-04 -9.99952283e-01 -8.05626300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.490385723 meters 0.01714631800197908 Centerline is valid? [True, True] Translation: X:-87.97, Y:-263.41, Z:-8.06 [[-7.92296377e-01 6.10081135e-01 8.21341512e-03 -8.79650204e+01] [ 6.10050508e-01 7.92338931e-01 -6.11517414e-03 -2.63411706e+02] [-1.02385609e-02 1.65567756e-04 -9.99947571e-01 -8.05723557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.520385723 meters 0.016982578348010043 Centerline is valid? [True, True] Translation: X:-87.94, Y:-263.39, Z:-8.06 [[-8.33517447e-01 5.52423399e-01 8.77806072e-03 -8.79448809e+01] [ 5.52394883e-01 8.33563651e-01 -5.61541733e-03 -2.63389603e+02] [-1.04191603e-02 1.68407516e-04 -9.99945705e-01 -8.05772425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.550385723 meters 0.017059188312998578 Centerline is valid? [True, True] Translation: X:-87.93, Y:-263.36, Z:-8.06 [[-8.70162137e-01 4.92705468e-01 7.69264101e-03 -8.79310493e+01] [ 4.92687718e-01 8.70196127e-01 -4.18484612e-03 -2.63364806e+02] [-8.75600298e-03 1.48575104e-04 -9.99961655e-01 -8.05768415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.580385723 meters 0.017411404874456752 Centerline is valid? [True, True] Translation: X:-87.58, Y:-262.73, Z:-9.01 [[-8.53664680e-01 -5.20771432e-01 7.33013685e-03 -8.75767348e+01] [ 5.20750698e-01 -8.53696136e-01 -4.64946904e-03 -2.62732693e+02] [ 8.67902016e-03 -1.51913617e-04 9.99962325e-01 -9.01266325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.610385723 meters 0.017962978785137036 Centerline is valid? [True, True] Translation: X:-87.97, Y:-263.35, Z:-8.06 [[-8.70870299e-01 4.91455834e-01 7.48906140e-03 -8.79709482e+01] [ 4.91439268e-01 8.70902484e-01 -4.03853774e-03 -2.63348643e+02] [-8.50700510e-03 1.63376283e-04 -9.99963802e-01 -8.05733605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.640385723 meters 0.017785743712934638 Centerline is valid? [True, True] Translation: X:-87.62, Y:-262.71, Z:-9.01 [[-8.56505829e-01 -5.16083390e-01 7.46325245e-03 -8.76178766e+01] [ 5.16062254e-01 -8.56538331e-01 -4.67310544e-03 -2.62708180e+02] [ 8.80427389e-03 -1.51039170e-04 9.99961230e-01 -9.01285551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.670385723 meters 0.017874305721756748 Centerline is valid? [True, True] Translation: X:-88.01, Y:-263.33, Z:-8.06 [[-8.72129032e-01 4.89203424e-01 8.42389282e-03 -8.80139096e+01] [ 4.89182731e-01 8.72169692e-01 -4.50367109e-03 -2.63327495e+02] [-9.55027533e-03 1.93040589e-04 -9.99954377e-01 -8.05697893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.700385723 meters 0.019240425589786975 Centerline is valid? [True, True] Translation: X:-87.66, Y:-262.68, Z:-9.01 [[-8.59702601e-01 -5.10722750e-01 8.58544066e-03 -8.76639870e+01] [ 5.10695275e-01 -8.59745452e-01 -5.30035386e-03 -2.62679313e+02] [ 1.00883049e-02 -1.72184025e-04 9.99949097e-01 -9.01467913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.730385723 meters 0.019974178303124108 Centerline is valid? [True, True] Translation: X:-88.05, Y:-263.31, Z:-8.05 [[-8.71823988e-01 4.89744926e-01 8.53474883e-03 -8.80502443e+01] [ 4.89724095e-01 8.71865730e-01 -4.52316568e-03 -2.63313881e+02] [-9.65635246e-03 2.36267810e-04 -9.99953349e-01 -8.05479163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.760385723 meters 0.018817365287799377 Centerline is valid? [True, True] Translation: X:-87.70, Y:-262.66, Z:-9.01 [[-8.63056143e-01 -5.05047591e-01 7.81188730e-03 -8.77009356e+01] [ 5.05024231e-01 -8.63091459e-01 -4.86399178e-03 -2.62662986e+02] [ 9.19892054e-03 -2.52705610e-04 9.99957657e-01 -9.01428471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.790385723 meters 0.02062809024049951 Centerline is valid? [True, True] Translation: X:-88.09, Y:-263.29, Z:-8.05 [[-8.73188142e-01 4.87316204e-01 8.08617515e-03 -8.80937668e+01] [ 4.87297749e-01 8.73225552e-01 -4.24729693e-03 -2.63293977e+02] [-9.13083137e-03 2.31685638e-04 -9.99958286e-01 -8.05494552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.820385723 meters 0.020887738493059627 Centerline is valid? [True, True] Translation: X:-88.08, Y:-263.27, Z:-8.05 [[-9.05625075e-01 4.23994381e-01 8.48453170e-03 -8.80828521e+01] [ 4.23978164e-01 9.05664789e-01 -3.71561403e-03 -2.63268112e+02] [-9.25954109e-03 2.32302934e-04 -9.99957103e-01 -8.05479798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8503857229999 meters 0.021001508566381423 Centerline is valid? [True, True] Translation: X:-87.78, Y:-262.59, Z:-9.02 [[-8.98117687e-01 -4.39677009e-01 8.29147118e-03 -8.77759863e+01] [ 4.39655903e-01 -8.98155930e-01 -4.31410877e-03 -2.62586576e+02] [ 9.34384846e-03 -2.29183137e-04 9.99956319e-01 -9.01535705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.880385723 meters 0.02100317956911623 Centerline is valid? [True, True] Translation: X:-88.13, Y:-263.25, Z:-8.05 [[-9.07705454e-01 4.19524642e-01 8.35960054e-03 -8.81304238e+01] [ 4.19509043e-01 9.07743922e-01 -3.62422388e-03 -2.63247447e+02] [-9.10882780e-03 2.17200237e-04 -9.99958490e-01 -8.05382461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.910385723 meters 0.02092536032566128 Centerline is valid? [True, True] Translation: X:-88.11, Y:-263.22, Z:-8.05 [[-9.35253231e-01 3.53894312e-01 7.75952078e-03 -8.81110179e+01] [ 3.53883846e-01 9.35285400e-01 -2.72855216e-03 -2.63223145e+02] [-8.22298559e-03 1.94081834e-04 -9.99966172e-01 -8.05399803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.940385723 meters 0.018300267865370458 Centerline is valid? [True, True] Translation: X:-87.87, Y:-262.52, Z:-9.01 [[-9.27931418e-01 -3.72687978e-01 6.85230267e-03 -8.78658284e+01] [ 3.72676031e-01 -9.27956691e-01 -2.99250913e-03 -2.62524440e+02] [ 7.47391229e-03 -2.23154283e-04 9.99972045e-01 -9.01401421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9703857229999 meters 0.018294094116928623 Centerline is valid? [True, True] Translation: X:-88.16, Y:-263.20, Z:-8.06 [[-9.36676666e-01 3.50145701e-01 5.90019070e-03 -8.81614861e+01] [ 3.50139733e-01 9.36695237e-01 -2.04945640e-03 -2.63202231e+02] [-6.24428888e-03 1.46213212e-04 -9.99980494e-01 -8.05753909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.000385723 meters 0.018552881151514846 Centerline is valid? [True, True] Translation: X:-87.91, Y:-262.51, Z:-9.01 [[-9.29455598e-01 -3.68893471e-01 5.46785075e-03 -8.79075989e+01] [ 3.68886084e-01 -9.29471668e-01 -2.33991146e-03 -2.62508147e+02] [ 5.94539042e-03 -1.57829749e-04 9.99982314e-01 -9.01232229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.030385723 meters 0.01850812594970019 Centerline is valid? [True, True] Translation: X:-88.20, Y:-263.19, Z:-8.06 [[-9.37309446e-01 3.48449829e-01 5.80690514e-03 -8.82010848e+01] [ 3.48444169e-01 9.37327420e-01 -1.99210277e-03 -2.63190485e+02] [-6.13711928e-03 1.56165495e-04 -9.99981156e-01 -8.05825212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.060385723 meters 0.01955757708217077 Centerline is valid? [True, True] Translation: X:-87.96, Y:-262.49, Z:-9.01 [[-9.31860095e-01 -3.62768956e-01 5.95373182e-03 -8.79554651e+01] [ 3.62760554e-01 -9.31879103e-01 -2.47337803e-03 -2.62491127e+02] [ 6.44542304e-03 -1.45063238e-04 9.99979218e-01 -9.01300734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0903857229999 meters 0.019341339663479718 Centerline is valid? [True, True] Translation: X:-88.25, Y:-263.18, Z:-8.06 [[-9.37396464e-01 3.48206718e-01 6.32068041e-03 -8.82468508e+01] [ 3.48200187e-01 9.37417753e-01 -2.14134889e-03 -2.63175607e+02] [-6.67075009e-03 1.93569225e-04 -9.99977732e-01 -8.05705734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.120385723 meters 0.01981271120724334 Centerline is valid? [True, True] Translation: X:-88.00, Y:-262.48, Z:-9.01 [[-9.34553121e-01 -3.55761467e-01 6.65155566e-03 -8.80037133e+01] [ 3.55751103e-01 -9.34576775e-01 -2.72129279e-03 -2.62476594e+02] [ 7.18452054e-03 -1.76894406e-04 9.99974175e-01 -9.01307281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.150385723 meters 0.01990669621180279 Centerline is valid? [True, True] Translation: X:-88.29, Y:-263.16, Z:-8.06 [[-9.37650060e-01 3.47504364e-01 7.28569650e-03 -8.82924423e+01] [ 3.47495900e-01 9.37678333e-01 -2.43783040e-03 -2.63161238e+02] [-7.67879645e-03 2.45917847e-04 -9.99970487e-01 -8.05674891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.180385723 meters 0.020312756024182952 Centerline is valid? [True, True] Translation: X:-88.05, Y:-262.46, Z:-9.01 [[-9.36573527e-01 -3.50388791e-01 7.59759727e-03 -8.80539428e+01] [ 3.50375260e-01 -9.36604315e-01 -3.08794242e-03 -2.62461372e+02] [ 8.19792280e-03 -2.30075004e-04 9.99966370e-01 -9.01402318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.210385723 meters 0.020855292650865852 Centerline is valid? [True, True] Translation: X:-88.34, Y:-263.15, Z:-8.06 [[-9.38819329e-01 3.44318527e-01 7.93852855e-03 -8.83412486e+01] [ 3.44308645e-01 9.38852852e-01 -2.62276770e-03 -2.63145479e+02] [-8.35617769e-03 2.70998990e-04 -9.99965050e-01 -8.05507134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.240385723 meters 0.022144308744780076 Centerline is valid? [True, True] Translation: X:-88.33, Y:-263.12, Z:-8.05 [[-9.61021345e-01 2.76324721e-01 9.08974143e-03 -8.83340005e+01] [ 2.76315288e-01 9.61064285e-01 -2.30275727e-03 -2.63116344e+02] [-9.37213461e-03 2.98635623e-04 -9.99956036e-01 -8.05277968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.270385723 meters 0.020458579541552505 Centerline is valid? [True, True] Translation: X:-88.33, Y:-263.09, Z:-8.05 [[-9.78418901e-01 2.06435831e-01 8.98343781e-03 -8.83319561e+01] [ 2.06429761e-01 9.78460101e-01 -1.60788793e-03 -2.63085210e+02] [-9.12186115e-03 2.81260973e-04 -9.99958356e-01 -8.05479631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.300385723 meters 0.02110584677514724 Centerline is valid? [True, True] Translation: X:-88.33, Y:-263.06, Z:-8.05 [[-9.90736804e-01 1.35484203e-01 9.19874983e-03 -8.83254712e+01] [ 1.35480946e-01 9.90779468e-01 -9.79236983e-04 -2.63057910e+02] [-9.24660361e-03 2.76089206e-04 -9.99957211e-01 -8.05480017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.330385723 meters 0.020658130737450923 Centerline is valid? [True, True] Translation: X:-88.25, Y:-262.32, Z:-9.01 [[-9.89672386e-01 -1.43088289e-01 8.62036896e-03 -8.82483304e+01] [ 1.43080273e-01 -9.89709884e-01 -1.54275872e-03 -2.62324339e+02] [ 8.75241507e-03 -2.93420955e-04 9.99961654e-01 -9.01440676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.360385723 meters 0.019493545066698207 Centerline is valid? [True, True] Translation: X:-88.40, Y:-263.05, Z:-8.06 [[-9.91415288e-01 1.30458389e-01 8.73697327e-03 -8.83976269e+01] [ 1.30455617e-01 9.91453752e-01 -8.88953309e-04 -2.63048059e+02] [-8.77827635e-03 2.58465335e-04 -9.99961437e-01 -8.05742073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.390385723 meters 0.019855329473743362 Centerline is valid? [True, True] Translation: X:-88.32, Y:-262.32, Z:-9.01 [[-9.90320749e-01 -1.38536003e-01 8.51991757e-03 -8.83163569e+01] [ 1.38528584e-01 -9.90357363e-01 -1.45773225e-03 -2.62317951e+02] [ 8.63971150e-03 -2.63370377e-04 9.99962642e-01 -9.01198966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.420385723 meters 0.01925667327724946 Centerline is valid? [True, True] Translation: X:-88.46, Y:-263.04, Z:-8.06 [[-9.91929399e-01 1.26507850e-01 8.47529479e-03 -8.84641748e+01] [ 1.26505429e-01 9.91965573e-01 -8.23195944e-04 -2.63041872e+02] [-8.51134141e-03 2.55618549e-04 -9.99963745e-01 -8.05884276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.450385723 meters 0.020006830569104506 Centerline is valid? [True, True] Translation: X:-88.47, Y:-263.01, Z:-8.06 [[-9.98370902e-01 5.65292236e-02 7.74524495e-03 -8.84670429e+01] [ 5.65293803e-02 9.98400916e-01 -1.98862350e-04 -2.63013358e+02] [-7.74410118e-03 2.39295513e-04 -9.99969985e-01 -8.05888577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.480385723 meters 0.020019397420495133 Centerline is valid? [True, True] Translation: X:-88.45, Y:-262.28, Z:-9.01 [[-9.98052490e-01 -6.19470693e-02 7.33399526e-03 -8.84455245e+01] [ 6.19435356e-02 -9.98079404e-01 -7.08215304e-04 -2.62277710e+02] [ 7.36378148e-03 -2.52542451e-04 9.99972855e-01 -9.01106123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.510385723 meters 0.020254826735623743 Centerline is valid? [True, True] Translation: X:-88.56, Y:-263.01, Z:-8.06 [[-9.98646227e-01 5.15693356e-02 6.80562272e-03 -8.85556224e+01] [ 5.15695864e-02 9.98669394e-01 -1.38739996e-04 -2.63010961e+02] [-6.80372185e-03 2.12410976e-04 -9.99976832e-01 -8.05914314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.540385723 meters 0.020309024018433704 Centerline is valid? [True, True] Translation: X:-88.53, Y:-262.27, Z:-9.01 [[-9.98386437e-01 -5.64767745e-02 5.90735592e-03 -8.85325376e+01] [ 5.64743451e-02 -9.98403884e-01 -5.77373269e-04 -2.62274823e+02] [ 5.93053527e-03 -2.42827584e-04 9.99982385e-01 -9.01047506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.570385723 meters 0.019890808968785593 Centerline is valid? [True, True] Translation: X:-88.64, Y:-263.01, Z:-8.06 [[-9.98900544e-01 4.65064374e-02 5.90376782e-03 -8.86392837e+01] [ 4.65067275e-02 9.98917973e-01 -8.82126155e-05 -2.63008482e+02] [-5.90148224e-03 1.86449292e-04 -9.99982569e-01 -8.05994758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6003857229999 meters 0.019918211204965324 Centerline is valid? [True, True] Translation: X:-88.62, Y:-262.27, Z:-9.01 [[-9.98698526e-01 -5.06958302e-02 5.58461723e-03 -8.86205289e+01] [ 5.06939348e-02 -9.98714120e-01 -4.80515495e-04 -2.62273230e+02] [ 5.60179621e-03 -1.96783895e-04 9.99984291e-01 -9.00990145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.630385723 meters 0.01999310522360602 Centerline is valid? [True, True] Translation: X:-88.72, Y:-263.01, Z:-8.06 [[-9.99116932e-01 4.16810059e-02 5.29629662e-03 -8.87240649e+01] [ 4.16813239e-02 9.99130955e-01 -5.03757870e-05 -2.63006840e+02] [-5.29379361e-03 1.70425353e-04 -9.99985973e-01 -8.06069369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.660385723 meters 0.019271270495951075 Centerline is valid? [True, True] Translation: X:-88.71, Y:-262.27, Z:-9.01 [[-9.99010935e-01 -4.41914540e-02 4.92609612e-03 -8.87131261e+01] [ 4.41900165e-02 -9.99023064e-01 -4.00336433e-04 -2.62273876e+02] [ 4.93897509e-03 -1.82256205e-04 9.99987787e-01 -9.00931750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.690385723 meters 0.019810918653859633 Centerline is valid? [True, True] Translation: X:-88.81, Y:-263.00, Z:-8.06 [[-9.99303338e-01 3.69839997e-02 5.00229207e-03 -8.88135203e+01] [ 3.69843676e-02 9.99315844e-01 -1.89803729e-05 -2.63003939e+02] [-4.99957169e-03 1.66039459e-04 -9.99987488e-01 -8.06037507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7203857229999 meters 0.020739847582110872 Centerline is valid? [True, True] Translation: X:-88.82, Y:-262.98, Z:-8.06 [[-9.99404305e-01 -3.40993002e-02 5.31719901e-03 -8.88229892e+01] [-3.40978712e-02 9.99418434e-01 3.59189801e-04 -2.62975346e+02] [-5.32635483e-03 1.77670667e-04 -9.99985799e-01 -8.05903308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.750385723 meters 0.020739847582110872 Centerline is valid? [True, True] Translation: X:-88.84, Y:-262.95, Z:-8.06 [[-9.94416325e-01 -1.05395992e-01 5.27797273e-03 -8.88356212e+01] [-1.05393558e-01 9.94430316e-01 7.38056581e-04 -2.62947092e+02] [-5.32636429e-03 1.77671188e-04 -9.99985799e-01 -8.05903294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.780385723 meters 0.020313466122907478 Centerline is valid? [True, True] Translation: X:-88.86, Y:-262.92, Z:-8.06 [[-9.84246059e-01 -1.76722962e-01 5.35630703e-03 -8.88596366e+01] [-1.76719335e-01 9.84260617e-01 1.14678643e-03 -2.62920120e+02] [-5.47466555e-03 1.82157008e-04 -9.99984997e-01 -8.05925823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.810385723 meters 0.02022878707457024 Centerline is valid? [True, True] Translation: X:-88.90, Y:-262.90, Z:-8.06 [[-9.68490897e-01 -2.48981679e-01 5.78850973e-03 -8.89043482e+01] [-2.48976043e-01 9.68508176e-01 1.68628558e-03 -2.62900581e+02] [-6.02607321e-03 1.91951987e-04 -9.99981825e-01 -8.05931121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8403857229999 meters 0.020338741100742297 Centerline is valid? [True, True] Translation: X:-88.97, Y:-262.89, Z:-8.06 [[-9.47332126e-01 -3.20199941e-01 5.81735160e-03 -8.89718367e+01] [-3.20192644e-01 9.47349967e-01 2.17030572e-03 -2.62891637e+02] [-6.20599961e-03 1.93327137e-04 -9.99980724e-01 -8.05917779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.870385723 meters 0.020128872734385107 Centerline is valid? [True, True] Translation: X:-89.04, Y:-262.89, Z:-8.06 [[-9.20542581e-01 -3.90606712e-01 5.26822996e-03 -8.90448453e+01] [-3.90599237e-01 9.20557639e-01 2.42263022e-03 -2.62887454e+02] [-5.79600496e-03 1.72367679e-04 -9.99983188e-01 -8.05895317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.900385723 meters 0.01988319763762031 Centerline is valid? [True, True] Translation: X:-89.12, Y:-262.89, Z:-8.06 [[-8.88603436e-01 -4.58655561e-01 4.36004707e-03 -8.91216214e+01] [-4.58649237e-01 8.88614121e-01 2.41275169e-03 -2.62891072e+02] [-4.98102137e-03 1.44247179e-04 -9.99987584e-01 -8.05880936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.930385723 meters 0.019766659377896293 Centerline is valid? [True, True] Translation: X:-89.21, Y:-262.91, Z:-8.06 [[-8.51327635e-01 -5.24625813e-01 3.00254284e-03 -8.92085555e+01] [-5.24622131e-01 8.51332923e-01 1.96816174e-03 -2.62906648e+02] [-3.58871203e-03 1.00350057e-04 -9.99993556e-01 -8.05904771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.960385723 meters 0.019839972001377753 Centerline is valid? [True, True] Translation: X:-89.30, Y:-262.93, Z:-8.06 [[-8.09329642e-01 -5.87350025e-01 2.34074301e-03 -8.92991676e+01] [-5.87347274e-01 8.09333023e-01 1.79953198e-03 -2.62934915e+02] [-2.95139577e-03 8.15855429e-05 -9.99995641e-01 -8.06006871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.990385723 meters 0.01996556588586744 Centerline is valid? [True, True] Translation: X:-89.39, Y:-262.97, Z:-8.06 [[-7.62785571e-01 -6.46648589e-01 1.94320162e-03 -8.93919336e+01] [-6.46646246e-01 7.62788042e-01 1.74212995e-03 -2.62973997e+02] [-2.60879683e-03 7.23075574e-05 -9.99996595e-01 -8.06056182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.020385723 meters 0.020614732987865255 Centerline is valid? [True, True] Translation: X:-89.49, Y:-263.02, Z:-8.06 [[-7.12200266e-01 -7.01973306e-01 2.06361634e-03 -8.94853752e+01] [-7.01970009e-01 7.12203251e-01 2.15320631e-03 -2.63023056e+02] [-2.98120762e-03 8.49173203e-05 -9.99995553e-01 -8.06025257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.050385723 meters 0.0208641896074048 Centerline is valid? [True, True] Translation: X:-89.58, Y:-263.08, Z:-8.06 [[-6.56963064e-01 -7.53920801e-01 1.72003276e-03 -8.95791645e+01] [-7.53917903e-01 6.56965311e-01 2.09187727e-03 -2.63082680e+02] [-2.70711164e-03 7.75226149e-05 -9.99996333e-01 -8.06009472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.080385723 meters 0.02089547312686086 Centerline is valid? [True, True] Translation: X:-89.67, Y:-263.15, Z:-8.06 [[-5.97574324e-01 -8.01812141e-01 1.48952582e-03 -8.96683113e+01] [-8.01809335e-01 5.97576176e-01 2.12233250e-03 -2.63148871e+02] [-2.59181711e-03 7.39356956e-05 -9.99996639e-01 -8.05964163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.110385723 meters 0.020458108950608025 Centerline is valid? [True, True] Translation: X:-89.76, Y:-263.23, Z:-8.06 [[-5.32931661e-01 -8.46156790e-01 1.59127299e-03 -8.97574909e+01] [-8.46152546e-01 5.32934031e-01 2.68108805e-03 -2.63225840e+02] [-3.11666439e-03 8.23770166e-05 -9.99995140e-01 -8.05852651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.140385723 meters 0.02016673094196539 Centerline is valid? [True, True] Translation: X:-89.84, Y:-263.32, Z:-8.06 [[-4.65397920e-01 -8.85100429e-01 1.41689834e-03 -8.98416936e+01] [-8.85095795e-01 4.65400070e-01 2.86502139e-03 -2.63315307e+02] [-3.19525624e-03 7.92842317e-05 -9.99994892e-01 -8.05783745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.170385723 meters 0.01907734056198065 Centerline is valid? [True, True] Translation: X:-89.92, Y:-263.41, Z:-8.06 [[-3.92890406e-01 -9.19584496e-01 1.21802661e-03 -8.99210418e+01] [-9.19579522e-01 3.92892288e-01 3.02526617e-03 -2.63407353e+02] [-3.26054113e-03 6.85257301e-05 -9.99994682e-01 -8.05737919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.200385723 meters 0.01848733460247011 Centerline is valid? [True, True] Translation: X:-89.99, Y:-263.51, Z:-8.06 [[-3.19104217e-01 -9.47719169e-01 9.35510043e-04 -8.99904185e+01] [-9.47714548e-01 3.19105583e-01 2.96026679e-03 -2.63505983e+02] [-3.10402806e-03 5.80371386e-05 -9.99995181e-01 -8.05715966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.230385723 meters 0.017543321411898873 Centerline is valid? [True, True] Translation: X:-90.05, Y:-263.61, Z:-8.06 [[-2.41932803e-01 -9.70292744e-01 7.13692568e-04 -9.00548277e+01] [-9.70287933e-01 2.41933851e-01 3.05601083e-03 -2.63613549e+02] [-3.13789153e-03 4.68619807e-05 -9.99995076e-01 -8.05653921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.260385723 meters 0.017022051574477226 Centerline is valid? [True, True] Translation: X:-90.11, Y:-263.73, Z:-8.06 [[-1.65319929e-01 -9.86239844e-01 5.39162373e-04 -9.01086532e+01] [-9.86233621e-01 1.65320801e-01 3.50382201e-03 -2.63728102e+02] [-3.54474363e-03 4.75115461e-05 -9.99993716e-01 -8.05661901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.290385723 meters 0.017769692518272557 Centerline is valid? [True, True] Translation: X:-90.15, Y:-263.84, Z:-8.05 [[-8.91864989e-02 -9.96014894e-01 3.14771536e-04 -9.01546974e+01] [-9.96006301e-01 8.91870371e-02 4.13783468e-03 -2.63842770e+02] [-4.14941851e-03 5.55245546e-05 -9.99991390e-01 -8.05464869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.320385723 meters 0.01604181144464643 Centerline is valid? [True, True] Translation: X:-90.19, Y:-263.96, Z:-8.06 [[-1.14902752e-02 -9.99933985e-01 -2.53378624e-06 -9.01892372e+01] [-9.99926673e-01 1.14901815e-02 3.82411635e-03 -2.63960426e+02] [-3.82383479e-03 4.64737496e-05 -9.99992688e-01 -8.05749210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3503857229999 meters 0.016893229948624654 Centerline is valid? [True, True] Translation: X:-90.21, Y:-264.08, Z:-8.06 [[ 6.55364126e-02 -9.97850142e-01 -2.71730630e-04 -9.02109278e+01] [-9.97844006e-01 -6.55369626e-02 3.49957429e-03 -2.64081652e+02] [-3.50985910e-03 4.17952360e-05 -9.99993840e-01 -8.05688779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.380385723 meters 0.01603085959145871 Centerline is valid? [True, True] Translation: X:-90.23, Y:-264.21, Z:-8.06 [[ 1.42192330e-01 -9.89838910e-01 -5.22701724e-04 -9.02293549e+01] [-9.89833206e-01 -1.42193286e-01 3.36076800e-03 -2.64205203e+02] [-3.40094361e-03 3.95120887e-05 -9.99994216e-01 -8.05810257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.410385723 meters 0.01572963724103663 Centerline is valid? [True, True] Translation: X:-90.24, Y:-264.33, Z:-8.06 [[ 2.19046339e-01 -9.75714102e-01 -8.31897184e-04 -9.02365364e+01] [-9.75707694e-01 -2.19047915e-01 3.53641580e-03 -2.64331711e+02] [-3.63275611e-03 3.70495508e-05 -9.99993401e-01 -8.05779726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.440385723 meters 0.015633532463211145 Centerline is valid? [True, True] Translation: X:-90.23, Y:-264.46, Z:-8.06 [[ 2.94000236e-01 -9.55804685e-01 -1.12472128e-03 -9.02329595e+01] [-9.55798135e-01 -2.94002386e-01 3.53872325e-03 -2.64456788e+02] [-3.71299900e-03 3.46210321e-05 -9.99993106e-01 -8.05721132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4703857229999 meters 0.015517310207748408 Centerline is valid? [True, True] Translation: X:-90.22, Y:-264.58, Z:-8.06 [[ 3.68115016e-01 -9.29779073e-01 -1.48673685e-03 -9.02199885e+01] [-9.29771809e-01 -3.68118017e-01 3.67541973e-03 -2.64580444e+02] [-3.96462297e-03 2.93488158e-05 -9.99992141e-01 -8.05626347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.500385723 meters 0.015422086550792293 Centerline is valid? [True, True] Translation: X:-90.20, Y:-264.70, Z:-8.06 [[ 4.38602403e-01 -8.98678513e-01 -2.20500477e-03 -9.01987656e+01] [-8.98667546e-01 -4.38607945e-01 4.43995279e-03 -2.64698450e+02] [-4.95722278e-03 3.41922566e-05 -9.99987712e-01 -8.05583665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.530385723 meters 0.015490135557856659 Centerline is valid? [True, True] Translation: X:-90.17, Y:-264.82, Z:-8.06 [[ 5.06695269e-01 -8.62120426e-01 -2.87675555e-03 -9.01654212e+01] [-8.62106914e-01 -5.06703434e-01 4.82700387e-03 -2.64818208e+02] [-5.61912055e-03 3.42508213e-05 -9.99984212e-01 -8.05553237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.560385723 meters 0.015435974940001406 Centerline is valid? [True, True] Translation: X:-90.13, Y:-264.92, Z:-8.06 [[ 5.71148267e-01 -8.20840273e-01 -3.30186452e-03 -9.01323378e+01] [-8.20826899e-01 -5.71157810e-01 4.68594894e-03 -2.64921899e+02] [-5.73230132e-03 3.38875976e-05 -9.99983570e-01 -8.05545623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5903857229999 meters 0.015366498784953735 Centerline is valid? [True, True] Translation: X:-90.09, Y:-265.03, Z:-8.06 [[ 6.31880286e-01 -7.75057838e-01 -3.55696423e-03 -9.00858974e+01] [-7.75045862e-01 -6.31890297e-01 4.30864933e-03 -2.65029239e+02] [-5.58706361e-03 3.42598347e-05 -9.99984392e-01 -8.05524810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.620385723 meters 0.015517241883393925 Centerline is valid? [True, True] Translation: X:-90.03, Y:-265.13, Z:-8.05 [[ 6.88875299e-01 -7.24869687e-01 -3.84187386e-03 -9.00322533e+01] [-7.24858694e-01 -6.88886011e-01 3.99222273e-03 -2.65131332e+02] [-5.54045440e-03 3.46720427e-05 -9.99984651e-01 -8.05473090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.650385723 meters 0.015295134452349365 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.22, Z:-8.06 [[ 7.41443988e-01 -6.71003318e-01 -3.91915917e-03 -8.99802770e+01] [-6.70994199e-01 -7.41454345e-01 3.49840307e-03 -2.65222515e+02] [-5.25331767e-03 3.58631410e-05 -9.99986201e-01 -8.05563497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.680385723 meters 0.015346518185459759 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.23, Z:-8.05 [[ 7.91344070e-01 -6.11351873e-01 -4.84261492e-03 -8.99834821e+01] [-6.11340769e-01 -7.91358885e-01 3.68500677e-03 -2.65231788e+02] [-6.08508214e-03 4.43796706e-05 -9.99981485e-01 -8.05496146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.710385723 meters 0.01542805982954195 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.24, Z:-8.05 [[ 8.36487880e-01 -5.47959777e-01 -5.30185317e-03 -8.99846616e+01] [-5.47949138e-01 -8.36504680e-01 3.41495146e-03 -2.65239805e+02] [-6.30628103e-03 4.85803726e-05 -9.99980114e-01 -8.05440465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.740385723 meters 0.015244793175953869 Centerline is valid? [True, True] Translation: X:-89.99, Y:-265.25, Z:-8.06 [[ 8.76383147e-01 -4.81585029e-01 -5.33288196e-03 -8.99859045e+01] [-4.81576469e-01 -8.76399371e-01 2.87173505e-03 -2.65250722e+02] [-6.05671900e-03 5.14502648e-05 -9.99981657e-01 -8.05518052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.770385723 meters 0.015613699782715918 Centerline is valid? [True, True] Translation: X:-89.99, Y:-265.26, Z:-8.05 [[ 9.11063313e-01 -4.12223847e-01 -5.92786487e-03 -8.99863942e+01] [-4.12215546e-01 -9.11082596e-01 2.61669784e-03 -2.65259879e+02] [-6.47943976e-03 5.95806487e-05 -9.99979007e-01 -8.05423205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.800385723 meters 0.015824528523259253 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.26, Z:-8.05 [[ 9.40345147e-01 -3.40163891e-01 -6.28734372e-03 -8.99846707e+01] [-3.40156745e-01 -9.40366164e-01 2.20592873e-03 -2.65263159e+02] [-6.66278260e-03 6.43479938e-05 -9.99977801e-01 -8.05358400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.830385723 meters 0.015303225048171139 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.28, Z:-8.06 [[ 9.63803939e-01 -2.66531466e-01 -6.55331763e-03 -8.99847294e+01] [-2.66525813e-01 -9.63826215e-01 1.73741406e-03 -2.65276584e+02] [-6.77933485e-03 7.21017968e-05 -9.99977018e-01 -8.05507360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.860385723 meters 0.015307910195694469 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.29, Z:-8.06 [[ 9.81669963e-01 -1.90479520e-01 -6.45270311e-03 -8.99833568e+01] [-1.90475875e-01 -9.81691167e-01 1.18035130e-03 -2.65288360e+02] [-6.55939440e-03 7.03688605e-05 -9.99978485e-01 -8.05529111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.890385723 meters 0.01518001775672939 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.30, Z:-8.06 [[ 9.93600947e-01 -1.12789032e-01 -5.98275554e-03 -8.99842088e+01] [-1.12787370e-01 -9.93618956e-01 6.15656976e-04 -2.65297555e+02] [-6.01401867e-03 6.30619078e-05 -9.99981914e-01 -8.05638795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.920385723 meters 0.01511981014629827 Centerline is valid? [True, True] Translation: X:-89.99, Y:-265.31, Z:-8.06 [[ 9.99402047e-01 -3.41370510e-02 -5.49631705e-03 -8.99862074e+01] [-3.41368373e-02 -9.99417160e-01 1.32724335e-04 -2.65307199e+02] [-5.49764440e-03 5.49819085e-05 -9.99984886e-01 -8.05665780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.950385723 meters 0.015086526264602005 Centerline is valid? [True, True] Translation: X:-89.99, Y:-265.32, Z:-8.06 [[ 9.98985772e-01 4.46836923e-02 -5.54933749e-03 -8.99859250e+01] [ 4.46827093e-02 -9.99001184e-01 -3.01039134e-04 -2.65317062e+02] [-5.55724626e-03 5.27743773e-05 -9.99984557e-01 -8.05691318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.980385723 meters 0.014873108966290087 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.33, Z:-8.06 [[ 9.92405262e-01 1.22878695e-01 -5.71163221e-03 -8.99844595e+01] [ 1.22876346e-01 -9.92421696e-01 -7.61651810e-04 -2.65328234e+02] [-5.76193850e-03 5.40427690e-05 -9.99983399e-01 -8.05633456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.010385723 meters 0.014926571988467455 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.34, Z:-8.06 [[ 9.79707741e-01 2.00346732e-01 -5.82480580e-03 -8.99820751e+01] [ 2.00342857e-01 -9.79725055e-01 -1.24727499e-03 -2.65341123e+02] [-5.95659565e-03 5.50067326e-05 -9.99982258e-01 -8.05612542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.040385723 meters 0.014794817900059421 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.35, Z:-8.06 [[ 9.61089750e-01 2.76184182e-01 -5.36569614e-03 -8.99804812e+01] [ 2.76179568e-01 -9.61104726e-01 -1.59732277e-03 -2.65351384e+02] [-5.59815120e-03 5.32748990e-05 -9.99984329e-01 -8.05608775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.070385723 meters 0.014733284563735129 Centerline is valid? [True, True] Translation: X:-89.98, Y:-265.36, Z:-8.06 [[ 9.36579401e-01 3.50415749e-01 -5.27523549e-03 -8.99769733e+01] [ 3.50409860e-01 -9.36594256e-01 -2.03231333e-03 -2.65361177e+02] [-5.65290986e-03 5.49282756e-05 -9.99984021e-01 -8.05657324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1003857229999 meters 0.014803863716446323 Centerline is valid? [True, True] Translation: X:-89.97, Y:-265.37, Z:-8.06 [[ 9.06408304e-01 4.22373874e-01 -4.92917513e-03 -8.99729810e+01] [ 4.22367300e-01 -9.06421705e-01 -2.35726139e-03 -2.65371973e+02] [-5.46355695e-03 5.47189062e-05 -9.99985073e-01 -8.05705517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.130385723 meters 0.014900139465675474 Centerline is valid? [True, True] Translation: X:-89.97, Y:-265.38, Z:-8.06 [[ 8.70701399e-01 4.91789611e-01 -4.69587565e-03 -8.99702670e+01] [ 4.91782112e-01 -8.70714060e-01 -2.71652500e-03 -2.65381193e+02] [-5.42472373e-03 5.59344730e-05 -9.99985285e-01 -8.05670862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.160385723 meters 0.014721317561786471 Centerline is valid? [True, True] Translation: X:-89.96, Y:-265.39, Z:-8.06 [[ 8.29585666e-01 5.58360735e-01 -4.57293208e-03 -8.99634695e+01] [ 5.58351869e-01 -8.29598268e-01 -3.14715971e-03 -2.65392856e+02] [-5.55094694e-03 5.75334090e-05 -9.99984592e-01 -8.05685671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.190385723 meters 0.014680424498816565 Centerline is valid? [True, True] Translation: X:-89.96, Y:-265.40, Z:-8.06 [[ 7.83140314e-01 6.21828641e-01 -4.51546872e-03 -8.99580104e+01] [ 6.21817872e-01 -7.83153330e-01 -3.66009459e-03 -2.65402650e+02] [-5.81225601e-03 5.85684809e-05 -9.99983107e-01 -8.05708548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2203857229999 meters 0.01465471700032512 Centerline is valid? [True, True] Translation: X:-89.95, Y:-265.41, Z:-8.06 [[ 7.32019052e-01 6.81271199e-01 -4.20254810e-03 -8.99512376e+01] [ 6.81259513e-01 -7.32031113e-01 -3.99064496e-03 -2.65411925e+02] [-5.79510743e-03 5.82022665e-05 -9.99983207e-01 -8.05692844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.250385723 meters 0.01699238318733402 Centerline is valid? [True, True] Translation: X:-89.94, Y:-265.42, Z:-8.05 [[ 6.77249956e-01 7.35741985e-01 -4.02848173e-03 -8.99435762e+01] [ 7.35728374e-01 -6.77261934e-01 -4.47577303e-03 -2.65421380e+02] [-6.02135146e-03 6.73487748e-05 -9.99981869e-01 -8.05417541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.280385723 meters 0.01466956851720944 Centerline is valid? [True, True] Translation: X:-89.94, Y:-265.43, Z:-8.06 [[ 6.17471038e-01 7.86588031e-01 -2.96423742e-03 -8.99372922e+01] [ 7.86578544e-01 -6.17478150e-01 -3.86366244e-03 -2.65429359e+02] [-4.86946248e-03 5.40941034e-05 -9.99988143e-01 -8.05743285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.310385723 meters 0.014797904620656267 Centerline is valid? [True, True] Translation: X:-89.93, Y:-265.44, Z:-8.06 [[ 5.55034456e-01 8.31821664e-01 -3.07755958e-03 -8.99306026e+01] [ 8.31808174e-01 -5.55042984e-01 -4.73786968e-03 -2.65435533e+02] [-5.64924050e-03 6.97417092e-05 -9.99984041e-01 -8.05696943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3403857229999 meters 0.01480856618544601 Centerline is valid? [True, True] Translation: X:-89.92, Y:-265.44, Z:-8.06 [[ 4.88989029e-01 8.72285218e-01 -2.86851309e-03 -8.99224379e+01] [ 8.72269244e-01 -4.88997436e-01 -5.27963119e-03 -2.65442922e+02] [-6.00803978e-03 7.95659827e-05 -9.99981948e-01 -8.05658636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.370385723 meters 0.014993835987164106 Centerline is valid? [True, True] Translation: X:-89.91, Y:-265.45, Z:-8.06 [[ 4.20200661e-01 9.07427189e-01 -2.70196641e-03 -8.99137131e+01] [ 9.07406950e-01 -4.20209338e-01 -6.06137680e-03 -2.65449525e+02] [-6.63564962e-03 9.52114407e-05 -9.99977979e-01 -8.05588799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.400385723 meters 0.014965542511301536 Centerline is valid? [True, True] Translation: X:-89.90, Y:-265.46, Z:-8.06 [[ 3.49819087e-01 9.36814568e-01 -2.25183906e-03 -8.99033978e+01] [ 9.36793075e-01 -3.49826317e-01 -6.34684181e-03 -2.65456211e+02] [-6.73356643e-03 1.10739175e-04 -9.99977323e-01 -8.05572532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.430385723 meters 0.015307949906134889 Centerline is valid? [True, True] Translation: X:-89.89, Y:-265.46, Z:-8.06 [[ 2.76341236e-01 9.61057886e-01 -1.80562755e-03 -8.98930326e+01] [ 9.61034401e-01 -2.76347108e-01 -6.71987804e-03 -2.65461960e+02] [-6.95717173e-03 1.21709217e-04 -9.99975791e-01 -8.05597876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.460385723 meters 0.01574200286300384 Centerline is valid? [True, True] Translation: X:-89.88, Y:-265.47, Z:-8.06 [[ 2.02325696e-01 9.79317547e-01 -1.20616014e-03 -8.98838211e+01] [ 9.79296132e-01 -2.02329250e-01 -6.47767721e-03 -2.65466436e+02] [-6.58774443e-03 1.29412592e-04 -9.99978292e-01 -8.05594924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.490385723 meters 0.015961094925758416 Centerline is valid? [True, True] Translation: X:-89.87, Y:-265.47, Z:-8.06 [[ 1.25766669e-01 9.92059621e-01 -6.74037143e-04 -8.98735284e+01] [ 9.92039287e-01 -1.25768408e-01 -6.35304258e-03 -2.65470722e+02] [-6.38736959e-03 1.30329678e-04 -9.99979592e-01 -8.05595256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.520385723 meters 0.01639064492713586 Centerline is valid? [True, True] Translation: X:-89.86, Y:-265.48, Z:-8.06 [[ 4.87372761e-02 9.98811618e-01 -1.72551220e-04 -8.98642736e+01] [ 9.98791640e-01 -4.87373929e-02 -6.31873186e-03 -2.65475463e+02] [-6.31963249e-03 1.35615063e-04 -9.99980022e-01 -8.05566689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.550385723 meters 0.017074923086241017 Centerline is valid? [True, True] Translation: X:-89.86, Y:-265.48, Z:-8.06 [[-2.83980169e-02 9.99596645e-01 3.15763834e-04 -8.98584003e+01] [ 9.99577580e-01 2.83994260e-02 -6.17523783e-03 -2.65479816e+02] [-6.18171453e-03 1.40265940e-04 -9.99980883e-01 -8.05542604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.580385723 meters 0.01686946788464901 Centerline is valid? [True, True] Translation: X:-89.85, Y:-265.48, Z:-8.06 [[-1.06159488e-01 9.94348786e-01 8.09800281e-04 -8.98487116e+01] [ 9.94329350e-01 1.06162477e-01 -6.21877550e-03 -2.65483191e+02] [-6.26960227e-03 1.45026165e-04 -9.99980335e-01 -8.05538686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.610385723 meters 0.01665600675510857 Centerline is valid? [True, True] Translation: X:-89.84, Y:-265.49, Z:-8.06 [[-1.84155777e-01 9.82896110e-01 1.37344647e-03 -8.98384829e+01] [ 9.82874560e-01 1.84160837e-01 -6.51037163e-03 -2.65485647e+02] [-6.65195400e-03 1.51003044e-04 -9.99977864e-01 -8.05518655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.640385723 meters 0.01665600675510857 Centerline is valid? [True, True] Translation: X:-89.83, Y:-265.49, Z:-8.06 [[-2.60599108e-01 9.65445272e-01 1.87932203e-03 -8.98268875e+01] [ 9.65424185e-01 2.60605841e-01 -6.38275557e-03 -2.65487488e+02] [-6.65196348e-03 1.51002531e-04 -9.99977864e-01 -8.05518647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.670385723 meters 0.016292789122910337 Centerline is valid? [True, True] Translation: X:-89.81, Y:-265.49, Z:-8.06 [[-3.36168590e-01 9.41798275e-01 2.58613923e-03 -8.98139566e+01] [ 9.41773936e-01 3.36178500e-01 -6.77273966e-03 -2.65487916e+02] [-7.24795894e-03 1.58776174e-04 -9.99973721e-01 -8.05529264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.700385723 meters 0.016664310310133348 Centerline is valid? [True, True] Translation: X:-89.80, Y:-265.49, Z:-8.06 [[-4.10633038e-01 9.11796041e-01 2.91337559e-03 -8.98038799e+01] [ 9.11775393e-01 4.10643351e-01 -6.13775493e-03 -2.65488639e+02] [-6.79273896e-03 1.35979219e-04 -9.99976920e-01 -8.05505305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.730385723 meters 0.01587326396865831 Centerline is valid? [True, True] Translation: X:-89.79, Y:-265.49, Z:-8.06 [[-4.81713056e-01 8.76321643e-01 3.59305105e-03 -8.97916493e+01] [ 8.76299347e-01 4.81726436e-01 -6.25258810e-03 -2.65486301e+02] [-7.21014596e-03 1.36634970e-04 -9.99973997e-01 -8.05561473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.760385723 meters 0.015747397569369534 Centerline is valid? [True, True] Translation: X:-89.78, Y:-265.49, Z:-8.06 [[-5.49776999e-01 8.35303480e-01 3.65344182e-03 -8.97810556e+01] [ 8.35286418e-01 5.49789126e-01 -5.34009120e-03 -2.65485560e+02] [-6.46921935e-03 1.15811013e-04 -9.99979068e-01 -8.05582118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.790385723 meters 0.015388623239435618 Centerline is valid? [True, True] Translation: X:-89.77, Y:-265.48, Z:-8.06 [[-6.15129563e-01 7.88417347e-01 3.70232922e-03 -8.97714051e+01] [ 7.88403973e-01 6.15140697e-01 -4.59317736e-03 -2.65483774e+02] [-5.89879409e-03 9.35318810e-05 -9.99982598e-01 -8.05639910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.820385723 meters 0.015282557599379723 Centerline is valid? [True, True] Translation: X:-89.76, Y:-265.48, Z:-8.06 [[-6.75592944e-01 7.37264214e-01 3.95641650e-03 -8.97623443e+01] [ 7.37252316e-01 6.75604523e-01 -4.18942778e-03 -2.65480586e+02] [-5.76168806e-03 8.65293791e-05 -9.99983398e-01 -8.05645559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8503857229999 meters 0.015186081712854531 Centerline is valid? [True, True] Translation: X:-89.75, Y:-265.48, Z:-8.06 [[-7.31960486e-01 6.81332678e-01 4.43034402e-03 -8.97542561e+01] [ 6.81320883e-01 7.31973889e-01 -4.00996513e-03 -2.65478877e+02] [-5.97501642e-03 8.33498673e-05 -9.99982146e-01 -8.05560326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.880385723 meters 0.015165213397542975 Centerline is valid? [True, True] Translation: X:-89.74, Y:-265.46, Z:-8.06 [[-7.78457526e-01 6.27677025e-01 5.04318508e-03 -8.97368488e+01] [ 6.27664582e-01 7.78473856e-01 -3.95311731e-03 -2.65456874e+02] [-6.40726865e-03 8.80947346e-05 -9.99979469e-01 -8.05510362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.910385723 meters 0.015331827896279945 Centerline is valid? [True, True] Translation: X:-89.72, Y:-265.44, Z:-8.05 [[-8.21292618e-01 5.70472615e-01 6.27947373e-03 -8.97156102e+01] [ 5.70456861e-01 8.21316617e-01 -4.24084999e-03 -2.65438580e+02] [-7.57672490e-03 9.91900781e-05 -9.99971291e-01 -8.05325031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.940385723 meters 0.015282612533672675 Centerline is valid? [True, True] Translation: X:-89.70, Y:-265.42, Z:-8.05 [[-8.59703505e-01 5.10739357e-01 7.42914793e-03 -8.96993877e+01] [ 5.10721393e-01 8.59735597e-01 -4.28515305e-03 -2.65415125e+02] [-8.57569924e-03 1.10263678e-04 -9.99963222e-01 -8.05230180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9703857229999 meters 0.015045196052862973 Centerline is valid? [True, True] Translation: X:-89.68, Y:-265.39, Z:-8.05 [[-8.93781352e-01 4.48425538e-01 8.33258940e-03 -8.96798442e+01] [ 4.48407274e-01 8.93820185e-01 -4.04899499e-03 -2.65392610e+02] [-9.26350936e-03 1.17477476e-04 -9.99957086e-01 -8.05190945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.000385723 meters 0.015342424017416353 Centerline is valid? [True, True] Translation: X:-89.34, Y:-264.71, Z:-9.02 [[-8.74399374e-01 -4.85123168e-01 9.01375685e-03 -8.93415001e+01] [ 4.85096620e-01 -8.74445829e-01 -5.07558994e-03 -2.64710007e+02] [ 1.03443284e-02 -6.55496811e-05 9.99946494e-01 -9.01933775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.030385723 meters 0.016789928369541414 Centerline is valid? [True, True] Translation: X:-89.73, Y:-265.37, Z:-8.05 [[-8.94794742e-01 4.46365506e-01 1.00102683e-02 -8.97290116e+01] [ 4.46339519e-01 8.94850720e-01 -4.81903729e-03 -2.65373763e+02] [-1.11087478e-02 1.55929119e-04 -9.99938284e-01 -8.04979834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.060385723 meters 0.01526453293231701 Centerline is valid? [True, True] Translation: X:-89.38, Y:-264.69, Z:-9.02 [[-8.77347227e-01 -4.79787536e-01 8.10953434e-03 -8.93814605e+01] [ 4.79764542e-01 -8.77384673e-01 -4.70306932e-03 -2.64686956e+02] [ 9.37165517e-03 -2.35557797e-04 9.99956057e-01 -9.01760286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0903857229999 meters 0.016186939339725075 Centerline is valid? [True, True] Translation: X:-89.77, Y:-265.36, Z:-8.05 [[-8.95353636e-01 4.45275981e-01 8.43606603e-03 -8.97711633e+01] [ 4.45257841e-01 8.95393364e-01 -4.02222130e-03 -2.65362871e+02] [-9.34459608e-03 1.54914080e-04 -9.99956326e-01 -8.05201657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.120385723 meters 0.015678019328209596 Centerline is valid? [True, True] Translation: X:-89.42, Y:-264.66, Z:-9.02 [[-8.80092131e-01 -4.74733906e-01 8.09686390e-03 -8.94226509e+01] [ 4.74712163e-01 -8.80129362e-01 -4.54636534e-03 -2.64663062e+02] [ 9.28460144e-03 -1.57540590e-04 9.99956885e-01 -9.01698500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.150385723 meters 0.016067807064374953 Centerline is valid? [True, True] Translation: X:-89.81, Y:-265.35, Z:-8.05 [[-8.95891199e-01 4.44189585e-01 8.63552926e-03 -8.98074700e+01] [ 4.44170895e-01 8.95932799e-01 -4.07878634e-03 -2.65351641e+02] [-9.54860831e-03 1.81501982e-04 -9.99954395e-01 -8.05309257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.180385723 meters 0.01577343848831534 Centerline is valid? [True, True] Translation: X:-89.46, Y:-264.64, Z:-9.02 [[-8.82775420e-01 -4.69722484e-01 8.26720049e-03 -8.94631049e+01] [ 4.69699914e-01 -8.82814111e-01 -4.60837951e-03 -2.64640141e+02] [ 9.46306072e-03 -1.85060799e-04 9.99955207e-01 -9.01641368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.210385723 meters 0.01643170449633183 Centerline is valid? [True, True] Translation: X:-89.85, Y:-265.34, Z:-8.05 [[-8.97284312e-01 4.41378100e-01 8.13859602e-03 -8.98515437e+01] [ 4.41361713e-01 8.97321203e-01 -3.80745599e-03 -2.65336753e+02] [-8.98346246e-03 1.75694145e-04 -9.99959633e-01 -8.05261285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.240385723 meters 0.016502939495535 Centerline is valid? [True, True] Translation: X:-89.84, Y:-265.31, Z:-8.05 [[-9.26449097e-01 3.76327357e-01 8.35416369e-03 -8.98429146e+01] [ 3.76313717e-01 9.26486747e-01 -3.20861273e-03 -2.65309663e+02] [-8.94751068e-03 1.71170029e-04 -9.99959956e-01 -8.05257347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.270385723 meters 0.015524290935350462 Centerline is valid? [True, True] Translation: X:-89.54, Y:-264.57, Z:-9.02 [[-9.14810902e-01 -4.03789439e-01 8.66616364e-03 -8.95448457e+01] [ 4.03769811e-01 -9.14851938e-01 -3.98397728e-03 -2.64568063e+02] [ 9.53694455e-03 -1.45450589e-04 9.99954512e-01 -9.01672812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.300385723 meters 0.015642819292344283 Centerline is valid? [True, True] Translation: X:-89.89, Y:-265.29, Z:-8.05 [[-9.28577523e-01 3.71013200e-01 9.64309086e-03 -8.98906484e+01] [ 3.70995162e-01 9.28627576e-01 -3.66268729e-03 -2.65291767e+02] [-1.03137454e-02 1.76450962e-04 -9.99946796e-01 -8.05175745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.330385723 meters 0.015481581812076047 Centerline is valid? [True, True] Translation: X:-89.87, Y:-265.27, Z:-8.05 [[-9.52673262e-01 3.03817201e-01 1.04289960e-02 -8.98723969e+01] [ 3.03801076e-01 9.52730327e-01 -3.13538057e-03 -2.65267637e+02] [-1.08886033e-02 1.81346962e-04 -9.99940701e-01 -8.05127332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.360385723 meters 0.015727757300636136 Centerline is valid? [True, True] Translation: X:-89.87, Y:-265.24, Z:-8.05 [[-9.71886281e-01 2.35194355e-01 1.09851263e-02 -8.98664528e+01] [ 2.35181472e-01 9.71948343e-01 -2.46851030e-03 -2.65240732e+02] [-1.12575550e-02 1.84386881e-04 -9.99936615e-01 -8.05046425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.390385723 meters 0.015495617578447887 Centerline is valid? [True, True] Translation: X:-89.68, Y:-264.46, Z:-9.02 [[-9.63253846e-01 -2.68374378e-01 1.08269192e-02 -8.96795126e+01] [ 2.68355289e-01 -9.63314673e-01 -3.20613125e-03 -2.64458368e+02] [ 1.12901736e-02 -1.82857232e-04 9.99936247e-01 -9.01867719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.420385723 meters 0.015648534410005095 Centerline is valid? [True, True] Translation: X:-89.92, Y:-265.23, Z:-8.05 [[-9.72625855e-01 2.32135469e-01 1.05863207e-02 -8.99242129e+01] [ 2.32123791e-01 9.72683448e-01 -2.33574507e-03 -2.65228593e+02] [-1.08393482e-02 1.85530846e-04 -9.99941235e-01 -8.05162230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.450385723 meters 0.015402292538025502 Centerline is valid? [True, True] Translation: X:-89.74, Y:-264.45, Z:-9.02 [[-9.64441501e-01 -2.64082587e-01 1.06291195e-02 -8.97366520e+01] [ 2.64064548e-01 -9.64500055e-01 -3.09159777e-03 -2.64448028e+02] [ 1.10682235e-02 -1.74891558e-04 9.99938730e-01 -9.01845587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.480385723 meters 0.015814323965502853 Centerline is valid? [True, True] Translation: X:-89.97, Y:-265.22, Z:-8.05 [[-9.73459488e-01 2.28597824e-01 1.09389236e-02 -8.99690035e+01] [ 2.28585654e-01 9.73520927e-01 -2.36699773e-03 -2.65218421e+02] [-1.11903615e-02 1.96304594e-04 -9.99937367e-01 -8.05066462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.510385723 meters 0.016501618789954604 Centerline is valid? [True, True] Translation: X:-89.96, Y:-265.19, Z:-8.05 [[-9.87050400e-01 1.60012145e-01 1.12969712e-02 -8.99634697e+01] [ 1.60004131e-01 9.87115023e-01 -1.61548299e-03 -2.65190566e+02] [-1.14099069e-02 2.12998935e-04 -9.99934882e-01 -8.04942332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.540385723 meters 0.01593745994208133 Centerline is valid? [True, True] Translation: X:-89.84, Y:-264.40, Z:-9.02 [[-9.81943316e-01 -1.88838988e-01 1.12766112e-02 -8.98419750e+01] [ 1.88824102e-01 -9.82008042e-01 -2.38017041e-03 -2.64397673e+02] [ 1.15231918e-02 -2.07896451e-04 9.99933584e-01 -9.01960870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.570385723 meters 0.016330895518923905 Centerline is valid? [True, True] Translation: X:-90.03, Y:-265.18, Z:-8.05 [[-9.87578661e-01 1.56714231e-01 1.13594922e-02 -9.00261777e+01] [ 1.56706521e-01 9.87643963e-01 -1.57123023e-03 -2.65178726e+02] [-1.14653680e-02 2.28393046e-04 -9.99934245e-01 -8.04959876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6003857229999 meters 0.016491632281726364 Centerline is valid? [True, True] Translation: X:-89.91, Y:-264.39, Z:-9.02 [[-9.82887366e-01 -1.83854454e-01 1.14002746e-02 -8.99138215e+01] [ 1.83839480e-01 -9.82953453e-01 -2.35680463e-03 -2.64390377e+02] [ 1.16392483e-02 -2.20652944e-04 9.99932237e-01 -9.02086091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.630385723 meters 0.016520740728916312 Centerline is valid? [True, True] Translation: X:-90.10, Y:-265.17, Z:-8.05 [[-9.88210425e-01 1.52666060e-01 1.15425211e-02 -9.01011052e+01] [ 1.52658426e-01 9.88277804e-01 -1.54481834e-03 -2.65166043e+02] [-1.16430587e-02 2.35457508e-04 -9.99932190e-01 -8.04887717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.660385723 meters 0.01624401617871358 Centerline is valid? [True, True] Translation: X:-90.09, Y:-265.14, Z:-8.05 [[-9.96473445e-01 8.32477650e-02 1.05111109e-02 -9.00861318e+01] [ 8.32455192e-02 9.96528855e-01 -6.51752770e-04 -2.65136014e+02] [-1.05288823e-02 2.25548559e-04 -9.99944544e-01 -8.04993414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.690385723 meters 0.016319053984069996 Centerline is valid? [True, True] Translation: X:-90.08, Y:-265.11, Z:-8.05 [[-9.99868789e-01 1.28735360e-02 9.83248820e-03 -9.00847241e+01] [ 1.28750535e-02 9.99917109e-01 9.10523283e-05 -2.65106592e+02] [-9.83050101e-03 2.17634193e-04 -9.99951656e-01 -8.05084063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7203857229999 meters 0.016565717945949954 Centerline is valid? [True, True] Translation: X:-90.09, Y:-264.32, Z:-9.02 [[-9.99346914e-01 -3.49641391e-02 9.12441786e-03 -9.00893543e+01] [ 3.49604204e-02 -9.99388537e-01 -5.66789044e-04 -2.64318935e+02] [ 9.13865591e-03 -2.47425398e-04 9.99958211e-01 -9.01821653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.750385723 meters 0.016499249346505804 Centerline is valid? [True, True] Translation: X:-90.19, Y:-265.11, Z:-8.05 [[-9.99924845e-01 7.80971699e-03 9.45057747e-03 -9.01898947e+01] [ 7.81144774e-03 9.99969480e-01 1.46238216e-04 -2.65105075e+02] [-9.44914695e-03 2.20049918e-04 -9.99955332e-01 -8.05173689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.780385723 meters 0.01731203482961423 Centerline is valid? [True, True] Translation: X:-90.19, Y:-265.08, Z:-8.05 [[-9.97913072e-01 -6.38940313e-02 9.33026676e-03 -9.01925184e+01] [-6.38892365e-02 9.97956666e-01 8.11355793e-04 -2.65076122e+02] [-9.36304270e-03 2.13558932e-04 -9.99956143e-01 -8.05036325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.810385723 meters 0.0162739026354559 Centerline is valid? [True, True] Translation: X:-90.21, Y:-265.04, Z:-8.05 [[-9.90541348e-01 -1.36920843e-01 8.97336321e-03 -9.02111842e+01] [-1.36913495e-01 9.90581974e-01 1.43108751e-03 -2.65044537e+02] [-9.08479755e-03 1.88976839e-04 -9.99958715e-01 -8.04998073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8403857229999 meters 0.01554814263897038 Centerline is valid? [True, True] Translation: X:-90.24, Y:-265.02, Z:-8.05 [[-9.77677327e-01 -2.09958477e-01 8.03014242e-03 -9.02350686e+01] [-2.09950095e-01 9.77710292e-01 1.88247819e-03 -2.65016761e+02] [-8.24639514e-03 1.54527080e-04 -9.99965986e-01 -8.05050283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.870385723 meters 0.015141863046096703 Centerline is valid? [True, True] Translation: X:-90.29, Y:-265.00, Z:-8.05 [[-9.59536738e-01 -2.81480018e-01 7.63199848e-03 -9.02852010e+01] [-2.81469935e-01 9.59567079e-01 2.38667671e-03 -2.64998761e+02] [-7.99521629e-03 1.41925872e-04 -9.99968028e-01 -8.05065058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.900385723 meters 0.015699497366791687 Centerline is valid? [True, True] Translation: X:-90.35, Y:-264.99, Z:-8.05 [[-9.35921962e-01 -3.52127458e-01 7.50566330e-03 -9.03465574e+01] [-3.52114953e-01 9.35952047e-01 2.97077020e-03 -2.64990529e+02] [-8.07103068e-03 1.37552797e-04 -9.99967419e-01 -8.04981643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.930385723 meters 0.01572395165538538 Centerline is valid? [True, True] Translation: X:-90.42, Y:-264.99, Z:-8.05 [[-9.06906153e-01 -4.21265119e-01 7.54517345e-03 -9.04211376e+01] [-4.21249288e-01 9.06937529e-01 3.65468130e-03 -2.64990971e+02] [-8.38259071e-03 1.36054017e-04 -9.99964856e-01 -8.04941260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.960385723 meters 0.01471300310340407 Centerline is valid? [True, True] Translation: X:-90.50, Y:-265.00, Z:-8.05 [[-8.72782919e-01 -4.88069731e-01 6.15743982e-03 -9.05037889e+01] [-4.88056670e-01 8.72804632e-01 3.57239085e-03 -2.64997945e+02] [-7.11781783e-03 1.12742137e-04 -9.99974662e-01 -8.05069250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.990385723 meters 0.014719636704058514 Centerline is valid? [True, True] Translation: X:-90.59, Y:-265.02, Z:-8.05 [[-8.33623803e-01 -5.52307174e-01 5.30477118e-03 -9.05912772e+01] [-5.52295219e-01 8.33640675e-01 3.63530394e-03 -2.65018292e+02] [-6.43007747e-03 1.00676130e-04 -9.99979322e-01 -8.05167322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.020385723 meters 0.014710884704451815 Centerline is valid? [True, True] Translation: X:-90.68, Y:-265.05, Z:-8.05 [[-7.89768808e-01 -6.13397341e-01 2.98862817e-03 -9.06828124e+01] [-6.13392656e-01 7.89774460e-01 2.39805891e-03 -2.65050090e+02] [-3.83130516e-03 6.07095592e-05 -9.99992659e-01 -8.05360449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.050385723 meters 0.014872180151964443 Centerline is valid? [True, True] Translation: X:-90.78, Y:-265.09, Z:-8.05 [[-7.41517018e-01 -6.70931458e-01 1.86819843e-03 -9.07758759e+01] [-6.70929185e-01 7.41519371e-01 1.74713447e-03 -2.65092039e+02] [-2.55751280e-03 4.21010907e-05 -9.99996729e-01 -8.05409941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.080385723 meters 0.014987721809679408 Centerline is valid? [True, True] Translation: X:-90.87, Y:-265.14, Z:-8.05 [[-6.88849051e-01 -7.24903553e-01 1.35078419e-03 -9.08683948e+01] [-7.24902061e-01 6.88850374e-01 1.47097887e-03 -2.65143627e+02] [-1.99680600e-03 3.40961594e-05 -9.99998006e-01 -8.05412557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.110385723 meters 0.015467529209898488 Centerline is valid? [True, True] Translation: X:-90.96, Y:-265.21, Z:-8.05 [[-6.32799080e-01 -7.74315446e-01 9.55947111e-04 -9.09584111e+01] [-7.74314493e-01 6.32799802e-01 1.21525509e-03 -2.65205602e+02] [-1.54591393e-03 2.88085982e-05 -9.99998805e-01 -8.05425548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.140385723 meters 0.01580740548524922 Centerline is valid? [True, True] Translation: X:-91.05, Y:-265.28, Z:-8.05 [[-5.72353263e-01 -8.20006769e-01 7.99998144e-04 -9.10467833e+01] [-8.20005900e-01 5.72353822e-01 1.19457458e-03 -2.65278528e+02] [-1.43744124e-03 2.77154623e-05 -9.99998967e-01 -8.05396858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.170385723 meters 0.018469451818022394 Centerline is valid? [True, True] Translation: X:-91.13, Y:-265.36, Z:-8.05 [[-5.09515326e-01 -8.60460314e-01 1.47649464e-03 -9.11307966e+01] [-8.60456333e-01 5.09517461e-01 2.61828177e-03 -2.65361200e+02] [-3.00522735e-03 6.35955222e-05 -9.99995482e-01 -8.05099475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.200385723 meters 0.016661689851599465 Centerline is valid? [True, True] Translation: X:-91.21, Y:-265.45, Z:-8.05 [[-4.42484018e-01 -8.96775875e-01 9.61469062e-04 -9.12110919e+01] [-8.96773510e-01 4.42485059e-01 2.05991787e-03 -2.65453108e+02] [-2.27272035e-03 4.92607493e-05 -9.99997416e-01 -8.05245596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.230385723 meters 0.01735259794932051 Centerline is valid? [True, True] Translation: X:-91.28, Y:-265.55, Z:-8.05 [[-3.73359007e-01 -9.27686471e-01 9.29517851e-04 -9.12841588e+01] [-9.27683182e-01 3.73360159e-01 2.47097666e-03 -2.65550218e+02] [-2.63933655e-03 6.02633162e-05 -9.99996515e-01 -8.05144293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.260385723 meters 0.01759119147732011 Centerline is valid? [True, True] Translation: X:-91.35, Y:-265.65, Z:-8.05 [[-3.01356914e-01 -9.53511187e-01 6.52917352e-04 -9.13497788e+01] [-9.53508542e-01 3.01357616e-01 2.24686238e-03 -2.65653548e+02] [-2.33917004e-03 5.45452409e-05 -9.99997263e-01 -8.05077888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.290385723 meters 0.016174444243390138 Centerline is valid? [True, True] Translation: X:-91.41, Y:-265.76, Z:-8.05 [[-2.28193235e-01 -9.73615706e-01 5.52568068e-04 -9.14109898e+01] [-9.73612112e-01 2.28193895e-01 2.64619342e-03 -2.65761333e+02] [-2.70246814e-03 6.58564753e-05 -9.99996346e-01 -8.05067277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.320385723 meters 0.016453553840156745 Centerline is valid? [True, True] Translation: X:-91.46, Y:-265.88, Z:-8.05 [[-1.52614365e-01 -9.88285758e-01 3.40991278e-04 -9.14610239e+01] [-9.88282250e-01 1.52614732e-01 2.63399816e-03 -2.65879698e+02] [-2.65518316e-03 6.49903292e-05 -9.99996473e-01 -8.05051674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3503857229999 meters 0.015991378432740486 Centerline is valid? [True, True] Translation: X:-91.50, Y:-266.00, Z:-8.05 [[-7.60959845e-02 -9.97100487e-01 1.44259935e-04 -9.15035990e+01] [-9.97096581e-01 7.60960903e-02 2.79177162e-03 -2.66002224e+02] [-2.79465446e-03 6.86015223e-05 -9.99996093e-01 -8.05047032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.380385723 meters 0.016097639011196624 Centerline is valid? [True, True] Translation: X:-91.54, Y:-266.13, Z:-8.05 [[ 1.33672808e-03 -9.99999104e-01 -7.68728656e-05 -9.15360185e+01] [-9.99994553e-01 -1.33695398e-03 3.01775094e-03 -2.66127161e+02] [-3.01785101e-03 7.28385344e-05 -9.99995444e-01 -8.05027322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.410385723 meters 0.015801767397115526 Centerline is valid? [True, True] Translation: X:-91.56, Y:-266.25, Z:-8.05 [[ 7.86618732e-02 -9.96901331e-01 -2.14652568e-04 -9.15597185e+01] [-9.96899156e-01 -7.86621501e-02 2.08326386e-03 -2.66250436e+02] [-2.09369355e-03 5.01135262e-05 -9.99997807e-01 -8.05092956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.440385723 meters 0.015929803392222917 Centerline is valid? [True, True] Translation: X:-91.57, Y:-266.38, Z:-8.05 [[ 1.55473082e-01 -9.87840093e-01 -2.66279742e-04 -9.15715459e+01] [-9.87839008e-01 -1.55473307e-01 1.46469307e-03 -2.66380250e+02] [-1.48828193e-03 3.53211700e-05 -9.99998892e-01 -8.05149024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4703857229999 meters 0.015505427207287528 Centerline is valid? [True, True] Translation: X:-91.58, Y:-266.50, Z:-8.05 [[ 2.30962798e-01 -9.72962557e-01 -2.21989499e-04 -9.15761739e+01] [-9.72962190e-01 -2.30962904e-01 8.44813250e-04 -2.66504682e+02] [-8.73242999e-04 2.08669571e-05 -9.99999619e-01 -8.05197515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.500385723 meters 0.01607367265747444 Centerline is valid? [True, True] Translation: X:-91.57, Y:-266.63, Z:-8.05 [[ 3.05524522e-01 -9.52184206e-01 -6.51224279e-05 -9.15692365e+01] [-9.52184188e-01 -3.05524529e-01 1.87606386e-04 -2.66631806e+02] [-1.98532338e-04 4.69019461e-06 -9.99999980e-01 -8.05241111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.530385723 meters 0.015958963963772256 Centerline is valid? [True, True] Translation: X:-91.55, Y:-266.75, Z:-8.05 [[ 3.78042461e-01 -9.25788249e-01 1.23642977e-04 -9.15542485e+01] [-9.25788206e-01 -3.78042481e-01 -2.84006551e-04 -2.66753943e+02] [ 3.09672225e-04 -7.10067389e-06 -9.99999952e-01 -8.05223627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.560385723 meters 0.015958963963772256 Centerline is valid? [True, True] Translation: X:-91.53, Y:-266.87, Z:-8.05 [[ 4.48028968e-01 -8.94019028e-01 1.45089562e-04 -9.15286911e+01] [-8.94018986e-01 -4.48028991e-01 -2.73669918e-04 -2.66874714e+02] [ 3.09670444e-04 -7.10077171e-06 -9.99999952e-01 -8.05223618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5903857229999 meters 0.01747219215942193 Centerline is valid? [True, True] Translation: X:-91.49, Y:-266.99, Z:-8.05 [[ 5.16463295e-01 -8.56309311e-01 1.70236329e-04 -9.14925126e+01] [-8.56309269e-01 -5.16463323e-01 -2.68958989e-04 -2.66990666e+02] [ 3.18232906e-04 -6.86750042e-06 -9.99999949e-01 -8.05290592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.620385723 meters 0.015404783588572113 Centerline is valid? [True, True] Translation: X:-91.46, Y:-267.11, Z:-8.05 [[ 5.81036137e-01 -8.13877756e-01 7.81893096e-05 -9.14551524e+01] [-8.13877749e-01 -5.81036143e-01 -1.04855809e-04 -2.67105305e+02] [ 1.30770625e-04 -2.71152527e-06 -9.99999992e-01 -8.05273561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.650385723 meters 0.015441764628658542 Centerline is valid? [True, True] Translation: X:-91.41, Y:-267.21, Z:-8.05 [[ 6.42290048e-01 -7.66461655e-01 -1.58273657e-04 -9.14065199e+01] [-7.66461634e-01 -6.42290068e-01 1.81289257e-04 -2.67213492e+02] [-2.40608863e-04 4.87039987e-06 -9.99999971e-01 -8.05248035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.680385723 meters 0.014919353447768987 Centerline is valid? [True, True] Translation: X:-91.35, Y:-267.32, Z:-8.05 [[ 7.00704490e-01 -7.13451196e-01 -7.79972139e-04 -9.13545076e+01] [-7.13450784e-01 -7.00704924e-01 7.66938500e-04 -2.67317412e+02] [-1.09370351e-03 1.90744836e-05 -9.99999402e-01 -8.05178132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.710385723 meters 0.015007708846714223 Centerline is valid? [True, True] Translation: X:-91.36, Y:-267.33, Z:-8.05 [[ 7.54797882e-01 -6.55956427e-01 -1.15055940e-03 -9.13619700e+01] [-6.55955715e-01 -7.54798759e-01 9.66577126e-04 -2.67327304e+02] [-1.50247328e-03 2.51456452e-05 -9.99998871e-01 -8.05144387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.740385723 meters 0.014953137590303164 Centerline is valid? [True, True] Translation: X:-91.37, Y:-267.34, Z:-8.05 [[ 8.03935516e-01 -5.94714959e-01 -1.34315858e-03 -9.13682884e+01] [-5.94714185e-01 -8.03936637e-01 9.59765100e-04 -2.67338639e+02] [-1.65060106e-03 2.72062115e-05 -9.99998637e-01 -8.05067369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.770385723 meters 0.014975798447176301 Centerline is valid? [True, True] Translation: X:-91.37, Y:-267.35, Z:-8.05 [[ 8.47769688e-01 -5.30361333e-01 -1.84725983e-03 -9.13727408e+01] [-5.30360167e-01 -8.47771700e-01 1.11283197e-03 -2.67350209e+02] [-2.15625765e-03 3.62878205e-05 -9.99997675e-01 -8.05079390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.800385723 meters 0.015243543359083537 Centerline is valid? [True, True] Translation: X:-91.38, Y:-267.36, Z:-8.05 [[ 8.86116035e-01 -4.63459336e-01 -1.95370558e-03 -9.13762063e+01] [-4.63458307e-01 -8.86118187e-01 9.77542261e-04 -2.67360530e+02] [-2.18426513e-03 3.92452079e-05 -9.99997614e-01 -8.05067067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.830385723 meters 0.015942796496543413 Centerline is valid? [True, True] Translation: X:-91.38, Y:-267.37, Z:-8.05 [[ 9.18511518e-01 -3.95389010e-01 -2.03045347e-03 -9.13793769e+01] [-3.95388153e-01 -9.18513761e-01 8.24354393e-04 -2.67369697e+02] [-2.19094012e-03 4.56382414e-05 -9.99997599e-01 -8.05030523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.860385723 meters 0.015576317119552596 Centerline is valid? [True, True] Translation: X:-91.38, Y:-267.39, Z:-8.05 [[ 9.46104453e-01 -3.23853023e-01 -2.36295396e-03 -9.13824775e+01] [-3.23852159e-01 -9.46107402e-01 7.50216052e-04 -2.67385199e+02] [-2.47856797e-03 5.54649939e-05 -9.99996927e-01 -8.04986832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.890385723 meters 0.016561846403689753 Centerline is valid? [True, True] Translation: X:-91.38, Y:-267.40, Z:-8.05 [[ 9.67974365e-01 -2.51035669e-01 -2.59269103e-03 -9.13847051e+01] [-2.51034949e-01 -9.67977835e-01 6.04916048e-04 -2.67397346e+02] [-2.66152295e-03 6.53128326e-05 -9.99996456e-01 -8.04936204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.920385723 meters 0.016441369013991024 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.41, Z:-8.05 [[ 9.84577255e-01 -1.74930686e-01 -2.62381871e-03 -9.13879926e+01] [-1.74930245e-01 -9.84580749e-01 3.98722205e-04 -2.67410106e+02] [-2.65311014e-03 6.64124347e-05 -9.99996478e-01 -8.04947274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.950385723 meters 0.01664776123789092 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.42, Z:-8.05 [[ 9.95245621e-01 -9.73521306e-02 -2.95254991e-03 -9.13914237e+01] [-9.73519228e-02 -9.95249997e-01 2.14362443e-04 -2.67421533e+02] [-2.95939393e-03 7.40931283e-05 -9.99995618e-01 -8.04951343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.980385723 meters 0.016695424067604162 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.43, Z:-8.05 [[ 9.99819615e-01 -1.85631181e-02 -4.01843835e-03 -9.13936173e+01] [-1.85633633e-02 -9.99827686e-01 -2.37313161e-05 -2.67433848e+02] [-4.01730538e-03 9.83227663e-05 -9.99991926e-01 -8.04833567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.010385723 meters 0.01673547579434381 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.45, Z:-8.05 [[ 9.98168326e-01 6.02987336e-02 -4.90476555e-03 -9.13944286e+01] [ 6.02974255e-02 -9.98180369e-01 -4.14265368e-04 -2.67445052e+02] [-4.92082037e-03 1.17761833e-04 -9.99987886e-01 -8.04740532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.040385723 meters 0.016886880392460616 Centerline is valid? [True, True] Translation: X:-91.40, Y:-267.46, Z:-8.05 [[ 9.90250270e-01 1.39208407e-01 -5.04201059e-03 -9.13952968e+01] [ 1.39205999e-01 -9.90263099e-01 -8.27024195e-04 -2.67456447e+02] [-5.10804575e-03 1.17082810e-04 -9.99986947e-01 -8.04715888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.070385723 meters 0.016182725804366815 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.47, Z:-8.05 [[ 9.76213744e-01 2.16775316e-01 -3.89732621e-03 -9.13934730e+01] [ 2.16773219e-01 -9.76221519e-01 -9.57797255e-04 -2.67469022e+02] [-4.01228052e-03 9.01788956e-05 -9.99991947e-01 -8.04830435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1003857229999 meters 0.015781744610245514 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.48, Z:-8.05 [[ 9.56048003e-01 2.93195773e-01 -2.90763816e-03 -9.13902924e+01] [ 2.93194205e-01 -9.56052422e-01 -9.61400869e-04 -2.67482583e+02] [-3.06173318e-03 6.66427216e-05 -9.99995311e-01 -8.05052037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.130385723 meters 0.015836174440582756 Centerline is valid? [True, True] Translation: X:-91.39, Y:-267.49, Z:-8.05 [[ 9.30206838e-01 3.67024265e-01 -2.90297966e-03 -9.13862665e+01] [ 3.67022245e-01 -9.30211366e-01 -1.21945679e-03 -2.67494910e+02] [-3.14795490e-03 6.88889315e-05 -9.99995043e-01 -8.05068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.160385723 meters 0.01594106076661129 Centerline is valid? [True, True] Translation: X:-91.38, Y:-267.51, Z:-8.05 [[ 8.98649220e-01 4.38658732e-01 -2.84530705e-03 -9.13829156e+01] [ 4.38656284e-01 -8.98653722e-01 -1.46711717e-03 -2.67506545e+02] [-3.20050952e-03 7.03118812e-05 -9.99994876e-01 -8.05026613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.190385723 meters 0.01629065887630208 Centerline is valid? [True, True] Translation: X:-91.38, Y:-267.52, Z:-8.05 [[ 8.61476411e-01 5.07787438e-01 -3.21117210e-03 -9.13788896e+01] [ 5.07783552e-01 -8.61482391e-01 -1.98839509e-03 -2.67517239e+02] [-3.77605027e-03 8.23750958e-05 -9.99992867e-01 -8.04947664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2203857229999 meters 0.01585606381842107 Centerline is valid? [True, True] Translation: X:-91.37, Y:-267.53, Z:-8.05 [[ 8.19211702e-01 5.73483484e-01 -2.98009757e-03 -9.13716616e+01] [ 5.73479326e-01 -8.19217118e-01 -2.18544403e-03 -2.67528740e+02] [-3.69466300e-03 8.13169717e-05 -9.99993172e-01 -8.05004241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.250385723 meters 0.0163453549664547 Centerline is valid? [True, True] Translation: X:-91.37, Y:-267.54, Z:-8.05 [[ 7.72346010e-01 6.35195370e-01 -2.91269000e-03 -9.13654028e+01] [ 6.35190419e-01 -7.72351497e-01 -2.50934975e-03 -2.67538313e+02] [-3.84354782e-03 8.79734905e-05 -9.99992610e-01 -8.04971778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.280385723 meters 0.016566197599326985 Centerline is valid? [True, True] Translation: X:-91.36, Y:-267.55, Z:-8.05 [[ 7.20559687e-01 6.93386570e-01 -2.96677340e-03 -9.13583981e+01] [ 6.93380124e-01 -7.20565788e-01 -2.99151118e-03 -2.67546284e+02] [-4.21202909e-03 9.84606512e-05 -9.99991125e-01 -8.04940492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.310385723 meters 0.016937613218353256 Centerline is valid? [True, True] Translation: X:-91.35, Y:-267.55, Z:-8.05 [[ 6.64463477e-01 7.47314030e-01 -3.16687419e-03 -9.13524425e+01] [ 7.47304689e-01 -6.64471013e-01 -3.73821091e-03 -2.67553732e+02] [-4.89791356e-03 1.17284691e-04 -9.99987998e-01 -8.04943850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3403857229999 meters 0.01732510738755372 Centerline is valid? [True, True] Translation: X:-91.35, Y:-267.56, Z:-8.05 [[ 6.04415194e-01 7.96663059e-01 -3.20045864e-03 -9.13452090e+01] [ 7.96650691e-01 -6.04423653e-01 -4.44118901e-03 -2.67560496e+02] [-5.47256412e-03 1.34674530e-04 -9.99985016e-01 -8.04873450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.370385723 meters 0.017153578883867076 Centerline is valid? [True, True] Translation: X:-91.34, Y:-267.57, Z:-8.05 [[ 5.40407668e-01 8.41399336e-01 -2.59053839e-03 -9.13364879e+01] [ 8.41388546e-01 -5.40413863e-01 -4.26283482e-03 -2.67567794e+02] [-4.98670925e-03 1.24019292e-04 -9.99987559e-01 -8.04859623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.400385723 meters 0.017752873605954084 Centerline is valid? [True, True] Translation: X:-91.33, Y:-267.57, Z:-8.05 [[ 4.73455722e-01 8.80815830e-01 -1.77570115e-03 -9.13294609e+01] [ 8.80808818e-01 -4.73459041e-01 -3.51595987e-03 -2.67573918e+02] [-3.93763487e-03 1.00598092e-04 -9.99992243e-01 -8.04899038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.430385723 meters 0.017712272547169512 Centerline is valid? [True, True] Translation: X:-91.32, Y:-267.58, Z:-8.05 [[ 4.02944989e-01 9.15222945e-01 -1.51569792e-03 -9.13221280e+01] [ 9.15215491e-01 -4.02947827e-01 -3.69510177e-03 -2.67579267e+02] [-3.99258911e-03 1.01732525e-04 -9.99992025e-01 -8.04919007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.460385723 meters 0.016567275627607642 Centerline is valid? [True, True] Translation: X:-91.31, Y:-267.59, Z:-8.05 [[ 3.29624238e-01 9.44111476e-01 -1.17538217e-03 -9.13078618e+01] [ 9.44104394e-01 -3.29626320e-01 -3.65820340e-03 -2.67585986e+02] [-3.84118872e-03 9.61490418e-05 -9.99992618e-01 -8.04938853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.490385723 meters 0.01623741046594903 Centerline is valid? [True, True] Translation: X:-91.29, Y:-267.59, Z:-8.05 [[ 2.53542802e-01 9.67323617e-01 -1.03367605e-03 -9.12940538e+01] [ 9.67313768e-01 -2.53544886e-01 -4.36628610e-03 -2.67590562e+02] [-4.48569494e-03 1.07151337e-04 -9.99989934e-01 -8.04949193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.520385723 meters 0.016454759652289142 Centerline is valid? [True, True] Translation: X:-91.28, Y:-267.60, Z:-8.05 [[ 1.74262444e-01 9.84699006e-01 -6.83921868e-04 -9.12817166e+01] [ 9.84689165e-01 -1.74263760e-01 -4.40334250e-03 -2.67595347e+02] [-4.45514978e-03 9.38867705e-05 -9.99990071e-01 -8.04992321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.550385723 meters 0.015882781918720612 Centerline is valid? [True, True] Translation: X:-91.27, Y:-267.60, Z:-8.05 [[ 9.53496712e-02 9.95443792e-01 -3.12588700e-04 -9.12686067e+01] [ 9.95435261e-01 -9.53501485e-02 -4.12191328e-03 -2.67597735e+02] [-4.13293836e-03 8.18612615e-05 -9.99991456e-01 -8.05051306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.580385723 meters 0.015785955348571447 Centerline is valid? [True, True] Translation: X:-91.26, Y:-267.60, Z:-8.05 [[ 1.52010694e-02 9.99884457e-01 7.55647387e-06 -9.12557507e+01] [ 9.99880596e-01 -1.52009897e-02 -2.77919665e-03 -2.67600482e+02] [-2.77876067e-03 4.98023327e-05 -9.99996138e-01 -8.05127093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.610385723 meters 0.015698207913690757 Centerline is valid? [True, True] Translation: X:-91.25, Y:-267.60, Z:-8.05 [[-6.40703803e-02 9.97945369e-01 1.64930135e-04 -9.12460033e+01] [ 9.97943307e-01 6.40705833e-02 -2.02903764e-03 -2.67601290e+02] [-2.03543589e-03 3.45897104e-05 -9.99997928e-01 -8.05178355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.640385723 meters 0.015020526041956845 Centerline is valid? [True, True] Translation: X:-91.23, Y:-267.60, Z:-8.05 [[-1.43210143e-01 9.89692251e-01 3.21878271e-04 -9.12301178e+01] [ 9.89690230e-01 1.43210502e-01 -2.00047094e-03 -2.67599742e+02] [-2.02594693e-03 3.20720501e-05 -9.99997947e-01 -8.05239106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.670385723 meters 0.014929084077216366 Centerline is valid? [True, True] Translation: X:-91.22, Y:-267.60, Z:-8.05 [[-2.22256962e-01 9.74987985e-01 5.22032111e-04 -9.12166497e+01] [ 9.74985609e-01 2.22257573e-01 -2.15238835e-03 -2.67598951e+02] [-2.21457837e-03 3.05905001e-05 -9.99997547e-01 -8.05304512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.700385723 meters 0.01491781471470297 Centerline is valid? [True, True] Translation: X:-91.20, Y:-267.60, Z:-8.05 [[-2.98997161e-01 9.54253735e-01 7.12501048e-04 -9.12032404e+01] [ 9.54251252e-01 2.98998008e-01 -2.17703354e-03 -2.67595578e+02] [-2.29047878e-03 2.89781702e-05 -9.99997377e-01 -8.05308912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.730385723 meters 0.014821875362159096 Centerline is valid? [True, True] Translation: X:-91.19, Y:-267.59, Z:-8.05 [[-3.74024090e-01 9.27418619e-01 8.28179229e-04 -9.11904422e+01] [ 9.27416488e-01 3.74025006e-01 -1.98808439e-03 -2.67592385e+02] [-2.15354622e-03 2.44756147e-05 -9.99997681e-01 -8.05262749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.760385723 meters 0.014604768864449766 Centerline is valid? [True, True] Translation: X:-91.18, Y:-267.59, Z:-8.05 [[-4.47275428e-01 8.94395171e-01 1.40376510e-03 -9.11765483e+01] [ 8.94390966e-01 4.47277630e-01 -2.74259096e-03 -2.67586628e+02] [-3.08083283e-03 2.88212776e-05 -9.99995254e-01 -8.05107854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.790385723 meters 0.01466750686085008 Centerline is valid? [True, True] Translation: X:-91.17, Y:-267.58, Z:-8.05 [[-5.16515677e-01 8.56275574e-01 1.92278815e-03 -9.11655030e+01] [ 8.56269869e-01 5.16519255e-01 -3.12576935e-03 -2.67581368e+02] [-3.66967705e-03 3.19166844e-05 -9.99993266e-01 -8.05064785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.820385723 meters 0.014722345077449977 Centerline is valid? [True, True] Translation: X:-91.16, Y:-267.58, Z:-8.05 [[-5.81030407e-01 8.13878567e-01 2.31184841e-03 -9.11553390e+01] [ 8.13872388e-01 5.81035005e-01 -3.17146858e-03 -2.67575545e+02] [-3.92445515e-03 3.88299045e-05 -9.99992299e-01 -8.05028806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8503857229999 meters 0.01497365905043191 Centerline is valid? [True, True] Translation: X:-91.15, Y:-267.57, Z:-8.05 [[-6.41792869e-01 7.66872823e-01 2.82603345e-03 -9.11459594e+01] [ 7.66865727e-01 6.41799089e-01 -3.29947441e-03 -2.67570234e+02] [-4.34402295e-03 4.96090515e-05 -9.99990564e-01 -8.05028055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.880385723 meters 0.015666165466766475 Centerline is valid? [True, True] Translation: X:-91.14, Y:-267.57, Z:-8.05 [[-6.98488509e-01 7.15615521e-01 2.86845017e-03 -9.11384329e+01] [ 7.15609803e-01 6.98494397e-01 -2.86122950e-03 -2.67565845e+02] [-4.05113661e-03 5.41551366e-05 -9.99991793e-01 -8.04998302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.910385723 meters 0.015792057927270797 Centerline is valid? [True, True] Translation: X:-91.12, Y:-267.55, Z:-8.05 [[-7.44703499e-01 6.67392365e-01 2.03236132e-03 -9.11150089e+01] [ 6.67390049e-01 7.44706271e-01 -1.75878796e-03 -2.67550253e+02] [-2.68731388e-03 4.66021726e-05 -9.99996388e-01 -8.05135270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.940385723 meters 0.01665973771669284 Centerline is valid? [True, True] Translation: X:-91.10, Y:-267.53, Z:-8.05 [[-7.88894521e-01 6.14524741e-01 2.18570954e-03 -9.11000328e+01] [ 6.14522566e-01 7.88897547e-01 -1.63585080e-03 -2.67528615e+02] [-2.72957169e-03 5.26540999e-05 -9.99996273e-01 -8.05143497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9703857229999 meters 0.01678124440777872 Centerline is valid? [True, True] Translation: X:-91.08, Y:-267.51, Z:-8.05 [[-8.28844427e-01 5.59472051e-01 2.81771548e-03 -9.10804362e+01] [ 5.59469120e-01 8.28849213e-01 -1.81248730e-03 -2.67509665e+02] [-3.34949724e-03 7.41548017e-05 -9.99994388e-01 -8.05166536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.000385723 meters 0.016843966644292992 Centerline is valid? [True, True] Translation: X:-91.06, Y:-267.49, Z:-8.05 [[-8.65718287e-01 5.00519843e-01 3.42552123e-03 -9.10649141e+01] [ 5.00516341e-01 8.65725059e-01 -1.87457582e-03 -2.67486453e+02] [-3.90382197e-03 9.16747824e-05 -9.99992376e-01 -8.05149001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.030385723 meters 0.017528452315841728 Centerline is valid? [True, True] Translation: X:-91.06, Y:-267.46, Z:-8.05 [[-8.98179658e-01 4.39612563e-01 3.75466190e-03 -9.10564285e+01] [ 4.39609206e-01 8.98187499e-01 -1.72109174e-03 -2.67460760e+02] [-4.12900394e-03 1.04734345e-04 -9.99991470e-01 -8.05110203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.060385723 meters 0.01825978477863771 Centerline is valid? [True, True] Translation: X:-91.05, Y:-267.43, Z:-8.05 [[-9.26073589e-01 3.77324316e-01 3.75075154e-03 -9.10504057e+01] [ 3.77321708e-01 9.26081178e-01 -1.40715229e-03 -2.67434654e+02] [-4.00445318e-03 1.12113403e-04 -9.99991976e-01 -8.05054383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0903857229999 meters 0.01875945103133058 Centerline is valid? [True, True] Translation: X:-90.79, Y:-266.77, Z:-9.02 [[-9.22089894e-01 -3.86952902e-01 4.20478748e-03 -9.07921440e+01] [ 3.86948421e-01 -9.22099476e-01 -1.86444314e-03 -2.66772607e+02] [ 4.59868401e-03 -9.21482968e-05 9.99989422e-01 -9.02025779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.120385723 meters 0.018472115972252495 Centerline is valid? [True, True] Translation: X:-91.09, Y:-267.42, Z:-8.05 [[-9.27260634e-01 3.74382910e-01 5.01526707e-03 -9.10920951e+01] [ 3.74378319e-01 9.27274185e-01 -1.86026501e-03 -2.67422136e+02] [-5.34697911e-03 1.52656746e-04 -9.99985693e-01 -8.04976036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.150385723 meters 0.018306818252849563 Centerline is valid? [True, True] Translation: X:-91.08, Y:-267.40, Z:-8.05 [[-9.51776131e-01 3.06743489e-01 5.53435061e-03 -9.10788139e+01] [ 3.06739269e-01 9.51792208e-01 -1.61673381e-03 -2.67395539e+02] [-5.76347436e-03 1.58834007e-04 -9.99983379e-01 -8.04937826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.180385723 meters 0.01829209039460956 Centerline is valid? [True, True] Translation: X:-90.88, Y:-266.71, Z:-9.02 [[-9.47720037e-01 -3.19046987e-01 5.97930096e-03 -9.08790597e+01] [ 3.19039720e-01 -9.47738889e-01 -2.15785474e-03 -2.66711259e+02] [ 6.35527310e-03 -1.37407677e-04 9.99979796e-01 -9.02108583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.210385723 meters 0.01804716585563587 Centerline is valid? [True, True] Translation: X:-91.13, Y:-267.38, Z:-8.05 [[-9.53537566e-01 3.01214238e-01 6.00776747e-03 -9.11334623e+01] [ 3.01209311e-01 9.53556478e-01 -1.73019891e-03 -2.67381895e+02] [-6.24990614e-03 1.59785844e-04 -9.99980456e-01 -8.04971139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.240385723 meters 0.018125581233730648 Centerline is valid? [True, True] Translation: X:-90.93, Y:-266.70, Z:-9.02 [[-9.48483123e-01 -3.16776781e-01 5.67778828e-03 -9.09290208e+01] [ 3.16770042e-01 -9.48500102e-01 -2.07299627e-03 -2.66695115e+02] [ 6.04205985e-03 -1.67648742e-04 9.99981733e-01 -9.02047876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.270385723 meters 0.018066330743139923 Centerline is valid? [True, True] Translation: X:-91.18, Y:-267.37, Z:-8.05 [[-9.54837352e-01 2.97064669e-01 6.18171871e-03 -9.11810443e+01] [ 2.97059530e-01 9.54857349e-01 -1.75461523e-03 -2.67370435e+02] [-6.42389373e-03 1.60966300e-04 -9.99979354e-01 -8.04969447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.300385723 meters 0.01803964967149515 Centerline is valid? [True, True] Translation: X:-91.18, Y:-267.34, Z:-8.05 [[-9.73633090e-01 2.28034475e-01 6.23569731e-03 -9.11767429e+01] [ 2.28030823e-01 9.73653046e-01 -1.29997422e-03 -2.67341699e+02] [-6.36784462e-03 1.56233275e-04 -9.99979713e-01 -8.04961080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.330385723 meters 0.017853391810082674 Centerline is valid? [True, True] Translation: X:-91.18, Y:-267.31, Z:-8.05 [[-9.87618096e-01 1.56780980e-01 5.49735404e-03 -9.11774150e+01] [ 1.56779266e-01 9.87633388e-01 -7.44010880e-04 -2.67312138e+02] [-5.54601715e-03 1.27072525e-04 -9.99984613e-01 -8.04991270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.360385723 meters 0.01771262719298415 Centerline is valid? [True, True] Translation: X:-91.17, Y:-267.28, Z:-8.05 [[-9.96309575e-01 8.56951978e-02 4.85436651e-03 -9.11740631e+01] [ 8.56947118e-02 9.96321395e-01 -3.08425560e-04 -2.67282540e+02] [-4.86293981e-03 1.08706201e-04 -9.99988170e-01 -8.05025510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.390385723 meters 0.017013861737607817 Centerline is valid? [True, True] Translation: X:-91.18, Y:-267.25, Z:-8.05 [[-9.99900676e-01 1.34736529e-02 4.13496826e-03 -9.11783566e+01] [ 1.34739001e-02 9.99909222e-01 3.19338778e-05 -2.67252532e+02] [-4.13416263e-03 8.76448551e-05 -9.99991451e-01 -8.05080393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.420385723 meters 0.01669823046219188 Centerline is valid? [True, True] Translation: X:-91.19, Y:-267.22, Z:-8.05 [[-9.98290129e-01 -5.83060858e-02 4.14945631e-03 -9.11867361e+01] [-5.83052239e-02 9.98298749e-01 3.28470226e-04 -2.67223821e+02] [-4.16154886e-03 8.59736052e-05 -9.99991337e-01 -8.05055368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.450385723 meters 0.01669823046219188 Centerline is valid? [True, True] Translation: X:-91.20, Y:-267.20, Z:-8.05 [[-9.91586628e-01 -1.29379376e-01 4.11543981e-03 -9.11995271e+01] [-1.29377901e-01 9.91595164e-01 6.23667708e-04 -2.67195854e+02] [-4.16153995e-03 8.59735941e-05 -9.99991337e-01 -8.05055381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.480385723 meters 0.016919554080975195 Centerline is valid? [True, True] Translation: X:-91.32, Y:-266.49, Z:-9.02 [[-9.94661828e-01 1.03080488e-01 4.71818771e-03 -9.13214192e+01] [-1.03079612e-01 -9.94673016e-01 4.29310082e-04 -2.66487207e+02] [ 4.73730749e-03 -5.93306048e-05 9.99988777e-01 -9.02035570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.510385723 meters 0.016668211946412912 Centerline is valid? [True, True] Translation: X:-91.33, Y:-267.22, Z:-8.05 [[-9.90558089e-01 -1.37002342e-01 5.00301700e-03 -9.13281902e+01] [-1.37000091e-01 9.90570719e-01 7.91556703e-04 -2.67215156e+02] [-5.06428727e-03 9.86691096e-05 -9.99987172e-01 -8.04916008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.540385723 meters 0.016813277193153363 Centerline is valid? [True, True] Translation: X:-91.35, Y:-267.19, Z:-8.05 [[-9.78167686e-01 -2.07765205e-01 4.64739967e-03 -9.13540459e+01] [-2.07762403e-01 9.78178721e-01 1.08308149e-03 -2.67191006e+02] [-4.77101411e-03 9.38803903e-05 -9.99988614e-01 -8.04900614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.570385723 meters 0.01639843681359926 Centerline is valid? [True, True] Translation: X:-91.40, Y:-267.17, Z:-8.05 [[-9.60505106e-01 -2.78230119e-01 4.23580558e-03 -9.13999956e+01] [-2.78227011e-01 9.60514442e-01 1.31795730e-03 -2.67174032e+02] [-4.43524785e-03 8.73891882e-05 -9.99990161e-01 -8.04947351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6003857229999 meters 0.016724979644381053 Centerline is valid? [True, True] Translation: X:-91.46, Y:-267.17, Z:-8.05 [[-9.37330215e-01 -3.48418006e-01 4.11837399e-03 -9.14619460e+01] [-3.48414238e-01 9.37339259e-01 1.62267305e-03 -2.67167001e+02] [-4.42568213e-03 8.60803471e-05 -9.99990203e-01 -8.04959873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.630385723 meters 0.017025883297826273 Centerline is valid? [True, True] Translation: X:-91.53, Y:-267.17, Z:-8.05 [[-9.08840529e-01 -4.17124681e-01 3.98666701e-03 -9.15340963e+01] [-4.17120260e-01 9.08849269e-01 1.92233140e-03 -2.67168609e+02] [-4.42513127e-03 8.41731110e-05 -9.99990206e-01 -8.04956655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.660385723 meters 0.016789952159323603 Centerline is valid? [True, True] Translation: X:-91.61, Y:-267.18, Z:-8.05 [[-8.74817455e-01 -4.84435938e-01 4.03016097e-03 -9.16132251e+01] [-4.84430352e-01 8.74826734e-01 2.32802080e-03 -2.67177537e+02] [-4.65346950e-03 8.42609374e-05 -9.99989169e-01 -8.04837376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.690385723 meters 0.01625958210290098 Centerline is valid? [True, True] Translation: X:-91.71, Y:-267.20, Z:-8.05 [[-8.35829386e-01 -5.48975399e-01 3.90495096e-03 -9.17082650e+01] [-5.48968943e-01 8.35838504e-01 2.66354538e-03 -2.67203120e+02] [-4.72612926e-03 8.25726979e-05 -9.99988828e-01 -8.04898556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7203857229999 meters 0.016221111241281325 Centerline is valid? [True, True] Translation: X:-91.79, Y:-267.23, Z:-8.05 [[-7.91702527e-01 -6.10896017e-01 3.62831208e-03 -9.17891903e+01] [-6.10889147e-01 7.91710837e-01 2.89836126e-03 -2.67229299e+02] [-4.64317135e-03 7.81434636e-05 -9.99989217e-01 -8.04795908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.750385723 meters 0.016154697111008327 Centerline is valid? [True, True] Translation: X:-91.88, Y:-267.27, Z:-8.05 [[-7.43225501e-01 -6.69032964e-01 3.27846715e-03 -9.18790976e+01] [-6.69026007e-01 7.43232728e-01 3.05195407e-03 -2.67269906e+02] [-4.47852196e-03 7.49103064e-05 -9.99989969e-01 -8.04810221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.780385723 meters 0.01593691798543927 Centerline is valid? [True, True] Translation: X:-91.97, Y:-267.32, Z:-8.05 [[-6.90485318e-01 -7.23340016e-01 3.04097115e-03 -9.19720299e+01] [-7.23332511e-01 6.90492010e-01 3.29581391e-03 -2.67322866e+02] [-4.48376036e-03 7.60778180e-05 -9.99989945e-01 -8.04853803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.810385723 meters 0.016291871277469665 Centerline is valid? [True, True] Translation: X:-92.06, Y:-267.39, Z:-8.05 [[-6.34071728e-01 -7.73269111e-01 2.81545943e-03 -9.20616402e+01] [-7.73260917e-01 6.34077973e-01 3.56068931e-03 -2.67388126e+02] [-4.53859186e-03 8.06476872e-05 -9.99989697e-01 -8.04902118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8403857229999 meters 0.016388128952068273 Centerline is valid? [True, True] Translation: X:-92.15, Y:-267.46, Z:-8.05 [[-5.73536961e-01 -8.19175563e-01 2.59824799e-03 -9.21500592e+01] [-8.19166481e-01 5.73542840e-01 3.85842149e-03 -2.67461828e+02] [-4.65093113e-03 8.45496761e-05 -9.99989181e-01 -8.04862192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.870385723 meters 0.016446302915887098 Centerline is valid? [True, True] Translation: X:-92.23, Y:-267.54, Z:-8.05 [[-5.09738882e-01 -8.60325047e-01 2.66176551e-03 -9.22329209e+01] [-8.60312259e-01 5.09745822e-01 4.69190580e-03 -2.67543614e+02] [-5.39338793e-03 1.01697318e-04 -9.99985451e-01 -8.04785544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.900385723 meters 0.016601163832009064 Centerline is valid? [True, True] Translation: X:-92.31, Y:-267.63, Z:-8.05 [[-4.42128646e-01 -8.96948990e-01 2.18393087e-03 -9.23109263e+01] [-8.96936957e-01 4.42134030e-01 4.64711248e-03 -2.67633870e+02] [-5.13381300e-03 9.57732380e-05 -9.99986817e-01 -8.04751712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.930385723 meters 0.01623999304924939 Centerline is valid? [True, True] Translation: X:-92.39, Y:-267.73, Z:-8.05 [[-3.71580219e-01 -9.28399240e-01 1.72988994e-03 -9.23852589e+01] [-9.28388038e-01 3.71584235e-01 4.56154778e-03 -2.67734115e+02] [-4.87773732e-03 8.89717938e-05 -9.99988100e-01 -8.04771159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.960385723 meters 0.016260858889981827 Centerline is valid? [True, True] Translation: X:-92.45, Y:-267.84, Z:-8.05 [[-2.97610356e-01 -9.54686656e-01 1.21075531e-03 -9.24488782e+01] [-9.54677751e-01 2.97612810e-01 4.12395760e-03 -2.67836798e+02] [-4.29742358e-03 7.14513348e-05 -9.99990764e-01 -8.04796093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.990385723 meters 0.01609690091341258 Centerline is valid? [True, True] Translation: X:-92.51, Y:-267.96, Z:-8.05 [[-2.22373418e-01 -9.74961161e-01 8.93027436e-04 -9.25087630e+01] [-9.74952037e-01 2.22375201e-01 4.21856657e-03 -2.67955630e+02] [-4.31152572e-03 6.74381482e-05 -9.99990703e-01 -8.04758642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.020385723 meters 0.015912391489686692 Centerline is valid? [True, True] Translation: X:-92.56, Y:-268.08, Z:-8.05 [[-1.44913875e-01 -9.89444125e-01 5.40530535e-04 -9.25592305e+01] [-9.89435691e-01 1.44914872e-01 4.08576389e-03 -2.68076314e+02] [-4.12096599e-03 5.72636739e-05 -9.99991507e-01 -8.04685959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.050385723 meters 0.015654431216300144 Centerline is valid? [True, True] Translation: X:-93.33, Y:-268.08, Z:-9.02 [[-1.84888319e-01 9.82759174e-01 8.45852907e-04 -9.33266516e+01] [-9.82749990e-01 -1.84890248e-01 4.24891428e-03 -2.68078385e+02] [ 4.33204944e-03 -4.56873160e-05 9.99990616e-01 -9.02325285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.080385723 meters 0.015658536275741545 Centerline is valid? [True, True] Translation: X:-92.60, Y:-268.37, Z:-8.05 [[-1.33857678e-01 -9.91000430e-01 5.20216667e-04 -9.26006328e+01] [-9.90991297e-01 1.33858678e-01 4.25480735e-03 -2.68368658e+02] [-4.28615143e-03 5.40084439e-05 -9.99990813e-01 -8.04681740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.110385723 meters 0.01573666876850178 Centerline is valid? [True, True] Translation: X:-92.64, Y:-268.48, Z:-8.05 [[-5.77026553e-02 -9.98333804e-01 1.43055024e-04 -9.26367609e+01] [-9.98328688e-01 5.77028177e-02 3.19622007e-03 -2.68479794e+02] [-3.19914922e-03 4.16144506e-05 -9.99994882e-01 -8.04811239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.140385723 meters 0.01579710109225154 Centerline is valid? [True, True] Translation: X:-92.67, Y:-268.61, Z:-8.05 [[ 1.88025150e-02 -9.99823213e-01 -8.94356738e-05 -9.26651169e+01] [-9.99819423e-01 -1.88026900e-02 2.75330160e-03 -2.68605584e+02] [-2.75449649e-03 3.76505291e-05 -9.99996206e-01 -8.04883826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.170385723 meters 0.015790943848176798 Centerline is valid? [True, True] Translation: X:-92.68, Y:-268.74, Z:-8.05 [[ 9.43814174e-02 -9.95536058e-01 -3.25793804e-04 -9.26838618e+01] [-9.95531670e-01 -9.43819688e-02 2.95612119e-03 -2.68736542e+02] [-2.97367429e-03 4.53351422e-05 -9.99995578e-01 -8.04836439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.200385723 meters 0.01593035515363283 Centerline is valid? [True, True] Translation: X:-92.70, Y:-268.86, Z:-8.05 [[ 1.70943309e-01 -9.85280713e-01 -5.49445085e-04 -9.26950796e+01] [-9.85276433e-01 -1.70944186e-01 2.90442605e-03 -2.68855555e+02] [-2.95559942e-03 4.48630936e-05 -9.99995631e-01 -8.04752212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.230385723 meters 0.01593865483763595 Centerline is valid? [True, True] Translation: X:-92.69, Y:-268.99, Z:-8.05 [[ 2.47236166e-01 -9.68954792e-01 -9.42845197e-04 -9.26938025e+01] [-9.68948525e-01 -2.47237958e-01 3.48530916e-03 -2.68986489e+02] [-3.61021413e-03 5.18739907e-05 -9.99993482e-01 -8.04616675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.260385723 meters 0.015892627709243237 Centerline is valid? [True, True] Translation: X:-92.69, Y:-269.11, Z:-8.05 [[ 3.21706590e-01 -9.46838633e-01 -1.21372710e-03 -9.26852986e+01] [-9.46832473e-01 -3.21708876e-01 3.41586012e-03 -2.69108879e+02] [-3.62473510e-03 5.02915173e-05 -9.99993429e-01 -8.04567019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.290385723 meters 0.015697643744776207 Centerline is valid? [True, True] Translation: X:-92.66, Y:-269.24, Z:-8.05 [[ 3.94694471e-01 -9.18811188e-01 -1.50849201e-03 -9.26626361e+01] [-9.18804929e-01 -3.94697351e-01 3.39182677e-03 -2.69240885e+02] [-3.71184618e-03 4.72746172e-05 -9.99993110e-01 -8.04586515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.320385723 meters 0.015842007717235148 Centerline is valid? [True, True] Translation: X:-92.63, Y:-269.37, Z:-8.05 [[ 4.65037507e-01 -8.85289345e-01 -1.70081807e-03 -9.26300825e+01] [-8.85283753e-01 -4.65040616e-01 3.14685245e-03 -2.69370846e+02] [-3.57682442e-03 4.23021830e-05 -9.99993602e-01 -8.04637056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3503857229999 meters 0.015676564538392508 Centerline is valid? [True, True] Translation: X:-92.60, Y:-269.48, Z:-8.05 [[ 5.32377151e-01 -8.46505748e-01 -1.60875523e-03 -9.25991539e+01] [-8.46502067e-01 -5.32379581e-01 2.49663882e-03 -2.69480996e+02] [-2.96988755e-03 3.26611706e-05 -9.99995589e-01 -8.04682949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.380385723 meters 0.015439576546916663 Centerline is valid? [True, True] Translation: X:-92.56, Y:-269.59, Z:-8.05 [[ 5.97119826e-01 -8.02150598e-01 -1.52668368e-03 -9.25592809e+01] [-8.02148077e-01 -5.97121778e-01 2.01149341e-03 -2.69590643e+02] [-2.52513672e-03 2.35237791e-05 -9.99996812e-01 -8.04717881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.410385723 meters 0.015265386474696002 Centerline is valid? [True, True] Translation: X:-92.51, Y:-269.69, Z:-8.05 [[ 6.57563298e-01 -7.53397869e-01 -1.46987592e-03 -9.25136461e+01] [-7.53396049e-01 -6.57564940e-01 1.65621818e-03 -2.69692348e+02] [-2.21433012e-03 1.83304196e-05 -9.99997548e-01 -8.04764998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.440385723 meters 0.015388208575539486 Centerline is valid? [True, True] Translation: X:-92.46, Y:-269.79, Z:-8.05 [[ 7.13255575e-01 -7.00903746e-01 -6.51196918e-04 -9.24612136e+01] [-7.00903463e-01 -7.13255872e-01 6.29921428e-04 -2.69788693e+02] [-9.05984314e-04 7.13120466e-06 -9.99999590e-01 -8.04817379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4703857229999 meters 0.01549170030375707 Centerline is valid? [True, True] Translation: X:-92.47, Y:-269.80, Z:-8.05 [[ 7.65451986e-01 -6.43491932e-01 -1.17923525e-03 -9.24671138e+01] [-6.43491195e-01 -7.65452895e-01 9.74029084e-04 -2.69797289e+02] [-1.52942889e-03 1.32550005e-05 -9.99998830e-01 -8.04800404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.500385723 meters 0.015750020390986715 Centerline is valid? [True, True] Translation: X:-92.47, Y:-269.81, Z:-8.05 [[ 8.12214718e-01 -5.83355759e-01 -1.81940451e-03 -9.24717874e+01] [-5.83354361e-01 -8.12216756e-01 1.27711996e-03 -2.69805485e+02] [-2.22276611e-03 2.40619287e-05 -9.99997529e-01 -8.04711296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.530385723 meters 0.01584247277725565 Centerline is valid? [True, True] Translation: X:-92.48, Y:-269.81, Z:-8.05 [[ 8.54985467e-01 -5.18646944e-01 -2.28017149e-03 -9.24780280e+01] [-5.18645194e-01 -8.54988507e-01 1.34754065e-03 -2.69814757e+02] [-2.64841825e-03 3.04723152e-05 -9.99996493e-01 -8.04660089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.560385723 meters 0.01596730363208975 Centerline is valid? [True, True] Translation: X:-92.48, Y:-269.82, Z:-8.05 [[ 8.92666797e-01 -4.50711494e-01 -2.26700005e-03 -9.24841229e+01] [-4.50710126e-01 -8.92669675e-01 1.11051663e-03 -2.69824822e+02] [-2.52420480e-03 3.04385497e-05 -9.99996814e-01 -8.04683332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5903857229999 meters 0.018926887573486467 Centerline is valid? [True, True] Translation: X:-92.49, Y:-269.84, Z:-8.04 [[ 9.24767015e-01 -3.80523369e-01 -2.81676941e-03 -9.24895360e+01] [-3.80521735e-01 -9.24771304e-01 1.11597438e-03 -2.69836386e+02] [-3.02952185e-03 3.98256913e-05 -9.99995410e-01 -8.04308891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.620385723 meters 0.01608872621689889 Centerline is valid? [True, True] Translation: X:-92.49, Y:-269.85, Z:-8.05 [[ 9.51805429e-01 -3.06692103e-01 -2.52561583e-03 -9.24937317e+01] [-3.06691117e-01 -9.51808780e-01 7.78464136e-04 -2.69848328e+02] [-2.64265212e-03 3.36375496e-05 -9.99996508e-01 -8.04698533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.650385723 meters 0.01649880696008264 Centerline is valid? [True, True] Translation: X:-92.50, Y:-269.86, Z:-8.05 [[ 9.72616348e-01 -2.32392443e-01 -3.34556658e-03 -9.24971754e+01] [-2.32391236e-01 -9.72622100e-01 7.50516986e-04 -2.69859301e+02] [-3.42838647e-03 4.75152648e-05 -9.99994122e-01 -8.04643581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.680385723 meters 0.016365794683076532 Centerline is valid? [True, True] Translation: X:-92.50, Y:-269.87, Z:-8.05 [[ 9.87709868e-01 -1.56251477e-01 -3.83302460e-03 -9.25033527e+01] [-1.56250522e-01 -9.87717304e-01 5.49214326e-04 -2.69871209e+02] [-3.87176028e-03 5.64476877e-05 -9.99992503e-01 -8.04663752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.710385723 meters 0.01651834973519236 Centerline is valid? [True, True] Translation: X:-92.51, Y:-269.88, Z:-8.05 [[ 9.96818771e-01 -7.95923224e-02 -4.17129031e-03 -9.25079487e+01] [-7.95919016e-02 -9.96827497e-01 2.67059147e-04 -2.69883154e+02] [-4.17931274e-03 6.57913577e-05 -9.99991265e-01 -8.04622547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.740385723 meters 0.017516460207205518 Centerline is valid? [True, True] Translation: X:-92.51, Y:-269.89, Z:-8.04 [[ 9.99977573e-01 -4.25510474e-03 -5.17182048e-03 -9.25122267e+01] [-4.25554751e-03 -9.99990942e-01 -7.46095164e-05 -2.69893384e+02] [-5.17145617e-03 9.66167709e-05 -9.99986623e-01 -8.04447490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.770385723 meters 0.017791710032659742 Centerline is valid? [True, True] Translation: X:-92.52, Y:-269.90, Z:-8.04 [[ 9.97369064e-01 7.22658004e-02 -5.71010762e-03 -9.25151212e+01] [ 7.22639432e-02 -9.97385402e-01 -5.31161137e-04 -2.69902575e+02] [-5.73356277e-03 1.17128793e-04 -9.99983556e-01 -8.04374657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.800385723 meters 0.01795107961538179 Centerline is valid? [True, True] Translation: X:-92.52, Y:-269.92, Z:-8.04 [[ 9.89091342e-01 1.47204210e-01 -5.40719068e-03 -9.25167524e+01] [ 1.47201300e-01 -9.89106114e-01 -9.34499700e-04 -2.69916133e+02] [-5.48584765e-03 1.28360067e-04 -9.99984944e-01 -8.04426287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.830385723 meters 0.01795013018950004 Centerline is valid? [True, True] Translation: X:-92.52, Y:-269.93, Z:-8.04 [[ 9.74663680e-01 2.23615007e-01 -5.19998546e-03 -9.25178276e+01] [ 2.23611118e-01 -9.74677543e-01 -1.32507621e-03 -2.69929246e+02] [-5.36461597e-03 1.28729095e-04 -9.99985602e-01 -8.04474936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.860385723 meters 0.018141829878971446 Centerline is valid? [True, True] Translation: X:-92.52, Y:-269.94, Z:-8.05 [[ 9.54335778e-01 2.98697749e-01 -4.78298706e-03 -9.25175036e+01] [ 2.98693344e-01 -9.54347756e-01 -1.62695865e-03 -2.69942442e+02] [-5.05060185e-03 1.24018451e-04 -9.99987238e-01 -8.04504917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.890385723 meters 0.01842093496745323 Centerline is valid? [True, True] Translation: X:-92.52, Y:-269.96, Z:-8.04 [[ 9.28005669e-01 3.72537702e-01 -4.59773750e-03 -9.25168718e+01] [ 3.72532473e-01 -9.28017050e-01 -1.97775153e-03 -2.69956643e+02] [-5.00356580e-03 1.22558110e-04 -9.99987475e-01 -8.04453432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.920385723 meters 0.018558712853022855 Centerline is valid? [True, True] Translation: X:-92.52, Y:-269.97, Z:-8.04 [[ 8.95662940e-01 4.44716105e-01 -3.93504344e-03 -9.25155512e+01] [ 4.44711293e-01 -8.95671578e-01 -2.07154024e-03 -2.69969180e+02] [-4.44575388e-03 1.05443566e-04 -9.99990112e-01 -8.04480089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.950385723 meters 0.018512462801646663 Centerline is valid? [True, True] Translation: X:-92.51, Y:-269.98, Z:-8.05 [[ 8.57935822e-01 5.13744207e-01 -3.60753792e-03 -9.25127382e+01] [ 5.13739173e-01 -8.57943401e-01 -2.27660268e-03 -2.69979260e+02] [-4.26465479e-03 9.98454467e-05 -9.99990901e-01 -8.04511930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.980385723 meters 0.017743119785252105 Centerline is valid? [True, True] Translation: X:-92.51, Y:-269.99, Z:-8.05 [[ 8.14715832e-01 5.79850375e-01 -3.41392609e-03 -9.25065550e+01] [ 5.79844781e-01 -8.14722979e-01 -2.54888361e-03 -2.69993301e+02] [-4.25937515e-03 9.70686072e-05 -9.99990924e-01 -8.04533874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.010385723 meters 0.01767427912036468 Centerline is valid? [True, True] Translation: X:-92.50, Y:-270.01, Z:-8.04 [[ 7.66170546e-01 6.42630185e-01 -3.02312144e-03 -9.24988640e+01] [ 6.42624728e-01 -7.66176505e-01 -2.64990215e-03 -2.70007289e+02] [-4.01915173e-03 8.75443911e-05 -9.99991919e-01 -8.04412802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.040385723 meters 0.01736787379038971 Centerline is valid? [True, True] Translation: X:-92.49, Y:-270.02, Z:-8.04 [[ 7.12480037e-01 7.01684676e-01 -3.28823611e-03 -9.24899799e+01] [ 7.01676576e-01 -7.12487618e-01 -3.37288374e-03 -2.70020452e+02] [-4.70952835e-03 9.58340757e-05 -9.99988906e-01 -8.04430320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.070385723 meters 0.017271459130799558 Centerline is valid? [True, True] Translation: X:-92.48, Y:-270.03, Z:-8.04 [[ 6.54882732e-01 7.55724587e-01 -2.99288128e-03 -9.24812494e+01] [ 7.55716044e-01 -6.54889564e-01 -3.59437096e-03 -2.70031090e+02] [-4.67636122e-03 9.21230746e-05 -9.99989062e-01 -8.04444149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1003857229999 meters 0.017120059420923473 Centerline is valid? [True, True] Translation: X:-92.47, Y:-270.04, Z:-8.04 [[ 5.93274543e-01 8.04995941e-01 -2.61770844e-03 -9.24713224e+01] [ 8.04987451e-01 -5.93280311e-01 -3.69807584e-03 -2.70041133e+02] [-4.52997092e-03 8.67518093e-05 -9.99989736e-01 -8.04468515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.130385723 meters 0.016813135456846224 Centerline is valid? [True, True] Translation: X:-92.46, Y:-270.05, Z:-8.04 [[ 5.27198788e-01 8.49738098e-01 -2.56947217e-03 -9.24586035e+01] [ 8.49727171e-01 -5.27205042e-01 -4.31033152e-03 -2.70052036e+02] [-5.01729159e-03 8.90512400e-05 -9.99987409e-01 -8.04481015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.160385723 meters 0.017072176917095616 Centerline is valid? [True, True] Translation: X:-92.45, Y:-270.06, Z:-8.04 [[ 4.58335888e-01 8.88775233e-01 -2.60738723e-03 -9.24483563e+01] [ 8.88759589e-01 -4.58343294e-01 -5.27423272e-03 -2.70060775e+02] [-5.88268587e-03 1.00029740e-04 -9.99982692e-01 -8.04404775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.190385723 meters 0.017019297383444147 Centerline is valid? [True, True] Translation: X:-92.44, Y:-270.07, Z:-8.04 [[ 3.86829992e-01 9.22147921e-01 -2.40200660e-03 -9.24372874e+01] [ 9.22128398e-01 -3.86837435e-01 -6.00141112e-03 -2.70068460e+02] [-6.46337485e-03 1.06567319e-04 -9.99979107e-01 -8.04271572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2203857229999 meters 0.016715519272967435 Centerline is valid? [True, True] Translation: X:-92.42, Y:-270.07, Z:-8.04 [[ 3.13467666e-01 9.49596781e-01 -1.99413256e-03 -9.24233927e+01] [ 9.49575264e-01 -3.13473989e-01 -6.39353650e-03 -2.70074793e+02] [-6.69639037e-03 1.10588008e-04 -9.99977573e-01 -8.04252445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.250385723 meters 0.018947217880035574 Centerline is valid? [True, True] Translation: X:-92.41, Y:-270.08, Z:-8.04 [[ 2.39165355e-01 9.70977156e-01 -1.81535971e-03 -9.24116758e+01] [ 9.70944440e-01 -2.39172202e-01 -7.97201821e-03 -2.70080639e+02] [-8.17483115e-03 1.44017147e-04 -9.99966575e-01 -8.03951129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.280385723 meters 0.01695291838680716 Centerline is valid? [True, True] Translation: X:-92.40, Y:-270.08, Z:-8.04 [[ 1.62265895e-01 9.86746470e-01 -1.08821589e-03 -9.23996673e+01] [ 9.86718539e-01 -1.62269491e-01 -7.42542639e-03 -2.70084730e+02] [-7.50359751e-03 1.31130663e-04 -9.99971839e-01 -8.04168894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.310385723 meters 0.016949310201492155 Centerline is valid? [True, True] Translation: X:-92.39, Y:-270.09, Z:-8.04 [[ 8.50870988e-02 9.96373402e-01 -4.79803148e-04 -9.23865735e+01] [ 9.96347827e-01 -8.50883530e-02 -7.14001093e-03 -2.70087419e+02] [-7.15494264e-03 1.29471992e-04 -9.99974395e-01 -8.04224677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3403857229999 meters 0.01716150322042433 Centerline is valid? [True, True] Translation: X:-92.37, Y:-270.09, Z:-8.04 [[ 7.96702140e-03 9.99968260e-01 7.51985455e-05 -9.23746239e+01] [ 9.99946200e-01 -7.96634605e-03 -6.64339576e-03 -2.70089769e+02] [-6.64258584e-03 1.28122576e-04 -9.99977930e-01 -8.04346259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.370385723 meters 0.01716150322042433 Centerline is valid? [True, True] Translation: X:-92.36, Y:-270.09, Z:-8.04 [[-7.03660570e-02 9.97521059e-01 5.95230642e-04 -9.23631144e+01] [ 9.97499120e-01 7.03684578e-02 -6.61708612e-03 -2.70091461e+02] [-6.64256822e-03 1.28123782e-04 -9.99977930e-01 -8.04346274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.400385723 meters 0.017516869129224146 Centerline is valid? [True, True] Translation: X:-92.35, Y:-270.09, Z:-8.04 [[-1.47013653e-01 9.89133986e-01 9.70927683e-04 -9.23509108e+01] [ 9.89117452e-01 1.47016811e-01 -5.72054256e-03 -2.70092335e+02] [-5.80112576e-03 1.19363656e-04 -9.99983166e-01 -8.04348547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.430385723 meters 0.017681025663498207 Centerline is valid? [True, True] Translation: X:-92.34, Y:-270.09, Z:-8.04 [[-2.23771225e-01 9.74640850e-01 1.28580499e-03 -9.23403744e+01] [ 9.74627465e-01 2.23774892e-01 -5.10908656e-03 -2.70092051e+02] [-5.26725533e-03 1.09914298e-04 -9.99986122e-01 -8.04345119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.460385723 meters 0.017778743750822164 Centerline is valid? [True, True] Translation: X:-92.33, Y:-270.09, Z:-8.04 [[-2.99136677e-01 9.54209186e-01 1.44184393e-03 -9.23297809e+01] [ 9.54199593e-01 2.99140136e-01 -4.27970056e-03 -2.70091255e+02] [-4.51504298e-03 9.55914875e-05 -9.99989803e-01 -8.04399220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.490385723 meters 0.017269277474285312 Centerline is valid? [True, True] Translation: X:-92.32, Y:-270.09, Z:-8.04 [[-3.73002370e-01 9.27828541e-01 1.85206543e-03 -9.23156820e+01] [ 9.27818399e-01 3.73006955e-01 -4.33933360e-03 -2.70087002e+02] [-4.71699085e-03 9.97986590e-05 -9.99988870e-01 -8.04422999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.520385723 meters 0.017227843824661256 Centerline is valid? [True, True] Translation: X:-92.30, Y:-270.08, Z:-8.04 [[-4.44063742e-01 8.95991886e-01 2.43582220e-03 -9.23021311e+01] [ 8.95979783e-01 4.44070408e-01 -4.65849464e-03 -2.70081708e+02] [-5.25564995e-03 1.13778883e-04 -9.99986183e-01 -8.04365584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.550385723 meters 0.01869104921536106 Centerline is valid? [True, True] Translation: X:-92.29, Y:-270.08, Z:-8.04 [[-5.12554963e-01 8.58647368e-01 3.47952350e-03 -9.22889834e+01] [ 8.58629462e-01 5.12566753e-01 -5.54715027e-03 -2.70076740e+02] [-6.54653404e-03 1.44401991e-04 -9.99978561e-01 -8.04066581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.580385723 meters 0.017517857983765598 Centerline is valid? [True, True] Translation: X:-92.28, Y:-270.07, Z:-8.04 [[-5.78407582e-01 8.15738495e-01 3.92139973e-03 -9.22785328e+01] [ 8.15721408e-01 5.78420857e-01 -5.28175921e-03 -2.70070389e+02] [-6.57675370e-03 1.43760137e-04 -9.99978363e-01 -8.04203824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.610385723 meters 0.01757381369888265 Centerline is valid? [True, True] Translation: X:-92.27, Y:-270.06, Z:-8.04 [[-6.40157449e-01 7.68232309e-01 4.19045410e-03 -9.22687795e+01] [ 7.68217285e-01 6.40171149e-01 -4.80669092e-03 -2.70062975e+02] [-6.37526308e-03 1.42140267e-04 -9.99979668e-01 -8.04248982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.640385723 meters 0.01782830129163771 Centerline is valid? [True, True] Translation: X:-92.26, Y:-270.06, Z:-8.04 [[-6.97700922e-01 7.16376128e-01 4.32048337e-03 -9.22601468e+01] [ 7.16363625e-01 6.97714285e-01 -4.23486981e-03 -2.70055693e+02] [-6.04822260e-03 1.40364558e-04 -9.99981700e-01 -8.04275656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.670385723 meters 0.019511086004039196 Centerline is valid? [True, True] Translation: X:-92.24, Y:-270.03, Z:-8.04 [[-7.45769024e-01 6.66184544e-01 5.16879296e-03 -9.22409905e+01] [ 6.66170073e-01 7.45786917e-01 -4.39413909e-03 -2.70032610e+02] [-6.78212571e-03 1.66282359e-04 -9.99976987e-01 -8.04113259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.700385723 meters 0.018095241831529326 Centerline is valid? [True, True] Translation: X:-92.22, Y:-270.01, Z:-8.04 [[-7.90128631e-01 6.12919104e-01 5.18834612e-03 -9.22227766e+01] [ 6.12907262e-01 7.90145648e-01 -3.81363812e-03 -2.70009249e+02] [-6.43700076e-03 1.66710350e-04 -9.99979268e-01 -8.04330078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.730385723 meters 0.01845191182844367 Centerline is valid? [True, True] Translation: X:-92.20, Y:-269.99, Z:-8.04 [[-8.31435761e-01 5.55593722e-01 5.49478435e-03 -9.22033948e+01] [ 5.55582927e-01 8.31453900e-01 -3.46750949e-03 -2.69986890e+02] [-6.49518637e-03 1.69796982e-04 -9.99978892e-01 -8.04294954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.760385723 meters 0.01840794170003358 Centerline is valid? [True, True] Translation: X:-91.84, Y:-269.42, Z:-9.03 [[-8.23783253e-01 -5.66890686e-01 4.01261172e-03 -9.18406514e+01] [ 5.66882646e-01 -8.23792997e-01 -3.02728709e-03 -2.69421073e+02] [ 5.02170229e-03 -2.19148455e-04 9.99987367e-01 -9.02642120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.790385723 meters 0.01853833237311349 Centerline is valid? [True, True] Translation: X:-92.24, Y:-269.96, Z:-8.04 [[-8.32220496e-01 5.54433549e-01 3.53360485e-03 -9.22398274e+01] [ 5.54429150e-01 8.32227989e-01 -2.21187454e-03 -2.69961792e+02] [-4.16710231e-03 1.18366209e-04 -9.99991311e-01 -8.04445637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.820385723 meters 0.019289876413226412 Centerline is valid? [True, True] Translation: X:-91.88, Y:-269.40, Z:-9.02 [[-8.27638793e-01 -5.61256788e-01 2.20147474e-03 -9.18815945e+01] [ 5.61254276e-01 -8.27641705e-01 -1.68705892e-03 -2.69396391e+02] [ 2.76890558e-03 -1.60688295e-04 9.99996154e-01 -9.02482589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8503857229999 meters 0.019888914476089016 Centerline is valid? [True, True] Translation: X:-92.28, Y:-269.94, Z:-8.05 [[-8.32303332e-01 5.54316907e-01 1.98251959e-03 -9.22791735e+01] [ 5.54315546e-01 8.32305689e-01 -1.23060796e-03 -2.69938396e+02] [-2.33220913e-03 7.47023249e-05 -9.99997278e-01 -8.04525681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.880385723 meters 0.01948978956408321 Centerline is valid? [True, True] Translation: X:-92.26, Y:-269.91, Z:-8.05 [[-8.69176957e-01 4.94496564e-01 2.13679708e-03 -9.22628382e+01] [ 4.94495291e-01 8.69179580e-01 -1.12501273e-03 -2.69912152e+02] [-2.41357532e-03 7.88009530e-05 -9.99997084e-01 -8.04500115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.910385723 meters 0.020111653073757767 Centerline is valid? [True, True] Translation: X:-92.25, Y:-269.88, Z:-8.04 [[-9.01901059e-01 4.31936476e-01 2.31535634e-03 -9.22507284e+01] [ 4.31935288e-01 9.01904027e-01 -1.01659684e-03 -2.69884225e+02] [-2.52733446e-03 8.32143452e-05 -9.99996803e-01 -8.04498869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.940385723 meters 0.019866003799538307 Centerline is valid? [True, True] Translation: X:-92.24, Y:-269.85, Z:-8.04 [[-9.30367266e-01 3.66622567e-01 2.15497569e-03 -9.22424456e+01] [ 3.66621768e-01 9.30369759e-01 -7.69096745e-04 -2.69851780e+02] [-2.28689243e-03 7.45185611e-05 -9.99997382e-01 -8.04343459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9703857229999 meters 0.01975280164700541 Centerline is valid? [True, True] Translation: X:-92.02, Y:-269.23, Z:-9.03 [[-9.28720691e-01 -3.70774767e-01 1.98737544e-03 -9.20237823e+01] [ 3.70773736e-01 -9.28722815e-01 -8.77677322e-04 -2.69234918e+02] [ 2.17114152e-03 -7.82504721e-05 9.99997640e-01 -9.02621532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.000385723 meters 0.020128073250884698 Centerline is valid? [True, True] Translation: X:-92.29, Y:-269.83, Z:-8.04 [[-9.32755193e-01 3.60503565e-01 2.22024665e-03 -9.22888615e+01] [ 3.60502722e-01 9.32757833e-01 -7.82854209e-04 -2.69828798e+02] [-2.35317419e-03 7.01936323e-05 -9.99997229e-01 -8.04161202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.030385723 meters 0.017811551677352076 Centerline is valid? [True, True] Translation: X:-92.08, Y:-269.23, Z:-9.03 [[-9.28887575e-01 -3.70355824e-01 2.10652405e-03 -9.20763950e+01] [ 3.70354694e-01 -9.28889961e-01 -9.17629522e-04 -2.69225132e+02] [ 2.29657848e-03 -7.22135909e-05 9.99997360e-01 -9.02655551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.060385723 meters 0.017939854518464922 Centerline is valid? [True, True] Translation: X:-92.33, Y:-269.81, Z:-8.04 [[-9.35326679e-01 3.53779628e-01 1.99483032e-03 -9.23349458e+01] [ 3.53778950e-01 9.35328804e-01 -6.94838701e-04 -2.69808668e+02] [-2.11164204e-03 5.58278020e-05 -9.99997769e-01 -8.04364664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0903857229999 meters 0.017847333474624843 Centerline is valid? [True, True] Translation: X:-92.33, Y:-269.78, Z:-8.04 [[-9.58255886e-01 2.85901133e-01 2.48985679e-03 -9.23337353e+01] [ 2.85900347e-01 9.58259118e-01 -6.73740423e-04 -2.69775971e+02] [-2.57855113e-03 6.62351947e-05 -9.99996673e-01 -8.04310416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.120385723 meters 0.018019383574579814 Centerline is valid? [True, True] Translation: X:-92.33, Y:-269.75, Z:-8.04 [[-9.76008250e-01 2.17715080e-01 2.83550128e-03 -9.23325821e+01] [ 2.17714386e-01 9.76012366e-01 -5.54975972e-04 -2.69745423e+02] [-2.88831095e-03 7.56682917e-05 -9.99995826e-01 -8.04283754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.150385723 meters 0.017496342054516216 Centerline is valid? [True, True] Translation: X:-92.21, Y:-269.13, Z:-9.03 [[-9.72932225e-01 -2.31079893e-01 2.22898954e-03 -9.22061143e+01] [ 2.31079058e-01 -9.72934774e-01 -6.28878059e-04 -2.69132147e+02] [ 2.31398251e-03 -9.67829278e-05 9.99997318e-01 -9.02699227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.180385723 meters 0.019479686239652332 Centerline is valid? [True, True] Translation: X:-92.38, Y:-269.73, Z:-8.04 [[-9.76245460e-01 2.16657220e-01 2.10970410e-03 -9.23841531e+01] [ 2.16656853e-01 9.76247738e-01 -4.04064164e-04 -2.69733693e+02] [-2.14713727e-03 6.26160439e-05 -9.99997693e-01 -8.04092645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.210385723 meters 0.018219802093229525 Centerline is valid? [True, True] Translation: X:-92.26, Y:-269.12, Z:-9.03 [[-9.74385283e-01 -2.24884209e-01 6.41962091e-04 -9.22606111e+01] [ 2.24884082e-01 -9.74385488e-01 -2.63962083e-04 -2.69122601e+02] [ 6.84879450e-04 -1.12833713e-04 9.99999759e-01 -9.02595514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.240385723 meters 0.017999513739989443 Centerline is valid? [True, True] Translation: X:-92.43, Y:-269.72, Z:-8.04 [[-9.76747473e-01 2.14392985e-01 -1.45447800e-04 -9.24303372e+01] [ 2.14392983e-01 9.76747484e-01 2.83768850e-05 -2.69723747e+02] [ 1.48149578e-04 -3.46593715e-06 -9.99999989e-01 -8.04486511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.270385723 meters 0.01890057072591434 Centerline is valid? [True, True] Translation: X:-92.32, Y:-269.11, Z:-9.03 [[-9.75450466e-01 -2.20218628e-01 3.79613924e-04 -9.23230279e+01] [ 2.20218620e-01 -9.75450540e-01 -6.40128273e-05 -2.69111738e+02] [ 3.84391424e-04 2.11567123e-05 9.99999926e-01 -9.02553464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.300385723 meters 0.01839181005459305 Centerline is valid? [True, True] Translation: X:-92.48, Y:-269.71, Z:-8.04 [[-9.77429499e-01 2.11258203e-01 1.24311803e-03 -9.24847263e+01] [ 2.11258085e-01 9.77430289e-01 -2.27289990e-04 -2.69711695e+02] [-1.26307809e-03 4.04587924e-05 -9.99999202e-01 -8.04268225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.330385723 meters 0.018506755652259937 Centerline is valid? [True, True] Translation: X:-92.37, Y:-269.11, Z:-9.03 [[-9.76414014e-01 -2.15899080e-01 1.80573624e-03 -9.23728686e+01] [ 2.15898671e-01 -9.76415683e-01 -4.20677815e-04 -2.69106697e+02] [ 1.85397314e-03 -2.08996591e-05 9.99998281e-01 -9.02789428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.360385723 meters 0.01881179828309867 Centerline is valid? [True, True] Translation: X:-92.54, Y:-269.70, Z:-8.04 [[-9.78160588e-01 2.07844015e-01 1.65214910e-03 -9.25383300e+01] [ 2.07843812e-01 9.78161982e-01 -2.95833737e-04 -2.69702903e+02] [-1.67755671e-03 5.40160638e-05 -9.99998592e-01 -8.04187799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.390385723 meters 0.017965467633864668 Centerline is valid? [True, True] Translation: X:-92.43, Y:-269.10, Z:-9.03 [[-9.77408586e-01 -2.11346822e-01 2.23084788e-03 -9.24284757e+01] [ 2.11346191e-01 -9.77411131e-01 -5.17322946e-04 -2.69099107e+02] [ 2.28979011e-03 -3.41546867e-05 9.99997378e-01 -9.02807757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.420385723 meters 0.01812740830554626 Centerline is valid? [True, True] Translation: X:-92.59, Y:-269.69, Z:-8.04 [[-9.78962251e-01 2.04024661e-01 2.61692341e-03 -9.25907915e+01] [ 2.04024164e-01 9.78965745e-01 -4.58372005e-04 -2.69691514e+02] [-2.65539757e-03 8.51867209e-05 -9.99996471e-01 -8.04135215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.450385723 meters 0.017462491681191725 Centerline is valid? [True, True] Translation: X:-92.60, Y:-269.66, Z:-8.04 [[-9.91194037e-01 1.32377195e-01 3.26490531e-03 -9.25952690e+01] [ 1.32376808e-01 9.91199409e-01 -3.35337110e-04 -2.69658215e+02] [-3.28056320e-03 9.98135983e-05 -9.99994614e-01 -8.04064644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.480385723 meters 0.017893456055401002 Centerline is valid? [True, True] Translation: X:-92.60, Y:-269.63, Z:-8.04 [[-9.98171052e-01 6.04100964e-02 2.27413760e-03 -9.26029785e+01] [ 6.04100914e-02 9.98173640e-01 -7.09467207e-05 -2.69628526e+02] [-2.27427010e-03 6.65638972e-05 -9.99997412e-01 -8.04121520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.510385723 meters 0.017670084802797904 Centerline is valid? [True, True] Translation: X:-92.58, Y:-269.02, Z:-9.03 [[-9.97512862e-01 -7.04685757e-02 1.50675950e-03 -9.25839358e+01] [ 7.04683513e-02 -9.97513995e-01 -2.01591391e-04 -2.69023331e+02] [ 1.51721954e-03 -9.49111485e-05 9.99998845e-01 -9.02802066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.540385723 meters 0.01862211723047565 Centerline is valid? [True, True] Translation: X:-92.67, Y:-269.62, Z:-8.04 [[-9.98487983e-01 5.49418772e-02 1.77173698e-03 -9.26718619e+01] [ 5.49418809e-02 9.98489553e-01 -4.66054627e-05 -2.69624800e+02] [-1.77162145e-03 5.08075675e-05 -9.99998429e-01 -8.03970264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.570385723 meters 0.01657754021173426 Centerline is valid? [True, True] Translation: X:-92.66, Y:-269.02, Z:-9.03 [[-9.97776414e-01 -6.66416706e-02 1.05604187e-03 -9.26647738e+01] [ 6.66415506e-02 -9.97776970e-01 -1.48471677e-04 -2.69022807e+02] [ 1.06358866e-03 -7.77652695e-05 9.99999431e-01 -9.02798373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6003857229999 meters 0.01659824000534896 Centerline is valid? [True, True] Translation: X:-92.75, Y:-269.62, Z:-8.04 [[-9.98756685e-01 4.98246209e-02 1.60986606e-03 -9.27456476e+01] [ 4.98246298e-02 9.98757981e-01 -3.46560087e-05 -2.69621513e+02] [-1.60959330e-03 4.55980601e-05 -9.99998704e-01 -8.04119133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.630385723 meters 0.017540032121292654 Centerline is valid? [True, True] Translation: X:-92.73, Y:-269.02, Z:-9.03 [[-9.98194375e-01 -6.00394960e-02 1.80249811e-03 -9.27319748e+01] [ 6.00393287e-02 -9.98196002e-01 -1.46855636e-04 -2.69020751e+02] [ 1.80806354e-03 -3.83696937e-05 9.99998365e-01 -9.02954578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.660385723 meters 0.017579852216021825 Centerline is valid? [True, True] Translation: X:-92.81, Y:-269.62, Z:-8.04 [[-9.98806249e-01 4.88191097e-02 1.66491122e-03 -9.28140323e+01] [ 4.88191303e-02 9.98807635e-01 -2.82975991e-05 -2.69622431e+02] [-1.66430750e-03 5.30156990e-05 -9.99998614e-01 -8.04098033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.690385723 meters 0.01892104993059317 Centerline is valid? [True, True] Translation: X:-92.82, Y:-269.60, Z:-8.04 [[-9.99791001e-01 -2.03930209e-02 1.44213460e-03 -9.28192964e+01] [-2.03929290e-02 9.99792040e-01 7.83948153e-05 -2.69596031e+02] [-1.44343340e-03 4.89690823e-05 -9.99998957e-01 -8.04161373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7203857229999 meters 0.018204183320376877 Centerline is valid? [True, True] Translation: X:-92.84, Y:-269.57, Z:-8.04 [[-9.96166367e-01 -8.74649899e-02 1.56364266e-03 -9.28365132e+01] [-8.74647876e-02 9.96167592e-01 1.97397793e-04 -2.69567510e+02] [-1.57491554e-03 5.98773689e-05 -9.99998758e-01 -8.04244768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.750385723 meters 0.018463984421327195 Centerline is valid? [True, True] Translation: X:-92.86, Y:-269.54, Z:-8.04 [[-9.87597009e-01 -1.57001729e-01 1.61417388e-03 -9.28570007e+01] [-1.57001410e-01 9.87598326e-01 3.22873213e-04 -2.69540809e+02] [-1.64484707e-03 6.54410438e-05 -9.99998645e-01 -8.04202158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.780385723 meters 0.019735336891357754 Centerline is valid? [True, True] Translation: X:-92.89, Y:-269.52, Z:-8.04 [[-9.74097860e-01 -2.26114898e-01 2.32664028e-03 -9.28922562e+01] [-2.26114008e-01 9.74100633e-01 6.42157186e-04 -2.69518818e+02] [-2.41158308e-03 9.94379826e-05 -9.99997087e-01 -8.04107004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.810385723 meters 0.019935046749241684 Centerline is valid? [True, True] Translation: X:-92.95, Y:-269.50, Z:-8.04 [[-9.55092712e-01 -2.96292333e-01 2.96067789e-03 -9.29471245e+01] [-2.96290486e-01 9.55097292e-01 1.05407365e-03 -2.69504392e+02] [-3.14004938e-03 1.29517365e-04 -9.99995062e-01 -8.04077670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8403857229999 meters 0.01894820445195079 Centerline is valid? [True, True] Translation: X:-93.01, Y:-269.50, Z:-8.04 [[-9.30616078e-01 -3.65983544e-01 3.12415478e-03 -9.30134766e+01] [-3.65980978e-01 9.30621312e-01 1.37754714e-03 -2.69496460e+02] [-3.41156461e-03 1.38586297e-04 -9.99994171e-01 -8.04068744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.870385723 meters 0.019496253569517136 Centerline is valid? [True, True] Translation: X:-93.09, Y:-269.50, Z:-8.04 [[-8.99865566e-01 -4.36150338e-01 3.85297954e-03 -9.30865620e+01] [-4.36145549e-01 8.99873800e-01 2.05040240e-03 -2.69498135e+02] [-4.36147904e-03 1.64626637e-04 -9.99990475e-01 -8.03978913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.900385723 meters 0.01899151763933441 Centerline is valid? [True, True] Translation: X:-93.17, Y:-269.51, Z:-8.04 [[-8.63821801e-01 -5.03776768e-01 4.56779647e-03 -9.31682212e+01] [-5.03768545e-01 8.63833857e-01 2.88472285e-03 -2.69508756e+02] [-5.39907360e-03 1.90774307e-04 -9.99985407e-01 -8.03889977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.930385723 meters 0.017200055215367813 Centerline is valid? [True, True] Translation: X:-93.26, Y:-269.53, Z:-8.04 [[-8.21045673e-01 -5.70836716e-01 5.42647730e-03 -9.32591417e+01] [-5.70822590e-01 8.21063580e-01 4.02097706e-03 -2.69527638e+02] [-6.75080422e-03 2.03849991e-04 -9.99977192e-01 -8.03792318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.960385723 meters 0.01646769810789077 Centerline is valid? [True, True] Translation: X:-93.35, Y:-269.56, Z:-8.04 [[-7.74381203e-01 -6.32695777e-01 5.45949992e-03 -9.33499888e+01] [-6.32678231e-01 7.74400423e-01 4.71599818e-03 -2.69559320e+02] [-7.21163118e-03 1.97873588e-04 -9.99973976e-01 -8.03823312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.990385723 meters 0.015863543341921756 Centerline is valid? [True, True] Translation: X:-93.44, Y:-269.60, Z:-8.04 [[-7.23208732e-01 -6.90614826e-01 4.50463220e-03 -9.34407057e+01] [-6.90600029e-01 7.23222743e-01 4.52369831e-03 -2.69600231e+02] [-6.38198558e-03 1.60678989e-04 -9.99979622e-01 -8.03904833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.020385723 meters 0.015363944458322175 Centerline is valid? [True, True] Translation: X:-93.53, Y:-269.65, Z:-8.04 [[-6.66402311e-01 -7.45583587e-01 3.61581113e-03 -9.35294824e+01] [-7.45571631e-01 6.66412110e-01 4.22400736e-03 -2.69649032e+02] [-5.55897088e-03 1.19042064e-04 -9.99984542e-01 -8.04020884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.050385723 meters 0.015233388728849669 Centerline is valid? [True, True] Translation: X:-93.62, Y:-269.71, Z:-8.04 [[-6.06518715e-01 -7.95063429e-01 3.03190193e-03 -9.36170351e+01] [-7.95052676e-01 6.06526285e-01 4.13627940e-03 -2.69711422e+02] [-5.12753270e-03 9.82091301e-05 -9.99986849e-01 -8.04084822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.080385723 meters 0.0147268374546207 Centerline is valid? [True, True] Translation: X:-93.70, Y:-269.78, Z:-8.04 [[-5.44390694e-01 -8.38828141e-01 2.47415501e-03 -9.37008237e+01] [-8.38818733e-01 5.44396309e-01 3.97384079e-03 -2.69780013e+02] [-4.68029034e-03 8.79543735e-05 -9.99989044e-01 -8.04171997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.110385723 meters 0.016405867928010184 Centerline is valid? [True, True] Translation: X:-93.78, Y:-269.86, Z:-8.04 [[-4.79313700e-01 -8.77639822e-01 2.59232428e-03 -9.37785615e+01] [-8.77625779e-01 4.79320699e-01 4.96589536e-03 -2.69856964e+02] [-5.60082220e-03 1.05131063e-04 -9.99984310e-01 -8.03996932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.140385723 meters 0.01461926413869234 Centerline is valid? [True, True] Translation: X:-93.86, Y:-269.95, Z:-8.04 [[-4.11141542e-01 -9.11569586e-01 1.87699412e-03 -9.38553526e+01] [-9.11559087e-01 4.11145817e-01 4.37590016e-03 -2.69945006e+02] [-4.76065578e-03 8.81232940e-05 -9.99988664e-01 -8.04144157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.170385723 meters 0.014837892494450666 Centerline is valid? [True, True] Translation: X:-93.92, Y:-270.04, Z:-8.04 [[-3.40746422e-01 -9.40154027e-01 1.51079707e-03 -9.39215512e+01] [-9.40143622e-01 3.40749760e-01 4.42404663e-03 -2.70035691e+02] [-4.67408899e-03 8.71118331e-05 -9.99989073e-01 -8.04145130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.200385723 meters 0.014426448522226881 Centerline is valid? [True, True] Translation: X:-93.98, Y:-270.14, Z:-8.04 [[-2.67989551e-01 -9.63420974e-01 1.27583170e-03 -9.39835106e+01] [-9.63408331e-01 2.67992572e-01 4.93656024e-03 -2.70136990e+02] [-5.09789910e-03 9.37996734e-05 -9.99987001e-01 -8.04195518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.230385723 meters 0.014559368869487244 Centerline is valid? [True, True] Translation: X:-94.04, Y:-270.24, Z:-8.04 [[-1.93412424e-01 -9.81117141e-01 8.88682125e-04 -9.40362457e+01] [-9.81104524e-01 1.93414444e-01 4.97656225e-03 -2.70242749e+02] [-5.05447449e-03 9.06389152e-05 -9.99987222e-01 -8.04182370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.260385723 meters 0.014559368869487244 Centerline is valid? [True, True] Translation: X:-94.08, Y:-270.35, Z:-8.04 [[-1.18126609e-01 -9.92998413e-01 5.07076046e-04 -9.40813729e+01] [-9.92985678e-01 1.18127662e-01 5.02982788e-03 -2.70353370e+02] [-5.05451081e-03 9.06372594e-05 -9.99987222e-01 -8.04182196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.290385723 meters 0.014180430322436379 Centerline is valid? [True, True] Translation: X:-94.12, Y:-270.47, Z:-8.04 [[-4.12938273e-02 -9.99147037e-01 1.38286734e-04 -9.41189190e+01] [-9.99130714e-01 4.12939432e-02 5.71199687e-03 -2.70469493e+02] [-5.71283516e-03 9.77036892e-05 -9.99983677e-01 -8.04228564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.320385723 meters 0.013807119853857644 Centerline is valid? [True, True] Translation: X:-94.15, Y:-270.59, Z:-8.04 [[ 3.76747375e-02 -9.99289993e-01 -3.51223345e-04 -9.41473625e+01] [-9.99267270e-01 -3.76762496e-02 6.73963003e-03 -2.70586261e+02] [-6.74807762e-03 9.70522015e-05 -9.99977227e-01 -8.04193454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3503857229999 meters 0.014475546770114929 Centerline is valid? [True, True] Translation: X:-94.17, Y:-270.71, Z:-8.04 [[ 1.14623541e-01 -9.93408577e-01 -9.18721800e-04 -9.41671276e+01] [-9.93383079e-01 -1.14627182e-01 7.11813424e-03 -2.70707377e+02] [-7.17652609e-03 9.67369405e-05 -9.99974244e-01 -8.04054036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.380385723 meters 0.013322888224854952 Centerline is valid? [True, True] Translation: X:-94.18, Y:-270.83, Z:-8.04 [[ 1.91814446e-01 -9.81430064e-01 -1.49921621e-03 -9.41771375e+01] [-9.81403488e-01 -1.91820286e-01 7.22300382e-03 -2.70826772e+02] [-7.37645319e-03 8.58595407e-05 -9.99972790e-01 -8.04101844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.410385723 meters 0.013224679739154368 Centerline is valid? [True, True] Translation: X:-94.18, Y:-270.95, Z:-8.04 [[ 2.66703138e-01 -9.63776535e-01 -2.05582359e-03 -9.41775953e+01] [-9.63750201e-01 -2.66711049e-01 7.12504306e-03 -2.70945045e+02] [-7.41526018e-03 8.10290551e-05 -9.99972503e-01 -8.04129057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.440385723 meters 0.013181142894612877 Centerline is valid? [True, True] Translation: X:-94.17, Y:-271.06, Z:-8.04 [[ 3.39608234e-01 -9.40563307e-01 -2.62942297e-03 -9.41680283e+01] [-9.40536905e-01 -3.39618404e-01 7.04765361e-03 -2.71063365e+02] [-7.52176482e-03 7.96281448e-05 -9.99971708e-01 -8.04123679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4703857229999 meters 0.013395152336710998 Centerline is valid? [True, True] Translation: X:-94.15, Y:-271.18, Z:-8.04 [[ 4.10343093e-01 -9.11924056e-01 -3.61418482e-03 -9.41475064e+01] [-9.11890589e-01 -4.10358999e-01 7.81322304e-03 -2.71178953e+02] [-8.60817931e-03 8.96390148e-05 -9.99962945e-01 -8.04081382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.500385723 meters 0.013492927944969042 Centerline is valid? [True, True] Translation: X:-94.12, Y:-271.29, Z:-8.04 [[ 4.78832638e-01 -8.77895793e-01 -4.27571134e-03 -9.41218641e+01] [-8.77862423e-01 -4.78851719e-01 7.65494978e-03 -2.71290432e+02] [-8.76767993e-03 8.80465196e-05 -9.99961559e-01 -8.04025421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.530385723 meters 0.013311592492470133 Centerline is valid? [True, True] Translation: X:-94.09, Y:-271.40, Z:-8.04 [[ 5.44806731e-01 -8.38546922e-01 -4.96853858e-03 -9.40876003e+01] [-8.38513438e-01 -5.44829380e-01 7.49406940e-03 -2.71399892e+02] [-8.99113463e-03 8.33669192e-05 -9.99959576e-01 -8.04037136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.560385723 meters 0.013407786530276668 Centerline is valid? [True, True] Translation: X:-94.05, Y:-271.50, Z:-8.04 [[ 6.07116948e-01 -7.94595723e-01 -5.16214229e-03 -9.40471019e+01] [-7.94568048e-01 -6.07138889e-01 6.63220604e-03 -2.71503711e+02] [-8.40405989e-03 7.51486259e-05 -9.99964683e-01 -8.04014110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5903857229999 meters 0.013273146643102111 Centerline is valid? [True, True] Translation: X:-94.00, Y:-271.60, Z:-8.04 [[ 6.66165780e-01 -7.45777285e-01 -6.27653755e-03 -9.39982931e+01] [-7.45745244e-01 -6.66195343e-01 6.91342581e-03 -2.71602470e+02] [-9.33727602e-03 7.52103350e-05 -9.99956404e-01 -8.04006160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.620385723 meters 0.013388388819934954 Centerline is valid? [True, True] Translation: X:-93.95, Y:-271.69, Z:-8.04 [[ 7.20743454e-01 -6.93166460e-01 -7.00941154e-03 -9.39464999e+01] [-6.93134702e-01 -7.20777534e-01 6.63569288e-03 -2.71694348e+02] [-9.65186610e-03 7.58341648e-05 -9.99953417e-01 -8.03980063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.650385723 meters 0.01339496232000587 Centerline is valid? [True, True] Translation: X:-93.95, Y:-271.70, Z:-8.04 [[ 7.72794394e-01 -6.34612226e-01 -7.49312486e-03 -9.39471542e+01] [-6.34583332e-01 -7.72830717e-01 6.05617349e-03 -2.71704426e+02] [-9.63423880e-03 7.48352128e-05 -9.99953587e-01 -8.03963173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.680385723 meters 0.013425470973988763 Centerline is valid? [True, True] Translation: X:-93.95, Y:-271.72, Z:-8.04 [[ 8.19862470e-01 -5.72497310e-01 -8.50643059e-03 -9.39466743e+01] [-5.72467543e-01 -8.19906594e-01 5.83859007e-03 -2.71715682e+02] [-1.03170556e-02 8.28145471e-05 -9.99946774e-01 -8.03988025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.710385723 meters 0.013547940997079698 Centerline is valid? [True, True] Translation: X:-93.95, Y:-271.73, Z:-8.04 [[ 8.61945426e-01 -5.06917300e-01 -9.21596885e-03 -9.39465559e+01] [-5.06889419e-01 -8.61994689e-01 5.31730240e-03 -2.71727379e+02] [-1.06395488e-02 8.82526135e-05 -9.99943395e-01 -8.03973640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.740385723 meters 0.013632940368737075 Centerline is valid? [True, True] Translation: X:-93.94, Y:-271.74, Z:-8.04 [[ 8.98487030e-01 -4.38883525e-01 -1.01147850e-02 -9.39446017e+01] [-4.38857021e-01 -8.98543956e-01 4.82433572e-03 -2.71738327e+02] [-1.12059004e-02 1.04341341e-04 -9.99937207e-01 -8.03986203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.770385723 meters 0.013815354170675679 Centerline is valid? [True, True] Translation: X:-93.94, Y:-271.75, Z:-8.04 [[ 9.29929471e-01 -3.67576996e-01 -1.08780385e-02 -9.39430987e+01] [-3.67553253e-01 -9.29993086e-01 4.17928338e-03 -2.71748936e+02] [-1.16527090e-02 1.11819658e-04 -9.99932099e-01 -8.03900132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.800385723 meters 0.013939403362098281 Centerline is valid? [True, True] Translation: X:-93.94, Y:-271.76, Z:-8.04 [[ 9.55709484e-01 -2.94082826e-01 -1.16049051e-02 -9.39396195e+01] [-2.94062680e-01 -9.55779931e-01 3.44432182e-03 -2.71757789e+02] [-1.21046513e-02 1.20798479e-04 -9.99926729e-01 -8.03879313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.830385723 meters 0.014013723442365674 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.76, Z:-8.04 [[ 9.75735069e-01 -2.18660858e-01 -1.13359517e-02 -9.39347000e+01] [-2.18647502e-01 -9.75800910e-01 2.41959831e-03 -2.71762944e+02] [-1.15907035e-02 1.17690608e-04 -9.99932819e-01 -8.03968227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.860385723 meters 0.016539045137941494 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.77, Z:-8.04 [[ 9.89851833e-01 -1.41545069e-01 -1.25833905e-02 -9.39321985e+01] [-1.41535267e-01 -9.89931804e-01 1.67062455e-03 -2.71766702e+02] [-1.26931671e-02 1.27322758e-04 -9.99919431e-01 -8.03706973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.890385723 meters 0.013701530479890736 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.78, Z:-8.04 [[ 9.97969482e-01 -6.26396159e-02 -1.15408724e-02 -9.39319379e+01] [-6.26366443e-02 -9.98036206e-01 6.19117611e-04 -2.71776808e+02] [-1.15569898e-02 1.05021040e-04 -9.99933210e-01 -8.04076190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.920385723 meters 0.013732367623216151 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.79, Z:-8.04 [[ 9.99797765e-01 1.61052595e-02 -1.20436918e-02 -9.39304241e+01] [ 1.61028301e-02 -9.99870296e-01 -2.98669113e-04 -2.71786155e+02] [-1.20469398e-02 1.04671189e-04 -9.99927428e-01 -8.04061653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.950385723 meters 0.01416146279640189 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.79, Z:-8.04 [[ 9.95522418e-01 9.37196364e-02 -1.23185083e-02 -9.39297056e+01] [ 9.37110353e-02 -9.95598622e-01 -1.27487035e-03 -2.71791343e+02] [-1.23837702e-02 1.14781855e-04 -9.99923312e-01 -8.03904089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.980385723 meters 0.013984157475615823 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.80, Z:-8.04 [[ 9.85221428e-01 1.70843521e-01 -1.22975422e-02 -9.39275284e+01] [ 1.70828665e-01 -9.85298166e-01 -2.25630545e-03 -2.71799095e+02] [-1.25022209e-02 1.22187765e-04 -9.99921837e-01 -8.04017526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.010385723 meters 0.014251862666936503 Centerline is valid? [True, True] Translation: X:-93.93, Y:-271.80, Z:-8.04 [[ 9.69295397e-01 2.45622671e-01 -1.16592342e-02 -9.39267263e+01] [ 2.45603154e-01 -9.69365506e-01 -3.09954847e-03 -2.71801930e+02] [-1.20633788e-02 1.40833374e-04 -9.99927225e-01 -8.04129920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.040385723 meters 0.01438044802968172 Centerline is valid? [True, True] Translation: X:-93.92, Y:-271.81, Z:-8.04 [[ 9.47410458e-01 3.19824778e-01 -1.12043060e-02 -9.39239807e+01] [ 3.19800530e-01 -9.47476696e-01 -3.94110980e-03 -2.71809694e+02] [-1.18762834e-02 1.50705632e-04 -9.99929463e-01 -8.04149208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.070385723 meters 0.014611862401325445 Centerline is valid? [True, True] Translation: X:-93.92, Y:-271.82, Z:-8.04 [[ 9.19685440e-01 3.92516296e-01 -1.04713533e-02 -9.39211556e+01] [ 3.92488972e-01 -9.19745038e-01 -4.63385985e-03 -2.71816103e+02] [-1.14498407e-02 1.51802753e-04 -9.99934437e-01 -8.04176796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1003857229999 meters 0.01531697000937754 Centerline is valid? [True, True] Translation: X:-93.92, Y:-271.82, Z:-8.04 [[ 8.86869331e-01 4.61918413e-01 -9.70414511e-03 -9.39205998e+01] [ 4.61888739e-01 -8.86922405e-01 -5.23826664e-03 -2.71819773e+02] [-1.10264755e-02 1.63422678e-04 -9.99939193e-01 -8.04081051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.130385723 meters 0.015571985636256147 Centerline is valid? [True, True] Translation: X:-93.92, Y:-271.82, Z:-8.04 [[ 8.48199554e-01 5.29595002e-01 -9.30861032e-03 -9.39208173e+01] [ 5.29560920e-01 -8.48250615e-01 -6.01058739e-03 -2.71823266e+02] [-1.10792115e-02 1.68701304e-04 -9.99938610e-01 -8.04022695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.160385723 meters 0.015260447431683413 Centerline is valid? [True, True] Translation: X:-93.92, Y:-271.83, Z:-8.04 [[ 8.04988004e-01 5.93234840e-01 -8.16940908e-03 -9.39181318e+01] [ 5.93202123e-01 -8.05029438e-01 -6.23264238e-03 -2.71829401e+02] [-1.02740354e-02 1.71091542e-04 -9.99947206e-01 -8.04152624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.190385723 meters 0.016748661636936918 Centerline is valid? [True, True] Translation: X:-93.92, Y:-271.84, Z:-8.04 [[ 7.56369567e-01 6.54104037e-01 -7.27917814e-03 -9.39163839e+01] [ 6.54071603e-01 -7.56404575e-01 -6.51599454e-03 -2.71835840e+02] [-9.76814198e-03 1.67396262e-04 -9.99952277e-01 -8.04033864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2203857229999 meters 0.015001011335141541 Centerline is valid? [True, True] Translation: X:-93.91, Y:-271.84, Z:-8.04 [[ 7.02704016e-01 7.11450956e-01 -6.67854879e-03 -9.39099234e+01] [ 7.11416591e-01 -7.02735733e-01 -6.99451961e-03 -2.71844500e+02] [-9.66951254e-03 1.63846603e-04 -9.99953236e-01 -8.04312793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.250385723 meters 0.015206958362515963 Centerline is valid? [True, True] Translation: X:-93.90, Y:-271.85, Z:-8.04 [[ 6.44932073e-01 7.64212009e-01 -6.52887101e-03 -9.39045935e+01] [ 7.64170057e-01 -6.44965095e-01 -8.00938927e-03 -2.71853306e+02] [-1.03317654e-02 1.76344297e-04 -9.99946610e-01 -8.04265209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.280385723 meters 0.015215079795734141 Centerline is valid? [True, True] Translation: X:-93.90, Y:-271.86, Z:-8.04 [[ 5.83283148e-01 8.12246163e-01 -6.07778869e-03 -9.38969588e+01] [ 8.12198739e-01 -5.83314783e-01 -8.77909356e-03 -2.71861604e+02] [-1.06760490e-02 1.84325024e-04 -9.99942992e-01 -8.04199382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.310385723 meters 0.0153906229224034 Centerline is valid? [True, True] Translation: X:-93.89, Y:-271.87, Z:-8.04 [[ 5.18398476e-01 8.55121516e-01 -5.49665987e-03 -9.38903826e+01] [ 8.55069404e-01 -5.18427580e-01 -9.44239140e-03 -2.71868947e+02] [-1.09240121e-02 1.94895632e-04 -9.99940312e-01 -8.04103292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3403857229999 meters 0.015219724244237514 Centerline is valid? [True, True] Translation: X:-93.88, Y:-271.88, Z:-8.04 [[ 4.49942078e-01 8.93045815e-01 -4.61513737e-03 -9.38807739e+01] [ 8.92994413e-01 -4.49965706e-01 -9.58343476e-03 -2.71877276e+02] [-1.06350998e-02 1.90698666e-04 -9.99943428e-01 -8.04112857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.370385723 meters 0.015770039044329182 Centerline is valid? [True, True] Translation: X:-93.88, Y:-271.88, Z:-8.04 [[ 3.78772027e-01 9.25482635e-01 -3.69379244e-03 -9.38754462e+01] [ 9.25433755e-01 -3.78789992e-01 -9.51354376e-03 -2.71884774e+02] [-1.02037912e-02 1.85104050e-04 -9.99947923e-01 -8.04095813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.400385723 meters 0.015450186560471564 Centerline is valid? [True, True] Translation: X:-93.87, Y:-271.89, Z:-8.04 [[ 3.05177324e-01 9.52290914e-01 -2.96903349e-03 -9.38658507e+01] [ 9.52239687e-01 -3.05191709e-01 -9.87922526e-03 -2.71892015e+02] [-1.03140209e-02 1.87684010e-04 -9.99946792e-01 -8.04154240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.430385723 meters 0.015624554982045262 Centerline is valid? [True, True] Translation: X:-93.86, Y:-271.90, Z:-8.04 [[ 2.29677490e-01 9.73263960e-01 -2.34853425e-03 -9.38576324e+01] [ 9.73203717e-01 -2.29689409e-01 -1.08305322e-02 -2.71899761e+02] [-1.10804001e-02 2.01927192e-04 -9.99938590e-01 -8.04100752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.460385723 meters 0.015415539095112056 Centerline is valid? [True, True] Translation: X:-93.85, Y:-271.91, Z:-8.04 [[ 1.52621896e-01 9.88283329e-01 -1.61845569e-03 -9.38473719e+01] [ 9.88211662e-01 -1.52630323e-01 -1.19036114e-02 -2.71905528e+02] [-1.20111661e-02 2.17374959e-04 -9.99927840e-01 -8.04095934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.490385723 meters 0.01572246404088022 Centerline is valid? [True, True] Translation: X:-93.84, Y:-271.91, Z:-8.04 [[ 7.43802023e-02 9.97229740e-01 -6.56899026e-04 -9.38372632e+01] [ 9.97162607e-01 -7.43828184e-02 -1.15728761e-02 -2.71912140e+02] [-1.15896783e-02 2.05757725e-04 -9.99932816e-01 -8.04071956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.520385723 meters 0.01578409144138736 Centerline is valid? [True, True] Translation: X:-93.83, Y:-271.92, Z:-8.04 [[-4.34249720e-03 9.99990541e-01 2.45276134e-04 -9.38301271e+01] [ 9.99927018e-01 4.34498637e-03 -1.12729781e-02 -2.71917851e+02] [-1.12739372e-02 1.96305357e-04 -9.99936428e-01 -8.04041462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.550385723 meters 0.015274977626109635 Centerline is valid? [True, True] Translation: X:-93.82, Y:-271.92, Z:-8.04 [[-8.29367426e-02 9.96554158e-01 1.14355507e-03 -9.38163891e+01] [ 9.96489235e-01 8.29443945e-02 -1.13768251e-02 -2.71922197e+02] [-1.14324738e-02 1.95983504e-04 -9.99934628e-01 -8.04088491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.580385723 meters 0.015707590080658026 Centerline is valid? [True, True] Translation: X:-93.81, Y:-271.93, Z:-8.04 [[-1.61053122e-01 9.86943533e-01 2.08675441e-03 -9.38054514e+01] [ 9.86875855e-01 1.61066519e-01 -1.15595224e-02 -2.71926607e+02] [-1.17447021e-02 1.97670380e-04 -9.99931009e-01 -8.04020004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.610385723 meters 0.015078177251264747 Centerline is valid? [True, True] Translation: X:-93.79, Y:-271.93, Z:-8.04 [[-2.39507158e-01 9.70889835e-01 3.04131899e-03 -9.37924099e+01] [ 9.70820890e-01 2.39526399e-01 -1.15716607e-02 -2.71929383e+02] [-1.19632839e-02 1.81080434e-04 -9.99928421e-01 -8.04114333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.640385723 meters 0.015012625428854051 Centerline is valid? [True, True] Translation: X:-93.78, Y:-271.93, Z:-8.04 [[-3.16146114e-01 9.48702150e-01 3.98319724e-03 -9.37803868e+01] [ 9.48633352e-01 3.16171162e-01 -1.14262472e-02 -2.71932464e+02] [-1.20994773e-02 1.66230114e-04 -9.99926785e-01 -8.04038974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.670385723 meters 0.014834206556890946 Centerline is valid? [True, True] Translation: X:-93.77, Y:-271.93, Z:-8.04 [[-3.89848640e-01 9.20866593e-01 4.77040195e-03 -9.37673731e+01] [ 9.20802552e-01 3.89877793e-01 -1.08612624e-02 -2.71932782e+02] [-1.18616475e-02 1.58349924e-04 -9.99929636e-01 -8.04051703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.700385723 meters 0.015004593391120414 Centerline is valid? [True, True] Translation: X:-93.75, Y:-271.93, Z:-8.04 [[-4.61369415e-01 8.87194048e-01 4.99836845e-03 -9.37539647e+01] [ 8.87145097e-01 4.61396470e-01 -9.32065573e-03 -2.71933417e+02] [-1.05754599e-02 1.34012585e-04 -9.99944069e-01 -8.04059860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.730385723 meters 0.014818806737461181 Centerline is valid? [True, True] Translation: X:-93.74, Y:-271.93, Z:-8.04 [[-5.30478448e-01 8.47683024e-01 5.10955848e-03 -9.37421651e+01] [ 8.47645648e-01 5.30503044e-01 -7.96086290e-03 -2.71932888e+02] [-9.45892466e-03 1.08028809e-04 -9.99955258e-01 -8.04187628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.760385723 meters 0.014616588937263081 Centerline is valid? [True, True] Translation: X:-93.73, Y:-271.93, Z:-8.04 [[-5.96285668e-01 8.02750095e-01 5.97392048e-03 -9.37296878e+01] [ 8.02711482e-01 5.96315584e-01 -7.87407838e-03 -2.71930912e+02] [-9.88325904e-03 1.00134476e-04 -9.99951154e-01 -8.04235774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.790385723 meters 0.014726799203196075 Centerline is valid? [True, True] Translation: X:-93.72, Y:-271.93, Z:-8.04 [[-6.57387977e-01 7.53521722e-01 6.78695613e-03 -9.37181812e+01] [ 7.53483172e-01 6.57423003e-01 -7.62266999e-03 -2.71929184e+02] [-1.02057485e-02 1.02805631e-04 -9.99947915e-01 -8.04193425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.820385723 meters 0.014686872215915798 Centerline is valid? [True, True] Translation: X:-93.71, Y:-271.93, Z:-8.04 [[-7.14259134e-01 6.99841868e-01 7.43300731e-03 -9.37065244e+01] [ 6.99805503e-01 7.14297801e-01 -7.13507780e-03 -2.71925083e+02] [-1.03028070e-02 1.05364932e-04 -9.99946919e-01 -8.04222594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8503857229999 meters 0.01492847186677022 Centerline is valid? [True, True] Translation: X:-93.68, Y:-271.91, Z:-8.04 [[-7.61107070e-01 6.48583367e-01 7.45955627e-03 -9.36758759e+01] [ 6.48553654e-01 7.61143616e-01 -6.20921268e-03 -2.71912493e+02] [-9.70498570e-03 1.12046808e-04 -9.99952899e-01 -8.04158636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.880385723 meters 0.015190357582158347 Centerline is valid? [True, True] Translation: X:-93.17, Y:-271.31, Z:-9.03 [[-7.32570183e-01 -6.80655108e-01 7.03922240e-03 -9.31702664e+01] [ 6.80622214e-01 -7.32603994e-01 -6.69254909e-03 -2.71314954e+02] [ 9.71228017e-03 -1.11710779e-04 9.99952829e-01 -9.02896589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.910385723 meters 0.015944892441666136 Centerline is valid? [True, True] Translation: X:-93.71, Y:-271.89, Z:-8.04 [[-7.59884806e-01 6.50006593e-01 8.15546735e-03 -9.37080594e+01] [ 6.49971670e-01 7.59928548e-01 -6.74025752e-03 -2.71888341e+02] [-1.05787843e-02 1.79003460e-04 -9.99944027e-01 -8.04054992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.940385723 meters 0.01653320721394247 Centerline is valid? [True, True] Translation: X:-93.69, Y:-271.87, Z:-8.04 [[-8.02538756e-01 5.96531490e-01 9.04032813e-03 -9.36887876e+01] [ 5.96496629e-01 8.02589644e-01 -6.45259363e-03 -2.71867858e+02] [-1.11048490e-02 2.14068786e-04 -9.99938316e-01 -8.04026286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9703857229999 meters 0.018217297283006997 Centerline is valid? [True, True] Translation: X:-93.22, Y:-271.23, Z:-9.03 [[-7.87804907e-01 -6.15858022e-01 9.07331850e-03 -9.32211690e+01] [ 6.15814329e-01 -7.87857131e-01 -7.33847603e-03 -2.71231713e+02] [ 1.16679380e-02 -1.93807886e-04 9.99931909e-01 -9.03069798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.000385723 meters 0.018537493122447058 Centerline is valid? [True, True] Translation: X:-93.72, Y:-271.85, Z:-8.04 [[-8.00780112e-01 5.98875745e-01 9.95258808e-03 -9.37210230e+01] [ 5.98834319e-01 8.00841896e-01 -7.05092135e-03 -2.71849647e+02] [-1.21930753e-02 3.13713720e-04 -9.99925613e-01 -8.03932398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.030385723 meters 0.018292178593096654 Centerline is valid? [True, True] Translation: X:-93.70, Y:-271.83, Z:-8.04 [[-8.38087122e-01 5.45435256e-01 1.05051115e-02 -9.36953573e+01] [ 5.45397001e-01 8.38152901e-01 -6.46726894e-03 -2.71827658e+02] [-1.23323662e-02 3.09321484e-04 -9.99923906e-01 -8.04048216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.060385723 meters 0.020928382301258312 Centerline is valid? [True, True] Translation: X:-93.68, Y:-271.81, Z:-8.04 [[-8.72698529e-01 4.88164514e-01 9.62733604e-03 -9.36784269e+01] [ 4.88139140e-01 8.72751562e-01 -4.98916205e-03 -2.71808145e+02] [-1.08378044e-02 3.45445156e-04 -9.99941210e-01 -8.04034189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0903857229999 meters 0.02154399722185651 Centerline is valid? [True, True] Translation: X:-93.67, Y:-271.78, Z:-8.04 [[-9.04268037e-01 4.26863356e-01 9.32699370e-03 -9.36676104e+01] [ 4.26844536e-01 9.04316072e-01 -4.02306783e-03 -2.71780819e+02] [-1.01518505e-02 3.43244643e-04 -9.99948410e-01 -8.04089203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.120385723 meters 0.02274113148063493 Centerline is valid? [True, True] Translation: X:-93.65, Y:-271.76, Z:-8.04 [[-9.31272209e-01 3.64214880e-01 8.92157435e-03 -9.36458717e+01] [ 3.64201691e-01 9.31314878e-01 -3.11872488e-03 -2.71757420e+02] [-9.44468094e-03 3.44870658e-04 -9.99955339e-01 -8.04143706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.150385723 meters 0.020173283709661094 Centerline is valid? [True, True] Translation: X:-93.37, Y:-271.01, Z:-9.03 [[-9.33632964e-01 -3.58129391e-01 8.53396042e-03 -9.33746337e+01] [ 3.58110988e-01 -9.33671900e-01 -3.64732658e-03 -2.71011609e+02] [ 9.27413389e-03 -3.49159331e-04 9.99956933e-01 -9.02689222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.180385723 meters 0.020173283709661094 Centerline is valid? [True, True] Translation: X:-93.69, Y:-271.74, Z:-8.04 [[-9.32313094e-01 3.61546051e-01 8.76059372e-03 -9.36885084e+01] [ 3.61533567e-01 9.32354188e-01 -3.02457275e-03 -2.71738363e+02] [-9.26149858e-03 3.47399910e-04 -9.99957051e-01 -8.04316288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.210385723 meters 0.022353769340862098 Centerline is valid? [True, True] Translation: X:-93.68, Y:-271.71, Z:-8.04 [[-9.55267902e-01 2.95614906e-01 8.66392199e-03 -9.36803195e+01] [ 2.95606016e-01 9.55307127e-01 -2.31853512e-03 -2.71713093e+02] [-8.96209997e-03 3.46285280e-04 -9.99959780e-01 -8.04320352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.240385723 meters 0.021879962457504912 Centerline is valid? [True, True] Translation: X:-93.47, Y:-270.95, Z:-9.03 [[-9.58968145e-01 -2.83409332e-01 7.69720613e-03 -9.34684729e+01] [ 2.83397133e-01 -9.58998967e-01 -2.65463920e-03 -2.70950174e+02] [ 8.13396225e-03 -3.64348279e-04 9.99966853e-01 -9.02501407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.270385723 meters 0.022852593603044483 Centerline is valid? [True, True] Translation: X:-93.73, Y:-271.70, Z:-8.05 [[-9.55166074e-01 2.95980354e-01 7.30760519e-03 -9.37271650e+01] [ 2.95974278e-01 9.55193972e-01 -1.92416632e-03 -2.71698393e+02] [-7.54969585e-03 3.24964781e-04 -9.99971448e-01 -8.04533399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.300385723 meters 0.023856846719811718 Centerline is valid? [True, True] Translation: X:-93.52, Y:-270.94, Z:-9.02 [[-9.61096632e-01 -2.76135807e-01 6.50230037e-03 -9.35196307e+01] [ 2.76127094e-01 -9.61118568e-01 -2.21934193e-03 -2.70938658e+02] [ 6.86232140e-03 -3.37540750e-04 9.99976397e-01 -9.02398366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.330385723 meters 0.02468534960198602 Centerline is valid? [True, True] Translation: X:-93.78, Y:-271.68, Z:-8.05 [[-9.55298572e-01 2.95561400e-01 6.93526579e-03 -9.37764061e+01] [ 2.95556131e-01 9.55323687e-01 -1.79613272e-03 -2.71684041e+02] [-7.15629119e-03 3.33917304e-04 -9.99974338e-01 -8.04601737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.360385723 meters 0.024486841118260848 Centerline is valid? [True, True] Translation: X:-93.77, Y:-271.65, Z:-8.05 [[-9.73629345e-01 2.28014743e-01 7.42798395e-03 -9.37678065e+01] [ 2.28010909e-01 9.73657613e-01 -1.37021601e-03 -2.71652538e+02] [-7.54474258e-03 3.59578858e-04 -9.99971473e-01 -8.04503916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.390385723 meters 0.026225009699187847 Centerline is valid? [True, True] Translation: X:-93.63, Y:-270.89, Z:-9.03 [[-9.79748610e-01 -1.99993070e-01 9.76897134e-03 -9.36277071e+01] [ 1.99979857e-01 -9.79797259e-01 -2.32110332e-03 -2.70889317e+02] [ 1.00358159e-02 -3.20500262e-04 9.99949589e-01 -9.02766408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.420385723 meters 0.02501314115877934 Centerline is valid? [True, True] Translation: X:-93.83, Y:-271.63, Z:-8.04 [[-9.74254440e-01 2.25197832e-01 1.06874965e-02 -9.38310514e+01] [ 2.25190249e-01 9.74312913e-01 -1.92334970e-03 -2.71633357e+02] [-1.08461000e-02 5.32888013e-04 -9.99941037e-01 -8.04190540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.450385723 meters 0.026747891454479856 Centerline is valid? [True, True] Translation: X:-93.72, Y:-270.88, Z:-9.03 [[-9.80847219e-01 -1.94411901e-01 1.19476092e-02 -9.37150384e+01] [ 1.94391086e-01 -9.80919849e-01 -2.89058048e-03 -2.70882422e+02] [ 1.22816103e-02 -5.12709092e-04 9.99924447e-01 -9.03019425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.480385723 meters 0.02481479896978956 Centerline is valid? [True, True] Translation: X:-93.90, Y:-271.61, Z:-8.04 [[-9.75128869e-01 2.21345014e-01 1.14050273e-02 -9.38967594e+01] [ 2.21336737e-01 9.75195393e-01 -1.99880769e-03 -2.71613461e+02] [-1.15645562e-02 5.75256438e-04 -9.99932963e-01 -8.04213528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.510385723 meters 0.02508642908607757 Centerline is valid? [True, True] Translation: X:-93.89, Y:-271.58, Z:-8.04 [[-9.88342132e-01 1.51759001e-01 1.22080230e-02 -9.38948480e+01] [ 1.51755050e-01 9.88417336e-01 -1.25474328e-03 -2.71581593e+02] [-1.22570402e-02 6.12513490e-04 -9.99924692e-01 -8.04250933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.540385723 meters 0.023871640505040367 Centerline is valid? [True, True] Translation: X:-93.81, Y:-270.85, Z:-9.03 [[-9.92842092e-01 -1.18762635e-01 1.26498068e-02 -9.38145633e+01] [ 1.18745220e-01 -9.92922490e-01 -2.12163000e-03 -2.70850573e+02] [ 1.28122480e-02 -6.04339479e-04 9.99917737e-01 -9.02635673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.570385723 meters 0.023057570021830145 Centerline is valid? [True, True] Translation: X:-93.96, Y:-271.56, Z:-8.04 [[-9.88855323e-01 1.48379871e-01 1.21886948e-02 -9.39634519e+01] [ 1.48376368e-01 9.88930242e-01 -1.19626957e-03 -2.71563551e+02] [-1.22312712e-02 6.25576729e-04 -9.99925000e-01 -8.04434210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6003857229999 meters 0.028554881441797096 Centerline is valid? [True, True] Translation: X:-93.89, Y:-270.85, Z:-9.03 [[-9.93522023e-01 -1.13234880e-01 9.58391379e-03 -9.38882127e+01] [ 1.13223179e-01 -9.93568028e-01 -1.75656519e-03 -2.70847612e+02] [ 9.72117477e-03 -6.60065023e-04 9.99952531e-01 -9.02637284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.630385723 meters 0.02479859515823371 Centerline is valid? [True, True] Translation: X:-94.03, Y:-271.55, Z:-8.05 [[-9.89592465e-01 1.43665648e-01 8.18137681e-03 -9.40300743e+01] [ 1.43664227e-01 9.89626195e-01 -7.64170672e-04 -2.71547841e+02] [-8.20628988e-03 4.19153636e-04 -9.99966240e-01 -8.04563051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.660385723 meters 0.02459575858710313 Centerline is valid? [True, True] Translation: X:-93.97, Y:-270.86, Z:-9.02 [[-9.93792487e-01 -1.11087123e-01 6.01200154e-03 -9.39653549e+01] [ 1.11082321e-01 -9.93810568e-01 -1.12783951e-03 -2.70856370e+02] [ 6.10007911e-03 -4.53011342e-04 9.99981292e-01 -9.02294404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.690385723 meters 0.02249593529009901 Centerline is valid? [True, True] Translation: X:-94.10, Y:-271.53, Z:-8.05 [[-9.90718848e-01 1.35827141e-01 5.21081166e-03 -9.41014509e+01] [ 1.35826587e-01 9.90732519e-01 -4.61666942e-04 -2.71529150e+02] [-5.22522746e-03 2.50384624e-04 -9.99986317e-01 -8.04921357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7203857229999 meters 0.02277639745475359 Centerline is valid? [True, True] Translation: X:-94.04, Y:-270.86, Z:-9.02 [[-9.93899744e-01 -1.10169273e-01 5.10194204e-03 -9.40439677e+01] [ 1.10166519e-01 -9.93912807e-01 -8.18710787e-04 -2.70861869e+02] [ 5.16108231e-03 -2.51653249e-04 9.99986650e-01 -9.02178359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.750385723 meters 0.022702502788167152 Centerline is valid? [True, True] Translation: X:-94.17, Y:-271.51, Z:-8.05 [[-9.91704914e-01 1.28393196e-01 6.04570212e-03 -9.41729341e+01] [ 1.28392482e-01 9.91723305e-01 -5.07608141e-04 -2.71510085e+02] [-6.06083712e-03 2.72825215e-04 -9.99981596e-01 -8.04679046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.780385723 meters 0.021804664541447128 Centerline is valid? [True, True] Translation: X:-94.18, Y:-271.48, Z:-8.05 [[-9.98363661e-01 5.68584071e-02 6.09274803e-03 -9.41782291e+01] [ 5.68589961e-02 9.98382216e-01 -7.66461913e-05 -2.71476391e+02] [-6.08724926e-03 2.69906764e-04 -9.99981436e-01 -8.04802933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.810385723 meters 0.022467057130259566 Centerline is valid? [True, True] Translation: X:-94.17, Y:-270.84, Z:-9.02 [[-9.99352581e-01 -3.53195784e-02 6.85168860e-03 -9.41745736e+01] [ 3.53170090e-02 -9.99376037e-01 -4.95674719e-04 -2.70838800e+02] [ 6.86492042e-03 -2.53372662e-04 9.99976404e-01 -9.02268754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8403857229999 meters 0.02304934940680445 Centerline is valid? [True, True] Translation: X:-94.26, Y:-271.47, Z:-8.05 [[-9.98578216e-01 5.28702827e-02 6.80293244e-03 -9.42582885e+01] [ 5.28711508e-02 9.98601341e-01 -5.22995733e-05 -2.71465855e+02] [-6.79618256e-03 3.07453653e-04 -9.99976859e-01 -8.04704183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.870385723 meters 0.02365731524284225 Centerline is valid? [True, True] Translation: X:-94.25, Y:-270.85, Z:-9.02 [[-9.99554670e-01 -2.89687793e-02 7.16035859e-03 -9.42508711e+01] [ 2.89658857e-02 -9.99580272e-01 -5.07512784e-04 -2.70847067e+02] [ 7.17205521e-03 -2.99880646e-04 9.99974236e-01 -9.02335897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.900385723 meters 0.023638623319607824 Centerline is valid? [True, True] Translation: X:-94.33, Y:-271.46, Z:-8.05 [[-9.98734365e-01 4.96439061e-02 8.07160740e-03 -9.43301611e+01] [ 4.96453389e-02 9.98766910e-01 -2.28735714e-05 -2.71455343e+02] [-8.06278991e-03 3.77873063e-04 -9.99967424e-01 -8.04619863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.930385723 meters 0.024961276744556123 Centerline is valid? [True, True] Translation: X:-94.34, Y:-271.42, Z:-8.04 [[-9.99742526e-01 -2.08585952e-02 8.93310859e-03 -9.43428225e+01] [-2.08539567e-02 9.99782345e-01 6.12091395e-04 -2.71423808e+02] [-8.94393162e-03 4.25643138e-04 -9.99959912e-01 -8.04489629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.960385723 meters 0.02288791036184626 Centerline is valid? [True, True] Translation: X:-94.36, Y:-271.38, Z:-8.04 [[-9.95810560e-01 -9.08956683e-02 9.96521548e-03 -9.43622909e+01] [-9.08861728e-02 9.95860300e-01 1.40256284e-03 -2.71384579e+02] [-1.00514494e-02 4.90986595e-04 -9.99949362e-01 -8.04433330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.990385723 meters 0.022663742466816662 Centerline is valid? [True, True] Translation: X:-94.39, Y:-271.36, Z:-8.04 [[-9.86822952e-01 -1.61483044e-01 1.01827800e-02 -9.43933361e+01] [-1.61469035e-01 9.86875352e-01 2.18857081e-03 -2.71356200e+02] [-1.04025517e-02 5.15528248e-04 -9.99945759e-01 -8.04413579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.020385723 meters 0.0248464265369293 Centerline is valid? [True, True] Translation: X:-94.43, Y:-271.33, Z:-8.04 [[-9.73091545e-01 -2.30200470e-01 1.00294244e-02 -9.44346082e+01] [-2.30182466e-01 9.73143078e-01 2.92965412e-03 -2.71331637e+02] [-1.04344727e-02 5.42224014e-04 -9.99945412e-01 -8.04321561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.050385723 meters 0.023406930088634384 Centerline is valid? [True, True] Translation: X:-94.49, Y:-271.32, Z:-8.05 [[-9.53908146e-01 -2.99973801e-01 8.65842612e-03 -9.44931525e+01] [-2.99956792e-01 9.53947317e-01 3.23108832e-03 -2.71315800e+02] [-9.22892421e-03 4.85007744e-04 -9.99957295e-01 -8.04523346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.080385723 meters 0.025532940307340945 Centerline is valid? [True, True] Translation: X:-94.57, Y:-271.31, Z:-8.04 [[-9.29392024e-01 -3.69000963e-01 8.29181194e-03 -9.45661941e+01] [-3.68981597e-01 9.29428887e-01 3.81108842e-03 -2.71313306e+02] [-9.11294484e-03 4.82469169e-04 -9.99958360e-01 -8.04483757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.110385723 meters 0.025885940521755406 Centerline is valid? [True, True] Translation: X:-94.64, Y:-271.31, Z:-8.04 [[-8.99188618e-01 -4.37464600e-01 9.19530070e-03 -9.46448615e+01] [-4.37435460e-01 8.99235468e-01 5.07850449e-03 -2.71311577e+02] [-1.04904065e-02 5.44182841e-04 -9.99944826e-01 -8.04348612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.140385723 meters 0.026609079886815646 Centerline is valid? [True, True] Translation: X:-94.73, Y:-271.32, Z:-8.04 [[-8.63983400e-01 -5.03450322e-01 8.39392734e-03 -9.47285276e+01] [-5.03420716e-01 8.64024022e-01 5.48376935e-03 -2.71323635e+02] [-1.00133603e-02 5.12208769e-04 -9.99949734e-01 -8.04348731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.170385723 meters 0.02315594305035985 Centerline is valid? [True, True] Translation: X:-94.82, Y:-271.34, Z:-8.05 [[-8.23022207e-01 -5.67968661e-01 6.78576306e-03 -9.48181768e+01] [-5.67945095e-01 8.23050074e-01 5.19078650e-03 -2.71336270e+02] [-8.53322685e-03 4.18191714e-04 -9.99963504e-01 -8.04582784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.200385723 meters 0.021155607434160534 Centerline is valid? [True, True] Translation: X:-94.91, Y:-271.36, Z:-8.05 [[-7.77728255e-01 -6.28572687e-01 5.92779041e-03 -9.49074491e+01] [-6.28550637e-01 7.77750752e-01 5.27858333e-03 -2.71363163e+02] [-7.92831676e-03 3.79386958e-04 -9.99968499e-01 -8.04680504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.230385723 meters 0.02265653555199076 Centerline is valid? [True, True] Translation: X:-95.00, Y:-271.40, Z:-8.05 [[-7.26330931e-01 -6.87322160e-01 5.62382112e-03 -9.49964791e+01] [-6.87297650e-01 7.26352614e-01 5.81558371e-03 -2.71400635e+02] [-8.08205673e-03 3.58799290e-04 -9.99967275e-01 -8.04625525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.260385723 meters 0.02176425294927381 Centerline is valid? [True, True] Translation: X:-95.09, Y:-271.45, Z:-8.05 [[-6.71241664e-01 -7.41215861e-01 5.80314407e-03 -9.50862718e+01] [-7.41183118e-01 6.71266640e-01 6.97740068e-03 -2.71447653e+02] [-9.06721707e-03 3.82329627e-04 -9.99958819e-01 -8.04596353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.290385723 meters 0.02200459755487419 Centerline is valid? [True, True] Translation: X:-95.17, Y:-271.50, Z:-8.04 [[-6.12029105e-01 -7.90816068e-01 5.50650729e-03 -9.51729359e+01] [-7.90778348e-01 6.12053759e-01 7.73302161e-03 -2.71504961e+02] [-9.48567622e-03 3.78407558e-04 -9.99954938e-01 -8.04495759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.320385723 meters 0.02137759813073168 Centerline is valid? [True, True] Translation: X:-95.26, Y:-271.57, Z:-8.04 [[-5.47594640e-01 -8.36725367e-01 5.54712574e-03 -9.52623858e+01] [-8.36675151e-01 5.47622601e-01 9.17482579e-03 -2.71567434e+02] [-1.07145409e-02 3.82943159e-04 -9.99942524e-01 -8.04302941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3503857229999 meters 0.01981993907928879 Centerline is valid? [True, True] Translation: X:-95.34, Y:-271.64, Z:-8.04 [[-4.81418755e-01 -8.76479128e-01 4.50784971e-03 -9.53412074e+01] [-8.76433976e-01 4.81439743e-01 8.90280335e-03 -2.71638457e+02] [-9.97337933e-03 3.35143865e-04 -9.99950209e-01 -8.04419209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.380385723 meters 0.019158924477711083 Centerline is valid? [True, True] Translation: X:-95.42, Y:-271.72, Z:-8.05 [[-4.11143160e-01 -9.11564362e-01 3.42291374e-03 -9.54152482e+01] [-9.11527141e-01 4.11157321e-01 8.24195908e-03 -2.71715366e+02] [-8.92043221e-03 2.68546327e-04 -9.99960176e-01 -8.04547303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.410385723 meters 0.01963849374683503 Centerline is valid? [True, True] Translation: X:-95.48, Y:-271.80, Z:-8.04 [[-3.40230637e-01 -9.40337640e-01 2.87000059e-03 -9.54822727e+01] [-9.40297370e-01 3.40242640e-01 8.70642868e-03 -2.71800725e+02] [-9.16347917e-03 2.63539769e-04 -9.99957980e-01 -8.04428918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.440385723 meters 0.019353738785067312 Centerline is valid? [True, True] Translation: X:-95.54, Y:-271.89, Z:-8.04 [[-2.67026843e-01 -9.63686479e-01 2.24392053e-03 -9.55426953e+01] [-9.63644042e-01 2.67036150e-01 9.04737920e-03 -2.71893493e+02] [-9.31804490e-03 2.53552456e-04 -9.99956554e-01 -8.04427454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4703857229999 meters 0.018323111855497433 Centerline is valid? [True, True] Translation: X:-95.60, Y:-271.99, Z:-8.05 [[-1.91813920e-01 -9.81430208e-01 1.47182530e-03 -9.55977356e+01] [-9.81391776e-01 1.91819438e-01 8.68825586e-03 -2.71987264e+02] [-8.80924146e-03 2.22091162e-04 -9.99961173e-01 -8.04558822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.500385723 meters 0.01831051743508897 Centerline is valid? [True, True] Translation: X:-95.65, Y:-272.09, Z:-8.05 [[-1.17576946e-01 -9.93063518e-01 7.15570054e-04 -9.56453617e+01] [-9.93033609e-01 1.17578960e-01 7.70975905e-03 -2.72086597e+02] [-7.74041642e-03 1.95904808e-04 -9.99970023e-01 -8.04595963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.530385723 meters 0.01702903441920145 Centerline is valid? [True, True] Translation: X:-95.68, Y:-272.19, Z:-8.05 [[-4.25663908e-02 -9.99093635e-01 1.04449099e-04 -9.56822396e+01] [-9.99075340e-01 4.25662436e-02 6.04821071e-03 -2.72187906e+02] [-6.04717483e-03 1.53097982e-04 -9.99981704e-01 -8.04846631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.560385723 meters 0.018227304177425626 Centerline is valid? [True, True] Translation: X:-95.71, Y:-272.30, Z:-8.05 [[ 3.26892660e-02 -9.99465516e-01 -3.06672201e-04 -9.57082172e+01] [-9.99451607e-01 -3.26904295e-02 5.27455362e-03 -2.72297528e+02] [-5.28175971e-03 1.34082738e-04 -9.99986043e-01 -8.04866360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5903857229999 meters 0.017552951376915794 Centerline is valid? [True, True] Translation: X:-95.73, Y:-272.40, Z:-8.05 [[ 1.08043591e-01 -9.94145958e-01 -6.30469073e-04 -9.57300163e+01] [-9.94134848e-01 -1.08045365e-01 4.70138008e-03 -2.72399168e+02] [-4.74197727e-03 1.18817288e-04 -9.99988750e-01 -8.04917481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.620385723 meters 0.01766440295574616 Centerline is valid? [True, True] Translation: X:-95.74, Y:-272.51, Z:-8.05 [[ 1.84070463e-01 -9.82912179e-01 -1.30853406e-03 -9.57425861e+01] [-9.82892745e-01 -1.84075055e-01 6.18270655e-03 -2.72509107e+02] [-6.31792605e-03 1.48094974e-04 -9.99980031e-01 -8.04897683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.650385723 meters 0.017083216796763032 Centerline is valid? [True, True] Translation: X:-95.75, Y:-272.62, Z:-8.05 [[ 2.59977536e-01 -9.65612803e-01 -1.89590141e-03 -9.57505389e+01] [-9.65590928e-01 -2.59984411e-01 6.50123642e-03 -2.72618065e+02] [-6.77058194e-03 1.40489775e-04 -9.99977070e-01 -8.04824960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.680385723 meters 0.016137496505472852 Centerline is valid? [True, True] Translation: X:-95.75, Y:-272.73, Z:-8.05 [[ 3.32789157e-01 -9.42998271e-01 -2.37458617e-03 -9.57493561e+01] [-9.42977032e-01 -3.32797603e-01 6.33035262e-03 -2.72727358e+02] [-6.75976816e-03 1.32507507e-04 -9.99977144e-01 -8.04869432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.710385723 meters 0.015739682197569483 Centerline is valid? [True, True] Translation: X:-95.74, Y:-272.83, Z:-8.05 [[ 4.03445254e-01 -9.14999644e-01 -2.75283814e-03 -9.57418662e+01] [-9.14980358e-01 -4.03454628e-01 5.94201136e-03 -2.72826244e+02] [-6.54758357e-03 1.21516545e-04 -9.99978557e-01 -8.04898657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.740385723 meters 0.016408037731575547 Centerline is valid? [True, True] Translation: X:-95.72, Y:-272.93, Z:-8.05 [[ 4.70927949e-01 -8.82166745e-01 -2.94983628e-03 -9.57213118e+01] [-8.82150898e-01 -4.70937174e-01 5.28884740e-03 -2.72929814e+02] [-6.05483286e-03 1.11534669e-04 -9.99981663e-01 -8.04924849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.770385723 meters 0.016148947321034585 Centerline is valid? [True, True] Translation: X:-95.70, Y:-273.02, Z:-8.05 [[ 5.35034833e-01 -8.44822385e-01 -3.58685609e-03 -9.56992942e+01] [-8.44804931e-01 -5.35046841e-01 5.43200487e-03 -2.73023917e+02] [-6.50821533e-03 1.23881894e-04 -9.99978814e-01 -8.04952977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.800385723 meters 0.016094063515049863 Centerline is valid? [True, True] Translation: X:-95.67, Y:-273.12, Z:-8.05 [[ 5.95442107e-01 -8.03384226e-01 -4.74150845e-03 -9.56703119e+01] [-8.03360845e-01 -5.95460964e-01 6.13130959e-03 -2.73116366e+02] [-7.74918060e-03 1.58302335e-04 -9.99969962e-01 -8.04948864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.830385723 meters 0.01633881705170738 Centerline is valid? [True, True] Translation: X:-95.64, Y:-273.20, Z:-8.05 [[ 6.52737350e-01 -7.57566913e-01 -5.13067224e-03 -9.56356147e+01] [-7.57545486e-01 -6.52757493e-01 5.70029113e-03 -2.73204269e+02] [-7.66743671e-03 1.65924667e-04 -9.99970591e-01 -8.04977149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.860385723 meters 0.016439384590923766 Centerline is valid? [True, True] Translation: X:-95.60, Y:-273.29, Z:-8.05 [[ 7.06368944e-01 -7.07825273e-01 -5.12816739e-03 -9.55986300e+01] [-7.07808268e-01 -7.06387540e-01 4.90913491e-03 -2.73285535e+02] [-7.09728331e-03 1.62098835e-04 -9.99974801e-01 -8.05026730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.890385723 meters 0.01706774246606105 Centerline is valid? [True, True] Translation: X:-95.60, Y:-273.31, Z:-8.05 [[ 7.57408257e-01 -6.52918457e-01 -5.49732547e-03 -9.55956140e+01] [-6.52903016e-01 -7.57428184e-01 4.49423838e-03 -2.73306307e+02] [-7.09820044e-03 1.85247125e-04 -9.99974790e-01 -8.05059123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.920385723 meters 0.017772234476931176 Centerline is valid? [True, True] Translation: X:-95.59, Y:-273.32, Z:-8.05 [[ 8.05158452e-01 -5.93025580e-01 -6.36620070e-03 -9.55906582e+01] [-5.93009133e-01 -8.05183591e-01 4.42195202e-03 -2.73324875e+02] [-7.74829100e-03 2.14843108e-04 -9.99969959e-01 -8.05000615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.950385723 meters 0.017649176837805047 Centerline is valid? [True, True] Translation: X:-95.59, Y:-273.35, Z:-8.05 [[ 8.47344605e-01 -5.30998696e-01 -6.89247456e-03 -9.55850107e+01] [-5.30983478e-01 -8.47372601e-01 4.02762796e-03 -2.73346800e+02] [-7.97915928e-03 2.47001295e-04 -9.99968136e-01 -8.05103464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.980385723 meters 0.018089636340579605 Centerline is valid? [True, True] Translation: X:-95.58, Y:-273.37, Z:-8.05 [[ 8.85569860e-01 -4.64462138e-01 -6.39895701e-03 -9.55777658e+01] [-4.64451878e-01 -8.85592948e-01 3.09569096e-03 -2.73367425e+02] [-7.10470244e-03 2.30556996e-04 -9.99974735e-01 -8.05174004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.010385723 meters 0.019877600027689908 Centerline is valid? [True, True] Translation: X:-95.57, Y:-273.39, Z:-8.05 [[ 9.18663498e-01 -3.95003355e-01 -5.45231361e-03 -9.55690251e+01] [-3.94997665e-01 -9.18679656e-01 2.12928744e-03 -2.73385178e+02] [-5.85000528e-03 1.97552499e-04 -9.99982869e-01 -8.05248052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.040385723 meters 0.01873463559790987 Centerline is valid? [True, True] Translation: X:-95.56, Y:-273.41, Z:-8.05 [[ 9.46688832e-01 -3.22104181e-01 -5.39928037e-03 -9.55588785e+01] [-3.22100086e-01 -9.46704210e-01 1.63524201e-03 -2.73405983e+02] [-5.63823974e-03 1.91043324e-04 -9.99984087e-01 -8.05278513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.070385723 meters 0.01873463559790987 Centerline is valid? [True, True] Translation: X:-95.55, Y:-273.42, Z:-8.05 [[ 9.68979327e-01 -2.47080345e-01 -5.51064175e-03 -9.55474522e+01] [-2.47077466e-01 -9.68994978e-01 1.20798496e-03 -2.73423487e+02] [-5.63825352e-03 1.91042951e-04 -9.99984087e-01 -8.05278499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1003857229999 meters 0.018408889441248046 Centerline is valid? [True, True] Translation: X:-95.53, Y:-273.44, Z:-8.05 [[ 9.85336701e-01 -1.70506283e-01 -6.26049962e-03 -9.55345089e+01] [-1.70504215e-01 -9.85356566e-01 8.66508272e-04 -2.73442046e+02] [-6.31656951e-03 2.13639173e-04 -9.99980028e-01 -8.05280910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.130385723 meters 0.019059708940261034 Centerline is valid? [True, True] Translation: X:-95.52, Y:-273.46, Z:-8.05 [[ 9.95642857e-01 -9.29729754e-02 -7.16423664e-03 -9.55222482e+01] [-9.29723247e-02 -9.95668603e-01 4.24546260e-04 -2.73457580e+02] [-7.17267681e-03 2.43379283e-04 -9.99974247e-01 -8.05257754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.160385723 meters 0.020020323455523497 Centerline is valid? [True, True] Translation: X:-95.51, Y:-273.47, Z:-8.05 [[ 9.99866461e-01 -1.49635716e-02 -6.56905410e-03 -9.55107550e+01] [-1.49647208e-02 -9.99888014e-01 -1.25818082e-04 -2.73469384e+02] [-6.56643578e-03 2.24105341e-04 -9.99978416e-01 -8.05260867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.190385723 meters 0.019188965148814175 Centerline is valid? [True, True] Translation: X:-95.50, Y:-273.49, Z:-8.05 [[ 9.97991392e-01 6.32024412e-02 -4.31659569e-03 -9.54974907e+01] [ 6.32012047e-02 -9.98000716e-01 -4.22395208e-04 -2.73485458e+02] [-4.33466200e-03 1.48732734e-04 -9.99990594e-01 -8.05447485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2203857229999 meters 0.018533635530616453 Centerline is valid? [True, True] Translation: X:-95.48, Y:-273.50, Z:-8.05 [[ 9.89955470e-01 1.41333016e-01 -3.62567067e-03 -9.54827908e+01] [ 1.41331603e-01 -9.89962102e-01 -6.44378736e-04 -2.73500038e+02] [-3.68034855e-03 1.25484408e-04 -9.99993220e-01 -8.05479738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.250385723 meters 0.0189585480361818 Centerline is valid? [True, True] Translation: X:-95.47, Y:-273.51, Z:-8.05 [[ 9.75602691e-01 2.19521615e-01 -3.10658231e-03 -9.54681568e+01] [ 2.19520156e-01 -9.75607631e-01 -8.07363556e-04 -2.73511159e+02] [-3.20803916e-03 1.05708626e-04 -9.99994849e-01 -8.05474241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.280385723 meters 0.018738162278059186 Centerline is valid? [True, True] Translation: X:-95.45, Y:-273.53, Z:-8.05 [[ 9.54361599e-01 2.98614810e-01 -4.80965906e-03 -9.54489323e+01] [ 2.98610227e-01 -9.54373707e-01 -1.66113941e-03 -2.73527354e+02] [-5.08625298e-03 1.49114279e-04 -9.99987054e-01 -8.05237709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.310385723 meters 0.017624427822145794 Centerline is valid? [True, True] Translation: X:-95.43, Y:-273.54, Z:-8.05 [[ 9.27054227e-01 3.74902754e-01 -4.28791283e-03 -9.54318004e+01] [ 3.74898119e-01 -9.27064135e-01 -1.86833573e-03 -2.73536791e+02] [-4.67561441e-03 1.24518083e-04 -9.99989062e-01 -8.05343971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3403857229999 meters 0.018480327132543176 Centerline is valid? [True, True] Translation: X:-95.41, Y:-273.54, Z:-8.05 [[ 8.93728027e-01 4.48584440e-01 -4.71313271e-03 -9.54134375e+01] [ 4.48577438e-01 -8.93740445e-01 -2.50958358e-03 -2.73543137e+02] [-5.33807747e-03 1.28680180e-04 -9.99985744e-01 -8.05170477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.370385723 meters 0.015865586007399356 Centerline is valid? [True, True] Translation: X:-95.39, Y:-273.55, Z:-8.05 [[ 8.53611758e-01 5.20905858e-01 -2.01326311e-03 -9.53918689e+01] [ 5.20904278e-01 -8.53614131e-01 -1.28398218e-03 -2.73551902e+02] [-2.38738368e-03 4.73049165e-05 -9.99997149e-01 -8.05476697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.400385723 meters 0.016212878461158875 Centerline is valid? [True, True] Translation: X:-95.37, Y:-273.55, Z:-8.05 [[ 8.09449431e-01 5.87187715e-01 -1.48529155e-03 -9.53738411e+01] [ 5.87186648e-01 -8.09450793e-01 -1.12000854e-03 -2.73554099e+02] [-1.85992568e-03 3.44469065e-05 -9.99998270e-01 -8.05472439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.430385723 meters 0.01851691835037685 Centerline is valid? [True, True] Translation: X:-95.35, Y:-273.56, Z:-8.05 [[ 7.60174476e-01 6.49717524e-01 -1.38056457e-03 -9.53523643e+01] [ 6.49716376e-01 -7.60175729e-01 -1.22175624e-03 -2.73557349e+02] [-1.84326811e-03 3.17724986e-05 -9.99998301e-01 -8.05210542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.460385723 meters 0.015619513942589824 Centerline is valid? [True, True] Translation: X:-95.34, Y:-273.56, Z:-8.06 [[ 7.06424855e-01 7.07787929e-01 -4.14115143e-04 -9.53352630e+01] [ 7.07787799e-01 -7.06424977e-01 -4.29110849e-04 -2.73556288e+02] [-5.96260760e-04 1.00289238e-05 -9.99999822e-01 -8.05523476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.490385723 meters 0.017697880661104445 Centerline is valid? [True, True] Translation: X:-95.32, Y:-273.55, Z:-8.05 [[ 6.48536669e-01 7.61182453e-01 -1.20893238e-03 -9.53168249e+01] [ 7.61181042e-01 -6.48537795e-01 -1.46595625e-03 -2.73553934e+02] [-1.89989851e-03 3.05099779e-05 -9.99998195e-01 -8.05247663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.520385723 meters 0.014704392903364435 Centerline is valid? [True, True] Translation: X:-95.30, Y:-273.55, Z:-8.05 [[ 5.86106224e-01 8.10234011e-01 -5.85072422e-04 -9.52960897e+01] [ 8.10233580e-01 -5.86106516e-01 -8.35189628e-04 -2.73551197e+02] [-1.01961380e-03 1.54645158e-05 -9.99999480e-01 -8.05449044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.550385723 meters 0.015419819459712146 Centerline is valid? [True, True] Translation: X:-95.28, Y:-273.55, Z:-8.05 [[ 5.20297121e-01 8.53984900e-01 -8.34963293e-04 -9.52799270e+01] [ 8.53983727e-01 -5.20297790e-01 -1.41570317e-03 -2.73545326e+02] [-1.64341869e-03 2.35412194e-05 -9.99998649e-01 -8.05400793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.580385723 meters 0.014525340051080131 Centerline is valid? [True, True] Translation: X:-95.26, Y:-273.54, Z:-8.05 [[ 4.50080538e-01 8.92987840e-01 -4.75587896e-04 -9.52610677e+01] [ 8.92987310e-01 -4.50080789e-01 -9.73637514e-04 -2.73539454e+02] [-1.08349944e-03 1.35213411e-05 -9.99999413e-01 -8.05450842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.610385723 meters 0.01440502139797177 Centerline is valid? [True, True] Translation: X:-95.24, Y:-273.53, Z:-8.05 [[ 3.77385260e-01 9.26056334e-01 -1.80205200e-04 -9.52442512e+01] [ 9.26056221e-01 -3.77385303e-01 -4.56908586e-04 -2.73530895e+02] [-4.91129884e-04 5.55041887e-06 -9.99999879e-01 -8.05477395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.640385723 meters 0.01430519839247246 Centerline is valid? [True, True] Translation: X:-95.23, Y:-273.52, Z:-8.05 [[ 3.02079398e-01 9.53282769e-01 -3.48242583e-06 -9.52299930e+01] [ 9.53282769e-01 -3.02079398e-01 -1.24688147e-05 -2.73522512e+02] [-1.29382757e-05 4.46835518e-07 -1.00000000e+00 -8.05497226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.670385723 meters 0.01497027135940275 Centerline is valid? [True, True] Translation: X:-95.22, Y:-273.51, Z:-8.05 [[ 2.22401600e-01 9.74955141e-01 5.07239807e-05 -9.52171923e+01] [ 9.74955114e-01 -2.22401605e-01 2.25697001e-04 -2.73511846e+02] [ 2.31325546e-04 -7.41769733e-07 -9.99999973e-01 -8.05316296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.700385723 meters 0.013890622139619618 Centerline is valid? [True, True] Translation: X:-95.21, Y:-273.50, Z:-8.05 [[ 1.43060809e-01 9.89713897e-01 7.81511203e-05 -9.52063981e+01] [ 9.89713746e-01 -1.43060831e-01 5.47333217e-04 -2.73501500e+02] [ 5.52883655e-04 -9.54694933e-07 -9.99999847e-01 -8.05436308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.730385723 meters 0.01384750818240801 Centerline is valid? [True, True] Translation: X:-95.19, Y:-273.49, Z:-8.05 [[ 6.01428755e-02 9.98189778e-01 -2.94649510e-05 -9.51917145e+01] [ 9.98189666e-01 -6.01428827e-02 -4.73406501e-04 -2.73489235e+02] [-4.74321637e-04 -9.39581389e-07 -9.99999888e-01 -8.05400867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.760385723 meters 0.015699553570160462 Centerline is valid? [True, True] Translation: X:-95.18, Y:-273.48, Z:-8.05 [[-2.03141384e-02 9.99793646e-01 2.99451135e-05 -9.51784899e+01] [ 9.99791827e-01 2.03141586e-02 -1.90733984e-03 -2.73477250e+02] [-1.90755456e-03 -8.80708571e-06 -9.99998181e-01 -8.05134682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.790385723 meters 0.014088016915025914 Centerline is valid? [True, True] Translation: X:-95.17, Y:-273.46, Z:-8.05 [[-1.00267817e-01 9.94960467e-01 1.83444361e-04 -9.51688733e+01] [ 9.94958568e-01 1.00267984e-01 -1.94428392e-03 -2.73463756e+02] [-1.95287923e-03 -1.24295660e-05 -9.99998093e-01 -8.05283424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.820385723 meters 0.014441190637822704 Centerline is valid? [True, True] Translation: X:-95.16, Y:-273.45, Z:-8.05 [[-1.80181156e-01 9.83633383e-01 3.45621578e-04 -9.51618107e+01] [ 9.83631381e-01 1.80181486e-01 -1.98447303e-03 -2.73450352e+02] [-2.01426853e-03 -1.76004148e-05 -9.99997971e-01 -8.05268187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8503857229999 meters 0.017573043351709793 Centerline is valid? [True, True] Translation: X:-95.16, Y:-273.44, Z:-8.05 [[-2.57329582e-01 9.66323493e-01 6.26641840e-04 -9.51594512e+01] [ 9.66320398e-01 2.57330344e-01 -2.44615696e-03 -2.73438089e+02] [-2.52503290e-03 -2.39317555e-05 -9.99996812e-01 -8.04989748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.880385723 meters 0.014489575918519002 Centerline is valid? [True, True] Translation: X:-95.16, Y:-273.42, Z:-8.05 [[-3.33439048e-01 9.42771641e-01 1.86693964e-04 -9.51560474e+01] [ 9.42771483e-01 3.33439101e-01 -5.45830677e-04 -2.73423645e+02] [-5.76844751e-04 -5.99151630e-06 -9.99999834e-01 -8.05362473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.910385723 meters 0.014666812751168082 Centerline is valid? [True, True] Translation: X:-95.15, Y:-273.41, Z:-8.05 [[-4.06769532e-01 9.13530795e-01 1.82841637e-04 -9.51499184e+01] [ 9.13530698e-01 4.06769573e-01 -4.22907449e-04 -2.73409346e+02] [-4.60713393e-04 -4.99441707e-06 -9.99999894e-01 -8.05359910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.940385723 meters 0.015313290115477565 Centerline is valid? [True, True] Translation: X:-95.15, Y:-273.39, Z:-8.05 [[-4.77329793e-01 8.78724158e-01 3.50168658e-04 -9.51453995e+01] [ 8.78723908e-01 4.77329922e-01 -6.62528696e-04 -2.73394943e+02] [-7.49325949e-04 -8.54311384e-06 -9.99999719e-01 -8.05314855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9703857229999 meters 0.014614611876082793 Centerline is valid? [True, True] Translation: X:-95.15, Y:-273.38, Z:-8.05 [[-5.44522757e-01 8.38745919e-01 4.99991133e-04 -9.51488224e+01] [ 8.38745548e-01 5.44522986e-01 -7.89532850e-04 -2.73383253e+02] [-9.34474122e-04 -1.05532675e-05 -9.99999563e-01 -8.05250193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.000385723 meters 0.014535457467518342 Centerline is valid? [True, True] Translation: X:-95.15, Y:-273.37, Z:-8.05 [[-6.08129867e-01 7.93837318e-01 6.14566878e-04 -9.51483467e+01] [ 7.93836894e-01 6.08130178e-01 -8.20448960e-04 -2.73368783e+02] [-1.02503967e-03 -1.10736554e-05 -9.99999475e-01 -8.05222175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.030385723 meters 0.014577789301179488 Centerline is valid? [True, True] Translation: X:-95.15, Y:-273.36, Z:-8.05 [[-6.68447680e-01 7.43758636e-01 8.89363021e-04 -9.51516529e+01] [ 7.43757948e-01 6.68448272e-01 -1.01148914e-03 -2.73356478e+02] [-1.34679695e-03 -1.46567513e-05 -9.99999093e-01 -8.05170522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.060385723 meters 0.014712805725623425 Centerline is valid? [True, True] Translation: X:-95.15, Y:-273.34, Z:-8.05 [[-7.24867631e-01 6.88887160e-01 1.18251322e-03 -9.51520908e+01] [ 6.88886202e-01 7.24868595e-01 -1.14941777e-03 -2.73342927e+02] [-1.64898584e-03 -1.85586910e-05 -9.99998640e-01 -8.05164369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0903857229999 meters 0.015127675535013162 Centerline is valid? [True, True] Translation: X:-95.14, Y:-273.33, Z:-8.05 [[-7.72983455e-01 6.34423685e-01 1.77954442e-03 -9.51388078e+01] [ 6.34421913e-01 7.72985503e-01 -1.49982641e-03 -2.73326135e+02] [-2.32708744e-03 -3.03590253e-05 -9.99997292e-01 -8.05151445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.120385723 meters 0.014900095855559382 Centerline is valid? [True, True] Translation: X:-94.87, Y:-273.00, Z:-9.02 [[-7.09498910e-01 -7.04704266e-01 1.78706986e-03 -9.48738830e+01] [ 7.04702178e-01 -7.09501160e-01 -1.71610914e-03 -2.73003790e+02] [ 2.47727757e-03 4.17744595e-05 9.99996931e-01 -9.01825893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.150385723 meters 0.015404224597727237 Centerline is valid? [True, True] Translation: X:-95.18, Y:-273.30, Z:-8.05 [[-7.76472605e-01 6.30147503e-01 2.10216852e-03 -9.51824052e+01] [ 6.30145049e-01 7.76475449e-01 -1.75905441e-03 -2.73299511e+02] [-2.74074599e-03 -4.11864726e-05 -9.99996243e-01 -8.05139782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.180385723 meters 0.017222350564131784 Centerline is valid? [True, True] Translation: X:-95.17, Y:-273.28, Z:-8.05 [[-8.19420417e-01 5.73182265e-01 3.50313727e-03 -9.51741032e+01] [ 5.73176673e-01 8.19427902e-01 -2.53279499e-03 -2.73282115e+02] [-4.32232159e-03 -6.75073568e-05 -9.99990657e-01 -8.04947597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.210385723 meters 0.016104539162442293 Centerline is valid? [True, True] Translation: X:-95.17, Y:-273.26, Z:-8.05 [[-8.57954118e-01 5.13719055e-01 2.73203994e-03 -9.51687446e+01] [ 5.13716264e-01 8.57958466e-01 -1.69409445e-03 -2.73256367e+02] [-3.21426540e-03 -4.99619577e-05 -9.99994833e-01 -8.05064514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.240385723 meters 0.01565943035228479 Centerline is valid? [True, True] Translation: X:-94.93, Y:-272.86, Z:-9.02 [[-8.03766962e-01 -5.94938303e-01 2.66189051e-03 -9.49280054e+01] [ 5.94935263e-01 -8.03771368e-01 -1.90265505e-03 -2.72862257e+02] [ 3.27151374e-03 5.43612563e-05 9.99994647e-01 -9.01952766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.270385723 meters 0.015104194222001679 Centerline is valid? [True, True] Translation: X:-95.21, Y:-273.25, Z:-8.05 [[-8.58788359e-01 5.12317865e-01 3.59993361e-03 -9.52114419e+01] [ 5.12313083e-01 8.58795903e-01 -2.21426524e-03 -2.73246285e+02] [-4.22601588e-03 -5.72921239e-05 -9.99991069e-01 -8.05007638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.300385723 meters 0.015081555330151647 Centerline is valid? [True, True] Translation: X:-94.96, Y:-272.83, Z:-9.02 [[-8.07372981e-01 -5.90032394e-01 3.26250235e-03 -9.49593097e+01] [ 5.90027783e-01 -8.07379571e-01 -2.33308215e-03 -2.72831560e+02] [ 4.01067180e-03 4.12995325e-05 9.99991956e-01 -9.01997765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.330385723 meters 0.01458631345243804 Centerline is valid? [True, True] Translation: X:-95.26, Y:-273.24, Z:-8.05 [[-8.58306512e-01 5.13126885e-01 3.27583127e-03 -9.52563639e+01] [ 5.13122994e-01 8.58312763e-01 -1.99870944e-03 -2.73237751e+02] [-3.83727934e-03 -3.46009821e-05 -9.99992637e-01 -8.05084379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.360385723 meters 0.014642391785283697 Centerline is valid? [True, True] Translation: X:-95.25, Y:-273.21, Z:-8.05 [[-8.91842912e-01 4.52335454e-01 2.97602693e-03 -9.52504863e+01] [ 4.52332842e-01 8.91847877e-01 -1.53758237e-03 -2.73212972e+02] [-3.34966632e-03 -2.51272200e-05 -9.99994390e-01 -8.05101620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.390385723 meters 0.014492401397909293 Centerline is valid? [True, True] Translation: X:-95.25, Y:-273.19, Z:-8.05 [[-9.20644634e-01 3.90392710e-01 2.64387777e-03 -9.52472922e+01] [ 3.90391056e-01 9.20648430e-01 -1.13637340e-03 -2.73194889e+02] [-2.87771381e-03 -1.40498346e-05 -9.99995859e-01 -8.05192103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.420385723 meters 0.01442343545019677 Centerline is valid? [True, True] Translation: X:-95.03, Y:-272.69, Z:-9.02 [[-8.88181513e-01 -4.59484240e-01 2.79871078e-03 -9.50315276e+01] [ 4.59482070e-01 -8.88185922e-01 -1.41274176e-03 -2.72692819e+02] [ 3.13490809e-03 3.11863034e-05 9.99995086e-01 -9.01814036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.450385723 meters 0.01450005636784513 Centerline is valid? [True, True] Translation: X:-95.29, Y:-273.18, Z:-8.05 [[-9.21273792e-01 3.88901135e-01 3.24144694e-03 -9.52948370e+01] [ 3.88898689e-01 9.21279494e-01 -1.37951530e-03 -2.73184713e+02] [-3.52277366e-03 -1.03168231e-05 -9.99993795e-01 -8.05129401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.480385723 meters 0.014593562978784124 Centerline is valid? [True, True] Translation: X:-95.29, Y:-273.16, Z:-8.05 [[-9.46275919e-01 3.23339587e-01 3.66015405e-03 -9.52926031e+01] [ 3.23337134e-01 9.46282998e-01 -1.25948325e-03 -2.73163413e+02] [-3.87078234e-03 -8.35494624e-06 -9.99992509e-01 -8.05049169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.510385723 meters 0.01460037983043184 Centerline is valid? [True, True] Translation: X:-95.29, Y:-273.14, Z:-8.05 [[-9.66785354e-01 2.55553106e-01 4.32314062e-03 -9.52876542e+01] [ 2.55550509e-01 9.66795020e-01 -1.15209354e-03 -2.73139177e+02] [-4.47401190e-03 -9.04637096e-06 -9.99989992e-01 -8.05049350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.540385723 meters 0.014676172722512194 Centerline is valid? [True, True] Translation: X:-95.14, Y:-272.57, Z:-9.02 [[-9.45789489e-01 -3.24755921e-01 3.97918296e-03 -9.51354681e+01] [ 3.24753009e-01 -9.45797860e-01 -1.37527926e-03 -2.72567288e+02] [ 4.21013281e-03 -8.47302779e-06 9.99991137e-01 -9.01932200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.570385723 meters 0.014764658430128471 Centerline is valid? [True, True] Translation: X:-95.34, Y:-273.14, Z:-8.05 [[-9.68110266e-01 2.50489640e-01 4.17774054e-03 -9.53396788e+01] [ 2.50487241e-01 9.68119280e-01 -1.09646610e-03 -2.73137386e+02] [-4.31920456e-03 -1.50293910e-05 -9.99990672e-01 -8.05093126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6003857229999 meters 0.015020132196685923 Centerline is valid? [True, True] Translation: X:-95.19, Y:-272.55, Z:-9.02 [[-9.46562061e-01 -3.22499647e-01 3.77392406e-03 -9.51898689e+01] [ 3.22497053e-01 -9.46569584e-01 -1.29346103e-03 -2.72546845e+02] [ 3.98942245e-03 -7.26174652e-06 9.99992042e-01 -9.01938893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.630385723 meters 0.015052734725763454 Centerline is valid? [True, True] Translation: X:-95.39, Y:-273.14, Z:-8.05 [[-9.69533757e-01 2.44923141e-01 4.11690970e-03 -9.53907752e+01] [ 2.44920832e-01 9.69542498e-01 -1.06364601e-03 -2.73135433e+02] [-4.25203044e-03 -2.29237617e-05 -9.99990960e-01 -8.05117572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.660385723 meters 0.015181802696742222 Centerline is valid? [True, True] Translation: X:-95.39, Y:-273.11, Z:-8.05 [[-9.84510592e-01 1.75283470e-01 3.82091113e-03 -9.53902765e+01] [ 1.75282065e-01 9.84518006e-01 -7.02351136e-04 -2.73109839e+02] [-3.88486635e-03 -2.17349405e-05 -9.99992454e-01 -8.05123566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.690385723 meters 0.015162157702231192 Centerline is valid? [True, True] Translation: X:-95.27, Y:-272.48, Z:-9.02 [[-9.67845412e-01 -2.51532344e-01 2.59608823e-03 -9.52702106e+01] [ 2.51531271e-01 -9.67848891e-01 -7.36956401e-04 -2.72478462e+02] [ 2.69798948e-03 -6.02624993e-05 9.99996359e-01 -9.01779312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7203857229999 meters 0.014976796094231562 Centerline is valid? [True, True] Translation: X:-95.44, Y:-273.11, Z:-8.05 [[-9.84943324e-01 1.72863549e-01 2.20031396e-03 -9.54416804e+01] [ 1.72863098e-01 9.84945782e-01 -3.94902223e-04 -2.73114262e+02] [-2.23545415e-03 -8.60322141e-06 -9.99997501e-01 -8.05292032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.750385723 meters 0.015003846673141984 Centerline is valid? [True, True] Translation: X:-95.44, Y:-273.09, Z:-8.05 [[-9.94552733e-01 1.04227955e-01 1.18122281e-03 -9.54419236e+01] [ 1.04227879e-01 9.94553434e-01 -1.25981966e-04 -2.73093515e+02] [-1.18792004e-03 -2.17936098e-06 -9.99999295e-01 -8.05366622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.780385723 meters 0.01508249954964374 Centerline is valid? [True, True] Translation: X:-95.45, Y:-273.07, Z:-8.05 [[-9.99423477e-01 3.39369462e-02 9.98482999e-04 -9.54503841e+01] [ 3.39369282e-02 9.99423976e-01 -3.49824116e-05 -2.73067599e+02] [-9.99095046e-04 -1.07679759e-06 -9.99999501e-01 -8.05368586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.810385723 meters 0.015078815177613818 Centerline is valid? [True, True] Translation: X:-95.42, Y:-272.38, Z:-9.02 [[-9.94559999e-01 -1.04158983e-01 1.14660533e-03 -9.54195779e+01] [ 1.04158927e-01 -9.94560660e-01 -1.08757385e-04 -2.72380888e+02] [ 1.15169661e-03 1.12634352e-05 9.99999337e-01 -9.01675457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8403857229999 meters 0.015171097475927826 Centerline is valid? [True, True] Translation: X:-95.52, Y:-273.07, Z:-8.05 [[-9.99557446e-01 2.96948280e-02 1.76917378e-03 -9.55153844e+01] [ 2.96947783e-02 9.99559011e-01 -5.43862933e-05 -2.73073936e+02] [-1.77000859e-03 -1.82700138e-06 -9.99998434e-01 -8.05284189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.870385723 meters 0.015181853657609554 Centerline is valid? [True, True] Translation: X:-95.49, Y:-272.37, Z:-9.02 [[-9.94960729e-01 -1.00248127e-01 1.86043720e-03 -9.54879032e+01] [ 1.00247967e-01 -9.94962468e-01 -1.78901718e-04 -2.72371447e+02] [ 1.86899975e-03 8.50486310e-06 9.99998253e-01 -9.01744668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.900385723 meters 0.015311109695563268 Centerline is valid? [True, True] Translation: X:-95.58, Y:-273.08, Z:-8.05 [[-9.99709087e-01 2.40354978e-02 2.00915783e-03 -9.55838375e+01] [ 2.40354406e-02 9.99711106e-01 -5.26370290e-05 -2.73078274e+02] [-2.00984255e-03 -4.33072255e-06 -9.99997980e-01 -8.05234676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.930385723 meters 0.015383894072376893 Centerline is valid? [True, True] Translation: X:-95.56, Y:-272.36, Z:-9.02 [[-9.95317309e-01 -9.66363817e-02 2.20558899e-03 -9.55622217e+01] [ 9.66361852e-02 -9.95319752e-01 -1.95749461e-04 -2.72362994e+02] [ 2.21418281e-03 1.83068793e-05 9.99997549e-01 -9.01802219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.960385723 meters 0.015405143454966014 Centerline is valid? [True, True] Translation: X:-95.66, Y:-273.08, Z:-8.05 [[-9.99824860e-01 1.84996813e-02 2.83023945e-03 -9.56587130e+01] [ 1.84995826e-02 9.99828866e-01 -6.10517909e-05 -2.73080943e+02] [-2.83088454e-03 -8.68284987e-06 -9.99995993e-01 -8.05181142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.990385723 meters 0.015405143454966014 Centerline is valid? [True, True] Translation: X:-95.64, Y:-272.36, Z:-9.02 [[-9.95722612e-01 -9.23495235e-02 2.83657181e-03 -9.56398190e+01] [ 9.23491770e-02 -9.95726652e-01 -2.53187597e-04 -2.72358547e+02] [ 2.84783191e-03 9.85045680e-06 9.99995945e-01 -9.01819082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.020385723 meters 0.015572652310814014 Centerline is valid? [True, True] Translation: X:-95.73, Y:-273.08, Z:-8.05 [[-9.99920639e-01 1.18245264e-02 4.34691755e-03 -9.57342386e+01] [ 1.18243257e-02 9.99930088e-01 -7.18531211e-05 -2.73083642e+02] [-4.34746328e-03 -2.04480497e-05 -9.99990550e-01 -8.05069596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.050385723 meters 0.015965177185135536 Centerline is valid? [True, True] Translation: X:-95.72, Y:-272.35, Z:-9.02 [[-9.95970567e-01 -8.95143466e-02 5.45993565e-03 -9.57228907e+01] [ 8.95135542e-02 -9.95985528e-01 -3.89827967e-04 -2.72350330e+02] [ 5.47291208e-03 1.00481064e-04 9.99985019e-01 -9.02109057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.080385723 meters 0.016001286479039502 Centerline is valid? [True, True] Translation: X:-95.82, Y:-273.09, Z:-8.05 [[-9.99970461e-01 4.30236319e-03 6.36922993e-03 -9.58223514e+01] [ 4.30196676e-03 9.99990744e-01 -7.59396903e-05 -2.73087082e+02] [-6.36949769e-03 -4.85372317e-05 -9.99979713e-01 -8.04769212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.110385723 meters 0.015975273559363238 Centerline is valid? [True, True] Translation: X:-95.81, Y:-273.06, Z:-8.05 [[-9.97695102e-01 -6.75491713e-02 6.44919403e-03 -9.58130502e+01] [-6.75481057e-02 9.97715945e-01 3.83152116e-04 -2.73060956e+02] [-6.46034532e-03 -5.33618502e-05 -9.99979130e-01 -8.04819527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.140385723 meters 0.016016563542243893 Centerline is valid? [True, True] Translation: X:-95.82, Y:-273.04, Z:-8.05 [[-9.90260200e-01 -1.39090864e-01 6.20230427e-03 -9.58231153e+01] [-1.39088487e-01 9.90279621e-01 8.15066567e-04 -2.73035664e+02] [-6.25538384e-03 -5.55411365e-05 -9.99980433e-01 -8.04872339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.170385723 meters 0.016616890850722373 Centerline is valid? [True, True] Translation: X:-95.92, Y:-272.29, Z:-9.02 [[-9.98534974e-01 5.38186684e-02 5.60855708e-03 -9.59227048e+01] [-5.38177805e-02 -9.98550725e-01 3.09232907e-04 -2.72285998e+02] [ 5.61707125e-03 6.93977876e-06 9.99984224e-01 -9.02127970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.200385723 meters 0.01620971518874309 Centerline is valid? [True, True] Translation: X:-95.93, Y:-273.06, Z:-8.05 [[-9.89264565e-01 -1.46042359e-01 5.22005515e-03 -9.59311480e+01] [-1.46040580e-01 9.89278337e-01 7.22337595e-04 -2.73058986e+02] [-5.26957936e-03 -4.77568960e-05 -9.99986115e-01 -8.04982909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.230385723 meters 0.016252968187198187 Centerline is valid? [True, True] Translation: X:-96.04, Y:-272.29, Z:-9.02 [[-9.98104955e-01 6.12873278e-02 5.51018391e-03 -9.60382050e+01] [-6.12860233e-02 -9.98120163e-01 4.05452249e-04 -2.72290647e+02] [ 5.52467475e-03 6.69866388e-05 9.99984737e-01 -9.02032750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.260385723 meters 0.016171309367123434 Centerline is valid? [True, True] Translation: X:-96.06, Y:-273.08, Z:-8.05 [[-9.88500919e-01 -1.51112244e-01 5.56982629e-03 -9.60575943e+01] [-1.51110098e-01 9.88516610e-01 8.06540999e-04 -2.73080455e+02] [-5.62774402e-03 -4.43904804e-05 -9.99984163e-01 -8.04961178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.290385723 meters 0.016166103856325106 Centerline is valid? [True, True] Translation: X:-96.06, Y:-273.06, Z:-8.05 [[-9.75193735e-01 -2.21274490e-01 5.89740092e-03 -9.60647749e+01] [-2.21270715e-01 9.75211566e-01 1.29312702e-03 -2.73056207e+02] [-6.03734960e-03 -4.38727481e-05 -9.99981774e-01 -8.04961167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.320385723 meters 0.016306482112463872 Centerline is valid? [True, True] Translation: X:-96.27, Y:-272.29, Z:-9.02 [[-9.90036230e-01 1.40665015e-01 6.45119523e-03 -9.62679022e+01] [-1.40661502e-01 -9.90057244e-01 9.97425526e-04 -2.72287619e+02] [ 6.52735545e-03 8.00525991e-05 9.99978693e-01 -9.02019395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3503857229999 meters 0.01640107429562555 Centerline is valid? [True, True] Translation: X:-96.21, Y:-273.09, Z:-8.05 [[-9.73447202e-01 -2.28811988e-01 6.75419058e-03 -9.62143638e+01] [-2.28806850e-01 9.73470632e-01 1.53414939e-03 -2.73087363e+02] [-6.92603794e-03 -5.19916396e-05 -9.99976013e-01 -8.04872566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.380385723 meters 0.016506202306440804 Centerline is valid? [True, True] Translation: X:-96.41, Y:-272.32, Z:-9.02 [[-9.89070689e-01 1.47225341e-01 7.99198145e-03 -9.64129541e+01] [-1.47219391e-01 -9.89102967e-01 1.33093519e-03 -2.72322295e+02] [ 8.10083995e-03 1.39814336e-04 9.99967178e-01 -9.02253629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.410385723 meters 0.016293374446341494 Centerline is valid? [True, True] Translation: X:-96.38, Y:-273.12, Z:-8.05 [[-9.71760015e-01 -2.35823289e-01 8.35761276e-03 -9.63812207e+01] [-2.35815167e-01 9.71795952e-01 1.95830324e-03 -2.73121181e+02] [-8.58370776e-03 -6.78510636e-05 -9.99963157e-01 -8.04768919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.440385723 meters 0.016287365903484778 Centerline is valid? [True, True] Translation: X:-96.42, Y:-273.10, Z:-8.05 [[-9.51962380e-01 -3.06100587e-01 8.37012054e-03 -9.64196546e+01] [-3.06089370e-01 9.51999174e-01 2.62127044e-03 -2.73100866e+02] [-8.77072026e-03 -6.66540801e-05 -9.99961534e-01 -8.04712531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4703857229999 meters 0.01619887321080409 Centerline is valid? [True, True] Translation: X:-96.48, Y:-273.09, Z:-8.05 [[-9.27163986e-01 -3.74571654e-01 7.93848427e-03 -9.64817529e+01] [-3.74558463e-01 9.27197969e-01 3.14406384e-03 -2.73091310e+02] [-8.53822368e-03 -5.83637082e-05 -9.99963547e-01 -8.04760335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.500385723 meters 0.01608581333136846 Centerline is valid? [True, True] Translation: X:-96.55, Y:-273.09, Z:-8.05 [[-8.97378378e-01 -4.41191821e-01 7.86284795e-03 -9.65522284e+01] [-4.41175368e-01 8.97412823e-01 3.81048605e-03 -2.73090722e+02] [-8.73737585e-03 -4.94470463e-05 -9.99961827e-01 -8.04814121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.530385723 meters 0.016021495204966422 Centerline is valid? [True, True] Translation: X:-96.63, Y:-273.10, Z:-8.05 [[-8.62403438e-01 -5.06162806e-01 7.71519416e-03 -9.66344791e+01] [-5.06143002e-01 8.62437947e-01 4.47762193e-03 -2.73101392e+02] [-8.92028189e-03 -4.34749873e-05 -9.99960213e-01 -8.04798308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.560385723 meters 0.01596523583597851 Centerline is valid? [True, True] Translation: X:-96.72, Y:-273.12, Z:-8.05 [[-8.22527346e-01 -5.68676790e-01 7.44806936e-03 -9.67197189e+01] [-5.68653866e-01 8.22561066e-01 5.10619782e-03 -2.73120739e+02] [-9.03026806e-03 -3.53860923e-05 -9.99959226e-01 -8.04714702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5903857229999 meters 0.016009004682224375 Centerline is valid? [True, True] Translation: X:-96.82, Y:-273.16, Z:-8.05 [[-7.77854559e-01 -6.28400037e-01 7.46187703e-03 -9.68150363e+01] [-6.28371488e-01 7.77890348e-01 5.98997531e-03 -2.73156179e+02] [-9.56862282e-03 -2.95011692e-05 -9.99954219e-01 -8.04719706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.620385723 meters 0.015923176239776984 Centerline is valid? [True, True] Translation: X:-96.90, Y:-273.19, Z:-8.05 [[-7.29436561e-01 -6.84006261e-01 7.59858741e-03 -9.68964964e+01] [-6.83969264e-01 7.29476138e-01 7.11408941e-03 -2.73189573e+02] [-1.04090699e-02 -7.92332423e-06 -9.99945824e-01 -8.04659635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.650385723 meters 0.016002895229814653 Centerline is valid? [True, True] Translation: X:-96.99, Y:-273.24, Z:-8.05 [[-6.76118008e-01 -7.36758561e-01 7.15968383e-03 -9.69876536e+01] [-7.36717206e-01 6.76155916e-01 7.80620529e-03 -2.73240908e+02] [-1.05923512e-02 3.25370672e-06 -9.99943900e-01 -8.04600501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.680385723 meters 0.015987965098748762 Centerline is valid? [True, True] Translation: X:-97.08, Y:-273.31, Z:-8.05 [[-6.19196825e-01 -7.85203181e-01 7.15935316e-03 -9.70803643e+01] [-7.85150296e-01 6.19238212e-01 9.11313814e-03 -2.73306595e+02] [-1.15890101e-02 2.16579406e-05 -9.99932845e-01 -8.04620195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.710385723 meters 0.015970697574877003 Centerline is valid? [True, True] Translation: X:-97.17, Y:-273.38, Z:-8.05 [[-5.57736485e-01 -8.29993104e-01 6.43902259e-03 -9.71675771e+01] [-8.29937239e-01 5.57773652e-01 9.62978233e-03 -2.73377448e+02] [-1.15841701e-02 2.68963216e-05 -9.99932901e-01 -8.04621400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.740385723 meters 0.015982400060443058 Centerline is valid? [True, True] Translation: X:-97.25, Y:-273.46, Z:-8.05 [[-4.93053295e-01 -8.69981507e-01 5.53402573e-03 -9.72512336e+01] [-8.69925945e-01 4.93084350e-01 9.83227174e-03 -2.73458016e+02] [-1.12826361e-02 3.36414151e-05 -9.99936349e-01 -8.04625993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.770385723 meters 0.016009436905234622 Centerline is valid? [True, True] Translation: X:-97.33, Y:-273.55, Z:-8.05 [[-4.25405192e-01 -9.04992162e-01 4.42820498e-03 -9.73297818e+01] [-9.04942201e-01 4.25428237e-01 9.50938781e-03 -2.73548863e+02] [-1.04898049e-02 3.80733884e-05 -9.99944980e-01 -8.04634515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.800385723 meters 0.01597914910984113 Centerline is valid? [True, True] Translation: X:-97.40, Y:-273.65, Z:-8.05 [[-3.54374189e-01 -9.35097453e-01 3.41865847e-03 -9.74017552e+01] [-9.35053039e-01 3.54390677e-01 9.11389898e-03 -2.73646121e+02] [-9.73392441e-03 3.31035727e-05 -9.99952624e-01 -8.04637280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.830385723 meters 0.0175035379416196 Centerline is valid? [True, True] Translation: X:-97.47, Y:-273.76, Z:-8.04 [[-2.81697146e-01 -9.59499615e-01 2.68439915e-03 -9.74678691e+01] [-9.59454792e-01 2.81709934e-01 9.27442391e-03 -2.73756229e+02] [-9.65502808e-03 3.70191143e-05 -9.99953389e-01 -8.04468015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.860385723 meters 0.015871279813441663 Centerline is valid? [True, True] Translation: X:-97.53, Y:-273.87, Z:-8.05 [[-2.05767612e-01 -9.78599044e-01 1.89766181e-03 -9.75263435e+01] [-9.78556290e-01 2.05776361e-01 9.14753225e-03 -2.73870787e+02] [-9.34226025e-03 2.52969741e-05 -9.99956360e-01 -8.04751178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.890385723 meters 0.01590505314347654 Centerline is valid? [True, True] Translation: X:-97.58, Y:-274.01, Z:-8.05 [[-1.29751394e-01 -9.91545863e-01 1.17340585e-03 -9.75770286e+01] [-9.91503520e-01 1.29756697e-01 9.16344608e-03 -2.74008876e+02] [-9.23823432e-03 2.55338651e-05 -9.99957326e-01 -8.04831319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.920385723 meters 0.015960425124754842 Centerline is valid? [True, True] Translation: X:-97.61, Y:-274.10, Z:-8.05 [[-5.31384572e-02 -9.98587054e-01 4.46443221e-04 -9.76132734e+01] [-9.98547118e-01 5.31403248e-02 8.93084792e-03 -2.74099191e+02] [-8.94195325e-03 2.87768883e-05 -9.99960020e-01 -8.04770977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.950385723 meters 0.015867231184790467 Centerline is valid? [True, True] Translation: X:-97.64, Y:-274.23, Z:-8.05 [[ 2.37855603e-02 -9.99717052e-01 -2.51467074e-04 -9.76438579e+01] [-9.99674952e-01 -2.37868665e-02 9.17470660e-03 -2.74225975e+02] [-9.17809225e-03 3.31597982e-05 -9.99957880e-01 -8.04839735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.980385723 meters 0.015830243116849746 Centerline is valid? [True, True] Translation: X:-97.66, Y:-274.35, Z:-8.05 [[ 1.00990336e-01 -9.94886929e-01 -9.74698432e-04 -9.76643103e+01] [-9.94843743e-01 -1.00995034e-01 9.26987659e-03 -2.74346578e+02] [-9.32091876e-03 3.35046836e-05 -9.99956559e-01 -8.04815377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.010385723 meters 0.015859445024688053 Centerline is valid? [True, True] Translation: X:-97.68, Y:-274.47, Z:-8.05 [[ 1.77392190e-01 -9.84138975e-01 -1.57737384e-03 -9.76753925e+01] [-9.84101700e-01 -1.77399200e-01 8.56550232e-03 -2.74471733e+02] [-8.70946953e-03 3.28430571e-05 -9.99962071e-01 -8.04864597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.040385723 meters 0.015868623120559124 Centerline is valid? [True, True] Translation: X:-97.68, Y:-274.60, Z:-8.05 [[ 2.51928498e-01 -9.67743734e-01 -2.02413595e-03 -9.76766734e+01] [-9.67713668e-01 -2.51936627e-01 7.62837474e-03 -2.74600948e+02] [-7.89226584e-03 3.69790300e-05 -9.99968855e-01 -8.04895204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.070385723 meters 0.015866522608624624 Centerline is valid? [True, True] Translation: X:-97.66, Y:-274.75, Z:-8.05 [[ 3.25456324e-01 -9.45553530e-01 -2.58909350e-03 -9.76626780e+01] [-9.45524580e-01 -3.25466620e-01 7.39920572e-03 -2.74745458e+02] [-7.83900860e-03 3.99332517e-05 -9.99969274e-01 -8.04836073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1003857229999 meters 0.015843951887940487 Centerline is valid? [True, True] Translation: X:-97.65, Y:-274.85, Z:-8.05 [[ 3.97009674e-01 -9.17808054e-01 -3.41984559e-03 -9.76522552e+01] [-9.17775027e-01 -3.97024401e-01 7.78627645e-03 -2.74851589e+02] [-8.50406938e-03 4.74218003e-05 -9.99963839e-01 -8.04858944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.130385723 meters 0.015903466703836175 Centerline is valid? [True, True] Translation: X:-97.62, Y:-274.99, Z:-8.05 [[ 4.66042070e-01 -8.84751181e-01 -4.48738479e-03 -9.76169634e+01] [-8.84711365e-01 -4.66063670e-01 8.39379860e-03 -2.74990966e+02] [-9.51783025e-03 5.81770497e-05 -9.99954703e-01 -8.04854771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.160385723 meters 0.016138343779037542 Centerline is valid? [True, True] Translation: X:-97.58, Y:-275.11, Z:-8.05 [[ 5.32448802e-01 -8.46444167e-01 -5.52680904e-03 -9.75795376e+01] [-8.46399857e-01 -5.32477482e-01 8.66106701e-03 -2.75111044e+02] [-1.02740110e-02 6.63156223e-05 -9.99947219e-01 -8.04616667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.190385723 meters 0.015948987693079453 Centerline is valid? [True, True] Translation: X:-97.55, Y:-275.21, Z:-8.05 [[ 5.95331983e-01 -8.03450703e-01 -6.84086934e-03 -9.75513464e+01] [-8.03399232e-01 -5.95371280e-01 9.09465398e-03 -2.75206445e+02] [-1.13799633e-02 8.16107869e-05 -9.99935243e-01 -8.04612420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2203857229999 meters 0.016173657481841613 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.31, Z:-8.05 [[ 6.54707652e-01 -7.55840351e-01 -7.95324959e-03 -9.75066866e+01] [-7.55786315e-01 -6.54755951e-01 9.03826943e-03 -2.75307142e+02] [-1.20389262e-02 9.35330438e-05 -9.99927525e-01 -8.04514567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.250385723 meters 0.016159700862492878 Centerline is valid? [True, True] Translation: X:-97.46, Y:-275.40, Z:-8.05 [[ 7.09231977e-01 -7.04918652e-01 -8.92731466e-03 -9.74556912e+01] [-7.04864925e-01 -7.09288150e-01 8.70392701e-03 -2.75404725e+02] [-1.24675990e-02 1.19447614e-04 -9.99922269e-01 -8.04610263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.280385723 meters 0.01637365139991651 Centerline is valid? [True, True] Translation: X:-97.46, Y:-275.41, Z:-8.05 [[ 7.61506485e-01 -6.48084572e-01 -9.70880396e-03 -9.74625279e+01] [-6.48034132e-01 -7.61568362e-01 8.08665027e-03 -2.75411130e+02] [-1.26347512e-02 1.33599718e-04 -9.99920170e-01 -8.04589708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.310385723 meters 0.016516468542206078 Centerline is valid? [True, True] Translation: X:-97.47, Y:-275.42, Z:-8.05 [[ 8.09093673e-01 -5.87587631e-01 -1.04021215e-02 -9.74683681e+01] [-5.87541453e-01 -8.09160524e-01 7.36802857e-03 -2.75418654e+02] [-1.27463485e-02 1.50252282e-04 -9.99918751e-01 -8.04611654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3403857229999 meters 0.016491102455753366 Centerline is valid? [True, True] Translation: X:-97.47, Y:-275.43, Z:-8.05 [[ 8.51944390e-01 -5.23522298e-01 -1.07312432e-02 -9.74737241e+01] [-5.23483150e-01 -8.52011958e-01 6.40428003e-03 -2.75427188e+02] [-1.24959309e-02 1.61534529e-04 -9.99921910e-01 -8.04734788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.370385723 meters 0.016553219565580923 Centerline is valid? [True, True] Translation: X:-97.48, Y:-275.44, Z:-8.05 [[ 8.89993112e-01 -4.55853080e-01 -1.04990291e-02 -9.74789757e+01] [-4.55823457e-01 -8.90055023e-01 5.19923820e-03 -2.75435455e+02] [-1.17148024e-02 1.58417564e-04 -9.99931367e-01 -8.04810686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.400385723 meters 0.016796605788628387 Centerline is valid? [True, True] Translation: X:-97.48, Y:-275.44, Z:-8.05 [[ 9.22920069e-01 -3.84860912e-01 -1.00311829e-02 -9.74838523e+01] [-3.84839889e-01 -9.22974570e-01 4.02527451e-03 -2.75443445e+02] [-1.08076975e-02 1.45392678e-04 -9.99941585e-01 -8.04878391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.430385723 meters 0.01679625948090648 Centerline is valid? [True, True] Translation: X:-97.49, Y:-275.45, Z:-8.05 [[ 9.50383624e-01 -3.10916408e-01 -1.00972171e-02 -9.74869100e+01] [-3.10900370e-01 -9.50437251e-01 3.16084970e-03 -2.75448940e+02] [-1.05795313e-02 1.35208739e-04 -9.99944026e-01 -8.04897984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.460385723 meters 0.01608042544845713 Centerline is valid? [True, True] Translation: X:-97.49, Y:-275.46, Z:-8.05 [[ 9.72178267e-01 -2.34012483e-01 -1.03717882e-02 -9.74908945e+01] [-2.34000458e-01 -9.72233585e-01 2.37529418e-03 -2.75462878e+02] [-1.06396493e-02 1.17793802e-04 -9.99943390e-01 -8.05057956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.490385723 meters 0.015781956899447478 Centerline is valid? [True, True] Translation: X:-97.50, Y:-275.48, Z:-8.05 [[ 9.87749210e-01 -1.55723654e-01 -1.00817895e-02 -9.74967123e+01] [-1.55716556e-01 -9.87800655e-01 1.49001509e-03 -2.75475792e+02] [-1.01908289e-02 9.81403206e-05 -9.99948067e-01 -8.05110624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.520385723 meters 0.01564065463074967 Centerline is valid? [True, True] Translation: X:-97.50, Y:-275.49, Z:-8.05 [[ 9.97080155e-01 -7.57406305e-02 -9.72219922e-03 -9.75020457e+01] [-7.57377424e-02 -9.97127550e-01 6.65433756e-04 -2.75488552e+02] [-9.74467306e-03 7.28466264e-05 -9.99952517e-01 -8.05149903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.550385723 meters 0.01550986814471867 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.50, Z:-8.05 [[ 9.99945550e-01 3.73350137e-03 -9.74464049e-03 -9.75057752e+01] [ 3.73272552e-03 -9.99993029e-01 -9.78042785e-05 -2.75501727e+02] [-9.74493771e-03 6.14248848e-05 -9.99952515e-01 -8.05207054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.580385723 meters 0.015470355385480411 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.51, Z:-8.05 [[ 9.96529209e-01 8.26401289e-02 -1.00072131e-02 -9.75090336e+01] [ 8.26353894e-02 -9.96579453e-01 -8.86878100e-04 -2.75513304e+02] [-1.00462747e-02 5.68499760e-05 -9.99949533e-01 -8.05140871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.610385723 meters 0.015298172775456165 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.52, Z:-8.05 [[ 9.86811597e-01 1.61531648e-01 -1.05071009e-02 -9.75113842e+01] [ 1.61521974e-01 -9.86867531e-01 -1.76846977e-03 -2.75522419e+02] [-1.06547805e-02 4.80188071e-05 -9.99943235e-01 -8.05168461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.640385723 meters 0.015379312073589035 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.53, Z:-8.05 [[ 9.71113165e-01 2.38369414e-01 -1.09198989e-02 -9.75135252e+01] [ 2.38353768e-01 -9.71174557e-01 -2.73152284e-03 -2.75530458e+02] [-1.12562395e-02 4.98187434e-05 -9.99936645e-01 -8.05162520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.670385723 meters 0.015418060502467345 Centerline is valid? [True, True] Translation: X:-97.52, Y:-275.54, Z:-8.05 [[ 9.49548198e-01 3.13436673e-01 -1.07550818e-02 -9.75157839e+01] [ 3.13415936e-01 -9.49609104e-01 -3.60577301e-03 -2.75537771e+02] [-1.13433050e-02 5.30412478e-05 -9.99935661e-01 -8.05122856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.700385723 meters 0.015296987301779105 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.55, Z:-8.05 [[ 9.22241912e-01 3.86461022e-01 -1.08505855e-02 -9.75149491e+01] [ 3.86433516e-01 -9.22305738e-01 -4.61114076e-03 -2.75547252e+02] [-1.17895835e-02 5.95573485e-05 -9.99930499e-01 -8.05212679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.730385723 meters 0.01553175734452857 Centerline is valid? [True, True] Translation: X:-97.52, Y:-275.56, Z:-8.05 [[ 8.89507945e-01 4.56798075e-01 -1.05420678e-02 -9.75152605e+01] [ 4.56765075e-01 -8.89570410e-01 -5.49108853e-03 -2.75555561e+02] [-1.18862303e-02 6.91184687e-05 -9.99929354e-01 -8.05097519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.760385723 meters 0.015349806592330692 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.57, Z:-8.05 [[ 8.51797181e-01 5.23767232e-01 -1.04618054e-02 -9.75124839e+01] [ 5.23726432e-01 -8.51861420e-01 -6.53810087e-03 -2.75565931e+02] [-1.23364514e-02 9.00118741e-05 -9.99923899e-01 -8.05277729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.790385723 meters 0.015366262787250952 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.58, Z:-8.05 [[ 8.08409139e-01 5.88540144e-01 -9.75515765e-03 -9.75106519e+01] [ 5.88495905e-01 -8.08467990e-01 -7.21656910e-03 -2.75575996e+02] [-1.21339733e-02 9.30700769e-05 -9.99926376e-01 -8.05304794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.820385723 meters 0.015395739186115058 Centerline is valid? [True, True] Translation: X:-97.51, Y:-275.59, Z:-8.05 [[ 7.60172801e-01 6.49660532e-01 -8.86039826e-03 -9.75071592e+01] [ 6.49614937e-01 -7.60224430e-01 -7.69731084e-03 -2.75586244e+02] [-1.17365303e-02 9.54392802e-05 -9.99931120e-01 -8.05346122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8503857229999 meters 0.01536679586976163 Centerline is valid? [True, True] Translation: X:-97.50, Y:-275.60, Z:-8.05 [[ 7.07198017e-01 7.06969565e-01 -8.06226388e-03 -9.75029007e+01] [ 7.06922061e-01 -7.07243965e-01 -8.19601013e-03 -2.75596098e+02] [-1.14963172e-02 9.68099093e-05 -9.99933911e-01 -8.05316863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.880385723 meters 0.01536679586976163 Centerline is valid? [True, True] Translation: X:-97.50, Y:-275.61, Z:-8.05 [[ 6.49700829e-01 7.60154018e-01 -7.39606153e-03 -9.74980491e+01] [ 7.60103064e-01 -6.49742918e-01 -8.80186552e-03 -2.75605787e+02] [-1.14963120e-02 9.68102856e-05 -9.99933911e-01 -8.05316868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.910385723 meters 0.015235114137935006 Centerline is valid? [True, True] Translation: X:-97.49, Y:-275.62, Z:-8.05 [[ 5.87452669e-01 8.09231711e-01 -6.58790357e-03 -9.74912385e+01] [ 8.09179192e-01 -5.87489601e-01 -9.21975050e-03 -2.75616121e+02] [-1.13312393e-02 8.53725557e-05 -9.99935796e-01 -8.05413798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.940385723 meters 0.01534622834816439 Centerline is valid? [True, True] Translation: X:-97.49, Y:-275.63, Z:-8.05 [[ 5.22331659e-01 8.52722248e-01 -5.86565422e-03 -9.74856819e+01] [ 8.52666624e-01 -5.22364586e-01 -9.74000383e-03 -2.75625462e+02] [-1.13695280e-02 8.60647730e-05 -9.99935361e-01 -8.05368152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9703857229999 meters 0.015134270591975918 Centerline is valid? [True, True] Translation: X:-97.48, Y:-275.63, Z:-8.05 [[ 4.53967028e-01 8.91003819e-01 -5.11192310e-03 -9.74767712e+01] [ 8.90945170e-01 -4.53995801e-01 -1.02233859e-02 -2.75634717e+02] [-1.14298675e-02 8.66369183e-05 -9.99934673e-01 -8.05482128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.000385723 meters 0.015120657638931952 Centerline is valid? [True, True] Translation: X:-97.47, Y:-275.64, Z:-8.06 [[ 3.82615508e-01 9.23896766e-01 -4.48771528e-03 -9.74653781e+01] [ 9.23830498e-01 -3.82641815e-01 -1.10658399e-02 -2.75644171e+02] [-1.19408812e-02 8.80737062e-05 -9.99928701e-01 -8.05533646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.030385723 meters 0.015040995196850744 Centerline is valid? [True, True] Translation: X:-97.45, Y:-275.65, Z:-8.06 [[ 3.08836161e-01 9.51108731e-01 -3.52257822e-03 -9.74537641e+01] [ 9.51043772e-01 -3.08856238e-01 -1.11161077e-02 -2.75652077e+02] [-1.16605974e-02 8.29299615e-05 -9.99932010e-01 -8.05534226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.060385723 meters 0.015225032740828266 Centerline is valid? [True, True] Translation: X:-97.44, Y:-275.66, Z:-8.05 [[ 2.33206420e-01 9.72423518e-01 -2.69565217e-03 -9.74419447e+01] [ 9.72354421e-01 -2.33221984e-01 -1.15925366e-02 -2.75660176e+02] [-1.19015406e-02 8.23246462e-05 -9.99929171e-01 -8.05434994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0903857229999 meters 0.015051043665067626 Centerline is valid? [True, True] Translation: X:-97.43, Y:-275.67, Z:-8.05 [[ 1.56185168e-01 9.87726108e-01 -1.82452756e-03 -9.74290103e+01] [ 9.87652394e-01 -1.56195802e-01 -1.20673391e-02 -2.75666414e+02] [-1.22042094e-02 8.27403584e-05 -9.99925523e-01 -8.05456963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.120385723 meters 0.015161885815284737 Centerline is valid? [True, True] Translation: X:-97.42, Y:-275.67, Z:-8.05 [[ 7.84276112e-02 9.96919396e-01 -9.09826813e-04 -9.74171994e+01] [ 9.96838830e-01 -7.84328401e-02 -1.26742594e-02 -2.75672583e+02] [-1.27065753e-02 8.70611946e-05 -9.99919265e-01 -8.05405878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.150385723 meters 0.01592295102438716 Centerline is valid? [True, True] Translation: X:-97.41, Y:-275.68, Z:-8.05 [[ 3.83739782e-04 9.99999923e-01 8.74275890e-05 -9.74059639e+01] [ 9.99916240e-01 -3.82576618e-04 -1.29370088e-02 -2.75676488e+02] [-1.29369744e-02 9.23847110e-05 -9.99916310e-01 -8.05321728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.180385723 meters 0.015075859999204397 Centerline is valid? [True, True] Translation: X:-97.39, Y:-275.68, Z:-8.05 [[-7.76690831e-02 9.96978650e-01 1.04180815e-03 -9.73933066e+01] [ 9.96903937e-01 7.76760170e-02 -1.22055765e-02 -2.75680399e+02] [-1.22496227e-02 9.05867051e-05 -9.99924967e-01 -8.05488058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.210385723 meters 0.0164457545860835 Centerline is valid? [True, True] Translation: X:-97.38, Y:-275.68, Z:-8.05 [[-1.54777127e-01 9.87947322e-01 2.03238031e-03 -9.73805619e+01] [ 9.87870574e-01 1.54790437e-01 -1.23145939e-02 -2.75683444e+02] [-1.24807631e-02 1.01711226e-04 -9.99922107e-01 -8.05438273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.240385723 meters 0.015225836124767533 Centerline is valid? [True, True] Translation: X:-97.37, Y:-275.69, Z:-8.06 [[-2.32089389e-01 9.72690095e-01 2.91440379e-03 -9.73677257e+01] [ 9.72618402e-01 2.32107668e-01 -1.18099100e-02 -2.75685961e+02] [-1.21638379e-02 9.36479586e-05 -9.99926014e-01 -8.05502055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.270385723 meters 0.015123338988986377 Centerline is valid? [True, True] Translation: X:-97.35, Y:-275.69, Z:-8.05 [[-3.08447809e-01 9.51232656e-01 4.04768679e-03 -9.73538926e+01] [ 9.51154405e-01 3.08474354e-01 -1.22012809e-02 -2.75686315e+02] [-1.28548644e-02 8.65167544e-05 -9.99917369e-01 -8.05438429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.300385723 meters 0.015210837998762947 Centerline is valid? [True, True] Translation: X:-97.34, Y:-275.69, Z:-8.05 [[-3.82002994e-01 9.24148532e-01 4.81695688e-03 -9.73421720e+01] [ 9.24077815e-01 3.82033354e-01 -1.14327892e-02 -2.75687613e+02] [-1.24058335e-02 8.38832972e-05 -9.99923041e-01 -8.05422496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.330385723 meters 0.015211843409922841 Centerline is valid? [True, True] Translation: X:-97.33, Y:-275.69, Z:-8.06 [[-4.53269704e-01 8.91356307e-01 5.52362676e-03 -9.73318303e+01] [ 8.91292279e-01 4.53303351e-01 -1.06838818e-02 -2.75686572e+02] [-1.20270240e-02 8.04859284e-05 -9.99927670e-01 -8.05508260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.360385723 meters 0.01742548534591092 Centerline is valid? [True, True] Translation: X:-97.32, Y:-275.68, Z:-8.05 [[-5.19977777e-01 8.54157009e-01 6.23819898e-03 -9.73197462e+01] [ 8.54097898e-01 5.20015186e-01 -1.00492036e-02 -2.75684047e+02] [-1.18275559e-02 1.02670113e-04 -9.99930047e-01 -8.05447105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.390385723 meters 0.015580862366575753 Centerline is valid? [True, True] Translation: X:-97.31, Y:-275.68, Z:-8.06 [[-5.83334443e-01 8.12208509e-01 6.18593492e-03 -9.73088845e+01] [ 8.12164930e-01 5.83367230e-01 -8.41434057e-03 -2.75681509e+02] [-1.04428707e-02 1.15624729e-04 -9.99945465e-01 -8.05629854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.420385723 meters 0.015817202974620727 Centerline is valid? [True, True] Translation: X:-97.30, Y:-275.68, Z:-8.06 [[-6.43879149e-01 7.65098315e-01 6.64907173e-03 -9.72981032e+01] [ 7.65059588e-01 6.43913466e-01 -7.69901264e-03 -2.75678706e+02] [-1.01719284e-02 1.29702374e-04 -9.99948256e-01 -8.05679770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.450385723 meters 0.016034797736552843 Centerline is valid? [True, True] Translation: X:-97.29, Y:-275.67, Z:-8.06 [[-7.00756286e-01 7.13367179e-01 6.92065732e-03 -9.72882394e+01] [ 7.13334330e-01 7.00790445e-01 -6.84733439e-03 -2.75674010e+02] [-9.73459415e-03 1.38429842e-04 -9.99952608e-01 -8.05739630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.480385723 meters 0.016257564449455038 Centerline is valid? [True, True] Translation: X:-97.27, Y:-275.66, Z:-8.06 [[-7.48057680e-01 6.63602743e-01 6.41139949e-03 -9.72653478e+01] [ 6.63579943e-01 7.48085142e-01 -5.50263084e-03 -2.75655268e+02] [-8.44783362e-03 1.38190851e-04 -9.99964307e-01 -8.05807964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.510385723 meters 0.01651515217910322 Centerline is valid? [True, True] Translation: X:-96.77, Y:-275.09, Z:-9.01 [[-7.25248154e-01 -6.88463507e-01 5.75445745e-03 -9.67735500e+01] [ 6.88440141e-01 -7.25270967e-01 -5.67424296e-03 -2.75089337e+02] [ 8.08005013e-03 -1.53634741e-04 9.99967344e-01 -9.01162856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.540385723 meters 0.016533824175677794 Centerline is valid? [True, True] Translation: X:-97.30, Y:-275.62, Z:-8.06 [[-7.49613766e-01 6.61851796e-01 5.60373462e-03 -9.73048835e+01] [ 6.61834583e-01 7.49634700e-01 -4.77504063e-03 -2.75621383e+02] [-7.36112314e-03 1.29309183e-04 -9.99972898e-01 -8.05822476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.570385723 meters 0.0166129064187243 Centerline is valid? [True, True] Translation: X:-97.28, Y:-275.61, Z:-8.06 [[-7.94809207e-01 6.06828589e-01 6.11459893e-03 -9.72772063e+01] [ 6.06811887e-01 7.94832716e-01 -4.50407525e-03 -2.75605876e+02] [-7.59328491e-03 1.30530840e-04 -9.99971162e-01 -8.05830693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6003857229999 meters 0.016375725106328617 Centerline is valid? [True, True] Translation: X:-96.83, Y:-275.01, Z:-9.01 [[-7.73724224e-01 -6.33493983e-01 6.01660766e-03 -9.68311578e+01] [ 6.33473634e-01 -7.73747607e-01 -5.07892822e-03 -2.75008767e+02] [ 7.87280625e-03 -1.18327476e-04 9.99969002e-01 -9.01204205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.630385723 meters 0.01627752141310937 Centerline is valid? [True, True] Translation: X:-97.31, Y:-275.58, Z:-8.06 [[-7.98192498e-01 6.02372595e-01 5.99934353e-03 -9.73126474e+01] [ 6.02356639e-01 7.98215036e-01 -4.38588640e-03 -2.75576357e+02] [-7.43070399e-03 1.12962781e-04 -9.99972386e-01 -8.05738272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.660385723 meters 0.016174368613096613 Centerline is valid? [True, True] Translation: X:-97.29, Y:-275.55, Z:-8.06 [[-8.39327485e-01 5.43591030e-01 6.17779855e-03 -9.72932534e+01] [ 5.43577217e-01 8.39350214e-01 -3.87661524e-03 -2.75552580e+02] [-7.29262980e-03 1.04360828e-04 -9.99973403e-01 -8.05707241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.690385723 meters 0.015769992632704597 Centerline is valid? [True, True] Translation: X:-96.90, Y:-274.93, Z:-9.01 [[-8.16606830e-01 -5.77159925e-01 6.30136926e-03 -9.69017532e+01] [ 5.77141970e-01 -8.16631138e-01 -4.55314366e-03 -2.74930121e+02] [ 7.77378639e-03 -8.13435383e-05 9.99969780e-01 -9.01338379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7203857229999 meters 0.015464608753083973 Centerline is valid? [True, True] Translation: X:-96.92, Y:-274.96, Z:-9.01 [[-7.75040021e-01 -6.31882771e-01 6.09331122e-03 -9.69155017e+01] [ 6.31862347e-01 -7.75063969e-01 -5.08128984e-03 -2.74961355e+02] [ 7.93348548e-03 -8.80690558e-05 9.99968526e-01 -9.01387929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.750385723 meters 0.015518437239066712 Centerline is valid? [True, True] Translation: X:-97.39, Y:-275.52, Z:-8.06 [[-8.05131136e-01 5.93061612e-01 6.46369585e-03 -9.73879338e+01] [ 5.93043345e-01 8.05157076e-01 -4.65546705e-03 -2.75521094e+02] [-7.96526925e-03 8.49903318e-05 -9.99968273e-01 -8.05602062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.780385723 meters 0.015521117120674631 Centerline is valid? [True, True] Translation: X:-97.37, Y:-275.50, Z:-8.06 [[-8.45062431e-01 5.34628044e-01 6.50703834e-03 -9.73687134e+01] [ 5.34612941e-01 8.45087479e-01 -4.01935153e-03 -2.75498800e+02] [-7.64787467e-03 8.21439306e-05 -9.99970751e-01 -8.05594809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.810385723 meters 0.015342816246864933 Centerline is valid? [True, True] Translation: X:-97.36, Y:-275.47, Z:-8.06 [[-8.80668596e-01 4.73695860e-01 5.92086074e-03 -9.73587421e+01] [ 4.73685717e-01 8.80688496e-01 -3.10081858e-03 -2.75470584e+02] [-6.68327887e-03 7.38336217e-05 -9.99977664e-01 -8.05647862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8403857229999 meters 0.01531125069269709 Centerline is valid? [True, True] Translation: X:-97.34, Y:-275.45, Z:-8.06 [[-9.11762456e-01 4.10677368e-01 5.77263148e-03 -9.73387007e+01] [ 4.10669646e-01 9.11780727e-01 -2.51955632e-03 -2.75447765e+02] [-6.29809888e-03 7.34076726e-05 -9.99980164e-01 -8.05625816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.870385723 meters 0.015340649442308008 Centerline is valid? [True, True] Translation: X:-97.04, Y:-274.78, Z:-9.01 [[-8.93142247e-01 -4.49745689e-01 5.07367149e-03 -9.70411016e+01] [ 4.49737785e-01 -8.93156652e-01 -2.66833835e-03 -2.74782965e+02] [ 5.73165711e-03 -1.01383931e-04 9.99983569e-01 -9.01358123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.900385723 meters 0.015373032911590784 Centerline is valid? [True, True] Translation: X:-97.38, Y:-275.43, Z:-8.06 [[-9.13014598e-01 4.07893378e-01 5.22840365e-03 -9.73844366e+01] [ 4.07887128e-01 9.13029565e-01 -2.25906670e-03 -2.75429107e+02] [-5.69514546e-03 7.00376809e-05 -9.99983780e-01 -8.05676776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.930385723 meters 0.015299102348687591 Centerline is valid? [True, True] Translation: X:-97.37, Y:-275.40, Z:-8.06 [[-9.39748449e-01 3.41833176e-01 4.78883033e-03 -9.73729171e+01] [ 3.41829067e-01 9.39760648e-01 -1.67721749e-03 -2.75402708e+02] [-5.07368288e-03 6.07988679e-05 -9.99987127e-01 -8.05768795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.960385723 meters 0.015429450858092225 Centerline is valid? [True, True] Translation: X:-97.36, Y:-275.38, Z:-8.06 [[-9.61518432e-01 2.74716735e-01 3.60829391e-03 -9.73620382e+01] [ 2.74714980e-01 9.61525202e-01 -9.82914911e-04 -2.75375266e+02] [-3.73948870e-03 4.61615851e-05 -9.99993007e-01 -8.05894335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.990385723 meters 0.015490666646876991 Centerline is valid? [True, True] Translation: X:-97.17, Y:-274.67, Z:-9.01 [[-9.49115829e-01 -3.14911304e-01 3.16442217e-03 -9.71718927e+01] [ 3.14909323e-01 -9.49121102e-01 -1.11877252e-03 -2.74671436e+02] [ 3.35573397e-03 -6.53386618e-05 9.99994367e-01 -9.01109654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.020385723 meters 0.015373586620617594 Centerline is valid? [True, True] Translation: X:-97.41, Y:-275.36, Z:-8.06 [[-9.61808274e-01 2.73697937e-01 3.77927826e-03 -9.74079085e+01] [ 2.73696066e-01 9.61815697e-01 -1.01376924e-03 -2.75363663e+02] [-3.91243571e-03 5.93219531e-05 -9.99992345e-01 -8.05881436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.050385723 meters 0.01554251263626166 Centerline is valid? [True, True] Translation: X:-97.40, Y:-275.34, Z:-8.06 [[-9.78567893e-01 2.05883495e-01 4.10664348e-03 -9.74043225e+01] [ 2.05881974e-01 9.78576508e-01 -7.94413663e-04 -2.75335260e+02] [-4.18222150e-03 6.80961617e-05 -9.99991252e-01 -8.05899525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.080385723 meters 0.015380079563753158 Centerline is valid? [True, True] Translation: X:-97.26, Y:-274.62, Z:-9.01 [[-9.70981761e-01 -2.39124183e-01 3.74752092e-03 -9.72627196e+01] [ 2.39122075e-01 -9.70988990e-01 -1.00762023e-03 -2.74618969e+02] [ 3.87974792e-03 -8.22658905e-05 9.99992470e-01 -9.01065522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.110385723 meters 0.015958962692056874 Centerline is valid? [True, True] Translation: X:-97.45, Y:-275.33, Z:-8.06 [[-9.79089943e-01 2.03399034e-01 3.42287234e-03 -9.74549066e+01] [ 2.03398013e-01 9.79095924e-01 -6.47560587e-04 -2.75327445e+02] [-3.48303356e-03 6.21853739e-05 -9.99993932e-01 -8.05917581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.140385723 meters 0.01576356199328753 Centerline is valid? [True, True] Translation: X:-97.45, Y:-275.30, Z:-8.06 [[-9.91010523e-01 1.33754004e-01 2.83030911e-03 -9.74543052e+01] [ 1.33753608e-01 9.91014563e-01 -3.29507580e-04 -2.75296903e+02] [-2.84895051e-03 5.20185771e-05 -9.99995940e-01 -8.05936021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.170385723 meters 0.015949270879506375 Centerline is valid? [True, True] Translation: X:-97.36, Y:-274.57, Z:-9.01 [[-9.86423937e-01 -1.64187105e-01 3.22679249e-03 -9.73634155e+01] [ 1.64186119e-01 -9.86429214e-01 -5.69711624e-04 -2.74572764e+02] [ 3.27654168e-03 -3.21826470e-05 9.99994632e-01 -9.01095428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.200385723 meters 0.015943350397749252 Centerline is valid? [True, True] Translation: X:-97.52, Y:-275.29, Z:-8.06 [[-9.91561877e-01 1.29602051e-01 2.89023605e-03 -9.75173042e+01] [ 1.29601658e-01 9.91566087e-01 -3.23848585e-04 -2.75289057e+02] [-2.90783149e-03 5.34634731e-05 -9.99995771e-01 -8.05868706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.230385723 meters 0.015956537709123645 Centerline is valid? [True, True] Translation: X:-97.52, Y:-275.26, Z:-8.06 [[-9.98268155e-01 5.87506305e-02 3.00897421e-03 -9.75164759e+01] [ 5.87505296e-02 9.98272688e-01 -1.21961248e-04 -2.75259869e+02] [-3.01094207e-03 5.50287982e-05 -9.99995466e-01 -8.05880572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.260385723 meters 0.01597359282862857 Centerline is valid? [True, True] Translation: X:-97.52, Y:-275.23, Z:-8.06 [[-9.99912447e-01 -1.29712640e-02 2.61642428e-03 -9.75211818e+01] [-1.29710985e-02 9.99915869e-01 8.02338114e-05 -2.75231117e+02] [-2.61724489e-03 4.62888898e-05 -9.99996574e-01 -8.05944838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.290385723 meters 0.016071262786927616 Centerline is valid? [True, True] Translation: X:-97.54, Y:-274.50, Z:-9.01 [[-9.99800799e-01 -1.98008467e-02 2.50778719e-03 -9.75391180e+01] [ 1.98006549e-02 -9.99803943e-01 -1.01296940e-04 -2.74501849e+02] [ 2.50930128e-03 -5.16209327e-05 9.99996850e-01 -9.01048833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.320385723 meters 0.01605965919621688 Centerline is valid? [True, True] Translation: X:-97.62, Y:-275.23, Z:-8.06 [[-9.99796590e-01 -1.99563345e-02 2.91940926e-03 -9.76161316e+01] [-1.99561076e-02 9.99800851e-01 1.06853641e-04 -2.75232402e+02] [-2.92096027e-03 4.85718612e-05 -9.99995733e-01 -8.05889518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3503857229999 meters 0.015308965220681035 Centerline is valid? [True, True] Translation: X:-97.63, Y:-275.20, Z:-8.06 [[-9.95785480e-01 -9.16481608e-02 3.44849471e-03 -9.76252005e+01] [-9.16474167e-02 9.95791450e-01 3.73517939e-04 -2.75200979e+02] [-3.46821378e-03 5.58981086e-05 -9.99993984e-01 -8.05847355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.380385723 meters 0.015805316832982023 Centerline is valid? [True, True] Translation: X:-97.64, Y:-275.17, Z:-8.06 [[-9.86417318e-01 -1.64195586e-01 4.54793616e-03 -9.76434234e+01] [-1.64193528e-01 9.86427800e-01 8.24638086e-04 -2.75174702e+02] [-4.62161260e-03 6.66956041e-05 -9.99989318e-01 -8.05653586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.410385723 meters 0.01499441715141013 Centerline is valid? [True, True] Translation: X:-97.79, Y:-274.47, Z:-9.01 [[-9.92147395e-01 1.24998696e-01 4.34426833e-03 -9.77926500e+01] [-1.24997851e-01 -9.92156903e-01 4.66554572e-04 -2.74468757e+02] [ 4.36851453e-03 -8.01333027e-05 9.99990455e-01 -9.01265434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.440385723 meters 0.014955095605902843 Centerline is valid? [True, True] Translation: X:-97.78, Y:-275.20, Z:-8.06 [[-9.84913790e-01 -1.73016783e-01 3.16520461e-03 -9.77805958e+01] [-1.73015762e-01 9.84918876e-01 5.95641716e-04 -2.75195312e+02] [-3.22052578e-03 3.90254514e-05 -9.99994813e-01 -8.05867547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4703857229999 meters 0.014802670013021161 Centerline is valid? [True, True] Translation: X:-97.81, Y:-275.17, Z:-8.06 [[-9.69763971e-01 -2.44029753e-01 2.70550811e-03 -9.78079803e+01] [-2.44028710e-01 9.69767745e-01 7.14036356e-04 -2.75170976e+02] [-2.79796061e-03 3.22250781e-05 -9.99996085e-01 -8.05875806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.500385723 meters 0.014608635631656557 Centerline is valid? [True, True] Translation: X:-98.02, Y:-274.49, Z:-9.01 [[-9.79995392e-01 1.99007583e-01 2.23925863e-03 -9.80217365e+01] [-1.99007207e-01 -9.79997948e-01 3.91424348e-04 -2.74487934e+02] [ 2.27236528e-03 -6.20345497e-05 9.99997416e-01 -9.01097834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.530385723 meters 0.014480653859277964 Centerline is valid? [True, True] Translation: X:-97.96, Y:-275.21, Z:-8.06 [[-9.67449751e-01 -2.53051692e-01 2.41243791e-03 -9.79642535e+01] [-2.53050845e-01 9.67452759e-01 6.55307509e-04 -2.75207919e+02] [-2.49974639e-03 2.35076335e-05 -9.99996875e-01 -8.05947087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.560385723 meters 0.014513884313320612 Centerline is valid? [True, True] Translation: X:-98.02, Y:-275.19, Z:-8.06 [[-9.46031621e-01 -3.24067228e-01 2.14574106e-03 -9.80178202e+01] [-3.24066353e-01 9.46034054e-01 7.53380308e-04 -2.75193511e+02] [-2.27408998e-03 1.73591160e-05 -9.99997414e-01 -8.05983762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5903857229999 meters 0.014469262392294426 Centerline is valid? [True, True] Translation: X:-98.08, Y:-275.18, Z:-8.06 [[-9.19215380e-01 -3.93750322e-01 1.94124080e-03 -9.80752447e+01] [-3.93749411e-01 9.19217430e-01 8.47244390e-04 -2.75183861e+02] [-2.11802513e-03 1.44376529e-05 -9.99997757e-01 -8.05980535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.620385723 meters 0.014277261007304073 Centerline is valid? [True, True] Translation: X:-98.15, Y:-275.19, Z:-8.06 [[-8.86645005e-01 -4.62446577e-01 1.94906329e-03 -9.81490989e+01] [-4.62445433e-01 8.86647147e-01 1.02863678e-03 -2.75185302e+02] [-2.20382096e-03 1.07002489e-05 -9.99997572e-01 -8.05997896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.650385723 meters 0.014239158394999125 Centerline is valid? [True, True] Translation: X:-98.23, Y:-275.20, Z:-8.06 [[-8.49200719e-01 -5.28066872e-01 1.87556548e-03 -9.82297981e+01] [-5.28065562e-01 8.49202790e-01 1.17630277e-03 -2.75197791e+02] [-2.21390197e-03 8.49561685e-06 -9.99997549e-01 -8.05972734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.680385723 meters 0.014166380291740437 Centerline is valid? [True, True] Translation: X:-98.32, Y:-275.22, Z:-8.06 [[-8.06239191e-01 -5.91585367e-01 2.26312621e-03 -9.83199242e+01] [-5.91583017e-01 8.06242367e-01 1.66743759e-03 -2.75222447e+02] [-2.81105991e-03 5.52649693e-06 -9.99996049e-01 -8.05884714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.710385723 meters 0.014109967676161198 Centerline is valid? [True, True] Translation: X:-98.41, Y:-275.25, Z:-8.06 [[-7.59047568e-01 -6.51030586e-01 2.44253395e-03 -9.84075068e+01] [-6.51027197e-01 7.59051498e-01 2.10074561e-03 -2.75254460e+02] [-3.22165870e-03 4.40981223e-06 -9.99994811e-01 -8.05834425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.740385723 meters 0.0140248560956566 Centerline is valid? [True, True] Translation: X:-98.50, Y:-275.30, Z:-8.06 [[-7.07398834e-01 -7.06810723e-01 2.34353797e-03 -9.84981735e+01] [-7.06806831e-01 7.07402716e-01 2.34564492e-03 -2.75298953e+02] [-3.31575210e-03 2.87783746e-06 -9.99994503e-01 -8.05833529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.770385723 meters 0.014019651756593924 Centerline is valid? [True, True] Translation: X:-98.59, Y:-275.36, Z:-8.06 [[-6.51807868e-01 -7.58380787e-01 2.25503955e-03 -9.85893160e+01] [-7.58376233e-01 6.51811769e-01 2.62799419e-03 -2.75357251e+02] [-3.46288162e-03 2.77888736e-06 -9.99994004e-01 -8.05826037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.800385723 meters 0.014019651756593924 Centerline is valid? [True, True] Translation: X:-98.68, Y:-275.42, Z:-8.06 [[-5.92369091e-01 -8.05664112e-01 2.04908616e-03 -9.86760993e+01] [-8.05659276e-01 5.92372635e-01 2.79157712e-03 -2.75419760e+02] [-3.46289607e-03 2.77873081e-06 -9.99994004e-01 -8.05825971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.830385723 meters 0.014054846705564136 Centerline is valid? [True, True] Translation: X:-98.76, Y:-275.49, Z:-8.06 [[-5.29501158e-01 -8.48306868e-01 1.99529884e-03 -9.87572215e+01] [-8.48300814e-01 5.29504917e-01 3.20508417e-03 -2.75490626e+02] [-3.77541547e-03 4.48214883e-06 -9.99992873e-01 -8.05757375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.860385723 meters 0.014103508030975464 Centerline is valid? [True, True] Translation: X:-98.84, Y:-275.58, Z:-8.06 [[-4.63699141e-01 -8.85989663e-01 2.32891738e-03 -9.88379725e+01] [-8.85978391e-01 4.63704990e-01 4.46905587e-03 -2.75578975e+02] [-5.03946791e-03 8.92689167e-06 -9.99987302e-01 -8.05724929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.890385723 meters 0.014096973268979797 Centerline is valid? [True, True] Translation: X:-98.91, Y:-275.67, Z:-8.06 [[-3.94603845e-01 -9.18849168e-01 2.00281683e-03 -9.89116135e+01] [-9.18837209e-01 3.94608928e-01 4.68798504e-03 -2.75670120e+02] [-5.09788056e-03 9.63429833e-06 -9.99987006e-01 -8.05631268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.920385723 meters 0.014073668552944474 Centerline is valid? [True, True] Translation: X:-98.98, Y:-275.77, Z:-8.06 [[-3.22958870e-01 -9.46411175e-01 1.85882447e-03 -9.89775418e+01] [-9.46395310e-01 3.22964219e-01 5.47999861e-03 -2.75767384e+02] [-5.78666572e-03 1.06313950e-05 -9.99983257e-01 -8.05640878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.950385723 meters 0.014086644440425983 Centerline is valid? [True, True] Translation: X:-99.04, Y:-275.88, Z:-8.06 [[-2.49344220e-01 -9.68413864e-01 1.43140681e-03 -9.90383896e+01] [-9.68397657e-01 2.49348328e-01 5.60255603e-03 -2.75875538e+02] [-5.78251182e-03 1.07939649e-05 -9.99983281e-01 -8.05568359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.980385723 meters 0.014114224177277954 Centerline is valid? [True, True] Translation: X:-99.09, Y:-275.99, Z:-8.06 [[-1.74245477e-01 -9.84701737e-01 1.00187321e-03 -9.90903257e+01] [-9.84685074e-01 1.74248356e-01 5.72850336e-03 -2.75990564e+02] [-5.81544197e-03 1.16362043e-05 -9.99983090e-01 -8.05554870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.010385723 meters 0.014023875133874422 Centerline is valid? [True, True] Translation: X:-99.13, Y:-276.10, Z:-8.06 [[-9.79068640e-02 -9.95195413e-01 5.80283129e-04 -9.91333388e+01] [-9.95177193e-01 9.79085829e-02 6.02194241e-03 -2.76104975e+02] [-6.04982416e-03 1.21049609e-05 -9.99981700e-01 -8.05615168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.040385723 meters 0.014157856548253718 Centerline is valid? [True, True] Translation: X:-99.17, Y:-276.23, Z:-8.06 [[-2.09107052e-02 -9.99781341e-01 1.12345499e-04 -9.91674682e+01] [-9.99763726e-01 2.09110037e-02 5.93482646e-03 -2.76225789e+02] [-5.93587801e-03 1.17824515e-05 -9.99982383e-01 -8.05593663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.070385723 meters 0.014228922844565636 Centerline is valid? [True, True] Translation: X:-99.19, Y:-276.35, Z:-8.05 [[ 5.58726274e-02 -9.98437834e-01 -3.76629626e-04 -9.91910057e+01] [-9.98416885e-01 -5.58738949e-02 6.46775681e-03 -2.76350692e+02] [-6.47869686e-03 1.46628112e-05 -9.99979013e-01 -8.05481557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1003857229999 meters 0.01416637172038332 Centerline is valid? [True, True] Translation: X:-99.21, Y:-276.47, Z:-8.06 [[ 1.32472982e-01 -9.91186291e-01 -8.03271000e-04 -9.92071810e+01] [-9.91168720e-01 -1.32475416e-01 5.90193189e-03 -2.76474606e+02] [-5.95632764e-03 1.43305739e-05 -9.99982261e-01 -8.05584327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.130385723 meters 0.014261104774325538 Centerline is valid? [True, True] Translation: X:-99.21, Y:-276.60, Z:-8.06 [[ 2.07443139e-01 -9.78246380e-01 -1.16832623e-03 -9.92106962e+01] [-9.78231367e-01 -2.07446428e-01 5.41959021e-03 -2.76601023e+02] [-5.54405961e-03 1.86365623e-05 -9.99984632e-01 -8.05596217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.160385723 meters 0.014323423993819145 Centerline is valid? [True, True] Translation: X:-99.21, Y:-276.72, Z:-8.06 [[ 2.81779363e-01 -9.59477869e-01 -1.61516427e-03 -9.92069099e+01] [-9.59462550e-01 -2.81783991e-01 5.42197880e-03 -2.76723824e+02] [-5.65739610e-03 2.18878942e-05 -9.99983997e-01 -8.05611150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.190385723 meters 0.014335337126776246 Centerline is valid? [True, True] Translation: X:-99.19, Y:-276.86, Z:-8.06 [[ 3.54348423e-01 -9.35110442e-01 -2.37845825e-03 -9.91898757e+01] [-9.35089926e-01 -3.54356404e-01 6.19433248e-03 -2.76857530e+02] [-6.63520689e-03 2.91204047e-05 -9.99977986e-01 -8.05575258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2203857229999 meters 0.014560217602420407 Centerline is valid? [True, True] Translation: X:-99.17, Y:-276.97, Z:-8.05 [[ 4.24680323e-01 -9.05336278e-01 -3.58436291e-03 -9.91691330e+01] [-9.05304869e-01 -4.24695447e-01 7.54130918e-03 -2.76968062e+02] [-8.34968339e-03 4.22955807e-05 -9.99965140e-01 -8.05451601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.250385723 meters 0.014677617902573492 Centerline is valid? [True, True] Translation: X:-99.13, Y:-277.09, Z:-8.05 [[ 4.92982286e-01 -8.70027567e-01 -4.52755650e-03 -9.91320209e+01] [-8.69991749e-01 -4.93003074e-01 7.89464746e-03 -2.77094023e+02] [-9.10066019e-03 4.70154402e-05 -9.99958587e-01 -8.05394617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.280385723 meters 0.014770595989651419 Centerline is valid? [True, True] Translation: X:-99.10, Y:-277.21, Z:-8.05 [[ 5.58152249e-01 -8.29721940e-01 -5.25055968e-03 -9.90952588e+01] [-8.29686077e-01 -5.58176942e-01 7.71456261e-03 -2.77205107e+02] [-9.33168321e-03 5.04157914e-05 -9.99956458e-01 -8.05364026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.310385723 meters 0.014814592185326506 Centerline is valid? [True, True] Translation: X:-99.05, Y:-277.31, Z:-8.05 [[ 6.20247311e-01 -7.84385020e-01 -5.78050959e-03 -9.90520951e+01] [-7.84351689e-01 -6.20274244e-01 7.23116741e-03 -2.77310459e+02] [-9.25752061e-03 4.88403185e-05 -9.99957147e-01 -8.05348780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3403857229999 meters 0.01490607257401571 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.42, Z:-8.05 [[ 6.78114615e-01 -7.34926117e-01 -6.64617445e-03 -9.89942122e+01] [-7.34891633e-01 -6.78147182e-01 7.11951323e-03 -2.77415953e+02] [-9.73940068e-03 5.63720226e-05 -9.99952569e-01 -8.05266419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.370385723 meters 0.015057936234798008 Centerline is valid? [True, True] Translation: X:-98.94, Y:-277.51, Z:-8.05 [[ 7.31920123e-01 -6.81352858e-01 -7.15650343e-03 -9.89379011e+01] [-6.81321113e-01 -7.31955107e-01 6.57747000e-03 -2.77509753e+02] [-9.71981722e-03 6.16942308e-05 -9.99952760e-01 -8.05238743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.400385723 meters 0.01523354990244175 Centerline is valid? [True, True] Translation: X:-98.94, Y:-277.51, Z:-8.05 [[ 7.82319021e-01 -6.22833707e-01 -7.42445854e-03 -9.89403324e+01] [-6.22806495e-01 -7.82354247e-01 5.82246380e-03 -2.77510431e+02] [-9.43498339e-03 6.89768254e-05 -9.99955487e-01 -8.05348373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.430385723 meters 0.015340853699176284 Centerline is valid? [True, True] Translation: X:-98.94, Y:-277.51, Z:-8.05 [[ 8.28317881e-01 -5.60205081e-01 -7.73011101e-03 -9.89440724e+01] [-5.60181503e-01 -8.28353947e-01 5.14024063e-03 -2.77512396e+02] [-9.28285689e-03 7.25119718e-05 -9.99956911e-01 -8.05360163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.460385723 meters 0.015349632738655208 Centerline is valid? [True, True] Translation: X:-98.95, Y:-277.52, Z:-8.05 [[ 8.69458310e-01 -4.93939339e-01 -8.13489870e-03 -9.89475854e+01] [-4.93918519e-01 -8.69496362e-01 4.53566758e-03 -2.77515710e+02] [-9.31360947e-03 7.44032494e-05 -9.99956625e-01 -8.05403827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.490385723 meters 0.01521769777662506 Centerline is valid? [True, True] Translation: X:-98.95, Y:-277.52, Z:-8.06 [[ 9.05520234e-01 -4.24238259e-01 -7.41659122e-03 -9.89520904e+01] [-4.24224602e-01 -9.05550604e-01 3.40465861e-03 -2.77522289e+02] [-8.16048509e-03 6.33132007e-05 -9.99966701e-01 -8.05539579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.520385723 meters 0.015266953151112378 Centerline is valid? [True, True] Translation: X:-98.96, Y:-277.53, Z:-8.06 [[ 9.36151482e-01 -3.51522919e-01 -7.21386865e-03 -9.89566385e+01] [-3.51512932e-01 -9.36179275e-01 2.65037708e-03 -2.77527504e+02] [-7.68514261e-03 5.46136887e-05 -9.99970467e-01 -8.05515721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.550385723 meters 0.015117365088364138 Centerline is valid? [True, True] Translation: X:-98.96, Y:-277.53, Z:-8.06 [[ 9.61285842e-01 -2.75459811e-01 -7.17095259e-03 -9.89586111e+01] [-2.75452447e-01 -9.61312588e-01 2.01455949e-03 -2.77531046e+02] [-7.44845717e-03 3.86889193e-05 -9.99972259e-01 -8.05528273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.580385723 meters 0.015068351202853839 Centerline is valid? [True, True] Translation: X:-98.96, Y:-277.53, Z:-8.06 [[ 9.80055671e-01 -1.98569913e-01 -7.80199524e-03 -9.89605163e+01] [-1.98563896e-01 -9.80086725e-01 1.54611704e-03 -2.77532912e+02] [-7.95364429e-03 3.39137995e-05 -9.99968369e-01 -8.05519191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.610385723 meters 0.014818217673543169 Centerline is valid? [True, True] Translation: X:-98.97, Y:-277.54, Z:-8.06 [[ 9.92692468e-01 -1.20385935e-01 -8.30002584e-03 -9.89672640e+01] [-1.20381966e-01 -9.92727166e-01 9.77938446e-04 -2.77544565e+02] [-8.35739116e-03 2.83812970e-05 -9.99965076e-01 -8.05582191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.640385723 meters 0.014918683608377954 Centerline is valid? [True, True] Translation: X:-98.97, Y:-277.56, Z:-8.05 [[ 9.99060554e-01 -4.20705754e-02 -1.03959643e-02 -9.89725778e+01] [-4.20686398e-02 -9.99114641e-01 4.04897570e-04 -2.77556251e+02] [-1.04037944e-02 3.28268857e-05 -9.99945879e-01 -8.05305092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.670385723 meters 0.01488234989337789 Centerline is valid? [True, True] Translation: X:-98.98, Y:-277.57, Z:-8.05 [[ 9.99297552e-01 3.56354699e-02 -1.15981132e-02 -9.89779422e+01] [ 3.56325607e-02 -9.99364854e-01 -4.57449932e-04 -2.77566362e+02] [-1.16070481e-02 4.38581247e-05 -9.99932635e-01 -8.05152999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.700385723 meters 0.015112995005811553 Centerline is valid? [True, True] Translation: X:-98.98, Y:-277.57, Z:-8.05 [[ 9.93577972e-01 1.12440533e-01 -1.26467482e-02 -9.89830908e+01] [ 1.12430588e-01 -9.93658454e-01 -1.49681573e-03 -2.77574300e+02] [-1.27348511e-02 6.53217958e-05 -9.99918906e-01 -8.04990428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.730385723 meters 0.01530744523543647 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.58, Z:-8.05 [[ 9.81939260e-01 1.88803192e-01 -1.21919684e-02 -9.89882143e+01] [ 1.88787660e-01 -9.82014943e-01 -2.42299372e-03 -2.77580146e+02] [-1.24301641e-02 7.75394756e-05 -9.99922740e-01 -8.05023879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.760385723 meters 0.015219858371270756 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.59, Z:-8.05 [[ 9.64634419e-01 2.63371903e-01 -1.07554355e-02 -9.89913227e+01] [ 2.63354496e-01 -9.64694373e-01 -3.02928680e-03 -2.77588814e+02] [-1.11735372e-02 8.96620062e-05 -9.99937570e-01 -8.05175848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.790385723 meters 0.01531375737880323 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.60, Z:-8.05 [[ 9.41423988e-01 3.37080823e-01 -9.86885789e-03 -9.89929346e+01] [ 3.37061238e-01 -9.41475709e-01 -3.63480404e-03 -2.77600146e+02] [-1.05165127e-02 9.54822543e-05 -9.99944695e-01 -8.05212810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.820385723 meters 0.015318033958973123 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.61, Z:-8.05 [[ 9.12524171e-01 4.08920547e-01 -9.14458694e-03 -9.89938882e+01] [ 4.08898906e-01 -9.12569984e-01 -4.20812987e-03 -2.77610881e+02] [-1.00658663e-02 1.00808624e-04 -9.99949333e-01 -8.05255874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8503857229999 meters 0.01646838182719904 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.62, Z:-8.05 [[ 8.78606917e-01 4.77470201e-01 -8.49071846e-03 -9.89944491e+01] [ 4.77446628e-01 -8.78647935e-01 -4.74587677e-03 -2.77622699e+02] [-9.72636698e-03 1.15895259e-04 -9.99952691e-01 -8.05122637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.880385723 meters 0.01567600919687302 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.63, Z:-8.05 [[ 8.38583085e-01 5.44719578e-01 -7.68056329e-03 -9.89934544e+01] [ 5.44695520e-01 -8.38618250e-01 -5.12068846e-03 -2.77632747e+02] [-9.23039980e-03 1.10554311e-04 -9.99957393e-01 -8.05196312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.910385723 meters 0.015773769150420124 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.64, Z:-8.05 [[ 7.93756385e-01 6.08191543e-01 -7.33818147e-03 -9.89919419e+01] [ 6.08164176e-01 -7.93790296e-01 -5.77076839e-03 -2.77643983e+02] [-9.33470977e-03 1.17765165e-04 -9.99956424e-01 -8.05164930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.940385723 meters 0.015846318854009493 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.65, Z:-8.05 [[ 7.43969538e-01 6.68178876e-01 -6.80565267e-03 -9.89910011e+01] [ 6.68149431e-01 -7.44000656e-01 -6.27397686e-03 -2.77654728e+02] [-9.25554885e-03 1.20454715e-04 -9.99957159e-01 -8.05158506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9703857229999 meters 0.016065018894479328 Centerline is valid? [True, True] Translation: X:-98.99, Y:-277.66, Z:-8.05 [[ 6.89570473e-01 7.24195138e-01 -5.82803964e-03 -9.89896029e+01] [ 7.24167866e-01 -6.89595091e-01 -6.28584577e-03 -2.77664670e+02] [-8.57116647e-03 1.14054609e-04 -9.99963260e-01 -8.05117816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.000385723 meters 0.015493118528638048 Centerline is valid? [True, True] Translation: X:-98.98, Y:-277.68, Z:-8.05 [[ 6.30707623e-01 7.76006959e-01 -4.59268697e-03 -9.89818289e+01] [ 7.75985241e-01 -6.30724337e-01 -5.80660615e-03 -2.77677478e+02] [-7.40268623e-03 9.84134605e-05 -9.99972595e-01 -8.05213524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.030385723 meters 0.015414440189522559 Centerline is valid? [True, True] Translation: X:-98.98, Y:-277.69, Z:-8.05 [[ 5.67488264e-01 8.23370068e-01 -4.33597095e-03 -9.89758897e+01] [ 8.23344695e-01 -5.67504820e-01 -6.46473287e-03 -2.77688545e+02] [-7.78355196e-03 9.86613521e-05 -9.99969703e-01 -8.05224938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.060385723 meters 0.0152790072558813 Centerline is valid? [True, True] Translation: X:-98.97, Y:-277.70, Z:-8.05 [[ 5.00414846e-01 8.65778484e-01 -3.54942007e-03 -9.89695510e+01] [ 8.65755498e-01 -5.00427427e-01 -6.30935316e-03 -2.77699472e+02] [-7.23872937e-03 8.43640494e-05 -9.99973797e-01 -8.05220432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0903857229999 meters 0.015312616326834616 Centerline is valid? [True, True] Translation: X:-98.96, Y:-277.71, Z:-8.05 [[ 4.30962169e-01 9.02365707e-01 -2.78207668e-03 -9.89639417e+01] [ 9.02345745e-01 -4.30971142e-01 -6.00263556e-03 -2.77708900e+02] [-6.61556725e-03 7.65137907e-05 -9.99978114e-01 -8.05190351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.120385723 meters 0.015281005613628615 Centerline is valid? [True, True] Translation: X:-98.96, Y:-277.72, Z:-8.05 [[ 3.58989307e-01 9.33339186e-01 -2.15458502e-03 -9.89584984e+01] [ 9.33321161e-01 -3.58995766e-01 -5.80089597e-03 -2.77716982e+02] [-6.18769042e-03 7.15398362e-05 -9.99980854e-01 -8.05164201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.150385723 meters 0.01540531596559745 Centerline is valid? [True, True] Translation: X:-98.95, Y:-277.72, Z:-8.05 [[ 2.85396371e-01 9.58407985e-01 -1.74502559e-03 -9.89546121e+01] [ 9.58388371e-01 -2.85401695e-01 -6.13208305e-03 -2.77724463e+02] [-6.37507063e-03 7.76620147e-05 -9.99979676e-01 -8.05165237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.180385723 meters 0.01558687362534986 Centerline is valid? [True, True] Translation: X:-98.95, Y:-277.73, Z:-8.05 [[ 2.09830074e-01 9.77737009e-01 -1.29696472e-03 -9.89499395e+01] [ 9.77715824e-01 -2.09834066e-01 -6.43679060e-03 -2.77731025e+02] [-6.56563577e-03 8.25693244e-05 -9.99978443e-01 -8.05167853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.210385723 meters 0.015906671064223235 Centerline is valid? [True, True] Translation: X:-98.95, Y:-277.74, Z:-8.05 [[ 1.33583265e-01 9.91037311e-01 -7.48587382e-04 -9.89451724e+01] [ 9.91017993e-01 -1.33585336e-01 -6.18837926e-03 -2.77738869e+02] [-6.23291503e-03 8.48003428e-05 -9.99980572e-01 -8.05087987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.240385723 meters 0.016585624939080577 Centerline is valid? [True, True] Translation: X:-98.93, Y:-277.74, Z:-8.05 [[ 5.65608124e-02 9.98399117e-01 -2.79629730e-04 -9.89329062e+01] [ 9.98376917e-01 -5.65614196e-02 -6.65859791e-03 -2.77744921e+02] [-6.66375453e-03 9.74398395e-05 -9.99977792e-01 -8.04982931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.270385723 meters 0.015557334368732878 Centerline is valid? [True, True] Translation: X:-98.92, Y:-277.75, Z:-8.05 [[-2.16096631e-02 9.99766456e-01 2.35762489e-04 -9.89223735e+01] [ 9.99745546e-01 2.16107361e-02 -6.46681124e-03 -2.77750280e+02] [-6.47039596e-03 9.59568862e-05 -9.99979062e-01 -8.05090060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.300385723 meters 0.015822632145783846 Centerline is valid? [True, True] Translation: X:-98.91, Y:-277.76, Z:-8.05 [[-9.87410106e-02 9.95112914e-01 7.08456102e-04 -9.89125723e+01] [ 9.95093983e-01 9.87435027e-02 -6.13888755e-03 -2.77755841e+02] [-6.17884171e-03 9.88204432e-05 -9.99980906e-01 -8.05051356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.330385723 meters 0.015494866886949376 Centerline is valid? [True, True] Translation: X:-98.90, Y:-277.76, Z:-8.05 [[-1.76079751e-01 9.84375179e-01 1.19487174e-03 -9.89004306e+01] [ 9.84356267e-01 1.76083776e-01 -6.10278987e-03 -2.77759577e+02] [-6.21783240e-03 1.01601762e-04 -9.99980664e-01 -8.05097019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.360385723 meters 0.015870759393399304 Centerline is valid? [True, True] Translation: X:-98.89, Y:-277.76, Z:-8.05 [[-2.52589278e-01 9.67572146e-01 1.67305298e-03 -9.88892823e+01] [ 9.67553521e-01 2.52594798e-01 -6.00435979e-03 -2.77763994e+02] [-6.23225576e-03 1.02131396e-04 -9.99980574e-01 -8.05098545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.390385723 meters 0.015556500488328514 Centerline is valid? [True, True] Translation: X:-98.88, Y:-277.77, Z:-8.05 [[-3.27673714e-01 9.44788372e-01 2.20687351e-03 -9.88752267e+01] [ 9.44769051e-01 3.27681129e-01 -6.04309023e-03 -2.77765015e+02] [-6.43259218e-03 1.04823974e-04 -9.99979305e-01 -8.05123105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.420385723 meters 0.015928985851991196 Centerline is valid? [True, True] Translation: X:-98.86, Y:-277.77, Z:-8.05 [[-4.00773588e-01 9.16173499e-01 2.57892513e-03 -9.88624268e+01] [ 9.16156116e-01 4.00781873e-01 -5.64458752e-03 -2.77767171e+02] [-6.20500794e-03 1.00496442e-04 -9.99980744e-01 -8.05041121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.450385723 meters 0.015591150659927276 Centerline is valid? [True, True] Translation: X:-98.85, Y:-277.77, Z:-8.05 [[-4.72057015e-01 8.81563605e-01 2.79011056e-03 -9.88501303e+01] [ 8.81549294e-01 4.72065252e-01 -5.02399520e-03 -2.77767001e+02] [-5.74608556e-03 8.80078151e-05 -9.99983487e-01 -8.05063931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.480385723 meters 0.0158412264438235 Centerline is valid? [True, True] Translation: X:-98.84, Y:-277.77, Z:-8.05 [[-5.40589652e-01 8.41280383e-01 3.18514191e-03 -9.88389591e+01] [ 8.41266663e-01 5.40599029e-01 -4.80536375e-03 -2.77768048e+02] [-5.76454288e-03 8.18237864e-05 -9.99983382e-01 -8.05056209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.510385723 meters 0.015193075539446045 Centerline is valid? [True, True] Translation: X:-98.82, Y:-277.76, Z:-8.05 [[-6.06568933e-01 7.95023004e-01 3.54304999e-03 -9.88243344e+01] [ 7.95010102e-01 6.06579276e-01 -4.52974274e-03 -2.77763863e+02] [-5.75039038e-03 6.91593132e-05 -9.99983464e-01 -8.05043791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.540385723 meters 0.015017707725957107 Centerline is valid? [True, True] Translation: X:-98.81, Y:-277.76, Z:-8.05 [[-6.67943344e-01 7.44201726e-01 3.93452426e-03 -9.88119202e+01] [ 7.44189364e-01 6.67954929e-01 -4.29003868e-03 -2.77760511e+02] [-5.82073907e-03 6.25283272e-05 -9.99983058e-01 -8.04973953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.570385723 meters 0.014825786207766221 Centerline is valid? [True, True] Translation: X:-98.80, Y:-277.75, Z:-8.05 [[-7.25096031e-01 6.88632281e-01 4.61810821e-03 -9.87988257e+01] [ 6.88618836e-01 7.25110735e-01 -4.30358913e-03 -2.77754953e+02] [-6.31223024e-03 5.96009014e-05 -9.99980076e-01 -8.04925539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6003857229999 meters 0.014788017392677861 Centerline is valid? [True, True] Translation: X:-98.76, Y:-277.74, Z:-8.05 [[-7.73496235e-01 6.33782566e-01 4.82001900e-03 -9.87642410e+01] [ 6.33770614e-01 7.73511252e-01 -3.89248095e-03 -2.77744115e+02] [-6.19532550e-03 4.39670398e-05 -9.99980808e-01 -8.04896370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.630385723 meters 0.014618022353111536 Centerline is valid? [True, True] Translation: X:-98.74, Y:-277.72, Z:-8.05 [[-8.16972065e-01 5.76656686e-01 4.86946108e-03 -9.87406073e+01] [ 5.76646709e-01 8.16986576e-01 -3.39229767e-03 -2.77724383e+02] [-5.93447547e-03 3.65462670e-05 -9.99982390e-01 -8.04942915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.660385723 meters 0.014569333090024705 Centerline is valid? [True, True] Translation: X:-98.29, Y:-277.09, Z:-9.02 [[-7.83208633e-01 -6.21744618e-01 4.22706337e-03 -9.82920597e+01] [ 6.21735125e-01 -7.83220037e-01 -3.43632610e-03 -2.77093528e+02] [ 5.44723799e-03 -6.32464981e-05 9.99985162e-01 -9.02005415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.690385723 meters 0.014569333090024705 Centerline is valid? [True, True] Translation: X:-98.78, Y:-277.70, Z:-8.05 [[-8.19737490e-01 5.72721979e-01 4.47007697e-03 -9.87768332e+01] [ 5.72713643e-01 8.19749678e-01 -3.09017473e-03 -2.77699932e+02] [-5.43415514e-03 2.69419838e-05 -9.99985235e-01 -8.04989319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7203857229999 meters 0.014491796120278752 Centerline is valid? [True, True] Translation: X:-98.76, Y:-277.68, Z:-8.05 [[-8.58488277e-01 5.12815783e-01 4.22514493e-03 -9.87591459e+01] [ 5.12809697e-01 8.58498673e-01 -2.49843965e-03 -2.77676727e+02] [-4.90852060e-03 2.18141386e-05 -9.99987953e-01 -8.05056321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.750385723 meters 0.014568088779682988 Centerline is valid? [True, True] Translation: X:-98.74, Y:-277.65, Z:-8.05 [[-8.92893237e-01 4.50251666e-01 3.88649930e-03 -9.87411663e+01] [ 4.50247483e-01 8.92901695e-01 -1.94095950e-03 -2.77653214e+02] [-4.34418206e-03 1.68169157e-05 -9.99990564e-01 -8.05053569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.780385723 meters 0.01445594363772698 Centerline is valid? [True, True] Translation: X:-98.40, Y:-276.96, Z:-9.02 [[-8.63557952e-01 -5.04234934e-01 3.84654840e-03 -9.83995179e+01] [ 5.04229880e-01 -8.63566518e-01 -2.25761247e-03 -2.76960584e+02] [ 4.46011749e-03 -1.00345623e-05 9.99990054e-01 -9.01946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.810385723 meters 0.01442686994069176 Centerline is valid? [True, True] Translation: X:-98.79, Y:-277.63, Z:-8.05 [[-8.95896571e-01 4.44246721e-01 3.76645571e-03 -9.87900971e+01] [ 4.44242811e-01 8.95904488e-01 -1.86374863e-03 -2.77625854e+02] [-4.20234879e-03 3.49487157e-06 -9.99991170e-01 -8.04994949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8403857229999 meters 0.01445468985608825 Centerline is valid? [True, True] Translation: X:-98.77, Y:-277.60, Z:-8.05 [[-9.25415094e-01 3.78935558e-01 3.84021634e-03 -9.87652745e+01] [ 3.78932294e-01 9.25423062e-01 -1.57294068e-03 -2.77604449e+02] [-4.14986791e-03 -4.41060095e-07 -9.99991389e-01 -8.04971043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.870385723 meters 0.01710783228199253 Centerline is valid? [True, True] Translation: X:-98.75, Y:-277.58, Z:-8.05 [[-9.49742994e-01 3.12995266e-01 4.71259061e-03 -9.87478429e+01] [ 3.12991415e-01 9.49754686e-01 -1.55257805e-03 -2.77579471e+02] [-4.96175460e-03 4.50275375e-07 -9.99987691e-01 -8.04641983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.900385723 meters 0.014464145868942183 Centerline is valid? [True, True] Translation: X:-98.51, Y:-276.85, Z:-9.02 [[-9.25922697e-01 -3.77685868e-01 4.53265845e-03 -9.85075267e+01] [ 3.77681319e-01 -9.25933791e-01 -1.85379952e-03 -2.76854309e+02] [ 4.89709550e-03 -4.57463242e-06 9.99988009e-01 -9.02004673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.930385723 meters 0.01446252232490291 Centerline is valid? [True, True] Translation: X:-98.80, Y:-277.56, Z:-8.05 [[-9.51489814e-01 3.07639349e-01 5.01654066e-03 -9.88013929e+01] [ 3.07635023e-01 9.51503038e-01 -1.63142525e-03 -2.77562526e+02] [-5.27514428e-03 -9.02090406e-06 -9.99986086e-01 -8.04996820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.960385723 meters 0.014483295288324564 Centerline is valid? [True, True] Translation: X:-98.55, Y:-276.84, Z:-9.02 [[-9.27323172e-01 -3.74226860e-01 5.09818195e-03 -9.85524286e+01] [ 3.74221339e-01 -9.27337186e-01 -2.03286242e-03 -2.76839957e+02] [ 5.48848542e-03 2.27280528e-05 9.99984938e-01 -9.02009907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.990385723 meters 0.014462488797156555 Centerline is valid? [True, True] Translation: X:-98.86, Y:-277.55, Z:-8.05 [[-9.52492127e-01 3.04525467e-01 4.79448720e-03 -9.88556609e+01] [ 3.04521576e-01 9.52504194e-01 -1.53945779e-03 -2.77545460e+02] [-5.03557327e-03 -6.29662795e-06 -9.99987322e-01 -8.05000446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.020385723 meters 0.01447871595165106 Centerline is valid? [True, True] Translation: X:-98.61, Y:-276.82, Z:-9.02 [[-9.29065379e-01 -3.69890404e-01 4.31413756e-03 -9.86123433e+01] [ 3.69886326e-01 -9.29075395e-01 -1.73699430e-03 -2.76821464e+02] [ 4.65065658e-03 -1.80407769e-05 9.99989186e-01 -9.01998152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.050385723 meters 0.014604321330242252 Centerline is valid? [True, True] Translation: X:-98.91, Y:-277.53, Z:-8.05 [[-9.53095064e-01 3.02635779e-01 4.62426928e-03 -9.89124012e+01] [ 3.02632229e-01 9.53106282e-01 -1.46577170e-03 -2.77527759e+02] [-4.85101507e-03 2.43314980e-06 -9.99988234e-01 -8.05057188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.080385723 meters 0.014622943789585272 Centerline is valid? [True, True] Translation: X:-98.88, Y:-277.51, Z:-8.05 [[-9.71968114e-01 2.35069395e-01 4.51278455e-03 -9.88754265e+01] [ 2.35066891e-01 9.71978590e-01 -1.08496464e-03 -2.77508632e+02] [-4.64137195e-03 6.25519463e-06 -9.99989229e-01 -8.05132409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.110385723 meters 0.01464942801818609 Centerline is valid? [True, True] Translation: X:-98.87, Y:-277.48, Z:-8.05 [[-9.85971681e-01 1.66849249e-01 4.60144086e-03 -9.88720802e+01] [ 1.66847491e-01 9.85982418e-01 -7.66091053e-04 -2.77480156e+02] [-4.66476150e-03 1.23947777e-05 -9.99989120e-01 -8.05228271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.140385723 meters 0.01477629650987861 Centerline is valid? [True, True] Translation: X:-98.87, Y:-277.45, Z:-8.05 [[-9.95271076e-01 9.70104138e-02 4.94614070e-03 -9.88739944e+01] [ 9.70092964e-02 9.95283366e-01 -4.65900393e-04 -2.77450897e+02] [-4.96800876e-03 1.61244440e-05 -9.99987659e-01 -8.05168504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.170385723 meters 0.014773963417414776 Centerline is valid? [True, True] Translation: X:-98.87, Y:-277.42, Z:-8.05 [[-9.99628064e-01 2.67495953e-02 5.30968572e-03 -9.88708158e+01] [ 2.67493291e-02 9.99642165e-01 -1.21164079e-04 -2.77421889e+02] [-5.31102682e-03 2.09115168e-05 -9.99985896e-01 -8.05111046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.200385723 meters 0.01494207936276361 Centerline is valid? [True, True] Translation: X:-98.84, Y:-276.66, Z:-9.02 [[-9.96376325e-01 -8.48383030e-02 6.05654750e-03 -9.88425425e+01] [ 8.48368905e-02 -9.96394732e-01 -4.90219955e-04 -2.76657686e+02] [ 6.07630145e-03 2.53751000e-05 9.99981539e-01 -9.01893298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.230385723 meters 0.015119041682189194 Centerline is valid? [True, True] Translation: X:-98.95, Y:-277.42, Z:-8.05 [[-9.99676294e-01 2.47434016e-02 5.92209749e-03 -9.89485934e+01] [ 2.47432201e-02 9.99693834e-01 -1.03914513e-04 -2.77419855e+02] [-5.92285554e-03 4.26508866e-05 -9.99982459e-01 -8.05136230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.260385723 meters 0.0152970113819309 Centerline is valid? [True, True] Translation: X:-98.93, Y:-276.66, Z:-9.02 [[-9.97014018e-01 -7.69775743e-02 6.12388348e-03 -9.89298139e+01] [ 7.69759385e-02 -9.97032824e-01 -5.02724619e-04 -2.76655669e+02] [ 6.14441136e-03 -2.98318138e-05 9.99981123e-01 -9.01869608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.290385723 meters 0.01533095905701705 Centerline is valid? [True, True] Translation: X:-99.03, Y:-277.42, Z:-8.05 [[-9.99769815e-01 2.06715302e-02 5.74498940e-03 -9.90319241e+01] [ 2.06714751e-02 9.99786320e-01 -6.89770332e-05 -2.77417781e+02] [-5.74518767e-03 4.97962498e-05 -9.99983495e-01 -8.05179126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.320385723 meters 0.015432238815613404 Centerline is valid? [True, True] Translation: X:-99.02, Y:-276.66, Z:-9.02 [[-9.97552723e-01 -6.97300533e-02 5.12684993e-03 -9.90157278e+01] [ 6.97287017e-02 -9.97565894e-01 -4.42122411e-04 -2.76655650e+02] [ 5.14519985e-03 -8.35518253e-05 9.99986760e-01 -9.01752881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3503857229999 meters 0.015469955734987504 Centerline is valid? [True, True] Translation: X:-99.12, Y:-277.41, Z:-8.05 [[-9.99847726e-01 1.66905116e-02 5.09425655e-03 -9.91182043e+01] [ 1.66905541e-02 9.99860702e-01 -3.41729057e-05 -2.77414468e+02] [-5.09411730e-03 5.08582625e-05 -9.99987024e-01 -8.05250888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.380385723 meters 0.015548234963845827 Centerline is valid? [True, True] Translation: X:-99.12, Y:-277.38, Z:-8.05 [[-9.98492463e-01 -5.46566135e-02 5.04532283e-03 -9.91166513e+01] [-5.46556646e-02 9.98505209e-01 3.25856667e-04 -2.77382831e+02] [-5.05559135e-03 4.96099539e-05 -9.99987219e-01 -8.05228020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.410385723 meters 0.015556239700230425 Centerline is valid? [True, True] Translation: X:-99.13, Y:-277.35, Z:-8.05 [[-9.92001406e-01 -1.26114940e-01 5.31337014e-03 -9.91315770e+01] [-1.26112861e-01 9.92015635e-01 7.25946118e-04 -2.77353617e+02] [-5.36249890e-03 5.00552627e-05 -9.99985621e-01 -8.05189457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.440385723 meters 0.015436498507847498 Centerline is valid? [True, True] Translation: X:-99.15, Y:-277.33, Z:-8.05 [[-9.80285765e-01 -1.97521854e-01 4.99360277e-03 -9.91525466e+01] [-1.97519057e-01 9.80298483e-01 1.05208590e-03 -2.77325931e+02] [-5.10303117e-03 4.50131257e-05 -9.99986979e-01 -8.05170249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4703857229999 meters 0.015379635454238903 Centerline is valid? [True, True] Translation: X:-99.19, Y:-277.30, Z:-8.05 [[-9.63049542e-01 -2.69285870e-01 4.54979472e-03 -9.91883270e+01] [-2.69282698e-01 9.63060289e-01 1.30731129e-03 -2.77300569e+02] [-4.73376707e-03 3.38245409e-05 -9.99988795e-01 -8.05160303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.500385723 meters 0.015272825195606552 Centerline is valid? [True, True] Translation: X:-99.25, Y:-277.29, Z:-8.05 [[-9.40229081e-01 -3.40511780e-01 4.58294183e-03 -9.92474846e+01] [-3.40507587e-01 9.40240250e-01 1.69014448e-03 -2.77286422e+02] [-4.88458047e-03 2.85965272e-05 -9.99988070e-01 -8.05151815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.530385723 meters 0.015167717761175434 Centerline is valid? [True, True] Translation: X:-99.32, Y:-277.28, Z:-8.05 [[-9.11757153e-01 -4.10712400e-01 3.77087667e-03 -9.93181256e+01] [-4.10708817e-01 9.11764950e-01 1.71565285e-03 -2.77279297e+02] [-4.14279308e-03 1.55264587e-05 -9.99991419e-01 -8.05177120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.560385723 meters 0.015276654583633219 Centerline is valid? [True, True] Translation: X:-99.39, Y:-277.28, Z:-8.05 [[-8.78253088e-01 -4.78182353e-01 3.62644126e-03 -9.93906754e+01] [-4.78178222e-01 8.78260575e-01 1.98754273e-03 -2.77281329e+02] [-4.13536824e-03 1.14803028e-05 -9.99991449e-01 -8.05218242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5903857229999 meters 0.015317547406921954 Centerline is valid? [True, True] Translation: X:-99.47, Y:-277.30, Z:-8.05 [[-8.39940130e-01 -5.42671491e-01 2.86896251e-03 -9.94747389e+01] [-5.42668291e-01 8.39945030e-01 1.86356110e-03 -2.77295401e+02] [-3.42107228e-03 8.38476905e-06 -9.99994148e-01 -8.05249064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.620385723 meters 0.015464547089889421 Centerline is valid? [True, True] Translation: X:-99.57, Y:-277.32, Z:-8.05 [[-7.96259212e-01 -6.04949753e-01 2.65769818e-03 -9.95676346e+01] [-6.04946364e-01 7.96263648e-01 2.02495477e-03 -2.77319991e+02] [-3.34122433e-03 4.62403905e-06 -9.99994418e-01 -8.05230383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.650385723 meters 0.015536053516264641 Centerline is valid? [True, True] Translation: X:-99.66, Y:-277.35, Z:-8.05 [[-7.48148288e-01 -6.63526500e-01 2.59312230e-03 -9.96605934e+01] [-6.63522500e-01 7.48152781e-01 2.30379903e-03 -2.77354701e+02] [-3.46868337e-03 2.98830645e-06 -9.99993984e-01 -8.05207403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.680385723 meters 0.015486730315817055 Centerline is valid? [True, True] Translation: X:-99.75, Y:-277.39, Z:-8.05 [[-6.95562904e-01 -7.18460732e-01 2.53432727e-03 -9.97460714e+01] [-7.18455954e-01 6.95567521e-01 2.62032921e-03 -2.77393952e+02] [-3.64539938e-03 1.80127962e-06 -9.99993356e-01 -8.05268363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.710385723 meters 0.015608804866082297 Centerline is valid? [True, True] Translation: X:-99.84, Y:-277.45, Z:-8.05 [[-6.38944479e-01 -7.69249789e-01 2.17159096e-03 -9.98377725e+01] [-7.69245341e-01 6.38948169e-01 2.61581619e-03 -2.77450201e+02] [-3.39975012e-03 8.75086238e-07 -9.99994221e-01 -8.05273693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.740385723 meters 0.0156306976446378 Centerline is valid? [True, True] Translation: X:-99.93, Y:-277.51, Z:-8.05 [[-5.78753754e-01 -8.15500106e-01 1.91540268e-03 -9.99274016e+01] [-8.15495632e-01 5.78756924e-01 2.70133151e-03 -2.77513037e+02] [-3.31148870e-03 1.40323344e-06 -9.99994517e-01 -8.05308274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.770385723 meters 0.01568704076296393 Centerline is valid? [True, True] Translation: X:-100.01, Y:-277.59, Z:-8.05 [[-5.15184184e-01 -8.57077478e-01 1.85847851e-03 -1.00014858e+02] [-8.57071884e-01 5.15187536e-01 3.09645970e-03 -2.77590617e+02] [-3.61137084e-03 2.39738482e-06 -9.99993479e-01 -8.05273906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.800385723 meters 0.015824134719787736 Centerline is valid? [True, True] Translation: X:-100.09, Y:-277.67, Z:-8.05 [[-4.48982925e-01 -8.93538588e-01 1.76760415e-03 -1.00094300e+02] [-8.93531612e-01 4.48986405e-01 3.53085515e-03 -2.77669091e+02] [-3.94858555e-03 5.88348634e-06 -9.99992204e-01 -8.05272641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.830385723 meters 0.01573056217107909 Centerline is valid? [True, True] Translation: X:-100.17, Y:-277.76, Z:-8.05 [[-3.80234294e-01 -9.24889021e-01 1.47669584e-03 -1.00168237e+02] [-9.24881955e-01 3.80237162e-01 3.61518424e-03 -2.77758421e+02] [-3.90513885e-03 8.84769139e-06 -9.99992375e-01 -8.05232952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.860385723 meters 0.01588339461116517 Centerline is valid? [True, True] Translation: X:-100.24, Y:-277.86, Z:-8.05 [[-3.09485898e-01 -9.50902792e-01 1.53599936e-03 -1.00238254e+02] [-9.50890803e-01 3.09489710e-01 4.77503907e-03 -2.77856456e+02] [-5.01597398e-03 1.72395892e-05 -9.99987420e-01 -8.05145054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.890385723 meters 0.015933545661010916 Centerline is valid? [True, True] Translation: X:-100.30, Y:-277.96, Z:-8.05 [[-2.36354502e-01 -9.71665943e-01 1.35839042e-03 -1.00299389e+02] [-9.71649311e-01 2.36358404e-01 5.68518988e-03 -2.77960692e+02] [-5.84517238e-03 2.38411035e-05 -9.99982917e-01 -8.05051173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.920385723 meters 0.01598368750361171 Centerline is valid? [True, True] Translation: X:-100.35, Y:-278.07, Z:-8.05 [[-1.61564500e-01 -9.86861713e-01 9.33926132e-04 -1.00352609e+02] [-9.86844271e-01 1.61567197e-01 5.86730945e-03 -2.78071772e+02] [-5.94111488e-03 2.63092648e-05 -9.99982351e-01 -8.05016785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.950385723 meters 0.016035785544272582 Centerline is valid? [True, True] Translation: X:-100.40, Y:-278.19, Z:-8.05 [[-8.60130953e-02 -9.96293913e-01 4.31911819e-04 -1.00398595e+02] [-9.96279735e-01 8.60141755e-02 5.31525393e-03 -2.78190911e+02] [-5.33270567e-03 2.68764500e-05 -9.99985781e-01 -8.05082442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.980385723 meters 0.016098388451283793 Centerline is valid? [True, True] Translation: X:-100.43, Y:-278.31, Z:-8.05 [[-9.01813469e-03 -9.99959336e-01 2.06770973e-05 -1.00433944e+02] [-9.99948103e-01 9.01813139e-03 4.73962332e-03 -2.78307569e+02] [-4.73961705e-03 2.20665373e-05 -9.99988768e-01 -8.05123794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.010385723 meters 0.016103589451373912 Centerline is valid? [True, True] Translation: X:-101.09, Y:-278.41, Z:-9.02 [[-6.88278739e-02 9.97628488e-01 3.50986943e-04 -1.01089670e+02] [-9.97614228e-01 -6.88287668e-02 5.33413410e-03 -2.78413838e+02] [ 5.34564213e-03 1.69875414e-05 9.99985712e-01 -9.01889791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.040385723 meters 0.01614368227338546 Centerline is valid? [True, True] Translation: X:-100.44, Y:-278.59, Z:-8.05 [[ 2.38122821e-03 -9.99997165e-01 -2.91797871e-05 -1.00443678e+02] [-9.99979618e-01 -2.38135929e-03 5.92388086e-03 -2.78591831e+02] [-5.92393355e-03 1.50730802e-05 -9.99982453e-01 -8.04988423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.070385723 meters 0.016132484434924203 Centerline is valid? [True, True] Translation: X:-100.47, Y:-278.71, Z:-8.05 [[ 8.03780215e-02 -9.96764293e-01 -5.63333868e-04 -1.00471258e+02] [-9.96740514e-01 -8.03799952e-02 6.88507258e-03 -2.78713397e+02] [-6.90807528e-03 8.08917704e-06 -9.99976139e-01 -8.04900526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1003857229999 meters 0.016203166270217388 Centerline is valid? [True, True] Translation: X:-100.49, Y:-278.83, Z:-8.05 [[ 1.57495960e-01 -9.87519030e-01 -1.09035828e-03 -1.00487839e+02] [-9.87495417e-01 -1.57499735e-01 6.82903124e-03 -2.78834090e+02] [-6.91552944e-03 1.17897573e-06 -9.99976088e-01 -8.04838443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.130385723 meters 0.016226461952122472 Centerline is valid? [True, True] Translation: X:-100.49, Y:-278.96, Z:-8.05 [[ 2.33172005e-01 -9.72434203e-01 -1.59283824e-03 -1.00494595e+02] [-9.72411453e-01 -2.33177446e-01 6.65166092e-03 -2.78956917e+02] [-6.83971653e-03 -2.08696965e-06 -9.99976609e-01 -8.04911413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.160385723 meters 0.016239064716222346 Centerline is valid? [True, True] Translation: X:-100.49, Y:-279.08, Z:-8.05 [[ 3.07185952e-01 -9.51647600e-01 -1.90714513e-03 -1.00491327e+02] [-9.51629182e-01 -3.07191872e-01 5.92065336e-03 -2.79084702e+02] [-6.22023504e-03 -3.84657345e-06 -9.99980654e-01 -8.04865956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.190385723 meters 0.01620199730320885 Centerline is valid? [True, True] Translation: X:-100.48, Y:-279.20, Z:-8.05 [[ 3.79617376e-01 -9.25140721e-01 -2.30077515e-03 -1.00482063e+02] [-9.25123606e-01 -3.79624348e-01 5.62738040e-03 -2.79198247e+02] [-6.07954903e-03 -7.74997716e-06 -9.99981519e-01 -8.05027115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2203857229999 meters 0.016301252106099496 Centerline is valid? [True, True] Translation: X:-100.46, Y:-279.32, Z:-8.05 [[ 4.49742661e-01 -8.93154023e-01 -2.72576179e-03 -1.00461198e+02] [-8.93137467e-01 -4.49750921e-01 5.43825310e-03 -2.79315118e+02] [-6.08311151e-03 -1.13344394e-05 -9.99981498e-01 -8.05126850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.250385723 meters 0.01638506680096258 Centerline is valid? [True, True] Translation: X:-100.43, Y:-279.43, Z:-8.05 [[ 5.17357389e-01 -8.55764804e-01 -2.81653119e-03 -1.00431101e+02] [-8.55751962e-01 -5.17365055e-01 4.68820659e-03 -2.79431280e+02] [-5.46917701e-03 -1.52262219e-05 -9.99985044e-01 -8.05216859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.280385723 meters 0.01646934342551116 Centerline is valid? [True, True] Translation: X:-100.39, Y:-279.55, Z:-8.05 [[ 5.82782476e-01 -8.12622841e-01 -2.95007810e-03 -1.00393370e+02] [-8.12612213e-01 -5.82789943e-01 4.15626395e-03 -2.79545317e+02] [-5.09675087e-03 -2.49283054e-05 -9.99987011e-01 -8.05272889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.310385723 meters 0.016512625165609116 Centerline is valid? [True, True] Translation: X:-100.35, Y:-279.65, Z:-8.05 [[ 6.43776919e-01 -7.65205771e-01 -3.37734007e-03 -1.00352544e+02] [-7.65194979e-01 -6.43785777e-01 4.06414538e-03 -2.79647788e+02] [-5.28419100e-03 -3.20793284e-05 -9.99986038e-01 -8.05214419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3403857229999 meters 0.016551007246965253 Centerline is valid? [True, True] Translation: X:-100.30, Y:-279.74, Z:-8.05 [[ 7.00111714e-01 -7.14024665e-01 -3.51652185e-03 -1.00303825e+02] [-7.14015432e-01 -7.00120545e-01 3.63122474e-03 -2.79744932e+02] [-5.05477322e-03 -3.14121131e-05 -9.99987224e-01 -8.05189551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.370385723 meters 0.016595936970953667 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.84, Z:-8.05 [[ 7.52171381e-01 -6.58955535e-01 -3.97698213e-03 -1.00250307e+02] [-6.58946092e-01 -7.52181894e-01 3.52786552e-03 -2.79835691e+02] [-5.31612046e-03 -3.29426495e-05 -9.99985869e-01 -8.05173758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.400385723 meters 0.016612545463914528 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.85, Z:-8.05 [[ 8.00728636e-01 -5.99010868e-01 -4.43067704e-03 -1.00251046e+02] [-5.99001501e-01 -8.00740894e-01 3.35006632e-03 -2.79845405e+02] [-5.55455043e-03 -2.85118423e-05 -9.99984573e-01 -8.05179515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.430385723 meters 0.01655210471564834 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.86, Z:-8.05 [[ 8.44734873e-01 -5.35162145e-01 -4.94709179e-03 -1.00251910e+02] [-5.35152786e-01 -8.44749358e-01 3.16505137e-03 -2.79857223e+02] [-5.87286830e-03 -2.61793144e-05 -9.99982754e-01 -8.05210239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.460385723 meters 0.016497467922572454 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.87, Z:-8.05 [[ 8.83447605e-01 -4.68493995e-01 -5.80564807e-03 -1.00252230e+02] [-4.68483718e-01 -8.83466681e-01 3.10329352e-03 -2.79868125e+02] [-6.58297101e-03 -2.17456383e-05 -9.99978332e-01 -8.05193468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.490385723 meters 0.01645252394685637 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.88, Z:-8.05 [[ 9.17066191e-01 -3.98685539e-01 -6.28028941e-03 -1.00252305e+02] [-3.98676057e-01 -9.17087695e-01 2.74961549e-03 -2.79879332e+02] [-6.85580807e-03 -1.77783826e-05 -9.99976499e-01 -8.05127327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.520385723 meters 0.01639902136141583 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.89, Z:-8.05 [[ 9.45195354e-01 -3.26455031e-01 -5.73197704e-03 -1.00249833e+02] [-3.26448955e-01 -9.45212734e-01 1.99177696e-03 -2.79888028e+02] [-6.06816330e-03 -1.14204113e-05 -9.99981589e-01 -8.05234107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.550385723 meters 0.016472305325772763 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.90, Z:-8.05 [[ 9.67726324e-01 -2.51936552e-01 -5.80815487e-03 -1.00248176e+02] [-2.51931960e-01 -9.67743754e-01 1.52124397e-03 -2.79896861e+02] [-6.00406256e-03 -8.88799350e-06 -9.99981976e-01 -8.05244936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.580385723 meters 0.01650553097075806 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.91, Z:-8.05 [[ 9.84405515e-01 -1.75820788e-01 -5.72996091e-03 -1.00245097e+02] [-1.75817769e-01 -9.84422191e-01 1.03029640e-03 -2.79905838e+02] [-5.82184820e-03 -6.80051792e-06 -9.99983053e-01 -8.05277907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.610385723 meters 0.01650553097075806 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.92, Z:-8.05 [[ 9.95152489e-01 -9.81731294e-02 -5.79306396e-03 -1.00245834e+02] [-9.81714263e-02 -9.95169351e-01 5.78317465e-04 -2.79916201e+02] [-5.82185494e-03 -6.80071303e-06 -9.99983053e-01 -8.05277901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.640385723 meters 0.01661555485880486 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.92, Z:-8.05 [[ 9.99765663e-01 -2.08283768e-02 -5.89893764e-03 -1.00245319e+02] [-2.08280034e-02 -9.99783066e-01 1.24723190e-04 -2.79924600e+02] [-5.90025574e-03 -1.83086921e-06 -9.99982593e-01 -8.05305804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.670385723 meters 0.016509361357799193 Centerline is valid? [True, True] Translation: X:-100.24, Y:-279.93, Z:-8.05 [[ 9.98369002e-01 5.68063438e-02 -5.68999320e-03 -1.00244762e+02] [ 5.68054086e-02 -9.98385216e-01 -3.25960162e-04 -2.79934541e+02] [-5.69932169e-03 2.20613269e-06 -9.99983759e-01 -8.05279888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.700385723 meters 0.016550224959158057 Centerline is valid? [True, True] Translation: X:-100.24, Y:-279.94, Z:-8.05 [[ 9.91004488e-01 1.33740501e-01 -4.85631756e-03 -1.00243774e+02] [ 1.33738859e-01 -9.91016387e-01 -6.62686177e-04 -2.79940792e+02] [-4.90131826e-03 7.24660502e-06 -9.99987989e-01 -8.05260317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.730385723 meters 0.016669310773200115 Centerline is valid? [True, True] Translation: X:-100.24, Y:-279.95, Z:-8.05 [[ 9.77542795e-01 2.10685150e-01 -4.67467911e-03 -1.00242399e+02] [ 2.10682700e-01 -9.77553972e-01 -1.01594676e-03 -2.79946974e+02] [-4.78379602e-03 8.25741818e-06 -9.99988558e-01 -8.05263525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.760385723 meters 0.016592447789626676 Centerline is valid? [True, True] Translation: X:-100.24, Y:-279.95, Z:-8.05 [[ 9.58158214e-01 2.86199619e-01 -4.75558520e-03 -1.00240390e+02] [ 2.86196039e-01 -9.58170015e-01 -1.43151886e-03 -2.79954742e+02] [-4.96635929e-03 1.05919004e-05 -9.99987668e-01 -8.05383015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.790385723 meters 0.016474476589426308 Centerline is valid? [True, True] Translation: X:-100.24, Y:-279.96, Z:-8.05 [[ 9.32742998e-01 3.60515787e-01 -4.34363409e-03 -1.00238378e+02] [ 3.60511833e-01 -9.32753112e-01 -1.68858975e-03 -2.79964525e+02] [-4.66030148e-03 9.08878002e-06 -9.99989141e-01 -8.05442062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.820385723 meters 0.016580907664952807 Centerline is valid? [True, True] Translation: X:-100.23, Y:-279.97, Z:-8.05 [[ 9.01822518e-01 4.32092167e-01 -3.53639781e-03 -1.00234912e+02] [ 4.32088805e-01 -9.01829451e-01 -1.70444985e-03 -2.79973345e+02] [-3.92570712e-03 9.07335067e-06 -9.99992294e-01 -8.05483871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8503857229999 meters 0.01656996500068968 Centerline is valid? [True, True] Translation: X:-100.23, Y:-279.98, Z:-8.05 [[ 8.65164799e-01 5.01477989e-01 -3.11408474e-03 -1.00231148e+02] [ 5.01474707e-01 -8.65170403e-01 -1.81423293e-03 -2.79983241e+02] [-3.60401183e-03 7.97573657e-06 -9.99993506e-01 -8.05479383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.880385723 meters 0.0165187275041344 Centerline is valid? [True, True] Translation: X:-100.23, Y:-279.99, Z:-8.05 [[ 8.23227424e-01 5.67703507e-01 -3.05564662e-03 -1.00225927e+02] [ 5.67699560e-01 -8.23233094e-01 -2.11697519e-03 -2.79991542e+02] [-3.71732366e-03 8.06278634e-06 -9.99993091e-01 -8.05470469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.910385723 meters 0.016512046812242363 Centerline is valid? [True, True] Translation: X:-100.22, Y:-280.00, Z:-8.05 [[ 7.76865517e-01 6.29660427e-01 -2.77765453e-03 -1.00221941e+02] [ 6.29656351e-01 -7.76870483e-01 -2.26571732e-03 -2.79998095e+02] [-3.58451035e-03 1.11898470e-05 -9.99993576e-01 -8.05477327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.940385723 meters 0.016577126111966455 Centerline is valid? [True, True] Translation: X:-100.22, Y:-280.00, Z:-8.05 [[ 7.26059254e-01 6.87623142e-01 -3.51776146e-03 -1.00219155e+02] [ 6.87614929e-01 -7.26067775e-01 -3.36070866e-03 -2.80004953e+02] [-4.86503429e-03 2.12083206e-05 -9.99988166e-01 -8.05450359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9703857229999 meters 0.016533770156580734 Centerline is valid? [True, True] Translation: X:-100.21, Y:-280.01, Z:-8.05 [[ 6.70328665e-01 7.42055546e-01 -3.61220043e-03 -1.00214018e+02] [ 7.42044563e-01 -6.70338397e-01 -4.03728864e-03 -2.80012267e+02] [-5.41728907e-03 2.58966100e-05 -9.99985326e-01 -8.05380485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.000385723 meters 0.016587852534564056 Centerline is valid? [True, True] Translation: X:-100.21, Y:-280.02, Z:-8.05 [[ 6.10360473e-01 7.92116480e-01 -3.40230016e-03 -1.00208475e+02] [ 7.92103914e-01 -6.10369955e-01 -4.46173291e-03 -2.80019211e+02] [-5.61087396e-03 2.82901355e-05 -9.99984259e-01 -8.05349139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.030385723 meters 0.016469362487184093 Centerline is valid? [True, True] Translation: X:-100.20, Y:-280.03, Z:-8.05 [[ 5.46453793e-01 8.37484304e-01 -2.87974605e-03 -1.00202576e+02] [ 8.37472417e-01 -5.46461381e-01 -4.46216288e-03 -2.80025906e+02] [-5.31066137e-03 2.66579524e-05 -9.99985898e-01 -8.05429723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.060385723 meters 0.016528953903247268 Centerline is valid? [True, True] Translation: X:-100.20, Y:-280.03, Z:-8.05 [[ 4.79180272e-01 8.77712792e-01 -2.55399758e-03 -1.00195947e+02] [ 8.77700026e-01 -4.79187077e-01 -4.73389041e-03 -2.80033829e+02] [-5.37883880e-03 2.67431452e-05 -9.99985534e-01 -8.05422725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0903857229999 meters 0.016472078243359233 Centerline is valid? [True, True] Translation: X:-100.19, Y:-280.04, Z:-8.05 [[ 4.09266847e-01 9.12411255e-01 -2.51985683e-03 -1.00191172e+02] [ 9.12393462e-01 -4.09274603e-01 -5.69820572e-03 -2.80039718e+02] [-6.23042044e-03 3.29857927e-05 -9.99980590e-01 -8.05405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.120385723 meters 0.016489711285560642 Centerline is valid? [True, True] Translation: X:-100.18, Y:-280.05, Z:-8.05 [[ 3.36674907e-01 9.41618646e-01 -2.08151138e-03 -1.00183360e+02] [ 9.41600019e-01 -3.36681340e-01 -5.92279933e-03 -2.80045738e+02] [-6.27782433e-03 3.41067559e-05 -9.99980294e-01 -8.05418234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.150385723 meters 0.016394675552955963 Centerline is valid? [True, True] Translation: X:-100.18, Y:-280.05, Z:-8.05 [[ 2.61675492e-01 9.65154664e-01 -1.55312297e-03 -1.00177515e+02] [ 9.65136943e-01 -2.61680099e-01 -5.84867297e-03 -2.80051751e+02] [-6.05129536e-03 3.14780183e-05 -9.99981690e-01 -8.05345477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.180385723 meters 0.016411259877234838 Centerline is valid? [True, True] Translation: X:-100.17, Y:-280.06, Z:-8.05 [[ 1.84815961e-01 9.82772460e-01 -1.16289722e-03 -1.00169072e+02] [ 9.82751953e-01 -1.84819617e-01 -6.34892458e-03 -2.80057570e+02] [-6.45447445e-03 3.05430830e-05 -9.99979169e-01 -8.05366910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.210385723 meters 0.01641051037285542 Centerline is valid? [True, True] Translation: X:-100.16, Y:-280.06, Z:-8.05 [[ 1.06815483e-01 9.94278679e-01 -6.01148228e-04 -1.00160620e+02] [ 9.94261588e-01 -1.06817172e-01 -5.82974714e-03 -2.80063624e+02] [-5.86060624e-03 2.50086676e-05 -9.99982826e-01 -8.05362245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.240385723 meters 0.016234720824559973 Centerline is valid? [True, True] Translation: X:-100.15, Y:-280.07, Z:-8.05 [[ 2.71596536e-02 9.99631098e-01 -1.43835656e-04 -1.00153694e+02] [ 9.99613664e-01 -2.71600294e-02 -5.90378610e-03 -2.80069032e+02] [-5.90551477e-03 1.65646979e-05 -9.99982562e-01 -8.05333027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.270385723 meters 0.016212643883687206 Centerline is valid? [True, True] Translation: X:-100.15, Y:-280.07, Z:-8.05 [[-5.19981987e-02 9.98647120e-01 3.42867650e-04 -1.00147736e+02] [ 9.98627030e-01 5.19993275e-02 -6.33450527e-03 -2.80074378e+02] [-6.34376433e-03 1.30140390e-05 -9.99979878e-01 -8.05307596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.300385723 meters 0.0160708813277093 Centerline is valid? [True, True] Translation: X:-100.14, Y:-280.08, Z:-8.05 [[-1.30991283e-01 9.91383128e-01 8.81697749e-04 -1.00143443e+02] [ 9.91361061e-01 1.30994250e-01 -6.61463150e-03 -2.80079318e+02] [-6.67313140e-03 7.62175082e-06 -9.99977734e-01 -8.05299953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.330385723 meters 0.015991806934753477 Centerline is valid? [True, True] Translation: X:-100.13, Y:-280.08, Z:-8.05 [[-2.08399268e-01 9.78042862e-01 1.38054651e-03 -1.00133825e+02] [ 9.78021616e-01 2.08403840e-01 -6.44650088e-03 -2.80082225e+02] [-6.59266536e-03 6.75826323e-06 -9.99978268e-01 -8.05461810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.360385723 meters 0.01597293307526645 Centerline is valid? [True, True] Translation: X:-100.12, Y:-280.09, Z:-8.05 [[-2.84092788e-01 9.58794969e-01 1.86978300e-03 -1.00123526e+02] [ 9.58774397e-01 2.84098940e-01 -6.28076931e-03 -2.80085130e+02] [-6.55317339e-03 8.37880580e-06 -9.99978528e-01 -8.05364377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.390385723 meters 0.01599832180145685 Centerline is valid? [True, True] Translation: X:-100.12, Y:-280.09, Z:-8.05 [[-3.57893803e-01 9.33759261e-01 2.38078021e-03 -1.00118840e+02] [ 9.33738820e-01 3.57901721e-01 -6.17852424e-03 -2.80088770e+02] [-6.62133956e-03 1.17713670e-05 -9.99978079e-01 -8.05351894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.420385723 meters 0.01602373383798849 Centerline is valid? [True, True] Translation: X:-100.12, Y:-280.10, Z:-8.05 [[-4.29207243e-01 9.03199775e-01 3.36282186e-03 -1.00115868e+02] [ 9.03172424e-01 4.29220416e-01 -7.02898362e-03 -2.80095022e+02] [-7.79196822e-03 2.03172929e-05 -9.99969642e-01 -8.05261553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.450385723 meters 0.015912583451850666 Centerline is valid? [True, True] Translation: X:-100.11, Y:-280.10, Z:-8.05 [[-4.98607903e-01 8.66816704e-01 4.35441801e-03 -1.00107014e+02] [ 8.66784053e-01 4.98626916e-01 -7.52353957e-03 -2.80096410e+02] [-8.69275979e-03 2.30438070e-05 -9.99962217e-01 -8.05277187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.480385723 meters 0.015910044408532515 Centerline is valid? [True, True] Translation: X:-100.09, Y:-280.09, Z:-8.05 [[-5.64892537e-01 8.25149291e-01 5.00692798e-03 -1.00094732e+02] [ 8.25117259e-01 5.64914726e-01 -7.27057616e-03 -2.80094932e+02] [-8.82779811e-03 2.42084780e-05 -9.99961034e-01 -8.05340574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.510385723 meters 0.015867959694945945 Centerline is valid? [True, True] Translation: X:-100.08, Y:-280.09, Z:-8.05 [[-6.27658316e-01 7.78468776e-01 5.60377431e-03 -1.00082749e+02] [ 7.78438119e-01 6.27683331e-01 -6.90877981e-03 -2.80094181e+02] [-8.89566509e-03 2.58384223e-05 -9.99960433e-01 -8.05320702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.540385723 meters 0.015819801066829654 Centerline is valid? [True, True] Translation: X:-100.07, Y:-280.09, Z:-8.05 [[-6.86405301e-01 7.27194022e-01 6.05115367e-03 -1.00072263e+02] [ 7.27166138e-01 6.86431973e-01 -6.36819748e-03 -2.80092104e+02] [-8.78462049e-03 2.90295377e-05 -9.99961414e-01 -8.05438805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.570385723 meters 0.015779412118777637 Centerline is valid? [True, True] Translation: X:-100.06, Y:-280.09, Z:-8.05 [[-7.41336011e-01 6.71097659e-01 6.98935930e-03 -1.00060332e+02] [ 6.71068213e-01 7.41368958e-01 -6.28667156e-03 -2.80089108e+02] [-9.40066458e-03 2.98008378e-05 -9.99955812e-01 -8.05406431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6003857229999 meters 0.015833591168494483 Centerline is valid? [True, True] Translation: X:-100.04, Y:-280.07, Z:-8.05 [[-7.86576015e-01 6.17437567e-01 8.30802775e-03 -1.00037123e+02] [ 6.17403666e-01 7.86619889e-01 -6.47018119e-03 -2.80069250e+02] [-1.05301928e-02 4.01174495e-05 -9.99944555e-01 -8.05266266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.630385723 meters 0.015790772088457562 Centerline is valid? [True, True] Translation: X:-100.02, Y:-280.05, Z:-8.05 [[-8.27960514e-01 5.60706162e-01 9.48618156e-03 -1.00017197e+02] [ 5.60670059e-01 8.28014854e-01 -6.36292298e-03 -2.80047386e+02] [-1.14224294e-02 5.03689965e-05 -9.99934761e-01 -8.05274171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.660385723 meters 0.015918987607971117 Centerline is valid? [True, True] Translation: X:-100.00, Y:-280.02, Z:-8.05 [[-8.64491694e-01 5.02521434e-01 1.12391632e-02 -9.99988611e+01] [ 5.02480240e-01 8.64564747e-01 -6.43481867e-03 -2.80024852e+02] [-1.29506186e-02 8.46101555e-05 -9.99916134e-01 -8.05196583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.690385723 meters 0.016088816797323713 Centerline is valid? [True, True] Translation: X:-99.98, Y:-280.00, Z:-8.05 [[-8.97058547e-01 4.41746082e-01 1.20980666e-02 -9.99805155e+01] [ 4.41707611e-01 8.97140115e-01 -5.83099918e-03 -2.80002564e+02] [-1.34294819e-02 1.13060428e-04 -9.99909814e-01 -8.05156337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7203857229999 meters 0.016719526788465885 Centerline is valid? [True, True] Translation: X:-99.97, Y:-279.98, Z:-8.05 [[-9.24290174e-01 3.81482079e-01 1.26133875e-02 -9.99693030e+01] [ 3.81449187e-01 9.24376218e-01 -5.01255433e-03 -2.79977275e+02] [-1.35717150e-02 1.78311684e-04 -9.99907884e-01 -8.05136004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.750385723 meters 0.017088082132597136 Centerline is valid? [True, True] Translation: X:-99.95, Y:-279.95, Z:-8.05 [[-9.48297251e-01 3.17129161e-01 1.27051068e-02 -9.99536524e+01] [ 3.17103593e-01 9.48382335e-01 -4.03210851e-03 -2.79952132e+02] [-1.33279980e-02 2.05197595e-04 -9.99911157e-01 -8.05124972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.780385723 meters 0.01745538816474881 Centerline is valid? [True, True] Translation: X:-99.94, Y:-279.92, Z:-8.05 [[-9.67609164e-01 2.52179229e-01 1.17534008e-02 -9.99420295e+01] [ 2.52163444e-01 9.67680519e-01 -2.83051677e-03 -2.79924795e+02] [-1.20873346e-02 2.24944064e-04 -9.99926920e-01 -8.05256677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.810385723 meters 0.017938658893792717 Centerline is valid? [True, True] Translation: X:-99.75, Y:-279.16, Z:-9.02 [[-9.59875664e-01 -2.80208990e-01 1.10286500e-02 -9.97510852e+01] [ 2.80187519e-01 -9.59938988e-01 -3.47755371e-03 -2.79159647e+02] [ 1.15612730e-02 -2.47929083e-04 9.99933136e-01 -9.01679853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8403857229999 meters 0.01742643227904547 Centerline is valid? [True, True] Translation: X:-100.01, Y:-279.91, Z:-8.06 [[-9.67811615e-01 2.51469067e-01 1.01973548e-02 -1.00007555e+02] [ 2.51457579e-01 9.67865309e-01 -2.41444322e-03 -2.79908202e+02] [-1.04768237e-02 2.27475955e-04 -9.99945091e-01 -8.05531939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.870385723 meters 0.017354318755422638 Centerline is valid? [True, True] Translation: X:-99.80, Y:-279.15, Z:-9.01 [[-9.61748703e-01 -2.73773712e-01 9.34806610e-03 -9.98042218e+01] [ 2.73758186e-01 -9.61794099e-01 -2.92685091e-03 -2.79150776e+02] [ 9.79220965e-03 -2.55785450e-04 9.99952023e-01 -9.01411339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.900385723 meters 0.018309876765184377 Centerline is valid? [True, True] Translation: X:-100.04, Y:-279.90, Z:-8.05 [[-9.68442394e-01 2.49096096e-01 8.39429304e-03 -1.00039357e+02] [ 2.49088532e-01 9.68478753e-01 -1.95150732e-03 -2.79900591e+02] [-8.61580731e-03 2.00999708e-04 -9.99962863e-01 -8.05497309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.930385723 meters 0.018440877063136248 Centerline is valid? [True, True] Translation: X:-100.03, Y:-279.87, Z:-8.05 [[-9.83623662e-01 1.80038665e-01 8.40061681e-03 -1.00030995e+02] [ 1.80033840e-01 9.83659514e-01 -1.33320032e-03 -2.79870799e+02] [-8.50337425e-03 2.01027927e-04 -9.99963826e-01 -8.05456943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.960385723 meters 0.01861057023683494 Centerline is valid? [True, True] Translation: X:-99.90, Y:-279.10, Z:-9.02 [[-9.79776013e-01 -1.99920512e-01 8.41148944e-03 -9.99040189e+01] [ 1.99911423e-01 -9.79812100e-01 -1.91639014e-03 -2.79102244e+02] [ 8.62480483e-03 -1.96080265e-04 9.99962787e-01 -9.01593914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.990385723 meters 0.018923650713657966 Centerline is valid? [True, True] Translation: X:-100.10, Y:-279.86, Z:-8.05 [[-9.84291104e-01 1.76354983e-01 8.36314747e-03 -1.00095736e+02] [ 1.76350376e-01 9.84326612e-01 -1.29086322e-03 -2.79860202e+02] [-8.45971877e-03 2.04259016e-04 -9.99964195e-01 -8.05420965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.020385723 meters 0.019328064864742135 Centerline is valid? [True, True] Translation: X:-99.97, Y:-279.09, Z:-9.02 [[-9.80808157e-01 -1.94772789e-01 8.88367720e-03 -9.99685136e+01] [ 1.94763144e-01 -9.80848372e-01 -1.94657183e-03 -2.79092550e+02] [ 9.09267955e-03 -1.79000633e-04 9.99958645e-01 -9.01512271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.050385723 meters 0.017838037571485527 Centerline is valid? [True, True] Translation: X:-100.15, Y:-279.85, Z:-8.06 [[-9.84939651e-01 1.72673831e-01 8.81089355e-03 -1.00153185e+02] [ 1.72668926e-01 9.84979035e-01 -1.32017766e-03 -2.79847938e+02] [-8.90650556e-03 2.21072199e-04 -9.99960312e-01 -8.05557408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.080385723 meters 0.01801870735250216 Centerline is valid? [True, True] Translation: X:-100.15, Y:-279.82, Z:-8.06 [[-9.94613063e-01 1.03307021e-01 8.51553371e-03 -1.00150628e+02] [ 1.03305130e-01 9.94649491e-01 -6.62793833e-04 -2.79817028e+02] [-8.53844253e-03 2.20474914e-04 -9.99963523e-01 -8.05574849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.110385723 meters 0.018234390393753457 Centerline is valid? [True, True] Translation: X:-100.15, Y:-279.79, Z:-8.06 [[-9.99433299e-01 3.25940067e-02 8.40906703e-03 -1.00151810e+02] [ 3.25946975e-02 9.99468650e-01 -5.49179378e-05 -2.79787097e+02] [-8.40638887e-03 2.19204180e-04 -9.99964642e-01 -8.05540155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.140385723 meters 0.018456498277912653 Centerline is valid? [True, True] Translation: X:-100.14, Y:-279.02, Z:-9.02 [[-9.98848710e-01 -4.72467520e-02 8.30652370e-03 -1.00141091e+02] [ 4.72432660e-02 -9.98883224e-01 -6.15500247e-04 -2.79022596e+02] [ 8.32632756e-03 -2.22364319e-04 9.99965311e-01 -9.01531563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.170385723 meters 0.018548898803282546 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.78, Z:-8.05 [[-9.99575865e-01 2.78352958e-02 8.56071006e-03 -1.00246343e+02] [ 2.78362544e-02 9.99612496e-01 -7.17720942e-06 -2.79784327e+02] [-8.55759253e-03 2.31123938e-04 -9.99963357e-01 -8.05459707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.200385723 meters 0.018837866986992816 Centerline is valid? [True, True] Translation: X:-100.25, Y:-279.76, Z:-8.06 [[-9.99050952e-01 -4.28058422e-02 8.05327499e-03 -1.00251279e+02] [-4.28026503e-02 9.99083385e-01 5.68356024e-04 -2.79755536e+02] [-8.07022219e-03 2.23115113e-04 -9.99967410e-01 -8.05522245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.230385723 meters 0.018978146705868847 Centerline is valid? [True, True] Translation: X:-100.30, Y:-278.99, Z:-9.01 [[-9.99494748e-01 3.07782593e-02 7.93396933e-03 -1.00299995e+02] [-3.07791038e-02 -9.99526211e-01 1.56670852e-05 -2.78994801e+02] [ 7.93069251e-03 -2.28541296e-04 9.99968526e-01 -9.01485385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.260385723 meters 0.01939848163818618 Centerline is valid? [True, True] Translation: X:-100.36, Y:-279.76, Z:-8.05 [[-9.98765783e-01 -4.91277107e-02 7.30603968e-03 -1.00355690e+02] [-4.91249103e-02 9.98792484e-01 5.62372772e-04 -2.79760512e+02] [-7.32484561e-03 2.02770138e-04 -9.99973153e-01 -8.05487614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.290385723 meters 0.01781368424942473 Centerline is valid? [True, True] Translation: X:-100.37, Y:-279.73, Z:-8.06 [[-9.92634344e-01 -1.20959053e-01 6.77988065e-03 -1.00367906e+02] [-1.20954954e-01 9.92657480e-01 1.01294667e-03 -2.79729425e+02] [-6.85262431e-03 1.85425507e-04 -9.99976503e-01 -8.05633723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.320385723 meters 0.01873807004246824 Centerline is valid? [True, True] Translation: X:-100.40, Y:-279.71, Z:-8.06 [[-9.81067161e-01 -1.93594885e-01 5.31478918e-03 -1.00397788e+02] [-1.93591275e-01 9.81081547e-01 1.19043626e-03 -2.79706282e+02] [-5.44470396e-03 1.39001105e-04 -9.99985168e-01 -8.05737675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3503857229999 meters 0.01714336307953459 Centerline is valid? [True, True] Translation: X:-100.44, Y:-279.68, Z:-8.06 [[-9.64042816e-01 -2.65699305e-01 5.03277904e-03 -1.00444346e+02] [-2.65694991e-01 9.64055944e-01 1.51938392e-03 -2.79684345e+02] [-5.25557980e-03 1.27566973e-04 -9.99986181e-01 -8.05837065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.380385723 meters 0.017252514120534922 Centerline is valid? [True, True] Translation: X:-100.51, Y:-279.68, Z:-8.06 [[-9.41120390e-01 -3.38038493e-01 4.73175681e-03 -1.00510875e+02] [-3.38033622e-01 9.41132278e-01 1.81815572e-03 -2.79675042e+02] [-5.06781568e-03 1.11610528e-04 -9.99987152e-01 -8.05774787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.410385723 meters 0.01636002858375167 Centerline is valid? [True, True] Translation: X:-100.59, Y:-279.67, Z:-8.06 [[-9.12777839e-01 -4.08424432e-01 5.10876298e-03 -1.00588317e+02] [-4.08417338e-01 9.12792129e-01 2.40979005e-03 -2.79672469e+02] [-5.64745577e-03 1.13095572e-04 -9.99984047e-01 -8.05716232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.440385723 meters 0.01626302054838396 Centerline is valid? [True, True] Translation: X:-100.66, Y:-279.68, Z:-8.06 [[-8.79401626e-01 -4.76051870e-01 5.23431493e-03 -1.00664542e+02] [-4.76042649e-01 8.79417196e-01 2.96515002e-03 -2.79678088e+02] [-6.01471177e-03 1.15800601e-04 -9.99981905e-01 -8.05671247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4703857229999 meters 0.01607189112908145 Centerline is valid? [True, True] Translation: X:-100.75, Y:-279.70, Z:-8.06 [[-8.41016268e-01 -5.40987194e-01 4.94898243e-03 -1.00751828e+02] [-5.40977042e-01 8.41030822e-01 3.31611613e-03 -2.79695894e+02] [-5.95622312e-03 1.11621739e-04 -9.99982255e-01 -8.05562843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.500385723 meters 0.01607189112908145 Centerline is valid? [True, True] Translation: X:-100.84, Y:-279.73, Z:-8.06 [[-7.97951962e-01 -6.02702838e-01 4.68559395e-03 -1.00842399e+02] [-6.02691620e-01 7.97965711e-01 3.67890619e-03 -2.79725314e+02] [-5.95623051e-03 1.11622200e-04 -9.99982255e-01 -8.05562811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.530385723 meters 0.015647736694393656 Centerline is valid? [True, True] Translation: X:-100.94, Y:-279.76, Z:-8.06 [[-7.50226034e-01 -6.61168671e-01 4.10940212e-03 -1.00935546e+02] [-6.61157983e-01 7.50237281e-01 3.76079171e-03 -2.79764499e+02] [-5.56954433e-03 1.04479828e-04 -9.99984485e-01 -8.05568640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.560385723 meters 0.015773284502982887 Centerline is valid? [True, True] Translation: X:-101.03, Y:-279.82, Z:-8.06 [[-6.97901024e-01 -7.16184497e-01 3.73196703e-03 -1.01031240e+02] [-7.16173472e-01 6.97910995e-01 3.97520593e-03 -2.79818232e+02] [-5.45156168e-03 1.01564507e-04 -9.99985135e-01 -8.05600867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5903857229999 meters 0.016170897813609524 Centerline is valid? [True, True] Translation: X:-101.13, Y:-279.89, Z:-8.06 [[-6.42056052e-01 -7.66652605e-01 2.79440865e-03 -1.01128822e+02] [-7.66644752e-01 6.42062127e-01 3.47110738e-03 -2.79887945e+02] [-4.45531748e-03 8.63267726e-05 -9.99990071e-01 -8.05649346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.620385723 meters 0.015965429412112913 Centerline is valid? [True, True] Translation: X:-101.22, Y:-279.96, Z:-8.06 [[-5.82075411e-01 -8.13132446e-01 1.95985088e-03 -1.01222212e+02] [-8.13127436e-01 5.82078706e-01 2.85539677e-03 -2.79963820e+02] [-3.46260323e-03 6.84477237e-05 -9.99994003e-01 -8.05689547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.650385723 meters 0.016721656249046528 Centerline is valid? [True, True] Translation: X:-101.30, Y:-280.03, Z:-8.06 [[-5.19149606e-01 -8.54681315e-01 1.88051166e-03 -1.01296474e+02] [-8.54675147e-01 5.19153006e-01 3.24787804e-03 -2.80030361e+02] [-3.75217396e-03 7.89080308e-05 -9.99992958e-01 -8.05608808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.680385723 meters 0.01655256678775243 Centerline is valid? [True, True] Translation: X:-101.37, Y:-280.11, Z:-8.06 [[-4.53041194e-01 -8.91487898e-01 1.73335233e-03 -1.01373925e+02] [-8.91480610e-01 4.53044502e-01 3.60568701e-03 -2.80112611e+02] [-3.99971207e-03 8.82747557e-05 -9.99991997e-01 -8.05535501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.710385723 meters 0.016541123602078385 Centerline is valid? [True, True] Translation: X:-101.45, Y:-280.20, Z:-8.06 [[-3.83625087e-01 -9.23487513e-01 1.61454789e-03 -1.01445415e+02] [-9.23478209e-01 3.83628471e-01 4.14653327e-03 -2.80202729e+02] [-4.44865824e-03 9.97143915e-05 -9.99990100e-01 -8.05533558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.740385723 meters 0.016551666107112933 Centerline is valid? [True, True] Translation: X:-101.51, Y:-280.31, Z:-8.06 [[-3.11964964e-01 -9.50092563e-01 1.40822251e-03 -1.01513825e+02] [-9.50081224e-01 3.11968123e-01 4.64300757e-03 -2.80310907e+02] [-4.85060749e-03 1.10529920e-04 -9.99988230e-01 -8.05508969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.770385723 meters 0.017041673960760114 Centerline is valid? [True, True] Translation: X:-101.57, Y:-280.42, Z:-8.05 [[-2.39128740e-01 -9.70987032e-01 1.27610930e-03 -1.01571314e+02] [-9.70969879e-01 2.39132103e-01 5.77328470e-03 -2.80417178e+02] [-5.91094328e-03 1.41494602e-04 -9.99982520e-01 -8.05469118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.800385723 meters 0.017234961907028303 Centerline is valid? [True, True] Translation: X:-101.62, Y:-280.53, Z:-8.05 [[-1.65274738e-01 -9.86247248e-01 7.91333803e-04 -1.01623001e+02] [-9.86231400e-01 1.65276569e-01 5.59290284e-03 -2.80531932e+02] [-5.64677398e-03 1.43927305e-04 -9.99984047e-01 -8.05451461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.830385723 meters 0.01850121271803664 Centerline is valid? [True, True] Translation: X:-101.66, Y:-280.65, Z:-8.05 [[-8.98486951e-02 -9.95955377e-01 3.16340892e-04 -1.01662861e+02] [-9.95942961e-01 8.98491551e-02 4.97474028e-03 -2.80654488e+02] [-4.98304229e-03 1.31916438e-04 -9.99987576e-01 -8.05427936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.860385723 meters 0.01864266585693939 Centerline is valid? [True, True] Translation: X:-101.70, Y:-280.77, Z:-8.05 [[-1.42188546e-02 -9.99898905e-01 -6.26497113e-05 -1.01696009e+02] [-9.99887588e-01 1.42183955e-02 4.75896378e-03 -2.80772941e+02] [-4.75759189e-03 1.30309683e-04 -9.99988674e-01 -8.05461693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.890385723 meters 0.017970495744068674 Centerline is valid? [True, True] Translation: X:-101.72, Y:-280.90, Z:-8.05 [[ 6.27832769e-02 -9.98027100e-01 -4.10554629e-04 -1.01720622e+02] [-9.98016796e-01 -6.27844949e-02 4.53668096e-03 -2.80899019e+02] [-4.55350700e-03 1.24912719e-04 -9.99989625e-01 -8.05480084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.920385723 meters 0.01829367552093747 Centerline is valid? [True, True] Translation: X:-101.73, Y:-281.02, Z:-8.05 [[ 1.39610010e-01 -9.90206252e-01 -7.89946914e-04 -1.01734807e+02] [-9.90195216e-01 -1.39612185e-01 4.67669264e-03 -2.81020778e+02] [-4.74117650e-03 1.29288552e-04 -9.99988752e-01 -8.05467369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.950385723 meters 0.018513081279496604 Centerline is valid? [True, True] Translation: X:-101.74, Y:-281.14, Z:-8.05 [[ 2.15456176e-01 -9.76512855e-01 -1.13166975e-03 -1.01739211e+02] [-9.76502321e-01 -2.15459110e-01 4.53752318e-03 -2.81144609e+02] [-4.67477827e-03 1.27440746e-04 -9.99989065e-01 -8.05474801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.980385723 meters 0.01841855188832328 Centerline is valid? [True, True] Translation: X:-101.73, Y:-281.27, Z:-8.06 [[ 2.89890984e-01 -9.57058652e-01 -1.39811439e-03 -1.01733686e+02] [-9.57049446e-01 -2.89894330e-01 4.19934873e-03 -2.81271906e+02] [-4.42432847e-03 1.20711272e-04 -9.99990205e-01 -8.05514018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.010385723 meters 0.018481090371255254 Centerline is valid? [True, True] Translation: X:-101.72, Y:-281.40, Z:-8.06 [[ 3.63105169e-01 -9.31747295e-01 -1.27068873e-03 -1.01716805e+02] [-9.31742406e-01 -3.63107381e-01 3.01971696e-03 -2.81403895e+02] [-3.27500957e-03 8.74797352e-05 -9.99994633e-01 -8.05574301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.040385723 meters 0.01678017011784971 Centerline is valid? [True, True] Translation: X:-101.70, Y:-281.52, Z:-8.06 [[ 4.34956775e-01 -9.00450602e-01 -1.14771471e-03 -1.01699776e+02] [-9.00447840e-01 -4.34958284e-01 2.23115889e-03 -2.81522263e+02] [-2.50825639e-03 6.29995571e-05 -9.99996852e-01 -8.05564677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.070385723 meters 0.016664092086236794 Centerline is valid? [True, True] Translation: X:-101.67, Y:-281.64, Z:-8.06 [[ 5.03633511e-01 -8.63916585e-01 -1.19220447e-03 -1.01670216e+02] [-8.63914416e-01 -5.03634919e-01 1.93657341e-03 -2.81636647e+02] [-2.27347369e-03 5.46393599e-05 -9.99997414e-01 -8.05511382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1003857229999 meters 0.01733910949161023 Centerline is valid? [True, True] Translation: X:-101.63, Y:-281.75, Z:-8.05 [[ 5.70280782e-01 -8.21447771e-01 -1.84097850e-03 -1.01627787e+02] [-8.21443867e-01 -5.70283749e-01 2.53362215e-03 -2.81750435e+02] [-3.13111839e-03 6.73844777e-05 -9.99995096e-01 -8.05464450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.130385723 meters 0.016676947429215692 Centerline is valid? [True, True] Translation: X:-101.58, Y:-281.86, Z:-8.05 [[ 6.32015499e-01 -7.74952970e-01 -2.07460226e-03 -1.01583000e+02] [-7.74949132e-01 -6.32018900e-01 2.43977076e-03 -2.81859029e+02] [-3.20189544e-03 6.57382851e-05 -9.99994872e-01 -8.05422385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.160385723 meters 0.015437868374884046 Centerline is valid? [True, True] Translation: X:-101.53, Y:-281.96, Z:-8.05 [[ 6.90455491e-01 -7.23368965e-01 -2.92492133e-03 -1.01532859e+02] [-7.23362949e-01 -6.90461682e-01 2.95118381e-03 -2.81960671e+02] [-4.15434088e-03 7.81186536e-05 -9.99991368e-01 -8.05406816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.190385723 meters 0.015731166975017162 Centerline is valid? [True, True] Translation: X:-101.47, Y:-282.05, Z:-8.05 [[ 7.43772651e-01 -6.68423464e-01 -3.50947402e-03 -1.01474895e+02] [-6.68416557e-01 -7.43780926e-01 3.03982353e-03 -2.82053609e+02] [-4.64216921e-03 8.48529336e-05 -9.99989222e-01 -8.05373101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2203857229999 meters 0.01562885486539753 Centerline is valid? [True, True] Translation: X:-101.48, Y:-282.06, Z:-8.05 [[ 7.93565011e-01 -6.08475596e-01 -3.46743820e-03 -1.01480432e+02] [-6.08470226e-01 -7.93572582e-01 2.55764425e-03 -2.82064596e+02] [-4.30792799e-03 8.01759188e-05 -9.99990718e-01 -8.05424459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.250385723 meters 0.01568580361989783 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.08, Z:-8.05 [[ 8.38486782e-01 -5.44912897e-01 -3.13868047e-03 -1.01485672e+02] [-5.44909392e-01 -8.38492654e-01 1.95573325e-03 -2.82075724e+02] [-3.69746479e-03 7.04399853e-05 -9.99993162e-01 -8.05470935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.280385723 meters 0.01642576599187422 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.08, Z:-8.06 [[ 8.77310448e-01 -4.79916103e-01 -2.62890240e-03 -1.01489363e+02] [-4.79914166e-01 -8.77314385e-01 1.36526987e-03 -2.82083870e+02] [-2.96158888e-03 6.38819771e-05 -9.99995613e-01 -8.05536356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.310385723 meters 0.016627348955293834 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.09, Z:-8.06 [[ 9.11655463e-01 -4.10944554e-01 -2.98159366e-03 -1.01491031e+02] [-4.10942619e-01 -9.11660336e-01 1.26328314e-03 -2.82094084e+02] [-3.23734000e-03 7.35849344e-05 -9.99994757e-01 -8.05535414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3403857229999 meters 0.01758497590416462 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.10, Z:-8.05 [[ 9.40188452e-01 -3.40635347e-01 -3.63792708e-03 -1.01492823e+02] [-3.40633191e-01 -9.40195486e-01 1.21580119e-03 -2.82102386e+02] [-3.83450748e-03 9.61164682e-05 -9.99992644e-01 -8.05400623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.370385723 meters 0.01799806881598194 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.11, Z:-8.05 [[ 9.63544758e-01 -2.67521024e-01 -3.74177278e-03 -1.01493041e+02] [-2.67519418e-01 -9.63552018e-01 9.32607225e-04 -2.82111871e+02] [-3.85488475e-03 1.02388073e-04 -9.99992565e-01 -8.05324103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.400385723 meters 0.018491969655654757 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.12, Z:-8.05 [[ 9.80969289e-01 -1.94123068e-01 -3.93544865e-03 -1.01495752e+02] [-1.94121986e-01 -9.80977176e-01 6.58767227e-04 -2.82121094e+02] [-3.98846722e-03 1.17726690e-04 -9.99992039e-01 -8.05264100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.430385723 meters 0.018881976278910792 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.13, Z:-8.05 [[ 9.93009851e-01 -1.17966226e-01 -3.92507957e-03 -1.01498318e+02] [-1.17965786e-01 -9.93017601e-01 3.44243067e-04 -2.82130444e+02] [-3.93828216e-03 1.21188342e-04 -9.99992238e-01 -8.05258907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.460385723 meters 0.0204470528905605 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.14, Z:-8.05 [[ 9.99153280e-01 -4.09188740e-02 -4.28601525e-03 -1.01502023e+02] [-4.09190825e-02 -9.99162463e-01 3.90758531e-05 -2.82137900e+02] [-4.28402449e-03 1.36337045e-04 -9.99990814e-01 -8.05149799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.490385723 meters 0.02197955188087313 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.14, Z:-8.05 [[ 9.99295608e-01 3.71779447e-02 -5.10764933e-03 -1.01503679e+02] [ 3.71766199e-02 -9.99308648e-01 -3.54104890e-04 -2.82144051e+02] [-5.11728304e-03 1.63970324e-04 -9.99986893e-01 -8.04882464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.520385723 meters 0.019150406318724167 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.16, Z:-8.05 [[ 9.93065573e-01 1.17457063e-01 -4.96051307e-03 -1.01504036e+02] [ 1.17454842e-01 -9.93077951e-01 -7.37580463e-04 -2.82155837e+02] [-5.01281019e-03 1.49829484e-04 -9.99987425e-01 -8.05087146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.550385723 meters 0.019642672651567352 Centerline is valid? [True, True] Translation: X:-101.51, Y:-282.16, Z:-8.05 [[ 9.80597843e-01 1.95955185e-01 -5.42551262e-03 -1.01505681e+02] [ 1.95951282e-01 -9.80612839e-01 -1.24719470e-03 -2.82164067e+02] [-5.56472160e-03 1.59860285e-04 -9.99984504e-01 -8.05035140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.580385723 meters 0.017368966479160378 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.18, Z:-8.05 [[ 9.61457494e-01 2.74900934e-01 -5.38185463e-03 -1.01502981e+02] [ 2.74895775e-01 -9.61472545e-01 -1.69042719e-03 -2.82181013e+02] [-5.63920548e-03 1.45824790e-04 -9.99984089e-01 -8.04960836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.610385723 meters 0.018778539248160284 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.19, Z:-8.05 [[ 9.36147943e-01 3.51567970e-01 -5.19528747e-03 -1.01502684e+02] [ 3.51561774e-01 -9.36162350e-01 -2.09151045e-03 -2.82190732e+02] [-5.59894061e-03 1.31498728e-04 -9.99984317e-01 -8.04815325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.640385723 meters 0.017275443759806226 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.20, Z:-8.05 [[ 9.05376763e-01 4.24577367e-01 -5.19393697e-03 -1.01499187e+02] [ 4.24569546e-01 -9.05391652e-01 -2.58035174e-03 -2.82201952e+02] [-5.79810612e-03 1.31003048e-04 -9.99983182e-01 -8.04857448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.670385723 meters 0.016373667459071962 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.21, Z:-8.05 [[ 8.68712744e-01 4.95293709e-01 -4.72339936e-03 -1.01494649e+02] [ 4.95285650e-01 -8.68725577e-01 -2.82797161e-03 -2.82213635e+02] [-5.50401438e-03 1.17263057e-04 -9.99984846e-01 -8.04962532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.700385723 meters 0.016384833530663518 Centerline is valid? [True, True] Translation: X:-101.49, Y:-282.22, Z:-8.05 [[ 8.27053529e-01 5.62107649e-01 -4.17742402e-03 -1.01490302e+02] [ 5.62099820e-01 -8.27064072e-01 -2.96876675e-03 -2.82222222e+02] [-5.12376382e-03 1.07199733e-04 -9.99986868e-01 -8.04997232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.730385723 meters 0.016081369590604713 Centerline is valid? [True, True] Translation: X:-101.48, Y:-282.23, Z:-8.05 [[ 7.80154428e-01 6.25580118e-01 -2.92999771e-03 -1.01484117e+02] [ 6.25575329e-01 -7.80159926e-01 -2.44896704e-03 -2.82231866e+02] [-3.81789189e-03 7.76382001e-05 -9.99992709e-01 -8.05127466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.760385723 meters 0.01628914452126284 Centerline is valid? [True, True] Translation: X:-101.48, Y:-282.24, Z:-8.05 [[ 7.28785859e-01 6.84738740e-01 -2.00742454e-03 -1.01476267e+02] [ 6.84735924e-01 -7.28788622e-01 -1.96460658e-03 -2.82242647e+02] [-2.80823040e-03 5.72217969e-05 -9.99996055e-01 -8.05128504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.790385723 meters 0.01612944614146555 Centerline is valid? [True, True] Translation: X:-101.47, Y:-282.25, Z:-8.05 [[ 6.72654651e-01 7.39955155e-01 -1.44568787e-03 -1.01469581e+02] [ 7.39953304e-01 -6.72656203e-01 -1.65572603e-03 -2.82252146e+02] [-2.19761392e-03 4.39902948e-05 -9.99997584e-01 -8.05189824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.820385723 meters 0.015362603052791468 Centerline is valid? [True, True] Translation: X:-101.46, Y:-282.26, Z:-8.05 [[ 6.11776608e-01 7.91028665e-01 -1.74184575e-03 -1.01457303e+02] [ 7.91025199e-01 -6.11779085e-01 -2.34229557e-03 -2.82263579e+02] [-2.91844774e-03 5.51177560e-05 -9.99995740e-01 -8.05136217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8503857229999 meters 0.015700106534541753 Centerline is valid? [True, True] Translation: X:-101.45, Y:-282.27, Z:-8.05 [[ 5.47016333e-01 8.37119025e-01 -2.20677802e-03 -1.01448841e+02] [ 8.37111663e-01 -5.47020780e-01 -3.51140793e-03 -2.82272148e+02] [-4.14661982e-03 7.34778776e-05 -9.99991400e-01 -8.05012937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.880385723 meters 0.015315217482796087 Centerline is valid? [True, True] Translation: X:-101.44, Y:-282.28, Z:-8.05 [[ 4.79469022e-01 8.77556138e-01 -2.16387748e-03 -1.01437740e+02] [ 8.77546427e-01 -4.79473898e-01 -4.12908564e-03 -2.82280527e+02] [-4.66102722e-03 8.08657001e-05 -9.99989134e-01 -8.04971510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.910385723 meters 0.015693956272310978 Centerline is valid? [True, True] Translation: X:-101.43, Y:-282.29, Z:-8.05 [[ 4.10364883e-01 9.11919503e-01 -1.86612818e-03 -1.01428762e+02] [ 9.11909079e-01 -4.10369117e-01 -4.36116652e-03 -2.82288469e+02] [-4.74283418e-03 8.79303603e-05 -9.99988749e-01 -8.04883473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.940385723 meters 0.015853973153896753 Centerline is valid? [True, True] Translation: X:-101.42, Y:-282.29, Z:-8.05 [[ 3.38419850e-01 9.40994061e-01 -1.47757685e-03 -1.01418812e+02] [ 9.40983910e-01 -3.38423063e-01 -4.37164152e-03 -2.82294750e+02] [-4.61373479e-03 8.90742204e-05 -9.99989353e-01 -8.04869503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9703857229999 meters 0.019053722504831727 Centerline is valid? [True, True] Translation: X:-101.41, Y:-282.30, Z:-8.05 [[ 2.66450096e-01 9.63847660e-01 -1.42639083e-03 -1.01411996e+02] [ 9.63831146e-01 -2.66453883e-01 -5.64356105e-03 -2.82300025e+02] [-5.81960049e-03 1.28927474e-04 -9.99983058e-01 -8.04592042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.000385723 meters 0.016879351338389147 Centerline is valid? [True, True] Translation: X:-101.40, Y:-282.30, Z:-8.05 [[ 1.90822457e-01 9.81624181e-01 -8.70147920e-04 -1.01404144e+02] [ 9.81610967e-01 -1.90824404e-01 -5.09480977e-03 -2.82304890e+02] [-5.16723392e-03 1.18057377e-04 -9.99986643e-01 -8.04908708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.030385723 meters 0.01761306046085281 Centerline is valid? [True, True] Translation: X:-101.40, Y:-282.31, Z:-8.05 [[ 1.15690528e-01 9.93285146e-01 -5.66681096e-04 -1.01397896e+02] [ 9.93265634e-01 -1.15691808e-01 -6.22782295e-03 -2.82309181e+02] [-6.25156439e-03 1.57635267e-04 -9.99980446e-01 -8.04889436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.060385723 meters 0.017353225749490428 Centerline is valid? [True, True] Translation: X:-101.39, Y:-282.31, Z:-8.05 [[ 3.80694804e-02 9.99275091e-01 -8.47515053e-05 -1.01386665e+02] [ 9.99251491e-01 -3.80691640e-02 -6.87000053e-03 -2.82312760e+02] [-6.86824683e-03 1.76849283e-04 -9.99976398e-01 -8.04866856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0903857229999 meters 0.018501464037762615 Centerline is valid? [True, True] Translation: X:-101.38, Y:-282.32, Z:-8.05 [[-3.96503521e-02 9.99213468e-01 5.42324770e-04 -1.01377991e+02] [ 9.99179861e-01 3.96534680e-02 -8.19803468e-03 -2.82317319e+02] [-8.21309172e-03 2.16825026e-04 -9.99966249e-01 -8.04685915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.120385723 meters 0.018123216232376494 Centerline is valid? [True, True] Translation: X:-101.37, Y:-282.32, Z:-8.05 [[-1.17859893e-01 9.93029513e-01 1.19637031e-03 -1.01367534e+02] [ 9.92995493e-01 1.17865762e-01 -8.22278798e-03 -2.82320349e+02] [-8.30648224e-03 2.18853414e-04 -9.99965477e-01 -8.04659877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.150385723 meters 0.017970523293103616 Centerline is valid? [True, True] Translation: X:-101.36, Y:-282.32, Z:-8.05 [[-1.95795812e-01 9.80642929e-01 1.85616823e-03 -1.01358265e+02] [ 9.80608761e-01 1.95804490e-01 -8.18902710e-03 -2.82322779e+02] [-8.39395760e-03 2.16797622e-04 -9.99964747e-01 -8.04699253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.180385723 meters 0.017936809626125663 Centerline is valid? [True, True] Translation: X:-101.35, Y:-282.33, Z:-8.05 [[-2.73772360e-01 9.61791493e-01 2.41237153e-03 -1.01348919e+02] [ 9.61760193e-01 2.73782919e-01 -7.76169299e-03 -2.82325055e+02] [-8.12559640e-03 1.95185900e-04 -9.99966968e-01 -8.04726773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.210385723 meters 0.016927705522055796 Centerline is valid? [True, True] Translation: X:-101.33, Y:-282.32, Z:-8.05 [[-3.49508769e-01 9.36928237e-01 3.01654973e-03 -1.01334977e+02] [ 9.36897774e-01 3.49521738e-01 -7.55751386e-03 -2.82323629e+02] [-8.13519784e-03 1.84781358e-04 -9.99966892e-01 -8.04783816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.240385723 meters 0.016048798649052017 Centerline is valid? [True, True] Translation: X:-101.32, Y:-282.32, Z:-8.05 [[-4.24395905e-01 9.05468377e-01 3.89021116e-03 -1.01318834e+02] [ 9.05434031e-01 4.24413699e-01 -7.88845105e-03 -2.82319979e+02] [-8.79380188e-03 1.74503245e-04 -9.99961319e-01 -8.04816659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.270385723 meters 0.01581564132369752 Centerline is valid? [True, True] Translation: X:-101.31, Y:-282.32, Z:-8.05 [[-4.95025563e-01 8.68866789e-01 4.49389310e-03 -1.01305171e+02] [ 8.68833954e-01 4.95045933e-01 -7.55538233e-03 -2.82316108e+02] [-8.78930429e-03 1.64339521e-04 -9.99961360e-01 -8.04815712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.300385723 meters 0.01560813223490944 Centerline is valid? [True, True] Translation: X:-101.29, Y:-282.31, Z:-8.05 [[-5.63056154e-01 8.26405947e-01 4.58013409e-03 -1.01293245e+02] [ 8.26380520e-01 5.63074766e-01 -6.48412777e-03 -2.82311881e+02] [-7.93747969e-03 1.34005547e-04 -9.99968489e-01 -8.04914839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.330385723 meters 0.015464568998641496 Centerline is valid? [True, True] Translation: X:-101.28, Y:-282.31, Z:-8.05 [[-6.26456940e-01 7.79440273e-01 4.95604203e-03 -1.01280906e+02] [ 7.79417471e-01 6.26476531e-01 -5.96333916e-03 -2.82305972e+02] [-7.75291072e-03 1.27050539e-04 -9.99969938e-01 -8.05006072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.360385723 meters 0.015905662471623744 Centerline is valid? [True, True] Translation: X:-101.27, Y:-282.30, Z:-8.05 [[-6.85975250e-01 7.27602184e-01 5.74620551e-03 -1.01270376e+02] [ 7.27578238e-01 6.85999304e-01 -5.90440598e-03 -2.82301920e+02] [-8.23795167e-03 1.30537721e-04 -9.99966059e-01 -8.05057346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.390385723 meters 0.015450523708088075 Centerline is valid? [True, True] Translation: X:-101.26, Y:-282.30, Z:-8.05 [[-7.41292840e-01 6.71153768e-01 6.12740759e-03 -1.01260035e+02] [ 6.71132212e-01 7.41318153e-01 -5.38057461e-03 -2.82295018e+02] [-8.15355140e-03 1.23719179e-04 -9.99966752e-01 -8.05034829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.420385723 meters 0.015450523708088075 Centerline is valid? [True, True] Translation: X:-100.77, Y:-281.74, Z:-9.02 [[-7.15943994e-01 -6.98134001e-01 5.75452173e-03 -1.00767331e+02] [ 6.98110054e-01 -7.15967109e-01 -5.78371888e-03 -2.81743982e+02] [ 8.15785909e-03 -1.23529316e-04 9.99966717e-01 -9.01953685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.450385723 meters 0.01544858320750201 Centerline is valid? [True, True] Translation: X:-100.79, Y:-281.72, Z:-9.02 [[-7.15165008e-01 -6.98921431e-01 6.91695317e-03 -1.00785879e+02] [ 6.98886907e-01 -7.15198444e-01 -6.94815401e-03 -2.81724870e+02] [ 9.80320789e-03 -1.34908617e-04 9.99951938e-01 -9.02139432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.480385723 meters 0.015370353375210569 Centerline is valid? [True, True] Translation: X:-100.80, Y:-281.70, Z:-9.02 [[-7.14827557e-01 -6.99253423e-01 8.13713821e-03 -1.00803812e+02] [ 6.99205722e-01 -7.14873854e-01 -8.16885963e-03 -2.81703687e+02] [ 1.15291304e-02 -1.49792372e-04 9.99933526e-01 -9.02284086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.510385723 meters 0.0155594459633297 Centerline is valid? [True, True] Translation: X:-100.82, Y:-281.68, Z:-9.02 [[-7.14869161e-01 -6.99207245e-01 8.44461403e-03 -1.00821078e+02] [ 6.99155916e-01 -7.14919020e-01 -8.47353780e-03 -2.81683531e+02] [ 1.19619742e-02 -1.53368998e-04 9.99928441e-01 -9.02315946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.540385723 meters 0.015526365858038665 Centerline is valid? [True, True] Translation: X:-100.84, Y:-281.66, Z:-9.02 [[-7.15391670e-01 -6.98662328e-01 9.25803149e-03 -1.00838039e+02] [ 6.98600654e-01 -7.15451551e-01 -9.28468482e-03 -2.81660709e+02] [ 1.31105325e-02 -1.74519327e-04 9.99914038e-01 -9.02199243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.570385723 meters 0.015661881331740957 Centerline is valid? [True, True] Translation: X:-100.86, Y:-281.64, Z:-9.02 [[-7.16465513e-01 -6.97564505e-01 8.99609306e-03 -1.00855125e+02] [ 6.97506259e-01 -7.16521965e-01 -9.01618342e-03 -2.81639904e+02] [ 1.27352678e-02 -1.84953264e-04 9.99918886e-01 -9.02162492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6003857229999 meters 0.01629266620622344 Centerline is valid? [True, True] Translation: X:-100.87, Y:-281.62, Z:-9.02 [[-7.18478439e-01 -6.95497192e-01 8.50820875e-03 -1.00869987e+02] [ 6.95444992e-01 -7.18528784e-01 -8.52347822e-03 -2.81617111e+02] [ 1.20414481e-02 -2.06944151e-04 9.99927478e-01 -9.02114958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.630385723 meters 0.016514223546989747 Centerline is valid? [True, True] Translation: X:-100.89, Y:-281.60, Z:-9.02 [[-7.19534459e-01 -6.94402709e-01 8.66251535e-03 -1.00887817e+02] [ 6.94348577e-01 -7.19586566e-01 -8.67340599e-03 -2.81595634e+02] [ 1.22562663e-02 -2.26009279e-04 9.99924864e-01 -9.02087900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.660385723 meters 0.01649569420535301 Centerline is valid? [True, True] Translation: X:-100.91, Y:-281.57, Z:-9.02 [[-7.20476856e-01 -6.93419634e-01 9.07255501e-03 -1.00905217e+02] [ 6.93360240e-01 -7.20533933e-01 -9.07901780e-03 -2.81573094e+02] [ 1.28326529e-02 -2.50673285e-04 9.99917627e-01 -9.02053010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.690385723 meters 0.01614513510618542 Centerline is valid? [True, True] Translation: X:-100.92, Y:-281.55, Z:-9.02 [[-7.20647901e-01 -6.93241340e-01 9.11297646e-03 -1.00924913e+02] [ 6.93181468e-01 -7.20705475e-01 -9.11438230e-03 -2.81552550e+02] [ 1.28862386e-02 -2.51314082e-04 9.99916938e-01 -9.02000253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7203857229999 meters 0.016946923472464615 Centerline is valid? [True, True] Translation: X:-100.94, Y:-281.53, Z:-9.02 [[-7.20084717e-01 -6.93822574e-01 9.39340343e-03 -1.00940418e+02] [ 6.93759060e-01 -7.20145940e-01 -9.39102979e-03 -2.81530221e+02] [ 1.32803298e-02 -2.45578299e-04 9.99911782e-01 -9.02151963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.750385723 meters 0.016131174095236508 Centerline is valid? [True, True] Translation: X:-101.50, Y:-282.10, Z:-8.05 [[-7.44054109e-01 6.68053365e-01 9.39065274e-03 -1.01503858e+02] [ 6.68003720e-01 7.44113336e-01 -8.14695625e-03 -2.82097257e+02] [-1.24303115e-02 2.11214693e-04 -9.99922718e-01 -8.05019334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.780385723 meters 0.01584705077945347 Centerline is valid? [True, True] Translation: X:-101.48, Y:-282.08, Z:-8.05 [[-7.90212245e-01 6.12760035e-01 9.47351694e-03 -1.01481289e+02] [ 6.12718823e-01 7.90269008e-01 -7.10908738e-03 -2.82076820e+02] [-1.18427915e-02 1.86914252e-04 -9.99929854e-01 -8.05028092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.810385723 meters 0.016498149513786947 Centerline is valid? [True, True] Translation: X:-101.00, Y:-281.45, Z:-9.02 [[-7.67233827e-01 -6.41298969e-01 9.37482621e-03 -1.00997850e+02] [ 6.41248472e-01 -7.67291083e-01 -8.04927877e-03 -2.81448039e+02] [ 1.23552147e-02 -1.64085971e-04 9.99923658e-01 -9.02052873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8403857229999 meters 0.01553483959398078 Centerline is valid? [True, True] Translation: X:-101.01, Y:-281.48, Z:-9.02 [[-7.20782443e-01 -6.93106064e-01 8.75527295e-03 -1.01014149e+02] [ 6.93052301e-01 -7.20835599e-01 -8.63408779e-03 -2.81480274e+02] [ 1.22954510e-02 -1.55436818e-04 9.99924396e-01 -9.02058300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.870385723 meters 0.015578424693120605 Centerline is valid? [True, True] Translation: X:-101.57, Y:-282.04, Z:-8.05 [[-7.51934511e-01 6.59170224e-01 9.43961177e-03 -1.01570394e+02] [ 6.59120792e-01 7.51993745e-01 -8.07396048e-03 -2.82037978e+02] [-1.24206433e-02 1.50754853e-04 -9.99922850e-01 -8.04895368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.900385723 meters 0.01547811590584328 Centerline is valid? [True, True] Translation: X:-101.55, Y:-282.02, Z:-8.05 [[-7.96854653e-01 6.04091690e-01 9.79250166e-03 -1.01546950e+02] [ 6.04048295e-01 7.96914807e-01 -7.24203865e-03 -2.82017743e+02] [-1.21786449e-02 1.44291740e-04 -9.99925827e-01 -8.04897697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.930385723 meters 0.015646650462845715 Centerline is valid? [True, True] Translation: X:-101.52, Y:-281.99, Z:-8.05 [[-8.37157882e-01 5.46867154e-01 1.01487308e-02 -1.01524911e+02] [ 5.46829170e-01 8.37219382e-01 -6.44712981e-03 -2.81994159e+02] [-1.20224377e-02 1.52356527e-04 -9.99927716e-01 -8.04788969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.960385723 meters 0.016880064098330178 Centerline is valid? [True, True] Translation: X:-101.50, Y:-281.97, Z:-8.05 [[-8.73305919e-01 4.87039651e-01 1.13643760e-02 -1.01503345e+02] [ 4.87001025e-01 8.73379841e-01 -6.13631161e-03 -2.81972553e+02] [-1.29140440e-02 1.75585512e-04 -9.99916595e-01 -8.04601591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.990385723 meters 0.016258279392669342 Centerline is valid? [True, True] Translation: X:-101.49, Y:-281.95, Z:-8.05 [[-9.05048791e-01 4.25146097e-01 1.17253320e-02 -1.01486576e+02] [ 4.25113157e-01 9.05124721e-01 -5.29566488e-03 -2.81947552e+02] [-1.28643191e-02 1.91757790e-04 -9.99917233e-01 -8.04634547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.020385723 meters 0.016468101170745913 Centerline is valid? [True, True] Translation: X:-101.47, Y:-281.92, Z:-8.05 [[-9.32547371e-01 3.60845470e-01 1.20808982e-02 -1.01473457e+02] [ 3.60818027e-01 9.32625597e-01 -4.45493495e-03 -2.81921311e+02] [-1.28744980e-02 2.04568000e-04 -9.99917099e-01 -8.04658385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.050385723 meters 0.018611135250114215 Centerline is valid? [True, True] Translation: X:-101.46, Y:-281.89, Z:-8.05 [[-9.54881202e-01 2.96756575e-01 1.17228672e-02 -1.01461906e+02] [ 2.96737181e-01 9.54953131e-01 -3.40058433e-03 -2.81894974e+02] [-1.22039345e-02 2.31456518e-04 -9.99925503e-01 -8.04559904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.080385723 meters 0.01817541545636409 Centerline is valid? [True, True] Translation: X:-101.24, Y:-281.15, Z:-9.02 [[-9.46178764e-01 -3.23455703e-01 1.10523999e-02 -1.01240262e+02] [ 3.23430539e-01 -9.46243280e-01 -4.04239615e-03 -2.81154143e+02] [ 1.17657953e-02 -2.50145726e-04 9.99930749e-01 -9.02332500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.110385723 meters 0.01775289666451328 Centerline is valid? [True, True] Translation: X:-101.51, Y:-281.88, Z:-8.05 [[-9.54995974e-01 2.96416543e-01 1.09509148e-02 -1.01509237e+02] [ 2.96400118e-01 9.55058725e-01 -3.13092731e-03 -2.81883243e+02] [-1.13868254e-02 2.55829465e-04 -9.99935135e-01 -8.04804388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.140385723 meters 0.01913577907766871 Centerline is valid? [True, True] Translation: X:-101.50, Y:-281.86, Z:-8.05 [[-9.73363130e-01 2.28985777e-01 1.13899762e-02 -1.01504136e+02] [ 2.28973386e-01 9.73429730e-01 -2.39789284e-03 -2.81856897e+02] [-1.16364249e-02 2.73980945e-04 -9.99932257e-01 -8.04700908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.170385723 meters 0.01810656212766683 Centerline is valid? [True, True] Translation: X:-101.50, Y:-281.82, Z:-8.05 [[-9.86972420e-01 1.60499579e-01 1.11950063e-02 -1.01501944e+02] [ 1.60492462e-01 9.87035869e-01 -1.53710689e-03 -2.81824041e+02] [-1.12965778e-02 2.79632022e-04 -9.99936153e-01 -8.04850615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.200385723 meters 0.01829119717540723 Centerline is valid? [True, True] Translation: X:-101.50, Y:-281.79, Z:-8.05 [[-9.95827498e-01 9.08110797e-02 8.99675996e-03 -1.01499616e+02] [ 9.08094639e-02 9.95868111e-01 -5.88784313e-04 -2.81794442e+02] [-9.01305449e-03 2.30663339e-04 -9.99959355e-01 -8.04911809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.230385723 meters 0.018321692103542096 Centerline is valid? [True, True] Translation: X:-101.49, Y:-281.77, Z:-8.05 [[-9.99766792e-01 2.00776409e-02 7.95299751e-03 -1.01493346e+02] [ 2.00786463e-02 9.99798403e-01 4.65828063e-05 -2.81765151e+02] [-7.95045893e-03 2.06257367e-04 -9.99968373e-01 -8.05008310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.260385723 meters 0.017957247531761644 Centerline is valid? [True, True] Translation: X:-101.49, Y:-280.99, Z:-9.02 [[-9.99332820e-01 -3.59340017e-02 6.53163553e-03 -1.01494457e+02] [ 3.59315114e-02 -9.99354131e-01 -4.98249659e-04 -2.80994083e+02] [ 6.54532105e-03 -2.63225700e-04 9.99978545e-01 -9.01876583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.290385723 meters 0.017599204166361175 Centerline is valid? [True, True] Translation: X:-101.59, Y:-281.76, Z:-8.05 [[-9.99901950e-01 1.25779201e-02 6.15525354e-03 -1.01591821e+02] [ 1.25786099e-02 9.99920884e-01 7.33746643e-05 -2.81761223e+02] [-6.15384365e-03 1.50792003e-04 -9.99981054e-01 -8.05057621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.320385723 meters 0.017282587523803856 Centerline is valid? [True, True] Translation: X:-101.60, Y:-281.00, Z:-9.02 [[-9.99488334e-01 -3.15078885e-02 5.50663306e-03 -1.01595337e+02] [ 3.15064300e-02 -9.99503487e-01 -3.51433888e-04 -2.80997838e+02] [ 5.51497189e-03 -1.77759722e-04 9.99984777e-01 -9.01905533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3503857229999 meters 0.017457890520818153 Centerline is valid? [True, True] Translation: X:-101.69, Y:-281.76, Z:-8.05 [[-9.99981238e-01 4.51513316e-03 4.13975416e-03 -1.01688950e+02] [ 4.51547755e-03 9.99989803e-01 7.38489519e-05 -2.81760716e+02] [-4.13937850e-03 9.25405333e-05 -9.99991429e-01 -8.05147852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.380385723 meters 0.017732607255233776 Centerline is valid? [True, True] Translation: X:-101.70, Y:-281.73, Z:-8.05 [[-9.97693866e-01 -6.77664219e-02 3.82898225e-03 -1.01695198e+02] [-6.77656069e-02 9.97701211e-01 3.42327714e-04 -2.81730140e+02] [-3.84337855e-03 8.20649542e-05 -9.99992611e-01 -8.05084100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.410385723 meters 0.0168466331137332 Centerline is valid? [True, True] Translation: X:-101.76, Y:-280.98, Z:-9.02 [[-9.99206644e-01 3.95807112e-02 4.41010886e-03 -1.01761021e+02] [-3.95805662e-02 -9.99216375e-01 1.20195569e-04 -2.80978238e+02] [ 4.41141042e-03 -5.44543948e-05 9.99990268e-01 -9.01974869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.440385723 meters 0.015927465899456168 Centerline is valid? [True, True] Translation: X:-101.80, Y:-281.73, Z:-8.05 [[-9.96884915e-01 -7.87523061e-02 4.30589305e-03 -1.01803480e+02] [-7.87512601e-02 9.96894212e-01 4.12188257e-04 -2.81732744e+02] [-4.32498064e-03 7.18097520e-05 -9.99990645e-01 -8.05036716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4703857229999 meters 0.015405399034870332 Centerline is valid? [True, True] Translation: X:-101.82, Y:-281.70, Z:-8.05 [[-9.88515841e-01 -1.51079589e-01 3.37491992e-03 -1.01819863e+02] [-1.51078528e-01 9.88521601e-01 5.68674992e-04 -2.81702280e+02] [-3.42209643e-03 5.22663048e-05 -9.99994143e-01 -8.05043538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.500385723 meters 0.016952605965341438 Centerline is valid? [True, True] Translation: X:-101.84, Y:-281.68, Z:-8.05 [[-9.75344241e-01 -2.20673045e-01 2.64942667e-03 -1.01842563e+02] [-2.20672105e-01 9.75347838e-01 6.45559009e-04 -2.81676452e+02] [-2.72657005e-03 4.49877014e-05 -9.99996282e-01 -8.04976519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.530385723 meters 0.01539066145508631 Centerline is valid? [True, True] Translation: X:-101.89, Y:-281.66, Z:-8.05 [[-9.56729162e-01 -2.90972439e-01 2.08594883e-03 -1.01890615e+02] [-2.90971664e-01 9.56731435e-01 6.72596338e-04 -2.81659692e+02] [-2.19139981e-03 3.65405302e-05 -9.99997598e-01 -8.05201537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.560385723 meters 0.016221509698010558 Centerline is valid? [True, True] Translation: X:-101.95, Y:-281.65, Z:-8.05 [[-9.33691697e-01 -3.58076444e-01 1.03693598e-03 -1.01954243e+02] [-3.58076197e-01 9.33692272e-01 4.21169419e-04 -2.81653647e+02] [-1.11898996e-03 2.19402966e-05 -9.99999374e-01 -8.05313344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5903857229999 meters 0.016822729110765922 Centerline is valid? [True, True] Translation: X:-102.03, Y:-281.65, Z:-8.05 [[-9.05137515e-01 -4.25118877e-01 1.40477687e-04 -1.02025269e+02] [-4.25118871e-01 9.05137526e-01 7.02525948e-05 -2.81654242e+02] [-1.57017331e-04 3.86854326e-06 -9.99999988e-01 -8.05359618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.620385723 meters 0.017103924921584714 Centerline is valid? [True, True] Translation: X:-102.11, Y:-281.66, Z:-8.05 [[-8.72423715e-01 -4.88749846e-01 -6.70256075e-04 -1.02107126e+02] [-4.88749686e-01 8.72423973e-01 -3.95580903e-04 -2.81663422e+02] [ 7.78087573e-04 -1.75267154e-05 -9.99999697e-01 -8.05413339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.650385723 meters 0.01699757121078904 Centerline is valid? [True, True] Translation: X:-102.19, Y:-281.68, Z:-8.05 [[-8.34153393e-01 -5.51532114e-01 -6.67104252e-04 -1.02193218e+02] [-5.51531919e-01 8.34153659e-01 -4.64517690e-04 -2.81681957e+02] [ 8.12663876e-04 -1.95497187e-05 -9.99999670e-01 -8.05400712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.680385723 meters 0.017776187949736396 Centerline is valid? [True, True] Translation: X:-102.29, Y:-281.72, Z:-8.05 [[-7.91022262e-01 -6.11787112e-01 5.57414897e-04 -1.02288462e+02] [-6.11786943e-01 7.91022458e-01 4.55776790e-04 -2.81715690e+02] [-7.19766068e-04 1.95104317e-05 -9.99999741e-01 -8.05276489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.710385723 meters 0.018377547513353944 Centerline is valid? [True, True] Translation: X:-102.38, Y:-281.75, Z:-8.05 [[-7.42873700e-01 -6.69430643e-01 1.13141115e-03 -1.02380341e+02] [-6.69429779e-01 7.42874560e-01 1.07681694e-03 -2.81754811e+02] [-1.56135082e-03 4.25386670e-05 -9.99998780e-01 -8.05094450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.740385723 meters 0.01925440668031966 Centerline is valid? [True, True] Translation: X:-102.48, Y:-281.81, Z:-8.05 [[-6.90502789e-01 -7.23328447e-01 1.36266328e-03 -1.02475630e+02] [-7.23326873e-01 6.90504131e-01 1.50967605e-03 -2.81805519e+02] [-2.03291626e-03 5.67845578e-05 -9.99997932e-01 -8.04957977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.770385723 meters 0.017474626237527636 Centerline is valid? [True, True] Translation: X:-102.57, Y:-281.87, Z:-8.05 [[-6.33647350e-01 -7.73621857e-01 5.08170134e-04 -1.02568766e+02] [-7.73621578e-01 6.33647553e-01 6.57871461e-04 -2.81868685e+02] [-8.30944503e-04 2.37271270e-05 -9.99999655e-01 -8.05307044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.800385723 meters 0.01834699628689347 Centerline is valid? [True, True] Translation: X:-102.66, Y:-281.94, Z:-8.05 [[-5.73304221e-01 -8.19342546e-01 2.48936686e-04 -1.02658249e+02] [-8.19342459e-01 5.73304275e-01 3.79307741e-04 -2.81939797e+02] [-4.53499437e-04 1.34943325e-05 -9.99999897e-01 -8.05180712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.830385723 meters 0.017817210687851786 Centerline is valid? [True, True] Translation: X:-102.75, Y:-282.02, Z:-8.05 [[-5.08658113e-01 -8.60968589e-01 1.16425676e-04 -1.02745721e+02] [-8.60968563e-01 5.08658126e-01 2.11594137e-04 -2.82018486e+02] [-2.41396772e-04 7.39022768e-06 -9.99999971e-01 -8.05245797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.860385723 meters 0.01817966395238068 Centerline is valid? [True, True] Translation: X:-102.83, Y:-282.11, Z:-8.05 [[-4.41295218e-01 -8.97361973e-01 1.39955451e-04 -1.02827252e+02] [-8.97361921e-01 4.41295240e-01 3.07324507e-04 -2.82107683e+02] [-3.37543001e-04 1.00301428e-05 -9.99999943e-01 -8.05139550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.890385723 meters 0.017827293308034207 Centerline is valid? [True, True] Translation: X:-102.90, Y:-282.21, Z:-8.05 [[-3.70444861e-01 -9.28854445e-01 1.55039715e-04 -1.02902827e+02] [-9.28854349e-01 3.70444894e-01 4.23167574e-04 -2.82205516e+02] [-4.50494754e-04 1.27509397e-05 -9.99999899e-01 -8.05205282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.920385723 meters 0.017416273340634714 Centerline is valid? [True, True] Translation: X:-102.97, Y:-282.31, Z:-8.05 [[-2.97804669e-01 -9.54626820e-01 1.17071367e-04 -1.02969962e+02] [-9.54626730e-01 2.97804692e-01 4.15853036e-04 -2.82306801e+02] [-4.31848864e-04 1.20835198e-05 -9.99999907e-01 -8.05167911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.950385723 meters 0.017888304318461595 Centerline is valid? [True, True] Translation: X:-103.03, Y:-282.42, Z:-8.05 [[-2.23093115e-01 -9.74797137e-01 6.43526236e-05 -1.03030482e+02] [-9.74797084e-01 2.23093124e-01 3.22089793e-04 -2.82415193e+02] [-3.28328836e-04 9.12526558e-06 -9.99999946e-01 -8.05113548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.980385723 meters 0.01758389175449931 Centerline is valid? [True, True] Translation: X:-103.08, Y:-282.53, Z:-8.05 [[-1.47710596e-01 -9.89030626e-01 -8.18955301e-06 -1.03081308e+02] [-9.89030625e-01 1.47710596e-01 -6.10251685e-05 -2.82530342e+02] [ 6.15654440e-05 -9.14345245e-07 -9.99999998e-01 -8.05150821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.010385723 meters 0.01705329255174293 Centerline is valid? [True, True] Translation: X:-103.77, Y:-282.57, Z:-9.02 [[-1.63473064e-01 9.86547797e-01 4.56759204e-05 -1.03766461e+02] [-9.86547716e-01 -1.63473069e-01 3.99090243e-04 -2.82570746e+02] [ 4.01188383e-04 2.01790298e-05 9.99999919e-01 -9.01886383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.040385723 meters 0.017370004693740195 Centerline is valid? [True, True] Translation: X:-103.13, Y:-282.81, Z:-8.05 [[-1.38545726e-01 -9.90356038e-01 2.90954856e-05 -1.03127068e+02] [-9.90356003e-01 1.38545728e-01 2.60934118e-04 -2.82814847e+02] [-2.62448735e-04 7.33641785e-06 -9.99999966e-01 -8.05074946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.070385723 meters 0.01679357014147671 Centerline is valid? [True, True] Translation: X:-103.17, Y:-282.93, Z:-8.05 [[-6.16796218e-02 -9.98095999e-01 -1.40950627e-05 -1.03170753e+02] [-9.98095929e-01 6.16796228e-02 -3.74504546e-04 -2.82930607e+02] [ 3.74660867e-04 -9.03107407e-06 -9.99999930e-01 -8.05081400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1003857229999 meters 0.017264385520916126 Centerline is valid? [True, True] Translation: X:-103.20, Y:-283.05, Z:-8.05 [[ 1.67305186e-02 -9.99860034e-01 -3.63019155e-05 -1.03203058e+02] [-9.99859644e-01 -1.67305441e-02 8.83489681e-04 -2.83053894e+02] [-8.83973375e-04 2.15155798e-05 -9.99999609e-01 -8.05028001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.130385723 meters 0.017038558038739143 Centerline is valid? [True, True] Translation: X:-103.23, Y:-283.18, Z:-8.05 [[ 9.39865908e-02 -9.95573450e-01 -1.63057629e-04 -1.03225939e+02] [-9.95572494e-01 -9.39867265e-02 1.38035071e-03 -2.83179459e+02] [-1.38956577e-03 3.26012336e-05 -9.99999034e-01 -8.04955773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.160385723 meters 0.019235244993882978 Centerline is valid? [True, True] Translation: X:-103.24, Y:-283.30, Z:-8.05 [[ 1.70345372e-01 -9.85384343e-01 -3.88907643e-04 -1.03238516e+02] [-9.85382359e-01 -1.70345810e-01 1.97808591e-03 -2.83301633e+02] [-2.01542367e-03 4.62649511e-05 -9.99997968e-01 -8.04617609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.190385723 meters 0.01863157388966711 Centerline is valid? [True, True] Translation: X:-103.24, Y:-283.43, Z:-8.05 [[ 2.46938607e-01 -9.69030942e-01 -5.98216674e-04 -1.03243191e+02] [-9.69028546e-01 -2.46939327e-01 2.15534265e-03 -2.83426319e+02] [-2.23631694e-03 4.74517215e-05 -9.99997498e-01 -8.04592990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2203857229999 meters 0.016504867429627798 Centerline is valid? [True, True] Translation: X:-103.24, Y:-283.55, Z:-8.05 [[ 3.21664178e-01 -9.46853431e-01 -8.58419742e-04 -1.03236101e+02] [-9.46850462e-01 -3.21665319e-01 2.37182128e-03 -2.83552625e+02] [-2.52189097e-03 4.98651891e-05 -9.99996819e-01 -8.04854456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.250385723 meters 0.01577389322425075 Centerline is valid? [True, True] Translation: X:-103.22, Y:-283.67, Z:-8.05 [[ 3.95011093e-01 -9.18675704e-01 -1.08951442e-03 -1.03223409e+02] [-9.18672529e-01 -3.95012593e-01 2.41581061e-03 -2.83672065e+02] [-2.64971843e-03 4.66349751e-05 -9.99996489e-01 -8.04910351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.280385723 meters 0.016141413918146014 Centerline is valid? [True, True] Translation: X:-103.20, Y:-283.79, Z:-8.05 [[ 4.64378489e-01 -8.85635842e-01 -1.33215087e-03 -1.03198575e+02] [-8.85632487e-01 -4.64380397e-01 2.43836145e-03 -2.83787968e+02] [-2.77812504e-03 4.74734797e-05 -9.99996140e-01 -8.04901116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.310385723 meters 0.016141413918146014 Centerline is valid? [True, True] Translation: X:-103.17, Y:-283.90, Z:-8.05 [[ 5.30476975e-01 -8.47697993e-01 -1.51398881e-03 -1.03165780e+02] [-8.47694792e-01 -5.30479134e-01 2.32984450e-03 -2.83900268e+02] [-2.77814398e-03 4.74715673e-05 -9.99996140e-01 -8.04901026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3403857229999 meters 0.016199988264841262 Centerline is valid? [True, True] Translation: X:-103.13, Y:-284.01, Z:-8.05 [[ 5.93896533e-01 -8.04539518e-01 -1.75304936e-03 -1.03125904e+02] [-8.04536247e-01 -5.93899118e-01 2.29466863e-03 -2.84010862e+02] [-2.88728606e-03 4.75960110e-05 -9.99995831e-01 -8.04849879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.370385723 meters 0.015811349028372265 Centerline is valid? [True, True] Translation: X:-103.08, Y:-284.11, Z:-8.05 [[ 6.53209918e-01 -7.57174450e-01 -1.91213887e-03 -1.03082719e+02] [-7.57171416e-01 -6.53212715e-01 2.14379844e-03 -2.84112567e+02] [-2.87226283e-03 4.74664957e-05 -9.99995874e-01 -8.04828221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.400385723 meters 0.015930688139236232 Centerline is valid? [True, True] Translation: X:-103.03, Y:-284.21, Z:-8.05 [[ 7.08328465e-01 -7.05877151e-01 -2.86963104e-03 -1.03031968e+02] [-7.05871741e-01 -7.08334274e-01 2.76436236e-03 -2.84208313e+02] [-3.98395825e-03 6.75149064e-05 -9.99992062e-01 -8.04786341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.430385723 meters 0.01723182158721141 Centerline is valid? [True, True] Translation: X:-103.04, Y:-284.22, Z:-8.05 [[ 7.60729127e-01 -6.49057894e-01 -3.87891039e-03 -1.03035263e+02] [-6.49050054e-01 -7.60739010e-01 3.19157783e-03 -2.84222235e+02] [-5.02235724e-03 8.96807824e-05 -9.99987384e-01 -8.04579350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.460385723 meters 0.0160496973758108 Centerline is valid? [True, True] Translation: X:-103.04, Y:-284.24, Z:-8.05 [[ 8.08532832e-01 -5.88434942e-01 -4.35640776e-03 -1.03038196e+02] [-5.88427065e-01 -8.08544562e-01 3.04630273e-03 -2.84237069e+02] [-5.31490078e-03 1.00392459e-04 -9.99985871e-01 -8.04771223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.490385723 meters 0.018379645072760558 Centerline is valid? [True, True] Translation: X:-103.04, Y:-284.25, Z:-8.05 [[ 8.51455845e-01 -5.24404002e-01 -4.83609607e-03 -1.03039852e+02] [-5.24396287e-01 -8.51469571e-01 2.84664470e-03 -2.84249349e+02] [-5.61058052e-03 1.12238559e-04 -9.99984254e-01 -8.04509262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.520385723 meters 0.016824484510549673 Centerline is valid? [True, True] Translation: X:-103.04, Y:-284.26, Z:-8.05 [[ 8.89301672e-01 -4.57292821e-01 -5.08057081e-03 -1.03039743e+02] [-4.57286124e-01 -8.89316176e-01 2.47782665e-03 -2.84262103e+02] [-5.65132614e-03 1.19739151e-04 -9.99984024e-01 -8.04711043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.550385723 meters 0.019168614532105933 Centerline is valid? [True, True] Translation: X:-103.04, Y:-284.28, Z:-8.04 [[ 9.22040493e-01 -3.87052518e-01 -5.62837194e-03 -1.03039490e+02] [-3.87046182e-01 -9.22057661e-01 2.21867262e-03 -2.84276310e+02] [-6.04842629e-03 1.32733876e-04 -9.99981699e-01 -8.04412852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.580385723 meters 0.01932316719069818 Centerline is valid? [True, True] Translation: X:-103.04, Y:-284.29, Z:-8.04 [[ 9.49252290e-01 -3.14465436e-01 -5.61958956e-03 -1.03037744e+02] [-3.14460753e-01 -9.49268914e-01 1.72147378e-03 -2.84288300e+02] [-5.87584568e-03 1.33027433e-04 -9.99982728e-01 -8.04448647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.610385723 meters 0.0178917151398899 Centerline is valid? [True, True] Translation: X:-103.03, Y:-284.30, Z:-8.05 [[ 9.70920137e-01 -2.39326859e-01 -6.06157872e-03 -1.03034345e+02] [-2.39323098e-01 -9.70939048e-01 1.34905012e-03 -2.84300121e+02] [-6.20828740e-03 1.40855868e-04 -9.99980719e-01 -8.04658358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.640385723 meters 0.017156412468538884 Centerline is valid? [True, True] Translation: X:-103.03, Y:-284.31, Z:-8.05 [[ 9.86509267e-01 -1.63601238e-01 -5.83955121e-03 -1.03032110e+02] [-1.63599210e-01 -9.86526541e-01 8.26506374e-04 -2.84311798e+02] [-5.89608972e-03 1.39989767e-04 -9.99982608e-01 -8.04871286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.670385723 meters 0.01753135976492982 Centerline is valid? [True, True] Translation: X:-103.03, Y:-284.32, Z:-8.05 [[ 9.96112711e-01 -8.79255563e-02 -5.34450510e-03 -1.03031208e+02] [-8.79250340e-02 -9.96127039e-01 3.33058961e-04 -2.84323892e+02] [-5.35309044e-03 1.38151529e-04 -9.99985663e-01 -8.04947117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.700385723 meters 0.019574328630892937 Centerline is valid? [True, True] Translation: X:-103.03, Y:-284.33, Z:-8.05 [[ 9.99925040e-01 -1.08099818e-02 -5.74959516e-03 -1.03029957e+02] [-1.08106925e-02 -9.99941559e-01 -9.25347730e-05 -2.84334058e+02] [-5.74825884e-03 1.54684942e-04 -9.99983467e-01 -8.04707125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.730385723 meters 0.018818222722226507 Centerline is valid? [True, True] Translation: X:-103.03, Y:-284.35, Z:-8.05 [[ 9.97730315e-01 6.70598749e-02 -6.09851771e-03 -1.03027115e+02] [ 6.70575941e-02 -9.97748939e-01 -5.77923230e-04 -2.84348506e+02] [-6.12354503e-03 1.67659601e-04 -9.99981237e-01 -8.04726212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.760385723 meters 0.018326093414237316 Centerline is valid? [True, True] Translation: X:-103.02, Y:-284.36, Z:-8.05 [[ 9.89349587e-01 1.45438592e-01 -5.91693698e-03 -1.03024484e+02] [ 1.45435013e-01 -9.89367267e-01 -1.03301053e-03 -2.84358943e+02] [-6.00426337e-03 1.61478734e-04 -9.99981961e-01 -8.04942909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.790385723 meters 0.017463509778164066 Centerline is valid? [True, True] Translation: X:-103.02, Y:-284.37, Z:-8.05 [[ 9.74896326e-01 2.22582495e-01 -5.84702550e-03 -1.03019113e+02] [ 2.22577496e-01 -9.74913846e-01 -1.50032579e-03 -2.84374324e+02] [-6.03429237e-03 1.61245804e-04 -9.99981781e-01 -8.05055171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.820385723 meters 0.01763900734901273 Centerline is valid? [True, True] Translation: X:-103.01, Y:-284.39, Z:-8.05 [[ 9.54511698e-01 2.98132493e-01 -4.94320843e-03 -1.03013685e+02] [ 2.98127730e-01 -9.54524488e-01 -1.69094740e-03 -2.84385769e+02] [-5.22253985e-03 1.40321563e-04 -9.99986353e-01 -8.05166664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8503857229999 meters 0.02034281101281103 Centerline is valid? [True, True] Translation: X:-103.01, Y:-284.40, Z:-8.05 [[ 9.28664603e-01 3.70894279e-01 -4.41461624e-03 -1.03008941e+02] [ 3.70889395e-01 -9.28675086e-01 -1.90811033e-03 -2.84396482e+02] [-4.80745132e-03 1.34660177e-04 -9.99988435e-01 -8.04891591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.880385723 meters 0.02077510737620487 Centerline is valid? [True, True] Translation: X:-103.00, Y:-284.40, Z:-8.05 [[ 8.97398230e-01 4.41202079e-01 -4.14031204e-03 -1.03002963e+02] [ 4.41196671e-01 -8.97407770e-01 -2.18890595e-03 -2.84404967e+02] [-4.68129805e-03 1.37628436e-04 -9.99989033e-01 -8.04951448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.910385723 meters 0.018799368712704042 Centerline is valid? [True, True] Translation: X:-103.00, Y:-284.42, Z:-8.05 [[ 8.60240790e-01 5.09874142e-01 -3.76064686e-03 -1.02995199e+02] [ 5.09868592e-01 -8.60249000e-01 -2.38255842e-03 -2.84415330e+02] [-4.44989763e-03 1.32138223e-04 -9.99990091e-01 -8.05224152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.940385723 meters 0.0189413235598014 Centerline is valid? [True, True] Translation: X:-102.99, Y:-284.42, Z:-8.05 [[ 8.17619102e-01 5.75736648e-01 -5.12998154e-03 -1.02987686e+02] [ 5.75723846e-01 -8.17635173e-01 -3.84400898e-03 -2.84424396e+02] [-6.40759020e-03 1.89482468e-04 -9.99979453e-01 -8.05057386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9703857229999 meters 0.019184234902826277 Centerline is valid? [True, True] Translation: X:-102.98, Y:-284.43, Z:-8.05 [[ 7.69567924e-01 6.38540890e-01 -5.54462662e-03 -1.02980687e+02] [ 6.38522301e-01 -7.69587868e-01 -4.87698806e-03 -2.84433279e+02] [-7.38123367e-03 2.12805834e-04 -9.99972736e-01 -8.04940709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.000385723 meters 0.019134936177799582 Centerline is valid? [True, True] Translation: X:-102.97, Y:-284.44, Z:-8.05 [[ 7.16042740e-01 6.98028756e-01 -6.21702303e-03 -1.02969823e+02] [ 6.97999470e-01 -7.16069688e-01 -6.39860936e-03 -2.84443425e+02] [-8.91823507e-03 2.42198990e-04 -9.99960203e-01 -8.04748467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.030385723 meters 0.018594082623575384 Centerline is valid? [True, True] Translation: X:-102.96, Y:-284.45, Z:-8.05 [[ 6.58756200e-01 7.52336576e-01 -5.47222841e-03 -1.02961653e+02] [ 7.52307701e-01 -6.58778889e-01 -6.59535722e-03 -2.84451017e+02] [-8.56691702e-03 2.27932890e-04 -9.99963277e-01 -8.04883898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.060385723 meters 0.0189446147681515 Centerline is valid? [True, True] Translation: X:-102.95, Y:-284.46, Z:-8.05 [[ 5.98718068e-01 8.00949393e-01 -4.09202599e-03 -1.02954421e+02] [ 8.00928396e-01 -5.98732020e-01 -5.80290333e-03 -2.84455717e+02] [-7.09785889e-03 1.96883263e-04 -9.99974791e-01 -8.05055702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0903857229999 meters 0.019185857296605192 Centerline is valid? [True, True] Translation: X:-102.95, Y:-284.46, Z:-8.05 [[ 5.35153122e-01 8.44749306e-01 -3.12206570e-03 -1.02946203e+02] [ 8.44732954e-01 -5.35162199e-01 -5.25900149e-03 -2.84460114e+02] [-6.11334940e-03 1.77059283e-04 -9.99981298e-01 -8.05147126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.120385723 meters 0.01846198999068242 Centerline is valid? [True, True] Translation: X:-102.93, Y:-284.47, Z:-8.05 [[ 4.67744704e-01 8.83859726e-01 -2.62255048e-03 -1.02932450e+02] [ 8.83843678e-01 -4.67752023e-01 -5.32898079e-03 -2.84467164e+02] [-5.93677479e-03 1.74677876e-04 -9.99982362e-01 -8.05160202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.150385723 meters 0.019584869541204884 Centerline is valid? [True, True] Translation: X:-102.92, Y:-284.47, Z:-8.05 [[ 3.98413749e-01 9.17202825e-01 -2.33713033e-03 -1.02922951e+02] [ 9.17184068e-01 -3.98420556e-01 -5.86902828e-03 -2.84471919e+02] [-6.31425008e-03 1.94722854e-04 -9.99980046e-01 -8.05146038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.180385723 meters 0.019759632073933973 Centerline is valid? [True, True] Translation: X:-102.91, Y:-284.48, Z:-8.05 [[ 3.26085413e-01 9.45338517e-01 -1.84160492e-03 -1.02912530e+02] [ 9.45319870e-01 -3.26090554e-01 -5.94087481e-03 -2.84475445e+02] [-6.21666775e-03 1.96326892e-04 -9.99980657e-01 -8.05124887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.210385723 meters 0.02136234730650401 Centerline is valid? [True, True] Translation: X:-102.90, Y:-284.48, Z:-8.05 [[ 2.51898745e-01 9.67752819e-01 -1.22626211e-03 -1.02902314e+02] [ 9.67737615e-01 -2.51901665e-01 -5.42772219e-03 -2.84478901e+02] [-5.56159092e-03 1.80536437e-04 -9.99984518e-01 -8.04930213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.240385723 meters 0.020486535197845653 Centerline is valid? [True, True] Translation: X:-102.89, Y:-284.48, Z:-8.05 [[ 1.74770800e-01 9.84608883e-01 -7.17852791e-04 -1.02890194e+02] [ 9.84596411e-01 -1.74772201e-01 -4.95844176e-03 -2.84481329e+02] [-5.00758651e-03 1.59795549e-04 -9.99987449e-01 -8.05064020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.270385723 meters 0.019040250992112123 Centerline is valid? [True, True] Translation: X:-102.88, Y:-284.48, Z:-8.05 [[ 9.55688399e-02 9.95422770e-01 -3.24148659e-04 -1.02875600e+02] [ 9.95410458e-01 -9.55692707e-02 -4.95324930e-03 -2.84483598e+02] [-4.96155579e-03 1.50715324e-04 -9.99987680e-01 -8.05159254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.300385723 meters 0.02047072437968839 Centerline is valid? [True, True] Translation: X:-102.86, Y:-284.48, Z:-8.05 [[ 1.66854952e-02 9.99860785e-01 7.35860814e-05 -1.02864031e+02] [ 9.99844915e-01 -1.66848156e-02 -5.63578284e-03 -2.84484660e+02] [-5.63377048e-03 1.67610497e-04 -9.99984116e-01 -8.04934984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.330385723 meters 0.019013024286228725 Centerline is valid? [True, True] Translation: X:-102.85, Y:-284.49, Z:-8.05 [[-6.34736242e-02 9.97983377e-01 5.27191776e-04 -1.02852310e+02] [ 9.97966842e-01 6.34756085e-02 -5.74713692e-03 -2.84485996e+02] [-5.76901093e-03 1.61328302e-04 -9.99983346e-01 -8.05109028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.360385723 meters 0.019514073953500754 Centerline is valid? [True, True] Translation: X:-102.84, Y:-284.48, Z:-8.05 [[-1.41221779e-01 9.89977363e-01 1.10927654e-03 -1.02836665e+02] [ 9.89956254e-01 1.41226015e-01 -6.46749124e-03 -2.84484290e+02] [-6.55932862e-03 1.84784628e-04 -9.99978470e-01 -8.04864409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.390385723 meters 0.01912818960117012 Centerline is valid? [True, True] Translation: X:-102.82, Y:-284.48, Z:-8.05 [[-2.17456170e-01 9.76067897e-01 2.06732056e-03 -1.02824345e+02] [ 9.76033840e-01 2.17465860e-01 -8.15734550e-03 -2.84482904e+02] [-8.41169472e-03 2.43909717e-04 -9.99964591e-01 -8.04880200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.420385723 meters 0.018330718627010315 Centerline is valid? [True, True] Translation: X:-102.81, Y:-284.48, Z:-8.05 [[-2.91889685e-01 9.56448435e-01 2.60823505e-03 -1.02807810e+02] [ 9.56417469e-01 2.91901233e-01 -7.70034585e-03 -2.84477488e+02] [-8.12633076e-03 2.46910042e-04 -9.99966950e-01 -8.04955139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.450385723 meters 0.02309677910466176 Centerline is valid? [True, True] Translation: X:-102.80, Y:-284.48, Z:-8.05 [[-3.62800910e-01 9.31860528e-01 3.38471021e-03 -1.02798188e+02] [ 9.31827124e-01 3.62816583e-01 -7.89546613e-03 -2.84475557e+02] [-8.58550223e-03 2.89482487e-04 -9.99963102e-01 -8.04596688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.480385723 meters 0.021594640348075952 Centerline is valid? [True, True] Translation: X:-102.79, Y:-284.47, Z:-8.05 [[-4.33020146e-01 9.01376376e-01 3.76595472e-03 -1.02785251e+02] [ 9.01347873e-01 4.33036426e-01 -7.17398776e-03 -2.84469931e+02] [-8.09725866e-03 2.87954054e-04 -9.99967175e-01 -8.04832568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.510385723 meters 0.023591929075720133 Centerline is valid? [True, True] Translation: X:-102.77, Y:-284.46, Z:-8.05 [[-4.98551969e-01 8.66849860e-01 4.15388889e-03 -1.02774838e+02] [ 8.66824797e-01 4.98569176e-01 -6.59907308e-03 -2.84464726e+02] [-7.79140654e-03 3.10713020e-04 -9.99969598e-01 -8.04746098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.540385723 meters 0.021361974843070054 Centerline is valid? [True, True] Translation: X:-102.76, Y:-284.46, Z:-8.05 [[-5.64049338e-01 8.25729636e-01 4.34882776e-03 -1.02762440e+02] [ 8.25709049e-01 5.64066024e-01 -5.83834797e-03 -2.84457063e+02] [-7.27392293e-03 2.97750123e-04 -9.99973500e-01 -8.05058373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.570385723 meters 0.024206199812006585 Centerline is valid? [True, True] Translation: X:-102.75, Y:-284.45, Z:-8.05 [[-6.24523308e-01 7.80988424e-01 5.26487989e-03 -1.02753600e+02] [ 7.80965305e-01 6.24545400e-01 -6.01957714e-03 -2.84451571e+02] [-7.98937658e-03 3.52322294e-04 -9.99968022e-01 -8.04829187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6003857229999 meters 0.023917624978897694 Centerline is valid? [True, True] Translation: X:-102.74, Y:-284.44, Z:-8.05 [[-6.82880783e-01 7.30500036e-01 6.59800915e-03 -1.02744367e+02] [ 7.30471711e-01 6.82912529e-01 -6.44650465e-03 -2.84443664e+02] [-9.21503500e-03 4.17464890e-04 -9.99957454e-01 -8.04864341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.630385723 meters 0.02394112103987509 Centerline is valid? [True, True] Translation: X:-102.73, Y:-284.42, Z:-8.05 [[-7.32851114e-01 6.80344170e-01 7.81379298e-03 -1.02729864e+02] [ 6.80312102e-01 7.32892623e-01 -6.62172165e-03 -2.84415528e+02] [-1.02317210e-02 4.63081843e-04 -9.99947547e-01 -8.04795401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.660385723 meters 0.02353885669470961 Centerline is valid? [True, True] Translation: X:-102.29, Y:-283.91, Z:-9.02 [[-7.47711606e-01 -6.63969919e-01 8.44395125e-03 -1.02294640e+02] [ 6.63920828e-01 -7.47759154e-01 -8.08586465e-03 -2.83913582e+02] [ 1.16828128e-02 -4.39779739e-04 9.99931657e-01 -9.02297989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.690385723 meters 0.023042618323613723 Centerline is valid? [True, True] Translation: X:-102.32, Y:-283.94, Z:-9.02 [[-7.00665740e-01 -7.13439144e-01 8.49163688e-03 -1.02316103e+02] [ 7.13377033e-01 -7.00716980e-01 -9.42996117e-03 -2.83941190e+02] [ 1.26779376e-02 -5.49512007e-04 9.99919481e-01 -9.02354989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7203857229999 meters 0.021467412603543286 Centerline is valid? [True, True] Translation: X:-102.34, Y:-283.92, Z:-9.02 [[-6.98214006e-01 -7.15843065e-01 8.11843070e-03 -1.02336382e+02] [ 7.15786518e-01 -6.98261037e-01 -9.01026678e-03 -2.83922902e+02] [ 1.21187208e-02 -4.80031215e-04 9.99926450e-01 -9.02182876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.750385723 meters 0.021879401638079103 Centerline is valid? [True, True] Translation: X:-102.36, Y:-283.90, Z:-9.02 [[-6.97271878e-01 -7.16759841e-01 8.20112673e-03 -1.02356278e+02] [ 7.16702261e-01 -6.97319951e-01 -9.09703359e-03 -2.83902761e+02] [ 1.22391976e-02 -4.65339625e-04 9.99924990e-01 -9.02265301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.780385723 meters 0.020588160122978334 Centerline is valid? [True, True] Translation: X:-102.38, Y:-283.88, Z:-9.02 [[-6.95038790e-01 -7.18931849e-01 7.62074546e-03 -1.02376104e+02] [ 7.18882315e-01 -6.95080457e-01 -8.44845195e-03 -2.83883491e+02] [ 1.13708924e-02 -3.93582690e-04 9.99935272e-01 -9.02095421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.810385723 meters 0.02053430727600686 Centerline is valid? [True, True] Translation: X:-102.40, Y:-283.86, Z:-9.02 [[-6.94229606e-01 -7.19715631e-01 7.39357888e-03 -1.02395338e+02] [ 7.19669081e-01 -6.94268879e-01 -8.19383526e-03 -2.83862368e+02] [ 1.10303630e-02 -3.67472912e-04 9.99939096e-01 -9.02036878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8403857229999 meters 0.019665086342231828 Centerline is valid? [True, True] Translation: X:-102.41, Y:-283.84, Z:-9.02 [[-6.93277319e-01 -7.20637949e-01 6.89241570e-03 -1.02414854e+02] [ 7.20597584e-01 -6.93311503e-01 -7.63422461e-03 -2.83842245e+02] [ 1.02801031e-02 -3.25976672e-04 9.99947105e-01 -9.01847598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.870385723 meters 0.0217218923973253 Centerline is valid? [True, True] Translation: X:-102.43, Y:-283.82, Z:-9.02 [[-6.93439122e-01 -7.20482802e-01 6.83489395e-03 -1.02432363e+02] [ 7.20443146e-01 -6.93472730e-01 -7.56611562e-03 -2.83821215e+02] [ 1.01910688e-02 -3.22488069e-04 9.99948018e-01 -9.02048645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.900385723 meters 0.020890153847731588 Centerline is valid? [True, True] Translation: X:-102.45, Y:-283.80, Z:-9.02 [[-6.92518132e-01 -7.21374790e-01 6.08686143e-03 -1.02451930e+02] [ 7.21343406e-01 -6.92544827e-01 -6.73444541e-03 -2.83801617e+02] [ 9.07348354e-03 -2.73008196e-04 9.99958798e-01 -9.01902425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.930385723 meters 0.019268787912624992 Centerline is valid? [True, True] Translation: X:-102.47, Y:-283.78, Z:-9.02 [[-6.92238816e-01 -7.21644961e-01 5.82859970e-03 -1.02473043e+02] [ 7.21616224e-01 -6.92263307e-01 -6.44516832e-03 -2.83782896e+02] [ 8.68604894e-03 -2.55583584e-04 9.99962243e-01 -9.01785939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.960385723 meters 0.020469199676100804 Centerline is valid? [True, True] Translation: X:-102.49, Y:-283.76, Z:-9.02 [[-6.91873031e-01 -7.22002250e-01 4.94571341e-03 -1.02490358e+02] [ 7.21981591e-01 -6.91890675e-01 -5.46591118e-03 -2.83761427e+02] [ 7.36829316e-03 -2.11002501e-04 9.99972832e-01 -9.01778562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.990385723 meters 0.020471236428136547 Centerline is valid? [True, True] Translation: X:-102.51, Y:-283.74, Z:-9.02 [[-6.91922874e-01 -7.21960106e-01 4.04245374e-03 -1.02508633e+02] [ 7.21946319e-01 -6.91934662e-01 -4.46503244e-03 -2.83741117e+02] [ 6.02068916e-03 -1.71023482e-04 9.99981861e-01 -9.01701205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.020385723 meters 0.020406055410535737 Centerline is valid? [True, True] Translation: X:-102.53, Y:-283.72, Z:-9.02 [[-6.92096818e-01 -7.21794676e-01 3.80003685e-03 -1.02526556e+02] [ 7.21782505e-01 -6.92107231e-01 -4.19481378e-03 -2.83720630e+02] [ 5.65782724e-03 -1.60417152e-04 9.99983982e-01 -9.01600895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.050385723 meters 0.018724936339121128 Centerline is valid? [True, True] Translation: X:-102.55, Y:-283.70, Z:-9.02 [[-6.92502408e-01 -7.21402559e-01 4.33155307e-03 -1.02547449e+02] [ 7.21386754e-01 -6.92515930e-01 -4.77889057e-03 -2.83702111e+02] [ 6.44717339e-03 -1.84668218e-04 9.99979200e-01 -9.01580584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.080385723 meters 0.020217782558690618 Centerline is valid? [True, True] Translation: X:-102.56, Y:-283.68, Z:-9.02 [[-6.92835868e-01 -7.21076856e-01 5.16021437e-03 -1.02564245e+02] [ 7.21054442e-01 -6.92855049e-01 -5.68979412e-03 -2.83681194e+02] [ 7.67805944e-03 -2.21297958e-04 9.99970499e-01 -9.01807155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.110385723 meters 0.018581860164676948 Centerline is valid? [True, True] Translation: X:-102.58, Y:-283.66, Z:-9.02 [[-6.92496637e-01 -7.21403312e-01 5.06650291e-03 -1.02584391e+02] [ 7.21381736e-01 -6.92515139e-01 -5.58337654e-03 -2.83662055e+02] [ 7.53649630e-03 -2.11586816e-04 9.99971578e-01 -9.01771528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.140385723 meters 0.020323271593085116 Centerline is valid? [True, True] Translation: X:-102.60, Y:-283.64, Z:-9.02 [[-6.92565742e-01 -7.21331310e-01 5.81676463e-03 -1.02603241e+02] [ 7.21302899e-01 -6.92590127e-01 -6.40660011e-03 -2.83640975e+02] [ 8.64991500e-03 -2.41342568e-04 9.99962560e-01 -9.02024899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.170385723 meters 0.01915507928105948 Centerline is valid? [True, True] Translation: X:-102.62, Y:-283.62, Z:-9.02 [[-6.92517607e-01 -7.21377450e-01 5.82570377e-03 -1.02621058e+02] [ 7.21348985e-01 -6.92542069e-01 -6.41282979e-03 -2.83619722e+02] [ 8.66061574e-03 -2.38632041e-04 9.99962468e-01 -9.01908338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.200385723 meters 0.01848246656436933 Centerline is valid? [True, True] Translation: X:-102.64, Y:-283.60, Z:-9.02 [[-6.93026406e-01 -7.20886110e-01 6.13323292e-03 -1.02637575e+02] [ 7.20854572e-01 -6.93053498e-01 -6.74797806e-03 -2.83597980e+02] [ 9.11518218e-03 -2.55357999e-04 9.99958423e-01 -9.01804126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.230385723 meters 0.019740249416806084 Centerline is valid? [True, True] Translation: X:-102.65, Y:-283.58, Z:-9.02 [[-6.93845525e-01 -7.20092115e-01 6.76262659e-03 -1.02653699e+02] [ 7.20053772e-01 -6.93878420e-01 -7.43670748e-03 -2.83575814e+02] [ 1.00475551e-02 -2.90471426e-04 9.99949480e-01 -9.01966030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.260385723 meters 0.019740249416806084 Centerline is valid? [True, True] Translation: X:-102.67, Y:-283.56, Z:-9.02 [[-6.94061588e-01 -7.19883844e-01 6.76485809e-03 -1.02671776e+02] [ 7.19845510e-01 -6.94094495e-01 -7.43467764e-03 -2.83556079e+02] [ 1.00475551e-02 -2.90471448e-04 9.99949480e-01 -9.01966029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.290385723 meters 0.02157648580319516 Centerline is valid? [True, True] Translation: X:-102.69, Y:-283.54, Z:-9.02 [[-6.96807202e-01 -7.17211652e-01 8.19572843e-03 -1.02690045e+02] [ 7.17155241e-01 -6.96855286e-01 -9.00397407e-03 -2.83535254e+02] [ 1.21689918e-02 -3.96424378e-04 9.99925877e-01 -9.02255408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.320385723 meters 0.022045295155363874 Centerline is valid? [True, True] Translation: X:-102.70, Y:-283.51, Z:-9.02 [[-6.98221760e-01 -7.15843667e-01 7.36330024e-03 -1.02704268e+02] [ 7.15798093e-01 -6.98260484e-01 -8.08621586e-03 -2.83511796e+02] [ 1.09299680e-02 -3.75335593e-04 9.99940196e-01 -9.02122583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3503857229999 meters 0.020442712744538488 Centerline is valid? [True, True] Translation: X:-102.72, Y:-283.49, Z:-9.02 [[-7.00174210e-01 -7.13936076e-01 7.16623268e-03 -1.02724301e+02] [ 7.13892852e-01 -7.00210773e-01 -7.86572116e-03 -2.83491418e+02] [ 1.06334954e-02 -3.91452817e-04 9.99943386e-01 -9.01921047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.380385723 meters 0.022558097077520083 Centerline is valid? [True, True] Translation: X:-102.74, Y:-283.47, Z:-9.02 [[-7.04844590e-01 -7.09330714e-01 6.63646856e-03 -1.02737312e+02] [ 7.09293471e-01 -7.04875704e-01 -7.28114103e-03 -2.83467454e+02] [ 9.84262241e-03 -4.24869046e-04 9.99951470e-01 -9.01805388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.410385723 meters 0.024800952476485966 Centerline is valid? [True, True] Translation: X:-102.75, Y:-283.44, Z:-9.02 [[-7.10340068e-01 -7.03829417e-01 6.41402224e-03 -1.02752060e+02] [ 7.03794441e-01 -7.10368862e-01 -7.03312326e-03 -2.83442961e+02] [ 9.50644072e-03 -4.81756047e-04 9.99954697e-01 -9.01713354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.440385723 meters 0.026550372223534624 Centerline is valid? [True, True] Translation: X:-102.77, Y:-283.42, Z:-9.02 [[-7.13391622e-01 -7.00736477e-01 6.38617832e-03 -1.02767951e+02] [ 7.00701710e-01 -7.13420017e-01 -6.99952174e-03 -2.83421473e+02] [ 9.46084765e-03 -5.18594095e-04 9.99955111e-01 -9.01792216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4703857229999 meters 0.029598500556598493 Centerline is valid? [True, True] Translation: X:-102.78, Y:-283.40, Z:-9.02 [[-7.18497289e-01 -6.95489048e-01 7.52525638e-03 -1.02783803e+02] [ 6.95440537e-01 -7.18536366e-01 -8.24317390e-03 -2.83398777e+02] [ 1.11402075e-02 -6.89329762e-04 9.99937708e-01 -9.01914939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.500385723 meters 0.030418602771803967 Centerline is valid? [True, True] Translation: X:-102.80, Y:-283.38, Z:-9.02 [[-7.20443615e-01 -6.93476494e-01 7.16589812e-03 -1.02801955e+02] [ 6.93432456e-01 -7.20478928e-01 -7.84499627e-03 -2.83377971e+02] [ 1.06031991e-02 -6.82811144e-04 9.99943551e-01 -9.01824232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.530385723 meters 0.032973022206820045 Centerline is valid? [True, True] Translation: X:-102.82, Y:-283.36, Z:-9.02 [[-7.22407833e-01 -6.91447192e-01 5.26350174e-03 -1.02819691e+02] [ 6.91423398e-01 -7.22426819e-01 -5.75977630e-03 -2.83357961e+02] [ 7.78507596e-03 -5.21599255e-04 9.99969560e-01 -9.01677752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.560385723 meters 0.032516893697853766 Centerline is valid? [True, True] Translation: X:-102.84, Y:-283.34, Z:-9.02 [[-7.22310954e-01 -6.91553301e-01 4.57370593e-03 -1.02840356e+02] [ 6.91535355e-01 -7.22325294e-01 -5.00232564e-03 -2.83339246e+02] [ 6.76307829e-03 -4.50355252e-04 9.99977029e-01 -9.01594856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5903857229999 meters 0.032566843507227966 Centerline is valid? [True, True] Translation: X:-102.86, Y:-283.32, Z:-9.01 [[-7.21714457e-01 -6.92179298e-01 4.00773433e-03 -1.02861200e+02] [ 6.92165542e-01 -7.21725480e-01 -4.38099310e-03 -2.83320035e+02] [ 5.92491671e-03 -3.87810450e-04 9.99982372e-01 -9.01488575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.620385723 meters 0.03215727568542469 Centerline is valid? [True, True] Translation: X:-102.88, Y:-283.31, Z:-9.01 [[-7.19269796e-01 -6.94723712e-01 3.15054716e-03 -1.02883398e+02] [ 6.94715245e-01 -7.19276638e-01 -3.44190522e-03 -2.83305078e+02] [ 4.65728814e-03 -2.86925323e-04 9.99989114e-01 -9.01465595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.650385723 meters 0.02482883656224491 Centerline is valid? [True, True] Translation: X:-102.91, Y:-283.30, Z:-9.01 [[-7.16859974e-01 -6.97211271e-01 2.86727979e-03 -1.02914411e+02] [ 6.97204285e-01 -7.16865666e-01 -3.13066869e-03 -2.83295948e+02] [ 4.23819194e-03 -2.45171320e-04 9.99990989e-01 -9.01459582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.680385723 meters 0.026942969474335027 Centerline is valid? [True, True] Translation: X:-102.93, Y:-283.28, Z:-9.02 [[-7.15850501e-01 -6.98248117e-01 2.76186133e-03 -1.02932533e+02] [ 6.98241647e-01 -7.15855792e-01 -3.01463162e-03 -2.83275641e+02] [ 4.08205529e-03 -2.29578951e-04 9.99991642e-01 -9.01521280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.710385723 meters 0.024179762475466167 Centerline is valid? [True, True] Translation: X:-102.96, Y:-283.26, Z:-9.01 [[-7.14126251e-01 -7.00013354e-01 2.23652501e-03 -1.02958310e+02] [ 7.00009125e-01 -7.14129731e-01 -2.43988416e-03 -2.83260799e+02] [ 3.30512050e-03 -1.76797411e-04 9.99994523e-01 -9.01397062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.740385723 meters 0.026868786587893163 Centerline is valid? [True, True] Translation: X:-102.98, Y:-283.24, Z:-9.01 [[-7.13257859e-01 -7.00899300e-01 1.84336135e-03 -1.02975863e+02] [ 7.00896433e-01 -7.13260227e-01 -2.00987849e-03 -2.83239582e+02] [ 2.72351876e-03 -1.41556230e-04 9.99996281e-01 -9.01372782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.770385723 meters 0.026332196925498968 Centerline is valid? [True, True] Translation: X:-103.00, Y:-283.22, Z:-9.01 [[-7.12316882e-01 -7.01857036e-01 1.16614082e-03 -1.02997346e+02] [ 7.01855891e-01 -7.12317832e-01 -1.27079795e-03 -2.83220973e+02] [ 1.72258138e-03 -8.67480289e-05 9.99998513e-01 -9.01331476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.800385723 meters 0.022907796857963392 Centerline is valid? [True, True] Translation: X:-103.02, Y:-283.21, Z:-9.01 [[-7.10822279e-01 -7.03370899e-01 1.03241466e-03 -1.03024079e+02] [ 7.03370004e-01 -7.10823025e-01 -1.12448642e-03 -2.83206784e+02] [ 1.52479513e-03 -7.31405009e-05 9.99998835e-01 -9.01280766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.830385723 meters 0.023410265717940536 Centerline is valid? [True, True] Translation: X:-103.05, Y:-283.19, Z:-9.01 [[-7.10465416e-01 -7.03731532e-01 9.07841225e-04 -1.03045260e+02] [ 7.03730840e-01 -7.10465993e-01 -9.88413860e-04 -2.83189447e+02] [ 1.34056832e-03 -6.33579958e-05 9.99999100e-01 -9.01363401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.860385723 meters 0.023817054970656764 Centerline is valid? [True, True] Translation: X:-103.07, Y:-283.17, Z:-9.01 [[-7.10595542e-01 -7.03600245e-01 8.19077787e-04 -1.03065735e+02] [ 7.03599683e-01 -7.10596012e-01 -8.91288561e-04 -2.83169832e+02] [ 1.20914426e-03 -5.70428067e-05 9.99999267e-01 -9.01369772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.890385723 meters 0.021296182436169993 Centerline is valid? [True, True] Translation: X:-103.09, Y:-283.15, Z:-9.01 [[-7.10839939e-01 -7.03352923e-01 1.11663057e-03 -1.03089932e+02] [ 7.03351879e-01 -7.10840812e-01 -1.21438321e-03 -2.83154016e+02] [ 1.64788656e-03 -7.78478777e-05 9.99998639e-01 -9.01423137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.920385723 meters 0.024676502588150635 Centerline is valid? [True, True] Translation: X:-103.11, Y:-283.13, Z:-9.01 [[-7.11594566e-01 -7.02588963e-01 1.38688362e-03 -1.03105285e+02] [ 7.02587353e-01 -7.11595910e-01 -1.50751467e-03 -2.83131241e+02] [ 2.04606388e-03 -9.83323566e-05 9.99997902e-01 -9.01486189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.950385723 meters 0.026191544740596085 Centerline is valid? [True, True] Translation: X:-103.12, Y:-283.11, Z:-9.02 [[-7.12624946e-01 -7.01542209e-01 2.05313847e-03 -1.03124740e+02] [ 7.01538679e-01 -7.12627888e-01 -2.23052544e-03 -2.83111279e+02] [ 3.02793148e-03 -1.49172023e-04 9.99995405e-01 -9.01713387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.980385723 meters 0.02247384508187669 Centerline is valid? [True, True] Translation: X:-103.15, Y:-283.10, Z:-9.02 [[-7.13957741e-01 -7.00185587e-01 2.11844826e-03 -1.03149643e+02] [ 7.00181825e-01 -7.13960866e-01 -2.30067911e-03 -2.83096230e+02] [ 3.12339151e-03 -1.59288685e-04 9.99995110e-01 -9.01627246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.010385723 meters 0.027090872390120986 Centerline is valid? [True, True] Translation: X:-103.16, Y:-283.07, Z:-9.02 [[-7.15734169e-01 -6.98369139e-01 2.26829517e-03 -1.03164837e+02] [ 6.98364820e-01 -7.15737741e-01 -2.46257241e-03 -2.83073800e+02] [ 3.34328903e-03 -1.78449672e-04 9.99994395e-01 -9.01739766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.040385723 meters 0.023954921956531688 Centerline is valid? [True, True] Translation: X:-103.19, Y:-283.06, Z:-9.02 [[-7.16534594e-01 -6.97547869e-01 2.26856419e-03 -1.03188675e+02] [ 6.97543549e-01 -7.16538162e-01 -2.46157865e-03 -2.83057033e+02] [ 3.34258176e-03 -1.81383941e-04 9.99994397e-01 -9.01725772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.070385723 meters 0.024768282297611455 Centerline is valid? [True, True] Translation: X:-103.21, Y:-283.04, Z:-9.02 [[-7.17151109e-01 -6.96910709e-01 3.12250227e-03 -1.03208602e+02] [ 6.96902525e-01 -7.17157862e-01 -3.38701150e-03 -2.83037700e+02] [ 4.59977164e-03 -2.52919342e-04 9.99989389e-01 -9.01824552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1003857229999 meters 0.024708273308711837 Centerline is valid? [True, True] Translation: X:-103.23, Y:-283.02, Z:-9.02 [[-7.16959462e-01 -6.97105243e-01 3.66195666e-03 -1.03228931e+02] [ 6.97094000e-01 -7.16968754e-01 -3.96997727e-03 -2.83017832e+02] [ 5.39300047e-03 -2.93584756e-04 9.99985415e-01 -9.01909816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.130385723 meters 0.02473993646987895 Centerline is valid? [True, True] Translation: X:-103.25, Y:-283.00, Z:-9.02 [[-7.15697514e-01 -6.98390795e-01 5.23129597e-03 -1.03249364e+02] [ 6.98367907e-01 -7.15716519e-01 -5.66848265e-03 -2.83000074e+02] [ 7.70294104e-03 -4.03549728e-04 9.99970251e-01 -9.02107924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.160385723 meters 0.02302748766457206 Centerline is valid? [True, True] Translation: X:-103.27, Y:-282.98, Z:-9.02 [[-7.14783762e-01 -6.99325467e-01 5.29770202e-03 -1.03271737e+02] [ 6.99302043e-01 -7.14803284e-01 -5.73748953e-03 -2.82981952e+02] [ 7.79918734e-03 -3.96370507e-04 9.99969507e-01 -9.02144818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.190385723 meters 0.023379791408036667 Centerline is valid? [True, True] Translation: X:-103.29, Y:-282.96, Z:-9.02 [[-7.12550008e-01 -7.01596560e-01 5.89527136e-03 -1.03291218e+02] [ 7.01567662e-01 -7.12574276e-01 -6.38093760e-03 -2.82963286e+02] [ 8.67766259e-03 -4.10805390e-04 9.99962264e-01 -9.02236354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2203857229999 meters 0.02231080114332534 Centerline is valid? [True, True] Translation: X:-103.31, Y:-282.94, Z:-9.02 [[-7.11323002e-01 -7.02839608e-01 6.00592882e-03 -1.03312692e+02] [ 7.02809692e-01 -7.11348244e-01 -6.49712289e-03 -2.82944548e+02] [ 8.83874223e-03 -4.00527975e-04 9.99960857e-01 -9.02207567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.250385723 meters 0.021699950495176548 Centerline is valid? [True, True] Translation: X:-103.33, Y:-282.93, Z:-9.02 [[-7.08656162e-01 -7.05533201e-01 5.41722150e-03 -1.03332878e+02] [ 7.05508959e-01 -7.08676791e-01 -5.85798004e-03 -2.82926876e+02] [ 7.97205855e-03 -3.29395352e-04 9.99968168e-01 -9.02196324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.280385723 meters 0.019104946085045215 Centerline is valid? [True, True] Translation: X:-103.36, Y:-282.91, Z:-9.02 [[-7.06282949e-01 -7.07904345e-01 5.98621274e-03 -1.03355501e+02] [ 7.07874857e-01 -7.06308239e-01 -6.46980264e-03 -2.82908897e+02] [ 8.80811277e-03 -3.32021795e-04 9.99961153e-01 -9.02061798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.310385723 meters 0.02064299271570392 Centerline is valid? [True, True] Translation: X:-103.37, Y:-282.89, Z:-9.02 [[-7.05070055e-01 -7.09109372e-01 6.33363041e-03 -1.03372088e+02] [ 7.09076446e-01 -7.05098424e-01 -6.84158037e-03 -2.82886375e+02] [ 9.31726159e-03 -3.32765312e-04 9.99956538e-01 -9.02140794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3403857229999 meters 0.019106433768133774 Centerline is valid? [True, True] Translation: X:-103.39, Y:-282.87, Z:-9.02 [[-7.04209422e-01 -7.09956708e-01 7.11067414e-03 -1.03393619e+02] [ 7.09915292e-01 -7.04245230e-01 -7.67691168e-03 -2.82867339e+02] [ 1.04579333e-02 -3.58177232e-04 9.99945250e-01 -9.02113359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.370385723 meters 0.020381666363907758 Centerline is valid? [True, True] Translation: X:-103.41, Y:-282.85, Z:-9.02 [[-7.02968764e-01 -7.11179988e-01 7.61186943e-03 -1.03411534e+02] [ 7.11132647e-01 -7.03009882e-01 -8.21364704e-03 -2.82845921e+02] [ 1.11926008e-02 -3.60888449e-04 9.99937296e-01 -9.02266027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.400385723 meters 0.01863151906080016 Centerline is valid? [True, True] Translation: X:-103.43, Y:-282.83, Z:-9.02 [[-7.03277075e-01 -7.10879984e-01 7.14172228e-03 -1.03432700e+02] [ 7.10838341e-01 -7.03313254e-01 -7.70200168e-03 -2.82827403e+02] [ 1.04980668e-02 -3.40031192e-04 9.99944836e-01 -9.02167308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.430385723 meters 0.018431718212104604 Centerline is valid? [True, True] Translation: X:-103.45, Y:-282.81, Z:-9.02 [[-7.04101780e-01 -7.10065406e-01 6.91394981e-03 -1.03451622e+02] [ 7.10026378e-01 -7.04135644e-01 -7.45234633e-03 -2.82805616e+02] [ 1.01600118e-02 -3.38123580e-04 9.99948329e-01 -9.02077010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.460385723 meters 0.02022152705320662 Centerline is valid? [True, True] Translation: X:-103.47, Y:-282.78, Z:-9.02 [[-7.06031596e-01 -7.08150050e-01 6.54925662e-03 -1.03465495e+02] [ 7.08114987e-01 -7.06061887e-01 -7.05529348e-03 -2.82781040e+02] [ 9.62038692e-03 -3.43633349e-04 9.99953664e-01 -9.02063956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.490385723 meters 0.02030142669922347 Centerline is valid? [True, True] Translation: X:-103.48, Y:-282.76, Z:-9.02 [[-7.06805287e-01 -7.07375475e-01 6.79874461e-03 -1.03483943e+02] [ 7.07337691e-01 -7.06837891e-01 -7.32026763e-03 -2.82759086e+02] [ 9.98378810e-03 -3.64995548e-04 9.99950094e-01 -9.02081941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.520385723 meters 0.02080583707745708 Centerline is valid? [True, True] Translation: X:-103.50, Y:-282.74, Z:-9.02 [[-7.07341998e-01 -7.06834761e-01 7.20549184e-03 -1.03501061e+02] [ 7.06792341e-01 -7.07378588e-01 -7.75372281e-03 -2.82737778e+02] [ 1.05776115e-02 -3.91747339e-04 9.99943979e-01 -9.02118620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.550385723 meters 0.020248955526301314 Centerline is valid? [True, True] Translation: X:-103.52, Y:-282.72, Z:-9.02 [[-7.08142744e-01 -7.06034679e-01 6.99196665e-03 -1.03519881e+02] [ 7.05994736e-01 -7.08177154e-01 -7.52002105e-03 -2.82716217e+02] [ 1.02609467e-02 -3.88956689e-04 9.99947280e-01 -9.02111293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.580385723 meters 0.02115877901951888 Centerline is valid? [True, True] Translation: X:-103.54, Y:-282.69, Z:-9.02 [[-7.09104366e-01 -7.05072530e-01 6.61252524e-03 -1.03535752e+02] [ 7.05036799e-01 -7.09135096e-01 -7.10834912e-03 -2.82693142e+02] [ 9.70107542e-03 -3.78487760e-04 9.99952872e-01 -9.02114117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.610385723 meters 0.021905006045984398 Centerline is valid? [True, True] Translation: X:-103.55, Y:-282.67, Z:-9.02 [[-7.09992397e-01 -7.04178631e-01 6.57652418e-03 -1.03551987e+02] [ 7.04143289e-01 -7.10022751e-01 -7.06559162e-03 -2.82671588e+02] [ 9.64492043e-03 -3.85700967e-04 9.99953412e-01 -9.02095375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.640385723 meters 0.019721646903459854 Centerline is valid? [True, True] Translation: X:-103.57, Y:-282.65, Z:-9.02 [[-7.10968208e-01 -7.03194408e-01 6.46779850e-03 -1.03572973e+02] [ 7.03160218e-01 -7.10997520e-01 -6.94507232e-03 -2.82651929e+02] [ 9.48232471e-03 -3.89827012e-04 9.99954966e-01 -9.01964119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.670385723 meters 0.023027230876269136 Centerline is valid? [True, True] Translation: X:-103.59, Y:-282.63, Z:-9.02 [[-7.13788778e-01 -7.00328797e-01 6.71993060e-03 -1.03585346e+02] [ 7.00291794e-01 -7.13820272e-01 -7.21269028e-03 -2.82626729e+02] [ 9.84807739e-03 -4.42425126e-04 9.99951409e-01 -9.01992564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.700385723 meters 0.023335653778190767 Centerline is valid? [True, True] Translation: X:-103.60, Y:-282.61, Z:-9.02 [[-7.15450269e-01 -6.98635525e-01 6.27019316e-03 -1.03603468e+02] [ 6.98603278e-01 -7.15477614e-01 -6.72631346e-03 -2.82605529e+02] [ 9.18542438e-03 -4.31965280e-04 9.99957720e-01 -9.01970762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.730385723 meters 0.024122940596803723 Centerline is valid? [True, True] Translation: X:-103.62, Y:-282.58, Z:-9.02 [[-7.18081366e-01 -6.95934989e-01 5.80030809e-03 -1.03621435e+02] [ 6.95907337e-01 -7.18104663e-01 -6.21856506e-03 -2.82584545e+02] [ 8.49294530e-03 -4.28958738e-04 9.99963842e-01 -9.01993894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.760385723 meters 0.024393260314088266 Centerline is valid? [True, True] Translation: X:-103.64, Y:-282.56, Z:-9.02 [[-7.19115418e-01 -6.94868463e-01 5.55298055e-03 -1.03639694e+02] [ 6.94843114e-01 -7.19136734e-01 -5.95015879e-03 -2.82563126e+02] [ 8.12792999e-03 -4.20400625e-04 9.99966880e-01 -9.01964712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.790385723 meters 0.02616299298276739 Centerline is valid? [True, True] Translation: X:-103.65, Y:-282.54, Z:-9.02 [[-7.20915783e-01 -6.93003929e-01 5.09783127e-03 -1.03654956e+02] [ 6.92982543e-01 -7.20933694e-01 -5.45928074e-03 -2.82540123e+02] [ 7.45850134e-03 -4.02973573e-04 9.99972104e-01 -9.01879631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.820385723 meters 0.027081326104347606 Centerline is valid? [True, True] Translation: X:-103.67, Y:-282.52, Z:-9.02 [[-7.22299759e-01 -6.91560195e-01 5.24933505e-03 -1.03672823e+02] [ 6.91537505e-01 -7.22318707e-01 -5.61833006e-03 -2.82519212e+02] [ 7.67710633e-03 -4.28006387e-04 9.99970439e-01 -9.01937842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8503857229999 meters 0.027593701825680845 Centerline is valid? [True, True] Translation: X:-103.69, Y:-282.50, Z:-9.02 [[-7.22660866e-01 -6.91178937e-01 5.74017080e-03 -1.03691431e+02] [ 6.91151821e-01 -7.22683510e-01 -6.14041138e-03 -2.82498785e+02] [ 8.39244979e-03 -4.70105502e-04 9.99964672e-01 -9.01993251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.880385723 meters 0.027715027083562525 Centerline is valid? [True, True] Translation: X:-103.71, Y:-282.48, Z:-9.02 [[-7.22682611e-01 -6.91153462e-01 6.06105776e-03 -1.03710207e+02] [ 6.91123262e-01 -7.22707858e-01 -6.47981661e-03 -2.82478946e+02] [ 8.85892175e-03 -4.93912771e-04 9.99960637e-01 -9.02030496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.910385723 meters 0.02305336083211723 Centerline is valid? [True, True] Translation: X:-103.74, Y:-282.46, Z:-9.02 [[-7.21114265e-01 -6.92787147e-01 6.33928487e-03 -1.03735417e+02] [ 6.92754209e-01 -7.21141960e-01 -6.77348402e-03 -2.82463963e+02] [ 9.26410698e-03 -4.92889670e-04 9.99956966e-01 -9.01921847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.940385723 meters 0.02304578359071288 Centerline is valid? [True, True] Translation: X:-103.76, Y:-282.44, Z:-9.02 [[-7.19976133e-01 -6.93971754e-01 6.12972052e-03 -1.03755829e+02] [ 6.93941031e-01 -7.20002079e-01 -6.54616354e-03 -2.82444014e+02] [ 8.95626411e-03 -4.59416931e-04 9.99959786e-01 -9.01924331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9703857229999 meters 0.022598473636866824 Centerline is valid? [True, True] Translation: X:-103.78, Y:-282.43, Z:-9.02 [[-7.16925534e-01 -6.97125105e-01 5.86230121e-03 -1.03776478e+02] [ 6.97097141e-01 -7.16949390e-01 -6.25684255e-03 -2.82426651e+02] [ 8.56477530e-03 -3.99096777e-04 9.99963242e-01 -9.01950440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.000385723 meters 0.020910212739011835 Centerline is valid? [True, True] Translation: X:-103.80, Y:-282.41, Z:-9.02 [[-7.13670983e-01 -7.00464842e-01 4.76786917e-03 -1.03798772e+02] [ 7.00446440e-01 -7.13686851e-01 -5.08572081e-03 -2.82409984e+02] [ 6.96513416e-03 -2.89894387e-04 9.99975701e-01 -9.01848948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.030385723 meters 0.021358246013660768 Centerline is valid? [True, True] Translation: X:-103.82, Y:-282.39, Z:-9.02 [[-7.12190836e-01 -7.01972959e-01 4.26350062e-03 -1.03817825e+02] [ 7.01958285e-01 -7.12203556e-01 -4.54550208e-03 -2.82390824e+02] [ 6.22729985e-03 -2.44465349e-04 9.99980580e-01 -9.01807763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.060385723 meters 0.020576040499389055 Centerline is valid? [True, True] Translation: X:-103.84, Y:-282.37, Z:-9.02 [[-7.08981202e-01 -7.05219217e-01 3.39286964e-03 -1.03838946e+02] [ 7.05209971e-01 -7.08989300e-01 -3.61511163e-03 -2.82374110e+02] [ 4.95495446e-03 -1.70360695e-04 9.99987710e-01 -9.01811062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0903857229999 meters 0.019484504233603376 Centerline is valid? [True, True] Translation: X:-103.86, Y:-282.36, Z:-9.02 [[-7.07516174e-01 -7.06690282e-01 3.11595746e-03 -1.03860401e+02] [ 7.06682507e-01 -7.07523020e-01 -3.31826204e-03 -2.82355716e+02] [ 4.54959517e-03 -1.45731435e-04 9.99989640e-01 -9.01771607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.120385723 meters 0.019484504233603376 Centerline is valid? [True, True] Translation: X:-103.88, Y:-282.34, Z:-9.02 [[-7.07728330e-01 -7.06477810e-01 3.11695364e-03 -1.03878781e+02] [ 7.06470037e-01 -7.07735178e-01 -3.31732630e-03 -2.82336283e+02] [ 4.54959517e-03 -1.45731448e-04 9.99989640e-01 -9.01771606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.150385723 meters 0.0187296436603804 Centerline is valid? [True, True] Translation: X:-103.90, Y:-282.32, Z:-9.02 [[-7.05191806e-01 -7.09012750e-01 2.33194452e-03 -1.03899422e+02] [ 7.09008417e-01 -7.05195655e-01 -2.48061748e-03 -2.82319321e+02] [ 3.40326657e-03 -9.59428314e-05 9.99994204e-01 -9.01654462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.180385723 meters 0.01762098455230037 Centerline is valid? [True, True] Translation: X:-103.92, Y:-282.30, Z:-9.02 [[-7.04336729e-01 -7.09863810e-01 1.77305101e-03 -1.03921227e+02] [ 7.09861310e-01 -7.04338957e-01 -1.88513380e-03 -2.82300608e+02] [ 2.58701716e-03 -6.91486573e-05 9.99996651e-01 -9.01582537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.210385723 meters 0.017128526785696593 Centerline is valid? [True, True] Translation: X:-103.94, Y:-282.28, Z:-9.02 [[-7.02741289e-01 -7.11444049e-01 1.43051572e-03 -1.03942149e+02] [ 7.11442427e-01 -7.02742743e-01 -1.52012491e-03 -2.82282287e+02] [ 2.08676836e-03 -5.05249647e-05 9.99997822e-01 -9.01533782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.240385723 meters 0.017104563639966666 Centerline is valid? [True, True] Translation: X:-103.96, Y:-282.26, Z:-9.02 [[-7.02308535e-01 -7.11870978e-01 1.55987333e-03 -1.03960431e+02] [ 7.11869053e-01 -7.02310265e-01 -1.65653036e-03 -2.82264100e+02] [ 2.27475094e-03 -5.29698648e-05 9.99997411e-01 -9.01507934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.270385723 meters 0.015613512370539418 Centerline is valid? [True, True] Translation: X:-103.98, Y:-282.25, Z:-9.01 [[-7.01619519e-01 -7.12550815e-01 1.17762887e-03 -1.03982881e+02] [ 7.12549720e-01 -7.01620506e-01 -1.24989183e-03 -2.82246213e+02] [ 1.71686000e-03 -3.78293828e-05 9.99998526e-01 -9.01442437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.300385723 meters 0.015679587049098234 Centerline is valid? [True, True] Translation: X:-104.00, Y:-282.23, Z:-9.01 [[-7.01612141e-01 -7.12558454e-01 9.23982288e-04 -1.04002269e+02] [ 7.12557781e-01 -7.01612748e-01 -9.80126168e-04 -2.82226363e+02] [ 1.34667494e-03 -2.92776503e-05 9.99999093e-01 -9.01413750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.330385723 meters 0.01559050515520153 Centerline is valid? [True, True] Translation: X:-104.02, Y:-282.21, Z:-9.01 [[-7.01543198e-01 -7.12626504e-01 7.79746260e-04 -1.04022585e+02] [ 7.12626025e-01 -7.01543631e-01 -8.26661367e-04 -2.82206726e+02] [ 1.13612682e-03 -2.42711809e-05 9.99999354e-01 -9.01433814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.360385723 meters 0.015597863638429216 Centerline is valid? [True, True] Translation: X:-104.04, Y:-282.19, Z:-9.01 [[-7.01421388e-01 -7.12745938e-01 1.12449424e-03 -1.04042400e+02] [ 7.12744942e-01 -7.01422289e-01 -1.19148427e-03 -2.82186479e+02] [ 1.63797090e-03 -3.42549679e-05 9.99998658e-01 -9.01486765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.390385723 meters 0.01719902280433664 Centerline is valid? [True, True] Translation: X:-104.06, Y:-282.16, Z:-9.02 [[-7.00926713e-01 -7.13229539e-01 2.31698128e-03 -1.04058465e+02] [ 7.13225322e-01 -7.00930539e-01 -2.45358824e-03 -2.82164485e+02] [ 3.37401455e-03 -6.72558155e-05 9.99994306e-01 -9.01657525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.420385723 meters 0.01865325220904156 Centerline is valid? [True, True] Translation: X:-104.08, Y:-282.15, Z:-9.02 [[-7.01223706e-01 -7.12932313e-01 3.58212335e-03 -1.04080679e+02] [ 7.12922241e-01 -7.01232847e-01 -3.79117080e-03 -2.82146608e+02] [ 5.21475072e-03 -1.04683432e-04 9.99986398e-01 -9.01819856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.450385723 meters 0.01505612843935148 Centerline is valid? [True, True] Translation: X:-104.10, Y:-282.13, Z:-9.02 [[-7.00933936e-01 -7.13222184e-01 2.39444839e-03 -1.04099667e+02] [ 7.13217690e-01 -7.00938023e-01 -2.53274379e-03 -2.82126383e+02] [ 3.48476898e-03 -6.75231273e-05 9.99993926e-01 -9.01660168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.480385723 meters 0.015133731096283378 Centerline is valid? [True, True] Translation: X:-104.12, Y:-282.10, Z:-9.02 [[-7.01851061e-01 -7.12320271e-01 2.21813889e-03 -1.04117720e+02] [ 7.12316414e-01 -7.01854563e-01 -2.34490824e-03 -2.82104880e+02] [ 3.22713658e-03 -6.57595951e-05 9.99994791e-01 -9.01659374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.510385723 meters 0.015978585637458118 Centerline is valid? [True, True] Translation: X:-104.13, Y:-282.08, Z:-9.02 [[-7.02575595e-01 -7.11604652e-01 2.52051541e-03 -1.04134685e+02] [ 7.11599673e-01 -7.02580112e-01 -2.66320778e-03 -2.82082998e+02] [ 3.66601505e-03 -7.75068489e-05 9.99993277e-01 -9.01718018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.540385723 meters 0.01644814989467197 Centerline is valid? [True, True] Translation: X:-104.15, Y:-282.06, Z:-9.02 [[-7.02895055e-01 -7.11290207e-01 2.18697180e-03 -1.04151253e+02] [ 7.11286461e-01 -7.02898454e-01 -2.30945143e-03 -2.82060740e+02] [ 3.17990929e-03 -6.77385628e-05 9.99994942e-01 -9.01711357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.570385723 meters 0.015310284005675901 Centerline is valid? [True, True] Translation: X:-104.17, Y:-282.04, Z:-9.02 [[-7.03194568e-01 -7.10994445e-01 2.07334400e-03 -1.04172143e+02] [ 7.10991081e-01 -7.03197621e-01 -2.18821977e-03 -2.82041487e+02] [ 3.01378268e-03 -6.46151642e-05 9.99995457e-01 -9.01633398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6003857229999 meters 0.015306901373851465 Centerline is valid? [True, True] Translation: X:-104.19, Y:-282.02, Z:-9.02 [[-7.03159969e-01 -7.11026829e-01 2.62803810e-03 -1.04190751e+02] [ 7.11021430e-01 -7.03164875e-01 -2.77207900e-03 -2.82020963e+02] [ 3.81896662e-03 -8.06235808e-05 9.99992705e-01 -9.01661116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.630385723 meters 0.015332180561127512 Centerline is valid? [True, True] Translation: X:-104.21, Y:-282.00, Z:-9.02 [[-7.03118993e-01 -7.11065545e-01 3.07775277e-03 -1.04209928e+02] [ 7.11058148e-01 -7.03125723e-01 -3.24461119e-03 -2.82000237e+02] [ 4.47117836e-03 -9.28865719e-05 9.99990000e-01 -9.01711772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.660385723 meters 0.015149124641915637 Centerline is valid? [True, True] Translation: X:-104.23, Y:-281.98, Z:-9.02 [[-7.02724495e-01 -7.11453571e-01 3.47868777e-03 -1.04228290e+02] [ 7.11444137e-01 -7.02733098e-01 -3.66522818e-03 -2.81978853e+02] [ 5.05222871e-03 -1.00753598e-04 9.99987232e-01 -9.01699941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.690385723 meters 0.015652157190630723 Centerline is valid? [True, True] Translation: X:-104.25, Y:-281.96, Z:-9.02 [[-7.02435061e-01 -7.11741065e-01 3.10526942e-03 -1.04245426e+02] [ 7.11733558e-01 -7.02441919e-01 -3.26989027e-03 -2.81957703e+02] [ 4.50858659e-03 -8.67611162e-05 9.99989833e-01 -9.01703446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7203857229999 meters 0.015537861342420961 Centerline is valid? [True, True] Translation: X:-104.26, Y:-281.94, Z:-9.02 [[-7.01423421e-01 -7.12737063e-01 3.32623243e-03 -1.04262291e+02] [ 7.12728473e-01 -7.01431302e-01 -3.50034196e-03 -2.81937246e+02] [ 4.82794700e-03 -8.45212702e-05 9.99988342e-01 -9.01664179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.750385723 meters 0.01466883313250474 Centerline is valid? [True, True] Translation: X:-104.28, Y:-281.92, Z:-9.02 [[-7.01026921e-01 -7.13126941e-01 3.34995679e-03 -1.04282964e+02] [ 7.13118242e-01 -7.01034920e-01 -3.52334602e-03 -2.81917629e+02] [ 4.86102966e-03 -8.10451197e-05 9.99988182e-01 -9.01620252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.780385723 meters 0.014518210076904245 Centerline is valid? [True, True] Translation: X:-104.30, Y:-281.90, Z:-9.02 [[-7.00549913e-01 -7.13592223e-01 3.99479393e-03 -1.04302588e+02] [ 7.13579874e-01 -7.00561297e-01 -4.19921439e-03 -2.81897177e+02] [ 5.79512475e-03 -9.11547257e-05 9.99983204e-01 -9.01768870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.810385723 meters 0.014788373947328824 Centerline is valid? [True, True] Translation: X:-104.32, Y:-281.88, Z:-9.02 [[-7.00541447e-01 -7.13597871e-01 4.44513788e-03 -1.04319982e+02] [ 7.13582598e-01 -7.00555543e-01 -4.66985177e-03 -2.81876136e+02] [ 6.44646226e-03 -9.94516800e-05 9.99979217e-01 -9.01836185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8403857229999 meters 0.014510176825527885 Centerline is valid? [True, True] Translation: X:-104.34, Y:-281.85, Z:-9.02 [[-7.00214785e-01 -7.13917107e-01 4.64969528e-03 -1.04337991e+02] [ 7.13900421e-01 -7.00230215e-01 -4.88210682e-03 -2.81854122e+02] [ 6.74127670e-03 -9.91039627e-05 9.99977273e-01 -9.01738406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.870385723 meters 0.014106766246396707 Centerline is valid? [True, True] Translation: X:-104.36, Y:-281.83, Z:-9.02 [[-6.99558878e-01 -7.14559678e-01 4.67361263e-03 -1.04355924e+02] [ 7.14542852e-01 -6.99574484e-01 -4.90450608e-03 -2.81833092e+02] [ 6.77410243e-03 -9.14942755e-05 9.99977051e-01 -9.01670589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.900385723 meters 0.013776837495779277 Centerline is valid? [True, True] Translation: X:-104.37, Y:-281.81, Z:-9.02 [[-6.99523817e-01 -7.14593303e-01 4.77921095e-03 -1.04374656e+02] [ 7.14575728e-01 -6.99540137e-01 -5.01249344e-03 -2.81812242e+02] [ 6.92514413e-03 -9.12504004e-05 9.99976017e-01 -9.01661126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.930385723 meters 0.013685558592377339 Centerline is valid? [True, True] Translation: X:-104.39, Y:-281.79, Z:-9.02 [[-6.99312448e-01 -7.14799945e-01 4.81026761e-03 -1.04392166e+02] [ 7.14782166e-01 -6.99328986e-01 -5.04223670e-03 -2.81789933e+02] [ 6.96815009e-03 -8.78053843e-05 9.99975718e-01 -9.01632963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.960385723 meters 0.013769811444185464 Centerline is valid? [True, True] Translation: X:-104.41, Y:-281.77, Z:-9.02 [[-6.99421352e-01 -7.14696209e-01 4.37048318e-03 -1.04409731e+02] [ 7.14681547e-01 -6.99435003e-01 -4.57853543e-03 -2.81769157e+02] [ 6.32913083e-03 -7.88217625e-05 9.99979968e-01 -9.01648060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.990385723 meters 0.01388272545790609 Centerline is valid? [True, True] Translation: X:-104.43, Y:-281.75, Z:-9.02 [[-6.99723705e-01 -7.14404008e-01 3.69465325e-03 -1.04425617e+02] [ 7.14393538e-01 -6.99733456e-01 -3.86827548e-03 -2.81746802e+02] [ 5.34878399e-03 -6.72876453e-05 9.99985693e-01 -9.01613069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.020385723 meters 0.01345776441527429 Centerline is valid? [True, True] Translation: X:-104.44, Y:-281.73, Z:-9.02 [[-6.99598477e-01 -7.14527710e-01 3.48187222e-03 -1.04444088e+02] [ 7.14518423e-01 -6.99607139e-01 -3.64344349e-03 -2.81725958e+02] [ 5.03928399e-03 -6.10856708e-05 9.99987301e-01 -9.01522257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.050385723 meters 0.013310455666735624 Centerline is valid? [True, True] Translation: X:-104.46, Y:-281.70, Z:-9.02 [[-6.98573620e-01 -7.15530692e-01 3.27509407e-03 -1.04460817e+02] [ 7.15522496e-01 -6.98581296e-01 -3.42509033e-03 -2.81704661e+02] [ 4.73867671e-03 -4.92742703e-05 9.99988771e-01 -9.01603409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.080385723 meters 0.013222218525468416 Centerline is valid? [True, True] Translation: X:-104.48, Y:-281.68, Z:-9.02 [[-6.98149136e-01 -7.15944040e-01 3.45200777e-03 -1.04479239e+02] [ 7.15934950e-01 -6.98157668e-01 -3.60809900e-03 -2.81683564e+02] [ 4.99324267e-03 -4.75781886e-05 9.99987533e-01 -9.01639611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.110385723 meters 0.012898751408943875 Centerline is valid? [True, True] Translation: X:-104.50, Y:-281.66, Z:-9.02 [[-6.98578915e-01 -7.15527141e-01 2.90020644e-03 -1.04495614e+02] [ 7.15520728e-01 -6.98584934e-01 -3.02960252e-03 -2.81659720e+02] [ 4.19380335e-03 -4.12586171e-05 9.99991205e-01 -9.01585341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.140385723 meters 0.01340796418509488 Centerline is valid? [True, True] Translation: X:-104.51, Y:-281.64, Z:-9.02 [[-6.99218597e-01 -7.14903026e-01 2.64898390e-03 -1.04511284e+02] [ 7.14897678e-01 -6.99223614e-01 -2.76549369e-03 -2.81636877e+02] [ 3.82929191e-03 -3.99321787e-05 9.99992668e-01 -9.01593716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.170385723 meters 0.013311165084204385 Centerline is valid? [True, True] Translation: X:-104.53, Y:-281.61, Z:-9.02 [[-7.00320280e-01 -7.13825512e-01 2.15492047e-03 -1.04527493e+02] [ 7.13821972e-01 -7.00323594e-01 -2.24846821e-03 -2.81613066e+02] [ 3.11415562e-03 -3.64183063e-05 9.99995150e-01 -9.01513484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.200385723 meters 0.01332772432987156 Centerline is valid? [True, True] Translation: X:-104.54, Y:-281.59, Z:-9.01 [[-7.00521761e-01 -7.13626845e-01 2.44704297e-03 -1.04544900e+02] [ 7.13622284e-01 -7.00526034e-01 -2.55186747e-03 -2.81591384e+02] [ 3.53529844e-03 -4.13743022e-05 9.99993750e-01 -9.01492403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.230385723 meters 0.013368013055340584 Centerline is valid? [True, True] Translation: X:-104.56, Y:-281.57, Z:-9.02 [[-7.00295421e-01 -7.13848871e-01 2.47254249e-03 -1.04560514e+02] [ 7.13844219e-01 -7.00299784e-01 -2.57742400e-03 -2.81568358e+02] [ 3.57141218e-03 -3.99480636e-05 9.99993622e-01 -9.01573966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.260385723 meters 0.01322708191287392 Centerline is valid? [True, True] Translation: X:-104.58, Y:-281.55, Z:-9.02 [[-7.00069333e-01 -7.14071673e-01 2.13893281e-03 -1.04578952e+02] [ 7.14068197e-01 -7.00072600e-01 -2.22845081e-03 -2.81546695e+02] [ 3.08868185e-03 -3.27261776e-05 9.99995230e-01 -9.01580211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.290385723 meters 0.012965106984551465 Centerline is valid? [True, True] Translation: X:-104.60, Y:-281.52, Z:-9.02 [[-6.98778966e-01 -7.15332947e-01 2.59433341e-03 -1.04595853e+02] [ 7.15327847e-01 -6.98783782e-01 -2.70143055e-03 -2.81523416e+02] [ 3.74530039e-03 -3.19039164e-05 9.99992986e-01 -9.01623414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.320385723 meters 0.012666261193638388 Centerline is valid? [True, True] Translation: X:-104.61, Y:-281.50, Z:-9.02 [[-6.97172827e-01 -7.16896392e-01 3.10051066e-03 -1.04612239e+02] [ 7.16889132e-01 -6.97179720e-01 -3.22652840e-03 -2.81500853e+02] [ 4.47469972e-03 -2.67255295e-05 9.99989988e-01 -9.01670561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3503857229999 meters 0.01260214854964088 Centerline is valid? [True, True] Translation: X:-104.63, Y:-281.48, Z:-9.02 [[-6.96586042e-01 -7.17466520e-01 3.11100427e-03 -1.04629704e+02] [ 7.17459224e-01 -6.96592989e-01 -3.23566450e-03 -2.81479347e+02] [ 4.48858471e-03 -2.19000167e-05 9.99989926e-01 -9.01644940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.380385723 meters 0.012425588312359124 Centerline is valid? [True, True] Translation: X:-104.65, Y:-281.46, Z:-9.02 [[-6.95132133e-01 -7.18875197e-01 3.12544476e-03 -1.04645029e+02] [ 7.18867855e-01 -6.95139160e-01 -3.24890514e-03 -2.81455702e+02] [ 4.50817636e-03 -1.16365914e-05 9.99989838e-01 -9.01630695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.410385723 meters 0.012420162221294386 Centerline is valid? [True, True] Translation: X:-104.66, Y:-281.43, Z:-9.02 [[-6.94481723e-01 -7.19503203e-01 3.20594574e-03 -1.04662321e+02] [ 7.19495494e-01 -6.94489123e-01 -3.33054276e-03 -2.81434152e+02] [ 4.62283063e-03 -6.33756602e-06 9.99989315e-01 -9.01656630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.440385723 meters 0.012242055841361963 Centerline is valid? [True, True] Translation: X:-104.68, Y:-281.41, Z:-9.02 [[-6.93798065e-01 -7.20161945e-01 3.31945041e-03 -1.04677075e+02] [ 7.20153698e-01 -6.93806006e-01 -3.44634883e-03 -2.81410251e+02] [ 4.78498391e-03 -5.55661224e-07 9.99988552e-01 -9.01693053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4703857229999 meters 0.012265735554837454 Centerline is valid? [True, True] Translation: X:-104.69, Y:-281.39, Z:-9.02 [[-6.93499743e-01 -7.20449639e-01 3.22863418e-03 -1.04693836e+02] [ 7.20441850e-01 -6.93507258e-01 -3.35020314e-03 -2.81387843e+02] [ 4.65273388e-03 2.67816034e-06 9.99989176e-01 -9.01679165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.500385723 meters 0.012246378569219053 Centerline is valid? [True, True] Translation: X:-104.71, Y:-281.36, Z:-9.02 [[-6.93205270e-01 -7.20729524e-01 3.92502711e-03 -1.04707393e+02] [ 7.20718030e-01 -6.93216382e-01 -4.07044324e-03 -2.81362722e+02] [ 5.65458172e-03 7.18509841e-06 9.99984013e-01 -9.01686990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.530385723 meters 0.012306822296973045 Centerline is valid? [True, True] Translation: X:-104.72, Y:-281.34, Z:-9.02 [[-6.93293700e-01 -7.20644021e-01 4.00496361e-03 -1.04723106e+02] [ 7.20632067e-01 -6.93305268e-01 -4.15079563e-03 -2.81340423e+02] [ 5.76790842e-03 8.38474906e-06 9.99983366e-01 -9.01678235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.560385723 meters 0.01222130008351732 Centerline is valid? [True, True] Translation: X:-104.74, Y:-281.32, Z:-9.02 [[-6.93678354e-01 -7.20274202e-01 3.92632722e-03 -1.04736652e+02] [ 7.20262721e-01 -6.93689465e-01 -4.06679272e-03 -2.81315189e+02] [ 5.65285771e-03 6.94105165e-06 9.99984023e-01 -9.01607277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5903857229999 meters 0.012323224773621222 Centerline is valid? [True, True] Translation: X:-104.75, Y:-281.29, Z:-9.02 [[-6.94024692e-01 -7.19943436e-01 3.34314065e-03 -1.04752273e+02] [ 7.19935119e-01 -6.94032744e-01 -3.46052081e-03 -2.81293504e+02] [ 4.81162832e-03 5.15747561e-06 9.99988424e-01 -9.01597387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.620385723 meters 0.012393018500702617 Centerline is valid? [True, True] Translation: X:-104.77, Y:-281.27, Z:-9.02 [[-6.94854293e-01 -7.19143230e-01 3.24454654e-03 -1.04765139e+02] [ 7.19135397e-01 -6.94861868e-01 -3.35642103e-03 -2.81268124e+02] [ 4.66825913e-03 1.04470008e-06 9.99989104e-01 -9.01569950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.650385723 meters 0.01245523984151338 Centerline is valid? [True, True] Translation: X:-104.78, Y:-281.25, Z:-9.02 [[-6.95302765e-01 -7.18708869e-01 3.40986159e-03 -1.04780668e+02] [ 7.18700223e-01 -6.95311126e-01 -3.52518418e-03 -2.81245941e+02] [ 4.90449584e-03 -4.02021014e-07 9.99987973e-01 -9.01550346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.680385723 meters 0.012484648604297339 Centerline is valid? [True, True] Translation: X:-104.79, Y:-281.22, Z:-9.02 [[-6.96074910e-01 -7.17960689e-01 3.48837569e-03 -1.04792791e+02] [ 7.17951643e-01 -6.96083651e-01 -3.60408155e-03 -2.81221239e+02] [ 5.01579016e-03 -4.22568039e-06 9.99987421e-01 -9.01552688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.710385723 meters 0.012526183565196742 Centerline is valid? [True, True] Translation: X:-104.81, Y:-281.20, Z:-9.02 [[-6.96865805e-01 -7.17192880e-01 3.52466964e-03 -1.04806650e+02] [ 7.17183645e-01 -6.96874719e-01 -3.63954270e-03 -2.81196101e+02] [ 5.06650727e-03 -8.43743470e-06 9.99987165e-01 -9.01514994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.740385723 meters 0.012639827296705122 Centerline is valid? [True, True] Translation: X:-104.82, Y:-281.17, Z:-9.02 [[-6.97246742e-01 -7.16822473e-01 3.53886055e-03 -1.04822619e+02] [ 7.16813170e-01 -6.97255722e-01 -3.65204823e-03 -2.81173591e+02] [ 5.08536101e-03 -9.67687785e-06 9.99987070e-01 -9.01567496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.770385723 meters 0.012749106713433852 Centerline is valid? [True, True] Translation: X:-104.84, Y:-281.15, Z:-9.02 [[-6.98336756e-01 -7.15759049e-01 3.84179620e-03 -1.04835607e+02] [ 7.15748082e-01 -6.98347323e-01 -3.96224300e-03 -2.81149403e+02] [ 5.51891938e-03 -1.72216582e-05 9.99984771e-01 -9.01646733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.800385723 meters 0.012659361659005497 Centerline is valid? [True, True] Translation: X:-104.85, Y:-281.13, Z:-9.02 [[-6.97945218e-01 -7.16141287e-01 3.75892845e-03 -1.04854362e+02] [ 7.16130807e-01 -6.97955340e-01 -3.87438412e-03 -2.81129919e+02] [ 5.39817062e-03 -1.22234035e-05 9.99985430e-01 -9.01554414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.830385723 meters 0.012676159996161531 Centerline is valid? [True, True] Translation: X:-104.87, Y:-281.11, Z:-9.02 [[-6.96723980e-01 -7.17330509e-01 3.55467607e-03 -1.04873836e+02] [ 7.17321161e-01 -6.96733048e-01 -3.66211910e-03 -2.81112311e+02] [ 5.10361005e-03 -1.64183160e-06 9.99986977e-01 -9.01583920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.860385723 meters 0.012760966524517622 Centerline is valid? [True, True] Translation: X:-104.89, Y:-281.10, Z:-9.02 [[-6.94431526e-01 -7.19551463e-01 3.24774170e-03 -1.04894530e+02] [ 7.19543693e-01 -6.94439121e-01 -3.34377427e-03 -2.81095167e+02] [ 4.66137655e-03 1.48697869e-05 9.99989136e-01 -9.01589549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.890385723 meters 0.012838847634245672 Centerline is valid? [True, True] Translation: X:-104.91, Y:-281.08, Z:-9.02 [[-6.93456648e-01 -7.20486975e-01 4.04916517e-03 -1.04914979e+02] [ 7.20474929e-01 -6.93468469e-01 -4.16635233e-03 -2.81077155e+02] [ 5.80977096e-03 2.81372656e-05 9.99983123e-01 -9.01689925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.920385723 meters 0.012910291400848319 Centerline is valid? [True, True] Translation: X:-104.93, Y:-281.06, Z:-9.02 [[-6.93663213e-01 -7.20284419e-01 4.65861949e-03 -1.04933768e+02] [ 7.20268490e-01 -6.93678855e-01 -4.79037561e-03 -2.81058422e+02] [ 6.68201875e-03 3.25494934e-05 9.99977675e-01 -9.01770979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.950385723 meters 0.012830776944194216 Centerline is valid? [True, True] Translation: X:-104.95, Y:-281.04, Z:-9.02 [[-6.94817967e-01 -7.19168117e-01 5.02120157e-03 -1.04952123e+02] [ 7.19149605e-01 -6.94836109e-01 -5.16010826e-03 -2.81037759e+02] [ 7.19989751e-03 2.56592009e-05 9.99974080e-01 -9.01829768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.980385723 meters 0.012869026287674808 Centerline is valid? [True, True] Translation: X:-104.97, Y:-281.02, Z:-9.02 [[-6.95964738e-01 -7.18057915e-01 5.09064989e-03 -1.04970781e+02] [ 7.18038880e-01 -6.95983356e-01 -5.22832070e-03 -2.81017989e+02] [ 7.29724465e-03 1.65577038e-05 9.99973375e-01 -9.01873848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.010385723 meters 0.012894056114360538 Centerline is valid? [True, True] Translation: X:-104.99, Y:-281.00, Z:-9.02 [[-6.98381998e-01 -7.15707591e-01 5.02297434e-03 -1.04990305e+02] [ 7.15689018e-01 -6.98400061e-01 -5.15597202e-03 -2.80998348e+02] [ 7.19821390e-03 -5.95046459e-06 9.99974093e-01 -9.01974172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.040385723 meters 0.012894056114360538 Centerline is valid? [True, True] Translation: X:-105.01, Y:-280.98, Z:-9.02 [[-6.98578967e-01 -7.15515327e-01 5.02439335e-03 -1.05009606e+02] [ 7.15496760e-01 -6.98597035e-01 -5.15458924e-03 -2.80978624e+02] [ 7.19821390e-03 -5.95046447e-06 9.99974093e-01 -9.01974171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.070385723 meters 0.013064752886774946 Centerline is valid? [True, True] Translation: X:-105.03, Y:-280.96, Z:-9.02 [[-6.99746370e-01 -7.14374648e-01 4.88672409e-03 -1.05027764e+02] [ 7.14357079e-01 -6.99763433e-01 -5.01010094e-03 -2.80959574e+02] [ 6.99863992e-03 -1.49340031e-05 9.99975509e-01 -9.02055124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1003857229999 meters 0.013193254583800672 Centerline is valid? [True, True] Translation: X:-105.05, Y:-280.94, Z:-9.02 [[-7.01368010e-01 -7.12783335e-01 4.77832154e-03 -1.05046240e+02] [ 7.12766521e-01 -7.01384286e-01 -4.89594975e-03 -2.80939604e+02] [ 6.84119103e-03 -2.80349205e-05 9.99976598e-01 -9.02022208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.130385723 meters 0.013684331490476475 Centerline is valid? [True, True] Translation: X:-105.06, Y:-280.92, Z:-9.02 [[-7.04001098e-01 -7.10178782e-01 5.34338195e-03 -1.05063463e+02] [ 7.10157705e-01 -7.04021374e-01 -5.47176281e-03 -2.80918193e+02] [ 7.64778495e-03 -5.74831633e-05 9.99970754e-01 -9.02132848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.160385723 meters 0.013966623773070907 Centerline is valid? [True, True] Translation: X:-105.08, Y:-280.90, Z:-9.02 [[-7.06605347e-01 -7.07586686e-01 5.47405960e-03 -1.05082269e+02] [ 7.07564511e-01 -7.06626545e-01 -5.60251543e-03 -2.80897374e+02] [ 7.83238115e-03 -8.55170570e-05 9.99969323e-01 -9.02127858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.190385723 meters 0.014215256133721607 Centerline is valid? [True, True] Translation: X:-105.10, Y:-280.88, Z:-9.02 [[-7.07807852e-01 -7.06382507e-01 5.63895871e-03 -1.05101005e+02] [ 7.06358963e-01 -7.07830307e-01 -5.76812060e-03 -2.80876850e+02] [ 8.06592537e-03 -9.95920283e-05 9.99967465e-01 -9.02137868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2203857229999 meters 0.014530252542762306 Centerline is valid? [True, True] Translation: X:-105.12, Y:-280.86, Z:-9.02 [[-7.08890124e-01 -7.05299773e-01 5.19822305e-03 -1.05118969e+02] [ 7.05279756e-01 -7.08909176e-01 -5.31476977e-03 -2.80857152e+02] [ 7.43357393e-03 -1.01386328e-04 9.99972366e-01 -9.02161218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.250385723 meters 0.014547180727344261 Centerline is valid? [True, True] Translation: X:-105.14, Y:-280.84, Z:-9.02 [[-7.08839165e-01 -7.05353699e-01 4.81625311e-03 -1.05138439e+02] [ 7.05336537e-01 -7.08855522e-01 -4.92128204e-03 -2.80838468e+02] [ 6.88527211e-03 -9.13181664e-05 9.99976292e-01 -9.02175890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.280385723 meters 0.01423522648462539 Centerline is valid? [True, True] Translation: X:-105.16, Y:-280.82, Z:-9.02 [[-7.08347968e-01 -7.05851816e-01 4.04601033e-03 -1.05158133e+02] [ 7.05839727e-01 -7.08359520e-01 -4.13171880e-03 -2.80819871e+02] [ 5.78241115e-03 -7.08597927e-05 9.99983279e-01 -9.02103576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.310385723 meters 0.014380834118653454 Centerline is valid? [True, True] Translation: X:-105.18, Y:-280.80, Z:-9.02 [[-7.08193170e-01 -7.06005615e-01 4.30191436e-03 -1.05175786e+02] [ 7.05991968e-01 -7.08206232e-01 -4.39023498e-03 -2.80801011e+02] [ 6.14617310e-03 -7.20174424e-05 9.99981110e-01 -9.02112391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3403857229999 meters 0.014043387145344881 Centerline is valid? [True, True] Translation: X:-105.20, Y:-280.78, Z:-9.02 [[-7.07525855e-01 -7.06673349e-01 4.46559964e-03 -1.05195935e+02] [ 7.06658675e-01 -7.07539945e-01 -4.55451685e-03 -2.80782950e+02] [ 6.37814580e-03 -6.67837081e-05 9.99979657e-01 -9.02161078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.370385723 meters 0.013956875563054682 Centerline is valid? [True, True] Translation: X:-105.21, Y:-280.76, Z:-9.02 [[-7.07095609e-01 -7.07104586e-01 4.34784130e-03 -1.05214764e+02] [ 7.07090697e-01 -7.07108974e-01 -4.43233645e-03 -2.80764409e+02] [ 6.20852303e-03 -5.97675057e-05 9.99980725e-01 -9.02168461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.400385723 meters 0.0135977147499884 Centerline is valid? [True, True] Translation: X:-105.23, Y:-280.75, Z:-9.02 [[-7.06197107e-01 -7.08002970e-01 4.17619145e-03 -1.05234596e+02] [ 7.07990187e-01 -7.06209454e-01 -4.25472149e-03 -2.80745588e+02] [ 5.96162133e-03 -4.79694449e-05 9.99982228e-01 -9.02021125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.430385723 meters 0.013655276547503795 Centerline is valid? [True, True] Translation: X:-105.25, Y:-280.73, Z:-9.02 [[-7.06031126e-01 -7.08167651e-01 4.31599222e-03 -1.05252976e+02] [ 7.08154019e-01 -7.06044316e-01 -4.39430174e-03 -2.80727193e+02] [ 6.15918411e-03 -4.61265662e-05 9.99981031e-01 -9.02002357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.460385723 meters 0.01382479447082606 Centerline is valid? [True, True] Translation: X:-105.27, Y:-280.71, Z:-9.02 [[-7.06273208e-01 -7.07925753e-01 4.39137897e-03 -1.05272082e+02] [ 7.07911654e-01 -7.06286858e-01 -4.46819632e-03 -2.80709237e+02] [ 6.26472450e-03 -4.70589997e-05 9.99980375e-01 -9.02137310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.490385723 meters 0.013748506259605017 Centerline is valid? [True, True] Translation: X:-105.29, Y:-280.69, Z:-9.02 [[-7.07057653e-01 -7.07142399e-01 4.37069384e-03 -1.05291223e+02] [ 7.07128434e-01 -7.07071160e-01 -4.44445166e-03 -2.80689795e+02] [ 6.23325177e-03 -5.18416744e-05 9.99980572e-01 -9.02168034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.520385723 meters 0.014128662070729572 Centerline is valid? [True, True] Translation: X:-105.31, Y:-280.67, Z:-9.02 [[-7.09251915e-01 -7.04936389e-01 5.13891065e-03 -1.05308307e+02] [ 7.04917041e-01 -7.09270527e-01 -5.22353780e-03 -2.80667841e+02] [ 7.32713974e-03 -8.22984995e-05 9.99973153e-01 -9.02131103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.550385723 meters 0.014349607275435043 Centerline is valid? [True, True] Translation: X:-105.33, Y:-280.65, Z:-9.02 [[-7.10625264e-01 -7.03550919e-01 5.27618494e-03 -1.05326900e+02] [ 7.03530507e-01 -7.10644844e-01 -5.36012712e-03 -2.80646094e+02] [ 7.52061599e-03 -9.70846802e-05 9.99971715e-01 -9.02077783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.580385723 meters 0.014963483027166193 Centerline is valid? [True, True] Translation: X:-105.34, Y:-280.62, Z:-9.02 [[-7.12993693e-01 -7.01151530e-01 5.15026438e-03 -1.05343678e+02] [ 7.01132040e-01 -7.13012284e-01 -5.22917223e-03 -2.80624732e+02] [ 7.33864389e-03 -1.17351448e-04 9.99973065e-01 -9.02055592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.610385723 meters 0.015489005491162023 Centerline is valid? [True, True] Translation: X:-105.36, Y:-280.61, Z:-9.02 [[-7.13210914e-01 -7.00931726e-01 4.99071690e-03 -1.05362080e+02] [ 7.00913442e-01 -7.13228366e-01 -5.06396316e-03 -2.80605916e+02] [ 7.10901330e-03 -1.13613231e-04 9.99974724e-01 -9.02098237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.640385723 meters 0.015313113589356027 Centerline is valid? [True, True] Translation: X:-105.38, Y:-280.59, Z:-9.02 [[-7.13276755e-01 -7.00861337e-01 5.44577968e-03 -1.05382839e+02] [ 7.00839591e-01 -7.13297533e-01 -5.52243123e-03 -2.80587772e+02] [ 7.75491975e-03 -1.22403829e-04 9.99969923e-01 -9.02201242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.670385723 meters 0.015200969263163678 Centerline is valid? [True, True] Translation: X:-105.40, Y:-280.57, Z:-9.02 [[-7.13204611e-01 -7.00932265e-01 5.75694068e-03 -1.05402186e+02] [ 7.00907993e-01 -7.13227835e-01 -5.83451444e-03 -2.80569121e+02] [ 8.19560975e-03 -1.26116867e-04 9.99966408e-01 -9.02217347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.700385723 meters 0.015259151210799795 Centerline is valid? [True, True] Translation: X:-105.42, Y:-280.55, Z:-9.02 [[-7.13311286e-01 -7.00824762e-01 5.62694791e-03 -1.05420661e+02] [ 7.00801599e-01 -7.13333469e-01 -5.69923075e-03 -2.80550860e+02] [ 8.00805230e-03 -1.21951522e-04 9.99967928e-01 -9.02176909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.730385723 meters 0.015389599312632177 Centerline is valid? [True, True] Translation: X:-105.44, Y:-280.53, Z:-9.02 [[-7.13554273e-01 -7.00576064e-01 5.78607410e-03 -1.05439677e+02] [ 7.00551592e-01 -7.13577721e-01 -5.85697505e-03 -2.80531129e+02] [ 8.23207009e-03 -1.25826155e-04 9.99966108e-01 -9.02172655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.760385723 meters 0.015580359424479454 Centerline is valid? [True, True] Translation: X:-105.46, Y:-280.51, Z:-9.02 [[-7.13892724e-01 -7.00228689e-01 6.07964959e-03 -1.05458526e+02] [ 7.00201690e-01 -7.13918599e-01 -6.15037750e-03 -2.80512227e+02] [ 8.64704569e-03 -1.33728827e-04 9.99962605e-01 -9.02140125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.790385723 meters 0.015129205936606636 Centerline is valid? [True, True] Translation: X:-105.48, Y:-280.49, Z:-9.02 [[-7.14774213e-01 -6.99330668e-01 5.86872926e-03 -1.05480102e+02] [ 6.99305510e-01 -7.14798292e-01 -5.93341523e-03 -2.80494843e+02] [ 8.34437689e-03 -1.37017486e-04 9.99965176e-01 -9.02163533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.820385723 meters 0.015127117597185326 Centerline is valid? [True, True] Translation: X:-105.50, Y:-280.48, Z:-9.02 [[-7.15241248e-01 -6.98852226e-01 5.96020604e-03 -1.05500071e+02] [ 6.98826292e-01 -7.15266067e-01 -6.02221201e-03 -2.80475545e+02] [ 8.47176940e-03 -1.42185739e-04 9.99964104e-01 -9.02151761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8503857229999 meters 0.015172371400483725 Centerline is valid? [True, True] Translation: X:-105.52, Y:-280.46, Z:-9.02 [[-7.16058639e-01 -6.98017540e-01 5.61596444e-03 -1.05519512e+02] [ 6.97994518e-01 -7.16080647e-01 -5.67091517e-03 -2.80456180e+02] [ 7.97988171e-03 -1.40795405e-04 9.99968150e-01 -9.02139506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.880385723 meters 0.01583188462093642 Centerline is valid? [True, True] Translation: X:-105.54, Y:-280.44, Z:-9.02 [[-7.17656493e-01 -6.96376594e-01 5.36630693e-03 -1.05538366e+02] [ 6.96355550e-01 -7.17676540e-01 -5.41589994e-03 -2.80435252e+02] [ 7.62277855e-03 -1.49898152e-04 9.99970935e-01 -9.02103252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.910385723 meters 0.015877999557650204 Centerline is valid? [True, True] Translation: X:-105.56, Y:-280.41, Z:-9.02 [[-7.19431802e-01 -6.94538851e-01 5.80231394e-03 -1.05557783e+02] [ 6.94514215e-01 -7.19455177e-01 -5.85270176e-03 -2.80414546e+02] [ 8.23943356e-03 -1.80830257e-04 9.99966039e-01 -9.02107820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.940385723 meters 0.017082314604547386 Centerline is valid? [True, True] Translation: X:-105.58, Y:-280.39, Z:-9.02 [[-7.20441091e-01 -6.93490466e-01 5.96719149e-03 -1.05575030e+02] [ 6.93464403e-01 -7.20465776e-01 -6.01550901e-03 -2.80393527e+02] [ 8.47085539e-03 -1.95784987e-04 9.99964103e-01 -9.02215939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9703857229999 meters 0.018250051984627404 Centerline is valid? [True, True] Translation: X:-105.59, Y:-280.37, Z:-9.02 [[-7.22350408e-01 -6.91499976e-01 6.13767906e-03 -1.05592821e+02] [ 6.91472361e-01 -7.22376449e-01 -6.18390327e-03 -2.80373337e+02] [ 8.70988376e-03 -2.22909629e-04 9.99962044e-01 -9.02271347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.000385723 meters 0.018558254254606697 Centerline is valid? [True, True] Translation: X:-105.61, Y:-280.35, Z:-9.02 [[-7.23301912e-01 -6.90507511e-01 5.80703519e-03 -1.05612046e+02] [ 6.90482784e-01 -7.23325189e-01 -5.84770927e-03 -2.80353006e+02] [ 8.23826200e-03 -2.20001466e-04 9.99966041e-01 -9.02218184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.030385723 meters 0.01952705284684405 Centerline is valid? [True, True] Translation: X:-105.63, Y:-280.33, Z:-9.02 [[-7.24781759e-01 -6.88958004e-01 5.31696101e-03 -1.05630706e+02] [ 6.88937255e-01 -7.24801230e-01 -5.35126257e-03 -2.80332753e+02] [ 7.54053506e-03 -2.15444978e-04 9.99971547e-01 -9.02134183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.060385723 meters 0.019536758362997862 Centerline is valid? [True, True] Translation: X:-105.65, Y:-280.31, Z:-9.02 [[-7.25524790e-01 -6.88179362e-01 4.78997284e-03 -1.05650614e+02] [ 6.88162525e-01 -7.25540575e-01 -4.81806283e-03 -2.80313847e+02] [ 6.79101106e-03 -1.99344222e-04 9.99976921e-01 -9.02107851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0903857229999 meters 0.01903868536819274 Centerline is valid? [True, True] Translation: X:-105.67, Y:-280.30, Z:-9.02 [[-7.26237073e-01 -6.87427820e-01 4.76501129e-03 -1.05671413e+02] [ 6.87411159e-01 -7.26252677e-01 -4.79041967e-03 -2.80295124e+02] [ 6.75366995e-03 -2.03458431e-04 9.99977173e-01 -9.02071549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.120385723 meters 0.018475939339141195 Centerline is valid? [True, True] Translation: X:-105.69, Y:-280.28, Z:-9.02 [[-7.26551908e-01 -6.87093916e-01 4.92701770e-03 -1.05691747e+02] [ 6.87076116e-01 -7.26568583e-01 -4.95028876e-03 -2.80276780e+02] [ 6.98112956e-03 -2.11405557e-04 9.99975609e-01 -9.02039369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.150385723 meters 0.017476714387740712 Centerline is valid? [True, True] Translation: X:-105.71, Y:-280.26, Z:-9.02 [[-7.26955525e-01 -6.86668234e-01 4.73301762e-03 -1.05714387e+02] [ 6.86651817e-01 -7.26970903e-01 -4.75272677e-03 -2.80259474e+02] [ 6.70431260e-03 -2.05085834e-04 9.99977505e-01 -9.02003630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.180385723 meters 0.017836488216514793 Centerline is valid? [True, True] Translation: X:-105.73, Y:-280.24, Z:-9.02 [[-7.26878736e-01 -6.86750455e-01 4.59515337e-03 -1.05733803e+02] [ 6.86734999e-01 -7.26893234e-01 -4.61163041e-03 -2.80240419e+02] [ 6.50722518e-03 -1.96443441e-04 9.99978809e-01 -9.02036287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.210385723 meters 0.01871116986948986 Centerline is valid? [True, True] Translation: X:-105.75, Y:-280.22, Z:-9.02 [[-7.26600944e-01 -6.87045414e-01 4.43489140e-03 -1.05752829e+02] [ 6.87031040e-01 -7.26614455e-01 -4.44791839e-03 -2.80222744e+02] [ 6.27837812e-03 -1.84953650e-04 9.99980274e-01 -9.02079536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.240385723 meters 0.01788084490031679 Centerline is valid? [True, True] Translation: X:-105.77, Y:-280.21, Z:-9.02 [[-7.26396828e-01 -6.87261587e-01 4.37718265e-03 -1.05774048e+02] [ 6.87247605e-01 -7.26409994e-01 -4.38737539e-03 -2.80205353e+02] [ 6.19490379e-03 -1.78767269e-04 9.99980796e-01 -9.02102213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.270385723 meters 0.01695246520713976 Centerline is valid? [True, True] Translation: X:-105.80, Y:-280.19, Z:-9.02 [[-7.25919063e-01 -6.87765386e-01 4.50419104e-03 -1.05796084e+02] [ 6.87750607e-01 -7.25933015e-01 -4.51219573e-03 -2.80187861e+02] [ 6.37307302e-03 -1.77728777e-04 9.99979676e-01 -9.02057754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.300385723 meters 0.017814224829523693 Centerline is valid? [True, True] Translation: X:-105.81, Y:-280.17, Z:-9.02 [[-7.25955150e-01 -6.87730098e-01 4.05363379e-03 -1.05814758e+02] [ 6.87718141e-01 -7.25966450e-01 -4.05850166e-03 -2.80168257e+02] [ 5.73395588e-03 -1.58532688e-04 9.99983548e-01 -9.02079959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.330385723 meters 0.016753932795754885 Centerline is valid? [True, True] Translation: X:-105.84, Y:-280.15, Z:-9.02 [[-7.25446709e-01 -6.88271144e-01 3.14719362e-03 -1.05837506e+02] [ 6.88263949e-01 -7.25453526e-01 -3.14935602e-03 -2.80150640e+02] [ 4.45075358e-03 -1.18590057e-04 9.99990088e-01 -9.02011177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.360385723 meters 0.01687703004836337 Centerline is valid? [True, True] Translation: X:-105.86, Y:-280.13, Z:-9.02 [[-7.25100591e-01 -6.88638271e-01 2.54245317e-03 -1.05857872e+02] [ 6.88633582e-01 -7.25105042e-01 -2.54298837e-03 -2.80133403e+02] [ 3.59474473e-03 -9.31037347e-05 9.99993535e-01 -9.02052387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.390385723 meters 0.016331848321997758 Centerline is valid? [True, True] Translation: X:-105.88, Y:-280.11, Z:-9.02 [[-7.25061466e-01 -6.88679958e-01 2.40550343e-03 -1.05879042e+02] [ 6.88675765e-01 -7.25065451e-01 -2.40468410e-03 -2.80114767e+02] [ 3.40020518e-03 -8.69318615e-05 9.99994216e-01 -9.02031499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.420385723 meters 0.016176939586726512 Centerline is valid? [True, True] Translation: X:-106.43, Y:-280.66, Z:-8.05 [[-7.38552245e-01 6.74193491e-01 1.92823902e-03 -1.06426633e+02] [ 6.74191421e-01 7.38554760e-01 -1.67194963e-03 -2.80663203e+02] [-2.55132767e-03 6.51800570e-05 -9.99996743e-01 -8.05002459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.450385723 meters 0.018432790182092602 Centerline is valid? [True, True] Translation: X:-106.41, Y:-280.64, Z:-8.05 [[-7.84211170e-01 6.20490416e-01 2.11761507e-03 -1.06408162e+02] [ 6.20488387e-01 7.84214026e-01 -1.58829817e-03 -2.80644497e+02] [-2.64618723e-03 6.83943954e-05 -9.99996497e-01 -8.04971422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.480385723 meters 0.016456315730796593 Centerline is valid? [True, True] Translation: X:-106.39, Y:-280.62, Z:-8.05 [[-8.25214545e-01 5.64815569e-01 2.08022679e-03 -1.06385715e+02] [ 5.64813981e-01 8.25217164e-01 -1.34134902e-03 -2.80616885e+02] [-2.47425366e-03 6.80404527e-05 -9.99996937e-01 -8.04991925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.510385723 meters 0.017207547972095644 Centerline is valid? [True, True] Translation: X:-106.37, Y:-280.59, Z:-8.05 [[-8.62674359e-01 5.05755987e-01 1.95772950e-03 -1.06365701e+02] [ 5.05754850e-01 8.62676578e-01 -1.07417834e-03 -2.80594837e+02] [-2.23215951e-03 6.34650845e-05 -9.99997507e-01 -8.04928703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.540385723 meters 0.01770032989589187 Centerline is valid? [True, True] Translation: X:-106.36, Y:-280.57, Z:-8.05 [[-8.95883754e-01 4.44283757e-01 2.06002262e-03 -1.06356753e+02] [ 4.44282752e-01 8.95886120e-01 -9.47189078e-04 -2.80565818e+02] [-2.26636639e-03 6.66612105e-05 -9.99997430e-01 -8.04898835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.570385723 meters 0.01718174927808239 Centerline is valid? [True, True] Translation: X:-106.03, Y:-279.88, Z:-9.02 [[-8.92011952e-01 -4.52008148e-01 1.81973855e-03 -1.06032300e+02] [ 4.52007039e-01 -8.92013806e-01 -1.00367956e-03 -2.79875954e+02] [ 2.07690325e-03 -7.27595340e-05 9.99997841e-01 -9.02081499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6003857229999 meters 0.017565183500187154 Centerline is valid? [True, True] Translation: X:-106.40, Y:-280.54, Z:-8.05 [[-8.97705488e-01 4.40589496e-01 2.39864287e-03 -1.06400703e+02] [ 4.40588149e-01 8.97708689e-01 -1.09221570e-03 -2.80542717e+02] [-2.63450131e-03 7.63255979e-05 -9.99996527e-01 -8.04835725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.630385723 meters 0.017358468837600692 Centerline is valid? [True, True] Translation: X:-106.38, Y:-280.52, Z:-8.05 [[-9.26895109e-01 3.75315127e-01 2.00297762e-03 -1.06382993e+02] [ 3.75314392e-01 9.26897271e-01 -7.45603710e-04 -2.80516025e+02] [-2.13639084e-03 6.06498944e-05 -9.99997716e-01 -8.04821886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.660385723 meters 0.017343609095500277 Centerline is valid? [True, True] Translation: X:-106.37, Y:-280.49, Z:-8.05 [[-9.51788726e-01 3.06750963e-01 1.43801240e-03 -1.06371961e+02] [ 3.06750675e-01 9.51789812e-01 -4.21876813e-04 -2.80485018e+02] [-1.49809667e-03 3.95736807e-05 -9.99998877e-01 -8.04815555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.690385723 meters 0.01694423847898237 Centerline is valid? [True, True] Translation: X:-106.36, Y:-280.45, Z:-8.05 [[-9.71420205e-01 2.37363085e-01 1.24584198e-03 -1.06363124e+02] [ 2.37362932e-01 9.71421003e-01 -2.71274790e-04 -2.80454568e+02] [-1.27462769e-03 3.21948950e-05 -9.99999187e-01 -8.04806092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7203857229999 meters 0.016461853969188006 Centerline is valid? [True, True] Translation: X:-106.20, Y:-279.73, Z:-9.02 [[-9.66975794e-01 -2.54861910e-01 1.79445269e-03 -1.06203114e+02] [ 2.54861454e-01 -9.66977459e-01 -4.82393448e-04 -2.79734457e+02] [ 1.85813902e-03 -9.12596710e-06 9.99998274e-01 -9.02257270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.750385723 meters 0.017388185067793906 Centerline is valid? [True, True] Translation: X:-106.42, Y:-280.44, Z:-8.05 [[-9.72446498e-01 2.33113887e-01 2.39251018e-03 -1.06417589e+02] [ 2.33113334e-01 9.72449439e-01 -5.11195867e-04 -2.80440052e+02] [-2.44576204e-03 6.06153943e-05 -9.99997007e-01 -8.04690810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.780385723 meters 0.016450978885935986 Centerline is valid? [True, True] Translation: X:-106.26, Y:-279.73, Z:-9.02 [[-9.68356510e-01 -2.49559422e-01 2.40073860e-03 -1.06256770e+02] [ 2.49558505e-01 -9.68359485e-01 -6.79379447e-04 -2.79726881e+02] [ 2.49432354e-03 -5.87567755e-05 9.99996888e-01 -9.02282386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.810385723 meters 0.01651034266961916 Centerline is valid? [True, True] Translation: X:-106.46, Y:-280.42, Z:-8.05 [[-9.72802462e-01 2.31626110e-01 2.17170848e-03 -1.06464665e+02] [ 2.31625671e-01 9.72804884e-01 -4.54967709e-04 -2.80423685e+02] [-2.21803102e-03 6.04297269e-05 -9.99997538e-01 -8.04604583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8403857229999 meters 0.01720956666588475 Centerline is valid? [True, True] Translation: X:-106.46, Y:-280.39, Z:-8.05 [[-9.86629509e-01 1.62959158e-01 2.55451215e-03 -1.06461973e+02] [ 1.62958802e-01 9.86632813e-01 -3.48166048e-04 -2.80393948e+02] [-2.57710235e-03 7.27693435e-05 -9.99996677e-01 -8.04597872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.870385723 meters 0.017747157291633276 Centerline is valid? [True, True] Translation: X:-106.46, Y:-280.36, Z:-8.05 [[-9.95569832e-01 9.40045656e-02 1.96261743e-03 -1.06459243e+02] [ 9.40044989e-02 9.95571765e-01 -1.26430215e-04 -2.80363383e+02] [-1.96581152e-03 5.86247598e-05 -9.99998066e-01 -8.04565381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.900385723 meters 0.01714533055901699 Centerline is valid? [True, True] Translation: X:-106.46, Y:-280.33, Z:-8.05 [[-9.99708936e-01 2.40316888e-02 2.12617340e-03 -1.06458971e+02] [ 2.40317732e-02 9.99711195e-01 1.41235718e-05 -2.80332006e+02] [-2.12521993e-03 6.52151777e-05 -9.99997740e-01 -8.04633036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.930385723 meters 0.01714533055901699 Centerline is valid? [True, True] Translation: X:-106.47, Y:-280.30, Z:-8.05 [[-9.98881128e-01 -4.72440258e-02 2.11976207e-03 -1.06466657e+02] [-4.72437808e-02 9.98883376e-01 1.65545639e-04 -2.80302845e+02] [-2.12521614e-03 6.52148403e-05 -9.99997740e-01 -8.04633041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.960385723 meters 0.018307884641849636 Centerline is valid? [True, True] Translation: X:-106.48, Y:-280.28, Z:-8.05 [[-9.93083784e-01 -1.17394718e-01 1.75433582e-03 -1.06480080e+02] [-1.17394435e-01 9.93085332e-01 2.64114708e-04 -2.80275464e+02] [-1.77321085e-03 5.63387711e-05 -9.99998426e-01 -8.04670367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.990385723 meters 0.018345352753453857 Centerline is valid? [True, True] Translation: X:-106.51, Y:-280.25, Z:-8.05 [[-9.82475445e-01 -1.86381288e-01 2.00371481e-03 -1.06509934e+02] [-1.86380755e-01 9.82477486e-01 4.51184117e-04 -2.80246645e+02] [-2.05269696e-03 6.98234377e-05 -9.99997891e-01 -8.04640836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.020385723 meters 0.018719303524351354 Centerline is valid? [True, True] Translation: X:-106.56, Y:-280.22, Z:-8.05 [[-9.66782082e-01 -2.55588492e-01 2.63228727e-03 -1.06557259e+02] [-2.55587268e-01 9.66785660e-01 7.97087142e-04 -2.80223654e+02] [-2.74858389e-03 9.78304545e-05 -9.99996218e-01 -8.04541216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.050385723 meters 0.018818251656925813 Centerline is valid? [True, True] Translation: X:-106.62, Y:-280.21, Z:-8.05 [[-9.45498759e-01 -3.25616690e-01 2.42234030e-03 -1.06622139e+02] [-3.25615367e-01 9.45501857e-01 9.32944249e-04 -2.80212538e+02] [-2.59410947e-03 9.33464031e-05 -9.99996631e-01 -8.04528072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.080385723 meters 0.019189545634737317 Centerline is valid? [True, True] Translation: X:-106.69, Y:-280.21, Z:-8.05 [[-9.18382567e-01 -3.95684826e-01 2.64201800e-03 -1.06692562e+02] [-3.95682867e-01 9.18386361e-01 1.24916011e-03 -2.80207895e+02] [-2.92066700e-03 1.01805609e-04 -9.99995730e-01 -8.04551819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.110385723 meters 0.018845519297941364 Centerline is valid? [True, True] Translation: X:-106.78, Y:-280.22, Z:-8.05 [[-8.85950910e-01 -4.63768823e-01 3.07641960e-03 -1.06780156e+02] [-4.63765557e-01 8.85956243e-01 1.74444606e-03 -2.80217657e+02] [-3.53459285e-03 1.18756125e-04 -9.99993746e-01 -8.04533916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.140385723 meters 0.017923900661212383 Centerline is valid? [True, True] Translation: X:-106.86, Y:-280.23, Z:-8.04 [[-8.47208329e-01 -5.31243097e-01 4.33806425e-03 -1.06863650e+02] [-5.31235156e-01 8.47219420e-01 2.90903926e-03 -2.80226370e+02] [-5.22069931e-03 1.60030051e-04 -9.99986359e-01 -8.04377503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.170385723 meters 0.019213991922662686 Centerline is valid? [True, True] Translation: X:-106.95, Y:-280.26, Z:-8.04 [[-8.04245328e-01 -5.94279476e-01 4.62136490e-03 -1.06954509e+02] [-5.94268419e-01 8.04258587e-01 3.62917323e-03 -2.80255120e+02] [-5.87351557e-03 1.72414397e-04 -9.99982736e-01 -8.04274183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.200385723 meters 0.017455174399850903 Centerline is valid? [True, True] Translation: X:-107.05, Y:-280.29, Z:-8.04 [[-7.55931226e-01 -6.54638038e-01 4.12550989e-03 -1.07050085e+02] [-6.54627175e-01 7.55942468e-01 3.77448624e-03 -2.80288321e+02] [-5.58957040e-03 1.52581134e-04 -9.99984367e-01 -8.04313653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.230385723 meters 0.0172498637491441 Centerline is valid? [True, True] Translation: X:-107.14, Y:-280.34, Z:-8.04 [[-7.03851384e-01 -7.10339408e-01 3.33996540e-03 -1.07142534e+02] [-7.10330526e-01 7.03859296e-01 3.55457946e-03 -2.80335906e+02] [-4.87582356e-03 1.29416289e-04 -9.99988105e-01 -8.04401661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.260385723 meters 0.017090063687113372 Centerline is valid? [True, True] Translation: X:-107.24, Y:-280.39, Z:-8.05 [[-6.47070718e-01 -7.62426525e-01 2.29760698e-03 -1.07235487e+02] [-7.62421205e-01 6.47074791e-01 2.84968059e-03 -2.80394311e+02] [-3.65939563e-03 9.22005855e-05 -9.99993300e-01 -8.04569038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.290385723 meters 0.01703187422908144 Centerline is valid? [True, True] Translation: X:-107.32, Y:-280.46, Z:-8.05 [[-5.86167670e-01 -8.10187929e-01 1.72679877e-03 -1.07324021e+02] [-8.10184046e-01 5.86170209e-01 2.50959871e-03 -2.80459385e+02] [-3.04544458e-03 7.20208125e-05 -9.99995360e-01 -8.04629322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.320385723 meters 0.01624377357279982 Centerline is valid? [True, True] Translation: X:-107.41, Y:-280.53, Z:-8.05 [[-5.22095043e-01 -8.52886005e-01 1.49271193e-03 -1.07409513e+02] [-8.52882143e-01 5.22097173e-01 2.56764379e-03 -2.80533678e+02] [-2.96924813e-03 6.74467464e-05 -9.99995590e-01 -8.04647672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3503857229999 meters 0.016891181447299376 Centerline is valid? [True, True] Translation: X:-107.49, Y:-280.62, Z:-8.05 [[-4.54296458e-01 -8.90849217e-01 1.54970478e-03 -1.07489815e+02] [-8.90843454e-01 4.54299094e-01 3.20507998e-03 -2.80620031e+02] [-3.55927247e-03 7.55121239e-05 -9.99993663e-01 -8.04565307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.380385723 meters 0.015995925564442886 Centerline is valid? [True, True] Translation: X:-107.57, Y:-280.71, Z:-8.05 [[-3.84846724e-01 -9.22979401e-01 1.42279272e-03 -1.07565563e+02] [-9.22972293e-01 3.84849346e-01 3.62323781e-03 -2.80714126e+02] [-3.89173471e-03 8.11929391e-05 -9.99992424e-01 -8.04595834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.410385723 meters 0.015993468736067454 Centerline is valid? [True, True] Translation: X:-107.63, Y:-280.81, Z:-8.05 [[-3.14107471e-01 -9.49386844e-01 1.05722621e-03 -1.07629781e+02] [-9.49380596e-01 3.14109241e-01 3.44510414e-03 -2.80810160e+02] [-3.60282107e-03 7.84229014e-05 -9.99993507e-01 -8.04747509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.440385723 meters 0.01613463059382399 Centerline is valid? [True, True] Translation: X:-107.69, Y:-280.91, Z:-8.05 [[-2.41497325e-01 -9.70401196e-01 7.49599681e-04 -1.07687527e+02] [-9.70395476e-01 2.41498476e-01 3.33265161e-03 -2.80914895e+02] [-3.41503628e-03 7.74183080e-05 -9.99994166e-01 -8.04782356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4703857229999 meters 0.0163737869733032 Centerline is valid? [True, True] Translation: X:-107.74, Y:-281.03, Z:-8.05 [[-1.67869327e-01 -9.85809127e-01 5.04537956e-04 -1.07738312e+02] [-9.85803050e-01 1.67870064e-01 3.46239694e-03 -2.81027498e+02] [-3.49795932e-03 8.38551890e-05 -9.99993879e-01 -8.04779452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.500385723 meters 0.01726335076852442 Centerline is valid? [True, True] Translation: X:-107.78, Y:-281.14, Z:-8.05 [[-9.22601231e-02 -9.95734906e-01 2.59840540e-04 -1.07778819e+02] [-9.95727611e-01 9.22604421e-02 3.81262124e-03 -2.81143226e+02] [-3.82033305e-03 9.30225053e-05 -9.99992698e-01 -8.04710853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.530385723 meters 0.01709434234656653 Centerline is valid? [True, True] Translation: X:-107.81, Y:-281.25, Z:-8.05 [[-1.91232589e-02 -9.99817134e-01 -2.25337270e-05 -1.07813827e+02] [-9.99809059e-01 1.91230138e-02 4.01943565e-03 -2.81252657e+02] [-4.01826972e-03 9.93941328e-05 -9.99991922e-01 -8.04701422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.560385723 meters 0.017064757825927406 Centerline is valid? [True, True] Translation: X:-107.84, Y:-281.37, Z:-8.05 [[ 5.73322586e-02 -9.98355098e-01 -3.31332133e-04 -1.07837734e+02] [-9.98347020e-01 -5.73331280e-02 4.01754579e-03 -2.81372328e+02] [-4.02993363e-03 1.00449473e-04 -9.99991875e-01 -8.04713899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5903857229999 meters 0.017512651551647468 Centerline is valid? [True, True] Translation: X:-107.85, Y:-281.50, Z:-8.05 [[ 1.33260496e-01 -9.91080817e-01 -6.73965628e-04 -1.07851651e+02] [-9.91071901e-01 -1.33262157e-01 4.20530194e-03 -2.81496337e+02] [-4.25760820e-03 1.07547772e-04 -9.99990931e-01 -8.04680950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.620385723 meters 0.017366583836172872 Centerline is valid? [True, True] Translation: X:-107.86, Y:-281.62, Z:-8.05 [[ 2.08778889e-01 -9.77962293e-01 -1.06279952e-03 -1.07857335e+02] [-9.77952273e-01 -2.08781562e-01 4.42846526e-03 -2.81619451e+02] [-4.55276499e-03 1.14797152e-04 -9.99989630e-01 -8.04659957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.650385723 meters 0.017293010894923345 Centerline is valid? [True, True] Translation: X:-107.85, Y:-281.74, Z:-8.05 [[ 2.83595392e-01 -9.58942900e-01 -1.47260094e-03 -1.07852592e+02] [-9.58932049e-01 -2.83599191e-01 4.56329710e-03 -2.81744892e+02] [-4.79356979e-03 1.17994203e-04 -9.99988504e-01 -8.04634967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.680385723 meters 0.01730888333240679 Centerline is valid? [True, True] Translation: X:-107.84, Y:-281.86, Z:-8.05 [[ 3.56880881e-01 -9.34148351e-01 -1.70136271e-03 -1.07838907e+02] [-9.34139119e-01 -3.56884921e-01 4.15454657e-03 -2.81864584e+02] [-4.48815352e-03 1.06631222e-04 -9.99989923e-01 -8.04684263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.710385723 meters 0.016941750567529373 Centerline is valid? [True, True] Translation: X:-107.82, Y:-281.98, Z:-8.05 [[ 4.27683629e-01 -9.03926319e-01 -1.98052060e-03 -1.07818369e+02] [-9.03917713e-01 -4.27688202e-01 3.94588193e-03 -2.81981480e+02] [-4.41383183e-03 1.02638541e-04 -9.99990254e-01 -8.04705211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.740385723 meters 0.017223387137397426 Centerline is valid? [True, True] Translation: X:-107.79, Y:-282.10, Z:-8.05 [[ 4.95826592e-01 -8.68418291e-01 -2.37971849e-03 -1.07785764e+02] [-8.68409285e-01 -4.95832292e-01 3.95632721e-03 -2.82100067e+02] [-4.61568819e-03 1.04917396e-04 -9.99989342e-01 -8.04687253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.770385723 meters 0.016482154141594898 Centerline is valid? [True, True] Translation: X:-107.75, Y:-282.21, Z:-8.05 [[ 5.61446736e-01 -8.27507798e-01 -2.89939920e-03 -1.07749144e+02] [-8.27497745e-01 -5.61454212e-01 4.08050786e-03 -2.82210951e+02] [-5.00453197e-03 1.08258478e-04 -9.99987471e-01 -8.04682321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.800385723 meters 0.016666769175575323 Centerline is valid? [True, True] Translation: X:-107.70, Y:-282.32, Z:-8.05 [[ 6.23216319e-01 -7.82043625e-01 -3.03127396e-03 -1.07704176e+02] [-7.82035142e-01 -6.23223683e-01 3.64393887e-03 -2.82315278e+02] [-4.73888088e-03 9.96005894e-05 -9.99988767e-01 -8.04727561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.830385723 meters 0.01651618489561846 Centerline is valid? [True, True] Translation: X:-107.66, Y:-282.41, Z:-8.05 [[ 6.80765747e-01 -7.32495429e-01 -2.90605073e-03 -1.07656194e+02] [-7.32489299e-01 -6.80771944e-01 2.99787416e-03 -2.82412142e+02] [-4.17428692e-03 8.78010270e-05 -9.99991284e-01 -8.04742636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.860385723 meters 0.016361615518344835 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.51, Z:-8.05 [[ 7.34329561e-01 -6.78785841e-01 -3.14305034e-03 -1.07600392e+02] [-6.78780130e-01 -7.34336282e-01 2.78562961e-03 -2.82505696e+02] [-4.19890184e-03 8.78699476e-05 -9.99991181e-01 -8.04774426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.890385723 meters 0.016865649371057955 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.52, Z:-8.05 [[ 7.85158773e-01 -6.19291167e-01 -2.03767006e-03 -1.07604521e+02] [-6.19289257e-01 -7.85161415e-01 1.53917199e-03 -2.82516853e+02] [-2.55309553e-03 5.34127826e-05 -9.99996740e-01 -8.04851674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.920385723 meters 0.01686359439061574 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.53, Z:-8.05 [[ 8.31145469e-01 -5.56052642e-01 -1.63366718e-03 -1.07606394e+02] [-5.56051663e-01 -8.31147074e-01 1.04414114e-03 -2.82528730e+02] [-1.93841514e-03 4.05701796e-05 -9.99998121e-01 -8.04864821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.950385723 meters 0.017258979172699307 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.54, Z:-8.05 [[ 8.71542319e-01 -4.90316670e-01 -1.88385747e-03 -1.07606392e+02] [-4.90315640e-01 -8.71544354e-01 1.00592629e-03 -2.82537813e+02] [-2.13508777e-03 4.69774553e-05 -9.99997720e-01 -8.04855928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.980385723 meters 0.01698302249409708 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.55, Z:-8.05 [[ 9.06744813e-01 -4.21676152e-01 -1.75132528e-03 -1.07607723e+02] [-4.21675459e-01 -9.06746503e-01 7.65787294e-04 -2.82551364e+02] [-1.91092231e-03 4.41172336e-05 -9.99998173e-01 -8.04887545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.010385723 meters 0.01795717728152752 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.56, Z:-8.05 [[ 9.36168045e-01 -3.51548580e-01 -1.72853080e-03 -1.07606947e+02] [-3.51548072e-01 -9.36169639e-01 5.99791211e-04 -2.82560350e+02] [-1.82905381e-03 4.61563048e-05 -9.99998326e-01 -8.04926514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.040385723 meters 0.018156981363449922 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.57, Z:-8.05 [[ 9.60492326e-01 -2.78298889e-01 -2.05432146e-03 -1.07605459e+02] [-2.78298376e-01 -9.60494521e-01 5.37116934e-04 -2.82569810e+02] [-2.12264355e-03 5.58176317e-05 -9.99997746e-01 -8.04921493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.070385723 meters 0.017973362997901976 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.58, Z:-8.05 [[ 9.79265907e-01 -2.02567903e-01 -2.12788003e-03 -1.07603608e+02] [-2.02567552e-01 -9.79268217e-01 3.81671605e-04 -2.82582895e+02] [-2.16107970e-03 5.72814562e-05 -9.99997663e-01 -8.04891887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1003857229999 meters 0.019104727636161424 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.59, Z:-8.05 [[ 9.92200898e-01 -1.24613699e-01 -2.96710327e-03 -1.07604833e+02] [-1.24613374e-01 -9.92205332e-01 2.95000769e-04 -2.82591486e+02] [-2.98073683e-03 7.70407207e-05 -9.99995555e-01 -8.04694084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.130385723 meters 0.018296619662644006 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.60, Z:-8.05 [[ 9.98931694e-01 -4.60552689e-02 -3.79240842e-03 -1.07605518e+02] [-4.60553020e-02 -9.98938889e-01 7.86617461e-05 -2.82603058e+02] [-3.79200704e-03 9.60828036e-05 -9.99992806e-01 -8.04644670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.160385723 meters 0.018290325300715605 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.61, Z:-8.05 [[ 9.99450119e-01 3.28504844e-02 -4.50615745e-03 -1.07605075e+02] [ 3.28496451e-02 -9.99460271e-01 -2.60163336e-04 -2.82612586e+02] [-4.51227184e-03 1.11994604e-04 -9.99989813e-01 -8.04583435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.190385723 meters 0.01797770984363368 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.62, Z:-8.04 [[ 9.93722007e-01 1.11724775e-01 -5.84365742e-03 -1.07604077e+02] [ 1.11722001e-01 -9.93739178e-01 -7.99991034e-04 -2.82623850e+02] [-5.89645015e-03 1.42103596e-04 -9.99982606e-01 -8.04441226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2203857229999 meters 0.01850934895024178 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.63, Z:-8.04 [[ 9.82181424e-01 1.87859959e-01 -5.31854238e-03 -1.07604160e+02] [ 1.87856439e-01 -9.82195814e-01 -1.15841078e-03 -2.82631133e+02] [-5.44146907e-03 1.38647119e-04 -9.99985186e-01 -8.04438933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.250385723 meters 0.019198723614221317 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.64, Z:-8.04 [[ 9.64812884e-01 2.62892104e-01 -4.88257779e-03 -1.07603322e+02] [ 2.62888020e-01 -9.64825229e-01 -1.47178967e-03 -2.82638355e+02] [-5.09775612e-03 1.36430430e-04 -9.99986997e-01 -8.04494233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.280385723 meters 0.018345758496214632 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.65, Z:-8.05 [[ 9.41922941e-01 3.35806570e-01 -3.88855895e-03 -1.07598692e+02] [ 3.35803182e-01 -9.41930960e-01 -1.51312421e-03 -2.82650787e+02] [-4.17087111e-03 1.19455938e-04 -9.99991295e-01 -8.04637009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.310385723 meters 0.018870274355202526 Centerline is valid? [True, True] Translation: X:-107.60, Y:-282.66, Z:-8.05 [[ 9.13004335e-01 4.07935304e-01 -3.44555358e-03 -1.07595588e+02] [ 4.07931933e-01 -9.13010830e-01 -1.66218681e-03 -2.82660994e+02] [-3.82389242e-03 1.12032429e-04 -9.99992683e-01 -8.04654359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3403857229999 meters 0.019199231109452233 Centerline is valid? [True, True] Translation: X:-107.59, Y:-282.67, Z:-8.05 [[ 8.78533926e-01 4.77668999e-01 -3.23550922e-03 -1.07591320e+02] [ 4.77665288e-01 -8.78539877e-01 -1.88628168e-03 -2.82669740e+02] [-3.74354215e-03 1.11672007e-04 -9.99992987e-01 -8.04672137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.370385723 meters 0.019377246334702617 Centerline is valid? [True, True] Translation: X:-107.59, Y:-282.68, Z:-8.05 [[ 8.38579589e-01 5.44770633e-01 -3.03821281e-03 -1.07586040e+02] [ 5.44766573e-01 -8.38585085e-01 -2.10614649e-03 -2.82679181e+02] [-3.69516670e-03 1.11054678e-04 -9.99993167e-01 -8.04615763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.400385723 meters 0.019089696891359708 Centerline is valid? [True, True] Translation: X:-107.58, Y:-282.69, Z:-8.05 [[ 7.93103908e-01 6.09079083e-01 -2.97684828e-03 -1.07579571e+02] [ 6.09074247e-01 -7.93109487e-01 -2.42963024e-03 -2.82688774e+02] [-3.84080357e-03 1.13827613e-04 -9.99992618e-01 -8.04558330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.430385723 meters 0.01961824222169839 Centerline is valid? [True, True] Translation: X:-107.57, Y:-282.70, Z:-8.05 [[ 7.42642690e-01 6.69680995e-01 -3.03307512e-03 -1.07574678e+02] [ 6.69674729e-01 -7.42648874e-01 -2.89964705e-03 -2.82697512e+02] [-4.19434834e-03 1.22227931e-04 -9.99991196e-01 -8.04511390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.460385723 meters 0.019411618546656417 Centerline is valid? [True, True] Translation: X:-107.57, Y:-282.71, Z:-8.04 [[ 6.87005178e-01 7.26645572e-01 -3.17759934e-03 -1.07568554e+02] [ 7.26636891e-01 -6.87012514e-01 -3.55436610e-03 -2.82705004e+02] [-4.76581490e-03 1.32907006e-04 -9.99988635e-01 -8.04425092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.490385723 meters 0.018525626427058614 Centerline is valid? [True, True] Translation: X:-107.56, Y:-282.71, Z:-8.04 [[ 6.26521586e-01 7.79396615e-01 -3.40857694e-03 -1.07559368e+02] [ 7.79383793e-01 -6.26530841e-01 -4.47311006e-03 -2.82713732e+02] [-5.62190542e-03 1.45910383e-04 -9.99984186e-01 -8.04355562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.520385723 meters 0.018092597920151825 Centerline is valid? [True, True] Translation: X:-107.55, Y:-282.72, Z:-8.04 [[ 5.62696939e-01 8.26657783e-01 -3.01076653e-03 -1.07549162e+02] [ 8.26644612e-01 -5.62704977e-01 -4.66850551e-03 -2.82722170e+02] [-5.55342973e-03 1.38119838e-04 -9.99984570e-01 -8.04328462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.550385723 meters 0.01804116574197059 Centerline is valid? [True, True] Translation: X:-107.54, Y:-282.73, Z:-8.04 [[ 4.94963134e-01 8.68910126e-01 -2.58633666e-03 -1.07540974e+02] [ 8.68896887e-01 -4.94969874e-01 -4.79828342e-03 -2.82730321e+02] [-5.44943578e-03 1.27713526e-04 -9.99985144e-01 -8.04325154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.580385723 meters 0.0176315110804866 Centerline is valid? [True, True] Translation: X:-107.53, Y:-282.74, Z:-8.04 [[ 4.22915037e-01 9.06166319e-01 -2.33944885e-03 -1.07533325e+02] [ 9.06150855e-01 -4.22921491e-01 -5.29526961e-03 -2.82736760e+02] [-5.78779817e-03 1.19555566e-04 -9.99983244e-01 -8.04282048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.610385723 meters 0.017407437795408806 Centerline is valid? [True, True] Translation: X:-107.52, Y:-282.74, Z:-8.04 [[ 3.49242352e-01 9.37030470e-01 -1.91792064e-03 -1.07524513e+02] [ 9.37014547e-01 -3.49247600e-01 -5.46380095e-03 -2.82742070e+02] [-5.78957715e-03 1.11071156e-04 -9.99983234e-01 -8.04320044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.640385723 meters 0.017017518888508616 Centerline is valid? [True, True] Translation: X:-107.52, Y:-282.75, Z:-8.04 [[ 2.72858871e-01 9.62053121e-01 -1.35256053e-03 -1.07516768e+02] [ 9.62039603e-01 -2.72862208e-01 -5.10079304e-03 -2.82746709e+02] [-5.27629651e-03 9.05798355e-05 -9.99986076e-01 -8.04324658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.670385723 meters 0.017368919587322597 Centerline is valid? [True, True] Translation: X:-107.50, Y:-282.75, Z:-8.04 [[ 1.96038519e-01 9.80595853e-01 -8.19602484e-04 -1.07504469e+02] [ 9.80585606e-01 -1.96040218e-01 -4.48358369e-03 -2.82751547e+02] [-4.55725863e-03 7.52647081e-05 -9.99989613e-01 -8.04243291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.700385723 meters 0.017072854657591282 Centerline is valid? [True, True] Translation: X:-107.50, Y:-282.76, Z:-8.04 [[ 1.18253435e-01 9.92983335e-01 -4.71598765e-04 -1.07495132e+02] [ 9.92972724e-01 -1.18254352e-01 -4.59103038e-03 -2.82755783e+02] [-4.61458527e-03 7.46204027e-05 -9.99989350e-01 -8.04322392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.730385723 meters 0.01686164646862767 Centerline is valid? [True, True] Translation: X:-107.49, Y:-282.76, Z:-8.04 [[ 4.08918848e-02 9.99163570e-01 -1.15714348e-04 -1.07487190e+02] [ 9.99151908e-01 -4.08919667e-02 -4.82829315e-03 -2.82759023e+02] [-4.82898641e-03 8.18217961e-05 -9.99988337e-01 -8.04379890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.760385723 meters 0.017023587131108523 Centerline is valid? [True, True] Translation: X:-107.48, Y:-282.76, Z:-8.04 [[-3.69700070e-02 9.99316343e-01 2.54269090e-04 -1.07477472e+02] [ 9.99305473e-01 3.69707910e-02 -4.66183791e-03 -2.82761826e+02] [-4.66805134e-03 8.17443129e-05 -9.99989101e-01 -8.04385290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.790385723 meters 0.01716173317340013 Centerline is valid? [True, True] Translation: X:-107.47, Y:-282.76, Z:-8.04 [[-1.14716509e-01 9.93398079e-01 6.15960022e-04 -1.07468413e+02] [ 9.93387397e-01 1.14718133e-01 -4.60762009e-03 -2.82764646e+02] [-4.64786273e-03 8.33168296e-05 -9.99989195e-01 -8.04393819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.820385723 meters 0.01698430958795078 Centerline is valid? [True, True] Translation: X:-107.46, Y:-282.77, Z:-8.04 [[-1.92329610e-01 9.81330000e-01 8.67508003e-04 -1.07459714e+02] [ 9.81321671e-01 1.92331552e-01 -4.04375239e-03 -2.82766831e+02] [-4.13510470e-03 7.35710836e-05 -9.99991448e-01 -8.04436256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8503857229999 meters 0.01698430958795078 Centerline is valid? [True, True] Translation: X:-107.45, Y:-282.77, Z:-8.04 [[-2.68593692e-01 9.63252839e-01 1.18153994e-03 -1.07446960e+02] [ 9.63244688e-01 2.68596281e-01 -3.96338686e-03 -2.82767861e+02] [-4.13510088e-03 7.35713608e-05 -9.99991448e-01 -8.04436259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.880385723 meters 0.016679057519514824 Centerline is valid? [True, True] Translation: X:-107.44, Y:-282.77, Z:-8.04 [[-3.44577777e-01 9.38756467e-01 1.56589328e-03 -1.07436104e+02] [ 9.38747691e-01 3.44581328e-01 -4.05979046e-03 -2.82768070e+02] [-4.35073213e-03 7.10651289e-05 -9.99990533e-01 -8.04473118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.910385723 meters 0.016710533488649006 Centerline is valid? [True, True] Translation: X:-107.43, Y:-282.77, Z:-8.04 [[-4.17827547e-01 9.08524284e-01 1.94096783e-03 -1.07425122e+02] [ 9.08515242e-01 4.17832049e-01 -4.05387207e-03 -2.82768219e+02] [-4.49403978e-03 6.95794361e-05 -9.99989899e-01 -8.04464512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.940385723 meters 0.01644052315565297 Centerline is valid? [True, True] Translation: X:-107.42, Y:-282.77, Z:-8.04 [[-4.89270839e-01 8.72128047e-01 2.59157627e-03 -1.07415408e+02] [ 8.72116572e-01 4.89277697e-01 -4.47432824e-03 -2.82767453e+02] [-5.17018762e-03 7.09982796e-05 -9.99986632e-01 -8.04397331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9703857229999 meters 0.016438573633762506 Centerline is valid? [True, True] Translation: X:-107.40, Y:-282.77, Z:-8.04 [[-5.56279679e-01 8.30989501e-01 3.06064540e-03 -1.07404784e+02] [ 8.30977635e-01 5.56288094e-01 -4.44136209e-03 -2.82765891e+02] [-5.39332586e-03 7.26883991e-05 -9.99985453e-01 -8.04390442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.000385723 meters 0.01678672049780606 Centerline is valid? [True, True] Translation: X:-107.40, Y:-282.77, Z:-8.04 [[-6.19130296e-01 7.85277586e-01 4.09737699e-03 -1.07397040e+02] [ 7.85261366e-01 6.19143848e-01 -5.04810144e-03 -2.82766884e+02] [-6.50102667e-03 9.20793103e-05 -9.99978864e-01 -8.04283728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.030385723 meters 0.016782916732966564 Centerline is valid? [True, True] Translation: X:-107.39, Y:-282.77, Z:-8.04 [[-6.78017595e-01 7.35029816e-01 4.82800952e-03 -1.07388171e+02] [ 7.35012286e-01 6.78034777e-01 -5.07749125e-03 -2.82765292e+02] [-7.00566582e-03 1.06017908e-04 -9.99975455e-01 -8.04235406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.060385723 meters 0.01721894125382524 Centerline is valid? [True, True] Translation: X:-107.38, Y:-282.77, Z:-8.04 [[-7.32489621e-01 6.80755515e-01 5.55735359e-03 -1.07379834e+02] [ 6.80737197e-01 7.32510692e-01 -4.99542703e-03 -2.82765031e+02] [-7.47148542e-03 1.23998857e-04 -9.99972080e-01 -8.04203827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0903857229999 meters 0.01782447294800408 Centerline is valid? [True, True] Translation: X:-107.36, Y:-282.75, Z:-8.04 [[-7.77324445e-01 6.29057933e-01 7.26802994e-03 -1.07358692e+02] [ 6.29032525e-01 7.77358403e-01 -5.65648038e-03 -2.82754127e+02] [-9.20811800e-03 1.74906751e-04 -9.99957589e-01 -8.04222398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.120385723 meters 0.01737444436617085 Centerline is valid? [True, True] Translation: X:-107.34, Y:-282.73, Z:-8.04 [[-8.20123835e-01 5.72142406e-01 7.06841683e-03 -1.07336138e+02] [ 5.72122807e-01 8.20154280e-01 -4.73830015e-03 -2.82734439e+02] [-8.50817476e-03 1.58009589e-04 -9.99963792e-01 -8.04239395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.150385723 meters 0.017910323992382304 Centerline is valid? [True, True] Translation: X:-107.31, Y:-282.72, Z:-8.04 [[-8.58483844e-01 5.12787447e-01 7.38405991e-03 -1.07312801e+02] [ 5.12770035e-01 8.58515585e-01 -4.22862404e-03 -2.82715911e+02] [-8.50771584e-03 1.56119244e-04 -9.99963797e-01 -8.04140618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.180385723 meters 0.01698257079573592 Centerline is valid? [True, True] Translation: X:-106.91, Y:-282.03, Z:-9.03 [[-8.41206844e-01 -5.40661109e-01 7.52401747e-03 -1.06910344e+02] [ 5.40638062e-01 -8.41240482e-01 -4.99378914e-03 -2.82027096e+02] [ 9.02945565e-03 -1.33039380e-04 9.99959225e-01 -9.02759293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.210385723 meters 0.017320644829826336 Centerline is valid? [True, True] Translation: X:-106.93, Y:-282.05, Z:-9.03 [[-8.02154647e-01 -5.97076295e-01 6.91528096e-03 -1.06927707e+02] [ 5.97052700e-01 -8.02184443e-01 -5.30961134e-03 -2.82053514e+02] [ 8.71757387e-03 -1.30342233e-04 9.99961993e-01 -9.02804058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.240385723 meters 0.017025763937394432 Centerline is valid? [True, True] Translation: X:-107.41, Y:-282.69, Z:-8.04 [[-8.26940239e-01 5.62251139e-01 6.59534098e-03 -1.07407172e+02] [ 5.62234261e-01 8.26966533e-01 -4.35775414e-03 -2.82688365e+02] [-7.90427849e-03 1.04524412e-04 -9.99968755e-01 -8.04233778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.270385723 meters 0.01658471172728844 Centerline is valid? [True, True] Translation: X:-106.96, Y:-282.03, Z:-9.03 [[-8.03700351e-01 -5.95007410e-01 5.65049216e-03 -1.06964543e+02] [ 5.94991472e-01 -8.03720202e-01 -4.35728126e-03 -2.82034333e+02] [ 7.13402934e-03 -1.39953833e-04 9.99974543e-01 -9.02574695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.300385723 meters 0.016823154874002752 Centerline is valid? [True, True] Translation: X:-107.45, Y:-282.66, Z:-8.04 [[-8.28079691e-01 5.60581509e-01 5.69185757e-03 -1.07453566e+02] [ 5.60569101e-01 8.28099246e-01 -3.73112705e-03 -2.82656563e+02] [-6.80502380e-03 1.01008943e-04 -9.99976841e-01 -8.04394703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.330385723 meters 0.017109763867648304 Centerline is valid? [True, True] Translation: X:-107.44, Y:-282.63, Z:-8.04 [[-8.65123164e-01 5.01524058e-01 5.96082710e-03 -1.07438121e+02] [ 5.01513019e-01 8.65143692e-01 -3.32925556e-03 -2.82632829e+02] [-6.82667372e-03 1.09216296e-04 -9.99976692e-01 -8.04402509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.360385723 meters 0.017463096614695802 Centerline is valid? [True, True] Translation: X:-107.41, Y:-282.62, Z:-8.04 [[-8.97342539e-01 4.41301726e-01 5.39951789e-03 -1.07407501e+02] [ 4.41294476e-01 8.97358777e-01 -2.53206879e-03 -2.82615929e+02] [-5.96271109e-03 1.10644375e-04 -9.99982217e-01 -8.04459927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.390385723 meters 0.017863511493719623 Centerline is valid? [True, True] Translation: X:-107.07, Y:-281.90, Z:-9.03 [[-8.84115499e-01 -4.67240302e-01 5.12686684e-03 -1.07067083e+02] [ 4.67231689e-01 -8.84130356e-01 -2.83940680e-03 -2.81902850e+02] [ 5.85950390e-03 -1.14928906e-04 9.99982826e-01 -9.02521996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.420385723 meters 0.0179631099306601 Centerline is valid? [True, True] Translation: X:-107.45, Y:-282.60, Z:-8.04 [[-8.97554273e-01 4.40870062e-01 5.46957478e-03 -1.07449964e+02] [ 4.40862763e-01 8.97570928e-01 -2.54029193e-03 -2.82597231e+02] [-6.02926997e-03 1.31281971e-04 -9.99981815e-01 -8.04465830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.450385723 meters 0.01816466828507889 Centerline is valid? [True, True] Translation: X:-107.11, Y:-281.88, Z:-9.03 [[-8.87375266e-01 -4.61014426e-01 5.55311709e-03 -1.07108513e+02] [ 4.61004548e-01 -8.87392633e-01 -3.02029393e-03 -2.81884463e+02] [ 6.32019427e-03 -1.20121894e-04 9.99980020e-01 -9.02566251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.480385723 meters 0.020021585346392607 Centerline is valid? [True, True] Translation: X:-107.49, Y:-282.58, Z:-8.04 [[-8.97274410e-01 4.41435893e-01 5.74325759e-03 -1.07489298e+02] [ 4.41428020e-01 8.97292776e-01 -2.64165861e-03 -2.82583750e+02] [-6.31950647e-03 1.64942148e-04 -9.99980018e-01 -8.04360476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.510385723 meters 0.01974828219803724 Centerline is valid? [True, True] Translation: X:-107.15, Y:-281.87, Z:-9.02 [[-8.91590022e-01 -4.52820306e-01 4.58303051e-03 -1.07147464e+02] [ 4.52813156e-01 -8.91601778e-01 -2.55240932e-03 -2.81866127e+02] [ 5.24202092e-03 -2.00446173e-04 9.99986241e-01 -9.02460864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.540385723 meters 0.01925222314349874 Centerline is valid? [True, True] Translation: X:-107.53, Y:-282.56, Z:-8.05 [[-8.97343604e-01 4.41310911e-01 4.37450485e-03 -1.07530446e+02] [ 4.41306437e-01 8.97354255e-01 -1.99228424e-03 -2.82562561e+02] [-4.80469732e-03 1.42733625e-04 -9.99988447e-01 -8.04573087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.570385723 meters 0.020729580598483698 Centerline is valid? [True, True] Translation: X:-107.52, Y:-282.54, Z:-8.05 [[-9.26393051e-01 3.76531016e-01 4.50661305e-03 -1.07519287e+02] [ 3.76527304e-01 9.26404001e-01 -1.67803089e-03 -2.82538152e+02] [-4.80677504e-03 1.42346709e-04 -9.99988437e-01 -8.04526361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6003857229999 meters 0.019718493519793434 Centerline is valid? [True, True] Translation: X:-107.51, Y:-282.51, Z:-8.05 [[-9.50926035e-01 3.09378178e-01 4.98184289e-03 -1.07509326e+02] [ 3.09374759e-01 9.50939073e-01 -1.46237262e-03 -2.82508033e+02] [-5.18985524e-03 1.50648245e-04 -9.99986521e-01 -8.04542986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.630385723 meters 0.02024416233538658 Centerline is valid? [True, True] Translation: X:-107.28, Y:-281.75, Z:-9.03 [[-9.47077843e-01 -3.20955655e-01 5.57023797e-03 -1.07281232e+02] [ 3.20949332e-01 -9.47094215e-01 -2.01838205e-03 -2.81749985e+02] [ 5.92335129e-03 -1.23800757e-04 9.99982449e-01 -9.02513772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.660385723 meters 0.01889314783113375 Centerline is valid? [True, True] Translation: X:-107.56, Y:-282.49, Z:-8.04 [[-9.53406395e-01 3.01637626e-01 5.56676520e-03 -1.07555998e+02] [ 3.01633358e-01 9.53422636e-01 -1.61100763e-03 -2.82493226e+02] [-5.79342046e-03 1.43177105e-04 -9.99983208e-01 -8.04497891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.690385723 meters 0.01740475105093312 Centerline is valid? [True, True] Translation: X:-107.55, Y:-282.46, Z:-8.04 [[-9.73200418e-01 2.29881167e-01 5.96628057e-03 -1.07547200e+02] [ 2.29877661e-01 9.73218697e-01 -1.27607901e-03 -2.82461108e+02] [-6.09984234e-03 1.29633998e-04 -9.99981387e-01 -8.04484051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7203857229999 meters 0.017541329525005218 Centerline is valid? [True, True] Translation: X:-107.54, Y:-282.43, Z:-8.04 [[-9.87352157e-01 1.58423650e-01 6.13715110e-03 -1.07543781e+02] [ 1.58421346e-01 9.87371223e-01 -8.62878495e-04 -2.82431965e+02] [-6.19634675e-03 1.20290795e-04 -9.99980795e-01 -8.04447458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.750385723 meters 0.01691557375389198 Centerline is valid? [True, True] Translation: X:-107.43, Y:-281.66, Z:-9.03 [[-9.81754325e-01 -1.90079153e-01 5.32555693e-03 -1.07432647e+02] [ 1.90075491e-01 -9.81768757e-01 -1.19019016e-03 -2.81662544e+02] [ 5.45469574e-03 -1.56216492e-04 9.99985111e-01 -9.02541144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.780385723 meters 0.016459008174370987 Centerline is valid? [True, True] Translation: X:-107.61, Y:-282.42, Z:-8.04 [[-9.88803279e-01 1.49129524e-01 5.33487263e-03 -1.07607460e+02] [ 1.49127778e-01 9.88817667e-01 -7.25824694e-04 -2.82421190e+02] [-5.38345820e-03 7.78798644e-05 -9.99985506e-01 -8.04489856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.810385723 meters 0.016187227599205854 Centerline is valid? [True, True] Translation: X:-107.62, Y:-282.39, Z:-8.05 [[-9.97079173e-01 7.61951855e-02 5.23605952e-03 -1.07616117e+02] [ 7.61944700e-02 9.97092919e-01 -3.36287959e-04 -2.82390877e+02] [-5.24646139e-03 6.36530595e-05 -9.99986235e-01 -8.04509908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8403857229999 meters 0.016055071339957084 Centerline is valid? [True, True] Translation: X:-107.55, Y:-281.62, Z:-9.02 [[-9.92736889e-01 -1.20165524e-01 5.80658165e-03 -1.07552200e+02] [ 1.20163287e-01 -9.92753870e-01 -7.33775057e-04 -2.81619677e+02] [ 5.85268087e-03 -3.07076290e-05 9.99982873e-01 -9.02488170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.870385723 meters 0.01594787682925327 Centerline is valid? [True, True] Translation: X:-107.68, Y:-282.39, Z:-8.04 [[-9.97547669e-01 6.97398649e-02 5.91605608e-03 -1.07681138e+02] [ 6.97390023e-02 9.97565210e-01 -3.52224836e-04 -2.82386640e+02] [-5.92621584e-03 6.12187849e-05 -9.99982438e-01 -8.04434910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.900385723 meters 0.015950551155288796 Centerline is valid? [True, True] Translation: X:-107.67, Y:-282.36, Z:-8.04 [[-9.99983105e-01 -3.18828468e-04 5.80408442e-03 -1.07673361e+02] [-3.18475506e-04 9.99999947e-01 6.17368297e-05 -2.82357952e+02] [-5.80410380e-03 5.98873280e-05 -9.99983154e-01 -8.04430135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.930385723 meters 0.016062180703240985 Centerline is valid? [True, True] Translation: X:-107.68, Y:-281.58, Z:-9.02 [[-9.98924041e-01 -4.60286198e-02 5.66806760e-03 -1.07676996e+02] [ 4.60274987e-02 -9.98940119e-01 -3.28156092e-04 -2.81581015e+02] [ 5.67716469e-03 -6.69160357e-05 9.99983883e-01 -9.02458916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.960385723 meters 0.0159741743040547 Centerline is valid? [True, True] Translation: X:-107.77, Y:-282.36, Z:-8.05 [[-9.99966907e-01 -5.44741097e-03 6.04242153e-03 -1.07774260e+02] [-5.44691269e-03 9.99985161e-01 9.89163520e-05 -2.82361134e+02] [-6.04287070e-03 6.60005360e-05 -9.99981740e-01 -8.04554687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.990385723 meters 0.01624705375334672 Centerline is valid? [True, True] Translation: X:-107.77, Y:-281.58, Z:-9.03 [[-9.99196414e-01 -3.94667610e-02 6.99293909e-03 -1.07771037e+02] [ 3.94657004e-02 -9.99220884e-01 -2.89647251e-04 -2.81579256e+02] [ 6.99892222e-03 -1.34332549e-05 9.99975507e-01 -9.02511196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.020385723 meters 0.016345173021018 Centerline is valid? [True, True] Translation: X:-107.87, Y:-282.37, Z:-8.04 [[-9.99918352e-01 -9.99731642e-03 7.95883074e-03 -1.07866645e+02] [-9.99622389e-03 9.99950021e-01 1.77041898e-04 -2.82365112e+02] [-7.96020291e-03 9.74691889e-05 -9.99968312e-01 -8.04419952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.050385723 meters 0.01671455858268605 Centerline is valid? [True, True] Translation: X:-107.87, Y:-282.34, Z:-8.04 [[-9.96811955e-01 -7.93363652e-02 8.46569688e-03 -1.07865786e+02] [-7.93324777e-02 9.96847896e-01 7.94564919e-04 -2.82336777e+02] [-8.50205001e-03 1.20427101e-04 -9.99963850e-01 -8.04343398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.080385723 meters 0.01703884382801356 Centerline is valid? [True, True] Translation: X:-107.88, Y:-282.31, Z:-8.04 [[-9.88757797e-01 -1.49315880e-01 7.92385129e-03 -1.07878493e+02] [-1.49310090e-01 9.88789539e-01 1.32056172e-03 -2.82310056e+02] [-8.03220210e-03 1.22604750e-04 -9.99967734e-01 -8.04335264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.110385723 meters 0.01763877148007074 Centerline is valid? [True, True] Translation: X:-107.91, Y:-282.29, Z:-8.04 [[-9.75818437e-01 -2.18417248e-01 8.50194526e-03 -1.07906966e+02] [-2.18407621e-01 9.75855462e-01 2.05607944e-03 -2.82288691e+02] [-8.74575294e-03 1.49470589e-04 -9.99961744e-01 -8.04410423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.140385723 meters 0.018489566756314968 Centerline is valid? [True, True] Translation: X:-107.96, Y:-282.28, Z:-8.04 [[-9.57532752e-01 -2.88187238e-01 8.89632482e-03 -1.07962417e+02] [-2.88173125e-01 9.57574063e-01 2.85728693e-03 -2.82275839e+02] [-9.34232353e-03 1.72264098e-04 -9.99956345e-01 -8.04376875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.170385723 meters 0.017785871442223614 Centerline is valid? [True, True] Translation: X:-108.03, Y:-282.27, Z:-8.04 [[-9.33811793e-01 -3.57652571e-01 8.95400227e-03 -1.08028822e+02] [-3.57634254e-01 9.33854703e-01 3.62424020e-03 -2.82266182e+02] [-9.65795596e-03 1.82100320e-04 -9.99953344e-01 -8.04451369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.200385723 meters 0.01744319398009883 Centerline is valid? [True, True] Translation: X:-108.11, Y:-282.27, Z:-8.05 [[-9.05001211e-01 -4.25317565e-01 8.81910353e-03 -1.08109978e+02] [-4.25295289e-01 9.05044160e-01 4.35712791e-03 -2.82268882e+02] [-9.83484118e-03 1.92482844e-04 -9.99951618e-01 -8.04517012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.230385723 meters 0.017582868709121645 Centerline is valid? [True, True] Translation: X:-108.19, Y:-282.28, Z:-8.04 [[-8.71329792e-01 -4.90614403e-01 9.04993464e-03 -1.08190089e+02] [-4.90585278e-01 8.71376760e-01 5.35045721e-03 -2.82277901e+02] [-1.05109141e-02 2.22248068e-04 -9.99944734e-01 -8.04483965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.260385723 meters 0.019117306931196655 Centerline is valid? [True, True] Translation: X:-108.28, Y:-282.30, Z:-8.04 [[-8.32885453e-01 -5.53380553e-01 8.47271984e-03 -1.08278696e+02] [-5.53349014e-01 8.32928513e-01 5.91277726e-03 -2.82301815e+02] [-1.03291859e-02 2.36294994e-04 -9.99946625e-01 -8.04381710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.290385723 meters 0.0185700002740741 Centerline is valid? [True, True] Translation: X:-108.37, Y:-282.33, Z:-8.04 [[-7.89128125e-01 -6.14174855e-01 8.12714378e-03 -1.08373711e+02] [-6.14139025e-01 7.89169935e-01 6.63860982e-03 -2.82333951e+02] [-1.04909648e-02 2.47517555e-04 -9.99944938e-01 -8.04488858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.320385723 meters 0.01921233931769645 Centerline is valid? [True, True] Translation: X:-108.47, Y:-282.38, Z:-8.04 [[-7.41156930e-01 -6.71293043e-01 7.21488065e-03 -1.08469752e+02] [-6.71257946e-01 7.41192005e-01 6.86891966e-03 -2.82377248e+02] [-9.95866984e-03 2.47901452e-04 -9.99950381e-01 -8.04449006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3503857229999 meters 0.01853091877158232 Centerline is valid? [True, True] Translation: X:-108.56, Y:-282.43, Z:-8.05 [[-6.88075167e-01 -7.25610064e-01 6.52680223e-03 -1.08564818e+02] [-7.25574011e-01 6.88106079e-01 7.23739231e-03 -2.82429800e+02] [-9.74265699e-03 2.44191858e-04 -9.99952509e-01 -8.04579798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.380385723 meters 0.019191888521344787 Centerline is valid? [True, True] Translation: X:-108.66, Y:-282.49, Z:-8.05 [[-6.31229819e-01 -7.75575156e-01 5.66505031e-03 -1.08658691e+02] [-7.75540487e-01 6.31255194e-01 7.33709129e-03 -2.82494876e+02] [-9.26655816e-03 2.37914932e-04 -9.99957036e-01 -8.04615257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.410385723 meters 0.019681646469953948 Centerline is valid? [True, True] Translation: X:-108.76, Y:-282.59, Z:-8.05 [[-5.70173166e-01 -8.21508881e-01 5.07143290e-03 -1.08758797e+02] [-8.21472615e-01 5.70195670e-01 7.72269024e-03 -2.82585145e+02] [-9.23596769e-03 2.37227497e-04 -9.99957320e-01 -8.04600133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.440385723 meters 0.018403422047912295 Centerline is valid? [True, True] Translation: X:-108.84, Y:-282.65, Z:-8.05 [[-5.05226383e-01 -8.62976167e-01 4.29389343e-03 -1.08836322e+02] [-8.62941123e-01 5.05244579e-01 7.78031544e-03 -2.82650147e+02] [-8.88369317e-03 2.25443407e-04 -9.99960514e-01 -8.04771107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4703857229999 meters 0.018086069682895497 Centerline is valid? [True, True] Translation: X:-108.92, Y:-282.74, Z:-8.05 [[-4.37043402e-01 -8.99432922e-01 3.67212288e-03 -1.08916028e+02] [-8.99396827e-01 4.37058773e-01 8.06077994e-03 -2.82738924e+02] [-8.85506437e-03 2.20215024e-04 -9.99960769e-01 -8.04818948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.500385723 meters 0.017645672757690002 Centerline is valid? [True, True] Translation: X:-108.99, Y:-282.84, Z:-8.05 [[-3.64257067e-01 -9.31294041e-01 2.86333338e-03 -1.08994373e+02] [-9.31261162e-01 3.64268274e-01 7.82769735e-03 -2.82844089e+02] [-8.33290940e-03 1.84782909e-04 -9.99965264e-01 -8.04883384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.530385723 meters 0.017161871780975422 Centerline is valid? [True, True] Translation: X:-109.06, Y:-282.94, Z:-8.05 [[-2.87972746e-01 -9.57636126e-01 2.17912215e-03 -1.09060526e+02] [-9.57604673e-01 2.87980952e-01 7.76281389e-03 -2.82944225e+02] [-8.06149669e-03 1.48741269e-04 -9.99967495e-01 -8.04925774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.560385723 meters 0.016698575456027945 Centerline is valid? [True, True] Translation: X:-109.12, Y:-283.06, Z:-8.05 [[-2.11681111e-01 -9.77337598e-01 1.52516170e-03 -1.09120995e+02] [-9.77307625e-01 2.11686565e-01 7.65537751e-03 -2.83059861e+02] [-7.80474451e-03 1.29946652e-04 -9.99969534e-01 -8.04920193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5903857229999 meters 0.016217727059814127 Centerline is valid? [True, True] Translation: X:-109.17, Y:-283.17, Z:-8.05 [[-1.32025141e-01 -9.91245940e-01 9.21182104e-04 -1.09172584e+02] [-9.91216305e-01 1.32028318e-01 7.66555970e-03 -2.83173739e+02] [-7.72007705e-03 9.89558798e-05 -9.99970195e-01 -8.04862826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.620385723 meters 0.016045908054050845 Centerline is valid? [True, True] Translation: X:-109.21, Y:-283.29, Z:-8.05 [[-5.34935119e-02 -9.98568142e-01 3.32295793e-04 -1.09213056e+02] [-9.98537633e-01 5.34944752e-02 7.80613980e-03 -2.83294535e+02] [-7.81273850e-03 8.57679777e-05 -9.99969477e-01 -8.04891695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.650385723 meters 0.01578245129512688 Centerline is valid? [True, True] Translation: X:-109.24, Y:-283.42, Z:-8.05 [[ 2.55634757e-02 -9.99673170e-01 -2.50431749e-04 -1.09244754e+02] [-9.99646857e-01 -2.55646199e-02 7.25342735e-03 -2.83420397e+02] [-7.25745890e-03 6.49204969e-05 -9.99973662e-01 -8.04934484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.680385723 meters 0.015833535198897276 Centerline is valid? [True, True] Translation: X:-109.26, Y:-283.54, Z:-8.05 [[ 1.02936970e-01 -9.94687582e-01 -7.70783861e-04 -1.09264782e+02] [-9.94663800e-01 -1.02939839e-01 6.87850874e-03 -2.83543424e+02] [-6.92131160e-03 5.86179560e-05 -9.99976046e-01 -8.04938956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.710385723 meters 0.01569264281890092 Centerline is valid? [True, True] Translation: X:-109.28, Y:-283.67, Z:-8.05 [[ 1.79489707e-01 -9.83759105e-01 -1.21210913e-03 -1.09275173e+02] [-9.83738632e-01 -1.79493792e-01 6.34693650e-03 -2.83670114e+02] [-6.46142263e-03 5.31888090e-05 -9.99979123e-01 -8.05078129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.740385723 meters 0.01569264281890092 Centerline is valid? [True, True] Translation: X:-109.28, Y:-283.79, Z:-8.05 [[ 2.54541929e-01 -9.67060251e-01 -1.69617464e-03 -1.09276509e+02] [-9.67040152e-01 -2.54547575e-01 6.23504174e-03 -2.83794209e+02] [-6.46141817e-03 5.31894257e-05 -9.99979124e-01 -8.05078151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.770385723 meters 0.015782705457262958 Centerline is valid? [True, True] Translation: X:-109.27, Y:-283.92, Z:-8.05 [[ 3.27133814e-01 -9.44976069e-01 -1.92286895e-03 -1.09267363e+02] [-9.44960691e-01 -3.27139461e-01 5.39121107e-03 -2.83919249e+02] [-5.72361176e-03 5.33881283e-05 -9.99983619e-01 -8.05115780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.800385723 meters 0.016036136817208887 Centerline is valid? [True, True] Translation: X:-109.25, Y:-284.05, Z:-8.05 [[ 3.96642923e-01 -9.17970056e-01 -2.31666100e-03 -1.09245099e+02] [-9.17955365e-01 -3.96649683e-01 5.19400092e-03 -2.84049812e+02] [-5.68684017e-03 6.64276841e-05 -9.99983828e-01 -8.05080290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.830385723 meters 0.01644327591322136 Centerline is valid? [True, True] Translation: X:-109.22, Y:-284.16, Z:-8.05 [[ 4.63351272e-01 -8.86168424e-01 -3.33513111e-03 -1.09221445e+02] [-8.86147045e-01 -4.63363263e-01 6.15637339e-03 -2.84156808e+02] [-7.00096094e-03 1.02853138e-04 -9.99975488e-01 -8.05023033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.860385723 meters 0.016780749805175122 Centerline is valid? [True, True] Translation: X:-109.18, Y:-284.28, Z:-8.05 [[ 5.28988902e-01 -8.48618834e-01 -4.10065767e-03 -1.09182383e+02] [-8.48595075e-01 -5.29004782e-01 6.35135082e-03 -2.84277459e+02] [-7.55914345e-03 1.20003806e-04 -9.99971422e-01 -8.04968903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.890385723 meters 0.017125249403243472 Centerline is valid? [True, True] Translation: X:-109.14, Y:-284.38, Z:-8.05 [[ 5.91442026e-01 -8.06332683e-01 -4.89235636e-03 -1.09143189e+02] [-8.06307013e-01 -5.91462244e-01 6.43548138e-03 -2.84382565e+02] [-8.08278303e-03 1.38527095e-04 -9.99967324e-01 -8.04915721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.920385723 meters 0.016699160334920325 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.49, Z:-8.05 [[ 6.49814861e-01 -7.60072211e-01 -5.55695559e-03 -1.09094080e+02] [-7.60046504e-01 -6.49838602e-01 6.25328076e-03 -2.84489499e+02] [-8.36406919e-03 1.60069897e-04 -9.99965008e-01 -8.04934010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.950385723 meters 0.017168397196588848 Centerline is valid? [True, True] Translation: X:-109.04, Y:-284.58, Z:-8.05 [[ 7.05448731e-01 -7.08736485e-01 -5.88919127e-03 -1.09040583e+02] [-7.08713687e-01 -7.05473294e-01 5.68700042e-03 -2.84584765e+02] [-8.18525185e-03 1.61863226e-04 -9.99966487e-01 -8.04918082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.980385723 meters 0.01707068338013788 Centerline is valid? [True, True] Translation: X:-109.05, Y:-284.59, Z:-8.05 [[ 7.58835960e-01 -6.51255144e-01 -5.89257479e-03 -1.09045330e+02] [-6.51237022e-01 -7.58858824e-01 4.86069934e-03 -2.84592014e+02] [-7.63718783e-03 1.48989409e-04 -9.99970825e-01 -8.05067950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.010385723 meters 0.016815380161681263 Centerline is valid? [True, True] Translation: X:-109.05, Y:-284.60, Z:-8.05 [[ 8.08296355e-01 -5.88744516e-01 -6.07438976e-03 -1.09050948e+02] [-5.88729126e-01 -8.08319168e-01 4.25907009e-03 -2.84601890e+02] [-7.41754983e-03 1.33579347e-04 -9.99972481e-01 -8.05133828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.040385723 meters 0.016513715908256118 Centerline is valid? [True, True] Translation: X:-109.06, Y:-284.61, Z:-8.05 [[ 8.52215116e-01 -5.23155749e-01 -6.12036410e-03 -1.09056137e+02] [-5.23143289e-01 -8.52237084e-01 3.61274227e-03 -2.84612478e+02] [-7.10602815e-03 1.22993831e-04 -9.99974744e-01 -8.05100553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.070385723 meters 0.016199739285476016 Centerline is valid? [True, True] Translation: X:-109.06, Y:-284.62, Z:-8.05 [[ 8.91334091e-01 -4.53312472e-01 -5.59828622e-03 -1.09061349e+02] [-4.53304209e-01 -8.91351666e-01 2.73877364e-03 -2.84623865e+02] [-6.23156200e-03 9.65643933e-05 -9.99980579e-01 -8.05119924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1003857229999 meters 0.016222315251072504 Centerline is valid? [True, True] Translation: X:-109.06, Y:-284.63, Z:-8.05 [[ 9.24293301e-01 -3.81644979e-01 -5.38554632e-03 -1.09064748e+02] [-3.81639042e-01 -9.24308987e-01 2.13055257e-03 -2.84634675e+02] [-5.79102355e-03 8.60792734e-05 -9.99983228e-01 -8.05126893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.130385723 meters 0.01636997610073178 Centerline is valid? [True, True] Translation: X:-109.07, Y:-284.64, Z:-8.05 [[ 9.51386086e-01 -3.07948780e-01 -5.66244625e-03 -1.09067447e+02] [-3.07943865e-01 -9.51402933e-01 1.74200943e-03 -2.84644795e+02] [-5.92371766e-03 8.63920500e-05 -9.99982451e-01 -8.05122929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.160385723 meters 0.01676563509074062 Centerline is valid? [True, True] Translation: X:-109.07, Y:-284.66, Z:-8.05 [[ 9.72195874e-01 -2.34065392e-01 -6.96957670e-03 -1.09069659e+02] [-2.34060223e-01 -9.72220849e-01 1.55987261e-03 -2.84658338e+02] [-7.14107997e-03 1.14798956e-04 -9.99974496e-01 -8.05132826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.190385723 meters 0.017185072197623188 Centerline is valid? [True, True] Translation: X:-109.08, Y:-284.67, Z:-8.05 [[ 9.87375081e-01 -1.58228575e-01 -7.35990167e-03 -1.09075448e+02] [-1.58225138e-01 -9.87402502e-01 1.05067051e-03 -2.84669374e+02] [-7.43343143e-03 1.27115576e-04 -9.99972364e-01 -8.05140382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2203857229999 meters 0.017783296754454867 Centerline is valid? [True, True] Translation: X:-109.08, Y:-284.68, Z:-8.05 [[ 9.96647415e-01 -8.13929170e-02 -8.31408729e-03 -1.09080251e+02] [-8.13913438e-02 -9.96682081e-01 5.27971181e-04 -2.84679730e+02] [-8.32947493e-03 1.50493624e-04 -9.99965298e-01 -8.05100342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.250385723 meters 0.018255328750390366 Centerline is valid? [True, True] Translation: X:-109.08, Y:-284.69, Z:-8.05 [[ 9.99955306e-01 -5.15664209e-03 -7.92431222e-03 -1.09083563e+02] [-5.15774150e-03 -9.99986692e-01 -1.18309088e-04 -2.84690793e+02] [-7.92359668e-03 1.59175354e-04 -9.99968595e-01 -8.05112084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.280385723 meters 0.018715539675855205 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.70, Z:-8.05 [[ 9.97373382e-01 7.20222989e-02 -7.68934362e-03 -1.09087538e+02] [ 7.20188912e-02 -9.97403009e-01 -7.19501599e-04 -2.84701453e+02] [-7.72119462e-03 1.63833741e-04 -9.99970178e-01 -8.05137623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.310385723 meters 0.019187216981821877 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.71, Z:-8.05 [[ 9.88907024e-01 1.48328419e-01 -7.84717870e-03 -1.09089083e+02] [ 1.48322291e-01 -9.88938141e-01 -1.36041544e-03 -2.84713244e+02] [-7.96216258e-03 1.81412856e-04 -9.99968285e-01 -8.05193175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3403857229999 meters 0.019458763722186256 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.72, Z:-8.05 [[ 9.74459974e-01 2.24424919e-01 -7.82399193e-03 -1.09090900e+02] [ 2.24416109e-01 -9.74491364e-01 -1.99771806e-03 -2.84723672e+02] [-8.07275028e-03 1.90866468e-04 -9.99967397e-01 -8.05174266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.370385723 meters 0.019305424385848764 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.74, Z:-8.05 [[ 9.54415671e-01 2.98364061e-01 -8.34352766e-03 -1.09089618e+02] [ 2.98350603e-01 -9.54452114e-01 -2.84262577e-03 -2.84738726e+02] [-8.81163498e-03 2.23750075e-04 -9.99961152e-01 -8.05170028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.400385723 meters 0.020129384649039895 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.75, Z:-8.05 [[ 9.28410350e-01 3.71469136e-01 -8.05622903e-03 -1.09089227e+02] [ 3.71453002e-01 -9.28445275e-01 -3.46975940e-03 -2.84750160e+02] [-8.76867631e-03 2.28850084e-04 -9.99961528e-01 -8.05147396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.430385723 meters 0.02055382707429817 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.76, Z:-8.05 [[ 8.96729055e-01 4.42518096e-01 -7.39845251e-03 -1.09087828e+02] [ 4.42500975e-01 -8.96759547e-01 -3.89895437e-03 -2.84761609e+02] [-8.35999078e-03 2.22483214e-04 -9.99965030e-01 -8.05161508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.460385723 meters 0.019797390080335545 Centerline is valid? [True, True] Translation: X:-109.08, Y:-284.78, Z:-8.05 [[ 8.59336752e-01 5.11363393e-01 -6.91567837e-03 -1.09082065e+02] [ 5.11344781e-01 -8.59364552e-01 -4.36823510e-03 -2.84777080e+02] [-8.17684437e-03 2.17488919e-04 -9.99966546e-01 -8.05209054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.490385723 meters 0.01978821990626659 Centerline is valid? [True, True] Translation: X:-109.08, Y:-284.79, Z:-8.05 [[ 8.16678273e-01 5.77057316e-01 -6.43840130e-03 -1.09076910e+02] [ 5.77037303e-01 -8.16703623e-01 -4.81071032e-03 -2.84788094e+02] [-8.03432126e-03 2.13604875e-04 -9.99967702e-01 -8.05210357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.520385723 meters 0.01969997639655013 Centerline is valid? [True, True] Translation: X:-109.07, Y:-284.80, Z:-8.05 [[ 7.69224649e-01 6.38959613e-01 -4.90440285e-03 -1.09069748e+02] [ 6.38945152e-01 -7.69240263e-01 -4.30235713e-03 -2.84799839e+02] [-6.52169658e-03 1.75834728e-04 -9.99978718e-01 -8.05331466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.550385723 meters 0.019800822576372536 Centerline is valid? [True, True] Translation: X:-109.06, Y:-284.81, Z:-8.05 [[ 7.16925423e-01 6.97139188e-01 -3.85887465e-03 -1.09063698e+02] [ 6.97127950e-01 -7.16935792e-01 -3.96114342e-03 -2.84809553e+02] [-5.52803366e-03 1.49715047e-04 -9.99984709e-01 -8.05419850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.580385723 meters 0.020372072259365454 Centerline is valid? [True, True] Translation: X:-109.06, Y:-284.82, Z:-8.05 [[ 6.59962433e-01 7.51291850e-01 -3.18493217e-03 -1.09056766e+02] [ 7.51282108e-01 -6.59970104e-01 -3.82829326e-03 -2.84820640e+02] [-4.97812554e-03 1.33747185e-04 -9.99987600e-01 -8.05461471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.610385723 meters 0.01923676833439978 Centerline is valid? [True, True] Translation: X:-109.04, Y:-284.83, Z:-8.06 [[ 5.98778047e-01 8.00910738e-01 -2.61528615e-03 -1.09044782e+02] [ 8.00902208e-01 -5.98783746e-01 -3.69836317e-03 -2.84831647e+02] [-4.52804962e-03 1.19910222e-04 -9.99989741e-01 -8.05518308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.640385723 meters 0.019086060568366175 Centerline is valid? [True, True] Translation: X:-109.03, Y:-284.84, Z:-8.06 [[ 5.32973273e-01 8.46130263e-01 -1.75192396e-03 -1.09031296e+02] [ 8.46125153e-01 -5.32976145e-01 -2.94172557e-03 -2.84842060e+02] [-3.42281671e-03 8.55141761e-05 -9.99994139e-01 -8.05530225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.670385723 meters 0.019160856508884425 Centerline is valid? [True, True] Translation: X:-109.02, Y:-284.85, Z:-8.06 [[ 4.64563844e-01 8.85538864e-01 -1.16404726e-03 -1.09021791e+02] [ 8.85535730e-01 -4.64565297e-01 -2.35686930e-03 -2.84849584e+02] [-2.62787532e-03 6.41108253e-05 -9.99996545e-01 -8.05571192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.700385723 meters 0.018344631452743506 Centerline is valid? [True, True] Translation: X:-109.01, Y:-284.86, Z:-8.06 [[ 3.92004049e-01 9.19963274e-01 -6.33403185e-04 -1.09006055e+02] [ 9.19961911e-01 -3.92004559e-01 -1.58391495e-03 -2.84857200e+02] [-1.70544051e-03 3.81942667e-05 -9.99998545e-01 -8.05643067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.730385723 meters 0.017593058130829446 Centerline is valid? [True, True] Translation: X:-108.99, Y:-284.86, Z:-8.06 [[ 3.16652447e-01 9.48541500e-01 -5.00701591e-04 -1.08988999e+02] [ 9.48540139e-01 -3.16652841e-01 -1.60710482e-03 -2.84863364e+02] [-1.68295420e-03 3.39581171e-05 -9.99998583e-01 -8.05653756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.760385723 meters 0.01748310243756873 Centerline is valid? [True, True] Translation: X:-108.98, Y:-284.87, Z:-8.06 [[ 2.40705833e-01 9.70598031e-01 -4.06196511e-04 -1.08975472e+02] [ 9.70596388e-01 -2.40706173e-01 -1.78614872e-03 -2.84867541e+02] [-1.83140644e-03 3.56835481e-05 -9.99998322e-01 -8.05631112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.790385723 meters 0.017320702643845994 Centerline is valid? [True, True] Translation: X:-108.96, Y:-284.87, Z:-8.06 [[ 1.63491371e-01 9.86544684e-01 -3.98654979e-04 -1.08957157e+02] [ 9.86540917e-01 -1.63491849e-01 -2.72660266e-03 -2.84870806e+02] [-2.75509219e-03 5.24865577e-05 -9.99996203e-01 -8.05507536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.820385723 meters 0.01732375191285815 Centerline is valid? [True, True] Translation: X:-108.94, Y:-284.87, Z:-8.05 [[ 8.58931752e-02 9.96304332e-01 -2.02779361e-04 -1.08942743e+02] [ 9.96299722e-01 -8.58933947e-02 -3.03137068e-03 -2.84872030e+02] [-3.03758515e-03 5.83450322e-05 -9.99995385e-01 -8.05427195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8503857229999 meters 0.018263484454598435 Centerline is valid? [True, True] Translation: X:-108.93, Y:-284.87, Z:-8.05 [[ 8.89851601e-03 9.99960406e-01 4.50391186e-05 -1.08929910e+02] [ 9.99952850e-01 -8.89827364e-03 -3.88816121e-03 -2.84873086e+02] [-3.88760649e-03 7.96358597e-05 -9.99992440e-01 -8.05326039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.880385723 meters 0.017787930509661935 Centerline is valid? [True, True] Translation: X:-108.92, Y:-284.87, Z:-8.05 [[-6.86268744e-02 9.97642336e-01 3.49908760e-04 -1.08915496e+02] [ 9.97634797e-01 6.86277165e-02 -3.87930944e-03 -2.84871429e+02] [-3.89417677e-03 8.28562722e-05 -9.99992414e-01 -8.05324362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.910385723 meters 0.01839536926584607 Centerline is valid? [True, True] Translation: X:-108.90, Y:-284.87, Z:-8.05 [[-1.43989604e-01 9.89578914e-01 7.52488133e-04 -1.08900901e+02] [ 9.89569017e-01 1.43991530e-01 -4.42723630e-03 -2.84868939e+02] [-4.48945161e-03 1.07162940e-04 -9.99989917e-01 -8.05280501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.940385723 meters 0.018604570650789052 Centerline is valid? [True, True] Translation: X:-108.89, Y:-284.87, Z:-8.05 [[-2.19696543e-01 9.75567608e-01 1.12727593e-03 -1.08888307e+02] [ 9.75557352e-01 2.19699404e-01 -4.47490740e-03 -2.84865184e+02] [-4.61323656e-03 1.16600631e-04 -9.99989352e-01 -8.05258535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9703857229999 meters 0.019244455543685812 Centerline is valid? [True, True] Translation: X:-108.87, Y:-284.86, Z:-8.05 [[-2.92121774e-01 9.56379766e-01 1.61623408e-03 -1.08873357e+02] [ 9.56367763e-01 2.92126209e-01 -4.79372181e-03 -2.84859770e+02] [-5.05676288e-03 1.45363647e-04 -9.99987204e-01 -8.05169044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.000385723 meters 0.020749015476293712 Centerline is valid? [True, True] Translation: X:-108.86, Y:-284.86, Z:-8.05 [[-3.64452166e-01 9.31220103e-01 1.93353820e-03 -1.08862906e+02] [ 9.31209106e-01 3.64457264e-01 -4.52807243e-03 -2.84855136e+02] [-4.92132412e-03 1.50262570e-04 -9.99987879e-01 -8.05093417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.030385723 meters 0.021637451159650198 Centerline is valid? [True, True] Translation: X:-108.85, Y:-284.85, Z:-8.05 [[-4.33133207e-01 9.01326253e-01 2.57129934e-03 -1.08851825e+02] [ 9.01312871e-01 4.33140798e-01 -4.91517052e-03 -2.84848216e+02] [-5.54390687e-03 1.88621624e-04 -9.99984615e-01 -8.05027407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.060385723 meters 0.019853108095080042 Centerline is valid? [True, True] Translation: X:-108.83, Y:-284.84, Z:-8.05 [[-5.00180203e-01 8.65916893e-01 2.77470647e-03 -1.08833681e+02] [ 8.65905623e-01 5.00187863e-01 -4.42206253e-03 -2.84835233e+02] [-5.21701314e-03 1.90805804e-04 -9.99986373e-01 -8.05095551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0903857229999 meters 0.020610623339741264 Centerline is valid? [True, True] Translation: X:-108.82, Y:-284.82, Z:-8.05 [[-5.65879318e-01 8.24483561e-01 2.73058278e-03 -1.08822074e+02] [ 8.24475378e-01 5.65885880e-01 -3.67721595e-03 -2.84824818e+02] [-4.57700234e-03 1.70437816e-04 -9.99989511e-01 -8.05113918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.120385723 meters 0.020609640793983607 Centerline is valid? [True, True] Translation: X:-108.81, Y:-284.81, Z:-8.05 [[-6.29069007e-01 7.77342693e-01 3.24394835e-03 -1.08808739e+02] [ 7.77333812e-01 6.29077345e-01 -3.72022711e-03 -2.84809917e+02] [-4.93258577e-03 1.81351159e-04 -9.99987818e-01 -8.05016001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.150385723 meters 0.020459324434792286 Centerline is valid? [True, True] Translation: X:-108.80, Y:-284.80, Z:-8.05 [[-6.88909879e-01 7.24835731e-01 4.04244140e-03 -1.08799296e+02] [ 7.24824932e-01 6.88921710e-01 -3.96175701e-03 -2.84795826e+02] [-5.65654868e-03 2.00768777e-04 -9.99983982e-01 -8.04898922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.180385723 meters 0.02010655628188537 Centerline is valid? [True, True] Translation: X:-108.78, Y:-284.77, Z:-8.05 [[-7.41127829e-01 6.71344713e-01 5.08104074e-03 -1.08777157e+02] [ 6.71330857e-01 7.41145216e-01 -4.31841082e-03 -2.84768151e+02] [-6.66493131e-03 2.10565001e-04 -9.99977767e-01 -8.04790333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.210385723 meters 0.019217206396345353 Centerline is valid? [True, True] Translation: X:-108.76, Y:-284.74, Z:-8.05 [[-7.88429397e-01 6.15100134e-01 5.55985869e-03 -1.08764534e+02] [ 6.15086609e-01 7.88448975e-01 -4.08393692e-03 -2.84735598e+02] [-6.89569503e-03 1.99898707e-04 -9.99976205e-01 -8.04780479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.240385723 meters 0.018189710270522765 Centerline is valid? [True, True] Translation: X:-108.75, Y:-284.70, Z:-8.05 [[-8.32587529e-01 5.53858121e-01 6.26013089e-03 -1.08749854e+02] [ 5.53844081e-01 8.32611044e-01 -3.94771372e-03 -2.84702947e+02] [-7.39872742e-03 1.80319224e-04 -9.99972613e-01 -8.04704123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.270385723 meters 0.018292754277355407 Centerline is valid? [True, True] Translation: X:-108.74, Y:-284.67, Z:-8.05 [[-8.70824499e-01 4.91543734e-01 7.03210082e-03 -1.08742654e+02] [ 4.91529335e-01 8.70852873e-01 -3.76646795e-03 -2.84671627e+02] [-7.97530893e-03 1.76551274e-04 -9.99968181e-01 -8.04624748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.300385723 meters 0.017584889653652645 Centerline is valid? [True, True] Translation: X:-108.74, Y:-284.64, Z:-8.05 [[-9.04591556e-01 4.26200782e-01 8.18603246e-03 -1.08735510e+02] [ 4.26185072e-01 9.04628578e-01 -3.66353474e-03 -2.84636043e+02] [-8.96672027e-03 1.74762236e-04 -9.99959783e-01 -8.04582193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.330385723 meters 0.016367255216350383 Centerline is valid? [True, True] Translation: X:-108.73, Y:-284.60, Z:-8.05 [[-9.32874100e-01 3.60140948e-01 6.66425988e-03 -1.08733181e+02] [ 3.60132765e-01 9.32897894e-01 -2.43122841e-03 -2.84603307e+02] [-7.09265891e-03 1.31988327e-04 -9.99974838e-01 -8.04714949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.360385723 meters 0.01716254989829397 Centerline is valid? [True, True] Translation: X:-108.56, Y:-284.12, Z:-9.02 [[-9.21755378e-01 -3.87722272e-01 6.20181896e-03 -1.08558598e+02] [ 3.87712430e-01 -9.21776230e-01 -2.76641698e-03 -2.84117499e+02] [ 6.78929078e-03 -1.45437431e-04 9.99976942e-01 -9.02302713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.390385723 meters 0.018060483036295424 Centerline is valid? [True, True] Translation: X:-108.78, Y:-284.59, Z:-8.05 [[-9.34103064e-01 3.56957668e-01 5.71742615e-03 -1.08778187e+02] [ 3.56951734e-01 9.34120554e-01 -2.06145879e-03 -2.84588580e+02] [-6.07661881e-03 1.15230205e-04 -9.99981531e-01 -8.04661634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.420385723 meters 0.0174781719693849 Centerline is valid? [True, True] Translation: X:-108.61, Y:-284.10, Z:-9.02 [[-9.23074449e-01 -3.84585328e-01 5.26194952e-03 -1.08605839e+02] [ 3.84578275e-01 -9.23089437e-01 -2.33266950e-03 -2.84097079e+02] [ 5.75436048e-03 -1.29596145e-04 9.99983435e-01 -9.02232936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.450385723 meters 0.016616646328740783 Centerline is valid? [True, True] Translation: X:-108.83, Y:-284.57, Z:-8.05 [[-9.35306968e-01 3.53808255e-01 4.53807372e-03 -1.08825690e+02] [ 3.53804571e-01 9.35317973e-01 -1.61714334e-03 -2.84574416e+02] [-4.81670057e-03 9.30657916e-05 -9.99988395e-01 -8.04765099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.480385723 meters 0.016713401364821114 Centerline is valid? [True, True] Translation: X:-108.65, Y:-284.08, Z:-9.02 [[-9.25006570e-01 -3.79927752e-01 4.21290711e-03 -1.08649768e+02] [ 3.79923304e-01 -9.25016158e-01 -1.84129311e-03 -2.84082572e+02] [ 4.59656550e-03 -1.02626639e-04 9.99989431e-01 -9.02180623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.510385723 meters 0.01693227759257783 Centerline is valid? [True, True] Translation: X:-108.87, Y:-284.56, Z:-8.05 [[-9.35636905e-01 3.52943387e-01 3.81406376e-03 -1.08869447e+02] [ 3.52940843e-01 9.35644675e-01 -1.34301546e-03 -2.84563848e+02] [-4.04261687e-03 8.95640535e-05 -9.99991825e-01 -8.04812450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.540385723 meters 0.017175671826024027 Centerline is valid? [True, True] Translation: X:-108.70, Y:-284.06, Z:-9.02 [[-9.27648965e-01 -3.73436650e-01 3.53077910e-03 -1.08695495e+02] [ 3.73433543e-01 -9.27655679e-01 -1.52642009e-03 -2.84062927e+02] [ 3.84536849e-03 -9.74706674e-05 9.99992602e-01 -9.02183231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.570385723 meters 0.0174398515713172 Centerline is valid? [True, True] Translation: X:-108.92, Y:-284.55, Z:-8.05 [[-9.35957254e-01 3.52093094e-01 3.80427189e-03 -1.08916230e+02] [ 3.52090621e-01 9.35964980e-01 -1.32367360e-03 -2.84551939e+02] [-4.02672160e-03 1.00546545e-04 -9.99991888e-01 -8.04778947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6003857229999 meters 0.01779501282074937 Centerline is valid? [True, True] Translation: X:-108.74, Y:-284.04, Z:-9.02 [[-9.30001470e-01 -3.67537021e-01 3.71536081e-03 -1.08740088e+02] [ 3.67533655e-01 -9.30008886e-01 -1.57609596e-03 -2.84044265e+02] [ 4.03459218e-03 -1.00251423e-04 9.99991856e-01 -9.02217222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.630385723 meters 0.018354263882870554 Centerline is valid? [True, True] Translation: X:-108.96, Y:-284.54, Z:-8.05 [[-9.36258693e-01 3.51286335e-01 4.19167170e-03 -1.08963488e+02] [ 3.51283401e-01 9.36268068e-01 -1.44113975e-03 -2.84542631e+02] [-4.43078107e-03 1.23185067e-04 -9.99990177e-01 -8.04676000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.660385723 meters 0.018354263882870554 Centerline is valid? [True, True] Translation: X:-108.96, Y:-284.51, Z:-8.05 [[-9.58821087e-01 2.83978479e-01 4.28335572e-03 -1.08962423e+02] [ 2.83976217e-01 9.58830646e-01 -1.14013607e-03 -2.84512204e+02] [-4.43078685e-03 1.23184643e-04 -9.99990177e-01 -8.04675993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.690385723 meters 0.018256598784929984 Centerline is valid? [True, True] Translation: X:-108.97, Y:-284.48, Z:-8.05 [[-9.76377516e-01 2.16030251e-01 4.22801250e-03 -1.08965894e+02] [ 2.16028772e-01 9.76386663e-01 -8.09024620e-04 -2.84482571e+02] [-4.30294881e-03 1.23458898e-04 -9.99990735e-01 -8.04723675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7203857229999 meters 0.0187939879977435 Centerline is valid? [True, True] Translation: X:-108.96, Y:-284.46, Z:-8.05 [[-9.88917549e-01 1.48422375e-01 3.58893049e-03 -1.08964549e+02] [ 1.48421809e-01 9.88924055e-01 -4.25189866e-04 -2.84457051e+02] [-3.61228739e-03 1.12197835e-04 -9.99993469e-01 -8.04784983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.750385723 meters 0.019110180312540588 Centerline is valid? [True, True] Translation: X:-108.90, Y:-283.90, Z:-9.02 [[-9.88438399e-01 -1.51563984e-01 4.22965477e-03 -1.08900837e+02] [ 1.51562204e-01 -9.88447445e-01 -7.40095834e-04 -2.83899316e+02] [ 4.29296332e-03 -9.04833411e-05 9.99990781e-01 -9.02227856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.780385723 meters 0.019871245141756276 Centerline is valid? [True, True] Translation: X:-109.03, Y:-284.46, Z:-8.05 [[-9.89027637e-01 1.47653132e-01 4.78394925e-03 -1.09025073e+02] [ 1.47652211e-01 9.89039193e-01 -5.47174232e-04 -2.84456846e+02] [-4.81230530e-03 1.65190246e-04 -9.99988407e-01 -8.04706965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.810385723 meters 0.021053171598062564 Centerline is valid? [True, True] Translation: X:-109.03, Y:-284.43, Z:-8.05 [[-9.96787758e-01 7.99996779e-02 3.77043981e-03 -1.09026963e+02] [ 7.99996395e-02 9.96794880e-01 -1.61236793e-04 -2.84431540e+02] [-3.77125398e-03 1.40914963e-04 -9.99992879e-01 -8.04741288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8403857229999 meters 0.02196501443717952 Centerline is valid? [True, True] Translation: X:-109.03, Y:-284.40, Z:-8.05 [[-9.99940462e-01 1.04993152e-02 2.97286949e-03 -1.09034605e+02] [ 1.04996136e-02 9.99944874e-01 8.47962743e-05 -2.84404683e+02] [-2.97181530e-03 1.16005207e-04 -9.99995578e-01 -8.04774250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.870385723 meters 0.021356635756043175 Centerline is valid? [True, True] Translation: X:-109.05, Y:-284.38, Z:-8.05 [[-9.98352159e-01 -5.73163275e-02 2.79381510e-03 -1.09046346e+02] [-5.73157681e-02 9.98356061e-01 2.79948151e-04 -2.84377484e+02] [-2.80526784e-03 1.19357182e-04 -9.99996058e-01 -8.04856220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.900385723 meters 0.022839656741647334 Centerline is valid? [True, True] Translation: X:-109.07, Y:-284.35, Z:-8.05 [[-9.91895624e-01 -1.27033324e-01 2.36754185e-03 -1.09069719e+02] [-1.27032707e-01 9.91898444e-01 4.09586664e-04 -2.84354288e+02] [-2.40039223e-03 1.05511970e-04 -9.99997114e-01 -8.04904273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.930385723 meters 0.023681147691403535 Centerline is valid? [True, True] Translation: X:-109.09, Y:-284.33, Z:-8.05 [[-9.80599788e-01 -1.96015566e-01 1.39797577e-03 -1.09094443e+02] [-1.96015270e-01 9.80600782e-01 3.46981867e-04 -2.84332181e+02] [-1.43886998e-03 6.62257466e-05 -9.99998963e-01 -8.05043612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.960385723 meters 0.025519057237577195 Centerline is valid? [True, True] Translation: X:-109.14, Y:-284.32, Z:-8.05 [[-9.63976493e-01 -2.65986116e-01 8.40836713e-04 -1.09140904e+02] [-2.65985977e-01 9.63976859e-01 2.74690925e-04 -2.84318169e+02] [-8.83611106e-04 4.11448194e-05 -9.99999609e-01 -8.05086890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.990385723 meters 0.024950576475298438 Centerline is valid? [True, True] Translation: X:-109.21, Y:-284.31, Z:-8.05 [[-9.42179702e-01 -3.35108037e-01 1.14835954e-04 -1.09209859e+02] [-3.35108033e-01 9.42179709e-01 4.69978562e-05 -2.84310557e+02] [-1.23945465e-04 5.79797556e-06 -9.99999992e-01 -8.05158365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.020385723 meters 0.022185523662330592 Centerline is valid? [True, True] Translation: X:-109.28, Y:-284.30, Z:-8.05 [[-9.15061908e-01 -4.03313404e-01 -4.64207469e-05 -1.09281182e+02] [-4.03313404e-01 9.15061909e-01 -2.32668767e-05 -2.84304606e+02] [ 5.18617001e-05 -2.56852313e-06 -9.99999999e-01 -8.05150196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.050385723 meters 0.0225881967327319 Centerline is valid? [True, True] Translation: X:-109.36, Y:-284.31, Z:-8.05 [[-8.82751586e-01 -4.69839280e-01 8.30018122e-04 -1.09361267e+02] [-4.69839023e-01 8.82751975e-01 4.94093159e-04 -2.84312389e+02] [-9.64844511e-04 4.61866161e-05 -9.99999534e-01 -8.05065546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.080385723 meters 0.023635734699348786 Centerline is valid? [True, True] Translation: X:-109.45, Y:-284.33, Z:-8.05 [[-8.45463653e-01 -5.34031685e-01 1.17100410e-03 -1.09448677e+02] [-5.34031059e-01 8.45464461e-01 8.20888683e-04 -2.84334018e+02] [-1.42842292e-03 6.86789835e-05 -9.99998978e-01 -8.05021597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.110385723 meters 0.023119603514461583 Centerline is valid? [True, True] Translation: X:-109.53, Y:-284.36, Z:-8.05 [[-8.02945663e-01 -5.96050459e-01 1.45347337e-03 -1.09534849e+02] [-5.96049276e-01 8.02946974e-01 1.19068232e-03 -2.84358720e+02] [-1.87676878e-03 8.97114564e-05 -9.99998235e-01 -8.05095417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.140385723 meters 0.023396777205341297 Centerline is valid? [True, True] Translation: X:-109.62, Y:-284.40, Z:-8.05 [[-7.55428207e-01 -6.55230034e-01 1.35152518e-03 -1.09624362e+02] [-6.55228774e-01 7.55429411e-01 1.28822308e-03 -2.84396589e+02] [-1.86506433e-03 8.76018664e-05 -9.99998257e-01 -8.05114738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.170385723 meters 0.024471886369902076 Centerline is valid? [True, True] Translation: X:-109.72, Y:-284.44, Z:-8.05 [[-7.02521670e-01 -7.11661274e-01 1.23903061e-03 -1.09717015e+02] [-7.11659954e-01 7.02522757e-01 1.37313775e-03 -2.84444650e+02] [-1.84765616e-03 8.28905604e-05 -9.99998290e-01 -8.04974963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.200385723 meters 0.021045214125577996 Centerline is valid? [True, True] Translation: X:-109.81, Y:-284.50, Z:-8.05 [[-6.45619471e-01 -7.63658570e-01 1.04329718e-03 -1.09810105e+02] [-7.63657384e-01 6.45620309e-01 1.34784502e-03 -2.84500094e+02] [-1.70286725e-03 7.34733970e-05 -9.99998548e-01 -8.05053843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.230385723 meters 0.019615369313780526 Centerline is valid? [True, True] Translation: X:-109.90, Y:-284.57, Z:-8.05 [[-5.84212728e-01 -8.11599333e-01 1.41820101e-03 -1.09901891e+02] [-8.11596493e-01 5.84214440e-01 2.14954631e-03 -2.84565180e+02] [-2.57310386e-03 1.04785349e-04 -9.99996684e-01 -8.04932143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.260385723 meters 0.021055461984474562 Centerline is valid? [True, True] Translation: X:-109.98, Y:-284.64, Z:-8.05 [[-5.20410886e-01 -8.53915310e-01 1.07420434e-03 -1.09982432e+02] [-8.53913129e-01 5.20411987e-01 1.93158723e-03 -2.84642476e+02] [-2.20844072e-03 8.79418287e-05 -9.99997558e-01 -8.04924668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.290385723 meters 0.020507134967451175 Centerline is valid? [True, True] Translation: X:-110.06, Y:-284.72, Z:-8.05 [[-4.53796617e-01 -8.91105286e-01 6.59929213e-06 -1.10059185e+02] [-8.91105286e-01 4.53796617e-01 1.41104435e-05 -2.84722739e+02] [-1.55686277e-05 5.22607438e-07 -1.00000000e+00 -8.05147119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.320385723 meters 0.020546965841929065 Centerline is valid? [True, True] Translation: X:-110.13, Y:-284.81, Z:-8.05 [[-3.85325020e-01 -9.22780866e-01 -3.19374628e-04 -1.10130300e+02] [-9.22780466e-01 3.85325151e-01 -8.59958859e-04 -2.84813148e+02] [ 9.16616656e-04 -3.66509966e-05 -9.99999579e-01 -8.05255385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3503857229999 meters 0.020556036373150018 Centerline is valid? [True, True] Translation: X:-110.20, Y:-284.91, Z:-8.05 [[-3.16680990e-01 -9.48532019e-01 -3.98507839e-04 -1.10196434e+02] [-9.48531006e-01 3.16681235e-01 -1.38763596e-03 -2.84910149e+02] [ 1.44241709e-03 -6.14408879e-05 -9.99998958e-01 -8.05340012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.380385723 meters 0.021862347934897917 Centerline is valid? [True, True] Translation: X:-110.25, Y:-285.01, Z:-8.05 [[-2.48213344e-01 -9.68705371e-01 -1.98664825e-04 -1.10252667e+02] [-9.68704894e-01 2.48213419e-01 -9.62710284e-04 -2.85012176e+02] [ 9.81893898e-04 -4.65099511e-05 -9.99999517e-01 -8.05347352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.410385723 meters 0.022295338325952357 Centerline is valid? [True, True] Translation: X:-110.30, Y:-285.12, Z:-8.05 [[-1.76655359e-01 -9.84272764e-01 -9.97458123e-05 -1.10301665e+02] [-9.84272457e-01 1.76655383e-01 -7.79057184e-04 -2.85118858e+02] [ 7.84425402e-04 -3.94475711e-05 -9.99999692e-01 -8.05409296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.440385723 meters 0.025588418678723752 Centerline is valid? [True, True] Translation: X:-110.34, Y:-285.23, Z:-8.05 [[-1.04609070e-01 -9.94513418e-01 -5.92806102e-05 -1.10338806e+02] [-9.94512747e-01 1.04609068e-01 -1.15706771e-03 -2.85230913e+02] [ 1.15692065e-03 -6.20844540e-05 -9.99999329e-01 -8.05460436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4703857229999 meters 0.028589753244790423 Centerline is valid? [True, True] Translation: X:-110.37, Y:-285.34, Z:-8.05 [[-3.52287150e-02 -9.99379276e-01 2.22417547e-05 -1.10370831e+02] [-9.99378882e-01 3.52286814e-02 -8.88634013e-04 -2.85343853e+02] [ 8.87298868e-04 -5.35333744e-05 -9.99999605e-01 -8.05454752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.500385723 meters 0.0276398688110526 Centerline is valid? [True, True] Translation: X:-110.40, Y:-285.46, Z:-8.05 [[ 3.83921598e-02 -9.99262744e-01 1.04942113e-04 -1.10397834e+02] [-9.99262211e-01 -3.83922479e-02 -1.03392700e-03 -2.85460020e+02] [ 1.03719370e-03 -6.51699969e-05 -9.99999460e-01 -8.05430117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.530385723 meters 0.027445390245913207 Centerline is valid? [True, True] Translation: X:-110.42, Y:-285.57, Z:-8.05 [[ 1.10379170e-01 -9.93889525e-01 2.25558588e-04 -1.10418450e+02] [-9.93888730e-01 -1.10379368e-01 -1.25982126e-03 -2.85573640e+02] [ 1.27702016e-03 -8.51221134e-05 -9.99999181e-01 -8.05428301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.560385723 meters 0.02932367601611419 Centerline is valid? [True, True] Translation: X:-110.42, Y:-285.69, Z:-8.05 [[ 1.84648586e-01 -9.82804508e-01 4.46267175e-04 -1.10422984e+02] [-9.82803002e-01 -1.84649086e-01 -1.72482456e-03 -2.85693802e+02] [ 1.77756817e-03 -1.20106303e-04 -9.99998413e-01 -8.05463660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5903857229999 meters 0.029118967498964875 Centerline is valid? [True, True] Translation: X:-110.42, Y:-285.81, Z:-8.05 [[ 2.58234887e-01 -9.66082122e-01 2.75755525e-04 -1.10424493e+02] [-9.66081787e-01 -2.58235028e-01 -8.07257591e-04 -2.85814875e+02] [ 8.51086862e-04 -5.79403171e-05 -9.99999636e-01 -8.05390350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.620385723 meters 0.02849703153287367 Centerline is valid? [True, True] Translation: X:-110.42, Y:-285.93, Z:-8.05 [[ 3.32019660e-01 -9.43272209e-01 -6.96248646e-04 -1.10420385e+02] [-9.43270816e-01 -3.32020369e-01 1.62532227e-03 -2.85934837e+02] [-1.76429006e-03 1.17112081e-04 -9.99998437e-01 -8.05168172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.650385723 meters 0.028552632049562484 Centerline is valid? [True, True] Translation: X:-110.40, Y:-286.05, Z:-8.05 [[ 4.03648207e-01 -9.14913440e-01 -1.23411991e-03 -1.10403765e+02] [-9.14910390e-01 -4.03650056e-01 2.36870137e-03 -2.86050706e+02] [-2.66530929e-03 1.72987067e-04 -9.99996433e-01 -8.05080913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.680385723 meters 0.027155695016816982 Centerline is valid? [True, True] Translation: X:-110.39, Y:-286.16, Z:-8.05 [[ 4.76468329e-01 -8.79188919e-01 -2.18530328e-03 -1.10386724e+02] [-8.79181910e-01 -4.76473278e-01 3.51921364e-03 -2.86161058e+02] [-4.13529226e-03 2.44485272e-04 -9.99991420e-01 -8.04964981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.710385723 meters 0.02681438852075647 Centerline is valid? [True, True] Translation: X:-110.36, Y:-286.27, Z:-8.05 [[ 5.44277410e-01 -8.38899964e-01 -2.99184391e-03 -1.10355814e+02] [-8.38890015e-01 -5.44285561e-01 4.09526877e-03 -2.86267420e+02] [-5.06393827e-03 2.80865704e-04 -9.99987139e-01 -8.04914428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.740385723 meters 0.02525116676445053 Centerline is valid? [True, True] Translation: X:-110.32, Y:-286.37, Z:-8.05 [[ 6.11983983e-01 -7.90861931e-01 -3.60703797e-03 -1.10322879e+02] [-7.90850656e-01 -6.11994556e-01 4.23126843e-03 -2.86372849e+02] [-5.55383672e-03 2.63159834e-04 -9.99984543e-01 -8.04895100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.770385723 meters 0.023329184223516243 Centerline is valid? [True, True] Translation: X:-110.28, Y:-286.47, Z:-8.05 [[ 6.72401379e-01 -7.40179469e-01 -3.27700469e-03 -1.10281709e+02] [-7.40172103e-01 -6.72409335e-01 3.30832089e-03 -2.86471251e+02] [-4.65223975e-03 2.01027923e-04 -9.99989158e-01 -8.04949052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.800385723 meters 0.02146545599982761 Centerline is valid? [True, True] Translation: X:-110.24, Y:-286.56, Z:-8.05 [[ 7.30456720e-01 -6.82955100e-01 -2.30452584e-03 -1.10242098e+02] [-6.82952170e-01 -7.30460347e-01 2.00376081e-03 -2.86561246e+02] [-3.05184341e-03 1.10220373e-04 -9.99995337e-01 -8.05035598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.830385723 meters 0.020500459213103 Centerline is valid? [True, True] Translation: X:-110.24, Y:-286.58, Z:-8.05 [[ 7.83344409e-01 -6.21584826e-01 -1.95985659e-03 -1.10239215e+02] [-6.21583137e-01 -7.83346856e-01 1.45143005e-03 -2.86580392e+02] [-2.43743439e-03 8.12441929e-05 -9.99997026e-01 -8.05043224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.860385723 meters 0.01775105449569223 Centerline is valid? [True, True] Translation: X:-110.24, Y:-286.61, Z:-8.05 [[ 8.31606620e-01 -5.55362709e-01 -1.64057796e-03 -1.10240034e+02] [-5.55361763e-01 -8.31608236e-01 1.02670834e-03 -2.86607493e+02] [-1.93451367e-03 5.72968143e-05 -9.99998127e-01 -8.05025581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.890385723 meters 0.019092717405730292 Centerline is valid? [True, True] Translation: X:-110.23, Y:-286.63, Z:-8.05 [[ 8.73617392e-01 -4.86610368e-01 -1.73248131e-03 -1.10234175e+02] [-4.86609531e-01 -8.73619109e-01 9.04081395e-04 -2.86625873e+02] [-1.95346416e-03 5.32206855e-05 -9.99998091e-01 -8.04966216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.920385723 meters 0.01884238910846851 Centerline is valid? [True, True] Translation: X:-110.22, Y:-286.64, Z:-8.05 [[ 9.09392112e-01 -4.15934198e-01 -2.17483072e-03 -1.10223241e+02] [-4.15933171e-01 -9.09394710e-01 9.26544123e-04 -2.86640287e+02] [-2.36316094e-03 6.19923219e-05 -9.99997206e-01 -8.04900812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.950385723 meters 0.016549670515500846 Centerline is valid? [True, True] Translation: X:-110.22, Y:-286.66, Z:-8.05 [[ 9.39530328e-01 -3.42457416e-01 -2.38356463e-03 -1.10215263e+02] [-3.42456483e-01 -9.39533349e-01 8.01845886e-04 -2.86664364e+02] [-2.51403653e-03 6.29086313e-05 -9.99996838e-01 -8.04929773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.980385723 meters 0.0184688681197645 Centerline is valid? [True, True] Translation: X:-110.20, Y:-286.68, Z:-8.05 [[ 9.63916765e-01 -2.66200785e-01 -1.26945477e-03 -1.10204487e+02] [-2.66200595e-01 -9.63917601e-01 3.19118684e-04 -2.86679807e+02] [-1.30859944e-03 3.03257648e-05 -9.99999143e-01 -8.04896570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.010385723 meters 0.016088044305764476 Centerline is valid? [True, True] Translation: X:-110.19, Y:-286.70, Z:-8.05 [[ 9.82225344e-01 -1.87705254e-01 -3.34444943e-04 -1.10193220e+02] [-1.87705245e-01 -9.82225401e-01 5.68088288e-05 -2.86703078e+02] [-3.39163634e-04 6.97799867e-06 -9.99999943e-01 -8.04926213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.040385723 meters 0.01760975683296414 Centerline is valid? [True, True] Translation: X:-110.18, Y:-286.71, Z:-8.05 [[ 9.94026808e-01 -1.09135601e-01 -3.55528258e-04 -1.10179108e+02] [-1.09135596e-01 -9.94026871e-01 3.20747471e-05 -2.86714997e+02] [-3.56905139e-04 6.91762994e-06 -9.99999936e-01 -8.04903723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.070385723 meters 0.015601766693150491 Centerline is valid? [True, True] Translation: X:-110.17, Y:-286.73, Z:-8.05 [[ 9.99587636e-01 -2.87115166e-02 -4.54811176e-04 -1.10166230e+02] [-2.87115172e-02 -9.99587739e-01 5.23312534e-06 -2.86734941e+02] [-4.54773927e-04 7.82735153e-06 -9.99999897e-01 -8.04819504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1003857229999 meters 0.015640915707447214 Centerline is valid? [True, True] Translation: X:-110.15, Y:-286.75, Z:-8.05 [[ 9.98713116e-01 5.07153251e-02 -2.59372153e-04 -1.10153448e+02] [ 5.07153223e-02 -9.98713150e-01 -1.73322611e-05 -2.86746457e+02] [-2.59917391e-04 4.15581424e-06 -9.99999966e-01 -8.04812962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.130385723 meters 0.015391852701909303 Centerline is valid? [True, True] Translation: X:-110.14, Y:-286.76, Z:-8.05 [[ 9.91580052e-01 1.29495152e-01 7.39836472e-05 -1.10139282e+02] [ 1.29495151e-01 -9.91580055e-01 1.09227652e-05 -2.86756867e+02] [ 7.47751536e-05 -1.25027244e-06 -9.99999997e-01 -8.04807479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.160385723 meters 0.014818641581923786 Centerline is valid? [True, True] Translation: X:-110.12, Y:-286.77, Z:-8.05 [[ 9.78077215e-01 2.08242505e-01 1.43322532e-04 -1.10122697e+02] [ 2.08242503e-01 -9.78077226e-01 3.27163625e-05 -2.86771631e+02] [ 1.46993442e-04 -2.15328589e-06 -9.99999989e-01 -8.04718072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.190385723 meters 0.015177588555856457 Centerline is valid? [True, True] Translation: X:-110.11, Y:-286.78, Z:-8.05 [[ 9.58619219e-01 2.84689956e-01 -9.06776726e-04 -1.10107958e+02] [ 2.84689816e-01 -9.58619648e-01 -2.82619595e-04 -2.86779979e+02] [-9.49712946e-04 1.27744759e-05 -9.99999549e-01 -8.04582611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2203857229999 meters 0.015444356502523833 Centerline is valid? [True, True] Translation: X:-110.09, Y:-286.78, Z:-8.05 [[ 9.33463791e-01 3.58668800e-01 -1.42928608e-03 -1.10094654e+02] [ 3.58668345e-01 -9.33464885e-01 -5.71740064e-04 -2.86782492e+02] [-1.53925369e-03 2.10589744e-05 -9.99998815e-01 -8.04547932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.250385723 meters 0.01557311064232945 Centerline is valid? [True, True] Translation: X:-110.08, Y:-286.79, Z:-8.05 [[ 9.03719458e-01 4.28124120e-01 -9.37814474e-04 -1.10079990e+02] [ 4.28123870e-01 -9.03719944e-01 -4.63327222e-04 -2.86785022e+02] [-1.04588320e-03 1.72170643e-05 -9.99999453e-01 -8.04569835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.280385723 meters 0.01764447715244351 Centerline is valid? [True, True] Translation: X:-110.06, Y:-286.79, Z:-8.04 [[ 8.68636245e-01 4.95447498e-01 -1.68866377e-03 -1.10063666e+02] [ 4.95446478e-01 -8.68637885e-01 -1.00598815e-03 -2.86788454e+02] [-1.96525164e-03 3.71952539e-05 -9.99998068e-01 -8.04419441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.310385723 meters 0.01608724265531112 Centerline is valid? [True, True] Translation: X:-110.05, Y:-286.79, Z:-8.05 [[ 8.28370389e-01 5.60180223e-01 -7.85343481e-04 -1.10047085e+02] [ 5.60179948e-01 -8.28370761e-01 -5.55466128e-04 -2.86791344e+02] [-9.61716717e-04 2.01980221e-05 -9.99999537e-01 -8.04588742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3403857229999 meters 0.02008420238721709 Centerline is valid? [True, True] Translation: X:-110.03, Y:-286.79, Z:-8.04 [[ 7.84652830e-01 6.19934407e-01 -1.12603297e-03 -1.10033712e+02] [ 6.19933700e-01 -7.84653637e-01 -9.36882033e-04 -2.86790276e+02] [-1.46435127e-03 3.70613523e-05 -9.99998927e-01 -8.04430321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.370385723 meters 0.017042320833450017 Centerline is valid? [True, True] Translation: X:-110.01, Y:-286.79, Z:-8.05 [[ 7.34387807e-01 6.78730015e-01 3.39857367e-04 -1.10014228e+02] [ 6.78729934e-01 -7.34387886e-01 3.31229550e-04 -2.86793551e+02] [ 4.74402570e-04 -1.25795740e-05 -9.99999887e-01 -8.04659599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.400385723 meters 0.017866080295711836 Centerline is valid? [True, True] Translation: X:-110.00, Y:-286.79, Z:-8.05 [[ 6.79767120e-01 7.33428012e-01 -1.13754852e-04 -1.09998545e+02] [ 7.33428001e-01 -6.79767130e-01 -1.29548194e-04 -2.86792666e+02] [-1.72341084e-04 4.63160861e-06 -9.99999985e-01 -8.04594481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.430385723 meters 0.018634019360187114 Centerline is valid? [True, True] Translation: X:-109.98, Y:-286.79, Z:-8.04 [[ 6.20331922e-01 7.84339250e-01 -4.97980891e-04 -1.09982124e+02] [ 7.84338967e-01 -6.20332122e-01 -6.66318158e-04 -2.86791009e+02] [-8.31533027e-04 2.27526056e-05 -9.99999654e-01 -8.04473841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.460385723 meters 0.01778623217099782 Centerline is valid? [True, True] Translation: X:-109.97, Y:-286.79, Z:-8.05 [[ 5.56853020e-01 8.30610993e-01 -3.03894237e-04 -1.09966018e+02] [ 8.30610854e-01 -5.56853102e-01 -4.80988083e-04 -2.86787826e+02] [-5.68738439e-04 1.54218152e-05 -9.99999838e-01 -8.04580073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.490385723 meters 0.019233843662712403 Centerline is valid? [True, True] Translation: X:-109.95, Y:-286.78, Z:-8.04 [[ 4.89734538e-01 8.71871363e-01 -6.38975406e-04 -1.09947730e+02] [ 8.71870521e-01 -4.89734953e-01 -1.21249730e-03 -2.86784224e+02] [-1.37007026e-03 3.66979833e-05 -9.99999061e-01 -8.04381370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.520385723 meters 0.019946366195077312 Centerline is valid? [True, True] Translation: X:-109.93, Y:-286.78, Z:-8.04 [[ 4.19300513e-01 9.07847284e-01 -6.23841071e-04 -1.09927815e+02] [ 9.07846129e-01 -4.19300975e-01 -1.44871580e-03 -2.86780224e+02] [-1.57678988e-03 4.10955780e-05 -9.99998756e-01 -8.04325774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.550385723 meters 0.019946366195077312 Centerline is valid? [True, True] Translation: X:-109.91, Y:-286.77, Z:-8.04 [[ 3.46954414e-01 9.37881856e-01 -5.08530735e-04 -1.09910296e+02] [ 9.37880669e-01 -3.46954784e-01 -1.49309794e-03 -2.86774732e+02] [-1.57678664e-03 4.10957761e-05 -9.99998756e-01 -8.04325777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.580385723 meters 0.017915561614901626 Centerline is valid? [True, True] Translation: X:-109.89, Y:-286.77, Z:-8.05 [[ 2.69843176e-01 9.62904266e-01 -1.85367847e-04 -1.09894155e+02] [ 9.62903993e-01 -2.69843239e-01 -7.26029738e-04 -2.86768111e+02] [-7.49117393e-04 1.74227305e-05 -9.99999719e-01 -8.04524900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.610385723 meters 0.016263135112936818 Centerline is valid? [True, True] Translation: X:-109.88, Y:-286.76, Z:-8.05 [[ 1.92439939e-01 9.81308748e-01 -1.02720470e-04 -1.09877192e+02] [ 9.81308569e-01 -1.92439966e-01 -5.92720954e-04 -2.86759907e+02] [-6.01409781e-04 1.32627072e-05 -9.99999819e-01 -8.04633005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.640385723 meters 0.01677893054367884 Centerline is valid? [True, True] Translation: X:-109.87, Y:-286.75, Z:-8.05 [[ 1.13727781e-01 9.93511948e-01 -3.76951056e-05 -1.09865224e+02] [ 9.93511866e-01 -1.13727787e-01 -4.02918514e-04 -2.86751262e+02] [-4.04591339e-04 8.37249388e-06 -9.99999918e-01 -8.04670070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.670385723 meters 0.015413293263408677 Centerline is valid? [True, True] Translation: X:-109.85, Y:-286.74, Z:-8.05 [[ 3.52293573e-02 9.99379254e-01 2.58599126e-06 -1.09845531e+02] [ 9.99379237e-01 -3.52293572e-02 1.81829523e-04 -2.86740058e+02] [ 1.81807755e-04 -3.82135123e-06 -9.99999984e-01 -8.04709456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.700385723 meters 0.016454212016718553 Centerline is valid? [True, True] Translation: X:-109.83, Y:-286.73, Z:-8.05 [[-4.36494123e-02 9.99046910e-01 -1.98526205e-05 -1.09833427e+02] [ 9.99046862e-01 4.36494163e-02 3.09795737e-04 -2.86728877e+02] [ 3.10367029e-04 -6.31129630e-06 -9.99999952e-01 -8.04701404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.730385723 meters 0.01579090605318434 Centerline is valid? [True, True] Translation: X:-109.82, Y:-286.72, Z:-8.05 [[-1.21800396e-01 9.92554612e-01 -8.20346412e-05 -1.09819687e+02] [ 9.92554446e-01 1.21800423e-01 5.72679761e-04 -2.86715435e+02] [ 5.78407791e-04 -1.16712260e-05 -9.99999833e-01 -8.04679363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.760385723 meters 0.015459681861513926 Centerline is valid? [True, True] Translation: X:-109.81, Y:-286.70, Z:-8.05 [[-1.99096501e-01 9.79979885e-01 -9.43718167e-05 -1.09806646e+02] [ 9.79979794e-01 1.99096523e-01 4.20591508e-04 -2.86701233e+02] [ 4.30960318e-04 -8.74417571e-06 -9.99999907e-01 -8.04619268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.790385723 meters 0.01749447876082338 Centerline is valid? [True, True] Translation: X:-109.80, Y:-286.69, Z:-8.04 [[-2.75020315e-01 9.61438413e-01 7.20243273e-05 -1.09796643e+02] [ 9.61438384e-01 2.75020324e-01 -2.33989050e-04 -2.86687931e+02] [-2.44774215e-04 4.89521070e-06 -9.99999970e-01 -8.04453194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.820385723 meters 0.015975555616847253 Centerline is valid? [True, True] Translation: X:-109.79, Y:-286.67, Z:-8.05 [[-3.49748544e-01 9.36843518e-01 -4.22437205e-04 -1.09789614e+02] [ 9.36842912e-01 3.49748798e-01 1.06566339e-03 -2.86674517e+02] [ 1.14610675e-03 -2.30430818e-05 -9.99999343e-01 -8.04659474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8503857229999 meters 0.01567068962932994 Centerline is valid? [True, True] Translation: X:-109.78, Y:-286.66, Z:-8.05 [[-4.22535918e-01 9.06345905e-01 -7.05843654e-04 -1.09782504e+02] [ 9.06344762e-01 4.22536506e-01 1.43989698e-03 -2.86659547e+02] [ 1.60328945e-03 -3.13295053e-05 -9.99998714e-01 -8.04734742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.880385723 meters 0.015296782795419886 Centerline is valid? [True, True] Translation: X:-109.77, Y:-286.64, Z:-8.05 [[-4.92654163e-01 8.70224803e-01 -8.17507886e-04 -1.09773589e+02] [ 8.70223706e-01 4.92654840e-01 1.38191931e-03 -2.86642087e+02] [ 1.60532967e-03 -3.06064423e-05 -9.99998711e-01 -8.04715308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.910385723 meters 0.01509109246828555 Centerline is valid? [True, True] Translation: X:-109.77, Y:-286.62, Z:-8.05 [[-5.59710409e-01 8.28687268e-01 -1.29231984e-03 -1.09766115e+02] [ 8.28685229e-01 5.59711899e-01 1.83902436e-03 -2.86624183e+02] [ 2.24730287e-03 -4.16052862e-05 -9.99997474e-01 -8.04713162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.940385723 meters 0.016123383875081606 Centerline is valid? [True, True] Translation: X:-109.76, Y:-286.61, Z:-8.05 [[-6.22412849e-01 7.82687569e-01 -1.55413092e-03 -1.09761927e+02] [ 7.82685313e-01 6.22414788e-01 1.87949229e-03 -2.86608346e+02] [ 2.43836932e-03 -4.65752968e-05 -9.99997026e-01 -8.04645192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9703857229999 meters 0.016441169495226737 Centerline is valid? [True, True] Translation: X:-109.76, Y:-286.59, Z:-8.05 [[-6.80942738e-01 7.32334629e-01 -1.72598765e-03 -1.09759206e+02] [ 7.32332461e-01 6.80944924e-01 1.78249275e-03 -2.86590463e+02] [ 2.48068369e-03 -5.02212906e-05 -9.99996922e-01 -8.04588076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.000385723 meters 0.015993174989552987 Centerline is valid? [True, True] Translation: X:-109.76, Y:-286.57, Z:-8.05 [[-7.34280862e-01 6.78840457e-01 -2.69237933e-03 -1.09759412e+02] [ 6.78836303e-01 7.34285794e-01 2.37635482e-03 -2.86574455e+02] [ 3.59014168e-03 -8.27729644e-05 -9.99993552e-01 -8.04754280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.030385723 meters 0.019069611321738077 Centerline is valid? [True, True] Translation: X:-109.75, Y:-286.55, Z:-8.05 [[-7.79565416e-01 6.26315797e-01 -2.50705504e-03 -1.09752022e+02] [ 6.26312875e-01 7.79569443e-01 1.91468502e-03 -2.86546497e+02] [ 3.15362097e-03 -7.75786186e-05 -9.99995024e-01 -8.04512038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.060385723 meters 0.021304791229363757 Centerline is valid? [True, True] Translation: X:-109.74, Y:-286.52, Z:-8.04 [[-8.20006606e-01 5.72351787e-01 -1.61169138e-03 -1.09743449e+02] [ 5.72350810e-01 8.20008188e-01 1.05882054e-03 -2.86519514e+02] [ 1.92761796e-03 -5.42130335e-05 -9.99998141e-01 -8.04324166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0903857229999 meters 0.018598825853375838 Centerline is valid? [True, True] Translation: X:-109.53, Y:-286.18, Z:-9.02 [[-8.15640922e-01 -5.78556766e-01 -1.39808558e-03 -1.09528231e+02] [ 5.78555790e-01 -8.15642118e-01 1.06466045e-03 -2.86180104e+02] [-1.75630399e-03 5.95101209e-05 9.99998456e-01 -9.02485071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.120385723 meters 0.01809947665207759 Centerline is valid? [True, True] Translation: X:-109.78, Y:-286.50, Z:-8.04 [[-8.19019474e-01 5.73764492e-01 -1.18695953e-03 -1.09781844e+02] [ 5.73763973e-01 8.19020333e-01 7.73553172e-04 -2.86496809e+02] [ 1.41598133e-03 -4.74795009e-05 -9.99998996e-01 -8.04448919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.150385723 meters 0.01997038947488898 Centerline is valid? [True, True] Translation: X:-109.78, Y:-286.47, Z:-8.04 [[-8.56644364e-01 5.15906695e-01 -8.46469221e-04 -1.09777712e+02] [ 5.15906482e-01 8.56644781e-01 4.69697196e-04 -2.86470025e+02] [ 9.67443369e-04 -3.43355021e-05 -9.99999532e-01 -8.04463840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.180385723 meters 0.02057583344374594 Centerline is valid? [True, True] Translation: X:-109.77, Y:-286.44, Z:-8.04 [[-8.90825134e-01 4.54345034e-01 -1.08189443e-03 -1.09773972e+02] [ 4.54344757e-01 8.90825790e-01 5.03572147e-04 -2.86439898e+02] [ 1.19257496e-03 -4.29583344e-05 -9.99999288e-01 -8.04464496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.210385723 meters 0.02030381820356343 Centerline is valid? [True, True] Translation: X:-109.61, Y:-286.06, Z:-9.03 [[-8.92449101e-01 -4.51147980e-01 -3.19391831e-04 -1.09606250e+02] [ 4.51147924e-01 -8.92449156e-01 2.35017488e-04 -2.86063570e+02] [-3.91068635e-04 6.56481845e-05 9.99999921e-01 -9.02579680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.240385723 meters 0.01860236949421389 Centerline is valid? [True, True] Translation: X:-109.82, Y:-286.42, Z:-8.04 [[-8.93611927e-01 4.48840384e-01 -1.82338012e-04 -1.09819163e+02] [ 4.48840376e-01 8.93611946e-01 8.36962384e-05 -2.86415293e+02] [ 2.00505677e-04 -7.04870510e-06 -9.99999980e-01 -8.04437699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.270385723 meters 0.017608194770371243 Centerline is valid? [True, True] Translation: X:-109.66, Y:-286.05, Z:-9.03 [[-8.91500989e-01 -4.53018748e-01 -5.22287253e-06 -1.09659290e+02] [ 4.53018748e-01 -8.91500989e-01 1.77325419e-05 -2.86045434e+02] [-1.26893695e-05 1.34425194e-05 1.00000000e+00 -9.02535779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.300385723 meters 0.016944463949626426 Centerline is valid? [True, True] Translation: X:-109.87, Y:-286.39, Z:-8.04 [[-8.98184016e-01 4.39619689e-01 5.50587924e-05 -1.09868353e+02] [ 4.39619689e-01 8.98184017e-01 -2.55821206e-05 -2.86388045e+02] [-6.06993317e-05 1.22747736e-06 -9.99999998e-01 -8.04458917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.330385723 meters 0.016502356779598857 Centerline is valid? [True, True] Translation: X:-109.71, Y:-286.03, Z:-9.03 [[-8.90255298e-01 -4.55461090e-01 8.36327829e-04 -1.09711650e+02] [ 4.55460924e-01 -8.90255691e-01 -3.90003402e-04 -2.86027402e+02] [ 9.22176984e-04 3.37120511e-05 9.99999574e-01 -9.02621194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.360385723 meters 0.017703640570389253 Centerline is valid? [True, True] Translation: X:-109.92, Y:-286.37, Z:-8.04 [[-9.02179880e-01 4.31357668e-01 1.42354364e-03 -1.09916573e+02] [ 4.31357188e-01 9.02181002e-01 -6.44334712e-04 -2.86366587e+02] [-1.56223275e-03 3.27499704e-05 -9.99998779e-01 -8.04294508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.390385723 meters 0.01593571462229489 Centerline is valid? [True, True] Translation: X:-109.92, Y:-286.33, Z:-8.04 [[-9.31182716e-01 3.64544376e-01 2.47942871e-03 -1.09919065e+02] [ 3.64543229e-01 9.31186015e-01 -9.15928350e-04 -2.86330312e+02] [-2.64270587e-03 5.09622999e-05 -9.99996507e-01 -8.04283560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.420385723 meters 0.015712858015435826 Centerline is valid? [True, True] Translation: X:-109.79, Y:-285.96, Z:-9.03 [[-9.20372885e-01 -3.91036663e-01 2.02004903e-03 -1.09790508e+02] [ 3.91035554e-01 -9.20375099e-01 -9.33900754e-04 -2.85963907e+02] [ 2.22439226e-03 -6.96259397e-05 9.99997524e-01 -9.02694904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.450385723 meters 0.017703898647440854 Centerline is valid? [True, True] Translation: X:-109.97, Y:-286.31, Z:-8.04 [[-9.32639572e-01 3.60802881e-01 2.17040565e-03 -1.09966869e+02] [ 3.60802013e-01 9.32642096e-01 -7.92600024e-04 -2.86313608e+02] [-2.31018405e-03 4.38765799e-05 -9.99997331e-01 -8.04063497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.480385723 meters 0.015800058806573036 Centerline is valid? [True, True] Translation: X:-109.97, Y:-286.28, Z:-8.04 [[-9.56289155e-01 2.92418505e-01 1.57190069e-03 -1.09970724e+02] [ 2.92418159e-01 9.56290446e-01 -4.50598525e-04 -2.86282068e+02] [-1.63495696e-03 2.87498243e-05 -9.99998663e-01 -8.04362988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.510385723 meters 0.015162121089017724 Centerline is valid? [True, True] Translation: X:-109.87, Y:-285.91, Z:-9.03 [[-9.46263014e-01 -3.23392871e-01 1.83293808e-03 -1.09871023e+02] [ 3.23392236e-01 -9.46264789e-01 -6.41461600e-04 -2.85905645e+02] [ 1.94188887e-03 -1.42334431e-05 9.99998115e-01 -9.02656945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.540385723 meters 0.015632422118684302 Centerline is valid? [True, True] Translation: X:-110.02, Y:-286.27, Z:-8.04 [[-9.57848115e-01 2.87268727e-01 1.91486211e-03 -1.10022395e+02] [ 2.87268219e-01 9.57850029e-01 -5.41198338e-04 -2.86269987e+02] [-1.98962008e-03 3.16932201e-05 -9.99998020e-01 -8.04321275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.570385723 meters 0.015532626833528837 Centerline is valid? [True, True] Translation: X:-110.02, Y:-286.24, Z:-8.04 [[-9.75848119e-01 2.18446172e-01 1.31121605e-03 -1.10021695e+02] [ 2.18446003e-01 9.75848999e-01 -2.72503733e-04 -2.86240872e+02] [-1.33907626e-03 2.05076490e-05 -9.99999103e-01 -8.04366883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6003857229999 meters 0.015304419082978877 Centerline is valid? [True, True] Translation: X:-109.95, Y:-285.85, Z:-9.02 [[-9.67097662e-01 -2.54405362e-01 -1.54456603e-04 -1.09949728e+02] [ 2.54405373e-01 -9.67097670e-01 -5.66717945e-05 -2.85850741e+02] [-1.34957012e-04 -9.41017496e-05 9.99999987e-01 -9.02499881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.630385723 meters 0.014640326331301304 Centerline is valid? [True, True] Translation: X:-110.07, Y:-286.23, Z:-8.05 [[-9.77197636e-01 2.12327307e-01 -1.37695056e-03 -1.10073031e+02] [ 2.12327123e-01 9.77198606e-01 2.79962013e-04 -2.86233278e+02] [ 1.40499775e-03 -1.87857336e-05 -9.99999013e-01 -8.04578745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.660385723 meters 0.014780166833839072 Centerline is valid? [True, True] Translation: X:-110.00, Y:-285.84, Z:-9.02 [[-9.67548254e-01 -2.52679138e-01 -1.90506595e-03 -1.10000520e+02] [ 2.52678670e-01 -9.67550129e-01 4.86825748e-04 -2.85838603e+02] [-1.96625751e-03 -1.03421256e-05 9.99998067e-01 -9.02388642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.690385723 meters 0.014528497828392897 Centerline is valid? [True, True] Translation: X:-110.13, Y:-286.23, Z:-8.05 [[-9.78407430e-01 2.06681007e-01 -1.36486495e-03 -1.10128388e+02] [ 2.06680828e-01 9.78408382e-01 2.72355152e-04 -2.86226168e+02] [ 1.39168594e-03 -1.56171125e-05 -9.99999032e-01 -8.04570795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7203857229999 meters 0.014535164839213322 Centerline is valid? [True, True] Translation: X:-110.05, Y:-285.83, Z:-9.02 [[-9.68028042e-01 -2.50835674e-01 -1.78162437e-03 -1.10053260e+02] [ 2.50835265e-01 -9.68029682e-01 4.52956290e-04 -2.85825767e+02] [-1.83828287e-03 -8.41983037e-06 9.99998310e-01 -9.02457687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.750385723 meters 0.014507151867409702 Centerline is valid? [True, True] Translation: X:-110.18, Y:-286.22, Z:-8.05 [[-9.79493472e-01 2.01470695e-01 -1.44808288e-03 -1.10179064e+02] [ 2.01470497e-01 9.79494543e-01 2.83442730e-04 -2.86222894e+02] [ 1.47549468e-03 -1.41156725e-05 -9.99998911e-01 -8.04543453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.780385723 meters 0.014483561165669985 Centerline is valid? [True, True] Translation: X:-110.11, Y:-285.81, Z:-9.02 [[-9.68685374e-01 -2.48288568e-01 -1.19733940e-03 -1.10106414e+02] [ 2.48288344e-01 -9.68686113e-01 3.34634053e-04 -2.85809311e+02] [-1.24293186e-03 2.68696955e-05 9.99999227e-01 -9.02451171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.810385723 meters 0.0145700915965169 Centerline is valid? [True, True] Translation: X:-110.23, Y:-286.22, Z:-8.04 [[-9.80260747e-01 1.97708470e-01 4.78098202e-04 -1.10231423e+02] [ 1.97708449e-01 9.80260864e-01 -9.15787322e-05 -2.86218907e+02] [-4.86766848e-04 4.75301763e-06 -9.99999882e-01 -8.04413922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8403857229999 meters 0.014592218506045442 Centerline is valid? [True, True] Translation: X:-110.15, Y:-285.80, Z:-9.03 [[-9.69643976e-01 -2.44518350e-01 1.15644140e-03 -1.10154806e+02] [ 2.44518217e-01 -9.69644665e-01 -2.57055042e-04 -2.85795708e+02] [ 1.18419191e-03 3.35191162e-05 9.99999298e-01 -9.02652588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.870385723 meters 0.014491540118356523 Centerline is valid? [True, True] Translation: X:-110.28, Y:-286.22, Z:-8.04 [[-9.80912044e-01 1.94434149e-01 2.63125722e-03 -1.10281511e+02] [ 1.94433523e-01 9.80915573e-01 -4.94115961e-04 -2.86215055e+02] [-2.67711420e-03 2.69203140e-05 -9.99996416e-01 -8.04285886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.900385723 meters 0.014539655339888607 Centerline is valid? [True, True] Translation: X:-110.29, Y:-286.19, Z:-8.04 [[-9.92127094e-01 1.25213295e-01 2.33664643e-03 -1.10293350e+02] [ 1.25213009e-01 9.92129845e-01 -2.68808570e-04 -2.86185965e+02] [-2.35191507e-03 2.58862659e-05 -9.99997234e-01 -8.04282411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.930385723 meters 0.014899519098046779 Centerline is valid? [True, True] Translation: X:-110.24, Y:-285.74, Z:-9.03 [[-9.85914071e-01 -1.67223165e-01 3.13959920e-03 -1.10244194e+02] [ 1.67222371e-01 -9.85919070e-01 -5.15524571e-04 -2.85741626e+02] [ 3.18159838e-03 1.67482932e-05 9.99994939e-01 -9.02724117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.960385723 meters 0.015233490449956838 Centerline is valid? [True, True] Translation: X:-110.34, Y:-286.19, Z:-8.04 [[-9.92031766e-01 1.25932496e-01 3.73935405e-03 -1.10342192e+02] [ 1.25931824e-01 9.92038811e-01 -4.15653514e-04 -2.86188717e+02] [-3.76192863e-03 5.85621858e-05 -9.99992922e-01 -8.04212910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.990385723 meters 0.015564103392635678 Centerline is valid? [True, True] Translation: X:-110.35, Y:-286.16, Z:-8.04 [[-9.98351761e-01 5.72676886e-02 3.76480583e-03 -1.10349309e+02] [ 5.72675334e-02 9.98358857e-01 -1.49096905e-04 -2.86161888e+02] [-3.76716568e-03 6.67499859e-05 -9.99992902e-01 -8.04216300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.020385723 meters 0.01660621604773588 Centerline is valid? [True, True] Translation: X:-110.36, Y:-286.14, Z:-8.04 [[-9.99948190e-01 -9.03676399e-03 4.68556204e-03 -1.10360456e+02] [-9.03616738e-03 9.99959162e-01 1.48483256e-04 -2.86138901e+02] [-4.68671250e-03 1.06136040e-04 -9.99989012e-01 -8.04182900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.050385723 meters 0.018073642041678613 Centerline is valid? [True, True] Translation: X:-110.37, Y:-286.12, Z:-8.04 [[-9.97185759e-01 -7.47506834e-02 5.73566994e-03 -1.10374445e+02] [-7.47485082e-02 9.97202241e-01 5.92980133e-04 -2.86116469e+02] [-5.76394859e-03 1.62578572e-04 -9.99983375e-01 -8.04118955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.080385723 meters 0.018675509520686744 Centerline is valid? [True, True] Translation: X:-110.39, Y:-286.09, Z:-8.04 [[-9.89743744e-01 -1.42755778e-01 5.30188344e-03 -1.10394151e+02] [-1.42752818e-01 9.89757930e-01 9.34479258e-04 -2.86091609e+02] [-5.38098350e-03 1.68036196e-04 -9.99985508e-01 -8.04141037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.110385723 meters 0.019573260347284703 Centerline is valid? [True, True] Translation: X:-110.42, Y:-286.07, Z:-8.04 [[-9.77908583e-01 -2.08980415e-01 4.68923173e-03 -1.10424299e+02] [-2.08977161e-01 9.77919811e-01 1.17897983e-03 -2.86071151e+02] [-4.83207630e-03 1.72992166e-04 -9.99988311e-01 -8.04209310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.140385723 meters 0.02393335081977787 Centerline is valid? [True, True] Translation: X:-110.46, Y:-286.06, Z:-8.04 [[-9.60786693e-01 -2.77248507e-01 4.71117539e-03 -1.10463569e+02] [-2.77244221e-01 9.60798226e-01 1.55284272e-03 -2.86055412e+02] [-4.95701228e-03 1.85804477e-04 -9.99987697e-01 -8.03908813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.170385723 meters 0.02197912537130825 Centerline is valid? [True, True] Translation: X:-110.52, Y:-286.05, Z:-8.04 [[-9.38435061e-01 -3.45450013e-01 1.98134140e-03 -1.10517256e+02] [-3.45449056e-01 9.38437149e-01 8.17329182e-04 -2.86047004e+02] [-2.14171075e-03 8.25578470e-05 -9.99997703e-01 -8.04465619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.200385723 meters 0.022266853998706624 Centerline is valid? [True, True] Translation: X:-110.59, Y:-286.05, Z:-8.04 [[-9.10422979e-01 -4.13673287e-01 2.09998775e-03 -1.10589318e+02] [-4.13671957e-01 9.10425397e-01 1.05294985e-03 -2.86045001e+02] [-2.34745941e-03 8.99236967e-05 -9.99997241e-01 -8.04183059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.230385723 meters 0.020879034320237983 Centerline is valid? [True, True] Translation: X:-110.66, Y:-286.05, Z:-8.04 [[-8.76146354e-01 -4.82036733e-01 2.85556350e-03 -1.10663836e+02] [-4.82033730e-01 8.76150999e-01 1.70570881e-03 -2.86049392e+02] [-3.32411912e-03 1.17972631e-04 -9.99994468e-01 -8.04212932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.260385723 meters 0.018454552230985806 Centerline is valid? [True, True] Translation: X:-110.75, Y:-286.07, Z:-8.04 [[-8.36608111e-01 -5.47795579e-01 2.62156142e-03 -1.10747129e+02] [-5.47792497e-01 8.36612212e-01 1.84068523e-03 -2.86066706e+02] [-3.20154953e-03 1.03860520e-04 -9.99994870e-01 -8.04481477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.290385723 meters 0.017799588137663826 Centerline is valid? [True, True] Translation: X:-110.83, Y:-286.09, Z:-8.04 [[-7.91460217e-01 -6.11213861e-01 2.88800237e-03 -1.10825886e+02] [-6.11209288e-01 7.91465479e-01 2.36671342e-03 -2.86086514e+02] [-3.73232222e-03 1.07985642e-04 -9.99993029e-01 -8.04436461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.320385723 meters 0.017548706891371627 Centerline is valid? [True, True] Translation: X:-110.91, Y:-286.12, Z:-8.04 [[-7.39155212e-01 -6.73531647e-01 2.16622227e-03 -1.10914266e+02] [-6.73528493e-01 7.39158383e-01 2.06227782e-03 -2.86122754e+02] [-2.99019073e-03 6.53309779e-05 -9.99995527e-01 -8.04475752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3503857229999 meters 0.015888293416779557 Centerline is valid? [True, True] Translation: X:-111.00, Y:-286.16, Z:-8.05 [[-6.84425425e-01 -7.29082457e-01 7.80163927e-04 -1.10999860e+02] [-7.29081948e-01 6.84425869e-01 8.62107264e-04 -2.86162121e+02] [-1.16251166e-03 2.12446955e-05 -9.99999324e-01 -8.04652080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.380385723 meters 0.015097033341625377 Centerline is valid? [True, True] Translation: X:-111.09, Y:-286.21, Z:-8.05 [[-6.22285978e-01 -7.82789981e-01 -8.13862570e-05 -1.11085762e+02] [-7.82789974e-01 6.22285983e-01 -1.05493817e-04 -2.86213648e+02] [ 1.33225030e-04 -1.93897727e-06 -9.99999991e-01 -8.04776975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.410385723 meters 0.014448385889938593 Centerline is valid? [True, True] Translation: X:-111.17, Y:-286.27, Z:-8.05 [[-5.56428839e-01 -8.30895052e-01 6.01004899e-04 -1.11168815e+02] [-8.30894558e-01 5.56429163e-01 9.05594756e-04 -2.86274454e+02] [-1.08687085e-03 4.52733826e-06 -9.99999409e-01 -8.04702940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.440385723 meters 0.01432698339471863 Centerline is valid? [True, True] Translation: X:-111.25, Y:-286.34, Z:-8.05 [[-4.89708280e-01 -8.71886153e-01 5.80097166e-04 -1.11246662e+02] [-8.71885539e-01 4.89708623e-01 1.03536632e-03 -2.86343425e+02] [-1.18680014e-03 1.24912846e-06 -9.99999296e-01 -8.04706695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4703857229999 meters 0.01432698339471863 Centerline is valid? [True, True] Translation: X:-111.32, Y:-286.42, Z:-8.05 [[-4.22697865e-01 -9.06270525e-01 5.00518931e-04 -1.11318567e+02] [-9.06269886e-01 4.22698161e-01 1.07607517e-03 -2.86419986e+02] [-1.18678364e-03 1.24944362e-06 -9.99999296e-01 -8.04706766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.500385723 meters 0.014372903696372015 Centerline is valid? [True, True] Translation: X:-111.39, Y:-286.51, Z:-8.05 [[-3.50385515e-01 -9.36605394e-01 5.71684695e-04 -1.11386985e+02] [-9.36604161e-01 3.50385982e-01 1.51980432e-03 -2.86505292e+02] [-1.62376722e-03 -2.92484541e-06 -9.99998682e-01 -8.04666962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.530385723 meters 0.014688478507184294 Centerline is valid? [True, True] Translation: X:-111.45, Y:-286.60, Z:-8.05 [[-2.73263099e-01 -9.61939151e-01 5.90191764e-04 -1.11450361e+02] [-9.61937030e-01 2.73263736e-01 2.02021652e-03 -2.86599589e+02] [-2.10460337e-03 -1.56766855e-05 -9.99997785e-01 -8.04641517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.560385723 meters 0.015507560386776992 Centerline is valid? [True, True] Translation: X:-111.51, Y:-286.70, Z:-8.05 [[-1.94442161e-01 -9.80913896e-01 4.18102392e-04 -1.11505509e+02] [-9.80911908e-01 1.94442608e-01 1.97486772e-03 -2.86697579e+02] [-2.01847211e-03 -2.61240691e-05 -9.99997963e-01 -8.04685532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5903857229999 meters 0.015357236762294574 Centerline is valid? [True, True] Translation: X:-111.55, Y:-286.80, Z:-8.05 [[-1.17347730e-01 -9.93090848e-01 2.80761333e-04 -1.11550913e+02] [-9.93088628e-01 1.17348061e-01 2.10014108e-03 -2.86798899e+02] [-2.11857768e-03 -3.23740986e-05 -9.99997755e-01 -8.04649753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.620385723 meters 0.01641559939453772 Centerline is valid? [True, True] Translation: X:-111.59, Y:-286.91, Z:-8.05 [[-3.81393218e-02 -9.99272420e-01 1.48378824e-04 -1.11588014e+02] [-9.99269053e-01 3.81395786e-02 2.59464343e-03 -2.86908046e+02] [-2.59841473e-03 -4.93124259e-05 -9.99996623e-01 -8.04626426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.650385723 meters 0.016566985235628523 Centerline is valid? [True, True] Translation: X:-111.62, Y:-287.02, Z:-8.05 [[ 3.85509225e-02 -9.99256636e-01 -4.75526223e-05 -1.11616220e+02] [-9.99253427e-01 -3.85509192e-02 2.53294155e-03 -2.87017105e+02] [-2.53289185e-03 -5.01301126e-05 -9.99996791e-01 -8.04657613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.680385723 meters 0.017341961479511107 Centerline is valid? [True, True] Translation: X:-111.63, Y:-287.13, Z:-8.05 [[ 1.14369671e-01 -9.93438218e-01 -2.90587838e-04 -1.11634241e+02] [-9.93433513e-01 -1.14370024e-01 3.05818549e-03 -2.87128191e+02] [-3.07135288e-03 -6.10839733e-05 -9.99995282e-01 -8.04656138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.710385723 meters 0.016357009010676517 Centerline is valid? [True, True] Translation: X:-111.64, Y:-287.24, Z:-8.05 [[ 1.89331718e-01 -9.81913051e-01 -5.11197418e-04 -1.11642365e+02] [-9.81908580e-01 -1.89332399e-01 2.96382152e-03 -2.87241503e+02] [-3.00700126e-03 -5.91962894e-05 -9.99995477e-01 -8.04718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.740385723 meters 0.016563975888236562 Centerline is valid? [True, True] Translation: X:-111.64, Y:-287.36, Z:-8.05 [[ 2.62853504e-01 -9.64835284e-01 -9.54273254e-04 -1.11640738e+02] [-9.64827862e-01 -2.62855226e-01 3.78508392e-03 -2.87357248e+02] [-3.90281823e-03 -7.42131471e-05 -9.99992381e-01 -8.04680398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.770385723 meters 0.016477574691558895 Centerline is valid? [True, True] Translation: X:-111.63, Y:-287.47, Z:-8.05 [[ 3.35938963e-01 -9.41882573e-01 -1.49414279e-03 -1.11634331e+02] [-9.41872007e-01 -3.35942273e-01 4.46223662e-03 -2.87469877e+02] [-4.70484863e-03 -9.17478767e-05 -9.99988928e-01 -8.04615166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.800385723 meters 0.01763231509428361 Centerline is valid? [True, True] Translation: X:-111.62, Y:-287.59, Z:-8.04 [[ 4.07271687e-01 -9.13303763e-01 -2.45155047e-03 -1.11618560e+02] [-9.13285284e-01 -4.07279046e-01 5.81112567e-03 -2.87586013e+02] [-6.30578807e-03 -1.27741990e-04 -9.99980110e-01 -8.04341312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.830385723 meters 0.017590489487294185 Centerline is valid? [True, True] Translation: X:-111.59, Y:-287.70, Z:-8.04 [[ 4.77794623e-01 -8.78464769e-01 -3.45651488e-03 -1.11591972e+02] [-8.78439115e-01 -4.77807095e-01 6.71571410e-03 -2.87697783e+02] [-7.55106557e-03 -1.72394220e-04 -9.99971476e-01 -8.04319577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.860385723 meters 0.01878769933858247 Centerline is valid? [True, True] Translation: X:-111.56, Y:-287.81, Z:-8.04 [[ 5.46152015e-01 -8.37673024e-01 -4.67769872e-03 -1.11558347e+02] [-8.37638516e-01 -5.46171995e-01 7.60714066e-03 -2.87807512e+02] [-8.92712457e-03 -2.36434586e-04 -9.99960125e-01 -8.04226549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.890385723 meters 0.019435073685288032 Centerline is valid? [True, True] Translation: X:-111.52, Y:-287.91, Z:-8.04 [[ 6.09348618e-01 -7.92883525e-01 -5.47524193e-03 -1.11519355e+02] [-7.92847587e-01 -6.09373160e-01 7.55351010e-03 -2.87913742e+02] [-9.32551919e-03 -2.61688581e-04 -9.99956482e-01 -8.04167903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.920385723 meters 0.020604996525840327 Centerline is valid? [True, True] Translation: X:-111.47, Y:-288.01, Z:-8.04 [[ 6.69450185e-01 -7.42827660e-01 -6.59676583e-03 -1.11473148e+02] [-7.42786951e-01 -6.69482614e-01 7.78297057e-03 -2.88009654e+02] [-1.01978259e-02 -3.10319507e-04 -9.99947953e-01 -8.04070591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.950385723 meters 0.02116463550026585 Centerline is valid? [True, True] Translation: X:-111.42, Y:-288.10, Z:-8.04 [[ 7.24508931e-01 -6.89220020e-01 -7.91030034e-03 -1.11421510e+02] [-6.89173506e-01 -7.24552026e-01 8.01505507e-03 -2.88102656e+02] [-1.12555606e-02 -3.55409563e-04 -9.99936591e-01 -8.04041216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.980385723 meters 0.021603502381354302 Centerline is valid? [True, True] Translation: X:-111.36, Y:-288.19, Z:-8.04 [[ 7.74844223e-01 -6.32081586e-01 -9.44984368e-03 -1.11361597e+02] [-6.32028177e-01 -7.74901741e-01 8.22651144e-03 -2.88185522e+02] [-1.25225267e-02 -4.01697387e-04 -9.99921510e-01 -8.04062928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.010385723 meters 0.020908953898580204 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.19, Z:-8.04 [[ 8.21631769e-01 -5.69934823e-01 -9.77412498e-03 -1.11352769e+02] [-5.69888867e-01 -8.21689813e-01 7.24774302e-03 -2.88186403e+02] [-1.21620401e-02 -3.84810901e-04 -9.99925966e-01 -8.04179624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.040385723 meters 0.01912897962799892 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.19, Z:-8.04 [[ 8.63408672e-01 -5.04402176e-01 -1.01936459e-02 -1.11349018e+02] [-5.04361863e-01 -8.63468763e-01 6.38795771e-03 -2.88192386e+02] [-1.20239945e-02 -3.74131869e-04 -9.99927639e-01 -8.04322686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.070385723 meters 0.019500571737165913 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.20, Z:-8.04 [[ 8.99741640e-01 -4.36303602e-01 -1.02052640e-02 -1.11347281e+02] [-4.36271147e-01 -8.99799448e-01 5.33280244e-03 -2.88200386e+02] [-1.15094118e-02 -3.45882207e-04 -9.99933705e-01 -8.04295094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1003857229999 meters 0.017990208259306393 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.20, Z:-8.04 [[ 9.29814956e-01 -3.67874891e-01 -1.05930499e-02 -1.11341445e+02] [-3.67847255e-01 -9.29875245e-01 4.51948708e-03 -2.88200328e+02] [-1.15128207e-02 -3.05662352e-04 -9.99933679e-01 -8.04376881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.130385723 meters 0.017062974293282778 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.21, Z:-8.04 [[ 9.54949352e-01 -2.96556989e-01 -1.12110649e-02 -1.11338331e+02] [-2.96533061e-01 -9.55015116e-01 3.77776430e-03 -2.88205990e+02] [-1.18270588e-02 -2.83122187e-04 -9.99930018e-01 -8.04450878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.160385723 meters 0.016114292388439304 Centerline is valid? [True, True] Translation: X:-111.33, Y:-288.21, Z:-8.04 [[ 9.73977190e-01 -2.26275510e-01 -1.29548146e-02 -1.11333502e+02] [-2.26252115e-01 -9.74063310e-01 3.26307258e-03 -2.88205085e+02] [-1.33571630e-02 -2.47104049e-04 -9.99910759e-01 -8.04447395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.190385723 meters 0.015535572670384376 Centerline is valid? [True, True] Translation: X:-111.33, Y:-288.21, Z:-8.04 [[ 9.88284484e-01 -1.52019456e-01 -1.35596535e-02 -1.11331662e+02] [-1.52002116e-01 -9.88377477e-01 2.30641150e-03 -2.88210271e+02] [-1.37526756e-02 -2.18294672e-04 -9.99905404e-01 -8.04476013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2203857229999 meters 0.015228986419548724 Centerline is valid? [True, True] Translation: X:-111.33, Y:-288.21, Z:-8.04 [[ 9.96849327e-01 -7.80421898e-02 -1.41716538e-02 -1.11334108e+02] [-7.80318751e-02 -9.96950043e-01 1.28017500e-03 -2.88211017e+02] [-1.42283385e-02 -1.70300871e-04 -9.99898758e-01 -8.04457493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.250385723 meters 0.015028588546875 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.21, Z:-8.05 [[ 9.99901884e-01 -2.99955027e-03 -1.36830046e-02 -1.11337512e+02] [-2.99763615e-03 -9.99995494e-01 1.60397357e-04 -2.88211313e+02] [-1.36834241e-02 -1.19364951e-04 -9.99906371e-01 -8.04504285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.280385723 meters 0.01494422203757057 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.22, Z:-8.05 [[ 9.97171897e-01 7.40855193e-02 -1.26310474e-02 -1.11339919e+02] [ 7.40807788e-02 -9.97251887e-01 -8.43409944e-04 -2.88216898e+02] [-1.26588204e-02 -9.46931376e-05 -9.99919870e-01 -8.04612838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.310385723 meters 0.014857464421699825 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.22, Z:-8.05 [[ 9.88449789e-01 1.51090293e-01 -1.17787524e-02 -1.11342143e+02] [ 1.51080522e-01 -9.88519963e-01 -1.72010426e-03 -2.88223849e+02] [-1.19034230e-02 -7.93033742e-05 -9.99929149e-01 -8.04816729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3403857229999 meters 0.01488720034933 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.23, Z:-8.05 [[ 9.73943137e-01 2.26579007e-01 -9.83464794e-03 -1.11346457e+02] [ 2.26568002e-01 -9.73992788e-01 -2.23368716e-03 -2.88227221e+02] [-1.00849828e-02 -5.27322574e-05 -9.99949144e-01 -8.05060055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.370385723 meters 0.014920061630777479 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.24, Z:-8.05 [[ 9.53410852e-01 3.01554111e-01 -8.53612548e-03 -1.11349095e+02] [ 3.01542412e-01 -9.53449064e-01 -2.65651425e-03 -2.88235137e+02] [-8.93984364e-03 -4.12543480e-05 -9.99960038e-01 -8.05131550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.400385723 meters 0.015044328472364728 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.24, Z:-8.05 [[ 9.27447450e-01 3.73892920e-01 -6.73147301e-03 -1.11352695e+02] [ 3.73883248e-01 -9.27471878e-01 -2.68930838e-03 -2.88239424e+02] [-7.24876527e-03 -2.25928006e-05 -9.99973727e-01 -8.05401580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.430385723 meters 0.015041080533317633 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.25, Z:-8.06 [[ 8.95070425e-01 4.45906081e-01 -4.08663473e-03 -1.11352462e+02] [ 4.45901522e-01 -8.95079754e-01 -2.01649138e-03 -2.88252560e+02] [-4.55702977e-03 -1.73348458e-05 -9.99989617e-01 -8.05638789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.460385723 meters 0.014994022098112557 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.27, Z:-8.06 [[ 8.57646047e-01 5.14226030e-01 -3.85321437e-03 -1.11350480e+02] [ 5.14220919e-01 -8.57654703e-01 -2.29276734e-03 -2.88266224e+02] [-4.48372807e-03 -1.50205883e-05 -9.99989948e-01 -8.05659501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.490385723 meters 0.015082276195064448 Centerline is valid? [True, True] Translation: X:-111.35, Y:-288.28, Z:-8.05 [[ 8.16186035e-01 5.77776510e-01 -3.82899050e-03 -1.11347420e+02] [ 5.77770175e-01 -8.16195017e-01 -2.70558726e-03 -2.88280273e+02] [-4.68842773e-03 -4.01397447e-06 -9.99989009e-01 -8.05462923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.520385723 meters 0.01499171357747287 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.29, Z:-8.05 [[ 7.69252568e-01 6.38933248e-01 -3.84605132e-03 -1.11343503e+02] [ 6.38925248e-01 -7.69262182e-01 -3.19729260e-03 -2.88293070e+02] [-5.00147838e-03 2.18624831e-06 -9.99987493e-01 -8.05365832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.550385723 meters 0.015115320043129769 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.30, Z:-8.05 [[ 7.17988186e-01 6.96045835e-01 -3.62779767e-03 -1.11340463e+02] [ 6.96036876e-01 -7.17997351e-01 -3.53149626e-03 -2.88304065e+02] [-5.06283238e-03 1.04916360e-05 -9.99987184e-01 -8.05362335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.580385723 meters 0.015045037423580734 Centerline is valid? [True, True] Translation: X:-111.34, Y:-288.31, Z:-8.05 [[ 6.61414342e-01 7.50012832e-01 -3.43814373e-03 -1.11338906e+02] [ 7.50002606e-01 -6.61423278e-01 -3.91642958e-03 -2.88313914e+02] [-5.21144073e-03 1.17659370e-05 -9.99986420e-01 -8.05449384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.610385723 meters 0.015169172187269394 Centerline is valid? [True, True] Translation: X:-111.33, Y:-288.33, Z:-8.05 [[ 6.00500931e-01 7.99617093e-01 -3.33709886e-03 -1.11332904e+02] [ 7.99604641e-01 -6.00510204e-01 -4.46254037e-03 -2.88325198e+02] [-5.57228548e-03 1.13999143e-05 -9.99984475e-01 -8.05364236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.640385723 meters 0.015228483288663835 Centerline is valid? [True, True] Translation: X:-111.33, Y:-288.34, Z:-8.05 [[ 5.35741461e-01 8.44375784e-01 -3.25925709e-03 -1.11328234e+02] [ 8.44360042e-01 -5.35751375e-01 -5.15606577e-03 -2.88335779e+02] [-6.09980855e-03 1.03317533e-05 -9.99981396e-01 -8.05278959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.670385723 meters 0.015157511882599143 Centerline is valid? [True, True] Translation: X:-111.32, Y:-288.34, Z:-8.05 [[ 4.68428043e-01 8.83494917e-01 -3.44968487e-03 -1.11323437e+02] [ 8.83470695e-01 -4.68440745e-01 -6.54207328e-03 -2.88344389e+02] [-7.39586143e-03 1.67950975e-05 -9.99972650e-01 -8.05154554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.700385723 meters 0.015233757292342696 Centerline is valid? [True, True] Translation: X:-111.31, Y:-288.35, Z:-8.05 [[ 3.98694537e-01 9.17078282e-01 -3.17656556e-03 -1.11314896e+02] [ 9.17048654e-01 -3.98707191e-01 -7.37174802e-03 -2.88354451e+02] [-8.02698954e-03 2.60104999e-05 -9.99967783e-01 -8.05126219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.730385723 meters 0.01553944571149065 Centerline is valid? [True, True] Translation: X:-111.31, Y:-288.36, Z:-8.05 [[ 3.28731576e-01 9.44419619e-01 -2.67089343e-03 -1.11308432e+02] [ 9.44387106e-01 -3.28742421e-01 -7.83679674e-03 -2.88363212e+02] [-8.27926057e-03 5.38452219e-05 -9.99965725e-01 -8.04966975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.760385723 meters 0.01546324554175829 Centerline is valid? [True, True] Translation: X:-111.30, Y:-288.37, Z:-8.05 [[ 2.55388790e-01 9.66836383e-01 -1.99365357e-03 -1.11299510e+02] [ 9.66804879e-01 -2.55396563e-01 -7.80517336e-03 -2.88371384e+02] [-8.05549785e-03 6.58797838e-05 -9.99967552e-01 -8.05118058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.790385723 meters 0.015700759883069463 Centerline is valid? [True, True] Translation: X:-111.29, Y:-288.38, Z:-8.05 [[ 1.81375493e-01 9.83413219e-01 -1.17096969e-03 -1.11289419e+02] [ 9.83390021e-01 -1.81379258e-01 -6.75508834e-03 -2.88379476e+02] [-6.85543278e-03 7.36875759e-05 -9.99976499e-01 -8.05218840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.820385723 meters 0.01603564178345748 Centerline is valid? [True, True] Translation: X:-111.28, Y:-288.39, Z:-8.05 [[ 1.04311249e-01 9.94544520e-01 -6.00364106e-04 -1.11280501e+02] [ 9.94523805e-01 -1.04312951e-01 -6.41949963e-03 -2.88387340e+02] [-6.44710393e-03 7.25496265e-05 -9.99979215e-01 -8.05145855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8503857229999 meters 0.015843731181009024 Centerline is valid? [True, True] Translation: X:-111.27, Y:-288.39, Z:-8.05 [[ 2.65671750e-02 9.99647025e-01 -1.01391704e-04 -1.11268617e+02] [ 9.99623668e-01 -2.65672474e-02 -6.83403334e-03 -2.88393234e+02] [-6.83431480e-03 8.02074126e-05 -9.99976643e-01 -8.05172624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.880385723 meters 0.015787435353480178 Centerline is valid? [True, True] Translation: X:-111.26, Y:-288.40, Z:-8.05 [[-5.21123605e-02 9.98641123e-01 4.58552599e-04 -1.11257076e+02] [ 9.98615138e-01 5.21143127e-02 -7.20444023e-03 -2.88399091e+02] [-7.21854743e-03 8.24771801e-05 -9.99973943e-01 -8.05132951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.910385723 meters 0.01574885519019396 Centerline is valid? [True, True] Translation: X:-111.24, Y:-288.40, Z:-8.05 [[-1.31031762e-01 9.91377528e-01 1.12855115e-03 -1.11242566e+02] [ 9.91346092e-01 1.31036595e-01 -7.89532619e-03 -2.88403261e+02] [-7.97513046e-03 8.42462730e-05 -9.99968195e-01 -8.05007490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.940385723 meters 0.015625331995175233 Centerline is valid? [True, True] Translation: X:-111.23, Y:-288.41, Z:-8.05 [[-2.09043241e-01 9.77904677e-01 1.83457397e-03 -1.11229446e+02] [ 9.77870392e-01 2.09051275e-01 -8.18913276e-03 -2.88406108e+02] [-8.39171125e-03 8.20927185e-05 -9.99964786e-01 -8.04971799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9703857229999 meters 0.015455655568737906 Centerline is valid? [True, True] Translation: X:-111.22, Y:-288.41, Z:-8.05 [[-2.86575850e-01 9.58054209e-01 2.53286774e-03 -1.11217548e+02] [ 9.58018918e-01 2.86587034e-01 -8.22347200e-03 -2.88409164e+02] [-8.60441901e-03 6.98867364e-05 -9.99962979e-01 -8.04965943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.000385723 meters 0.015382006538584172 Centerline is valid? [True, True] Translation: X:-111.21, Y:-288.41, Z:-8.05 [[-3.61926790e-01 9.32200754e-01 3.27931005e-03 -1.11206858e+02] [ 9.32164011e-01 3.61941641e-01 -8.27678419e-03 -2.88410626e+02] [-8.90254332e-03 6.12648831e-05 -9.99960370e-01 -8.05014541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.030385723 meters 0.015364121039444699 Centerline is valid? [True, True] Translation: X:-111.20, Y:-288.41, Z:-8.05 [[-4.34048550e-01 9.00880351e-01 4.05566494e-03 -1.11195242e+02] [ 9.00842331e-01 4.34067493e-01 -8.27685179e-03 -2.88411460e+02] [-9.21688547e-03 6.09591370e-05 -9.99957522e-01 -8.05021041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.060385723 meters 0.01547099305594629 Centerline is valid? [True, True] Translation: X:-111.18, Y:-288.41, Z:-8.05 [[-5.03550236e-01 8.63952569e-01 4.80815685e-03 -1.11184145e+02] [ 8.63914309e-01 5.03573187e-01 -8.13098564e-03 -2.88412815e+02] [-9.44604480e-03 5.94757631e-05 -9.99955383e-01 -8.05012615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0903857229999 meters 0.015427604436319664 Centerline is valid? [True, True] Translation: X:-111.17, Y:-288.41, Z:-8.05 [[-5.69585749e-01 8.21912346e-01 5.67178570e-03 -1.11172516e+02] [ 8.21872697e-01 5.69613984e-01 -8.07336047e-03 -2.88411567e+02] [-9.86632309e-03 6.30147377e-05 -9.99951325e-01 -8.05044001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.120385723 meters 0.015415705597490231 Centerline is valid? [True, True] Translation: X:-111.16, Y:-288.41, Z:-8.05 [[-6.32017912e-01 7.74928948e-01 6.20361658e-03 -1.11160976e+02] [ 7.74892616e-01 6.32048354e-01 -7.50413288e-03 -2.88409455e+02] [-9.73615545e-03 6.43902849e-05 -9.99952601e-01 -8.04937327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.150385723 meters 0.015519176967221267 Centerline is valid? [True, True] Translation: X:-111.15, Y:-288.41, Z:-8.05 [[-6.90610947e-01 7.23194561e-01 6.79312412e-03 -1.11150641e+02] [ 7.23160522e-01 6.90644353e-01 -7.01686805e-03 -2.88408557e+02] [-9.76619362e-03 6.65932946e-05 -9.99952307e-01 -8.04955911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.180385723 meters 0.015593111777869295 Centerline is valid? [True, True] Translation: X:-111.14, Y:-288.41, Z:-8.05 [[-7.44428458e-01 6.67673504e-01 6.19376785e-03 -1.11142205e+02] [ 6.67651117e-01 7.44454221e-01 -5.46800000e-03 -2.88407234e+02] [-8.26181535e-03 6.47412124e-05 -9.99965869e-01 -8.05134265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.210385723 meters 0.015656824665854056 Centerline is valid? [True, True] Translation: X:-111.11, Y:-288.39, Z:-8.05 [[-7.89089697e-01 6.14245368e-01 6.33076899e-03 -1.11114885e+02] [ 6.14226329e-01 7.89115089e-01 -4.83665403e-03 -2.88393147e+02] [-7.96659766e-03 7.19711345e-05 -9.99968264e-01 -8.05218619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.240385723 meters 0.0155383246172595 Centerline is valid? [True, True] Translation: X:-111.10, Y:-288.37, Z:-8.05 [[-8.29752313e-01 5.58099835e-01 5.97274790e-03 -1.11095059e+02] [ 5.58086028e-01 8.29773806e-01 -3.92636834e-03 -2.88371888e+02] [-7.14733528e-03 7.53939447e-05 -9.99974455e-01 -8.05390832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.270385723 meters 0.016051640306038346 Centerline is valid? [True, True] Translation: X:-111.08, Y:-288.35, Z:-8.05 [[-8.67174994e-01 4.97973077e-01 5.50850302e-03 -1.11077416e+02] [ 4.97963517e-01 8.67192487e-01 -3.08635320e-03 -2.88350216e+02] [-6.31385323e-03 6.66252201e-05 -9.99980065e-01 -8.05385130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.300385723 meters 0.01566336185463507 Centerline is valid? [True, True] Translation: X:-111.07, Y:-288.32, Z:-8.06 [[-9.00428477e-01 4.34975138e-01 5.01867356e-03 -1.11066404e+02] [ 4.34968731e-01 9.00442462e-01 -2.36150550e-03 -2.88321595e+02] [-5.54622295e-03 5.65992627e-05 -9.99984618e-01 -8.05525378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.330385723 meters 0.015512188529607838 Centerline is valid? [True, True] Translation: X:-110.73, Y:-287.62, Z:-9.01 [[-8.78583471e-01 -4.77571897e-01 4.02082956e-03 -1.10731945e+02] [ 4.77566351e-01 -8.78592666e-01 -2.30381377e-03 -2.87615786e+02] [ 4.63290807e-03 -1.03879793e-04 9.99989263e-01 -9.01397473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.360385723 meters 0.015512188529607838 Centerline is valid? [True, True] Translation: X:-111.11, Y:-288.30, Z:-8.06 [[-9.02497833e-01 4.30673903e-01 4.20134198e-03 -1.11112354e+02] [ 4.30669455e-01 9.02507611e-01 -1.95774205e-03 -2.88299985e+02] [-4.63489152e-03 4.25317027e-05 -9.99989258e-01 -8.05588839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.390385723 meters 0.015449352300497163 Centerline is valid? [True, True] Translation: X:-111.10, Y:-288.27, Z:-8.06 [[-9.31044549e-01 3.64880835e-01 4.24555078e-03 -1.11098776e+02] [ 3.64877227e-01 9.31054228e-01 -1.62319756e-03 -2.88273811e+02] [-4.54511168e-03 3.78355585e-05 -9.99989670e-01 -8.05593002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.420385723 meters 0.015347579687831323 Centerline is valid? [True, True] Translation: X:-111.08, Y:-288.25, Z:-8.06 [[-9.54753251e-01 2.97367782e-01 4.31651665e-03 -1.11077401e+02] [ 2.97364907e-01 9.54763008e-01 -1.30797382e-03 -2.88249893e+02] [-4.51019970e-03 3.47883214e-05 -9.99989828e-01 -8.05557123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.450385723 meters 0.015264676229300816 Centerline is valid? [True, True] Translation: X:-110.85, Y:-287.51, Z:-9.01 [[-9.37626923e-01 -3.47612250e-01 4.63438593e-03 -1.10845339e+02] [ 3.47607949e-01 -9.37638376e-01 -1.72913032e-03 -2.87508524e+02] [ 4.94644497e-03 -1.03297564e-05 9.99987766e-01 -9.01451241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.480385723 meters 0.01523429016723862 Centerline is valid? [True, True] Translation: X:-111.13, Y:-288.23, Z:-8.05 [[-9.56612324e-01 2.91312497e-01 5.46730657e-03 -1.11132251e+02] [ 2.91307914e-01 9.56627947e-01 -1.63434423e-03 -2.88232349e+02] [-5.70628315e-03 2.92358381e-05 -9.99983719e-01 -8.05432781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.510385723 meters 0.015226848556446399 Centerline is valid? [True, True] Translation: X:-111.12, Y:-288.20, Z:-8.05 [[-9.74963212e-01 2.22277013e-01 6.29791741e-03 -1.11122548e+02] [ 2.22272574e-01 9.74983553e-01 -1.40511962e-03 -2.88204523e+02] [-6.45269168e-03 2.99143761e-05 -9.99979181e-01 -8.05380119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.540385723 meters 0.01502030894554669 Centerline is valid? [True, True] Translation: X:-110.96, Y:-287.45, Z:-9.02 [[-9.60085049e-01 -2.79629179e-01 6.64990801e-03 -1.10960685e+02] [ 2.79622460e-01 -9.60108079e-01 -1.93851221e-03 -2.87448657e+02] [ 6.92669498e-03 -1.67295353e-06 9.99976010e-01 -9.01671965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.570385723 meters 0.014986237082895806 Centerline is valid? [True, True] Translation: X:-111.17, Y:-288.19, Z:-8.05 [[-9.76170176e-01 2.16902001e-01 6.73119183e-03 -1.11172434e+02] [ 2.16896998e-01 9.76193383e-01 -1.47331925e-03 -2.88192350e+02] [-6.89051082e-03 2.17649850e-05 -9.99976260e-01 -8.05348960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6003857229999 meters 0.01503719040643892 Centerline is valid? [True, True] Translation: X:-111.16, Y:-288.16, Z:-8.05 [[-9.89145548e-01 1.46803302e-01 6.31471049e-03 -1.11162884e+02] [ 1.46800427e-01 9.89165704e-01 -9.18848785e-04 -2.88164871e+02] [-6.38118508e-03 1.81270127e-05 -9.99979640e-01 -8.05326181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.630385723 meters 0.014965983647384643 Centerline is valid? [True, True] Translation: X:-111.16, Y:-288.14, Z:-8.05 [[-9.97073064e-01 7.61994434e-02 6.24104722e-03 -1.11162977e+02] [ 7.61980635e-02 9.97092596e-01 -4.58928560e-04 -2.88135471e+02] [-6.25787208e-03 1.79704075e-05 -9.99980419e-01 -8.05405536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.660385723 meters 0.01496807924240699 Centerline is valid? [True, True] Translation: X:-111.17, Y:-288.11, Z:-8.05 [[-9.99966086e-01 5.82931735e-03 5.81780525e-03 -1.11166710e+02] [ 5.82933867e-03 9.99983009e-01 -1.32927656e-05 -2.88106840e+02] [-5.81778388e-03 2.06216423e-05 -9.99983076e-01 -8.05458414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.690385723 meters 0.015052672653657341 Centerline is valid? [True, True] Translation: X:-111.17, Y:-288.08, Z:-8.05 [[-9.97890582e-01 -6.46861640e-02 5.48521517e-03 -1.11170328e+02] [-6.46850581e-02 9.97905657e-01 3.78965780e-04 -2.88078945e+02] [-5.49824109e-03 2.33549204e-05 -9.99984884e-01 -8.05463825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7203857229999 meters 0.015107001062570171 Centerline is valid? [True, True] Translation: X:-111.18, Y:-288.05, Z:-8.06 [[-9.90824865e-01 -1.35059755e-01 4.99496163e-03 -1.11176471e+02] [-1.35057913e-01 9.90837455e-01 7.05707614e-04 -2.88050508e+02] [-5.04450776e-03 2.46235566e-05 -9.99987276e-01 -8.05545045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.750385723 meters 0.015094375359285357 Centerline is valid? [True, True] Translation: X:-111.29, Y:-287.29, Z:-9.01 [[-9.96949947e-01 7.78992876e-02 4.74381131e-03 -1.11291494e+02] [-7.78986083e-02 -9.96961233e-01 3.28089748e-04 -2.87286275e+02] [ 4.75495393e-03 -4.24472423e-05 9.99988694e-01 -9.01485753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.780385723 meters 0.015151231152786406 Centerline is valid? [True, True] Translation: X:-111.30, Y:-288.07, Z:-8.06 [[-9.90019556e-01 -1.40864796e-01 4.28807098e-03 -1.11302012e+02] [-1.40863369e-01 9.90028842e-01 6.34334783e-04 -2.88066316e+02] [-4.33466939e-03 2.39717144e-05 -9.99990605e-01 -8.05522581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.810385723 meters 0.015115933993934447 Centerline is valid? [True, True] Translation: X:-111.32, Y:-288.04, Z:-8.06 [[-9.77350918e-01 -2.11575609e-01 4.57661633e-03 -1.11324768e+02] [-2.11573162e-01 9.77361633e-01 1.01803053e-03 -2.88041192e+02] [-4.68839964e-03 2.66838829e-05 -9.99989009e-01 -8.05509558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8403857229999 meters 0.01530117908572975 Centerline is valid? [True, True] Translation: X:-111.37, Y:-288.02, Z:-8.05 [[-9.59527236e-01 -2.81566963e-01 5.24678821e-03 -1.11366717e+02] [-2.81562556e-01 9.59541580e-01 1.57565047e-03 -2.88022021e+02] [-5.47816257e-03 3.45804408e-05 -9.99984994e-01 -8.05316335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.870385723 meters 0.015032818067962514 Centerline is valid? [True, True] Translation: X:-111.43, Y:-288.01, Z:-8.05 [[-9.36291149e-01 -3.51174565e-01 5.94223789e-03 -1.11430870e+02] [-3.51167208e-01 9.36310004e-01 2.27347957e-03 -2.88012529e+02] [-6.36216498e-03 4.19197005e-05 -9.99979760e-01 -8.05305234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.900385723 meters 0.01504959834559226 Centerline is valid? [True, True] Translation: X:-111.50, Y:-288.01, Z:-8.05 [[-9.07898929e-01 -4.19148836e-01 5.81275213e-03 -1.11502447e+02] [-4.19139934e-01 9.07917536e-01 2.73202399e-03 -2.88011498e+02] [-6.42262427e-03 4.40451092e-05 -9.99979374e-01 -8.05249525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.930385723 meters 0.015169684392438373 Centerline is valid? [True, True] Translation: X:-111.58, Y:-288.02, Z:-8.05 [[-8.73916668e-01 -4.86043757e-01 5.57884572e-03 -1.11579484e+02] [-4.86033553e-01 8.73934474e-01 3.14976532e-03 -2.88017380e+02] [-6.40646937e-03 4.11262053e-05 -9.99979478e-01 -8.05186791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.960385723 meters 0.015069148602472653 Centerline is valid? [True, True] Translation: X:-111.67, Y:-288.04, Z:-8.05 [[-8.34923588e-01 -5.50340723e-01 5.26215268e-03 -1.11668458e+02] [-5.50329498e-01 8.34940170e-01 3.51512656e-03 -2.88037157e+02] [-6.32809994e-03 3.89442415e-05 -9.99979977e-01 -8.05174261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.990385723 meters 0.015202522903310912 Centerline is valid? [True, True] Translation: X:-111.76, Y:-288.06, Z:-8.05 [[-7.90959896e-01 -6.11845821e-01 5.20900449e-03 -1.11756193e+02] [-6.11832224e-01 7.90977047e-01 4.07919070e-03 -2.88064778e+02] [-6.61603877e-03 3.94394503e-05 -9.99978113e-01 -8.05074138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.020385723 meters 0.015069432373213617 Centerline is valid? [True, True] Translation: X:-111.85, Y:-288.10, Z:-8.05 [[-7.42349848e-01 -6.69993317e-01 5.06542037e-03 -1.11847441e+02] [-6.69977348e-01 7.42367128e-01 4.62595736e-03 -2.88102693e+02] [-6.85976209e-03 4.03618343e-05 -9.99976471e-01 -8.05072409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.050385723 meters 0.01506377648722213 Centerline is valid? [True, True] Translation: X:-111.94, Y:-288.15, Z:-8.05 [[-6.88926886e-01 -7.24816187e-01 4.60874448e-03 -1.11941018e+02] [-7.24799621e-01 6.88942300e-01 4.90056681e-03 -2.88153008e+02] [-6.72716917e-03 3.57159766e-05 -9.99977372e-01 -8.05067331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.080385723 meters 0.015004680551978379 Centerline is valid? [True, True] Translation: X:-112.03, Y:-288.21, Z:-8.05 [[-6.31651328e-01 -7.75242012e-01 4.05251900e-03 -1.12033101e+02] [-7.75225713e-01 6.31664327e-01 5.02715142e-03 -2.88213922e+02] [-6.45709067e-03 3.37899426e-05 -9.99979152e-01 -8.05117208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.110385723 meters 0.015176656102805287 Centerline is valid? [True, True] Translation: X:-112.13, Y:-288.29, Z:-8.05 [[-5.71290194e-01 -8.20742810e-01 2.95879229e-03 -1.12126893e+02] [-8.20731521e-01 5.71297855e-01 4.30487080e-03 -2.88292392e+02] [-5.22354345e-03 3.09563789e-05 -9.99986357e-01 -8.05122731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.140385723 meters 0.015106371795896573 Centerline is valid? [True, True] Translation: X:-112.21, Y:-288.36, Z:-8.05 [[-5.07661871e-01 -8.61554239e-01 1.92803259e-03 -1.12206037e+02] [-8.61547825e-01 5.07665532e-01 3.32471018e-03 -2.88362645e+02] [-3.84321384e-03 2.67363060e-05 -9.99992615e-01 -8.05239694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.170385723 meters 0.015237338143312325 Centerline is valid? [True, True] Translation: X:-112.29, Y:-288.45, Z:-8.05 [[-4.40791327e-01 -8.97608563e-01 1.36894665e-03 -1.12287524e+02] [-8.97604062e-01 4.40793453e-01 2.84262957e-03 -2.88454713e+02] [-3.15499136e-03 2.42343893e-05 -9.99995023e-01 -8.05264569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.200385723 meters 0.015365012631590534 Centerline is valid? [True, True] Translation: X:-112.37, Y:-288.56, Z:-8.05 [[-3.71242716e-01 -9.28535525e-01 7.90275242e-04 -1.12366123e+02] [-9.28533316e-01 3.71243557e-01 2.02531972e-03 -2.88562989e+02] [-2.17396590e-03 1.80883028e-05 -9.99997637e-01 -8.05274045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.230385723 meters 0.015373113308123175 Centerline is valid? [True, True] Translation: X:-112.43, Y:-288.67, Z:-8.05 [[-2.99220529e-01 -9.54183847e-01 5.10539811e-04 -1.12433326e+02] [-9.54182368e-01 2.99220964e-01 1.68005145e-03 -2.88668251e+02] [-1.75584217e-03 1.55577972e-05 -9.99998458e-01 -8.05264588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.260385723 meters 0.01562610157366525 Centerline is valid? [True, True] Translation: X:-112.49, Y:-288.76, Z:-8.05 [[-2.25777474e-01 -9.74178810e-01 4.23054233e-04 -1.12487793e+02] [-9.74176934e-01 2.25777870e-01 1.91165393e-03 -2.88759860e+02] [-1.95780903e-03 1.94787193e-05 -9.99998083e-01 -8.05176298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.290385723 meters 0.015602245884015252 Centerline is valid? [True, True] Translation: X:-112.54, Y:-288.88, Z:-8.05 [[-1.50655998e-01 -9.88586194e-01 3.28425896e-04 -1.12540029e+02] [-9.88583473e-01 1.50656354e-01 2.31953992e-03 -2.88883269e+02] [-2.34254459e-03 2.47761882e-05 -9.99997256e-01 -8.05066763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.320385723 meters 0.015632930381358004 Centerline is valid? [True, True] Translation: X:-112.58, Y:-288.99, Z:-8.05 [[-7.39793478e-02 -9.97259760e-01 1.62620424e-04 -1.12580557e+02] [-9.97256473e-01 7.39795215e-02 2.56074995e-03 -2.88993689e+02] [-2.56576347e-03 2.72683405e-05 -9.99996708e-01 -8.05064131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3503857229999 meters 0.015914780765778225 Centerline is valid? [True, True] Translation: X:-112.61, Y:-289.12, Z:-8.05 [[ 2.58942686e-03 -9.99996647e-01 -3.84147218e-05 -1.12612163e+02] [-9.99992768e-01 -2.58952382e-03 2.78528313e-03 -2.89120904e+02] [-2.78537327e-03 3.12021571e-05 -9.99996120e-01 -8.05050770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.380385723 meters 0.015743770487442015 Centerline is valid? [True, True] Translation: X:-112.64, Y:-289.24, Z:-8.05 [[ 7.88598939e-02 -9.96885691e-01 -1.89875502e-04 -1.12636171e+02] [-9.96883522e-01 -7.88601184e-02 2.07988297e-03 -2.89242045e+02] [-2.08837918e-03 2.52644086e-05 -9.99997819e-01 -8.05129308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.410385723 meters 0.016103312827630622 Centerline is valid? [True, True] Translation: X:-112.65, Y:-289.36, Z:-8.05 [[ 1.54273583e-01 -9.88028054e-01 -4.75964086e-04 -1.12651096e+02] [-9.88024081e-01 -1.54274312e-01 2.80202411e-03 -2.89361218e+02] [-2.84190746e-03 3.79856803e-05 -9.99995961e-01 -8.04974980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.440385723 meters 0.01591061646301226 Centerline is valid? [True, True] Translation: X:-112.66, Y:-289.49, Z:-8.05 [[ 2.29771607e-01 -9.73244230e-01 -8.22894758e-04 -1.12656551e+02] [-9.73238685e-01 -2.29773076e-01 3.28552020e-03 -2.89487470e+02] [-3.38669264e-03 4.59537546e-05 -9.99994264e-01 -8.04886298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4703857229999 meters 0.01609758024327439 Centerline is valid? [True, True] Translation: X:-112.65, Y:-289.62, Z:-8.05 [[ 3.03382260e-01 -9.52868362e-01 -1.04324192e-03 -1.12648482e+02] [-9.52863249e-01 -3.03384050e-01 3.12210903e-03 -2.89620718e+02] [-3.29146188e-03 4.68743904e-05 -9.99994582e-01 -8.04859797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.500385723 meters 0.016316199815150915 Centerline is valid? [True, True] Translation: X:-112.64, Y:-289.74, Z:-8.05 [[ 3.75045915e-01 -9.27005610e-01 -1.07791143e-03 -1.12635701e+02] [-9.27002094e-01 -3.75047461e-01 2.55320125e-03 -2.89737851e+02] [-2.77109982e-03 4.16584568e-05 -9.99996160e-01 -8.04868572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.530385723 meters 0.016624566614749748 Centerline is valid? [True, True] Translation: X:-112.61, Y:-289.86, Z:-8.05 [[ 4.43782819e-01 -8.96133840e-01 -9.74817455e-04 -1.12613190e+02] [-8.96131850e-01 -4.43783888e-01 1.88909074e-03 -2.89857737e+02] [-2.12548642e-03 3.52189574e-05 -9.99997741e-01 -8.04927794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.560385723 meters 0.016744444518651758 Centerline is valid? [True, True] Translation: X:-112.58, Y:-289.97, Z:-8.05 [[ 5.10751004e-01 -8.59728300e-01 -8.13872363e-04 -1.12582938e+02] [-8.59727290e-01 -5.10751652e-01 1.31806170e-03 -2.89974392e+02] [-1.54886160e-03 2.65069461e-05 -9.99998800e-01 -8.05008673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5903857229999 meters 0.016901961563107963 Centerline is valid? [True, True] Translation: X:-112.54, Y:-290.09, Z:-8.05 [[ 5.75196445e-01 -8.18014883e-01 -8.37131360e-04 -1.12544051e+02] [-8.18014077e-01 -5.75197054e-01 1.14844420e-03 -2.90086424e+02] [-1.42095994e-03 2.42042180e-05 -9.99998990e-01 -8.05000712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.620385723 meters 0.016234118225929114 Centerline is valid? [True, True] Translation: X:-112.50, Y:-290.20, Z:-8.05 [[ 6.36281691e-01 -7.71456607e-01 -5.59868697e-04 -1.12497944e+02] [-7.71456328e-01 -6.36281938e-01 6.56311969e-04 -2.90199810e+02] [-8.62550544e-04 1.43149594e-05 -9.99999628e-01 -8.05015534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.650385723 meters 0.01673064344780854 Centerline is valid? [True, True] Translation: X:-112.45, Y:-290.30, Z:-8.05 [[ 6.93379496e-01 -7.20572451e-01 -4.65324137e-04 -1.12446406e+02] [-7.20572299e-01 -6.93379652e-01 4.67979117e-04 -2.90298611e+02] [-6.59859148e-04 1.08125592e-05 -9.99999782e-01 -8.05017248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.680385723 meters 0.016890125764371825 Centerline is valid? [True, True] Translation: X:-112.39, Y:-290.39, Z:-8.05 [[ 7.46063394e-01 -6.65874234e-01 -9.58075031e-04 -1.12389571e+02] [-6.65873721e-01 -7.46064008e-01 8.26759819e-04 -2.90393472e+02] [-1.26530336e-03 2.11417497e-05 -9.99999199e-01 -8.04968342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.710385723 meters 0.01629756165020869 Centerline is valid? [True, True] Translation: X:-112.40, Y:-290.41, Z:-8.05 [[ 7.95476805e-01 -6.05981648e-01 -1.70124695e-03 -1.12398688e+02] [-6.05980360e-01 -7.95478624e-01 1.25001500e-03 -2.90408619e+02] [-2.11079173e-03 3.65642963e-05 -9.99997772e-01 -8.04929862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.740385723 meters 0.01637277060752596 Centerline is valid? [True, True] Translation: X:-112.40, Y:-290.42, Z:-8.05 [[ 8.40356378e-01 -5.42030167e-01 -2.11098135e-03 -1.12404588e+02] [-5.42028585e-01 -8.40359028e-01 1.31006123e-03 -2.90421088e+02] [-2.48407494e-03 4.32939272e-05 -9.99996914e-01 -8.04924228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.770385723 meters 0.01649736963752051 Centerline is valid? [True, True] Translation: X:-112.41, Y:-290.43, Z:-8.05 [[ 8.79775576e-01 -4.75384797e-01 -2.05680820e-03 -1.12410155e+02] [-4.75383610e-01 -8.79777979e-01 1.06347089e-03 -2.90434831e+02] [-2.31509246e-03 4.21571964e-05 -9.99997319e-01 -8.04979828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.800385723 meters 0.01731663730255289 Centerline is valid? [True, True] Translation: X:-112.41, Y:-290.45, Z:-8.05 [[ 9.14188909e-01 -4.05287341e-01 -9.00119238e-04 -1.12414352e+02] [-4.05287164e-01 -9.14189352e-01 3.79548470e-04 -2.90447703e+02] [-9.76705613e-04 1.78277716e-05 -9.99999523e-01 -8.05011418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.830385723 meters 0.016599402564352578 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.46, Z:-8.05 [[ 9.43144551e-01 -3.32381203e-01 -1.04516985e-03 -1.12416629e+02] [-3.32381022e-01 -9.43145130e-01 3.47278695e-04 -2.90462059e+02] [-1.10117576e-03 1.98606143e-05 -9.99999394e-01 -8.05016752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.860385723 meters 0.01672892211613647 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.48, Z:-8.05 [[ 9.66513936e-01 -2.56603349e-01 -2.35224708e-03 -1.12419034e+02] [-2.56602693e-01 -9.66516797e-01 5.81791190e-04 -2.90475504e+02] [-2.42277588e-03 4.12836423e-05 -9.99997064e-01 -8.04837694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.890385723 meters 0.016609286304104177 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.49, Z:-8.05 [[ 9.83695566e-01 -1.79819607e-01 -2.81832275e-03 -1.12418130e+02] [-1.79819007e-01 -9.83699602e-01 4.67028155e-04 -2.90486301e+02] [-2.85636379e-03 4.73744741e-05 -9.99995920e-01 -8.04757935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.920385723 meters 0.015979649998122923 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.50, Z:-8.05 [[ 9.94913695e-01 -1.00677702e-01 -3.27714233e-03 -1.12420098e+02] [-1.00677319e-01 -9.94919091e-01 2.82164017e-04 -2.90502592e+02] [-3.28889910e-03 4.92050582e-05 -9.99994590e-01 -8.04753283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.950385723 meters 0.01570229363940688 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.52, Z:-8.05 [[ 9.99764037e-01 -2.15273297e-02 -2.90595635e-03 -1.12420541e+02] [-2.15273567e-02 -9.99768259e-01 2.19691050e-05 -2.90515916e+02] [-2.90575586e-03 4.05936380e-05 -9.99995778e-01 -8.04790203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.980385723 meters 0.015365234513309674 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.53, Z:-8.05 [[ 9.98273208e-01 5.86456283e-02 -3.36035287e-03 -1.12419444e+02] [ 5.86451586e-02 -9.98278863e-01 -2.38235679e-04 -2.90533922e+02] [-3.36854072e-03 4.07558686e-05 -9.99994326e-01 -8.04761321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.010385723 meters 0.015213856788478853 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.55, Z:-8.05 [[ 9.90460651e-01 1.37750249e-01 -3.54506545e-03 -1.12417336e+02] [ 1.37749224e-01 -9.90466995e-01 -5.32789976e-04 -2.90549275e+02] [-3.58466228e-03 3.93774908e-05 -9.99993574e-01 -8.04743973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.040385723 meters 0.015104729485150714 Centerline is valid? [True, True] Translation: X:-112.41, Y:-290.56, Z:-8.05 [[ 9.76345498e-01 2.16176886e-01 -4.12593174e-03 -1.12414961e+02] [ 2.16174779e-01 -9.76354215e-01 -9.55357641e-04 -2.90563802e+02] [-4.23489708e-03 4.08367513e-05 -9.99991032e-01 -8.04735969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.070385723 meters 0.01510568713217351 Centerline is valid? [True, True] Translation: X:-112.41, Y:-290.57, Z:-8.05 [[ 9.56301745e-01 2.92353596e-01 -4.04310125e-03 -1.12410479e+02] [ 2.92350810e-01 -9.56310291e-01 -1.27688551e-03 -2.90574961e+02] [-4.23976140e-03 3.90839185e-05 -9.99991012e-01 -8.04769030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1003857229999 meters 0.014982130445969796 Centerline is valid? [True, True] Translation: X:-112.40, Y:-290.59, Z:-8.05 [[ 9.30246553e-01 3.66918720e-01 -3.46453333e-03 -1.12404387e+02] [ 3.66916047e-01 -9.30253004e-01 -1.40095243e-03 -2.90587627e+02] [-3.73692821e-03 3.20382943e-05 -9.99993017e-01 -8.04783759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.130385723 meters 0.014936095875317856 Centerline is valid? [True, True] Translation: X:-112.40, Y:-290.60, Z:-8.05 [[ 8.98664246e-01 4.38626727e-01 -3.02762710e-03 -1.12399486e+02] [ 4.38624130e-01 -8.98669346e-01 -1.50993121e-03 -2.90598003e+02] [-3.38313185e-03 2.89308893e-05 -9.99994277e-01 -8.04816208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.160385723 meters 0.014937088555561442 Centerline is valid? [True, True] Translation: X:-112.39, Y:-290.61, Z:-8.05 [[ 8.61797072e-01 5.07246759e-01 -2.55601420e-03 -1.12391763e+02] [ 5.07244436e-01 -8.61800862e-01 -1.53545432e-03 -2.90608655e+02] [-2.98162947e-03 2.67260549e-05 -9.99995555e-01 -8.04831769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.190385723 meters 0.014882463068163529 Centerline is valid? [True, True] Translation: X:-112.38, Y:-290.62, Z:-8.05 [[ 8.19680195e-01 5.72815912e-01 -2.51177928e-03 -1.12381982e+02] [ 5.72813114e-01 -8.19684043e-01 -1.79069784e-03 -2.90621781e+02] [-3.08460561e-03 2.90194466e-05 -9.99995242e-01 -8.04855310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2203857229999 meters 0.017176376570014706 Centerline is valid? [True, True] Translation: X:-112.37, Y:-290.63, Z:-8.04 [[ 7.72783993e-01 6.34663578e-01 -2.65375137e-03 -1.12373265e+02] [ 6.34659679e-01 -7.72788549e-01 -2.22499265e-03 -2.90631699e+02] [-3.46291047e-03 3.52097094e-05 -9.99994004e-01 -8.04484981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.250385723 meters 0.015137352706602242 Centerline is valid? [True, True] Translation: X:-112.36, Y:-290.64, Z:-8.05 [[ 7.20709493e-01 6.93234024e-01 -2.10117884e-03 -1.12364525e+02] [ 6.93230956e-01 -7.20712555e-01 -2.06257572e-03 -2.90640209e+02] [-2.94419364e-03 2.99156867e-05 -9.99995666e-01 -8.04883133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.280385723 meters 0.015137352706602242 Centerline is valid? [True, True] Translation: X:-112.36, Y:-290.65, Z:-8.05 [[ 6.64252300e-01 7.47505949e-01 -1.93332888e-03 -1.12355170e+02] [ 7.47502651e-01 -6.64255113e-01 -2.22066935e-03 -2.90648234e+02] [-2.94418714e-03 2.99162629e-05 -9.99995666e-01 -8.04883139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.310385723 meters 0.015152547854358432 Centerline is valid? [True, True] Translation: X:-112.34, Y:-290.66, Z:-8.05 [[ 6.03431854e-01 7.97413353e-01 -1.39375118e-03 -1.12344512e+02] [ 7.97411137e-01 -6.03433463e-01 -1.87996258e-03 -2.90655087e+02] [-2.34014336e-03 2.30365961e-05 -9.99997262e-01 -8.04896920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3403857229999 meters 0.015195457128661645 Centerline is valid? [True, True] Translation: X:-112.33, Y:-290.66, Z:-8.05 [[ 5.38896405e-01 8.42371059e-01 -1.29005172e-03 -1.12333168e+02] [ 8.42368541e-01 -5.38897948e-01 -2.05959822e-03 -2.90662032e+02] [-2.43015216e-03 2.32110892e-05 -9.99997047e-01 -8.04886183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.370385723 meters 0.015031416309288313 Centerline is valid? [True, True] Translation: X:-112.32, Y:-290.67, Z:-8.05 [[ 4.70252439e-01 8.82530435e-01 -1.63544044e-03 -1.12321404e+02] [ 8.82524878e-01 -4.70255282e-01 -3.13221632e-03 -2.90667926e+02] [-3.53335074e-03 2.96154909e-05 -9.99993757e-01 -8.04762363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.400385723 meters 0.014971443117381833 Centerline is valid? [True, True] Translation: X:-112.31, Y:-290.67, Z:-8.05 [[ 3.99133805e-01 9.16891092e-01 -1.71187507e-03 -1.12311242e+02] [ 9.16882294e-01 -3.99137475e-01 -4.01697613e-03 -2.90673481e+02] [-4.36640312e-03 3.37230269e-05 -9.99990467e-01 -8.04668079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.430385723 meters 0.016221847461448627 Centerline is valid? [True, True] Translation: X:-112.30, Y:-290.68, Z:-8.04 [[ 3.24750312e-01 9.45798636e-01 -1.47449956e-03 -1.12301165e+02] [ 9.45788479e-01 -3.24753658e-01 -4.38353504e-03 -2.90677437e+02] [-4.62479059e-03 2.89896777e-05 -9.99989305e-01 -8.04414566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.460385723 meters 0.014780316469909438 Centerline is valid? [True, True] Translation: X:-112.29, Y:-290.68, Z:-8.05 [[ 2.48529875e-01 9.68623717e-01 -9.97851265e-04 -1.12288040e+02] [ 9.68615569e-01 -2.48531877e-01 -3.97311598e-03 -2.90680977e+02] [-4.09645222e-03 2.09037451e-05 -9.99991609e-01 -8.04710430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.490385723 meters 0.014801875931326139 Centerline is valid? [True, True] Translation: X:-112.28, Y:-290.68, Z:-8.05 [[ 1.70326433e-01 9.85387321e-01 -8.56275369e-04 -1.12276592e+02] [ 9.85374336e-01 -1.70328585e-01 -5.05869545e-03 -2.90683534e+02] [-5.13062253e-03 1.78777808e-05 -9.99986838e-01 -8.04647405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.520385723 meters 0.01475834443864816 Centerline is valid? [True, True] Translation: X:-112.26, Y:-290.68, Z:-8.05 [[ 9.19489088e-02 9.95763588e-01 -5.24631503e-04 -1.12264898e+02] [ 9.95746355e-01 -9.19504040e-02 -5.85830038e-03 -2.90684128e+02] [-5.88172228e-03 1.62644199e-05 -9.99982702e-01 -8.04614250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.550385723 meters 0.014679998894525809 Centerline is valid? [True, True] Translation: X:-112.25, Y:-290.68, Z:-8.05 [[ 1.23429026e-02 9.99923821e-01 -7.31023725e-05 -1.12253588e+02] [ 9.99901359e-01 -1.23431154e-02 -6.70227695e-03 -2.90684743e+02] [-6.70266869e-03 9.63039026e-06 -9.99977537e-01 -8.04551482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.580385723 meters 0.014627250394676392 Centerline is valid? [True, True] Translation: X:-112.24, Y:-290.68, Z:-8.05 [[-6.67663363e-02 9.97768550e-01 4.20002727e-04 -1.12240376e+02] [ 9.97749199e-01 6.67676572e-02 -6.21422019e-03 -2.90684060e+02] [-6.22839607e-03 4.15666974e-06 -9.99980603e-01 -8.04615576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.610385723 meters 0.014625736626181626 Centerline is valid? [True, True] Translation: X:-112.23, Y:-290.68, Z:-8.05 [[-1.45815644e-01 9.89311433e-01 8.28969622e-04 -1.12229401e+02] [ 9.89295341e-01 1.45818000e-01 -5.64269710e-03 -2.90683495e+02] [-5.70326344e-03 -2.69772529e-06 -9.99983736e-01 -8.04662470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.640385723 meters 0.01466948964105519 Centerline is valid? [True, True] Translation: X:-112.22, Y:-290.68, Z:-8.05 [[-2.23965137e-01 9.74596193e-01 1.37055449e-03 -1.12222274e+02] [ 9.74577671e-01 2.23969330e-01 -6.00856177e-03 -2.90683966e+02] [-6.16288360e-03 -9.99655908e-06 -9.99981009e-01 -8.04603188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.670385723 meters 0.014646155047649951 Centerline is valid? [True, True] Translation: X:-112.21, Y:-290.68, Z:-8.05 [[-3.00552745e-01 9.53763189e-01 1.95619254e-03 -1.12212201e+02] [ 9.53742613e-01 3.00559111e-01 -6.26490533e-03 -2.90681672e+02] [-6.56318758e-03 -1.72303075e-05 -9.99978462e-01 -8.04598847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.700385723 meters 0.014645787985703521 Centerline is valid? [True, True] Translation: X:-112.20, Y:-290.68, Z:-8.05 [[-3.75013771e-01 9.27015724e-01 2.55320188e-03 -1.12202649e+02] [ 9.26993819e-01 3.75022462e-01 -6.37274495e-03 -2.90679917e+02] [-6.86514283e-03 -2.30647551e-05 -9.99976434e-01 -8.04574414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.730385723 meters 0.01474348742736732 Centerline is valid? [True, True] Translation: X:-112.19, Y:-290.68, Z:-8.05 [[-4.48227929e-01 8.93914221e-01 3.01501222e-03 -1.12194606e+02] [ 8.93893451e-01 4.48238068e-01 -6.09376805e-03 -2.90676824e+02] [-6.79874917e-03 -3.62973584e-05 -9.99976888e-01 -8.04614251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.760385723 meters 0.014849623223416666 Centerline is valid? [True, True] Translation: X:-112.19, Y:-290.67, Z:-8.05 [[-5.18259226e-01 8.55216951e-01 3.36772354e-03 -1.12186561e+02] [ 8.55198322e-01 5.18270166e-01 -5.64499212e-03 -2.90674658e+02] [-6.57308358e-03 -4.54977307e-05 -9.99978396e-01 -8.04601768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.790385723 meters 0.01497795556241082 Centerline is valid? [True, True] Translation: X:-112.18, Y:-290.67, Z:-8.05 [[-5.84446969e-01 8.11423208e-01 3.75739592e-03 -1.12179281e+02] [ 8.11405871e-01 5.84459045e-01 -5.30449153e-03 -2.90671342e+02] [-6.50023157e-03 -5.14208935e-05 -9.99978872e-01 -8.04609870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.820385723 meters 0.015091021111464247 Centerline is valid? [True, True] Translation: X:-112.17, Y:-290.67, Z:-8.05 [[-6.47138394e-01 7.62362538e-01 3.90630833e-03 -1.12173312e+02] [ 7.62348128e-01 6.47150181e-01 -4.68773621e-03 -2.90668947e+02] [-6.10172262e-03 -5.56472398e-05 -9.99981383e-01 -8.04611767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8503857229999 meters 0.01501603273418828 Centerline is valid? [True, True] Translation: X:-112.17, Y:-290.66, Z:-8.05 [[-7.04899671e-01 7.09296175e-01 3.92294426e-03 -1.12165958e+02] [ 7.09284782e-01 7.04910586e-01 -4.02042945e-03 -2.90664237e+02] [-5.61700016e-03 -5.15147377e-05 -9.99984223e-01 -8.04694370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.880385723 meters 0.015017165978801119 Centerline is valid? [True, True] Translation: X:-112.16, Y:-290.66, Z:-8.05 [[-7.58016782e-01 6.52222752e-01 4.00492049e-03 -1.12160030e+02] [ 6.52213323e-01 7.58027361e-01 -3.50739579e-03 -2.90660078e+02] [-5.32344264e-03 -4.66023720e-05 -9.99985829e-01 -8.04718195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.910385723 meters 0.014876325804248847 Centerline is valid? [True, True] Translation: X:-112.14, Y:-290.64, Z:-8.05 [[-8.01928990e-01 5.97403067e-01 4.41255724e-03 -1.12144919e+02] [ 5.97393712e-01 8.01941129e-01 -3.34359772e-03 -2.90638219e+02] [-5.53608667e-03 -4.52940005e-05 -9.99984675e-01 -8.04681860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.940385723 meters 0.01486126377066373 Centerline is valid? [True, True] Translation: X:-112.13, Y:-290.62, Z:-8.05 [[-8.41844891e-01 5.39692213e-01 5.43081213e-03 -1.12126599e+02] [ 5.39680610e-01 8.41862407e-01 -3.53935650e-03 -2.90618642e+02] [-6.48215972e-03 -4.86851896e-05 -9.99978990e-01 -8.04590038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9703857229999 meters 0.014869331195629148 Centerline is valid? [True, True] Translation: X:-111.74, Y:-290.03, Z:-9.03 [[-7.95746201e-01 -6.05592500e-01 6.76079700e-03 -1.11736518e+02] [ 6.05572475e-01 -7.95774902e-01 -4.92782959e-03 -2.90028292e+02] [ 8.36432921e-03 1.72850894e-04 9.99965004e-01 -9.02546944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.000385723 meters 0.014803354973449577 Centerline is valid? [True, True] Translation: X:-111.75, Y:-290.05, Z:-9.03 [[-7.54397577e-01 -6.56377468e-01 7.27425760e-03 -1.11746199e+02] [ 6.56347410e-01 -7.54432646e-01 -6.28163935e-03 -2.90053579e+02] [ 9.61106395e-03 3.55866280e-05 9.99953812e-01 -9.02644446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.030385723 meters 0.014761192959965048 Centerline is valid? [True, True] Translation: X:-112.22, Y:-290.61, Z:-8.04 [[-8.02706262e-01 5.96321892e-01 7.92836566e-03 -1.12222731e+02] [ 5.96292498e-01 8.02745415e-01 -5.92079069e-03 -2.90606151e+02] [-9.89515629e-03 -2.50307933e-05 -9.99951042e-01 -8.04370140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.060385723 meters 0.01484559829882313 Centerline is valid? [True, True] Translation: X:-111.78, Y:-290.02, Z:-9.03 [[-7.59101956e-01 -6.50928409e-01 7.51180479e-03 -1.11776913e+02] [ 6.50896851e-01 -7.59139121e-01 -6.40967992e-03 -2.90019578e+02] [ 9.87474764e-03 2.38095213e-05 9.99951243e-01 -9.02518908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0903857229999 meters 0.014929468970300152 Centerline is valid? [True, True] Translation: X:-112.26, Y:-290.59, Z:-8.04 [[-8.02997793e-01 5.95932929e-01 7.64781432e-03 -1.12261700e+02] [ 5.95905969e-01 8.03034211e-01 -5.66850988e-03 -2.90589406e+02] [-9.51950824e-03 5.57727719e-06 -9.99954689e-01 -8.04434393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.120385723 meters 0.014940781931482154 Centerline is valid? [True, True] Translation: X:-112.25, Y:-290.57, Z:-8.05 [[-8.42283725e-01 5.38980530e-01 7.62332905e-03 -1.12245322e+02] [ 5.38958669e-01 8.42318223e-01 -4.85435422e-03 -2.90570213e+02] [-9.03767139e-03 1.99157297e-05 -9.99959159e-01 -8.04502070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.150385723 meters 0.014985835407310385 Centerline is valid? [True, True] Translation: X:-112.23, Y:-290.55, Z:-8.04 [[-8.78141148e-01 4.78330329e-01 8.25957571e-03 -1.12231068e+02] [ 4.78309432e-01 8.78179991e-01 -4.47114550e-03 -2.90547055e+02] [-9.39207862e-03 2.43361228e-05 -9.99955893e-01 -8.04475391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.180385723 meters 0.01509447458935902 Centerline is valid? [True, True] Translation: X:-112.23, Y:-290.52, Z:-8.05 [[-9.09594563e-01 4.15419434e-01 8.02657037e-03 -1.12228586e+02] [ 4.15403525e-01 9.09629976e-01 -3.63561214e-03 -2.90520160e+02] [-8.81151295e-03 2.73325978e-05 -9.99961178e-01 -8.04538609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.210385723 meters 0.015112059628209353 Centerline is valid? [True, True] Translation: X:-112.21, Y:-290.50, Z:-8.05 [[-9.36608106e-01 3.50299111e-01 7.46922298e-03 -1.12207667e+02] [ 3.50288208e-01 9.36637887e-01 -2.76388397e-03 -2.90499759e+02] [-7.96414333e-03 2.77046110e-05 -9.99968285e-01 -8.04546523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.240385723 meters 0.015019086125939026 Centerline is valid? [True, True] Translation: X:-111.93, Y:-289.78, Z:-9.02 [[-9.13793476e-01 -4.06124239e-01 6.67723342e-03 -1.11927006e+02] [ 4.06112880e-01 -9.13817869e-01 -3.03822018e-03 -2.89779353e+02] [ 7.33567008e-03 -6.45952875e-05 9.99973092e-01 -9.02274777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.270385723 meters 0.015130026372341879 Centerline is valid? [True, True] Translation: X:-112.27, Y:-290.48, Z:-8.05 [[-9.38056193e-01 3.46414774e-01 6.88350233e-03 -1.12274927e+02] [ 3.46405619e-01 9.38081449e-01 -2.51850393e-03 -2.90478737e+02] [-7.32973281e-03 2.19856780e-05 -9.99973137e-01 -8.04684427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.300385723 meters 0.015066771951569045 Centerline is valid? [True, True] Translation: X:-112.24, Y:-290.46, Z:-8.05 [[-9.60653913e-01 2.77650452e-01 7.36785828e-03 -1.12235989e+02] [ 2.77642384e-01 9.60682167e-01 -2.11667725e-03 -2.90461986e+02] [-7.66586645e-03 1.22354594e-05 -9.99970617e-01 -8.04746904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.330385723 meters 0.014923143500126329 Centerline is valid? [True, True] Translation: X:-112.02, Y:-289.72, Z:-9.02 [[-9.40599585e-01 -3.39427824e-01 7.82131448e-03 -1.12015105e+02] [ 3.39416333e-01 -9.40632102e-01 -2.79319271e-03 -2.89715345e+02] [ 8.30506681e-03 2.74059748e-05 9.99965512e-01 -9.02294589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.360385723 meters 0.015100636077357767 Centerline is valid? [True, True] Translation: X:-112.29, Y:-290.45, Z:-8.05 [[-9.62656266e-01 2.70622466e-01 7.50967016e-03 -1.12286424e+02] [ 2.70614109e-01 9.62685557e-01 -2.12679179e-03 -2.90447668e+02] [-7.80500864e-03 -1.51467463e-05 -9.99969540e-01 -8.04612423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.390385723 meters 0.015116445290039467 Centerline is valid? [True, True] Translation: X:-112.28, Y:-290.42, Z:-8.05 [[-9.79672365e-01 2.00432287e-01 8.30390251e-03 -1.12280791e+02] [ 2.00424854e-01 9.79707557e-01 -1.72645791e-03 -2.90419044e+02] [-8.48143395e-03 -2.70546563e-05 -9.99964032e-01 -8.04585147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.420385723 meters 0.015182381412835833 Centerline is valid? [True, True] Translation: X:-112.27, Y:-290.39, Z:-8.04 [[-9.91566880e-01 1.29236685e-01 9.64371497e-03 -1.12272144e+02] [ 1.29230157e-01 9.91613774e-01 -1.29966012e-03 -2.90390766e+02] [-9.73080436e-03 -4.24411241e-05 -9.99952654e-01 -8.04430724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.450385723 meters 0.015608051187380427 Centerline is valid? [True, True] Translation: X:-112.28, Y:-290.36, Z:-8.04 [[-9.98247077e-01 5.83065960e-02 1.01545387e-02 -1.12283910e+02] [ 5.83031043e-02 9.98298722e-01 -6.39804522e-04 -2.90361177e+02] [-1.01745678e-02 -4.66418646e-05 -9.99948237e-01 -8.04340901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.480385723 meters 0.01517831014688721 Centerline is valid? [True, True] Translation: X:-112.27, Y:-290.33, Z:-8.05 [[-9.99855019e-01 -1.31023480e-02 1.08751909e-02 -1.12272881e+02] [-1.31021503e-02 9.99914159e-01 8.94313984e-05 -2.90333684e+02] [-1.08754292e-02 -5.30699533e-05 -9.99940859e-01 -8.04510208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.510385723 meters 0.01514390868049574 Centerline is valid? [True, True] Translation: X:-112.28, Y:-290.30, Z:-8.04 [[-9.96398912e-01 -8.40576777e-02 1.11137675e-02 -1.12280300e+02] [-8.40530398e-02 9.96460889e-01 8.84575506e-04 -2.90304829e+02] [-1.11487900e-02 -5.27558691e-05 -9.99937849e-01 -8.04485879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.540385723 meters 0.015141161267354935 Centerline is valid? [True, True] Translation: X:-112.29, Y:-290.28, Z:-8.04 [[-9.88040966e-01 -1.53848534e-01 1.02799942e-02 -1.12286556e+02] [-1.53840601e-01 9.88094443e-01 1.56272135e-03 -2.90276691e+02] [-1.03980275e-02 -3.74477751e-05 -9.99945938e-01 -8.04464291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.570385723 meters 0.015053632200231894 Centerline is valid? [True, True] Translation: X:-112.41, Y:-289.51, Z:-9.02 [[-9.96701206e-01 8.05265496e-02 1.01084350e-02 -1.12413293e+02] [-8.05222079e-02 -9.96752464e-01 8.36437269e-04 -2.89507250e+02] [ 1.01429629e-02 1.97245273e-05 9.99948559e-01 -9.02445036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6003857229999 meters 0.015089369489331905 Centerline is valid? [True, True] Translation: X:-112.42, Y:-290.30, Z:-8.05 [[-9.87538827e-01 -1.57104414e-01 9.23404709e-03 -1.12415755e+02] [-1.57097554e-01 9.87581998e-01 1.46812669e-03 -2.90297396e+02] [-9.35002786e-03 -8.14097554e-07 -9.99956288e-01 -8.04684642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.630385723 meters 0.01593334061713136 Centerline is valid? [True, True] Translation: X:-112.45, Y:-290.28, Z:-8.05 [[-9.74021543e-01 -2.26272144e-01 9.10776853e-03 -1.12447538e+02] [-2.26262146e-01 9.74064124e-01 2.12714394e-03 -2.90275264e+02] [-9.35286399e-03 1.11407716e-05 -9.99956261e-01 -8.04536612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.660385723 meters 0.015230838719044286 Centerline is valid? [True, True] Translation: X:-112.49, Y:-290.26, Z:-8.05 [[-9.55400989e-01 -2.95190408e-01 8.46009693e-03 -1.12493693e+02] [-2.95178638e-01 9.55438445e-01 2.63610614e-03 -2.90258308e+02] [-8.86125511e-03 2.12985313e-05 -9.99960738e-01 -8.04720265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.690385723 meters 0.015231614121156182 Centerline is valid? [True, True] Translation: X:-112.54, Y:-290.24, Z:-8.05 [[-9.31401120e-01 -3.63916102e-01 7.55143519e-03 -1.12541105e+02] [-3.63903885e-01 9.31431731e-01 2.98211860e-03 -2.90243858e+02] [-8.11888733e-03 2.95520046e-05 -9.99967041e-01 -8.04840794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7203857229999 meters 0.015341562941543214 Centerline is valid? [True, True] Translation: X:-112.61, Y:-290.24, Z:-8.05 [[-9.02014421e-01 -4.31645539e-01 7.21893609e-03 -1.12614673e+02] [-4.31631435e-01 9.02043307e-01 3.48950872e-03 -2.90243185e+02] [-8.01802385e-03 3.16674499e-05 -9.99967855e-01 -8.04827893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.750385723 meters 0.01535956485438204 Centerline is valid? [True, True] Translation: X:-112.70, Y:-290.25, Z:-8.05 [[-8.67117108e-01 -4.98060692e-01 6.59301371e-03 -1.12696613e+02] [-4.98046061e-01 8.67142172e-01 3.81767624e-03 -2.90251803e+02] [-7.61851470e-03 2.67478720e-05 -9.99970978e-01 -8.04820023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.780385723 meters 0.015324975743095324 Centerline is valid? [True, True] Translation: X:-112.78, Y:-290.27, Z:-8.05 [[-8.27004782e-01 -5.62159691e-01 6.29064746e-03 -1.12782658e+02] [-5.62143218e-01 8.27028707e-01 4.30366483e-03 -2.90270798e+02] [-7.62189292e-03 2.29065870e-05 -9.99970953e-01 -8.04861359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.810385723 meters 0.015276994032751597 Centerline is valid? [True, True] Translation: X:-112.89, Y:-290.31, Z:-8.05 [[-7.81943324e-01 -6.23318276e-01 6.24219495e-03 -1.12889766e+02] [-6.23298241e-01 7.81968239e-01 4.99759571e-03 -2.90312197e+02] [-7.99629093e-03 1.70874652e-05 -9.99968029e-01 -8.04878357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8403857229999 meters 0.015394556580972565 Centerline is valid? [True, True] Translation: X:-112.97, Y:-290.34, Z:-8.05 [[-7.32203043e-01 -6.81059062e-01 6.10392866e-03 -1.12971682e+02] [-6.81035217e-01 7.32228485e-01 5.69902679e-03 -2.90343402e+02] [-8.35084427e-03 1.58543762e-05 -9.99965131e-01 -8.04835830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.870385723 meters 0.015346366294254775 Centerline is valid? [True, True] Translation: X:-113.06, Y:-290.39, Z:-8.05 [[-6.78004476e-01 -7.35036966e-01 5.53073872e-03 -1.13059475e+02] [-7.35012365e-01 6.78027034e-01 6.01375841e-03 -2.90388736e+02] [-8.17032511e-03 1.21937725e-05 -9.99966622e-01 -8.04810080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.900385723 meters 0.015545295386338415 Centerline is valid? [True, True] Translation: X:-113.16, Y:-290.46, Z:-8.05 [[-6.19603542e-01 -7.84894359e-01 5.68295562e-03 -1.13157480e+02] [-7.84861234e-01 6.19629603e-01 7.21100958e-03 -2.90455693e+02] [-9.18120828e-03 7.63552252e-06 -9.99957852e-01 -8.04813712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.930385723 meters 0.015487121948542478 Centerline is valid? [True, True] Translation: X:-113.25, Y:-290.53, Z:-8.05 [[-5.57690292e-01 -8.30028235e-01 5.88786226e-03 -1.13246131e+02] [-8.29981845e-01 5.57721372e-01 8.77541754e-03 -2.90526366e+02] [-1.05676309e-02 7.14639285e-06 -9.99944161e-01 -8.04709840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.960385723 meters 0.01544056825882397 Centerline is valid? [True, True] Translation: X:-113.33, Y:-290.61, Z:-8.05 [[-4.92633828e-01 -8.70220162e-01 5.36488900e-03 -1.13331619e+02] [-8.70168365e-01 4.92663039e-01 9.49452281e-03 -2.90608944e+02] [-1.09054077e-02 8.96643087e-06 -9.99940534e-01 -8.04776213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.990385723 meters 0.015515674989623232 Centerline is valid? [True, True] Translation: X:-113.41, Y:-290.70, Z:-8.05 [[-4.24676840e-01 -9.05332999e-01 4.66291920e-03 -1.13410514e+02] [-9.05278119e-01 4.24702438e-01 9.96829413e-03 -2.90698322e+02] [-1.10049788e-02 1.20649283e-05 -9.99939443e-01 -8.04726300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.020385723 meters 0.015446188486767036 Centerline is valid? [True, True] Translation: X:-113.48, Y:-290.78, Z:-8.05 [[-3.54786217e-01 -9.34941627e-01 3.30070238e-03 -1.13478637e+02] [-9.34900642e-01 3.54801570e-01 8.75422601e-03 -2.90781436e+02] [-9.35578470e-03 2.00499573e-05 -9.99956234e-01 -8.04951329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.050385723 meters 0.015459186605494397 Centerline is valid? [True, True] Translation: X:-113.55, Y:-290.89, Z:-8.05 [[-2.82719694e-01 -9.59200189e-01 2.13838816e-03 -1.13545769e+02] [-9.59172124e-01 2.82727780e-01 7.33744483e-03 -2.90885413e+02] [-7.64266021e-03 2.33578504e-05 -9.99970794e-01 -8.05046315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.080385723 meters 0.01548725831777286 Centerline is valid? [True, True] Translation: X:-113.60, Y:-291.00, Z:-8.05 [[-2.08280112e-01 -9.78068050e-01 1.51173348e-03 -1.13603806e+02] [-9.78041445e-01 2.08285597e-01 7.21396967e-03 -2.90997814e+02] [-7.37062556e-03 2.39884181e-05 -9.99972836e-01 -8.05028200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.110385723 meters 0.015441112862969068 Centerline is valid? [True, True] Translation: X:-113.65, Y:-291.11, Z:-8.05 [[-1.32652199e-01 -9.91162311e-01 8.16578895e-04 -1.13652751e+02] [-9.91142477e-01 1.32654711e-01 6.27043294e-03 -2.91111283e+02] [-6.32333984e-03 2.24406905e-05 -9.99980007e-01 -8.05126804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.140385723 meters 0.015371355253941895 Centerline is valid? [True, True] Translation: X:-113.69, Y:-291.23, Z:-8.05 [[-5.61527710e-02 -9.98422163e-01 2.27441121e-04 -1.13693460e+02] [-9.98412754e-01 5.61532292e-02 4.33456111e-03 -2.91232101e+02] [-4.34049344e-03 1.63175019e-05 -9.99990580e-01 -8.05360943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.170385723 meters 0.015371355253941895 Centerline is valid? [True, True] Translation: X:-113.72, Y:-291.35, Z:-8.05 [[ 2.09147346e-02 -9.99781257e-01 -1.07097114e-04 -1.13724205e+02] [-9.99771841e-01 -2.09150024e-02 4.33917248e-03 -2.91353094e+02] [-4.34046325e-03 1.63200382e-05 -9.99990580e-01 -8.05361098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.200385723 meters 0.015359157336611648 Centerline is valid? [True, True] Translation: X:-113.75, Y:-291.47, Z:-8.05 [[ 9.78165257e-02 -9.95204378e-01 -4.17531139e-04 -1.13746173e+02] [-9.95195996e-01 -9.78174155e-02 4.08446485e-03 -2.91474071e+02] [-4.10571911e-03 1.59971566e-05 -9.99991571e-01 -8.05359502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.230385723 meters 0.015297452734628987 Centerline is valid? [True, True] Translation: X:-113.76, Y:-291.60, Z:-8.05 [[ 1.74687823e-01 -9.84623610e-01 -7.15162881e-04 -1.13759529e+02] [-9.84615677e-01 -1.74689286e-01 3.95235506e-03 -2.91601564e+02] [-4.01651340e-03 1.37322826e-05 -9.99991934e-01 -8.05333044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.260385723 meters 0.015306686890313961 Centerline is valid? [True, True] Translation: X:-113.76, Y:-291.73, Z:-8.05 [[ 2.50395922e-01 -9.68143095e-01 -9.11099442e-04 -1.13761303e+02] [-9.68136841e-01 -2.50397580e-01 3.47985964e-03 -2.91732032e+02] [-3.59713918e-03 1.07262716e-05 -9.99993530e-01 -8.05353128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.290385723 meters 0.015319825065764767 Centerline is valid? [True, True] Translation: X:-113.76, Y:-291.85, Z:-8.05 [[ 3.24540285e-01 -9.45871239e-01 -1.09690699e-03 -1.13756577e+02] [-9.45865928e-01 -3.24542138e-01 3.16973515e-03 -2.91853780e+02] [-3.35415385e-03 8.82019928e-06 -9.99994375e-01 -8.05392814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.320385723 meters 0.015260522349121616 Centerline is valid? [True, True] Translation: X:-113.74, Y:-291.98, Z:-8.05 [[ 3.96219535e-01 -9.18154720e-01 -1.41034521e-03 -1.13740975e+02] [-9.18148993e-01 -3.96222045e-01 3.24299780e-03 -2.91976870e+02] [-3.53638360e-03 9.96795821e-06 -9.99993747e-01 -8.05365714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3503857229999 meters 0.015276670881601402 Centerline is valid? [True, True] Translation: X:-113.72, Y:-292.10, Z:-8.05 [[ 4.65185010e-01 -8.85211781e-01 -1.73487411e-03 -1.13716568e+02] [-8.85205721e-01 -4.65188245e-01 3.27547456e-03 -2.92096155e+02] [-3.70653172e-03 1.20188202e-05 -9.99993131e-01 -8.05328901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.380385723 meters 0.01540202038796575 Centerline is valid? [True, True] Translation: X:-113.69, Y:-292.21, Z:-8.05 [[ 5.30437071e-01 -8.47720665e-01 -2.48753527e-03 -1.13685484e+02] [-8.47711538e-01 -5.30442903e-01 3.93385354e-03 -2.92210280e+02] [-4.65430437e-03 2.20505970e-05 -9.99989169e-01 -8.05221202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.410385723 meters 0.015563434482468138 Centerline is valid? [True, True] Translation: X:-113.65, Y:-292.32, Z:-8.05 [[ 5.92196283e-01 -8.05785764e-01 -3.58678670e-03 -1.13645440e+02] [-8.05771400e-01 -5.92207144e-01 4.81146410e-03 -2.92321872e+02] [-6.00112998e-03 4.07989866e-05 -9.99981992e-01 -8.05084727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.440385723 meters 0.015632098061759574 Centerline is valid? [True, True] Translation: X:-113.60, Y:-292.43, Z:-8.05 [[ 6.51366290e-01 -7.58751356e-01 -4.28216704e-03 -1.13598355e+02] [-7.58735462e-01 -6.51380364e-01 4.91128821e-03 -2.92427383e+02] [-6.51576611e-03 4.99844058e-05 -9.99978771e-01 -8.05068222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4703857229999 meters 0.015667419054754158 Centerline is valid? [True, True] Translation: X:-113.55, Y:-292.53, Z:-8.05 [[ 7.06650653e-01 -7.07545769e-01 -4.88251841e-03 -1.13545056e+02] [-7.07529454e-01 -7.06667518e-01 4.80527468e-03 -2.92526866e+02] [-6.85026894e-03 5.88750922e-05 -9.99976535e-01 -8.05056653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.500385723 meters 0.015861352352210513 Centerline is valid? [True, True] Translation: X:-113.55, Y:-292.54, Z:-8.05 [[ 7.59362854e-01 -6.50645418e-01 -5.34750274e-03 -1.13551783e+02] [-6.50629886e-01 -7.59381680e-01 4.49619795e-03 -2.92535001e+02] [-6.98622621e-03 6.49993895e-05 -9.99975594e-01 -8.05018018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.530385723 meters 0.01569046142723234 Centerline is valid? [True, True] Translation: X:-113.56, Y:-292.55, Z:-8.05 [[ 8.07779464e-01 -5.89459597e-01 -5.45167762e-03 -1.13558198e+02] [-5.89446703e-01 -8.07797858e-01 3.89932806e-03 -2.92547177e+02] [-6.70234985e-03 6.36762619e-05 -9.99977537e-01 -8.05082925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.560385723 meters 0.01561471602315773 Centerline is valid? [True, True] Translation: X:-113.57, Y:-292.56, Z:-8.05 [[ 8.51334566e-01 -5.24600504e-01 -4.87525324e-03 -1.13566696e+02] [-5.24592269e-01 -8.51348523e-01 2.93989865e-03 -2.92563369e+02] [-5.69281196e-03 5.46828230e-05 -9.99983794e-01 -8.05115191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5903857229999 meters 0.015854239095574194 Centerline is valid? [True, True] Translation: X:-113.57, Y:-292.58, Z:-8.05 [[ 8.89779764e-01 -4.56361429e-01 -5.12041632e-03 -1.13572150e+02] [-4.56354225e-01 -8.89794495e-01 2.56484047e-03 -2.92575855e+02] [-5.72661251e-03 5.45804724e-05 -9.99983601e-01 -8.05006406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.620385723 meters 0.01576126069015224 Centerline is valid? [True, True] Translation: X:-113.57, Y:-292.59, Z:-8.05 [[ 9.22784981e-01 -3.85263224e-01 -6.33457235e-03 -1.13574636e+02] [-3.85254625e-01 -9.22806721e-01 2.57479164e-03 -2.92586152e+02] [-6.83755847e-03 6.44442386e-05 -9.99976622e-01 -8.04890244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.650385723 meters 0.015804921204467866 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.59, Z:-8.05 [[ 9.50196711e-01 -3.11574935e-01 -6.87533438e-03 -1.13575474e+02] [-3.11567275e-01 -9.50221582e-01 2.18586910e-03 -2.92594419e+02] [-7.21415313e-03 6.51235600e-05 -9.99973976e-01 -8.04828219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.680385723 meters 0.015459177427923295 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.61, Z:-8.05 [[ 9.71726615e-01 -2.36012071e-01 -6.75934241e-03 -1.13576347e+02] [-2.36006792e-01 -9.71750122e-01 1.57962126e-03 -2.92608195e+02] [-6.94120149e-03 6.02907022e-05 -9.99975908e-01 -8.04927711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.710385723 meters 0.015470315366167523 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.62, Z:-8.05 [[ 9.87380362e-01 -1.58253409e-01 -5.98988685e-03 -1.13577267e+02] [-1.58250783e-01 -9.87398530e-01 9.12917414e-04 -2.92622246e+02] [-6.05887776e-03 4.65075560e-05 -9.99981644e-01 -8.05042829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.740385723 meters 0.015250709906906778 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.64, Z:-8.05 [[ 9.96766238e-01 -8.01385208e-02 -5.90628390e-03 -1.13578852e+02] [-8.01373710e-02 -9.96783736e-01 4.31471719e-04 -2.92637534e+02] [-5.92186523e-03 4.32376216e-05 -9.99982465e-01 -8.05088848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.770385723 meters 0.015273857708984082 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.65, Z:-8.05 [[ 9.99980132e-01 -1.53889184e-03 -6.11285618e-03 -1.13580596e+02] [-1.53912506e-03 -9.99998815e-01 -3.34474961e-05 -2.92653336e+02] [-6.11279747e-03 4.28552817e-05 -9.99981316e-01 -8.05058956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.800385723 meters 0.01515740767683752 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.67, Z:-8.05 [[ 9.97056467e-01 7.64447736e-02 -5.88202433e-03 -1.13579901e+02] [ 7.64431878e-02 -9.97073816e-01 -4.94288514e-04 -2.92666022e+02] [-5.90259822e-03 4.31928696e-05 -9.99982579e-01 -8.05074065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.830385723 meters 0.015270227881834492 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.68, Z:-8.05 [[ 9.88004019e-01 1.54298810e-01 -6.31956541e-03 -1.13579228e+02] [ 1.54295351e-01 -9.88024228e-01 -1.03420874e-03 -2.92677474e+02] [-6.40346092e-03 4.67228257e-05 -9.99979497e-01 -8.05073348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.860385723 meters 0.015172657004529955 Centerline is valid? [True, True] Translation: X:-113.58, Y:-292.69, Z:-8.05 [[ 9.73050915e-01 2.30507808e-01 -6.16990177e-03 -1.13575566e+02] [ 2.30502843e-01 -9.73070474e-01 -1.51371420e-03 -2.92693174e+02] [-6.35267219e-03 5.07410896e-05 -9.99979820e-01 -8.05095339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.890385723 meters 0.015343323477842074 Centerline is valid? [True, True] Translation: X:-113.57, Y:-292.71, Z:-8.05 [[ 9.52104771e-01 3.05717143e-01 -5.79078329e-03 -1.13572481e+02] [ 3.05711167e-01 -9.52122380e-01 -1.91222955e-03 -2.92705966e+02] [-6.09813572e-03 5.03357568e-05 -9.99981405e-01 -8.05033845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.920385723 meters 0.015283255115364063 Centerline is valid? [True, True] Translation: X:-113.57, Y:-292.72, Z:-8.05 [[ 9.25596110e-01 3.78462962e-01 -6.13416458e-03 -1.13565726e+02] [ 3.78454212e-01 -9.25616434e-01 -2.57423314e-03 -2.92720779e+02] [-6.65213544e-03 6.11997539e-05 -9.99977873e-01 -8.04952293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.950385723 meters 0.015666300964084494 Centerline is valid? [True, True] Translation: X:-113.56, Y:-292.73, Z:-8.05 [[ 8.93243801e-01 4.49529096e-01 -6.25332186e-03 -1.13560457e+02] [ 4.49517556e-01 -8.93265687e-01 -3.22178137e-03 -2.92731752e+02] [-7.03416231e-03 6.68582765e-05 -9.99975258e-01 -8.04816423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.980385723 meters 0.015352460200668645 Centerline is valid? [True, True] Translation: X:-113.55, Y:-292.74, Z:-8.05 [[ 8.55327662e-01 5.18053134e-01 -5.96161094e-03 -1.13552364e+02] [ 5.18040006e-01 -8.55348435e-01 -3.68868072e-03 -2.92743229e+02] [-7.01018719e-03 6.66776849e-05 -9.99975426e-01 -8.04879876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.010385723 meters 0.015317519873250862 Centerline is valid? [True, True] Translation: X:-113.54, Y:-292.75, Z:-8.05 [[ 8.12226104e-01 5.83317391e-01 -5.43851505e-03 -1.13544994e+02] [ 5.83303775e-01 -8.12244309e-01 -3.98599167e-03 -2.92753586e+02] [-6.74250116e-03 6.52201204e-05 -9.99977267e-01 -8.04940487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.040385723 meters 0.015215971359233381 Centerline is valid? [True, True] Translation: X:-113.53, Y:-292.77, Z:-8.05 [[ 7.63713990e-01 6.45536002e-01 -4.92041754e-03 -1.13532925e+02] [ 6.45522102e-01 -7.63729839e-01 -4.23664567e-03 -2.92765313e+02] [-6.49277700e-03 5.93472989e-05 -9.99978920e-01 -8.05052725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.070385723 meters 0.01565368314897287 Centerline is valid? [True, True] Translation: X:-113.52, Y:-292.77, Z:-8.05 [[ 7.10632555e-01 7.03547336e-01 -4.74526343e-03 -1.13523916e+02] [ 7.03531087e-01 -7.10648396e-01 -4.78187422e-03 -2.92773989e+02] [-6.73648871e-03 5.97151534e-05 -9.99977308e-01 -8.04902169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1003857229999 meters 0.01503457572445344 Centerline is valid? [True, True] Translation: X:-113.51, Y:-292.78, Z:-8.05 [[ 6.53198985e-01 7.57173385e-01 -4.42163105e-03 -1.13509957e+02] [ 7.57155424e-01 -6.53213948e-01 -5.21565082e-03 -2.92784282e+02] [-6.83742306e-03 5.89958875e-05 -9.99976623e-01 -8.04992470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.130385723 meters 0.015234566737571821 Centerline is valid? [True, True] Translation: X:-113.50, Y:-292.79, Z:-8.05 [[ 5.91441850e-01 8.06337830e-01 -3.98022479e-03 -1.13498552e+02] [ 8.06318945e-01 -5.91455240e-01 -5.51896299e-03 -2.92792078e+02] [-6.80427345e-03 5.48150224e-05 -9.99976849e-01 -8.04874803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.160385723 meters 0.015016010929545074 Centerline is valid? [True, True] Translation: X:-113.49, Y:-292.80, Z:-8.05 [[ 5.25883663e-01 8.50548989e-01 -3.57649217e-03 -1.13485938e+02] [ 8.50528662e-01 -5.25895822e-01 -5.88050283e-03 -2.92798139e+02] [-6.88251802e-03 5.05512644e-05 -9.99976314e-01 -8.04918310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.190385723 meters 0.014971243358955996 Centerline is valid? [True, True] Translation: X:-113.47, Y:-292.80, Z:-8.05 [[ 4.56916973e-01 8.89503773e-01 -3.14938960e-03 -1.13473859e+02] [ 8.89481952e-01 -4.56927824e-01 -6.23067679e-03 -2.92803099e+02] [-6.98125424e-03 4.55767724e-05 -9.99975630e-01 -8.04933129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2203857229999 meters 0.015001259518535405 Centerline is valid? [True, True] Translation: X:-113.46, Y:-292.81, Z:-8.05 [[ 3.85682426e-01 9.22627963e-01 -2.59016955e-03 -1.13463349e+02] [ 9.22606398e-01 -3.85691121e-01 -6.30823889e-03 -2.92807214e+02] [-6.81916299e-03 4.32698718e-05 -9.99976748e-01 -8.04884799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.250385723 meters 0.015016638484417184 Centerline is valid? [True, True] Translation: X:-113.45, Y:-292.81, Z:-8.05 [[ 3.11511250e-01 9.50239901e-01 -2.20722005e-03 -1.13452894e+02] [ 9.50215124e-01 -3.11519067e-01 -6.86215989e-03 -2.92809495e+02] [-7.20828927e-03 4.03061370e-05 -9.99974019e-01 -8.04870584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.280385723 meters 0.014707675009695687 Centerline is valid? [True, True] Translation: X:-113.44, Y:-292.81, Z:-8.05 [[ 2.34293161e-01 9.72164269e-01 -1.83014219e-03 -1.13437063e+02] [ 9.72133625e-01 -2.34300307e-01 -7.71892907e-03 -2.92811465e+02] [-7.93286991e-03 2.93495395e-05 -9.99968534e-01 -8.04865226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.310385723 meters 0.014832595743604201 Centerline is valid? [True, True] Translation: X:-113.42, Y:-292.81, Z:-8.05 [[ 1.55997632e-01 9.87756620e-01 -1.26476348e-03 -1.13424074e+02] [ 9.87723195e-01 -1.56002758e-01 -8.12589469e-03 -2.92813323e+02] [-8.22371286e-03 1.83841011e-05 -9.99966185e-01 -8.04748126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3403857229999 meters 0.014657875293362354 Centerline is valid? [True, True] Translation: X:-113.41, Y:-292.81, Z:-8.05 [[ 7.48862233e-02 9.97191852e-01 -6.81797345e-04 -1.13406964e+02] [ 9.97151638e-01 -7.48893264e-02 -8.95547091e-03 -2.92812461e+02] [-8.98138196e-03 -9.21394439e-06 -9.99959667e-01 -8.04771285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.370385723 meters 0.014649962316601347 Centerline is valid? [True, True] Translation: X:-113.39, Y:-292.81, Z:-8.05 [[-4.64734333e-03 9.99989201e-01 2.19831342e-05 -1.13393261e+02] [ 9.99947825e-01 4.64735101e-03 -9.09665387e-03 -2.92810889e+02] [-9.09665780e-03 -2.02932864e-05 -9.99958624e-01 -8.04739150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.400385723 meters 0.014713771683754363 Centerline is valid? [True, True] Translation: X:-113.38, Y:-292.81, Z:-8.05 [[-8.39860341e-02 9.96466674e-01 7.16323242e-04 -1.13380520e+02] [ 9.96427422e-01 8.39890839e-02 -8.84460304e-03 -2.92807541e+02] [-8.87351551e-03 -2.90590117e-05 -9.99960629e-01 -8.04768080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.430385723 meters 0.014750867365754785 Centerline is valid? [True, True] Translation: X:-113.37, Y:-292.80, Z:-8.05 [[-1.64086833e-01 9.86444838e-01 1.44678791e-03 -1.13368307e+02] [ 9.86403689e-01 1.64093203e-01 -9.01013195e-03 -2.92804544e+02] [-9.12540622e-03 -5.13270852e-05 -9.99958361e-01 -8.04830075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.460385723 meters 0.01485163689904114 Centerline is valid? [True, True] Translation: X:-113.36, Y:-292.80, Z:-8.05 [[-2.42142340e-01 9.70238355e-01 2.14996696e-03 -1.13357364e+02] [ 9.70197740e-01 2.42151876e-01 -8.87779528e-03 -2.92801035e+02] [-9.13419602e-03 -6.37970329e-05 -9.99958280e-01 -8.04807764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.490385723 meters 0.015190104189317419 Centerline is valid? [True, True] Translation: X:-113.35, Y:-292.80, Z:-8.05 [[-3.20476236e-01 9.47252008e-01 2.93534712e-03 -1.13347262e+02] [ 9.47209477e-01 3.20489664e-01 -8.97678720e-03 -2.92795750e+02] [-9.44402811e-03 -9.64583564e-05 -9.99955400e-01 -8.04787054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.520385723 meters 0.015436431213437666 Centerline is valid? [True, True] Translation: X:-113.34, Y:-292.79, Z:-8.05 [[-3.95176128e-01 9.18597467e-01 3.81067295e-03 -1.13339009e+02] [ 9.18551855e-01 3.95194483e-01 -9.15475887e-03 -2.92790506e+02] [-9.91549523e-03 -1.17441455e-04 -9.99950833e-01 -8.04753497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.550385723 meters 0.015555560204898506 Centerline is valid? [True, True] Translation: X:-113.33, Y:-292.78, Z:-8.05 [[-4.67422200e-01 8.84021667e-01 4.70944378e-03 -1.13330282e+02] [ 8.83973730e-01 4.67445903e-01 -9.20721967e-03 -2.92783796e+02] [-1.03407919e-02 -1.40634290e-04 -9.99946523e-01 -8.04772411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.580385723 meters 0.01615475785823737 Centerline is valid? [True, True] Translation: X:-113.32, Y:-292.78, Z:-8.05 [[-5.37427922e-01 8.43289434e-01 5.84453571e-03 -1.13321956e+02] [ 8.43235866e-01 5.37459671e-01 -9.50666190e-03 -2.92777484e+02] [-1.11580698e-02 -1.80823418e-04 -9.99937731e-01 -8.04740327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.610385723 meters 0.016567499297366377 Centerline is valid? [True, True] Translation: X:-113.32, Y:-292.77, Z:-8.05 [[-6.02882045e-01 7.97803320e-01 6.56520183e-03 -1.13316967e+02] [ 7.97752445e-01 6.02917759e-01 -9.01178243e-03 -2.92772487e+02] [-1.11479067e-02 -1.95636008e-04 -9.99937841e-01 -8.04744992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.640385723 meters 0.01602136960409529 Centerline is valid? [True, True] Translation: X:-113.31, Y:-292.76, Z:-8.05 [[-6.64251834e-01 7.47473995e-01 7.21996385e-03 -1.13310736e+02] [ 7.47426447e-01 6.64291039e-01 -8.43338597e-03 -2.92764509e+02] [-1.10998940e-02 -2.05500167e-04 -9.99938373e-01 -8.04887744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.670385723 meters 0.01610573273892591 Centerline is valid? [True, True] Translation: X:-113.30, Y:-292.75, Z:-8.05 [[-7.21331738e-01 6.92544658e-01 7.90068777e-03 -1.13304129e+02] [ 6.92499810e-01 7.21374972e-01 -7.88429714e-03 -2.92754394e+02] [-1.11595863e-02 -2.15968977e-04 -9.99937707e-01 -8.04906718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.700385723 meters 0.016483423888747035 Centerline is valid? [True, True] Translation: X:-112.88, Y:-292.33, Z:-9.02 [[-6.42978895e-01 -7.65850343e-01 7.16887495e-03 -1.12880705e+02] [ 7.65806112e-01 -6.43018829e-01 -8.23314466e-03 -2.92333794e+02] [ 1.09150782e-02 1.96229995e-04 9.99940410e-01 -9.02123961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.730385723 meters 0.01706794130669454 Centerline is valid? [True, True] Translation: X:-112.90, Y:-292.31, Z:-9.02 [[-6.42553374e-01 -7.66204536e-01 7.46794033e-03 -1.12898612e+02] [ 7.66157160e-01 -6.42596724e-01 -8.52394441e-03 -2.92313066e+02] [ 1.13299589e-02 2.44526711e-04 9.99935784e-01 -9.02180329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.760385723 meters 0.01714346693627683 Centerline is valid? [True, True] Translation: X:-112.92, Y:-292.29, Z:-9.02 [[-6.41394569e-01 -7.67172450e-01 7.70963624e-03 -1.12915069e+02] [ 7.67122085e-01 -6.41440844e-01 -8.79486729e-03 -2.92290057e+02] [ 1.16924555e-02 2.73252115e-04 9.99931604e-01 -9.02193252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.790385723 meters 0.017648303799782265 Centerline is valid? [True, True] Translation: X:-112.93, Y:-292.27, Z:-9.02 [[-6.40858749e-01 -7.67620243e-01 7.69586684e-03 -1.12932455e+02] [ 7.67570151e-01 -6.40904893e-01 -8.77394907e-03 -2.92268689e+02] [ 1.16673796e-02 2.84255645e-04 9.99931894e-01 -9.02218576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.820385723 meters 0.017667699567072193 Centerline is valid? [True, True] Translation: X:-112.95, Y:-292.25, Z:-9.02 [[-6.40575817e-01 -7.67851688e-01 8.14912421e-03 -1.12949039e+02] [ 7.67795607e-01 -6.40627576e-01 -9.28519213e-03 -2.92246596e+02] [ 1.23502041e-02 3.08992235e-04 9.99923686e-01 -9.02199670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8503857229999 meters 0.018207845530028542 Centerline is valid? [True, True] Translation: X:-112.96, Y:-292.22, Z:-9.02 [[-6.40244423e-01 -7.68120389e-01 8.84006674e-03 -1.12964596e+02] [ 7.68054500e-01 -6.40305357e-01 -1.00665291e-02 -2.92224652e+02] [ 1.33926483e-02 3.44613952e-04 9.99910255e-01 -9.02313537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.880385723 meters 0.018000625379238796 Centerline is valid? [True, True] Translation: X:-112.98, Y:-292.20, Z:-9.02 [[-6.40465013e-01 -7.67936394e-01 8.84661372e-03 -1.12981637e+02] [ 7.67870465e-01 -6.40526016e-01 -1.00684029e-02 -2.92202112e+02] [ 1.33983793e-02 3.44593578e-04 9.99910178e-01 -9.02304743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.910385723 meters 0.018137106018230396 Centerline is valid? [True, True] Translation: X:-113.00, Y:-292.18, Z:-9.02 [[-6.41102581e-01 -7.67403262e-01 8.92826352e-03 -1.12995787e+02] [ 7.67336149e-01 -6.41164657e-01 -1.01546973e-02 -2.92179819e+02] [ 1.35172348e-02 3.40776708e-04 9.99908580e-01 -9.02365793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.940385723 meters 0.018214307059516915 Centerline is valid? [True, True] Translation: X:-113.01, Y:-292.16, Z:-9.02 [[-6.41599173e-01 -7.66982948e-01 9.36268361e-03 -1.13011627e+02] [ 7.66909171e-01 -6.41667386e-01 -1.06437055e-02 -2.92158203e+02] [ 1.41712694e-02 3.51335258e-04 9.99899521e-01 -9.02420363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9703857229999 meters 0.01750869876769007 Centerline is valid? [True, True] Translation: X:-113.03, Y:-292.13, Z:-9.02 [[-6.42367587e-01 -7.66339344e-01 9.37513464e-03 -1.13027008e+02] [ 7.66265387e-01 -6.42435906e-01 -1.06519298e-02 -2.92134851e+02] [ 1.41859160e-02 3.41386714e-04 9.99899317e-01 -9.02325098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.000385723 meters 0.01676942575922118 Centerline is valid? [True, True] Translation: X:-113.04, Y:-292.11, Z:-9.02 [[-6.44504061e-01 -7.64545291e-01 9.22026232e-03 -1.13040509e+02] [ 7.64473651e-01 -6.44569940e-01 -1.04704241e-02 -2.92108639e+02] [ 1.39482174e-02 3.00416709e-04 9.99902674e-01 -9.02192370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.030385723 meters 0.016209381027440007 Centerline is valid? [True, True] Translation: X:-113.06, Y:-292.08, Z:-9.02 [[-6.46005764e-01 -7.63280526e-01 8.91013789e-03 -1.13056291e+02] [ 7.63213582e-01 -6.46067153e-01 -1.01124824e-02 -2.92084912e+02] [ 1.34752083e-02 2.67616354e-04 9.99909170e-01 -9.02106805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.060385723 meters 0.01564091861700359 Centerline is valid? [True, True] Translation: X:-113.07, Y:-292.06, Z:-9.02 [[-6.48869306e-01 -7.60848725e-01 8.82277457e-03 -1.13069183e+02] [ 7.60782917e-01 -6.48929249e-01 -1.00091943e-02 -2.92060348e+02] [ 1.33408392e-02 2.17557187e-04 9.99910983e-01 -9.02093414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0903857229999 meters 0.01564091861700359 Centerline is valid? [True, True] Translation: X:-113.09, Y:-292.04, Z:-9.02 [[-6.49080074e-01 -7.60668895e-01 8.82554788e-03 -1.13087472e+02] [ 7.60603103e-01 -6.49140035e-01 -1.00067491e-02 -2.92039694e+02] [ 1.33408392e-02 2.17557669e-04 9.99910983e-01 -9.02093433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.120385723 meters 0.015359643030319715 Centerline is valid? [True, True] Translation: X:-113.10, Y:-292.02, Z:-9.02 [[-6.50553888e-01 -7.59409196e-01 8.79279760e-03 -1.13103594e+02] [ 7.59343849e-01 -6.50613277e-01 -9.96407901e-03 -2.92016786e+02] [ 1.32875241e-02 1.94586442e-04 9.99911698e-01 -9.02112321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.150385723 meters 0.014949994679592587 Centerline is valid? [True, True] Translation: X:-113.12, Y:-291.99, Z:-9.02 [[-6.53145185e-01 -7.57182788e-01 8.69438701e-03 -1.13117268e+02] [ 7.57118771e-01 -6.53203033e-01 -9.84704119e-03 -2.91991492e+02] [ 1.31352101e-02 1.51136063e-04 9.99913718e-01 -9.02108942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.180385723 meters 0.014745105786478705 Centerline is valid? [True, True] Translation: X:-113.13, Y:-291.97, Z:-9.02 [[-6.54397068e-01 -7.56101626e-01 8.64919500e-03 -1.13133847e+02] [ 7.56038245e-01 -6.54454211e-01 -9.79071517e-03 -2.91968006e+02] [ 1.30632777e-02 1.32106907e-04 9.99914663e-01 -9.02109647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.210385723 meters 0.014506864148461656 Centerline is valid? [True, True] Translation: X:-113.15, Y:-291.94, Z:-9.02 [[-6.56015059e-01 -7.54700126e-01 8.48307501e-03 -1.13147243e+02] [ 7.54639109e-01 -6.56069896e-01 -9.59725324e-03 -2.91942735e+02] [ 1.28085384e-02 1.05717522e-04 9.99917962e-01 -9.02034531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.240385723 meters 0.014522475809815335 Centerline is valid? [True, True] Translation: X:-113.16, Y:-291.92, Z:-9.02 [[-6.56760461e-01 -7.54053154e-01 8.33897934e-03 -1.13163096e+02] [ 7.53994210e-01 -6.56813393e-01 -9.42864215e-03 -2.91920521e+02] [ 1.25868507e-02 9.51827712e-05 9.99920778e-01 -9.02032801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.270385723 meters 0.014556620055310533 Centerline is valid? [True, True] Translation: X:-113.18, Y:-291.90, Z:-9.02 [[-6.57258296e-01 -7.53618199e-01 8.43455197e-03 -1.13178357e+02] [ 7.53557920e-01 -6.57312408e-01 -9.53208576e-03 -2.91899192e+02] [ 1.27276890e-02 9.08809934e-05 9.99918996e-01 -9.01980970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.300385723 meters 0.014574836822766352 Centerline is valid? [True, True] Translation: X:-113.19, Y:-291.88, Z:-9.02 [[-6.57671681e-01 -7.53255557e-01 8.60387277e-03 -1.13193175e+02] [ 7.53192883e-01 -6.57727951e-01 -9.71712624e-03 -2.91876654e+02] [ 1.29784870e-02 8.96969906e-05 9.99915772e-01 -9.02036750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.330385723 meters 0.014634212109849321 Centerline is valid? [True, True] Translation: X:-113.21, Y:-291.86, Z:-9.02 [[-6.57650663e-01 -7.53277176e-01 8.31269031e-03 -1.13210136e+02] [ 7.53218748e-01 -6.57703191e-01 -9.38243862e-03 -2.91855534e+02] [ 1.25348598e-02 9.09072016e-05 9.99921432e-01 -9.02046395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.360385723 meters 0.014718308818715671 Centerline is valid? [True, True] Translation: X:-113.23, Y:-291.83, Z:-9.02 [[-6.56261137e-01 -7.54487231e-01 8.38682300e-03 -1.13226936e+02] [ 7.54427922e-01 -6.56314714e-01 -9.46082795e-03 -2.91832759e+02] [ 1.26424692e-02 1.18479736e-04 9.99920074e-01 -9.02018223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.390385723 meters 0.014765055310633737 Centerline is valid? [True, True] Translation: X:-113.24, Y:-291.81, Z:-9.02 [[-6.55783881e-01 -7.54902347e-01 8.36345605e-03 -1.13244742e+02] [ 7.54843468e-01 -6.55837197e-01 -9.42919469e-03 -2.91810701e+02] [ 1.26031868e-02 1.29586284e-04 9.99920568e-01 -9.01977378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.420385723 meters 0.014917989374691593 Centerline is valid? [True, True] Translation: X:-113.26, Y:-291.79, Z:-9.02 [[-6.54966915e-01 -7.55617569e-01 7.77362949e-03 -1.13261261e+02] [ 7.55566810e-01 -6.55013031e-01 -8.75932913e-03 -2.91788054e+02] [ 1.17105316e-02 1.36425659e-04 9.99931420e-01 -9.01900722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.450385723 meters 0.014992108617278312 Centerline is valid? [True, True] Translation: X:-113.28, Y:-291.77, Z:-9.02 [[-6.54804855e-01 -7.55761566e-01 7.42009610e-03 -1.13279501e+02] [ 7.55715379e-01 -6.54846881e-01 -8.35631267e-03 -2.91766079e+02] [ 1.11744067e-02 1.35726633e-04 9.99937555e-01 -9.01874536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.480385723 meters 0.015002576027850972 Centerline is valid? [True, True] Translation: X:-113.30, Y:-291.74, Z:-9.02 [[-6.54587228e-01 -7.55953590e-01 7.05196692e-03 -1.13297629e+02] [ 7.55911932e-01 -6.54625199e-01 -7.93728599e-03 -2.91744410e+02] [ 1.06166151e-02 1.35019904e-04 9.99943633e-01 -9.01825168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.510385723 meters 0.015878644054978408 Centerline is valid? [True, True] Translation: X:-113.32, Y:-291.72, Z:-9.02 [[-6.54242496e-01 -7.56257374e-01 6.44521153e-03 -1.13315099e+02] [ 7.56222630e-01 -6.54274230e-01 -7.25025034e-03 -2.91722530e+02] [ 9.69999109e-03 1.30592937e-04 9.99952946e-01 -9.01895833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.540385723 meters 0.015083346877438003 Centerline is valid? [True, True] Translation: X:-113.33, Y:-291.70, Z:-9.02 [[-6.53853168e-01 -7.56597515e-01 6.01961314e-03 -1.13333417e+02] [ 7.56567257e-01 -6.53880864e-01 -6.76764528e-03 -2.91701527e+02] [ 9.05649344e-03 1.29195893e-04 9.99958981e-01 -9.01813516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.570385723 meters 0.015356985154641845 Centerline is valid? [True, True] Translation: X:-113.35, Y:-291.68, Z:-9.02 [[-6.53637973e-01 -7.56780587e-01 6.36734787e-03 -1.13350775e+02] [ 7.56746770e-01 -6.53668970e-01 -7.15563646e-03 -2.91681001e+02] [ 9.57738449e-03 1.41274230e-04 9.99954126e-01 -9.01893232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6003857229999 meters 0.015157155490419539 Centerline is valid? [True, True] Translation: X:-113.37, Y:-291.66, Z:-9.02 [[-6.54057081e-01 -7.56415608e-01 6.69056298e-03 -1.13368844e+02] [ 7.56378293e-01 -6.54091284e-01 -7.51466780e-03 -2.91659468e+02] [ 1.00604509e-02 1.45574927e-04 9.99949382e-01 -9.01906557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.630385723 meters 0.015065278083873904 Centerline is valid? [True, True] Translation: X:-113.39, Y:-291.64, Z:-9.02 [[-6.54675892e-01 -7.55876721e-01 7.06105359e-03 -1.13387031e+02] [ 7.55835175e-01 -6.54713953e-01 -7.92637509e-03 -2.91638236e+02] [ 1.06143327e-02 1.47785990e-04 9.99943656e-01 -9.01948630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.660385723 meters 0.01493136861520696 Centerline is valid? [True, True] Translation: X:-113.40, Y:-291.62, Z:-9.02 [[-6.56694998e-01 -7.54118519e-01 7.54573788e-03 -1.13404371e+02] [ 7.54071020e-01 -6.56738336e-01 -8.46490153e-03 -2.91618417e+02] [ 1.13391143e-02 1.31163766e-04 9.99935702e-01 -9.02126241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.690385723 meters 0.014730851493087057 Centerline is valid? [True, True] Translation: X:-113.42, Y:-291.60, Z:-9.02 [[-6.57889654e-01 -7.53072724e-01 7.91682278e-03 -1.13422950e+02] [ 7.53020427e-01 -6.57937275e-01 -8.87571815e-03 -2.91598052e+02] [ 1.18928340e-02 1.22286128e-04 9.99929270e-01 -9.02231129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7203857229999 meters 0.014385498058447629 Centerline is valid? [True, True] Translation: X:-113.44, Y:-291.58, Z:-9.02 [[-6.60214099e-01 -7.51030790e-01 8.37230626e-03 -1.13440846e+02] [ 7.50972211e-01 -6.60267176e-01 -9.38055205e-03 -2.91577578e+02] [ 1.25730424e-02 9.41966175e-05 9.99920952e-01 -9.02333447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.750385723 meters 0.014218232021522987 Centerline is valid? [True, True] Translation: X:-113.46, Y:-291.56, Z:-9.02 [[-6.61643707e-01 -7.49768201e-01 8.67462509e-03 -1.13459326e+02] [ 7.49705278e-01 -6.61700566e-01 -9.71379869e-03 -2.91556003e+02] [ 1.30231017e-02 7.63384358e-05 9.99915193e-01 -9.02261156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.780385723 meters 0.014040026659549988 Centerline is valid? [True, True] Translation: X:-113.48, Y:-291.54, Z:-9.02 [[-6.64223441e-01 -7.47488154e-01 8.28741920e-03 -1.13476481e+02] [ 7.47430611e-01 -6.64275138e-01 -9.27486485e-03 -2.91535537e+02] [ 1.24379781e-02 3.36881531e-05 9.99922645e-01 -9.02261203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.810385723 meters 0.014070784358162154 Centerline is valid? [True, True] Translation: X:-113.50, Y:-291.51, Z:-9.02 [[-6.65596844e-01 -7.46266596e-01 8.18589756e-03 -1.13495155e+02] [ 7.46210425e-01 -6.65647179e-01 -9.15614642e-03 -2.91514079e+02] [ 1.22818458e-02 1.40999344e-05 9.99924575e-01 -9.02260445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8403857229999 meters 0.01398021194689806 Centerline is valid? [True, True] Translation: X:-113.51, Y:-291.49, Z:-9.02 [[-6.67089505e-01 -7.44936420e-01 7.83089764e-03 -1.13512383e+02] [ 7.44884990e-01 -6.67135466e-01 -8.75332256e-03 -2.91494628e+02] [ 1.17449383e-02 -6.13149610e-06 9.99931026e-01 -9.02275797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.870385723 meters 0.014141585248591427 Centerline is valid? [True, True] Translation: X:-113.53, Y:-291.47, Z:-9.02 [[-6.69181501e-01 -7.43058694e-01 7.73932460e-03 -1.13529287e+02] [ 7.43008399e-01 -6.69226252e-01 -8.64536279e-03 -2.91475000e+02] [ 1.16033712e-02 -3.49336594e-05 9.99932678e-01 -9.02332238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.900385723 meters 0.014017260092605673 Centerline is valid? [True, True] Translation: X:-113.55, Y:-291.45, Z:-9.02 [[-6.71104856e-01 -7.41320610e-01 7.87562070e-03 -1.13548374e+02] [ 7.41268466e-01 -6.71151063e-01 -8.79273775e-03 -2.91454747e+02] [ 1.18039689e-02 -6.28997218e-05 9.99930329e-01 -9.02250255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.930385723 meters 0.014088743342134311 Centerline is valid? [True, True] Translation: X:-113.57, Y:-291.44, Z:-9.02 [[-6.71848749e-01 -7.40646705e-01 7.85599720e-03 -1.13566548e+02] [ 7.40594842e-01 -6.71894674e-01 -8.76510577e-03 -2.91435098e+02] [ 1.17702494e-02 -7.07143426e-05 9.99930726e-01 -9.02290377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.960385723 meters 0.014179213585343443 Centerline is valid? [True, True] Translation: X:-113.59, Y:-291.41, Z:-9.02 [[-6.72463759e-01 -7.40088331e-01 7.85846230e-03 -1.13585237e+02] [ 7.40036461e-01 -6.72509670e-01 -8.76240851e-03 -2.91414926e+02] [ 1.17698482e-02 -7.68535343e-05 9.99930730e-01 -9.02283245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.990385723 meters 0.01409080853439935 Centerline is valid? [True, True] Translation: X:-113.61, Y:-291.39, Z:-9.02 [[-6.72747101e-01 -7.39833290e-01 7.61840945e-03 -1.13605030e+02] [ 7.39784579e-01 -6.72790232e-01 -8.49000574e-03 -2.91394727e+02] [ 1.14067804e-02 -7.56449270e-05 9.99934938e-01 -9.02194589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.020385723 meters 0.013934946471332126 Centerline is valid? [True, True] Translation: X:-113.63, Y:-291.38, Z:-9.02 [[-6.72076257e-01 -7.40447662e-01 7.12493590e-03 -1.13625552e+02] [ 7.40405138e-01 -6.72114020e-01 -7.93565734e-03 -2.91375475e+02] [ 1.06647082e-02 -5.80277302e-05 9.99943129e-01 -9.02219341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.050385723 meters 0.01386153379860058 Centerline is valid? [True, True] Translation: X:-113.65, Y:-291.36, Z:-9.02 [[-6.71723582e-01 -7.40771123e-01 6.75085837e-03 -1.13645122e+02] [ 7.40733006e-01 -6.71757502e-01 -7.51481759e-03 -2.91355594e+02] [ 1.01016996e-02 -4.72965802e-05 9.99948976e-01 -9.02229992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.080385723 meters 0.013882513639621188 Centerline is valid? [True, True] Translation: X:-113.66, Y:-291.34, Z:-9.02 [[-6.71476730e-01 -7.40995833e-01 6.64654992e-03 -1.13663745e+02] [ 7.40958939e-01 -6.71509624e-01 -7.39436423e-03 -2.91336484e+02] [ 9.94241531e-03 -4.03229418e-05 9.99950572e-01 -9.02260998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.110385723 meters 0.01380734814120003 Centerline is valid? [True, True] Translation: X:-113.68, Y:-291.32, Z:-9.02 [[-6.70722606e-01 -7.41678609e-01 6.63531265e-03 -1.13683272e+02] [ 7.41641918e-01 -6.70755425e-01 -7.37734479e-03 -2.91317279e+02] [ 9.92229078e-03 -2.71259195e-05 9.99950773e-01 -9.02283859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.140385723 meters 0.015087486102930979 Centerline is valid? [True, True] Translation: X:-113.70, Y:-291.30, Z:-9.02 [[-6.70443629e-01 -7.41928931e-01 6.84114792e-03 -1.13701761e+02] [ 7.41889989e-01 -6.70478531e-01 -7.60155261e-03 -2.91297401e+02] [ 1.02266546e-02 -2.10333591e-05 9.99947706e-01 -9.02441301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.170385723 meters 0.013635089318436806 Centerline is valid? [True, True] Translation: X:-113.72, Y:-291.28, Z:-9.02 [[-6.69281197e-01 -7.42980731e-01 6.50485111e-03 -1.13720397e+02] [ 7.42945618e-01 -6.69312807e-01 -7.22325352e-03 -2.91278791e+02] [ 9.72051834e-03 -1.63713496e-06 9.99952755e-01 -9.02259998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.200385723 meters 0.013673107693083553 Centerline is valid? [True, True] Translation: X:-113.74, Y:-291.26, Z:-9.02 [[-6.68837714e-01 -7.43381089e-01 6.37722451e-03 -1.13739067e+02] [ 7.43347399e-01 -6.68868116e-01 -7.07729300e-03 -2.91259144e+02] [ 9.52664792e-03 6.93278088e-06 9.99954621e-01 -9.02248990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.230385723 meters 0.013707002210226003 Centerline is valid? [True, True] Translation: X:-113.76, Y:-291.24, Z:-9.02 [[-6.68107329e-01 -7.44043915e-01 5.59014420e-03 -1.13757821e+02] [ 7.44018083e-01 -6.68130715e-01 -6.19991733e-03 -2.91240358e+02] [ 8.34795781e-03 1.69581639e-05 9.99965155e-01 -9.02172245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.260385723 meters 0.013775437067028455 Centerline is valid? [True, True] Translation: X:-113.78, Y:-291.22, Z:-9.02 [[-6.67769341e-01 -7.44349686e-01 5.25847149e-03 -1.13776908e+02] [ 7.44326866e-01 -6.67790045e-01 -5.82862393e-03 -2.91220317e+02] [ 7.85008930e-03 2.18452390e-05 9.99969187e-01 -9.02134123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.290385723 meters 0.01622381928216968 Centerline is valid? [True, True] Translation: X:-113.80, Y:-291.20, Z:-9.02 [[-6.68105891e-01 -7.44047863e-01 5.22459156e-03 -1.13795510e+02] [ 7.44025353e-01 -6.68126319e-01 -5.78767932e-03 -2.91200649e+02] [ 7.79699755e-03 2.04459282e-05 9.99969603e-01 -9.02394634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.320385723 meters 0.013780609705191987 Centerline is valid? [True, True] Translation: X:-113.81, Y:-291.18, Z:-9.02 [[-6.68225434e-01 -7.43945380e-01 4.47679925e-03 -1.13813777e+02] [ 7.43928870e-01 -6.68240430e-01 -4.95624406e-03 -2.91181301e+02] [ 6.67875312e-03 1.85318721e-05 9.99977697e-01 -9.02130636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3503857229999 meters 0.013761105792658681 Centerline is valid? [True, True] Translation: X:-113.83, Y:-291.16, Z:-9.02 [[-6.68725146e-01 -7.43496971e-01 4.35130585e-03 -1.13831460e+02] [ 7.43481384e-01 -6.68739302e-01 -4.81438302e-03 -2.91161197e+02] [ 6.48936843e-03 1.56159094e-05 9.99978944e-01 -9.02037339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.380385723 meters 0.01383474436697037 Centerline is valid? [True, True] Translation: X:-113.85, Y:-291.14, Z:-9.02 [[-6.69517066e-01 -7.42789026e-01 3.37068247e-03 -1.13849998e+02] [ 7.42779675e-01 -6.69525551e-01 -3.72709652e-03 -2.91140882e+02] [ 5.02520443e-03 8.31970016e-06 9.99987374e-01 -9.01940150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.410385723 meters 0.013796252412022513 Centerline is valid? [True, True] Translation: X:-113.87, Y:-291.12, Z:-9.02 [[-6.69815881e-01 -7.42519364e-01 3.41751054e-03 -1.13868835e+02] [ 7.42509759e-01 -6.69824600e-01 -3.77676767e-03 -2.91120262e+02] [ 5.09345576e-03 7.79595806e-06 9.99987028e-01 -9.01885358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.440385723 meters 0.013882086887629588 Centerline is valid? [True, True] Translation: X:-113.89, Y:-291.10, Z:-9.02 [[-6.70037707e-01 -7.42318096e-01 3.64906662e-03 -1.13886558e+02] [ 7.42307153e-01 -6.70047644e-01 -4.03071560e-03 -2.91101006e+02] [ 5.43712162e-03 7.99681165e-06 9.99985219e-01 -9.01933482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4703857229999 meters 0.013905692347501886 Centerline is valid? [True, True] Translation: X:-113.90, Y:-291.08, Z:-9.02 [[-6.70419023e-01 -7.41972618e-01 3.86878702e-03 -1.13904736e+02] [ 7.41960326e-01 -6.70430186e-01 -4.27080427e-03 -2.91081060e+02] [ 5.76257143e-03 7.25805282e-06 9.99983396e-01 -9.01956066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.500385723 meters 0.015187569501945192 Centerline is valid? [True, True] Translation: X:-113.92, Y:-291.06, Z:-9.02 [[-6.71716336e-01 -7.40794338e-01 4.57299621e-03 -1.13923776e+02] [ 7.40777158e-01 -6.71731903e-01 -5.04510663e-03 -2.91060901e+02] [ 6.80921387e-03 -1.30940693e-06 9.99976817e-01 -9.02211071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.530385723 meters 0.013932143225328795 Centerline is valid? [True, True] Translation: X:-113.94, Y:-291.04, Z:-9.02 [[-6.72457906e-01 -7.40123757e-01 4.14588615e-03 -1.13942905e+02] [ 7.40109640e-01 -6.72470686e-01 -4.57137834e-03 -2.91040276e+02] [ 6.17137261e-03 -5.64919810e-06 9.99980957e-01 -9.02098820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.560385723 meters 0.013959623314326772 Centerline is valid? [True, True] Translation: X:-113.96, Y:-291.02, Z:-9.02 [[-6.73237417e-01 -7.39414633e-01 4.16908681e-03 -1.13961979e+02] [ 7.39400359e-01 -6.73250326e-01 -4.59437326e-03 -2.91019427e+02] [ 6.20398587e-03 -1.04797056e-05 9.99980755e-01 -9.02110567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5903857229999 meters 0.014011905613498278 Centerline is valid? [True, True] Translation: X:-113.98, Y:-291.00, Z:-9.02 [[-6.74837948e-01 -7.37953976e-01 4.20407896e-03 -1.13980950e+02] [ 7.37939450e-01 -6.74851042e-01 -4.63018868e-03 -2.90999658e+02] [ 6.25399321e-03 -2.22713102e-05 9.99980443e-01 -9.02162427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.620385723 meters 0.01414024123357978 Centerline is valid? [True, True] Translation: X:-114.00, Y:-290.98, Z:-9.02 [[-6.75559140e-01 -7.37292159e-01 4.48568872e-03 -1.14000147e+02] [ 7.37275626e-01 -6.75574031e-01 -4.93761832e-03 -2.90978698e+02] [ 6.67088208e-03 -2.84642313e-05 9.99977749e-01 -9.02208217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.650385723 meters 0.01432334287193636 Centerline is valid? [True, True] Translation: X:-114.02, Y:-290.96, Z:-9.02 [[-6.76775766e-01 -7.36175324e-01 4.52267047e-03 -1.14018006e+02] [ 7.36158514e-01 -6.76790877e-01 -4.97507595e-03 -2.90959740e+02] [ 6.72343026e-03 -3.76084659e-05 9.99977397e-01 -9.02194396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.680385723 meters 0.014346187032252654 Centerline is valid? [True, True] Translation: X:-114.04, Y:-290.94, Z:-9.02 [[-6.77193291e-01 -7.35792548e-01 4.30967899e-03 -1.14036540e+02] [ 7.35777294e-01 -6.77207004e-01 -4.73789196e-03 -2.90939589e+02] [ 6.40465039e-03 -3.75047027e-05 9.99979489e-01 -9.02163631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.710385723 meters 0.014497003187928629 Centerline is valid? [True, True] Translation: X:-114.06, Y:-290.92, Z:-9.02 [[-6.77791277e-01 -7.35244052e-01 3.89479518e-03 -1.14055290e+02] [ 7.35231601e-01 -6.77802466e-01 -4.27904721e-03 -2.90920975e+02] [ 5.78604579e-03 -3.67243769e-05 9.99983260e-01 -9.02103375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.740385723 meters 0.014271275536019604 Centerline is valid? [True, True] Translation: X:-114.08, Y:-290.90, Z:-9.02 [[-6.77777077e-01 -7.35258478e-01 3.63380419e-03 -1.14075523e+02] [ 7.35247652e-01 -6.77786817e-01 -3.99006483e-03 -2.90901653e+02] [ 5.39667356e-03 -3.26284771e-05 9.99985437e-01 -9.02035770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.770385723 meters 0.014304570354428194 Centerline is valid? [True, True] Translation: X:-114.09, Y:-290.88, Z:-9.02 [[-6.77554255e-01 -7.35463569e-01 3.68387375e-03 -1.14094787e+02] [ 7.35452458e-01 -6.77564269e-01 -4.04264809e-03 -2.90882245e+02] [ 5.46928162e-03 -2.97994132e-05 9.99985043e-01 -9.02093669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.800385723 meters 0.015961501541664917 Centerline is valid? [True, True] Translation: X:-114.12, Y:-290.86, Z:-9.02 [[-6.76720383e-01 -7.36225832e-01 4.58778925e-03 -1.14115288e+02] [ 7.36208637e-01 -6.76735934e-01 -5.03181557e-03 -2.90862445e+02] [ 6.80927444e-03 -2.75620874e-05 9.99976816e-01 -9.02346411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.830385723 meters 0.014159451568977157 Centerline is valid? [True, True] Translation: X:-114.14, Y:-290.84, Z:-9.02 [[-6.75383816e-01 -7.37447721e-01 5.24984737e-03 -1.14136207e+02] [ 7.37425267e-01 -6.75404219e-01 -5.75472462e-03 -2.90842952e+02] [ 7.78957762e-03 -1.52777740e-05 9.99969661e-01 -9.02264769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.860385723 meters 0.014165484357055795 Centerline is valid? [True, True] Translation: X:-114.16, Y:-290.82, Z:-9.02 [[-6.75111557e-01 -7.37694717e-01 5.55788788e-03 -1.14155167e+02] [ 7.37669589e-01 -6.75134434e-01 -6.08877698e-03 -2.90823809e+02] [ 8.24398010e-03 -1.07188321e-05 9.99966018e-01 -9.02333216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.890385723 meters 0.014107636839319251 Centerline is valid? [True, True] Translation: X:-114.17, Y:-290.80, Z:-9.02 [[-6.74792366e-01 -7.37986855e-01 5.53765690e-03 -1.14174843e+02] [ 7.37961947e-01 -6.74815087e-01 -6.06326391e-03 -2.90803852e+02] [ 8.21150349e-03 -4.86412844e-06 9.99966285e-01 -9.02304691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.920385723 meters 0.014144221980778833 Centerline is valid? [True, True] Translation: X:-114.19, Y:-290.78, Z:-9.02 [[-6.74958507e-01 -7.37832733e-01 5.81997836e-03 -1.14194722e+02] [ 7.37805245e-01 -6.74983599e-01 -6.36882535e-03 -2.90783620e+02] [ 8.62751776e-03 -4.68229144e-06 9.99962782e-01 -9.02247988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.950385723 meters 0.014173790086087913 Centerline is valid? [True, True] Translation: X:-114.21, Y:-290.76, Z:-9.02 [[-6.75801489e-01 -7.37058679e-01 6.07050688e-03 -1.14214364e+02] [ 7.37028776e-01 -6.75828753e-01 -6.63928610e-03 -2.90763259e+02] [ 8.99616654e-03 -1.27011846e-05 9.99959534e-01 -9.02237241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.980385723 meters 0.014181251367061169 Centerline is valid? [True, True] Translation: X:-114.23, Y:-290.74, Z:-9.02 [[-6.76397682e-01 -7.36511977e-01 6.02358806e-03 -1.14233109e+02] [ 7.36482545e-01 -6.76424503e-01 -6.58432751e-03 -2.90742945e+02] [ 8.92393863e-03 -1.73564069e-05 9.99960181e-01 -9.02243038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.010385723 meters 0.014181251367061169 Centerline is valid? [True, True] Translation: X:-114.25, Y:-290.72, Z:-9.02 [[-6.76600256e-01 -7.36325871e-01 6.02539911e-03 -1.14251776e+02] [ 7.36296447e-01 -6.76627084e-01 -6.58267024e-03 -2.90722632e+02] [ 8.92393863e-03 -1.73564098e-05 9.99960181e-01 -9.02243057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.040385723 meters 0.014232730431555336 Centerline is valid? [True, True] Translation: X:-114.27, Y:-290.70, Z:-9.02 [[-6.77622330e-01 -7.35384998e-01 6.07318977e-03 -1.14270783e+02] [ 7.35355100e-01 -6.77649544e-01 -6.63121166e-03 -2.90701910e+02] [ 8.99198785e-03 -2.75060259e-05 9.99959571e-01 -9.02231161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.070385723 meters 0.01423602490143722 Centerline is valid? [True, True] Translation: X:-114.29, Y:-290.68, Z:-9.02 [[-6.79265465e-01 -7.33871165e-01 5.61624999e-03 -1.14289207e+02] [ 7.33845574e-01 -6.79288681e-01 -6.12871169e-03 -2.90681865e+02] [ 8.31273984e-03 -4.15619954e-05 9.99965448e-01 -9.02194993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1003857229999 meters 0.014194043562246855 Centerline is valid? [True, True] Translation: X:-114.31, Y:-290.66, Z:-9.02 [[-6.80317455e-01 -7.32899136e-01 5.19786488e-03 -1.14308386e+02] [ 7.32877212e-01 -6.80337310e-01 -5.66898782e-03 -2.90661432e+02] [ 7.69109768e-03 -4.73146392e-05 9.99970422e-01 -9.02125680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.130385723 meters 0.015391238479708285 Centerline is valid? [True, True] Translation: X:-114.33, Y:-290.64, Z:-9.02 [[-6.82250110e-01 -7.31105393e-01 4.43759166e-03 -1.14327170e+02] [ 7.31089395e-01 -6.82264539e-01 -4.83695364e-03 -2.90641951e+02] [ 6.56393432e-03 -5.57359477e-05 9.99978456e-01 -9.02196134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.160385723 meters 0.01451234760909273 Centerline is valid? [True, True] Translation: X:-114.35, Y:-290.62, Z:-9.02 [[-6.82647693e-01 -7.30736079e-01 4.11229096e-03 -1.14346360e+02] [ 7.30722349e-01 -6.82660077e-01 -4.47965963e-03 -2.90622654e+02] [ 6.08074578e-03 -5.30864039e-05 9.99981511e-01 -9.02078288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.190385723 meters 0.014496016564894574 Centerline is valid? [True, True] Translation: X:-114.37, Y:-290.60, Z:-9.02 [[-6.83137484e-01 -7.30277898e-01 4.16773157e-03 -1.14366594e+02] [ 7.30263805e-01 -6.83150195e-01 -4.53727935e-03 -2.90604177e+02] [ 6.16066146e-03 -5.60420927e-05 9.99981021e-01 -9.02068662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2203857229999 meters 0.014406293970496907 Centerline is valid? [True, True] Translation: X:-114.39, Y:-290.58, Z:-9.02 [[-6.83041009e-01 -7.30368561e-01 4.09216683e-03 -1.14387093e+02] [ 7.30354991e-01 -6.83053265e-01 -4.45255015e-03 -2.90584703e+02] [ 6.04717056e-03 -5.25398787e-05 9.99981714e-01 -9.02062215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.250385723 meters 0.014337258008337789 Centerline is valid? [True, True] Translation: X:-114.41, Y:-290.57, Z:-9.02 [[-6.82262125e-01 -7.31097508e-01 3.85048312e-03 -1.14408056e+02] [ 7.31085519e-01 -6.82272989e-01 -4.18717061e-03 -2.90567681e+02] [ 5.68831063e-03 -4.17154627e-05 9.99983821e-01 -9.02079589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.280385723 meters 0.01424322089786717 Centerline is valid? [True, True] Translation: X:-114.43, Y:-290.55, Z:-9.02 [[-6.81851862e-01 -7.31479699e-01 3.93548873e-03 -1.14428243e+02] [ 7.31467196e-01 -6.81863218e-01 -4.27698947e-03 -2.90549390e+02] [ 5.81199598e-03 -3.75923251e-05 9.99983110e-01 -9.02080829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.310385723 meters 0.014199579916692072 Centerline is valid? [True, True] Translation: X:-114.45, Y:-290.53, Z:-9.02 [[-6.80941916e-01 -7.32322730e-01 4.63962083e-03 -1.14450077e+02] [ 7.32305393e-01 -6.80957721e-01 -5.03913513e-03 -2.90532610e+02] [ 6.84965882e-03 -3.37389698e-05 9.99976540e-01 -9.02154666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3403857229999 meters 0.014337203916421584 Centerline is valid? [True, True] Translation: X:-114.47, Y:-290.51, Z:-9.02 [[-6.80678689e-01 -7.32563344e-01 5.24114611e-03 -1.14470597e+02] [ 7.32541254e-01 -6.80698866e-01 -5.68899613e-03 -2.90513837e+02] [ 7.73519224e-03 -3.30226762e-05 9.99970083e-01 -9.02230598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.370385723 meters 0.01433278433770343 Centerline is valid? [True, True] Translation: X:-114.49, Y:-290.50, Z:-9.02 [[-6.80469791e-01 -7.32747656e-01 6.46036324e-03 -1.14492004e+02] [ 7.32714142e-01 -6.80500457e-01 -7.00815462e-03 -2.90496044e+02] [ 9.53148901e-03 -3.52380066e-05 9.99954574e-01 -9.02404899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.400385723 meters 0.014316032370363316 Centerline is valid? [True, True] Translation: X:-114.51, Y:-290.48, Z:-9.02 [[-6.81026137e-01 -7.32227104e-01 6.84609040e-03 -1.14511734e+02] [ 7.32189488e-01 -6.81060546e-01 -7.42209388e-03 -2.90476511e+02] [ 1.00972604e-02 -4.20045044e-05 9.99949021e-01 -9.02442783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.430385723 meters 0.01453072150520603 Centerline is valid? [True, True] Translation: X:-114.53, Y:-290.46, Z:-9.02 [[-6.82788058e-01 -7.30589469e-01 6.28459343e-03 -1.14530428e+02] [ 7.30557741e-01 -6.82816978e-01 -6.80902827e-03 -2.90458133e+02] [ 9.26583144e-03 -5.78648167e-05 9.99957070e-01 -9.02424435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.460385723 meters 0.014361991854847055 Centerline is valid? [True, True] Translation: X:-114.55, Y:-290.44, Z:-9.02 [[-6.83631656e-01 -7.29803654e-01 5.86392831e-03 -1.14550549e+02] [ 7.29776032e-01 -6.83656802e-01 -6.34976339e-03 -2.90438307e+02] [ 8.64299500e-03 -6.15449261e-05 9.99962647e-01 -9.02302472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.490385723 meters 0.014510489497865214 Centerline is valid? [True, True] Translation: X:-114.57, Y:-290.42, Z:-9.02 [[-6.84913280e-01 -7.28602617e-01 5.65905958e-03 -1.14570631e+02] [ 7.28576881e-01 -6.84936655e-01 -6.12430632e-03 -2.90419304e+02] [ 8.33828295e-03 -7.15587527e-05 9.99965233e-01 -9.02283520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.520385723 meters 0.014795621618152887 Centerline is valid? [True, True] Translation: X:-114.59, Y:-290.40, Z:-9.02 [[-6.85522331e-01 -7.28028168e-01 5.84120978e-03 -1.14589339e+02] [ 7.28000750e-01 -6.85547212e-01 -6.31887860e-03 -2.90399522e+02] [ 8.60474670e-03 -7.93272917e-05 9.99962975e-01 -9.02353843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.550385723 meters 0.01451280865085145 Centerline is valid? [True, True] Translation: X:-114.61, Y:-290.38, Z:-9.02 [[-6.86087634e-01 -7.27495005e-01 5.89709466e-03 -1.14610275e+02] [ 7.27467072e-01 -6.86112972e-01 -6.37569547e-03 -2.90380151e+02] [ 8.68435976e-03 -8.43436392e-05 9.99962287e-01 -9.02245721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.580385723 meters 0.015109234244453752 Centerline is valid? [True, True] Translation: X:-114.63, Y:-290.36, Z:-9.02 [[-6.86543570e-01 -7.27064572e-01 5.91896366e-03 -1.14628946e+02] [ 7.27036449e-01 -6.86569079e-01 -6.39549309e-03 -2.90361141e+02] [ 8.71371388e-03 -8.74823378e-05 9.99962031e-01 -9.02465524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.610385723 meters 0.015100847068412132 Centerline is valid? [True, True] Translation: X:-114.65, Y:-290.34, Z:-9.02 [[-6.86579096e-01 -7.27031159e-01 5.90246442e-03 -1.14647466e+02] [ 7.27003216e-01 -6.86604462e-01 -6.37476666e-03 -2.90343051e+02] [ 8.68731240e-03 -8.56709112e-05 9.99962261e-01 -9.02463973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.640385723 meters 0.014617386320502735 Centerline is valid? [True, True] Translation: X:-114.67, Y:-290.33, Z:-9.02 [[-6.86365570e-01 -7.27233620e-01 5.79367526e-03 -1.14669582e+02] [ 7.27206734e-01 -6.86390017e-01 -6.25377714e-03 -2.90325235e+02] [ 8.52467785e-03 -7.91776402e-05 9.99963661e-01 -9.02308715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.670385723 meters 0.014597562102351903 Centerline is valid? [True, True] Translation: X:-114.69, Y:-290.31, Z:-9.02 [[-6.85950899e-01 -7.27623262e-01 5.97945293e-03 -1.14689409e+02] [ 7.27594671e-01 -6.85976956e-01 -6.45071583e-03 -2.90305775e+02] [ 8.79545781e-03 -7.42562373e-05 9.99961317e-01 -9.02280430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.700385723 meters 0.014446744461486204 Centerline is valid? [True, True] Translation: X:-114.71, Y:-290.29, Z:-9.02 [[-6.84870528e-01 -7.28637231e-01 6.33604513e-03 -1.14710365e+02] [ 7.28605207e-01 -6.84899833e-01 -6.83163319e-03 -2.90287043e+02] [ 9.31733854e-03 -6.23087633e-05 9.99956591e-01 -9.02290525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.730385723 meters 0.014555110799021425 Centerline is valid? [True, True] Translation: X:-114.73, Y:-290.27, Z:-9.02 [[-6.84612743e-01 -7.28878865e-01 6.40255185e-03 -1.14729292e+02] [ 7.28846213e-01 -6.84642678e-01 -6.89931295e-03 -2.90267972e+02] [ 9.41222364e-03 -5.68818885e-05 9.99955703e-01 -9.02333091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.760385723 meters 0.01432466264592821 Centerline is valid? [True, True] Translation: X:-114.75, Y:-290.25, Z:-9.02 [[-6.84276608e-01 -7.29194357e-01 6.41197361e-03 -1.14749224e+02] [ 7.29161659e-01 -6.84306647e-01 -6.90565269e-03 -2.90248169e+02] [ 9.42331914e-03 -5.00112853e-05 9.99955598e-01 -9.02303873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.790385723 meters 0.014428741015594054 Centerline is valid? [True, True] Translation: X:-114.77, Y:-290.23, Z:-9.02 [[-6.83070310e-01 -7.30323092e-01 6.56761931e-03 -1.14769913e+02] [ 7.30288879e-01 -6.83101881e-01 -7.06916704e-03 -2.90230578e+02] [ 9.64912904e-03 -3.24787789e-05 9.99953446e-01 -9.02370429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.820385723 meters 0.014331985968176475 Centerline is valid? [True, True] Translation: X:-114.79, Y:-290.21, Z:-9.02 [[-6.82548082e-01 -7.30810056e-01 6.69159178e-03 -1.14790297e+02] [ 7.30774602e-01 -6.82580883e-01 -7.19855592e-03 -2.90211505e+02] [ 9.82832968e-03 -2.33152228e-05 9.99951701e-01 -9.02357395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8503857229999 meters 0.014294512822442393 Centerline is valid? [True, True] Translation: X:-114.81, Y:-290.19, Z:-9.02 [[-6.81927331e-01 -7.31385308e-01 7.11662686e-03 -1.14810222e+02] [ 7.31345286e-01 -6.81964465e-01 -7.65125270e-03 -2.90193450e+02] [ 1.04493004e-02 -1.28868332e-05 9.99945405e-01 -9.02459570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.880385723 meters 0.014312363113204213 Centerline is valid? [True, True] Translation: X:-114.83, Y:-290.17, Z:-9.02 [[-6.82098195e-01 -7.31224937e-01 7.22107747e-03 -1.14829622e+02] [ 7.31183769e-01 -6.82136417e-01 -7.75915342e-03 -2.90172859e+02] [ 1.05994464e-02 -1.25699027e-05 9.99943824e-01 -9.02382437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.910385723 meters 0.014427372885296294 Centerline is valid? [True, True] Translation: X:-114.85, Y:-290.15, Z:-9.02 [[-6.82646455e-01 -7.30713553e-01 7.17782586e-03 -1.14847470e+02] [ 7.30672897e-01 -6.82684190e-01 -7.70807526e-03 -2.90152381e+02] [ 1.05325833e-02 -1.72474338e-05 9.99944531e-01 -9.02417774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.940385723 meters 0.014351993801008014 Centerline is valid? [True, True] Translation: X:-114.87, Y:-290.13, Z:-9.02 [[-6.82957489e-01 -7.30424793e-01 6.97785608e-03 -1.14866136e+02] [ 7.30386402e-01 -6.82993134e-01 -7.48876602e-03 -2.90132418e+02] [ 1.02358082e-02 -1.79776347e-05 9.99947613e-01 -9.02381067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9703857229999 meters 0.01439663754045615 Centerline is valid? [True, True] Translation: X:-114.89, Y:-290.11, Z:-9.02 [[-6.83276442e-01 -7.30124282e-01 7.19975872e-03 -1.14885466e+02] [ 7.30083439e-01 -6.83314373e-01 -7.72266355e-03 -2.90112532e+02] [ 1.05582028e-02 -2.02894681e-05 9.99944261e-01 -9.02342480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.000385723 meters 0.01445687313512128 Centerline is valid? [True, True] Translation: X:-114.90, Y:-290.09, Z:-9.02 [[-6.83519604e-01 -7.29902381e-01 6.59278480e-03 -1.14904885e+02] [ 7.29868162e-01 -6.83551398e-01 -7.06769486e-03 -2.90092519e+02] [ 9.66523458e-03 -1.90442687e-05 9.99953290e-01 -9.02334974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.030385723 meters 0.014460429495244008 Centerline is valid? [True, True] Translation: X:-114.92, Y:-290.07, Z:-9.02 [[-6.84081855e-01 -7.29383383e-01 5.64771300e-03 -1.14923467e+02] [ 7.29358281e-01 -6.84105168e-01 -6.05120209e-03 -2.90071039e+02] [ 8.27727590e-03 -2.03113018e-05 9.99965743e-01 -9.02234041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.060385723 meters 0.014490286016640734 Centerline is valid? [True, True] Translation: X:-114.94, Y:-290.05, Z:-9.02 [[-6.84183344e-01 -7.29289610e-01 5.46051323e-03 -1.14942513e+02] [ 7.29266168e-01 -6.84205133e-01 -5.84739906e-03 -2.90049844e+02] [ 8.00055856e-03 -1.85254783e-05 9.99967995e-01 -9.02210730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0903857229999 meters 0.014468313004467027 Centerline is valid? [True, True] Translation: X:-114.96, Y:-290.03, Z:-9.02 [[-6.84160166e-01 -7.29314309e-01 5.05033675e-03 -1.14961144e+02] [ 7.29294279e-01 -6.84178806e-01 -5.40519231e-03 -2.90029450e+02] [ 7.39741746e-03 -1.48355662e-05 9.99972639e-01 -9.02201847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.120385723 meters 0.014459887671868132 Centerline is valid? [True, True] Translation: X:-114.98, Y:-290.01, Z:-9.02 [[-6.82709534e-01 -7.30668723e-01 5.55964160e-03 -1.14979579e+02] [ 7.30644526e-01 -6.82732171e-01 -5.94643470e-03 -2.90010443e+02] [ 8.14062002e-03 2.43403635e-06 9.99966865e-01 -9.02274982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.150385723 meters 0.014532348252679262 Centerline is valid? [True, True] Translation: X:-115.00, Y:-289.99, Z:-9.02 [[-6.79943287e-01 -7.33239001e-01 6.13954751e-03 -1.14999814e+02] [ 7.33209631e-01 -6.79971004e-01 -6.56286202e-03 -2.89991628e+02] [ 8.98686068e-03 3.92013909e-05 9.99959617e-01 -9.02353605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.180385723 meters 0.014758070955145013 Centerline is valid? [True, True] Translation: X:-115.02, Y:-289.97, Z:-9.02 [[-6.78297721e-01 -7.34762399e-01 6.03483037e-03 -1.15019656e+02] [ 7.34734114e-01 -6.78324564e-01 -6.44733020e-03 -2.89971220e+02] [ 8.83082948e-03 6.07863704e-05 9.99961006e-01 -9.02391441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.210385723 meters 0.015185521170707083 Centerline is valid? [True, True] Translation: X:-115.04, Y:-289.95, Z:-9.02 [[-6.76683372e-01 -7.36246021e-01 6.43510697e-03 -1.15038767e+02] [ 7.36213964e-01 -6.76713964e-01 -6.87092664e-03 -2.89952249e+02] [ 9.41341915e-03 8.81738058e-05 9.99955689e-01 -9.02490720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.240385723 meters 0.015414150404213216 Centerline is valid? [True, True] Translation: X:-115.06, Y:-289.93, Z:-9.02 [[-6.74005262e-01 -7.38695136e-01 6.81196879e-03 -1.15055989e+02] [ 7.38659378e-01 -6.74039672e-01 -7.26948295e-03 -2.89929973e+02] [ 9.96146890e-03 1.32054866e-04 9.99950375e-01 -9.02409774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.270385723 meters 0.01587698305897508 Centerline is valid? [True, True] Translation: X:-115.07, Y:-289.91, Z:-9.03 [[-6.73002785e-01 -7.39602296e-01 7.46289658e-03 -1.15074846e+02] [ 7.39559476e-01 -6.73044143e-01 -7.96010119e-03 -2.89909884e+02] [ 1.09101679e-02 1.62085615e-04 9.99940469e-01 -9.02513910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.300385723 meters 0.016257255180029604 Centerline is valid? [True, True] Translation: X:-115.09, Y:-289.89, Z:-9.03 [[-6.71600489e-01 -7.40867482e-01 8.25571939e-03 -1.15092274e+02] [ 7.40815235e-01 -6.71651198e-01 -8.80084982e-03 -2.89887233e+02] [ 1.20652273e-02 2.05307659e-04 9.99927192e-01 -9.02594849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.330385723 meters 0.01642768906844687 Centerline is valid? [True, True] Translation: X:-115.11, Y:-289.87, Z:-9.03 [[-6.71294051e-01 -7.41144653e-01 8.30059519e-03 -1.15110431e+02] [ 7.41091918e-01 -6.71345334e-01 -8.84379619e-03 -2.89865690e+02] [ 1.21270981e-02 2.14716241e-04 9.99926441e-01 -9.02582211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.360385723 meters 0.016764375854850938 Centerline is valid? [True, True] Translation: X:-115.13, Y:-289.84, Z:-9.02 [[-6.70821362e-01 -7.41583946e-01 7.20767206e-03 -1.15126253e+02] [ 7.41544259e-01 -6.70860054e-01 -7.67461123e-03 -2.89843849e+02] [ 1.05267077e-02 1.96514678e-04 9.99944573e-01 -9.02466573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.390385723 meters 0.01668407491014689 Centerline is valid? [True, True] Translation: X:-115.14, Y:-289.82, Z:-9.02 [[-6.71063762e-01 -7.41367723e-01 6.87938887e-03 -1.15143510e+02] [ 7.41331599e-01 -6.71098997e-01 -7.32102689e-03 -2.89821877e+02] [ 1.00443240e-02 1.87032498e-04 9.99949537e-01 -9.02376025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.420385723 meters 0.016902389122374233 Centerline is valid? [True, True] Translation: X:-115.16, Y:-289.80, Z:-9.02 [[-6.71225992e-01 -7.41226917e-01 6.19081861e-03 -1.15160002e+02] [ 7.41197684e-01 -6.71254520e-01 -6.58510040e-03 -2.89801683e+02] [ 9.03666863e-03 1.68529867e-04 9.99959154e-01 -9.02321459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.450385723 meters 0.01731281602946277 Centerline is valid? [True, True] Translation: X:-115.18, Y:-289.78, Z:-9.02 [[-6.71672950e-01 -7.40825903e-01 5.69475055e-03 -1.15175283e+02] [ 7.40801177e-01 -6.71697073e-01 -6.05457785e-03 -2.89780026e+02] [ 8.31053538e-03 1.51981744e-04 9.99965455e-01 -9.02225903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.480385723 meters 0.018288192111741427 Centerline is valid? [True, True] Translation: X:-115.19, Y:-289.76, Z:-9.02 [[-6.72577181e-01 -7.40008286e-01 5.26053558e-03 -1.15191303e+02] [ 7.39987188e-01 -6.72597740e-01 -5.58953518e-03 -2.89757854e+02] [ 7.67452669e-03 1.33335116e-04 9.99970542e-01 -9.02366498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.510385723 meters 0.016220444998329454 Centerline is valid? [True, True] Translation: X:-115.21, Y:-289.73, Z:-9.02 [[-6.73283703e-01 -7.39370987e-01 4.42695838e-03 -1.15205142e+02] [ 7.39356049e-01 -6.73298249e-01 -4.70118862e-03 -2.89732731e+02] [ 6.45658579e-03 1.07864768e-04 9.99979150e-01 -9.01932015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.540385723 meters 0.01668521020400499 Centerline is valid? [True, True] Translation: X:-115.22, Y:-289.71, Z:-9.02 [[-6.74271730e-01 -7.38471626e-01 4.15830764e-03 -1.15222974e+02] [ 7.38458445e-01 -6.74284545e-01 -4.41335336e-03 -2.89712186e+02] [ 6.06301882e-03 9.49379873e-05 9.99981615e-01 -9.01925867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.570385723 meters 0.016000229041300478 Centerline is valid? [True, True] Translation: X:-115.24, Y:-289.69, Z:-9.02 [[-6.75177739e-01 -7.37644950e-01 3.86626288e-03 -1.15238744e+02] [ 7.37633554e-01 -6.75188804e-01 -4.10109965e-03 -2.89689017e+02] [ 5.63561286e-03 8.29140398e-05 9.99984116e-01 -9.01795471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6003857229999 meters 0.015880181514417623 Centerline is valid? [True, True] Translation: X:-115.25, Y:-289.67, Z:-9.02 [[-6.76897806e-01 -7.36069805e-01 3.25623162e-03 -1.15253263e+02] [ 7.36061710e-01 -6.76905636e-01 -3.45260424e-03 -2.89665175e+02] [ 4.74551926e-03 5.97271744e-05 9.99988738e-01 -9.01755706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.630385723 meters 0.01592338782520565 Centerline is valid? [True, True] Translation: X:-115.27, Y:-289.64, Z:-9.02 [[-6.77611707e-01 -7.35414201e-01 2.88573767e-03 -1.15269667e+02] [ 7.35407846e-01 -6.77617850e-01 -3.05788162e-03 -2.89643232e+02] [ 4.20423692e-03 5.01377390e-05 9.99991161e-01 -9.01665492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.660385723 meters 0.015749384015377368 Centerline is valid? [True, True] Translation: X:-115.28, Y:-289.62, Z:-9.02 [[-6.78247904e-01 -7.34827765e-01 2.81742101e-03 -1.15284691e+02] [ 7.34821708e-01 -6.78253754e-01 -2.98382415e-03 -2.89618940e+02] [ 4.10352321e-03 4.65296435e-05 9.99991580e-01 -9.01582406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.690385723 meters 0.015736082945504413 Centerline is valid? [True, True] Translation: X:-115.30, Y:-289.60, Z:-9.02 [[-6.78436875e-01 -7.34652614e-01 2.99062031e-03 -1.15302557e+02] [ 7.34645796e-01 -6.78443464e-01 -3.16547272e-03 -2.89596958e+02] [ 4.35448961e-03 4.94732236e-05 9.99990518e-01 -9.01594255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7203857229999 meters 0.01587362971753659 Centerline is valid? [True, True] Translation: X:-115.32, Y:-289.57, Z:-9.02 [[-6.78492816e-01 -7.34594918e-01 4.21959946e-03 -1.15319371e+02] [ 7.34581360e-01 -6.78505933e-01 -4.46365974e-03 -2.89574949e+02] [ 6.14200503e-03 7.10780455e-05 9.99981135e-01 -9.01767701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.750385723 meters 0.015785213758928645 Centerline is valid? [True, True] Translation: X:-115.34, Y:-289.55, Z:-9.02 [[-6.78635413e-01 -7.34459113e-01 4.87735314e-03 -1.15336759e+02] [ 7.34441015e-01 -6.78652934e-01 -5.15657505e-03 -2.89552915e+02] [ 7.09732356e-03 8.26937559e-05 9.99974810e-01 -9.01824037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.780385723 meters 0.01583063134230503 Centerline is valid? [True, True] Translation: X:-115.35, Y:-289.53, Z:-9.02 [[-6.79382640e-01 -7.33759268e-01 6.04689632e-03 -1.15352368e+02] [ 7.33731454e-01 -6.79409543e-01 -6.38952480e-03 -2.89528947e+02] [ 8.79669211e-03 9.58658047e-05 9.99961304e-01 -9.01892806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.810385723 meters 0.015709538394535743 Centerline is valid? [True, True] Translation: X:-115.37, Y:-289.51, Z:-9.02 [[-6.80339356e-01 -7.32868551e-01 6.48443270e-03 -1.15369723e+02] [ 7.32836561e-01 -6.80370251e-01 -6.84804773e-03 -2.89506420e+02] [ 9.43053392e-03 9.30329858e-05 9.99955527e-01 -9.01877211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8403857229999 meters 0.015720607788179415 Centerline is valid? [True, True] Translation: X:-115.39, Y:-289.49, Z:-9.02 [[-6.81699034e-01 -7.31603644e-01 6.52201017e-03 -1.15386395e+02] [ 7.31571265e-01 -6.81730227e-01 -6.88346820e-03 -2.89485338e+02] [ 9.48222189e-03 7.88616095e-05 9.99955040e-01 -9.01924012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.870385723 meters 0.015457814843955586 Centerline is valid? [True, True] Translation: X:-115.40, Y:-289.46, Z:-9.02 [[-6.85277384e-01 -7.28257834e-01 5.95257154e-03 -1.15400786e+02] [ 7.28230766e-01 -6.85303236e-01 -6.27898351e-03 -2.89460034e+02] [ 8.65203548e-03 3.20003356e-05 9.99962570e-01 -9.01725208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.900385723 meters 0.015457814843955586 Centerline is valid? [True, True] Translation: X:-115.42, Y:-289.44, Z:-9.02 [[-6.85478963e-01 -7.28068086e-01 5.95430960e-03 -1.15419815e+02] [ 7.28041025e-01 -6.85504822e-01 -6.27733536e-03 -2.89440050e+02] [ 8.65203548e-03 3.20003332e-05 9.99962570e-01 -9.01725226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.930385723 meters 0.015428440742179925 Centerline is valid? [True, True] Translation: X:-115.44, Y:-289.42, Z:-9.02 [[-6.87415676e-01 -7.26243159e-01 5.52827522e-03 -1.15436557e+02] [ 7.26219799e-01 -6.87437905e-01 -5.82494669e-03 -2.89417630e+02] [ 8.03067363e-03 1.05832550e-05 9.99967754e-01 -9.01619781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.960385723 meters 0.015509990330490265 Centerline is valid? [True, True] Translation: X:-115.45, Y:-289.39, Z:-9.02 [[-6.90801296e-01 -7.23028097e-01 4.89290116e-03 -1.15451287e+02] [ 7.23009738e-01 -6.90818624e-01 -5.15245184e-03 -2.89393872e+02] [ 7.10547469e-03 -2.17052214e-05 9.99974756e-01 -9.01546172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.990385723 meters 0.015620337086990364 Centerline is valid? [True, True] Translation: X:-115.47, Y:-289.37, Z:-9.01 [[-6.92280616e-01 -7.21613326e-01 4.66425960e-03 -1.15469020e+02] [ 7.21596632e-01 -6.92296328e-01 -4.90865006e-03 -2.89372443e+02] [ 6.77119710e-03 -3.24492723e-05 9.99977075e-01 -9.01484458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.020385723 meters 0.01573723573771893 Centerline is valid? [True, True] Translation: X:-115.49, Y:-289.35, Z:-9.02 [[-6.93517163e-01 -7.20425312e-01 4.61683641e-03 -1.15485910e+02] [ 7.20408950e-01 -6.93532529e-01 -4.85560132e-03 -2.89351839e+02] [ 6.70002433e-03 -4.14325824e-05 9.99977554e-01 -9.01507258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.050385723 meters 0.015825650562575958 Centerline is valid? [True, True] Translation: X:-115.50, Y:-289.33, Z:-9.01 [[-6.94712144e-01 -7.19276629e-01 4.02081614e-03 -1.15503411e+02] [ 7.19264215e-01 -6.94723779e-01 -4.22617359e-03 -2.89330792e+02] [ 5.83314447e-03 -4.39449525e-05 9.99982986e-01 -9.01485299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.080385723 meters 0.015911628986408376 Centerline is valid? [True, True] Translation: X:-115.52, Y:-289.31, Z:-9.02 [[-6.95020240e-01 -7.18977620e-01 4.24830428e-03 -1.15522092e+02] [ 7.18963772e-01 -6.95033222e-01 -4.46257523e-03 -2.89310419e+02] [ 6.16120433e-03 -4.72032357e-05 9.99981019e-01 -9.01509609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.110385723 meters 0.015950957347949105 Centerline is valid? [True, True] Translation: X:-115.54, Y:-289.29, Z:-9.02 [[-6.94794222e-01 -7.19192526e-01 4.80625982e-03 -1.15540207e+02] [ 7.19174829e-01 -6.94810844e-01 -5.04545539e-03 -2.89291389e+02] [ 6.96809525e-03 -4.90121723e-05 9.99975721e-01 -9.01577825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.140385723 meters 0.01588030952367685 Centerline is valid? [True, True] Translation: X:-115.56, Y:-289.27, Z:-9.02 [[-6.94330058e-01 -7.19639215e-01 5.01693595e-03 -1.15559676e+02] [ 7.19619968e-01 -6.94348182e-01 -5.26344393e-03 -2.89271642e+02] [ 7.27128102e-03 -4.42800451e-05 9.99973563e-01 -9.01548535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.170385723 meters 0.0157206540687022 Centerline is valid? [True, True] Translation: X:-115.58, Y:-289.25, Z:-9.01 [[-6.93990917e-01 -7.19963341e-01 5.42173152e-03 -1.15579316e+02] [ 7.19940897e-01 -6.94012093e-01 -5.68495733e-03 -2.89252134e+02] [ 7.85570812e-03 -4.19824904e-05 9.99969143e-01 -9.01482617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.200385723 meters 0.015856831106756352 Centerline is valid? [True, True] Translation: X:-115.60, Y:-289.23, Z:-9.01 [[-6.93009018e-01 -7.20901319e-01 6.30778964e-03 -1.15599163e+02] [ 7.20871012e-01 -6.93037724e-01 -6.61037386e-03 -2.89232560e+02] [ 9.13696341e-03 -3.39459967e-05 9.99958257e-01 -9.01462674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.230385723 meters 0.015904277997723988 Centerline is valid? [True, True] Translation: X:-115.62, Y:-289.21, Z:-9.02 [[-6.92847556e-01 -7.21053881e-01 6.60034540e-03 -1.15617589e+02] [ 7.21020736e-01 -6.92878993e-01 -6.91363580e-03 -2.89214385e+02] [ 9.55834461e-03 -3.11097666e-05 9.99954318e-01 -9.01532916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.260385723 meters 0.015905186897135586 Centerline is valid? [True, True] Translation: X:-115.64, Y:-289.20, Z:-9.02 [[-6.92650045e-01 -7.21236067e-01 7.37904992e-03 -1.15636455e+02] [ 7.21194704e-01 -6.92689349e-01 -7.72429113e-03 -2.89196546e+02] [ 1.06824266e-02 -2.84988809e-05 9.99942941e-01 -9.01667268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.290385723 meters 0.015888185036782423 Centerline is valid? [True, True] Translation: X:-115.66, Y:-289.18, Z:-9.02 [[-6.93178382e-01 -7.20729313e-01 7.27925928e-03 -1.15655966e+02] [ 7.20689083e-01 -6.93216601e-01 -7.61513895e-03 -2.89176937e+02] [ 1.05345572e-02 -3.25670019e-05 9.99944510e-01 -9.01604726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.320385723 meters 0.015857046642652074 Centerline is valid? [True, True] Translation: X:-115.67, Y:-289.16, Z:-9.01 [[-6.94613161e-01 -7.19351209e-01 6.81136929e-03 -1.15674320e+02] [ 7.19315961e-01 -6.94646555e-01 -7.12128706e-03 -2.89157423e+02] [ 9.85420067e-03 -4.70130693e-05 9.99951445e-01 -9.01498850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3503857229999 meters 0.015980650761402936 Centerline is valid? [True, True] Translation: X:-115.69, Y:-289.14, Z:-9.01 [[-6.95578484e-01 -7.18421411e-01 6.42251496e-03 -1.15692112e+02] [ 7.18390073e-01 -6.95608132e-01 -6.71042417e-03 -2.89137876e+02] [ 9.28846603e-03 -5.37556830e-05 9.99956860e-01 -9.01467070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.380385723 meters 0.015966611109631806 Centerline is valid? [True, True] Translation: X:-115.71, Y:-289.12, Z:-9.01 [[-6.96588269e-01 -7.17445380e-01 6.07538451e-03 -1.15710564e+02] [ 7.17417335e-01 -6.96614759e-01 -6.34386988e-03 -2.89118337e+02] [ 8.78358265e-03 -6.04791668e-05 9.99961422e-01 -9.01337276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.410385723 meters 0.016062734600688144 Centerline is valid? [True, True] Translation: X:-115.73, Y:-289.10, Z:-9.01 [[-6.98075366e-01 -7.15999199e-01 5.99428446e-03 -1.15728982e+02] [ 7.15971877e-01 -6.98101097e-01 -6.25541701e-03 -2.89098728e+02] [ 8.66349013e-03 -7.50134196e-05 9.99962469e-01 -9.01213770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.440385723 meters 0.016079358498087754 Centerline is valid? [True, True] Translation: X:-115.75, Y:-289.08, Z:-9.01 [[-6.98318506e-01 -7.15765836e-01 5.52565186e-03 -1.15748403e+02] [ 7.15742633e-01 -6.98340364e-01 -5.76368695e-03 -2.89081205e+02] [ 7.98423594e-03 -6.99446539e-05 9.99968123e-01 -9.01175636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4703857229999 meters 0.015844458073545283 Centerline is valid? [True, True] Translation: X:-115.77, Y:-289.06, Z:-9.01 [[-6.98076121e-01 -7.16003036e-01 5.42057178e-03 -1.15768383e+02] [ 7.15980740e-01 -6.98097163e-01 -5.65070455e-03 -2.89063137e+02] [ 7.83000739e-03 -6.35969147e-05 9.99969343e-01 -9.01151748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.500385723 meters 0.01572377953331227 Centerline is valid? [True, True] Translation: X:-115.79, Y:-289.05, Z:-9.01 [[-6.97608526e-01 -7.16459108e-01 5.35639994e-03 -1.15787466e+02] [ 7.16437371e-01 -6.97629087e-01 -5.58122772e-03 -2.89045582e+02] [ 7.73550183e-03 -5.59869589e-05 9.99970079e-01 -9.01154993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.530385723 meters 0.015331701579334686 Centerline is valid? [True, True] Translation: X:-115.81, Y:-289.03, Z:-9.01 [[-6.96471762e-01 -7.17559276e-01 5.98078722e-03 -1.15810038e+02] [ 7.17532246e-01 -6.96497440e-01 -6.22838021e-03 -2.89027767e+02] [ 8.63483498e-03 -4.64832603e-05 9.99962718e-01 -9.01110023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.560385723 meters 0.015365601410295662 Centerline is valid? [True, True] Translation: X:-115.83, Y:-289.01, Z:-9.01 [[-6.96419017e-01 -7.17606345e-01 6.45649326e-03 -1.15829204e+02] [ 7.17574887e-01 -6.96448944e-01 -6.71940351e-03 -2.89009479e+02] [ 9.31850450e-03 -4.65029759e-05 9.99956581e-01 -9.01195253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5903857229999 meters 0.01522067064674446 Centerline is valid? [True, True] Translation: X:-115.85, Y:-288.99, Z:-9.01 [[-6.96074591e-01 -7.17934477e-01 7.08875529e-03 -1.15849856e+02] [ 7.17896620e-01 -6.96110684e-01 -7.37286125e-03 -2.88991946e+02] [ 1.02277896e-02 -4.30679167e-05 9.99947694e-01 -9.01185342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.620385723 meters 0.01528337120264545 Centerline is valid? [True, True] Translation: X:-115.87, Y:-288.97, Z:-9.01 [[-6.95949267e-01 -7.18052889e-01 7.39364611e-03 -1.15870066e+02] [ 7.18011762e-01 -6.95988539e-01 -7.68523703e-03 -2.88973038e+02] [ 1.06642996e-02 -3.98102107e-05 9.99943134e-01 -9.01240904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.650385723 meters 0.01519493466218417 Centerline is valid? [True, True] Translation: X:-115.89, Y:-288.95, Z:-9.01 [[-6.95816467e-01 -7.18175287e-01 7.98125962e-03 -1.15890537e+02] [ 7.18127424e-01 -6.95862239e-01 -8.29143983e-03 -2.88953979e+02] [ 1.15085644e-02 -3.77589613e-05 9.99933774e-01 -9.01262436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.680385723 meters 0.015109648317031038 Centerline is valid? [True, True] Translation: X:-115.91, Y:-288.94, Z:-9.01 [[-6.95316861e-01 -7.18652069e-01 8.58298342e-03 -1.15910867e+02] [ 7.18596821e-01 -6.95369832e-01 -8.91100102e-03 -2.88936309e+02] [ 1.23722571e-02 -2.82646555e-05 9.99923460e-01 -9.01306737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.710385723 meters 0.01510805412478226 Centerline is valid? [True, True] Translation: X:-115.93, Y:-288.92, Z:-9.01 [[-6.95689531e-01 -7.18288221e-01 8.83792291e-03 -1.15929435e+02] [ 7.18229668e-01 -6.95745666e-01 -9.17128265e-03 -2.88918058e+02] [ 1.27365709e-02 -3.27068865e-05 9.99918886e-01 -9.01348343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.740385723 meters 0.015192555432912317 Centerline is valid? [True, True] Translation: X:-115.95, Y:-288.90, Z:-9.01 [[-6.97092913e-01 -7.16919228e-01 9.39632244e-03 -1.15949652e+02] [ 7.16852991e-01 -6.97156236e-01 -9.74535315e-03 -2.88898359e+02] [ 1.35373358e-02 -5.76347703e-05 9.99908365e-01 -9.01354166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.770385723 meters 0.015101610384980167 Centerline is valid? [True, True] Translation: X:-115.97, Y:-288.88, Z:-9.01 [[-6.98422297e-01 -7.15623535e-01 9.44729073e-03 -1.15969245e+02] [ 7.15556533e-01 -6.98486185e-01 -9.79273415e-03 -2.88878199e+02] [ 1.36067131e-02 -7.93932853e-05 9.99907421e-01 -9.01349830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.800385723 meters 0.01525783959990683 Centerline is valid? [True, True] Translation: X:-115.99, Y:-288.86, Z:-9.01 [[-6.99665054e-01 -7.14408494e-01 9.45068002e-03 -1.15987561e+02] [ 7.14341412e-01 -6.99728871e-01 -9.79047314e-03 -2.88857917e+02] [ 1.36073108e-02 -9.90398049e-05 9.99907411e-01 -9.01382723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.830385723 meters 0.01546114094040291 Centerline is valid? [True, True] Translation: X:-116.01, Y:-288.84, Z:-9.01 [[-7.01656207e-01 -7.12448906e-01 9.75310432e-03 -1.16006452e+02] [ 7.12377351e-01 -7.01723975e-01 -1.00981615e-02 -2.88836591e+02] [ 1.40384113e-02 -1.37547090e-04 9.99901447e-01 -9.01224676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.860385723 meters 0.015580755599441115 Centerline is valid? [True, True] Translation: X:-116.03, Y:-288.82, Z:-9.01 [[-7.02329809e-01 -7.11789410e-01 9.41676856e-03 -1.16025292e+02] [ 7.11722723e-01 -7.02392921e-01 -9.74422637e-03 -2.88816665e+02] [ 1.35501087e-02 -1.41532484e-04 9.99908183e-01 -9.01190822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.890385723 meters 0.015507081102009284 Centerline is valid? [True, True] Translation: X:-116.05, Y:-288.80, Z:-9.01 [[-7.02770845e-01 -7.11360637e-01 8.89848869e-03 -1.16045131e+02] [ 7.11301119e-01 -7.02827166e-01 -9.20287269e-03 -2.88797190e+02] [ 1.28006610e-02 -1.38005663e-04 9.99918059e-01 -9.01060313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.920385723 meters 0.01540306959268097 Centerline is valid? [True, True] Translation: X:-116.07, Y:-288.78, Z:-9.01 [[-7.02934916e-01 -7.11204876e-01 8.37429625e-03 -1.16065209e+02] [ 7.11152210e-01 -7.02984785e-01 -8.65600584e-03 -2.88777796e+02] [ 1.20431964e-02 -1.29209446e-04 9.99927470e-01 -9.01018313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.950385723 meters 0.015422426536883473 Centerline is valid? [True, True] Translation: X:-116.09, Y:-288.76, Z:-9.01 [[-7.02866017e-01 -7.11271493e-01 8.49856793e-03 -1.16085734e+02] [ 7.11217316e-01 -7.02917383e-01 -8.77964154e-03 -2.88758493e+02] [ 1.22184999e-02 -1.26583003e-04 9.99925343e-01 -9.01045702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.980385723 meters 0.01536979022130575 Centerline is valid? [True, True] Translation: X:-116.11, Y:-288.74, Z:-9.01 [[-7.02341069e-01 -7.11787245e-01 8.71441148e-03 -1.16105388e+02] [ 7.11730394e-01 -7.02395120e-01 -8.99679354e-03 -2.88740482e+02] [ 1.25247630e-02 -1.16506072e-04 9.99921555e-01 -9.01107784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.010385723 meters 0.015211178016475865 Centerline is valid? [True, True] Translation: X:-116.12, Y:-288.72, Z:-9.01 [[-7.02335014e-01 -7.11790553e-01 8.92955884e-03 -1.16124924e+02] [ 7.11730933e-01 -7.02391768e-01 -9.21323818e-03 -2.88721532e+02] [ 1.28299445e-02 -1.15336520e-04 9.99917686e-01 -9.01090828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.040385723 meters 0.015230572401011576 Centerline is valid? [True, True] Translation: X:-116.15, Y:-288.70, Z:-9.01 [[-7.02241750e-01 -7.11879926e-01 9.13760239e-03 -1.16145007e+02] [ 7.11817579e-01 -7.02301188e-01 -9.42212411e-03 -2.88702792e+02] [ 1.31247700e-02 -1.12302920e-04 9.99913860e-01 -9.01101778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.070385723 meters 0.015201646493255951 Centerline is valid? [True, True] Translation: X:-116.17, Y:-288.68, Z:-9.01 [[-7.02605785e-01 -7.11513947e-01 9.64436221e-03 -1.16165404e+02] [ 7.11444534e-01 -7.02671963e-01 -9.93915505e-03 -2.88682800e+02] [ 1.38486704e-02 -1.21879052e-04 9.99904095e-01 -9.01061990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1003857229999 meters 0.015257322722154033 Centerline is valid? [True, True] Translation: X:-116.18, Y:-288.66, Z:-9.01 [[-7.03409828e-01 -7.10715595e-01 9.89728726e-03 -1.16184700e+02] [ 7.10642499e-01 -7.03479441e-01 -1.01938505e-02 -2.88663192e+02] [ 1.42074667e-02 -1.37021697e-04 9.99899060e-01 -9.01088907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.130385723 meters 0.015502448895490548 Centerline is valid? [True, True] Translation: X:-116.20, Y:-288.64, Z:-9.01 [[-7.04944334e-01 -7.09189015e-01 1.02190046e-02 -1.16203483e+02] [ 7.09111018e-01 -7.05018378e-01 -1.05191120e-02 -2.88644149e+02] [ 1.46646247e-02 -1.68979591e-04 9.99892454e-01 -9.01089956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.160385723 meters 0.015791132396448502 Centerline is valid? [True, True] Translation: X:-116.22, Y:-288.63, Z:-9.01 [[-7.05798667e-01 -7.08344873e-01 9.78688686e-03 -1.16222124e+02] [ 7.08273342e-01 -7.05866497e-01 -1.00678611e-02 -2.88625370e+02] [ 1.40397533e-02 -1.74091855e-04 9.99901423e-01 -9.01103449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.190385723 meters 0.01566762062678773 Centerline is valid? [True, True] Translation: X:-116.24, Y:-288.61, Z:-9.01 [[-7.06907597e-01 -7.07241297e-01 9.56016679e-03 -1.16242482e+02] [ 7.07173024e-01 -7.06972215e-01 -9.82859180e-03 -2.88606843e+02] [ 1.37099583e-02 -1.87214152e-04 9.99905997e-01 -9.01017306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2203857229999 meters 0.015522791418683526 Centerline is valid? [True, True] Translation: X:-116.26, Y:-288.59, Z:-9.01 [[-7.07510330e-01 -7.06641221e-01 9.34440620e-03 -1.16263302e+02] [ 7.06576015e-01 -7.07572010e-01 -9.60140411e-03 -2.88587371e+02] [ 1.33965882e-02 -1.90559294e-04 9.99910244e-01 -9.00971967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.250385723 meters 0.01563573029670459 Centerline is valid? [True, True] Translation: X:-116.28, Y:-288.57, Z:-9.01 [[-7.08050138e-01 -7.06098339e-01 9.49410436e-03 -1.16283387e+02] [ 7.06031051e-01 -7.08113759e-01 -9.74979883e-03 -2.88567969e+02] [ 1.36072227e-02 -2.00213928e-04 9.99907398e-01 -9.01027488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.280385723 meters 0.015815791333309452 Centerline is valid? [True, True] Translation: X:-116.30, Y:-288.55, Z:-9.01 [[-7.08951258e-01 -7.05194747e-01 9.40654950e-03 -1.16303393e+02] [ 7.05128691e-01 -7.09013628e-01 -9.65422652e-03 -2.88549481e+02] [ 1.34774816e-02 -2.11548096e-04 9.99909152e-01 -9.01033183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.310385723 meters 0.015993319996416174 Centerline is valid? [True, True] Translation: X:-116.32, Y:-288.53, Z:-9.01 [[-7.09576736e-01 -7.04566957e-01 9.28754668e-03 -1.16322934e+02] [ 7.04502587e-01 -7.09637482e-01 -9.52623444e-03 -2.88530044e+02] [ 1.33026613e-02 -2.16493675e-04 9.99911492e-01 -9.00977334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3403857229999 meters 0.015917790741705566 Centerline is valid? [True, True] Translation: X:-116.34, Y:-288.51, Z:-9.01 [[-7.10054432e-01 -7.04100653e-01 8.06058196e-03 -1.16344092e+02] [ 7.04052196e-01 -7.10100157e-01 -8.26266831e-03 -2.88512140e+02] [ 1.15415707e-02 -1.91873826e-04 9.99933376e-01 -9.00852204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.370385723 meters 0.015914892661598644 Centerline is valid? [True, True] Translation: X:-116.36, Y:-288.49, Z:-9.01 [[-7.09616392e-01 -7.04543992e-01 7.89557329e-03 -1.16363493e+02] [ 7.04497569e-01 -7.09660293e-01 -8.08969239e-03 -2.88494806e+02] [ 1.13027190e-02 -1.78166130e-04 9.99936106e-01 -9.00870204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.400385723 meters 0.015370663092956548 Centerline is valid? [True, True] Translation: X:-116.39, Y:-288.48, Z:-9.01 [[-7.08418394e-01 -7.05755589e-01 7.24072221e-03 -1.16386966e+02] [ 7.05716653e-01 -7.08455382e-01 -7.41469337e-03 -2.88478315e+02] [ 1.03626899e-02 -1.42806925e-04 9.99946296e-01 -9.00822254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.430385723 meters 0.015226262035919681 Centerline is valid? [True, True] Translation: X:-116.41, Y:-288.46, Z:-9.01 [[-7.07719810e-01 -7.06457388e-01 7.11544542e-03 -1.16407268e+02] [ 7.06419868e-01 -7.07755567e-01 -7.28196740e-03 -2.88460704e+02] [ 1.01803958e-02 -1.27100565e-04 9.99948170e-01 -9.00841300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.460385723 meters 0.014971271766856831 Centerline is valid? [True, True] Translation: X:-116.43, Y:-288.44, Z:-9.01 [[-7.06984793e-01 -7.07196840e-01 6.71803110e-03 -1.16428896e+02] [ 7.07163468e-01 -7.07016703e-01 -6.87106717e-03 -2.88443193e+02] [ 9.60895719e-03 -1.06993827e-04 9.99953827e-01 -9.00851420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.490385723 meters 0.014680098957027638 Centerline is valid? [True, True] Translation: X:-116.45, Y:-288.43, Z:-9.01 [[-7.05472743e-01 -7.08708879e-01 6.31930964e-03 -1.16451794e+02] [ 7.08679449e-01 -7.05501041e-01 -6.45914375e-03 -2.88429217e+02] [ 9.03593205e-03 -7.83849923e-05 9.99959172e-01 -9.00976225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.520385723 meters 0.014565179610050901 Centerline is valid? [True, True] Translation: X:-116.47, Y:-288.41, Z:-9.01 [[-7.05009039e-01 -7.09169053e-01 6.44281592e-03 -1.16471989e+02] [ 7.09138518e-01 -7.05038474e-01 -6.58121957e-03 -2.88412194e+02] [ 9.20963035e-03 -7.09703543e-05 9.99957588e-01 -9.01091134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.550385723 meters 0.014407401777269603 Centerline is valid? [True, True] Translation: X:-116.49, Y:-288.40, Z:-9.01 [[-7.04621832e-01 -7.09546087e-01 7.24046071e-03 -1.16494970e+02] [ 7.09507585e-01 -7.04659028e-01 -7.39191600e-03 -2.88395393e+02] [ 1.03469611e-02 -7.13436036e-05 9.99946466e-01 -9.01075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.580385723 meters 0.014421272246083403 Centerline is valid? [True, True] Translation: X:-116.52, Y:-288.38, Z:-9.01 [[-7.05108978e-01 -7.09060298e-01 7.40424251e-03 -1.16516153e+02] [ 7.09020052e-01 -7.05147848e-01 -7.55495630e-03 -2.88376283e+02] [ 1.05780052e-02 -7.73111039e-05 9.99944048e-01 -9.01127050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.610385723 meters 0.01468453974292197 Centerline is valid? [True, True] Translation: X:-116.54, Y:-288.36, Z:-9.01 [[-7.06654123e-01 -7.07523910e-01 7.06172472e-03 -1.16537571e+02] [ 7.07487267e-01 -7.06689400e-01 -7.20127863e-03 -2.88359554e+02] [ 1.00855228e-02 -9.27329068e-05 9.99949136e-01 -9.01165649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.640385723 meters 0.01477771352260142 Centerline is valid? [True, True] Translation: X:-116.56, Y:-288.34, Z:-9.01 [[-7.07483988e-01 -7.06697377e-01 6.72488502e-03 -1.16558200e+02] [ 7.06664149e-01 -7.07515942e-01 -6.85358841e-03 -2.88341919e+02] [ 9.60137632e-03 -9.65689127e-05 9.99953901e-01 -9.01144884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.670385723 meters 0.014619326516312215 Centerline is valid? [True, True] Translation: X:-116.58, Y:-288.32, Z:-9.01 [[-7.08269368e-01 -7.05911629e-01 6.57835286e-03 -1.16579277e+02] [ 7.05879835e-01 -7.08299909e-01 -6.70056877e-03 -2.88322609e+02] [ 9.38945615e-03 -1.02280970e-04 9.99955913e-01 -9.01127026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.700385723 meters 0.014623308733756583 Centerline is valid? [True, True] Translation: X:-116.60, Y:-288.30, Z:-9.01 [[-7.09287423e-01 -7.04887692e-01 6.68531551e-03 -1.16601098e+02] [ 7.04854846e-01 -7.09318919e-01 -6.80572458e-03 -2.88304611e+02] [ 9.53929226e-03 -1.15037811e-04 9.99954493e-01 -9.01114214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.730385723 meters 0.014836820920645644 Centerline is valid? [True, True] Translation: X:-116.62, Y:-288.29, Z:-9.01 [[-7.09542434e-01 -7.04629643e-01 6.82639987e-03 -1.16620971e+02] [ 7.04595424e-01 -7.09575262e-01 -6.94527302e-03 -2.88286259e+02] [ 9.73768972e-03 -1.18115818e-04 9.99952581e-01 -9.01154962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.760385723 meters 0.0147860699905621 Centerline is valid? [True, True] Translation: X:-116.64, Y:-288.27, Z:-9.01 [[-7.10109177e-01 -7.04062827e-01 6.36334523e-03 -1.16643291e+02] [ 7.04033102e-01 -7.10137679e-01 -6.47060990e-03 -2.88268525e+02] [ 9.07456711e-03 -1.14833794e-04 9.99958819e-01 -9.01204022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.790385723 meters 0.0147860699905621 Centerline is valid? [True, True] Translation: X:-116.66, Y:-288.25, Z:-9.01 [[-7.10301924e-01 -7.03868356e-01 6.36511673e-03 -1.16662672e+02] [ 7.03838638e-01 -7.10330434e-01 -6.46886729e-03 -2.88248905e+02] [ 9.07456711e-03 -1.14833794e-04 9.99958819e-01 -9.01204041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.820385723 meters 0.014877663779386568 Centerline is valid? [True, True] Translation: X:-116.68, Y:-288.23, Z:-9.01 [[-7.10610345e-01 -7.03557690e-01 6.28615698e-03 -1.16683805e+02] [ 7.03528724e-01 -7.10638139e-01 -6.38513442e-03 -2.88230265e+02] [ 8.95949332e-03 -1.14850574e-04 9.99959856e-01 -9.01214225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8503857229999 meters 0.014888401043739575 Centerline is valid? [True, True] Translation: X:-116.70, Y:-288.21, Z:-9.01 [[-7.10574708e-01 -7.03600708e-01 5.44317673e-03 -1.16704309e+02] [ 7.03579019e-01 -7.10595549e-01 -5.52532467e-03 -2.88214018e+02] [ 7.75551951e-03 -9.64510220e-05 9.99969921e-01 -9.01220607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.880385723 meters 0.014906710834691035 Centerline is valid? [True, True] Translation: X:-116.72, Y:-288.20, Z:-9.01 [[-7.10724533e-01 -7.03448133e-01 5.60010452e-03 -1.16724460e+02] [ 7.03425199e-01 -7.10746589e-01 -5.68116307e-03 -2.88195775e+02] [ 7.97665875e-03 -9.84873329e-05 9.99968181e-01 -9.01234269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.910385723 meters 0.014632247853654821 Centerline is valid? [True, True] Translation: X:-116.75, Y:-288.18, Z:-9.01 [[-7.10530015e-01 -7.03642859e-01 5.81597994e-03 -1.16745199e+02] [ 7.03618156e-01 -7.10553811e-01 -5.89687475e-03 -2.88177219e+02] [ 8.28186052e-03 -9.76774285e-05 9.99965700e-01 -9.01189617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.940385723 meters 0.014735681878833513 Centerline is valid? [True, True] Translation: X:-116.77, Y:-288.16, Z:-9.01 [[-7.09530417e-01 -7.04651972e-01 5.67327379e-03 -1.16765526e+02] [ 7.04628525e-01 -7.09553093e-01 -5.74889772e-03 -2.88159628e+02] [ 8.07646108e-03 -8.14672512e-05 9.99967382e-01 -9.01312145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9703857229999 meters 0.014329040946181197 Centerline is valid? [True, True] Translation: X:-116.79, Y:-288.14, Z:-9.01 [[-7.09035450e-01 -7.05149553e-01 5.73051447e-03 -1.16787079e+02] [ 7.05125673e-01 -7.09058603e-01 -5.80370736e-03 -2.88142069e+02] [ 8.15575223e-03 -7.43013866e-05 9.99966739e-01 -9.01266821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.000385723 meters 0.014271247742029742 Centerline is valid? [True, True] Translation: X:-116.81, Y:-288.13, Z:-9.01 [[-7.07446171e-01 -7.06734168e-01 6.83591287e-03 -1.16809439e+02] [ 7.06700300e-01 -7.07479195e-01 -6.91920997e-03 -2.88125879e+02] [ 9.72630823e-03 -6.40269323e-05 9.99952696e-01 -9.01431156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.030385723 meters 0.014084885698324213 Centerline is valid? [True, True] Translation: X:-116.83, Y:-288.11, Z:-9.01 [[-7.06627583e-01 -7.07553608e-01 6.73429061e-03 -1.16829865e+02] [ 7.07520815e-01 -7.06659671e-01 -6.81219436e-03 -2.88107611e+02] [ 9.57884427e-03 -4.90336562e-05 9.99954121e-01 -9.01485657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.060385723 meters 0.014036192486877434 Centerline is valid? [True, True] Translation: X:-116.85, Y:-288.09, Z:-9.01 [[-7.05931732e-01 -7.08248746e-01 6.64098923e-03 -1.16848718e+02] [ 7.08216917e-01 -7.05962968e-01 -6.71465159e-03 -2.88090031e+02] [ 9.44393604e-03 -3.68247094e-05 9.99955404e-01 -9.01434425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0903857229999 meters 0.013864949422414547 Centerline is valid? [True, True] Translation: X:-116.87, Y:-288.07, Z:-9.01 [[-7.04557901e-01 -7.09626275e-01 5.35851202e-03 -1.16869261e+02] [ 7.09605616e-01 -7.04578278e-01 -5.41482105e-03 -2.88071370e+02] [ 7.61799046e-03 -1.26247302e-05 9.99970983e-01 -9.01208496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.120385723 meters 0.01380725845762274 Centerline is valid? [True, True] Translation: X:-116.89, Y:-288.05, Z:-9.01 [[-7.04231259e-01 -7.09954070e-01 4.85320170e-03 -1.16889975e+02] [ 7.09937150e-01 -7.04247981e-01 -4.90145180e-03 -2.88052290e+02] [ 6.89766315e-03 -6.28738211e-06 9.99976211e-01 -9.01135366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.150385723 meters 0.013745221809767696 Centerline is valid? [True, True] Translation: X:-116.91, Y:-288.03, Z:-9.01 [[-7.03223827e-01 -7.10956212e-01 4.18504551e-03 -1.16911072e+02] [ 7.10943663e-01 -7.03236280e-01 -4.22416106e-03 -2.88034961e+02] [ 5.94626938e-03 4.80087375e-06 9.99982321e-01 -9.01201115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.180385723 meters 0.013801120683260396 Centerline is valid? [True, True] Translation: X:-116.93, Y:-288.02, Z:-9.01 [[-7.02812844e-01 -7.11363284e-01 4.04774482e-03 -1.16931180e+02] [ 7.11351564e-01 -7.02824500e-01 -4.08333581e-03 -2.88015981e+02] [ 5.74958940e-03 9.54875691e-06 9.99983471e-01 -9.01225246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.210385723 meters 0.013852423024989763 Centerline is valid? [True, True] Translation: X:-116.95, Y:-288.00, Z:-9.01 [[-7.02121356e-01 -7.12044343e-01 4.29600951e-03 -1.16951805e+02] [ 7.12031169e-01 -7.02134498e-01 -4.33141650e-03 -2.87996318e+02] [ 6.10053709e-03 1.77126461e-05 9.99981392e-01 -9.01239750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.240385723 meters 0.013911280176178936 Centerline is valid? [True, True] Translation: X:-116.97, Y:-287.98, Z:-9.01 [[-7.00209608e-01 -7.13929423e-01 3.35926606e-03 -1.16972606e+02] [ 7.13921399e-01 -7.00217665e-01 -3.38487652e-03 -2.87977922e+02] [ 4.76878038e-03 2.81288622e-05 9.99988629e-01 -9.01179624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.270385723 meters 0.0141333963775367 Centerline is valid? [True, True] Translation: X:-116.99, Y:-287.96, Z:-9.01 [[-6.99065046e-01 -7.15049776e-01 3.44650723e-03 -1.16992448e+02] [ 7.15041354e-01 -6.99073541e-01 -3.47086382e-03 -2.87958700e+02] [ 4.89120241e-03 3.80356147e-05 9.99988037e-01 -9.01149406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.300385723 meters 0.014642704123103777 Centerline is valid? [True, True] Translation: X:-117.01, Y:-287.94, Z:-9.01 [[-6.96284321e-01 -7.17759860e-01 2.98804935e-03 -1.17013126e+02] [ 7.17753561e-01 -6.96290730e-01 -3.00741195e-03 -2.87941487e+02] [ 4.23915065e-03 5.06692752e-05 9.99991014e-01 -9.01181568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.330385723 meters 0.014808062940881087 Centerline is valid? [True, True] Translation: X:-117.03, Y:-287.92, Z:-9.01 [[-6.94758086e-01 -7.19236342e-01 3.20716663e-03 -1.17033256e+02] [ 7.19229109e-01 -6.94765485e-01 -3.22631491e-03 -2.87922088e+02] [ 4.54871162e-03 6.51792277e-05 9.99989653e-01 -9.01196403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.360385723 meters 0.015249872770194458 Centerline is valid? [True, True] Translation: X:-117.05, Y:-287.90, Z:-9.01 [[-6.93339932e-01 -7.20603132e-01 3.29617891e-03 -1.17054008e+02] [ 7.20595515e-01 -6.93347763e-01 -3.31401969e-03 -2.87903379e+02] [ 4.67349124e-03 7.74695489e-05 9.99989076e-01 -9.01256930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.390385723 meters 0.016537549828250897 Centerline is valid? [True, True] Translation: X:-117.07, Y:-287.89, Z:-9.01 [[-6.91078828e-01 -7.22770511e-01 3.58355840e-03 -1.17074164e+02] [ 7.22761549e-01 -6.91088112e-01 -3.60084410e-03 -2.87885162e+02] [ 5.07913853e-03 1.01591098e-04 9.99987096e-01 -9.01324921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.420385723 meters 0.016753770973884956 Centerline is valid? [True, True] Translation: X:-117.09, Y:-287.87, Z:-9.01 [[-6.90733167e-01 -7.23100686e-01 3.61789654e-03 -1.17092649e+02] [ 7.23091567e-01 -6.90742634e-01 -3.63315753e-03 -2.87865620e+02] [ 5.12617409e-03 1.06528064e-04 9.99986856e-01 -9.01275182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.450385723 meters 0.01729226511119042 Centerline is valid? [True, True] Translation: X:-117.11, Y:-287.85, Z:-9.01 [[-6.90544262e-01 -7.23281933e-01 3.44487406e-03 -1.17110094e+02] [ 7.23273678e-01 -6.90552847e-01 -3.45722049e-03 -2.87846581e+02] [ 4.87941271e-03 1.04222957e-04 9.99988090e-01 -9.01223185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.480385723 meters 0.0167481425922792 Centerline is valid? [True, True] Translation: X:-117.13, Y:-287.83, Z:-9.01 [[-6.91015861e-01 -7.22832558e-01 3.18950196e-03 -1.17127416e+02] [ 7.22825485e-01 -6.91023215e-01 -3.19899610e-03 -2.87826007e+02] [ 4.51635844e-03 9.48962599e-05 9.99989797e-01 -9.01197225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.510385723 meters 0.01802014323895005 Centerline is valid? [True, True] Translation: X:-117.14, Y:-287.81, Z:-9.01 [[-6.92173021e-01 -7.21723972e-01 3.31922757e-03 -1.17144738e+02] [ 7.21716309e-01 -6.92180974e-01 -3.32699710e-03 -2.87806729e+02] [ 4.69867973e-03 9.26830399e-05 9.99988957e-01 -9.01349362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.540385723 meters 0.01807074784050446 Centerline is valid? [True, True] Translation: X:-117.16, Y:-287.79, Z:-9.01 [[-6.92923738e-01 -7.21002818e-01 3.41022449e-03 -1.17161976e+02] [ 7.20994731e-01 -6.92932124e-01 -3.41616198e-03 -2.87785116e+02] [ 4.82611651e-03 9.16141619e-05 9.99988350e-01 -9.01453583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.570385723 meters 0.017112932401496517 Centerline is valid? [True, True] Translation: X:-117.18, Y:-287.77, Z:-9.01 [[-6.93261400e-01 -7.20677494e-01 3.54701235e-03 -1.17179959e+02] [ 7.20668752e-01 -6.93270468e-01 -3.55096071e-03 -2.87766666e+02] [ 5.01813637e-03 9.44769674e-05 9.99987405e-01 -9.01370324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6003857229999 meters 0.01620349837454344 Centerline is valid? [True, True] Translation: X:-117.20, Y:-287.74, Z:-9.01 [[-6.94683974e-01 -7.19302894e-01 4.18593636e-03 -1.17195267e+02] [ 7.19290709e-01 -6.94696579e-01 -4.18813300e-03 -2.87743596e+02] [ 5.92049186e-03 1.01476249e-04 9.99982469e-01 -9.01472833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.630385723 meters 0.019029843314481116 Centerline is valid? [True, True] Translation: X:-117.21, Y:-287.72, Z:-9.02 [[-6.96183242e-01 -7.17847305e-01 4.91331849e-03 -1.17213167e+02] [ 7.17830499e-01 -6.96200571e-01 -4.91318227e-03 -2.87722269e+02] [ 6.94756979e-03 1.06454709e-04 9.99975860e-01 -9.01785079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.660385723 meters 0.017341664093935474 Centerline is valid? [True, True] Translation: X:-117.65, Y:-288.15, Z:-8.05 [[-7.64631257e-01 6.44450128e-01 4.80349345e-03 -1.17648348e+02] [ 6.44436662e-01 7.64646339e-01 -4.16713942e-03 -2.88154072e+02] [-6.35848721e-03 -9.07777708e-05 -9.99979781e-01 -8.05312524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.690385723 meters 0.015802483752467955 Centerline is valid? [True, True] Translation: X:-117.63, Y:-288.13, Z:-8.06 [[-8.08556122e-01 5.88397269e-01 5.06479258e-03 -1.17633235e+02] [ 5.88385003e-01 8.08571979e-01 -3.80038083e-03 -2.88131181e+02] [-6.33138306e-03 -9.27731846e-05 -9.99979952e-01 -8.05502624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7203857229999 meters 0.016356043334691192 Centerline is valid? [True, True] Translation: X:-117.62, Y:-288.11, Z:-8.05 [[-8.47883837e-01 5.30158208e-01 5.02720259e-03 -1.17621184e+02] [ 5.30148297e-01 8.47898736e-01 -3.24280625e-03 -2.88112624e+02] [-5.98175907e-03 -8.43601155e-05 -9.99982106e-01 -8.05452191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.750385723 meters 0.015113992765932855 Centerline is valid? [True, True] Translation: X:-117.61, Y:-288.09, Z:-8.06 [[-8.83665923e-01 4.68092140e-01 4.92800657e-03 -1.17611943e+02] [ 4.68084331e-01 8.83679660e-01 -2.70521497e-03 -2.88086493e+02] [-5.62106903e-03 -8.37836286e-05 -9.99984198e-01 -8.05637596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.780385723 meters 0.016405345402646588 Centerline is valid? [True, True] Translation: X:-117.30, Y:-287.53, Z:-9.02 [[-8.34097010e-01 -5.51593935e-01 5.12924289e-03 -1.17302797e+02] [ 5.51584372e-01 -8.34112772e-01 -3.25031413e-03 -2.87529644e+02] [ 6.07122057e-03 1.18132923e-04 9.99981563e-01 -9.01505075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.810385723 meters 0.015504580031833807 Centerline is valid? [True, True] Translation: X:-117.65, Y:-288.07, Z:-8.06 [[-8.86221392e-01 4.63235002e-01 4.99786481e-03 -1.17654103e+02] [ 4.63227023e-01 8.86235479e-01 -2.72039127e-03 -2.88069625e+02] [-5.68946557e-03 -9.57229011e-05 -9.99983810e-01 -8.05630881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8403857229999 meters 0.015587109263483188 Centerline is valid? [True, True] Translation: X:-117.65, Y:-288.04, Z:-8.06 [[-9.17156332e-01 3.98491950e-01 5.33185275e-03 -1.17651610e+02] [ 3.98484558e-01 9.17171824e-01 -2.42942711e-03 -2.88040966e+02] [-5.85833226e-03 -1.03503469e-04 -9.99982835e-01 -8.05676346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.870385723 meters 0.016135716004251715 Centerline is valid? [True, True] Translation: X:-117.37, Y:-287.45, Z:-9.01 [[-8.70807287e-01 -4.91600690e-01 4.84063396e-03 -1.17373355e+02] [ 4.91593576e-01 -8.70820737e-01 -2.64569771e-03 -2.87453708e+02] [ 5.51595125e-03 7.57317168e-05 9.99984784e-01 -9.01340055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.900385723 meters 0.015671245163052242 Centerline is valid? [True, True] Translation: X:-117.69, Y:-288.03, Z:-8.06 [[-9.19361887e-01 3.93383786e-01 4.78731622e-03 -1.17688414e+02] [ 3.93377869e-01 9.19374345e-01 -2.16002317e-03 -2.88031526e+02] [-5.25105381e-03 -1.02618721e-04 -9.99986208e-01 -8.05694462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.930385723 meters 0.015862623337424324 Centerline is valid? [True, True] Translation: X:-117.68, Y:-288.01, Z:-8.06 [[-9.44856389e-01 3.27448585e-01 4.88144466e-03 -1.17680442e+02] [ 3.27443664e-01 9.44868993e-01 -1.79799129e-03 -2.88005727e+02] [-5.20107540e-03 -1.00445440e-04 -9.99986469e-01 -8.05655790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.960385723 meters 0.015530142035675052 Centerline is valid? [True, True] Translation: X:-117.45, Y:-287.38, Z:-9.01 [[-9.05705580e-01 -4.23874446e-01 5.27797984e-03 -1.17446283e+02] [ 4.23868177e-01 -9.05720947e-01 -2.30990224e-03 -2.87380292e+02] [ 5.75948543e-03 1.45076342e-04 9.99983404e-01 -9.01315037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.990385723 meters 0.015488492242183401 Centerline is valid? [True, True] Translation: X:-117.73, Y:-288.00, Z:-8.06 [[-9.45158089e-01 3.26573683e-01 5.08105736e-03 -1.17726589e+02] [ 3.26568453e-01 9.45171742e-01 -1.85041268e-03 -2.87998187e+02] [-5.40676792e-03 -8.96194717e-05 -9.99985379e-01 -8.05712199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.020385723 meters 0.015075048483458883 Centerline is valid? [True, True] Translation: X:-117.49, Y:-287.36, Z:-9.01 [[-9.08728945e-01 -4.17358844e-01 4.82697488e-03 -1.17488605e+02] [ 4.17353420e-01 -9.08741762e-01 -2.12933123e-03 -2.87356275e+02] [ 5.27516888e-03 7.95695521e-05 9.99986083e-01 -9.01192131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.050385723 meters 0.01498800275224692 Centerline is valid? [True, True] Translation: X:-117.77, Y:-287.99, Z:-8.06 [[-9.45222830e-01 3.26392693e-01 4.64875004e-03 -1.17773098e+02] [ 3.26388411e-01 9.45234260e-01 -1.67308319e-03 -2.87991851e+02] [-4.94023994e-03 -6.41382873e-05 -9.99987795e-01 -8.05886693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.080385723 meters 0.014897463260797047 Centerline is valid? [True, True] Translation: X:-117.77, Y:-287.97, Z:-8.06 [[-9.65768943e-01 2.59364245e-01 4.53186060e-03 -1.17770899e+02] [ 2.59361111e-01 9.65779574e-01 -1.27616618e-03 -2.87965251e+02] [-4.70777028e-03 -5.70932608e-05 -9.99988917e-01 -8.05937713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.110385723 meters 0.01455227470295426 Centerline is valid? [True, True] Translation: X:-117.59, Y:-287.28, Z:-9.01 [[-9.38774982e-01 -3.44498451e-01 4.72763011e-03 -1.17587804e+02] [ 3.44494504e-01 -9.38786883e-01 -1.65091623e-03 -2.87281480e+02] [ 5.00697522e-03 7.88037360e-05 9.99987462e-01 -9.01106265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.140385723 meters 0.01446693901356319 Centerline is valid? [True, True] Translation: X:-117.81, Y:-287.96, Z:-8.06 [[-9.65984209e-01 2.58542118e-01 5.52101339e-03 -1.17814558e+02] [ 2.58537589e-01 9.65999985e-01 -1.53107626e-03 -2.87961877e+02] [-5.72914655e-03 -5.16060008e-05 -9.99983587e-01 -8.05851120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.170385723 meters 0.014346360779606236 Centerline is valid? [True, True] Translation: X:-117.81, Y:-287.94, Z:-8.06 [[-9.81410185e-01 1.91793741e-01 7.01504056e-03 -1.17811438e+02] [ 1.91788500e-01 9.81435255e-01 -1.41857976e-03 -2.87937977e+02] [-7.15688283e-03 -4.68045162e-05 -9.99974388e-01 -8.05699870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.200385723 meters 0.014254939959395304 Centerline is valid? [True, True] Translation: X:-117.67, Y:-287.22, Z:-9.01 [[-9.63200320e-01 -2.68692716e-01 7.02624161e-03 -1.17666586e+02] [ 2.68685985e-01 -9.63225945e-01 -1.90265943e-03 -2.87222518e+02] [ 7.27908894e-03 5.52104794e-05 9.99973506e-01 -9.01295185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.230385723 meters 0.014300077781576203 Centerline is valid? [True, True] Translation: X:-117.86, Y:-287.94, Z:-8.06 [[-9.81565971e-01 1.90986699e-01 7.23363489e-03 -1.17861116e+02] [ 1.90981331e-01 9.81592624e-01 -1.43218965e-03 -2.87937882e+02] [-7.37401183e-03 -2.42994127e-05 -9.99972811e-01 -8.05779430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.260385723 meters 0.014209170069381305 Centerline is valid? [True, True] Translation: X:-117.85, Y:-287.91, Z:-8.06 [[-9.92526922e-01 1.21783183e-01 7.69190964e-03 -1.17854960e+02] [ 1.21779385e-01 9.92556727e-01 -9.61931535e-04 -2.87912172e+02] [-7.75180374e-03 -1.80269222e-05 -9.99969954e-01 -8.05810931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.290385723 meters 0.014322126102652474 Centerline is valid? [True, True] Translation: X:-117.77, Y:-287.16, Z:-9.01 [[-9.81319186e-01 -1.92194703e-01 8.59369459e-03 -1.17765748e+02] [ 1.92188076e-01 -9.81356810e-01 -1.59820617e-03 -2.87163534e+02] [ 8.74064748e-03 8.32552499e-05 9.99961796e-01 -9.01319309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.320385723 meters 0.014379412964569637 Centerline is valid? [True, True] Translation: X:-117.93, Y:-287.91, Z:-8.06 [[-9.93072232e-01 1.17139016e-01 9.27325170e-03 -1.17925337e+02] [ 1.17133685e-01 9.93115527e-01 -1.11776018e-03 -2.87908487e+02] [-9.34034358e-03 -2.38064531e-05 -9.99956378e-01 -8.05676417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3503857229999 meters 0.014522063662979492 Centerline is valid? [True, True] Translation: X:-117.82, Y:-287.15, Z:-9.01 [[-9.81624515e-01 -1.90585114e-01 9.51978655e-03 -1.17823422e+02] [ 1.90576625e-01 -9.81670674e-01 -1.79943081e-03 -2.87154392e+02] [ 9.68824001e-03 4.78833889e-05 9.99953067e-01 -9.01315647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.380385723 meters 0.014689544390368046 Centerline is valid? [True, True] Translation: X:-117.98, Y:-287.90, Z:-8.06 [[-9.93925366e-01 1.09560497e-01 1.04338147e-02 -1.17984182e+02] [ 1.09553809e-01 9.93980127e-01 -1.21214401e-03 -2.87903576e+02] [-1.05038076e-02 -6.17165407e-05 -9.99944832e-01 -8.05636532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.410385723 meters 0.014778437614855318 Centerline is valid? [True, True] Translation: X:-117.98, Y:-287.88, Z:-8.06 [[-9.99245800e-01 3.73203585e-02 1.07248760e-02 -1.17979727e+02] [ 3.73173741e-02 9.99303350e-01 -4.78319236e-04 -2.87876198e+02] [-1.07352556e-02 -7.77342773e-05 -9.99942373e-01 -8.05686422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.440385723 meters 0.014955945992712863 Centerline is valid? [True, True] Translation: X:-117.94, Y:-287.11, Z:-9.01 [[-9.92619194e-01 -1.20658267e-01 1.21950034e-02 -1.17941624e+02] [ 1.20651528e-01 -9.92694085e-01 -1.28948078e-03 -2.87110006e+02] [ 1.22614942e-02 1.91382421e-04 9.99924807e-01 -9.01421811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4703857229999 meters 0.015180420779343983 Centerline is valid? [True, True] Translation: X:-118.07, Y:-287.87, Z:-8.06 [[-9.99461492e-01 2.99652248e-02 1.33720225e-02 -1.18073535e+02] [ 2.99607272e-02 9.99550933e-01 -5.36586032e-04 -2.87874135e+02] [-1.33820965e-02 -1.35661558e-04 -9.99910447e-01 -8.05506220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.500385723 meters 0.015432865459461645 Centerline is valid? [True, True] Translation: X:-118.02, Y:-287.10, Z:-9.02 [[-9.92827260e-01 -1.18703253e-01 1.42677955e-02 -1.18016079e+02] [ 1.18694040e-01 -9.92929753e-01 -1.49380531e-03 -2.87104505e+02] [ 1.43442382e-02 2.10411655e-04 9.99897094e-01 -9.01574971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.530385723 meters 0.015572225448277162 Centerline is valid? [True, True] Translation: X:-118.13, Y:-287.87, Z:-8.05 [[-9.99627863e-01 2.29092949e-02 1.48088063e-02 -1.18129852e+02] [ 2.29040997e-02 9.99737531e-01 -5.20342695e-04 -2.87874437e+02] [-1.48168402e-02 -1.80966679e-04 -9.99890208e-01 -8.05436833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.560385723 meters 0.015881602476978816 Centerline is valid? [True, True] Translation: X:-118.15, Y:-287.85, Z:-8.05 [[-9.98688806e-01 -4.91702133e-02 1.42463350e-02 -1.18153732e+02] [-4.91678964e-02 9.98790396e-01 5.13049199e-04 -2.87846316e+02] [-1.42543293e-02 -1.88085831e-04 -9.99898384e-01 -8.05433937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5903857229999 meters 0.015848381687809453 Centerline is valid? [True, True] Translation: X:-118.16, Y:-287.07, Z:-9.02 [[-9.98898501e-01 -4.48543225e-02 1.37794861e-02 -1.18163779e+02] [ 4.48521329e-02 -9.98993527e-01 -4.68048872e-04 -2.87070700e+02] [ 1.37866114e-02 1.50506025e-04 9.99904949e-01 -9.01528135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.620385723 meters 0.01595791005930963 Centerline is valid? [True, True] Translation: X:-118.23, Y:-287.85, Z:-8.05 [[-9.98342992e-01 -5.59705825e-02 1.33628051e-02 -1.18234939e+02] [-5.59680445e-02 9.98432401e-01 5.64110285e-04 -2.87848559e+02] [-1.33734312e-02 -1.84714521e-04 -9.99910555e-01 -8.05497345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.650385723 meters 0.015853999214307468 Centerline is valid? [True, True] Translation: X:-118.24, Y:-287.82, Z:-8.06 [[-9.91813774e-01 -1.27099738e-01 1.22920618e-02 -1.18244106e+02] [-1.27092139e-01 9.91889927e-01 1.40059108e-03 -2.87820921e+02] [-1.23703870e-02 -1.73098903e-04 -9.99923469e-01 -8.05644777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.680385723 meters 0.015807933948403838 Centerline is valid? [True, True] Translation: X:-118.33, Y:-287.05, Z:-9.01 [[-9.99396437e-01 3.25487102e-02 1.21384804e-02 -1.18334639e+02] [-3.25444213e-02 -9.99470138e-01 5.50745658e-04 -2.87049836e+02] [ 1.21499747e-02 1.55373429e-04 9.99926174e-01 -9.01278064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.710385723 meters 0.015807933948403838 Centerline is valid? [True, True] Translation: X:-118.36, Y:-287.83, Z:-8.06 [[-9.91003543e-01 -1.33286761e-01 1.21085565e-02 -1.18359429e+02] [-1.33278875e-01 9.91077500e-01 1.45956905e-03 -2.87833184e+02] [-1.21950592e-02 -1.67376688e-04 -9.99925624e-01 -8.05733906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.740385723 meters 0.015654259050409524 Centerline is valid? [True, True] Translation: X:-118.37, Y:-287.81, Z:-8.06 [[-9.79102882e-01 -2.03017710e-01 1.18893008e-02 -1.18371344e+02] [-2.03004657e-01 9.79175054e-01 2.30723393e-03 -2.87805382e+02] [-1.21101161e-02 -1.54564041e-04 -9.99926658e-01 -8.05710596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.770385723 meters 0.015567377546457978 Centerline is valid? [True, True] Translation: X:-118.40, Y:-287.78, Z:-8.06 [[-9.62233576e-01 -2.71985172e-01 1.14285360e-02 -1.18398736e+02] [-2.71967664e-01 9.62301433e-01 3.08896626e-03 -2.87782166e+02] [-1.18378496e-02 -1.35885181e-04 -9.99929921e-01 -8.05642387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.800385723 meters 0.015351703639316157 Centerline is valid? [True, True] Translation: X:-118.45, Y:-287.77, Z:-8.06 [[-9.40150888e-01 -3.40579339e-01 1.10463412e-02 -1.18452824e+02] [-3.40557328e-01 9.40215773e-01 3.87386665e-03 -2.87769612e+02] [-1.17053032e-02 -1.19893272e-04 -9.99931484e-01 -8.05642819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.830385723 meters 0.015194210037334288 Centerline is valid? [True, True] Translation: X:-118.52, Y:-287.77, Z:-8.06 [[-9.13652972e-01 -4.06339564e-01 1.12430108e-02 -1.18517342e+02] [-4.06310001e-01 9.13722141e-01 4.90221741e-03 -2.87765353e+02] [-1.22649528e-02 -8.92222333e-05 -9.99924779e-01 -8.05594986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.860385723 meters 0.01514328708928607 Centerline is valid? [True, True] Translation: X:-118.59, Y:-287.77, Z:-8.06 [[-8.82288111e-01 -4.70588941e-01 1.06647479e-02 -1.18592400e+02] [-4.70555277e-01 8.82352563e-01 5.62899144e-03 -2.87770692e+02] [-1.20590088e-02 -5.19611966e-05 -9.99927286e-01 -8.05539710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.890385723 meters 0.015091141721230364 Centerline is valid? [True, True] Translation: X:-118.67, Y:-287.78, Z:-8.06 [[-8.45227881e-01 -5.34301503e-01 1.05704318e-02 -1.18670856e+02] [-5.34260281e-01 8.45293974e-01 6.63695597e-03 -2.87783157e+02] [-1.24812578e-02 -3.76216099e-05 -9.99922105e-01 -8.05524594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.920385723 meters 0.01519146079281336 Centerline is valid? [True, True] Translation: X:-118.76, Y:-287.81, Z:-8.05 [[-8.03151121e-01 -5.95677995e-01 1.07705018e-02 -1.18761191e+02] [-5.95624916e-01 8.03223335e-01 7.95196947e-03 -2.87809810e+02] [-1.33879316e-02 -2.85460551e-05 -9.99910377e-01 -8.05434088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.950385723 meters 0.015167284766390222 Centerline is valid? [True, True] Translation: X:-118.85, Y:-287.84, Z:-8.05 [[-7.56417422e-01 -6.54000901e-01 1.07473079e-02 -1.18850025e+02] [-6.53935216e-01 7.56493768e-01 9.26892610e-03 -2.87842893e+02] [-1.41921575e-02 -1.68659405e-05 -9.99899286e-01 -8.05484456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.980385723 meters 0.016642566080272078 Centerline is valid? [True, True] Translation: X:-118.95, Y:-287.89, Z:-8.05 [[-7.05047799e-01 -7.09083680e-01 1.03891751e-02 -1.18946846e+02] [-7.09006901e-01 7.05124339e-01 1.04345904e-02 -2.87892893e+02] [-1.47246579e-02 -9.11184111e-06 -9.99891586e-01 -8.05269457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.010385723 meters 0.015006764630133947 Centerline is valid? [True, True] Translation: X:-119.04, Y:-287.95, Z:-8.05 [[-6.48677125e-01 -7.61012854e-01 8.79904063e-03 -1.19039377e+02] [-7.60943156e-01 6.48736800e-01 1.02994281e-02 -2.87949354e+02] [-1.35462586e-02 -1.45663332e-05 -9.99908245e-01 -8.05496333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.040385723 meters 0.015008090492964091 Centerline is valid? [True, True] Translation: X:-119.13, Y:-288.01, Z:-8.05 [[-5.88730015e-01 -8.08289179e-01 8.09766090e-03 -1.19126858e+02] [-8.08213047e-01 5.88785702e-01 1.10936419e-02 -2.88012600e+02] [-1.37346577e-02 -1.34752283e-05 -9.99905675e-01 -8.05484955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.070385723 meters 0.015070550212385396 Centerline is valid? [True, True] Translation: X:-119.21, Y:-288.09, Z:-8.05 [[-5.24930324e-01 -8.51108327e-01 7.92273244e-03 -1.19213768e+02] [-8.51011928e-01 5.24990109e-01 1.28094925e-02 -2.88088109e+02] [-1.50616219e-02 -1.82487721e-05 -9.99886567e-01 -8.05373245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1003857229999 meters 0.015062829655843038 Centerline is valid? [True, True] Translation: X:-119.30, Y:-288.18, Z:-8.05 [[-4.58437909e-01 -8.88698853e-01 7.00238424e-03 -1.19301195e+02] [-8.88595667e-01 4.58491384e-01 1.35422336e-02 -2.88183737e+02] [-1.52455003e-02 -1.40150305e-05 -9.99883781e-01 -8.05414149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.130385723 meters 0.014983655885234454 Centerline is valid? [True, True] Translation: X:-119.38, Y:-288.28, Z:-8.05 [[-3.89313053e-01 -9.21086564e-01 5.90668009e-03 -1.19376950e+02] [-9.20980775e-01 3.89357859e-01 1.39595687e-02 -2.88277393e+02] [-1.51577835e-02 -5.29649976e-06 -9.99885114e-01 -8.05462320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.160385723 meters 0.014937748265725906 Centerline is valid? [True, True] Translation: X:-119.44, Y:-288.37, Z:-8.05 [[-3.17534012e-01 -9.48234905e-01 4.76610358e-03 -1.19441596e+02] [-9.48128178e-01 3.17569779e-01 1.42265274e-02 -2.88366761e+02] [-1.50036603e-02 -1.47079347e-06 -9.99887439e-01 -8.05461200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.190385723 meters 0.015043692046114205 Centerline is valid? [True, True] Translation: X:-119.50, Y:-288.47, Z:-8.05 [[-2.44256468e-01 -9.69704090e-01 3.57149164e-03 -1.19502568e+02] [-9.69599983e-01 2.44282577e-01 1.42089816e-02 -2.88471640e+02] [-1.46509607e-02 7.71741418e-06 -9.99892669e-01 -8.05418801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2203857229999 meters 0.014748594138192482 Centerline is valid? [True, True] Translation: X:-119.56, Y:-288.59, Z:-8.06 [[-1.69247152e-01 -9.85571223e-01 2.18294552e-03 -1.19557211e+02] [-9.85488298e-01 1.69261229e-01 1.27847929e-02 -2.88588113e+02] [-1.29698120e-02 1.25225172e-05 -9.99915888e-01 -8.05836277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.250385723 meters 0.015085682380030847 Centerline is valid? [True, True] Translation: X:-119.60, Y:-288.70, Z:-8.06 [[-9.28968584e-02 -9.95675168e-01 1.06495219e-03 -1.19602097e+02] [-9.95608140e-01 9.29029615e-02 1.15529542e-02 -2.88703304e+02] [-1.16019268e-02 1.29580792e-05 -9.99932695e-01 -8.05875036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.280385723 meters 0.014662534901236307 Centerline is valid? [True, True] Translation: X:-119.64, Y:-288.83, Z:-8.06 [[-1.55826545e-02 -9.99878573e-01 1.45824489e-04 -1.19638726e+02] [-9.99829726e-01 1.55833346e-02 9.88322866e-03 -2.88826367e+02] [-9.88430100e-03 8.20727882e-06 -9.99951149e-01 -8.06037788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.310385723 meters 0.014552959091317583 Centerline is valid? [True, True] Translation: X:-119.66, Y:-288.95, Z:-8.06 [[ 6.16224952e-02 -9.98099347e-01 -6.02113506e-04 -1.19664991e+02] [-9.98052972e-01 -6.16254362e-02 9.62133648e-03 -2.88949433e+02] [-9.64015516e-03 8.05041413e-06 -9.99953533e-01 -8.06081415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3403857229999 meters 0.014591625435304893 Centerline is valid? [True, True] Translation: X:-119.68, Y:-289.08, Z:-8.06 [[ 1.38819261e-01 -9.90316827e-01 -1.33987765e-03 -1.19681985e+02] [-9.90271031e-01 -1.38825727e-01 9.52376137e-03 -2.89077531e+02] [-9.61755063e-03 4.76050933e-06 -9.99953750e-01 -8.06080423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.370385723 meters 0.014583490714327784 Centerline is valid? [True, True] Translation: X:-119.69, Y:-289.20, Z:-8.06 [[ 2.15123339e-01 -9.76584538e-01 -2.14201362e-03 -1.19689587e+02] [-9.76536223e-01 -2.15134003e-01 9.71424042e-03 -2.89201168e+02] [-9.94759696e-03 1.99404943e-06 -9.99950522e-01 -8.06067681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.400385723 meters 0.01458078509513709 Centerline is valid? [True, True] Translation: X:-119.68, Y:-289.34, Z:-8.06 [[ 2.89947687e-01 -9.57037833e-01 -2.98743019e-03 -1.19683842e+02] [-9.56987042e-01 -2.89963077e-01 9.85981730e-03 -2.89339200e+02] [-1.03024626e-02 1.00760563e-07 -9.99946928e-01 -8.05975866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.430385723 meters 0.014538020390490534 Centerline is valid? [True, True] Translation: X:-119.68, Y:-289.45, Z:-8.06 [[ 3.63334779e-01 -9.31650966e-01 -3.78378742e-03 -1.19675784e+02] [-9.31600294e-01 -3.63354481e-01 9.71669775e-03 -2.89453710e+02] [-1.04274270e-02 -5.43675153e-06 -9.99945633e-01 -8.05953570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.460385723 meters 0.014477500720582598 Centerline is valid? [True, True] Translation: X:-119.66, Y:-289.57, Z:-8.06 [[ 4.33482176e-01 -9.01152660e-01 -4.13357571e-03 -1.19656078e+02] [-9.01111686e-01 -4.33501884e-01 8.59337648e-03 -2.89572200e+02] [-9.53585693e-03 -2.62154578e-07 -9.99954533e-01 -8.06061596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.490385723 meters 0.014481573158910353 Centerline is valid? [True, True] Translation: X:-119.62, Y:-289.70, Z:-8.06 [[ 5.01002791e-01 -8.65433374e-01 -4.61298283e-03 -1.19623385e+02] [-8.65396780e-01 -5.01024027e-01 7.95843263e-03 -2.89695235e+02] [-9.19870843e-03 4.86353466e-06 -9.99957691e-01 -8.06119560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.520385723 meters 0.014489737461370682 Centerline is valid? [True, True] Translation: X:-119.59, Y:-289.81, Z:-8.06 [[ 5.65228063e-01 -8.24920335e-01 -4.86591076e-03 -1.19586374e+02] [-8.24889954e-01 -5.65249007e-01 7.07986529e-03 -2.89807187e+02] [-8.59077607e-03 1.21023514e-05 -9.99963099e-01 -8.06180034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.550385723 meters 0.01455307031625193 Centerline is valid? [True, True] Translation: X:-119.53, Y:-289.93, Z:-8.06 [[ 6.26031175e-01 -7.79782894e-01 -4.85875640e-03 -1.19532665e+02] [-7.79759637e-01 -6.26050029e-01 6.02245201e-03 -2.89927744e+02] [-7.73802963e-03 1.84194204e-05 -9.99970061e-01 -8.06277057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.580385723 meters 0.014497861870898332 Centerline is valid? [True, True] Translation: X:-119.49, Y:-290.02, Z:-8.06 [[ 6.83693881e-01 -7.29752900e-01 -4.83551718e-03 -1.19489801e+02] [-7.29734839e-01 -6.83710980e-01 5.13425552e-03 -2.90021491e+02] [-7.05283404e-03 1.83862664e-05 -9.99975128e-01 -8.06302295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.610385723 meters 0.014547420554143401 Centerline is valid? [True, True] Translation: X:-119.44, Y:-290.11, Z:-8.06 [[ 7.37391517e-01 -6.75449375e-01 -4.67901721e-03 -1.19439307e+02] [-6.75435917e-01 -7.37406362e-01 4.26379695e-03 -2.90114109e+02] [-6.33031604e-03 1.62885783e-05 -9.99979963e-01 -8.06403584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.640385723 meters 0.014470913378899226 Centerline is valid? [True, True] Translation: X:-119.45, Y:-290.12, Z:-8.06 [[ 7.87896639e-01 -6.15789486e-01 -4.71125105e-03 -1.19446266e+02] [-6.15778594e-01 -7.87910724e-01 3.66263982e-03 -2.90124578e+02] [-5.96746032e-03 1.53059381e-05 -9.99982195e-01 -8.06453744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.670385723 meters 0.014424819204463696 Centerline is valid? [True, True] Translation: X:-119.45, Y:-290.13, Z:-8.07 [[ 8.33582375e-01 -5.52374877e-01 -4.73488481e-03 -1.19452967e+02] [-5.52366067e-01 -8.33595822e-01 3.11976831e-03 -2.90134908e+02] [-5.67026183e-03 1.48058208e-05 -9.99983924e-01 -8.06525307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.700385723 meters 0.014358741157230787 Centerline is valid? [True, True] Translation: X:-119.46, Y:-290.15, Z:-8.07 [[ 8.74122276e-01 -4.85682426e-01 -4.77786526e-03 -1.19459234e+02] [-4.85675267e-01 -8.74135333e-01 2.63713757e-03 -2.90146783e+02] [-5.45731222e-03 1.53102900e-05 -9.99985109e-01 -8.06553056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.730385723 meters 0.014411248068300962 Centerline is valid? [True, True] Translation: X:-119.46, Y:-290.16, Z:-8.07 [[ 9.09361420e-01 -4.15975501e-01 -5.11769471e-03 -1.19464895e+02] [-4.15969014e-01 -9.09375820e-01 2.32313612e-03 -2.90160817e+02] [-5.62027553e-03 1.62320651e-05 -9.99984206e-01 -8.06545098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.760385723 meters 0.014394767946050477 Centerline is valid? [True, True] Translation: X:-119.47, Y:-290.18, Z:-8.06 [[ 9.39016521e-01 -3.43830601e-01 -5.33777887e-03 -1.19470825e+02] [-3.43825153e-01 -9.39031691e-01 1.93563260e-03 -2.90176037e+02] [-5.67787324e-03 1.76716501e-05 -9.99983881e-01 -8.06425704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.790385723 meters 0.01438939106446019 Centerline is valid? [True, True] Translation: X:-119.47, Y:-290.19, Z:-8.06 [[ 9.62711468e-01 -2.70477487e-01 -5.34396801e-03 -1.19474044e+02] [-2.70473455e-01 -9.62726300e-01 1.47709307e-03 -2.90191239e+02] [-5.54429898e-03 2.33870508e-05 -9.99984630e-01 -8.06367658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.820385723 meters 0.014470072429987779 Centerline is valid? [True, True] Translation: X:-119.48, Y:-290.20, Z:-8.06 [[ 9.80700461e-01 -1.95432234e-01 -5.73124193e-03 -1.19475102e+02] [-1.95429080e-01 -9.80717208e-01 1.11075355e-03 -2.90203342e+02] [-5.83780463e-03 3.07348115e-05 -9.99982960e-01 -8.06363857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8503857229999 meters 0.014602931370691482 Centerline is valid? [True, True] Translation: X:-119.48, Y:-290.22, Z:-8.06 [[ 9.92889511e-01 -1.18884563e-01 -6.07291635e-03 -1.19479358e+02] [-1.18882570e-01 -9.92908082e-01 6.89427306e-04 -2.90215303e+02] [-6.11180999e-03 3.74387609e-05 -9.99981322e-01 -8.06379204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.880385723 meters 0.014659969473378687 Centerline is valid? [True, True] Translation: X:-119.48, Y:-290.23, Z:-8.06 [[ 9.99070745e-01 -4.26185552e-02 -6.42697053e-03 -1.19483454e+02] [-4.26180045e-02 -9.99091415e-01 2.22685635e-04 -2.90228645e+02] [-6.43062162e-03 5.14259557e-05 -9.99979322e-01 -8.06393000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.910385723 meters 0.01469405281787036 Centerline is valid? [True, True] Translation: X:-119.49, Y:-290.24, Z:-8.06 [[ 9.99372242e-01 3.49704519e-02 -5.67365836e-03 -1.19486349e+02] [ 3.49696076e-02 -9.99388346e-01 -2.47987645e-04 -2.90242906e+02] [-5.67886029e-03 4.94263618e-05 -9.99983874e-01 -8.06364345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.940385723 meters 0.014675534421787073 Centerline is valid? [True, True] Translation: X:-119.49, Y:-290.26, Z:-8.06 [[ 9.93563245e-01 1.13134451e-01 -5.71609897e-03 -1.19487140e+02] [ 1.13132290e-01 -9.93579687e-01 -7.01070883e-04 -2.90257691e+02] [-5.75871509e-03 4.98828968e-05 -9.99983417e-01 -8.06394432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9703857229999 meters 0.014716657760705649 Centerline is valid? [True, True] Translation: X:-119.49, Y:-290.27, Z:-8.06 [[ 9.81701905e-01 1.90360407e-01 -4.92797721e-03 -1.19487471e+02] [ 1.90357782e-01 -9.81714273e-01 -1.00072831e-03 -2.90271074e+02] [-5.02836461e-03 4.43380750e-05 -9.99987357e-01 -8.06346085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.000385723 meters 0.014567320519020086 Centerline is valid? [True, True] Translation: X:-119.49, Y:-290.28, Z:-8.06 [[ 9.63613426e-01 2.67259758e-01 -4.62450100e-03 -1.19485271e+02] [ 2.67256485e-01 -9.63624522e-01 -1.32342940e-03 -2.90284875e+02] [-4.80998199e-03 3.93464572e-05 -9.99988431e-01 -8.06425676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.030385723 meters 0.014486695932266437 Centerline is valid? [True, True] Translation: X:-119.48, Y:-290.30, Z:-8.06 [[ 9.39547864e-01 3.42390193e-01 -4.33223089e-03 -1.19482095e+02] [ 3.42386380e-01 -9.39557851e-01 -1.61615109e-03 -2.90298252e+02] [-4.62373583e-03 3.51544533e-05 -9.99989310e-01 -8.06467251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.060385723 meters 0.014340729772639154 Centerline is valid? [True, True] Translation: X:-119.48, Y:-290.31, Z:-8.06 [[ 9.09344189e-01 4.16028536e-01 -3.66110073e-03 -1.19475839e+02] [ 4.16025051e-01 -9.09351558e-01 -1.70297095e-03 -2.90314463e+02] [-4.03771217e-03 2.54771137e-05 -9.99991848e-01 -8.06477433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0903857229999 meters 0.01427826625394538 Centerline is valid? [True, True] Translation: X:-119.47, Y:-290.33, Z:-8.06 [[ 8.73700817e-01 4.86453483e-01 -3.14517628e-03 -1.19469080e+02] [ 4.86450246e-01 -8.73706477e-01 -1.77464232e-03 -2.90328428e+02] [-3.61124183e-03 2.05346634e-05 -9.99993479e-01 -8.06469426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.120385723 meters 0.014196974518402542 Centerline is valid? [True, True] Translation: X:-119.46, Y:-290.34, Z:-8.07 [[ 8.32427424e-01 5.54127049e-01 -2.79235023e-03 -1.19461534e+02] [ 5.54123867e-01 -8.32432107e-01 -1.87793447e-03 -2.90340995e+02] [-3.36505627e-03 1.59362454e-05 -9.99994338e-01 -8.06514599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.150385723 meters 0.014127126806576603 Centerline is valid? [True, True] Translation: X:-119.45, Y:-290.35, Z:-8.07 [[ 7.85451238e-01 6.18920033e-01 -2.08475132e-03 -1.19452185e+02] [ 6.18917826e-01 -7.85454004e-01 -1.65265151e-03 -2.90354725e+02] [-2.66033540e-03 7.78741683e-06 -9.99996461e-01 -8.06521649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.180385723 meters 0.014209709192071393 Centerline is valid? [True, True] Translation: X:-119.45, Y:-290.36, Z:-8.07 [[ 7.34114351e-01 6.79022742e-01 -2.05808811e-03 -1.19445529e+02] [ 6.79020050e-01 -7.34117236e-01 -1.91222986e-03 -2.90363567e+02] [-2.80932552e-03 6.31229505e-06 -9.99996054e-01 -8.06511386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.210385723 meters 0.014048241087653986 Centerline is valid? [True, True] Translation: X:-119.43, Y:-290.37, Z:-8.07 [[ 6.77720306e-01 7.35316715e-01 -2.12501305e-03 -1.19432996e+02] [ 7.35313086e-01 -6.77723637e-01 -2.31015488e-03 -2.90374957e+02] [-3.13886707e-03 3.08896467e-06 -9.99995074e-01 -8.06576354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.240385723 meters 0.014056564198876343 Centerline is valid? [True, True] Translation: X:-119.42, Y:-290.38, Z:-8.07 [[ 6.17266900e-01 7.86750721e-01 -2.20863553e-03 -1.19422746e+02] [ 7.86745683e-01 -6.17270851e-01 -2.81530688e-03 -2.90383258e+02] [-3.57827105e-03 1.61279799e-07 -9.99993598e-01 -8.06529508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.270385723 meters 0.014046972014955363 Centerline is valid? [True, True] Translation: X:-119.41, Y:-290.39, Z:-8.06 [[ 5.52229063e-01 8.33688858e-01 -2.43930874e-03 -1.19410795e+02] [ 8.33680785e-01 -5.52234450e-01 -3.66896671e-03 -2.90392289e+02] [-4.40584699e-03 -7.49477230e-06 -9.99990294e-01 -8.06421525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.300385723 meters 0.014006986454106005 Centerline is valid? [True, True] Translation: X:-119.40, Y:-290.40, Z:-8.06 [[ 4.84954471e-01 8.74536610e-01 -2.20891619e-03 -1.19396600e+02] [ 8.74527625e-01 -4.84959502e-01 -3.96417546e-03 -2.90399263e+02] [-4.53805146e-03 -9.31361110e-06 -9.99989703e-01 -8.06423680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.330385723 meters 0.013968907100172507 Centerline is valid? [True, True] Translation: X:-119.38, Y:-290.41, Z:-8.06 [[ 4.14867458e-01 9.09879397e-01 -2.11559353e-03 -1.19383777e+02] [ 9.09867701e-01 -4.14872852e-01 -4.61334933e-03 -2.90405505e+02] [-5.07529383e-03 -1.09817124e-05 -9.99987121e-01 -8.06371351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.360385723 meters 0.013901546235701017 Centerline is valid? [True, True] Translation: X:-119.37, Y:-290.41, Z:-8.06 [[ 3.43113589e-01 9.39292500e-01 -1.63236379e-03 -1.19368476e+02] [ 9.39281961e-01 -3.43117472e-01 -4.44949812e-03 -2.90409733e+02] [-4.73947275e-03 -6.56659439e-06 -9.99988769e-01 -8.06472843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.390385723 meters 0.013808192569655493 Centerline is valid? [True, True] Translation: X:-119.35, Y:-290.41, Z:-8.06 [[ 2.69027480e-01 9.63131620e-01 -1.30275903e-03 -1.19354862e+02] [ 9.63120402e-01 -2.69030634e-01 -4.64856209e-03 -2.90413158e+02] [-4.82765922e-03 -4.12285309e-06 -9.99988347e-01 -8.06464261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.420385723 meters 0.013811638440921738 Centerline is valid? [True, True] Translation: X:-119.34, Y:-290.41, Z:-8.06 [[ 1.94104641e-01 9.80980376e-01 -9.43412373e-04 -1.19342680e+02] [ 9.80968729e-01 -1.94106933e-01 -4.78024011e-03 -2.90414158e+02] [-4.87244463e-03 2.40875188e-06 -9.99988130e-01 -8.06456804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.450385723 meters 0.013771859250480654 Centerline is valid? [True, True] Translation: X:-119.33, Y:-290.41, Z:-8.06 [[ 1.17675030e-01 9.93051983e-01 -5.88941316e-04 -1.19331700e+02] [ 9.93039222e-01 -1.17676504e-01 -5.03422311e-03 -2.90414491e+02] [-5.06854980e-03 7.56052990e-06 -9.99987155e-01 -8.06471100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.480385723 meters 0.013711818792294316 Centerline is valid? [True, True] Translation: X:-119.32, Y:-290.41, Z:-8.06 [[ 4.03107087e-02 9.99187174e-01 -1.94815706e-04 -1.19319477e+02] [ 9.99174064e-01 -4.03111778e-02 -5.11841082e-03 -2.90413924e+02] [-5.12210370e-03 1.16719667e-05 -9.99986882e-01 -8.06462652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.510385723 meters 0.013800536483192561 Centerline is valid? [True, True] Translation: X:-119.31, Y:-290.41, Z:-8.06 [[-3.71161745e-02 9.99310932e-01 2.24941000e-04 -1.19307691e+02] [ 9.99295406e-01 3.71168518e-02 -5.57055286e-03 -2.90413589e+02] [-5.57506348e-03 1.80248960e-05 -9.99984459e-01 -8.06411980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.540385723 meters 0.013753209417994293 Centerline is valid? [True, True] Translation: X:-119.30, Y:-290.41, Z:-8.06 [[-1.15724980e-01 9.93280973e-01 7.98936366e-04 -1.19296175e+02] [ 9.93258415e-01 1.15727736e-01 -6.69422902e-03 -2.90411262e+02] [-6.74170941e-03 1.88607500e-05 -9.99977274e-01 -8.06293203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.570385723 meters 0.013579374699206769 Centerline is valid? [True, True] Translation: X:-119.28, Y:-290.41, Z:-8.06 [[-1.94013070e-01 9.80998026e-01 1.34251659e-03 -1.19281842e+02] [ 9.80975022e-01 1.94017714e-01 -6.71808791e-03 -2.90407809e+02] [-6.85090298e-03 1.35783826e-05 -9.99976532e-01 -8.06301773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6003857229999 meters 0.013579374699206769 Centerline is valid? [True, True] Translation: X:-119.27, Y:-290.40, Z:-8.06 [[-2.70224038e-01 9.62795666e-01 1.86438560e-03 -1.19268541e+02] [ 9.62773097e-01 2.70230469e-01 -6.59229343e-03 -2.90403468e+02] [-6.85084534e-03 1.35841505e-05 -9.99976533e-01 -8.06301824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.630385723 meters 0.013611906860894384 Centerline is valid? [True, True] Translation: X:-119.26, Y:-290.40, Z:-8.06 [[-3.45549723e-01 9.38397139e-01 2.48976861e-03 -1.19256228e+02] [ 9.38372961e-01 3.45558692e-01 -6.73618246e-03 -2.90397784e+02] [-7.18157553e-03 8.64555906e-06 -9.99974212e-01 -8.06292850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.660385723 meters 0.013482056789027938 Centerline is valid? [True, True] Translation: X:-119.24, Y:-290.39, Z:-8.06 [[-4.19733066e-01 9.07642662e-01 2.99196069e-03 -1.19243069e+02] [ 9.07619512e-01 4.19743730e-01 -6.48255906e-03 -2.90390078e+02] [-7.13970389e-03 -5.38249269e-06 -9.99974512e-01 -8.06333273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.690385723 meters 0.013539258457576447 Centerline is valid? [True, True] Translation: X:-119.23, Y:-290.38, Z:-8.06 [[-4.90529394e-01 8.71417456e-01 3.54006345e-03 -1.19230867e+02] [ 8.71394563e-01 4.90542167e-01 -6.31646227e-03 -2.90382673e+02] [-7.24082588e-03 -1.36183673e-05 -9.99973785e-01 -8.06255974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7203857229999 meters 0.013518682364842825 Centerline is valid? [True, True] Translation: X:-119.22, Y:-290.38, Z:-8.06 [[-5.58460829e-01 8.29520630e-01 4.12628093e-03 -1.19222614e+02] [ 8.29497665e-01 5.58476072e-01 -6.17251202e-03 -2.90375797e+02] [-7.42465523e-03 -2.43657833e-05 -9.99972437e-01 -8.06247852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.750385723 meters 0.013486286275517033 Centerline is valid? [True, True] Translation: X:-119.21, Y:-290.37, Z:-8.06 [[-6.22383682e-01 7.82699762e-01 4.43119684e-03 -1.19213747e+02] [ 7.82679587e-01 6.22399455e-01 -5.61986568e-03 -2.90367038e+02] [-7.15664202e-03 -2.95053818e-05 -9.99974391e-01 -8.06323068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.780385723 meters 0.013564505562247944 Centerline is valid? [True, True] Translation: X:-119.21, Y:-290.36, Z:-8.06 [[-6.82311200e-01 7.31047051e-01 4.65137688e-03 -1.19205456e+02] [ 7.31029730e-01 6.82327054e-01 -5.03239740e-03 -2.90358138e+02] [-6.85267956e-03 -3.33663253e-05 -9.99976520e-01 -8.06350287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.810385723 meters 0.01354398778331986 Centerline is valid? [True, True] Translation: X:-119.20, Y:-290.35, Z:-8.06 [[-7.38315372e-01 6.74442398e-01 4.22654314e-03 -1.19198115e+02] [ 6.74431071e-01 7.38327469e-01 -3.90888842e-03 -2.90350246e+02] [-5.75689298e-03 -3.54803939e-05 -9.99983428e-01 -8.06438308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8403857229999 meters 0.013622748403747081 Centerline is valid? [True, True] Translation: X:-118.78, Y:-289.89, Z:-9.01 [[-6.82336854e-01 -7.31029374e-01 3.53162198e-03 -1.18779493e+02] [ 7.31019562e-01 -6.82345993e-01 -3.78762911e-03 -2.89893134e+02] [ 5.17865625e-03 -2.75417555e-06 9.99986591e-01 -9.00587853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.870385723 meters 0.013627394268743018 Centerline is valid? [True, True] Translation: X:-118.80, Y:-289.87, Z:-9.01 [[-6.82383605e-01 -7.30988047e-01 3.01523997e-03 -1.18796580e+02] [ 7.30981098e-01 -6.82390266e-01 -3.18749665e-03 -2.89872454e+02] [ 4.38759236e-03 2.89879697e-05 9.99990374e-01 -9.00508578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.900385723 meters 0.013418001574035013 Centerline is valid? [True, True] Translation: X:-118.81, Y:-289.85, Z:-9.00 [[-6.82875247e-01 -7.30529788e-01 2.76169325e-03 -1.18814507e+02] [ 7.30523962e-01 -6.82880831e-01 -2.91767261e-03 -2.89851740e+02] [ 4.01735413e-03 2.50766915e-05 9.99991930e-01 -9.00475979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.930385723 meters 0.013483957747614697 Centerline is valid? [True, True] Translation: X:-118.83, Y:-289.83, Z:-9.00 [[-6.83207185e-01 -7.30220036e-01 2.57692288e-03 -1.18832385e+02] [ 7.30214968e-01 -6.83212045e-01 -2.72080809e-03 -2.89831210e+02] [ 3.74737333e-03 2.28320183e-05 9.99992978e-01 -9.00464311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.960385723 meters 0.013470992343240739 Centerline is valid? [True, True] Translation: X:-118.85, Y:-289.81, Z:-9.00 [[-6.83967813e-01 -7.29508138e-01 2.43042931e-03 -1.18849972e+02] [ 7.29503630e-01 -6.83972131e-01 -2.56471074e-03 -2.89808743e+02] [ 3.53332327e-03 1.88274136e-05 9.99993758e-01 -9.00483809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.990385723 meters 0.01555187296010217 Centerline is valid? [True, True] Translation: X:-118.87, Y:-289.79, Z:-9.01 [[-6.84794667e-01 -7.28729015e-01 3.20717380e-03 -1.18867894e+02] [ 7.28721165e-01 -6.84802177e-01 -3.38250096e-03 -2.89786745e+02] [ 4.66120619e-03 2.08168115e-05 9.99989136e-01 -9.00676063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.020385723 meters 0.013362240356450068 Centerline is valid? [True, True] Translation: X:-118.88, Y:-289.76, Z:-9.01 [[-6.85132954e-01 -7.28410391e-01 3.33742618e-03 -1.18884181e+02] [ 7.28401896e-01 -6.85141082e-01 -3.51782144e-03 -2.89764661e+02] [ 4.84902547e-03 2.08121640e-05 9.99988243e-01 -9.00562209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.050385723 meters 0.013429402677109913 Centerline is valid? [True, True] Translation: X:-118.90, Y:-289.74, Z:-9.01 [[-6.85519772e-01 -7.28045323e-01 3.55657850e-03 -1.18901802e+02] [ 7.28035684e-01 -6.85528998e-01 -3.74651355e-03 -2.89743969e+02] [ 5.16576937e-03 2.10069446e-05 9.99986657e-01 -9.00631960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.080385723 meters 0.01340025271192496 Centerline is valid? [True, True] Translation: X:-118.92, Y:-289.72, Z:-9.01 [[-6.85978188e-01 -7.27610398e-01 4.12744505e-03 -1.18919055e+02] [ 7.27597422e-01 -6.85990604e-01 -4.34548636e-03 -2.89721314e+02] [ 5.99320958e-03 2.22095188e-05 9.99982040e-01 -9.00714786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.110385723 meters 0.013352448498279282 Centerline is valid? [True, True] Translation: X:-118.94, Y:-289.70, Z:-9.01 [[-6.86345374e-01 -7.27263418e-01 4.23663339e-03 -1.18936832e+02] [ 7.27249757e-01 -6.86358449e-01 -4.45770871e-03 -2.89700762e+02] [ 6.14977759e-03 2.15628542e-05 9.99981090e-01 -9.00765229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.140385723 meters 0.013407102537772506 Centerline is valid? [True, True] Translation: X:-118.95, Y:-289.68, Z:-9.01 [[-6.86765675e-01 -7.26864369e-01 4.59314411e-03 -1.18954256e+02] [ 7.26848322e-01 -6.86781035e-01 -4.82986101e-03 -2.89680180e+02] [ 6.66513814e-03 2.15363310e-05 9.99977788e-01 -9.00827395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.170385723 meters 0.013282357596930137 Centerline is valid? [True, True] Translation: X:-118.97, Y:-289.66, Z:-9.01 [[-6.87852917e-01 -7.25836238e-01 4.48556238e-03 -1.18970054e+02] [ 7.25820930e-01 -6.87867542e-01 -4.71406692e-03 -2.89656218e+02] [ 6.50711336e-03 1.31303754e-05 9.99978829e-01 -9.00753654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.200385723 meters 0.01339055618578209 Centerline is valid? [True, True] Translation: X:-118.99, Y:-289.63, Z:-9.01 [[-6.88646272e-01 -7.25085002e-01 4.24873690e-03 -1.18987153e+02] [ 7.25071270e-01 -6.88659378e-01 -4.46251542e-03 -2.89634537e+02] [ 6.16163551e-03 7.54245171e-06 9.99981017e-01 -9.00734966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.230385723 meters 0.013425337689115633 Centerline is valid? [True, True] Translation: X:-119.00, Y:-289.61, Z:-9.01 [[-6.89573999e-01 -7.24206539e-01 3.54811063e-03 -1.19003375e+02] [ 7.24196962e-01 -6.89583127e-01 -3.72454294e-03 -2.89611806e+02] [ 5.14405557e-03 1.18297409e-06 9.99986769e-01 -9.00676023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.260385723 meters 0.013394184721157222 Centerline is valid? [True, True] Translation: X:-119.02, Y:-289.59, Z:-9.01 [[-6.89958561e-01 -7.23842305e-01 3.08238524e-03 -1.19021915e+02] [ 7.23835081e-01 -6.89965447e-01 -3.23384258e-03 -2.89590376e+02] [ 4.46753137e-03 -7.88040343e-08 9.99990021e-01 -9.00668235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.290385723 meters 0.013490909301124794 Centerline is valid? [True, True] Translation: X:-119.04, Y:-289.57, Z:-9.01 [[-6.90085742e-01 -7.23721332e-01 3.01700129e-03 -1.19040685e+02] [ 7.23714418e-01 -6.90092337e-01 -3.16348157e-03 -2.89569143e+02] [ 4.37148856e-03 3.73806325e-07 9.99990445e-01 -9.00682497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.320385723 meters 0.013551372285992746 Centerline is valid? [True, True] Translation: X:-119.06, Y:-289.55, Z:-9.01 [[-6.89083560e-01 -7.24672384e-01 3.71255448e-03 -1.19058131e+02] [ 7.24661941e-01 -6.89093561e-01 -3.89052207e-03 -2.89548555e+02] [ 5.37765129e-03 9.45213999e-06 9.99985540e-01 -9.00765217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3503857229999 meters 0.01384534336852616 Centerline is valid? [True, True] Translation: X:-119.07, Y:-289.53, Z:-9.01 [[-6.87866146e-01 -7.25822947e-01 4.60602092e-03 -1.19074885e+02] [ 7.25806918e-01 -6.87881566e-01 -4.82368366e-03 -2.89528871e+02] [ 6.66953718e-03 2.50331600e-05 9.99977758e-01 -9.00978229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.380385723 meters 0.013753842124307145 Centerline is valid? [True, True] Translation: X:-119.09, Y:-289.51, Z:-9.01 [[-6.87594927e-01 -7.26078788e-01 4.77592806e-03 -1.19091892e+02] [ 7.26061583e-01 -6.87611513e-01 -4.99855307e-03 -2.89507908e+02] [ 6.91332648e-03 3.06381533e-05 9.99976102e-01 -9.00834373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.410385723 meters 0.013714665627229967 Centerline is valid? [True, True] Translation: X:-119.11, Y:-289.49, Z:-9.01 [[-6.87525002e-01 -7.26142968e-01 5.07559910e-03 -1.19109685e+02] [ 7.26123562e-01 -6.87543735e-01 -5.30891061e-03 -2.89487477e+02] [ 7.34472448e-03 3.55033231e-05 9.99973027e-01 -9.00829353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.440385723 meters 0.013839373393558403 Centerline is valid? [True, True] Translation: X:-119.13, Y:-289.47, Z:-9.01 [[-6.87556162e-01 -7.26112079e-01 5.26994853e-03 -1.19127538e+02] [ 7.26091180e-01 -6.87576358e-01 -5.50912429e-03 -2.89465285e+02] [ 7.62373371e-03 3.86307921e-05 9.99970938e-01 -9.00853655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4703857229999 meters 0.013815550192048522 Centerline is valid? [True, True] Translation: X:-119.15, Y:-289.44, Z:-9.01 [[-6.88089084e-01 -7.25607937e-01 5.15109760e-03 -1.19146306e+02] [ 7.25587979e-01 -6.88108364e-01 -5.38190102e-03 -2.89443842e+02] [ 7.44966343e-03 3.43471553e-05 9.99972250e-01 -9.00925438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.500385723 meters 0.013791815483041607 Centerline is valid? [True, True] Translation: X:-119.16, Y:-289.42, Z:-9.01 [[-6.88554358e-01 -7.25160866e-01 5.88334767e-03 -1.19163727e+02] [ 7.25134843e-01 -6.88579492e-01 -6.14353153e-03 -2.89421163e+02] [ 8.50620119e-03 3.60649807e-05 9.99963821e-01 -9.01026844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.530385723 meters 0.013899801927031441 Centerline is valid? [True, True] Translation: X:-119.18, Y:-289.40, Z:-9.01 [[-6.88921907e-01 -7.24810921e-01 5.97781946e-03 -1.19181156e+02] [ 7.24784074e-01 -6.88947841e-01 -6.23852097e-03 -2.89400969e+02] [ 8.64015394e-03 3.47745788e-05 9.99962673e-01 -9.01164867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.560385723 meters 0.013886899224435858 Centerline is valid? [True, True] Translation: X:-119.20, Y:-289.38, Z:-9.01 [[-6.89426945e-01 -7.24326208e-01 6.48327173e-03 -1.19198192e+02] [ 7.24294646e-01 -6.89457427e-01 -6.76184297e-03 -2.89379924e+02] [ 9.36771992e-03 3.40022607e-05 9.99956121e-01 -9.01137513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5903857229999 meters 0.013904965460854854 Centerline is valid? [True, True] Translation: X:-119.21, Y:-289.36, Z:-9.01 [[-6.90159820e-01 -7.23626654e-01 6.62482711e-03 -1.19213299e+02] [ 7.23593709e-01 -6.90191615e-01 -6.90501739e-03 -2.89358177e+02] [ 9.56905475e-03 2.81176583e-05 9.99954215e-01 -9.01178422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.620385723 meters 0.01387191448712768 Centerline is valid? [True, True] Translation: X:-119.23, Y:-289.34, Z:-9.01 [[-6.91257207e-01 -7.22580639e-01 6.37920850e-03 -1.19229177e+02] [ 7.22550084e-01 -6.91286641e-01 -6.64497980e-03 -2.89336094e+02] [ 9.21139537e-03 1.59074655e-05 9.99957574e-01 -9.01047740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.650385723 meters 0.01378183715761035 Centerline is valid? [True, True] Translation: X:-119.25, Y:-289.32, Z:-9.01 [[-6.91409079e-01 -7.22436854e-01 6.20299335e-03 -1.19247036e+02] [ 7.22407994e-01 -6.91436904e-01 -6.45750778e-03 -2.89315399e+02] [ 8.95412013e-03 1.63124711e-05 9.99959911e-01 -9.01028276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.680385723 meters 0.013836810372336425 Centerline is valid? [True, True] Translation: X:-119.26, Y:-289.29, Z:-9.01 [[-6.91655166e-01 -7.22200824e-01 6.25311320e-03 -1.19264567e+02] [ 7.22171521e-01 -6.91683432e-01 -6.50573982e-03 -2.89294812e+02] [ 9.02362546e-03 1.60917139e-05 9.99959286e-01 -9.01009531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.710385723 meters 0.013796356204329018 Centerline is valid? [True, True] Translation: X:-119.28, Y:-289.27, Z:-9.01 [[-6.91794202e-01 -7.22065216e-01 6.52729608e-03 -1.19282198e+02] [ 7.22033320e-01 -6.91824995e-01 -6.78687474e-03 -2.89274025e+02] [ 9.41631276e-03 1.78046671e-05 9.99955665e-01 -9.01019493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.740385723 meters 0.013854794732525377 Centerline is valid? [True, True] Translation: X:-119.30, Y:-289.25, Z:-9.01 [[-6.91915797e-01 -7.21940633e-01 7.36562967e-03 -1.19299246e+02] [ 7.21900059e-01 -6.91955000e-01 -7.65388401e-03 -2.89252187e+02] [ 1.06223341e-02 2.14052367e-05 9.99943581e-01 -9.01084533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.770385723 meters 0.013786115313684498 Centerline is valid? [True, True] Translation: X:-119.32, Y:-289.23, Z:-9.01 [[-6.92060032e-01 -7.21803127e-01 7.29093352e-03 -1.19316320e+02] [ 7.21763414e-01 -6.92098436e-01 -7.57159875e-03 -2.89231072e+02] [ 1.05112473e-02 2.23281997e-05 9.99944755e-01 -9.01089243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.800385723 meters 0.013776984850436822 Centerline is valid? [True, True] Translation: X:-119.33, Y:-289.21, Z:-9.01 [[-6.92526676e-01 -7.21356893e-01 7.14404014e-03 -1.19334263e+02] [ 7.21318787e-01 -6.92563523e-01 -7.41451962e-03 -2.89210688e+02] [ 1.02962164e-02 1.83777368e-05 9.99946992e-01 -9.01033081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.830385723 meters 0.013737079191420672 Centerline is valid? [True, True] Translation: X:-119.35, Y:-289.19, Z:-9.01 [[-6.93074202e-01 -7.20833740e-01 6.84613912e-03 -1.19353014e+02] [ 7.20798759e-01 -6.93108014e-01 -7.10140639e-03 -2.89189131e+02] [ 9.86404722e-03 1.28870171e-05 9.99951349e-01 -9.00957481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.860385723 meters 0.013709688695601447 Centerline is valid? [True, True] Translation: X:-119.37, Y:-289.17, Z:-9.01 [[-6.93784227e-01 -7.20153660e-01 6.49248638e-03 -1.19369291e+02] [ 7.20122201e-01 -6.93814605e-01 -6.73132872e-03 -2.89168184e+02] [ 9.35217289e-03 5.29389066e-06 9.99956268e-01 -9.00968592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.890385723 meters 0.013736885014147087 Centerline is valid? [True, True] Translation: X:-119.39, Y:-289.15, Z:-9.01 [[-6.94404612e-01 -7.19555651e-01 6.47302419e-03 -1.19387299e+02] [ 7.19524392e-01 -6.94434782e-01 -6.70700874e-03 -2.89147244e+02] [ 9.32115918e-03 1.20985883e-07 9.99956557e-01 -9.00917077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.920385723 meters 0.014218244084521475 Centerline is valid? [True, True] Translation: X:-119.40, Y:-289.13, Z:-9.01 [[-6.95745119e-01 -7.18254643e-01 6.99990061e-03 -1.19402443e+02] [ 7.18218057e-01 -6.95780330e-01 -7.24946266e-03 -2.89125858e+02] [ 1.00773534e-02 -1.63232476e-05 9.99949222e-01 -9.01060580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.950385723 meters 0.013870091257920087 Centerline is valid? [True, True] Translation: X:-119.42, Y:-289.11, Z:-9.01 [[-6.96531547e-01 -7.17494358e-01 6.75652036e-03 -1.19420201e+02] [ 7.17460277e-01 -6.96564316e-01 -6.99314059e-03 -2.89105080e+02] [ 9.72388990e-03 -2.34080596e-05 9.99952722e-01 -9.01000296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.980385723 meters 0.013822613799731242 Centerline is valid? [True, True] Translation: X:-119.44, Y:-289.08, Z:-9.01 [[-6.98108126e-01 -7.15959099e-01 6.90016359e-03 -1.19436600e+02] [ 7.15923523e-01 -6.98142225e-01 -7.13740182e-03 -2.89082375e+02] [ 9.92738334e-03 -4.26887855e-05 9.99950722e-01 -9.00949756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.010385723 meters 0.014041187236081377 Centerline is valid? [True, True] Translation: X:-119.45, Y:-289.06, Z:-9.01 [[-6.98890982e-01 -7.15195913e-01 6.79718154e-03 -1.19453425e+02] [ 7.15161399e-01 -6.98924033e-01 -7.02633386e-03 -2.89062008e+02] [ 9.77591879e-03 -4.95595075e-05 9.99952213e-01 -9.01007718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.040385723 meters 0.013984871387730852 Centerline is valid? [True, True] Translation: X:-119.47, Y:-289.04, Z:-9.01 [[-6.99133386e-01 -7.14957147e-01 6.98482038e-03 -1.19471982e+02] [ 7.14920733e-01 -6.99168274e-01 -7.21589944e-03 -2.89042153e+02] [ 1.00426237e-02 -5.12832980e-05 9.99949570e-01 -9.00981072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.070385723 meters 0.01387796634969074 Centerline is valid? [True, True] Translation: X:-119.49, Y:-289.02, Z:-9.01 [[-6.98551971e-01 -7.15531538e-01 6.30567683e-03 -1.19491664e+02] [ 7.15501923e-01 -6.98580429e-01 -6.51012788e-03 -2.89023990e+02] [ 9.06322424e-03 -3.59387637e-05 9.99958928e-01 -9.00968451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1003857229999 meters 0.013824640456532184 Centerline is valid? [True, True] Translation: X:-119.51, Y:-289.01, Z:-9.01 [[-6.98476666e-01 -7.15604204e-01 6.40077489e-03 -1.19510896e+02] [ 7.15573729e-01 -6.98505993e-01 -6.60425473e-03 -2.89005225e+02] [ 9.19701207e-03 -3.26914740e-05 9.99957706e-01 -9.00916896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.130385723 meters 0.013818241456514233 Centerline is valid? [True, True] Translation: X:-119.53, Y:-288.99, Z:-9.01 [[-6.98823129e-01 -7.15270809e-01 5.82269211e-03 -1.19529879e+02] [ 7.15245608e-01 -6.98847386e-01 -6.00427992e-03 -2.88985940e+02] [ 8.36385932e-03 -3.12747235e-05 9.99965022e-01 -9.00915458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.160385723 meters 0.013730762132362807 Centerline is valid? [True, True] Translation: X:-119.55, Y:-288.97, Z:-9.01 [[-6.99484237e-01 -7.14625759e-01 5.64144739e-03 -1.19549468e+02] [ 7.14602109e-01 -6.99506985e-01 -5.81404367e-03 -2.88966436e+02] [ 8.10109723e-03 -3.54416972e-05 9.99967185e-01 -9.00867671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.190385723 meters 0.013979463772580582 Centerline is valid? [True, True] Translation: X:-119.57, Y:-288.95, Z:-9.01 [[-7.00010428e-01 -7.14109618e-01 5.73191792e-03 -1.19567858e+02] [ 7.14085214e-01 -7.00033894e-01 -5.90376729e-03 -2.88946743e+02] [ 8.22847382e-03 -3.96208309e-05 9.99966145e-01 -9.01045843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2203857229999 meters 0.013980033203422426 Centerline is valid? [True, True] Translation: X:-119.59, Y:-288.93, Z:-9.01 [[-7.01173029e-01 -7.12968807e-01 5.64489052e-03 -1.19587265e+02] [ 7.12945130e-01 -7.01195749e-01 -5.81064131e-03 -2.88928035e+02] [ 8.10097924e-03 -4.97677557e-05 9.99967185e-01 -9.01064565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.250385723 meters 0.013938940433905573 Centerline is valid? [True, True] Translation: X:-119.61, Y:-288.91, Z:-9.01 [[-7.01992068e-01 -7.12162854e-01 5.58621693e-03 -1.19607490e+02] [ 7.12139667e-01 -7.02014292e-01 -5.74705842e-03 -2.88908150e+02] [ 8.01444565e-03 -5.62227655e-05 9.99967882e-01 -9.01012880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.280385723 meters 0.0141565513873492 Centerline is valid? [True, True] Translation: X:-119.63, Y:-288.89, Z:-9.01 [[-7.03089150e-01 -7.11081312e-01 5.38660310e-03 -1.19627801e+02] [ 7.11059744e-01 -7.03109781e-01 -5.53861603e-03 -2.88888528e+02] [ 7.72577968e-03 -6.39442158e-05 9.99970154e-01 -9.01028738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.310385723 meters 0.014216584519524367 Centerline is valid? [True, True] Translation: X:-119.65, Y:-288.87, Z:-9.01 [[-7.03600556e-01 -7.10575998e-01 5.29239016e-03 -1.19646240e+02] [ 7.10555191e-01 -7.03620457e-01 -5.43816478e-03 -2.88870445e+02] [ 7.58806334e-03 -6.57604631e-05 9.99971208e-01 -9.01044108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3403857229999 meters 0.014210897895418443 Centerline is valid? [True, True] Translation: X:-119.67, Y:-288.85, Z:-9.01 [[-7.04225010e-01 -7.09960039e-01 4.88647811e-03 -1.19666224e+02] [ 7.09942309e-01 -7.04241960e-01 -5.01796970e-03 -2.88851580e+02] [ 7.00382089e-03 -6.46622148e-05 9.99975471e-01 -9.01054214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.370385723 meters 0.014326511647023102 Centerline is valid? [True, True] Translation: X:-119.69, Y:-288.83, Z:-9.01 [[-7.05336660e-01 -7.08860182e-01 4.17586866e-03 -1.19686673e+02] [ 7.08847228e-01 -7.05349019e-01 -4.28587854e-03 -2.88832920e+02] [ 5.98353350e-03 -6.29343335e-05 9.99982097e-01 -9.01067819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.400385723 meters 0.014843526929790253 Centerline is valid? [True, True] Translation: X:-119.70, Y:-288.81, Z:-9.01 [[-7.06818901e-01 -7.07387910e-01 3.06379243e-03 -1.19704363e+02] [ 7.07380932e-01 -7.06825539e-01 -3.14246533e-03 -2.88813221e+02] [ 4.38850872e-03 -5.38855415e-05 9.99990369e-01 -9.01020053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.430385723 meters 0.014599023346046352 Centerline is valid? [True, True] Translation: X:-119.72, Y:-288.79, Z:-9.01 [[-7.07568899e-01 -7.06637041e-01 3.21635936e-03 -1.19724904e+02] [ 7.06629352e-01 -7.07576207e-01 -3.29712382e-03 -2.88793841e+02] [ 4.60568918e-03 -6.01683455e-05 9.99989392e-01 -9.00968163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.460385723 meters 0.014568108243352232 Centerline is valid? [True, True] Translation: X:-119.75, Y:-288.77, Z:-9.01 [[-7.07976438e-01 -7.06227849e-01 3.40413350e-03 -1.19745434e+02] [ 7.06219241e-01 -7.07984619e-01 -3.48765625e-03 -2.88773937e+02] [ 4.87315413e-03 -6.51138791e-05 9.99988124e-01 -9.01006499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.490385723 meters 0.014557188432610257 Centerline is valid? [True, True] Translation: X:-119.77, Y:-288.75, Z:-9.01 [[-7.08230235e-01 -7.05971789e-01 3.71046885e-03 -1.19765467e+02] [ 7.05961569e-01 -7.08239951e-01 -3.79938565e-03 -2.88754197e+02] [ 5.31016137e-03 -7.13913818e-05 9.99985899e-01 -9.01086280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.520385723 meters 0.014557188432610257 Centerline is valid? [True, True] Translation: X:-119.78, Y:-288.73, Z:-9.01 [[-7.08427210e-01 -7.05774123e-01 3.71152895e-03 -1.19784789e+02] [ 7.05763906e-01 -7.08436929e-01 -3.79835008e-03 -2.88734489e+02] [ 5.31016137e-03 -7.13913840e-05 9.99985899e-01 -9.01086324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.550385723 meters 0.014477533782031716 Centerline is valid? [True, True] Translation: X:-119.81, Y:-288.72, Z:-9.01 [[-7.08378273e-01 -7.05823978e-01 3.56863146e-03 -1.19805486e+02] [ 7.05814543e-01 -7.08387259e-01 -3.65008275e-03 -2.88715191e+02] [ 5.10428898e-03 -6.68473261e-05 9.99986971e-01 -9.01149008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.580385723 meters 0.01621692545488553 Centerline is valid? [True, True] Translation: X:-119.83, Y:-288.70, Z:-9.01 [[-7.08285744e-01 -7.05915116e-01 3.89280195e-03 -1.19825586e+02] [ 7.05903903e-01 -7.08296438e-01 -3.97931512e-03 -2.88696476e+02] [ 5.56631645e-03 -7.05480787e-05 9.99984506e-01 -9.01387535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.610385723 meters 0.014660509655853875 Centerline is valid? [True, True] Translation: X:-119.85, Y:-288.68, Z:-9.01 [[-7.07913333e-01 -7.06289008e-01 3.81454210e-03 -1.19845392e+02] [ 7.06278260e-01 -7.07923607e-01 -3.89694337e-03 -2.88677320e+02] [ 5.45277267e-03 -6.45700146e-05 9.99985132e-01 -9.01293761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.640385723 meters 0.014546665518577936 Centerline is valid? [True, True] Translation: X:-119.87, Y:-288.66, Z:-9.01 [[-7.07746694e-01 -7.06456039e-01 3.80548681e-03 -1.19865029e+02] [ 7.06445358e-01 -7.07756922e-01 -3.88530001e-03 -2.88658461e+02] [ 5.43815328e-03 -6.14397457e-05 9.99985211e-01 -9.01314260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.670385723 meters 0.014387225305124146 Centerline is valid? [True, True] Translation: X:-119.89, Y:-288.64, Z:-9.01 [[-7.06933747e-01 -7.07272096e-01 3.29534919e-03 -1.19885065e+02] [ 7.07264104e-01 -7.06941426e-01 -3.36261252e-03 -2.88638370e+02] [ 4.70790086e-03 -4.64620747e-05 9.99988917e-01 -9.01241879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.700385723 meters 0.0141775645373253 Centerline is valid? [True, True] Translation: X:-119.90, Y:-288.62, Z:-9.01 [[-7.05138994e-01 -7.09064917e-01 2.43768849e-03 -1.19904303e+02] [ 7.09060558e-01 -7.05143208e-01 -2.48624580e-03 -2.88620671e+02] [ 3.48182915e-03 -2.46800961e-05 9.99993938e-01 -9.01180194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.730385723 meters 0.01399817099709757 Centerline is valid? [True, True] Translation: X:-119.92, Y:-288.60, Z:-9.01 [[-7.04306001e-01 -7.09893867e-01 1.93761474e-03 -1.19924490e+02] [ 7.09891120e-01 -7.04308666e-01 -1.97498799e-03 -2.88602545e+02] [ 2.76671071e-03 -1.55003988e-05 9.99996173e-01 -9.01173542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.760385723 meters 0.013896583655587831 Centerline is valid? [True, True] Translation: X:-119.94, Y:-288.58, Z:-9.01 [[-7.03455447e-01 -7.10737480e-01 1.63360661e-03 -1.19944254e+02] [ 7.10735532e-01 -7.03457344e-01 -1.66409119e-03 -2.88583990e+02] [ 2.33190454e-03 -9.55174990e-06 9.99997281e-01 -9.01191515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.790385723 meters 0.013843326837289954 Centerline is valid? [True, True] Translation: X:-119.96, Y:-288.57, Z:-9.01 [[-7.01877182e-01 -7.12296012e-01 1.67710406e-03 -1.19964619e+02] [ 7.12293966e-01 -7.01879185e-01 -1.70735150e-03 -2.88565572e+02] [ 2.39326410e-03 -3.75995821e-06 9.99997136e-01 -9.01208710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.820385723 meters 0.013799968103960624 Centerline is valid? [True, True] Translation: X:-119.98, Y:-288.55, Z:-9.01 [[-7.01404583e-01 -7.12761452e-01 1.65031081e-03 -1.19983072e+02] [ 7.12759474e-01 -7.01406525e-01 -1.67899181e-03 -2.88547376e+02] [ 2.35425941e-03 -1.37788366e-06 9.99997229e-01 -9.01209623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8503857229999 meters 0.013800111449044463 Centerline is valid? [True, True] Translation: X:-120.00, Y:-288.53, Z:-9.01 [[-7.00913548e-01 -7.13244971e-01 1.34488764e-03 -1.20002424e+02] [ 7.13243661e-01 -7.00914839e-01 -1.36749552e-03 -2.88527522e+02] [ 1.91801101e-03 7.36449024e-07 9.99998161e-01 -9.01193018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.880385723 meters 0.013765649609815064 Centerline is valid? [True, True] Translation: X:-120.02, Y:-288.51, Z:-9.01 [[-7.01040182e-01 -7.13119830e-01 1.66489876e-03 -1.20021784e+02] [ 7.13117822e-01 -7.01042159e-01 -1.69195274e-03 -2.88507183e+02] [ 2.37372928e-03 1.14212191e-06 9.99997183e-01 -9.01217501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.910385723 meters 0.01377149856922683 Centerline is valid? [True, True] Translation: X:-120.04, Y:-288.49, Z:-9.01 [[-7.01394617e-01 -7.12771230e-01 1.66253170e-03 -1.20040807e+02] [ 7.12769230e-01 -7.01396588e-01 -1.68850278e-03 -2.88487354e+02] [ 2.36961027e-03 6.94678469e-07 9.99997193e-01 -9.01235338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.940385723 meters 0.013808104999678453 Centerline is valid? [True, True] Translation: X:-120.06, Y:-288.47, Z:-9.01 [[-7.02440756e-01 -7.11739904e-01 1.81492328e-03 -1.20059905e+02] [ 7.11737520e-01 -7.02443100e-01 -1.84225538e-03 -2.88467267e+02] [ 2.58608701e-03 -2.32626565e-06 9.99996656e-01 -9.01325005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9703857229999 meters 0.016338900508712464 Centerline is valid? [True, True] Translation: X:-120.08, Y:-288.45, Z:-9.02 [[-7.03240072e-01 -7.10947420e-01 2.67727513e-03 -1.20079276e+02] [ 7.10942232e-01 -7.03245168e-01 -2.71610366e-03 -2.88447065e+02] [ 3.81378769e-03 -6.68497897e-06 9.99992728e-01 -9.01631513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.000385723 meters 0.013922133553010514 Centerline is valid? [True, True] Translation: X:-120.10, Y:-288.43, Z:-9.01 [[-7.03914957e-01 -7.10279340e-01 2.64433676e-03 -1.20096498e+02] [ 7.10274279e-01 -7.03919923e-01 -2.68140720e-03 -2.88427367e+02] [ 3.76594947e-03 -9.27824438e-06 9.99992909e-01 -9.01484895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.030385723 meters 0.01401163781173454 Centerline is valid? [True, True] Translation: X:-120.11, Y:-288.41, Z:-9.01 [[-7.04435548e-01 -7.09763830e-01 2.42154577e-03 -1.20114968e+02] [ 7.09759588e-01 -7.04439711e-01 -2.45397970e-03 -2.88407178e+02] [ 3.44757903e-03 -9.95520451e-06 9.99994057e-01 -9.01471539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.060385723 meters 0.014090921095416663 Centerline is valid? [True, True] Translation: X:-120.13, Y:-288.39, Z:-9.02 [[-7.05179155e-01 -7.09024615e-01 2.54051098e-03 -1.20132276e+02] [ 7.09019945e-01 -7.05183732e-01 -2.57331236e-03 -2.88386796e+02] [ 3.61606882e-03 -1.33732804e-05 9.99993462e-01 -9.01504813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0903857229999 meters 0.014159651432703691 Centerline is valid? [True, True] Translation: X:-120.15, Y:-288.37, Z:-9.02 [[-7.05826746e-01 -7.08379479e-01 2.66809920e-03 -1.20150811e+02] [ 7.08374330e-01 -7.05831789e-01 -2.70091545e-03 -2.88366631e+02] [ 3.79650231e-03 -1.63653813e-05 9.99992793e-01 -9.01528929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.120385723 meters 0.015461674244042704 Centerline is valid? [True, True] Translation: X:-120.17, Y:-288.35, Z:-9.02 [[-7.06391181e-01 -7.07815010e-01 3.06768494e-03 -1.20169523e+02] [ 7.07808206e-01 -7.06397842e-01 -3.10352443e-03 -2.88346725e+02] [ 4.36372720e-03 -2.09697160e-05 9.99990479e-01 -9.01680853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.150385723 meters 0.014276006238633567 Centerline is valid? [True, True] Translation: X:-120.19, Y:-288.33, Z:-9.02 [[-7.07056619e-01 -7.07152263e-01 2.57180414e-03 -1.20190057e+02] [ 7.07147482e-01 -7.07061296e-01 -2.60041264e-03 -2.88327037e+02] [ 3.65731085e-03 -1.99941473e-05 9.99993312e-01 -9.01611454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.180385723 meters 0.01420290429567486 Centerline is valid? [True, True] Translation: X:-120.21, Y:-288.31, Z:-9.02 [[-7.07541493e-01 -7.06667580e-01 2.44293699e-03 -1.20209835e+02] [ 7.06663268e-01 -7.07545710e-01 -2.46871771e-03 -2.88307176e+02] [ 3.47305235e-03 -2.03863774e-05 9.99993969e-01 -9.01586358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.210385723 meters 0.014382334882828656 Centerline is valid? [True, True] Translation: X:-120.23, Y:-288.29, Z:-9.02 [[-7.08168073e-01 -7.06038386e-01 2.78887325e-03 -1.20228273e+02] [ 7.06032768e-01 -7.08173564e-01 -2.81673272e-03 -2.88285790e+02] [ 3.96372773e-03 -2.56842824e-05 9.99992144e-01 -9.01562880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.240385723 meters 0.014578783400207185 Centerline is valid? [True, True] Translation: X:-120.25, Y:-288.27, Z:-9.02 [[-7.08649239e-01 -7.05555143e-01 2.86301028e-03 -1.20246479e+02] [ 7.05549223e-01 -7.08655022e-01 -2.89043412e-03 -2.88266061e+02] [ 4.06824727e-03 -2.83092643e-05 9.99991724e-01 -9.01554201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.270385723 meters 0.014718763020196654 Centerline is valid? [True, True] Translation: X:-120.27, Y:-288.25, Z:-9.02 [[-7.10058718e-01 -7.04137686e-01 2.59557515e-03 -1.20265442e+02] [ 7.04132816e-01 -7.10063461e-01 -2.61881080e-03 -2.88247016e+02] [ 3.68702645e-03 -3.18798012e-05 9.99993202e-01 -9.01568391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.300385723 meters 0.014854949702510667 Centerline is valid? [True, True] Translation: X:-120.28, Y:-288.23, Z:-9.02 [[-7.10778023e-01 -7.03411744e-01 2.55362172e-03 -1.20284763e+02] [ 7.03407032e-01 -7.10782609e-01 -2.57487974e-03 -2.88228147e+02] [ 3.62627056e-03 -3.39324574e-05 9.99993425e-01 -9.01564729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.330385723 meters 0.014862076985813879 Centerline is valid? [True, True] Translation: X:-120.31, Y:-288.21, Z:-9.02 [[-7.11431841e-01 -7.02751393e-01 2.28370582e-03 -1.20305805e+02] [ 7.02747625e-01 -7.11435506e-01 -2.30142793e-03 -2.88209440e+02] [ 3.24204109e-03 -3.24402687e-05 9.99994744e-01 -9.01524482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.360385723 meters 0.01482654594613176 Centerline is valid? [True, True] Translation: X:-120.33, Y:-288.19, Z:-9.02 [[-7.11404030e-01 -7.02779908e-01 2.16959076e-03 -1.20325560e+02] [ 7.02776511e-01 -7.11407338e-01 -2.18514181e-03 -2.88190344e+02] [ 3.07913655e-03 -2.97812654e-05 9.99995259e-01 -9.01519573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.390385723 meters 0.01472678209040156 Centerline is valid? [True, True] Translation: X:-120.35, Y:-288.17, Z:-9.01 [[-7.11187532e-01 -7.02999679e-01 1.93519998e-03 -1.20346090e+02] [ 7.02996981e-01 -7.11190165e-01 -1.94798941e-03 -2.88170838e+02] [ 2.74573112e-03 -2.49460333e-05 9.99996230e-01 -9.01473756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.420385723 meters 0.014717039433565277 Centerline is valid? [True, True] Translation: X:-120.37, Y:-288.15, Z:-9.01 [[-7.10601479e-01 -7.03592070e-01 1.93316352e-03 -1.20365401e+02] [ 7.03589381e-01 -7.10604109e-01 -1.94515145e-03 -2.88151988e+02] [ 2.74230707e-03 -2.20741708e-05 9.99996240e-01 -9.01355119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.450385723 meters 0.014686429361753807 Centerline is valid? [True, True] Translation: X:-120.39, Y:-288.13, Z:-9.01 [[-7.10337404e-01 -7.03856879e-01 2.50312363e-03 -1.20385252e+02] [ 7.03852379e-01 -7.10341814e-01 -2.51709336e-03 -2.88133612e+02] [ 3.54974686e-03 -2.61560434e-05 9.99993699e-01 -9.01401161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.480385723 meters 0.014573608040378222 Centerline is valid? [True, True] Translation: X:-120.41, Y:-288.12, Z:-9.02 [[-7.09698358e-01 -7.04498137e-01 3.25821477e-03 -1.20406305e+02] [ 7.04490529e-01 -7.09705836e-01 -3.27427312e-03 -2.88117146e+02] [ 4.61909335e-03 -2.83648064e-05 9.99989332e-01 -9.01612116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.510385723 meters 0.014496269015700456 Centerline is valid? [True, True] Translation: X:-120.43, Y:-288.10, Z:-9.02 [[-7.09268805e-01 -7.04928597e-01 3.66549598e-03 -1.20425599e+02] [ 7.04918982e-01 -7.09278276e-01 -3.68182824e-03 -2.88099644e+02] [ 5.19528269e-03 -2.75282235e-05 9.99986504e-01 -9.01678745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.540385723 meters 0.014458717823945737 Centerline is valid? [True, True] Translation: X:-120.45, Y:-288.08, Z:-9.02 [[-7.08750732e-01 -7.05449793e-01 3.60413656e-03 -1.20445583e+02] [ 7.05440516e-01 -7.08759895e-01 -3.61801773e-03 -2.88080683e+02] [ 5.10679731e-03 -2.17687613e-05 9.99986960e-01 -9.01657967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.570385723 meters 0.014326153119304108 Centerline is valid? [True, True] Translation: X:-120.47, Y:-288.06, Z:-9.02 [[-7.07759756e-01 -7.06445517e-01 3.29542330e-03 -1.20465756e+02] [ 7.06437781e-01 -7.07767428e-01 -3.30610578e-03 -2.88062434e+02] [ 4.66797688e-03 -1.19171000e-05 9.99989105e-01 -9.01507924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6003857229999 meters 0.014368978773263756 Centerline is valid? [True, True] Translation: X:-120.49, Y:-288.04, Z:-9.01 [[-7.07421211e-01 -7.06784374e-01 3.32847259e-03 -1.20485163e+02] [ 7.06776496e-01 -7.07429041e-01 -3.33723011e-03 -2.88043856e+02] [ 4.71336027e-03 -8.34116901e-06 9.99988892e-01 -9.01416709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.630385723 meters 0.014385387053496568 Centerline is valid? [True, True] Translation: X:-120.50, Y:-288.03, Z:-9.01 [[-7.07345372e-01 -7.06863675e-01 2.50394586e-03 -1.20504649e+02] [ 7.06859222e-01 -7.07349804e-01 -2.50892086e-03 -2.88026107e+02] [ 3.54463064e-03 -4.73633857e-06 9.99993718e-01 -9.01364436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.660385723 meters 0.014443677194130368 Centerline is valid? [True, True] Translation: X:-120.52, Y:-288.01, Z:-9.01 [[-7.07463339e-01 -7.06745764e-01 2.45955074e-03 -1.20524548e+02] [ 7.06741473e-01 -7.07467614e-01 -2.46294538e-03 -2.88007958e+02] [ 3.48072871e-03 -4.17704768e-06 9.99993942e-01 -9.01315813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.690385723 meters 0.01433522824326464 Centerline is valid? [True, True] Translation: X:-120.55, Y:-287.99, Z:-9.01 [[-7.07983899e-01 -7.06226784e-01 1.59034988e-03 -1.20545743e+02] [ 7.06224990e-01 -7.07985685e-01 -1.59165582e-03 -2.87989140e+02] [ 2.25001493e-03 -3.72186575e-06 9.99997469e-01 -9.01206665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7203857229999 meters 0.014362048117652551 Centerline is valid? [True, True] Translation: X:-120.57, Y:-287.97, Z:-9.01 [[-7.08540847e-01 -7.05668578e-01 1.31417522e-03 -1.20565838e+02] [ 7.05667353e-01 -7.08542066e-01 -1.31451879e-03 -2.87969430e+02] [ 1.85876303e-03 -4.01971183e-06 9.99998273e-01 -9.01169991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.750385723 meters 0.014486648317626794 Centerline is valid? [True, True] Translation: X:-120.59, Y:-287.95, Z:-9.01 [[-7.09125337e-01 -7.05081664e-01 1.05045108e-03 -1.20586077e+02] [ 7.05080882e-01 -7.09126115e-01 -1.05014162e-03 -2.87949311e+02] [ 1.48533790e-03 -4.02905449e-06 9.99998897e-01 -9.01131330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.780385723 meters 0.014500319655038717 Centerline is valid? [True, True] Translation: X:-120.60, Y:-287.98, Z:-9.01 [[-6.61608112e-01 -7.49849034e-01 1.06441395e-03 -1.20597864e+02] [ 7.49848042e-01 -6.61608968e-01 -1.21933654e-03 -2.87982526e+02] [ 1.61854415e-03 -8.57423270e-06 9.99998690e-01 -9.01110148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.810385723 meters 0.014632364048409193 Centerline is valid? [True, True] Translation: X:-120.62, Y:-287.96, Z:-9.01 [[-6.62618394e-01 -7.48955792e-01 1.44419951e-03 -1.20616209e+02] [ 7.48953971e-01 -6.62619968e-01 -1.65177488e-03 -2.87961357e+02] [ 2.19406179e-03 -1.28574604e-05 9.99997593e-01 -9.01133580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8403857229999 meters 0.014839739986175552 Centerline is valid? [True, True] Translation: X:-120.64, Y:-287.94, Z:-9.01 [[-6.64590539e-01 -7.47205257e-01 1.92870520e-03 -1.20635419e+02] [ 7.47202005e-01 -6.64593337e-01 -2.20469895e-03 -2.87941320e+02] [ 2.92916727e-03 -2.40896675e-05 9.99995710e-01 -9.01219674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.870385723 meters 0.014986606178204017 Centerline is valid? [True, True] Translation: X:-120.65, Y:-287.92, Z:-9.01 [[-6.65483031e-01 -7.46410995e-01 1.72116313e-03 -1.20652981e+02] [ 7.46408405e-01 -6.65485256e-01 -1.96616736e-03 -2.87922406e+02] [ 2.61297762e-03 -2.37603865e-05 9.99996586e-01 -9.01251219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.900385723 meters 0.015065839544067728 Centerline is valid? [True, True] Translation: X:-120.67, Y:-287.90, Z:-9.01 [[-6.66296506e-01 -7.45685208e-01 1.59275493e-03 -1.20671393e+02] [ 7.45682992e-01 -6.66298409e-01 -1.81836308e-03 -2.87902354e+02] [ 2.41717653e-03 -2.38787054e-05 9.99997078e-01 -9.01243972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.930385723 meters 0.015283269752440105 Centerline is valid? [True, True] Translation: X:-120.69, Y:-287.88, Z:-9.01 [[-6.67664339e-01 -7.44461008e-01 1.46246416e-03 -1.20690281e+02] [ 7.44459138e-01 -6.67665940e-01 -1.66859019e-03 -2.87882343e+02] [ 2.21863784e-03 -2.53133607e-05 9.99997539e-01 -9.01194669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.960385723 meters 0.015677938388035984 Centerline is valid? [True, True] Translation: X:-120.71, Y:-287.86, Z:-9.01 [[-6.69578063e-01 -7.42739086e-01 1.96667731e-03 -1.20710062e+02] [ 7.42735701e-01 -6.69580950e-01 -2.24263747e-03 -2.87862830e+02] [ 2.98254417e-03 -4.08994073e-05 9.99995551e-01 -9.01313691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.990385723 meters 0.015693880476713377 Centerline is valid? [True, True] Translation: X:-120.73, Y:-287.84, Z:-9.01 [[-6.70357843e-01 -7.42033952e-01 2.44479398e-03 -1.20729343e+02] [ 7.42028721e-01 -6.70362299e-01 -2.78671186e-03 -2.87843066e+02] [ 3.70673252e-03 -5.39867986e-05 9.99993129e-01 -9.01382259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.020385723 meters 0.018483999681916788 Centerline is valid? [True, True] Translation: X:-120.75, Y:-287.82, Z:-9.02 [[-6.71406276e-01 -7.41084008e-01 2.84713040e-03 -1.20746978e+02] [ 7.41076911e-01 -6.71412309e-01 -3.24400818e-03 -2.87823118e+02] [ 4.31568098e-03 -6.81048426e-05 9.99990685e-01 -9.01705842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.050385723 meters 0.01622383968960558 Centerline is valid? [True, True] Translation: X:-120.77, Y:-287.80, Z:-9.01 [[-6.72711394e-01 -7.39900660e-01 2.52845956e-03 -1.20768071e+02] [ 7.39895061e-01 -6.72716143e-01 -2.87933341e-03 -2.87804151e+02] [ 3.83135625e-03 -6.61656530e-05 9.99992658e-01 -9.01486997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.080385723 meters 0.016472376963784407 Centerline is valid? [True, True] Translation: X:-120.79, Y:-287.79, Z:-9.02 [[-6.73516671e-01 -7.39167060e-01 2.71144574e-03 -1.20786637e+02] [ 7.39160621e-01 -6.73522124e-01 -3.08624240e-03 -2.87785461e+02] [ 4.10746741e-03 -7.44417871e-05 9.99991562e-01 -9.01501071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.110385723 meters 0.01705415517110646 Centerline is valid? [True, True] Translation: X:-120.81, Y:-287.77, Z:-9.02 [[-6.74163110e-01 -7.38577207e-01 2.79477185e-03 -1.20805234e+02] [ 7.38570369e-01 -6.74168898e-01 -3.17915152e-03 -2.87765387e+02] [ 4.23219711e-03 -7.91310001e-05 9.99991041e-01 -9.01550579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.140385723 meters 0.01650383391720168 Centerline is valid? [True, True] Translation: X:-120.83, Y:-287.75, Z:-9.01 [[-6.74535527e-01 -7.38237924e-01 2.56703384e-03 -1.20825095e+02] [ 7.38232159e-01 -6.74540408e-01 -2.91848445e-03 -2.87745529e+02] [ 3.88610396e-03 -7.35545123e-05 9.99992446e-01 -9.01494991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.170385723 meters 0.017005651651739385 Centerline is valid? [True, True] Translation: X:-120.84, Y:-287.73, Z:-9.01 [[-6.74943830e-01 -7.37866105e-01 2.10649984e-03 -1.20843880e+02] [ 7.37862226e-01 -6.74947114e-01 -2.39334410e-03 -2.87727121e+02] [ 3.18774348e-03 -6.10661708e-05 9.99994917e-01 -9.01445330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.200385723 meters 0.01665124794251894 Centerline is valid? [True, True] Translation: X:-120.86, Y:-287.71, Z:-9.01 [[-6.75474112e-01 -7.37380726e-01 2.09502068e-03 -1.20863756e+02] [ 7.37376892e-01 -6.75477358e-01 -2.37884490e-03 -2.87708545e+02] [ 3.16925342e-03 -6.20283072e-05 9.99994976e-01 -9.01357468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.230385723 meters 0.016554606408764102 Centerline is valid? [True, True] Translation: X:-120.89, Y:-287.69, Z:-9.01 [[-6.76523893e-01 -7.36420070e-01 9.50626755e-04 -1.20885318e+02] [ 7.36419280e-01 -6.76524560e-01 -1.07881185e-03 -2.87690088e+02] [ 1.43758105e-03 -2.97821236e-05 9.99998966e-01 -9.01244856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.260385723 meters 0.01696038976386631 Centerline is valid? [True, True] Translation: X:-120.90, Y:-287.67, Z:-9.01 [[-6.77139366e-01 -7.35854694e-01 3.83828763e-04 -1.20903576e+02] [ 7.35854566e-01 -6.77139475e-01 -4.35326174e-04 -2.87670560e+02] [ 5.80242417e-04 -1.23343420e-05 9.99999832e-01 -9.01215061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.290385723 meters 0.017221693586434654 Centerline is valid? [True, True] Translation: X:-120.92, Y:-287.65, Z:-9.01 [[-6.78146004e-01 -7.34926731e-01 8.34863632e-04 -1.20924421e+02] [ 7.34926123e-01 -6.78146517e-01 -9.46368463e-04 -2.87651340e+02] [ 1.26167135e-03 -2.82128993e-05 9.99999204e-01 -9.01258661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.320385723 meters 0.017568063828623633 Centerline is valid? [True, True] Translation: X:-120.94, Y:-287.63, Z:-9.01 [[-6.78940977e-01 -7.34191993e-01 1.12566148e-03 -1.20944533e+02] [ 7.34190887e-01 -6.78941909e-01 -1.27531834e-03 -2.87631062e+02] [ 1.70058727e-03 -3.94154816e-05 9.99998553e-01 -9.01296986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3503857229999 meters 0.019597399059194425 Centerline is valid? [True, True] Translation: X:-120.97, Y:-287.61, Z:-9.02 [[-6.80104697e-01 -7.33113068e-01 1.68257354e-03 -1.20965397e+02] [ 7.33110595e-01 -6.80106775e-01 -1.90518751e-03 -2.87613153e+02] [ 2.54104752e-03 -6.22144879e-05 9.99996770e-01 -9.01574302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.380385723 meters 0.017011489814334774 Centerline is valid? [True, True] Translation: X:-120.99, Y:-287.60, Z:-9.01 [[-6.80296714e-01 -7.32935851e-01 1.19136743e-03 -1.20988379e+02] [ 7.32934612e-01 -6.80297756e-01 -1.34822825e-03 -2.87595405e+02] [ 1.79864941e-03 -4.40008298e-05 9.99998382e-01 -9.01406685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.410385723 meters 0.017011489814334774 Centerline is valid? [True, True] Translation: X:-121.01, Y:-287.57, Z:-9.01 [[-6.80501937e-01 -7.32745313e-01 1.19174493e-03 -1.21006687e+02] [ 7.32744075e-01 -6.80502979e-01 -1.34789458e-03 -2.87574763e+02] [ 1.79864941e-03 -4.40008342e-05 9.99998382e-01 -9.01406729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.440385723 meters 0.017765134397536055 Centerline is valid? [True, True] Translation: X:-121.03, Y:-287.56, Z:-9.01 [[-6.79755328e-01 -7.33436980e-01 1.70017648e-03 -1.21026483e+02] [ 7.33434465e-01 -6.79757451e-01 -1.92185268e-03 -2.87556718e+02] [ 2.56526546e-03 -5.94215674e-05 9.99996708e-01 -9.01436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4703857229999 meters 0.017135035095250595 Centerline is valid? [True, True] Translation: X:-121.05, Y:-287.54, Z:-9.01 [[-6.79033608e-01 -7.34104198e-01 2.09445803e-03 -1.21047631e+02] [ 7.34100388e-01 -6.79036834e-01 -2.36609855e-03 -2.87539010e+02] [ 3.15917703e-03 -6.91179833e-05 9.99995008e-01 -9.01465652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.500385723 meters 0.01625991965490458 Centerline is valid? [True, True] Translation: X:-121.07, Y:-287.52, Z:-9.01 [[-6.78027628e-01 -7.35032847e-01 2.29125140e-03 -1.21069675e+02] [ 7.35028298e-01 -6.78031496e-01 -2.58701615e-03 -2.87521038e+02] [ 3.45508247e-03 -6.99338074e-05 9.99994029e-01 -9.01487112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.530385723 meters 0.01615183365958397 Centerline is valid? [True, True] Translation: X:-121.09, Y:-287.50, Z:-9.02 [[-6.76365427e-01 -7.36561274e-01 2.70148824e-03 -1.21091489e+02] [ 7.36554967e-01 -6.76370819e-01 -3.04912044e-03 -2.87503406e+02] [ 4.07307184e-03 -7.25250691e-05 9.99991702e-01 -9.01554662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.560385723 meters 0.016163348413141494 Centerline is valid? [True, True] Translation: X:-121.11, Y:-287.48, Z:-9.02 [[-6.75925437e-01 -7.36965135e-01 2.68210567e-03 -1.21110887e+02] [ 7.36958928e-01 -6.75930754e-01 -3.02558418e-03 -2.87483755e+02] [ 4.04266776e-03 -6.84675860e-05 9.99991826e-01 -9.01582519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5903857229999 meters 0.0159439877241995 Centerline is valid? [True, True] Translation: X:-121.13, Y:-287.47, Z:-9.02 [[-6.75634666e-01 -7.37233408e-01 2.16802575e-03 -1.21132601e+02] [ 7.37229358e-01 -6.75638142e-01 -2.44432373e-03 -2.87465122e+02] [ 3.26683801e-03 -5.31376134e-05 9.99994663e-01 -9.01557827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.620385723 meters 0.01555428517853097 Centerline is valid? [True, True] Translation: X:-121.15, Y:-287.45, Z:-9.01 [[-6.75350208e-01 -7.37494054e-01 2.14865411e-03 -1.21153237e+02] [ 7.37490082e-01 -6.75353624e-01 -2.42111531e-03 -2.87445588e+02] [ 3.23665949e-03 -5.04896357e-05 9.99994761e-01 -9.01485596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.650385723 meters 0.015328028051437823 Centerline is valid? [True, True] Translation: X:-121.17, Y:-287.43, Z:-9.02 [[-6.74475853e-01 -7.38293640e-01 2.19681282e-03 -1.21174765e+02] [ 7.38289496e-01 -6.74479429e-01 -2.47396508e-03 -2.87427016e+02] [ 3.30821773e-03 -4.67458781e-05 9.99994527e-01 -9.01525730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.680385723 meters 0.015254127076547355 Centerline is valid? [True, True] Translation: X:-121.19, Y:-287.41, Z:-9.02 [[-6.74256636e-01 -7.38493231e-01 2.39487021e-03 -1.21194392e+02] [ 7.38488314e-01 -6.74260888e-01 -2.69547195e-03 -2.87406844e+02] [ 3.60535510e-03 -4.88561898e-05 9.99993500e-01 -9.01549927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.710385723 meters 0.01555540319307845 Centerline is valid? [True, True] Translation: X:-121.21, Y:-287.39, Z:-9.02 [[-6.73989125e-01 -7.38736883e-01 2.54510477e-03 -1.21212586e+02] [ 7.38731337e-01 -6.73993929e-01 -2.86284456e-03 -2.87386884e+02] [ 3.83027403e-03 -4.93774581e-05 9.99992663e-01 -9.01609967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.740385723 meters 0.015327774235949445 Centerline is valid? [True, True] Translation: X:-121.23, Y:-287.37, Z:-9.02 [[-6.73521327e-01 -7.39162617e-01 2.76546127e-03 -1.21233322e+02] [ 7.39156081e-01 -6.73527002e-01 -3.10898417e-03 -2.87368342e+02] [ 4.16065771e-03 -4.98596318e-05 9.99991343e-01 -9.01595820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.770385723 meters 0.01561993755277055 Centerline is valid? [True, True] Translation: X:-121.25, Y:-287.35, Z:-9.02 [[-6.73339671e-01 -7.39328676e-01 2.60713821e-03 -1.21252844e+02] [ 7.39322874e-01 -6.73344717e-01 -2.92934138e-03 -2.87348715e+02] [ 3.92124882e-03 -4.49248482e-05 9.99992311e-01 -9.01603206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.800385723 meters 0.01524853023383854 Centerline is valid? [True, True] Translation: X:-121.27, Y:-287.33, Z:-9.01 [[-6.73216426e-01 -7.39443693e-01 1.63378477e-03 -1.21273113e+02] [ 7.39441417e-01 -6.73218408e-01 -1.83466469e-03 -2.87328980e+02] [ 2.45652521e-03 -2.70382764e-05 9.99996982e-01 -9.01469437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.830385723 meters 0.015226028677695094 Centerline is valid? [True, True] Translation: X:-121.29, Y:-287.31, Z:-9.01 [[-6.73479754e-01 -7.39203517e-01 1.78364691e-03 -1.21292387e+02] [ 7.39200808e-01 -6.73482115e-01 -2.00183122e-03 -2.87308832e+02] [ 2.68101497e-03 -2.97195612e-05 9.99996406e-01 -9.01468936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.860385723 meters 0.015359372487373452 Centerline is valid? [True, True] Translation: X:-121.31, Y:-287.29, Z:-9.02 [[-6.73826789e-01 -7.38886568e-01 2.02460615e-03 -1.21311439e+02] [ 7.38883078e-01 -6.73829829e-01 -2.27099891e-03 -2.87288418e+02] [ 3.04225061e-03 -3.43126728e-05 9.99995372e-01 -9.01522650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.890385723 meters 0.015354705799169772 Centerline is valid? [True, True] Translation: X:-121.33, Y:-287.27, Z:-9.02 [[-6.74127789e-01 -7.38609779e-01 2.70533499e-03 -1.21330282e+02] [ 7.38603554e-01 -6.74133216e-01 -3.03289404e-03 -2.87268186e+02] [ 4.06388138e-03 -4.63881195e-05 9.99991741e-01 -9.01600197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.920385723 meters 0.015485548285836535 Centerline is valid? [True, True] Translation: X:-121.35, Y:-287.25, Z:-9.02 [[-6.74688303e-01 -7.38095573e-01 3.25872561e-03 -1.21348594e+02] [ 7.38086544e-01 -6.74696170e-01 -3.65115751e-03 -2.87247819e+02] [ 4.89355288e-03 -5.81717408e-05 9.99988025e-01 -9.01684750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.950385723 meters 0.01769112251651352 Centerline is valid? [True, True] Translation: X:-121.37, Y:-287.23, Z:-9.02 [[-6.75818354e-01 -7.37054727e-01 4.45894687e-03 -1.21367248e+02] [ 7.37037819e-01 -6.75833058e-01 -4.99319763e-03 -2.87226576e+02] [ 6.69376361e-03 -8.80821274e-05 9.99977593e-01 -9.01959798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.980385723 meters 0.015792163294431023 Centerline is valid? [True, True] Translation: X:-121.39, Y:-287.21, Z:-9.02 [[-6.76229762e-01 -7.36680376e-01 3.91586574e-03 -1.21385382e+02] [ 7.36667345e-01 -6.76241095e-01 -4.38237020e-03 -2.87206721e+02] [ 5.87647546e-03 -7.87987411e-05 9.99982730e-01 -9.01773931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.010385723 meters 0.016308973878186566 Centerline is valid? [True, True] Translation: X:-121.40, Y:-287.19, Z:-9.02 [[-6.77684186e-01 -7.35340462e-01 4.30686156e-03 -1.21403224e+02] [ 7.35324690e-01 -6.77697865e-01 -4.81718877e-03 -2.87186464e+02] [ 6.46102470e-03 -9.75910125e-05 9.99979123e-01 -9.01827875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.040385723 meters 0.016472887926135167 Centerline is valid? [True, True] Translation: X:-121.42, Y:-287.17, Z:-9.02 [[-6.78493187e-01 -7.34588470e-01 5.17447339e-03 -1.21422009e+02] [ 7.34565705e-01 -6.78512907e-01 -5.78451581e-03 -2.87165381e+02] [ 7.76018560e-03 -1.23763871e-04 9.99969882e-01 -9.01892630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.070385723 meters 0.017020261849108785 Centerline is valid? [True, True] Translation: X:-121.44, Y:-287.14, Z:-9.02 [[-6.80386969e-01 -7.32827807e-01 6.08099373e-03 -1.21439348e+02] [ 7.32796331e-01 -6.80414123e-01 -6.79408431e-03 -2.87144292e+02] [ 9.11648791e-03 -1.66476535e-04 9.99958430e-01 -9.01993262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1003857229999 meters 0.01730015885848533 Centerline is valid? [True, True] Translation: X:-121.46, Y:-287.12, Z:-9.02 [[-6.81488242e-01 -7.31804997e-01 5.93481597e-03 -1.21457538e+02] [ 7.31775008e-01 -6.81514062e-01 -6.62725698e-03 -2.87123230e+02] [ 8.89452031e-03 -1.73447704e-04 9.99960428e-01 -9.01919716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.130385723 meters 0.016399118281380076 Centerline is valid? [True, True] Translation: X:-121.48, Y:-287.10, Z:-9.02 [[-6.82496813e-01 -7.30867198e-01 5.58929436e-03 -1.21478005e+02] [ 7.30840597e-01 -6.82519677e-01 -6.23790646e-03 -2.87103986e+02] [ 8.37388459e-03 -1.72468046e-04 9.99964924e-01 -9.01775582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.160385723 meters 0.016466351531801107 Centerline is valid? [True, True] Translation: X:-121.50, Y:-287.08, Z:-9.02 [[-6.83511758e-01 -7.29919485e-01 5.40569959e-03 -1.21497459e+02] [ 7.29894600e-01 -6.83533111e-01 -6.02975602e-03 -2.87083090e+02] [ 8.09621107e-03 -1.75818195e-04 9.99967210e-01 -9.01667131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.190385723 meters 0.016497515304607732 Centerline is valid? [True, True] Translation: X:-121.52, Y:-287.06, Z:-9.02 [[-6.83349503e-01 -7.30070417e-01 5.53570675e-03 -1.21517028e+02] [ 7.30044354e-01 -6.83371902e-01 -6.17130049e-03 -2.87063138e+02] [ 8.28843036e-03 -1.75843659e-04 9.99965635e-01 -9.01642077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2203857229999 meters 0.016825977081677927 Centerline is valid? [True, True] Translation: X:-121.54, Y:-287.04, Z:-9.02 [[-6.82984540e-01 -7.30414791e-01 5.13333476e-03 -1.21535008e+02] [ 7.30392415e-01 -6.83003813e-01 -5.71942981e-03 -2.87043162e+02] [ 7.68364335e-03 -1.56933362e-04 9.99970468e-01 -9.01712476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.250385723 meters 0.016234809406110925 Centerline is valid? [True, True] Translation: X:-121.56, Y:-287.02, Z:-9.02 [[-6.82178455e-01 -7.31167482e-01 5.16423046e-03 -1.21555626e+02] [ 7.31144881e-01 -6.82197986e-01 -5.75067017e-03 -2.87023809e+02] [ 7.72773064e-03 -1.47182622e-04 9.99970130e-01 -9.01651708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.280385723 meters 0.015715086938506487 Centerline is valid? [True, True] Translation: X:-121.58, Y:-287.00, Z:-9.02 [[-6.80074105e-01 -7.33131996e-01 4.08523693e-03 -1.21576592e+02] [ 7.33117903e-01 -6.80086368e-01 -4.54663308e-03 -2.87004704e+02] [ 6.11159613e-03 -9.70870886e-05 9.99981319e-01 -9.01558903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.310385723 meters 0.015697461269778796 Centerline is valid? [True, True] Translation: X:-121.59, Y:-286.99, Z:-9.02 [[-6.79362569e-01 -7.33792898e-01 3.80574688e-03 -1.21594856e+02] [ 7.33780692e-01 -6.79373223e-01 -4.23318204e-03 -2.86985285e+02] [ 5.69180144e-03 -8.32818423e-05 9.99983798e-01 -9.01508326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3403857229999 meters 0.014997553266730987 Centerline is valid? [True, True] Translation: X:-121.62, Y:-286.97, Z:-9.01 [[-6.77990809e-01 -7.35062228e-01 3.46176363e-03 -1.21615599e+02] [ 7.35052156e-01 -6.77999644e-01 -3.84846938e-03 -2.86966377e+02] [ 5.17593899e-03 -6.46500547e-05 9.99986603e-01 -9.01414890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.370385723 meters 0.015840334258953287 Centerline is valid? [True, True] Translation: X:-121.63, Y:-286.94, Z:-9.02 [[-6.77224548e-01 -7.35768493e-01 3.41123721e-03 -1.21632520e+02] [ 7.35758734e-01 -6.77233137e-01 -3.79008961e-03 -2.86944920e+02] [ 5.09883139e-03 -5.68941512e-05 9.99986999e-01 -9.01541718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.400385723 meters 0.01465676932333678 Centerline is valid? [True, True] Translation: X:-121.66, Y:-286.93, Z:-9.01 [[-6.74757979e-01 -7.38032953e-01 3.00496643e-03 -1.21656084e+02] [ 7.38025410e-01 -6.74764669e-01 -3.33697328e-03 -2.86927793e+02] [ 4.49044142e-03 -3.39077643e-05 9.99989917e-01 -9.01402218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.430385723 meters 0.014504465352624943 Centerline is valid? [True, True] Translation: X:-121.68, Y:-286.91, Z:-9.01 [[-6.73258157e-01 -7.39400523e-01 3.21267864e-03 -1.21676295e+02] [ 7.39391926e-01 -6.73265821e-01 -3.56564028e-03 -2.86908609e+02] [ 4.79942301e-03 -2.51677537e-05 9.99988482e-01 -9.01383424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.460385723 meters 0.014357103853015588 Centerline is valid? [True, True] Translation: X:-121.70, Y:-286.89, Z:-9.01 [[-6.71829627e-01 -7.40698799e-01 3.20034602e-03 -1.21696460e+02] [ 7.40690292e-01 -6.71837249e-01 -3.54997602e-03 -2.86888991e+02] [ 4.77957464e-03 -1.45138367e-05 9.99988578e-01 -9.01398212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.490385723 meters 0.014295096422567774 Centerline is valid? [True, True] Translation: X:-121.72, Y:-286.87, Z:-9.01 [[-6.68713241e-01 -7.43515190e-01 2.78638225e-03 -1.21717055e+02] [ 7.43508773e-01 -6.68719046e-01 -3.08904799e-03 -2.86869752e+02] [ 4.16006099e-03 6.01235106e-06 9.99991347e-01 -9.01397958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.520385723 meters 0.01446163023232398 Centerline is valid? [True, True] Translation: X:-121.74, Y:-286.85, Z:-9.01 [[-6.66594216e-01 -7.45415965e-01 2.68136506e-03 -1.21737533e+02] [ 7.45410045e-01 -6.66599609e-01 -2.97095995e-03 -2.86850076e+02] [ 4.00199788e-03 1.82917325e-05 9.99991992e-01 -9.01431872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.550385723 meters 0.014402922986711636 Centerline is valid? [True, True] Translation: X:-121.76, Y:-286.83, Z:-9.01 [[-6.66135469e-01 -7.45826168e-01 2.61991060e-03 -1.21756673e+02] [ 7.45820526e-01 -6.66140621e-01 -2.90117144e-03 -2.86829218e+02] [ 3.90899846e-03 2.14099002e-05 9.99992360e-01 -9.01406671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.580385723 meters 0.01450511146092005 Centerline is valid? [True, True] Translation: X:-121.78, Y:-286.81, Z:-9.01 [[-6.65928341e-01 -7.46011141e-01 2.61196984e-03 -1.21775391e+02] [ 7.46005541e-01 -6.65933463e-01 -2.89059736e-03 -2.86809110e+02] [ 3.89581596e-03 2.36132677e-05 9.99992411e-01 -9.01480785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.610385723 meters 0.01452954497559516 Centerline is valid? [True, True] Translation: X:-121.79, Y:-286.79, Z:-9.02 [[-6.66163139e-01 -7.45799425e-01 3.14500501e-03 -1.21793250e+02] [ 7.45791313e-01 -6.66170562e-01 -3.47839471e-03 -2.86788658e+02] [ 4.68929452e-03 2.83390798e-05 9.99989005e-01 -9.01563705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.640385723 meters 0.0145109001163025 Centerline is valid? [True, True] Translation: X:-121.81, Y:-286.77, Z:-9.02 [[-6.66380856e-01 -7.45602466e-01 3.67656067e-03 -1.21811405e+02] [ 7.45591391e-01 -6.66390998e-01 -4.06405406e-03 -2.86767145e+02] [ 5.48019566e-03 3.30041605e-05 9.99984983e-01 -9.01611948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.670385723 meters 0.014603670823865612 Centerline is valid? [True, True] Translation: X:-121.83, Y:-286.75, Z:-9.02 [[-6.66309389e-01 -7.45662446e-01 4.39475978e-03 -1.21828764e+02] [ 7.45646641e-01 -6.66323881e-01 -4.85512492e-03 -2.86746057e+02] [ 6.54861772e-03 4.19225515e-05 9.99978557e-01 -9.01739043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.700385723 meters 0.014513622198294608 Centerline is valid? [True, True] Translation: X:-121.85, Y:-286.72, Z:-9.02 [[-6.66278783e-01 -7.45688869e-01 4.54900148e-03 -1.21846567e+02] [ 7.45671955e-01 -6.66294311e-01 -5.02264649e-03 -2.86724119e+02] [ 6.77630539e-03 4.55800382e-05 9.99977040e-01 -9.01719929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.730385723 meters 0.014522486177392602 Centerline is valid? [True, True] Translation: X:-121.86, Y:-286.70, Z:-9.02 [[-6.65677189e-01 -7.46225902e-01 4.55887681e-03 -1.21863455e+02] [ 7.46208946e-01 -6.65692798e-01 -5.03065850e-03 -2.86701661e+02] [ 6.78881913e-03 5.30800455e-05 9.99976954e-01 -9.01670295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.760385723 meters 0.01464974141620178 Centerline is valid? [True, True] Translation: X:-121.88, Y:-286.68, Z:-9.02 [[-6.65432631e-01 -7.46444368e-01 4.49657478e-03 -1.21881192e+02] [ 7.46427898e-01 -6.65447821e-01 -4.95890412e-03 -2.86680815e+02] [ 6.69378194e-03 5.65522463e-05 9.99977595e-01 -9.01684459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.790385723 meters 0.014687725395454881 Centerline is valid? [True, True] Translation: X:-121.90, Y:-286.66, Z:-9.02 [[-6.65377451e-01 -7.46494389e-01 4.35615441e-03 -1.21899099e+02] [ 7.46478950e-01 -6.65391708e-01 -4.80129872e-03 -2.86658664e+02] [ 6.48269158e-03 5.71016639e-05 9.99978986e-01 -9.01644864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.820385723 meters 0.014688356598662987 Centerline is valid? [True, True] Translation: X:-121.92, Y:-286.64, Z:-9.02 [[-6.64853407e-01 -7.46964355e-01 3.76819423e-03 -1.21916060e+02] [ 7.46952824e-01 -6.64864083e-01 -4.15089325e-03 -2.86636244e+02] [ 5.60590631e-03 5.49278040e-05 9.99984285e-01 -9.01570434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8503857229999 meters 0.014925748454246596 Centerline is valid? [True, True] Translation: X:-121.93, Y:-286.62, Z:-9.02 [[-6.64549269e-01 -7.47236180e-01 3.51571725e-03 -1.21933522e+02] [ 7.47226154e-01 -6.64558567e-01 -3.87117006e-03 -2.86616088e+02] [ 5.22907835e-03 5.44526470e-05 9.99986327e-01 -9.01585969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.880385723 meters 0.01499324934165588 Centerline is valid? [True, True] Translation: X:-121.95, Y:-286.59, Z:-9.02 [[-6.64149856e-01 -7.47590676e-01 3.62639660e-03 -1.21949617e+02] [ 7.47580026e-01 -6.64159753e-01 -3.99078963e-03 -2.86592819e+02] [ 5.39198379e-03 6.05393060e-05 9.99985461e-01 -9.01586149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.910385723 meters 0.015020915491326682 Centerline is valid? [True, True] Translation: X:-121.97, Y:-286.57, Z:-9.02 [[-6.63951340e-01 -7.47766866e-01 3.65137850e-03 -1.21967122e+02] [ 7.47756084e-01 -6.63961377e-01 -4.01601200e-03 -2.86570295e+02] [ 5.42741501e-03 6.39039432e-05 9.99985270e-01 -9.01564469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.940385723 meters 0.015080319485378827 Centerline is valid? [True, True] Translation: X:-121.98, Y:-286.55, Z:-9.02 [[-6.64159814e-01 -7.47580305e-01 3.92815234e-03 -1.21984175e+02] [ 7.47567838e-01 -6.64171426e-01 -4.31785237e-03 -2.86548830e+02] [ 5.83690793e-03 6.88163293e-05 9.99982963e-01 -9.01577759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9703857229999 meters 0.015167549794442224 Centerline is valid? [True, True] Translation: X:-122.00, Y:-286.52, Z:-9.02 [[-6.64164682e-01 -7.47573792e-01 4.32432311e-03 -1.21999759e+02] [ 7.47558701e-01 -6.64178755e-01 -4.75070305e-03 -2.86524594e+02] [ 6.42362464e-03 7.74361904e-05 9.99979365e-01 -9.01573166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.000385723 meters 0.015135184788441253 Centerline is valid? [True, True] Translation: X:-122.02, Y:-286.50, Z:-9.02 [[-6.64747523e-01 -7.47050990e-01 5.05470909e-03 -1.22015061e+02] [ 7.47030382e-01 -6.64766735e-01 -5.54950011e-03 -2.86502511e+02] [ 7.50596200e-03 8.70048107e-05 9.99971826e-01 -9.01739254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.030385723 meters 0.014891901365676459 Centerline is valid? [True, True] Translation: X:-122.03, Y:-286.48, Z:-9.02 [[-6.65339995e-01 -7.46519090e-01 5.65143287e-03 -1.22031850e+02] [ 7.46493340e-01 -6.65363990e-01 -6.20116136e-03 -2.86480429e+02] [ 8.38954526e-03 9.28763282e-05 9.99964803e-01 -9.01740139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.060385723 meters 0.014861870261699687 Centerline is valid? [True, True] Translation: X:-122.05, Y:-286.46, Z:-9.02 [[-6.65550843e-01 -7.46330010e-01 5.79574096e-03 -1.22048990e+02] [ 7.46302952e-01 -6.65576071e-01 -6.35593289e-03 -2.86457719e+02] [ 8.60112996e-03 9.51820922e-05 9.99963005e-01 -9.01697318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0903857229999 meters 0.015096304994872791 Centerline is valid? [True, True] Translation: X:-122.06, Y:-286.44, Z:-9.02 [[-6.66430368e-01 -7.45546682e-01 5.54167537e-03 -1.22063627e+02] [ 7.45521946e-01 -6.66453403e-01 -6.07375844e-03 -2.86435062e+02] [ 8.22153886e-03 8.37035355e-05 9.99966199e-01 -9.01717821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.120385723 meters 0.014718608168124927 Centerline is valid? [True, True] Translation: X:-122.08, Y:-286.41, Z:-9.02 [[-6.66903741e-01 -7.45123653e-01 5.49014370e-03 -1.22079596e+02] [ 7.45099387e-01 -6.66926334e-01 -6.01394340e-03 -2.86411713e+02] [ 8.14265289e-03 7.99813503e-05 9.99966845e-01 -9.01606536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.150385723 meters 0.014601103735096809 Centerline is valid? [True, True] Translation: X:-122.09, Y:-286.39, Z:-9.02 [[-6.68322950e-01 -7.43847562e-01 5.93620320e-03 -1.22094404e+02] [ 7.43819175e-01 -6.68349309e-01 -6.49894394e-03 -2.86386892e+02] [ 8.80168091e-03 7.20683743e-05 9.99961262e-01 -9.01652162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.180385723 meters 0.014541006550785824 Centerline is valid? [True, True] Translation: X:-122.11, Y:-286.36, Z:-9.02 [[-6.69221132e-01 -7.43038725e-01 6.04396452e-03 -1.22110970e+02] [ 7.43009297e-01 -6.69248421e-01 -6.61325218e-03 -2.86364639e+02] [ 8.95881618e-03 6.49937239e-05 9.99959867e-01 -9.01706550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.210385723 meters 0.014341831775814202 Centerline is valid? [True, True] Translation: X:-122.12, Y:-286.34, Z:-9.02 [[-6.70694042e-01 -7.41707181e-01 6.32133006e-03 -1.22124424e+02] [ 7.41674969e-01 -6.70723829e-01 -6.91270962e-03 -2.86340882e+02] [ 9.36707307e-03 5.20591193e-05 9.99956127e-01 -9.01770201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.240385723 meters 0.014327902294901409 Centerline is valid? [True, True] Translation: X:-122.14, Y:-286.32, Z:-9.02 [[-6.71041330e-01 -7.41393979e-01 6.20501851e-03 -1.22140407e+02] [ 7.41362966e-01 -6.71070016e-01 -6.78133486e-03 -2.86318569e+02] [ 9.19164270e-03 4.96149681e-05 9.99957755e-01 -9.01748016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.270385723 meters 0.014437569260139853 Centerline is valid? [True, True] Translation: X:-122.16, Y:-286.30, Z:-9.02 [[-6.71518294e-01 -7.40962849e-01 6.10227750e-03 -1.22155680e+02] [ 7.40932876e-01 -6.71546019e-01 -6.66472997e-03 -2.86297473e+02] [ 9.03627746e-03 4.58899200e-05 9.99959171e-01 -9.01786420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.300385723 meters 0.014560751839126558 Centerline is valid? [True, True] Translation: X:-122.17, Y:-286.27, Z:-9.02 [[-6.70992912e-01 -7.41440443e-01 5.88060087e-03 -1.22169661e+02] [ 7.41412660e-01 -6.71018678e-01 -6.41880826e-03 -2.86273745e+02] [ 8.70515706e-03 5.29770887e-05 9.99962108e-01 -9.01732987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.330385723 meters 0.014560751839126558 Centerline is valid? [True, True] Translation: X:-122.19, Y:-286.25, Z:-9.02 [[-6.71212145e-01 -7.41241966e-01 5.88249889e-03 -1.22187821e+02] [ 7.41214190e-01 -6.71237920e-01 -6.41706887e-03 -2.86254092e+02] [ 8.70515706e-03 5.29770876e-05 9.99962108e-01 -9.01733030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.360385723 meters 0.014561298496956424 Centerline is valid? [True, True] Translation: X:-122.20, Y:-286.23, Z:-9.02 [[-6.70573742e-01 -7.41819712e-01 5.86264841e-03 -1.22204185e+02] [ 7.41792180e-01 -6.70599367e-01 -6.39147403e-03 -2.86232178e+02] [ 8.67280974e-03 6.29120854e-05 9.99962389e-01 -9.01627179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.390385723 meters 0.014661742223527986 Centerline is valid? [True, True] Translation: X:-122.22, Y:-286.21, Z:-9.02 [[-6.68942418e-01 -7.43293802e-01 5.51047502e-03 -1.22220075e+02] [ 7.43269556e-01 -6.68965110e-01 -6.00413703e-03 -2.86208092e+02] [ 8.14915336e-03 7.93463824e-05 9.99966792e-01 -9.01592967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.420385723 meters 0.014962962477985795 Centerline is valid? [True, True] Translation: X:-122.24, Y:-286.19, Z:-9.02 [[-6.68223908e-01 -7.43940482e-01 5.41918904e-03 -1.22237121e+02] [ 7.43917073e-01 -6.68245877e-01 -5.90224103e-03 -2.86186517e+02] [ 8.01226677e-03 8.74086750e-05 9.99967898e-01 -9.01609332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.450385723 meters 0.015737157635891445 Centerline is valid? [True, True] Translation: X:-122.25, Y:-286.17, Z:-9.02 [[-6.67570393e-01 -7.44528355e-01 5.22496419e-03 -1.22252371e+02] [ 7.44506641e-01 -6.67590833e-01 -5.68698178e-03 -2.86165173e+02] [ 7.72225739e-03 9.35598773e-05 9.99970179e-01 -9.01683315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.480385723 meters 0.015317926850127455 Centerline is valid? [True, True] Translation: X:-122.27, Y:-286.14, Z:-9.02 [[-6.67447673e-01 -7.44638550e-01 5.19949137e-03 -1.22267299e+02] [ 7.44617077e-01 -6.67467918e-01 -5.65575998e-03 -2.86141937e+02] [ 7.68199059e-03 9.67062372e-05 9.99970489e-01 -9.01550449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.510385723 meters 0.015310286983503516 Centerline is valid? [True, True] Translation: X:-122.28, Y:-286.12, Z:-9.01 [[-6.67964817e-01 -7.44174177e-01 5.27234776e-03 -1.22280232e+02] [ 7.44152112e-01 -6.67985618e-01 -5.73144389e-03 -2.86116730e+02] [ 7.78704502e-03 9.50258524e-05 9.99969676e-01 -9.01472606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.540385723 meters 0.015365166385101211 Centerline is valid? [True, True] Translation: X:-122.30, Y:-286.09, Z:-9.01 [[-6.68641531e-01 -7.43567200e-01 5.13044969e-03 -1.22296412e+02] [ 7.43546314e-01 -6.68661208e-01 -5.57390122e-03 -2.86094455e+02] [ 7.57510281e-03 8.77851067e-05 9.99971305e-01 -9.01465393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.570385723 meters 0.015331824740872371 Centerline is valid? [True, True] Translation: X:-122.31, Y:-286.07, Z:-9.02 [[-6.69530418e-01 -7.42765980e-01 5.26485923e-03 -1.22312115e+02] [ 7.42743989e-01 -6.69551113e-01 -5.71615725e-03 -2.86073469e+02] [ 7.77085950e-03 8.33013899e-05 9.99969803e-01 -9.01506212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6003857229999 meters 0.015172139231863767 Centerline is valid? [True, True] Translation: X:-122.33, Y:-286.05, Z:-9.02 [[-6.70894507e-01 -7.41529108e-01 5.92809396e-03 -1.22326578e+02] [ 7.41501213e-01 -6.70920692e-01 -6.43239307e-03 -2.86049135e+02] [ 8.74708760e-03 8.02316916e-05 9.99961740e-01 -9.01651708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.630385723 meters 0.015030345335737714 Centerline is valid? [True, True] Translation: X:-122.34, Y:-286.03, Z:-9.02 [[-6.71666467e-01 -7.40827759e-01 6.19578442e-03 -1.22342758e+02] [ 7.40797295e-01 -6.71695039e-01 -6.71882827e-03 -2.86026362e+02] [ 9.13917215e-03 7.70086860e-05 9.99958234e-01 -9.01653017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.660385723 meters 0.014951269748655672 Centerline is valid? [True, True] Translation: X:-122.36, Y:-286.00, Z:-9.01 [[-6.72632876e-01 -7.39950502e-01 6.18622715e-03 -1.22357107e+02] [ 7.39920131e-01 -6.72661320e-01 -6.70437775e-03 -2.86002922e+02] [ 9.12214340e-03 6.77291193e-05 9.99958390e-01 -9.01499812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.690385723 meters 0.01500399964555237 Centerline is valid? [True, True] Translation: X:-122.38, Y:-285.98, Z:-9.01 [[-6.72266926e-01 -7.40286291e-01 5.77817838e-03 -1.22376664e+02] [ 7.40259840e-01 -6.72291754e-01 -6.25832274e-03 -2.85983748e+02] [ 8.51757221e-03 7.00900144e-05 9.99963722e-01 -9.01469644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7203857229999 meters 0.014955694897390955 Centerline is valid? [True, True] Translation: X:-122.40, Y:-285.97, Z:-9.02 [[-6.72165478e-01 -7.40376759e-01 5.98545312e-03 -1.22396095e+02] [ 7.40348415e-01 -6.72192122e-01 -6.47882352e-03 -2.85965041e+02] [ 8.82014479e-03 7.64792219e-05 9.99961099e-01 -9.01514184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.750385723 meters 0.015014196118970518 Centerline is valid? [True, True] Translation: X:-122.42, Y:-285.95, Z:-9.02 [[-6.72367534e-01 -7.40180922e-01 7.35540629e-03 -1.22416803e+02] [ 7.40138154e-01 -6.72407759e-01 -7.95730653e-03 -2.85946383e+02] [ 1.08356787e-02 9.37822624e-05 9.99941288e-01 -9.01595828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.780385723 meters 0.014938486196312802 Centerline is valid? [True, True] Translation: X:-122.44, Y:-285.93, Z:-9.02 [[-6.73218036e-01 -7.39402362e-01 7.85003281e-03 -1.22436252e+02] [ 7.39353660e-01 -6.73263796e-01 -8.48687752e-03 -2.85927948e+02] [ 1.15603602e-02 9.04314699e-05 9.99933173e-01 -9.01705709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.810385723 meters 0.014570815832157937 Centerline is valid? [True, True] Translation: X:-122.46, Y:-285.91, Z:-9.02 [[-6.75268680e-01 -7.37528790e-01 7.96833464e-03 -1.22455879e+02] [ 7.37478534e-01 -6.75315690e-01 -8.60998645e-03 -2.85908060e+02] [ 1.17312543e-02 6.24215555e-05 9.99931185e-01 -9.01655766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8403857229999 meters 0.014442602514083847 Centerline is valid? [True, True] Translation: X:-122.47, Y:-285.89, Z:-9.02 [[-6.76371206e-01 -7.36521067e-01 7.66221976e-03 -1.22474669e+02] [ 7.36474586e-01 -6.76414603e-01 -8.27459941e-03 -2.85886714e+02] [ 1.12772541e-02 4.63293496e-05 9.99936409e-01 -9.01516567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.870385723 meters 0.014506761435599454 Centerline is valid? [True, True] Translation: X:-122.49, Y:-285.87, Z:-9.01 [[-6.77949737e-01 -7.35072988e-01 7.20109821e-03 -1.22493211e+02] [ 7.35031899e-01 -6.77987980e-01 -7.77210963e-03 -2.85866618e+02] [ 1.05953259e-02 2.39372080e-05 9.99943868e-01 -9.01426640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.900385723 meters 0.014487166194064987 Centerline is valid? [True, True] Translation: X:-122.51, Y:-285.85, Z:-9.01 [[-6.78711896e-01 -7.34367505e-01 7.38442319e-03 -1.22512297e+02] [ 7.34324309e-01 -6.78752066e-01 -7.96499763e-03 -2.85846894e+02] [ 1.08614279e-02 1.66228200e-05 9.99941013e-01 -9.01456742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.930385723 meters 0.014547116158772248 Centerline is valid? [True, True] Translation: X:-122.53, Y:-285.83, Z:-9.02 [[-6.80712269e-01 -7.32502700e-01 8.40247671e-03 -1.22530812e+02] [ 7.32446699e-01 -6.80764126e-01 -9.05749995e-03 -2.85827053e+02] [ 1.23547479e-02 -1.11850093e-05 9.99923677e-01 -9.01638638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.960385723 meters 0.01458919068861805 Centerline is valid? [True, True] Translation: X:-122.55, Y:-285.81, Z:-9.02 [[-6.82081021e-01 -7.31225621e-01 8.63557152e-03 -1.22548972e+02] [ 7.31166440e-01 -6.82135684e-01 -9.30303948e-03 -2.85806606e+02] [ 1.26932523e-02 -3.13865786e-05 9.99919437e-01 -9.01683352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.990385723 meters 0.014814761402405705 Centerline is valid? [True, True] Translation: X:-122.57, Y:-285.78, Z:-9.02 [[-6.84804600e-01 -7.28669368e-01 9.14392094e-03 -1.22567204e+02] [ 7.28602858e-01 -6.84865640e-01 -9.84534260e-03 -2.85784720e+02] [ 1.34363568e-02 -7.98489785e-05 9.99909725e-01 -9.01784863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.020385723 meters 0.01509360944494145 Centerline is valid? [True, True] Translation: X:-122.58, Y:-285.76, Z:-9.02 [[-6.85982527e-01 -7.27558948e-01 9.27090133e-03 -1.22584494e+02] [ 7.27490558e-01 -6.86045164e-01 -9.97598584e-03 -2.85764161e+02] [ 1.36183748e-02 -9.88587929e-05 9.99907261e-01 -9.01766571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.050385723 meters 0.015072161864870036 Centerline is valid? [True, True] Translation: X:-122.60, Y:-285.74, Z:-9.02 [[-6.87117259e-01 -7.26491637e-01 8.93166213e-03 -1.22601964e+02] [ 7.26428149e-01 -6.87175298e-01 -9.60495615e-03 -2.85743794e+02] [ 1.31155379e-02 -1.11520356e-04 9.99913982e-01 -9.01617693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.080385723 meters 0.015280732424717135 Centerline is valid? [True, True] Translation: X:-122.62, Y:-285.72, Z:-9.02 [[-6.87808189e-01 -7.25839350e-01 8.78254468e-03 -1.22618088e+02] [ 7.25777970e-01 -6.87864248e-01 -9.44005395e-03 -2.85723090e+02] [ 1.28931611e-02 -1.18768966e-04 9.99916873e-01 -9.01504023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.110385723 meters 0.015255917805470998 Centerline is valid? [True, True] Translation: X:-122.64, Y:-285.70, Z:-9.02 [[-6.88052542e-01 -7.25609000e-01 8.67629449e-03 -1.22636189e+02] [ 7.25549151e-01 -6.88107233e-01 -9.32014451e-03 -2.85703282e+02] [ 1.27330017e-02 -1.17671021e-04 9.99918925e-01 -9.01513437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.140385723 meters 0.015159489015732299 Centerline is valid? [True, True] Translation: X:-122.65, Y:-285.68, Z:-9.02 [[-6.87384174e-01 -7.26248410e-01 8.13913423e-03 -1.22654911e+02] [ 7.26195853e-01 -6.87432352e-01 -8.73751882e-03 -2.85684796e+02] [ 1.19407133e-02 -9.54266296e-05 9.99928703e-01 -9.01538203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.170385723 meters 0.015003646038850208 Centerline is valid? [True, True] Translation: X:-122.67, Y:-285.67, Z:-9.02 [[-6.86869469e-01 -7.26739036e-01 7.79143262e-03 -1.22673334e+02] [ 7.26690950e-01 -6.86913653e-01 -8.36036370e-03 -2.85665959e+02] [ 1.14278441e-02 -8.05150000e-05 9.99934697e-01 -9.01588354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.200385723 meters 0.014781281665613957 Centerline is valid? [True, True] Translation: X:-122.69, Y:-285.65, Z:-9.02 [[-6.85926479e-01 -7.27630458e-01 7.66694214e-03 -1.22692450e+02] [ 7.27584009e-01 -6.85969323e-01 -8.22175324e-03 -2.85645897e+02] [ 1.12416852e-02 -6.11737539e-05 9.99936809e-01 -9.01578239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.230385723 meters 0.014915192323664749 Centerline is valid? [True, True] Translation: X:-122.71, Y:-285.63, Z:-9.02 [[-6.85649737e-01 -7.27889782e-01 7.80408102e-03 -1.22709464e+02] [ 7.27841718e-01 -6.85694146e-01 -8.36487867e-03 -2.85626077e+02] [ 1.14399224e-02 -5.52411193e-05 9.99934561e-01 -9.01633594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.260385723 meters 0.014780579722921568 Centerline is valid? [True, True] Translation: X:-122.73, Y:-285.61, Z:-9.01 [[-6.85024159e-01 -7.28478537e-01 7.80532253e-03 -1.22727872e+02] [ 7.28430549e-01 -6.85068624e-01 -8.36156753e-03 -2.85605288e+02] [ 1.14384040e-02 -4.22403881e-05 9.99934579e-01 -9.01415306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.290385723 meters 0.014804265337471277 Centerline is valid? [True, True] Translation: X:-122.75, Y:-285.59, Z:-9.01 [[-6.84456922e-01 -7.29009998e-01 7.94631497e-03 -1.22746864e+02] [ 7.28960358e-01 -6.84503047e-01 -8.50733004e-03 -2.85585804e+02] [ 1.16412055e-02 -3.03523356e-05 9.99932239e-01 -9.01406050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.320385723 meters 0.014706174549869687 Centerline is valid? [True, True] Translation: X:-122.77, Y:-285.57, Z:-9.01 [[-6.82696756e-01 -7.30659001e-01 7.90972347e-03 -1.22767800e+02] [ 7.30609988e-01 -6.82742576e-01 -8.46292229e-03 -2.85567879e+02] [ 1.15838153e-02 1.31336917e-06 9.99932905e-01 -9.01416577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3503857229999 meters 0.014814596609790402 Centerline is valid? [True, True] Translation: X:-122.79, Y:-285.55, Z:-9.02 [[-6.81898946e-01 -7.31405192e-01 7.76357375e-03 -1.22787133e+02] [ 7.31358083e-01 -6.81943139e-01 -8.30117614e-03 -2.85550263e+02] [ 1.13658392e-02 1.73891561e-05 9.99935407e-01 -9.01618546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.380385723 meters 0.014713488897025152 Centerline is valid? [True, True] Translation: X:-122.81, Y:-285.53, Z:-9.02 [[-6.81346975e-01 -7.31920478e-01 7.66254523e-03 -1.22807155e+02] [ 7.31874675e-01 -6.81390060e-01 -8.18814335e-03 -2.85531253e+02] [ 1.12142519e-02 2.90561010e-05 9.99937118e-01 -9.01543520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.410385723 meters 0.014801531634217553 Centerline is valid? [True, True] Translation: X:-122.83, Y:-285.51, Z:-9.02 [[-6.81526149e-01 -7.31746406e-01 8.32508080e-03 -1.22826405e+02] [ 7.31692378e-01 -6.81576993e-01 -8.89192406e-03 -2.85513524e+02] [ 1.21808170e-02 3.13194144e-05 9.99925811e-01 -9.01669970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.440385723 meters 0.014738861688015097 Centerline is valid? [True, True] Translation: X:-122.84, Y:-285.49, Z:-9.02 [[-6.82155987e-01 -7.31159723e-01 8.28666043e-03 -1.22844813e+02] [ 7.31106217e-01 -6.82206317e-01 -8.84538724e-03 -2.85492965e+02] [ 1.21206030e-02 2.44950933e-05 9.99926543e-01 -9.01649761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4703857229999 meters 0.01487032178037164 Centerline is valid? [True, True] Translation: X:-122.86, Y:-285.47, Z:-9.02 [[-6.84481168e-01 -7.28980202e-01 8.56711251e-03 -1.22861573e+02] [ 7.28922912e-01 -6.84534780e-01 -9.13909773e-03 -2.85471299e+02] [ 1.25267078e-02 -1.07756906e-05 9.99921538e-01 -9.01560636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.500385723 meters 0.014899081436259688 Centerline is valid? [True, True] Translation: X:-122.88, Y:-285.45, Z:-9.01 [[-6.87248601e-01 -7.26378536e-01 7.97388527e-03 -1.22879993e+02] [ 7.26328786e-01 -6.87294856e-01 -8.50151813e-03 -2.85449498e+02] [ 1.16557306e-02 -5.09940370e-05 9.99932068e-01 -9.01426603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.530385723 meters 0.0162657911312322 Centerline is valid? [True, True] Translation: X:-122.90, Y:-285.43, Z:-9.02 [[-6.88707166e-01 -7.24998600e-01 7.71161994e-03 -1.22897999e+02] [ 7.24952036e-01 -6.88750336e-01 -8.21707076e-03 -2.85428931e+02] [ 1.12687456e-02 -6.86009416e-05 9.99936503e-01 -9.01560609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.560385723 meters 0.015242416552574417 Centerline is valid? [True, True] Translation: X:-122.92, Y:-285.41, Z:-9.01 [[-6.89724353e-01 -7.24037716e-01 7.05001162e-03 -1.22915840e+02] [ 7.23998785e-01 -6.89760379e-01 -7.50854150e-03 -2.85409226e+02] [ 1.02992859e-02 -7.46240803e-05 9.99946958e-01 -9.01379054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5903857229999 meters 0.0153635455493241 Centerline is valid? [True, True] Translation: X:-122.93, Y:-285.39, Z:-9.01 [[-6.91292596e-01 -7.22539437e-01 7.16293498e-03 -1.22934904e+02] [ 7.22499218e-01 -6.91329699e-01 -7.62418007e-03 -2.85389880e+02] [ 1.04607205e-02 -9.53243164e-05 9.99945281e-01 -9.01372208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.620385723 meters 0.015392482781254858 Centerline is valid? [True, True] Translation: X:-122.95, Y:-285.37, Z:-9.01 [[-6.91905257e-01 -7.21949481e-01 7.48739453e-03 -1.22953714e+02] [ 7.21905554e-01 -6.91945760e-01 -7.96465977e-03 -2.85370338e+02] [ 1.09309529e-02 -1.05598272e-04 9.99940250e-01 -9.01391334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.650385723 meters 0.015635482329874304 Centerline is valid? [True, True] Translation: X:-122.97, Y:-285.35, Z:-9.02 [[-6.92167585e-01 -7.21686791e-01 8.49759907e-03 -1.22971465e+02] [ 7.21630235e-01 -6.92219734e-01 -9.03569027e-03 -2.85350172e+02] [ 1.24031441e-02 -1.22087500e-04 9.99923071e-01 -9.01527009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.680385723 meters 0.01558005670859232 Centerline is valid? [True, True] Translation: X:-122.99, Y:-285.33, Z:-9.02 [[-6.91862220e-01 -7.21975778e-01 8.81164773e-03 -1.22990487e+02] [ 7.21915059e-01 -6.91918321e-01 -9.36403187e-03 -2.85330606e+02] [ 1.28575447e-02 -1.17358688e-04 9.99917332e-01 -9.01540765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.710385723 meters 0.015183459105084014 Centerline is valid? [True, True] Translation: X:-123.01, Y:-285.31, Z:-9.01 [[-6.91040188e-01 -7.22761641e-01 8.89209397e-03 -1.23010962e+02] [ 7.22699949e-01 -6.91097389e-01 -9.44366607e-03 -2.85312033e+02] [ 1.29708225e-02 -9.96369099e-05 9.99915870e-01 -9.01421806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.740385723 meters 0.01516052086891845 Centerline is valid? [True, True] Translation: X:-123.03, Y:-285.29, Z:-9.01 [[-6.90650085e-01 -7.23134267e-01 8.90457960e-03 -1.23030947e+02] [ 7.23072501e-01 -6.90707480e-01 -9.45170794e-03 -2.85292021e+02] [ 1.29853136e-02 -8.91662514e-05 9.99915683e-01 -9.01432066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.770385723 meters 0.014944802480616453 Centerline is valid? [True, True] Translation: X:-123.05, Y:-285.27, Z:-9.01 [[-6.89234012e-01 -7.24491838e-01 8.24940542e-03 -1.23050668e+02] [ 7.24438993e-01 -6.89283377e-01 -8.75056152e-03 -2.85274145e+02] [ 1.20258884e-02 -5.49936714e-05 9.99927685e-01 -9.01393104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.800385723 meters 0.014825978555656549 Centerline is valid? [True, True] Translation: X:-123.07, Y:-285.26, Z:-9.01 [[-6.88613909e-01 -7.25089797e-01 7.46123373e-03 -1.23070300e+02] [ 7.25046655e-01 -6.88654329e-01 -7.90967672e-03 -2.85255016e+02] [ 1.08734368e-02 -3.69708462e-05 9.99940882e-01 -9.01291516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.830385723 meters 0.014827426057707184 Centerline is valid? [True, True] Translation: X:-123.09, Y:-285.24, Z:-9.01 [[-6.88045432e-01 -7.25635424e-01 6.83485467e-03 -1.23089574e+02] [ 7.25599292e-01 -6.88079379e-01 -7.24124664e-03 -2.85235346e+02] [ 9.95742763e-03 -2.29409613e-05 9.99950423e-01 -9.01174797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.860385723 meters 0.01470909937888876 Centerline is valid? [True, True] Translation: X:-123.11, Y:-285.22, Z:-9.01 [[-6.86814248e-01 -7.26805997e-01 6.26354275e-03 -1.23108386e+02] [ 7.26775740e-01 -6.86842808e-01 -6.63174572e-03 -2.85216837e+02] [ 9.12206185e-03 -2.58652548e-06 9.99958393e-01 -9.01063129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.890385723 meters 0.014715562852083277 Centerline is valid? [True, True] Translation: X:-123.13, Y:-285.20, Z:-9.01 [[-6.86175883e-01 -7.27407499e-01 6.40218855e-03 -1.23127593e+02] [ 7.27375952e-01 -6.86205749e-01 -6.77450858e-03 -2.85198140e+02] [ 9.32104693e-03 8.29357832e-06 9.99956558e-01 -9.01118494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.920385723 meters 0.014935816012485802 Centerline is valid? [True, True] Translation: X:-123.15, Y:-285.18, Z:-9.01 [[-6.84802036e-01 -7.28695412e-01 7.01197199e-03 -1.23147859e+02] [ 7.28657682e-01 -6.84837934e-01 -7.41528754e-03 -2.85179327e+02] [ 1.02055504e-02 3.13232583e-05 9.99947922e-01 -9.01255084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.950385723 meters 0.014796712029094845 Centerline is valid? [True, True] Translation: X:-123.17, Y:-285.16, Z:-9.01 [[-6.84289371e-01 -7.29177631e-01 6.93107255e-03 -1.23167115e+02] [ 7.29140838e-01 -6.84324471e-01 -7.32517046e-03 -2.85159915e+02] [ 1.00844530e-02 4.11917599e-05 9.99949150e-01 -9.01199917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.980385723 meters 0.014864519745846442 Centerline is valid? [True, True] Translation: X:-123.19, Y:-285.14, Z:-9.01 [[-6.83677518e-01 -7.29753799e-01 6.66673915e-03 -1.23186669e+02] [ 7.29719818e-01 -6.83710020e-01 -7.04243464e-03 -2.85141996e+02] [ 9.69735979e-03 5.00974484e-05 9.99952978e-01 -9.01217965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.010385723 meters 0.014939291325299078 Centerline is valid? [True, True] Translation: X:-123.21, Y:-285.12, Z:-9.01 [[-6.83418378e-01 -7.29996701e-01 6.64355894e-03 -1.23205918e+02] [ 7.29963010e-01 -6.83450666e-01 -7.01362357e-03 -2.85122554e+02] [ 9.66046685e-03 5.63130372e-05 9.99953335e-01 -9.01210733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.040385723 meters 0.014922483381368467 Centerline is valid? [True, True] Translation: X:-123.22, Y:-285.10, Z:-9.01 [[-6.83784568e-01 -7.29653336e-01 6.68384392e-03 -1.23223888e+02] [ 7.29619263e-01 -6.83817231e-01 -7.05159767e-03 -2.85103966e+02] [ 9.71574941e-03 5.48876137e-05 9.99952800e-01 -9.01215956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.070385723 meters 0.014845084063205519 Centerline is valid? [True, True] Translation: X:-123.24, Y:-285.08, Z:-9.01 [[-6.84252913e-01 -7.29208940e-01 7.23002494e-03 -1.23241644e+02] [ 7.29169084e-01 -6.84291107e-01 -7.62418529e-03 -2.85083932e+02] [ 1.05070658e-02 5.50396658e-05 9.99944798e-01 -9.01144126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1003857229999 meters 0.0147871697445644 Centerline is valid? [True, True] Translation: X:-123.26, Y:-285.06, Z:-9.01 [[-6.85304242e-01 -7.28218359e-01 7.49123290e-03 -1.23259654e+02] [ 7.28175565e-01 -6.85345183e-01 -7.89476019e-03 -2.85064022e+02] [ 1.08831897e-02 4.46201025e-05 9.99940775e-01 -9.01109069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.130385723 meters 0.014696252023831482 Centerline is valid? [True, True] Translation: X:-123.28, Y:-285.04, Z:-9.01 [[-6.85953734e-01 -7.27608208e-01 7.33281589e-03 -1.23278659e+02] [ 7.27567221e-01 -6.85992926e-01 -7.72302251e-03 -2.85044303e+02] [ 1.06495944e-02 3.74803393e-05 9.99943291e-01 -9.01103432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.160385723 meters 0.014583403173203014 Centerline is valid? [True, True] Translation: X:-123.30, Y:-285.02, Z:-9.01 [[-6.86386384e-01 -7.27201268e-01 7.21448567e-03 -1.23298348e+02] [ 7.27161614e-01 -6.86424297e-01 -7.59419471e-03 -2.85023745e+02] [ 1.04747063e-02 3.35451985e-05 9.99945138e-01 -9.01053094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.190385723 meters 0.014477706330927658 Centerline is valid? [True, True] Translation: X:-123.32, Y:-285.00, Z:-9.01 [[-6.87178202e-01 -7.26460372e-01 6.43787319e-03 -1.23317840e+02] [ 7.26428799e-01 -6.87208358e-01 -6.77296619e-03 -2.85004096e+02] [ 9.34445180e-03 2.24217614e-05 9.99956340e-01 -9.00982492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2203857229999 meters 0.014477706330927658 Centerline is valid? [True, True] Translation: X:-123.34, Y:-284.98, Z:-9.01 [[-6.87379233e-01 -7.26270143e-01 6.43974754e-03 -1.23336898e+02] [ 7.26238578e-01 -6.87409397e-01 -6.77118408e-03 -2.84984139e+02] [ 9.34445180e-03 2.24217779e-05 9.99956340e-01 -9.00982536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.250385723 meters 0.014527932818735552 Centerline is valid? [True, True] Translation: X:-123.36, Y:-284.97, Z:-9.01 [[-6.87690332e-01 -7.25976662e-01 6.31612802e-03 -1.23355127e+02] [ 7.25946325e-01 -6.87719337e-01 -6.63686568e-03 -2.84965539e+02] [ 9.16193296e-03 2.10615598e-05 9.99958029e-01 -9.01005563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.280385723 meters 0.014445762446541313 Centerline is valid? [True, True] Translation: X:-123.37, Y:-284.95, Z:-9.01 [[-6.88239678e-01 -7.25452339e-01 6.71194715e-03 -1.23374363e+02] [ 7.25418097e-01 -6.88272405e-01 -7.04845943e-03 -2.84945594e+02] [ 9.73296939e-03 1.79384842e-05 9.99952633e-01 -9.01002418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.310385723 meters 0.014448584461561257 Centerline is valid? [True, True] Translation: X:-123.39, Y:-284.93, Z:-9.01 [[-6.88553400e-01 -7.25153901e-01 6.78492783e-03 -1.23393423e+02] [ 7.25118939e-01 -6.88586828e-01 -7.12078928e-03 -2.84925825e+02] [ 9.83568005e-03 1.68360010e-05 9.99951628e-01 -9.01041188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3403857229999 meters 0.014361371955334 Centerline is valid? [True, True] Translation: X:-123.41, Y:-284.91, Z:-9.01 [[-6.88709415e-01 -7.25007234e-01 6.62210800e-03 -1.23412600e+02] [ 7.24973963e-01 -6.88741251e-01 -6.94567955e-03 -2.84906568e+02] [ 9.59658686e-03 1.73009891e-05 9.99953952e-01 -9.01089696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.370385723 meters 0.01434413730219952 Centerline is valid? [True, True] Translation: X:-123.43, Y:-284.89, Z:-9.01 [[-6.88749150e-01 -7.24969205e-01 6.65286202e-03 -1.23431948e+02] [ 7.24935660e-01 -6.88781280e-01 -6.97406077e-03 -2.84886629e+02] [ 9.63834611e-03 1.95184924e-05 9.99953550e-01 -9.01043764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.400385723 meters 0.014301616377292888 Centerline is valid? [True, True] Translation: X:-123.45, Y:-284.87, Z:-9.01 [[-6.89033057e-01 -7.24700012e-01 6.58333163e-03 -1.23451746e+02] [ 7.24667188e-01 -6.89064506e-01 -6.89736342e-03 -2.84866109e+02] [ 9.53485950e-03 1.82130216e-05 9.99954542e-01 -9.01107877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.430385723 meters 0.014243517298941384 Centerline is valid? [True, True] Translation: X:-123.47, Y:-284.85, Z:-9.01 [[-6.90026246e-01 -7.23750664e-01 6.98257787e-03 -1.23469365e+02] [ 7.23713725e-01 -6.90061575e-01 -7.31214458e-03 -2.84846673e+02] [ 1.01105782e-02 7.81576207e-06 9.99948887e-01 -9.01113448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.460385723 meters 0.014254023058234526 Centerline is valid? [True, True] Translation: X:-123.49, Y:-284.83, Z:-9.01 [[-6.90768069e-01 -7.23042982e-01 6.95128487e-03 -1.23487121e+02] [ 7.23006385e-01 -6.90803044e-01 -7.27467230e-03 -2.84827576e+02] [ 1.00618695e-02 7.12011921e-07 9.99949378e-01 -9.01111343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.490385723 meters 0.014179456195726381 Centerline is valid? [True, True] Translation: X:-123.50, Y:-284.81, Z:-9.01 [[-6.91817622e-01 -7.22039841e-01 6.84437828e-03 -1.23504883e+02] [ 7.22004355e-01 -6.91851478e-01 -7.15846266e-03 -2.84806949e+02] [ 9.90398847e-03 -1.06796890e-05 9.99950954e-01 -9.01046406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.520385723 meters 0.014226571476683842 Centerline is valid? [True, True] Translation: X:-123.52, Y:-284.79, Z:-9.01 [[-6.92440147e-01 -7.21445251e-01 6.58728305e-03 -1.23522901e+02] [ 7.21412395e-01 -6.92471479e-01 -6.88521532e-03 -2.84787177e+02] [ 9.52881153e-03 -1.54518645e-05 9.99954600e-01 -9.01020086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.550385723 meters 0.014208382125686729 Centerline is valid? [True, True] Translation: X:-123.54, Y:-284.77, Z:-9.01 [[-6.92844531e-01 -7.21061116e-01 6.10927801e-03 -1.23541504e+02] [ 7.21032876e-01 -6.92871465e-01 -6.38165914e-03 -2.84767851e+02] [ 8.83451067e-03 -1.65073412e-05 9.99960975e-01 -9.00927994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.580385723 meters 0.014182946278916876 Centerline is valid? [True, True] Translation: X:-123.56, Y:-284.75, Z:-9.01 [[-6.93209278e-01 -7.20710714e-01 6.07974827e-03 -1.23560363e+02] [ 7.20682768e-01 -6.93235939e-01 -6.34672165e-03 -2.84749618e+02] [ 8.78885029e-03 -1.80365251e-05 9.99961377e-01 -9.00995449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.610385723 meters 0.014145821080313627 Centerline is valid? [True, True] Translation: X:-123.58, Y:-284.73, Z:-9.01 [[-6.93473459e-01 -7.20457331e-01 5.98294485e-03 -1.23579681e+02] [ 7.20430292e-01 -6.93499267e-01 -6.24189948e-03 -2.84730476e+02] [ 8.64619011e-03 -1.82969240e-05 9.99962621e-01 -9.01011168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.640385723 meters 0.014098218974008042 Centerline is valid? [True, True] Translation: X:-123.60, Y:-284.71, Z:-9.01 [[-6.93547620e-01 -7.20389413e-01 5.54908663e-03 -1.23599796e+02] [ 7.20366179e-01 -6.93569818e-01 -5.78579802e-03 -2.84711549e+02] [ 8.01670665e-03 -1.53521142e-05 9.99967866e-01 -9.00954552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.670385723 meters 0.01413625548824947 Centerline is valid? [True, True] Translation: X:-123.62, Y:-284.69, Z:-9.01 [[-6.93381828e-01 -7.20550605e-01 5.33542024e-03 -1.23618965e+02] [ 7.20529156e-01 -6.93402355e-01 -5.55965448e-03 -2.84692576e+02] [ 7.70560536e-03 -1.06375415e-05 9.99970311e-01 -9.00897007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.700385723 meters 0.014173359846207123 Centerline is valid? [True, True] Translation: X:-123.64, Y:-284.67, Z:-9.01 [[-6.92567808e-01 -7.21336037e-01 4.91465593e-03 -1.23638112e+02] [ 7.21317874e-01 -6.92585245e-01 -5.11881004e-03 -2.84674789e+02] [ 7.09620033e-03 -9.38810141e-08 9.99974822e-01 -9.00802474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.730385723 meters 0.01417522546642543 Centerline is valid? [True, True] Translation: X:-123.66, Y:-284.66, Z:-9.01 [[-6.91975154e-01 -7.21905330e-01 4.80423873e-03 -1.23657281e+02] [ 7.21888009e-01 -6.91991831e-01 -5.00082845e-03 -2.84656086e+02] [ 6.93461867e-03 7.67328955e-06 9.99975955e-01 -9.00802433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.760385723 meters 0.01415275478181349 Centerline is valid? [True, True] Translation: X:-123.68, Y:-284.64, Z:-9.01 [[-6.91118690e-01 -7.22724545e-01 4.91808573e-03 -1.23677683e+02] [ 7.22706436e-01 -6.91136189e-01 -5.11625840e-03 -2.84637948e+02] [ 7.09671255e-03 1.83904046e-05 9.99974818e-01 -9.00814003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.790385723 meters 0.014264840881148379 Centerline is valid? [True, True] Translation: X:-123.70, Y:-284.62, Z:-9.01 [[-6.90950133e-01 -7.22884227e-01 5.12914768e-03 -1.23697191e+02] [ 7.22864558e-01 -6.90969170e-01 -5.33263179e-03 -2.84619472e+02] [ 7.39895833e-03 2.30964298e-05 9.99972627e-01 -9.00892842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.820385723 meters 0.014174470512663337 Centerline is valid? [True, True] Translation: X:-123.72, Y:-284.60, Z:-9.01 [[-6.90554207e-01 -7.23259626e-01 5.51370999e-03 -1.23716823e+02] [ 7.23236936e-01 -6.90576218e-01 -5.72895618e-03 -2.84600985e+02] [ 7.95115969e-03 3.15639307e-05 9.99968389e-01 -9.00896053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8503857229999 meters 0.014628064758732821 Centerline is valid? [True, True] Translation: X:-123.74, Y:-284.58, Z:-9.01 [[-6.89761246e-01 -7.24012809e-01 5.90549734e-03 -1.23737693e+02] [ 7.23986838e-01 -6.89786525e-01 -6.13260239e-03 -2.84581953e+02] [ 8.51361518e-03 4.54708765e-05 9.99963758e-01 -9.00914509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.880385723 meters 0.014533103746115154 Centerline is valid? [True, True] Translation: X:-123.76, Y:-284.56, Z:-9.01 [[-6.89475799e-01 -7.24284350e-01 5.94161871e-03 -1.23757403e+02] [ 7.24258101e-01 -6.89501398e-01 -6.16646495e-03 -2.84563846e+02] [ 8.56302847e-03 5.16371392e-05 9.99963335e-01 -9.00982315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.910385723 meters 0.014430008326489266 Centerline is valid? [True, True] Translation: X:-123.78, Y:-284.54, Z:-9.01 [[-6.89306382e-01 -7.24447832e-01 5.66141029e-03 -1.23776559e+02] [ 7.24424032e-01 -6.89329628e-01 -5.87241889e-03 -2.84543116e+02] [ 8.15683898e-03 5.33658528e-05 9.99966731e-01 -9.00754144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.940385723 meters 0.014422930490252126 Centerline is valid? [True, True] Translation: X:-123.80, Y:-284.52, Z:-9.01 [[-6.89788402e-01 -7.23990890e-01 5.39921048e-03 -1.23795902e+02] [ 7.23969257e-01 -6.89809531e-01 -5.59699224e-03 -2.84523695e+02] [ 7.77659824e-03 4.81220612e-05 9.99969761e-01 -9.00726977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9703857229999 meters 0.014432098701193592 Centerline is valid? [True, True] Translation: X:-123.82, Y:-284.50, Z:-9.01 [[-6.90072516e-01 -7.23720280e-01 5.37391339e-03 -1.23815497e+02] [ 7.23698867e-01 -6.90093439e-01 -5.56734703e-03 -2.84504114e+02] [ 7.73770432e-03 4.72218551e-05 9.99970063e-01 -9.00737089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.000385723 meters 0.014358089705432056 Centerline is valid? [True, True] Translation: X:-123.84, Y:-284.48, Z:-9.01 [[-6.90986756e-01 -7.22847521e-01 5.36326609e-03 -1.23835085e+02] [ 7.22826193e-01 -6.91007569e-01 -5.55291903e-03 -2.84484784e+02] [ 7.71997122e-03 3.97157003e-05 9.99970200e-01 -9.00807490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.030385723 meters 0.014149626241748573 Centerline is valid? [True, True] Translation: X:-123.85, Y:-284.46, Z:-9.01 [[-6.91831343e-01 -7.22040282e-01 5.21770694e-03 -1.23854264e+02] [ 7.22020096e-01 -6.91851017e-01 -5.39920190e-03 -2.84464361e+02] [ 7.50831712e-03 3.19521667e-05 9.99971812e-01 -9.00755638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.060385723 meters 0.014145498625629901 Centerline is valid? [True, True] Translation: X:-123.87, Y:-284.44, Z:-9.01 [[-6.93399676e-01 -7.20538506e-01 4.59897369e-03 -1.23873159e+02] [ 7.20522809e-01 -6.93414927e-01 -4.75617447e-03 -2.84444360e+02] [ 6.61600385e-03 1.57356071e-05 9.99978114e-01 -9.00727749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0903857229999 meters 0.014171418387781734 Centerline is valid? [True, True] Translation: X:-123.89, Y:-284.42, Z:-9.01 [[-6.94151713e-01 -7.19813195e-01 4.72912440e-03 -1.23891775e+02] [ 7.19796600e-01 -6.94167822e-01 -4.88775679e-03 -2.84424624e+02] [ 6.80107782e-03 1.11629191e-05 9.99976872e-01 -9.00691742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.120385723 meters 0.01412185419081881 Centerline is valid? [True, True] Translation: X:-123.91, Y:-284.41, Z:-9.01 [[-6.95008705e-01 -7.18985349e-01 4.79253227e-03 -1.23910034e+02] [ 7.18968303e-01 -6.95025228e-01 -4.95093602e-03 -2.84405684e+02] [ 6.89058130e-03 4.73516658e-06 9.99976260e-01 -9.00748584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.150385723 meters 0.014100894248675385 Centerline is valid? [True, True] Translation: X:-123.93, Y:-284.39, Z:-9.01 [[-6.95908217e-01 -7.18111645e-01 5.23640660e-03 -1.23928837e+02] [ 7.18091295e-01 -6.95927917e-01 -5.40618663e-03 -2.84385719e+02] [ 7.52640711e-03 -1.99170596e-06 9.99971676e-01 -9.00738616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.180385723 meters 0.01417495725487062 Centerline is valid? [True, True] Translation: X:-123.95, Y:-284.37, Z:-9.01 [[-6.97202206e-01 -7.16851189e-01 5.78424389e-03 -1.23948687e+02] [ 7.16826342e-01 -6.97226199e-01 -5.96846903e-03 -2.84365589e+02] [ 8.31143050e-03 -1.49313791e-05 9.99965459e-01 -9.00794247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.210385723 meters 0.014177457020321674 Centerline is valid? [True, True] Translation: X:-123.97, Y:-284.35, Z:-9.01 [[-6.97744076e-01 -7.16325040e-01 5.62500530e-03 -1.23968661e+02] [ 7.16301552e-01 -6.97766749e-01 -5.80093497e-03 -2.84345231e+02] [ 8.08029664e-03 -1.83679903e-05 9.99967354e-01 -9.00808612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.240385723 meters 0.014250320484919374 Centerline is valid? [True, True] Translation: X:-123.99, Y:-284.33, Z:-9.01 [[-6.98408623e-01 -7.15684054e-01 4.66152422e-03 -1.23988077e+02] [ 7.15667927e-01 -6.98424180e-01 -4.80450798e-03 -2.84325857e+02] [ 6.69423098e-03 -1.94064233e-05 9.99977593e-01 -9.00757077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.270385723 meters 0.014303104667900267 Centerline is valid? [True, True] Translation: X:-124.01, Y:-284.31, Z:-9.01 [[-6.98822519e-01 -7.15281053e-01 4.48358868e-03 -1.24007871e+02] [ 7.15266142e-01 -6.98836902e-01 -4.61854757e-03 -2.84306152e+02] [ 6.43685679e-03 -2.05858668e-05 9.99979283e-01 -9.00677590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.300385723 meters 0.014345614480602313 Centerline is valid? [True, True] Translation: X:-124.03, Y:-284.29, Z:-9.01 [[-6.99142323e-01 -7.14970572e-01 4.13437203e-03 -1.24027896e+02] [ 7.14957902e-01 -6.99154547e-01 -4.25645669e-03 -2.84286733e+02] [ 5.93380628e-03 -1.99670648e-05 9.99982395e-01 -9.00609656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.330385723 meters 0.014417290414754452 Centerline is valid? [True, True] Translation: X:-124.05, Y:-284.27, Z:-9.01 [[-6.99344255e-01 -7.14771045e-01 4.46831257e-03 -1.24046781e+02] [ 7.14756259e-01 -6.99358530e-01 -4.59756532e-03 -2.84267554e+02] [ 6.41115908e-03 -2.15265195e-05 9.99979448e-01 -9.00707236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.360385723 meters 0.014282491949348499 Centerline is valid? [True, True] Translation: X:-124.07, Y:-284.25, Z:-9.01 [[-6.99462640e-01 -7.14653515e-01 4.72954831e-03 -1.24067181e+02] [ 7.14636965e-01 -6.99478629e-01 -4.86367502e-03 -2.84247891e+02] [ 6.78406042e-03 -2.20489196e-05 9.99976988e-01 -9.00679808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.390385723 meters 0.014348911214183602 Centerline is valid? [True, True] Translation: X:-124.09, Y:-284.23, Z:-9.01 [[-6.99336904e-01 -7.14775616e-01 4.86956856e-03 -1.24086824e+02] [ 7.14758097e-01 -6.99353858e-01 -5.00440591e-03 -2.84230453e+02] [ 6.98257888e-03 -1.92021780e-05 9.99975621e-01 -9.00749486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.420385723 meters 0.014303567357646164 Centerline is valid? [True, True] Translation: X:-124.11, Y:-284.21, Z:-9.01 [[-6.99204514e-01 -7.14905241e-01 4.85212876e-03 -1.24106756e+02] [ 7.14887872e-01 -6.99221350e-01 -4.98344719e-03 -2.84211530e+02] [ 6.95540453e-03 -1.57207695e-05 9.99975811e-01 -9.00712031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.450385723 meters 0.014277449597414083 Centerline is valid? [True, True] Translation: X:-124.13, Y:-284.19, Z:-9.01 [[-6.98668685e-01 -7.15431899e-01 4.38943131e-03 -1.24128359e+02] [ 7.15417710e-01 -6.98682473e-01 -4.50571701e-03 -2.84192905e+02] [ 6.29035240e-03 -7.72647700e-06 9.99980216e-01 -9.00596220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.480385723 meters 0.014235237511580552 Centerline is valid? [True, True] Translation: X:-124.15, Y:-284.17, Z:-9.01 [[-6.98356393e-01 -7.15737085e-01 4.33289638e-03 -1.24148891e+02] [ 7.15723281e-01 -6.98369834e-01 -4.44519182e-03 -2.84174031e+02] [ 6.20755276e-03 -3.17331192e-06 9.99980733e-01 -9.00568962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.510385723 meters 0.01428798234097214 Centerline is valid? [True, True] Translation: X:-124.17, Y:-284.16, Z:-9.01 [[-6.97605811e-01 -7.16470527e-01 4.01444773e-03 -1.24169993e+02] [ 7.16458704e-01 -6.97617362e-01 -4.11606040e-03 -2.84156914e+02] [ 5.74958440e-03 4.79835782e-06 9.99983471e-01 -9.00587775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.540385723 meters 0.014194281448845329 Centerline is valid? [True, True] Translation: X:-124.19, Y:-284.14, Z:-9.01 [[-6.97449569e-01 -7.16622951e-01 3.95535319e-03 -1.24190474e+02] [ 7.16611489e-01 -6.97460785e-01 -4.05318860e-03 -2.84137984e+02] [ 5.66331171e-03 7.55690013e-06 9.99983963e-01 -9.00553194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.570385723 meters 0.014111561798709487 Centerline is valid? [True, True] Translation: X:-124.21, Y:-284.12, Z:-9.01 [[-6.97370301e-01 -7.16700821e-01 3.82053139e-03 -1.24210592e+02] [ 7.16690141e-01 -6.97380766e-01 -3.91270984e-03 -2.84119895e+02] [ 5.46860746e-03 9.52954223e-06 9.99985047e-01 -9.00555949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6003857229999 meters 0.014086536419451056 Centerline is valid? [True, True] Translation: X:-124.23, Y:-284.10, Z:-9.00 [[-6.97321032e-01 -7.16751881e-01 3.18124834e-03 -1.24231306e+02] [ 7.16744485e-01 -6.97328288e-01 -3.25618565e-03 -2.84101274e+02] [ 4.55225164e-03 9.53546356e-06 9.99989639e-01 -9.00447492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.630385723 meters 0.01412255115547311 Centerline is valid? [True, True] Translation: X:-124.25, Y:-284.08, Z:-9.00 [[-6.97399278e-01 -7.16676595e-01 2.98401687e-03 -1.24251052e+02] [ 7.16670092e-01 -6.97405662e-01 -3.05306649e-03 -2.84082074e+02] [ 4.26913156e-03 9.34927697e-06 9.99990887e-01 -9.00477997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.660385723 meters 0.01407961047685195 Centerline is valid? [True, True] Translation: X:-124.27, Y:-284.06, Z:-9.01 [[-6.97828919e-01 -7.16257458e-01 3.17079519e-03 -1.24271184e+02] [ 7.16250120e-01 -6.97836123e-01 -3.24217975e-03 -2.84063760e+02] [ 4.53493085e-03 8.59564258e-06 9.99989717e-01 -9.00504360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.690385723 meters 0.014014335245890321 Centerline is valid? [True, True] Translation: X:-124.29, Y:-284.04, Z:-9.01 [[-6.98066847e-01 -7.16025438e-01 3.20147711e-03 -1.24291679e+02] [ 7.16017963e-01 -6.98074189e-01 -3.27174593e-03 -2.84044209e+02] [ 4.57752185e-03 8.41775087e-06 9.99989523e-01 -9.00539049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7203857229999 meters 0.013936295311357485 Centerline is valid? [True, True] Translation: X:-124.31, Y:-284.03, Z:-9.01 [[-6.98613225e-01 -7.15490244e-01 3.64316420e-03 -1.24311225e+02] [ 7.15480569e-01 -6.98622725e-01 -3.72084077e-03 -2.84025299e+02] [ 5.20742257e-03 7.18462575e-06 9.99986441e-01 -9.00582522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.750385723 meters 0.01391138142824275 Centerline is valid? [True, True] Translation: X:-124.33, Y:-284.01, Z:-9.01 [[-6.99992819e-01 -7.14139539e-01 3.84339312e-03 -1.24330121e+02] [ 7.14128765e-01 -7.00003371e-01 -3.92281155e-03 -2.84006765e+02] [ 5.49182297e-03 -1.26233287e-06 9.99984920e-01 -9.00606096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.780385723 meters 0.0139697846022049 Centerline is valid? [True, True] Translation: X:-124.35, Y:-283.99, Z:-9.01 [[-7.01092426e-01 -7.13061264e-01 3.61174550e-03 -1.24349983e+02] [ 7.13051745e-01 -7.01101729e-01 -3.68433960e-03 -2.83986745e+02] [ 5.15936086e-03 -7.70115338e-06 9.99986690e-01 -9.00581134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.810385723 meters 0.0141435377094405 Centerline is valid? [True, True] Translation: X:-124.37, Y:-283.97, Z:-9.01 [[-7.03230439e-01 -7.10954694e-01 3.22061905e-03 -1.24368310e+02] [ 7.10947113e-01 -7.03237814e-01 -3.28321540e-03 -2.83968009e+02] [ 4.59907850e-03 -1.91671908e-05 9.99989424e-01 -9.00544786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8403857229999 meters 0.014228879424096777 Centerline is valid? [True, True] Translation: X:-124.39, Y:-283.95, Z:-9.01 [[-7.04499241e-01 -7.09700234e-01 2.52948411e-03 -1.24387831e+02] [ 7.09695555e-01 -7.04503782e-01 -2.57706781e-03 -2.83948446e+02] [ 3.61097675e-03 -2.03786867e-05 9.99993480e-01 -9.00526981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.870385723 meters 0.014431742076916776 Centerline is valid? [True, True] Translation: X:-124.41, Y:-283.93, Z:-9.01 [[-7.06098731e-01 -7.08108947e-01 2.51032364e-03 -1.24406572e+02] [ 7.08104333e-01 -7.06103193e-01 -2.55634114e-03 -2.83930692e+02] [ 3.58271557e-03 -2.74581897e-05 9.99993582e-01 -9.00559690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.900385723 meters 0.014497594357685458 Centerline is valid? [True, True] Translation: X:-124.43, Y:-283.91, Z:-9.01 [[-7.06645759e-01 -7.07562755e-01 2.59225015e-03 -1.24427066e+02] [ 7.07557837e-01 -7.06650513e-01 -2.63832110e-03 -2.83911169e+02] [ 3.69859264e-03 -3.01915040e-05 9.99993160e-01 -9.00595720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.930385723 meters 0.014524689855163118 Centerline is valid? [True, True] Translation: X:-124.45, Y:-283.89, Z:-9.01 [[-7.07411532e-01 -7.06796463e-01 2.77211964e-03 -1.24447542e+02] [ 7.06790839e-01 -7.07416963e-01 -2.81980435e-03 -2.83891942e+02] [ 3.95407219e-03 -3.54533490e-05 9.99992182e-01 -9.00626330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.960385723 meters 0.014660833967462894 Centerline is valid? [True, True] Translation: X:-124.47, Y:-283.87, Z:-9.01 [[-7.08353156e-01 -7.05852456e-01 2.84897301e-03 -1.24467723e+02] [ 7.05846515e-01 -7.08358884e-01 -2.89626731e-03 -2.83873467e+02] [ 4.06243274e-03 -4.06424172e-05 9.99991748e-01 -9.00739126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.990385723 meters 0.014750625327992069 Centerline is valid? [True, True] Translation: X:-124.49, Y:-283.85, Z:-9.01 [[-7.08774082e-01 -7.05429320e-01 2.96231837e-03 -1.24488550e+02] [ 7.05422900e-01 -7.08780272e-01 -3.00984232e-03 -2.83853939e+02] [ 4.22286384e-03 -4.36110111e-05 9.99991083e-01 -9.00783702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.020385723 meters 0.014704354225580338 Centerline is valid? [True, True] Translation: X:-124.51, Y:-283.83, Z:-9.01 [[-7.09417967e-01 -7.04781266e-01 3.08465346e-03 -1.24509280e+02] [ 7.04774307e-01 -7.09424672e-01 -3.13238568e-03 -2.83834632e+02] [ 4.39597601e-03 -4.81861814e-05 9.99990337e-01 -9.00771492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.050385723 meters 0.015009842819871966 Centerline is valid? [True, True] Translation: X:-124.53, Y:-283.82, Z:-9.01 [[-7.10468177e-01 -7.03724208e-01 2.68476696e-03 -1.24528928e+02] [ 7.03718935e-01 -7.10473248e-01 -2.72470364e-03 -2.83815405e+02] [ 3.82489502e-03 -4.64938811e-05 9.99992684e-01 -9.00806656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.080385723 meters 0.015162206784356157 Centerline is valid? [True, True] Translation: X:-124.55, Y:-283.80, Z:-9.01 [[-7.11212873e-01 -7.02972016e-01 2.56778951e-03 -1.24547857e+02] [ 7.02967193e-01 -7.11217507e-01 -2.60431146e-03 -2.83796495e+02] [ 3.65701493e-03 -4.71480465e-05 9.99993312e-01 -9.00802077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.110385723 meters 0.015292658496385678 Centerline is valid? [True, True] Translation: X:-124.57, Y:-283.78, Z:-9.01 [[-7.11945596e-01 -7.02227131e-01 3.24434662e-03 -1.24566905e+02] [ 7.02219434e-01 -7.11952985e-01 -3.28849613e-03 -2.83777545e+02] [ 4.61909347e-03 -6.29870861e-05 9.99989330e-01 -9.00861824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.140385723 meters 0.015292658496385678 Centerline is valid? [True, True] Translation: X:-124.59, Y:-283.76, Z:-9.01 [[-7.12158803e-01 -7.02010902e-01 3.24534508e-03 -1.24585768e+02] [ 7.02003207e-01 -7.12166195e-01 -3.28751078e-03 -2.83758563e+02] [ 4.61909347e-03 -6.29870848e-05 9.99989330e-01 -9.00861866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.170385723 meters 0.015245557599649634 Centerline is valid? [True, True] Translation: X:-124.61, Y:-283.74, Z:-9.01 [[-7.12359042e-01 -7.01807144e-01 3.36563808e-03 -1.24605780e+02] [ 7.01798875e-01 -7.12366990e-01 -3.40750004e-03 -2.83739400e+02] [ 4.78897734e-03 -6.53624460e-05 9.99988531e-01 -9.00883022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.200385723 meters 0.01502179480776218 Centerline is valid? [True, True] Translation: X:-124.63, Y:-283.72, Z:-9.01 [[-7.11871743e-01 -7.02301181e-01 3.41650529e-03 -1.24626656e+02] [ 7.02292675e-01 -7.11879939e-01 -3.45709642e-03 -2.83720860e+02] [ 4.86006447e-03 -6.16226192e-05 9.99988188e-01 -9.00906587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.230385723 meters 0.014933502431693176 Centerline is valid? [True, True] Translation: X:-124.65, Y:-283.70, Z:-9.01 [[-7.11303914e-01 -7.02875570e-01 3.56035176e-03 -1.24645967e+02] [ 7.02866350e-01 -7.11312822e-01 -3.60058242e-03 -2.83702354e+02] [ 5.06328528e-03 -5.86569208e-05 9.99987180e-01 -9.00890559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.260385723 meters 0.014937490188699887 Centerline is valid? [True, True] Translation: X:-124.67, Y:-283.68, Z:-9.01 [[-7.10777202e-01 -7.03409314e-01 3.33247354e-03 -1.24666446e+02] [ 7.03401251e-01 -7.10785013e-01 -3.36828420e-03 -2.83683307e+02] [ 4.73795473e-03 -5.00335609e-05 9.99988775e-01 -9.00879747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.290385723 meters 0.015115532124859466 Centerline is valid? [True, True] Translation: X:-124.69, Y:-283.67, Z:-9.01 [[-7.09023915e-01 -7.05172639e-01 4.07899772e-03 -1.24686381e+02] [ 7.05160603e-01 -7.09035646e-01 -4.12016917e-03 -2.83666584e+02] [ 5.79758535e-03 -4.49499761e-05 9.99983193e-01 -9.00997741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.320385723 meters 0.01462883361891439 Centerline is valid? [True, True] Translation: X:-124.71, Y:-283.65, Z:-9.01 [[-7.08168982e-01 -7.06032901e-01 3.77294029e-03 -1.24706291e+02] [ 7.06022629e-01 -7.08179032e-01 -3.80867877e-03 -2.83648391e+02] [ 5.36096972e-03 -3.34069428e-05 9.99985629e-01 -9.00998099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3503857229999 meters 0.01454221223630234 Centerline is valid? [True, True] Translation: X:-124.73, Y:-283.63, Z:-9.01 [[-7.07584048e-01 -7.06618563e-01 3.87578341e-03 -1.24726178e+02] [ 7.06607745e-01 -7.07594662e-01 -3.91009970e-03 -2.83629157e+02] [ 5.50543268e-03 -2.80655951e-05 9.99984845e-01 -9.00978194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.380385723 meters 0.014338947465034264 Centerline is valid? [True, True] Translation: X:-124.75, Y:-283.61, Z:-9.01 [[-7.06514816e-01 -7.07688183e-01 3.77505523e-03 -1.24746460e+02] [ 7.07677946e-01 -7.06524901e-01 -3.80638160e-03 -2.83609721e+02] [ 5.36090180e-03 -1.77416606e-05 9.99985630e-01 -9.00978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.410385723 meters 0.014297727397408401 Centerline is valid? [True, True] Translation: X:-124.77, Y:-283.59, Z:-9.01 [[-7.05800882e-01 -7.08399360e-01 3.93211844e-03 -1.24766254e+02] [ 7.08388277e-01 -7.05811835e-01 -3.96253207e-03 -2.83590317e+02] [ 5.58239092e-03 -1.12920254e-05 9.99984418e-01 -9.00983753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.440385723 meters 0.014371542093642893 Centerline is valid? [True, True] Translation: X:-124.79, Y:-283.57, Z:-9.01 [[-7.04857538e-01 -7.09335387e-01 4.37719627e-03 -1.24785595e+02] [ 7.09321688e-01 -7.04871129e-01 -4.40845097e-03 -2.83570670e+02] [ 6.21242955e-03 -2.48965013e-06 9.99980703e-01 -9.01099218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4703857229999 meters 0.014457384146743213 Centerline is valid? [True, True] Translation: X:-124.81, Y:-283.55, Z:-9.01 [[-7.04387260e-01 -7.09801245e-01 4.55863342e-03 -1.24805191e+02] [ 7.09786413e-01 -7.04402011e-01 -4.58863892e-03 -2.83550117e+02] [ 6.46813217e-03 3.47726345e-06 9.99979082e-01 -9.01118968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.500385723 meters 0.014443866605879098 Centerline is valid? [True, True] Translation: X:-124.82, Y:-283.53, Z:-9.01 [[-7.03526062e-01 -7.10657354e-01 4.14800530e-03 -1.24823441e+02] [ 7.10645098e-01 -7.03538290e-01 -4.17361904e-03 -2.83530090e+02] [ 5.88429362e-03 1.15098690e-05 9.99982687e-01 -9.01056937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.530385723 meters 0.01441296742895841 Centerline is valid? [True, True] Translation: X:-124.84, Y:-283.51, Z:-9.01 [[-7.03441752e-01 -7.10744206e-01 3.51789416e-03 -1.24842654e+02] [ 7.10735402e-01 -7.03450548e-01 -3.53764485e-03 -2.83509949e+02] [ 4.98902515e-03 1.17648284e-05 9.99987555e-01 -9.00999168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.560385723 meters 0.014500751246898272 Centerline is valid? [True, True] Translation: X:-124.86, Y:-283.49, Z:-9.01 [[-7.03415473e-01 -7.10771013e-01 3.35248954e-03 -1.24862388e+02] [ 7.10763027e-01 -7.03423462e-01 -3.36944022e-03 -2.83489543e+02] [ 4.75312023e-03 1.27092272e-05 9.99988704e-01 -9.01023251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5903857229999 meters 0.014591822028504156 Centerline is valid? [True, True] Translation: X:-124.88, Y:-283.47, Z:-9.01 [[-7.03547408e-01 -7.10639745e-01 3.49241523e-03 -1.24880543e+02] [ 7.10631087e-01 -7.03556076e-01 -3.50811086e-03 -2.83468310e+02] [ 4.95011296e-03 1.36965328e-05 9.99987748e-01 -9.01090612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.620385723 meters 0.01471746926565717 Centerline is valid? [True, True] Translation: X:-124.90, Y:-283.45, Z:-9.01 [[-7.03630583e-01 -7.10557467e-01 3.47684185e-03 -1.24899193e+02] [ 7.10548894e-01 -7.03639173e-01 -3.49052660e-03 -2.83447408e+02] [ 4.92666186e-03 1.44248663e-05 9.99987864e-01 -9.01121309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.650385723 meters 0.015414094664202436 Centerline is valid? [True, True] Translation: X:-124.92, Y:-283.42, Z:-9.01 [[-7.04327679e-01 -7.09863869e-01 3.97594031e-03 -1.24915358e+02] [ 7.09852659e-01 -7.04338901e-01 -3.98935317e-03 -2.83424383e+02] [ 5.63230711e-03 1.25199461e-05 9.99984138e-01 -9.01202516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.680385723 meters 0.014676462236483449 Centerline is valid? [True, True] Translation: X:-124.93, Y:-283.40, Z:-9.01 [[-7.04864701e-01 -7.09333389e-01 3.44924684e-03 -1.24933065e+02] [ 7.09324956e-01 -7.04873140e-01 -3.45883716e-03 -2.83403617e+02] [ 4.88475013e-03 8.62464322e-06 9.99988070e-01 -9.01151885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.710385723 meters 0.014715512045986786 Centerline is valid? [True, True] Translation: X:-124.95, Y:-283.38, Z:-9.01 [[-7.05608359e-01 -7.08594776e-01 3.20740567e-03 -1.24951966e+02] [ 7.08587485e-01 -7.05615648e-01 -3.21453802e-03 -2.83382202e+02] [ 4.54100048e-03 4.52262296e-06 9.99989690e-01 -9.01146123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.740385723 meters 0.014749199475304828 Centerline is valid? [True, True] Translation: X:-124.97, Y:-283.36, Z:-9.01 [[-7.06651031e-01 -7.07557625e-01 2.55504182e-03 -1.24968713e+02] [ 7.07552997e-01 -7.06655650e-01 -2.55922304e-03 -2.83361113e+02] [ 3.61633251e-03 -6.50100346e-07 9.99993461e-01 -9.01180023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.770385723 meters 0.014740529534779993 Centerline is valid? [True, True] Translation: X:-124.99, Y:-283.34, Z:-9.01 [[-7.07255783e-01 -7.06954484e-01 2.14828124e-03 -1.24986275e+02] [ 7.06951213e-01 -7.07259046e-01 -2.15048124e-03 -2.83340365e+02] [ 3.03968369e-03 -2.21026258e-06 9.99995380e-01 -9.01153311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.800385723 meters 0.014822000686544809 Centerline is valid? [True, True] Translation: X:-125.00, Y:-283.32, Z:-9.01 [[-7.07785941e-01 -7.06425060e-01 1.64206062e-03 -1.25002124e+02] [ 7.06423150e-01 -7.07787846e-01 -1.64273822e-03 -2.83317827e+02] [ 2.32270200e-03 -2.71738114e-06 9.99997303e-01 -9.01054295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.830385723 meters 0.014741980070530162 Centerline is valid? [True, True] Translation: X:-125.02, Y:-283.30, Z:-9.01 [[-7.08040831e-01 -7.06168546e-01 2.04140966e-03 -1.25020016e+02] [ 7.06165596e-01 -7.08043774e-01 -2.04101090e-03 -2.83297419e+02] [ 2.88670510e-03 -3.54578186e-06 9.99995834e-01 -9.01082572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.860385723 meters 0.01478402330213469 Centerline is valid? [True, True] Translation: X:-125.53, Y:-283.82, Z:-8.06 [[-7.54603377e-01 6.56177204e-01 2.28472293e-03 -1.25534351e+02] [ 6.56174208e-01 7.54606836e-01 -1.98300066e-03 -2.83815016e+02] [-3.02526737e-03 2.79726266e-06 -9.99995424e-01 -8.05878719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.890385723 meters 0.015176457118993767 Centerline is valid? [True, True] Translation: X:-125.05, Y:-283.27, Z:-9.01 [[-7.10023123e-01 -7.04171540e-01 3.09961537e-03 -1.25052908e+02] [ 7.04165267e-01 -7.10029885e-01 -2.97319860e-03 -2.83265357e+02] [ 4.29446138e-03 7.16017288e-05 9.99990776e-01 -9.01404290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.920385723 meters 0.014853745731193803 Centerline is valid? [True, True] Translation: X:-125.57, Y:-283.79, Z:-8.06 [[-7.57686415e-01 6.52611535e-01 3.07913536e-03 -1.25570510e+02] [ 6.52606142e-01 7.57692671e-01 -2.65335088e-03 -2.83788644e+02] [-4.06464569e-03 -9.45264295e-07 -9.99991739e-01 -8.05646222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.950385723 meters 0.014795466298981765 Centerline is valid? [True, True] Translation: X:-125.57, Y:-283.76, Z:-8.06 [[-8.01949666e-01 5.97384443e-01 2.92597658e-03 -1.25567721e+02] [ 5.97380463e-01 8.01955003e-01 -2.18073898e-03 -2.83757870e+02] [-3.64924110e-03 -9.21654311e-07 -9.99993342e-01 -8.05702755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.980385723 meters 0.015488378422101219 Centerline is valid? [True, True] Translation: X:-125.11, Y:-283.18, Z:-9.01 [[-7.60487458e-01 -6.49345755e-01 2.98612430e-03 -1.25106664e+02] [ 6.49340834e-01 -7.60493321e-01 -2.52798600e-03 -2.83175319e+02] [ 3.91246456e-03 1.65107971e-05 9.99992346e-01 -9.01391985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.010385723 meters 0.014777004927061745 Centerline is valid? [True, True] Translation: X:-125.59, Y:-283.75, Z:-8.06 [[-8.03649769e-01 5.95096443e-01 2.69698507e-03 -1.25589800e+02] [ 5.95093097e-01 8.03654294e-01 -1.99538887e-03 -2.83748643e+02] [-3.35489245e-03 1.36339805e-06 -9.99994372e-01 -8.05726867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.040385723 meters 0.014674284666313205 Centerline is valid? [True, True] Translation: X:-125.57, Y:-283.73, Z:-8.06 [[-8.42950840e-01 5.37981489e-01 3.13034874e-03 -1.25567812e+02] [ 5.37977802e-01 8.42956652e-01 -1.99163923e-03 -2.83732650e+02] [-3.71021333e-03 5.20417432e-06 -9.99993117e-01 -8.05665843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.070385723 meters 0.01463293405502859 Centerline is valid? [True, True] Translation: X:-125.56, Y:-283.71, Z:-8.06 [[-8.78340138e-01 4.78025893e-01 3.13815378e-03 -1.25555226e+02] [ 4.78022880e-01 8.78345744e-01 -1.69736697e-03 -2.83709946e+02] [-3.56776937e-03 9.24376690e-06 -9.99993636e-01 -8.05620353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1003857229999 meters 0.014628831688902921 Centerline is valid? [True, True] Translation: X:-125.54, Y:-283.68, Z:-8.06 [[-9.09766191e-01 4.15109786e-01 3.05687961e-03 -1.25543282e+02] [ 4.15107481e-01 9.09771326e-01 -1.38338708e-03 -2.83684943e+02] [-3.35531893e-03 1.03748022e-05 -9.99994371e-01 -8.05611562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.130385723 meters 0.014588546926080024 Centerline is valid? [True, True] Translation: X:-125.22, Y:-282.99, Z:-9.01 [[-8.83418654e-01 -4.68578449e-01 2.39122563e-03 -1.25221858e+02] [ 4.68576591e-01 -8.83421889e-01 -1.32047490e-03 -2.82989720e+02] [ 2.73120714e-03 -4.60598083e-05 9.99996269e-01 -9.01454135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.160385723 meters 0.014552605249914884 Centerline is valid? [True, True] Translation: X:-125.58, Y:-283.67, Z:-8.06 [[-9.10808995e-01 4.12823587e-01 1.91319074e-03 -1.25581152e+02] [ 4.12822696e-01 9.10811004e-01 -8.57853101e-04 -2.83674059e+02] [-2.09669717e-03 8.46823890e-06 -9.99997802e-01 -8.05739480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.190385723 meters 0.014534603472832402 Centerline is valid? [True, True] Translation: X:-125.26, Y:-282.97, Z:-9.01 [[-8.85440244e-01 -4.64749166e-01 1.94622207e-03 -1.25257135e+02] [ 4.64748037e-01 -8.85442383e-01 -1.02454162e-03 -2.82969114e+02] [ 2.19942237e-03 -2.66749026e-06 9.99997581e-01 -9.01262880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2203857229999 meters 0.014467335844821032 Centerline is valid? [True, True] Translation: X:-125.63, Y:-283.66, Z:-8.06 [[-9.12564822e-01 4.08924640e-01 2.46679281e-03 -1.25627803e+02] [ 4.08923174e-01 9.12568156e-01 -1.09489590e-03 -2.83658593e+02] [-2.69884648e-03 9.56526444e-06 -9.99996358e-01 -8.05783218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.250385723 meters 0.01442800989237621 Centerline is valid? [True, True] Translation: X:-125.62, Y:-283.63, Z:-8.06 [[-9.39511117e-01 3.42509961e-01 2.40583259e-03 -1.25615129e+02] [ 3.42508857e-01 9.39514197e-01 -8.69560615e-04 -2.83632199e+02] [-2.55814704e-03 7.05710574e-06 -9.99996728e-01 -8.05719696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.280385723 meters 0.014983828586457974 Centerline is valid? [True, True] Translation: X:-125.34, Y:-282.90, Z:-9.01 [[-9.16755733e-01 -3.99439471e-01 2.65252717e-03 -1.25340183e+02] [ 3.99437838e-01 -9.16759570e-01 -1.14207302e-03 -2.82901301e+02] [ 2.88791871e-03 1.25177331e-05 9.99995830e-01 -9.01468060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.310385723 meters 0.014272680781451838 Centerline is valid? [True, True] Translation: X:-125.66, Y:-283.62, Z:-8.05 [[-9.41760974e-01 3.36271093e-01 2.83203821e-03 -1.25661621e+02] [ 3.36269572e-01 9.41765232e-01 -1.01145008e-03 -2.83615127e+02] [-3.00723654e-03 -2.15935056e-07 -9.99995478e-01 -8.05495715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3403857229999 meters 0.014272964266057047 Centerline is valid? [True, True] Translation: X:-125.39, Y:-282.88, Z:-9.02 [[-9.16959344e-01 -3.98968238e-01 3.14750614e-03 -1.25393264e+02] [ 3.98965985e-01 -9.16964746e-01 -1.34101214e-03 -2.82882473e+02] [ 3.42117342e-03 2.60942739e-05 9.99994148e-01 -9.01586051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.370385723 meters 0.014263150762240951 Centerline is valid? [True, True] Translation: X:-125.71, Y:-283.60, Z:-8.05 [[-9.43908886e-01 3.30180170e-01 4.13162910e-03 -1.25705429e+02] [ 3.30176954e-01 9.43917928e-01 -1.45721789e-03 -2.83603338e+02] [-4.38106323e-03 -1.13121992e-05 -9.99990403e-01 -8.05427291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.400385723 meters 0.014222804458542125 Centerline is valid? [True, True] Translation: X:-125.46, Y:-282.86, Z:-9.02 [[-9.17538517e-01 -3.97627157e-01 3.96403665e-03 -1.25458571e+02] [ 3.97623480e-01 -9.17547080e-01 -1.70999834e-03 -2.82855984e+02] [ 4.31713203e-03 7.20470544e-06 9.99990681e-01 -9.01632887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.430385723 meters 0.014202833343961597 Centerline is valid? [True, True] Translation: X:-125.76, Y:-283.59, Z:-8.05 [[-9.45573293e-01 3.25382052e-01 4.20341918e-03 -1.25756363e+02] [ 3.25378758e-01 9.45582635e-01 -1.46432619e-03 -2.83587997e+02] [-4.45114565e-03 -1.69244274e-05 -9.99990094e-01 -8.05435397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.460385723 meters 0.014172456926544086 Centerline is valid? [True, True] Translation: X:-125.74, Y:-283.56, Z:-8.05 [[-9.66493448e-01 2.56658956e-01 4.07374011e-03 -1.25744677e+02] [ 2.56656588e-01 9.66502033e-01 -1.10264636e-03 -2.83562495e+02] [-4.22028216e-03 -2.01482426e-05 -9.99991094e-01 -8.05421226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.490385723 meters 0.01427709479430048 Centerline is valid? [True, True] Translation: X:-125.53, Y:-282.80, Z:-9.02 [[-9.43982195e-01 -3.29982669e-01 3.00890054e-03 -1.25531748e+02] [ 3.29980828e-01 -9.43986989e-01 -1.10328655e-03 -2.82800578e+02] [ 3.20442840e-03 -4.86033724e-05 9.99994865e-01 -9.01647502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.520385723 meters 0.014124179671226233 Centerline is valid? [True, True] Translation: X:-125.80, Y:-283.55, Z:-8.05 [[-9.67575957e-01 2.52566704e-01 2.61306666e-03 -1.25797591e+02] [ 2.52565743e-01 9.67579485e-01 -6.96801788e-04 -2.83549896e+02] [-2.70433862e-03 -1.42375329e-05 -9.99996343e-01 -8.05457965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.550385723 meters 0.014127023262413458 Centerline is valid? [True, True] Translation: X:-125.59, Y:-282.78, Z:-9.02 [[-9.45257490e-01 -3.26317667e-01 2.24878507e-03 -1.25585597e+02] [ 3.26316724e-01 -9.45260165e-01 -7.84366663e-04 -2.82784951e+02] [ 2.38163964e-03 -7.61228690e-06 9.99997164e-01 -9.01570038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.580385723 meters 0.014079469276289041 Centerline is valid? [True, True] Translation: X:-125.84, Y:-283.54, Z:-8.06 [[-9.68558117e-01 2.48778640e-01 2.08881547e-03 -1.25842652e+02] [ 2.48778035e-01 9.68560369e-01 -5.48681893e-04 -2.83541366e+02] [-2.15964422e-03 -1.17788927e-05 -9.99997668e-01 -8.05511554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.610385723 meters 0.014117553197448396 Centerline is valid? [True, True] Translation: X:-125.83, Y:-283.52, Z:-8.05 [[-9.83819412e-01 1.79155302e-01 1.65615425e-03 -1.25828829e+02] [ 1.79155031e-01 9.83820806e-01 -3.11759167e-04 -2.83515987e+02] [-1.68521232e-03 -1.00063550e-05 -9.99998580e-01 -8.05497737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.640385723 meters 0.014108588532516595 Centerline is valid? [True, True] Translation: X:-125.86, Y:-283.48, Z:-8.05 [[-9.94106046e-01 1.08390992e-01 2.13610127e-03 -1.25856526e+02] [ 1.08390712e-01 9.94108341e-01 -2.46670884e-04 -2.83482758e+02] [-2.15025299e-03 -1.36834797e-05 -9.99997688e-01 -8.05464286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.670385723 meters 0.014100483320351338 Centerline is valid? [True, True] Translation: X:-125.82, Y:-283.46, Z:-8.05 [[-9.99297851e-01 3.74112099e-02 2.05088189e-03 -1.25824270e+02] [ 3.74111042e-02 9.99299956e-01 -8.99197688e-05 -2.83456275e+02] [-2.05281019e-03 -1.31308758e-05 -9.99997893e-01 -8.05408447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.700385723 meters 0.014041028033266241 Centerline is valid? [True, True] Translation: X:-125.79, Y:-282.66, Z:-9.02 [[-9.93261647e-01 -1.15858684e-01 2.83994482e-03 -1.25786637e+02] [ 1.15858410e-01 -9.93265705e-01 -2.61215597e-04 -2.82658694e+02] [ 2.85108389e-03 6.95760582e-05 9.99995933e-01 -9.01732218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.730385723 meters 0.013939051542536128 Centerline is valid? [True, True] Translation: X:-125.92, Y:-283.45, Z:-8.05 [[-9.99393175e-01 3.46910681e-02 3.13237757e-03 -1.25923423e+02] [ 3.46908530e-02 9.99398084e-01 -1.22996747e-04 -2.83451223e+02] [-3.13475903e-03 -1.42572594e-05 -9.99995087e-01 -8.05263884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.760385723 meters 0.013828386302403895 Centerline is valid? [True, True] Translation: X:-125.89, Y:-283.42, Z:-8.05 [[-9.99364813e-01 -3.55179176e-02 2.90642285e-03 -1.25891854e+02] [-3.55177979e-02 9.99369040e-01 9.28256514e-05 -2.83422347e+02] [-2.90788598e-03 -1.04630494e-05 -9.99995772e-01 -8.05240606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.790385723 meters 0.013807195543069011 Centerline is valid? [True, True] Translation: X:-125.90, Y:-282.63, Z:-9.02 [[-9.99322910e-01 -3.65987897e-02 3.77483840e-03 -1.25904735e+02] [ 3.65987914e-02 -9.99330038e-01 -6.86425861e-05 -2.82626365e+02] [ 3.77482163e-03 6.95584143e-05 9.99992873e-01 -9.01877091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.820385723 meters 0.013775500365126264 Centerline is valid? [True, True] Translation: X:-125.99, Y:-283.42, Z:-8.05 [[-9.99211124e-01 -3.95054724e-02 4.05555222e-03 -1.25987277e+02] [-3.95051717e-02 9.99219354e-01 1.54263048e-04 -2.83423995e+02] [-4.05848051e-03 -6.07393286e-06 -9.99991764e-01 -8.05199654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8503857229999 meters 0.013739139572425133 Centerline is valid? [True, True] Translation: X:-126.01, Y:-282.63, Z:-9.02 [[-9.99557016e-01 -2.95029044e-02 3.91794329e-03 -1.26008641e+02] [ 2.95026651e-02 -9.99564695e-01 -1.18869473e-04 -2.82629505e+02] [ 3.91974478e-03 -3.22704668e-06 9.99992318e-01 -9.01874468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.880385723 meters 0.013804739495330265 Centerline is valid? [True, True] Translation: X:-126.09, Y:-283.43, Z:-8.05 [[-9.99046272e-01 -4.34148404e-02 4.65814092e-03 -1.26093616e+02] [-4.34143599e-02 9.99057131e-01 2.04276377e-04 -2.83426045e+02] [-4.66261753e-03 1.85134706e-06 -9.99989130e-01 -8.05111327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.910385723 meters 0.013872836776305412 Centerline is valid? [True, True] Translation: X:-126.09, Y:-283.40, Z:-8.05 [[-9.93608290e-01 -1.12780342e-01 4.81260054e-03 -1.26087998e+02] [-1.12778966e-01 9.93619945e-01 5.57210874e-04 -2.83396523e+02] [-4.84473831e-03 1.08892295e-05 -9.99988264e-01 -8.05005280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.940385723 meters 0.013938209549058429 Centerline is valid? [True, True] Translation: X:-126.10, Y:-283.37, Z:-8.05 [[-9.83181091e-01 -1.82561885e-01 5.10894307e-03 -1.26102028e+02] [-1.82559327e-01 9.83194364e-01 9.66547391e-04 -2.83369577e+02] [-5.19953875e-03 1.76059097e-05 -9.99986482e-01 -8.05004944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9703857229999 meters 0.014096509509711638 Centerline is valid? [True, True] Translation: X:-126.13, Y:-283.35, Z:-8.05 [[-9.67629308e-01 -2.52335955e-01 4.48206717e-03 -1.26130879e+02] [-2.52333156e-01 9.67639688e-01 1.18849088e-03 -2.83346777e+02] [-4.63692506e-03 1.90444511e-05 -9.99989249e-01 -8.04978182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.000385723 meters 0.014183923027926865 Centerline is valid? [True, True] Translation: X:-126.19, Y:-283.33, Z:-8.05 [[-9.47094680e-01 -3.20917491e-01 4.86121888e-03 -1.26191574e+02] [-3.20913131e-01 9.47107155e-01 1.67309586e-03 -2.83334597e+02] [-5.14102091e-03 2.45512200e-05 -9.99986785e-01 -8.04971699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.030385723 meters 0.014183923027926865 Centerline is valid? [True, True] Translation: X:-126.26, Y:-283.33, Z:-8.05 [[-9.20816938e-01 -3.89966470e-01 4.72438101e-03 -1.26256490e+02] [-3.89961201e-01 9.20829057e-01 2.02737455e-03 -2.83329163e+02] [-5.14095541e-03 2.45155298e-05 -9.99986785e-01 -8.04971915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.060385723 meters 0.014194693639631583 Centerline is valid? [True, True] Translation: X:-126.31, Y:-283.32, Z:-8.05 [[-8.89146884e-01 -4.57599705e-01 4.50869020e-03 -1.26312262e+02] [-4.57593676e-01 8.89158315e-01 2.34923135e-03 -2.83323257e+02] [-5.08394696e-03 2.56636145e-05 -9.99987076e-01 -8.04979814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0903857229999 meters 0.014308885802780079 Centerline is valid? [True, True] Translation: X:-126.39, Y:-283.34, Z:-8.05 [[-8.52872719e-01 -5.22105132e-01 3.78889514e-03 -1.26394821e+02] [-5.22099843e-01 8.52881135e-01 2.35028412e-03 -2.83336737e+02] [-4.45857258e-03 2.63116523e-05 -9.99990060e-01 -8.05100554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.120385723 meters 0.01429311529391626 Centerline is valid? [True, True] Translation: X:-126.49, Y:-283.36, Z:-8.05 [[-8.11245667e-01 -5.84695668e-01 3.38298898e-03 -1.26485387e+02] [-5.84690455e-01 8.11252720e-01 2.46897731e-03 -2.83362095e+02] [-4.18805935e-03 2.49457731e-05 -9.99991230e-01 -8.05114217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.150385723 meters 0.014387467923316681 Centerline is valid? [True, True] Translation: X:-126.58, Y:-283.40, Z:-8.05 [[-7.65230947e-01 -6.43746827e-01 3.40886594e-03 -1.26577883e+02] [-6.43740264e-01 7.65238539e-01 2.90701186e-03 -2.83397878e+02] [-4.47997526e-03 3.01111835e-05 -9.99989965e-01 -8.05038507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.180385723 meters 0.014313394965532694 Centerline is valid? [True, True] Translation: X:-126.67, Y:-283.44, Z:-8.05 [[-7.14541718e-01 -6.99586100e-01 3.06950160e-03 -1.26670349e+02] [-6.99579456e-01 7.14548310e-01 3.04923171e-03 -2.83442827e+02] [-4.32650730e-03 3.14430030e-05 -9.99990640e-01 -8.05058382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.210385723 meters 0.01690158742138224 Centerline is valid? [True, True] Translation: X:-126.76, Y:-283.50, Z:-8.05 [[-6.60312930e-01 -7.50985141e-01 2.85511237e-03 -1.26762680e+02] [-7.50977870e-01 6.60319102e-01 3.30497557e-03 -2.83500811e+02] [-4.36727278e-03 3.81918974e-05 -9.99990463e-01 -8.04833665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.240385723 meters 0.014838643345499808 Centerline is valid? [True, True] Translation: X:-126.86, Y:-283.58, Z:-8.05 [[-6.02661340e-01 -7.97993249e-01 2.46664323e-03 -1.26859699e+02] [-7.97986262e-01 6.02666387e-01 3.33953433e-03 -2.83578265e+02] [-4.15148881e-03 4.42608211e-05 -9.99991382e-01 -8.05001155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.270385723 meters 0.015039811320283496 Centerline is valid? [True, True] Translation: X:-126.95, Y:-283.66, Z:-8.05 [[-5.41107789e-01 -8.40950335e-01 2.21232260e-03 -1.26948789e+02] [-8.40942919e-01 5.41112309e-01 3.53219267e-03 -2.83659760e+02] [-4.16751360e-03 5.08599378e-05 -9.99991315e-01 -8.04976048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.300385723 meters 0.015469831418237337 Centerline is valid? [True, True] Translation: X:-127.03, Y:-283.74, Z:-8.05 [[-4.77063129e-01 -8.78867098e-01 1.84251873e-03 -1.27026556e+02] [-8.78860067e-01 4.77066683e-01 3.51599628e-03 -2.83740897e+02] [-3.96909775e-03 5.80360522e-05 -9.99992122e-01 -8.05005164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.330385723 meters 0.016064009254106636 Centerline is valid? [True, True] Translation: X:-127.11, Y:-283.85, Z:-8.05 [[-4.08760936e-01 -9.12640103e-01 1.59365873e-03 -1.27107248e+02] [-9.12632566e-01 4.08764038e-01 3.70967684e-03 -2.83845063e+02] [-4.03703023e-03 6.19461202e-05 -9.99991849e-01 -8.05008203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.360385723 meters 0.01605103576977748 Centerline is valid? [True, True] Translation: X:-127.17, Y:-283.93, Z:-8.05 [[-3.37504673e-01 -9.41323342e-01 9.81132050e-04 -1.27170366e+02] [-9.41318947e-01 3.37506095e-01 2.87688556e-03 -2.83928433e+02] [-3.03921758e-03 4.74041318e-05 -9.99995381e-01 -8.05049232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.390385723 meters 0.015738663373608842 Centerline is valid? [True, True] Translation: X:-127.23, Y:-284.04, Z:-8.05 [[-2.63919758e-01 -9.64544289e-01 8.22217067e-04 -1.27234660e+02] [-9.64538980e-01 2.63921033e-01 3.20071297e-03 -2.84035079e+02] [-3.30422979e-03 5.16709801e-05 -9.99994540e-01 -8.05052475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.420385723 meters 0.015422008024766596 Centerline is valid? [True, True] Translation: X:-127.29, Y:-284.14, Z:-8.05 [[-1.88516746e-01 -9.82069804e-01 5.80832924e-04 -1.27287904e+02] [-9.82064270e-01 1.88517634e-01 3.29724188e-03 -2.84135734e+02] [-3.34761893e-03 5.11700484e-05 -9.99994396e-01 -8.05022557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.450385723 meters 0.015253893892142132 Centerline is valid? [True, True] Translation: X:-127.34, Y:-284.26, Z:-8.05 [[-1.10972638e-01 -9.93823351e-01 4.69661306e-04 -1.27335240e+02] [-9.93811632e-01 1.10973611e-01 4.82681482e-03 -2.84255728e+02] [-4.84912129e-03 6.88895057e-05 -9.99988241e-01 -8.04943346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.480385723 meters 0.017550108821690467 Centerline is valid? [True, True] Translation: X:-127.37, Y:-284.38, Z:-8.05 [[-3.36022610e-02 -9.99435278e-01 1.14293361e-04 -1.27372249e+02] [-9.99418312e-01 3.36023566e-02 5.82401207e-03 -2.84382931e+02] [-5.82456365e-03 8.14730957e-05 -9.99983034e-01 -8.04659534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.510385723 meters 0.014991635533860594 Centerline is valid? [True, True] Translation: X:-127.40, Y:-284.51, Z:-8.05 [[ 4.63807601e-02 -9.98923766e-01 -3.67205507e-04 -1.27401957e+02] [-9.98903534e-01 -4.63821579e-02 6.35815849e-03 -2.84511653e+02] [-6.36834741e-03 7.19066555e-05 -9.99979719e-01 -8.04790869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.540385723 meters 0.014823508171661516 Centerline is valid? [True, True] Translation: X:-127.42, Y:-284.63, Z:-8.05 [[ 1.24206620e-01 -9.92256019e-01 -8.41767280e-04 -1.27420665e+02] [-9.92236665e-01 -1.24209455e-01 6.19772964e-03 -2.84634985e+02] [-6.25428999e-03 6.54333081e-05 -9.99980440e-01 -8.04789866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.570385723 meters 0.0149358758805265 Centerline is valid? [True, True] Translation: X:-127.43, Y:-284.76, Z:-8.05 [[ 2.01142988e-01 -9.79561083e-01 -1.25841738e-03 -1.27429287e+02] [-9.79543671e-01 -2.01146916e-01 5.84080295e-03 -2.84760904e+02] [-5.97455004e-03 5.78382260e-05 -9.99982151e-01 -8.04756374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6003857229999 meters 0.01665768441582972 Centerline is valid? [True, True] Translation: X:-127.43, Y:-284.89, Z:-8.05 [[ 2.77319474e-01 -9.60776397e-01 -1.62003357e-03 -1.27430612e+02] [-9.60760989e-01 -2.77324202e-01 5.44136327e-03 -2.84886219e+02] [-5.67720791e-03 4.74690571e-05 -9.99983884e-01 -8.04553096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.630385723 meters 0.015467376962521798 Centerline is valid? [True, True] Translation: X:-127.42, Y:-285.02, Z:-8.05 [[ 3.51141082e-01 -9.36320624e-01 -1.90512114e-03 -1.27415776e+02] [-9.36307468e-01 -3.51146247e-01 4.96376102e-03 -2.85023267e+02] [-5.31664796e-03 4.07987324e-05 -9.99985866e-01 -8.04726568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.660385723 meters 0.014657646270763661 Centerline is valid? [True, True] Translation: X:-127.40, Y:-285.14, Z:-8.05 [[ 4.22328971e-01 -9.06440114e-01 -2.13532816e-03 -1.27400231e+02] [-9.06428974e-01 -4.22334367e-01 4.49422757e-03 -2.85135530e+02] [-4.97557062e-03 3.74808090e-05 -9.99987621e-01 -8.04911631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.690385723 meters 0.014739256540116276 Centerline is valid? [True, True] Translation: X:-127.37, Y:-285.25, Z:-8.05 [[ 4.90465469e-01 -8.71458063e-01 -2.11387464e-03 -1.27372164e+02] [-8.71450260e-01 -4.90470023e-01 3.68792223e-03 -2.85254255e+02] [-4.25066170e-03 3.33380986e-05 -9.99990965e-01 -8.04922769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7203857229999 meters 0.014945744069100736 Centerline is valid? [True, True] Translation: X:-127.34, Y:-285.37, Z:-8.05 [[ 5.55258528e-01 -8.31675351e-01 -2.01946399e-03 -1.27337643e+02] [-8.31670050e-01 -5.55262199e-01 2.96941906e-03 -2.85369155e+02] [-3.59092466e-03 3.07324598e-05 -9.99993552e-01 -8.04873918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.750385723 meters 0.014951646825135034 Centerline is valid? [True, True] Translation: X:-127.29, Y:-285.49, Z:-8.05 [[ 6.17283087e-01 -7.86736941e-01 -2.56446032e-03 -1.27289043e+02] [-7.86730389e-01 -6.17288413e-01 3.21097522e-03 -2.85485811e+02] [-4.10920446e-03 3.54581721e-05 -9.99991557e-01 -8.04844832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.780385723 meters 0.014896111424204828 Centerline is valid? [True, True] Translation: X:-127.24, Y:-285.59, Z:-8.05 [[ 6.75726071e-01 -7.37144664e-01 -3.46737532e-03 -1.27244782e+02] [-7.37135288e-01 -6.75734965e-01 3.71805677e-03 -2.85585557e+02] [-5.08377245e-03 4.35368123e-05 -9.99987077e-01 -8.04781518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.810385723 meters 0.014921842093275456 Centerline is valid? [True, True] Translation: X:-127.19, Y:-285.68, Z:-8.05 [[ 7.30360763e-01 -6.83052184e-01 -3.58763156e-03 -1.27189365e+02] [-6.83044204e-01 -7.30369573e-01 3.30198527e-03 -2.85683346e+02] [-4.87572518e-03 3.88704666e-05 -9.99988113e-01 -8.04815415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8403857229999 meters 0.014754107251204504 Centerline is valid? [True, True] Translation: X:-127.20, Y:-285.69, Z:-8.05 [[ 7.82036359e-01 -6.23223800e-01 -3.35097423e-03 -1.27196361e+02] [-6.23218244e-01 -7.82043537e-01 2.63180985e-03 -2.85693477e+02] [-4.26081428e-03 3.02172816e-05 -9.99990922e-01 -8.04935151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.870385723 meters 0.014755266385524038 Centerline is valid? [True, True] Translation: X:-127.20, Y:-285.70, Z:-8.05 [[ 8.28500717e-01 -5.59978310e-01 -3.29472264e-03 -1.27201891e+02] [-5.59974012e-01 -8.28507267e-01 2.19416469e-03 -2.85702024e+02] [-3.95838628e-03 2.70920401e-05 -9.99992165e-01 -8.04940608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.900385723 meters 0.014729822821091415 Centerline is valid? [True, True] Translation: X:-127.21, Y:-285.71, Z:-8.05 [[ 8.69719988e-01 -4.93535272e-01 -3.17446026e-03 -1.27207228e+02] [-4.93532089e-01 -8.69725781e-01 1.77280067e-03 -2.85712649e+02] [-3.63584960e-03 2.48578258e-05 -9.99993390e-01 -8.04915933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.930385723 meters 0.014753882770368846 Centerline is valid? [True, True] Translation: X:-127.21, Y:-285.72, Z:-8.05 [[ 9.05486958e-01 -4.24358618e-01 -3.62388437e-03 -1.27209483e+02] [-4.24355347e-01 -9.05494209e-01 1.66661886e-03 -2.85721618e+02] [-3.98865038e-03 2.87130647e-05 -9.99992045e-01 -8.04895717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.960385723 meters 0.014700184699910914 Centerline is valid? [True, True] Translation: X:-127.21, Y:-285.73, Z:-8.05 [[ 9.35709036e-01 -3.52751230e-01 -3.89488143e-03 -1.27212926e+02] [-3.52748317e-01 -9.35717141e-01 1.43405562e-03 -2.85733146e+02] [-4.15037220e-03 3.20540704e-05 -9.99991387e-01 -8.04921530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.990385723 meters 0.015101799261501802 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.74, Z:-8.05 [[ 9.59930982e-01 -2.80199803e-01 -4.53643289e-03 -1.27215067e+02] [-2.80196894e-01 -9.59941700e-01 1.27766963e-03 -2.85742824e+02] [-4.71271388e-03 4.46197409e-05 -9.99988894e-01 -8.04878413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.020385723 meters 0.014988667547493943 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.76, Z:-8.05 [[ 9.78674611e-01 -2.05366709e-01 -4.53004907e-03 -1.27216802e+02] [-2.05364739e-01 -9.78685094e-01 9.00865585e-04 -2.85756616e+02] [-4.61849930e-03 4.86580685e-05 -9.99989334e-01 -8.04903797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.050385723 meters 0.015411759372489437 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.77, Z:-8.05 [[ 9.91468654e-01 -1.30251711e-01 -4.93964241e-03 -1.27221654e+02] [-1.30250412e-01 -9.91480957e-01 5.85229680e-04 -2.85768654e+02] [-4.97378855e-03 6.31535732e-05 -9.99987629e-01 -8.04875633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.080385723 meters 0.015736694483669447 Centerline is valid? [True, True] Translation: X:-127.23, Y:-285.78, Z:-8.05 [[ 9.98547104e-01 -5.36429945e-02 -5.10991168e-03 -1.27225431e+02] [-5.36426631e-02 -9.98560175e-01 2.01992100e-04 -2.85778363e+02] [-5.11338976e-03 7.24106445e-05 -9.99986924e-01 -8.04871514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.110385723 meters 0.01549607444845997 Centerline is valid? [True, True] Translation: X:-127.23, Y:-285.80, Z:-8.05 [[ 9.99729928e-01 2.27188473e-02 -4.89127146e-03 -1.27226908e+02] [ 2.27181895e-02 -9.99741891e-01 -1.90017917e-04 -2.85795709e+02] [-4.89432597e-03 7.88457661e-05 -9.99988020e-01 -8.04998997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.140385723 meters 0.015921309361231435 Centerline is valid? [True, True] Translation: X:-127.23, Y:-285.81, Z:-8.05 [[ 9.94988070e-01 9.99177641e-02 -3.89642077e-03 -1.27227831e+02] [ 9.99167350e-02 -9.94995697e-01 -4.58354621e-04 -2.85809499e+02] [-3.92271966e-03 6.67397382e-05 -9.99992304e-01 -8.05043908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.170385723 meters 0.016484578586739525 Centerline is valid? [True, True] Translation: X:-127.23, Y:-285.82, Z:-8.05 [[ 9.84185255e-01 1.77113962e-01 -3.16677759e-03 -1.27228314e+02] [ 1.77112863e-01 -9.84190348e-01 -6.26579486e-04 -2.85820679e+02] [-3.22768791e-03 5.57932472e-05 -9.99994790e-01 -8.05090115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.200385723 meters 0.015739977527968217 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.84, Z:-8.05 [[ 9.67313071e-01 2.53568932e-01 -2.86684861e-03 -1.27224974e+02] [ 2.53567661e-01 -9.67317318e-01 -8.04688754e-04 -2.85840816e+02] [-2.97719638e-03 5.14458540e-05 -9.99995567e-01 -8.05148350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.230385723 meters 0.017728532285720154 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.86, Z:-8.05 [[ 9.44556780e-01 3.28331076e-01 -3.34583261e-03 -1.27220446e+02] [ 3.28328781e-01 -9.44562703e-01 -1.22930296e-03 -2.85855964e+02] [-3.56396706e-03 6.26133030e-05 -9.99993647e-01 -8.04917889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.260385723 meters 0.01820537800556703 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.87, Z:-8.05 [[ 9.15501722e-01 4.02302898e-01 -2.99577455e-03 -1.27215886e+02] [ 4.02300550e-01 -9.15506622e-01 -1.37563726e-03 -2.85871723e+02] [-3.29607430e-03 5.41965277e-05 -9.99994567e-01 -8.04916525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.290385723 meters 0.01584735912129152 Centerline is valid? [True, True] Translation: X:-127.21, Y:-285.88, Z:-8.05 [[ 8.80771084e-01 4.73534343e-01 -2.74290098e-03 -1.27211194e+02] [ 4.73531874e-01 -8.80775354e-01 -1.52997625e-03 -2.85884524e+02] [-3.14037588e-03 4.87077999e-05 -9.99995068e-01 -8.05193433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.320385723 meters 0.015672147852999075 Centerline is valid? [True, True] Translation: X:-127.20, Y:-285.90, Z:-8.05 [[ 8.40048731e-01 5.42505392e-01 -2.45567692e-03 -1.27204844e+02] [ 5.42502932e-01 -8.40052319e-01 -1.63419921e-03 -2.85897632e+02] [-2.94945898e-03 4.05950390e-05 -9.99995650e-01 -8.05200914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3503857229999 meters 0.015427831045093628 Centerline is valid? [True, True] Translation: X:-127.20, Y:-285.91, Z:-8.05 [[ 7.94543629e-01 6.07202505e-01 -2.35374124e-03 -1.27197180e+02] [ 6.07199695e-01 -7.94547114e-01 -1.84784363e-03 -2.85908747e+02] [-2.99217359e-03 3.90014228e-05 -9.99995523e-01 -8.05208703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.380385723 meters 0.015313390349525833 Centerline is valid? [True, True] Translation: X:-127.19, Y:-285.92, Z:-8.05 [[ 7.42920209e-01 6.69374193e-01 -2.78450052e-03 -1.27188640e+02] [ 6.69369286e-01 -7.42925426e-01 -2.56324496e-03 -2.85919757e+02] [-3.78444626e-03 4.04273558e-05 -9.99992838e-01 -8.05245665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.410385723 meters 0.015063661599331143 Centerline is valid? [True, True] Translation: X:-127.18, Y:-285.93, Z:-8.05 [[ 6.87076615e-01 7.26579632e-01 -2.78627278e-03 -1.27178687e+02] [ 7.26573436e-01 -6.87082263e-01 -3.00095869e-03 -2.85929030e+02] [-4.09483406e-03 3.74567522e-05 -9.99991616e-01 -8.05251653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.440385723 meters 0.014774631006085163 Centerline is valid? [True, True] Translation: X:-127.16, Y:-285.94, Z:-8.05 [[ 6.25133878e-01 7.80512817e-01 -2.71626401e-03 -1.27164247e+02] [ 7.80505284e-01 -6.25139778e-01 -3.42917089e-03 -2.85941152e+02] [-4.37455651e-03 2.36324798e-05 -9.99990431e-01 -8.05252534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4703857229999 meters 0.014718753928610011 Centerline is valid? [True, True] Translation: X:-127.15, Y:-285.95, Z:-8.05 [[ 5.60712633e-01 8.28007842e-01 -2.08743963e-03 -1.27152495e+02] [ 8.28002013e-01 -5.60716518e-01 -3.10688523e-03 -2.85950163e+02] [-3.74298722e-03 1.36655807e-05 -9.99992995e-01 -8.05270070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.500385723 meters 0.014695727919452322 Centerline is valid? [True, True] Translation: X:-127.14, Y:-285.96, Z:-8.05 [[ 4.92847066e-01 8.70114056e-01 -1.81611355e-03 -1.27140826e+02] [ 8.70108090e-01 -4.92850412e-01 -3.22225446e-03 -2.85956315e+02] [-3.69880121e-03 7.86356440e-06 -9.99993159e-01 -8.05247533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.530385723 meters 0.01468920266062485 Centerline is valid? [True, True] Translation: X:-127.13, Y:-285.96, Z:-8.05 [[ 4.20983909e-01 9.07066076e-01 -1.91861945e-03 -1.27129399e+02] [ 9.07056666e-01 -4.20988281e-01 -4.13176717e-03 -2.85962864e+02] [-4.55550214e-03 -8.89063108e-07 -9.99989624e-01 -8.05127420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.560385723 meters 0.014692859659117843 Centerline is valid? [True, True] Translation: X:-127.12, Y:-285.97, Z:-8.05 [[ 3.47854320e-01 9.37546596e-01 -1.93710588e-03 -1.27119350e+02] [ 9.37532144e-01 -3.47859714e-01 -5.20573161e-03 -2.85965998e+02] [-5.55445705e-03 -5.26279667e-06 -9.99984574e-01 -8.05122702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5903857229999 meters 0.014819537313756551 Centerline is valid? [True, True] Translation: X:-127.11, Y:-285.97, Z:-8.05 [[ 2.72709274e-01 9.62094901e-01 -1.74732259e-03 -1.27109527e+02] [ 9.62075388e-01 -2.72714871e-01 -6.12762988e-03 -2.85968726e+02] [-6.37188232e-03 -9.99456121e-06 -9.99979699e-01 -8.05124091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.620385723 meters 0.014973126182808154 Centerline is valid? [True, True] Translation: X:-127.10, Y:-285.97, Z:-8.05 [[ 1.95426250e-01 9.80717553e-01 -1.28928896e-03 -1.27100501e+02] [ 9.80696803e-01 -1.95430502e-01 -6.37970725e-03 -2.85971540e+02] [-6.50865727e-03 -1.76392976e-05 -9.99978818e-01 -8.05176272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.650385723 meters 0.014920825306769211 Centerline is valid? [True, True] Translation: X:-127.09, Y:-285.97, Z:-8.05 [[ 1.17263261e-01 9.93100608e-01 -7.14734181e-04 -1.27091638e+02] [ 9.93083228e-01 -1.17265438e-01 -5.87539243e-03 -2.85973393e+02] [-5.91866941e-03 -2.08228499e-05 -9.99982484e-01 -8.05185369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.680385723 meters 0.015099145170761014 Centerline is valid? [True, True] Translation: X:-127.08, Y:-285.97, Z:-8.05 [[ 3.72399656e-02 9.99306330e-01 -2.08321226e-04 -1.27080059e+02] [ 9.99294460e-01 -3.72405386e-02 -4.87075579e-03 -2.85974037e+02] [-4.87513509e-03 -2.67874686e-05 -9.99988116e-01 -8.05313432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.710385723 meters 0.015147442476939844 Centerline is valid? [True, True] Translation: X:-127.07, Y:-285.97, Z:-8.05 [[-4.24933895e-02 9.99096735e-01 1.62502225e-04 -1.27067734e+02] [ 9.99086334e-01 4.24936886e-02 -4.55890252e-03 -2.85973465e+02] [-4.56168994e-03 -3.13694681e-05 -9.99989595e-01 -8.05396769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.740385723 meters 0.015369999810496447 Centerline is valid? [True, True] Translation: X:-127.06, Y:-285.97, Z:-8.05 [[-1.22198107e-01 9.92505601e-01 5.05567158e-04 -1.27055736e+02] [ 9.92495785e-01 1.22199147e-01 -4.41432247e-03 -2.85973246e+02] [-4.44301965e-03 -3.76485783e-05 -9.99990129e-01 -8.05406036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.770385723 meters 0.015982083749924096 Centerline is valid? [True, True] Translation: X:-127.05, Y:-285.97, Z:-8.05 [[-2.02041275e-01 9.79376673e-01 8.09440729e-04 -1.27048316e+02] [ 9.79367863e-01 2.02042891e-01 -4.15444944e-03 -2.85973296e+02] [-4.23231262e-03 -4.66300252e-05 -9.99991043e-01 -8.05408000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.800385723 meters 0.01572603911537657 Centerline is valid? [True, True] Translation: X:-127.04, Y:-285.97, Z:-8.05 [[-2.79030595e-01 9.60281459e-01 1.20292978e-03 -1.27040003e+02] [ 9.60271688e-01 2.79033183e-01 -4.33212794e-03 -2.85971925e+02] [-4.49571947e-03 -5.36568256e-05 -9.99989893e-01 -8.05466172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.830385723 meters 0.0158783906678051 Centerline is valid? [True, True] Translation: X:-127.03, Y:-285.97, Z:-8.05 [[-3.54551763e-01 9.35035171e-01 1.50877633e-03 -1.27032114e+02] [ 9.35025994e-01 3.54554968e-01 -4.14305899e-03 -2.85970162e+02] [-4.40885002e-03 -5.81837813e-05 -9.99990279e-01 -8.05453604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.860385723 meters 0.01591301583867984 Centerline is valid? [True, True] Translation: X:-127.02, Y:-285.97, Z:-8.05 [[-4.26597054e-01 9.04439768e-01 1.91287281e-03 -1.27022746e+02] [ 9.04430033e-01 4.26601339e-01 -4.19674799e-03 -2.85966581e+02] [-4.61173988e-03 -6.02607146e-05 -9.99989364e-01 -8.05445723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.890385723 meters 0.015830092683547847 Centerline is valid? [True, True] Translation: X:-127.02, Y:-285.97, Z:-8.05 [[-4.95352558e-01 8.68688611e-01 2.43742808e-03 -1.27016638e+02] [ 8.68677480e-01 4.95358551e-01 -4.39793595e-03 -2.85965293e+02] [-5.02783771e-03 -6.11899400e-05 -9.99987359e-01 -8.05480998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.920385723 meters 0.015769305733635774 Centerline is valid? [True, True] Translation: X:-127.01, Y:-285.96, Z:-8.06 [[-5.61368516e-01 8.27560870e-01 2.89760944e-03 -1.27009229e+02] [ 8.27549283e-01 5.61375991e-01 -4.37955747e-03 -2.85962238e+02] [-5.25099876e-03 -6.06310592e-05 -9.99986212e-01 -8.05556668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.950385723 meters 0.015769305733635774 Centerline is valid? [True, True] Translation: X:-127.00, Y:-285.96, Z:-8.06 [[-6.24444573e-01 7.81062438e-01 3.23161227e-03 -1.26999114e+02] [ 7.81051473e-01 6.24452932e-01 -4.13916734e-03 -2.85957172e+02] [-5.25093789e-03 -6.06250645e-05 -9.99986212e-01 -8.05556721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.980385723 meters 0.01563401491927446 Centerline is valid? [True, True] Translation: X:-126.99, Y:-285.95, Z:-8.06 [[-6.82905779e-01 7.30498069e-01 3.50263354e-03 -1.26991919e+02] [ 7.30488050e-01 6.82914759e-01 -3.82632725e-03 -2.85953155e+02] [-5.18712481e-03 -5.43890478e-05 -9.99986545e-01 -8.05603781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.010385723 meters 0.01542869267248615 Centerline is valid? [True, True] Translation: X:-126.99, Y:-285.95, Z:-8.06 [[-7.35960979e-01 6.77011482e-01 4.10984318e-03 -1.26987189e+02] [ 6.77000611e-01 7.35972453e-01 -3.83693627e-03 -2.85951999e+02] [-5.62238128e-03 -4.14690326e-05 -9.99984194e-01 -8.05619852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.040385723 meters 0.015358238662814728 Centerline is valid? [True, True] Translation: X:-126.96, Y:-285.94, Z:-8.06 [[-7.79957289e-01 6.25814100e-01 4.83118941e-03 -1.26964934e+02] [ 6.25801894e-01 7.79972251e-01 -3.90869951e-03 -2.85942909e+02] [-6.21431294e-03 -2.52511941e-05 -9.99980691e-01 -8.05601245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.070385723 meters 0.015371494355159575 Centerline is valid? [True, True] Translation: X:-126.96, Y:-285.92, Z:-8.06 [[-8.21550384e-01 5.70107213e-01 5.72120757e-03 -1.26956904e+02] [ 5.70093225e-01 8.21570305e-01 -3.99357573e-03 -2.85917197e+02] [-6.97714058e-03 -1.93020011e-05 -9.99975659e-01 -8.05520552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1003857229999 meters 0.015293054449245058 Centerline is valid? [True, True] Translation: X:-126.94, Y:-285.90, Z:-8.06 [[-8.59276040e-01 5.11470325e-01 6.54166604e-03 -1.26935048e+02] [ 5.11455392e-01 8.59300941e-01 -3.90835120e-03 -2.85901424e+02] [-7.62026544e-03 -1.25821734e-05 -9.99970965e-01 -8.05529579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.130385723 meters 0.015405999160111896 Centerline is valid? [True, True] Translation: X:-126.55, Y:-285.26, Z:-9.02 [[-8.22184153e-01 -5.69185335e-01 6.42434028e-03 -1.26547445e+02] [ 5.69168181e-01 -8.22209252e-01 -4.41906062e-03 -2.85264597e+02] [ 7.79741651e-03 2.32484559e-05 9.99969600e-01 -9.01648482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.160385723 meters 0.015279792054084083 Centerline is valid? [True, True] Translation: X:-126.55, Y:-285.29, Z:-9.02 [[-7.82506266e-01 -6.22613798e-01 6.00022015e-03 -1.26552290e+02] [ 6.22595406e-01 -7.82529270e-01 -4.78561219e-03 -2.85293167e+02] [ 7.67493608e-03 -9.06201919e-06 9.99970547e-01 -9.01602924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.190385723 meters 0.015284661329021409 Centerline is valid? [True, True] Translation: X:-127.03, Y:-285.89, Z:-8.06 [[-8.23419723e-01 5.67399830e-01 6.11498918e-03 -1.27034445e+02] [ 5.67384249e-01 8.23442429e-01 -4.20485744e-03 -2.85890988e+02] [-7.42117694e-03 7.18598935e-06 -9.99972463e-01 -8.05524139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2203857229999 meters 0.015362917245890104 Centerline is valid? [True, True] Translation: X:-126.58, Y:-285.26, Z:-9.01 [[-7.85129228e-01 -6.19308385e-01 5.40552306e-03 -1.26584687e+02] [ 6.19293385e-01 -7.85147835e-01 -4.31054312e-03 -2.85261837e+02] [ 6.91369023e-03 -3.67287189e-05 9.99976100e-01 -9.01440551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.250385723 meters 0.015354024011998268 Centerline is valid? [True, True] Translation: X:-126.60, Y:-285.29, Z:-9.01 [[-7.41469555e-01 -6.70965491e-01 5.31121103e-03 -1.26602437e+02] [ 6.70948178e-01 -7.41488577e-01 -4.82000408e-03 -2.85285079e+02] [ 7.17225871e-03 -1.03389236e-05 9.99974279e-01 -9.01417692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.280385723 meters 0.015443638689443397 Centerline is valid? [True, True] Translation: X:-127.13, Y:-285.87, Z:-8.06 [[-7.85976281e-01 6.18219601e-01 6.76830790e-03 -1.27128794e+02] [ 6.18196710e-01 7.86005423e-01 -5.32011005e-03 -2.85873898e+02] [-8.60892302e-03 2.66536036e-06 -9.99962943e-01 -8.05561369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.310385723 meters 0.015371680014567273 Centerline is valid? [True, True] Translation: X:-127.11, Y:-285.85, Z:-8.06 [[-8.28263788e-01 5.60286301e-01 7.63927404e-03 -1.27110202e+02] [ 5.60262409e-01 8.28299016e-01 -5.17424780e-03 -2.85853632e+02] [-9.22666333e-03 -5.64400750e-06 -9.99957434e-01 -8.05557967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3403857229999 meters 0.015493634837816534 Centerline is valid? [True, True] Translation: X:-126.66, Y:-285.20, Z:-9.02 [[-7.87338904e-01 -6.16479566e-01 7.09899412e-03 -1.26660424e+02] [ 6.16454429e-01 -7.87370907e-01 -5.56706369e-03 -2.85197446e+02] [ 9.02152244e-03 -6.95945694e-06 9.99959305e-01 -9.01523940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.370385723 meters 0.015625865817660223 Centerline is valid? [True, True] Translation: X:-127.15, Y:-285.82, Z:-8.06 [[-8.33138784e-01 5.53026246e-01 6.46049734e-03 -1.27153636e+02] [ 5.53009195e-01 8.33163831e-01 -4.34300654e-03 -2.85821993e+02] [-7.78444932e-03 -4.56127534e-05 -9.99969700e-01 -8.05613924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.400385723 meters 0.015665172662007985 Centerline is valid? [True, True] Translation: X:-126.70, Y:-285.18, Z:-9.01 [[-7.85996004e-01 -6.18199532e-01 6.29442255e-03 -1.26702189e+02] [ 6.18180295e-01 -7.86021205e-01 -4.87724247e-03 -2.85176418e+02] [ 7.96265862e-03 5.75948989e-05 9.99968296e-01 -9.01499975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.430385723 meters 0.015860225369983185 Centerline is valid? [True, True] Translation: X:-127.19, Y:-285.80, Z:-8.06 [[-8.36750655e-01 5.47541231e-01 6.85142866e-03 -1.27185750e+02] [ 5.47522166e-01 8.36778702e-01 -4.56974726e-03 -2.85797933e+02] [-8.23525462e-03 -7.24299621e-05 -9.99966087e-01 -8.05579669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.460385723 meters 0.01590281895252976 Centerline is valid? [True, True] Translation: X:-127.17, Y:-285.77, Z:-8.06 [[-8.73751054e-01 4.86325864e-01 6.80071668e-03 -1.27166737e+02] [ 4.86310467e-01 8.73777516e-01 -3.87060128e-03 -2.85774569e+02] [-7.82468684e-03 -7.46822453e-05 -9.99969384e-01 -8.05618610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.490385723 meters 0.015891588197282907 Centerline is valid? [True, True] Translation: X:-127.15, Y:-285.75, Z:-8.06 [[-9.05495663e-01 4.24302994e-01 6.67635261e-03 -1.27146282e+02] [ 4.24290954e-01 9.05520273e-01 -3.19701720e-03 -2.85753438e+02] [-7.40207661e-03 -6.21691883e-05 -9.99972602e-01 -8.05725969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.520385723 meters 0.01569653034003986 Centerline is valid? [True, True] Translation: X:-126.80, Y:-285.05, Z:-9.01 [[-8.67301704e-01 -4.97743123e-01 6.28781290e-03 -1.26802109e+02] [ 4.97730459e-01 -8.67324496e-01 -3.55102605e-03 -2.85050267e+02] [ 7.22107295e-03 4.98250539e-05 9.99973927e-01 -9.01346396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.550385723 meters 0.015538287630725943 Centerline is valid? [True, True] Translation: X:-127.19, Y:-285.74, Z:-8.06 [[-9.06169989e-01 4.22861325e-01 6.65214687e-03 -1.27187026e+02] [ 4.22849552e-01 9.06194404e-01 -3.15570765e-03 -2.85736472e+02] [-7.36256499e-03 -4.67502460e-05 -9.99972895e-01 -8.05772156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.580385723 meters 0.01539802593417695 Centerline is valid? [True, True] Translation: X:-127.17, Y:-285.71, Z:-8.06 [[-9.33038882e-01 3.59682958e-01 8.16178880e-03 -1.27168912e+02] [ 3.59668862e-01 9.33074578e-01 -3.18447597e-03 -2.85712882e+02] [-8.76095938e-03 -3.56986089e-05 -9.99961622e-01 -8.05602583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.610385723 meters 0.015312269036553593 Centerline is valid? [True, True] Translation: X:-127.17, Y:-285.68, Z:-8.06 [[-9.55734439e-01 2.94101945e-01 8.70222086e-03 -1.27167742e+02] [ 2.94089530e-01 9.55774056e-01 -2.70244569e-03 -2.85683189e+02] [-9.11215146e-03 -2.35883717e-05 -9.99958483e-01 -8.05570757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.640385723 meters 0.016060068881558132 Centerline is valid? [True, True] Translation: X:-126.94, Y:-284.93, Z:-9.02 [[-9.33080814e-01 -3.59556014e-01 8.92569030e-03 -1.26939129e+02] [ 3.59540080e-01 -9.33123502e-01 -3.38537312e-03 -2.84928442e+02] [ 9.54600266e-03 5.03166953e-05 9.99954435e-01 -9.01763313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.670385723 meters 0.015325916484968616 Centerline is valid? [True, True] Translation: X:-127.22, Y:-285.67, Z:-8.05 [[-9.55692119e-01 2.94221108e-01 9.30120032e-03 -1.27224518e+02] [ 2.94207310e-01 9.55737380e-01 -2.84946370e-03 -2.85669038e+02] [-9.72787719e-03 1.32711265e-05 -9.99952683e-01 -8.05476711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.700385723 meters 0.015391270806114594 Centerline is valid? [True, True] Translation: X:-126.99, Y:-284.91, Z:-9.02 [[-9.35532795e-01 -3.53124392e-01 9.03064997e-03 -1.26992118e+02] [ 3.53107763e-01 -9.35576380e-01 -3.42703870e-03 -2.84910556e+02] [ 9.65903377e-03 -1.73144872e-05 9.99953350e-01 -9.01615794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.730385723 meters 0.01534496231599754 Centerline is valid? [True, True] Translation: X:-127.25, Y:-285.66, Z:-8.06 [[-9.56077283e-01 2.92980021e-01 8.88461707e-03 -1.27252087e+02] [ 2.92967737e-01 9.56118563e-01 -2.68311095e-03 -2.85662845e+02] [-9.28084520e-03 3.76447329e-05 -9.99956931e-01 -8.05518373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.760385723 meters 0.015355876102015666 Centerline is valid? [True, True] Translation: X:-127.02, Y:-284.91, Z:-9.02 [[-9.37310961e-01 -3.48393667e-01 8.36749755e-03 -1.27017033e+02] [ 3.48379243e-01 -9.37348308e-01 -3.17076761e-03 -2.84905382e+02] [ 8.94793502e-03 -5.69327752e-05 9.99959965e-01 -9.01589776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.790385723 meters 0.0154028288186377 Centerline is valid? [True, True] Translation: X:-127.30, Y:-285.65, Z:-8.05 [[-9.57076581e-01 2.89700057e-01 8.84851914e-03 -1.27298898e+02] [ 2.89688073e-01 9.57117483e-01 -2.63535612e-03 -2.85649049e+02] [-9.23253518e-03 4.10728273e-05 -9.99957379e-01 -8.05463701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.820385723 meters 0.015420686256682217 Centerline is valid? [True, True] Translation: X:-127.29, Y:-285.62, Z:-8.05 [[-9.75175849e-01 2.21249842e-01 8.97610050e-03 -1.27288878e+02] [ 2.21240866e-01 9.75217158e-01 -1.99340171e-03 -2.85621509e+02] [-9.19468703e-03 4.19630357e-05 -9.99957727e-01 -8.05446890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8503857229999 meters 0.015452907246971716 Centerline is valid? [True, True] Translation: X:-127.13, Y:-284.84, Z:-9.02 [[-9.60858652e-01 -2.76921364e-01 8.07518162e-03 -1.27130178e+02] [ 2.76910831e-01 -9.60892580e-01 -2.41683723e-03 -2.84844832e+02] [ 8.42865596e-03 -8.61337123e-05 9.99964475e-01 -9.01658516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.880385723 meters 0.01543174207630699 Centerline is valid? [True, True] Translation: X:-127.34, Y:-285.61, Z:-8.05 [[-9.75982008e-01 2.17682438e-01 8.57185534e-03 -1.27343038e+02] [ 2.17674449e-01 9.76019649e-01 -1.86555773e-03 -2.85610904e+02] [-8.77239839e-03 4.51231070e-05 -9.99961521e-01 -8.05463188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.910385723 meters 0.015598812073988168 Centerline is valid? [True, True] Translation: X:-127.17, Y:-284.83, Z:-9.02 [[-9.62309268e-01 -2.71837025e-01 8.09351400e-03 -1.27167898e+02] [ 2.71826844e-01 -9.62343300e-01 -2.35354259e-03 -2.84834494e+02] [ 8.42851899e-03 -6.48014739e-05 9.99964477e-01 -9.01556273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.940385723 meters 0.01562669781412788 Centerline is valid? [True, True] Translation: X:-127.40, Y:-285.60, Z:-8.06 [[-9.76637793e-01 2.14732645e-01 8.27723200e-03 -1.27398119e+02] [ 2.14725386e-01 9.76672867e-01 -1.76648953e-03 -2.85602263e+02] [-8.46347087e-03 5.21113938e-05 -9.99964183e-01 -8.05521316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9703857229999 meters 0.015648489710007398 Centerline is valid? [True, True] Translation: X:-127.22, Y:-284.82, Z:-9.02 [[-9.63395611e-01 -2.67963602e-01 8.02520626e-03 -1.27224997e+02] [ 2.67953797e-01 -9.63429034e-01 -2.29314986e-03 -2.84822771e+02] [ 8.34619741e-03 -5.88260224e-05 9.99965168e-01 -9.01604893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.000385723 meters 0.015566259566082666 Centerline is valid? [True, True] Translation: X:-127.46, Y:-285.59, Z:-8.05 [[-9.77624633e-01 2.10202566e-01 8.05968150e-03 -1.27457425e+02] [ 2.10195807e-01 9.77657854e-01 -1.68628376e-03 -2.85588845e+02] [-8.23407209e-03 4.55587156e-05 -9.99966099e-01 -8.05414315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.030385723 meters 0.018504495833231726 Centerline is valid? [True, True] Translation: X:-127.28, Y:-284.82, Z:-9.02 [[-9.64236486e-01 -2.64915273e-01 8.23993079e-03 -1.27279138e+02] [ 2.64905362e-01 -9.64271693e-01 -2.29170576e-03 -2.84815298e+02] [ 8.55263987e-03 -2.69444609e-05 9.99963425e-01 -9.02183137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.060385723 meters 0.015457778926766804 Centerline is valid? [True, True] Translation: X:-127.50, Y:-285.58, Z:-8.05 [[-9.78679032e-01 2.05261505e-01 7.42073717e-03 -1.27501551e+02] [ 2.05255864e-01 9.78707164e-01 -1.52210582e-03 -2.85576676e+02] [-7.57515836e-03 3.34967706e-05 -9.99971308e-01 -8.05300851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0903857229999 meters 0.01556557323273388 Centerline is valid? [True, True] Translation: X:-127.34, Y:-284.80, Z:-9.02 [[-9.65126286e-01 -2.61663322e-01 7.97228521e-03 -1.27336054e+02] [ 2.61654453e-01 -9.65159213e-01 -2.15442156e-03 -2.84804927e+02] [ 8.25825762e-03 6.69505010e-06 9.99965900e-01 -9.01796007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.120385723 meters 0.015566318888655088 Centerline is valid? [True, True] Translation: X:-127.55, Y:-285.57, Z:-8.05 [[-9.79295044e-01 2.02250237e-01 8.72119965e-03 -1.27551709e+02] [ 2.02242657e-01 9.79333875e-01 -1.75166022e-03 -2.85568597e+02] [-8.89523994e-03 4.84064155e-05 -9.99960436e-01 -8.05281266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.150385723 meters 0.015937607058099854 Centerline is valid? [True, True] Translation: X:-127.55, Y:-285.54, Z:-8.05 [[-9.90860624e-01 1.34588072e-01 9.01526898e-03 -1.27547250e+02] [ 1.34583152e-01 9.90901633e-01 -1.15300128e-03 -2.85542336e+02] [-9.08842497e-03 7.08397450e-05 -9.99958697e-01 -8.05125079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.180385723 meters 0.015575821295731105 Centerline is valid? [True, True] Translation: X:-127.55, Y:-285.51, Z:-8.05 [[-9.97848926e-01 6.49825816e-02 8.64783608e-03 -1.27554748e+02] [ 6.49808112e-02 9.97886395e-01 -4.85842165e-04 -2.85511661e+02] [-8.66112925e-03 7.71463211e-05 -9.99962489e-01 -8.05301808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.210385723 meters 0.015819838887892585 Centerline is valid? [True, True] Translation: X:-127.57, Y:-285.48, Z:-8.05 [[-9.99959993e-01 -4.84344008e-03 7.52018724e-03 -1.27566362e+02] [-4.84273074e-03 9.99988268e-01 1.12531392e-04 -2.85483482e+02] [-7.52064405e-03 7.61086480e-05 -9.99971717e-01 -8.05245144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.240385723 meters 0.01564131491834507 Centerline is valid? [True, True] Translation: X:-127.55, Y:-285.45, Z:-8.05 [[-9.97057829e-01 -7.63300792e-02 7.02880553e-03 -1.27548949e+02] [-7.63276851e-02 9.97082601e-01 6.08629636e-04 -2.85452352e+02] [-7.05475646e-03 7.03464881e-05 -9.99975113e-01 -8.05297331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.270385723 meters 0.01558917767208862 Centerline is valid? [True, True] Translation: X:-127.56, Y:-285.42, Z:-8.05 [[-9.89058815e-01 -1.47372539e-01 6.63288922e-03 -1.27558066e+02] [-1.47368772e-01 9.89081054e-01 1.05579959e-03 -2.85423088e+02] [-6.71606092e-03 6.67671510e-05 -9.99977445e-01 -8.05316549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.300385723 meters 0.015607791816352426 Centerline is valid? [True, True] Translation: X:-127.60, Y:-285.40, Z:-8.05 [[-9.75935474e-01 -2.17973009e-01 6.14145919e-03 -1.27597215e+02] [-2.17968300e-01 9.75954796e-01 1.43403866e-03 -2.85400895e+02] [-6.30636828e-03 6.08857803e-05 -9.99980113e-01 -8.05329804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.330385723 meters 0.016080901844927126 Centerline is valid? [True, True] Translation: X:-127.63, Y:-285.38, Z:-8.05 [[-9.57271081e-01 -2.89135334e-01 5.73032081e-03 -1.27631640e+02] [-2.89129791e-01 9.57288230e-01 1.79123718e-03 -2.85381692e+02] [-6.00347862e-03 5.78930907e-05 -9.99981977e-01 -8.05227631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.360385723 meters 0.015758935091720664 Centerline is valid? [True, True] Translation: X:-127.69, Y:-285.37, Z:-8.05 [[-9.33902597e-01 -3.57495715e-01 4.77003820e-03 -1.27692888e+02] [-3.57490742e-01 9.33914777e-01 1.88639858e-03 -2.85370150e+02] [-5.12918857e-03 5.64680333e-05 -9.99986844e-01 -8.05355031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.390385723 meters 0.015837030860792498 Centerline is valid? [True, True] Translation: X:-127.77, Y:-285.37, Z:-8.05 [[-9.05270398e-01 -4.24809063e-01 4.77155337e-03 -1.27766715e+02] [-4.24802788e-01 9.05282970e-01 2.30971665e-03 -2.85371082e+02] [-5.30079457e-03 6.39489319e-05 -9.99985949e-01 -8.05355998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.420385723 meters 0.01614943805441753 Centerline is valid? [True, True] Translation: X:-127.85, Y:-285.38, Z:-8.05 [[-8.71563074e-01 -4.90261835e-01 4.59804342e-03 -1.27848323e+02] [-4.90254585e-01 8.71575199e-01 2.66714426e-03 -2.85381981e+02] [-5.31513965e-03 7.03725784e-05 -9.99985872e-01 -8.05345942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.450385723 meters 0.01658846303809426 Centerline is valid? [True, True] Translation: X:-127.94, Y:-285.40, Z:-8.05 [[-8.33458881e-01 -5.52566270e-01 4.10017026e-03 -1.27936841e+02] [-5.52559132e-01 8.33468963e-01 2.80951396e-03 -2.85403975e+02] [-4.96980730e-03 7.60278363e-05 -9.99987648e-01 -8.05287309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.480385723 meters 0.01661746077943478 Centerline is valid? [True, True] Translation: X:-128.03, Y:-285.44, Z:-8.05 [[-7.90583271e-01 -6.12345383e-01 3.35013513e-03 -1.28031318e+02] [-6.12339487e-01 7.90590366e-01 2.68811706e-03 -2.85437760e+02] [-4.29464062e-03 7.37603551e-05 -9.99990775e-01 -8.05370851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.510385723 meters 0.016996563104338783 Centerline is valid? [True, True] Translation: X:-128.12, Y:-285.48, Z:-8.05 [[-7.42298815e-01 -6.70060138e-01 3.44683327e-03 -1.28118448e+02] [-6.70052379e-01 7.42306813e-01 3.22560601e-03 -2.85476205e+02] [-4.71995783e-03 8.48046879e-05 -9.99988857e-01 -8.05373073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.540385723 meters 0.017280841226955203 Centerline is valid? [True, True] Translation: X:-128.22, Y:-285.53, Z:-8.05 [[-6.90433220e-01 -7.23389154e-01 3.17822517e-03 -1.28216744e+02] [-7.23380868e-01 6.90440528e-01 3.46352548e-03 -2.85534564e+02] [-4.69985224e-03 9.22657618e-05 -9.99988951e-01 -8.05301512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.570385723 meters 0.017359477362486334 Centerline is valid? [True, True] Translation: X:-128.30, Y:-285.59, Z:-8.05 [[-6.33237977e-01 -7.73950697e-01 3.15967208e-03 -1.28304875e+02] [-7.73940256e-01 6.33245852e-01 4.02141238e-03 -2.85593120e+02] [-5.11322415e-03 1.01113627e-04 -9.99986922e-01 -8.05272214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6003857229999 meters 0.017003032271969424 Centerline is valid? [True, True] Translation: X:-128.39, Y:-285.67, Z:-8.05 [[-5.72570288e-01 -8.19851074e-01 2.73525155e-03 -1.28394900e+02] [-8.19840877e-01 5.72576813e-01 4.09021455e-03 -2.85666270e+02] [-4.91950841e-03 9.94642932e-05 -9.99987894e-01 -8.05316623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.630385723 meters 0.01721257377618308 Centerline is valid? [True, True] Translation: X:-128.48, Y:-285.75, Z:-8.05 [[-5.08249987e-01 -8.61206012e-01 2.48085694e-03 -1.28479866e+02] [-8.61194743e-01 5.08256032e-01 4.40700176e-03 -2.85748683e+02] [-5.05624691e-03 1.03357633e-04 -9.99987212e-01 -8.05308022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.660385723 meters 0.017562874976688854 Centerline is valid? [True, True] Translation: X:-128.56, Y:-285.84, Z:-8.05 [[-4.41322197e-01 -8.97345654e-01 2.34414743e-03 -1.28561151e+02] [-8.97331544e-01 4.41328407e-01 5.03353682e-03 -2.85843427e+02] [-5.55136124e-03 1.17934095e-04 -9.99984584e-01 -8.05275713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.690385723 meters 0.019283428561210163 Centerline is valid? [True, True] Translation: X:-128.63, Y:-285.94, Z:-8.05 [[-3.72015986e-01 -9.28224289e-01 1.94279255e-03 -1.28632833e+02] [-9.28209844e-01 3.72021039e-01 5.18000891e-03 -2.85938144e+02] [-5.53096979e-03 1.23726951e-04 -9.99984697e-01 -8.04989619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7203857229999 meters 0.017536024145556703 Centerline is valid? [True, True] Translation: X:-128.70, Y:-286.04, Z:-8.05 [[-2.99164152e-01 -9.54200592e-01 1.42829874e-03 -1.28699114e+02] [-9.54187843e-01 2.99167540e-01 4.93384325e-03 -2.86043237e+02] [-5.13517677e-03 1.13163734e-04 -9.99986809e-01 -8.05245952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.750385723 meters 0.017416802071037664 Centerline is valid? [True, True] Translation: X:-128.76, Y:-286.15, Z:-8.05 [[-2.25010734e-01 -9.74355903e-01 8.62608488e-04 -1.28757368e+02] [-9.74347050e-01 2.25012367e-01 4.15465293e-03 -2.86154012e+02] [-4.24220818e-03 9.43614687e-05 -9.99990997e-01 -8.05328792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.780385723 meters 0.017684536748001183 Centerline is valid? [True, True] Translation: X:-128.81, Y:-286.28, Z:-8.05 [[-1.48972584e-01 -9.88841213e-01 4.73189830e-04 -1.28807635e+02] [-9.88834332e-01 1.48973314e-01 3.68987426e-03 -2.86278188e+02] [-3.71919240e-03 8.17837553e-05 -9.99993081e-01 -8.05340570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.810385723 meters 0.01779332066970936 Centerline is valid? [True, True] Translation: X:-128.85, Y:-286.40, Z:-8.05 [[-7.20485004e-02 -9.97401113e-01 1.83834129e-04 -1.28848354e+02] [-9.97394434e-01 7.20486908e-02 3.65090977e-03 -2.86397352e+02] [-3.65466648e-03 7.96874369e-05 -9.99993319e-01 -8.05294702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8403857229999 meters 0.01779332066970936 Centerline is valid? [True, True] Translation: X:-129.65, Y:-286.48, Z:-9.02 [[-9.53378994e-02 9.95444877e-01 4.25773301e-04 -1.29645152e+02] [-9.95438405e-01 -9.53388153e-02 3.59046428e-03 -2.86475556e+02] [ 3.61470199e-03 -8.15237744e-05 9.99993464e-01 -9.01809010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.870385723 meters 0.018251907350658448 Centerline is valid? [True, True] Translation: X:-128.87, Y:-286.70, Z:-8.05 [[-6.17135010e-02 -9.98093893e-01 1.57973789e-04 -1.28866270e+02] [-9.98086186e-01 6.17136454e-02 3.92315052e-03 -2.86700161e+02] [-3.92542171e-03 8.44398966e-05 -9.99992292e-01 -8.05229109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.900385723 meters 0.01789054567361638 Centerline is valid? [True, True] Translation: X:-128.90, Y:-286.82, Z:-8.05 [[ 1.56334550e-02 -9.99877778e-01 -1.55435784e-04 -1.28898766e+02] [-9.99868911e-01 -1.56339711e-02 4.21181016e-03 -2.86824093e+02] [-4.21372546e-03 8.95702640e-05 -9.99991118e-01 -8.05116943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.930385723 meters 0.0177444202417226 Centerline is valid? [True, True] Translation: X:-128.92, Y:-286.96, Z:-8.05 [[ 9.27071503e-02 -9.95693314e-01 -4.56319758e-04 -1.28919242e+02] [-9.95685360e-01 -9.27082341e-02 3.98099149e-03 -2.86956138e+02] [-4.00615121e-03 8.52845258e-05 -9.99991972e-01 -8.05118652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.960385723 meters 0.01738300823705393 Centerline is valid? [True, True] Translation: X:-128.93, Y:-287.10, Z:-8.05 [[ 1.68001067e-01 -9.85786503e-01 -7.82433061e-04 -1.28927871e+02] [-9.85778222e-01 -1.68002863e-01 4.04158126e-03 -2.87101375e+02] [-4.11558726e-03 9.23155079e-05 -9.99991527e-01 -8.05165933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.990385723 meters 0.017759337680399438 Centerline is valid? [True, True] Translation: X:-128.94, Y:-287.20, Z:-8.05 [[ 2.42956100e-01 -9.70036555e-01 -1.18938944e-03 -1.28935205e+02] [-9.70026939e-01 -2.42958989e-01 4.32054532e-03 -2.87197455e+02] [-4.48005976e-03 1.04036961e-04 -9.99989959e-01 -8.05123628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.020385723 meters 0.01795834482170839 Centerline is valid? [True, True] Translation: X:-128.93, Y:-287.33, Z:-8.05 [[ 3.15259445e-01 -9.49004183e-01 -1.59478513e-03 -1.28926086e+02] [-9.48993866e-01 -3.15263457e-01 4.42674926e-03 -2.87325473e+02] [-4.70378104e-03 1.17866795e-04 -9.99988930e-01 -8.05107759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.050385723 meters 0.01830112407265747 Centerline is valid? [True, True] Translation: X:-128.91, Y:-287.45, Z:-8.05 [[ 3.86741691e-01 -9.22186209e-01 -1.86026712e-03 -1.28907492e+02] [-9.22176952e-01 -3.86746147e-01 4.13367465e-03 -2.87448712e+02] [-4.53146890e-03 1.16831141e-04 -9.99989726e-01 -8.05125715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.080385723 meters 0.018045639142790275 Centerline is valid? [True, True] Translation: X:-128.88, Y:-287.56, Z:-8.05 [[ 4.55995196e-01 -8.89980238e-01 -1.88639339e-03 -1.28883599e+02] [-8.89973530e-01 -4.55999086e-01 3.45675473e-03 -2.87564512e+02] [-3.93663706e-03 1.02576639e-04 -9.99992246e-01 -8.05186753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.110385723 meters 0.017933488711770546 Centerline is valid? [True, True] Translation: X:-128.85, Y:-287.68, Z:-8.05 [[ 5.22612306e-01 -8.52569394e-01 -1.34391177e-03 -1.28850524e+02] [-8.52566887e-01 -5.22614030e-01 2.06842281e-03 -2.87680693e+02] [-2.46582113e-03 6.47914603e-05 -9.99996958e-01 -8.05216125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.140385723 meters 0.01738435293245066 Centerline is valid? [True, True] Translation: X:-128.80, Y:-287.80, Z:-8.05 [[ 5.86578984e-01 -8.09890337e-01 -1.65423639e-03 -1.28804856e+02] [-8.09887452e-01 -5.86581313e-01 2.16288856e-03 -2.87799865e+02] [-2.72204670e-03 7.10403194e-05 -9.99996293e-01 -8.05211068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.170385723 meters 0.017509236682575417 Centerline is valid? [True, True] Translation: X:-128.76, Y:-287.90, Z:-8.05 [[ 6.48059176e-01 -7.61588049e-01 -1.71702760e-03 -1.28760629e+02] [-7.61585629e-01 -6.48061447e-01 1.92079306e-03 -2.87900666e+02] [-2.57559243e-03 6.28759758e-05 -9.99996681e-01 -8.05186782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.200385723 meters 0.017124269075312063 Centerline is valid? [True, True] Translation: X:-128.71, Y:-288.00, Z:-8.05 [[ 7.04998718e-01 -7.09206621e-01 -1.66621611e-03 -1.28706317e+02] [-7.09204819e-01 -7.05000685e-01 1.59973921e-03 -2.88001148e+02] [-2.30922914e-03 5.38744055e-05 -9.99997332e-01 -8.05232765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.230385723 meters 0.016896231754163802 Centerline is valid? [True, True] Translation: X:-128.71, Y:-288.01, Z:-8.05 [[ 7.59756353e-01 -6.50204644e-01 -2.05041387e-03 -1.28714992e+02] [-6.50202473e-01 -7.59759118e-01 1.68118996e-03 -2.88011068e+02] [-2.65093815e-03 5.58894165e-05 -9.99996485e-01 -8.05202959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.260385723 meters 0.016164483081433048 Centerline is valid? [True, True] Translation: X:-128.72, Y:-288.02, Z:-8.05 [[ 8.08792971e-01 -5.88088905e-01 -2.31731823e-03 -1.28723417e+02] [-5.88086691e-01 -8.08796289e-01 1.61460920e-03 -2.88024253e+02] [-2.82377214e-03 5.68994382e-05 -9.99996012e-01 -8.05145446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.290385723 meters 0.016292254795392407 Centerline is valid? [True, True] Translation: X:-128.73, Y:-288.03, Z:-8.05 [[ 8.52744682e-01 -5.22322037e-01 -2.48928002e-03 -1.28730279e+02] [-5.22320001e-01 -8.52748314e-01 1.45946663e-03 -2.88034747e+02] [-2.88504092e-03 5.56483371e-05 -9.99995837e-01 -8.05057049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.320385723 meters 0.016144775827121687 Centerline is valid? [True, True] Translation: X:-128.74, Y:-288.05, Z:-8.05 [[ 8.91095463e-01 -4.53805240e-01 -3.11124993e-03 -1.28735404e+02] [-4.53802731e-01 -8.91100892e-01 1.51047031e-03 -2.88045709e+02] [-3.45789693e-03 6.59204696e-05 -9.99994019e-01 -8.04998081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3503857229999 meters 0.01604034973048192 Centerline is valid? [True, True] Translation: X:-128.74, Y:-288.06, Z:-8.05 [[ 9.23656404e-01 -3.83208093e-01 -3.22559304e-03 -1.28739816e+02] [-3.83206011e-01 -9.23662034e-01 1.26478088e-03 -2.88057841e+02] [-3.46403209e-03 6.78436852e-05 -9.99993998e-01 -8.05016223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.380385723 meters 0.0164563704377094 Centerline is valid? [True, True] Translation: X:-128.74, Y:-288.07, Z:-8.05 [[ 9.50235092e-01 -3.11518124e-01 -3.11894231e-03 -1.28742004e+02] [-3.11516685e-01 -9.50240208e-01 9.49348492e-04 -2.88069389e+02] [-3.25948365e-03 6.94983183e-05 -9.99994686e-01 -8.05058908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.410385723 meters 0.01727613729219553 Centerline is valid? [True, True] Translation: X:-128.74, Y:-288.08, Z:-8.05 [[ 9.71353200e-01 -2.37624538e-01 -2.74580001e-03 -1.28743586e+02] [-2.37623774e-01 -9.71357079e-01 6.06143064e-04 -2.88078600e+02] [-2.81118675e-03 6.36883561e-05 -9.99996047e-01 -8.05087929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.440385723 meters 0.017821362577961002 Centerline is valid? [True, True] Translation: X:-128.75, Y:-288.09, Z:-8.05 [[ 9.86725862e-01 -1.62366277e-01 -3.04379556e-03 -1.28748004e+02] [-1.62365737e-01 -9.86730554e-01 4.25324587e-04 -2.88085660e+02] [-3.07246445e-03 7.45293389e-05 -9.99995277e-01 -8.05089480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4703857229999 meters 0.018383367557238545 Centerline is valid? [True, True] Translation: X:-128.75, Y:-288.10, Z:-8.05 [[ 9.96102825e-01 -8.81464871e-02 -3.05914637e-03 -1.28751892e+02] [-8.81463340e-02 -9.96107519e-01 1.85096762e-04 -2.88096406e+02] [-3.06355433e-03 8.52771297e-05 -9.99995304e-01 -8.05061265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.500385723 meters 0.018991668876121817 Centerline is valid? [True, True] Translation: X:-128.75, Y:-288.11, Z:-8.05 [[ 9.99917109e-01 -1.25746195e-02 -2.76675189e-03 -1.28754924e+02] [-1.25748043e-02 -9.99920933e-01 -4.94010792e-05 -2.88109415e+02] [-2.76591193e-03 8.41883479e-05 -9.99996171e-01 -8.04955180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.530385723 meters 0.01854246232429928 Centerline is valid? [True, True] Translation: X:-128.76, Y:-288.12, Z:-8.05 [[ 9.97895514e-01 6.47600315e-02 -3.26828836e-03 -1.28756337e+02] [ 6.47593443e-02 -9.97900861e-01 -3.15756714e-04 -2.88124511e+02] [-3.28187618e-03 1.03439997e-04 -9.99994609e-01 -8.04931970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.560385723 meters 0.018465441945198148 Centerline is valid? [True, True] Translation: X:-128.76, Y:-288.14, Z:-8.05 [[ 9.89880825e-01 1.41878047e-01 -2.56371251e-03 -1.28756436e+02] [ 1.41877352e-01 -9.89884141e-01 -4.52010290e-04 -2.88139251e+02] [-2.60190869e-03 8.37035779e-05 -9.99996612e-01 -8.04904646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5903857229999 meters 0.0211688611139343 Centerline is valid? [True, True] Translation: X:-128.76, Y:-288.15, Z:-8.05 [[ 9.76065210e-01 2.17473729e-01 -1.37248750e-03 -1.28756318e+02] [ 2.17473446e-01 -9.76066174e-01 -3.54024151e-04 -2.88150218e+02] [-1.41662958e-03 4.70710704e-05 -9.99998996e-01 -8.04976258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.620385723 meters 0.019859274098342438 Centerline is valid? [True, True] Translation: X:-128.75, Y:-288.17, Z:-8.05 [[ 9.56109557e-01 2.93003916e-01 -1.79443724e-03 -1.28753332e+02] [ 2.93003274e-01 -9.56111239e-01 -6.16809786e-04 -2.88166723e+02] [-1.89640930e-03 6.39617441e-05 -9.99998200e-01 -8.04987181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.650385723 meters 0.020040026031378066 Centerline is valid? [True, True] Translation: X:-128.75, Y:-288.18, Z:-8.05 [[ 9.30360857e-01 3.66637915e-01 -2.30564316e-03 -1.28749988e+02] [ 3.66636558e-01 -9.30363710e-01 -1.00106135e-03 -2.88178406e+02] [-2.51211377e-03 8.60152221e-05 -9.99996841e-01 -8.04883805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.680385723 meters 0.019766873046666522 Centerline is valid? [True, True] Translation: X:-128.75, Y:-288.19, Z:-8.05 [[ 8.98621758e-01 4.38714824e-01 -2.87054025e-03 -1.28745214e+02] [ 4.38712190e-01 -8.98626336e-01 -1.52417504e-03 -2.88190217e+02] [-3.24822125e-03 1.10315852e-04 -9.99994719e-01 -8.04804044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.710385723 meters 0.018707166585735045 Centerline is valid? [True, True] Translation: X:-128.74, Y:-288.20, Z:-8.05 [[ 8.61260099e-01 5.08154675e-01 -3.14143743e-03 -1.28737304e+02] [ 5.08150761e-01 -8.61265819e-01 -1.99840304e-03 -2.88204538e+02] [-3.72111053e-03 1.24820978e-04 -9.99993069e-01 -8.04789525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.740385723 meters 0.01774491638831132 Centerline is valid? [True, True] Translation: X:-128.73, Y:-288.22, Z:-8.05 [[ 8.17527414e-01 5.75877257e-01 -3.78322119e-03 -1.28726389e+02] [ 5.75870242e-01 -8.17536154e-01 -2.84622464e-03 -2.88220336e+02] [-4.73199614e-03 1.48222165e-04 -9.99988793e-01 -8.04775538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.770385723 meters 0.017581177241849835 Centerline is valid? [True, True] Translation: X:-128.72, Y:-288.23, Z:-8.05 [[ 7.69200495e-01 6.38994379e-01 -4.09671038e-03 -1.28716364e+02] [ 6.38984158e-01 -7.69211386e-01 -3.61796226e-03 -2.88232385e+02] [-5.46309382e-03 1.65205333e-04 -9.99985064e-01 -8.04732459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.800385723 meters 0.01662160640340585 Centerline is valid? [True, True] Translation: X:-128.70, Y:-288.25, Z:-8.05 [[ 7.16025904e-01 6.98062489e-01 -3.95810757e-03 -1.28702877e+02] [ 6.98050527e-01 -7.16036824e-01 -4.08998728e-03 -2.88246719e+02] [-5.68921748e-03 1.65577766e-04 -9.99983803e-01 -8.04686158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.830385723 meters 0.016667091696939928 Centerline is valid? [True, True] Translation: X:-128.69, Y:-288.26, Z:-8.05 [[ 6.58130131e-01 7.52893585e-01 -3.99750519e-03 -1.28689451e+02] [ 7.52878066e-01 -6.58142249e-01 -4.83718586e-03 -2.88260048e+02] [-6.27281326e-03 1.73863788e-04 -9.99980311e-01 -8.04590446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.860385723 meters 0.016317621354657696 Centerline is valid? [True, True] Translation: X:-128.68, Y:-288.27, Z:-8.05 [[ 5.97157713e-01 8.02116375e-01 -3.46222514e-03 -1.28675242e+02] [ 8.02101243e-01 -5.97167726e-01 -4.92975760e-03 -2.88269619e+02] [-6.02176841e-03 1.66787691e-04 -9.99981855e-01 -8.04571528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.890385723 meters 0.016985709259189307 Centerline is valid? [True, True] Translation: X:-128.66, Y:-288.28, Z:-8.05 [[ 5.32861424e-01 8.46198835e-01 -2.49679438e-03 -1.28662794e+02] [ 8.46188309e-01 -5.32867256e-01 -4.22290701e-03 -2.88278513e+02] [-4.90387897e-03 1.37466029e-04 -9.99987967e-01 -8.04633829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.920385723 meters 0.016615578024934356 Centerline is valid? [True, True] Translation: X:-128.65, Y:-288.29, Z:-8.05 [[ 4.65142735e-01 8.85233402e-01 -2.01483658e-03 -1.28648517e+02] [ 8.85223860e-01 -4.65147081e-01 -4.11232834e-03 -2.88286003e+02] [-4.57756576e-03 1.29238236e-04 -9.99989515e-01 -8.04701216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.950385723 meters 0.017148964632670145 Centerline is valid? [True, True] Translation: X:-128.64, Y:-288.29, Z:-8.05 [[ 3.94315129e-01 9.18973886e-01 -1.60479213e-03 -1.28636166e+02] [ 9.18964965e-01 -3.94318376e-01 -4.05108066e-03 -2.88292087e+02] [-4.35563636e-03 1.22654651e-04 -9.99990507e-01 -8.04691033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.980385723 meters 0.01718192612780893 Centerline is valid? [True, True] Translation: X:-128.62, Y:-288.30, Z:-8.05 [[ 3.20355439e-01 9.47296705e-01 -1.15999952e-03 -1.28623440e+02] [ 9.47289227e-01 -3.20357521e-01 -3.76541855e-03 -2.88297703e+02] [-3.93858316e-03 1.07417260e-04 -9.99992238e-01 -8.04708650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.010385723 meters 0.01618119699900286 Centerline is valid? [True, True] Translation: X:-128.61, Y:-288.30, Z:-8.05 [[ 2.43201920e-01 9.69975259e-01 -9.07015005e-04 -1.28606243e+02] [ 9.69966817e-01 -2.43203589e-01 -4.04820511e-03 -2.88301309e+02] [-4.14724811e-03 1.04756799e-04 -9.99991395e-01 -8.04690457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.040385723 meters 0.016241336092834777 Centerline is valid? [True, True] Translation: X:-128.59, Y:-288.30, Z:-8.05 [[ 1.65200521e-01 9.86259838e-01 -5.66107645e-04 -1.28593163e+02] [ 9.86251893e-01 -1.65201463e-01 -3.95978315e-03 -2.88303810e+02] [-3.99889690e-03 9.58335033e-05 -9.99992000e-01 -8.04651655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.070385723 meters 0.015868738879199328 Centerline is valid? [True, True] Translation: X:-128.58, Y:-288.30, Z:-8.05 [[ 8.59245443e-02 9.96301618e-01 -2.41277624e-04 -1.28579477e+02] [ 9.96294429e-01 -8.59248411e-02 -3.78571620e-03 -2.88304839e+02] [-3.79244692e-03 8.49023865e-05 -9.99992805e-01 -8.04634632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1003857229999 meters 0.01544551334962651 Centerline is valid? [True, True] Translation: X:-128.57, Y:-288.31, Z:-8.05 [[ 4.33336729e-03 9.99990609e-01 6.14507032e-05 -1.28565489e+02] [ 9.99981940e-01 -4.33307380e-03 -4.16457608e-03 -2.88305464e+02] [-4.16427070e-03 7.94962312e-05 -9.99991326e-01 -8.04622378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.130385723 meters 0.014851897582147005 Centerline is valid? [True, True] Translation: X:-128.55, Y:-288.30, Z:-8.05 [[-7.53354724e-02 9.97158154e-01 4.27631803e-04 -1.28551544e+02] [ 9.97147656e-01 7.53366419e-02 -4.57635843e-03 -2.88303470e+02] [-4.59556947e-03 8.16499257e-05 -9.99989437e-01 -8.04574871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.160385723 meters 0.01474770192075937 Centerline is valid? [True, True] Translation: X:-128.54, Y:-288.30, Z:-8.04 [[-1.54669442e-01 9.87965700e-01 1.06793977e-03 -1.28539555e+02] [ 9.87946496e-01 1.54673095e-01 -6.16075059e-03 -2.88301397e+02] [-6.25179181e-03 1.02187505e-04 -9.99980452e-01 -8.04378136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.190385723 meters 0.014761144409125404 Centerline is valid? [True, True] Translation: X:-128.53, Y:-288.30, Z:-8.04 [[-2.31782432e-01 9.72766018e-01 1.78279854e-03 -1.28529367e+02] [ 9.72740986e-01 2.31789259e-01 -6.97959811e-03 -2.88298240e+02] [-7.20274942e-03 1.16452987e-04 -9.99974053e-01 -8.04301218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2203857229999 meters 0.01462035299547021 Centerline is valid? [True, True] Translation: X:-128.52, Y:-288.29, Z:-8.04 [[-3.06892344e-01 9.51740864e-01 2.53316698e-03 -1.28518731e+02] [ 9.51711852e-01 3.06902771e-01 -7.43240087e-03 -2.88293288e+02] [-7.85115559e-03 1.29898115e-04 -9.99969171e-01 -8.04314762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.250385723 meters 0.014564601308048312 Centerline is valid? [True, True] Translation: X:-128.51, Y:-288.29, Z:-8.04 [[-3.78786815e-01 9.25479261e-01 2.94720021e-03 -1.28506329e+02] [ 9.25453998e-01 3.78798256e-01 -6.83947424e-03 -2.88286579e+02] [-7.44618586e-03 1.36795549e-04 -9.99972268e-01 -8.04443875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.280385723 meters 0.015461176381128353 Centerline is valid? [True, True] Translation: X:-128.50, Y:-288.28, Z:-8.04 [[-4.49158287e-01 8.93445331e-01 3.50334821e-03 -1.28495281e+02] [ 8.93420647e-01 4.49171925e-01 -6.64294655e-03 -2.88280572e+02] [-7.50871524e-03 1.46229131e-04 -9.99971799e-01 -8.04366990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.310385723 meters 0.015325618872734736 Centerline is valid? [True, True] Translation: X:-128.49, Y:-288.27, Z:-8.04 [[-5.16040922e-01 8.56554756e-01 3.96452483e-03 -1.28485734e+02] [ 8.56531808e-01 5.16056126e-01 -6.27187393e-03 -2.88273089e+02] [-7.41812077e-03 1.59198016e-04 -9.99972473e-01 -8.04405106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3403857229999 meters 0.015670347888320488 Centerline is valid? [True, True] Translation: X:-128.48, Y:-288.27, Z:-8.04 [[-5.81406313e-01 8.13601626e-01 4.36962969e-03 -1.28476427e+02] [ 8.13580656e-01 5.81422712e-01 -5.84346314e-03 -2.88266339e+02] [-7.29485305e-03 1.57619829e-04 -9.99973380e-01 -8.04401548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.370385723 meters 0.018707986433849706 Centerline is valid? [True, True] Translation: X:-128.47, Y:-288.26, Z:-8.04 [[-6.43281928e-01 7.65607341e-01 5.81044203e-03 -1.28467698e+02] [ 7.65578759e-01 6.43308140e-01 -6.61822726e-03 -2.88257841e+02] [-8.80486803e-03 1.90965004e-04 -9.99961218e-01 -8.04194812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.400385723 meters 0.015659954173909887 Centerline is valid? [True, True] Translation: X:-128.46, Y:-288.25, Z:-8.04 [[-7.01910839e-01 7.12247613e-01 4.95094949e-03 -1.28460219e+02] [ 7.12231320e-01 7.01928285e-01 -4.81968210e-03 -2.88250577e+02] [-6.90801856e-03 1.43234187e-04 -9.99976129e-01 -8.04414183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.430385723 meters 0.01548702349851186 Centerline is valid? [True, True] Translation: X:-128.02, Y:-287.80, Z:-9.03 [[-6.83341897e-01 -7.30084518e-01 4.52196490e-03 -1.28016885e+02] [ 7.30067079e-01 -6.83356843e-01 -5.04834717e-03 -2.87799329e+02] [ 6.77583577e-03 -1.48409425e-04 9.99977033e-01 -9.02711633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.460385723 meters 0.015377300331502116 Centerline is valid? [True, True] Translation: X:-128.04, Y:-287.78, Z:-9.03 [[-6.82775681e-01 -7.30617816e-01 3.86991880e-03 -1.28035250e+02] [ 7.30605128e-01 -6.82786639e-01 -4.30725484e-03 -2.87778007e+02] [ 5.78928597e-03 -1.13506331e-04 9.99983236e-01 -9.02730205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.490385723 meters 0.015321705261527787 Centerline is valid? [True, True] Translation: X:-128.05, Y:-287.76, Z:-9.03 [[-6.82541785e-01 -7.30834908e-01 4.12911953e-03 -1.28052555e+02] [ 7.30820485e-01 -6.82554265e-01 -4.59294175e-03 -2.87757546e+02] [ 6.17503031e-03 -1.17229531e-04 9.99980928e-01 -9.02739786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.520385723 meters 0.014881088265534817 Centerline is valid? [True, True] Translation: X:-128.07, Y:-287.74, Z:-9.03 [[-6.82247909e-01 -7.31109227e-01 4.13397699e-03 -1.28071106e+02] [ 7.31094791e-01 -6.82260424e-01 -4.59579416e-03 -2.87736939e+02] [ 6.18047641e-03 -1.13141914e-04 9.99980894e-01 -9.02695068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.550385723 meters 0.014817712975358617 Centerline is valid? [True, True] Translation: X:-128.09, Y:-287.72, Z:-9.03 [[-6.81222225e-01 -7.32064108e-01 4.29218384e-03 -1.28088229e+02] [ 7.32048582e-01 -6.81235738e-01 -4.76899416e-03 -2.87716212e+02] [ 6.41519848e-03 -1.06657722e-04 9.99979417e-01 -9.02746174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.580385723 meters 0.014473800230490412 Centerline is valid? [True, True] Translation: X:-128.11, Y:-287.69, Z:-9.03 [[-6.80025998e-01 -7.33177788e-01 3.86958972e-03 -1.28106738e+02] [ 7.33165200e-01 -6.80037002e-01 -4.29711098e-03 -2.87694797e+02] [ 5.78201052e-03 -8.50986605e-05 9.99983281e-01 -9.02766274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.610385723 meters 0.014484319750302536 Centerline is valid? [True, True] Translation: X:-128.12, Y:-287.67, Z:-9.03 [[-6.79725519e-01 -7.33457395e-01 3.66991943e-03 -1.28123778e+02] [ 7.33446091e-01 -6.79735422e-01 -4.07275908e-03 -2.87674595e+02] [ 5.48176949e-03 -7.66702209e-05 9.99984972e-01 -9.02766506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.640385723 meters 0.016350482816159886 Centerline is valid? [True, True] Translation: X:-128.14, Y:-287.65, Z:-9.03 [[-6.79818131e-01 -7.33368586e-01 4.22216177e-03 -1.28141412e+02] [ 7.33353640e-01 -6.79831237e-01 -4.68279850e-03 -2.87653810e+02] [ 6.30457477e-03 -8.71136228e-05 9.99980122e-01 -9.02907967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.670385723 meters 0.014222310795529035 Centerline is valid? [True, True] Translation: X:-128.16, Y:-287.63, Z:-9.03 [[-6.79790687e-01 -7.33397287e-01 3.61130355e-03 -1.28160013e+02] [ 7.33386365e-01 -6.79800276e-01 -4.00310317e-03 -2.87632332e+02] [ 5.39083016e-03 -7.27914718e-05 9.99985467e-01 -9.02804253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.700385723 meters 0.014171832733410246 Centerline is valid? [True, True] Translation: X:-128.18, Y:-287.61, Z:-9.03 [[-6.80127864e-01 -7.33083394e-01 3.85033540e-03 -1.28178211e+02] [ 7.33070988e-01 -6.80138759e-01 -4.26570551e-03 -2.87610488e+02] [ 5.74588021e-03 -7.86560035e-05 9.99983489e-01 -9.02798962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.730385723 meters 0.014151269750011738 Centerline is valid? [True, True] Translation: X:-128.20, Y:-287.59, Z:-9.03 [[-6.80940877e-01 -7.32326627e-01 4.15127099e-03 -1.28195109e+02] [ 7.32312207e-01 -6.80953525e-01 -4.59653073e-03 -2.87587668e+02] [ 6.19298446e-03 -8.99392449e-05 9.99980819e-01 -9.02795487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.760385723 meters 0.014151269750011738 Centerline is valid? [True, True] Translation: X:-128.21, Y:-287.57, Z:-9.03 [[-6.81145033e-01 -7.32136736e-01 4.15255243e-03 -1.28213637e+02] [ 7.32122319e-01 -6.81157685e-01 -4.59537310e-03 -2.87567236e+02] [ 6.19298446e-03 -8.99392415e-05 9.99980819e-01 -9.02795532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.790385723 meters 0.01418356199652142 Centerline is valid? [True, True] Translation: X:-128.23, Y:-287.55, Z:-9.03 [[-6.81906315e-01 -7.31426972e-01 4.28501979e-03 -1.28231984e+02] [ 7.31411625e-01 -6.81919771e-01 -4.73928661e-03 -2.87545807e+02] [ 6.38848178e-03 -9.76361824e-05 9.99979589e-01 -9.02799551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.820385723 meters 0.014619517829784798 Centerline is valid? [True, True] Translation: X:-128.25, Y:-287.52, Z:-9.03 [[-6.82350702e-01 -7.31010821e-01 4.54960962e-03 -1.28249187e+02] [ 7.30993530e-01 -6.82365861e-01 -5.02893078e-03 -2.87524200e+02] [ 6.78070110e-03 -1.05759251e-04 9.99977005e-01 -9.02844392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8503857229999 meters 0.0148009149540613 Centerline is valid? [True, True] Translation: X:-128.27, Y:-287.50, Z:-9.03 [[-6.83594458e-01 -7.29845956e-01 4.84747723e-03 -1.28266898e+02] [ 7.29826318e-01 -6.83611634e-01 -5.35535959e-03 -2.87502444e+02] [ 7.22237937e-03 -1.23077672e-04 9.99973911e-01 -9.02864720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.880385723 meters 0.015072907929923317 Centerline is valid? [True, True] Translation: X:-128.28, Y:-287.48, Z:-9.03 [[-6.84026891e-01 -7.29440303e-01 4.90486851e-03 -1.28284262e+02] [ 7.29420210e-01 -6.84044464e-01 -5.41558503e-03 -2.87481443e+02] [ 7.30549413e-03 -1.26695564e-04 9.99973307e-01 -9.02871264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.910385723 meters 0.016406390688952447 Centerline is valid? [True, True] Translation: X:-128.30, Y:-287.46, Z:-9.03 [[-6.84865933e-01 -7.28650781e-01 5.16657367e-03 -1.28302470e+02] [ 7.28628489e-01 -6.84885407e-01 -5.70131495e-03 -2.87460233e+02] [ 7.69277850e-03 -1.40123622e-04 9.99970400e-01 -9.02874817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.940385723 meters 0.01526372934327413 Centerline is valid? [True, True] Translation: X:-128.32, Y:-287.44, Z:-9.03 [[-6.85075688e-01 -7.28457767e-01 4.53691873e-03 -1.28319367e+02] [ 7.28440594e-01 -6.85090700e-01 -5.00351028e-03 -2.87438433e+02] [ 6.75304675e-03 -1.22907476e-04 9.99977190e-01 -9.02789484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9703857229999 meters 0.015349974458941894 Centerline is valid? [True, True] Translation: X:-128.34, Y:-287.42, Z:-9.03 [[-6.85448688e-01 -7.28106866e-01 4.52638693e-03 -1.28336822e+02] [ 7.28089785e-01 -6.85463621e-01 -4.98884596e-03 -2.87417839e+02] [ 6.73508658e-03 -1.23981828e-04 9.99977311e-01 -9.02796600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.000385723 meters 0.015398825811436062 Centerline is valid? [True, True] Translation: X:-128.35, Y:-287.40, Z:-9.03 [[-6.85271273e-01 -7.28270309e-01 5.06355517e-03 -1.28354363e+02] [ 7.28248963e-01 -6.85289967e-01 -5.57751567e-03 -2.87397115e+02] [ 7.53194262e-03 -1.34582459e-04 9.99971626e-01 -9.02864867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.030385723 meters 0.01724529590465484 Centerline is valid? [True, True] Translation: X:-128.37, Y:-287.38, Z:-9.03 [[-6.85153198e-01 -7.28373142e-01 6.13685706e-03 -1.28371955e+02] [ 7.28341829e-01 -6.85180663e-01 -6.75568852e-03 -2.87376095e+02] [ 9.12551787e-03 -1.58951898e-04 9.99958349e-01 -9.03039221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.060385723 meters 0.015069769569665532 Centerline is valid? [True, True] Translation: X:-128.39, Y:-287.35, Z:-9.03 [[-6.84726829e-01 -7.28774015e-01 6.13235326e-03 -1.28390593e+02] [ 7.28742797e-01 -6.84754272e-01 -6.74703993e-03 -2.87354787e+02] [ 9.11622247e-03 -1.50970983e-04 9.99958435e-01 -9.02894455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0903857229999 meters 0.015148773352327246 Centerline is valid? [True, True] Translation: X:-128.41, Y:-287.33, Z:-9.03 [[-6.84794909e-01 -7.28710291e-01 6.10279322e-03 -1.28408159e+02] [ 7.28679409e-01 -6.84822086e-01 -6.71041133e-03 -2.87333987e+02] [ 9.06927337e-03 -1.48275760e-04 9.99958862e-01 -9.02852521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.120385723 meters 0.014900033650238939 Centerline is valid? [True, True] Translation: X:-128.43, Y:-287.31, Z:-9.03 [[-6.84987575e-01 -7.28532220e-01 5.72941417e-03 -1.28426885e+02] [ 7.28505025e-01 -6.85011521e-01 -6.29638596e-03 -2.87313143e+02] [ 8.51183476e-03 -1.39039139e-04 9.99963764e-01 -9.02811353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.150385723 meters 0.015088579800676322 Centerline is valid? [True, True] Translation: X:-128.44, Y:-287.29, Z:-9.03 [[-6.85445429e-01 -7.28105325e-01 5.21536247e-03 -1.28442781e+02] [ 7.28082807e-01 -6.85465258e-01 -5.72774858e-03 -2.87291717e+02] [ 7.74535402e-03 -1.28843341e-04 9.99969996e-01 -9.02717506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.180385723 meters 0.015071888093867452 Centerline is valid? [True, True] Translation: X:-128.46, Y:-287.27, Z:-9.03 [[-6.85732253e-01 -7.27834805e-01 5.27008229e-03 -1.28460107e+02] [ 7.27811832e-01 -6.85752492e-01 -5.78429537e-03 -2.87270971e+02] [ 7.82398355e-03 -1.30849656e-04 9.99969384e-01 -9.02718617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.210385723 meters 0.015205725885886489 Centerline is valid? [True, True] Translation: X:-128.48, Y:-287.25, Z:-9.03 [[-6.86505885e-01 -7.27102350e-01 5.64289435e-03 -1.28477029e+02] [ 7.27076019e-01 -6.86529060e-01 -6.18967510e-03 -2.87249161e+02] [ 8.37453827e-03 -1.46435220e-04 9.99964922e-01 -9.02756182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.240385723 meters 0.01556305441740852 Centerline is valid? [True, True] Translation: X:-128.49, Y:-287.23, Z:-9.03 [[-6.87039582e-01 -7.26598443e-01 5.59604723e-03 -1.28493452e+02] [ 7.26572555e-01 -6.87062355e-01 -6.13537707e-03 -2.87228679e+02] [ 8.30278882e-03 -1.49312570e-04 9.99965520e-01 -9.02798230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.270385723 meters 0.015497797211889973 Centerline is valid? [True, True] Translation: X:-128.51, Y:-287.21, Z:-9.03 [[-6.88050802e-01 -7.25642662e-01 5.36854290e-03 -1.28509662e+02] [ 7.25618834e-01 -6.88071729e-01 -5.88250517e-03 -2.87206100e+02] [ 7.96253930e-03 -1.51946559e-04 9.99968287e-01 -9.02709237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.300385723 meters 0.017003054459061702 Centerline is valid? [True, True] Translation: X:-128.53, Y:-287.18, Z:-9.03 [[-6.88789910e-01 -7.24938999e-01 5.64876018e-03 -1.28525588e+02] [ 7.24912615e-01 -6.88813052e-01 -6.18707083e-03 -2.87183674e+02] [ 8.37618867e-03 -1.66734441e-04 9.99964905e-01 -9.02768698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.330385723 meters 0.016004516806152287 Centerline is valid? [True, True] Translation: X:-128.54, Y:-287.16, Z:-9.03 [[-6.89540786e-01 -7.24227681e-01 5.26970266e-03 -1.28543237e+02] [ 7.24204727e-01 -6.89560903e-01 -5.76836583e-03 -2.87163513e+02] [ 7.81139113e-03 -1.61179937e-04 9.99969478e-01 -9.02681814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.360385723 meters 0.016187090231836152 Centerline is valid? [True, True] Translation: X:-128.56, Y:-287.14, Z:-9.03 [[-6.90937803e-01 -7.22896244e-01 5.09633569e-03 -1.28560849e+02] [ 7.22874762e-01 -6.90956578e-01 -5.57554189e-03 -2.87141198e+02] [ 7.55188496e-03 -1.68340219e-04 9.99971470e-01 -9.02609495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.390385723 meters 0.01692942082989031 Centerline is valid? [True, True] Translation: X:-128.58, Y:-287.12, Z:-9.03 [[-6.91628078e-01 -7.22236989e-01 4.93299393e-03 -1.28576510e+02] [ 7.22216864e-01 -6.91645649e-01 -5.39427451e-03 -2.87120337e+02] [ 7.30782836e-03 -1.68140308e-04 9.99973283e-01 -9.02621920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.420385723 meters 0.017072472085578532 Centerline is valid? [True, True] Translation: X:-128.59, Y:-287.10, Z:-9.03 [[-6.92283795e-01 -7.21608674e-01 4.90612379e-03 -1.28592285e+02] [ 7.21588775e-01 -6.92301158e-01 -5.36166979e-03 -2.87098070e+02] [ 7.26554260e-03 -1.71593259e-04 9.99973591e-01 -9.02585819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.450385723 meters 0.016016204733647413 Centerline is valid? [True, True] Translation: X:-128.61, Y:-287.08, Z:-9.02 [[-6.92295926e-01 -7.21595631e-01 5.10845644e-03 -1.28611785e+02] [ 7.21574080e-01 -6.92314751e-01 -5.57966471e-03 -2.87078064e+02] [ 7.56292142e-03 -1.76649391e-04 9.99971385e-01 -9.02497840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.480385723 meters 0.017206396830781488 Centerline is valid? [True, True] Translation: X:-128.63, Y:-287.06, Z:-9.03 [[-6.91869207e-01 -7.22003951e-01 5.22449629e-03 -1.28627613e+02] [ 7.21981446e-01 -6.91888910e-01 -5.70324361e-03 -2.87055183e+02] [ 7.73253546e-03 -1.73909249e-04 9.99970088e-01 -9.02593155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.510385723 meters 0.015457982492501233 Centerline is valid? [True, True] Translation: X:-128.65, Y:-287.03, Z:-9.03 [[-6.90668823e-01 -7.23148231e-01 5.76305401e-03 -1.28647863e+02] [ 7.23120916e-01 -6.90692844e-01 -6.28776077e-03 -2.87034906e+02] [ 8.52748325e-03 -1.75375432e-04 9.99963625e-01 -9.02546976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.540385723 meters 0.015509688801567612 Centerline is valid? [True, True] Translation: X:-128.67, Y:-287.01, Z:-9.03 [[-6.90096941e-01 -7.23691925e-01 6.01757335e-03 -1.28665634e+02] [ 7.23662198e-01 -6.90123155e-01 -6.56167099e-03 -2.87014357e+02] [ 8.90149501e-03 -1.73498719e-04 9.99960366e-01 -9.02596920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.570385723 meters 0.01537307519943924 Centerline is valid? [True, True] Translation: X:-128.68, Y:-286.99, Z:-9.03 [[-6.89434736e-01 -7.24324227e-01 5.84450306e-03 -1.28683587e+02] [ 7.24296239e-01 -6.89459490e-01 -6.36944134e-03 -2.86992118e+02] [ 8.64308878e-03 -1.58162520e-04 9.99962635e-01 -9.02600890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6003857229999 meters 0.015290817190530869 Centerline is valid? [True, True] Translation: X:-128.70, Y:-286.97, Z:-9.03 [[-6.89417163e-01 -7.24342863e-01 5.60294937e-03 -1.28701531e+02] [ 7.24317169e-01 -6.89439914e-01 -6.10280656e-03 -2.86969996e+02] [ 8.28342131e-03 -1.49067160e-04 9.99965681e-01 -9.02557061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.630385723 meters 0.015558430893793912 Centerline is valid? [True, True] Translation: X:-128.72, Y:-286.95, Z:-9.03 [[-6.89672625e-01 -7.24101422e-01 5.36669643e-03 -1.28718074e+02] [ 7.24077869e-01 -6.89693490e-01 -5.84206102e-03 -2.86947924e+02] [ 7.93162028e-03 -1.43203450e-04 9.99968534e-01 -9.02519633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.660385723 meters 0.016974242866263412 Centerline is valid? [True, True] Translation: X:-128.73, Y:-286.93, Z:-9.03 [[-6.90060306e-01 -7.23729659e-01 5.67063559e-03 -1.28734464e+02] [ 7.23703378e-01 -6.90083588e-01 -6.16950281e-03 -2.86925193e+02] [ 8.37826471e-03 -1.53470863e-04 9.99964890e-01 -9.02558499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.690385723 meters 0.016107624274621386 Centerline is valid? [True, True] Translation: X:-128.75, Y:-286.90, Z:-9.03 [[-6.90106732e-01 -7.23689866e-01 5.06710881e-03 -1.28749722e+02] [ 7.23668905e-01 -6.90125321e-01 -5.50969450e-03 -2.86902338e+02] [ 7.48425018e-03 -1.35368182e-04 9.99971984e-01 -9.02509257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7203857229999 meters 0.015712882597772204 Centerline is valid? [True, True] Translation: X:-128.77, Y:-286.88, Z:-9.02 [[-6.90583158e-01 -7.23235281e-01 5.06269870e-03 -1.28767989e+02] [ 7.23214366e-01 -6.90601701e-01 -5.50186907e-03 -2.86881480e+02] [ 7.47545416e-03 -1.38081687e-04 9.99972049e-01 -9.02472462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.750385723 meters 0.0160077374614189 Centerline is valid? [True, True] Translation: X:-128.78, Y:-286.86, Z:-9.02 [[-6.91175184e-01 -7.22668972e-01 5.14023674e-03 -1.28783962e+02] [ 7.22647424e-01 -6.91194282e-01 -5.58251839e-03 -2.86860979e+02] [ 7.58721508e-03 -1.43919335e-04 9.99971206e-01 -9.02494467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.780385723 meters 0.016388270047092736 Centerline is valid? [True, True] Translation: X:-128.80, Y:-286.84, Z:-9.02 [[-6.92172053e-01 -7.21711839e-01 5.46530742e-03 -1.28798376e+02] [ 7.21687468e-01 -6.92193611e-01 -5.93327506e-03 -2.86838103e+02] [ 8.06516574e-03 -1.62603307e-04 9.99967463e-01 -9.02492046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.810385723 meters 0.016319660256341083 Centerline is valid? [True, True] Translation: X:-128.82, Y:-286.82, Z:-9.02 [[-6.93013411e-01 -7.20902888e-01 5.60691762e-03 -1.28816209e+02] [ 7.20877239e-01 -6.93036071e-01 -6.08366190e-03 -2.86816272e+02] [ 8.27152558e-03 -1.74159995e-04 9.99965775e-01 -9.02462474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8403857229999 meters 0.016591065518914275 Centerline is valid? [True, True] Translation: X:-128.83, Y:-286.79, Z:-9.02 [[-6.94066910e-01 -7.19883468e-01 6.23843146e-03 -1.28833588e+02] [ 7.19851708e-01 -6.94094915e-01 -6.76513334e-03 -2.86793499e+02] [ 9.20017120e-03 -2.04709643e-04 9.99957657e-01 -9.02448441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.870385723 meters 0.01664090431515582 Centerline is valid? [True, True] Translation: X:-128.85, Y:-286.77, Z:-9.02 [[-6.93878228e-01 -7.20064107e-01 6.37858815e-03 -1.28852279e+02] [ 7.20030953e-01 -6.93907515e-01 -6.91286206e-03 -2.86773274e+02] [ 9.40385410e-03 -2.03903575e-04 9.99955762e-01 -9.02476262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.900385723 meters 0.017217767379696325 Centerline is valid? [True, True] Translation: X:-128.87, Y:-286.75, Z:-9.03 [[-6.93308586e-01 -7.20609946e-01 6.67167797e-03 -1.28869664e+02] [ 7.20573745e-01 -6.93340656e-01 -7.22583924e-03 -2.86753080e+02] [ 9.83275720e-03 -2.02300408e-04 9.99951637e-01 -9.02571008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.930385723 meters 0.0163243662226816 Centerline is valid? [True, True] Translation: X:-128.89, Y:-286.73, Z:-9.03 [[-6.92945244e-01 -7.20959920e-01 6.60921156e-03 -1.28889605e+02] [ 7.20924453e-01 -6.92976736e-01 -7.15378619e-03 -2.86734551e+02] [ 9.73762298e-03 -1.92439893e-04 9.99952570e-01 -9.02504745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.960385723 meters 0.01634834189111325 Centerline is valid? [True, True] Translation: X:-128.91, Y:-286.71, Z:-9.02 [[-6.92150996e-01 -7.21725353e-01 6.28596790e-03 -1.28907506e+02] [ 7.21693343e-01 -6.92179518e-01 -6.79953255e-03 -2.86714858e+02] [ 9.25841327e-03 -1.69762036e-04 9.99957126e-01 -9.02465773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.990385723 meters 0.01647861409667228 Centerline is valid? [True, True] Translation: X:-128.93, Y:-286.69, Z:-9.02 [[-6.92243527e-01 -7.21639666e-01 5.92380046e-03 -1.28926331e+02] [ 7.21611268e-01 -6.92268855e-01 -6.40394768e-03 -2.86694756e+02] [ 8.72220522e-03 -1.58410168e-04 9.99961948e-01 -9.02417026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.020385723 meters 0.016668423191180667 Centerline is valid? [True, True] Translation: X:-128.94, Y:-286.68, Z:-9.02 [[-6.92433945e-01 -7.21457256e-01 5.88725019e-03 -1.28944808e+02] [ 7.21429226e-01 -6.92458954e-01 -6.36149551e-03 -2.86676243e+02] [ 8.66622620e-03 -1.57681080e-04 9.99962435e-01 -9.02433071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.050385723 meters 0.01582641441391978 Centerline is valid? [True, True] Translation: X:-128.97, Y:-286.66, Z:-9.02 [[-6.92573381e-01 -7.21320965e-01 6.17877785e-03 -1.28965407e+02] [ 7.21290119e-01 -6.92600923e-01 -6.67279285e-03 -2.86657526e+02] [ 9.09265262e-03 -1.64707294e-04 9.99958648e-01 -9.02367443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.080385723 meters 0.015827795119721245 Centerline is valid? [True, True] Translation: X:-128.98, Y:-286.64, Z:-9.02 [[-6.92703616e-01 -7.21196594e-01 6.09694354e-03 -1.28984477e+02] [ 7.21166588e-01 -6.92730429e-01 -6.58076014e-03 -2.86637237e+02] [ 8.96956011e-03 -1.61604381e-04 9.99959760e-01 -9.02380383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.110385723 meters 0.016052442885631353 Centerline is valid? [True, True] Translation: X:-129.00, Y:-286.62, Z:-9.02 [[-6.93440549e-01 -7.20487997e-01 6.10341380e-03 -1.29003875e+02] [ 7.20457932e-01 -6.93467388e-01 -6.58409731e-03 -2.86616392e+02] [ 8.97628151e-03 -1.68427169e-04 9.99959698e-01 -9.02354745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.140385723 meters 0.016298793516576753 Centerline is valid? [True, True] Translation: X:-129.02, Y:-286.60, Z:-9.02 [[-6.93756506e-01 -7.20186260e-01 5.80178314e-03 -1.29021466e+02] [ 7.20159118e-01 -6.93780747e-01 -6.25463367e-03 -2.86597223e+02] [ 8.52966667e-03 -1.60985776e-04 9.99963609e-01 -9.02329703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.170385723 meters 0.016087067241041128 Centerline is valid? [True, True] Translation: X:-129.04, Y:-286.58, Z:-9.02 [[-6.93809305e-01 -7.20133921e-01 5.98202977e-03 -1.29042047e+02] [ 7.20105095e-01 -6.93835073e-01 -6.44538423e-03 -2.86578101e+02] [ 8.79208188e-03 -1.64177433e-04 9.99961336e-01 -9.02339960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.200385723 meters 0.016198435807640493 Centerline is valid? [True, True] Translation: X:-129.06, Y:-286.56, Z:-9.02 [[-6.93706242e-01 -7.20229398e-01 6.42373587e-03 -1.29060785e+02] [ 7.20196205e-01 -6.93735962e-01 -6.91680185e-03 -2.86559127e+02] [ 9.43806061e-03 -1.71878430e-04 9.99955446e-01 -9.02410099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.230385723 meters 0.016226832806103535 Centerline is valid? [True, True] Translation: X:-129.08, Y:-286.54, Z:-9.02 [[-6.93620919e-01 -7.20307642e-01 6.84991490e-03 -1.29080018e+02] [ 7.20269947e-01 -6.93654719e-01 -7.37116528e-03 -2.86539919e+02] [ 1.00609825e-02 -1.79006592e-04 9.99949371e-01 -9.02495374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.260385723 meters 0.016819834868701204 Centerline is valid? [True, True] Translation: X:-129.10, Y:-286.52, Z:-9.03 [[-6.93186948e-01 -7.20724218e-01 6.96108959e-03 -1.29097594e+02] [ 7.20685347e-01 -6.93221878e-01 -7.48724305e-03 -2.86520360e+02] [ 1.02218170e-02 -1.73303898e-04 9.99947741e-01 -9.02603631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.290385723 meters 0.015728286246391304 Centerline is valid? [True, True] Translation: X:-129.12, Y:-286.50, Z:-9.02 [[-6.92590960e-01 -7.21302854e-01 6.32100035e-03 -1.29118956e+02] [ 7.21270862e-01 -6.92619789e-01 -6.79503488e-03 -2.86501742e+02] [ 9.27932798e-03 -1.47026367e-04 9.99956935e-01 -9.02406488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.320385723 meters 0.015680206064683257 Centerline is valid? [True, True] Translation: X:-129.14, Y:-286.48, Z:-9.02 [[-6.92224311e-01 -7.21658931e-01 5.82152667e-03 -1.29136817e+02] [ 7.21631843e-01 -6.92248778e-01 -6.25404762e-03 -2.86482866e+02] [ 8.54323405e-03 -1.28204785e-04 9.99963498e-01 -9.02347205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3503857229999 meters 0.015972966128390078 Centerline is valid? [True, True] Translation: X:-129.15, Y:-286.46, Z:-9.02 [[-6.91953137e-01 -7.21922486e-01 5.36477799e-03 -1.29154471e+02] [ 7.21899518e-01 -6.91973924e-01 -5.75966992e-03 -2.86463476e+02] [ 7.87032171e-03 -1.12591025e-04 9.99969022e-01 -9.02324813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.380385723 meters 0.016624722077464345 Centerline is valid? [True, True] Translation: X:-129.17, Y:-286.44, Z:-9.02 [[-6.91710201e-01 -7.22153712e-01 5.56906362e-03 -1.29174456e+02] [ 7.22128999e-01 -6.91732610e-01 -5.97534849e-03 -2.86444529e+02] [ 8.16742301e-03 -1.11627168e-04 9.99966640e-01 -9.02373741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.410385723 meters 0.015421288421168352 Centerline is valid? [True, True] Translation: X:-129.19, Y:-286.43, Z:-9.02 [[-6.91472808e-01 -7.22382767e-01 5.33801993e-03 -1.29193330e+02] [ 7.22360096e-01 -6.91493404e-01 -5.72395762e-03 -2.86425014e+02] [ 7.82609391e-03 -1.01988458e-04 9.99969371e-01 -9.02275965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.440385723 meters 0.015592183150108298 Centerline is valid? [True, True] Translation: X:-129.21, Y:-286.40, Z:-9.02 [[-6.92003825e-01 -7.21874796e-01 5.24267308e-03 -1.29209855e+02] [ 7.21852941e-01 -6.92023676e-01 -5.61813011e-03 -2.86404898e+02] [ 7.68364042e-03 -1.03328542e-04 9.99970475e-01 -9.02235755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4703857229999 meters 0.015323287544359342 Centerline is valid? [True, True] Translation: X:-129.23, Y:-286.38, Z:-9.02 [[-6.92772245e-01 -7.21138726e-01 5.05518674e-03 -1.29229248e+02] [ 7.21118409e-01 -6.92790680e-01 -5.41423411e-03 -2.86384223e+02] [ 7.40660015e-03 -1.05442899e-04 9.99972565e-01 -9.02093167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.500385723 meters 0.015360363089145677 Centerline is valid? [True, True] Translation: X:-129.25, Y:-286.36, Z:-9.02 [[-6.93590867e-01 -7.20350235e-01 5.21991628e-03 -1.29247779e+02] [ 7.20328574e-01 -6.93610500e-01 -5.58756535e-03 -2.86363308e+02] [ 7.64559276e-03 -1.15429446e-04 9.99970765e-01 -9.02042732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.530385723 meters 0.01570759781044346 Centerline is valid? [True, True] Translation: X:-129.27, Y:-286.34, Z:-9.02 [[-6.95654745e-01 -7.18358544e-01 5.04752154e-03 -1.29266631e+02] [ 7.18338260e-01 -6.95673044e-01 -5.40001724e-03 -2.86342435e+02] [ 7.39057320e-03 -1.30719779e-04 9.99972681e-01 -9.02076358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.560385723 meters 0.016245931794606486 Centerline is valid? [True, True] Translation: X:-129.28, Y:-286.32, Z:-9.02 [[-6.97596706e-01 -7.16467636e-01 5.74137606e-03 -1.29284069e+02] [ 7.16441349e-01 -6.97620311e-01 -6.13961614e-03 -2.86322239e+02] [ 8.40413681e-03 -1.69616781e-04 9.99964670e-01 -9.02160938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5903857229999 meters 0.017061738035357484 Centerline is valid? [True, True] Translation: X:-129.30, Y:-286.30, Z:-9.02 [[-6.98268539e-01 -7.15810162e-01 6.07122804e-03 -1.29300799e+02] [ 7.15780777e-01 -6.98294907e-01 -6.48857437e-03 -2.86301339e+02] [ 8.88409509e-03 -1.85099022e-04 9.99960519e-01 -9.02248617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.620385723 meters 0.01682229822298939 Centerline is valid? [True, True] Translation: X:-129.32, Y:-286.28, Z:-9.02 [[-6.98917429e-01 -7.15170654e-01 6.73531173e-03 -1.29320071e+02] [ 7.15134497e-01 -6.98949849e-01 -7.19441823e-03 -2.86281264e+02] [ 9.85288190e-03 -2.11650521e-04 9.99951437e-01 -9.02264895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.650385723 meters 0.01682229822298939 Centerline is valid? [True, True] Translation: X:-129.34, Y:-286.26, Z:-9.02 [[-6.99134389e-01 -7.14958539e-01 6.73749482e-03 -1.29338442e+02] [ 7.14922392e-01 -6.99166821e-01 -7.19237383e-03 -2.86261780e+02] [ 9.85288192e-03 -2.11649966e-04 9.99951437e-01 -9.02264939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.680385723 meters 0.016408096242482795 Centerline is valid? [True, True] Translation: X:-129.36, Y:-286.24, Z:-9.02 [[-6.99824026e-01 -7.14279070e-01 7.19330802e-03 -1.29358009e+02] [ 7.14237875e-01 -6.99860955e-01 -7.67469805e-03 -2.86241899e+02] [ 1.05161916e-02 -2.33205050e-04 9.99944676e-01 -9.02271598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.710385723 meters 0.01648330376512578 Centerline is valid? [True, True] Translation: X:-129.38, Y:-286.22, Z:-9.02 [[-7.00130013e-01 -7.13980991e-01 7.00780043e-03 -1.29377535e+02] [ 7.13941922e-01 -7.00165046e-01 -7.47262753e-03 -2.86221201e+02] [ 1.02419309e-02 -2.28648305e-04 9.99947524e-01 -9.02251748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.740385723 meters 0.0162426024807779 Centerline is valid? [True, True] Translation: X:-129.40, Y:-286.20, Z:-9.02 [[-6.99801558e-01 -7.14302862e-01 7.01426264e-03 -1.29397787e+02] [ 7.14263780e-01 -6.99836675e-01 -7.47535580e-03 -2.86201664e+02] [ 1.02485063e-02 -2.21231892e-04 9.99947458e-01 -9.02227484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.770385723 meters 0.01667416217374156 Centerline is valid? [True, True] Translation: X:-129.42, Y:-286.18, Z:-9.02 [[-6.99383622e-01 -7.14713587e-01 6.85847225e-03 -1.29416069e+02] [ 7.14676282e-01 -6.99417219e-01 -7.30515464e-03 -2.86182240e+02] [ 1.00180269e-02 -2.07518059e-04 9.99949797e-01 -9.02283733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.800385723 meters 0.016069695874747294 Centerline is valid? [True, True] Translation: X:-129.44, Y:-286.16, Z:-9.02 [[-6.98941157e-01 -7.15147251e-01 6.75783640e-03 -1.29436690e+02] [ 7.15111093e-01 -6.98973799e-01 -7.19400016e-03 -2.86163436e+02] [ 9.86832002e-03 -1.95579019e-04 9.99951288e-01 -9.02279325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.830385723 meters 0.0160204060584224 Centerline is valid? [True, True] Translation: X:-129.46, Y:-286.14, Z:-9.02 [[-6.96872461e-01 -7.17167133e-01 6.33062309e-03 -1.29456103e+02] [ 7.17135519e-01 -6.96901198e-01 -6.73553148e-03 -2.86143944e+02] [ 9.24232062e-03 -1.53891725e-04 9.99957277e-01 -9.02304007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.860385723 meters 0.015161895000293841 Centerline is valid? [True, True] Translation: X:-129.48, Y:-286.13, Z:-9.02 [[-6.95039645e-01 -7.18952000e-01 5.28330326e-03 -1.29476995e+02] [ 7.18930056e-01 -6.95059717e-01 -5.61815604e-03 -2.86125486e+02] [ 7.71139579e-03 -1.06515673e-04 9.99970261e-01 -9.02159196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.890385723 meters 0.01491491109995749 Centerline is valid? [True, True] Translation: X:-129.50, Y:-286.11, Z:-9.02 [[-6.93992055e-01 -7.19963582e-01 5.24108561e-03 -1.29497153e+02] [ 7.19942042e-01 -6.94011839e-01 -5.56998864e-03 -2.86106280e+02] [ 7.64756443e-03 -9.22499843e-05 9.99970753e-01 -9.02122620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.920385723 meters 0.014762480706970739 Centerline is valid? [True, True] Translation: X:-129.52, Y:-286.09, Z:-9.02 [[-6.93392150e-01 -7.20541829e-01 5.17679373e-03 -1.29516980e+02] [ 7.20520856e-01 -6.93411469e-01 -5.49827070e-03 -2.86086883e+02] [ 7.55138217e-03 -8.24698900e-05 9.99971485e-01 -9.02179763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.950385723 meters 0.014711938084733929 Centerline is valid? [True, True] Translation: X:-129.54, Y:-286.07, Z:-9.02 [[-6.92993982e-01 -7.20925139e-01 5.12688487e-03 -1.29536030e+02] [ 7.20904604e-01 -6.93012942e-01 -5.44192985e-03 -2.86067236e+02] [ 7.47622160e-03 -7.52297318e-05 9.99972050e-01 -9.02214215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.980385723 meters 0.014524308728196508 Centerline is valid? [True, True] Translation: X:-129.56, Y:-286.05, Z:-9.02 [[-6.92236398e-01 -7.21654878e-01 4.79643780e-03 -1.29555222e+02] [ 7.21636944e-01 -6.92253013e-01 -5.08806958e-03 -2.86047313e+02] [ 6.99217875e-03 -6.08602462e-05 9.99975553e-01 -9.02147072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.010385723 meters 0.014620348097585672 Centerline is valid? [True, True] Translation: X:-129.57, Y:-286.03, Z:-9.02 [[-6.92484606e-01 -7.21415442e-01 4.98300296e-03 -1.29574271e+02] [ 7.21396100e-01 -6.92502532e-01 -5.28307269e-03 -2.86026193e+02] [ 7.26203238e-03 -6.37276115e-05 9.99973629e-01 -9.02079186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.040385723 meters 0.014713027249341603 Centerline is valid? [True, True] Translation: X:-129.59, Y:-286.01, Z:-9.02 [[-6.93364245e-01 -7.20571723e-01 4.73458407e-03 -1.29592656e+02] [ 7.20554263e-01 -6.93380407e-01 -5.01660132e-03 -2.86006053e+02] [ 6.89768889e-03 -6.68072525e-05 9.99976209e-01 -9.02100230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.070385723 meters 0.014752370178759617 Centerline is valid? [True, True] Translation: X:-129.61, Y:-285.99, Z:-9.02 [[-6.94651496e-01 -7.19332205e-01 4.52531629e-03 -1.29612225e+02] [ 7.19316246e-01 -6.94666232e-01 -4.79217398e-03 -2.85985798e+02] [ 6.59074949e-03 -7.37573001e-05 9.99978278e-01 -9.02040865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1003857229999 meters 0.01543775448768105 Centerline is valid? [True, True] Translation: X:-129.63, Y:-285.97, Z:-9.02 [[-6.97308981e-01 -7.16755012e-01 4.73690296e-03 -1.29630243e+02] [ 7.16737480e-01 -6.97325063e-01 -5.01418707e-03 -2.85965541e+02] [ 6.89710486e-03 -1.01321782e-04 9.99976210e-01 -9.02146233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.130385723 meters 0.015621712614858976 Centerline is valid? [True, True] Translation: X:-129.65, Y:-285.94, Z:-9.02 [[-6.99075781e-01 -7.15031901e-01 4.73644261e-03 -1.29649770e+02] [ 7.15014352e-01 -6.99091816e-01 -5.01092703e-03 -2.85944838e+02] [ 6.89418094e-03 -1.16393285e-04 9.99976228e-01 -9.02154398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.160385723 meters 0.016399535365006115 Centerline is valid? [True, True] Translation: X:-129.67, Y:-285.92, Z:-9.02 [[-7.02637664e-01 -7.11530385e-01 4.98237282e-03 -1.29668039e+02] [ 7.11510899e-01 -7.02655311e-01 -5.26818485e-03 -2.85923734e+02] [ 7.24936432e-03 -1.56612535e-04 9.99973711e-01 -9.02126888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.190385723 meters 0.01680635070061526 Centerline is valid? [True, True] Translation: X:-129.69, Y:-285.90, Z:-9.02 [[-7.04345554e-01 -7.09838601e-01 5.14798723e-03 -1.29687086e+02] [ 7.09817775e-01 -7.04364344e-01 -5.44028077e-03 -2.85903120e+02] [ 7.48777994e-03 -1.77704729e-04 9.99971951e-01 -9.02122400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2203857229999 meters 0.017387057538241345 Centerline is valid? [True, True] Translation: X:-129.71, Y:-285.88, Z:-9.02 [[-7.05603411e-01 -7.08589986e-01 4.90488708e-03 -1.29705461e+02] [ 7.08571073e-01 -7.05620436e-01 -5.18034490e-03 -2.85883249e+02] [ 7.13172908e-03 -1.79807934e-04 9.99974553e-01 -9.02117146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.250385723 meters 0.018183752987599656 Centerline is valid? [True, True] Translation: X:-129.73, Y:-285.86, Z:-9.02 [[-7.06746340e-01 -7.07452742e-01 4.49769385e-03 -1.29725178e+02] [ 7.07436828e-01 -7.06760630e-01 -4.74839561e-03 -2.85864763e+02] [ 6.53805843e-03 -1.74076955e-04 9.99978612e-01 -9.02125202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.280385723 meters 0.017762649363111227 Centerline is valid? [True, True] Translation: X:-129.75, Y:-285.85, Z:-9.02 [[-7.07086430e-01 -7.07115379e-01 4.07688556e-03 -1.29745678e+02] [ 7.07102314e-01 -7.07098165e-01 -4.30149442e-03 -2.85846551e+02] [ 5.92441115e-03 -1.58753122e-04 9.99982438e-01 -9.02079678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.310385723 meters 0.017495541610915773 Centerline is valid? [True, True] Translation: X:-129.77, Y:-285.83, Z:-9.02 [[-7.06242068e-01 -7.07962518e-01 3.34874096e-03 -1.29767369e+02] [ 7.07953722e-01 -7.06249997e-01 -3.53132117e-03 -2.85828855e+02] [ 4.86509132e-03 -1.23213938e-04 9.99988158e-01 -9.02023838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3403857229999 meters 0.01740786682067325 Centerline is valid? [True, True] Translation: X:-129.79, Y:-285.81, Z:-9.02 [[-7.05606353e-01 -7.08595609e-01 3.45505206e-03 -1.29786662e+02] [ 7.08586264e-01 -7.05614802e-01 -3.64109952e-03 -2.85810912e+02] [ 5.01800300e-03 -1.20980524e-04 9.99987403e-01 -9.01997591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.370385723 meters 0.018899554554133894 Centerline is valid? [True, True] Translation: X:-129.81, Y:-285.79, Z:-9.02 [[-7.05088961e-01 -7.09110184e-01 3.50764813e-03 -1.29806871e+02] [ 7.09100571e-01 -7.05097676e-01 -3.69429012e-03 -2.85792504e+02] [ 5.09289329e-03 -1.17527898e-04 9.99987024e-01 -9.02206158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.400385723 meters 0.01590225296647049 Centerline is valid? [True, True] Translation: X:-129.83, Y:-285.78, Z:-9.02 [[-7.02990362e-01 -7.11190282e-01 3.59631159e-03 -1.29830609e+02] [ 7.11180215e-01 -7.02999553e-01 -3.78556629e-03 -2.85775940e+02] [ 5.22046340e-03 -1.03590972e-04 9.99986368e-01 -9.01985875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.430385723 meters 0.015846552110405344 Centerline is valid? [True, True] Translation: X:-129.85, Y:-285.76, Z:-9.02 [[-7.02341200e-01 -7.11832809e-01 3.30018793e-03 -1.29849979e+02] [ 7.11824345e-01 -7.02348948e-01 -3.47245095e-03 -2.85757386e+02] [ 4.78968803e-03 -8.96912546e-05 9.99988525e-01 -9.01976319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.460385723 meters 0.015525394644354486 Centerline is valid? [True, True] Translation: X:-129.87, Y:-285.74, Z:-9.02 [[-7.01314058e-01 -7.12848820e-01 2.26986703e-03 -1.29871163e+02] [ 7.12844826e-01 -7.01317729e-01 -2.38703603e-03 -2.85739161e+02] [ 3.29349381e-03 -5.59989604e-05 9.99994575e-01 -9.01845832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.490385723 meters 0.015515464873191817 Centerline is valid? [True, True] Translation: X:-129.89, Y:-285.72, Z:-9.02 [[-7.01171087e-01 -7.12989794e-01 2.15901133e-03 -1.29890202e+02] [ 7.12986185e-01 -7.01174409e-01 -2.26898366e-03 -2.85720836e+02] [ 3.13160568e-03 -5.16004852e-05 9.99995095e-01 -9.01772570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.520385723 meters 0.015265663378822248 Centerline is valid? [True, True] Translation: X:-129.91, Y:-285.70, Z:-9.02 [[-7.00709212e-01 -7.13443603e-01 2.19684567e-03 -1.29911852e+02] [ 7.13439873e-01 -7.00712654e-01 -2.30747106e-03 -2.85702788e+02] [ 3.18560802e-03 -4.95489291e-05 9.99994925e-01 -9.01785443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.550385723 meters 0.016470419579330643 Centerline is valid? [True, True] Translation: X:-129.93, Y:-285.68, Z:-9.02 [[-7.00555288e-01 -7.13594118e-01 2.39249628e-03 -1.29931337e+02] [ 7.13589700e-01 -7.00559371e-01 -2.51151177e-03 -2.85683879e+02] [ 3.46828571e-03 -5.21921518e-05 9.99993984e-01 -9.01929606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.580385723 meters 0.014762343985120333 Centerline is valid? [True, True] Translation: X:-129.95, Y:-285.67, Z:-9.02 [[-6.99705604e-01 -7.14429329e-01 1.67364268e-03 -1.29954859e+02] [ 7.14427172e-01 -6.99707605e-01 -1.75591488e-03 -2.85667252e+02] [ 2.42553760e-03 -3.29276776e-05 9.99997058e-01 -9.01794720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.610385723 meters 0.01488413356857932 Centerline is valid? [True, True] Translation: X:-129.97, Y:-285.65, Z:-9.02 [[-6.99533332e-01 -7.14598832e-01 1.27554639e-03 -1.29974797e+02] [ 7.14597581e-01 -6.99534494e-01 -1.33746170e-03 -2.85648471e+02] [ 1.84803726e-03 -2.40966746e-05 9.99998292e-01 -9.01795670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.640385723 meters 0.0147878467600736 Centerline is valid? [True, True] Translation: X:-130.00, Y:-285.63, Z:-9.02 [[-6.99631224e-01 -7.14503411e-01 1.01314771e-03 -1.29995635e+02] [ 7.14502623e-01 -6.99631957e-01 -1.06173704e-03 -2.85629378e+02] [ 1.46744525e-03 -1.89276873e-05 9.99998923e-01 -9.01768578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.670385723 meters 0.015151843649122485 Centerline is valid? [True, True] Translation: X:-130.02, Y:-285.61, Z:-9.02 [[-7.01304128e-01 -7.12862106e-01 3.72408521e-04 -1.30017526e+02] [ 7.12861999e-01 -7.01304227e-01 -3.90050089e-04 -2.85611106e+02] [ 5.39223598e-04 -8.06785515e-06 9.99999855e-01 -9.01701052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.700385723 meters 0.015554682182367366 Centerline is valid? [True, True] Translation: X:-130.04, Y:-285.59, Z:-9.02 [[-7.02570782e-01 -7.11613750e-01 4.09727286e-04 -1.30036766e+02] [ 7.11613621e-01 -7.02570901e-01 -4.28888026e-04 -2.85592371e+02] [ 5.93065086e-04 -9.75667808e-06 9.99999824e-01 -9.01717923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.730385723 meters 0.016140685918167204 Centerline is valid? [True, True] Translation: X:-130.06, Y:-285.57, Z:-9.02 [[-7.05508185e-01 -7.08701292e-01 8.24593299e-04 -1.30057302e+02] [ 7.08700767e-01 -7.05508667e-01 -8.62663183e-04 -2.85573666e+02] [ 1.19312823e-03 -2.42260335e-05 9.99999288e-01 -9.01736058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.760385723 meters 0.017795701881158546 Centerline is valid? [True, True] Translation: X:-130.08, Y:-285.55, Z:-9.02 [[-7.07268202e-01 -7.06944126e-01 1.30117624e-03 -1.30077055e+02] [ 7.06942818e-01 -7.07269398e-01 -1.36051638e-03 -2.85553532e+02] [ 1.88209120e-03 -4.23927768e-05 9.99998228e-01 -9.01889420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.790385723 meters 0.01766326184670474 Centerline is valid? [True, True] Translation: X:-130.10, Y:-285.54, Z:-9.02 [[-7.09984566e-01 -7.04215740e-01 1.45180967e-03 -1.30098347e+02] [ 7.04214108e-01 -7.09986048e-01 -1.51715008e-03 -2.85535723e+02] [ 2.09916558e-03 -5.47682926e-05 9.99997795e-01 -9.01867676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.820385723 meters 0.017728782763296102 Centerline is valid? [True, True] Translation: X:-130.12, Y:-285.52, Z:-9.02 [[-7.11058084e-01 -7.03131145e-01 1.73040589e-03 -1.30119514e+02] [ 7.03128825e-01 -7.11060186e-01 -1.80730362e-03 -2.85517066e+02] [ 2.50119420e-03 -6.83995929e-05 9.99996870e-01 -9.01955862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8503857229999 meters 0.01818223699333097 Centerline is valid? [True, True] Translation: X:-130.14, Y:-285.50, Z:-9.02 [[-7.11833389e-01 -7.02343890e-01 2.50713616e-03 -1.30139677e+02] [ 7.02339021e-01 -7.11837797e-01 -2.61713946e-03 -2.85497929e+02] [ 3.62280619e-03 -1.02107697e-04 9.99993433e-01 -9.02060043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.880385723 meters 0.0195254109373136 Centerline is valid? [True, True] Translation: X:-130.16, Y:-285.48, Z:-9.02 [[-7.12966469e-01 -7.01189814e-01 3.41467646e-03 -1.30159551e+02] [ 7.01180779e-01 -7.12974631e-01 -3.56246989e-03 -2.85479345e+02] [ 4.93254529e-03 -1.45616079e-04 9.99987824e-01 -9.02208267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.910385723 meters 0.01958524837634965 Centerline is valid? [True, True] Translation: X:-130.18, Y:-285.46, Z:-9.02 [[-7.13841888e-01 -7.00295408e-01 4.01260704e-03 -1.30183121e+02] [ 7.00282931e-01 -7.13853143e-01 -4.18408215e-03 -2.85462564e+02] [ 5.79450566e-03 -1.76812880e-04 9.99983196e-01 -9.02330009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.940385723 meters 0.019681558014540846 Centerline is valid? [True, True] Translation: X:-130.20, Y:-285.44, Z:-9.02 [[-7.14924964e-01 -6.99189753e-01 3.99813123e-03 -1.30203250e+02] [ 6.99177357e-01 -7.14936120e-01 -4.16755852e-03 -2.85443306e+02] [ 5.77232264e-03 -1.84088802e-04 9.99983323e-01 -9.02240497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9703857229999 meters 0.019649603735881347 Centerline is valid? [True, True] Translation: X:-130.23, Y:-285.43, Z:-9.02 [[-7.15884211e-01 -6.98205240e-01 4.38629321e-03 -1.30225459e+02] [ 6.98190317e-01 -7.15897618e-01 -4.56966426e-03 -2.85425815e+02] [ 6.33070039e-03 -2.08883043e-04 9.99979939e-01 -9.02332556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.000385723 meters 0.02084363778443281 Centerline is valid? [True, True] Translation: X:-130.25, Y:-285.41, Z:-9.02 [[-7.16698862e-01 -6.97367685e-01 4.58840311e-03 -1.30245255e+02] [ 6.97351356e-01 -7.16713514e-01 -4.77746374e-03 -2.85407613e+02] [ 6.62021934e-03 -2.24273694e-04 9.99978061e-01 -9.02267974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.030385723 meters 0.019506535538479235 Centerline is valid? [True, True] Translation: X:-130.27, Y:-285.39, Z:-9.02 [[-7.17143210e-01 -6.96915081e-01 3.87127328e-03 -1.30268117e+02] [ 6.96903463e-01 -7.17153633e-01 -4.02859894e-03 -2.85390650e+02] [ 5.58388905e-03 -1.91178623e-04 9.99984392e-01 -9.02217983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.060385723 meters 0.01907499760434239 Centerline is valid? [True, True] Translation: X:-130.29, Y:-285.37, Z:-9.02 [[-7.17227200e-01 -6.96827994e-01 3.98628737e-03 -1.30289762e+02] [ 6.96815688e-01 -7.17238250e-01 -4.14601735e-03 -2.85373014e+02] [ 5.74817874e-03 -1.95928839e-04 9.99983460e-01 -9.02179900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0903857229999 meters 0.019384168103153465 Centerline is valid? [True, True] Translation: X:-130.31, Y:-285.36, Z:-9.02 [[-7.16545898e-01 -6.97535374e-01 2.52565543e-03 -1.30312058e+02] [ 6.97530443e-01 -7.16550339e-01 -2.62546312e-03 -2.85357042e+02] [ 3.64111265e-03 -1.19543282e-04 9.99993364e-01 -9.02051211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.120385723 meters 0.019420376244022857 Centerline is valid? [True, True] Translation: X:-130.33, Y:-285.34, Z:-9.02 [[-7.16127478e-01 -6.97966441e-01 2.06960181e-03 -1.30334318e+02] [ 6.97963135e-01 -7.16130462e-01 -2.15021698e-03 -2.85339287e+02] [ 2.98288419e-03 -9.53236925e-05 9.99995547e-01 -9.02048579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.150385723 meters 0.017149837153080945 Centerline is valid? [True, True] Translation: X:-130.36, Y:-285.32, Z:-9.02 [[-7.14440888e-01 -6.99694367e-01 1.41782296e-03 -1.30360438e+02] [ 6.99692820e-01 -7.14442293e-01 -1.47228008e-03 -2.85324939e+02] [ 2.04309877e-03 -5.98165443e-05 9.99997911e-01 -9.01988904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.180385723 meters 0.01863207874994423 Centerline is valid? [True, True] Translation: X:-130.38, Y:-285.31, Z:-9.02 [[-7.13773479e-01 -7.00371334e-01 2.72316917e-03 -1.30381462e+02] [ 7.00365640e-01 -7.13778665e-01 -2.82618932e-03 -2.85306923e+02] [ 3.92312204e-03 -1.10044870e-04 9.99992299e-01 -9.02248752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.210385723 meters 0.01673855592683663 Centerline is valid? [True, True] Translation: X:-130.40, Y:-285.29, Z:-9.02 [[-7.12069462e-01 -7.02104085e-01 2.63363998e-03 -1.30403843e+02] [ 7.02098775e-01 -7.12074326e-01 -2.73237547e-03 -2.85290368e+02] [ 3.79375939e-03 -9.65657298e-05 9.99992799e-01 -9.02215545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.240385723 meters 0.01815549567406688 Centerline is valid? [True, True] Translation: X:-130.42, Y:-285.27, Z:-9.02 [[-7.11779719e-01 -7.02393600e-01 3.58625772e-03 -1.30423893e+02] [ 7.02383769e-01 -7.11788742e-01 -3.71855795e-03 -2.85271614e+02] [ 5.16454918e-03 -1.27864926e-04 9.99986656e-01 -9.02373661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.270385723 meters 0.016586532498105135 Centerline is valid? [True, True] Translation: X:-130.45, Y:-285.25, Z:-9.02 [[-7.11399783e-01 -7.02781726e-01 2.86255512e-03 -1.30445243e+02] [ 7.02775472e-01 -7.11405536e-01 -2.96652695e-03 -2.85253466e+02] [ 4.12125849e-03 -9.86531071e-05 9.99991503e-01 -9.02274634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.300385723 meters 0.016686284639416814 Centerline is valid? [True, True] Translation: X:-130.47, Y:-285.24, Z:-9.02 [[-7.11025595e-01 -7.03159161e-01 3.13017473e-03 -1.30466716e+02] [ 7.03151695e-01 -7.11032477e-01 -3.24203049e-03 -2.85236516e+02] [ 4.50531933e-03 -1.04178991e-04 9.99989846e-01 -9.02407704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.330385723 meters 0.016696144178279103 Centerline is valid? [True, True] Translation: X:-130.49, Y:-285.22, Z:-9.02 [[-7.10892246e-01 -7.03292831e-01 3.37771353e-03 -1.30486611e+02] [ 7.03284149e-01 -7.10900261e-01 -3.49629411e-03 -2.85218078e+02] [ 4.86013602e-03 -1.09995984e-04 9.99988184e-01 -9.02463084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.360385723 meters 0.0163273126632415 Centerline is valid? [True, True] Translation: X:-130.51, Y:-285.20, Z:-9.03 [[-7.10282428e-01 -7.03903006e-01 4.40809329e-03 -1.30508026e+02] [ 7.03888246e-01 -7.10296093e-01 -4.56036888e-03 -2.85199906e+02] [ 6.34110880e-03 -1.36344829e-04 9.99979886e-01 -9.02574155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.390385723 meters 0.017610750124389455 Centerline is valid? [True, True] Translation: X:-130.53, Y:-285.18, Z:-9.03 [[-7.10647658e-01 -7.03524142e-01 5.80413886e-03 -1.30528507e+02] [ 7.03498568e-01 -7.10671337e-01 -6.00137200e-03 -2.85180982e+02] [ 8.34694521e-03 -1.81657587e-04 9.99965147e-01 -9.02810573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.420385723 meters 0.019064486743500877 Centerline is valid? [True, True] Translation: X:-130.55, Y:-285.16, Z:-9.03 [[-7.11112328e-01 -7.03047173e-01 6.62794061e-03 -1.30548197e+02] [ 7.03013838e-01 -7.11143184e-01 -6.84945177e-03 -2.85161255e+02] [ 9.52890249e-03 -2.11195621e-04 9.99954577e-01 -9.02934917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.450385723 meters 0.016658608497298697 Centerline is valid? [True, True] Translation: X:-130.57, Y:-285.14, Z:-9.03 [[-7.11371140e-01 -7.02796156e-01 5.35391366e-03 -1.30567167e+02] [ 7.02774424e-01 -7.11391266e-01 -5.52949318e-03 -2.85141923e+02] [ 7.69483397e-03 -1.70928276e-04 9.99970380e-01 -9.02770885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.480385723 meters 0.016441888056160207 Centerline is valid? [True, True] Translation: X:-130.59, Y:-285.12, Z:-9.03 [[-7.12403037e-01 -7.01754700e-01 4.71748465e-03 -1.30587837e+02] [ 7.01737821e-01 -7.12418639e-01 -4.86964023e-03 -2.85122005e+02] [ 6.77811690e-03 -1.58709089e-04 9.99977016e-01 -9.02683521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.510385723 meters 0.016286121567107317 Centerline is valid? [True, True] Translation: X:-130.61, Y:-285.10, Z:-9.03 [[-7.12923590e-01 -7.01227323e-01 4.49406459e-03 -1.30607526e+02] [ 7.01212012e-01 -7.12937738e-01 -4.63644433e-03 -2.85101857e+02] [ 6.45518968e-03 -1.54138463e-04 9.99979153e-01 -9.02641246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.540385723 meters 0.016870862305657697 Centerline is valid? [True, True] Translation: X:-130.62, Y:-285.08, Z:-9.03 [[-7.13944195e-01 -7.00193060e-01 3.65585729e-03 -1.30624733e+02] [ 7.00182924e-01 -7.13953543e-01 -3.76982457e-03 -2.85080804e+02] [ 5.24971726e-03 -1.31675521e-04 9.99986212e-01 -9.02541648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.570385723 meters 0.016870862305657697 Centerline is valid? [True, True] Translation: X:-130.64, Y:-285.06, Z:-9.03 [[-7.14134982e-01 -6.99998468e-01 3.65688481e-03 -1.30643971e+02] [ 6.99988335e-01 -7.14144332e-01 -3.76882783e-03 -2.85061053e+02] [ 5.24971727e-03 -1.31675084e-04 9.99986212e-01 -9.02541694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6003857229999 meters 0.01647540138497863 Centerline is valid? [True, True] Translation: X:-130.66, Y:-285.04, Z:-9.02 [[-7.14689307e-01 -6.99434624e-01 3.22512832e-03 -1.30663901e+02] [ 6.99426745e-01 -7.14696574e-01 -3.32200570e-03 -2.85041156e+02] [ 4.62851397e-03 -1.18460950e-04 9.99989281e-01 -9.02452947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.630385723 meters 0.01869916695332932 Centerline is valid? [True, True] Translation: X:-130.68, Y:-285.02, Z:-9.03 [[-7.15267306e-01 -6.98845119e-01 2.86008035e-03 -1.30679413e+02] [ 6.98838925e-01 -7.15273016e-01 -2.94426471e-03 -2.85019019e+02] [ 4.10332332e-03 -1.07200813e-04 9.99991576e-01 -9.02510270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.660385723 meters 0.0171085491780795 Centerline is valid? [True, True] Translation: X:-130.70, Y:-285.00, Z:-9.02 [[-7.15343454e-01 -6.98766475e-01 3.02599017e-03 -1.30700727e+02] [ 6.98759548e-01 -7.15349845e-01 -3.11335939e-03 -2.85001054e+02] [ 4.34015277e-03 -1.12681734e-04 9.99990575e-01 -9.02458176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.690385723 meters 0.017800247925892354 Centerline is valid? [True, True] Translation: X:-130.72, Y:-284.98, Z:-9.03 [[-7.15773318e-01 -6.98323302e-01 3.62244878e-03 -1.30721173e+02] [ 6.98313381e-01 -7.15782472e-01 -3.72492872e-03 -2.84982314e+02] [ 5.19408986e-03 -1.36600138e-04 9.99986501e-01 -9.02560512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7203857229999 meters 0.01625042499068686 Centerline is valid? [True, True] Translation: X:-130.74, Y:-284.96, Z:-9.02 [[-7.14673409e-01 -6.99448668e-01 3.67138170e-03 -1.30740337e+02] [ 6.99438499e-01 -7.14682828e-01 -3.77382542e-03 -2.84963099e+02] [ 5.26347062e-03 -1.29146972e-04 9.99986140e-01 -9.02475902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.750385723 meters 0.016321735791432427 Centerline is valid? [True, True] Translation: X:-130.76, Y:-284.94, Z:-9.03 [[-7.14460111e-01 -6.99665933e-01 3.78590602e-03 -1.30760151e+02] [ 6.99655134e-01 -7.14470129e-01 -3.88938697e-03 -2.84943215e+02] [ 5.42618833e-03 -1.29983259e-04 9.99985270e-01 -9.02512388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.780385723 meters 0.015807221437042107 Centerline is valid? [True, True] Translation: X:-130.78, Y:-284.92, Z:-9.03 [[-7.13025156e-01 -7.01127369e-01 3.94196216e-03 -1.30781243e+02] [ 7.01115697e-01 -7.13036042e-01 -4.04755017e-03 -2.84924117e+02] [ 5.64860930e-03 -1.22233550e-04 9.99984039e-01 -9.02524981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.810385723 meters 0.015907449889998232 Centerline is valid? [True, True] Translation: X:-130.80, Y:-284.90, Z:-9.03 [[-7.12445747e-01 -7.01714664e-01 4.19375287e-03 -1.30800512e+02] [ 7.01701478e-01 -7.12458079e-01 -4.30371194e-03 -2.84904470e+02] [ 6.00785090e-03 -1.23398684e-04 9.99981945e-01 -9.02582920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8403857229999 meters 0.015538228158730674 Centerline is valid? [True, True] Translation: X:-130.82, Y:-284.88, Z:-9.03 [[-7.10972583e-01 -7.03202586e-01 4.91008403e-03 -1.30820120e+02] [ 7.03184564e-01 -7.10989526e-01 -5.03609568e-03 -2.84884943e+02] [ 7.03241383e-03 -1.27830656e-04 9.99975264e-01 -9.02642986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.870385723 meters 0.015313992653379434 Centerline is valid? [True, True] Translation: X:-130.84, Y:-284.87, Z:-9.03 [[-7.10092381e-01 -7.04090375e-01 5.05510148e-03 -1.30838876e+02] [ 7.04071318e-01 -7.10110364e-01 -5.18169341e-03 -2.84865283e+02] [ 7.23806041e-03 -1.20329056e-04 9.99973798e-01 -9.02668145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.900385723 meters 0.014791705138409812 Centerline is valid? [True, True] Translation: X:-130.86, Y:-284.85, Z:-9.03 [[-7.09201455e-01 -7.04985633e-01 5.34360336e-03 -1.30858767e+02] [ 7.04964387e-01 -7.09221576e-01 -5.47439814e-03 -2.84845837e+02] [ 7.64917084e-03 -1.15401054e-04 9.99970738e-01 -9.02681800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.930385723 meters 0.01488903587209248 Centerline is valid? [True, True] Translation: X:-130.88, Y:-284.83, Z:-9.03 [[-7.09335070e-01 -7.04851855e-01 5.25556366e-03 -1.30877249e+02] [ 7.04831323e-01 -7.09354530e-01 -5.38106715e-03 -2.84825600e+02] [ 7.52091305e-03 -1.12693749e-04 9.99971711e-01 -9.02714023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.960385723 meters 0.014938684006678382 Centerline is valid? [True, True] Translation: X:-130.89, Y:-284.80, Z:-9.03 [[-7.10063075e-01 -7.04119512e-01 5.11298949e-03 -1.30894903e+02] [ 7.04100081e-01 -7.10081474e-01 -5.23221788e-03 -2.84804179e+02] [ 7.31474582e-03 -1.15148403e-04 9.99973240e-01 -9.02673847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.990385723 meters 0.014605906958265647 Centerline is valid? [True, True] Translation: X:-130.91, Y:-284.78, Z:-9.03 [[-7.10895842e-01 -7.03279457e-01 5.01074132e-03 -1.30914136e+02] [ 7.03260796e-01 -7.10913490e-01 -5.12466750e-03 -2.84783390e+02] [ 7.16627698e-03 -1.19246891e-04 9.99974315e-01 -9.02617478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.020385723 meters 0.015510172012180249 Centerline is valid? [True, True] Translation: X:-130.93, Y:-284.76, Z:-9.03 [[-7.12006568e-01 -7.02155429e-01 4.93978543e-03 -1.30930459e+02] [ 7.02137283e-01 -7.12023692e-01 -5.04954835e-03 -2.84761017e+02] [ 7.06281205e-03 -1.26904070e-04 9.99975050e-01 -9.02659894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.050385723 meters 0.015562101064387336 Centerline is valid? [True, True] Translation: X:-130.95, Y:-284.74, Z:-9.03 [[-7.13294163e-01 -7.00848363e-01 4.79688403e-03 -1.30947925e+02] [ 7.00831242e-01 -7.13310279e-01 -4.90061482e-03 -2.84739558e+02] [ 6.85625456e-03 -1.33773751e-04 9.99976487e-01 -9.02545083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.080385723 meters 0.016331260529169517 Centerline is valid? [True, True] Translation: X:-130.96, Y:-284.72, Z:-9.03 [[-7.13180461e-01 -7.00964235e-01 4.77183152e-03 -1.30964644e+02] [ 7.00947309e-01 -7.13196413e-01 -4.87307406e-03 -2.84718698e+02] [ 6.81910376e-03 -1.30578741e-04 9.99976741e-01 -9.02590158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.110385723 meters 0.01541075814971024 Centerline is valid? [True, True] Translation: X:-130.99, Y:-284.70, Z:-9.03 [[-7.12976298e-01 -7.01171982e-01 4.75929291e-03 -1.30985181e+02] [ 7.01155167e-01 -7.12992171e-01 -4.85759187e-03 -2.84699427e+02] [ 6.79934590e-03 -1.26345056e-04 9.99976876e-01 -9.02518027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.140385723 meters 0.015511426811963741 Centerline is valid? [True, True] Translation: X:-131.00, Y:-284.68, Z:-9.03 [[-7.12516996e-01 -7.01639586e-01 4.62841439e-03 -1.31003522e+02] [ 7.01623711e-01 -7.12532019e-01 -4.72133065e-03 -2.84679299e+02] [ 6.61056593e-03 -1.16623052e-04 9.99978143e-01 -9.02521279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.170385723 meters 0.014957304131463496 Centerline is valid? [True, True] Translation: X:-131.02, Y:-284.66, Z:-9.02 [[-7.11899754e-01 -7.02264107e-01 4.88515913e-03 -1.31022452e+02] [ 7.02246454e-01 -7.11916506e-01 -4.98064758e-03 -2.84657895e+02] [ 6.97555544e-03 -1.15136110e-04 9.99975664e-01 -9.02481219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.200385723 meters 0.015306707188294315 Centerline is valid? [True, True] Translation: X:-131.04, Y:-284.64, Z:-9.03 [[-7.11987925e-01 -7.02171719e-01 5.29825683e-03 -1.31040118e+02] [ 7.02150976e-01 -7.12007628e-01 -5.39866799e-03 -2.84637529e+02] [ 7.56319126e-03 -1.23610222e-04 9.99971391e-01 -9.02572085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.230385723 meters 0.015350375883777858 Centerline is valid? [True, True] Translation: X:-131.06, Y:-284.62, Z:-9.03 [[-7.12124346e-01 -7.02022293e-01 6.60421944e-03 -1.31058885e+02] [ 7.01990092e-01 -7.12154952e-01 -6.72572039e-03 -2.84616329e+02] [ 9.42483323e-03 -1.53452624e-04 9.99955574e-01 -9.02676479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.260385723 meters 0.015437834730146403 Centerline is valid? [True, True] Translation: X:-131.08, Y:-284.60, Z:-9.03 [[-7.12679207e-01 -7.01458363e-01 6.67188934e-03 -1.31077495e+02] [ 7.01425508e-01 -7.12710418e-01 -6.79093720e-03 -2.84595688e+02] [ 9.51868473e-03 -1.59926369e-04 9.99954684e-01 -9.02693833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.290385723 meters 0.016013163026102416 Centerline is valid? [True, True] Translation: X:-131.09, Y:-284.57, Z:-9.03 [[-7.14381614e-01 -6.99723600e-01 6.76704472e-03 -1.31092919e+02] [ 6.99689762e-01 -7.14413641e-01 -6.88383799e-03 -2.84573054e+02] [ 9.65125296e-03 -1.82855387e-04 9.99953409e-01 -9.02642775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.320385723 meters 0.015770634147896236 Centerline is valid? [True, True] Translation: X:-131.11, Y:-284.55, Z:-9.03 [[-7.15600165e-01 -6.98475821e-01 6.92325047e-03 -1.31111505e+02] [ 6.98440379e-01 -7.15633626e-01 -7.03919844e-03 -2.84552163e+02] [ 9.87122074e-03 -2.01773887e-04 9.99951258e-01 -9.02547628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3503857229999 meters 0.016059269686987496 Centerline is valid? [True, True] Translation: X:-131.13, Y:-284.53, Z:-9.03 [[-7.16618641e-01 -6.97430869e-01 6.92145713e-03 -1.31129198e+02] [ 6.97395431e-01 -7.16652034e-01 -7.03388706e-03 -2.84530378e+02] [ 9.86592629e-03 -2.13622015e-04 9.99951308e-01 -9.02514806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.380385723 meters 0.01666718202925025 Centerline is valid? [True, True] Translation: X:-131.15, Y:-284.51, Z:-9.02 [[-7.18279927e-01 -6.95723520e-01 6.53684714e-03 -1.31145510e+02] [ 6.95691874e-01 -7.18309637e-01 -6.63938956e-03 -2.84507094e+02] [ 9.31465977e-03 -2.21308803e-04 9.99956593e-01 -9.02458815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.410385723 meters 0.016338877511591497 Centerline is valid? [True, True] Translation: X:-131.16, Y:-284.49, Z:-9.02 [[-7.18846717e-01 -6.95137443e-01 6.58285912e-03 -1.31164249e+02] [ 6.95105360e-01 -7.18876821e-01 -6.68239904e-03 -2.84486784e+02] [ 9.37745061e-03 -2.27839953e-04 9.99956005e-01 -9.02422032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.440385723 meters 0.018604332704082818 Centerline is valid? [True, True] Translation: X:-131.18, Y:-284.47, Z:-9.03 [[-7.19917171e-01 -6.94020749e-01 7.38014599e-03 -1.31180522e+02] [ 6.93980397e-01 -7.19954948e-01 -7.48877394e-03 -2.84465052e+02] [ 1.05107371e-02 -2.69620306e-04 9.99944724e-01 -9.02664419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4703857229999 meters 0.01704363435457156 Centerline is valid? [True, True] Translation: X:-131.20, Y:-284.44, Z:-9.03 [[-7.19943256e-01 -6.93998422e-01 6.92089141e-03 -1.31198682e+02] [ 6.93962972e-01 -7.19976477e-01 -7.01890779e-03 -2.84444111e+02] [ 9.85398994e-03 -2.50372956e-04 9.99951417e-01 -9.02504087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.500385723 meters 0.01723258287598344 Centerline is valid? [True, True] Translation: X:-131.21, Y:-284.42, Z:-9.02 [[-7.20172641e-01 -6.93762272e-01 6.72874719e-03 -1.31214072e+02] [ 6.93728780e-01 -7.20204033e-01 -6.82130962e-03 -2.84421329e+02] [ 9.57843812e-03 -2.44594990e-04 9.99954096e-01 -9.02418941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.530385723 meters 0.017209352381447718 Centerline is valid? [True, True] Translation: X:-131.23, Y:-284.40, Z:-9.02 [[-7.20165819e-01 -6.93770953e-01 6.56185788e-03 -1.31232048e+02] [ 6.93739135e-01 -7.20195674e-01 -6.64850846e-03 -2.84399899e+02] [ 9.33836371e-03 -2.35810932e-04 9.99956369e-01 -9.02332615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.560385723 meters 0.017142497821076172 Centerline is valid? [True, True] Translation: X:-131.25, Y:-284.38, Z:-9.02 [[-7.18938531e-01 -6.95039358e-01 6.90497273e-03 -1.31249519e+02] [ 6.95004221e-01 -7.18971654e-01 -6.99242096e-03 -2.84378553e+02] [ 9.82448744e-03 -2.28135660e-04 9.99951713e-01 -9.02333510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5903857229999 meters 0.01664283442959095 Centerline is valid? [True, True] Translation: X:-131.27, Y:-284.36, Z:-9.02 [[-7.18386998e-01 -6.95608772e-01 6.96829819e-03 -1.31269544e+02] [ 6.95573052e-01 -7.18420760e-01 -7.05270623e-03 -2.84358732e+02] [ 9.91209440e-03 -2.19612020e-04 9.99950850e-01 -9.02323013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.620385723 meters 0.01654905542058339 Centerline is valid? [True, True] Translation: X:-131.29, Y:-284.34, Z:-9.02 [[-7.17898507e-01 -6.96106777e-01 7.55565009e-03 -1.31287310e+02] [ 6.96064855e-01 -7.17938231e-01 -7.64294921e-03 -2.84337259e+02] [ 1.07447988e-02 -2.27639342e-04 9.99942247e-01 -9.02333335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.650385723 meters 0.01710605243448218 Centerline is valid? [True, True] Translation: X:-131.30, Y:-284.31, Z:-9.02 [[-7.17969805e-01 -6.96036940e-01 7.20672381e-03 -1.31303707e+02] [ 6.95998840e-01 -7.18005941e-01 -7.28577494e-03 -2.84314913e+02] [ 1.02456390e-02 -2.15094994e-04 9.99947489e-01 -9.02340954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.680385723 meters 0.0165399778920029 Centerline is valid? [True, True] Translation: X:-131.32, Y:-284.29, Z:-9.02 [[-7.18181411e-01 -6.95816636e-01 7.39393333e-03 -1.31321450e+02] [ 6.95776562e-01 -7.18219438e-01 -7.47097582e-03 -2.84293152e+02] [ 1.05088959e-02 -2.20990454e-04 9.99944756e-01 -9.02277644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.710385723 meters 0.016765387125804897 Centerline is valid? [True, True] Translation: X:-131.34, Y:-284.27, Z:-9.02 [[-7.18728981e-01 -6.95250719e-01 7.42225441e-03 -1.31339337e+02] [ 6.95210355e-01 -7.18767269e-01 -7.49502357e-03 -2.84271993e+02] [ 1.05457941e-02 -2.26862534e-04 9.99944366e-01 -9.02306085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.740385723 meters 0.01730330752128268 Centerline is valid? [True, True] Translation: X:-131.36, Y:-284.25, Z:-9.02 [[-7.19889533e-01 -6.94046484e-01 7.65101836e-03 -1.31355218e+02] [ 6.94003574e-01 -7.19930147e-01 -7.72161889e-03 -2.84249658e+02] [ 1.08673612e-02 -2.48878533e-04 9.99940918e-01 -9.02354332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.770385723 meters 0.017576735870185073 Centerline is valid? [True, True] Translation: X:-131.37, Y:-284.23, Z:-9.02 [[-7.20443989e-01 -6.93471826e-01 7.56870695e-03 -1.31372797e+02] [ 6.93429852e-01 -7.20483701e-01 -7.63397215e-03 -2.84228835e+02] [ 1.07470746e-02 -2.51482010e-04 9.99942217e-01 -9.02371397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.800385723 meters 0.016739654238724238 Centerline is valid? [True, True] Translation: X:-131.39, Y:-284.21, Z:-9.02 [[-7.20816570e-01 -6.93082510e-01 7.75280916e-03 -1.31392429e+02] [ 6.93038494e-01 -7.20858215e-01 -7.81532253e-03 -2.84208570e+02] [ 1.10053395e-02 -2.60418798e-04 9.99939406e-01 -9.02306060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.830385723 meters 0.01864310106263212 Centerline is valid? [True, True] Translation: X:-131.41, Y:-284.18, Z:-9.02 [[-7.21304722e-01 -6.92561308e-01 8.85059632e-03 -1.31405384e+02] [ 6.92503970e-01 -7.21358956e-01 -8.91673971e-03 -2.84183683e+02] [ 1.25598458e-02 -3.02613367e-04 9.99921076e-01 -9.02476515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.860385723 meters 0.017498775666731938 Centerline is valid? [True, True] Translation: X:-131.42, Y:-284.16, Z:-9.02 [[-7.21074776e-01 -6.92789017e-01 9.72345075e-03 -1.31423470e+02] [ 6.92719906e-01 -7.21140259e-01 -9.79073715e-03 -2.84161591e+02] [ 1.37948870e-02 -3.24225708e-04 9.99904794e-01 -9.02349678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.890385723 meters 0.018421025614075902 Centerline is valid? [True, True] Translation: X:-131.44, Y:-284.14, Z:-9.03 [[-7.20741786e-01 -6.93130381e-01 1.00772868e-02 -1.31439633e+02] [ 6.93056266e-01 -7.20812159e-01 -1.01411962e-02 -2.84139616e+02] [ 1.42930021e-02 -3.25057090e-04 9.99897797e-01 -9.02508245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.920385723 meters 0.01884164681726165 Centerline is valid? [True, True] Translation: X:-131.46, Y:-284.12, Z:-9.03 [[-7.19578133e-01 -6.94332761e-01 1.04560204e-02 -1.31459139e+02] [ 6.94253175e-01 -7.19654029e-01 -1.05169621e-02 -2.84118725e+02] [ 1.48269885e-02 -3.08650629e-04 9.99890027e-01 -9.02618690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.950385723 meters 0.016685583549660328 Centerline is valid? [True, True] Translation: X:-131.48, Y:-284.10, Z:-9.02 [[-7.18618226e-01 -6.95330802e-01 1.01450468e-02 -1.31476746e+02] [ 6.95256058e-01 -7.18689780e-01 -1.01986756e-02 -2.84098169e+02] [ 1.43825947e-02 -2.75548922e-04 9.99896527e-01 -9.02448008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.980385723 meters 0.017001741590382195 Centerline is valid? [True, True] Translation: X:-131.50, Y:-284.08, Z:-9.02 [[-7.17823305e-01 -6.96153761e-01 9.98214425e-03 -1.31495669e+02] [ 6.96081556e-01 -7.17892665e-01 -1.00294315e-02 -2.84076918e+02] [ 1.41481346e-02 -2.50973156e-04 9.99899879e-01 -9.02478662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.010385723 meters 0.015623442703226102 Centerline is valid? [True, True] Translation: X:-131.51, Y:-284.05, Z:-9.02 [[-7.15565111e-01 -6.98474632e-01 9.98802236e-03 -1.31512227e+02] [ 6.98402645e-01 -7.15634787e-01 -1.00298479e-02 -2.84054089e+02] [ 1.41533706e-02 -2.01347983e-04 9.99899816e-01 -9.02324734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.040385723 meters 0.015422126394966469 Centerline is valid? [True, True] Translation: X:-131.53, Y:-284.03, Z:-9.02 [[-7.14432641e-01 -6.99626279e-01 1.04436978e-02 -1.31529117e+02] [ 6.99547796e-01 -7.14508948e-01 -1.04806659e-02 -2.84034063e+02] [ 1.47946648e-02 -1.81863999e-04 9.99890537e-01 -9.02393163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.070385723 meters 0.015106579335654895 Centerline is valid? [True, True] Translation: X:-131.55, Y:-284.01, Z:-9.02 [[-7.12478422e-01 -7.01616098e-01 1.04570412e-02 -1.31547127e+02] [ 7.01537711e-01 -7.12555144e-01 -1.04884276e-02 -2.84011921e+02] [ 1.48100682e-02 -1.36769595e-04 9.99890316e-01 -9.02481123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1003857229999 meters 0.0149129417400469 Centerline is valid? [True, True] Translation: X:-131.56, Y:-283.99, Z:-9.02 [[-7.11583205e-01 -7.02532978e-01 9.83647805e-03 -1.31563216e+02] [ 7.02463791e-01 -7.11651181e-01 -9.85995282e-03 -2.83989563e+02] [ 1.39270832e-02 -1.06407167e-04 9.99903008e-01 -9.02407085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.130385723 meters 0.01488721354677156 Centerline is valid? [True, True] Translation: X:-131.58, Y:-283.97, Z:-9.02 [[-7.11505273e-01 -7.02616901e-01 9.47300373e-03 -1.31579615e+02] [ 7.02552822e-01 -7.11568326e-01 -9.48951546e-03 -2.83968370e+02] [ 1.34081833e-02 -9.65547876e-05 9.99910102e-01 -9.02412455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.160385723 meters 0.014914162008426213 Centerline is valid? [True, True] Translation: X:-131.60, Y:-283.95, Z:-9.02 [[-7.11804194e-01 -7.02318766e-01 9.11816973e-03 -1.31596389e+02] [ 7.02259445e-01 -7.11862587e-01 -9.12850737e-03 -2.83946775e+02] [ 1.29020059e-02 -9.43890213e-05 9.99916761e-01 -9.02331897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.190385723 meters 0.015995986716430245 Centerline is valid? [True, True] Translation: X:-131.61, Y:-283.92, Z:-9.02 [[-7.12962836e-01 -7.01146300e-01 8.82382442e-03 -1.31610775e+02] [ 7.01090725e-01 -7.13017429e-01 -8.82848672e-03 -2.83921937e+02] [ 1.24816014e-02 -1.08081478e-04 9.99922096e-01 -9.02324140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2203857229999 meters 0.015302066899416303 Centerline is valid? [True, True] Translation: X:-131.63, Y:-283.90, Z:-9.02 [[-7.13574734e-01 -7.00523436e-01 8.83258520e-03 -1.31626621e+02] [ 7.00467772e-01 -7.13629387e-01 -8.83165021e-03 -2.83900878e+02] [ 1.24899703e-02 -1.15101178e-04 9.99921991e-01 -9.02183929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.250385723 meters 0.015260210226267765 Centerline is valid? [True, True] Translation: X:-132.17, Y:-284.47, Z:-8.05 [[-7.48980786e-01 6.62532868e-01 8.83075119e-03 -1.32172831e+02] [ 6.62488579e-01 7.49032834e-01 -7.66135091e-03 -2.84470839e+02] [-1.16904194e-02 1.12067182e-04 -9.99931659e-01 -8.05116336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.280385723 meters 0.01516605679745564 Centerline is valid? [True, True] Translation: X:-132.15, Y:-284.45, Z:-8.05 [[-7.94418030e-01 6.07308807e-01 8.71817592e-03 -1.32150221e+02] [ 6.07273567e-01 7.94465860e-01 -6.54304622e-03 -2.84451001e+02] [-1.08999427e-02 9.64039033e-05 -9.99940589e-01 -8.05134132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.310385723 meters 0.014982757298759919 Centerline is valid? [True, True] Translation: X:-132.13, Y:-284.43, Z:-8.05 [[-8.36395953e-01 5.48047413e-01 9.26513732e-03 -1.32133249e+02] [ 5.48014816e-01 8.36447265e-01 -5.97788027e-03 -2.84426652e+02] [-1.10259606e-02 7.75576563e-05 -9.99939209e-01 -8.05098522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3403857229999 meters 0.015017781287184714 Centerline is valid? [True, True] Translation: X:-131.70, Y:-283.77, Z:-9.02 [[-8.05909704e-01 -5.91970438e-01 8.97500261e-03 -1.31696452e+02] [ 5.91932777e-01 -8.05959674e-01 -6.67765939e-03 -2.83771927e+02] [ 1.11864671e-02 -6.89922813e-05 9.99937427e-01 -9.02061859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.370385723 meters 0.015986595658791146 Centerline is valid? [True, True] Translation: X:-131.71, Y:-283.80, Z:-9.02 [[-7.64261490e-01 -6.44845465e-01 8.87136307e-03 -1.31713553e+02] [ 6.44800812e-01 -7.64312972e-01 -7.58907309e-03 -2.83799123e+02] [ 1.16742772e-02 -7.97741929e-05 9.99931850e-01 -9.02226353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.400385723 meters 0.015392685528676819 Centerline is valid? [True, True] Translation: X:-131.74, Y:-283.82, Z:-9.02 [[-7.19949987e-01 -6.93966592e-01 9.07665042e-03 -1.31741297e+02] [ 6.93909659e-01 -7.20007194e-01 -8.88962214e-03 -2.83815233e+02] [ 1.27043544e-02 -1.01707938e-04 9.99919291e-01 -9.02267185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.430385723 meters 0.015612652245293882 Centerline is valid? [True, True] Translation: X:-132.28, Y:-284.40, Z:-8.05 [[-7.55128563e-01 6.55504669e-01 9.72017211e-03 -1.32276787e+02] [ 6.55452696e-01 7.55191108e-01 -8.25554196e-03 -2.84396700e+02] [-1.27521339e-02 1.37117477e-04 -9.99918679e-01 -8.04972175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.460385723 meters 0.015612652245293882 Centerline is valid? [True, True] Translation: X:-131.76, Y:-283.80, Z:-9.02 [[-7.24461447e-01 -6.89254996e-01 9.11927452e-03 -1.31759297e+02] [ 6.89197974e-01 -7.24518827e-01 -8.86688192e-03 -2.83800362e+02] [ 1.27186287e-02 -1.38728587e-04 9.99919105e-01 -9.02161177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.490385723 meters 0.0159723652882501 Centerline is valid? [True, True] Translation: X:-132.31, Y:-284.37, Z:-8.05 [[-7.56453073e-01 6.53975507e-01 9.73567853e-03 -1.32309569e+02] [ 6.53924010e-01 7.56515704e-01 -8.20838110e-03 -2.84370843e+02] [-1.27332739e-02 1.57138840e-04 -9.99918916e-01 -8.04890513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.520385723 meters 0.01651877109285519 Centerline is valid? [True, True] Translation: X:-131.79, Y:-283.77, Z:-9.02 [[-7.28843593e-01 -6.84618879e-01 9.16559997e-03 -1.31790333e+02] [ 6.84562015e-01 -7.28901205e-01 -8.82500344e-03 -2.83774177e+02] [ 1.27225808e-02 -1.57625633e-04 9.99919052e-01 -9.02356415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.550385723 meters 0.016790239492588177 Centerline is valid? [True, True] Translation: X:-132.34, Y:-284.35, Z:-8.05 [[-7.56527594e-01 6.53885631e-01 9.97904674e-03 -1.32340980e+02] [ 6.53832296e-01 7.56593378e-01 -8.35393680e-03 -2.84346149e+02] [-1.30125999e-02 2.04639331e-04 -9.99915312e-01 -8.04744329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.580385723 meters 0.016956434083763176 Centerline is valid? [True, True] Translation: X:-131.83, Y:-283.75, Z:-9.02 [[-7.33138147e-01 -6.80016530e-01 9.27228780e-03 -1.31826020e+02] [ 6.79958468e-01 -7.33196750e-01 -8.88870084e-03 -2.83745028e+02] [ 1.28428748e-02 -2.11875066e-04 9.99917505e-01 -9.02353552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.610385723 meters 0.017105812983013755 Centerline is valid? [True, True] Translation: X:-132.39, Y:-284.31, Z:-8.05 [[-7.57964731e-01 6.52230346e-01 9.22180143e-03 -1.32385970e+02] [ 6.52185336e-01 7.58020800e-01 -7.66513790e-03 -2.84311093e+02] [-1.19897528e-02 2.04419467e-04 -9.99928100e-01 -8.04934428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.640385723 meters 0.01653663205315746 Centerline is valid? [True, True] Translation: X:-132.36, Y:-284.30, Z:-8.05 [[-8.02070476e-01 5.97153504e-01 9.52069051e-03 -1.32355403e+02] [ 5.97114417e-01 8.02126955e-01 -6.83533309e-03 -2.84296408e+02] [-1.17185456e-02 2.02522699e-04 -9.99931315e-01 -8.05082118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.670385723 meters 0.016560913276018257 Centerline is valid? [True, True] Translation: X:-132.33, Y:-284.28, Z:-8.05 [[-8.42665262e-01 5.38359081e-01 9.20628257e-03 -1.32330269e+02] [ 5.38329276e-01 8.42715532e-01 -5.66775562e-03 -2.84276067e+02] [-1.08095650e-02 1.79990659e-04 -9.99941559e-01 -8.05040657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.700385723 meters 0.016861100328445452 Centerline is valid? [True, True] Translation: X:-131.91, Y:-283.61, Z:-9.02 [[-8.23533961e-01 -5.67203838e-01 8.46292101e-03 -1.31910303e+02] [ 5.67171410e-01 -8.23577420e-01 -6.06839798e-03 -2.83609925e+02] [ 1.04118893e-02 -1.97604992e-04 9.99945775e-01 -9.02168422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.730385723 meters 0.016162174698158553 Centerline is valid? [True, True] Translation: X:-132.37, Y:-284.25, Z:-8.05 [[-8.45795954e-01 5.33446614e-01 7.99461206e-03 -1.32373978e+02] [ 5.33424296e-01 8.45833726e-01 -4.88151492e-03 -2.84246762e+02] [-9.36614011e-03 1.35754735e-04 -9.99956128e-01 -8.05158820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.760385723 meters 0.016239754969906716 Centerline is valid? [True, True] Translation: X:-132.36, Y:-284.22, Z:-8.05 [[-8.81648926e-01 4.71852969e-01 7.06735647e-03 -1.32355369e+02] [ 4.71838819e-01 8.81677244e-01 -3.65592252e-03 -2.84224045e+02] [-7.95618528e-03 1.11412973e-04 -9.99968343e-01 -8.05247123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.790385723 meters 0.016410599202744396 Centerline is valid? [True, True] Translation: X:-132.34, Y:-284.20, Z:-8.05 [[-9.12568047e-01 4.08891779e-01 5.20318026e-03 -1.32340126e+02] [ 4.08885651e-01 9.12582876e-01 -2.24024635e-03 -2.84199707e+02] [-5.66435152e-03 8.31285057e-05 -9.99983954e-01 -8.05465336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.820385723 meters 0.01646040594323295 Centerline is valid? [True, True] Translation: X:-132.32, Y:-284.18, Z:-8.06 [[-9.38920610e-01 3.44096401e-01 5.07485443e-03 -1.32323217e+02] [ 3.44091857e-01 9.38934321e-01 -1.77036220e-03 -2.84175039e+02] [-5.37413026e-03 8.39865254e-05 -9.99985556e-01 -8.05513593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8503857229999 meters 0.01673188359540423 Centerline is valid? [True, True] Translation: X:-132.06, Y:-283.44, Z:-9.02 [[-9.26486057e-01 -3.76300285e-01 4.65639405e-03 -1.32056889e+02] [ 3.76294999e-01 -9.26497753e-01 -1.99694671e-03 -2.83437246e+02] [ 5.06559024e-03 -9.79654871e-05 9.99987165e-01 -9.01584031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.880385723 meters 0.016910285515416873 Centerline is valid? [True, True] Translation: X:-132.37, Y:-284.16, Z:-8.06 [[-9.39255360e-01 3.43190191e-01 4.45662343e-03 -1.32366543e+02] [ 3.43186766e-01 9.39265929e-01 -1.53581140e-03 -2.84162611e+02] [-4.71302996e-03 8.69350914e-05 -9.99988890e-01 -8.05551321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.910385723 meters 0.01705927591931586 Centerline is valid? [True, True] Translation: X:-132.36, Y:-284.13, Z:-8.06 [[-9.61103664e-01 2.76155455e-01 4.23228027e-03 -1.32359873e+02] [ 2.76153156e-01 9.61112979e-01 -1.12992130e-03 -2.84134667e+02] [-4.37973343e-03 8.27860553e-05 -9.99990406e-01 -8.05566234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.940385723 meters 0.017365696144665516 Centerline is valid? [True, True] Translation: X:-132.15, Y:-283.37, Z:-9.02 [[-9.52850568e-01 -3.03420055e-01 3.47344425e-03 -1.32150213e+02] [ 3.03417604e-01 -9.52856893e-01 -1.22466699e-03 -2.83373936e+02] [ 3.68128382e-03 -1.13020502e-04 9.99993218e-01 -9.01565021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9703857229999 meters 0.01684287380045621 Centerline is valid? [True, True] Translation: X:-132.41, Y:-284.12, Z:-8.06 [[-9.62100427e-01 2.72675259e-01 3.31217355e-03 -1.32407040e+02] [ 2.72673878e-01 9.62106127e-01 -8.70556260e-04 -2.84122220e+02] [-3.42404162e-03 6.55806550e-05 -9.99994136e-01 -8.05565424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.000385723 meters 0.016910311234987888 Centerline is valid? [True, True] Translation: X:-132.40, Y:-284.09, Z:-8.06 [[-9.79128122e-01 2.03211996e-01 3.60619221e-03 -1.32398909e+02] [ 2.03210874e-01 9.79134761e-01 -6.78676242e-04 -2.84093696e+02] [-3.66886330e-03 6.83064783e-05 -9.99993267e-01 -8.05535830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.030385723 meters 0.017422681566323185 Centerline is valid? [True, True] Translation: X:-132.40, Y:-284.07, Z:-8.06 [[-9.91142513e-01 1.32754394e-01 3.57639016e-03 -1.32395344e+02] [ 1.32753767e-01 9.91148963e-01 -4.13089447e-04 -2.84065766e+02] [-3.59957484e-03 6.53487552e-05 -9.99993519e-01 -8.05505606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.060385723 meters 0.018626554615161453 Centerline is valid? [True, True] Translation: X:-132.40, Y:-284.04, Z:-8.05 [[-9.98139397e-01 6.08177654e-02 4.35242117e-03 -1.32399405e+02] [ 6.08175114e-02 9.98148884e-01 -1.90805860e-04 -2.84035121e+02] [-4.35596872e-03 7.42525783e-05 -9.99990510e-01 -8.05324392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0903857229999 meters 0.016777077036900755 Centerline is valid? [True, True] Translation: X:-132.36, Y:-283.25, Z:-9.02 [[-9.95610606e-01 -9.35006417e-02 4.14134546e-03 -1.32356100e+02] [ 9.34994843e-02 -9.95619216e-01 -4.72638424e-04 -2.83250838e+02] [ 4.16739512e-03 -8.33501628e-05 9.99991313e-01 -9.01584165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.120385723 meters 0.016754360833993273 Centerline is valid? [True, True] Translation: X:-132.48, Y:-284.03, Z:-8.06 [[-9.98398062e-01 5.64076739e-02 4.41406629e-03 -1.32478149e+02] [ 5.64074741e-02 9.98407817e-01 -1.69863193e-04 -2.84031107e+02] [-4.41661988e-03 7.93952469e-05 -9.99990244e-01 -8.05537418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.150385723 meters 0.017057844064820648 Centerline is valid? [True, True] Translation: X:-132.48, Y:-284.00, Z:-8.06 [[-9.99896239e-01 -1.37793574e-02 4.20019206e-03 -1.32477589e+02] [-1.37789019e-02 9.99905057e-01 1.37351351e-04 -2.84002311e+02] [-4.20168589e-03 7.94630643e-05 -9.99991170e-01 -8.05504570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.180385723 meters 0.017644367677570185 Centerline is valid? [True, True] Translation: X:-132.49, Y:-283.97, Z:-8.05 [[-9.96575379e-01 -8.25607246e-02 4.60881947e-03 -1.32485308e+02] [-8.25593817e-02 9.96586031e-01 4.81181639e-04 -2.83974654e+02] [-4.63281181e-03 9.90324875e-05 -9.99989264e-01 -8.05459791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.210385723 meters 0.01792533128723127 Centerline is valid? [True, True] Translation: X:-132.50, Y:-283.95, Z:-8.05 [[-9.88230978e-01 -1.52888907e-01 4.95136726e-03 -1.32501293e+02] [-1.52886420e-01 9.88243376e-01 8.79256652e-04 -2.83947700e+02] [-5.02758448e-03 1.11911848e-04 -9.99987355e-01 -8.05383130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.240385723 meters 0.018506872368274835 Centerline is valid? [True, True] Translation: X:-132.66, Y:-283.17, Z:-9.02 [[-9.91291486e-01 1.31575635e-01 5.38910925e-03 -1.32662008e+02] [-1.31574210e-01 -9.91306130e-01 6.19597150e-04 -2.83173766e+02] [ 5.42378093e-03 -9.48664122e-05 9.99985287e-01 -9.01824576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.270385723 meters 0.018718647432310376 Centerline is valid? [True, True] Translation: X:-132.65, Y:-283.97, Z:-8.05 [[-9.87360047e-01 -1.58397354e-01 5.51509942e-03 -1.32651569e+02] [-1.58394127e-01 9.87375440e-01 1.01997309e-03 -2.83974990e+02] [-5.60703476e-03 1.33521321e-04 -9.99984272e-01 -8.05328042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.300385723 meters 0.018763027925442443 Centerline is valid? [True, True] Translation: X:-132.69, Y:-283.95, Z:-8.05 [[-9.73303561e-01 -2.29477748e-01 4.48787463e-03 -1.32686096e+02] [-2.29474788e-01 9.73313902e-01 1.17065987e-03 -2.83952782e+02] [-4.63675115e-03 1.09553337e-04 -9.99989244e-01 -8.05373941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.330385723 meters 0.018685106545659563 Centerline is valid? [True, True] Translation: X:-132.75, Y:-283.94, Z:-8.05 [[-9.53742114e-01 -3.00604121e-01 3.62527998e-03 -1.32747585e+02] [-3.00601592e-01 9.53749000e-01 1.23610452e-03 -2.83939733e+02] [-3.82918527e-03 8.91599993e-05 -9.99992665e-01 -8.05433182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.360385723 meters 0.018986930378150177 Centerline is valid? [True, True] Translation: X:-132.82, Y:-283.93, Z:-8.05 [[-9.28905246e-01 -3.70297830e-01 3.81600858e-03 -1.32817315e+02] [-3.70294277e-01 9.28913079e-01 1.62483879e-03 -2.83932642e+02] [-4.14641456e-03 9.62751397e-05 -9.99991399e-01 -8.05272316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.390385723 meters 0.01764766552496438 Centerline is valid? [True, True] Translation: X:-132.90, Y:-283.94, Z:-8.05 [[-8.97835548e-01 -4.40317568e-01 3.43049854e-03 -1.32897922e+02] [-4.40314008e-01 8.97842098e-01 1.77254117e-03 -2.83936480e+02] [-3.86052702e-03 8.09539107e-05 -9.99992545e-01 -8.05439140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.420385723 meters 0.018534310809940162 Centerline is valid? [True, True] Translation: X:-132.98, Y:-283.95, Z:-8.05 [[-8.62052923e-01 -5.06807387e-01 3.32126185e-03 -1.32979789e+02] [-5.06803267e-01 8.62059317e-01 2.04514887e-03 -2.83951398e+02] [-3.89962128e-03 7.98002058e-05 -9.99992393e-01 -8.05423089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.450385723 meters 0.017271472112039443 Centerline is valid? [True, True] Translation: X:-133.08, Y:-283.98, Z:-8.06 [[-8.20873461e-01 -5.71101195e-01 3.19149298e-03 -1.33081308e+02] [-5.71096518e-01 8.20879662e-01 2.31242481e-03 -2.83980415e+02] [-3.94046026e-03 7.55576301e-05 -9.99992234e-01 -8.05546481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.480385723 meters 0.017004118962342614 Centerline is valid? [True, True] Translation: X:-133.16, Y:-284.01, Z:-8.06 [[-7.75506826e-01 -6.31333019e-01 2.78966631e-03 -1.33162809e+02] [-6.31328601e-01 7.75511840e-01 2.36292117e-03 -2.84006225e+02] [-3.65520941e-03 7.12653641e-05 -9.99993317e-01 -8.05596714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.510385723 meters 0.017367180881890924 Centerline is valid? [True, True] Translation: X:-133.26, Y:-284.05, Z:-8.06 [[-7.26799636e-01 -6.86845886e-01 2.24020180e-03 -1.33257556e+02] [-6.86842333e-01 7.26803085e-01 2.21017432e-03 -2.84052474e+02] [-3.14623472e-03 6.76884564e-05 -9.99995048e-01 -8.05681332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.540385723 meters 0.01795556823759823 Centerline is valid? [True, True] Translation: X:-133.35, Y:-284.11, Z:-8.06 [[-6.73370412e-01 -7.39303046e-01 1.81518331e-03 -1.33348820e+02] [-7.39300104e-01 6.73372855e-01 2.08652685e-03 -2.84107593e+02] [-2.76487082e-03 6.30402374e-05 -9.99996176e-01 -8.05667513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.570385723 meters 0.018108420651575363 Centerline is valid? [True, True] Translation: X:-133.44, Y:-284.17, Z:-8.06 [[-6.16206718e-01 -7.87582794e-01 1.61971986e-03 -1.33440615e+02] [-7.87579786e-01 6.16208843e-01 2.17752937e-03 -2.84173938e+02] [-2.71307037e-03 6.61496021e-05 -9.99996318e-01 -8.05662688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6003857229999 meters 0.01873799400102627 Centerline is valid? [True, True] Translation: X:-133.53, Y:-284.26, Z:-8.06 [[-5.57272084e-01 -8.30328247e-01 1.68145171e-03 -1.33530377e+02] [-8.30323975e-01 5.57274613e-01 2.66480054e-03 -2.84255071e+02] [-3.14968951e-03 8.88692832e-05 -9.99995036e-01 -8.05741331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.630385723 meters 0.0205813010632465 Centerline is valid? [True, True] Translation: X:-133.61, Y:-284.35, Z:-8.06 [[-4.96001103e-01 -8.68320365e-01 1.62747207e-03 -1.33614387e+02] [-8.68314910e-01 4.96003760e-01 3.08011805e-03 -2.84346310e+02] [-3.48176150e-03 1.14583684e-04 -9.99993932e-01 -8.05695379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.660385723 meters 0.02281837497921299 Centerline is valid? [True, True] Translation: X:-133.69, Y:-284.43, Z:-8.05 [[-4.30484627e-01 -9.02596788e-01 1.42262964e-03 -1.33686979e+02] [-9.02590833e-01 4.30486958e-01 3.28138888e-03 -2.84430714e+02] [-3.57419457e-03 1.28534996e-04 -9.99993604e-01 -8.05477456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.690385723 meters 0.020869668525262283 Centerline is valid? [True, True] Translation: X:-133.76, Y:-284.53, Z:-8.06 [[-3.61277954e-01 -9.32457727e-01 9.10215446e-04 -1.33761588e+02] [-9.32453999e-01 3.61279085e-01 2.63871402e-03 -2.84533511e+02] [-2.78933108e-03 1.04575168e-04 -9.99996104e-01 -8.05725935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7203857229999 meters 0.023079228318323316 Centerline is valid? [True, True] Translation: X:-133.82, Y:-284.64, Z:-8.06 [[-2.91230364e-01 -9.56652637e-01 7.78836894e-04 -1.33821873e+02] [-9.56647980e-01 2.91231379e-01 2.98784878e-03 -2.84635958e+02] [-3.08515516e-03 1.25079546e-04 -9.99995233e-01 -8.05732102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.750385723 meters 0.024152878362754957 Centerline is valid? [True, True] Translation: X:-133.88, Y:-284.75, Z:-8.06 [[-2.17666851e-01 -9.76022913e-01 6.44543795e-04 -1.33877938e+02] [-9.76016334e-01 2.17667752e-01 3.58676688e-03 -2.84754948e+02] [-3.64106306e-03 1.51634981e-04 -9.99993360e-01 -8.05715400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.780385723 meters 0.023632236861443383 Centerline is valid? [True, True] Translation: X:-133.93, Y:-284.87, Z:-8.06 [[-1.42675336e-01 -9.89769481e-01 3.51143199e-04 -1.33927551e+02] [-9.89763374e-01 1.42675691e-01 3.48006094e-03 -2.84868301e+02] [-3.49455771e-03 1.48970188e-04 -9.99993883e-01 -8.05719173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.810385723 meters 0.022151587204852587 Centerline is valid? [True, True] Translation: X:-133.97, Y:-284.99, Z:-8.06 [[-6.58106486e-02 -9.97832127e-01 6.98507210e-05 -1.33971212e+02] [-9.97827688e-01 6.58105643e-02 2.97907510e-03 -2.84991854e+02] [-2.97721375e-03 1.26355881e-04 -9.99995560e-01 -8.05785888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8403857229999 meters 0.02221318335552086 Centerline is valid? [True, True] Translation: X:-134.00, Y:-285.12, Z:-8.06 [[ 1.15734438e-02 -9.99933008e-01 -1.87337865e-04 -1.34000822e+02] [-9.99926953e-01 -1.15740262e-02 3.48286195e-03 -2.85117645e+02] [-3.48479688e-03 1.47015473e-04 -9.99993917e-01 -8.05803832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.870385723 meters 0.02223944119385397 Centerline is valid? [True, True] Translation: X:-134.02, Y:-285.25, Z:-8.06 [[ 8.86707867e-02 -9.96060896e-01 -4.27241070e-04 -1.34021132e+02] [-9.96055614e-01 -8.86717091e-02 3.24671211e-03 -2.85246995e+02] [-3.27180717e-03 1.37667350e-04 -9.99994638e-01 -8.05757905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.900385723 meters 0.024924691879497748 Centerline is valid? [True, True] Translation: X:-134.03, Y:-285.38, Z:-8.06 [[ 1.66230824e-01 -9.86086731e-01 -5.21322873e-04 -1.34030323e+02] [-9.86083639e-01 -1.66231609e-01 2.47150274e-03 -2.85375088e+02] [-2.52377640e-03 1.03228020e-04 -9.99996810e-01 -8.05716198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.930385723 meters 0.021563765157545146 Centerline is valid? [True, True] Translation: X:-134.04, Y:-285.51, Z:-8.06 [[ 2.42454245e-01 -9.70162552e-01 -7.50264647e-04 -1.34036150e+02] [-9.70159177e-01 -2.42455382e-01 2.56124476e-03 -2.85505392e+02] [-2.66672945e-03 1.06891469e-04 -9.99996439e-01 -8.05759414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.960385723 meters 0.019269277261866755 Centerline is valid? [True, True] Translation: X:-134.03, Y:-285.63, Z:-8.06 [[ 3.18429544e-01 -9.47946100e-01 -9.03625971e-04 -1.34032786e+02] [-9.47943098e-01 -3.18430812e-01 2.38755241e-03 -2.85633575e+02] [-2.55101334e-03 9.63187783e-05 -9.99996742e-01 -8.05857457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.990385723 meters 0.01960999841270093 Centerline is valid? [True, True] Translation: X:-134.01, Y:-285.76, Z:-8.06 [[ 3.91361613e-01 -9.20235899e-01 -1.40605652e-03 -1.34014480e+02] [-9.20231028e-01 -3.91364121e-01 2.99684007e-03 -2.85757339e+02] [-3.30807989e-03 1.21048666e-04 -9.99994521e-01 -8.05873066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.020385723 meters 0.020239430639704094 Centerline is valid? [True, True] Translation: X:-133.99, Y:-285.88, Z:-8.06 [[ 4.62899476e-01 -8.86408085e-01 -2.18702842e-03 -1.33989965e+02] [-8.86399692e-01 -4.62904617e-01 3.86013365e-03 -2.85880667e+02] [-4.43403923e-03 1.51727477e-04 -9.99990158e-01 -8.05750293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.050385723 meters 0.019034719140185164 Centerline is valid? [True, True] Translation: X:-133.96, Y:-286.00, Z:-8.06 [[ 5.30295585e-01 -8.47807675e-01 -2.95629311e-03 -1.33959091e+02] [-8.47796296e-01 -5.30303796e-01 4.39592707e-03 -2.85997411e+02] [-5.29463416e-03 1.75193634e-04 -9.99985968e-01 -8.05733270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.080385723 meters 0.019144906043637208 Centerline is valid? [True, True] Translation: X:-133.92, Y:-286.11, Z:-8.06 [[ 5.94743849e-01 -8.03905794e-01 -3.90245791e-03 -1.33919777e+02] [-8.03890628e-01 -5.94756619e-01 4.94190211e-03 -2.86110480e+02] [-6.29383641e-03 1.97983461e-04 -9.99980174e-01 -8.05621166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.110385723 meters 0.02089047551805566 Centerline is valid? [True, True] Translation: X:-133.87, Y:-286.21, Z:-8.06 [[ 6.54526461e-01 -7.56026961e-01 -4.28312872e-03 -1.33870875e+02] [-7.56012699e-01 -6.54540446e-01 4.64791408e-03 -2.86212150e+02] [-6.31742934e-03 1.95916947e-04 -9.99980026e-01 -8.05573371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.140385723 meters 0.0196969961988998 Centerline is valid? [True, True] Translation: X:-133.82, Y:-286.31, Z:-8.06 [[ 7.09923697e-01 -7.04265934e-01 -4.22360576e-03 -1.33819997e+02] [-7.04254951e-01 -7.09936238e-01 3.93728598e-03 -2.86314752e+02] [-5.77138717e-03 1.79322647e-04 -9.99983329e-01 -8.05728364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.170385723 meters 0.019837140333258823 Centerline is valid? [True, True] Translation: X:-133.83, Y:-286.33, Z:-8.06 [[ 7.62687944e-01 -6.46750137e-01 -4.62174057e-03 -1.33825336e+02] [-6.46739710e-01 -7.62701925e-01 3.67711868e-03 -2.86326686e+02] [-5.90318743e-03 1.84569067e-04 -9.99982559e-01 -8.05723322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.200385723 meters 0.01985804603288532 Centerline is valid? [True, True] Translation: X:-133.83, Y:-286.34, Z:-8.06 [[ 8.11031353e-01 -5.84978776e-01 -5.28923324e-03 -1.33829492e+02] [-5.84967912e-01 -8.11048576e-01 3.57058050e-03 -2.86339539e+02] [-6.37853890e-03 1.98178992e-04 -9.99979637e-01 -8.05735482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.230385723 meters 0.019817258396483805 Centerline is valid? [True, True] Translation: X:-133.83, Y:-286.35, Z:-8.06 [[ 8.54612290e-01 -5.19235715e-01 -5.66626636e-03 -1.33833694e+02] [-5.19225825e-01 -8.54631051e-01 3.21091654e-03 -2.86354506e+02] [-6.50978972e-03 1.97983088e-04 -9.99978792e-01 -8.05687902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.260385723 meters 0.019567933959408226 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.37, Z:-8.06 [[ 8.92755939e-01 -4.50502822e-01 -5.83445564e-03 -1.33835433e+02] [-4.50494606e-01 -8.92774983e-01 2.72763175e-03 -2.86368395e+02] [-6.43766183e-03 1.93281352e-04 -9.99979259e-01 -8.05730969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.290385723 meters 0.01814296778325083 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.39, Z:-8.06 [[ 9.25664725e-01 -3.78304806e-01 -5.50367927e-03 -1.33838808e+02] [-3.78299203e-01 -9.25681071e-01 2.06577025e-03 -2.86390587e+02] [-5.87614253e-03 1.69826836e-04 -9.99982721e-01 -8.05841270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.320385723 meters 0.019207242516652838 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.41, Z:-8.06 [[ 9.52634263e-01 -3.04073913e-01 -5.19778510e-03 -1.33838717e+02] [-3.04070254e-01 -9.52648431e-01 1.49938736e-03 -2.86405354e+02] [-5.40758640e-03 1.52124065e-04 -9.99985367e-01 -8.05795901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3503857229999 meters 0.01739280086113908 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.43, Z:-8.06 [[ 9.73594616e-01 -2.28230658e-01 -4.92847046e-03 -1.33838789e+02] [-2.28228456e-01 -9.73607081e-01 1.01230407e-03 -2.86430652e+02] [-5.02943256e-03 1.39243412e-04 -9.99987343e-01 -8.05846100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.380385723 meters 0.01739280086113908 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.45, Z:-8.06 [[ 9.88468953e-01 -1.51341348e-01 -4.99253865e-03 -1.33839193e+02] [-1.51340128e-01 -9.88481551e-01 6.23516723e-04 -2.86446584e+02] [-5.02939621e-03 1.39244514e-04 -9.99987343e-01 -8.05846133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.410385723 meters 0.018389514278579065 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.46, Z:-8.06 [[ 9.97261213e-01 -7.37310330e-02 -5.81441196e-03 -1.33839427e+02] [-7.37307304e-02 -9.97278150e-01 2.66658808e-04 -2.86461769e+02] [-5.81824703e-03 1.62772354e-04 -9.99983061e-01 -8.05759963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.440385723 meters 0.017573366777034624 Centerline is valid? [True, True] Translation: X:-133.84, Y:-286.48, Z:-8.06 [[ 9.99971382e-01 4.21485147e-03 -6.28251556e-03 -1.33837107e+02] [ 4.21364995e-03 -9.99991102e-01 -2.04472535e-04 -2.86481119e+02] [-6.28332147e-03 1.77994362e-04 -9.99980244e-01 -8.05750744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4703857229999 meters 0.01801559548181171 Centerline is valid? [True, True] Translation: X:-133.83, Y:-286.50, Z:-8.06 [[ 9.96643485e-01 8.16381955e-02 -6.08021833e-03 -1.33833782e+02] [ 8.16355817e-02 -9.96662016e-01 -6.77251662e-04 -2.86499580e+02] [-6.11521226e-03 1.78616297e-04 -9.99981286e-01 -8.05723292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.500385723 meters 0.018205217845176317 Centerline is valid? [True, True] Translation: X:-133.83, Y:-286.51, Z:-8.06 [[ 9.87236662e-01 1.59150396e-01 -5.90977919e-03 -1.33827741e+02] [ 1.59146469e-01 -9.87254334e-01 -1.13201223e-03 -2.86514679e+02] [-6.01461531e-03 1.77043480e-04 -9.99981896e-01 -8.05712266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.530385723 meters 0.018564331197618137 Centerline is valid? [True, True] Translation: X:-133.82, Y:-286.53, Z:-8.06 [[ 9.71662943e-01 2.36299388e-01 -5.80725217e-03 -1.33821150e+02] [ 2.36294088e-01 -9.71680281e-01 -1.59230159e-03 -2.86529909e+02] [-6.01905231e-03 1.74961089e-04 -9.99981870e-01 -8.05736192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.560385723 meters 0.018431499904203466 Centerline is valid? [True, True] Translation: X:-133.81, Y:-286.54, Z:-8.06 [[ 9.50151676e-01 3.11736120e-01 -5.69068252e-03 -1.33812679e+02] [ 3.11729418e-01 -9.50168701e-01 -2.05160910e-03 -2.86543069e+02] [-6.04666908e-03 1.75386675e-04 -9.99981703e-01 -8.05751966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5903857229999 meters 0.020034879373731197 Centerline is valid? [True, True] Translation: X:-133.80, Y:-286.56, Z:-8.05 [[ 9.22639840e-01 3.85610089e-01 -6.37066254e-03 -1.33803926e+02] [ 3.85599397e-01 -9.22661812e-01 -2.87844527e-03 -2.86555946e+02] [-6.98792459e-03 1.99244647e-04 -9.99975564e-01 -8.05492764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.620385723 meters 0.018602795798375166 Centerline is valid? [True, True] Translation: X:-133.79, Y:-286.57, Z:-8.06 [[ 8.89082717e-01 4.57716742e-01 -5.22548312e-03 -1.33794956e+02] [ 4.57707753e-01 -8.89098059e-01 -2.87322665e-03 -2.86565389e+02] [-5.96109084e-03 1.62792025e-04 -9.99982219e-01 -8.05656169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.650385723 meters 0.018649799684298512 Centerline is valid? [True, True] Translation: X:-133.79, Y:-286.57, Z:-8.06 [[ 8.49410872e-01 5.27715703e-01 -4.16018918e-03 -1.33785155e+02] [ 5.27708646e-01 -8.49421051e-01 -2.73195837e-03 -2.86574851e+02] [-4.97544960e-03 1.25187342e-04 -9.99987615e-01 -8.05697697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.680385723 meters 0.017725191853331757 Centerline is valid? [True, True] Translation: X:-133.77, Y:-286.58, Z:-8.06 [[ 8.04545936e-01 5.93880802e-01 -3.38096630e-03 -1.33773648e+02] [ 5.93875029e-01 -8.04553033e-01 -2.62049773e-03 -2.86582551e+02] [-4.27642998e-03 1.00439345e-04 -9.99990851e-01 -8.05791795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.710385723 meters 0.016436511384370318 Centerline is valid? [True, True] Translation: X:-133.76, Y:-286.59, Z:-8.06 [[ 7.53363831e-01 6.57597471e-01 -2.91634353e-03 -1.33757646e+02] [ 6.57592134e-01 -7.53369471e-01 -2.65046006e-03 -2.86593459e+02] [-3.94002002e-03 7.89961795e-05 -9.99992235e-01 -8.05828092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.740385723 meters 0.015815965112502245 Centerline is valid? [True, True] Translation: X:-133.74, Y:-286.60, Z:-8.06 [[ 6.97931131e-01 7.16160212e-01 -2.58596067e-03 -1.33742007e+02] [ 7.16154937e-01 -6.97935919e-01 -2.74946572e-03 -2.86601603e+02] [-3.77389279e-03 6.69892237e-05 -9.99992877e-01 -8.05853816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.770385723 meters 0.015428380938667162 Centerline is valid? [True, True] Translation: X:-133.73, Y:-286.61, Z:-8.06 [[ 6.36902059e-01 7.70940079e-01 -2.67635617e-03 -1.33726161e+02] [ 7.70932870e-01 -6.36907679e-01 -3.33447519e-03 -2.86608782e+02] [-4.27527236e-03 6.04431727e-05 -9.99990859e-01 -8.05825107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.800385723 meters 0.015070739323760737 Centerline is valid? [True, True] Translation: X:-133.71, Y:-286.61, Z:-8.06 [[ 5.73300668e-01 8.19341298e-01 -2.48615252e-03 -1.33709730e+02] [ 8.19333169e-01 -5.73306056e-01 -3.65017608e-03 -2.86613701e+02] [-4.41606630e-03 5.56611615e-05 -9.99990248e-01 -8.05792288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.830385723 meters 0.01510568177174574 Centerline is valid? [True, True] Translation: X:-133.70, Y:-286.62, Z:-8.06 [[ 5.06529930e-01 8.62219613e-01 -2.18388335e-03 -1.33695652e+02] [ 8.62211161e-01 -5.06534635e-01 -3.81790261e-03 -2.86617406e+02] [-4.39808307e-03 5.09133453e-05 -9.99990327e-01 -8.05771992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.860385723 meters 0.016206955824075667 Centerline is valid? [True, True] Translation: X:-133.68, Y:-286.62, Z:-8.06 [[ 4.36767723e-01 8.99571067e-01 -2.41888893e-03 -1.33678103e+02] [ 8.99556484e-01 -4.36774417e-01 -5.12262234e-03 -2.86619998e+02] [-5.66467164e-03 6.14688798e-05 -9.99983954e-01 -8.05629296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.890385723 meters 0.014976523532696512 Centerline is valid? [True, True] Translation: X:-133.66, Y:-286.62, Z:-8.06 [[ 3.64872292e-01 9.31055333e-01 -2.04387740e-03 -1.33664002e+02] [ 9.31039762e-01 -3.64878012e-01 -5.38501115e-03 -2.86620877e+02] [-5.75950927e-03 6.19102341e-05 -9.99983412e-01 -8.05715168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.920385723 meters 0.01515298766835093 Centerline is valid? [True, True] Translation: X:-133.65, Y:-286.62, Z:-8.06 [[ 2.92553417e-01 9.56247009e-01 -2.03864456e-03 -1.33653258e+02] [ 9.56221572e-01 -2.92560506e-01 -6.97540091e-03 -2.86618851e+02] [-7.26663314e-03 9.12814625e-05 -9.99973594e-01 -8.05604676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.950385723 meters 0.015298286314249872 Centerline is valid? [True, True] Translation: X:-133.64, Y:-286.62, Z:-8.06 [[ 2.18435848e-01 9.75849891e-01 -1.66433895e-03 -1.33641183e+02] [ 9.75817378e-01 -2.18442158e-01 -7.96667236e-03 -2.86616322e+02] [-8.13783815e-03 1.16115965e-04 -9.99966881e-01 -8.05577643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.980385723 meters 0.017443507243984385 Centerline is valid? [True, True] Translation: X:-133.63, Y:-286.61, Z:-8.05 [[ 1.45381722e-01 9.89374763e-01 -1.31661629e-03 -1.33633040e+02] [ 9.89321486e-01 -1.45387559e-01 -1.02691839e-02 -2.86613666e+02] [-1.03514910e-02 1.90394849e-04 -9.99946404e-01 -8.05337414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.010385723 meters 0.016424934928568294 Centerline is valid? [True, True] Translation: X:-133.62, Y:-286.61, Z:-8.05 [[ 6.88511866e-02 9.97626807e-01 -5.17084766e-04 -1.33619850e+02] [ 9.97571426e-01 -6.88528139e-02 -1.05137855e-02 -2.86610107e+02] [-1.05244370e-02 2.08057622e-04 -9.99944595e-01 -8.05427734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.040385723 meters 0.016707306315106783 Centerline is valid? [True, True] Translation: X:-133.61, Y:-286.61, Z:-8.06 [[-6.44875115e-03 9.99979164e-01 2.92005767e-04 -1.33610809e+02] [ 9.99929417e-01 6.45134375e-03 -9.97701593e-03 -2.86606752e+02] [-9.97869188e-03 2.27645864e-04 -9.99950186e-01 -8.05516361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.070385723 meters 0.016682504867548794 Centerline is valid? [True, True] Translation: X:-133.60, Y:-286.60, Z:-8.06 [[-8.34885573e-02 9.96508197e-01 1.03602964e-03 -1.33599367e+02] [ 9.96462115e-01 8.34946628e-02 -9.58621248e-03 -2.86601369e+02] [-9.63924227e-03 2.32025239e-04 -9.99953515e-01 -8.05578090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1003857229999 meters 0.01681350341441574 Centerline is valid? [True, True] Translation: X:-133.59, Y:-286.60, Z:-8.06 [[-1.60386422e-01 9.87052819e-01 1.71146525e-03 -1.33588840e+02] [ 9.87010954e-01 1.60395388e-01 -9.09376509e-03 -2.86595596e+02] [-9.25053760e-03 2.30718502e-04 -9.99957186e-01 -8.05631148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.130385723 meters 0.01695437315986515 Centerline is valid? [True, True] Translation: X:-133.58, Y:-286.59, Z:-8.06 [[-2.36524262e-01 9.71623055e-01 2.21651650e-03 -1.33580262e+02] [ 9.71588588e-01 2.36534548e-01 -8.18679899e-03 -2.86589595e+02] [-8.47876537e-03 2.17165555e-04 -9.99964031e-01 -8.05722235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.160385723 meters 0.016977569283430093 Centerline is valid? [True, True] Translation: X:-133.57, Y:-286.58, Z:-8.06 [[-3.12391295e-01 9.49949234e-01 2.85156812e-03 -1.33570909e+02] [ 9.49915649e-01 3.12404237e-01 -7.99083581e-03 -2.86582756e+02] [-8.48173032e-03 2.12481641e-04 -9.99964007e-01 -8.05722795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.190385723 meters 0.016029392105656338 Centerline is valid? [True, True] Translation: X:-133.56, Y:-286.57, Z:-8.06 [[-3.87786253e-01 9.21743078e-01 3.39414339e-03 -1.33558636e+02] [ 9.21711957e-01 3.87801060e-01 -7.57669517e-03 -2.86574036e+02] [-8.30001873e-03 1.90284312e-04 -9.99965536e-01 -8.05799066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2203857229999 meters 0.018655552672317884 Centerline is valid? [True, True] Translation: X:-133.55, Y:-286.57, Z:-8.05 [[-4.59846287e-01 8.87986965e-01 4.53230740e-03 -1.33548772e+02] [ 8.87948149e-01 4.59868576e-01 -8.30524098e-03 -2.86566379e+02] [-9.45921149e-03 2.05319741e-04 -9.99955240e-01 -8.05499768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.250385723 meters 0.015503376972998497 Centerline is valid? [True, True] Translation: X:-133.54, Y:-286.56, Z:-8.06 [[-5.29883546e-01 8.48057820e-01 4.62198929e-03 -1.33537193e+02] [ 8.48028227e-01 5.29903678e-01 -7.08645916e-03 -2.86555206e+02] [-8.45893623e-03 1.64579274e-04 -9.99964209e-01 -8.05758636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.280385723 meters 0.014997430646384818 Centerline is valid? [True, True] Translation: X:-133.53, Y:-286.55, Z:-8.06 [[-5.98045760e-01 8.01447339e-01 4.84076351e-03 -1.33529289e+02] [ 8.01422708e-01 5.98065338e-01 -6.28443773e-03 -2.86546810e+02] [-7.93173875e-03 1.21116465e-04 -9.99968536e-01 -8.05808498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.310385723 meters 0.01443054060359336 Centerline is valid? [True, True] Translation: X:-133.52, Y:-286.54, Z:-8.06 [[-6.61474588e-01 7.49950813e-01 5.01487515e-03 -1.33522338e+02] [ 7.49930275e-01 6.61493591e-01 -5.55080432e-03 -2.86536474e+02] [-7.48013799e-03 8.90907047e-05 -9.99972020e-01 -8.05879527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3403857229999 meters 0.015897672395214335 Centerline is valid? [True, True] Translation: X:-133.52, Y:-286.53, Z:-8.06 [[-7.18648318e-01 6.95346845e-01 6.11226629e-03 -1.33516110e+02] [ 6.95322809e-01 7.18674304e-01 -5.78231340e-03 -2.86527892e+02] [-8.41344210e-03 9.45483672e-05 -9.99964602e-01 -8.05689771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.370385723 meters 0.014294220395752528 Centerline is valid? [True, True] Translation: X:-133.50, Y:-286.51, Z:-8.06 [[-7.66403357e-01 6.42331462e-01 6.01551407e-03 -1.33500607e+02] [ 6.42312529e-01 7.66426960e-01 -4.93250475e-03 -2.86505409e+02] [-7.77875515e-03 8.35518572e-05 -9.99969742e-01 -8.05866837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.400385723 meters 0.01432764556241816 Centerline is valid? [True, True] Translation: X:-133.13, Y:-286.05, Z:-9.01 [[-7.36598878e-01 -6.76303133e-01 6.01383378e-03 -1.33126122e+02] [ 6.76279906e-01 -7.36623424e-01 -5.60529792e-03 -2.86046152e+02] [ 8.22081137e-03 -6.18212153e-05 9.99966207e-01 -9.01293855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.430385723 meters 0.014487040419986632 Centerline is valid? [True, True] Translation: X:-133.54, Y:-286.49, Z:-8.06 [[-7.67657283e-01 6.40824922e-01 6.76132037e-03 -1.33541783e+02] [ 6.40801297e-01 7.67687051e-01 -5.50369523e-03 -2.86485174e+02] [-8.71748316e-03 1.07711138e-04 -9.99961996e-01 -8.05826646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.460385723 meters 0.0149706990808446 Centerline is valid? [True, True] Translation: X:-133.15, Y:-286.01, Z:-9.01 [[-7.41265452e-01 -6.71181377e-01 6.41010015e-03 -1.33151979e+02] [ 6.71155033e-01 -7.41293160e-01 -5.94754308e-03 -2.86013599e+02] [ 8.74364355e-03 -1.06537230e-04 9.99961768e-01 -9.01354601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.490385723 meters 0.015287108809002517 Centerline is valid? [True, True] Translation: X:-133.58, Y:-286.47, Z:-8.06 [[-7.67669469e-01 6.40811054e-01 6.69177917e-03 -1.33579950e+02] [ 6.40788252e-01 7.67698622e-01 -5.40759547e-03 -2.86469360e+02] [-8.60251660e-03 1.36767538e-04 -9.99962988e-01 -8.05790940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.520385723 meters 0.01585680272960396 Centerline is valid? [True, True] Translation: X:-133.57, Y:-286.45, Z:-8.06 [[-8.09192049e-01 5.87497069e-01 7.44459403e-03 -1.33567825e+02] [ 5.87474170e-01 8.09226274e-01 -5.18998259e-03 -2.86451271e+02] [-9.07346065e-03 1.73814061e-04 -9.99958820e-01 -8.05810555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.550385723 meters 0.01608169960321915 Centerline is valid? [True, True] Translation: X:-133.56, Y:-286.43, Z:-8.06 [[-8.47990528e-01 5.29953673e-01 7.82109886e-03 -1.33555381e+02] [ 5.29933168e-01 8.48026573e-01 -4.66572314e-03 -2.86428554e+02] [-9.10511678e-03 1.88170668e-04 -9.99958530e-01 -8.05813115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.580385723 meters 0.015884648340570587 Centerline is valid? [True, True] Translation: X:-133.54, Y:-286.41, Z:-8.06 [[-8.82471708e-01 4.70289175e-01 8.47208783e-03 -1.33544298e+02] [ 4.70269827e-01 8.82512349e-01 -4.27137775e-03 -2.86406645e+02] [-9.48550485e-03 2.14797255e-04 -9.99954989e-01 -8.05889996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.610385723 meters 0.01671523660633929 Centerline is valid? [True, True] Translation: X:-133.54, Y:-286.38, Z:-8.06 [[-9.13171096e-01 4.07478478e-01 8.93528103e-03 -1.33538878e+02] [ 4.07461413e-01 9.13214782e-01 -3.73613389e-03 -2.86381138e+02] [-9.68222487e-03 2.29052757e-04 -9.99953100e-01 -8.05790065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.640385723 meters 0.01644335024317347 Centerline is valid? [True, True] Translation: X:-133.53, Y:-286.36, Z:-8.06 [[-9.39140854e-01 3.43396346e-01 9.66468795e-03 -1.33526848e+02] [ 3.43380995e-01 9.39190546e-01 -3.25731990e-03 -2.86358128e+02] [-1.01955353e-02 2.59587967e-04 -9.99947991e-01 -8.05786297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.670385723 meters 0.017842977000761755 Centerline is valid? [True, True] Translation: X:-133.52, Y:-286.33, Z:-8.06 [[-9.60840302e-01 2.76929323e-01 9.80123961e-03 -1.33523221e+02] [ 2.76917756e-01 9.60890253e-01 -2.54526289e-03 -2.86333371e+02] [-1.01227735e-02 2.68546115e-04 -9.99948727e-01 -8.05670909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.700385723 meters 0.01754552599113673 Centerline is valid? [True, True] Translation: X:-133.35, Y:-285.67, Z:-9.01 [[-9.57137366e-01 -2.89458056e-01 1.01043234e-02 -1.33349076e+02] [ 2.89439158e-01 -9.57190666e-01 -3.31702304e-03 -2.85672951e+02] [ 1.06319031e-02 -2.50259834e-04 9.99943449e-01 -9.01440203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.730385723 meters 0.0186269541534444 Centerline is valid? [True, True] Translation: X:-133.58, Y:-286.33, Z:-8.06 [[-9.60790631e-01 2.77056797e-01 1.09951681e-02 -1.33575917e+02] [ 2.77042767e-01 9.60853481e-01 -2.80965307e-03 -2.86326882e+02] [-1.13431790e-02 3.46643437e-04 -9.99935604e-01 -8.05692392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.760385723 meters 0.018883795833129432 Centerline is valid? [True, True] Translation: X:-133.40, Y:-285.66, Z:-9.01 [[-9.59475805e-01 -2.81575832e-01 1.10104945e-02 -1.33395689e+02] [ 2.81553219e-01 -9.59538918e-01 -3.58460025e-03 -2.85655089e+02] [ 1.15743348e-02 -3.39297040e-04 9.99932958e-01 -9.01435584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.790385723 meters 0.020105681161806728 Centerline is valid? [True, True] Translation: X:-133.62, Y:-286.32, Z:-8.06 [[-9.60694216e-01 2.77394909e-01 1.08943590e-02 -1.33624319e+02] [ 2.77381656e-01 9.60755907e-01 -2.73942837e-03 -2.86322089e+02] [-1.12267233e-02 3.90142359e-04 -9.99936902e-01 -8.05725188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.820385723 meters 0.01916240333130968 Centerline is valid? [True, True] Translation: X:-133.45, Y:-285.64, Z:-9.01 [[-9.61711795e-01 -2.73869291e-01 1.02973440e-02 -1.33448343e+02] [ 2.73849102e-01 -9.61766838e-01 -3.34947894e-03 -2.85637543e+02] [ 1.08209634e-02 -4.01314991e-04 9.99941371e-01 -9.01337892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8503857229999 meters 0.0236749405208457 Centerline is valid? [True, True] Translation: X:-133.67, Y:-286.32, Z:-8.06 [[-9.61041947e-01 2.76199099e-01 1.06034953e-02 -1.33674898e+02] [ 2.76186963e-01 9.61100354e-01 -2.62135279e-03 -2.86319288e+02] [-1.09150384e-02 4.09317177e-04 -9.99940346e-01 -8.05639223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.880385723 meters 0.021762093177804562 Centerline is valid? [True, True] Translation: X:-133.67, Y:-286.29, Z:-8.06 [[-9.78198313e-01 2.07363215e-01 1.13382828e-02 -1.33669906e+02] [ 2.07354384e-01 9.78263927e-01 -1.96188541e-03 -2.86288132e+02] [-1.14986559e-02 4.31929642e-04 -9.99933795e-01 -8.05679831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.910385723 meters 0.019357842744619012 Centerline is valid? [True, True] Translation: X:-133.67, Y:-286.26, Z:-8.06 [[-9.90629213e-01 1.36066366e-01 1.18197221e-02 -1.33673590e+02] [ 1.36061845e-01 9.90699631e-01 -1.18951088e-03 -2.86255838e+02] [-1.18716468e-02 4.29848980e-04 -9.99929437e-01 -8.05755657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.940385723 meters 0.01940724529057859 Centerline is valid? [True, True] Translation: X:-133.67, Y:-286.23, Z:-8.06 [[-9.97873452e-01 6.41024267e-02 1.18090497e-02 -1.33672908e+02] [ 6.41028400e-02 9.97943239e-01 -3.43899643e-04 -2.86227581e+02] [-1.18068061e-02 4.13825300e-04 -9.99930212e-01 -8.05793149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9703857229999 meters 0.018756616866155124 Centerline is valid? [True, True] Translation: X:-133.66, Y:-285.51, Z:-9.01 [[-9.97961162e-01 -6.28501681e-02 1.11074744e-02 -1.33656133e+02] [ 6.28414212e-02 -9.98022879e-01 -1.13509051e-03 -2.85508949e+02] [ 1.11568542e-02 -4.34766765e-04 9.99937666e-01 -9.01291886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.000385723 meters 0.017592717802463295 Centerline is valid? [True, True] Translation: X:-133.76, Y:-286.22, Z:-8.06 [[-9.98590279e-01 5.19892280e-02 1.07039477e-02 -1.33762128e+02] [ 5.19894822e-02 9.98647600e-01 -2.54694130e-04 -2.86224208e+02] [-1.07027130e-02 3.02157617e-04 -9.99942679e-01 -8.05980850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.030385723 meters 0.016924237782231875 Centerline is valid? [True, True] Translation: X:-133.74, Y:-285.51, Z:-9.01 [[-9.97800667e-01 -6.54272798e-02 1.06348969e-02 -1.33743360e+02] [ 6.54203228e-02 -9.97857294e-01 -1.00110833e-03 -2.85506999e+02] [ 1.06776092e-02 -3.03168175e-04 9.99942947e-01 -9.01135624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.060385723 meters 0.01569137536635055 Centerline is valid? [True, True] Translation: X:-133.85, Y:-286.22, Z:-8.06 [[-9.99215250e-01 3.81166035e-02 1.07707076e-02 -1.33845800e+02] [ 3.81166423e-02 9.99273276e-01 -2.01747681e-04 -2.86220959e+02] [-1.07705702e-02 2.08953849e-04 -9.99941974e-01 -8.06127339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0903857229999 meters 0.014948200048989587 Centerline is valid? [True, True] Translation: X:-133.84, Y:-285.51, Z:-9.01 [[-9.97503461e-01 -6.98702029e-02 1.02469542e-02 -1.33835327e+02] [ 6.98641171e-02 -9.97556064e-01 -9.51111237e-04 -2.85506158e+02] [ 1.02883656e-02 -2.32842342e-04 9.99947046e-01 -9.01036010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.120385723 meters 0.013939470649818264 Centerline is valid? [True, True] Translation: X:-133.93, Y:-286.22, Z:-8.06 [[-9.99685423e-01 2.31773452e-02 9.58461822e-03 -1.33930653e+02] [ 2.31771453e-02 9.99731365e-01 -1.31945502e-04 -2.86216631e+02] [-9.58510160e-03 9.02400941e-05 -9.99954058e-01 -8.06126309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.150385723 meters 0.013624356054148794 Centerline is valid? [True, True] Translation: X:-133.94, Y:-286.19, Z:-8.06 [[-9.98662574e-01 -5.08355102e-02 9.42415047e-03 -1.33940878e+02] [-5.08326636e-02 9.98707038e-01 5.41503689e-04 -2.86187469e+02] [-9.43949301e-03 6.17247975e-05 -9.99955445e-01 -8.06164686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.180385723 meters 0.013404922224231963 Centerline is valid? [True, True] Translation: X:-133.95, Y:-286.16, Z:-8.06 [[-9.92159409e-01 -1.24607865e-01 9.62218450e-03 -1.33948790e+02] [-1.24601643e-01 9.92206067e-01 1.24578316e-03 -2.86159578e+02] [-9.70242422e-03 3.70754857e-05 -9.99952930e-01 -8.06112174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.210385723 meters 0.013299815911665215 Centerline is valid? [True, True] Translation: X:-134.04, Y:-285.45, Z:-9.01 [[-9.98073352e-01 6.10786612e-02 1.09078455e-02 -1.34040788e+02] [-6.10745196e-02 -9.98132955e-01 7.12704366e-04 -2.85453718e+02] [ 1.09310111e-02 4.51398108e-05 9.99940254e-01 -9.01126050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.240385723 meters 0.013374142817664494 Centerline is valid? [True, True] Translation: X:-134.06, Y:-286.18, Z:-8.06 [[-9.90414999e-01 -1.37625571e-01 1.17189042e-02 -1.34060683e+02] [-1.37616375e-01 9.90484327e-01 1.59134783e-03 -2.86176412e+02] [-1.18264011e-02 -3.66183629e-05 -9.99930065e-01 -8.05878237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.270385723 meters 0.013374142817664494 Centerline is valid? [True, True] Translation: X:-134.08, Y:-286.15, Z:-8.06 [[-9.78016572e-01 -2.08205687e-01 1.15748184e-02 -1.34080650e+02] [-2.08191550e-01 9.78085063e-01 2.42652783e-03 -2.86150556e+02] [-1.18263739e-02 -3.65949559e-05 -9.99930065e-01 -8.05878284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.300385723 meters 0.01355190362155099 Centerline is valid? [True, True] Translation: X:-134.11, Y:-286.13, Z:-8.06 [[-9.60135751e-01 -2.79317237e-01 1.10100080e-02 -1.34112197e+02] [-2.79299472e-01 9.60198875e-01 3.15059573e-03 -2.86130730e+02] [-1.14518130e-02 -5.00898292e-05 -9.99934425e-01 -8.05910214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.330385723 meters 0.013590097081032228 Centerline is valid? [True, True] Translation: X:-134.17, Y:-286.12, Z:-8.06 [[-9.36962423e-01 -3.49285659e-01 1.00471735e-02 -1.34168587e+02] [-3.49266230e-01 9.37016289e-01 3.68448574e-03 -2.86121284e+02] [-1.07013033e-02 -5.69137220e-05 -9.99942738e-01 -8.05971315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.360385723 meters 0.013708358114807941 Centerline is valid? [True, True] Translation: X:-134.23, Y:-286.12, Z:-8.06 [[-9.08104841e-01 -4.18650162e-01 8.81134592e-03 -1.34226279e+02] [-4.18631124e-01 9.08147586e-01 3.99298928e-03 -2.86119268e+02] [-9.67366814e-03 -6.26507546e-05 -9.99953207e-01 -8.06101350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.390385723 meters 0.013813334512916862 Centerline is valid? [True, True] Translation: X:-134.30, Y:-286.13, Z:-8.06 [[-8.74488029e-01 -4.84949267e-01 9.74146606e-03 -1.34302090e+02] [-4.84920094e-01 8.74542282e-01 5.31966929e-03 -2.86131030e+02] [-1.10990937e-02 -7.18455261e-05 -9.99938401e-01 -8.05979994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.420385723 meters 0.013983207566013907 Centerline is valid? [True, True] Translation: X:-134.38, Y:-286.15, Z:-8.06 [[-8.35726439e-01 -5.49057950e-01 9.83297503e-03 -1.34380658e+02] [-5.49021015e-01 8.35784279e-01 6.36892448e-03 -2.86147913e+02] [-1.17151546e-02 -7.58313645e-05 -9.99931372e-01 -8.05894799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.450385723 meters 0.014007324457814212 Centerline is valid? [True, True] Translation: X:-134.47, Y:-286.18, Z:-8.06 [[-7.92195182e-01 -6.10187041e-01 9.92817084e-03 -1.34466179e+02] [-6.10140362e-01 7.92257388e-01 7.54781885e-03 -2.86181014e+02] [-1.24712479e-02 -7.82320169e-05 -9.99922228e-01 -8.05776941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.480385723 meters 0.014017921248192232 Centerline is valid? [True, True] Translation: X:-134.55, Y:-286.22, Z:-8.06 [[-7.43873076e-01 -6.68249544e-01 9.76704339e-03 -1.34554870e+02] [-6.68193359e-01 7.43937189e-01 8.66567652e-03 -2.86221778e+02] [-1.30569012e-02 -8.01100811e-05 -9.99914752e-01 -8.05770853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.510385723 meters 0.014039386836065591 Centerline is valid? [True, True] Translation: X:-134.64, Y:-286.27, Z:-8.06 [[-6.91197976e-01 -7.22599753e-01 9.74452384e-03 -1.34644486e+02] [-7.22529640e-01 6.91266656e-01 1.00662773e-02 -2.86273201e+02] [-1.40099539e-02 -8.29167982e-05 -9.99901852e-01 -8.05745005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.540385723 meters 0.014262739051385542 Centerline is valid? [True, True] Translation: X:-134.74, Y:-286.34, Z:-8.06 [[-6.32284077e-01 -7.74676256e-01 9.67187148e-03 -1.34737271e+02] [-7.74588685e-01 6.32358034e-01 1.16484332e-02 -2.86335940e+02] [-1.51398502e-02 -1.26603381e-04 -9.99885378e-01 -8.05684480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.570385723 meters 0.014738940902089399 Centerline is valid? [True, True] Translation: X:-134.83, Y:-286.41, Z:-8.05 [[-5.69626938e-01 -8.21854410e-01 8.97111560e-03 -1.34832195e+02] [-8.21756932e-01 5.69697554e-01 1.26586881e-02 -2.86408117e+02] [-1.55144212e-02 -1.61346687e-04 -9.99879631e-01 -8.05445872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6003857229999 meters 0.015638724979523507 Centerline is valid? [True, True] Translation: X:-134.91, Y:-286.48, Z:-8.05 [[-5.02322546e-01 -8.64631726e-01 9.16725748e-03 -1.34914940e+02] [-8.64496431e-01 5.02406132e-01 1.52970618e-02 -2.86477020e+02] [-1.78320113e-02 -2.41002357e-04 -9.99840968e-01 -8.05223519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.630385723 meters 0.015779824237017626 Centerline is valid? [True, True] Translation: X:-135.00, Y:-286.57, Z:-8.05 [[-4.34462874e-01 -9.00651434e-01 8.30696653e-03 -1.35001126e+02] [-9.00497879e-01 4.34542207e-01 1.66325133e-02 -2.86572056e+02] [-1.85898245e-02 -2.54196233e-04 -9.99827162e-01 -8.05118767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.660385723 meters 0.01484709137430941 Centerline is valid? [True, True] Translation: X:-135.07, Y:-286.66, Z:-8.05 [[-3.65348673e-01 -9.30841098e-01 7.42947762e-03 -1.35070262e+02] [-9.30661754e-01 3.65424128e-01 1.82731233e-02 -2.86658788e+02] [-1.97242845e-02 -2.38269327e-04 -9.99805429e-01 -8.05242149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.690385723 meters 0.014472407971144878 Centerline is valid? [True, True] Translation: X:-135.14, Y:-286.77, Z:-8.05 [[-2.94514010e-01 -9.55628077e-01 6.03952574e-03 -1.35137907e+02] [-9.55440950e-01 2.94575861e-01 1.89117411e-02 -2.86765318e+02] [-1.98516893e-02 -2.00637498e-04 -9.99802916e-01 -8.05358585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7203857229999 meters 0.014242061695346432 Centerline is valid? [True, True] Translation: X:-135.19, Y:-286.86, Z:-8.05 [[-2.24870518e-01 -9.74378543e-01 4.43910042e-03 -1.35192138e+02] [-9.74197099e-01 2.24914308e-01 1.88033779e-02 -2.86863161e+02] [-1.93200252e-02 -9.62334285e-05 -9.99813346e-01 -8.05440309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.750385723 meters 0.01437588718308363 Centerline is valid? [True, True] Translation: X:-135.24, Y:-286.98, Z:-8.05 [[-1.51514860e-01 -9.88450460e-01 2.98936663e-03 -1.35243531e+02] [-9.88264296e-01 1.51544340e-01 1.91831784e-02 -2.86976785e+02] [-1.94146431e-02 -4.77477171e-05 -9.99811517e-01 -8.05221200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.780385723 meters 0.014377392197995035 Centerline is valid? [True, True] Translation: X:-135.28, Y:-287.09, Z:-8.05 [[-7.96065124e-02 -9.96825269e-01 1.47898776e-03 -1.35284747e+02] [-9.96642443e-01 7.96202369e-02 1.90907810e-02 -2.87094067e+02] [-1.91479303e-02 4.57285152e-05 -9.99816661e-01 -8.05289993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.810385723 meters 0.014336094342724632 Centerline is valid? [True, True] Translation: X:-135.32, Y:-287.22, Z:-8.05 [[-4.45666904e-03 -9.99990069e-01 1.66967561e-07 -1.35318169e+02] [-9.99793528e-01 4.45579642e-03 1.98254250e-02 -2.87221483e+02] [-1.98252289e-02 8.81884247e-05 -9.99803457e-01 -8.05312922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8403857229999 meters 0.01448451203979196 Centerline is valid? [True, True] Translation: X:-135.34, Y:-287.34, Z:-8.05 [[ 7.09670964e-02 -9.97477507e-01 -1.51497504e-03 -1.35342275e+02] [-9.97285735e-01 -7.09831589e-02 1.95589924e-02 -2.87340696e+02] [-1.96171926e-02 1.22818096e-04 -9.99807557e-01 -8.05232031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.870385723 meters 0.018278093634784644 Centerline is valid? [True, True] Translation: X:-136.13, Y:-287.52, Z:-9.02 [[ 1.95799919e-02 9.99808249e-01 -3.00170772e-04 -1.36125728e+02] [-9.99605910e-01 1.95820681e-02 2.01138591e-02 -2.87524790e+02] [ 2.01158802e-02 -9.37767212e-05 9.99797651e-01 -9.02142544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.900385723 meters 0.014843805436184318 Centerline is valid? [True, True] Translation: X:-135.32, Y:-287.64, Z:-8.05 [[ 7.70220384e-02 -9.97028079e-01 -1.61732627e-03 -1.35320217e+02] [-9.96856529e-01 -7.70387885e-02 1.84955706e-02 -2.87642113e+02] [-1.85652001e-02 1.87675697e-04 -9.99827634e-01 -8.05388727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.930385723 meters 0.014848341377556475 Centerline is valid? [True, True] Translation: X:-135.33, Y:-287.77, Z:-8.05 [[ 1.53430191e-01 -9.88155765e-01 -2.71301296e-03 -1.35332666e+02] [-9.88020581e-01 -1.53454078e-01 1.63455687e-02 -2.87770918e+02] [-1.65682909e-02 1.72608911e-04 -9.99862722e-01 -8.05490187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.960385723 meters 0.014737331776561393 Centerline is valid? [True, True] Translation: X:-135.34, Y:-287.89, Z:-8.06 [[ 2.29707823e-01 -9.73252036e-01 -3.84573379e-03 -1.35337843e+02] [-9.73127134e-01 -2.29739957e-01 1.55927408e-02 -2.87892751e+02] [-1.60591854e-02 1.60613356e-04 -9.99871030e-01 -8.05516185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.990385723 meters 0.014324773862562982 Centerline is valid? [True, True] Translation: X:-135.33, Y:-288.04, Z:-8.06 [[ 3.06332459e-01 -9.51913423e-01 -4.61075079e-03 -1.35326577e+02] [-9.51811032e-01 -3.06367136e-01 1.39620079e-02 -2.88039997e+02] [-1.47032053e-02 1.11547249e-04 -9.99891896e-01 -8.05598551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.020385723 meters 0.013956384580687946 Centerline is valid? [True, True] Translation: X:-135.32, Y:-288.15, Z:-8.06 [[ 3.79971465e-01 -9.24982415e-01 -5.40539324e-03 -1.35318579e+02] [-9.24892135e-01 -3.80009900e-01 1.29233731e-02 -2.88147573e+02] [-1.40079958e-02 8.88926938e-05 -9.99901879e-01 -8.05672458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.050385723 meters 0.013792310875297756 Centerline is valid? [True, True] Translation: X:-135.29, Y:-288.27, Z:-8.06 [[ 4.51550737e-01 -8.92223431e-01 -6.26750899e-03 -1.35294476e+02] [-8.92139468e-01 -4.51594226e-01 1.22402537e-02 -2.88271329e+02] [-1.37514120e-02 6.43965780e-05 -9.99905443e-01 -8.05635453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.080385723 meters 0.013742648176308814 Centerline is valid? [True, True] Translation: X:-135.26, Y:-288.39, Z:-8.06 [[ 5.18825310e-01 -8.54852655e-01 -6.87281345e-03 -1.35263144e+02] [-8.54779248e-01 -5.18870826e-01 1.12028419e-02 -2.88385489e+02] [-1.31428815e-02 6.24204108e-05 -9.99913627e-01 -8.05608400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.110385723 meters 0.01370633580491373 Centerline is valid? [True, True] Translation: X:-135.21, Y:-288.51, Z:-8.06 [[ 5.82681204e-01 -8.12665919e-01 -7.53116306e-03 -1.35213062e+02] [-8.12599487e-01 -5.82729868e-01 1.03910462e-02 -2.88510949e+02] [-1.28330828e-02 6.51519177e-05 -9.99917651e-01 -8.05696761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.140385723 meters 0.013798797880776406 Centerline is valid? [True, True] Translation: X:-135.17, Y:-288.60, Z:-8.06 [[ 6.42261785e-01 -7.66446105e-01 -7.75680586e-03 -1.35174228e+02] [-7.66391661e-01 -6.42308619e-01 9.13565166e-03 -2.88604268e+02] [-1.19842479e-02 7.72713870e-05 -9.99928183e-01 -8.05718470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.170385723 meters 0.013812731382398536 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.70, Z:-8.06 [[ 6.98409791e-01 -7.15654215e-01 -7.92517025e-03 -1.35121535e+02] [-7.15609473e-01 -6.98454750e-01 8.00282829e-03 -2.88703813e+02] [-1.12626306e-02 8.20732663e-05 -9.99936571e-01 -8.05738795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.200385723 meters 0.014079081608328528 Centerline is valid? [True, True] Translation: X:-135.06, Y:-288.80, Z:-8.06 [[ 7.49683196e-01 -6.61752028e-01 -7.70447913e-03 -1.35059931e+02] [-6.61718369e-01 -7.49722779e-01 6.67500170e-03 -2.88797646e+02] [-1.01934194e-02 9.40587511e-05 -9.99948041e-01 -8.05710302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.230385723 meters 0.014201538859909725 Centerline is valid? [True, True] Translation: X:-135.07, Y:-288.81, Z:-8.06 [[ 7.98825668e-01 -6.01511901e-01 -7.80934436e-03 -1.35065625e+02] [-6.01484304e-01 -7.98863834e-01 5.76263712e-03 -2.88805034e+02] [-9.70489758e-03 9.38556109e-05 -9.99952902e-01 -8.05759943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.260385723 meters 0.014157523787307918 Centerline is valid? [True, True] Translation: X:-135.07, Y:-288.81, Z:-8.06 [[ 8.43391894e-01 -5.37240952e-01 -7.89131565e-03 -1.35072470e+02] [-5.37218432e-01 -8.43428806e-01 4.91993443e-03 -2.88813360e+02] [-9.29895320e-03 8.99274011e-05 -9.99956760e-01 -8.05781802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.290385723 meters 0.014155378134568589 Centerline is valid? [True, True] Translation: X:-135.08, Y:-288.82, Z:-8.06 [[ 8.83386860e-01 -4.68569378e-01 -8.39007763e-03 -1.35079934e+02] [-4.68549098e-01 -8.83426699e-01 4.36016877e-03 -2.88822474e+02] [-9.45506015e-03 7.94475042e-05 -9.99955297e-01 -8.05717165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.320385723 meters 0.01369681011080749 Centerline is valid? [True, True] Translation: X:-135.09, Y:-288.84, Z:-8.06 [[ 9.18504832e-01 -3.95317924e-01 -8.52126715e-03 -1.35087248e+02] [-3.95301422e-01 -9.18544357e-01 3.61243907e-03 -2.88836430e+02] [-9.25522377e-03 5.04262807e-05 -9.99957168e-01 -8.05626841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3503857229999 meters 0.013764115908388799 Centerline is valid? [True, True] Translation: X:-135.09, Y:-288.85, Z:-8.06 [[ 9.47130098e-01 -3.20723065e-01 -9.01623599e-03 -1.35093862e+02] [-3.20708896e-01 -9.47173012e-01 3.01489945e-03 -2.88848162e+02] [-9.50688318e-03 3.60850782e-05 -9.99954808e-01 -8.05569123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.380385723 meters 0.013657768699452568 Centerline is valid? [True, True] Translation: X:-135.10, Y:-288.86, Z:-8.05 [[ 9.70013069e-01 -2.42889998e-01 -8.89354639e-03 -1.35098425e+02] [-2.42879866e-01 -9.70053838e-01 2.21847160e-03 -2.88861451e+02] [-9.16606337e-03 8.11691337e-06 -9.99957991e-01 -8.05448630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.410385723 meters 0.013758551964418891 Centerline is valid? [True, True] Translation: X:-135.10, Y:-288.87, Z:-8.05 [[ 9.86258420e-01 -1.64939253e-01 -9.45367456e-03 -1.35104830e+02] [-1.64931640e-01 -9.86303728e-01 1.58470394e-03 -2.88870419e+02] [-9.58557434e-03 -3.71756076e-06 -9.99954057e-01 -8.05382715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.440385723 meters 0.013796137248123026 Centerline is valid? [True, True] Translation: X:-135.11, Y:-288.88, Z:-8.06 [[ 9.96292712e-01 -8.55207631e-02 -9.32908999e-03 -1.35110034e+02] [-8.55168308e-02 -9.96336388e-01 8.20329143e-04 -2.88879454e+02] [-9.36506700e-03 -1.94937352e-05 -9.99956147e-01 -8.05550582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4703857229999 meters 0.013772012351617288 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.89, Z:-8.06 [[ 9.99935826e-01 -6.52289772e-03 -9.26258602e-03 -1.35115179e+02] [-6.52237629e-03 -9.99978725e-01 8.65004477e-05 -2.88889491e+02] [-9.26295320e-03 -2.60808251e-05 -9.99957098e-01 -8.05510597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.500385723 meters 0.013892425640385623 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.90, Z:-8.05 [[ 9.97257720e-01 7.34731599e-02 -8.87329353e-03 -1.35119749e+02] [ 7.34706108e-02 -9.97297194e-01 -6.13352776e-04 -2.88901619e+02] [-8.89437571e-03 -4.02555038e-05 -9.99960444e-01 -8.05340800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.530385723 meters 0.013874776404502282 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.91, Z:-8.05 [[ 9.88319620e-01 1.52146950e-01 -8.69679249e-03 -1.35122268e+02] [ 1.52141479e-01 -9.88357882e-01 -1.29122047e-03 -2.88911283e+02] [-8.79199866e-03 -4.70043455e-05 -9.99961349e-01 -8.05363354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.560385723 meters 0.013975257319592465 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.92, Z:-8.05 [[ 9.73200561e-01 2.29794323e-01 -8.67394119e-03 -1.35124328e+02] [ 2.29785692e-01 -9.73239213e-01 -1.99242834e-03 -2.88921706e+02] [-8.89966843e-03 -5.41152000e-05 -9.99960396e-01 -8.05365221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5903857229999 meters 0.013920922762297772 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.93, Z:-8.05 [[ 9.52189104e-01 3.05387741e-01 -8.61608089e-03 -1.35125691e+02] [ 3.05375772e-01 -9.52228084e-01 -2.70440291e-03 -2.88931303e+02] [-9.03036570e-03 -5.60393672e-05 -9.99959224e-01 -8.05407963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.620385723 meters 0.013971366791386448 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.94, Z:-8.05 [[ 9.25390630e-01 3.78912477e-01 -8.80434895e-03 -1.35126717e+02] [ 3.78895921e-01 -9.25432510e-01 -3.54261096e-03 -2.88940237e+02] [-9.49017025e-03 -5.76329105e-05 -9.99954966e-01 -8.05394784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.650385723 meters 0.013936145110816584 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.95, Z:-8.05 [[ 8.93356321e-01 4.49276765e-01 -8.05434324e-03 -1.35126912e+02] [ 4.49258963e-01 -8.93392627e-01 -3.99962679e-03 -2.88948566e+02] [-8.99263026e-03 -4.53940239e-05 -9.99959565e-01 -8.05341557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.680385723 meters 0.013850272542719755 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.96, Z:-8.05 [[ 8.56091729e-01 5.16771955e-01 -7.32790189e-03 -1.35126080e+02] [ 5.16753350e-01 -8.56123090e-01 -4.38509645e-03 -2.88958154e+02] [-8.53968088e-03 -3.26730485e-05 -9.99963536e-01 -8.05350037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.710385723 meters 0.013827558132133374 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.96, Z:-8.05 [[ 8.15011676e-01 5.79408525e-01 -6.45984423e-03 -1.35126174e+02] [ 5.79390356e-01 -8.15037276e-01 -4.58851341e-03 -2.88964927e+02] [-7.92363763e-03 -3.07944280e-06 -9.99968608e-01 -8.05435769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.740385723 meters 0.013877413550952131 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.97, Z:-8.06 [[ 7.68345032e-01 6.40010778e-01 -5.66712503e-03 -1.35125698e+02] [ 6.39993263e-01 -7.68365931e-01 -4.73480219e-03 -2.88973415e+02] [-7.38475023e-03 1.10398945e-05 -9.99972732e-01 -8.05503822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.770385723 meters 0.01413005764899926 Centerline is valid? [True, True] Translation: X:-135.13, Y:-288.98, Z:-8.06 [[ 7.18662153e-01 6.95345023e-01 -4.47314299e-03 -1.35126506e+02] [ 6.95331256e-01 -7.18676073e-01 -4.37561780e-03 -2.88980517e+02] [-6.25730490e-03 3.42747733e-05 -9.99980422e-01 -8.05644564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.800385723 meters 0.01431239172693279 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.99, Z:-8.06 [[ 6.63504812e-01 7.48163000e-01 -3.67292080e-03 -1.35123873e+02] [ 7.48151187e-01 -6.63514977e-01 -4.20452658e-03 -2.88990371e+02] [-5.58270918e-03 4.18235633e-05 -9.99984416e-01 -8.05729675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.830385723 meters 0.01439930234195941 Centerline is valid? [True, True] Translation: X:-135.12, Y:-289.00, Z:-8.06 [[ 6.04312352e-01 7.96741870e-01 -2.99578650e-03 -1.35120542e+02] [ 7.96731697e-01 -6.04319775e-01 -4.02635076e-03 -2.88999747e+02] [-5.01837525e-03 4.63354319e-05 -9.99987407e-01 -8.05781951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.860385723 meters 0.014915392651032044 Centerline is valid? [True, True] Translation: X:-135.12, Y:-289.01, Z:-8.06 [[ 5.43189889e-01 8.39606755e-01 -2.28946528e-03 -1.35116269e+02] [ 8.39598862e-01 -5.43194711e-01 -3.64108875e-03 -2.89009747e+02] [-4.30070814e-03 5.55701510e-05 -9.99990750e-01 -8.05791408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.890385723 meters 0.016140822130553817 Centerline is valid? [True, True] Translation: X:-135.11, Y:-289.02, Z:-8.06 [[ 4.78168996e-01 8.78265874e-01 -1.86175190e-03 -1.35113821e+02] [ 8.78258699e-01 -4.78172616e-01 -3.55066950e-03 -2.89019623e+02] [-4.00867063e-03 6.27202662e-05 -9.99991963e-01 -8.05790318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.920385723 meters 0.01585602056308788 Centerline is valid? [True, True] Translation: X:-135.11, Y:-289.03, Z:-8.06 [[ 4.08826063e-01 9.12611003e-01 -1.55135631e-03 -1.35107861e+02] [ 9.12603812e-01 -4.08829002e-01 -3.62362878e-03 -2.89029946e+02] [-3.94120295e-03 6.56602081e-05 -9.99992231e-01 -8.05837848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.950385723 meters 0.0157613107895108 Centerline is valid? [True, True] Translation: X:-135.10, Y:-289.04, Z:-8.06 [[ 3.36885650e-01 9.41544646e-01 -1.31877986e-03 -1.35099064e+02] [ 9.41536574e-01 -3.36888223e-01 -3.89930553e-03 -2.89040459e+02] [-4.11565164e-03 7.19406078e-05 -9.99991528e-01 -8.05826774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.980385723 meters 0.01578016072671864 Centerline is valid? [True, True] Translation: X:-135.09, Y:-289.05, Z:-8.06 [[ 2.62959039e-01 9.64806241e-01 -1.20894410e-03 -1.35087552e+02] [ 9.64794402e-01 -2.62961803e-01 -4.78050142e-03 -2.89051064e+02] [-4.93016373e-03 9.06935588e-05 -9.99987843e-01 -8.05759681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.010385723 meters 0.015736137242958737 Centerline is valid? [True, True] Translation: X:-135.08, Y:-289.06, Z:-8.06 [[ 1.86724335e-01 9.82411990e-01 -8.39354054e-04 -1.35075488e+02] [ 9.82399720e-01 -1.86726199e-01 -4.91080205e-03 -2.89060148e+02] [-4.98116021e-03 9.23850607e-05 -9.99987590e-01 -8.05745013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.040385723 meters 0.015868445684273765 Centerline is valid? [True, True] Translation: X:-135.06, Y:-289.07, Z:-8.06 [[ 1.08002889e-01 9.94150444e-01 -5.21076003e-04 -1.35063610e+02] [ 9.94133994e-01 -1.08004100e-01 -5.71992601e-03 -2.89069045e+02] [-5.74274532e-03 9.97491645e-05 -9.99983505e-01 -8.05742915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.070385723 meters 0.016256228058552355 Centerline is valid? [True, True] Translation: X:-135.05, Y:-289.08, Z:-8.06 [[ 2.87294950e-02 9.99587220e-01 -7.54376010e-05 -1.35054679e+02] [ 9.99568702e-01 -2.87294220e-02 -6.08522824e-03 -2.89077560e+02] [-6.08488366e-03 9.94204691e-05 -9.99981482e-01 -8.05700290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1003857229999 meters 0.015357685916630654 Centerline is valid? [True, True] Translation: X:-135.04, Y:-289.08, Z:-8.06 [[-5.18329417e-02 9.98655696e-01 3.84230496e-04 -1.35041098e+02] [ 9.98638788e-01 5.18343002e-02 -5.81168746e-03 -2.89083582e+02] [-5.82379110e-03 8.24706197e-05 -9.99983038e-01 -8.05812195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.130385723 meters 0.01504609823926854 Centerline is valid? [True, True] Translation: X:-135.03, Y:-289.09, Z:-8.06 [[-1.31318850e-01 9.91339840e-01 8.25525546e-04 -1.35028003e+02] [ 9.91323583e-01 1.31321425e-01 -5.67777931e-03 -2.89088135e+02] [-5.73701802e-03 7.27634920e-05 -9.99983541e-01 -8.05840412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.160385723 meters 0.014959848301550378 Centerline is valid? [True, True] Translation: X:-135.02, Y:-289.09, Z:-8.06 [[-2.09473806e-01 9.77813511e-01 1.20904801e-03 -1.35015440e+02] [ 9.77798950e-01 2.09477285e-01 -5.33673689e-03 -2.89092006e+02] [-5.47160154e-03 6.42992901e-05 -9.99985029e-01 -8.05838685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.190385723 meters 0.014959848301550378 Centerline is valid? [True, True] Translation: X:-135.00, Y:-289.10, Z:-8.06 [[-2.85426656e-01 9.58399180e-01 1.62337921e-03 -1.35004486e+02] [ 9.58384936e-01 2.85431266e-01 -5.22557974e-03 -2.89095896e+02] [-5.47155452e-03 6.43024284e-05 -9.99985029e-01 -8.05838725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2203857229999 meters 0.014653489115210968 Centerline is valid? [True, True] Translation: X:-134.99, Y:-289.10, Z:-8.06 [[-3.61452213e-01 9.32389167e-01 1.65539812e-03 -1.34990421e+02] [ 9.32379935e-01 3.61456001e-01 -4.14935010e-03 -2.89098242e+02] [-4.46716266e-03 4.36682188e-05 -9.99990021e-01 -8.05898752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.250385723 meters 0.014317612773545015 Centerline is valid? [True, True] Translation: X:-134.98, Y:-289.10, Z:-8.06 [[-4.35283966e-01 9.00291610e-01 1.69896676e-03 -1.34977556e+02] [ 9.00285012e-01 4.35287280e-01 -3.44686132e-03 -2.89100319e+02] [-3.84271895e-03 2.91908463e-05 -9.99992616e-01 -8.05987648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.280385723 meters 0.014225101075805146 Centerline is valid? [True, True] Translation: X:-134.97, Y:-289.10, Z:-8.06 [[-5.05168757e-01 8.63018761e-01 1.77327721e-03 -1.34966988e+02] [ 8.63013607e-01 5.05171869e-01 -2.98290353e-03 -2.89100369e+02] [-3.47011148e-03 2.34926952e-05 -9.99993979e-01 -8.06033924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.310385723 meters 0.013933439922180185 Centerline is valid? [True, True] Translation: X:-134.95, Y:-289.10, Z:-8.06 [[-5.72209673e-01 8.20105864e-01 1.56907799e-03 -1.34952970e+02] [ 8.20102852e-01 5.72211824e-01 -2.22277701e-03 -2.89097680e+02] [-2.72075744e-03 1.49108296e-05 -9.99996299e-01 -8.06168099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3403857229999 meters 0.01399235610623796 Centerline is valid? [True, True] Translation: X:-134.94, Y:-289.10, Z:-8.06 [[-6.34761745e-01 7.72706918e-01 1.24361116e-03 -1.34940957e+02] [ 7.72705466e-01 6.34762963e-01 -1.49782941e-03 -2.89095875e+02] [-1.94678145e-03 1.01803264e-05 -9.99998105e-01 -8.06214925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.370385723 meters 0.013928642736781432 Centerline is valid? [True, True] Translation: X:-134.93, Y:-289.09, Z:-8.06 [[-6.93272955e-01 7.20674041e-01 1.23931203e-03 -1.34928887e+02] [ 7.20672914e-01 6.93274063e-01 -1.27490818e-03 -2.89091064e+02] [-1.77797612e-03 9.27925449e-06 -9.99998419e-01 -8.06233618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.400385723 meters 0.013826762349019497 Centerline is valid? [True, True] Translation: X:-134.92, Y:-289.08, Z:-8.06 [[-7.47528517e-01 6.64228508e-01 1.26700834e-03 -1.34916401e+02] [ 6.64227574e-01 7.47529591e-01 -1.11399431e-03 -2.89084329e+02] [-1.68707300e-03 8.83935970e-06 -9.99998577e-01 -8.06251670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.430385723 meters 0.013976704620472869 Centerline is valid? [True, True] Translation: X:-134.42, Y:-288.51, Z:-9.01 [[-7.09580933e-01 -7.04621212e-01 1.96150711e-03 -1.34415598e+02] [ 7.04618697e-01 -7.09583642e-01 -1.88337243e-03 -2.88514382e+02] [ 2.71891753e-03 4.57094181e-05 9.99996303e-01 -9.01041702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.460385723 meters 0.013958825301798752 Centerline is valid? [True, True] Translation: X:-134.44, Y:-288.50, Z:-9.01 [[-7.09626643e-01 -7.04573227e-01 2.56804621e-03 -1.34435390e+02] [ 7.04568507e-01 -7.09631290e-01 -2.57900621e-03 -2.88495796e+02] [ 3.63946467e-03 -2.07670289e-05 9.99993377e-01 -9.01058820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.490385723 meters 0.013964870316522425 Centerline is valid? [True, True] Translation: X:-134.46, Y:-288.48, Z:-9.01 [[-7.09933260e-01 -7.04262401e-01 3.03922998e-03 -1.34455759e+02] [ 7.04255795e-01 -7.09939765e-01 -3.05051419e-03 -2.88476196e+02] [ 4.30603266e-03 -2.52661621e-05 9.99990729e-01 -9.01098430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.520385723 meters 0.01396780599145833 Centerline is valid? [True, True] Translation: X:-134.48, Y:-288.46, Z:-9.01 [[-7.10724270e-01 -7.03461444e-01 3.60678742e-03 -1.34476823e+02] [ 7.03452140e-01 -7.10733421e-01 -3.61818337e-03 -2.88457161e+02] [ 5.10871686e-03 -3.43284079e-05 9.99986950e-01 -9.01193239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.550385723 meters 0.01425156320568409 Centerline is valid? [True, True] Translation: X:-134.50, Y:-288.44, Z:-9.01 [[-7.12542835e-01 -7.01613852e-01 4.55091994e-03 -1.34497278e+02] [ 7.01599018e-01 -7.12557366e-01 -4.56278175e-03 -2.88437420e+02] [ 6.44410241e-03 -5.82564900e-05 9.99979235e-01 -9.01305227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.580385723 meters 0.014734093348163925 Centerline is valid? [True, True] Translation: X:-134.52, Y:-288.42, Z:-9.01 [[-7.13993620e-01 -7.00136601e-01 4.67442121e-03 -1.34515526e+02] [ 7.00120937e-01 -7.14008918e-01 -4.68387948e-03 -2.88417359e+02] [ 6.61693389e-03 -7.15999073e-05 9.99978105e-01 -9.01375724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.610385723 meters 0.015038779372057817 Centerline is valid? [True, True] Translation: X:-134.53, Y:-288.40, Z:-9.01 [[-7.15747703e-01 -6.98341070e-01 4.99755031e-03 -1.34534721e+02] [ 6.98323141e-01 -7.15765144e-01 -5.00495887e-03 -2.88397343e+02] [ 7.07224065e-03 -9.23827866e-05 9.99974987e-01 -9.01361866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.640385723 meters 0.015692369046687204 Centerline is valid? [True, True] Translation: X:-134.55, Y:-288.38, Z:-9.01 [[-7.19535096e-01 -6.94439155e-01 4.84832814e-03 -1.34553147e+02] [ 6.94422210e-01 -7.19551419e-01 -4.85284381e-03 -2.88376398e+02] [ 6.85862615e-03 -1.25004697e-04 9.99976472e-01 -9.01237738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.670385723 meters 0.016247348462819198 Centerline is valid? [True, True] Translation: X:-134.57, Y:-288.36, Z:-9.01 [[-7.21537775e-01 -6.92358440e-01 4.79883561e-03 -1.34572381e+02] [ 6.92341811e-01 -7.21553719e-01 -4.80068729e-03 -2.88355387e+02] [ 6.78641405e-03 -1.41442686e-04 9.99976962e-01 -9.01194217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.700385723 meters 0.017861323456111307 Centerline is valid? [True, True] Translation: X:-134.59, Y:-288.34, Z:-9.01 [[-7.24983003e-01 -6.88751301e-01 4.61430139e-03 -1.34591112e+02] [ 6.88735870e-01 -7.24997668e-01 -4.61340765e-03 -2.88335531e+02] [ 6.52284826e-03 -1.66607253e-04 9.99978712e-01 -9.01282787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.730385723 meters 0.017850407574405796 Centerline is valid? [True, True] Translation: X:-135.12, Y:-288.88, Z:-8.06 [[-7.37425688e-01 6.75407731e-01 5.26797330e-03 -1.35122898e+02] [ 6.75392292e-01 7.37444480e-01 -4.57064745e-03 -2.88880913e+02] [-6.97188845e-03 1.87435715e-04 -9.99975679e-01 -8.05831958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.760385723 meters 0.018057925242702572 Centerline is valid? [True, True] Translation: X:-134.62, Y:-288.31, Z:-9.01 [[-7.29083325e-01 -6.84406456e-01 5.03080064e-03 -1.34623751e+02] [ 6.84388397e-01 -7.29100658e-01 -4.97514458e-03 -2.88314731e+02] [ 7.07298113e-03 -1.84273366e-04 9.99974969e-01 -9.01369782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.790385723 meters 0.01903712794570089 Centerline is valid? [True, True] Translation: X:-134.65, Y:-288.34, Z:-9.01 [[-6.81216600e-01 -7.32068678e-01 4.40402125e-03 -1.34646632e+02] [ 7.32051583e-01 -6.81230810e-01 -5.00626269e-03 -2.88336070e+02] [ 6.66508307e-03 -1.86378525e-04 9.99977771e-01 -9.01366677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.820385723 meters 0.018787776704295864 Centerline is valid? [True, True] Translation: X:-134.67, Y:-288.32, Z:-9.01 [[-6.81000123e-01 -7.32270056e-01 4.40423272e-03 -1.34666281e+02] [ 7.32252995e-01 -6.81014340e-01 -5.00192357e-03 -2.88317411e+02] [ 6.66210449e-03 -1.81297969e-04 9.99977792e-01 -9.01330253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8503857229999 meters 0.01692237592625059 Centerline is valid? [True, True] Translation: X:-134.69, Y:-288.30, Z:-9.01 [[-6.79873819e-01 -7.33313591e-01 4.77155100e-03 -1.34691199e+02] [ 7.33293613e-01 -6.79890538e-01 -5.41607874e-03 -2.88301397e+02] [ 7.21581652e-03 -1.83302267e-04 9.99973949e-01 -9.01254552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.880385723 meters 0.01752682634747964 Centerline is valid? [True, True] Translation: X:-134.71, Y:-288.28, Z:-9.01 [[-6.79218583e-01 -7.33917977e-01 5.14984708e-03 -1.34709513e+02] [ 7.33894748e-01 -6.79238079e-01 -5.84216428e-03 -2.88281549e+02] [ 7.78564163e-03 -1.88660816e-04 9.99969674e-01 -9.01297928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.910385723 meters 0.016135149228018546 Centerline is valid? [True, True] Translation: X:-134.73, Y:-288.26, Z:-9.01 [[-6.77424084e-01 -7.35572500e-01 5.45040373e-03 -1.34732949e+02] [ 7.35546563e-01 -6.77445987e-01 -6.17968827e-03 -2.88264932e+02] [ 8.23796288e-03 -1.77243939e-04 9.99966052e-01 -9.01245342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.940385723 meters 0.015937790037303695 Centerline is valid? [True, True] Translation: X:-134.75, Y:-288.25, Z:-9.01 [[-6.76478530e-01 -7.36441885e-01 5.49080046e-03 -1.34753387e+02] [ 7.36415619e-01 -6.76500793e-01 -6.22205366e-03 -2.88245526e+02] [ 8.29671179e-03 -1.65574493e-04 9.99965568e-01 -9.01234449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9703857229999 meters 0.015376550402467035 Centerline is valid? [True, True] Translation: X:-134.78, Y:-288.23, Z:-9.01 [[-6.74667701e-01 -7.38104366e-01 5.04352230e-03 -1.34776192e+02] [ 7.38082275e-01 -6.74686540e-01 -5.71206073e-03 -2.88228040e+02] [ 7.61889358e-03 -1.31208471e-04 9.99970967e-01 -9.01212833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.000385723 meters 0.015140196615628411 Centerline is valid? [True, True] Translation: X:-134.80, Y:-288.21, Z:-9.01 [[-6.73890474e-01 -7.38814057e-01 5.04166354e-03 -1.34796919e+02] [ 7.38792026e-01 -6.73909322e-01 -5.70680726e-03 -2.88208593e+02] [ 7.61389348e-03 -1.21022235e-04 9.99971007e-01 -9.01226149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.030385723 meters 0.014940859797844704 Centerline is valid? [True, True] Translation: X:-134.82, Y:-288.19, Z:-9.01 [[-6.72917716e-01 -7.39699034e-01 5.20451536e-03 -1.34817623e+02] [ 7.39675608e-01 -6.72937833e-01 -5.88790980e-03 -2.88189013e+02] [ 7.85759648e-03 -1.12425748e-04 9.99969122e-01 -9.01212393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.060385723 meters 0.014707165585256756 Centerline is valid? [True, True] Translation: X:-134.84, Y:-288.17, Z:-9.01 [[-6.71430485e-01 -7.41047504e-01 5.44982722e-03 -1.34838100e+02] [ 7.41021894e-01 -6.71452595e-01 -6.16165304e-03 -2.88171457e+02] [ 8.22537824e-03 -9.86804004e-05 9.99966166e-01 -9.01216311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0903857229999 meters 0.014712036166454891 Centerline is valid? [True, True] Translation: X:-134.86, Y:-288.15, Z:-9.01 [[-6.70828336e-01 -7.41593583e-01 5.31990913e-03 -1.34856645e+02] [ 7.41569227e-01 -6.70849425e-01 -6.01090532e-03 -2.88153052e+02] [ 8.02650679e-03 -8.72047123e-05 9.99967783e-01 -9.01198396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.120385723 meters 0.014705519479331724 Centerline is valid? [True, True] Translation: X:-134.88, Y:-288.13, Z:-9.01 [[-6.70808820e-01 -7.41611903e-01 5.22622838e-03 -1.34875784e+02] [ 7.41588426e-01 -6.70829173e-01 -5.90148185e-03 -2.88133693e+02] [ 7.88251565e-03 -8.30555956e-05 9.99968929e-01 -9.01197182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.150385723 meters 0.014748198584653845 Centerline is valid? [True, True] Translation: X:-134.89, Y:-288.12, Z:-9.01 [[-6.70676359e-01 -7.41732064e-01 5.17368794e-03 -1.34894743e+02] [ 7.41709089e-01 -6.70696309e-01 -5.83844944e-03 -2.88115304e+02] [ 7.80053856e-03 -7.83386413e-05 9.99969572e-01 -9.01285999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.180385723 meters 0.014389317708850586 Centerline is valid? [True, True] Translation: X:-134.91, Y:-288.10, Z:-9.01 [[-6.70529810e-01 -7.41863740e-01 5.28832664e-03 -1.34914242e+02] [ 7.41839769e-01 -6.70550659e-01 -5.96414317e-03 -2.88096098e+02] [ 7.97067247e-03 -7.60447685e-05 9.99968231e-01 -9.01196183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.210385723 meters 0.016122052097236064 Centerline is valid? [True, True] Translation: X:-134.93, Y:-288.08, Z:-9.01 [[-6.70733955e-01 -7.41676370e-01 5.66784807e-03 -1.34932001e+02] [ 7.41648864e-01 -6.70757897e-01 -6.38804352e-03 -2.88077257e+02] [ 8.53961478e-03 -8.11246165e-05 9.99963534e-01 -9.01353700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.240385723 meters 0.014299702607318164 Centerline is valid? [True, True] Translation: X:-134.95, Y:-288.06, Z:-9.01 [[-6.69886112e-01 -7.42445565e-01 5.21338817e-03 -1.34951682e+02] [ 7.42422345e-01 -6.69906396e-01 -5.87222783e-03 -2.88058120e+02] [ 7.85229159e-03 -6.31880014e-05 9.99969168e-01 -9.01144136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.270385723 meters 0.014118241321710995 Centerline is valid? [True, True] Translation: X:-134.97, Y:-288.04, Z:-9.01 [[-6.69413171e-01 -7.42873943e-01 4.93063848e-03 -1.34971140e+02] [ 7.42853210e-01 -6.69431328e-01 -5.55032934e-03 -2.88038509e+02] [ 7.42391890e-03 -5.27229373e-05 9.99972441e-01 -9.01153991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.300385723 meters 0.0159454239801519 Centerline is valid? [True, True] Translation: X:-134.99, Y:-288.02, Z:-9.01 [[-6.69779139e-01 -7.42540318e-01 5.45719800e-03 -1.34989767e+02] [ 7.42514940e-01 -6.69801368e-01 -6.13928760e-03 -2.88018605e+02] [ 8.21390726e-03 -5.99157219e-05 9.99966264e-01 -9.01345809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.330385723 meters 0.014110181159802514 Centerline is valid? [True, True] Translation: X:-135.01, Y:-288.00, Z:-9.01 [[-6.69194986e-01 -7.43068226e-01 5.26138625e-03 -1.35007615e+02] [ 7.43044675e-01 -6.69215667e-01 -5.91619038e-03 -2.87998793e+02] [ 7.91713520e-03 -4.96399091e-05 9.99968658e-01 -9.01253961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.360385723 meters 0.013896837761338416 Centerline is valid? [True, True] Translation: X:-135.03, Y:-287.98, Z:-9.01 [[-6.69091651e-01 -7.43158259e-01 5.67146345e-03 -1.35026689e+02] [ 7.43130928e-01 -6.69115685e-01 -6.37373280e-03 -2.87977622e+02] [ 8.53155732e-03 -4.99715070e-05 9.99963604e-01 -9.01271902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.390385723 meters 0.01415784354918961 Centerline is valid? [True, True] Translation: X:-135.04, Y:-287.96, Z:-9.01 [[-6.69095579e-01 -7.43154041e-01 5.76005933e-03 -1.35043485e+02] [ 7.43125882e-01 -6.69120370e-01 -6.46948003e-03 -2.87956777e+02] [ 8.66199325e-03 -4.82513151e-05 9.99962483e-01 -9.01493845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.420385723 meters 0.013722014245007746 Centerline is valid? [True, True] Translation: X:-135.06, Y:-287.94, Z:-9.01 [[-6.68984553e-01 -7.43251208e-01 6.10809115e-03 -1.35062750e+02] [ 7.43219583e-01 -6.69012436e-01 -6.85655332e-03 -2.87935942e+02] [ 9.18253048e-03 -4.72753005e-05 9.99957839e-01 -9.01303978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.450385723 meters 0.01379692663828062 Centerline is valid? [True, True] Translation: X:-135.08, Y:-287.91, Z:-9.01 [[-6.69040134e-01 -7.43193142e-01 7.01809953e-03 -1.35080259e+02] [ 7.43151434e-01 -6.69076940e-01 -7.87364913e-03 -2.87913447e+02] [ 1.05472906e-02 -5.22765399e-05 9.99944375e-01 -9.01390551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.480385723 meters 0.013778686841489241 Centerline is valid? [True, True] Translation: X:-135.10, Y:-287.89, Z:-9.01 [[-6.69202132e-01 -7.43040615e-01 7.69100553e-03 -1.35097489e+02] [ 7.42990575e-01 -6.69246323e-01 -8.62347333e-03 -2.87892399e+02] [ 1.15547681e-02 -5.65021149e-05 9.99933240e-01 -9.01460500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.510385723 meters 0.01376414378482735 Centerline is valid? [True, True] Translation: X:-135.12, Y:-287.87, Z:-9.01 [[-6.69314297e-01 -7.42938501e-01 7.79460671e-03 -1.35115300e+02] [ 7.42887153e-01 -6.69359680e-01 -8.73479639e-03 -2.87871105e+02] [ 1.17068120e-02 -5.58109190e-05 9.99931471e-01 -9.01464813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.540385723 meters 0.01375721450400482 Centerline is valid? [True, True] Translation: X:-135.13, Y:-287.85, Z:-9.02 [[-6.68903770e-01 -7.43299241e-01 8.60144925e-03 -1.35132164e+02] [ 7.43236812e-01 -6.68959069e-01 -9.63357736e-03 -2.87849031e+02] [ 1.29146482e-02 -5.10224928e-05 9.99916601e-01 -9.01500968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.570385723 meters 0.013810649035551764 Centerline is valid? [True, True] Translation: X:-135.15, Y:-287.83, Z:-9.02 [[-6.68836849e-01 -7.43358814e-01 8.65699534e-03 -1.35149939e+02] [ 7.43295651e-01 -6.68892870e-01 -9.69039597e-03 -2.87827915e+02] [ 1.29940437e-02 -4.65869285e-05 9.99915573e-01 -9.01546436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6003857229999 meters 0.013703618630707685 Centerline is valid? [True, True] Translation: X:-135.17, Y:-287.81, Z:-9.02 [[-6.69141584e-01 -7.43082660e-01 8.81477647e-03 -1.35166114e+02] [ 7.43017226e-01 -6.69199640e-01 -9.86122668e-03 -2.87806037e+02] [ 1.32265518e-02 -4.90260805e-05 9.99912524e-01 -9.01617910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.630385723 meters 0.013668854824009086 Centerline is valid? [True, True] Translation: X:-135.18, Y:-287.78, Z:-9.02 [[-6.69481990e-01 -7.42779634e-01 8.50182683e-03 -1.35181072e+02] [ 7.42718818e-01 -6.69535969e-01 -9.50496478e-03 -2.87784236e+02] [ 1.27523731e-02 -4.89359648e-05 9.99918684e-01 -9.01678983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.660385723 meters 0.013683887076589307 Centerline is valid? [True, True] Translation: X:-135.20, Y:-287.76, Z:-9.02 [[-6.69757763e-01 -7.42531159e-01 8.48630724e-03 -1.35197985e+02] [ 7.42470617e-01 -6.69811522e-01 -9.48192574e-03 -2.87762931e+02] [ 1.27248517e-02 -4.97595919e-05 9.99919035e-01 -9.01650937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.690385723 meters 0.01366806174660936 Centerline is valid? [True, True] Translation: X:-135.21, Y:-287.74, Z:-9.02 [[-6.69812055e-01 -7.42481865e-01 8.51419454e-03 -1.35214443e+02] [ 7.42420993e-01 -6.69866164e-01 -9.50741965e-03 -2.87741689e+02] [ 1.27624575e-02 -4.70675193e-05 9.99918556e-01 -9.01617990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7203857229999 meters 0.013504140346644437 Centerline is valid? [True, True] Translation: X:-135.23, Y:-287.72, Z:-9.01 [[-6.69517868e-01 -7.42751252e-01 8.14868619e-03 -1.35230437e+02] [ 7.42695583e-01 -6.69567454e-01 -9.09369551e-03 -2.87718792e+02] [ 1.22104488e-02 -3.63983950e-05 9.99925449e-01 -9.01439115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.750385723 meters 0.013514264528780268 Centerline is valid? [True, True] Translation: X:-135.25, Y:-287.70, Z:-9.01 [[-6.69407202e-01 -7.42857036e-01 7.57773928e-03 -1.35247238e+02] [ 7.42808960e-01 -6.69450090e-01 -8.45131716e-03 -2.87697141e+02] [ 1.13510387e-02 -2.85599431e-05 9.99935575e-01 -9.01340967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.780385723 meters 0.013379768739767584 Centerline is valid? [True, True] Translation: X:-135.26, Y:-287.67, Z:-9.01 [[-6.68467552e-01 -7.43711173e-01 6.69508169e-03 -1.35263367e+02] [ 7.43673727e-01 -6.68501078e-01 -7.46302305e-03 -2.87673212e+02] [ 1.00260029e-02 -9.83239446e-06 9.99949738e-01 -9.01176089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.810385723 meters 0.013333504780698915 Centerline is valid? [True, True] Translation: X:-135.28, Y:-287.65, Z:-9.01 [[-6.67940564e-01 -7.44185098e-01 6.62897437e-03 -1.35280539e+02] [ 7.44148454e-01 -6.67973458e-01 -7.38499969e-03 -2.87651734e+02] [ 9.92378565e-03 2.00180519e-07 9.99950758e-01 -9.01171496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8403857229999 meters 0.013340525421427083 Centerline is valid? [True, True] Translation: X:-135.30, Y:-287.63, Z:-9.01 [[-6.66452031e-01 -7.45515269e-01 6.97665790e-03 -1.35296516e+02] [ 7.45474803e-01 -6.66488547e-01 -7.76758001e-03 -2.87629553e+02] [ 1.04407121e-02 2.42031935e-05 9.99945494e-01 -9.01250673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.870385723 meters 0.014315907263878722 Centerline is valid? [True, True] Translation: X:-135.31, Y:-287.61, Z:-9.01 [[-6.65952479e-01 -7.45953853e-01 7.75533185e-03 -1.35313913e+02] [ 7.45903935e-01 -6.65997633e-01 -8.62970558e-03 -2.87607677e+02] [ 1.16023948e-02 3.77587217e-05 9.99932689e-01 -9.01312398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.900385723 meters 0.013608633998535983 Centerline is valid? [True, True] Translation: X:-135.33, Y:-287.58, Z:-9.01 [[-6.63910957e-01 -7.47767791e-01 8.09765653e-03 -1.35330376e+02] [ 7.47713564e-01 -6.63960334e-01 -9.00562569e-03 -2.87584201e+02] [ 1.21106396e-02 7.57940609e-05 9.99926661e-01 -9.01322127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.930385723 meters 0.017715726114335386 Centerline is valid? [True, True] Translation: X:-135.35, Y:-287.56, Z:-9.02 [[-6.63703579e-01 -7.47942144e-01 8.95040075e-03 -1.35348023e+02] [ 7.47875984e-01 -6.63763920e-01 -9.94844325e-03 -2.87561853e+02] [ 1.33818131e-02 9.09723749e-05 9.99910456e-01 -9.01575966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.960385723 meters 0.013810957057118621 Centerline is valid? [True, True] Translation: X:-135.37, Y:-287.54, Z:-9.01 [[-6.62855224e-01 -7.48705194e-01 7.96772357e-03 -1.35365035e+02] [ 7.48652885e-01 -6.62903102e-01 -8.85070026e-03 -2.87540011e+02] [ 1.19083939e-02 9.83263351e-05 9.99929088e-01 -9.01274112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.990385723 meters 0.014030806816029476 Centerline is valid? [True, True] Translation: X:-135.38, Y:-287.52, Z:-9.01 [[-6.62658483e-01 -7.48880902e-01 7.81862091e-03 -1.35379247e+02] [ 7.48830607e-01 -6.62704598e-01 -8.67970696e-03 -2.87516005e+02] [ 1.16815028e-02 1.03141203e-04 9.99931764e-01 -9.01225391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.020385723 meters 0.013894145340986049 Centerline is valid? [True, True] Translation: X:-135.40, Y:-287.49, Z:-9.01 [[-6.62913150e-01 -7.48654015e-01 7.95743389e-03 -1.35395499e+02] [ 7.48601961e-01 -6.62960900e-01 -8.82886756e-03 -2.87492582e+02] [ 1.18852347e-02 1.04178213e-04 9.99929363e-01 -9.01133091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.050385723 meters 0.013918064290872913 Centerline is valid? [True, True] Translation: X:-135.41, Y:-287.47, Z:-9.01 [[-6.63857727e-01 -7.47814385e-01 8.15870716e-03 -1.35409185e+02] [ 7.47759665e-01 -6.63907853e-01 -9.04685253e-03 -2.87467785e+02] [ 1.21819962e-02 9.49291799e-05 9.99925792e-01 -9.01116009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.080385723 meters 0.013918064290872913 Centerline is valid? [True, True] Translation: X:-135.43, Y:-287.45, Z:-9.01 [[-6.64063845e-01 -7.47631329e-01 8.16120065e-03 -1.35427714e+02] [ 7.47576624e-01 -6.64113986e-01 -9.04460321e-03 -2.87447333e+02] [ 1.21819962e-02 9.49288348e-05 9.99925792e-01 -9.01116064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.110385723 meters 0.014139640773691039 Centerline is valid? [True, True] Translation: X:-135.44, Y:-287.43, Z:-9.01 [[-6.64698236e-01 -7.47069236e-01 7.98818807e-03 -1.35443752e+02] [ 7.47016854e-01 -6.64746229e-01 -8.84708200e-03 -2.87426188e+02] [ 1.19195007e-02 8.66713182e-05 9.99928957e-01 -9.01210904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.140385723 meters 0.01402532580199161 Centerline is valid? [True, True] Translation: X:-135.46, Y:-287.40, Z:-9.01 [[-6.65318199e-01 -7.46517015e-01 8.00251630e-03 -1.35459649e+02] [ 7.46464471e-01 -6.65366320e-01 -8.85745876e-03 -2.87403565e+02] [ 1.19368485e-02 8.05655896e-05 9.99928750e-01 -9.01140414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.170385723 meters 0.014073709989326806 Centerline is valid? [True, True] Translation: X:-135.47, Y:-287.38, Z:-9.01 [[-6.66162384e-01 -7.45752017e-01 9.03367344e-03 -1.35473654e+02] [ 7.45685063e-01 -6.66223628e-01 -9.99323390e-03 -2.87378680e+02] [ 1.34709210e-02 7.91588263e-05 9.99909260e-01 -9.01199983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.200385723 meters 0.014156817110309122 Centerline is valid? [True, True] Translation: X:-135.49, Y:-287.36, Z:-9.01 [[-6.66514440e-01 -7.45432168e-01 9.45428771e-03 -1.35490390e+02] [ 7.45358893e-01 -6.66581485e-01 -1.04519970e-02 -2.87357371e+02] [ 1.40933079e-02 8.04305067e-05 9.99900681e-01 -9.01195886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.230385723 meters 0.014455351450621786 Centerline is valid? [True, True] Translation: X:-135.51, Y:-287.34, Z:-9.01 [[-6.64919787e-01 -7.46856545e-01 9.32617702e-03 -1.35509891e+02] [ 7.46785476e-01 -6.64985179e-01 -1.03036458e-02 -2.87339772e+02] [ 1.38971148e-02 1.13555566e-04 9.99903424e-01 -9.01178903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.260385723 meters 0.014406474956403298 Centerline is valid? [True, True] Translation: X:-135.53, Y:-287.32, Z:-9.01 [[-6.65102998e-01 -7.46687515e-01 9.78552313e-03 -1.35529230e+02] [ 7.46609343e-01 -6.65174970e-01 -1.08050674e-02 -2.87319784e+02] [ 1.45770940e-02 1.19480266e-04 9.99893741e-01 -9.01190835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.290385723 meters 0.01451058317350715 Centerline is valid? [True, True] Translation: X:-135.55, Y:-287.30, Z:-9.01 [[-6.66282744e-01 -7.45618583e-01 1.09650932e-02 -1.35549882e+02] [ 7.45520400e-01 -6.66372955e-01 -1.21003428e-02 -2.87301541e+02] [ 1.63290821e-02 1.12451069e-04 9.99866665e-01 -9.01408392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.320385723 meters 0.016872665412209855 Centerline is valid? [True, True] Translation: X:-135.57, Y:-287.28, Z:-9.02 [[-6.67866859e-01 -7.44185065e-01 1.19351356e-02 -1.35568778e+02] [ 7.44068656e-01 -6.67973488e-01 -1.31626234e-02 -2.87282461e+02] [ 1.77677819e-02 8.96803418e-05 9.99842137e-01 -9.01645748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3503857229999 meters 0.01431418032639343 Centerline is valid? [True, True] Translation: X:-135.59, Y:-287.26, Z:-9.01 [[-6.70644257e-01 -7.41699769e-01 1.08505264e-02 -1.35585708e+02] [ 7.41603308e-01 -6.70732027e-01 -1.19616520e-02 -2.87261234e+02] [ 1.61497501e-02 2.47730713e-05 9.99869584e-01 -9.01392243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.380385723 meters 0.014254722354067296 Centerline is valid? [True, True] Translation: X:-135.60, Y:-287.24, Z:-9.01 [[-6.72491326e-01 -7.40031677e-01 1.04179239e-02 -1.35602879e+02] [ 7.39942665e-01 -6.72572016e-01 -1.14776079e-02 -2.87239347e+02] [ 1.55005975e-02 -9.92542300e-06 9.99879859e-01 -9.01196697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.410385723 meters 0.014290411577957093 Centerline is valid? [True, True] Translation: X:-135.62, Y:-287.22, Z:-9.01 [[-6.74068867e-01 -7.38596395e-01 1.03212806e-02 -1.35619797e+02] [ 7.38508973e-01 -6.74147880e-01 -1.13636738e-02 -2.87218901e+02] [ 1.53512380e-02 -3.75403721e-05 9.99882162e-01 -9.01124675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.440385723 meters 0.014513644730345457 Centerline is valid? [True, True] Translation: X:-135.64, Y:-287.20, Z:-9.01 [[-6.76975588e-01 -7.35933237e-01 1.03113362e-02 -1.35637631e+02] [ 7.35845780e-01 -6.77054105e-01 -1.13457671e-02 -2.87198003e+02] [ 1.53310597e-02 -9.32541074e-05 9.99882468e-01 -9.01224039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4703857229999 meters 0.01497138258084424 Centerline is valid? [True, True] Translation: X:-135.66, Y:-287.18, Z:-9.01 [[-6.79416959e-01 -7.33670790e-01 1.09438716e-02 -1.35656260e+02] [ 7.33572085e-01 -6.79505077e-01 -1.20352250e-02 -2.87176460e+02] [ 1.62663094e-02 -1.48817279e-04 9.99867684e-01 -9.01352740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.500385723 meters 0.015014828920207597 Centerline is valid? [True, True] Translation: X:-135.68, Y:-287.16, Z:-9.01 [[-6.80310346e-01 -7.32839517e-01 1.11388992e-02 -1.35675882e+02] [ 7.32737263e-01 -6.80401509e-01 -1.22429318e-02 -2.87156113e+02] [ 1.65510281e-02 -1.67106605e-04 9.99863009e-01 -9.01379732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.530385723 meters 0.015357795021545719 Centerline is valid? [True, True] Translation: X:-135.69, Y:-287.14, Z:-9.01 [[-6.80955550e-01 -7.32231400e-01 1.16925534e-02 -1.35694057e+02] [ 7.32118768e-01 -6.81055903e-01 -1.28439802e-02 -2.87136261e+02] [ 1.73680481e-02 -1.85841846e-04 9.99849147e-01 -9.01469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.560385723 meters 0.015793546623898938 Centerline is valid? [True, True] Translation: X:-135.71, Y:-287.12, Z:-9.01 [[-6.81324418e-01 -7.31899546e-01 1.09586419e-02 -1.35710982e+02] [ 7.31800693e-01 -6.81412521e-01 -1.20300705e-02 -2.87115860e+02] [ 1.62721589e-02 -1.76839006e-04 9.99867584e-01 -9.01436751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5903857229999 meters 0.015497687595898644 Centerline is valid? [True, True] Translation: X:-135.73, Y:-287.10, Z:-9.01 [[-6.81233490e-01 -7.31991669e-01 1.04464605e-02 -1.35729661e+02] [ 7.31901959e-01 -6.81313562e-01 -1.14608757e-02 -2.87095924e+02] [ 1.55065807e-02 -1.61747431e-04 9.99879753e-01 -9.01205498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.620385723 meters 0.014989947397061075 Centerline is valid? [True, True] Translation: X:-135.75, Y:-287.08, Z:-9.01 [[-6.80385276e-01 -7.32795961e-01 9.27121422e-03 -1.35749743e+02] [ 7.32725454e-01 -6.80448429e-01 -1.01658458e-02 -2.87075980e+02] [ 1.37580739e-02 -1.23437175e-04 9.99905346e-01 -9.01033997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.650385723 meters 0.014910552780217795 Centerline is valid? [True, True] Translation: X:-135.77, Y:-287.06, Z:-9.01 [[-6.79861093e-01 -7.33283192e-01 9.20077847e-03 -1.35769084e+02] [ 7.33213874e-01 -6.79923340e-01 -1.00829831e-02 -2.87056111e+02] [ 1.36495061e-02 -1.08889482e-04 9.99906835e-01 -9.01063193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.680385723 meters 0.015050184629569939 Centerline is valid? [True, True] Translation: X:-135.79, Y:-287.04, Z:-9.01 [[-6.79429016e-01 -7.33681363e-01 9.37394691e-03 -1.35787676e+02] [ 7.33609532e-01 -6.79493671e-01 -1.02667363e-02 -2.87036155e+02] [ 1.39020506e-02 -9.87017081e-05 9.99903357e-01 -9.01252067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.710385723 meters 0.017550022130816512 Centerline is valid? [True, True] Translation: X:-135.81, Y:-287.02, Z:-9.01 [[-6.78798532e-01 -7.34248832e-01 1.05453686e-02 -1.35807708e+02] [ 7.34158095e-01 -6.78880434e-01 -1.15433135e-02 -2.87015766e+02] [ 1.56347089e-02 -9.36165234e-05 9.99877766e-01 -9.01476189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.740385723 meters 0.014742316323172794 Centerline is valid? [True, True] Translation: X:-135.83, Y:-286.99, Z:-9.01 [[-6.78420800e-01 -7.34616919e-01 9.12144063e-03 -1.35825873e+02] [ 7.34549141e-01 -6.78482113e-01 -9.97907661e-03 -2.86994745e+02] [ 1.35195328e-02 -6.98667493e-05 9.99908605e-01 -9.01173593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.770385723 meters 0.01631622921671605 Centerline is valid? [True, True] Translation: X:-135.84, Y:-286.97, Z:-9.01 [[-6.79342335e-01 -7.33770387e-01 8.66087593e-03 -1.35843096e+02] [ 7.33709292e-01 -6.79397536e-01 -9.46899534e-03 -2.86974922e+02] [ 1.28322462e-02 -7.81242520e-05 9.99917660e-01 -9.01256062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.800385723 meters 0.016590758336856 Centerline is valid? [True, True] Translation: X:-135.86, Y:-286.95, Z:-9.01 [[-6.80204171e-01 -7.32977116e-01 8.17516607e-03 -1.35861124e+02] [ 7.32922691e-01 -6.80253292e-01 -8.93242885e-03 -2.86954059e+02] [ 1.21084496e-02 -8.41106498e-05 9.99926687e-01 -9.01201615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.830385723 meters 0.014810439498126188 Centerline is valid? [True, True] Translation: X:-135.88, Y:-286.93, Z:-9.01 [[-6.81163801e-01 -7.32096524e-01 7.11030817e-03 -1.35877832e+02] [ 7.32055356e-01 -6.81200905e-01 -7.76413652e-03 -2.86932279e+02] [ 1.05276457e-02 -8.35095615e-05 9.99944579e-01 -9.00952299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.860385723 meters 0.014984796065446244 Centerline is valid? [True, True] Translation: X:-135.90, Y:-286.91, Z:-9.01 [[-6.81869226e-01 -7.31441643e-01 6.89064764e-03 -1.35895098e+02] [ 7.31402997e-01 -6.81904036e-01 -7.51941309e-03 -2.86911796e+02] [ 1.01987723e-02 -8.74160570e-05 9.99947987e-01 -9.00973400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.890385723 meters 0.01501909371043699 Centerline is valid? [True, True] Translation: X:-135.91, Y:-286.89, Z:-9.01 [[-6.83151414e-01 -7.30244244e-01 6.89131371e-03 -1.35912686e+02] [ 7.30205576e-01 -6.83186163e-01 -7.51551072e-03 -2.86890860e+02] [ 1.01962086e-02 -1.02156075e-04 9.99948012e-01 -9.01021182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.920385723 meters 0.015390080911915092 Centerline is valid? [True, True] Translation: X:-135.93, Y:-286.87, Z:-9.01 [[-6.84230188e-01 -7.29232443e-01 7.00678894e-03 -1.35929495e+02] [ 7.29192466e-01 -6.84266053e-01 -7.63653210e-03 -2.86870500e+02] [ 1.03633148e-02 -1.15848081e-04 9.99946293e-01 -9.01114033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.950385723 meters 0.015690159843444025 Centerline is valid? [True, True] Translation: X:-135.95, Y:-286.85, Z:-9.01 [[-6.85771467e-01 -7.27779039e-01 7.42737676e-03 -1.35947658e+02] [ 7.27734081e-01 -6.85811672e-01 -8.09060060e-03 -2.86849262e+02] [ 1.09819512e-02 -1.43147845e-04 9.99939686e-01 -9.01246531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.980385723 meters 0.01584499398567809 Centerline is valid? [True, True] Translation: X:-135.97, Y:-286.83, Z:-9.01 [[-6.86519868e-01 -7.27071821e-01 7.55237288e-03 -1.35966334e+02] [ 7.27025349e-01 -6.86561391e-01 -8.22181943e-03 -2.86829334e+02] [ 1.11630209e-02 -1.53675855e-04 9.99937680e-01 -9.01293120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.010385723 meters 0.01694798806042948 Centerline is valid? [True, True] Translation: X:-135.98, Y:-286.81, Z:-9.01 [[-6.87690545e-01 -7.25966175e-01 7.40452258e-03 -1.35984936e+02] [ 7.25921494e-01 -6.87730388e-01 -8.05596302e-03 -2.86809981e+02] [ 1.09406718e-02 -1.64907512e-04 9.99940136e-01 -9.01380510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.040385723 meters 0.015696365526647552 Centerline is valid? [True, True] Translation: X:-136.00, Y:-286.79, Z:-9.01 [[-6.87767455e-01 -7.25897099e-01 7.02347848e-03 -1.36003589e+02] [ 7.25856945e-01 -6.87803299e-01 -7.63665314e-03 -2.86790671e+02] [ 1.03741960e-02 -1.54200865e-04 9.99946175e-01 -9.01240324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.070385723 meters 0.015950903061577062 Centerline is valid? [True, True] Translation: X:-136.02, Y:-286.77, Z:-9.01 [[-6.87715269e-01 -7.25947808e-01 6.89125056e-03 -1.36021230e+02] [ 7.25909203e-01 -6.87749779e-01 -7.48800915e-03 -2.86770695e+02] [ 1.01753599e-02 -1.47196024e-04 9.99948219e-01 -9.01279753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1003857229999 meters 0.015828097493446967 Centerline is valid? [True, True] Translation: X:-136.04, Y:-286.75, Z:-9.01 [[-6.86988692e-01 -7.26638391e-01 6.57156303e-03 -1.36039913e+02] [ 7.26603349e-01 -6.87020111e-01 -7.13733078e-03 -2.86752428e+02] [ 9.70105451e-03 -1.28345836e-04 9.99952936e-01 -9.01273784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.130385723 meters 0.01536239726001175 Centerline is valid? [True, True] Translation: X:-136.06, Y:-286.73, Z:-9.01 [[-6.86606015e-01 -7.27002321e-01 6.30908061e-03 -1.36060058e+02] [ 7.26970077e-01 -6.86634992e-01 -6.84801566e-03 -2.86733911e+02] [ 9.31055879e-03 -1.15375928e-04 9.99956649e-01 -9.01184754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.160385723 meters 0.01526221148820133 Centerline is valid? [True, True] Translation: X:-136.08, Y:-286.71, Z:-9.01 [[-6.86111267e-01 -7.27472306e-01 5.94759097e-03 -1.36079645e+02] [ 7.27443703e-01 -6.86137038e-01 -6.45165927e-03 -2.86714679e+02] [ 8.77426589e-03 -1.00018518e-04 9.99961501e-01 -9.01188426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.190385723 meters 0.015073181843046483 Centerline is valid? [True, True] Translation: X:-136.10, Y:-286.70, Z:-9.01 [[-6.84944441e-01 -7.28575971e-01 5.30737576e-03 -1.36099664e+02] [ 7.28553255e-01 -6.84964999e-01 -5.75364683e-03 -2.86696425e+02] [ 7.82733546e-03 -7.42225250e-05 9.99969363e-01 -9.01163132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2203857229999 meters 0.014914044106383592 Centerline is valid? [True, True] Translation: X:-136.12, Y:-286.68, Z:-9.01 [[-6.84309932e-01 -7.29176088e-01 4.70635334e-03 -1.36118154e+02] [ 7.29158263e-01 -6.84326114e-01 -5.09880045e-03 -2.86677962e+02] [ 6.93860386e-03 -5.74833624e-05 9.99975926e-01 -9.01162510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.250385723 meters 0.014755959285015104 Centerline is valid? [True, True] Translation: X:-136.14, Y:-286.66, Z:-9.01 [[-6.83206073e-01 -7.30211698e-01 4.50966301e-03 -1.36138603e+02] [ 7.30195373e-01 -6.83220955e-01 -4.88301617e-03 -2.86659187e+02] [ 6.64673181e-03 -4.31712416e-05 9.99977909e-01 -9.01130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.280385723 meters 0.014801676986153416 Centerline is valid? [True, True] Translation: X:-136.16, Y:-286.64, Z:-9.01 [[-6.82913478e-01 -7.30486772e-01 4.27287002e-03 -1.36157306e+02] [ 7.30472136e-01 -6.82926844e-01 -4.62440073e-03 -2.86640483e+02] [ 6.29612120e-03 -3.68530941e-05 9.99980179e-01 -9.01122240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.310385723 meters 0.014696585568830611 Centerline is valid? [True, True] Translation: X:-136.18, Y:-286.62, Z:-9.01 [[-6.82592010e-01 -7.30788837e-01 3.97788286e-03 -1.36177302e+02] [ 7.30776171e-01 -6.82603600e-01 -4.30273691e-03 -2.86620301e+02] [ 5.85970926e-03 -3.00718332e-05 9.99982831e-01 -9.01078282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3403857229999 meters 0.014827152266278065 Centerline is valid? [True, True] Translation: X:-136.20, Y:-286.60, Z:-9.01 [[-6.82347617e-01 -7.31019272e-01 3.54305009e-03 -1.36196764e+02] [ 7.31009239e-01 -6.82356815e-01 -3.83013726e-03 -2.86601179e+02] [ 5.21752853e-03 -2.34826876e-05 9.99986388e-01 -9.01024425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.370385723 meters 0.014789531664044136 Centerline is valid? [True, True] Translation: X:-136.22, Y:-286.58, Z:-9.01 [[-6.82606704e-01 -7.30779038e-01 3.17579265e-03 -1.36216900e+02] [ 7.30770983e-01 -6.82614091e-01 -3.43121051e-03 -2.86580994e+02] [ 4.67529753e-03 -2.13901836e-05 9.99989071e-01 -9.01010372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.400385723 meters 0.01484544155694551 Centerline is valid? [True, True] Translation: X:-136.24, Y:-286.56, Z:-9.01 [[-6.83590710e-01 -7.29857405e-01 3.45094849e-03 -1.36236015e+02] [ 7.29847893e-01 -6.83599420e-01 -3.72640089e-03 -2.86561085e+02] [ 5.07880767e-03 -2.86655468e-05 9.99987102e-01 -9.01127679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.430385723 meters 0.015009794459302861 Centerline is valid? [True, True] Translation: X:-136.25, Y:-286.54, Z:-9.01 [[-6.84449741e-01 -7.29050172e-01 3.79465903e-03 -1.36253354e+02] [ 7.29038669e-01 -6.84460259e-01 -4.09553048e-03 -2.86541967e+02] [ 5.58314050e-03 -3.67316023e-05 9.99984414e-01 -9.01149665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.460385723 meters 0.01519892390566967 Centerline is valid? [True, True] Translation: X:-136.27, Y:-286.52, Z:-9.01 [[-6.85756287e-01 -7.27819531e-01 4.12848255e-03 -1.36272499e+02] [ 7.27805910e-01 -6.85768713e-01 -4.45301741e-03 -2.86522086e+02] [ 6.07217721e-03 -4.89506809e-05 9.99981563e-01 -9.01095022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.490385723 meters 0.015235329458514794 Centerline is valid? [True, True] Translation: X:-136.29, Y:-286.50, Z:-9.01 [[-6.86538058e-01 -7.27080529e-01 4.40436747e-03 -1.36291896e+02] [ 7.27065029e-01 -6.86552183e-01 -4.74796374e-03 -2.86501881e+02] [ 6.47598009e-03 -5.73962419e-05 9.99979029e-01 -9.01084128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.520385723 meters 0.015440925455764025 Centerline is valid? [True, True] Translation: X:-136.31, Y:-286.48, Z:-9.01 [[-6.87454173e-01 -7.26213951e-01 4.47853709e-03 -1.36310067e+02] [ 7.26197926e-01 -6.87468758e-01 -4.82477495e-03 -2.86482639e+02] [ 6.58267321e-03 -6.45073236e-05 9.99978332e-01 -9.01113826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.550385723 meters 0.01553114871518854 Centerline is valid? [True, True] Translation: X:-136.33, Y:-286.46, Z:-9.01 [[-6.88633232e-01 -7.25099144e-01 3.93744808e-03 -1.36329931e+02] [ 7.25086755e-01 -6.88644485e-01 -4.23923377e-03 -2.86463416e+02] [ 5.78536668e-03 -6.42858039e-05 9.99983263e-01 -9.01065546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.580385723 meters 0.015769971639846156 Centerline is valid? [True, True] Translation: X:-136.35, Y:-286.44, Z:-9.01 [[-6.89452447e-01 -7.24324161e-01 3.13584498e-03 -1.36348118e+02] [ 7.24316302e-01 -6.89459576e-01 -3.37457969e-03 -2.86444739e+02] [ 4.60632795e-03 -5.52685879e-05 9.99989389e-01 -9.00902526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.610385723 meters 0.01565392219370681 Centerline is valid? [True, True] Translation: X:-136.37, Y:-286.42, Z:-9.01 [[-6.89958942e-01 -7.23841799e-01 3.11594816e-03 -1.36368173e+02] [ 7.23834043e-01 -6.89965975e-01 -3.35128752e-03 -2.86424965e+02] [ 4.57570020e-03 -5.68214314e-05 9.99989530e-01 -9.00864460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.640385723 meters 0.015968299178813976 Centerline is valid? [True, True] Translation: X:-136.39, Y:-286.40, Z:-9.01 [[-6.90416561e-01 -7.23404610e-01 3.27768401e-03 -1.36386082e+02] [ 7.23396033e-01 -6.90424338e-01 -3.52315961e-03 -2.86404970e+02] [ 4.81166272e-03 -6.13841287e-05 9.99988422e-01 -9.00945874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.670385723 meters 0.0159185696158914 Centerline is valid? [True, True] Translation: X:-136.41, Y:-286.39, Z:-9.01 [[-6.91005855e-01 -7.22840328e-01 3.57320342e-03 -1.36406219e+02] [ 7.22830140e-01 -6.91015090e-01 -3.83845806e-03 -2.86386483e+02] [ 5.24372977e-03 -6.95778639e-05 9.99986249e-01 -9.01008599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.700385723 meters 0.015980321782607203 Centerline is valid? [True, True] Translation: X:-136.43, Y:-286.37, Z:-9.01 [[-6.91285020e-01 -7.22573137e-01 3.61698694e-03 -1.36426093e+02] [ 7.22562707e-01 -6.91294479e-01 -3.88311214e-03 -2.86367721e+02] [ 5.30623562e-03 -7.08373784e-05 9.99985919e-01 -9.00981730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.730385723 meters 0.015847052980798224 Centerline is valid? [True, True] Translation: X:-136.45, Y:-286.35, Z:-9.01 [[-6.91655363e-01 -7.22219567e-01 3.42862618e-03 -1.36446064e+02] [ 7.22210201e-01 -6.91663858e-01 -3.67883336e-03 -2.86348135e+02] [ 5.02838225e-03 -6.82960180e-05 9.99987355e-01 -9.00935315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.760385723 meters 0.01623871400928294 Centerline is valid? [True, True] Translation: X:-136.46, Y:-286.33, Z:-9.01 [[-6.92376571e-01 -7.21530334e-01 2.94309510e-03 -1.36463785e+02] [ 7.21523434e-01 -6.92382823e-01 -3.15600682e-03 -2.86328046e+02] [ 4.31490314e-03 -6.16330967e-05 9.99990689e-01 -9.00920568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.790385723 meters 0.016518221130759774 Centerline is valid? [True, True] Translation: X:-136.48, Y:-286.31, Z:-9.01 [[-6.93705153e-01 -7.20253759e-01 2.77202485e-03 -1.36483785e+02] [ 7.20247634e-01 -6.93710688e-01 -2.97093389e-03 -2.86308314e+02] [ 4.06280956e-03 -6.44078092e-05 9.99991745e-01 -9.00836513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.820385723 meters 0.016664076502114118 Centerline is valid? [True, True] Translation: X:-136.50, Y:-286.29, Z:-9.01 [[-6.94759371e-01 -7.19236350e-01 2.91355028e-03 -1.36503327e+02] [ 7.19229581e-01 -6.94765476e-01 -3.12135152e-03 -2.86288885e+02] [ 4.26922362e-03 -7.30766745e-05 9.99990884e-01 -9.00839817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8503857229999 meters 0.01721435232809589 Centerline is valid? [True, True] Translation: X:-136.52, Y:-286.27, Z:-9.01 [[-6.96421321e-01 -7.17627214e-01 2.91982486e-03 -1.36521598e+02] [ 7.17620407e-01 -6.96427437e-01 -3.12668871e-03 -2.86269559e+02] [ 4.27724305e-03 -8.21667798e-05 9.99990849e-01 -9.00872245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.880385723 meters 0.017475463292601013 Centerline is valid? [True, True] Translation: X:-136.54, Y:-286.25, Z:-9.01 [[-6.97260686e-01 -7.16811533e-01 2.96002342e-03 -1.36540532e+02] [ 7.16804539e-01 -6.97266963e-01 -3.16781291e-03 -2.86249417e+02] [ 4.33465137e-03 -8.70331824e-05 9.99990602e-01 -9.00836295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.910385723 meters 0.018837993195820555 Centerline is valid? [True, True] Translation: X:-136.56, Y:-286.23, Z:-9.01 [[-6.99027970e-01 -7.15089944e-01 2.50370851e-03 -1.36561850e+02] [ 7.15084935e-01 -6.99032449e-01 -2.67799503e-03 -2.86230347e+02] [ 3.66518081e-03 -8.16291904e-05 9.99993280e-01 -9.00905842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.940385723 meters 0.017573997760589377 Centerline is valid? [True, True] Translation: X:-136.58, Y:-286.21, Z:-9.01 [[-6.99280653e-01 -7.14844000e-01 2.15063745e-03 -1.36582327e+02] [ 7.14840306e-01 -6.99283956e-01 -2.29908195e-03 -2.86211085e+02] [ 3.14739120e-03 -7.03411936e-05 9.99995045e-01 -9.00761548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9703857229999 meters 0.017982984370740918 Centerline is valid? [True, True] Translation: X:-136.60, Y:-286.19, Z:-9.01 [[-6.99816960e-01 -7.14319217e-01 2.06848406e-03 -1.36600736e+02] [ 7.14315802e-01 -6.99820014e-01 -2.20999423e-03 -2.86193039e+02] [ 3.02620789e-03 -6.90405929e-05 9.99995419e-01 -9.00832036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.000385723 meters 0.017982984370740918 Centerline is valid? [True, True] Translation: X:-136.62, Y:-286.17, Z:-9.01 [[-7.00034457e-01 -7.14106069e-01 2.06915726e-03 -1.36619101e+02] [ 7.14102654e-01 -7.00037512e-01 -2.20936395e-03 -2.86173554e+02] [ 3.02620790e-03 -6.90402035e-05 9.99995419e-01 -9.00832090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.030385723 meters 0.01788281947786862 Centerline is valid? [True, True] Translation: X:-136.64, Y:-286.15, Z:-9.01 [[-7.00945766e-01 -7.13211970e-01 1.92854540e-03 -1.36640204e+02] [ 7.13209004e-01 -7.00948416e-01 -2.05809388e-03 -2.86154825e+02] [ 2.81966804e-03 -6.71562516e-05 9.99996023e-01 -9.00743996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.060385723 meters 0.018764191626965198 Centerline is valid? [True, True] Translation: X:-136.66, Y:-286.13, Z:-9.01 [[-7.01745008e-01 -7.12425757e-01 1.86666697e-03 -1.36658658e+02] [ 7.12422979e-01 -7.01747487e-01 -1.99090421e-03 -2.86134523e+02] [ 2.72830029e-03 -6.72506490e-05 9.99996276e-01 -9.00711469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0903857229999 meters 0.018535631228703296 Centerline is valid? [True, True] Translation: X:-136.68, Y:-286.12, Z:-9.01 [[-7.02692093e-01 -7.11493343e-01 1.02182967e-03 -1.36680448e+02] [ 7.11492511e-01 -7.02692835e-01 -1.08924264e-03 -2.86116597e+02] [ 1.49302127e-03 -3.83780341e-05 9.99998885e-01 -9.00575439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.120385723 meters 0.01859230484823069 Centerline is valid? [True, True] Translation: X:-136.70, Y:-286.10, Z:-9.01 [[-7.03161985e-01 -7.11029104e-01 9.15104877e-04 -1.36700450e+02] [ 7.11028436e-01 -7.03162579e-01 -9.74876674e-04 -2.86098515e+02] [ 1.33663319e-03 -3.48306273e-05 9.99999106e-01 -9.00558567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.150385723 meters 0.018922287909347805 Centerline is valid? [True, True] Translation: X:-136.72, Y:-286.08, Z:-9.01 [[-7.03645641e-01 -7.10550466e-01 9.20498280e-04 -1.36720665e+02] [ 7.10549791e-01 -7.03646242e-01 -9.80024982e-04 -2.86079990e+02] [ 1.34406236e-03 -3.55304465e-05 9.99999096e-01 -9.00579475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.180385723 meters 0.01900508073302542 Centerline is valid? [True, True] Translation: X:-136.74, Y:-286.06, Z:-9.01 [[-7.04604386e-01 -7.09599487e-01 1.10787112e-03 -1.36743483e+02] [ 7.09598509e-01 -7.04605255e-01 -1.17887446e-03 -2.86062477e+02] [ 1.61714053e-03 -4.44964173e-05 9.99998692e-01 -9.00616085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.210385723 meters 0.019109214850501495 Centerline is valid? [True, True] Translation: X:-136.77, Y:-286.05, Z:-9.01 [[-7.05448667e-01 -7.08759532e-01 1.45043531e-03 -1.36766377e+02] [ 7.08757856e-01 -7.05450156e-01 -1.54255118e-03 -2.86045247e+02] [ 2.11650767e-03 -6.01832605e-05 9.99997759e-01 -9.00726971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.240385723 meters 0.019179060948269305 Centerline is valid? [True, True] Translation: X:-136.79, Y:-286.03, Z:-9.01 [[-7.05842788e-01 -7.08366317e-01 1.76645517e-03 -1.36787437e+02] [ 7.08363832e-01 -7.05844994e-01 -1.87761518e-03 -2.86026448e+02] [ 2.57688289e-03 -7.40081786e-05 9.99996677e-01 -9.00811771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.270385723 meters 0.019720945966599745 Centerline is valid? [True, True] Translation: X:-136.81, Y:-286.01, Z:-9.01 [[-7.05893242e-01 -7.08315163e-01 2.08800966e-03 -1.36806779e+02] [ 7.08311696e-01 -7.05896325e-01 -2.21797367e-03 -2.86008023e+02] [ 3.04494273e-03 -8.66909627e-05 9.99995361e-01 -9.00914056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.300385723 meters 0.021575773571716673 Centerline is valid? [True, True] Translation: X:-136.83, Y:-285.99, Z:-9.01 [[-7.05773050e-01 -7.08433822e-01 2.43353379e-03 -1.36829673e+02] [ 7.08429119e-01 -7.05777238e-01 -2.58344214e-03 -2.85991831e+02] [ 3.54773054e-03 -9.93376414e-05 9.99993702e-01 -9.01242478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.330385723 meters 0.018731366033295394 Centerline is valid? [True, True] Translation: X:-136.86, Y:-285.98, Z:-9.01 [[-7.04431564e-01 -7.09770099e-01 1.60563970e-03 -1.36855073e+02] [ 7.09768057e-01 -7.04433391e-01 -1.70363720e-03 -2.85976889e+02] [ 2.34025696e-03 -6.04640469e-05 9.99997260e-01 -9.01025796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.360385723 meters 0.01748847641452874 Centerline is valid? [True, True] Translation: X:-136.88, Y:-285.96, Z:-9.01 [[-7.03817518e-01 -7.10379686e-01 1.26610403e-03 -1.36877309e+02] [ 7.10378419e-01 -7.03818655e-01 -1.34261127e-03 -2.85959612e+02] [ 1.84487141e-03 -4.55403531e-05 9.99998297e-01 -9.00952860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.390385723 meters 0.017767001054847225 Centerline is valid? [True, True] Translation: X:-136.90, Y:-285.94, Z:-9.01 [[-7.03368504e-01 -7.10824470e-01 1.14950222e-03 -1.36897241e+02] [ 7.10823427e-01 -7.03369442e-01 -1.21825321e-03 -2.85941336e+02] [ 1.67448893e-03 -3.97878308e-05 9.99998597e-01 -9.00971066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.420385723 meters 0.01761224405624588 Centerline is valid? [True, True] Translation: X:-136.92, Y:-285.93, Z:-9.01 [[-7.01953558e-01 -7.12222719e-01 -2.92395277e-05 -1.36919830e+02] [ 7.12222719e-01 -7.01953558e-01 3.09797001e-05 -2.85925538e+02] [-4.25892363e-05 9.21254762e-07 9.99999999e-01 -9.00862123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.450385723 meters 0.01736907817739426 Centerline is valid? [True, True] Translation: X:-136.94, Y:-285.91, Z:-9.01 [[-7.01395267e-01 -7.12772145e-01 -7.40451492e-04 -1.36941281e+02] [ 7.12771714e-01 -7.01395658e-01 7.83893532e-04 -2.85907629e+02] [-1.07808694e-03 2.20463343e-05 9.99999419e-01 -9.00823533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4803857229999 meters 0.01734104619078467 Centerline is valid? [True, True] Translation: X:-136.96, Y:-285.89, Z:-9.01 [[-7.00298251e-01 -7.13849826e-01 -8.86647007e-04 -1.36962777e+02] [ 7.13849210e-01 -7.00298812e-01 9.38281550e-04 -2.85891180e+02] [-1.29070997e-03 2.41446628e-05 9.99999167e-01 -9.00811604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.510385723 meters 0.017317029911534935 Centerline is valid? [True, True] Translation: X:-136.98, Y:-285.87, Z:-9.01 [[-6.99840383e-01 -7.14298787e-01 -8.25768161e-04 -1.36982628e+02] [ 7.14298253e-01 -6.99840870e-01 8.73330804e-04 -2.85873129e+02] [-1.20172544e-03 2.13474098e-05 9.99999278e-01 -9.00834925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.540385723 meters 0.016775453306789003 Centerline is valid? [True, True] Translation: X:-137.01, Y:-285.86, Z:-9.01 [[-6.98369667e-01 -7.15736606e-01 -9.58896634e-04 -1.37006089e+02] [ 7.15735889e-01 -6.98370325e-01 1.01357417e-03 -2.85856946e+02] [-1.39511709e-03 2.15327240e-05 9.99999027e-01 -9.00864535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.570385723 meters 0.017313925620925243 Centerline is valid? [True, True] Translation: X:-137.03, Y:-285.84, Z:-9.01 [[-6.97461247e-01 -7.16622175e-01 -6.83519664e-04 -1.37027818e+02] [ 7.16621812e-01 -6.97461582e-01 7.22098447e-04 -2.85838664e+02] [-9.94200466e-04 1.38105832e-05 9.99999506e-01 -9.00967772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6003857229999 meters 0.01648913238240072 Centerline is valid? [True, True] Translation: X:-137.05, Y:-285.82, Z:-9.01 [[-6.96434340e-01 -7.17619939e-01 -9.13402524e-04 -1.37048230e+02] [ 7.17619291e-01 -6.96434939e-01 9.64409028e-04 -2.85820921e+02] [-1.32820458e-03 1.61722932e-05 9.99999118e-01 -9.00868073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.630385723 meters 0.01769428339760175 Centerline is valid? [True, True] Translation: X:-137.07, Y:-285.80, Z:-9.01 [[-6.94431436e-01 -7.19558455e-01 -7.81692321e-04 -1.37070827e+02] [ 7.19557982e-01 -6.94431876e-01 8.24898150e-04 -2.85803351e+02] [-1.13639450e-03 1.03622579e-05 9.99999354e-01 -9.01082038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.660385723 meters 0.016083847114902173 Centerline is valid? [True, True] Translation: X:-137.09, Y:-285.78, Z:-9.01 [[-6.93711446e-01 -7.20252648e-01 -7.43853476e-04 -1.37091127e+02] [ 7.20252220e-01 -6.93711845e-01 7.84491349e-04 -2.85784624e+02] [-1.08105194e-03 8.44851099e-06 9.99999416e-01 -9.00914877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.690385723 meters 0.015855313593099513 Centerline is valid? [True, True] Translation: X:-137.11, Y:-285.77, Z:-9.01 [[-6.92218828e-01 -7.21687580e-01 -3.63274992e-04 -1.37112544e+02] [ 7.21687478e-01 -6.92218923e-01 3.82910134e-04 -2.85766597e+02] [-5.27807311e-04 2.88659123e-06 9.99999861e-01 -9.00989432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7203857229999 meters 0.015826536442244896 Centerline is valid? [True, True] Translation: X:-137.13, Y:-285.75, Z:-9.01 [[-6.91502360e-01 -7.22374200e-01 3.73620280e-05 -1.37132085e+02] [ 7.22374199e-01 -6.91502361e-01 -3.93487193e-05 -2.85747311e+02] [ 5.42604307e-05 -2.20367297e-07 9.99999999e-01 -9.01029075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.750385723 meters 0.015785453478398954 Centerline is valid? [True, True] Translation: X:-137.15, Y:-285.73, Z:-9.01 [[-6.90276781e-01 -7.23545279e-01 4.41798883e-04 -1.37152774e+02] [ 7.23545130e-01 -6.90276922e-01 -4.65125862e-04 -2.85728145e+02] [ 6.41503196e-04 -1.40415232e-06 9.99999794e-01 -9.01071829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.780385723 meters 0.015764026574871717 Centerline is valid? [True, True] Translation: X:-137.17, Y:-285.71, Z:-9.01 [[-6.89754875e-01 -7.24042810e-01 4.70232666e-04 -1.37172022e+02] [ 7.24042641e-01 -6.89755036e-01 -4.94770958e-04 -2.85708946e+02] [ 6.82580704e-04 -8.02179312e-07 9.99999767e-01 -9.01091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.810385723 meters 0.015730828852307584 Centerline is valid? [True, True] Translation: X:-137.19, Y:-285.69, Z:-9.01 [[-6.88803325e-01 -7.24948235e-01 -1.90241085e-04 -1.37191310e+02] [ 7.24948208e-01 -6.88803351e-01 2.00064121e-04 -2.85690114e+02] [-2.76074828e-04 -1.10101827e-07 9.99999962e-01 -9.01097804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8403857229999 meters 0.015770974299569314 Centerline is valid? [True, True] Translation: X:-137.21, Y:-285.67, Z:-9.01 [[-6.88339147e-01 -7.25388935e-01 -3.33969195e-04 -1.37210216e+02] [ 7.25388850e-01 -6.88339228e-01 3.51012679e-04 -2.85669954e+02] [-4.84504811e-04 -6.41762298e-07 9.99999883e-01 -9.01092340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.870385723 meters 0.015813048544861374 Centerline is valid? [True, True] Translation: X:-137.23, Y:-285.65, Z:-9.01 [[-6.87916392e-01 -7.25789904e-01 -2.29188536e-04 -1.37228015e+02] [ 7.25789864e-01 -6.87916430e-01 2.40753942e-04 -2.85648259e+02] [-3.32399339e-04 -7.24133205e-07 9.99999945e-01 -9.01063567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.900385723 meters 0.015862748691766845 Centerline is valid? [True, True] Translation: X:-137.25, Y:-285.63, Z:-9.01 [[-6.88050344e-01 -7.25662955e-01 4.18559333e-06 -1.37245853e+02] [ 7.25662955e-01 -6.88050344e-01 -4.38564265e-06 -2.85627939e+02] [ 6.06239785e-06 1.97870759e-08 1.00000000e+00 -9.01070861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.930385723 meters 0.015875511233056704 Centerline is valid? [True, True] Translation: X:-137.26, Y:-285.61, Z:-9.01 [[-6.88390404e-01 -7.25340344e-01 1.94671089e-04 -1.37263708e+02] [ 7.25340315e-01 -6.88390431e-01 -2.04236308e-04 -2.85607037e+02] [ 2.82150550e-04 6.08474777e-07 9.99999960e-01 -9.01080068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.960385723 meters 0.015921775014075042 Centerline is valid? [True, True] Translation: X:-137.28, Y:-285.58, Z:-9.01 [[-6.88901179e-01 -7.24855066e-01 5.46710693e-04 -1.37280154e+02] [ 7.24854839e-01 -6.88901396e-01 -5.73271690e-04 -2.85584252e+02] [ 7.92168649e-04 1.35834849e-06 9.99999686e-01 -9.01129546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.990385723 meters 0.01587239320030351 Centerline is valid? [True, True] Translation: X:-137.30, Y:-285.56, Z:-9.01 [[-6.89094060e-01 -7.24671877e-01 2.18548754e-04 -1.37296502e+02] [ 7.24671841e-01 -6.89094095e-01 -2.29032918e-04 -2.85561301e+02] [ 3.16574370e-04 5.50904381e-07 9.99999950e-01 -9.01123686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.020385723 meters 0.01598368879215191 Centerline is valid? [True, True] Translation: X:-137.31, Y:-285.54, Z:-9.01 [[-6.88776160e-01 -7.24973792e-01 6.34414144e-04 -1.37313762e+02] [ 7.24973487e-01 -6.88776452e-01 -6.64469622e-04 -2.85540127e+02] [ 9.18692585e-04 2.26259918e-06 9.99999578e-01 -9.01119386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.050385723 meters 0.015937889459059537 Centerline is valid? [True, True] Translation: X:-137.33, Y:-285.52, Z:-9.01 [[-6.88260617e-01 -7.25462817e-01 1.01204125e-03 -1.37331400e+02] [ 7.25462043e-01 -6.88261361e-01 -1.05939298e-03 -2.85518269e+02] [ 1.46509910e-03 5.05904838e-06 9.99998927e-01 -9.01129449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.080385723 meters 0.01618395542121939 Centerline is valid? [True, True] Translation: X:-137.35, Y:-285.50, Z:-9.01 [[-6.85860564e-01 -7.27729522e-01 2.24271144e-03 -1.37348463e+02] [ 7.27725739e-01 -6.85864230e-01 -2.34683084e-03 -2.85496178e+02] [ 3.24605364e-03 2.24801146e-05 9.99994731e-01 -9.01246970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.110385723 meters 0.016258391723879093 Centerline is valid? [True, True] Translation: X:-137.37, Y:-285.48, Z:-9.01 [[-6.84831599e-01 -7.28697342e-01 2.42176423e-03 -1.37366696e+02] [ 7.28692941e-01 -6.84835880e-01 -2.53277379e-03 -2.85475289e+02] [ 3.50413656e-03 3.01989729e-05 9.99993860e-01 -9.01323495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.140385723 meters 0.016650291194359026 Centerline is valid? [True, True] Translation: X:-137.38, Y:-285.45, Z:-9.01 [[-6.82708289e-01 -7.30685779e-01 2.77225141e-03 -1.37383809e+02] [ 7.30680035e-01 -6.82713916e-01 -2.89761423e-03 -2.85453582e+02] [ 4.00990012e-03 4.74034978e-05 9.99991959e-01 -9.01442521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.170385723 meters 0.017044625999745492 Centerline is valid? [True, True] Translation: X:-137.40, Y:-285.43, Z:-9.01 [[-6.81752577e-01 -7.31576456e-01 3.05167097e-03 -1.37401067e+02] [ 7.31569513e-01 -6.81759404e-01 -3.18782916e-03 -2.85432932e+02] [ 4.41264614e-03 5.91987064e-05 9.99990263e-01 -9.01454698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.200385723 meters 0.016907142736193335 Centerline is valid? [True, True] Translation: X:-137.42, Y:-285.41, Z:-9.01 [[-6.81168451e-01 -7.32116557e-01 3.85862839e-03 -1.37415469e+02] [ 7.32105477e-01 -6.81179375e-01 -4.02864277e-03 -2.85406904e+02] [ 5.57785415e-03 8.07386239e-05 9.99984441e-01 -9.01444618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2303857229999 meters 0.016978990143775376 Centerline is valid? [True, True] Translation: X:-137.43, Y:-285.38, Z:-9.01 [[-6.81195886e-01 -7.32088489e-01 4.31391160e-03 -1.37432583e+02] [ 7.32074655e-01 -6.81209539e-01 -4.50146186e-03 -2.85384151e+02] [ 6.23414614e-03 9.17280500e-05 9.99980563e-01 -9.01442431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.260385723 meters 0.017186815557779164 Centerline is valid? [True, True] Translation: X:-137.45, Y:-285.36, Z:-9.01 [[-6.81715887e-01 -7.31606373e-01 3.94529599e-03 -1.37449268e+02] [ 7.31594808e-01 -6.81727298e-01 -4.11441228e-03 -2.85362779e+02] [ 5.69974622e-03 8.14978430e-05 9.99983753e-01 -9.01429134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.290385723 meters 0.016962755824363827 Centerline is valid? [True, True] Translation: X:-137.46, Y:-285.34, Z:-9.01 [[-6.82463032e-01 -7.30909022e-01 4.02634742e-03 -1.37462636e+02] [ 7.30896979e-01 -6.82474904e-01 -4.19662549e-03 -2.85336537e+02] [ 5.81523251e-03 7.88034136e-05 9.99983088e-01 -9.01326973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.320385723 meters 0.016838130194521763 Centerline is valid? [True, True] Translation: X:-137.48, Y:-285.31, Z:-9.01 [[-6.83012191e-01 -7.30395806e-01 4.03899933e-03 -1.37479052e+02] [ 7.30383691e-01 -6.83024129e-01 -4.20748945e-03 -2.85313482e+02] [ 5.83186665e-03 7.62526504e-05 9.99982992e-01 -9.01320639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3503857229999 meters 0.016823224641559508 Centerline is valid? [True, True] Translation: X:-137.49, Y:-285.29, Z:-9.01 [[-6.84005279e-01 -7.29463264e-01 4.48613119e-03 -1.37490714e+02] [ 7.29448318e-01 -6.84019986e-01 -4.67023266e-03 -2.85288446e+02] [ 6.47536655e-03 7.79370542e-05 9.99979032e-01 -9.01250418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.380385723 meters 0.016868631345403708 Centerline is valid? [True, True] Translation: X:-137.51, Y:-285.27, Z:-9.01 [[-6.84237361e-01 -7.29245575e-01 4.48614206e-03 -1.37506233e+02] [ 7.29230643e-01 -6.84252063e-01 -4.66738090e-03 -2.85266145e+02] [ 6.47331882e-03 7.78358682e-05 9.99979045e-01 -9.01210358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.410385723 meters 0.016938680737318284 Centerline is valid? [True, True] Translation: X:-137.52, Y:-285.25, Z:-9.01 [[-6.84266908e-01 -7.29217482e-01 4.54563643e-03 -1.37522527e+02] [ 7.29202165e-01 -6.84282001e-01 -4.72704137e-03 -2.85245097e+02] [ 6.55753839e-03 8.01299471e-05 9.99978496e-01 -9.01243636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.440385723 meters 0.01673471549759513 Centerline is valid? [True, True] Translation: X:-137.54, Y:-285.22, Z:-9.01 [[-6.84117823e-01 -7.29357010e-01 4.59960285e-03 -1.37537572e+02] [ 7.29341349e-01 -6.84133280e-01 -4.78046132e-03 -2.85220019e+02] [ 6.63340436e-03 8.42817526e-05 9.99977995e-01 -9.01239878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4703857229999 meters 0.016921521152733748 Centerline is valid? [True, True] Translation: X:-137.55, Y:-285.20, Z:-9.01 [[-6.84287778e-01 -7.29195393e-01 4.93110039e-03 -1.37553921e+02] [ 7.29177410e-01 -6.84305539e-01 -5.12194179e-03 -2.85198362e+02] [ 7.10927567e-03 9.07648434e-05 9.99974725e-01 -9.01273203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.500385723 meters 0.016926520567003563 Centerline is valid? [True, True] Translation: X:-137.57, Y:-285.17, Z:-9.01 [[-6.84654584e-01 -7.28847427e-01 5.43414556e-03 -1.37567460e+02] [ 7.28825601e-01 -6.84676142e-01 -5.64131117e-03 -2.85171950e+02] [ 7.83228494e-03 9.81948513e-05 9.99969322e-01 -9.01247118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.530385723 meters 0.017031544588329374 Centerline is valid? [True, True] Translation: X:-137.58, Y:-285.15, Z:-9.01 [[-6.85347731e-01 -7.28193474e-01 5.72303862e-03 -1.37584070e+02] [ 7.28169271e-01 -6.85371619e-01 -5.93772573e-03 -2.85149900e+02] [ 8.24622137e-03 9.79340022e-05 9.99965995e-01 -9.01275384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.560385723 meters 0.01677170887031353 Centerline is valid? [True, True] Translation: X:-137.60, Y:-285.12, Z:-9.01 [[-6.87001279e-01 -7.26631157e-01 6.03355445e-03 -1.37596552e+02] [ 7.26604229e-01 -6.87027768e-01 -6.25626204e-03 -2.85123393e+02] [ 8.69121437e-03 8.59461574e-05 9.99962227e-01 -9.01200492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5903857229999 meters 0.016548519797507592 Centerline is valid? [True, True] Translation: X:-137.61, Y:-285.10, Z:-9.01 [[-6.88136437e-01 -7.25551980e-01 6.52438941e-03 -1.37613266e+02] [ 7.25520476e-01 -6.88167362e-01 -6.76170153e-03 -2.85099787e+02] [ 9.39583778e-03 8.06049069e-05 9.99955855e-01 -9.01111614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.620385723 meters 0.01648729796863262 Centerline is valid? [True, True] Translation: X:-137.63, Y:-285.08, Z:-9.01 [[-6.88761470e-01 -7.24959058e-01 6.48085441e-03 -1.37631462e+02] [ 7.24927986e-01 -6.88791956e-01 -6.71241620e-03 -2.85079809e+02] [ 9.33018731e-03 7.48990821e-05 9.99956470e-01 -9.01082409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.650385723 meters 0.016480597441940324 Centerline is valid? [True, True] Translation: X:-137.65, Y:-285.06, Z:-9.01 [[-6.89347944e-01 -7.24399801e-01 6.65885686e-03 -1.37650775e+02] [ 7.24367015e-01 -6.89380101e-01 -6.89230041e-03 -2.85062020e+02] [ 9.58326445e-03 7.22631547e-05 9.99954077e-01 -9.01207962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.680385723 meters 0.01621823489360313 Centerline is valid? [True, True] Translation: X:-137.67, Y:-285.04, Z:-9.01 [[-6.91676101e-01 -7.22166906e-01 7.68962716e-03 -1.37670623e+02] [ 7.22123101e-01 -6.91718842e-01 -7.95428359e-03 -2.85043514e+02] [ 1.10633804e-02 5.10695443e-05 9.99938798e-01 -9.01326884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.710385723 meters 0.01622606796319455 Centerline is valid? [True, True] Translation: X:-137.69, Y:-285.03, Z:-9.01 [[-6.93267685e-01 -7.20636016e-01 7.97809190e-03 -1.37689484e+02] [ 7.20588821e-01 -6.93313589e-01 -8.24734188e-03 -2.85025153e+02] [ 1.14746511e-02 3.13082274e-05 9.99934164e-01 -9.01418643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.740385723 meters 0.015979216977150684 Centerline is valid? [True, True] Translation: X:-137.71, Y:-285.00, Z:-9.01 [[-6.96264966e-01 -7.17748584e-01 7.21580188e-03 -1.37707372e+02] [ 7.17709868e-01 -6.96302356e-01 -7.45481023e-03 -2.85004937e+02] [ 1.03750593e-02 -1.16709741e-05 9.99946178e-01 -9.01175298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.770385723 meters 0.016048977235398835 Centerline is valid? [True, True] Translation: X:-137.73, Y:-284.98, Z:-9.01 [[-6.97456332e-01 -7.16597324e-01 6.55294136e-03 -1.37725064e+02] [ 7.16565383e-01 -6.97487115e-01 -6.76585481e-03 -2.84984754e+02] [ 9.41898561e-03 -2.32773456e-05 9.99955640e-01 -9.00978619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.800385723 meters 0.016012754957224876 Centerline is valid? [True, True] Translation: X:-137.74, Y:-284.96, Z:-9.01 [[-6.99442892e-01 -7.14660896e-01 6.28054128e-03 -1.37743310e+02] [ 7.14631513e-01 -6.99471087e-01 -6.48059218e-03 -2.84964351e+02] [ 9.02448285e-03 -4.45314159e-05 9.99959278e-01 -9.00774023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.830385723 meters 0.015955338937697284 Centerline is valid? [True, True] Translation: X:-137.76, Y:-284.94, Z:-9.01 [[-7.00399461e-01 -7.13718405e-01 6.82883721e-03 -1.37763509e+02] [ 7.13683662e-01 -7.00432748e-01 -7.04246666e-03 -2.84944814e+02] [ 9.80947928e-03 -5.89103093e-05 9.99951884e-01 -9.00834173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.860385723 meters 0.0161341475739556 Centerline is valid? [True, True] Translation: X:-137.78, Y:-284.93, Z:-9.01 [[-7.01958482e-01 -7.12181370e-01 7.21016297e-03 -1.37783710e+02] [ 7.12142599e-01 -7.01995506e-01 -7.43162688e-03 -2.84925876e+02] [ 1.03541682e-02 -8.20293280e-05 9.99946391e-01 -9.01040590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.890385723 meters 0.0161341475739556 Centerline is valid? [True, True] Translation: X:-137.80, Y:-284.91, Z:-9.01 [[-7.02178156e-01 -7.11964759e-01 7.21245588e-03 -1.37802423e+02] [ 7.11926000e-01 -7.02215192e-01 -7.42940161e-03 -2.84906720e+02] [ 1.03541682e-02 -8.20286632e-05 9.99946391e-01 -9.01040644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.920385723 meters 0.016285454221344725 Centerline is valid? [True, True] Translation: X:-137.82, Y:-284.89, Z:-9.01 [[-7.02984970e-01 -7.11159917e-01 7.98153850e-03 -1.37821842e+02] [ 7.11112450e-01 -7.03030271e-01 -8.21714266e-03 -2.84886918e+02] [ 1.14549657e-02 -1.00756387e-04 9.99934385e-01 -9.01150094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.950385723 meters 0.0162464173316704 Centerline is valid? [True, True] Translation: X:-137.84, Y:-284.87, Z:-9.01 [[-7.03734742e-01 -7.10413310e-01 8.38702792e-03 -1.37841879e+02] [ 7.10360901e-01 -7.03784709e-01 -8.62985689e-03 -2.84866548e+02] [ 1.20334272e-02 -1.15313400e-04 9.99927589e-01 -9.01186109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9803857229999 meters 0.01639467957722285 Centerline is valid? [True, True] Translation: X:-137.86, Y:-284.85, Z:-9.01 [[-7.04401341e-01 -7.09747090e-01 8.82152307e-03 -1.37860564e+02] [ 7.09689122e-01 -7.04456564e-01 -9.07188834e-03 -2.84845503e+02] [ 1.26531262e-02 -1.29711345e-04 9.99919938e-01 -9.01069470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.010385723 meters 0.016523568700082397 Centerline is valid? [True, True] Translation: X:-137.88, Y:-284.82, Z:-9.01 [[-7.03808152e-01 -7.10333124e-01 8.99661086e-03 -1.37878212e+02] [ 7.10272949e-01 -7.03865640e-01 -9.24656375e-03 -2.84824820e+02] [ 1.29005458e-02 -1.17757620e-04 9.99916778e-01 -9.01027538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.040385723 meters 0.0164792175363413 Centerline is valid? [True, True] Translation: X:-137.90, Y:-284.81, Z:-9.01 [[-7.03060645e-01 -7.11066466e-01 9.49788778e-03 -1.37897231e+02] [ 7.10999527e-01 -7.03124789e-01 -9.75723094e-03 -2.84806766e+02] [ 1.36162401e-02 -1.06931364e-04 9.99907289e-01 -9.01114515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.070385723 meters 0.016177533631862393 Centerline is valid? [True, True] Translation: X:-137.92, Y:-284.79, Z:-9.01 [[-7.02206215e-01 -7.11906276e-01 9.79214354e-03 -1.37918291e+02] [ 7.11835293e-01 -7.02274480e-01 -1.00533494e-02 -2.84788754e+02] [ 1.40338150e-02 -8.91310588e-05 9.99901517e-01 -9.01118346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1003857229999 meters 0.016122321198319318 Centerline is valid? [True, True] Translation: X:-137.94, Y:-284.77, Z:-9.01 [[-7.00241248e-01 -7.13836362e-01 9.99212639e-03 -1.37938729e+02] [ 7.13762715e-01 -7.00312534e-01 -1.02538004e-02 -2.84772239e+02] [ 1.43171470e-02 -4.81267468e-05 9.99897503e-01 -9.01419032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.130385723 meters 0.015944715838043588 Centerline is valid? [True, True] Translation: X:-137.96, Y:-284.75, Z:-9.01 [[-6.99514547e-01 -7.14548190e-01 1.00141278e-02 -1.37958570e+02] [ 7.14474381e-01 -6.99586223e-01 -1.02701397e-02 -2.84753354e+02] [ 1.43442556e-02 -2.92743429e-05 9.99897116e-01 -9.01348461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.160385723 meters 0.015888002799614793 Centerline is valid? [True, True] Translation: X:-137.98, Y:-284.73, Z:-9.01 [[-6.98408706e-01 -7.15618202e-01 1.07642252e-02 -1.37977654e+02] [ 7.15533151e-01 -6.98491653e-01 -1.10327473e-02 -2.84733499e+02] [ 1.54139563e-02 -3.20679433e-06 9.99881198e-01 -9.01342517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.190385723 meters 0.01594278688711954 Centerline is valid? [True, True] Translation: X:-138.00, Y:-284.71, Z:-9.01 [[-6.98247167e-01 -7.15774777e-01 1.08334352e-02 -1.37995526e+02] [ 7.15688727e-01 -6.98331203e-01 -1.10985103e-02 -2.84714038e+02] [ 1.55093595e-02 3.86409312e-06 9.99879723e-01 -9.01407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2203857229999 meters 0.015671832344442232 Centerline is valid? [True, True] Translation: X:-138.01, Y:-284.69, Z:-9.01 [[-6.97567816e-01 -7.16438569e-01 1.07200245e-02 -1.38013543e+02] [ 7.16354493e-01 -6.97650182e-01 -1.09756354e-02 -2.84693935e+02] [ 1.53421956e-02 2.30876482e-05 9.99882301e-01 -9.01094133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.250385723 meters 0.015657006409409077 Centerline is valid? [True, True] Translation: X:-138.03, Y:-284.67, Z:-9.01 [[-6.97061789e-01 -7.16936518e-01 1.03388378e-02 -1.38033369e+02] [ 7.16858465e-01 -6.97138456e-01 -1.05789390e-02 -2.84674754e+02] [ 1.47920291e-02 3.73092305e-05 9.99890591e-01 -9.01066242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.280385723 meters 0.015502952874569409 Centerline is valid? [True, True] Translation: X:-138.05, Y:-284.66, Z:-9.01 [[-6.96434587e-01 -7.17549233e-01 1.00977332e-02 -1.38053674e+02] [ 7.17474933e-01 -6.96507785e-01 -1.03259667e-02 -2.84656020e+02] [ 1.44425392e-02 5.35101149e-05 9.99895700e-01 -9.01065657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.310385723 meters 0.015395065594790633 Centerline is valid? [True, True] Translation: X:-138.07, Y:-284.64, Z:-9.01 [[-6.95240045e-01 -7.18717854e-01 9.26966629e-03 -1.38074269e+02] [ 7.18655421e-01 -6.95301834e-01 -9.47338261e-03 -2.84637875e+02] [ 1.32539052e-02 7.54209840e-05 9.99912160e-01 -9.01058118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3403857229999 meters 0.015337416080644753 Centerline is valid? [True, True] Translation: X:-138.09, Y:-284.62, Z:-9.01 [[-6.95004825e-01 -7.18948040e-01 9.05587926e-03 -1.38093126e+02] [ 7.18888547e-01 -6.95063817e-01 -9.24917333e-03 -2.84618167e+02] [ 1.29440890e-02 8.19477916e-05 9.99916219e-01 -9.01014531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.370385723 meters 0.015341864399832351 Centerline is valid? [True, True] Translation: X:-138.11, Y:-284.60, Z:-9.01 [[-6.95393549e-01 -7.18572752e-01 9.00070378e-03 -1.38111145e+02] [ 7.18514027e-01 -6.95451791e-01 -9.18686554e-03 -2.84599700e+02] [ 1.28609868e-02 7.86448952e-05 9.99917291e-01 -9.01063390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.400385723 meters 0.015249218571281533 Centerline is valid? [True, True] Translation: X:-138.13, Y:-284.58, Z:-9.01 [[-6.96129410e-01 -7.17860366e-01 8.96324351e-03 -1.38129831e+02] [ 7.17802141e-01 -6.96187109e-01 -9.14313347e-03 -2.84579278e+02] [ 1.28035877e-02 6.90312733e-05 9.99918028e-01 -9.01034293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.430385723 meters 0.01497350174792182 Centerline is valid? [True, True] Translation: X:-138.15, Y:-284.56, Z:-9.01 [[-6.97513344e-01 -7.16516123e-01 8.93202498e-03 -1.38147931e+02] [ 7.16458263e-01 -6.97570530e-01 -9.10568885e-03 -2.84558475e+02] [ 1.27550903e-02 4.80836210e-05 9.99918649e-01 -9.00911820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.460385723 meters 0.014903765374205954 Centerline is valid? [True, True] Translation: X:-138.17, Y:-284.54, Z:-9.01 [[-6.98657476e-01 -7.15399054e-01 9.05127320e-03 -1.38167451e+02] [ 7.15339611e-01 -6.98716103e-01 -9.22214562e-03 -2.84538361e+02] [ 1.29217846e-02 3.16132726e-05 9.99916510e-01 -9.00929018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.490385723 meters 0.014650058443550244 Centerline is valid? [True, True] Translation: X:-138.19, Y:-284.52, Z:-9.01 [[-7.00798759e-01 -7.13304138e-01 8.84909078e-03 -1.38185789e+02] [ 7.13247228e-01 -7.00854626e-01 -9.01027166e-03 -2.84520003e+02] [ 1.26289903e-02 -2.79773194e-06 9.99920251e-01 -9.01029437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.520385723 meters 0.014524080268180044 Centerline is valid? [True, True] Translation: X:-138.20, Y:-284.50, Z:-9.01 [[-7.02306234e-01 -7.11817700e-01 9.02853421e-03 -1.38204143e+02] [ 7.11758409e-01 -7.02364265e-01 -9.18731124e-03 -2.84500212e+02] [ 1.28810106e-02 -2.61708199e-05 9.99917036e-01 -9.00992726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.550385723 meters 0.014698589631673259 Centerline is valid? [True, True] Translation: X:-138.22, Y:-284.48, Z:-9.01 [[-7.05352476e-01 -7.08795950e-01 9.28362962e-03 -1.38222212e+02] [ 7.08733070e-01 -7.05413563e-01 -9.44142090e-03 -2.84479358e+02] [ 1.32408391e-02 -7.99142898e-05 9.99912333e-01 -9.01054030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.580385723 meters 0.014892299429938237 Centerline is valid? [True, True] Translation: X:-138.24, Y:-284.46, Z:-9.01 [[-7.06846308e-01 -7.07304188e-01 9.43830007e-03 -1.38240643e+02] [ 7.07239141e-01 -7.06909311e-01 -9.59286570e-03 -2.84459419e+02] [ 1.34570963e-02 -1.05546470e-04 9.99909444e-01 -9.01097855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.610385723 meters 0.015340702951958236 Centerline is valid? [True, True] Translation: X:-138.26, Y:-284.44, Z:-9.01 [[-7.09729904e-01 -7.04412277e-01 9.31710833e-03 -1.38259145e+02] [ 7.04348703e-01 -7.09791040e-01 -9.46489512e-03 -2.84438520e+02] [ 1.32803883e-02 -1.55025933e-04 9.99911800e-01 -9.01187614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.640385723 meters 0.015451973959588208 Centerline is valid? [True, True] Translation: X:-138.28, Y:-284.42, Z:-9.01 [[-7.11129594e-01 -7.03001681e-01 9.12888631e-03 -1.38278517e+02] [ 7.02940608e-01 -7.11188165e-01 -9.26799751e-03 -2.84419055e+02] [ 1.30077737e-02 -1.73682420e-04 9.99915380e-01 -9.01175683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.670385723 meters 0.015551669596522958 Centerline is valid? [True, True] Translation: X:-138.30, Y:-284.40, Z:-9.01 [[-7.13400018e-01 -7.00705153e-01 8.52656529e-03 -1.38298873e+02] [ 7.00651767e-01 -7.13450944e-01 -8.65175237e-03 -2.84399526e+02] [ 1.21456135e-02 -1.98007263e-04 9.99926220e-01 -9.01120819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.700385723 meters 0.016176555418786907 Centerline is valid? [True, True] Translation: X:-138.32, Y:-284.38, Z:-9.01 [[-7.14522578e-01 -6.99562134e-01 8.38485127e-03 -1.38317411e+02] [ 6.99510487e-01 -7.14571744e-01 -8.50305023e-03 -2.84379990e+02] [ 1.19399898e-02 -2.10329982e-04 9.99928694e-01 -9.01175835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7303857229999 meters 0.0160356321396544 Centerline is valid? [True, True] Translation: X:-138.34, Y:-284.36, Z:-9.01 [[-7.15650945e-01 -6.98408798e-01 8.29917575e-03 -1.38337616e+02] [ 6.98358178e-01 -7.15699030e-01 -8.41158482e-03 -2.84360596e+02] [ 1.18144369e-02 -2.23961367e-04 9.99930182e-01 -9.01100752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.760385723 meters 0.01696566106594522 Centerline is valid? [True, True] Translation: X:-138.36, Y:-284.34, Z:-9.01 [[-7.17295118e-01 -6.96724400e-01 7.92618426e-03 -1.38355966e+02] [ 6.96678177e-01 -7.17338870e-01 -8.02892039e-03 -2.84341005e+02] [ 1.12797048e-02 -2.37105790e-04 9.99936354e-01 -9.01103591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.790385723 meters 0.01602738436437354 Centerline is valid? [True, True] Translation: X:-138.38, Y:-284.32, Z:-9.01 [[-7.17976074e-01 -6.96029347e-01 7.31474043e-03 -1.38378050e+02] [ 6.95989987e-01 -7.18013299e-01 -7.40542535e-03 -2.84322840e+02] [ 1.04064743e-02 -2.25932120e-04 9.99945826e-01 -9.00942580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.820385723 meters 0.016679779355490514 Centerline is valid? [True, True] Translation: X:-138.40, Y:-284.30, Z:-9.01 [[-7.18339245e-01 -6.95661345e-01 6.63496173e-03 -1.38397165e+02] [ 6.95628983e-01 -7.18369856e-01 -6.71327651e-03 -2.84304137e+02] [ 9.43652347e-03 -2.06938296e-04 9.99955454e-01 -9.00939535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8503857229999 meters 0.016329931718848983 Centerline is valid? [True, True] Translation: X:-138.42, Y:-284.29, Z:-9.01 [[-7.18485317e-01 -6.95511649e-01 6.51119485e-03 -1.38417408e+02] [ 6.95480514e-01 -7.18514791e-01 -6.58401268e-03 -2.84286218e+02] [ 9.25764733e-03 -2.02107293e-04 9.99957127e-01 -9.00926889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.880385723 meters 0.016567536683460157 Centerline is valid? [True, True] Translation: X:-138.44, Y:-284.27, Z:-9.01 [[-7.18379104e-01 -6.95619756e-01 6.67969422e-03 -1.38437638e+02] [ 6.95587035e-01 -7.18410130e-01 -6.75005940e-03 -2.84269399e+02] [ 9.49423466e-03 -2.02792930e-04 9.99954908e-01 -9.01060964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.910385723 meters 0.016388539955753737 Centerline is valid? [True, True] Translation: X:-138.46, Y:-284.25, Z:-9.01 [[-7.18540206e-01 -6.95454404e-01 6.56837036e-03 -1.38457936e+02] [ 6.95422795e-01 -7.18570200e-01 -6.63354031e-03 -2.84251774e+02] [ 9.33316003e-03 -1.98670945e-04 9.99956425e-01 -9.01114771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.940385723 meters 0.016071052759307643 Centerline is valid? [True, True] Translation: X:-138.48, Y:-284.23, Z:-9.01 [[-7.19081116e-01 -6.94894846e-01 6.59551730e-03 -1.38478980e+02] [ 6.94862986e-01 -7.19111334e-01 -6.65730315e-03 -2.84233727e+02] [ 9.36903689e-03 -2.04160137e-04 9.99956089e-01 -9.01076692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9703857229999 meters 0.016911387615621012 Centerline is valid? [True, True] Translation: X:-138.50, Y:-284.21, Z:-9.01 [[-7.19375651e-01 -6.94592730e-01 6.29377494e-03 -1.38496412e+02] [ 6.94563744e-01 -7.19403156e-01 -6.34861626e-03 -2.84214326e+02] [ 8.93746426e-03 -1.95612073e-04 9.99960041e-01 -9.01109984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.000385723 meters 0.015973239614042834 Centerline is valid? [True, True] Translation: X:-138.52, Y:-284.20, Z:-9.01 [[-7.19531145e-01 -6.94428908e-01 6.58969895e-03 -1.38517902e+02] [ 6.94397159e-01 -7.19561290e-01 -6.64347098e-03 -2.84196665e+02] [ 9.35511057e-03 -2.04316053e-04 9.99956219e-01 -9.01002031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.030385723 meters 0.015989293919732965 Centerline is valid? [True, True] Translation: X:-138.54, Y:-284.18, Z:-9.01 [[-7.20101883e-01 -6.93834036e-01 6.89992947e-03 -1.38539247e+02] [ 6.93799237e-01 -7.20134906e-01 -6.95241713e-03 -2.84177688e+02] [ 9.79270369e-03 -2.19282868e-04 9.99952026e-01 -9.01028863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.060385723 meters 0.016263274116731737 Centerline is valid? [True, True] Translation: X:-138.56, Y:-284.16, Z:-9.01 [[-7.20544954e-01 -6.93371734e-01 7.11398740e-03 -1.38558527e+02] [ 6.93334766e-01 -7.20580035e-01 -7.16347001e-03 -2.84159192e+02] [ 1.00931449e-02 -2.29227373e-04 9.99949037e-01 -9.01115199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0903857229999 meters 0.015572181635691573 Centerline is valid? [True, True] Translation: X:-138.58, Y:-284.14, Z:-9.01 [[-7.20973338e-01 -6.92920452e-01 7.66116444e-03 -1.38581793e+02] [ 6.92877600e-01 -7.21013998e-01 -7.71014379e-03 -2.84142090e+02] [ 1.08663231e-02 -2.50558868e-04 9.99940928e-01 -9.01114757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.120385723 meters 0.01617575420501727 Centerline is valid? [True, True] Translation: X:-138.60, Y:-284.12, Z:-9.01 [[-7.21376231e-01 -6.92499431e-01 7.80200724e-03 -1.38600938e+02] [ 6.92455000e-01 -7.21418374e-01 -7.84868984e-03 -2.84122810e+02] [ 1.10637246e-02 -2.59319370e-04 9.99938762e-01 -9.01193313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.150385723 meters 0.01657264109350452 Centerline is valid? [True, True] Translation: X:-138.62, Y:-284.10, Z:-9.01 [[-7.22460241e-01 -6.91373082e-01 7.37978916e-03 -1.38620159e+02] [ 6.91333302e-01 -7.22497885e-01 -7.42099242e-03 -2.84104222e+02] [ 1.04625565e-02 -2.59477964e-04 9.99945232e-01 -9.01141408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.180385723 meters 0.016931523342692968 Centerline is valid? [True, True] Translation: X:-138.64, Y:-284.09, Z:-9.01 [[-7.23120921e-01 -6.90688241e-01 6.77403996e-03 -1.38639726e+02] [ 6.90654733e-01 -7.23152608e-01 -6.80774103e-03 -2.84085074e+02] [ 9.60069134e-03 -2.44297206e-04 9.99953883e-01 -9.01088584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.210385723 meters 0.016366088732095295 Centerline is valid? [True, True] Translation: X:-138.66, Y:-284.07, Z:-9.01 [[-7.23825380e-01 -6.89951394e-01 6.62524073e-03 -1.38661075e+02] [ 6.89919346e-01 -7.23855658e-01 -6.65454379e-03 -2.84066222e+02] [ 9.38702975e-03 -2.45845938e-04 9.99955911e-01 -9.00973783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.240385723 meters 0.016834590182595487 Centerline is valid? [True, True] Translation: X:-138.68, Y:-284.05, Z:-9.01 [[-7.24665661e-01 -6.89074721e-01 5.97568936e-03 -1.38680740e+02] [ 6.89048649e-01 -7.24690262e-01 -5.99864256e-03 -2.84048118e+02] [ 8.46403683e-03 -2.29469599e-04 9.99964153e-01 -9.00857036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.270385723 meters 0.017674077387579402 Centerline is valid? [True, True] Translation: X:-138.70, Y:-284.03, Z:-9.01 [[-7.24863813e-01 -6.88869559e-01 5.58430866e-03 -1.38698966e+02] [ 6.88846812e-01 -7.24885291e-01 -5.60216817e-03 -2.84029220e+02] [ 7.90714633e-03 -2.14075764e-04 9.99968715e-01 -9.00834685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.300385723 meters 0.01617227119538387 Centerline is valid? [True, True] Translation: X:-138.72, Y:-284.01, Z:-9.01 [[-7.24401650e-01 -6.89365058e-01 4.25042411e-03 -1.38723205e+02] [ 6.89351903e-01 -7.24414103e-01 -4.26167032e-03 -2.84013331e+02] [ 6.01691377e-03 -1.57123058e-04 9.99981886e-01 -9.00684639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.330385723 meters 0.01607565911997958 Centerline is valid? [True, True] Translation: X:-138.74, Y:-284.00, Z:-9.01 [[-7.23966094e-01 -6.89823295e-01 4.11300934e-03 -1.38743913e+02] [ 6.89810997e-01 -7.23977762e-01 -4.12158069e-03 -2.83995319e+02] [ 5.82088967e-03 -1.46685601e-04 9.99983048e-01 -9.00672051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.360385723 meters 0.015881131934680884 Centerline is valid? [True, True] Translation: X:-138.77, Y:-283.98, Z:-9.01 [[-7.23515730e-01 -6.90295628e-01 4.11525907e-03 -1.38765071e+02] [ 6.90283337e-01 -7.23527419e-01 -4.12158726e-03 -2.83977388e+02] [ 5.82261644e-03 -1.41338447e-04 9.99983039e-01 -9.00721787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.390385723 meters 0.015464744792511748 Centerline is valid? [True, True] Translation: X:-138.79, Y:-283.96, Z:-9.01 [[-7.22576842e-01 -6.91270703e-01 5.24616326e-03 -1.38787868e+02] [ 6.91250779e-01 -7.22595867e-01 -5.25101086e-03 -2.83961031e+02] [ 7.42072586e-03 -1.67844402e-04 9.99972452e-01 -9.00824416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.420385723 meters 0.015704918539202552 Centerline is valid? [True, True] Translation: X:-138.81, Y:-283.94, Z:-9.01 [[-7.22694219e-01 -6.91143118e-01 5.85287297e-03 -1.38807147e+02] [ 6.91118347e-01 -7.22717895e-01 -5.85451952e-03 -2.83943226e+02] [ 8.27628691e-03 -1.85999520e-04 9.99965734e-01 -9.00881029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.450385723 meters 0.014843820230612908 Centerline is valid? [True, True] Translation: X:-138.83, Y:-283.93, Z:-9.01 [[-7.23044359e-01 -6.90767435e-01 6.87072245e-03 -1.38828803e+02] [ 6.90733314e-01 -7.23076969e-01 -6.86921129e-03 -2.83925427e+02] [ 9.71308862e-03 -2.20907581e-04 9.99952803e-01 -9.00778166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4803857229999 meters 0.014877066763455116 Centerline is valid? [True, True] Translation: X:-139.34, Y:-284.43, Z:-8.06 [[-7.39790886e-01 6.72801144e-01 6.93294225e-03 -1.39344442e+02] [ 6.72774295e-01 7.39823341e-01 -6.01444172e-03 -2.84434707e+02] [-9.17567576e-03 2.14876164e-04 -9.99957880e-01 -8.06465203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.510385723 meters 0.015208425822379941 Centerline is valid? [True, True] Translation: X:-139.32, Y:-284.41, Z:-8.07 [[-7.85181487e-01 6.19231023e-01 6.55535433e-03 -1.39321811e+02] [ 6.19211516e-01 7.85208827e-01 -4.91905490e-03 -2.84414237e+02] [-8.19335348e-03 1.96800050e-04 -9.99966415e-01 -8.06524216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.540385723 meters 0.015515528138693798 Centerline is valid? [True, True] Translation: X:-138.89, Y:-283.84, Z:-9.01 [[-7.73863816e-01 -6.33328075e-01 5.50861526e-03 -1.38887800e+02] [ 6.33309906e-01 -7.73883388e-01 -4.80258618e-03 -2.83844141e+02] [ 7.30463850e-03 -2.27887048e-04 9.99973295e-01 -9.00661718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.570385723 meters 0.01590286542310205 Centerline is valid? [True, True] Translation: X:-139.35, Y:-284.39, Z:-8.07 [[-7.86886969e-01 6.17064081e-01 6.38892473e-03 -1.39354105e+02] [ 6.17045764e-01 7.86912880e-01 -4.75861365e-03 -2.84386235e+02] [-7.96389672e-03 1.97767868e-04 -9.99968268e-01 -8.06525280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6003857229999 meters 0.015361647868757234 Centerline is valid? [True, True] Translation: X:-139.34, Y:-284.36, Z:-8.07 [[-8.28709883e-01 5.59639817e-01 6.57312562e-03 -1.39337381e+02] [ 5.59624037e-01 8.28735928e-01 -4.20699875e-03 -2.84359908e+02] [-7.80178937e-03 1.92097655e-04 -9.99969547e-01 -8.06537468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.630385723 meters 0.01575785981531218 Centerline is valid? [True, True] Translation: X:-138.95, Y:-283.77, Z:-9.01 [[-8.18509056e-01 -5.74459981e-01 6.21741186e-03 -1.38950866e+02] [ 5.74441586e-01 -8.18532646e-01 -4.60122588e-03 -2.83767925e+02] [ 7.73237471e-03 -1.94605118e-04 9.99970086e-01 -9.00664169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.660385723 meters 0.01589002242420208 Centerline is valid? [True, True] Translation: X:-139.37, Y:-284.34, Z:-8.07 [[-8.30753128e-01 5.56611877e-01 5.69723637e-03 -1.39373053e+02] [ 5.56600144e-01 8.30772647e-01 -3.61783655e-03 -2.84335236e+02] [-6.74683893e-03 1.65553551e-04 -9.99977226e-01 -8.06517754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.690385723 meters 0.015561278081348972 Centerline is valid? [True, True] Translation: X:-139.36, Y:-284.31, Z:-8.07 [[-8.68234850e-01 4.96118280e-01 5.90745466e-03 -1.39357296e+02] [ 4.96108064e-01 8.68254931e-01 -3.18788233e-03 -2.84308498e+02] [-6.71074334e-03 1.62905362e-04 -9.99977470e-01 -8.06553190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7203857229999 meters 0.015399685684722095 Centerline is valid? [True, True] Translation: X:-139.34, Y:-284.28, Z:-8.06 [[-9.01582011e-01 4.32555954e-01 6.72488097e-03 -1.39343291e+02] [ 4.32545343e-01 9.01607075e-01 -3.03474524e-03 -2.84279194e+02] [-7.37589738e-03 1.72744230e-04 -9.99972783e-01 -8.06461693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.750385723 meters 0.01574882483580944 Centerline is valid? [True, True] Translation: X:-139.06, Y:-283.65, Z:-9.01 [[-8.92377930e-01 -4.51234819e-01 6.98348832e-03 -1.39063648e+02] [ 4.51219660e-01 -8.92405242e-01 -3.70182965e-03 -2.83645252e+02] [ 7.90249601e-03 -1.52343855e-04 9.99968763e-01 -9.00804677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.780385723 meters 0.015668766196996184 Centerline is valid? [True, True] Translation: X:-139.39, Y:-284.26, Z:-8.06 [[-9.03750630e-01 4.27993788e-01 7.49102644e-03 -1.39388802e+02] [ 4.27980738e-01 9.03781658e-01 -3.34715958e-03 -2.84258440e+02] [-8.20281581e-03 1.81017445e-04 -9.99966340e-01 -8.06362644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.810385723 meters 0.015668766196996184 Centerline is valid? [True, True] Translation: X:-139.38, Y:-284.23, Z:-8.06 [[-9.31828272e-01 3.62817634e-01 7.70950953e-03 -1.39379163e+02] [ 3.62806818e-01 9.31860146e-01 -2.80742850e-03 -2.84230732e+02] [-8.20276924e-03 1.81021372e-04 -9.99966340e-01 -8.06362696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8403857229999 meters 0.014611952091299512 Centerline is valid? [True, True] Translation: X:-139.37, Y:-284.20, Z:-8.06 [[-9.55891068e-01 2.93634567e-01 7.14188641e-03 -1.39370581e+02] [ 2.93627515e-01 9.55917737e-01 -2.04028801e-03 -2.84198878e+02] [-7.42615498e-03 1.46761277e-04 -9.99972415e-01 -8.06390564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.870385723 meters 0.014434191028835142 Centerline is valid? [True, True] Translation: X:-139.37, Y:-284.17, Z:-8.06 [[-9.74553062e-01 2.24040656e-01 7.21900852e-03 -1.39367473e+02] [ 2.24035552e-01 9.74579789e-01 -1.51840400e-03 -2.84168129e+02] [-7.37568403e-03 1.37549299e-04 -9.99972790e-01 -8.06363904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.900385723 meters 0.013966986809936318 Centerline is valid? [True, True] Translation: X:-139.24, Y:-283.50, Z:-9.01 [[-9.66930939e-01 -2.54937244e-01 7.18064990e-03 -1.39235462e+02] [ 2.54929186e-01 -9.66957592e-01 -2.03126756e-03 -2.83501603e+02] [ 7.46122968e-03 -1.33538216e-04 9.99972156e-01 -9.00886777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.930385723 meters 0.013949073705001038 Centerline is valid? [True, True] Translation: X:-139.42, Y:-284.16, Z:-8.06 [[-9.76228403e-01 2.16627843e-01 7.10509025e-03 -1.39422590e+02] [ 2.16622919e-01 9.76254253e-01 -1.46480463e-03 -2.84155033e+02] [-7.25369204e-03 1.09141498e-04 -9.99973686e-01 -8.06260726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.960385723 meters 0.01320480355555859 Centerline is valid? [True, True] Translation: X:-139.42, Y:-284.12, Z:-8.06 [[-9.89669566e-01 1.43202101e-01 6.87816351e-03 -1.39423614e+02] [ 1.43199197e-01 9.89693464e-01 -9.15393782e-04 -2.84123396e+02] [-6.93835978e-03 7.90101211e-05 -9.99975926e-01 -8.06300898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.990385723 meters 0.013003115456675252 Centerline is valid? [True, True] Translation: X:-139.33, Y:-283.46, Z:-9.01 [[-9.82009675e-01 -1.88719910e-01 6.46478331e-03 -1.39332203e+02] [ 1.88715167e-01 -9.82030950e-01 -1.34164738e-03 -2.83457305e+02] [ 6.60181287e-03 -9.75080441e-05 9.99978203e-01 -9.00924563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.020385723 meters 0.012700826397864533 Centerline is valid? [True, True] Translation: X:-139.48, Y:-284.11, Z:-8.06 [[-9.91096539e-01 1.32992091e-01 6.38383856e-03 -1.39483567e+02] [ 1.32989548e-01 9.91117098e-01 -8.23161407e-04 -2.84113420e+02] [-6.43660550e-03 3.31513820e-05 -9.99979284e-01 -8.06189416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.050385723 meters 0.012633350702187683 Centerline is valid? [True, True] Translation: X:-139.40, Y:-283.45, Z:-9.01 [[-9.81498627e-01 -1.91367238e-01 6.24712627e-03 -1.39396279e+02] [ 1.91363120e-01 -9.81518507e-01 -1.25584111e-03 -2.83451995e+02] [ 6.37199689e-03 -3.71367428e-05 9.99979698e-01 -9.01013201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.080385723 meters 0.012432882468509997 Centerline is valid? [True, True] Translation: X:-139.54, Y:-284.11, Z:-8.06 [[-9.92240600e-01 1.24148099e-01 6.77068198e-03 -1.39541526e+02] [ 1.24145227e-01 9.92263700e-01 -8.44467414e-04 -2.84105077e+02] [-6.82314097e-03 2.63299486e-06 -9.99976722e-01 -8.06183253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.110385723 meters 0.012727292458655635 Centerline is valid? [True, True] Translation: X:-139.46, Y:-283.45, Z:-9.01 [[-9.80740656e-01 -1.95133221e-01 8.41381880e-03 -1.39461603e+02] [ 1.95127070e-01 -9.80776739e-01 -1.55381642e-03 -2.83445692e+02] [ 8.55527897e-03 1.17872870e-04 9.99963396e-01 -9.01136164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.140385723 meters 0.013062984737497655 Centerline is valid? [True, True] Translation: X:-139.60, Y:-284.10, Z:-8.06 [[-9.93690025e-01 1.11810859e-01 8.85806064e-03 -1.39604617e+02] [ 1.11805777e-01 9.93729504e-01 -1.06838918e-03 -2.84095589e+02] [-8.92197372e-03 -7.12653190e-05 -9.99960196e-01 -8.05919468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.170385723 meters 0.013591148035448166 Centerline is valid? [True, True] Translation: X:-139.61, Y:-284.07, Z:-8.06 [[-9.99285895e-01 3.65978766e-02 9.39654705e-03 -1.39607765e+02] [ 3.65951665e-02 9.99330067e-01 -4.60246782e-04 -2.84066599e+02] [-9.40709604e-03 -1.16049914e-04 -9.99955746e-01 -8.05946965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.200385723 meters 0.013815069817967852 Centerline is valid? [True, True] Translation: X:-139.57, Y:-283.41, Z:-9.01 [[-9.91562989e-01 -1.29305485e-01 9.10662696e-03 -1.39574508e+02] [ 1.29300934e-01 -9.91604801e-01 -1.08924449e-03 -2.83405372e+02] [ 9.17102031e-03 9.74408445e-05 9.99957941e-01 -9.01232678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2303857229999 meters 0.0141288509582486 Centerline is valid? [True, True] Translation: X:-139.68, Y:-284.07, Z:-8.06 [[-9.99533876e-01 2.91557024e-02 9.05408233e-03 -1.39676706e+02] [ 2.91532570e-02 9.99574873e-01 -4.01983567e-04 -2.84065936e+02] [-9.06195330e-03 -1.37840203e-04 -9.99958930e-01 -8.05960937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.260385723 meters 0.014338811152928658 Centerline is valid? [True, True] Translation: X:-139.68, Y:-284.04, Z:-8.06 [[-9.99056930e-01 -4.24690463e-02 9.03500451e-03 -1.39681804e+02] [-4.24685951e-02 9.99097773e-01 2.41879140e-04 -2.84038372e+02] [-9.03712526e-03 -1.42052917e-04 -9.99959154e-01 -8.05953705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.290385723 meters 0.014640659708375848 Centerline is valid? [True, True] Translation: X:-139.69, Y:-284.01, Z:-8.06 [[-9.93501990e-01 -1.13452761e-01 9.07012210e-03 -1.39690578e+02] [-1.13449349e-01 9.93543381e-01 8.91392880e-04 -2.84011267e+02] [-9.11269076e-03 -1.43398850e-04 -9.99958468e-01 -8.05916219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.320385723 meters 0.014595912677948644 Centerline is valid? [True, True] Translation: X:-139.70, Y:-283.99, Z:-8.06 [[-9.83017182e-01 -1.83296364e-01 8.92539606e-03 -1.39704881e+02] [-1.83290061e-01 9.83057691e-01 1.52613044e-03 -2.83988290e+02] [-9.05391341e-03 -1.35723945e-04 -9.99959003e-01 -8.05862699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3503857229999 meters 0.014307820565869643 Centerline is valid? [True, True] Translation: X:-139.73, Y:-283.97, Z:-8.06 [[-9.67479812e-01 -2.52784055e-01 9.11233502e-03 -1.39728048e+02] [-2.52774148e-01 9.67522715e-01 2.24199817e-03 -2.83967026e+02] [-9.38313250e-03 -1.34274752e-04 -9.99955969e-01 -8.05869146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.380385723 meters 0.014306338479024981 Centerline is valid? [True, True] Translation: X:-139.77, Y:-283.95, Z:-8.06 [[-9.46934092e-01 -3.21259408e-01 1.04027629e-02 -1.39768496e+02] [-3.21241752e-01 9.46991220e-01 3.37135591e-03 -2.83953295e+02] [-1.09344050e-02 -1.49349948e-04 -9.99940207e-01 -8.05744343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.410385723 meters 0.014344678100147735 Centerline is valid? [True, True] Translation: X:-139.83, Y:-283.95, Z:-8.06 [[-9.20692164e-01 -3.90142439e-01 1.07152940e-02 -1.39826622e+02] [-3.90118022e-01 9.20754502e-01 4.36766746e-03 -2.83945991e+02] [-1.15701676e-02 -1.58952089e-04 -9.99933051e-01 -8.05689246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.440385723 meters 0.014524208108210679 Centerline is valid? [True, True] Translation: X:-139.89, Y:-283.95, Z:-8.06 [[-8.89443851e-01 -4.56920441e-01 1.06464688e-02 -1.39893782e+02] [-4.56889871e-01 8.89507552e-01 5.28775227e-03 -2.83946628e+02] [-1.18861965e-02 -1.61105016e-04 -9.99929344e-01 -8.05612303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4703857229999 meters 0.014376127186318016 Centerline is valid? [True, True] Translation: X:-139.97, Y:-283.96, Z:-8.06 [[-8.53475158e-01 -5.21028878e-01 1.04433080e-02 -1.39967284e+02] [-5.20992053e-01 8.53539036e-01 6.19638492e-03 -2.83959864e+02] [-1.21422665e-02 -1.52419891e-04 -9.99926268e-01 -8.05609511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.500385723 meters 0.014291025628757245 Centerline is valid? [True, True] Translation: X:-140.06, Y:-283.99, Z:-8.06 [[-8.12698057e-01 -5.82598648e-01 1.00341430e-02 -1.40055073e+02] [-5.82556407e-01 8.12759986e-01 7.01698491e-03 -2.83985568e+02] [-1.22434359e-02 -1.42764311e-04 -9.99925036e-01 -8.05565507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.530385723 meters 0.014187632789263617 Centerline is valid? [True, True] Translation: X:-140.14, Y:-284.02, Z:-8.05 [[-7.68245918e-01 -6.40081774e-01 9.67118497e-03 -1.40137640e+02] [-6.40032889e-01 7.68306781e-01 7.91143933e-03 -2.84020896e+02] [-1.24944051e-02 -1.11945489e-04 -9.99921936e-01 -8.05480496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.560385723 meters 0.015344227982689362 Centerline is valid? [True, True] Translation: X:-140.22, Y:-284.06, Z:-8.05 [[-7.18668521e-01 -6.95290002e-01 9.34714672e-03 -1.40223372e+02] [-6.95232937e-01 7.18729298e-01 8.90843550e-03 -2.84063739e+02] [-1.29120143e-02 -9.62321030e-05 -9.99916632e-01 -8.05433089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5903857229999 meters 0.013876971423536532 Centerline is valid? [True, True] Translation: X:-140.31, Y:-284.12, Z:-8.06 [[-6.64866912e-01 -7.46915477e-01 8.32231859e-03 -1.40311674e+02] [-7.46858380e-01 6.64918992e-01 9.23552870e-03 -2.84118713e+02] [-1.24318270e-02 -7.51959401e-05 -9.99922719e-01 -8.05627043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.620385723 meters 0.013931144084820416 Centerline is valid? [True, True] Translation: X:-140.41, Y:-284.20, Z:-8.06 [[-6.08421643e-01 -7.93583557e-01 6.94559848e-03 -1.40406861e+02] [-7.93532531e-01 6.08461286e-01 8.99925936e-03 -2.84197843e+02] [-1.13677920e-02 -3.62141700e-05 -9.99935384e-01 -8.05540284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.650385723 meters 0.013945459263803736 Centerline is valid? [True, True] Translation: X:-140.52, Y:-284.32, Z:-8.06 [[-5.48475369e-01 -8.36146973e-01 5.74542622e-03 -1.40518469e+02] [-8.36101234e-01 5.48505460e-01 8.74566045e-03 -2.84318647e+02] [-1.04640552e-02 -6.97860917e-06 -9.99945250e-01 -8.05620182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.680385723 meters 0.013981993342026882 Centerline is valid? [True, True] Translation: X:-140.60, Y:-284.41, Z:-8.06 [[-4.83500284e-01 -8.75330214e-01 4.94901276e-03 -1.40603205e+02] [-8.75284316e-01 4.83525612e-01 8.96377285e-03 -2.84413384e+02] [-1.02392356e-02 2.19347099e-06 -9.99947578e-01 -8.05636834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.710385723 meters 0.01388423332783275 Centerline is valid? [True, True] Translation: X:-140.63, Y:-284.42, Z:-8.06 [[-4.14755616e-01 -9.09923670e-01 4.08578221e-03 -1.40632974e+02] [-9.09879346e-01 4.14775740e-01 8.98117743e-03 -2.84417363e+02] [-9.86686927e-03 7.42492294e-06 -9.99951321e-01 -8.05813741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.740385723 meters 0.013897318316250266 Centerline is valid? [True, True] Translation: X:-140.70, Y:-284.51, Z:-8.06 [[-3.42114681e-01 -9.39653483e-01 2.97946676e-03 -1.40701976e+02] [-9.39618016e-01 3.42127654e-01 8.16403704e-03 -2.84511374e+02] [-8.69072381e-03 -6.52372304e-06 -9.99962235e-01 -8.05868915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.770385723 meters 0.013881056192782371 Centerline is valid? [True, True] Translation: X:-140.77, Y:-284.62, Z:-8.06 [[-2.67175229e-01 -9.63645394e-01 2.22545771e-03 -1.40768990e+02] [-9.63612568e-01 2.67184497e-01 7.95380482e-03 -2.84619827e+02] [-8.25925517e-03 -1.94193997e-05 -9.99965892e-01 -8.05818384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.800385723 meters 0.01418689830649553 Centerline is valid? [True, True] Translation: X:-140.83, Y:-284.74, Z:-8.06 [[-1.89221061e-01 -9.81932885e-01 1.78879915e-03 -1.40829092e+02] [-9.81891422e-01 1.89229510e-01 9.02378780e-03 -2.84739365e+02] [-9.19924757e-03 -4.89158368e-05 -9.99957685e-01 -8.05854277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.830385723 meters 0.014224137137787514 Centerline is valid? [True, True] Translation: X:-140.88, Y:-284.85, Z:-8.06 [[-1.11860023e-01 -9.93723283e-01 1.17103679e-03 -1.40876188e+02] [-9.93674582e-01 1.11866135e-01 9.83831973e-03 -2.84845139e+02] [-9.90756674e-03 -6.31148227e-05 -9.99950917e-01 -8.05806648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.860385723 meters 0.014333846850119488 Centerline is valid? [True, True] Translation: X:-140.92, Y:-284.97, Z:-8.06 [[-3.40871652e-02 -9.99418778e-01 4.14928383e-04 -1.40916400e+02] [-9.99368164e-01 3.40896149e-02 1.00583685e-02 -2.84969205e+02] [-1.00666671e-02 -7.18049458e-05 -9.99949327e-01 -8.05768088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.890385723 meters 0.014341618247585789 Centerline is valid? [True, True] Translation: X:-140.95, Y:-285.09, Z:-8.06 [[ 4.28633851e-02 -9.99080876e-01 -3.64299760e-04 -1.40945771e+02] [-9.99029283e-01 -4.28648739e-02 1.01535268e-02 -2.85085699e+02] [-1.01598101e-02 -7.12683998e-05 -9.99948385e-01 -8.05834122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.920385723 meters 0.014315069461045 Centerline is valid? [True, True] Translation: X:-140.97, Y:-285.23, Z:-8.06 [[ 1.19480905e-01 -9.92835919e-01 -1.07302109e-03 -1.40965032e+02] [-9.92790968e-01 -1.19485706e-01 9.44774509e-03 -2.85225204e+02] [-9.50827137e-03 -6.35394879e-05 -9.99954793e-01 -8.05880843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.950385723 meters 0.01436238735665037 Centerline is valid? [True, True] Translation: X:-140.98, Y:-285.33, Z:-8.06 [[ 1.94882847e-01 -9.80824902e-01 -1.78525925e-03 -1.40981112e+02] [-9.80780937e-01 -1.94891015e-01 9.28684298e-03 -2.85330011e+02] [-9.45669784e-03 -5.88981653e-05 -9.99955283e-01 -8.05816837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9803857229999 meters 0.014441539974751305 Centerline is valid? [True, True] Translation: X:-140.97, Y:-285.49, Z:-8.06 [[ 2.69580771e-01 -9.62974496e-01 -2.51569526e-03 -1.40973407e+02] [-9.62930607e-01 -2.69592503e-01 9.19396022e-03 -2.85493296e+02] [-9.53176179e-03 -5.60749212e-05 -9.99954570e-01 -8.05730793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.010385723 meters 0.014261810979889954 Centerline is valid? [True, True] Translation: X:-140.97, Y:-285.58, Z:-8.06 [[ 3.41454773e-01 -9.39891794e-01 -3.47181373e-03 -1.40973406e+02] [-9.39841970e-01 -3.41472421e-01 9.67764140e-03 -2.85583595e+02] [-1.02814644e-02 -4.15205965e-05 -9.99947144e-01 -8.05767865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.040385723 meters 0.014304266138747598 Centerline is valid? [True, True] Translation: X:-140.95, Y:-285.71, Z:-8.06 [[ 4.11595917e-01 -9.11355741e-01 -4.41758828e-03 -1.40951851e+02] [-9.11302517e-01 -4.11619622e-01 9.84932325e-03 -2.85710695e+02] [-1.07946033e-02 -2.81819173e-05 -9.99941736e-01 -8.05715258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.070385723 meters 0.014325810905078529 Centerline is valid? [True, True] Translation: X:-140.92, Y:-285.83, Z:-8.06 [[ 4.78039171e-01 -8.78323004e-01 -5.22024852e-03 -1.40919384e+02] [-8.78270700e-01 -4.78067673e-01 9.58527443e-03 -2.85834082e+02] [-1.09145991e-02 2.65467725e-06 -9.99940434e-01 -8.05826628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1003857229999 meters 0.01432416603611707 Centerline is valid? [True, True] Translation: X:-140.88, Y:-285.95, Z:-8.06 [[ 5.43206390e-01 -8.39579386e-01 -5.76827902e-03 -1.40883200e+02] [-8.39532336e-01 -5.43237015e-01 8.88832741e-03 -2.85948517e+02] [-1.05959991e-02 1.44605117e-05 -9.99943861e-01 -8.05890042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.130385723 meters 0.014435784171312006 Centerline is valid? [True, True] Translation: X:-140.86, Y:-286.04, Z:-8.06 [[ 6.04831066e-01 -7.96332793e-01 -5.78475960e-03 -1.40855178e+02] [-7.96296821e-01 -6.04858729e-01 7.56907862e-03 -2.86036628e+02] [-9.52646785e-03 2.83717896e-05 -9.99954622e-01 -8.05940097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.160385723 meters 0.014506187605212727 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.14, Z:-8.06 [[ 6.63930738e-01 -7.47768365e-01 -6.20060397e-03 -1.40803771e+02] [-7.47736167e-01 -6.63959691e-01 6.93922996e-03 -2.86144550e+02] [-9.30588774e-03 2.92477789e-05 -9.99956699e-01 -8.05988874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.190385723 meters 0.014503177624783169 Centerline is valid? [True, True] Translation: X:-140.75, Y:-286.24, Z:-8.06 [[ 7.19062880e-01 -6.94914448e-01 -6.51805820e-03 -1.40750373e+02] [-6.94886257e-01 -7.19092421e-01 6.25944286e-03 -2.86242365e+02] [-9.03686353e-03 2.83760570e-05 -9.99959166e-01 -8.06030377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2203857229999 meters 0.014654641643930185 Centerline is valid? [True, True] Translation: X:-140.76, Y:-286.25, Z:-8.06 [[ 7.71346030e-01 -6.36378282e-01 -6.92708646e-03 -1.40756746e+02] [-6.36352919e-01 -7.71377134e-01 5.68153704e-03 -2.86250052e+02] [-8.95900288e-03 2.56406491e-05 -9.99959867e-01 -8.05956476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.250385723 meters 0.014505368570819464 Centerline is valid? [True, True] Translation: X:-140.76, Y:-286.26, Z:-8.06 [[ 8.19091745e-01 -5.73610934e-01 -7.69483933e-03 -1.40762283e+02] [-5.73585865e-01 -8.19127888e-01 5.36272758e-03 -2.86257089e+02] [-9.37917666e-03 2.10851829e-05 -9.99956014e-01 -8.06065800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.280385723 meters 0.014565089661596685 Centerline is valid? [True, True] Translation: X:-140.77, Y:-286.27, Z:-8.06 [[ 8.61383178e-01 -5.07884053e-01 -8.53288958e-03 -1.40767910e+02] [-5.07859402e-01 -8.61425440e-01 5.00388271e-03 -2.86265497e+02] [-9.89184039e-03 2.32478165e-05 -9.99951074e-01 -8.06101797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.310385723 meters 0.014567215442030495 Centerline is valid? [True, True] Translation: X:-140.77, Y:-286.27, Z:-8.06 [[ 8.98477219e-01 -4.38926860e-01 -9.04980365e-03 -1.40773728e+02] [-4.38904854e-01 -8.98522794e-01 4.39520476e-03 -2.86273491e+02] [-1.00606283e-02 2.30114030e-05 -9.99949390e-01 -8.06009352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3403857229999 meters 0.016644043697651673 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.28, Z:-8.06 [[ 9.29848761e-01 -3.67757886e-01 -1.16369543e-02 -1.40777315e+02] [-3.67729549e-01 -9.29921575e-01 4.56539563e-03 -2.86281633e+02] [-1.25004152e-02 3.41244986e-05 -9.99921866e-01 -8.05909529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.370385723 meters 0.014676270498268825 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.29, Z:-8.06 [[ 9.55874219e-01 -2.93584303e-01 -1.06176513e-02 -1.40781404e+02] [-2.93566498e-01 -9.55933186e-01 3.23337559e-03 -2.86289626e+02] [-1.10990335e-02 2.62863320e-05 -9.99938404e-01 -8.05951185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.400385723 meters 0.014802711166542816 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.30, Z:-8.06 [[ 9.75944967e-01 -2.17696917e-01 -1.18099159e-02 -1.40782932e+02] [-2.17681296e-01 -9.76016420e-01 2.60799348e-03 -2.86295061e+02] [-1.20944239e-02 2.55396784e-05 -9.99926860e-01 -8.06005662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.430385723 meters 0.014700708087867654 Centerline is valid? [True, True] Translation: X:-140.79, Y:-286.30, Z:-8.06 [[ 9.89949651e-01 -1.40859506e-01 -1.25812935e-02 -1.40788870e+02] [-1.40848519e-01 -9.90029595e-01 1.75955699e-03 -2.86304763e+02] [-1.27037032e-02 3.01837272e-05 -9.99919304e-01 -8.06102243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.460385723 meters 0.014938697438066558 Centerline is valid? [True, True] Translation: X:-140.79, Y:-286.31, Z:-8.06 [[ 9.97906700e-01 -6.31933163e-02 -1.37412574e-02 -1.40794900e+02] [-6.31878303e-02 -9.98001304e-01 8.33468160e-04 -2.86313486e+02] [-1.37664624e-02 3.65567781e-05 -9.99905237e-01 -8.06036633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.490385723 meters 0.014925480664338053 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.32, Z:-8.06 [[ 9.99801370e-01 1.48508302e-02 -1.32918718e-02 -1.40799727e+02] [ 1.48490015e-02 -9.99889720e-01 -2.36265107e-04 -2.86321113e+02] [-1.32939147e-02 3.88471528e-05 -9.99911631e-01 -8.06007139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.520385723 meters 0.014940810207629076 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.33, Z:-8.06 [[ 9.95580163e-01 9.29293684e-02 -1.35747000e-02 -1.40803306e+02] [ 9.29201555e-02 -9.95672703e-01 -1.30918610e-03 -2.86333548e+02] [-1.36376200e-02 4.20364796e-05 -9.99907003e-01 -8.06197639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.550385723 meters 0.01493932112013032 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.35, Z:-8.06 [[ 9.85290743e-01 1.70329937e-01 -1.37791167e-02 -1.40804940e+02] [ 1.70312624e-01 -9.85387087e-01 -2.42896211e-03 -2.86347157e+02] [-1.39914886e-02 4.64763764e-05 -9.99902113e-01 -8.06239162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.580385723 meters 0.014929232320653662 Centerline is valid? [True, True] Translation: X:-140.81, Y:-286.36, Z:-8.06 [[ 9.68934401e-01 2.46929371e-01 -1.38568502e-02 -1.40806006e+02] [ 2.46903416e-01 -9.69033479e-01 -3.58049296e-03 -2.86360166e+02] [-1.43118806e-02 4.79591585e-05 -9.99897579e-01 -8.06258751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.610385723 meters 0.014985563138714096 Centerline is valid? [True, True] Translation: X:-140.81, Y:-286.37, Z:-8.06 [[ 9.46601984e-01 3.22143072e-01 -1.29817410e-02 -1.40807153e+02] [ 3.22112136e-01 -9.46690995e-01 -4.46465612e-03 -2.86372444e+02] [-1.37279553e-02 4.46760151e-05 -9.99905766e-01 -8.06271736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.640385723 meters 0.014957859824316749 Centerline is valid? [True, True] Translation: X:-140.81, Y:-286.38, Z:-8.06 [[ 9.18531135e-01 3.95170116e-01 -1.18799147e-02 -1.40807113e+02] [ 3.95136455e-01 -9.18607956e-01 -5.15800632e-03 -2.86383020e+02] [-1.29512741e-02 4.36020459e-05 -9.99916128e-01 -8.06412997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.670385723 meters 0.014996905352712689 Centerline is valid? [True, True] Translation: X:-140.81, Y:-286.39, Z:-8.07 [[ 8.84747312e-01 4.65940003e-01 -1.10501949e-02 -1.40806296e+02] [ 4.65903079e-01 -8.84816315e-01 -5.86592282e-03 -2.86393366e+02] [-1.25105608e-02 4.15396192e-05 -9.99921739e-01 -8.06508498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.700385723 meters 0.014996905352712689 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.40, Z:-8.07 [[ 8.45551183e-01 5.33789985e-01 -1.05569311e-02 -1.40804996e+02] [ 5.33747772e-01 -8.45617082e-01 -6.71311444e-03 -2.86404601e+02] [-1.25105145e-02 4.15434163e-05 -9.99921740e-01 -8.06508541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7303857229999 meters 0.014945295099623645 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.41, Z:-8.07 [[ 8.01563824e-01 5.97833456e-01 -9.51815014e-03 -1.40804449e+02] [ 5.97790606e-01 -8.01620332e-01 -7.15781866e-03 -2.86414381e+02] [-1.19091261e-02 4.75877529e-05 -9.99929083e-01 -8.06586122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.760385723 meters 0.015018390056479008 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.42, Z:-8.07 [[ 7.52305550e-01 6.58744845e-01 -9.57018262e-03 -1.40802009e+02] [ 6.58690682e-01 -7.52366417e-01 -8.44742632e-03 -2.86423778e+02] [-1.27649826e-02 5.12555878e-05 -9.99918523e-01 -8.06542091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.790385723 meters 0.015084952661869459 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.43, Z:-8.06 [[ 6.97666759e-01 7.16365202e-01 -9.05488639e-03 -1.40800353e+02] [ 7.16304147e-01 -6.97725516e-01 -9.35268123e-03 -2.86433657e+02] [-1.30177607e-02 3.90021350e-05 -9.99915265e-01 -8.06497531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.820385723 meters 0.015035177090658432 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.44, Z:-8.07 [[ 6.38900900e-01 7.69247813e-01 -7.96506808e-03 -1.40798328e+02] [ 7.69187479e-01 -6.38950547e-01 -9.63436063e-03 -2.86441444e+02] [-1.25004955e-02 2.87710464e-05 -9.99921865e-01 -8.06523327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8503857229999 meters 0.015018449853548423 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.45, Z:-8.07 [[ 5.75669882e-01 8.17655502e-01 -6.60807541e-03 -1.40796252e+02] [ 8.17601404e-01 -5.75707807e-01 -9.40554968e-03 -2.86450410e+02] [-1.14948201e-02 1.17199372e-05 -9.99933932e-01 -8.06618820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.880385723 meters 0.017229863699416863 Centerline is valid? [True, True] Translation: X:-140.79, Y:-286.46, Z:-8.07 [[ 5.10197132e-01 8.60034849e-01 -6.24053205e-03 -1.40794062e+02] [ 8.59970098e-01 -5.10235297e-01 -1.05533489e-02 -2.86457510e+02] [-1.22603876e-02 1.76173972e-05 -9.99924839e-01 -8.06534843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.910385723 meters 0.014906350262397915 Centerline is valid? [True, True] Translation: X:-140.79, Y:-286.47, Z:-8.07 [[ 4.40770968e-01 8.97606854e-01 -4.78423809e-03 -1.40788233e+02] [ 8.97553762e-01 -4.40796932e-01 -9.76261463e-03 -2.86466315e+02] [-1.08718673e-02 8.96620214e-06 -9.99940900e-01 -8.06783133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.940385723 meters 0.014804260362743193 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.48, Z:-8.07 [[ 3.69200588e-01 9.29341529e-01 -3.90484008e-03 -1.40782173e+02] [ 9.29289270e-01 -3.69221237e-01 -9.85552013e-03 -2.86476220e+02] [-1.06008940e-02 9.93784078e-06 -9.99943809e-01 -8.06744469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9703857229999 meters 0.014746380901047672 Centerline is valid? [True, True] Translation: X:-140.77, Y:-286.48, Z:-8.07 [[ 2.95725252e-01 9.55268462e-01 -2.95648965e-03 -1.40773759e+02] [ 9.55220248e-01 -2.95740030e-01 -9.59756274e-03 -2.86484507e+02] [-1.00426013e-02 1.41428914e-05 -9.99949572e-01 -8.06838110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.000385723 meters 0.014697450891069367 Centerline is valid? [True, True] Translation: X:-140.76, Y:-286.49, Z:-8.07 [[ 2.20425620e-01 9.75401581e-01 -2.07406141e-03 -1.40763619e+02] [ 9.75357673e-01 -2.20435377e-01 -9.25500556e-03 -2.86492697e+02] [-9.48454356e-03 1.70886269e-05 -9.99955021e-01 -8.06931508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.030385723 meters 0.014687899141404876 Centerline is valid? [True, True] Translation: X:-140.75, Y:-286.50, Z:-8.07 [[ 1.43963855e-01 9.89582161e-01 -1.24674451e-03 -1.40753854e+02] [ 9.89543750e-01 -1.43969252e-01 -8.71902124e-03 -2.86500884e+02] [-8.80768076e-03 2.15156747e-05 -9.99961212e-01 -8.06904764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.060385723 meters 0.014736490057873062 Centerline is valid? [True, True] Translation: X:-140.75, Y:-286.51, Z:-8.07 [[ 6.65053648e-02 9.97785942e-01 -4.99919320e-04 -1.40745849e+02] [ 9.97755110e-01 -6.65072398e-02 -7.84397460e-03 -2.86508111e+02] [-7.85985584e-03 2.28693354e-05 -9.99969111e-01 -8.06961130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0903857229999 meters 0.014676662589804074 Centerline is valid? [True, True] Translation: X:-140.73, Y:-286.51, Z:-8.07 [[-1.20538896e-02 9.99927342e-01 1.17854770e-04 -1.40733958e+02] [ 9.99895440e-01 1.20544464e-02 -7.98745186e-03 -2.86514053e+02] [-7.98829218e-03 2.15625838e-05 -9.99968093e-01 -8.06926881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.120385723 meters 0.014653386951890673 Centerline is valid? [True, True] Translation: X:-140.72, Y:-286.52, Z:-8.07 [[-9.05811038e-02 9.95888790e-01 7.62290644e-04 -1.40720900e+02] [ 9.95855370e-01 9.05843090e-02 -8.15872842e-03 -2.86518802e+02] [-8.19423775e-03 2.01046057e-05 -9.99966427e-01 -8.06915235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.150385723 meters 0.014657127643610577 Centerline is valid? [True, True] Translation: X:-140.71, Y:-286.52, Z:-8.07 [[-1.68636050e-01 9.85677437e-01 1.36892407e-03 -1.40709004e+02] [ 9.85645784e-01 1.68641605e-01 -7.89922180e-03 -2.86523625e+02] [-8.01694224e-03 1.71806747e-05 -9.99967864e-01 -8.06852697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.180385723 meters 0.014619789803441733 Centerline is valid? [True, True] Translation: X:-140.70, Y:-286.53, Z:-8.07 [[-2.46161009e-01 9.69227196e-01 1.84376582e-03 -1.40696674e+02] [ 9.69200294e-01 2.46167914e-01 -7.22138125e-03 -2.86526473e+02] [-7.45303509e-03 9.35588199e-06 -9.99972226e-01 -8.06800819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.210385723 meters 0.014783729709398959 Centerline is valid? [True, True] Translation: X:-140.69, Y:-286.53, Z:-8.07 [[-3.21777954e-01 9.46811546e-01 2.61642389e-03 -1.40686451e+02] [ 9.46780403e-01 3.21788591e-01 -7.67933711e-03 -2.86530341e+02] [-8.11282040e-03 6.13748591e-06 -9.99967091e-01 -8.06579838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.240385723 meters 0.014792095266274369 Centerline is valid? [True, True] Translation: X:-140.68, Y:-286.53, Z:-8.07 [[-3.94979865e-01 9.18681983e-01 3.78416177e-03 -1.40676258e+02] [ 9.18640008e-01 3.94997992e-01 -8.78193591e-03 -2.86532452e+02] [-9.56254260e-03 7.59454148e-06 -9.99954278e-01 -8.06639714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.270385723 meters 0.01724291721931829 Centerline is valid? [True, True] Translation: X:-140.66, Y:-286.53, Z:-8.07 [[-4.64483660e-01 8.85568792e-01 4.77955541e-03 -1.40663600e+02] [ 8.85522416e-01 4.64508250e-01 -9.06298024e-03 -2.86532309e+02] [-1.02460354e-02 2.27972172e-05 -9.99947508e-01 -8.06516669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.300385723 meters 0.014779988384967442 Centerline is valid? [True, True] Translation: X:-140.65, Y:-286.53, Z:-8.07 [[-5.31607705e-01 8.46976857e-01 4.84264744e-03 -1.40650774e+02] [ 8.46942212e-01 5.31629761e-01 -7.66074312e-03 -2.86532184e+02] [-9.06296763e-03 2.89324663e-05 -9.99958930e-01 -8.06637863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.330385723 meters 0.01488557591714838 Centerline is valid? [True, True] Translation: X:-140.64, Y:-286.53, Z:-8.07 [[-5.95399734e-01 8.03414344e-01 4.95453858e-03 -1.40640523e+02] [ 8.03387028e-01 5.95420347e-01 -6.62524792e-03 -2.86531643e+02] [-8.27285230e-03 3.57411715e-05 -9.99965779e-01 -8.06666234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.360385723 meters 0.01505764025969693 Centerline is valid? [True, True] Translation: X:-140.63, Y:-286.53, Z:-8.07 [[-6.54011816e-01 7.56472448e-01 4.24024045e-03 -1.40627468e+02] [ 7.56457031e-01 6.54025560e-01 -4.82979427e-03 -2.86527679e+02] [-6.42683193e-03 4.88171780e-05 -9.99979347e-01 -8.06763986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.390385723 meters 0.01523810718532671 Centerline is valid? [True, True] Translation: X:-140.61, Y:-286.52, Z:-8.07 [[-7.10267148e-01 7.03919328e-01 4.26122573e-03 -1.40614951e+02] [ 7.03907110e-01 7.10279929e-01 -4.14776352e-03 -2.86523051e+02] [-5.94635402e-03 5.34869163e-05 -9.99982319e-01 -8.06718596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.420385723 meters 0.015316429693319599 Centerline is valid? [True, True] Translation: X:-140.59, Y:-286.50, Z:-8.07 [[-7.57389575e-01 6.52945847e-01 4.76989597e-03 -1.40593114e+02] [ 6.52933437e-01 7.57404592e-01 -4.02613659e-03 -2.86503122e+02] [-6.24159028e-03 6.50706903e-05 -9.99980519e-01 -8.06672429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.450385723 meters 0.01578271321989644 Centerline is valid? [True, True] Translation: X:-140.57, Y:-286.48, Z:-8.06 [[-8.00204654e-01 5.99698858e-01 5.81316497e-03 -1.40572856e+02] [ 5.99683872e-01 8.00225763e-01 -4.24051671e-03 -2.86482330e+02] [-7.19487740e-03 9.27800711e-05 -9.99974112e-01 -8.06444955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4803857229999 meters 0.015947733312374864 Centerline is valid? [True, True] Translation: X:-140.11, Y:-285.86, Z:-9.01 [[-7.75230618e-01 -6.31652500e-01 5.71040310e-03 -1.40109858e+02] [ 6.31634583e-01 -7.75251645e-01 -4.75830550e-03 -2.85855917e+02] [ 7.43259496e-03 -8.18960265e-05 9.99972375e-01 -9.00855013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.510385723 meters 0.016132558842042496 Centerline is valid? [True, True] Translation: X:-140.61, Y:-286.46, Z:-8.06 [[-8.01453945e-01 5.98026835e-01 5.95638339e-03 -1.40605498e+02] [ 5.98011296e-01 8.01476072e-01 -4.31233635e-03 -2.86460203e+02] [-7.35279162e-03 1.05845568e-04 -9.99972962e-01 -8.06316516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.540385723 meters 0.01615352526312971 Centerline is valid? [True, True] Translation: X:-140.59, Y:-286.44, Z:-8.06 [[-8.41665371e-01 5.39967066e-01 5.91366429e-03 -1.40586260e+02] [ 5.39954583e-01 8.41686139e-01 -3.67304751e-03 -2.86437340e+02] [-6.96077395e-03 1.01633241e-04 -9.99975768e-01 -8.06272569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.570385723 meters 0.016252809354442503 Centerline is valid? [True, True] Translation: X:-140.17, Y:-285.78, Z:-9.01 [[-8.20649225e-01 -5.71406695e-01 5.40723181e-03 -1.40171671e+02] [ 5.71393364e-01 -8.20667031e-01 -3.90489122e-03 -2.85779707e+02] [ 6.66881786e-03 -1.14889582e-04 9.99977757e-01 -9.00973489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6003857229999 meters 0.01622407908938807 Centerline is valid? [True, True] Translation: X:-140.18, Y:-285.81, Z:-9.01 [[-7.79919906e-01 -6.25859343e-01 5.00236732e-03 -1.40184459e+02] [ 6.25845705e-01 -7.79935942e-01 -4.13267467e-03 -2.85811497e+02] [ 6.48799912e-03 -9.24451366e-05 9.99978949e-01 -9.01046979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.630385723 meters 0.016160409763324196 Centerline is valid? [True, True] Translation: X:-140.68, Y:-286.41, Z:-8.06 [[-8.06231043e-01 5.91578491e-01 5.13750532e-03 -1.40678839e+02] [ 5.91567146e-01 8.06247407e-01 -3.66465811e-03 -2.86409662e+02] [-6.31003326e-03 8.46182348e-05 -9.99980088e-01 -8.06154724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.660385723 meters 0.01611419165911608 Centerline is valid? [True, True] Translation: X:-140.22, Y:-285.79, Z:-9.01 [[-7.81662693e-01 -6.23690933e-01 3.61305292e-03 -1.40222528e+02] [ 6.23683329e-01 -7.81671028e-01 -3.08382962e-03 -2.85785980e+02] [ 4.74757536e-03 -1.57113692e-04 9.99988718e-01 -9.00908929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.690385723 meters 0.016249250369418645 Centerline is valid? [True, True] Translation: X:-140.72, Y:-286.38, Z:-8.06 [[-8.08531230e-01 5.88443744e-01 3.34812875e-03 -1.40716453e+02] [ 5.88438973e-01 8.08538160e-01 -2.37026123e-03 -2.86384155e+02] [-4.10185525e-03 5.37392157e-05 -9.99991586e-01 -8.06331758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7203857229999 meters 0.016424880423804276 Centerline is valid? [True, True] Translation: X:-140.70, Y:-286.36, Z:-8.06 [[-8.48316465e-01 5.29481856e-01 2.85307539e-03 -1.40699254e+02] [ 5.29479029e-01 8.48321262e-01 -1.73053016e-03 -2.86357621e+02] [-3.33660883e-03 4.26063587e-05 -9.99994433e-01 -8.06284592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.750385723 meters 0.01636673471871868 Centerline is valid? [True, True] Translation: X:-140.68, Y:-286.33, Z:-8.06 [[-8.83774335e-01 4.67905011e-01 2.79735591e-03 -1.40679068e+02] [ 4.67902808e-01 8.83778762e-01 -1.43626807e-03 -2.86333600e+02] [-3.14428077e-03 3.95538209e-05 -9.99995056e-01 -8.06244594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.780385723 meters 0.016651228573832437 Centerline is valid? [True, True] Translation: X:-140.66, Y:-286.31, Z:-8.06 [[-9.14481060e-01 4.04622211e-01 2.29282602e-03 -1.40663605e+02] [ 4.04621028e-01 9.14483934e-01 -9.78841279e-04 -2.86308496e+02] [-2.49281348e-03 3.25938107e-05 -9.99996893e-01 -8.06298394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.810385723 meters 0.016259640115183834 Centerline is valid? [True, True] Translation: X:-140.65, Y:-286.28, Z:-8.06 [[-9.40506804e-01 3.39772371e-01 1.29882310e-03 -1.40650134e+02] [ 3.39772075e-01 9.40507701e-01 -4.48911024e-04 -2.86281251e+02] [-1.37408069e-03 1.90999482e-05 -9.99999056e-01 -8.06392871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8403857229999 meters 0.016694018912151058 Centerline is valid? [True, True] Translation: X:-140.39, Y:-285.56, Z:-9.01 [[-9.27152552e-01 -3.74683166e-01 8.18834759e-04 -1.40393819e+02] [ 3.74682980e-01 -9.27152913e-01 -3.75372660e-04 -2.85562736e+02] [ 8.99830849e-04 -4.12242720e-05 9.99999594e-01 -9.00789511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.870385723 meters 0.01714286524257561 Centerline is valid? [True, True] Translation: X:-140.69, Y:-286.27, Z:-8.06 [[-9.40605681e-01 3.39501036e-01 -1.96087561e-05 -1.40693467e+02] [ 3.39501036e-01 9.40605681e-01 6.23812358e-06 -2.86268471e+02] [ 2.05619563e-05 -7.89578509e-07 -1.00000000e+00 -8.06446123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.900385723 meters 0.017297835148920745 Centerline is valid? [True, True] Translation: X:-140.44, Y:-285.55, Z:-9.01 [[-9.29458828e-01 -3.68925839e-01 1.12717664e-04 -1.40444506e+02] [ 3.68925837e-01 -9.29458835e-01 -3.72745069e-05 -2.85547380e+02] [ 1.18517958e-04 6.93933902e-06 9.99999993e-01 -9.00878675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.930385723 meters 0.01710521177568109 Centerline is valid? [True, True] Translation: X:-140.74, Y:-286.25, Z:-8.06 [[-9.41855937e-01 3.36016895e-01 2.02464721e-04 -1.40739335e+02] [ 3.36016888e-01 9.41855958e-01 -6.86586056e-05 -2.86250118e+02] [-2.13763055e-04 3.36505011e-06 -9.99999977e-01 -8.06274492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.960385723 meters 0.017246450936653817 Centerline is valid? [True, True] Translation: X:-140.73, Y:-286.22, Z:-8.06 [[-9.63412613e-01 2.68021861e-01 6.47683026e-04 -1.40731004e+02] [ 2.68021808e-01 9.63412831e-01 -1.68463279e-04 -2.86221977e+02] [-6.69137980e-04 1.12935274e-05 -9.99999776e-01 -8.06232421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.990385723 meters 0.017156403441843635 Centerline is valid? [True, True] Translation: X:-140.72, Y:-286.19, Z:-8.06 [[-9.80230092e-01 1.97855024e-01 1.53501464e-03 -1.40724067e+02] [ 1.97854822e-01 9.80231294e-01 -2.84169357e-04 -2.86192515e+02] [-1.56089372e-03 2.51586927e-05 -9.99998782e-01 -8.06190400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.020385723 meters 0.017134561759415263 Centerline is valid? [True, True] Translation: X:-140.59, Y:-285.45, Z:-9.01 [[-9.72627891e-01 -2.32364086e-01 1.38438268e-03 -1.40585522e+02] [ 2.32363804e-01 -9.72628876e-01 -3.63039725e-04 -2.85450622e+02] [ 1.43084796e-03 -3.14221360e-05 9.99998976e-01 -9.01011687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.050385723 meters 0.01658697886854589 Centerline is valid? [True, True] Translation: X:-140.79, Y:-286.18, Z:-8.06 [[-9.81583503e-01 1.91025947e-01 1.70716379e-03 -1.40788321e+02] [ 1.91025699e-01 9.81584987e-01 -3.08964665e-04 -2.86176233e+02] [-1.73474661e-03 2.28375376e-05 -9.99998495e-01 -8.06162060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.080385723 meters 0.016488401888901643 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.15, Z:-8.06 [[-9.92883618e-01 1.19070478e-01 2.08395356e-03 -1.40777152e+02] [ 1.19070267e-01 9.92885805e-01 -2.25810594e-04 -2.86145516e+02] [-2.09601528e-03 2.39332657e-05 -9.99997803e-01 -8.06079413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.110385723 meters 0.016361550129089585 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.11, Z:-8.06 [[-9.98866382e-01 4.75291468e-02 2.63275437e-03 -1.40780362e+02] [ 4.75290564e-02 9.98869851e-01 -9.69046923e-05 -2.86114712e+02] [-2.63438477e-03 2.83374917e-05 -9.99996530e-01 -8.06025109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.140385723 meters 0.016264655709442397 Centerline is valid? [True, True] Translation: X:-140.78, Y:-286.08, Z:-8.06 [[-9.99694377e-01 -2.45459080e-02 2.94118968e-03 -1.40780784e+02] [-2.45457165e-02 9.99698703e-01 1.01219212e-04 -2.86083834e+02] [-2.94278803e-03 2.89946696e-05 -9.99995670e-01 -8.05967959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.170385723 meters 0.016260204395341905 Centerline is valid? [True, True] Translation: X:-140.80, Y:-286.06, Z:-8.06 [[-9.95300292e-01 -9.68107727e-02 2.23663120e-03 -1.40799316e+02] [-9.68104846e-02 9.95302805e-01 2.37013780e-04 -2.86055369e+02] [-2.24907080e-03 1.93705345e-05 -9.99997471e-01 -8.06000420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.200385723 meters 0.016219476162061697 Centerline is valid? [True, True] Translation: X:-140.81, Y:-286.03, Z:-8.06 [[-9.85752871e-01 -1.68193539e-01 1.48703434e-03 -1.40806076e+02] [-1.68193328e-01 9.85753992e-01 2.66314131e-04 -2.86026497e+02] [-1.51064235e-03 1.24106642e-05 -9.99998859e-01 -8.06089761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2303857229999 meters 0.016305817057049553 Centerline is valid? [True, True] Translation: X:-140.95, Y:-285.31, Z:-9.01 [[-9.93019059e-01 1.17949966e-01 9.77185048e-04 -1.40952370e+02] [-1.17949952e-01 -9.93019538e-01 7.23117297e-05 -2.85310345e+02] [ 9.78893012e-04 -4.34520036e-05 9.99999520e-01 -9.01077460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.260385723 meters 0.01633131292523749 Centerline is valid? [True, True] Translation: X:-140.94, Y:-286.05, Z:-8.06 [[-9.84531309e-01 -1.75205584e-01 1.05103025e-03 -1.40941737e+02] [-1.75205475e-01 9.84531870e-01 1.95448824e-04 -2.86048413e+02] [-1.06901650e-03 8.27923208e-06 -9.99999429e-01 -8.06104212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.290385723 meters 0.016655507666749263 Centerline is valid? [True, True] Translation: X:-140.97, Y:-286.02, Z:-8.06 [[-9.69035459e-01 -2.46916846e-01 1.53347677e-03 -1.40971596e+02] [-2.46916520e-01 9.69036672e-01 4.01320797e-04 -2.86023746e+02] [-1.58508809e-03 1.02533353e-05 -9.99998744e-01 -8.05938856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.320385723 meters 0.01626480494482942 Centerline is valid? [True, True] Translation: X:-141.02, Y:-286.01, Z:-8.06 [[-9.48082100e-01 -3.18017611e-01 2.26506736e-03 -1.41019649e+02] [-3.18016672e-01 9.48084806e-01 7.72965650e-04 -2.86006562e+02] [-2.39329264e-03 1.25057142e-05 -9.99997136e-01 -8.05903889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3503857229999 meters 0.016202647802611034 Centerline is valid? [True, True] Translation: X:-141.09, Y:-286.00, Z:-8.06 [[-9.21142742e-01 -3.89213796e-01 2.94441932e-03 -1.41086960e+02] [-3.89211777e-01 9.21147448e-01 1.25363342e-03 -2.85998450e+02] [-3.20017577e-03 8.77264759e-06 -9.99994880e-01 -8.05849786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.380385723 meters 0.01616944135499419 Centerline is valid? [True, True] Translation: X:-141.16, Y:-286.00, Z:-8.06 [[-8.89333848e-01 -4.57245080e-01 3.49921301e-03 -1.41160118e+02] [-4.57241512e-01 8.89340732e-01 1.80639624e-03 -2.86000348e+02] [-3.93795846e-03 6.50387036e-06 -9.99992246e-01 -8.05871175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.410385723 meters 0.016262721915294206 Centerline is valid? [True, True] Translation: X:-141.25, Y:-286.01, Z:-8.06 [[-8.51987093e-01 -5.23549185e-01 3.77413699e-03 -1.41245529e+02] [-5.23544050e-01 8.51995452e-01 2.31896602e-03 -2.86013377e+02] [-4.42964033e-03 -1.97843614e-07 -9.99990189e-01 -8.05934565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.440385723 meters 0.016383996319241277 Centerline is valid? [True, True] Translation: X:-141.33, Y:-286.03, Z:-8.06 [[-8.09874182e-01 -5.86594275e-01 3.31141294e-03 -1.41326309e+02] [-5.86589389e-01 8.09880952e-01 2.39441200e-03 -2.86031388e+02] [-4.08639863e-03 -3.26723205e-06 -9.99991651e-01 -8.05938836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4703857229999 meters 0.016209364724916416 Centerline is valid? [True, True] Translation: X:-141.42, Y:-286.06, Z:-8.06 [[-7.62715173e-01 -6.46727189e-01 3.08364305e-03 -1.41416506e+02] [-6.46721945e-01 7.62721406e-01 2.60427614e-03 -2.86063654e+02] [-4.03621675e-03 -7.93870553e-06 -9.99991855e-01 -8.05996720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.500385723 meters 0.0162801008520044 Centerline is valid? [True, True] Translation: X:-141.51, Y:-286.11, Z:-8.06 [[-7.11622574e-01 -7.02555495e-01 3.01470098e-03 -1.41508388e+02] [-7.02549242e-01 7.11628960e-01 2.96404351e-03 -2.86107852e+02] [-4.22775357e-03 -8.69561504e-06 -9.99991063e-01 -8.05972655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.530385723 meters 0.016313462038220306 Centerline is valid? [True, True] Translation: X:-141.60, Y:-286.17, Z:-8.06 [[-6.56384677e-01 -7.54420502e-01 2.97696730e-03 -1.41601570e+02] [-7.54412806e-01 6.56391428e-01 3.40749368e-03 -2.86165036e+02] [-4.52473890e-03 -9.23561407e-06 -9.99989763e-01 -8.06018054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.560385723 meters 0.01635482195805652 Centerline is valid? [True, True] Translation: X:-141.68, Y:-286.22, Z:-8.06 [[-5.98108138e-01 -8.01409763e-01 3.00784660e-03 -1.41684889e+02] [-8.01399664e-01 5.98115701e-01 4.02322933e-03 -2.86223430e+02] [-5.02329554e-03 -4.16104748e-06 -9.99987383e-01 -8.05979712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5903857229999 meters 0.016271972502663375 Centerline is valid? [True, True] Translation: X:-141.77, Y:-286.30, Z:-8.06 [[-5.36646904e-01 -8.43801264e-01 3.08666655e-03 -1.41769464e+02] [-8.43787255e-01 5.36655781e-01 4.86225995e-03 -2.86298313e+02] [-5.75925854e-03 4.82685383e-06 -9.99983415e-01 -8.05966665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.620385723 meters 0.016271972502663375 Centerline is valid? [True, True] Translation: X:-141.85, Y:-286.38, Z:-8.06 [[-4.70599998e-01 -8.82342518e-01 2.70608820e-03 -1.41851111e+02] [-8.82327871e-01 4.70607779e-01 5.08390170e-03 -2.86380659e+02] [-5.75924879e-03 4.82708802e-06 -9.99983415e-01 -8.05966712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.650385723 meters 0.016280952623663282 Centerline is valid? [True, True] Translation: X:-141.93, Y:-286.47, Z:-8.06 [[-4.02085209e-01 -9.15599379e-01 2.29404815e-03 -1.41926557e+02] [-9.15584368e-01 4.02091753e-01 5.24275429e-03 -2.86471491e+02] [-5.72268041e-03 7.63933052e-06 -9.99983625e-01 -8.06009841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.680385723 meters 0.01630978723978564 Centerline is valid? [True, True] Translation: X:-142.00, Y:-286.57, Z:-8.06 [[-3.31572224e-01 -9.43428100e-01 1.81111402e-03 -1.41995438e+02] [-9.43413825e-01 3.31577170e-01 5.18982417e-03 -2.86568911e+02] [-5.49675002e-03 1.21715398e-05 -9.99984893e-01 -8.06035560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.710385723 meters 0.016276684848772326 Centerline is valid? [True, True] Translation: X:-142.06, Y:-286.67, Z:-8.06 [[-2.58962442e-01 -9.65886355e-01 1.41495388e-03 -1.42055979e+02] [-9.65871573e-01 2.58966307e-01 5.34380998e-03 -2.86673558e+02] [-5.52793852e-03 1.71823492e-05 -9.99984721e-01 -8.06110752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.740385723 meters 0.016388495771474224 Centerline is valid? [True, True] Translation: X:-142.11, Y:-286.78, Z:-8.06 [[-1.84021128e-01 -9.82921637e-01 1.13141558e-03 -1.42109218e+02] [-9.82902395e-01 1.84024605e-01 6.15042732e-03 -2.86784750e+02] [-6.25359639e-03 1.97374889e-05 -9.99980446e-01 -8.06127688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.770385723 meters 0.016349143840018086 Centerline is valid? [True, True] Translation: X:-142.15, Y:-286.90, Z:-8.06 [[-1.07368603e-01 -9.94218913e-01 8.58390243e-04 -1.42153978e+02] [-9.94185495e-01 1.07372032e-01 8.15160121e-03 -2.86904625e+02] [-8.19664320e-03 2.18269046e-05 -9.99966407e-01 -8.06046378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.800385723 meters 0.016278655258217957 Centerline is valid? [True, True] Translation: X:-142.19, Y:-287.02, Z:-8.06 [[-2.99049100e-02 -9.99552720e-01 2.37912423e-04 -1.42190841e+02] [-9.99516318e-01 2.99058513e-02 8.53057910e-03 -2.87021649e+02] [-8.53387852e-03 1.73088506e-05 -9.99963586e-01 -8.06139221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.830385723 meters 0.016208186217837293 Centerline is valid? [True, True] Translation: X:-142.22, Y:-287.15, Z:-8.06 [[ 4.88976525e-02 -9.98803685e-01 -4.66600022e-04 -1.42218267e+02] [-9.98758675e-01 -4.88998786e-02 9.48210766e-03 -2.87147137e+02] [-9.49358076e-03 2.36801440e-06 -9.99954935e-01 -8.06112418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.860385723 meters 0.01621674722196163 Centerline is valid? [True, True] Translation: X:-142.24, Y:-287.28, Z:-8.06 [[ 1.26550530e-01 -9.91959477e-01 -1.16594394e-03 -1.42235538e+02] [-9.91916912e-01 -1.26555901e-01 9.18931646e-03 -2.87278710e+02] [-9.26298664e-03 -6.39335839e-06 -9.99957098e-01 -8.06099578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.890385723 meters 0.01613239374637157 Centerline is valid? [True, True] Translation: X:-142.24, Y:-287.40, Z:-8.06 [[ 2.04023128e-01 -9.78964162e-01 -1.93205865e-03 -1.42242822e+02] [-9.78919329e-01 -2.04032275e-01 9.36901174e-03 -2.87399830e+02] [-9.56612905e-03 -2.01655183e-05 -9.99954243e-01 -8.06152616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.920385723 meters 0.01614336610700505 Centerline is valid? [True, True] Translation: X:-142.24, Y:-287.52, Z:-8.06 [[ 2.79357080e-01 -9.60183347e-01 -2.74991151e-03 -1.42240065e+02] [-9.60135887e-01 -2.79370613e-01 9.54671067e-03 -2.87523990e+02] [-9.93483707e-03 -2.66524948e-05 -9.99950648e-01 -8.06180322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.950385723 meters 0.01614948802007038 Centerline is valid? [True, True] Translation: X:-142.22, Y:-287.66, Z:-8.06 [[ 3.52565464e-01 -9.35780389e-01 -3.55776936e-03 -1.42222358e+02] [-9.35731916e-01 -3.52583413e-01 9.52466354e-03 -2.87662847e+02] [-1.01674038e-02 -2.89490750e-05 -9.99948310e-01 -8.06207993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9803857229999 meters 0.01617892217093196 Centerline is valid? [True, True] Translation: X:-142.21, Y:-287.77, Z:-8.06 [[ 4.23945176e-01 -9.05678543e-01 -4.10669792e-03 -1.42205686e+02] [-9.05635333e-01 -4.23965065e-01 8.84688835e-03 -2.87769652e+02] [-9.75353340e-03 -3.14249001e-05 -9.99952433e-01 -8.06333928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.010385723 meters 0.0161480411325106 Centerline is valid? [True, True] Translation: X:-142.18, Y:-287.88, Z:-8.06 [[ 4.92262761e-01 -8.70434201e-01 -4.65577916e-03 -1.42179365e+02] [-8.70394649e-01 -4.92284776e-01 8.29790713e-03 -2.87883287e+02] [-9.51475136e-03 -3.23854039e-05 -9.99954733e-01 -8.06284156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.040385723 meters 0.0161228316500283 Centerline is valid? [True, True] Translation: X:-142.12, Y:-288.02, Z:-8.06 [[ 5.58208534e-01 -8.29685473e-01 -5.02480311e-03 -1.42124306e+02] [-8.29651256e-01 -5.58231148e-01 7.53521444e-03 -2.88023457e+02] [-9.05685957e-03 -3.73867921e-05 -9.99958985e-01 -8.06319793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.070385723 meters 0.016079199168833352 Centerline is valid? [True, True] Translation: X:-142.09, Y:-288.11, Z:-8.06 [[ 6.20766762e-01 -7.83972713e-01 -5.95082783e-03 -1.42094240e+02] [-7.83935977e-01 -6.20795283e-01 7.58949615e-03 -2.88111339e+02] [-9.64420373e-03 -4.62389157e-05 -9.99953493e-01 -8.06321956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1003857229999 meters 0.016167029031809835 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.21, Z:-8.06 [[ 6.79276895e-01 -7.33851510e-01 -6.69791277e-03 -1.42043877e+02] [-7.33815076e-01 -6.79309914e-01 7.31266995e-03 -2.88212877e+02] [-9.91637243e-03 -5.22983672e-05 -9.99950830e-01 -8.06297648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.130385723 meters 0.016251217830581925 Centerline is valid? [True, True] Translation: X:-141.99, Y:-288.30, Z:-8.06 [[ 7.33916104e-01 -6.79181554e-01 -8.92010431e-03 -1.41989407e+02] [-6.79130147e-01 -7.33970306e-01 8.35664726e-03 -2.88303026e+02] [-1.22227724e-02 -7.51662552e-05 -9.99925296e-01 -8.06253860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.160385723 meters 0.01645982189460106 Centerline is valid? [True, True] Translation: X:-141.99, Y:-288.31, Z:-8.06 [[ 7.85223957e-01 -6.19121917e-01 -1.05541531e-02 -1.41993722e+02] [-6.19064392e-01 -7.85294877e-01 8.44007915e-03 -2.88309021e+02] [-1.35135603e-02 -9.36519811e-05 -9.99908683e-01 -8.06137297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.190385723 meters 0.016545807537898412 Centerline is valid? [True, True] Translation: X:-142.00, Y:-288.32, Z:-8.06 [[ 8.31439528e-01 -5.55496399e-01 -1.14918259e-02 -1.41998727e+02] [-5.55441639e-01 -8.31518935e-01 7.80036038e-03 -2.88316818e+02] [-1.38887429e-02 -1.02489342e-04 -9.99903542e-01 -8.06132562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2203857229999 meters 0.016440617733667222 Centerline is valid? [True, True] Translation: X:-142.00, Y:-288.32, Z:-8.06 [[ 8.72732972e-01 -4.88045904e-01 -1.21801384e-02 -1.42003684e+02] [-4.87996531e-01 -8.72817955e-01 6.94282727e-03 -2.88323492e+02] [-1.40194619e-02 -1.15368967e-04 -9.99901716e-01 -8.06171487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.250385723 meters 0.01661777216670733 Centerline is valid? [True, True] Translation: X:-142.01, Y:-288.33, Z:-8.06 [[ 9.08360289e-01 -4.17982645e-01 -1.31184650e-02 -1.42009620e+02] [-4.17937076e-01 -9.08455003e-01 6.17311401e-03 -2.88330953e+02] [-1.44977897e-02 -1.24718728e-04 -9.99894894e-01 -8.06128336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.280385723 meters 0.016720461826214505 Centerline is valid? [True, True] Translation: X:-142.01, Y:-288.34, Z:-8.06 [[ 9.38456702e-01 -3.45072625e-01 -1.49633601e-02 -1.42012273e+02] [-3.45026248e-01 -9.38575975e-01 5.65924725e-03 -2.88335178e+02] [-1.59971016e-02 -1.48206528e-04 -9.99872027e-01 -8.06039213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.310385723 meters 0.017074530733434855 Centerline is valid? [True, True] Translation: X:-142.02, Y:-288.34, Z:-8.06 [[ 9.62672728e-01 -2.70202034e-01 -1.58770297e-02 -1.42015739e+02] [-2.70162539e-01 -9.62803633e-01 4.62250752e-03 -2.88340354e+02] [-1.65354728e-02 -1.60583288e-04 -9.99863267e-01 -8.05913382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3403857229999 meters 0.016732530486898912 Centerline is valid? [True, True] Translation: X:-142.02, Y:-288.35, Z:-8.06 [[ 9.80869723e-01 -1.93955488e-01 -1.66089132e-02 -1.42018727e+02] [-1.93924793e-01 -9.81010316e-01 3.45457175e-03 -2.88347797e+02] [-1.69635483e-02 -1.67604778e-04 -9.99856095e-01 -8.06086296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.370385723 meters 0.016640001597239083 Centerline is valid? [True, True] Translation: X:-142.03, Y:-288.36, Z:-8.06 [[ 9.92996541e-01 -1.17008768e-01 -1.63345740e-02 -1.42025826e+02] [-1.16990377e-01 -9.93130870e-01 2.08018697e-03 -2.88355841e+02] [-1.64657698e-02 -1.54630495e-04 -9.99864418e-01 -8.06046182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.400385723 meters 0.016651570135079945 Centerline is valid? [True, True] Translation: X:-142.03, Y:-288.36, Z:-8.06 [[ 9.99109003e-01 -3.94956513e-02 -1.48759487e-02 -1.42031299e+02] [-3.94893183e-02 -9.99219734e-01 7.19328903e-04 -2.88363570e+02] [-1.48927519e-02 -1.31246909e-04 -9.99889088e-01 -8.06070137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.430385723 meters 0.016356829125941812 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.37, Z:-8.06 [[ 9.99162788e-01 3.83217786e-02 -1.43235806e-02 -1.42035832e+02] [ 3.83195425e-02 -9.99265444e-01 -4.30635175e-04 -2.88369900e+02] [-1.43295618e-02 -1.18598413e-04 -9.99897320e-01 -8.06188397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.460385723 meters 0.016219879491555483 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.38, Z:-8.06 [[ 9.93293368e-01 1.14922292e-01 -1.26945740e-02 -1.42039823e+02] [ 1.14914020e-01 -9.93374481e-01 -1.38151594e-03 -2.88376961e+02] [-1.27692328e-02 -8.65339071e-05 -9.99918466e-01 -8.06393459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.490385723 meters 0.01613388319328009 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.38, Z:-8.06 [[ 9.81448437e-01 1.91366533e-01 -1.17394534e-02 -1.42044441e+02] [ 1.91353688e-01 -9.81518642e-01 -2.21833524e-03 -2.88381766e+02] [-1.19470075e-02 -6.92060493e-05 -9.99928630e-01 -8.06443440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.520385723 meters 0.015825817059251176 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.39, Z:-8.07 [[ 9.63954825e-01 2.65815552e-01 -1.15406985e-02 -1.42047083e+02] [ 2.65797091e-01 -9.64023905e-01 -3.13312894e-03 -2.88392245e+02] [-1.19583436e-02 -4.72893259e-05 -9.99928495e-01 -8.06584978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.550385723 meters 0.015913374830931304 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.40, Z:-8.06 [[ 9.40525531e-01 3.39527623e-01 -1.15204063e-02 -1.42049471e+02] [ 3.39502621e-01 -9.40596084e-01 -4.12046606e-03 -2.88404291e+02] [-1.22350611e-02 -3.58046004e-05 -9.99925148e-01 -8.06348757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.580385723 meters 0.015762791623881188 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.42, Z:-8.06 [[ 9.11868986e-01 4.10297815e-01 -1.22741710e-02 -1.42050190e+02] [ 4.10260836e-01 -9.11951590e-01 -5.50850556e-03 -2.88415384e+02] [-1.34535775e-02 -1.25762696e-05 -9.99909497e-01 -8.06285820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.610385723 meters 0.017900130607492844 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.43, Z:-8.06 [[ 8.78006198e-01 4.78473761e-01 -1.29606009e-02 -1.42050044e+02] [ 4.78421317e-01 -8.78101851e-01 -7.08401084e-03 -2.88427179e+02] [-1.47702410e-02 1.91776560e-05 -9.99890914e-01 -8.06053095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.640385723 meters 0.01576791047340311 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.44, Z:-8.06 [[ 8.39039483e-01 5.43939475e-01 -1.19412550e-02 -1.42049737e+02] [ 5.43883552e-01 -8.39124452e-01 -7.79976269e-03 -2.88438300e+02] [-1.42627979e-02 4.96566674e-05 -9.99898280e-01 -8.06186015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.670385723 meters 0.01581951579722424 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.45, Z:-8.06 [[ 7.94464209e-01 6.07208409e-01 -1.11610705e-02 -1.42048443e+02] [ 6.07147388e-01 -7.94542601e-01 -8.60839002e-03 -2.88448417e+02] [-1.40950328e-02 6.26429489e-05 -9.99900658e-01 -8.06228519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.700385723 meters 0.016017448613312144 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.46, Z:-8.06 [[ 7.46219674e-01 6.65626029e-01 -9.90897997e-03 -1.42048789e+02] [ 6.65565681e-01 -7.46285456e-01 -8.96342492e-03 -2.88458137e+02] [-1.33612166e-02 9.36070256e-05 -9.99910731e-01 -8.06230769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7303857229999 meters 0.016122848400245637 Centerline is valid? [True, True] Translation: X:-142.05, Y:-288.47, Z:-8.06 [[ 6.92424637e-01 7.21433371e-01 -9.05610216e-03 -1.42048348e+02] [ 7.21369716e-01 -6.92483849e-01 -9.58393202e-03 -2.88466892e+02] [-1.31853729e-02 1.03352809e-04 -9.99913064e-01 -8.06260592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.760385723 meters 0.016047897843724842 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.48, Z:-8.06 [[ 6.34251877e-01 7.73083701e-01 -8.13313047e-03 -1.42043981e+02] [ 7.73017932e-01 -6.34304011e-01 -1.00845535e-02 -2.88477641e+02] [-1.29550813e-02 1.09091315e-04 -9.99916074e-01 -8.06352572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.790385723 meters 0.01598152195191071 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.49, Z:-8.06 [[ 5.72307375e-01 8.20009989e-01 -6.92006619e-03 -1.42039908e+02] [ 8.19947693e-01 -5.72349200e-01 -1.01081384e-02 -2.88488194e+02] [-1.22494688e-02 1.10869816e-04 -9.99924966e-01 -8.06304621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.820385723 meters 0.01605662887347828 Centerline is valid? [True, True] Translation: X:-142.04, Y:-288.50, Z:-8.06 [[ 5.05735498e-01 8.62668444e-01 -5.89591818e-03 -1.42036162e+02] [ 8.62607540e-01 -5.05769855e-01 -1.02510928e-02 -2.88498612e+02] [-1.18252720e-02 9.84780422e-05 -9.99930074e-01 -8.06254394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8503857229999 meters 0.015787727421619928 Centerline is valid? [True, True] Translation: X:-142.03, Y:-288.51, Z:-8.06 [[ 4.36191797e-01 8.99838511e-01 -5.23171924e-03 -1.42027093e+02] [ 8.99771136e-01 -4.36223160e-01 -1.10116535e-02 -2.88509974e+02] [-1.21909069e-02 9.58429449e-05 -9.99925684e-01 -8.06344799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.880385723 meters 0.015692014377754512 Centerline is valid? [True, True] Translation: X:-142.02, Y:-288.52, Z:-8.06 [[ 3.63711047e-01 9.31500877e-01 -4.51553666e-03 -1.42018546e+02] [ 9.31425998e-01 -3.63739066e-01 -1.18111034e-02 -2.88519661e+02] [-1.26445303e-02 8.99405541e-05 -9.99920051e-01 -8.06359377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.910385723 meters 0.01603206222492644 Centerline is valid? [True, True] Translation: X:-142.01, Y:-288.53, Z:-8.06 [[ 2.88713727e-01 9.57408466e-01 -3.66242524e-03 -1.42009330e+02] [ 9.57327898e-01 -2.88736945e-01 -1.24206179e-02 -2.88530530e+02] [-1.29490822e-02 7.98610361e-05 -9.99916154e-01 -8.06152731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.940385723 meters 0.016978901328560368 Centerline is valid? [True, True] Translation: X:-142.00, Y:-288.54, Z:-8.06 [[ 2.12818614e-01 9.77088040e-01 -2.68342580e-03 -1.42001128e+02] [ 9.77005596e-01 -2.12835516e-01 -1.26928229e-02 -2.88539194e+02] [-1.29731338e-02 7.95469492e-05 -9.99915842e-01 -8.06173294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9703857229999 meters 0.015556439035354154 Centerline is valid? [True, True] Translation: X:-141.99, Y:-288.55, Z:-8.06 [[ 1.34781621e-01 9.90874182e-01 -1.50667644e-03 -1.41988986e+02] [ 9.90807120e-01 -1.34790028e-01 -1.15281928e-02 -2.88547425e+02] [-1.16260735e-02 6.09627633e-05 -9.99932413e-01 -8.06399397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.000385723 meters 0.015533921619058238 Centerline is valid? [True, True] Translation: X:-141.98, Y:-288.56, Z:-8.06 [[ 5.65248586e-02 9.98401016e-01 -5.92644195e-04 -1.41978882e+02] [ 9.98334969e-01 -5.65279362e-02 -1.14840251e-02 -2.88555285e+02] [-1.14991633e-02 5.74754715e-05 -9.99933881e-01 -8.06368192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.030385723 meters 0.015516388940945775 Centerline is valid? [True, True] Translation: X:-141.97, Y:-288.56, Z:-8.06 [[-2.14838867e-02 9.99769143e-01 3.21058593e-04 -1.41969977e+02] [ 9.99697802e-01 2.14861891e-02 -1.19435850e-02 -2.88561630e+02] [-1.19477260e-02 6.43669442e-05 -9.99928621e-01 -8.06360742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.060385723 meters 0.015609850938306424 Centerline is valid? [True, True] Translation: X:-141.96, Y:-288.57, Z:-8.06 [[-9.93265675e-02 9.95054065e-01 1.28066654e-03 -1.41959966e+02] [ 9.94980320e-01 9.93347979e-02 -1.21144669e-02 -2.88567405e+02] [-1.21817643e-02 7.09495944e-05 -9.99925797e-01 -8.06324760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0903857229999 meters 0.015583291662446564 Centerline is valid? [True, True] Translation: X:-141.95, Y:-288.57, Z:-8.06 [[-1.76817878e-01 9.84240749e-01 2.36362570e-03 -1.41949878e+02] [ 9.84158613e-01 1.76833658e-01 -1.27153874e-02 -2.88573742e+02] [-1.29329710e-02 7.78747722e-05 -9.99916363e-01 -8.06247767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.120385723 meters 0.015635564566410715 Centerline is valid? [True, True] Translation: X:-141.94, Y:-288.58, Z:-8.06 [[-2.53234967e-01 9.67399353e-01 3.24689647e-03 -1.41941491e+02] [ 9.67323722e-01 2.53255770e-01 -1.20967588e-02 -2.88578094e+02] [-1.25246919e-02 7.74776578e-05 -9.99921560e-01 -8.06266827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.150385723 meters 0.015443380596998436 Centerline is valid? [True, True] Translation: X:-141.93, Y:-288.58, Z:-8.06 [[-3.27834595e-01 9.44727176e-01 3.87840809e-03 -1.41931312e+02] [ 9.44663807e-01 3.27857527e-01 -1.09423110e-02 -2.88581453e+02] [-1.16090639e-02 7.65236589e-05 -9.99932610e-01 -8.06428613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.180385723 meters 0.015596873607873006 Centerline is valid? [True, True] Translation: X:-141.92, Y:-288.59, Z:-8.06 [[-4.00310356e-01 9.16365587e-01 5.07241365e-03 -1.41921321e+02] [ 9.16294834e-01 4.00342482e-01 -1.13874957e-02 -2.88585171e+02] [-1.24658119e-02 8.92939560e-05 -9.99922295e-01 -8.06379117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.210385723 meters 0.01571673997472614 Centerline is valid? [True, True] Translation: X:-141.91, Y:-288.59, Z:-8.06 [[-4.70226491e-01 8.82524280e-01 6.15978688e-03 -1.41912878e+02] [ 8.82451376e-01 4.70266824e-01 -1.13439254e-02 -2.88588376e+02] [-1.29080330e-02 1.01498190e-04 -9.99916683e-01 -8.06318509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.240385723 meters 0.015864240988001096 Centerline is valid? [True, True] Translation: X:-141.90, Y:-288.59, Z:-8.06 [[-5.36787632e-01 8.43686007e-01 7.27735455e-03 -1.41904162e+02] [ 8.43611573e-01 5.36836946e-01 -1.12074740e-02 -2.88590787e+02] [-1.33623418e-02 1.23227112e-04 -9.99910712e-01 -8.06268573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.270385723 meters 0.01600496397669983 Centerline is valid? [True, True] Translation: X:-141.90, Y:-288.59, Z:-8.06 [[-6.00741702e-01 7.99403964e-01 7.91890666e-03 -1.41896025e+02] [ 7.99337313e-01 6.00793879e-01 -1.03235108e-02 -2.88594135e+02] [-1.30102861e-02 1.28114112e-04 -9.99915355e-01 -8.06327694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.300385723 meters 0.016091725210058024 Centerline is valid? [True, True] Translation: X:-141.89, Y:-288.60, Z:-8.06 [[-6.61281816e-01 7.50089484e-01 8.49272509e-03 -1.41888419e+02] [ 7.50030120e-01 6.61336336e-01 -9.43767068e-03 -2.88596708e+02] [-1.26956452e-02 1.28839614e-04 -9.99919399e-01 -8.06434945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.330385723 meters 0.015571247338081507 Centerline is valid? [True, True] Translation: X:-141.88, Y:-288.59, Z:-8.07 [[-7.17817267e-01 6.96175078e-01 8.86748735e-03 -1.41875190e+02] [ 6.96124142e-01 7.17872025e-01 -8.42224952e-03 -2.88592036e+02] [-1.22290813e-02 1.27235890e-04 -9.99925214e-01 -8.06702050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.360385723 meters 0.01552746722113961 Centerline is valid? [True, True] Translation: X:-141.85, Y:-288.57, Z:-8.07 [[-7.65625529e-01 6.43211414e-01 9.82988206e-03 -1.41852201e+02] [ 6.43160487e-01 7.65688619e-01 -8.09485160e-03 -2.88571162e+02] [-1.27333298e-02 1.24566687e-04 -9.99918920e-01 -8.06710209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.390385723 meters 0.015377925429449933 Centerline is valid? [True, True] Translation: X:-141.83, Y:-288.55, Z:-8.07 [[-8.09220451e-01 5.87412204e-01 1.04481676e-02 -1.41827228e+02] [ 5.87365217e-01 8.09287889e-01 -7.43062739e-03 -2.88551849e+02] [-1.28204167e-02 1.23874560e-04 -9.99917808e-01 -8.06736878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.420385723 meters 0.015457271767292634 Centerline is valid? [True, True] Translation: X:-141.37, Y:-287.91, Z:-9.01 [[-7.79805872e-01 -6.25937820e-01 1.02297417e-02 -1.41366489e+02] [ 6.25882202e-01 -7.79872961e-01 -8.34474548e-03 -2.87914687e+02] [ 1.32011907e-02 -1.04668281e-04 9.99912855e-01 -9.00593723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.450385723 meters 0.015105574082315576 Centerline is valid? [True, True] Translation: X:-141.38, Y:-287.95, Z:-9.01 [[-7.35582601e-01 -6.77365929e-01 9.67654225e-03 -1.41381410e+02] [ 6.77305252e-01 -7.35646236e-01 -9.06701380e-03 -2.87948084e+02] [ 1.32601981e-02 -1.15564692e-04 9.99912073e-01 -9.00578069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4803857229999 meters 0.01521576834353568 Centerline is valid? [True, True] Translation: X:-141.92, Y:-288.52, Z:-8.07 [[-7.70127938e-01 6.37808678e-01 1.01512964e-02 -1.41916894e+02] [ 6.37755431e-01 7.70194829e-01 -8.24238723e-03 -2.88516446e+02] [-1.30755421e-02 1.26351746e-04 -9.99914504e-01 -8.06657816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.510385723 meters 0.01521576834353568 Centerline is valid? [True, True] Translation: X:-141.42, Y:-287.92, Z:-9.01 [[-7.38669578e-01 -6.73999782e-01 9.56814005e-03 -1.41420479e+02] [ 6.73941013e-01 -7.38731533e-01 -8.90127343e-03 -2.87917719e+02] [ 1.30677431e-02 -1.26737883e-04 9.99914605e-01 -9.00557223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.540385723 meters 0.015082833187017477 Centerline is valid? [True, True] Translation: X:-141.44, Y:-287.94, Z:-9.00 [[-6.92071548e-01 -7.21773801e-01 8.91929996e-03 -1.41443936e+02] [ 7.21711354e-01 -6.92129007e-01 -9.49520673e-03 -2.87939082e+02] [ 1.30266977e-02 -1.34202366e-04 9.99915140e-01 -9.00457082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.570385723 meters 0.01520559499093575 Centerline is valid? [True, True] Translation: X:-141.46, Y:-287.92, Z:-9.00 [[-6.92650836e-01 -7.21216896e-01 9.00051840e-03 -1.41461843e+02] [ 7.21153346e-01 -6.92709296e-01 -9.57511810e-03 -2.87920399e+02] [ 1.31404797e-02 -1.41459596e-04 9.99913650e-01 -9.00458444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6003857229999 meters 0.01525648302359803 Centerline is valid? [True, True] Translation: X:-141.48, Y:-287.90, Z:-9.00 [[-6.93515798e-01 -7.20379792e-01 9.42303297e-03 -1.41481117e+02] [ 7.20310142e-01 -6.93579794e-01 -1.00184466e-02 -2.87900976e+02] [ 1.37527117e-02 -1.60444785e-04 9.99905414e-01 -9.00437045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.630385723 meters 0.015187513618358602 Centerline is valid? [True, True] Translation: X:-141.50, Y:-287.88, Z:-9.00 [[-6.93922553e-01 -7.19995788e-01 8.80653215e-03 -1.41501410e+02] [ 7.19934990e-01 -6.93978416e-01 -9.35785059e-03 -2.87882002e+02] [ 1.28491562e-02 -1.53492944e-04 9.99917435e-01 -9.00335644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.660385723 meters 0.015258147508540942 Centerline is valid? [True, True] Translation: X:-141.52, Y:-287.86, Z:-9.00 [[-6.94177929e-01 -7.19749702e-01 8.79602360e-03 -1.41520241e+02] [ 7.19689106e-01 -6.94233638e-01 -9.34062036e-03 -2.87863370e+02] [ 1.28294042e-02 -1.53650136e-04 9.99917688e-01 -9.00370790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.690385723 meters 0.015036115755298259 Centerline is valid? [True, True] Translation: X:-141.54, Y:-287.84, Z:-9.00 [[-6.94405027e-01 -7.19530870e-01 8.77411433e-03 -1.41540959e+02] [ 7.19470625e-01 -6.94460441e-01 -9.31219254e-03 -2.87843681e+02] [ 1.27936853e-02 -1.53715796e-04 9.99918146e-01 -9.00314776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7203857229999 meters 0.015075329114002977 Centerline is valid? [True, True] Translation: X:-141.56, Y:-287.82, Z:-9.00 [[-6.94843976e-01 -7.19111133e-01 8.42781886e-03 -1.41560971e+02] [ 7.19055579e-01 -6.94895068e-01 -8.93973295e-03 -2.87824183e+02] [ 1.22851113e-02 -1.51649418e-04 9.99924524e-01 -9.00316174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.750385723 meters 0.015060489951631777 Centerline is valid? [True, True] Translation: X:-141.58, Y:-287.80, Z:-9.00 [[-6.94869885e-01 -7.19084095e-01 8.59698456e-03 -1.41579433e+02] [ 7.19026356e-01 -6.94923048e-01 -9.11355518e-03 -2.87804619e+02] [ 1.25276553e-02 -1.51276558e-04 9.99921515e-01 -9.00268531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.780385723 meters 0.015449558457938859 Centerline is valid? [True, True] Translation: X:-141.60, Y:-287.79, Z:-9.00 [[-6.95385928e-01 -7.18582660e-01 8.79611052e-03 -1.41598182e+02] [ 7.18522250e-01 -6.95441539e-01 -9.31890569e-03 -2.87785399e+02] [ 1.28135847e-02 -1.60034760e-04 9.99917890e-01 -9.00281257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.810385723 meters 0.01499674979517551 Centerline is valid? [True, True] Translation: X:-141.62, Y:-287.77, Z:-9.00 [[-6.95485991e-01 -7.18488304e-01 8.59030075e-03 -1.41617757e+02] [ 7.18430750e-01 -6.95539024e-01 -9.09528000e-03 -2.87766306e+02] [ 1.25097417e-02 -1.54103610e-04 9.99921738e-01 -9.00239014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8403857229999 meters 0.014941643875317425 Centerline is valid? [True, True] Translation: X:-141.64, Y:-287.75, Z:-9.00 [[-6.95084631e-01 -7.18884278e-01 7.92148714e-03 -1.41638009e+02] [ 7.18835422e-01 -6.95129756e-01 -8.38202460e-03 -2.87748279e+02] [ 1.15321671e-02 -1.31970923e-04 9.99933494e-01 -9.00209113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.870385723 meters 0.01483227740738915 Centerline is valid? [True, True] Translation: X:-141.66, Y:-287.73, Z:-9.00 [[-6.95032397e-01 -7.18935440e-01 7.86125959e-03 -1.41657404e+02] [ 7.18887386e-01 -6.95076842e-01 -8.31324365e-03 -2.87729216e+02] [ 1.14408650e-02 -1.26613306e-04 9.99934543e-01 -9.00198402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.900385723 meters 0.014687318497380938 Centerline is valid? [True, True] Translation: X:-141.68, Y:-287.71, Z:-9.00 [[-6.94958887e-01 -7.19007618e-01 7.75820536e-03 -1.41676795e+02] [ 7.18960876e-01 -6.95002180e-01 -8.19927284e-03 -2.87710111e+02] [ 1.12873093e-02 -1.20311405e-04 9.99936289e-01 -9.00144993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.930385723 meters 0.014706298982697177 Centerline is valid? [True, True] Translation: X:-141.70, Y:-287.69, Z:-9.00 [[-6.94325805e-01 -7.19618640e-01 7.79036341e-03 -1.41696352e+02] [ 7.19571605e-01 -6.94369499e-01 -8.22827079e-03 -2.87691010e+02] [ 1.13306078e-02 -1.07376439e-04 9.99935801e-01 -9.00122955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.960385723 meters 0.0144828908840603 Centerline is valid? [True, True] Translation: X:-141.72, Y:-287.67, Z:-9.00 [[-6.93667534e-01 -7.20239028e-01 9.00527830e-03 -1.41717183e+02] [ 7.20176299e-01 -6.93725976e-01 -9.50622195e-03 -2.87672332e+02] [ 1.30939475e-02 -1.08769539e-04 9.99914265e-01 -9.00101645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.990385723 meters 0.01444955199619083 Centerline is valid? [True, True] Translation: X:-141.74, Y:-287.65, Z:-9.00 [[-6.93245384e-01 -7.20644529e-01 9.07195834e-03 -1.41737646e+02] [ 7.20580972e-01 -6.93304733e-01 -9.57132615e-03 -2.87653002e+02] [ 1.31871555e-02 -9.81971104e-05 9.99913041e-01 -9.00140942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.020385723 meters 0.014377913453257667 Centerline is valid? [True, True] Translation: X:-141.76, Y:-287.63, Z:-9.00 [[-6.92859909e-01 -7.21009425e-01 9.51607114e-03 -1.41756945e+02] [ 7.20939616e-01 -6.92925250e-01 -1.00333540e-02 -2.87634752e+02] [ 1.38280687e-02 -9.11960546e-05 9.99904384e-01 -9.00235933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.050385723 meters 0.014169377909484618 Centerline is valid? [True, True] Translation: X:-141.78, Y:-287.62, Z:-9.00 [[-6.92345714e-01 -7.21503468e-01 9.49518709e-03 -1.41777862e+02] [ 7.21434088e-01 -6.92410818e-01 -1.00057904e-02 -2.87615459e+02] [ 1.37937828e-02 -7.73144814e-05 9.99904858e-01 -9.00095308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.080385723 meters 0.014259139801785132 Centerline is valid? [True, True] Translation: X:-141.80, Y:-287.60, Z:-9.00 [[-6.92416775e-01 -7.21439540e-01 9.16517411e-03 -1.41796297e+02] [ 7.21374969e-01 -6.92477426e-01 -9.65240948e-03 -2.87595978e+02] [ 1.33103060e-02 -7.19630423e-05 9.99911411e-01 -9.00075917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.110385723 meters 0.014380948300602698 Centerline is valid? [True, True] Translation: X:-141.82, Y:-287.58, Z:-9.00 [[-6.93291361e-01 -7.20600471e-01 9.05815220e-03 -1.41815943e+02] [ 7.20537398e-01 -6.93350528e-01 -9.53438960e-03 -2.87575729e+02] [ 1.31509602e-02 -8.33725253e-05 9.99913519e-01 -8.99937387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.140385723 meters 0.016251465518871046 Centerline is valid? [True, True] Translation: X:-141.83, Y:-287.56, Z:-9.00 [[-6.94914894e-01 -7.19031158e-01 9.35335953e-03 -1.41834926e+02] [ 7.18963837e-01 -6.94977828e-01 -9.83966955e-03 -2.87555258e+02] [ 1.35754065e-02 -1.13005662e-04 9.99907844e-01 -9.00053892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.170385723 meters 0.014569098930080904 Centerline is valid? [True, True] Translation: X:-141.85, Y:-287.54, Z:-9.00 [[-6.95106945e-01 -7.18853336e-01 8.73018654e-03 -1.41853472e+02] [ 7.18794730e-01 -6.95161758e-01 -9.17968769e-03 -2.87536179e+02] [ 1.26677409e-02 -1.05652600e-04 9.99919755e-01 -8.99945207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.200385723 meters 0.014686950122653452 Centerline is valid? [True, True] Translation: X:-141.87, Y:-287.52, Z:-9.00 [[-6.95700861e-01 -7.18276691e-01 8.88293736e-03 -1.41872861e+02] [ 7.18216042e-01 -6.95757560e-01 -9.33460745e-03 -2.87516446e+02] [ 1.28852018e-02 -1.14226336e-04 9.99916976e-01 -8.99981994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2303857229999 meters 0.014794566970023168 Centerline is valid? [True, True] Translation: X:-141.89, Y:-287.50, Z:-9.00 [[-6.96611501e-01 -7.17400665e-01 8.28872986e-03 -1.41891947e+02] [ 7.17347860e-01 -6.96660801e-01 -8.70490781e-03 -2.87497063e+02] [ 1.20193398e-02 -1.18036267e-04 9.99927758e-01 -8.99969181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.260385723 meters 0.014841284285921628 Centerline is valid? [True, True] Translation: X:-141.91, Y:-287.48, Z:-9.00 [[-6.96963136e-01 -7.17065528e-01 7.70814836e-03 -1.41910631e+02] [ 7.17019896e-01 -6.97005750e-01 -8.09026957e-03 -2.87477011e+02] [ 1.11738771e-02 -1.11723915e-04 9.99937564e-01 -8.99821375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.290385723 meters 0.014862925159125039 Centerline is valid? [True, True] Translation: X:-141.93, Y:-287.46, Z:-9.00 [[-6.97081202e-01 -7.16949888e-01 7.78819986e-03 -1.41929548e+02] [ 7.16903352e-01 -6.97124699e-01 -8.16933868e-03 -2.87457748e+02] [ 1.12863529e-02 -1.11305840e-04 9.99936301e-01 -8.99775506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.320385723 meters 0.015995528065780116 Centerline is valid? [True, True] Translation: X:-141.95, Y:-287.44, Z:-9.00 [[-6.97413128e-01 -7.16621222e-01 8.30378219e-03 -1.41950590e+02] [ 7.16568355e-01 -6.97462550e-01 -8.70534914e-03 -2.87438794e+02] [ 1.20300150e-02 -1.20997222e-04 9.99927630e-01 -8.99899050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3503857229999 meters 0.014628900581352633 Centerline is valid? [True, True] Translation: X:-141.97, Y:-287.42, Z:-9.00 [[-6.96487523e-01 -7.17523016e-01 8.11491494e-03 -1.41970847e+02] [ 7.17472643e-01 -6.96534788e-01 -8.50264934e-03 -2.87419285e+02] [ 1.17531672e-02 -9.97597012e-05 9.99930924e-01 -8.99845050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.380385723 meters 0.014789790514579619 Centerline is valid? [True, True] Translation: X:-141.99, Y:-287.40, Z:-9.00 [[-6.96071237e-01 -7.17922723e-01 8.47328721e-03 -1.41989481e+02] [ 7.17867896e-01 -6.96122802e-01 -8.87296696e-03 -2.87400227e+02] [ 1.22685530e-02 -9.35162352e-05 9.99924734e-01 -8.99941240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.410385723 meters 0.014522190989322947 Centerline is valid? [True, True] Translation: X:-142.01, Y:-287.38, Z:-9.00 [[-6.94672563e-01 -7.19273965e-01 8.65996093e-03 -1.42009032e+02] [ 7.19216869e-01 -6.94726536e-01 -9.06286960e-03 -2.87381331e+02] [ 1.25349908e-02 -6.73368568e-05 9.99921432e-01 -8.99882450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.440385723 meters 0.014412100414787384 Centerline is valid? [True, True] Translation: X:-142.03, Y:-287.36, Z:-9.00 [[-6.94117722e-01 -7.19809913e-01 8.61841280e-03 -1.42028893e+02] [ 7.19753467e-01 -6.94171223e-01 -9.01441192e-03 -2.87360915e+02] [ 1.24713172e-02 -5.39305760e-05 9.99922229e-01 -8.99873837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4703857229999 meters 0.014332059304567577 Centerline is valid? [True, True] Translation: X:-142.05, Y:-287.34, Z:-9.00 [[-6.92830239e-01 -7.21051127e-01 8.45770709e-03 -1.42048769e+02] [ 7.20996919e-01 -6.92881860e-01 -8.84145679e-03 -2.87340895e+02] [ 1.22353342e-02 -2.76478649e-05 9.99925145e-01 -8.99858460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.500385723 meters 0.014362602541991495 Centerline is valid? [True, True] Translation: X:-142.07, Y:-287.32, Z:-9.00 [[-6.92318075e-01 -7.21544160e-01 8.34920904e-03 -1.42066994e+02] [ 7.21491438e-01 -6.92368418e-01 -8.72238409e-03 -2.87322565e+02] [ 1.20743139e-02 -1.47813247e-05 9.99927103e-01 -8.99954949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.530385723 meters 0.014186851589998195 Centerline is valid? [True, True] Translation: X:-142.09, Y:-287.30, Z:-9.00 [[-6.90909306e-01 -7.22899822e-01 7.75751207e-03 -1.42086329e+02] [ 7.22854443e-01 -6.90952855e-01 -8.09975825e-03 -2.87302626e+02] [ 1.12153889e-02 1.13537179e-05 9.99937106e-01 -8.99827771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.560385723 meters 0.014234466479673342 Centerline is valid? [True, True] Translation: X:-142.11, Y:-287.28, Z:-9.00 [[-6.90289815e-01 -7.23496327e-01 7.28263698e-03 -1.42105021e+02] [ 7.23456400e-01 -6.90328230e-01 -7.60086013e-03 -2.87282730e+02] [ 1.05266043e-02 2.18739983e-05 9.99944594e-01 -8.99878298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5903857229999 meters 0.01625130771434473 Centerline is valid? [True, True] Translation: X:-142.12, Y:-287.26, Z:-9.00 [[-6.89349029e-01 -7.24386516e-01 7.87981612e-03 -1.42122930e+02] [ 7.24339890e-01 -6.89394063e-01 -8.21888340e-03 -2.87262953e+02] [ 1.13859468e-02 4.19858588e-05 9.99935177e-01 -9.00048169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.620385723 meters 0.014313070065911914 Centerline is valid? [True, True] Translation: X:-142.14, Y:-287.24, Z:-9.00 [[-6.88323153e-01 -7.25366511e-01 7.39342762e-03 -1.42141931e+02] [ 7.25325565e-01 -6.88362856e-01 -7.70729450e-03 -2.87242839e+02] [ 1.06799743e-02 5.75328147e-05 9.99942966e-01 -8.99903088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.650385723 meters 0.014387339748502342 Centerline is valid? [True, True] Translation: X:-142.16, Y:-287.22, Z:-9.00 [[-6.87804316e-01 -7.25856030e-01 7.63196663e-03 -1.42160942e+02] [ 7.25812479e-01 -6.87846654e-01 -7.95153490e-03 -2.87222474e+02] [ 1.10212923e-02 7.02765968e-05 9.99939261e-01 -8.99935707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.680385723 meters 0.014509012618668722 Centerline is valid? [True, True] Translation: X:-142.18, Y:-287.20, Z:-9.00 [[-6.86455115e-01 -7.27133690e-01 7.48143067e-03 -1.42179804e+02] [ 7.27091962e-01 -6.86495877e-01 -7.79038419e-03 -2.87201192e+02] [ 1.08006221e-02 9.19390294e-05 9.99941667e-01 -8.99990037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.710385723 meters 0.014888668539522684 Centerline is valid? [True, True] Translation: X:-142.20, Y:-287.18, Z:-9.00 [[-6.84735623e-01 -7.28751087e-01 7.67981485e-03 -1.42198274e+02] [ 7.28707267e-01 -6.84778678e-01 -7.99254825e-03 -2.87180048e+02] [ 1.10835517e-02 1.23554381e-04 9.99938568e-01 -9.00005174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.740385723 meters 0.015076079160287205 Centerline is valid? [True, True] Translation: X:-142.22, Y:-287.16, Z:-9.00 [[-6.83987023e-01 -7.29456025e-01 7.46057557e-03 -1.42217165e+02] [ 7.29414760e-01 -6.84027697e-01 -7.76004454e-03 -2.87159181e+02] [ 1.07638516e-02 1.34084170e-04 9.99942059e-01 -9.00024097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.770385723 meters 0.015983039619867422 Centerline is valid? [True, True] Translation: X:-142.24, Y:-287.14, Z:-9.00 [[-6.83614824e-01 -7.29807001e-01 7.24668733e-03 -1.42237407e+02] [ 7.29768134e-01 -6.83653218e-01 -7.53313791e-03 -2.87140541e+02] [ 1.04519579e-02 1.38636740e-04 9.99945367e-01 -9.00228543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.800385723 meters 0.0158514457827559 Centerline is valid? [True, True] Translation: X:-142.25, Y:-287.12, Z:-9.00 [[-6.82902664e-01 -7.30476800e-01 6.89903774e-03 -1.42253634e+02] [ 7.30441652e-01 -6.82937497e-01 -7.16722222e-03 -2.87119006e+02] [ 9.94710111e-03 1.44829378e-04 9.99950516e-01 -9.00180429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.830385723 meters 0.01575148486357402 Centerline is valid? [True, True] Translation: X:-142.27, Y:-287.10, Z:-9.00 [[-6.82513214e-01 -7.30844040e-01 6.53461272e-03 -1.42270200e+02] [ 7.30812563e-01 -6.82544481e-01 -6.78448388e-03 -2.87096788e+02] [ 9.41856345e-03 1.45077170e-04 9.99955634e-01 -9.00141387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.860385723 meters 0.0155912405510155 Centerline is valid? [True, True] Translation: X:-142.29, Y:-287.08, Z:-9.00 [[-6.82491045e-01 -7.30865738e-01 6.42233665e-03 -1.42288176e+02] [ 7.30835369e-01 -6.82521247e-01 -6.66422923e-03 -2.87075317e+02] [ 9.25403804e-03 1.45393999e-04 9.99957170e-01 -9.00130879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.890385723 meters 0.01567616982524639 Centerline is valid? [True, True] Translation: X:-142.31, Y:-287.05, Z:-9.00 [[-6.82609540e-01 -7.30752504e-01 6.70765565e-03 -1.42306163e+02] [ 7.30719413e-01 -6.82642479e-01 -6.95598577e-03 -2.87054830e+02] [ 9.66203470e-03 1.53191953e-04 9.99953310e-01 -9.00170829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.920385723 meters 0.015674730650436675 Centerline is valid? [True, True] Translation: X:-142.32, Y:-287.03, Z:-9.00 [[-6.82838684e-01 -7.30537989e-01 6.75113182e-03 -1.42322351e+02] [ 7.30504499e-01 -6.82872040e-01 -6.99676486e-03 -2.87032876e+02] [ 9.72156169e-03 1.54070456e-04 9.99952733e-01 -9.00223680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.950385723 meters 0.01564003801137715 Centerline is valid? [True, True] Translation: X:-142.34, Y:-287.01, Z:-9.00 [[-6.83482105e-01 -7.29936567e-01 6.69488597e-03 -1.42339928e+02] [ 7.29903644e-01 -6.83514877e-01 -6.93423872e-03 -2.87012019e+02] [ 9.63760857e-03 1.47193590e-04 9.99953546e-01 -9.00253450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9803857229999 meters 0.015535567266307579 Centerline is valid? [True, True] Translation: X:-142.36, Y:-286.99, Z:-9.00 [[-6.84884611e-01 -7.28624024e-01 6.33254678e-03 -1.42355102e+02] [ 7.28594549e-01 -6.84913875e-01 -6.55496471e-03 -2.86989107e+02] [ 9.11335392e-03 1.24464611e-04 9.99958465e-01 -9.00279123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.010385723 meters 0.01519031892280727 Centerline is valid? [True, True] Translation: X:-142.37, Y:-286.97, Z:-9.00 [[-6.86358307e-01 -7.27242800e-01 5.49409346e-03 -1.42370732e+02] [ 7.27220593e-01 -6.86380289e-01 -5.68399477e-03 -2.86965183e+02] [ 7.90468173e-03 9.41608773e-05 9.99968753e-01 -9.00198443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.040385723 meters 0.014862035288933836 Centerline is valid? [True, True] Translation: X:-142.39, Y:-286.94, Z:-9.00 [[-6.87397330e-01 -7.26260652e-01 5.51140596e-03 -1.42387821e+02] [ 7.26238302e-01 -6.87419419e-01 -5.69836125e-03 -2.86943465e+02] [ 7.92714304e-03 8.55557989e-05 9.99968576e-01 -9.00147132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.070385723 meters 0.01486737858418336 Centerline is valid? [True, True] Translation: X:-142.40, Y:-286.92, Z:-9.00 [[-6.88165513e-01 -7.25534035e-01 5.34703234e-03 -1.42404817e+02] [ 7.25513002e-01 -6.88186282e-01 -5.52499706e-03 -2.86922488e+02] [ 7.68832771e-03 7.72290483e-05 9.99970442e-01 -9.00182962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1003857229999 meters 0.014873699043809325 Centerline is valid? [True, True] Translation: X:-142.42, Y:-286.90, Z:-9.00 [[-6.89228330e-01 -7.24520370e-01 5.87733236e-03 -1.42420035e+02] [ 7.24494945e-01 -6.89253385e-01 -6.07003857e-03 -2.86900773e+02] [ 8.44883781e-03 7.44550420e-05 9.99964305e-01 -9.00257706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.130385723 meters 0.014979205278852287 Centerline is valid? [True, True] Translation: X:-142.44, Y:-286.88, Z:-9.00 [[-6.89685018e-01 -7.24086107e-01 5.82118732e-03 -1.42437023e+02] [ 7.24061182e-01 -6.89709580e-01 -6.00832592e-03 -2.86880728e+02] [ 8.36547398e-03 7.10433983e-05 9.99965006e-01 -9.00298809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.160385723 meters 0.01477804494573366 Centerline is valid? [True, True] Translation: X:-142.45, Y:-286.86, Z:-9.00 [[-6.89898366e-01 -7.23882060e-01 5.91673654e-03 -1.42453986e+02] [ 7.23856335e-01 -6.89923733e-01 -6.10316616e-03 -2.86858820e+02] [ 8.50006946e-03 7.23028642e-05 9.99963871e-01 -9.00221399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.190385723 meters 0.01470018004640642 Centerline is valid? [True, True] Translation: X:-142.47, Y:-286.84, Z:-9.00 [[-6.90346106e-01 -7.23456663e-01 5.71936916e-03 -1.42471586e+02] [ 7.23432642e-01 -6.90369794e-01 -5.89573164e-03 -2.86839928e+02] [ 8.21378604e-03 6.74829636e-05 9.99966264e-01 -9.00274574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2203857229999 meters 0.014768486698241918 Centerline is valid? [True, True] Translation: X:-142.49, Y:-286.82, Z:-9.00 [[-6.90676506e-01 -7.23140740e-01 5.78222364e-03 -1.42489924e+02] [ 7.23116208e-01 -6.90700706e-01 -5.95687474e-03 -2.86820211e+02] [ 8.30144476e-03 6.69461977e-05 9.99965540e-01 -9.00364311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.250385723 meters 0.01467458927735417 Centerline is valid? [True, True] Translation: X:-142.51, Y:-286.80, Z:-9.00 [[-6.90688933e-01 -7.23129125e-01 5.75029933e-03 -1.42509073e+02] [ 7.23104893e-01 -6.90712866e-01 -5.92028775e-03 -2.86800891e+02] [ 8.25293823e-03 6.89923505e-05 9.99965942e-01 -9.00322035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.280385723 meters 0.01458342157708491 Centerline is valid? [True, True] Translation: X:-142.53, Y:-286.78, Z:-9.00 [[-6.91365025e-01 -7.22484886e-01 5.47643978e-03 -1.42528343e+02] [ 7.22462915e-01 -6.91386712e-01 -5.63481798e-03 -2.86781320e+02] [ 7.85740852e-03 6.08085704e-05 9.99969128e-01 -9.00297863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.310385723 meters 0.014521765995982372 Centerline is valid? [True, True] Translation: X:-142.55, Y:-286.76, Z:-9.00 [[-6.92163035e-01 -7.21719932e-01 5.53832092e-03 -1.42546491e+02] [ 7.21697459e-01 -6.92185189e-01 -5.69574192e-03 -2.86763001e+02] [ 7.94427419e-03 5.46101241e-05 9.99968442e-01 -9.00312833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3403857229999 meters 0.015442862953839396 Centerline is valid? [True, True] Translation: X:-142.56, Y:-286.74, Z:-9.00 [[-6.94302350e-01 -7.19664351e-01 5.24113152e-03 -1.42564216e+02] [ 7.19644191e-01 -6.94322131e-01 -5.38677601e-03 -2.86742739e+02] [ 7.51570427e-03 3.16986129e-05 9.99971756e-01 -9.00290221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.370385723 meters 0.014296522560896197 Centerline is valid? [True, True] Translation: X:-142.58, Y:-286.72, Z:-9.00 [[-6.95112965e-01 -7.18885631e-01 4.62763356e-03 -1.42582472e+02] [ 7.18869913e-01 -6.95128369e-01 -4.75395496e-03 -2.86723928e+02] [ 6.63434928e-03 2.21308064e-05 9.99977992e-01 -9.00186508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.400385723 meters 0.01423590359405819 Centerline is valid? [True, True] Translation: X:-142.60, Y:-286.70, Z:-9.00 [[-6.96436712e-01 -7.17605365e-01 4.29483451e-03 -1.42601131e+02] [ 7.17591819e-01 -6.96449955e-01 -4.40932829e-03 -2.86704395e+02] [ 6.15529494e-03 1.11200103e-05 9.99981056e-01 -9.00153464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.430385723 meters 0.01423590359405819 Centerline is valid? [True, True] Translation: X:-142.62, Y:-286.69, Z:-9.00 [[-6.96660173e-01 -7.17388420e-01 4.29620759e-03 -1.42619888e+02] [ 7.17374878e-01 -6.96673420e-01 -4.40799044e-03 -2.86685277e+02] [ 6.15529494e-03 1.11200129e-05 9.99981056e-01 -9.00153474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.460385723 meters 0.014184739673175666 Centerline is valid? [True, True] Translation: X:-142.64, Y:-286.67, Z:-9.00 [[-6.99044003e-01 -7.15065765e-01 4.29340518e-03 -1.42638342e+02] [ 7.15052214e-01 -6.99057187e-01 -4.40224057e-03 -2.86666527e+02] [ 6.14922728e-03 -7.35098960e-06 9.99981093e-01 -9.00169044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.490385723 meters 0.014180435117782055 Centerline is valid? [True, True] Translation: X:-142.66, Y:-286.65, Z:-9.00 [[-7.01002750e-01 -7.13149084e-01 3.67803315e-03 -1.42658158e+02] [ 7.13139124e-01 -7.01012399e-01 -3.76917932e-03 -2.86647014e+02] [ 5.26633362e-03 -1.92557320e-05 9.99986133e-01 -9.00191109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.520385723 meters 0.014322946725476425 Centerline is valid? [True, True] Translation: X:-142.68, Y:-286.63, Z:-9.00 [[-7.02093818e-01 -7.12074610e-01 3.74440514e-03 -1.42676847e+02] [ 7.12064285e-01 -7.02103802e-01 -3.83469271e-03 -2.86628047e+02] [ 5.35954840e-03 -2.60568743e-05 9.99985637e-01 -9.00252086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.550385723 meters 0.014375703917059602 Centerline is valid? [True, True] Translation: X:-142.70, Y:-286.61, Z:-9.00 [[-7.03231714e-01 -7.10953370e-01 3.23439579e-03 -1.42695918e+02] [ 7.10945664e-01 -7.03239152e-01 -3.31028745e-03 -2.86609692e+02] [ 4.62801377e-03 -2.84194502e-05 9.99989290e-01 -9.00283477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.580385723 meters 0.014363367637566458 Centerline is valid? [True, True] Translation: X:-142.72, Y:-286.59, Z:-9.00 [[-7.03514666e-01 -7.10674881e-01 2.88597445e-03 -1.42715485e+02] [ 7.10668751e-01 -7.03520585e-01 -2.95192779e-03 -2.86590724e+02] [ 4.12820337e-03 -2.57526344e-05 9.99991479e-01 -9.00240980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.610385723 meters 0.01441093874612894 Centerline is valid? [True, True] Translation: X:-142.73, Y:-286.57, Z:-9.00 [[-7.03667655e-01 -7.10526020e-01 2.14624908e-03 -1.42733988e+02] [ 7.10522633e-01 -7.03670927e-01 -2.19392604e-03 -2.86571895e+02] [ 3.06909462e-03 -1.88362403e-05 9.99995290e-01 -9.00212335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.640385723 meters 0.014275037896263745 Centerline is valid? [True, True] Translation: X:-142.75, Y:-286.55, Z:-9.00 [[-7.03797596e-01 -7.10398903e-01 1.53053721e-03 -1.42754455e+02] [ 7.10397182e-01 -7.03799260e-01 -1.56367287e-03 -2.86552445e+02] [ 2.18802245e-03 -1.32198884e-05 9.99997606e-01 -9.00087176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.670385723 meters 0.014303486307141546 Centerline is valid? [True, True] Translation: X:-142.77, Y:-286.53, Z:-9.00 [[-7.03488600e-01 -7.10705518e-01 1.20654463e-03 -1.42773837e+02] [ 7.10704451e-01 -7.03489635e-01 -1.23190131e-03 -2.86533633e+02] [ 1.72431070e-03 -9.13188464e-06 9.99998513e-01 -9.00094249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.700385723 meters 0.014161745484025864 Centerline is valid? [True, True] Translation: X:-142.80, Y:-286.52, Z:-9.00 [[-7.02365572e-01 -7.11814438e-01 1.67627985e-03 -1.42795029e+02] [ 7.11812383e-01 -7.02367572e-01 -1.71055346e-03 -2.86515040e+02] [ 2.39496126e-03 -8.23710553e-06 9.99997132e-01 -9.00171239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7303857229999 meters 0.01414973801744147 Centerline is valid? [True, True] Translation: X:-142.81, Y:-286.50, Z:-9.00 [[-7.01735613e-01 -7.12436036e-01 1.42246953e-03 -1.42814464e+02] [ 7.12434559e-01 -7.01737055e-01 -1.45074962e-03 -2.86496129e+02] [ 2.03176588e-03 -4.62622250e-06 9.99997936e-01 -9.00236450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.760385723 meters 0.014079238174727789 Centerline is valid? [True, True] Translation: X:-142.83, Y:-286.48, Z:-9.00 [[-7.01258635e-01 -7.12905130e-01 1.61328390e-03 -1.42834108e+02] [ 7.12903234e-01 -7.01260490e-01 -1.64434566e-03 -2.86476970e+02] [ 2.30359472e-03 -2.99628209e-06 9.99997347e-01 -9.00233711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.790385723 meters 0.0139982728724994 Centerline is valid? [True, True] Translation: X:-142.85, Y:-286.46, Z:-9.00 [[-7.00622568e-01 -7.13529535e-01 1.90249489e-03 -1.42854110e+02] [ 7.13526903e-01 -7.00625151e-01 -1.93793740e-03 -2.86457840e+02] [ 2.71571134e-03 -2.81391485e-07 9.99996313e-01 -9.00259357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.820385723 meters 0.013971953195872635 Centerline is valid? [True, True] Translation: X:-142.87, Y:-286.44, Z:-9.00 [[-7.00464217e-01 -7.13684941e-01 1.91983468e-03 -1.42873680e+02] [ 7.13682265e-01 -7.00466848e-01 -1.95452176e-03 -2.86438305e+02] [ 2.73969329e-03 1.07940893e-06 9.99996247e-01 -9.00271792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8503857229999 meters 0.013971042179697345 Centerline is valid? [True, True] Translation: X:-142.89, Y:-286.42, Z:-9.00 [[-7.00716262e-01 -7.13437040e-01 2.07604746e-03 -1.42891982e+02] [ 7.13433912e-01 -7.00719338e-01 -2.11254259e-03 -2.86419359e+02] [ 2.96189273e-03 8.29713190e-07 9.99995614e-01 -9.00342990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.880385723 meters 0.014046103577788535 Centerline is valid? [True, True] Translation: X:-142.91, Y:-286.40, Z:-9.00 [[-7.01307196e-01 -7.12854907e-01 2.46959585e-03 -1.42910874e+02] [ 7.12850483e-01 -7.01311544e-01 -2.51146157e-03 -2.86399468e+02] [ 3.52226379e-03 -8.53474875e-07 9.99993797e-01 -9.00393036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.910385723 meters 0.014110439557942476 Centerline is valid? [True, True] Translation: X:-142.93, Y:-286.38, Z:-9.00 [[-7.02723029e-01 -7.11457892e-01 2.83050385e-03 -1.42928804e+02] [ 7.11452077e-01 -7.02728730e-01 -2.87662813e-03 -2.86379537e+02] [ 4.03567616e-03 -7.70498993e-06 9.99991857e-01 -9.00483048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.940385723 meters 0.014236379582359236 Centerline is valid? [True, True] Translation: X:-142.95, Y:-286.36, Z:-9.00 [[-7.03590203e-01 -7.10601752e-01 2.44468056e-03 -1.42946694e+02] [ 7.10597415e-01 -7.03594450e-01 -2.48291837e-03 -2.86360558e+02] [ 3.48442982e-03 -9.77335285e-06 9.99993929e-01 -9.00496611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9703857229999 meters 0.01415350325324168 Centerline is valid? [True, True] Translation: X:-142.97, Y:-286.34, Z:-9.00 [[-7.04503893e-01 -7.09697047e-01 2.08961315e-03 -1.42965314e+02] [ 7.09693877e-01 -7.04506992e-01 -2.12098436e-03 -2.86341032e+02] [ 2.97740341e-03 -1.12560864e-05 9.99995568e-01 -9.00485150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.000385723 meters 0.014315144594500107 Centerline is valid? [True, True] Translation: X:-142.98, Y:-286.32, Z:-9.00 [[-7.05499742e-01 -7.08707478e-01 1.95599112e-03 -1.42983162e+02] [ 7.08704700e-01 -7.05502453e-01 -1.98413363e-03 -2.86320502e+02] [ 2.78612688e-03 -1.35856607e-05 9.99996119e-01 -9.00418967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.030385723 meters 0.014310186307612546 Centerline is valid? [True, True] Translation: X:-143.00, Y:-286.30, Z:-9.00 [[-7.06235741e-01 -7.07974395e-01 1.82612740e-03 -1.43002050e+02] [ 7.07971975e-01 -7.06238101e-01 -1.85125978e-03 -2.86300345e+02] [ 2.60032527e-03 -1.45788011e-05 9.99996619e-01 -9.00416604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.060385723 meters 0.014492522513450444 Centerline is valid? [True, True] Translation: X:-143.02, Y:-286.28, Z:-9.00 [[-7.07145702e-01 -7.07064722e-01 2.10620659e-03 -1.43019057e+02] [ 7.07061501e-01 -7.07148838e-01 -2.13417856e-03 -2.86280813e+02] [ 2.99840391e-03 -1.99576062e-05 9.99995505e-01 -9.00467875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0903857229999 meters 0.014508195613053295 Centerline is valid? [True, True] Translation: X:-143.04, Y:-286.26, Z:-9.01 [[-7.07779616e-01 -7.06429748e-01 2.24189289e-03 -1.43037730e+02] [ 7.06426100e-01 -7.07783167e-01 -2.27028189e-03 -2.86260830e+02] [ 3.19056871e-03 -2.31275927e-05 9.99994910e-01 -9.00515634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.120385723 meters 0.014544252360966792 Centerline is valid? [True, True] Translation: X:-143.06, Y:-286.24, Z:-9.01 [[-7.08415386e-01 -7.05791024e-01 2.58294907e-03 -1.43055239e+02] [ 7.05786184e-01 -7.08420094e-01 -2.61399089e-03 -2.86241573e+02] [ 3.67474433e-03 -2.87815936e-05 9.99993248e-01 -9.00563018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.150385723 meters 0.014732475958029493 Centerline is valid? [True, True] Translation: X:-143.07, Y:-286.22, Z:-9.01 [[-7.08838782e-01 -7.05362418e-01 3.38234063e-03 -1.43072113e+02] [ 7.05354124e-01 -7.08846851e-01 -3.42084214e-03 -2.86221634e+02] [ 4.81049499e-03 -3.90776613e-05 9.99988429e-01 -9.00612709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.180385723 meters 0.014756647380832953 Centerline is valid? [True, True] Translation: X:-143.09, Y:-286.20, Z:-9.01 [[-7.09221054e-01 -7.04976784e-01 3.63744152e-03 -1.43090632e+02] [ 7.04967198e-01 -7.09230380e-01 -3.67667058e-03 -2.86201737e+02] [ 5.17175143e-03 -4.32952321e-05 9.99986626e-01 -9.00599350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.210385723 meters 0.014907260848529263 Centerline is valid? [True, True] Translation: X:-143.11, Y:-286.18, Z:-9.01 [[-7.09557684e-01 -7.04632436e-01 4.58519704e-03 -1.43109638e+02] [ 7.04617214e-01 -7.09572496e-01 -4.63191962e-03 -2.86181688e+02] [ 6.51733051e-03 -5.58053965e-05 9.99978761e-01 -9.00702542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.240385723 meters 0.014920944804518011 Centerline is valid? [True, True] Translation: X:-143.13, Y:-286.16, Z:-9.01 [[-7.09870618e-01 -7.04316654e-01 4.66447227e-03 -1.43128353e+02] [ 7.04300913e-01 -7.09885940e-01 -4.70909142e-03 -2.86163150e+02] [ 6.62793479e-03 -5.76535541e-05 9.99978033e-01 -9.00758335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.270385723 meters 0.014828807333743416 Centerline is valid? [True, True] Translation: X:-143.15, Y:-286.14, Z:-9.01 [[-7.09762802e-01 -7.04427565e-01 4.30931937e-03 -1.43148101e+02] [ 7.04414148e-01 -7.09775882e-01 -4.34802483e-03 -2.86144603e+02] [ 6.12151950e-03 -5.05207549e-05 9.99981262e-01 -9.00759960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.300385723 meters 0.014848131350445264 Centerline is valid? [True, True] Translation: X:-143.17, Y:-286.13, Z:-9.01 [[-7.09930033e-01 -7.04259345e-01 4.25704122e-03 -1.43167216e+02] [ 7.04246264e-01 -7.09942795e-01 -4.29281090e-03 -2.86125496e+02] [ 6.04550794e-03 -4.95900114e-05 9.99981725e-01 -9.00715841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.330385723 meters 0.014826337838178329 Centerline is valid? [True, True] Translation: X:-143.19, Y:-286.11, Z:-9.01 [[-7.10264424e-01 -7.03923225e-01 4.06700402e-03 -1.43186722e+02] [ 7.03911294e-01 -7.10276067e-01 -4.09875718e-03 -2.86106734e+02] [ 5.77390599e-03 -4.83913461e-05 9.99983330e-01 -9.00654335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.360385723 meters 0.01464055925258203 Centerline is valid? [True, True] Translation: X:-143.21, Y:-286.09, Z:-9.01 [[-7.10702761e-01 -7.03485148e-01 3.19882914e-03 -1.43207451e+02] [ 7.03477771e-01 -7.10709958e-01 -3.22202310e-03 -2.86088076e+02] [ 4.54008512e-03 -3.95955164e-05 9.99989693e-01 -9.00505609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.390385723 meters 0.014710027035025988 Centerline is valid? [True, True] Translation: X:-143.23, Y:-286.07, Z:-9.00 [[-7.11060961e-01 -7.03125262e-01 2.67886045e-03 -1.43226497e+02] [ 7.03120092e-01 -7.11066006e-01 -2.69653044e-03 -2.86069247e+02] [ 3.80084527e-03 -3.38369170e-05 9.99992776e-01 -9.00453821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.420385723 meters 0.014655283700969503 Centerline is valid? [True, True] Translation: X:-143.25, Y:-286.05, Z:-9.00 [[-7.11273439e-01 -7.02912981e-01 1.85375018e-03 -1.43247288e+02] [ 7.02910507e-01 -7.11275855e-01 -1.86494671e-03 -2.86050386e+02] [ 2.62942300e-03 -2.34665866e-05 9.99996543e-01 -9.00324080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.450385723 meters 0.01462704282123887 Centerline is valid? [True, True] Translation: X:-143.27, Y:-286.03, Z:-9.00 [[-7.11345856e-01 -7.02840680e-01 1.43261785e-03 -1.43267195e+02] [ 7.02839204e-01 -7.11347298e-01 -1.44037863e-03 -2.86031369e+02] [ 2.03144554e-03 -1.77073790e-05 9.99997937e-01 -9.00321437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4803857229999 meters 0.014765560473947507 Centerline is valid? [True, True] Translation: X:-143.29, Y:-286.01, Z:-9.00 [[-7.11478086e-01 -7.02705935e-01 1.81693122e-03 -1.43286204e+02] [ 7.02703564e-01 -7.11480406e-01 -1.82589787e-03 -2.86013101e+02] [ 2.57578023e-03 -2.23222736e-05 9.99996683e-01 -9.00349342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.510385723 meters 0.014756260595284955 Centerline is valid? [True, True] Translation: X:-143.31, Y:-286.00, Z:-9.00 [[-7.11785845e-01 -7.02391881e-01 2.56055387e-03 -1.43307380e+02] [ 7.02387174e-01 -7.11790450e-01 -2.57161231e-03 -2.85995259e+02] [ 3.62885740e-03 -3.19370440e-05 9.99993415e-01 -9.00475322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.540385723 meters 0.014798244789438125 Centerline is valid? [True, True] Translation: X:-143.33, Y:-285.98, Z:-9.00 [[-7.12204743e-01 -7.01966536e-01 2.71782802e-03 -1.43327552e+02] [ 7.01961236e-01 -7.12209928e-01 -2.72791494e-03 -2.85976354e+02] [ 3.85056910e-03 -3.50240365e-05 9.99992586e-01 -9.00495830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.570385723 meters 0.014684706139453522 Centerline is valid? [True, True] Translation: X:-143.35, Y:-285.96, Z:-9.01 [[-7.12403703e-01 -7.01762969e-01 3.11437104e-03 -1.43348408e+02] [ 7.01756016e-01 -7.12410510e-01 -3.12400420e-03 -2.85958884e+02] [ 4.41102112e-03 -4.00235436e-05 9.99990271e-01 -9.00611938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6003857229999 meters 0.014583532255978814 Centerline is valid? [True, True] Translation: X:-143.37, Y:-285.94, Z:-9.01 [[-7.12829459e-01 -7.01329346e-01 3.36311851e-03 -1.43368643e+02] [ 7.01321244e-01 -7.12837392e-01 -3.37144625e-03 -2.85940218e+02] [ 4.76185082e-03 -4.46397464e-05 9.99988661e-01 -9.00681435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.630385723 meters 0.015403946578137165 Centerline is valid? [True, True] Translation: X:-143.39, Y:-285.92, Z:-9.01 [[-7.13412302e-01 -7.00732597e-01 4.08835191e-03 -1.43386072e+02] [ 7.00720629e-01 -7.13424014e-01 -4.09583550e-03 -2.85921024e+02] [ 5.78681387e-03 -5.72269111e-05 9.99983255e-01 -9.00878025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.660385723 meters 0.014674508362196671 Centerline is valid? [True, True] Translation: X:-143.41, Y:-285.90, Z:-9.01 [[-7.13980275e-01 -7.00153197e-01 4.20328448e-03 -1.43408149e+02] [ 7.00140551e-01 -7.13992645e-01 -4.20866260e-03 -2.85903402e+02] [ 5.94782278e-03 -6.20121702e-05 9.99982310e-01 -9.00763557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.690385723 meters 0.014889828451301825 Centerline is valid? [True, True] Translation: X:-143.43, Y:-285.89, Z:-9.01 [[-7.15108311e-01 -6.99002832e-01 3.89165822e-03 -1.43427018e+02] [ 6.98991985e-01 -7.15118897e-01 -3.89463849e-03 -2.85885862e+02] [ 5.50536167e-03 -6.48504454e-05 9.99984843e-01 -9.00700097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7203857229999 meters 0.01490678812674176 Centerline is valid? [True, True] Translation: X:-143.45, Y:-285.87, Z:-9.01 [[-7.15987471e-01 -6.98103478e-01 3.67091709e-03 -1.43446367e+02] [ 6.98093827e-01 -7.15996878e-01 -3.67145944e-03 -2.85867011e+02] [ 5.19142378e-03 -6.60744042e-05 9.99986522e-01 -9.00664635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.750385723 meters 0.015317351591496343 Centerline is valid? [True, True] Translation: X:-143.47, Y:-285.85, Z:-9.01 [[-7.17593339e-01 -6.96454505e-01 3.30501663e-03 -1.43465607e+02] [ 6.96446673e-01 -7.17600946e-01 -3.30359165e-03 -2.85847841e+02] [ 4.67248435e-03 -6.88675299e-05 9.99989082e-01 -9.00641996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.780385723 meters 0.015469417584288127 Centerline is valid? [True, True] Translation: X:-144.03, Y:-286.42, Z:-8.07 [[-7.45210719e-01 6.66821346e-01 3.20587015e-03 -1.44027013e+02] [ 6.66815554e-01 7.45217612e-01 -2.77994055e-03 -2.86423368e+02] [-4.24279460e-03 6.60825859e-05 -9.99990997e-01 -8.06588651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.810385723 meters 0.015498050032489885 Centerline is valid? [True, True] Translation: X:-144.01, Y:-286.40, Z:-8.07 [[-7.90026495e-01 6.13067093e-01 2.62218225e-03 -1.44005838e+02] [ 6.13063940e-01 7.90030845e-01 -1.96694515e-03 -2.86401928e+02] [-3.27747420e-03 5.36266003e-05 -9.99994628e-01 -8.06601263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8403857229999 meters 0.0158865085296067 Centerline is valid? [True, True] Translation: X:-143.98, Y:-286.38, Z:-8.07 [[-8.30442055e-01 5.57099026e-01 2.58250049e-03 -1.43984405e+02] [ 5.57096539e-01 8.30446068e-01 -1.66541016e-03 -2.86381056e+02] [-3.07242576e-03 5.56754474e-05 -9.99995279e-01 -8.06619490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.870385723 meters 0.016022307582927085 Centerline is valid? [True, True] Translation: X:-143.96, Y:-286.36, Z:-8.07 [[-8.67629897e-01 4.97206863e-01 1.92307974e-03 -1.43964053e+02] [ 4.97205744e-01 8.67632027e-01 -1.05543865e-03 -2.86357563e+02] [-2.19329691e-03 4.04361685e-05 -9.99997594e-01 -8.06714379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.900385723 meters 0.01619749719807695 Centerline is valid? [True, True] Translation: X:-143.57, Y:-285.66, Z:-9.00 [[-8.51716013e-01 -5.24000201e-01 1.90348049e-03 -1.43574698e+02] [ 5.23998793e-01 -8.51718139e-01 -1.21528547e-03 -2.85663510e+02] [ 2.25803869e-03 -3.76566142e-05 9.99997450e-01 -9.00482457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.930385723 meters 0.01535544580861136 Centerline is valid? [True, True] Translation: X:-143.59, Y:-285.69, Z:-9.00 [[-8.13831912e-01 -5.81096971e-01 1.98215787e-03 -1.43591088e+02] [ 5.81095125e-01 -8.13834325e-01 -1.46544838e-03 -2.85694083e+02] [ 2.46471573e-03 -4.08063847e-05 9.99996962e-01 -9.00455310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.960385723 meters 0.01502581406682794 Centerline is valid? [True, True] Translation: X:-144.06, Y:-286.33, Z:-8.07 [[-8.36962393e-01 5.47253627e-01 2.72409567e-03 -1.44062880e+02] [ 5.47250896e-01 8.36966825e-01 -1.72961122e-03 -2.86327361e+02] [-3.22651372e-03 4.31442530e-05 -9.99994794e-01 -8.06719365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.990385723 meters 0.014746109554168645 Centerline is valid? [True, True] Translation: X:-144.04, Y:-286.30, Z:-8.07 [[-8.74316767e-01 4.85347760e-01 2.78282438e-03 -1.44043226e+02] [ 4.85345438e-01 8.74321194e-01 -1.50175784e-03 -2.86302070e+02] [-3.16195714e-03 3.76190610e-05 -9.99995000e-01 -8.06687936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.020385723 meters 0.014446337904692116 Centerline is valid? [True, True] Translation: X:-144.04, Y:-286.27, Z:-8.07 [[-9.07883404e-01 4.19205237e-01 3.83336774e-03 -1.44042806e+02] [ 4.19201668e-01 9.07891496e-01 -1.73029845e-03 -2.86266021e+02] [-4.20563215e-03 3.60449016e-05 -9.99991156e-01 -8.06579400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.050385723 meters 0.014258154410969396 Centerline is valid? [True, True] Translation: X:-144.02, Y:-286.24, Z:-8.07 [[-9.35874210e-01 3.52310126e-01 4.12779485e-03 -1.44018049e+02] [ 3.52306844e-01 9.35883312e-01 -1.52108404e-03 -2.86242727e+02] [-4.39902763e-03 3.07070496e-05 -9.99990324e-01 -8.06521345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.080385723 meters 0.014127527876080775 Centerline is valid? [True, True] Translation: X:-144.01, Y:-286.21, Z:-8.06 [[-9.58966652e-01 2.83475555e-01 4.95673592e-03 -1.44006951e+02] [ 2.83471915e-01 9.58979462e-01 -1.43690816e-03 -2.86213816e+02] [-5.16073629e-03 2.71484137e-05 -9.99986683e-01 -8.06454856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.110385723 meters 0.013982537072226355 Centerline is valid? [True, True] Translation: X:-143.79, Y:-285.48, Z:-9.01 [[-9.40387113e-01 -3.40038108e-01 6.79427664e-03 -1.43790433e+02] [ 3.40029962e-01 -9.40411652e-01 -2.35555305e-03 -2.85484778e+02] [ 7.19039473e-03 9.51259032e-05 9.99974144e-01 -9.00906272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.140385723 meters 0.013938630432993943 Centerline is valid? [True, True] Translation: X:-144.05, Y:-286.20, Z:-8.06 [[-9.61057922e-01 2.76249912e-01 7.32509893e-03 -1.44052991e+02] [ 2.76241979e-01 9.61085837e-01 -2.09351204e-03 -2.86196979e+02] [-7.61838136e-03 1.15134998e-05 -9.99970980e-01 -8.06245394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.170385723 meters 0.013994810793318989 Centerline is valid? [True, True] Translation: X:-144.04, Y:-286.17, Z:-8.06 [[-9.78336546e-01 2.06872121e-01 7.84398171e-03 -1.44042501e+02] [ 2.06865536e-01 9.78367991e-01 -1.65059366e-03 -2.86167551e+02] [-8.01576244e-03 7.81338088e-06 -9.99967873e-01 -8.06217956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.200385723 meters 0.013901760150335857 Centerline is valid? [True, True] Translation: X:-143.88, Y:-285.43, Z:-9.01 [[-9.63017171e-01 -2.69339114e-01 7.37359739e-03 -1.43883809e+02] [ 2.69330985e-01 -9.63045399e-01 -2.09277779e-03 -2.85434012e+02] [ 7.66477596e-03 -2.94426925e-05 9.99970625e-01 -9.00976525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2303857229999 meters 0.013927084896336695 Centerline is valid? [True, True] Translation: X:-144.09, Y:-286.16, Z:-8.06 [[-9.78732983e-01 2.04992377e-01 7.73784238e-03 -1.44094972e+02] [ 2.04986163e-01 9.78763569e-01 -1.59625022e-03 -2.86157407e+02] [-7.90073735e-03 2.38478883e-05 -9.99968789e-01 -8.06245510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.260385723 meters 0.014141879735229995 Centerline is valid? [True, True] Translation: X:-143.93, Y:-285.42, Z:-9.01 [[-9.65262569e-01 -2.61178330e-01 7.35215142e-03 -1.43934483e+02] [ 2.61170442e-01 -9.65290567e-01 -2.03022485e-03 -2.85422563e+02] [ 7.62721315e-03 -3.95354236e-05 9.99970912e-01 -9.00960868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.290385723 meters 0.014404927983308065 Centerline is valid? [True, True] Translation: X:-144.15, Y:-286.15, Z:-8.06 [[-9.78414434e-01 2.06519647e-01 7.40476589e-03 -1.44149463e+02] [ 2.06514232e-01 9.78442452e-01 -1.49692600e-03 -2.86148892e+02] [-7.55428192e-03 6.45755405e-05 -9.99971464e-01 -8.06265247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.320385723 meters 0.014404927983308065 Centerline is valid? [True, True] Translation: X:-143.99, Y:-285.41, Z:-9.01 [[-9.66858037e-01 -2.55211181e-01 7.26565332e-03 -1.43994721e+02] [ 2.55203463e-01 -9.66885334e-01 -1.98584457e-03 -2.85409841e+02] [ 7.53186338e-03 -6.58098911e-05 9.99971633e-01 -9.00951996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3503857229999 meters 0.014575125012598335 Centerline is valid? [True, True] Translation: X:-144.20, Y:-286.14, Z:-8.06 [[-9.78369642e-01 2.06723629e-01 7.62791157e-03 -1.44197497e+02] [ 2.06718146e-01 9.78399372e-01 -1.50895924e-03 -2.86141080e+02] [-7.77508142e-03 1.00507823e-04 -9.99969769e-01 -8.06361723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.380385723 meters 0.014967932217298453 Centerline is valid? [True, True] Translation: X:-144.19, Y:-286.11, Z:-8.06 [[-9.90318530e-01 1.38595278e-01 7.78193409e-03 -1.44188196e+02] [ 1.38591915e-01 9.90349098e-01 -9.72329918e-04 -2.86114366e+02] [-7.84159174e-03 1.15596813e-04 -9.99969248e-01 -8.06406649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.410385723 meters 0.015198486822281681 Centerline is valid? [True, True] Translation: X:-144.09, Y:-285.36, Z:-9.01 [[-9.84660534e-01 -1.74315332e-01 7.60251065e-03 -1.44089425e+02] [ 1.74309191e-01 -9.84689875e-01 -1.46810911e-03 -2.85360397e+02] [ 7.74202919e-03 -1.20401616e-04 9.99970023e-01 -9.00733345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.440385723 meters 0.015542096907767016 Centerline is valid? [True, True] Translation: X:-144.25, Y:-286.11, Z:-8.07 [[-9.90532427e-01 1.37081326e-01 7.36351588e-03 -1.44253876e+02] [ 1.37078528e-01 9.90559788e-01 -8.85633712e-04 -2.86106936e+02] [-7.41540656e-03 1.32131009e-04 -9.99972497e-01 -8.06563702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4703857229999 meters 0.015122613673819254 Centerline is valid? [True, True] Translation: X:-144.25, Y:-286.07, Z:-8.07 [[-9.97835858e-01 6.53629448e-02 7.16147851e-03 -1.44254468e+02] [ 6.53621287e-02 9.97861549e-01 -3.48204568e-04 -2.86074465e+02] [-7.16892372e-03 1.20638476e-04 -9.99974296e-01 -8.06566517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.500385723 meters 0.015254150411029881 Centerline is valid? [True, True] Translation: X:-144.26, Y:-286.04, Z:-8.07 [[-9.99949762e-01 -6.56480456e-03 7.57474844e-03 -1.44262796e+02] [-6.56369700e-03 9.99978444e-01 1.71067950e-04 -2.86044828e+02] [-7.57570819e-03 1.21341002e-04 -9.99971297e-01 -8.06508696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.530385723 meters 0.015016193590794742 Centerline is valid? [True, True] Translation: X:-144.27, Y:-286.01, Z:-8.07 [[-9.96899245e-01 -7.82571305e-02 8.22900414e-03 -1.44266442e+02] [-7.82534007e-02 9.96933200e-01 7.74751890e-04 -2.86014440e+02] [-8.26439729e-03 1.28402016e-04 -9.99965841e-01 -8.06510319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.560385723 meters 0.014836071468925387 Centerline is valid? [True, True] Translation: X:-144.34, Y:-285.27, Z:-9.01 [[-9.99105141e-01 4.13437454e-02 8.92251212e-03 -1.44339086e+02] [-4.13429374e-02 -9.99144977e-01 2.75063027e-04 -2.85268086e+02] [ 8.92625531e-03 -9.40659757e-05 9.99960156e-01 -9.00784126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5903857229999 meters 0.014760682313746906 Centerline is valid? [True, True] Translation: X:-144.38, Y:-286.02, Z:-8.06 [[-9.96204044e-01 -8.65393438e-02 9.40452162e-03 -1.44376577e+02] [-8.65342620e-02 9.96248426e-01 9.46706707e-04 -2.86020527e+02] [-9.45116723e-03 1.29299713e-04 -9.99955328e-01 -8.06320174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.620385723 meters 0.014615856458674354 Centerline is valid? [True, True] Translation: X:-144.45, Y:-285.28, Z:-9.01 [[-9.98904822e-01 4.57404755e-02 9.84708817e-03 -1.44446637e+02] [-4.57393153e-02 -9.98953351e-01 3.43111022e-04 -2.85280910e+02] [ 9.85247579e-03 -1.07663816e-04 9.99951458e-01 -9.00873632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.650385723 meters 0.014619966093992328 Centerline is valid? [True, True] Translation: X:-144.48, Y:-286.03, Z:-8.06 [[-9.95500609e-01 -9.42775463e-02 9.50169763e-03 -1.44482202e+02] [-9.42721357e-02 9.95545946e-01 1.01672162e-03 -2.86028192e+02] [-9.55523057e-03 1.16401660e-04 -9.99954341e-01 -8.06401869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.680385723 meters 0.014578560739339724 Centerline is valid? [True, True] Translation: X:-144.50, Y:-286.00, Z:-8.06 [[-9.86228191e-01 -1.65139587e-01 9.10339148e-03 -1.44499757e+02] [-1.65131491e-01 9.86270198e-01 1.63910683e-03 -2.86001284e+02] [-9.24908515e-03 1.13276750e-04 -9.99957220e-01 -8.06470337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.710385723 meters 0.014778523780389546 Centerline is valid? [True, True] Translation: X:-144.53, Y:-285.98, Z:-8.07 [[-9.71849904e-01 -2.35448953e-01 8.45898297e-03 -1.44527943e+02] [-2.35439048e-01 9.71886711e-01 2.16252781e-03 -2.85977821e+02] [-8.73033804e-03 1.10077553e-04 -9.99961884e-01 -8.06540484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.740385723 meters 0.014832345503877268 Centerline is valid? [True, True] Translation: X:-144.58, Y:-285.96, Z:-8.07 [[-9.52140708e-01 -3.05542020e-01 8.49391802e-03 -1.44581601e+02] [-3.05528779e-01 9.52178587e-01 2.84687761e-03 -2.85962629e+02] [-8.95756759e-03 1.15491662e-04 -9.99959874e-01 -8.06523673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.770385723 meters 0.015024845691041362 Centerline is valid? [True, True] Translation: X:-144.65, Y:-285.95, Z:-8.06 [[-9.27257791e-01 -3.74341754e-01 7.82569049e-03 -1.44646821e+02] [-3.74327383e-01 9.27290806e-01 3.28203693e-03 -2.85954393e+02] [-8.48529431e-03 1.13924071e-04 -9.99963993e-01 -8.06457721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.800385723 meters 0.01519218804622059 Centerline is valid? [True, True] Translation: X:-144.72, Y:-285.96, Z:-8.06 [[-8.97019172e-01 -4.41929538e-01 7.40874458e-03 -1.44724008e+02] [-4.41913423e-01 8.97049759e-01 3.77563511e-03 -2.85957629e+02] [-8.31457722e-03 1.12793394e-04 -9.99965427e-01 -8.06422420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.830385723 meters 0.015438182234731795 Centerline is valid? [True, True] Translation: X:-144.81, Y:-285.97, Z:-8.06 [[-8.61695608e-01 -5.07372561e-01 7.33240779e-03 -1.44805847e+02] [-5.07353004e-01 8.61726796e-01 4.45631665e-03 -2.85969451e+02] [-8.57954505e-03 1.19869361e-04 -9.99963188e-01 -8.06355579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.860385723 meters 0.015541039826321917 Centerline is valid? [True, True] Translation: X:-144.90, Y:-285.99, Z:-8.06 [[-8.21367486e-01 -5.70353999e-01 7.19505292e-03 -1.44895151e+02] [-5.70330764e-01 8.21398990e-01 5.14973887e-03 -2.85993292e+02] [-8.84718336e-03 1.26268044e-04 -9.99960855e-01 -8.06294838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.890385723 meters 0.014897987785105876 Centerline is valid? [True, True] Translation: X:-144.99, Y:-286.03, Z:-8.06 [[-7.76080802e-01 -6.30594197e-01 7.03896627e-03 -1.44988493e+02] [-6.30566725e-01 7.76112712e-01 5.88756579e-03 -2.86026119e+02] [-9.17569602e-03 1.30688873e-04 -9.99957894e-01 -8.06426743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.920385723 meters 0.014719066886994588 Centerline is valid? [True, True] Translation: X:-145.08, Y:-286.07, Z:-8.06 [[-7.25885177e-01 -6.87785506e-01 6.46586660e-03 -1.45078873e+02] [-6.87756669e-01 7.25913963e-01 6.29940157e-03 -2.86066217e+02] [-9.02629995e-03 1.25699348e-04 -9.99959254e-01 -8.06397828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.950385723 meters 0.015594067936360067 Centerline is valid? [True, True] Translation: X:-145.17, Y:-286.12, Z:-8.06 [[-6.71266458e-01 -7.41193503e-01 5.79084745e-03 -1.45170509e+02] [-7.41164397e-01 6.71291425e-01 6.56959057e-03 -2.86121799e+02] [-8.75668408e-03 1.17975832e-04 -9.99961653e-01 -8.06235083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9803857229999 meters 0.014735349116103781 Centerline is valid? [True, True] Translation: X:-145.26, Y:-286.19, Z:-8.06 [[-6.12374710e-01 -7.90549418e-01 5.36948285e-03 -1.45264995e+02] [-7.90517384e-01 6.12398240e-01 7.11764328e-03 -2.86187454e+02] [-8.91511060e-03 1.13995208e-04 -9.99960253e-01 -8.06346470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.010385723 meters 0.01454648722044922 Centerline is valid? [True, True] Translation: X:-145.35, Y:-286.26, Z:-8.06 [[-5.49802258e-01 -8.35280575e-01 4.88236917e-03 -1.45351737e+02] [-8.35245840e-01 5.49823925e-01 7.61825133e-03 -2.86260089e+02] [-9.04782073e-03 1.10553249e-04 -9.99959062e-01 -8.06386128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.040385723 meters 0.014332790204834632 Centerline is valid? [True, True] Translation: X:-145.44, Y:-286.35, Z:-8.06 [[-4.83729448e-01 -8.75207721e-01 4.15520902e-03 -1.45437223e+02] [-8.75173623e-01 4.83747284e-01 7.72630578e-03 -2.86346572e+02] [-8.77219356e-03 1.00912304e-04 -9.99961519e-01 -8.06424962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.070385723 meters 0.014255431826991639 Centerline is valid? [True, True] Translation: X:-145.51, Y:-286.44, Z:-8.06 [[-4.14658587e-01 -9.09970934e-01 3.33991345e-03 -1.45514146e+02] [-9.09939664e-01 4.14672028e-01 7.54432358e-03 -2.86435776e+02] [-8.25008386e-03 8.91988309e-05 -9.99965964e-01 -8.06416523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1003857229999 meters 0.014177507607715245 Centerline is valid? [True, True] Translation: X:-145.58, Y:-286.53, Z:-8.06 [[-3.43429127e-01 -9.39174620e-01 2.73282205e-03 -1.45584054e+02] [-9.39142842e-01 3.43439989e-01 7.72631721e-03 -2.86531050e+02] [-8.19492141e-03 8.69321056e-05 -9.99966417e-01 -8.06429599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.130385723 meters 0.014360568945121268 Centerline is valid? [True, True] Translation: X:-145.65, Y:-286.63, Z:-8.06 [[-2.70278826e-01 -9.62779575e-01 2.20140145e-03 -1.45647214e+02] [-9.62744911e-01 2.70287776e-01 8.17030188e-03 -2.86633677e+02] [-8.46121168e-03 8.88715538e-05 -9.99964199e-01 -8.06325905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.160385723 meters 0.01450860001020166 Centerline is valid? [True, True] Translation: X:-145.70, Y:-286.75, Z:-8.06 [[-1.95480921e-01 -9.80705997e-01 1.71939179e-03 -1.45702041e+02] [-9.80663546e-01 1.95488458e-01 9.12532863e-03 -2.86745534e+02] [-9.28538577e-03 9.76828025e-05 -9.99956885e-01 -8.06241553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.190385723 meters 0.014510744205126805 Centerline is valid? [True, True] Translation: X:-145.75, Y:-286.86, Z:-8.06 [[-1.19486088e-01 -9.92835227e-01 1.13455304e-03 -1.45747925e+02] [-9.92781296e-01 1.19491423e-01 1.03488600e-02 -2.86862121e+02] [-1.04102821e-02 1.10181753e-04 -9.99945806e-01 -8.06229217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2203857229999 meters 0.01454716001919194 Centerline is valid? [True, True] Translation: X:-145.79, Y:-286.98, Z:-8.06 [[-4.28896710e-02 -9.99079759e-01 3.33997384e-04 -1.45785617e+02] [-9.99025918e-01 4.28908273e-02 1.03727021e-02 -2.86984018e+02] [-1.03774822e-02 1.11209739e-04 -9.99946146e-01 -8.06224656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.250385723 meters 0.014578282956134083 Centerline is valid? [True, True] Translation: X:-145.81, Y:-287.11, Z:-8.06 [[ 3.42579084e-02 -9.99412924e-01 -4.51703604e-04 -1.45813997e+02] [-9.99362290e-01 -3.42607199e-02 1.00606293e-02 -2.87108743e+02] [-1.00701987e-02 1.06759431e-04 -9.99949289e-01 -8.06206725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.280385723 meters 0.014592642649210523 Centerline is valid? [True, True] Translation: X:-146.53, Y:-287.25, Z:-9.01 [[-1.26415187e-02 9.99920065e-01 2.34879387e-04 -1.46532816e+02] [-9.99869564e-01 -1.26432409e-02 1.00500076e-02 -2.87252697e+02] [ 1.00521739e-02 -1.07801391e-04 9.99949470e-01 -9.01046928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.310385723 meters 0.014568657580458081 Centerline is valid? [True, True] Translation: X:-145.80, Y:-287.41, Z:-8.06 [[ 4.52346282e-02 -9.98976224e-01 -5.76158755e-04 -1.45804176e+02] [-9.98920398e-01 -4.52381917e-02 1.05615120e-02 -2.87412564e+02] [-1.05767638e-02 9.77906624e-05 -9.99944060e-01 -8.06174975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3403857229999 meters 0.014264249402606333 Centerline is valid? [True, True] Translation: X:-145.82, Y:-287.53, Z:-8.06 [[ 1.23889351e-01 -9.92294911e-01 -1.49617095e-03 -1.45822995e+02] [-9.92230522e-01 -1.23898356e-01 1.13043397e-02 -2.87529978e+02] [-1.14026118e-02 8.40591826e-05 -9.99934985e-01 -8.06199553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.370385723 meters 0.014109723075821177 Centerline is valid? [True, True] Translation: X:-145.83, Y:-287.66, Z:-8.06 [[ 2.00901741e-01 -9.79608343e-01 -2.44633777e-03 -1.45830867e+02] [-9.79540203e-01 -2.00916621e-01 1.15543594e-02 -2.87655184e+02] [-1.18102568e-02 7.49952696e-05 -9.99930254e-01 -8.06231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.400385723 meters 0.0141785505670468 Centerline is valid? [True, True] Translation: X:-145.83, Y:-287.78, Z:-8.06 [[ 2.76678032e-01 -9.60956863e-01 -3.34283478e-03 -1.45828994e+02] [-9.60889436e-01 -2.76698218e-01 1.13836412e-02 -2.87778896e+02] [-1.18641445e-02 6.24911913e-05 -9.99929617e-01 -8.06222639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.430385723 meters 0.014007427990658296 Centerline is valid? [True, True] Translation: X:-145.82, Y:-287.90, Z:-8.06 [[ 3.50047424e-01 -9.36722836e-01 -4.13888373e-03 -1.45818020e+02] [-9.36659297e-01 -3.50071887e-01 1.09103621e-02 -2.87903244e+02] [-1.16688922e-02 5.75797666e-05 -9.99931915e-01 -8.06318003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.460385723 meters 0.013969156113325663 Centerline is valid? [True, True] Translation: X:-145.80, Y:-288.02, Z:-8.06 [[ 4.21224203e-01 -9.06946361e-01 -4.29748624e-03 -1.45797824e+02] [-9.06900296e-01 -4.21246122e-01 9.14097002e-03 -2.88023518e+02] [-1.01006689e-02 4.69937296e-05 -9.99948986e-01 -8.06498691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.490385723 meters 0.013978259155820807 Centerline is valid? [True, True] Translation: X:-145.77, Y:-288.14, Z:-8.07 [[ 4.89650922e-01 -8.71905708e-01 -4.73397361e-03 -1.45768639e+02] [-8.71865803e-01 -4.89673804e-01 8.34190521e-03 -2.88140817e+02] [-9.59145764e-03 4.27681242e-05 -9.99954000e-01 -8.06532953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.520385723 meters 0.014039276751687674 Centerline is valid? [True, True] Translation: X:-145.73, Y:-288.25, Z:-8.07 [[ 5.55246606e-01 -8.31669796e-01 -5.15324397e-03 -1.45731789e+02] [-8.31634624e-01 -5.55270518e-01 7.64879068e-03 -2.88253281e+02] [-9.22271264e-03 3.86510421e-05 -9.99957469e-01 -8.06590839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.550385723 meters 0.0139684993064022 Centerline is valid? [True, True] Translation: X:-145.69, Y:-288.36, Z:-8.07 [[ 6.18271028e-01 -7.85945906e-01 -5.47429709e-03 -1.45685850e+02] [-7.85915466e-01 -6.18295263e-01 6.91730418e-03 -2.88363112e+02] [-8.82135886e-03 2.55659783e-05 -9.99961091e-01 -8.06654557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.580385723 meters 0.013926638571278608 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.47, Z:-8.07 [[ 6.77396750e-01 -7.35595837e-01 -5.69284068e-03 -1.45634184e+02] [-7.35570035e-01 -6.77420670e-01 6.16104838e-03 -2.88468754e+02] [-8.38848949e-03 1.40088767e-05 -9.99964816e-01 -8.06684100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.610385723 meters 0.013968081570653596 Centerline is valid? [True, True] Translation: X:-145.58, Y:-288.57, Z:-8.07 [[ 7.33130516e-01 -6.80061505e-01 -5.99961592e-03 -1.45578870e+02] [-6.80038654e-01 -7.33155065e-01 5.57487597e-03 -2.88565978e+02] [-8.18990734e-03 -7.14095857e-06 -9.99966462e-01 -8.06692959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.640385723 meters 0.013902969071577408 Centerline is valid? [True, True] Translation: X:-145.58, Y:-288.58, Z:-8.07 [[ 7.84617851e-01 -6.19944870e-01 -6.57163593e-03 -1.45584811e+02] [-6.19922963e-01 -7.84645371e-01 5.21179948e-03 -2.88576487e+02] [-8.38743207e-03 -1.53628914e-05 -9.99964825e-01 -8.06668909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.670385723 meters 0.013890395153995122 Centerline is valid? [True, True] Translation: X:-145.59, Y:-288.59, Z:-8.07 [[ 8.30850584e-01 -5.56447474e-01 -7.31542251e-03 -1.45589372e+02] [-5.56425707e-01 -8.30882789e-01 4.92182749e-03 -2.88585996e+02] [-8.81699713e-03 -1.88141079e-05 -9.99961129e-01 -8.06649295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.700385723 meters 0.014018854358526602 Centerline is valid? [True, True] Translation: X:-145.59, Y:-288.59, Z:-8.07 [[ 8.71218592e-01 -4.90836478e-01 -7.59713365e-03 -1.45591907e+02] [-4.90817734e-01 -8.71251715e-01 4.28958313e-03 -2.88593679e+02] [-8.72449960e-03 -8.35665135e-06 -9.99961941e-01 -8.06713728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7303857229999 meters 0.014030179516015918 Centerline is valid? [True, True] Translation: X:-145.59, Y:-288.60, Z:-8.07 [[ 9.05852147e-01 -4.23509706e-01 -8.45090006e-03 -1.45594347e+02] [-4.23491426e-01 -9.05891566e-01 3.93485815e-03 -2.88599628e+02] [-9.32204970e-03 1.44840187e-05 -9.99956549e-01 -8.06700190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.760385723 meters 0.014135722275251087 Centerline is valid? [True, True] Translation: X:-145.60, Y:-288.61, Z:-8.07 [[ 9.35820816e-01 -3.52365382e-01 -8.83386885e-03 -1.45596445e+02] [-3.52349931e-01 -9.35862510e-01 3.29988243e-03 -2.88607934e+02] [-9.43005100e-03 2.45144069e-05 -9.99955536e-01 -8.06639090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.790385723 meters 0.014180501228831494 Centerline is valid? [True, True] Translation: X:-145.60, Y:-288.62, Z:-8.07 [[ 9.60191862e-01 -2.79176472e-01 -9.59618427e-03 -1.45598263e+02] [-2.79162912e-01 -9.60239812e-01 2.75178955e-03 -2.88615750e+02] [-9.98287307e-03 3.66528141e-05 -9.99950169e-01 -8.06574912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.820385723 meters 0.014424239978341628 Centerline is valid? [True, True] Translation: X:-145.60, Y:-288.62, Z:-8.07 [[ 9.78791067e-01 -2.04605523e-01 -1.02287463e-02 -1.45599224e+02] [-2.04594915e-01 -9.78844511e-01 2.08421462e-03 -2.88621587e+02] [-1.04387940e-02 5.27388255e-05 -9.99945513e-01 -8.06502567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8503857229999 meters 0.014592286677370886 Centerline is valid? [True, True] Translation: X:-145.60, Y:-288.63, Z:-8.07 [[ 9.91670833e-01 -1.28356127e-01 -1.06613324e-02 -1.45603568e+02] [-1.28349416e-01 -9.91728138e-01 1.31412924e-03 -2.88626152e+02] [-1.07418199e-02 6.51921564e-05 -9.99942303e-01 -8.06550192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.880385723 meters 0.014566190766596883 Centerline is valid? [True, True] Translation: X:-145.61, Y:-288.63, Z:-8.07 [[ 9.98652000e-01 -5.07688426e-02 -1.08031241e-02 -1.45608168e+02] [-5.07666322e-02 -9.98710428e-01 4.78916264e-04 -2.88633772e+02] [-1.08135067e-02 7.01675435e-05 -9.99941530e-01 -8.06604011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.910385723 meters 0.01468341046883193 Centerline is valid? [True, True] Translation: X:-145.61, Y:-288.64, Z:-8.07 [[ 9.99569136e-01 2.74307015e-02 -1.04450200e-02 -1.45612395e+02] [ 2.74284819e-02 -9.99623705e-01 -3.55721584e-04 -2.88640142e+02] [-1.04508473e-02 6.90772746e-05 -9.99945386e-01 -8.06569253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.940385723 meters 0.014757585989194289 Centerline is valid? [True, True] Translation: X:-145.62, Y:-288.64, Z:-8.07 [[ 9.94387048e-01 1.05372132e-01 -9.54533101e-03 -1.45617183e+02] [ 1.05366643e-01 -9.94432858e-01 -1.07750774e-03 -2.88641256e+02] [-9.60573009e-03 6.57002540e-05 -9.99953862e-01 -8.06636022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9703857229999 meters 0.014663418748825329 Centerline is valid? [True, True] Translation: X:-145.62, Y:-288.64, Z:-8.07 [[ 9.83112290e-01 1.82789610e-01 -8.84213076e-03 -1.45621041e+02] [ 1.82781644e-01 -9.83152051e-01 -1.70758754e-03 -2.88643672e+02] [-9.00528825e-03 6.25710937e-05 -9.99959450e-01 -8.06751899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.000385723 meters 0.014706722876842512 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.65, Z:-8.07 [[ 9.65690290e-01 2.59583961e-01 -7.64404589e-03 -1.45626262e+02] [ 2.59575404e-01 -9.65720542e-01 -2.10826452e-03 -2.88645395e+02] [-7.92928379e-03 5.17242777e-05 -9.99968562e-01 -8.06894382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.030385723 meters 0.01441613011458786 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.66, Z:-8.07 [[ 9.42280947e-01 3.34752676e-01 -6.87479315e-03 -1.45627649e+02] [ 3.34743420e-01 -9.42306025e-01 -2.48972332e-03 -2.88655485e+02] [-7.31160055e-03 4.47270790e-05 -9.99973269e-01 -8.07004428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.060385723 meters 0.014354040668618024 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.67, Z:-8.07 [[ 9.12975379e-01 4.07957069e-01 -6.85476250e-03 -1.45628047e+02] [ 4.07945222e-01 -9.13001111e-01 -3.10926914e-03 -2.88665619e+02] [-7.52685410e-03 4.23185663e-05 -9.99971672e-01 -8.06988815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0903857229999 meters 0.014295297348529166 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.68, Z:-8.07 [[ 8.77410721e-01 4.79690277e-01 -6.90399204e-03 -1.45628133e+02] [ 4.79675151e-01 -8.77437882e-01 -3.80944286e-03 -2.88675022e+02] [-7.88517685e-03 3.07725852e-05 -9.99968911e-01 -8.06894333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.120385723 meters 0.014721146378043691 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.68, Z:-8.07 [[ 8.36840815e-01 5.47402959e-01 -6.88844059e-03 -1.45627858e+02] [ 5.47384148e-01 -8.36869165e-01 -4.53822370e-03 -2.88683358e+02] [-8.24896061e-03 2.71476433e-05 -9.99965976e-01 -8.06875572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.150385723 meters 0.014168730596289517 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.69, Z:-8.07 [[ 7.90721793e-01 6.12147460e-01 -5.87647170e-03 -1.45628689e+02] [ 6.12130405e-01 -7.90743629e-01 -4.56953297e-03 -2.88691382e+02] [-7.44401056e-03 1.60623055e-05 -9.99972293e-01 -8.07033986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.180385723 meters 0.014153512442253893 Centerline is valid? [True, True] Translation: X:-145.62, Y:-288.70, Z:-8.07 [[ 7.40084527e-01 6.72493140e-01 -5.27912961e-03 -1.45624667e+02] [ 6.72475911e-01 -7.40103355e-01 -4.81382949e-03 -2.88702735e+02] [-7.14436885e-03 1.25532310e-05 -9.99974479e-01 -8.07115077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.210385723 meters 0.014053055533237182 Centerline is valid? [True, True] Translation: X:-145.62, Y:-288.71, Z:-8.07 [[ 6.84794791e-01 7.28717193e-01 -5.22945131e-03 -1.45620409e+02] [ 7.28695835e-01 -6.84814758e-01 -5.57925374e-03 -2.88713432e+02] [-7.64690356e-03 9.96451137e-06 -9.99970762e-01 -8.07115873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.240385723 meters 0.014053055533237182 Centerline is valid? [True, True] Translation: X:-145.62, Y:-288.73, Z:-8.07 [[ 6.25613946e-01 7.80118182e-01 -4.77634869e-03 -1.45615519e+02] [ 7.80095325e-01 -6.25632178e-01 -5.97169371e-03 -2.88725073e+02] [-7.64686427e-03 9.96758066e-06 -9.99970762e-01 -8.07115908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.270385723 meters 0.01411565430141748 Centerline is valid? [True, True] Translation: X:-145.61, Y:-288.74, Z:-8.07 [[ 5.62315670e-01 8.26910463e-01 -4.49154934e-03 -1.45609614e+02] [ 8.26883977e-01 -5.62333608e-01 -6.61829357e-03 -2.88735593e+02] [-7.99848534e-03 7.57999519e-06 -9.99968012e-01 -8.07132809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.300385723 meters 0.015513809084311924 Centerline is valid? [True, True] Translation: X:-145.60, Y:-288.75, Z:-8.07 [[ 4.95698215e-01 8.68483029e-01 -4.52855092e-03 -1.45603910e+02] [ 8.68446652e-01 -4.95718900e-01 -7.94882679e-03 -2.88745208e+02] [-9.14830945e-03 7.41436230e-06 -9.99958153e-01 -8.06909142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.330385723 meters 0.015780546580077718 Centerline is valid? [True, True] Translation: X:-145.60, Y:-288.76, Z:-8.07 [[ 4.26391660e-01 9.04530161e-01 -3.91659082e-03 -1.45597327e+02] [ 9.04491794e-01 -4.26409647e-01 -8.33111250e-03 -2.88755272e+02] [-9.20581464e-03 9.79263088e-06 -9.99957626e-01 -8.06892928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.360385723 meters 0.014105582167511252 Centerline is valid? [True, True] Translation: X:-145.59, Y:-288.76, Z:-8.07 [[ 3.53836504e-01 9.35302528e-01 -2.98491607e-03 -1.45589955e+02] [ 9.35269132e-01 -3.53849094e-01 -7.90379103e-03 -2.88764209e+02] [-8.44864557e-03 4.94992184e-06 -9.99964310e-01 -8.07079780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.390385723 meters 0.01411792693147421 Centerline is valid? [True, True] Translation: X:-145.58, Y:-288.77, Z:-8.07 [[ 2.79637675e-01 9.60102580e-01 -2.40977955e-03 -1.45584093e+02] [ 9.60066737e-01 -2.79648058e-01 -8.29598973e-03 -2.88773516e+02] [-8.63889132e-03 6.32208789e-06 -9.99962684e-01 -8.07057307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.420385723 meters 0.014070247949386949 Centerline is valid? [True, True] Translation: X:-145.57, Y:-288.78, Z:-8.07 [[ 2.03855163e-01 9.78999652e-01 -1.65921376e-03 -1.45574941e+02] [ 9.78966902e-01 -2.03861915e-01 -8.00771524e-03 -2.88781670e+02] [-8.17780093e-03 8.09874668e-06 -9.99966561e-01 -8.07171227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.450385723 meters 0.01413797410035549 Centerline is valid? [True, True] Translation: X:-145.57, Y:-288.79, Z:-8.07 [[ 1.26774123e-01 9.91931150e-01 -9.56372786e-04 -1.45565561e+02] [ 9.91902367e-01 -1.26777730e-01 -7.55656747e-03 -2.88790829e+02] [-7.61684144e-03 9.34878176e-06 -9.99970992e-01 -8.07144630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4803857229999 meters 0.014194695744129028 Centerline is valid? [True, True] Translation: X:-145.56, Y:-288.80, Z:-8.07 [[ 4.90489454e-02 9.98796315e-01 -3.48784466e-04 -1.45559947e+02] [ 9.98769324e-01 -4.90501840e-02 -7.34278017e-03 -2.88799095e+02] [-7.35104972e-03 1.18003983e-05 -9.99972981e-01 -8.07136124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.510385723 meters 0.014100666975186143 Centerline is valid? [True, True] Translation: X:-145.56, Y:-288.81, Z:-8.07 [[-2.91262757e-02 9.99575713e-01 2.34016488e-04 -1.45556085e+02] [ 9.99547153e-01 2.91272125e-02 -7.55614648e-03 -2.88807493e+02] [-7.55975675e-03 1.38281088e-05 -9.99971425e-01 -8.07065035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.540385723 meters 0.014062189277147271 Centerline is valid? [True, True] Translation: X:-145.54, Y:-288.81, Z:-8.07 [[-1.07328404e-01 9.94223224e-01 8.91613815e-04 -1.45542061e+02] [ 9.94190084e-01 1.07332106e-01 -8.11765575e-03 -2.88812596e+02] [-8.16646066e-03 1.51785793e-05 -9.99966654e-01 -8.07133684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.570385723 meters 0.01409492586629876 Centerline is valid? [True, True] Translation: X:-145.53, Y:-288.82, Z:-8.07 [[-1.85486418e-01 9.82645285e-01 1.74147812e-03 -1.45528043e+02] [ 9.82602563e-01 1.85494592e-01 -9.16299763e-03 -2.88817786e+02] [-9.32701119e-03 1.15692554e-05 -9.99956503e-01 -8.07006811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6003857229999 meters 0.014211927440461847 Centerline is valid? [True, True] Translation: X:-145.52, Y:-288.82, Z:-8.07 [[-2.62344113e-01 9.64970800e-01 2.63082205e-03 -1.45515197e+02] [ 9.64922578e-01 2.62357304e-01 -9.64698397e-03 -2.88821991e+02] [-9.99927322e-03 7.71013825e-06 -9.99950006e-01 -8.06961330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.630385723 meters 0.014217013466810952 Centerline is valid? [True, True] Translation: X:-145.50, Y:-288.83, Z:-8.07 [[-3.38278963e-01 9.41038724e-01 3.66929533e-03 -1.45502583e+02] [ 9.40983217e-01 3.38298863e-01 -1.02208198e-02 -2.88825611e+02] [-1.08595057e-02 -4.74300397e-06 -9.99941034e-01 -8.06945482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.660385723 meters 0.014161843962692393 Centerline is valid? [True, True] Translation: X:-145.49, Y:-288.83, Z:-8.07 [[-4.11100620e-01 9.11578865e-01 4.50032636e-03 -1.45489891e+02] [ 9.11524084e-01 4.11125252e-01 -9.99356339e-03 -2.88827959e+02] [-1.09601190e-02 -6.20424959e-06 -9.99939936e-01 -8.06962735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.690385723 meters 0.014189512510685861 Centerline is valid? [True, True] Translation: X:-145.48, Y:-288.83, Z:-8.07 [[-4.81038697e-01 8.76685969e-01 4.84614505e-03 -1.45477646e+02] [ 8.76641409e-01 4.81063107e-01 -8.83893674e-03 -2.88828856e+02] [-1.00802734e-02 -3.53918553e-06 -9.99949193e-01 -8.06990342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7203857229999 meters 0.014156131423912581 Centerline is valid? [True, True] Translation: X:-145.47, Y:-288.83, Z:-8.07 [[-5.47974037e-01 8.36474503e-01 5.90427859e-03 -1.45465852e+02] [ 8.36425943e-01 5.48005844e-01 -9.01309456e-03 -2.88830806e+02] [-1.07748030e-02 -4.50017932e-07 -9.99941950e-01 -8.06965262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.750385723 meters 0.014227649266348622 Centerline is valid? [True, True] Translation: X:-145.46, Y:-288.83, Z:-8.07 [[-6.10798175e-01 7.91757281e-01 6.78214865e-03 -1.45455819e+02] [ 7.91708727e-01 6.10835827e-01 -8.76838715e-03 -2.88831546e+02] [-1.10852137e-02 1.37714095e-05 -9.99938557e-01 -8.06897817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.780385723 meters 0.014275201748393423 Centerline is valid? [True, True] Translation: X:-145.45, Y:-288.83, Z:-8.07 [[-6.70494283e-01 7.41873359e-01 7.83172025e-03 -1.45445781e+02] [ 7.41823123e-01 6.70540020e-01 -8.63339247e-03 -2.88831276e+02] [-1.16563657e-02 2.11108793e-05 -9.99932062e-01 -8.06794264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.810385723 meters 0.016080619816441693 Centerline is valid? [True, True] Translation: X:-145.43, Y:-288.83, Z:-8.07 [[-7.25343158e-01 6.88318034e-01 9.77694176e-03 -1.45434438e+02] [ 6.88256397e-01 7.25409045e-01 -9.21141510e-03 -2.88828159e+02] [-1.34326651e-02 4.76057942e-05 -9.99909777e-01 -8.06656264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8403857229999 meters 0.015223502100862277 Centerline is valid? [True, True] Translation: X:-145.43, Y:-288.80, Z:-8.07 [[-7.71708642e-01 6.35895320e-01 1.01446791e-02 -1.45426756e+02] [ 6.35841338e-01 7.71775317e-01 -8.28574886e-03 -2.88797234e+02] [-1.30982818e-02 5.62223164e-05 -9.99914212e-01 -8.06774879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.870385723 meters 0.014401024598291477 Centerline is valid? [True, True] Translation: X:-145.39, Y:-288.79, Z:-8.07 [[-8.14548469e-01 5.80005092e-01 1.02413655e-02 -1.45387108e+02] [ 5.79960159e-01 8.14612847e-01 -7.21967113e-03 -2.88791689e+02] [-1.25301939e-02 5.88118953e-05 -9.99921492e-01 -8.06849957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.900385723 meters 0.014453439984153441 Centerline is valid? [True, True] Translation: X:-145.36, Y:-288.78, Z:-8.07 [[-8.52538364e-01 5.22564332e-01 1.02399669e-02 -1.45359309e+02] [ 5.22527754e-01 8.52599855e-01 -6.18334128e-03 -2.88775461e+02] [-1.19617879e-02 7.91312578e-05 -9.99928452e-01 -8.06938428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.930385723 meters 0.01456021407663575 Centerline is valid? [True, True] Translation: X:-144.93, Y:-288.09, Z:-9.00 [[-8.23924109e-01 -5.66633028e-01 8.72207662e-03 -1.44926510e+02] [ 5.66599401e-01 -8.23970260e-01 -6.17486436e-03 -2.88089644e+02] [ 1.06856138e-02 -1.45696224e-04 9.99942897e-01 -9.00136927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.960385723 meters 0.014615790528571966 Centerline is valid? [True, True] Translation: X:-145.39, Y:-288.76, Z:-8.07 [[-8.53238425e-01 5.21448274e-01 8.71132056e-03 -1.45392298e+02] [ 5.21422178e-01 8.53282889e-01 -5.21761620e-03 -2.88757864e+02] [-1.01539377e-02 9.04051104e-05 -9.99948443e-01 -8.07201581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.990385723 meters 0.014682078351302585 Centerline is valid? [True, True] Translation: X:-145.38, Y:-288.73, Z:-8.07 [[-8.87266701e-01 4.61190783e-01 7.80145457e-03 -1.45376988e+02] [ 4.61173864e-01 8.87300994e-01 -3.95142727e-03 -2.88732693e+02] [-8.74460023e-03 9.18571127e-05 -9.99961761e-01 -8.07306981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.020385723 meters 0.014795368459871273 Centerline is valid? [True, True] Translation: X:-145.00, Y:-288.01, Z:-9.00 [[-8.65272719e-01 -5.01245392e-01 7.49524096e-03 -1.45003931e+02] [ 5.01225651e-01 -8.65305176e-01 -4.44956298e-03 -2.88012445e+02] [ 8.71599374e-03 -9.32784280e-05 9.99962011e-01 -8.99887518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.050385723 meters 0.014869798926186903 Centerline is valid? [True, True] Translation: X:-145.41, Y:-288.71, Z:-8.07 [[-8.88621787e-01 4.58579752e-01 7.47868746e-03 -1.45413472e+02] [ 4.58564400e-01 8.88653252e-01 -3.75358660e-03 -2.88714333e+02] [-8.36727875e-03 9.39409922e-05 -9.99964989e-01 -8.07299830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.080385723 meters 0.01657425313679653 Centerline is valid? [True, True] Translation: X:-145.05, Y:-287.99, Z:-9.00 [[-8.67311786e-01 -4.97680636e-01 9.17883828e-03 -1.45046607e+02] [ 4.97652949e-01 -8.67360354e-01 -5.24960120e-03 -2.87994543e+02] [ 1.05739853e-02 1.48349421e-05 9.99944094e-01 -9.00297108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.110385723 meters 0.017320009234897484 Centerline is valid? [True, True] Translation: X:-145.46, Y:-288.69, Z:-8.07 [[-8.90426627e-01 4.55008686e-01 1.03690647e-02 -1.45457065e+02] [ 4.54979473e-01 8.90486991e-01 -5.15739658e-03 -2.88690060e+02] [-1.15801775e-02 1.25428358e-04 -9.99932940e-01 -8.06721194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.140385723 meters 0.015003207764680095 Centerline is valid? [True, True] Translation: X:-145.09, Y:-287.98, Z:-9.00 [[-8.68484350e-01 -4.95620443e-01 9.76276890e-03 -1.45089481e+02] [ 4.95587331e-01 -8.68539209e-01 -5.73062041e-03 -2.87975791e+02] [ 1.13195602e-02 -1.38649563e-04 9.99935922e-01 -9.00323311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.170385723 meters 0.014580213354590879 Centerline is valid? [True, True] Translation: X:-145.51, Y:-288.66, Z:-8.07 [[-8.92572821e-01 4.50782684e-01 1.04274020e-02 -1.45508147e+02] [ 4.50753409e-01 8.92633720e-01 -5.13864452e-03 -2.88663958e+02] [-1.16242626e-02 1.13572564e-04 -9.99932430e-01 -8.07043700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.200385723 meters 0.016314226883220435 Centerline is valid? [True, True] Translation: X:-145.47, Y:-288.65, Z:-8.07 [[-9.22217913e-01 3.86518891e-01 1.08290700e-02 -1.45474571e+02] [ 3.86493643e-01 9.22281484e-01 -4.41921751e-03 -2.88646957e+02] [-1.16955618e-02 1.09885164e-04 -9.99931599e-01 -8.06916292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2303857229999 meters 0.014530772591891478 Centerline is valid? [True, True] Translation: X:-145.17, Y:-287.91, Z:-9.00 [[-9.02026824e-01 -4.31577565e-01 9.40288377e-03 -1.45166080e+02] [ 4.31552111e-01 -9.02075815e-01 -4.69042941e-03 -2.87909426e+02] [ 1.05063981e-02 -1.73058806e-04 9.99944791e-01 -9.00151422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.260385723 meters 0.014766364052608432 Centerline is valid? [True, True] Translation: X:-145.52, Y:-288.63, Z:-8.07 [[-9.24161532e-01 3.81871491e-01 9.98136533e-03 -1.45521428e+02] [ 3.81850239e-01 9.24215428e-01 -4.02970157e-03 -2.88626422e+02] [-1.07637600e-02 8.72915603e-05 -9.99942065e-01 -8.06940626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.290385723 meters 0.01470041056605095 Centerline is valid? [True, True] Translation: X:-145.52, Y:-288.60, Z:-8.07 [[-9.48795368e-01 3.15719199e-01 1.04276740e-02 -1.45516352e+02] [ 3.15701199e-01 9.48852664e-01 -3.37260635e-03 -2.88597173e+02] [-1.09591229e-02 9.21158998e-05 -9.99939943e-01 -8.06978151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.320385723 meters 0.01455319402258835 Centerline is valid? [True, True] Translation: X:-145.51, Y:-288.57, Z:-8.07 [[-9.68453605e-01 2.48998973e-01 9.85526831e-03 -1.45512074e+02] [ 2.48987121e-01 9.68503744e-01 -2.43145141e-03 -2.88568107e+02] [-1.01502932e-02 9.90869975e-05 -9.99948480e-01 -8.07090333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3503857229999 meters 0.01466100128562832 Centerline is valid? [True, True] Translation: X:-145.51, Y:-288.54, Z:-8.07 [[-9.83520216e-01 1.80537792e-01 9.70001411e-03 -1.45510312e+02] [ 1.80530063e-01 9.83568043e-01 -1.67384616e-03 -2.88539716e+02] [-9.84281638e-03 1.04882623e-04 -9.99951553e-01 -8.07136214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.380385723 meters 0.015042479338466199 Centerline is valid? [True, True] Translation: X:-145.48, Y:-288.52, Z:-8.07 [[-9.93570646e-01 1.12876167e-01 8.73740945e-03 -1.45477118e+02] [ 1.12872836e-01 9.93609057e-01 -8.74963059e-04 -2.88516011e+02] [-8.78033164e-03 1.16878576e-04 -9.99961445e-01 -8.07224501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.410385723 meters 0.015020286906403207 Centerline is valid? [True, True] Translation: X:-145.48, Y:-288.49, Z:-8.07 [[-9.99024887e-01 4.33117540e-02 8.56549995e-03 -1.45475115e+02] [ 4.33112354e-02 9.99061598e-01 -2.46120370e-04 -2.88486489e+02] [-8.56812197e-03 1.25102010e-04 -9.99963285e-01 -8.07282848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.440385723 meters 0.015457473753975753 Centerline is valid? [True, True] Translation: X:-145.48, Y:-288.46, Z:-8.07 [[-9.99597789e-01 -2.70716643e-02 8.44902577e-03 -1.45477091e+02] [-2.70695939e-02 9.99633487e-01 3.59322615e-04 -2.88457700e+02] [-8.45565655e-03 1.30466395e-04 -9.99964242e-01 -8.07255084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4703857229999 meters 0.015557512492190397 Centerline is valid? [True, True] Translation: X:-145.48, Y:-288.43, Z:-8.07 [[-9.95271313e-01 -9.68577819e-02 7.32010818e-03 -1.45483775e+02] [-9.68542446e-02 9.95298224e-01 8.37025356e-04 -2.88427743e+02] [-7.36676309e-03 1.24083777e-04 -9.99972857e-01 -8.07252850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.500385723 meters 0.016007837435621137 Centerline is valid? [True, True] Translation: X:-145.58, Y:-287.64, Z:-9.00 [[-9.97870335e-01 6.46942998e-02 8.33325012e-03 -1.45578543e+02] [-6.46926861e-02 -9.97905127e-01 4.63334162e-04 -2.87638049e+02] [ 8.34576809e-03 -7.67529191e-05 9.99965171e-01 -9.00059153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.530385723 meters 0.01588872165845173 Centerline is valid? [True, True] Translation: X:-145.61, Y:-288.44, Z:-8.07 [[-9.94772348e-01 -1.01715342e-01 9.05346517e-03 -1.45607710e+02] [-1.01709580e-01 9.94813531e-01 1.09579303e-03 -2.88440083e+02] [-9.11796861e-03 1.69240465e-04 -9.99958416e-01 -8.07169093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.560385723 meters 0.016020033894463992 Centerline is valid? [True, True] Translation: X:-145.63, Y:-288.41, Z:-8.07 [[-9.84952798e-01 -1.72552563e-01 9.67466318e-03 -1.45630124e+02] [-1.72542381e-01 9.85000294e-01 1.88368496e-03 -2.88413188e+02] [-9.85458074e-03 1.86051345e-04 -9.99951425e-01 -8.07114913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5903857229999 meters 0.016403477873095137 Centerline is valid? [True, True] Translation: X:-145.67, Y:-288.39, Z:-8.07 [[-9.69947785e-01 -2.43095308e-01 1.02939205e-02 -1.45669925e+02] [-2.43079341e-01 9.70002386e-01 2.79393798e-03 -2.88391333e+02] [-1.06643207e-02 2.07734543e-04 -9.99943113e-01 -8.07039752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.620385723 meters 0.016865302933534592 Centerline is valid? [True, True] Translation: X:-145.74, Y:-288.38, Z:-8.07 [[-9.49735084e-01 -3.12876630e-01 1.05586022e-02 -1.45738332e+02] [-3.12854679e-01 9.49793748e-01 3.71281730e-03 -2.88381322e+02] [-1.11901481e-02 2.22884754e-04 -9.99937364e-01 -8.06952213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.650385723 meters 0.01707158742093056 Centerline is valid? [True, True] Translation: X:-145.80, Y:-288.37, Z:-8.07 [[-9.23974302e-01 -3.82312366e-01 1.04280318e-02 -1.45800368e+02] [-3.82285205e-01 9.24033117e-01 4.56291701e-03 -2.88373814e+02] [-1.13803063e-02 2.29535796e-04 -9.99935216e-01 -8.06927596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.680385723 meters 0.016548902076453386 Centerline is valid? [True, True] Translation: X:-145.88, Y:-288.38, Z:-8.07 [[-8.92901192e-01 -4.50144880e-01 9.85136857e-03 -1.45879988e+02] [-4.50114700e-01 8.92955507e-01 5.21724988e-03 -2.88377382e+02] [-1.11453521e-02 2.24242820e-04 -9.99937864e-01 -8.06996906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.710385723 meters 0.01713264296329871 Centerline is valid? [True, True] Translation: X:-145.96, Y:-288.39, Z:-8.07 [[-8.56708769e-01 -5.15714062e-01 9.43886135e-03 -1.45964489e+02] [-5.15679855e-01 8.56760735e-01 5.94396970e-03 -2.88391671e+02] [-1.11522345e-02 2.24820306e-04 -9.99937787e-01 -8.06985158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.740385723 meters 0.018776140383138275 Centerline is valid? [True, True] Translation: X:-146.06, Y:-288.42, Z:-8.07 [[-8.15582862e-01 -5.78566752e-01 9.22545449e-03 -1.46060589e+02] [-5.78526473e-01 8.15635004e-01 6.83088062e-03 -2.88419287e+02] [-1.14767240e-02 2.33979521e-04 -9.99934113e-01 -8.06822432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.770385723 meters 0.015923159745255128 Centerline is valid? [True, True] Translation: X:-146.15, Y:-288.45, Z:-8.07 [[-7.68585052e-01 -6.39701974e-01 7.64216696e-03 -1.46151089e+02] [-6.39667857e-01 7.68623021e-01 6.60941278e-03 -2.88449345e+02] [-1.01019999e-02 1.91447296e-04 -9.99948955e-01 -8.07109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.800385723 meters 0.016633053978361532 Centerline is valid? [True, True] Translation: X:-146.24, Y:-288.50, Z:-8.07 [[-7.17445584e-01 -6.96583289e-01 6.59972634e-03 -1.46244871e+02] [-6.96551606e-01 7.17475918e-01 6.64583880e-03 -2.88497475e+02] [-9.36452496e-03 1.70977714e-04 -9.99956137e-01 -8.07014996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.830385723 meters 0.015745168930959962 Centerline is valid? [True, True] Translation: X:-146.34, Y:-288.56, Z:-8.07 [[-6.61539574e-01 -7.49893273e-01 5.04698210e-03 -1.46343793e+02] [-7.49869907e-01 6.61558812e-01 5.92119656e-03 -2.88555693e+02] [-7.77914095e-03 1.32525851e-04 -9.99969733e-01 -8.07204867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.860385723 meters 0.01555246604799836 Centerline is valid? [True, True] Translation: X:-146.43, Y:-288.62, Z:-8.07 [[-6.01743413e-01 -7.98678647e-01 4.15729107e-03 -1.46432844e+02] [-7.98658255e-01 6.01757763e-01 5.70854037e-03 -2.88619171e+02] [-7.06097148e-03 1.14821740e-04 -9.99975065e-01 -8.07269551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.890385723 meters 0.01538097724858843 Centerline is valid? [True, True] Translation: X:-146.52, Y:-288.69, Z:-8.07 [[-5.37985637e-01 -8.42947425e-01 3.33051982e-03 -1.46520648e+02] [-8.42930155e-01 5.37995938e-01 5.39675288e-03 -2.88693252e+02] [-6.34098508e-03 9.59799464e-05 -9.99979891e-01 -8.07372861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.920385723 meters 0.015455217371072033 Centerline is valid? [True, True] Translation: X:-146.60, Y:-288.78, Z:-8.07 [[-4.71302171e-01 -8.81967905e-01 2.62270198e-03 -1.46603461e+02] [-8.81953260e-01 4.71309461e-01 5.08319772e-03 -2.88778818e+02] [-5.71932150e-03 8.26215592e-05 -9.99983641e-01 -8.07362460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.950385723 meters 0.01506200246694732 Centerline is valid? [True, True] Translation: X:-146.68, Y:-288.87, Z:-8.07 [[-4.01642969e-01 -9.15794581e-01 1.79177112e-03 -1.46684253e+02] [-9.15784758e-01 4.01646961e-01 4.24203580e-03 -2.88873153e+02] [-4.60449282e-03 6.29071755e-05 -9.99989397e-01 -8.07384369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9803857229999 meters 0.015116391285701221 Centerline is valid? [True, True] Translation: X:-146.75, Y:-288.97, Z:-8.07 [[-3.29910214e-01 -9.44011292e-01 1.38954235e-03 -1.46754032e+02] [-9.44002156e-01 3.29913135e-01 4.15372705e-03 -2.88970801e+02] [-4.37959352e-03 5.86260013e-05 -9.99990408e-01 -8.07333759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.010385723 meters 0.014920500037580699 Centerline is valid? [True, True] Translation: X:-146.82, Y:-289.08, Z:-8.07 [[-2.56862417e-01 -9.66447063e-01 1.33154944e-03 -1.46820352e+02] [-9.66432498e-01 2.56865857e-01 5.30650381e-03 -2.89080751e+02] [-5.47048461e-03 7.61887507e-05 -9.99985034e-01 -8.07209406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.040385723 meters 0.015168012146540996 Centerline is valid? [True, True] Translation: X:-146.87, Y:-289.19, Z:-8.07 [[-1.82104973e-01 -9.83278534e-01 1.05017097e-03 -1.46874107e+02] [-9.83259226e-01 1.82107979e-01 6.16269494e-03 -2.89191521e+02] [-6.25089016e-03 8.96671067e-05 -9.99980459e-01 -8.07088538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.070385723 meters 0.01636637331458367 Centerline is valid? [True, True] Translation: X:-146.92, Y:-289.32, Z:-8.07 [[-1.07273442e-01 -9.94229322e-01 6.80694272e-04 -1.46921715e+02] [-9.94201813e-01 1.07275539e-01 7.39689724e-03 -2.89318052e+02] [-7.42723398e-03 1.16743151e-04 -9.99972411e-01 -8.06854374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1003857229999 meters 0.015526091578875575 Centerline is valid? [True, True] Translation: X:-146.96, Y:-289.43, Z:-8.07 [[-3.10311907e-02 -9.99518411e-01 1.05112782e-04 -1.46957474e+02] [-9.99492623e-01 3.10311452e-02 7.18084154e-03 -2.89427987e+02] [-7.18064509e-03 1.17770613e-04 -9.99974212e-01 -8.06978253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.130385723 meters 0.015526091578875575 Centerline is valid? [True, True] Translation: X:-146.98, Y:-289.55, Z:-8.07 [[ 4.59964559e-02 -9.98941503e-01 -4.47943537e-04 -1.46983818e+02] [-9.98915795e-01 -4.59984863e-02 7.16758479e-03 -2.89551511e+02] [-7.18060264e-03 1.17774376e-04 -9.99974212e-01 -8.06978472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.160385723 meters 0.0174588290058686 Centerline is valid? [True, True] Translation: X:-147.00, Y:-289.68, Z:-8.07 [[ 1.19648409e-01 -9.92815870e-01 -9.51994800e-04 -1.47000086e+02] [-9.92792734e-01 -1.19652121e-01 6.77918760e-03 -2.89677751e+02] [-6.84439323e-03 1.34014510e-04 -9.99976568e-01 -8.06909508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.190385723 meters 0.01649533696743602 Centerline is valid? [True, True] Translation: X:-147.01, Y:-289.80, Z:-8.07 [[ 1.94884733e-01 -9.80825119e-01 -1.42352992e-03 -1.47009020e+02] [-9.80803791e-01 -1.94889885e-01 6.46966203e-03 -2.89799798e+02] [-6.62303862e-03 1.35365190e-04 -9.99978058e-01 -8.07056469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2203857229999 meters 0.01689571893643056 Centerline is valid? [True, True] Translation: X:-147.01, Y:-289.93, Z:-8.07 [[ 2.68329112e-01 -9.63325370e-01 -1.92831717e-03 -1.47008763e+02] [-9.63304257e-01 -2.68336001e-01 6.37965266e-03 -2.89926810e+02] [-6.66311818e-03 1.45709609e-04 -9.99977791e-01 -8.06931472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.250385723 meters 0.018281340964030956 Centerline is valid? [True, True] Translation: X:-147.00, Y:-290.05, Z:-8.07 [[ 3.41141043e-01 -9.40007981e-01 -2.79005772e-03 -1.46999783e+02] [-9.39980552e-01 -3.41152409e-01 7.18307628e-03 -2.90049218e+02] [-7.70398395e-03 1.72157862e-04 -9.99970309e-01 -8.06663466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.280385723 meters 0.016854300352354936 Centerline is valid? [True, True] Translation: X:-146.98, Y:-290.17, Z:-8.07 [[ 4.12547759e-01 -9.10929532e-01 -3.42564091e-03 -1.46980626e+02] [-9.10901555e-01 -4.12561945e-01 7.14140780e-03 -2.90173730e+02] [-7.91860834e-03 1.74249847e-04 -9.99968632e-01 -8.06810590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.310385723 meters 0.016912855306468258 Centerline is valid? [True, True] Translation: X:-146.95, Y:-290.30, Z:-8.07 [[ 4.81223309e-01 -8.76589568e-01 -3.85435749e-03 -1.46951093e+02] [-8.76564199e-01 -4.81238715e-01 6.67111519e-03 -2.90295120e+02] [-7.70269603e-03 1.68295654e-04 -9.99970320e-01 -8.06788205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3403857229999 meters 0.0200363125536347 Centerline is valid? [True, True] Translation: X:-146.92, Y:-290.41, Z:-8.06 [[ 5.46991807e-01 -8.37126040e-01 -4.46717620e-03 -1.46916922e+02] [-8.37100646e-01 -5.47010021e-01 6.52260943e-03 -2.90409746e+02] [-7.90383635e-03 1.71662162e-04 -9.99968750e-01 -8.06482109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.370385723 meters 0.01683653278276921 Centerline is valid? [True, True] Translation: X:-146.88, Y:-290.52, Z:-8.07 [[ 6.10222716e-01 -7.92217175e-01 -4.49259314e-03 -1.46875723e+02] [-7.92197460e-01 -6.10239236e-01 5.59097648e-03 -2.90516950e+02] [-7.17082420e-03 1.47280018e-04 -9.99974279e-01 -8.06818782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.400385723 meters 0.016731867219791207 Centerline is valid? [True, True] Translation: X:-146.83, Y:-290.62, Z:-8.07 [[ 6.69042017e-01 -7.43209710e-01 -4.70189991e-03 -1.46830093e+02] [-7.43192795e-01 -6.69058524e-01 5.01610892e-03 -2.90616924e+02] [-6.87386707e-03 1.38430507e-04 -9.99976365e-01 -8.06809420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.430385723 meters 0.01654985368132672 Centerline is valid? [True, True] Translation: X:-146.78, Y:-290.72, Z:-8.07 [[ 7.24665185e-01 -6.89085681e-01 -4.61465274e-03 -1.46776068e+02] [-6.89072720e-01 -7.24679868e-01 4.22793675e-03 -2.90716595e+02] [-6.25755661e-03 1.15992752e-04 -9.99980415e-01 -8.06836546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.460385723 meters 0.018905641157979262 Centerline is valid? [True, True] Translation: X:-146.78, Y:-290.73, Z:-8.07 [[ 7.76573312e-01 -6.30007201e-01 -4.98182414e-03 -1.46783077e+02] [-6.29995177e-01 -7.76589282e-01 3.89396432e-03 -2.90730974e+02] [-6.32205680e-03 1.14576413e-04 -9.99980009e-01 -8.06578015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.490385723 meters 0.015742947005987294 Centerline is valid? [True, True] Translation: X:-146.79, Y:-290.74, Z:-8.07 [[ 8.24318398e-01 -5.66112970e-01 -3.90959823e-03 -1.46789452e+02] [-5.66107046e-01 -8.24327665e-01 2.59088311e-03 -2.90744072e+02] [-4.68952252e-03 7.75384927e-05 -9.99989001e-01 -8.07050311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.520385723 meters 0.017059681542654692 Centerline is valid? [True, True] Translation: X:-146.79, Y:-290.76, Z:-8.07 [[ 8.65928039e-01 -5.00152791e-01 -3.97713680e-03 -1.46793447e+02] [-5.00147917e-01 -8.65937169e-01 2.20920140e-03 -2.90756984e+02] [-4.54888882e-03 7.61472526e-05 -9.99989651e-01 -8.06909174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.550385723 meters 0.01826304461503916 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.77, Z:-8.07 [[ 9.02201441e-01 -4.31293700e-01 -4.27831739e-03 -1.46795854e+02] [-4.31289272e-01 -9.02211582e-01 1.95589181e-03 -2.90770575e+02] [-4.70351131e-03 8.05839860e-05 -9.99988935e-01 -8.06844538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.580385723 meters 0.01590122446513979 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.78, Z:-8.07 [[ 9.33192368e-01 -3.59358246e-01 -3.69542887e-03 -1.46796854e+02] [-3.59355711e-01 -9.33199682e-01 1.35145640e-03 -2.90783550e+02] [-3.93423005e-03 6.68046742e-05 -9.99992259e-01 -8.07124675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.610385723 meters 0.01854923313254077 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.80, Z:-8.07 [[ 9.58378274e-01 -2.85466174e-01 -4.48861192e-03 -1.46797004e+02] [-2.85463433e-01 -9.58388782e-01 1.25337887e-03 -2.90795089e+02] [-4.65963258e-03 8.01234944e-05 -9.99989141e-01 -8.06851944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.640385723 meters 0.016236121851241472 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.81, Z:-8.07 [[ 9.77875615e-01 -2.09146026e-01 -4.14993733e-03 -1.46795926e+02] [-2.09144447e-01 -9.77884418e-01 8.15779326e-04 -2.90808723e+02] [-4.22877605e-03 7.02056360e-05 -9.99991056e-01 -8.07067920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.670385723 meters 0.015665497631154185 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.82, Z:-8.07 [[ 9.91354157e-01 -1.31143300e-01 -4.28595985e-03 -1.46797383e+02] [-1.31142372e-01 -9.91363420e-01 4.98133175e-04 -2.90822517e+02] [-4.31427064e-03 6.82445474e-05 -9.99990691e-01 -8.07145330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.700385723 meters 0.015462739803313119 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.84, Z:-8.07 [[ 9.98588380e-01 -5.29091832e-02 -4.67619369e-03 -1.46797969e+02] [-5.29089460e-02 -9.98599326e-01 1.74497301e-04 -2.90837242e+02] [-4.67887638e-03 7.31615021e-05 -9.99989051e-01 -8.07169860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7303857229999 meters 0.017315292255071446 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.85, Z:-8.07 [[ 9.99669892e-01 2.53986056e-02 -3.87532460e-03 -1.46798127e+02] [ 2.53981791e-02 -9.99677402e-01 -1.59213856e-04 -2.90849117e+02] [-3.87811824e-03 6.07351102e-05 -9.99992478e-01 -8.06921764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.760385723 meters 0.015645543498217104 Centerline is valid? [True, True] Translation: X:-146.80, Y:-290.86, Z:-8.07 [[ 9.94570732e-01 1.04015542e-01 -3.13466971e-03 -1.46796038e+02] [ 1.04014873e-01 -9.94575671e-01 -3.76048863e-04 -2.90862549e+02] [-3.15678115e-03 4.79549211e-05 -9.99995016e-01 -8.07157612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.790385723 meters 0.01673804819878467 Centerline is valid? [True, True] Translation: X:-146.79, Y:-290.87, Z:-8.07 [[ 9.83332771e-01 1.81786755e-01 -3.19948226e-03 -1.46794674e+02] [ 1.81785631e-01 -9.83337975e-01 -6.41150087e-04 -2.90872968e+02] [-3.26272500e-03 4.88439907e-05 -9.99994676e-01 -8.07077957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.820385723 meters 0.019637599543678313 Centerline is valid? [True, True] Translation: X:-146.79, Y:-290.88, Z:-8.07 [[ 9.66118382e-01 2.58069922e-01 -3.89720660e-03 -1.46791701e+02] [ 2.58067565e-01 -9.66126240e-01 -1.10460377e-03 -2.90882217e+02] [-4.05025857e-03 6.14353902e-05 -9.99991796e-01 -8.06821143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8503857229999 meters 0.018365255921513356 Centerline is valid? [True, True] Translation: X:-146.79, Y:-290.89, Z:-8.07 [[ 9.43025731e-01 3.32689638e-01 -4.48054765e-03 -1.46787374e+02] [ 3.32685512e-01 -9.43036372e-01 -1.65866927e-03 -2.90893029e+02] [-4.77714148e-03 7.35545105e-05 -9.99988587e-01 -8.06823895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.880385723 meters 0.016100306437991877 Centerline is valid? [True, True] Translation: X:-146.78, Y:-290.90, Z:-8.07 [[ 9.14010816e-01 4.05668122e-01 -4.19565843e-03 -1.46782801e+02] [ 4.05663494e-01 -9.14020443e-01 -1.93912511e-03 -2.90902708e+02] [-4.62155882e-03 7.03558671e-05 -9.99989318e-01 -8.07005343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.910385723 meters 0.01622288592518474 Centerline is valid? [True, True] Translation: X:-146.78, Y:-290.91, Z:-8.07 [[ 8.79553592e-01 4.75779209e-01 -4.42969199e-03 -1.46777943e+02] [ 4.75772723e-01 -8.79564743e-01 -2.48568822e-03 -2.90911260e+02] [-5.07883968e-03 7.87693850e-05 -9.99987100e-01 -8.06970193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.940385723 meters 0.01619705107452129 Centerline is valid? [True, True] Translation: X:-146.77, Y:-290.92, Z:-8.07 [[ 8.39329971e-01 5.43606204e-01 -4.18273507e-03 -1.46772517e+02] [ 5.43599003e-01 -8.39340389e-01 -2.79905220e-03 -2.90919792e+02] [-5.03232062e-03 7.55977852e-05 -9.99987335e-01 -8.06957665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9703857229999 meters 0.016527135933542315 Centerline is valid? [True, True] Translation: X:-146.76, Y:-290.93, Z:-8.07 [[ 7.93841915e-01 6.08110460e-01 -4.08442722e-03 -1.46762559e+02] [ 6.08101921e-01 -7.93852419e-01 -3.22344852e-03 -2.90932942e+02] [-5.20264519e-03 7.51605093e-05 -9.99986463e-01 -8.06927230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.000385723 meters 0.016065816585918193 Centerline is valid? [True, True] Translation: X:-146.75, Y:-290.94, Z:-8.07 [[ 7.43287349e-01 6.68965869e-01 -2.92960041e-03 -1.46754201e+02] [ 6.68960384e-01 -7.43293121e-01 -2.70965881e-03 -2.90942970e+02] [-3.99022109e-03 5.42684999e-05 -9.99992038e-01 -8.07049816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.030385723 meters 0.015797327683595038 Centerline is valid? [True, True] Translation: X:-146.74, Y:-290.95, Z:-8.07 [[ 6.89028143e-01 7.24730725e-01 -2.36520373e-03 -1.46743171e+02] [ 7.24726208e-01 -6.89032201e-01 -2.55916277e-03 -2.90952856e+02] [-3.48440543e-03 4.92100406e-05 -9.99993928e-01 -8.07079533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.060385723 meters 0.01578907790948266 Centerline is valid? [True, True] Translation: X:-146.73, Y:-290.96, Z:-8.07 [[ 6.30666355e-01 7.76050091e-01 -2.49122887e-03 -1.46731657e+02] [ 7.76043660e-01 -6.30671272e-01 -3.15986848e-03 -2.90961529e+02] [-4.02336270e-03 5.95203639e-05 -9.99991905e-01 -8.07054644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0903857229999 meters 0.016041539518609416 Centerline is valid? [True, True] Translation: X:-146.72, Y:-290.97, Z:-8.07 [[ 5.68664821e-01 8.22565178e-01 -2.61709631e-03 -1.46721707e+02] [ 8.22555863e-01 -5.68670838e-01 -3.91529898e-03 -2.90969992e+02] [-4.70885495e-03 7.37848784e-05 -9.99988911e-01 -8.07040366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.120385723 meters 0.01612890514711275 Centerline is valid? [True, True] Translation: X:-146.71, Y:-290.98, Z:-8.07 [[ 5.03334886e-01 8.64087876e-01 -2.47691110e-03 -1.46710510e+02] [ 8.64076576e-01 -5.03340974e-01 -4.41990105e-03 -2.90976851e+02] [-5.06591375e-03 8.44495272e-05 -9.99987165e-01 -8.07005061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.150385723 meters 0.01630729461219532 Centerline is valid? [True, True] Translation: X:-146.70, Y:-290.98, Z:-8.07 [[ 4.33921976e-01 9.00948196e-01 -2.01666370e-03 -1.46700271e+02] [ 9.00937606e-01 -4.33926655e-01 -4.36904691e-03 -2.90983957e+02] [-4.81136907e-03 7.89373032e-05 -9.99988422e-01 -8.06990710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.180385723 meters 0.016193747536932156 Centerline is valid? [True, True] Translation: X:-146.69, Y:-290.99, Z:-8.07 [[ 3.60867542e-01 9.32615227e-01 -1.85901134e-03 -1.46689687e+02] [ 9.32601668e-01 -3.60872322e-01 -5.02951158e-03 -2.90988519e+02] [-5.36146482e-03 8.12704098e-05 -9.99985624e-01 -8.06992015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.210385723 meters 0.017850888851560616 Centerline is valid? [True, True] Translation: X:-146.68, Y:-290.99, Z:-8.07 [[ 2.84669173e-01 9.58624660e-01 -1.49120600e-03 -1.46679218e+02] [ 9.58610165e-01 -2.84673070e-01 -5.27212366e-03 -2.90992037e+02] [-5.47849394e-03 7.13258532e-05 -9.99984991e-01 -8.06760973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.240385723 meters 0.017986399955200322 Centerline is valid? [True, True] Translation: X:-146.67, Y:-291.00, Z:-8.07 [[ 2.07539134e-01 9.78226158e-01 -1.04475490e-03 -1.46669157e+02] [ 9.78212189e-01 -2.07541754e-01 -5.22811540e-03 -2.90996782e+02] [-5.33110951e-03 6.30465659e-05 -9.99985788e-01 -8.06704225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.270385723 meters 0.015647911099155698 Centerline is valid? [True, True] Translation: X:-146.66, Y:-291.00, Z:-8.07 [[ 1.28788515e-01 9.91671890e-01 -6.18128139e-04 -1.46657111e+02] [ 9.91658372e-01 -1.28789987e-01 -5.17810382e-03 -2.90999666e+02] [-5.21458871e-03 5.39083574e-05 -9.99986403e-01 -8.06921034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.300385723 meters 0.015659061976654752 Centerline is valid? [True, True] Translation: X:-146.65, Y:-291.00, Z:-8.07 [[ 4.86983096e-02 9.98813507e-01 -2.29772457e-04 -1.46648341e+02] [ 9.98797301e-01 -4.86988284e-02 -5.69003077e-03 -2.91002413e+02] [-5.69446924e-03 4.75987707e-05 -9.99983785e-01 -8.06912072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.330385723 meters 0.01605760242297486 Centerline is valid? [True, True] Translation: X:-146.64, Y:-291.00, Z:-8.07 [[-3.06215587e-02 9.99531026e-01 2.21214765e-04 -1.46643828e+02] [ 9.99514116e-01 3.06223275e-02 -5.81429041e-03 -2.91004237e+02] [-5.81833777e-03 4.30646447e-05 -9.99983073e-01 -8.06958230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.360385723 meters 0.015642892723671243 Centerline is valid? [True, True] Translation: X:-146.64, Y:-291.01, Z:-8.07 [[-1.08757385e-01 9.94068136e-01 6.10913045e-04 -1.46638493e+02] [ 9.94054417e-01 1.08759093e-01 -5.22269484e-03 -2.91006465e+02] [-5.25815687e-03 3.92741796e-05 -9.99986175e-01 -8.07085994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.390385723 meters 0.015502687807338295 Centerline is valid? [True, True] Translation: X:-146.63, Y:-291.01, Z:-8.07 [[-1.86159449e-01 9.82519172e-01 8.57662315e-04 -1.46629048e+02] [ 9.82509562e-01 1.86161421e-01 -4.34589343e-03 -2.91006469e+02] [-4.42958725e-03 3.36323006e-05 -9.99990189e-01 -8.07223182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.420385723 meters 0.01694970873414333 Centerline is valid? [True, True] Translation: X:-146.62, Y:-291.01, Z:-8.07 [[-2.61575493e-01 9.65182284e-01 1.19168777e-03 -1.46622213e+02] [ 9.65172919e-01 2.61578205e-01 -4.25187430e-03 -2.91008009e+02] [-4.41555330e-03 3.79986512e-05 -9.99990251e-01 -8.07035006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.450385723 meters 0.018127367272524907 Centerline is valid? [True, True] Translation: X:-146.61, Y:-291.01, Z:-8.07 [[-3.36177863e-01 9.41796739e-01 1.82944890e-03 -1.46613983e+02] [ 9.41783545e-01 3.36182837e-01 -4.98545256e-03 -2.91007361e+02] [-5.31031228e-03 4.69460833e-05 -9.99985899e-01 -8.06841686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4803857229999 meters 0.015561372963467218 Centerline is valid? [True, True] Translation: X:-146.61, Y:-291.01, Z:-8.07 [[-4.09649469e-01 9.12240996e-01 1.91777918e-03 -1.46605294e+02] [ 9.12231417e-01 4.09653956e-01 -4.18069689e-03 -2.91006059e+02] [-4.59942893e-03 3.68381524e-05 -9.99989422e-01 -8.07113302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.510385723 meters 0.01635106971027894 Centerline is valid? [True, True] Translation: X:-146.60, Y:-291.00, Z:-8.07 [[-4.80195656e-01 8.77157948e-01 2.46291626e-03 -1.46596528e+02] [ 8.77146818e-01 4.80201971e-01 -4.41896928e-03 -2.91003604e+02] [-5.05883127e-03 3.83693101e-05 -9.99987203e-01 -8.06968597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.540385723 meters 0.017031277301998056 Centerline is valid? [True, True] Translation: X:-146.59, Y:-291.00, Z:-8.07 [[-5.48679786e-01 8.36026436e-01 3.20811389e-03 -1.46587898e+02] [ 8.36012521e-01 5.48689163e-01 -4.82356902e-03 -2.91000905e+02] [-5.79288854e-03 3.54285693e-05 -9.99983221e-01 -8.06835096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.570385723 meters 0.015287846265697404 Centerline is valid? [True, True] Translation: X:-146.58, Y:-291.00, Z:-8.07 [[-6.13195968e-01 7.89922705e-01 3.58124761e-03 -1.46576537e+02] [ 7.89909517e-01 6.13206425e-01 -4.56453073e-03 -2.90995662e+02] [-5.80167051e-03 2.99097275e-05 -9.99983170e-01 -8.07021007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6003857229999 meters 0.01581133073973911 Centerline is valid? [True, True] Translation: X:-146.57, Y:-290.99, Z:-8.07 [[-6.74023865e-01 7.38692284e-01 5.05360034e-03 -1.46567766e+02] [ 7.38671853e-01 6.74042810e-01 -5.49401432e-03 -2.90992453e+02] [-7.46472896e-03 2.98555590e-05 -9.99972138e-01 -8.06711732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.630385723 meters 0.017402390014174336 Centerline is valid? [True, True] Translation: X:-146.56, Y:-290.99, Z:-8.06 [[-7.29925387e-01 6.83491894e-01 6.91094359e-03 -1.46558485e+02] [ 6.83461730e-01 7.29958101e-01 -6.42140273e-03 -2.90987048e+02] [-9.43367597e-03 3.62205861e-05 -9.99955501e-01 -8.06443763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.660385723 meters 0.015379840219206756 Centerline is valid? [True, True] Translation: X:-146.06, Y:-290.45, Z:-9.01 [[-6.88058926e-01 -7.25630569e-01 5.93216472e-03 -1.46063705e+02] [ 7.25602640e-01 -6.88084494e-01 -6.36690488e-03 -2.90454323e+02] [ 8.70185137e-03 -7.64113541e-05 9.99962135e-01 -9.00617505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.690385723 meters 0.018354227447397252 Centerline is valid? [True, True] Translation: X:-146.08, Y:-290.43, Z:-9.01 [[-6.88992292e-01 -7.24739805e-01 6.46811412e-03 -1.46080040e+02] [ 7.24707233e-01 -6.89022651e-01 -6.87125695e-03 -2.90431545e+02] [ 9.43655056e-03 -4.67539975e-05 9.99955474e-01 -9.00849393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7203857229999 meters 0.015425732725499502 Centerline is valid? [True, True] Translation: X:-146.10, Y:-290.41, Z:-9.01 [[-6.89026377e-01 -7.24713881e-01 5.69574535e-03 -1.46097082e+02] [ 7.24688652e-01 -6.89049917e-01 -6.04720348e-03 -2.90409979e+02] [ 8.30714517e-03 -3.90406852e-05 9.99965494e-01 -9.00571378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.750385723 meters 0.015531291831841303 Centerline is valid? [True, True] Translation: X:-146.11, Y:-290.39, Z:-9.01 [[-6.90180969e-01 -7.23614855e-01 5.63670986e-03 -1.46113163e+02] [ 7.23590137e-01 -6.90203984e-01 -5.98117867e-03 -2.90386983e+02] [ 8.21854934e-03 -4.94280313e-05 9.99966226e-01 -9.00543150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.780385723 meters 0.019078151095593184 Centerline is valid? [True, True] Translation: X:-146.13, Y:-290.36, Z:-9.01 [[-6.91247780e-01 -7.22583850e-01 7.00611550e-03 -1.46129147e+02] [ 7.22545655e-01 -6.91283281e-01 -7.42988607e-03 -2.90364680e+02] [ 1.02119262e-02 -7.36539407e-05 9.99947854e-01 -9.00906248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.810385723 meters 0.01728763451666485 Centerline is valid? [True, True] Translation: X:-146.14, Y:-290.34, Z:-9.01 [[-6.91361246e-01 -7.22475338e-01 7.00101152e-03 -1.46144312e+02] [ 7.22437237e-01 -6.91396689e-01 -7.42012709e-03 -2.90341804e+02] [ 1.02013350e-02 -7.21968920e-05 9.99947963e-01 -9.00810269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8403857229999 meters 0.015741759263553357 Centerline is valid? [True, True] Translation: X:-146.16, Y:-290.32, Z:-9.01 [[-6.91155079e-01 -7.22675829e-01 6.65603652e-03 -1.46161972e+02] [ 7.22641442e-01 -6.91187125e-01 -7.05015235e-03 -2.90321312e+02] [ 9.69554145e-03 -6.28207722e-05 9.99952995e-01 -9.00653446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.870385723 meters 0.015740957721027994 Centerline is valid? [True, True] Translation: X:-146.18, Y:-290.30, Z:-9.01 [[-6.90680778e-01 -7.23130532e-01 6.50368828e-03 -1.46177658e+02] [ 7.23097763e-01 -6.90711395e-01 -6.88433798e-03 -2.90300198e+02] [ 9.47044659e-03 -5.20774690e-05 9.99955153e-01 -9.00698955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.900385723 meters 0.01571117726646257 Centerline is valid? [True, True] Translation: X:-146.19, Y:-290.28, Z:-9.01 [[-6.89683761e-01 -7.24081750e-01 6.47530886e-03 -1.46194499e+02] [ 7.24049348e-01 -6.89714157e-01 -6.85013923e-03 -2.90278630e+02] [ 9.42617299e-03 -3.59866359e-05 9.99955572e-01 -9.00662067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.930385723 meters 0.017772813845248706 Centerline is valid? [True, True] Translation: X:-146.21, Y:-290.26, Z:-9.01 [[-6.89567623e-01 -7.24183406e-01 7.40867505e-03 -1.46211093e+02] [ 7.24141048e-01 -6.89607420e-01 -7.83255144e-03 -2.90257684e+02] [ 1.07812811e-02 -3.61481582e-05 9.99941880e-01 -9.00847513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.960385723 meters 0.015668919475490033 Centerline is valid? [True, True] Translation: X:-146.23, Y:-290.24, Z:-9.01 [[-6.88956930e-01 -7.24774725e-01 6.32040075e-03 -1.46229604e+02] [ 7.24743959e-01 -6.88985920e-01 -6.67798687e-03 -2.90237506e+02] [ 9.19470322e-03 -2.01730707e-05 9.99957728e-01 -9.00602448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.990385723 meters 0.015711754796447513 Centerline is valid? [True, True] Translation: X:-146.24, Y:-290.22, Z:-9.01 [[-6.89116350e-01 -7.24626626e-01 5.90840408e-03 -1.46244956e+02] [ 7.24599769e-01 -6.89141678e-01 -6.23873963e-03 -2.90216209e+02] [ 8.59248435e-03 -1.79892462e-05 9.99963084e-01 -9.00572488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.020385723 meters 0.015658493521075696 Centerline is valid? [True, True] Translation: X:-146.26, Y:-290.20, Z:-9.01 [[-6.89598297e-01 -7.24170305e-01 5.61776056e-03 -1.46261988e+02] [ 7.24146039e-01 -6.89621178e-01 -5.92833294e-03 -2.90195056e+02] [ 8.16724933e-03 -2.00892470e-05 9.99966647e-01 -9.00556473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.050385723 meters 0.015658493521075696 Centerline is valid? [True, True] Translation: X:-146.28, Y:-290.18, Z:-9.01 [[-6.89813179e-01 -7.23965606e-01 5.61951973e-03 -1.46280485e+02] [ 7.23941347e-01 -6.89836068e-01 -5.92666543e-03 -2.90175700e+02] [ 8.16724933e-03 -2.00892378e-05 9.99966647e-01 -9.00556498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.080385723 meters 0.015789566259666207 Centerline is valid? [True, True] Translation: X:-146.30, Y:-290.15, Z:-9.00 [[-6.91081008e-01 -7.22754011e-01 5.80343677e-03 -1.46295893e+02] [ 7.22728126e-01 -6.91105374e-01 -6.11705967e-03 -2.90152828e+02] [ 8.43191576e-03 -3.30767798e-05 9.99964450e-01 -9.00454262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.110385723 meters 0.01581034166948624 Centerline is valid? [True, True] Translation: X:-146.31, Y:-290.13, Z:-9.00 [[-6.91934647e-01 -7.21932710e-01 6.29343376e-03 -1.46313279e+02] [ 7.21902272e-01 -6.91963265e-01 -6.62940126e-03 -2.90131831e+02] [ 9.14080659e-03 -4.38682899e-05 9.99958221e-01 -9.00487711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.140385723 meters 0.015792085826134013 Centerline is valid? [True, True] Translation: X:-146.33, Y:-290.11, Z:-9.01 [[-6.91900194e-01 -7.21958930e-01 7.03024611e-03 -1.46331554e+02] [ 7.21920999e-01 -6.91935908e-01 -7.40070676e-03 -2.90112473e+02] [ 1.02074861e-02 -4.52681506e-05 9.99947901e-01 -9.00570228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.170385723 meters 0.01579099704661269 Centerline is valid? [True, True] Translation: X:-146.35, Y:-290.09, Z:-9.01 [[-6.91581363e-01 -7.22262758e-01 7.19212514e-03 -1.46350189e+02] [ 7.22223127e-01 -6.91618758e-01 -7.56628762e-03 -2.90094221e+02] [ 1.04390564e-02 -3.83843952e-05 9.99945511e-01 -9.00638845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.200385723 meters 0.015695169383527018 Centerline is valid? [True, True] Translation: X:-146.37, Y:-290.08, Z:-9.01 [[-6.90635247e-01 -7.23161927e-01 7.73199874e-03 -1.46370813e+02] [ 7.23116233e-01 -6.90678527e-01 -8.12936362e-03 -2.90076710e+02] [ 1.12191718e-02 -2.32912470e-05 9.99937063e-01 -9.00759221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2303857229999 meters 0.0156683802588948 Centerline is valid? [True, True] Translation: X:-146.39, Y:-290.06, Z:-9.01 [[-6.90686081e-01 -7.23108905e-01 8.13938155e-03 -1.46390808e+02] [ 7.23058328e-01 -6.90734038e-01 -8.55243062e-03 -2.90057681e+02] [ 1.18064866e-02 -2.17971716e-05 9.99930301e-01 -9.00700320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.260385723 meters 0.015553625691425634 Centerline is valid? [True, True] Translation: X:-146.41, Y:-290.04, Z:-9.01 [[-6.91814508e-01 -7.22034687e-01 7.65481819e-03 -1.46409376e+02] [ 7.21989944e-01 -6.91856856e-01 -8.03811298e-03 -2.90039032e+02] [ 1.10998348e-02 -3.41814212e-05 9.99938394e-01 -9.00682645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.290385723 meters 0.015649668733773 Centerline is valid? [True, True] Translation: X:-146.43, Y:-290.02, Z:-9.01 [[-6.93261882e-01 -7.20644358e-01 7.72484431e-03 -1.46427284e+02] [ 7.20598764e-01 -6.93304916e-01 -8.10649128e-03 -2.90019305e+02] [ 1.11975697e-02 -5.34081391e-05 9.99937304e-01 -9.00656824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.320385723 meters 0.016241924658561255 Centerline is valid? [True, True] Translation: X:-146.45, Y:-290.00, Z:-9.01 [[-6.97671982e-01 -7.16374836e-01 7.80380617e-03 -1.46445277e+02] [ 7.16328085e-01 -6.97715615e-01 -8.18507155e-03 -2.89997887e+02] [ 1.13084167e-02 -1.20409558e-04 9.99936051e-01 -9.00656605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3503857229999 meters 0.016772091178646545 Centerline is valid? [True, True] Translation: X:-146.46, Y:-289.98, Z:-9.01 [[-7.00096513e-01 -7.14004498e-01 7.90249576e-03 -1.46463800e+02] [ 7.13956455e-01 -7.00141094e-01 -8.28425728e-03 -2.89976745e+02] [ 1.14478590e-02 -1.57741772e-04 9.99934459e-01 -9.00643416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.380385723 meters 0.017059809325824005 Centerline is valid? [True, True] Translation: X:-146.48, Y:-289.96, Z:-9.01 [[-7.04098196e-01 -7.10056487e-01 8.09421469e-03 -1.46483769e+02] [ 7.10005876e-01 -7.04144684e-01 -8.48060103e-03 -2.89956531e+02] [ 1.17212040e-02 -2.24235897e-04 9.99931279e-01 -9.00560306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.410385723 meters 0.017571478090636698 Centerline is valid? [True, True] Translation: X:-146.50, Y:-289.94, Z:-9.01 [[-7.05908429e-01 -7.08257988e-01 7.99450574e-03 -1.46503410e+02] [ 7.08208554e-01 -7.05953653e-01 -8.37157039e-03 -2.89936243e+02] [ 1.15729821e-02 -2.47784750e-04 9.99933000e-01 -9.00574697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.440385723 meters 0.02149421338885121 Centerline is valid? [True, True] Translation: X:-146.52, Y:-289.92, Z:-9.01 [[-7.09143774e-01 -7.05015906e-01 8.22680599e-03 -1.46520694e+02] [ 7.04963397e-01 -7.09191426e-01 -8.60984186e-03 -2.89915520e+02] [ 1.19044557e-02 -3.06018656e-04 9.99929093e-01 -9.00878482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4703857229999 meters 0.018891964357897535 Centerline is valid? [True, True] Translation: X:-146.54, Y:-289.90, Z:-9.01 [[-7.09822231e-01 -7.04344083e-01 7.19813107e-03 -1.46542607e+02] [ 7.04303898e-01 -7.09858674e-01 -7.52874573e-03 -2.89898644e+02] [ 1.04124833e-02 -2.74399313e-04 9.99945751e-01 -9.00664863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.500385723 meters 0.021593892691951264 Centerline is valid? [True, True] Translation: X:-146.56, Y:-289.88, Z:-9.01 [[-7.11152455e-01 -7.02989780e-01 8.21926368e-03 -1.46562621e+02] [ 7.02937333e-01 -7.11199873e-01 -8.59341316e-03 -2.89879514e+02] [ 1.18866209e-02 -3.33599569e-04 9.99929296e-01 -9.00771917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.530385723 meters 0.018247721009179756 Centerline is valid? [True, True] Translation: X:-146.58, Y:-289.86, Z:-9.01 [[-7.10646459e-01 -7.03515304e-01 6.91572371e-03 -1.46584765e+02] [ 7.03478237e-01 -7.10680057e-01 -7.22680556e-03 -2.89861033e+02] [ 9.99903523e-03 -2.70642656e-04 9.99949972e-01 -9.00526536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.560385723 meters 0.01956773779556174 Centerline is valid? [True, True] Translation: X:-146.60, Y:-289.84, Z:-9.01 [[-7.10810566e-01 -7.03348411e-01 7.02512773e-03 -1.46602891e+02] [ 7.03310202e-01 -7.10845228e-01 -7.33637035e-03 -2.89842425e+02] [ 1.01538030e-02 -2.73925559e-04 9.99948411e-01 -9.00599115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5903857229999 meters 0.01795155253064374 Centerline is valid? [True, True] Translation: X:-146.63, Y:-289.82, Z:-9.00 [[-7.09612615e-01 -7.04567660e-01 5.86084716e-03 -1.46625177e+02] [ 7.04541136e-01 -7.09636786e-01 -6.11716207e-03 -2.89824942e+02] [ 8.46902730e-03 -2.11607449e-04 9.99964115e-01 -9.00414943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.620385723 meters 0.017303760963829563 Centerline is valid? [True, True] Translation: X:-146.65, Y:-289.81, Z:-9.00 [[-7.09085442e-01 -7.05100883e-01 5.52999130e-03 -1.46646576e+02] [ 7.05077311e-01 -7.09106980e-01 -5.76861002e-03 -2.89806831e+02] [ 7.98880744e-03 -1.91365989e-04 9.99968071e-01 -9.00372943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.650385723 meters 0.017357103397122403 Centerline is valid? [True, True] Translation: X:-146.67, Y:-289.79, Z:-9.00 [[-7.08090008e-01 -7.06102390e-01 5.28730652e-03 -1.46667278e+02] [ 7.06080893e-01 -7.08109728e-01 -5.51241190e-03 -2.89789275e+02] [ 7.63632040e-03 -1.70017685e-04 9.99970829e-01 -9.00458783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.680385723 meters 0.017459161442701415 Centerline is valid? [True, True] Translation: X:-146.69, Y:-289.77, Z:-9.00 [[-7.06363412e-01 -7.07829952e-01 5.24303971e-03 -1.46686685e+02] [ 7.07808883e-01 -7.06382855e-01 -5.46338782e-03 -2.89770683e+02] [ 7.57074290e-03 -1.48067187e-04 9.99971331e-01 -9.00453172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.710385723 meters 0.01663983906316423 Centerline is valid? [True, True] Translation: X:-146.71, Y:-289.75, Z:-9.00 [[-7.05756146e-01 -7.08435086e-01 5.29070186e-03 -1.46708083e+02] [ 7.08413671e-01 -7.05775963e-01 -5.51002856e-03 -2.89751855e+02] [ 7.63754776e-03 -1.40730999e-04 9.99970824e-01 -9.00374306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.740385723 meters 0.016417324486850446 Centerline is valid? [True, True] Translation: X:-146.73, Y:-289.73, Z:-9.00 [[-7.05236707e-01 -7.08951622e-01 5.36517271e-03 -1.46728542e+02] [ 7.08929639e-01 -7.05257102e-01 -5.58449385e-03 -2.89732456e+02] [ 7.74296213e-03 -1.34860105e-04 9.99970014e-01 -9.00381537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.770385723 meters 0.01611120959013135 Centerline is valid? [True, True] Translation: X:-146.75, Y:-289.72, Z:-9.00 [[-7.03999505e-01 -7.10177839e-01 5.66873905e-03 -1.46749227e+02] [ 7.10153368e-01 -7.04022316e-01 -5.89681245e-03 -2.89715214e+02] [ 8.17870432e-03 -1.25678915e-04 9.99966546e-01 -9.00445076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.800385723 meters 0.0189211717568204 Centerline is valid? [True, True] Translation: X:-146.77, Y:-289.70, Z:-9.01 [[-7.04276942e-01 -7.09898506e-01 6.17252395e-03 -1.46769255e+02] [ 7.09869513e-01 -7.04303977e-01 -6.41734468e-03 -2.89695679e+02] [ 8.90299657e-03 -1.37901317e-04 9.99960358e-01 -9.00636805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.830385723 meters 0.015625238370508086 Centerline is valid? [True, True] Translation: X:-146.79, Y:-289.68, Z:-9.00 [[-7.02990020e-01 -7.11183030e-01 4.87128421e-03 -1.46789316e+02] [ 7.11165023e-01 -7.03006891e-01 -5.06176907e-03 -2.89677050e+02] [ 7.02439063e-03 -9.40861970e-05 9.99975324e-01 -9.00405913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.860385723 meters 0.018407243978988026 Centerline is valid? [True, True] Translation: X:-146.81, Y:-289.66, Z:-9.01 [[-7.03606163e-01 -7.10571689e-01 5.12284553e-03 -1.46806768e+02] [ 7.10551782e-01 -7.03624804e-01 -5.31976602e-03 -2.89657419e+02] [ 7.38463630e-03 -1.02973134e-04 9.99972728e-01 -9.00501109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.890385723 meters 0.015508871826882537 Centerline is valid? [True, True] Translation: X:-146.83, Y:-289.64, Z:-9.00 [[-7.03096684e-01 -7.11085165e-01 3.59739025e-03 -1.46826314e+02] [ 7.11075367e-01 -7.03105884e-01 -3.73342287e-03 -2.89638063e+02] [ 5.18412787e-03 -6.69416406e-05 9.99986560e-01 -9.00212324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.920385723 meters 0.015518942738165809 Centerline is valid? [True, True] Translation: X:-146.85, Y:-289.62, Z:-9.00 [[-7.03040022e-01 -7.11141436e-01 3.54749474e-03 -1.46845219e+02] [ 7.11131920e-01 -7.03048970e-01 -3.67943950e-03 -2.89619003e+02] [ 5.11066441e-03 -6.40564797e-05 9.99986939e-01 -9.00202765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.950385723 meters 0.015036016288655012 Centerline is valid? [True, True] Translation: X:-146.87, Y:-289.60, Z:-9.00 [[-7.02705287e-01 -7.11472568e-01 3.47346593e-03 -1.46866255e+02] [ 7.11463459e-01 -7.02713869e-01 -3.60064945e-03 -2.89600445e+02] [ 5.00261600e-03 -5.89513195e-05 9.99987485e-01 -9.00182243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9803857229999 meters 0.014977079761631837 Centerline is valid? [True, True] Translation: X:-146.89, Y:-289.58, Z:-9.00 [[-7.02572822e-01 -7.11601690e-01 3.80333820e-03 -1.46885005e+02] [ 7.11590783e-01 -7.02583114e-01 -3.94028019e-03 -2.89581546e+02] [ 5.47607123e-03 -6.19133628e-05 9.99985004e-01 -9.00220607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.010385723 meters 0.014964960856364175 Centerline is valid? [True, True] Translation: X:-146.90, Y:-289.56, Z:-9.00 [[-7.02651923e-01 -7.11524066e-01 3.71198947e-03 -1.46903943e+02] [ 7.11513688e-01 -7.02661725e-01 -3.84340347e-03 -2.89561536e+02] [ 5.34294699e-03 -5.94435212e-05 9.99985725e-01 -9.00244087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.040385723 meters 0.014900089758790426 Centerline is valid? [True, True] Translation: X:-146.92, Y:-289.54, Z:-9.00 [[-7.02668174e-01 -7.11506461e-01 3.99902949e-03 -1.46923125e+02] [ 7.11494429e-01 -7.02679551e-01 -4.13833315e-03 -2.89541679e+02] [ 5.75448702e-03 -6.25877895e-05 9.99983441e-01 -9.00240790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.070385723 meters 0.014673202900311301 Centerline is valid? [True, True] Translation: X:-146.94, Y:-289.52, Z:-9.00 [[-7.02665740e-01 -7.11509093e-01 3.95838764e-03 -1.46942991e+02] [ 7.11497317e-01 -7.02676887e-01 -4.09401031e-03 -2.89521851e+02] [ 5.69439307e-03 -6.03386013e-05 9.99983785e-01 -9.00242993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1003857229999 meters 0.01478006553964115 Centerline is valid? [True, True] Translation: X:-146.96, Y:-289.50, Z:-9.00 [[-7.02883815e-01 -7.11295431e-01 3.62655100e-03 -1.46962874e+02] [ 7.11285555e-01 -7.02893169e-01 -3.74873655e-03 -2.89501770e+02] [ 5.21553710e-03 -5.54129022e-05 9.99986398e-01 -9.00242914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.130385723 meters 0.014742843918816577 Centerline is valid? [True, True] Translation: X:-146.98, Y:-289.48, Z:-9.00 [[-7.03640030e-01 -7.10545258e-01 4.01804901e-03 -1.46982253e+02] [ 7.10533135e-01 -7.03651499e-01 -4.15113819e-03 -2.89481126e+02] [ 5.77687776e-03 -6.59500465e-05 9.99983312e-01 -9.00219038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.160385723 meters 0.014879048633444683 Centerline is valid? [True, True] Translation: X:-147.00, Y:-289.46, Z:-9.00 [[-7.04137874e-01 -7.10052143e-01 3.97595011e-03 -1.46999466e+02] [ 7.10040280e-01 -7.04149096e-01 -4.10497518e-03 -2.89461712e+02] [ 5.71440810e-03 -6.73837700e-05 9.99983670e-01 -9.00191025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.190385723 meters 0.015314252942816672 Centerline is valid? [True, True] Translation: X:-147.02, Y:-289.44, Z:-9.00 [[-7.06357525e-01 -7.07845371e-01 3.73873965e-03 -1.47017373e+02] [ 7.07834862e-01 -7.06367415e-01 -3.85798373e-03 -2.89439760e+02] [ 5.37177979e-03 -7.87055770e-05 9.99985569e-01 -9.00124614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2203857229999 meters 0.01563945867217903 Centerline is valid? [True, True] Translation: X:-147.04, Y:-289.42, Z:-9.00 [[-7.07625833e-01 -7.06576459e-01 3.92282318e-03 -1.47035919e+02] [ 7.06564879e-01 -7.07636700e-01 -4.04633082e-03 -2.89419400e+02] [ 5.63497575e-03 -9.15591290e-05 9.99984119e-01 -9.00174375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.250385723 meters 0.016189326857354188 Centerline is valid? [True, True] Translation: X:-147.06, Y:-289.40, Z:-9.00 [[-7.10642197e-01 -7.03542972e-01 3.86713391e-03 -1.47055124e+02] [ 7.03531685e-01 -7.10652710e-01 -3.98671367e-03 -2.89398447e+02] [ 5.55301358e-03 -1.12475732e-04 9.99984576e-01 -9.00223533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.280385723 meters 0.01649128579522455 Centerline is valid? [True, True] Translation: X:-147.07, Y:-289.38, Z:-9.00 [[-7.12042224e-01 -7.02125659e-01 3.92812964e-03 -1.47074285e+02] [ 7.02114004e-01 -7.12053049e-01 -4.04738800e-03 -2.89378331e+02] [ 5.63881165e-03 -1.23916322e-04 9.99984094e-01 -9.00262202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.310385723 meters 0.016920274839986732 Centerline is valid? [True, True] Translation: X:-147.09, Y:-289.36, Z:-9.00 [[-7.13880066e-01 -7.00258145e-01 3.71235180e-03 -1.47093953e+02] [ 7.00247721e-01 -7.13889707e-01 -3.82295835e-03 -2.89358670e+02] [ 5.32726746e-03 -1.29567872e-04 9.99985802e-01 -9.00245221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3403857229999 meters 0.01727886380816119 Centerline is valid? [True, True] Translation: X:-147.11, Y:-289.34, Z:-9.00 [[-7.14439573e-01 -6.99687461e-01 3.68143511e-03 -1.47112312e+02] [ 6.99677216e-01 -7.14449046e-01 -3.78866574e-03 -2.89339276e+02] [ 5.28107971e-03 -1.30956461e-04 9.99986047e-01 -9.00266774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.370385723 meters 0.018977540472376358 Centerline is valid? [True, True] Translation: X:-147.13, Y:-289.32, Z:-9.00 [[-7.14692363e-01 -6.99428495e-01 3.82200684e-03 -1.47130198e+02] [ 6.99417459e-01 -7.14702569e-01 -3.93148090e-03 -2.89320701e+02] [ 5.48138788e-03 -1.36621063e-04 9.99984968e-01 -9.00352860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.400385723 meters 0.017041488362539565 Centerline is valid? [True, True] Translation: X:-147.15, Y:-289.30, Z:-9.00 [[-7.13670192e-01 -7.00472995e-01 3.52716839e-03 -1.47154172e+02] [ 7.00463618e-01 -7.13678899e-01 -3.62624555e-03 -2.89304979e+02] [ 5.05735273e-03 -1.17290220e-04 9.99987205e-01 -9.00308027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.430385723 meters 0.01740693361916947 Centerline is valid? [True, True] Translation: X:-147.18, Y:-289.29, Z:-9.00 [[-7.13279742e-01 -7.00869068e-01 3.81578245e-03 -1.47175018e+02] [ 7.00858111e-01 -7.13289938e-01 -3.92078831e-03 -2.89285850e+02] [ 5.46971847e-03 -1.22296796e-04 9.99985034e-01 -9.00401297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.460385723 meters 0.017421682543157756 Centerline is valid? [True, True] Translation: X:-147.20, Y:-289.27, Z:-9.00 [[-7.12602866e-01 -7.01553307e-01 4.48465288e-03 -1.47196431e+02] [ 7.01538203e-01 -7.12616965e-01 -4.60548106e-03 -2.89267024e+02] [ 6.42683019e-03 -1.35723681e-04 9.99979339e-01 -9.00483919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.490385723 meters 0.01611939398775311 Centerline is valid? [True, True] Translation: X:-147.22, Y:-289.25, Z:-9.01 [[-7.10502322e-01 -7.03677605e-01 4.92734198e-03 -1.47218070e+02] [ 7.03659442e-01 -7.10519396e-01 -5.05740320e-03 -2.89249328e+02] [ 7.05975342e-03 -1.26126008e-04 9.99975072e-01 -9.00535217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.520385723 meters 0.015363163785436035 Centerline is valid? [True, True] Translation: X:-147.24, Y:-289.23, Z:-9.01 [[-7.09567183e-01 -7.04622038e-01 4.71133328e-03 -1.47239003e+02] [ 7.04605471e-01 -7.09582815e-01 -4.83303602e-03 -2.89230740e+02] [ 6.74854482e-03 -1.09732542e-04 9.99977222e-01 -9.00517060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.550385723 meters 0.015040823149187407 Centerline is valid? [True, True] Translation: X:-147.26, Y:-289.21, Z:-9.00 [[-7.08198779e-01 -7.06000066e-01 4.28901572e-03 -1.47259913e+02] [ 7.05986376e-01 -7.08211762e-01 -4.39740714e-03 -2.89212847e+02] [ 6.14210110e-03 -8.62517042e-05 9.99981134e-01 -9.00473329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.580385723 meters 0.014847445362885809 Centerline is valid? [True, True] Translation: X:-147.28, Y:-289.19, Z:-9.00 [[-7.08066363e-01 -7.06133068e-01 4.25639111e-03 -1.47281075e+02] [ 7.06119603e-01 -7.08079151e-01 -4.36155699e-03 -2.89193624e+02] [ 6.09370142e-03 -8.27505951e-05 9.99981430e-01 -9.00479564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.610385723 meters 0.015194584710502666 Centerline is valid? [True, True] Translation: X:-147.30, Y:-289.17, Z:-9.01 [[-7.07621738e-01 -7.06576445e-01 4.60470150e-03 -1.47301739e+02] [ 7.06560712e-01 -7.07636715e-01 -4.71589060e-03 -2.89174716e+02] [ 6.59059305e-03 -8.35655369e-05 9.99978278e-01 -9.00545866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.640385723 meters 0.016914298639835984 Centerline is valid? [True, True] Translation: X:-147.32, Y:-289.16, Z:-9.01 [[-7.07267165e-01 -7.06925942e-01 5.37299683e-03 -1.47322413e+02] [ 7.06904555e-01 -7.07287568e-01 -5.49968283e-03 -2.89155625e+02] [ 7.68812233e-03 -9.15491494e-05 9.99970442e-01 -9.00667357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.670385723 meters 0.014490827001162505 Centerline is valid? [True, True] Translation: X:-147.34, Y:-289.14, Z:-9.01 [[-7.06360535e-01 -7.07836977e-01 4.64847417e-03 -1.47342008e+02] [ 7.07821007e-01 -7.06375827e-01 -4.75539687e-03 -2.89137083e+02] [ 6.64961553e-03 -6.87370118e-05 9.99977889e-01 -9.00577229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.700385723 meters 0.014281067096212331 Centerline is valid? [True, True] Translation: X:-147.36, Y:-289.12, Z:-9.01 [[-7.05916421e-01 -7.08277765e-01 4.96122986e-03 -1.47362958e+02] [ 7.08259604e-01 -7.05933852e-01 -5.07253975e-03 -2.89117719e+02] [ 7.09506722e-03 -6.69504148e-05 9.99974828e-01 -9.00580805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7303857229999 meters 0.01412280402321402 Centerline is valid? [True, True] Translation: X:-147.38, Y:-289.10, Z:-9.01 [[-7.05030673e-01 -7.09160561e-01 4.80082034e-03 -1.47383020e+02] [ 7.09143595e-01 -7.05047016e-01 -4.90571895e-03 -2.89098854e+02] [ 6.86374646e-03 -5.42113404e-05 9.99976443e-01 -9.00619674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.760385723 meters 0.01390422443921714 Centerline is valid? [True, True] Translation: X:-147.40, Y:-289.08, Z:-9.01 [[-7.04143043e-01 -7.10044955e-01 4.32850081e-03 -1.47404050e+02] [ 7.10031195e-01 -7.04156346e-01 -4.42063537e-03 -2.89080310e+02] [ 6.18679116e-03 -3.93890449e-05 9.99980861e-01 -9.00575306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.790385723 meters 0.014060464373349435 Centerline is valid? [True, True] Translation: X:-147.42, Y:-289.06, Z:-9.01 [[-7.03938486e-01 -7.10246818e-01 4.47948109e-03 -1.47422647e+02] [ 7.10232102e-01 -7.03952737e-01 -4.57215999e-03 -2.89060853e+02] [ 6.40070506e-03 -3.70481087e-05 9.99979515e-01 -9.00643120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.820385723 meters 0.013935449951102383 Centerline is valid? [True, True] Translation: X:-147.44, Y:-289.04, Z:-9.01 [[-7.03342774e-01 -7.10831730e-01 5.21483321e-03 -1.47441800e+02] [ 7.10811827e-01 -7.03362105e-01 -5.31947850e-03 -2.89041298e+02] [ 7.44917017e-03 -3.46516394e-05 9.99972254e-01 -9.00646575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8503857229999 meters 0.013947219290001946 Centerline is valid? [True, True] Translation: X:-147.46, Y:-289.02, Z:-9.01 [[-7.03318260e-01 -7.10854165e-01 5.45723325e-03 -1.47461163e+02] [ 7.10832395e-01 -7.03339431e-01 -5.56337380e-03 -2.89021603e+02] [ 7.79303477e-03 -3.36441996e-05 9.99969633e-01 -9.00694384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.880385723 meters 0.014424276567172904 Centerline is valid? [True, True] Translation: X:-147.48, Y:-289.00, Z:-9.01 [[-7.03174184e-01 -7.10990051e-01 6.26222122e-03 -1.47480703e+02] [ 7.10961421e-01 -7.03202067e-01 -6.38048878e-03 -2.89002000e+02] [ 8.94007094e-03 -3.43972862e-05 9.99960036e-01 -9.00792280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.910385723 meters 0.013968501910587258 Centerline is valid? [True, True] Translation: X:-147.50, Y:-288.98, Z:-9.01 [[-7.03183082e-01 -7.10980743e-01 6.31956158e-03 -1.47499211e+02] [ 7.10951622e-01 -7.03211477e-01 -6.43495475e-03 -2.88982612e+02] [ 9.01911715e-03 -3.20487529e-05 9.99959327e-01 -9.00803709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.940385723 meters 0.013968501910587258 Centerline is valid? [True, True] Translation: X:-147.52, Y:-288.96, Z:-9.01 [[-7.03401358e-01 -7.10764777e-01 6.32153724e-03 -1.47518031e+02] [ 7.10735665e-01 -7.03429762e-01 -6.43301393e-03 -2.88963582e+02] [ 9.01911715e-03 -3.20487551e-05 9.99959327e-01 -9.00803734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9703857229999 meters 0.013989277777025912 Centerline is valid? [True, True] Translation: X:-147.54, Y:-288.94, Z:-9.01 [[-7.03858997e-01 -7.10307671e-01 6.74716599e-03 -1.47536587e+02] [ 7.10274527e-01 -7.03891335e-01 -6.86193812e-03 -2.88943542e+02] [ 9.62335896e-03 -3.74967501e-05 9.99953694e-01 -9.00833894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.000385723 meters 0.013915435301454547 Centerline is valid? [True, True] Translation: X:-147.55, Y:-288.92, Z:-9.01 [[-7.03980074e-01 -7.10183488e-01 7.17425750e-03 -1.47554500e+02] [ 7.10146049e-01 -7.04016628e-01 -7.29224871e-03 -2.88922070e+02] [ 1.02296312e-02 -3.88271641e-05 9.99947675e-01 -9.00836507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.030385723 meters 0.017282422571724118 Centerline is valid? [True, True] Translation: X:-147.57, Y:-288.90, Z:-9.01 [[-7.03826818e-01 -7.10324477e-01 8.18211542e-03 -1.47572107e+02] [ 7.10275847e-01 -7.03874375e-01 -8.31180891e-03 -2.88901932e+02] [ 1.16632627e-02 -3.85150626e-05 9.99931981e-01 -9.01114249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.060385723 meters 0.013987201331287046 Centerline is valid? [True, True] Translation: X:-147.59, Y:-288.88, Z:-9.01 [[-7.02421363e-01 -7.11721500e-01 7.53221982e-03 -1.47591893e+02] [ 7.11680414e-01 -7.02461747e-01 -7.64734778e-03 -2.88882021e+02] [ 1.07338781e-02 -1.11271324e-05 9.99942390e-01 -9.00839717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0903857229999 meters 0.014010652781669753 Centerline is valid? [True, True] Translation: X:-147.61, Y:-288.86, Z:-9.01 [[-7.00814588e-01 -7.13298234e-01 8.03386807e-03 -1.47611121e+02] [ 7.13251649e-01 -7.00860634e-01 -8.15211451e-03 -2.88861064e+02] [ 1.14455108e-02 1.70488803e-05 9.99934498e-01 -9.00864358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.120385723 meters 0.014041709772261327 Centerline is valid? [True, True] Translation: X:-147.63, Y:-288.84, Z:-9.01 [[-7.00348973e-01 -7.13752835e-01 8.25879955e-03 -1.47630425e+02] [ 7.13703690e-01 -7.00397666e-01 -8.37568269e-03 -2.88840971e+02] [ 1.17626112e-02 2.84349482e-05 9.99930818e-01 -9.00898279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.150385723 meters 0.01402342975879396 Centerline is valid? [True, True] Translation: X:-147.65, Y:-288.82, Z:-9.01 [[-6.99642730e-01 -7.14445425e-01 8.23313657e-03 -1.47648700e+02] [ 7.14396689e-01 -6.99691169e-01 -8.34500241e-03 -2.88820046e+02] [ 1.17227017e-02 4.32052408e-05 9.99931286e-01 -9.00901538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.180385723 meters 0.016176962844468 Centerline is valid? [True, True] Translation: X:-147.67, Y:-288.80, Z:-9.01 [[-6.99778147e-01 -7.14296001e-01 9.57956681e-03 -1.47665754e+02] [ 7.14230079e-01 -6.99843711e-01 -9.70436409e-03 -2.88797862e+02] [ 1.36359880e-02 5.11128403e-05 9.99907024e-01 -9.01009486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.210385723 meters 0.016697483850350033 Centerline is valid? [True, True] Translation: X:-147.68, Y:-288.78, Z:-9.01 [[-7.00014292e-01 -7.14060106e-01 9.90731668e-03 -1.47684535e+02] [ 7.13989650e-01 -7.00084396e-01 -1.00308399e-02 -2.88776930e+02] [ 1.40985804e-02 5.19902689e-05 9.99900609e-01 -9.01032298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.240385723 meters 0.016727344123314673 Centerline is valid? [True, True] Translation: X:-147.70, Y:-288.76, Z:-9.01 [[-7.00416248e-01 -7.13663483e-01 1.00753319e-02 -1.47701822e+02] [ 7.13590671e-01 -7.00488708e-01 -1.01942981e-02 -2.88757309e+02] [ 1.43329545e-02 4.94108179e-05 9.99897277e-01 -9.01029678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.270385723 meters 0.014158237134988629 Centerline is valid? [True, True] Translation: X:-147.72, Y:-288.73, Z:-9.01 [[-7.00899391e-01 -7.13202372e-01 9.07855630e-03 -1.47718461e+02] [ 7.13143282e-01 -7.00958184e-01 -9.18065109e-03 -2.88734834e+02] [ 1.29113505e-02 3.95986775e-05 9.99916644e-01 -9.00764419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.300385723 meters 0.01421632099890311 Centerline is valid? [True, True] Translation: X:-147.73, Y:-288.71, Z:-9.01 [[-7.02045899e-01 -7.12077199e-01 8.81007297e-03 -1.47734356e+02] [ 7.12021529e-01 -7.02101176e-01 -8.90394618e-03 -2.88712499e+02] [ 1.25258597e-02 2.19827196e-05 9.99921548e-01 -9.00784993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.330385723 meters 0.01406412616989817 Centerline is valid? [True, True] Translation: X:-147.75, Y:-288.69, Z:-9.01 [[-7.02687435e-01 -7.11448483e-01 8.45133696e-03 -1.47752482e+02] [ 7.11397266e-01 -7.02738256e-01 -8.53661840e-03 -2.88691247e+02] [ 1.20124420e-02 1.36835201e-05 9.99927848e-01 -9.00650378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.360385723 meters 0.014164455776120336 Centerline is valid? [True, True] Translation: X:-147.77, Y:-288.67, Z:-9.01 [[-7.03548863e-01 -7.10596961e-01 8.42359207e-03 -1.47768586e+02] [ 7.10546079e-01 -7.03599289e-01 -8.50358240e-03 -2.88668810e+02] [ 1.19694532e-02 2.66459082e-06 9.99928364e-01 -9.00624492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.390385723 meters 0.014173152844516458 Centerline is valid? [True, True] Translation: X:-147.79, Y:-288.65, Z:-9.01 [[-7.04090130e-01 -7.10059566e-01 8.51478534e-03 -1.47786350e+02] [ 7.10007601e-01 -7.04141614e-01 -8.59035987e-03 -2.88648433e+02] [ 1.20952819e-02 -2.82529155e-06 9.99926850e-01 -9.00597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.420385723 meters 0.014575075830847665 Centerline is valid? [True, True] Translation: X:-147.80, Y:-288.63, Z:-9.01 [[-7.05073685e-01 -7.09076446e-01 9.03838590e-03 -1.47804181e+02] [ 7.09017877e-01 -7.05131614e-01 -9.11351613e-03 -2.88626086e+02] [ 1.28354313e-02 -1.73232176e-05 9.99917622e-01 -9.00572437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.450385723 meters 0.014158957343044917 Centerline is valid? [True, True] Translation: X:-147.82, Y:-288.61, Z:-9.01 [[-7.05679663e-01 -7.08479133e-01 8.57508096e-03 -1.47821836e+02] [ 7.08426432e-01 -7.05731761e-01 -8.64128363e-03 -2.88605972e+02] [ 1.21738761e-02 -2.31641072e-05 9.99925895e-01 -9.00674594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4803857229999 meters 0.014288267263947673 Centerline is valid? [True, True] Translation: X:-147.84, Y:-288.58, Z:-9.01 [[-7.07573923e-01 -7.06584725e-01 8.78467712e-03 -1.47838005e+02] [ 7.06529337e-01 -7.07628450e-01 -8.84717240e-03 -2.88583096e+02] [ 1.24675643e-02 -5.33963821e-05 9.99922276e-01 -9.00649901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.510385723 meters 0.015606464037373952 Centerline is valid? [True, True] Translation: X:-147.86, Y:-288.56, Z:-9.01 [[-7.09337270e-01 -7.04812672e-01 8.92944120e-03 -1.47856514e+02] [ 7.04755365e-01 -7.09393467e-01 -8.98800603e-03 -2.88561325e+02] [ 1.26693478e-02 -8.24560709e-05 9.99919737e-01 -9.00646577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.540385723 meters 0.01483518800935898 Centerline is valid? [True, True] Translation: X:-147.87, Y:-288.54, Z:-9.01 [[-7.11612437e-01 -7.02514754e-01 8.98673788e-03 -1.47871855e+02] [ 7.02456588e-01 -7.11669169e-01 -9.04072789e-03 -2.88538833e+02] [ 1.27468290e-02 -1.20701164e-04 9.99918749e-01 -9.00618864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.570385723 meters 0.015320457826542839 Centerline is valid? [True, True] Translation: X:-147.89, Y:-288.52, Z:-9.01 [[-7.12939424e-01 -7.01164315e-01 9.27259741e-03 -1.47888979e+02] [ 7.01102346e-01 -7.12999707e-01 -9.32295844e-03 -2.88517655e+02] [ 1.31482850e-02 -1.45664824e-04 9.99913547e-01 -9.00688842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6003857229999 meters 0.015206733573463879 Centerline is valid? [True, True] Translation: X:-147.91, Y:-288.50, Z:-9.01 [[-7.14965979e-01 -6.99101687e-01 8.97106850e-03 -1.47907151e+02] [ 6.99043584e-01 -7.15022238e-01 -9.01483190e-03 -2.88495917e+02] [ 1.27167977e-02 -1.74130232e-04 9.99919123e-01 -9.00524152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.630385723 meters 0.01560462857609426 Centerline is valid? [True, True] Translation: X:-147.92, Y:-288.48, Z:-9.01 [[-7.15727751e-01 -6.98319853e-01 9.11970077e-03 -1.47924223e+02] [ 6.98259801e-01 -7.15785825e-01 -9.15982515e-03 -2.88476286e+02] [ 1.29242403e-02 -1.88020605e-04 9.99916461e-01 -9.00570296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.660385723 meters 0.0156849884447672 Centerline is valid? [True, True] Translation: X:-147.94, Y:-288.46, Z:-9.01 [[-7.16473409e-01 -6.97556313e-01 9.00247188e-03 -1.47942314e+02] [ 6.97497805e-01 -7.16529938e-01 -9.03665126e-03 -2.88455722e+02] [ 1.27541138e-02 -1.95315954e-04 9.99918644e-01 -9.00574536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.690385723 meters 0.015374358979948276 Centerline is valid? [True, True] Translation: X:-147.96, Y:-288.44, Z:-9.01 [[-7.15871873e-01 -6.98170478e-01 9.24368308e-03 -1.47961905e+02] [ 6.98108916e-01 -7.15931526e-01 -9.27313885e-03 -2.88436590e+02] [ 1.30920759e-02 -1.85281700e-04 9.99914278e-01 -9.00576045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7203857229999 meters 0.015183985359113687 Centerline is valid? [True, True] Translation: X:-147.98, Y:-288.42, Z:-9.01 [[-7.15540352e-01 -6.98510048e-01 9.25836528e-03 -1.47981671e+02] [ 6.98448393e-01 -7.15600225e-01 -9.28222872e-03 -2.88417332e+02] [ 1.31090183e-02 -1.75318847e-04 9.99914058e-01 -9.00593221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.750385723 meters 0.015943978831855814 Centerline is valid? [True, True] Translation: X:-148.00, Y:-288.40, Z:-9.01 [[-7.15468986e-01 -6.98578116e-01 9.63046948e-03 -1.48001448e+02] [ 6.98511491e-01 -7.15533776e-01 -9.64948690e-03 -2.88398008e+02] [ 1.36318466e-02 -1.76915006e-04 9.99907067e-01 -9.00671769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.780385723 meters 0.014849724947799537 Centerline is valid? [True, True] Translation: X:-148.02, Y:-288.38, Z:-9.01 [[-7.14504492e-01 -6.99571419e-01 9.11921607e-03 -1.48021838e+02] [ 6.99511832e-01 -7.14562669e-01 -9.13176054e-03 -2.88380098e+02] [ 1.29045701e-02 -1.45684384e-04 9.99916722e-01 -9.00624522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.810385723 meters 0.014790574234576678 Centerline is valid? [True, True] Translation: X:-148.04, Y:-288.36, Z:-9.01 [[-7.14229069e-01 -6.99854927e-01 8.93972991e-03 -1.48041495e+02] [ 6.99797751e-01 -7.14285002e-01 -8.94670332e-03 -2.88361213e+02] [ 1.26469094e-02 -1.33992696e-04 9.99920016e-01 -9.00595000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8403857229999 meters 0.016971960636883388 Centerline is valid? [True, True] Translation: X:-148.06, Y:-288.34, Z:-9.01 [[-7.13726174e-01 -7.00369423e-01 8.81018562e-03 -1.48059910e+02] [ 7.00313983e-01 -7.13780538e-01 -8.81300189e-03 -2.88343023e+02] [ 1.24608961e-02 -1.20173948e-04 9.99922353e-01 -9.00561326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.870385723 meters 0.014082556321883882 Centerline is valid? [True, True] Translation: X:-148.08, Y:-288.33, Z:-9.00 [[-7.11719305e-01 -7.02417156e-01 8.10987662e-03 -1.48080960e+02] [ 7.02370360e-01 -7.11765504e-01 -8.10826351e-03 -2.88325665e+02] [ 1.14677138e-02 -7.46707055e-05 9.99934241e-01 -9.00307238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.900385723 meters 0.013915294351377377 Centerline is valid? [True, True] Translation: X:-148.65, Y:-288.91, Z:-8.07 [[-7.51743347e-01 6.59399688e-01 8.60189370e-03 -1.48652704e+02] [ 6.59357470e-01 7.51792557e-01 -7.46179434e-03 -2.88909016e+02] [-1.13871445e-02 6.23686173e-05 -9.99935163e-01 -8.06946691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.930385723 meters 0.01350824266286578 Centerline is valid? [True, True] Translation: X:-148.63, Y:-288.88, Z:-8.07 [[-7.97412152e-01 6.03373937e-01 8.58791469e-03 -1.48631383e+02] [ 6.03339501e-01 7.97458394e-01 -6.44644360e-03 -2.88884048e+02] [-1.07381207e-02 4.09557021e-05 -9.99942344e-01 -8.07060226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.960385723 meters 0.013465570896713132 Centerline is valid? [True, True] Translation: X:-148.62, Y:-288.86, Z:-8.07 [[-8.38539882e-01 5.44764592e-01 9.07771789e-03 -1.48619996e+02] [ 5.44733096e-01 8.38589016e-01 -5.85799658e-03 -2.88855592e+02] [-1.08037036e-02 3.27696119e-05 -9.99941638e-01 -8.06982332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.990385723 meters 0.01343003266826205 Centerline is valid? [True, True] Translation: X:-148.17, Y:-288.19, Z:-9.00 [[-8.03702161e-01 -5.94967540e-01 8.74427395e-03 -1.48169798e+02] [ 5.94931958e-01 -8.03749728e-01 -6.50684478e-03 -2.88191008e+02] [ 1.08995692e-02 -2.73171895e-05 9.99940598e-01 -9.00207601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.020385723 meters 0.013308155969780723 Centerline is valid? [True, True] Translation: X:-148.18, Y:-288.22, Z:-9.00 [[-7.62072436e-01 -6.47439817e-01 8.20281376e-03 -1.48182340e+02] [ 6.47401778e-01 -7.62116581e-01 -7.01822006e-03 -2.88221305e+02] [ 1.07953755e-02 -3.78758440e-05 9.99941728e-01 -9.00152292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.050385723 meters 0.013429575242201426 Centerline is valid? [True, True] Translation: X:-148.70, Y:-288.84, Z:-8.07 [[-8.01489366e-01 5.97934515e-01 9.43989958e-03 -1.48699586e+02] [ 5.97893749e-01 8.01544954e-01 -6.98221864e-03 -2.88836779e+02] [-1.17414134e-02 4.78829560e-05 -9.99931066e-01 -8.07063691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.080385723 meters 0.013574172975687838 Centerline is valid? [True, True] Translation: X:-148.69, Y:-288.81, Z:-8.07 [[-8.41308193e-01 5.40462368e-01 1.00475287e-02 -1.48687478e+02] [ 5.40424664e-01 8.41368187e-01 -6.38414859e-03 -2.88809374e+02] [-1.19040631e-02 5.88958023e-05 -9.99929143e-01 -8.06951686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.110385723 meters 0.013438609040029447 Centerline is valid? [True, True] Translation: X:-148.69, Y:-288.78, Z:-8.07 [[-8.77463160e-01 4.79528211e-01 1.05403016e-02 -1.48687911e+02] [ 4.79494414e-01 8.77526462e-01 -5.69349631e-03 -2.88775146e+02] [-1.19795857e-02 5.81824654e-05 -9.99928241e-01 -8.07014411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.140385723 meters 0.013370680546533006 Centerline is valid? [True, True] Translation: X:-148.68, Y:-288.75, Z:-8.07 [[-9.09421227e-01 4.15742082e-01 1.05618921e-02 -1.48683158e+02] [ 4.15714690e-01 9.09482555e-01 -4.77269218e-03 -2.88745117e+02] [-1.15900656e-02 5.03461251e-05 -9.99932832e-01 -8.06962981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.170385723 meters 0.015969747987417054 Centerline is valid? [True, True] Translation: X:-148.31, Y:-288.04, Z:-9.00 [[-8.83600741e-01 -4.68115685e-01 1.08368339e-02 -1.48305238e+02] [ 4.68080329e-01 -8.83667192e-01 -5.75322438e-03 -2.88042905e+02] [ 1.22693291e-02 -1.10445428e-05 9.99924729e-01 -9.00461410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.200385723 meters 0.013251913312049626 Centerline is valid? [True, True] Translation: X:-148.69, Y:-288.74, Z:-8.07 [[-9.11822872e-01 4.10470940e-01 9.62583089e-03 -1.48692359e+02] [ 4.10448338e-01 9.11873679e-01 -4.30761164e-03 -2.88740099e+02] [-1.05456912e-02 2.31274666e-05 -9.99944393e-01 -8.07014125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2303857229999 meters 0.013195136079572444 Centerline is valid? [True, True] Translation: X:-148.67, Y:-288.72, Z:-8.07 [[-9.38996086e-01 3.43802061e-01 9.30023679e-03 -1.48666647e+02] [ 3.43785312e-01 9.39042141e-01 -3.39360417e-03 -2.88718771e+02] [-9.90004237e-03 1.07037714e-05 -9.99950993e-01 -8.07055489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.260385723 meters 0.013169804350382109 Centerline is valid? [True, True] Translation: X:-148.39, Y:-287.98, Z:-9.00 [[-9.14056291e-01 -4.05488822e-01 8.93940181e-03 -1.48394886e+02] [ 4.05469242e-01 -9.14100003e-01 -3.98483557e-03 -2.87975906e+02] [ 9.78731350e-03 -1.77115401e-05 9.99952103e-01 -9.00194501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.290385723 meters 0.013262753300440197 Centerline is valid? [True, True] Translation: X:-148.72, Y:-288.70, Z:-8.07 [[-9.40866454e-01 3.38637154e-01 9.75670884e-03 -1.48716916e+02] [ 3.38618879e-01 9.40917041e-01 -3.51812441e-03 -2.88700762e+02] [-1.03716212e-02 -6.27943105e-06 -9.99946213e-01 -8.06930149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.320385723 meters 0.0132699906176802 Centerline is valid? [True, True] Translation: X:-148.71, Y:-288.67, Z:-8.07 [[-9.62547803e-01 2.70903621e-01 1.06280499e-02 -1.48710829e+02] [ 2.70887004e-01 9.62606476e-01 -3.00050294e-03 -2.88672227e+02] [-1.10434768e-02 -9.12689686e-06 -9.99939019e-01 -8.06839360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3503857229999 meters 0.013359475386729734 Centerline is valid? [True, True] Translation: X:-148.71, Y:-288.64, Z:-8.07 [[-9.79326794e-01 2.01969326e-01 1.12881648e-02 -1.48705113e+02] [ 2.01955802e-01 9.79391848e-01 -2.33729485e-03 -2.88644488e+02] [-1.15275984e-02 -9.26510225e-06 -9.99933555e-01 -8.06937607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.380385723 meters 0.013403523677607323 Centerline is valid? [True, True] Translation: X:-148.54, Y:-287.87, Z:-9.00 [[-9.63196369e-01 -2.68567971e-01 1.11355054e-02 -1.48543311e+02] [ 2.68550158e-01 -9.63260736e-01 -3.09313218e-03 -2.87870015e+02] [ 1.15571114e-02 1.11480594e-05 9.99933214e-01 -9.00388337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.410385723 meters 0.013431365564329733 Centerline is valid? [True, True] Translation: X:-148.75, Y:-288.64, Z:-8.07 [[-9.80028549e-01 1.98558151e-01 1.08951088e-02 -1.48752794e+02] [ 1.98545863e-01 9.80089109e-01 -2.20895421e-03 -2.88635826e+02] [-1.11167834e-02 -1.65939588e-06 -9.99938207e-01 -8.06838685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.440385723 meters 0.014254967699494032 Centerline is valid? [True, True] Translation: X:-148.74, Y:-288.61, Z:-8.07 [[-9.91573101e-01 1.29067888e-01 1.11474204e-02 -1.48740523e+02] [ 1.29059784e-01 9.91635760e-01 -1.44627531e-03 -2.88609480e+02] [-1.12408484e-02 4.59597887e-06 -9.99936820e-01 -8.06895217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4703857229999 meters 0.013318891252001126 Centerline is valid? [True, True] Translation: X:-148.75, Y:-288.58, Z:-8.07 [[-9.98175912e-01 5.94055775e-02 1.07623010e-02 -1.48750593e+02] [ 5.94022722e-02 9.98233929e-01 -6.26804115e-04 -2.88580620e+02] [-1.07805297e-02 1.36443632e-05 -9.99941888e-01 -8.07023875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.500385723 meters 0.013321350318948133 Centerline is valid? [True, True] Translation: X:-148.69, Y:-287.79, Z:-9.00 [[-9.92317173e-01 -1.23237935e-01 1.09105551e-02 -1.48686215e+02] [ 1.23230487e-01 -9.92377152e-01 -1.35494191e-03 -2.87787372e+02] [ 1.09943659e-02 -1.91070570e-08 9.99939560e-01 -9.00236212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.530385723 meters 0.013433432676937663 Centerline is valid? [True, True] Translation: X:-148.82, Y:-288.58, Z:-8.07 [[-9.98392643e-01 5.56186764e-02 1.08946841e-02 -1.48816645e+02] [ 5.56156702e-02 9.98452083e-01 -5.78937617e-04 -2.88578234e+02] [-1.09100198e-02 2.79081006e-05 -9.99940484e-01 -8.06924969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.560385723 meters 0.013464259077009133 Centerline is valid? [True, True] Translation: X:-148.76, Y:-287.78, Z:-9.00 [[-9.93154554e-01 -1.16294890e-01 1.09330435e-02 -1.48763780e+02] [ 1.16287604e-01 -9.93214729e-01 -1.30201604e-03 -2.87780695e+02] [ 1.10102776e-02 -2.17257305e-05 9.99939385e-01 -9.00245117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5903857229999 meters 0.013567456789121243 Centerline is valid? [True, True] Translation: X:-148.89, Y:-288.58, Z:-8.07 [[-9.98577726e-01 5.21351797e-02 1.11556400e-02 -1.48893193e+02] [ 5.21324353e-02 9.98640036e-01 -5.36856672e-04 -2.88576217e+02] [-1.11684578e-02 4.54775652e-05 -9.99937630e-01 -8.06968383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.620385723 meters 0.013605760273399619 Centerline is valid? [True, True] Translation: X:-148.85, Y:-287.77, Z:-9.00 [[-9.93830811e-01 -1.10260142e-01 1.19591059e-02 -1.48849978e+02] [ 1.10252242e-01 -9.93902762e-01 -1.31990567e-03 -2.87774133e+02] [ 1.20317214e-02 6.75532158e-06 9.99927616e-01 -9.00368960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.650385723 meters 0.01371973228025462 Centerline is valid? [True, True] Translation: X:-148.98, Y:-288.57, Z:-8.07 [[-9.98789284e-01 4.75662659e-02 1.25466141e-02 -1.48975455e+02] [ 4.75633239e-02 9.98868083e-01 -5.32941208e-04 -2.88573766e+02] [-1.25577623e-02 6.44627000e-05 -9.99921146e-01 -8.06811280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.680385723 meters 0.013735579311291336 Centerline is valid? [True, True] Translation: X:-148.94, Y:-287.77, Z:-9.00 [[-9.94535215e-01 -1.03621237e-01 1.27414505e-02 -1.48935399e+02] [ 1.03612102e-01 -9.94616829e-01 -1.37679028e-03 -2.87768529e+02] [ 1.28155258e-02 -4.90979514e-05 9.99917877e-01 -9.00468965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.710385723 meters 0.013922398125962144 Centerline is valid? [True, True] Translation: X:-149.06, Y:-288.57, Z:-8.07 [[-9.98972786e-01 4.33952820e-02 1.30469047e-02 -1.49061133e+02] [ 4.33926806e-02 9.99057978e-01 -4.82540788e-04 -2.88571148e+02] [-1.30555542e-02 8.40950524e-05 -9.99914769e-01 -8.06695182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.740385723 meters 0.014109146449665525 Centerline is valid? [True, True] Translation: X:-149.02, Y:-287.76, Z:-9.01 [[-9.95325088e-01 -9.56692350e-02 1.32425886e-02 -1.49024839e+02] [ 9.56598392e-02 -9.95413177e-01 -1.34258004e-03 -2.87762744e+02] [ 1.33102908e-02 -6.95196967e-05 9.99911412e-01 -9.00517909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.770385723 meters 0.014069605350652898 Centerline is valid? [True, True] Translation: X:-149.15, Y:-288.57, Z:-8.07 [[-9.99072519e-01 4.11005366e-02 1.28393197e-02 -1.49151996e+02] [ 4.10986899e-02 9.99155009e-01 -4.07764209e-04 -2.88568835e+02] [-1.28452299e-02 1.20293203e-04 -9.99917490e-01 -8.06797757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.800385723 meters 0.014629680927816725 Centerline is valid? [True, True] Translation: X:-149.14, Y:-288.54, Z:-8.07 [[-9.99511370e-01 -2.87392958e-02 1.22911964e-02 -1.49144796e+02] [-2.87354952e-02 9.99586932e-01 4.85745998e-04 -2.88541343e+02] [-1.23000793e-02 1.32315033e-04 -9.99924343e-01 -8.06792710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.830385723 meters 0.01466903043547032 Centerline is valid? [True, True] Translation: X:-149.17, Y:-287.73, Z:-9.00 [[-9.99801057e-01 -1.64036715e-02 1.13475532e-02 -1.49170414e+02] [ 1.64005184e-02 -9.99865434e-01 -3.70873129e-04 -2.87727594e+02] [ 1.13521099e-02 -1.84693591e-04 9.99935546e-01 -9.00396622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.860385723 meters 0.01466903043547032 Centerline is valid? [True, True] Translation: X:-149.25, Y:-288.54, Z:-8.07 [[-9.99340124e-01 -3.44933144e-02 1.13810369e-02 -1.49248661e+02] [-3.44896160e-02 9.99404920e-01 5.21130153e-04 -2.88544631e+02] [-1.13922398e-02 1.28258680e-04 -9.99935098e-01 -8.06857634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.890385723 meters 0.01433167183179443 Centerline is valid? [True, True] Translation: X:-149.26, Y:-288.51, Z:-8.07 [[-9.94393346e-01 -1.05321784e-01 9.44435443e-03 -1.49257942e+02] [-1.05315986e-01 9.94438188e-01 1.11049003e-03 -2.88514665e+02] [-9.50878550e-03 1.09622397e-04 -9.99954785e-01 -8.06980768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.920385723 meters 0.01412555727500079 Centerline is valid? [True, True] Translation: X:-149.28, Y:-288.49, Z:-8.07 [[-9.84255963e-01 -1.76539348e-01 8.60570352e-03 -1.49275556e+02] [-1.76531713e-01 9.84293579e-01 1.64484594e-03 -2.88487142e+02] [-8.76091874e-03 9.97698383e-05 -9.99961618e-01 -8.07024529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.950385723 meters 0.014131947630625231 Centerline is valid? [True, True] Translation: X:-149.31, Y:-288.47, Z:-8.07 [[-9.68831551e-01 -2.47612174e-01 7.32374070e-03 -1.49314843e+02] [-2.47604470e-01 9.68859229e-01 1.95488377e-03 -2.88465674e+02] [-7.57972678e-03 8.05621365e-05 -9.99971270e-01 -8.07044616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9803857229999 meters 0.01424714632976322 Centerline is valid? [True, True] Translation: X:-149.37, Y:-288.45, Z:-8.07 [[-9.47819189e-01 -3.18734107e-01 6.88148526e-03 -1.49366446e+02] [-3.18725145e-01 9.47844166e-01 2.39124285e-03 -2.88451328e+02] [-7.28474632e-03 7.31634643e-05 -9.99973463e-01 -8.07043950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.010385723 meters 0.013954683067572476 Centerline is valid? [True, True] Translation: X:-149.43, Y:-288.44, Z:-8.07 [[-9.20891513e-01 -3.89774999e-01 5.85421445e-03 -1.49429408e+02] [-3.89766763e-01 9.20910119e-01 2.53426899e-03 -2.88443892e+02] [-6.37900002e-03 5.20085865e-05 -9.99979653e-01 -8.07043550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.040385723 meters 0.013512864942737944 Centerline is valid? [True, True] Translation: X:-149.51, Y:-288.45, Z:-8.07 [[-8.87916051e-01 -4.59975938e-01 5.21762041e-03 -1.49507161e+02] [-4.59967801e-01 8.87931380e-01 2.73609508e-03 -2.88446261e+02] [-5.89142679e-03 2.94853473e-05 -9.99982645e-01 -8.07002473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.070385723 meters 0.013219055269199094 Centerline is valid? [True, True] Translation: X:-149.60, Y:-288.46, Z:-8.07 [[-8.50207963e-01 -5.26424223e-01 4.89460331e-03 -1.49601008e+02] [-5.26415373e-01 8.50222052e-01 3.05260301e-03 -2.88464210e+02] [-5.76846384e-03 1.87529567e-05 -9.99983362e-01 -8.07049239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1003857229999 meters 0.013130360500810742 Centerline is valid? [True, True] Translation: X:-149.69, Y:-288.49, Z:-8.07 [[-8.06512754e-01 -5.91197010e-01 4.82420736e-03 -1.49690503e+02] [-5.91186417e-01 8.06527182e-01 3.53911671e-03 -2.88486874e+02] [-5.98316958e-03 2.33690041e-06 -9.99982101e-01 -8.06975523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.130385723 meters 0.013092225020472853 Centerline is valid? [True, True] Translation: X:-149.77, Y:-288.52, Z:-8.07 [[-7.58790203e-01 -6.51319689e-01 4.48226577e-03 -1.49774964e+02] [-6.51308353e-01 7.58803442e-01 3.84265553e-03 -2.88515473e+02] [-5.90395589e-03 -3.56776392e-06 -9.99982572e-01 -8.06950309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.160385723 meters 0.013114374365112324 Centerline is valid? [True, True] Translation: X:-149.87, Y:-288.56, Z:-8.07 [[-7.06455250e-01 -7.07746851e-01 3.92115600e-03 -1.49869258e+02] [-7.07736022e-01 7.06466132e-01 3.91506327e-03 -2.88561984e+02] [-5.54103761e-03 -9.32635664e-06 -9.99984648e-01 -8.06955518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.190385723 meters 0.013021216685264412 Centerline is valid? [True, True] Translation: X:-149.96, Y:-288.62, Z:-8.07 [[-6.49992046e-01 -7.59934972e-01 3.02968346e-03 -1.49964518e+02] [-7.59926800e-01 6.49999107e-01 3.52418379e-03 -2.88620527e+02] [-4.64744205e-03 -1.16462294e-05 -9.99989201e-01 -8.06971925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2203857229999 meters 0.013025996586342613 Centerline is valid? [True, True] Translation: X:-150.05, Y:-288.68, Z:-8.07 [[-5.90129764e-01 -8.07305559e-01 2.14388975e-03 -1.50052844e+02] [-8.07300288e-01 5.90133658e-01 2.91727712e-03 -2.88684113e+02] [-3.62031554e-03 -9.19075277e-06 -9.99993447e-01 -8.06954207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.250385723 meters 0.01315527842284869 Centerline is valid? [True, True] Translation: X:-150.14, Y:-288.76, Z:-8.07 [[-5.26856748e-01 -8.49952405e-01 1.69614329e-03 -1.50137750e+02] [-8.49948046e-01 5.26859478e-01 2.72203829e-03 -2.88756537e+02] [-3.20723216e-03 -7.50943825e-06 -9.99994857e-01 -8.06959314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.280385723 meters 0.013172464531315433 Centerline is valid? [True, True] Translation: X:-150.23, Y:-288.85, Z:-8.07 [[-4.61408866e-01 -8.87186639e-01 1.31361788e-03 -1.50225613e+02] [-8.87183063e-01 4.61410736e-01 2.51897544e-03 -2.88851672e+02] [-2.84091875e-03 -3.14192978e-06 -9.99995965e-01 -8.06930352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.310385723 meters 0.01317348099064519 Centerline is valid? [True, True] Translation: X:-150.29, Y:-288.93, Z:-8.07 [[-3.92657470e-01 -9.19684352e-01 8.96522126e-04 -1.50294085e+02] [-9.19681961e-01 3.92658493e-01 2.09718197e-03 -2.88927910e+02] [-2.28077247e-03 -1.04106065e-06 -9.99997399e-01 -8.06893247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3403857229999 meters 0.013234732226967276 Centerline is valid? [True, True] Translation: X:-150.36, Y:-289.03, Z:-8.07 [[-3.22760630e-01 -9.46480529e-01 4.29298873e-04 -1.50364645e+02] [-9.46479685e-01 3.22760915e-01 1.26370406e-03 -2.89028920e+02] [-1.33463219e-03 1.55125673e-06 -9.99999109e-01 -8.06834104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.370385723 meters 0.013313983964483635 Centerline is valid? [True, True] Translation: X:-150.43, Y:-289.14, Z:-8.07 [[-2.50221424e-01 -9.68188616e-01 2.09948307e-04 -1.50426823e+02] [-9.68188270e-01 2.50221512e-01 8.18543635e-04 -2.89136930e+02] [-8.45038212e-04 1.54766595e-06 -9.99999643e-01 -8.06874760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.400385723 meters 0.013590073770296494 Centerline is valid? [True, True] Translation: X:-150.48, Y:-289.25, Z:-8.07 [[-1.77766283e-01 -9.84072718e-01 1.85610930e-04 -1.50479091e+02] [-9.84072148e-01 1.77766379e-01 1.05879486e-03 -2.89248552e+02] [-1.07492652e-03 5.56347897e-06 -9.99999422e-01 -8.06933771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.430385723 meters 0.013763075183856074 Centerline is valid? [True, True] Translation: X:-150.52, Y:-289.36, Z:-8.07 [[-1.02871214e-01 -9.94694673e-01 1.43826772e-04 -1.50524007e+02] [-9.94693552e-01 1.02871314e-01 1.49325576e-03 -2.89364143e+02] [-1.50012920e-03 1.05494701e-05 -9.99998875e-01 -8.06885206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.460385723 meters 0.01392529727235109 Centerline is valid? [True, True] Translation: X:-150.56, Y:-289.48, Z:-8.07 [[-2.82532205e-02 -9.99600797e-01 5.41276553e-05 -1.50561191e+02] [-9.99596405e-01 2.82532568e-02 2.96327666e-03 -2.89482554e+02] [-2.96362299e-03 2.96162993e-05 -9.99995608e-01 -8.06713115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.490385723 meters 0.014649610601765247 Centerline is valid? [True, True] Translation: X:-150.59, Y:-289.61, Z:-8.06 [[ 4.72042964e-02 -9.98885210e-01 -3.01738745e-04 -1.50586734e+02] [-9.98872242e-01 -4.72052212e-02 5.09027951e-03 -2.89614359e+02] [-5.09884857e-03 6.11153941e-05 -9.99986999e-01 -8.06460570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.520385723 meters 0.014959951733480312 Centerline is valid? [True, True] Translation: X:-150.60, Y:-289.74, Z:-8.06 [[ 1.23201314e-01 -9.92381462e-01 -6.85669341e-04 -1.50604039e+02] [-9.92368904e-01 -1.23203204e-01 4.99291603e-03 -2.89736942e+02] [-5.03935397e-03 6.53031185e-05 -9.99987300e-01 -8.06389503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.550385723 meters 0.014893043248359383 Centerline is valid? [True, True] Translation: X:-150.61, Y:-289.86, Z:-8.06 [[ 1.97004229e-01 -9.80402159e-01 -9.69890089e-04 -1.50614373e+02] [-9.80391971e-01 -1.97006604e-01 4.47005540e-03 -2.89857840e+02] [-4.57352671e-03 7.02526393e-05 -9.99989539e-01 -8.06455703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.580385723 meters 0.015164721766267117 Centerline is valid? [True, True] Translation: X:-150.61, Y:-289.99, Z:-8.06 [[ 2.70530124e-01 -9.62710701e-01 -1.24840565e-03 -1.50610840e+02] [-9.62701670e-01 -2.70532994e-01 4.17065044e-03 -2.89989632e+02] [-4.35286473e-03 7.35556265e-05 -9.99990524e-01 -8.06472588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.610385723 meters 0.017095600152042003 Centerline is valid? [True, True] Translation: X:-150.60, Y:-290.11, Z:-8.06 [[ 3.41325217e-01 -9.39944200e-01 -1.41350774e-03 -1.50599204e+02] [-9.39937052e-01 -3.41328135e-01 3.66645746e-03 -2.90107483e+02] [-3.92873539e-03 7.71539112e-05 -9.99992280e-01 -8.06462029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.640385723 meters 0.01729191491284087 Centerline is valid? [True, True] Translation: X:-150.58, Y:-290.23, Z:-8.06 [[ 4.11398181e-01 -9.11454365e-01 -1.57389326e-03 -1.50581494e+02] [-9.11448392e-01 -4.11401184e-01 3.30058126e-03 -2.90230414e+02] [-3.65583075e-03 7.66693560e-05 -9.99993315e-01 -8.06409671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.670385723 meters 0.016203556461914737 Centerline is valid? [True, True] Translation: X:-150.55, Y:-290.35, Z:-8.07 [[ 4.79060960e-01 -8.77780249e-01 -1.55958077e-03 -1.50551821e+02] [-8.77776060e-01 -4.79063493e-01 2.71252449e-03 -2.90354862e+02] [-3.12813863e-03 6.94980792e-05 -9.99995105e-01 -8.06562296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.700385723 meters 0.016887754745727672 Centerline is valid? [True, True] Translation: X:-150.52, Y:-290.47, Z:-8.07 [[ 5.44457707e-01 -8.38786913e-01 -1.52348829e-03 -1.50516011e+02] [-8.38783940e-01 -5.44459835e-01 2.23390926e-03 -2.90467040e+02] [-2.70325203e-03 6.16084014e-05 -9.99996344e-01 -8.06573811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7303857229999 meters 0.016926307971346522 Centerline is valid? [True, True] Translation: X:-150.48, Y:-290.58, Z:-8.07 [[ 6.06583242e-01 -7.95019076e-01 -1.19966552e-03 -1.50475197e+02] [-7.95017665e-01 -6.06584427e-01 1.49881554e-03 -2.90577388e+02] [-1.91928537e-03 4.45988893e-05 -9.99998157e-01 -8.06579881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.760385723 meters 0.016965629786416858 Centerline is valid? [True, True] Translation: X:-150.43, Y:-290.68, Z:-8.07 [[ 6.65647837e-01 -7.46265114e-01 -1.15645394e-03 -1.50427417e+02] [-7.46264088e-01 -6.65648840e-01 1.23797397e-03 -2.90680323e+02] [-1.69364901e-03 3.89653518e-05 -9.99998565e-01 -8.06567331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.790385723 meters 0.016092368224445975 Centerline is valid? [True, True] Translation: X:-150.37, Y:-290.78, Z:-8.07 [[ 7.21418199e-01 -6.92499136e-01 -8.53573501e-04 -1.50374819e+02] [-6.92498691e-01 -7.21418704e-01 7.84994465e-04 -2.90781470e+02] [-1.15939188e-03 2.47892390e-05 -9.99999328e-01 -8.06588143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.820385723 meters 0.01563148840054409 Centerline is valid? [True, True] Translation: X:-150.38, Y:-290.80, Z:-8.07 [[ 7.74063781e-01 -6.33107032e-01 -8.66033231e-04 -1.50383414e+02] [-6.33106667e-01 -7.74064265e-01 6.79809083e-04 -2.90795788e+02] [-1.10075729e-03 2.20758233e-05 -9.99999394e-01 -8.06580051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8503857229999 meters 0.01535316807916386 Centerline is valid? [True, True] Translation: X:-150.39, Y:-290.81, Z:-8.07 [[ 8.23103663e-01 -5.67888389e-01 -1.77135891e-03 -1.50392270e+02] [-5.67887169e-01 -8.23105568e-01 1.17752204e-03 -2.90809582e+02] [-2.12671648e-03 3.67092911e-05 -9.99997738e-01 -8.06530510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.880385723 meters 0.01494686767834795 Centerline is valid? [True, True] Translation: X:-150.40, Y:-290.82, Z:-8.07 [[ 8.65855242e-01 -5.00291560e-01 -1.74775738e-03 -1.50398934e+02] [-5.00290613e-01 -8.65857006e-01 9.74044200e-04 -2.90823340e+02] [-2.00061407e-03 3.10053342e-05 -9.99997998e-01 -8.06546571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.910385723 meters 0.014401662104114856 Centerline is valid? [True, True] Translation: X:-150.41, Y:-290.84, Z:-8.06 [[ 9.03894008e-01 -4.27754109e-01 -1.42982177e-03 -1.50405297e+02] [-4.27753606e-01 -9.03895139e-01 6.56350864e-04 -2.90840272e+02] [-1.57316572e-03 1.83398032e-05 -9.99998763e-01 -8.06489845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.940385723 meters 0.014227962059324927 Centerline is valid? [True, True] Translation: X:-150.41, Y:-290.85, Z:-8.06 [[ 9.35286480e-01 -3.53886840e-01 -1.81798222e-03 -1.50409565e+02] [-3.53886211e-01 -9.35288247e-01 6.67626005e-04 -2.90853816e+02] [-1.93660146e-03 1.89372644e-05 -9.99998125e-01 -8.06431958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9703857229999 meters 0.01393220774433201 Centerline is valid? [True, True] Translation: X:-150.41, Y:-290.87, Z:-8.06 [[ 9.60914262e-01 -2.76837972e-01 -2.12583211e-03 -1.50412009e+02] [-2.76837330e-01 -9.60916613e-01 5.96616061e-04 -2.90870293e+02] [-2.20791337e-03 1.52128035e-05 -9.99997563e-01 -8.06386989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.000385723 meters 0.013829562227447259 Centerline is valid? [True, True] Translation: X:-150.41, Y:-290.88, Z:-8.06 [[ 9.79805174e-01 -1.99941837e-01 -2.25469627e-03 -1.50412176e+02] [-1.99941340e-01 -9.79807768e-01 4.46052151e-04 -2.90884215e+02] [-2.29835340e-03 1.37627882e-05 -9.99997359e-01 -8.06356777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.030385723 meters 0.01373820197024806 Centerline is valid? [True, True] Translation: X:-150.42, Y:-290.90, Z:-8.06 [[ 9.92628757e-01 -1.21170223e-01 -2.43479954e-03 -1.50416052e+02] [-1.21169886e-01 -9.92631743e-01 2.85960167e-04 -2.90897467e+02] [-2.45150917e-03 1.11720976e-05 -9.99996995e-01 -8.06322293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.060385723 meters 0.013806897846393744 Centerline is valid? [True, True] Translation: X:-150.42, Y:-290.91, Z:-8.06 [[ 9.99098830e-01 -4.23376584e-02 -3.00851882e-03 -1.50417467e+02] [-4.23375019e-02 -9.99103359e-01 1.15707259e-04 -2.90910120e+02] [-3.01072003e-03 1.17701840e-05 -9.99995468e-01 -8.06283303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0903857229999 meters 0.013661173480294608 Centerline is valid? [True, True] Translation: X:-150.42, Y:-290.92, Z:-8.06 [[ 9.99351026e-01 3.58489709e-02 -3.51825778e-03 -1.50417986e+02] [ 3.58486972e-02 -9.99357219e-01 -1.40862370e-04 -2.90924016e+02] [-3.52104608e-03 1.46459968e-05 -9.99993801e-01 -8.06262062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.120385723 meters 0.013793984528893475 Centerline is valid? [True, True] Translation: X:-150.42, Y:-290.94, Z:-8.06 [[ 9.93517547e-01 1.13618950e-01 -3.69017144e-03 -1.50416863e+02] [ 1.13618104e-01 -9.93524400e-01 -4.38867561e-04 -2.90939496e+02] [-3.71613904e-03 1.67523415e-05 -9.99993095e-01 -8.06232411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.150385723 meters 0.013873798105039751 Centerline is valid? [True, True] Translation: X:-150.42, Y:-290.95, Z:-8.06 [[ 9.81636570e-01 1.90710053e-01 -4.39546939e-03 -1.50415771e+02] [ 1.90708040e-01 -9.81646411e-01 -8.76357263e-04 -2.90952926e+02] [-4.48192689e-03 2.20129849e-05 -9.99989956e-01 -8.06191354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.180385723 meters 0.013893384469759611 Centerline is valid? [True, True] Translation: X:-150.41, Y:-290.97, Z:-8.06 [[ 9.63734655e-01 2.66811761e-01 -5.19602389e-03 -1.50412512e+02] [ 2.66807727e-01 -9.63748662e-01 -1.46735018e-03 -2.90965874e+02] [-5.39916735e-03 2.77968975e-05 -9.99985424e-01 -8.06114353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.210385723 meters 0.014000758246711254 Centerline is valid? [True, True] Translation: X:-150.41, Y:-290.98, Z:-8.06 [[ 9.39911711e-01 3.41371041e-01 -5.63803065e-03 -1.50409679e+02] [ 3.41364699e-01 -9.39928620e-01 -2.08109852e-03 -2.90977669e+02] [-6.00977314e-03 3.14242341e-05 -9.99981941e-01 -8.06069441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.240385723 meters 0.014005461548177547 Centerline is valid? [True, True] Translation: X:-150.40, Y:-290.99, Z:-8.06 [[ 9.10121309e-01 4.14297557e-01 -6.06108952e-03 -1.50404902e+02] [ 4.14288135e-01 -9.10141491e-01 -2.79436657e-03 -2.90988501e+02] [-6.67414830e-03 3.21750870e-05 -9.99977727e-01 -8.06016723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.270385723 meters 0.013978552442406146 Centerline is valid? [True, True] Translation: X:-150.40, Y:-291.00, Z:-8.06 [[ 8.74766916e-01 4.84503502e-01 -6.26087974e-03 -1.50399042e+02] [ 4.84490825e-01 -8.74789321e-01 -3.50496095e-03 -2.91000392e+02] [-7.17511659e-03 3.26850928e-05 -9.99974258e-01 -8.06036352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.300385723 meters 0.01390105788080876 Centerline is valid? [True, True] Translation: X:-150.39, Y:-291.01, Z:-8.06 [[ 8.33290732e-01 5.52795002e-01 -6.65142259e-03 -1.50393084e+02] [ 5.52777161e-01 -8.33317278e-01 -4.44126173e-03 -2.91011623e+02] [-7.99785265e-03 2.41077417e-05 -9.99968016e-01 -8.06047082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.330385723 meters 0.013917025690694123 Centerline is valid? [True, True] Translation: X:-150.39, Y:-291.02, Z:-8.06 [[ 7.87025573e-01 6.16885106e-01 -6.59651330e-03 -1.50386925e+02] [ 6.16863230e-01 -7.87053216e-01 -5.19515354e-03 -2.91021628e+02] [-8.39661985e-03 1.95721860e-05 -9.99964748e-01 -8.06056063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.360385723 meters 0.014002671021711453 Centerline is valid? [True, True] Translation: X:-150.38, Y:-291.03, Z:-8.06 [[ 7.35124889e-01 6.77894615e-01 -7.09137784e-03 -1.50379155e+02] [ 6.77862998e-01 -7.35159092e-01 -6.54718625e-03 -2.91029931e+02] [-9.65159320e-03 6.01692504e-06 -9.99953422e-01 -8.06031241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.390385723 meters 0.013963088714709979 Centerline is valid? [True, True] Translation: X:-150.37, Y:-291.04, Z:-8.06 [[ 6.78818882e-01 7.34275215e-01 -6.69581480e-03 -1.50369594e+02] [ 7.34239597e-01 -6.78851905e-01 -7.23226674e-03 -2.91039705e+02] [-9.85594084e-03 -6.93314210e-06 -9.99951429e-01 -8.06121211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.420385723 meters 0.013956562681072494 Centerline is valid? [True, True] Translation: X:-150.36, Y:-291.05, Z:-8.06 [[ 6.17617680e-01 7.86457448e-01 -5.75195337e-03 -1.50359494e+02] [ 7.86423734e-01 -6.17644463e-01 -7.28201619e-03 -2.91049124e+02] [-9.27965802e-03 -2.59707040e-05 -9.99956943e-01 -8.06139111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.450385723 meters 0.014033527200875006 Centerline is valid? [True, True] Translation: X:-150.35, Y:-291.06, Z:-8.06 [[ 5.53386616e-01 8.32908006e-01 -5.24466219e-03 -1.50350781e+02] [ 8.32871192e-01 -5.53411467e-01 -7.83110386e-03 -2.91056087e+02] [-9.42504529e-03 -3.44999828e-05 -9.99955583e-01 -8.06146282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4803857229999 meters 0.014035633046405246 Centerline is valid? [True, True] Translation: X:-150.34, Y:-291.06, Z:-8.06 [[ 4.85588683e-01 8.74173545e-01 -4.92387293e-03 -1.50344113e+02] [ 8.74129581e-01 -4.85613645e-01 -8.76724211e-03 -2.91062139e+02] [-1.00551910e-02 -4.68294260e-05 -9.99949444e-01 -8.06137879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.510385723 meters 0.014113008656483449 Centerline is valid? [True, True] Translation: X:-150.34, Y:-291.07, Z:-8.06 [[ 4.14442300e-01 9.10065578e-01 -4.26897799e-03 -1.50337771e+02] [ 9.10018804e-01 -4.14464281e-01 -9.22694778e-03 -2.91066530e+02] [-1.01664665e-02 -6.08127891e-05 -9.99948318e-01 -8.06215827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.540385723 meters 0.014097046363442407 Centerline is valid? [True, True] Translation: X:-150.33, Y:-291.07, Z:-8.06 [[ 3.41643000e-01 9.39823788e-01 -3.36265462e-03 -1.50328634e+02] [ 9.39780005e-01 -3.41659543e-01 -9.07188327e-03 -2.91071567e+02] [-9.67485474e-03 -6.08101631e-05 -9.99953196e-01 -8.06298656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.570385723 meters 0.014168668099073939 Centerline is valid? [True, True] Translation: X:-150.32, Y:-291.08, Z:-8.06 [[ 2.65778215e-01 9.64030838e-01 -2.54631474e-03 -1.50319321e+02] [ 9.63989107e-01 -2.65790403e-01 -8.97013419e-03 -2.91075815e+02] [-9.32427200e-03 -7.05534265e-05 -9.99956526e-01 -8.06318946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6003857229999 meters 0.0142509575322333 Centerline is valid? [True, True] Translation: X:-150.31, Y:-291.08, Z:-8.06 [[ 1.88732742e-01 9.82027025e-01 -1.69529738e-03 -1.50310191e+02] [ 9.81990759e-01 -1.88740342e-01 -8.43991409e-03 -2.91079874e+02] [-8.60819473e-03 -7.18782284e-05 -9.99962946e-01 -8.06349899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.630385723 meters 0.014436639551085867 Centerline is valid? [True, True] Translation: X:-150.30, Y:-291.08, Z:-8.06 [[ 1.10010213e-01 9.93930041e-01 -9.09439429e-04 -1.50302747e+02] [ 9.93901366e-01 -1.10013948e-01 -7.55019523e-03 -2.91082437e+02] [-7.60441688e-03 -7.32945053e-05 -9.99971083e-01 -8.06430368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.660385723 meters 0.014532423396599855 Centerline is valid? [True, True] Translation: X:-150.30, Y:-291.08, Z:-8.06 [[ 3.16538886e-02 9.99498842e-01 -3.09343838e-04 -1.50295158e+02] [ 9.99471072e-01 -3.16553152e-02 -7.45097353e-03 -2.91084315e+02] [-7.45703179e-03 -7.33279313e-05 -9.99972193e-01 -8.06418775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.690385723 meters 0.014482886912770603 Centerline is valid? [True, True] Translation: X:-150.29, Y:-291.09, Z:-8.06 [[-4.64898324e-02 9.98918725e-01 2.77330287e-04 -1.50289818e+02] [ 9.98890467e-01 4.64906034e-02 -7.51394417e-03 -2.91086756e+02] [-7.51871278e-03 -7.22994248e-05 -9.99971732e-01 -8.06423666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7203857229999 meters 0.014257403845290166 Centerline is valid? [True, True] Translation: X:-150.28, Y:-291.09, Z:-8.06 [[-1.23776115e-01 9.92309773e-01 8.87354249e-04 -1.50284139e+02] [ 9.92280191e-01 1.23779277e-01 -7.66248703e-03 -2.91087875e+02] [-7.71339683e-03 -6.79288299e-05 -9.99970249e-01 -8.06493631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.750385723 meters 0.014257403845290166 Centerline is valid? [True, True] Translation: X:-150.27, Y:-291.09, Z:-8.06 [[-2.01106318e-01 9.79568295e-01 1.48471025e-03 -1.50274073e+02] [ 9.79539051e-01 2.01111787e-01 -7.56940974e-03 -2.91089022e+02] [-7.71334653e-03 -6.79244501e-05 -9.99970250e-01 -8.06493674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.780385723 meters 0.014291274528552026 Centerline is valid? [True, True] Translation: X:-150.27, Y:-291.09, Z:-8.07 [[-2.76793764e-01 9.60927099e-01 2.07906246e-03 -1.50265053e+02] [ 9.60898208e-01 2.76801564e-01 -7.45169928e-03 -2.91089355e+02] [-7.73602752e-03 -6.48164938e-05 -9.99970075e-01 -8.06536446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.810385723 meters 0.014278452657794295 Centerline is valid? [True, True] Translation: X:-150.26, Y:-291.09, Z:-8.07 [[-3.51139542e-01 9.36320222e-01 2.33765934e-03 -1.50257491e+02] [ 9.36298393e-01 3.51147319e-01 -6.39378608e-03 -2.91090162e+02] [-6.80749401e-03 -5.63644371e-05 -9.99976827e-01 -8.06596017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8403857229999 meters 0.01419019440472234 Centerline is valid? [True, True] Translation: X:-150.25, Y:-291.09, Z:-8.07 [[-4.23388771e-01 9.05944167e-01 2.66757852e-03 -1.50248895e+02] [ 9.05925390e-01 4.23397171e-01 -5.83291018e-03 -2.91089074e+02] [-6.41373615e-03 -5.29615577e-05 -9.99979431e-01 -8.06632526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.870385723 meters 0.014264515005038792 Centerline is valid? [True, True] Translation: X:-150.24, Y:-291.09, Z:-8.07 [[-4.93620329e-01 8.69672803e-01 2.86113924e-03 -1.50241225e+02] [ 8.69657572e-01 4.93628618e-01 -5.14730858e-03 -2.91087802e+02] [-5.88881449e-03 -5.26047583e-05 -9.99982660e-01 -8.06671794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.900385723 meters 0.014323444999952771 Centerline is valid? [True, True] Translation: X:-150.23, Y:-291.09, Z:-8.07 [[-5.60120035e-01 8.28406096e-01 2.98091101e-03 -1.50232309e+02] [ 8.28393910e-01 5.60127965e-01 -4.49370150e-03 -2.91087015e+02] [-5.39230134e-03 -4.76437144e-05 -9.99985460e-01 -8.06681855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.930385723 meters 0.014337214102576261 Centerline is valid? [True, True] Translation: X:-150.23, Y:-291.09, Z:-8.07 [[-6.22884787e-01 7.82307246e-01 3.14869909e-03 -1.50225180e+02] [ 7.82296903e-01 6.22892744e-01 -4.02309562e-03 -2.91086446e+02] [-5.10859867e-03 -4.27075107e-05 -9.99986950e-01 -8.06671450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.960385723 meters 0.014123626001806534 Centerline is valid? [True, True] Translation: X:-150.22, Y:-291.08, Z:-8.07 [[-6.81825653e-01 7.31506420e-01 3.48359557e-03 -1.50216412e+02] [ 7.31496570e-01 6.81834551e-01 -3.79642147e-03 -2.91082138e+02] [-5.15234250e-03 -4.02593375e-05 -9.99986726e-01 -8.06736953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.990385723 meters 0.014051241182063173 Centerline is valid? [True, True] Translation: X:-150.21, Y:-291.08, Z:-8.07 [[-7.35702147e-01 6.77295097e-01 3.70168421e-03 -1.50208450e+02] [ 6.77286319e-01 7.35711459e-01 -3.44830768e-03 -2.91080195e+02] [-5.05889337e-03 -2.98272926e-05 -9.99987203e-01 -8.06730414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.020385723 meters 0.01390084692211293 Centerline is valid? [True, True] Translation: X:-150.19, Y:-291.06, Z:-8.07 [[-7.80162092e-01 6.25560258e-01 4.63404655e-03 -1.50189556e+02] [ 6.25549070e-01 7.80175854e-01 -3.74134363e-03 -2.91064126e+02] [-5.95580711e-03 -2.00309593e-05 -9.99982264e-01 -8.06684181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.050385723 meters 0.013983225307256066 Centerline is valid? [True, True] Translation: X:-149.71, Y:-290.49, Z:-9.01 [[-7.32755334e-01 -6.80474730e-01 4.87468905e-03 -1.49708506e+02] [ 6.80460211e-01 -7.32771546e-01 -4.44559358e-03 -2.90492735e+02] [ 6.59714752e-03 5.94995336e-05 9.99978237e-01 -9.00698287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.080385723 meters 0.013904742306339705 Centerline is valid? [True, True] Translation: X:-150.22, Y:-291.05, Z:-8.07 [[-7.80046582e-01 6.25702252e-01 4.90124295e-03 -1.50215593e+02] [ 6.25689921e-01 7.80061979e-01 -3.92829583e-03 -2.91050632e+02] [-6.28121682e-03 2.40458029e-06 -9.99980273e-01 -8.06603445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.110385723 meters 0.013950424360646958 Centerline is valid? [True, True] Translation: X:-149.74, Y:-290.47, Z:-9.01 [[-7.38027077e-01 -6.74756952e-01 4.36919399e-03 -1.49735929e+02] [ 6.74744951e-01 -7.38040010e-01 -4.02426735e-03 -2.90466254e+02] [ 5.94004234e-03 -2.19266867e-05 9.99982358e-01 -9.00607177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.140385723 meters 0.014083382726197477 Centerline is valid? [True, True] Translation: X:-149.75, Y:-290.49, Z:-9.01 [[-6.93303814e-01 -7.20635381e-01 3.80391357e-03 -1.49747243e+02] [ 7.20624291e-01 -6.93314248e-01 -3.99799880e-03 -2.90493601e+02] [ 5.51840687e-03 -3.06352954e-05 9.99984773e-01 -9.00592278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.170385723 meters 0.014293767879324258 Centerline is valid? [True, True] Translation: X:-149.76, Y:-290.47, Z:-9.01 [[-6.94721897e-01 -7.19266948e-01 4.06741548e-03 -1.49763717e+02] [ 7.19254265e-01 -6.94733802e-01 -4.27150382e-03 -2.90472864e+02] [ 5.89812254e-03 -4.20013038e-05 9.99982605e-01 -9.00624222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.200385723 meters 0.014545228220632759 Centerline is valid? [True, True] Translation: X:-149.78, Y:-290.45, Z:-9.01 [[-6.97166921e-01 -7.16894536e-01 4.52874542e-03 -1.49781396e+02] [ 7.16878780e-01 -6.97181626e-01 -4.75339425e-03 -2.90450586e+02] [ 6.56504046e-03 -6.73477359e-05 9.99978448e-01 -9.00624620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2303857229999 meters 0.014671047530747511 Centerline is valid? [True, True] Translation: X:-149.80, Y:-290.43, Z:-9.01 [[-6.98284575e-01 -7.15804923e-01 4.68662124e-03 -1.49800160e+02] [ 7.15788043e-01 -6.98300298e-01 -4.91639128e-03 -2.90429383e+02] [ 6.79184608e-03 -7.84127514e-05 9.99976932e-01 -9.00605403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.260385723 meters 0.014862047648900612 Centerline is valid? [True, True] Translation: X:-149.82, Y:-290.41, Z:-9.01 [[-6.99845773e-01 -7.14282122e-01 4.11640453e-03 -1.49817911e+02] [ 7.14269087e-01 -6.99857875e-01 -4.31583624e-03 -2.90407066e+02] [ 5.96362279e-03 -8.01992412e-05 9.99982214e-01 -9.00546310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.290385723 meters 0.015286964682159425 Centerline is valid? [True, True] Translation: X:-149.83, Y:-290.39, Z:-9.01 [[-7.00459078e-01 -7.13684750e-01 3.34023602e-03 -1.49834093e+02] [ 7.13676172e-01 -7.00467039e-01 -3.49978796e-03 -2.90386143e+02] [ 4.83747053e-03 -6.76113924e-05 9.99988297e-01 -9.00508619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.320385723 meters 0.01523915610347716 Centerline is valid? [True, True] Translation: X:-149.85, Y:-290.37, Z:-9.00 [[-7.00338662e-01 -7.13803235e-01 3.27128747e-03 -1.49852181e+02] [ 7.13795018e-01 -7.00346299e-01 -3.42551204e-03 -2.90366193e+02] [ 4.73617564e-03 -6.39898196e-05 9.99988782e-01 -9.00486067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3503857229999 meters 0.014763681514156331 Centerline is valid? [True, True] Translation: X:-149.87, Y:-290.35, Z:-9.00 [[-7.00093580e-01 -7.14042418e-01 3.52192370e-03 -1.49872107e+02] [ 7.14032908e-01 -7.00102436e-01 -3.68593018e-03 -2.90345936e+02] [ 5.09761786e-03 -6.57266374e-05 9.99987005e-01 -9.00417258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.380385723 meters 0.014539913876905125 Centerline is valid? [True, True] Translation: X:-149.89, Y:-290.33, Z:-9.00 [[-6.98984732e-01 -7.15128207e-01 3.46297773e-03 -1.49891533e+02] [ 7.15119035e-01 -6.98993309e-01 -3.62221485e-03 -2.90325148e+02] [ 5.01094627e-03 -5.54315823e-05 9.99987444e-01 -9.00390249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.410385723 meters 0.014493566921440859 Centerline is valid? [True, True] Translation: X:-149.91, Y:-290.31, Z:-9.00 [[-6.98271383e-01 -7.15825172e-01 3.37628877e-03 -1.49910224e+02] [ 7.15816469e-01 -6.98279543e-01 -3.53010320e-03 -2.90305899e+02] [ 4.88453011e-03 -4.81669357e-05 9.99988070e-01 -9.00414303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.440385723 meters 0.014230658360109888 Centerline is valid? [True, True] Translation: X:-149.93, Y:-290.29, Z:-9.00 [[-6.96573377e-01 -7.17478670e-01 3.14459852e-03 -1.49929087e+02] [ 7.17471147e-01 -6.96580474e-01 -3.28582506e-03 -2.90286903e+02] [ 4.54797532e-03 -3.26595559e-05 9.99989657e-01 -9.00482750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4703857229999 meters 0.01423903318876969 Centerline is valid? [True, True] Translation: X:-149.95, Y:-290.27, Z:-9.00 [[-6.95563167e-01 -7.18456814e-01 3.41875760e-03 -1.49946657e+02] [ 7.18447945e-01 -6.95571568e-01 -3.57000445e-03 -2.90266713e+02] [ 4.94288461e-03 -2.69642335e-05 9.99987784e-01 -9.00453926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.500385723 meters 0.01421671915076915 Centerline is valid? [True, True] Translation: X:-149.97, Y:-290.25, Z:-9.00 [[-6.95573665e-01 -7.18447323e-01 3.27418480e-03 -1.49965531e+02] [ 7.18439198e-01 -6.95581371e-01 -3.41691411e-03 -2.90246834e+02] [ 4.73233475e-03 -2.44127746e-05 9.99988802e-01 -9.00417926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.530385723 meters 0.014336526107563126 Centerline is valid? [True, True] Translation: X:-149.98, Y:-290.23, Z:-9.00 [[-6.96096289e-01 -7.17941309e-01 3.19902811e-03 -1.49984166e+02] [ 7.17933556e-01 -6.96103639e-01 -3.33650992e-03 -2.90226291e+02] [ 4.62227341e-03 -2.58425501e-05 9.99989317e-01 -9.00426566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.560385723 meters 0.014455900805868827 Centerline is valid? [True, True] Translation: X:-150.00, Y:-290.21, Z:-9.00 [[-6.96803350e-01 -7.17255343e-01 3.14092177e-03 -1.50002328e+02] [ 7.17247872e-01 -6.96810428e-01 -3.27384605e-03 -2.90205705e+02] [ 4.53681061e-03 -2.84074416e-05 9.99989708e-01 -9.00407787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5903857229999 meters 0.014695793091496361 Centerline is valid? [True, True] Translation: X:-150.02, Y:-290.19, Z:-9.00 [[-6.98732147e-01 -7.15377752e-01 2.83882214e-03 -1.50018832e+02] [ 7.15371642e-01 -6.98737912e-01 -2.95699863e-03 -2.90185177e+02] [ 4.09896369e-03 -3.53371385e-05 9.99991599e-01 -9.00330444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.620385723 meters 0.014802600818458276 Centerline is valid? [True, True] Translation: X:-150.04, Y:-290.16, Z:-9.00 [[-6.99772797e-01 -7.14359802e-01 2.84732395e-03 -1.50037972e+02] [ 7.14353653e-01 -6.99778588e-01 -2.96420262e-03 -2.90164079e+02] [ 4.11000353e-03 -4.02720895e-05 9.99991553e-01 -9.00285367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.650385723 meters 0.015098000265389487 Centerline is valid? [True, True] Translation: X:-150.05, Y:-290.14, Z:-9.00 [[-7.01809179e-01 -7.12357761e-01 3.20888867e-03 -1.50054952e+02] [ 7.12349937e-01 -7.01816512e-01 -3.33926001e-03 -2.90142751e+02] [ 4.63079884e-03 -5.76716860e-05 9.99989276e-01 -9.00346261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.680385723 meters 0.015408455774536622 Centerline is valid? [True, True] Translation: X:-150.07, Y:-290.12, Z:-9.00 [[-7.03564310e-01 -7.10620117e-01 4.03879318e-03 -1.50074007e+02] [ 7.10607707e-01 -7.03575897e-01 -4.20056300e-03 -2.90121772e+02] [ 5.82660210e-03 -8.53686430e-05 9.99983022e-01 -9.00453412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.710385723 meters 0.01565963213204341 Centerline is valid? [True, True] Translation: X:-150.09, Y:-290.10, Z:-9.01 [[-7.04298643e-01 -7.09889203e-01 4.55421482e-03 -1.50091655e+02] [ 7.09873429e-01 -7.04313360e-01 -4.73354894e-03 -2.90102499e+02] [ 6.56788963e-03 -1.00916007e-04 9.99978426e-01 -9.00524336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.740385723 meters 0.01590144765373522 Centerline is valid? [True, True] Translation: X:-150.11, Y:-290.08, Z:-9.01 [[-7.04756081e-01 -7.09428214e-01 5.52047473e-03 -1.50109177e+02] [ 7.09405043e-01 -7.04777691e-01 -5.73513788e-03 -2.90082441e+02] [ 7.95937605e-03 -1.25620679e-04 9.99968316e-01 -9.00636875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.770385723 meters 0.015869465878641895 Centerline is valid? [True, True] Translation: X:-150.13, Y:-290.06, Z:-9.01 [[-7.05101853e-01 -7.09083205e-01 5.69086901e-03 -1.50128066e+02] [ 7.09058599e-01 -7.05124806e-01 -5.90856423e-03 -2.90062445e+02] [ 8.20243657e-03 -1.30979981e-04 9.99966351e-01 -9.00652915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.800385723 meters 0.01610072255260508 Centerline is valid? [True, True] Translation: X:-150.15, Y:-290.04, Z:-9.01 [[-7.05376738e-01 -7.08808013e-01 5.90413468e-03 -1.50145522e+02] [ 7.08781544e-01 -7.05401433e-01 -6.12711350e-03 -2.90042362e+02] [ 8.50773221e-03 -1.37181636e-04 9.99963799e-01 -9.00699521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.830385723 meters 0.015751079656459072 Centerline is valid? [True, True] Translation: X:-150.17, Y:-290.02, Z:-9.01 [[-7.05577173e-01 -7.08608934e-01 5.85086121e-03 -1.50165050e+02] [ 7.08582965e-01 -7.05601418e-01 -6.06807421e-03 -2.90023114e+02] [ 8.42826756e-03 -1.35674064e-04 9.99964472e-01 -9.00639591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.860385723 meters 0.016118042846086564 Centerline is valid? [True, True] Translation: X:-150.18, Y:-290.00, Z:-9.01 [[-7.05369321e-01 -7.08817976e-01 5.58544293e-03 -1.50182799e+02] [ 7.08794347e-01 -7.05391424e-01 -5.78905280e-03 -2.90003854e+02] [ 8.04330823e-03 -1.24489876e-04 9.99967644e-01 -9.00669499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.890385723 meters 0.015387348138408002 Centerline is valid? [True, True] Translation: X:-150.20, Y:-289.99, Z:-9.01 [[-7.04684437e-01 -7.09501947e-01 5.17999698e-03 -1.50203581e+02] [ 7.09481666e-01 -7.04703467e-01 -5.36555235e-03 -2.89985676e+02] [ 7.45723166e-03 -1.05908350e-04 9.99972189e-01 -9.00572758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.920385723 meters 0.015521513263271834 Centerline is valid? [True, True] Translation: X:-150.22, Y:-289.97, Z:-9.01 [[-7.04471536e-01 -7.09714539e-01 5.01284656e-03 -1.50221774e+02] [ 7.09695575e-01 -7.04489364e-01 -5.18909679e-03 -2.89966341e+02] [ 7.21427452e-03 -9.79759619e-05 9.99973972e-01 -9.00558297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.950385723 meters 0.015216549066541686 Centerline is valid? [True, True] Translation: X:-150.24, Y:-289.95, Z:-9.00 [[-7.04126403e-01 -7.10058453e-01 4.79604689e-03 -1.50241154e+02] [ 7.10041123e-01 -7.04142731e-01 -4.96166009e-03 -2.89947565e+02] [ 6.90017024e-03 -8.82453457e-05 9.99976190e-01 -9.00425402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9803857229999 meters 0.015092520222859892 Centerline is valid? [True, True] Translation: X:-150.26, Y:-289.93, Z:-9.00 [[-7.04216359e-01 -7.09968376e-01 4.92183570e-03 -1.50261304e+02] [ 7.09950143e-01 -7.04233553e-01 -5.08899330e-03 -2.89927936e+02] [ 7.07914615e-03 -8.94943716e-05 9.99974939e-01 -9.00407522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.010385723 meters 0.015469791662547043 Centerline is valid? [True, True] Translation: X:-150.28, Y:-289.91, Z:-9.00 [[-7.04977153e-01 -7.09211129e-01 5.17572633e-03 -1.50279318e+02] [ 7.09190972e-01 -7.04996145e-01 -5.34803846e-03 -2.89908483e+02] [ 7.44175550e-03 -9.96665447e-05 9.99972305e-01 -9.00472607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.040385723 meters 0.015494242848846353 Centerline is valid? [True, True] Translation: X:-150.30, Y:-289.89, Z:-9.00 [[-7.05496680e-01 -7.08694626e-01 5.13443480e-03 -1.50298302e+02] [ 7.08674798e-01 -7.05515356e-01 -5.30218937e-03 -2.89889136e+02] [ 7.38005570e-03 -1.02032449e-04 9.99972762e-01 -9.00419343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.070385723 meters 0.015808525568403817 Centerline is valid? [True, True] Translation: X:-150.32, Y:-289.87, Z:-9.00 [[-7.06140298e-01 -7.08055781e-01 4.78439970e-03 -1.50316615e+02] [ 7.08038572e-01 -7.06156499e-01 -4.93761124e-03 -2.89870247e+02] [ 6.87463913e-03 -9.91067397e-05 9.99976365e-01 -9.00370138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1003857229999 meters 0.015896219638108014 Centerline is valid? [True, True] Translation: X:-150.34, Y:-289.85, Z:-9.00 [[-7.06347818e-01 -7.07847289e-01 4.99744694e-03 -1.50335186e+02] [ 7.07828525e-01 -7.06365489e-01 -5.15512707e-03 -2.89851130e+02] [ 7.17906678e-03 -1.03977266e-04 9.99974225e-01 -9.00395714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.130385723 meters 0.015416520242996418 Centerline is valid? [True, True] Translation: X:-150.36, Y:-289.83, Z:-9.00 [[-7.06835946e-01 -7.07358972e-01 5.12156257e-03 -1.50355763e+02] [ 7.07339275e-01 -7.06854492e-01 -5.27993449e-03 -2.89832572e+02] [ 7.35500854e-03 -1.09365134e-04 9.99972946e-01 -9.00359963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.160385723 meters 0.015455054739870236 Centerline is valid? [True, True] Translation: X:-150.37, Y:-289.81, Z:-9.00 [[-7.07101781e-01 -7.07094624e-01 4.92585970e-03 -1.50374812e+02] [ 7.07076418e-01 -7.07118931e-01 -5.07508389e-03 -2.89813671e+02] [ 7.07173318e-03 -1.05641624e-04 9.99974990e-01 -9.00314087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.190385723 meters 0.015330306438673901 Centerline is valid? [True, True] Translation: X:-150.39, Y:-289.79, Z:-9.00 [[-7.07198506e-01 -7.07001655e-01 4.35107295e-03 -1.50394637e+02] [ 7.06987467e-01 -7.07211885e-01 -4.48010389e-03 -2.89794428e+02] [ 6.24457136e-03 -9.21687378e-05 9.99980498e-01 -9.00258016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2203857229999 meters 0.015308372625269077 Centerline is valid? [True, True] Translation: X:-150.41, Y:-289.78, Z:-9.00 [[-7.07006399e-01 -7.07192889e-01 4.49109187e-03 -1.50413111e+02] [ 7.07177796e-01 -7.07020657e-01 -4.62126586e-03 -2.89776306e+02] [ 6.44342108e-03 -9.12640861e-05 9.99979237e-01 -9.00232913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.250385723 meters 0.015010937028273814 Centerline is valid? [True, True] Translation: X:-150.43, Y:-289.76, Z:-9.00 [[-7.06915913e-01 -7.07280910e-01 4.85857263e-03 -1.50433356e+02] [ 7.07263267e-01 -7.06932603e-01 -4.99662858e-03 -2.89756357e+02] [ 6.96870341e-03 -9.59063063e-05 9.99975714e-01 -9.00216948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.280385723 meters 0.015044566474513483 Centerline is valid? [True, True] Translation: X:-150.45, Y:-289.74, Z:-9.00 [[-7.06766756e-01 -7.07428269e-01 5.09867604e-03 -1.50451901e+02] [ 7.07408868e-01 -7.06785140e-01 -5.24013271e-03 -2.89737273e+02] [ 7.31068648e-03 -9.67029520e-05 9.99973272e-01 -9.00276203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.310385723 meters 0.0149689096896238 Centerline is valid? [True, True] Translation: X:-150.47, Y:-289.72, Z:-9.00 [[-7.06913419e-01 -7.07282574e-01 4.97787822e-03 -1.50472435e+02] [ 7.07264098e-01 -7.06930939e-01 -5.11312136e-03 -2.89718554e+02] [ 7.13543776e-03 -9.38595555e-05 9.99974538e-01 -9.00306892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3403857229999 meters 0.015345705527066702 Centerline is valid? [True, True] Translation: X:-150.49, Y:-289.70, Z:-9.00 [[-7.07107371e-01 -7.07088739e-01 4.96794081e-03 -1.50490351e+02] [ 7.07070354e-01 -7.07124817e-01 -5.09990266e-03 -2.89698769e+02] [ 7.11903798e-03 -9.34950958e-05 9.99974655e-01 -9.00392900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.370385723 meters 0.01520244444851461 Centerline is valid? [True, True] Translation: X:-150.51, Y:-289.68, Z:-9.00 [[-7.07548090e-01 -7.06647496e-01 5.00165548e-03 -1.50510017e+02] [ 7.06628872e-01 -7.07565762e-01 -5.13135425e-03 -2.89679800e+02] [ 7.16505881e-03 -9.63657323e-05 9.99974326e-01 -9.00355263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.400385723 meters 0.015483822461065442 Centerline is valid? [True, True] Translation: X:-150.53, Y:-289.66, Z:-9.00 [[-7.08668185e-01 -7.05529556e-01 4.17724269e-03 -1.50527861e+02] [ 7.05516563e-01 -7.08680490e-01 -4.28279866e-03 -2.89660387e+02] [ 5.98197144e-03 -8.79692421e-05 9.99982104e-01 -9.00315915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.430385723 meters 0.015927877120778297 Centerline is valid? [True, True] Translation: X:-150.55, Y:-289.64, Z:-9.00 [[-7.09626897e-01 -7.04565478e-01 4.14170095e-03 -1.50547022e+02] [ 7.04552704e-01 -7.09638977e-01 -4.24381056e-03 -2.89640499e+02] [ 5.92915485e-03 -9.34755199e-05 9.99982418e-01 -9.00365907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.460385723 meters 0.01588675464317942 Centerline is valid? [True, True] Translation: X:-150.57, Y:-289.62, Z:-9.00 [[-7.10416081e-01 -7.03768842e-01 4.29059735e-03 -1.50566264e+02] [ 7.03755134e-01 -7.10429030e-01 -4.39370321e-03 -2.89621348e+02] [ 6.14031634e-03 -1.01827500e-04 9.99981143e-01 -9.00404282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.490385723 meters 0.015880759636850872 Centerline is valid? [True, True] Translation: X:-150.59, Y:-289.60, Z:-9.00 [[-7.11056655e-01 -7.03124615e-01 3.76940982e-03 -1.50585667e+02] [ 7.03114039e-01 -7.11066640e-01 -3.85761841e-03 -2.89601868e+02] [ 5.39268803e-03 -9.26602808e-05 9.99985455e-01 -9.00347754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.520385723 meters 0.01606120737983006 Centerline is valid? [True, True] Translation: X:-150.60, Y:-289.58, Z:-9.00 [[-7.11201794e-01 -7.02979638e-01 3.41127412e-03 -1.50604051e+02] [ 7.02970986e-01 -7.11209970e-01 -3.48885353e-03 -2.89583052e+02] [ 4.87872516e-03 -8.32521582e-05 9.99988096e-01 -9.00335824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.550385723 meters 0.016011205400315205 Centerline is valid? [True, True] Translation: X:-150.62, Y:-289.57, Z:-9.00 [[-7.11102568e-01 -7.03081113e-01 3.17600928e-03 -1.50623686e+02] [ 7.03073623e-01 -7.11109656e-01 -3.24617152e-03 -2.89565918e+02] [ 4.54081275e-03 -7.53925603e-05 9.99989688e-01 -9.00398381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.580385723 meters 0.015615929689943296 Centerline is valid? [True, True] Translation: X:-150.64, Y:-289.55, Z:-9.00 [[-7.10303154e-01 -7.03886922e-01 3.55378377e-03 -1.50644901e+02] [ 7.03877566e-01 -7.10312040e-01 -3.63007272e-03 -2.89548364e+02] [ 5.07945611e-03 -7.70234368e-05 9.99987097e-01 -9.00438261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.610385723 meters 0.015227626351808935 Centerline is valid? [True, True] Translation: X:-150.67, Y:-289.53, Z:-9.00 [[-7.09877840e-01 -7.04315906e-01 3.54356396e-03 -1.50665877e+02] [ 7.04306619e-01 -7.09886681e-01 -3.61760507e-03 -2.89529682e+02] [ 5.06346565e-03 -7.23021162e-05 9.99987178e-01 -9.00481851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.640385723 meters 0.015479776262707369 Centerline is valid? [True, True] Translation: X:-150.68, Y:-289.51, Z:-9.01 [[-7.08373605e-01 -7.05826104e-01 4.04318810e-03 -1.50684295e+02] [ 7.05814051e-01 -7.08385140e-01 -4.12533249e-03 -2.89510227e+02] [ 5.77590173e-03 -6.85376745e-05 9.99983317e-01 -9.00580454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.670385723 meters 0.015479776262707369 Centerline is valid? [True, True] Translation: X:-150.70, Y:-289.49, Z:-9.01 [[-7.08579622e-01 -7.05619276e-01 4.04439234e-03 -1.50703115e+02] [ 7.05607227e-01 -7.08591160e-01 -4.12415188e-03 -2.89491188e+02] [ 5.77590173e-03 -6.85375125e-05 9.99983317e-01 -9.00580503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.700385723 meters 0.015220125640303802 Centerline is valid? [True, True] Translation: X:-150.72, Y:-289.47, Z:-9.01 [[-7.08091397e-01 -7.06106654e-01 4.46847608e-03 -1.50723580e+02] [ 7.06091972e-01 -7.08105492e-01 -4.55405307e-03 -2.89472392e+02] [ 6.37979963e-03 -6.95307106e-05 9.99979647e-01 -9.00624350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7303857229999 meters 0.014856983360249392 Centerline is valid? [True, True] Translation: X:-150.75, Y:-289.46, Z:-9.01 [[-7.06994961e-01 -7.07199206e-01 5.23524192e-03 -1.50745565e+02] [ 7.07179107e-01 -7.07014341e-01 -5.33224980e-03 -2.89455331e+02] [ 7.47235394e-03 -6.76200339e-05 9.99972079e-01 -9.00722850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.760385723 meters 0.01688634906199951 Centerline is valid? [True, True] Translation: X:-150.77, Y:-289.44, Z:-9.01 [[-7.07254175e-01 -7.06936521e-01 5.68218638e-03 -1.50765715e+02] [ 7.06912863e-01 -7.07276997e-01 -5.78393398e-03 -2.89436430e+02] [ 8.10775388e-03 -7.39008106e-05 9.99967129e-01 -9.01014624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.790385723 meters 0.015020700240959101 Centerline is valid? [True, True] Translation: X:-150.78, Y:-289.42, Z:-9.01 [[-7.07725739e-01 -7.06463579e-01 5.78709806e-03 -1.50784664e+02] [ 7.06439053e-01 -7.07749395e-01 -5.88715750e-03 -2.89416867e+02] [ 8.25487751e-03 -7.82608147e-05 9.99965925e-01 -9.00753853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.820385723 meters 0.015129922108726332 Centerline is valid? [True, True] Translation: X:-150.80, Y:-289.40, Z:-9.01 [[-7.08289333e-01 -7.05898634e-01 5.77409036e-03 -1.50803156e+02] [ 7.05874228e-01 -7.08312863e-01 -5.87038728e-03 -2.89396576e+02] [ 8.23376084e-03 -8.21511103e-05 9.99966099e-01 -9.00698735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8503857229999 meters 0.015467291967097252 Centerline is valid? [True, True] Translation: X:-150.82, Y:-289.37, Z:-9.01 [[-7.09941137e-01 -7.04236971e-01 5.81982947e-03 -1.50821406e+02] [ 7.04212148e-01 -7.09964984e-01 -5.91374602e-03 -2.89374825e+02] [ 8.29655372e-03 -1.00016968e-04 9.99965578e-01 -9.00598421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.880385723 meters 0.015552097921666133 Centerline is valid? [True, True] Translation: X:-150.84, Y:-289.36, Z:-9.01 [[-7.11544272e-01 -7.02616671e-01 5.87908022e-03 -1.50841668e+02] [ 7.02591311e-01 -7.11568549e-01 -5.97069805e-03 -2.89355084e+02] [ 8.37848057e-03 -1.17825316e-04 9.99964893e-01 -9.00576312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.910385723 meters 0.016129383675644513 Centerline is valid? [True, True] Translation: X:-150.86, Y:-289.34, Z:-9.01 [[-7.12163577e-01 -7.01987688e-01 6.02712281e-03 -1.50859901e+02] [ 7.01961046e-01 -7.12189069e-01 -6.11712631e-03 -2.89335649e+02] [ 8.58659834e-03 -1.25589118e-04 9.99963127e-01 -9.00697354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.940385723 meters 0.01649448420981332 Centerline is valid? [True, True] Translation: X:-150.88, Y:-289.32, Z:-9.01 [[-7.13141830e-01 -7.00991177e-01 6.33239838e-03 -1.50878846e+02] [ 7.00961761e-01 -7.13169930e-01 -6.42342505e-03 -2.89316248e+02] [ 9.01884040e-03 -1.42043970e-04 9.99959319e-01 -9.00779511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9703857229999 meters 0.015936740004122322 Centerline is valid? [True, True] Translation: X:-150.90, Y:-289.30, Z:-9.01 [[-7.13848977e-01 -7.00273518e-01 6.05304669e-03 -1.50899001e+02] [ 7.00246646e-01 -7.13874625e-01 -6.13627174e-03 -2.89297583e+02] [ 8.61818503e-03 -1.41745660e-04 9.99962853e-01 -9.00576476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.000385723 meters 0.015813559250824515 Centerline is valid? [True, True] Translation: X:-150.92, Y:-289.28, Z:-9.00 [[-7.14483884e-01 -6.99626110e-01 6.00706444e-03 -1.50919088e+02] [ 6.99599652e-01 -7.14509121e-01 -6.08630189e-03 -2.89277362e+02] [ 8.55023805e-03 -1.46024421e-04 9.99963436e-01 -9.00470056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.030385723 meters 0.01612199651424815 Centerline is valid? [True, True] Translation: X:-150.94, Y:-289.26, Z:-9.00 [[-7.14822891e-01 -6.99285963e-01 5.23222128e-03 -1.50939275e+02] [ 6.99265905e-01 -7.14842028e-01 -5.29797873e-03 -2.89259186e+02] [ 7.44501383e-03 -1.28402521e-04 9.99972277e-01 -9.00437196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.060385723 meters 0.016059812928703524 Centerline is valid? [True, True] Translation: X:-150.96, Y:-289.24, Z:-9.00 [[-7.14773204e-01 -6.99338267e-01 5.02546358e-03 -1.50958622e+02] [ 6.99319788e-01 -7.14790860e-01 -5.08533751e-03 -2.89240941e+02] [ 7.14852656e-03 -1.20456860e-04 9.99974442e-01 -9.00420347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0903857229999 meters 0.01579997824121238 Centerline is valid? [True, True] Translation: X:-150.98, Y:-289.22, Z:-9.00 [[-7.14181089e-01 -6.99949286e-01 4.04587338e-03 -1.50979802e+02] [ 6.99937333e-01 -7.14192543e-01 -4.09156535e-03 -2.89223068e+02] [ 5.75342084e-03 -9.02607717e-05 9.99983445e-01 -9.00405363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.120385723 meters 0.015661681486360813 Centerline is valid? [True, True] Translation: X:-151.00, Y:-289.20, Z:-9.00 [[-7.13690567e-01 -7.00450454e-01 3.86474211e-03 -1.50999070e+02] [ 7.00439569e-01 -7.13701026e-01 -3.90588083e-03 -2.89204680e+02] [ 5.49414641e-03 -8.05720042e-05 9.99984904e-01 -9.00386825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.150385723 meters 0.015435865838500656 Centerline is valid? [True, True] Translation: X:-151.02, Y:-289.19, Z:-9.00 [[-7.12458320e-01 -7.01699138e-01 4.63262975e-03 -1.51019941e+02] [ 7.01683542e-01 -7.12473377e-01 -4.67910899e-03 -2.89186914e+02] [ 6.58395210e-03 -8.30300812e-05 9.99978322e-01 -9.00480835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.180385723 meters 0.015345851699361429 Centerline is valid? [True, True] Translation: X:-151.04, Y:-289.17, Z:-9.01 [[-7.11886557e-01 -7.02276880e-01 4.97125635e-03 -1.51039616e+02] [ 7.02258956e-01 -7.11903910e-01 -5.01807861e-03 -2.89168659e+02] [ 7.06313742e-03 -8.11934052e-05 9.99975053e-01 -9.00524183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.210385723 meters 0.015112354303296383 Centerline is valid? [True, True] Translation: X:-151.06, Y:-289.15, Z:-9.01 [[-7.10762072e-01 -7.03409903e-01 5.63784312e-03 -1.51061038e+02] [ 7.03386912e-01 -7.10784427e-01 -5.68766140e-03 -2.89150838e+02] [ 8.00804845e-03 -7.69889391e-05 9.99967932e-01 -9.00563191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.240385723 meters 0.014901933133357952 Centerline is valid? [True, True] Translation: X:-151.08, Y:-289.13, Z:-9.01 [[-7.09564395e-01 -7.04620743e-01 5.28936600e-03 -1.51082656e+02] [ 7.04600565e-01 -7.09584107e-01 -5.33286174e-03 -2.89133616e+02] [ 7.51089506e-03 -5.71185440e-05 9.99971791e-01 -9.00619384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.270385723 meters 0.014812139241311924 Centerline is valid? [True, True] Translation: X:-151.10, Y:-289.12, Z:-9.01 [[-7.09085693e-01 -7.05102717e-01 5.25731322e-03 -1.51102032e+02] [ 7.05082821e-01 -7.09105180e-01 -5.29716436e-03 -2.89115597e+02] [ 7.46303301e-03 -4.93022264e-05 9.99972150e-01 -9.00595363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.300385723 meters 0.014623768902887137 Centerline is valid? [True, True] Translation: X:-151.12, Y:-289.10, Z:-9.00 [[-7.08612056e-01 -7.05581823e-01 4.82142248e-03 -1.51122142e+02] [ 7.05565118e-01 -7.08628457e-01 -4.85526815e-03 -2.89096594e+02] [ 6.84238613e-03 -3.86740212e-05 9.99976590e-01 -9.00402221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.330385723 meters 0.014575425570509457 Centerline is valid? [True, True] Translation: X:-151.14, Y:-289.08, Z:-9.00 [[-7.08819631e-01 -7.05374400e-01 4.65687548e-03 -1.51142190e+02] [ 7.05358829e-01 -7.08834928e-01 -4.68696369e-03 -2.89076642e+02] [ 6.60702019e-03 -3.74436459e-05 9.99978173e-01 -9.00371533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.360385723 meters 0.014581336084184727 Centerline is valid? [True, True] Translation: X:-151.16, Y:-289.06, Z:-9.00 [[-7.09097727e-01 -7.05098285e-01 4.10144989e-03 -1.51161801e+02] [ 7.05086219e-01 -7.09109587e-01 -4.12523747e-03 -2.89058629e+02] [ 5.81707530e-03 -3.33207135e-05 9.99983080e-01 -9.00335685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.390385723 meters 0.014518722485142918 Centerline is valid? [True, True] Translation: X:-151.18, Y:-289.04, Z:-9.00 [[-7.09122484e-01 -7.05078690e-01 3.05676736e-03 -1.51183170e+02] [ 7.05071994e-01 -7.09129072e-01 -3.07280736e-03 -2.89040314e+02] [ 4.33421359e-03 -2.37557298e-05 9.99990607e-01 -9.00228762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.420385723 meters 0.014512873396204072 Centerline is valid? [True, True] Translation: X:-151.20, Y:-289.02, Z:-9.00 [[-7.09382629e-01 -7.04818122e-01 2.77499636e-03 -1.51202325e+02] [ 7.04812607e-01 -7.09388056e-01 -2.78822253e-03 -2.89022278e+02] [ 3.93373904e-03 -2.20642045e-05 9.99992263e-01 -9.00225989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.450385723 meters 0.0144331312338616 Centerline is valid? [True, True] Translation: X:-151.22, Y:-289.00, Z:-9.00 [[-7.09492939e-01 -7.04703925e-01 3.48529835e-03 -1.51222954e+02] [ 7.04695234e-01 -7.09501499e-01 -3.49996746e-03 -2.89002735e+02] [ 4.93926521e-03 -2.71290613e-05 9.99987802e-01 -9.00216605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4803857229999 meters 0.014515402994572268 Centerline is valid? [True, True] Translation: X:-151.24, Y:-288.98, Z:-9.00 [[-7.09796694e-01 -7.04394031e-01 4.20735333e-03 -1.51242845e+02] [ 7.04381375e-01 -7.09809163e-01 -4.22258626e-03 -2.88984187e+02] [ 5.96078250e-03 -3.35964454e-05 9.99982234e-01 -9.00301660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.510385723 meters 0.014422264782902738 Centerline is valid? [True, True] Translation: X:-151.26, Y:-288.97, Z:-9.00 [[-7.10077784e-01 -7.04108919e-01 4.49123672e-03 -1.51262861e+02] [ 7.04094510e-01 -7.10091986e-01 -4.50473386e-03 -2.88965847e+02] [ 6.36101450e-03 -3.64563194e-05 9.99979768e-01 -9.00358096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.540385723 meters 0.014537630069001403 Centerline is valid? [True, True] Translation: X:-151.28, Y:-288.95, Z:-9.00 [[-7.10285112e-01 -7.03901345e-01 4.23763195e-03 -1.51284260e+02] [ 7.03888527e-01 -7.10297752e-01 -4.24802949e-03 -2.88947258e+02] [ 6.00017411e-03 -3.44915907e-05 9.99981998e-01 -9.00439677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.570385723 meters 0.014416499455951085 Centerline is valid? [True, True] Translation: X:-151.30, Y:-288.93, Z:-9.00 [[-7.10326777e-01 -7.03857376e-01 4.54581347e-03 -1.51304405e+02] [ 7.03842641e-01 -7.10341322e-01 -4.55445400e-03 -2.88927503e+02] [ 6.43476519e-03 -3.56132701e-05 9.99979296e-01 -9.00411213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6003857229999 meters 0.01449743442631393 Centerline is valid? [True, True] Translation: X:-151.32, Y:-288.91, Z:-9.00 [[-7.10118445e-01 -7.04064969e-01 4.93090985e-03 -1.51323386e+02] [ 7.04047658e-01 -7.10135563e-01 -4.93740749e-03 -2.88907937e+02] [ 6.97787010e-03 -3.45485949e-05 9.99975654e-01 -9.00379553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.630385723 meters 0.014472479644438187 Centerline is valid? [True, True] Translation: X:-151.34, Y:-288.89, Z:-9.00 [[-7.09970129e-01 -7.04213435e-01 5.08464822e-03 -1.51342704e+02] [ 7.04195053e-01 -7.09988336e-01 -5.08824353e-03 -2.88888891e+02] [ 7.19325038e-03 -3.19167946e-05 9.99974128e-01 -9.00373102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.660385723 meters 0.014404913913769355 Centerline is valid? [True, True] Translation: X:-151.36, Y:-288.87, Z:-9.00 [[-7.09141773e-01 -7.05043919e-01 5.56934526e-03 -1.51364070e+02] [ 7.05021916e-01 -7.09163642e-01 -5.57017509e-03 -2.88870128e+02] [ 7.87679525e-03 -2.35333739e-05 9.99968977e-01 -9.00493857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.690385723 meters 0.014486215526295676 Centerline is valid? [True, True] Translation: X:-151.38, Y:-288.85, Z:-9.01 [[-7.08776475e-01 -7.05407547e-01 6.00840594e-03 -1.51383265e+02] [ 7.05381981e-01 -7.08801941e-01 -6.00577186e-03 -2.88851544e+02] [ 8.49528659e-03 -1.85285252e-05 9.99963914e-01 -9.00624563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7203857229999 meters 0.014384183408398957 Centerline is valid? [True, True] Translation: X:-151.40, Y:-288.88, Z:-9.01 [[-6.58686774e-01 -7.52396012e-01 5.65471876e-03 -1.51403805e+02] [ 7.52368182e-01 -6.58711045e-01 -6.47124998e-03 -2.88876468e+02] [ 8.59376839e-03 -8.09629626e-06 9.99963073e-01 -9.00601379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.750385723 meters 0.014396572595378944 Centerline is valid? [True, True] Translation: X:-151.42, Y:-288.85, Z:-9.00 [[-6.58167628e-01 -7.52850121e-01 5.66294034e-03 -1.51421482e+02] [ 7.52822271e-01 -6.58191989e-01 -6.47556289e-03 -2.88854794e+02] [ 8.60243028e-03 1.18174434e-06 9.99962999e-01 -9.00487773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.780385723 meters 0.014366603969992555 Centerline is valid? [True, True] Translation: X:-151.44, Y:-288.83, Z:-9.00 [[-6.58477808e-01 -7.52582492e-01 5.15453549e-03 -1.51438055e+02] [ 7.52559440e-01 -6.58497982e-01 -5.89035771e-03 -2.88834982e+02] [ 7.82723130e-03 4.24512100e-07 9.99969367e-01 -9.00454949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.810385723 meters 0.01446807604476854 Centerline is valid? [True, True] Translation: X:-151.46, Y:-288.81, Z:-9.00 [[-6.59562601e-01 -7.51636800e-01 4.39283624e-03 -1.51455788e+02] [ 7.51620057e-01 -6.59577229e-01 -5.01685795e-03 -2.88814221e+02] [ 6.66826981e-03 -7.18805277e-06 9.99977767e-01 -9.00410988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8403857229999 meters 0.014515515430395894 Centerline is valid? [True, True] Translation: X:-151.47, Y:-288.79, Z:-9.01 [[-6.60424567e-01 -7.50877529e-01 4.72533257e-03 -1.51472449e+02] [ 7.50858161e-01 -6.60441471e-01 -5.39312486e-03 -2.88793292e+02] [ 7.17038186e-03 -1.36976275e-05 9.99974293e-01 -9.00517613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.870385723 meters 0.014521839420462673 Centerline is valid? [True, True] Translation: X:-151.49, Y:-288.77, Z:-9.00 [[-6.61002388e-01 -7.50367616e-01 4.92789961e-03 -1.51489161e+02] [ 7.50346563e-01 -6.61020757e-01 -5.62087710e-03 -2.88772188e+02] [ 7.47516807e-03 -1.77806494e-05 9.99972061e-01 -9.00468410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.900385723 meters 0.014623727209904803 Centerline is valid? [True, True] Translation: X:-151.51, Y:-288.75, Z:-9.00 [[-6.62327353e-01 -7.49197901e-01 4.99822860e-03 -1.51505772e+02] [ 7.49176228e-01 -6.62346211e-01 -5.69874703e-03 -2.88750087e+02] [ 7.58004709e-03 -2.98819885e-05 9.99971271e-01 -9.00386835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.930385723 meters 0.014682643698304824 Centerline is valid? [True, True] Translation: X:-151.52, Y:-288.73, Z:-9.00 [[-6.63218951e-01 -7.48411012e-01 4.64546524e-03 -1.51523386e+02] [ 7.48392293e-01 -6.63235219e-01 -5.29341134e-03 -2.88729724e+02] [ 7.04268350e-03 -3.40603318e-05 9.99975200e-01 -9.00468510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.960385723 meters 0.01475525550920448 Centerline is valid? [True, True] Translation: X:-151.54, Y:-288.71, Z:-9.01 [[-6.64134810e-01 -7.47597621e-01 4.76985129e-03 -1.51541400e+02] [ 7.47577889e-01 -6.64151937e-01 -5.43182290e-03 -2.88709029e+02] [ 7.22872385e-03 -4.16273193e-05 9.99973872e-01 -9.00559460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.990385723 meters 0.014719661852959995 Centerline is valid? [True, True] Translation: X:-151.56, Y:-288.69, Z:-9.01 [[-6.64467146e-01 -7.47299901e-01 5.12544554e-03 -1.51558221e+02] [ 7.47277136e-01 -6.64486912e-01 -5.83318241e-03 -2.88686922e+02] [ 7.76492811e-03 -4.58298042e-05 9.99969852e-01 -9.00572263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.020385723 meters 0.014639131681103791 Centerline is valid? [True, True] Translation: X:-151.58, Y:-288.67, Z:-9.01 [[-6.64544289e-01 -7.47227377e-01 5.66873167e-03 -1.51576237e+02] [ 7.47199559e-01 -6.64568465e-01 -6.44788490e-03 -2.88665792e+02] [ 8.58529643e-03 -4.92312851e-05 9.99963145e-01 -9.00525976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.050385723 meters 0.014577095982757578 Centerline is valid? [True, True] Translation: X:-151.59, Y:-288.65, Z:-9.01 [[-6.64127732e-01 -7.47592412e-01 6.31991076e-03 -1.51593861e+02] [ 7.47557892e-01 -6.64157800e-01 -7.18432608e-03 -2.88645219e+02] [ 9.56836569e-03 -4.68110254e-05 9.99954221e-01 -9.00630847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.080385723 meters 0.014628609904350484 Centerline is valid? [True, True] Translation: X:-151.61, Y:-288.62, Z:-9.01 [[-6.64207920e-01 -7.47515621e-01 6.94523452e-03 -1.51612086e+02] [ 7.47473979e-01 -6.64244228e-01 -7.89028018e-03 -2.88624930e+02] [ 1.05114396e-02 -4.94045052e-05 9.99944752e-01 -9.00715376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.110385723 meters 0.014673563393547164 Centerline is valid? [True, True] Translation: X:-151.63, Y:-288.60, Z:-9.01 [[-6.63949743e-01 -7.47738948e-01 7.56335904e-03 -1.51629028e+02] [ 7.47689642e-01 -6.63992819e-01 -8.58694101e-03 -2.88604940e+02] [ 1.14428063e-02 -4.62520649e-05 9.99934528e-01 -9.00829032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.140385723 meters 0.014637178569616922 Centerline is valid? [True, True] Translation: X:-151.65, Y:-288.58, Z:-9.01 [[-6.63761289e-01 -7.47905164e-01 7.66922144e-03 -1.51646603e+02] [ 7.47854541e-01 -6.63805593e-01 -8.70177015e-03 -2.88583759e+02] [ 1.15989709e-02 -4.04360975e-05 9.99932729e-01 -9.00778209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.170385723 meters 0.014590619454629392 Centerline is valid? [True, True] Translation: X:-151.66, Y:-288.56, Z:-9.01 [[-6.63528026e-01 -7.48114767e-01 7.40631194e-03 -1.51662276e+02] [ 7.48067630e-01 -6.63569359e-01 -8.39803878e-03 -2.88562387e+02] [ 1.11972985e-02 -3.19118806e-05 9.99937308e-01 -9.00688319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.200385723 meters 0.014553131007809599 Centerline is valid? [True, True] Translation: X:-151.68, Y:-288.54, Z:-9.01 [[-6.63671009e-01 -7.47991839e-01 6.99999685e-03 -1.51679872e+02] [ 7.47949777e-01 -6.63707924e-01 -7.93244852e-03 -2.88541451e+02] [ 1.05793601e-02 -2.88900383e-05 9.99944037e-01 -9.00604522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2303857229999 meters 0.014584361117409007 Centerline is valid? [True, True] Translation: X:-151.70, Y:-288.52, Z:-9.01 [[-6.63778416e-01 -7.47902628e-01 6.31448712e-03 -1.51697619e+02] [ 7.47868439e-01 -6.63808450e-01 -7.15124241e-03 -2.88520185e+02] [ 9.54004290e-03 -2.44347341e-05 9.99954493e-01 -9.00581471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.260385723 meters 0.014508708225808868 Centerline is valid? [True, True] Translation: X:-151.71, Y:-288.50, Z:-9.01 [[-6.63727365e-01 -7.47954759e-01 5.44632529e-03 -1.51714509e+02] [ 7.47929358e-01 -6.63749710e-01 -6.16428565e-03 -2.88499393e+02] [ 8.22560362e-03 -1.79385020e-05 9.99966169e-01 -9.00550055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.290385723 meters 0.014520651023253076 Centerline is valid? [True, True] Translation: X:-151.73, Y:-288.48, Z:-9.00 [[-6.63871786e-01 -7.47831772e-01 4.67903003e-03 -1.51732167e+02] [ 7.47813043e-01 -6.63888274e-01 -5.29262155e-03 -2.88478341e+02] [ 7.06434372e-03 -1.45824316e-05 9.99975047e-01 -9.00479344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.320385723 meters 0.014477233427408505 Centerline is valid? [True, True] Translation: X:-151.75, Y:-288.46, Z:-9.00 [[-6.64092814e-01 -7.47640437e-01 3.80940993e-03 -1.51748889e+02] [ 7.47628035e-01 -6.64103740e-01 -4.30632702e-03 -2.88456841e+02] [ 5.74942759e-03 -1.17791726e-05 9.99983472e-01 -9.00421900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3503857229999 meters 0.01441539681292341 Centerline is valid? [True, True] Translation: X:-151.77, Y:-288.44, Z:-9.00 [[-6.64247577e-01 -7.47503797e-01 3.63736136e-03 -1.51766539e+02] [ 7.47492502e-01 -6.64257536e-01 -4.10932071e-03 -2.88435596e+02] [ 5.48787752e-03 -1.07059815e-05 9.99984942e-01 -9.00431356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.380385723 meters 0.014421032810724486 Centerline is valid? [True, True] Translation: X:-151.78, Y:-288.41, Z:-9.00 [[-6.63884187e-01 -7.47825930e-01 3.76344904e-03 -1.51783227e+02] [ 7.47813859e-01 -6.63894855e-01 -4.24913777e-03 -2.88414130e+02] [ 5.67614986e-03 -6.57602460e-06 9.99983891e-01 -9.00426503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.410385723 meters 0.014379185242517164 Centerline is valid? [True, True] Translation: X:-151.80, Y:-288.39, Z:-9.00 [[-6.63642677e-01 -7.48041400e-01 3.52992562e-03 -1.51800356e+02] [ 7.48030797e-01 -6.63652065e-01 -3.98288454e-03 -2.88394363e+02] [ 5.32200496e-03 -2.71908816e-06 9.99985838e-01 -9.00461813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.440385723 meters 0.014432025570955916 Centerline is valid? [True, True] Translation: X:-151.82, Y:-288.37, Z:-9.01 [[-6.62421178e-01 -7.49120035e-01 4.16605138e-03 -1.51818512e+02] [ 7.49105305e-01 -6.62434279e-01 -4.69774576e-03 -2.88374154e+02] [ 6.27891071e-03 8.92490394e-06 9.99980288e-01 -9.00552599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4703857229999 meters 0.014465246255898644 Centerline is valid? [True, True] Translation: X:-151.84, Y:-288.35, Z:-9.01 [[-6.61405754e-01 -7.50010590e-01 5.15208675e-03 -1.51836481e+02] [ 7.49988114e-01 -6.61425820e-01 -5.80638671e-03 -2.88352701e+02] [ 7.76257472e-03 2.36262472e-05 9.99969871e-01 -9.00702925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.500385723 meters 0.014432187842664309 Centerline is valid? [True, True] Translation: X:-151.85, Y:-288.33, Z:-9.01 [[-6.61104882e-01 -7.50267655e-01 6.22749406e-03 -1.51853273e+02] [ 7.50234871e-01 -6.61134211e-01 -7.01374129e-03 -2.88332548e+02] [ 9.37939260e-03 3.52645969e-05 9.99956012e-01 -9.00803692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.530385723 meters 0.014602888440960091 Centerline is valid? [True, True] Translation: X:-151.87, Y:-288.31, Z:-9.01 [[-6.60459288e-01 -7.50826228e-01 7.31466122e-03 -1.51870500e+02] [ 7.50781083e-01 -6.60499790e-01 -8.23363865e-03 -2.88310315e+02] [ 1.10133641e-02 5.37261552e-05 9.99939350e-01 -9.00984787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.560385723 meters 0.014602888440960091 Centerline is valid? [True, True] Translation: X:-151.89, Y:-288.29, Z:-9.01 [[-6.60689860e-01 -7.50623320e-01 7.31719032e-03 -1.51888354e+02] [ 7.50578187e-01 -6.60730376e-01 -8.23139115e-03 -2.88290361e+02] [ 1.10133641e-02 5.37267782e-05 9.99939350e-01 -9.00984836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5903857229999 meters 0.014643847020828294 Centerline is valid? [True, True] Translation: X:-151.90, Y:-288.27, Z:-9.01 [[-6.60540701e-01 -7.50749603e-01 7.81132697e-03 -1.51904529e+02] [ 7.50698244e-01 -6.60586883e-01 -8.78156049e-03 -2.88268907e+02] [ 1.17528132e-02 6.33713235e-05 9.99930931e-01 -9.01093549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.620385723 meters 0.014651997013792497 Centerline is valid? [True, True] Translation: X:-151.92, Y:-288.25, Z:-9.01 [[-6.60892176e-01 -7.50439926e-01 7.83895895e-03 -1.51921966e+02] [ 7.50388247e-01 -6.60938661e-01 -8.80716482e-03 -2.88247482e+02] [ 1.17903191e-02 6.16763379e-05 9.99930490e-01 -9.01106999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.650385723 meters 0.014606012278425843 Centerline is valid? [True, True] Translation: X:-151.94, Y:-288.23, Z:-9.01 [[-6.61295392e-01 -7.50090842e-01 7.22032709e-03 -1.51938153e+02] [ 7.50047019e-01 -6.61334806e-01 -8.10821572e-03 -2.88226299e+02] [ 1.08569520e-02 5.36591135e-05 9.99941060e-01 -9.01033982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.680385723 meters 0.014410450461817634 Centerline is valid? [True, True] Translation: X:-151.96, Y:-288.20, Z:-9.01 [[-6.61841887e-01 -7.49614147e-01 6.62931149e-03 -1.51955289e+02] [ 7.49577228e-01 -6.61875085e-01 -7.43986179e-03 -2.88204880e+02] [ 9.96480176e-03 4.51687665e-05 9.99950349e-01 -9.00946974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.710385723 meters 0.014495117215552807 Centerline is valid? [True, True] Translation: X:-151.97, Y:-288.18, Z:-9.01 [[-6.62552098e-01 -7.48991130e-01 6.08317985e-03 -1.51971251e+02] [ 7.48960047e-01 -6.62580022e-01 -6.82366276e-03 -2.88184139e+02] [ 9.14145632e-03 3.50265918e-05 9.99958216e-01 -9.00930960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.740385723 meters 0.01437865425563034 Centerline is valid? [True, True] Translation: X:-151.99, Y:-288.16, Z:-9.01 [[-6.63232274e-01 -7.48393945e-01 5.42717111e-03 -1.51987239e+02] [ 7.48369215e-01 -6.63254478e-01 -6.08409098e-03 -2.88161496e+02] [ 8.15289239e-03 2.63622881e-05 9.99966764e-01 -9.00804632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.770385723 meters 0.014324184497971952 Centerline is valid? [True, True] Translation: X:-152.00, Y:-288.14, Z:-9.01 [[-6.63115632e-01 -7.48502557e-01 4.64552347e-03 -1.52004930e+02] [ 7.48484463e-01 -6.63131904e-01 -5.20457192e-03 -2.88140569e+02] [ 6.97623021e-03 2.58691388e-05 9.99975666e-01 -9.00749801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.800385723 meters 0.014372830566338358 Centerline is valid? [True, True] Translation: X:-152.02, Y:-288.12, Z:-9.01 [[-6.62650970e-01 -7.48913974e-01 4.64248524e-03 -1.52023509e+02] [ 7.48895936e-01 -6.62667231e-01 -5.19795270e-03 -2.88120558e+02] [ 6.96924225e-03 3.23099325e-05 9.99975714e-01 -9.00757567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.830385723 meters 0.014588002681486913 Centerline is valid? [True, True] Translation: X:-152.04, Y:-288.10, Z:-9.01 [[-6.61183297e-01 -7.50208918e-01 4.81951324e-03 -1.52043092e+02] [ 7.50189538e-01 -6.61200860e-01 -5.39262394e-03 -2.88102116e+02] [ 7.23226087e-03 5.00355338e-05 9.99973846e-01 -9.00796168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.860385723 meters 0.014641909978820963 Centerline is valid? [True, True] Translation: X:-152.06, Y:-288.08, Z:-9.01 [[-6.60624689e-01 -7.50702184e-01 4.60992404e-03 -1.52062598e+02] [ 7.50684486e-01 -6.60640771e-01 -5.15508181e-03 -2.88083275e+02] [ 6.91543494e-03 5.50241382e-05 9.99976087e-01 -9.00842390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.890385723 meters 0.014697191850634618 Centerline is valid? [True, True] Translation: X:-152.08, Y:-288.06, Z:-9.01 [[-6.59898255e-01 -7.51339520e-01 4.81870687e-03 -1.52082783e+02] [ 7.51320223e-01 -6.59915845e-01 -5.38519073e-03 -2.88064925e+02] [ 7.22604763e-03 6.67139598e-05 9.99973890e-01 -9.00899387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.920385723 meters 0.014731328807993455 Centerline is valid? [True, True] Translation: X:-152.10, Y:-288.04, Z:-9.01 [[-6.59907177e-01 -7.51328969e-01 5.22483651e-03 -1.52101763e+02] [ 7.51306311e-01 -6.59927856e-01 -5.83546046e-03 -2.88044851e+02] [ 7.83236565e-03 7.45904103e-05 9.99969324e-01 -9.00928862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.950385723 meters 0.01459006772731547 Centerline is valid? [True, True] Translation: X:-152.12, Y:-288.02, Z:-9.01 [[-6.60156941e-01 -7.51110623e-01 5.06421101e-03 -1.52120010e+02] [ 7.51089354e-01 -6.60176361e-01 -5.65288398e-03 -2.88024133e+02] [ 7.58921361e-03 7.18843801e-05 9.99971199e-01 -9.00926441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9803857229999 meters 0.014447208860976732 Centerline is valid? [True, True] Translation: X:-152.14, Y:-288.00, Z:-9.01 [[-6.61791621e-01 -7.49667569e-01 5.51238295e-03 -1.52136944e+02] [ 7.49642340e-01 -6.61814575e-01 -6.15062982e-03 -2.88003037e+02] [ 8.25910309e-03 6.18803786e-05 9.99965891e-01 -9.00977208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.010385723 meters 0.014210462276627932 Centerline is valid? [True, True] Translation: X:-152.15, Y:-287.98, Z:-9.01 [[-6.64441326e-01 -7.47316388e-01 5.99502200e-03 -1.52152988e+02] [ 7.47286491e-01 -6.64468370e-01 -6.68477347e-03 -2.87982539e+02] [ 8.97914326e-03 3.83592083e-05 9.99959686e-01 -9.01027850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.040385723 meters 0.01406725546710695 Centerline is valid? [True, True] Translation: X:-152.17, Y:-287.96, Z:-9.01 [[-6.66207426e-01 -7.45742479e-01 5.98504454e-03 -1.52171290e+02] [ 7.45712651e-01 -6.66234309e-01 -6.66991691e-03 -2.87960827e+02] [ 8.96148238e-03 1.95752489e-05 9.99959845e-01 -9.01037556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.070385723 meters 0.014159155102181726 Centerline is valid? [True, True] Translation: X:-152.19, Y:-287.94, Z:-9.01 [[-6.70122866e-01 -7.42225720e-01 6.02706720e-03 -1.52187934e+02] [ 7.42195364e-01 -6.70149969e-01 -6.71278404e-03 -2.87940002e+02] [ 9.02143986e-03 -2.51287476e-05 9.99959306e-01 -9.01098332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1003857229999 meters 0.01449832520242048 Centerline is valid? [True, True] Translation: X:-152.20, Y:-287.92, Z:-9.01 [[-6.72239502e-01 -7.40309451e-01 5.99742566e-03 -1.52204161e+02] [ 7.40279355e-01 -6.72266253e-01 -6.67545252e-03 -2.87919520e+02] [ 8.97376746e-03 -4.77324789e-05 9.99959734e-01 -9.01172232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.130385723 meters 0.014842884670049197 Centerline is valid? [True, True] Translation: X:-152.22, Y:-287.90, Z:-9.01 [[-6.75824167e-01 -7.37048198e-01 4.65287214e-03 -1.52221226e+02] [ 7.37030025e-01 -6.75840181e-01 -5.17612670e-03 -2.87897403e+02] [ 6.95965280e-03 -6.88450424e-05 9.99975779e-01 -9.00956363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.160385723 meters 0.015102118988587375 Centerline is valid? [True, True] Translation: X:-152.24, Y:-287.88, Z:-9.01 [[-6.78525643e-01 -7.34569258e-01 3.31015716e-03 -1.52240072e+02] [ 7.34560042e-01 -6.78533714e-01 -3.68036430e-03 -2.87876650e+02] [ 4.94953571e-03 -6.57123751e-05 9.99987749e-01 -9.00734976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.190385723 meters 0.015291666621953852 Centerline is valid? [True, True] Translation: X:-152.26, Y:-287.86, Z:-9.01 [[-6.79514509e-01 -7.33656587e-01 2.83643625e-03 -1.52257499e+02] [ 7.33649820e-01 -6.79520426e-01 -3.15159850e-03 -2.87857184e+02] [ 4.23960737e-03 -6.06059662e-05 9.99991011e-01 -9.00714549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2203857229999 meters 0.015616102241164812 Centerline is valid? [True, True] Translation: X:-152.28, Y:-287.84, Z:-9.01 [[-6.80292347e-01 -7.32937422e-01 2.24907575e-03 -1.52275166e+02] [ 7.32933168e-01 -6.80296063e-01 -2.49778518e-03 -2.87838276e+02] [ 3.36075761e-03 -5.08019256e-05 9.99994351e-01 -9.00686491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.250385723 meters 0.015508920919865256 Centerline is valid? [True, True] Translation: X:-152.30, Y:-287.82, Z:-9.01 [[-6.80396474e-01 -7.32842804e-01 1.43604768e-03 -1.52295697e+02] [ 7.32841072e-01 -6.80397989e-01 -1.59385660e-03 -2.87820441e+02] [ 2.14513029e-03 -3.20596874e-05 9.99997699e-01 -9.00642373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.280385723 meters 0.015221654241395018 Centerline is valid? [True, True] Translation: X:-152.32, Y:-287.80, Z:-9.01 [[-6.79425028e-01 -7.33743792e-01 1.29587960e-03 -1.52316967e+02] [ 7.33742384e-01 -6.79426264e-01 -1.43739151e-03 -2.87802382e+02] [ 1.93513173e-03 -2.57579860e-05 9.99998127e-01 -9.00667621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.310385723 meters 0.015303537596728329 Centerline is valid? [True, True] Translation: X:-152.34, Y:-287.78, Z:-9.01 [[-6.78559281e-01 -7.34544234e-01 1.43909287e-03 -1.52335811e+02] [ 7.34542502e-01 -6.78560806e-01 -1.59548144e-03 -2.87783491e+02] [ 2.14846371e-03 -2.55538674e-05 9.99997692e-01 -9.00730096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3403857229999 meters 0.014612410865261135 Centerline is valid? [True, True] Translation: X:-152.36, Y:-287.77, Z:-9.01 [[-6.75669224e-01 -7.37202544e-01 1.87316262e-03 -1.52358087e+02] [ 7.37199622e-01 -6.75671820e-01 -2.07556520e-03 -2.87766246e+02] [ 2.79575514e-03 -2.15007540e-05 9.99996092e-01 -9.00797688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.370385723 meters 0.014489808466672116 Centerline is valid? [True, True] Translation: X:-152.38, Y:-287.75, Z:-9.01 [[-6.74576696e-01 -7.38201201e-01 2.29533870e-03 -1.52377033e+02] [ 7.38196826e-01 -6.74580600e-01 -2.54167527e-03 -2.87748548e+02] [ 3.42465870e-03 -2.01431592e-05 9.99994136e-01 -9.00833435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.400385723 meters 0.014232808231883914 Centerline is valid? [True, True] Translation: X:-152.40, Y:-287.73, Z:-9.01 [[-6.71733140e-01 -7.40789798e-01 2.25027590e-03 -1.52398651e+02] [ 7.40785613e-01 -6.71736909e-01 -2.49024262e-03 -2.87731788e+02] [ 3.35633971e-03 -5.80648282e-06 9.99994368e-01 -9.00932709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.430385723 meters 0.014148170742141534 Centerline is valid? [True, True] Translation: X:-152.42, Y:-287.72, Z:-9.01 [[-6.70180922e-01 -7.42192741e-01 2.73261670e-03 -1.52419107e+02] [ 7.42186588e-01 -6.70186493e-01 -3.02207011e-03 -2.87715191e+02] [ 4.07432131e-03 2.77773207e-06 9.99991700e-01 -9.01065201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.460385723 meters 0.014153164803762861 Centerline is valid? [True, True] Translation: X:-152.44, Y:-287.70, Z:-9.01 [[-6.69904963e-01 -7.42441585e-01 2.79867958e-03 -1.52438450e+02] [ 7.42435142e-01 -6.69910809e-01 -3.09323783e-03 -2.87695327e+02] [ 4.17141410e-03 5.66269223e-06 9.99991300e-01 -9.01130031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.490385723 meters 0.014082790790851573 Centerline is valid? [True, True] Translation: X:-152.46, Y:-287.68, Z:-9.01 [[-6.69800534e-01 -7.42536492e-01 2.60811456e-03 -1.52457313e+02] [ 7.42530904e-01 -6.69805612e-01 -2.88084974e-03 -2.87675817e+02] [ 3.88606583e-03 7.01096624e-06 9.99992449e-01 -9.01043337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.520385723 meters 0.0140790872353111 Centerline is valid? [True, True] Translation: X:-152.48, Y:-287.66, Z:-9.01 [[-6.70020572e-01 -7.42339990e-01 1.94232895e-03 -1.52476784e+02] [ 7.42336893e-01 -6.70023387e-01 -2.14424508e-03 -2.87655547e+02] [ 2.89316469e-03 5.17411666e-06 9.99995815e-01 -9.00969839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.550385723 meters 0.01405969616064366 Centerline is valid? [True, True] Translation: X:-152.50, Y:-287.64, Z:-9.01 [[-6.70274370e-01 -7.42111974e-01 1.44452635e-03 -1.52495585e+02] [ 7.42110263e-01 -6.70275927e-01 -1.59375348e-03 -2.87636276e+02] [ 2.15097478e-03 3.74572286e-06 9.99997687e-01 -9.00933393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.580385723 meters 0.01401130584779569 Centerline is valid? [True, True] Translation: X:-152.51, Y:-287.62, Z:-9.01 [[-6.71126806e-01 -7.41342543e-01 2.09737826e-04 -1.52514756e+02] [ 7.41342507e-01 -6.71126839e-01 -2.31253301e-04 -2.87617491e+02] [ 3.12198595e-04 2.87276671e-07 9.99999951e-01 -9.00879064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.610385723 meters 0.014000959383118256 Centerline is valid? [True, True] Translation: X:-152.53, Y:-287.60, Z:-9.01 [[-6.71757822e-01 -7.40770833e-01 2.08882447e-05 -1.52533465e+02] [ 7.40770833e-01 -6.71757823e-01 -2.30088660e-05 -2.87597218e+02] [ 3.10761392e-05 1.70166908e-08 1.00000000e+00 -9.00877851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.640385723 meters 0.013985632100703695 Centerline is valid? [True, True] Translation: X:-152.55, Y:-287.58, Z:-9.01 [[-6.73572050e-01 -7.39121557e-01 -1.30722143e-04 -1.52551452e+02] [ 7.39121543e-01 -6.73572063e-01 1.43965053e-04 -2.87576961e+02] [-1.94458457e-04 3.51283985e-07 9.99999981e-01 -9.00833545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.670385723 meters 0.014027287596379502 Centerline is valid? [True, True] Translation: X:-152.57, Y:-287.56, Z:-9.01 [[-6.75595722e-01 -7.37272190e-01 -3.70811773e-04 -1.52570241e+02] [ 7.37272077e-01 -6.75595824e-01 4.08121762e-04 -2.87556753e+02] [-5.51415711e-04 2.33615073e-06 9.99999848e-01 -9.00903133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.700385723 meters 0.014265955410545978 Centerline is valid? [True, True] Translation: X:-152.59, Y:-287.54, Z:-9.01 [[-6.76516291e-01 -7.36427660e-01 -1.01384125e-04 -1.52587850e+02] [ 7.36427651e-01 -6.76516299e-01 1.11519209e-04 -2.87537690e+02] [-1.50713843e-04 7.82489164e-07 9.99999989e-01 -9.00982498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7303857229999 meters 0.014368986925177138 Centerline is valid? [True, True] Translation: X:-152.61, Y:-287.52, Z:-9.01 [[-6.77617567e-01 -7.35414033e-01 7.96318285e-04 -1.52607719e+02] [ 7.35413512e-01 -6.77618035e-01 -8.75308715e-04 -2.87518302e+02] [ 1.18331394e-03 -7.50133533e-06 9.99999300e-01 -9.01104407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.760385723 meters 0.014392857796858989 Centerline is valid? [True, True] Translation: X:-152.63, Y:-287.50, Z:-9.01 [[-6.78022496e-01 -7.35040148e-01 1.21481476e-03 -1.52626765e+02] [ 7.35038936e-01 -6.78023585e-01 -1.33450828e-03 -2.87498915e+02] [ 1.80459022e-03 -1.18904868e-05 9.99998372e-01 -9.01178414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.790385723 meters 0.014441548500629819 Centerline is valid? [True, True] Translation: X:-152.65, Y:-287.48, Z:-9.01 [[-6.78119080e-01 -7.34949860e-01 1.79352615e-03 -1.52645856e+02] [ 7.34947222e-01 -6.78121451e-01 -1.96931568e-03 -2.87480220e+02] [ 2.66357683e-03 -1.72834750e-05 9.99996453e-01 -9.01268400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.820385723 meters 0.014470165280244938 Centerline is valid? [True, True] Translation: X:-152.66, Y:-287.46, Z:-9.01 [[-6.78354971e-01 -7.34731565e-01 2.01536157e-03 -1.52664634e+02] [ 7.34728236e-01 -6.78357964e-01 -2.21154766e-03 -2.87460713e+02] [ 2.99203044e-03 -1.94712956e-05 9.99995524e-01 -9.01285196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8503857229999 meters 0.014476557264398476 Centerline is valid? [True, True] Translation: X:-152.68, Y:-287.44, Z:-9.01 [[-6.78626141e-01 -7.34480728e-01 2.14976988e-03 -1.52683462e+02] [ 7.34476944e-01 -6.78629546e-01 -2.35753805e-03 -2.87442200e+02] [ 3.19046362e-03 -2.09305354e-05 9.99994910e-01 -9.01323278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.880385723 meters 0.014436571654196036 Centerline is valid? [True, True] Translation: X:-152.70, Y:-287.42, Z:-9.01 [[-6.78675431e-01 -7.34434477e-01 2.37868568e-03 -1.52703536e+02] [ 7.34429850e-01 -6.78679599e-01 -2.60713935e-03 -2.87422080e+02] [ 3.52913847e-03 -2.24236567e-05 9.99993772e-01 -9.01330384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.910385723 meters 0.014476820154834232 Centerline is valid? [True, True] Translation: X:-152.72, Y:-287.40, Z:-9.01 [[-6.78467771e-01 -7.34623316e-01 3.17285736e-03 -1.52723069e+02] [ 7.34615095e-01 -6.78475189e-01 -3.47566657e-03 -2.87401775e+02] [ 4.70601070e-03 -2.72988453e-05 9.99988926e-01 -9.01410243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.940385723 meters 0.014370386939540474 Centerline is valid? [True, True] Translation: X:-152.74, Y:-287.38, Z:-9.01 [[-6.78225718e-01 -7.34847371e-01 3.03592714e-03 -1.52741057e+02] [ 7.34839856e-01 -6.78232512e-01 -3.32350342e-03 -2.87382423e+02] [ 4.50133224e-03 -2.31652360e-05 9.99989869e-01 -9.01363683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9703857229999 meters 0.014315826529583905 Centerline is valid? [True, True] Translation: X:-152.76, Y:-287.36, Z:-9.01 [[-6.77893479e-01 -7.35158398e-01 1.60033477e-03 -1.52759270e+02] [ 7.35156314e-01 -6.77895368e-01 -1.75079316e-03 -2.87364123e+02] [ 2.37196982e-03 -1.03550584e-05 9.99997187e-01 -9.01207590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.000385723 meters 0.014274141522916502 Centerline is valid? [True, True] Translation: X:-152.78, Y:-287.34, Z:-9.01 [[-6.77794609e-01 -7.35250755e-01 8.91503472e-04 -1.52778700e+02] [ 7.35250109e-01 -6.77795196e-01 -9.74731183e-04 -2.87344314e+02] [ 1.32092861e-03 -5.18951684e-06 9.99999128e-01 -9.01135522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.030385723 meters 0.014215887814995514 Centerline is valid? [True, True] Translation: X:-152.80, Y:-287.32, Z:-9.01 [[-6.77594083e-01 -7.35435472e-01 9.62150623e-04 -1.52798471e+02] [ 7.35434720e-01 -6.77594766e-01 -1.05139529e-03 -2.87323911e+02] [ 1.42518162e-03 -4.82025290e-06 9.99998985e-01 -9.01106963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.060385723 meters 0.014171774407991751 Centerline is valid? [True, True] Translation: X:-152.82, Y:-287.30, Z:-9.01 [[-6.76689250e-01 -7.36267532e-01 1.33451016e-03 -1.52817286e+02] [ 7.36266089e-01 -6.76690566e-01 -1.45739494e-03 -2.87304482e+02] [ 1.97608301e-03 -3.64891409e-06 9.99998048e-01 -9.01158754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0903857229999 meters 0.014135777996534822 Centerline is valid? [True, True] Translation: X:-152.84, Y:-287.28, Z:-9.01 [[-6.76367057e-01 -7.36562821e-01 1.67793558e-03 -1.52836293e+02] [ 7.36560545e-01 -6.76369138e-01 -1.83131390e-03 -2.87284294e+02] [ 2.48378157e-03 -2.73924737e-06 9.99996916e-01 -9.01178234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.120385723 meters 0.014033744581855155 Centerline is valid? [True, True] Translation: X:-152.85, Y:-287.27, Z:-9.01 [[-6.75981003e-01 -7.36917277e-01 1.61577033e-03 -1.52854805e+02] [ 7.36915170e-01 -6.75982934e-01 -1.76232275e-03 -2.87265152e+02] [ 2.39091925e-03 -6.11029899e-07 9.99997142e-01 -9.01164870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.150385723 meters 0.014147474684636107 Centerline is valid? [True, True] Translation: X:-152.88, Y:-287.25, Z:-9.01 [[-6.74786948e-01 -7.38010968e-01 1.54459669e-03 -1.52875050e+02] [ 7.38009047e-01 -6.74788716e-01 -1.68365814e-03 -2.87246233e+02] [ 2.28483459e-03 3.81578729e-06 9.99997390e-01 -9.01205524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.180385723 meters 0.014114469321849114 Centerline is valid? [True, True] Translation: X:-152.89, Y:-287.23, Z:-9.01 [[-6.74249921e-01 -7.38501006e-01 1.81877294e-03 -1.52894082e+02] [ 7.38498348e-01 -6.74252374e-01 -1.98130015e-03 -2.87227109e+02] [ 2.68950413e-03 7.26934671e-06 9.99996383e-01 -9.01266190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.210385723 meters 0.014139440906154325 Centerline is valid? [True, True] Translation: X:-152.91, Y:-287.21, Z:-9.01 [[-6.73605892e-01 -7.39086630e-01 2.46080306e-03 -1.52913002e+02] [ 7.39081774e-01 -6.73610387e-01 -2.67923052e-03 -2.87206913e+02] [ 3.63780596e-03 1.39892284e-05 9.99993383e-01 -9.01358465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.240385723 meters 0.01421276047182049 Centerline is valid? [True, True] Translation: X:-152.93, Y:-287.19, Z:-9.01 [[-6.73262556e-01 -7.39399255e-01 2.50432789e-03 -1.52931067e+02] [ 7.39394235e-01 -6.73267214e-01 -2.72484876e-03 -2.87187200e+02] [ 3.70083301e-03 1.71469614e-05 9.99993152e-01 -9.01396001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.270385723 meters 0.014318785610115941 Centerline is valid? [True, True] Translation: X:-152.95, Y:-287.17, Z:-9.01 [[-6.72046781e-01 -7.40503472e-01 2.78084543e-03 -1.52949442e+02] [ 7.40497298e-01 -6.72052533e-01 -3.02402412e-03 -2.87166203e+02] [ 4.10817458e-03 2.69228528e-05 9.99991561e-01 -9.01422910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.300385723 meters 0.014526004142928454 Centerline is valid? [True, True] Translation: X:-152.97, Y:-287.14, Z:-9.01 [[-6.70609262e-01 -7.41801536e-01 3.70107340e-03 -1.52968153e+02] [ 7.41790632e-01 -6.70619474e-01 -4.02247711e-03 -2.87144883e+02] [ 5.46589160e-03 4.79111683e-05 9.99985061e-01 -9.01485840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.330385723 meters 0.014559933062703876 Centerline is valid? [True, True] Translation: X:-152.99, Y:-287.12, Z:-9.02 [[-6.70031310e-01 -7.42320849e-01 4.21904801e-03 -1.52987034e+02] [ 7.42306705e-01 -6.70044590e-01 -4.58287297e-03 -2.87124307e+02] [ 6.22891245e-03 6.11592486e-05 9.99980598e-01 -9.01514285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.360385723 meters 0.014750257973363769 Centerline is valid? [True, True] Translation: X:-153.01, Y:-287.10, Z:-9.02 [[-6.69457610e-01 -7.42840440e-01 3.81944513e-03 -1.53006375e+02] [ 7.42828870e-01 -6.69468503e-01 -4.14650386e-03 -2.87103355e+02] [ 5.63718897e-03 6.12855418e-05 9.99984109e-01 -9.01543800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.390385723 meters 0.015011259383646934 Centerline is valid? [True, True] Translation: X:-153.03, Y:-287.08, Z:-9.02 [[-6.68241046e-01 -7.43935267e-01 3.77151953e-03 -1.53025111e+02] [ 7.43924015e-01 -6.68251685e-01 -4.09221174e-03 -2.87082205e+02] [ 5.56466491e-03 7.11400938e-05 9.99984515e-01 -9.01538301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.420385723 meters 0.015299976993519718 Centerline is valid? [True, True] Translation: X:-153.04, Y:-287.06, Z:-9.02 [[-6.67527889e-01 -7.44574328e-01 3.94816643e-03 -1.53041998e+02] [ 7.44562018e-01 -6.67539560e-01 -4.28214437e-03 -2.87061673e+02] [ 5.82393205e-03 8.12039752e-05 9.99983038e-01 -9.01557361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.450385723 meters 0.015339430653030128 Centerline is valid? [True, True] Translation: X:-153.06, Y:-287.04, Z:-9.02 [[-6.67672650e-01 -7.44442347e-01 4.33868951e-03 -1.53059648e+02] [ 7.44427498e-01 -6.67686740e-01 -4.70280504e-03 -2.87040607e+02] [ 6.39785268e-03 8.99054799e-05 9.99979530e-01 -9.01547590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4803857229999 meters 0.015339430653030128 Centerline is valid? [True, True] Translation: X:-153.08, Y:-287.02, Z:-9.02 [[-6.67901031e-01 -7.44237446e-01 4.34013227e-03 -1.53077872e+02] [ 7.44222601e-01 -6.67915126e-01 -4.70147357e-03 -2.87020999e+02] [ 6.39785268e-03 8.99054830e-05 9.99979530e-01 -9.01547639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.510385723 meters 0.015418006027874156 Centerline is valid? [True, True] Translation: X:-153.09, Y:-287.00, Z:-9.02 [[-6.68111404e-01 -7.44045514e-01 4.83982584e-03 -1.53093999e+02] [ 7.44027074e-01 -6.68128927e-01 -5.23938986e-03 -2.86999909e+02] [ 7.13197217e-03 1.00465337e-04 9.99974562e-01 -9.01547476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.540385723 meters 0.015498939747109244 Centerline is valid? [True, True] Translation: X:-153.11, Y:-286.98, Z:-9.02 [[-6.68505460e-01 -7.43690159e-01 5.03955770e-03 -1.53110790e+02] [ 7.43670174e-01 -6.68524448e-01 -5.45304408e-03 -2.86980011e+02] [ 7.42444275e-03 1.02379011e-04 9.99972433e-01 -9.01562270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.570385723 meters 0.015114429684415042 Centerline is valid? [True, True] Translation: X:-153.13, Y:-286.96, Z:-9.02 [[-6.69150826e-01 -7.43108162e-01 5.23758457e-03 -1.53128337e+02] [ 7.43086581e-01 -6.69171316e-01 -5.66417447e-03 -2.86957439e+02] [ 7.71393563e-03 1.01791784e-04 9.99970242e-01 -9.01527580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6003857229999 meters 0.014870444918775141 Centerline is valid? [True, True] Translation: X:-153.14, Y:-286.93, Z:-9.01 [[-6.70262955e-01 -7.42104895e-01 5.28178299e-03 -1.53144805e+02] [ 7.42082942e-01 -6.70283758e-01 -5.70876753e-03 -2.86934466e+02] [ 7.77679768e-03 9.31456754e-05 9.99969756e-01 -9.01495755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.630385723 meters 0.014828424174411006 Centerline is valid? [True, True] Translation: X:-153.16, Y:-286.91, Z:-9.02 [[-6.71597127e-01 -7.40895018e-01 5.64550702e-03 -1.53160852e+02] [ 7.40869925e-01 -6.71620849e-01 -6.09832014e-03 -2.86912999e+02] [ 8.30985523e-03 8.69720790e-05 9.99965469e-01 -9.01589076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.660385723 meters 0.01492501530964193 Centerline is valid? [True, True] Translation: X:-153.18, Y:-286.89, Z:-9.02 [[-6.72235633e-01 -7.40311945e-01 6.12196887e-03 -1.53178226e+02] [ 7.40282452e-01 -6.72263503e-01 -6.60868026e-03 -2.86892925e+02] [ 9.00806117e-03 8.93957692e-05 9.99959423e-01 -9.01726025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.690385723 meters 0.014954274452518825 Centerline is valid? [True, True] Translation: X:-153.19, Y:-286.87, Z:-9.02 [[-6.73218742e-01 -7.39411484e-01 6.86891562e-03 -1.53193081e+02] [ 7.39374355e-01 -6.73253777e-01 -7.41041487e-03 -2.86871243e+02] [ 1.01038693e-02 8.98698803e-05 9.99948951e-01 -9.01779058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7203857229999 meters 0.014588467256524656 Centerline is valid? [True, True] Translation: X:-153.21, Y:-286.85, Z:-9.02 [[-6.73960476e-01 -7.38731630e-01 7.27021079e-03 -1.53209448e+02] [ 7.38690048e-01 -6.73999682e-01 -7.83845557e-03 -2.86849140e+02] [ 1.06906348e-02 8.76231113e-05 9.99942850e-01 -9.01675041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.750385723 meters 0.01454935375678355 Centerline is valid? [True, True] Translation: X:-153.23, Y:-286.83, Z:-9.02 [[-6.74714206e-01 -7.38038250e-01 7.76416172e-03 -1.53225230e+02] [ 7.37990842e-01 -6.74758872e-01 -8.36552389e-03 -2.86827436e+02] [ 1.14130136e-02 8.55424377e-05 9.99934866e-01 -9.01635352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.780385723 meters 0.014510043781123142 Centerline is valid? [True, True] Translation: X:-153.24, Y:-286.81, Z:-9.02 [[-6.75488303e-01 -7.37331274e-01 7.62525638e-03 -1.53242926e+02] [ 7.37285559e-01 -6.75531336e-01 -8.21085447e-03 -2.86806454e+02] [ 1.12052194e-02 7.56552557e-05 9.99937217e-01 -9.01618215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.810385723 meters 0.014735236617460712 Centerline is valid? [True, True] Translation: X:-153.26, Y:-286.79, Z:-9.02 [[-6.76072650e-01 -7.36794044e-01 7.76584262e-03 -1.53260352e+02] [ 7.36746653e-01 -6.76117247e-01 -8.35691684e-03 -2.86786965e+02] [ 1.14079467e-02 7.15756383e-05 9.99934925e-01 -9.01720077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8403857229999 meters 0.014488762700966369 Centerline is valid? [True, True] Translation: X:-153.28, Y:-286.76, Z:-9.02 [[-6.76916015e-01 -7.36022334e-01 7.47214626e-03 -1.53276209e+02] [ 7.35978466e-01 -6.76957252e-01 -8.03603898e-03 -2.86764777e+02] [ 1.09730278e-02 5.96152572e-05 9.99939793e-01 -9.01589522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.870385723 meters 0.014318705881268523 Centerline is valid? [True, True] Translation: X:-153.29, Y:-286.74, Z:-9.02 [[-6.77764309e-01 -7.35238350e-01 7.75309232e-03 -1.53292749e+02] [ 7.35191128e-01 -6.77808650e-01 -8.33304901e-03 -2.86742436e+02] [ 1.13818902e-02 5.21614901e-05 9.99935223e-01 -9.01560715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.900385723 meters 0.014255058374712753 Centerline is valid? [True, True] Translation: X:-153.31, Y:-286.72, Z:-9.02 [[-6.78330951e-01 -7.34717446e-01 7.57596850e-03 -1.53310674e+02] [ 7.34672380e-01 -6.78373254e-01 -8.13769855e-03 -2.86721278e+02] [ 1.11182435e-02 4.58020091e-05 9.99938189e-01 -9.01555681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.930385723 meters 0.014291316750860563 Centerline is valid? [True, True] Translation: X:-153.33, Y:-286.70, Z:-9.02 [[-6.79382874e-01 -7.33744677e-01 7.59346359e-03 -1.53327078e+02] [ 7.33699399e-01 -6.79425308e-01 -8.15126198e-03 -2.86700157e+02] [ 1.11401364e-02 3.34918862e-05 9.99937946e-01 -9.01589373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.960385723 meters 0.0142085942483679 Centerline is valid? [True, True] Translation: X:-153.34, Y:-286.68, Z:-9.01 [[-6.80115603e-01 -7.33069263e-01 7.22650780e-03 -1.53344805e+02] [ 7.33028267e-01 -6.80153994e-01 -7.75267832e-03 -2.86680059e+02] [ 1.05983883e-02 2.45169972e-05 9.99943835e-01 -9.01442499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.990385723 meters 0.014139066492139578 Centerline is valid? [True, True] Translation: X:-153.36, Y:-286.66, Z:-9.01 [[-6.80357374e-01 -7.32851213e-01 6.55305729e-03 -1.53364051e+02] [ 7.32817533e-01 -6.80388932e-01 -7.02596478e-03 -2.86660504e+02] [ 9.60761446e-03 2.20283340e-05 9.99953846e-01 -9.01370613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.020385723 meters 0.014068745159781137 Centerline is valid? [True, True] Translation: X:-153.38, Y:-286.64, Z:-9.01 [[-6.80512107e-01 -7.32711202e-01 6.12913930e-03 -1.53383167e+02] [ 7.32681769e-01 -6.80539708e-01 -6.56743565e-03 -2.86641494e+02] [ 8.98315634e-03 2.14891581e-05 9.99959651e-01 -9.01349221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.050385723 meters 0.014151648549791994 Centerline is valid? [True, True] Translation: X:-153.40, Y:-286.62, Z:-9.01 [[-6.80191414e-01 -7.33008902e-01 6.13097834e-03 -1.53403136e+02] [ 7.32979500e-01 -6.80219044e-01 -6.56538119e-03 -2.86622668e+02] [ 8.98289109e-03 2.81655159e-05 9.99959653e-01 -9.01334127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.080385723 meters 0.01413294711510832 Centerline is valid? [True, True] Translation: X:-153.42, Y:-286.60, Z:-9.01 [[-6.80146242e-01 -7.33052198e-01 5.96358688e-03 -1.53422327e+02] [ 7.33024417e-01 -6.80172385e-01 -6.38202656e-03 -2.86604749e+02] [ 8.73462571e-03 3.07434202e-05 9.99961852e-01 -9.01301754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.110385723 meters 0.014017871474658281 Centerline is valid? [True, True] Translation: X:-153.44, Y:-286.59, Z:-9.01 [[-6.80492106e-01 -7.32732405e-01 5.80658926e-03 -1.53441150e+02] [ 7.32706088e-01 -6.80516879e-01 -6.21018044e-03 -2.86585682e+02] [ 8.50188245e-03 2.85445370e-05 9.99963858e-01 -9.01241379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.140385723 meters 0.01391918530137556 Centerline is valid? [True, True] Translation: X:-153.46, Y:-286.57, Z:-9.01 [[-6.81523639e-01 -7.31775914e-01 5.43522501e-03 -1.53460483e+02] [ 7.31752854e-01 -6.81545311e-01 -5.80941845e-03 -2.86566338e+02] [ 7.95554461e-03 1.79854116e-05 9.99968354e-01 -9.01154692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.170385723 meters 0.013974274971176944 Centerline is valid? [True, True] Translation: X:-153.48, Y:-286.55, Z:-9.01 [[-6.82040931e-01 -7.31295190e-01 5.24529497e-03 -1.53479960e+02] [ 7.31273723e-01 -6.82061100e-01 -5.60331445e-03 -2.86546190e+02] [ 7.67528856e-03 1.40565749e-05 9.99970545e-01 -9.01095187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.200385723 meters 0.013861857435667417 Centerline is valid? [True, True] Translation: X:-153.50, Y:-286.53, Z:-9.01 [[-6.83091994e-01 -7.30316348e-01 4.83314050e-03 -1.53499459e+02] [ 7.30298122e-01 -6.83109092e-01 -5.15966173e-03 -2.86527829e+02] [ 7.06974753e-03 5.10980487e-06 9.99975009e-01 -9.01108065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2303857229999 meters 0.013888230861540297 Centerline is valid? [True, True] Translation: X:-153.52, Y:-286.51, Z:-9.01 [[-6.83395248e-01 -7.30031728e-01 4.96098181e-03 -1.53518149e+02] [ 7.30012541e-01 -6.83413255e-01 -5.29277275e-03 -2.86509221e+02] [ 7.25429276e-03 4.52318753e-06 9.99973687e-01 -9.01152461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.260385723 meters 0.01383723123384288 Centerline is valid? [True, True] Translation: X:-153.54, Y:-286.49, Z:-9.01 [[-6.83783041e-01 -7.29669303e-01 4.84367450e-03 -1.53538162e+02] [ 7.29651026e-01 -6.83800196e-01 -5.16451063e-03 -2.86490251e+02] [ 7.08049045e-03 2.78728831e-06 9.99974933e-01 -9.01168943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.290385723 meters 0.013759050233254768 Centerline is valid? [True, True] Translation: X:-153.56, Y:-286.47, Z:-9.01 [[-6.84300356e-01 -7.29184342e-01 4.81854849e-03 -1.53558156e+02] [ 7.29166262e-01 -6.84317321e-01 -5.13486435e-03 -2.86470729e+02] [ 7.04167887e-03 -2.66514212e-07 9.99975207e-01 -9.01143034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.320385723 meters 0.013762974842106136 Centerline is valid? [True, True] Translation: X:-153.58, Y:-286.45, Z:-9.01 [[-6.84623348e-01 -7.28882148e-01 4.65673901e-03 -1.53578573e+02] [ 7.28865274e-01 -6.84639185e-01 -4.95967224e-03 -2.86450992e+02] [ 6.80320256e-03 -1.37205263e-06 9.99976858e-01 -9.01167746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3503857229999 meters 0.01376060073873394 Centerline is valid? [True, True] Translation: X:-153.60, Y:-286.43, Z:-9.01 [[-6.85333393e-01 -7.28214400e-01 4.68275409e-03 -1.53597847e+02] [ 7.28197340e-01 -6.85349391e-01 -4.98457887e-03 -2.86431194e+02] [ 6.83916478e-03 -6.12927418e-06 9.99976613e-01 -9.01151388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.380385723 meters 0.013774028254508571 Centerline is valid? [True, True] Translation: X:-153.62, Y:-286.41, Z:-9.01 [[-6.85533397e-01 -7.28024965e-01 4.85921307e-03 -1.53617333e+02] [ 7.28006611e-01 -6.85550619e-01 -5.16952931e-03 -2.86410895e+02] [ 7.09478292e-03 -6.34574935e-06 9.99974832e-01 -9.01141254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.410385723 meters 0.013728162497152233 Centerline is valid? [True, True] Translation: X:-153.64, Y:-286.39, Z:-9.01 [[-6.85656815e-01 -7.27908079e-01 4.95579720e-03 -1.53635889e+02] [ 7.27889008e-01 -6.85674725e-01 -5.26918275e-03 -2.86391779e+02] [ 7.23354557e-03 -5.58075603e-06 9.99973838e-01 -9.01150659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.440385723 meters 0.013739264662052084 Centerline is valid? [True, True] Translation: X:-153.66, Y:-286.37, Z:-9.01 [[-6.85671684e-01 -7.27887129e-01 5.88804645e-03 -1.53655482e+02] [ 7.27860240e-01 -6.85696965e-01 -6.25654227e-03 -2.86373030e+02] [ 8.59147217e-03 -4.25897464e-06 9.99963093e-01 -9.01219773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4703857229999 meters 0.013639902899901002 Centerline is valid? [True, True] Translation: X:-153.68, Y:-286.35, Z:-9.01 [[-6.86038418e-01 -7.27535462e-01 6.59100576e-03 -1.53675406e+02] [ 7.27501793e-01 -6.86070078e-01 -6.99921778e-03 -2.86353817e+02] [ 9.61407098e-03 -6.76378068e-06 9.99953784e-01 -9.01303666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.500385723 meters 0.013660677977921483 Centerline is valid? [True, True] Translation: X:-153.69, Y:-286.33, Z:-9.01 [[-6.86686538e-01 -7.26920525e-01 6.93898293e-03 -1.53694116e+02] [ 7.26883222e-01 -6.86721596e-01 -7.36421510e-03 -2.86334147e+02] [ 1.01183485e-02 -1.30771028e-05 9.99948808e-01 -9.01278244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.530385723 meters 0.013742792315177908 Centerline is valid? [True, True] Translation: X:-153.71, Y:-286.32, Z:-9.01 [[-6.87748688e-01 -7.25913441e-01 7.17066637e-03 -1.53711886e+02] [ 7.25873602e-01 -6.87786068e-01 -7.60519172e-03 -2.86315383e+02] [ 1.04525953e-02 -2.54631921e-05 9.99945370e-01 -9.01236022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.560385723 meters 0.013621186324354365 Centerline is valid? [True, True] Translation: X:-153.73, Y:-286.30, Z:-9.01 [[-6.88517365e-01 -7.25187720e-01 6.82706590e-03 -1.53730814e+02] [ 7.25151615e-01 -6.88551211e-01 -7.23633872e-03 -2.86295802e+02] [ 9.94848846e-03 -3.16870035e-05 9.99950512e-01 -9.01184865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5903857229999 meters 0.013664859201629355 Centerline is valid? [True, True] Translation: X:-153.75, Y:-286.28, Z:-9.01 [[-6.89222153e-01 -7.24517002e-01 6.92375629e-03 -1.53750709e+02] [ 7.24479879e-01 -6.89256928e-01 -7.33430530e-03 -2.86276482e+02] [ 1.00860759e-02 -3.88435666e-05 9.99949134e-01 -9.01160789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.620385723 meters 0.013623041358651892 Centerline is valid? [True, True] Translation: X:-153.77, Y:-286.26, Z:-9.01 [[-6.89715461e-01 -7.24049938e-01 6.65361640e-03 -1.53769800e+02] [ 7.24015676e-01 -6.89747553e-01 -7.04380703e-03 -2.86257046e+02] [ 9.68938367e-03 -4.09000396e-05 9.99953056e-01 -9.01108777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.650385723 meters 0.013574837858498707 Centerline is valid? [True, True] Translation: X:-153.79, Y:-286.24, Z:-9.01 [[-6.90500905e-01 -7.23303325e-01 6.38757892e-03 -1.53789333e+02] [ 7.23271754e-01 -6.90530447e-01 -6.75801390e-03 -2.86237573e+02] [ 9.29891165e-03 -4.64593027e-05 9.99956763e-01 -9.01060844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.680385723 meters 0.013616936199539015 Centerline is valid? [True, True] Translation: X:-153.81, Y:-286.22, Z:-9.01 [[-6.90931837e-01 -7.22890391e-01 6.53298337e-03 -1.53808033e+02] [ 7.22857389e-01 -6.90962720e-01 -6.90763929e-03 -2.86218163e+02] [ 9.50751403e-03 -5.02926076e-05 9.99954801e-01 -9.01067310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.710385723 meters 0.013494793496908639 Centerline is valid? [True, True] Translation: X:-153.83, Y:-286.20, Z:-9.01 [[-6.91608299e-01 -7.22245257e-01 6.30474237e-03 -1.53828034e+02] [ 7.22214528e-01 -6.91637033e-01 -6.66254908e-03 -2.86198300e+02] [ 9.17258778e-03 -5.44977048e-05 9.99957930e-01 -9.00991548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.740385723 meters 0.013495260977768837 Centerline is valid? [True, True] Translation: X:-153.85, Y:-286.18, Z:-9.01 [[-6.91939170e-01 -7.21927594e-01 6.38228880e-03 -1.53846881e+02] [ 7.21896128e-01 -6.91968602e-01 -6.74049514e-03 -2.86178869e+02] [ 9.28249290e-03 -5.66630386e-05 9.99956915e-01 -9.00990069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.770385723 meters 0.013508463724174991 Centerline is valid? [True, True] Translation: X:-153.87, Y:-286.16, Z:-9.01 [[-6.92340025e-01 -7.21541462e-01 6.57331564e-03 -1.53865871e+02] [ 7.21508106e-01 -6.92371226e-01 -6.93816352e-03 -2.86159527e+02] [ 9.55734726e-03 -6.08677905e-05 9.99954326e-01 -9.01058268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.800385723 meters 0.013566883914770577 Centerline is valid? [True, True] Translation: X:-153.89, Y:-286.14, Z:-9.01 [[-6.92323981e-01 -7.21554359e-01 6.84189513e-03 -1.53885144e+02] [ 7.21518262e-01 -6.92357785e-01 -7.21765756e-03 -2.86139758e+02] [ 9.94497163e-03 -6.04051306e-05 9.99950546e-01 -9.01057276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.830385723 meters 0.013578138318054387 Centerline is valid? [True, True] Translation: X:-153.91, Y:-286.12, Z:-9.01 [[-6.91712846e-01 -7.22140153e-01 6.85116617e-03 -1.53905196e+02] [ 7.22104026e-01 -6.91746773e-01 -7.22344542e-03 -2.86120658e+02] [ 9.95561206e-03 -4.92953170e-05 9.99950441e-01 -9.01076210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.860385723 meters 0.01348078752124881 Centerline is valid? [True, True] Translation: X:-153.92, Y:-286.10, Z:-9.01 [[-6.91214266e-01 -7.22620304e-01 6.53713430e-03 -1.53923766e+02] [ 7.22587466e-01 -6.91245177e-01 -6.88904597e-03 -2.86101692e+02] [ 9.49692705e-03 -3.81555436e-05 9.99954903e-01 -9.01165171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.890385723 meters 0.013303778335452635 Centerline is valid? [True, True] Translation: X:-153.94, Y:-286.08, Z:-9.01 [[-6.90486567e-01 -7.23318635e-01 6.20107783e-03 -1.53943811e+02] [ 7.23289151e-01 -6.90514411e-01 -6.53087162e-03 -2.86083049e+02] [ 9.00583475e-03 -2.43068089e-05 9.99959446e-01 -9.01071686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.920385723 meters 0.013271961548861474 Centerline is valid? [True, True] Translation: X:-153.96, Y:-286.06, Z:-9.01 [[-6.89710275e-01 -7.24056682e-01 6.45425150e-03 -1.53962996e+02] [ 7.24024804e-01 -6.89740473e-01 -6.79428297e-03 -2.86064694e+02] [ 9.37120447e-03 -1.30485943e-05 9.99956089e-01 -9.01138643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.950385723 meters 0.013252443480110287 Centerline is valid? [True, True] Translation: X:-153.98, Y:-286.05, Z:-9.01 [[-6.89740121e-01 -7.24028172e-01 6.46308418e-03 -1.53981572e+02] [ 7.23996246e-01 -6.89770401e-01 -6.79924412e-03 -2.86045768e+02] [ 9.38088846e-03 -1.04627785e-05 9.99955999e-01 -9.01182894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9803857229999 meters 0.013265088695296958 Centerline is valid? [True, True] Translation: X:-154.00, Y:-286.03, Z:-9.01 [[-6.90115627e-01 -7.23670050e-01 6.48687267e-03 -1.53998787e+02] [ 7.23637903e-01 -6.90146114e-01 -6.82109632e-03 -2.86026467e+02] [ 9.41311308e-03 -1.31982390e-05 9.99955696e-01 -9.01175550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.010385723 meters 0.013184751262596531 Centerline is valid? [True, True] Translation: X:-154.02, Y:-286.01, Z:-9.01 [[-6.90501287e-01 -7.23305648e-01 6.07556690e-03 -1.54017476e+02] [ 7.23277467e-01 -6.90528015e-01 -6.38480304e-03 -2.86006442e+02] [ 8.81351325e-03 -1.43940741e-05 9.99961160e-01 -9.01120172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.040385723 meters 0.013294740666213663 Centerline is valid? [True, True] Translation: X:-154.04, Y:-285.99, Z:-9.01 [[-6.90768370e-01 -7.23053929e-01 5.66351611e-03 -1.54035769e+02] [ 7.23029455e-01 -6.90791586e-01 -5.94904235e-03 -2.85987504e+02] [ 8.21378772e-03 -1.45213145e-05 9.99966266e-01 -9.01144140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.070385723 meters 0.013280213376487826 Centerline is valid? [True, True] Translation: X:-154.05, Y:-285.97, Z:-9.01 [[-6.90965552e-01 -7.22867217e-01 5.43989776e-03 -1.54054763e+02] [ 7.22844659e-01 -6.90986965e-01 -5.71080081e-03 -2.85968463e+02] [ 7.88704913e-03 -1.37655934e-05 9.99968897e-01 -9.01202078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1003857229999 meters 0.013255601005048988 Centerline is valid? [True, True] Translation: X:-154.07, Y:-285.95, Z:-9.01 [[-6.90949108e-01 -7.22880772e-01 5.72013324e-03 -1.54074036e+02] [ 7.22855860e-01 -6.90972785e-01 -6.00137635e-03 -2.85948620e+02] [ 8.29073596e-03 -1.18138032e-05 9.99965631e-01 -9.01219980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.130385723 meters 0.01333775713494515 Centerline is valid? [True, True] Translation: X:-154.09, Y:-285.93, Z:-9.01 [[-6.91062726e-01 -7.22772125e-01 5.72389741e-03 -1.54091905e+02] [ 7.22747208e-01 -6.91086431e-01 -6.00152401e-03 -2.85929322e+02] [ 8.29344209e-03 -1.04986711e-05 9.99965609e-01 -9.01266177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.160385723 meters 0.013226540978127586 Centerline is valid? [True, True] Translation: X:-154.11, Y:-285.91, Z:-9.01 [[-6.90011305e-01 -7.23778695e-01 5.36658712e-03 -1.54111361e+02] [ 7.23756846e-01 -6.90032174e-01 -5.62374470e-03 -2.85909433e+02] [ 7.77346437e-03 3.65674791e-06 9.99969786e-01 -9.01153928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.190385723 meters 0.013232248326105965 Centerline is valid? [True, True] Translation: X:-154.13, Y:-285.89, Z:-9.01 [[-6.89263614e-01 -7.24489842e-01 5.48991351e-03 -1.54131085e+02] [ 7.24467027e-01 -6.89285477e-01 -5.74959783e-03 -2.85890160e+02] [ 7.94964287e-03 1.42727431e-05 9.99968401e-01 -9.01203990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2203857229999 meters 0.01350430090920834 Centerline is valid? [True, True] Translation: X:-154.15, Y:-285.87, Z:-9.01 [[-6.86933794e-01 -7.26697395e-01 5.73236274e-03 -1.54151004e+02] [ 7.26672628e-01 -6.86957710e-01 -5.99981119e-03 -2.85871441e+02] [ 8.29793794e-03 4.40780400e-05 9.99965571e-01 -9.01268588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.250385723 meters 0.013530648286007528 Centerline is valid? [True, True] Translation: X:-154.17, Y:-285.85, Z:-9.01 [[-6.85934593e-01 -7.27639585e-01 5.86253077e-03 -1.54170102e+02] [ 7.27613746e-01 -6.85959643e-01 -6.13225268e-03 -2.85852516e+02] [ 8.48352931e-03 5.93337289e-05 9.99964013e-01 -9.01320494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.280385723 meters 0.01405558122774977 Centerline is valid? [True, True] Translation: X:-154.19, Y:-285.83, Z:-9.01 [[-6.83783583e-01 -7.29658797e-01 6.16865109e-03 -1.54189541e+02] [ 7.29630305e-01 -6.83811401e-01 -6.44871461e-03 -2.85833693e+02] [ 8.92355529e-03 9.13095897e-05 9.99960180e-01 -9.01421288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.310385723 meters 0.014600922801051236 Centerline is valid? [True, True] Translation: X:-154.21, Y:-285.81, Z:-9.02 [[-6.83070636e-01 -7.30321589e-01 6.69949538e-03 -1.54208847e+02] [ 7.30288053e-01 -6.83103480e-01 -6.99966339e-03 -2.85814763e+02] [ 9.68845390e-03 1.11296920e-04 9.99953060e-01 -9.01509899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3403857229999 meters 0.014286344122355792 Centerline is valid? [True, True] Translation: X:-154.23, Y:-285.79, Z:-9.01 [[-6.82514470e-01 -7.30834633e-01 7.39845258e-03 -1.54226638e+02] [ 7.30793810e-01 -6.82554555e-01 -7.72571021e-03 -2.85793094e+02] [ 1.06960641e-02 1.33834339e-04 9.99942787e-01 -9.01469147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.370385723 meters 0.014286344122355792 Centerline is valid? [True, True] Translation: X:-154.25, Y:-285.77, Z:-9.01 [[-6.82738725e-01 -7.30625117e-01 7.40082376e-03 -1.54245227e+02] [ 7.30584306e-01 -6.82778823e-01 -7.72343877e-03 -2.85773826e+02] [ 1.06960641e-02 1.33834956e-04 9.99942787e-01 -9.01469196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.400385723 meters 0.014238248667685265 Centerline is valid? [True, True] Translation: X:-154.26, Y:-285.75, Z:-9.01 [[-6.82857803e-01 -7.30513189e-01 7.46343065e-03 -1.54263061e+02] [ 7.30471724e-01 -6.82898574e-01 -7.78442486e-03 -2.85752100e+02] [ 1.07833912e-02 1.36169801e-04 9.99941848e-01 -9.01409131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.430385723 meters 0.014214725973258274 Centerline is valid? [True, True] Translation: X:-154.28, Y:-285.73, Z:-9.01 [[-6.83331645e-01 -7.30074982e-01 6.95580178e-03 -1.54281433e+02] [ 7.30038984e-01 -6.83367036e-01 -7.25093203e-03 -2.85731298e+02] [ 1.00470897e-02 1.23215157e-04 9.99949519e-01 -9.01357372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.460385723 meters 0.014097918410612956 Centerline is valid? [True, True] Translation: X:-154.30, Y:-285.71, Z:-9.01 [[-6.84561858e-01 -7.28923511e-01 6.75110516e-03 -1.54298156e+02] [ 7.28889590e-01 -6.84595138e-01 -7.03294809e-03 -2.85710800e+02] [ 9.74825498e-03 1.06322262e-04 9.99952479e-01 -9.01348529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.490385723 meters 0.014014395028320017 Centerline is valid? [True, True] Translation: X:-154.32, Y:-285.69, Z:-9.01 [[-6.85458018e-01 -7.28082248e-01 6.59901507e-03 -1.54315959e+02] [ 7.28049839e-01 -6.85489775e-01 -6.87027154e-03 -2.85690416e+02] [ 9.52568010e-03 9.51291423e-05 9.99954625e-01 -9.01373311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.520385723 meters 0.013932978241777813 Centerline is valid? [True, True] Translation: X:-154.33, Y:-285.67, Z:-9.01 [[-6.87014154e-01 -7.26610017e-01 7.03103336e-03 -1.54332151e+02] [ 7.26573194e-01 -6.87050127e-01 -7.31551910e-03 -2.85668190e+02] [ 1.01462018e-02 8.26952035e-05 9.99948523e-01 -9.01332523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.550385723 meters 0.013783211558621758 Centerline is valid? [True, True] Translation: X:-154.35, Y:-285.65, Z:-9.01 [[-6.87888089e-01 -7.25784795e-01 6.81230581e-03 -1.54349997e+02] [ 7.25750227e-01 -6.87921817e-01 -7.08400009e-03 -2.85646782e+02] [ 9.82779334e-03 7.10332009e-05 9.99951704e-01 -9.01282416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.580385723 meters 0.013693442363375219 Centerline is valid? [True, True] Translation: X:-154.37, Y:-285.63, Z:-9.01 [[-6.89509941e-01 -7.24244943e-01 6.73081793e-03 -1.54366439e+02] [ 7.24211167e-01 -6.89542791e-01 -6.99468332e-03 -2.85626312e+02] [ 9.70705100e-03 5.16298216e-05 9.99952884e-01 -9.01263881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.610385723 meters 0.013745393482611943 Centerline is valid? [True, True] Translation: X:-154.38, Y:-285.61, Z:-9.01 [[-6.90584004e-01 -7.23219595e-01 6.86660240e-03 -1.54384148e+02] [ 7.23184438e-01 -6.90618140e-01 -7.13116933e-03 -2.85607027e+02] [ 9.89960158e-03 4.11485221e-05 9.99950997e-01 -9.01308795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.640385723 meters 0.013629030380548064 Centerline is valid? [True, True] Translation: X:-154.40, Y:-285.58, Z:-9.01 [[-6.92524814e-01 -7.21361025e-01 6.90320611e-03 -1.54402065e+02] [ 7.21325438e-01 -6.92559219e-01 -7.16523257e-03 -2.85584976e+02] [ 9.94959854e-03 1.73568226e-05 9.99950501e-01 -9.01264677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.670385723 meters 0.013700261828036702 Centerline is valid? [True, True] Translation: X:-154.42, Y:-285.56, Z:-9.01 [[-6.94162583e-01 -7.19780248e-01 7.39615853e-03 -1.54418781e+02] [ 7.19739360e-01 -6.94201985e-01 -7.67190772e-03 -2.85564885e+02] [ 1.06565156e-02 -2.24487557e-06 9.99943218e-01 -9.01335871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.700385723 meters 0.013659718178957718 Centerline is valid? [True, True] Translation: X:-154.44, Y:-285.54, Z:-9.01 [[-6.94832797e-01 -7.19133338e-01 7.39094818e-03 -1.54437545e+02] [ 7.19092522e-01 -6.94872105e-01 -7.66179730e-03 -2.85544572e+02] [ 1.06456176e-02 -8.89248470e-06 9.99943334e-01 -9.01302385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7303857229999 meters 0.01373721875369451 Centerline is valid? [True, True] Translation: X:-154.46, Y:-285.52, Z:-9.01 [[-6.96042147e-01 -7.17962247e-01 7.45261573e-03 -1.54455475e+02] [ 7.17920730e-01 -6.96082044e-01 -7.72100195e-03 -2.85524359e+02] [ 1.07310199e-02 -2.37554546e-05 9.99942421e-01 -9.01312175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.760385723 meters 0.013764919057366772 Centerline is valid? [True, True] Translation: X:-154.47, Y:-285.51, Z:-9.01 [[-6.96842041e-01 -7.17186203e-01 7.42426722e-03 -1.54473503e+02] [ 7.17145010e-01 -6.96881589e-01 -7.68671870e-03 -2.85505418e+02] [ 1.06866437e-02 -3.21525632e-05 9.99942896e-01 -9.01337978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.790385723 meters 0.01382532037590566 Centerline is valid? [True, True] Translation: X:-154.49, Y:-285.49, Z:-9.01 [[-6.98325186e-01 -7.15742805e-01 7.36020642e-03 -1.54492437e+02] [ 7.15702287e-01 -6.98363970e-01 -7.61582321e-03 -2.85486210e+02] [ 1.05910736e-02 -5.06045826e-05 9.99943912e-01 -9.01425444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.820385723 meters 0.013970511024311577 Centerline is valid? [True, True] Translation: X:-154.51, Y:-285.47, Z:-9.01 [[-6.99051514e-01 -7.15031986e-01 7.49934960e-03 -1.54510232e+02] [ 7.14989920e-01 -6.99091736e-01 -7.75621019e-03 -2.85467439e+02] [ 1.07886717e-02 -6.00310994e-05 9.99941799e-01 -9.01494972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8503857229999 meters 0.013881873481499107 Centerline is valid? [True, True] Translation: X:-154.53, Y:-285.45, Z:-9.01 [[-6.99903350e-01 -7.14201343e-01 7.19325627e-03 -1.54529994e+02] [ 7.14162640e-01 -6.99940310e-01 -7.43552832e-03 -2.85447310e+02] [ 1.03453143e-02 -6.69962914e-05 9.99946484e-01 -9.01288796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.880385723 meters 0.013788392210479283 Centerline is valid? [True, True] Translation: X:-154.55, Y:-285.43, Z:-9.01 [[-6.99974304e-01 -7.14139677e-01 6.36359082e-03 -1.54548661e+02] [ 7.14109424e-01 -7.00003227e-01 -6.57362399e-03 -2.85428905e+02] [ 9.14901982e-03 -5.70677051e-05 9.99958145e-01 -9.01091508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.910385723 meters 0.013864876196596963 Centerline is valid? [True, True] Translation: X:-154.57, Y:-285.41, Z:-9.01 [[-6.99959429e-01 -7.14154747e-01 6.30835678e-03 -1.54567675e+02] [ 7.14125045e-01 -6.99987853e-01 -6.51348802e-03 -2.85410542e+02] [ 9.06741150e-03 -5.42217842e-05 9.99958889e-01 -9.01053931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.940385723 meters 0.01369245972086936 Centerline is valid? [True, True] Translation: X:-154.59, Y:-285.39, Z:-9.01 [[-6.99417737e-01 -7.14689021e-01 5.86786837e-03 -1.54589561e+02] [ 7.14663370e-01 -6.99442350e-01 -6.05527797e-03 -2.85392074e+02] [ 8.43187633e-03 -4.16182299e-05 9.99964450e-01 -9.00900130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9703857229999 meters 0.013651606817276814 Centerline is valid? [True, True] Translation: X:-154.61, Y:-285.37, Z:-9.01 [[-6.99200687e-01 -7.14903199e-01 5.64057236e-03 -1.54610124e+02] [ 7.14879530e-01 -6.99223437e-01 -5.81745992e-03 -2.85372972e+02] [ 8.10294110e-03 -3.52422565e-05 9.99967170e-01 -9.00880068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.000385723 meters 0.013622269361081787 Centerline is valid? [True, True] Translation: X:-154.63, Y:-285.35, Z:-9.01 [[-6.99299700e-01 -7.14807539e-01 5.48745782e-03 -1.54630437e+02] [ 7.14785158e-01 -6.99321229e-01 -5.65659023e-03 -2.85354191e+02] [ 7.88086908e-03 -3.32984443e-05 9.99968945e-01 -9.00880525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.030385723 meters 0.014937980635620563 Centerline is valid? [True, True] Translation: X:-154.65, Y:-285.34, Z:-9.01 [[-7.00028090e-01 -7.14095299e-01 5.34575309e-03 -1.54650671e+02] [ 7.14074063e-01 -7.00048500e-01 -5.50725378e-03 -2.85336104e+02] [ 7.67499047e-03 -3.79687166e-05 9.99970546e-01 -9.00869597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.060385723 meters 0.013637768233520272 Centerline is valid? [True, True] Translation: X:-154.67, Y:-285.32, Z:-9.01 [[-7.01604641e-01 -7.12550505e-01 4.76503693e-03 -1.54670441e+02] [ 7.12533615e-01 -7.01620820e-01 -4.90627707e-03 -2.85316214e+02] [ 6.83921932e-03 -4.70177729e-05 9.99976611e-01 -9.00503854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0903857229999 meters 0.013915797138324136 Centerline is valid? [True, True] Translation: X:-154.69, Y:-285.30, Z:-9.01 [[-7.02881557e-01 -7.11290104e-01 4.88916255e-03 -1.54689174e+02] [ 7.11272310e-01 -7.02898559e-01 -5.03166562e-03 -2.85297752e+02] [ 7.01555927e-03 -5.91390313e-05 9.99975389e-01 -9.00512281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.120385723 meters 0.014136464640684238 Centerline is valid? [True, True] Translation: X:-154.71, Y:-285.28, Z:-9.01 [[-7.05390454e-01 -7.08797288e-01 5.54177239e-03 -1.54711371e+02] [ 7.08774374e-01 -7.05412217e-01 -5.70012862e-03 -2.85279539e+02] [ 7.94946966e-03 -9.29500634e-05 9.99968398e-01 -9.00539176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.150385723 meters 0.014476373600623938 Centerline is valid? [True, True] Translation: X:-154.73, Y:-285.26, Z:-9.01 [[-7.06780214e-01 -7.07411151e-01 5.58511231e-03 -1.54731150e+02] [ 7.07387860e-01 -7.06802273e-01 -5.74135337e-03 -2.85260692e+02] [ 8.00906746e-03 -1.07034318e-04 9.99967921e-01 -9.00619224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.180385723 meters 0.014883345690837244 Centerline is valid? [True, True] Translation: X:-154.75, Y:-285.24, Z:-9.01 [[-7.09205057e-01 -7.04973340e-01 6.38573598e-03 -1.54752575e+02] [ 7.04942827e-01 -7.09233789e-01 -6.56076287e-03 -2.85242411e+02] [ 9.15414264e-03 -1.51347433e-04 9.99958089e-01 -9.00633803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.210385723 meters 0.015217777825115264 Centerline is valid? [True, True] Translation: X:-154.77, Y:-285.22, Z:-9.01 [[-7.10246006e-01 -7.03924891e-01 6.35281322e-03 -1.54772990e+02] [ 7.03894683e-01 -7.10274399e-01 -6.52336521e-03 -2.85223418e+02] [ 9.10419973e-03 -1.61482637e-04 9.99958543e-01 -9.00664543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.240385723 meters 0.015612779177432822 Centerline is valid? [True, True] Translation: X:-154.80, Y:-285.21, Z:-9.01 [[-7.11981816e-01 -7.02167975e-01 6.48298251e-03 -1.54795022e+02] [ 7.02136476e-01 -7.12011307e-01 -6.65337386e-03 -2.85206126e+02] [ 9.28774290e-03 -1.85142704e-04 9.99956851e-01 -9.00589767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.270385723 meters 0.015480679979968265 Centerline is valid? [True, True] Translation: X:-154.82, Y:-285.19, Z:-9.01 [[-7.12561908e-01 -7.01575626e-01 6.86800082e-03 -1.54818742e+02] [ 7.01540286e-01 -7.12594977e-01 -7.04459351e-03 -2.85189722e+02] [ 9.83641798e-03 -2.01529729e-04 9.99951601e-01 -9.00532124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.300385723 meters 0.015439638597737804 Centerline is valid? [True, True] Translation: X:-154.84, Y:-285.17, Z:-9.00 [[-7.12595357e-01 -7.01540271e-01 7.00753669e-03 -1.54840713e+02] [ 7.01503518e-01 -7.12629783e-01 -7.18374703e-03 -2.85171694e+02] [ 1.00334672e-02 -2.03293141e-04 9.99949643e-01 -9.00499306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.330385723 meters 0.015241801013690508 Centerline is valid? [True, True] Translation: X:-154.87, Y:-285.16, Z:-9.00 [[-7.12257514e-01 -7.01882051e-01 7.12878980e-03 -1.54865361e+02] [ 7.01844075e-01 -7.12293161e-01 -7.30399357e-03 -2.85156100e+02] [ 1.02043302e-02 -1.99025424e-04 9.99947915e-01 -9.00464487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.360385723 meters 0.015402793566131582 Centerline is valid? [True, True] Translation: X:-154.89, Y:-285.14, Z:-9.00 [[-7.12135601e-01 -7.02007206e-01 6.98344902e-03 -1.54886434e+02] [ 7.01970797e-01 -7.12169815e-01 -7.15218182e-03 -2.85138905e+02] [ 9.99428478e-03 -1.91146015e-04 9.99950038e-01 -9.00471794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.390385723 meters 0.0151986023573007 Centerline is valid? [True, True] Translation: X:-154.91, Y:-285.12, Z:-9.00 [[-7.11474030e-01 -7.02682558e-01 6.47511128e-03 -1.54911486e+02] [ 7.02651318e-01 -7.11503475e-01 -6.62794805e-03 -2.85124313e+02] [ 9.26440767e-03 -1.65867435e-04 9.99957071e-01 -9.00454504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.420385723 meters 0.015032514468085718 Centerline is valid? [True, True] Translation: X:-154.93, Y:-285.11, Z:-9.00 [[-7.11129832e-01 -7.03034342e-01 6.08895861e-03 -1.54933529e+02] [ 7.03006764e-01 -7.11155884e-01 -6.22886973e-03 -2.85107846e+02] [ 8.70930808e-03 -1.48955999e-04 9.99962062e-01 -9.00424855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.450385723 meters 0.014966084318506729 Centerline is valid? [True, True] Translation: X:-154.96, Y:-285.09, Z:-9.00 [[-7.09974406e-01 -7.04200025e-01 6.21839557e-03 -1.54957806e+02] [ 7.04171342e-01 -7.10001625e-01 -6.35721119e-03 -2.85094791e+02] [ 8.89181924e-03 -1.34641279e-04 9.99960458e-01 -9.00416485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4803857229999 meters 0.014794380761922153 Centerline is valid? [True, True] Translation: X:-154.98, Y:-285.08, Z:-9.00 [[-7.09805182e-01 -7.04369989e-01 6.28668119e-03 -1.54979564e+02] [ 7.04340715e-01 -7.09833009e-01 -6.42313367e-03 -2.85078548e+02] [ 8.98675643e-03 -1.31208041e-04 9.99959610e-01 -9.00414663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.510385723 meters 0.014489916215298507 Centerline is valid? [True, True] Translation: X:-155.01, Y:-285.07, Z:-9.00 [[-7.10171077e-01 -7.04002589e-01 6.11522921e-03 -1.55005571e+02] [ 7.03974907e-01 -7.10197393e-01 -6.24448484e-03 -2.85065085e+02] [ 8.73915334e-03 -1.29684613e-04 9.99961805e-01 -9.00359189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.540385723 meters 0.014868952921948403 Centerline is valid? [True, True] Translation: X:-155.03, Y:-285.05, Z:-9.00 [[-7.11583013e-01 -7.02570294e-01 6.67813865e-03 -1.55029436e+02] [ 7.02537255e-01 -7.11614332e-01 -6.81529503e-03 -2.85050659e+02] [ 9.54048301e-03 -1.58006974e-04 9.99954476e-01 -9.00386536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.570385723 meters 0.015304609535824519 Centerline is valid? [True, True] Translation: X:-155.05, Y:-285.03, Z:-9.00 [[-7.12672401e-01 -7.01462447e-01 6.96307840e-03 -1.55050538e+02] [ 7.01426517e-01 -7.12706394e-01 -7.10195534e-03 -2.85033098e+02] [ 9.94438547e-03 -1.77279732e-04 9.99950538e-01 -9.00442928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6003857229999 meters 0.016796669471645178 Centerline is valid? [True, True] Translation: X:-155.07, Y:-285.02, Z:-9.00 [[-7.15478045e-01 -6.98598591e-01 7.15380770e-03 -1.55072732e+02] [ 6.98560564e-01 -7.15513774e-01 -7.29230313e-03 -2.85016530e+02] [ 1.02130406e-02 -2.20114845e-04 9.99947821e-01 -9.00493355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.630385723 meters 0.016115734028942574 Centerline is valid? [True, True] Translation: X:-155.10, Y:-285.00, Z:-9.00 [[-7.17266899e-01 -6.96758793e-01 7.44173836e-03 -1.55095945e+02] [ 6.96717588e-01 -7.17305458e-01 -7.58177267e-03 -2.85000168e+02] [ 1.06206663e-02 -2.53364575e-04 9.99943567e-01 -9.00378716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.660385723 meters 0.016868368849828518 Centerline is valid? [True, True] Translation: X:-155.12, Y:-284.98, Z:-9.00 [[-7.20116987e-01 -6.93800670e-01 8.49444082e-03 -1.55120099e+02] [ 6.93746830e-01 -7.20167007e-01 -8.64970299e-03 -2.84983830e+02] [ 1.21185857e-02 -3.35806661e-04 9.99926511e-01 -9.00441712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.690385723 meters 0.018576451336299742 Centerline is valid? [True, True] Translation: X:-155.14, Y:-284.97, Z:-9.01 [[-7.21293587e-01 -6.92571427e-01 8.96545053e-03 -1.55139739e+02] [ 6.92511384e-01 -7.21349207e-01 -9.12713551e-03 -2.84965194e+02] [ 1.27884139e-02 -3.74667752e-04 9.99918155e-01 -9.00621569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7203857229999 meters 0.01787220792914125 Centerline is valid? [True, True] Translation: X:-155.17, Y:-284.95, Z:-9.01 [[-7.22792913e-01 -6.91002207e-01 9.29272460e-03 -1.55165769e+02] [ 6.90937636e-01 -7.22852529e-01 -9.45541470e-03 -2.84951163e+02] [ 1.32509819e-02 -4.13613563e-04 9.99912116e-01 -9.00601675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.750385723 meters 0.017790419311800296 Centerline is valid? [True, True] Translation: X:-155.19, Y:-284.93, Z:-9.01 [[-7.23000439e-01 -6.90785709e-01 9.24498528e-03 -1.55188445e+02] [ 6.90721851e-01 -7.23059427e-01 -9.40162192e-03 -2.84933413e+02] [ 1.31791798e-02 -4.11663428e-04 9.99913066e-01 -9.00583391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.780385723 meters 0.01802005088134959 Centerline is valid? [True, True] Translation: X:-155.21, Y:-284.92, Z:-9.01 [[-7.22087167e-01 -6.91745568e-01 8.84265968e-03 -1.55212237e+02] [ 6.91687258e-01 -7.22141211e-01 -8.98934059e-03 -2.84917966e+02] [ 1.26039855e-02 -3.74732456e-04 9.99920497e-01 -9.00562597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.810385723 meters 0.017415106732636368 Centerline is valid? [True, True] Translation: X:-155.24, Y:-284.90, Z:-9.00 [[-7.19839192e-01 -6.94091814e-01 8.25172928e-03 -1.55237283e+02] [ 6.94041246e-01 -7.19886421e-01 -8.38388560e-03 -2.84903744e+02] [ 1.17594942e-02 -3.08008970e-04 9.99930807e-01 -9.00487105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8403857229999 meters 0.01672537494596968 Centerline is valid? [True, True] Translation: X:-155.26, Y:-284.89, Z:-9.00 [[-7.18321359e-01 -6.95665822e-01 7.96800814e-03 -1.55259325e+02] [ 6.95618819e-01 -7.18365500e-01 -8.09122287e-03 -2.84886646e+02] [ 1.13527294e-02 -2.69401802e-04 9.99935520e-01 -9.00438505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.870385723 meters 0.015481809207387405 Centerline is valid? [True, True] Translation: X:-155.28, Y:-284.87, Z:-9.00 [[-7.15264543e-01 -6.98810241e-01 7.80259700e-03 -1.55284963e+02] [ 6.98765404e-01 -7.15307069e-01 -7.91882146e-03 -2.84872724e+02] [ 1.11150063e-02 -2.11867367e-04 9.99938204e-01 -9.00421099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.900385723 meters 0.015112856835101047 Centerline is valid? [True, True] Translation: X:-155.31, Y:-284.85, Z:-9.00 [[-7.13939041e-01 -7.00164983e-01 7.74868263e-03 -1.55307238e+02] [ 7.00120891e-01 -7.13981065e-01 -7.85982881e-03 -2.84854832e+02] [ 1.10355896e-02 -1.86424059e-04 9.99939089e-01 -9.00430646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.930385723 meters 0.01452416493671898 Centerline is valid? [True, True] Translation: X:-155.33, Y:-284.84, Z:-9.00 [[-7.11587649e-01 -7.02560689e-01 7.17608363e-03 -1.55329808e+02] [ 7.02523032e-01 -7.11623819e-01 -7.27524491e-03 -2.84839351e+02] [ 1.02179731e-02 -1.35610392e-04 9.99947786e-01 -9.00350850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.960385723 meters 0.014343818834481 Centerline is valid? [True, True] Translation: X:-155.35, Y:-284.82, Z:-9.00 [[-7.10778995e-01 -7.03383520e-01 6.69656097e-03 -1.55350501e+02] [ 7.03350804e-01 -7.10810531e-01 -6.78501114e-03 -2.84822046e+02] [ 9.53245108e-03 -1.12611859e-04 9.99954559e-01 -9.00330129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.990385723 meters 0.013741698700851403 Centerline is valid? [True, True] Translation: X:-155.37, Y:-284.81, Z:-9.00 [[-7.09536278e-01 -7.04641256e-01 6.24268297e-03 -1.55374393e+02] [ 7.04612904e-01 -7.09563735e-01 -6.32160798e-03 -2.84806395e+02] [ 8.88404723e-03 -8.67352239e-05 9.99960532e-01 -9.00193684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.020385723 meters 0.013748583582485832 Centerline is valid? [True, True] Translation: X:-155.39, Y:-284.79, Z:-9.00 [[-7.09313248e-01 -7.04869622e-01 5.79069861e-03 -1.55394616e+02] [ 7.04845262e-01 -7.09336881e-01 -5.86049585e-03 -2.84788693e+02] [ 8.23844158e-03 -7.53808643e-05 9.99966061e-01 -9.00243081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.050385723 meters 0.013909378653188836 Centerline is valid? [True, True] Translation: X:-155.42, Y:-284.77, Z:-9.00 [[-7.08712575e-01 -7.05475975e-01 5.48955913e-03 -1.55415892e+02] [ 7.05454126e-01 -7.08733833e-01 -5.55254314e-03 -2.84771245e+02] [ 7.80782206e-03 -6.25250065e-05 9.99969517e-01 -9.00301127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.080385723 meters 0.013566118517528668 Centerline is valid? [True, True] Translation: X:-155.44, Y:-284.75, Z:-9.00 [[-7.08728577e-01 -7.05461053e-01 5.33915045e-03 -1.55437378e+02] [ 7.05440408e-01 -7.08748685e-01 -5.39738657e-03 -2.84753266e+02] [ 7.59176187e-03 -5.88296303e-05 9.99971181e-01 -9.00157228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.110385723 meters 0.014141514424690993 Centerline is valid? [True, True] Translation: X:-155.46, Y:-284.73, Z:-9.00 [[-7.09333060e-01 -7.04850272e-01 5.71876414e-03 -1.55455762e+02] [ 7.04826594e-01 -7.09356110e-01 -5.77773091e-03 -2.84733646e+02] [ 8.12907548e-03 -6.75984979e-05 9.99966956e-01 -9.00364623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.140385723 meters 0.01383180160306147 Centerline is valid? [True, True] Translation: X:-155.48, Y:-284.71, Z:-9.00 [[-7.09729822e-01 -7.04447419e-01 6.11665936e-03 -1.55476202e+02] [ 7.04420347e-01 -7.09756175e-01 -6.17635978e-03 -2.84714925e+02] [ 8.69225746e-03 -7.48474147e-05 9.99962219e-01 -9.00288382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.170385723 meters 0.013861770640661455 Centerline is valid? [True, True] Translation: X:-155.50, Y:-284.70, Z:-9.00 [[-7.09872546e-01 -7.04297344e-01 6.79845032e-03 -1.55496937e+02] [ 7.04263930e-01 -7.09905095e-01 -6.86099391e-03 -2.84695893e+02] [ 9.65843431e-03 -8.25278847e-05 9.99953353e-01 -9.00351144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.200385723 meters 0.013812895291415888 Centerline is valid? [True, True] Translation: X:-155.52, Y:-284.68, Z:-9.00 [[-7.09195850e-01 -7.04972246e-01 7.44176724e-03 -1.55517017e+02] [ 7.04932292e-01 -7.09234888e-01 -7.50582870e-03 -2.84677766e+02] [ 1.05693619e-02 -7.71605206e-05 9.99944140e-01 -9.00424166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2303857229999 meters 0.013694484088897483 Centerline is valid? [True, True] Translation: X:-155.54, Y:-284.66, Z:-9.00 [[-7.09088770e-01 -7.05083919e-01 7.05573256e-03 -1.55537310e+02] [ 7.05048048e-01 -7.09123869e-01 -7.11256406e-03 -2.84658875e+02] [ 1.00183429e-02 -6.88088362e-05 9.99949813e-01 -9.00373914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.260385723 meters 0.013622187974914763 Centerline is valid? [True, True] Translation: X:-155.56, Y:-284.64, Z:-9.00 [[-7.08816616e-01 -7.05365727e-01 6.18029340e-03 -1.55556942e+02] [ 7.05338246e-01 -7.08843557e-01 -6.22663766e-03 -2.84639314e+02] [ 8.77291795e-03 -5.43469254e-05 9.99961516e-01 -9.00252447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.290385723 meters 0.013622187974914763 Centerline is valid? [True, True] Translation: X:-155.58, Y:-284.62, Z:-9.00 [[-7.09011341e-01 -7.05169981e-01 6.18201242e-03 -1.55576396e+02] [ 7.05142507e-01 -7.09038289e-01 -6.22493097e-03 -2.84619800e+02] [ 8.77291796e-03 -5.43469187e-05 9.99961516e-01 -9.00252498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.320385723 meters 0.013667040658091602 Centerline is valid? [True, True] Translation: X:-155.59, Y:-284.60, Z:-9.00 [[-7.09420076e-01 -7.04761457e-01 5.86897932e-03 -1.55594937e+02] [ 7.04736710e-01 -7.09444350e-01 -5.90628369e-03 -2.84599618e+02] [ 8.32623531e-03 -5.39510469e-05 9.99965335e-01 -9.00231171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3503857229999 meters 0.013824995545935068 Centerline is valid? [True, True] Translation: X:-155.61, Y:-284.58, Z:-9.00 [[-7.10682520e-01 -7.03489546e-01 5.72842531e-03 -1.55611734e+02] [ 7.03465950e-01 -7.10705603e-01 -5.76213409e-03 -2.84578830e+02] [ 8.12482506e-03 -6.52958241e-05 9.99966991e-01 -9.00155366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.380385723 meters 0.013771978656854814 Centerline is valid? [True, True] Translation: X:-155.63, Y:-284.56, Z:-9.00 [[-7.11655738e-01 -7.02505643e-01 5.65081721e-03 -1.55631344e+02] [ 7.02482677e-01 -7.11678169e-01 -5.68092025e-03 -2.84558594e+02] [ 8.01244178e-03 -7.32582940e-05 9.99967897e-01 -9.00112198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.410385723 meters 0.013805340582418085 Centerline is valid? [True, True] Translation: X:-155.65, Y:-284.54, Z:-9.00 [[-7.13112039e-01 -7.01026271e-01 5.77813903e-03 -1.55650678e+02] [ 7.01002235e-01 -7.13135442e-01 -5.80577567e-03 -2.84538473e+02] [ 8.19059700e-03 -8.96801583e-05 9.99966453e-01 -9.00126280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.440385723 meters 0.01392330004375916 Centerline is valid? [True, True] Translation: X:-155.67, Y:-284.52, Z:-9.00 [[-7.14676444e-01 -6.99434513e-01 5.37981601e-03 -1.55669335e+02] [ 6.99413655e-01 -7.14696686e-01 -5.40247820e-03 -2.84517189e+02] [ 7.62361638e-03 -9.83071276e-05 9.99970935e-01 -9.00069468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4703857229999 meters 0.013922991988041068 Centerline is valid? [True, True] Translation: X:-155.69, Y:-284.50, Z:-9.00 [[-7.15363082e-01 -6.98733938e-01 5.15212639e-03 -1.55688360e+02] [ 6.98714812e-01 -7.15381628e-01 -5.17086733e-03 -2.84497065e+02] [ 7.29879706e-03 -9.91805718e-05 9.99973359e-01 -9.00030830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.500385723 meters 0.013883104617427049 Centerline is valid? [True, True] Translation: X:-155.71, Y:-284.48, Z:-9.00 [[-7.15505687e-01 -6.98591336e-01 4.66450297e-03 -1.55706595e+02] [ 6.98575675e-01 -7.15520885e-01 -4.67864414e-03 -2.84477101e+02] [ 6.60600955e-03 -8.90881824e-05 9.99978176e-01 -8.99962529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.530385723 meters 0.015376043224424589 Centerline is valid? [True, True] Translation: X:-155.73, Y:-284.46, Z:-9.00 [[-7.15523248e-01 -6.98571323e-01 4.95871102e-03 -1.55726588e+02] [ 6.98553643e-01 -7.15540424e-01 -4.97090030e-03 -2.84457305e+02] [ 7.02068658e-03 -9.28690858e-05 9.99975350e-01 -9.00044955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.560385723 meters 0.013659072772556123 Centerline is valid? [True, True] Translation: X:-155.75, Y:-284.44, Z:-9.00 [[-7.14149598e-01 -6.99979565e-01 4.35427923e-03 -1.55747380e+02] [ 6.99965974e-01 -7.14162869e-01 -4.36256227e-03 -2.84438414e+02] [ 6.16336898e-03 -6.76747908e-05 9.99981004e-01 -8.99932820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5903857229999 meters 0.013834092786668929 Centerline is valid? [True, True] Translation: X:-155.77, Y:-284.42, Z:-9.00 [[-7.12488068e-01 -7.01669281e-01 4.57958096e-03 -1.55765965e+02] [ 7.01654299e-01 -7.12502784e-01 -4.58560380e-03 -2.84418479e+02] [ 6.48054150e-03 -5.39053281e-05 9.99979000e-01 -9.00095093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.620385723 meters 0.013556864328679571 Centerline is valid? [True, True] Translation: X:-155.79, Y:-284.40, Z:-9.00 [[-7.11612937e-01 -7.02554565e-01 4.91029314e-03 -1.55785721e+02] [ 7.02537382e-01 -7.11629876e-01 -4.91385577e-03 -2.84400072e+02] [ 6.94656310e-03 -4.70988532e-05 9.99975871e-01 -9.00074362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.650385723 meters 0.013249996690677905 Centerline is valid? [True, True] Translation: X:-155.81, Y:-284.38, Z:-9.00 [[-7.09779543e-01 -7.04406582e-01 4.93635048e-03 -1.55806242e+02] [ 7.04389280e-01 -7.09796708e-01 -4.93721192e-03 -2.84381589e+02] [ 6.98160989e-03 -2.72196644e-05 9.99975628e-01 -8.99998147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.680385723 meters 0.013199553782124243 Centerline is valid? [True, True] Translation: X:-155.83, Y:-284.36, Z:-9.00 [[-7.09195829e-01 -7.04994117e-01 4.95695270e-03 -1.55826416e+02] [ 7.04976704e-01 -7.09213152e-01 -4.95507639e-03 -2.84361438e+02] [ 7.00883575e-03 -1.95833343e-05 9.99975438e-01 -9.00035623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.710385723 meters 0.013067501823421129 Centerline is valid? [True, True] Translation: X:-156.17, Y:-284.70, Z:-8.07 [[-7.53955968e-01 6.56898021e-01 5.94888956e-03 -1.56173231e+02] [ 6.56877761e-01 7.53979436e-01 -5.15912452e-03 -2.84699075e+02] [-7.87435909e-03 1.79405381e-05 -9.99968997e-01 -8.07294027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.740385723 meters 0.013105773064045697 Centerline is valid? [True, True] Translation: X:-155.86, Y:-284.33, Z:-9.00 [[-7.11932126e-01 -7.02222464e-01 6.02152476e-03 -1.55859924e+02] [ 7.02197528e-01 -7.11957591e-01 -5.91791113e-03 -2.84332734e+02] [ 8.44276040e-03 1.51487458e-05 9.99964359e-01 -9.00089899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.770385723 meters 0.013139486915441872 Centerline is valid? [True, True] Translation: X:-156.21, Y:-284.67, Z:-8.07 [[-7.54661296e-01 6.56083286e-01 6.40705206e-03 -1.56209773e+02] [ 6.56060096e-01 7.54688492e-01 -5.51645246e-03 -2.84673083e+02] [-8.45458071e-03 4.03580266e-05 -9.99964259e-01 -8.07282876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.800385723 meters 0.013336435149029352 Centerline is valid? [True, True] Translation: X:-156.20, Y:-284.65, Z:-8.07 [[-7.98173639e-01 6.02393598e-01 6.38713010e-03 -1.56201527e+02] [ 6.02374832e-01 7.98199192e-01 -4.75510229e-03 -2.84646727e+02] [-7.96264526e-03 5.20491202e-05 -9.99968296e-01 -8.07245543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.830385723 meters 0.01350085866768798 Centerline is valid? [True, True] Translation: X:-156.19, Y:-284.62, Z:-8.07 [[-8.38178214e-01 5.45350395e-01 7.08723292e-03 -1.56189288e+02] [ 5.45331558e-01 8.38208174e-01 -4.53312075e-03 -2.84622023e+02] [-8.41271575e-03 6.53287146e-05 -9.99964610e-01 -8.07194748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.860385723 meters 0.013830101260093782 Centerline is valid? [True, True] Translation: X:-155.92, Y:-284.20, Z:-9.00 [[-8.10475887e-01 -5.85726140e-01 7.32980035e-03 -1.55917863e+02] [ 5.85701835e-01 -8.10509030e-01 -5.33597480e-03 -2.84199684e+02] [ 9.06628930e-03 -3.16013988e-05 9.99958900e-01 -9.00219325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.890385723 meters 0.013862366775584488 Centerline is valid? [True, True] Translation: X:-155.94, Y:-284.22, Z:-9.00 [[-7.69866868e-01 -6.38163120e-01 7.26902225e-03 -1.55937390e+02] [ 6.38133306e-01 -7.69901176e-01 -6.16953845e-03 -2.84223109e+02] [ 9.53360068e-03 -1.11118039e-04 9.99954548e-01 -9.00190153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.920385723 meters 0.01374673106634359 Centerline is valid? [True, True] Translation: X:-155.96, Y:-284.24, Z:-9.00 [[-7.25759168e-01 -6.87917382e-01 6.58071595e-03 -1.55959694e+02] [ 6.87887663e-01 -7.25788993e-01 -6.39531920e-03 -2.84242659e+02] [ 9.17566244e-03 -1.14668226e-04 9.99957896e-01 -9.00146939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.950385723 meters 0.013812036235759932 Centerline is valid? [True, True] Translation: X:-155.98, Y:-284.26, Z:-9.00 [[-6.77351565e-01 -7.35637752e-01 5.65301133e-03 -1.55982646e+02] [ 7.35610887e-01 -6.77375146e-01 -6.28767917e-03 -2.84262709e+02] [ 8.45466354e-03 -1.00552649e-04 9.99964254e-01 -9.00124304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9803857229999 meters 0.013509626710501764 Centerline is valid? [True, True] Translation: X:-156.00, Y:-284.24, Z:-9.00 [[-6.76280385e-01 -7.36625389e-01 5.27994199e-03 -1.56000958e+02] [ 7.36602025e-01 -6.76300991e-01 -5.86732244e-03 -2.84241229e+02] [ 7.89284868e-03 -7.87391192e-05 9.99968848e-01 -9.00059043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.010385723 meters 0.01359543974593307 Centerline is valid? [True, True] Translation: X:-156.02, Y:-284.22, Z:-9.00 [[-6.75753828e-01 -7.37108255e-01 5.30891668e-03 -1.56018651e+02] [ 7.37084677e-01 -6.75774678e-01 -5.89608264e-03 -2.84220680e+02] [ 7.93368265e-03 -7.11792787e-05 9.99968525e-01 -9.00104424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.040385723 meters 0.01636559400524754 Centerline is valid? [True, True] Translation: X:-156.04, Y:-284.20, Z:-9.00 [[-6.74970855e-01 -7.37818840e-01 6.14041941e-03 -1.56036714e+02] [ 7.37787361e-01 -6.74998781e-01 -6.81579917e-03 -2.84199533e+02] [ 9.17360065e-03 -7.01419591e-05 9.99957919e-01 -9.00257440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.070385723 meters 0.013182090043303354 Centerline is valid? [True, True] Translation: X:-156.06, Y:-284.18, Z:-9.00 [[-6.74655232e-01 -7.38116463e-01 4.94014985e-03 -1.56055080e+02] [ 7.38096119e-01 -6.74673317e-01 -5.48039065e-03 -2.84178395e+02] [ 7.37815385e-03 -5.10687895e-05 9.99972780e-01 -9.00035181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1003857229999 meters 0.013421177079704132 Centerline is valid? [True, True] Translation: X:-156.07, Y:-284.16, Z:-9.00 [[-6.74804211e-01 -7.37976947e-01 5.41321737e-03 -1.56072413e+02] [ 7.37952544e-01 -6.74825921e-01 -6.00158793e-03 -2.84157029e+02] [ 8.08201293e-03 -5.51992805e-05 9.99967339e-01 -9.00168400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.130385723 meters 0.013301458405388579 Centerline is valid? [True, True] Translation: X:-156.09, Y:-284.14, Z:-9.00 [[-6.75440336e-01 -7.37387795e-01 6.29222362e-03 -1.56089945e+02] [ 7.37354835e-01 -6.75469641e-01 -6.97223041e-03 -2.84135230e+02] [ 9.39144364e-03 -6.97241435e-05 9.99955897e-01 -9.00142666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.160385723 meters 0.013361637348078126 Centerline is valid? [True, True] Translation: X:-156.11, Y:-284.11, Z:-9.00 [[-6.76189907e-01 -7.36699679e-01 6.38696665e-03 -1.56108152e+02] [ 7.36665727e-01 -6.76220066e-01 -7.07317644e-03 -2.84114020e+02] [ 9.52980181e-03 -7.77510894e-05 9.99954588e-01 -9.00120356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.190385723 meters 0.013663877022153206 Centerline is valid? [True, True] Translation: X:-156.12, Y:-284.09, Z:-9.00 [[-6.77902458e-01 -7.35118918e-01 6.95936856e-03 -1.56123708e+02] [ 7.35078565e-01 -6.77938172e-01 -7.70315256e-03 -2.84091535e+02] [ 1.03807548e-02 -1.06303398e-04 9.99946113e-01 -9.00168112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2203857229999 meters 0.013839097328285555 Centerline is valid? [True, True] Translation: X:-156.14, Y:-284.07, Z:-9.00 [[-6.80160698e-01 -7.33028073e-01 7.16030699e-03 -1.56139807e+02] [ 7.32985285e-01 -6.80198372e-01 -7.92127587e-03 -2.84067817e+02] [ 1.06769467e-02 -1.39340866e-04 9.99942990e-01 -9.00120873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.250385723 meters 0.014556994104696871 Centerline is valid? [True, True] Translation: X:-156.16, Y:-284.05, Z:-9.00 [[-6.81431245e-01 -7.31846322e-01 7.24012189e-03 -1.56155303e+02] [ 7.31802553e-01 -6.81469688e-01 -8.00549200e-03 -2.84045242e+02] [ 1.07927135e-02 -1.56852695e-04 9.99941745e-01 -9.00212059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.280385723 meters 0.014491793251718569 Centerline is valid? [True, True] Translation: X:-156.17, Y:-284.02, Z:-9.00 [[-6.82680092e-01 -7.30677195e-01 7.66344589e-03 -1.56172984e+02] [ 7.30628133e-01 -6.82723079e-01 -8.46926617e-03 -2.84023548e+02] [ 1.14203110e-02 -1.82670244e-04 9.99934770e-01 -9.00127276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.310385723 meters 0.015061156068288534 Centerline is valid? [True, True] Translation: X:-156.19, Y:-284.00, Z:-9.00 [[-6.84533716e-01 -7.28942874e-01 7.47517084e-03 -1.56188609e+02] [ 7.28896136e-01 -6.84574500e-01 -8.25698714e-03 -2.84000423e+02] [ 1.11361833e-02 -2.03562954e-04 9.99937970e-01 -9.00157956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3403857229999 meters 0.015432897074616557 Centerline is valid? [True, True] Translation: X:-156.20, Y:-283.98, Z:-9.00 [[-6.85720991e-01 -7.27826235e-01 7.46283729e-03 -1.56204382e+02] [ 7.27779633e-01 -6.85761565e-01 -8.23904853e-03 -2.83976604e+02] [ 1.11143227e-02 -2.18387531e-04 9.99938210e-01 -9.00054408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.370385723 meters 0.015160873240117797 Centerline is valid? [True, True] Translation: X:-156.22, Y:-283.95, Z:-9.00 [[-6.86291357e-01 -7.27298761e-01 6.37852055e-03 -1.56221626e+02] [ 7.27264732e-01 -6.86320972e-01 -7.03799233e-03 -2.83954890e+02] [ 9.49643552e-03 -1.91240274e-04 9.99954890e-01 -8.99801494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.400385723 meters 0.015184141205253151 Centerline is valid? [True, True] Translation: X:-156.24, Y:-283.93, Z:-9.00 [[-6.86791392e-01 -7.26829891e-01 5.99106437e-03 -1.56240380e+02] [ 7.26799887e-01 -6.86817498e-01 -6.60675656e-03 -2.83934021e+02] [ 8.91675599e-03 -1.83158628e-04 9.99960228e-01 -8.99770223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.430385723 meters 0.016155170568864348 Centerline is valid? [True, True] Translation: X:-156.26, Y:-283.91, Z:-9.00 [[-6.86985949e-01 -7.26643492e-01 6.28823436e-03 -1.56259000e+02] [ 7.26610466e-01 -6.87014701e-01 -6.93048895e-03 -2.83912554e+02] [ 9.35610413e-03 -1.92051630e-04 9.99956212e-01 -8.99812125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.460385723 meters 0.01501849924067774 Centerline is valid? [True, True] Translation: X:-156.28, Y:-283.89, Z:-9.00 [[-6.86875165e-01 -7.26750976e-01 5.96044461e-03 -1.56276442e+02] [ 7.26721343e-01 -6.86901002e-01 -6.56530267e-03 -2.83892108e+02] [ 8.86557550e-03 -1.77961049e-04 9.99960684e-01 -8.99726094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.490385723 meters 0.014672607721963233 Centerline is valid? [True, True] Translation: X:-156.30, Y:-283.87, Z:-9.00 [[-6.85911119e-01 -7.27668216e-01 4.99049951e-03 -1.56295556e+02] [ 7.27647489e-01 -6.85929260e-01 -5.49393307e-03 -2.83870821e+02] [ 7.42089010e-03 -1.37025342e-04 9.99972456e-01 -8.99596598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.520385723 meters 0.014543032677837277 Centerline is valid? [True, True] Translation: X:-156.31, Y:-283.85, Z:-9.00 [[-6.85250079e-01 -7.28294989e-01 4.32889582e-03 -1.56314816e+02] [ 7.28279423e-01 -6.85263743e-01 -4.76289805e-03 -2.83849817e+02] [ 6.43523014e-03 -1.11130518e-04 9.99979288e-01 -8.99538903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.550385723 meters 0.014158524952588077 Centerline is valid? [True, True] Translation: X:-156.33, Y:-283.83, Z:-8.99 [[-6.82987471e-01 -7.30423125e-01 3.18965231e-03 -1.56333754e+02] [ 7.30414706e-01 -6.82994916e-01 -3.50755678e-03 -2.83829311e+02] [ 4.74051689e-03 -6.58483770e-05 9.99988762e-01 -8.99365017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.580385723 meters 0.013750146276575191 Centerline is valid? [True, True] Translation: X:-156.35, Y:-283.81, Z:-8.99 [[-6.80899516e-01 -7.32372410e-01 2.54997217e-03 -1.56353754e+02] [ 7.32367048e-01 -6.80904290e-01 -2.80262664e-03 -2.83808899e+02] [ 3.78885342e-03 -4.07915313e-05 9.99992822e-01 -8.99239882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.610385723 meters 0.013689839934435552 Centerline is valid? [True, True] Translation: X:-156.37, Y:-283.79, Z:-8.99 [[-6.80227132e-01 -7.32998159e-01 2.17891963e-03 -1.56372779e+02] [ 7.32994252e-01 -6.80230621e-01 -2.39347639e-03 -2.83788791e+02] [ 3.23658164e-03 -3.09720200e-05 9.99994762e-01 -8.99243026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.640385723 meters 0.013460449617686335 Centerline is valid? [True, True] Translation: X:-156.39, Y:-283.77, Z:-8.99 [[-6.78702117e-01 -7.34411976e-01 1.57670161e-03 -1.56392233e+02] [ 7.34409936e-01 -6.78703948e-01 -1.73100108e-03 -2.83769204e+02] [ 2.34138153e-03 -1.68887696e-05 9.99997259e-01 -8.99189006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.670385723 meters 0.013263104526845293 Centerline is valid? [True, True] Translation: X:-156.41, Y:-283.75, Z:-8.99 [[-6.78008778e-01 -7.35053175e-01 9.62696814e-04 -1.56412009e+02] [ 7.35052416e-01 -6.78009461e-01 -1.05630671e-03 -2.83749788e+02] [ 1.42915915e-03 -8.55260098e-06 9.99998979e-01 -8.99170461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.700385723 meters 0.013285790106701592 Centerline is valid? [True, True] Translation: X:-156.43, Y:-283.73, Z:-8.99 [[-6.77108741e-01 -7.35882911e-01 3.06881814e-04 -1.56430866e+02] [ 7.35882834e-01 -6.77108811e-01 -3.36520317e-04 -2.83729404e+02] [ 4.55431931e-04 -2.03178961e-06 9.99999896e-01 -8.99080123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7303857229999 meters 0.01338560478585198 Centerline is valid? [True, True] Translation: X:-156.45, Y:-283.71, Z:-8.99 [[-6.77031577e-01 -7.35953912e-01 2.89543981e-04 -1.56449280e+02] [ 7.35953844e-01 -6.77031638e-01 -3.17335252e-04 -2.83707533e+02] [ 4.29574557e-04 -1.75498022e-06 9.99999908e-01 -8.99027633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.760385723 meters 0.013343999163758965 Centerline is valid? [True, True] Translation: X:-156.47, Y:-283.69, Z:-8.99 [[-6.77501354e-01 -7.35521265e-01 6.19171751e-04 -1.56468009e+02] [ 7.35520953e-01 -6.77501637e-01 -6.78220752e-04 -2.83687137e+02] [ 9.18335661e-04 -4.08168189e-06 9.99999578e-01 -8.99112448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.790385723 meters 0.01345059302414504 Centerline is valid? [True, True] Translation: X:-156.49, Y:-283.67, Z:-8.99 [[-6.78241203e-01 -7.34838701e-01 9.76945442e-04 -1.56486581e+02] [ 7.34837922e-01 -6.78241907e-01 -1.06947015e-03 -2.83666765e+02] [ 1.44849340e-03 -7.46216386e-06 9.99998951e-01 -8.99224240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.820385723 meters 0.013680209466412897 Centerline is valid? [True, True] Translation: X:-156.50, Y:-283.64, Z:-8.99 [[-6.80205422e-01 -7.33021413e-01 4.38071809e-04 -1.56504523e+02] [ 7.33021256e-01 -6.80205563e-01 -4.79281717e-04 -2.83644830e+02] [ 6.49302643e-04 -4.89407469e-06 9.99999789e-01 -8.99224394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8503857229999 meters 0.01378966938831349 Centerline is valid? [True, True] Translation: X:-156.52, Y:-283.62, Z:-8.99 [[-6.81412907e-01 -7.31899094e-01 -4.07487463e-04 -1.56522638e+02] [ 7.31898959e-01 -6.81413029e-01 4.45585228e-04 -2.83623428e+02] [-6.03790690e-04 5.38787572e-06 9.99999818e-01 -8.99182211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.880385723 meters 0.015884137065698196 Centerline is valid? [True, True] Translation: X:-156.54, Y:-283.60, Z:-8.99 [[-6.82979011e-01 -7.30437652e-01 -7.12732139e-04 -1.56539963e+02] [ 7.30437236e-01 -6.82979383e-01 7.78917212e-04 -2.83601708e+02] [-1.05573181e-03 1.13780130e-05 9.99999443e-01 -8.99233884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.910385723 meters 0.014039317970676458 Centerline is valid? [True, True] Translation: X:-156.56, Y:-283.58, Z:-8.99 [[-6.83173942e-01 -7.30254526e-01 -1.30089252e-03 -1.56559003e+02] [ 7.30253144e-01 -6.83175181e-01 1.42088150e-03 -2.83580806e+02] [-1.92634263e-03 2.07283703e-05 9.99998145e-01 -8.99081911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.940385723 meters 0.014096106280689817 Centerline is valid? [True, True] Translation: X:-156.58, Y:-283.56, Z:-8.99 [[-6.83209256e-01 -7.30220100e-01 -1.92799472e-03 -1.56578535e+02] [ 7.30217068e-01 -6.83211976e-01 2.10461684e-03 -2.83560247e+02] [-2.85406260e-03 3.00390561e-05 9.99995927e-01 -8.99104829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9703857229999 meters 0.01552516937300192 Centerline is valid? [True, True] Translation: X:-156.60, Y:-283.54, Z:-8.99 [[-6.83368115e-01 -7.30070697e-01 -2.19026074e-03 -1.56597692e+02] [ 7.30066787e-01 -6.83371624e-01 2.38954167e-03 -2.83540158e+02] [-3.24129639e-03 3.38999715e-05 9.99994747e-01 -8.99282152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.000385723 meters 0.016800169700731518 Centerline is valid? [True, True] Translation: X:-156.62, Y:-283.52, Z:-8.99 [[-6.83652160e-01 -7.29804937e-01 -2.11619924e-03 -1.56616528e+02] [ 7.29801290e-01 -6.83655434e-01 2.30741485e-03 -2.83519697e+02] [-3.13071386e-03 3.30642132e-05 9.99995099e-01 -8.99396968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.030385723 meters 0.016882300404405328 Centerline is valid? [True, True] Translation: X:-156.63, Y:-283.50, Z:-8.99 [[-6.83579917e-01 -7.29873974e-01 -1.57449374e-03 -1.56633569e+02] [ 7.29871957e-01 -6.83581730e-01 1.71604201e-03 -2.83499130e+02] [-2.32878955e-03 2.38730294e-05 9.99997288e-01 -8.99429352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.060385723 meters 0.014349169639177529 Centerline is valid? [True, True] Translation: X:-156.65, Y:-283.48, Z:-8.99 [[-6.83474248e-01 -7.29971469e-01 -2.14636917e-03 -1.56652518e+02] [ 7.29967726e-01 -6.83477617e-01 2.33803157e-03 -2.83478493e+02] [-3.17369162e-03 3.12041483e-05 9.99994963e-01 -8.99292858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0903857229999 meters 0.016528888168359224 Centerline is valid? [True, True] Translation: X:-156.67, Y:-283.46, Z:-9.00 [[-6.84197299e-01 -7.29293585e-01 -2.21885765e-03 -1.56669812e+02] [ 7.29289585e-01 -6.84200896e-01 2.41557894e-03 -2.83458239e+02] [-3.27981062e-03 3.45428115e-05 9.99994621e-01 -8.99506910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.120385723 meters 0.017490154710835096 Centerline is valid? [True, True] Translation: X:-156.69, Y:-283.44, Z:-9.00 [[-6.84442214e-01 -7.29062681e-01 -2.54217445e-03 -1.56688529e+02] [ 7.29057435e-01 -6.84446934e-01 2.76603669e-03 -2.83437846e+02] [-3.75659764e-03 3.98010946e-05 9.99992943e-01 -8.99601605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.150385723 meters 0.014425969194862743 Centerline is valid? [True, True] Translation: X:-156.71, Y:-283.42, Z:-8.99 [[-6.83654162e-01 -7.29801670e-01 -2.55124925e-03 -1.56707120e+02] [ 7.29796398e-01 -6.83658922e-01 2.77434574e-03 -2.83417329e+02] [-3.76890647e-03 3.48005049e-05 9.99992897e-01 -8.99430068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.180385723 meters 0.014425969194862743 Centerline is valid? [True, True] Translation: X:-156.73, Y:-283.40, Z:-8.99 [[-6.83859480e-01 -7.29609278e-01 -2.55202977e-03 -1.56725821e+02] [ 7.29604007e-01 -6.83864241e-01 2.77362779e-03 -2.83397069e+02] [-3.76890647e-03 3.48005145e-05 9.99992897e-01 -8.99430137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.210385723 meters 0.01633069736850287 Centerline is valid? [True, True] Translation: X:-156.74, Y:-283.38, Z:-9.00 [[-6.83880375e-01 -7.29591245e-01 -2.06102651e-03 -1.56744557e+02] [ 7.29587811e-01 -6.83883480e-01 2.23872010e-03 -2.83376295e+02] [-3.04285256e-03 2.73169212e-05 9.99995370e-01 -8.99651012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.240385723 meters 0.014157490592291865 Centerline is valid? [True, True] Translation: X:-156.76, Y:-283.36, Z:-9.00 [[-6.82065641e-01 -7.31288342e-01 -1.95509362e-03 -1.56763381e+02] [ 7.31285262e-01 -6.82068443e-01 2.12245927e-03 -2.83356140e+02] [-2.88563737e-03 1.79253917e-05 9.99995837e-01 -8.99557103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.270385723 meters 0.014010125068771258 Centerline is valid? [True, True] Translation: X:-156.78, Y:-283.34, Z:-9.00 [[-6.80744734e-01 -7.32516945e-01 -2.35215763e-03 -1.56782281e+02] [ 7.32512499e-01 -6.80748798e-01 2.55201279e-03 -2.83336894e+02] [-3.47062109e-03 1.42844086e-05 9.99993977e-01 -8.99653593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.300385723 meters 0.013990896705753467 Centerline is valid? [True, True] Translation: X:-156.80, Y:-283.32, Z:-9.00 [[-6.80308234e-01 -7.32921511e-01 -2.60085924e-03 -1.56801654e+02] [ 7.32916085e-01 -6.80313206e-01 2.82026939e-03 -2.83316507e+02] [-3.83643499e-03 1.24409152e-05 9.99992641e-01 -8.99671789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.330385723 meters 0.013972817817043298 Centerline is valid? [True, True] Translation: X:-156.82, Y:-283.29, Z:-9.00 [[-6.79815420e-01 -7.33377169e-01 -2.98711556e-03 -1.56819959e+02] [ 7.33370024e-01 -6.79821983e-01 3.23726998e-03 -2.83294794e+02] [-4.40484671e-03 1.00850384e-05 9.99990299e-01 -8.99698370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.360385723 meters 0.013947035163118173 Centerline is valid? [True, True] Translation: X:-156.84, Y:-283.27, Z:-9.00 [[-6.79868315e-01 -7.33328965e-01 -2.77554817e-03 -1.56837417e+02] [ 7.33322803e-01 -6.79873981e-01 3.00618539e-03 -2.83274077e+02] [-4.09154581e-03 8.43743615e-06 9.99991630e-01 -8.99714908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.390385723 meters 0.013920904374853237 Centerline is valid? [True, True] Translation: X:-156.86, Y:-283.25, Z:-9.00 [[-6.79650353e-01 -7.33533688e-01 -1.93066018e-03 -1.56855484e+02] [ 7.33530710e-01 -6.79653095e-01 2.08992273e-03 -2.83252201e+02] [-2.84520789e-03 4.21819117e-06 9.99995953e-01 -8.99788259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.420385723 meters 0.014437057848302695 Centerline is valid? [True, True] Translation: X:-156.87, Y:-283.23, Z:-9.00 [[-6.79809781e-01 -7.33386471e-01 -1.71633619e-03 -1.56874029e+02] [ 7.33384120e-01 -6.79811948e-01 1.85688748e-03 -2.83231065e+02] [-2.52860200e-03 3.59656677e-06 9.99996803e-01 -8.99868341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.450385723 meters 0.013904561841157684 Centerline is valid? [True, True] Translation: X:-156.89, Y:-283.21, Z:-9.00 [[-6.79283084e-01 -7.33874253e-01 -1.75301167e-03 -1.56892259e+02] [ 7.33871805e-01 -6.79285346e-01 1.89551693e-03 -2.83209029e+02] [-2.58186621e-03 1.10675346e-06 9.99996667e-01 -8.99799410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4803857229999 meters 0.014455556897698087 Centerline is valid? [True, True] Translation: X:-156.91, Y:-283.19, Z:-9.00 [[-6.79692522e-01 -7.33494689e-01 -1.90159713e-03 -1.56909996e+02] [ 7.33491810e-01 -6.79695183e-01 2.05502078e-03 -2.83187548e+02] [-2.79985323e-03 1.97633431e-06 9.99996081e-01 -8.99807402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.510385723 meters 0.013895984390335956 Centerline is valid? [True, True] Translation: X:-156.93, Y:-283.17, Z:-9.00 [[-6.80054694e-01 -7.33158150e-01 -2.17725284e-03 -1.56927845e+02] [ 7.33154378e-01 -6.80058179e-01 2.35194475e-03 -2.83167242e+02] [-3.20500606e-03 3.18861496e-06 9.99994864e-01 -8.99714860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.540385723 meters 0.013997038812325219 Centerline is valid? [True, True] Translation: X:-156.95, Y:-283.15, Z:-9.00 [[-6.81143209e-01 -7.32146444e-01 -2.34810638e-03 -1.56945397e+02] [ 7.32142055e-01 -6.81147256e-01 2.53508755e-03 -2.83145537e+02] [-3.45546156e-03 7.61023871e-06 9.99994030e-01 -8.99683275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.570385723 meters 0.01399045065740899 Centerline is valid? [True, True] Translation: X:-156.96, Y:-283.12, Z:-9.00 [[-6.81970730e-01 -7.31376070e-01 -2.22894641e-03 -1.56964168e+02] [ 7.31372115e-01 -6.81974372e-01 2.40508442e-03 -2.83124603e+02] [-3.27910551e-03 1.00079259e-05 9.99994624e-01 -8.99728671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6003857229999 meters 0.014153291679695578 Centerline is valid? [True, True] Translation: X:-156.98, Y:-283.10, Z:-9.00 [[-6.83778189e-01 -7.29688082e-01 -1.64069485e-03 -1.56981807e+02] [ 7.29685937e-01 -6.83780157e-01 1.76930217e-03 -2.83103490e+02] [-2.41291329e-03 1.26182700e-05 9.99997089e-01 -8.99800772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.630385723 meters 0.016008338712501395 Centerline is valid? [True, True] Translation: X:-157.00, Y:-283.08, Z:-9.00 [[-6.85130685e-01 -7.28419378e-01 -1.07446262e-03 -1.56998651e+02] [ 7.28418458e-01 -6.85131527e-01 1.15801773e-03 -2.83082799e+02] [-1.57967077e-03 1.07350751e-05 9.99998752e-01 -8.99985802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.660385723 meters 0.014483342287750743 Centerline is valid? [True, True] Translation: X:-157.02, Y:-283.06, Z:-9.00 [[-6.86267594e-01 -7.27348668e-01 -8.39662751e-04 -1.57016770e+02] [ 7.27348106e-01 -6.86268108e-01 9.04466126e-04 -2.83061529e+02] [-1.23409600e-03 9.97868064e-06 9.99999239e-01 -8.99816454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.690385723 meters 0.015795420880245856 Centerline is valid? [True, True] Translation: X:-157.04, Y:-283.04, Z:-9.00 [[-6.87494675e-01 -7.26188706e-01 -1.01744932e-03 -1.57035628e+02] [ 7.26187880e-01 -6.87495428e-01 1.09536151e-03 -2.83041336e+02] [-1.49493091e-03 1.41958385e-05 9.99998883e-01 -8.99950155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7203857229999 meters 0.015888257653993862 Centerline is valid? [True, True] Translation: X:-157.05, Y:-283.02, Z:-9.00 [[-6.88493704e-01 -7.25241360e-01 -1.17902673e-03 -1.57053831e+02] [ 7.25240251e-01 -6.88494713e-01 1.26856524e-03 -2.83020587e+02] [-1.73176965e-03 1.83215361e-05 9.99998500e-01 -8.99923504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.750385723 meters 0.014794880421432111 Centerline is valid? [True, True] Translation: X:-157.07, Y:-283.00, Z:-9.00 [[-6.88578797e-01 -7.25160774e-01 -1.04529696e-03 -1.57072203e+02] [ 7.25159903e-01 -6.88579590e-01 1.12402556e-03 -2.83000949e+02] [-1.53486939e-03 1.59727261e-05 9.99998822e-01 -8.99804017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.780385723 meters 0.014546645107409873 Centerline is valid? [True, True] Translation: X:-157.09, Y:-282.98, Z:-9.00 [[-6.88619737e-01 -7.25122176e-01 -8.29389021e-04 -1.57092073e+02] [ 7.25121628e-01 -6.88620236e-01 8.91349432e-04 -2.82980706e+02] [-1.21747130e-03 1.23928942e-05 9.99999259e-01 -8.99836768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.810385723 meters 0.014567768373859659 Centerline is valid? [True, True] Translation: X:-157.11, Y:-282.96, Z:-9.00 [[-6.88159700e-01 -7.25558928e-01 -6.85601915e-04 -1.57109877e+02] [ 7.25558554e-01 -6.88160042e-01 7.36512676e-04 -2.82960830e+02] [-1.00618719e-03 9.39400881e-06 9.99999494e-01 -8.99841577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8403857229999 meters 0.014550977749793307 Centerline is valid? [True, True] Translation: X:-157.13, Y:-282.94, Z:-9.00 [[-6.87894572e-01 -7.25810139e-01 -8.36734503e-04 -1.57128932e+02] [ 7.25809583e-01 -6.87895081e-01 8.98372420e-04 -2.82940803e+02] [-1.22763336e-03 1.06755902e-05 9.99999247e-01 -8.99818591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.870385723 meters 0.01458698812611574 Centerline is valid? [True, True] Translation: X:-157.15, Y:-282.92, Z:-9.00 [[-6.87546230e-01 -7.26140044e-01 -9.04912153e-04 -1.57146957e+02] [ 7.26139394e-01 -6.87546825e-01 9.71006877e-04 -2.82921236e+02] [-1.32725645e-03 1.05197545e-05 9.99999119e-01 -8.99802827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.900385723 meters 0.014434329231527198 Centerline is valid? [True, True] Translation: X:-157.17, Y:-282.90, Z:-9.00 [[-6.87320678e-01 -7.26353089e-01 -1.21442647e-03 -1.57167388e+02] [ 7.26351922e-01 -6.87321751e-01 1.30240102e-03 -2.82901607e+02] [-1.78070473e-03 1.30661521e-05 9.99998415e-01 -8.99772766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.930385723 meters 0.014529871799925195 Centerline is valid? [True, True] Translation: X:-157.19, Y:-282.88, Z:-9.00 [[-6.87108508e-01 -7.26552877e-01 -1.67763969e-03 -1.57186317e+02] [ 7.26550652e-01 -6.87110556e-01 1.79811404e-03 -2.82881888e+02] [-2.45914887e-03 1.66092414e-05 9.99996976e-01 -8.99685921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.960385723 meters 0.01454610096715046 Centerline is valid? [True, True] Translation: X:-157.21, Y:-282.86, Z:-9.00 [[-6.87096535e-01 -7.26562974e-01 -2.14407168e-03 -1.57205193e+02] [ 7.26559344e-01 -6.87099880e-01 2.29662687e-03 -2.82861802e+02] [-3.14183544e-03 2.02090533e-05 9.99995064e-01 -8.99618681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.990385723 meters 0.014553885691338114 Centerline is valid? [True, True] Translation: X:-157.22, Y:-282.84, Z:-9.00 [[-6.86877810e-01 -7.26767709e-01 -2.75160852e-03 -1.57224726e+02] [ 7.26761739e-01 -6.86883321e-01 2.94576154e-03 -2.82841415e+02] [-4.03091836e-03 2.36144439e-05 9.99991876e-01 -8.99577240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.020385723 meters 0.014503919862953036 Centerline is valid? [True, True] Translation: X:-157.24, Y:-282.82, Z:-9.00 [[-6.86798261e-01 -7.26842596e-01 -2.82657701e-03 -1.57244533e+02] [ 7.26836304e-01 -6.86804077e-01 3.02432963e-03 -2.82821178e+02] [-4.13951621e-03 2.26455415e-05 9.99991432e-01 -8.99582754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.050385723 meters 0.014476231583615745 Centerline is valid? [True, True] Translation: X:-157.26, Y:-282.80, Z:-9.00 [[-6.86105042e-01 -7.27497155e-01 -2.78588774e-03 -1.57264449e+02] [ 7.27491056e-01 -6.86110697e-01 2.97913091e-03 -2.82801253e+02] [-4.07873664e-03 1.72883241e-05 9.99991682e-01 -8.99677530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.080385723 meters 0.0161436765466226 Centerline is valid? [True, True] Translation: X:-157.28, Y:-282.78, Z:-9.00 [[-6.86318491e-01 -7.27296799e-01 -2.50897352e-03 -1.57283479e+02] [ 7.27291856e-01 -6.86323077e-01 2.68150526e-03 -2.82780670e+02] [-3.67221661e-03 1.56106364e-05 9.99993257e-01 -8.99890512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.110385723 meters 0.014526635196254243 Centerline is valid? [True, True] Translation: X:-157.30, Y:-282.76, Z:-9.00 [[-6.84982793e-01 -7.28555938e-01 -2.19512277e-03 -1.57302283e+02] [ 7.28552165e-01 -6.84986310e-01 2.34469694e-03 -2.82761116e+02] [-3.21187192e-03 6.81560842e-06 9.99994842e-01 -8.99751064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.140385723 meters 0.0145415807909958 Centerline is valid? [True, True] Translation: X:-157.32, Y:-282.74, Z:-9.00 [[-6.84513055e-01 -7.28997684e-01 -2.06266670e-03 -1.57321393e+02] [ 7.28994358e-01 -6.84516163e-01 2.20200939e-03 -2.82740883e+02] [-3.01718844e-03 3.63178323e-06 9.99995448e-01 -8.99781770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.170385723 meters 0.01456071354909158 Centerline is valid? [True, True] Translation: X:-157.34, Y:-282.72, Z:-9.00 [[-6.83510251e-01 -7.29938990e-01 -1.67562675e-03 -1.57339319e+02] [ 7.29936801e-01 -6.83512305e-01 1.78767257e-03 -2.82721794e+02] [-2.45020341e-03 -1.20910296e-06 9.99996998e-01 -8.99835292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.200385723 meters 0.014605343988822257 Centerline is valid? [True, True] Translation: X:-157.36, Y:-282.70, Z:-9.00 [[-6.82631409e-01 -7.30761973e-01 -1.13959632e-03 -1.57356914e+02] [ 7.30760963e-01 -6.82632360e-01 1.21502671e-03 -2.82702858e+02] [-1.66582064e-03 -3.35710582e-06 9.99998613e-01 -8.99892268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2303857229999 meters 0.014699593587138012 Centerline is valid? [True, True] Translation: X:-157.38, Y:-282.68, Z:-9.00 [[-6.82286958e-01 -7.31083857e-01 -9.49477658e-04 -1.57375249e+02] [ 7.31083157e-01 -6.82287618e-01 1.01170798e-03 -2.82683289e+02] [-1.38746022e-03 -3.87196371e-06 9.99999038e-01 -8.99978158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.260385723 meters 0.014695294145476727 Centerline is valid? [True, True] Translation: X:-157.39, Y:-282.66, Z:-9.00 [[-6.81949562e-01 -7.31399137e-01 -3.11323415e-04 -1.57393845e+02] [ 7.31399062e-01 -6.81949633e-01 3.31551578e-04 -2.82662872e+02] [-4.54803426e-04 -1.60019983e-06 9.99999897e-01 -9.00042720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.290385723 meters 0.014730309812618527 Centerline is valid? [True, True] Translation: X:-157.41, Y:-282.64, Z:-9.00 [[-6.81557613e-01 -7.31764205e-01 6.07649006e-04 -1.57411088e+02] [ 7.31763919e-01 -6.81557883e-01 -6.46738275e-04 -2.82641123e+02] [ 8.87407890e-04 3.86622368e-06 9.99999606e-01 -9.00118268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.320385723 meters 0.01481865584941088 Centerline is valid? [True, True] Translation: X:-157.43, Y:-282.62, Z:-9.00 [[-6.81844427e-01 -7.31496657e-01 9.04422911e-04 -1.57428033e+02] [ 7.31496025e-01 -6.81845027e-01 -9.62039139e-04 -2.82620193e+02] [ 1.32040468e-03 5.62073923e-06 9.99999128e-01 -9.00168875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3503857229999 meters 0.014754443395590849 Centerline is valid? [True, True] Translation: X:-157.45, Y:-282.60, Z:-9.00 [[-6.82395760e-01 -7.30982259e-01 9.82018359e-04 -1.57446052e+02] [ 7.30981514e-01 -6.82396466e-01 -1.04397828e-03 -2.82598766e+02] [ 1.43325546e-03 5.43091506e-06 9.99998973e-01 -9.00163041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.380385723 meters 0.01480457978697979 Centerline is valid? [True, True] Translation: X:-157.46, Y:-282.58, Z:-9.00 [[-6.82844251e-01 -7.30563646e-01 6.99450523e-04 -1.57463601e+02] [ 7.30563268e-01 -6.82844609e-01 -7.43127625e-04 -2.82577895e+02] [ 1.02051805e-03 3.55243308e-06 9.99999479e-01 -9.00145485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.410385723 meters 0.014818209802106712 Centerline is valid? [True, True] Translation: X:-157.48, Y:-282.56, Z:-9.00 [[-6.83089526e-01 -7.30334505e-01 4.59134554e-04 -1.57481939e+02] [ 7.30334342e-01 -6.83089680e-01 -4.87528469e-04 -2.82556317e+02] [ 6.69688939e-04 2.29614190e-06 9.99999776e-01 -9.00140628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.440385723 meters 0.014846838664763874 Centerline is valid? [True, True] Translation: X:-157.50, Y:-282.54, Z:-9.00 [[-6.83105997e-01 -7.30318748e-01 8.50656091e-04 -1.57498763e+02] [ 7.30318190e-01 -6.83106526e-01 -9.02904518e-04 -2.82535325e+02] [ 1.24049683e-03 4.47012544e-06 9.99999231e-01 -9.00163790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4703857229999 meters 0.0148197700672455 Centerline is valid? [True, True] Translation: X:-157.52, Y:-282.51, Z:-9.00 [[-6.83442269e-01 -7.30003725e-01 1.10789711e-03 -1.57516275e+02] [ 7.30002779e-01 -6.83443167e-01 -1.17527902e-03 -2.82513854e+02] [ 1.61514277e-03 5.53260937e-06 9.99998696e-01 -9.00183442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.500385723 meters 0.014797938759277032 Centerline is valid? [True, True] Translation: X:-157.53, Y:-282.49, Z:-9.00 [[-6.84087500e-01 -7.29397933e-01 1.71694174e-03 -1.57533134e+02] [ 7.29395662e-01 -6.84089654e-01 -1.82034203e-03 -2.82491274e+02] [ 2.50229580e-03 7.05662547e-06 9.99996869e-01 -9.00242027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.530385723 meters 0.015181962268510943 Centerline is valid? [True, True] Translation: X:-157.55, Y:-282.47, Z:-9.00 [[-6.84944221e-01 -7.28590676e-01 2.65353934e-03 -1.57549139e+02] [ 7.28585251e-01 -6.84949361e-01 -2.81167441e-03 -2.82468734e+02] [ 3.86609983e-03 7.48948820e-06 9.99992527e-01 -9.00349847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.560385723 meters 0.014781891692485977 Centerline is valid? [True, True] Translation: X:-157.57, Y:-282.45, Z:-9.00 [[-6.85119823e-01 -7.28424823e-01 2.84688777e-03 -1.57567512e+02] [ 7.28418584e-01 -6.85125738e-01 -3.01485133e-03 -2.82447080e+02] [ 4.14656863e-03 8.19155350e-06 9.99991403e-01 -9.00320944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5903857229999 meters 0.014695316734222981 Centerline is valid? [True, True] Translation: X:-157.58, Y:-282.43, Z:-9.00 [[-6.85863803e-01 -7.27723644e-01 3.02355209e-03 -1.57583740e+02] [ 7.27716605e-01 -6.85870468e-01 -3.20062349e-03 -2.82425036e+02] [ 4.40293447e-03 5.09726423e-06 9.99990307e-01 -9.00310618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.620385723 meters 0.014827349890386676 Centerline is valid? [True, True] Translation: X:-157.60, Y:-282.40, Z:-9.00 [[-6.86396080e-01 -7.27221507e-01 3.05001219e-03 -1.57601470e+02] [ 7.27214347e-01 -6.86402856e-01 -3.22682626e-03 -2.82403184e+02] [ 4.44015453e-03 3.13173298e-06 9.99990143e-01 -9.00298205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.650385723 meters 0.014832226276827487 Centerline is valid? [True, True] Translation: X:-157.62, Y:-282.38, Z:-9.00 [[-6.87414723e-01 -7.26259975e-01 2.72894787e-03 -1.57616207e+02] [ 7.26254241e-01 -6.87420140e-01 -2.88597447e-03 -2.82380558e+02] [ 3.97190147e-03 -1.95137665e-06 9.99992112e-01 -9.00284767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.680385723 meters 0.015299413316429063 Centerline is valid? [True, True] Translation: X:-157.63, Y:-282.36, Z:-9.00 [[-6.88430103e-01 -7.25298106e-01 2.57899992e-03 -1.57632608e+02] [ 7.25292984e-01 -6.88434933e-01 -2.72571861e-03 -2.82359408e+02] [ 3.75243218e-03 -5.93619137e-06 9.99992960e-01 -9.00308762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.710385723 meters 0.014805448580835177 Centerline is valid? [True, True] Translation: X:-157.65, Y:-282.34, Z:-9.00 [[-6.90003267e-01 -7.23803545e-01 1.97979609e-03 -1.57649146e+02] [ 7.23800524e-01 -6.90006108e-01 -2.09125252e-03 -2.82335849e+02] [ 2.87972738e-03 -9.99361868e-06 9.99995854e-01 -9.00117582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.740385723 meters 0.014953042972025975 Centerline is valid? [True, True] Translation: X:-157.67, Y:-282.32, Z:-9.00 [[-6.90880726e-01 -7.22965712e-01 2.09795639e-03 -1.57665940e+02] [ 7.22962320e-01 -6.90883911e-01 -2.21475481e-03 -2.82315099e+02] [ 3.05063610e-03 -1.33879888e-05 9.99995347e-01 -9.00135673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.770385723 meters 0.01503686631912498 Centerline is valid? [True, True] Translation: X:-157.68, Y:-282.29, Z:-9.00 [[-6.92033520e-01 -7.21859213e-01 2.98056785e-03 -1.57680759e+02] [ 7.21852363e-01 -6.92039939e-01 -3.14473237e-03 -2.82293671e+02] [ 4.33272602e-03 -2.47302684e-05 9.99990614e-01 -9.00203117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.800385723 meters 0.01506225601117682 Centerline is valid? [True, True] Translation: X:-157.70, Y:-282.27, Z:-9.00 [[-6.92268103e-01 -7.21634280e-01 2.97313843e-03 -1.57698192e+02] [ 7.21627470e-01 -6.92274487e-01 -3.13514664e-03 -2.82271662e+02] [ 4.32065717e-03 -2.48636499e-05 9.99990666e-01 -9.00166651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.830385723 meters 0.014946277443711357 Centerline is valid? [True, True] Translation: X:-157.72, Y:-282.25, Z:-9.00 [[-6.92081749e-01 -7.21814854e-01 2.48374591e-03 -1.57717159e+02] [ 7.21810108e-01 -6.92086206e-01 -2.61762600e-03 -2.82250710e+02] [ 3.60840761e-03 -1.88182808e-05 9.99993490e-01 -9.00128282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.860385723 meters 0.014939712001191537 Centerline is valid? [True, True] Translation: X:-157.74, Y:-282.23, Z:-9.00 [[-6.91049065e-01 -7.22804165e-01 2.30842586e-03 -1.57735445e+02] [ 7.22800074e-01 -6.91052921e-01 -2.43186915e-03 -2.82230685e+02] [ 3.35300958e-03 -1.20105208e-05 9.99994379e-01 -9.00095040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.890385723 meters 0.014882336563978015 Centerline is valid? [True, True] Translation: X:-157.75, Y:-282.21, Z:-9.00 [[-6.90454012e-01 -7.23372843e-01 2.23325622e-03 -1.57754594e+02] [ 7.23369021e-01 -6.90457624e-01 -2.35137866e-03 -2.82210340e+02] [ 3.24289225e-03 -8.05046295e-06 9.99994742e-01 -9.00072900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.920385723 meters 0.014918247503605833 Centerline is valid? [True, True] Translation: X:-157.77, Y:-282.19, Z:-9.00 [[-6.89041889e-01 -7.24717458e-01 2.42506570e-03 -1.57772118e+02] [ 7.24712964e-01 -6.89046157e-01 -2.55211157e-03 -2.82190413e+02] [ 3.52054201e-03 -1.03522441e-06 9.99993803e-01 -9.00066407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.950385723 meters 0.015324261275558292 Centerline is valid? [True, True] Translation: X:-157.79, Y:-282.17, Z:-9.00 [[-6.88620013e-01 -7.25116679e-01 2.87737477e-03 -1.57790592e+02] [ 7.25110364e-01 -6.88626024e-01 -3.02641269e-03 -2.82169608e+02] [ 4.17593747e-03 2.36592019e-06 9.99991281e-01 -9.00099264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9803857229999 meters 0.014892500210776111 Centerline is valid? [True, True] Translation: X:-157.81, Y:-282.15, Z:-9.00 [[-6.88363726e-01 -7.25361564e-01 2.44585620e-03 -1.57807533e+02] [ 7.25357008e-01 -6.88368071e-01 -2.57101224e-03 -2.82148517e+02] [ 3.54856277e-03 4.32737559e-06 9.99993704e-01 -9.00023929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.010385723 meters 0.01684932924537364 Centerline is valid? [True, True] Translation: X:-157.83, Y:-282.13, Z:-9.00 [[-6.88599910e-01 -7.25136465e-01 2.69654349e-03 -1.57825647e+02] [ 7.25130932e-01 -6.88605190e-01 -2.83279524e-03 -2.82127822e+02] [ 3.91101697e-03 4.68454612e-06 9.99992352e-01 -9.00212033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.040385723 meters 0.014881152173204555 Centerline is valid? [True, True] Translation: X:-157.84, Y:-282.11, Z:-9.00 [[-6.87726792e-01 -7.25964641e-01 2.68324899e-03 -1.57844331e+02] [ 7.25959174e-01 -6.87732027e-01 -2.81725773e-03 -2.82106335e+02] [ 3.89058576e-03 1.04256027e-05 9.99992432e-01 -9.00048022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.070385723 meters 0.01497794262400762 Centerline is valid? [True, True] Translation: X:-157.86, Y:-282.09, Z:-9.00 [[-6.86270539e-01 -7.27337736e-01 3.54484931e-03 -1.57862361e+02] [ 7.27328225e-01 -6.86279693e-01 -3.71965898e-03 -2.82085380e+02] [ 5.13820644e-03 2.55765870e-05 9.99986799e-01 -9.00097521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1003857229999 meters 0.01497794262400762 Centerline is valid? [True, True] Translation: X:-157.88, Y:-282.07, Z:-9.00 [[-6.86475561e-01 -7.27144229e-01 3.54589751e-03 -1.57881434e+02] [ 7.27134721e-01 -6.86484719e-01 -3.71865977e-03 -2.82065443e+02] [ 5.13820645e-03 2.55761419e-05 9.99986799e-01 -9.00097590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.130385723 meters 0.015064349637899436 Centerline is valid? [True, True] Translation: X:-157.90, Y:-282.05, Z:-9.00 [[-6.85840324e-01 -7.27741976e-01 3.82966349e-03 -1.57900339e+02] [ 7.27730908e-01 -6.85851015e-01 -4.01386226e-03 -2.82045378e+02] [ 5.54763464e-03 3.40959009e-05 9.99984611e-01 -9.00125072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.160385723 meters 0.017013251676276327 Centerline is valid? [True, True] Translation: X:-157.92, Y:-282.02, Z:-9.00 [[-6.85507481e-01 -7.28052870e-01 4.30271414e-03 -1.57919363e+02] [ 7.28038919e-01 -6.85520982e-01 -4.50716815e-03 -2.82024071e+02] [ 6.23105753e-03 4.28458646e-05 9.99980586e-01 -9.00362636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.190385723 meters 0.01692605300403404 Centerline is valid? [True, True] Translation: X:-157.94, Y:-282.00, Z:-9.00 [[-6.85140905e-01 -7.28393414e-01 4.99749159e-03 -1.57937752e+02] [ 7.28374625e-01 -6.85159129e-01 -5.23205664e-03 -2.82002250e+02] [ 7.23507258e-03 5.53500332e-05 9.99973825e-01 -9.00411228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2203857229999 meters 0.01747116129282038 Centerline is valid? [True, True] Translation: X:-157.96, Y:-281.98, Z:-9.00 [[-6.85269769e-01 -7.28266753e-01 5.73406677e-03 -1.57956064e+02] [ 7.28242041e-01 -6.85293756e-01 -5.99986150e-03 -2.81981248e+02] [ 8.29901981e-03 6.42647845e-05 9.99965561e-01 -9.00486729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.250385723 meters 0.015166957431504579 Centerline is valid? [True, True] Translation: X:-157.97, Y:-281.96, Z:-9.00 [[-6.85618723e-01 -7.27933963e-01 6.25402389e-03 -1.57972615e+02] [ 7.27904586e-01 -6.85647243e-01 -6.54007441e-03 -2.81960225e+02] [ 9.04879651e-03 6.83352001e-05 9.99959057e-01 -9.00352692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.280385723 meters 0.015121003115170912 Centerline is valid? [True, True] Translation: X:-157.99, Y:-281.94, Z:-9.00 [[-6.86324687e-01 -7.27267065e-01 6.40636233e-03 -1.57989153e+02] [ 7.27236245e-01 -6.86354582e-01 -6.69566145e-03 -2.81937349e+02] [ 9.26657019e-03 6.35411336e-05 9.99957063e-01 -9.00382422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.310385723 meters 0.015198793544915882 Centerline is valid? [True, True] Translation: X:-158.01, Y:-281.92, Z:-9.00 [[-6.87025076e-01 -7.26603775e-01 6.59545052e-03 -1.58006507e+02] [ 7.26571121e-01 -6.87056731e-01 -6.88878017e-03 -2.81917128e+02] [ 9.53686235e-03 5.92991595e-05 9.99954521e-01 -9.00445349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3403857229999 meters 0.014977566911501072 Centerline is valid? [True, True] Translation: X:-158.02, Y:-281.89, Z:-9.00 [[-6.88489008e-01 -7.25222827e-01 5.89389230e-03 -1.58021822e+02] [ 7.25196732e-01 -6.88514234e-01 -6.15223985e-03 -2.81894180e+02] [ 8.51977351e-03 3.84819210e-05 9.99963705e-01 -9.00299748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.370385723 meters 0.016540765001871398 Centerline is valid? [True, True] Translation: X:-158.04, Y:-281.87, Z:-9.00 [[-6.89182420e-01 -7.24560435e-01 6.30622879e-03 -1.58039675e+02] [ 7.24530566e-01 -6.89211271e-01 -6.57898665e-03 -2.81871783e+02] [ 9.11319739e-03 3.49335730e-05 9.99958473e-01 -9.00392856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.400385723 meters 0.015106681537153064 Centerline is valid? [True, True] Translation: X:-158.06, Y:-281.85, Z:-9.00 [[-6.89237268e-01 -7.24509876e-01 6.11781813e-03 -1.58057085e+02] [ 7.24481795e-01 -6.89264418e-01 -6.37888504e-03 -2.81849100e+02] [ 8.83835956e-03 3.56825658e-05 9.99960940e-01 -9.00215279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.430385723 meters 0.015147520397390202 Centerline is valid? [True, True] Translation: X:-158.08, Y:-281.83, Z:-9.00 [[-6.89158044e-01 -7.24583935e-01 6.26988851e-03 -1.58075109e+02] [ 7.24554481e-01 -6.89186564e-01 -6.53339929e-03 -2.81828133e+02] [ 9.05511908e-03 4.03311371e-05 9.99959001e-01 -9.00207130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.460385723 meters 0.015295704928982428 Centerline is valid? [True, True] Translation: X:-158.09, Y:-281.81, Z:-9.00 [[-6.88295667e-01 -7.25405242e-01 6.02582922e-03 -1.58091671e+02] [ 7.25378101e-01 -6.88322041e-01 -6.27522912e-03 -2.81806890e+02] [ 8.69979517e-03 5.17915380e-05 9.99962155e-01 -9.00183751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.490385723 meters 0.01544698420586026 Centerline is valid? [True, True] Translation: X:-158.11, Y:-281.79, Z:-9.00 [[-6.87857885e-01 -7.25816808e-01 6.44144347e-03 -1.58108603e+02] [ 7.25785850e-01 -6.87888041e-01 -6.70393050e-03 -2.81785244e+02] [ 9.29681737e-03 6.37570678e-05 9.99956782e-01 -9.00256280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.520385723 meters 0.0154784035329181 Centerline is valid? [True, True] Translation: X:-158.13, Y:-281.76, Z:-9.00 [[-6.87882095e-01 -7.25790352e-01 6.82560926e-03 -1.58126397e+02] [ 7.25755633e-01 -6.87915954e-01 -7.09940390e-03 -2.81764640e+02] [ 9.84812436e-03 7.01715423e-05 9.99951504e-01 -9.00306375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.550385723 meters 0.015388285122363019 Centerline is valid? [True, True] Translation: X:-158.14, Y:-281.74, Z:-9.00 [[-6.87775431e-01 -7.25889670e-01 7.01026746e-03 -1.58144546e+02] [ 7.25853094e-01 -6.87811152e-01 -7.28736071e-03 -2.81742727e+02] [ 1.01115600e-02 7.63566717e-05 9.99948874e-01 -9.00247469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.580385723 meters 0.015704388486854248 Centerline is valid? [True, True] Translation: X:-158.16, Y:-281.72, Z:-9.00 [[-6.87334256e-01 -7.26308507e-01 6.89729053e-03 -1.58160935e+02] [ 7.26273169e-01 -6.87368857e-01 -7.16513278e-03 -2.81721839e+02] [ 9.94507960e-03 8.44758399e-05 9.99950543e-01 -9.00249436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.610385723 meters 0.015534485702700334 Centerline is valid? [True, True] Translation: X:-158.18, Y:-281.70, Z:-9.00 [[-6.87442681e-01 -7.26207601e-01 6.71417158e-03 -1.58178687e+02] [ 7.26174151e-01 -6.87475463e-01 -6.97058998e-03 -2.81700914e+02] [ 9.67792365e-03 8.37767856e-05 9.99953164e-01 -9.00165496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.640385723 meters 0.01550663577662933 Centerline is valid? [True, True] Translation: X:-158.20, Y:-281.68, Z:-9.00 [[-6.87866671e-01 -7.25811502e-01 6.09144506e-03 -1.58195069e+02] [ 7.25783990e-01 -6.87893638e-01 -6.31997619e-03 -2.81680742e+02] [ 8.77737772e-03 7.37723131e-05 9.99961475e-01 -9.00207049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.670385723 meters 0.015392741578410285 Centerline is valid? [True, True] Translation: X:-158.21, Y:-281.66, Z:-9.00 [[-6.88599183e-01 -7.25120185e-01 5.64647988e-03 -1.58211663e+02] [ 7.25096551e-01 -6.88622330e-01 -5.85474698e-03 -2.81659233e+02] [ 8.13368734e-03 6.26690997e-05 9.99966919e-01 -9.00136736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.700385723 meters 0.015423055478360261 Centerline is valid? [True, True] Translation: X:-158.23, Y:-281.64, Z:-9.00 [[-6.89055231e-01 -7.24687971e-01 5.49840466e-03 -1.58229474e+02] [ 7.24665575e-01 -6.89077166e-01 -5.69774252e-03 -2.81638581e+02] [ 7.91791057e-03 5.84452823e-05 9.99968651e-01 -9.00140205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7303857229999 meters 0.015396745657778607 Centerline is valid? [True, True] Translation: X:-158.25, Y:-281.62, Z:-9.00 [[-6.89550103e-01 -7.24213412e-01 5.96567791e-03 -1.58247112e+02] [ 7.24187061e-01 -6.89575906e-01 -6.17820921e-03 -2.81617126e+02] [ 8.58812973e-03 6.00819626e-05 9.99963120e-01 -9.00150574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.760385723 meters 0.016674819360049824 Centerline is valid? [True, True] Translation: X:-158.27, Y:-281.60, Z:-9.00 [[-6.89645925e-01 -7.24118721e-01 6.36999798e-03 -1.58266172e+02] [ 7.24088710e-01 -6.89675340e-01 -6.59288674e-03 -2.81596957e+02] [ 9.16726323e-03 6.56861387e-05 9.99957978e-01 -9.00264672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.790385723 meters 0.015374048105202537 Centerline is valid? [True, True] Translation: X:-158.29, Y:-281.58, Z:-9.00 [[-6.89169603e-01 -7.24573043e-01 6.25805413e-03 -1.58286339e+02] [ 7.24544132e-01 -6.89198012e-01 -6.47307985e-03 -2.81578454e+02] [ 9.00325763e-03 7.31865240e-05 9.99959467e-01 -9.00193795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.820385723 meters 0.015510875640987899 Centerline is valid? [True, True] Translation: X:-158.31, Y:-281.56, Z:-9.00 [[-6.88992360e-01 -7.24731781e-01 7.30572252e-03 -1.58306488e+02] [ 7.24692434e-01 -6.89031086e-01 -7.55242522e-03 -2.81560806e+02] [ 1.05073525e-02 9.08385583e-05 9.99944792e-01 -9.00328287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8503857229999 meters 0.015848301184840312 Centerline is valid? [True, True] Translation: X:-158.33, Y:-281.54, Z:-9.01 [[-6.89513296e-01 -7.24231512e-01 7.75440909e-03 -1.58326099e+02] [ 7.24187194e-01 -6.89556893e-01 -8.01251405e-03 -2.81543673e+02] [ 1.11500214e-02 9.09087797e-05 9.99937833e-01 -9.00549106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.880385723 meters 0.015406956098041174 Centerline is valid? [True, True] Translation: X:-158.35, Y:-281.52, Z:-9.00 [[-6.90420471e-01 -7.23366058e-01 7.81794603e-03 -1.58345213e+02] [ 7.23321008e-01 -6.90464728e-01 -8.07333354e-03 -2.81523711e+02] [ 1.12379914e-02 8.08898655e-05 9.99936849e-01 -9.00383956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.910385723 meters 0.015119648673275933 Centerline is valid? [True, True] Translation: X:-158.37, Y:-281.50, Z:-9.00 [[-6.91287830e-01 -7.22530221e-01 8.43892884e-03 -1.58365015e+02] [ 7.22477727e-01 -6.91339334e-01 -8.70976331e-03 -2.81503321e+02] [ 1.21272306e-02 7.59847488e-05 9.99926460e-01 -9.00308888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.940385723 meters 0.015096179305042786 Centerline is valid? [True, True] Translation: X:-158.38, Y:-281.48, Z:-9.00 [[-6.91847471e-01 -7.21991607e-01 8.67162774e-03 -1.58383806e+02] [ 7.21936208e-01 -6.91901810e-01 -8.94408010e-03 -2.81484475e+02] [ 1.24574657e-02 7.24228522e-05 9.99922400e-01 -9.00347636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9703857229999 meters 0.014961394705048538 Centerline is valid? [True, True] Translation: X:-158.40, Y:-281.46, Z:-9.00 [[-6.93045957e-01 -7.20839094e-01 8.84884035e-03 -1.58403134e+02] [ 7.20781386e-01 -6.93102443e-01 -9.12125102e-03 -2.81464544e+02] [ 1.27081072e-02 5.66332661e-05 9.99919247e-01 -9.00318331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.000385723 meters 0.014900984611241227 Centerline is valid? [True, True] Translation: X:-158.42, Y:-281.45, Z:-9.00 [[-6.94142159e-01 -7.19787904e-01 8.48742415e-03 -1.58421977e+02] [ 7.19734803e-01 -6.94194045e-01 -8.74308085e-03 -2.81445824e+02] [ 1.21850831e-02 3.97535205e-05 9.99925758e-01 -9.00349259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.030385723 meters 0.014690933552634611 Centerline is valid? [True, True] Translation: X:-158.44, Y:-281.43, Z:-9.00 [[-6.95519981e-01 -7.18464554e-01 7.78723830e-03 -1.58441885e+02] [ 7.18419820e-01 -6.95563573e-01 -8.01738020e-03 -2.81426253e+02] [ 1.11767228e-02 1.82582127e-05 9.99937538e-01 -9.00200250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.060385723 meters 0.014710729659401286 Centerline is valid? [True, True] Translation: X:-158.46, Y:-281.41, Z:-9.00 [[-6.96387806e-01 -7.17629261e-01 7.22964432e-03 -1.58460951e+02] [ 7.17590696e-01 -6.96425332e-01 -7.43973816e-03 -2.81407791e+02] [ 1.03738812e-02 6.98256410e-06 9.99946190e-01 -9.00164634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0903857229999 meters 0.014604400555818547 Centerline is valid? [True, True] Translation: X:-158.48, Y:-281.39, Z:-9.00 [[-6.96894480e-01 -7.17137169e-01 7.23637777e-03 -1.58480251e+02] [ 7.17098553e-01 -6.96932049e-01 -7.44206717e-03 -2.81388169e+02] [ 1.03802466e-02 2.86049494e-06 9.99946124e-01 -9.00125749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.120385723 meters 0.014658976004539 Centerline is valid? [True, True] Translation: X:-158.50, Y:-281.37, Z:-9.00 [[-6.97112000e-01 -7.16923364e-01 7.46651367e-03 -1.58498978e+02] [ 7.16882294e-01 -6.97151985e-01 -7.67377651e-03 -2.81369319e+02] [ 1.07068045e-02 3.12975595e-06 9.99942681e-01 -9.00163288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.150385723 meters 0.016966268919040402 Centerline is valid? [True, True] Translation: X:-158.52, Y:-281.35, Z:-9.00 [[-6.97132558e-01 -7.16901122e-01 7.67968835e-03 -1.58517918e+02] [ 7.16857727e-01 -6.97174857e-01 -7.88784651e-03 -2.81351135e+02] [ 1.10088916e-02 6.36932303e-06 9.99939400e-01 -9.00357333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.180385723 meters 0.014534162248142876 Centerline is valid? [True, True] Translation: X:-158.54, Y:-281.33, Z:-9.00 [[-6.96677689e-01 -7.17356149e-01 6.35240652e-03 -1.58538487e+02] [ 7.17326510e-01 -6.96706649e-01 -6.52096797e-03 -2.81332317e+02] [ 9.10362033e-03 1.37367039e-05 9.99958561e-01 -8.99980701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.210385723 meters 0.014630701404568182 Centerline is valid? [True, True] Translation: X:-158.56, Y:-281.31, Z:-9.00 [[-6.96554585e-01 -7.17477635e-01 6.12812363e-03 -1.58557550e+02] [ 7.17450092e-01 -6.96581541e-01 -6.28662457e-03 -2.81314459e+02] [ 8.77925033e-03 1.76456991e-05 9.99961462e-01 -9.00068191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.240385723 meters 0.014643083645145771 Centerline is valid? [True, True] Translation: X:-158.58, Y:-281.30, Z:-9.00 [[-6.95903566e-01 -7.18105405e-01 6.54628025e-03 -1.58577356e+02] [ 7.18074042e-01 -6.95934355e-01 -6.71152379e-03 -2.81295753e+02] [ 9.37536284e-03 3.01405743e-05 9.99956050e-01 -9.00088183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.270385723 meters 0.01467069346527664 Centerline is valid? [True, True] Translation: X:-158.60, Y:-281.28, Z:-9.00 [[-6.95987370e-01 -7.18022996e-01 6.67523369e-03 -1.58595743e+02] [ 7.17990422e-01 -6.96019379e-01 -6.83940605e-03 -2.81277229e+02] [ 9.55694283e-03 3.26136268e-05 9.99954331e-01 -9.00134312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.300385723 meters 0.014678585404593294 Centerline is valid? [True, True] Translation: X:-158.61, Y:-281.26, Z:-9.00 [[-6.96127079e-01 -7.17887432e-01 6.68762826e-03 -1.58614699e+02] [ 7.17854770e-01 -6.96159201e-01 -6.84801740e-03 -2.81257389e+02] [ 9.57175958e-03 3.36555041e-05 9.99954189e-01 -9.00099349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.330385723 meters 0.014635878470962824 Centerline is valid? [True, True] Translation: X:-158.63, Y:-281.24, Z:-9.00 [[-6.96617454e-01 -7.17419169e-01 5.81887273e-03 -1.58632864e+02] [ 7.17394457e-01 -6.96641755e-01 -5.95470464e-03 -2.81238816e+02] [ 8.32568897e-03 2.62758543e-05 9.99965341e-01 -9.00115770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.360385723 meters 0.014565685311276154 Centerline is valid? [True, True] Translation: X:-158.65, Y:-281.22, Z:-9.00 [[-6.97257758e-01 -7.16797703e-01 5.71588233e-03 -1.58651640e+02] [ 7.16773865e-01 -6.97281186e-01 -5.84586994e-03 -2.81219143e+02] [ 8.17588336e-03 2.09169051e-05 9.99966577e-01 -9.00099594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.390385723 meters 0.014578560575464807 Centerline is valid? [True, True] Translation: X:-158.67, Y:-281.20, Z:-9.00 [[-6.98482366e-01 -7.15602871e-01 5.90901271e-03 -1.58669726e+02] [ 7.15577383e-01 -6.98507360e-01 -6.03968106e-03 -2.81198251e+02] [ 8.44950197e-03 9.74513477e-06 9.99964302e-01 -9.00040915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.420385723 meters 0.014624871119632775 Centerline is valid? [True, True] Translation: X:-158.69, Y:-281.18, Z:-9.00 [[-6.99495129e-01 -7.14611727e-01 6.05351270e-03 -1.58687825e+02] [ 7.14584974e-01 -6.99521322e-01 -6.18350522e-03 -2.81177738e+02] [ 8.65336655e-03 4.17429677e-07 9.99962559e-01 -9.00016402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.450385723 meters 0.014666470811457956 Centerline is valid? [True, True] Translation: X:-158.70, Y:-281.16, Z:-9.00 [[-7.01691161e-01 -7.12451426e-01 6.51769644e-03 -1.58703128e+02] [ 7.12420359e-01 -7.01721430e-01 -6.65333039e-03 -2.81156570e+02] [ 9.31378199e-03 -2.52434865e-05 9.99956626e-01 -9.00022379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4803857229999 meters 0.01477251806042576 Centerline is valid? [True, True] Translation: X:-158.72, Y:-281.14, Z:-9.00 [[-7.03032041e-01 -7.11129379e-01 6.39970259e-03 -1.58721118e+02] [ 7.11099408e-01 -7.03061167e-01 -6.52890622e-03 -2.81135898e+02] [ 9.14227940e-03 -3.92055363e-05 9.99958208e-01 -9.00003691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.510385723 meters 0.01489327777059201 Centerline is valid? [True, True] Translation: X:-158.74, Y:-281.11, Z:-9.00 [[-7.05168128e-01 -7.09014338e-01 6.04814258e-03 -1.58737143e+02] [ 7.08987525e-01 -7.05194062e-01 -6.16631659e-03 -2.81114812e+02] [ 8.63712111e-03 -6.02322851e-05 9.99962698e-01 -9.00005756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.540385723 meters 0.014907584462791338 Centerline is valid? [True, True] Translation: X:-158.76, Y:-281.09, Z:-9.00 [[-7.06097986e-01 -7.08087232e-01 6.17301525e-03 -1.58756075e+02] [ 7.08059289e-01 -7.06124965e-01 -6.29106186e-03 -2.81094738e+02] [ 8.81354076e-03 -7.12453216e-05 9.99961158e-01 -8.99898289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.570385723 meters 0.015088400415333247 Centerline is valid? [True, True] Translation: X:-158.77, Y:-281.07, Z:-9.00 [[-7.07156350e-01 -7.07027143e-01 6.52040876e-03 -1.58773613e+02] [ 7.06995945e-01 -7.07186405e-01 -6.64240834e-03 -2.81074112e+02] [ 9.30750742e-03 -8.73186865e-05 9.99956681e-01 -8.99957484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6003857229999 meters 0.015039267717271324 Centerline is valid? [True, True] Translation: X:-158.79, Y:-281.05, Z:-9.00 [[-7.07198869e-01 -7.06982975e-01 6.69574711e-03 -1.58793208e+02] [ 7.06950115e-01 -7.07230560e-01 -6.81685821e-03 -2.81054477e+02] [ 9.55483968e-03 -8.73152168e-05 9.99954348e-01 -8.99936425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.630385723 meters 0.015012981034403383 Centerline is valid? [True, True] Translation: X:-158.81, Y:-281.04, Z:-9.00 [[-7.07152536e-01 -7.07031256e-01 6.48802024e-03 -1.58812922e+02] [ 7.07000443e-01 -7.07182294e-01 -6.60131340e-03 -2.81035304e+02] [ 9.25554794e-03 -8.11023258e-05 9.99957163e-01 -8.99925575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.660385723 meters 0.01656585781833343 Centerline is valid? [True, True] Translation: X:-158.83, Y:-281.02, Z:-9.00 [[-7.06633420e-01 -7.07546233e-01 6.89474587e-03 -1.58831527e+02] [ 7.07511505e-01 -7.06667052e-01 -7.01061570e-03 -2.81016507e+02] [ 9.83262447e-03 -7.58233296e-05 9.99951656e-01 -9.00056627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.690385723 meters 0.017136142219712422 Centerline is valid? [True, True] Translation: X:-158.85, Y:-281.00, Z:-9.00 [[-7.06624878e-01 -7.07555628e-01 6.80560250e-03 -1.58851167e+02] [ 7.07521833e-01 -7.06657646e-01 -6.91575864e-03 -2.80997093e+02] [ 9.70251498e-03 -7.17347507e-05 9.99952927e-01 -9.00042985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7203857229999 meters 0.014880767823699573 Centerline is valid? [True, True] Translation: X:-158.87, Y:-280.98, Z:-9.00 [[-7.05863169e-01 -7.08325918e-01 5.61976066e-03 -1.58871031e+02] [ 7.08302926e-01 -7.05885538e-01 -5.70727093e-03 -2.80978586e+02] [ 8.00951570e-03 -4.80594262e-05 9.99967922e-01 -8.99764715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.750385723 meters 0.014950042216114083 Centerline is valid? [True, True] Translation: X:-158.89, Y:-280.96, Z:-9.00 [[-7.05852877e-01 -7.08335648e-01 5.68555403e-03 -1.58889538e+02] [ 7.08312145e-01 -7.05875773e-01 -5.77042709e-03 -2.80960116e+02] [ 8.10069406e-03 -4.59255860e-05 9.99967188e-01 -8.99770347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.780385723 meters 0.014903826625894113 Centerline is valid? [True, True] Translation: X:-158.91, Y:-280.94, Z:-9.00 [[-7.05985564e-01 -7.08206967e-01 5.22260158e-03 -1.58909642e+02] [ 7.08187155e-01 -7.06004880e-01 -5.29737688e-03 -2.80941760e+02] [ 7.43882141e-03 -4.12922546e-05 9.99972331e-01 -8.99729905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.810385723 meters 0.015033275201952034 Centerline is valid? [True, True] Translation: X:-158.93, Y:-280.92, Z:-9.00 [[-7.06115049e-01 -7.08078081e-01 5.19316090e-03 -1.58928988e+02] [ 7.08058513e-01 -7.06134145e-01 -5.26420617e-03 -2.80923366e+02] [ 7.39453724e-03 -4.00734151e-05 9.99972659e-01 -8.99740661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8403857229999 meters 0.01610060184411037 Centerline is valid? [True, True] Translation: X:-158.95, Y:-280.90, Z:-9.00 [[-7.06984311e-01 -7.07211126e-01 5.06031982e-03 -1.58948831e+02] [ 7.07192547e-01 -7.07002419e-01 -5.12651782e-03 -2.80904880e+02] [ 7.20318880e-03 -4.57472096e-05 9.99974056e-01 -8.99844345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.870385723 meters 0.015072086152581984 Centerline is valid? [True, True] Translation: X:-158.97, Y:-280.89, Z:-9.00 [[-7.07161585e-01 -7.07035347e-01 4.84883058e-03 -1.58967942e+02] [ 7.07018305e-01 -7.07178207e-01 -4.90922598e-03 -2.80886549e+02] [ 6.89998361e-03 -4.34040479e-05 9.99976194e-01 -8.99719771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.900385723 meters 0.015126406716917463 Centerline is valid? [True, True] Translation: X:-158.99, Y:-280.87, Z:-9.00 [[-7.08075962e-01 -7.06122090e-01 4.47503415e-03 -1.58987927e+02] [ 7.06107573e-01 -7.08090101e-01 -4.52810347e-03 -2.80867500e+02] [ 6.36612127e-03 -4.63857223e-05 9.99979735e-01 -8.99662705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.930385723 meters 0.015179904702684469 Centerline is valid? [True, True] Translation: X:-159.01, Y:-280.85, Z:-9.00 [[-7.08746336e-01 -7.05448601e-01 4.57192008e-03 -1.59006573e+02] [ 7.05433453e-01 -7.08761080e-01 -4.62328129e-03 -2.80848816e+02] [ 6.50188634e-03 -5.15483075e-05 9.99978861e-01 -8.99714689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.960385723 meters 0.015201895127752637 Centerline is valid? [True, True] Translation: X:-159.03, Y:-280.83, Z:-9.00 [[-7.09778064e-01 -7.04407354e-01 5.03789873e-03 -1.59027485e+02] [ 7.04388957e-01 -7.09795940e-01 -5.09134576e-03 -2.80830964e+02] [ 7.16226146e-03 -6.50853070e-05 9.99974349e-01 -8.99694636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.990385723 meters 0.015201895127752637 Centerline is valid? [True, True] Translation: X:-159.05, Y:-280.81, Z:-9.00 [[-7.09995803e-01 -7.04187875e-01 5.03947256e-03 -1.59046385e+02] [ 7.04169483e-01 -7.10013685e-01 -5.08978797e-03 -2.80811990e+02] [ 7.16226146e-03 -6.50853091e-05 9.99974349e-01 -8.99694703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.020385723 meters 0.015184103086896201 Centerline is valid? [True, True] Translation: X:-159.07, Y:-280.79, Z:-9.00 [[-7.10557753e-01 -7.03619743e-01 5.19009510e-03 -1.59066546e+02] [ 7.03600242e-01 -7.10576704e-01 -5.23901871e-03 -2.80792904e+02] [ 7.37423767e-03 -7.08731913e-05 9.99972808e-01 -8.99696478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.050385723 meters 0.015336257854616191 Centerline is valid? [True, True] Translation: X:-159.09, Y:-280.77, Z:-9.00 [[-7.12128417e-01 -7.02029913e-01 5.20767183e-03 -1.59087526e+02] [ 7.02010258e-01 -7.12147453e-01 -5.25385124e-03 -2.80773588e+02] [ 7.39699095e-03 -8.55777167e-05 9.99972638e-01 -8.99743503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.080385723 meters 0.0155541969670441 Centerline is valid? [True, True] Translation: X:-159.11, Y:-280.76, Z:-9.00 [[-7.13424759e-01 -7.00709911e-01 5.54385717e-03 -1.59107577e+02] [ 7.00687623e-01 -7.13446291e-01 -5.58974828e-03 -2.80755436e+02] [ 7.87203636e-03 -1.03352721e-04 9.99969010e-01 -8.99823595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.110385723 meters 0.01564595736710761 Centerline is valid? [True, True] Translation: X:-159.13, Y:-280.74, Z:-9.00 [[-7.14185576e-01 -6.99934563e-01 5.52904160e-03 -1.59127570e+02] [ 6.99912397e-01 -7.14206970e-01 -5.57139389e-03 -2.80736749e+02] [ 7.84849119e-03 -1.09164399e-04 9.99969194e-01 -8.99866116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.140385723 meters 0.015523592317481481 Centerline is valid? [True, True] Translation: X:-159.15, Y:-280.72, Z:-9.00 [[-7.14541382e-01 -6.99569365e-01 5.77210566e-03 -1.59149248e+02] [ 6.99545222e-01 -7.14564686e-01 -5.81311952e-03 -2.80718283e+02] [ 8.19122320e-03 -1.15865516e-04 9.99966445e-01 -8.99834561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.170385723 meters 0.015823238148523995 Centerline is valid? [True, True] Translation: X:-159.17, Y:-280.70, Z:-9.00 [[-7.14720690e-01 -6.99388152e-01 5.52703959e-03 -1.59168169e+02] [ 6.99366038e-01 -7.14742052e-01 -5.56269877e-03 -2.80700443e+02] [ 7.84089323e-03 -1.10352117e-04 9.99969254e-01 -8.99859613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.200385723 meters 0.015386011441291937 Centerline is valid? [True, True] Translation: X:-159.19, Y:-280.68, Z:-9.00 [[-7.14062138e-01 -7.00063624e-01 5.11724926e-03 -1.59191097e+02] [ 7.00044706e-01 -7.14080468e-01 -5.14741558e-03 -2.80683831e+02] [ 7.25764615e-03 -9.32713157e-05 9.99973659e-01 -8.99815581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2303857229999 meters 0.015418014690780064 Centerline is valid? [True, True] Translation: X:-159.21, Y:-280.67, Z:-9.00 [[-7.13782205e-01 -7.00351608e-01 4.75275324e-03 -1.59210813e+02] [ 7.00335317e-01 -7.13798023e-01 -4.77764730e-03 -2.80666448e+02] [ 6.73853883e-03 -8.16786756e-05 9.99977293e-01 -8.99860544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.260385723 meters 0.015218596277537343 Centerline is valid? [True, True] Translation: X:-159.23, Y:-280.65, Z:-9.00 [[-7.12758642e-01 -7.01394378e-01 4.58739509e-03 -1.59232521e+02] [ 7.01379240e-01 -7.12773401e-01 -4.60862792e-03 -2.80650153e+02] [ 6.50223891e-03 -6.73356918e-05 9.99978858e-01 -8.99810846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.290385723 meters 0.015873789970946694 Centerline is valid? [True, True] Translation: X:-159.25, Y:-280.63, Z:-9.00 [[-7.12599250e-01 -7.01556396e-01 4.57527727e-03 -1.59252685e+02] [ 7.01541359e-01 -7.12613934e-01 -4.59365454e-03 -2.80631954e+02] [ 6.48311406e-03 -6.36885404e-05 9.99978982e-01 -8.99886032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.320385723 meters 0.014930038829647661 Centerline is valid? [True, True] Translation: X:-159.27, Y:-280.61, Z:-9.00 [[-7.11891772e-01 -7.02273930e-01 4.62956970e-03 -1.59274826e+02] [ 7.02258566e-01 -7.11906823e-01 -4.64561511e-03 -2.80614882e+02] [ 6.55831664e-03 -5.60201907e-05 9.99978493e-01 -8.99744369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3503857229999 meters 0.01474878183079648 Centerline is valid? [True, True] Translation: X:-159.30, Y:-280.60, Z:-9.00 [[-7.11362841e-01 -7.02808183e-01 4.85456108e-03 -1.59297887e+02] [ 7.02791321e-01 -7.11379403e-01 -4.86867810e-03 -2.80597770e+02] [ 6.87518157e-03 -5.16532877e-05 9.99976364e-01 -8.99789884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.380385723 meters 0.014779935516815891 Centerline is valid? [True, True] Translation: X:-159.32, Y:-280.58, Z:-9.00 [[-7.11352614e-01 -7.02819064e-01 4.77730135e-03 -1.59317898e+02] [ 7.02802753e-01 -7.11368654e-01 -4.78838562e-03 -2.80579609e+02] [ 6.76379113e-03 -4.87300910e-05 9.99977124e-01 -8.99836667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.410385723 meters 0.014662554541106062 Centerline is valid? [True, True] Translation: X:-159.34, Y:-280.56, Z:-9.00 [[-7.11477883e-01 -7.02689321e-01 5.19043358e-03 -1.59339332e+02] [ 7.02670085e-01 -7.11496814e-01 -5.19957434e-03 -2.80561604e+02] [ 7.34666231e-03 -5.22197422e-05 9.99973012e-01 -8.99809245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.440385723 meters 0.014628685018731323 Centerline is valid? [True, True] Translation: X:-159.36, Y:-280.54, Z:-9.00 [[-7.12013036e-01 -7.02142350e-01 5.79290532e-03 -1.59359337e+02] [ 7.02118399e-01 -7.12036598e-01 -5.79969305e-03 -2.80543120e+02] [ 8.19697070e-03 -6.21516498e-05 9.99966402e-01 -8.99852188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4703857229999 meters 0.014777797148030283 Centerline is valid? [True, True] Translation: X:-159.38, Y:-280.52, Z:-9.00 [[-7.12593871e-01 -7.01551927e-01 5.90501239e-03 -1.59379653e+02] [ 7.01527049e-01 -7.12618333e-01 -5.90848760e-03 -2.80524965e+02] [ 8.35313095e-03 -6.78261305e-05 9.99965110e-01 -8.99962870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.500385723 meters 0.014799777011059568 Centerline is valid? [True, True] Translation: X:-159.40, Y:-280.51, Z:-9.00 [[-7.13251644e-01 -7.00886224e-01 5.53113767e-03 -1.59400028e+02] [ 7.00864403e-01 -7.13273087e-01 -5.53102549e-03 -2.80507175e+02] [ 7.82183121e-03 -6.84355199e-05 9.99969407e-01 -8.99896198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.530385723 meters 0.014724086959079206 Centerline is valid? [True, True] Translation: X:-159.93, Y:-281.03, Z:-8.07 [[-7.49307264e-01 6.62198568e-01 5.62857626e-03 -1.59927143e+02] [ 6.62180556e-01 7.49328401e-01 -4.88459770e-03 -2.81034000e+02] [-7.45222565e-03 6.70692196e-05 -9.99972230e-01 -8.07429066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.560385723 meters 0.014796381361553 Centerline is valid? [True, True] Translation: X:-159.91, Y:-281.01, Z:-8.07 [[-7.93976177e-01 6.07917541e-01 6.17199289e-03 -1.59908671e+02] [ 6.07899890e-01 7.94000163e-01 -4.63312215e-03 -2.81008913e+02] [-7.71711958e-03 7.33651839e-05 -9.99970220e-01 -8.07449839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5903857229999 meters 0.016473630683968416 Centerline is valid? [True, True] Translation: X:-159.89, Y:-280.99, Z:-8.07 [[-8.34710275e-01 5.50643335e-01 7.11862874e-03 -1.59885345e+02] [ 5.50624181e-01 8.34740625e-01 -4.59349855e-03 -2.80988574e+02] [-8.47158796e-03 8.54486823e-05 -9.99964112e-01 -8.07288644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.620385723 meters 0.014939583387138196 Centerline is valid? [True, True] Translation: X:-159.48, Y:-280.38, Z:-9.00 [[-8.08057662e-01 -5.89060750e-01 7.08858111e-03 -1.59482296e+02] [ 5.89037347e-01 -8.08088750e-01 -5.25130766e-03 -2.80375221e+02] [ 8.82154188e-03 -6.79203787e-05 9.99961087e-01 -8.99888995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.650385723 meters 0.014935958719434872 Centerline is valid? [True, True] Translation: X:-159.92, Y:-280.96, Z:-8.07 [[-8.36655009e-01 5.47678546e-01 7.52369885e-03 -1.59923442e+02] [ 5.47657369e-01 8.36688832e-01 -4.81705164e-03 -2.80961887e+02] [-8.93319064e-03 9.01987271e-05 -9.99960094e-01 -8.07431239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.680385723 meters 0.014750744523039651 Centerline is valid? [True, True] Translation: X:-159.90, Y:-280.94, Z:-8.07 [[-8.73331640e-01 4.87043047e-01 8.99544411e-03 -1.59902465e+02] [ 4.87018414e-01 8.73377960e-01 -4.89939585e-03 -2.80936652e+02] [-1.02426393e-02 1.02149516e-04 -9.99947538e-01 -8.07371511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.710385723 meters 0.015654513340972856 Centerline is valid? [True, True] Translation: X:-159.55, Y:-280.30, Z:-9.00 [[-8.49349366e-01 -5.27746579e-01 9.44476965e-03 -1.59553009e+02] [ 5.27713224e-01 -8.49401875e-01 -5.93360650e-03 -2.80304692e+02] [ 1.11538456e-02 -5.55750711e-05 9.99937793e-01 -9.00068698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.740385723 meters 0.014620900472291237 Centerline is valid? [True, True] Translation: X:-159.95, Y:-280.91, Z:-8.07 [[-8.75454801e-01 4.83209024e-01 9.37716228e-03 -1.59947207e+02] [ 4.83182495e-01 8.75505014e-01 -5.06425787e-03 -2.80910234e+02] [-1.06568477e-02 9.73518066e-05 -9.99943210e-01 -8.07442314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.770385723 meters 0.014544772969302275 Centerline is valid? [True, True] Translation: X:-159.60, Y:-280.29, Z:-9.00 [[-8.50928779e-01 -5.25213108e-01 8.45010481e-03 -1.59597094e+02] [ 5.25185680e-01 -8.50970724e-01 -5.36914020e-03 -2.80285331e+02] [ 1.00107346e-02 -1.30881873e-04 9.99949883e-01 -8.99792349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.800385723 meters 0.015565319000918638 Centerline is valid? [True, True] Translation: X:-159.98, Y:-280.89, Z:-8.07 [[-8.77097508e-01 4.80237255e-01 8.49356321e-03 -1.59982397e+02] [ 4.80215737e-01 8.77138627e-01 -4.54702263e-03 -2.80889021e+02] [-9.63368204e-03 9.05604963e-05 -9.99953591e-01 -8.07447250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.830385723 meters 0.014806334605100264 Centerline is valid? [True, True] Translation: X:-159.97, Y:-280.86, Z:-8.08 [[-9.08904383e-01 4.16914086e-01 8.68716960e-03 -1.59967649e+02] [ 4.16895983e-01 9.08945893e-01 -3.88626627e-03 -2.80861600e+02] [-9.51640628e-03 8.94016614e-05 -9.99954714e-01 -8.07520822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.860385723 meters 0.014744997373865755 Centerline is valid? [True, True] Translation: X:-159.96, Y:-280.83, Z:-8.08 [[-9.36230389e-01 3.51260739e-01 9.41016290e-03 -1.59956825e+02] [ 3.51243983e-01 9.36277675e-01 -3.43218128e-03 -2.80833183e+02] [-1.00161160e-02 9.19506806e-05 -9.99949833e-01 -8.07507260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.890385723 meters 0.014504670640212122 Centerline is valid? [True, True] Translation: X:-159.71, Y:-280.17, Z:-9.00 [[-9.17870447e-01 -3.96781717e-01 8.83807083e-03 -1.59714503e+02] [ 3.96762167e-01 -9.17912990e-01 -3.94036876e-03 -2.80172232e+02] [ 9.67604630e-03 -1.10135908e-04 9.99953180e-01 -8.99739152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.920385723 meters 0.014423055245670812 Centerline is valid? [True, True] Translation: X:-160.00, Y:-280.81, Z:-8.08 [[-9.38283245e-01 3.45750019e-01 9.02645083e-03 -1.60004691e+02] [ 3.45734714e-01 9.38326660e-01 -3.25383948e-03 -2.80810619e+02] [-9.59477451e-03 6.77343260e-05 -9.99953967e-01 -8.07623580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.950385723 meters 0.014275366334868754 Centerline is valid? [True, True] Translation: X:-159.76, Y:-280.16, Z:-9.00 [[-9.18225046e-01 -3.95973407e-01 8.23562412e-03 -1.59764252e+02] [ 3.95956495e-01 -9.18261973e-01 -3.66100428e-03 -2.80160753e+02] [ 9.01212079e-03 -1.00676961e-04 9.99959385e-01 -8.99696076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9803857229999 meters 0.016663293371635995 Centerline is valid? [True, True] Translation: X:-160.05, Y:-280.79, Z:-8.08 [[-9.40670542e-01 3.39202037e-01 8.99501697e-03 -1.60053267e+02] [ 3.39186901e-01 9.40713547e-01 -3.20451569e-03 -2.80788686e+02] [-9.54871256e-03 3.65984180e-05 -9.99954409e-01 -8.07550569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.010385723 meters 0.013913045572212705 Centerline is valid? [True, True] Translation: X:-160.04, Y:-280.76, Z:-8.08 [[-9.62811625e-01 2.70065353e-01 7.64717650e-03 -1.60040579e+02] [ 2.70056975e-01 9.62841994e-01 -2.12726864e-03 -2.80760572e+02] [-7.93752423e-03 1.70143734e-05 -9.99968497e-01 -8.07793634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.040385723 meters 0.01388922368965 Centerline is valid? [True, True] Translation: X:-159.85, Y:-280.11, Z:-8.99 [[-9.43451649e-01 -3.31453897e-01 6.10747740e-03 -1.59854470e+02] [ 3.31446221e-01 -9.43471411e-01 -2.25825673e-03 -2.80106158e+02] [ 6.51073831e-03 -1.06255732e-04 9.99978799e-01 -8.99422485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.070385723 meters 0.013797124164918188 Centerline is valid? [True, True] Translation: X:-160.09, Y:-280.75, Z:-8.08 [[-9.64403816e-01 2.64363630e-01 6.09515453e-03 -1.60089307e+02] [ 2.64358351e-01 9.64423077e-01 -1.67064476e-03 -2.80745493e+02] [-6.31996540e-03 1.28813957e-07 -9.99980029e-01 -8.07930514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1003857229999 meters 0.01389539958046776 Centerline is valid? [True, True] Translation: X:-159.91, Y:-280.09, Z:-8.99 [[-9.44375347e-01 -3.28818606e-01 5.79031043e-03 -1.59911498e+02] [ 3.28812349e-01 -9.44393098e-01 -2.02860884e-03 -2.80093948e+02] [ 6.13537354e-03 -1.18426083e-05 9.99981178e-01 -8.99433542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.130385723 meters 0.015236535460603546 Centerline is valid? [True, True] Translation: X:-160.14, Y:-280.73, Z:-8.08 [[-9.65647295e-01 2.59757018e-01 7.18284308e-03 -1.60135981e+02] [ 2.59749783e-01 9.65674009e-01 -1.93880697e-03 -2.80730528e+02] [-7.43990359e-03 -6.46177541e-06 -9.99972324e-01 -8.07713092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.160385723 meters 0.013842340398894417 Centerline is valid? [True, True] Translation: X:-159.96, Y:-280.08, Z:-9.00 [[-9.45191559e-01 -3.26456561e-01 6.24752706e-03 -1.59958868e+02] [ 3.26449105e-01 -9.45212205e-01 -2.20685886e-03 -2.80083782e+02] [ 6.62568238e-03 -4.64047475e-05 9.99978049e-01 -8.99531079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.190385723 meters 0.013919267523884681 Centerline is valid? [True, True] Translation: X:-160.19, Y:-280.72, Z:-8.08 [[-9.67114874e-01 2.54288238e-01 5.12957096e-03 -1.60188435e+02] [ 2.54284582e-01 9.67128478e-01 -1.36358545e-03 -2.80715771e+02] [-5.30769789e-03 -1.43729667e-05 -9.99985914e-01 -8.07818455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2203857229999 meters 0.013807843861324618 Centerline is valid? [True, True] Translation: X:-160.18, Y:-280.69, Z:-8.08 [[-9.82762012e-01 1.84813067e-01 4.79153920e-03 -1.60182349e+02] [ 1.84810800e-01 9.82773692e-01 -9.15460786e-04 -2.80687246e+02] [-4.87818779e-03 -1.41518909e-05 -9.99988102e-01 -8.07864128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.250385723 meters 0.013804184927046948 Centerline is valid? [True, True] Translation: X:-160.05, Y:-280.03, Z:-8.99 [[-9.66752201e-01 -2.55689649e-01 3.60357198e-03 -1.60054943e+02] [ 2.55687636e-01 -9.66758915e-01 -1.01644355e-03 -2.80030865e+02] [ 3.74367943e-03 -6.12602349e-05 9.99992991e-01 -8.99487171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.280385723 meters 0.013784581235422914 Centerline is valid? [True, True] Translation: X:-160.23, Y:-280.68, Z:-8.08 [[-9.83376951e-01 1.81541634e-01 3.52250557e-03 -1.60231861e+02] [ 1.81540440e-01 9.83383260e-01 -6.58335654e-04 -2.80679539e+02] [-3.58348834e-03 -7.91489540e-06 -9.99993579e-01 -8.07865596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.310385723 meters 0.013766685333941866 Centerline is valid? [True, True] Translation: X:-160.11, Y:-280.02, Z:-8.99 [[-9.67885861e-01 -2.51369509e-01 3.21406890e-03 -1.60108474e+02] [ 2.51368092e-01 -9.67891197e-01 -8.44295878e-04 -2.80020545e+02] [ 3.32309924e-03 -9.26767553e-06 9.99994479e-01 -8.99479582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3403857229999 meters 0.013788891860645058 Centerline is valid? [True, True] Translation: X:-160.28, Y:-280.67, Z:-8.08 [[-9.84288129e-01 1.76533858e-01 3.56027825e-03 -1.60284863e+02] [ 1.76532658e-01 9.84294568e-01 -6.50951158e-04 -2.80670036e+02] [-3.61927746e-03 -1.22181142e-05 -9.99993450e-01 -8.07741677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.370385723 meters 0.01382090806035833 Centerline is valid? [True, True] Translation: X:-160.29, Y:-280.64, Z:-8.08 [[-9.94444065e-01 1.05171298e-01 4.47200633e-03 -1.60288379e+02] [ 1.05170145e-01 9.94454120e-01 -4.92893819e-04 -2.80639657e+02] [-4.49904340e-03 -1.98337777e-05 -9.99989879e-01 -8.07658138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.400385723 meters 0.014122596441021202 Centerline is valid? [True, True] Translation: X:-160.29, Y:-280.61, Z:-8.07 [[-9.99494157e-01 3.11402460e-02 6.45880335e-03 -1.60289399e+02] [ 3.11392815e-02 9.99515024e-01 -2.49858593e-04 -2.80608202e+02] [-6.46345165e-03 -4.86097077e-05 -9.99979111e-01 -8.07350070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.430385723 meters 0.014140863736217387 Centerline is valid? [True, True] Translation: X:-160.31, Y:-280.58, Z:-8.07 [[-9.99111695e-01 -4.15273825e-02 7.16223807e-03 -1.60305514e+02] [-4.15267829e-02 9.99137364e-01 2.32473566e-04 -2.80578744e+02] [-7.16571368e-03 -6.51576469e-05 -9.99974324e-01 -8.07306261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.460385723 meters 0.014580952376636515 Centerline is valid? [True, True] Translation: X:-160.31, Y:-280.55, Z:-8.07 [[-9.93365793e-01 -1.14762245e-01 7.35036071e-03 -1.60310039e+02] [-1.14759725e-01 9.93392984e-01 7.65156660e-04 -2.80549424e+02] [-7.38960786e-03 -8.34449213e-05 -9.99972693e-01 -8.07212712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.490385723 meters 0.014725631701970427 Centerline is valid? [True, True] Translation: X:-160.32, Y:-280.52, Z:-8.07 [[-9.82578343e-01 -1.85701984e-01 7.38730330e-03 -1.60323133e+02] [-1.85697404e-01 9.82606109e-01 1.30711683e-03 -2.80522332e+02] [-7.50154354e-03 -8.74583608e-05 -9.99971859e-01 -8.07194735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.520385723 meters 0.014139933697474566 Centerline is valid? [True, True] Translation: X:-160.35, Y:-280.50, Z:-8.07 [[-9.66881046e-01 -2.55132089e-01 6.97562609e-03 -1.60350045e+02] [-2.55126048e-01 9.66906206e-01 1.75754082e-03 -2.80501538e+02] [-7.19318122e-03 -8.03310107e-05 -9.99974126e-01 -8.07278569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.550385723 meters 0.014115715169137783 Centerline is valid? [True, True] Translation: X:-160.39, Y:-280.48, Z:-8.07 [[-9.46081502e-01 -3.23860128e-01 6.66402558e-03 -1.60388334e+02] [-3.23852634e-01 9.46104969e-01 2.20434926e-03 -2.80483896e+02] [-7.01876855e-03 -7.26681805e-05 -9.99975366e-01 -8.07258705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.580385723 meters 0.013753415218921532 Centerline is valid? [True, True] Translation: X:-160.45, Y:-280.48, Z:-8.07 [[-9.20678262e-01 -3.90281949e-01 5.61592174e-03 -1.60445820e+02] [-3.90275027e-01 9.20695388e-01 2.32495736e-03 -2.80478741e+02] [-6.07794213e-03 -5.12163074e-05 -9.99981528e-01 -8.07371456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.610385723 meters 0.013749292334983815 Centerline is valid? [True, True] Translation: X:-160.51, Y:-280.48, Z:-8.07 [[-8.89790055e-01 -4.56341632e-01 5.09640068e-03 -1.60510513e+02] [-4.56334418e-01 8.89804649e-01 2.56625409e-03 -2.80478476e+02] [-5.70588960e-03 -4.22356729e-05 -9.99983721e-01 -8.07378749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.640385723 meters 0.013646777386027653 Centerline is valid? [True, True] Translation: X:-160.59, Y:-280.49, Z:-8.07 [[-8.53678236e-01 -5.20777873e-01 4.88638093e-03 -1.60592902e+02] [-5.20769614e-01 8.53692219e-01 2.93317269e-03 -2.80492067e+02] [-5.69899681e-03 -4.06930267e-05 -9.99983760e-01 -8.07389553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.670385723 meters 0.013676762529956166 Centerline is valid? [True, True] Translation: X:-160.67, Y:-280.51, Z:-8.07 [[-8.12015117e-01 -5.83612642e-01 5.26625245e-03 -1.60669168e+02] [-5.83600759e-01 8.12032193e-01 3.72458544e-03 -2.80508272e+02] [-6.45008167e-03 -4.89692439e-05 -9.99979197e-01 -8.07311072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.700385723 meters 0.013715352595976121 Centerline is valid? [True, True] Translation: X:-160.76, Y:-280.54, Z:-8.07 [[-7.65747893e-01 -6.43120068e-01 5.17122766e-03 -1.60757886e+02] [-6.43105870e-01 7.65765352e-01 4.27378124e-03 -2.80539820e+02] [-6.70850145e-03 -5.30078822e-05 -9.99977496e-01 -8.07248473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7303857229999 meters 0.013776148389391424 Centerline is valid? [True, True] Translation: X:-160.85, Y:-280.58, Z:-8.07 [[-7.14343157e-01 -6.99773474e-01 5.56221807e-03 -1.60845531e+02] [-6.99753009e-01 7.14364809e-01 5.35227262e-03 -2.80580738e+02] [-7.71883125e-03 -6.88195030e-05 -9.99970207e-01 -8.07241839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.760385723 meters 0.013937759753913927 Centerline is valid? [True, True] Translation: X:-160.93, Y:-280.63, Z:-8.07 [[-6.58505459e-01 -7.52559010e-01 5.04945160e-03 -1.60934744e+02] [-7.52537767e-01 6.58524814e-01 5.65494245e-03 -2.80633584e+02] [-7.58086707e-03 -7.60925627e-05 -9.99971262e-01 -8.07265764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.790385723 meters 0.015330957733239637 Centerline is valid? [True, True] Translation: X:-161.02, Y:-280.70, Z:-8.07 [[-5.99700263e-01 -8.00206796e-01 5.35512913e-03 -1.61022636e+02] [-8.00176178e-01 5.99724166e-01 7.00061512e-03 -2.80696264e+02] [-8.81354015e-03 -8.67760218e-05 -9.99961156e-01 -8.07113587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.820385723 meters 0.01393075170843173 Centerline is valid? [True, True] Translation: X:-161.11, Y:-280.77, Z:-8.07 [[-5.36202429e-01 -8.44078138e-01 4.36495118e-03 -1.61109110e+02] [-8.44051489e-01 5.36220188e-01 6.70773122e-03 -2.80770652e+02] [-8.00242422e-03 -8.75417658e-05 -9.99967976e-01 -8.07302439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8503857229999 meters 0.014088942047232461 Centerline is valid? [True, True] Translation: X:-161.19, Y:-280.85, Z:-8.07 [[-4.69233500e-01 -8.83065183e-01 3.97557149e-03 -1.61190175e+02] [-8.83035279e-01 4.69250331e-01 7.26789308e-03 -2.80851103e+02] [-8.28356156e-03 -1.00230973e-04 -9.99965686e-01 -8.07241814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.880385723 meters 0.014087170498344815 Centerline is valid? [True, True] Translation: X:-161.26, Y:-280.94, Z:-8.07 [[-3.99769752e-01 -9.16609729e-01 3.27877415e-03 -1.61262138e+02] [-9.16580946e-01 3.99783184e-01 7.26468738e-03 -2.80935316e+02] [-7.96968190e-03 -1.01059636e-04 -9.99968237e-01 -8.07268629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.910385723 meters 0.014087170498344815 Centerline is valid? [True, True] Translation: X:-161.33, Y:-281.03, Z:-8.07 [[-3.28445861e-01 -9.44518901e-01 2.71314216e-03 -1.61332223e+02] [-9.44489175e-01 3.28457051e-01 7.49430940e-03 -2.81031033e+02] [-7.96966755e-03 -1.01058490e-04 -9.99968237e-01 -8.07268699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.940385723 meters 0.014070444862094095 Centerline is valid? [True, True] Translation: X:-161.40, Y:-281.14, Z:-8.07 [[-2.54882998e-01 -9.66969768e-01 2.03120717e-03 -1.61395255e+02] [-9.66942044e-01 2.54891073e-01 7.32291240e-03 -2.81137810e+02] [-7.59877147e-03 -9.75737443e-05 -9.99971124e-01 -8.07325325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9703857229999 meters 0.014060337817899782 Centerline is valid? [True, True] Translation: X:-161.45, Y:-281.25, Z:-8.07 [[-1.80675619e-01 -9.83541921e-01 1.26880346e-03 -1.61447380e+02] [-9.83520658e-01 1.80680057e-01 6.46784568e-03 -2.81245243e+02] [-6.59064484e-03 -7.93123918e-05 -9.99978278e-01 -8.07437094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.000385723 meters 0.014017408238351872 Centerline is valid? [True, True] Translation: X:-161.49, Y:-281.36, Z:-8.07 [[-1.05049413e-01 -9.94466730e-01 7.37123563e-04 -1.61492932e+02] [-9.94446874e-01 1.05051974e-01 6.28464475e-03 -2.81356863e+02] [-6.32730640e-03 -7.28319805e-05 -9.99979980e-01 -8.07454503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.030385723 meters 0.014042839370315016 Centerline is valid? [True, True] Translation: X:-161.53, Y:-281.48, Z:-8.07 [[-2.93324683e-02 -9.99569682e-01 2.40841853e-04 -1.61528853e+02] [-9.99551310e-01 2.93333895e-02 6.06061367e-03 -2.81475405e+02] [-6.06507039e-03 -6.29610308e-05 -9.99981605e-01 -8.07437795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.060385723 meters 0.013706818191531508 Centerline is valid? [True, True] Translation: X:-161.55, Y:-281.60, Z:-8.07 [[ 4.58359380e-02 -9.98948957e-01 -2.18127427e-04 -1.61554370e+02] [-9.98931908e-01 -4.58364301e-02 5.83658427e-03 -2.81602237e+02] [-5.84044796e-03 -4.96308674e-05 -9.99982943e-01 -8.07405703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0903857229999 meters 0.013622407167512897 Centerline is valid? [True, True] Translation: X:-161.57, Y:-281.73, Z:-8.07 [[ 1.21414554e-01 -9.92601631e-01 -7.12462012e-04 -1.61572040e+02] [-9.92582279e-01 -1.21416636e-01 6.19845534e-03 -2.81727256e+02] [-6.23910162e-03 -4.54055260e-05 -9.99980536e-01 -8.07414565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.120385723 meters 0.013533564613950867 Centerline is valid? [True, True] Translation: X:-161.58, Y:-281.84, Z:-8.07 [[ 1.95746696e-01 -9.80653569e-01 -1.34518727e-03 -1.61578840e+02] [-9.80629052e-01 -1.95751314e-01 6.93432335e-03 -2.81842289e+02] [-7.06349111e-03 -3.82411698e-05 -9.99975053e-01 -8.07404892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.150385723 meters 0.013532736604527345 Centerline is valid? [True, True] Translation: X:-161.58, Y:-281.96, Z:-8.07 [[ 2.70429142e-01 -9.62737754e-01 -2.02396989e-03 -1.61578460e+02] [-9.62709703e-01 -2.70436713e-01 7.34924430e-03 -2.81964610e+02] [-7.62275072e-03 -3.89543851e-05 -9.99970946e-01 -8.07380357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.180385723 meters 0.013509647896581897 Centerline is valid? [True, True] Translation: X:-161.57, Y:-282.09, Z:-8.07 [[ 3.43504275e-01 -9.39146962e-01 -2.79243697e-03 -1.61566222e+02] [-9.39114976e-01 -3.43515623e-01 7.75099359e-03 -2.82092604e+02] [-8.23856780e-03 -4.00800579e-05 -9.99966062e-01 -8.07287290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.210385723 meters 0.013586474964668162 Centerline is valid? [True, True] Translation: X:-161.54, Y:-282.23, Z:-8.07 [[ 4.14816781e-01 -9.09897878e-01 -3.59030382e-03 -1.61542702e+02] [-9.09862887e-01 -4.14832315e-01 7.97975574e-03 -2.82225105e+02] [-8.75013686e-03 -4.34523857e-05 -9.99961716e-01 -8.07262215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.240385723 meters 0.013567004932132717 Centerline is valid? [True, True] Translation: X:-161.52, Y:-282.33, Z:-8.07 [[ 4.83136526e-01 -8.75534544e-01 -4.28475273e-03 -1.61518879e+02] [-8.75499376e-01 -4.83155524e-01 7.84741921e-03 -2.82331267e+02] [-8.94088855e-03 -4.00765159e-05 -9.99960029e-01 -8.07250603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.270385723 meters 0.013539568490652257 Centerline is valid? [True, True] Translation: X:-161.48, Y:-282.45, Z:-8.07 [[ 5.48329051e-01 -8.36249635e-01 -4.66896678e-03 -1.61482344e+02] [-8.36218822e-01 -5.48348928e-01 7.17879405e-03 -2.82445477e+02] [-8.56348683e-03 -3.20634235e-05 -9.99963332e-01 -8.07235420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.300385723 meters 0.013499207337051684 Centerline is valid? [True, True] Translation: X:-161.44, Y:-282.55, Z:-8.07 [[ 6.09368271e-01 -7.92871183e-01 -5.05940243e-03 -1.61438052e+02] [-7.92843638e-01 -6.09389274e-01 6.60897720e-03 -2.82551846e+02] [-8.32321315e-03 -1.59859826e-05 -9.99965361e-01 -8.07258407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.330385723 meters 0.013487760151811818 Centerline is valid? [True, True] Translation: X:-161.37, Y:-282.67, Z:-8.07 [[ 6.67401204e-01 -7.44681790e-01 -4.96633956e-03 -1.61374779e+02] [-7.44661106e-01 -6.67419682e-01 5.55023754e-03 -2.82667817e+02] [-7.44779360e-03 -5.99530872e-06 -9.99972265e-01 -8.07285523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.360385723 meters 0.013500942736994353 Centerline is valid? [True, True] Translation: X:-161.33, Y:-282.76, Z:-8.07 [[ 7.22059732e-01 -6.91812824e-01 -4.97603637e-03 -1.61326103e+02] [-6.91796373e-01 -7.22076878e-01 4.77084122e-03 -2.82757042e+02] [-6.89360994e-03 -2.42842111e-06 -9.99976239e-01 -8.07411390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.390385723 meters 0.013466338990258295 Centerline is valid? [True, True] Translation: X:-161.33, Y:-282.76, Z:-8.07 [[ 7.73482037e-01 -6.33798845e-01 -4.95608530e-03 -1.61330356e+02] [-6.33785850e-01 -7.73497915e-01 4.05850280e-03 -2.82762843e+02] [-6.40579604e-03 1.91772194e-06 -9.99979483e-01 -8.07437636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.420385723 meters 0.013448283849344746 Centerline is valid? [True, True] Translation: X:-161.34, Y:-282.77, Z:-8.07 [[ 8.20513429e-01 -5.71604465e-01 -5.10386485e-03 -1.61335210e+02] [-5.71593431e-01 -8.20529302e-01 3.55159810e-03 -2.82768930e+02] [-6.21797999e-03 3.20168982e-06 -9.99980668e-01 -8.07424601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.450385723 meters 0.013460552051315753 Centerline is valid? [True, True] Translation: X:-161.34, Y:-282.78, Z:-8.07 [[ 8.63208742e-01 -5.04810721e-01 -6.06660476e-03 -1.61340162e+02] [-5.04798225e-01 -8.63230060e-01 3.55200001e-03 -2.82776880e+02] [-7.02996328e-03 -3.70614588e-06 -9.99975290e-01 -8.07406838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4803857229999 meters 0.013548383469699403 Centerline is valid? [True, True] Translation: X:-161.35, Y:-282.78, Z:-8.07 [[ 9.00455868e-01 -4.34897344e-01 -6.59776180e-03 -1.61345371e+02] [-4.34885582e-01 -9.00480039e-01 3.19848820e-03 -2.82783732e+02] [-7.33216682e-03 -1.08259797e-05 -9.99973119e-01 -8.07339351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.510385723 meters 0.013550559269341622 Centerline is valid? [True, True] Translation: X:-161.35, Y:-282.79, Z:-8.07 [[ 9.32478751e-01 -3.61138040e-01 -7.91798577e-03 -1.61350251e+02] [-3.61124739e-01 -9.32512367e-01 3.09965872e-03 -2.82794284e+02] [-8.50302433e-03 -3.09853514e-05 -9.99963848e-01 -8.07256419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.540385723 meters 0.013713095007648113 Centerline is valid? [True, True] Translation: X:-161.35, Y:-282.80, Z:-8.07 [[ 9.58189488e-01 -2.85930829e-01 -1.07919659e-02 -1.61354330e+02] [-2.85912046e-01 -9.58250259e-01 3.27780102e-03 -2.82804422e+02] [-1.12786285e-02 -5.52014290e-05 -9.99936393e-01 -8.07097481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.570385723 meters 0.013905193891137596 Centerline is valid? [True, True] Translation: X:-161.36, Y:-282.81, Z:-8.07 [[ 9.77720156e-01 -2.09579671e-01 -1.18177339e-02 -1.61359107e+02] [-2.09563538e-01 -9.77791572e-01 2.60120115e-03 -2.82814750e+02] [-1.21004395e-02 -6.66806676e-05 -9.99926785e-01 -8.06947087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6003857229999 meters 0.013888119240539683 Centerline is valid? [True, True] Translation: X:-161.37, Y:-282.82, Z:-8.07 [[ 9.91215504e-01 -1.31663129e-01 -1.25157653e-02 -1.61365097e+02] [-1.31651627e-01 -9.91294514e-01 1.74211625e-03 -2.82822786e+02] [-1.26361820e-02 -7.90917742e-05 -9.99920157e-01 -8.06882979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.630385723 meters 0.013914218317511034 Centerline is valid? [True, True] Translation: X:-161.37, Y:-282.83, Z:-8.07 [[ 9.98505823e-01 -5.32684729e-02 -1.21898347e-02 -1.61371463e+02] [-5.32635117e-02 -9.98580224e-01 7.31512279e-04 -2.82831388e+02] [-1.22114944e-02 -8.11458695e-05 -9.99925434e-01 -8.06916150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.660385723 meters 0.013923660950488562 Centerline is valid? [True, True] Translation: X:-161.38, Y:-282.84, Z:-8.07 [[ 9.99641372e-01 2.43352414e-02 -1.11768850e-02 -1.61376617e+02] [ 2.43344636e-02 -9.99703852e-01 -2.05603846e-04 -2.82838142e+02] [-1.11785784e-02 -6.64533890e-05 -9.99937516e-01 -8.06984510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.690385723 meters 0.013836111640461887 Centerline is valid? [True, True] Translation: X:-161.38, Y:-282.85, Z:-8.07 [[ 9.94714209e-01 1.02162118e-01 -1.03220564e-02 -1.61380891e+02] [ 1.02157224e-01 -9.94767761e-01 -1.00164950e-03 -2.82845970e+02] [-1.03703796e-02 -5.81176397e-05 -9.99946225e-01 -8.06997377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7203857229999 meters 0.013778119453581098 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.85, Z:-8.07 [[ 9.83813624e-01 1.78962793e-01 -9.11433761e-03 -1.61385556e+02] [ 1.78955536e-01 -9.83855841e-01 -1.61234193e-03 -2.82851093e+02] [-9.25574351e-03 -4.48172124e-05 -9.99957164e-01 -8.07132156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.750385723 meters 0.013868829833705413 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.86, Z:-8.07 [[ 9.66722410e-01 2.55673595e-01 -8.87668260e-03 -1.61390221e+02] [ 2.55663260e-01 -9.66763162e-01 -2.29927443e-03 -2.82859946e+02] [-9.16951349e-03 -4.66814927e-05 -9.99957958e-01 -8.07094641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.780385723 meters 0.013691104232417787 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.87, Z:-8.07 [[ 9.43552665e-01 3.31109039e-01 -8.67017489e-03 -1.61392143e+02] [ 3.31095564e-01 -9.43592498e-01 -2.98763788e-03 -2.82873205e+02] [-9.17034589e-03 -5.16627596e-05 -9.99957950e-01 -8.07130572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.810385723 meters 0.013953266634943192 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.89, Z:-8.07 [[ 9.14474814e-01 4.04545939e-01 -8.85426394e-03 -1.61392980e+02] [ 4.04527619e-01 -9.14517676e-01 -3.85040704e-03 -2.82887065e+02] [-9.65504741e-03 -6.06940498e-05 -9.99953387e-01 -8.06989463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8403857229999 meters 0.014081506935523593 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.90, Z:-8.07 [[ 8.79123414e-01 4.76485048e-01 -1.01991321e-02 -1.61391781e+02] [ 4.76454219e-01 -8.79182569e-01 -5.42097790e-03 -2.82901435e+02] [-1.15499140e-02 -9.37109014e-05 -9.99933293e-01 -8.06880941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.870385723 meters 0.014328505231761789 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.91, Z:-8.07 [[ 8.38499989e-01 5.44795924e-01 -1.07317360e-02 -1.61390696e+02] [ 5.44753098e-01 -8.38568654e-01 -6.83188180e-03 -2.82914377e+02] [-1.27212788e-02 -1.17613624e-04 -9.99919074e-01 -8.06772529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.900385723 meters 0.014710212365500649 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.93, Z:-8.07 [[ 7.92974695e-01 6.09155425e-01 -1.09909608e-02 -1.61388499e+02] [ 6.09099250e-01 -7.93050850e-01 -8.27369505e-03 -2.82927146e+02] [-1.37563570e-02 -1.33755166e-04 -9.99905368e-01 -8.06533776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.930385723 meters 0.014349836376650939 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.94, Z:-8.07 [[ 7.43022012e-01 6.69182259e-01 -1.06486917e-02 -1.61387212e+02] [ 6.69116121e-01 -7.43098302e-01 -9.40904026e-03 -2.82937089e+02] [-1.42093876e-02 -1.34087287e-04 -9.99899033e-01 -8.06654665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.960385723 meters 0.014296214279593423 Centerline is valid? [True, True] Translation: X:-161.39, Y:-282.95, Z:-8.07 [[ 6.89543770e-01 7.24167659e-01 -1.05161903e-02 -1.61385219e+02] [ 7.24086044e-01 -6.89623946e-01 -1.08726185e-02 -2.82948487e+02] [-1.51258154e-02 -1.17480232e-04 -9.99885592e-01 -8.06564442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.990385723 meters 0.014243026041346949 Centerline is valid? [True, True] Translation: X:-161.38, Y:-282.96, Z:-8.07 [[ 6.31785939e-01 7.75082332e-01 -9.69054929e-03 -1.61382930e+02] [ 7.74993524e-01 -6.31860245e-01 -1.17332367e-02 -2.82957878e+02] [-1.52172973e-02 -9.72189895e-05 -9.99884206e-01 -8.06526458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.020385723 meters 0.01398276994850668 Centerline is valid? [True, True] Translation: X:-161.38, Y:-282.97, Z:-8.07 [[ 5.72184722e-01 8.20081642e-01 -8.41096299e-03 -1.61380090e+02] [ 8.19994081e-01 -5.72246537e-01 -1.19836317e-02 -2.82966287e+02] [-1.46407008e-02 -4.00888771e-05 -9.99892819e-01 -8.06663014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.050385723 meters 0.013951618042952925 Centerline is valid? [True, True] Translation: X:-161.38, Y:-282.98, Z:-8.07 [[ 5.09652002e-01 8.60349286e-01 -7.34460180e-03 -1.61377516e+02] [ 8.60259455e-01 -5.09704921e-01 -1.24323567e-02 -2.82975942e+02] [-1.44397489e-02 1.79123243e-05 -9.99895741e-01 -8.06742018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.080385723 meters 0.013886942962967747 Centerline is valid? [True, True] Translation: X:-161.37, Y:-282.99, Z:-8.07 [[ 4.42547045e-01 8.96724531e-01 -6.10143505e-03 -1.61370510e+02] [ 8.96637901e-01 -4.42589102e-01 -1.24644323e-02 -2.82986272e+02] [-1.38775909e-02 4.53197913e-05 -9.99903701e-01 -8.06860962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.110385723 meters 0.014187920458530836 Centerline is valid? [True, True] Translation: X:-161.36, Y:-283.00, Z:-8.07 [[ 3.73952634e-01 9.27434604e-01 -4.94794922e-03 -1.61364429e+02] [ 9.27350319e-01 -3.73985357e-01 -1.25035843e-02 -2.82995612e+02] [-1.34467173e-02 8.72660114e-05 -9.99909585e-01 -8.06932774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.140385723 meters 0.014335444201888845 Centerline is valid? [True, True] Translation: X:-161.36, Y:-283.00, Z:-8.07 [[ 3.01596730e-01 9.53427433e-01 -3.94230677e-03 -1.61356675e+02] [ 9.53341278e-01 -3.01622476e-01 -1.28175310e-02 -2.83004464e+02] [-1.34096740e-02 1.07361652e-04 -9.99910081e-01 -8.06987071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.170385723 meters 0.014617672497490642 Centerline is valid? [True, True] Translation: X:-161.35, Y:-283.01, Z:-8.07 [[ 2.27961327e-01 9.73665734e-01 -2.94483097e-03 -1.61347847e+02] [ 9.73576661e-01 -2.27980307e-01 -1.31706457e-02 -2.83012996e+02] [-1.34951699e-02 1.35379173e-04 -9.99908927e-01 -8.07057443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.200385723 meters 0.014674121358670172 Centerline is valid? [True, True] Translation: X:-161.34, Y:-283.02, Z:-8.07 [[ 1.51485297e-01 9.88457658e-01 -1.91414646e-03 -1.61336642e+02] [ 9.88366390e-01 -1.51497323e-01 -1.34327948e-02 -2.83021730e+02] [-1.35677370e-02 1.42992888e-04 -9.99907944e-01 -8.07094032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2303857229999 meters 0.015093463326324781 Centerline is valid? [True, True] Translation: X:-161.33, Y:-283.03, Z:-8.07 [[ 7.31492491e-02 9.97320647e-01 -8.45180210e-04 -1.61326179e+02] [ 9.97231007e-01 -7.31540065e-02 -1.33719894e-02 -2.83030710e+02] [-1.33979894e-02 1.35311069e-04 -9.99910234e-01 -8.06941450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.260385723 meters 0.014599850026918324 Centerline is valid? [True, True] Translation: X:-161.31, Y:-283.04, Z:-8.07 [[-5.99845052e-03 9.99981988e-01 2.06230713e-04 -1.61312391e+02] [ 9.99891096e-01 6.00068594e-03 -1.34828966e-02 -2.83037060e+02] [-1.34838913e-02 1.25331766e-04 -9.99909080e-01 -8.07073712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.290385723 meters 0.014518329179161436 Centerline is valid? [True, True] Translation: X:-161.30, Y:-283.04, Z:-8.07 [[-8.57938805e-02 9.96312108e-01 1.26207812e-03 -1.61299640e+02] [ 9.96221605e-01 8.58030985e-02 -1.34291747e-02 -2.83044202e+02] [-1.34879396e-02 1.05168474e-04 -9.99909028e-01 -8.07112054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.320385723 meters 0.014374725998886105 Centerline is valid? [True, True] Translation: X:-161.29, Y:-283.05, Z:-8.07 [[-1.64633392e-01 9.86352227e-01 2.26509839e-03 -1.61286890e+02] [ 9.86266176e-01 1.64648949e-01 -1.30289255e-02 -2.83048918e+02] [-1.32240557e-02 8.89937375e-05 -9.99912555e-01 -8.07210870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3503857229999 meters 0.01428692127534941 Centerline is valid? [True, True] Translation: X:-161.27, Y:-283.05, Z:-8.07 [[-2.43480830e-01 9.69900808e-01 3.08366595e-03 -1.61272448e+02] [ 9.69825948e-01 2.43500350e-01 -1.20503639e-02 -2.83053458e+02] [-1.24385314e-02 5.65866629e-05 -9.99922637e-01 -8.07229923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.380385723 meters 0.014195037005942752 Centerline is valid? [True, True] Translation: X:-161.26, Y:-283.06, Z:-8.07 [[-3.19842274e-01 9.47463171e-01 3.80261979e-03 -1.61259220e+02] [ 9.47397678e-01 3.19864876e-01 -1.11400701e-02 -2.83056397e+02] [-1.17711306e-02 3.95278136e-05 -9.99930717e-01 -8.07243962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.410385723 meters 0.014031591558334833 Centerline is valid? [True, True] Translation: X:-161.25, Y:-283.06, Z:-8.07 [[-3.95593171e-01 9.18415340e-01 4.39379840e-03 -1.61245891e+02] [ 9.18358881e-01 3.95617571e-01 -1.01834649e-02 -2.83059079e+02] [-1.10909142e-02 6.57462159e-06 -9.99938494e-01 -8.07215865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.440385723 meters 0.013979813764286331 Centerline is valid? [True, True] Translation: X:-161.23, Y:-283.06, Z:-8.07 [[-4.68455163e-01 8.83471920e-01 5.20842138e-03 -1.61234589e+02] [ 8.83416836e-01 4.68484116e-01 -9.86549428e-03 -2.83060185e+02] [-1.11559499e-02 -2.03345907e-05 -9.99937770e-01 -8.07325590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4703857229999 meters 0.01395865910692977 Centerline is valid? [True, True] Translation: X:-161.22, Y:-283.06, Z:-8.07 [[-5.37014472e-01 8.43552129e-01 5.93817876e-03 -1.61223978e+02] [ 8.43499922e-01 5.37047302e-01 -9.38500414e-03 -2.83062392e+02] [-1.11058231e-02 -3.10297266e-05 -9.99938328e-01 -8.07338172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.500385723 meters 0.014146017471619482 Centerline is valid? [True, True] Translation: X:-161.21, Y:-283.06, Z:-8.07 [[-6.03357383e-01 7.97442631e-01 6.71697340e-03 -1.61213368e+02] [ 7.97392139e-01 6.03394768e-01 -8.97389875e-03 -2.83062860e+02] [-1.12091560e-02 -5.84062800e-05 -9.99937174e-01 -8.07333362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.530385723 meters 0.014071960367177042 Centerline is valid? [True, True] Translation: X:-161.20, Y:-283.06, Z:-8.07 [[-6.64600438e-01 7.47160397e-01 7.58945985e-03 -1.61203767e+02] [ 7.47110481e-01 6.64643767e-01 -8.63667144e-03 -2.83061423e+02] [-1.14972660e-02 -6.97706207e-05 -9.99933902e-01 -8.07365950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.560385723 meters 0.01496568320192057 Centerline is valid? [True, True] Translation: X:-161.19, Y:-283.06, Z:-8.07 [[-7.22338254e-01 6.91483952e-01 8.79718713e-03 -1.61192389e+02] [ 6.91431035e-01 7.22391815e-01 -8.55505455e-03 -2.83058145e+02] [-1.22706989e-02 -9.69949684e-05 -9.99924708e-01 -8.07323024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5903857229999 meters 0.014177784817176124 Centerline is valid? [True, True] Translation: X:-161.18, Y:-283.03, Z:-8.07 [[-7.69874773e-01 6.38130244e-01 9.08989057e-03 -1.61177557e+02] [ 6.38084196e-01 7.69928427e-01 -7.66659289e-03 -2.83031689e+02] [-1.18908499e-02 -1.02200945e-04 -9.99929296e-01 -8.07384301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.620385723 meters 0.01413886736796537 Centerline is valid? [True, True] Translation: X:-161.15, Y:-283.02, Z:-8.07 [[-8.13273930e-01 5.81811953e-01 8.96470483e-03 -1.61148181e+02] [ 5.81775268e-01 8.13323332e-01 -6.53420590e-03 -2.83018834e+02] [-1.10928827e-02 -9.86557640e-05 -9.99938467e-01 -8.07439285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.650385723 meters 0.014314154918787672 Centerline is valid? [True, True] Translation: X:-161.15, Y:-282.98, Z:-8.07 [[-8.51918012e-01 5.23588228e-01 9.54299542e-03 -1.61148348e+02] [ 5.23554190e-01 8.51971454e-01 -5.97082281e-03 -2.82984580e+02] [-1.12566122e-02 -9.03762582e-05 -9.99936638e-01 -8.07387321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.680385723 meters 0.014067793195461205 Centerline is valid? [True, True] Translation: X:-161.15, Y:-282.95, Z:-8.07 [[-8.86579828e-01 4.62463607e-01 1.01794611e-02 -1.61153534e+02] [ 4.62432009e-01 8.86638261e-01 -5.40664169e-03 -2.82949945e+02] [-1.15258747e-02 -8.61108147e-05 -9.99933571e-01 -8.07425640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.710385723 meters 0.0139256301535689 Centerline is valid? [True, True] Translation: X:-161.10, Y:-282.94, Z:-8.07 [[-9.16646902e-01 3.99550846e-01 1.08433568e-02 -1.61101234e+02] [ 3.99521932e-01 9.16711032e-01 -4.80731910e-03 -2.82944451e+02] [-1.18609932e-02 -7.44553195e-05 -9.99929653e-01 -8.07418443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.740385723 meters 0.013930173120912482 Centerline is valid? [True, True] Translation: X:-160.78, Y:-282.23, Z:-9.00 [[-8.82100787e-01 -4.70955150e-01 9.97237118e-03 -1.60780412e+02] [ 4.70925516e-01 -8.82157155e-01 -5.28320957e-03 -2.82229618e+02] [ 1.12853533e-02 3.59207216e-05 9.99936318e-01 -8.99928428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.770385723 meters 0.013724279752057367 Centerline is valid? [True, True] Translation: X:-161.14, Y:-282.93, Z:-8.08 [[-9.17296389e-01 3.98066235e-01 1.05170456e-02 -1.61136205e+02] [ 3.98039476e-01 9.17356676e-01 -4.61580238e-03 -2.82933149e+02] [-1.14852771e-02 -4.78595323e-05 -9.99934041e-01 -8.07536549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.800385723 meters 0.013724279752057367 Centerline is valid? [True, True] Translation: X:-161.12, Y:-282.91, Z:-8.08 [[-9.43196355e-01 3.32059653e-01 1.08176880e-02 -1.61122900e+02] [ 3.32037233e-01 9.43258387e-01 -3.85893561e-03 -2.82907318e+02] [-1.14852717e-02 -4.78588224e-05 -9.99934041e-01 -8.07536554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.830385723 meters 0.013652560159106044 Centerline is valid? [True, True] Translation: X:-161.11, Y:-282.88, Z:-8.08 [[-9.64154320e-01 2.65093400e-01 1.14863587e-02 -1.61114975e+02] [ 2.65074082e-01 9.64222738e-01 -3.20056582e-03 -2.82880349e+02] [-1.19238571e-02 -4.11033811e-05 -9.99928908e-01 -8.07548726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.860385723 meters 0.013510389715353455 Centerline is valid? [True, True] Translation: X:-160.90, Y:-282.12, Z:-9.00 [[-9.42190321e-01 -3.34847650e-01 1.24278330e-02 -1.60895681e+02] [ 3.34820212e-01 -9.42272273e-01 -4.28819686e-03 -2.82120950e+02] [ 1.31462951e-02 1.20792107e-04 9.99913577e-01 -8.99863375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.890385723 meters 0.013667201449821835 Centerline is valid? [True, True] Translation: X:-161.16, Y:-282.87, Z:-8.07 [[-9.64768178e-01 2.62778606e-01 1.30294999e-02 -1.61161433e+02] [ 2.62754262e-01 9.64856157e-01 -3.57694882e-03 -2.82869075e+02] [-1.35115389e-02 -2.73697608e-05 -9.99908715e-01 -8.07414539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.920385723 meters 0.013636887677470233 Centerline is valid? [True, True] Translation: X:-160.95, Y:-282.11, Z:-9.00 [[-9.43797934e-01 -3.30269469e-01 1.29436273e-02 -1.60950001e+02] [ 3.30238986e-01 -9.43886686e-01 -4.48728299e-03 -2.82106053e+02] [ 1.36993300e-02 3.94019271e-05 9.99906159e-01 -8.99964702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.950385723 meters 0.013750616848201096 Centerline is valid? [True, True] Translation: X:-161.21, Y:-282.86, Z:-8.07 [[-9.65281689e-01 2.60831908e-01 1.40704230e-02 -1.61213321e+02] [ 2.60804178e-01 9.65384232e-01 -3.80326610e-03 -2.82857411e+02] [-1.45753777e-02 -1.59800355e-06 -9.99893774e-01 -8.07361900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9803857229999 meters 0.01368335412333569 Centerline is valid? [True, True] Translation: X:-161.20, Y:-282.83, Z:-8.07 [[-9.81245208e-01 1.92217578e-01 1.44998032e-02 -1.61204680e+02] [ 1.92196684e-01 9.81352334e-01 -2.83409186e-03 -2.82830882e+02] [-1.47741780e-02 5.87503067e-06 -9.99890856e-01 -8.07433391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.010385723 meters 0.013708415775261414 Centerline is valid? [True, True] Translation: X:-161.19, Y:-282.80, Z:-8.08 [[-9.92300797e-01 1.22975159e-01 1.47050820e-02 -1.61194927e+02] [ 1.22961946e-01 9.92409749e-01 -1.80278223e-03 -2.82804530e+02] [-1.48151641e-02 1.92632518e-05 -9.99890249e-01 -8.07520505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.040385723 meters 0.013651231948537382 Centerline is valid? [True, True] Translation: X:-161.20, Y:-282.78, Z:-8.08 [[-9.98544108e-01 5.21058719e-02 1.39514485e-02 -1.61197374e+02] [ 5.21010295e-02 9.98641566e-01 -7.10570980e-04 -2.82775180e+02] [-1.39695213e-02 1.73483654e-05 -9.99902421e-01 -8.07548989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.070385723 meters 0.014917492258389854 Centerline is valid? [True, True] Translation: X:-161.20, Y:-282.75, Z:-8.08 [[-9.99734119e-01 -1.90414379e-02 1.30044443e-02 -1.61197380e+02] [-1.90396177e-02 9.99818695e-01 2.63770741e-04 -2.82745957e+02] [-1.30071091e-02 1.61009602e-05 -9.99915404e-01 -8.07561023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1003857229999 meters 0.0136264404792124 Centerline is valid? [True, True] Translation: X:-161.22, Y:-281.95, Z:-9.00 [[-9.98863521e-01 -4.62109847e-02 1.16709530e-02 -1.61219271e+02] [ 4.62066389e-02 -9.98931697e-01 -6.41881889e-04 -2.81947863e+02] [ 1.16881469e-02 -1.01876893e-04 9.99931686e-01 -8.99640036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.130385723 meters 0.013675353482712344 Centerline is valid? [True, True] Translation: X:-161.30, Y:-282.75, Z:-8.08 [[-9.99601597e-01 -2.61396440e-02 1.06474065e-02 -1.61298667e+02] [-2.61381195e-02 9.99658301e-01 2.82334969e-04 -2.82746324e+02] [-1.06511484e-02 3.91930257e-06 -9.99943275e-01 -8.07803198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.160385723 meters 0.013703273476626622 Centerline is valid? [True, True] Translation: X:-161.32, Y:-281.95, Z:-9.00 [[-9.99106433e-01 -4.09398341e-02 1.05007248e-02 -1.61319028e+02] [ 4.09374336e-02 -9.99161614e-01 -4.43529007e-04 -2.81950064e+02] [ 1.05100791e-02 -1.32599603e-05 9.99944768e-01 -8.99515816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.190385723 meters 0.01385051332013312 Centerline is valid? [True, True] Translation: X:-161.40, Y:-282.75, Z:-8.08 [[-9.99376443e-01 -3.38303955e-02 1.01108864e-02 -1.61396211e+02] [-3.38287755e-02 9.99427588e-01 3.31251654e-04 -2.82745795e+02] [-1.01163052e-02 -1.09938078e-05 -9.99948829e-01 -8.07799677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2203857229999 meters 0.013927348942531921 Centerline is valid? [True, True] Translation: X:-161.42, Y:-282.72, Z:-8.08 [[-9.94300955e-01 -1.06088425e-01 1.05288987e-02 -1.61416715e+02] [-1.06082737e-01 9.94356699e-01 1.09888093e-03 -2.82716635e+02] [-1.05860595e-02 -2.43160316e-05 -9.99943966e-01 -8.07742310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.250385723 meters 0.013821435521166579 Centerline is valid? [True, True] Translation: X:-161.42, Y:-282.69, Z:-8.08 [[-9.84073968e-01 -1.77405034e-01 1.12196095e-02 -1.61422610e+02] [-1.77393839e-01 9.84137924e-01 1.99320003e-03 -2.82688048e+02] [-1.13952469e-02 -2.88333308e-05 -9.99935072e-01 -8.07828665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.280385723 meters 0.01401492637640716 Centerline is valid? [True, True] Translation: X:-161.45, Y:-282.66, Z:-8.08 [[-9.68650543e-01 -2.48163258e-01 1.14508682e-02 -1.61452419e+02] [-2.48146345e-01 9.68718223e-01 2.89745080e-03 -2.82664194e+02] [-1.18117055e-02 -3.48738062e-05 -9.99930239e-01 -8.07714510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.310385723 meters 0.01392659579496055 Centerline is valid? [True, True] Translation: X:-161.50, Y:-282.65, Z:-8.08 [[-9.47922861e-01 -3.18298995e-01 1.13137167e-02 -1.61504105e+02] [-3.18276771e-01 9.47990374e-01 3.76142206e-03 -2.82648788e+02] [-1.19225514e-02 -3.53552783e-05 -9.99928923e-01 -8.07755873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3403857229999 meters 0.01400965205208628 Centerline is valid? [True, True] Translation: X:-161.56, Y:-282.64, Z:-8.08 [[-9.21921149e-01 -3.87223247e-01 1.09340004e-02 -1.61563707e+02] [-3.87196446e-01 9.21985985e-01 4.55590588e-03 -2.82639627e+02] [-1.18451478e-02 -3.34201303e-05 -9.99929843e-01 -8.07713989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.370385723 meters 0.01406343647587084 Centerline is valid? [True, True] Translation: X:-161.64, Y:-282.64, Z:-8.08 [[-8.91102897e-01 -4.53688011e-01 1.01398286e-02 -1.61639748e+02] [-4.53658901e-01 8.91160585e-01 5.13931907e-03 -2.82643457e+02] [-1.13678631e-02 -2.03614100e-05 -9.99935384e-01 -8.07823142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.400385723 meters 0.014060683641023378 Centerline is valid? [True, True] Translation: X:-161.72, Y:-282.66, Z:-8.08 [[-8.55013228e-01 -5.18518942e-01 9.51250458e-03 -1.61720213e+02] [-5.18487020e-01 8.55066142e-01 5.75350089e-03 -2.82655279e+02] [-1.11171198e-02 -1.27907922e-05 -9.99938203e-01 -8.07876941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.430385723 meters 0.013999130725583581 Centerline is valid? [True, True] Translation: X:-161.81, Y:-282.68, Z:-8.08 [[-8.14162770e-01 -5.80573894e-01 8.54037934e-03 -1.61806818e+02] [-5.80541981e-01 8.14207562e-01 6.08723867e-03 -2.82677835e+02] [-1.04877333e-02 -2.04563818e-06 -9.99945002e-01 -8.08038762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.460385723 meters 0.014088683568605528 Centerline is valid? [True, True] Translation: X:-161.90, Y:-282.71, Z:-8.08 [[-7.68836236e-01 -6.39402927e-01 7.39866881e-03 -1.61899509e+02] [-6.39373196e-01 7.68871834e-01 6.16599129e-03 -2.82711760e+02] [-9.63118094e-03 1.01270152e-05 -9.99953619e-01 -8.08053626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.490385723 meters 0.014089172463955827 Centerline is valid? [True, True] Translation: X:-161.99, Y:-282.76, Z:-8.08 [[-7.18424730e-01 -6.95574735e-01 6.45717058e-03 -1.61994545e+02] [-6.95546484e-01 7.18453748e-01 6.26905218e-03 -2.82757730e+02] [-8.99977272e-03 1.25798240e-05 -9.99959501e-01 -8.08077203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.520385723 meters 0.014135060241385838 Centerline is valid? [True, True] Translation: X:-162.09, Y:-282.81, Z:-8.08 [[-6.64246916e-01 -7.47490991e-01 5.76658489e-03 -1.62085589e+02] [-7.47462530e-01 6.64271946e-01 6.52288341e-03 -2.82810512e+02] [-8.70637715e-03 2.24990571e-05 -9.99962099e-01 -8.08153671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.550385723 meters 0.014225300868799112 Centerline is valid? [True, True] Translation: X:-162.18, Y:-282.87, Z:-8.08 [[-6.05719287e-01 -7.95661980e-01 5.11460862e-03 -1.62175677e+02] [-7.95633240e-01 6.05740880e-01 6.76262897e-03 -2.82874457e+02] [-8.47889428e-03 2.69021753e-05 -9.99964053e-01 -8.08122175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.580385723 meters 0.01454358196418532 Centerline is valid? [True, True] Translation: X:-162.26, Y:-282.95, Z:-8.08 [[-5.44414111e-01 -8.38801032e-01 5.10918663e-03 -1.62263644e+02] [-8.38763317e-01 5.44438083e-01 7.95436066e-03 -2.82948399e+02] [-9.45376170e-03 4.50678663e-05 -9.99955311e-01 -8.08022068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.610385723 meters 0.01684944212688156 Centerline is valid? [True, True] Translation: X:-162.35, Y:-283.03, Z:-8.08 [[-4.80079425e-01 -8.77210476e-01 5.05238178e-03 -1.62347894e+02] [-8.77160344e-01 4.80106005e-01 9.37847721e-03 -2.83032353e+02] [-1.06525773e-02 7.06650111e-05 -9.99943257e-01 -8.07843885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.640385723 meters 0.014805871505793846 Centerline is valid? [True, True] Translation: X:-162.43, Y:-283.12, Z:-8.08 [[-4.11133293e-01 -9.11564350e-01 4.45546627e-03 -1.62425862e+02] [-9.11508934e-01 4.11157428e-01 1.00514953e-02 -2.83124664e+02] [-1.09944828e-02 7.13070586e-05 -9.99939556e-01 -8.07885554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.670385723 meters 0.014850809262697877 Centerline is valid? [True, True] Translation: X:-162.50, Y:-283.22, Z:-8.08 [[-3.40079164e-01 -9.40388464e-01 3.96211946e-03 -1.62499142e+02] [-9.40321862e-01 3.40102234e-01 1.11922225e-02 -2.83224035e+02] [-1.18725626e-02 8.05741268e-05 -9.99929516e-01 -8.07874645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.700385723 meters 0.01491088038805364 Centerline is valid? [True, True] Translation: X:-162.57, Y:-283.34, Z:-8.08 [[-2.65957426e-01 -9.63979394e-01 3.22124171e-03 -1.62567086e+02] [-9.63905278e-01 2.65976922e-01 1.19537126e-02 -2.83336683e+02] [-1.23799086e-02 7.42067522e-05 -9.99923363e-01 -8.07797548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7303857229999 meters 0.015001016319721764 Centerline is valid? [True, True] Translation: X:-162.62, Y:-283.44, Z:-8.08 [[-1.90476491e-01 -9.81689070e-01 2.29687709e-03 -1.62622908e+02] [-9.81613359e-01 1.90490327e-01 1.21921454e-02 -2.83443518e+02] [-1.24064288e-02 6.76718439e-05 -9.99923035e-01 -8.07778692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.760385723 meters 0.01500229906323319 Centerline is valid? [True, True] Translation: X:-162.67, Y:-283.56, Z:-8.08 [[-1.12517820e-01 -9.93648837e-01 1.31504492e-03 -1.62672166e+02] [-9.93576316e-01 1.12525495e-01 1.20048776e-02 -2.83557251e+02] [-1.20766088e-02 4.41651673e-05 -9.99927074e-01 -8.07746724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.790385723 meters 0.014711388107034871 Centerline is valid? [True, True] Translation: X:-162.71, Y:-283.68, Z:-8.08 [[-3.47382275e-02 -9.99396380e-01 3.63288603e-04 -1.62711821e+02] [-9.99331696e-01 3.47401123e-02 1.13704353e-02 -2.83676588e+02] [-1.13761925e-02 3.19429519e-05 -9.99935289e-01 -8.07919456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.820385723 meters 0.014852643659292519 Centerline is valid? [True, True] Translation: X:-162.74, Y:-283.80, Z:-8.08 [[ 4.40321071e-02 -9.99030003e-01 -4.76232718e-04 -1.62743453e+02] [-9.98974614e-01 -4.40346806e-02 1.05198221e-02 -2.83801919e+02] [-1.05305887e-02 1.25344610e-05 -9.99944552e-01 -8.07911810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8503857229999 meters 0.014540187274251591 Centerline is valid? [True, True] Translation: X:-162.76, Y:-283.93, Z:-8.08 [[ 1.21555457e-01 -9.92583856e-01 -1.24899611e-03 -1.62763571e+02] [-9.92531903e-01 -1.21561874e-01 1.01553883e-02 -2.83932970e+02] [-1.02319048e-02 5.22562015e-06 -9.99947653e-01 -8.08058398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.880385723 meters 0.014609464340448452 Centerline is valid? [True, True] Translation: X:-162.78, Y:-284.05, Z:-8.08 [[ 1.99032804e-01 -9.79991149e-01 -1.81396725e-03 -1.62776765e+02] [-9.79950093e-01 -1.99041070e-01 8.97039527e-03 -2.84053854e+02] [-9.15196195e-03 -7.80554378e-06 -9.99958120e-01 -8.08167727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.910385723 meters 0.014611347764041334 Centerline is valid? [True, True] Translation: X:-162.78, Y:-284.18, Z:-8.08 [[ 2.74551605e-01 -9.61569303e-01 -2.42726169e-03 -1.62777498e+02] [-9.61531294e-01 -2.74562334e-01 8.54955402e-03 -2.84181807e+02] [-8.88742334e-03 -1.34057015e-05 -9.99960506e-01 -8.08205975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.940385723 meters 0.014760050523813774 Centerline is valid? [True, True] Translation: X:-163.45, Y:-284.50, Z:-8.99 [[ 2.04185620e-01 9.78930625e-01 -1.75047530e-03 -1.63452805e+02] [-9.78894371e-01 2.04193123e-01 8.42485964e-03 -2.84499556e+02] [ 8.60478813e-03 -6.70477626e-06 9.99962978e-01 -8.99163538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9703857229999 meters 0.014719957680909548 Centerline is valid? [True, True] Translation: X:-162.71, Y:-284.47, Z:-8.08 [[ 2.86172211e-01 -9.58174743e-01 -2.57449966e-03 -1.62705891e+02] [-9.58134795e-01 -2.86183789e-01 8.74947229e-03 -2.84467647e+02] [-9.12030343e-03 -3.71381292e-05 -9.99958409e-01 -8.08190733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.000385723 meters 0.0148647802213378 Centerline is valid? [True, True] Translation: X:-162.70, Y:-284.59, Z:-8.08 [[ 3.59931659e-01 -9.32972393e-01 -3.42277819e-03 -1.62699520e+02] [-9.32928920e-01 -3.59947930e-01 9.00653582e-03 -2.84590159e+02] [-9.63487120e-03 -4.85286186e-05 -9.99953582e-01 -8.08094459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.030385723 meters 0.01495076235466873 Centerline is valid? [True, True] Translation: X:-162.68, Y:-284.71, Z:-8.08 [[ 4.30811437e-01 -9.02432324e-01 -4.17212564e-03 -1.62681482e+02] [-9.02388820e-01 -4.30831636e-01 8.86110088e-03 -2.84711861e+02] [-9.79402757e-03 -5.25840690e-05 -9.99952036e-01 -8.08076875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.060385723 meters 0.014799383702030709 Centerline is valid? [True, True] Translation: X:-162.66, Y:-284.83, Z:-8.08 [[ 4.98681237e-01 -8.66772477e-01 -4.74312525e-03 -1.62656253e+02] [-8.66732299e-01 -4.98703791e-01 8.34566626e-03 -2.84829229e+02] [-9.59920836e-03 -5.08073184e-05 -9.99953925e-01 -8.08106987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0903857229999 meters 0.01482776957983202 Centerline is valid? [True, True] Translation: X:-162.62, Y:-284.94, Z:-8.08 [[ 5.63105587e-01 -8.26368612e-01 -5.19757805e-03 -1.62624077e+02] [-8.26332681e-01 -5.63129572e-01 7.70616250e-03 -2.84941496e+02] [-9.29504071e-03 -4.44545488e-05 -9.99956799e-01 -8.08083057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.120385723 meters 0.014713345858086932 Centerline is valid? [True, True] Translation: X:-162.58, Y:-285.05, Z:-8.08 [[ 6.23238567e-01 -7.82011154e-01 -5.67839477e-03 -1.62582585e+02] [-7.81978285e-01 -6.23264434e-01 7.16989276e-03 -2.85050352e+02] [-9.14607761e-03 -2.81722843e-05 -9.99958173e-01 -8.08123567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.150385723 meters 0.014577921300795195 Centerline is valid? [True, True] Translation: X:-162.53, Y:-285.15, Z:-8.08 [[ 6.80185537e-01 -7.33015029e-01 -6.04994826e-03 -1.62532946e+02] [-7.32985812e-01 -6.80212443e-01 6.54461999e-03 -2.85154464e+02] [-8.91255490e-03 -1.70296253e-05 -9.99960282e-01 -8.08110405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.180385723 meters 0.014572373109883137 Centerline is valid? [True, True] Translation: X:-162.48, Y:-285.25, Z:-8.08 [[ 7.33005986e-01 -6.80192147e-01 -6.39274882e-03 -1.62480449e+02] [-6.80166225e-01 -7.33033862e-01 5.93833178e-03 -2.85249312e+02] [-8.72530800e-03 -4.70091445e-06 -9.99961934e-01 -8.08145728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.210385723 meters 0.01473872410365643 Centerline is valid? [True, True] Translation: X:-162.49, Y:-285.26, Z:-8.08 [[ 7.81749713e-01 -6.23556950e-01 -6.64200193e-03 -1.62486941e+02] [-6.23534717e-01 -7.81777928e-01 5.26567973e-03 -2.85260392e+02] [-8.47602170e-03 2.50751738e-05 -9.99964078e-01 -8.08002510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.240385723 meters 0.014872325295670294 Centerline is valid? [True, True] Translation: X:-162.49, Y:-285.27, Z:-8.08 [[ 8.25721436e-01 -5.64026606e-01 -7.62226857e-03 -1.62490304e+02] [-5.64003311e-01 -8.25756613e-01 5.12659649e-03 -2.85270405e+02] [-9.18567550e-03 6.58440917e-05 -9.99957809e-01 -8.08080511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.270385723 meters 0.015068862990112916 Centerline is valid? [True, True] Translation: X:-162.49, Y:-285.28, Z:-8.08 [[ 8.66230048e-01 -4.99579328e-01 -8.12395541e-03 -1.62493873e+02] [-4.99558291e-01 -8.66268138e-01 4.58541638e-03 -2.85282599e+02] [-9.32830296e-03 8.63638249e-05 -9.99956487e-01 -8.08104305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.300385723 meters 0.015190848927941952 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.30, Z:-8.08 [[ 9.01783774e-01 -4.32097617e-01 -8.81330869e-03 -1.62496989e+02] [-4.32078165e-01 -9.01826834e-01 4.10144860e-03 -2.85295111e+02] [-9.72030443e-03 1.09418439e-04 -9.99952751e-01 -8.08077175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.330385723 meters 0.015799967395895637 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.31, Z:-8.08 [[ 9.31614483e-01 -3.63326244e-01 -9.40718678e-03 -1.62499936e+02] [-3.63309300e-01 -9.31661966e-01 3.51186684e-03 -2.85307592e+02] [-1.00402715e-02 1.46012438e-04 -9.99949585e-01 -8.07951219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.360385723 meters 0.01829277477907074 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.32, Z:-8.08 [[ 9.56340577e-01 -2.92073448e-01 -1.02860126e-02 -1.62501059e+02] [-2.92058636e-01 -9.56395873e-01 2.94733001e-03 -2.85322441e+02] [-1.06983368e-02 1.85467516e-04 -9.99942754e-01 -8.07695453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.390385723 meters 0.016278699317748717 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.34, Z:-8.08 [[ 9.76213771e-01 -2.16558087e-01 -1.04531543e-02 -1.62501624e+02] [-2.16547717e-01 -9.76269717e-01 2.12745283e-03 -2.85335110e+02] [-1.06658151e-02 1.86757949e-04 -9.99943101e-01 -8.07848827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.420385723 meters 0.016248561632561977 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.35, Z:-8.08 [[ 9.90070910e-01 -1.40185927e-01 -1.03682063e-02 -1.62503431e+02] [-1.40180252e-01 -9.90125179e-01 1.27562506e-03 -2.85348873e+02] [-1.04446468e-02 1.90458509e-04 -9.99945435e-01 -8.07948756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.450385723 meters 0.016473496204016766 Centerline is valid? [True, True] Translation: X:-162.51, Y:-285.36, Z:-8.08 [[ 9.97997424e-01 -6.24320697e-02 -1.01675237e-02 -1.62505573e+02] [-6.24307455e-02 -9.98049198e-01 4.47885665e-04 -2.85360715e+02] [-1.01756513e-02 1.87777343e-04 -9.99948209e-01 -8.07959240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4803857229999 meters 0.016923244283581374 Centerline is valid? [True, True] Translation: X:-162.51, Y:-285.37, Z:-8.08 [[ 9.99838913e-01 1.52338920e-02 -9.49089431e-03 -1.62505309e+02] [ 1.52314851e-02 -9.99883941e-01 -3.25838407e-04 -2.85374432e+02] [-9.49475659e-03 1.81225504e-04 -9.99954907e-01 -8.07961382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.510385723 meters 0.01792900336682426 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.39, Z:-8.08 [[ 9.95592681e-01 9.33308751e-02 -9.19575164e-03 -1.62503476e+02] [ 9.33252420e-02 -9.95635132e-01 -1.04073313e-03 -2.85388582e+02] [-9.25274593e-03 1.77950536e-04 -9.99957177e-01 -8.07872535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.540385723 meters 0.018327305787678584 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.40, Z:-8.08 [[ 9.85207724e-01 1.71118682e-01 -9.17265723e-03 -1.62500360e+02] [ 1.71109575e-01 -9.85250407e-01 -1.77443110e-03 -2.85404262e+02] [-9.34100258e-03 1.78653741e-04 -9.99956356e-01 -8.07817898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.570385723 meters 0.016639797559705072 Centerline is valid? [True, True] Translation: X:-162.50, Y:-285.42, Z:-8.08 [[ 9.68618699e-01 2.48379346e-01 -9.24752906e-03 -1.62497357e+02] [ 2.48366278e-01 -9.68662825e-01 -2.55401406e-03 -2.85416995e+02] [-9.59210197e-03 1.77091406e-04 -9.99953979e-01 -8.07929311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6003857229999 meters 0.016042465121620105 Centerline is valid? [True, True] Translation: X:-162.49, Y:-285.43, Z:-8.08 [[ 9.45951842e-01 3.24198245e-01 -8.40302175e-03 -1.62492538e+02] [ 3.24183968e-01 -9.45989151e-01 -3.04658032e-03 -2.85430813e+02] [-8.93686340e-03 1.57793324e-04 -9.99960053e-01 -8.08027546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.630385723 meters 0.01601774784231728 Centerline is valid? [True, True] Translation: X:-162.49, Y:-285.44, Z:-8.08 [[ 9.17407790e-01 3.97884351e-01 -7.14074659e-03 -1.62487531e+02] [ 3.97871168e-01 -9.17435570e-01 -3.24154723e-03 -2.85443706e+02] [-7.84093584e-03 1.32723487e-04 -9.99969251e-01 -8.08072341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.660385723 meters 0.016116376007954878 Centerline is valid? [True, True] Translation: X:-162.48, Y:-285.45, Z:-8.08 [[ 8.83159683e-01 4.69030013e-01 -6.31045279e-03 -1.62482482e+02] [ 4.69017085e-01 -8.83182220e-01 -3.48434742e-03 -2.85454026e+02] [-7.20754322e-03 1.17524995e-04 -9.99974019e-01 -8.08026937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.690385723 meters 0.01557283587074104 Centerline is valid? [True, True] Translation: X:-162.47, Y:-285.47, Z:-8.08 [[ 8.42486561e-01 5.38689219e-01 -5.50648542e-03 -1.62474099e+02] [ 5.38676992e-01 -8.42504550e-01 -3.63055833e-03 -2.85465931e+02] [-6.59498165e-03 9.24795959e-05 -9.99978249e-01 -8.08022833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7203857229999 meters 0.01557283587074104 Centerline is valid? [True, True] Translation: X:-162.47, Y:-285.47, Z:-8.08 [[ 7.97749325e-01 6.02966763e-01 -5.20549340e-03 -1.62467281e+02] [ 6.02953167e-01 -7.97766303e-01 -4.05033036e-03 -2.85473567e+02] [-6.59498181e-03 9.24795817e-05 -9.99978249e-01 -8.08022833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.750385723 meters 0.015344984303917515 Centerline is valid? [True, True] Translation: X:-162.46, Y:-285.48, Z:-8.08 [[ 7.47439317e-01 6.64311023e-01 -5.03314565e-03 -1.62459460e+02] [ 6.64295158e-01 -7.47456258e-01 -4.59189862e-03 -2.85481312e+02] [-6.81250508e-03 8.86712847e-05 -9.99976791e-01 -8.08023843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.780385723 meters 0.015089042255744705 Centerline is valid? [True, True] Translation: X:-162.45, Y:-285.49, Z:-8.08 [[ 6.91954873e-01 7.21924950e-01 -4.77699922e-03 -1.62450124e+02] [ 7.21906948e-01 -6.91971358e-01 -5.09896027e-03 -2.85488151e+02] [-6.98661327e-03 7.97014847e-05 -9.99975590e-01 -8.08048462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.810385723 meters 0.014992829272629885 Centerline is valid? [True, True] Translation: X:-162.44, Y:-285.49, Z:-8.08 [[ 6.32589317e-01 7.74475656e-01 -4.26790035e-03 -1.62442923e+02] [ 7.74457262e-01 -6.32603710e-01 -5.33813434e-03 -2.85494116e+02] [-6.83414469e-03 7.15403330e-05 -9.99976645e-01 -8.08046449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8403857229999 meters 0.01468602383097218 Centerline is valid? [True, True] Translation: X:-162.43, Y:-285.50, Z:-8.08 [[ 5.68283829e-01 8.22824136e-01 -3.73252518e-03 -1.62434512e+02] [ 8.22805742e-01 -5.68296083e-01 -5.50207317e-03 -2.85499023e+02] [-6.64841804e-03 5.55960536e-05 -9.99977898e-01 -8.08076296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.870385723 meters 0.014540036721338584 Centerline is valid? [True, True] Translation: X:-162.43, Y:-285.50, Z:-8.08 [[ 5.01015249e-01 8.65431701e-01 -3.41918880e-03 -1.62425340e+02] [ 8.65410875e-01 -5.01026913e-01 -6.00410912e-03 -2.85502951e+02] [-6.90925198e-03 4.91470515e-05 -9.99976130e-01 -8.08098850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.900385723 meters 0.014219055896718355 Centerline is valid? [True, True] Translation: X:-162.41, Y:-285.51, Z:-8.08 [[ 4.29268347e-01 9.03171232e-01 -3.22672959e-03 -1.62412094e+02] [ 9.03145127e-01 -4.29280473e-01 -6.86693622e-03 -2.85508120e+02] [-7.58719125e-03 3.35532527e-05 -9.99971216e-01 -8.08020042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.930385723 meters 0.01417348900612803 Centerline is valid? [True, True] Translation: X:-162.40, Y:-285.51, Z:-8.08 [[ 3.55752296e-01 9.34576192e-01 -2.76500544e-03 -1.62401190e+02] [ 9.34547477e-01 -3.55763040e-01 -7.32610291e-03 -2.85511107e+02] [-7.83048810e-03 2.22490743e-05 -9.99969341e-01 -8.07972610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.960385723 meters 0.014055201439033247 Centerline is valid? [True, True] Translation: X:-162.39, Y:-285.51, Z:-8.08 [[ 2.79014134e-01 9.60284267e-01 -2.28911200e-03 -1.62388729e+02] [ 9.60251882e-01 -2.79023524e-01 -7.88650688e-03 -2.85513762e+02] [-8.21200458e-03 2.32278286e-06 -9.99966281e-01 -8.07930713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.990385723 meters 0.014157949433755675 Centerline is valid? [True, True] Translation: X:-162.38, Y:-285.52, Z:-8.08 [[ 1.99958277e-01 9.79802961e-01 -1.68674168e-03 -1.62376137e+02] [ 9.79769083e-01 -1.99965389e-01 -8.14781966e-03 -2.85515419e+02] [-8.32054779e-03 -2.33933744e-05 -9.99965383e-01 -8.07907945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.020385723 meters 0.014304779248362869 Centerline is valid? [True, True] Translation: X:-162.36, Y:-285.52, Z:-8.08 [[ 1.21010429e-01 9.92650655e-01 -1.07422713e-03 -1.62364842e+02] [ 9.92614296e-01 -1.21015191e-01 -8.49608247e-03 -2.85516651e+02] [-8.56363963e-03 -3.81786198e-05 -9.99963331e-01 -8.07843957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.050385723 meters 0.014637857605862498 Centerline is valid? [True, True] Translation: X:-162.36, Y:-285.52, Z:-8.08 [[ 3.95041698e-02 9.99219333e-01 -3.80534521e-04 -1.62359667e+02] [ 9.99187102e-01 -3.95059521e-02 -8.02584779e-03 -2.85516709e+02] [-8.03461565e-03 -6.31707309e-05 -9.99967720e-01 -8.07904596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.080385723 meters 0.01458156103019285 Centerline is valid? [True, True] Translation: X:-162.35, Y:-285.52, Z:-8.08 [[-4.07673146e-02 9.99168636e-01 2.49589246e-04 -1.62350081e+02] [ 9.99136316e-01 4.07680035e-02 -8.03687363e-03 -2.85515448e+02] [-8.04036732e-03 -7.82680758e-05 -9.99967673e-01 -8.08080586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.110385723 meters 0.016389486584977367 Centerline is valid? [True, True] Translation: X:-162.34, Y:-285.51, Z:-8.08 [[-1.20476235e-01 9.92715805e-01 8.98402933e-04 -1.62339292e+02] [ 9.92682157e-01 1.20479549e-01 -8.17392543e-03 -2.85512992e+02] [-8.22262415e-03 -9.29351973e-05 -9.99966189e-01 -8.07901727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.140385723 meters 0.018276373547353512 Centerline is valid? [True, True] Translation: X:-162.33, Y:-285.51, Z:-8.08 [[-2.00975786e-01 9.79594759e-01 1.68589980e-03 -1.62327009e+02] [ 9.79554626e-01 2.00982814e-01 -8.86804911e-03 -2.85510893e+02] [-9.02593132e-03 -1.30832186e-04 -9.99959257e-01 -8.07735694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.170385723 meters 0.015670769890088684 Centerline is valid? [True, True] Translation: X:-162.32, Y:-285.51, Z:-8.08 [[-2.78732979e-01 9.60366062e-01 2.22559277e-03 -1.62320801e+02] [ 9.60331405e-01 2.78741831e-01 -8.15998076e-03 -2.85507887e+02] [-8.45693439e-03 -1.37149122e-04 -9.99964230e-01 -8.08158879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.200385723 meters 0.016070620412611546 Centerline is valid? [True, True] Translation: X:-162.31, Y:-285.50, Z:-8.08 [[-3.55697951e-01 9.34596383e-01 2.92711427e-03 -1.62311625e+02] [ 9.34560824e-01 3.55709957e-01 -8.15437428e-03 -2.85503251e+02] [-8.66225240e-03 -1.64927908e-04 -9.99962469e-01 -8.08165383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2303857229999 meters 0.016530742103704855 Centerline is valid? [True, True] Translation: X:-162.30, Y:-285.50, Z:-8.08 [[-4.29607840e-01 9.03007019e-01 3.92788954e-03 -1.62303396e+02] [ 9.02964903e-01 4.29625749e-01 -8.72357672e-03 -2.85499992e+02] [-9.56497349e-03 -2.00970549e-04 -9.99954235e-01 -8.08133699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.260385723 meters 0.016041169694229255 Centerline is valid? [True, True] Translation: X:-162.29, Y:-285.49, Z:-8.08 [[-4.99461730e-01 8.66324770e-01 4.40143423e-03 -1.62294363e+02] [ 8.66287593e-01 4.99481084e-01 -8.02825731e-03 -2.85493780e+02] [-9.15351131e-03 -1.96899418e-04 -9.99958086e-01 -8.08225383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.290385723 meters 0.016694635866909883 Centerline is valid? [True, True] Translation: X:-162.29, Y:-285.49, Z:-8.08 [[-5.66155565e-01 8.24279968e-01 5.51467187e-03 -1.62285320e+02] [ 8.24237003e-01 5.66182379e-01 -8.41884673e-03 -2.85487536e+02] [-1.00617967e-02 -2.20980310e-04 -9.99949355e-01 -8.08201380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.320385723 meters 0.01624035773129861 Centerline is valid? [True, True] Translation: X:-162.28, Y:-285.48, Z:-8.08 [[-6.28632055e-01 7.77676803e-01 6.36631517e-03 -1.62278447e+02] [ 7.77633264e-01 6.28664251e-01 -8.23200603e-03 -2.85481029e+02] [-1.04041149e-02 -2.24244417e-04 -9.99945851e-01 -8.08218716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3503857229999 meters 0.015766375867896264 Centerline is valid? [True, True] Translation: X:-162.27, Y:-285.47, Z:-8.08 [[-6.86613792e-01 7.26988463e-01 7.01961528e-03 -1.62272456e+02] [ 7.26947304e-01 6.86649642e-01 -7.73867359e-03 -2.85474726e+02] [-1.04459427e-02 -2.10589617e-04 -9.99945418e-01 -8.08235984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.380385723 meters 0.015692912800131277 Centerline is valid? [True, True] Translation: X:-162.27, Y:-285.47, Z:-8.08 [[-7.40147928e-01 6.72398508e-01 7.82892795e-03 -1.62266870e+02] [ 6.72358061e-01 7.40189306e-01 -7.37764738e-03 -2.85469065e+02] [-1.07556078e-02 -1.96707603e-04 -9.99942138e-01 -8.08241093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.410385723 meters 0.01570003656056234 Centerline is valid? [True, True] Translation: X:-162.25, Y:-285.45, Z:-8.08 [[-7.84874661e-01 6.19598801e-01 8.31211953e-03 -1.62251621e+02] [ 6.19561619e-01 7.84918654e-01 -6.79019009e-03 -2.85446927e+02] [-1.07315313e-02 -1.79577915e-04 -9.99942399e-01 -8.08211857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.440385723 meters 0.01483336474407532 Centerline is valid? [True, True] Translation: X:-162.23, Y:-285.43, Z:-8.08 [[-8.25817168e-01 5.63864958e-01 9.07266051e-03 -1.62234587e+02] [ 5.63828692e-01 8.25866987e-01 -6.39727188e-03 -2.85429140e+02] [-1.11000082e-02 -1.67550637e-04 -9.99938379e-01 -8.08342857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4703857229999 meters 0.014715088512889801 Centerline is valid? [True, True] Translation: X:-161.85, Y:-284.89, Z:-8.99 [[-7.68943666e-01 -6.39263718e-01 8.21810566e-03 -1.61851924e+02] [ 6.39229007e-01 -7.68987570e-01 -6.66293931e-03 -2.84890419e+02] [ 1.05789964e-02 1.29826533e-04 9.99944033e-01 -8.98974161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.500385723 meters 0.014472082113007476 Centerline is valid? [True, True] Translation: X:-161.86, Y:-284.92, Z:-8.99 [[-7.24979838e-01 -6.88728887e-01 7.53358387e-03 -1.61862422e+02] [ 6.88693296e-01 -7.25018971e-01 -7.00260177e-03 -2.84918887e+02] [ 1.02848854e-02 1.11583609e-04 9.99947103e-01 -8.98905241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.530385723 meters 0.014342889248367586 Centerline is valid? [True, True] Translation: X:-162.32, Y:-285.41, Z:-8.09 [[-7.84383332e-01 6.20230025e-01 7.58315529e-03 -1.62324421e+02] [ 6.20199962e-01 7.84419982e-01 -6.10728929e-03 -2.85414348e+02] [-9.73630273e-03 -8.73832973e-05 -9.99952597e-01 -8.08503454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.560385723 meters 0.014372252197359617 Centerline is valid? [True, True] Translation: X:-162.31, Y:-285.39, Z:-8.09 [[-8.26209470e-01 5.63309712e-01 7.75119730e-03 -1.62314846e+02] [ 5.63283981e-01 8.26245824e-01 -5.38470864e-03 -2.85388078e+02] [-9.43765307e-03 -8.27719986e-05 -9.99955461e-01 -8.08544340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5903857229999 meters 0.014324115779658652 Centerline is valid? [True, True] Translation: X:-161.92, Y:-284.83, Z:-8.99 [[-7.75904651e-01 -6.30802827e-01 7.73086619e-03 -1.61916420e+02] [ 6.30772955e-01 -7.75943156e-01 -6.13986163e-03 -2.84829225e+02] [ 9.87175479e-03 1.12474114e-04 9.99951267e-01 -8.98771327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.620385723 meters 0.014343618053009556 Centerline is valid? [True, True] Translation: X:-161.93, Y:-284.86, Z:-8.99 [[-7.31583322e-01 -6.81713351e-01 7.26300827e-03 -1.61927986e+02] [ 6.81680852e-01 -7.31619369e-01 -6.65694726e-03 -2.84856402e+02] [ 9.85188735e-03 8.09420779e-05 9.99951466e-01 -8.98741472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.650385723 meters 0.014405544715996303 Centerline is valid? [True, True] Translation: X:-161.95, Y:-284.88, Z:-8.99 [[-6.84043166e-01 -7.29410181e-01 6.76276766e-03 -1.61947936e+02] [ 7.29375695e-01 -6.84076590e-01 -7.09326565e-03 -2.84879013e+02] [ 9.80015122e-03 8.04984671e-05 9.99951974e-01 -8.98759173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.680385723 meters 0.014467227430175872 Centerline is valid? [True, True] Translation: X:-161.97, Y:-284.86, Z:-8.99 [[-6.83721095e-01 -7.29715852e-01 6.34347041e-03 -1.61965682e+02] [ 7.29685558e-01 -6.83750516e-01 -6.64960186e-03 -2.84856880e+02] [ 9.18967105e-03 8.22656779e-05 9.99957771e-01 -8.98744066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.710385723 meters 0.014574208698638172 Centerline is valid? [True, True] Translation: X:-161.98, Y:-284.84, Z:-8.99 [[-6.83798150e-01 -7.29640247e-01 6.72310382e-03 -1.61983307e+02] [ 7.29606255e-01 -6.83831194e-01 -7.04342213e-03 -2.84836472e+02] [ 9.73663237e-03 8.89395797e-05 9.99952594e-01 -8.98752235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.740385723 meters 0.014519561699282627 Centerline is valid? [True, True] Translation: X:-162.00, Y:-284.81, Z:-8.99 [[-6.83903884e-01 -7.29537249e-01 7.13300605e-03 -1.62000409e+02] [ 7.29499023e-01 -6.83941075e-01 -7.46872506e-03 -2.84814229e+02] [ 1.03272690e-02 9.56308591e-05 9.99946668e-01 -8.98772666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.770385723 meters 0.014718204102896757 Centerline is valid? [True, True] Translation: X:-162.02, Y:-284.79, Z:-8.99 [[-6.84012803e-01 -7.29435768e-01 7.06727893e-03 -1.62018636e+02] [ 7.29398284e-01 -6.84049305e-01 -7.39534577e-03 -2.84793578e+02] [ 1.02287970e-02 9.63499373e-05 9.99947680e-01 -8.98828148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.800385723 meters 0.014821972085164595 Centerline is valid? [True, True] Translation: X:-162.03, Y:-284.77, Z:-8.99 [[-6.84188328e-01 -7.29270270e-01 7.15582265e-03 -1.62034876e+02] [ 7.29231883e-01 -6.84225740e-01 -7.48313699e-03 -2.84772746e+02] [ 1.03534274e-02 9.83790450e-05 9.99946397e-01 -8.98865894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.830385723 meters 0.014592175811466027 Centerline is valid? [True, True] Translation: X:-162.05, Y:-284.75, Z:-8.99 [[-6.84505690e-01 -7.28971997e-01 7.19643833e-03 -1.62052421e+02] [ 7.28933200e-01 -6.84543511e-01 -7.52139837e-03 -2.84751042e+02] [ 1.04091640e-02 9.72828410e-05 9.99945819e-01 -8.98766207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.860385723 meters 0.01464053011842431 Centerline is valid? [True, True] Translation: X:-162.07, Y:-284.73, Z:-8.99 [[-6.84667073e-01 -7.28822292e-01 7.00463321e-03 -1.62069441e+02] [ 7.28785570e-01 -6.84702897e-01 -7.31682805e-03 -2.84727900e+02] [ 1.01287600e-02 9.52843551e-05 9.99948698e-01 -8.98730184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.890385723 meters 0.014678769838894507 Centerline is valid? [True, True] Translation: X:-162.09, Y:-284.71, Z:-8.99 [[-6.84938172e-01 -7.28567268e-01 7.03110308e-03 -1.62086483e+02] [ 7.28530295e-01 -6.84974253e-01 -7.34038487e-03 -2.84705036e+02] [ 1.01640887e-02 9.46618051e-05 9.99948340e-01 -8.98725437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.920385723 meters 0.014715438974475376 Centerline is valid? [True, True] Translation: X:-162.10, Y:-284.68, Z:-8.99 [[-6.85198459e-01 -7.28325820e-01 6.67622943e-03 -1.62104650e+02] [ 7.28292512e-01 -6.85230977e-01 -6.96601901e-03 -2.84684056e+02] [ 9.64829072e-03 8.91424052e-05 9.99953450e-01 -8.98724218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.950385723 meters 0.014732000023625498 Centerline is valid? [True, True] Translation: X:-162.12, Y:-284.66, Z:-8.99 [[-6.85225762e-01 -7.28303161e-01 6.33728128e-03 -1.62122059e+02] [ 7.28273181e-01 -6.85255061e-01 -6.60869676e-03 -2.84662486e+02] [ 9.15578881e-03 8.68227297e-05 9.99958081e-01 -8.98722860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9803857229999 meters 0.014768435234209733 Centerline is valid? [True, True] Translation: X:-162.14, Y:-284.64, Z:-8.99 [[-6.85190860e-01 -7.28338840e-01 6.00170064e-03 -1.62140114e+02] [ 7.28311983e-01 -6.85217139e-01 -6.25523367e-03 -2.84641202e+02] [ 8.66839778e-03 8.50815533e-05 9.99962425e-01 -8.98661073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.010385723 meters 0.014818427090643956 Centerline is valid? [True, True] Translation: X:-162.16, Y:-284.62, Z:-8.99 [[-6.85078227e-01 -7.28445734e-01 5.88521585e-03 -1.62158239e+02] [ 7.28419943e-01 -6.85103499e-01 -6.13040575e-03 -2.84620084e+02] [ 8.49764989e-03 8.71010951e-05 9.99963891e-01 -8.98618717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.040385723 meters 0.015033167068957073 Centerline is valid? [True, True] Translation: X:-162.18, Y:-284.60, Z:-8.99 [[-6.84691478e-01 -7.28809895e-01 5.80662850e-03 -1.62175039e+02] [ 7.28784829e-01 -6.84716093e-01 -6.04518096e-03 -2.84597839e+02] [ 8.38167969e-03 9.26988708e-05 9.99964869e-01 -8.98559686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.070385723 meters 0.015447279028993566 Centerline is valid? [True, True] Translation: X:-162.19, Y:-284.58, Z:-8.99 [[-6.83963479e-01 -7.29492940e-01 5.83185413e-03 -1.62192293e+02] [ 7.29467710e-01 -6.83988334e-01 -6.06788253e-03 -2.84577298e+02] [ 8.41539765e-03 1.03939237e-04 9.99964585e-01 -8.98612161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1003857229999 meters 0.015548492418263164 Centerline is valid? [True, True] Translation: X:-162.21, Y:-284.56, Z:-8.99 [[-6.83795359e-01 -7.29648389e-01 6.09392757e-03 -1.62210976e+02] [ 7.29620881e-01 -6.83822504e-01 -6.33671897e-03 -2.84556892e+02] [ 8.79074159e-03 1.13237777e-04 9.99961354e-01 -8.98689793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.130385723 meters 0.015875083932582173 Centerline is valid? [True, True] Translation: X:-162.23, Y:-284.54, Z:-8.99 [[-6.82608459e-01 -7.30753424e-01 6.71751422e-03 -1.62228656e+02] [ 7.30720087e-01 -6.82641497e-01 -6.98152938e-03 -2.84535036e+02] [ 9.68743046e-03 1.42971560e-04 9.99953066e-01 -8.98722865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.160385723 meters 0.01631239646440945 Centerline is valid? [True, True] Translation: X:-162.25, Y:-284.51, Z:-8.99 [[-6.81086638e-01 -7.32161975e-01 7.73523797e-03 -1.62246634e+02] [ 7.32117911e-01 -6.81130535e-01 -8.03478943e-03 -2.84513635e+02] [ 1.11514741e-02 1.90718542e-04 9.99937802e-01 -8.98829137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.190385723 meters 0.016648808583948585 Centerline is valid? [True, True] Translation: X:-162.27, Y:-284.49, Z:-8.99 [[-6.80479121e-01 -7.32723971e-01 7.98427548e-03 -1.62265377e+02] [ 7.32677118e-01 -6.80525928e-01 -8.28866117e-03 -2.84493702e+02] [ 1.15068072e-02 2.09635087e-04 9.99933773e-01 -8.98868304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2203857229999 meters 0.01675033354658611 Centerline is valid? [True, True] Translation: X:-162.28, Y:-284.47, Z:-8.99 [[-6.79392353e-01 -7.33727828e-01 8.33701685e-03 -1.62282912e+02] [ 7.33676877e-01 -6.79443462e-01 -8.65004117e-03 -2.84471729e+02] [ 1.20113075e-02 2.39904656e-04 9.99927833e-01 -8.98854186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.250385723 meters 0.017012901262899144 Centerline is valid? [True, True] Translation: X:-162.30, Y:-284.45, Z:-8.99 [[-6.79027295e-01 -7.34065874e-01 8.32015941e-03 -1.62301528e+02] [ 7.34015219e-01 -6.79078221e-01 -8.62718711e-03 -2.84451282e+02] [ 1.19829627e-02 2.49028102e-04 9.99928171e-01 -8.98855815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.280385723 meters 0.017491075728755412 Centerline is valid? [True, True] Translation: X:-162.32, Y:-284.43, Z:-8.99 [[-6.78616671e-01 -7.34450538e-01 7.86265479e-03 -1.62318317e+02] [ 7.34405386e-01 -6.78662175e-01 -8.14748230e-03 -2.84430439e+02] [ 1.13200092e-02 2.45358710e-04 9.99935897e-01 -8.98783169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.310385723 meters 0.01718450818301948 Centerline is valid? [True, True] Translation: X:-162.34, Y:-284.41, Z:-8.99 [[-6.78735836e-01 -7.34345561e-01 7.36628179e-03 -1.62335799e+02] [ 7.34305970e-01 -6.78775768e-01 -7.62887680e-03 -2.84408605e+02] [ 1.06022854e-02 2.31112622e-04 9.99943768e-01 -8.98699799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3403857229999 meters 0.017149050748992888 Centerline is valid? [True, True] Translation: X:-162.35, Y:-284.39, Z:-8.99 [[-6.79051172e-01 -7.34061377e-01 6.58784933e-03 -1.62353072e+02] [ 7.34029734e-01 -6.79083097e-01 -6.81888177e-03 -2.84385939e+02] [ 9.47917487e-03 2.05307633e-04 9.99955051e-01 -8.98587006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.370385723 meters 0.018206862684616614 Centerline is valid? [True, True] Translation: X:-162.37, Y:-284.37, Z:-8.99 [[-6.79486654e-01 -7.33662523e-01 6.09824493e-03 -1.62372035e+02] [ 7.33635428e-01 -6.79513993e-01 -6.30815219e-03 -2.84367476e+02] [ 8.77189762e-03 1.87583303e-04 9.99961509e-01 -8.98630633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.400385723 meters 0.017388718345762867 Centerline is valid? [True, True] Translation: X:-162.39, Y:-284.34, Z:-8.98 [[-6.80177598e-01 -7.33025756e-01 5.62816927e-03 -1.62387745e+02] [ 7.33002675e-01 -6.80200863e-01 -5.81934136e-03 -2.84344548e+02] [ 8.09401269e-03 1.67277496e-04 9.99967229e-01 -8.98489265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.430385723 meters 0.0169289143219556 Centerline is valid? [True, True] Translation: X:-162.41, Y:-284.32, Z:-8.98 [[-6.80841075e-01 -7.32410293e-01 5.53107059e-03 -1.62405203e+02] [ 7.32388011e-01 -6.80863523e-01 -5.71530306e-03 -2.84323183e+02] [ 7.95185100e-03 1.59676699e-04 9.99968371e-01 -8.98435288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.460385723 meters 0.016863959297674078 Centerline is valid? [True, True] Translation: X:-162.42, Y:-284.30, Z:-8.98 [[-6.81782940e-01 -7.31533901e-01 5.49321267e-03 -1.62421970e+02] [ 7.31511922e-01 -6.81805052e-01 -5.67265046e-03 -2.84301006e+02] [ 7.89503627e-03 1.50834253e-04 9.99968822e-01 -8.98420604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.490385723 meters 0.01697974651706296 Centerline is valid? [True, True] Translation: X:-162.44, Y:-284.28, Z:-8.98 [[-6.82379647e-01 -7.30976906e-01 5.54809770e-03 -1.62439440e+02] [ 7.30954496e-01 -6.82402185e-01 -5.72561152e-03 -2.84281573e+02] [ 7.97132378e-03 1.48366191e-04 9.99968218e-01 -8.98460284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.520385723 meters 0.01674129086293153 Centerline is valid? [True, True] Translation: X:-162.46, Y:-284.26, Z:-8.99 [[-6.83683533e-01 -7.29755747e-01 5.77730249e-03 -1.62456483e+02] [ 7.29731434e-01 -6.83707928e-01 -5.95851706e-03 -2.84260231e+02] [ 8.29824958e-03 1.42139235e-04 9.99965559e-01 -8.98541748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.550385723 meters 0.016654643570801174 Centerline is valid? [True, True] Translation: X:-162.47, Y:-284.24, Z:-8.99 [[-6.83868274e-01 -7.29582843e-01 5.74974771e-03 -1.62474841e+02] [ 7.29558786e-01 -6.83892430e-01 -5.92646778e-03 -2.84240608e+02] [ 8.25605814e-03 1.41855670e-04 9.99965908e-01 -8.98549748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.580385723 meters 0.016490703237341562 Centerline is valid? [True, True] Translation: X:-162.49, Y:-284.22, Z:-8.99 [[-6.83667645e-01 -7.29770893e-01 5.74415652e-03 -1.62493995e+02] [ 7.29746916e-01 -6.83691760e-01 -5.91739626e-03 -2.84220337e+02] [ 8.24557603e-03 1.46248139e-04 9.99965994e-01 -8.98518513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.610385723 meters 0.016490703237341562 Centerline is valid? [True, True] Translation: X:-162.51, Y:-284.20, Z:-8.99 [[-6.83871357e-01 -7.29579984e-01 5.74580838e-03 -1.62513269e+02] [ 7.29556014e-01 -6.83895479e-01 -5.91579231e-03 -2.84200568e+02] [ 8.24557603e-03 1.46248138e-04 9.99965994e-01 -8.98518520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.640385723 meters 0.01738110331154863 Centerline is valid? [True, True] Translation: X:-162.53, Y:-284.18, Z:-8.99 [[-6.84035647e-01 -7.29423572e-01 6.04035176e-03 -1.62533367e+02] [ 7.29397098e-01 -6.84062299e-01 -6.21651507e-03 -2.84182862e+02] [ 8.66644954e-03 1.53497134e-04 9.99962434e-01 -8.98660667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.670385723 meters 0.017451930237640887 Centerline is valid? [True, True] Translation: X:-162.55, Y:-284.16, Z:-8.99 [[-6.84286584e-01 -7.29182507e-01 6.68898150e-03 -1.62552958e+02] [ 7.29150069e-01 -6.84319255e-01 -6.87998520e-03 -2.84163698e+02] [ 9.59416369e-03 1.69389751e-04 9.99953961e-01 -8.98737170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.700385723 meters 0.016915409765124966 Centerline is valid? [True, True] Translation: X:-162.57, Y:-284.14, Z:-8.99 [[-6.84301836e-01 -7.29169106e-01 6.58873838e-03 -1.62571339e+02] [ 7.29137672e-01 -6.84333534e-01 -6.77265452e-03 -2.84143451e+02] [ 9.44730507e-03 1.69557435e-04 9.99955359e-01 -8.98740304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7303857229999 meters 0.016863643009293536 Centerline is valid? [True, True] Translation: X:-162.59, Y:-284.12, Z:-8.99 [[-6.84450820e-01 -7.29030114e-01 6.49362933e-03 -1.62590132e+02] [ 7.28999614e-01 -6.84481603e-01 -6.67071374e-03 -2.84124321e+02] [ 9.30792101e-03 1.68077782e-04 9.99956666e-01 -8.98726688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.760385723 meters 0.016720095976980466 Centerline is valid? [True, True] Translation: X:-162.61, Y:-284.10, Z:-8.99 [[-6.84534097e-01 -7.28953393e-01 6.32619084e-03 -1.62609896e+02] [ 7.28924476e-01 -6.84563309e-01 -6.49503611e-03 -2.84104386e+02] [ 9.06525674e-03 1.65241666e-04 9.99958896e-01 -8.98740759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.790385723 meters 0.016879626837181097 Centerline is valid? [True, True] Translation: X:-162.63, Y:-284.09, Z:-8.99 [[-6.84495562e-01 -7.28992671e-01 5.95915513e-03 -1.62630122e+02] [ 7.28967042e-01 -6.84521483e-01 -6.11476732e-03 -2.84085280e+02] [ 8.53679027e-03 1.58496597e-04 9.99963549e-01 -8.98771085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.820385723 meters 0.017092279349088375 Centerline is valid? [True, True] Translation: X:-162.65, Y:-284.07, Z:-8.99 [[-6.84823074e-01 -7.28688556e-01 5.50865975e-03 -1.62649254e+02] [ 7.28666676e-01 -6.84845214e-01 -5.64876545e-03 -2.84066568e+02] [ 7.88877001e-03 1.45571870e-04 9.99968873e-01 -8.98777219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8503857229999 meters 0.01723715700046238 Centerline is valid? [True, True] Translation: X:-162.67, Y:-284.05, Z:-8.99 [[-6.84696321e-01 -7.28807419e-01 5.54023996e-03 -1.62668047e+02] [ 7.28785319e-01 -6.84718718e-01 -5.67762595e-03 -2.84047145e+02] [ 7.93140192e-03 1.50195952e-04 9.99968535e-01 -8.98728335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.880385723 meters 0.017012916862705996 Centerline is valid? [True, True] Translation: X:-162.69, Y:-284.03, Z:-8.99 [[-6.84903117e-01 -7.28613886e-01 5.43373704e-03 -1.62687204e+02] [ 7.28592649e-01 -6.84924655e-01 -5.56499679e-03 -2.84027233e+02] [ 7.77643440e-03 1.47497219e-04 9.99969752e-01 -8.98661512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.910385723 meters 0.017217175910367324 Centerline is valid? [True, True] Translation: X:-162.71, Y:-284.01, Z:-8.99 [[-6.84681065e-01 -7.28823063e-01 5.36486109e-03 -1.62707191e+02] [ 7.28802393e-01 -6.84702067e-01 -5.49106157e-03 -2.84008335e+02] [ 7.67534379e-03 1.50297719e-04 9.99970533e-01 -8.98671211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.940385723 meters 0.017688208870792366 Centerline is valid? [True, True] Translation: X:-162.73, Y:-283.99, Z:-8.99 [[-6.83843363e-01 -7.29607098e-01 5.63367000e-03 -1.62728448e+02] [ 7.29584357e-01 -6.83866547e-01 -5.76301552e-03 -2.83989747e+02] [ 8.05741548e-03 1.69237593e-04 9.99967524e-01 -8.98735255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9703857229999 meters 0.017760120912449488 Centerline is valid? [True, True] Translation: X:-162.75, Y:-283.97, Z:-8.99 [[-6.82981845e-01 -7.30408934e-01 6.21208195e-03 -1.62749541e+02] [ 7.30381348e-01 -6.83010066e-01 -6.35113896e-03 -2.83970491e+02] [ 8.88184314e-03 1.99476183e-04 9.99960536e-01 -8.98820733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.000385723 meters 0.01808545909984873 Centerline is valid? [True, True] Translation: X:-162.77, Y:-283.95, Z:-8.99 [[-6.82990040e-01 -7.30402722e-01 6.03901278e-03 -1.62769169e+02] [ 7.30376686e-01 -6.83016710e-01 -6.17010476e-03 -2.83952290e+02] [ 8.63140795e-03 1.96634045e-04 9.99962729e-01 -8.98826089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.030385723 meters 0.017745896340378403 Centerline is valid? [True, True] Translation: X:-162.79, Y:-283.93, Z:-8.99 [[-6.84115392e-01 -7.29351279e-01 5.73083838e-03 -1.62787891e+02] [ 7.29327826e-01 -6.84139372e-01 -5.85163283e-03 -2.83932331e+02] [ 8.18858806e-03 1.76467809e-04 9.99966458e-01 -8.98782265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.060385723 meters 0.017394959427655336 Centerline is valid? [True, True] Translation: X:-162.81, Y:-283.91, Z:-8.99 [[-6.85278238e-01 -7.28259049e-01 5.70045816e-03 -1.62805995e+02] [ 7.28235835e-01 -6.85301927e-01 -5.81701167e-03 -2.83912371e+02] [ 8.14282635e-03 1.65006402e-04 9.99966833e-01 -8.98774853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0903857229999 meters 0.016879419322062307 Centerline is valid? [True, True] Translation: X:-162.82, Y:-283.89, Z:-8.99 [[-6.88333966e-01 -7.25374420e-01 5.31997814e-03 -1.62822844e+02] [ 7.25354137e-01 -6.88354512e-01 -5.42593973e-03 -2.83891090e+02] [ 7.59786884e-03 1.24009546e-04 9.99971128e-01 -8.98680420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.120385723 meters 0.016530078082665225 Centerline is valid? [True, True] Translation: X:-162.84, Y:-283.87, Z:-8.99 [[-6.90299719e-01 -7.23507379e-01 4.83438700e-03 -1.62840341e+02] [ 7.23490597e-01 -6.90316640e-01 -4.92872134e-03 -2.83870580e+02] [ 6.90322405e-03 9.53385851e-05 9.99976168e-01 -8.98618139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.150385723 meters 0.015856540071414692 Centerline is valid? [True, True] Translation: X:-162.86, Y:-283.85, Z:-8.99 [[-6.94079645e-01 -7.19883574e-01 4.59204886e-03 -1.62856755e+02] [ 7.19868369e-01 -6.94094833e-01 -4.67911741e-03 -2.83847647e+02] [ 6.55573715e-03 5.79905766e-05 9.99978509e-01 -8.98552512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.180385723 meters 0.015484663283804009 Centerline is valid? [True, True] Translation: X:-162.87, Y:-283.83, Z:-8.99 [[-6.95919647e-01 -7.18104938e-01 4.59823000e-03 -1.62874735e+02] [ 7.18089672e-01 -6.95934837e-01 -4.68250360e-03 -2.83827045e+02] [ 6.56259740e-03 4.32952272e-05 9.99978465e-01 -8.98534406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.210385723 meters 0.015367413237481566 Centerline is valid? [True, True] Translation: X:-162.89, Y:-283.81, Z:-8.99 [[-6.98823829e-01 -7.15273611e-01 5.37742459e-03 -1.62892303e+02] [ 7.15252676e-01 -6.98844518e-01 -5.47259794e-03 -2.83806758e+02] [ 7.67238859e-03 2.18354764e-05 9.99970567e-01 -8.98639749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.240385723 meters 0.015351485475812077 Centerline is valid? [True, True] Translation: X:-162.91, Y:-283.79, Z:-8.99 [[-7.00053638e-01 -7.14064180e-01 6.10337189e-03 -1.62910553e+02] [ 7.14037199e-01 -7.00080243e-01 -6.20740509e-03 -2.83787406e+02] [ 8.70533570e-03 1.25180585e-05 9.99962108e-01 -8.98718140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.270385723 meters 0.015354730856653226 Centerline is valid? [True, True] Translation: X:-162.93, Y:-283.77, Z:-8.99 [[-7.02083859e-01 -7.12064065e-01 6.55912894e-03 -1.62929380e+02] [ 7.12032852e-01 -7.02114497e-01 -6.66720144e-03 -2.83766182e+02] [ 9.35273408e-03 -1.06192335e-05 9.99956262e-01 -8.98742766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.300385723 meters 0.015412599745300116 Centerline is valid? [True, True] Translation: X:-162.95, Y:-283.75, Z:-8.99 [[-7.03081439e-01 -7.11074355e-01 7.05348816e-03 -1.62947047e+02] [ 7.11038257e-01 -7.03116819e-01 -7.16499133e-03 -2.83747307e+02] [ 1.00542677e-02 -2.22724913e-05 9.99949454e-01 -8.98820141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.330385723 meters 0.015517041771771111 Centerline is valid? [True, True] Translation: X:-162.97, Y:-283.73, Z:-8.99 [[-7.03910886e-01 -7.10244812e-01 7.85952473e-03 -1.62965753e+02] [ 7.10199995e-01 -7.03954762e-01 -7.97879666e-03 -2.83727583e+02] [ 1.11996488e-02 -3.45274007e-05 9.99937281e-01 -8.98789022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.360385723 meters 0.015430972463837466 Centerline is valid? [True, True] Translation: X:-162.99, Y:-283.71, Z:-8.99 [[-7.04128778e-01 -7.10025742e-01 8.13072935e-03 -1.62985249e+02] [ 7.09977817e-01 -7.04175720e-01 -8.24955150e-03 -2.83707641e+02] [ 1.15828561e-02 -3.61091485e-05 9.99932916e-01 -8.98761418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.390385723 meters 0.015531608369725624 Centerline is valid? [True, True] Translation: X:-163.00, Y:-283.69, Z:-8.99 [[-7.03804327e-01 -7.10345736e-01 8.27073589e-03 -1.63004628e+02] [ 7.10296216e-01 -7.03852921e-01 -8.38756520e-03 -2.83689313e+02] [ 1.17794528e-02 -2.85322719e-05 9.99930620e-01 -8.98791271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.420385723 meters 0.015522432983987198 Centerline is valid? [True, True] Translation: X:-163.02, Y:-283.67, Z:-8.99 [[-7.03166595e-01 -7.10974077e-01 8.52066479e-03 -1.63024547e+02] [ 7.10921625e-01 -7.03218218e-01 -8.63604732e-03 -2.83670499e+02] [ 1.21318925e-02 -1.50551274e-05 9.99926406e-01 -8.98826820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.450385723 meters 0.015572828358067772 Centerline is valid? [True, True] Translation: X:-163.05, Y:-283.65, Z:-8.99 [[-6.99654111e-01 -7.14426149e-01 8.91083277e-03 -1.63046649e+02] [ 7.14369133e-01 -6.99710851e-01 -9.02587571e-03 -2.83653537e+02] [ 1.26833280e-02 5.06328345e-05 9.99919562e-01 -8.98755427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4803857229999 meters 0.015720993715690454 Centerline is valid? [True, True] Translation: X:-163.07, Y:-283.63, Z:-8.99 [[-6.98370245e-01 -7.15681435e-01 8.89298915e-03 -1.63066925e+02] [ 7.15624820e-01 -6.98426859e-01 -9.00221565e-03 -2.83634943e+02] [ 1.26538211e-02 7.71642119e-05 9.99919934e-01 -8.98723848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.510385723 meters 0.015900272897134325 Centerline is valid? [True, True] Translation: X:-163.09, Y:-283.62, Z:-8.99 [[-6.96936976e-01 -7.17081141e-01 8.57252017e-03 -1.63086715e+02] [ 7.17028704e-01 -6.96989689e-01 -8.67239348e-03 -2.83616672e+02] [ 1.21937680e-02 1.02631335e-04 9.99925648e-01 -8.98654638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.540385723 meters 0.016250112409665948 Centerline is valid? [True, True] Translation: X:-163.11, Y:-283.60, Z:-8.99 [[-6.94429161e-01 -7.19513708e-01 8.25616832e-03 -1.63108007e+02] [ 7.19465296e-01 -6.94478224e-01 -8.34772026e-03 -2.83598564e+02] [ 1.17400283e-02 1.43126201e-04 9.99931073e-01 -8.98519251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.570385723 meters 0.016411133825648773 Centerline is valid? [True, True] Translation: X:-163.13, Y:-283.58, Z:-8.98 [[-6.93620120e-01 -7.20294890e-01 8.14864882e-03 -1.63128806e+02] [ 7.20247838e-01 -6.93667965e-01 -8.23442952e-03 -2.83578972e+02] [ 1.15836742e-02 1.57480703e-04 9.99932895e-01 -8.98498019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6003857229999 meters 0.016565057586830936 Centerline is valid? [True, True] Translation: X:-163.15, Y:-283.56, Z:-8.98 [[-6.92260854e-01 -7.21599847e-01 8.28080419e-03 -1.63149098e+02] [ 7.21551404e-01 -6.92310354e-01 -8.36333391e-03 -2.83560018e+02] [ 1.17678670e-02 1.85417209e-04 9.99930739e-01 -8.98446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.630385723 meters 0.01670825552898883 Centerline is valid? [True, True] Translation: X:-163.17, Y:-283.54, Z:-8.98 [[-6.92015025e-01 -7.21832786e-01 8.52256434e-03 -1.63168558e+02] [ 7.21781548e-01 -6.92067475e-01 -8.60270831e-03 -2.83540214e+02] [ 1.21079065e-02 1.98226278e-04 9.99926677e-01 -8.98424465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.660385723 meters 0.017034008728173195 Centerline is valid? [True, True] Translation: X:-163.19, Y:-283.52, Z:-8.98 [[-6.91535111e-01 -7.22286106e-01 9.05375787e-03 -1.63188307e+02] [ 7.22228390e-01 -6.91594340e-01 -9.13352647e-03 -2.83521268e+02] [ 1.28585470e-02 2.22726728e-04 9.99917301e-01 -8.98440277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.690385723 meters 0.01718900944949283 Centerline is valid? [True, True] Translation: X:-163.21, Y:-283.50, Z:-8.98 [[-6.91850963e-01 -7.21985809e-01 8.87339611e-03 -1.63207011e+02] [ 7.21930417e-01 -6.91907830e-01 -8.94581314e-03 -2.83502744e+02] [ 1.25983224e-02 2.16805119e-04 9.99920615e-01 -8.98445913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7203857229999 meters 0.017407440935584592 Centerline is valid? [True, True] Translation: X:-163.23, Y:-283.48, Z:-8.98 [[-6.91990048e-01 -7.21848989e-01 9.15482145e-03 -1.63226099e+02] [ 7.21790089e-01 -6.92050567e-01 -9.22395445e-03 -2.83483655e+02] [ 1.29939016e-02 2.24974698e-04 9.99915551e-01 -8.98454448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.750385723 meters 0.01698378462705388 Centerline is valid? [True, True] Translation: X:-163.24, Y:-283.46, Z:-8.98 [[-6.92943215e-01 -7.20936150e-01 8.98709518e-03 -1.63244966e+02] [ 7.20879378e-01 -6.93001460e-01 -9.04978005e-03 -2.83463312e+02] [ 1.27523837e-02 2.07627898e-04 9.99918664e-01 -8.98411712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.780385723 meters 0.0167761696243868 Centerline is valid? [True, True] Translation: X:-163.26, Y:-283.44, Z:-8.98 [[-6.93684661e-01 -7.20221384e-01 9.09669649e-03 -1.63263039e+02] [ 7.20163229e-01 -6.93744274e-01 -9.15453932e-03 -2.83443225e+02] [ 1.29040761e-02 2.00742811e-04 9.99916719e-01 -8.98353247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.810385723 meters 0.0164544338875631 Centerline is valid? [True, True] Translation: X:-163.28, Y:-283.42, Z:-8.98 [[-6.95694968e-01 -7.18284728e-01 8.69254697e-03 -1.63281581e+02] [ 7.18231533e-01 -6.95749253e-01 -8.74309643e-03 -2.83422100e+02] [ 1.23278657e-02 1.60733141e-04 9.99923996e-01 -8.98323599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8403857229999 meters 0.016429834901231354 Centerline is valid? [True, True] Translation: X:-163.30, Y:-283.40, Z:-8.98 [[-6.96744251e-01 -7.17265614e-01 8.80270109e-03 -1.63299693e+02] [ 7.17211051e-01 -6.96799840e-01 -8.84825148e-03 -2.83403151e+02] [ 1.24802672e-02 1.48426151e-04 9.99922108e-01 -8.98356685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.870385723 meters 0.016193336676667374 Centerline is valid? [True, True] Translation: X:-163.32, Y:-283.38, Z:-8.98 [[-6.98279625e-01 -7.15769495e-01 8.92162968e-03 -1.63317841e+02] [ 7.15713392e-01 -6.98336605e-01 -8.96245528e-03 -2.83382090e+02] [ 1.26453527e-02 1.27029928e-04 9.99920036e-01 -8.98329317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.900385723 meters 0.015975370572298205 Centerline is valid? [True, True] Translation: X:-163.34, Y:-283.36, Z:-8.98 [[-6.99291385e-01 -7.14785014e-01 8.59899103e-03 -1.63335978e+02] [ 7.14732887e-01 -6.99344244e-01 -8.63300601e-03 -2.83361602e+02] [ 1.21843982e-02 1.08994950e-04 9.99925762e-01 -8.98219617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.930385723 meters 0.0160936089819249 Centerline is valid? [True, True] Translation: X:-163.35, Y:-283.34, Z:-8.98 [[-7.00571250e-01 -7.13530275e-01 8.62963733e-03 -1.63353753e+02] [ 7.13477745e-01 -7.00624392e-01 -8.65846826e-03 -2.83342710e+02] [ 1.22242136e-02 9.11802443e-05 9.99925277e-01 -8.98317223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.960385723 meters 0.015848192325626145 Centerline is valid? [True, True] Translation: X:-163.37, Y:-283.32, Z:-8.98 [[-7.01699818e-01 -7.12415792e-01 9.00579044e-03 -1.63372832e+02] [ 7.12358562e-01 -7.01757602e-01 -9.03035358e-03 -2.83322523e+02] [ 1.27532484e-02 7.87544575e-05 9.99918671e-01 -8.98288163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.990385723 meters 0.01585654172192989 Centerline is valid? [True, True] Translation: X:-163.39, Y:-283.30, Z:-8.98 [[-7.02155744e-01 -7.11966799e-01 8.97716730e-03 -1.63391355e+02] [ 7.11909967e-01 -7.02213124e-01 -8.99593343e-03 -2.83304114e+02] [ 1.27086906e-02 7.43885516e-05 9.99919239e-01 -8.98307162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.020385723 meters 0.015727425799624238 Centerline is valid? [True, True] Translation: X:-163.41, Y:-283.28, Z:-8.98 [[-7.02582109e-01 -7.11546406e-01 8.94946947e-03 -1.63410688e+02] [ 7.11489960e-01 -7.02639102e-01 -8.96263851e-03 -2.83284277e+02] [ 1.26655804e-02 7.04682065e-05 9.99919786e-01 -8.98168069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.050385723 meters 0.01582274206480426 Centerline is valid? [True, True] Translation: X:-163.43, Y:-283.27, Z:-8.98 [[-7.02750986e-01 -7.11384855e-01 8.52292738e-03 -1.63430200e+02] [ 7.11333713e-01 -7.02802664e-01 -8.53025693e-03 -2.83265016e+02] [ 1.20582317e-02 6.79991046e-05 9.99927295e-01 -8.98143463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.080385723 meters 0.015645440718695083 Centerline is valid? [True, True] Translation: X:-163.45, Y:-283.25, Z:-8.98 [[-7.03133508e-01 -7.11013264e-01 7.96296216e-03 -1.63449688e+02] [ 7.10968653e-01 -7.03178594e-01 -7.96489006e-03 -2.83246306e+02] [ 1.12625270e-02 6.10353975e-05 9.99936574e-01 -8.98095226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.110385723 meters 0.015591924048961455 Centerline is valid? [True, True] Translation: X:-163.47, Y:-283.23, Z:-8.98 [[-7.03516281e-01 -7.10640706e-01 7.39112894e-03 -1.63470097e+02] [ 7.10602295e-01 -7.03555104e-01 -7.38882087e-03 -2.83227297e+02] [ 1.04508634e-02 5.39974039e-05 9.99945387e-01 -8.98033686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.140385723 meters 0.01564911787905822 Centerline is valid? [True, True] Translation: X:-163.49, Y:-283.25, Z:-8.98 [[-6.54109230e-01 -7.56372608e-01 6.44933156e-03 -1.63488349e+02] [ 7.56336606e-01 -6.54141021e-01 -7.37990544e-03 -2.83253554e+02] [ 9.80073066e-03 5.06012748e-05 9.99951971e-01 -8.98062794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.170385723 meters 0.015587456302020714 Centerline is valid? [True, True] Translation: X:-163.51, Y:-283.23, Z:-8.98 [[-6.54395224e-01 -7.56126191e-01 6.33037225e-03 -1.63506126e+02] [ 7.56091541e-01 -6.54425841e-01 -7.23886504e-03 -2.83233863e+02] [ 9.61625463e-03 4.92621934e-05 9.99953762e-01 -8.98039236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.200385723 meters 0.015584682234074736 Centerline is valid? [True, True] Translation: X:-163.52, Y:-283.21, Z:-8.98 [[-6.54464015e-01 -7.56068187e-01 6.14401348e-03 -1.63524125e+02] [ 7.56035586e-01 -6.54492852e-01 -7.02138983e-03 -2.83213251e+02] [ 9.32986239e-03 4.98458457e-05 9.99956475e-01 -8.97921533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2303857229999 meters 0.015638493771983314 Centerline is valid? [True, True] Translation: X:-163.54, Y:-283.19, Z:-8.98 [[-6.54788628e-01 -7.55788876e-01 5.91850559e-03 -1.63541850e+02] [ 7.55758651e-01 -6.54815373e-01 -6.75928761e-03 -2.83193412e+02] [ 8.98412283e-03 4.70571381e-05 9.99959641e-01 -8.97955597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.260385723 meters 0.015543129474164252 Centerline is valid? [True, True] Translation: X:-163.56, Y:-283.17, Z:-8.98 [[-6.54773505e-01 -7.55798610e-01 6.33398619e-03 -1.63560766e+02] [ 7.55764036e-01 -6.54804138e-01 -7.22935750e-03 -2.83173364e+02] [ 9.61145871e-03 5.34072138e-05 9.99953808e-01 -8.98017206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.290385723 meters 0.015624378109777726 Centerline is valid? [True, True] Translation: X:-163.58, Y:-283.15, Z:-8.98 [[-6.54353953e-01 -7.56156583e-01 6.93730546e-03 -1.63579967e+02] [ 7.56115181e-01 -6.54390722e-01 -7.91307246e-03 -2.83154291e+02] [ 1.05232302e-02 6.74517339e-05 9.99944627e-01 -8.98162555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.320385723 meters 0.015749752325048397 Centerline is valid? [True, True] Translation: X:-163.60, Y:-283.13, Z:-8.98 [[-6.54092548e-01 -7.56379137e-01 7.31709700e-03 -1.63598322e+02] [ 7.56333151e-01 -6.54133469e-01 -8.34087729e-03 -2.83134913e+02] [ 1.10952236e-02 7.84573542e-05 9.99938443e-01 -8.98235447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3503857229999 meters 0.01584720136559571 Centerline is valid? [True, True] Translation: X:-163.62, Y:-283.12, Z:-8.98 [[-6.53029441e-01 -7.57297274e-01 7.30677524e-03 -1.63616979e+02] [ 7.57251533e-01 -6.53070310e-01 -8.32378135e-03 -2.83116702e+02] [ 1.10754149e-02 9.73924731e-05 9.99938661e-01 -8.98223048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.380385723 meters 0.015879870724457786 Centerline is valid? [True, True] Translation: X:-163.64, Y:-283.10, Z:-8.98 [[-6.52708823e-01 -7.57573115e-01 7.35988945e-03 -1.63635641e+02] [ 7.57526782e-01 -6.52750308e-01 -8.37913622e-03 -2.83096183e+02] [ 1.11519784e-02 1.06177230e-04 9.99937809e-01 -8.98151587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.410385723 meters 0.015850462792458643 Centerline is valid? [True, True] Translation: X:-163.66, Y:-283.08, Z:-8.98 [[-6.52358945e-01 -7.57877306e-01 7.05661002e-03 -1.63655008e+02] [ 7.57834785e-01 -6.52397100e-01 -8.02886724e-03 -2.83077058e+02] [ 1.06886082e-02 1.10041169e-04 9.99942869e-01 -8.98181326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.440385723 meters 0.01580556143426418 Centerline is valid? [True, True] Translation: X:-163.67, Y:-283.06, Z:-8.98 [[-6.52207665e-01 -7.58008282e-01 6.97177053e-03 -1.63673680e+02] [ 7.57966837e-01 -6.52244916e-01 -7.92734354e-03 -2.83057114e+02] [ 1.05562939e-02 1.14096638e-04 9.99944274e-01 -8.98181835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4703857229999 meters 0.01585950634046393 Centerline is valid? [True, True] Translation: X:-163.69, Y:-283.04, Z:-8.98 [[-6.51840600e-01 -7.58328390e-01 6.47184828e-03 -1.63692928e+02] [ 7.58292737e-01 -6.51872718e-01 -7.35426299e-03 -2.83038250e+02] [ 9.79576774e-03 1.13748341e-04 9.99952014e-01 -8.98190683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.500385723 meters 0.01590695779530888 Centerline is valid? [True, True] Translation: X:-163.71, Y:-283.02, Z:-8.98 [[-6.51872706e-01 -7.58301731e-01 6.36089010e-03 -1.63711220e+02] [ 7.58267332e-01 -6.51903729e-01 -7.22363835e-03 -2.83018547e+02] [ 9.62438544e-03 1.14362487e-04 9.99953678e-01 -8.98176455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.530385723 meters 0.01590695779530888 Centerline is valid? [True, True] Translation: X:-163.73, Y:-283.00, Z:-8.98 [[-6.52109778e-01 -7.58097849e-01 6.36314856e-03 -1.63728998e+02] [ 7.58063460e-01 -6.52140812e-01 -7.22164900e-03 -2.82998512e+02] [ 9.62438544e-03 1.14362490e-04 9.99953678e-01 -8.98176461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.560385723 meters 0.015779411993395574 Centerline is valid? [True, True] Translation: X:-163.75, Y:-282.98, Z:-8.98 [[-6.52643369e-01 -7.57639450e-01 6.25270618e-03 -1.63747117e+02] [ 7.57606266e-01 -6.52673312e-01 -7.09178967e-03 -2.82977521e+02] [ 9.45399407e-03 1.08679881e-04 9.99955304e-01 -8.98036570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5903857229999 meters 0.015782139786221422 Centerline is valid? [True, True] Translation: X:-163.77, Y:-282.96, Z:-8.98 [[-6.53244560e-01 -7.57121864e-01 6.16670872e-03 -1.63766071e+02] [ 7.57089600e-01 -6.53273658e-01 -6.99034698e-03 -2.82956142e+02] [ 9.32109290e-03 1.02344902e-04 9.99956553e-01 -8.98022365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.620385723 meters 0.01566342089105441 Centerline is valid? [True, True] Translation: X:-163.78, Y:-282.94, Z:-8.98 [[-6.54083293e-01 -7.56398332e-01 6.05056596e-03 -1.63784593e+02] [ 7.56367276e-01 -6.54111271e-01 -6.85483004e-03 -2.82935495e+02] [ 9.14272540e-03 9.28202889e-05 9.99958200e-01 -8.98002577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.650385723 meters 0.015690114360734322 Centerline is valid? [True, True] Translation: X:-163.80, Y:-282.92, Z:-8.98 [[-6.54124230e-01 -7.56358798e-01 6.54685748e-03 -1.63803591e+02] [ 7.56322480e-01 -6.54156983e-01 -7.41268985e-03 -2.82915879e+02] [ 9.88932573e-03 1.02715445e-04 9.99951094e-01 -8.98094149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.680385723 meters 0.015657063573747517 Centerline is valid? [True, True] Translation: X:-163.82, Y:-282.90, Z:-8.98 [[-6.54504616e-01 -7.56027662e-01 6.77354766e-03 -1.63822104e+02] [ 7.55988812e-01 -6.54539657e-01 -7.66505758e-03 -2.82895184e+02] [ 1.02285511e-02 1.03910677e-04 9.99947682e-01 -8.98130639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.710385723 meters 0.01569176298475866 Centerline is valid? [True, True] Translation: X:-163.84, Y:-282.88, Z:-8.98 [[-6.54601280e-01 -7.55934471e-01 7.76139707e-03 -1.63840632e+02] [ 7.55883517e-01 -6.54647279e-01 -8.77774008e-03 -2.82875690e+02] [ 1.17163738e-02 1.20792222e-04 9.99931354e-01 -8.98267820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.740385723 meters 0.015665112031881312 Centerline is valid? [True, True] Translation: X:-163.86, Y:-282.85, Z:-8.98 [[-6.55254038e-01 -7.55364493e-01 8.16264994e-03 -1.63858195e+02] [ 7.55308160e-01 -6.55304867e-01 -9.22576885e-03 -2.82854948e+02] [ 1.23178424e-02 1.20093812e-04 9.99924125e-01 -8.98267986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.770385723 meters 0.01563266213125329 Centerline is valid? [True, True] Translation: X:-163.88, Y:-282.83, Z:-8.98 [[-6.55761510e-01 -7.54928690e-01 7.71457385e-03 -1.63875978e+02] [ 7.54878405e-01 -6.55806878e-01 -8.71388872e-03 -2.82834398e+02] [ 1.16376352e-02 1.09332377e-04 9.99932275e-01 -8.98206054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.800385723 meters 0.015557036622769053 Centerline is valid? [True, True] Translation: X:-163.89, Y:-282.81, Z:-8.98 [[-6.56253950e-01 -7.54506589e-01 7.11055669e-03 -1.63893925e+02] [ 7.54463900e-01 -6.56292463e-01 -8.02662160e-03 -2.82813324e+02] [ 1.07227437e-02 9.71562059e-05 9.99942505e-01 -8.98082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.830385723 meters 0.015573270465139405 Centerline is valid? [True, True] Translation: X:-163.91, Y:-282.79, Z:-8.98 [[-6.56645972e-01 -7.54168889e-01 6.73456154e-03 -1.63912283e+02] [ 7.54130626e-01 -6.56680499e-01 -7.59746390e-03 -2.82792575e+02] [ 1.01522261e-02 8.98950482e-05 9.99948461e-01 -8.98005813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.860385723 meters 0.015532043305465894 Centerline is valid? [True, True] Translation: X:-163.93, Y:-282.77, Z:-8.98 [[-6.56512638e-01 -7.54290972e-01 6.02372956e-03 -1.63931283e+02] [ 7.54260403e-01 -6.56540267e-01 -6.79136231e-03 -2.82772471e+02] [ 9.07748429e-03 8.48455009e-05 9.99958795e-01 -8.97932060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.890385723 meters 0.015540397120162227 Centerline is valid? [True, True] Translation: X:-163.95, Y:-282.75, Z:-8.98 [[-6.56374203e-01 -7.54413354e-01 5.77906298e-03 -1.63950058e+02] [ 7.54385257e-01 -6.56399638e-01 -6.51146350e-03 -2.82752446e+02] [ 8.70570986e-03 8.56832496e-05 9.99962101e-01 -8.97867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.920385723 meters 0.015775906919391566 Centerline is valid? [True, True] Translation: X:-163.97, Y:-282.73, Z:-8.98 [[-6.55234002e-01 -7.55404010e-01 5.76050276e-03 -1.63969637e+02] [ 7.55376165e-01 -6.55259316e-01 -6.48676781e-03 -2.82733856e+02] [ 8.67475351e-03 1.00995651e-04 9.99962369e-01 -8.97857750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.950385723 meters 0.01614813841708014 Centerline is valid? [True, True] Translation: X:-163.99, Y:-282.71, Z:-8.98 [[-6.54300155e-01 -7.56210341e-01 6.10140800e-03 -1.63989405e+02] [ 7.56179163e-01 -6.54328592e-01 -6.86792584e-03 -2.82714656e+02] [ 9.18592225e-03 1.20072651e-04 9.99957801e-01 -8.97896311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9803857229999 meters 0.01584360678484011 Centerline is valid? [True, True] Translation: X:-164.01, Y:-282.69, Z:-8.98 [[-6.53895529e-01 -7.56556442e-01 6.55650294e-03 -1.64007912e+02] [ 7.56520497e-01 -6.53928384e-01 -7.37600633e-03 -2.82693218e+02] [ 9.86784848e-03 1.36991298e-04 9.99951302e-01 -8.97845733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.010385723 meters 0.016279262526346643 Centerline is valid? [True, True] Translation: X:-164.03, Y:-282.67, Z:-8.98 [[-6.53660108e-01 -7.56755574e-01 7.03309840e-03 -1.64028118e+02] [ 7.56714276e-01 -6.53697925e-01 -7.90743522e-03 -2.82674861e+02] [ 1.05815175e-02 1.53271002e-04 9.99944003e-01 -8.98011856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.040385723 meters 0.01590319116172767 Centerline is valid? [True, True] Translation: X:-164.05, Y:-282.65, Z:-8.98 [[-6.53849443e-01 -7.56587147e-01 7.53623894e-03 -1.64046998e+02] [ 7.56539771e-01 -6.53892852e-01 -8.46833201e-03 -2.82653612e+02] [ 1.13349239e-02 1.64450315e-04 9.99935744e-01 -8.97968002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.070385723 meters 0.01626199850705272 Centerline is valid? [True, True] Translation: X:-164.07, Y:-282.64, Z:-8.98 [[-6.54467306e-01 -7.56049080e-01 7.89518136e-03 -1.64067716e+02] [ 7.55997108e-01 -6.54514905e-01 -8.86639379e-03 -2.82635281e+02] [ 1.18709427e-02 1.65969416e-04 9.99929524e-01 -8.98155529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1003857229999 meters 0.015564705278952175 Centerline is valid? [True, True] Translation: X:-164.09, Y:-282.61, Z:-8.98 [[-6.56290633e-01 -7.54469584e-01 7.63233360e-03 -1.64085620e+02] [ 7.54420962e-01 -6.56334997e-01 -8.56645781e-03 -2.82614037e+02] [ 1.14724995e-02 1.35906437e-04 9.99934180e-01 -8.98060027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.130385723 meters 0.015214422276417323 Centerline is valid? [True, True] Translation: X:-164.10, Y:-282.59, Z:-8.98 [[-6.57594843e-01 -7.53332069e-01 7.73415206e-03 -1.64103855e+02] [ 7.53282119e-01 -6.57640312e-01 -8.67583917e-03 -2.82592426e+02] [ 1.16220780e-02 1.20811355e-04 9.99932454e-01 -8.97974935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.160385723 meters 0.014935771581979005 Centerline is valid? [True, True] Translation: X:-164.12, Y:-282.57, Z:-8.98 [[-6.60160405e-01 -7.51089820e-01 7.23332337e-03 -1.64121403e+02] [ 7.51046045e-01 -6.60200027e-01 -8.10947141e-03 -2.82571749e+02] [ 1.08663817e-02 7.90069764e-05 9.99940956e-01 -8.97910207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.190385723 meters 0.014913214725774816 Centerline is valid? [True, True] Translation: X:-164.14, Y:-282.55, Z:-8.98 [[-6.61545992e-01 -7.49870917e-01 7.10696594e-03 -1.64139288e+02] [ 7.49828643e-01 -6.61584163e-01 -7.96255653e-03 -2.82552289e+02] [ 1.06727457e-02 6.14092686e-05 9.99943043e-01 -8.97925833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2203857229999 meters 0.01463950481827882 Centerline is valid? [True, True] Translation: X:-164.16, Y:-282.53, Z:-8.98 [[-6.63931595e-01 -7.47763707e-01 6.65398191e-03 -1.64157575e+02] [ 7.47726590e-01 -6.63964937e-01 -7.45042396e-03 -2.82532230e+02] [ 9.98916732e-03 2.87873382e-05 9.99950107e-01 -8.97921160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.250385723 meters 0.014617631170990953 Centerline is valid? [True, True] Translation: X:-164.18, Y:-282.51, Z:-8.98 [[-6.64813381e-01 -7.46976726e-01 6.99565767e-03 -1.64175618e+02] [ 7.46935709e-01 -6.64850187e-01 -7.82792341e-03 -2.82512845e+02] [ 1.04983409e-02 2.11982848e-05 9.99944891e-01 -8.97939989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.280385723 meters 0.014565282951556603 Centerline is valid? [True, True] Translation: X:-164.19, Y:-282.49, Z:-8.98 [[-6.65602569e-01 -7.46274854e-01 6.86024400e-03 -1.64193731e+02] [ 7.46235421e-01 -6.65637921e-01 -7.67164974e-03 -2.82492974e+02] [ 1.02915978e-02 1.30872944e-05 9.99947040e-01 -8.97880778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.310385723 meters 0.01456756824078254 Centerline is valid? [True, True] Translation: X:-164.21, Y:-282.47, Z:-8.98 [[-6.66742550e-01 -7.45253731e-01 7.15879722e-03 -1.64212307e+02] [ 7.45210773e-01 -6.66780981e-01 -8.00168357e-03 -2.82473751e+02] [ 1.07366344e-02 -2.50095599e-07 9.99942361e-01 -8.97863516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3403857229999 meters 0.014655526830622446 Centerline is valid? [True, True] Translation: X:-164.23, Y:-282.45, Z:-8.98 [[-6.67812117e-01 -7.44293124e-01 7.39745528e-03 -1.64231609e+02] [ 7.44247251e-01 -6.67853087e-01 -8.26335087e-03 -2.82454915e+02] [ 1.10907686e-02 -1.28300801e-05 9.99938496e-01 -8.97910557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.370385723 meters 0.014517476185026728 Centerline is valid? [True, True] Translation: X:-164.25, Y:-282.43, Z:-8.98 [[-6.68510079e-01 -7.43660873e-01 7.92344400e-03 -1.64250971e+02] [ 7.43608259e-01 -6.68557033e-01 -8.84596207e-03 -2.82434958e+02] [ 1.18756701e-02 -2.16763989e-05 9.99929482e-01 -8.97891644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.400385723 meters 0.014681758260077253 Centerline is valid? [True, True] Translation: X:-164.27, Y:-282.42, Z:-8.98 [[-6.69475042e-01 -7.42787512e-01 8.35951094e-03 -1.64270092e+02] [ 7.42728948e-01 -6.69527230e-01 -9.32729969e-03 -2.82415345e+02] [ 1.25251219e-02 -3.55435823e-05 9.99921557e-01 -8.97980916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.430385723 meters 0.014753332765047334 Centerline is valid? [True, True] Translation: X:-164.29, Y:-282.40, Z:-8.98 [[-6.70142182e-01 -7.42179444e-01 8.89539790e-03 -1.64289668e+02] [ 7.42113158e-01 -6.70201217e-01 -9.91914602e-03 -2.82395869e+02] [ 1.33234928e-02 -4.58463246e-05 9.99911237e-01 -8.97976930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.460385723 meters 0.014606998369744243 Centerline is valid? [True, True] Translation: X:-164.31, Y:-282.38, Z:-8.98 [[-6.70699680e-01 -7.41675092e-01 8.94410091e-03 -1.64309396e+02] [ 7.41608108e-01 -6.70759312e-01 -9.96792561e-03 -2.82375670e+02] [ 1.33923011e-02 -5.24667604e-05 9.99910318e-01 -8.97907983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.490385723 meters 0.014758788368593892 Centerline is valid? [True, True] Translation: X:-164.33, Y:-282.36, Z:-8.98 [[-6.71309607e-01 -7.41126084e-01 8.69136584e-03 -1.64329875e+02] [ 7.41062864e-01 -6.71365865e-01 -9.68026743e-03 -2.82357307e+02] [ 1.30093850e-02 -5.76080670e-05 9.99915373e-01 -8.97943223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.520385723 meters 0.014680927594676584 Centerline is valid? [True, True] Translation: X:-164.35, Y:-282.34, Z:-8.98 [[-6.71802411e-01 -7.40679358e-01 8.69543056e-03 -1.64349908e+02] [ 7.40616111e-01 -6.71858680e-01 -9.67943387e-03 -2.82337359e+02] [ 1.30114573e-02 -6.26910457e-05 9.99915346e-01 -8.97919268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.550385723 meters 0.014620592887625506 Centerline is valid? [True, True] Translation: X:-164.37, Y:-282.32, Z:-8.98 [[-6.72600340e-01 -7.39964733e-01 7.80883888e-03 -1.64370340e+02] [ 7.39913741e-01 -6.72645665e-01 -8.68711273e-03 -2.82318494e+02] [ 1.16807387e-02 -6.50877907e-05 9.99931776e-01 -8.97830894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.580385723 meters 0.014646029520024004 Centerline is valid? [True, True] Translation: X:-164.39, Y:-282.30, Z:-8.98 [[-6.72884865e-01 -7.39711019e-01 7.31894984e-03 -1.64388464e+02] [ 7.39666252e-01 -6.72924665e-01 -8.13822036e-03 -2.82299941e+02] [ 1.09450331e-02 -6.25051049e-05 9.99940100e-01 -8.97812082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.610385723 meters 0.014600405212742534 Centerline is valid? [True, True] Translation: X:-164.41, Y:-282.28, Z:-8.98 [[-6.73294932e-01 -7.39340388e-01 7.05160519e-03 -1.64409146e+02] [ 7.39298863e-01 -6.73331854e-01 -7.83610466e-03 -2.82281734e+02] [ 1.05416191e-02 -6.27658476e-05 9.99944434e-01 -8.97687941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.640385723 meters 0.014542487086517345 Centerline is valid? [True, True] Translation: X:-164.43, Y:-282.26, Z:-8.98 [[-6.73248427e-01 -7.39380506e-01 7.28170485e-03 -1.64429313e+02] [ 7.39336286e-01 -6.73287802e-01 -8.08657513e-03 -2.82264690e+02] [ 1.08817391e-02 -6.06453643e-05 9.99940790e-01 -8.97718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.670385723 meters 0.014553057904721858 Centerline is valid? [True, True] Translation: X:-164.45, Y:-282.25, Z:-8.98 [[-6.73051402e-01 -7.39560440e-01 7.22261289e-03 -1.64448487e+02] [ 7.39516986e-01 -6.73090152e-01 -8.01716979e-03 -2.82246156e+02] [ 1.07906512e-02 -5.47224536e-05 9.99941778e-01 -8.97743022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.700385723 meters 0.014423848122834653 Centerline is valid? [True, True] Translation: X:-164.47, Y:-282.23, Z:-8.98 [[-6.72646688e-01 -7.39926649e-01 7.41531433e-03 -1.64469624e+02] [ 7.39880923e-01 -6.72687559e-01 -8.22606102e-03 -2.82228784e+02] [ 1.10748715e-02 -4.67830918e-05 9.99938671e-01 -8.97769674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7303857229999 meters 0.014459069376496091 Centerline is valid? [True, True] Translation: X:-164.49, Y:-282.21, Z:-8.98 [[-6.72603701e-01 -7.39961392e-01 7.83580004e-03 -1.64489401e+02] [ 7.39910396e-01 -6.72649342e-01 -8.68725777e-03 -2.82209599e+02] [ 1.16989811e-02 -4.52918171e-05 9.99931564e-01 -8.97799471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.760385723 meters 0.01445431820916989 Centerline is valid? [True, True] Translation: X:-164.51, Y:-282.19, Z:-8.98 [[-6.72563477e-01 -7.39991712e-01 8.40445234e-03 -1.64510173e+02] [ 7.39933113e-01 -6.72615985e-01 -9.31256951e-03 -2.82190889e+02] [ 1.25441932e-02 -4.45615424e-05 9.99921318e-01 -8.97765932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.790385723 meters 0.014407263561198425 Centerline is valid? [True, True] Translation: X:-164.53, Y:-282.17, Z:-8.98 [[-6.72706456e-01 -7.39860073e-01 8.54968364e-03 -1.64529733e+02] [ 7.39799495e-01 -6.72760783e-01 -9.46764809e-03 -2.82171327e+02] [ 1.27566267e-02 -4.38963559e-05 9.99918630e-01 -8.97783716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.820385723 meters 0.014333819808322327 Centerline is valid? [True, True] Translation: X:-164.55, Y:-282.15, Z:-8.98 [[-6.73081585e-01 -7.39523131e-01 8.16817168e-03 -1.64549822e+02] [ 7.39467882e-01 -6.73131144e-01 -9.03963365e-03 -2.82152374e+02] [ 1.21832689e-02 -4.43103275e-05 9.99925780e-01 -8.97699449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8503857229999 meters 0.01432948351295476 Centerline is valid? [True, True] Translation: X:-164.57, Y:-282.13, Z:-8.98 [[-6.73579772e-01 -7.39074386e-01 7.70347305e-03 -1.64568663e+02] [ 7.39025262e-01 -6.73623819e-01 -8.52132258e-03 -2.82134363e+02] [ 1.14871342e-02 -4.67293296e-05 9.99934020e-01 -8.97666919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.880385723 meters 0.014335168916484637 Centerline is valid? [True, True] Translation: X:-164.59, Y:-282.11, Z:-8.98 [[-6.74025656e-01 -7.38667586e-01 7.72086966e-03 -1.64588264e+02] [ 7.38618267e-01 -6.74069874e-01 -8.53583842e-03 -2.82114528e+02] [ 1.15095528e-02 -5.05987288e-05 9.99933762e-01 -8.97563873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.910385723 meters 0.014350502955794427 Centerline is valid? [True, True] Translation: X:-164.61, Y:-282.10, Z:-8.98 [[-6.74225849e-01 -7.38485947e-01 7.61646064e-03 -1.64607472e+02] [ 7.38437987e-01 -6.74268866e-01 -8.41636250e-03 -2.82096682e+02] [ 1.13509077e-02 -5.02452823e-05 9.99935575e-01 -8.97650928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.940385723 meters 0.014213904859349645 Centerline is valid? [True, True] Translation: X:-164.63, Y:-282.08, Z:-8.98 [[-6.74141504e-01 -7.38564367e-01 7.47715842e-03 -1.64627248e+02] [ 7.38518208e-01 -6.74182967e-01 -8.25733622e-03 -2.82077845e+02] [ 1.11395472e-02 -4.45954241e-05 9.99937952e-01 -8.97591712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9703857229999 meters 0.014138062507764795 Centerline is valid? [True, True] Translation: X:-164.65, Y:-282.06, Z:-8.98 [[-6.73520880e-01 -7.39128806e-01 7.63110327e-03 -1.64647250e+02] [ 7.39080824e-01 -6.73564108e-01 -8.42190107e-03 -2.82060182e+02] [ 1.13649069e-02 -3.23241270e-05 9.99935417e-01 -8.97542412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.000385723 meters 0.014092429680224212 Centerline is valid? [True, True] Translation: X:-164.67, Y:-282.04, Z:-8.98 [[-6.73207127e-01 -7.39417902e-01 7.30282237e-03 -1.64667079e+02] [ 7.39374027e-01 -6.73246735e-01 -8.05492711e-03 -2.82040710e+02] [ 1.08725586e-02 -2.31171505e-05 9.99940892e-01 -8.97504742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.030385723 meters 0.013830372445888072 Centerline is valid? [True, True] Translation: X:-164.69, Y:-282.02, Z:-8.97 [[-6.71715960e-01 -7.40777328e-01 6.82782579e-03 -1.64688761e+02] [ 7.40739089e-01 -6.71750661e-01 -7.52677818e-03 -2.82022109e+02] [ 1.01622631e-02 1.78041810e-06 9.99948363e-01 -8.97383706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.060385723 meters 0.01389013123645044 Centerline is valid? [True, True] Translation: X:-164.71, Y:-282.01, Z:-8.97 [[-6.69319333e-01 -7.42941015e-01 7.09074340e-03 -1.64710173e+02] [ 7.42899944e-01 -6.69356891e-01 -7.81196683e-03 -2.82005299e+02] [ 1.05500685e-02 3.90124370e-05 9.99944346e-01 -8.97499476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0903857229999 meters 0.014010301950546387 Centerline is valid? [True, True] Translation: X:-164.73, Y:-281.99, Z:-8.97 [[-6.68130998e-01 -7.44007537e-01 7.33173345e-03 -1.64730772e+02] [ 7.43963740e-01 -6.68171221e-01 -8.07296610e-03 -2.81986027e+02] [ 1.09052009e-02 6.07449408e-05 9.99940535e-01 -8.97498585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.120385723 meters 0.014126538311360464 Centerline is valid? [True, True] Translation: X:-164.75, Y:-281.97, Z:-8.98 [[-6.66192475e-01 -7.45745661e-01 7.14105465e-03 -1.64752438e+02] [ 7.45704259e-01 -6.66230741e-01 -7.85860343e-03 -2.81967157e+02] [ 1.06181095e-02 8.97723951e-05 9.99943622e-01 -8.97527771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.150385723 meters 0.014317578549489745 Centerline is valid? [True, True] Translation: X:-164.77, Y:-281.95, Z:-8.98 [[-6.65522595e-01 -7.46342480e-01 7.25105965e-03 -1.64771850e+02] [ 7.46299878e-01 -6.65562087e-01 -7.97494518e-03 -2.81947943e+02] [ 1.07780708e-02 1.03958723e-04 9.99941910e-01 -8.97544754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.180385723 meters 0.014472333982126703 Centerline is valid? [True, True] Translation: X:-164.79, Y:-281.93, Z:-8.98 [[-6.64502516e-01 -7.47251850e-01 7.14693854e-03 -1.64792198e+02] [ 7.47210562e-01 -6.64540938e-01 -7.85608869e-03 -2.81928134e+02] [ 1.06199100e-02 1.19877263e-04 9.99943600e-01 -8.97508941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.210385723 meters 0.014605246258883695 Centerline is valid? [True, True] Translation: X:-164.81, Y:-281.91, Z:-8.98 [[-6.64233855e-01 -7.47491403e-01 7.07027016e-03 -1.64810284e+02] [ 7.47451056e-01 -6.64271471e-01 -7.76738365e-03 -2.81909763e+02] [ 1.05026313e-02 1.25321714e-04 9.99944838e-01 -8.97501040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.240385723 meters 0.014741364500656853 Centerline is valid? [True, True] Translation: X:-164.83, Y:-281.89, Z:-8.97 [[-6.63798326e-01 -7.47881933e-01 6.66299951e-03 -1.64830092e+02] [ 7.47846160e-01 -6.63831754e-01 -7.31592894e-03 -2.81889621e+02] [ 9.89456173e-03 1.26597210e-04 9.99951040e-01 -8.97473426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.270385723 meters 0.014702329469710965 Centerline is valid? [True, True] Translation: X:-164.85, Y:-281.87, Z:-8.97 [[-6.63982892e-01 -7.47719424e-01 6.51015885e-03 -1.64848754e+02] [ 7.47685303e-01 -6.64014795e-01 -7.14415366e-03 -2.81869031e+02] [ 9.66466425e-03 1.23954289e-04 9.99953288e-01 -8.97424315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.300385723 meters 0.014629256838021297 Centerline is valid? [True, True] Translation: X:-164.87, Y:-281.85, Z:-8.97 [[-6.64482731e-01 -7.47278224e-01 6.16083691e-03 -1.64866236e+02] [ 7.47247686e-01 -6.64511281e-01 -6.75663428e-03 -2.81848725e+02] [ 9.14303129e-03 1.14004321e-04 9.99958195e-01 -8.97400026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.330385723 meters 0.0144740165203665 Centerline is valid? [True, True] Translation: X:-164.88, Y:-281.83, Z:-8.97 [[-6.64739407e-01 -7.47052305e-01 5.86295845e-03 -1.64884083e+02] [ 7.47024671e-01 -6.64765254e-01 -6.42635476e-03 -2.81827309e+02] [ 8.69831419e-03 1.07923351e-04 9.99962163e-01 -8.97376521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.360385723 meters 0.014584963122280666 Centerline is valid? [True, True] Translation: X:-164.90, Y:-281.81, Z:-8.97 [[-6.64318408e-01 -7.47429273e-01 5.52580378e-03 -1.64901725e+02] [ 7.47404768e-01 -6.64341380e-01 -6.05338801e-03 -2.81806023e+02] [ 8.19549952e-03 1.08635005e-04 9.99966411e-01 -8.97379049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.390385723 meters 0.01514136832961549 Centerline is valid? [True, True] Translation: X:-164.92, Y:-281.79, Z:-8.98 [[-6.64079377e-01 -7.47638137e-01 5.98312430e-03 -1.64921132e+02] [ 7.47609450e-01 -6.64106318e-01 -6.55047548e-03 -2.81786514e+02] [ 8.87081593e-03 1.23004588e-04 9.99960646e-01 -8.97513427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.420385723 meters 0.01514136832961549 Centerline is valid? [True, True] Translation: X:-164.94, Y:-281.77, Z:-8.98 [[-6.64302742e-01 -7.47439661e-01 5.98508139e-03 -1.64939258e+02] [ 7.47410982e-01 -6.64329691e-01 -6.54868736e-03 -2.81766831e+02] [ 8.87081593e-03 1.23004594e-04 9.99960646e-01 -8.97513433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.450385723 meters 0.01644008590080046 Centerline is valid? [True, True] Translation: X:-164.96, Y:-281.74, Z:-8.98 [[-6.64018442e-01 -7.47687551e-01 6.54482233e-03 -1.64957126e+02] [ 7.47653308e-01 -6.64050681e-01 -7.15711261e-03 -2.81744780e+02] [ 9.69737772e-03 1.40803296e-04 9.99952970e-01 -8.97662027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4803857229999 meters 0.014941000907994214 Centerline is valid? [True, True] Translation: X:-164.98, Y:-281.72, Z:-8.98 [[-6.62649647e-01 -7.48899612e-01 6.69448806e-03 -1.64975564e+02] [ 7.48863886e-01 -6.62683442e-01 -7.31687976e-03 -2.81723182e+02] [ 9.91593480e-03 1.64732550e-04 9.99950822e-01 -8.97541268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.510385723 meters 0.01624920394781243 Centerline is valid? [True, True] Translation: X:-164.99, Y:-281.70, Z:-8.98 [[-6.61581772e-01 -7.49837225e-01 7.32775694e-03 -1.64993022e+02] [ 7.49794522e-01 -6.61622322e-01 -8.00490148e-03 -2.81702149e+02] [ 1.08505807e-02 1.98415104e-04 9.99941111e-01 -8.97627080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.540385723 meters 0.015446719486755835 Centerline is valid? [True, True] Translation: X:-165.01, Y:-281.68, Z:-8.98 [[-6.60851386e-01 -7.50481482e-01 7.27946777e-03 -1.65010933e+02] [ 7.50439425e-01 -6.60891444e-01 -7.94785207e-03 -2.81680614e+02] [ 1.07756538e-02 2.10450547e-04 9.99941919e-01 -8.97502628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.570385723 meters 0.016796275554624554 Centerline is valid? [True, True] Translation: X:-165.03, Y:-281.66, Z:-8.98 [[-6.60389907e-01 -7.50888151e-01 7.22191716e-03 -1.65031014e+02] [ 7.50846823e-01 -6.60429359e-01 -7.88103808e-03 -2.81661679e+02] [ 1.06873442e-02 2.17995557e-04 9.99942865e-01 -8.97660169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6003857229999 meters 0.015996068714343965 Centerline is valid? [True, True] Translation: X:-165.05, Y:-281.64, Z:-8.98 [[-6.59365235e-01 -7.51788432e-01 7.18616957e-03 -1.65047199e+02] [ 7.51747610e-01 -6.59404352e-01 -7.83785047e-03 -2.81637504e+02] [ 1.06309968e-02 2.34179682e-04 9.99943462e-01 -8.97540751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.630385723 meters 0.016300436166072536 Centerline is valid? [True, True] Translation: X:-165.06, Y:-281.61, Z:-8.98 [[-6.58825927e-01 -7.52260114e-01 7.28822055e-03 -1.65064205e+02] [ 7.52218202e-01 -6.58866192e-01 -7.94467532e-03 -2.81614846e+02] [ 1.07784245e-02 2.48174069e-04 9.99941880e-01 -8.97560623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.660385723 meters 0.01605306964089488 Centerline is valid? [True, True] Translation: X:-165.08, Y:-281.59, Z:-8.98 [[-6.58614668e-01 -7.52443691e-01 7.43046024e-03 -1.65081274e+02] [ 7.52400189e-01 -6.58656530e-01 -8.09508155e-03 -2.81592535e+02] [ 1.09852142e-02 2.59140248e-04 9.99939627e-01 -8.97544707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.690385723 meters 0.01656744603364043 Centerline is valid? [True, True] Translation: X:-165.10, Y:-281.57, Z:-8.98 [[-6.58527792e-01 -7.52521486e-01 7.24984104e-03 -1.65097388e+02] [ 7.52480129e-01 -6.58567648e-01 -7.89352455e-03 -2.81570511e+02] [ 1.07145576e-02 2.57256028e-04 9.99942565e-01 -8.97554290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7203857229999 meters 0.01634500167851002 Centerline is valid? [True, True] Translation: X:-165.11, Y:-281.55, Z:-8.98 [[-6.58813967e-01 -7.52272209e-01 7.11904532e-03 -1.65114894e+02] [ 7.52232363e-01 -6.58852382e-01 -7.74671229e-03 -2.81548101e+02] [ 1.05180363e-02 2.51534023e-04 9.99944652e-01 -8.97514723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.750385723 meters 0.016753001196011145 Centerline is valid? [True, True] Translation: X:-165.13, Y:-281.53, Z:-8.98 [[-6.59028000e-01 -7.52089308e-01 6.61577949e-03 -1.65131547e+02] [ 7.52054930e-01 -6.59061164e-01 -7.19478351e-03 -2.81526178e+02] [ 9.77132309e-03 2.33865797e-04 9.99952232e-01 -8.97531304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.780385723 meters 0.016364123905874012 Centerline is valid? [True, True] Translation: X:-165.15, Y:-281.50, Z:-8.97 [[-6.59230022e-01 -7.51915261e-01 6.26249099e-03 -1.65146446e+02] [ 7.51884484e-01 -6.59259730e-01 -6.80671187e-03 -2.81502196e+02] [ 9.24667865e-03 2.21480987e-04 9.99957224e-01 -8.97408328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.810385723 meters 0.01677841745969287 Centerline is valid? [True, True] Translation: X:-165.16, Y:-281.48, Z:-8.97 [[-6.59283775e-01 -7.51867279e-01 6.36394230e-03 -1.65163367e+02] [ 7.51835533e-01 -6.59314450e-01 -6.91284168e-03 -2.81481578e+02] [ 9.39337858e-03 2.27113597e-04 9.99955856e-01 -8.97411918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8403857229999 meters 0.0184224339771263 Centerline is valid? [True, True] Translation: X:-165.18, Y:-281.46, Z:-8.98 [[-6.59861747e-01 -7.51350136e-01 7.44634960e-03 -1.65179696e+02] [ 7.51306690e-01 -6.59903709e-01 -8.08411593e-03 -2.81457959e+02] [ 1.09878753e-02 2.60093405e-04 9.99939598e-01 -8.97614401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.870385723 meters 0.01854411525783421 Centerline is valid? [True, True] Translation: X:-165.20, Y:-281.44, Z:-8.98 [[-6.60338810e-01 -7.50933581e-01 7.17031441e-03 -1.65198814e+02] [ 7.50893325e-01 -6.60377692e-01 -7.77934505e-03 -2.81439346e+02] [ 1.05768871e-02 2.47137784e-04 9.99944033e-01 -8.97601552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.900385723 meters 0.016512119396045227 Centerline is valid? [True, True] Translation: X:-165.21, Y:-281.41, Z:-8.98 [[-6.61609771e-01 -7.49811421e-01 7.43933374e-03 -1.65212115e+02] [ 7.49768066e-01 -6.61651551e-01 -8.06671102e-03 -2.81413832e+02] [ 1.09707588e-02 2.40760041e-04 9.99939791e-01 -8.97519802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.930385723 meters 0.016410571039736987 Centerline is valid? [True, True] Translation: X:-165.23, Y:-281.39, Z:-8.98 [[-6.62664993e-01 -7.48877678e-01 7.57164063e-03 -1.65228547e+02] [ 7.48832764e-01 -6.62708208e-01 -8.20502867e-03 -2.81392544e+02] [ 1.11623512e-02 2.32707313e-04 9.99937672e-01 -8.97540542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.960385723 meters 0.015971378260232323 Centerline is valid? [True, True] Translation: X:-165.25, Y:-281.37, Z:-8.97 [[-6.63838298e-01 -7.47835310e-01 7.81429693e-03 -1.65245246e+02] [ 7.47787453e-01 -6.63884251e-01 -8.46323666e-03 -2.81369419e+02] [ 1.15168959e-02 2.25212576e-04 9.99933653e-01 -8.97494768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.990385723 meters 0.0156245145377608 Centerline is valid? [True, True] Translation: X:-165.26, Y:-281.35, Z:-8.97 [[-6.66779606e-01 -7.45209937e-01 8.19194338e-03 -1.65259827e+02] [ 7.45157201e-01 -6.66829899e-01 -8.86745748e-03 -2.81345658e+02] [ 1.20707502e-02 1.91645802e-04 9.99927128e-01 -8.97498227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.020385723 meters 0.01531558876353263 Centerline is valid? [True, True] Translation: X:-165.28, Y:-281.32, Z:-8.97 [[-6.68598587e-01 -7.43578400e-01 8.19099175e-03 -1.65276707e+02] [ 7.43525616e-01 -6.68648739e-01 -8.86131540e-03 -2.81323533e+02] [ 1.20659790e-02 1.65549225e-04 9.99927190e-01 -8.97499399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.050385723 meters 0.014628366314829878 Centerline is valid? [True, True] Translation: X:-165.29, Y:-281.30, Z:-8.97 [[-6.71541516e-01 -7.40923274e-01 8.04332855e-03 -1.65291132e+02] [ 7.40872242e-01 -6.71589673e-01 -8.69671505e-03 -2.81299161e+02] [ 1.18454150e-02 1.18873644e-04 9.99929834e-01 -8.97410003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.080385723 meters 0.014292749050795375 Centerline is valid? [True, True] Translation: X:-165.31, Y:-281.28, Z:-8.97 [[-6.74852829e-01 -7.37915413e-01 7.38261599e-03 -1.65305927e+02] [ 7.37872288e-01 -6.74893206e-01 -7.97790615e-03 -2.81275208e+02] [ 1.08694973e-02 6.35152192e-05 9.99940923e-01 -8.97383016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.110385723 meters 0.014178103272721782 Centerline is valid? [True, True] Translation: X:-165.32, Y:-281.25, Z:-8.97 [[-6.76622379e-01 -7.36295645e-01 7.13296633e-03 -1.65322092e+02] [ 7.36255348e-01 -6.76659975e-01 -7.70334089e-03 -2.81253199e+02] [ 1.04985292e-02 3.94317688e-05 9.99944888e-01 -8.97320574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.140385723 meters 0.014167967920094001 Centerline is valid? [True, True] Translation: X:-165.34, Y:-281.23, Z:-8.97 [[-6.79236267e-01 -7.33885107e-01 7.12348029e-03 -1.65337054e+02] [ 7.33844833e-01 -6.79273620e-01 -7.68834694e-03 -2.81230308e+02] [ 1.04811556e-02 5.32512550e-06 9.99945071e-01 -8.97343389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.170385723 meters 0.014073213940202734 Centerline is valid? [True, True] Translation: X:-165.35, Y:-281.21, Z:-8.97 [[-6.80487377e-01 -7.32726280e-01 7.00920898e-03 -1.65354422e+02] [ 7.32687270e-01 -6.80523474e-01 -7.56081133e-03 -2.81208762e+02] [ 1.03099364e-02 -9.47847237e-06 9.99946851e-01 -8.97330131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.200385723 meters 0.014294435680269795 Centerline is valid? [True, True] Translation: X:-165.37, Y:-281.19, Z:-8.97 [[-6.82600071e-01 -7.30760369e-01 6.81365844e-03 -1.65369123e+02] [ 7.30723455e-01 -6.82634076e-01 -7.34505699e-03 -2.81186171e+02] [ 1.00187120e-02 -3.48363821e-05 9.99949811e-01 -8.97321155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2303857229999 meters 0.014149396731404045 Centerline is valid? [True, True] Translation: X:-165.39, Y:-281.16, Z:-8.97 [[-6.83559522e-01 -7.29862149e-01 6.90095313e-03 -1.65387006e+02] [ 7.29824280e-01 -6.83594355e-01 -7.43500521e-03 -2.81164653e+02] [ 1.01439815e-02 -4.57854685e-05 9.99948548e-01 -8.97231713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.260385723 meters 0.014324837228644464 Centerline is valid? [True, True] Translation: X:-165.40, Y:-281.14, Z:-8.97 [[-6.84567539e-01 -7.28915367e-01 7.04779292e-03 -1.65402851e+02] [ 7.28875865e-01 -6.84603815e-01 -7.58873653e-03 -2.81142807e+02] [ 1.03564926e-02 -5.80365271e-05 9.99946369e-01 -8.97228372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.290385723 meters 0.014357203189663173 Centerline is valid? [True, True] Translation: X:-165.42, Y:-281.12, Z:-8.97 [[-6.85077054e-01 -7.28436564e-01 7.04290512e-03 -1.65419514e+02] [ 7.28397129e-01 -6.85113253e-01 -7.57985219e-03 -2.81122735e+02] [ 1.03466291e-02 -6.27509470e-05 9.99946470e-01 -8.97221604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.320385723 meters 0.01451191472042869 Centerline is valid? [True, True] Translation: X:-165.44, Y:-281.10, Z:-8.97 [[-6.85682972e-01 -7.27865708e-01 7.09737051e-03 -1.65436299e+02] [ 7.27825681e-01 -6.85719699e-01 -7.63356504e-03 -2.81101859e+02] [ 1.04230170e-02 -6.85570347e-05 9.99945677e-01 -8.97299985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3503857229999 meters 0.014349466823469631 Centerline is valid? [True, True] Translation: X:-165.46, Y:-281.08, Z:-8.97 [[-6.85871672e-01 -7.27683731e-01 7.51245728e-03 -1.65455613e+02] [ 7.27638925e-01 -6.85912810e-01 -8.07541527e-03 -2.81081226e+02] [ 1.10292390e-02 -7.23422304e-05 9.99939174e-01 -8.97271778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.380385723 meters 0.014499342088095972 Centerline is valid? [True, True] Translation: X:-165.47, Y:-281.06, Z:-8.97 [[-6.85795635e-01 -7.27750044e-01 8.01373256e-03 -1.65472802e+02] [ 7.27699125e-01 -6.85842451e-01 -8.60907935e-03 -2.81059909e+02] [ 1.17614159e-02 -7.24828741e-05 9.99930830e-01 -8.97486932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.410385723 meters 0.014534157329235249 Centerline is valid? [True, True] Translation: X:-165.49, Y:-281.04, Z:-8.98 [[-6.84855282e-01 -7.28633523e-01 8.15062770e-03 -1.65489863e+02] [ 7.28580977e-01 -6.84903779e-01 -8.75058585e-03 -2.81039789e+02] [ 1.19583659e-02 -5.44926427e-05 9.99928495e-01 -8.97557852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.440385723 meters 0.01441520655262328 Centerline is valid? [True, True] Translation: X:-165.51, Y:-281.02, Z:-8.98 [[-6.84490301e-01 -7.28977240e-01 8.07529024e-03 -1.65508177e+02] [ 7.28925747e-01 -6.84537932e-01 -8.66455209e-03 -2.81020116e+02] [ 1.18441038e-02 -4.45148989e-05 9.99929855e-01 -8.97526599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4703857229999 meters 0.014197080352798609 Centerline is valid? [True, True] Translation: X:-165.53, Y:-281.00, Z:-8.97 [[-6.82912005e-01 -7.30456289e-01 8.05003912e-03 -1.65527072e+02] [ 7.30405283e-01 -6.82959449e-01 -8.63214238e-03 -2.81000054e+02] [ 1.18032530e-02 -1.52025559e-05 9.99930339e-01 -8.97479976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.500385723 meters 0.014237056130664344 Centerline is valid? [True, True] Translation: X:-165.55, Y:-280.98, Z:-8.97 [[-6.82157122e-01 -7.31157113e-01 8.42241990e-03 -1.65545471e+02] [ 7.31101400e-01 -6.82209114e-01 -9.02592947e-03 -2.80980184e+02] [ 1.23452242e-02 5.40909552e-07 9.99923795e-01 -8.97497282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.530385723 meters 0.014187315971523564 Centerline is valid? [True, True] Translation: X:-165.56, Y:-280.96, Z:-8.97 [[-6.81505469e-01 -7.31763980e-01 8.47191124e-03 -1.65564529e+02] [ 7.31707720e-01 -6.81558124e-01 -9.07389202e-03 -2.80959804e+02] [ 1.24140473e-02 1.50558300e-05 9.99922943e-01 -8.97476545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.560385723 meters 0.014282103809193408 Centerline is valid? [True, True] Translation: X:-165.58, Y:-280.94, Z:-8.98 [[-6.79347387e-01 -7.33766881e-01 8.56109663e-03 -1.65583162e+02] [ 7.33709660e-01 -6.79401325e-01 -9.16372136e-03 -2.80940187e+02] [ 1.25404556e-02 5.60091429e-05 9.99921364e-01 -8.97548211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5903857229999 meters 0.014517747099049773 Centerline is valid? [True, True] Translation: X:-165.60, Y:-280.92, Z:-8.98 [[-6.78433937e-01 -7.34610494e-01 8.64965176e-03 -1.65601371e+02] [ 7.34552227e-01 -6.78489069e-01 -9.25248193e-03 -2.80921773e+02] [ 1.26656645e-02 7.64232259e-05 9.99919784e-01 -8.97673802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.620385723 meters 0.014829617474205246 Centerline is valid? [True, True] Translation: X:-165.62, Y:-280.90, Z:-8.98 [[-6.76440859e-01 -7.36443368e-01 8.88424369e-03 -1.65620855e+02] [ 7.36382122e-01 -6.76499189e-01 -9.49831478e-03 -2.80901641e+02] [ 1.30051546e-02 1.17150016e-04 9.99915423e-01 -8.97764509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.650385723 meters 0.014954905880608108 Centerline is valid? [True, True] Translation: X:-165.64, Y:-280.88, Z:-8.98 [[-6.74632385e-01 -7.38100706e-01 8.85963813e-03 -1.65640003e+02] [ 7.38040009e-01 -6.74690540e-01 -9.46680324e-03 -2.80880827e+02] [ 1.29649682e-02 1.52155360e-04 9.99915940e-01 -8.97805615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.680385723 meters 0.015805500986591243 Centerline is valid? [True, True] Translation: X:-165.66, Y:-280.86, Z:-8.98 [[-6.73557030e-01 -7.39083703e-01 8.72968194e-03 -1.65658141e+02] [ 7.39024925e-01 -6.73613576e-01 -9.32252747e-03 -2.80860713e+02] [ 1.27705604e-02 1.72198627e-04 9.99918438e-01 -8.97933399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.710385723 meters 0.015276137213486774 Centerline is valid? [True, True] Translation: X:-165.67, Y:-280.84, Z:-8.98 [[-6.73368711e-01 -7.39255106e-01 8.74452952e-03 -1.65674901e+02] [ 7.39196217e-01 -6.73425464e-01 -9.33253563e-03 -2.80838497e+02] [ 1.27879135e-02 1.79685649e-04 9.99918215e-01 -8.97736063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.740385723 meters 0.015839659697276093 Centerline is valid? [True, True] Translation: X:-165.69, Y:-280.82, Z:-8.98 [[-6.73102134e-01 -7.39503245e-01 8.27457611e-03 -1.65692400e+02] [ 7.39450605e-01 -6.73152969e-01 -8.82520399e-03 -2.80819426e+02] [ 1.20963225e-02 1.78376676e-04 9.99926821e-01 -8.97783113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.770385723 meters 0.01559023676108383 Centerline is valid? [True, True] Translation: X:-165.71, Y:-280.80, Z:-8.98 [[-6.72854994e-01 -7.39726362e-01 8.43009226e-03 -1.65710179e+02] [ 7.39671810e-01 -6.72907775e-01 -8.98554187e-03 -2.80798432e+02] [ 1.23195168e-02 1.89534885e-04 9.99924094e-01 -8.97708896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.800385723 meters 0.016432862764854995 Centerline is valid? [True, True] Translation: X:-165.73, Y:-280.78, Z:-8.98 [[-6.72583471e-01 -7.39972040e-01 8.53555361e-03 -1.65728615e+02] [ 7.39916207e-01 -6.72637600e-01 -9.09208681e-03 -2.80779671e+02] [ 1.24692243e-02 2.00407153e-04 9.99922236e-01 -8.97904128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.830385723 meters 0.015790019286504402 Centerline is valid? [True, True] Translation: X:-165.75, Y:-280.76, Z:-8.98 [[-6.73399940e-01 -7.39228417e-01 8.59473350e-03 -1.65745777e+02] [ 7.39171817e-01 -6.73454758e-01 -9.14955166e-03 -2.80758622e+02] [ 1.25517728e-02 1.91677246e-04 9.99921205e-01 -8.97884423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.860385723 meters 0.01515417824869097 Centerline is valid? [True, True] Translation: X:-165.76, Y:-280.74, Z:-8.98 [[-6.75184217e-01 -7.37598647e-01 8.63189310e-03 -1.65762130e+02] [ 7.37541496e-01 -6.75239372e-01 -9.18332628e-03 -2.80736681e+02] [ 1.26022031e-02 1.65942381e-04 9.99920575e-01 -8.97769255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.890385723 meters 0.015273905941066854 Centerline is valid? [True, True] Translation: X:-165.78, Y:-280.72, Z:-8.98 [[-6.76000103e-01 -7.36854936e-01 8.28631451e-03 -1.65780267e+02] [ 7.36802266e-01 -6.76050871e-01 -8.81141485e-03 -2.80717671e+02] [ 1.20947047e-02 1.48857958e-04 9.99926845e-01 -8.97803837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.920385723 meters 0.014865523151729879 Centerline is valid? [True, True] Translation: X:-165.80, Y:-280.70, Z:-8.98 [[-6.77102427e-01 -7.35850754e-01 7.48137686e-03 -1.65798582e+02] [ 7.35807811e-01 -6.77143746e-01 -7.95057238e-03 -2.80697096e+02] [ 1.09164022e-02 1.21503679e-04 9.99940407e-01 -8.97637950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.950385723 meters 0.014710309836560026 Centerline is valid? [True, True] Translation: X:-165.82, Y:-280.68, Z:-8.98 [[-6.77893696e-01 -7.35126255e-01 7.03752436e-03 -1.65817967e+02] [ 7.35088264e-01 -6.77930217e-01 -7.47429548e-03 -2.80677328e+02] [ 1.02655013e-02 1.06423777e-04 9.99947303e-01 -8.97610685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9803857229999 meters 0.01437401667176244 Centerline is valid? [True, True] Translation: X:-165.84, Y:-280.66, Z:-8.98 [[-6.79575922e-01 -7.33576807e-01 6.45247141e-03 -1.65836607e+02] [ 7.33544842e-01 -6.79606549e-01 -6.84854139e-03 -2.80658965e+02] [ 9.40907295e-03 7.90732883e-05 9.99955731e-01 -8.97617869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.010385723 meters 0.014069796654502118 Centerline is valid? [True, True] Translation: X:-165.86, Y:-280.64, Z:-8.98 [[-6.80607798e-01 -7.32618047e-01 6.61986039e-03 -1.65855872e+02] [ 7.32584395e-01 -6.80639987e-01 -7.02227386e-03 -2.80637861e+02] [ 9.65038625e-03 7.01920763e-05 9.99953432e-01 -8.97579501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.040385723 meters 0.013839964740556758 Centerline is valid? [True, True] Translation: X:-165.87, Y:-280.62, Z:-8.98 [[-6.82894319e-01 -7.30480518e-01 7.31858962e-03 -1.65873849e+02] [ 7.30439318e-01 -6.82933533e-01 -7.75836071e-03 -2.80618108e+02] [ 1.06654416e-02 4.76451621e-05 9.99943122e-01 -8.97667935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.070385723 meters 0.013885613618521557 Centerline is valid? [True, True] Translation: X:-165.89, Y:-280.60, Z:-8.98 [[-6.85435663e-01 -7.28089536e-01 7.97369026e-03 -1.65890868e+02] [ 7.28040531e-01 -6.85482040e-01 -8.44732755e-03 -2.80597597e+02] [ 1.16162323e-02 1.50701352e-05 9.99932529e-01 -8.97738879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1003857229999 meters 0.013830580767419838 Centerline is valid? [True, True] Translation: X:-165.91, Y:-280.58, Z:-8.98 [[-6.86825666e-01 -7.26775167e-01 8.26803623e-03 -1.65909127e+02] [ 7.26722447e-01 -6.86875430e-01 -8.75376425e-03 -2.80577179e+02] [ 1.20411294e-02 -3.74244220e-06 9.99927503e-01 -8.97635040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.130385723 meters 0.013987939044105816 Centerline is valid? [True, True] Translation: X:-165.93, Y:-280.56, Z:-8.98 [[-6.89407838e-01 -7.24327875e-01 8.12178480e-03 -1.65928174e+02] [ 7.24276895e-01 -6.89455675e-01 -8.59366734e-03 -2.80557185e+02] [ 1.18242434e-02 -4.21205401e-05 9.99930090e-01 -8.97659075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.160385723 meters 0.014044014924758508 Centerline is valid? [True, True] Translation: X:-165.95, Y:-280.54, Z:-8.98 [[-6.90926609e-01 -7.22881074e-01 7.96073662e-03 -1.65946601e+02] [ 7.22832063e-01 -6.90972466e-01 -8.41786914e-03 -2.80538158e+02] [ 1.15857681e-02 -6.18541172e-05 9.99932881e-01 -8.97703176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.190385723 meters 0.01436496402003359 Centerline is valid? [True, True] Translation: X:-165.97, Y:-280.52, Z:-8.98 [[-6.93358801e-01 -7.20553603e-01 7.48861428e-03 -1.65965084e+02] [ 7.20510148e-01 -6.93399234e-01 -7.91387594e-03 -2.80518158e+02] [ 1.08949712e-02 -9.15329499e-05 9.99940644e-01 -8.97669997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2203857229999 meters 0.014590079391056214 Centerline is valid? [True, True] Translation: X:-165.98, Y:-280.50, Z:-8.98 [[-6.94898686e-01 -7.19075324e-01 6.81872167e-03 -1.65983590e+02] [ 7.19039269e-01 -6.94932132e-01 -7.20153490e-03 -2.80498233e+02] [ 9.91699483e-03 -1.01408494e-04 9.99950820e-01 -8.97586040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.250385723 meters 0.014772628793237172 Centerline is valid? [True, True] Translation: X:-166.00, Y:-280.48, Z:-8.97 [[-6.97529030e-01 -7.16528204e-01 6.37066648e-03 -1.66002564e+02] [ 7.16496659e-01 -6.97558111e-01 -6.72458372e-03 -2.80477852e+02] [ 9.26226396e-03 -1.26031113e-04 9.99957096e-01 -8.97472774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.280385723 meters 0.015089738679888576 Centerline is valid? [True, True] Translation: X:-166.02, Y:-280.46, Z:-8.97 [[-6.98527040e-01 -7.15554810e-01 6.42560644e-03 -1.66020195e+02] [ 7.15522710e-01 -6.98556580e-01 -6.77908660e-03 -2.80459012e+02] [ 9.33945768e-03 -1.37707967e-04 9.99956377e-01 -8.97450385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.310385723 meters 0.01606981976188909 Centerline is valid? [True, True] Translation: X:-166.04, Y:-280.44, Z:-8.98 [[-6.99432515e-01 -7.14667167e-01 6.70806052e-03 -1.66038497e+02] [ 7.14632170e-01 -6.99464665e-01 -7.07424993e-03 -2.80439321e+02] [ 9.74778546e-03 -1.54164577e-04 9.99952477e-01 -8.97568242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3403857229999 meters 0.01606981976188909 Centerline is valid? [True, True] Translation: X:-166.06, Y:-280.42, Z:-8.98 [[-6.99641051e-01 -7.14462997e-01 6.71012502e-03 -1.66057012e+02] [ 7.14428009e-01 -6.99673211e-01 -7.07229173e-03 -2.80419963e+02] [ 9.74778546e-03 -1.54164363e-04 9.99952477e-01 -8.97568248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.370385723 meters 0.015161431074737913 Centerline is valid? [True, True] Translation: X:-166.08, Y:-280.40, Z:-8.97 [[-6.99086391e-01 -7.15006948e-01 6.57894085e-03 -1.66079165e+02] [ 7.14973380e-01 -6.99117333e-01 -6.92975182e-03 -2.80403769e+02] [ 9.55427227e-03 -1.40727622e-04 9.99954347e-01 -8.97485130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.400385723 meters 0.015167686627619689 Centerline is valid? [True, True] Translation: X:-166.10, Y:-280.39, Z:-8.98 [[-6.98587340e-01 -7.15493780e-01 6.66171534e-03 -1.66098683e+02] [ 7.15459428e-01 -6.98619090e-01 -7.01241019e-03 -2.80385619e+02] [ 9.67133738e-03 -1.32593934e-04 9.99953223e-01 -8.97510285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.430385723 meters 0.01467180215544423 Centerline is valid? [True, True] Translation: X:-166.12, Y:-280.37, Z:-8.98 [[-6.97280861e-01 -7.16765478e-01 6.83007192e-03 -1.66120159e+02] [ 7.16729473e-01 -6.97314302e-01 -7.18520643e-03 -2.80368715e+02] [ 9.91281475e-03 -1.14793083e-04 9.99950860e-01 -8.97531119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.460385723 meters 0.014672379569321105 Centerline is valid? [True, True] Translation: X:-166.14, Y:-280.35, Z:-8.98 [[-6.95907027e-01 -7.18092739e-01 7.49855265e-03 -1.66140528e+02] [ 7.18049472e-01 -6.95947418e-01 -7.88336242e-03 -2.80351728e+02] [ 1.08795837e-02 -1.01755534e-04 9.99940811e-01 -8.97688714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.490385723 meters 0.01437786330993669 Centerline is valid? [True, True] Translation: X:-166.16, Y:-280.33, Z:-8.98 [[-6.95362061e-01 -7.18616335e-01 7.88459312e-03 -1.66161212e+02] [ 7.18568591e-01 -6.95406754e-01 -8.28414340e-03 -2.80333198e+02] [ 1.14361201e-02 -9.48580592e-05 9.99934601e-01 -8.97656482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.520385723 meters 0.014131631137009057 Centerline is valid? [True, True] Translation: X:-166.18, Y:-280.32, Z:-8.98 [[-6.93837106e-01 -7.20086377e-01 8.10435435e-03 -1.66183137e+02] [ 7.20036089e-01 -6.93884432e-01 -8.51029991e-03 -2.80315015e+02] [ 1.17516363e-02 -6.93342524e-05 9.99930945e-01 -8.97630442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.550385723 meters 0.013975674111407464 Centerline is valid? [True, True] Translation: X:-166.20, Y:-280.30, Z:-8.98 [[-6.93119854e-01 -7.20779702e-01 7.84150951e-03 -1.66202102e+02] [ 7.20732714e-01 -6.93164207e-01 -8.23030076e-03 -2.80297279e+02] [ 1.13676875e-02 -5.29524331e-05 9.99935384e-01 -8.97640458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.580385723 meters 0.013698849983782605 Centerline is valid? [True, True] Translation: X:-166.22, Y:-280.28, Z:-8.98 [[-6.91685399e-01 -7.22163156e-01 7.18925061e-03 -1.66223419e+02] [ 7.22123778e-01 -6.91722759e-01 -7.54146900e-03 -2.80278958e+02] [ 1.04191393e-02 -2.47951783e-05 9.99945719e-01 -8.97508544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.610385723 meters 0.01368219983579189 Centerline is valid? [True, True] Translation: X:-166.24, Y:-280.26, Z:-8.97 [[-6.91213176e-01 -7.22617937e-01 6.90384023e-03 -1.66243677e+02] [ 7.22581687e-01 -6.91247653e-01 -7.23801211e-03 -2.80259377e+02] [ 1.00025807e-02 -1.44208235e-05 9.99949973e-01 -8.97491456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.640385723 meters 0.013628213905827118 Centerline is valid? [True, True] Translation: X:-166.26, Y:-280.24, Z:-8.97 [[-6.90297096e-01 -7.23496794e-01 6.50446001e-03 -1.66264060e+02] [ 7.23464682e-01 -6.90327740e-01 -6.81650484e-03 -2.80241292e+02] [ 9.42192858e-03 3.33593047e-07 9.99955613e-01 -8.97482999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.670385723 meters 0.01358338707142419 Centerline is valid? [True, True] Translation: X:-166.28, Y:-280.22, Z:-8.97 [[-6.89890646e-01 -7.23887191e-01 6.18310058e-03 -1.66284460e+02] [ 7.23858222e-01 -6.89918354e-01 -6.47610893e-03 -2.80221517e+02] [ 8.95380687e-03 7.88121976e-06 9.99959914e-01 -8.97450819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.700385723 meters 0.013649102686597555 Centerline is valid? [True, True] Translation: X:-166.30, Y:-280.20, Z:-8.97 [[-6.89380660e-01 -7.24378460e-01 5.49113566e-03 -1.66303473e+02] [ 7.24355658e-01 -6.89402528e-01 -5.74757703e-03 -2.80203202e+02] [ 7.94902381e-03 1.52667447e-05 9.99968406e-01 -8.97408119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7303857229999 meters 0.013584857633159869 Centerline is valid? [True, True] Translation: X:-166.32, Y:-280.18, Z:-8.97 [[-6.89203330e-01 -7.24551486e-01 4.89023545e-03 -1.66322856e+02] [ 7.24533428e-01 -6.89220678e-01 -5.11544937e-03 -2.80184147e+02] [ 7.07685783e-03 1.75543158e-05 9.99974959e-01 -8.97328816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.760385723 meters 0.013640757709955403 Centerline is valid? [True, True] Translation: X:-166.34, Y:-280.16, Z:-8.97 [[-6.88950344e-01 -7.24789246e-01 5.28903511e-03 -1.66342116e+02] [ 7.24768155e-01 -6.88970645e-01 -5.52924335e-03 -2.80164901e+02] [ 7.65152605e-03 2.39501120e-05 9.99970726e-01 -8.97321019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.790385723 meters 0.013696634439917778 Centerline is valid? [True, True] Translation: X:-166.36, Y:-280.15, Z:-8.97 [[-6.88696690e-01 -7.25023067e-01 6.19849209e-03 -1.66362486e+02] [ 7.24994141e-01 -6.88724583e-01 -6.47639920e-03 -2.80145600e+02] [ 8.96459269e-03 3.35957548e-05 9.99959817e-01 -8.97405300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.820385723 meters 0.013740630358319695 Centerline is valid? [True, True] Translation: X:-166.38, Y:-280.13, Z:-8.98 [[-6.88577379e-01 -7.25131061e-01 6.79249143e-03 -1.66382246e+02] [ 7.25096370e-01 -6.88610879e-01 -7.09306680e-03 -2.80126099e+02] [ 9.82078655e-03 4.10855342e-05 9.99951774e-01 -8.97507170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8503857229999 meters 0.01371528129254944 Centerline is valid? [True, True] Translation: X:-166.40, Y:-280.11, Z:-8.98 [[-6.88338728e-01 -7.25348499e-01 7.70396351e-03 -1.66402824e+02] [ 7.25303936e-01 -6.88381836e-01 -8.04038582e-03 -2.80106420e+02] [ 1.11353503e-02 5.32061132e-05 9.99937999e-01 -8.97597138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.880385723 meters 0.013779905075906243 Centerline is valid? [True, True] Translation: X:-166.42, Y:-280.09, Z:-8.98 [[-6.88562048e-01 -7.25134742e-01 7.86843115e-03 -1.66421924e+02] [ 7.25088297e-01 -6.88607002e-01 -8.20721305e-03 -2.80087340e+02] [ 1.13695921e-02 5.41319092e-05 9.99935363e-01 -8.97632716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.910385723 meters 0.013788660341019372 Centerline is valid? [True, True] Translation: X:-166.44, Y:-280.07, Z:-8.98 [[-6.89566966e-01 -7.24182011e-01 7.60358132e-03 -1.66441071e+02] [ 7.24138639e-01 -6.89608884e-01 -7.92580339e-03 -2.80069258e+02] [ 1.09832215e-02 4.06748369e-05 9.99939682e-01 -8.97657426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.940385723 meters 0.013612912413721874 Centerline is valid? [True, True] Translation: X:-166.46, Y:-280.05, Z:-8.98 [[-6.91321295e-01 -7.22511670e-01 7.19402645e-03 -1.66460442e+02] [ 7.22472803e-01 -6.91358725e-01 -7.49422753e-03 -2.80049444e+02] [ 1.03883198e-02 1.65693761e-05 9.99946040e-01 -8.97536708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9703857229999 meters 0.013552859546242944 Centerline is valid? [True, True] Translation: X:-166.48, Y:-280.03, Z:-8.97 [[-6.92339574e-01 -7.21539323e-01 6.84984571e-03 -1.66479880e+02] [ 7.21504077e-01 -6.92373458e-01 -7.13174511e-03 -2.80028857e+02] [ 9.88848590e-03 4.60224093e-06 9.99951108e-01 -8.97479405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.000385723 meters 0.013582914281317037 Centerline is valid? [True, True] Translation: X:-166.50, Y:-280.01, Z:-8.97 [[-6.93855137e-01 -7.20092040e-01 5.70109855e-03 -1.66498227e+02] [ 7.20067608e-01 -6.93878558e-01 -5.93186512e-03 -2.80009985e+02] [ 8.22735890e-03 -1.06786947e-05 9.99966155e-01 -8.97407252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.030385723 meters 0.013528320440015075 Centerline is valid? [True, True] Translation: X:-166.52, Y:-279.99, Z:-8.97 [[-6.94623639e-01 -7.19350675e-01 5.71012900e-03 -1.66517801e+02] [ 7.19326170e-01 -6.94647109e-01 -5.93763059e-03 -2.79990277e+02] [ 8.23776317e-03 -1.69733484e-05 9.99966069e-01 -8.97392190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.060385723 meters 0.013519870735081077 Centerline is valid? [True, True] Translation: X:-166.54, Y:-279.97, Z:-8.97 [[-6.95764822e-01 -7.18249692e-01 5.35650197e-03 -1.66538093e+02] [ 7.18228119e-01 -6.95785440e-01 -5.56684049e-03 -2.79970629e+02] [ 7.72535755e-03 -2.60214451e-05 9.99970159e-01 -8.97384100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0903857229999 meters 0.013517570449981248 Centerline is valid? [True, True] Translation: X:-166.56, Y:-279.95, Z:-8.97 [[-6.96552723e-01 -7.17484460e-01 5.50939740e-03 -1.66557208e+02] [ 7.17461642e-01 -6.96574510e-01 -5.72220062e-03 -2.79951730e+02] [ 7.94329582e-03 -3.30331218e-05 9.99968451e-01 -8.97425787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.120385723 meters 0.013706917431511449 Centerline is valid? [True, True] Translation: X:-166.58, Y:-279.93, Z:-8.98 [[-6.97791568e-01 -7.16275611e-01 6.01461293e-03 -1.66575896e+02] [ 7.16248398e-01 -6.97817488e-01 -6.24394950e-03 -2.79933748e+02] [ 8.66949083e-03 -4.90184431e-05 9.99962418e-01 -8.97546502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.150385723 meters 0.013800066652079977 Centerline is valid? [True, True] Translation: X:-166.59, Y:-279.91, Z:-8.98 [[-6.98364247e-01 -7.15715243e-01 6.25060402e-03 -1.66594788e+02] [ 7.15685865e-01 -6.98392217e-01 -6.48497482e-03 -2.79914657e+02] [ 9.00676853e-03 -5.54056131e-05 9.99959437e-01 -8.97528612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.180385723 meters 0.013874404659444995 Centerline is valid? [True, True] Translation: X:-166.62, Y:-279.90, Z:-8.97 [[-6.99580253e-01 -7.14523964e-01 6.55552346e-03 -1.66615249e+02] [ 7.14491633e-01 -6.99610963e-01 -6.79757430e-03 -2.79895141e+02] [ 9.44334582e-03 -7.15820871e-05 9.99955408e-01 -8.97431205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.210385723 meters 0.013885875892014777 Centerline is valid? [True, True] Translation: X:-166.64, Y:-279.88, Z:-8.97 [[-7.00432891e-01 -7.13690803e-01 6.26124182e-03 -1.66636145e+02] [ 7.13661309e-01 -7.00460871e-01 -6.48884878e-03 -2.79876821e+02] [ 9.01678660e-03 -7.65970722e-05 9.99959345e-01 -8.97399010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.240385723 meters 0.014040101858599323 Centerline is valid? [True, True] Translation: X:-166.66, Y:-279.86, Z:-8.97 [[-7.00890860e-01 -7.13239258e-01 6.46236705e-03 -1.66655261e+02] [ 7.13207860e-01 -7.00920647e-01 -6.69293874e-03 -2.79858193e+02] [ 9.30327316e-03 -8.20086217e-05 9.99956720e-01 -8.97446746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.270385723 meters 0.014140051485676161 Centerline is valid? [True, True] Translation: X:-166.68, Y:-279.84, Z:-8.97 [[-7.01444830e-01 -7.12689303e-01 7.00767769e-03 -1.66676434e+02] [ 7.12652399e-01 -7.01479828e-01 -7.25320969e-03 -2.79840154e+02] [ 1.00850295e-02 -9.36881157e-05 9.99949141e-01 -8.97451462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.300385723 meters 0.014134791534665351 Centerline is valid? [True, True] Translation: X:-166.70, Y:-279.82, Z:-8.97 [[-7.01650671e-01 -7.12486927e-01 6.97959211e-03 -1.66697168e+02] [ 7.12450349e-01 -7.01685378e-01 -7.22015677e-03 -2.79820672e+02] [ 1.00417450e-02 -9.34150068e-05 9.99949576e-01 -8.97449650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.330385723 meters 0.014135278545086248 Centerline is valid? [True, True] Translation: X:-166.72, Y:-279.80, Z:-8.97 [[-7.01964324e-01 -7.12181350e-01 6.61916215e-03 -1.66719419e+02] [ 7.12148474e-01 -7.01995525e-01 -6.84352154e-03 -2.79802463e+02] [ 9.52045061e-03 -9.00817415e-05 9.99954676e-01 -8.97387152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.360385723 meters 0.014157243534583199 Centerline is valid? [True, True] Translation: X:-166.74, Y:-279.79, Z:-8.97 [[-7.02046256e-01 -7.12108333e-01 5.72503829e-03 -1.66741019e+02] [ 7.12083767e-01 -7.02069595e-01 -5.91544238e-03 -2.79785262e+02] [ 8.23181113e-03 -7.62073372e-05 9.99966115e-01 -8.97251643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.390385723 meters 0.014204387715635113 Centerline is valid? [True, True] Translation: X:-166.76, Y:-279.77, Z:-8.97 [[-7.02313486e-01 -7.11846954e-01 5.44802103e-03 -1.66761131e+02] [ 7.11824727e-01 -7.02334613e-01 -5.62576219e-03 -2.79767373e+02] [ 7.83101542e-03 -7.30125732e-05 9.99969335e-01 -8.97214225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.420385723 meters 0.0142334088094874 Centerline is valid? [True, True] Translation: X:-166.78, Y:-279.75, Z:-8.97 [[-7.02428310e-01 -7.11735678e-01 5.17618240e-03 -1.66780872e+02] [ 7.11715637e-01 -7.02447378e-01 -5.34162217e-03 -2.79749577e+02] [ 7.43781883e-03 -6.81366806e-05 9.99972337e-01 -8.97219333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.450385723 meters 0.014389710627992726 Centerline is valid? [True, True] Translation: X:-166.80, Y:-279.73, Z:-8.97 [[-7.02483876e-01 -7.11678890e-01 5.43712490e-03 -1.66801801e+02] [ 7.11656803e-01 -7.02504913e-01 -5.60732017e-03 -2.79732870e+02] [ 7.81021835e-03 -6.96850796e-05 9.99969497e-01 -8.97243691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4803857229999 meters 0.01424950943421562 Centerline is valid? [True, True] Translation: X:-166.82, Y:-279.72, Z:-8.97 [[-7.02755127e-01 -7.11404959e-01 6.18186570e-03 -1.66823449e+02] [ 7.11376431e-01 -7.02782312e-01 -6.37147159e-03 -2.79716421e+02] [ 8.87720235e-03 -7.99507623e-05 9.99960594e-01 -8.97283745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.510385723 meters 0.014361130028001236 Centerline is valid? [True, True] Translation: X:-166.84, Y:-279.70, Z:-8.97 [[-7.03013856e-01 -7.11145493e-01 6.60355798e-03 -1.66842629e+02] [ 7.11112959e-01 -7.03044864e-01 -6.80288014e-03 -2.79698627e+02] [ 9.48043507e-03 -8.66433439e-05 9.99955056e-01 -8.97354473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.540385723 meters 0.014221395321266652 Centerline is valid? [True, True] Translation: X:-166.86, Y:-279.68, Z:-8.97 [[-7.03948476e-01 -7.10220910e-01 6.54240397e-03 -1.66864905e+02] [ 7.10188971e-01 -7.03978871e-01 -6.73613969e-03 -2.79680693e+02] [ 9.38986142e-03 -9.55521282e-05 9.99955910e-01 -8.97250391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.570385723 meters 0.014309290799779982 Centerline is valid? [True, True] Translation: X:-166.89, Y:-279.66, Z:-8.97 [[-7.04425041e-01 -7.09745460e-01 6.83693589e-03 -1.66885310e+02] [ 7.09710596e-01 -7.04458212e-01 -7.03549529e-03 -2.79661792e+02] [ 9.80974647e-03 -1.03733211e-04 9.99951878e-01 -8.97232139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6003857229999 meters 0.014534113481418682 Centerline is valid? [True, True] Translation: X:-166.91, Y:-279.64, Z:-8.97 [[-7.05292826e-01 -7.08884071e-01 6.73828160e-03 -1.66907040e+02] [ 7.08850203e-01 -7.05325005e-01 -6.93016544e-03 -2.79643584e+02] [ 9.66536238e-03 -1.11363684e-04 9.99953283e-01 -8.97289870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.630385723 meters 0.014679139758355051 Centerline is valid? [True, True] Translation: X:-166.93, Y:-279.63, Z:-8.97 [[-7.06260631e-01 -7.07918275e-01 6.90199839e-03 -1.66926743e+02] [ 7.07882741e-01 -7.06294344e-01 -7.09394330e-03 -2.79626378e+02] [ 9.89677453e-03 -1.24367335e-04 9.99951018e-01 -8.97294083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.660385723 meters 0.014713251044667974 Centerline is valid? [True, True] Translation: X:-166.95, Y:-279.61, Z:-8.97 [[-7.06700496e-01 -7.07480552e-01 6.75847437e-03 -1.66946741e+02] [ 7.07446502e-01 -7.06732801e-01 -6.94220886e-03 -2.79607180e+02] [ 9.68791328e-03 -1.24803391e-04 9.99953063e-01 -8.97264573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.690385723 meters 0.014681387661657072 Centerline is valid? [True, True] Translation: X:-166.97, Y:-279.59, Z:-8.97 [[-7.07354090e-01 -7.06830653e-01 6.37341845e-03 -1.66967670e+02] [ 7.06800379e-01 -7.07382791e-01 -6.54306161e-03 -2.79588872e+02] [ 9.13328304e-03 -1.23526817e-04 9.99958283e-01 -8.97178899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7203857229999 meters 0.014610094176697954 Centerline is valid? [True, True] Translation: X:-166.99, Y:-279.57, Z:-8.97 [[-7.07405249e-01 -7.06780307e-01 6.27787110e-03 -1.66987931e+02] [ 7.06750964e-01 -7.07433095e-01 -6.44141004e-03 -2.79569358e+02] [ 8.99383554e-03 -1.19795823e-04 9.99959548e-01 -8.97142415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.750385723 meters 0.0161103098320859 Centerline is valid? [True, True] Translation: X:-167.01, Y:-279.55, Z:-8.97 [[-7.07786683e-01 -7.06394732e-01 6.67037918e-03 -1.67008759e+02] [ 7.06361624e-01 -7.07818102e-01 -6.84033230e-03 -2.79551105e+02] [ 9.55338983e-03 -1.29796236e-04 9.99954357e-01 -8.97230604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.780385723 meters 0.014719923562880393 Centerline is valid? [True, True] Translation: X:-167.03, Y:-279.53, Z:-8.97 [[-7.07428696e-01 -7.06755649e-01 6.41034437e-03 -1.67027877e+02] [ 7.06725122e-01 -7.07457729e-01 -6.56988129e-03 -2.79532304e+02] [ 9.17834839e-03 -1.17371145e-04 9.99957871e-01 -8.97122236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.810385723 meters 0.014399444316489202 Centerline is valid? [True, True] Translation: X:-167.05, Y:-279.51, Z:-8.97 [[-7.06308100e-01 -7.07877282e-01 6.21470772e-03 -1.67049195e+02] [ 7.07848664e-01 -7.06335434e-01 -6.36589635e-03 -2.79514328e+02] [ 8.89594167e-03 -9.72115979e-05 9.99960426e-01 -8.97091864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8403857229999 meters 0.014205702072695156 Centerline is valid? [True, True] Translation: X:-167.07, Y:-279.50, Z:-8.97 [[-7.05631625e-01 -7.08551177e-01 6.26417501e-03 -1.67070011e+02] [ 7.08522160e-01 -7.05659424e-01 -6.41304145e-03 -2.79495615e+02] [ 8.96434220e-03 -8.69380493e-05 9.99959816e-01 -8.97061772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.870385723 meters 0.013889943831419893 Centerline is valid? [True, True] Translation: X:-167.09, Y:-279.48, Z:-8.97 [[-7.03982988e-01 -7.10187830e-01 6.41863176e-03 -1.67090986e+02] [ 7.10157471e-01 -7.04012246e-01 -6.56691676e-03 -2.79478772e+02] [ 9.18253972e-03 -6.47583885e-05 9.99957838e-01 -8.97158567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.900385723 meters 0.014320999033016498 Centerline is valid? [True, True] Translation: X:-167.11, Y:-279.46, Z:-8.97 [[-7.03343943e-01 -7.10819499e-01 6.55267682e-03 -1.67109493e+02] [ 7.10787926e-01 -7.03374464e-01 -6.69978306e-03 -2.79459908e+02] [ 9.37132199e-03 -5.46882682e-05 9.99956087e-01 -8.97400056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.930385723 meters 0.013619588209501165 Centerline is valid? [True, True] Translation: X:-167.13, Y:-279.44, Z:-8.97 [[-7.01912139e-01 -7.12233257e-01 6.56785569e-03 -1.67131670e+02] [ 7.12201635e-01 -7.01942866e-01 -6.71156147e-03 -2.79442695e+02] [ 9.39045672e-03 -3.32889095e-05 9.99955908e-01 -8.97103699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.960385723 meters 0.013608649172649721 Centerline is valid? [True, True] Translation: X:-167.15, Y:-279.42, Z:-8.97 [[-7.01341264e-01 -7.12797136e-01 6.37765404e-03 -1.67151267e+02] [ 7.12767377e-01 -7.01370260e-01 -6.51336747e-03 -2.79423394e+02] [ 9.11580656e-03 -2.23096290e-05 9.99958450e-01 -8.97135852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.990385723 meters 0.013361416949066333 Centerline is valid? [True, True] Translation: X:-167.17, Y:-279.40, Z:-8.97 [[-7.00326106e-01 -7.13794239e-01 6.41319477e-03 -1.67171824e+02] [ 7.13764223e-01 -7.00355470e-01 -6.54602567e-03 -2.79403765e+02] [ 9.16403145e-03 -6.84368858e-06 9.99958009e-01 -8.97008964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.020385723 meters 0.013373609159495358 Centerline is valid? [True, True] Translation: X:-167.19, Y:-279.38, Z:-8.97 [[-7.00061488e-01 -7.14054201e-01 6.36477501e-03 -1.67191537e+02] [ 7.14024680e-01 -7.00090421e-01 -6.49294825e-03 -2.79384332e+02] [ 9.09223500e-03 -8.56579785e-07 9.99958665e-01 -8.96973695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.050385723 meters 0.013361967785382936 Centerline is valid? [True, True] Translation: X:-167.21, Y:-279.37, Z:-8.97 [[-6.99365106e-01 -7.14734310e-01 6.58134541e-03 -1.67211175e+02] [ 7.14702813e-01 -6.99396072e-01 -6.70989700e-03 -2.79365409e+02] [ 9.39876073e-03 1.10382460e-05 9.99955831e-01 -8.97047372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.080385723 meters 0.013304834924957688 Centerline is valid? [True, True] Translation: X:-167.23, Y:-279.35, Z:-8.97 [[-6.98580603e-01 -7.15496294e-01 7.08477927e-03 -1.67231268e+02] [ 7.15459874e-01 -6.98616528e-01 -7.21920119e-03 -2.79345881e+02] [ 1.01148556e-02 2.56813604e-05 9.99948843e-01 -8.97066147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.110385723 meters 0.013273182690108685 Centerline is valid? [True, True] Translation: X:-167.25, Y:-279.33, Z:-8.97 [[-6.98564374e-01 -7.15513607e-01 6.93490602e-03 -1.67250722e+02] [ 7.15478751e-01 -6.98598795e-01 -7.06255751e-03 -2.79326199e+02] [ 9.89807299e-03 2.81268300e-05 9.99951013e-01 -8.97027671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.140385723 meters 0.013231608704121283 Centerline is valid? [True, True] Translation: X:-167.27, Y:-279.31, Z:-8.97 [[-6.97994967e-01 -7.16072045e-01 6.62213072e-03 -1.67269926e+02] [ 7.16040313e-01 -6.98026379e-01 -6.74129137e-03 -2.79307003e+02] [ 9.44967222e-03 3.63251067e-05 9.99955350e-01 -8.97077615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.170385723 meters 0.015748830671978874 Centerline is valid? [True, True] Translation: X:-167.29, Y:-279.29, Z:-8.97 [[-6.98275032e-01 -7.15795561e-01 6.97821799e-03 -1.67289701e+02] [ 7.15760350e-01 -6.98309898e-01 -7.09978445e-03 -2.79286466e+02] [ 9.95495289e-03 3.71295417e-05 9.99950448e-01 -8.97246789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.200385723 meters 0.013223747081289688 Centerline is valid? [True, True] Translation: X:-167.31, Y:-279.27, Z:-8.97 [[-6.97724692e-01 -7.16335064e-01 6.65813659e-03 -1.67308621e+02] [ 7.16303061e-01 -6.97756458e-01 -6.77133442e-03 -2.79266595e+02] [ 9.49630208e-03 4.47163983e-05 9.99954908e-01 -8.97057461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2303857229999 meters 0.013223747081289688 Centerline is valid? [True, True] Translation: X:-167.33, Y:-279.25, Z:-8.97 [[-6.97924722e-01 -7.16140159e-01 6.66002763e-03 -1.67328003e+02] [ 7.16108165e-01 -6.97956496e-01 -6.76947448e-03 -2.79246967e+02] [ 9.49630208e-03 4.47165682e-05 9.99954908e-01 -8.97057467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.260385723 meters 0.013207261335611465 Centerline is valid? [True, True] Translation: X:-167.35, Y:-279.23, Z:-8.97 [[-6.97949131e-01 -7.16115504e-01 6.75248107e-03 -1.67347695e+02] [ 7.16082651e-01 -6.97981793e-01 -6.85961728e-03 -2.79226805e+02] [ 9.62538713e-03 4.76706225e-05 9.99953674e-01 -8.97085949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.290385723 meters 0.013268486269090838 Centerline is valid? [True, True] Translation: X:-167.37, Y:-279.21, Z:-8.97 [[-6.98089435e-01 -7.15975694e-01 7.06733347e-03 -1.67365817e+02] [ 7.15939728e-01 -6.98125206e-01 -7.17654402e-03 -2.79207036e+02] [ 1.00721147e-02 4.99152386e-05 9.99949274e-01 -8.97109266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.320385723 meters 0.013312574897082806 Centerline is valid? [True, True] Translation: X:-167.39, Y:-279.19, Z:-8.97 [[-6.98138987e-01 -7.15928340e-01 6.96897356e-03 -1.67385320e+02] [ 7.15893405e-01 -6.98173767e-01 -7.07271597e-03 -2.79186280e+02] [ 9.92911233e-03 5.13034454e-05 9.99950704e-01 -8.97074331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3503857229999 meters 0.013261392538627171 Centerline is valid? [True, True] Translation: X:-167.40, Y:-279.17, Z:-8.97 [[-6.98289528e-01 -7.15776956e-01 7.42189668e-03 -1.67403210e+02] [ 7.15737371e-01 -6.98328967e-01 -7.52795218e-03 -2.79166179e+02] [ 1.05712601e-02 5.54386362e-05 9.99944121e-01 -8.97084264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.380385723 meters 0.01325504044585031 Centerline is valid? [True, True] Translation: X:-167.42, Y:-279.15, Z:-8.97 [[-6.98224419e-01 -7.15836821e-01 7.76569458e-03 -1.67421825e+02] [ 7.15793538e-01 -6.98267600e-01 -7.87206643e-03 -2.79146031e+02] [ 1.10576479e-02 6.21649874e-05 9.99938861e-01 -8.97133034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.410385723 meters 0.013341150624450241 Centerline is valid? [True, True] Translation: X:-167.44, Y:-279.13, Z:-8.97 [[-6.98248102e-01 -7.15809027e-01 8.18683820e-03 -1.67441031e+02] [ 7.15760980e-01 -6.98296092e-01 -8.29386845e-03 -2.79126217e+02] [ 1.16536630e-02 6.86414233e-05 9.99932092e-01 -8.97165003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.440385723 meters 0.013460006188033228 Centerline is valid? [True, True] Translation: X:-167.46, Y:-279.11, Z:-8.97 [[-6.97771506e-01 -7.16265503e-01 8.86876675e-03 -1.67459217e+02] [ 7.16209220e-01 -6.97827860e-01 -8.97952925e-03 -2.79106534e+02] [ 1.26205996e-02 8.62328691e-05 9.99920353e-01 -8.97252202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4703857229999 meters 0.013460288420285862 Centerline is valid? [True, True] Translation: X:-167.48, Y:-279.09, Z:-8.97 [[-6.97898155e-01 -7.16145615e-01 8.58038424e-03 -1.67477754e+02] [ 7.16092989e-01 -6.97950894e-01 -8.68224685e-03 -2.79086901e+02] [ 1.22064399e-02 8.50289373e-05 9.99925495e-01 -8.97276604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.500385723 meters 0.013324999755092702 Centerline is valid? [True, True] Translation: X:-167.49, Y:-279.07, Z:-8.97 [[-6.98206973e-01 -7.15847150e-01 8.35949401e-03 -1.67494508e+02] [ 7.15797241e-01 -6.98257010e-01 -8.45333924e-03 -2.79066907e+02] [ 1.18883741e-02 8.15223425e-05 9.99929328e-01 -8.97243298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.530385723 meters 0.013311310698989023 Centerline is valid? [True, True] Translation: X:-167.51, Y:-279.05, Z:-8.97 [[-6.98383503e-01 -7.15678496e-01 8.04820602e-03 -1.67512108e+02] [ 7.15632266e-01 -6.98429871e-01 -8.13478831e-03 -2.79047002e+02] [ 1.14430005e-02 7.83539552e-05 9.99934524e-01 -8.97236241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.560385723 meters 0.013017610065302864 Centerline is valid? [True, True] Translation: X:-167.53, Y:-279.03, Z:-8.97 [[-6.98702181e-01 -7.15367881e-01 8.00361369e-03 -1.67529974e+02] [ 7.15322195e-01 -6.98748016e-01 -8.08505712e-03 -2.79025777e+02] [ 1.13762994e-02 7.61154673e-05 9.99935285e-01 -8.97050833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5903857229999 meters 0.013274079816119283 Centerline is valid? [True, True] Translation: X:-167.55, Y:-279.01, Z:-8.97 [[-6.99119920e-01 -7.14960665e-01 7.91106610e-03 -1.67548738e+02] [ 7.14916058e-01 -6.99164675e-01 -7.98670152e-03 -2.79006417e+02] [ 1.12413154e-02 7.20860637e-05 9.99936812e-01 -8.97216628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.620385723 meters 0.012989357925861016 Centerline is valid? [True, True] Translation: X:-167.57, Y:-278.98, Z:-8.97 [[-6.99705089e-01 -7.14391981e-01 7.54222361e-03 -1.67565248e+02] [ 7.14351450e-01 -6.99745735e-01 -7.61005246e-03 -2.78983724e+02] [ 1.07141993e-02 6.30059362e-05 9.99942599e-01 -8.96947372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.650385723 meters 0.012933659198459546 Centerline is valid? [True, True] Translation: X:-167.58, Y:-278.96, Z:-8.97 [[-7.00487240e-01 -7.13630620e-01 6.99749941e-03 -1.67582719e+02] [ 7.13595733e-01 -7.00522188e-01 -7.05649749e-03 -2.78962200e+02] [ 9.93763627e-03 5.03992736e-05 9.99950619e-01 -8.96956740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.680385723 meters 0.014540196306759413 Centerline is valid? [True, True] Translation: X:-167.60, Y:-278.94, Z:-8.97 [[-7.01281601e-01 -7.12847135e-01 7.28554763e-03 -1.67601443e+02] [ 7.12809317e-01 -7.01319443e-01 -7.34283535e-03 -2.78940947e+02] [ 1.03438153e-02 4.38109005e-05 9.99946500e-01 -8.97014765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.710385723 meters 0.012826749592677086 Centerline is valid? [True, True] Translation: X:-167.62, Y:-278.92, Z:-8.97 [[-7.02369436e-01 -7.11780825e-01 6.72554915e-03 -1.67618658e+02] [ 7.11748587e-01 -7.02401635e-01 -6.77443761e-03 -2.78919713e+02] [ 9.54595151e-03 2.87421744e-05 9.99954436e-01 -8.96932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.740385723 meters 0.012802463338029238 Centerline is valid? [True, True] Translation: X:-167.64, Y:-278.90, Z:-8.97 [[-7.03369895e-01 -7.10790935e-01 6.85843429e-03 -1.67635644e+02] [ 7.10757407e-01 -7.03403331e-01 -6.90380097e-03 -2.78900250e+02] [ 9.73140467e-03 1.87572054e-05 9.99952649e-01 -8.96998877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.770385723 meters 0.013747060237955659 Centerline is valid? [True, True] Translation: X:-167.65, Y:-278.88, Z:-8.97 [[-7.05269752e-01 -7.08901468e-01 7.29976749e-03 -1.67652053e+02] [ 7.08863426e-01 -7.05307528e-01 -7.34395173e-03 -2.78877465e+02] [ 1.03547191e-02 -4.92881952e-06 9.99946389e-01 -8.97067348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.800385723 meters 0.014618272483903511 Centerline is valid? [True, True] Translation: X:-167.67, Y:-278.86, Z:-8.97 [[-7.07338509e-01 -7.06835023e-01 7.51563337e-03 -1.67668245e+02] [ 7.06794629e-01 -7.07378435e-01 -7.55667504e-03 -2.78855129e+02] [ 1.06577195e-02 -3.31179576e-05 9.99943204e-01 -8.97146241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.830385723 meters 0.013140939267433125 Centerline is valid? [True, True] Translation: X:-167.69, Y:-278.83, Z:-8.97 [[-7.08379989e-01 -7.05793161e-01 7.33519962e-03 -1.67685728e+02] [ 7.05754677e-01 -7.08417964e-01 -7.37049106e-03 -2.78834895e+02] [ 1.03984294e-02 -4.42569371e-05 9.99945934e-01 -8.97066459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.860385723 meters 0.014545817236996895 Centerline is valid? [True, True] Translation: X:-167.70, Y:-278.81, Z:-8.97 [[-7.10765036e-01 -7.03390059e-01 7.44912116e-03 -1.67703162e+02] [ 7.03350281e-01 -7.10804066e-01 -7.48079363e-03 -2.78811969e+02] [ 1.05567815e-02 -7.77450879e-05 9.99944273e-01 -8.97126189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.890385723 meters 0.01339152346684969 Centerline is valid? [True, True] Translation: X:-167.72, Y:-278.79, Z:-8.97 [[-7.11716140e-01 -7.02429282e-01 7.29651891e-03 -1.67722052e+02] [ 7.02391110e-01 -7.11753536e-01 -7.32346934e-03 -2.78790596e+02] [ 1.03375424e-02 -8.72213173e-05 9.99946563e-01 -8.96997077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.920385723 meters 0.013522375185574507 Centerline is valid? [True, True] Translation: X:-167.74, Y:-278.77, Z:-8.97 [[-7.13278607e-01 -7.00843992e-01 7.16435043e-03 -1.67738763e+02] [ 7.00807150e-01 -7.13314578e-01 -7.18684090e-03 -2.78768001e+02] [ 1.01472899e-02 -1.05391851e-04 9.99948510e-01 -8.96983372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.950385723 meters 0.013587557186570964 Centerline is valid? [True, True] Translation: X:-167.76, Y:-278.75, Z:-8.97 [[-7.14000533e-01 -7.00110108e-01 7.00546168e-03 -1.67757619e+02] [ 7.00074885e-01 -7.14034891e-01 -7.02353659e-03 -2.78746787e+02] [ 9.91939302e-03 -1.10461081e-04 9.99950796e-01 -8.96947930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9803857229999 meters 0.013881854287526873 Centerline is valid? [True, True] Translation: X:-167.77, Y:-278.73, Z:-8.97 [[-7.14180639e-01 -6.99924771e-01 7.16448376e-03 -1.67774553e+02] [ 6.99887965e-01 -7.14216566e-01 -7.17873889e-03 -2.78725919e+02] [ 1.01415702e-02 -1.12580372e-04 9.99948567e-01 -8.96998040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.010385723 meters 0.01385655069066804 Centerline is valid? [True, True] Translation: X:-167.79, Y:-278.71, Z:-8.97 [[-7.14227889e-01 -6.99876991e-01 7.12180667e-03 -1.67793872e+02] [ 6.99840663e-01 -7.14263387e-01 -7.13163084e-03 -2.78706321e+02] [ 1.00781101e-02 -1.09479736e-04 9.99949209e-01 -8.97033649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.040385723 meters 0.013446969443747351 Centerline is valid? [True, True] Translation: X:-167.81, Y:-278.69, Z:-8.97 [[-7.13473531e-01 -7.00641735e-01 7.52862641e-03 -1.67813395e+02] [ 7.00601226e-01 -7.13513244e-01 -7.53486331e-03 -2.78686513e+02] [ 1.06510144e-02 -1.01360637e-04 9.99943271e-01 -8.97093473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.070385723 meters 0.013527325426521769 Centerline is valid? [True, True] Translation: X:-167.83, Y:-278.67, Z:-8.97 [[-7.12788923e-01 -7.01338156e-01 7.53272470e-03 -1.67831408e+02] [ 7.01297680e-01 -7.12828719e-01 -7.53535107e-03 -2.78667739e+02] [ 1.06543717e-02 -8.84324231e-05 9.99943237e-01 -8.97149941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1003857229999 meters 0.013093375531186925 Centerline is valid? [True, True] Translation: X:-167.85, Y:-278.65, Z:-8.97 [[-7.10976815e-01 -7.03172621e-01 7.76106260e-03 -1.67850812e+02] [ 7.03129815e-01 -7.11019172e-01 -7.75892225e-03 -2.78648325e+02] [ 1.09741260e-02 -5.93793246e-05 9.99939781e-01 -8.97113447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.130385723 meters 0.013264984184804353 Centerline is valid? [True, True] Translation: X:-168.42, Y:-279.21, Z:-8.10 [[-7.52657300e-01 6.58356504e-01 8.58502193e-03 -1.68417475e+02] [ 6.58314410e-01 7.52706259e-01 -7.44485952e-03 -2.79211439e+02] [-1.13633714e-02 4.82157778e-05 -9.99935434e-01 -8.10167647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.160385723 meters 0.013115900892990475 Centerline is valid? [True, True] Translation: X:-168.39, Y:-279.20, Z:-8.10 [[-7.98655739e-01 6.01725974e-01 8.65233007e-03 -1.68386870e+02] [ 6.01690969e-01 7.98702606e-01 -6.49038545e-03 -2.79199898e+02] [-1.08160721e-02 2.24452752e-05 -9.99941504e-01 -8.10274033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.190385723 meters 0.013193114498502408 Centerline is valid? [True, True] Translation: X:-167.90, Y:-278.56, Z:-8.97 [[-7.58375785e-01 -6.51768203e-01 8.02367103e-03 -1.67904467e+02] [ 6.51731245e-01 -7.58418228e-01 -6.94082401e-03 -2.78563737e+02] [ 1.06091068e-02 -3.44757369e-05 9.99943721e-01 -8.97106666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2203857229999 meters 0.013386624520032695 Centerline is valid? [True, True] Translation: X:-168.42, Y:-279.17, Z:-8.10 [[-8.02401379e-01 5.96726752e-01 8.31923791e-03 -1.68424634e+02] [ 5.96694604e-01 8.02444505e-01 -6.19407730e-03 -2.79173595e+02] [-1.03718984e-02 -6.09180504e-06 -9.99946211e-01 -8.10217075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.250385723 meters 0.014634662051927413 Centerline is valid? [True, True] Translation: X:-167.94, Y:-278.53, Z:-8.97 [[-7.59166253e-01 -6.50843572e-01 8.32132611e-03 -1.67943816e+02] [ 6.50805049e-01 -7.59211857e-01 -7.08134202e-03 -2.78533728e+02] [ 1.09264954e-02 3.96451526e-05 9.99940303e-01 -8.97237653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.280385723 meters 0.013548565677584366 Centerline is valid? [True, True] Translation: X:-167.96, Y:-278.56, Z:-8.97 [[-7.12129667e-01 -7.02009015e-01 7.39463678e-03 -1.67959716e+02] [ 7.01971708e-01 -7.12168057e-01 -7.23741604e-03 -2.78560866e+02] [ 1.03469554e-02 3.68471407e-05 9.99946468e-01 -8.97168496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.310385723 meters 0.013596128146426498 Centerline is valid? [True, True] Translation: X:-168.52, Y:-279.14, Z:-8.10 [[-7.65637417e-01 6.43221405e-01 8.09757992e-03 -1.68516377e+02] [ 6.43184683e-01 7.65680235e-01 -6.87329643e-03 -2.79143125e+02] [-1.06212083e-02 -5.42135548e-05 -9.99943592e-01 -8.10350085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3403857229999 meters 0.01348683307147909 Centerline is valid? [True, True] Translation: X:-168.49, Y:-279.13, Z:-8.10 [[-8.09527017e-01 5.87016026e-01 8.84271767e-03 -1.68492760e+02] [ 5.86980172e-01 8.09575309e-01 -6.48817823e-03 -2.79126004e+02] [-1.09675105e-02 -6.18556261e-05 -9.99939853e-01 -8.10347114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.370385723 meters 0.013599612781617445 Centerline is valid? [True, True] Translation: X:-168.48, Y:-279.10, Z:-8.10 [[-8.49460248e-01 5.27567248e-01 9.49139143e-03 -1.68477882e+02] [ 5.27533367e-01 8.49513269e-01 -5.97940627e-03 -2.79103532e+02] [-1.12176019e-02 -7.22422512e-05 -9.99937078e-01 -8.10354925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.400385723 meters 0.013680361040831753 Centerline is valid? [True, True] Translation: X:-168.47, Y:-279.08, Z:-8.10 [[-8.85089289e-01 4.65288440e-01 1.11183897e-02 -1.68469939e+02] [ 4.65250407e-01 8.85159115e-01 -5.94975771e-03 -2.79076897e+02] [-1.26098975e-02 -9.32314803e-05 -9.99920488e-01 -8.10321341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.430385723 meters 0.013909970720212956 Centerline is valid? [True, True] Translation: X:-168.44, Y:-279.06, Z:-8.10 [[-9.15831826e-01 4.01388083e-01 1.18183676e-02 -1.68442108e+02] [ 4.01353274e-01 9.15908073e-01 -5.28697293e-03 -2.79059522e+02] [-1.29466663e-02 -9.86375176e-05 -9.99916184e-01 -8.10238990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.460385723 meters 0.013929765914764367 Centerline is valid? [True, True] Translation: X:-168.43, Y:-279.04, Z:-8.10 [[-9.42066508e-01 3.35167668e-01 1.31654234e-02 -1.68425820e+02] [ 3.35133279e-01 9.42158491e-01 -4.80241431e-03 -2.79038055e+02] [-1.40135294e-02 -1.12022169e-04 -9.99901800e-01 -8.10244903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.490385723 meters 0.013849802690420457 Centerline is valid? [True, True] Translation: X:-168.14, Y:-278.27, Z:-8.97 [[-9.10832862e-01 -4.12566026e-01 1.31442640e-02 -1.68142724e+02] [ 4.12525234e-01 -9.10927690e-01 -5.80307510e-03 -2.78265028e+02] [ 1.43676256e-02 1.36709061e-04 9.99896771e-01 -8.96996091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.520385723 meters 0.013893223688026672 Centerline is valid? [True, True] Translation: X:-168.48, Y:-279.02, Z:-8.10 [[-9.43383571e-01 3.31431472e-01 1.34394053e-02 -1.68483262e+02] [ 3.31396064e-01 9.43479287e-01 -4.84597911e-03 -2.79022730e+02] [-1.42859105e-02 -1.17851051e-04 -9.99897944e-01 -8.10360227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.550385723 meters 0.01420108861772769 Centerline is valid? [True, True] Translation: X:-168.19, Y:-278.24, Z:-8.97 [[-9.12020553e-01 -4.09941962e-01 1.28879329e-02 -1.68191455e+02] [ 4.09902638e-01 -9.12111604e-01 -5.67891005e-03 -2.78243719e+02] [ 1.40832567e-02 1.03515021e-04 9.99900821e-01 -8.97069103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.580385723 meters 0.013969820387138041 Centerline is valid? [True, True] Translation: X:-168.52, Y:-279.01, Z:-8.10 [[-9.44931416e-01 3.27007480e-01 1.30662941e-02 -1.68518527e+02] [ 3.26974359e-01 9.45021742e-01 -4.65578711e-03 -2.79014135e+02] [-1.38704092e-02 -1.27056361e-04 -9.99903793e-01 -8.10363706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.610385723 meters 0.014122868675679887 Centerline is valid? [True, True] Translation: X:-168.53, Y:-278.98, Z:-8.10 [[-9.66138661e-01 2.57708426e-01 1.27457658e-02 -1.68529983e+02] [ 2.57684052e-01 9.66222721e-01 -3.54718788e-03 -2.78982503e+02] [-1.32293887e-02 -1.42694772e-04 -9.99912478e-01 -8.10443935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.640385723 meters 0.014165585117874895 Centerline is valid? [True, True] Translation: X:-168.51, Y:-278.96, Z:-8.10 [[-9.82164555e-01 1.87600994e-01 1.25958124e-02 -1.68508150e+02] [ 1.87583599e-01 9.82245308e-01 -2.55915223e-03 -2.78960222e+02] [-1.28522771e-02 -1.50740803e-04 -9.99917395e-01 -8.10399843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.670385723 meters 0.014215812144222321 Centerline is valid? [True, True] Translation: X:-168.51, Y:-278.93, Z:-8.10 [[-9.93026733e-01 1.17161128e-01 1.30834595e-02 -1.68513840e+02] [ 1.17148850e-01 9.93112906e-01 -1.70356196e-03 -2.78931634e+02] [-1.31929438e-02 -1.58970334e-04 -9.99912957e-01 -8.10406300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.700385723 meters 0.01435727873189293 Centerline is valid? [True, True] Translation: X:-168.41, Y:-278.09, Z:-8.97 [[-9.78033007e-01 -2.08040649e-01 1.30585231e-02 -1.68411466e+02] [ 2.08024402e-01 -9.78120167e-01 -2.60544522e-03 -2.78089385e+02] [ 1.33148433e-02 1.68280025e-04 9.99911340e-01 -8.96940243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7303857229999 meters 0.01409353010905999 Centerline is valid? [True, True] Translation: X:-168.57, Y:-278.93, Z:-8.10 [[-9.93727636e-01 1.11008738e-01 1.35072204e-02 -1.68573929e+02] [ 1.10996143e-01 9.93819416e-01 -1.68087780e-03 -2.78927627e+02] [-1.36103300e-02 -1.71085359e-04 -9.99907361e-01 -8.10477352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.760385723 meters 0.013987019818514412 Centerline is valid? [True, True] Translation: X:-168.57, Y:-278.90, Z:-8.10 [[-9.99046966e-01 4.15648096e-02 1.33239351e-02 -1.68566357e+02] [ 4.15591217e-02 9.99135799e-01 -7.03607351e-04 -2.78902387e+02] [-1.33416659e-02 -1.49205748e-04 -9.99910985e-01 -8.10462178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.790385723 meters 0.013839832970998826 Centerline is valid? [True, True] Translation: X:-168.56, Y:-278.88, Z:-8.11 [[-9.99511839e-01 -2.83307444e-02 1.31701625e-02 -1.68562512e+02] [-2.83300109e-02 9.99598595e-01 2.42292575e-04 -2.78875781e+02] [-1.31717403e-02 -1.30936550e-04 -9.99913240e-01 -8.10512201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.820385723 meters 0.013513962211749535 Centerline is valid? [True, True] Translation: X:-168.62, Y:-278.01, Z:-8.97 [[-9.98283208e-01 -5.71440625e-02 1.28527274e-02 -1.68623566e+02] [ 5.71407298e-02 -9.98365937e-01 -6.26675111e-04 -2.78007386e+02] [ 1.28675360e-02 1.08814980e-04 9.99917204e-01 -8.96722984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8503857229999 meters 0.013371155987507332 Centerline is valid? [True, True] Translation: X:-168.70, Y:-278.88, Z:-8.11 [[-9.99394434e-01 -3.22918152e-02 1.29616692e-02 -1.68698173e+02] [-3.22902880e-02 9.99478479e-01 3.27137549e-04 -2.78883013e+02] [-1.29654732e-02 -9.15965847e-05 -9.99915941e-01 -8.10683304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.880385723 meters 0.014980295723220403 Centerline is valid? [True, True] Translation: X:-168.71, Y:-278.00, Z:-8.97 [[-9.98772194e-01 -4.75036848e-02 1.40536635e-02 -1.68712611e+02] [ 4.75013786e-02 -9.98871048e-01 -4.98040632e-04 -2.78004305e+02] [ 1.40614563e-02 1.70139254e-04 9.99901118e-01 -8.96883835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.910385723 meters 0.013409058342729626 Centerline is valid? [True, True] Translation: X:-168.79, Y:-278.89, Z:-8.11 [[-9.99179458e-01 -3.80328777e-02 1.39251961e-02 -1.68789835e+02] [-3.80303850e-02 9.99276485e-01 4.43864221e-04 -2.78886132e+02] [-1.39320024e-02 -8.60805561e-05 -9.99902941e-01 -8.10638653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.940385723 meters 0.013450028084664278 Centerline is valid? [True, True] Translation: X:-168.79, Y:-278.86, Z:-8.11 [[-9.93902772e-01 -1.09394668e-01 1.37871914e-02 -1.68792778e+02] [-1.09385402e-01 9.93998390e-01 1.42668904e-03 -2.78856550e+02] [-1.38605182e-02 -9.01272794e-05 -9.99903934e-01 -8.10588267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9703857229999 meters 0.013646222725934212 Centerline is valid? [True, True] Translation: X:-168.82, Y:-278.83, Z:-8.10 [[-9.83463293e-01 -1.80579293e-01 1.38228478e-02 -1.68815392e+02] [-1.80562880e-01 9.83560425e-01 2.43670065e-03 -2.78828890e+02] [-1.40356238e-02 -9.94875679e-05 -9.99901491e-01 -8.10485872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.000385723 meters 0.01358398343294766 Centerline is valid? [True, True] Translation: X:-168.99, Y:-277.97, Z:-8.97 [[-9.94909080e-01 9.97661856e-02 1.42348361e-02 -1.68991110e+02] [-9.97542446e-02 -9.95010901e-01 1.54821039e-03 -2.77972736e+02] [ 1.43182762e-02 1.20343250e-04 9.99897481e-01 -8.96837682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.030385723 meters 0.013411403879166398 Centerline is valid? [True, True] Translation: X:-168.96, Y:-278.85, Z:-8.11 [[-9.82236193e-01 -1.87139875e-01 1.38104408e-02 -1.68955477e+02] [-1.87122570e-01 9.82333274e-01 2.54623751e-03 -2.78850899e+02] [-1.40429581e-02 -8.32385465e-05 -9.99901389e-01 -8.10503840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.060385723 meters 0.013255296269763952 Centerline is valid? [True, True] Translation: X:-168.99, Y:-278.83, Z:-8.10 [[-9.66565460e-01 -2.56060064e-01 1.35814163e-02 -1.68987330e+02] [-2.56035596e-01 9.66660872e-01 3.54021374e-03 -2.78828750e+02] [-1.40351311e-02 -5.54776922e-05 -9.99901501e-01 -8.10470101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0903857229999 meters 0.01324186839907534 Centerline is valid? [True, True] Translation: X:-169.05, Y:-278.82, Z:-8.10 [[-9.45492134e-01 -3.25373262e-01 1.32990619e-02 -1.69049537e+02] [-3.25341689e-01 9.45585659e-01 4.53288808e-03 -2.78817541e+02] [-1.40502828e-02 -4.09292362e-05 -9.99901289e-01 -8.10409411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.120385723 meters 0.013270936760489448 Centerline is valid? [True, True] Translation: X:-169.12, Y:-278.81, Z:-8.10 [[-9.19309857e-01 -3.93320969e-01 1.29615285e-02 -1.69121024e+02] [-3.93282271e-01 9.19401226e-01 5.51729960e-03 -2.78814713e+02] [-1.40869148e-02 -2.54314586e-05 -9.99900774e-01 -8.10405452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.150385723 meters 0.013270936760489448 Centerline is valid? [True, True] Translation: X:-169.20, Y:-278.82, Z:-8.10 [[-8.87394321e-01 -4.60841327e-01 1.25135878e-02 -1.69198102e+02] [-4.60795919e-01 8.87482547e-01 6.46924723e-03 -2.78819311e+02] [-1.40868872e-02 -2.54369090e-05 -9.99900775e-01 -8.10405557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.180385723 meters 0.013164645980592965 Centerline is valid? [True, True] Translation: X:-169.27, Y:-278.83, Z:-8.11 [[-8.51279081e-01 -5.24570878e-01 1.22196583e-02 -1.69270807e+02] [-5.24516757e-01 8.51366780e-01 7.53510232e-03 -2.78827870e+02] [-1.43561064e-02 5.05944850e-06 -9.99896946e-01 -8.10604873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.210385723 meters 0.013131849530013026 Centerline is valid? [True, True] Translation: X:-169.37, Y:-278.86, Z:-8.11 [[-8.10405037e-01 -5.85762628e-01 1.12169428e-02 -1.69365081e+02] [-5.85705978e-01 8.10482660e-01 8.14648739e-03 -2.78855905e+02] [-1.38630455e-02 3.21239805e-05 -9.99903903e-01 -8.10623477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.240385723 meters 0.013158449369835562 Centerline is valid? [True, True] Translation: X:-169.47, Y:-278.90, Z:-8.11 [[-7.64672243e-01 -6.44348235e-01 9.57668588e-03 -1.69465419e+02] [-6.44296921e-01 7.64732208e-01 8.13191410e-03 -2.78896931e+02] [-1.25633846e-02 4.80197690e-05 -9.99921077e-01 -8.10681013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.270385723 meters 0.013094763787960477 Centerline is valid? [True, True] Translation: X:-169.55, Y:-278.93, Z:-8.11 [[-7.13511342e-01 -7.00594915e-01 8.26618448e-03 -1.69550465e+02] [-7.00547137e-01 7.13559221e-01 8.18212160e-03 -2.78934950e+02] [-1.16307650e-02 4.71846969e-05 -9.99932359e-01 -8.10684055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.300385723 meters 0.01315611633681676 Centerline is valid? [True, True] Translation: X:-169.65, Y:-278.99, Z:-8.11 [[-6.58038488e-01 -7.52945421e-01 7.65122299e-03 -1.69646090e+02] [-7.52893650e-01 6.58082966e-01 8.82959345e-03 -2.78993469e+02] [-1.16833415e-02 4.96551212e-05 -9.99931746e-01 -8.10733758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.330385723 meters 0.013216658649606553 Centerline is valid? [True, True] Translation: X:-169.75, Y:-279.07, Z:-8.11 [[-5.98905181e-01 -8.00787438e-01 7.21553464e-03 -1.69748691e+02] [-8.00728150e-01 5.98948642e-01 9.74444388e-03 -2.79074568e+02] [-1.21249629e-02 5.83162204e-05 -9.99926488e-01 -8.10650818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.360385723 meters 0.013309205629230802 Centerline is valid? [True, True] Translation: X:-169.83, Y:-279.14, Z:-8.11 [[-5.36446745e-01 -8.43907342e-01 6.72969850e-03 -1.69830674e+02] [-8.43839185e-01 5.36488950e-01 1.07255178e-02 -2.79143005e+02] [-1.26617521e-02 7.48857962e-05 -9.99919834e-01 -8.10567326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.390385723 meters 0.013338102313343135 Centerline is valid? [True, True] Translation: X:-169.91, Y:-279.22, Z:-8.11 [[-4.70163011e-01 -8.82561181e-01 5.70129632e-03 -1.69911482e+02] [-8.82494300e-01 4.70197571e-01 1.08653424e-02 -2.79224622e+02] [-1.22700651e-02 7.71206099e-05 -9.99924717e-01 -8.10537411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.420385723 meters 0.013475631111726326 Centerline is valid? [True, True] Translation: X:-169.99, Y:-279.31, Z:-8.11 [[-4.01988474e-01 -9.15633241e-01 4.58631779e-03 -1.69986543e+02] [-9.15571095e-01 4.02014626e-01 1.06682328e-02 -2.79312525e+02] [-1.16119554e-02 8.94066501e-05 -9.99932575e-01 -8.10541822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.450385723 meters 0.013531399276101318 Centerline is valid? [True, True] Translation: X:-170.06, Y:-279.41, Z:-8.11 [[-3.30724895e-01 -9.43720078e-01 3.66855109e-03 -1.70057028e+02] [-9.43658819e-01 3.30745228e-01 1.07530237e-02 -2.79414325e+02] [-1.13612001e-02 9.44320504e-05 -9.99935455e-01 -8.10558846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4803857229999 meters 0.015853858825274604 Centerline is valid? [True, True] Translation: X:-170.12, Y:-279.53, Z:-8.10 [[-2.58126997e-01 -9.66106658e-01 2.89476488e-03 -1.70119742e+02] [-9.66040893e-01 2.58143204e-01 1.12729541e-02 -2.79525005e+02] [-1.16381399e-02 1.13392543e-04 -9.99932268e-01 -8.10462442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.510385723 meters 0.013971480449082443 Centerline is valid? [True, True] Translation: X:-170.17, Y:-279.64, Z:-8.11 [[-1.82808672e-01 -9.83146775e-01 1.84649539e-03 -1.70174115e+02] [-9.83090562e-01 1.82817966e-01 1.05137410e-02 -2.79638699e+02] [-1.06741231e-02 1.06730832e-04 -9.99943024e-01 -8.10582121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.540385723 meters 0.013661575105089061 Centerline is valid? [True, True] Translation: X:-170.22, Y:-279.77, Z:-8.11 [[-1.06190627e-01 -9.94345272e-01 1.01559514e-03 -1.70222385e+02] [-9.94289774e-01 1.06195430e-01 1.05060286e-02 -2.79767928e+02] [-1.05544715e-02 1.05845902e-04 -9.99944295e-01 -8.10630041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.570385723 meters 0.013521047687094135 Centerline is valid? [True, True] Translation: X:-170.27, Y:-279.88, Z:-8.11 [[-3.76237613e-02 -9.99291932e-01 2.95407772e-04 -1.70266578e+02] [-9.99235791e-01 3.76247790e-02 1.05929014e-02 -2.79878390e+02] [-1.05965156e-02 1.03362776e-04 -9.99943850e-01 -8.10537152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6003857229999 meters 0.013386535951973469 Centerline is valid? [True, True] Translation: X:-170.30, Y:-280.00, Z:-8.10 [[ 4.06692327e-02 -9.99172531e-01 -5.17098303e-04 -1.70295843e+02] [-9.99116596e-01 -4.06724277e-02 1.05726272e-02 -2.79999159e+02] [-1.05849103e-02 8.66608612e-05 -9.99943975e-01 -8.10487276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.630385723 meters 0.013110205741031927 Centerline is valid? [True, True] Translation: X:-170.32, Y:-280.14, Z:-8.11 [[ 1.19684303e-01 -9.92811147e-01 -1.30171284e-03 -1.70315260e+02] [-9.92758280e-01 -1.19691364e-01 1.02457747e-02 -2.80135810e+02] [-1.03279231e-02 6.60277888e-05 -9.99946664e-01 -8.10519689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.660385723 meters 0.012949084835078525 Centerline is valid? [True, True] Translation: X:-170.32, Y:-280.27, Z:-8.11 [[ 1.97308150e-01 -9.80339488e-01 -1.99542503e-03 -1.70323331e+02] [-9.80291808e-01 -1.97318234e-01 9.66883268e-03 -2.80269592e+02] [-9.87247222e-03 4.83593192e-05 -9.99951265e-01 -8.10609284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.690385723 meters 0.012866603575607996 Centerline is valid? [True, True] Translation: X:-170.32, Y:-280.40, Z:-8.11 [[ 2.73466770e-01 -9.61878049e-01 -2.55821040e-03 -1.70320381e+02] [-9.61837211e-01 -2.73478733e-01 8.86350567e-03 -2.80402288e+02] [-9.22522768e-03 3.67076915e-05 -9.99957446e-01 -8.10631933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7203857229999 meters 0.01287361037125452 Centerline is valid? [True, True] Translation: X:-170.31, Y:-280.52, Z:-8.11 [[ 3.48481202e-01 -9.37310887e-01 -3.02531534e-03 -1.70313652e+02] [-9.37276086e-01 -3.48494333e-01 8.07703010e-03 -2.80517861e+02] [-8.62499350e-03 2.08625604e-05 -9.99962804e-01 -8.10649962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.750385723 meters 0.013195277238381202 Centerline is valid? [True, True] Translation: X:-170.30, Y:-280.63, Z:-8.11 [[ 4.20602668e-01 -9.07237475e-01 -3.68250520e-03 -1.70298689e+02] [-9.07202998e-01 -4.20618788e-01 7.90926293e-03 -2.80631201e+02] [-8.72451060e-03 1.41226656e-05 -9.99961941e-01 -8.10606079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.780385723 meters 0.012677215566612597 Centerline is valid? [True, True] Translation: X:-170.27, Y:-280.76, Z:-8.11 [[ 4.91147651e-01 -8.71066575e-01 -4.12402491e-03 -1.70269032e+02] [-8.71035805e-01 -4.91164965e-01 7.32148979e-03 -2.80756904e+02] [-8.40308159e-03 -3.75915455e-06 -9.99964694e-01 -8.10570928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.810385723 meters 0.013464773117861406 Centerline is valid? [True, True] Translation: X:-170.23, Y:-280.88, Z:-8.11 [[ 5.57463408e-01 -8.30188540e-01 -4.64065722e-03 -1.70229238e+02] [-8.30159628e-01 -5.57482724e-01 6.92860281e-03 -2.80877817e+02] [-8.33913288e-03 -9.95626733e-06 -9.99965229e-01 -8.10569018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8403857229999 meters 0.013581864326736177 Centerline is valid? [True, True] Translation: X:-170.19, Y:-280.98, Z:-8.11 [[ 6.20544493e-01 -7.84158389e-01 -4.48921383e-03 -1.70190724e+02] [-7.84137675e-01 -6.20560731e-01 5.69964308e-03 -2.80982445e+02] [-7.25525275e-03 -1.67204284e-05 -9.99973680e-01 -8.10592859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.870385723 meters 0.012741162689414637 Centerline is valid? [True, True] Translation: X:-170.14, Y:-281.09, Z:-8.11 [[ 6.79247155e-01 -7.33895063e-01 -4.61948851e-03 -1.70139174e+02] [-7.33877903e-01 -6.79262863e-01 5.01873876e-03 -2.81088624e+02] [-6.82107459e-03 -1.88234850e-05 -9.99976736e-01 -8.10702817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.900385723 meters 0.012695066873939415 Centerline is valid? [True, True] Translation: X:-170.10, Y:-281.18, Z:-8.11 [[ 7.33519276e-01 -6.79650224e-01 -5.00449905e-03 -1.70095960e+02] [-6.79634223e-01 -7.33536347e-01 4.66370528e-03 -2.81175133e+02] [-6.84067030e-03 -1.96888925e-05 -9.99976602e-01 -8.10679584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.930385723 meters 0.012750589667801768 Centerline is valid? [True, True] Translation: X:-170.10, Y:-281.18, Z:-8.11 [[ 7.84115611e-01 -6.20589518e-01 -5.59989807e-03 -1.70102338e+02] [-6.20573527e-01 -7.84135607e-01 4.45507023e-03 -2.81184465e+02] [-7.15584936e-03 -1.81416199e-05 -9.99974397e-01 -8.10636161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.960385723 meters 0.013474607093288396 Centerline is valid? [True, True] Translation: X:-170.11, Y:-281.19, Z:-8.11 [[ 8.29119147e-01 -5.59036564e-01 -6.28967531e-03 -1.70109484e+02] [-5.59020437e-01 -8.29143003e-01 4.24636584e-03 -2.81193899e+02] [-7.58891404e-03 -4.68618584e-06 -9.99971204e-01 -8.10536221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.990385723 meters 0.012646551041824442 Centerline is valid? [True, True] Translation: X:-170.12, Y:-281.20, Z:-8.11 [[ 8.69768630e-01 -4.93415907e-01 -6.57827614e-03 -1.70116478e+02] [-4.93401824e-01 -8.69793506e-01 3.72789548e-03 -2.81202549e+02] [-7.56114479e-03 3.32690165e-06 -9.99971414e-01 -8.10533522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.020385723 meters 0.012778374084655209 Centerline is valid? [True, True] Translation: X:-170.12, Y:-281.21, Z:-8.10 [[ 9.04913564e-01 -4.25527728e-01 -7.58909195e-03 -1.70123666e+02] [-4.25512939e-01 -9.04945387e-01 3.54773872e-03 -2.81209805e+02] [-8.37737495e-03 1.88599279e-05 -9.99964909e-01 -8.10421084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.050385723 meters 0.012839338186402831 Centerline is valid? [True, True] Translation: X:-170.13, Y:-281.22, Z:-8.10 [[ 9.34858048e-01 -3.54906685e-01 -9.03747841e-03 -1.70130438e+02] [-3.54890481e-01 -9.34901729e-01 3.39160100e-03 -2.81221632e+02] [-9.65285607e-03 3.66495720e-05 -9.99953410e-01 -8.10408969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.080385723 meters 0.012824890013920776 Centerline is valid? [True, True] Translation: X:-170.14, Y:-281.23, Z:-8.10 [[ 9.59531140e-01 -2.81457234e-01 -9.04525483e-03 -1.70136991e+02] [-2.81445151e-01 -9.59573772e-01 2.60837460e-03 -2.81232390e+02] [-9.41373519e-03 4.29264610e-05 -9.99955689e-01 -8.10352235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.110385723 meters 0.01443608046765547 Centerline is valid? [True, True] Translation: X:-170.14, Y:-281.24, Z:-8.10 [[ 9.78445527e-01 -2.06302268e-01 -9.15018233e-03 -1.70144012e+02] [-2.06293729e-01 -9.78488310e-01 1.87759332e-03 -2.81243968e+02] [-9.34069821e-03 5.05024494e-05 -9.99956374e-01 -8.10411055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.140385723 meters 0.012871649444880829 Centerline is valid? [True, True] Translation: X:-170.15, Y:-281.25, Z:-8.11 [[ 9.91568682e-01 -1.29328753e-01 -8.10082931e-03 -1.70152638e+02] [-1.29324817e-01 -9.91601771e-01 1.00995248e-03 -2.81253909e+02] [-8.16341258e-03 4.62010155e-05 -9.99966678e-01 -8.10540453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.170385723 meters 0.012950995706360807 Centerline is valid? [True, True] Translation: X:-170.16, Y:-281.26, Z:-8.11 [[ 9.98605308e-01 -5.23654887e-02 -6.73017436e-03 -1.70159622e+02] [-5.23646033e-02 -9.98627986e-01 3.07826158e-04 -2.81264416e+02] [-6.73705993e-03 4.50260752e-05 -9.99977305e-01 -8.10616661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.200385723 meters 0.013081693417930473 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.27, Z:-8.11 [[ 9.99663008e-01 2.51673733e-02 -6.36190271e-03 -1.70165371e+02] [ 2.51665595e-02 -9.99683250e-01 -2.07959029e-04 -2.81274373e+02] [-6.36512137e-03 4.77817457e-05 -9.99979741e-01 -8.10639642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2303857229999 meters 0.013289805194521647 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.28, Z:-8.11 [[ 9.94865599e-01 1.01057153e-01 -5.46727791e-03 -1.70169728e+02] [ 1.01055329e-01 -9.94880621e-01 -6.09541750e-04 -2.81284704e+02] [-5.50088739e-03 5.39145513e-05 -9.99984869e-01 -8.10749302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.260385723 meters 0.013295224203490198 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.30, Z:-8.11 [[ 9.84043023e-01 1.77873110e-01 -4.52606664e-03 -1.70172661e+02] [ 1.77871001e-01 -9.84053431e-01 -8.67580738e-04 -2.81296605e+02] [-4.60821069e-03 4.86807686e-05 -9.99989381e-01 -8.10796244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.290385723 meters 0.015607067557239975 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.31, Z:-8.11 [[ 9.67674472e-01 2.52176842e-01 -3.59948056e-03 -1.70174852e+02] [ 2.52174913e-01 -9.67681166e-01 -9.87475918e-04 -2.81309104e+02] [-3.73216810e-03 4.78565406e-05 -9.99993034e-01 -8.10772852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.320385723 meters 0.013834698745690812 Centerline is valid? [True, True] Translation: X:-170.18, Y:-281.32, Z:-8.11 [[ 9.45606190e-01 3.25303241e-01 -2.59524506e-03 -1.70176682e+02] [ 3.25301898e-01 -9.45609750e-01 -9.35850848e-04 -2.81322155e+02] [-2.75852435e-03 4.07082099e-05 -9.99996195e-01 -8.10891360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3503857229999 meters 0.014266141194815911 Centerline is valid? [True, True] Translation: X:-170.18, Y:-281.33, Z:-8.11 [[ 9.17768407e-01 3.97106137e-01 -2.80491056e-03 -1.70177070e+02] [ 3.97104117e-01 -9.17772692e-01 -1.26772902e-03 -2.81333940e+02] [-3.07769329e-03 4.96401094e-05 -9.99995263e-01 -8.10853337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.380385723 meters 0.014303869625469217 Centerline is valid? [True, True] Translation: X:-170.18, Y:-281.35, Z:-8.11 [[ 8.84776036e-01 4.66007677e-01 -2.86552968e-03 -1.70175258e+02] [ 4.66005015e-01 -8.84780674e-01 -1.57612786e-03 -2.81349529e+02] [-3.26985296e-03 5.91689553e-05 -9.99994652e-01 -8.10846315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.410385723 meters 0.014673439270624648 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.36, Z:-8.11 [[ 8.46155808e-01 5.32929237e-01 -2.60328972e-03 -1.70173818e+02] [ 5.32926496e-01 -8.46159810e-01 -1.71022918e-03 -2.81363431e+02] [-3.11423027e-03 5.97582852e-05 -9.99995149e-01 -8.10825928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.440385723 meters 0.015001193218717878 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.38, Z:-8.11 [[ 8.02739710e-01 5.96325263e-01 -2.26711228e-03 -1.70170531e+02] [ 5.96322674e-01 -8.02742909e-01 -1.75795891e-03 -2.81377421e+02] [-2.86822362e-03 5.92529696e-05 -9.99995885e-01 -8.10806272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4703857229999 meters 0.014947845119116242 Centerline is valid? [True, True] Translation: X:-170.17, Y:-281.39, Z:-8.11 [[ 7.54096106e-01 6.56760215e-01 -2.25477653e-03 -1.70165106e+02] [ 6.56757018e-01 -7.54099474e-01 -2.05027265e-03 -2.81391555e+02] [-3.04686330e-03 6.52623099e-05 -9.99995356e-01 -8.10832818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.500385723 meters 0.015166680642982346 Centerline is valid? [True, True] Translation: X:-170.16, Y:-281.41, Z:-8.11 [[ 7.00559565e-01 7.13590423e-01 -2.23720381e-03 -1.70158440e+02] [ 7.13586457e-01 -7.00563133e-01 -2.38002907e-03 -2.81405842e+02] [-3.26566846e-03 7.09137885e-05 -9.99994665e-01 -8.10805513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.530385723 meters 0.015822251994185545 Centerline is valid? [True, True] Translation: X:-170.15, Y:-281.42, Z:-8.11 [[ 6.42374978e-01 7.66388064e-01 -1.92946092e-03 -1.70154017e+02] [ 7.66384293e-01 -6.42377872e-01 -2.40514583e-03 -2.81418434e+02] [-3.08271806e-03 6.62969586e-05 -9.99995246e-01 -8.10800835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.560385723 meters 0.015449439849415667 Centerline is valid? [True, True] Translation: X:-170.15, Y:-281.43, Z:-8.11 [[ 5.79522881e-01 8.14955101e-01 -1.18930412e-03 -1.70146079e+02] [ 8.14953230e-01 -5.79524099e-01 -1.74667259e-03 -2.81431155e+02] [-2.11269014e-03 4.30094976e-05 -9.99997767e-01 -8.10800521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5903857229999 meters 0.015414785359049747 Centerline is valid? [True, True] Translation: X:-170.14, Y:-281.44, Z:-8.11 [[ 5.13253740e-01 8.58236796e-01 -4.47481979e-04 -1.70138955e+02] [ 8.58236440e-01 -5.13253935e-01 -7.81829205e-04 -2.81442310e+02] [-9.00666479e-04 1.72314228e-05 -9.99999594e-01 -8.10803331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.620385723 meters 0.01491952892429391 Centerline is valid? [True, True] Translation: X:-170.13, Y:-281.45, Z:-8.11 [[ 4.44194289e-01 8.95930430e-01 -3.13171266e-04 -1.70129182e+02] [ 8.95930186e-01 -4.44194399e-01 -6.62423559e-04 -2.81453425e+02] [-7.32594347e-04 1.36651714e-05 -9.99999732e-01 -8.10823781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.650385723 meters 0.01508223444852617 Centerline is valid? [True, True] Translation: X:-170.12, Y:-281.46, Z:-8.11 [[ 3.72137427e-01 9.28177634e-01 -1.25386745e-04 -1.70118888e+02] [ 9.28177576e-01 -3.72137448e-01 -3.28872601e-04 -2.81463803e+02] [-3.51913297e-04 6.00463901e-06 -9.99999938e-01 -8.10822809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.680385723 meters 0.014707184120458834 Centerline is valid? [True, True] Translation: X:-170.11, Y:-281.47, Z:-8.11 [[ 2.97979003e-01 9.54572413e-01 -1.50834863e-04 -1.70106470e+02] [ 9.54572274e-01 -2.97979041e-01 -5.14473307e-04 -2.81472628e+02] [-5.36047654e-04 9.31946481e-06 -9.99999856e-01 -8.10803011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.710385723 meters 0.014435677454401837 Centerline is valid? [True, True] Translation: X:-170.09, Y:-281.48, Z:-8.11 [[ 2.21670869e-01 9.75121533e-01 -1.49796524e-04 -1.70090331e+02] [ 9.75121271e-01 -2.21670919e-01 -7.15180070e-04 -2.81480636e+02] [-7.30593020e-04 1.24648105e-05 -9.99999733e-01 -8.10740896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.740385723 meters 0.01480586256043312 Centerline is valid? [True, True] Translation: X:-170.08, Y:-281.49, Z:-8.11 [[ 1.44355741e-01 9.89525854e-01 -6.75624923e-05 -1.70078179e+02] [ 9.89525716e-01 -1.44355756e-01 -5.23238591e-04 -2.81488054e+02] [-5.27511149e-04 8.67767075e-06 -9.99999861e-01 -8.10737650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.770385723 meters 0.014509340888530302 Centerline is valid? [True, True] Translation: X:-170.06, Y:-281.49, Z:-8.11 [[ 6.56007399e-02 9.97845952e-01 -2.74379190e-06 -1.70062268e+02] [ 9.97845951e-01 -6.56007399e-02 -4.20792118e-05 -2.81493085e+02] [-4.21685666e-05 2.25458159e-08 -9.99999999e-01 -8.10717550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.800385723 meters 0.014489193936218928 Centerline is valid? [True, True] Translation: X:-170.05, Y:-281.50, Z:-8.11 [[-1.35742766e-02 9.99907865e-01 4.41173135e-06 -1.70047930e+02] [ 9.99907851e-01 1.35742771e-02 -1.71714720e-04 -2.81498362e+02] [-1.71758785e-04 2.08042174e-06 -9.99999985e-01 -8.10617618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.830385723 meters 0.0142345332372143 Centerline is valid? [True, True] Translation: X:-170.03, Y:-281.50, Z:-8.11 [[-9.24214335e-02 9.95719978e-01 6.60576650e-05 -1.70032638e+02] [ 9.95719788e-01 9.24214567e-02 -6.15109798e-04 -2.81501131e+02] [-6.18582260e-04 8.92559494e-06 -9.99999809e-01 -8.10592102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.860385723 meters 0.01730574293159767 Centerline is valid? [True, True] Translation: X:-170.02, Y:-281.50, Z:-8.10 [[-1.70600330e-01 9.85340262e-01 3.08079431e-04 -1.70017483e+02] [ 9.85338904e-01 1.70600606e-01 -1.63658312e-03 -2.81502880e+02] [-1.66514978e-03 2.43610286e-05 -9.99998613e-01 -8.10442507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.890385723 meters 0.014227055530643164 Centerline is valid? [True, True] Translation: X:-170.00, Y:-281.50, Z:-8.11 [[-2.48037208e-01 9.68750506e-01 -1.11865144e-05 -1.70003411e+02] [ 9.68750506e-01 2.48037208e-01 3.86290875e-05 -2.81504581e+02] [ 4.01966193e-05 -1.25549048e-06 -9.99999999e-01 -8.10665446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.920385723 meters 0.014262096021337656 Centerline is valid? [True, True] Translation: X:-169.99, Y:-281.50, Z:-8.11 [[-3.23348843e-01 9.46279795e-01 -2.74216594e-04 -1.69991359e+02] [ 9.46279486e-01 3.23348959e-01 7.65031773e-04 -2.81504976e+02] [ 8.12601759e-04 -1.21133983e-05 -9.99999670e-01 -8.10712185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.950385723 meters 0.014005569704091747 Centerline is valid? [True, True] Translation: X:-169.98, Y:-281.50, Z:-8.11 [[-3.97057386e-01 9.17793521e-01 -6.96234570e-04 -1.69977572e+02] [ 9.17792212e-01 3.97057995e-01 1.55023908e-03 -2.81502279e+02] [ 1.69924488e-03 -2.34647915e-05 -9.99998556e-01 -8.10795333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9803857229999 meters 0.013817537063601046 Centerline is valid? [True, True] Translation: X:-169.96, Y:-281.50, Z:-8.11 [[-4.68068374e-01 8.83691838e-01 -8.56361161e-04 -1.69964097e+02] [ 8.83690451e-01 4.68069156e-01 1.56570211e-03 -2.81498151e+02] [ 1.78443442e-03 -2.39025386e-05 -9.99998408e-01 -8.10821979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.010385723 meters 0.015995599929489873 Centerline is valid? [True, True] Translation: X:-169.95, Y:-281.49, Z:-8.11 [[-5.36554169e-01 8.43865368e-01 -9.30115639e-04 -1.69949961e+02] [ 8.43864169e-01 5.36554974e-01 1.42294789e-03 -2.81494133e+02] [ 1.69983462e-03 -2.14026362e-05 -9.99998555e-01 -8.10709653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.040385723 meters 0.015995599929489873 Centerline is valid? [True, True] Translation: X:-169.94, Y:-281.49, Z:-8.11 [[-6.01002231e-01 7.99246670e-01 -1.03872623e-03 -1.69939897e+02] [ 7.99245537e-01 6.01003128e-01 1.34574636e-03 -2.81490633e+02] [ 1.69986101e-03 -2.14007404e-05 -9.99998555e-01 -8.10709675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.070385723 meters 0.0148694804408173 Centerline is valid? [True, True] Translation: X:-169.93, Y:-281.49, Z:-8.11 [[-6.62863438e-01 7.48738939e-01 -1.43657251e-03 -1.69928438e+02] [ 7.48737258e-01 6.62864994e-01 1.58705494e-03 -2.81485826e+02] [ 2.14054346e-03 -2.36146659e-05 -9.99997709e-01 -8.10707312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1003857229999 meters 0.013461839340224505 Centerline is valid? [True, True] Translation: X:-169.92, Y:-281.48, Z:-8.11 [[-7.20168634e-01 6.93797196e-01 -1.60918345e-03 -1.69920528e+02] [ 6.93795532e-01 7.20170431e-01 1.51955374e-03 -2.81480747e+02] [ 2.21314846e-03 -2.21093502e-05 -9.99997551e-01 -8.10778956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.130385723 meters 0.013158755801119845 Centerline is valid? [True, True] Translation: X:-169.90, Y:-281.46, Z:-8.11 [[-7.68666904e-01 6.39647026e-01 -1.69482042e-03 -1.69899033e+02] [ 6.39645522e-01 7.68668773e-01 1.38730914e-03 -2.81457215e+02] [ 2.19014369e-03 -1.77056712e-05 -9.99997602e-01 -8.10669902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.160385723 meters 0.01293038035897074 Centerline is valid? [True, True] Translation: X:-169.88, Y:-281.43, Z:-8.11 [[-8.12465227e-01 5.83008371e-01 -1.22270462e-03 -1.69881640e+02] [ 5.83007731e-01 8.12466147e-01 8.63767396e-04 -2.81432255e+02] [ 1.49698973e-03 -1.10652718e-05 -9.99998880e-01 -8.10609440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.190385723 meters 0.012902392036505776 Centerline is valid? [True, True] Translation: X:-169.48, Y:-280.87, Z:-8.97 [[-7.79064419e-01 -6.26943541e-01 -6.54223582e-04 -1.69476710e+02] [ 6.26943270e-01 -7.79064692e-01 5.84492318e-04 -2.80865636e+02] [-8.76126176e-04 4.51960961e-05 9.99999615e-01 -8.96937129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2203857229999 meters 0.013729961552703025 Centerline is valid? [True, True] Translation: X:-169.92, Y:-281.40, Z:-8.10 [[-8.16358899e-01 5.77544895e-01 -2.04713614e-04 -1.69917815e+02] [ 5.77544877e-01 8.16358925e-01 1.42690236e-04 -2.81404969e+02] [ 2.49529802e-04 -1.74485529e-06 -9.99999969e-01 -8.10241056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.250385723 meters 0.012881949859386038 Centerline is valid? [True, True] Translation: X:-169.90, Y:-281.38, Z:-8.10 [[-8.55675573e-01 5.17512589e-01 -1.81414484e-04 -1.69903013e+02] [ 5.17512578e-01 8.55675593e-01 1.08089628e-04 -2.81379413e+02] [ 2.11169689e-04 -1.39462253e-06 -9.99999978e-01 -8.10223240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.280385723 meters 0.012848816798688188 Centerline is valid? [True, True] Translation: X:-169.89, Y:-281.36, Z:-8.10 [[-8.90488345e-01 4.55005882e-01 -3.93482892e-04 -1.69888413e+02] [ 4.55005839e-01 8.90488432e-01 1.99096021e-04 -2.81355318e+02] [ 4.40981824e-04 -1.74432677e-06 -9.99999903e-01 -8.10147565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.310385723 meters 0.01287285738995865 Centerline is valid? [True, True] Translation: X:-169.88, Y:-281.33, Z:-8.10 [[-9.20572142e-01 3.90571897e-01 -7.24666079e-04 -1.69877183e+02] [ 3.90571778e-01 9.20572427e-01 3.04974330e-04 -2.81329527e+02] [ 7.86222013e-04 -2.28324612e-06 -9.99999691e-01 -8.10127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3403857229999 meters 0.012971414454070252 Centerline is valid? [True, True] Translation: X:-169.87, Y:-281.30, Z:-8.10 [[-9.45775636e-01 3.24817985e-01 -1.31282590e-03 -1.69869912e+02] [ 3.24817678e-01 9.45776547e-01 4.46515453e-04 -2.81303410e+02] [ 1.38667619e-03 -4.12562322e-06 -9.99999039e-01 -8.10107792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.370385723 meters 0.012931310573933924 Centerline is valid? [True, True] Translation: X:-169.86, Y:-281.28, Z:-8.10 [[-9.66340206e-01 2.57259028e-01 -2.09726024e-03 -1.69864006e+02] [ 2.57258437e-01 9.66342482e-01 5.51456180e-04 -2.81276088e+02] [ 2.16853875e-03 -6.64361388e-06 -9.99997649e-01 -8.10131803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.400385723 meters 0.012981365225915016 Centerline is valid? [True, True] Translation: X:-169.68, Y:-280.60, Z:-8.97 [[-9.48634882e-01 -3.16349536e-01 -3.85134018e-03 -1.69678706e+02] [ 3.16347376e-01 -9.48642694e-01 1.17360001e-03 -2.80597044e+02] [-4.02481354e-03 -1.05043455e-04 9.99991895e-01 -8.97161513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.430385723 meters 0.013061422206614107 Centerline is valid? [True, True] Translation: X:-169.91, Y:-281.27, Z:-8.10 [[-9.67302328e-01 2.53568589e-01 -5.40166459e-03 -1.69911026e+02] [ 2.53564723e-01 9.67317410e-01 1.40022815e-03 -2.81268364e+02] [ 5.58017807e-03 -1.52276392e-05 -9.99984431e-01 -8.10226665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.460385723 meters 0.012972535187102388 Centerline is valid? [True, True] Translation: X:-169.73, Y:-280.58, Z:-8.97 [[-9.49669136e-01 -3.13214346e-01 -5.03051642e-03 -1.69729634e+02] [ 3.13209775e-01 -9.49682459e-01 1.69254215e-03 -2.80580583e+02] [-5.30752168e-03 3.17481245e-05 9.99985915e-01 -8.97213685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.490385723 meters 0.012963724173916238 Centerline is valid? [True, True] Translation: X:-169.96, Y:-281.26, Z:-8.10 [[-9.68327843e-01 2.49633519e-01 -4.92890480e-03 -1.69961528e+02] [ 2.49630354e-01 9.68340387e-01 1.25726376e-03 -2.81258976e+02] [ 5.08671276e-03 -1.29607391e-05 -9.99987063e-01 -8.10030392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.520385723 meters 0.012867886349934552 Centerline is valid? [True, True] Translation: X:-169.96, Y:-281.23, Z:-8.10 [[-9.83552889e-01 1.80572517e-01 -4.15714558e-03 -1.69955348e+02] [ 1.80570955e-01 9.83561674e-01 7.50984696e-04 -2.81232125e+02] [ 4.22441626e-03 -1.20265819e-05 -9.99991077e-01 -8.09855214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.550385723 meters 0.012892530363138217 Centerline is valid? [True, True] Translation: X:-169.95, Y:-281.20, Z:-8.10 [[-9.93863220e-01 1.10529820e-01 -4.36557228e-03 -1.69954825e+02] [ 1.10528814e-01 9.93872808e-01 4.71950450e-04 -2.81203886e+02] [ 4.39098818e-03 -1.34673307e-05 -9.99990360e-01 -8.09801001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.580385723 meters 0.01293271463657756 Centerline is valid? [True, True] Translation: X:-169.95, Y:-281.18, Z:-8.10 [[-9.99154758e-01 4.08084309e-02 -4.94389998e-03 -1.69951380e+02] [ 4.08080334e-02 9.99166989e-01 1.81285114e-04 -2.81177454e+02] [ 4.94717962e-03 -2.06189517e-05 -9.99987763e-01 -8.09736310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.610385723 meters 0.012971148715624723 Centerline is valid? [True, True] Translation: X:-169.92, Y:-280.45, Z:-8.98 [[-9.95076145e-01 -9.89804746e-02 -5.13140799e-03 -1.69921136e+02] [ 9.89791175e-02 -9.95089376e-01 5.18365190e-04 -2.80451527e+02] [-5.15751761e-03 7.91060046e-06 9.99986700e-01 -8.97658081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.640385723 meters 0.013131009824652136 Centerline is valid? [True, True] Translation: X:-170.02, Y:-281.18, Z:-8.10 [[-9.99229315e-01 3.88707232e-02 -5.46290336e-03 -1.70023462e+02] [ 3.88703503e-02 9.99244247e-01 1.74470516e-04 -2.81181389e+02] [ 5.46555655e-03 -3.80089124e-05 -9.99985063e-01 -8.09656449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.670385723 meters 0.01327888513241742 Centerline is valid? [True, True] Translation: X:-170.02, Y:-281.16, Z:-8.10 [[-9.99518719e-01 -3.05457045e-02 -5.41199128e-03 -1.70018226e+02] [-3.05450143e-02 9.99533370e-01 -2.10167451e-04 -2.81156827e+02] [ 5.41588559e-03 -4.47569502e-05 -9.99985333e-01 -8.09595085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.700385723 meters 0.013434009853639727 Centerline is valid? [True, True] Translation: X:-170.02, Y:-281.13, Z:-8.10 [[-9.94832012e-01 -1.01378648e-01 -5.62471407e-03 -1.70023467e+02] [-1.01376754e-01 9.94847912e-01 -6.21694494e-04 -2.81130057e+02] [ 5.65876159e-03 -4.82663320e-05 -9.99983988e-01 -8.09526037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7303857229999 meters 0.013417140890505044 Centerline is valid? [True, True] Translation: X:-170.10, Y:-280.38, Z:-8.98 [[-9.98635770e-01 5.19171988e-02 -5.58592359e-03 -1.70102166e+02] [-5.19166788e-02 -9.98651392e-01 -2.38159552e-04 -2.80380486e+02] [-5.59075494e-03 5.21679533e-05 9.99984370e-01 -8.97920065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.760385723 meters 0.013512317337145238 Centerline is valid? [True, True] Translation: X:-170.13, Y:-281.15, Z:-8.09 [[-9.94234503e-01 -1.07083095e-01 -5.56451914e-03 -1.70130343e+02] [-1.07081129e-01 9.94250073e-01 -6.50988806e-04 -2.81146206e+02] [ 5.60223346e-03 -5.13805409e-05 -9.99984306e-01 -8.09441561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.790385723 meters 0.01356159949936011 Centerline is valid? [True, True] Translation: X:-170.15, Y:-281.12, Z:-8.09 [[-9.84174037e-01 -1.77105867e-01 -5.91413844e-03 -1.70146488e+02] [-1.77102305e-01 9.84191805e-01 -1.12470291e-03 -2.81123337e+02] [ 6.01983807e-03 -5.94958540e-05 -9.99981879e-01 -8.09414899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.820385723 meters 0.013590981906290104 Centerline is valid? [True, True] Translation: X:-170.18, Y:-281.11, Z:-8.09 [[-9.68968307e-01 -2.47106265e-01 -6.23816194e-03 -1.70183561e+02] [-2.47100707e-01 9.68988385e-01 -1.65861270e-03 -2.81105776e+02] [ 6.45456005e-03 -6.56889146e-05 -9.99979167e-01 -8.09376656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8503857229999 meters 0.013621773151546512 Centerline is valid? [True, True] Translation: X:-170.23, Y:-281.09, Z:-8.09 [[-9.48098509e-01 -3.17916215e-01 -6.20470265e-03 -1.70227229e+02] [-3.17908953e-01 9.48118809e-01 -2.14971788e-03 -2.81090178e+02] [ 6.56622546e-03 -6.56137936e-05 -9.99978440e-01 -8.09327575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.880385723 meters 0.013674760024008033 Centerline is valid? [True, True] Translation: X:-170.29, Y:-281.09, Z:-8.09 [[-9.21628627e-01 -3.88025532e-01 -6.07132682e-03 -1.70290670e+02] [-3.88016696e-01 9.21648623e-01 -2.61911048e-03 -2.81087683e+02] [ 6.61191173e-03 -5.80710187e-05 -9.99978140e-01 -8.09378465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.910385723 meters 0.013495196416916133 Centerline is valid? [True, True] Translation: X:-170.37, Y:-281.09, Z:-8.09 [[-8.89859001e-01 -4.56201457e-01 -5.58465040e-03 -1.70366771e+02] [-4.56192124e-01 8.89876524e-01 -2.91855351e-03 -2.81092918e+02] [ 6.30109765e-03 -4.94275831e-05 -9.99980147e-01 -8.09347940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.940385723 meters 0.013330294234292592 Centerline is valid? [True, True] Translation: X:-170.45, Y:-281.11, Z:-8.09 [[-8.52416978e-01 -5.22837182e-01 -5.15532131e-03 -1.70449876e+02] [-5.22827355e-01 8.52432566e-01 -3.20585975e-03 -2.81109703e+02] [ 6.07070645e-03 -3.73862724e-05 -9.99981573e-01 -8.09276610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9703857229999 meters 0.013261934773993686 Centerline is valid? [True, True] Translation: X:-170.54, Y:-281.14, Z:-8.09 [[-8.10021243e-01 -5.86381932e-01 -4.67089029e-03 -1.70537709e+02] [-5.86371978e-01 8.10034709e-01 -3.41677650e-03 -2.81135540e+02] [ 5.78711926e-03 -2.87823655e-05 -9.99983254e-01 -8.09257049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.000385723 meters 0.013291019497284895 Centerline is valid? [True, True] Translation: X:-170.65, Y:-281.19, Z:-8.09 [[-7.62067480e-01 -6.47482665e-01 -4.39937519e-03 -1.70647278e+02] [-6.47471767e-01 7.62080179e-01 -3.75656438e-03 -2.81188789e+02] [ 5.78498695e-03 -1.42843208e-05 -9.99983267e-01 -8.09251031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.030385723 meters 0.013141956538042 Centerline is valid? [True, True] Translation: X:-170.72, Y:-281.22, Z:-8.09 [[-7.08758373e-01 -7.05442509e-01 -3.52642629e-03 -1.70720151e+02] [-7.05433778e-01 7.08767146e-01 -3.50967390e-03 -2.81220479e+02] [ 4.97528826e-03 1.49460398e-07 -9.99987623e-01 -8.09136700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.060385723 meters 0.013206312938863317 Centerline is valid? [True, True] Translation: X:-170.82, Y:-281.28, Z:-8.09 [[-6.51914556e-01 -7.58287502e-01 -2.73437351e-03 -1.70815574e+02] [-7.58280872e-01 6.51920290e-01 -3.17085097e-03 -2.81282482e+02] [ 4.18701023e-03 6.29922566e-06 -9.99991235e-01 -8.09085039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0903857229999 meters 0.013335732454627929 Centerline is valid? [True, True] Translation: X:-170.90, Y:-281.35, Z:-8.09 [[-5.89552122e-01 -8.07726972e-01 -2.33107110e-03 -1.70903473e+02] [-8.07720779e-01 5.89556730e-01 -3.16314938e-03 -2.81350172e+02] [ 3.92925972e-03 1.80131375e-05 -9.99992280e-01 -8.08949309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.120385723 meters 0.013455206855313035 Centerline is valid? [True, True] Translation: X:-170.99, Y:-281.43, Z:-8.09 [[-5.24849964e-01 -8.51192793e-01 -1.82899851e-03 -1.70994268e+02] [-8.51187760e-01 5.24853150e-01 -2.92716906e-03 -2.81434598e+02] [ 3.45154083e-03 2.04965653e-05 -9.99994043e-01 -8.08916493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.150385723 meters 0.013620216186758972 Centerline is valid? [True, True] Translation: X:-171.07, Y:-281.51, Z:-8.09 [[-4.56194234e-01 -8.89878918e-01 -1.52716778e-03 -1.71067952e+02] [-8.89874119e-01 4.56196789e-01 -2.92256241e-03 -2.81514042e+02] [ 3.29741572e-03 2.57309676e-05 -9.99994563e-01 -8.08911105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.180385723 meters 0.013651027194360276 Centerline is valid? [True, True] Translation: X:-171.14, Y:-281.61, Z:-8.09 [[-3.86033540e-01 -9.22483602e-01 -1.45272239e-03 -1.71142077e+02] [-9.22477360e-01 3.86036272e-01 -3.39383074e-03 -2.81607667e+02] [ 3.69155674e-03 2.99710226e-05 -9.99993186e-01 -8.08958168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.210385723 meters 0.013888290076676402 Centerline is valid? [True, True] Translation: X:-171.21, Y:-281.71, Z:-8.09 [[-3.13657727e-01 -9.49535021e-01 -1.44023910e-03 -1.71206231e+02] [-9.49525544e-01 3.13661031e-01 -4.24259607e-03 -2.81705836e+02] [ 4.48024043e-03 3.68207750e-05 -9.99989963e-01 -8.08989811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.240385723 meters 0.013911204229228796 Centerline is valid? [True, True] Translation: X:-171.27, Y:-281.81, Z:-8.09 [[-2.39485146e-01 -9.70899375e-01 -1.12650494e-03 -1.71265753e+02] [-9.70889347e-01 2.39487793e-01 -4.41290659e-03 -2.81812446e+02] [ 4.55427243e-03 3.68860667e-05 -9.99989629e-01 -8.09019558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.270385723 meters 0.013943364989673286 Centerline is valid? [True, True] Translation: X:-171.31, Y:-281.92, Z:-8.09 [[-1.66269174e-01 -9.86080193e-01 -6.44740272e-04 -1.71314137e+02] [-9.86073368e-01 1.66270422e-01 -3.66874639e-03 -2.81919230e+02] [ 3.72487939e-03 2.57617807e-05 -9.99993062e-01 -8.08946105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.300385723 meters 0.01383718424700624 Centerline is valid? [True, True] Translation: X:-171.36, Y:-282.04, Z:-8.09 [[-9.05913318e-02 -9.95888098e-01 -3.26917248e-04 -1.71358004e+02] [-9.95882374e-01 9.05919195e-02 -3.37657521e-03 -2.82042964e+02] [ 3.39230712e-03 1.96826799e-05 -9.99994246e-01 -8.08836236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.330385723 meters 0.013812675353674612 Centerline is valid? [True, True] Translation: X:-171.39, Y:-282.18, Z:-8.09 [[-1.59476714e-02 -9.99872827e-01 -3.74086270e-05 -1.71390309e+02] [-9.99870889e-01 1.59477142e-02 -1.96889797e-03 -2.82180346e+02] [ 1.96924416e-03 6.00445926e-06 -9.99998061e-01 -8.08699824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.360385723 meters 0.013783042216100317 Centerline is valid? [True, True] Translation: X:-171.42, Y:-282.30, Z:-8.09 [[ 5.79529043e-02 -9.98319314e-01 8.98365217e-05 -1.71417724e+02] [-9.98317991e-01 -5.79529737e-02 -1.62558511e-03 -2.82302354e+02] [ 1.62805930e-03 4.52196237e-06 -9.99998675e-01 -8.08679131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.390385723 meters 0.013729569468279522 Centerline is valid? [True, True] Translation: X:-171.43, Y:-282.44, Z:-8.09 [[ 1.34698523e-01 -9.90886623e-01 8.69965365e-05 -1.71434026e+02] [-9.90886409e-01 -1.34698551e-01 -6.52163432e-04 -2.82436667e+02] [ 6.57938328e-04 1.64176568e-06 -9.99999784e-01 -8.08649450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.420385723 meters 0.013783187432231557 Centerline is valid? [True, True] Translation: X:-171.44, Y:-282.57, Z:-8.09 [[ 2.10480666e-01 -9.77598014e-01 -1.10433205e-04 -1.71439846e+02] [-9.77597876e-01 -2.10480695e-01 5.19516645e-04 -2.82566734e+02] [-5.31122498e-04 -1.38894277e-06 -9.99999859e-01 -8.08609913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.450385723 meters 0.013687567983835951 Centerline is valid? [True, True] Translation: X:-171.45, Y:-282.63, Z:-8.09 [[ 2.84064346e-01 -9.58805129e-01 -4.15604551e-04 -1.71451943e+02] [-9.58804098e-01 -2.84064650e-01 1.40589181e-03 -2.82634142e+02] [-1.46603484e-03 -8.80391495e-07 -9.99998925e-01 -8.08574526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4803857229999 meters 0.01368372501215173 Centerline is valid? [True, True] Translation: X:-171.44, Y:-282.76, Z:-8.09 [[ 3.56616967e-01 -9.34250523e-01 -5.46412827e-04 -1.71439271e+02] [-9.34249428e-01 -3.56617386e-01 1.43027420e-03 -2.82761682e+02] [-1.53109474e-03 4.25822959e-07 -9.99998828e-01 -8.08544471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.510385723 meters 0.013651192525713859 Centerline is valid? [True, True] Translation: X:-171.41, Y:-282.89, Z:-8.08 [[ 4.25981414e-01 -9.04731418e-01 -9.46873801e-04 -1.71414940e+02] [-9.04729210e-01 -4.25982466e-01 1.99892696e-03 -2.82890983e+02] [-2.21184366e-03 5.15865459e-06 -9.99997554e-01 -8.08461668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.540385723 meters 0.013690805555360187 Centerline is valid? [True, True] Translation: X:-171.38, Y:-283.01, Z:-8.08 [[ 4.93856077e-01 -8.69542392e-01 -1.48434602e-03 -1.71384365e+02] [-8.69538524e-01 -4.93858307e-01 2.59382324e-03 -2.83012324e+02] [-2.98849588e-03 9.72068197e-06 -9.99995535e-01 -8.08384046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.570385723 meters 0.013829589742340179 Centerline is valid? [True, True] Translation: X:-171.35, Y:-283.12, Z:-8.08 [[ 5.57979256e-01 -8.29851741e-01 -2.28872652e-03 -1.71352735e+02] [-8.29844911e-01 -5.57983950e-01 3.36683909e-03 -2.83118449e+02] [-4.07104995e-03 2.06616834e-05 -9.99991713e-01 -8.08314127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6003857229999 meters 0.013878636210505437 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.24, Z:-8.08 [[ 6.19867559e-01 -7.84702864e-01 -2.37155580e-03 -1.71302451e+02] [-7.84697250e-01 -6.19872095e-01 2.96852498e-03 -2.83235319e+02] [-3.79947132e-03 2.08609816e-05 -9.99992782e-01 -8.08291810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.630385723 meters 0.013896240515374213 Centerline is valid? [True, True] Translation: X:-171.24, Y:-283.35, Z:-8.08 [[ 6.77894655e-01 -7.35151820e-01 -3.26158863e-03 -1.71241419e+02] [-7.35143517e-01 -6.77902501e-01 3.49424194e-03 -2.83351009e+02] [-4.77983741e-03 2.90078011e-05 -9.99988576e-01 -8.08299939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.660385723 meters 0.01384861132003944 Centerline is valid? [True, True] Translation: X:-171.20, Y:-283.43, Z:-8.08 [[ 7.32314819e-01 -6.80954577e-01 -3.98366198e-03 -1.71198879e+02] [-6.80944744e-01 -7.32325653e-01 3.65963399e-03 -2.83434865e+02] [-5.40938238e-03 3.26494889e-05 -9.99985369e-01 -8.08284022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.690385723 meters 0.013838660667662643 Centerline is valid? [True, True] Translation: X:-171.21, Y:-283.44, Z:-8.08 [[ 7.83361715e-01 -6.21546432e-01 -4.94535969e-03 -1.71206638e+02] [-6.21534343e-01 -7.83377324e-01 3.87669911e-03 -2.83442612e+02] [-6.28363114e-03 3.68532256e-05 -9.99980257e-01 -8.08183577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7203857229999 meters 0.013959096298163456 Centerline is valid? [True, True] Translation: X:-171.21, Y:-283.45, Z:-8.08 [[ 8.29984646e-01 -5.57762937e-01 -5.09839736e-03 -1.71214622e+02] [-5.57752644e-01 -8.30000304e-01 3.38877589e-03 -2.83448382e+02] [-6.12180496e-03 3.10126485e-05 -9.99981261e-01 -8.08084724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.750385723 meters 0.01381291530359559 Centerline is valid? [True, True] Translation: X:-171.22, Y:-283.45, Z:-8.08 [[ 8.71313796e-01 -4.90695455e-01 -5.49911984e-03 -1.71221380e+02] [-4.90685887e-01 -8.71331148e-01 3.06432557e-03 -2.83453809e+02] [-6.29520503e-03 2.83513507e-05 -9.99980185e-01 -8.08106512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.780385723 meters 0.0137909713843485 Centerline is valid? [True, True] Translation: X:-171.23, Y:-283.46, Z:-8.08 [[ 9.07367749e-01 -4.20308133e-01 -4.98411553e-03 -1.71227850e+02] [-4.20301913e-01 -9.07381437e-01 2.28672368e-03 -2.83458328e+02] [-5.48362247e-03 1.99339767e-05 -9.99984965e-01 -8.08149771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.810385723 meters 0.013753487251576095 Centerline is valid? [True, True] Translation: X:-171.23, Y:-283.46, Z:-8.08 [[ 9.37534319e-01 -3.47854472e-01 -5.16401827e-03 -1.71233844e+02] [-3.47849304e-01 -9.37548541e-01 1.89631300e-03 -2.83463472e+02] [-5.50115875e-03 1.84416391e-05 -9.99984868e-01 -8.08225747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8403857229999 meters 0.013801161029214328 Centerline is valid? [True, True] Translation: X:-171.24, Y:-283.47, Z:-8.08 [[ 9.61877648e-01 -2.73418635e-01 -5.80001944e-03 -1.71240247e+02] [-2.73413789e-01 -9.61895134e-01 1.62809912e-03 -2.83468999e+02] [-6.02416312e-03 1.97731378e-05 -9.99981854e-01 -8.08133398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.870385723 meters 0.013808752079208644 Centerline is valid? [True, True] Translation: X:-171.25, Y:-283.47, Z:-8.08 [[ 9.80315017e-01 -1.97346708e-01 -6.06169006e-03 -1.71245002e+02] [-1.97343065e-01 -9.80333758e-01 1.19939719e-03 -2.83472618e+02] [-6.17917648e-03 2.04454150e-05 -9.99980909e-01 -8.08080845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.900385723 meters 0.013764344317124776 Centerline is valid? [True, True] Translation: X:-171.25, Y:-283.48, Z:-8.08 [[ 9.92793054e-01 -1.19683112e-01 -6.15668581e-03 -1.71253014e+02] [-1.19680927e-01 -9.92812144e-01 7.23511481e-04 -2.83476399e+02] [-6.19902454e-03 1.85406892e-05 -9.99980786e-01 -8.08059016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.930385723 meters 0.013811171096004002 Centerline is valid? [True, True] Translation: X:-171.26, Y:-283.48, Z:-8.08 [[ 9.99140573e-01 -4.08711857e-02 -6.90381148e-03 -1.71260947e+02] [-4.08703191e-02 -9.99164424e-01 2.66616318e-04 -2.83480454e+02] [-6.90893975e-03 1.57737975e-05 -9.99976133e-01 -8.08009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.960385723 meters 0.013811171096004002 Centerline is valid? [True, True] Translation: X:-171.27, Y:-283.48, Z:-8.08 [[ 9.99273102e-01 3.74914635e-02 -6.90348232e-03 -1.71268594e+02] [ 3.74904598e-02 -9.99296948e-01 -2.74788913e-04 -2.83484972e+02] [-6.90893105e-03 1.57744425e-05 -9.99976133e-01 -8.08009588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.990385723 meters 0.013752483364473062 Centerline is valid? [True, True] Translation: X:-171.27, Y:-283.50, Z:-8.08 [[ 9.93259203e-01 1.15678641e-01 -7.38970763e-03 -1.71274011e+02] [ 1.15675315e-01 -9.93286692e-01 -8.77376999e-04 -2.83496401e+02] [-7.44159203e-03 1.66560193e-05 -9.99972311e-01 -8.08059827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.020385723 meters 0.013858843004222621 Centerline is valid? [True, True] Translation: X:-171.28, Y:-283.51, Z:-8.08 [[ 9.81130164e-01 1.93189250e-01 -7.84311619e-03 -1.71280478e+02] [ 1.93182938e-01 -9.81161513e-01 -1.56173961e-03 -2.83506371e+02] [-7.99707505e-03 1.71136145e-05 -9.99968023e-01 -8.07859568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.050385723 meters 0.01388394126884968 Centerline is valid? [True, True] Translation: X:-171.29, Y:-283.51, Z:-8.08 [[ 9.63002308e-01 2.69368713e-01 -8.18853367e-03 -1.71285826e+02] [ 2.69358815e-01 -9.63037121e-01 -2.30928185e-03 -2.83514453e+02] [-8.50791017e-03 1.81900287e-05 -9.99963807e-01 -8.07902886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.080385723 meters 0.013868759717695354 Centerline is valid? [True, True] Translation: X:-171.29, Y:-283.52, Z:-8.08 [[ 9.39177645e-01 3.43337776e-01 -8.03265564e-03 -1.71289750e+02] [ 3.43325005e-01 -9.39211995e-01 -2.96145129e-03 -2.83523171e+02] [-8.56114463e-03 2.35173092e-05 -9.99963353e-01 -8.07994807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.110385723 meters 0.01385021901519773 Centerline is valid? [True, True] Translation: X:-171.29, Y:-283.53, Z:-8.08 [[ 9.09492233e-01 4.15651210e-01 -7.61249262e-03 -1.71292700e+02] [ 4.15636426e-01 -9.09524091e-01 -3.50569993e-03 -2.83534526e+02] [-8.38089384e-03 2.43776290e-05 -9.99964880e-01 -8.08005322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.140385723 meters 0.01392001493607434 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.55, Z:-8.08 [[ 8.74194128e-01 4.85511633e-01 -7.94232114e-03 -1.71295610e+02] [ 4.85491315e-01 -8.74230206e-01 -4.44180555e-03 -2.83545984e+02] [-9.09996532e-03 2.70723939e-05 -9.99958594e-01 -8.07934181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.170385723 meters 0.013942215245717714 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.56, Z:-8.08 [[ 8.33463998e-01 5.52514756e-01 -8.07515657e-03 -1.71296606e+02] [ 5.52488495e-01 -8.33503116e-01 -5.38698332e-03 -2.83559047e+02] [-9.70705593e-03 2.84255579e-05 -9.99952885e-01 -8.07895835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.200385723 meters 0.013885571461207322 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.57, Z:-8.08 [[ 7.87493622e-01 6.16272272e-01 -7.89191013e-03 -1.71298147e+02] [ 6.16240987e-01 -7.87533165e-01 -6.20971172e-03 -2.83571634e+02] [-1.00420141e-02 2.67898874e-05 -9.99949577e-01 -8.07829559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2303857229999 meters 0.013919550251260274 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.58, Z:-8.08 [[ 7.36563730e-01 6.76327225e-01 -7.44016019e-03 -1.71299777e+02] [ 6.76292408e-01 -7.36601306e-01 -6.86260262e-03 -2.83581730e+02] [-1.01217967e-02 2.30203377e-05 -9.99948773e-01 -8.07859437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.260385723 meters 0.013850718880513273 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.59, Z:-8.08 [[ 6.81015602e-01 7.32239734e-01 -6.53620501e-03 -1.71300783e+02] [ 7.32205763e-01 -6.81046967e-01 -7.05328815e-03 -2.83592391e+02] [-9.61616044e-03 1.75522920e-05 -9.99953764e-01 -8.07955656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.290385723 meters 0.013786083420039162 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.60, Z:-8.08 [[ 6.21385660e-01 7.83481861e-01 -6.00290699e-03 -1.71298694e+02] [ 7.83445075e-01 -6.21414654e-01 -7.59221624e-03 -2.83604790e+02] [-9.67865808e-03 1.47463805e-05 -9.99953161e-01 -8.08047348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.320385723 meters 0.013838518177758476 Centerline is valid? [True, True] Translation: X:-171.30, Y:-283.62, Z:-8.08 [[ 5.57752359e-01 8.29992715e-01 -4.93954707e-03 -1.71295985e+02] [ 8.29960019e-01 -5.57774231e-01 -7.36715769e-03 -2.83616727e+02] [-8.86983928e-03 9.42299928e-06 -9.99960662e-01 -8.08121739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3503857229999 meters 0.01372847508364224 Centerline is valid? [True, True] Translation: X:-171.29, Y:-283.63, Z:-8.08 [[ 4.90300774e-01 8.71542534e-01 -4.33163803e-03 -1.71292981e+02] [ 8.71508487e-01 -4.90319908e-01 -7.70363999e-03 -2.83629156e+02] [-8.83793828e-03 2.04134360e-06 -9.99960945e-01 -8.08136828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.380385723 meters 0.015948107685661378 Centerline is valid? [True, True] Translation: X:-171.29, Y:-283.64, Z:-8.08 [[ 4.19915587e-01 9.07553659e-01 -4.15406250e-03 -1.71289129e+02] [ 9.07509352e-01 -4.19936134e-01 -8.96767873e-03 -2.83640495e+02] [-9.88309058e-03 -4.18248408e-06 -9.99951161e-01 -8.07998824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.410385723 meters 0.015032083207006795 Centerline is valid? [True, True] Translation: X:-171.29, Y:-283.65, Z:-8.08 [[ 3.46919955e-01 9.37888293e-01 -3.47781997e-03 -1.71285783e+02] [ 9.37841497e-01 -3.46937387e-01 -9.36887865e-03 -2.83651161e+02] [-9.99354738e-03 -1.13929322e-05 -9.99950063e-01 -8.08022934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.440385723 meters 0.013668493004914769 Centerline is valid? [True, True] Translation: X:-171.28, Y:-283.66, Z:-8.08 [[ 2.71511171e-01 9.62430577e-01 -3.01132139e-03 -1.71282467e+02] [ 9.62372303e-01 -2.71527869e-01 -1.05909058e-02 -2.83662282e+02] [-1.10106693e-02 -2.24630582e-05 -9.99939381e-01 -8.07988175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4703857229999 meters 0.01565024250047431 Centerline is valid? [True, True] Translation: X:-171.28, Y:-283.67, Z:-8.08 [[ 1.95775790e-01 9.80645400e-01 -2.53765771e-03 -1.71280540e+02] [ 9.80564354e-01 -1.95792235e-01 -1.26075025e-02 -2.83671717e+02] [-1.28603430e-02 -2.00929265e-05 -9.99917302e-01 -8.07792579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.500385723 meters 0.013467485673080983 Centerline is valid? [True, True] Translation: X:-171.27, Y:-283.68, Z:-8.08 [[ 1.18994000e-01 9.92893833e-01 -1.50464065e-03 -1.71271245e+02] [ 9.92815667e-01 -1.19003512e-01 -1.24585584e-02 -2.83681713e+02] [-1.25490833e-02 -1.13371095e-05 -9.99921257e-01 -8.07994891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.530385723 meters 0.013644411446067933 Centerline is valid? [True, True] Translation: X:-171.26, Y:-283.69, Z:-8.08 [[ 4.15960697e-02 9.99134367e-01 -5.31862963e-04 -1.71264054e+02] [ 9.99053411e-01 -4.15994698e-02 -1.27187220e-02 -2.83691893e+02] [-1.27298375e-02 -2.31066192e-06 -9.99918972e-01 -8.07810531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.560385723 meters 0.013575020320166551 Centerline is valid? [True, True] Translation: X:-171.27, Y:-283.70, Z:-8.08 [[-3.59416813e-02 9.99353777e-01 4.74028631e-04 -1.71265584e+02] [ 9.99270108e-01 3.59448060e-02 -1.29314360e-02 -2.83700533e+02] [-1.29401183e-02 8.90508789e-06 -9.99916273e-01 -8.07854183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5903857229999 meters 0.01349260067711334 Centerline is valid? [True, True] Translation: X:-171.26, Y:-283.71, Z:-8.08 [[-1.12485365e-01 9.93652244e-01 1.50348217e-03 -1.71259105e+02] [ 9.93567081e-01 1.12495408e-01 -1.30091496e-02 -2.83708580e+02] [-1.30957055e-02 3.04714442e-05 -9.99914247e-01 -8.08117828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.620385723 meters 0.013511647375882951 Centerline is valid? [True, True] Translation: X:-171.25, Y:-283.72, Z:-8.08 [[-1.87574138e-01 9.82247653e-01 2.34310465e-03 -1.71250835e+02] [ 9.82174830e-01 1.87588763e-01 -1.19607440e-02 -2.83717372e+02] [-1.21879528e-02 5.78121634e-05 -9.99925723e-01 -8.08197714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.650385723 meters 0.013559586788191023 Centerline is valid? [True, True] Translation: X:-171.24, Y:-283.72, Z:-8.08 [[-2.63054619e-01 9.64775453e-01 3.25465961e-03 -1.71239960e+02] [ 9.64704813e-01 2.63074744e-01 -1.16748648e-02 -2.83723296e+02] [-1.21198418e-02 6.86586678e-05 -9.99926550e-01 -8.08215500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.680385723 meters 0.013733947450767461 Centerline is valid? [True, True] Translation: X:-171.23, Y:-283.73, Z:-8.08 [[-3.37250402e-01 9.41406017e-01 4.10816501e-03 -1.71229267e+02] [ 9.41338870e-01 3.37275414e-01 -1.12439726e-02 -2.83728631e+02] [-1.19707265e-02 7.51411499e-05 -9.99928346e-01 -8.08238220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.710385723 meters 0.013684906954669111 Centerline is valid? [True, True] Translation: X:-171.22, Y:-283.73, Z:-8.08 [[-4.08770863e-01 9.12624494e-01 4.78697096e-03 -1.71215883e+02] [ 9.12564389e-01 4.08798882e-01 -1.04742297e-02 -2.83732034e+02] [-1.15159470e-02 8.68593179e-05 -9.99933686e-01 -8.08297479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.740385723 meters 0.01364690680667167 Centerline is valid? [True, True] Translation: X:-171.20, Y:-283.73, Z:-8.08 [[-4.78506169e-01 8.78068125e-01 5.31167143e-03 -1.71202404e+02] [ 8.78016082e-01 4.78535641e-01 -9.56030342e-03 -2.83734720e+02] [-1.09364218e-02 8.90687718e-05 -9.99940192e-01 -8.08329174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.770385723 meters 0.01374913119610359 Centerline is valid? [True, True] Translation: X:-171.19, Y:-283.74, Z:-8.08 [[-5.45533138e-01 8.38066750e-01 6.14147256e-03 -1.71188048e+02] [ 8.38015579e-01 5.45567698e-01 -9.26154836e-03 -2.83736809e+02] [-1.11123848e-02 9.41681434e-05 -9.99938251e-01 -8.08284301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.800385723 meters 0.013565184370141786 Centerline is valid? [True, True] Translation: X:-171.17, Y:-283.74, Z:-8.08 [[-6.09612166e-01 7.92669004e-01 6.98975237e-03 -1.71173522e+02] [ 7.92618672e-01 6.09652229e-01 -8.93313935e-03 -2.83736489e+02] [-1.13423408e-02 9.44578114e-05 -9.99935669e-01 -8.08247498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.830385723 meters 0.013776527217532537 Centerline is valid? [True, True] Translation: X:-171.16, Y:-283.74, Z:-8.08 [[-6.69765364e-01 7.42530353e-01 7.93932892e-03 -1.71160681e+02] [ 7.42479933e-01 6.69812411e-01 -8.65349846e-03 -2.83737023e+02] [-1.17433463e-02 9.89788690e-05 -9.99931040e-01 -8.08170333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.860385723 meters 0.013622459124926807 Centerline is valid? [True, True] Translation: X:-171.15, Y:-283.74, Z:-8.08 [[-7.25913450e-01 6.87729540e-01 8.81724598e-03 -1.71147936e+02] [ 6.87680490e-01 7.25966990e-01 -8.21419931e-03 -2.83735595e+02] [-1.20501770e-02 1.00650285e-04 -9.99927389e-01 -8.08204241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.890385723 meters 0.01362491091090851 Centerline is valid? [True, True] Translation: X:-170.56, Y:-283.12, Z:-8.99 [[-6.89737517e-01 -7.24014160e-01 8.10266478e-03 -1.70561008e+02] [ 7.23962323e-01 -6.89785100e-01 -8.66439122e-03 -2.83122083e+02] [ 1.18622394e-02 -1.10131671e-04 9.99929635e-01 -8.99152039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.920385723 meters 0.01372874860967713 Centerline is valid? [True, True] Translation: X:-170.58, Y:-283.10, Z:-8.99 [[-6.89516604e-01 -7.24224485e-01 8.10850389e-03 -1.70580346e+02] [ 7.24172957e-01 -6.89564274e-01 -8.63949192e-03 -2.83103596e+02] [ 1.18482662e-02 -8.51138925e-05 9.99929803e-01 -8.99273884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.950385723 meters 0.013534880268100773 Centerline is valid? [True, True] Translation: X:-170.60, Y:-283.08, Z:-8.99 [[-6.89705538e-01 -7.24043889e-01 8.16811663e-03 -1.70599711e+02] [ 7.23991651e-01 -6.89753898e-01 -8.69767114e-03 -2.83084603e+02] [ 1.19314859e-02 -8.51836993e-05 9.99928814e-01 -8.99195032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9803857229999 meters 0.013612633956759355 Centerline is valid? [True, True] Translation: X:-170.62, Y:-283.06, Z:-8.99 [[-6.90246932e-01 -7.23527815e-01 8.16545273e-03 -1.70618855e+02] [ 7.23475635e-01 -6.90295222e-01 -8.68976850e-03 -2.83064661e+02] [ 1.19238622e-02 -9.05799447e-05 9.99928904e-01 -8.99223203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.010385723 meters 0.013537554207766015 Centerline is valid? [True, True] Translation: X:-170.64, Y:-283.04, Z:-8.99 [[-6.90819272e-01 -7.22982734e-01 8.04361038e-03 -1.70638439e+02] [ 7.22932120e-01 -6.90866092e-01 -8.55529272e-03 -2.83044396e+02] [ 1.17423866e-02 -9.51767876e-05 9.99931051e-01 -8.99168645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.040385723 meters 0.013531189806516837 Centerline is valid? [True, True] Translation: X:-170.66, Y:-283.02, Z:-8.99 [[-6.91427238e-01 -7.22403444e-01 7.85103744e-03 -1.70656913e+02] [ 7.22355247e-01 -6.91471803e-01 -8.34521812e-03 -2.83024985e+02] [ 1.14573853e-02 -9.88730283e-05 9.99934357e-01 -8.99064758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.070385723 meters 0.01361772730180612 Centerline is valid? [True, True] Translation: X:-170.68, Y:-283.01, Z:-8.99 [[-6.91825167e-01 -7.22021641e-01 7.91759212e-03 -1.70675070e+02] [ 7.21972661e-01 -6.91870465e-01 -8.41049075e-03 -2.83006163e+02] [ 1.15505045e-02 -1.02304121e-04 9.99933286e-01 -8.99097396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1003857229999 meters 0.013636622217852641 Centerline is valid? [True, True] Translation: X:-170.69, Y:-282.99, Z:-8.99 [[-6.92095395e-01 -7.21764906e-01 7.70619371e-03 -1.70694484e+02] [ 7.21718548e-01 -6.92138289e-01 -8.18090641e-03 -2.82987114e+02] [ 1.12384429e-02 -1.00264716e-04 9.99936842e-01 -8.99102890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.130385723 meters 0.013504607790298042 Centerline is valid? [True, True] Translation: X:-170.72, Y:-282.97, Z:-8.99 [[-6.92451712e-01 -7.21419862e-01 8.00052449e-03 -1.70715420e+02] [ 7.21369928e-01 -6.92497921e-01 -8.48859573e-03 -2.82967652e+02] [ 1.16641881e-02 -1.06604876e-04 9.99931965e-01 -8.99068389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.160385723 meters 0.01360859628465661 Centerline is valid? [True, True] Translation: X:-170.73, Y:-282.95, Z:-8.99 [[-6.92406003e-01 -7.21460191e-01 8.31379654e-03 -1.70734830e+02] [ 7.21406316e-01 -6.92455906e-01 -8.81734145e-03 -2.82948555e+02] [ 1.21182984e-02 -1.07554816e-04 9.99926565e-01 -8.99108581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.190385723 meters 0.01354903591258349 Centerline is valid? [True, True] Translation: X:-170.75, Y:-282.93, Z:-8.99 [[-6.92297540e-01 -7.21561835e-01 8.52254572e-03 -1.70754759e+02] [ 7.21505291e-01 -6.92349989e-01 -9.03367655e-03 -2.82929278e+02] [ 1.24189407e-02 -1.04930224e-04 9.99922877e-01 -8.99064839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2203857229999 meters 0.013488737988274005 Centerline is valid? [True, True] Translation: X:-170.77, Y:-282.91, Z:-8.99 [[-6.91996426e-01 -7.21850150e-01 8.56196162e-03 -1.70774820e+02] [ 7.21793167e-01 -6.92049385e-01 -9.07041898e-03 -2.82910059e+02] [ 1.24727836e-02 -9.67321186e-05 9.99922207e-01 -8.99084617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.250385723 meters 0.013380227249647913 Centerline is valid? [True, True] Translation: X:-170.80, Y:-282.89, Z:-8.99 [[-6.91115613e-01 -7.22694582e-01 8.47052139e-03 -1.70796135e+02] [ 7.22638935e-01 -6.91167516e-01 -8.96857205e-03 -2.82892034e+02] [ 1.23360877e-02 -7.71916239e-05 9.99923905e-01 -8.99119517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.280385723 meters 0.013224634914000971 Centerline is valid? [True, True] Translation: X:-170.82, Y:-282.87, Z:-8.99 [[-6.90078740e-01 -7.23688133e-01 8.17424513e-03 -1.70817311e+02] [ 7.23636438e-01 -6.90127150e-01 -8.64997742e-03 -2.82874004e+02] [ 1.19011545e-02 -5.39838857e-05 9.99929177e-01 -8.99069976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.310385723 meters 0.013238006929536628 Centerline is valid? [True, True] Translation: X:-170.84, Y:-282.86, Z:-8.99 [[-6.89409627e-01 -7.24327782e-01 7.97680176e-03 -1.70836410e+02] [ 7.24278638e-01 -6.89455773e-01 -8.43756276e-03 -2.82855151e+02] [ 1.16112131e-02 -3.95098908e-05 9.99932587e-01 -8.99085344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3403857229999 meters 0.013068218799994973 Centerline is valid? [True, True] Translation: X:-170.86, Y:-282.84, Z:-8.99 [[-6.87868901e-01 -7.25786161e-01 8.41569078e-03 -1.70858138e+02] [ 7.25731630e-01 -6.87920380e-01 -8.89681399e-03 -2.82836890e+02] [ 1.22465097e-02 -1.23086783e-05 9.99925009e-01 -8.98995980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.370385723 meters 0.01306264102058775 Centerline is valid? [True, True] Translation: X:-170.88, Y:-282.82, Z:-8.99 [[-6.87223621e-01 -7.26400478e-01 8.12654467e-03 -1.70877814e+02] [ 7.26349739e-01 -6.87271668e-01 -8.58544556e-03 -2.82818755e+02] [ 1.18216157e-02 2.59262101e-06 9.99930122e-01 -8.98976047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.400385723 meters 0.013020462132635018 Centerline is valid? [True, True] Translation: X:-170.90, Y:-282.80, Z:-8.99 [[-6.85728813e-01 -7.27819554e-01 7.39542827e-03 -1.70900042e+02] [ 7.27777664e-01 -6.85768691e-01 -7.80867086e-03 -2.82800993e+02] [ 1.07548565e-02 2.75969120e-05 9.99942165e-01 -8.98914119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.430385723 meters 0.013159751498288002 Centerline is valid? [True, True] Translation: X:-170.92, Y:-282.78, Z:-8.99 [[-6.84963401e-01 -7.28541540e-01 7.23626682e-03 -1.70920455e+02] [ 7.28501519e-01 -6.85001622e-01 -7.63636237e-03 -2.82782065e+02] [ 1.05202617e-02 4.10026363e-05 9.99944660e-01 -8.98934092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.460385723 meters 0.013304351283152473 Centerline is valid? [True, True] Translation: X:-170.94, Y:-282.77, Z:-8.99 [[-6.83247385e-01 -7.30153154e-01 7.02735411e-03 -1.70940721e+02] [ 7.30115545e-01 -6.83283519e-01 -7.41100034e-03 -2.82765402e+02] [ 1.02128405e-02 6.72338775e-05 9.99947845e-01 -8.98920446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.490385723 meters 0.013367479577313166 Centerline is valid? [True, True] Translation: X:-170.96, Y:-282.75, Z:-8.99 [[-6.82438859e-01 -7.30908249e-01 7.09475272e-03 -1.70960761e+02] [ 7.30870004e-01 -6.82475732e-01 -7.47745314e-03 -2.82746677e+02] [ 1.03073287e-02 8.24373676e-05 9.99946875e-01 -8.98878680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.520385723 meters 0.013684158611714731 Centerline is valid? [True, True] Translation: X:-170.98, Y:-282.73, Z:-8.99 [[-6.80534405e-01 -7.32680549e-01 7.22054991e-03 -1.70982782e+02] [ 7.32641080e-01 -6.80572700e-01 -7.60583809e-03 -2.82728667e+02] [ 1.04867588e-02 1.14036978e-04 9.99945006e-01 -8.98882934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.550385723 meters 0.013948589685998738 Centerline is valid? [True, True] Translation: X:-171.00, Y:-282.71, Z:-8.99 [[-6.79560380e-01 -7.33582217e-01 7.40404672e-03 -1.71003576e+02] [ 7.33540816e-01 -6.79600701e-01 -7.79483646e-03 -2.82709511e+02] [ 1.07499488e-02 1.34108444e-04 9.99942209e-01 -8.98904635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.580385723 meters 0.014627871340408835 Centerline is valid? [True, True] Translation: X:-171.03, Y:-282.69, Z:-8.99 [[-6.77999906e-01 -7.35025276e-01 7.34654223e-03 -1.71025640e+02] [ 7.34984645e-01 -6.78039688e-01 -7.73002343e-03 -2.82692336e+02] [ 1.06630098e-02 1.58640566e-04 9.99943136e-01 -8.98964554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.610385723 meters 0.014671564762244729 Centerline is valid? [True, True] Translation: X:-171.05, Y:-282.67, Z:-8.99 [[-6.77542807e-01 -7.35445698e-01 7.44110652e-03 -1.71045477e+02] [ 7.35404093e-01 -6.77583645e-01 -7.82464080e-03 -2.82673470e+02] [ 1.07965705e-02 1.70691102e-04 9.99941701e-01 -8.98916526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.640385723 meters 0.014435885324709252 Centerline is valid? [True, True] Translation: X:-171.07, Y:-282.65, Z:-8.99 [[-6.77317769e-01 -7.35654386e-01 7.29824327e-03 -1.71065982e+02] [ 7.35614420e-01 -6.77357065e-01 -7.67012206e-03 -2.82654150e+02] [ 1.05860756e-02 1.73583032e-04 9.99943951e-01 -8.98842427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.670385723 meters 0.014369515342864098 Centerline is valid? [True, True] Translation: X:-171.09, Y:-282.63, Z:-8.99 [[-6.77724071e-01 -7.35279317e-01 7.37631606e-03 -1.71085693e+02] [ 7.35238516e-01 -6.77764189e-01 -7.74784133e-03 -2.82634487e+02] [ 1.06962304e-02 1.72453107e-04 9.99942779e-01 -8.98838619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.700385723 meters 0.014285663886779857 Centerline is valid? [True, True] Translation: X:-171.10, Y:-282.62, Z:-8.99 [[-6.79060196e-01 -7.34041417e-01 7.77482272e-03 -1.71104896e+02] [ 7.33996060e-01 -6.79104684e-01 -8.16170173e-03 -2.82615588e+02] [ 1.12709456e-02 1.64402462e-04 9.99936467e-01 -8.98916576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7303857229999 meters 0.013946033814489207 Centerline is valid? [True, True] Translation: X:-171.12, Y:-282.59, Z:-8.99 [[-6.80021418e-01 -7.33145558e-01 8.27417957e-03 -1.71123661e+02] [ 7.33094178e-01 -6.80071735e-01 -8.68103954e-03 -2.82594750e+02] [ 1.19915012e-02 1.62460047e-04 9.99928086e-01 -8.98866136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.760385723 meters 0.013744641156343693 Centerline is valid? [True, True] Translation: X:-171.14, Y:-282.57, Z:-8.99 [[-6.82008230e-01 -7.31296477e-01 8.38074500e-03 -1.71142436e+02] [ 7.31243685e-01 -6.82059708e-01 -8.78797012e-03 -2.82574549e+02] [ 1.21427801e-02 1.34898911e-04 9.99926265e-01 -8.98860625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.790385723 meters 0.01367831313179703 Centerline is valid? [True, True] Translation: X:-171.16, Y:-282.55, Z:-8.99 [[-6.82863658e-01 -7.30500107e-01 8.17424115e-03 -1.71161897e+02] [ 7.30449880e-01 -6.82912571e-01 -8.56698905e-03 -2.82554259e+02] [ 1.18404785e-02 1.20787986e-04 9.99929892e-01 -8.98810664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.820385723 meters 0.013441070924759987 Centerline is valid? [True, True] Translation: X:-171.18, Y:-282.53, Z:-8.99 [[-6.84575847e-01 -7.28900130e-01 7.77884250e-03 -1.71182277e+02] [ 7.28854593e-01 -6.84620035e-01 -8.14802680e-03 -2.82534349e+02] [ 1.12646492e-02 9.17027420e-05 9.99936548e-01 -8.98716239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8503857229999 meters 0.013441070924759987 Centerline is valid? [True, True] Translation: X:-171.20, Y:-282.51, Z:-8.99 [[-6.84778621e-01 -7.28709610e-01 7.78110935e-03 -1.71201378e+02] [ 7.28664085e-01 -6.84822821e-01 -8.14586206e-03 -2.82514432e+02] [ 1.12646492e-02 9.17027399e-05 9.99936548e-01 -8.98716242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.880385723 meters 0.013475478484136234 Centerline is valid? [True, True] Translation: X:-171.22, Y:-282.50, Z:-8.99 [[-6.85482723e-01 -7.28047519e-01 7.76183792e-03 -1.71220330e+02] [ 7.28002234e-01 -6.85526661e-01 -8.12063132e-03 -2.82495196e+02] [ 1.12331523e-02 8.40828739e-05 9.99936903e-01 -8.98719568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.910385723 meters 0.013318321841187107 Centerline is valid? [True, True] Translation: X:-171.24, Y:-282.48, Z:-8.99 [[-6.87077100e-01 -7.26540496e-01 7.99790224e-03 -1.71238739e+02] [ 7.26492375e-01 -6.87123645e-01 -8.36216114e-03 -2.82476043e+02] [ 1.15709964e-02 6.49655689e-05 9.99933052e-01 -8.98727541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.940385723 meters 0.013334011005825916 Centerline is valid? [True, True] Translation: X:-171.26, Y:-282.46, Z:-8.99 [[-6.87888314e-01 -7.25769965e-01 8.22352947e-03 -1.71257796e+02] [ 7.25719098e-01 -6.87937465e-01 -8.59277084e-03 -2.82456235e+02] [ 1.18936490e-02 5.71057458e-05 9.99929267e-01 -8.98696890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9703857229999 meters 0.013348888119593049 Centerline is valid? [True, True] Translation: X:-171.28, Y:-282.44, Z:-8.99 [[-6.89692823e-01 -7.24049983e-01 8.68516581e-03 -1.71276573e+02] [ 7.23993182e-01 -6.89747505e-01 -9.06924192e-03 -2.82437209e+02] [ 1.25571559e-02 3.30097747e-05 9.99921155e-01 -8.98700963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.000385723 meters 0.013228401741039819 Centerline is valid? [True, True] Translation: X:-171.30, Y:-282.42, Z:-8.99 [[-6.90857582e-01 -7.22937269e-01 8.80384145e-03 -1.71295861e+02] [ 7.22878886e-01 -6.90913674e-01 -9.18757750e-03 -2.82418005e+02] [ 1.27247366e-02 1.68035180e-05 9.99919037e-01 -8.98690614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.030385723 meters 0.013290357764601034 Centerline is valid? [True, True] Translation: X:-171.32, Y:-282.40, Z:-8.99 [[-6.91935440e-01 -7.21909136e-01 8.51745511e-03 -1.71315261e+02] [ 7.21854477e-01 -6.91987861e-01 -8.88335098e-03 -2.82398631e+02] [ 1.23069478e-02 1.65774257e-06 9.99924267e-01 -8.98725630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.060385723 meters 0.015668856411131252 Centerline is valid? [True, True] Translation: X:-171.33, Y:-282.38, Z:-8.99 [[-6.94216811e-01 -7.19708783e-01 9.07123292e-03 -1.71334290e+02] [ 7.19646673e-01 -6.94276074e-01 -9.45510913e-03 -2.82379591e+02] [ 1.31028651e-02 -3.58131205e-05 9.99914153e-01 -8.98755190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0903857229999 meters 0.013386266222744834 Centerline is valid? [True, True] Translation: X:-171.35, Y:-282.36, Z:-8.99 [[-6.95616653e-01 -7.18359749e-01 8.76035169e-03 -1.71354060e+02] [ 7.18301788e-01 -6.95671811e-01 -9.12543482e-03 -2.82360536e+02] [ 1.26496748e-02 -5.52281393e-05 9.99919988e-01 -8.98547864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.120385723 meters 0.013584816034785563 Centerline is valid? [True, True] Translation: X:-171.37, Y:-282.34, Z:-8.99 [[-6.96520060e-01 -7.17480657e-01 9.01732031e-03 -1.71372945e+02] [ 7.17419251e-01 -6.96578425e-01 -9.38704382e-03 -2.82341815e+02] [ 1.30162931e-02 -6.90651407e-05 9.99915282e-01 -8.98541684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.150385723 meters 0.01364760558078469 Centerline is valid? [True, True] Translation: X:-171.39, Y:-282.32, Z:-8.98 [[-6.97711563e-01 -7.16325414e-01 8.74509028e-03 -1.71393933e+02] [ 7.16267632e-01 -6.97766361e-01 -9.09859975e-03 -2.82323270e+02] [ 1.26195881e-02 -8.43731396e-05 9.99920366e-01 -8.98439646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.180385723 meters 0.013734742071776837 Centerline is valid? [True, True] Translation: X:-171.41, Y:-282.30, Z:-8.98 [[-6.98000873e-01 -7.16043850e-01 8.71694092e-03 -1.71413049e+02] [ 7.15986465e-01 -6.98055296e-01 -9.06564348e-03 -2.82304483e+02] [ 1.25763050e-02 -8.66153576e-05 9.99920912e-01 -8.98448803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.210385723 meters 0.013697923073610625 Centerline is valid? [True, True] Translation: X:-171.43, Y:-282.29, Z:-8.98 [[-6.98257634e-01 -7.15793255e-01 8.73455548e-03 -1.71433694e+02] [ 7.15735681e-01 -6.98312257e-01 -9.07893169e-03 -2.82285341e+02] [ 1.25980852e-02 -8.78003451e-05 9.99920637e-01 -8.98352782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.240385723 meters 0.013673295972392604 Centerline is valid? [True, True] Translation: X:-171.46, Y:-282.27, Z:-8.98 [[-6.98305789e-01 -7.15743932e-01 8.92463672e-03 -1.71455115e+02] [ 7.15683888e-01 -6.98362811e-01 -9.27127307e-03 -2.82267097e+02] [ 1.28684918e-02 -8.69649421e-05 9.99917194e-01 -8.98300517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.270385723 meters 0.013818646570256148 Centerline is valid? [True, True] Translation: X:-171.48, Y:-282.25, Z:-8.98 [[-6.98419427e-01 -7.15629628e-01 9.19450579e-03 -1.71475510e+02] [ 7.15565963e-01 -6.98479941e-01 -9.54594093e-03 -2.82249104e+02] [ 1.32535360e-02 -8.77952018e-05 9.99912164e-01 -8.98280183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.300385723 meters 0.013710891471939502 Centerline is valid? [True, True] Translation: X:-171.50, Y:-282.23, Z:-8.98 [[-6.98433853e-01 -7.15615256e-01 9.21731557e-03 -1.71496193e+02] [ 7.15551344e-01 -6.98494666e-01 -9.56428918e-03 -2.82229748e+02] [ 1.32825970e-02 -8.45607966e-05 9.99911779e-01 -8.98245624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.330385723 meters 0.014077447476720633 Centerline is valid? [True, True] Translation: X:-171.52, Y:-282.21, Z:-8.98 [[-6.98444954e-01 -7.15604487e-01 9.21221768e-03 -1.71515489e+02] [ 7.15540719e-01 -6.98505700e-01 -9.55337836e-03 -2.82210814e+02] [ 1.32712270e-02 -8.07920430e-05 9.99911930e-01 -8.98383902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.360385723 meters 0.01386569506628999 Centerline is valid? [True, True] Translation: X:-171.54, Y:-282.19, Z:-8.98 [[-6.97660236e-01 -7.16361024e-01 9.85282014e-03 -1.71537631e+02] [ 7.16288235e-01 -6.97729803e-01 -1.02120212e-02 -2.82193020e+02] [ 1.41901003e-02 -6.70620021e-05 9.99899313e-01 -8.98238199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.390385723 meters 0.013987261666328177 Centerline is valid? [True, True] Translation: X:-171.56, Y:-282.17, Z:-8.98 [[-6.97206937e-01 -7.16799094e-01 1.00770474e-02 -1.71557284e+02] [ 7.16723089e-01 -6.97279755e-01 -1.04382913e-02 -2.82174655e+02] [ 1.45086789e-02 -5.51965646e-05 9.99894742e-01 -8.98306402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.420385723 meters 0.013910597201242512 Centerline is valid? [True, True] Translation: X:-171.58, Y:-282.16, Z:-8.98 [[-6.95807920e-01 -7.18149394e-01 1.06200663e-02 -1.71579343e+02] [ 7.18065226e-01 -6.95888962e-01 -1.09947444e-02 -2.82157004e+02] [ 1.52862559e-02 -2.43299160e-05 9.99883158e-01 -8.98266300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.450385723 meters 0.014012741480150038 Centerline is valid? [True, True] Translation: X:-171.60, Y:-282.14, Z:-8.98 [[-6.95301877e-01 -7.18634600e-01 1.09367189e-02 -1.71600483e+02] [ 7.18545495e-01 -6.95387886e-01 -1.13163661e-02 -2.82137704e+02] [ 1.57375941e-02 -9.76047520e-06 9.99876156e-01 -8.98312132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4803857229999 meters 0.013909978999624756 Centerline is valid? [True, True] Translation: X:-171.62, Y:-282.12, Z:-8.98 [[-6.93883690e-01 -7.19993648e-01 1.16004802e-02 -1.71622267e+02] [ 7.19893702e-01 -6.93980652e-01 -1.19963529e-02 -2.82119397e+02] [ 1.66878067e-02 2.70390676e-05 9.99860749e-01 -8.98248584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.510385723 meters 0.014028892729887752 Centerline is valid? [True, True] Translation: X:-171.64, Y:-282.10, Z:-8.98 [[-6.93395184e-01 -7.20458059e-01 1.19710016e-02 -1.71641766e+02] [ 7.20351822e-01 -6.93498510e-01 -1.23721084e-02 -2.82100991e+02] [ 1.72154569e-02 4.45724653e-05 9.99851802e-01 -8.98294063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.540385723 meters 0.01409758935222668 Centerline is valid? [True, True] Translation: X:-171.66, Y:-282.08, Z:-8.98 [[-6.92073085e-01 -7.21729067e-01 1.19163874e-02 -1.71662870e+02] [ 7.21624102e-01 -6.92175663e-01 -1.23088090e-02 -2.82082258e+02] [ 1.71318586e-02 8.05569776e-05 9.99853236e-01 -8.98246179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.570385723 meters 0.01419793823820774 Centerline is valid? [True, True] Translation: X:-171.68, Y:-282.06, Z:-8.98 [[-6.91357058e-01 -7.22413451e-01 1.20093807e-02 -1.71682180e+02] [ 7.22307071e-01 -6.91461348e-01 -1.23975768e-02 -2.82063618e+02] [ 1.72601987e-02 1.03308379e-04 9.99851026e-01 -8.98218570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6003857229999 meters 0.014229594234322069 Centerline is valid? [True, True] Translation: X:-171.70, Y:-282.04, Z:-8.98 [[-6.90698836e-01 -7.23046683e-01 1.17733884e-02 -1.71702351e+02] [ 7.22944648e-01 -6.90799160e-01 -1.21472487e-02 -2.82043443e+02] [ 1.69160747e-02 1.21417646e-04 9.99856906e-01 -8.98171169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.630385723 meters 0.01466262086952314 Centerline is valid? [True, True] Translation: X:-171.72, Y:-282.02, Z:-8.98 [[-6.89156213e-01 -7.24518340e-01 1.16999880e-02 -1.71722442e+02] [ 7.24417903e-01 -6.89255504e-01 -1.20644980e-02 -2.82024671e+02] [ 1.68052312e-02 1.61357030e-04 9.99858769e-01 -8.98105956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.660385723 meters 0.014625759906508091 Centerline is valid? [True, True] Translation: X:-171.74, Y:-282.01, Z:-8.98 [[-6.88517072e-01 -7.25128494e-01 1.15285907e-02 -1.71741483e+02] [ 7.25031185e-01 -6.88613560e-01 -1.18804456e-02 -2.82005529e+02] [ 1.65535935e-02 1.78698156e-04 9.99862964e-01 -8.98069808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.690385723 meters 0.014814210503933986 Centerline is valid? [True, True] Translation: X:-171.76, Y:-281.99, Z:-8.98 [[-6.87347989e-01 -7.26236477e-01 1.15465160e-02 -1.71760598e+02] [ 7.26139131e-01 -6.87444933e-01 -1.18923041e-02 -2.81985510e+02] [ 1.65742190e-02 2.10225789e-04 9.99862616e-01 -8.97989288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7203857229999 meters 0.014689356984787932 Centerline is valid? [True, True] Translation: X:-171.78, Y:-281.96, Z:-8.98 [[-6.87139196e-01 -7.26434931e-01 1.14898864e-02 -1.71780009e+02] [ 7.26338675e-01 -6.87235217e-01 -1.18273320e-02 -2.81964671e+02] [ 1.64880417e-02 2.18525525e-04 9.99864039e-01 -8.97910701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.750385723 meters 0.014890176151920263 Centerline is valid? [True, True] Translation: X:-171.80, Y:-281.94, Z:-8.98 [[-6.86936803e-01 -7.26632402e-01 1.10987214e-02 -1.71798179e+02] [ 7.26542717e-01 -6.87026422e-01 -1.14182730e-02 -2.81943334e+02] [ 1.59220020e-02 2.20063236e-04 9.99873213e-01 -8.97880275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.780385723 meters 0.015050154341471379 Centerline is valid? [True, True] Translation: X:-171.82, Y:-281.92, Z:-8.98 [[-6.87176710e-01 -7.26409015e-01 1.08679474e-02 -1.71815984e+02] [ 7.26323096e-01 -6.87262611e-01 -1.11742430e-02 -2.81923546e+02] [ 1.55862048e-02 2.14961626e-04 9.99878505e-01 -8.97866809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.810385723 meters 0.015296803835532296 Centerline is valid? [True, True] Translation: X:-171.83, Y:-281.90, Z:-8.98 [[-6.87113398e-01 -7.26473951e-01 1.05250419e-02 -1.71833595e+02] [ 7.26393466e-01 -6.87193971e-01 -1.08156918e-02 -2.81901931e+02] [ 1.50900637e-02 2.13714964e-04 9.99886116e-01 -8.97800467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8403857229999 meters 0.015383362660515649 Centerline is valid? [True, True] Translation: X:-171.85, Y:-281.88, Z:-8.98 [[-6.86891432e-01 -7.26686645e-01 1.03286409e-02 -1.71852539e+02] [ 7.26609247e-01 -6.86969048e-01 -1.06080180e-02 -2.81881335e+02] [ 1.48041616e-02 2.18329332e-04 9.99890389e-01 -8.97770754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.870385723 meters 0.015884604003773173 Centerline is valid? [True, True] Translation: X:-171.87, Y:-281.86, Z:-8.98 [[-6.85866489e-01 -7.27656327e-01 1.01700250e-02 -1.71871107e+02] [ 7.27581484e-01 -6.85941843e-01 -1.04389843e-02 -2.81860842e+02] [ 1.45720387e-02 2.39772379e-04 9.99893794e-01 -8.97759709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.900385723 meters 0.016050202055532554 Centerline is valid? [True, True] Translation: X:-171.89, Y:-281.84, Z:-8.98 [[-6.85375905e-01 -7.28120803e-01 9.99826748e-03 -1.71890582e+02] [ 7.28048597e-01 -6.85448783e-01 -1.02570168e-02 -2.81840503e+02] [ 1.43216476e-02 2.49312422e-04 9.99897409e-01 -8.97830009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.930385723 meters 0.016766341828433673 Centerline is valid? [True, True] Translation: X:-171.91, Y:-281.82, Z:-8.98 [[-6.84271497e-01 -7.29146652e-01 1.08479220e-02 -1.71908956e+02] [ 7.29061881e-01 -6.84357414e-01 -1.11221882e-02 -2.81820447e+02] [ 1.55335622e-02 2.98210037e-04 9.99879303e-01 -8.97995695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.960385723 meters 0.016706934125055806 Centerline is valid? [True, True] Translation: X:-171.93, Y:-281.80, Z:-8.98 [[-6.84188142e-01 -7.29219788e-01 1.11842554e-02 -1.71926618e+02] [ 7.29129802e-01 -6.84279477e-01 -1.14599440e-02 -2.81799509e+02] [ 1.60099744e-02 3.14016167e-04 9.99871783e-01 -8.98010659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.990385723 meters 0.016849432464644976 Centerline is valid? [True, True] Translation: X:-171.94, Y:-281.78, Z:-8.98 [[-6.84237975e-01 -7.29162599e-01 1.18447977e-02 -1.71943255e+02] [ 7.29061773e-01 -6.84340407e-01 -1.21300958e-02 -2.81776546e+02] [ 1.69506858e-02 3.35717010e-04 9.99856271e-01 -8.98040685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.020385723 meters 0.017086280385079717 Centerline is valid? [True, True] Translation: X:-171.96, Y:-281.76, Z:-8.98 [[-6.84275624e-01 -7.29122288e-01 1.21474086e-02 -1.71961175e+02] [ 7.29016372e-01 -6.84383348e-01 -1.24323260e-02 -2.81755585e+02] [ 1.73781702e-02 3.48522162e-04 9.99848928e-01 -8.98069704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.050385723 meters 0.01712276892497796 Centerline is valid? [True, True] Translation: X:-171.98, Y:-281.73, Z:-8.98 [[-6.84078306e-01 -7.29308647e-01 1.20735032e-02 -1.71977604e+02] [ 7.29204162e-01 -6.84184750e-01 -1.23498513e-02 -2.81733019e+02] [ 1.72673601e-02 3.55783444e-04 9.99850845e-01 -8.98069286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.080385723 meters 0.01740365449183543 Centerline is valid? [True, True] Translation: X:-172.00, Y:-281.71, Z:-8.98 [[-6.84036960e-01 -7.29351330e-01 1.18353688e-02 -1.71995166e+02] [ 7.29251060e-01 -6.84139249e-01 -1.20987691e-02 -2.81712696e+02] [ 1.69212936e-02 3.54949963e-04 9.99856762e-01 -8.98038753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.110385723 meters 0.017292524725148604 Centerline is valid? [True, True] Translation: X:-172.01, Y:-281.69, Z:-8.98 [[-6.83783772e-01 -7.29599456e-01 1.11528600e-02 -1.72011451e+02] [ 7.29510553e-01 -6.83874634e-01 -1.13946655e-02 -2.81688907e+02] [ 1.59406998e-02 3.44641731e-04 9.99872880e-01 -8.97916826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.140385723 meters 0.017953312601111555 Centerline is valid? [True, True] Translation: X:-172.03, Y:-281.67, Z:-8.98 [[-6.83940588e-01 -7.29452557e-01 1.11462363e-02 -1.72028718e+02] [ 7.29363814e-01 -6.84031321e-01 -1.13832397e-02 -2.81668505e+02] [ 1.59279080e-02 3.44201735e-04 9.99873084e-01 -8.97959298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.170385723 meters 0.017525734435777564 Centerline is valid? [True, True] Translation: X:-172.04, Y:-281.65, Z:-8.98 [[-6.84260355e-01 -7.29160234e-01 1.06357792e-02 -1.72044347e+02] [ 7.29079485e-01 -6.84342931e-01 -1.08561974e-02 -2.81645108e+02] [ 1.51944278e-02 3.25862899e-04 9.99884505e-01 -8.97815120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.200385723 meters 0.017252407222719642 Centerline is valid? [True, True] Translation: X:-172.06, Y:-281.62, Z:-8.98 [[-6.84716828e-01 -7.28738282e-01 1.01676539e-02 -1.72061827e+02] [ 7.28664525e-01 -6.84792247e-01 -1.03724883e-02 -2.81622939e+02] [ 1.45215599e-02 3.06591400e-04 9.99894510e-01 -8.97736834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2303857229999 meters 0.017662130196953205 Centerline is valid? [True, True] Translation: X:-172.08, Y:-281.60, Z:-8.98 [[-6.85244018e-01 -7.28250057e-01 9.61718355e-03 -1.72080085e+02] [ 7.28184097e-01 -6.85311443e-01 -9.80548233e-03 -2.81602242e+02] [ 1.37316090e-02 2.83932010e-04 9.99905677e-01 -8.97769759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.260385723 meters 0.017167162413737974 Centerline is valid? [True, True] Translation: X:-172.10, Y:-281.58, Z:-8.98 [[-6.86354011e-01 -7.27218906e-01 8.41637003e-03 -1.72095638e+02] [ 7.27168369e-01 -6.86405572e-01 -8.57641589e-03 -2.81577748e+02] [ 1.20139751e-02 2.33660618e-04 9.99927802e-01 -8.97643358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.290385723 meters 0.016938081789834553 Centerline is valid? [True, True] Translation: X:-172.11, Y:-281.55, Z:-8.98 [[-6.87621561e-01 -7.26028132e-01 7.72916352e-03 -1.72111039e+02] [ 7.25985484e-01 -6.87664971e-01 -7.87178574e-03 -2.81553848e+02] [ 1.10302129e-02 1.98450919e-04 9.99939146e-01 -8.97592476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.320385723 meters 0.017170927521645545 Centerline is valid? [True, True] Translation: X:-172.13, Y:-281.53, Z:-8.98 [[-6.88564189e-01 -7.25138993e-01 7.26628497e-03 -1.72128620e+02] [ 7.25101298e-01 -6.88602505e-01 -7.39578944e-03 -2.81533593e+02] [ 1.03665573e-02 1.76316903e-04 9.99946250e-01 -8.97659711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3503857229999 meters 0.016562493484998716 Centerline is valid? [True, True] Translation: X:-172.14, Y:-281.51, Z:-8.98 [[-6.90223206e-01 -7.23565392e-01 6.71194222e-03 -1.72144078e+02] [ 7.23533190e-01 -6.90255824e-01 -6.82786142e-03 -2.81509094e+02] [ 9.57336143e-03 1.43564568e-04 9.99954164e-01 -8.97627847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.380385723 meters 0.01624844620105262 Centerline is valid? [True, True] Translation: X:-172.16, Y:-281.49, Z:-8.98 [[-6.91445445e-01 -7.22400942e-01 6.33055447e-03 -1.72160914e+02] [ 7.22372284e-01 -6.91474413e-01 -6.43584071e-03 -2.81487335e+02] [ 9.02667382e-03 1.22984351e-04 9.99959251e-01 -8.97574199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.410385723 meters 0.015997295340746565 Centerline is valid? [True, True] Translation: X:-172.18, Y:-281.46, Z:-8.98 [[-6.93467457e-01 -7.20467616e-01 5.41302086e-03 -1.72175930e+02] [ 7.20446627e-01 -6.93488577e-01 -5.50000880e-03 -2.81464530e+02] [ 7.71644636e-03 8.57155074e-05 9.99970224e-01 -8.97574366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.440385723 meters 0.01574751204219631 Centerline is valid? [True, True] Translation: X:-172.19, Y:-281.44, Z:-8.98 [[-6.94697451e-01 -7.19282244e-01 5.33894456e-03 -1.72192872e+02] [ 7.19261817e-01 -6.94717963e-01 -5.42138046e-03 -2.81443204e+02] [ 7.60856339e-03 7.38797744e-05 9.99971052e-01 -8.97578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4703857229999 meters 0.015467449943225936 Centerline is valid? [True, True] Translation: X:-172.21, Y:-281.42, Z:-8.98 [[-6.97138095e-01 -7.16921696e-01 4.66462010e-03 -1.72208924e+02] [ 7.16906060e-01 -6.97153699e-01 -4.73500129e-03 -2.81418902e+02] [ 6.64658231e-03 4.31446382e-05 9.99977910e-01 -8.97617825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.500385723 meters 0.015443948374970401 Centerline is valid? [True, True] Translation: X:-172.23, Y:-281.40, Z:-8.98 [[-6.98481095e-01 -7.15613882e-01 4.57510383e-03 -1.72226008e+02] [ 7.15598833e-01 -6.98496078e-01 -4.64110033e-03 -2.81398208e+02] [ 6.51692790e-03 3.22181272e-05 9.99978764e-01 -8.97690990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.530385723 meters 0.015421282849414361 Centerline is valid? [True, True] Translation: X:-172.24, Y:-281.38, Z:-8.98 [[-6.99560212e-01 -7.14561202e-01 4.21889784e-03 -1.72243383e+02] [ 7.14548402e-01 -6.99572933e-01 -4.27714046e-03 -2.81376589e+02] [ 6.00770536e-03 2.24894274e-05 9.99981953e-01 -8.97689770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.560385723 meters 0.01534361523574319 Centerline is valid? [True, True] Translation: X:-172.26, Y:-281.35, Z:-8.98 [[-7.01248572e-01 -7.12906954e-01 3.75718196e-03 -1.72258956e+02] [ 7.12896790e-01 -7.01258637e-01 -3.80671168e-03 -2.81354229e+02] [ 5.34858752e-03 9.03182757e-06 9.99985696e-01 -8.97703686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5903857229999 meters 0.015334084006364395 Centerline is valid? [True, True] Translation: X:-172.28, Y:-281.33, Z:-8.98 [[-7.02068005e-01 -7.12101946e-01 3.36665987e-03 -1.72276644e+02] [ 7.12093787e-01 -7.02076077e-01 -3.40896273e-03 -2.81333530e+02] [ 4.79118035e-03 4.05391216e-06 9.99988522e-01 -8.97698065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.620385723 meters 0.015313993940203188 Centerline is valid? [True, True] Translation: X:-172.29, Y:-281.31, Z:-8.98 [[-7.02705140e-01 -7.11479100e-01 1.72539336e-03 -1.72294286e+02] [ 7.11476957e-01 -7.02707258e-01 -1.74598041e-03 -2.81313045e+02] [ 2.45467501e-03 6.68205908e-07 9.99996987e-01 -8.97592149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.650385723 meters 0.015337622338037529 Centerline is valid? [True, True] Translation: X:-172.31, Y:-281.29, Z:-8.98 [[-7.02530633e-01 -7.11653110e-01 7.48564871e-04 -1.72313398e+02] [ 7.11652707e-01 -7.02531032e-01 -7.57130855e-04 -2.81294613e+02] [ 1.06470458e-03 8.10598327e-07 9.99999433e-01 -8.97565152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.680385723 meters 0.01537623741688602 Centerline is valid? [True, True] Translation: X:-172.33, Y:-281.28, Z:-8.98 [[-7.02274273e-01 -7.11906484e-01 -6.06726997e-05 -1.72332948e+02] [ 7.11906481e-01 -7.02274276e-01 6.13300374e-05 -2.81276084e+02] [-8.62701269e-05 -1.22780778e-07 9.99999996e-01 -8.97613334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.710385723 meters 0.015366875900615876 Centerline is valid? [True, True] Translation: X:-172.35, Y:-281.26, Z:-8.98 [[-7.02163471e-01 -7.12015770e-01 -5.34150403e-05 -1.72352918e+02] [ 7.12015768e-01 -7.02163473e-01 5.39609203e-05 -2.81257378e+02] [-7.59271158e-05 -1.42963904e-07 9.99999997e-01 -8.97665639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.740385723 meters 0.015297036543296795 Centerline is valid? [True, True] Translation: X:-172.37, Y:-281.24, Z:-8.98 [[-7.02036789e-01 -7.12140673e-01 -9.70834583e-05 -1.72373266e+02] [ 7.12140666e-01 -7.02036796e-01 9.80148507e-05 -2.81238763e+02] [-1.37956521e-04 -3.27047611e-07 9.99999991e-01 -8.97761083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.770385723 meters 0.015297036543296795 Centerline is valid? [True, True] Translation: X:-172.39, Y:-281.22, Z:-8.98 [[-7.02255659e-01 -7.11924841e-01 -9.71135824e-05 -1.72392185e+02] [ 7.11924835e-01 -7.02255666e-01 9.79850037e-05 -2.81219800e+02] [-1.37956521e-04 -3.27047716e-07 9.99999991e-01 -8.97761087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.800385723 meters 0.015253060862398063 Centerline is valid? [True, True] Translation: X:-172.41, Y:-281.20, Z:-8.98 [[-7.01546712e-01 -7.12623459e-01 -1.24591775e-04 -1.72412975e+02] [ 7.12623448e-01 -7.01546723e-01 1.25632774e-04 -2.81201952e+02] [-1.76935813e-04 -6.49760754e-07 9.99999984e-01 -8.97904588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.830385723 meters 0.015169197551525411 Centerline is valid? [True, True] Translation: X:-172.43, Y:-281.18, Z:-8.98 [[-7.01547297e-01 -7.12622855e-01 -2.37864861e-04 -1.72432293e+02] [ 7.12622815e-01 -7.01547337e-01 2.39698540e-04 -2.81184715e+02] [-3.37688118e-04 -1.34806437e-06 9.99999943e-01 -8.97928590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.860385723 meters 0.015043689720797275 Centerline is valid? [True, True] Translation: X:-172.45, Y:-281.17, Z:-8.98 [[-7.01727525e-01 -7.12445118e-01 -6.59075996e-04 -1.72452953e+02] [ 7.12444809e-01 -7.01727835e-01 6.63745329e-04 -2.81167118e+02] [-9.35374090e-04 -3.78690505e-06 9.99999563e-01 -8.98014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.890385723 meters 0.01504801773783243 Centerline is valid? [True, True] Translation: X:-172.47, Y:-281.15, Z:-8.98 [[-7.02077305e-01 -7.12100124e-01 -9.33065383e-04 -1.72472243e+02] [ 7.12099505e-01 -7.02077925e-01 9.39067589e-04 -2.81149449e+02] [-1.32379475e-03 -5.13735587e-06 9.99999124e-01 -8.98034956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.920385723 meters 0.01486908534042348 Centerline is valid? [True, True] Translation: X:-172.49, Y:-281.13, Z:-8.98 [[-7.02956880e-01 -7.11231017e-01 -1.43737555e-03 -1.72491050e+02] [ 7.11229547e-01 -7.02958350e-01 1.44572705e-03 -2.81130327e+02] [-2.03866106e-03 -6.02018553e-06 9.99997922e-01 -8.98022413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.950385723 meters 0.014900374816559757 Centerline is valid? [True, True] Translation: X:-172.51, Y:-281.11, Z:-8.98 [[-7.03878507e-01 -7.10317753e-01 -1.93345435e-03 -1.72510211e+02] [ 7.10315094e-01 -7.03881162e-01 1.94349340e-03 -2.81110973e+02] [-2.74141996e-03 -5.37857718e-06 9.99996242e-01 -8.98005733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9803857229999 meters 0.01476002270689287 Centerline is valid? [True, True] Translation: X:-172.53, Y:-281.09, Z:-8.98 [[-7.04910862e-01 -7.09291997e-01 -2.35347278e-03 -1.72529606e+02] [ 7.09288056e-01 -7.04914791e-01 2.36437046e-03 -2.81090958e+02] [-3.33602682e-03 -2.61971480e-06 9.99994436e-01 -8.97999654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.010385723 meters 0.014713800218289294 Centerline is valid? [True, True] Translation: X:-172.55, Y:-281.07, Z:-8.98 [[-7.06740486e-01 -7.07465839e-01 -3.15793014e-03 -1.72549468e+02] [ 7.07458733e-01 -7.06747541e-01 3.17077301e-03 -2.81070445e+02] [-4.47507295e-03 6.80840522e-06 9.99989987e-01 -8.98038121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.040385723 meters 0.014689182446140201 Centerline is valid? [True, True] Translation: X:-172.57, Y:-281.05, Z:-8.98 [[-7.08111865e-01 -7.06090671e-01 -3.68107719e-03 -1.72568690e+02] [ 7.06081009e-01 -7.08121433e-01 3.69386519e-03 -2.81051017e+02] [-5.21485341e-03 1.65310757e-05 9.99986403e-01 -8.98113726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.070385723 meters 0.014627630958962124 Centerline is valid? [True, True] Translation: X:-172.59, Y:-281.03, Z:-8.98 [[-7.08869749e-01 -7.05332057e-01 -3.21990428e-03 -1.72587856e+02] [ 7.05324666e-01 -7.08877062e-01 3.22909144e-03 -2.81031565e+02] [-4.56009800e-03 1.79273292e-05 9.99989603e-01 -8.98151724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1003857229999 meters 0.014638437769734834 Centerline is valid? [True, True] Translation: X:-172.61, Y:-281.01, Z:-8.98 [[-7.09546319e-01 -7.04650996e-01 -3.31595542e-03 -1.72606409e+02] [ 7.04643159e-01 -7.09554067e-01 3.32325592e-03 -2.81012987e+02] [-4.69458524e-03 2.14387006e-05 9.99988980e-01 -8.98198003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.130385723 meters 0.01457629817489993 Centerline is valid? [True, True] Translation: X:-172.63, Y:-280.99, Z:-8.98 [[-7.10193720e-01 -7.04000643e-01 -2.82389760e-03 -1.72626341e+02] [ 7.03994961e-01 -7.10199334e-01 2.82854406e-03 -2.80993300e+02] [-3.99682703e-03 2.08045504e-05 9.99992013e-01 -8.98335679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.160385723 meters 0.01454285322322172 Centerline is valid? [True, True] Translation: X:-172.65, Y:-280.97, Z:-8.98 [[-7.10868113e-01 -7.03319242e-01 -2.92747993e-03 -1.72645676e+02] [ 7.03313137e-01 -7.10874140e-01 2.93047091e-03 -2.80973465e+02] [-4.14212636e-03 2.42432294e-05 9.99991421e-01 -8.98403013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.190385723 meters 0.014561709173068312 Centerline is valid? [True, True] Translation: X:-172.66, Y:-280.95, Z:-8.98 [[-7.11414031e-01 -7.02766323e-01 -3.09397916e-03 -1.72663984e+02] [ 7.02759507e-01 -7.11420758e-01 3.09510713e-03 -2.80954924e+02] [-4.37625805e-03 2.75793722e-05 9.99990424e-01 -8.98395908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2203857229999 meters 0.014585614391451373 Centerline is valid? [True, True] Translation: X:-172.68, Y:-280.94, Z:-8.98 [[-7.11966594e-01 -7.02206111e-01 -3.18539336e-03 -1.72683159e+02] [ 7.02198890e-01 -7.11973719e-01 3.18460585e-03 -2.80935184e+02] [-4.50416604e-03 3.05532999e-05 9.99989856e-01 -8.98405259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.250385723 meters 0.014619959814185991 Centerline is valid? [True, True] Translation: X:-172.69, Y:-280.97, Z:-8.98 [[-6.63720987e-01 -7.47975312e-01 -2.71755800e-03 -1.72693366e+02] [ 7.47968848e-01 -6.63726549e-01 3.10978783e-03 -2.80969141e+02] [-4.12975992e-03 3.13827205e-05 9.99991472e-01 -8.98416415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.280385723 meters 0.014744478668346724 Centerline is valid? [True, True] Translation: X:-172.71, Y:-280.95, Z:-8.98 [[-6.64232681e-01 -7.47520445e-01 -2.85132973e-03 -1.72710025e+02] [ 7.47513334e-01 -6.64238800e-01 3.26086506e-03 -2.80949216e+02] [-4.33152714e-03 3.45661477e-05 9.99990618e-01 -8.98436771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.310385723 meters 0.014644724670195274 Centerline is valid? [True, True] Translation: X:-172.73, Y:-280.93, Z:-8.98 [[-6.64651675e-01 -7.47147721e-01 -2.90403704e-03 -1.72728077e+02] [ 7.47140350e-01 -6.64658018e-01 3.31908479e-03 -2.80928423e+02] [-4.41003814e-03 3.63120199e-05 9.99990275e-01 -8.98470372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3403857229999 meters 0.014647841364525049 Centerline is valid? [True, True] Translation: X:-172.75, Y:-280.91, Z:-8.98 [[-6.65064398e-01 -7.46778859e-01 -3.26828485e-03 -1.72746398e+02] [ 7.46769530e-01 -6.65072428e-01 3.73308647e-03 -2.80907557e+02] [-4.96143619e-03 4.20873655e-05 9.99987691e-01 -8.98496211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.370385723 meters 0.014617917522986868 Centerline is valid? [True, True] Translation: X:-172.76, Y:-280.89, Z:-8.98 [[-6.65329781e-01 -7.46541978e-01 -3.37028493e-03 -1.72764240e+02] [ 7.46532066e-01 -6.65338315e-01 3.84721449e-03 -2.80887178e+02] [-5.11448682e-03 4.36406013e-05 9.99986920e-01 -8.98493371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.400385723 meters 0.014564106066024657 Centerline is valid? [True, True] Translation: X:-172.78, Y:-280.87, Z:-8.99 [[-6.65353023e-01 -7.46520649e-01 -3.50359915e-03 -1.72781326e+02] [ 7.46509951e-01 -6.65362246e-01 3.99681186e-03 -2.80867253e+02] [-5.31486518e-03 4.38192238e-05 9.99985875e-01 -8.98511987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.430385723 meters 0.014479800555353159 Centerline is valid? [True, True] Translation: X:-172.80, Y:-280.85, Z:-8.99 [[-6.65482173e-01 -7.46405499e-01 -3.50832630e-03 -1.72799425e+02] [ 7.46394784e-01 -6.65491419e-01 3.99972862e-03 -2.80847038e+02] [-5.32018049e-03 4.31516441e-05 9.99985847e-01 -8.98540360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.460385723 meters 0.01435967963130139 Centerline is valid? [True, True] Translation: X:-172.82, Y:-280.83, Z:-8.99 [[-6.65166797e-01 -7.46688785e-01 -2.99855227e-03 -1.72817383e+02] [ 7.46680969e-01 -6.65173555e-01 3.41656926e-03 -2.80825853e+02] [-4.54567161e-03 3.36265178e-05 9.99989668e-01 -8.98619707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.490385723 meters 0.014320114245715143 Centerline is valid? [True, True] Translation: X:-172.83, Y:-280.81, Z:-8.99 [[-6.65051693e-01 -7.46791695e-01 -2.89978832e-03 -1.72834853e+02] [ 7.46784396e-01 -6.65058015e-01 3.30190929e-03 -2.80805861e+02] [-4.39436590e-03 3.04236988e-05 9.99990344e-01 -8.98595537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.520385723 meters 0.014123411721452232 Centerline is valid? [True, True] Translation: X:-172.85, Y:-280.79, Z:-8.99 [[-6.63686816e-01 -7.48004027e-01 -3.12825347e-03 -1.72852769e+02] [ 7.47995557e-01 -6.63694188e-01 3.55978521e-03 -2.80786821e+02] [-4.73893732e-03 2.26628144e-05 9.99988771e-01 -8.98552693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.550385723 meters 0.01397372417213262 Centerline is valid? [True, True] Translation: X:-172.87, Y:-280.77, Z:-8.99 [[-6.62943725e-01 -7.48663857e-01 -2.83680770e-03 -1.72871299e+02] [ 7.48656906e-01 -6.62949794e-01 3.22615572e-03 -2.80767169e+02] [-4.29596727e-03 1.49640140e-05 9.99990772e-01 -8.98591769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.580385723 meters 0.013953239225199617 Centerline is valid? [True, True] Translation: X:-172.89, Y:-280.75, Z:-8.99 [[-6.62242907e-01 -7.49284250e-01 -2.72848503e-03 -1.72889453e+02] [ 7.49277833e-01 -6.62248528e-01 3.10096249e-03 -2.80747979e+02] [-4.13043754e-03 9.19706335e-06 9.99991470e-01 -8.98622502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.610385723 meters 0.013882591199958686 Centerline is valid? [True, True] Translation: X:-172.91, Y:-280.73, Z:-8.99 [[-6.60952988e-01 -7.50424753e-01 -1.95927797e-03 -1.72908340e+02] [ 7.50421452e-01 -6.60955892e-01 2.22570154e-03 -2.80729284e+02] [-2.96521784e-03 7.99857244e-07 9.99995604e-01 -8.98729227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.640385723 meters 0.01377754214063365 Centerline is valid? [True, True] Translation: X:-172.93, Y:-280.71, Z:-8.99 [[-6.60881853e-01 -7.50488588e-01 -1.43378688e-03 -1.72926555e+02] [ 7.50486822e-01 -6.60883408e-01 1.62806563e-03 -2.80708621e+02] [-2.16941064e-03 -7.91245185e-08 9.99997647e-01 -8.98796740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.670385723 meters 0.013840664945578472 Centerline is valid? [True, True] Translation: X:-172.94, Y:-280.69, Z:-8.99 [[-6.61846310e-01 -7.49638228e-01 -1.41032875e-03 -1.72943705e+02] [ 7.49636519e-01 -6.61847813e-01 1.60042995e-03 -2.80686750e+02] [-2.13316647e-03 2.00472004e-06 9.99997725e-01 -8.98719877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.700385723 meters 0.01377149244810598 Centerline is valid? [True, True] Translation: X:-172.96, Y:-280.67, Z:-8.99 [[-6.62990439e-01 -7.48625690e-01 -1.80373448e-03 -1.72961054e+02] [ 7.48622896e-01 -6.62992893e-01 2.04558616e-03 -2.80666222e+02] [-2.72724149e-03 5.88713774e-06 9.99996281e-01 -8.98672385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7303857229999 meters 0.013829603453635769 Centerline is valid? [True, True] Translation: X:-172.98, Y:-280.65, Z:-8.99 [[-6.63927846e-01 -7.47793459e-01 -2.18152947e-03 -1.72978539e+02] [ 7.47789371e-01 -6.63931429e-01 2.47250551e-03 -2.80645645e+02] [-3.29730943e-03 1.02407078e-05 9.99994564e-01 -8.98619233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.760385723 meters 0.01399894327042716 Centerline is valid? [True, True] Translation: X:-173.00, Y:-280.63, Z:-8.99 [[-6.66027867e-01 -7.45923651e-01 -2.18809006e-03 -1.72996049e+02] [ 7.45919534e-01 -6.66031461e-01 2.47841310e-03 -2.80625128e+02] [-3.30604377e-03 1.85530697e-05 9.99994535e-01 -8.98631116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.790385723 meters 0.013986162696116225 Centerline is valid? [True, True] Translation: X:-173.01, Y:-280.60, Z:-8.99 [[-6.66903819e-01 -7.45141220e-01 -1.96415015e-03 -1.73014789e+02] [ 7.45137903e-01 -6.66906712e-01 2.22337577e-03 -2.80604837e+02] [-2.96663385e-03 1.92150729e-05 9.99995599e-01 -8.98683380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.820385723 meters 0.014222658367073957 Centerline is valid? [True, True] Translation: X:-173.03, Y:-280.59, Z:-8.99 [[-6.68657736e-01 -7.43569038e-01 -1.38496909e-03 -1.73031719e+02] [ 7.43567387e-01 -6.68659170e-01 1.56700193e-03 -2.80585238e+02] [-2.09124640e-03 1.79701166e-05 9.99997813e-01 -8.98809254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8503857229999 meters 0.014386213564924982 Centerline is valid? [True, True] Translation: X:-173.05, Y:-280.56, Z:-8.99 [[-6.69929329e-01 -7.42424686e-01 -5.28380798e-04 -1.73049737e+02] [ 7.42424446e-01 -6.69929537e-01 5.97457667e-04 -2.80564242e+02] [-7.97545224e-04 7.97159276e-06 9.99999682e-01 -8.98905517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.880385723 meters 0.014587215775462865 Centerline is valid? [True, True] Translation: X:-173.07, Y:-280.54, Z:-8.99 [[-6.71546462e-01 -7.40962395e-01 2.81889401e-04 -1.73067622e+02] [ 7.40962326e-01 -6.71546521e-01 -3.18563781e-04 -2.80542543e+02] [ 4.25345629e-04 -5.06095370e-06 9.99999910e-01 -8.98996163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.910385723 meters 0.01564845230161028 Centerline is valid? [True, True] Translation: X:-173.08, Y:-280.52, Z:-8.99 [[-6.75439542e-01 -7.37413725e-01 1.55689093e-03 -1.73082605e+02] [ 7.37411630e-01 -6.75441335e-01 -1.75842053e-03 -2.80519579e+02] [ 2.34827192e-03 -3.96372747e-05 9.99997242e-01 -8.99164900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.940385723 meters 0.01634094483022838 Centerline is valid? [True, True] Translation: X:-173.10, Y:-280.50, Z:-8.99 [[-6.77747506e-01 -7.35292177e-01 1.93187939e-03 -1.73099358e+02] [ 7.35288946e-01 -6.77750257e-01 -2.18068957e-03 -2.80498114e+02] [ 2.91277574e-03 -5.74673551e-05 9.99995756e-01 -8.99178499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9703857229999 meters 0.017570260088035878 Centerline is valid? [True, True] Translation: X:-173.12, Y:-280.48, Z:-8.99 [[-6.81147453e-01 -7.32144823e-01 1.45149295e-03 -1.73116664e+02] [ 7.32142993e-01 -6.81148997e-01 -1.63749675e-03 -2.80476624e+02] [ 2.18756774e-03 -5.26763470e-05 9.99997606e-01 -8.99174429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.000385723 meters 0.018031383294098494 Centerline is valid? [True, True] Translation: X:-173.14, Y:-280.46, Z:-8.99 [[-6.82338253e-01 -7.31035647e-01 1.17948566e-03 -1.73135350e+02] [ 7.31034439e-01 -6.82339271e-01 -1.32991075e-03 -2.80455807e+02] [ 1.77702155e-03 -4.52043353e-05 9.99998420e-01 -8.99182312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.030385723 meters 0.018589719087221426 Centerline is valid? [True, True] Translation: X:-173.15, Y:-280.44, Z:-8.99 [[-6.83448912e-01 -7.29996738e-01 1.53189114e-03 -1.73153449e+02] [ 7.29994700e-01 -6.83450626e-01 -1.72626622e-03 -2.80435752e+02] [ 2.30714067e-03 -6.15423599e-05 9.99997337e-01 -8.99201132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.060385723 meters 0.019181621303163435 Centerline is valid? [True, True] Translation: X:-173.17, Y:-280.42, Z:-8.99 [[-6.84734589e-01 -7.28791573e-01 1.17738723e-03 -1.73172233e+02] [ 7.28790368e-01 -6.84735599e-01 -1.32603018e-03 -2.80416214e+02] [ 1.77259857e-03 -4.99102632e-05 9.99998428e-01 -8.99163237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0903857229999 meters 0.018493247426139267 Centerline is valid? [True, True] Translation: X:-173.19, Y:-280.40, Z:-8.99 [[-6.85097896e-01 -7.28450587e-01 7.84177493e-04 -1.73191883e+02] [ 7.28450053e-01 -6.85098344e-01 -8.82644832e-04 -2.80397664e+02] [ 1.18020185e-03 -3.34639806e-05 9.99999303e-01 -8.99116491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.120385723 meters 0.017935636960450273 Centerline is valid? [True, True] Translation: X:-173.21, Y:-280.38, Z:-8.99 [[-6.85204826e-01 -7.28349394e-01 1.22752063e-03 -1.73212953e+02] [ 7.28348087e-01 -6.85205924e-01 -1.38080524e-03 -2.80379305e+02] [ 1.84681306e-03 -5.20721123e-05 9.99998293e-01 -8.99074008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.150385723 meters 0.018426876884005548 Centerline is valid? [True, True] Translation: X:-173.23, Y:-280.36, Z:-8.99 [[-6.85171390e-01 -7.28380053e-01 1.63272823e-03 -1.73231321e+02] [ 7.28377743e-01 -6.85173332e-01 -1.83548290e-03 -2.80359816e+02] [ 2.45563098e-03 -6.83774663e-05 9.99996983e-01 -8.99139479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.180385723 meters 0.01764278747911582 Centerline is valid? [True, True] Translation: X:-173.25, Y:-280.34, Z:-8.99 [[-6.84926940e-01 -7.28608428e-01 2.20123918e-03 -1.73254013e+02] [ 7.28604235e-01 -6.84930471e-01 -2.47353068e-03 -2.80342891e+02] [ 3.30993109e-03 -9.03556084e-05 9.99994518e-01 -8.99185206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.210385723 meters 0.016859641616743574 Centerline is valid? [True, True] Translation: X:-173.28, Y:-280.32, Z:-8.99 [[-6.84683323e-01 -7.28836312e-01 2.52562611e-03 -1.73275390e+02] [ 7.28830799e-01 -6.84687973e-01 -2.83644896e-03 -2.80324080e+02] [ 3.79657282e-03 -1.01315201e-04 9.99992788e-01 -8.99181950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.240385723 meters 0.01744681786085749 Centerline is valid? [True, True] Translation: X:-173.29, Y:-280.30, Z:-8.99 [[-6.84622745e-01 -7.28893141e-01 2.54695276e-03 -1.73293758e+02] [ 7.28887542e-01 -6.84627475e-01 -2.85871933e-03 -2.80304224e+02] [ 3.82741475e-03 -1.00702134e-04 9.99992670e-01 -8.99198330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.270385723 meters 0.01748424530475611 Centerline is valid? [True, True] Translation: X:-173.31, Y:-280.29, Z:-8.99 [[-6.84185836e-01 -7.29301324e-01 3.05286291e-03 -1.73314415e+02] [ 7.29293292e-01 -6.84192637e-01 -3.42491205e-03 -2.80287228e+02] [ 4.58653922e-03 -1.16843870e-04 9.99989475e-01 -8.99270398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.300385723 meters 0.017314057806443565 Centerline is valid? [True, True] Translation: X:-173.33, Y:-280.27, Z:-8.99 [[-6.84205769e-01 -7.29280101e-01 3.60549928e-03 -1.73334878e+02] [ 7.29268910e-01 -6.84215255e-01 -4.04241917e-03 -2.80268805e+02] [ 5.41499347e-03 -1.36467987e-04 9.99985330e-01 -8.99348972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.330385723 meters 0.01716990405845994 Centerline is valid? [True, True] Translation: X:-173.36, Y:-280.25, Z:-9.00 [[-6.84659181e-01 -7.28843549e-01 5.37471876e-03 -1.73356527e+02] [ 7.28818694e-01 -6.84680246e-01 -6.02272298e-03 -2.80250815e+02] [ 8.06958655e-03 -2.06317075e-04 9.99967419e-01 -8.99535155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.360385723 meters 0.01729772104191566 Centerline is valid? [True, True] Translation: X:-173.38, Y:-280.23, Z:-9.00 [[-6.86086460e-01 -7.27488264e-01 6.79663111e-03 -1.73376065e+02] [ 7.27448494e-01 -6.86120068e-01 -7.61185258e-03 -2.80230502e+02] [ 1.02008384e-02 -2.78189922e-04 9.99947932e-01 -8.99598475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.390385723 meters 0.018110112823791765 Centerline is valid? [True, True] Translation: X:-173.39, Y:-280.21, Z:-9.00 [[-6.88104136e-01 -7.25568771e-01 7.91560656e-03 -1.73394618e+02] [ 7.25514758e-01 -6.88149572e-01 -8.86016201e-03 -2.80209537e+02] [ 1.18757781e-02 -3.53824753e-04 9.99929418e-01 -8.99655629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.420385723 meters 0.020085779393827177 Centerline is valid? [True, True] Translation: X:-173.41, Y:-280.19, Z:-9.00 [[-6.92596058e-01 -7.21274747e-01 8.56968679e-03 -1.73411254e+02] [ 7.21211183e-01 -6.92648921e-01 -9.58654068e-03 -2.80188419e+02] [ 1.28503140e-02 -4.59046345e-04 9.99917326e-01 -8.99621491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.450385723 meters 0.02008443704219563 Centerline is valid? [True, True] Translation: X:-173.43, Y:-280.17, Z:-8.99 [[-6.95015596e-01 -7.18952915e-01 7.74774525e-03 -1.73430774e+02] [ 7.18900871e-01 -6.95058633e-01 -8.66226786e-03 -2.80168280e+02] [ 1.16128999e-02 -4.50550458e-04 9.99932467e-01 -8.99452615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4803857229999 meters 0.021913712435084436 Centerline is valid? [True, True] Translation: X:-173.45, Y:-280.15, Z:-8.99 [[-6.96984219e-01 -7.17053360e-01 6.89046163e-03 -1.73447518e+02] [ 7.17012139e-01 -6.97018147e-01 -7.70035794e-03 -2.80147444e+02] [ 1.03243443e-02 -4.26483332e-04 9.99946612e-01 -8.99375663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.510385723 meters 0.021782463928282383 Centerline is valid? [True, True] Translation: X:-173.47, Y:-280.13, Z:-8.99 [[-7.00143085e-01 -7.13981939e-01 5.42700376e-03 -1.73469393e+02] [ 7.13956305e-01 -7.00164020e-01 -6.06127006e-03 -2.80130341e+02] [ 8.12743012e-03 -3.69112764e-04 9.99966904e-01 -8.99159709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.540385723 meters 0.02272131000961967 Centerline is valid? [True, True] Translation: X:-173.49, Y:-280.11, Z:-8.99 [[-7.01127969e-01 -7.13017495e-01 5.06184751e-03 -1.73487941e+02] [ 7.12995189e-01 -7.01146153e-01 -5.65092996e-03 -2.80111304e+02] [ 7.57830683e-03 -3.52952125e-04 9.99971222e-01 -8.99153908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.570385723 meters 0.02295905856257625 Centerline is valid? [True, True] Translation: X:-173.51, Y:-280.09, Z:-8.99 [[-7.01874855e-01 -7.12280702e-01 5.28110363e-03 -1.73509860e+02] [ 7.12256428e-01 -7.01894623e-01 -5.89229509e-03 -2.80093931e+02] [ 7.90374632e-03 -3.74153752e-04 9.99968695e-01 -8.99087094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6003857229999 meters 0.02322719632821962 Centerline is valid? [True, True] Translation: X:-173.53, Y:-280.08, Z:-8.99 [[-7.01726546e-01 -7.12427555e-01 5.17999032e-03 -1.73529731e+02] [ 7.12404233e-01 -7.01745571e-01 -5.77596788e-03 -2.80075133e+02] [ 7.74999394e-03 -3.62902959e-04 9.99969903e-01 -8.99051174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.630385723 meters 0.021654258669684602 Centerline is valid? [True, True] Translation: X:-173.55, Y:-280.06, Z:-8.99 [[-7.01384493e-01 -7.12764386e-01 5.16938625e-03 -1.73552595e+02] [ 7.12741193e-01 -7.01403452e-01 -5.76095659e-03 -2.80058184e+02] [ 7.73203005e-03 -3.56211093e-04 9.99970044e-01 -8.98959214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.660385723 meters 0.021654258669684602 Centerline is valid? [True, True] Translation: X:-173.57, Y:-280.04, Z:-8.99 [[-7.01580393e-01 -7.12571549e-01 5.17096969e-03 -1.73571085e+02] [ 7.12548362e-01 -7.01599359e-01 -5.75953535e-03 -2.80037659e+02] [ 7.73203005e-03 -3.56211093e-04 9.99970044e-01 -8.98959218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.690385723 meters 0.02377882020595781 Centerline is valid? [True, True] Translation: X:-173.59, Y:-280.02, Z:-8.99 [[-7.00638188e-01 -7.13494149e-01 5.67707348e-03 -1.73592236e+02] [ 7.13466258e-01 -7.00661085e-01 -6.31992639e-03 -2.80020265e+02] [ 8.48693497e-03 -3.77581399e-04 9.99963914e-01 -8.99051578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7203857229999 meters 0.022749088641212004 Centerline is valid? [True, True] Translation: X:-173.61, Y:-280.00, Z:-8.99 [[-7.00814659e-01 -7.13316979e-01 6.14013140e-03 -1.73614607e+02] [ 7.13284385e-01 -7.00841438e-01 -6.83127331e-03 -2.80003602e+02] [ 9.17612176e-03 -4.07796624e-04 9.99957815e-01 -8.99108109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.750385723 meters 0.02399246142330219 Centerline is valid? [True, True] Translation: X:-173.64, Y:-279.99, Z:-8.99 [[-7.01422309e-01 -7.12701513e-01 7.95600230e-03 -1.73636769e+02] [ 7.12646789e-01 -7.01467223e-01 -8.84807013e-03 -2.79987268e+02] [ 1.18869078e-02 -5.36414284e-04 9.99929204e-01 -8.99242929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.780385723 meters 0.020310843679732543 Centerline is valid? [True, True] Translation: X:-173.66, Y:-279.97, Z:-8.99 [[-7.02453293e-01 -7.11677589e-01 8.62437692e-03 -1.73662874e+02] [ 7.11613273e-01 -7.02505981e-01 -9.58628181e-03 -2.79972080e+02] [ 1.28810183e-02 -5.96694131e-04 9.99916858e-01 -8.99122036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.810385723 meters 0.025370975244738487 Centerline is valid? [True, True] Translation: X:-173.68, Y:-279.95, Z:-8.99 [[-7.03226669e-01 -7.10911048e-01 8.81667272e-03 -1.73677832e+02] [ 7.10843803e-01 -7.03281661e-01 -9.79761945e-03 -2.79949336e+02] [ 1.31658401e-02 -6.22670127e-04 9.99913133e-01 -8.99309512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8403857229999 meters 0.022603309084969943 Centerline is valid? [True, True] Translation: X:-173.70, Y:-279.94, Z:-8.99 [[-7.04392122e-01 -7.09759436e-01 8.56044010e-03 -1.73704675e+02] [ 7.09696008e-01 -7.04443862e-01 -9.50902896e-03 -2.79936504e+02] [ 1.27794725e-02 -6.22774923e-04 9.99918145e-01 -8.99094860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.870385723 meters 0.026862783255014313 Centerline is valid? [True, True] Translation: X:-173.72, Y:-279.91, Z:-8.99 [[-7.04669616e-01 -7.09487840e-01 8.23030137e-03 -1.73721091e+02] [ 7.09429256e-01 -7.04717423e-01 -9.13698949e-03 -2.79914898e+02] [ 1.22826197e-02 -5.99742292e-04 9.99924386e-01 -8.99175057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.900385723 meters 0.02246829486658798 Centerline is valid? [True, True] Translation: X:-173.75, Y:-279.90, Z:-8.99 [[-7.04270648e-01 -7.09891784e-01 7.51722465e-03 -1.73751039e+02] [ 7.09842987e-01 -7.04310560e-01 -8.34076486e-03 -2.79903580e+02] [ 1.12155012e-02 -5.38106674e-04 9.99936960e-01 -8.99002527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.930385723 meters 0.022695222833404905 Centerline is valid? [True, True] Translation: X:-173.77, Y:-279.89, Z:-8.99 [[-7.03880032e-01 -7.10281202e-01 7.31529211e-03 -1.73772793e+02] [ 7.10235061e-01 -7.03917857e-01 -8.11227754e-03 -2.79885062e+02] [ 1.09113630e-02 -5.14493241e-04 9.99940337e-01 -8.98992973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.960385723 meters 0.022874262521008455 Centerline is valid? [True, True] Translation: X:-173.80, Y:-279.87, Z:-8.99 [[-7.02571371e-01 -7.11577020e-01 7.18419994e-03 -1.73796394e+02] [ 7.11532633e-01 -7.02607936e-01 -7.96247926e-03 -2.79869468e+02] [ 1.07135932e-02 -4.82417273e-04 9.99942492e-01 -8.98979623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.990385723 meters 0.02247704204339811 Centerline is valid? [True, True] Translation: X:-173.82, Y:-279.85, Z:-8.99 [[-7.01978569e-01 -7.12165772e-01 6.78250469e-03 -1.73818126e+02] [ 7.12126278e-01 -7.02011194e-01 -7.51320088e-03 -2.79851496e+02] [ 1.01120387e-02 -4.44106185e-04 9.99948774e-01 -8.98962585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.020385723 meters 0.022538149063194464 Centerline is valid? [True, True] Translation: X:-173.84, Y:-279.83, Z:-8.99 [[-7.01659320e-01 -7.12482690e-01 6.52805057e-03 -1.73839416e+02] [ 7.12446156e-01 -7.01689561e-01 -7.22744792e-03 -2.79833430e+02] [ 9.73009647e-03 -4.20321664e-04 9.99952573e-01 -8.98973450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.050385723 meters 0.022634167298267147 Centerline is valid? [True, True] Translation: X:-173.86, Y:-279.82, Z:-8.99 [[-7.00732085e-01 -7.13397706e-01 6.18527012e-03 -1.73862834e+02] [ 7.13364975e-01 -7.00759278e-01 -6.84445916e-03 -2.79818441e+02] [ 9.21720689e-03 -3.83777076e-04 9.99957447e-01 -8.98973051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.080385723 meters 0.02286634486372105 Centerline is valid? [True, True] Translation: X:-173.88, Y:-279.80, Z:-8.99 [[-7.00487318e-01 -7.13638202e-01 6.16718794e-03 -1.73883332e+02] [ 7.13605711e-01 -7.00514365e-01 -6.82017283e-03 -2.79801256e+02] [ 9.18733961e-03 -3.76504037e-04 9.99957725e-01 -8.99026186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.110385723 meters 0.021583052051647473 Centerline is valid? [True, True] Translation: X:-173.91, Y:-279.79, Z:-8.99 [[-6.99830089e-01 -7.14282306e-01 6.21560284e-03 -1.73908820e+02] [ 7.14249362e-01 -6.99857594e-01 -6.87002779e-03 -2.79786882e+02] [ 9.25717614e-03 -3.68361793e-04 9.99957084e-01 -8.99095925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.140385723 meters 0.023466690590175913 Centerline is valid? [True, True] Translation: X:-173.93, Y:-279.77, Z:-8.99 [[-6.99835635e-01 -7.14277462e-01 6.14739649e-03 -1.73926966e+02] [ 7.14245276e-01 -6.99862541e-01 -6.79034349e-03 -2.79768145e+02] [ 9.15252184e-03 -3.61375451e-04 9.99958050e-01 -8.99175473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.170385723 meters 0.019485797885716725 Centerline is valid? [True, True] Translation: X:-173.95, Y:-279.75, Z:-8.99 [[-7.00232215e-01 -7.13892145e-01 5.73155260e-03 -1.73953449e+02] [ 7.13864184e-01 -7.00255589e-01 -6.32745174e-03 -2.79753610e+02] [ 8.53066984e-03 -3.39135425e-04 9.99963556e-01 -8.99011299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.200385723 meters 0.019864941539023857 Centerline is valid? [True, True] Translation: X:-173.98, Y:-279.74, Z:-8.99 [[-7.01260451e-01 -7.12887573e-01 5.00871694e-03 -1.73977045e+02] [ 7.12866216e-01 -7.01278272e-01 -5.52662202e-03 -2.79737253e+02] [ 7.45236452e-03 -3.05056356e-04 9.99972184e-01 -8.99016738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2303857229999 meters 0.019948511149985904 Centerline is valid? [True, True] Translation: X:-174.00, Y:-279.72, Z:-8.99 [[-7.02326984e-01 -7.11837274e-01 4.95006162e-03 -1.73998876e+02] [ 7.11816409e-01 -7.02344360e-01 -5.45902465e-03 -2.79718112e+02] [ 7.36258508e-03 -3.10485236e-04 9.99972848e-01 -8.99060637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.260385723 meters 0.02226570688494902 Centerline is valid? [True, True] Translation: X:-174.02, Y:-279.70, Z:-8.99 [[-7.05436029e-01 -7.08754950e-01 5.14094304e-03 -1.74018908e+02] [ 7.08732388e-01 -7.05454673e-01 -5.66630105e-03 -2.79699382e+02] [ 7.64272121e-03 -3.53660074e-04 9.99970732e-01 -8.99204477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.290385723 meters 0.02315951874451398 Centerline is valid? [True, True] Translation: X:-174.04, Y:-279.68, Z:-8.99 [[-7.07387202e-01 -7.06805305e-01 5.44130392e-03 -1.74038686e+02] [ 7.06779999e-01 -7.07408019e-01 -5.99403576e-03 -2.79679318e+02] [ 8.08583830e-03 -3.94299400e-04 9.99967231e-01 -8.99271080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.320385723 meters 0.02475539238188331 Centerline is valid? [True, True] Translation: X:-174.06, Y:-279.66, Z:-8.99 [[-7.10690525e-01 -7.03481397e-01 5.73595721e-03 -1.74058566e+02] [ 7.03453198e-01 -7.10713528e-01 -6.31501669e-03 -2.79660304e+02] [ 8.51911914e-03 -4.53045087e-04 9.99963609e-01 -8.99293325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3503857229999 meters 0.0249334739350673 Centerline is valid? [True, True] Translation: X:-174.08, Y:-279.64, Z:-8.99 [[-7.12165404e-01 -7.01990817e-01 5.41575061e-03 -1.74078869e+02] [ 7.01965662e-01 -7.12185859e-01 -5.95923455e-03 -2.79640985e+02] [ 8.04034893e-03 -4.42289715e-04 9.99967578e-01 -8.99281003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.380385723 meters 0.02492682711022326 Centerline is valid? [True, True] Translation: X:-174.10, Y:-279.62, Z:-8.99 [[-7.13381255e-01 -7.00758190e-01 5.01443217e-03 -1.74099786e+02] [ 7.00736616e-01 -7.13398754e-01 -5.51481462e-03 -2.79621504e+02] [ 7.44184117e-03 -4.20369143e-04 9.99972221e-01 -8.99235853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.410385723 meters 0.02660666340841653 Centerline is valid? [True, True] Translation: X:-174.12, Y:-279.60, Z:-8.99 [[-7.14937508e-01 -6.99174296e-01 4.43432361e-03 -1.74119731e+02] [ 6.99157407e-01 -7.14951156e-01 -4.87485481e-03 -2.79603135e+02] [ 6.57869797e-03 -3.84926358e-04 9.99978286e-01 -8.99196039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.440385723 meters 0.026943283441212114 Centerline is valid? [True, True] Translation: X:-174.14, Y:-279.58, Z:-8.99 [[-7.15819331e-01 -6.98273951e-01 4.02173421e-03 -1.74140292e+02] [ 6.98260059e-01 -7.15830541e-01 -4.41888634e-03 -2.79583937e+02] [ 5.96447339e-03 -3.54907896e-04 9.99982150e-01 -8.99230740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4703857229999 meters 0.025299959647919066 Centerline is valid? [True, True] Translation: X:-174.17, Y:-279.57, Z:-8.99 [[-7.17230446e-01 -6.96822847e-01 4.29042851e-03 -1.74165325e+02] [ 6.96807028e-01 -7.17243172e-01 -4.71147276e-03 -2.79568667e+02] [ 6.36034242e-03 -3.89610965e-04 9.99979697e-01 -8.99324803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.500385723 meters 0.024278915075475322 Centerline is valid? [True, True] Translation: X:-174.19, Y:-279.55, Z:-8.99 [[-7.17994061e-01 -6.96032137e-01 4.87777003e-03 -1.74187358e+02] [ 6.96011692e-01 -7.18010490e-01 -5.35356736e-03 -2.79551017e+02] [ 7.22854497e-03 -4.48844596e-04 9.99973773e-01 -8.99382771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.530385723 meters 0.026526496365668274 Centerline is valid? [True, True] Translation: X:-174.21, Y:-279.53, Z:-8.99 [[-7.18741957e-01 -6.95255392e-01 5.47168280e-03 -1.74205517e+02] [ 6.95229670e-01 -7.18762603e-01 -6.00220080e-03 -2.79530512e+02] [ 8.10590344e-03 -5.09957322e-04 9.99967017e-01 -8.99463152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.560385723 meters 0.026920997339603688 Centerline is valid? [True, True] Translation: X:-174.23, Y:-279.51, Z:-8.99 [[-7.19672966e-01 -6.94292640e-01 5.34350147e-03 -1.74228270e+02] [ 6.94268107e-01 -7.19692625e-01 -5.85843074e-03 -2.79513391e+02] [ 7.91314394e-03 -5.06331576e-04 9.99968563e-01 -8.99485363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5903857229999 meters 0.027667565345251225 Centerline is valid? [True, True] Translation: X:-174.25, Y:-279.49, Z:-8.99 [[-7.20168961e-01 -6.93779150e-01 5.21153179e-03 -1.74248891e+02] [ 6.93755823e-01 -7.20187645e-01 -5.71079858e-03 -2.79493732e+02] [ 7.71531379e-03 -4.97209346e-04 9.99970113e-01 -8.99457022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.620385723 meters 0.02760287697983837 Centerline is valid? [True, True] Translation: X:-174.27, Y:-279.47, Z:-8.99 [[-7.20437056e-01 -6.93503006e-01 4.90189077e-03 -1.74270169e+02] [ 6.93482384e-01 -7.20453580e-01 -5.36856095e-03 -2.79474801e+02] [ 7.25469791e-03 -4.68335349e-04 9.99973575e-01 -8.99437244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.650385723 meters 0.028961072198401386 Centerline is valid? [True, True] Translation: X:-174.29, Y:-279.46, Z:-8.99 [[-7.20942423e-01 -6.92979002e-01 4.70379780e-03 -1.74291218e+02] [ 6.92960019e-01 -7.20957626e-01 -5.14908617e-03 -2.79457228e+02] [ 6.95944749e-03 -4.52650844e-04 9.99975680e-01 -8.99495109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.680385723 meters 0.029405006573171865 Centerline is valid? [True, True] Translation: X:-174.31, Y:-279.44, Z:-9.00 [[-7.21049049e-01 -6.92866973e-01 4.86074842e-03 -1.74311719e+02] [ 6.92846721e-01 -7.21065281e-01 -5.31804517e-03 -2.79437615e+02] [ 7.18961478e-03 -4.66817804e-04 9.99974046e-01 -8.99526779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.710385723 meters 0.030690043328292598 Centerline is valid? [True, True] Translation: X:-174.33, Y:-279.42, Z:-9.00 [[-7.20744880e-01 -6.93175856e-01 5.83521728e-03 -1.74332040e+02] [ 6.93146709e-01 -7.20768288e-01 -6.38077250e-03 -2.79419287e+02] [ 8.62883701e-03 -5.54247462e-04 9.99962617e-01 -8.99642528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.740385723 meters 0.030627115098678655 Centerline is valid? [True, True] Translation: X:-174.35, Y:-279.40, Z:-9.00 [[-7.20703684e-01 -6.93216552e-01 6.08383594e-03 -1.74351844e+02] [ 6.93184905e-01 -7.20729133e-01 -6.64868306e-03 -2.79400669e+02] [ 8.99377495e-03 -5.74507137e-04 9.99959390e-01 -8.99678069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.770385723 meters 0.030486507660463204 Centerline is valid? [True, True] Translation: X:-174.37, Y:-279.38, Z:-9.00 [[-7.20427540e-01 -6.93503390e-01 6.09980197e-03 -1.74372095e+02] [ 6.93471619e-01 -7.20453138e-01 -6.66262836e-03 -2.79381680e+02] [ 9.01517682e-03 -5.69901412e-04 9.99959200e-01 -8.99728327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.800385723 meters 0.03053526594204834 Centerline is valid? [True, True] Translation: X:-174.39, Y:-279.36, Z:-9.00 [[-7.20057907e-01 -6.93888155e-01 5.98651623e-03 -1.74394168e+02] [ 6.93857597e-01 -7.20082581e-01 -6.53546456e-03 -2.79364182e+02] [ 8.84566751e-03 -5.52123170e-04 9.99960724e-01 -8.99702067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.830385723 meters 0.030934489781056264 Centerline is valid? [True, True] Translation: X:-174.41, Y:-279.34, Z:-9.00 [[-7.19773609e-01 -6.94188162e-01 5.36163069e-03 -1.74414311e+02] [ 6.94163683e-01 -7.19793412e-01 -5.85022781e-03 -2.79344300e+02] [ 7.92042534e-03 -4.88990281e-04 9.99968514e-01 -8.99670531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.860385723 meters 0.025810911610724033 Centerline is valid? [True, True] Translation: X:-174.44, Y:-279.33, Z:-8.99 [[-7.19222389e-01 -6.94765173e-01 4.52874522e-03 -1.74441074e+02] [ 6.94747738e-01 -7.19236532e-01 -4.93878050e-03 -2.79330486e+02] [ 6.68853170e-03 -4.05746006e-04 9.99977549e-01 -8.99495381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.890385723 meters 0.02699262517807924 Centerline is valid? [True, True] Translation: X:-174.46, Y:-279.31, Z:-8.99 [[-7.19191007e-01 -6.94800322e-01 4.09971034e-03 -1.74459182e+02] [ 6.94786049e-01 -7.19202600e-01 -4.46839633e-03 -2.79309848e+02] [ 6.05316555e-03 -3.65208913e-04 9.99981613e-01 -8.99453939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.920385723 meters 0.02674530206274547 Centerline is valid? [True, True] Translation: X:-174.48, Y:-279.29, Z:-8.99 [[-7.19306998e-01 -6.94679737e-01 4.18403100e-03 -1.74478675e+02] [ 6.94664884e-01 -7.19319070e-01 -4.55782148e-03 -2.79290220e+02] [ 6.17587952e-03 -3.71973472e-04 9.99980860e-01 -8.99392673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.950385723 meters 0.027329846707820248 Centerline is valid? [True, True] Translation: X:-174.50, Y:-279.27, Z:-8.99 [[-7.19072458e-01 -6.94922000e-01 4.26767590e-03 -1.74497650e+02] [ 6.94906568e-01 -7.19085025e-01 -4.64642503e-03 -2.79270739e+02] [ 6.29772481e-03 -3.75480259e-04 9.99980099e-01 -8.99428020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9803857229999 meters 0.024933795000536753 Centerline is valid? [True, True] Translation: X:-174.52, Y:-279.25, Z:-8.99 [[-7.18936728e-01 -6.95060065e-01 4.63539703e-03 -1.74520050e+02] [ 6.95041881e-01 -7.18951558e-01 -5.04398334e-03 -2.79252912e+02] [ 6.83849730e-03 -4.04509808e-04 9.99976536e-01 -8.99430421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.010385723 meters 0.025878276100737497 Centerline is valid? [True, True] Translation: X:-174.54, Y:-279.23, Z:-9.00 [[-7.18397853e-01 -6.95612818e-01 5.22801955e-03 -1.74538892e+02] [ 6.95589717e-01 -7.18416736e-01 -5.68680938e-03 -2.79232880e+02] [ 7.71171424e-03 -4.48835015e-04 9.99970164e-01 -8.99503861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.040385723 meters 0.0249618368038455 Centerline is valid? [True, True] Translation: X:-174.56, Y:-279.21, Z:-8.99 [[-7.18337701e-01 -6.95674602e-01 5.27217074e-03 -1.74559039e+02] [ 6.95651135e-01 -7.18356908e-01 -5.73167556e-03 -2.79213883e+02] [ 7.77468138e-03 -4.49687090e-04 9.99969676e-01 -8.99445275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.070385723 meters 0.025639998855486717 Centerline is valid? [True, True] Translation: X:-174.58, Y:-279.19, Z:-8.99 [[-7.18312690e-01 -6.95703843e-01 4.80018646e-03 -1.74577207e+02] [ 6.95684411e-01 -7.18328614e-01 -5.21570131e-03 -2.79193225e+02] [ 7.07669473e-03 -4.07089549e-04 9.99974877e-01 -8.99428005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1003857229999 meters 0.02562605830121222 Centerline is valid? [True, True] Translation: X:-174.60, Y:-279.17, Z:-8.99 [[-7.19014186e-01 -6.94984489e-01 3.89369078e-03 -1.74596701e+02] [ 6.94971701e-01 -7.19024651e-01 -4.22929679e-03 -2.79173122e+02] [ 5.73895532e-03 -3.34919485e-04 9.99983476e-01 -8.99317422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.130385723 meters 0.027813241434985776 Centerline is valid? [True, True] Translation: X:-174.61, Y:-279.15, Z:-8.99 [[-7.19544805e-01 -6.94433224e-01 4.21564308e-03 -1.74612396e+02] [ 6.94418238e-01 -7.19557061e-01 -4.57673088e-03 -2.79150705e+02] [ 6.21162973e-03 -3.65743487e-04 9.99980641e-01 -8.99309109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.160385723 meters 0.026465539063857152 Centerline is valid? [True, True] Translation: X:-174.63, Y:-279.13, Z:-8.99 [[-7.21338256e-01 -6.92565004e-01 4.98352246e-03 -1.74632416e+02] [ 6.92544038e-01 -7.21355331e-01 -5.40753840e-03 -2.79130358e+02] [ 7.33996235e-03 -4.49355551e-04 9.99972961e-01 -8.99271972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.190385723 meters 0.024608539766389517 Centerline is valid? [True, True] Translation: X:-174.65, Y:-279.11, Z:-8.99 [[-7.22454873e-01 -6.91398011e-01 5.26754359e-03 -1.74653222e+02] [ 6.91374582e-01 -7.22473913e-01 -5.71251301e-03 -2.79111312e+02] [ 7.75528296e-03 -4.85187113e-04 9.99969810e-01 -8.99253849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2203857229999 meters 0.02821518727044231 Centerline is valid? [True, True] Translation: X:-174.67, Y:-279.09, Z:-8.99 [[-7.23397808e-01 -6.90405739e-01 5.96049262e-03 -1.74667500e+02] [ 6.90375720e-01 -7.23422147e-01 -6.46238086e-03 -2.79087967e+02] [ 8.77361720e-03 -5.59892766e-04 9.99961354e-01 -8.99315484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.250385723 meters 0.019367757068769535 Centerline is valid? [True, True] Translation: X:-174.66, Y:-279.04, Z:-9.00 [[-6.97184951e-01 -7.16766690e-01 1.33662311e-02 -1.74659799e+02] [ 7.16620477e-01 -6.97312871e-01 -1.44862747e-02 -2.79044256e+02] [ 1.97037241e-02 -5.21097792e-04 9.99805727e-01 -9.00302132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.280385723 meters 0.04084079781198192 Centerline is valid? [True, True] Translation: X:-174.59, Y:-278.95, Z:-9.03 [[-6.32697363e-01 -7.74211468e-01 1.70484526e-02 -1.74593150e+02] [ 7.73992631e-01 -6.32925211e-01 -1.84684789e-02 -2.78945749e+02] [ 2.50889036e-02 1.51041872e-03 9.99684083e-01 -9.02983160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.310385723 meters 0.036994096214950055 Centerline is valid? [True, True] Translation: X:-174.60, Y:-278.91, Z:-9.02 [[-6.47709455e-01 -7.61839926e-01 8.50822665e-03 -1.74597256e+02] [ 7.61784388e-01 -6.47765130e-01 -9.21314623e-03 -2.78911705e+02] [ 1.25302752e-02 5.13992307e-04 9.99921361e-01 -9.01609990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3403857229999 meters 0.06119319298682699 Centerline is valid? [True, True] Translation: X:-174.62, Y:-278.90, Z:-9.00 [[-6.40408808e-01 -7.68012725e-01 -5.74564840e-03 -1.74623480e+02] [ 7.67987675e-01 -6.40434438e-01 6.21789513e-03 -2.78899500e+02] [-8.45513368e-03 -4.30592344e-04 9.99964162e-01 -9.00493026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 13194.27 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%| | 0/28912 [00:00